+ python -m lidar_slam /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 Lidar SLAM 0.0.1 ===================================================== The recording path: /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.006559995 Adjusted end_distance from 9.223372036854776e+18 to 1382.796559995 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.006559995 meters 0.21340201761265806 Centerline is valid? [0, False] SLAMing on 0.066559995 meters 0.215235387290675 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99998714e-01 -1.40831713e-03 -7.67359241e-04 3.99255935e-03] [ 1.40785685e-03 9.99998829e-01 -6.00039194e-04 1.48548897e-03] [ 7.68203388e-04 5.98958090e-04 9.99999526e-01 -1.09749573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.126559995 meters 0.2188684367622069 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99997162e-01 -1.99819748e-03 -1.29730432e-03 6.55355831e-03] [ 1.99720203e-03 9.99997711e-01 -7.68167557e-04 1.38139342e-03] [ 1.29883630e-03 7.65574398e-04 9.99998863e-01 -1.87006553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.186559995 meters 0.23183176940638422 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99997215e-01 -6.87780705e-04 -2.25754608e-03 1.22781860e-02] [ 6.91701863e-04 9.99998253e-01 1.73659098e-03 6.24399306e-03] [ 2.25634774e-03 -1.73814769e-03 9.99995944e-01 -3.08080623e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.246559995 meters 0.23578437994425727 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99997824 -0.00597784 -0.0027902 0.01471145] [ 0.00597173 0.99997976 -0.00219569 0.00726867] [ 0.00280327 0.00217898 0.9999937 -0.00270458] [ 0. 0. 0. 1. ]] SLAMing on 0.306559995 meters 0.24155955461360953 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.00 [[ 9.99970048e-01 -7.43711329e-03 -2.14310631e-03 3.90783269e-02] [ 7.43499298e-03 9.99971864e-01 -9.95640775e-04 3.90591607e-03] [ 2.15045071e-03 9.79676973e-04 9.99997208e-01 -2.40818012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36655999499999997 meters 0.24080666414070614 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.00 [[ 9.99957583e-01 -8.84387942e-03 -2.57260956e-03 4.11989237e-02] [ 8.84161363e-03 9.99960515e-01 -8.90778888e-04 3.45540741e-03] [ 2.58038592e-03 8.67995084e-04 9.99996294e-01 -1.65197292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42655999499999997 meters 0.1988210943174884 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998751 -0.00355243 -0.00351567 0.04755643] [ 0.00357259 0.99997713 0.00574327 0.01077456] [ 0.00349519 -0.00575576 0.99997733 -0.0016655 ] [ 0. 0. 0. 1. ]] SLAMing on 0.48655999499999997 meters 0.1988210943174884 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998751 -0.00355243 -0.00351567 0.04755643] [ 0.00357259 0.99997713 0.00574327 0.01077456] [ 0.00349519 -0.00575576 0.99997733 -0.0016655 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5465599950000001 meters 0.1988210943174884 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998751 -0.00355243 -0.00351567 0.04755643] [ 0.00357259 0.99997713 0.00574327 0.01077456] [ 0.00349519 -0.00575576 0.99997733 -0.0016655 ] [ 0. 0. 0. 1. ]] SLAMing on 0.606559995 meters 0.1988210943174884 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998751 -0.00355243 -0.00351567 0.04755643] [ 0.00357259 0.99997713 0.00574327 0.01077456] [ 0.00349519 -0.00575576 0.99997733 -0.0016655 ] [ 0. 0. 0. 1. ]] SLAMing on 0.666559995 meters 0.1988210943174884 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998751 -0.00355243 -0.00351567 0.04755643] [ 0.00357259 0.99997713 0.00574327 0.01077456] [ 0.00349519 -0.00575576 0.99997733 -0.0016655 ] [ 0. 0. 0. 1. ]] SLAMing on 0.726559995 meters 0.19352708818755793 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998743 -0.00350303 -0.00358828 0.04784945] [ 0.00352413 0.99997643 0.00589271 0.01063221] [ 0.00356755 -0.00590528 0.9999762 -0.00152402] [ 0. 0. 0. 1. ]] SLAMing on 0.7865599950000001 meters 0.18433153712400113 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.00 [[ 0.99998763 -0.00341444 -0.00361789 0.0482508 ] [ 0.00343661 0.99997524 0.00614018 0.01001915] [ 0.00359683 -0.00615254 0.9999746 -0.00152995] [ 0. 0. 0. 1. ]] SLAMing on 0.846559995 meters 0.17384247006637152 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99999696 0.00193458 0.00152735 0.05887868] [-0.00193206 0.99999678 -0.00164339 0.01621021] [-0.00153053 0.00164043 0.99999748 -0.00637611] [ 0. 0. 0. 1. ]] SLAMing on 0.906559995 meters 0.16605200778648624 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99997595 0.00675598 0.00156855 0.05862051] [-0.00676015 0.99997358 0.00267031 0.0166482 ] [-0.00155047 -0.00268085 0.9999952 -0.00623076] [ 0. 0. 0. 1. ]] SLAMing on 0.966559995 meters 0.1604320281305672 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99996139 0.00865574 0.00151866 0.05728866] [-0.00866128 0.9999557 0.00368471 0.01765355] [-0.0014867 -0.00369772 0.99999206 -0.0052553 ] [ 0. 0. 0. 1. ]] SLAMing on 1.026559995 meters 0.15781994827171197 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99996196 0.00861328 0.00137317 0.05786012] [-0.00861751 0.99995806 0.00310215 0.01931256] [-0.00134639 -0.00311387 0.99999425 -0.00582274] [ 0. 0. 0. 1. ]] SLAMing on 1.086559995 meters 0.14886100246051404 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99995494 0.00938275 0.00144292 0.05709901] [-0.00938707 0.99995137 0.0030225 0.02162339] [-0.00141449 -0.0030359 0.99999439 -0.00575653] [ 0. 0. 0. 1. ]] SLAMing on 1.1465599949999998 meters 0.14234442100004024 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 9.99976222e-01 6.80964868e-03 1.08801882e-03 5.73639124e-02] [-6.80880041e-03 9.99976515e-01 -7.81457695e-04 2.29491639e-02] [-1.09331472e-03 7.74031011e-04 9.99999103e-01 -6.27126148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2065599949999999 meters 0.13158889704761692 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99999517 0.00293332 0.00103093 0.05801393] [-0.0029286 0.99998536 -0.00455019 0.02159031] [-0.00104426 0.00454715 0.99998912 -0.00701157] [ 0. 0. 0. 1. ]] SLAMing on 1.266559995 meters 0.12726077108484346 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.01 [[ 0.99999889 0.00108256 0.00102305 0.05990114] [-0.00107692 0.99998432 -0.00549493 0.02070979] [-0.00102898 0.00549382 0.99998438 -0.00830348] [ 0. 0. 0. 1. ]] SLAMing on 1.3265599949999998 meters 0.11801409895466193 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.01 [[ 9.99996553e-01 -1.96723260e-03 1.73908538e-03 9.55399276e-02] [ 1.96550555e-03 9.99997574e-01 9.94231124e-04 1.60483930e-02] [-1.74103705e-03 -9.90809515e-04 9.99997994e-01 -5.97782259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3865599949999998 meters 0.10887454039353292 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.01 [[ 9.99988831e-01 -2.15464918e-03 4.20655708e-03 7.03741307e-02] [ 2.15447492e-03 9.99997678e-01 4.59571768e-05 2.04328921e-02] [-4.20664634e-03 -3.68937418e-05 9.99991151e-01 -5.71504964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4465599949999999 meters 0.10719439359075267 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.01 [[ 9.99988906e-01 -2.24162121e-03 4.14274435e-03 7.06899288e-02] [ 2.24269621e-03 9.99997453e-01 -2.54860322e-04 2.13430770e-02] [-4.14216250e-03 2.64148412e-04 9.99991386e-01 -6.04069879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.506559995 meters 0.10370750498563054 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:-0.01 [[ 9.99994617e-01 -3.20203494e-03 7.15733746e-04 1.00682443e-01] [ 3.20166186e-03 9.99994739e-01 5.21789006e-04 1.96000094e-02] [-7.17400767e-04 -5.19494660e-04 9.99999608e-01 -6.36041284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.566559995 meters 0.09779467049561781 Centerline is valid? [False, True] Translation: X:0.08, Y:0.02, Z:-0.01 [[ 0.99998182 -0.00577512 0.00173585 0.07828991] [ 0.0057731 0.99998266 0.00116505 0.01935112] [-0.00174255 -0.00115501 0.99999781 -0.00573658] [ 0. 0. 0. 1. ]] SLAMing on 1.6265599949999998 meters 0.0946271870641236 Centerline is valid? [True, True] Translation: X:0.14, Y:0.02, Z:-0.01 [[ 9.99966384e-01 -8.05367646e-03 1.53934866e-03 1.36859611e-01] [ 8.05369934e-03 9.99967568e-01 -8.66310991e-06 1.72651218e-02] [-1.53922896e-03 2.10602700e-05 9.99998815e-01 -7.65572820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6865599949999999 meters 0.08981186436536773 Centerline is valid? [True, True] Translation: X:0.20, Y:0.02, Z:-0.01 [[ 9.99955388e-01 -8.90831115e-03 3.14083257e-03 1.96168849e-01] [ 8.90840994e-03 9.99960319e-01 -1.74672329e-05 1.90214683e-02] [-3.14055233e-03 4.54462777e-05 9.99995067e-01 -6.79402768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.746559995 meters 0.08687698763448962 Centerline is valid? [True, True] Translation: X:0.25, Y:0.02, Z:-0.01 [[ 9.99955841e-01 -8.62375501e-03 3.73452021e-03 2.54625351e-01] [ 8.62389324e-03 9.99962813e-01 -2.09140055e-05 1.98844706e-02] [-3.73420097e-03 5.31191855e-05 9.99993026e-01 -6.46202840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8065599949999998 meters 0.084377659337146 Centerline is valid? [True, True] Translation: X:0.31, Y:0.02, Z:-0.01 [[ 9.99954087e-01 -8.26540051e-03 4.84831839e-03 3.13128266e-01] [ 8.26562383e-03 9.99965839e-01 -2.60237907e-05 2.03091501e-02] [-4.84793767e-03 6.60969719e-05 9.99988246e-01 -7.40812230e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8665599949999998 meters 0.08060025560743792 Centerline is valid? [True, True] Translation: X:0.37, Y:0.02, Z:-0.01 [[ 9.99934165e-01 -1.09096484e-02 3.55607233e-03 3.72609361e-01] [ 1.09097849e-02 9.99940486e-01 -1.89768224e-05 1.58890298e-02] [-3.55565366e-03 5.77715571e-05 9.99993677e-01 -8.91879234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9265599949999999 meters 0.07868939573491515 Centerline is valid? [True, True] Translation: X:0.43, Y:0.02, Z:-0.01 [[ 9.99943169e-01 -9.26206674e-03 5.27945683e-03 4.31082773e-01] [ 9.26234540e-03 9.99957103e-01 -2.83354543e-05 1.73337442e-02] [-5.27896791e-03 7.72339966e-05 9.99986063e-01 -8.59971876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.986559995 meters 0.07527637372337785 Centerline is valid? [True, True] Translation: X:0.49, Y:0.01, Z:-0.01 [[ 9.99959648e-01 -7.21819341e-03 5.34784419e-03 4.90901404e-01] [ 7.21844528e-03 9.99973946e-01 -2.77972423e-05 1.48996835e-02] [-5.34750422e-03 6.63992414e-05 9.99985700e-01 -8.84129061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.046559995 meters 0.07392033671283244 Centerline is valid? [True, True] Translation: X:0.55, Y:0.02, Z:-0.01 [[ 9.99967538e-01 -6.44066711e-03 4.84166469e-03 5.51126848e-01] [ 6.44086404e-03 9.99979257e-01 -2.50840985e-05 1.57602813e-02] [-4.84140270e-03 5.62677882e-05 9.99988279e-01 -8.23236519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.106559995 meters 0.07177455591355308 Centerline is valid? [True, True] Translation: X:0.61, Y:0.01, Z:-0.01 [[ 9.99969926e-01 -2.58898412e-03 7.31052451e-03 6.11132314e-01] [ 2.58933092e-03 9.99996647e-01 -3.79743040e-05 1.22146471e-02] [-7.31040169e-03 5.69025291e-05 9.99973277e-01 -7.76134938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.166559995 meters 0.07025334982106625 Centerline is valid? [True, True] Translation: X:0.67, Y:0.01, Z:-0.01 [[ 9.99962729e-01 -9.18072405e-04 8.58473112e-03 6.72543706e-01] [ 9.18489347e-04 9.99999577e-01 -4.46253873e-05 1.19841965e-02] [-8.58468652e-03 5.25087082e-05 9.99963150e-01 -7.60501605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2265599949999997 meters 0.06838307869364223 Centerline is valid? [True, True] Translation: X:0.73, Y:0.01, Z:-0.01 [[ 9.99950476e-01 1.01781620e-03 9.89997224e-03 7.33495281e-01] [-1.01735370e-03 9.99999481e-01 -5.17536729e-05 1.20461269e-02] [-9.90001978e-03 4.16793365e-05 9.99950993e-01 -7.96705646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2865599949999997 meters 0.06705392220163313 Centerline is valid? [True, True] Translation: X:0.79, Y:0.01, Z:-0.01 [[ 9.99942016e-01 3.29003769e-03 1.02538335e-02 7.94206305e-01] [-3.28965828e-03 9.99994588e-01 -5.38675013e-05 1.10603947e-02] [-1.02539552e-02 2.01327697e-05 9.99947427e-01 -7.70513202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.346559995 meters 0.06521931969632266 Centerline is valid? [True, True] Translation: X:0.86, Y:0.01, Z:-0.01 [[ 9.99922693e-01 7.12051604e-03 1.01934585e-02 8.56332709e-01] [-7.12033710e-03 9.99974649e-01 -5.38461698e-05 1.18525244e-02] [-1.01935835e-02 -1.87388539e-05 9.99948044e-01 -8.33055748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.406559995 meters 0.06489747980514385 Centerline is valid? [True, True] Translation: X:0.92, Y:0.01, Z:-0.01 [[ 9.99895697e-01 1.09189301e-02 9.45364728e-03 9.17340860e-01] [-1.09189417e-02 9.99940385e-01 -5.03928927e-05 1.30332989e-02] [-9.45363394e-03 -5.28361868e-05 9.99955312e-01 -9.12980843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.466559995 meters 0.06371552750447965 Centerline is valid? [True, True] Translation: X:0.98, Y:0.01, Z:-0.01 [[ 9.99927997e-01 1.05196104e-02 5.77399654e-03 9.79048654e-01] [-1.05196066e-02 9.99944667e-01 -3.10208453e-05 1.00804620e-02] [-5.77400338e-03 -2.97215607e-05 9.99983330e-01 -1.19467469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.526559995 meters 0.06298135705788488 Centerline is valid? [True, True] Translation: X:1.04, Y:0.01, Z:-0.01 [[ 9.99951166e-01 7.71817059e-03 6.17223073e-03 1.04082319e+00] [-7.71811148e-03 9.99970214e-01 -3.33953818e-05 6.01444051e-03] [-6.17230464e-03 -1.42442140e-05 9.99980951e-01 -1.20334064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.586559995 meters 0.06248435692474957 Centerline is valid? [True, True] Translation: X:1.10, Y:0.01, Z:-0.01 [[ 9.99938363e-01 8.45244292e-03 7.19904176e-03 1.10253950e+00] [-8.45237879e-03 9.99964277e-01 -3.93324774e-05 6.28988829e-03] [-7.19911704e-03 -2.15189748e-05 9.99974086e-01 -1.07258193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6465599949999996 meters 0.06131488231104782 Centerline is valid? [True, True] Translation: X:1.17, Y:0.01, Z:-0.01 [[ 9.99922699e-01 7.43588991e-03 9.96514916e-03 1.16594474e+00] [-7.43570720e-03 9.99972353e-01 -5.53853749e-05 5.15316225e-03] [-9.96528549e-03 -1.87168378e-05 9.99950345e-01 -9.80063014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7065599949999997 meters 0.06077069581495112 Centerline is valid? [True, True] Translation: X:1.23, Y:0.00, Z:-0.01 [[ 9.99911955e-01 6.75740326e-03 1.14201285e-02 1.22830955e+00] [-6.75709854e-03 9.99977168e-01 -6.52675129e-05 4.96875909e-03] [-1.14203088e-02 -1.19051672e-05 9.99934786e-01 -9.61289336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7665599949999997 meters 0.05973756316504256 Centerline is valid? [True, True] Translation: X:1.29, Y:0.00, Z:-0.01 [[ 9.99915798e-01 4.74992992e-03 1.20762082e-02 1.29137931e+00] [-4.74942186e-03 9.99988719e-01 -7.07495319e-05 1.37879480e-03] [-1.20764081e-02 1.33885672e-05 9.99927077e-01 -1.18304156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8265599949999998 meters 0.058809670391225095 Centerline is valid? [True, True] Translation: X:1.35, Y:0.00, Z:-0.01 [[ 9.99916471e-01 5.32855741e-03 1.17753299e-02 1.35384925e+00] [-5.32810064e-03 9.99985803e-01 -7.01606901e-05 9.99738813e-04] [-1.17755365e-02 7.41468702e-06 9.99930666e-01 -1.38674469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.886559995 meters 0.059275050420275845 Centerline is valid? [True, True] Translation: X:1.42, Y:0.00, Z:-0.01 [[ 9.99905973e-01 6.52115520e-03 1.20631598e-02 1.41708452e+00] [-6.52075575e-03 9.99978737e-01 -7.24447053e-05 2.00735443e-03] [-1.20633757e-02 -6.22302491e-06 9.99927235e-01 -1.42621950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.946559995 meters 0.05876820497687209 Centerline is valid? [True, True] Translation: X:1.48, Y:0.00, Z:-0.02 [[ 9.99926990e-01 6.89452752e-03 9.92367171e-03 1.47849903e+00] [-6.89426874e-03 9.99976232e-01 -6.02863768e-05 1.08791148e-03] [-9.92385150e-03 -8.13448433e-06 9.99950757e-01 -1.57280440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.006559995 meters 0.059048889499360255 Centerline is valid? [True, True] Translation: X:1.54, Y:0.00, Z:-0.02 [[ 9.99867020e-01 1.21490524e-02 1.08785850e-02 1.53969554e+00] [-1.21490412e-02 9.99926195e-01 -6.71239901e-05 3.32591775e-03] [-1.08785976e-02 -6.50493134e-05 9.99940824e-01 -1.56461986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.066559995 meters 0.05794794289763994 Centerline is valid? [True, True] Translation: X:1.60, Y:0.00, Z:-0.02 [[ 9.99865711e-01 1.21625161e-02 1.09832973e-02 1.60227812e+00] [-1.21625011e-02 9.99926032e-01 -6.81592065e-05 3.27387464e-03] [-1.09833138e-02 -6.54343115e-05 9.99939679e-01 -1.57320340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.126559995 meters 0.05733504192697851 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.00, Z:-0.02 [[ 9.99891035e-01 9.53078989e-03 1.12730826e-02 1.66427903e+00] [-9.53059973e-03 9.99954580e-01 -7.05904564e-05 -2.64070821e-04] [-1.12732433e-02 -3.68564731e-05 9.99936454e-01 -1.62899310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1865599949999996 meters 0.05763552470263897 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.00, Z:-0.02 [[ 9.99882015e-01 9.50622746e-03 1.20659838e-02 1.72624173e+00] [-9.50599618e-03 9.99954814e-01 -7.65206509e-05 -3.21009867e-04] [-1.20661660e-02 -3.81875734e-05 9.99927200e-01 -1.50126026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2465599949999997 meters 0.057403908241483705 Centerline is valid? [True, True] Translation: X:1.79, Y:0.00, Z:-0.02 [[ 9.99890334e-01 9.87844742e-03 1.10334022e-02 1.78814556e+00] [-9.87826545e-03 9.99951206e-01 -7.09908015e-05 1.17236057e-04] [-1.10335651e-02 -3.80078595e-05 9.99939128e-01 -1.56597150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3065599949999998 meters 0.05695099704279524 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.00, Z:-0.02 [[ 9.99883802e-01 1.17568952e-02 9.70351633e-03 1.85055505e+00] [-1.17568400e-02 9.99930884e-01 -6.27327200e-05 -3.09914494e-04] [-9.70358321e-03 -5.13572583e-05 9.99952918e-01 -1.78839726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.366559995 meters 0.057073741690041445 Centerline is valid? [True, True] Translation: X:1.91, Y:0.00, Z:-0.02 [[ 9.99887055e-01 1.30899959e-02 7.38433320e-03 1.91241330e+00] [-1.30899991e-02 9.99914321e-01 -4.79012789e-05 2.01729191e-03] [-7.38432755e-03 -4.87650465e-05 9.99972734e-01 -2.01742090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.426559995 meters 0.057479583532438164 Centerline is valid? [True, True] Translation: X:1.97, Y:0.00, Z:-0.02 [[ 9.99911354e-01 1.19496544e-02 5.87281272e-03 1.97489151e+00] [-1.19496364e-02 9.99928600e-01 -3.81560610e-05 3.41763851e-03] [-5.87284935e-03 -3.20252981e-05 9.99982754e-01 -2.26275652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.486559995 meters 0.057670246190920905 Centerline is valid? [True, True] Translation: X:2.04, Y:0.00, Z:-0.02 [[ 9.99949724e-01 7.57729548e-03 6.56770038e-03 2.03638012e+00] [-7.57717325e-03 9.99971292e-01 -4.34928092e-05 3.48812767e-03] [-6.56784139e-03 -6.27398111e-06 9.99978431e-01 -2.18994472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.546559995 meters 0.05732285384376225 Centerline is valid? [True, True] Translation: X:2.10, Y:0.00, Z:-0.02 [[ 9.99950045e-01 6.77870797e-03 7.34548832e-03 2.09903304e+00] [-6.77852743e-03 9.99977024e-01 -4.94742277e-05 4.97239010e-03] [-7.34565493e-03 -3.19837869e-07 9.99973020e-01 -2.22053598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6065599949999996 meters 0.05702694944364901 Centerline is valid? [True, True] Translation: X:2.16, Y:0.01, Z:-0.02 [[ 9.99963324e-01 3.94210127e-03 7.60329332e-03 2.16147956e+00] [-3.94182235e-03 9.99992230e-01 -5.16692803e-05 6.69517452e-03] [-7.60343793e-03 2.16965537e-05 9.99971093e-01 -2.19507148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6665599949999996 meters 0.05587244037959014 Centerline is valid? [True, True] Translation: X:2.22, Y:0.00, Z:-0.02 [[ 9.99986765e-01 -1.84730065e-03 4.80181842e-03 2.22336521e+00] [ 1.84748080e-03 9.99998293e-01 -3.30820548e-05 1.11171940e-03] [-4.80174912e-03 4.19528843e-05 9.99988471e-01 -2.28761730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7265599949999997 meters 0.056867104572029176 Centerline is valid? [True, True] Translation: X:2.28, Y:0.01, Z:-0.02 [[ 9.99892840e-01 -1.39114312e-02 4.55860846e-03 2.28323514e+00] [ 1.39117197e-02 9.99903227e-01 -3.15988604e-05 6.16219801e-03] [-4.55772772e-03 9.50135576e-05 9.99989609e-01 -2.19472018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7865599949999997 meters 0.057424298842697244 Centerline is valid? [True, True] Translation: X:2.34, Y:0.01, Z:-0.02 [[ 9.99774503e-01 -2.03451945e-02 6.08409047e-03 2.34250432e+00] [ 2.03458300e-02 9.99793001e-01 -4.25646424e-05 1.15689872e-02] [-6.08196509e-03 1.66340914e-04 9.99981491e-01 -2.23870246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.846559995 meters 0.05791945030757575 Centerline is valid? [True, True] Translation: X:2.40, Y:0.01, Z:-0.02 [[ 9.99635448e-01 -2.60359628e-02 7.14839929e-03 2.40266381e+00] [ 2.60369853e-02 9.99660979e-01 -4.99899193e-05 1.36702588e-02] [-7.14467429e-03 2.36094462e-04 9.99974449e-01 -2.22453568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.906559995 meters 0.05717062353294482 Centerline is valid? [True, True] Translation: X:2.46, Y:0.01, Z:-0.02 [[ 9.99679994e-01 -2.45041224e-02 6.28158642e-03 2.46254926e+00] [ 2.45048815e-02 9.99699709e-01 -4.39028560e-05 1.20423245e-02] [-6.27862432e-03 1.97818338e-04 9.99980270e-01 -2.15253323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.966559995 meters 0.0573185602136365 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.00, Z:-0.03 [[ 9.99709639e-01 -2.28030587e-02 7.78835549e-03 2.52147744e+00] [ 2.28041731e-02 9.99739950e-01 -5.43006288e-05 -2.03635006e-03] [-7.78509191e-03 2.31891869e-04 9.99969669e-01 -2.50620781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0265599949999995 meters 0.0570934423891713 Centerline is valid? [True, True] Translation: X:2.58, Y:0.01, Z:-0.03 [[ 9.99719608e-01 -2.25466056e-02 7.23571642e-03 2.58019374e+00] [ 2.25475601e-02 9.99745770e-01 -5.03564331e-05 7.98376776e-03] [-7.23274152e-03 2.13490064e-04 9.99973821e-01 -2.65540822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.086559995 meters 0.05642124040518023 Centerline is valid? [True, True] Translation: X:2.64, Y:0.00, Z:-0.03 [[ 9.99776588e-01 -1.90370920e-02 9.18494959e-03 2.63931339e+00] [ 1.90384795e-02 9.99818750e-01 -6.36478194e-05 4.98576743e-03] [-9.18207315e-03 2.38501074e-04 9.99957815e-01 -2.60100818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.146559995 meters 0.05542660605519594 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.01, Z:-0.03 [[ 9.99860134e-01 -1.36372357e-02 9.68187637e-03 2.69965466e+00] [ 1.36385239e-02 9.99906989e-01 -6.70378247e-05 -7.44503907e-03] [-9.68006164e-03 1.99074951e-04 9.99953127e-01 -2.54108993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.206559995 meters 0.05554770455908949 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.02, Z:-0.02 [[ 9.99919004e-01 -7.50769544e-03 1.02771875e-02 2.75868978e+00] [ 7.50882363e-03 9.99971806e-01 -7.11947841e-05 -1.55845642e-02] [-1.02763633e-02 1.48358606e-04 9.99947186e-01 -2.40097615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.266559995 meters 0.055444613068343675 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.01, Z:-0.03 [[ 9.99946447e-01 -3.43878845e-03 9.76100372e-03 2.81916603e+00] [ 3.43961227e-03 9.99994082e-01 -6.76125164e-05 -7.80871484e-03] [-9.76071346e-03 1.01182964e-04 9.99952358e-01 -2.69151494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.326559995 meters 0.05567853831426633 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.01, Z:-0.03 [[ 9.99959586e-01 -2.86641065e-03 8.52120989e-03 2.88096781e+00] [ 2.86701842e-03 9.99995888e-01 -5.91101291e-05 -6.90259296e-03] [-8.52100542e-03 8.35382059e-05 9.99963692e-01 -2.92288723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.386559995 meters 0.05540358031949259 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.01, Z:-0.03 [[ 9.99966353e-01 -4.57921392e-05 8.20312270e-03 2.94196767e+00] [ 4.62622524e-05 9.99999997e-01 -5.71193200e-05 -6.71237577e-03] [-8.20312006e-03 5.74968930e-05 9.99966352e-01 -2.99577498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.446559994999999 meters 0.05452967701672163 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.01, Z:-0.03 [[ 9.99976212e-01 -2.34935225e-04 6.89349619e-03 3.00470626e+00] [ 2.35272011e-04 9.99999971e-01 -4.80446654e-05 -9.39303652e-03] [-6.89348471e-03 4.96653692e-05 9.99976238e-01 -3.01877954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.506559995 meters 0.05481287206078481 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.01, Z:-0.03 [[ 9.99968663e-01 9.09939944e-04 7.86420516e-03 3.06642471e+00] [-9.09531453e-04 9.99999585e-01 -5.55194060e-05 -7.81688012e-03] [-7.86425242e-03 4.83649242e-05 9.99969075e-01 -3.09036983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5665599949999995 meters 0.05534308276914099 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.01, Z:-0.03 [[ 9.99961272e-01 2.22157844e-03 8.51579070e-03 3.12858826e+00] [-2.22114478e-03 9.99997531e-01 -6.03810157e-05 -7.71605480e-03] [-8.51590382e-03 4.14638732e-05 9.99963738e-01 -3.04694055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.626559995 meters 0.05436618644559476 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.01, Z:-0.03 [[ 9.99977713e-01 -6.12637143e-04 6.64810088e-03 3.19019233e+00] [ 6.12964687e-04 9.99999811e-01 -4.72314299e-05 -1.31980144e-02] [-6.64807069e-03 5.13054284e-05 9.99977900e-01 -3.03906188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.686559995 meters 0.05478123173921021 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.02, Z:-0.03 [[ 9.99963338e-01 -3.35484280e-03 7.87830864e-03 3.25243797e+00] [ 3.35539481e-03 9.99994369e-01 -5.68511668e-05 -1.73148063e-02] [-7.87807355e-03 8.32839185e-05 9.99968964e-01 -2.95019128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.746559995 meters 0.0545949435176354 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.02, Z:-0.03 [[ 9.99966740e-01 -2.96124073e-03 7.59932523e-03 3.31504366e+00] [ 2.96174499e-03 9.99995613e-01 -5.51023602e-05 -1.82491326e-02] [-7.59912872e-03 7.76077909e-05 9.99971123e-01 -2.99344668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.806559995 meters 0.05478359656343568 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.02, Z:-0.03 [[ 9.99970312e-01 -2.02282978e-03 7.43527980e-03 3.37723671e+00] [ 2.02328814e-03 9.99997952e-01 -5.41254079e-05 -1.60267738e-02] [-7.43515508e-03 6.91675144e-05 9.99972356e-01 -3.07865133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.866559994999999 meters 0.05492495854258169 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.02, Z:-0.03 [[ 9.99974380e-01 -8.62877216e-05 7.15761765e-03 3.43965456e+00] [ 8.66643105e-05 9.99999995e-01 -5.23035874e-05 -1.62517748e-02] [-7.15761310e-03 5.29225574e-05 9.99974383e-01 -3.19907441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.926559995 meters 0.05438759868980332 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.01, Z:-0.03 [[ 9.99962939e-01 3.33599246e-03 7.93678148e-03 3.50152394e+00] [-3.33563473e-03 9.99994435e-01 -5.83099730e-05 -1.18126537e-02] [-7.93693183e-03 3.18336080e-05 9.99968502e-01 -3.21772828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9865599949999995 meters 0.05357283070213214 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.02, Z:-0.03 [[ 9.99972488e-01 1.06963737e-03 7.34024230e-03 3.56315184e+00] [-1.06926890e-03 9.99999427e-01 -5.41232259e-05 -1.73812163e-02] [-7.34029599e-03 4.62730441e-05 9.99973059e-01 -3.26061575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.046559995 meters 0.05438729145735155 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.02, Z:-0.03 [[ 9.99970891e-01 1.67098147e-03 7.44477388e-03 3.62558952e+00] [-1.67061302e-03 9.99998603e-01 -5.57097330e-05 -1.69104734e-02] [-7.44485657e-03 4.32707752e-05 9.99972286e-01 -3.22279378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.106559995 meters 0.054127912020240164 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.01, Z:-0.03 [[ 9.99970111e-01 2.13038958e-03 7.43223878e-03 3.68799354e+00] [-2.13003333e-03 9.99997730e-01 -5.58484407e-05 -1.45071657e-02] [-7.43234089e-03 4.00158552e-05 9.99972379e-01 -3.25712818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.166559995 meters 0.05485912979785854 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.02, Z:-0.04 [[ 9.99983629e-01 -1.42411563e-03 5.54206652e-03 3.74969652e+00] [ 1.42436815e-03 9.99998985e-01 -4.16170841e-05 -2.12121524e-02] [-5.54200162e-03 4.95103458e-05 9.99984642e-01 -3.61385862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.226559995 meters 0.05610059251345531 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.03, Z:-0.04 [[ 9.99966247e-01 -5.06355022e-03 6.47029722e-03 3.81214678e+00] [ 5.06397613e-03 9.99987177e-01 -4.94444036e-05 -2.59445308e-02] [-6.46996388e-03 8.22081654e-05 9.99979066e-01 -3.58058605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.286559994999999 meters 0.055946956843447034 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.03, Z:-0.04 [[ 9.99948760e-01 -6.73796474e-03 7.55492402e-03 3.87383236e+00] [ 6.73859514e-03 9.99977294e-01 -5.79900866e-05 -2.54234910e-02] [-7.55436174e-03 1.08896690e-04 9.99971459e-01 -3.55922608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.346559995 meters 0.05596941258075805 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.03, Z:-0.03 [[ 9.99920824e-01 -9.27126522e-03 8.50820640e-03 3.93480684e+00] [ 9.27215760e-03 9.99957010e-01 -6.54449149e-05 -2.82036360e-02] [-8.50723388e-03 1.44329164e-04 9.99963802e-01 -3.46840698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.406559994999999 meters 0.0560459558304273 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.03, Z:-0.03 [[ 9.99913592e-01 -8.90682274e-03 9.66834877e-03 3.99577398e+00] [ 8.90795869e-03 9.99960321e-01 -7.44339286e-05 -3.21977607e-02] [-9.66730216e-03 1.60552748e-04 9.99953258e-01 -3.35715047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.466559995 meters 0.056091125222760656 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.03, Z:-0.04 [[ 9.99909485e-01 -9.45819171e-03 9.56888629e-03 4.05691580e+00] [ 9.45932844e-03 9.99955257e-01 -7.35416380e-05 -2.96812675e-02] [-9.56776258e-03 1.64050220e-04 9.99954214e-01 -3.57503742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5265599949999995 meters 0.056566671738214294 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.02, Z:-0.04 [[ 9.99908041e-01 -8.08343087e-03 1.08888436e-02 4.11829815e+00] [ 8.08482323e-03 9.99967314e-01 -8.38575030e-05 -2.32714872e-02] [-1.08878098e-02 1.71884167e-04 9.99940711e-01 -3.88437837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.586559995 meters 0.05702569147161306 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.03, Z:-0.04 [[ 9.99902679e-01 -1.01190039e-02 9.60411527e-03 4.18041502e+00] [ 1.01201829e-02 9.99948787e-01 -7.41609312e-05 -2.98510296e-02] [-9.60287298e-03 1.71349117e-04 9.99953877e-01 -3.95649372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.646559995 meters 0.056810667082033015 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.04, Z:-0.04 [[ 9.99913456e-01 -1.12661198e-02 6.79373155e-03 4.24161107e+00] [ 1.12667379e-02 9.99936527e-01 -5.27023184e-05 -3.53975174e-02] [-6.79270658e-03 1.29240950e-04 9.99976921e-01 -4.17543833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.706559995 meters 0.056428658384745076 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.03, Z:-0.04 [[ 9.99917984e-01 -1.04804326e-02 7.36104890e-03 4.30116371e+00] [ 1.04811377e-02 9.99945070e-01 -5.72144141e-05 -3.35436046e-02] [-7.36004492e-03 1.34361889e-04 9.99972905e-01 -4.20346532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.766559995 meters 0.05596854100536559 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.04, Z:-0.04 [[ 9.99895165e-01 -1.15249056e-02 8.76555924e-03 4.36121411e+00] [ 1.15259444e-02 9.99933572e-01 -6.79993453e-05 -3.54632814e-02] [-8.76419327e-03 1.69023565e-04 9.99961579e-01 -4.24750559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.826559994999999 meters 0.0564084960239603 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.03, Z:-0.04 [[ 9.99896923e-01 -9.93073444e-03 1.03693514e-02 4.42165533e+00] [ 9.93210184e-03 9.99950672e-01 -8.03802183e-05 -3.25231091e-02] [-1.03680417e-02 1.83361388e-04 9.99946234e-01 -4.18476934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.886559995 meters 0.056392843310441344 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.03, Z:-0.04 [[ 9.99905046e-01 -8.28251833e-03 1.10135530e-02 4.48266542e+00] [ 8.28396186e-03 9.99965684e-01 -8.54543048e-05 -3.46076182e-02] [-1.10124673e-02 1.76682044e-04 9.99939345e-01 -4.09677472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.946559994999999 meters 0.05397472916165913 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.03, Z:-0.04 [[ 9.99929893e-01 -6.78599181e-03 9.70361791e-03 4.54441118e+00] [ 6.78704380e-03 9.99976965e-01 -7.54856204e-05 -3.00055645e-02] [-9.70288214e-03 1.41339208e-04 9.99952916e-01 -4.34133337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.006559995 meters 0.05436632547220064 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.04, Z:-0.04 [[ 9.99934467e-01 -6.98145946e-03 9.07304944e-03 4.60602485e+00] [ 6.98238916e-03 9.99975620e-01 -7.07954855e-05 -3.81785232e-02] [-9.07233399e-03 1.34142408e-04 9.99958837e-01 -4.47189738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0665599949999995 meters 0.05366417220993837 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.03, Z:-0.05 [[ 9.99943615e-01 -6.03353474e-03 8.73858602e-03 4.66792015e+00] [ 6.03436358e-03 9.99981791e-01 -6.84844311e-05 -3.45441024e-02] [-8.73801370e-03 1.21212375e-04 9.99961815e-01 -4.72975962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.126559995 meters 0.05438727703138315 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.03, Z:-0.05 [[ 9.99932700e-01 -4.14963688e-03 1.08340395e-02 4.72943783e+00] [ 4.15080405e-03 9.99991382e-01 -8.52476516e-05 -3.24883237e-02] [-1.08335923e-02 1.30211889e-04 9.99941306e-01 -4.64131391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.186559995 meters 0.05207060582673659 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.02, Z:-0.05 [[ 9.99935550e-01 -1.91547054e-03 1.11905143e-02 4.79159663e+00] [ 1.91657933e-03 9.99998159e-01 -8.83598547e-05 -2.16109217e-02] [-1.11903244e-02 1.09801668e-04 9.99937380e-01 -5.03161382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.246559995 meters 0.051681957315485014 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.02, Z:-0.05 [[ 9.99927026e-01 3.18756279e-03 1.16525343e-02 4.85391172e+00] [-3.18670146e-03 9.99994918e-01 -9.24844687e-05 -2.17025873e-02] [-1.16527699e-02 5.53445717e-05 9.99932103e-01 -5.05907429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.306559995 meters 0.051709554893260866 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.02, Z:-0.05 [[ 9.99903004e-01 7.80043221e-03 1.15384137e-02 4.91487246e+00] [-7.79988998e-03 9.99969576e-01 -9.19941336e-05 -1.95719752e-02] [-1.15387802e-02 1.98685328e-06 9.99933426e-01 -5.16605656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.366559994999999 meters 0.05131693294035527 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.02, Z:-0.05 [[ 9.99863440e-01 1.18024443e-02 1.15673182e-02 4.97741063e+00] [-1.18021633e-02 9.99930348e-01 -9.25557280e-05 -1.86443184e-02] [-1.15676048e-02 -4.39762891e-05 9.99933092e-01 -5.42605953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.426559995 meters 0.051631939253127486 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.02, Z:-0.05 [[ 9.99833165e-01 1.33455697e-02 1.24714787e-02 5.03990917e+00] [-1.33453570e-02 9.99910942e-01 -1.00283376e-04 -1.84634121e-02] [-1.24717063e-02 -6.61696903e-05 9.99922223e-01 -5.46777082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4865599949999995 meters 0.05182678500268892 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.02, Z:-0.06 [[ 9.99828796e-01 1.41008786e-02 1.19810151e-02 5.10154908e+00] [-1.41007256e-02 9.99900575e-01 -9.72509930e-05 -2.01459167e-02] [-1.19811953e-02 -7.17066632e-05 9.99928220e-01 -5.70945232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.546559995 meters 0.05155287014578973 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.02, Z:-0.06 [[ 9.99801402e-01 1.62485468e-02 1.15386723e-02 5.16341301e+00] [-1.62485352e-02 9.99867979e-01 -9.47631619e-05 -1.89885622e-02] [-1.15386887e-02 -9.27421809e-05 9.99933423e-01 -5.91896649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.606559995 meters 0.05139582675630717 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.02, Z:-0.06 [[ 9.99746420e-01 2.00509936e-02 1.02495594e-02 5.22467543e+00] [-2.00511806e-02 9.99798951e-01 -8.45233620e-05 -1.74013924e-02] [-1.02491935e-02 -1.21013837e-04 9.99947468e-01 -6.03667962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.666559995 meters 0.05133346725817388 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.02, Z:-0.06 [[ 9.99741129e-01 2.04552127e-02 9.96291830e-03 5.28684599e+00] [-2.04554065e-02 9.99790763e-01 -8.24557039e-05 -1.59234440e-02] [-9.96252034e-03 -1.21361185e-04 9.99950365e-01 -6.06450020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.726559995 meters 0.05125810035005723 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.02, Z:-0.06 [[ 9.99744001e-01 2.06166558e-02 9.32124185e-03 5.34853087e+00] [-2.06168272e-02 9.99787448e-01 -7.77131801e-05 -1.95763333e-02] [-9.32086278e-03 -1.14481146e-04 9.99956553e-01 -6.15714654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.786559994999999 meters 0.05181739124252755 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.02, Z:-0.06 [[ 9.99744252e-01 2.02753662e-02 1.00169631e-02 5.41111762e+00] [-2.02755354e-02 9.99794427e-01 -8.46777992e-05 -1.81766214e-02] [-1.00166208e-02 -1.18443147e-04 9.99949825e-01 -6.14415442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.846559995 meters 0.05173405691616074 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.02, Z:-0.06 [[ 9.99743244e-01 1.94742985e-02 1.15843390e-02 5.47236451e+00] [-1.94744619e-02 9.99810350e-01 -9.87053571e-05 -2.01529921e-02] [-1.15840642e-02 -1.26918755e-04 9.99932894e-01 -6.15745493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.906559994999999 meters 0.05171248772020239 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.02, Z:-0.06 [[ 9.99731481e-01 1.95281189e-02 1.24747423e-02 5.53439945e+00] [-1.95282998e-02 9.99809299e-01 -1.07324534e-04 -2.14948103e-02] [-1.24744592e-02 -1.36314791e-04 9.99922182e-01 -6.20495029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.966559995 meters 0.05182812582009968 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.02, Z:-0.06 [[ 9.99752858e-01 1.92751664e-02 1.10766184e-02 5.59657522e+00] [-1.92752856e-02 9.99814210e-01 -9.60007625e-05 -2.34034150e-02] [-1.10764109e-02 -1.17527947e-04 9.99938648e-01 -6.35468306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0265599949999995 meters 0.052390337477222576 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.02, Z:-0.06 [[ 9.99777202e-01 1.79641099e-02 1.10832309e-02 5.65791460e+00] [-1.79641346e-02 9.99838627e-01 -9.73289296e-05 -2.35222427e-02] [-1.10831908e-02 -1.01793406e-04 9.99938574e-01 -6.46379652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.086559995 meters 0.052064696311818544 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.02, Z:-0.07 [[ 9.99798070e-01 1.63599615e-02 1.16692083e-02 5.72005600e+00] [-1.63598644e-02 9.99866163e-01 -1.03781993e-04 -2.38451092e-02] [-1.16693444e-02 -8.71456282e-05 9.99931907e-01 -6.57149599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.146559995 meters 0.052520105616546076 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.02, Z:-0.07 [[ 9.99778285e-01 1.67454208e-02 1.27660648e-02 5.78214993e+00] [-1.67453220e-02 9.99859781e-01 -1.14637291e-04 -2.30584259e-02] [-1.27661944e-02 -9.91599928e-05 9.99918504e-01 -6.63673751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.206559994999999 meters 0.05197730174224976 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.02, Z:-0.07 [[ 9.99768439e-01 1.68874543e-02 1.33372188e-02 5.84540609e+00] [-1.68873444e-02 9.99857391e-01 -1.20872052e-04 -2.40885530e-02] [-1.33373581e-02 -1.04386145e-04 9.99911048e-01 -6.74378037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.266559995 meters 0.052539256679720696 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.02, Z:-0.07 [[ 9.99776904e-01 1.60641994e-02 1.37143772e-02 5.90785316e+00] [-1.60639884e-02 9.99870958e-01 -1.25550514e-04 -2.39333790e-02] [-1.37146244e-02 -9.47850920e-05 9.99905946e-01 -6.72236893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.326559994999999 meters 0.05248194478756389 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.02, Z:-0.07 [[ 9.99760658e-01 1.72535025e-02 1.34515390e-02 5.96979403e+00] [-1.72533936e-02 9.99851141e-01 -1.24145595e-04 -2.26409979e-02] [-1.34516786e-02 -1.07968816e-04 9.99909516e-01 -6.83846694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.386559995 meters 0.053050514528007825 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.02, Z:-0.07 [[ 9.99744969e-01 1.79825197e-02 1.36610774e-02 6.03091147e+00] [-1.79824583e-02 9.99838294e-01 -1.27344533e-04 -2.18286505e-02] [-1.36611583e-02 -1.18347697e-04 9.99906675e-01 -6.87892508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.446559994999999 meters 0.05326301776851925 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.02, Z:-0.07 [[ 9.99725235e-01 1.90562373e-02 1.36496888e-02 6.09326844e+00] [-1.90562602e-02 9.99818405e-01 -1.28390203e-04 -2.19534809e-02] [-1.36496567e-02 -1.31757096e-04 9.99906830e-01 -6.94257384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.506559995 meters 0.05353045375985575 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.02, Z:-0.07 [[ 9.99703471e-01 2.02336154e-02 1.35488008e-02 6.15417349e+00] [-2.02337268e-02 9.99795269e-01 -1.28868056e-04 -2.06947012e-02] [-1.35486344e-02 -1.45312890e-04 9.99908202e-01 -6.93625438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5665599949999995 meters 0.05327761768091416 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.02, Z:-0.07 [[ 9.99691558e-01 2.08458642e-02 1.34995488e-02 6.21733683e+00] [-2.08460103e-02 9.99782690e-01 -1.29906351e-04 -2.20858668e-02] [-1.34993233e-02 -1.51545451e-04 9.99908869e-01 -7.13413136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.626559995 meters 0.053522132086948615 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.02, Z:-0.07 [[ 9.99687234e-01 2.11942923e-02 1.32754259e-02 6.27937750e+00] [-2.11944426e-02 9.99775364e-01 -1.29389583e-04 -1.94779220e-02] [-1.32751860e-02 -1.52016137e-04 9.99911869e-01 -7.18713334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.686559995 meters 0.053857895506587775 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.02, Z:-0.07 [[ 9.99674153e-01 2.19886074e-02 1.29649167e-02 6.34177894e+00] [-2.19888027e-02 9.99758209e-01 -1.27498947e-04 -2.16191783e-02] [-1.29645854e-02 -1.57625592e-04 9.99915944e-01 -7.39937017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.746559994999999 meters 0.05443479288088678 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.02, Z:-0.07 [[ 9.99631109e-01 2.41061475e-02 1.25115961e-02 6.40367091e+00] [-2.41064837e-02 9.99709389e-01 -1.23959142e-04 -2.10173227e-02] [-1.25109482e-02 -1.77697172e-04 9.99921719e-01 -7.48575904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.806559995 meters 0.05448868428944477 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.02, Z:-0.08 [[ 9.99586494e-01 2.55708957e-02 1.31518485e-02 6.46557080e+00] [-2.55713726e-02 9.99672990e-01 -1.31926142e-04 -2.09796073e-02] [-1.31509212e-02 -2.04439227e-04 9.99913502e-01 -7.59312222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.866559994999999 meters 0.054345387640714365 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.02, Z:-0.08 [[ 9.99561643e-01 2.65956302e-02 1.30075005e-02 6.52651401e+00] [-2.65961674e-02 9.99646251e-01 -1.31715698e-04 -1.96639010e-02] [-1.30064022e-02 -2.14291701e-04 9.99915390e-01 -7.66879671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.926559995 meters 0.054610720159680284 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.02, Z:-0.08 [[ 9.99581835e-01 2.62197739e-02 1.21933518e-02 6.58904234e+00] [-2.62202099e-02 9.99656183e-01 -1.24130641e-04 -1.68913356e-02] [-1.21924142e-02 -1.95633508e-04 9.99925651e-01 -7.63763728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9865599949999995 meters 0.05436717155656191 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.02, Z:-0.08 [[ 9.99448944e-01 3.12408968e-02 1.12167403e-02 6.65007051e+00] [-3.12415781e-02 9.99511856e-01 -1.14524144e-04 -1.81303704e-02] [-1.12148427e-02 -2.35967632e-04 9.99937084e-01 -7.87401147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.046559994999999 meters 0.054435995803189315 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.01, Z:-0.08 [[ 9.99515254e-01 2.93123730e-02 1.04900360e-02 6.71272624e+00] [-2.93128602e-02 9.99570280e-01 -1.07338247e-04 -1.43861120e-02] [-1.04886746e-02 -2.00206745e-04 9.99944972e-01 -8.04552477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.106559995 meters 0.054793709949828795 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.02, Z:-0.08 [[ 9.99560545e-01 2.78281937e-02 1.02131159e-02 6.77436596e+00] [-2.78285702e-02 9.99612705e-01 -1.05267202e-04 -1.92602033e-02] [-1.02120898e-02 -1.78995472e-04 9.99947839e-01 -8.21811120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.166559995 meters 0.05488549606491992 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.01, Z:-0.08 [[ 9.99663434e-01 2.46931815e-02 7.95397994e-03 6.83634334e+00] [-2.46933047e-02 9.99695070e-01 -8.27432239e-05 -1.49329158e-02] [-7.95359773e-03 -1.13694675e-04 9.99968363e-01 -8.06919657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.226559994999999 meters 0.05539178531416175 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.03, Z:-0.08 [[ 9.99881145e-01 1.39485069e-02 6.56776421e-03 6.89735594e+00] [-1.39483576e-02 9.99902715e-01 -6.85327286e-05 -2.60347916e-02] [-6.56808119e-03 -2.30849408e-05 9.99978430e-01 -8.18405060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.286559995 meters 0.05602350633286066 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.03, Z:-0.08 [[ 9.99945067e-01 7.07516580e-03 7.73336553e-03 6.95893914e+00] [-7.07475232e-03 9.99974970e-01 -8.08222580e-05 -2.88678561e-02] [-7.73374380e-03 2.61061724e-05 9.99970094e-01 -8.23501890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.346559995 meters 0.05611516839784601 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.03, Z:-0.08 [[ 9.99959366e-01 1.02246479e-03 8.95657425e-03 7.02095885e+00] [-1.02165702e-03 9.99999474e-01 -9.47617184e-05 -2.77011402e-02] [-8.95666642e-03 8.56073209e-05 9.99959885e-01 -8.17682318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.406559995 meters 0.056002721136680186 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.03, Z:-0.08 [[ 9.99951802e-01 -1.67782726e-03 9.67357876e-03 7.08156192e+00] [ 1.67890077e-03 9.99998585e-01 -1.02854293e-04 -3.42542679e-02] [-9.67339250e-03 1.19090315e-04 9.99953205e-01 -7.88096347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.466559994999999 meters 0.05559193345233448 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.03, Z:-0.08 [[ 9.99933036e-01 -7.50133715e-03 8.81211437e-03 7.14236276e+00] [ 7.50246047e-03 9.99971852e-01 -9.44248139e-05 -3.31324092e-02] [-8.81115801e-03 1.60531031e-04 9.99961168e-01 -7.71934856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.526559995 meters 0.056407441195792614 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.03, Z:-0.08 [[ 9.99879526e-01 -1.33947445e-02 7.84306470e-03 7.20263952e+00] [ 1.33958160e-02 9.99910268e-01 -8.40957613e-05 -3.38127820e-02] [-7.84123449e-03 1.89149881e-04 9.99969239e-01 -7.69334955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.586559995 meters 0.05701845107430706 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.04, Z:-0.08 [[ 9.99740783e-01 -2.12309569e-02 8.22268215e-03 7.26279422e+00] [ 2.12323996e-02 9.99774563e-01 -8.81859892e-05 -4.16006090e-02] [-8.21895618e-03 2.62750403e-04 9.99966189e-01 -7.53662533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.646559995 meters 0.05689127148275327 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.04, Z:-0.08 [[ 9.99762283e-01 -1.95384547e-02 9.67606611e-03 7.32094472e+00] [ 1.95403725e-02 9.99809063e-01 -1.03687390e-04 -3.72743042e-02] [-9.67219270e-03 2.92736677e-04 9.99953180e-01 -7.60093017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.706559995 meters 0.056794117192949654 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.03, Z:-0.08 [[ 9.99651280e-01 -2.48383523e-02 8.96522234e-03 7.38130894e+00] [ 2.48402091e-02 9.99691430e-01 -9.58002823e-05 -3.47904896e-02] [-8.96007642e-03 3.18464872e-04 9.99959807e-01 -7.55403864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.766559995 meters 0.05804468407494496 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.05, Z:-0.08 [[ 9.99432623e-01 -3.28825052e-02 7.29202875e-03 7.44190720e+00] [ 3.28839476e-02 9.99459174e-01 -7.79701931e-05 -4.69152535e-02] [-7.28552118e-03 3.17716646e-04 9.99973410e-01 -7.59074090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.826559995 meters 0.057423107365737205 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.05, Z:-0.08 [[ 9.99296563e-01 -3.66462867e-02 7.96421972e-03 7.50199268e+00] [ 3.66481272e-02 9.99328228e-01 -8.52319666e-05 -4.68513453e-02] [-7.95574614e-03 3.77045749e-04 9.99968281e-01 -7.50268631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.886559994999999 meters 0.05698452894018905 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.04, Z:-0.07 [[ 9.99030953e-01 -4.28837659e-02 9.90646434e-03 7.56168723e+00] [ 4.28869190e-02 9.99079927e-01 -1.05980619e-04 -4.31193102e-02] [-9.89280482e-03 5.30735653e-04 9.99950924e-01 -7.46232167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.946559995 meters 0.05743046109537121 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.05, Z:-0.07 [[ 9.98915970e-01 -4.52470670e-02 1.09356201e-02 7.62229897e+00] [ 4.52510505e-02 9.98975640e-01 -1.16981773e-04 -4.52587718e-02] [-1.09191250e-02 6.11703260e-04 9.99940197e-01 -7.38215686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.006559995 meters 0.057219440488791296 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.04, Z:-0.07 [[ 9.98779389e-01 -4.82647790e-02 1.04996817e-02 7.68287442e+00] [ 4.82686179e-02 9.98834385e-01 -1.12372797e-04 -4.33928997e-02] [-1.04820195e-02 6.19040758e-04 9.99944871e-01 -7.36938168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.066559995 meters 0.056726420375687536 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.05, Z:-0.07 [[ 9.98792957e-01 -4.80201121e-02 1.03294364e-02 7.74117258e+00] [ 4.80238112e-02 9.98846185e-01 -1.10227155e-04 -4.56867154e-02] [-1.03122250e-02 6.06153009e-04 9.99946644e-01 -7.27957141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.126559995 meters 0.05651703304825884 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.05, Z:-0.07 [[ 9.98944300e-01 -4.46795825e-02 1.06780745e-02 7.80159743e+00] [ 4.46833352e-02 9.99001195e-01 -1.13007208e-04 -4.97149665e-02] [-1.06623601e-02 5.90019887e-04 9.99942981e-01 -7.17824309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.186559995 meters 0.05610301456905549 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.05, Z:-0.07 [[ 9.99040922e-01 -4.28143051e-02 9.17447427e-03 7.86164492e+00] [ 4.28169952e-02 9.99082927e-01 -9.69035050e-05 -4.55674386e-02] [-9.16191175e-03 4.89633987e-04 9.99957909e-01 -7.20616311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.246559995 meters 0.05645842130329434 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.05, Z:-0.07 [[ 9.99195463e-01 -3.89302685e-02 9.63644902e-03 7.92046446e+00] [ 3.89330555e-02 9.99241816e-01 -1.01725128e-04 -5.29381094e-02] [-9.62518263e-03 4.76819691e-04 9.99953563e-01 -7.24363680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.306559994999999 meters 0.057210484550989815 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.06, Z:-0.07 [[ 9.99466998e-01 -3.13003171e-02 9.27419586e-03 7.98081676e+00] [ 3.13025696e-02 9.99509950e-01 -9.77809609e-05 -5.83469715e-02] [-9.26659046e-03 3.88035004e-04 9.99956989e-01 -7.15483822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.366559995 meters 0.05604778141338335 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.06, Z:-0.07 [[ 9.99647012e-01 -2.53951798e-02 7.80619219e-03 8.04019646e+00] [ 2.53965957e-02 9.99677451e-01 -8.22900446e-05 -5.76942891e-02] [-7.80158454e-03 2.80511704e-04 9.99969528e-01 -7.21014322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.426559995 meters 0.05516505590101715 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.05, Z:-0.07 [[ 9.99779919e-01 -1.94699856e-02 7.81234824e-03 8.09972919e+00] [ 1.94712225e-02 9.99810414e-01 -8.22834780e-05 -4.77344502e-02] [-7.80926508e-03 2.34381340e-04 9.99969480e-01 -7.28758059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.486559995 meters 0.054351187978179 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.05, Z:-0.07 [[ 9.99837473e-01 -1.66216634e-02 6.98196110e-03 8.15921705e+00] [ 1.66225813e-02 9.99861833e-01 -7.34477183e-05 -4.91532497e-02] [-6.97977559e-03 1.89493997e-04 9.99975623e-01 -7.27136178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.546559994999999 meters 0.054233975384133014 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.05, Z:-0.07 [[ 9.99873409e-01 -1.43273461e-02 6.92048463e-03 8.21907738e+00] [ 1.43281922e-02 9.99897344e-01 -7.26919133e-05 -4.85733515e-02] [-6.91873272e-03 1.71840745e-04 9.99976051e-01 -7.23227101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.606559995 meters 0.055048846194136976 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.05, Z:-0.07 [[ 9.99895084e-01 -1.24131354e-02 7.46556820e-03 8.27828378e+00] [ 1.24140657e-02 9.99922939e-01 -7.82841899e-05 -5.38042998e-02] [-7.46402115e-03 1.70954031e-04 9.99972129e-01 -7.25894477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.666559995 meters 0.05446273526569537 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.05, Z:-0.07 [[ 9.99910953e-01 -1.15249040e-02 6.72772466e-03 8.33792247e+00] [ 1.15256366e-02 9.99933575e-01 -7.01414242e-05 -5.47352678e-02] [-6.72646940e-03 1.47676488e-04 9.99977366e-01 -7.28760473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.726559994999999 meters 0.05443901765103282 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.06, Z:-0.07 [[ 9.99899008e-01 -1.23809978e-02 6.97749242e-03 8.39717785e+00] [ 1.23818058e-02 9.99923340e-01 -7.26107355e-05 -5.51410922e-02] [-6.97605853e-03 1.58997358e-04 9.99975654e-01 -7.37370743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.786559995 meters 0.05451591552069014 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.06, Z:-0.08 [[ 9.99871247e-01 -1.49917880e-02 5.72151400e-03 8.45707021e+00] [ 1.49923738e-02 9.99887606e-01 -5.95145541e-05 -5.75658473e-02] [-5.71997870e-03 1.45285968e-04 9.99983630e-01 -7.50584921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.846559995 meters 0.054662594823604964 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.06, Z:-0.07 [[ 9.99881363e-01 -1.44374581e-02 5.36844109e-03 8.51646318e+00] [ 1.44379665e-02 9.99895766e-01 -5.59462544e-05 -5.80694881e-02] [-5.36707379e-03 1.33448990e-04 9.99985588e-01 -7.47103969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.906559995 meters 0.05488561154930512 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.06, Z:-0.08 [[ 9.99898818e-01 -1.33811078e-02 4.82690167e-03 8.57591725e+00] [ 1.33815042e-02 9.99910462e-01 -4.98488745e-05 -5.67804776e-02] [-4.82580245e-03 1.14435036e-04 9.99988349e-01 -7.53839137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.966559994999999 meters 0.05557617877894785 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.06, Z:-0.08 [[ 9.99893987e-01 -1.35209428e-02 5.40359022e-03 8.63307562e+00] [ 1.35214382e-02 9.99908580e-01 -5.51556692e-05 -6.01529212e-02] [-5.40235046e-03 1.28214133e-04 9.99985399e-01 -7.68285993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.026559995 meters 0.054997935018836104 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.06, Z:-0.08 [[ 9.99888078e-01 -1.41837282e-02 4.75964592e-03 8.69169192e+00] [ 1.41841173e-02 9.99899399e-01 -4.79823901e-05 -6.16535384e-02] [-4.75848652e-03 1.15488396e-04 9.99988672e-01 -7.81143169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.086559995 meters 0.055173611199684676 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.07, Z:-0.08 [[ 9.99807108e-01 -1.92724696e-02 3.78392382e-03 8.75189623e+00] [ 1.92727495e-02 9.99814263e-01 -3.74920721e-05 -6.52881785e-02] [-3.78249844e-03 1.10411456e-04 9.99992840e-01 -7.83978360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.146559994999999 meters 0.0551366467596118 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.06, Z:-0.08 [[ 9.99680732e-01 -2.47537695e-02 5.06796693e-03 8.81082668e+00] [ 2.47543415e-02 9.99693563e-01 -5.01693612e-05 -6.49043052e-02] [-5.06517204e-03 1.75607528e-04 9.99987157e-01 -7.71808095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.206559995 meters 0.05521270559983589 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.06, Z:-0.08 [[ 9.99549717e-01 -2.95194712e-02 5.38180149e-03 8.87078222e+00] [ 2.95201860e-02 9.99564183e-01 -5.34070153e-05 -6.20276579e-02] [-5.37787946e-03 2.12254748e-04 9.99985517e-01 -7.78526046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.266559995 meters 0.05478146578852073 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.06, Z:-0.08 [[ 9.99515909e-01 -3.04936677e-02 6.17117059e-03 8.92821834e+00] [ 3.04946262e-02 9.99534929e-01 -6.12594702e-05 -6.41433378e-02] [-6.16643253e-03 2.49417355e-04 9.99980956e-01 -7.84289453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.326559995 meters 0.05466814200605018 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.07, Z:-0.08 [[ 9.99507158e-01 -3.10689240e-02 4.49038017e-03 8.98720496e+00] [ 3.10694370e-02 9.99517228e-01 -4.45319621e-05 -6.68606710e-02] [-4.48682878e-03 1.84023599e-04 9.99989917e-01 -8.05306902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.386559994999999 meters 0.05391156420090364 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.05, Z:-0.08 [[ 9.99596467e-01 -2.77597818e-02 6.02477947e-03 9.04679053e+00] [ 2.77606386e-02 9.99614597e-01 -5.86041180e-05 -5.37017721e-02] [-6.02083067e-03 2.25832194e-04 9.99981849e-01 -8.23129020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.446559995 meters 0.054738198252450104 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.06, Z:-0.08 [[ 9.99651664e-01 -2.56997785e-02 6.00602907e-03 9.10609745e+00] [ 2.57005925e-02 9.99669684e-01 -5.83635330e-05 -6.28053909e-02] [-6.00254525e-03 2.12701708e-04 9.99981962e-01 -8.36373822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.506559995 meters 0.05410663635445122 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.06, Z:-0.08 [[ 9.99627669e-01 -2.66734992e-02 5.74870371e-03 9.16483878e+00] [ 2.66742613e-02 9.99644177e-01 -5.59159359e-05 -6.19446522e-02] [-5.74516671e-03 2.09237541e-04 9.99983475e-01 -8.39353342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.566559994999999 meters 0.05331340949187204 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.06, Z:-0.09 [[ 9.99593569e-01 -2.79673962e-02 5.52457111e-03 9.22427805e+00] [ 2.79681159e-02 9.99608814e-01 -5.30375081e-05 -5.75885415e-02] [-5.52092665e-03 2.07527797e-04 9.99984738e-01 -8.57189424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.626559995 meters 0.053950029112653404 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.07, Z:-0.09 [[ 9.99583094e-01 -2.82409306e-02 6.00732104e-03 9.28188344e+00] [ 2.82417866e-02 9.99601120e-01 -5.77005068e-05 -6.56606566e-02] [-6.00329532e-03 2.27333930e-04 9.99981954e-01 -8.82428633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.686559995 meters 0.053678367726180905 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.07, Z:-0.09 [[ 9.99483745e-01 -3.15126418e-02 6.26079677e-03 9.34188997e+00] [ 3.15136299e-02 9.99503320e-01 -5.92157827e-05 -7.22471166e-02] [-6.25582111e-03 2.56485644e-04 9.99980399e-01 -8.91569972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.746559995 meters 0.05350937104790722 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.07, Z:-0.09 [[ 9.99517343e-01 -3.02585495e-02 7.03575011e-03 9.39987955e+00] [ 3.02597667e-02 9.99542066e-01 -6.65957069e-05 -6.67611274e-02] [-7.03051312e-03 2.79463721e-04 9.99975247e-01 -8.92301021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.806559994999999 meters 0.05340327038117921 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.07, Z:-0.09 [[ 9.99485790e-01 -3.11890428e-02 7.44305613e-03 9.45879867e+00] [ 3.11904281e-02 9.99513458e-01 -7.00861980e-05 -6.91944497e-02] [-7.43724884e-03 3.02202266e-04 9.99972298e-01 -9.00739570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.866559995 meters 0.05387053521980695 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.07, Z:-0.09 [[ 9.99500630e-01 -3.08574294e-02 6.80516145e-03 9.51724617e+00] [ 3.08585756e-02 9.99523759e-01 -6.34610049e-05 -7.46358844e-02] [-6.79996231e-03 2.73426903e-04 9.99976843e-01 -9.14607954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.926559995 meters 0.05273541070591303 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.07, Z:-0.09 [[ 9.99625301e-01 -2.62424780e-02 7.78392190e-03 9.57725986e+00] [ 2.62438307e-02 9.99655569e-01 -7.16746912e-05 -6.54817654e-02] [-7.77935995e-03 2.75927764e-04 9.99969702e-01 -9.31978442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.986559995 meters 0.05459509231521453 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.08, Z:-0.09 [[ 9.99629845e-01 -2.63416615e-02 6.80370319e-03 9.63424507e+00] [ 2.63426972e-02 9.99652969e-01 -6.26276115e-05 -7.78883249e-02] [-6.79969238e-03 2.41832322e-04 9.99976853e-01 -9.48101758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.046559994999999 meters 0.05205428081748469 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.07, Z:-0.10 [[ 9.99593699e-01 -2.78491787e-02 6.07121487e-03 9.69370340e+00] [ 2.78500258e-02 9.99612111e-01 -5.50088446e-05 -7.18664398e-02] [-6.06732797e-03 2.24069985e-04 9.99981568e-01 -9.51505000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.106559995 meters 0.05111517930212944 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.06, Z:-0.10 [[ 9.99637753e-01 -2.60391510e-02 6.80634821e-03 9.75364506e+00] [ 2.60401724e-02 9.99660895e-01 -6.14656100e-05 -5.94092857e-02] [-6.80243963e-03 2.38681825e-04 9.99976835e-01 -9.54560431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.166559995 meters 0.05170806591926038 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.07, Z:-0.10 [[ 9.99653478e-01 -2.55233596e-02 6.44068406e-03 9.81110262e+00] [ 2.55242634e-02 9.99674201e-01 -5.81542381e-05 -6.89480768e-02] [-6.43710141e-03 2.22527803e-04 9.99979257e-01 -9.64770537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.226559994999999 meters 0.05184147156475895 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.06, Z:-0.10 [[ 9.99715612e-01 -2.20977923e-02 8.96567111e-03 9.87114248e+00] [ 2.20993953e-02 9.99755775e-01 -7.97470973e-05 -6.49369015e-02] [-8.96171923e-03 2.77860328e-04 9.99959804e-01 -9.66320446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.286559995 meters 0.05140421990144082 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.07, Z:-0.10 [[ 9.99734622e-01 -2.12589818e-02 8.87361785e-03 9.93032166e+00] [ 2.12605172e-02 9.99773967e-01 -7.87224218e-05 -6.76800845e-02] [-8.86993856e-03 2.67359236e-04 9.99960626e-01 -9.71148840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.346559995 meters 0.052343123468689204 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.07, Z:-0.10 [[ 9.99705989e-01 -2.26176861e-02 8.73935219e-03 9.98795002e+00] [ 2.26192194e-02 9.99744150e-01 -7.66262202e-05 -7.19009826e-02] [-8.73538312e-03 2.74281016e-04 9.99961808e-01 -9.83788822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.406559995 meters 0.05243434737035407 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.08, Z:-0.10 [[ 9.99680637e-01 -2.40745076e-02 7.68382054e-03 1.00464888e+01] [ 2.40757334e-02 9.99710135e-01 -6.70699365e-05 -7.58060504e-02] [-7.67997860e-03 2.52042132e-04 9.99970477e-01 -9.92845364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.466559994999999 meters 0.050653630981898234 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.06, Z:-0.10 [[ 9.99672165e-01 -2.46048795e-02 7.08259224e-03 1.01055515e+01] [ 2.46059328e-02 9.99697226e-01 -6.16021529e-05 -6.47873180e-02] [-7.07893210e-03 2.35855746e-04 9.99974916e-01 -1.00126526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.526559995 meters 0.05193667988353697 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.07, Z:-0.10 [[ 9.99757410e-01 -2.05501262e-02 7.92550536e-03 1.01662003e+01] [ 2.05513100e-02 9.99788797e-01 -6.79432574e-05 -7.49614043e-02] [-7.92243523e-03 2.30806293e-04 9.99968590e-01 -9.96109709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.586559995 meters 0.05170413314476029 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.07, Z:-0.10 [[ 9.99810338e-01 -1.81191948e-02 7.14028289e-03 1.02260078e+01] [ 1.81200941e-02 9.99835816e-01 -6.12632006e-05 -7.44194120e-02] [-7.13800052e-03 1.90634179e-04 9.99974506e-01 -1.00508974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.646559994999999 meters 0.05073895002128242 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.07, Z:-0.10 [[ 9.99894650e-01 -1.27308329e-02 6.97239840e-03 1.02856742e+01] [ 1.27315586e-02 9.99918949e-01 -5.96999486e-05 -7.03171527e-02] [-6.97107324e-03 1.48463158e-04 9.99975691e-01 -1.01609382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.706559995 meters 0.05098909428159303 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.07, Z:-0.10 [[ 9.99928800e-01 -9.92268912e-03 6.62836140e-03 1.03453704e+01] [ 9.92328286e-03 9.99950761e-01 -5.66925151e-05 -6.95581076e-02] [-6.62747249e-03 1.22463584e-04 9.99978031e-01 -1.02097195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.766559995 meters 0.05018161996423955 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.07, Z:-0.10 [[ 9.99922900e-01 -1.08170147e-02 6.09800166e-03 1.04060460e+01] [ 1.08175331e-02 9.99941487e-01 -5.20401194e-05 -7.26582469e-02] [-6.09708193e-03 1.18001442e-04 9.99981406e-01 -1.02681651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.826559995 meters 0.05038105191620361 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.07, Z:-0.10 [[ 9.99935972e-01 -9.03424124e-03 6.81421412e-03 1.04656053e+01] [ 9.03484730e-03 9.99959183e-01 -5.81618363e-05 -7.10111374e-02] [-6.81341054e-03 1.19723496e-04 9.99976781e-01 -1.02656201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.886559994999999 meters 0.05032014993055474 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.07, Z:-0.10 [[ 9.99955466e-01 -7.13216431e-03 6.18049494e-03 1.05264593e+01] [ 7.13262584e-03 9.99974561e-01 -5.26372716e-05 -6.97882705e-02] [-6.17996229e-03 9.67180853e-05 9.99980899e-01 -1.04122897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.946559995 meters 0.05038871382942531 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.07, Z:-0.11 [[ 9.99973399e-01 -5.70900546e-03 4.53955528e-03 1.05871915e+01] [ 5.70923957e-03 9.99983701e-01 -3.86137090e-05 -7.22725229e-02] [-4.53926084e-03 6.45300904e-05 9.99989695e-01 -1.05812327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.006559995 meters 0.05019238766634783 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.07, Z:-0.11 [[ 9.99987342e-01 -2.12714032e-03 4.55970211e-03 1.06476851e+01] [ 2.12733985e-03 9.99997736e-01 -3.89112057e-05 -6.96640706e-02] [-4.55960902e-03 4.86107492e-05 9.99989604e-01 -1.06208260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.066559994999999 meters 0.05008706877561215 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.07, Z:-0.11 [[ 9.99992980e-01 8.61156629e-04 3.64667482e-03 1.07089170e+01] [-8.61049106e-04 9.99999629e-01 -3.10550855e-05 -6.68986051e-02] [-3.64670021e-03 2.79149014e-05 9.99993350e-01 -1.07073065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.126559995 meters 0.049781672973967725 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.07, Z:-0.11 [[ 9.99991862e-01 2.45934983e-03 3.19789631e-03 1.07706937e+01] [-2.45927541e-03 9.99996976e-01 -2.72011022e-05 -6.72855964e-02] [-3.19795354e-03 1.93363731e-05 9.99994886e-01 -1.07515130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.186559995 meters 0.04969626475329077 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.07, Z:-0.11 [[ 9.99990573e-01 3.44074166e-03 2.64878814e-03 1.08322826e+01] [-3.44069381e-03 9.99994081e-01 -2.26197512e-05 -6.85838620e-02] [-2.64885029e-03 1.35058690e-05 9.99996492e-01 -1.08720802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.246559995 meters 0.04972807580155634 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.07, Z:-0.11 [[ 9.99989757e-01 3.78039785e-03 2.48872757e-03 1.08948953e+01] [-3.78035684e-03 9.99992854e-01 -2.11831607e-05 -6.88302769e-02] [-2.48878987e-03 1.17746655e-05 9.99996903e-01 -1.09353317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.306559994999999 meters 0.04940373707907488 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.07, Z:-0.11 [[ 9.99977670e-01 5.76801743e-03 3.37490427e-03 1.09574881e+01] [-5.76795207e-03 9.99983365e-01 -2.90975902e-05 -6.65303437e-02] [-3.37501596e-03 9.63065441e-06 9.99994305e-01 -1.09216945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.366559995 meters 0.04966018291235299 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.07, Z:-0.11 [[ 9.99962070e-01 7.88751535e-03 3.69402076e-03 1.10187060e+01] [-7.88745084e-03 9.99968893e-01 -3.20317760e-05 -6.66676253e-02] [-3.69415850e-03 2.89415386e-06 9.99993177e-01 -1.09248454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.426559995 meters 0.04928836545105201 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.07, Z:-0.11 [[ 9.99961963e-01 7.89090926e-03 3.71559959e-03 1.10809312e+01] [-7.89084502e-03 9.99968866e-01 -3.19491854e-05 -6.75803949e-02] [-3.71573602e-03 2.62874966e-06 9.99993097e-01 -1.10314872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.486559995 meters 0.049615894947176095 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.07, Z:-0.11 [[ 9.99967060e-01 7.61128072e-03 2.81908084e-03 1.11433937e+01] [-7.61124234e-03 9.99971034e-01 -2.43412277e-05 -6.80492792e-02] [-2.81918445e-03 2.88371850e-06 9.99996026e-01 -1.11141671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.546559994999999 meters 0.04911429244877463 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.07, Z:-0.11 [[ 9.99966346e-01 7.76656516e-03 2.64345420e-03 1.12054360e+01] [-7.76653064e-03 9.99969840e-01 -2.33246882e-05 -6.75994481e-02] [-2.64355562e-03 2.79343521e-06 9.99996506e-01 -1.12176313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.606559995 meters 0.04854745594760983 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.07, Z:-0.11 [[ 9.99960395e-01 8.44822706e-03 2.79934734e-03 1.12673974e+01] [-8.44818965e-03 9.99964313e-01 -2.51892796e-05 -6.72483439e-02] [-2.79946025e-03 1.53886470e-06 9.99996082e-01 -1.12701461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.666559995 meters 0.047923694458392806 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.07, Z:-0.11 [[ 9.99960146e-01 8.38845953e-03 3.05614634e-03 1.13303043e+01] [-8.38841440e-03 9.99964816e-01 -2.75855451e-05 -6.76563650e-02] [-3.05627021e-03 1.94822373e-06 9.99995330e-01 -1.12861413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.726559994999999 meters 0.04872125870982952 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.07, Z:-0.11 [[ 9.99967713e-01 7.63353114e-03 2.51037358e-03 1.13921001e+01] [-7.63349898e-03 9.99970864e-01 -2.23925230e-05 -6.84976159e-02] [-2.51047137e-03 3.22886583e-06 9.99996849e-01 -1.14368913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.786559995 meters 0.048549914183573864 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.07, Z:-0.11 [[ 9.99958854e-01 8.77144075e-03 2.31359450e-03 1.14544706e+01] [-8.77141481e-03 9.99961530e-01 -2.13576159e-05 -6.79801867e-02] [-2.31369284e-03 1.06324002e-06 9.99997323e-01 -1.14784272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.846559995 meters 0.04927348072081271 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.07, Z:-0.12 [[ 9.99943497e-01 1.04276013e-02 2.06586145e-03 1.15164090e+01] [-1.04275841e-02 9.99945631e-01 -1.91129799e-05 -6.59317598e-02] [-2.06594843e-03 -2.43004396e-06 9.99997866e-01 -1.15845723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.906559995 meters 0.04931877619152986 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.06, Z:-0.12 [[ 9.99930582e-01 1.16120123e-02 1.99804053e-03 1.15775096e+01] [-1.16119983e-02 9.99932578e-01 -1.85920014e-05 -6.48733780e-02] [-1.99812171e-03 -4.61053246e-06 9.99998004e-01 -1.16462816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.966559994999999 meters 0.04849516379937976 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.06, Z:-0.12 [[ 9.99908556e-01 1.33429680e-02 2.20104502e-03 1.16400112e+01] [-1.33429552e-02 9.99910979e-01 -2.05077404e-05 -6.46776282e-02] [-2.20112272e-03 -8.86258003e-06 9.99997577e-01 -1.15555228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.026559995 meters 0.04869546200747102 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.06, Z:-0.12 [[ 9.99892585e-01 1.44270294e-02 2.58448255e-03 1.17015248e+01] [-1.44270149e-02 9.99895925e-01 -2.42584863e-05 -6.28093428e-02] [-2.58456355e-03 -1.30304877e-05 9.99996660e-01 -1.16682909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.086559995 meters 0.04929099925234046 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.06, Z:-0.12 [[ 9.99892429e-01 1.43710663e-02 2.93315554e-03 1.17641465e+01] [-1.43710486e-02 9.99896731e-01 -2.71312833e-05 -6.14543209e-02] [-2.93324254e-03 -1.50241560e-05 9.99995698e-01 -1.17549830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.146559994999999 meters 0.04850811420939816 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.06, Z:-0.12 [[ 9.99894227e-01 1.43302609e-02 2.48544992e-03 1.18270276e+01] [-1.43302476e-02 9.99897316e-01 -2.31784437e-05 -6.12379984e-02] [-2.48552686e-03 -1.24411206e-05 9.99996911e-01 -1.17808840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.206559995 meters 0.04925691769748132 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.06, Z:-0.12 [[ 9.99895488e-01 1.42706011e-02 2.31578937e-03 1.18891062e+01] [-1.42705887e-02 9.99898170e-01 -2.19010105e-05 -5.94847793e-02] [-2.31586609e-03 -1.11489560e-05 9.99997318e-01 -1.20470500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.266559995 meters 0.048662231627964396 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.06, Z:-0.12 [[ 9.99885530e-01 1.50720615e-02 1.32645008e-03 1.19513860e+01] [-1.50720578e-02 9.99886410e-01 -1.28338674e-05 -6.00869718e-02] [-1.32649284e-03 -7.15993391e-06 9.99999120e-01 -1.20211055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.326559995 meters 0.04878546645126733 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.06, Z:-0.12 [[ 9.99852489e-01 1.71696143e-02 4.52036145e-04 1.20132224e+01] [-1.71696142e-02 9.99852591e-01 -4.23944488e-06 -5.95818240e-02] [-4.52042300e-04 -3.52246667e-06 9.99999898e-01 -1.20905218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.386559994999999 meters 0.048561494736162135 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.06, Z:-0.12 [[ 9.99811447e-01 1.94169870e-02 2.27561330e-04 1.20747962e+01] [-1.94169871e-02 9.99811473e-01 -1.83471721e-06 -5.84428309e-02] [-2.27554053e-04 -2.58418414e-06 9.99999974e-01 -1.21406296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.446559995 meters 0.04839862479865544 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.06, Z:-0.12 [[ 9.99816126e-01 1.91504801e-02 9.86576570e-04 1.21358542e+01] [-1.91504801e-02 9.99816613e-01 -9.43878298e-06 -5.61330400e-02] [-9.86576402e-04 -9.45636754e-06 9.99999513e-01 -1.23263897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.506559995 meters 0.04802450644411052 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.06, Z:-0.12 [[ 9.99826249e-01 1.85539481e-02 1.79501847e-03 1.21982078e+01] [-1.85539460e-02 9.99827861e-01 -1.78464173e-05 -5.74436378e-02] [-1.79504060e-03 -1.54613592e-05 9.99998389e-01 -1.23503266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.566559994999999 meters 0.04834084081647306 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.06, Z:-0.12 [[ 9.99848272e-01 1.73058867e-02 1.98451438e-03 1.22589851e+01] [-1.73058821e-02 9.99850242e-01 -1.94828192e-05 -5.85156070e-02] [-1.98455435e-03 -1.48639087e-05 9.99998031e-01 -1.23392393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.626559995 meters 0.04818832511028909 Centerline is valid? [True, True] Translation: X:12.32, Y:-0.06, Z:-0.12 [[ 9.99922409e-01 1.21134037e-02 2.90530876e-03 1.23211255e+01] [-1.21133701e-02 9.99926630e-01 -2.91772584e-05 -6.16219983e-02] [-2.90544903e-03 -6.01808570e-06 9.99995779e-01 -1.23627717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.686559995 meters 0.04880226082022728 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.06, Z:-0.12 [[ 9.99963343e-01 8.12581764e-03 2.69887224e-03 1.23838109e+01] [-8.12577264e-03 9.99966985e-01 -2.76403342e-05 -6.45708729e-02] [-2.69900774e-03 5.70889875e-06 9.99996358e-01 -1.24516326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.746559995 meters 0.048862458356990775 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.07, Z:-0.12 [[ 9.99993043e-01 3.25338014e-03 1.82481012e-03 1.24455028e+01] [-3.25335204e-03 9.99994708e-01 -1.83650851e-05 -6.88545932e-02] [-1.82486021e-03 1.24282076e-05 9.99998335e-01 -1.24117064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.806559994999999 meters 0.048373222960882076 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.07, Z:-0.12 [[ 9.99997975e-01 7.75597792e-04 1.85691045e-03 1.25076411e+01] [-7.75563306e-04 9.99999699e-01 -1.92915711e-05 -7.16164805e-02] [-1.85692486e-03 1.78513804e-05 9.99998276e-01 -1.24587478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.866559995 meters 0.04869521721494177 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.08, Z:-0.12 [[ 9.99988963e-01 -3.51419403e-03 3.11846962e-03 1.25687046e+01] [ 3.51431361e-03 9.99993824e-01 -3.28647026e-05 -7.53904202e-02] [-3.11833486e-03 4.38236201e-05 9.99995137e-01 -1.24941309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.926559995 meters 0.04876812789602581 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.08, Z:-0.13 [[ 9.99975166e-01 -6.15868285e-03 3.42595649e-03 1.26294228e+01] [ 6.15884317e-03 9.99981033e-01 -3.62466453e-05 -7.97661096e-02] [-3.42566828e-03 5.73456739e-05 9.99994131e-01 -1.25668137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.986559994999999 meters 0.049075263452444055 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.08, Z:-0.13 [[ 9.99959391e-01 -8.42257032e-03 3.20587786e-03 1.26887156e+01] [ 8.42272244e-03 9.99964528e-01 -3.39538259e-05 -8.39964098e-02] [-3.20547816e-03 6.09546664e-05 9.99994861e-01 -1.27046401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.046559994999999 meters 0.04926186125531923 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.08, Z:-0.13 [[ 9.99940440e-01 -1.05124793e-02 2.93315714e-03 1.27483708e+01] [ 1.05126157e-02 9.99944740e-01 -3.10846141e-05 -8.39984082e-02] [-2.93266828e-03 6.19179167e-05 9.99995698e-01 -1.27542382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.106559995 meters 0.05017063205197871 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.09, Z:-0.13 [[ 9.99893639e-01 -1.41489216e-02 3.53810305e-03 1.28072364e+01] [ 1.41491425e-02 9.99899895e-01 -3.74075736e-05 -9.00375692e-02] [-3.53721959e-03 8.74647190e-05 9.99993740e-01 -1.28489422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.166559995 meters 0.05074663279581795 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.10, Z:-0.13 [[ 9.99771542e-01 -2.10913668e-02 3.46669552e-03 1.28675347e+01] [ 2.10916201e-02 9.99777546e-01 -3.65251138e-05 -9.67718645e-02] [-3.46515397e-03 1.09634994e-04 9.99993990e-01 -1.28180397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.226559994999999 meters 0.0510505268468537 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.10, Z:-0.13 [[ 9.99683657e-01 -2.48622308e-02 3.80209325e-03 1.29282519e+01] [ 2.48625632e-02 9.99690878e-01 -4.01816374e-05 -9.79937954e-02] [-3.79991894e-03 1.34698710e-04 9.99992771e-01 -1.28976405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.286559995 meters 0.05294952615405462 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.11, Z:-0.13 [[ 9.99553485e-01 -2.95987729e-02 4.09187299e-03 1.29874981e+01] [ 2.95991966e-02 9.99561847e-01 -4.29941412e-05 -1.10044346e-01] [-4.08880755e-03 1.64091097e-04 9.99991627e-01 -1.29729697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.346559995 meters 0.051539224004528754 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.11, Z:-0.13 [[ 9.99516093e-01 -3.07507232e-02 4.68751294e-03 1.30466284e+01] [ 3.07512920e-02 9.99527066e-01 -4.92967230e-05 -1.06702833e-01] [-4.68378014e-03 1.93419947e-04 9.99989012e-01 -1.29605142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.406559994999999 meters 0.052495909355351277 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.11, Z:-0.13 [[ 9.99380180e-01 -3.49007663e-02 4.60350045e-03 1.31067086e+01] [ 3.49013581e-02 9.99390761e-01 -4.82524350e-05 -1.13149567e-01] [-4.59901177e-03 2.08890945e-04 9.99989403e-01 -1.30958748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.466559994999999 meters 0.05012475540713837 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.09, Z:-0.13 [[ 9.99373641e-01 -3.50147647e-02 5.12756637e-03 1.31648306e+01] [ 3.50155017e-02 9.99386768e-01 -5.39970798e-05 -9.06938447e-02] [-5.12253128e-03 2.33507567e-04 9.99986852e-01 -1.31493726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.526559995 meters 0.04987536067736813 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.10, Z:-0.13 [[ 9.99390991e-01 -3.47323582e-02 3.36300110e-03 1.32230879e+01] [ 3.47326729e-02 9.99396638e-01 -3.52013853e-05 -9.68761696e-02] [-3.35974936e-03 1.51985964e-04 9.99994344e-01 -1.32859398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.586559995 meters 0.05073019344491332 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.10, Z:-0.13 [[ 9.99364264e-01 -3.54669440e-02 3.62809697e-03 1.32821592e+01] [ 3.54673133e-02 9.99370836e-01 -3.74878039e-05 -9.86319888e-02] [-3.62448473e-03 1.66142824e-04 9.99993418e-01 -1.34205490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.646559994999999 meters 0.0528765097589389 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.11, Z:-0.14 [[ 9.99327183e-01 -3.63223443e-02 5.08617762e-03 1.33410615e+01] [ 3.63230765e-02 9.99340098e-01 -5.16408877e-05 -1.14679327e-01] [-5.08094552e-03 2.36351762e-04 9.99987064e-01 -1.35965290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.706559995 meters 0.05060447490626237 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.10, Z:-0.14 [[ 9.99316310e-01 -3.63245074e-02 6.88792427e-03 1.33998245e+01] [ 3.63258429e-02 9.99339996e-01 -6.88465810e-05 -9.97922263e-02] [-6.88087740e-03 3.19009166e-04 9.99976276e-01 -1.36849976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.766559995 meters 0.05070381567402316 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.10, Z:-0.14 [[ 9.99409408e-01 -3.39065858e-02 5.58385870e-03 1.34601647e+01] [ 3.39074217e-02 9.99424977e-01 -5.50719728e-05 -1.01426975e-01] [-5.57878055e-03 2.44373699e-04 9.99984409e-01 -1.39467088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.826559995 meters 0.05190984497518104 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.11, Z:-0.14 [[ 9.99656403e-01 -2.58525226e-02 4.32692733e-03 1.35201959e+01] [ 2.58529491e-02 9.99665756e-01 -4.26636788e-05 -1.10814873e-01] [-4.32437811e-03 1.54512852e-04 9.99990638e-01 -1.42328038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.886559994999999 meters 0.05116852190607923 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.11, Z:-0.14 [[ 9.99760674e-01 -2.17126300e-02 2.67501955e-03 1.35802862e+01] [ 2.17127782e-02 9.99764249e-01 -2.63785229e-05 -1.07744839e-01] [-2.67381617e-03 8.44543162e-05 9.99996422e-01 -1.42321778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.946559995 meters 0.04961992078661071 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.10, Z:-0.14 [[ 9.99830411e-01 -1.80656434e-02 3.57503178e-03 1.36407800e+01] [ 1.80658849e-02 9.99836798e-01 -3.52622780e-05 -1.04211806e-01] [-3.57381129e-03 9.98424106e-05 9.99993609e-01 -1.42335955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.006559995 meters 0.05029643108835405 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.11, Z:-0.14 [[ 9.99871035e-01 -1.53767439e-02 4.63340755e-03 1.36999026e+01] [ 1.53771204e-02 9.99881764e-01 -4.56596969e-05 -1.10331992e-01] [-4.63215762e-03 1.16902274e-04 9.99989265e-01 -1.43833501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.066559994999999 meters 0.04993474946322383 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.11, Z:-0.14 [[ 9.99928392e-01 -1.10433495e-02 4.61035352e-03 1.37596348e+01] [ 1.10436763e-02 9.99939016e-01 -4.54178738e-05 -1.06023199e-01] [-4.60957079e-03 9.63298733e-05 9.99989371e-01 -1.43095329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.126559995 meters 0.049038681285194126 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.11, Z:-0.14 [[ 9.99960406e-01 -7.81780351e-03 4.25067373e-03 1.38191209e+01] [ 7.81805173e-03 9.99969438e-01 -4.17825329e-05 -1.06538986e-01] [-4.25021717e-03 7.50128656e-05 9.99990965e-01 -1.42854823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.186559995 meters 0.049541134188252504 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.11, Z:-0.14 [[ 9.99976883e-01 -4.34089793e-03 5.23356972e-03 1.38785006e+01] [ 4.34122630e-03 9.99990576e-01 -5.13843432e-05 -1.05735793e-01] [-5.23329735e-03 7.41032659e-05 9.99986303e-01 -1.42134092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.246559995 meters 0.04905839732485883 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.11, Z:-0.14 [[ 9.99983491e-01 -1.88192949e-03 5.42919404e-03 1.39394169e+01] [ 1.88224609e-03 9.99998227e-01 -5.32062670e-05 -1.06041863e-01] [-5.42908428e-03 6.34244679e-05 9.99985260e-01 -1.42000356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.306559994999999 meters 0.04941329171139558 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.10, Z:-0.14 [[ 9.99990410e-01 3.33110329e-04 4.36673670e-03 1.40003131e+01] [-3.32926411e-04 9.99999944e-01 -4.28446325e-05 -1.02106264e-01] [-4.36675072e-03 4.13904197e-05 9.99990465e-01 -1.41397107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.366559995 meters 0.049324356985964074 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.10, Z:-0.14 [[ 9.99993335e-01 2.15203166e-03 2.94940373e-03 1.40621273e+01] [-2.15195597e-03 9.99997684e-01 -2.88360371e-05 -1.04733516e-01] [-2.94945896e-03 2.24888579e-05 9.99995650e-01 -1.43619654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.426559995 meters 0.04873198000076489 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.11, Z:-0.14 [[ 9.99993330e-01 2.01836220e-03 3.04394162e-03 1.41239123e+01] [-2.01828155e-03 9.99997963e-01 -2.95679972e-05 -1.05430112e-01] [-3.04399509e-03 2.34242688e-05 9.99995367e-01 -1.44588554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.486559994999999 meters 0.04907104003972005 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.11, Z:-0.14 [[ 9.99991195e-01 -3.00280388e-04 4.18557054e-03 1.41848264e+01] [ 3.00457370e-04 9.99999954e-01 -4.16550442e-05 -1.09625631e-01] [-4.18555784e-03 4.29122629e-05 9.99991240e-01 -1.42804831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.546559994999999 meters 0.049315716715636095 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.11, Z:-0.14 [[ 9.99986359e-01 -9.92842307e-04 5.12796699e-03 1.42455587e+01] [ 9.93118746e-04 9.99999506e-01 -5.13619744e-05 -1.12388118e-01] [-5.12791346e-03 5.64539539e-05 9.99986851e-01 -1.42279318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.606559995 meters 0.048830310772712514 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.12, Z:-0.14 [[ 9.99972475e-01 -5.68351214e-03 4.76934709e-03 1.43060313e+01] [ 5.68380804e-03 9.99983846e-01 -4.84905893e-05 -1.17009473e-01] [-4.76899444e-03 7.55973079e-05 9.99988625e-01 -1.43184283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.666559995 meters 0.050157038551977846 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.13, Z:-0.14 [[ 9.99880992e-01 -1.45657117e-02 5.08342714e-03 1.43656461e+01] [ 1.45661625e-02 9.99893906e-01 -5.16628065e-05 -1.26288830e-01] [-5.08213531e-03 1.25702684e-04 9.99987078e-01 -1.44354859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.726559994999999 meters 0.05051650657955733 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.13, Z:-0.14 [[ 9.99746632e-01 -2.19335550e-02 5.05869344e-03 1.44261253e+01] [ 2.19340971e-02 9.99759417e-01 -5.16859923e-05 -1.25434675e-01] [-5.05634275e-03 1.62630770e-04 9.99987203e-01 -1.44653848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.786559995 meters 0.05085336888261487 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.13, Z:-0.14 [[ 9.99685976e-01 -2.45678764e-02 4.93639173e-03 1.44859189e+01] [ 2.45684248e-02 9.99698149e-01 -5.04613244e-05 -1.28701221e-01] [-4.93366195e-03 1.71724847e-04 9.99987815e-01 -1.44642083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.846559995 meters 0.05066539031156785 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.13, Z:-0.14 [[ 9.99595596e-01 -2.79430088e-02 5.27567529e-03 1.45463335e+01] [ 2.79436817e-02 9.99609498e-01 -5.38558352e-05 -1.34082828e-01] [-5.27211023e-03 2.01255847e-04 9.99986082e-01 -1.44071579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.906559994999999 meters 0.05110930323820334 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.14, Z:-0.14 [[ 9.99597602e-01 -2.77385334e-02 5.93357569e-03 1.46039822e+01] [ 2.77393816e-02 9.99615187e-01 -6.06826810e-05 -1.36524856e-01] [-5.92960912e-03 2.25251983e-04 9.99982394e-01 -1.43953836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.966559994999999 meters 0.05858324862729194 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.16, Z:-0.14 [[ 9.99623005e-01 -2.69711715e-02 5.13840084e-03 1.46619207e+01] [ 2.69717966e-02 9.99636194e-01 -5.23936767e-05 -1.59386116e-01] [-5.13511833e-03 1.90965827e-04 9.99986797e-01 -1.44541579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.026559995 meters 0.05198245923379769 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.14, Z:-0.14 [[ 9.99743668e-01 -2.17301118e-02 6.35619354e-03 1.47225156e+01] [ 2.17309604e-02 9.99763853e-01 -6.44688122e-05 -1.37057252e-01] [-6.35329163e-03 2.02578477e-04 9.99979797e-01 -1.43432074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.086559995 meters 0.04951238223311787 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.12, Z:-0.14 [[ 9.99852301e-01 -1.65270555e-02 4.71506848e-03 1.47833979e+01] [ 1.65274648e-02 9.99863411e-01 -4.78456899e-05 -1.19691169e-01] [-4.71363370e-03 1.25766751e-04 9.99988883e-01 -1.43176950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.146559995 meters 0.05041740537329125 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.13, Z:-0.15 [[ 9.99860988e-01 -1.62147572e-02 3.88417714e-03 1.48407277e+01] [ 1.62150341e-02 9.99868527e-01 -3.98163533e-05 -1.32772334e-01] [-3.88302086e-03 1.02792883e-04 9.99992456e-01 -1.46122796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.206559995 meters 0.051086123468447174 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.13, Z:-0.15 [[ 9.99862757e-01 -1.60187928e-02 4.22682597e-03 1.48999243e+01] [ 1.60191165e-02 9.99871685e-01 -4.27506820e-05 -1.31526654e-01] [-4.22559879e-03 1.10454833e-04 9.99991066e-01 -1.46415240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.266559994999998 meters 0.051030636062730846 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.13, Z:-0.15 [[ 9.99854318e-01 -1.64457557e-02 4.56956036e-03 1.49586572e+01] [ 1.64461358e-02 9.99864752e-01 -4.56053682e-05 -1.29866938e-01] [-4.56819232e-03 1.20750335e-04 9.99989558e-01 -1.46563115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.326559995 meters 0.050651195931504654 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.12, Z:-0.15 [[ 9.99846602e-01 -1.69745995e-02 4.31685840e-03 1.50174499e+01] [ 1.69749416e-02 9.99855914e-01 -4.26309526e-05 -1.24786915e-01] [-4.31551276e-03 1.15902832e-04 9.99990681e-01 -1.45811884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.386559995 meters 0.04996641806733731 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.13, Z:-0.15 [[ 9.99898749e-01 -1.36077897e-02 4.16177244e-03 1.50774087e+01] [ 1.36080752e-02 9.99907405e-01 -4.02816333e-05 -1.31077079e-01] [-4.16083894e-03 9.69112669e-05 9.99991339e-01 -1.46778326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.446559994999998 meters 0.049478116221116655 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.13, Z:-0.15 [[ 9.99951720e-01 -9.33961386e-03 3.05437044e-03 1.51374322e+01] [ 9.33974783e-03 9.99956383e-01 -2.96007761e-05 -1.29912648e-01] [-3.05396076e-03 5.81263967e-05 9.99995335e-01 -1.47695099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.506559995 meters 0.05006765423706522 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.13, Z:-0.15 [[ 9.99974248e-01 -6.62219159e-03 2.76594589e-03 1.51963909e+01] [ 6.62229136e-03 9.99978072e-01 -2.69133597e-05 -1.27051966e-01] [-2.76570702e-03 4.52295662e-05 9.99996174e-01 -1.47723772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.566559995 meters 0.0499595901898692 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.13, Z:-0.15 [[ 9.99993402e-01 -3.12817644e-03 1.84658978e-03 1.52552583e+01] [ 3.12821490e-03 9.99995107e-01 -1.79382771e-05 -1.30208853e-01] [-1.84652463e-03 2.37146884e-05 9.99998295e-01 -1.48048252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.626559995 meters 0.049186120847569154 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.13, Z:-0.15 [[ 9.99997831e-01 1.34578336e-03 1.58958938e-03 1.53155679e+01] [-1.34576070e-03 9.99999094e-01 -1.53226736e-05 -1.29367610e-01] [-1.58960856e-03 1.31834334e-05 9.99998736e-01 -1.48290981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.686559995 meters 0.04950848081468475 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.13, Z:-0.15 [[ 9.99991219e-01 4.02559739e-03 1.16502995e-03 1.53764478e+01] [-4.02558722e-03 9.99991897e-01 -1.10743243e-05 -1.30037810e-01] [-1.16506509e-03 6.38429731e-06 9.99999321e-01 -1.47891842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.746559995 meters 0.04925119768708403 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.13, Z:-0.15 [[ 9.99935062e-01 1.11380621e-02 2.41160583e-03 1.54366365e+01] [-1.11380387e-02 9.99937970e-01 -2.31474675e-05 -1.25942779e-01] [-2.41171405e-03 -3.71459478e-06 9.99997092e-01 -1.47237521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.806559995 meters 0.04944187873614608 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.13, Z:-0.15 [[ 9.99905440e-01 1.36880038e-02 1.32246902e-03 1.54983959e+01] [-1.36879992e-02 9.99906315e-01 -1.25194258e-05 -1.26506538e-01] [-1.32251649e-03 -5.58371289e-06 9.99999125e-01 -1.46363780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.866559995 meters 0.04909378805135623 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.13, Z:-0.15 [[ 9.99899615e-01 1.41685785e-02 1.09605386e-04 1.55590499e+01] [-1.41685786e-02 9.99899621e-01 -6.26175455e-07 -1.28068017e-01] [-1.09603256e-04 -9.26839920e-07 9.99999994e-01 -1.47204427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.926559994999998 meters 0.04963136261322972 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.13, Z:-0.15 [[ 9.99871466e-01 1.60051108e-02 9.42620781e-04 1.56212178e+01] [-1.60051094e-02 9.99871910e-01 -8.94635871e-06 -1.26288023e-01] [-9.42643228e-04 -6.14153996e-06 9.99999556e-01 -1.46852433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.986559995 meters 0.04954067741122967 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.13, Z:-0.15 [[ 9.99861300e-01 1.66469711e-02 5.08346255e-04 1.56836462e+01] [-1.66469712e-02 9.99861430e-01 -4.13418883e-06 -1.27990322e-01] [-5.08344635e-04 -4.32881003e-06 9.99999871e-01 -1.45669030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.046559995 meters 0.04932176449598877 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.13, Z:-0.15 [[ 9.99869639e-01 1.61456001e-02 1.58182938e-04 1.57452306e+01] [-1.61456002e-02 9.99869651e-01 -6.43145492e-07 -1.29394457e-01] [-1.58172703e-04 -1.91089681e-06 9.99999987e-01 -1.45769626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.106559994999998 meters 0.05045187579441938 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.13, Z:-0.15 [[ 9.99911013e-01 1.32612483e-02 -1.45066950e-03 1.58079611e+01] [-1.32612394e-02 9.99912066e-01 1.57105044e-05 -1.32145231e-01] [ 1.45075027e-03 3.52856916e-06 9.99998948e-01 -1.46154485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.166559995 meters 0.05014473919036184 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.13, Z:-0.15 [[ 9.99927534e-01 1.19766303e-02 -1.21929956e-03 1.58686881e+01] [-1.19766234e-02 9.99928278e-01 1.29369552e-05 -1.32721464e-01] [ 1.21936705e-03 1.66707401e-06 9.99999257e-01 -1.47381098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.226559995 meters 0.049156280668573776 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.13, Z:-0.15 [[ 9.99919603e-01 1.26725668e-02 -4.39072638e-04 1.59298705e+01] [-1.26725656e-02 9.99919700e-01 5.32274508e-06 -1.32584443e-01] [ 4.39104833e-04 2.41859668e-07 9.99999904e-01 -1.47910244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.286559995 meters 0.0504864934776278 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.14, Z:-0.15 [[ 9.99919230e-01 1.26786731e-02 -8.85490161e-04 1.59926286e+01] [-1.26786690e-02 9.99919622e-01 1.02213469e-05 -1.35308534e-01] [ 8.85548580e-04 1.00631532e-06 9.99999608e-01 -1.45681677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.346559995 meters 0.049752421896029915 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.14, Z:-0.15 [[ 9.99915173e-01 1.30217865e-02 -2.83742981e-04 1.60543755e+01] [-1.30217860e-02 9.99915213e-01 3.84598330e-06 -1.36059749e-01] [ 2.83769005e-04 -1.50816679e-07 9.99999960e-01 -1.45509755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.406559995 meters 0.04904181768027042 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.13, Z:-0.15 [[ 9.99894073e-01 1.45331577e-02 7.93452742e-04 1.61154039e+01] [-1.45331557e-02 9.99894388e-01 -8.21606803e-06 -1.33648183e-01] [-7.93488350e-04 -3.31617454e-06 9.99999685e-01 -1.46691360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.466559995 meters 0.049886968762099436 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.14, Z:-0.15 [[ 9.99901032e-01 1.40317271e-02 -1.01867005e-03 1.61775464e+01] [-1.40317225e-02 9.99901550e-01 1.17508142e-05 -1.36002877e-01] [ 1.01873465e-03 2.54404417e-06 9.99999481e-01 -1.46412446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.526559995 meters 0.0502081289656276 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.14, Z:-0.14 [[ 9.99923443e-01 1.23323175e-02 -1.01121647e-03 1.62392558e+01] [-1.23323118e-02 9.99923954e-01 1.18039316e-05 -1.38040735e-01] [ 1.01128514e-03 6.67608867e-07 9.99999489e-01 -1.44863476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.586559995 meters 0.050250758948584766 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.14, Z:-0.14 [[ 9.99933836e-01 1.15031681e-02 2.62481974e-05 1.63017588e+01] [-1.15031681e-02 9.99933836e-01 5.81557606e-07 -1.37964339e-01] [-2.62397710e-05 -8.83456554e-07 1.00000000e+00 -1.44547266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.646559995 meters 0.05035329117528296 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.14, Z:-0.14 [[ 9.99971694e-01 7.48562098e-03 7.59649498e-04 1.63641161e+01] [-7.48561751e-03 9.99971982e-01 -7.42092111e-06 -1.40350458e-01] [-7.59683764e-04 1.73426547e-06 9.99999711e-01 -1.44558151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.706559995 meters 0.05000864220555575 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.14, Z:-0.15 [[ 9.99992895e-01 3.74502361e-03 4.29268747e-04 1.64253038e+01] [-3.74502223e-03 9.99992987e-01 -3.99977912e-06 -1.44523540e-01] [-4.29280716e-04 2.39212970e-06 9.99999908e-01 -1.45295305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.766559994999998 meters 0.05049110257447281 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.15, Z:-0.15 [[ 9.99999520e-01 -2.29023206e-04 -9.52768764e-04 1.64870215e+01] [ 2.29033727e-04 9.99999974e-01 1.09339795e-05 -1.45201920e-01] [ 9.52766234e-04 -1.11521904e-05 9.99999546e-01 -1.45716649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.826559995 meters 0.050768930098950386 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.15, Z:-0.15 [[ 9.99999759e-01 -5.07599856e-04 -4.73551711e-04 1.65467558e+01] [ 5.07602395e-04 9.99999871e-01 5.24194595e-06 -1.45822658e-01] [ 4.73548989e-04 -5.48232067e-06 9.99999888e-01 -1.45622430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.886559995 meters 0.05078920256162972 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.15, Z:-0.14 [[ 9.99998433e-01 -1.13866963e-03 -1.35559364e-03 1.66068758e+01] [ 1.13869126e-03 9.99999352e-01 1.51860705e-05 -1.47323975e-01] [ 1.35557547e-03 -1.67296493e-05 9.99999081e-01 -1.44593559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.946559994999998 meters 0.050767724130020404 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.15, Z:-0.14 [[ 9.99994798e-01 -2.29030403e-03 -2.27109314e-03 1.66665030e+01] [ 2.29036733e-03 9.99997377e-01 2.52730668e-05 -1.47033169e-01] [ 2.27102930e-03 -3.04745729e-05 9.99997421e-01 -1.44376245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.006559995 meters 0.051305028242720326 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.15, Z:-0.15 [[ 9.99997617e-01 -1.23330865e-03 -1.80150300e-03 1.67239473e+01] [ 1.23334623e-03 9.99999239e-01 1.97481707e-05 -1.47887061e-01] [ 1.80147727e-03 -2.19700006e-05 9.99998377e-01 -1.46303912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.066559995 meters 0.05081914348124095 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.15, Z:-0.15 [[ 9.99998008e-01 8.37641917e-04 -1.81183618e-03 1.67830224e+01] [-8.37606998e-04 9.99999649e-01 2.00316997e-05 -1.48906304e-01] [ 1.81185232e-03 -1.85140531e-05 9.99998358e-01 -1.46361667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.126559995 meters 0.05148641093320831 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.15, Z:-0.15 [[ 9.99997691e-01 1.09105849e-03 -1.85123969e-03 1.68423076e+01] [-1.09102252e-03 9.99999405e-01 2.04375894e-05 -1.48674167e-01] [ 1.85126089e-03 -1.84177980e-05 9.99998286e-01 -1.45703856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.186559995 meters 0.05038088089743093 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.15, Z:-0.15 [[ 9.99994496e-01 2.23509481e-03 -2.45217425e-03 1.69014829e+01] [-2.23503514e-03 9.99997502e-01 2.70713825e-05 -1.50122077e-01] [ 2.45222863e-03 -2.15905379e-05 9.99996993e-01 -1.46039262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.246559995 meters 0.05128606438420984 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.15, Z:-0.15 [[ 9.99991566e-01 3.11056384e-03 -2.68189248e-03 1.69610032e+01] [-3.11049548e-03 9.99995162e-01 2.96591742e-05 -1.52095529e-01] [ 2.68197176e-03 -2.13169096e-05 9.99996403e-01 -1.48375366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.306559995 meters 0.05100266606373933 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.16, Z:-0.15 [[ 9.99997942e-01 1.08621148e-03 -1.71329194e-03 1.70215349e+01] [-1.08618054e-03 9.99999410e-01 1.89869241e-05 -1.55499442e-01] [ 1.71331155e-03 -1.71259406e-05 9.99998532e-01 -1.48377673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.366559995 meters 0.0509628947615044 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.16, Z:-0.15 [[ 9.99999651e-01 5.06550407e-04 -6.64618001e-04 1.70824313e+01] [-5.06545623e-04 9.99999872e-01 7.36538312e-06 -1.55681135e-01] [ 6.64621647e-04 -7.02872121e-06 9.99999779e-01 -1.46936418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.426559994999998 meters 0.0511025126813195 Centerline is valid? [True, True] Translation: X:17.14, Y:-0.16, Z:-0.15 [[ 9.99998565e-01 1.66632879e-03 -3.05866118e-04 1.71429184e+01] [-1.66632783e-03 9.99998612e-01 3.38964810e-06 -1.55897571e-01] [ 3.05871342e-04 -2.87997001e-06 9.99999953e-01 -1.47192758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.486559995 meters 0.05141248861767374 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.16, Z:-0.15 [[ 9.99994879e-01 3.13459560e-03 -6.44476057e-04 1.72029025e+01] [-3.13459161e-03 9.99995087e-01 7.20786957e-06 -1.57939494e-01] [ 6.44495485e-04 -5.18766342e-06 9.99999792e-01 -1.50633234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.546559995 meters 0.05172273838173942 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.15, Z:-0.15 [[ 9.99989245e-01 4.45689526e-03 -1.28279447e-03 1.72639602e+01] [-4.45688075e-03 9.99990068e-01 1.41639931e-05 -1.53875747e-01] [ 1.28284485e-03 -8.44657881e-06 9.99999177e-01 -1.45989587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.606559994999998 meters 0.05196658089694126 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.16, Z:-0.15 [[ 9.99991505e-01 3.31572019e-03 -2.44877602e-03 1.73255479e+01] [-3.31566297e-03 9.99994503e-01 2.74250773e-05 -1.56970592e-01] [ 2.44885349e-03 -1.93055283e-05 9.99997001e-01 -1.49888497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.666559995 meters 0.051732898124258644 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.16, Z:-0.15 [[ 9.99992859e-01 1.44476625e-03 -3.49194877e-03 1.73855012e+01] [-1.44463802e-03 9.99998956e-01 3.92435938e-05 -1.55215424e-01] [ 3.49200182e-03 -3.41987116e-05 9.99993902e-01 -1.45937281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.726559995 meters 0.051829436349378644 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.16, Z:-0.15 [[ 9.99992945e-01 -3.31554622e-04 -3.74172741e-03 1.74440250e+01] [ 3.31712056e-04 9.99999944e-01 4.14546584e-05 -1.60246132e-01] [ 3.74171346e-03 -4.26955420e-05 9.99992999e-01 -1.46967727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.786559994999998 meters 0.05208907181798086 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.16, Z:-0.14 [[ 9.99996847e-01 -1.05847360e-03 -2.27741207e-03 1.75016917e+01] [ 1.05853334e-03 9.99999439e-01 2.50233327e-05 -1.62068394e-01] [ 2.27738431e-03 -2.74339703e-05 9.99997406e-01 -1.44998849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.846559995 meters 0.05112965678838896 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.16, Z:-0.15 [[ 9.99999520e-01 -3.44800854e-05 -9.79609683e-04 1.75601141e+01] [ 3.44905203e-05 9.99999999e-01 1.06352930e-05 -1.63614079e-01] [ 9.79609315e-04 -1.06690752e-05 9.99999520e-01 -1.46509560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.906559995 meters 0.05095908503597732 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.16, Z:-0.14 [[ 9.99969471e-01 6.49462049e-03 -4.34485586e-03 1.76194419e+01] [-6.49447373e-03 9.99978910e-01 4.78859222e-05 -1.56670798e-01] [ 4.34507522e-03 -1.96669080e-05 9.99990560e-01 -1.44851549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.966559995 meters 0.05173024377624288 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.15, Z:-0.14 [[ 9.99930025e-01 9.86562107e-03 -6.52791234e-03 1.76803208e+01] [-9.86536039e-03 9.99951334e-01 7.21330053e-05 -1.53853685e-01] [ 6.52830628e-03 -7.72775001e-06 9.99978690e-01 -1.43752955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.026559995 meters 0.052072196830502196 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.15, Z:-0.14 [[ 9.99870058e-01 1.41294256e-02 -7.76055098e-03 1.77409363e+01] [-1.41291846e-02 9.99900174e-01 8.58803022e-05 -1.50727501e-01] [ 7.76098972e-03 2.37811148e-05 9.99969883e-01 -1.42804453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.086559995 meters 0.05067401736305437 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.15, Z:-0.14 [[ 9.99840078e-01 1.65515317e-02 -6.77242015e-03 1.78020753e+01] [-1.65514018e-02 9.99863013e-01 7.52395852e-05 -1.48094578e-01] [ 6.77273775e-03 3.68654941e-05 9.99977064e-01 -1.43891461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.146559995 meters 0.05133541069510085 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.15, Z:-0.14 [[ 9.99839459e-01 1.70907670e-02 -5.38154267e-03 1.78639955e+01] [-1.70906894e-02 9.99853942e-01 6.04233034e-05 -1.47951902e-01] [ 5.38178933e-03 3.15606709e-05 9.99985518e-01 -1.39767323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.206559995 meters 0.05162333122790188 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.15, Z:-0.14 [[ 9.99806193e-01 1.89720866e-02 -5.25712267e-03 1.79265398e+01] [-1.89720387e-02 9.99820013e-01 5.89977049e-05 -1.46358210e-01] [ 5.25729576e-03 4.07520639e-05 9.99986179e-01 -1.38281374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.266559994999998 meters 0.05173470490366059 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.15, Z:-0.14 [[ 9.99750106e-01 2.13848402e-02 -6.51263396e-03 1.79882433e+01] [-2.13848155e-02 9.99771316e-01 7.34278819e-05 -1.45594492e-01] [ 6.51271487e-03 6.58619431e-05 9.99978790e-01 -1.35876852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.326559995 meters 0.0521480396551913 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.14, Z:-0.14 [[ 9.99665657e-01 2.42148633e-02 -9.06717845e-03 1.80479901e+01] [-2.42149303e-02 9.99706770e-01 1.02412444e-04 -1.40665216e-01] [ 9.06699959e-03 1.17182891e-04 9.99958887e-01 -1.37857567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.386559995 meters 0.05238795852215812 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.14, Z:-0.14 [[ 9.99632313e-01 2.49649794e-02 -1.05824421e-02 1.81086322e+01] [-2.49651052e-02 9.99688316e-01 1.20236376e-04 -1.35941515e-01] [ 1.05821454e-02 1.43999613e-04 9.99943997e-01 -1.40297452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.446559994999998 meters 0.0523819918947668 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.14, Z:-0.14 [[ 9.99657689e-01 2.38902532e-02 -1.06658882e-02 1.81710164e+01] [-2.38903023e-02 9.99714578e-01 1.22825777e-04 -1.35943199e-01] [ 1.06657783e-02 1.32027561e-04 9.99943110e-01 -1.36565992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.506559995 meters 0.05203143036348433 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.13, Z:-0.14 [[ 9.99711612e-01 2.18600163e-02 -9.94141747e-03 1.82321067e+01] [-2.18599482e-02 9.99761036e-01 1.15520516e-04 -1.32261240e-01] [ 9.94156711e-03 1.01831670e-04 9.99950576e-01 -1.41054667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.566559995 meters 0.0525595882932376 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.14, Z:-0.14 [[ 9.99827423e-01 1.63952821e-02 -8.73608283e-03 1.82938271e+01] [-1.63950222e-02 9.99865587e-01 1.01367374e-04 -1.36245279e-01] [ 8.73657054e-03 4.18783915e-05 9.99961835e-01 -1.35555530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.626559995 meters 0.05230988866878078 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.14, Z:-0.14 [[ 9.99923531e-01 1.02833506e-02 -6.86908619e-03 1.83545680e+01] [-1.02830454e-02 9.99947125e-01 7.97486887e-05 -1.38115368e-01] [ 6.86954307e-03 -9.10746558e-06 9.99976404e-01 -1.36605006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.686559995 meters 0.053124747423277545 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.14, Z:-0.14 [[ 9.99933521e-01 8.49885583e-03 -7.79253852e-03 1.84151937e+01] [-8.49840995e-03 9.99963884e-01 9.03302037e-05 -1.37353918e-01] [ 7.79302478e-03 -2.41000117e-05 9.99969634e-01 -1.35994762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.746559995 meters 0.05371981986881598 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.14, Z:-0.14 [[ 9.99937660e-01 5.27556821e-03 -9.84098297e-03 1.84752242e+01] [-5.27470100e-03 9.99986082e-01 1.14075534e-04 -1.37157477e-01] [ 9.84144781e-03 -6.21601802e-05 9.99951570e-01 -1.39013232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.806559995 meters 0.05360746662363451 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.14, Z:-0.14 [[ 9.99948566e-01 1.74074576e-03 -9.99178360e-03 1.85334528e+01] [-1.73967619e-03 9.99998480e-01 1.15736120e-04 -1.38359634e-01] [ 9.99196988e-03 -9.83476995e-05 9.99950074e-01 -1.40337758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.866559995 meters 0.053383228370213705 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.14, Z:-0.14 [[ 9.99950712e-01 -2.06775789e-03 -9.71071809e-03 1.85920540e+01] [ 2.06894396e-03 9.99997853e-01 1.12095833e-04 -1.43401577e-01] [ 9.71046546e-03 -1.32181240e-04 9.99952844e-01 -1.43607494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.926559994999998 meters 0.053986310511582716 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.15, Z:-0.14 [[ 9.99934127e-01 -8.90469956e-03 -7.24215292e-03 1.86523603e+01] [ 8.90553947e-03 9.99960341e-01 8.37352792e-05 -1.47309598e-01] [ 7.24112007e-03 -1.48225042e-04 9.99973772e-01 -1.40547948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.986559995 meters 0.05454446698900661 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.15, Z:-0.14 [[ 9.99899076e-01 -1.30639985e-02 -5.58298751e-03 1.87110772e+01] [ 1.30645607e-02 9.99914653e-01 6.42328570e-05 -1.51253323e-01] [ 5.58167188e-03 -1.37165653e-04 9.99984413e-01 -1.39391142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.046559995 meters 0.0554594231880529 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.15, Z:-0.14 [[ 9.99891428e-01 -1.38629144e-02 -4.99510897e-03 1.87694804e+01] [ 1.38633687e-02 9.99903897e-01 5.63253368e-05 -1.52922853e-01] [ 4.99384809e-03 -1.25568259e-04 9.99987523e-01 -1.41022118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.106559994999998 meters 0.05557311072121405 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.15, Z:-0.14 [[ 9.99869604e-01 -1.51166428e-02 -5.67995061e-03 1.88283347e+01] [ 1.51172469e-02 9.99885726e-01 6.34424828e-05 -1.54044935e-01] [ 5.67834250e-03 -1.49299426e-04 9.99983867e-01 -1.43627790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.166559995 meters 0.054834509613941686 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.14, Z:-0.14 [[ 9.99842483e-01 -1.67826930e-02 -5.77494276e-03 1.88881310e+01] [ 1.67833490e-02 9.99859148e-01 6.51372140e-05 -1.42252257e-01] [ 5.77303617e-03 -1.62049833e-04 9.99983323e-01 -1.38910499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.226559995 meters 0.055706912853981654 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.15, Z:-0.14 [[ 9.99810408e-01 -1.84945293e-02 -6.09105576e-03 1.89467584e+01] [ 1.84952897e-02 9.99828945e-01 6.85244558e-05 -1.50885747e-01] [ 6.08874653e-03 -1.81167305e-04 9.99981447e-01 -1.41123191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.286559994999998 meters 0.05528887778281583 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.14, Z:-0.14 [[ 9.99795584e-01 -1.93513111e-02 -5.85801689e-03 1.90055660e+01] [ 1.93520275e-02 9.99812730e-01 6.56377028e-05 -1.41771528e-01] [ 5.85564969e-03 -1.78988790e-04 9.99982840e-01 -1.36372968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.346559995 meters 0.055107783988031664 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.15, Z:-0.14 [[ 9.99831233e-01 -1.80081668e-02 -3.63474845e-03 1.90641823e+01] [ 1.80084336e-02 9.99837834e-01 4.06836813e-05 -1.54473885e-01] [ 3.63342638e-03 -1.06132942e-04 9.99993393e-01 -1.41064615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.406559995 meters 0.05502268997869983 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.16, Z:-0.14 [[ 9.99903182e-01 -1.35167177e-02 -3.30543390e-03 1.91234169e+01] [ 1.35169138e-02 9.99908642e-01 3.70016068e-05 -1.58736141e-01] [ 3.30463179e-03 -8.16772896e-05 9.99994536e-01 -1.42450661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.466559995 meters 0.055182495581746316 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.16, Z:-0.14 [[ 9.99942565e-01 -9.91490418e-03 -4.06952178e-03 1.91831480e+01] [ 9.91517125e-03 9.99950842e-01 4.54566886e-05 -1.55850878e-01] [ 4.06887104e-03 -8.58040832e-05 9.99991718e-01 -1.41839927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.526559995 meters 0.05349572024159442 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.15, Z:-0.14 [[ 9.99969565e-01 -5.07034295e-03 -5.92972515e-03 1.92432593e+01] [ 5.07082526e-03 9.99987141e-01 6.63050557e-05 -1.54328697e-01] [ 5.92931271e-03 -9.63716377e-05 9.99982417e-01 -1.42069576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.586559995 meters 0.053686302882493556 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.16, Z:-0.14 [[ 9.99983724e-01 -4.09428121e-04 -5.69065822e-03 1.93029751e+01] [ 4.09795512e-04 9.99999914e-01 6.33945017e-05 -1.55376535e-01] [ 5.69063178e-03 -6.57254762e-05 9.99983806e-01 -1.42264146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.646559995 meters 0.05383892946522434 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.16, Z:-0.14 [[ 9.99974229e-01 2.89793296e-03 -6.56842435e-03 1.93621686e+01] [-2.89752441e-03 9.99995800e-01 7.17148855e-05 -1.58763418e-01] [ 6.56860459e-03 -5.26808674e-05 9.99978425e-01 -1.43620769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.706559995 meters 0.05333471377112865 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.16, Z:-0.15 [[ 9.99971235e-01 3.43408387e-03 -6.76279648e-03 1.94198713e+01] [-3.43366096e-03 9.99994102e-01 7.41440647e-05 -1.63213573e-01] [ 6.76301121e-03 -5.09207817e-05 9.99977129e-01 -1.45103209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.766559994999998 meters 0.05366872185305994 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.17, Z:-0.14 [[ 9.99975656e-01 3.76231887e-03 -5.87648517e-03 1.94791796e+01] [-3.76200560e-03 9.99992922e-01 6.43607510e-05 -1.69560905e-01] [ 5.87668572e-03 -4.22518140e-05 9.99982731e-01 -1.44540970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.826559995 meters 0.05239133393298849 Centerline is valid? [True, True] Translation: X:19.54, Y:-0.17, Z:-0.14 [[ 9.99980080e-01 4.03797005e-03 -4.85126442e-03 1.95384825e+01] [-4.03776056e-03 9.99991847e-01 5.29755424e-05 -1.74550764e-01] [ 4.85143878e-03 -3.33862429e-05 9.99988231e-01 -1.42502084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.886559995 meters 0.05278585913367705 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.18, Z:-0.14 [[ 9.99935623e-01 1.04971523e-02 -4.30805171e-03 1.95981562e+01] [-1.04970472e-02 9.99944903e-01 4.70141504e-05 -1.75118907e-01] [ 4.30830786e-03 -1.78930168e-06 9.99990719e-01 -1.42368814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.946559994999998 meters 0.052937305945366 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.17, Z:-0.14 [[ 9.99764265e-01 2.09509964e-02 -5.69823418e-03 1.96585719e+01] [-2.09509800e-02 9.99780502e-01 6.25715057e-05 -1.72585605e-01] [ 5.69829436e-03 5.68268348e-05 9.99983763e-01 -1.44554633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.006559995 meters 0.05249688864897577 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.17, Z:-0.15 [[ 9.99637472e-01 2.64220169e-02 -5.17708555e-03 1.97189446e+01] [-2.64220768e-02 9.99650874e-01 5.68357764e-05 -1.70179961e-01] [ 5.17677982e-03 7.99741804e-05 9.99986597e-01 -1.46798366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.066559995 meters 0.05308522134680467 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.17, Z:-0.14 [[ 9.99571945e-01 2.88096247e-02 -5.09241038e-03 1.97810253e+01] [-2.88097120e-02 9.99584913e-01 5.62349459e-05 -1.67901150e-01] [ 5.09191669e-03 9.05000022e-05 9.99987032e-01 -1.44392953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.126559994999997 meters 0.05303009254002873 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.17, Z:-0.14 [[ 9.99594950e-01 2.80024384e-02 -5.07922766e-03 1.98429157e+01] [-2.80025088e-02 9.99607851e-01 5.72705638e-05 -1.70417882e-01] [ 5.07883956e-03 8.49837507e-05 9.99987099e-01 -1.43136682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.186559995 meters 0.0523162347421109 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.17, Z:-0.14 [[ 9.99569848e-01 2.90799374e-02 -3.80486603e-03 1.99050791e+01] [-2.90799819e-02 9.99577087e-01 4.36272512e-05 -1.67260379e-01] [ 3.80452558e-03 6.70369506e-05 9.99992761e-01 -1.44211288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.246559995 meters 0.05217542213922383 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.16, Z:-0.15 [[ 9.99505582e-01 3.12748056e-02 -3.23686712e-03 1.99671013e+01] [-3.12748508e-02 9.99510822e-01 3.66874829e-05 -1.63855908e-01] [ 3.23643111e-03 6.45631922e-05 9.99994761e-01 -1.45106923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.306559995 meters 0.052452892503273736 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.16, Z:-0.14 [[ 9.99486608e-01 3.19022773e-02 -2.96062695e-03 2.00296500e+01] [-3.19023150e-02 9.99490991e-01 3.44953660e-05 -1.64120008e-01] [ 2.96022045e-03 5.99731975e-05 9.99995617e-01 -1.43935682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.366559995 meters 0.052126459640024235 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.16, Z:-0.14 [[ 9.99455508e-01 3.28924464e-02 -2.60263904e-03 2.00910320e+01] [-3.28924781e-02 9.99458896e-01 3.06300340e-05 -1.62117461e-01] [ 2.60223824e-03 5.49938915e-05 9.99996613e-01 -1.44188758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.426559994999998 meters 0.05235604145877593 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.16, Z:-0.14 [[ 9.99348304e-01 3.60615601e-02 -1.59113723e-03 2.01518997e+01] [-3.60615765e-02 9.99349570e-01 1.83336712e-05 -1.60779728e-01] [ 1.59076345e-03 3.90571939e-05 9.99998734e-01 -1.42774540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.486559995 meters 0.05300635395926314 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.15, Z:-0.15 [[ 9.99261122e-01 3.83979052e-02 -1.67680173e-03 2.02116885e+01] [-3.83979263e-02 9.99262528e-01 1.96110223e-05 -1.54463271e-01] [ 1.67631816e-03 4.47891773e-05 9.99998594e-01 -1.45524858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.546559995 meters 0.05248756708428899 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.16, Z:-0.15 [[ 9.99202624e-01 3.98409773e-02 -2.61029670e-03 2.02739685e+01] [-3.98410338e-02 9.99206030e-01 3.04037575e-05 -1.57090464e-01] [ 2.60943552e-03 7.36174046e-05 9.99996593e-01 -1.45306948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.606559994999998 meters 0.05276060052886474 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.15, Z:-0.15 [[ 9.99231838e-01 3.91093100e-02 -2.48933074e-03 2.03356788e+01] [-3.91093568e-02 9.99234936e-01 2.98671882e-05 -1.54018974e-01] [ 2.48859433e-03 6.75118788e-05 9.99996901e-01 -1.45713563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.666559995 meters 0.05239131223955071 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.15, Z:-0.15 [[ 9.99216290e-01 3.95661775e-02 -1.15066488e-03 2.03980294e+01] [-3.95661871e-02 9.99216952e-01 1.44316800e-05 -1.48507144e-01] [ 1.15033486e-03 3.11070522e-05 9.99999338e-01 -1.46477163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.726559995 meters 0.05222324178890864 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.15, Z:-0.15 [[ 9.99153461e-01 4.11265379e-02 -9.84140506e-04 2.04601987e+01] [-4.11265461e-02 9.99153946e-01 1.18701563e-05 -1.51756071e-01] [ 9.83796048e-04 2.86141922e-05 9.99999516e-01 -1.45856294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.786559994999998 meters 0.052494984636626774 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.14, Z:-0.15 [[ 9.99026566e-01 4.40342424e-02 -2.62777825e-03 2.05206512e+01] [-4.40343125e-02 9.99030019e-01 3.11866918e-05 -1.43571350e-01] [ 2.62660264e-03 8.45560750e-05 9.99996547e-01 -1.49286725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.846559995 meters 0.053497700508854454 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.14, Z:-0.15 [[ 9.99001001e-01 4.45979456e-02 -2.83270980e-03 2.05816137e+01] [-4.45980267e-02 9.99005012e-01 3.45534234e-05 -1.39883180e-01] [ 2.83143230e-03 9.18143630e-05 9.99995987e-01 -1.50957918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.906559995 meters 0.0528501916004961 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.14, Z:-0.15 [[ 9.98971265e-01 4.52606071e-02 -2.80864018e-03 2.06440870e+01] [-4.52606884e-02 9.98975209e-01 3.46088460e-05 -1.40003520e-01] [ 2.80732833e-03 9.25477456e-05 9.99996055e-01 -1.51054524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.966559995 meters 0.05287151260875911 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.14, Z:-0.15 [[ 9.98950558e-01 4.57280677e-02 -2.59356745e-03 2.07063440e+01] [-4.57281378e-02 9.98953921e-01 3.23236028e-05 -1.43171352e-01] [ 2.59233247e-03 8.63093288e-05 9.99996636e-01 -1.50181412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.026559995 meters 0.05338500425106421 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.14, Z:-0.15 [[ 9.98939594e-01 4.59788729e-02 -2.37310822e-03 2.07680061e+01] [-4.59789313e-02 9.98942409e-01 2.99794207e-05 -1.37680660e-01] [ 2.37197686e-03 7.91653494e-05 9.99997184e-01 -1.51415584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.086559995 meters 0.05297227565464429 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.14, Z:-0.15 [[ 9.98952682e-01 4.57085791e-02 -2.06531969e-03 2.08300861e+01] [-4.57086221e-02 9.98954814e-01 2.63801476e-05 -1.38901495e-01] [ 2.06436684e-03 6.80503979e-05 9.99997867e-01 -1.51688278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.146559995 meters 0.052678930404220774 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.14, Z:-0.15 [[ 9.99023953e-01 4.41292924e-02 -1.93547344e-03 2.08914514e+01] [-4.41293284e-02 9.99025826e-01 2.41060458e-05 -1.35649601e-01] [ 1.93465174e-03 6.13286259e-05 9.99998127e-01 -1.53275473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.206559995 meters 0.05240111639992597 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.13, Z:-0.15 [[ 9.99067231e-01 4.31414794e-02 -1.86568950e-03 2.09539481e+01] [-4.31415095e-02 9.99068971e-01 2.41708438e-05 -1.34676297e-01] [ 1.86499525e-03 5.63403630e-05 9.99998259e-01 -1.53211134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.266559994999998 meters 0.05393161596209711 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.13, Z:-0.15 [[ 9.99135101e-01 4.15644009e-02 -1.20452674e-03 2.10144401e+01] [-4.15644128e-02 9.99135826e-01 1.51353723e-05 -1.27807108e-01] [ 1.20411491e-03 3.49431649e-05 9.99999274e-01 -1.54982699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.326559995 meters 0.053028282018889004 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.13, Z:-0.15 [[ 9.99308886e-01 3.71714535e-02 -1.84261511e-04 2.10751147e+01] [-3.71714538e-02 9.99308903e-01 2.31472049e-06 -1.29449519e-01] [ 1.84220210e-04 4.53614748e-06 9.99999983e-01 -1.53609856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.386559995 meters 0.05404743423525297 Centerline is valid? [True, True] Translation: X:21.14, Y:-0.12, Z:-0.15 [[ 9.99386725e-01 3.50166530e-02 8.45751157e-05 2.11355364e+01] [-3.50166530e-02 9.99386729e-01 -1.00009317e-06 -1.24393645e-01] [-8.45582681e-05 -1.96205764e-06 9.99999996e-01 -1.54585014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.446559994999998 meters 0.054349235412511514 Centerline is valid? [True, True] Translation: X:21.20, Y:-0.12, Z:-0.16 [[ 9.99388449e-01 3.49674384e-02 -7.84725922e-05 2.11984028e+01] [-3.49674384e-02 9.99388452e-01 1.92376336e-06 -1.19939906e-01] [ 7.84918715e-05 8.21398655e-07 9.99999997e-01 -1.55320763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.506559995 meters 0.05483580116281218 Centerline is valid? [True, True] Translation: X:21.26, Y:-0.11, Z:-0.16 [[ 9.99393578e-01 3.48018124e-02 1.14500477e-03 2.12600637e+01] [-3.48018194e-02 9.99394233e-01 -1.38493512e-05 -1.12312287e-01] [-1.14479314e-03 -2.60072964e-05 9.99999344e-01 -1.55981229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.566559995 meters 0.054576636478001386 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.11, Z:-0.15 [[ 9.99393480e-01 3.47769475e-02 1.79874834e-03 2.13224398e+01] [-3.47769631e-02 9.99395098e-01 -2.25990933e-05 -1.12945233e-01] [-1.79844620e-03 -3.99696183e-05 9.99998382e-01 -1.54688796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.626559994999997 meters 0.05519823476995541 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.10, Z:-0.16 [[ 9.99355749e-01 3.58842517e-02 6.39011189e-04 2.13831316e+01] [-3.58842540e-02 9.99355953e-01 -7.80687682e-06 -1.03880840e-01] [-6.38879779e-04 -1.51285926e-05 9.99999796e-01 -1.56502888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.686559995 meters 0.05534916448697922 Centerline is valid? [True, True] Translation: X:21.45, Y:-0.10, Z:-0.16 [[ 9.99347454e-01 3.61173278e-02 -4.51926112e-04 2.14453053e+01] [-3.61173284e-02 9.99347556e-01 6.68855336e-06 -9.95757386e-02] [ 4.51872828e-04 9.63817504e-06 9.99999898e-01 -1.57655461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.746559995 meters 0.05510404975844526 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.10, Z:-0.16 [[ 9.99388536e-01 3.49650017e-02 -5.05564097e-05 2.15073372e+01] [-3.49650017e-02 9.99388537e-01 1.50466114e-06 -9.73468995e-02] [ 5.05781068e-05 2.63963850e-07 9.99999999e-01 -1.57934579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.806559995 meters 0.05458165814096233 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.09, Z:-0.16 [[ 9.99411364e-01 3.42891469e-02 1.08645016e-03 2.15701153e+01] [-3.42891521e-02 9.99411954e-01 -1.38373630e-05 -9.31808021e-02] [-1.08628575e-03 -2.34242368e-05 9.99999410e-01 -1.57365603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.866559995 meters 0.05506436289060109 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.09, Z:-0.16 [[ 9.99418632e-01 3.40577609e-02 1.57046157e-03 2.16320975e+01] [-3.40577715e-02 9.99419866e-01 -1.99953371e-05 -8.96782261e-02] [-1.57023149e-03 -3.35027090e-05 9.99998767e-01 -1.58151822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.926559994999998 meters 0.055206620254922206 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.08, Z:-0.16 [[ 9.99416755e-01 3.41196829e-02 1.41313849e-03 2.16946167e+01] [-3.41196912e-02 9.99417754e-01 -1.82698879e-05 -8.44522743e-02] [-1.41293906e-03 -2.99566168e-05 9.99999001e-01 -1.59664454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.986559995 meters 0.05498841315426902 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.08, Z:-0.16 [[ 9.99391239e-01 3.48546188e-02 1.51867161e-03 2.17563476e+01] [-3.48546292e-02 9.99392393e-01 -1.96309898e-05 -8.14177660e-02] [-1.51843308e-03 -3.33136966e-05 9.99998847e-01 -1.60853730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.046559995 meters 0.05504222290835709 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.08, Z:-0.16 [[ 9.99388819e-01 3.49333243e-02 1.28497005e-03 2.18198539e+01] [-3.49333319e-02 9.99389645e-01 -1.65233760e-05 -7.75743399e-02] [-1.28476298e-03 -2.83750079e-05 9.99999174e-01 -1.61095913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.106559994999998 meters 0.05502962265577011 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.08, Z:-0.16 [[ 9.99419623e-01 3.40354370e-02 1.41604981e-03 2.18816446e+01] [-3.40354448e-02 9.99420626e-01 -1.85856403e-05 -7.73080112e-02] [-1.41586196e-03 -2.96210315e-05 9.99998997e-01 -1.61903512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.166559995 meters 0.05514445173551997 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.08, Z:-0.16 [[ 9.99496391e-01 3.17229439e-02 7.86261238e-04 2.19435390e+01] [-3.17229455e-02 9.99496701e-01 -1.05538511e-05 -8.02623151e-02] [-7.86200312e-04 -1.43939863e-05 9.99999691e-01 -1.61543839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.226559995 meters 0.054774175155351254 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.08, Z:-0.16 [[ 9.99522498e-01 3.08791345e-02 1.12009159e-03 2.20055623e+01] [-3.08791374e-02 9.99523126e-01 -1.46680981e-05 -8.01156747e-02] [-1.12001038e-03 -1.99263680e-05 9.99999373e-01 -1.61635289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.286559994999998 meters 0.05520165318713179 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.08, Z:-0.16 [[ 9.99523179e-01 3.08323223e-02 1.66817082e-03 2.20676654e+01] [-3.08323277e-02 9.99524571e-01 -2.24628081e-05 -7.86153550e-02] [-1.66807030e-03 -2.89814920e-05 9.99998608e-01 -1.62103182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.346559995 meters 0.0552557557456443 Centerline is valid? [True, True] Translation: X:22.13, Y:-0.08, Z:-0.16 [[ 9.99550897e-01 2.99071436e-02 1.88888528e-03 2.21284759e+01] [-2.99071482e-02 9.99552681e-01 -2.58197111e-05 -7.85556188e-02] [-1.88881254e-03 -3.06830567e-05 9.99998216e-01 -1.62512795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.406559995 meters 0.055090133282409325 Centerline is valid? [True, True] Translation: X:22.19, Y:-0.08, Z:-0.16 [[ 9.99551726e-01 2.98700322e-02 2.03184267e-03 2.21910577e+01] [-2.98700371e-02 9.99553791e-01 -2.79288937e-05 -7.89821830e-02] [-2.03177028e-03 -3.27748420e-05 9.99997935e-01 -1.62691016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.466559995 meters 0.05500981148849599 Centerline is valid? [True, True] Translation: X:22.25, Y:-0.08, Z:-0.16 [[ 9.99558872e-01 2.96303120e-02 2.02639093e-03 2.22529054e+01] [-2.96303157e-02 9.99560925e-01 -2.82030240e-05 -7.84185695e-02] [-2.02633686e-03 -3.18520200e-05 9.99997946e-01 -1.63696187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.526559995 meters 0.05508889206978407 Centerline is valid? [True, True] Translation: X:22.32, Y:-0.08, Z:-0.16 [[ 9.99549719e-01 2.98977686e-02 2.54616234e-03 2.23154060e+01] [-2.98977743e-02 9.99552961e-01 -3.58472564e-05 -8.12349717e-02] [-2.54609586e-03 -4.02934718e-05 9.99996758e-01 -1.64035331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.586559995 meters 0.05517725164158952 Centerline is valid? [True, True] Translation: X:22.38, Y:-0.08, Z:-0.16 [[ 9.99564987e-01 2.94349402e-02 1.84979366e-03 2.23778651e+01] [-2.94349423e-02 9.99566698e-01 -2.61147474e-05 -8.42906373e-02] [-1.84976083e-03 -2.83451826e-05 9.99998289e-01 -1.64529202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.646559995 meters 0.05483063561974552 Centerline is valid? [True, True] Translation: X:22.44, Y:-0.09, Z:-0.16 [[ 9.99642194e-01 2.65801204e-02 2.99681908e-03 2.24396241e+01] [-2.65801091e-02 9.99646686e-01 -4.36010294e-05 -8.84412193e-02] [-2.99691918e-03 -3.60703494e-05 9.99995509e-01 -1.64416094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.706559995 meters 0.05444376366930448 Centerline is valid? [True, True] Translation: X:22.50, Y:-0.09, Z:-0.16 [[ 9.99707273e-01 2.38866102e-02 3.84672636e-03 2.25019172e+01] [-2.38865724e-02 9.99714674e-01 -5.57882773e-05 -9.29675289e-02] [-3.84696138e-03 -3.61131610e-05 9.99992600e-01 -1.64133947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.766559994999998 meters 0.05418001574611919 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.10, Z:-0.16 [[ 9.99817938e-01 1.86833996e-02 3.87565175e-03 2.25635741e+01] [-1.86833203e-02 9.99825450e-01 -5.66735745e-05 -1.01266156e-01] [-3.87603411e-03 -1.57467864e-05 9.99992488e-01 -1.64252788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.826559995 meters 0.05398466973738459 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.11, Z:-0.17 [[ 9.99870060e-01 1.55638271e-02 4.19893446e-03 2.26244163e+01] [-1.55637039e-02 9.99878876e-01 -6.20047839e-05 -1.05911463e-01] [-4.19939090e-03 -3.35424588e-06 9.99991183e-01 -1.65508879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.886559995 meters 0.054559916503529135 Centerline is valid? [True, True] Translation: X:22.69, Y:-0.11, Z:-0.17 [[ 9.99899805e-01 1.32700126e-02 4.92813535e-03 2.26860431e+01] [-1.32698119e-02 9.99911949e-01 -7.34181692e-05 -1.09894940e-01] [-4.92867568e-03 8.01538405e-06 9.99987854e-01 -1.65664317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.946559994999998 meters 0.054132940622867054 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.12, Z:-0.17 [[ 9.99914648e-01 1.19291200e-02 5.32849600e-03 2.27485167e+01] [-1.19288618e-02 9.99928845e-01 -8.02409120e-05 -1.15357483e-01] [-5.32907406e-03 1.66711710e-05 9.99985800e-01 -1.66139905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.006559995 meters 0.0537537182195167 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.12, Z:-0.17 [[ 9.99919820e-01 1.16914713e-02 4.86442930e-03 2.28113764e+01] [-1.16912521e-02 9.99931652e-01 -7.35025842e-05 -1.22307061e-01] [-4.86495618e-03 1.66254218e-05 9.99988166e-01 -1.67018253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.066559995 meters 0.05436540738690892 Centerline is valid? [True, True] Translation: X:22.87, Y:-0.13, Z:-0.17 [[ 9.99918488e-01 1.22696125e-02 3.53180470e-03 2.28728889e+01] [-1.22695012e-02 9.99924725e-01 -5.31944880e-05 -1.25936544e-01] [-3.53219152e-03 9.85667018e-06 9.99993762e-01 -1.68606214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.126559994999997 meters 0.05390017854128866 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.13, Z:-0.17 [[ 9.99913530e-01 1.28659820e-02 2.72006829e-03 2.29351939e+01] [-1.28659177e-02 9.99917230e-01 -4.11140342e-05 -1.30920421e-01] [-2.72037213e-03 6.11430413e-06 9.99996300e-01 -1.70001647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.186559995 meters 0.05395343647269355 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.14, Z:-0.17 [[ 9.99902187e-01 1.36706158e-02 2.95462420e-03 2.29968241e+01] [-1.36705421e-02 9.99906553e-01 -4.51218262e-05 -1.35172006e-01] [-2.95496494e-03 4.72609807e-06 9.99995634e-01 -1.68286935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.246559995 meters 0.05321494689264917 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.14, Z:-0.17 [[ 9.99882947e-01 1.46575369e-02 4.38741380e-03 2.30586163e+01] [-1.46573787e-02 9.99892573e-01 -6.82242965e-05 -1.41329922e-01] [-4.38794247e-03 3.90832534e-06 9.99990373e-01 -1.69109003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.306559995 meters 0.05342644766969747 Centerline is valid? [True, True] Translation: X:23.12, Y:-0.15, Z:-0.17 [[ 9.99875647e-01 1.52424770e-02 4.04453574e-03 2.31207302e+01] [-1.52423479e-02 9.99883827e-01 -6.27580222e-05 -1.45924658e-01] [-4.04502247e-03 1.10199730e-06 9.99991819e-01 -1.68631952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.366559995 meters 0.05361187218817912 Centerline is valid? [True, True] Translation: X:23.18, Y:-0.15, Z:-0.17 [[ 9.99882021e-01 1.51406344e-02 2.58938181e-03 2.31825522e+01] [-1.51405809e-02 9.99885374e-01 -4.02602470e-05 -1.53636607e-01] [-2.58969456e-03 1.05075246e-06 9.99996647e-01 -1.68240758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.426559994999998 meters 0.053113717174063706 Centerline is valid? [True, True] Translation: X:23.24, Y:-0.16, Z:-0.17 [[ 9.99880646e-01 1.54092851e-02 1.11711071e-03 2.32449032e+01] [-1.54092757e-02 9.99881270e-01 -1.70441784e-05 -1.60852108e-01] [-1.11724071e-03 -1.71722709e-07 9.99999376e-01 -1.69857366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.486559995 meters 0.05317859495769933 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.17, Z:-0.17 [[ 9.99874971e-01 1.57978865e-02 6.84487687e-04 2.33079163e+01] [-1.57978830e-02 9.99875206e-01 -1.05491746e-05 -1.66513889e-01] [-6.84568921e-04 -2.65600668e-07 9.99999766e-01 -1.72744313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.546559995 meters 0.052926076051867034 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.17, Z:-0.17 [[ 9.99868969e-01 1.61272183e-02 1.39950457e-03 2.33699957e+01] [-1.61272031e-02 9.99869948e-01 -2.21720187e-05 -1.72916726e-01] [-1.39968014e-03 -4.00980933e-07 9.99999020e-01 -1.73964449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.606559994999998 meters 0.05269264441283549 Centerline is valid? [True, True] Translation: X:23.43, Y:-0.18, Z:-0.17 [[ 9.99842175e-01 1.77305358e-02 1.11925996e-03 2.34324944e+01] [-1.77305277e-02 9.99842802e-01 -1.71353766e-05 -1.81934473e-01] [-1.11938784e-03 -2.71239760e-06 9.99999373e-01 -1.74515625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.666559995 meters 0.05239349369246842 Centerline is valid? [True, True] Translation: X:23.49, Y:-0.19, Z:-0.17 [[ 9.99824840e-01 1.86702063e-02 1.30868165e-03 2.34944089e+01] [-1.86701952e-02 9.99825697e-01 -2.06907249e-05 -1.88352074e-01] [-1.30883984e-03 -3.74624108e-06 9.99999143e-01 -1.74950888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.726559995 meters 0.05146541668382015 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.20, Z:-0.18 [[ 9.99784511e-01 2.06737930e-02 1.87752398e-03 2.35567080e+01] [-2.06737734e-02 9.99786274e-01 -2.98474715e-05 -1.97282520e-01] [-1.87773976e-03 -8.97446549e-06 9.99998237e-01 -1.75840552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.786559994999998 meters 0.051952775305860496 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.20, Z:-0.18 [[ 9.99744229e-01 2.25650243e-02 1.51530920e-03 2.36185123e+01] [-2.25650135e-02 9.99745377e-01 -2.41850063e-05 -2.04138638e-01] [-1.51546910e-03 -1.00141520e-05 9.99998852e-01 -1.76727948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.846559995 meters 0.05175731957113502 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.21, Z:-0.18 [[ 9.99651861e-01 2.63777926e-02 -6.07754503e-04 2.36795529e+01] [-2.63777912e-02 9.99652045e-01 1.02397215e-05 -2.11791103e-01] [ 6.07813133e-04 5.79506475e-06 9.99999815e-01 -1.79480676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.906559995 meters 0.05163260508567242 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.22, Z:-0.18 [[ 9.99548526e-01 3.00227410e-02 -1.17409630e-03 2.37411006e+01] [-3.00227378e-02 9.99549216e-01 2.03106159e-05 -2.16963524e-01] [ 1.17417681e-03 1.49481392e-05 9.99999311e-01 -1.80388529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.966559995 meters 0.05217626045526175 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.22, Z:-0.18 [[ 9.99305200e-01 3.72404109e-02 -1.50626058e-03 2.38002000e+01] [-3.72404156e-02 9.99306335e-01 2.49565172e-05 -2.17562295e-01] [ 1.50614513e-03 3.11545926e-05 9.99998865e-01 -1.80413012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.026559995 meters 0.05255335561732382 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.21, Z:-0.18 [[ 9.99258173e-01 3.84923015e-02 1.20289318e-03 2.38619154e+01] [-3.84923058e-02 9.99258896e-01 -1.96524315e-05 -2.14105433e-01] [-1.20275818e-03 -2.66642794e-05 9.99999276e-01 -1.81468500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.086559995 meters 0.05094725631558742 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.22, Z:-0.18 [[ 9.99256317e-01 3.84555607e-02 2.82543638e-03 2.39241870e+01] [-3.84555824e-02 9.99260309e-01 -4.66767825e-05 -2.18018770e-01] [-2.82514141e-03 -6.20117316e-05 9.99996007e-01 -1.79301013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.146559995 meters 0.05058017426811977 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.22, Z:-0.18 [[ 9.99344336e-01 3.61303250e-02 2.34453195e-03 2.39861121e+01] [-3.61303323e-02 9.99347086e-01 -3.92464063e-05 -2.20903566e-01] [-2.34441916e-03 -4.54880445e-05 9.99997251e-01 -1.79960178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.206559995 meters 0.0512633489672415 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.22, Z:-0.18 [[ 9.99286950e-01 3.77129817e-02 1.82279406e-03 2.40480977e+01] [-3.77129896e-02 9.99288612e-01 -3.00865137e-05 -2.19836044e-01] [-1.82263199e-03 -3.86779527e-05 9.99998338e-01 -1.82218233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.266559994999998 meters 0.052542777286193915 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.21, Z:-0.19 [[ 9.99180478e-01 4.04623241e-02 1.08253079e-03 2.41078496e+01] [-4.04623282e-02 9.99181065e-01 -1.81162681e-05 -2.14169519e-01] [-1.08237730e-03 -2.57002949e-05 9.99999414e-01 -1.85009048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.326559995 meters 0.0514025635982763 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.22, Z:-0.18 [[ 9.99245435e-01 3.87439275e-02 2.73276320e-03 2.41690552e+01] [-3.87439456e-02 9.99249170e-01 -4.63493630e-05 -2.17064625e-01] [-2.73250712e-03 -5.95636393e-05 9.99996265e-01 -1.83819433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.386559995 meters 0.051687494652218675 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.22, Z:-0.18 [[ 9.99261299e-01 3.80882009e-02 5.11324898e-03 2.42306167e+01] [-3.80882557e-02 9.99274375e-01 -8.66945866e-05 -2.17133248e-01] [-5.11284072e-03 -1.08124189e-04 9.99986923e-01 -1.82525586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.446559994999998 meters 0.050200525065032114 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.22, Z:-0.18 [[ 9.99234254e-01 3.84851571e-02 7.05676453e-03 2.42935032e+01] [-3.84852639e-02 9.99259161e-01 -1.20717493e-04 -2.19076526e-01] [-7.05618243e-03 -1.50956391e-04 9.99975093e-01 -1.82580500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.506559995 meters 0.05180928961564842 Centerline is valid? [True, True] Translation: X:24.35, Y:-0.21, Z:-0.18 [[ 9.99220250e-01 3.90951912e-02 5.51886558e-03 2.43546079e+01] [-3.90952628e-02 9.99235483e-01 -9.49525167e-05 -2.14916020e-01] [-5.51835851e-03 -1.20883023e-04 9.99984766e-01 -1.84815786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.566559995 meters 0.051478941770365425 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.21, Z:-0.19 [[ 9.99224518e-01 3.91573677e-02 4.13085626e-03 2.44176768e+01] [-3.91574072e-02 9.99233052e-01 -7.13657619e-05 -2.13695852e-01] [-4.13048260e-03 -9.04432014e-05 9.99991465e-01 -1.88577719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.626559994999997 meters 0.05071052803138167 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.22, Z:-0.19 [[ 9.99235983e-01 3.88051382e-02 4.64885165e-03 2.44800032e+01] [-3.88051825e-02 9.99246792e-01 -8.07048703e-05 -2.18571924e-01] [-4.64848186e-03 -9.97563265e-05 9.99989191e-01 -1.86932150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.686559995 meters 0.05099201283287901 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.22, Z:-0.19 [[ 9.99155695e-01 4.08226452e-02 4.62690888e-03 2.45409404e+01] [-4.08227082e-02 9.99166403e-01 -8.08648714e-05 -2.16289558e-01] [-4.62635301e-03 -1.08086354e-04 9.99989293e-01 -1.86898951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.746559995 meters 0.05083759662414171 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.22, Z:-0.19 [[ 9.99112666e-01 4.18681138e-02 4.57625950e-03 2.46029997e+01] [-4.18681843e-02 9.99123140e-01 -8.04327615e-05 -2.16267991e-01] [-4.57561433e-03 -1.11238285e-04 9.99989526e-01 -1.87436419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.806559995 meters 0.05108716808802288 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.21, Z:-0.19 [[ 9.99103910e-01 4.19650565e-02 5.50547342e-03 2.46652622e+01] [-4.19651554e-02 9.99119070e-01 -9.75977089e-05 -2.12431141e-01] [-5.50471918e-03 -1.33527795e-04 9.99984840e-01 -1.89085961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.866559995 meters 0.05097799631742023 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.22, Z:-0.19 [[ 9.99083150e-01 4.23317204e-02 6.39413458e-03 2.47278807e+01] [-4.23318579e-02 9.99103599e-01 -1.13894235e-04 -2.15296675e-01] [-6.39322421e-03 -1.56885786e-04 9.99979551e-01 -1.89301715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.926559994999998 meters 0.05129406998728305 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.21, Z:-0.19 [[ 9.99128314e-01 4.13001100e-02 6.07558927e-03 2.47890212e+01] [-4.13002105e-02 9.99146776e-01 -1.08981630e-04 -2.10356485e-01] [-6.07490639e-03 -1.42036484e-04 9.99981537e-01 -1.90362565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.986559995 meters 0.050661177213413414 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.22, Z:-0.19 [[ 9.99171486e-01 4.02153580e-02 6.25032995e-03 2.48510836e+01] [-4.02154390e-02 9.99191026e-01 -1.12779567e-04 -2.16006790e-01] [-6.24980906e-03 -1.38673635e-04 9.99980460e-01 -1.90643303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.046559995 meters 0.050472579925337206 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.21, Z:-0.19 [[ 9.99241420e-01 3.85207024e-02 5.72188014e-03 2.49120647e+01] [-3.85207392e-02 9.99257796e-01 -1.03821059e-04 -2.14869198e-01] [-5.72163259e-03 -1.16668750e-04 9.99983625e-01 -1.91447414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.106559994999998 meters 0.050214066064219735 Centerline is valid? [True, True] Translation: X:24.97, Y:-0.22, Z:-0.19 [[ 9.99361675e-01 3.51481440e-02 6.39140726e-03 2.49731729e+01] [-3.51481157e-02 9.99382107e-01 -1.16797011e-04 -2.18760912e-01] [-6.39156325e-03 -1.07923465e-04 9.99979568e-01 -1.92946241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.166559995 meters 0.050191037488185326 Centerline is valid? [True, True] Translation: X:25.03, Y:-0.22, Z:-0.19 [[ 9.99565517e-01 2.84068394e-02 7.86309329e-03 2.50343653e+01] [-2.84065867e-02 9.99596441e-01 -1.43839361e-04 -2.21994219e-01] [-7.86400609e-03 -7.95867758e-05 9.99969075e-01 -1.93743342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.226559995 meters 0.0502314905874629 Centerline is valid? [True, True] Translation: X:25.10, Y:-0.23, Z:-0.19 [[ 9.99685284e-01 2.37242792e-02 8.15428609e-03 2.50967593e+01] [-2.37238505e-02 9.99718539e-01 -1.49308456e-04 -2.25545205e-01] [-8.15553321e-03 -4.41895982e-05 9.99966742e-01 -1.93967236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.286559994999998 meters 0.05056159607139642 Centerline is valid? [True, True] Translation: X:25.16, Y:-0.23, Z:-0.20 [[ 9.99831447e-01 1.70414010e-02 6.83140793e-03 2.51589785e+01] [-1.70409398e-02 9.99854785e-01 -1.25727185e-04 -2.30425405e-01] [-6.83255847e-03 9.29238254e-06 9.99976658e-01 -1.95383292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.346559995 meters 0.05030072912163996 Centerline is valid? [True, True] Translation: X:25.22, Y:-0.23, Z:-0.20 [[ 9.99901310e-01 1.30044173e-02 5.31557089e-03 2.52214377e+01] [-1.30040779e-02 9.99915439e-01 -9.84131961e-05 -2.33422186e-01] [-5.31640120e-03 2.92793860e-05 9.99985867e-01 -1.96955559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.406559995 meters 0.05084204409715313 Centerline is valid? [True, True] Translation: X:25.28, Y:-0.24, Z:-0.20 [[ 9.99965547e-01 6.51791245e-03 5.14018146e-03 2.52832318e+01] [-6.51750908e-03 9.99978756e-01 -9.52210734e-05 -2.35777585e-01] [-5.14069291e-03 6.17166134e-05 9.99986785e-01 -1.99130325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.466559994999997 meters 0.050868317226967046 Centerline is valid? [True, True] Translation: X:25.34, Y:-0.24, Z:-0.20 [[ 9.99982542e-01 4.80729629e-05 5.90879748e-03 2.53431548e+01] [-4.74218256e-05 9.99999993e-01 -1.10337992e-04 -2.37753364e-01] [-5.90880274e-03 1.10055860e-04 9.99982537e-01 -1.99804673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.526559995 meters 0.05129632671003147 Centerline is valid? [True, True] Translation: X:25.40, Y:-0.24, Z:-0.20 [[ 9.99971085e-01 -3.90327558e-03 6.52642074e-03 2.54042759e+01] [ 3.90415557e-03 9.99992371e-01 -1.22100104e-04 -2.42202552e-01] [-6.52589437e-03 1.47576735e-04 9.99978695e-01 -1.99667520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.586559995 meters 0.051206400975574384 Centerline is valid? [True, True] Translation: X:25.46, Y:-0.24, Z:-0.20 [[ 9.99918739e-01 -1.01189351e-02 7.75388474e-03 2.54648864e+01] [ 1.01203651e-02 9.99948777e-01 -1.45210837e-04 -2.42573471e-01] [-7.75201819e-03 2.23671182e-04 9.99969928e-01 -1.99398021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.646559995 meters 0.05119611000753683 Centerline is valid? [True, True] Translation: X:25.53, Y:-0.24, Z:-0.20 [[ 9.99920248e-01 -1.04867057e-02 7.03745002e-03 2.55254174e+01] [ 1.04878927e-02 9.99944992e-01 -1.31783294e-04 -2.41251063e-01] [-7.03568094e-03 2.05580805e-04 9.99975228e-01 -2.02663244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.706559995 meters 0.05161070153157523 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.24, Z:-0.20 [[ 9.99923635e-01 -1.01018911e-02 7.11872208e-03 2.55858937e+01] [ 1.01030972e-02 9.99948954e-01 -1.33489662e-04 -2.42068698e-01] [-7.11701020e-03 2.05400609e-04 9.99974653e-01 -2.04000108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.766559994999998 meters 0.051765480909465776 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.24, Z:-0.20 [[ 9.99938603e-01 -8.44489002e-03 7.17460118e-03 2.56466395e+01] [ 8.44607253e-03 9.99964322e-01 -1.34535921e-04 -2.44167659e-01] [-7.17320907e-03 1.95124862e-04 9.99974253e-01 -2.04825313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.826559995 meters 0.05110871153136017 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.25, Z:-0.21 [[ 9.99951850e-01 -6.37380039e-03 7.46141745e-03 2.57067741e+01] [ 6.37502220e-03 9.99979670e-01 -1.39977751e-04 -2.47023292e-01] [-7.46037357e-03 1.87537713e-04 9.99972153e-01 -2.05518851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.886559995 meters 0.05111866153441502 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.24, Z:-0.21 [[ 9.99958637e-01 -1.92973529e-03 8.88824533e-03 2.57665183e+01] [ 1.93129427e-03 9.99998121e-01 -1.66818786e-04 -2.40633293e-01] [-8.88790671e-03 1.83977703e-04 9.99960485e-01 -2.05706102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.946559994999998 meters 0.05059929865691569 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.24, Z:-0.21 [[ 9.99948133e-01 2.27895486e-03 9.92663044e-03 2.58278071e+01] [-2.27721723e-03 9.99997390e-01 -1.86346765e-04 -2.39892680e-01] [-9.92702921e-03 1.63732006e-04 9.99950712e-01 -2.06357766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.006559995 meters 0.05014246093647852 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.24, Z:-0.21 [[ 9.99887637e-01 1.14468769e-02 9.67899129e-03 2.58881981e+01] [-1.14456530e-02 9.99934480e-01 -1.81827255e-04 -2.37762684e-01] [-9.68043847e-03 7.10244480e-05 9.99953141e-01 -2.08550251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.066559995 meters 0.05033371973804504 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.23, Z:-0.21 [[ 9.99847839e-01 1.47697564e-02 9.28185196e-03 2.59501991e+01] [-1.47687730e-02 9.99890920e-01 -1.74491832e-04 -2.34629219e-01] [-9.28341670e-03 3.73837165e-05 9.99956907e-01 -2.10712791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.126559994999997 meters 0.04992735232390058 Centerline is valid? [True, True] Translation: X:26.01, Y:-0.24, Z:-0.21 [[ 9.99808475e-01 1.72143838e-02 9.31014052e-03 2.60115498e+01] [-1.72134974e-02 9.99851821e-01 -1.75340334e-04 -2.36170505e-01] [-9.31177933e-03 1.50466716e-05 9.99956644e-01 -2.09495643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.186559995 meters 0.04984381648026544 Centerline is valid? [True, True] Translation: X:26.07, Y:-0.24, Z:-0.21 [[ 9.99726118e-01 2.09733396e-02 1.03830616e-02 2.60734442e+01] [-2.09724359e-02 9.99780035e-01 -1.95919465e-04 -2.35040941e-01] [-1.03848867e-02 -2.18922871e-05 9.99946075e-01 -2.09569967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.246559995 meters 0.04950939110304832 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.24, Z:-0.21 [[ 9.99679465e-01 2.28708067e-02 1.08578465e-02 2.61357426e+01] [-2.28699233e-02 9.99738428e-01 -2.05535715e-04 -2.35111071e-01] [-1.08597071e-02 -4.28482824e-05 9.99941031e-01 -2.10432179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.306559995 meters 0.049840641307487346 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.24, Z:-0.21 [[ 9.99605356e-01 2.60840090e-02 1.04286245e-02 2.61980601e+01] [-2.60833567e-02 9.99659752e-01 -1.98579983e-04 -2.37640127e-01] [-1.04302560e-02 -7.35119186e-05 9.99945601e-01 -2.13421686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.366559995 meters 0.049258530974291975 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.24, Z:-0.21 [[ 9.99568353e-01 2.75514332e-02 1.01992834e-02 2.62606181e+01] [-2.75508760e-02 9.99620384e-01 -1.95159941e-04 -2.35671976e-01] [-1.02007885e-02 -8.59234906e-05 9.99947967e-01 -2.13765045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.426559994999998 meters 0.0495464459294708 Centerline is valid? [True, True] Translation: X:26.32, Y:-0.24, Z:-0.21 [[ 9.99513150e-01 2.96122006e-02 9.82756072e-03 2.63212581e+01] [-2.96117785e-02 9.99561457e-01 -1.88485411e-04 -2.35521260e-01] [-9.82883238e-03 -1.02617905e-04 9.99951691e-01 -2.14209342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.486559995 meters 0.04940456917470122 Centerline is valid? [True, True] Translation: X:26.38, Y:-0.24, Z:-0.21 [[ 9.99455431e-01 3.13216074e-02 1.03825627e-02 2.63832245e+01] [-3.13212203e-02 9.99509350e-01 -1.99927970e-04 -2.36023493e-01] [-1.03837306e-02 -1.25375439e-04 9.99946080e-01 -2.14258746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.546559995 meters 0.04927704673498282 Centerline is valid? [True, True] Translation: X:26.44, Y:-0.23, Z:-0.21 [[ 9.99306706e-01 3.59028492e-02 9.85354683e-03 2.64430363e+01] [-3.59027143e-02 9.99355272e-01 -1.90639449e-04 -2.32880687e-01] [-9.85403847e-03 -1.63261797e-04 9.99951434e-01 -2.14577692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.606559994999998 meters 0.04921210051210421 Centerline is valid? [True, True] Translation: X:26.50, Y:-0.23, Z:-0.22 [[ 9.99180897e-01 3.94630308e-02 8.95566046e-03 2.65042002e+01] [-3.94630597e-02 9.99221015e-01 -1.73557441e-04 -2.32763748e-01] [-8.95553324e-03 -1.80002484e-04 9.99959882e-01 -2.16729977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.666559995 meters 0.04978345444206185 Centerline is valid? [True, True] Translation: X:26.57, Y:-0.23, Z:-0.22 [[ 9.99104582e-01 4.15078958e-02 8.19322757e-03 2.65654306e+01] [-4.15079874e-02 9.99138159e-01 -1.58934712e-04 -2.30534788e-01] [-8.19276336e-03 -1.81291988e-04 9.99966422e-01 -2.17676588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.726559995 meters 0.050682329654324974 Centerline is valid? [True, True] Translation: X:26.63, Y:-0.23, Z:-0.22 [[ 9.98896925e-01 4.64204230e-02 7.07659205e-03 2.66255928e+01] [-4.64206121e-02 9.98921973e-01 -1.37614862e-04 -2.28805448e-01] [-7.07535143e-03 -1.91036671e-04 9.99974951e-01 -2.19181408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.786559994999998 meters 0.05038127156805064 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.23, Z:-0.22 [[ 9.98753766e-01 4.93933253e-02 7.15642496e-03 2.66869916e+01] [-4.93935949e-02 9.98779382e-01 -1.39175433e-04 -2.28827281e-01] [-7.15456403e-03 -2.14479568e-04 9.99974383e-01 -2.19379133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.846559995 meters 0.05002464962731669 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.23, Z:-0.22 [[ 9.98593433e-01 5.25114334e-02 7.32834418e-03 2.67480996e+01] [-5.25117991e-02 9.98620294e-01 -1.42634473e-04 -2.28370090e-01] [-7.32572316e-03 -2.42390690e-04 9.99973137e-01 -2.19192826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.906559995 meters 0.050124306113166914 Centerline is valid? [True, True] Translation: X:26.81, Y:-0.23, Z:-0.22 [[ 9.98539363e-01 5.34898972e-02 7.61391049e-03 2.68101695e+01] [-5.34903193e-02 9.98568357e-01 -1.48331552e-04 -2.29974994e-01] [-7.61094433e-03 -2.59155609e-04 9.99971003e-01 -2.19494541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.966559994999997 meters 0.05022424831452519 Centerline is valid? [True, True] Translation: X:26.87, Y:-0.23, Z:-0.22 [[ 9.98487001e-01 5.43173184e-02 8.56373102e-03 2.68718941e+01] [-5.43178746e-02 9.98523680e-01 -1.67796627e-04 -2.30707159e-01] [-8.56020248e-03 -2.97620916e-04 9.99963317e-01 -2.19263361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.026559995 meters 0.04905338312032378 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.24, Z:-0.22 [[ 9.98409032e-01 5.56164487e-02 9.28524263e-03 2.69334966e+01] [-5.56171527e-02 9.98452152e-01 -1.82574583e-04 -2.36419484e-01] [-9.28102463e-03 -3.34134645e-04 9.99956875e-01 -2.19638556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.086559995 meters 0.05018495496808232 Centerline is valid? [True, True] Translation: X:26.99, Y:-0.23, Z:-0.22 [[ 9.98304414e-01 5.76240421e-02 8.23204001e-03 2.69933955e+01] [-5.76246581e-02 9.98338306e-01 -1.62539660e-04 -2.33370023e-01] [-8.22772707e-03 -3.12104432e-04 9.99966103e-01 -2.20605613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.146559995 meters 0.049800028905517456 Centerline is valid? [True, True] Translation: X:27.05, Y:-0.23, Z:-0.22 [[ 9.98215759e-01 5.93741906e-02 6.32483673e-03 2.70548048e+01] [-5.93745894e-02 9.98235765e-01 -1.24866492e-04 -2.34820394e-01] [-6.32109208e-03 -2.50890884e-04 9.99979990e-01 -2.22244593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.206559995 meters 0.05023613441326017 Centerline is valid? [True, True] Translation: X:27.12, Y:-0.23, Z:-0.22 [[ 9.98131585e-01 6.08075670e-02 5.98146128e-03 2.71158180e+01] [-6.08079488e-02 9.98149477e-01 -1.18172729e-04 -2.33519600e-01] [-5.97757825e-03 -2.45768458e-04 9.99982104e-01 -2.23324923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.266559994999998 meters 0.05011809017978684 Centerline is valid? [True, True] Translation: X:27.18, Y:-0.24, Z:-0.22 [[ 9.98056847e-01 6.19694063e-02 6.50559218e-03 2.71775586e+01] [-6.19698824e-02 9.98078012e-01 -1.28563519e-04 -2.35081099e-01] [-6.50105551e-03 -2.74837081e-04 9.99978830e-01 -2.23740187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.326559995 meters 0.0507978478421582 Centerline is valid? [True, True] Translation: X:27.24, Y:-0.24, Z:-0.22 [[ 9.97929739e-01 6.39529310e-02 6.80135013e-03 2.72383499e+01] [-6.39534922e-02 9.97952871e-01 -1.35162591e-04 -2.35594018e-01] [-6.79607093e-03 -3.00087323e-04 9.99976861e-01 -2.24508829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.386559995 meters 0.049383200611383904 Centerline is valid? [True, True] Translation: X:27.30, Y:-0.24, Z:-0.23 [[ 9.97765371e-01 6.64229131e-02 7.22923484e-03 2.72994167e+01] [-6.64236110e-02 9.97791503e-01 -1.43790407e-04 -2.39463396e-01] [-7.22282007e-03 -3.36722794e-04 9.99973858e-01 -2.25636230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.446559994999998 meters 0.05555527680259359 Centerline is valid? [True, True] Translation: X:27.36, Y:-0.22, Z:-0.23 [[ 9.97386183e-01 7.18880003e-02 7.27442719e-03 2.73592150e+01] [-7.18888513e-02 9.97412639e-01 -1.44765671e-04 -2.19059542e-01] [-7.26601253e-03 -3.78562934e-04 9.99973531e-01 -2.26026863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.506559995 meters 0.04968268124280255 Centerline is valid? [True, True] Translation: X:27.42, Y:-0.24, Z:-0.23 [[ 9.97014229e-01 7.68688017e-02 7.33580910e-03 2.74192770e+01] [-7.68698012e-02 9.97041129e-01 -1.46026605e-04 -2.35968832e-01] [-7.32532828e-03 -4.18311584e-04 9.99973082e-01 -2.26913524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.566559995 meters 0.05127404672930968 Centerline is valid? [True, True] Translation: X:27.48, Y:-0.23, Z:-0.23 [[ 9.96864202e-01 7.88219499e-02 6.99015537e-03 2.74793263e+01] [-7.88229050e-02 9.96888625e-01 -1.39178025e-04 -2.28206475e-01] [-6.97937666e-03 -4.12242762e-04 9.99975559e-01 -2.28147917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.626559994999997 meters 0.05042547427867521 Centerline is valid? [True, True] Translation: X:27.54, Y:-0.23, Z:-0.23 [[ 9.96874159e-01 7.87186163e-02 6.72981018e-03 2.75414526e+01] [-7.87194996e-02 9.96896796e-01 -1.33933727e-04 -2.32043300e-01] [-6.71946929e-03 -3.96252219e-04 9.99977346e-01 -2.29065315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.686559995 meters 0.050049448742099746 Centerline is valid? [True, True] Translation: X:27.60, Y:-0.23, Z:-0.23 [[ 9.97044182e-01 7.65322008e-02 6.76179269e-03 2.76017692e+01] [-7.65330406e-02 9.97067037e-01 -1.34846538e-04 -2.34374350e-01] [-6.75228070e-03 -3.83052598e-04 9.99977130e-01 -2.29492901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.746559995 meters 0.05079196754403992 Centerline is valid? [True, True] Translation: X:27.66, Y:-0.23, Z:-0.23 [[ 9.97587079e-01 6.91065762e-02 6.65595551e-03 2.76612126e+01] [-6.91072249e-02 9.97609229e-01 -1.32749142e-04 -2.33791711e-01] [-6.64921648e-03 -3.27545786e-04 9.99977840e-01 -2.30451689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.806559994999997 meters 0.050279011644860254 Centerline is valid? [True, True] Translation: X:27.72, Y:-0.24, Z:-0.23 [[ 9.97921282e-01 6.41296268e-02 6.36437890e-03 2.77221163e+01] [-6.41301193e-02 9.97941537e-01 -1.26872912e-04 -2.37233034e-01] [-6.35941437e-03 -2.81539199e-04 9.99979739e-01 -2.30558520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.866559995 meters 0.04961262738112216 Centerline is valid? [True, True] Translation: X:27.78, Y:-0.24, Z:-0.23 [[ 9.98295741e-01 5.80821393e-02 5.66374749e-03 2.77829987e+01] [-5.80824319e-02 9.98311784e-01 -1.12943255e-04 -2.43128080e-01] [-5.66074584e-03 -2.16213457e-04 9.99983954e-01 -2.31865512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.926559994999998 meters 0.05078141027650467 Centerline is valid? [True, True] Translation: X:27.84, Y:-0.24, Z:-0.23 [[ 9.98512478e-01 5.43255976e-02 4.64333727e-03 2.78421347e+01] [-5.43257542e-02 9.98523262e-01 -9.24947669e-05 -2.40815721e-01] [-4.64150511e-03 -1.59895620e-04 9.99989215e-01 -2.33346211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.986559995 meters 0.04973630711123902 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.25, Z:-0.24 [[ 9.98886249e-01 4.70055474e-02 4.09135000e-03 2.79031188e+01] [-4.70056079e-02 9.98894622e-01 -8.14188663e-05 -2.45242726e-01] [-4.09065465e-03 -1.10988208e-04 9.99991627e-01 -2.35146457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.046559995 meters 0.049185508720144266 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.25, Z:-0.24 [[ 9.99174879e-01 4.03835301e-02 4.32804199e-03 2.79640883e+01] [-4.03835352e-02 9.99184249e-01 -8.62378063e-05 -2.52115134e-01] [-4.32799397e-03 -8.86149865e-05 9.99990630e-01 -2.35636105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.106559994999998 meters 0.048478424981108215 Centerline is valid? [True, True] Translation: X:28.03, Y:-0.26, Z:-0.24 [[ 9.99309570e-01 3.68455599e-02 4.77359493e-03 2.80253896e+01] [-3.68455264e-02 9.99320969e-01 -9.49841146e-05 -2.56314846e-01] [-4.77385326e-03 -8.09670836e-05 9.99988602e-01 -2.35071975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.166559995 meters 0.0489221674249766 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.26, Z:-0.24 [[ 9.99365909e-01 3.51654430e-02 5.58323380e-03 2.80872579e+01] [-3.51653714e-02 9.99381501e-01 -1.11032547e-04 -2.55673551e-01] [-5.58368508e-03 -8.53743477e-05 9.99984407e-01 -2.35537618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.226559995 meters 0.04871811323894718 Centerline is valid? [True, True] Translation: X:28.15, Y:-0.25, Z:-0.24 [[ 9.99364509e-01 3.52110911e-02 5.54589439e-03 2.81497936e+01] [-3.52110171e-02 9.99379894e-01 -1.11005912e-04 -2.54574449e-01] [-5.54636398e-03 -8.43412131e-05 9.99984615e-01 -2.36585012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.286559994999998 meters 0.04844296929858426 Centerline is valid? [True, True] Translation: X:28.21, Y:-0.25, Z:-0.24 [[ 9.99349942e-01 3.55665328e-02 5.89196113e-03 2.82123222e+01] [-3.55664540e-02 9.99367307e-01 -1.18181810e-04 -2.54191452e-01] [-5.89243665e-03 -9.14511794e-05 9.99982635e-01 -2.37605272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.346559995 meters 0.049017699948458525 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.25, Z:-0.24 [[ 9.99289298e-01 3.72419176e-02 5.82569143e-03 2.82731179e+01] [-3.72418637e-02 9.99306274e-01 -1.17767128e-04 -2.49316827e-01] [-5.82603587e-03 -9.92761759e-05 9.99983024e-01 -2.39103076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.406559995 meters 0.049067897600660534 Centerline is valid? [True, True] Translation: X:28.34, Y:-0.25, Z:-0.24 [[ 9.99252170e-01 3.82380976e-02 5.74012884e-03 2.83352311e+01] [-3.82380616e-02 9.99268651e-01 -1.16058431e-04 -2.51240144e-01] [-5.74036865e-03 -1.03519761e-04 9.99983519e-01 -2.39529451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.466559994999997 meters 0.04828265011944824 Centerline is valid? [True, True] Translation: X:28.40, Y:-0.25, Z:-0.24 [[ 9.99162899e-01 4.04765516e-02 5.92875744e-03 2.83978147e+01] [-4.04765502e-02 9.99180481e-01 -1.20273639e-04 -2.48172312e-01] [-5.92876697e-03 -1.19802690e-04 9.99982418e-01 -2.39858038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.526559995 meters 0.04931027484425977 Centerline is valid? [True, True] Translation: X:28.46, Y:-0.24, Z:-0.24 [[ 9.99061371e-01 4.28707058e-02 6.20319472e-03 2.84594115e+01] [-4.28707496e-02 9.99080619e-01 -1.25966254e-04 -2.44512882e-01] [-6.20289188e-03 -1.40087589e-04 9.99980752e-01 -2.40722157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.586559995 meters 0.049161035398172084 Centerline is valid? [True, True] Translation: X:28.52, Y:-0.25, Z:-0.24 [[ 9.99054114e-01 4.31066162e-02 5.71817958e-03 2.85218837e+01] [-4.31066544e-02 9.99070469e-01 -1.16625773e-04 -2.45237019e-01] [-5.71789170e-03 -1.29976133e-04 9.99983644e-01 -2.41479006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.646559995 meters 0.049924615160230904 Centerline is valid? [True, True] Translation: X:28.58, Y:-0.24, Z:-0.24 [[ 9.99077802e-01 4.25054488e-02 6.06898350e-03 2.85833334e+01] [-4.25054758e-02 9.99096226e-01 -1.24589285e-04 -2.40571699e-01] [-6.06879423e-03 -1.33490642e-04 9.99981576e-01 -2.43483363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.706559995 meters 0.049183163891541044 Centerline is valid? [True, True] Translation: X:28.65, Y:-0.24, Z:-0.24 [[ 9.99105975e-01 4.18756294e-02 5.80361060e-03 2.86450966e+01] [-4.18756403e-02 9.99122823e-01 -1.19693584e-04 -2.44093033e-01] [-5.80353205e-03 -1.23443334e-04 9.99983152e-01 -2.43750909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.766559994999998 meters 0.049156511794964726 Centerline is valid? [True, True] Translation: X:28.71, Y:-0.24, Z:-0.24 [[ 9.99086911e-01 4.23135554e-02 5.90816221e-03 2.87074883e+01] [-4.23135704e-02 9.99104372e-01 -1.22522624e-04 -2.44047761e-01] [-5.90805507e-03 -1.27584688e-04 9.99982539e-01 -2.44335629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.826559995 meters 0.04999895363260598 Centerline is valid? [True, True] Translation: X:28.77, Y:-0.24, Z:-0.25 [[ 9.99006292e-01 4.41201757e-02 6.31179803e-03 2.87683096e+01] [-4.41202236e-02 9.99026220e-01 -1.31720615e-04 -2.38562462e-01] [-6.31146327e-03 -1.46888218e-04 9.99980072e-01 -2.45789343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.886559995 meters 0.04889776522124741 Centerline is valid? [True, True] Translation: X:28.83, Y:-0.24, Z:-0.25 [[ 9.98905266e-01 4.63779601e-02 6.11176804e-03 2.88299257e+01] [-4.63780449e-02 9.98923951e-01 -1.27923560e-04 -2.39972219e-01] [-6.11112432e-03 -1.55668335e-04 9.99981315e-01 -2.47506972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.946559994999998 meters 0.050449843428832776 Centerline is valid? [True, True] Translation: X:28.89, Y:-0.24, Z:-0.25 [[ 9.98813777e-01 4.83728299e-02 5.57756201e-03 2.88901047e+01] [-4.83729310e-02 9.98829338e-01 -1.16850416e-04 -2.35062650e-01] [-5.57668495e-03 -1.53091217e-04 9.99984438e-01 -2.49277270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.006559995 meters 0.050664071011489 Centerline is valid? [True, True] Translation: X:28.95, Y:-0.23, Z:-0.25 [[ 9.98724287e-01 5.02198915e-02 5.26894293e-03 2.89517430e+01] [-5.02200076e-02 9.98738173e-01 -1.10352267e-04 -2.33016662e-01] [-5.26783631e-03 -1.54394864e-04 9.99986113e-01 -2.50620570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.066559995 meters 0.049292005610234085 Centerline is valid? [True, True] Translation: X:29.01, Y:-0.24, Z:-0.25 [[ 9.98699080e-01 5.06692018e-02 5.72530119e-03 2.90137645e+01] [-5.06693466e-02 9.98715476e-01 -1.19850562e-04 -2.36496900e-01] [-5.72401964e-03 -1.70402624e-04 9.99983603e-01 -2.50894284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.126559994999997 meters 0.04949291371351559 Centerline is valid? [True, True] Translation: X:29.07, Y:-0.23, Z:-0.25 [[ 9.98719210e-01 5.02039474e-02 6.28514329e-03 2.90745396e+01] [-5.02041077e-02 9.98738970e-01 -1.32363751e-04 -2.34126092e-01] [-6.28386272e-03 -1.83345790e-04 9.99980240e-01 -2.51913236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.186559995 meters 0.049548027759403125 Centerline is valid? [True, True] Translation: X:29.14, Y:-0.24, Z:-0.25 [[ 9.98716325e-01 5.02411861e-02 6.44401482e-03 2.91378543e+01] [-5.02413511e-02 9.98737097e-01 -1.36373388e-04 -2.35812779e-01] [-6.44272822e-03 -1.87557683e-04 9.99979228e-01 -2.52658873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.246559995 meters 0.05028692965722171 Centerline is valid? [True, True] Translation: X:29.20, Y:-0.23, Z:-0.25 [[ 9.98635202e-01 5.19285409e-02 5.58204556e-03 2.92001148e+01] [-5.19286870e-02 9.98650788e-01 -1.18859146e-04 -2.32795268e-01] [-5.58068638e-03 -1.71171369e-04 9.99984413e-01 -2.53233733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.306559994999997 meters 0.05035597252522948 Centerline is valid? [True, True] Translation: X:29.26, Y:-0.23, Z:-0.25 [[ 9.98518161e-01 5.42059064e-02 4.81675731e-03 2.92609073e+01] [-5.42060406e-02 9.98529767e-01 -1.02787723e-04 -2.34638189e-01] [-4.81524725e-03 -1.58461934e-04 9.99988394e-01 -2.53304193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.366559995 meters 0.0520154943728905 Centerline is valid? [True, True] Translation: X:29.32, Y:-0.23, Z:-0.25 [[ 9.98311184e-01 5.78795602e-02 4.97357891e-03 2.93208313e+01] [-5.78797485e-02 9.98323556e-01 -1.06180073e-04 -2.26063178e-01] [-4.97138664e-03 -1.81868743e-04 9.99987626e-01 -2.53525770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.426559994999998 meters 0.05279044400991055 Centerline is valid? [True, True] Translation: X:29.38, Y:-0.22, Z:-0.25 [[ 9.98137811e-01 6.07864802e-02 5.09057910e-03 2.93820046e+01] [-6.07867151e-02 9.98150772e-01 -1.08715748e-04 -2.19639340e-01] [-5.08777390e-03 -2.00926283e-04 9.99987037e-01 -2.54311382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.486559995 meters 0.053768912829191454 Centerline is valid? [True, True] Translation: X:29.44, Y:-0.22, Z:-0.26 [[ 9.97895927e-01 6.47251695e-02 3.79082328e-03 2.94429803e+01] [-6.47253281e-02 9.97903114e-01 -8.09595531e-05 -2.17476814e-01] [-3.78811447e-03 -1.64573072e-04 9.99992812e-01 -2.55782783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.546559995 meters 0.05002862553425145 Centerline is valid? [True, True] Translation: X:29.50, Y:-0.23, Z:-0.25 [[ 9.97758820e-01 6.68218737e-02 3.48911599e-03 2.95034501e+01] [-6.68220208e-02 9.97764908e-01 -7.45189987e-05 -2.30299914e-01] [-3.48629699e-03 -1.58797793e-04 9.99993910e-01 -2.54867620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.606559994999998 meters 0.053350703049311145 Centerline is valid? [True, True] Translation: X:29.56, Y:-0.22, Z:-0.25 [[ 9.97624047e-01 6.88111391e-02 3.35965934e-03 2.95639837e+01] [-6.88112868e-02 9.97629692e-01 -7.17461833e-05 -2.20404187e-01] [-3.35663285e-03 -1.59606765e-04 9.99994354e-01 -2.54268291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.666559995 meters 0.049743188751582956 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.23, Z:-0.25 [[ 9.97566740e-01 6.96427057e-02 3.23934869e-03 2.96261002e+01] [-6.96428474e-02 9.97571987e-01 -6.91602350e-05 -2.30957391e-01] [-3.23630002e-03 -1.56605517e-04 9.99994751e-01 -2.54523818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.726559995 meters 0.05128505622262128 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.23, Z:-0.25 [[ 9.97509145e-01 7.05149911e-02 1.77244782e-03 2.96870698e+01] [-7.05150348e-02 9.97510716e-01 -3.78821942e-05 -2.27263847e-01] [-1.77070696e-03 -8.71963849e-05 9.99998428e-01 -2.54760784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.786559994999998 meters 0.05161874247153586 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.23, Z:-0.26 [[ 9.97432464e-01 7.16062396e-02 1.01325213e-03 2.97486443e+01] [-7.16062545e-02 9.97432977e-01 -2.16238980e-05 -2.28579998e-01] [-1.01219949e-03 -5.09868118e-05 9.99999486e-01 -2.55668317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.846559995 meters 0.05211796509636974 Centerline is valid? [True, True] Translation: X:29.81, Y:-0.23, Z:-0.26 [[ 9.97197497e-01 7.48140616e-02 -8.51148496e-05 2.98092156e+01] [-7.48140617e-02 9.97197501e-01 1.86333367e-06 -2.25559043e-01] [ 8.50157189e-05 4.50967595e-06 9.99999996e-01 -2.55992997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.906559995 meters 0.05011395507736882 Centerline is valid? [True, True] Translation: X:29.87, Y:-0.24, Z:-0.25 [[ 9.96964494e-01 7.78574754e-02 -1.04866446e-04 2.98695930e+01] [-7.78574756e-02 9.96964500e-01 2.38164984e-06 -2.35543649e-01] [ 1.04733554e-04 5.79021646e-06 9.99999994e-01 -2.53708065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.966559994999997 meters 0.05100766275329691 Centerline is valid? [True, True] Translation: X:29.93, Y:-0.23, Z:-0.25 [[ 9.96884568e-01 7.88725293e-02 -5.31446172e-04 2.99300329e+01] [-7.88725343e-02 9.96884709e-01 1.14750843e-05 -2.32098994e-01] [ 5.30695631e-04 3.04771720e-05 9.99999859e-01 -2.52923653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.026559995 meters 0.051643869743156295 Centerline is valid? [True, True] Translation: X:29.99, Y:-0.23, Z:-0.25 [[ 9.96866247e-01 7.91028050e-02 -6.56490289e-04 2.99923301e+01] [-7.91028122e-02 9.96866463e-01 1.49722554e-05 -2.30171862e-01] [ 6.55617500e-04 3.70048920e-05 9.99999784e-01 -2.53620670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.086559995 meters 0.05138705805866583 Centerline is valid? [True, True] Translation: X:30.05, Y:-0.23, Z:-0.25 [[ 9.96915882e-01 7.84773161e-02 -1.86974766e-04 3.00540027e+01] [-7.84773167e-02 9.96915900e-01 4.21284890e-06 -2.31982661e-01] [ 1.86728730e-04 1.04734219e-05 9.99999983e-01 -2.52787976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.146559995 meters 0.05109971355114245 Centerline is valid? [True, True] Translation: X:30.12, Y:-0.23, Z:-0.25 [[ 9.96938735e-01 7.81849267e-02 -5.25394493e-04 3.01161161e+01] [-7.81849311e-02 9.96938873e-01 1.22093142e-05 -2.33044055e-01] [ 5.24740778e-04 2.89059939e-05 9.99999862e-01 -2.52263235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.206559995 meters 0.06089625782704323 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.20, Z:-0.26 [[ 9.96751752e-01 8.05215652e-02 -1.49069235e-03 3.01758995e+01] [-8.05216067e-02 9.96752863e-01 3.22643372e-05 -2.04919189e-01] [ 1.48844985e-03 8.78734087e-05 9.99998888e-01 -2.56660582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.266559994999998 meters 0.05469332480696777 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.22, Z:-0.25 [[ 9.96357079e-01 8.52270549e-02 -2.98652746e-03 3.02366913e+01] [-8.52272418e-02 9.96361537e-01 6.48799327e-05 -2.15428159e-01] [ 2.98119062e-03 1.89889918e-04 9.99995538e-01 -2.54805547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.326559995 meters 0.050282278294306336 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.23, Z:-0.25 [[ 9.96124209e-01 8.79083239e-02 -2.94723902e-03 3.02976470e+01] [-8.79085172e-02 9.96128550e-01 6.41264248e-05 -2.29559737e-01] [ 2.94146618e-03 1.95209528e-04 9.99995655e-01 -2.52700182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.386559995 meters 0.04987108790993277 Centerline is valid? [True, True] Translation: X:30.36, Y:-0.23, Z:-0.25 [[ 9.95987718e-01 8.94462100e-02 -2.80020173e-03 3.03584104e+01] [-8.94463906e-02 9.95991636e-01 6.09167695e-05 -2.33539149e-01] [ 2.79442628e-03 1.89795584e-04 9.99996078e-01 -2.51761618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.446559994999998 meters 0.05039365826004394 Centerline is valid? [True, True] Translation: X:30.42, Y:-0.23, Z:-0.25 [[ 9.95815438e-01 9.13333578e-02 -3.13551047e-03 3.04186910e+01] [-9.13335935e-02 9.95820350e-01 6.82496827e-05 -2.28285975e-01] [ 3.12863861e-03 2.18413351e-04 9.99995082e-01 -2.51868951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.506559995 meters 0.05062075993552019 Centerline is valid? [True, True] Translation: X:30.48, Y:-0.23, Z:-0.25 [[ 9.95766290e-01 9.18673151e-02 -3.14532063e-03 3.04801377e+01] [-9.18675516e-02 9.95771233e-01 6.94928574e-05 -2.25675596e-01] [ 3.13840392e-03 2.19754260e-04 9.99995051e-01 -2.52481619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.566559995 meters 0.05313135694488695 Centerline is valid? [True, True] Translation: X:30.54, Y:-0.22, Z:-0.25 [[ 9.95664987e-01 9.29706650e-02 -2.77306416e-03 3.05409028e+01] [-9.29708548e-02 9.95668829e-01 6.06664285e-05 -2.15402409e-01] [ 2.76669374e-03 1.97410707e-04 9.99996153e-01 -2.53034339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.626559994999997 meters 0.05168532742739007 Centerline is valid? [True, True] Translation: X:30.60, Y:-0.22, Z:-0.25 [[ 9.95554445e-01 9.41564578e-02 -2.43063842e-03 3.06024021e+01] [-9.41566067e-02 9.95557397e-01 5.33490981e-05 -2.18116126e-01] [ 2.42486322e-03 1.75748734e-04 9.99997045e-01 -2.51620256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.686559995 meters 0.05235759921057909 Centerline is valid? [True, True] Translation: X:30.67, Y:-0.22, Z:-0.25 [[ 9.95528138e-01 9.44312429e-02 -2.54316814e-03 3.06650754e+01] [-9.44314045e-02 9.95531369e-01 5.67058736e-05 -2.15698196e-01] [ 2.53715847e-03 1.83702647e-04 9.99996765e-01 -2.51621330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.746559995 meters 0.05086160336560198 Centerline is valid? [True, True] Translation: X:30.73, Y:-0.22, Z:-0.25 [[ 9.95596042e-01 9.37022628e-02 -2.89940470e-03 3.07262991e+01] [-9.37024720e-02 9.95600242e-01 6.39092461e-05 -2.18587870e-01] [ 2.89263647e-03 2.08053596e-04 9.99995795e-01 -2.52031328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.806559994999997 meters 0.058188225993592864 Centerline is valid? [True, True] Translation: X:30.79, Y:-0.20, Z:-0.26 [[ 9.95844986e-01 9.09910606e-02 -3.65940336e-03 3.07866402e+01] [-9.09913759e-02 9.95851677e-01 8.05687541e-05 -1.97646729e-01] [ 3.65155401e-03 2.52740157e-04 9.99993301e-01 -2.55701030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.866559995 meters 0.0517684317976487 Centerline is valid? [True, True] Translation: X:30.85, Y:-0.22, Z:-0.25 [[ 9.96092500e-01 8.82272705e-02 -3.95983520e-03 3.08468468e+01] [-8.82276180e-02 9.96100336e-01 8.72040890e-05 -2.18414004e-01] [ 3.95208696e-03 2.62503488e-04 9.99992156e-01 -2.52465441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.926559994999998 meters 0.05880688631804959 Centerline is valid? [True, True] Translation: X:30.91, Y:-0.20, Z:-0.26 [[ 9.96410379e-01 8.45572610e-02 -4.05291289e-03 3.09071579e+01] [-8.45575951e-02 9.96418589e-01 8.91491600e-05 -1.99651120e-01] [ 4.04593595e-03 2.53875419e-04 9.99991783e-01 -2.55453987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.986559995 meters 0.05194206370893918 Centerline is valid? [True, True] Translation: X:30.97, Y:-0.22, Z:-0.25 [[ 9.96533760e-01 8.30210092e-02 -5.28933015e-03 3.09676833e+01] [-8.30215559e-02 9.96547745e-01 1.16499420e-04 -2.21614400e-01] [ 5.28074193e-03 3.23032813e-04 9.99986005e-01 -2.52270013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.046559995 meters 0.05350795489276599 Centerline is valid? [True, True] Translation: X:31.03, Y:-0.21, Z:-0.25 [[ 9.96646535e-01 8.15949899e-02 -6.15973680e-03 3.10271925e+01] [-8.15957046e-02 9.96665502e-01 1.35603439e-04 -2.14800103e-01] [ 6.15026173e-03 3.67459366e-04 9.99981019e-01 -2.53680967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.106559995000005 meters 0.053505983448036906 Centerline is valid? [True, True] Translation: X:31.09, Y:-0.22, Z:-0.25 [[ 9.96750551e-01 8.03482648e-02 -5.70055325e-03 3.10874957e+01] [-8.03488566e-02 9.96766796e-01 1.25494750e-04 -2.16799866e-01] [ 5.69220548e-03 3.32945975e-04 9.99983744e-01 -2.52842771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.166559995 meters 0.054205730541224226 Centerline is valid? [True, True] Translation: X:31.15, Y:-0.22, Z:-0.25 [[ 9.96803167e-01 7.97499365e-02 -4.83662944e-03 3.11486483e+01] [-7.97503541e-02 9.96814862e-01 1.06761274e-04 -2.15198031e-01] [ 4.82973832e-03 2.79302935e-04 9.99988298e-01 -2.52181063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.226559995 meters 0.054883806247033956 Centerline is valid? [True, True] Translation: X:31.21, Y:-0.21, Z:-0.25 [[ 9.96749389e-01 8.04363430e-02 -4.54417649e-03 3.12106459e+01] [-8.04367136e-02 9.96759713e-01 1.01444644e-04 -2.14041131e-01] [ 4.53761189e-03 2.64403736e-04 9.99989670e-01 -2.52400103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.286559995000005 meters 0.05473622377439899 Centerline is valid? [True, True] Translation: X:31.27, Y:-0.21, Z:-0.25 [[ 9.96589066e-01 8.23616125e-02 -5.17666565e-03 3.12713715e+01] [-8.23621240e-02 9.96602462e-01 1.14665996e-04 -2.12910054e-01] [ 5.16852181e-03 3.12086300e-04 9.99986594e-01 -2.52659740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.346559995 meters 0.05218410510340008 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.22, Z:-0.25 [[ 9.96529580e-01 8.30350757e-02 -5.82859197e-03 3.13335274e+01] [-8.30357332e-02 9.96546562e-01 1.29516442e-04 -2.20181580e-01] [ 5.81921770e-03 3.54914442e-04 9.99983005e-01 -2.51096605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.406559995 meters 0.054160326483852 Centerline is valid? [True, True] Translation: X:31.40, Y:-0.22, Z:-0.25 [[ 9.96558596e-01 8.26973135e-02 -5.66742372e-03 3.13963576e+01] [-8.26979266e-02 9.96574652e-01 1.26486262e-04 -2.16937136e-01] [ 5.65847089e-03 3.42633219e-04 9.99983932e-01 -2.51817778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.466559995000004 meters 0.052782002975841756 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.22, Z:-0.25 [[ 9.96597976e-01 8.22140957e-02 -5.77203333e-03 3.14585542e+01] [-8.22147177e-02 9.96614631e-01 1.29837506e-04 -2.18297074e-01] [ 5.76316735e-03 3.45150296e-04 9.99983333e-01 -2.51733719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.526559995 meters 0.05367953301384166 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.22, Z:-0.25 [[ 9.96744002e-01 8.04051792e-02 -6.03330359e-03 3.15196187e+01] [-8.04058297e-02 9.96762200e-01 1.35068219e-04 -2.16946800e-01] [ 6.02462915e-03 3.50484343e-04 9.99981790e-01 -2.52443410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.586559995 meters 0.054400379240842796 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.21, Z:-0.25 [[ 9.96881488e-01 7.86701321e-02 -6.18937945e-03 3.15799625e+01] [-7.86707840e-02 9.96900641e-01 1.38442427e-04 -2.14521377e-01] [ 6.18108763e-03 3.48912642e-04 9.99980836e-01 -2.53267018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.646559995000004 meters 0.05409435825684308 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.22, Z:-0.25 [[ 9.97115082e-01 7.56724162e-02 -5.93285480e-03 3.16404758e+01] [-7.56729617e-02 9.97132682e-01 1.32803111e-04 -2.20048838e-01] [ 5.92589295e-03 3.16536709e-04 9.99982392e-01 -2.52466755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.706559995 meters 0.05594070963911645 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.22, Z:-0.25 [[ 9.97285518e-01 7.33790800e-02 -6.09146992e-03 3.16997945e+01] [-7.33796132e-02 9.97304073e-01 1.36217633e-04 -2.16249152e-01] [ 6.08504328e-03 3.11141834e-04 9.99981438e-01 -2.54390244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.766559995 meters 0.05434463676689535 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.22, Z:-0.25 [[ 9.97446678e-01 7.10796927e-02 -6.91385701e-03 3.17607538e+01] [-7.10803234e-02 9.97470583e-01 1.54772283e-04 -2.22951479e-01] [ 6.90737015e-03 3.37062093e-04 9.99976087e-01 -2.53364839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.826559995000004 meters 0.05520950846262215 Centerline is valid? [True, True] Translation: X:31.82, Y:-0.22, Z:-0.25 [[ 9.97493625e-01 7.04480248e-02 -6.59877334e-03 3.18219263e+01] [-7.04485800e-02 9.97515401e-01 1.48553734e-04 -2.19623380e-01] [ 6.59284335e-03 3.16692809e-04 9.99978217e-01 -2.54627853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.886559995 meters 0.05451807660347866 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.23, Z:-0.25 [[ 9.97661635e-01 6.80768046e-02 -6.06721696e-03 3.18823255e+01] [-6.80772326e-02 9.97680045e-01 1.36188383e-04 -2.25974465e-01] [ 6.06241255e-03 2.77169415e-04 9.99981585e-01 -2.52110312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.946559995 meters 0.05508561048784316 Centerline is valid? [True, True] Translation: X:31.94, Y:-0.23, Z:-0.25 [[ 9.97810453e-01 6.58287048e-02 -6.39388038e-03 3.19424373e+01] [-6.58291342e-02 9.97830900e-01 1.43501496e-04 -2.25309276e-01] [ 6.38945793e-03 2.77716318e-04 9.99979549e-01 -2.52786372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.006559995 meters 0.05639621423261774 Centerline is valid? [True, True] Translation: X:32.00, Y:-0.22, Z:-0.25 [[ 9.97939502e-01 6.38694700e-02 -6.11884048e-03 3.20027332e+01] [-6.38698265e-02 9.97958229e-01 1.37328618e-04 -2.22756882e-01] [ 6.11511831e-03 2.53763626e-04 9.99981270e-01 -2.54003503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.066559995000006 meters 0.056322762747289354 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.22, Z:-0.25 [[ 9.97910105e-01 6.43702763e-02 -5.64719803e-03 3.20646951e+01] [-6.43705800e-02 9.97926055e-01 1.28154740e-04 -2.23645316e-01] [ 5.64373541e-03 2.35626503e-04 9.99984046e-01 -2.53403943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.126559995 meters 0.05641570730922174 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.22, Z:-0.25 [[ 9.97846327e-01 6.53045685e-02 -6.16610612e-03 3.21266795e+01] [-6.53049511e-02 9.97865344e-01 1.39475451e-04 -2.23609531e-01] [ 6.16205199e-03 2.63502193e-04 9.99980980e-01 -2.54133348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.186559995 meters 0.05590393068818522 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.23, Z:-0.25 [[ 9.97938243e-01 6.38518469e-02 -6.49649986e-03 3.21876475e+01] [-6.38522411e-02 9.97959353e-01 1.46923996e-04 -2.29522481e-01] [ 6.49262417e-03 2.68195001e-04 9.99978887e-01 -2.53571694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.246559995000005 meters 0.055198959148118315 Centerline is valid? [True, True] Translation: X:32.25, Y:-0.24, Z:-0.25 [[ 9.98116577e-01 6.09483542e-02 -6.97108273e-03 3.22485887e+01] [-6.09487370e-02 9.98140885e-01 1.57716829e-04 -2.35787565e-01] [ 6.96773527e-03 2.67458907e-04 9.99975689e-01 -2.52847278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.306559995 meters 0.055636273932461455 Centerline is valid? [True, True] Translation: X:32.31, Y:-0.24, Z:-0.25 [[ 9.98398811e-01 5.62070424e-02 -6.37043446e-03 3.23079814e+01] [-5.62072663e-02 9.98419112e-01 1.44032531e-04 -2.38854961e-01] [ 6.36845915e-03 2.14262798e-04 9.99979698e-01 -2.53364071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.366559995 meters 0.05548142869852259 Centerline is valid? [True, True] Translation: X:32.37, Y:-0.24, Z:-0.25 [[ 9.98523610e-01 5.40507955e-02 -5.39550305e-03 3.23689465e+01] [-5.40509241e-02 9.98538173e-01 1.22093808e-04 -2.44145982e-01] [ 5.39421502e-03 1.69718375e-04 9.99985437e-01 -2.51777544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.426559995000005 meters 0.05486716822194744 Centerline is valid? [True, True] Translation: X:32.43, Y:-0.25, Z:-0.25 [[ 9.98569119e-01 5.32108596e-02 -5.32161360e-03 3.24309871e+01] [-5.32109656e-02 9.98583286e-01 1.21749918e-04 -2.47004255e-01] [ 5.32055281e-03 1.61592490e-04 9.99985833e-01 -2.51419729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.486559995 meters 0.05420973790865927 Centerline is valid? [True, True] Translation: X:32.49, Y:-0.26, Z:-0.25 [[ 9.98669165e-01 5.13382299e-02 -4.92801171e-03 3.24914302e+01] [-5.13383008e-02 9.98681314e-01 1.12191534e-04 -2.59339692e-01] [ 4.92727293e-03 1.40953522e-04 9.99987851e-01 -2.48115090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.546559995 meters 0.05483928437723334 Centerline is valid? [True, True] Translation: X:32.55, Y:-0.26, Z:-0.25 [[ 9.98683671e-01 5.09496629e-02 -5.92084390e-03 3.25548487e+01] [-5.09497548e-02 9.98701209e-01 1.35401939e-04 -2.58109497e-01] [ 5.92005264e-03 1.66441840e-04 9.99982462e-01 -2.50646101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.606559995000005 meters 0.0551314288435293 Centerline is valid? [True, True] Translation: X:32.62, Y:-0.26, Z:-0.25 [[ 9.98582164e-01 5.28563987e-02 -6.31365352e-03 3.26160061e+01] [-5.28565427e-02 9.98602105e-01 1.44164027e-04 -2.59758676e-01] [ 6.31244769e-03 1.89758270e-04 9.99980058e-01 -2.50775778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.666559995 meters 0.05596319325965793 Centerline is valid? [True, True] Translation: X:32.68, Y:-0.26, Z:-0.25 [[ 9.98510006e-01 5.41533092e-02 -6.72208550e-03 3.26768871e+01] [-5.41535012e-02 9.98532611e-01 1.53589451e-04 -2.59293654e-01] [ 6.72053896e-03 2.10663862e-04 9.99977395e-01 -2.51848323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.726559995 meters 0.055293642620221295 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.27, Z:-0.25 [[ 9.98432743e-01 5.55749597e-02 -6.59404469e-03 3.27389873e+01] [-5.55751732e-02 9.98454494e-01 1.50995115e-04 -2.65912947e-01] [ 6.59224511e-03 2.15706709e-04 9.99978248e-01 -2.50119777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.786559995000005 meters 0.056137298371675325 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.27, Z:-0.25 [[ 9.98405305e-01 5.61051135e-02 -6.25006699e-03 3.28001613e+01] [-5.61053084e-02 9.98424846e-01 1.44296154e-04 -2.66477874e-01] [ 6.24831793e-03 2.06595890e-04 9.99980458e-01 -2.50364866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.846559995 meters 0.05621378873936844 Centerline is valid? [True, True] Translation: X:32.86, Y:-0.27, Z:-0.25 [[ 9.98303612e-01 5.79428402e-02 -5.70307376e-03 3.28616908e+01] [-5.79430288e-02 9.98319883e-01 1.32290580e-04 -2.67719550e-01] [ 5.70115721e-03 1.98387203e-04 9.99983729e-01 -2.49961110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.906559995 meters 0.05568297887962524 Centerline is valid? [True, True] Translation: X:32.92, Y:-0.27, Z:-0.25 [[ 9.98189373e-01 5.98596765e-02 -5.89871248e-03 3.29228770e+01] [-5.98599150e-02 9.98206778e-01 1.36273194e-04 -2.72295204e-01] [ 5.89629205e-03 2.17069974e-04 9.99982593e-01 -2.49039310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.966559995000004 meters 0.0555947617433259 Centerline is valid? [True, True] Translation: X:32.98, Y:-0.27, Z:-0.25 [[ 9.98013562e-01 6.26239649e-02 -6.86790306e-03 3.29830488e+01] [-6.26243543e-02 9.98037156e-01 1.58547983e-04 -2.74712308e-01] [ 6.86435135e-03 2.71864957e-04 9.99976403e-01 -2.49015363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.026559995 meters 0.05711652512128934 Centerline is valid? [True, True] Translation: X:33.04, Y:-0.27, Z:-0.25 [[ 9.97873498e-01 6.47681930e-02 -7.31866620e-03 3.30427983e+01] [-6.47686898e-02 9.97900290e-01 1.69356034e-04 -2.69965916e-01] [ 7.31426800e-03 3.05024522e-04 9.99973204e-01 -2.51040335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.086559995 meters 0.05580423377165676 Centerline is valid? [True, True] Translation: X:33.10, Y:-0.28, Z:-0.25 [[ 9.97669688e-01 6.79069615e-02 -6.62109159e-03 3.31035225e+01] [-6.79074381e-02 9.97691614e-01 1.53060545e-04 -2.79849912e-01] [ 6.61620143e-03 2.96917502e-04 9.99978069e-01 -2.46982666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.146559995000004 meters 0.05607009889429132 Centerline is valid? [True, True] Translation: X:33.16, Y:-0.28, Z:-0.25 [[ 9.97566818e-01 6.94942590e-02 -5.56694442e-03 3.31645989e+01] [-6.94946132e-02 9.97582318e-01 1.30019410e-04 -2.78032030e-01] [ 5.56252092e-03 2.57169600e-04 9.99984496e-01 -2.47110661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.206559995 meters 0.05989404088932377 Centerline is valid? [True, True] Translation: X:33.23, Y:-0.27, Z:-0.25 [[ 9.97538198e-01 6.99143160e-02 -5.43435993e-03 3.32262364e+01] [-6.99146597e-02 9.97552968e-01 1.26922730e-04 -2.68420365e-01] [ 5.42993559e-03 2.53331154e-04 9.99985226e-01 -2.49796957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.266559995 meters 0.059686905389395896 Centerline is valid? [True, True] Translation: X:33.29, Y:-0.27, Z:-0.25 [[ 9.97517041e-01 7.02468801e-02 -5.01291573e-03 3.32889819e+01] [-7.02471714e-02 9.97529609e-01 1.18155188e-04 -2.69523501e-01] [ 5.00883191e-03 2.34281338e-04 9.99987428e-01 -2.50050076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.326559995000004 meters 0.05570951329686057 Centerline is valid? [True, True] Translation: X:33.35, Y:-0.29, Z:-0.25 [[ 9.97443391e-01 7.13120770e-02 -4.61180649e-03 3.33503611e+01] [-7.13123369e-02 9.97454028e-01 1.08275863e-04 -2.86320269e-01] [ 4.60778634e-03 2.20879654e-04 9.99989360e-01 -2.45544988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.386559995 meters 0.056379011511994676 Centerline is valid? [True, True] Translation: X:33.41, Y:-0.28, Z:-0.25 [[ 9.97417592e-01 7.16680033e-02 -4.67387882e-03 3.34111358e+01] [-7.16682744e-02 9.97428517e-01 1.09687682e-04 -2.82217429e-01] [ 4.66972111e-03 2.25564406e-04 9.99989071e-01 -2.46806553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.446559995 meters 0.056605287476277535 Centerline is valid? [True, True] Translation: X:33.47, Y:-0.28, Z:-0.25 [[ 9.97461768e-01 7.10315691e-02 -4.95346730e-03 3.34732787e+01] [-7.10318596e-02 9.97474040e-01 1.17471845e-04 -2.83682197e-01] [ 4.94929925e-03 2.34680319e-04 9.99987725e-01 -2.46329289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.506559995 meters 0.056655083999614955 Centerline is valid? [True, True] Translation: X:33.53, Y:-0.29, Z:-0.25 [[ 9.97535402e-01 6.99842770e-02 -5.03212084e-03 3.35342723e+01] [-6.99845667e-02 9.97548067e-01 1.18713233e-04 -2.85750896e-01] [ 5.02809048e-03 2.33750144e-04 9.99987332e-01 -2.46235748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.566559995000006 meters 0.05676812376563503 Centerline is valid? [True, True] Translation: X:33.60, Y:-0.29, Z:-0.25 [[ 9.97628743e-01 6.86388926e-02 -5.05896688e-03 3.35957602e+01] [-6.86391678e-02 9.97641544e-01 1.19424807e-04 -2.87108641e-01] [ 5.05523271e-03 2.28101656e-04 9.99987196e-01 -2.46212629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.626559995 meters 0.05589090229944134 Centerline is valid? [True, True] Translation: X:33.66, Y:-0.29, Z:-0.24 [[ 9.97789918e-01 6.63618896e-02 -3.37333871e-03 3.36565454e+01] [-6.63619991e-02 9.97795610e-01 7.95755665e-05 -2.91041762e-01] [ 3.37118334e-03 1.44461802e-04 9.99994307e-01 -2.44900233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.686559995 meters 0.0593654406335553 Centerline is valid? [True, True] Translation: X:33.72, Y:-0.28, Z:-0.25 [[ 9.97802238e-01 6.61680849e-02 -3.53247944e-03 3.37184450e+01] [-6.61681996e-02 9.97808480e-01 8.45301395e-05 -2.80361097e-01] [ 3.53033113e-03 1.49393442e-04 9.99993757e-01 -2.46664350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.746559995000005 meters 0.05861677480299998 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.28, Z:-0.25 [[ 9.97800587e-01 6.61839716e-02 -3.69731967e-03 3.37816732e+01] [-6.61840956e-02 9.97807425e-01 8.89591571e-05 -2.81875570e-01] [ 3.69510069e-03 1.55940259e-04 9.99993161e-01 -2.46969190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.806559995 meters 0.05929711285151411 Centerline is valid? [True, True] Translation: X:33.84, Y:-0.28, Z:-0.25 [[ 9.97812975e-01 6.59904977e-02 -3.81077623e-03 3.38437818e+01] [-6.59906270e-02 9.97820239e-01 9.19454298e-05 -2.80990197e-01] [ 3.80853718e-03 1.59731170e-04 9.99992735e-01 -2.47775323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.866559995 meters 0.05889063636304328 Centerline is valid? [True, True] Translation: X:33.91, Y:-0.28, Z:-0.25 [[ 9.97824118e-01 6.58487333e-02 -3.31269969e-03 3.39058448e+01] [-6.58488287e-02 9.97829607e-01 8.03856290e-05 -2.82443039e-01] [ 3.31080313e-03 1.37926675e-04 9.99994510e-01 -2.47729920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.926559995000005 meters 0.057710500141783534 Centerline is valid? [True, True] Translation: X:33.97, Y:-0.29, Z:-0.25 [[ 9.97787278e-01 6.64647226e-02 -1.72888929e-03 3.39674420e+01] [-6.64647485e-02 9.97788773e-01 4.25437861e-05 -2.89422300e-01] [ 1.72789399e-03 7.24605437e-05 9.99998505e-01 -2.45603109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.986559995 meters 0.058837514427388514 Centerline is valid? [True, True] Translation: X:34.03, Y:-0.28, Z:-0.25 [[ 9.97614415e-01 6.90003276e-02 -2.10576034e-03 3.40270286e+01] [-6.90003735e-02 9.97616633e-01 5.09215026e-05 -2.82895054e-01] [ 2.10425514e-03 9.44982249e-05 9.99997782e-01 -2.47649421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.046559995 meters 0.05633968615993296 Centerline is valid? [True, True] Translation: X:34.09, Y:-0.29, Z:-0.25 [[ 9.97419125e-01 7.17889353e-02 -1.19890519e-03 3.40871883e+01] [-7.17889522e-02 9.97419844e-01 2.89665411e-05 -2.92811593e-01] [ 1.19789131e-03 5.71763655e-05 9.99999281e-01 -2.45872393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.106559995000005 meters 0.0580315827968156 Centerline is valid? [True, True] Translation: X:34.15, Y:-0.29, Z:-0.25 [[ 9.97180303e-01 7.50324217e-02 -1.25665019e-03 3.41473473e+01] [-7.50324428e-02 9.97181093e-01 3.03824862e-05 -2.86704182e-01] [ 1.25538748e-03 6.39927169e-05 9.99999210e-01 -2.47512907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.166559995 meters 0.057645853431965516 Centerline is valid? [True, True] Translation: X:34.21, Y:-0.29, Z:-0.25 [[ 9.96988404e-01 7.75387809e-02 -1.36394551e-03 3.42081546e+01] [-7.75388081e-02 9.96989334e-01 3.29570563e-05 -2.85647214e-01] [ 1.36239457e-03 7.29009060e-05 9.99999069e-01 -2.48498317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.226559995 meters 0.059463716298081185 Centerline is valid? [True, True] Translation: X:34.27, Y:-0.28, Z:-0.25 [[ 9.97004962e-01 7.73222594e-02 -1.54059708e-03 3.42696042e+01] [-7.73222931e-02 9.97006149e-01 3.77646415e-05 -2.82287684e-01] [ 1.53890481e-03 8.14709641e-05 9.99998813e-01 -2.50049278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.286559995000005 meters 0.057961635158218665 Centerline is valid? [True, True] Translation: X:34.33, Y:-0.29, Z:-0.25 [[ 9.97147855e-01 7.54638224e-02 -1.16934805e-03 3.43299069e+01] [-7.54638408e-02 9.97148539e-01 2.84128330e-05 -2.89767924e-01] [ 1.16815784e-03 5.99116996e-05 9.99999316e-01 -2.49213995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.346559995 meters 0.05706404274640999 Centerline is valid? [True, True] Translation: X:34.39, Y:-0.29, Z:-0.25 [[ 9.97181591e-01 7.50210000e-02 -8.51463126e-04 3.43917560e+01] [-7.50210089e-02 9.97181953e-01 2.15317619e-05 -2.93568350e-01] [ 8.50678997e-04 4.24065462e-05 9.99999637e-01 -2.49414941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.406559995 meters 0.05628729295382724 Centerline is valid? [True, True] Translation: X:34.45, Y:-0.30, Z:-0.25 [[ 9.97292208e-01 7.35377978e-02 -6.67138343e-04 3.44519574e+01] [-7.35378033e-02 9.97292430e-01 1.62371281e-05 -3.01086364e-01] [ 6.66526062e-04 3.28667270e-05 9.99999777e-01 -2.48896393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.466559995000004 meters 0.05682774461426173 Centerline is valid? [True, True] Translation: X:34.51, Y:-0.30, Z:-0.25 [[ 9.97431572e-01 7.16061915e-02 -1.67731783e-03 3.45121558e+01] [-7.16062239e-02 9.97432979e-01 4.08233534e-05 -3.00375428e-01] [ 1.67593532e-03 7.93878942e-05 9.99998592e-01 -2.50134115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.526559995 meters 0.058416617657893674 Centerline is valid? [True, True] Translation: X:34.57, Y:-0.30, Z:-0.25 [[ 9.97616873e-01 6.89698422e-02 -1.93271136e-03 3.45717932e+01] [-6.89698804e-02 9.97618742e-01 4.69783095e-05 -3.01482440e-01] [ 1.93134916e-03 8.64325170e-05 9.99998131e-01 -2.51254268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.586559995 meters 0.05783122052855538 Centerline is valid? [True, True] Translation: X:34.63, Y:-0.31, Z:-0.25 [[ 9.97683158e-01 6.80040406e-02 -1.94100392e-03 3.46332174e+01] [-6.80040769e-02 9.97685042e-01 4.73704405e-05 -3.05789410e-01] [ 1.93973196e-03 8.47354895e-05 9.99998115e-01 -2.51364482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.646559995000004 meters 0.05800192452167281 Centerline is valid? [True, True] Translation: X:34.70, Y:-0.31, Z:-0.25 [[ 9.97654647e-01 6.84289178e-02 -1.63987516e-03 3.46956667e+01] [-6.84289429e-02 9.97655992e-01 4.08843713e-05 -3.09252121e-01] [ 1.63882895e-03 7.14264404e-05 9.99998655e-01 -2.51530178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.706559995 meters 0.05819494334682667 Centerline is valid? [True, True] Translation: X:34.76, Y:-0.31, Z:-0.25 [[ 9.97493177e-01 7.07429562e-02 -1.67192681e-03 3.47561251e+01] [-7.07429868e-02 9.97494575e-01 4.09035664e-05 -3.12450469e-01] [ 1.67063156e-03 7.74760678e-05 9.99998601e-01 -2.51447748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.766559995 meters 0.05574334515774849 Centerline is valid? [True, True] Translation: X:34.82, Y:-0.32, Z:-0.25 [[ 9.97306788e-01 7.33278810e-02 -1.48039634e-03 3.48163231e+01] [-7.33279078e-02 9.97307885e-01 3.62178979e-05 -3.20501313e-01] [ 1.47906672e-03 7.24340107e-05 9.99998904e-01 -2.50682876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.826559995000004 meters 0.05579814068609045 Centerline is valid? [True, True] Translation: X:34.88, Y:-0.32, Z:-0.25 [[ 9.96887764e-01 7.88187294e-02 -1.54724844e-03 3.48771852e+01] [-7.88187653e-02 9.96888961e-01 3.78725917e-05 -3.22879363e-01] [ 1.54541996e-03 8.41974883e-05 9.99998802e-01 -2.50172826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.886559995 meters 0.05511946292510892 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.33, Z:-0.25 [[ 9.96592300e-01 8.24739647e-02 -1.35391496e-03 3.49375241e+01] [-8.24739955e-02 9.96593216e-01 3.31806487e-05 -3.30282094e-01] [ 1.35203901e-03 7.85951973e-05 9.99999083e-01 -2.49083260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.946559995 meters 0.0554492712944355 Centerline is valid? [True, True] Translation: X:35.00, Y:-0.33, Z:-0.25 [[ 9.96209256e-01 8.69859114e-02 -7.54071154e-04 3.49978065e+01] [-8.69859222e-02 9.96209541e-01 1.85331097e-05 -3.30158351e-01] [ 7.52824998e-04 4.71307194e-05 9.99999716e-01 -2.48843998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.006559995 meters 0.05740911210126435 Centerline is valid? [True, True] Translation: X:35.06, Y:-0.32, Z:-0.25 [[ 9.95968930e-01 8.96962558e-02 -6.87655112e-04 3.50576519e+01] [-8.96962652e-02 9.95969166e-01 1.71239242e-05 -3.23387601e-01] [ 6.86419240e-04 4.46251989e-05 9.99999763e-01 -2.50617203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.066559995 meters 0.054616146345607956 Centerline is valid? [True, True] Translation: X:35.12, Y:-0.34, Z:-0.25 [[ 9.95703248e-01 9.26007737e-02 -3.73321458e-04 3.51179169e+01] [-9.26007767e-02 9.95703317e-01 9.21754581e-06 -3.35289038e-01] [ 3.72570966e-04 2.53919167e-05 9.99999930e-01 -2.49645479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.126559995 meters 0.056460934216592734 Centerline is valid? [True, True] Translation: X:35.18, Y:-0.33, Z:-0.25 [[ 9.95645478e-01 9.32206090e-02 2.72719146e-05 3.51800399e+01] [-9.32206090e-02 9.95645478e-01 -2.81465813e-07 -3.34241536e-01] [-2.71793968e-05 -2.26206432e-06 1.00000000e+00 -2.49892919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.186559995 meters 0.055424610357418004 Centerline is valid? [True, True] Translation: X:35.24, Y:-0.34, Z:-0.25 [[ 9.95604244e-01 9.36599493e-02 6.08443991e-05 3.52416478e+01] [-9.36599495e-02 9.95604246e-01 -7.70624867e-07 -3.40984773e-01] [-6.06491188e-05 -4.93144596e-06 9.99999998e-01 -2.49536642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.246559995000005 meters 0.05517292989890651 Centerline is valid? [True, True] Translation: X:35.30, Y:-0.34, Z:-0.25 [[ 9.95516210e-01 9.45905273e-02 -3.28448590e-04 3.53027315e+01] [-9.45905297e-02 9.95516264e-01 8.16219296e-06 -3.43158160e-01] [ 3.27747979e-04 2.29425307e-05 9.99999946e-01 -2.49715130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.306559995 meters 0.05487636206930698 Centerline is valid? [True, True] Translation: X:35.36, Y:-0.35, Z:-0.25 [[ 9.95490323e-01 9.48616865e-02 -5.26740127e-04 3.53643359e+01] [-9.48616924e-02 9.95490462e-01 1.38608912e-05 -3.48481959e-01] [ 5.25679640e-04 3.61690768e-05 9.99999861e-01 -2.49966823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.366559995 meters 0.05467459734547813 Centerline is valid? [True, True] Translation: X:35.43, Y:-0.35, Z:-0.25 [[ 9.95456777e-01 9.52138533e-02 -3.57754162e-04 3.54253501e+01] [-9.52138561e-02 9.95456841e-01 9.31453779e-06 -3.48842815e-01] [ 3.57015701e-04 2.47909335e-05 9.99999936e-01 -2.50673810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.426559995000005 meters 0.05446876062369584 Centerline is valid? [True, True] Translation: X:35.49, Y:-0.35, Z:-0.25 [[ 9.95336923e-01 9.64563336e-02 7.65635476e-04 3.54860226e+01] [-9.64563474e-02 9.95337216e-01 -1.89754225e-05 -3.49567083e-01] [-7.63895782e-04 -5.49634628e-05 9.99999707e-01 -2.50950751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.486559995 meters 0.05430695388544498 Centerline is valid? [True, True] Translation: X:35.55, Y:-0.35, Z:-0.25 [[ 9.95219453e-01 9.76514703e-02 1.55919585e-03 3.55468429e+01] [-9.76515289e-02 9.95220668e-01 -3.87120332e-05 -3.52525288e-01] [-1.55552422e-03 -1.13730890e-04 9.99998784e-01 -2.50735384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.546559995 meters 0.054028582688144075 Centerline is valid? [True, True] Translation: X:35.61, Y:-0.35, Z:-0.25 [[ 9.95054014e-01 9.93128139e-02 2.11512365e-03 3.56072213e+01] [-9.93129252e-02 9.95056250e-01 -5.25799683e-05 -3.53184582e-01] [-2.10988887e-03 -1.57739208e-04 9.99997762e-01 -2.50843416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.606559995000005 meters 0.053030793558097485 Centerline is valid? [True, True] Translation: X:35.67, Y:-0.36, Z:-0.25 [[ 9.95003755e-01 9.98197077e-02 1.88496513e-03 3.56691672e+01] [-9.98197973e-02 9.95005531e-01 -4.67024840e-05 -3.60519011e-01] [-1.88021255e-03 -1.41687690e-04 9.99998222e-01 -2.51587466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.666559995 meters 0.05705995025799461 Centerline is valid? [True, True] Translation: X:35.73, Y:-0.34, Z:-0.25 [[ 9.94942337e-01 1.00443272e-01 9.45924633e-04 3.57307726e+01] [-1.00443295e-01 9.94942784e-01 -2.32325802e-05 -3.44357166e-01] [-9.43474444e-04 -7.18967093e-05 9.99999552e-01 -2.53744131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.726559995 meters 0.05679432570807668 Centerline is valid? [True, True] Translation: X:35.79, Y:-0.35, Z:-0.25 [[ 9.94913082e-01 1.00733113e-01 8.94262740e-04 3.57925711e+01] [-1.00733134e-01 9.94913481e-01 -2.16416056e-05 -3.45850150e-01] [-8.91894082e-04 -6.85503717e-05 9.99999600e-01 -2.54410523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.786559995000005 meters 0.05616899739178589 Centerline is valid? [True, True] Translation: X:35.85, Y:-0.35, Z:-0.25 [[ 9.95132967e-01 9.85311854e-02 1.40810590e-03 3.58528294e+01] [-9.85312335e-02 9.95133958e-01 -3.52760138e-05 -3.47938133e-01] [-1.40472979e-03 -1.03638087e-04 9.99999008e-01 -2.54773538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.846559995 meters 0.05260841832092817 Centerline is valid? [True, True] Translation: X:35.91, Y:-0.36, Z:-0.25 [[ 9.95283463e-01 9.69763844e-02 2.53180109e-03 3.59126325e+01] [-9.69765353e-02 9.95286666e-01 -6.33717938e-05 -3.62469445e-01] [-2.52601344e-03 -1.82452400e-04 9.99996793e-01 -2.54441990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.906559995 meters 0.05279472665591607 Centerline is valid? [True, True] Translation: X:35.97, Y:-0.36, Z:-0.26 [[ 9.95314556e-01 9.66523592e-02 2.69367926e-03 3.59735720e+01] [-9.66525299e-02 9.95318182e-01 -6.70272819e-05 -3.57458374e-01] [-2.68754629e-03 -1.93637686e-04 9.99996370e-01 -2.55008175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.966559995000004 meters 0.052989328603577676 Centerline is valid? [True, True] Translation: X:36.03, Y:-0.36, Z:-0.26 [[ 9.95228793e-01 9.75306071e-02 2.72574029e-03 3.60346604e+01] [-9.75307833e-02 9.95232506e-01 -6.85414877e-05 -3.55901993e-01] [-2.71943023e-03 -1.97629123e-04 9.99996283e-01 -2.56045149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.026559995 meters 0.05289927903352923 Centerline is valid? [True, True] Translation: X:36.10, Y:-0.36, Z:-0.26 [[ 9.94981418e-01 1.00031597e-01 2.37868617e-03 3.60950038e+01] [-1.00031739e-01 9.94984245e-01 -5.98110470e-05 -3.57170675e-01] [-2.37273826e-03 -1.78433233e-04 9.99997169e-01 -2.57303361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.086559995 meters 0.06268895116630488 Centerline is valid? [True, True] Translation: X:36.16, Y:-0.33, Z:-0.26 [[ 9.94668762e-01 1.03117400e-01 9.24852867e-04 3.61552827e+01] [-1.03117423e-01 9.94669189e-01 -2.32484669e-05 -3.27479281e-01] [-9.22319973e-04 -7.22439206e-05 9.99999572e-01 -2.60087522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.146559995000004 meters 0.05619054039903608 Centerline is valid? [True, True] Translation: X:36.22, Y:-0.34, Z:-0.26 [[ 9.94376241e-01 1.05897590e-01 1.26149511e-03 3.62157516e+01] [-1.05897635e-01 9.94377036e-01 -3.17116243e-05 -3.41999405e-01] [-1.25775995e-03 -1.02056063e-04 9.99999204e-01 -2.59363954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.206559995 meters 0.07645919545798094 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.30, Z:-0.26 [[ 9.94061871e-01 1.08816139e-01 2.12532017e-04 3.62762177e+01] [-1.08816140e-01 9.94061893e-01 -5.32430249e-06 -2.98759917e-01] [-2.11849349e-04 -1.78342277e-05 9.99999977e-01 -2.62961178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.266559995 meters 0.05370315144707251 Centerline is valid? [True, True] Translation: X:36.34, Y:-0.35, Z:-0.26 [[ 9.93706773e-01 1.12000228e-01 1.67293774e-03 3.63354717e+01] [-1.12000315e-01 9.93708170e-01 -4.21686014e-05 -3.45763913e-01] [-1.66713479e-03 -1.45466328e-04 9.99998600e-01 -2.58991720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.326559995000004 meters 0.056137868528384684 Centerline is valid? [True, True] Translation: X:36.40, Y:-0.34, Z:-0.26 [[ 9.93288583e-01 1.15631198e-01 2.68624502e-03 3.63958792e+01] [-1.15631435e-01 9.93292186e-01 -6.76350546e-05 -3.36270854e-01] [-2.67604691e-03 -2.43433238e-04 9.99996390e-01 -2.59902909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.386559995 meters 0.05754750528221894 Centerline is valid? [True, True] Translation: X:36.46, Y:-0.33, Z:-0.26 [[ 9.93095283e-01 1.17291875e-01 2.09168688e-03 3.64557545e+01] [-1.17292022e-01 9.93097467e-01 -5.25399498e-05 -3.30793372e-01] [-2.08341145e-03 -1.93161008e-04 9.99997811e-01 -2.60175738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.446559995 meters 0.05845865105265015 Centerline is valid? [True, True] Translation: X:36.52, Y:-0.33, Z:-0.26 [[ 9.93056382e-01 1.17627924e-01 1.64134685e-03 3.65181927e+01] [-1.17628016e-01 9.93057727e-01 -4.08530678e-05 -3.27442021e-01] [-1.63475764e-03 -1.52498974e-04 9.99998652e-01 -2.61150100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.506559995 meters 0.06026340978215766 Centerline is valid? [True, True] Translation: X:36.58, Y:-0.32, Z:-0.26 [[ 9.93171094e-01 1.16663626e-01 8.80703120e-04 3.65790987e+01] [-1.16663652e-01 9.93171482e-01 -2.22689742e-05 -3.21368846e-01] [-8.77287202e-04 -8.06291408e-05 9.99999612e-01 -2.62039646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.566559995 meters 0.06921775131868975 Centerline is valid? [True, True] Translation: X:36.64, Y:-0.30, Z:-0.26 [[ 9.93511536e-01 1.13731062e-01 2.70743805e-04 3.66406471e+01] [-1.13731065e-01 9.93511573e-01 -6.81575888e-06 -3.00671154e-01] [-2.69762267e-04 -2.40204462e-05 9.99999963e-01 -2.64080753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.626559995 meters 0.06460943989102469 Centerline is valid? [True, True] Translation: X:36.70, Y:-0.31, Z:-0.26 [[ 9.93918834e-01 1.10114837e-01 2.72504458e-04 3.67013160e+01] [-1.10114840e-01 9.93918871e-01 -6.91189454e-06 -3.09427577e-01] [-2.71608425e-04 -2.31369225e-05 9.99999963e-01 -2.63784649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.686559995 meters 0.05896608586676641 Centerline is valid? [True, True] Translation: X:36.76, Y:-0.32, Z:-0.26 [[ 9.94147514e-01 1.08030546e-01 3.49213687e-04 3.67621531e+01] [-1.08030549e-01 9.94147575e-01 -8.86465488e-06 -3.23213919e-01] [-3.48127593e-04 -2.89129717e-05 9.99999939e-01 -2.63244297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.746559995000005 meters 0.06404781675188066 Centerline is valid? [True, True] Translation: X:36.82, Y:-0.31, Z:-0.27 [[ 9.94366622e-01 1.05994150e-01 5.11980302e-04 3.68227189e+01] [-1.05994157e-01 9.94366752e-01 -1.29809132e-05 -3.06703586e-01] [-5.10472092e-04 -4.13591339e-05 9.99999869e-01 -2.65135817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.806559995 meters 0.05868086105864841 Centerline is valid? [True, True] Translation: X:36.88, Y:-0.32, Z:-0.26 [[ 9.94441822e-01 1.05287334e-01 2.02025595e-04 3.68837821e+01] [-1.05287335e-01 9.94441842e-01 -4.88854116e-06 -3.20219494e-01] [-2.01417407e-04 -1.64093668e-05 9.99999980e-01 -2.63705071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.866559995 meters 0.055295130949353496 Centerline is valid? [True, True] Translation: X:36.94, Y:-0.33, Z:-0.26 [[ 9.94324882e-01 1.06386086e-01 1.73857624e-04 3.69448239e+01] [-1.06386087e-01 9.94324897e-01 -4.29895049e-06 -3.31985475e-01] [-1.73328313e-04 -1.42214789e-05 9.99999985e-01 -2.63296311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.926559995000005 meters 0.059067967242092186 Centerline is valid? [True, True] Translation: X:37.00, Y:-0.32, Z:-0.27 [[ 9.94158341e-01 1.07930210e-01 -5.13584750e-04 3.70045509e+01] [-1.07930217e-01 9.94158472e-01 1.29917380e-05 -3.16203428e-01] [ 5.11986832e-04 4.25154691e-05 9.99999868e-01 -2.65057721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.986559995 meters 0.059655857818912854 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.31, Z:-0.26 [[ 9.94076363e-01 1.08683860e-01 5.67030735e-05 3.70659399e+01] [-1.08683860e-01 9.94076365e-01 -1.33096865e-06 -3.12936648e-01] [-5.65118400e-05 -4.83962442e-06 9.99999998e-01 -2.64803545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.046559995 meters 0.05908644134486406 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.31, Z:-0.26 [[ 9.94137559e-01 1.08119278e-01 8.57523398e-04 3.71278528e+01] [-1.08119299e-01 9.94137926e-01 -2.16369945e-05 -3.12840780e-01] [-8.54835909e-04 -7.12046798e-05 9.99999632e-01 -2.64752864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.106559995000005 meters 0.05960749123390304 Centerline is valid? [True, True] Translation: X:37.19, Y:-0.31, Z:-0.26 [[ 9.94206633e-01 1.07472322e-01 1.69423415e-03 3.71894671e+01] [-1.07472404e-01 9.94208067e-01 -4.28890683e-05 -3.10798173e-01] [-1.68903064e-03 -1.39442820e-04 9.99998564e-01 -2.64593135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.166559995 meters 0.056828909900327136 Centerline is valid? [True, True] Translation: X:37.25, Y:-0.32, Z:-0.26 [[ 9.94226858e-01 1.07285036e-01 1.69555500e-03 3.72512409e+01] [-1.07285119e-01 9.94228294e-01 -4.25388596e-05 -3.22788001e-01] [-1.69033254e-03 -1.39614542e-04 9.99998562e-01 -2.63977407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.226559995 meters 0.06061711298338324 Centerline is valid? [True, True] Translation: X:37.31, Y:-0.30, Z:-0.27 [[ 9.94307278e-01 1.06549847e-01 4.09414875e-04 3.73117875e+01] [-1.06549851e-01 9.94307361e-01 -1.04123720e-05 -3.03957988e-01] [-4.08193661e-04 -3.32699969e-05 9.99999916e-01 -2.66645260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.286559995000005 meters 0.06115942206531706 Centerline is valid? [True, True] Translation: X:37.37, Y:-0.30, Z:-0.27 [[ 9.94331552e-01 1.06322899e-01 4.53603210e-04 3.73737599e+01] [-1.06322905e-01 9.94331655e-01 -1.08720079e-05 -3.03080267e-01] [-4.52187974e-04 -3.74180304e-05 9.99999897e-01 -2.67393462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.346559995 meters 0.06387366293171919 Centerline is valid? [True, True] Translation: X:37.43, Y:-0.29, Z:-0.27 [[ 9.94359120e-01 1.06065534e-01 2.07651343e-04 3.74349320e+01] [-1.06065535e-01 9.94359141e-01 -4.63534476e-06 -2.94775622e-01] [-2.06971661e-04 -1.74154535e-05 9.99999978e-01 -2.68505640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.406559995 meters 0.060772821778408447 Centerline is valid? [True, True] Translation: X:37.50, Y:-0.30, Z:-0.27 [[ 9.94572787e-01 1.04042984e-01 -1.70103675e-04 3.74951796e+01] [-1.04042985e-01 9.94572801e-01 4.40951056e-06 -3.02492826e-01] [ 1.69639268e-04 1.33125149e-05 9.99999986e-01 -2.68552118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.466559995000004 meters 0.05772504566640315 Centerline is valid? [True, True] Translation: X:37.56, Y:-0.31, Z:-0.27 [[ 9.95066092e-01 9.92104871e-02 8.67439212e-04 3.75551650e+01] [-9.92105051e-02 9.95066468e-01 -2.23627792e-05 -3.12143990e-01] [-8.65378295e-04 -6.38066390e-05 9.99999624e-01 -2.68048700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.526559995 meters 0.05912837012411508 Centerline is valid? [True, True] Translation: X:37.62, Y:-0.31, Z:-0.27 [[ 9.95453422e-01 9.52411299e-02 1.26975338e-03 3.76154961e+01] [-9.52411652e-02 9.95454228e-01 -3.27398125e-05 -3.13719105e-01] [-1.26709955e-03 -8.83418330e-05 9.99999193e-01 -2.68194530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.586559995 meters 0.05665298097679214 Centerline is valid? [True, True] Translation: X:37.68, Y:-0.33, Z:-0.27 [[ 9.96091690e-01 8.83202378e-02 9.38143443e-04 3.76756800e+01] [-8.83202540e-02 9.96092130e-01 -2.41474531e-05 -3.26493559e-01] [-9.36610009e-04 -5.88039898e-05 9.99999560e-01 -2.67665432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.646559995000004 meters 0.06536908936022233 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.30, Z:-0.27 [[ 9.96684434e-01 8.13579797e-02 -1.00858529e-03 3.77361987e+01] [-8.13579950e-02 9.96684943e-01 2.59385813e-05 -3.01224990e-01] [ 1.00735209e-03 5.62038970e-05 9.99999491e-01 -2.73090187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.706559995 meters 0.05986962831401968 Centerline is valid? [True, True] Translation: X:37.80, Y:-0.32, Z:-0.27 [[ 9.97144898e-01 7.54876520e-02 -1.91469826e-03 3.77964350e+01] [-7.54876961e-02 9.97146732e-01 4.93169237e-05 -3.17654574e-01] [ 1.91295793e-03 9.53600413e-05 9.99998166e-01 -2.72304282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.766559995 meters 0.05894796047251472 Centerline is valid? [True, True] Translation: X:37.86, Y:-0.33, Z:-0.27 [[ 9.97958183e-01 6.38649867e-02 -8.53819983e-04 3.78569450e+01] [-6.38649912e-02 9.97958547e-01 2.20201833e-05 -3.31411548e-01] [ 8.53483269e-04 3.25539836e-05 9.99999635e-01 -2.71218932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.826559995000004 meters 0.057528679838364946 Centerline is valid? [True, True] Translation: X:37.92, Y:-0.34, Z:-0.27 [[ 9.98375196e-01 5.69803167e-02 -4.59326615e-04 3.79167678e+01] [-5.69803173e-02 9.98375302e-01 1.17907610e-05 -3.43483303e-01] [ 4.59252189e-04 1.44009730e-05 9.99999894e-01 -2.69594398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.886559995 meters 0.057161975005842205 Centerline is valid? [True, True] Translation: X:37.98, Y:-0.35, Z:-0.27 [[ 9.98526928e-01 5.42335892e-02 -1.64067805e-03 3.79776795e+01] [-5.42335926e-02 9.98528275e-01 4.24211315e-05 -3.47856760e-01] [ 1.64056407e-03 4.66212229e-05 9.99998653e-01 -2.70588479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.946559995 meters 0.05648387449110755 Centerline is valid? [True, True] Translation: X:38.04, Y:-0.36, Z:-0.27 [[ 9.98658680e-01 5.17624017e-02 -1.22216932e-03 3.80389198e+01] [-5.17624016e-02 9.98659428e-01 3.17165299e-05 -3.62259697e-01] [ 1.22217264e-03 3.15884315e-05 9.99999253e-01 -2.67829445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.006559995 meters 0.056492863791313755 Centerline is valid? [True, True] Translation: X:38.10, Y:-0.36, Z:-0.27 [[ 9.98706197e-01 5.08503584e-02 -4.16174150e-04 3.81004086e+01] [-5.08503580e-02 9.98706284e-01 1.14925471e-05 -3.63170789e-01] [ 4.16220139e-04 9.68492654e-06 9.99999913e-01 -2.68320580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.066559995 meters 0.0572827706620224 Centerline is valid? [True, True] Translation: X:38.16, Y:-0.36, Z:-0.27 [[ 9.98600386e-01 5.28870974e-02 4.74331160e-04 3.81621317e+01] [-5.28870976e-02 9.98600498e-01 -1.20700871e-05 -3.55900431e-01] [-4.74305685e-04 -1.30328048e-05 9.99999887e-01 -2.69850939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.126559995 meters 0.05769767520706597 Centerline is valid? [True, True] Translation: X:38.22, Y:-0.36, Z:-0.27 [[ 9.98531665e-01 5.41704448e-02 2.77020565e-04 3.82238032e+01] [-5.41704451e-02 9.98531703e-01 -6.45295112e-06 -3.57356321e-01] [-2.76963376e-04 -8.56285131e-06 9.99999962e-01 -2.69549655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.186559995 meters 0.05772803109280087 Centerline is valid? [True, True] Translation: X:38.28, Y:-0.35, Z:-0.27 [[ 9.98275046e-01 5.87100178e-02 -2.58608713e-04 3.82847001e+01] [-5.87100180e-02 9.98275079e-01 6.80460205e-06 -3.54745280e-01] [ 2.58562132e-04 8.39005777e-06 9.99999967e-01 -2.70500753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.246559995000005 meters 0.05984519003698196 Centerline is valid? [True, True] Translation: X:38.34, Y:-0.35, Z:-0.27 [[ 9.98046019e-01 6.24749916e-02 -1.00957990e-03 3.83445833e+01] [-6.24749970e-02 9.98046529e-01 2.62437300e-05 -3.50009555e-01] [ 1.00924729e-03 3.68810510e-05 9.99999490e-01 -2.72617070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.306559995 meters 0.05857644332248806 Centerline is valid? [True, True] Translation: X:38.41, Y:-0.36, Z:-0.27 [[ 9.97762822e-01 6.68470706e-02 -9.05791445e-04 3.84050177e+01] [-6.68470765e-02 9.97763232e-01 2.37367650e-05 -3.56216633e-01] [ 9.05352133e-04 3.68658484e-05 9.99999589e-01 -2.71686286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.366559995 meters 0.05942158883662305 Centerline is valid? [True, True] Translation: X:38.47, Y:-0.36, Z:-0.27 [[ 9.97797568e-01 6.63324924e-02 -1.21181809e-04 3.84672387e+01] [-6.63324924e-02 9.97797575e-01 3.45655010e-06 -3.55721657e-01] [ 1.21144197e-04 4.58935417e-06 9.99999993e-01 -2.71437467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.426559995000005 meters 0.05962445455918339 Centerline is valid? [True, True] Translation: X:38.53, Y:-0.36, Z:-0.27 [[ 9.97875314e-01 6.51524067e-02 -1.44650276e-04 3.85272518e+01] [-6.51524068e-02 9.97875325e-01 3.83560498e-06 -3.59654030e-01] [ 1.44592840e-04 5.59685811e-06 9.99999990e-01 -2.71228371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.486559995 meters 0.058688357487551086 Centerline is valid? [True, True] Translation: X:38.59, Y:-0.37, Z:-0.27 [[ 9.98113610e-01 6.13939760e-02 -4.66138292e-05 3.85877989e+01] [-6.13939760e-02 9.98113611e-01 1.22041032e-06 -3.65141206e-01] [ 4.66008232e-05 1.64370016e-06 9.99999999e-01 -2.71575426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.546559995 meters 0.05767353484374689 Centerline is valid? [True, True] Translation: X:38.65, Y:-0.37, Z:-0.27 [[ 9.98422503e-01 5.61430399e-02 6.81018617e-04 3.86480733e+01] [-5.61430408e-02 9.98422735e-01 -1.77846566e-05 -3.74867667e-01] [-6.80942955e-04 -2.04778547e-05 9.99999768e-01 -2.70880219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.606559995000005 meters 0.05736964105100442 Centerline is valid? [True, True] Translation: X:38.71, Y:-0.38, Z:-0.27 [[ 9.98669456e-01 5.15612160e-02 8.70546459e-04 3.87081799e+01] [-5.15612158e-02 9.98669836e-01 -2.27194229e-05 -3.82012522e-01] [-8.70559930e-04 -2.21972401e-05 9.99999621e-01 -2.70221895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.666559995 meters 0.05667304997488859 Centerline is valid? [True, True] Translation: X:38.77, Y:-0.39, Z:-0.27 [[ 9.98827871e-01 4.84027092e-02 2.48274635e-04 3.87692377e+01] [-4.84027091e-02 9.98827902e-01 -6.36485278e-06 -3.88277208e-01] [-2.48291709e-04 -5.65977259e-06 9.99999969e-01 -2.70099237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.726559995 meters 0.05742897665523991 Centerline is valid? [True, True] Translation: X:38.83, Y:-0.39, Z:-0.27 [[ 9.98717727e-01 5.06110378e-02 1.19332590e-03 3.88305639e+01] [-5.06110369e-02 9.98718440e-01 -3.09756356e-05 -3.88134721e-01] [-1.19336429e-03 -2.94595447e-05 9.99999288e-01 -2.70045797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.786559995000005 meters 0.057071609870559266 Centerline is valid? [True, True] Translation: X:38.89, Y:-0.39, Z:-0.27 [[ 9.98662928e-01 5.16730363e-02 1.50140739e-03 3.88928791e+01] [-5.16730367e-02 9.98664056e-01 -3.86126017e-05 -3.88864699e-01] [-1.50139682e-03 -3.90213052e-05 9.99998872e-01 -2.70388356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.846559995 meters 0.05764553623759715 Centerline is valid? [True, True] Translation: X:38.96, Y:-0.39, Z:-0.27 [[ 9.98609433e-01 5.26989541e-02 1.42151718e-03 3.89551771e+01] [-5.26989552e-02 9.98610444e-01 -3.66714615e-05 -3.92518506e-01] [-1.42147445e-03 -3.82920028e-05 9.99998989e-01 -2.70209512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.906559995 meters 0.05764553623759715 Centerline is valid? [True, True] Translation: X:39.02, Y:-0.39, Z:-0.27 [[ 9.98602747e-01 5.28254882e-02 1.42151510e-03 3.90176693e+01] [-5.28254894e-02 9.98603758e-01 -3.67519105e-05 -3.94153190e-01] [-1.42147176e-03 -3.83916722e-05 9.99998989e-01 -2.70670355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.966559995000004 meters 0.05694411625722539 Centerline is valid? [True, True] Translation: X:39.08, Y:-0.39, Z:-0.27 [[ 9.98455720e-01 5.55415320e-02 1.14600348e-03 3.90785548e+01] [-5.55415338e-02 9.98456377e-01 -3.02828222e-05 -3.94723285e-01] [-1.14591644e-03 -3.34147341e-05 9.99999343e-01 -2.71547723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.026559995 meters 0.05797112704835835 Centerline is valid? [True, True] Translation: X:39.14, Y:-0.39, Z:-0.27 [[ 9.98419000e-01 5.61967437e-02 1.19422132e-03 3.91393577e+01] [-5.61967467e-02 9.98419714e-01 -3.10403488e-05 -3.93543258e-01] [-1.19407848e-03 -3.61200792e-05 9.99999286e-01 -2.73194499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.086559995 meters 0.05841287742207648 Centerline is valid? [True, True] Translation: X:39.20, Y:-0.40, Z:-0.27 [[ 9.98412921e-01 5.63105129e-02 8.75253665e-04 3.92020372e+01] [-5.63105148e-02 9.98413304e-01 -2.24896854e-05 -3.97389098e-01] [-8.75131309e-04 -2.68319920e-05 9.99999617e-01 -2.73416241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.146559995000004 meters 0.05660404517978862 Centerline is valid? [True, True] Translation: X:39.26, Y:-0.41, Z:-0.27 [[ 9.98411339e-01 5.63452184e-02 -1.24523027e-04 3.92638501e+01] [-5.63452183e-02 9.98411346e-01 4.20999184e-06 -4.14705069e-01] [ 1.24562416e-04 2.81297358e-06 9.99999992e-01 -2.71276805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.206559995 meters 0.056674098160655724 Centerline is valid? [True, True] Translation: X:39.33, Y:-0.41, Z:-0.27 [[ 9.98485373e-01 5.50175349e-02 1.76653410e-04 3.93251904e+01] [-5.50175350e-02 9.98485388e-01 -4.58200309e-06 -4.12185064e-01] [-1.76637939e-04 -5.14397210e-06 9.99999984e-01 -2.73271863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.266559995 meters 0.0583269759579874 Centerline is valid? [True, True] Translation: X:39.39, Y:-0.42, Z:-0.27 [[ 9.98581276e-01 5.32486077e-02 -1.46806873e-04 3.93860874e+01] [-5.32486076e-02 9.98581287e-01 4.12413672e-06 -4.18517809e-01] [ 1.46818201e-04 3.69897590e-06 9.99999989e-01 -2.73733849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.326559995000004 meters 0.05659753398897736 Centerline is valid? [True, True] Translation: X:39.45, Y:-0.43, Z:-0.27 [[ 9.98729050e-01 5.04006835e-02 -2.37069132e-04 3.94471215e+01] [-5.04006834e-02 9.98729078e-01 6.50443419e-06 -4.29869545e-01] [ 2.37095664e-04 5.45227889e-06 9.99999972e-01 -2.73432528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.386559995 meters 0.056601771278427235 Centerline is valid? [True, True] Translation: X:39.51, Y:-0.45, Z:-0.27 [[ 9.98753538e-01 4.99136297e-02 -1.42201864e-06 3.95080733e+01] [-4.99136297e-02 9.98753538e-01 8.07734013e-07 -4.45180565e-01] [ 1.46056307e-06 -7.35749090e-07 1.00000000e+00 -2.70583786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.446559995 meters 0.05736920164520596 Centerline is valid? [True, True] Translation: X:39.57, Y:-0.44, Z:-0.27 [[ 9.98737889e-01 5.02256897e-02 9.55879948e-05 3.95699329e+01] [-5.02256897e-02 9.98737894e-01 -2.29381855e-06 -4.39344105e-01] [-9.55825612e-05 -2.51004947e-06 9.99999995e-01 -2.73590438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.506559995 meters 0.056790264256001505 Centerline is valid? [True, True] Translation: X:39.63, Y:-0.45, Z:-0.27 [[ 9.98678641e-01 5.13874031e-02 5.53339625e-04 3.96304832e+01] [-5.13874027e-02 9.98678795e-01 -1.48755561e-05 -4.45026920e-01] [-5.53372966e-04 -1.35787860e-05 9.99999847e-01 -2.72943123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.566559995 meters 0.057757546094156086 Centerline is valid? [True, True] Translation: X:39.69, Y:-0.45, Z:-0.27 [[ 9.98562481e-01 5.35984188e-02 4.25102528e-04 3.96912719e+01] [-5.35984187e-02 9.98562572e-01 -1.14648630e-05 -4.48084726e-01] [-4.25105973e-04 -1.13364413e-05 9.99999910e-01 -2.73501197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.626559995 meters 0.05835815651916016 Centerline is valid? [True, True] Translation: X:39.75, Y:-0.45, Z:-0.27 [[ 9.98324246e-01 5.78642979e-02 6.49898242e-04 3.97510749e+01] [-5.78642987e-02 9.98324458e-01 -1.76575237e-05 -4.48123323e-01] [-6.49831050e-04 -1.99779720e-05 9.99999789e-01 -2.74425869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.686559995 meters 0.057623572376169566 Centerline is valid? [True, True] Translation: X:39.81, Y:-0.45, Z:-0.27 [[ 9.98101703e-01 6.15860954e-02 3.78500297e-04 3.98115373e+01] [-6.15860959e-02 9.98101775e-01 -1.02472447e-05 -4.52879728e-01] [-3.78412906e-04 -1.30825631e-05 9.99999928e-01 -2.73911689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.746559995000005 meters 0.06070628112129501 Centerline is valid? [True, True] Translation: X:39.87, Y:-0.45, Z:-0.27 [[ 9.97692946e-01 6.78818511e-02 9.16820804e-04 3.98714025e+01] [-6.78818570e-02 9.97693366e-01 -2.47971293e-05 -4.47705993e-01] [-9.16389310e-04 -3.74955778e-05 9.99999579e-01 -2.73906655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.806559995 meters 0.05853274628898804 Centerline is valid? [True, True] Translation: X:39.93, Y:-0.46, Z:-0.27 [[ 9.97262795e-01 7.39344538e-02 7.83494749e-04 3.99314081e+01] [-7.39344599e-02 9.97263102e-01 -2.12192993e-05 -4.57331337e-01] [-7.82919241e-04 -3.67660433e-05 9.99999693e-01 -2.73342497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.866559995 meters 0.0577454852271747 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.46, Z:-0.27 [[ 9.96882557e-01 7.88947152e-02 8.90121983e-04 3.99917850e+01] [-7.88947250e-02 9.96882953e-01 -2.41187573e-05 -4.64232171e-01] [-8.89250273e-04 -4.61823607e-05 9.99999604e-01 -2.72789071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.926559995000005 meters 0.05748994300229257 Centerline is valid? [True, True] Translation: X:40.05, Y:-0.46, Z:-0.27 [[ 9.96693418e-01 8.12475621e-02 1.03188855e-03 4.00514780e+01] [-8.12475765e-02 9.96693950e-01 -2.80154241e-05 -4.63573296e-01] [-1.03075326e-03 -5.59156552e-05 9.99999467e-01 -2.73219242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.986559995 meters 0.059359522884425475 Centerline is valid? [True, True] Translation: X:40.11, Y:-0.46, Z:-0.27 [[ 9.96611974e-01 8.22444945e-02 6.45050953e-04 4.01119929e+01] [-8.22445004e-02 9.96612182e-01 -1.74348472e-05 -4.61464286e-01] [-6.44299558e-04 -3.56761159e-05 9.99999792e-01 -2.73974659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.046559995 meters 0.05874832009657093 Centerline is valid? [True, True] Translation: X:40.17, Y:-0.46, Z:-0.27 [[ 9.96418402e-01 8.45567343e-02 7.26042934e-04 4.01722351e+01] [-8.45567423e-02 9.96418665e-01 -1.96767236e-05 -4.64112307e-01] [-7.25106531e-04 -4.17855758e-05 9.99999736e-01 -2.74592269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.106559995000005 meters 0.05693254106045369 Centerline is valid? [True, True] Translation: X:40.23, Y:-0.48, Z:-0.27 [[ 9.96372224e-01 8.51016052e-02 3.27174155e-04 4.02341072e+01] [-8.51016069e-02 9.96372278e-01 -8.65842250e-06 -4.75483825e-01] [-3.26724104e-04 -1.92160347e-05 9.99999946e-01 -2.73786898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.166559995 meters 0.06053910867434756 Centerline is valid? [True, True] Translation: X:40.30, Y:-0.47, Z:-0.28 [[ 9.96334361e-01 8.55442590e-02 1.42233392e-04 4.02953377e+01] [-8.55442594e-02 9.96334371e-01 -3.15768116e-06 -4.68298775e-01] [-1.41982138e-04 -9.02114391e-06 9.99999990e-01 -2.75506753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.226559995 meters 0.05551230878865982 Centerline is valid? [True, True] Translation: X:40.36, Y:-0.48, Z:-0.27 [[ 9.96191506e-01 8.71921659e-02 -9.81464991e-05 4.03562782e+01] [-8.71921661e-02 9.96191511e-01 2.76221301e-06 -4.80911845e-01] [ 9.80135526e-05 5.80591271e-06 9.99999995e-01 -2.74149795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.286559995000005 meters 0.06048447182807617 Centerline is valid? [True, True] Translation: X:40.42, Y:-0.47, Z:-0.28 [[ 9.96010890e-01 8.92303380e-02 -5.03741118e-04 4.04161596e+01] [-8.92303425e-02 9.96011017e-01 1.36838214e-05 -4.70459031e-01] [ 5.02952715e-04 3.13197574e-05 9.99999873e-01 -2.75801590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.346559995 meters 0.057603261142002926 Centerline is valid? [True, True] Translation: X:40.48, Y:-0.48, Z:-0.27 [[ 9.95795014e-01 9.16062644e-02 -7.63243430e-04 4.04769805e+01] [-9.16062752e-02 9.95795305e-01 2.08905672e-05 -4.81979558e-01] [ 7.61947931e-04 4.91151651e-05 9.99999709e-01 -2.74066799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.406559995 meters 0.0636610790390696 Centerline is valid? [True, True] Translation: X:40.54, Y:-0.47, Z:-0.28 [[ 9.95727637e-01 9.23305352e-02 -1.24312542e-03 4.05387491e+01] [-9.23305640e-02 9.95728410e-01 3.43022157e-05 -4.65719842e-01] [ 1.24098244e-03 8.06228073e-05 9.99999227e-01 -2.76728954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.466559995000004 meters 0.059485728697459474 Centerline is valid? [True, True] Translation: X:40.60, Y:-0.48, Z:-0.27 [[ 9.95745840e-01 9.21332093e-02 -1.30177587e-03 4.06007552e+01] [-9.21332401e-02 9.95746687e-01 3.64314089e-05 -4.79155952e-01] [ 1.29959555e-03 8.36604046e-05 9.99999152e-01 -2.74800706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.526559995 meters 0.06010490718891313 Centerline is valid? [True, True] Translation: X:40.66, Y:-0.48, Z:-0.27 [[ 9.95828045e-01 9.12482882e-02 -5.03894915e-04 4.06619790e+01] [-9.12482928e-02 9.95828172e-01 1.39255052e-05 -4.77057157e-01] [ 5.03063430e-04 3.21121421e-05 9.99999873e-01 -2.74845122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.586559995 meters 0.05898699774075114 Centerline is valid? [True, True] Translation: X:40.72, Y:-0.49, Z:-0.27 [[ 9.95908372e-01 9.03643073e-02 -8.98146835e-04 4.07235975e+01] [-9.03643214e-02 9.95908775e-01 2.48905046e-05 -4.85213778e-01] [ 8.96721528e-04 5.63717674e-05 9.99999596e-01 -2.74177483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.646559995000004 meters 0.0638528865716688 Centerline is valid? [True, True] Translation: X:40.79, Y:-0.47, Z:-0.28 [[ 9.95858956e-01 9.09037564e-02 -1.20248552e-03 4.07862123e+01] [-9.09037815e-02 9.95859680e-01 3.38859720e-05 -4.72552606e-01] [ 1.20058721e-03 7.55648324e-05 9.99999276e-01 -2.76354058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.706559995 meters 0.05694129665864156 Centerline is valid? [True, True] Translation: X:40.85, Y:-0.49, Z:-0.27 [[ 9.95804427e-01 9.14914064e-02 -1.69269207e-03 4.08472594e+01] [-9.14914572e-02 9.95805860e-01 4.75248600e-05 -4.94809126e-01] [ 1.68994080e-03 1.07541398e-04 9.99998566e-01 -2.73943355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.766559995 meters 0.05453514756673551 Centerline is valid? [True, True] Translation: X:40.91, Y:-0.51, Z:-0.27 [[ 9.95539662e-01 9.43218879e-02 -2.04014552e-03 4.09076543e+01] [-9.43219694e-02 9.95541743e-01 5.64460322e-05 -5.10064426e-01] [ 2.03637413e-03 1.36236280e-04 9.99997917e-01 -2.71953973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.826559995000004 meters 0.05423436480410978 Centerline is valid? [True, True] Translation: X:40.97, Y:-0.51, Z:-0.27 [[ 9.95276736e-01 9.70564351e-02 -2.06592279e-03 4.09681643e+01] [-9.70565245e-02 9.95278869e-01 5.71891021e-05 -5.12101595e-01] [ 2.06171987e-03 1.43592303e-04 9.99997864e-01 -2.71870063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.886559995 meters 0.054806549648955365 Centerline is valid? [True, True] Translation: X:41.03, Y:-0.51, Z:-0.27 [[ 9.94858579e-01 1.01260668e-01 -1.63853071e-03 4.10279587e+01] [-1.01260730e-01 9.94859921e-01 4.53022621e-05 -5.05156455e-01] [ 1.63469587e-03 1.20849473e-04 9.99998657e-01 -2.72558087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.946559995 meters 0.054242976962179675 Centerline is valid? [True, True] Translation: X:41.09, Y:-0.51, Z:-0.27 [[ 9.94691949e-01 1.02891952e-01 -1.08305795e-03 4.10887794e+01] [-1.02891980e-01 9.94692535e-01 3.00500678e-05 -5.07086258e-01] [ 1.08040157e-03 8.15474165e-05 9.99999413e-01 -2.72080715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.006559995 meters 0.05569666219009009 Centerline is valid? [True, True] Translation: X:41.15, Y:-0.50, Z:-0.27 [[ 9.94479054e-01 1.04925010e-01 -1.46755267e-03 4.11487212e+01] [-1.04925064e-01 9.94480130e-01 4.06411724e-05 -5.02098717e-01] [ 1.46371625e-03 1.13566263e-04 9.99998922e-01 -2.72894981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.066559995 meters 0.05453185869083251 Centerline is valid? [True, True] Translation: X:41.21, Y:-0.50, Z:-0.27 [[ 9.94345832e-01 1.06176579e-01 -1.70335009e-03 4.12099828e+01] [-1.06176653e-01 9.94347281e-01 4.72819556e-05 -5.01097455e-01] [ 1.69874177e-03 1.33841396e-04 9.99998548e-01 -2.73291809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.126559995 meters 0.05546695327990828 Centerline is valid? [True, True] Translation: X:41.27, Y:-0.51, Z:-0.27 [[ 9.94382387e-01 1.05825401e-01 -2.15689413e-03 4.12721996e+01] [-1.05825517e-01 9.94384712e-01 6.08294050e-05 -5.09358089e-01] [ 2.15121984e-03 1.67766747e-04 9.99997672e-01 -2.72338895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.186559995 meters 0.05504778450942293 Centerline is valid? [True, True] Translation: X:41.33, Y:-0.50, Z:-0.27 [[ 9.94700694e-01 1.02795688e-01 -1.89076462e-03 4.13319786e+01] [-1.02795773e-01 9.94702481e-01 5.25436508e-05 -5.03835902e-01] [ 1.88614952e-03 1.42097405e-04 9.99998211e-01 -2.73460556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.246559995 meters 0.056419136560159684 Centerline is valid? [True, True] Translation: X:41.39, Y:-0.50, Z:-0.27 [[ 9.95606854e-01 9.36053963e-02 -2.24093045e-03 4.13913228e+01] [-9.36054922e-02 9.95609365e-01 6.23052225e-05 -5.01731975e-01] [ 2.23692344e-03 1.47731891e-04 9.99997487e-01 -2.74990603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.306559995 meters 0.05529869551414003 Centerline is valid? [True, True] Translation: X:41.45, Y:-0.51, Z:-0.27 [[ 9.96637915e-01 8.19149126e-02 -1.67728399e-03 4.14513399e+01] [-8.19149497e-02 9.96639322e-01 4.66724886e-05 -5.10562162e-01] [ 1.67547035e-03 9.08790621e-05 9.99998592e-01 -2.74742347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.366559995 meters 0.06230695543147041 Centerline is valid? [True, True] Translation: X:41.51, Y:-0.49, Z:-0.28 [[ 9.97094304e-01 7.61598687e-02 -1.61961227e-03 4.15111571e+01] [-7.61598958e-02 9.97095616e-01 4.50357688e-05 -4.88011576e-01] [ 1.61833821e-03 7.84445931e-05 9.99998687e-01 -2.79465682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.426559995000005 meters 0.056181222591411215 Centerline is valid? [True, True] Translation: X:41.57, Y:-0.51, Z:-0.28 [[ 9.97419437e-01 7.17876015e-02 -1.00312100e-03 4.15717919e+01] [-7.17876097e-02 9.97419941e-01 2.79212648e-05 -5.10295013e-01] [ 1.00253729e-03 4.41624467e-05 9.99999496e-01 -2.76073083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.486559995 meters 0.05991109272053695 Centerline is valid? [True, True] Translation: X:41.63, Y:-0.50, Z:-0.28 [[ 9.97487449e-01 7.08402359e-02 -6.70420892e-04 4.16323584e+01] [-7.08402391e-02 9.97487674e-01 1.90240815e-05 -4.99567699e-01] [ 6.70084247e-04 2.85164937e-05 9.99999775e-01 -2.78405529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.546559995 meters 0.05715074561092672 Centerline is valid? [True, True] Translation: X:41.70, Y:-0.51, Z:-0.28 [[ 9.97488801e-01 7.08137685e-02 -1.22564985e-03 4.16955663e+01] [-7.08137786e-02 9.97489553e-01 3.52087206e-05 -5.06077870e-01] [ 1.22506618e-03 5.16725927e-05 9.99999248e-01 -2.78066461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.606559995000005 meters 0.06019538668334601 Centerline is valid? [True, True] Translation: X:41.76, Y:-0.50, Z:-0.28 [[ 9.97483649e-01 7.08805077e-02 -1.52434051e-03 4.17573553e+01] [-7.08805236e-02 9.97484812e-01 4.36792676e-05 -4.97660540e-01] [ 1.52360251e-03 6.44766981e-05 9.99998837e-01 -2.79955565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.666559995 meters 0.06089942056784385 Centerline is valid? [True, True] Translation: X:41.82, Y:-0.50, Z:-0.28 [[ 9.97452011e-01 7.13388356e-02 -5.07187474e-04 4.18193735e+01] [-7.13388371e-02 9.97452139e-01 1.50776752e-05 -4.96235405e-01] [ 5.06970855e-04 2.11429072e-05 9.99999871e-01 -2.79723101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.726559995 meters 0.060019342445007784 Centerline is valid? [True, True] Translation: X:41.88, Y:-0.50, Z:-0.28 [[ 9.97218617e-01 7.45296020e-02 -6.07327148e-04 4.18796737e+01] [-7.45296054e-02 9.97218801e-01 1.71492900e-05 -4.96633007e-01] [ 6.06916181e-04 2.81622615e-05 9.99999815e-01 -2.79834792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.786559995000005 meters 0.0587580239596786 Centerline is valid? [True, True] Translation: X:41.94, Y:-0.50, Z:-0.28 [[ 9.96990925e-01 7.75119277e-02 -9.98554793e-04 4.19410553e+01] [-7.75119382e-02 9.96991424e-01 2.82747371e-05 -4.99320921e-01] [ 9.97742194e-04 4.92102611e-05 9.99999501e-01 -2.80015167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.846559995 meters 0.06131489578966678 Centerline is valid? [True, True] Translation: X:42.00, Y:-0.49, Z:-0.28 [[ 9.96774219e-01 8.02484985e-02 -1.15495381e-03 4.20006618e+01] [-8.02485145e-02 9.96774887e-01 3.25451073e-05 -4.92428176e-01] [ 1.15384065e-03 6.02432037e-05 9.99999333e-01 -2.80846226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.906559995 meters 0.05839391047173223 Centerline is valid? [True, True] Translation: X:42.06, Y:-0.50, Z:-0.28 [[ 9.96571472e-01 8.27238962e-02 -1.43480097e-03 4.20606534e+01] [-8.27239235e-02 9.96572502e-01 4.04260823e-05 -5.00285400e-01] [ 1.43322739e-03 7.84048852e-05 9.99998970e-01 -2.78838535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.966559995000004 meters 0.05850054288982237 Centerline is valid? [True, True] Translation: X:42.12, Y:-0.50, Z:-0.28 [[ 9.96502527e-01 8.35514198e-02 -1.36867326e-03 4.21228698e+01] [-8.35514450e-02 9.96503464e-01 3.88718513e-05 -5.00032787e-01] [ 1.36713545e-03 7.56187310e-05 9.99999063e-01 -2.79142597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.026559995 meters 0.06280763112199028 Centerline is valid? [True, True] Translation: X:42.18, Y:-0.49, Z:-0.28 [[ 9.96388751e-01 8.48905781e-02 -1.74534509e-03 4.21829889e+01] [-8.48906210e-02 9.96390275e-01 4.95855758e-05 -4.87222296e-01] [ 1.74325422e-03 9.87569185e-05 9.99998476e-01 -2.80456125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.086559995 meters 0.06192399391146394 Centerline is valid? [True, True] Translation: X:42.24, Y:-0.49, Z:-0.28 [[ 9.96443581e-01 8.42457427e-02 -1.68643956e-03 4.22449973e+01] [-8.42457820e-02 9.96445004e-01 4.78776512e-05 -4.86698875e-01] [ 1.68447776e-03 9.43680412e-05 9.99998577e-01 -2.80176675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.146559995000004 meters 0.061343338060462854 Centerline is valid? [True, True] Translation: X:42.31, Y:-0.49, Z:-0.28 [[ 9.96490231e-01 8.36859917e-02 -1.96837652e-03 4.23069318e+01] [-8.36860425e-02 9.96492169e-01 5.66664939e-05 -4.93082383e-01] [ 1.96621398e-03 1.08258034e-04 9.99998061e-01 -2.79243903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.206559995 meters 0.06296837720155539 Centerline is valid? [True, True] Translation: X:42.37, Y:-0.49, Z:-0.28 [[ 9.96476435e-01 8.38278980e-02 -2.75647140e-03 4.23683761e+01] [-8.38279985e-02 9.96480236e-01 7.92537692e-05 -4.86612499e-01] [ 2.75341294e-03 1.52094967e-04 9.99996198e-01 -2.80022360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.266559995 meters 0.06090831549385957 Centerline is valid? [True, True] Translation: X:42.43, Y:-0.49, Z:-0.28 [[ 9.96408694e-01 8.46208812e-02 -3.00360030e-03 4.24306373e+01] [-8.46210056e-02 9.96413206e-01 8.58949793e-05 -4.91126407e-01] [ 3.00009551e-03 1.68581173e-04 9.99995485e-01 -2.78128937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.326559995000004 meters 0.05957008340596091 Centerline is valid? [True, True] Translation: X:42.49, Y:-0.49, Z:-0.28 [[ 9.96335368e-01 8.54812658e-02 -2.96438737e-03 4.24920941e+01] [-8.54813883e-02 9.96339764e-01 8.55810091e-05 -4.94816837e-01] [ 2.96085258e-03 1.68132561e-04 9.99995603e-01 -2.77259298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.386559995 meters 0.05877299890379493 Centerline is valid? [True, True] Translation: X:42.55, Y:-0.50, Z:-0.28 [[ 9.96340730e-01 8.54025569e-02 -3.39897792e-03 4.25538558e+01] [-8.54027163e-02 9.96346509e-01 9.84672134e-05 -5.00105661e-01] [ 3.39496914e-03 1.92175052e-04 9.99994219e-01 -2.76901631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.446559995 meters 0.059099986583231776 Centerline is valid? [True, True] Translation: X:42.62, Y:-0.50, Z:-0.28 [[ 9.96353150e-01 8.52257621e-02 -4.11948762e-03 4.26160010e+01] [-8.52259937e-02 9.96361639e-01 1.19629322e-04 -5.01789460e-01] [ 4.11469494e-03 2.31894374e-04 9.99991508e-01 -2.77149050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.506559995 meters 0.05888528776527993 Centerline is valid? [True, True] Translation: X:42.68, Y:-0.50, Z:-0.28 [[ 9.96247864e-01 8.64390542e-02 -4.29934414e-03 4.26776022e+01] [-8.64393205e-02 9.96257110e-01 1.24187718e-04 -4.99310107e-01] [ 4.29398683e-03 2.47910637e-04 9.99990750e-01 -2.76875250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.566559995 meters 0.06240106754581113 Centerline is valid? [True, True] Translation: X:42.74, Y:-0.49, Z:-0.28 [[ 9.96085643e-01 8.83076898e-02 -3.89143096e-03 4.27374759e+01] [-8.83079220e-02 9.96093218e-01 1.12461562e-04 -4.89013747e-01] [ 3.88615921e-03 2.31622834e-04 9.99992422e-01 -2.78888589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.626559995 meters 0.06073588546855789 Centerline is valid? [True, True] Translation: X:42.80, Y:-0.49, Z:-0.28 [[ 9.96006820e-01 8.92064175e-02 -3.55383668e-03 4.27997051e+01] [-8.92066159e-02 9.96013137e-01 1.02940900e-04 -4.93954762e-01] [ 3.54885101e-03 2.14495906e-04 9.99993680e-01 -2.77531079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.686559995 meters 0.06502812801298732 Centerline is valid? [True, True] Translation: X:42.86, Y:-0.48, Z:-0.28 [[ 9.96280561e-01 8.60561236e-02 -4.40314781e-03 4.28601588e+01] [-8.60563989e-02 9.96290259e-01 1.27256381e-04 -4.83356146e-01] [ 4.39776446e-03 2.52135986e-04 9.99990298e-01 -2.80606390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.746559995 meters 0.06223601100390744 Centerline is valid? [True, True] Translation: X:42.92, Y:-0.49, Z:-0.28 [[ 9.96532184e-01 8.30960436e-02 -4.31906842e-03 4.29208520e+01] [-8.30962805e-02 9.96541516e-01 1.24880572e-04 -4.92515994e-01] [ 4.31450807e-03 2.34451012e-04 9.99990665e-01 -2.79673696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.806559995 meters 0.06425902991355902 Centerline is valid? [True, True] Translation: X:42.98, Y:-0.49, Z:-0.28 [[ 9.96765091e-01 8.02518249e-02 -4.35868789e-03 4.29804407e+01] [-8.02520396e-02 9.96774596e-01 1.25902716e-04 -4.89406115e-01] [ 4.35473328e-03 2.24298161e-04 9.99990493e-01 -2.80607399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.866559995 meters 0.060927950583252795 Centerline is valid? [True, True] Translation: X:43.04, Y:-0.50, Z:-0.28 [[ 9.97107916e-01 7.59074186e-02 -3.72387258e-03 4.30407712e+01] [-7.59075444e-02 9.97114855e-01 1.07744783e-04 -5.01034714e-01] [ 3.72130729e-03 1.75236847e-04 9.99993061e-01 -2.78615434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.926559995000005 meters 0.06339279523978168 Centerline is valid? [True, True] Translation: X:43.10, Y:-0.50, Z:-0.28 [[ 9.97241449e-01 7.40995759e-02 -4.32948303e-03 4.31008232e+01] [-7.40997294e-02 9.97250828e-01 1.25167212e-04 -4.96195977e-01] [ 4.32685538e-03 1.95991590e-04 9.99990620e-01 -2.80584305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.986559995 meters 0.06186694471057287 Centerline is valid? [True, True] Translation: X:43.16, Y:-0.51, Z:-0.28 [[ 9.97550393e-01 6.97308096e-02 -5.55227594e-03 4.31611481e+01] [-6.97309945e-02 9.97565819e-01 1.60511420e-04 -5.06480776e-01] [ 5.54995329e-03 2.27047493e-04 9.99984573e-01 -2.79918196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.046559995 meters 0.06297123532904844 Centerline is valid? [True, True] Translation: X:43.22, Y:-0.50, Z:-0.28 [[ 9.97840507e-01 6.54515370e-02 -5.51539470e-03 4.32207237e+01] [-6.54516542e-02 9.97855729e-01 1.59443053e-04 -5.01208434e-01] [ 5.51400400e-03 2.01892970e-04 9.99984777e-01 -2.82900222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.106559995000005 meters 0.0621342979964071 Centerline is valid? [True, True] Translation: X:43.28, Y:-0.51, Z:-0.28 [[ 9.98271805e-01 5.86053953e-02 -4.33726201e-03 4.32808226e+01] [-5.86054032e-02 9.98281218e-01 1.25396527e-04 -5.07654604e-01] [ 4.33715612e-03 1.29007172e-04 9.99990586e-01 -2.81223248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.166559995 meters 0.05998660500810302 Centerline is valid? [True, True] Translation: X:43.34, Y:-0.53, Z:-0.28 [[ 9.98836623e-01 4.80731630e-02 -3.79109245e-03 4.33413220e+01] [-4.80730928e-02 9.98843814e-01 1.09684511e-04 -5.26639117e-01] [ 3.79198213e-03 7.26926326e-05 9.99992808e-01 -2.75635748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.226559995 meters 0.06000021111751575 Centerline is valid? [True, True] Translation: X:43.40, Y:-0.53, Z:-0.28 [[ 9.99179511e-01 4.03039711e-02 -3.98671494e-03 4.34018620e+01] [-4.03038314e-02 9.99187464e-01 1.15398332e-04 -5.25052733e-01] [ 3.98812660e-03 4.53762378e-05 9.99992046e-01 -2.81815653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.286559995000005 meters 0.0597749919116839 Centerline is valid? [True, True] Translation: X:43.46, Y:-0.54, Z:-0.28 [[ 9.99609873e-01 2.76923795e-02 -3.63781621e-03 4.34633670e+01] [-2.76921789e-02 9.99616493e-01 1.05499274e-04 -5.36775579e-01] [ 3.63934261e-03 -4.71905809e-06 9.99993378e-01 -2.75264872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.346559995 meters 0.060295972006576666 Centerline is valid? [True, True] Translation: X:43.52, Y:-0.54, Z:-0.28 [[ 9.99802205e-01 1.95802782e-02 -3.48766556e-03 4.35243292e+01] [-1.95800415e-02 9.99808287e-01 1.01999261e-04 -5.42196693e-01] [ 3.48899410e-03 -3.36904496e-05 9.99993913e-01 -2.76649229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.406559995 meters 0.06160859292680894 Centerline is valid? [True, True] Translation: X:43.58, Y:-0.55, Z:-0.28 [[ 9.99950601e-01 9.20329361e-03 -3.75433034e-03 4.35846296e+01] [-9.20294884e-03 9.99957646e-01 1.09097190e-04 -5.51194429e-01] [ 3.75517538e-03 -7.45408911e-05 9.99992947e-01 -2.78055019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.466559995000004 meters 0.06122222156546186 Centerline is valid? [True, True] Translation: X:43.65, Y:-0.55, Z:-0.27 [[ 9.99991445e-01 2.23095184e-03 -3.48333607e-03 4.36461060e+01] [-2.23061242e-03 9.99997507e-01 1.01322390e-04 -5.50291854e-01] [ 3.48355343e-03 -9.35515500e-05 9.99993928e-01 -2.74957452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.526559995 meters 0.061400892767285026 Centerline is valid? [True, True] Translation: X:43.71, Y:-0.55, Z:-0.27 [[ 9.99996274e-01 -7.03565361e-04 -2.63753324e-03 4.37053670e+01] [ 7.03770095e-04 9.99999749e-01 7.66958313e-05 -5.48628544e-01] [ 2.63747862e-03 -7.85517626e-05 9.99996519e-01 -2.73799226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.586559995 meters 0.061141103948956624 Centerline is valid? [True, True] Translation: X:43.76, Y:-0.56, Z:-0.28 [[ 9.99998892e-01 4.20329552e-04 -1.42814085e-03 4.37641835e+01] [-4.20271875e-04 9.99999911e-01 4.06862941e-05 -5.57469520e-01] [ 1.42815783e-03 -4.00860416e-05 9.99998979e-01 -2.75421922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.646559995000004 meters 0.0614128632076307 Centerline is valid? [True, True] Translation: X:43.82, Y:-0.56, Z:-0.28 [[ 9.99988785e-01 4.57357786e-03 -1.22947842e-03 4.38243534e+01] [-4.57353753e-03 9.99989541e-01 3.56098230e-05 -5.59451098e-01] [ 1.22962842e-03 -2.99863580e-05 9.99999244e-01 -2.76112221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.706559995 meters 0.06048333103136329 Centerline is valid? [True, True] Translation: X:43.88, Y:-0.55, Z:-0.28 [[ 9.99904587e-01 1.36739080e-02 -1.95963998e-03 4.38843265e+01] [-1.36738230e-02 9.99906507e-01 5.67620946e-05 -5.51185064e-01] [ 1.96023293e-03 -2.99609086e-05 9.99998078e-01 -2.75416679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.766559995 meters 0.06089934605344928 Centerline is valid? [True, True] Translation: X:43.95, Y:-0.55, Z:-0.28 [[ 9.99762148e-01 2.16751480e-02 -2.41583140e-03 4.39452354e+01] [-2.16750422e-02 9.99765066e-01 6.99934380e-05 -5.48508037e-01] [ 2.41678095e-03 -1.76135424e-05 9.99997079e-01 -2.75879597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.826559995000004 meters 0.060914503122144706 Centerline is valid? [True, True] Translation: X:44.01, Y:-0.55, Z:-0.28 [[ 9.99714377e-01 2.37823705e-02 -2.35865526e-03 4.40077754e+01] [-2.37822740e-02 9.99717159e-01 6.89488814e-05 -5.51094379e-01] [ 2.35962790e-03 -1.28350023e-05 9.99997216e-01 -2.78947514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.886559995 meters 0.06083690736205348 Centerline is valid? [True, True] Translation: X:44.07, Y:-0.55, Z:-0.28 [[ 9.99630708e-01 2.70538077e-02 -2.55698567e-03 4.40699003e+01] [-2.70537056e-02 9.99633979e-01 7.45345741e-05 -5.50651208e-01] [ 2.55806620e-03 -5.33111162e-06 9.99996728e-01 -2.76776057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.946559995 meters 0.060898869583527644 Centerline is valid? [True, True] Translation: X:44.13, Y:-0.55, Z:-0.28 [[ 9.99545790e-01 2.99990847e-02 -2.87542311e-03 4.41310589e+01] [-2.99989675e-02 9.99549926e-01 8.38647182e-05 -5.50988199e-01] [ 2.87664482e-03 2.43309855e-06 9.99995862e-01 -2.78209871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.006559995 meters 0.06132874772632886 Centerline is valid? [True, True] Translation: X:44.19, Y:-0.55, Z:-0.28 [[ 9.99498488e-01 3.15580051e-02 -2.62020805e-03 4.41942980e+01] [-3.15579107e-02 9.99501922e-01 7.73911544e-05 -5.52877599e-01] [ 2.62134529e-03 5.33594966e-06 9.99996564e-01 -2.76878626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.066559995 meters 0.06072575965283653 Centerline is valid? [True, True] Translation: X:44.26, Y:-0.56, Z:-0.28 [[ 9.99442973e-01 3.33261157e-02 -1.76433200e-03 4.42564836e+01] [-3.33260749e-02 9.99444531e-01 5.25162550e-05 -5.55240198e-01] [ 1.76510213e-03 6.31125819e-06 9.99998442e-01 -2.77815227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.126559995 meters 0.060965048455274964 Centerline is valid? [True, True] Translation: X:44.32, Y:-0.56, Z:-0.28 [[ 9.99404582e-01 3.44602120e-02 -1.72484545e-03 4.43189251e+01] [-3.44601743e-02 9.99406070e-01 5.15777976e-05 -5.58389510e-01] [ 1.72559839e-03 7.89138744e-06 9.99998511e-01 -2.76481303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.186559995 meters 0.06133256097683576 Centerline is valid? [True, True] Translation: X:44.38, Y:-0.56, Z:-0.28 [[ 9.99363054e-01 3.56351442e-02 -1.90321147e-03 4.43796910e+01] [-3.56351011e-02 9.99364866e-01 5.65286273e-05 -5.60467801e-01] [ 1.90401708e-03 1.13285116e-05 9.99998187e-01 -2.78302387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.246559995 meters 0.06044718597459602 Centerline is valid? [True, True] Translation: X:44.44, Y:-0.56, Z:-0.28 [[ 9.99261776e-01 3.83443625e-02 -2.36922339e-03 4.44418190e+01] [-3.83443024e-02 9.99264584e-01 7.08246121e-05 -5.64714906e-01] [ 2.37019675e-03 2.00738904e-05 9.99997191e-01 -2.76708210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.306559995 meters 0.06094431658507493 Centerline is valid? [True, True] Translation: X:44.50, Y:-0.56, Z:-0.28 [[ 9.99128976e-01 4.16727494e-02 -2.16148595e-03 4.45039080e+01] [-4.16727080e-02 9.99131313e-01 6.42100625e-05 -5.64079449e-01] [ 2.16228411e-03 2.59208390e-05 9.99997662e-01 -2.78523653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.366559995 meters 0.060628912396520344 Centerline is valid? [True, True] Translation: X:44.56, Y:-0.57, Z:-0.28 [[ 9.98822839e-01 4.84634834e-02 -2.05590931e-03 4.45640995e+01] [-4.84634605e-02 9.98824954e-01 6.09581252e-05 -5.65302524e-01] [ 2.05644776e-03 3.87501119e-05 9.99997885e-01 -2.77712783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.426559995000005 meters 0.06183028782801188 Centerline is valid? [True, True] Translation: X:44.63, Y:-0.56, Z:-0.28 [[ 9.98591259e-01 5.30216769e-02 -2.04929996e-03 4.46254787e+01] [-5.30216636e-02 9.98593360e-01 6.08436508e-05 -5.56478305e-01] [ 2.04964337e-03 4.78993554e-05 9.99997898e-01 -2.82046107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.486559995 meters 0.0623209278373942 Centerline is valid? [True, True] Translation: X:44.69, Y:-0.56, Z:-0.28 [[ 9.98229417e-01 5.94405661e-02 -2.20233946e-03 4.46862134e+01] [-5.94405663e-02 9.98231844e-01 6.54224974e-05 -5.56735763e-01] [ 2.20233413e-03 6.56016433e-05 9.99997573e-01 -2.81754233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.546559995 meters 0.0628781031749539 Centerline is valid? [True, True] Translation: X:44.75, Y:-0.56, Z:-0.28 [[ 9.97926775e-01 6.43337656e-02 -1.82146465e-03 4.47470651e+01] [-6.43337737e-02 9.97928436e-01 5.41640113e-05 -5.56917151e-01] [ 1.82117594e-03 6.31299774e-05 9.99998340e-01 -2.81743654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.606559995000005 meters 0.06234340992412375 Centerline is valid? [True, True] Translation: X:44.81, Y:-0.56, Z:-0.28 [[ 9.97792079e-01 6.64072275e-02 -1.02329308e-03 4.48080455e+01] [-6.64072311e-02 9.97792603e-01 3.04866485e-05 -5.63767060e-01] [ 1.02305880e-03 3.75347235e-05 9.99999476e-01 -2.80358044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.666559995 meters 0.062274709339703825 Centerline is valid? [True, True] Translation: X:44.87, Y:-0.57, Z:-0.28 [[ 9.97582571e-01 6.94864155e-02 -8.07199029e-04 4.48686830e+01] [-6.94864188e-02 9.97582897e-01 2.39734222e-05 -5.71600650e-01] [ 8.06913773e-04 3.21739016e-05 9.99999674e-01 -2.79099071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.726559995 meters 0.06410508104579132 Centerline is valid? [True, True] Translation: X:44.93, Y:-0.57, Z:-0.28 [[ 9.97364508e-01 7.25415266e-02 -1.32869615e-03 4.49282114e+01] [-7.25415384e-02 9.97365391e-01 3.93857500e-05 -5.65249292e-01] [ 1.32805265e-03 5.71037134e-05 9.99999117e-01 -2.81633472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.786559995000005 meters 0.062120687334812345 Centerline is valid? [True, True] Translation: X:44.99, Y:-0.58, Z:-0.28 [[ 9.97096113e-01 7.61220958e-02 -2.18367440e-03 4.49887513e+01] [-7.61221356e-02 9.97098499e-01 6.49704867e-05 -5.78436149e-01] [ 2.18228416e-03 1.01444140e-04 9.99997614e-01 -2.80671169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.846559995 meters 0.06158957964400645 Centerline is valid? [True, True] Translation: X:45.05, Y:-0.58, Z:-0.28 [[ 9.97006797e-01 7.72834388e-02 -2.17194141e-03 4.50500888e+01] [-7.72834809e-02 9.97009157e-01 6.46446372e-05 -5.84779678e-01] [ 2.17044143e-03 1.03404049e-04 9.99997639e-01 -2.80311746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.906559995 meters 0.06799401742604581 Centerline is valid? [True, True] Translation: X:45.11, Y:-0.57, Z:-0.28 [[ 9.97017885e-01 7.71480361e-02 -1.87542009e-03 4.51115248e+01] [-7.71480658e-02 9.97019645e-01 5.66363842e-05 -5.69459798e-01] [ 1.87420006e-03 8.82175447e-05 9.99998240e-01 -2.84159297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.966559995000004 meters 0.06233958494702238 Centerline is valid? [True, True] Translation: X:45.17, Y:-0.59, Z:-0.28 [[ 9.97077812e-01 7.63824609e-02 -1.24768311e-03 4.51725473e+01] [-7.63824737e-02 9.97078591e-01 3.73874699e-05 -5.91815940e-01] [ 1.24689387e-03 5.80229060e-05 9.99999221e-01 -2.80689752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.026559995 meters 0.06395992098993644 Centerline is valid? [True, True] Translation: X:45.23, Y:-0.59, Z:-0.28 [[ 9.97157475e-01 7.53406759e-02 -8.67238503e-04 4.52333096e+01] [-7.53406817e-02 9.97157852e-01 2.59950768e-05 -5.92940028e-01] [ 8.66732169e-04 3.94171548e-05 9.99999624e-01 -2.82665920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.086559995 meters 0.06797986704589494 Centerline is valid? [True, True] Translation: X:45.30, Y:-0.59, Z:-0.29 [[ 9.97185223e-01 7.49652560e-02 -1.35716528e-03 4.52953145e+01] [-7.49652689e-02 9.97186144e-01 4.14201746e-05 -5.86029447e-01] [ 1.35645149e-03 6.04366744e-05 9.99999078e-01 -2.85217514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.146559995000004 meters 0.06321868345201254 Centerline is valid? [True, True] Translation: X:45.36, Y:-0.60, Z:-0.28 [[ 9.97118144e-01 7.58524327e-02 -1.34765571e-03 4.53566047e+01] [-7.58524461e-02 9.97119052e-01 4.12123440e-05 -6.03289877e-01] [ 1.34689924e-03 6.11294063e-05 9.99999091e-01 -2.83370759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.206559995 meters 0.06333945733903981 Centerline is valid? [True, True] Translation: X:45.42, Y:-0.61, Z:-0.28 [[ 9.96941263e-01 7.81540529e-02 -2.48815349e-04 4.54170979e+01] [-7.81540535e-02 9.96941294e-01 7.52466523e-06 -6.07999779e-01] [ 2.48642379e-04 1.19442788e-05 9.99999969e-01 -2.82309614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.266559995 meters 0.05951583250819435 Centerline is valid? [True, True] Translation: X:45.48, Y:-0.63, Z:-0.28 [[ 9.96764655e-01 8.03728493e-02 6.54443666e-04 4.54776159e+01] [-8.03728537e-02 9.96764869e-01 -1.96174370e-05 -6.30761869e-01] [-6.53903164e-04 -3.30455372e-05 9.99999786e-01 -2.79626963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.326559995000004 meters 0.059198626690465425 Centerline is valid? [True, True] Translation: X:45.54, Y:-0.63, Z:-0.28 [[ 9.96528097e-01 8.32563638e-02 3.60567179e-04 4.55370392e+01] [-8.32563653e-02 9.96528162e-01 -1.08709687e-05 -6.30272346e-01] [-3.60220425e-04 -1.91862869e-05 9.99999935e-01 -2.81167808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.386559995 meters 0.060656224699761695 Centerline is valid? [True, True] Translation: X:45.60, Y:-0.63, Z:-0.28 [[ 9.96423423e-01 8.45006229e-02 -8.57000026e-05 4.55974546e+01] [-8.45006230e-02 9.96423426e-01 2.63398816e-06 -6.29824116e-01] [ 8.56160639e-05 4.61713611e-06 9.99999996e-01 -2.82818483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.446559995 meters 0.0616208396642907 Centerline is valid? [True, True] Translation: X:45.66, Y:-0.63, Z:-0.28 [[ 9.96271665e-01 8.62713727e-02 -1.41303001e-04 4.56571360e+01] [-8.62713729e-02 9.96271675e-01 4.22283350e-06 -6.25582589e-01] [ 1.41140487e-04 7.98331455e-06 9.99999990e-01 -2.84051387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.506559995 meters 0.06058554043017846 Centerline is valid? [True, True] Translation: X:45.72, Y:-0.63, Z:-0.28 [[ 9.96043877e-01 8.88432385e-02 1.86373350e-03 4.57175573e+01] [-8.88432887e-02 9.96045615e-01 -5.60185975e-05 -6.33315556e-01] [-1.86134046e-03 -1.09783233e-04 9.99998262e-01 -2.83251521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.566559995 meters 0.05933150183507681 Centerline is valid? [True, True] Translation: X:45.78, Y:-0.64, Z:-0.28 [[ 9.95873201e-01 9.07171758e-02 2.63851862e-03 4.57781162e+01] [-9.07172829e-02 9.95876683e-01 -7.93150925e-05 -6.40341404e-01] [-2.63483441e-03 -1.60371465e-04 9.99996516e-01 -2.83210518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.626559995 meters 0.06278506436393406 Centerline is valid? [True, True] Translation: X:45.84, Y:-0.63, Z:-0.28 [[ 9.95631382e-01 9.33380107e-02 2.48335355e-03 4.58386349e+01] [-9.33381138e-02 9.95634467e-01 -7.45912192e-05 -6.30448647e-01] [-2.47947459e-03 -1.57526178e-04 9.99996914e-01 -2.84827609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.686559995 meters 0.06062639938661397 Centerline is valid? [True, True] Translation: X:45.90, Y:-0.64, Z:-0.28 [[ 9.95404692e-01 9.57299545e-02 2.29686405e-03 4.58993792e+01] [-9.57300489e-02 9.95407330e-01 -6.90410199e-05 -6.40879614e-01] [-2.29292461e-03 -1.51155153e-04 9.99997360e-01 -2.84775185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.746559995 meters 0.061949026105737916 Centerline is valid? [True, True] Translation: X:45.96, Y:-0.64, Z:-0.29 [[ 9.95297753e-01 9.68382840e-02 2.17462092e-03 4.59608365e+01] [-9.68383712e-02 9.95300118e-01 -6.53948712e-05 -6.36846992e-01] [-2.17073318e-03 -1.45499379e-04 9.99997633e-01 -2.85953504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.806559995 meters 0.06093862809055012 Centerline is valid? [True, True] Translation: X:46.02, Y:-0.64, Z:-0.29 [[ 9.95096794e-01 9.88730595e-02 2.54734328e-03 4.60214952e+01] [-9.88731856e-02 9.95100039e-01 -7.66732326e-05 -6.42856727e-01] [-2.54244231e-03 -1.75566657e-04 9.99996753e-01 -2.85730216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.866559995 meters 0.05951696257034288 Centerline is valid? [True, True] Translation: X:46.08, Y:-0.65, Z:-0.28 [[ 9.95156316e-01 9.82412155e-02 3.54542404e-03 4.60824450e+01] [-9.82414560e-02 9.95162602e-01 -1.06695674e-04 -6.50380879e-01] [-3.53875533e-03 -2.42128746e-04 9.99993709e-01 -2.84912931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.926559995000005 meters 0.06181475563270463 Centerline is valid? [True, True] Translation: X:46.14, Y:-0.64, Z:-0.29 [[ 9.95298206e-01 9.67842858e-02 3.77940562e-03 4.61425973e+01] [-9.67845481e-02 9.95305349e-01 -1.13859385e-04 -6.43396433e-01] [-3.77268243e-03 -2.52464023e-04 9.99992852e-01 -2.85610479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.986559995 meters 0.060329475025909476 Centerline is valid? [True, True] Translation: X:46.20, Y:-0.66, Z:-0.29 [[ 9.95363505e-01 9.61144128e-02 3.67588477e-03 4.62037063e+01] [-9.61146567e-02 9.95370263e-01 -1.10646266e-04 -6.55189083e-01] [-3.66950109e-03 -2.43173148e-04 9.99993238e-01 -2.85357413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.046559995 meters 0.05978413699510288 Centerline is valid? [True, True] Translation: X:46.27, Y:-0.66, Z:-0.29 [[ 9.95279853e-01 9.69948495e-02 3.16424063e-03 4.62650949e+01] [-9.69950345e-02 9.95284861e-01 -9.53236651e-05 -6.59268912e-01] [-3.15856670e-03 -2.12041906e-04 9.99994989e-01 -2.85041858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.106559995000005 meters 0.05982401125641796 Centerline is valid? [True, True] Translation: X:46.33, Y:-0.66, Z:-0.29 [[ 9.95186054e-01 9.79574680e-02 3.00879198e-03 4.63260443e+01] [-9.79576395e-02 9.95190581e-01 -9.06797141e-05 -6.58937052e-01] [-3.00320420e-03 -2.04490973e-04 9.99995469e-01 -2.85631324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.166559995 meters 0.06339775959403891 Centerline is valid? [True, True] Translation: X:46.39, Y:-0.65, Z:-0.29 [[ 9.95224109e-01 9.75810823e-02 2.62768299e-03 4.63877292e+01] [-9.75812128e-02 9.95227562e-01 -7.88243391e-05 -6.49576925e-01] [-2.62283430e-03 -1.77964610e-04 9.99996545e-01 -2.86816259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.226559995 meters 0.05866486350203061 Centerline is valid? [True, True] Translation: X:46.45, Y:-0.67, Z:-0.28 [[ 9.95334372e-01 9.64461171e-02 2.76292159e-03 4.64479345e+01] [-9.64462549e-02 9.95338190e-01 -8.36090564e-05 -6.74894539e-01] [-2.75810514e-03 -1.83254472e-04 9.99996180e-01 -2.84793600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.286559995000005 meters 0.059822631470731476 Centerline is valid? [True, True] Translation: X:46.51, Y:-0.67, Z:-0.29 [[ 9.95511597e-01 9.45961910e-02 2.86724047e-03 4.65080413e+01] [-9.45963316e-02 9.95515709e-01 -8.68519867e-05 -6.67664406e-01] [-2.86259880e-03 -1.84768270e-04 9.99995886e-01 -2.86739660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.346559995 meters 0.058917957070934224 Centerline is valid? [True, True] Translation: X:46.57, Y:-0.68, Z:-0.29 [[ 9.95674235e-01 9.28789503e-02 2.51382728e-03 4.65682985e+01] [-9.28790531e-02 9.95677395e-01 -7.60840219e-05 -6.76241226e-01] [-2.51002761e-03 -1.57726997e-04 9.99996837e-01 -2.87207369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.406559995 meters 0.06032499997679745 Centerline is valid? [True, True] Translation: X:46.63, Y:-0.67, Z:-0.29 [[ 9.96131372e-01 8.78432842e-02 2.41795934e-03 4.66280147e+01] [-8.78433644e-02 9.96134297e-01 -7.32227271e-05 -6.74784815e-01] [-2.41504436e-03 -1.39462228e-04 9.99997074e-01 -2.88397949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.466559995000004 meters 0.06146458981811476 Centerline is valid? [True, True] Translation: X:46.69, Y:-0.67, Z:-0.29 [[ 9.96535906e-01 8.30845746e-02 3.62510532e-03 4.66873472e+01] [-8.30847235e-02 9.96542481e-01 -1.09754702e-04 -6.74613578e-01] [-3.62169037e-03 -1.91816372e-04 9.99993423e-01 -2.87444623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.526559995 meters 0.05918245546744899 Centerline is valid? [True, True] Translation: X:46.75, Y:-0.69, Z:-0.29 [[ 9.96543693e-01 8.30227319e-02 2.80978010e-03 4.67487925e+01] [-8.30228224e-02 9.96547643e-01 -8.45839688e-05 -6.88180408e-01] [-2.80710213e-03 -1.48984254e-04 9.99996049e-01 -2.86800610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.586559995 meters 0.06142798134171648 Centerline is valid? [True, True] Translation: X:46.81, Y:-0.68, Z:-0.29 [[ 9.96112482e-01 8.80890099e-02 5.00084402e-04 4.68087219e+01] [-8.80890133e-02 9.96112607e-01 -1.52605479e-05 -6.76320931e-01] [-4.99484664e-04 -2.88507193e-05 9.99999875e-01 -2.89376476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.646559995000004 meters 0.0631851786178335 Centerline is valid? [True, True] Translation: X:46.87, Y:-0.67, Z:-0.29 [[ 9.95678864e-01 9.28622367e-02 4.53260434e-04 4.68681300e+01] [-9.28622400e-02 9.95678966e-01 -1.36345434e-05 -6.71171567e-01] [-4.52568014e-04 -2.85151526e-05 9.99999897e-01 -2.90188404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.706559995 meters 0.059475685615429985 Centerline is valid? [True, True] Translation: X:46.93, Y:-0.69, Z:-0.29 [[ 9.94916914e-01 1.00696890e-01 6.86224985e-04 4.69279369e+01] [-1.00696899e-01 9.94917149e-01 -2.08278213e-05 -6.88386124e-01] [-6.84834302e-04 -4.83787766e-05 9.99999764e-01 -2.87572267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.766559995 meters 0.06108751891011622 Centerline is valid? [True, True] Translation: X:46.99, Y:-0.68, Z:-0.29 [[ 9.94460999e-01 1.05105979e-01 2.34353352e-04 4.69873982e+01] [-1.05105981e-01 9.94461026e-01 -7.03719990e-06 -6.81180674e-01] [-2.33794926e-04 -1.76337180e-05 9.99999973e-01 -2.87906013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.826559995000004 meters 0.059279127489853006 Centerline is valid? [True, True] Translation: X:47.05, Y:-0.69, Z:-0.29 [[ 9.94037994e-01 1.09033855e-01 2.92557317e-04 4.70482924e+01] [-1.09033857e-01 9.94038037e-01 -8.83867939e-06 -6.87004221e-01] [-2.91776816e-04 -2.31126694e-05 9.99999957e-01 -2.86458164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.886559995 meters 0.059792408381833174 Centerline is valid? [True, True] Translation: X:47.11, Y:-0.68, Z:-0.29 [[ 9.93482957e-01 1.13977893e-01 8.08860054e-04 4.71086332e+01] [-1.13977911e-01 9.93483284e-01 -2.45696465e-05 -6.84791793e-01] [-8.06389339e-04 -6.77826540e-05 9.99999673e-01 -2.86662193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.946559995 meters 0.06236973874195951 Centerline is valid? [True, True] Translation: X:47.17, Y:-0.67, Z:-0.29 [[ 9.93155174e-01 1.16801876e-01 3.48654922e-04 4.71696162e+01] [-1.16801879e-01 9.93155235e-01 -1.05394499e-05 -6.74305209e-01] [-3.47499489e-04 -3.02562409e-05 9.99999939e-01 -2.88131179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.006559995 meters 0.06012752597753944 Centerline is valid? [True, True] Translation: X:47.23, Y:-0.69, Z:-0.29 [[ 9.93112089e-01 1.17166934e-01 5.36456725e-04 4.72309515e+01] [-1.17166943e-01 9.93112233e-01 -1.56454260e-05 -6.85199541e-01] [-5.34594863e-04 -4.73173327e-05 9.99999856e-01 -2.87954565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.066559995 meters 0.0621507554108323 Centerline is valid? [True, True] Translation: X:47.29, Y:-0.68, Z:-0.29 [[ 9.93197654e-01 1.16434917e-01 1.15354536e-03 4.72928717e+01] [-1.16434954e-01 9.93198319e-01 -3.50936959e-05 -6.77376572e-01] [-1.14978544e-03 -9.94580252e-05 9.99999334e-01 -2.88262994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.126559995 meters 0.060245955848966096 Centerline is valid? [True, True] Translation: X:47.35, Y:-0.68, Z:-0.29 [[ 9.93274362e-01 1.15775961e-01 1.40304354e-03 4.73543711e+01] [-1.15776015e-01 9.93275346e-01 -4.26848777e-05 -6.84159208e-01] [-1.39855044e-03 -1.20040996e-04 9.99999015e-01 -2.87840815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.186559995 meters 0.06173392191149692 Centerline is valid? [True, True] Translation: X:47.42, Y:-0.68, Z:-0.29 [[ 9.93302245e-01 1.15528148e-01 1.97416176e-03 4.74156723e+01] [-1.15528256e-01 9.93304192e-01 -5.98628723e-05 -6.77285760e-01] [-1.96785900e-03 -1.68609540e-04 9.99998050e-01 -2.88360729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.246559995 meters 0.06265452230399556 Centerline is valid? [True, True] Translation: X:47.48, Y:-0.67, Z:-0.29 [[ 9.93348704e-01 1.15124764e-01 2.15449180e-03 4.74774522e+01] [-1.15124890e-01 9.93351023e-01 -6.59992700e-05 -6.72805850e-01] [-2.14776479e-03 -1.82475343e-04 9.99997677e-01 -2.89133553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.306559995 meters 0.060010909811582254 Centerline is valid? [True, True] Translation: X:47.54, Y:-0.68, Z:-0.29 [[ 9.93505892e-01 1.13706824e-01 4.09895049e-03 4.75374128e+01] [-1.13707265e-01 9.93514289e-01 -1.25982775e-04 -6.81843296e-01] [-4.08669098e-03 -3.40915820e-04 9.99991591e-01 -2.86880540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.366559995 meters 0.059747418946856465 Centerline is valid? [True, True] Translation: X:47.60, Y:-0.68, Z:-0.29 [[ 9.93484355e-01 1.13893653e-01 4.13187352e-03 4.75989156e+01] [-1.13894105e-01 9.93492887e-01 -1.26679592e-04 -6.76462037e-01] [-4.11941495e-03 -3.44741842e-04 9.99991456e-01 -2.87666582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.426559995000005 meters 0.059747418946856465 Centerline is valid? [True, True] Translation: X:47.66, Y:-0.68, Z:-0.29 [[ 9.93470613e-01 1.14013463e-01 4.13186272e-03 4.76615933e+01] [-1.14013913e-01 9.93479145e-01 -1.27030632e-04 -6.78331749e-01] [-4.11940264e-03 -3.44888638e-04 9.99991456e-01 -2.88128848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.486559995 meters 0.060546994875050525 Centerline is valid? [True, True] Translation: X:47.72, Y:-0.68, Z:-0.29 [[ 9.93467708e-01 1.14036125e-01 4.20426608e-03 4.77237588e+01] [-1.14036590e-01 9.93476542e-01 -1.29829363e-04 -6.75900323e-01] [-4.19164497e-03 -3.50458887e-04 9.99991154e-01 -2.88424102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.546559995 meters 0.05993643163799358 Centerline is valid? [True, True] Translation: X:47.79, Y:-0.67, Z:-0.29 [[ 9.93447574e-01 1.14189004e-01 4.77373258e-03 4.77860675e+01] [-1.14189602e-01 9.93458964e-01 -1.48002265e-04 -6.74361279e-01] [-4.75940765e-03 -3.98078130e-04 9.99988595e-01 -2.89030083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.606559995000005 meters 0.05827034045243974 Centerline is valid? [True, True] Translation: X:47.85, Y:-0.69, Z:-0.29 [[ 9.93437026e-01 1.14273445e-01 4.94516587e-03 4.78473155e+01] [-1.14274084e-01 9.93449249e-01 -1.54077038e-04 -6.93705862e-01] [-4.93037824e-03 -4.12038467e-04 9.99987761e-01 -2.88423958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.666559995 meters 0.06022127502127193 Centerline is valid? [True, True] Translation: X:47.91, Y:-0.68, Z:-0.29 [[ 9.93439384e-01 1.14273288e-01 4.45032762e-03 4.79085402e+01] [-1.14273806e-01 9.93449283e-01 -1.38621926e-04 -6.79049776e-01] [-4.43701556e-03 -3.70843394e-04 9.99990088e-01 -2.89020604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.726559995 meters 0.06103751848055959 Centerline is valid? [True, True] Translation: X:47.97, Y:-0.67, Z:-0.29 [[ 9.93411236e-01 1.14530996e-01 4.09483508e-03 4.79708168e+01] [-1.14531435e-01 9.93419616e-01 -1.27900349e-04 -6.73910481e-01] [-4.08253805e-03 -3.41929694e-04 9.99991608e-01 -2.89029814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.786559995000005 meters 0.059798169046974256 Centerline is valid? [True, True] Translation: X:48.03, Y:-0.67, Z:-0.29 [[ 9.93224263e-01 1.16134254e-01 4.28930788e-03 4.80314875e+01] [-1.16134748e-01 9.93233458e-01 -1.34778708e-04 -6.74604459e-01] [-4.27593652e-03 -3.64272206e-04 9.99990792e-01 -2.89032339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.846559995 meters 0.059149318459131434 Centerline is valid? [True, True] Translation: X:48.09, Y:-0.68, Z:-0.29 [[ 9.92917287e-01 1.18742180e-01 3.94408378e-03 4.80919991e+01] [-1.18742618e-01 9.92925060e-01 -1.23941616e-04 -6.75000844e-01] [-3.93089673e-03 -3.45267059e-04 9.99992214e-01 -2.88903215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.906559995 meters 0.06106119712601904 Centerline is valid? [True, True] Translation: X:48.15, Y:-0.66, Z:-0.29 [[ 9.92989844e-01 1.18144413e-01 3.61486905e-03 4.81538993e+01] [-1.18144777e-01 9.92996374e-01 -1.13523180e-04 -6.61988649e-01] [-3.60296399e-03 -3.14350532e-04 9.99993460e-01 -2.89557486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.966559995000004 meters 0.06856798349737903 Centerline is valid? [True, True] Translation: X:48.22, Y:-0.64, Z:-0.29 [[ 9.93057808e-01 1.17589300e-01 2.99101508e-03 4.82151072e+01] [-1.17589547e-01 9.93062279e-01 -9.40419372e-05 -6.38147639e-01] [-2.98132258e-03 -2.58323027e-04 9.99995522e-01 -2.90710887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.026559995 meters 0.06258131358889672 Centerline is valid? [True, True] Translation: X:48.28, Y:-0.66, Z:-0.29 [[ 9.93270510e-01 1.15761483e-01 3.60168026e-03 4.82754837e+01] [-1.15761827e-01 9.93276994e-01 -1.13344150e-04 -6.60083133e-01] [-3.59058702e-03 -3.04355686e-04 9.99993508e-01 -2.89728568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.086559995 meters 0.06152025326040806 Centerline is valid? [True, True] Translation: X:48.34, Y:-0.67, Z:-0.29 [[ 9.93561311e-01 1.13220175e-01 4.13690977e-03 4.83358385e+01] [-1.13220608e-01 9.93569865e-01 -1.30105870e-04 -6.68024613e-01] [-4.12503949e-03 -3.39115281e-04 9.99991434e-01 -2.89086850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.146559995000004 meters 0.06749875559278913 Centerline is valid? [True, True] Translation: X:48.40, Y:-0.64, Z:-0.29 [[ 9.93972959e-01 1.09555338e-01 3.92241423e-03 4.83965192e+01] [-1.09555699e-01 9.93980651e-01 -1.23414199e-04 -6.38245994e-01] [-3.91232453e-03 -3.07052455e-04 9.99992300e-01 -2.90221169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.206559995 meters 0.06517945162996908 Centerline is valid? [True, True] Translation: X:48.46, Y:-0.65, Z:-0.29 [[ 9.94179991e-01 1.07653820e-01 4.09877583e-03 4.84568611e+01] [-1.07654198e-01 9.94188391e-01 -1.28894942e-04 -6.45361349e-01] [-4.08883138e-03 -3.13105654e-04 9.99991592e-01 -2.89848560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.266559995 meters 0.0654244468090629 Centerline is valid? [True, True] Translation: X:48.52, Y:-0.64, Z:-0.29 [[ 9.94460355e-01 1.05042969e-01 3.81803329e-03 4.85180119e+01] [-1.05043278e-01 9.94467644e-01 -1.20037889e-04 -6.43926890e-01] [-3.80951971e-03 -2.81685810e-04 9.99992704e-01 -2.90399816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.326559995000004 meters 0.0671462578625452 Centerline is valid? [True, True] Translation: X:48.58, Y:-0.64, Z:-0.29 [[ 9.94800566e-01 1.01776165e-01 3.66700970e-03 4.85783412e+01] [-1.01776427e-01 9.94807291e-01 -1.15344544e-04 -6.38048525e-01] [-3.65970731e-03 -2.58470328e-04 9.99993270e-01 -2.90366823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.386559995 meters 0.06470987221601081 Centerline is valid? [True, True] Translation: X:48.64, Y:-0.64, Z:-0.29 [[ 9.95085119e-01 9.89499632e-02 3.80930352e-03 4.86390741e+01] [-9.89502263e-02 9.95092377e-01 -1.19791064e-04 -6.42116030e-01] [-3.80246222e-03 -2.57729140e-04 9.99992737e-01 -2.89709355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.446559995 meters 0.06512739286712665 Centerline is valid? [True, True] Translation: X:48.70, Y:-0.64, Z:-0.29 [[ 9.95232948e-01 9.74434045e-02 4.02024329e-03 4.86997612e+01] [-9.74436853e-02 9.95241032e-01 -1.26441670e-04 -6.41729251e-01] [-4.01343199e-03 -2.65908406e-04 9.99991911e-01 -2.89828570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.506559995 meters 0.0656385743316023 Centerline is valid? [True, True] Translation: X:48.76, Y:-0.64, Z:-0.29 [[ 9.95323212e-01 9.65187264e-02 3.97993996e-03 4.87617264e+01] [-9.65189942e-02 9.95331135e-01 -1.25174931e-04 -6.36649719e-01] [-3.97343988e-03 -2.59550288e-04 9.99992072e-01 -2.89657444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.566559995 meters 0.06630560191355465 Centerline is valid? [True, True] Translation: X:48.82, Y:-0.63, Z:-0.29 [[ 9.95267670e-01 9.71067658e-02 3.54139879e-03 4.88238508e+01] [-9.71069814e-02 9.95273943e-01 -1.11415937e-04 -6.34110961e-01] [-3.53548118e-03 -2.33005866e-04 9.99993723e-01 -2.90205519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.626559995 meters 0.06924345802062316 Centerline is valid? [True, True] Translation: X:48.88, Y:-0.62, Z:-0.29 [[ 9.95112229e-01 9.87164380e-02 2.59148872e-03 4.88843791e+01] [-9.87165584e-02 9.95115588e-01 -8.17296371e-05 -6.18931087e-01] [-2.58689888e-03 -1.74492686e-04 9.99996639e-01 -2.90925899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.686559995 meters 0.06799879947007435 Centerline is valid? [True, True] Translation: X:48.95, Y:-0.62, Z:-0.29 [[ 9.95123298e-01 9.85992549e-02 2.79456579e-03 4.89465310e+01] [-9.85993951e-02 9.95127204e-01 -8.79103562e-05 -6.22148180e-01] [-2.78961633e-03 -1.88060853e-04 9.99996091e-01 -2.89942257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.746559995 meters 0.0683972398686421 Centerline is valid? [True, True] Translation: X:49.01, Y:-0.62, Z:-0.29 [[ 9.95149792e-01 9.83487232e-02 2.10233542e-03 4.90085681e+01] [-9.83488028e-02 9.95152003e-01 -6.57795187e-05 -6.18945908e-01] [-2.09861264e-03 -1.41301697e-04 9.99997788e-01 -2.90066584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.806559995 meters 0.06919118007208766 Centerline is valid? [True, True] Translation: X:49.07, Y:-0.62, Z:-0.29 [[ 9.95247491e-01 9.73585895e-02 1.93283873e-03 4.90703032e+01] [-9.73586537e-02 9.95249360e-01 -6.10803469e-05 -6.17580663e-01] [-1.92960320e-03 -1.27388514e-04 9.99998130e-01 -2.89817434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.866559995 meters 0.06708966058103409 Centerline is valid? [True, True] Translation: X:49.13, Y:-0.62, Z:-0.29 [[ 9.95543482e-01 9.42905660e-02 1.56967064e-03 4.91305667e+01] [-9.42906043e-02 9.95544715e-01 -4.97099688e-05 -6.24121791e-01] [-1.56736449e-03 -9.85167580e-05 9.99998767e-01 -2.89244942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.926559995000005 meters 0.06818902626057792 Centerline is valid? [True, True] Translation: X:49.19, Y:-0.62, Z:-0.29 [[ 9.95774517e-01 9.18178800e-02 1.60893729e-03 4.91900239e+01] [-9.18179170e-02 9.95775812e-01 -5.10426539e-05 -6.19818388e-01] [-1.60682747e-03 -9.69022966e-05 9.99998704e-01 -2.89595010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.986559995 meters 0.06716911716679244 Centerline is valid? [True, True] Translation: X:49.25, Y:-0.62, Z:-0.29 [[ 9.96050054e-01 8.87692838e-02 2.07456070e-03 4.92503312e+01] [-8.87693389e-02 9.96052208e-01 -6.57102402e-05 -6.24267111e-01] [-2.07220382e-03 -1.18706694e-04 9.99997846e-01 -2.88996305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.046559995 meters 0.06609233379325287 Centerline is valid? [True, True] Translation: X:49.31, Y:-0.63, Z:-0.29 [[ 9.96180169e-01 8.72996766e-02 1.95909807e-03 4.93104642e+01] [-8.72997228e-02 9.96182089e-01 -6.20874554e-05 -6.30128467e-01] [-1.95703862e-03 -1.09178426e-04 9.99998079e-01 -2.88981262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.106559995000005 meters 0.06663259882687896 Centerline is valid? [True, True] Translation: X:49.37, Y:-0.63, Z:-0.29 [[ 9.96281422e-01 8.61365433e-02 1.95572371e-03 4.93714111e+01] [-8.61365872e-02 9.96283335e-01 -6.18953541e-05 -6.29936152e-01] [-1.95378639e-03 -1.06794174e-04 9.99998086e-01 -2.89728577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.166559995 meters 0.06720547162004334 Centerline is valid? [True, True] Translation: X:49.43, Y:-0.63, Z:-0.29 [[ 9.96350348e-01 8.53440087e-02 1.54426946e-03 4.94327359e+01] [-8.53440353e-02 9.96351541e-01 -4.88252871e-05 -6.26107158e-01] [-1.54280220e-03 -8.31470955e-05 9.99998806e-01 -2.90667373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.226559995 meters 0.06854458409317567 Centerline is valid? [True, True] Translation: X:49.49, Y:-0.62, Z:-0.29 [[ 9.96321452e-01 8.56876206e-02 1.09329022e-03 4.94943439e+01] [-8.56876347e-02 9.96322050e-01 -3.40402136e-05 -6.20637512e-01] [-1.09218598e-03 -5.97664582e-05 9.99999402e-01 -2.91584255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.286559995000005 meters 0.06695869049105949 Centerline is valid? [True, True] Translation: X:49.56, Y:-0.63, Z:-0.29 [[ 9.96229249e-01 8.67452371e-02 1.59575647e-03 4.95561104e+01] [-8.67452670e-02 9.96230524e-01 -5.06155085e-05 -6.30002247e-01] [-1.59413196e-03 -8.79996708e-05 9.99998725e-01 -2.90303324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.346559995 meters 0.0677203512933289 Centerline is valid? [True, True] Translation: X:49.62, Y:-0.63, Z:-0.29 [[ 9.96142101e-01 8.77408955e-02 1.56503194e-03 4.96171198e+01] [-8.77409260e-02 9.96143327e-01 -4.92670293e-05 -6.28831233e-01] [-1.56331886e-03 -8.82403895e-05 9.99998774e-01 -2.90709509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.406559995 meters 0.06782748109209909 Centerline is valid? [True, True] Translation: X:49.68, Y:-0.63, Z:-0.29 [[ 9.96014178e-01 8.91878313e-02 1.13461048e-03 4.96784405e+01] [-8.91878478e-02 9.96014822e-01 -3.61796620e-05 -6.30271800e-01] [-1.13331565e-03 -6.51580108e-05 9.99999356e-01 -2.91101877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.466559995000004 meters 0.06529884439379408 Centerline is valid? [True, True] Translation: X:49.74, Y:-0.64, Z:-0.29 [[ 9.95976103e-01 8.96085162e-02 1.38435578e-03 4.97407575e+01] [-8.96085418e-02 9.95977062e-01 -4.36245075e-05 -6.35970727e-01] [-1.38269573e-03 -8.06011358e-05 9.99999041e-01 -2.90761230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.526559995 meters 0.06694441000857729 Centerline is valid? [True, True] Translation: X:49.80, Y:-0.64, Z:-0.29 [[ 9.95960185e-01 8.97888685e-02 1.12650058e-03 4.98035419e+01] [-8.97888857e-02 9.95960820e-01 -3.53676945e-05 -6.38759682e-01] [-1.12512607e-03 -6.59224165e-05 9.99999365e-01 -2.90796721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.586559995 meters 0.06901461658916216 Centerline is valid? [True, True] Translation: X:49.86, Y:-0.63, Z:-0.29 [[ 9.95906153e-01 9.03828670e-02 1.36840076e-03 4.98647786e+01] [-9.03828922e-02 9.95907089e-01 -4.34816998e-05 -6.34571624e-01] [-1.36673002e-03 -8.03763259e-05 9.99999063e-01 -2.91814573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.646559995000004 meters 0.07042625838491019 Centerline is valid? [True, True] Translation: X:49.93, Y:-0.63, Z:-0.29 [[ 9.95962798e-01 8.97477498e-02 1.85663649e-03 4.99254126e+01] [-8.97477935e-02 9.95964522e-01 -5.99342757e-05 -6.32833416e-01] [-1.85452305e-03 -1.06936720e-04 9.99998275e-01 -2.92762281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.706559995 meters 0.0666456920998756 Centerline is valid? [True, True] Translation: X:49.99, Y:-0.65, Z:-0.29 [[ 9.95977550e-01 8.95917596e-02 1.42672147e-03 4.99861342e+01] [-8.95917860e-02 9.95978569e-01 -4.55521981e-05 -6.49174640e-01] [-1.42506511e-03 -8.24535575e-05 9.99998981e-01 -2.92317748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.766559995 meters 0.06574894884158147 Centerline is valid? [True, True] Translation: X:50.05, Y:-0.66, Z:-0.29 [[ 9.95940467e-01 8.99962108e-02 1.80767270e-03 5.00484802e+01] [-8.99962525e-02 9.95942102e-01 -5.84281819e-05 -6.57490128e-01] [-1.80559567e-03 -1.04492778e-04 9.99998364e-01 -2.92394950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.826559995000004 meters 0.0657692606410615 Centerline is valid? [True, True] Translation: X:50.11, Y:-0.66, Z:-0.29 [[ 9.95879043e-01 9.06684925e-02 2.03842891e-03 5.01099860e+01] [-9.06685475e-02 9.95881123e-01 -6.56016417e-05 -6.60711581e-01] [-2.03598087e-03 -1.19490088e-04 9.99997920e-01 -2.92954175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.886559995 meters 0.06712269280480834 Centerline is valid? [True, True] Translation: X:50.17, Y:-0.66, Z:-0.29 [[ 9.95767535e-01 9.18633940e-02 2.85193212e-03 5.01698204e+01] [-9.18635032e-02 9.95771604e-01 -9.29620393e-05 -6.58838839e-01] [-2.84841283e-03 -1.69419895e-04 9.99995929e-01 -2.93591072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.946559995 meters 0.06346314238123188 Centerline is valid? [True, True] Translation: X:50.23, Y:-0.68, Z:-0.29 [[ 9.95468312e-01 9.50268121e-02 3.56997158e-03 5.02303737e+01] [-9.50270036e-02 9.95474688e-01 -1.16315512e-04 -6.77949269e-01] [-3.56486944e-03 -2.23455296e-04 9.99993621e-01 -2.93052325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.006559995 meters 0.07224899603597833 Centerline is valid? [True, True] Translation: X:50.29, Y:-0.65, Z:-0.30 [[ 9.95230713e-01 9.75138939e-02 2.62090002e-03 5.02912824e+01] [-9.75140056e-02 9.95234149e-01 -8.54471369e-05 -6.51129546e-01] [-2.61674148e-03 -1.70534844e-04 9.99996562e-01 -2.96169640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.066559995 meters 0.06809817094313783 Centerline is valid? [True, True] Translation: X:50.35, Y:-0.67, Z:-0.30 [[ 9.94967763e-01 1.00153712e-01 2.89566473e-03 5.03512697e+01] [-1.00153859e-01 9.94971957e-01 -9.43823922e-05 -6.69371734e-01] [-2.89055795e-03 -1.96104561e-04 9.99995803e-01 -2.96010604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.126559995 meters 0.06503285385243374 Centerline is valid? [True, True] Translation: X:50.41, Y:-0.69, Z:-0.29 [[ 9.94709994e-01 1.02655979e-01 3.71189956e-03 5.04121657e+01] [-1.02656238e-01 9.94716885e-01 -1.21061011e-04 -6.88435418e-01] [-3.70471681e-03 -2.60629048e-04 9.99993104e-01 -2.94903456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.186559995 meters 0.06679866307999156 Centerline is valid? [True, True] Translation: X:50.47, Y:-0.68, Z:-0.30 [[ 9.94579615e-01 1.03883375e-01 4.43103117e-03 5.04728917e+01] [-1.03883756e-01 9.94589435e-01 -1.44602638e-04 -6.83000847e-01] [-4.42207860e-03 -3.16493327e-04 9.99990172e-01 -2.95585002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.246559995 meters 0.06629377601064301 Centerline is valid? [True, True] Translation: X:50.53, Y:-0.69, Z:-0.30 [[ 9.94514603e-01 1.04517496e-01 4.09841588e-03 5.05344642e+01] [-1.04517828e-01 9.94523004e-01 -1.33476021e-04 -6.89951244e-01] [-4.08991945e-03 -2.95613676e-04 9.99991593e-01 -2.95967729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.306559995 meters 0.06615945576821398 Centerline is valid? [True, True] Translation: X:50.60, Y:-0.69, Z:-0.30 [[ 9.94555676e-01 1.04132451e-01 3.92949504e-03 5.05971195e+01] [-1.04132752e-01 9.94563398e-01 -1.28482333e-04 -6.94285552e-01] [-3.92151113e-03 -2.81406297e-04 9.99992271e-01 -2.96813105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.366559995 meters 0.08018081822809198 Centerline is valid? [True, True] Translation: X:50.66, Y:-0.66, Z:-0.30 [[ 9.94798652e-01 1.01799598e-01 3.53318187e-03 5.06577286e+01] [-1.01799825e-01 9.94804897e-01 -1.15939801e-04 -6.64613518e-01] [-3.52662925e-03 -2.44340540e-04 9.99993752e-01 -2.99139869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.426559995 meters 0.06352031837233572 Centerline is valid? [True, True] Translation: X:50.72, Y:-0.72, Z:-0.30 [[ 9.94951280e-01 1.00280961e-01 3.95964101e-03 5.07172517e+01] [-1.00281235e-01 9.94959123e-01 -1.29838536e-04 -7.18734805e-01] [-3.95270128e-03 -2.67894672e-04 9.99992152e-01 -2.96907106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.486559995 meters 0.06465989328149906 Centerline is valid? [True, True] Translation: X:50.78, Y:-0.72, Z:-0.30 [[ 9.95074442e-01 9.90512672e-02 3.96256362e-03 5.07767335e+01] [-9.90515319e-02 9.95082297e-01 -1.29883797e-04 -7.17947073e-01] [-3.95594206e-03 -2.63253951e-04 9.99992141e-01 -2.97807287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.546559995 meters 0.0664436676893192 Centerline is valid? [True, True] Translation: X:50.84, Y:-0.71, Z:-0.30 [[ 9.95056561e-01 9.92243535e-02 4.11924718e-03 5.08394110e+01] [-9.92246416e-02 9.95065049e-01 -1.34885661e-04 -7.10525560e-01] [-4.11230284e-03 -2.74511963e-04 9.99991507e-01 -2.99252714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.606559995000005 meters 0.06602237619045598 Centerline is valid? [True, True] Translation: X:50.90, Y:-0.72, Z:-0.30 [[ 9.95071072e-01 9.90815554e-02 4.05054621e-03 5.09012323e+01] [-9.90818307e-02 9.95079280e-01 -1.33128131e-04 -7.20775508e-01] [-4.04380514e-03 -2.68863582e-04 9.99991788e-01 -2.99708453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.666559995 meters 0.06514821248657725 Centerline is valid? [True, True] Translation: X:50.96, Y:-0.73, Z:-0.30 [[ 9.95097977e-01 9.87920766e-02 4.48789745e-03 5.09628730e+01] [-9.87924092e-02 9.95108053e-01 -1.48069533e-04 -7.28428743e-01] [-4.48057099e-03 -2.96026508e-04 9.99989918e-01 -2.99835214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.726559995 meters 0.0641518364847898 Centerline is valid? [True, True] Translation: X:51.03, Y:-0.73, Z:-0.30 [[ 9.95064046e-01 9.91084116e-02 5.00661617e-03 5.10251519e+01] [-9.91088263e-02 9.95076587e-01 -1.65819414e-04 -7.31172283e-01] [-4.99840063e-03 -3.31198916e-04 9.99987453e-01 -3.00299814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.786559995000005 meters 0.0655362025878185 Centerline is valid? [True, True] Translation: X:51.09, Y:-0.73, Z:-0.30 [[ 9.94983005e-01 9.98921183e-02 5.51218878e-03 5.10861612e+01] [-9.98926291e-02 9.94998206e-01 -1.83250360e-04 -7.29882547e-01] [-5.50292321e-03 -3.68296036e-04 9.99984791e-01 -3.01003278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.846559995 meters 0.06502431932867332 Centerline is valid? [True, True] Translation: X:51.15, Y:-0.74, Z:-0.30 [[ 9.95072728e-01 9.90141780e-02 5.14377534e-03 5.11474321e+01] [-9.90146080e-02 9.95085965e-01 -1.71608693e-04 -7.41500315e-01] [-5.13549034e-03 -3.38545769e-04 9.99986756e-01 -3.01782992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.906559995 meters 0.06064470557521221 Centerline is valid? [True, True] Translation: X:51.21, Y:-0.76, Z:-0.30 [[ 9.95209480e-01 9.75508158e-02 6.47528958e-03 5.12072513e+01] [-9.75514645e-02 9.95230458e-01 -2.16338901e-04 -7.61265651e-01] [-6.46550946e-03 -4.16371457e-04 9.99979012e-01 -3.01662050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.966559995000004 meters 0.06189298631305069 Centerline is valid? [True, True] Translation: X:51.27, Y:-0.76, Z:-0.30 [[ 9.95189212e-01 9.77381396e-02 6.75932709e-03 5.12697060e+01] [-9.77388513e-02 9.95212071e-01 -2.25756085e-04 -7.57505720e-01] [-6.74902889e-03 -4.35978845e-04 9.99977130e-01 -3.01871024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.026559995 meters 0.06478214892342853 Centerline is valid? [True, True] Translation: X:51.33, Y:-0.76, Z:-0.30 [[ 9.95066658e-01 9.89964358e-02 6.48476775e-03 5.13298772e+01] [-9.89971122e-02 9.95087697e-01 -2.17403570e-04 -7.56258918e-01] [-6.47443478e-03 -4.25642236e-04 9.99978950e-01 -3.02785107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.086559995 meters 0.06335742183260087 Centerline is valid? [True, True] Translation: X:51.39, Y:-0.76, Z:-0.30 [[ 9.95028941e-01 9.93783282e-02 6.43081395e-03 5.13915962e+01] [-9.93790004e-02 9.95049631e-01 -2.15728166e-04 -7.62710505e-01] [-6.42041775e-03 -4.24432093e-04 9.99979299e-01 -3.03050101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.146559995000004 meters 0.0637144650866495 Centerline is valid? [True, True] Translation: X:51.45, Y:-0.77, Z:-0.30 [[ 9.95002700e-01 9.96549961e-02 6.20555462e-03 5.14539479e+01] [-9.96556234e-02 9.95021966e-01 -2.08813338e-04 -7.67299294e-01] [-6.19547245e-03 -4.10648579e-04 9.99980724e-01 -3.03340818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.206559995 meters 0.062038946297331296 Centerline is valid? [True, True] Translation: X:51.52, Y:-0.78, Z:-0.30 [[ 9.95004585e-01 9.95810577e-02 7.03480038e-03 5.15154687e+01] [-9.95818560e-02 9.95029345e-01 -2.37574261e-04 -7.76940209e-01] [-7.02349071e-03 -4.64150999e-04 9.99975227e-01 -3.03890432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.266559995 meters 0.061316840547914954 Centerline is valid? [True, True] Translation: X:51.58, Y:-0.78, Z:-0.30 [[ 9.95010390e-01 9.95601413e-02 6.48866332e-03 5.15778725e+01] [-9.95608158e-02 9.95031455e-01 -2.19778197e-04 -7.83840696e-01] [-6.47830525e-03 -4.27335024e-04 9.99978924e-01 -3.03519570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.326559995000004 meters 0.06514702659565647 Centerline is valid? [True, True] Translation: X:51.64, Y:-0.78, Z:-0.30 [[ 9.95037291e-01 9.93712473e-02 5.11326662e-03 5.16391469e+01] [-9.93716616e-02 9.95050372e-01 -1.73602100e-04 -7.78617990e-01] [-5.10520891e-03 -3.35373237e-04 9.99986912e-01 -3.04706763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.386559995 meters 0.06788991664953935 Centerline is valid? [True, True] Translation: X:51.70, Y:-0.78, Z:-0.31 [[ 9.95109580e-01 9.86566139e-02 4.87816785e-03 5.16998709e+01] [-9.86569791e-02 9.95121486e-01 -1.66289750e-04 -7.75956590e-01] [-4.87077522e-03 -3.15788781e-04 9.99988088e-01 -3.06368402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.446559995 meters 0.062321287502026215 Centerline is valid? [True, True] Translation: X:51.76, Y:-0.79, Z:-0.31 [[ 9.95128187e-01 9.84599389e-02 5.05299089e-03 5.17615343e+01] [-9.84603290e-02 9.95140962e-01 -1.72116247e-04 -7.91812428e-01] [-5.04538477e-03 -3.26241416e-04 9.99987219e-01 -3.06070009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.506559995 meters 0.06535914090293786 Centerline is valid? [True, True] Translation: X:51.82, Y:-0.79, Z:-0.31 [[ 9.95163999e-01 9.81197763e-02 4.59623779e-03 5.18224756e+01] [-9.81200929e-02 9.95174569e-01 -1.57102541e-04 -7.88805440e-01] [-4.58947382e-03 -2.94640485e-04 9.99989425e-01 -3.06109604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.566559995 meters 0.06491343365435599 Centerline is valid? [True, True] Translation: X:51.88, Y:-0.80, Z:-0.31 [[ 9.95106906e-01 9.86827701e-02 4.89446621e-03 5.18847361e+01] [-9.86831349e-02 9.95118893e-01 -1.67515532e-04 -7.97016668e-01] [-4.88710669e-03 -3.16305406e-04 9.99988008e-01 -3.05754997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.626559995 meters 0.06196437251090368 Centerline is valid? [True, True] Translation: X:51.95, Y:-0.81, Z:-0.31 [[ 9.94939340e-01 1.00342364e-01 5.20762797e-03 5.19455000e+01] [-1.00342795e-01 9.94952909e-01 -1.79026643e-04 -8.08843240e-01] [-5.19930855e-03 -3.44427298e-04 9.99986424e-01 -3.06183131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.686559995 meters 0.06269264253634853 Centerline is valid? [True, True] Translation: X:52.01, Y:-0.81, Z:-0.31 [[ 9.94848191e-01 1.01252723e-01 4.99626017e-03 5.20058273e+01] [-1.01253131e-01 9.94860681e-01 -1.71816227e-04 -8.10171237e-01] [-4.98797966e-03 -3.34955923e-04 9.99987504e-01 -3.06942600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.746559995 meters 0.06509788859383944 Centerline is valid? [True, True] Translation: X:52.07, Y:-0.81, Z:-0.31 [[ 9.94826275e-01 1.01482855e-01 4.68107163e-03 5.20667179e+01] [-1.01483217e-01 9.94837238e-01 -1.60774526e-04 -8.07862608e-01] [-4.67322023e-03 -3.15107483e-04 9.99989031e-01 -3.07498020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.806559995 meters 0.0618068951752771 Centerline is valid? [True, True] Translation: X:52.13, Y:-0.83, Z:-0.31 [[ 9.94792835e-01 1.01792831e-01 5.04330695e-03 5.21284581e+01] [-1.01793253e-01 9.94805561e-01 -1.73725483e-04 -8.26917958e-01] [-5.03479381e-03 -3.40553754e-04 9.99987267e-01 -3.07087154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.866559995 meters 0.06106942338481337 Centerline is valid? [True, True] Translation: X:52.19, Y:-0.84, Z:-0.31 [[ 9.94861632e-01 1.01124371e-01 4.91880144e-03 5.21891074e+01] [-1.01124760e-01 9.94873738e-01 -1.70148131e-04 -8.38431889e-01] [-4.91079249e-03 -3.28138769e-04 9.99987888e-01 -3.07425080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.926559995 meters 0.06582124757077548 Centerline is valid? [True, True] Translation: X:52.25, Y:-0.82, Z:-0.31 [[ 9.94804522e-01 1.01719111e-01 4.14557208e-03 5.22504525e+01] [-1.01719392e-01 9.94813120e-01 -1.43446680e-04 -8.24332888e-01] [-4.13866076e-03 -2.78983668e-04 9.99991397e-01 -3.09121360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.986559995 meters 0.06251622878903003 Centerline is valid? [True, True] Translation: X:52.31, Y:-0.83, Z:-0.31 [[ 9.94702672e-01 1.02712595e-01 4.08864253e-03 5.23116197e+01] [-1.02712877e-01 9.94711036e-01 -1.41539842e-04 -8.32967111e-01] [-4.08155577e-03 -2.79166177e-04 9.99991631e-01 -3.09896743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.046559995 meters 0.0584233664960363 Centerline is valid? [True, True] Translation: X:52.37, Y:-0.86, Z:-0.31 [[ 9.94550680e-01 1.04168330e-01 4.23134715e-03 5.23715024e+01] [-1.04168645e-01 9.94559637e-01 -1.46544052e-04 -8.57567510e-01] [-4.22359233e-03 -2.95028212e-04 9.99991037e-01 -3.09758257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.106559995000005 meters 0.062240123733664644 Centerline is valid? [True, True] Translation: X:52.43, Y:-0.84, Z:-0.31 [[ 9.94342314e-01 1.06156402e-01 3.76585346e-03 5.24320515e+01] [-1.06156666e-01 9.94349408e-01 -1.30530674e-04 -8.42043621e-01] [-3.75843083e-03 -2.69978274e-04 9.99992901e-01 -3.10429392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.166559995 meters 0.06197177233241999 Centerline is valid? [True, True] Translation: X:52.49, Y:-0.85, Z:-0.31 [[ 9.94450258e-01 1.05130864e-01 4.02307102e-03 5.24921594e+01] [-1.05131156e-01 9.94458355e-01 -1.39396637e-04 -8.51635815e-01] [-4.01543148e-03 -2.84327084e-04 9.99991898e-01 -3.10791859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.226559995 meters 0.06299127165322416 Centerline is valid? [True, True] Translation: X:52.55, Y:-0.85, Z:-0.31 [[ 9.94738375e-01 1.02363335e-01 4.16076949e-03 5.25518683e+01] [-1.02363623e-01 9.94747037e-01 -1.44226351e-04 -8.50639642e-01] [-4.15367661e-03 -2.82443954e-04 9.99991334e-01 -3.11376558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.286559995000005 meters 0.062485784578793 Centerline is valid? [True, True] Translation: X:52.61, Y:-0.86, Z:-0.31 [[ 9.95103332e-01 9.87514651e-02 4.18416776e-03 5.26120111e+01] [-9.87517247e-02 9.95112092e-01 -1.45029798e-04 -8.55434334e-01] [-4.17803784e-03 -2.68874148e-04 9.99991236e-01 -3.11566729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.346559995 meters 0.0629391419119251 Centerline is valid? [True, True] Translation: X:52.67, Y:-0.86, Z:-0.31 [[ 9.95437199e-01 9.53305632e-02 4.10699852e-03 5.26727229e+01] [-9.53307842e-02 9.95445640e-01 -1.42355997e-04 -8.59047692e-01] [-4.10186465e-03 -2.49816935e-04 9.99991556e-01 -3.12098768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.406559995 meters 0.07032967193741932 Centerline is valid? [True, True] Translation: X:52.73, Y:-0.84, Z:-0.31 [[ 9.95801451e-01 9.14677349e-02 3.62264643e-03 5.27328638e+01] [-9.14678813e-02 9.95808019e-01 -1.25595349e-04 -8.43600565e-01] [-3.61894829e-03 -2.06287763e-04 9.99993430e-01 -3.13794416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.466559995000004 meters 0.06454436227158072 Centerline is valid? [True, True] Translation: X:52.79, Y:-0.86, Z:-0.31 [[ 9.96000990e-01 8.92473635e-02 4.11541696e-03 5.27924485e+01] [-8.92475338e-02 9.96009467e-01 -1.42605715e-04 -8.61320350e-01] [-4.11172144e-03 -2.25255381e-04 9.99991521e-01 -3.13413686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.526559995 meters 0.06440458074465105 Centerline is valid? [True, True] Translation: X:52.85, Y:-0.86, Z:-0.31 [[ 9.96021234e-01 8.90135957e-02 4.27556633e-03 5.28548008e+01] [-8.90137785e-02 9.96030384e-01 -1.47897758e-04 -8.64652746e-01] [-4.27175888e-03 -2.33275007e-04 9.99990849e-01 -3.13839706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.586559995 meters 0.0625888954353888 Centerline is valid? [True, True] Translation: X:52.92, Y:-0.87, Z:-0.31 [[ 9.96122250e-01 8.78666762e-02 4.46216544e-03 5.29156928e+01] [-8.78668605e-02 9.96132216e-01 -1.55093615e-04 -8.74608325e-01] [-4.45853431e-03 -2.37584268e-04 9.99990032e-01 -3.14117970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.646559995000004 meters 0.06265988198608408 Centerline is valid? [True, True] Translation: X:52.98, Y:-0.87, Z:-0.32 [[ 9.96168885e-01 8.73478554e-02 4.23130451e-03 5.29779850e+01] [-8.73480165e-02 9.96177847e-01 -1.47056510e-04 -8.74959536e-01] [-4.22797689e-03 -2.23102937e-04 9.99991037e-01 -3.15213608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.706559995 meters 0.06227350199039963 Centerline is valid? [True, True] Translation: X:53.04, Y:-0.88, Z:-0.32 [[ 9.96076770e-01 8.84128366e-02 3.77336356e-03 5.30387909e+01] [-8.84129715e-02 9.96083897e-01 -1.31357088e-04 -8.80018750e-01] [-3.77020033e-03 -2.02772541e-04 9.99992872e-01 -3.16248092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.766559995 meters 0.06417658189937114 Centerline is valid? [True, True] Translation: X:53.10, Y:-0.87, Z:-0.32 [[ 9.95919285e-01 9.01657242e-02 3.86252957e-03 5.30988144e+01] [-9.01658788e-02 9.95926752e-01 -1.34439936e-04 -8.72801942e-01] [-3.85891840e-03 -2.14377047e-04 9.99992531e-01 -3.17214534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.826559995000004 meters 0.06364763629407685 Centerline is valid? [True, True] Translation: X:53.16, Y:-0.88, Z:-0.32 [[ 9.95757543e-01 9.18569404e-02 5.40535273e-03 5.31595715e+01] [-9.18572669e-02 9.95772166e-01 -1.88353211e-04 -8.76529046e-01] [-5.39980135e-03 -3.08966798e-04 9.99985373e-01 -3.16719887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.886559995 meters 0.06176832544368468 Centerline is valid? [True, True] Translation: X:53.22, Y:-0.88, Z:-0.32 [[ 9.95612876e-01 9.34651807e-02 4.38881405e-03 5.32205936e+01] [-9.34654115e-02 9.95622516e-01 -1.52938448e-04 -8.83647454e-01] [-4.38389650e-03 -2.57934823e-04 9.99990357e-01 -3.17163461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.946559995 meters 0.06449192104904257 Centerline is valid? [True, True] Translation: X:53.28, Y:-0.88, Z:-0.32 [[ 9.95666316e-01 9.29368596e-02 3.36562386e-03 5.32817399e+01] [-9.29369934e-02 9.95671985e-01 -1.16972017e-04 -8.81427867e-01] [-3.36192840e-03 -1.96325866e-04 9.99994329e-01 -3.19693265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.006559995 meters 0.060909342197668755 Centerline is valid? [True, True] Translation: X:53.34, Y:-0.90, Z:-0.32 [[ 9.96087295e-01 8.83259460e-02 2.93748911e-03 5.33419453e+01] [-8.83260261e-02 9.96091614e-01 -1.02692388e-04 -9.00069251e-01] [-2.93507867e-03 -1.57166157e-04 9.99995680e-01 -3.19353546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.066559995 meters 0.06363793706945223 Centerline is valid? [True, True] Translation: X:53.40, Y:-0.89, Z:-0.32 [[ 9.96282057e-01 8.61018063e-02 2.92260832e-03 5.34018731e+01] [-8.61018760e-02 9.96286333e-01 -1.02210413e-04 -8.94419474e-01] [-2.92055523e-03 -1.49811659e-04 9.99995724e-01 -3.20343214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.126559995 meters 0.06312311612589486 Centerline is valid? [True, True] Translation: X:53.46, Y:-0.90, Z:-0.32 [[ 9.96405247e-01 8.46501461e-02 3.30698207e-03 5.34627293e+01] [-8.46502276e-02 9.96410721e-01 -1.15574631e-04 -9.01551429e-01] [-3.30489580e-03 -1.64777616e-04 9.99994525e-01 -3.20090498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.186559995 meters 0.0629026051487394 Centerline is valid? [True, True] Translation: X:53.52, Y:-0.91, Z:-0.32 [[ 9.96302105e-01 8.57988821e-02 4.54610037e-03 5.35235733e+01] [-8.57990477e-02 9.96312450e-01 -1.58933609e-04 -9.05484063e-01] [-4.54297272e-03 -2.31705194e-04 9.99989654e-01 -3.20122206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.246559995 meters 0.05762666361463135 Centerline is valid? [True, True] Translation: X:53.58, Y:-0.93, Z:-0.32 [[ 9.95883223e-01 9.04819889e-02 5.44201868e-03 5.35830169e+01] [-9.04822957e-02 9.95898046e-01 -1.90307135e-04 -9.32730885e-01] [-5.43691513e-03 -3.02882660e-04 9.99985174e-01 -3.19578403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.306559995 meters 0.06252920885957525 Centerline is valid? [True, True] Translation: X:53.64, Y:-0.91, Z:-0.32 [[ 9.95304960e-01 9.66374833e-02 5.40679303e-03 5.36433976e+01] [-9.66378763e-02 9.95319589e-01 -1.89134448e-04 -9.09009904e-01] [-5.39976450e-03 -3.34254541e-04 9.99985365e-01 -3.20798236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.366559995 meters 0.05911198052636034 Centerline is valid? [True, True] Translation: X:53.70, Y:-0.92, Z:-0.32 [[ 9.95126624e-01 9.84499503e-02 5.53261575e-03 5.37038959e+01] [-9.84503899e-02 9.95141941e-01 -1.93482745e-04 -9.24795521e-01] [-5.52478635e-03 -3.52148347e-04 9.99984676e-01 -3.21047036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.426559995 meters 0.058039753463717 Centerline is valid? [True, True] Translation: X:53.76, Y:-0.94, Z:-0.32 [[ 9.94627097e-01 1.03370293e-01 5.61430175e-03 5.37646725e+01] [-1.03370824e-01 9.94642868e-01 -1.96339013e-04 -9.35347624e-01] [-5.60452082e-03 -3.85070895e-04 9.99984220e-01 -3.20734696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.486559995 meters 0.05979451632358798 Centerline is valid? [True, True] Translation: X:53.82, Y:-0.92, Z:-0.32 [[ 9.94347164e-01 1.06070934e-01 4.76167499e-03 5.38246169e+01] [-1.06071346e-01 9.94358508e-01 -1.66597477e-04 -9.23490837e-01] [-4.75248319e-03 -3.39421549e-04 9.99988649e-01 -3.21949196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.546559995 meters 0.06098035858329058 Centerline is valid? [True, True] Translation: X:53.89, Y:-0.92, Z:-0.32 [[ 9.94319812e-01 1.06315767e-01 5.00694206e-03 5.38872121e+01] [-1.06316226e-01 9.94332354e-01 -1.75073040e-04 -9.22686507e-01] [-4.99717751e-03 -3.58240591e-04 9.99987450e-01 -3.23150790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.606559995000005 meters 0.05897725044421248 Centerline is valid? [True, True] Translation: X:53.95, Y:-0.93, Z:-0.32 [[ 9.94353740e-01 1.05970356e-01 5.56095978e-03 5.39490496e+01] [-1.05970916e-01 9.94369211e-01 -1.94671956e-04 -9.30370405e-01] [-5.55027664e-03 -3.95727216e-04 9.99984519e-01 -3.23568657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.666559995 meters 0.0619668867600929 Centerline is valid? [True, True] Translation: X:54.01, Y:-0.92, Z:-0.32 [[ 9.94331757e-01 1.06201480e-01 5.05989183e-03 5.40106944e+01] [-1.06201946e-01 9.94344566e-01 -1.77157484e-04 -9.20788751e-01] [-5.05009033e-03 -3.61217049e-04 9.99987183e-01 -3.24104445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.726559995 meters 0.05813959562448362 Centerline is valid? [True, True] Translation: X:54.07, Y:-0.94, Z:-0.32 [[ 9.94274453e-01 1.06693199e-01 5.90543943e-03 5.40721078e+01] [-1.06693839e-01 9.94291900e-01 -2.07534025e-04 -9.39896743e-01] [-5.89387306e-03 -4.23728223e-04 9.99982541e-01 -3.24360510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.786559995000005 meters 0.05738248415601401 Centerline is valid? [True, True] Translation: X:54.13, Y:-0.95, Z:-0.32 [[ 9.94244710e-01 1.06995625e-01 5.42145252e-03 5.41338999e+01] [-1.06996168e-01 9.94259415e-01 -1.90570146e-04 -9.47791574e-01] [-5.41072038e-03 -3.90601287e-04 9.99985286e-01 -3.24893670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.846559995 meters 0.058866428224581324 Centerline is valid? [True, True] Translation: X:54.20, Y:-0.94, Z:-0.33 [[ 9.94242261e-01 1.07044622e-01 4.87592328e-03 5.41958015e+01] [-1.07045059e-01 9.94254155e-01 -1.71922982e-04 -9.42110945e-01] [-4.86631042e-03 -3.51010403e-04 9.99988098e-01 -3.26849193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.906559995 meters 0.05806944996421152 Centerline is valid? [True, True] Translation: X:54.26, Y:-0.94, Z:-0.33 [[ 9.94197592e-01 1.07460597e-01 4.83412226e-03 5.42578109e+01] [-1.07461030e-01 9.94209283e-01 -1.70743308e-04 -9.42942932e-01] [-4.82447740e-03 -3.49727172e-04 9.99988301e-01 -3.27262962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.966559995000004 meters 0.05897146932988497 Centerline is valid? [True, True] Translation: X:54.32, Y:-0.94, Z:-0.33 [[ 9.94109828e-01 1.08248260e-01 5.28809539e-03 5.43186121e+01] [-1.08248786e-01 9.94123818e-01 -1.87605546e-04 -9.40587032e-01] [-5.27732955e-03 -3.85929388e-04 9.99986000e-01 -3.27951809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.026559995 meters 0.05672466272125711 Centerline is valid? [True, True] Translation: X:54.38, Y:-0.95, Z:-0.33 [[ 9.94054981e-01 1.08737779e-01 5.54880991e-03 5.43804945e+01] [-1.08738365e-01 9.94070384e-01 -1.96902153e-04 -9.50452495e-01] [-5.53731830e-03 -4.07636949e-04 9.99984586e-01 -3.28339539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.086559995 meters 0.05793379881411426 Centerline is valid? [True, True] Translation: X:54.44, Y:-0.94, Z:-0.33 [[ 9.93847992e-01 1.10632354e-01 5.16248153e-03 5.44406264e+01] [-1.10632885e-01 9.93861324e-01 -1.83461026e-04 -9.44925586e-01] [-5.15108745e-03 -3.88807856e-04 9.99986657e-01 -3.29468565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.146559995000004 meters 0.05813028293015986 Centerline is valid? [True, True] Translation: X:54.50, Y:-0.94, Z:-0.33 [[ 9.93689001e-01 1.12054909e-01 5.08587301e-03 5.45019302e+01] [-1.12055443e-01 9.93701940e-01 -1.80763008e-04 -9.43081511e-01] [-5.07409725e-03 -3.90277538e-04 9.99987051e-01 -3.31003130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.206559995 meters 0.05731656946479472 Centerline is valid? [True, True] Translation: X:54.56, Y:-0.95, Z:-0.33 [[ 9.93714776e-01 1.11819805e-01 5.22262808e-03 5.45636251e+01] [-1.11820365e-01 9.93728419e-01 -1.85530590e-04 -9.54133022e-01] [-5.21061994e-03 -3.99631689e-04 9.99986345e-01 -3.31501345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.266559995 meters 0.058841808282435265 Centerline is valid? [True, True] Translation: X:54.62, Y:-0.94, Z:-0.33 [[ 9.93892681e-01 1.10210125e-01 5.57383962e-03 5.46232403e+01] [-1.10210733e-01 9.93908223e-01 -1.98892048e-04 -9.44291261e-01] [-5.56180495e-03 -4.16619600e-04 9.99984446e-01 -3.31748651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.326559995000004 meters 0.06143911493898352 Centerline is valid? [True, True] Translation: X:54.68, Y:-0.93, Z:-0.33 [[ 9.94120112e-01 1.08133873e-01 5.68057440e-03 5.46834382e+01] [-1.08134471e-01 9.94136256e-01 -2.02752408e-04 -9.29207669e-01] [-5.66918937e-03 -4.12705658e-04 9.99983845e-01 -3.32146459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.386559995 meters 0.06064175723008893 Centerline is valid? [True, True] Translation: X:54.74, Y:-0.93, Z:-0.33 [[ 9.94476839e-01 1.04850620e-01 4.70787452e-03 5.47439068e+01] [-1.04850995e-01 9.94487929e-01 -1.67981412e-04 -9.33338700e-01] [-4.69953734e-03 -3.26571702e-04 9.99988904e-01 -3.33067643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.446559995 meters 0.06359264816327662 Centerline is valid? [True, True] Translation: X:54.80, Y:-0.93, Z:-0.33 [[ 9.94767489e-01 1.02065418e-01 4.50478644e-03 5.48040712e+01] [-1.02065732e-01 9.94777644e-01 -1.60747935e-04 -9.28132603e-01] [-4.49766765e-03 -2.99877506e-04 9.99989840e-01 -3.33839786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.506559995 meters 0.06688487433422773 Centerline is valid? [True, True] Translation: X:54.86, Y:-0.92, Z:-0.33 [[ 9.95044618e-01 9.93199402e-02 4.66456222e-03 5.48647268e+01] [-9.93202469e-02 9.95055506e-01 -1.66430187e-04 -9.19820451e-01] [-4.65802815e-03 -2.97680009e-04 9.99989107e-01 -3.34564458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.566559995 meters 0.058728227202745446 Centerline is valid? [True, True] Translation: X:54.92, Y:-0.96, Z:-0.33 [[ 9.95251760e-01 9.71850468e-02 5.38524765e-03 5.49243546e+01] [-9.71854242e-02 9.95266274e-01 -1.92179384e-04 -9.57040633e-01] [-5.37843233e-03 -3.32100707e-04 9.99985481e-01 -3.33841631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.626559995 meters 0.06008169138100811 Centerline is valid? [True, True] Translation: X:54.98, Y:-0.94, Z:-0.33 [[ 9.95445149e-01 9.51805519e-02 5.44226928e-03 5.49844795e+01] [-9.51809074e-02 9.95459973e-01 -1.94233395e-04 -9.44815152e-01] [-5.43604847e-03 -3.24651437e-04 9.99985172e-01 -3.34363082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.686559995 meters 0.060561977628865345 Centerline is valid? [True, True] Translation: X:55.04, Y:-0.94, Z:-0.34 [[ 9.95639647e-01 9.31313608e-02 5.31443628e-03 5.50439277e+01] [-9.31316705e-02 9.95653783e-01 -1.89697786e-04 -9.41015629e-01] [-5.30900540e-03 -3.06071692e-04 9.99985860e-01 -3.35258972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.746559995 meters 0.06010614019320307 Centerline is valid? [True, True] Translation: X:55.10, Y:-0.95, Z:-0.34 [[ 9.95737381e-01 9.21030820e-02 4.90828581e-03 5.51049399e+01] [-9.21033342e-02 9.95749439e-01 -1.75121818e-04 -9.47513319e-01] [-4.90355210e-03 -2.77694148e-04 9.99987939e-01 -3.36070620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.806559995 meters 0.05770389427708008 Centerline is valid? [True, True] Translation: X:55.17, Y:-0.96, Z:-0.34 [[ 9.95898807e-01 9.03076798e-02 5.48539054e-03 5.51657530e+01] [-9.03079670e-02 9.95913868e-01 -1.95805514e-04 -9.61661205e-01] [-5.48065925e-03 -3.00371991e-04 9.99984936e-01 -3.35490867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.866559995 meters 0.06180751901326951 Centerline is valid? [True, True] Translation: X:55.23, Y:-0.95, Z:-0.34 [[ 9.95957012e-01 8.96803423e-02 5.20251040e-03 5.52279722e+01] [-8.96805928e-02 9.95970560e-01 -1.85574610e-04 -9.48643847e-01] [-5.19818959e-03 -2.81739882e-04 9.99986450e-01 -3.35326302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.926559995 meters 0.05834414937574231 Centerline is valid? [True, True] Translation: X:55.29, Y:-0.97, Z:-0.34 [[ 9.95898861e-01 9.03465660e-02 4.79121192e-03 5.52889126e+01] [-9.03467838e-02 9.95910352e-01 -1.71408462e-04 -9.67106477e-01] [-4.78710372e-03 -2.62165096e-04 9.99988507e-01 -3.36065568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.986559995 meters 0.059236129274552386 Centerline is valid? [True, True] Translation: X:55.35, Y:-0.96, Z:-0.34 [[ 9.95828739e-01 9.11091246e-02 4.92435653e-03 5.53497299e+01] [-9.11093607e-02 9.95840877e-01 -1.76833958e-04 -9.64721661e-01] [-4.91998671e-03 -2.72558638e-04 9.99987860e-01 -3.37091849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.046559995 meters 0.059942902712288366 Centerline is valid? [True, True] Translation: X:55.41, Y:-0.96, Z:-0.34 [[ 9.95659154e-01 9.29219316e-02 5.32578055e-03 5.54102022e+01] [-9.29222315e-02 9.95673351e-01 -1.91649286e-04 -9.55385499e-01] [-5.32054619e-03 -3.04066047e-04 9.99985800e-01 -3.37720531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.106559995000005 meters 0.05934941210899593 Centerline is valid? [True, True] Translation: X:55.47, Y:-0.96, Z:-0.34 [[ 9.95517305e-01 9.44201535e-02 5.48908000e-03 5.54707931e+01] [-9.44204938e-02 9.95532386e-01 -1.97696580e-04 -9.62638070e-01] [-5.48322345e-03 -3.21471278e-04 9.99984915e-01 -3.37835649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.166559995 meters 0.058608132516929715 Centerline is valid? [True, True] Translation: X:55.53, Y:-0.97, Z:-0.34 [[ 9.95292416e-01 9.67462318e-02 5.75969197e-03 5.55310472e+01] [-9.67466445e-02 9.95309019e-01 -2.07566572e-04 -9.66825063e-01] [-5.75275465e-03 -3.50641436e-04 9.99983391e-01 -3.37889778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.226559995 meters 0.06068834841419681 Centerline is valid? [True, True] Translation: X:55.59, Y:-0.95, Z:-0.34 [[ 9.94951275e-01 1.00211450e-01 5.44294306e-03 5.55916498e+01] [-1.00211871e-01 9.94966101e-01 -1.96165377e-04 -9.53994910e-01] [-5.43520185e-03 -3.50272513e-04 9.99985168e-01 -3.38797771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.286559995000005 meters 0.059445421955633584 Centerline is valid? [True, True] Translation: X:55.65, Y:-0.97, Z:-0.34 [[ 9.94860256e-01 1.01086983e-01 5.87309465e-03 5.56527569e+01] [-1.01087488e-01 9.94877518e-01 -2.11653465e-04 -9.65479327e-01] [-5.86440523e-03 -3.83130764e-04 9.99982731e-01 -3.39003612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.346559995 meters 0.05781307091516502 Centerline is valid? [True, True] Translation: X:55.71, Y:-0.97, Z:-0.34 [[ 9.94666217e-01 1.02941178e-01 6.49845165e-03 5.57127825e+01] [-1.02941834e-01 9.94687350e-01 -2.34389367e-04 -9.65488004e-01] [-6.48805597e-03 -4.35823347e-04 9.99978857e-01 -3.39142320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.406559995 meters 0.06501442215780456 Centerline is valid? [True, True] Translation: X:55.77, Y:-0.94, Z:-0.34 [[ 9.94578594e-01 1.03810383e-01 6.06836925e-03 5.57749937e+01] [-1.03810971e-01 9.94597021e-01 -2.18711649e-04 -9.44524142e-01] [-6.05828651e-03 -4.12437382e-04 9.99981563e-01 -3.39920972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.466559995000004 meters 0.058484708854316766 Centerline is valid? [True, True] Translation: X:55.84, Y:-0.97, Z:-0.34 [[ 9.94465983e-01 1.04888089e-01 5.99141215e-03 5.58356927e+01] [-1.04888678e-01 9.94483946e-01 -2.16618181e-04 -9.70206994e-01] [-5.98108386e-03 -4.13011889e-04 9.99982028e-01 -3.39666586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.526559995 meters 0.059396476786659 Centerline is valid? [True, True] Translation: X:55.90, Y:-0.96, Z:-0.34 [[ 9.94373060e-01 1.05785484e-01 5.62570327e-03 5.58970820e+01] [-1.05786018e-01 9.94388896e-01 -2.03380955e-04 -9.64561300e-01] [-5.61565161e-03 -3.92884204e-04 9.99984155e-01 -3.40872211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.586559995 meters 0.05844788702372133 Centerline is valid? [True, True] Translation: X:55.96, Y:-0.97, Z:-0.34 [[ 9.94337825e-01 1.06119286e-01 5.56666269e-03 5.59588613e+01] [-1.06119811e-01 9.94353330e-01 -2.01827544e-04 -9.71121197e-01] [-5.55664738e-03 -3.90048431e-04 9.99984486e-01 -3.41394996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.646559995000004 meters 0.06248149269706447 Centerline is valid? [True, True] Translation: X:56.02, Y:-0.95, Z:-0.34 [[ 9.94405676e-01 1.05497696e-01 5.25233935e-03 5.60196647e+01] [-1.05498151e-01 9.94419481e-01 -1.91178473e-04 -9.54805292e-01] [-5.24319746e-03 -3.64003132e-04 9.99986188e-01 -3.41933394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.706559995 meters 0.06030284404767359 Centerline is valid? [True, True] Translation: X:56.08, Y:-0.97, Z:-0.34 [[ 9.94750463e-01 1.02163482e-01 5.84291968e-03 5.60800791e+01] [-1.02163988e-01 9.94767548e-01 -2.12719781e-04 -9.68704953e-01] [-5.83407908e-03 -3.85332874e-04 9.99982907e-01 -3.41830791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.766559995 meters 0.060438872897749775 Centerline is valid? [True, True] Translation: X:56.14, Y:-0.97, Z:-0.34 [[ 9.95378514e-01 9.58511860e-02 5.84504787e-03 5.61410121e+01] [-9.58515826e-02 9.95395614e-01 -2.12885323e-04 -9.71611054e-01] [-5.83854033e-03 -3.48355613e-04 9.99982895e-01 -3.41868639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.826559995000004 meters 0.0659478177523648 Centerline is valid? [True, True] Translation: X:56.20, Y:-0.95, Z:-0.34 [[ 9.95519870e-01 9.43991991e-02 5.38331284e-03 5.62019846e+01] [-9.43995142e-02 9.95534376e-01 -1.96083559e-04 -9.50955513e-01] [-5.37778312e-03 -3.12977038e-04 9.99985491e-01 -3.43014448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.886559995 meters 0.06331685605784619 Centerline is valid? [True, True] Translation: X:56.26, Y:-0.96, Z:-0.34 [[ 9.95666503e-01 9.28435905e-02 5.31813562e-03 5.62627801e+01] [-9.28438761e-02 9.95680660e-01 -1.93694327e-04 -9.61824765e-01] [-5.31314807e-03 -3.00901372e-04 9.99985840e-01 -3.43243646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.946559995 meters 0.06422395082936364 Centerline is valid? [True, True] Translation: X:56.32, Y:-0.96, Z:-0.34 [[ 9.95911228e-01 9.01950604e-02 5.06732501e-03 5.63232544e+01] [-9.01952852e-02 9.95924082e-01 -1.84612548e-04 -9.64091063e-01] [-5.06332215e-03 -2.73191115e-04 9.99987144e-01 -3.43828070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.006559995 meters 0.06169835473919395 Centerline is valid? [True, True] Translation: X:56.38, Y:-0.98, Z:-0.34 [[ 9.96145303e-01 8.75750417e-02 5.01462484e-03 5.63835889e+01] [-8.75752288e-02 9.96157892e-01 -1.82688762e-04 -9.78206334e-01] [-5.01135708e-03 -2.57172365e-04 9.99987410e-01 -3.43369492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.066559995 meters 0.06287072564555414 Centerline is valid? [True, True] Translation: X:56.44, Y:-0.98, Z:-0.34 [[ 9.96220904e-01 8.66986757e-02 5.22021027e-03 5.64438342e+01] [-8.66988669e-02 9.96234546e-01 -1.90080234e-04 -9.75826452e-01] [-5.21703351e-03 -2.63224414e-04 9.99986357e-01 -3.43994317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.126559995 meters 0.06105980095871625 Centerline is valid? [True, True] Translation: X:56.51, Y:-0.98, Z:-0.34 [[ 9.96134549e-01 8.76721712e-02 5.43607647e-03 5.65052330e+01] [-8.76723916e-02 9.96149342e-01 -1.98199091e-04 -9.82016228e-01] [-5.43252055e-03 -2.79160863e-04 9.99985205e-01 -3.44691011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.186559995 meters 0.061384076973949944 Centerline is valid? [True, True] Translation: X:56.57, Y:-0.98, Z:-0.35 [[ 9.96065812e-01 8.84682197e-02 5.12565704e-03 5.65676615e+01] [-8.84684247e-02 9.96078964e-01 -1.87172008e-04 -9.83727842e-01] [-5.12211792e-03 -2.67023165e-04 9.99986846e-01 -3.45244004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.246559995 meters 0.06625953065061582 Centerline is valid? [True, True] Translation: X:56.63, Y:-0.97, Z:-0.35 [[ 9.95982860e-01 8.93543356e-02 5.82634405e-03 5.66291765e+01] [-8.93546145e-02 9.95999853e-01 -2.12942202e-04 -9.69274876e-01] [-5.82206513e-03 -3.08523943e-04 9.99983004e-01 -3.46555410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.306559995 meters 0.06291365245812133 Centerline is valid? [True, True] Translation: X:56.69, Y:-0.98, Z:-0.35 [[ 9.95886290e-01 9.04313115e-02 5.71616313e-03 5.66897571e+01] [-9.04315956e-02 9.95902647e-01 -2.09280547e-04 -9.82992392e-01] [-5.71166751e-03 -3.08502124e-04 9.99983641e-01 -3.46648009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.366559995 meters 0.061798885977320375 Centerline is valid? [True, True] Translation: X:56.75, Y:-0.99, Z:-0.35 [[ 9.95696642e-01 9.24907842e-02 5.80104587e-03 5.67506528e+01] [-9.24911113e-02 9.95713488e-01 -2.12429085e-04 -9.91007596e-01] [-5.79582734e-03 -3.25030253e-04 9.99983151e-01 -3.48073183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.426559995 meters 0.06020165583613191 Centerline is valid? [True, True] Translation: X:56.81, Y:-1.00, Z:-0.35 [[ 9.95521658e-01 9.43813181e-02 5.36617406e-03 5.68114175e+01] [-9.43816251e-02 9.95536072e-01 -1.96550343e-04 -1.00496274e+00] [-5.36077052e-03 -3.10798105e-04 9.99985583e-01 -3.48260480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.486559995 meters 0.06216458461917256 Centerline is valid? [True, True] Translation: X:56.87, Y:-0.99, Z:-0.35 [[ 9.95363900e-01 9.60728349e-02 4.55153169e-03 5.68715750e+01] [-9.60730731e-02 9.95374270e-01 -1.66792586e-04 -9.92319786e-01] [-4.54650177e-03 -2.71260318e-04 9.99989628e-01 -3.50618984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.546559995 meters 0.06215494118704803 Centerline is valid? [True, True] Translation: X:56.93, Y:-1.00, Z:-0.35 [[ 9.95349884e-01 9.62120278e-02 4.67491890e-03 5.69345011e+01] [-9.62122822e-02 9.95360823e-01 -1.70986661e-04 -9.96167093e-01] [-4.66968210e-03 -2.79593063e-04 9.99989058e-01 -3.51375201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.606559995 meters 0.060930167686455886 Centerline is valid? [True, True] Translation: X:56.99, Y:-1.01, Z:-0.35 [[ 9.95521153e-01 9.44056336e-02 5.02100350e-03 5.69948174e+01] [-9.44058994e-02 9.95533772e-01 -1.84586275e-04 -1.01342001e+00] [-5.01600454e-03 -2.90252810e-04 9.99987378e-01 -3.51591255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.666559995 meters 0.060152537274344345 Centerline is valid? [True, True] Translation: X:57.06, Y:-1.02, Z:-0.35 [[ 9.95994219e-01 8.93017329e-02 4.55159662e-03 5.70554725e+01] [-8.93018979e-02 9.96004590e-01 -1.67371595e-04 -1.02103062e+00] [-4.54835770e-03 -2.39765076e-04 9.99989627e-01 -3.52968663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.726559995 meters 0.061111728628566085 Centerline is valid? [True, True] Translation: X:57.12, Y:-1.03, Z:-0.35 [[ 9.96523854e-01 8.31174123e-02 5.63067264e-03 5.71151982e+01] [-8.31175662e-02 9.96539727e-01 -2.07074843e-04 -1.02622475e+00] [-5.62840050e-03 -2.61652785e-04 9.99984126e-01 -3.53473536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.786559995000005 meters 0.06193576510853672 Centerline is valid? [True, True] Translation: X:57.18, Y:-1.03, Z:-0.35 [[ 9.96794980e-01 7.96544307e-02 7.41206325e-03 5.71750576e+01] [-7.96546019e-02 9.96822487e-01 -2.72575523e-04 -1.02864424e+00] [-7.41022316e-03 -3.18703035e-04 9.99972493e-01 -3.51879239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.846559995 meters 0.06106122440275307 Centerline is valid? [True, True] Translation: X:57.24, Y:-1.04, Z:-0.35 [[ 9.96550038e-01 8.28009604e-02 5.65888817e-03 5.72351466e+01] [-8.28011109e-02 9.96566070e-01 -2.08095360e-04 -1.03974846e+00] [-5.65668644e-03 -2.61184789e-04 9.99983967e-01 -3.53562204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.906559995 meters 0.0598796707687014 Centerline is valid? [True, True] Translation: X:57.29, Y:-1.06, Z:-0.35 [[ 9.96106441e-01 8.80075394e-02 5.16045478e-03 5.72948947e+01] [-8.80077341e-02 9.96119773e-01 -1.89781346e-04 -1.05713541e+00] [-5.15713323e-03 -2.65117511e-04 9.99986667e-01 -3.53778967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.966559995000004 meters 0.0602948199427452 Centerline is valid? [True, True] Translation: X:57.35, Y:-1.05, Z:-0.35 [[ 9.95286489e-01 9.67928350e-02 5.99603293e-03 5.73544674e+01] [-9.67932566e-02 9.95304484e-01 -2.20527029e-04 -1.05123987e+00] [-5.98922390e-03 -3.60887982e-04 9.99981999e-01 -3.53578270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.026559995 meters 0.05885158892548397 Centerline is valid? [True, True] Translation: X:57.41, Y:-1.06, Z:-0.35 [[ 9.94373408e-01 1.05802737e-01 5.22550547e-03 5.74148706e+01] [-1.05803181e-01 9.94387073e-01 -1.92242910e-04 -1.05636846e+00] [-5.21651491e-03 -3.61713862e-04 9.99986328e-01 -3.54034418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.086559995 meters 0.058891979005603896 Centerline is valid? [True, True] Translation: X:57.48, Y:-1.06, Z:-0.35 [[ 9.93820021e-01 1.10865730e-01 5.52779527e-03 5.74757860e+01] [-1.10866304e-01 9.93835309e-01 -2.03368275e-04 -1.06106442e+00] [-5.51626470e-03 -4.10734768e-04 9.99984701e-01 -3.54328181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.146559995000004 meters 0.05999519259302738 Centerline is valid? [True, True] Translation: X:57.54, Y:-1.06, Z:-0.35 [[ 9.93174149e-01 1.16522459e-01 5.25614508e-03 5.75351607e+01] [-1.16523057e-01 9.93187968e-01 -1.93445475e-04 -1.05985756e+00] [-5.24288080e-03 -4.20337048e-04 9.99986168e-01 -3.54614764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.206559995 meters 0.05864049386841297 Centerline is valid? [True, True] Translation: X:57.60, Y:-1.07, Z:-0.35 [[ 9.93148815e-01 1.16754775e-01 4.87383818e-03 5.75972893e+01] [-1.16755291e-01 9.93160697e-01 -1.79307028e-04 -1.06970878e+00] [-4.86143948e-03 -3.90967835e-04 9.99988107e-01 -3.54991017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.266559995 meters 0.059376695816105864 Centerline is valid? [True, True] Translation: X:57.66, Y:-1.07, Z:-0.36 [[ 9.93389083e-01 1.14694365e-01 4.83045882e-03 5.76575506e+01] [-1.14694844e-01 9.93400755e-01 -1.78532992e-04 -1.07446184e+00] [-4.81905817e-03 -3.76675997e-04 9.99988317e-01 -3.55648140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.326559995000004 meters 0.0583464047219529 Centerline is valid? [True, True] Translation: X:57.72, Y:-1.09, Z:-0.36 [[ 9.94329170e-01 1.06203527e-01 5.50576316e-03 5.77172791e+01] [-1.06204020e-01 9.94344339e-01 -2.03484592e-04 -1.08956613e+00] [-5.49623521e-03 -3.82403518e-04 9.99984822e-01 -3.56521987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.386559995 meters 0.05895547666252924 Centerline is valid? [True, True] Translation: X:57.78, Y:-1.09, Z:-0.36 [[ 9.95485929e-01 9.47321956e-02 5.79456234e-03 5.77765020e+01] [-9.47325483e-02 9.95502737e-01 -2.14190320e-04 -1.09320655e+00] [-5.78879338e-03 -3.35710207e-04 9.99983188e-01 -3.56464899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.446559995 meters 0.06031115233868524 Centerline is valid? [True, True] Translation: X:57.84, Y:-1.09, Z:-0.36 [[ 9.96121785e-01 8.77400945e-02 6.56244926e-03 5.78362089e+01] [-8.77403955e-02 9.96143345e-01 -2.42579489e-04 -1.09276331e+00] [-6.55842410e-03 -3.34153180e-04 9.99978437e-01 -3.55441420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.506559995 meters 0.05900697266090121 Centerline is valid? [True, True] Translation: X:57.90, Y:-1.11, Z:-0.36 [[ 9.95750019e-01 9.20173155e-02 3.83584436e-03 5.78966542e+01] [-9.20174502e-02 9.95757384e-01 -1.41721979e-04 -1.10759299e+00] [-3.83261122e-03 -2.11844954e-04 9.99992633e-01 -3.57735211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.566559995 meters 0.060002926795666656 Centerline is valid? [True, True] Translation: X:57.96, Y:-1.10, Z:-0.36 [[ 9.93019485e-01 1.17775985e-01 6.41247333e-03 5.79568433e+01] [-1.17776894e-01 9.93040053e-01 -2.37053323e-04 -1.09899347e+00] [-6.39576205e-03 -5.19842623e-04 9.99979412e-01 -3.56279815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.626559995 meters 0.05706748243273814 Centerline is valid? [True, True] Translation: X:58.02, Y:-1.12, Z:-0.36 [[ 9.92856502e-01 1.19126475e-01 6.69698148e-03 5.80172501e+01] [-1.19127496e-01 9.92878934e-01 -2.47610702e-04 -1.11904416e+00] [-6.67878882e-03 -5.51952739e-04 9.99977544e-01 -3.56184624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.686559995 meters 0.057551576174639074 Centerline is valid? [True, True] Translation: X:58.08, Y:-1.12, Z:-0.36 [[ 9.92759686e-01 1.19926509e-01 6.77037572e-03 5.80776171e+01] [-1.19927571e-01 9.92782612e-01 -2.50362029e-04 -1.12309787e+00] [-6.75153634e-03 -5.63405385e-04 9.99977049e-01 -3.57114290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.746559995 meters 0.05779060153681152 Centerline is valid? [True, True] Translation: X:58.14, Y:-1.12, Z:-0.36 [[ 9.92721085e-01 1.20259589e-01 6.51754496e-03 5.81389895e+01] [-1.20260581e-01 9.92742330e-01 -2.40983465e-04 -1.11951935e+00] [-6.49922335e-03 -5.44574375e-04 9.99978732e-01 -3.57857628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.806559995 meters 0.05779060153681152 Centerline is valid? [True, True] Translation: X:58.20, Y:-1.12, Z:-0.36 [[ 9.92706032e-01 1.20383787e-01 6.51752052e-03 5.82016440e+01] [-1.20384777e-01 9.92727277e-01 -2.41642455e-04 -1.12177099e+00] [-6.49921024e-03 -5.44730332e-04 9.99978732e-01 -3.58319884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.866559995 meters 0.05856893697201136 Centerline is valid? [True, True] Translation: X:58.26, Y:-1.12, Z:-0.36 [[ 9.92883484e-01 1.18902945e-01 6.66902555e-03 5.82624537e+01] [-1.18903942e-01 9.92905731e-01 -2.48201249e-04 -1.11719581e+00] [-6.65122555e-03 -5.46538508e-04 9.99977731e-01 -3.59636601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.926559995 meters 0.06199334534174165 Centerline is valid? [True, True] Translation: X:58.32, Y:-1.11, Z:-0.36 [[ 9.93230594e-01 1.15978126e-01 6.48552619e-03 5.83227648e+01] [-1.15979007e-01 9.93251636e-01 -2.41399741e-04 -1.10729121e+00] [-6.46975659e-03 -5.12419278e-04 9.99978940e-01 -3.60237384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.986559995 meters 0.05700098294962514 Centerline is valid? [True, True] Translation: X:58.38, Y:-1.13, Z:-0.36 [[ 9.93834529e-01 1.10713572e-01 5.95257811e-03 5.83829099e+01] [-1.10714221e-01 9.93852259e-01 -2.21530906e-04 -1.13243868e+00] [-5.94050968e-03 -4.38869982e-04 9.99982259e-01 -3.61354594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.046559995 meters 0.057910512500076686 Centerline is valid? [True, True] Translation: X:58.44, Y:-1.13, Z:-0.36 [[ 9.94639474e-01 1.03220744e-01 6.14770450e-03 5.84433858e+01] [-1.03221293e-01 9.94658390e-01 -2.28825429e-04 -1.12752458e+00] [-6.13848539e-03 -4.06975203e-04 9.99981077e-01 -3.62298388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.106559995 meters 0.05826002214223665 Centerline is valid? [True, True] Translation: X:58.50, Y:-1.14, Z:-0.36 [[ 9.95477183e-01 9.47541035e-02 6.84388955e-03 5.85028711e+01] [-9.47545837e-02 9.95500630e-01 -2.54780579e-04 -1.13513389e+00] [-6.83723786e-03 -3.94861652e-04 9.99976548e-01 -3.63298605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.166559995 meters 0.05931480495491263 Centerline is valid? [True, True] Translation: X:58.56, Y:-1.13, Z:-0.37 [[ 9.95678270e-01 9.26234655e-02 6.75849514e-03 5.85626368e+01] [-9.26238852e-02 9.95701136e-01 -2.51548442e-04 -1.12752831e+00] [-6.75274058e-03 -3.75536761e-04 9.99977129e-01 -3.65089267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.226559995 meters 0.059427046734172 Centerline is valid? [True, True] Translation: X:58.62, Y:-1.12, Z:-0.37 [[ 9.95703744e-01 9.21997797e-02 8.55893502e-03 5.86245859e+01] [-9.22004367e-02 9.95740417e-01 -3.18631367e-04 -1.12118027e+00] [-8.55185527e-03 -4.71875101e-04 9.99963321e-01 -3.65173073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.286559995000005 meters 0.05993081847995231 Centerline is valid? [True, True] Translation: X:58.69, Y:-1.12, Z:-0.37 [[ 9.95717466e-01 9.20350433e-02 8.73377386e-03 5.86868855e+01] [-9.20357130e-02 9.95755653e-01 -3.26053959e-04 -1.11995247e+00] [-8.72671309e-03 -4.79161483e-04 9.99961807e-01 -3.65827036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.346559995 meters 0.06173760244450158 Centerline is valid? [True, True] Translation: X:58.75, Y:-1.12, Z:-0.37 [[ 9.95752375e-01 9.16580096e-02 8.71880987e-03 5.87486086e+01] [-9.16586550e-02 9.95790432e-01 -3.26378233e-04 -1.11651847e+00] [-8.71202263e-03 -4.74162485e-04 9.99961937e-01 -3.66356141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.406559995 meters 0.06173760244450158 Centerline is valid? [True, True] Translation: X:58.81, Y:-1.12, Z:-0.37 [[ 9.95741828e-01 9.17725160e-02 8.71877604e-03 5.88111404e+01] [-9.17731579e-02 9.95779886e-01 -3.27279609e-04 -1.11883157e+00] [-8.71201708e-03 -4.74263614e-04 9.99961937e-01 -3.66817486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.466559995000004 meters 0.06014730271891913 Centerline is valid? [True, True] Translation: X:58.87, Y:-1.13, Z:-0.37 [[ 9.95750837e-01 9.16710296e-02 8.75750218e-03 5.88726485e+01] [-9.16716645e-02 9.95789233e-01 -3.29727609e-04 -1.12667152e+00] [-8.75085285e-03 -4.74488259e-04 9.99961598e-01 -3.68004121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.526559995 meters 0.05920995274023202 Centerline is valid? [True, True] Translation: X:58.93, Y:-1.13, Z:-0.37 [[ 9.95832867e-01 9.08190962e-02 8.29419877e-03 5.89336092e+01] [-9.08196303e-02 9.95867309e-01 -3.13011275e-04 -1.13221823e+00] [-8.28834881e-03 -4.41569151e-04 9.99965554e-01 -3.69300362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.586559995 meters 0.0596501092612766 Centerline is valid? [True, True] Translation: X:58.99, Y:-1.13, Z:-0.37 [[ 9.96481899e-01 8.33727627e-02 8.53273133e-03 5.89938873e+01] [-8.33730544e-02 9.96518354e-01 -3.22129595e-04 -1.13355524e+00] [-8.52988021e-03 -3.90403563e-04 9.99963544e-01 -3.70894620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.646559995000004 meters 0.05915949816333129 Centerline is valid? [True, True] Translation: X:59.05, Y:-1.14, Z:-0.37 [[ 9.96897916e-01 7.81794220e-02 9.08418675e-03 5.90541518e+01] [-7.81795371e-02 9.96939237e-01 -3.42976296e-04 -1.13731849e+00] [-9.08319590e-03 -3.68285160e-04 9.99958679e-01 -3.71639204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.706559995 meters 0.05868474017390234 Centerline is valid? [True, True] Translation: X:59.11, Y:-1.15, Z:-0.37 [[ 9.97505381e-01 6.99539310e-02 9.45846001e-03 5.91146865e+01] [-6.99536858e-02 9.97550176e-01 -3.57155886e-04 -1.14635817e+00] [-9.46027291e-03 -3.05389222e-04 9.99955204e-01 -3.72900470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.766559995 meters 0.05881502418036092 Centerline is valid? [True, True] Translation: X:59.17, Y:-1.15, Z:-0.37 [[ 9.97855678e-01 6.47923152e-02 9.27375731e-03 5.91737777e+01] [-6.47918564e-02 9.97898739e-01 -3.50215000e-04 -1.14887045e+00] [-9.27696196e-03 -2.51399925e-04 9.99956936e-01 -3.73078758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.826559995000004 meters 0.05948138277174284 Centerline is valid? [True, True] Translation: X:59.23, Y:-1.15, Z:-0.37 [[ 9.97709256e-01 6.70960247e-02 8.62349623e-03 5.92338662e+01] [-6.70957140e-02 9.97746490e-01 -3.25656271e-04 -1.14675119e+00] [-8.62591334e-03 -2.53689361e-04 9.99962764e-01 -3.74400443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.886559995 meters 0.05932968849714019 Centerline is valid? [True, True] Translation: X:59.29, Y:-1.15, Z:-0.38 [[ 9.97488824e-01 7.02388130e-02 9.08603320e-03 5.92943120e+01] [-7.02385982e-02 9.97530161e-01 -3.43136403e-04 -1.14952191e+00] [-9.08769365e-03 -2.95915508e-04 9.99958662e-01 -3.75298196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.946559995 meters 0.0598542364201027 Centerline is valid? [True, True] Translation: X:59.35, Y:-1.15, Z:-0.38 [[ 9.97177021e-01 7.45357205e-02 9.07828936e-03 5.93545652e+01] [-7.45356834e-02 9.97218288e-01 -3.42894071e-04 -1.15133525e+00] [-9.07859403e-03 -3.34730413e-04 9.99958733e-01 -3.76160409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.006559995 meters 0.05806122883629974 Centerline is valid? [True, True] Translation: X:59.41, Y:-1.18, Z:-0.38 [[ 9.96649344e-01 8.13107269e-02 8.86851206e-03 5.94135904e+01] [-8.13109592e-02 9.96688726e-01 -3.34958926e-04 -1.17556339e+00] [-8.86638174e-03 -3.87270628e-04 9.99960618e-01 -3.77154575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.066559995 meters 0.061139018869751566 Centerline is valid? [True, True] Translation: X:59.47, Y:-1.19, Z:-0.38 [[ 9.96484912e-01 8.32140320e-02 9.65636104e-03 5.94740583e+01] [-8.32143960e-02 9.96531601e-01 -3.64786384e-04 -1.19253865e+00] [-9.65322427e-03 -4.40044123e-04 9.99953310e-01 -3.78727341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.126559995 meters 0.06005701540672608 Centerline is valid? [True, True] Translation: X:59.54, Y:-1.14, Z:-0.38 [[ 9.95996714e-01 8.86668321e-02 1.13463129e-02 5.95361185e+01] [-8.86676865e-02 9.96061172e-01 -4.28707515e-04 -1.14347507e+00] [-1.13396338e-02 -5.79060037e-04 9.99935537e-01 -3.76232967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.186559995 meters 0.061312113594531696 Centerline is valid? [True, True] Translation: X:59.59, Y:-1.19, Z:-0.38 [[ 9.95743919e-01 9.14574851e-02 1.13831885e-02 5.95947097e+01] [-9.14585258e-02 9.95808793e-01 -4.30198274e-04 -1.19461383e+00] [-1.13748241e-02 -6.12722324e-04 9.99935117e-01 -3.81456435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.246559995 meters 0.05915545768272117 Centerline is valid? [True, True] Translation: X:59.65, Y:-1.19, Z:-0.38 [[ 9.95636472e-01 9.27668484e-02 1.01157240e-02 5.96548488e+01] [-9.27677367e-02 9.95687702e-01 -3.82389677e-04 -1.18509979e+00] [-1.01075751e-02 -5.57691710e-04 9.99948762e-01 -3.82045340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.306559995 meters 0.06199563264197074 Centerline is valid? [True, True] Translation: X:59.72, Y:-1.19, Z:-0.38 [[ 9.95891141e-01 8.98965961e-02 1.09287393e-02 5.97154954e+01] [-8.98974602e-02 9.95950941e-01 -4.13146368e-04 -1.19210316e+00] [-1.09216286e-02 -5.71017097e-04 9.99940194e-01 -3.83941430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.366559995 meters 0.05948455143591992 Centerline is valid? [True, True] Translation: X:59.78, Y:-1.18, Z:-0.38 [[ 9.96197083e-01 8.64247866e-02 1.10511503e-02 5.97758050e+01] [-8.64254566e-02 9.96258233e-01 -4.17820222e-04 -1.18267071e+00] [-1.10459095e-02 -5.38869426e-04 9.99938847e-01 -3.84043922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.426559995 meters 0.0585460404291562 Centerline is valid? [True, True] Translation: X:59.84, Y:-1.18, Z:-0.39 [[ 9.96702787e-01 8.02023830e-02 1.22936157e-02 5.98364115e+01] [-8.02027394e-02 9.96778463e-01 -4.64817676e-04 -1.18411926e+00] [-1.22912908e-02 -5.22696581e-04 9.99924323e-01 -3.85339976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.486559995 meters 0.05837871801402253 Centerline is valid? [True, True] Translation: X:59.90, Y:-1.18, Z:-0.39 [[ 9.97022547e-01 7.62726193e-02 1.13369947e-02 5.98969148e+01] [-7.62726679e-02 9.97086905e-01 -4.28705012e-04 -1.17854403e+00] [-1.13366674e-02 -4.37274269e-04 9.99935642e-01 -3.87498392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.546559995 meters 0.058573342849745004 Centerline is valid? [True, True] Translation: X:59.96, Y:-1.18, Z:-0.39 [[ 9.97365488e-01 7.17365552e-02 1.07679918e-02 5.99574664e+01] [-7.17363347e-02 9.97423547e-01 -4.07216601e-04 -1.18141831e+00] [-1.07694609e-02 -3.66312481e-04 9.99941941e-01 -3.89754441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.606559995 meters 0.058158470396335815 Centerline is valid? [True, True] Translation: X:60.02, Y:-1.17, Z:-0.39 [[ 9.97827771e-01 6.48994081e-02 1.13051849e-02 6.00174960e+01] [-6.48987266e-02 9.97891764e-01 -4.27512860e-04 -1.17274947e+00] [-1.13090962e-02 -3.07107900e-04 9.99936003e-01 -3.90450040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.666559995 meters 0.05845550703306126 Centerline is valid? [True, True] Translation: X:60.08, Y:-1.18, Z:-0.39 [[ 9.97866907e-01 6.42583815e-02 1.15107241e-02 6.00791917e+01] [-6.42576281e-02 9.97933248e-01 -4.35666775e-04 -1.17671612e+00] [-1.15149295e-02 -3.04914369e-04 9.99933655e-01 -3.91141629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.726559995 meters 0.05807570538267555 Centerline is valid? [True, True] Translation: X:60.14, Y:-1.18, Z:-0.39 [[ 9.97878922e-01 6.40935909e-02 1.13872459e-02 6.01416472e+01] [-6.40928301e-02 9.97943847e-01 -4.32103795e-04 -1.17898562e+00] [-1.13915271e-02 -2.98653549e-04 9.99935070e-01 -3.91420053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.786559995000005 meters 0.058237561513516556 Centerline is valid? [True, True] Translation: X:60.20, Y:-1.18, Z:-0.39 [[ 9.97902064e-01 6.37298064e-02 1.14009711e-02 6.02040887e+01] [-6.37290073e-02 9.97967146e-01 -4.33744705e-04 -1.18017399e+00] [-1.14054371e-02 -2.93737834e-04 9.99934913e-01 -3.92221825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.846559995 meters 0.05756977039489497 Centerline is valid? [True, True] Translation: X:60.27, Y:-1.18, Z:-0.39 [[ 9.97932710e-01 6.31928525e-02 1.17034378e-02 6.02665861e+01] [-6.31919598e-02 9.98001291e-01 -4.46420820e-04 -1.18073366e+00] [-1.17082567e-02 -2.94065236e-04 9.99931413e-01 -3.93898527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.906559995 meters 0.05786229823952329 Centerline is valid? [True, True] Translation: X:60.33, Y:-1.18, Z:-0.39 [[ 9.97844584e-01 6.46369000e-02 1.13250334e-02 6.03273795e+01] [-6.46361469e-02 9.97908804e-01 -4.32880265e-04 -1.17989440e+00] [-1.13293306e-02 -3.00059296e-04 9.99935776e-01 -3.94561561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.966559995000004 meters 0.05741504583797727 Centerline is valid? [True, True] Translation: X:60.39, Y:-1.17, Z:-0.39 [[ 9.97704021e-01 6.69572902e-02 1.01689888e-02 6.03875780e+01] [-6.69567993e-02 9.97755800e-01 -3.89104876e-04 -1.17460242e+00] [-1.01722210e-02 -2.92671445e-04 9.99948219e-01 -3.94337726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.026559995 meters 0.05725923550112278 Centerline is valid? [True, True] Translation: X:60.45, Y:-1.18, Z:-0.40 [[ 9.97419079e-01 7.10814132e-02 1.01297945e-02 6.04478813e+01] [-7.10811360e-02 9.97470462e-01 -3.87850109e-04 -1.18070810e+00] [-1.01317397e-02 -3.33188203e-04 9.99948617e-01 -3.96858815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.086559995 meters 0.05711144201010175 Centerline is valid? [True, True] Translation: X:60.51, Y:-1.18, Z:-0.40 [[ 9.97204826e-01 7.38823862e-02 1.11322901e-02 6.05083375e+01] [-7.38822249e-02 9.97266883e-01 -4.26299316e-04 -1.18211732e+00] [-1.11333603e-02 -3.97370628e-04 9.99937943e-01 -3.96819288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.146559995000004 meters 0.05731256263535413 Centerline is valid? [True, True] Translation: X:60.57, Y:-1.19, Z:-0.40 [[ 9.97096390e-01 7.51795575e-02 1.21170213e-02 6.05690656e+01] [-7.51794600e-02 9.97169912e-01 -4.64182747e-04 -1.19361574e+00] [-1.21176261e-02 -4.48116175e-04 9.99926478e-01 -3.98723801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.206559995 meters 0.057048376368209607 Centerline is valid? [True, True] Translation: X:60.63, Y:-1.19, Z:-0.40 [[ 9.97041039e-01 7.57918489e-02 1.28359954e-02 6.06298362e+01] [-7.57917815e-02 9.97123545e-01 -4.92402163e-04 -1.19311541e+00] [-1.28363933e-02 -4.81917797e-04 9.99917494e-01 -3.99078273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.266559995 meters 0.05871136324135156 Centerline is valid? [True, True] Translation: X:60.69, Y:-1.18, Z:-0.40 [[ 9.96923275e-01 7.73362825e-02 1.27704179e-02 6.06909316e+01] [-7.73363325e-02 9.97004940e-01 -4.90651897e-04 -1.18389446e+00] [-1.27701149e-02 -4.98474986e-04 9.99918335e-01 -3.98113861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.326559995000004 meters 0.05726881200301974 Centerline is valid? [True, True] Translation: X:60.75, Y:-1.19, Z:-0.40 [[ 9.96629361e-01 8.10037578e-02 1.29733538e-02 6.07517538e+01] [-8.10041175e-02 9.96713642e-01 -4.98609011e-04 -1.19403618e+00] [-1.29711079e-02 -5.53966692e-04 9.99915718e-01 -3.99473474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.386559995 meters 0.056457090284933856 Centerline is valid? [True, True] Translation: X:60.81, Y:-1.20, Z:-0.40 [[ 9.96550485e-01 8.20303067e-02 1.25761747e-02 6.08121396e+01] [-8.20307245e-02 9.96629684e-01 -4.83482807e-04 -1.20296445e+00] [-1.25734492e-02 -5.49817694e-04 9.99920800e-01 -4.01265543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.446559995 meters 0.05807018502236277 Centerline is valid? [True, True] Translation: X:60.87, Y:-1.20, Z:-0.40 [[ 9.96377148e-01 8.42064804e-02 1.19100121e-02 6.08735803e+01] [-8.42070081e-02 9.96448177e-01 -4.58050809e-04 -1.19508292e+00] [-1.19062807e-02 -5.46515130e-04 9.99928968e-01 -4.00966394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.506559995 meters 0.05928081530060098 Centerline is valid? [True, True] Translation: X:60.93, Y:-1.20, Z:-0.40 [[ 9.96235192e-01 8.59452056e-02 1.13518211e-02 6.09338204e+01] [-8.59457963e-02 9.96299719e-01 -4.36689465e-04 -1.19580391e+00] [-1.13473475e-02 -5.40595891e-04 9.99935471e-01 -4.01826263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.566559995 meters 0.059039711292730834 Centerline is valid? [True, True] Translation: X:61.00, Y:-1.20, Z:-0.40 [[ 9.96168525e-01 8.67306101e-02 1.12281357e-02 6.09957487e+01] [-8.67312365e-02 9.96231653e-01 -4.32046986e-04 -1.20052608e+00] [-1.12232959e-02 -5.43438484e-04 9.99936869e-01 -4.02339374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.626559995 meters 0.056342699299723006 Centerline is valid? [True, True] Translation: X:61.06, Y:-1.22, Z:-0.40 [[ 9.95939706e-01 8.92835225e-02 1.15132157e-02 6.10555984e+01] [-8.92843485e-02 9.96006079e-01 -4.43254262e-04 -1.22002540e+00] [-1.15068082e-02 -5.86495448e-04 9.99933622e-01 -4.03931785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.686559995 meters 0.058262696553798246 Centerline is valid? [True, True] Translation: X:61.12, Y:-1.21, Z:-0.40 [[ 9.95429953e-01 9.48006322e-02 1.14912340e-02 6.11153771e+01] [-9.48018199e-02 9.95496067e-01 -4.42541378e-04 -1.20935905e+00] [-1.14814314e-02 -6.48870951e-04 9.99933876e-01 -4.03948619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.746559995 meters 0.058302173802667855 Centerline is valid? [True, True] Translation: X:61.18, Y:-1.21, Z:-0.41 [[ 9.95082273e-01 9.83914277e-02 1.14191224e-02 6.11762532e+01] [-9.83928337e-02 9.95147555e-01 -4.39974577e-04 -1.21344023e+00] [-1.14070015e-02 -6.85748910e-04 9.99934703e-01 -4.05252143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.806559995 meters 0.05814172299926126 Centerline is valid? [True, True] Translation: X:61.24, Y:-1.22, Z:-0.41 [[ 9.94683453e-01 1.02263758e-01 1.21224183e-02 6.12369008e+01] [-1.02265628e-01 9.94757017e-01 -4.67114364e-04 -1.21592337e+00] [-1.21066296e-02 -7.75075802e-04 9.99926412e-01 -4.05695376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.866559995 meters 0.05743278430811557 Centerline is valid? [True, True] Translation: X:61.30, Y:-1.22, Z:-0.41 [[ 9.94254041e-01 1.06298025e-01 1.26345225e-02 6.12979851e+01] [-1.06300380e-01 9.94333944e-01 -4.86917324e-04 -1.21975490e+00] [-1.26146929e-02 -8.58935028e-04 9.99920063e-01 -4.06396142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.926559995 meters 0.05470851993216597 Centerline is valid? [True, True] Translation: X:61.36, Y:-1.23, Z:-0.41 [[ 9.93774694e-01 1.10644566e-01 1.30245195e-02 6.13578885e+01] [-1.10647439e-01 9.93859594e-01 -5.02050016e-04 -1.23438222e+00] [-1.30000928e-02 -9.42205129e-04 9.99915051e-01 -4.08608249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.986559995 meters 0.05460505008279508 Centerline is valid? [True, True] Translation: X:61.42, Y:-1.24, Z:-0.41 [[ 9.93453723e-01 1.13504738e-01 1.28986039e-02 6.14188746e+01] [-1.13507794e-01 9.93536981e-01 -4.97311240e-04 -1.23630750e+00] [-1.28716872e-02 -9.70036371e-04 9.99916686e-01 -4.09419213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.046559995 meters 0.05477032243276903 Centerline is valid? [True, True] Translation: X:61.48, Y:-1.24, Z:-0.41 [[ 9.93277176e-01 1.15080778e-01 1.25246338e-02 6.14797786e+01] [-1.15083782e-01 9.93355671e-01 -4.83023189e-04 -1.23699344e+00] [-1.24970027e-02 -9.61606312e-04 9.99921447e-01 -4.12401912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.106559995 meters 0.0573669620201179 Centerline is valid? [True, True] Translation: X:61.54, Y:-1.23, Z:-0.41 [[ 9.93312881e-01 1.14865079e-01 1.16418921e-02 6.15415227e+01] [-1.14867654e-01 9.93380702e-01 -4.49516145e-04 -1.22652761e+00] [-1.16164646e-02 -8.90766650e-04 9.99932130e-01 -4.12412495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.166559995 meters 0.05544681576495109 Centerline is valid? [True, True] Translation: X:61.60, Y:-1.24, Z:-0.41 [[ 9.93398680e-01 1.14156842e-01 1.12817981e-02 6.16026101e+01] [-1.14159204e-01 9.93462373e-01 -4.36507418e-04 -1.24049425e+00] [-1.12578723e-02 -8.54295199e-04 9.99936263e-01 -4.13809299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.226559995 meters 0.06005694585599832 Centerline is valid? [True, True] Translation: X:61.66, Y:-1.22, Z:-0.41 [[ 9.93632862e-01 1.11989947e-01 1.23282904e-02 6.16632025e+01] [-1.11992598e-01 9.93708926e-01 -4.77303318e-04 -1.22411668e+00] [-1.23041854e-02 -9.06413007e-04 9.99923890e-01 -4.13786773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.286559995000005 meters 0.05619164121061062 Centerline is valid? [True, True] Translation: X:61.72, Y:-1.24, Z:-0.41 [[ 9.93780843e-01 1.10531719e-01 1.35046619e-02 6.17236657e+01] [-1.10534766e-01 9.93872121e-01 -5.22925806e-04 -1.23918754e+00] [-1.34797068e-02 -9.73060989e-04 9.99908671e-01 -4.14973980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.346559995 meters 0.05547193122031878 Centerline is valid? [True, True] Translation: X:61.78, Y:-1.25, Z:-0.42 [[ 9.94084626e-01 1.07654244e-01 1.43638553e-02 6.17842519e+01] [-1.07657390e-01 9.94187898e-01 -5.56269820e-04 -1.24605371e+00] [-1.43402559e-02 -9.93395897e-04 9.99896680e-01 -4.16941019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.406559995 meters 0.05637605485466768 Centerline is valid? [True, True] Translation: X:61.84, Y:-1.25, Z:-0.42 [[ 9.94281196e-01 1.05893949e-01 1.38338033e-02 6.18449174e+01] [-1.05896697e-01 9.94376992e-01 -5.35823094e-04 -1.24508997e+00] [-1.38127561e-02 -9.32195244e-04 9.99904165e-01 -4.17917067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.466559995000004 meters 0.056718490909247694 Centerline is valid? [True, True] Translation: X:61.91, Y:-1.25, Z:-0.42 [[ 9.94267895e-01 1.06202491e-01 1.23444234e-02 6.19077652e+01] [-1.06204693e-01 9.94344173e-01 -4.78821611e-04 -1.24568517e+00] [-1.23254575e-02 -8.34958744e-04 9.99923690e-01 -4.19343918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.526559995 meters 0.05484589238704391 Centerline is valid? [True, True] Translation: X:61.97, Y:-1.25, Z:-0.42 [[ 9.94254597e-01 1.06374654e-01 1.19260251e-02 6.19708159e+01] [-1.06376705e-01 9.94325792e-01 -4.64059084e-04 -1.25316760e+00] [-1.19077185e-02 -8.07258374e-04 9.99928775e-01 -4.21781237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.586559995 meters 0.053526970600492184 Centerline is valid? [True, True] Translation: X:62.03, Y:-1.26, Z:-0.42 [[ 9.94163351e-01 1.07324942e-01 1.09812540e-02 6.20311980e+01] [-1.07326729e-01 9.94223712e-01 -4.28190612e-04 -1.26281972e+00] [-1.09637787e-02 -7.52890660e-04 9.99939613e-01 -4.23603387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.646559995000004 meters 0.054707078987910024 Centerline is valid? [True, True] Translation: X:62.09, Y:-1.26, Z:-0.42 [[ 9.94017318e-01 1.08588888e-01 1.17484247e-02 6.20914570e+01] [-1.08591020e-01 9.94086405e-01 -4.58167572e-04 -1.26022327e+00] [-1.17287012e-02 -8.20346925e-04 9.99930880e-01 -4.24853033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.706559995 meters 0.05528957874385062 Centerline is valid? [True, True] Translation: X:62.15, Y:-1.26, Z:-0.42 [[ 9.93956639e-01 1.09088421e-01 1.22440163e-02 6.21530110e+01] [-1.09090769e-01 9.94031677e-01 -4.77971815e-04 -1.26084047e+00] [-1.22230812e-02 -8.60625887e-04 9.99924925e-01 -4.24556712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.766559995 meters 0.05624582582776539 Centerline is valid? [True, True] Translation: X:62.21, Y:-1.26, Z:-0.42 [[ 9.93712909e-01 1.11221140e-01 1.28262374e-02 6.22146913e+01] [-1.11223882e-01 9.93795249e-01 -5.01557317e-04 -1.25592768e+00] [-1.28024376e-02 -9.28179934e-04 9.99917615e-01 -4.23424558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.826559995000004 meters 0.055343337280334595 Centerline is valid? [True, True] Translation: X:62.28, Y:-1.26, Z:-0.42 [[ 9.93665673e-01 1.11636616e-01 1.28761818e-02 6.22763969e+01] [-1.11639406e-01 9.93748655e-01 -5.04183452e-04 -1.25644441e+00] [-1.28519736e-02 -9.36499489e-04 9.99916971e-01 -4.23593464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.886559995 meters 0.0543388797274188 Centerline is valid? [True, True] Translation: X:62.34, Y:-1.26, Z:-0.43 [[ 9.93830591e-01 1.10249887e-01 1.20714295e-02 6.23363791e+01] [-1.10252229e-01 9.93903528e-01 -4.73330053e-04 -1.26476735e+00] [-1.20500209e-02 -8.60492118e-04 9.99927026e-01 -4.25274379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.946559995 meters 0.055773379991255215 Centerline is valid? [True, True] Translation: X:62.40, Y:-1.27, Z:-0.43 [[ 9.94454100e-01 1.04670834e-01 1.02498870e-02 6.23967234e+01] [-1.04672227e-01 9.94506693e-01 -4.01906444e-04 -1.26646481e+00] [-1.02356491e-02 -6.73200989e-04 9.99947388e-01 -4.25711445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.006559995 meters 0.05583462764673265 Centerline is valid? [True, True] Translation: X:62.46, Y:-1.28, Z:-0.43 [[ 9.95386169e-01 9.53826863e-02 1.04171559e-02 6.24566099e+01] [-9.53836176e-02 9.95440505e-01 -4.08519615e-04 -1.27557878e+00] [-1.04086246e-02 -5.86991238e-04 9.99945657e-01 -4.26370108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.066559995 meters 0.05489636471729451 Centerline is valid? [True, True] Translation: X:62.52, Y:-1.28, Z:-0.43 [[ 9.96361854e-01 8.45768543e-02 1.04791131e-02 6.25169128e+01] [-8.45771997e-02 9.96416845e-01 -4.10990157e-04 -1.28336099e+00] [-1.04763250e-02 -4.76799122e-04 9.99945008e-01 -4.26843756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.126559995 meters 0.057056423509104726 Centerline is valid? [True, True] Translation: X:62.58, Y:-1.28, Z:-0.43 [[ 9.96962354e-01 7.73048840e-02 9.48785138e-03 6.25765707e+01] [-7.73048382e-02 9.97007434e-01 -3.72106089e-04 -1.28032850e+00] [-9.48822398e-03 -3.62481053e-04 9.99954920e-01 -4.27269456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.186559995 meters 0.05602761090532504 Centerline is valid? [True, True] Translation: X:62.64, Y:-1.30, Z:-0.43 [[ 9.97695627e-01 6.71479583e-02 9.72558017e-03 6.26371619e+01] [-6.71474278e-02 9.97742992e-01 -3.81435367e-04 -1.29543299e+00] [-9.72924206e-03 -2.72491294e-04 9.99952633e-01 -4.29369468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.246559995 meters 0.05673565970330604 Centerline is valid? [True, True] Translation: X:62.70, Y:-1.30, Z:-0.43 [[ 9.98236977e-01 5.85230178e-02 9.89917086e-03 6.26970132e+01] [-5.85220439e-02 9.98286041e-01 -3.88270626e-04 -1.30213136e+00] [-9.90492685e-03 -1.91733615e-04 9.99950927e-01 -4.29864047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.306559995 meters 0.056120895920736664 Centerline is valid? [True, True] Translation: X:62.76, Y:-1.31, Z:-0.43 [[ 9.98494679e-01 5.39511888e-02 9.88160438e-03 6.27565577e+01] [-5.39499939e-02 9.98543563e-01 -3.87633144e-04 -1.30912483e+00] [-9.88812571e-03 -1.46062865e-04 9.99951101e-01 -4.29727564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.366559995 meters 0.05544122761853105 Centerline is valid? [True, True] Translation: X:62.82, Y:-1.32, Z:-0.43 [[ 9.98692784e-01 4.99807628e-02 1.07073158e-02 6.28174010e+01] [-4.99791312e-02 9.98750174e-01 -4.20079987e-04 -1.32207774e+00] [-1.07149294e-02 -1.15611488e-04 9.99942587e-01 -4.30658692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.426559995 meters 0.05499879996749766 Centerline is valid? [True, True] Translation: X:62.88, Y:-1.33, Z:-0.43 [[ 9.98334134e-01 5.70334797e-02 8.72574335e-03 6.28774548e+01] [-5.70326643e-02 9.98372254e-01 -3.42448885e-04 -1.33185313e+00] [-8.73107111e-03 -1.55773980e-04 9.99961871e-01 -4.32272054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.486559995 meters 0.05554708510084712 Centerline is valid? [True, True] Translation: X:62.94, Y:-1.33, Z:-0.43 [[ 9.98135633e-01 6.05351297e-02 7.79462764e-03 6.29390721e+01] [-6.05345852e-02 9.98166054e-01 -3.05971518e-04 -1.33010018e+00] [-7.79885474e-03 -1.66443476e-04 9.99969575e-01 -4.33047418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.546559995 meters 0.05546161426947728 Centerline is valid? [True, True] Translation: X:63.00, Y:-1.33, Z:-0.43 [[ 9.97938342e-01 6.38008769e-02 6.96524349e-03 6.29994881e+01] [-6.38005206e-02 9.97962634e-01 -2.73567957e-04 -1.33031538e+00] [-6.96850662e-03 -1.71382207e-04 9.99975705e-01 -4.33784539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.606559995 meters 0.05495310088756522 Centerline is valid? [True, True] Translation: X:63.06, Y:-1.34, Z:-0.43 [[ 9.97414844e-01 7.14850580e-02 7.31544124e-03 6.30600063e+01] [-7.14848709e-02 9.97441643e-01 -2.87383546e-04 -1.33643032e+00] [-7.31726936e-03 -2.36302757e-04 9.99973201e-01 -4.34368891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.666559995 meters 0.05686431727891689 Centerline is valid? [True, True] Translation: X:63.12, Y:-1.33, Z:-0.43 [[ 9.96856458e-01 7.88009021e-02 8.22316339e-03 6.31201582e+01] [-7.88009140e-02 9.96890321e-01 -3.23059557e-04 -1.33059899e+00] [-8.22304937e-03 -3.25948785e-04 9.99966137e-01 -4.32679549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.726559995 meters 0.05484742327001216 Centerline is valid? [True, True] Translation: X:63.18, Y:-1.34, Z:-0.43 [[ 9.96528305e-01 8.27169385e-02 9.44695094e-03 6.31807235e+01] [-8.27171299e-02 9.96572997e-01 -3.71125306e-04 -1.34275358e+00] [-9.44527457e-03 -4.11587797e-04 9.99955308e-01 -4.32500416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.786559995000005 meters 0.05697651798477 Centerline is valid? [True, True] Translation: X:63.24, Y:-1.33, Z:-0.43 [[ 9.96308630e-01 8.51973163e-02 1.05133529e-02 6.32410476e+01] [-8.51976903e-02 9.96363981e-01 -4.13103963e-04 -1.33244611e+00] [-1.05103215e-02 -4.84134340e-04 9.99944648e-01 -4.31081358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.846559995 meters 0.05956558401681506 Centerline is valid? [True, True] Translation: X:63.30, Y:-1.33, Z:-0.43 [[ 9.96058412e-01 8.80299762e-02 1.08795096e-02 6.33018449e+01] [-8.80305454e-02 9.96117684e-01 -4.27479042e-04 -1.33013186e+00] [-1.08749029e-02 -5.31935070e-04 9.99940725e-01 -4.30556778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.906559995 meters 0.057091563344136884 Centerline is valid? [True, True] Translation: X:63.36, Y:-1.34, Z:-0.43 [[ 9.95871320e-01 9.01874362e-02 1.03218694e-02 6.33619615e+01] [-9.01880635e-02 9.95924670e-01 -4.05631481e-04 -1.33983873e+00] [-1.03163873e-02 -5.26952659e-04 9.99946646e-01 -4.32008949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.966559995000004 meters 0.05342849903751139 Centerline is valid? [True, True] Translation: X:63.42, Y:-1.36, Z:-0.43 [[ 9.95819612e-01 9.07842138e-02 1.00760478e-02 6.34230755e+01] [-9.07848387e-02 9.95870451e-01 -3.96297305e-04 -1.35971375e+00] [-1.00704158e-02 -5.20111743e-04 9.99949157e-01 -4.33428384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.026559995 meters 0.05957977572050852 Centerline is valid? [True, True] Translation: X:63.49, Y:-1.34, Z:-0.43 [[ 9.95781908e-01 9.13328061e-02 8.75840678e-03 6.34852283e+01] [-9.13332923e-02 9.95820320e-01 -3.45286585e-04 -1.34262125e+00] [-8.75333543e-03 -4.56103992e-04 9.99961585e-01 -4.32954136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.086559995 meters 0.0531878623902032 Centerline is valid? [True, True] Translation: X:63.54, Y:-1.37, Z:-0.43 [[ 9.96148225e-01 8.72421583e-02 8.80453588e-03 6.35445351e+01] [-8.72424837e-02 9.96187045e-01 -3.47837651e-04 -1.36956090e+00] [-8.80131068e-03 -4.21631719e-04 9.99961179e-01 -4.34748703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.146559995 meters 0.05539444970614099 Centerline is valid? [True, True] Translation: X:63.60, Y:-1.37, Z:-0.43 [[ 9.96660953e-01 8.09221492e-02 1.08880838e-02 6.36046703e+01] [-8.09222697e-02 9.96720322e-01 -4.30210949e-04 -1.36967909e+00] [-1.08871880e-02 -4.52313997e-04 9.99940631e-01 -4.34153091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.206559995 meters 0.054775415638912715 Centerline is valid? [True, True] Translation: X:63.67, Y:-1.38, Z:-0.43 [[ 9.97120620e-01 7.48907905e-02 1.19095719e-02 6.36652467e+01] [-7.48905049e-02 9.97191652e-01 -4.70579502e-04 -1.38006351e+00] [-1.19113678e-02 -4.22689332e-04 9.99928968e-01 -4.33895949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.266559995 meters 0.0543567148549362 Centerline is valid? [True, True] Translation: X:63.72, Y:-1.39, Z:-0.44 [[ 9.97502116e-01 6.97704314e-02 1.10279618e-02 6.37248435e+01] [-6.97698737e-02 9.97563018e-01 -4.35759377e-04 -1.38578380e+00] [-1.10314900e-02 -3.34748601e-04 9.99939095e-01 -4.36095375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.326559995 meters 0.05755532013861968 Centerline is valid? [True, True] Translation: X:63.79, Y:-1.38, Z:-0.44 [[ 9.97494950e-01 6.99661148e-02 1.04195868e-02 6.37876398e+01] [-6.99656241e-02 9.97549318e-01 -4.12053084e-04 -1.37731495e+00] [-1.04228815e-02 -3.17992025e-04 9.99945630e-01 -4.35696215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.386559995 meters 0.05519858622882405 Centerline is valid? [True, True] Translation: X:63.85, Y:-1.39, Z:-0.44 [[ 9.97506665e-01 6.98059179e-02 1.03724531e-02 6.38487871e+01] [-6.98054113e-02 9.97560542e-01 -4.11310724e-04 -1.39221350e+00] [-1.03758619e-02 -3.13768169e-04 9.99946120e-01 -4.37386468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.446559995 meters 0.05501698894037331 Centerline is valid? [True, True] Translation: X:63.91, Y:-1.39, Z:-0.44 [[ 9.97502053e-01 6.98816548e-02 1.03058022e-02 6.39117718e+01] [-6.98811474e-02 9.97555240e-01 -4.09772618e-04 -1.39444554e+00] [-1.03092426e-02 -3.11432256e-04 9.99946810e-01 -4.37630700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.506559995 meters 0.05586013990865997 Centerline is valid? [True, True] Translation: X:63.98, Y:-1.39, Z:-0.44 [[ 9.97483154e-01 7.01612422e-02 1.02350792e-02 6.39751754e+01] [-7.01607441e-02 9.97535615e-01 -4.08162743e-04 -1.39398993e+00] [-1.02384932e-02 -3.10965310e-04 9.99947537e-01 -4.37816134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.566559995 meters 0.055338182808817235 Centerline is valid? [True, True] Translation: X:64.04, Y:-1.40, Z:-0.44 [[ 9.97451270e-01 7.05901715e-02 1.03919313e-02 6.40367530e+01] [-7.05896691e-02 9.97505351e-01 -4.15587814e-04 -1.39673213e+00] [-1.03953435e-02 -3.19034397e-04 9.99945916e-01 -4.38105154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62655999500001 meters 0.05468524869547971 Centerline is valid? [True, True] Translation: X:64.10, Y:-1.40, Z:-0.44 [[ 9.97407223e-01 7.13239817e-02 9.57711692e-03 6.40988600e+01] [-7.13235814e-02 9.97453157e-01 -3.83773489e-04 -1.40264725e+00] [-9.58009776e-03 -3.00295829e-04 9.99954065e-01 -4.40525421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.686559995 meters 0.05573117205997334 Centerline is valid? [True, True] Translation: X:64.16, Y:-1.40, Z:-0.44 [[ 9.97360723e-01 7.19646256e-02 9.62704482e-03 6.41600130e+01] [-7.19642457e-02 9.97407138e-01 -3.86313392e-04 -1.39742859e+00] [-9.62988412e-03 -3.07509215e-04 9.99953584e-01 -4.40710410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.746559995 meters 0.05719529605209799 Centerline is valid? [True, True] Translation: X:64.22, Y:-1.39, Z:-0.44 [[ 9.97276891e-01 7.31718577e-02 9.20225987e-03 6.42223311e+01] [-7.31715578e-02 9.97319300e-01 -3.69714848e-04 -1.39277440e+00] [-9.20464410e-03 -3.04635615e-04 9.99957590e-01 -4.41949004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.806559995 meters 0.05443477251968868 Centerline is valid? [True, True] Translation: X:64.28, Y:-1.41, Z:-0.44 [[ 9.97245424e-01 7.36638762e-02 8.67170448e-03 6.42838526e+01] [-7.36636255e-02 9.97283084e-01 -3.48743919e-04 -1.40871173e+00] [-8.67383401e-03 -2.91005914e-04 9.99962339e-01 -4.43855656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.866559995 meters 0.054858204361044036 Centerline is valid? [True, True] Translation: X:64.35, Y:-1.40, Z:-0.44 [[ 9.97239916e-01 7.36245472e-02 9.59045412e-03 6.43459137e+01] [-7.36242287e-02 9.97285979e-01 -3.86740827e-04 -1.40463442e+00] [-9.59289905e-03 -3.20416398e-04 9.99953936e-01 -4.43594876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.926559995 meters 0.05718162948997144 Centerline is valid? [True, True] Translation: X:64.41, Y:-1.40, Z:-0.44 [[ 9.97187067e-01 7.43036699e-02 9.84471294e-03 6.44083869e+01] [-7.43033591e-02 9.97235605e-01 -3.97829352e-04 -1.39795061e+00] [-9.84705845e-03 -3.34784957e-04 9.99951461e-01 -4.42391131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98655999500001 meters 0.05584549607738877 Centerline is valid? [True, True] Translation: X:64.47, Y:-1.41, Z:-0.44 [[ 9.97196643e-01 7.42889988e-02 8.94423429e-03 6.44701595e+01] [-7.42887340e-02 9.97236708e-01 -3.62290745e-04 -1.40537804e+00] [-8.94643298e-03 -3.03180727e-04 9.99959934e-01 -4.44665790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.046559995 meters 0.05551882457687609 Centerline is valid? [True, True] Translation: X:64.53, Y:-1.41, Z:-0.45 [[ 9.97235699e-01 7.38210236e-02 8.45085809e-03 6.45320501e+01] [-7.38207634e-02 9.97271466e-01 -3.43136555e-04 -1.41067738e+00] [-8.45313033e-03 -2.81660773e-04 9.99964232e-01 -4.45815723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.106559995 meters 0.05842385711147742 Centerline is valid? [True, True] Translation: X:64.59, Y:-1.41, Z:-0.45 [[ 9.97331258e-01 7.25973354e-02 7.74521936e-03 6.45929275e+01] [-7.25970745e-02 9.97361301e-01 -3.15203234e-04 -1.40525522e+00] [-7.74766498e-03 -2.47918229e-04 9.99969956e-01 -4.46238856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.166559995 meters 0.05793010412316912 Centerline is valid? [True, True] Translation: X:64.65, Y:-1.42, Z:-0.45 [[ 9.97432062e-01 7.12480712e-02 7.27973772e-03 6.46539391e+01] [-7.12478044e-02 9.97458602e-01 -2.96310515e-04 -1.41574374e+00] [-7.28234856e-03 -2.23115721e-04 9.99973458e-01 -4.46798761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.226559995 meters 0.06068822810680918 Centerline is valid? [True, True] Translation: X:64.72, Y:-1.41, Z:-0.45 [[ 9.97425782e-01 7.13685099e-02 6.95312370e-03 6.47160844e+01] [-7.13682690e-02 9.97449994e-01 -2.83076687e-04 -1.40957946e+00] [-6.95559596e-03 -2.13884417e-04 9.99975787e-01 -4.47770480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.286559995 meters 0.059769193414656696 Centerline is valid? [True, True] Translation: X:64.78, Y:-1.42, Z:-0.45 [[ 9.97480759e-01 7.06239413e-02 6.66289303e-03 6.47776104e+01] [-7.06236987e-02 9.97502992e-01 -2.71978491e-04 -1.42153218e+00] [-6.66546393e-03 -1.99264838e-04 9.99977766e-01 -4.48327872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.346559995 meters 0.06180114262945417 Centerline is valid? [True, True] Translation: X:64.84, Y:-1.42, Z:-0.45 [[ 9.97475405e-01 7.07228424e-02 6.41056857e-03 6.48402238e+01] [-7.07226156e-02 9.97495986e-01 -2.62336418e-04 -1.41932779e+00] [-6.41306960e-03 -1.91698052e-04 9.99979418e-01 -4.48866218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.406559995 meters 0.062438477034744075 Centerline is valid? [True, True] Translation: X:64.90, Y:-1.43, Z:-0.45 [[ 9.97547430e-01 6.97105297e-02 6.29022801e-03 6.49027463e+01] [-6.97102863e-02 9.97567246e-01 -2.58206450e-04 -1.42553803e+00] [-6.29292513e-03 -1.80920415e-04 9.99980183e-01 -4.48984173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.466559995 meters 0.0654709584919573 Centerline is valid? [True, True] Translation: X:64.96, Y:-1.42, Z:-0.45 [[ 9.97679745e-01 6.77906213e-02 6.28948046e-03 6.49637231e+01] [-6.77903381e-02 9.97699556e-01 -2.58437494e-04 -1.41978191e+00] [-6.29253150e-03 -1.68528154e-04 9.99980188e-01 -4.49808892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.526559995 meters 0.064940166444359 Centerline is valid? [True, True] Translation: X:65.03, Y:-1.43, Z:-0.45 [[ 9.97847158e-01 6.53226959e-02 5.83051597e-03 6.50253177e+01] [-6.53224100e-02 9.97864182e-01 -2.39647256e-04 -1.43194260e+00] [-5.83371745e-03 -1.41732022e-04 9.99982974e-01 -4.50297335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.586559995 meters 0.0650843434340318 Centerline is valid? [True, True] Translation: X:65.09, Y:-1.45, Z:-0.45 [[ 9.98112634e-01 6.12085675e-02 4.96801443e-03 6.50852240e+01] [-6.12083083e-02 9.98124993e-01 -2.04336209e-04 -1.44719997e+00] [-4.97120650e-03 -1.00133207e-04 9.99987638e-01 -4.50233909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.646559995 meters 0.06681366450935237 Centerline is valid? [True, True] Translation: X:65.15, Y:-1.45, Z:-0.45 [[ 9.98320057e-01 5.75859184e-02 6.39733640e-03 6.51455384e+01] [-5.75854144e-02 9.98340549e-01 -2.63109029e-04 -1.44684146e+00] [-6.40187171e-03 -1.05726247e-04 9.99979502e-01 -4.50940715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.706559995 meters 0.06706481088464118 Centerline is valid? [True, True] Translation: X:65.21, Y:-1.46, Z:-0.45 [[ 9.98425610e-01 5.54224971e-02 8.63993258e-03 6.52070946e+01] [-5.54214942e-02 9.98462985e-01 -3.55642148e-04 -1.45570566e+00] [-8.64636344e-03 -1.23755744e-04 9.99962612e-01 -4.50006465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.766559995 meters 0.06706481088464118 Centerline is valid? [True, True] Translation: X:65.27, Y:-1.46, Z:-0.45 [[ 9.98418714e-01 5.55465959e-02 8.63989323e-03 6.52695174e+01] [-5.55455894e-02 9.98456088e-01 -3.56595672e-04 -1.45826499e+00] [-8.64636167e-03 -1.23876170e-04 9.99962612e-01 -4.50467161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.826559995 meters 0.0689519189877237 Centerline is valid? [True, True] Translation: X:65.33, Y:-1.47, Z:-0.45 [[ 9.98558508e-01 5.31314074e-02 7.61309969e-03 6.53303142e+01] [-5.31305494e-02 9.98587525e-01 -3.15049544e-04 -1.46507651e+00] [-7.61908540e-03 -8.98927657e-05 9.99970970e-01 -4.51715158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.886559995 meters 0.07018840659871237 Centerline is valid? [True, True] Translation: X:65.39, Y:-1.46, Z:-0.45 [[ 9.98484839e-01 5.48228432e-02 4.74150310e-03 6.53924250e+01] [-5.48225286e-02 9.98496095e-01 -1.96400582e-04 -1.46437029e+00] [-4.74513956e-03 -6.38381852e-05 9.99988740e-01 -4.54885940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.946559995 meters 0.07069633701966646 Centerline is valid? [True, True] Translation: X:65.45, Y:-1.47, Z:-0.46 [[ 9.98452390e-01 5.54972576e-02 3.58890225e-03 6.54538190e+01] [-5.54970810e-02 9.98458838e-01 -1.48853733e-04 -1.47069668e+00] [-3.59163215e-03 -5.05502331e-05 9.99993549e-01 -4.55523254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.006559995 meters 0.07334919860371018 Centerline is valid? [True, True] Translation: X:65.52, Y:-1.46, Z:-0.46 [[ 9.98362742e-01 5.70209746e-02 4.52146432e-03 6.55152912e+01] [-5.70207069e-02 9.98372978e-01 -1.88198193e-04 -1.46053542e+00] [-4.52483904e-03 -6.99270280e-05 9.99989760e-01 -4.57218430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.066559995 meters 0.07309421477154204 Centerline is valid? [True, True] Translation: X:65.58, Y:-1.47, Z:-0.46 [[ 9.98399760e-01 5.63917568e-02 4.22959264e-03 6.55768883e+01] [-5.63915154e-02 9.98408717e-01 -1.76400655e-04 -1.47365358e+00] [-4.23280971e-03 -6.23947673e-05 9.99991040e-01 -4.56493575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12655999500001 meters 0.07407618445546052 Centerline is valid? [True, True] Translation: X:65.64, Y:-1.47, Z:-0.46 [[ 9.98452624e-01 5.50603814e-02 7.79178740e-03 6.56384093e+01] [-5.50595093e-02 9.98483021e-01 -3.26561803e-04 -1.47212596e+00] [-7.79794804e-03 -1.02955501e-04 9.99969590e-01 -4.55949027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.186559995 meters 0.0745494857805263 Centerline is valid? [True, True] Translation: X:65.70, Y:-1.47, Z:-0.46 [[ 9.98435556e-01 5.50879216e-02 9.57918295e-03 6.57000948e+01] [-5.50865930e-02 9.98481500e-01 -4.02687652e-04 -1.47235599e+00] [-9.58682019e-03 -1.25626882e-04 9.99954037e-01 -4.55880843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.246559995 meters 0.0747634063883486 Centerline is valid? [True, True] Translation: X:65.76, Y:-1.47, Z:-0.46 [[ 9.98412640e-01 5.50874184e-02 1.17293403e-02 6.57619213e+01] [-5.50854085e-02 9.98481524e-01 -4.94602515e-04 -1.47319376e+00] [-1.17387760e-02 -1.52298102e-04 9.99931087e-01 -4.56393923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.306559995 meters 0.07520989075444648 Centerline is valid? [True, True] Translation: X:65.82, Y:-1.47, Z:-0.46 [[ 9.98335645e-01 5.62784376e-02 1.25967490e-02 6.58235384e+01] [-5.62761969e-02 9.98415097e-01 -5.32555225e-04 -1.47128218e+00] [-1.26067557e-02 -1.77228262e-04 9.99920516e-01 -4.56552164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.366559995 meters 0.07528367092725717 Centerline is valid? [True, True] Translation: X:65.89, Y:-1.47, Z:-0.46 [[ 9.98291324e-01 5.69534095e-02 1.30667984e-02 6.58857621e+01] [-5.69510384e-02 9.98376819e-01 -5.53790949e-04 -1.47428069e+00] [-1.30771289e-02 -1.91323040e-04 9.99914472e-01 -4.58104229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.426559995 meters 0.07451530962811696 Centerline is valid? [True, True] Translation: X:65.95, Y:-1.48, Z:-0.46 [[ 9.98262058e-01 5.72134376e-02 1.41239315e-02 6.59473801e+01] [-5.72106709e-02 9.98361948e-01 -6.00178055e-04 -1.47851541e+00] [-1.41351340e-02 -2.08904616e-04 9.99900072e-01 -4.61543645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48655999500001 meters 0.07499956267805433 Centerline is valid? [True, True] Translation: X:66.01, Y:-1.48, Z:-0.46 [[ 9.98195109e-01 5.81212670e-02 1.51142911e-02 6.60090248e+01] [-5.81181828e-02 9.98309502e-01 -6.43580779e-04 -1.47550301e+00] [-1.51261462e-02 -2.35995950e-04 9.99885565e-01 -4.61186580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.546559995 meters 0.07415186026557603 Centerline is valid? [True, True] Translation: X:66.07, Y:-1.48, Z:-0.47 [[ 9.98170484e-01 5.86735716e-02 1.45978077e-02 6.60715652e+01] [-5.86707350e-02 9.98277194e-01 -6.22866662e-04 -1.47802849e+00] [-1.46092043e-02 -2.34736990e-04 9.99893252e-01 -4.66484758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.606559995 meters 0.07040727066401199 Centerline is valid? [True, True] Translation: X:66.13, Y:-1.48, Z:-0.47 [[ 9.97836726e-01 6.45976981e-02 1.22068160e-02 6.61328950e+01] [-6.45961481e-02 9.97911352e-01 -5.21619341e-04 -1.47698630e+00] [-1.22150157e-02 -2.68022359e-04 9.99925358e-01 -4.72645874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.666559995 meters 0.07013897564916606 Centerline is valid? [True, True] Translation: X:66.19, Y:-1.48, Z:-0.47 [[ 9.97770951e-01 6.56061409e-02 1.22050635e-02 6.61945479e+01] [-6.56046597e-02 9.97845557e-01 -5.22124578e-04 -1.48155808e+00] [-1.22130229e-02 -2.79748298e-04 9.99925379e-01 -4.74306445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.726559995 meters 0.06922340560555383 Centerline is valid? [True, True] Translation: X:66.26, Y:-1.48, Z:-0.48 [[ 9.97734128e-01 6.62261135e-02 1.18621573e-02 6.62557390e+01] [-6.62247432e-02 9.97804602e-01 -5.08715716e-04 -1.48237709e+00] [-1.18698054e-02 -2.78005291e-04 9.99929513e-01 -4.75140758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.786559995 meters 0.06922340560555383 Centerline is valid? [True, True] Translation: X:66.32, Y:-1.49, Z:-0.48 [[ 9.97725956e-01 6.63491351e-02 1.18620996e-02 6.63181716e+01] [-6.63477575e-02 9.97796430e-01 -5.10059598e-04 -1.48503008e+00] [-1.18698026e-02 -2.78124005e-04 9.99929513e-01 -4.75601540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.846559995 meters 0.06866940127168668 Centerline is valid? [True, True] Translation: X:66.38, Y:-1.49, Z:-0.48 [[ 9.97701470e-01 6.67981742e-02 1.13921577e-02 6.63799734e+01] [-6.67969179e-02 9.97766471e-01 -4.91159549e-04 -1.48728158e+00] [-1.13995216e-02 -2.70930422e-04 9.99934987e-01 -4.76322167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.906559995 meters 0.06636896448355006 Centerline is valid? [True, True] Translation: X:66.44, Y:-1.50, Z:-0.48 [[ 9.97623632e-01 6.78779899e-02 1.18180674e-02 6.64412820e+01] [-6.78766978e-02 9.97693587e-01 -5.10855907e-04 -1.49568893e+00] [-1.18254859e-02 -2.92529461e-04 9.99930034e-01 -4.78567036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.966559995 meters 0.06576131947113477 Centerline is valid? [True, True] Translation: X:66.50, Y:-1.50, Z:-0.48 [[ 9.97617922e-01 6.79405985e-02 1.19397516e-02 6.65028906e+01] [-6.79392672e-02 9.97689324e-01 -5.17534431e-04 -1.49701987e+00] [-1.19473243e-02 -2.94876352e-04 9.99928585e-01 -4.77031262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.026559995 meters 0.06499100265095895 Centerline is valid? [True, True] Translation: X:66.56, Y:-1.50, Z:-0.48 [[ 9.97758128e-01 6.58426984e-02 1.19773485e-02 6.65628576e+01] [-6.58411942e-02 9.97829979e-01 -5.20291389e-04 -1.49962344e+00] [-1.19856148e-02 -2.69477966e-04 9.99928134e-01 -4.75047081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.086559995 meters 0.06483113561994504 Centerline is valid? [True, True] Translation: X:66.62, Y:-1.50, Z:-0.47 [[ 9.97916018e-01 6.34688830e-02 1.16328324e-02 6.66232527e+01] [-6.34672982e-02 9.97983791e-01 -5.05727922e-04 -1.50207932e+00] [-1.16414762e-02 -2.33630449e-04 9.99932208e-01 -4.74130600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.146559995 meters 0.0632540551237549 Centerline is valid? [True, True] Translation: X:66.68, Y:-1.51, Z:-0.47 [[ 9.98093790e-01 6.08451330e-02 1.03274281e-02 6.66841333e+01] [-6.08437420e-02 9.98147202e-01 -4.49121483e-04 -1.50577453e+00] [-1.03356204e-02 -1.80094009e-04 9.99946570e-01 -4.73380158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.206559995 meters 0.06180791338683435 Centerline is valid? [True, True] Translation: X:66.75, Y:-1.51, Z:-0.47 [[ 9.98076357e-01 6.13137486e-02 9.17663830e-03 6.67461008e+01] [-6.13126685e-02 9.98118529e-01 -3.99244892e-04 -1.51140955e+00] [-9.18385192e-03 -1.64167295e-04 9.99957814e-01 -4.74572944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.266559995 meters 0.061219611695414525 Centerline is valid? [True, True] Translation: X:66.81, Y:-1.51, Z:-0.48 [[ 9.97882813e-01 6.46715261e-02 6.89101039e-03 6.68060083e+01] [-6.46709957e-02 9.97906595e-01 -3.00001857e-04 -1.51102775e+00] [-6.89598629e-03 -1.46281807e-04 9.99976212e-01 -4.75418002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.326559995 meters 0.06028458443067282 Centerline is valid? [True, True] Translation: X:66.87, Y:-1.52, Z:-0.48 [[ 9.97733813e-01 6.70776335e-02 5.27538395e-03 6.68676875e+01] [-6.70773562e-02 9.97747751e-01 -2.29668879e-04 -1.51532531e+00] [-5.27890812e-03 -1.24710402e-04 9.99986059e-01 -4.75938593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.386559995 meters 0.058412094269263345 Centerline is valid? [True, True] Translation: X:66.93, Y:-1.52, Z:-0.48 [[ 9.97709597e-01 6.75540526e-02 3.46553900e-03 6.69291751e+01] [-6.75539356e-02 9.97715612e-01 -1.50919724e-04 -1.52382605e+00] [-3.46781760e-03 -8.35367413e-05 9.99993984e-01 -4.76286280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.446559995 meters 0.05836106638776728 Centerline is valid? [True, True] Translation: X:66.99, Y:-1.52, Z:-0.48 [[ 9.97860899e-01 6.52802302e-02 3.48111821e-03 6.69896533e+01] [-6.52800956e-02 9.97866968e-01 -1.52394534e-04 -1.52275667e+00] [-3.48364122e-03 -7.51791828e-05 9.99993929e-01 -4.77719245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.506559995 meters 0.058655261406179195 Centerline is valid? [True, True] Translation: X:67.05, Y:-1.53, Z:-0.48 [[ 9.98027299e-01 6.26506748e-02 4.05018557e-03 6.70512211e+01] [-6.26504712e-02 9.98035514e-01 -1.77265839e-04 -1.52737624e+00] [-4.05333486e-03 -7.68298885e-05 9.99991782e-01 -4.77391581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.566559995 meters 0.05780225944379192 Centerline is valid? [True, True] Translation: X:67.11, Y:-1.53, Z:-0.48 [[ 9.98168930e-01 6.02587367e-02 5.26035439e-03 6.71123411e+01] [-6.02583584e-02 9.98182787e-01 -2.30514113e-04 -1.53282333e+00] [-5.26468570e-03 -8.68882947e-05 9.99986138e-01 -4.76575355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62655999500001 meters 0.05700353705264094 Centerline is valid? [True, True] Translation: X:67.17, Y:-1.53, Z:-0.48 [[ 9.98383874e-01 5.64973598e-02 6.13914121e-03 6.71729102e+01] [-5.64967728e-02 9.98402746e-01 -2.69140737e-04 -1.53410804e+00] [-6.14454118e-03 -7.81358950e-05 9.99981119e-01 -4.76491232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.686559995 meters 0.05668710646983682 Centerline is valid? [True, True] Translation: X:67.24, Y:-1.54, Z:-0.48 [[ 9.98469935e-01 5.49052137e-02 6.57320552e-03 6.72351568e+01] [-5.49045059e-02 9.98491568e-01 -2.88212674e-04 -1.53882450e+00] [-6.57911467e-03 -7.31269120e-05 9.99978355e-01 -4.76699763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.746559995 meters 0.056832604682873926 Centerline is valid? [True, True] Translation: X:67.30, Y:-1.54, Z:-0.48 [[ 9.98547543e-01 5.31761816e-02 8.66597150e-03 6.72970844e+01] [-5.31748763e-02 9.98585143e-01 -3.81130622e-04 -1.54286129e+00] [-8.67397746e-03 -8.02349166e-05 9.99962377e-01 -4.76573659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.806559995 meters 0.05704034789167726 Centerline is valid? [True, True] Translation: X:67.36, Y:-1.54, Z:-0.48 [[ 9.98545686e-01 5.33261901e-02 7.92659769e-03 6.73594657e+01] [-5.33250965e-02 9.98577144e-01 -3.49399630e-04 -1.54461238e+00] [-7.93395143e-03 -7.37950935e-05 9.99968523e-01 -4.78436165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.866559995 meters 0.05657644593515425 Centerline is valid? [True, True] Translation: X:67.42, Y:-1.55, Z:-0.48 [[ 9.98457137e-01 5.50428303e-02 7.32344091e-03 6.74213961e+01] [-5.50419373e-02 9.98483991e-01 -3.23588999e-04 -1.54656971e+00] [-7.33014976e-03 -8.00066294e-05 9.99973131e-01 -4.80146188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.926559995 meters 0.05668098965289301 Centerline is valid? [True, True] Translation: X:67.48, Y:-1.55, Z:-0.48 [[ 9.98312553e-01 5.77382981e-02 6.19157668e-03 6.74836140e+01] [-5.77377084e-02 9.98331749e-01 -2.74108916e-04 -1.55035568e+00] [-6.19707416e-03 -8.38410772e-05 9.99980794e-01 -4.82093331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98655999500001 meters 0.05630632397510335 Centerline is valid? [True, True] Translation: X:67.54, Y:-1.55, Z:-0.48 [[ 9.98042379e-01 6.23696176e-02 4.63039798e-03 6.75448983e+01] [-6.23693350e-02 9.98053117e-01 -2.05545197e-04 -1.55496102e+00] [-4.63420291e-03 -8.36520250e-05 9.99989259e-01 -4.81940763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.046559995 meters 0.056909263371615185 Centerline is valid? [True, True] Translation: X:67.60, Y:-1.55, Z:-0.49 [[ 9.97705562e-01 6.77002338e-02 5.38271100e-04 6.76049791e+01] [-6.77002308e-02 9.97705707e-01 -2.38569655e-05 -1.54912854e+00] [-5.38651271e-04 -1.26388505e-05 9.99999855e-01 -4.85540876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.106559995 meters 0.05581567645669088 Centerline is valid? [True, True] Translation: X:67.67, Y:-1.55, Z:-0.49 [[ 9.97420413e-01 7.17625947e-02 -1.62771029e-03 6.76651195e+01] [-7.17625722e-02 9.97421740e-01 7.23271332e-05 -1.55385027e+00] [ 1.62870401e-03 4.46681178e-05 9.99998673e-01 -4.86036187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.166559995 meters 0.05434271588539313 Centerline is valid? [True, True] Translation: X:67.73, Y:-1.56, Z:-0.48 [[ 9.97129993e-01 7.57012294e-02 -1.04948836e-03 6.77259363e+01] [-7.57012222e-02 9.97130545e-01 4.66444170e-05 -1.55557420e+00] [ 1.05000794e-03 3.29370042e-05 9.99999448e-01 -4.84441897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.226559995 meters 0.05337058552778937 Centerline is valid? [True, True] Translation: X:67.79, Y:-1.57, Z:-0.48 [[ 9.97125846e-01 7.57443293e-02 1.68607003e-03 6.77882062e+01] [-7.57443112e-02 9.97127271e-01 -7.46829318e-05 -1.56545205e+00] [-1.68688322e-03 -5.32419317e-05 9.99998576e-01 -4.80119768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.286559995 meters 0.055276216320714576 Centerline is valid? [True, True] Translation: X:67.85, Y:-1.56, Z:-0.48 [[ 9.97100410e-01 7.58626140e-02 5.96961236e-03 6.78497797e+01] [-7.58623838e-02 9.97118262e-01 -2.65309601e-04 -1.55626109e+00] [-5.97253658e-03 -1.88328712e-04 9.99982147e-01 -4.78437069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.346559995 meters 0.0551481274683334 Centerline is valid? [True, True] Translation: X:67.91, Y:-1.55, Z:-0.47 [[ 9.97220770e-01 7.37535190e-02 1.05429710e-02 6.79111800e+01] [-7.37526687e-02 9.97276453e-01 -4.69952372e-04 -1.55419029e+00] [-1.05489174e-02 -3.08925984e-04 9.99944311e-01 -4.74795795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.406559995 meters 0.05279506852984951 Centerline is valid? [True, True] Translation: X:67.97, Y:-1.56, Z:-0.48 [[ 9.97415812e-01 7.09503148e-02 1.13026919e-02 6.79715615e+01] [-7.09491560e-02 9.97479806e-01 -5.03962857e-04 -1.56445959e+00] [-1.13099632e-02 -2.99255926e-04 9.99935996e-01 -4.76258328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.466559995 meters 0.05329494088125998 Centerline is valid? [True, True] Translation: X:68.03, Y:-1.57, Z:-0.48 [[ 9.97823795e-01 6.51435642e-02 1.01975729e-02 6.80323855e+01] [-6.51423172e-02 9.97875880e-01 -4.54745125e-04 -1.57015164e+00] [-1.02055358e-02 -2.10538025e-04 9.99947900e-01 -4.78535211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.526559995 meters 0.053052309994408735 Centerline is valid? [True, True] Translation: X:68.09, Y:-1.57, Z:-0.48 [[ 9.98245457e-01 5.85471858e-02 8.84505436e-03 6.80922213e+01] [-5.85459885e-02 9.98284635e-01 -3.94450366e-04 -1.57193689e+00] [-8.85297582e-03 -1.24084165e-04 9.99960804e-01 -4.80328703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.586559995 meters 0.05336952121577799 Centerline is valid? [True, True] Translation: X:68.15, Y:-1.58, Z:-0.48 [[ 9.99019990e-01 4.33079944e-02 9.13653598e-03 6.81518232e+01] [-4.33060788e-02 9.99061769e-01 -4.07488154e-04 -1.58479720e+00] [-9.14561129e-03 1.14212643e-05 9.99958178e-01 -4.82793000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.646559995 meters 0.05381644512750233 Centerline is valid? [True, True] Translation: X:68.21, Y:-1.58, Z:-0.49 [[ 9.98713608e-01 5.06992158e-02 -8.47609309e-04 6.82141401e+01] [-5.06992018e-02 9.98713968e-01 3.80785616e-05 -1.57932525e+00] [ 8.48449810e-04 4.94353781e-06 9.99999640e-01 -4.94796429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.706559995 meters 0.05381644512750233 Centerline is valid? [True, True] Translation: X:68.28, Y:-1.58, Z:-0.50 [[ 9.98707005e-01 5.08291240e-02 -8.47572362e-04 6.82765504e+01] [-5.08291093e-02 9.98707365e-01 3.89046906e-05 -1.58207216e+00] [ 8.48454251e-04 4.22696116e-06 9.99999640e-01 -4.95256880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.766559995 meters 0.05320849006947471 Centerline is valid? [True, True] Translation: X:68.34, Y:-1.58, Z:-0.50 [[ 9.98621896e-01 5.24652276e-02 -1.30695581e-03 6.83389401e+01] [-5.24651947e-02 9.98622751e-01 5.95001073e-05 -1.58429525e+00] [ 1.30827749e-03 9.15158092e-06 9.99999144e-01 -4.96285633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.826559995 meters 0.05320849006947471 Centerline is valid? [True, True] Translation: X:68.40, Y:-1.59, Z:-0.50 [[ 9.98615056e-01 5.25952683e-02 -1.30694268e-03 6.84013505e+01] [-5.25952351e-02 9.98615911e-01 5.97910018e-05 -1.58705712e+00] [ 1.30827848e-03 9.03076282e-06 9.99999144e-01 -4.96746312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.886559995 meters 0.05281069907756698 Centerline is valid? [True, True] Translation: X:68.46, Y:-1.59, Z:-0.50 [[ 9.98553149e-01 5.37556464e-02 -1.39224324e-03 6.84636659e+01] [-5.37556098e-02 9.98554120e-01 6.36693859e-05 -1.59003678e+00] [ 1.39365281e-03 1.12636187e-05 9.99999029e-01 -4.97043688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.946559995 meters 0.05281069907756698 Centerline is valid? [True, True] Translation: X:68.53, Y:-1.59, Z:-0.50 [[ 9.98546133e-01 5.38858252e-02 -1.39222951e-03 6.85260761e+01] [-5.38857884e-02 9.98547103e-01 6.39719804e-05 -1.59281411e+00] [ 1.39365393e-03 1.11424111e-05 9.99999029e-01 -4.97504373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.006559995 meters 0.05199962815394514 Centerline is valid? [True, True] Translation: X:68.59, Y:-1.59, Z:-0.50 [[ 9.98496830e-01 5.47995595e-02 -1.04319667e-03 6.85884700e+01] [-5.47995390e-02 9.98497375e-01 4.82355799e-05 -1.59446434e+00] [ 1.04427243e-03 9.00362309e-06 9.99999455e-01 -4.99128285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.066559995 meters 0.05199962815394514 Centerline is valid? [True, True] Translation: X:68.65, Y:-1.60, Z:-0.50 [[ 9.98490053e-01 5.49229119e-02 -1.04319003e-03 6.86508814e+01] [-5.49228913e-02 9.98490598e-01 4.83805684e-05 -1.59727967e+00] [ 1.04427264e-03 8.98749618e-06 9.99999455e-01 -4.99589011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12655999500001 meters 0.05334474941849133 Centerline is valid? [True, True] Translation: X:68.71, Y:-1.60, Z:-0.50 [[ 9.98437579e-01 5.58525187e-02 1.70232849e-03 6.87130691e+01] [-5.58524689e-02 9.98439030e-01 -7.68476350e-05 -1.60226335e+00] [-1.70396334e-03 -1.83516823e-05 9.99998548e-01 -4.96441510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.186559995 meters 0.05276534078641546 Centerline is valid? [True, True] Translation: X:68.77, Y:-1.60, Z:-0.50 [[ 9.98321289e-01 5.77868492e-02 3.90946131e-03 6.87739730e+01] [-5.77865952e-02 9.98328943e-01 -1.77977530e-04 -1.60321997e+00] [-3.91321313e-03 -4.82357006e-05 9.99992342e-01 -4.95810113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.246559995 meters 0.05196340268174524 Centerline is valid? [True, True] Translation: X:68.83, Y:-1.60, Z:-0.50 [[ 9.98004591e-01 6.29459333e-02 4.96435679e-03 6.88339170e+01] [-6.29455834e-02 9.98016935e-01 -2.26850535e-04 -1.60097518e+00] [-4.96879147e-03 -8.60864585e-05 9.99987652e-01 -4.96036480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.306559995 meters 0.05196419324540879 Centerline is valid? [True, True] Translation: X:68.90, Y:-1.60, Z:-0.50 [[ 9.97669975e-01 6.81252267e-02 3.68444887e-03 6.88950436e+01] [-6.81250686e-02 9.97676775e-01 -1.68537283e-04 -1.60203662e+00] [-3.68737070e-03 -8.28587454e-05 9.99993198e-01 -4.97575666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.366559995 meters 0.0504228105943659 Centerline is valid? [True, True] Translation: X:68.96, Y:-1.61, Z:-0.50 [[ 9.97188239e-01 7.49370499e-02 -2.31502501e-04 6.89558042e+01] [-7.49370495e-02 9.97188266e-01 1.06746736e-05 -1.60800605e+00] [ 2.31651506e-04 6.70345542e-06 9.99999973e-01 -4.99669434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.426559995 meters 0.05168802098439888 Centerline is valid? [True, True] Translation: X:69.02, Y:-1.61, Z:-0.50 [[ 9.96980310e-01 7.75919165e-02 -3.12350198e-03 6.90167873e+01] [-7.75918490e-02 9.96985198e-01 1.42969031e-04 -1.61055709e+00] [ 3.12517849e-03 9.98209854e-05 9.99995112e-01 -5.01500823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48655999500001 meters 0.05196752307082569 Centerline is valid? [True, True] Translation: X:69.08, Y:-1.61, Z:-0.50 [[ 9.97117502e-01 7.57821291e-02 -3.70901863e-03 6.90767026e+01] [-7.57820212e-02 9.97124394e-01 1.69823781e-04 -1.61397716e+00] [ 3.71122256e-03 1.11742664e-04 9.99993107e-01 -5.02432008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.546559995 meters 0.05192905072515538 Centerline is valid? [True, True] Translation: X:69.14, Y:-1.63, Z:-0.50 [[ 9.97440396e-01 7.14167871e-02 -3.50686205e-03 6.91368141e+01] [-7.14166637e-02 9.97446557e-01 1.60533706e-04 -1.62527266e+00] [ 3.50937228e-03 9.03255845e-05 9.99993838e-01 -5.00590642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.606559995 meters 0.05199357108302817 Centerline is valid? [True, True] Translation: X:69.20, Y:-1.62, Z:-0.50 [[ 9.97662921e-01 6.83135817e-02 -1.39670894e-03 6.91969531e+01] [-6.83135591e-02 9.97663898e-01 6.39318484e-05 -1.62497351e+00] [ 1.39781350e-03 3.16317243e-05 9.99999023e-01 -5.02255557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.666559995 meters 0.051308654868549915 Centerline is valid? [True, True] Translation: X:69.26, Y:-1.64, Z:-0.50 [[ 9.97928703e-01 6.43288934e-02 3.12924017e-04 6.92573302e+01] [-6.43288921e-02 9.97928752e-01 -1.42127712e-05 -1.63627714e+00] [-3.13190166e-04 -5.94672304e-06 9.99999951e-01 -4.99232729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.726559995 meters 0.05125136416775349 Centerline is valid? [True, True] Translation: X:69.32, Y:-1.64, Z:-0.50 [[ 9.98171194e-01 6.03870161e-02 2.77037931e-03 6.93171434e+01] [-6.03868965e-02 9.98175038e-01 -1.26852685e-04 -1.63909508e+00] [-2.77298373e-03 -4.06739130e-05 9.99996154e-01 -4.98231716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.786559995 meters 0.05169108483170536 Centerline is valid? [True, True] Translation: X:69.38, Y:-1.64, Z:-0.50 [[ 9.98190963e-01 5.99746488e-02 4.22397540e-03 6.93791349e+01] [-5.99743686e-02 9.98199899e-01 -1.93074655e-04 -1.64090983e+00] [-4.22795140e-03 -6.06048815e-05 9.99991060e-01 -4.97951800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.846559995 meters 0.05186368054710654 Centerline is valid? [True, True] Translation: X:69.44, Y:-1.64, Z:-0.50 [[ 9.98068899e-01 6.19180586e-02 4.96264442e-03 6.94407898e+01] [-6.19176925e-02 9.98081233e-01 -2.27529577e-04 -1.63814379e+00] [-4.96721045e-03 -8.01852969e-05 9.99987660e-01 -4.97855748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.906559995 meters 0.05242480225914207 Centerline is valid? [True, True] Translation: X:69.50, Y:-1.63, Z:-0.50 [[ 9.97686384e-01 6.79490244e-02 2.19318466e-03 6.95017236e+01] [-6.79489667e-02 9.97688793e-01 -1.00865242e-04 -1.63419714e+00] [-2.19496945e-03 -4.83927531e-05 9.99997590e-01 -5.00289594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.966559995 meters 0.05336734840000377 Centerline is valid? [True, True] Translation: X:69.56, Y:-1.63, Z:-0.50 [[ 9.97364826e-01 7.25480314e-02 -4.31581009e-04 6.95618643e+01] [-7.25480296e-02 9.97364920e-01 1.98122916e-05 -1.63032495e+00] [ 4.31881101e-04 1.15502690e-05 9.99999907e-01 -5.03760130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.026559995 meters 0.05381604769457831 Centerline is valid? [True, True] Translation: X:69.62, Y:-1.63, Z:-0.50 [[ 9.97281183e-01 7.36845677e-02 -9.09629019e-04 6.96239431e+01] [-7.36845599e-02 9.97281597e-01 4.20790883e-05 -1.63148913e+00] [ 9.10256860e-04 2.50609311e-05 9.99999585e-01 -5.04593658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.086559995 meters 0.05327090388593867 Centerline is valid? [True, True] Translation: X:69.69, Y:-1.63, Z:-0.50 [[ 9.97200021e-01 7.47705074e-02 -1.22049950e-03 6.96858406e+01] [-7.47704935e-02 9.97200767e-01 5.70398839e-05 -1.63233292e+00] [ 1.22134794e-03 3.43771769e-05 9.99999254e-01 -5.03764961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.146559995 meters 0.05379037925228792 Centerline is valid? [True, True] Translation: X:69.75, Y:-1.63, Z:-0.50 [[ 9.97367332e-01 7.25111178e-02 7.36717600e-04 6.97467951e+01] [-7.25111125e-02 9.97367604e-01 -3.39311431e-05 -1.63218666e+00] [-7.37238653e-04 -1.95783991e-05 9.99999728e-01 -5.02606530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.206559995 meters 0.05301725322257935 Centerline is valid? [True, True] Translation: X:69.81, Y:-1.64, Z:-0.50 [[ 9.97464071e-01 7.11447013e-02 1.96411597e-03 6.98082641e+01] [-7.11446610e-02 9.97466004e-01 -9.04859971e-05 -1.63779254e+00] [-1.96557650e-03 -4.94798335e-05 9.99998067e-01 -5.01096028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.266559995 meters 0.05187066166135201 Centerline is valid? [True, True] Translation: X:69.87, Y:-1.64, Z:-0.50 [[ 9.97606179e-01 6.91028989e-02 2.58863755e-03 6.98692244e+01] [-6.91028216e-02 9.97609536e-01 -1.19398549e-04 -1.64338026e+00] [-2.59070029e-03 -5.97694290e-05 9.99996642e-01 -5.00943792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.326559995 meters 0.05152448642346391 Centerline is valid? [True, True] Translation: X:69.93, Y:-1.65, Z:-0.50 [[ 9.97705681e-01 6.76531000e-02 2.53613737e-03 6.99319036e+01] [-6.76530213e-02 9.97708903e-01 -1.16902064e-04 -1.64526797e+00] [-2.53823562e-03 -5.49435025e-05 9.99996777e-01 -5.00896298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.386559995 meters 0.05181884010708926 Centerline is valid? [True, True] Translation: X:69.99, Y:-1.65, Z:-0.50 [[ 9.97711027e-01 6.75688169e-02 2.67615608e-03 6.99934404e+01] [-6.75687294e-02 9.97714614e-01 -1.23189792e-04 -1.64607576e+00] [-2.67836382e-03 -5.79166518e-05 9.99996411e-01 -5.01253218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.446559995 meters 0.0517093566406947 Centerline is valid? [True, True] Translation: X:70.06, Y:-1.65, Z:-0.50 [[ 9.97761522e-01 6.68452649e-02 1.91194892e-03 7.00553882e+01] [-6.68452190e-02 9.97763353e-01 -8.79486679e-05 -1.64720997e+00] [-1.91355152e-03 -4.00528476e-05 9.99998168e-01 -5.01754605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.506559995 meters 0.052191111534041275 Centerline is valid? [True, True] Translation: X:70.12, Y:-1.65, Z:-0.50 [[ 9.97790677e-01 6.64280199e-02 1.04032294e-03 7.01173145e+01] [-6.64280064e-02 9.97791219e-01 -4.76023041e-05 -1.64834329e+00] [-1.04118722e-03 -2.16094438e-05 9.99999458e-01 -5.03238110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.566559995 meters 0.05220804744699883 Centerline is valid? [True, True] Translation: X:70.18, Y:-1.65, Z:-0.50 [[ 9.97830629e-01 6.58326615e-02 3.11191601e-04 7.01790363e+01] [-6.58326604e-02 9.97830677e-01 -1.37205844e-05 -1.64838260e+00] [-3.11419789e-04 -6.79575169e-06 9.99999951e-01 -5.04918612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.626559995 meters 0.05186403001924013 Centerline is valid? [True, True] Translation: X:70.24, Y:-1.65, Z:-0.51 [[ 9.97911169e-01 6.46010033e-02 -9.58953493e-05 7.02407480e+01] [-6.46010031e-02 9.97911174e-01 5.27577033e-06 -1.65243993e+00] [ 9.60358606e-05 9.30185616e-07 9.99999995e-01 -5.05111551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.686559995 meters 0.05279664313622513 Centerline is valid? [True, True] Translation: X:70.30, Y:-1.65, Z:-0.51 [[ 9.97911789e-01 6.45912871e-02 1.65281858e-04 7.03024355e+01] [-6.45912868e-02 9.97911803e-01 -7.00543408e-06 -1.65158557e+00] [-1.65389206e-04 -3.68496261e-06 9.99999986e-01 -5.05933893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.746559995 meters 0.05304853204104642 Centerline is valid? [True, True] Translation: X:70.36, Y:-1.65, Z:-0.51 [[ 9.97833194e-01 6.57942901e-02 -1.69133454e-04 7.03637023e+01] [-6.57942896e-02 9.97833208e-01 8.65661525e-06 -1.64861591e+00] [ 1.69336533e-04 2.49015742e-06 9.99999986e-01 -5.08021278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.806559995 meters 0.05256936670915891 Centerline is valid? [True, True] Translation: X:70.43, Y:-1.65, Z:-0.51 [[ 9.97788227e-01 6.64697310e-02 -6.54636808e-04 7.04252843e+01] [-6.64697246e-02 9.97788442e-01 3.15096357e-05 -1.65126780e+00] [ 6.55283478e-04 1.20735848e-05 9.99999785e-01 -5.08361087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.866559995 meters 0.05258083984970112 Centerline is valid? [True, True] Translation: X:70.49, Y:-1.65, Z:-0.51 [[ 9.97740323e-01 6.71752945e-02 -1.31451235e-03 7.04871651e+01] [-6.71752702e-02 9.97741188e-01 6.27355587e-05 -1.65131943e+00] [ 1.31575739e-03 2.57089256e-05 9.99999134e-01 -5.09280212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.926559995 meters 0.05236219879768974 Centerline is valid? [True, True] Translation: X:70.55, Y:-1.65, Z:-0.51 [[ 9.97707868e-01 6.76370309e-02 -2.05963481e-03 7.05489471e+01] [-6.76369725e-02 9.97709993e-01 9.80701266e-05 -1.65194441e+00] [ 2.06155140e-03 4.14621258e-05 9.99997874e-01 -5.10926663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98655999500001 meters 0.053355019600978326 Centerline is valid? [True, True] Translation: X:70.61, Y:-1.65, Z:-0.51 [[ 9.97749546e-01 6.70126775e-02 -2.26794078e-03 7.06111123e+01] [-6.70126047e-02 9.97752123e-01 1.08144126e-04 -1.65386843e+00] [ 2.27008976e-03 4.40798666e-05 9.99997422e-01 -5.12304391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.046559995 meters 0.05213567426048002 Centerline is valid? [True, True] Translation: X:70.67, Y:-1.66, Z:-0.51 [[ 9.97791928e-01 6.64028627e-02 -1.38896604e-03 7.06728761e+01] [-6.64028342e-02 9.97792894e-01 6.66753660e-05 -1.65622007e+00] [ 1.39032788e-03 2.57031398e-05 9.99999033e-01 -5.12135190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.106559995 meters 0.052690217482595225 Centerline is valid? [True, True] Translation: X:70.73, Y:-1.66, Z:-0.51 [[ 9.97896536e-01 6.48255580e-02 3.88376284e-04 7.07346433e+01] [-6.48255558e-02 9.97896611e-01 -1.82718083e-05 -1.66097678e+00] [-3.88743858e-04 -6.94333425e-06 9.99999924e-01 -5.11609755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.166559995 meters 0.05286671841169781 Centerline is valid? [True, True] Translation: X:70.80, Y:-1.67, Z:-0.51 [[ 9.97887881e-01 6.49311992e-02 1.92802937e-03 7.07967601e+01] [-6.49311447e-02 9.97889742e-01 -9.09565131e-05 -1.66644918e+00] [-1.92986664e-03 -3.44247516e-05 9.99998137e-01 -5.10178292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.226559995 meters 0.05270482067075963 Centerline is valid? [True, True] Translation: X:70.86, Y:-1.67, Z:-0.51 [[ 9.97569823e-01 6.96738459e-02 -5.46856799e-05 7.08570940e+01] [-6.96738458e-02 9.97569825e-01 2.62045891e-06 -1.66688887e+00] [ 5.47353615e-05 1.19607089e-06 9.99999999e-01 -5.12297599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.286559995 meters 0.052959874894981634 Centerline is valid? [True, True] Translation: X:70.92, Y:-1.67, Z:-0.51 [[ 9.97343673e-01 7.28326261e-02 -1.00286522e-03 7.09182317e+01] [-7.28326149e-02 9.97344177e-01 4.77785117e-05 -1.66598522e+00] [ 1.00368163e-03 2.53897002e-05 9.99999496e-01 -5.14421440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.346559995 meters 0.05412184411197186 Centerline is valid? [True, True] Translation: X:70.98, Y:-1.66, Z:-0.52 [[ 9.96883359e-01 7.88661533e-02 -1.92338375e-03 7.09792348e+01] [-7.88661233e-02 9.96885212e-01 9.15536071e-05 -1.66449989e+00] [ 1.92461330e-03 6.04215525e-05 9.99998146e-01 -5.15115052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.406559995 meters 0.05448779420221153 Centerline is valid? [True, True] Translation: X:71.04, Y:-1.66, Z:-0.52 [[ 9.96615888e-01 8.21640481e-02 -2.41671164e-03 7.10403068e+01] [-8.21640104e-02 9.96618815e-01 1.15042914e-04 -1.66439801e+00] [ 2.41799269e-03 8.39131247e-05 9.99997073e-01 -5.15962486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.466559995 meters 0.05534570331266806 Centerline is valid? [True, True] Translation: X:71.10, Y:-1.66, Z:-0.52 [[ 9.96417112e-01 8.45229129e-02 -2.96926216e-03 7.11012787e+01] [-8.45228664e-02 9.96421530e-01 1.41392190e-04 -1.66295793e+00] [ 2.97058763e-03 1.10084951e-04 9.99995582e-01 -5.17637508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.526559995 meters 0.05620731922512289 Centerline is valid? [True, True] Translation: X:71.16, Y:-1.66, Z:-0.52 [[ 9.96272062e-01 8.62032483e-02 -3.31346825e-03 7.11627556e+01] [-8.62031992e-02 9.96277563e-01 1.57879613e-04 -1.66255473e+00] [ 3.31474381e-03 1.28340516e-04 9.99994498e-01 -5.18371786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.586559995 meters 0.05543561342618938 Centerline is valid? [True, True] Translation: X:71.22, Y:-1.67, Z:-0.52 [[ 9.96426086e-01 8.44130336e-02 -3.08131941e-03 7.12235261e+01] [-8.44129827e-02 9.96430844e-01 1.46794459e-04 -1.66613942e+00] [ 3.08271306e-03 1.13833533e-04 9.99995242e-01 -5.18952457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.646559995 meters 0.05525715644484839 Centerline is valid? [True, True] Translation: X:71.28, Y:-1.67, Z:-0.52 [[ 9.96698172e-01 8.11706751e-02 -2.01897905e-03 7.12843588e+01] [-8.11706471e-02 9.96700214e-01 9.59518638e-05 -1.67102499e+00] [ 2.02010533e-03 6.82467886e-05 9.99997957e-01 -5.18509871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.706559995 meters 0.05508922220375815 Centerline is valid? [True, True] Translation: X:71.35, Y:-1.68, Z:-0.52 [[ 9.96848050e-01 7.93184125e-02 -1.59818521e-03 7.13462827e+01] [-7.93183921e-02 9.96849330e-01 7.62739614e-05 -1.67507805e+00] [ 1.59919978e-03 5.07319312e-05 9.99998720e-01 -5.18768141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.766559995 meters 0.055242115131349315 Centerline is valid? [True, True] Translation: X:71.41, Y:-1.68, Z:-0.52 [[ 9.97058137e-01 7.66377521e-02 -1.31414682e-03 7.14064595e+01] [-7.66377361e-02 9.97059002e-01 6.25844809e-05 -1.68000900e+00] [ 1.31507825e-03 3.83128716e-05 9.99999135e-01 -5.19525117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.826559995 meters 0.05502547118679181 Centerline is valid? [True, True] Translation: X:71.47, Y:-1.69, Z:-0.52 [[ 9.97221451e-01 7.44897825e-02 -8.06536095e-04 7.14681341e+01] [-7.44897755e-02 9.97221777e-01 3.86957741e-05 -1.68574063e+00] [ 8.07177797e-04 2.14904367e-05 9.99999674e-01 -5.20021228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.886559995 meters 0.05447889062454651 Centerline is valid? [True, True] Translation: X:71.53, Y:-1.69, Z:-0.52 [[ 9.97371521e-01 7.24523290e-02 8.42304617e-04 7.15299631e+01] [-7.24523211e-02 9.97371876e-01 -3.99321076e-05 -1.68943645e+00] [-8.42984111e-04 -2.11997777e-05 9.99999644e-01 -5.19824986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.946559995 meters 0.054090671571651226 Centerline is valid? [True, True] Translation: X:71.59, Y:-1.69, Z:-0.52 [[ 9.97400126e-01 7.20048758e-02 2.87862734e-03 7.15918223e+01] [-7.20047806e-02 9.97404278e-01 -1.36819938e-04 -1.69133487e+00] [-2.88100693e-03 -7.08107070e-05 9.99995847e-01 -5.18992916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.006559995 meters 0.0545893390845499 Centerline is valid? [True, True] Translation: X:71.66, Y:-1.69, Z:-0.52 [[ 9.97373382e-01 7.23387991e-02 3.66541202e-03 7.16550648e+01] [-7.23386451e-02 9.97380113e-01 -1.74748927e-04 -1.69262787e+00] [-3.66845018e-03 -9.08610106e-05 9.99993267e-01 -5.19198932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.066559995 meters 0.055562689877694964 Centerline is valid? [True, True] Translation: X:71.72, Y:-1.69, Z:-0.52 [[ 9.97231888e-01 7.42774074e-02 3.38067598e-03 7.17165916e+01] [-7.42772850e-02 9.97237614e-01 -1.61920256e-04 -1.69183156e+00] [-3.38336427e-03 -8.96353914e-05 9.99994272e-01 -5.20870001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.126559995 meters 0.058578089734148804 Centerline is valid? [True, True] Translation: X:71.78, Y:-1.68, Z:-0.52 [[ 9.96537860e-01 8.31302376e-02 1.28762253e-03 7.17777514e+01] [-8.31302272e-02 9.96538690e-01 -6.16737968e-05 -1.68221834e+00] [-1.28829263e-03 -4.55800799e-05 9.99999169e-01 -5.24925829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.186559995 meters 0.05984883960932984 Centerline is valid? [True, True] Translation: X:71.84, Y:-1.68, Z:-0.53 [[ 9.96398198e-01 8.47947775e-02 6.90046754e-04 7.18390838e+01] [-8.47947749e-02 9.96398437e-01 -3.29794631e-05 -1.68226418e+00] [-6.90357993e-04 -2.56516815e-05 9.99999761e-01 -5.26417788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.246559995 meters 0.06014966412608142 Centerline is valid? [True, True] Translation: X:71.90, Y:-1.68, Z:-0.53 [[ 9.96283532e-01 8.61338197e-02 2.99819367e-04 7.19001824e+01] [-8.61338193e-02 9.96283577e-01 -1.42726237e-05 -1.68401564e+00] [-2.99934467e-04 -1.16050072e-05 9.99999955e-01 -5.27308797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.306559995 meters 0.0615133882743066 Centerline is valid? [True, True] Translation: X:71.96, Y:-1.68, Z:-0.53 [[ 9.96178063e-01 8.73454736e-02 -1.89029972e-04 7.19615206e+01] [-8.73454734e-02 9.96178081e-01 9.17655578e-06 -1.68330947e+00] [ 1.89109045e-04 7.36942882e-06 9.99999982e-01 -5.29784489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.366559995 meters 0.06156224964062997 Centerline is valid? [True, True] Translation: X:72.02, Y:-1.69, Z:-0.53 [[ 9.96254660e-01 8.64653503e-02 6.28942878e-04 7.20225464e+01] [-8.64653485e-02 9.96254858e-01 -3.00774823e-05 -1.68554498e+00] [-6.29188058e-04 -2.44169333e-05 9.99999802e-01 -5.29270956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.426559995 meters 0.06067010215217397 Centerline is valid? [True, True] Translation: X:72.08, Y:-1.69, Z:-0.53 [[ 9.96477689e-01 8.38233915e-02 2.41965777e-03 7.20833449e+01] [-8.38233564e-02 9.96480623e-01 -1.16106679e-04 -1.69096709e+00] [-2.42087454e-03 -8.71261211e-05 9.99997066e-01 -5.26915600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48655999500001 meters 0.05092433578391634 Centerline is valid? [True, True] Translation: X:72.14, Y:-1.73, Z:-0.52 [[ 9.96731530e-01 8.06579368e-02 4.53372348e-03 7.21427001e+01] [-8.06577805e-02 9.96741830e-01 -2.17600383e-04 -1.72925299e+00] [-4.53650303e-03 -1.48790911e-04 9.99989699e-01 -5.22058459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.546559995 meters 0.05161448777324842 Centerline is valid? [True, True] Translation: X:72.20, Y:-1.73, Z:-0.52 [[ 9.96872505e-01 7.88601355e-02 5.12717168e-03 7.22036493e+01] [-7.88599120e-02 9.96885677e-01 -2.46063107e-04 -1.72837747e+00] [-5.13060858e-03 -1.59034761e-04 9.99986826e-01 -5.23208269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.606559995 meters 0.051676075474417195 Centerline is valid? [True, True] Translation: X:72.27, Y:-1.73, Z:-0.53 [[ 9.96904546e-01 7.85329661e-02 3.72806083e-03 7.22654250e+01] [-7.85328467e-02 9.96911511e-01 -1.78635860e-04 -1.72576075e+00] [-3.73057556e-03 -1.14692329e-04 9.99993035e-01 -5.26002711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.666559995 meters 0.05245835472169837 Centerline is valid? [True, True] Translation: X:72.33, Y:-1.72, Z:-0.53 [[ 9.96952024e-01 7.79880962e-02 2.12560037e-03 7.23269469e+01] [-7.79880563e-02 9.96954288e-01 -1.01759753e-04 -1.72258102e+00] [-2.12706245e-03 -6.43218490e-05 9.99997736e-01 -5.28551728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.726559995 meters 0.05155497333156271 Centerline is valid? [True, True] Translation: X:72.39, Y:-1.73, Z:-0.53 [[ 9.96966216e-01 7.78103786e-02 1.97711458e-03 7.23882138e+01] [-7.78103436e-02 9.96968175e-01 -9.47428362e-05 -1.73324784e+00] [-1.97849229e-03 -5.93845582e-05 9.99998041e-01 -5.28837764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.786559995 meters 0.05160010800975568 Centerline is valid? [True, True] Translation: X:72.45, Y:-1.74, Z:-0.53 [[ 9.97022001e-01 7.71157636e-02 5.37773903e-04 7.24500962e+01] [-7.71157612e-02 9.97022146e-01 -2.52505449e-05 -1.73596962e+00] [-5.38119706e-04 -1.62954950e-05 9.99999855e-01 -5.30046563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.846559995 meters 0.05082782168487958 Centerline is valid? [True, True] Translation: X:72.51, Y:-1.74, Z:-0.53 [[ 9.97137622e-01 7.56048686e-02 6.83758824e-04 7.25111477e+01] [-7.56048638e-02 9.97137856e-01 -3.30072158e-05 -1.74455870e+00] [-6.84297314e-04 -1.87827561e-05 9.99999766e-01 -5.29224061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.906559995 meters 0.050581902229951306 Centerline is valid? [True, True] Translation: X:72.57, Y:-1.75, Z:-0.53 [[ 9.97041972e-01 7.68562378e-02 6.51562076e-04 7.25733580e+01] [-7.68562337e-02 9.97042185e-01 -3.13516590e-05 -1.74815810e+00] [-6.52044447e-04 -1.88176873e-05 9.99999787e-01 -5.29615556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.966559995 meters 0.05165443093477349 Centerline is valid? [True, True] Translation: X:72.63, Y:-1.74, Z:-0.53 [[ 9.96927347e-01 7.83218514e-02 1.24565078e-03 7.26349431e+01] [-7.83218375e-02 9.96928125e-01 -6.00612951e-05 -1.74381836e+00] [-1.24652841e-03 -3.76849102e-05 9.99999222e-01 -5.30762186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.026559995 meters 0.050948576311528604 Centerline is valid? [True, True] Translation: X:72.70, Y:-1.75, Z:-0.53 [[ 9.96592859e-01 8.24333387e-02 2.72347252e-03 7.26954535e+01] [-8.24332850e-02 9.96596576e-01 -1.32159429e-04 -1.74912355e+00] [-2.72509773e-03 -9.27956429e-05 9.99996283e-01 -5.29144260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.086559995 meters 0.05117588552591756 Centerline is valid? [True, True] Translation: X:72.76, Y:-1.75, Z:-0.53 [[ 9.96271552e-01 8.62295842e-02 2.73007757e-03 7.27564179e+01] [-8.62295445e-02 9.96275287e-01 -1.32482574e-04 -1.74966085e+00] [-2.73133273e-03 -1.03424725e-04 9.99996265e-01 -5.29094857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.146559995 meters 0.052284778934686194 Centerline is valid? [True, True] Translation: X:72.82, Y:-1.74, Z:-0.53 [[ 9.95877750e-01 9.06876908e-02 1.80252105e-03 7.28164794e+01] [-9.06876810e-02 9.95879379e-01 -8.73056439e-05 -1.74127896e+00] [-1.80301109e-03 -7.65207054e-05 9.99998372e-01 -5.31167325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.206559995 meters 0.05067921534161616 Centerline is valid? [True, True] Translation: X:72.88, Y:-1.75, Z:-0.53 [[ 9.95693451e-01 9.26947685e-02 1.49410648e-03 7.28774527e+01] [-9.26947639e-02 9.95694569e-01 -7.24753005e-05 -1.75201516e+00] [-1.49439179e-03 -6.63326657e-05 9.99998881e-01 -5.30388907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.266559995 meters 0.05307471288836965 Centerline is valid? [True, True] Translation: X:72.94, Y:-1.74, Z:-0.53 [[ 9.95801980e-01 9.15156415e-02 1.81795767e-03 7.29381305e+01] [-9.15156330e-02 9.95803636e-01 -8.80672594e-05 -1.74498938e+00] [-1.81838839e-03 -7.86739957e-05 9.99998344e-01 -5.31600868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.326559995 meters 0.0523737287667261 Centerline is valid? [True, True] Translation: X:73.00, Y:-1.75, Z:-0.53 [[ 9.96378081e-01 8.49836489e-02 2.91542806e-03 7.29985165e+01] [-8.49835975e-02 9.96382340e-01 -1.41744832e-04 -1.75119183e+00] [-2.91692703e-03 -1.06532122e-04 9.99995740e-01 -5.31288281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.386559995 meters 0.05593683621437237 Centerline is valid? [True, True] Translation: X:73.06, Y:-1.74, Z:-0.53 [[ 9.96648713e-01 8.17456610e-02 2.99825484e-03 7.30600670e+01] [-8.17455918e-02 9.96653218e-01 -1.45813954e-04 -1.74259099e+00] [-3.00014000e-03 -9.97688270e-05 9.99995495e-01 -5.33107866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.446559995 meters 0.05118542440563082 Centerline is valid? [True, True] Translation: X:73.12, Y:-1.77, Z:-0.53 [[ 9.97337712e-01 7.28220721e-02 3.79914786e-03 7.31192064e+01] [-7.28218963e-02 9.97344944e-01 -1.84777541e-04 -1.76827604e+00] [-3.80251680e-03 -9.23755418e-05 9.99992766e-01 -5.30772400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.506559995 meters 0.051643397432653115 Centerline is valid? [True, True] Translation: X:73.18, Y:-1.77, Z:-0.53 [[ 9.98030059e-01 6.26513535e-02 3.28786292e-03 7.31797379e+01] [-6.26511666e-02 9.98035473e-01 -1.59924085e-04 -1.77413083e+00] [-3.29142328e-03 -4.63794034e-05 9.99994582e-01 -5.31663688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.566559995 meters 0.051019188583195235 Centerline is valid? [True, True] Translation: X:73.24, Y:-1.78, Z:-0.53 [[ 9.98415655e-01 5.61943312e-02 2.89443546e-03 7.32411745e+01] [-5.61941595e-02 9.98419850e-01 -1.40673209e-04 -1.78177591e+00] [-2.89776685e-03 -2.22000342e-05 9.99995801e-01 -5.31512207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.626559995 meters 0.051901889916329644 Centerline is valid? [True, True] Translation: X:73.30, Y:-1.79, Z:-0.53 [[ 9.98852582e-01 4.78607076e-02 1.69496146e-03 7.33018169e+01] [-4.78606375e-02 9.98854020e-01 -8.18805723e-05 -1.79024757e+00] [-1.69693793e-03 6.64684931e-07 9.99998560e-01 -5.31875438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.686559995 meters 0.05235534263630595 Centerline is valid? [True, True] Translation: X:73.36, Y:-1.80, Z:-0.53 [[ 9.99127169e-01 4.17694546e-02 -4.61885608e-04 7.33637168e+01] [-4.17694485e-02 9.99127276e-01 2.28511002e-05 -1.79800970e+00] [ 4.62436987e-04 -3.53844795e-06 9.99999893e-01 -5.33897610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.746559995 meters 0.052712203010264164 Centerline is valid? [True, True] Translation: X:73.43, Y:-1.80, Z:-0.53 [[ 9.99283285e-01 3.78257528e-02 -1.45874241e-03 7.34256187e+01] [-3.78256887e-02 9.99284350e-01 7.14987682e-05 -1.80491915e+00] [ 1.46040295e-03 -1.62695879e-05 9.99998933e-01 -5.34032750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.806559995 meters 0.053361684556876336 Centerline is valid? [True, True] Translation: X:73.49, Y:-1.81, Z:-0.53 [[ 9.99428066e-01 3.38126148e-02 4.97360220e-04 7.34878276e+01] [-3.38126071e-02 9.99428190e-01 -2.40031755e-05 -1.81336515e+00] [-4.97887435e-04 7.17240156e-06 9.99999876e-01 -5.32375837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.866559995 meters 0.053066720139455015 Centerline is valid? [True, True] Translation: X:73.55, Y:-1.82, Z:-0.53 [[ 9.99469715e-01 3.25264407e-02 1.52311159e-03 7.35483846e+01] [-3.25263651e-02 9.99470875e-01 -7.43622132e-05 -1.81813184e+00] [-1.52472441e-03 2.47814964e-05 9.99998837e-01 -5.32139885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.926559995 meters 0.05315116307468704 Centerline is valid? [True, True] Translation: X:73.61, Y:-1.82, Z:-0.53 [[ 9.99476272e-01 3.23120854e-02 1.76379745e-03 7.36106401e+01] [-3.23119843e-02 9.99477828e-01 -8.57936154e-05 -1.82353824e+00] [-1.76564862e-03 2.87568872e-05 9.99998441e-01 -5.32337052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98655999500001 meters 0.052125340871542816 Centerline is valid? [True, True] Translation: X:73.67, Y:-1.83, Z:-0.53 [[ 9.99461992e-01 3.27408171e-02 1.94038385e-03 7.36729884e+01] [-3.27406955e-02 9.99463875e-01 -9.44324577e-05 -1.82746932e+00] [-1.94243536e-03 3.08521357e-05 9.99998113e-01 -5.32151108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.046559995 meters 0.052582958205844264 Centerline is valid? [True, True] Translation: X:73.73, Y:-1.83, Z:-0.53 [[ 9.99364984e-01 3.55617505e-02 2.23408942e-03 7.37343107e+01] [-3.55615943e-02 9.99367480e-01 -1.09614769e-04 -1.82884585e+00] [-2.23657440e-03 3.00973799e-05 9.99997498e-01 -5.32616166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.106559995 meters 0.053060293795221494 Centerline is valid? [True, True] Translation: X:73.80, Y:-1.83, Z:-0.53 [[ 9.99305848e-01 3.72066468e-02 1.86773058e-03 7.37954019e+01] [-3.72065410e-02 9.99307593e-01 -9.13817529e-05 -1.82817467e+00] [-1.86983736e-03 2.18265255e-05 9.99998252e-01 -5.32728581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.166559995 meters 0.05258888721517812 Centerline is valid? [True, True] Translation: X:73.86, Y:-1.83, Z:-0.53 [[ 9.99258659e-01 3.84660016e-02 1.58114527e-03 7.38575283e+01] [-3.84659271e-02 9.99259909e-01 -7.75207196e-05 -1.83177010e+00] [-1.58295699e-03 1.66430316e-05 9.99998747e-01 -5.32953723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.226559995 meters 0.05298736262104857 Centerline is valid? [True, True] Translation: X:73.92, Y:-1.84, Z:-0.54 [[ 9.99247802e-01 3.87668486e-02 9.80271706e-04 7.39191047e+01] [-3.87668207e-02 9.99248283e-01 -4.74387834e-05 -1.83704912e+00] [-9.81373872e-04 9.40108258e-06 9.99999518e-01 -5.35650915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.286559995 meters 0.05324447817789143 Centerline is valid? [True, True] Translation: X:73.98, Y:-1.84, Z:-0.53 [[ 9.99236157e-01 3.90779656e-02 1.23979510e-04 7.39808250e+01] [-3.90779653e-02 9.99236165e-01 -5.26287551e-06 -1.83651891e+00] [-1.24090473e-04 4.13988501e-07 9.99999992e-01 -5.34880348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.346559995 meters 0.05305553854911118 Centerline is valid? [True, True] Translation: X:74.04, Y:-1.84, Z:-0.54 [[ 9.99214362e-01 3.96298379e-02 -3.67723325e-04 7.40437932e+01] [-3.96298337e-02 9.99214429e-01 1.86443678e-05 -1.83963941e+00] [ 3.68173325e-04 -4.05690588e-06 9.99999932e-01 -5.36118392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.406559995 meters 0.05249292541573595 Centerline is valid? [True, True] Translation: X:74.10, Y:-1.84, Z:-0.54 [[ 9.99174132e-01 4.06324943e-02 -2.32301825e-04 7.41049258e+01] [-4.06324926e-02 9.99174159e-01 1.23292529e-05 -1.84482661e+00] [ 2.32610949e-04 -2.88006836e-06 9.99999973e-01 -5.37337645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.466559995 meters 0.05338529135487829 Centerline is valid? [True, True] Translation: X:74.17, Y:-1.85, Z:-0.54 [[ 9.99119345e-01 4.19581453e-02 2.18856512e-04 7.41665999e+01] [-4.19581441e-02 9.99119369e-01 -1.00625251e-05 -1.84636061e+00] [-2.19085985e-04 8.70850398e-07 9.99999976e-01 -5.35724699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.526559995 meters 0.053141490144876666 Centerline is valid? [True, True] Translation: X:74.23, Y:-1.85, Z:-0.54 [[ 9.99034360e-01 4.39264354e-02 9.03100740e-04 7.42286173e+01] [-4.39264134e-02 9.99034768e-01 -4.42775258e-05 -1.84900796e+00] [-9.04173992e-04 4.56479330e-06 9.99999591e-01 -5.35483159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.586559995 meters 0.05211072500531204 Centerline is valid? [True, True] Translation: X:74.29, Y:-1.86, Z:-0.54 [[ 9.98965901e-01 4.54240759e-02 1.94469545e-03 7.42893490e+01] [-4.54239743e-02 9.98967794e-01 -9.63878825e-05 -1.85506179e+00] [-1.94706645e-03 7.95241186e-06 9.99998104e-01 -5.37414532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.646559995 meters 0.05202645906064095 Centerline is valid? [True, True] Translation: X:74.35, Y:-1.86, Z:-0.54 [[ 9.98886401e-01 4.71326921e-02 2.11357224e-03 7.43511717e+01] [-4.71325746e-02 9.98888637e-01 -1.05387546e-04 -1.85924716e+00] [-2.11619049e-03 5.65208515e-06 9.99997761e-01 -5.38688830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.706559995 meters 0.052432538971251115 Centerline is valid? [True, True] Translation: X:74.41, Y:-1.86, Z:-0.54 [[ 9.98744962e-01 5.00712783e-02 1.16937975e-03 7.44146108e+01] [-5.00712451e-02 9.98745647e-01 -5.76358027e-05 -1.86092702e+00] [-1.17079883e-03 -9.88832328e-07 9.99999315e-01 -5.36953165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.766559995 meters 0.05180788167269651 Centerline is valid? [True, True] Translation: X:74.48, Y:-1.86, Z:-0.54 [[ 9.98639732e-01 5.21348575e-02 -8.01790335e-04 7.44759943e+01] [-5.21348414e-02 9.98640054e-01 4.10527782e-05 -1.86378444e+00] [ 8.02840224e-04 8.04276509e-07 9.99999678e-01 -5.40189578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.826559995 meters 0.052070877415346384 Centerline is valid? [True, True] Translation: X:74.54, Y:-1.87, Z:-0.54 [[ 9.98643202e-01 5.20424953e-02 -1.82576214e-03 7.45381886e+01] [-5.20424139e-02 9.98644871e-01 9.20825991e-05 -1.87054206e+00] [ 1.82808021e-03 3.05940733e-06 9.99998329e-01 -5.40281144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.886559995 meters 0.05190420118908536 Centerline is valid? [True, True] Translation: X:74.60, Y:-1.88, Z:-0.54 [[ 9.98824410e-01 4.84666766e-02 -8.82420749e-04 7.45995457e+01] [-4.84666555e-02 9.98824800e-01 4.52811094e-05 -1.87760642e+00] [ 8.83578353e-04 -2.45989493e-06 9.99999610e-01 -5.37504172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.946559995 meters 0.0514120510678449 Centerline is valid? [True, True] Translation: X:74.66, Y:-1.88, Z:-0.54 [[ 9.98934919e-01 4.61408246e-02 -2.26137198e-04 7.46609719e+01] [-4.61408231e-02 9.98934945e-01 1.19334986e-05 -1.88356314e+00] [ 2.26446971e-04 -1.48663200e-06 9.99999974e-01 -5.40357940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.006559995 meters 0.05180763682431606 Centerline is valid? [True, True] Translation: X:74.72, Y:-1.89, Z:-0.54 [[ 9.98961111e-01 4.55645908e-02 7.53166767e-04 7.47227055e+01] [-4.55645753e-02 9.98961395e-01 -3.77566741e-05 -1.88777324e+00] [-7.54104891e-04 3.39972521e-06 9.99999716e-01 -5.39695966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.066559995 meters 0.05204734406649708 Centerline is valid? [True, True] Translation: X:74.78, Y:-1.89, Z:-0.54 [[ 9.98867182e-01 4.75852100e-02 -2.80174509e-05 7.47846778e+01] [-4.75852099e-02 9.98867182e-01 2.31873390e-06 -1.89134788e+00] [ 2.80960496e-05 -9.82890915e-07 1.00000000e+00 -5.42002779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.126559995 meters 0.05097357971710508 Centerline is valid? [True, True] Translation: X:74.85, Y:-1.89, Z:-0.54 [[ 9.98586378e-01 5.31506568e-02 -5.04219266e-04 7.48482500e+01] [-5.31506505e-02 9.98586505e-01 2.59483743e-05 -1.89099739e+00] [ 5.04885728e-04 8.87888898e-07 9.99999873e-01 -5.42508729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.186559995 meters 0.051662094947936256 Centerline is valid? [True, True] Translation: X:74.91, Y:-1.89, Z:-0.54 [[ 9.98311597e-01 5.80808162e-02 7.58333312e-04 7.49100354e+01] [-5.80808044e-02 9.98311885e-01 -3.76607506e-05 -1.89231278e+00] [-7.59240525e-04 -6.44744464e-06 9.99999712e-01 -5.40386983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.246559995 meters 0.0519648878455505 Centerline is valid? [True, True] Translation: X:74.97, Y:-1.89, Z:-0.54 [[ 9.97884022e-01 6.50142614e-02 7.90766382e-04 7.49702909e+01] [-6.50142500e-02 9.97884335e-01 -4.01605643e-05 -1.88550076e+00] [-7.91704395e-04 -1.13354979e-05 9.99999687e-01 -5.43723808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.306559995 meters 0.0516866966842753 Centerline is valid? [True, True] Translation: X:75.03, Y:-1.89, Z:-0.54 [[ 9.97663561e-01 6.83184790e-02 7.20724376e-05 7.50316471e+01] [-6.83184789e-02 9.97663563e-01 -3.54430655e-06 -1.89090594e+00] [-7.21461866e-05 -1.38785381e-06 9.99999997e-01 -5.42755777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.366559995 meters 0.05144746164457364 Centerline is valid? [True, True] Translation: X:75.09, Y:-1.89, Z:-0.54 [[ 9.97581325e-01 6.95008100e-02 -1.06638058e-03 7.50927117e+01] [-6.95007909e-02 9.97581895e-01 5.50404074e-05 -1.89148404e+00] [ 1.06762731e-03 1.92070112e-05 9.99999430e-01 -5.44087406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.426559995 meters 0.05172901183599303 Centerline is valid? [True, True] Translation: X:75.15, Y:-1.90, Z:-0.54 [[ 9.97712851e-01 6.75493913e-02 -2.47909234e-03 7.51542179e+01] [-6.75492834e-02 9.97715931e-01 1.27289580e-04 -1.89790237e+00] [ 2.48202826e-03 4.04624612e-05 9.99996919e-01 -5.44028269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48655999500001 meters 0.05121181917679124 Centerline is valid? [True, True] Translation: X:75.21, Y:-1.90, Z:-0.54 [[ 9.97915481e-01 6.44707267e-02 -2.86661420e-03 7.52149805e+01] [-6.44705718e-02 9.97919598e-01 1.46492677e-04 -1.90397491e+00] [ 2.87009498e-03 3.86249462e-05 9.99995881e-01 -5.43644179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.546559995 meters 0.05162968448869409 Centerline is valid? [True, True] Translation: X:75.28, Y:-1.91, Z:-0.54 [[ 9.98294952e-01 5.83311569e-02 -2.15996265e-03 7.52758299e+01] [-5.83310544e-02 9.98297288e-01 1.10479765e-04 -1.91035655e+00] [ 2.16272927e-03 1.57015072e-05 9.99997661e-01 -5.43954612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.606559995 meters 0.05110921957314027 Centerline is valid? [True, True] Translation: X:75.34, Y:-1.92, Z:-0.55 [[ 9.98614793e-01 5.25876906e-02 -1.74096266e-03 7.53369769e+01] [-5.25876138e-02 9.98616310e-01 8.98701842e-05 -1.91630781e+00] [ 1.74327977e-03 1.80737660e-06 9.99998480e-01 -5.47842840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.666559995 meters 0.05206212097551225 Centerline is valid? [True, True] Translation: X:75.40, Y:-1.92, Z:-0.55 [[ 9.98964809e-01 4.54860069e-02 -5.77178614e-04 7.53988667e+01] [-4.54859969e-02 9.98964976e-01 3.03834812e-05 -1.92280180e+00] [ 5.77963243e-04 -4.09848381e-06 9.99999833e-01 -5.45062862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.726559995 meters 0.051645048296431344 Centerline is valid? [True, True] Translation: X:75.46, Y:-1.93, Z:-0.55 [[ 9.99060900e-01 4.33277722e-02 -1.47347880e-04 7.54604525e+01] [-4.33277715e-02 9.99060911e-01 7.86864985e-06 -1.92744405e+00] [ 1.47550438e-04 -1.47700515e-06 9.99999989e-01 -5.45094270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.786559995 meters 0.0514657588907578 Centerline is valid? [True, True] Translation: X:75.52, Y:-1.93, Z:-0.54 [[ 9.98967730e-01 4.54239133e-02 3.77416347e-04 7.55228039e+01] [-4.54239096e-02 9.98967801e-01 -1.85489036e-05 -1.92757152e+00] [-3.77869342e-04 1.38603008e-06 9.99999929e-01 -5.44943474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.846559995 meters 0.05238043961541972 Centerline is valid? [True, True] Translation: X:75.58, Y:-1.93, Z:-0.55 [[ 9.98830999e-01 4.83387475e-02 2.93750272e-05 7.55837492e+01] [-4.83387475e-02 9.98830999e-01 -7.37242857e-07 -1.92680686e+00] [-2.93763252e-05 -6.83571003e-07 1.00000000e+00 -5.45680379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.906559995 meters 0.051643174056237875 Centerline is valid? [True, True] Translation: X:75.65, Y:-1.93, Z:-0.55 [[ 9.98667962e-01 5.15934870e-02 6.43528003e-04 7.56462619e+01] [-5.15934765e-02 9.98668169e-01 -3.29246676e-05 -1.92676749e+00] [-6.44369631e-04 -3.21036240e-07 9.99999792e-01 -5.47444822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.966559995 meters 0.052020844203568194 Centerline is valid? [True, True] Translation: X:75.71, Y:-1.93, Z:-0.55 [[ 9.98521801e-01 5.43512748e-02 3.90540436e-04 7.57088981e+01] [-5.43512711e-02 9.98521877e-01 -1.98771069e-05 -1.92724095e+00] [-3.91043515e-04 -1.37864451e-06 9.99999924e-01 -5.48303231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.026559995 meters 0.05161195426165346 Centerline is valid? [True, True] Translation: X:75.77, Y:-1.93, Z:-0.55 [[ 9.98344015e-01 5.75258087e-02 9.38489161e-05 7.57706350e+01] [-5.75258086e-02 9.98344020e-01 -4.06542844e-06 -1.92913028e+00] [-9.39273712e-05 -1.34003863e-06 9.99999996e-01 -5.45682564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.086559995 meters 0.05193627421193791 Centerline is valid? [True, True] Translation: X:75.83, Y:-1.92, Z:-0.55 [[ 9.97968018e-01 6.37167542e-02 -1.02118503e-04 7.58325317e+01] [-6.37167540e-02 9.97968023e-01 5.45047925e-06 -1.92185216e+00] [ 1.02258287e-04 1.06725554e-06 9.99999995e-01 -5.49332127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.146559995 meters 0.05235181645078975 Centerline is valid? [True, True] Translation: X:75.89, Y:-1.92, Z:-0.55 [[ 9.97888188e-01 6.49550414e-02 -8.02596467e-05 7.58946922e+01] [-6.49550412e-02 9.97888191e-01 4.94255707e-06 -1.92159339e+00] [ 8.04111977e-05 2.81149343e-07 9.99999997e-01 -5.50582807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.206559995 meters 0.0517436623036675 Centerline is valid? [True, True] Translation: X:75.96, Y:-1.93, Z:-0.55 [[ 9.97818654e-01 6.59853493e-02 -1.96649509e-03 7.59564074e+01] [-6.59852744e-02 9.97820592e-01 1.02987679e-04 -1.92550757e+00] [ 1.96900497e-03 2.69966906e-05 9.99998061e-01 -5.49219655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.266559995 meters 0.05180221842351115 Centerline is valid? [True, True] Translation: X:76.02, Y:-1.93, Z:-0.55 [[ 9.97954630e-01 6.38934960e-02 -2.04379457e-03 7.60182867e+01] [-6.38934103e-02 9.97956723e-01 1.07224462e-04 -1.92828277e+00] [ 2.04646947e-03 2.35798565e-05 9.99997906e-01 -5.49805673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.326559995 meters 0.05170417397742792 Centerline is valid? [True, True] Translation: X:76.08, Y:-1.93, Z:-0.55 [[ 9.98174585e-01 6.03894783e-02 -7.79898051e-04 7.60791046e+01] [-6.03894649e-02 9.98174890e-01 4.07373163e-05 -1.93275082e+00] [ 7.80934756e-04 6.43467217e-06 9.99999695e-01 -5.49609622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.386559995 meters 0.05193524137318861 Centerline is valid? [True, True] Translation: X:76.14, Y:-1.94, Z:-0.55 [[ 9.98497149e-01 5.47994353e-02 6.82664212e-04 7.61389458e+01] [-5.47994238e-02 9.98497382e-01 -3.55068465e-05 -1.93901891e+00] [-6.83584183e-04 -1.95612053e-06 9.99999766e-01 -5.49501492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.446559995 meters 0.05225428504261814 Centerline is valid? [True, True] Translation: X:76.20, Y:-1.94, Z:-0.55 [[ 9.98590915e-01 5.30516122e-02 1.30783823e-03 7.62006747e+01] [-5.30515694e-02 9.98591772e-01 -6.74323250e-05 -1.94340184e+00] [-1.30957389e-03 -2.04556336e-06 9.99999143e-01 -5.47492388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.506559995 meters 0.05255105121689506 Centerline is valid? [True, True] Translation: X:76.26, Y:-1.94, Z:-0.55 [[ 9.98498944e-01 5.47224497e-02 2.30506392e-03 7.62625686e+01] [-5.47223191e-02 9.98501604e-01 -1.19724385e-04 -1.94286222e+00] [-2.30816163e-03 -6.59377140e-06 9.99997336e-01 -5.49112898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.566559995 meters 0.052102899342588646 Centerline is valid? [True, True] Translation: X:76.32, Y:-1.94, Z:-0.55 [[ 9.98374993e-01 5.69352124e-02 2.39911856e-03 7.63246210e+01] [-5.69350763e-02 9.98377875e-01 -1.25022375e-04 -1.94204682e+00] [-2.40234507e-03 -1.17747857e-05 9.99997114e-01 -5.49888079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.626559995 meters 0.05188780566564456 Centerline is valid? [True, True] Translation: X:76.39, Y:-1.94, Z:-0.55 [[ 9.98185379e-01 6.02130160e-02 5.84733631e-04 7.63867495e+01] [-6.02130088e-02 9.98185550e-01 -2.99365525e-05 -1.94060429e+00] [-5.85475231e-04 -5.32634227e-06 9.99999829e-01 -5.52613956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.686559995 meters 0.05243080382315942 Centerline is valid? [True, True] Translation: X:76.45, Y:-1.94, Z:-0.55 [[ 9.98102056e-01 6.15702319e-02 -1.18032173e-03 7.64491687e+01] [-6.15702005e-02 9.98102753e-01 6.29379825e-05 -1.94498651e+00] [ 1.18195747e-03 9.85411576e-06 9.99999301e-01 -5.51234333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.746559995 meters 0.052615353444118336 Centerline is valid? [True, True] Translation: X:76.51, Y:-1.95, Z:-0.55 [[ 9.98180621e-01 6.02930095e-02 -4.49015084e-04 7.65112818e+01] [-6.02930048e-02 9.98180722e-01 2.39609712e-05 -1.94603698e+00] [ 4.49642879e-04 3.15509148e-06 9.99999899e-01 -5.52476334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.806559995 meters 0.05264119612252769 Centerline is valid? [True, True] Translation: X:76.57, Y:-1.95, Z:-0.55 [[ 9.98232350e-01 5.94306140e-02 4.21795899e-04 7.65726786e+01] [-5.94306102e-02 9.98232439e-01 -2.14936852e-05 -1.94678861e+00] [-4.22327731e-04 -3.61189577e-06 9.99999911e-01 -5.54168004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.866559995 meters 0.05185893131707805 Centerline is valid? [True, True] Translation: X:76.63, Y:-1.95, Z:-0.55 [[ 9.98239344e-01 5.93076520e-02 9.02628315e-04 7.66348481e+01] [-5.93076338e-02 9.98239752e-01 -4.69298560e-05 -1.95150600e+00] [-9.03822765e-04 -6.68552093e-06 9.99999592e-01 -5.52548237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.926559995 meters 0.05190514575575274 Centerline is valid? [True, True] Translation: X:76.70, Y:-1.95, Z:-0.55 [[ 9.98120050e-01 6.12817367e-02 9.55825415e-04 7.66961323e+01] [-6.12817170e-02 9.98120508e-01 -4.99088429e-05 -1.95434092e+00] [-9.57087449e-04 -8.75960575e-06 9.99999542e-01 -5.50889383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98655999500001 meters 0.05290666637000036 Centerline is valid? [True, True] Translation: X:76.76, Y:-1.95, Z:-0.55 [[ 9.97883135e-01 6.50286729e-02 7.21727934e-04 7.67582913e+01] [-6.50286624e-02 9.97883396e-01 -3.79884322e-05 -1.95414718e+00] [-7.22670659e-04 -9.02498642e-06 9.99999739e-01 -5.52137773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.046559995 meters 0.052336149917331085 Centerline is valid? [True, True] Translation: X:76.82, Y:-1.96, Z:-0.55 [[ 9.97617431e-01 6.89888321e-02 5.35849830e-05 7.68198786e+01] [-6.89888321e-02 9.97617432e-01 -2.72034409e-06 -1.95542840e+00] [-5.36449866e-05 -9.82902713e-07 9.99999999e-01 -5.52252286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.106559995 meters 0.052600206162546556 Centerline is valid? [True, True] Translation: X:76.88, Y:-1.95, Z:-0.55 [[ 9.97340983e-01 7.28687105e-02 -1.05561560e-03 7.68802674e+01] [-7.28686919e-02 9.97341542e-01 5.61007439e-05 -1.95411881e+00] [ 1.05689728e-03 2.09697566e-05 9.99999441e-01 -5.54259718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.166559995 meters 0.05260079730272078 Centerline is valid? [True, True] Translation: X:76.94, Y:-1.95, Z:-0.55 [[ 9.97275735e-01 7.37634959e-02 2.35733483e-04 7.69415365e+01] [-7.37634952e-02 9.97275763e-01 -1.17724737e-05 -1.95487757e+00] [-2.35959668e-04 -5.64812322e-06 9.99999972e-01 -5.54824678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.226559995 meters 0.05258910080674827 Centerline is valid? [True, True] Translation: X:77.00, Y:-1.96, Z:-0.56 [[ 9.97305820e-01 7.33506715e-02 8.83804576e-04 7.70031166e+01] [-7.33506592e-02 9.97306211e-01 -4.62977574e-05 -1.95641440e+00] [-8.84819765e-04 -1.86546254e-05 9.99999608e-01 -5.55529595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.286559995 meters 0.05300841743180613 Centerline is valid? [True, True] Translation: X:77.06, Y:-1.96, Z:-0.56 [[ 9.97429552e-01 7.16317510e-02 1.78355529e-03 7.70637529e+01] [-7.16316957e-02 9.97431146e-01 -9.49801548e-05 -1.95955444e+00] [-1.78577719e-03 -3.30230765e-05 9.99998405e-01 -5.55223882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.346559995 meters 0.0521700570838964 Centerline is valid? [True, True] Translation: X:77.12, Y:-1.97, Z:-0.55 [[ 9.97673446e-01 6.81303775e-02 2.43849295e-03 7.71248983e+01] [-6.81302636e-02 9.97676426e-01 -1.29843670e-04 -1.96838180e+00] [-2.44167323e-03 -3.65935852e-05 9.99997018e-01 -5.54608846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.406559995 meters 0.05215245488717108 Centerline is valid? [True, True] Translation: X:77.19, Y:-1.97, Z:-0.56 [[ 9.97800789e-01 6.62630066e-02 1.67330353e-03 7.71872579e+01] [-6.62629511e-02 9.97802192e-01 -8.86351114e-05 -1.97288314e+00] [-1.67549916e-03 -2.24378460e-05 9.99998596e-01 -5.56718902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.466559995 meters 0.052461782543421015 Centerline is valid? [True, True] Translation: X:77.25, Y:-1.98, Z:-0.56 [[ 9.98037180e-01 6.26241149e-02 8.66018250e-05 7.72487768e+01] [-6.26241148e-02 9.98037184e-01 -3.81111340e-06 -1.97848088e+00] [-8.66705092e-05 -1.61972976e-06 9.99999996e-01 -5.59946403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.526559995 meters 0.05210460739486314 Centerline is valid? [True, True] Translation: X:77.31, Y:-1.99, Z:-0.56 [[ 9.98280738e-01 5.86100109e-02 -6.59733048e-04 7.73102243e+01] [-5.86099998e-02 9.98280956e-01 3.62890168e-05 -1.98798652e+00] [ 6.60725837e-04 2.44032733e-06 9.99999782e-01 -5.59115854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.586559995 meters 0.05240864533374414 Centerline is valid? [True, True] Translation: X:77.37, Y:-1.99, Z:-0.56 [[ 9.98441581e-01 5.58042379e-02 -5.45123631e-04 7.73723327e+01] [-5.58042297e-02 9.98441729e-01 3.02014926e-05 -1.99425791e+00] [ 5.45959553e-04 2.65778398e-07 9.99999851e-01 -5.59311552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.646559995 meters 0.05279615382390714 Centerline is valid? [True, True] Translation: X:77.43, Y:-2.00, Z:-0.56 [[ 9.98688777e-01 5.11870244e-02 7.84577936e-04 7.74332089e+01] [-5.11870076e-02 9.98689085e-01 -4.14503843e-05 -2.00187218e+00] [-7.85671143e-04 1.23583686e-06 9.99999691e-01 -5.61307020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.706559995 meters 0.051757818364304674 Centerline is valid? [True, True] Translation: X:77.50, Y:-2.01, Z:-0.56 [[ 9.98856701e-01 4.77442810e-02 2.40319366e-03 7.74952742e+01] [-4.77441088e-02 9.98859591e-01 -1.29009808e-04 -2.00837936e+00] [-2.40661252e-03 1.41239711e-05 9.99997104e-01 -5.60168080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.766559995 meters 0.053195524472725145 Centerline is valid? [True, True] Translation: X:77.56, Y:-2.02, Z:-0.56 [[ 9.98988515e-01 4.47678103e-02 4.21771753e-03 7.75559689e+01] [-4.47672483e-02 9.98997418e-01 -2.27609257e-04 -2.01539001e+00] [-4.22367849e-03 3.85634261e-05 9.99991079e-01 -5.58961974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.826559995 meters 0.05246807341799272 Centerline is valid? [True, True] Translation: X:77.62, Y:-2.02, Z:-0.56 [[ 9.98870318e-01 4.72022300e-02 5.48064510e-03 7.76186103e+01] [-4.72013125e-02 9.98885353e-01 -2.96714600e-04 -2.01880724e+00] [-5.48854171e-03 3.76857648e-05 9.99984937e-01 -5.59521030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.886559995 meters 0.051814356495177155 Centerline is valid? [True, True] Translation: X:77.68, Y:-2.02, Z:-0.56 [[ 9.98618341e-01 5.22636701e-02 5.46962721e-03 7.76810267e+01] [-5.22628306e-02 9.98633320e-01 -2.96412452e-04 -2.02119086e+00] [-5.47764359e-03 1.01447109e-05 9.99984998e-01 -5.61418482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.946559995 meters 0.05185639741084554 Centerline is valid? [True, True] Translation: X:77.74, Y:-2.02, Z:-0.56 [[ 9.98029280e-01 6.25892744e-02 4.48766075e-03 7.77431746e+01] [-6.25888135e-02 9.98039369e-01 -2.43209325e-04 -2.02162500e+00] [-4.49408440e-03 -3.81473345e-05 9.99989901e-01 -5.61960284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.006559995 meters 0.05150318178140016 Centerline is valid? [True, True] Translation: X:77.80, Y:-2.02, Z:-0.56 [[ 9.97647874e-01 6.84565612e-02 3.52406935e-03 7.78037287e+01] [-6.84563112e-02 9.97654097e-01 -1.91660360e-04 -2.01867065e+00] [-3.52892263e-03 -5.00352379e-05 9.99993772e-01 -5.63877389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.066559995 meters 0.05130126294139848 Centerline is valid? [True, True] Translation: X:77.86, Y:-2.02, Z:-0.56 [[ 9.97269352e-01 7.37149907e-02 4.46529698e-03 7.78644667e+01] [-7.37146417e-02 9.97279345e-01 -2.42906115e-04 -2.02329571e+00] [-4.47105427e-03 -8.69149434e-05 9.99990001e-01 -5.63772750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.126559995 meters 0.05241661754151481 Centerline is valid? [True, True] Translation: X:77.93, Y:-2.02, Z:-0.56 [[ 9.97144402e-01 7.53945743e-02 4.32438735e-03 7.79253623e+01] [-7.53942633e-02 9.97153774e-01 -2.35127312e-04 -2.01973257e+00] [-4.32980649e-03 -9.15781161e-05 9.99990622e-01 -5.64824688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.186559995 meters 0.051733012626398636 Centerline is valid? [True, True] Translation: X:77.99, Y:-2.03, Z:-0.57 [[ 9.97193720e-01 7.47401250e-02 4.31260602e-03 7.79876487e+01] [-7.47398083e-02 9.97203041e-01 -2.34788442e-04 -2.02696162e+00] [-4.31809196e-03 -8.81937876e-05 9.99990673e-01 -5.65257053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.246559995 meters 0.05112357307360319 Centerline is valid? [True, True] Translation: X:78.05, Y:-2.04, Z:-0.57 [[ 9.97395095e-01 7.20040684e-02 4.29398240e-03 7.80485982e+01] [-7.20037281e-02 9.97404335e-01 -2.34001490e-04 -2.03678609e+00] [-4.29968572e-03 -7.57908028e-05 9.99990753e-01 -5.66119751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.306559995 meters 0.050800351269310054 Centerline is valid? [True, True] Translation: X:78.11, Y:-2.04, Z:-0.57 [[ 9.97576112e-01 6.94191231e-02 4.78387296e-03 7.81095304e+01] [-6.94186706e-02 9.97587580e-01 -2.60764518e-04 -2.04457396e+00] [-4.79043429e-03 -7.19576471e-05 9.99988523e-01 -5.66209942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.366559995 meters 0.05123461120584749 Centerline is valid? [True, True] Translation: X:78.17, Y:-2.05, Z:-0.57 [[ 9.97838269e-01 6.55809898e-02 4.23356488e-03 7.81702839e+01] [-6.55806005e-02 9.97847249e-01 -2.30877541e-04 -2.05347996e+00] [-4.23959225e-03 -4.72612814e-05 9.99991012e-01 -5.66703605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.426559995 meters 0.05125564870155665 Centerline is valid? [True, True] Translation: X:78.23, Y:-2.06, Z:-0.57 [[ 9.97945692e-01 6.40509414e-02 1.36875658e-03 7.82312239e+01] [-6.40509001e-02 9.97946630e-01 -7.40411689e-05 -2.05916606e+00] [-1.37068842e-03 -1.37810254e-05 9.99999061e-01 -5.69373557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48655999500001 meters 0.051422344193748054 Centerline is valid? [True, True] Translation: X:78.29, Y:-2.07, Z:-0.57 [[ 9.98003624e-01 6.31528686e-02 6.93826643e-04 7.82932234e+01] [-6.31528580e-02 9.98003865e-01 -3.71758600e-05 -2.06680504e+00] [-6.94789434e-04 -6.71549244e-06 9.99999759e-01 -5.70797884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.546559995 meters 0.051159960341489424 Centerline is valid? [True, True] Translation: X:78.35, Y:-2.07, Z:-0.57 [[ 9.97863923e-01 6.53131706e-02 1.33465631e-03 7.83549460e+01] [-6.53131321e-02 9.97864815e-01 -7.24324673e-05 -2.06978150e+00] [-1.33653736e-03 -1.48928377e-05 9.99999107e-01 -5.69775946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.606559995 meters 0.05126984264385783 Centerline is valid? [True, True] Translation: X:78.42, Y:-2.07, Z:-0.57 [[ 9.97605172e-01 6.91367132e-02 2.00885481e-03 7.84170713e+01] [-6.91366316e-02 9.97607194e-01 -1.10110320e-04 -2.07351790e+00] [-2.01166067e-03 -2.90388303e-05 9.99997976e-01 -5.68142645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.666559995 meters 0.05139966421583932 Centerline is valid? [True, True] Translation: X:78.48, Y:-2.07, Z:-0.57 [[ 9.97268553e-01 7.38327899e-02 2.03751528e-03 7.84775964e+01] [-7.38327154e-02 9.97270634e-01 -1.11818047e-04 -2.07023810e+00] [-2.04020999e-03 -3.89226635e-05 9.99997918e-01 -5.69698309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.726559995 meters 0.05094336967993768 Centerline is valid? [True, True] Translation: X:78.54, Y:-2.08, Z:-0.57 [[ 9.97222330e-01 7.44098475e-02 3.28616242e-03 7.85404288e+01] [-7.44096581e-02 9.97227742e-01 -1.80043371e-04 -2.08036667e+00] [-3.29044933e-03 -6.49789521e-05 9.99994584e-01 -5.68183309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.786559995 meters 0.05088376108366362 Centerline is valid? [True, True] Translation: X:78.60, Y:-2.08, Z:-0.57 [[ 9.97051388e-01 7.66906164e-02 2.66080861e-03 7.86013388e+01] [-7.66904984e-02 9.97054936e-01 -1.46487070e-04 -2.08121754e+00] [-2.66420654e-03 -5.80036024e-05 9.99996449e-01 -5.69047264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.846559995 meters 0.05124277301925751 Centerline is valid? [True, True] Translation: X:78.66, Y:-2.08, Z:-0.57 [[ 9.97124957e-01 7.57687630e-02 9.56803414e-04 7.86636906e+01] [-7.57687479e-02 9.97125415e-01 -5.20016317e-05 -2.08369776e+00] [-9.57993101e-04 -2.06436720e-05 9.99999541e-01 -5.70799892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.906559995 meters 0.05159961479208477 Centerline is valid? [True, True] Translation: X:78.72, Y:-2.08, Z:-0.57 [[ 9.97179990e-01 7.50427890e-02 8.04926314e-04 7.87245615e+01] [-7.50427781e-02 9.97180314e-01 -4.37634268e-05 -2.08392879e+00] [-8.05940805e-04 -1.67638933e-05 9.99999675e-01 -5.72116576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.966559995 meters 0.05169312161814149 Centerline is valid? [True, True] Translation: X:78.78, Y:-2.09, Z:-0.57 [[ 9.97495500e-01 7.06921122e-02 2.31375624e-03 7.87844987e+01] [-7.06920056e-02 9.97498182e-01 -1.27945170e-04 -2.08862197e+00] [-2.31701236e-03 -3.59393379e-05 9.99997315e-01 -5.71111313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.026559995 meters 0.05159247339690934 Centerline is valid? [True, True] Translation: X:78.84, Y:-2.10, Z:-0.57 [[ 9.97880879e-01 6.49918656e-02 3.13203523e-03 7.88447703e+01] [-6.49916419e-02 9.97885793e-01 -1.73236204e-04 -2.09780182e+00] [-3.13667240e-03 -3.06870170e-05 9.99995080e-01 -5.70429133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.086559995 meters 0.05083297525717958 Centerline is valid? [True, True] Translation: X:78.91, Y:-2.11, Z:-0.57 [[ 9.98305926e-01 5.80250171e-02 4.28663559e-03 7.89054064e+01] [-5.80245341e-02 9.98315129e-01 -2.37074361e-04 -2.10512131e+00] [-4.29316941e-03 -1.20572932e-05 9.99990784e-01 -5.70205231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.146559995 meters 0.05145440234189069 Centerline is valid? [True, True] Translation: X:78.97, Y:-2.11, Z:-0.57 [[ 9.98667326e-01 5.13708705e-02 4.96034014e-03 7.89674457e+01] [-5.13701416e-02 9.98679645e-01 -2.74322170e-04 -2.11390311e+00] [-4.96788290e-03 1.91432132e-05 9.99987660e-01 -5.69891143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.206559995 meters 0.051671737474653937 Centerline is valid? [True, True] Translation: X:79.03, Y:-2.12, Z:-0.57 [[ 9.98975078e-01 4.49103887e-02 5.64362102e-03 7.90290364e+01] [-4.49093365e-02 9.98991018e-01 -3.13101338e-04 -2.12059810e+00] [-5.65198821e-03 5.93291586e-05 9.99984026e-01 -5.70272043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.266559995 meters 0.05212012201681366 Centerline is valid? [True, True] Translation: X:79.09, Y:-2.12, Z:-0.57 [[ 9.99015085e-01 4.42992616e-02 2.53683685e-03 7.90908442e+01] [-4.42990481e-02 9.99018305e-01 -1.40310027e-04 -2.12102797e+00] [-2.54056208e-03 2.77923756e-05 9.99996772e-01 -5.74142767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.326559995 meters 0.052596970583329426 Centerline is valid? [True, True] Translation: X:79.15, Y:-2.12, Z:-0.57 [[ 9.99105354e-01 4.22436584e-02 1.99108518e-03 7.91532601e+01] [-4.22435220e-02 9.99107338e-01 -1.10535959e-04 -2.11847763e+00] [-1.99397725e-03 2.63266179e-05 9.99998012e-01 -5.74453122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.386559995 meters 0.052596970583329426 Centerline is valid? [True, True] Translation: X:79.22, Y:-2.12, Z:-0.57 [[ 9.99099589e-01 4.23797906e-02 1.99110863e-03 7.92156372e+01] [-4.23796553e-02 9.99101573e-01 -1.10115615e-04 -2.12192314e+00] [-1.99398644e-03 2.56339683e-05 9.99998012e-01 -5.74913608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.446559995 meters 0.052310085435546216 Centerline is valid? [True, True] Translation: X:79.28, Y:-2.12, Z:-0.57 [[ 9.99126854e-01 4.16699245e-02 3.02438410e-03 7.92775386e+01] [-4.16696060e-02 9.99131431e-01 -1.68270486e-04 -2.12101642e+00] [-3.02876903e-03 4.20986668e-05 9.99995412e-01 -5.73803520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.506559995 meters 0.05220672196750801 Centerline is valid? [True, True] Translation: X:79.34, Y:-2.12, Z:-0.57 [[ 9.99055177e-01 4.30021165e-02 6.29060771e-03 7.93382168e+01] [-4.30007543e-02 9.99074978e-01 -3.51695171e-04 -2.12406130e+00] [-6.29991239e-03 8.08620049e-05 9.99980152e-01 -5.72579451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.566559995 meters 0.051385802308245326 Centerline is valid? [True, True] Translation: X:79.40, Y:-2.12, Z:-0.57 [[ 9.98947799e-01 4.55055469e-02 5.70438071e-03 7.94001888e+01] [-4.55044642e-02 9.98964084e-01 -3.19510315e-04 -2.12145324e+00] [-5.71301094e-03 5.95993381e-05 9.99983679e-01 -5.73852645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.626559995 meters 0.05168923311359588 Centerline is valid? [True, True] Translation: X:79.46, Y:-2.12, Z:-0.58 [[ 9.98911470e-01 4.63499101e-02 5.24993694e-03 7.94622664e+01] [-4.63490018e-02 9.98925264e-01 -2.94609388e-04 -2.12309639e+00] [-5.25794977e-03 5.09593596e-05 9.99986176e-01 -5.75112522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.686559995 meters 0.051710065897631705 Centerline is valid? [True, True] Translation: X:79.52, Y:-2.12, Z:-0.58 [[ 9.98877433e-01 4.71171721e-02 4.88326791e-03 7.95245057e+01] [-4.71163929e-02 9.98889368e-01 -2.74546708e-04 -2.12479394e+00] [-4.89078026e-03 4.41565412e-05 9.99988039e-01 -5.75945635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.746559995 meters 0.0519436400728977 Centerline is valid? [True, True] Translation: X:79.59, Y:-2.12, Z:-0.58 [[ 9.98807116e-01 4.86655591e-02 4.00114423e-03 7.95867915e+01] [-4.86650471e-02 9.98815129e-01 -2.25266563e-04 -2.12462019e+00] [-4.00736612e-03 3.02819734e-05 9.99991970e-01 -5.77235429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.806559995 meters 0.05166794610951557 Centerline is valid? [True, True] Translation: X:79.65, Y:-2.13, Z:-0.58 [[ 9.98762780e-01 4.96430805e-02 2.91096021e-03 7.96496926e+01] [-4.96428136e-02 9.98767022e-01 -1.63923796e-04 -2.12636489e+00] [-2.91550875e-03 1.92127310e-05 9.99995750e-01 -5.78089201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.866559995 meters 0.05213169006820997 Centerline is valid? [True, True] Translation: X:79.71, Y:-2.13, Z:-0.58 [[ 9.98737699e-01 5.01498156e-02 2.82941289e-03 7.97125578e+01] [-5.01495644e-02 9.98741706e-01 -1.59677121e-04 -2.12827645e+00] [-2.83386044e-03 1.75817359e-05 9.99995984e-01 -5.78602706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.926559995 meters 0.05163351272028892 Centerline is valid? [True, True] Translation: X:79.77, Y:-2.13, Z:-0.58 [[ 9.98729355e-01 5.03025560e-02 3.05424048e-03 7.97747755e+01] [-5.03022618e-02 9.98734025e-01 -1.73103379e-04 -2.13198331e+00] [-3.05908143e-03 1.92482215e-05 9.99995321e-01 -5.79730944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98655999500001 meters 0.052066061827429816 Centerline is valid? [True, True] Translation: X:79.84, Y:-2.13, Z:-0.58 [[ 9.98734997e-01 5.02204039e-02 2.51318644e-03 7.98378039e+01] [-5.02202048e-02 9.98738159e-01 -1.42293272e-04 -2.13469743e+00] [-2.51716123e-03 1.59005325e-05 9.99996832e-01 -5.80115325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.046559995 meters 0.05244336495410331 Centerline is valid? [True, True] Translation: X:79.90, Y:-2.14, Z:-0.58 [[ 9.98725904e-01 5.04304584e-02 1.82666758e-03 7.99000102e+01] [-5.04303535e-02 9.98727575e-01 -1.03448848e-04 -2.13938044e+00] [-1.82956025e-03 1.11975521e-05 9.99998326e-01 -5.81701814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.106559995 meters 0.05190268512125936 Centerline is valid? [True, True] Translation: X:79.96, Y:-2.14, Z:-0.58 [[ 9.98716734e-01 5.06150791e-02 1.73150870e-03 7.99625619e+01] [-5.06149849e-02 9.98718235e-01 -9.82078497e-05 -2.14230979e+00] [-1.73426011e-03 1.04415363e-05 9.99998496e-01 -5.82287281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.166559995 meters 0.05182373360873856 Centerline is valid? [True, True] Translation: X:80.02, Y:-2.15, Z:-0.58 [[ 9.98842195e-01 4.80820784e-02 1.54362171e-03 8.00241258e+01] [-4.80820001e-02 9.98843388e-01 -8.77854935e-05 -2.14643281e+00] [-1.54605725e-03 1.34634357e-05 9.99998805e-01 -5.82145049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.226559995 meters 0.05211477306768913 Centerline is valid? [True, True] Translation: X:80.09, Y:-2.15, Z:-0.58 [[ 9.99096682e-01 4.24628938e-02 1.64999632e-03 8.00855307e+01] [-4.24627954e-02 9.99098044e-01 -9.46106944e-05 -2.14807242e+00] [-1.65252554e-03 2.44617748e-05 9.99998634e-01 -5.79697374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.286559995 meters 0.0525157826344148 Centerline is valid? [True, True] Translation: X:80.15, Y:-2.16, Z:-0.58 [[ 9.99275160e-01 3.80107020e-02 2.08334808e-03 8.01462227e+01] [-3.80105354e-02 9.99277331e-01 -1.19523504e-04 -2.15718717e+00] [-2.08638568e-03 4.02476924e-05 9.99997823e-01 -5.80943311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.346559995 meters 0.052051701400838646 Centerline is valid? [True, True] Translation: X:80.21, Y:-2.16, Z:-0.58 [[ 9.99406471e-01 3.43620320e-02 2.44065085e-03 8.02061452e+01] [-3.43617926e-02 9.99409449e-01 -1.39969251e-04 -2.16138141e+00] [-2.44401915e-03 5.60210367e-05 9.99997012e-01 -5.81132266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.406559995 meters 0.05296651835084375 Centerline is valid? [True, True] Translation: X:80.27, Y:-2.17, Z:-0.58 [[ 9.99513127e-01 3.11178165e-02 2.27835678e-03 8.02673694e+01] [-3.11175991e-02 9.99515722e-01 -1.30818918e-04 -2.16715167e+00] [-2.28132422e-03 5.98582336e-05 9.99997396e-01 -5.82778142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.466559995 meters 0.052686753678833645 Centerline is valid? [True, True] Translation: X:80.33, Y:-2.17, Z:-0.58 [[ 9.99518656e-01 3.09675376e-02 1.86226483e-03 8.03299631e+01] [-3.09673931e-02 9.99520390e-01 -1.06415348e-04 -2.16712003e+00] [-1.86466709e-03 4.86946391e-05 9.99998260e-01 -5.83004172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.526559995 meters 0.052344959696545 Centerline is valid? [True, True] Translation: X:80.39, Y:-2.17, Z:-0.58 [[ 9.99443343e-01 3.32895399e-02 2.19318479e-03 8.03918225e+01] [-3.32893431e-02 9.99445748e-01 -1.26199214e-04 -2.17103923e+00] [-2.19617033e-03 5.31192838e-05 9.99997587e-01 -5.84826384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.586559995 meters 0.052727097202223454 Centerline is valid? [True, True] Translation: X:80.45, Y:-2.17, Z:-0.59 [[ 9.99336564e-01 3.63396403e-02 2.42138391e-03 8.04519703e+01] [-3.63394087e-02 9.99339496e-01 -1.39569620e-04 -2.17390171e+00] [-2.42485648e-03 5.14853651e-05 9.99997059e-01 -5.85378645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.646559995 meters 0.051965729610714606 Centerline is valid? [True, True] Translation: X:80.51, Y:-2.17, Z:-0.59 [[ 9.99206960e-01 3.96962365e-02 3.10807998e-03 8.05132002e+01] [-3.96958712e-02 9.99211792e-01 -1.79159239e-04 -2.17445115e+00] [-3.11274212e-03 5.56392161e-05 9.99995154e-01 -5.85274495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.706559995 meters 0.05274420382543319 Centerline is valid? [True, True] Translation: X:80.57, Y:-2.17, Z:-0.59 [[ 9.98967517e-01 4.53124348e-02 3.26840325e-03 8.05731451e+01] [-4.53120605e-02 9.98972863e-01 -1.88536366e-04 -2.17375318e+00] [-3.27358920e-03 4.02436197e-05 9.99994641e-01 -5.85674800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.766559995 meters 0.05219159366091131 Centerline is valid? [True, True] Translation: X:80.64, Y:-2.18, Z:-0.59 [[ 9.98734262e-01 5.02302697e-02 2.60638628e-03 8.06350835e+01] [-5.02300487e-02 9.98737663e-01 -1.50196162e-04 -2.17502763e+00] [-2.61064054e-03 1.90871431e-05 9.99996592e-01 -5.87138721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.826559995 meters 0.05133990785025555 Centerline is valid? [True, True] Translation: X:80.70, Y:-2.18, Z:-0.59 [[ 9.98622033e-01 5.23833627e-02 3.16507444e-03 8.06960838e+01] [-5.23830482e-02 9.98627049e-01 -1.82241516e-04 -2.17859563e+00] [-3.17027537e-03 1.61941463e-05 9.99994975e-01 -5.88685766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.886559995 meters 0.05231649129188508 Centerline is valid? [True, True] Translation: X:80.76, Y:-2.18, Z:-0.59 [[ 9.98622436e-01 5.23441581e-02 3.64971352e-03 8.07585688e+01] [-5.23437370e-02 9.98629105e-01 -2.10885322e-04 -2.18212768e+00] [-3.65574876e-03 1.95551694e-05 9.99993318e-01 -5.89090174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.946559995 meters 0.05223782449214153 Centerline is valid? [True, True] Translation: X:80.82, Y:-2.18, Z:-0.59 [[ 9.98788778e-01 4.90643713e-02 3.69651464e-03 8.08203994e+01] [-4.90639173e-02 9.98795618e-01 -2.13472129e-04 -2.18429587e+00] [-3.70253650e-03 3.18480781e-05 9.99993145e-01 -5.88101797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.006559995 meters 0.05245002352228054 Centerline is valid? [True, True] Translation: X:80.88, Y:-2.19, Z:-0.59 [[ 9.98958506e-01 4.54667196e-02 3.83165842e-03 8.08821678e+01] [-4.54662026e-02 9.98965853e-01 -2.21975978e-04 -2.19115333e+00] [-3.83778844e-03 4.75338333e-05 9.99992635e-01 -5.89472347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.066559995 meters 0.051484416402808576 Centerline is valid? [True, True] Translation: X:80.94, Y:-2.20, Z:-0.59 [[ 9.99147471e-01 4.10663597e-02 4.22909929e-03 8.09431043e+01] [-4.10656893e-02 9.99156419e-01 -2.45280564e-04 -2.19636703e+00] [-4.23560448e-03 7.14005775e-05 9.99991027e-01 -5.89520759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.126559995 meters 0.05270162895479896 Centerline is valid? [True, True] Translation: X:81.00, Y:-2.20, Z:-0.59 [[ 9.99320971e-01 3.64686532e-02 5.25681338e-03 8.10034160e+01] [-3.64675531e-02 9.99334791e-01 -3.05001160e-04 -2.20300800e+00] [-5.26443948e-03 1.13090934e-04 9.99986136e-01 -5.90301035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.186559995 meters 0.05258411312384117 Centerline is valid? [True, True] Translation: X:81.06, Y:-2.20, Z:-0.59 [[ 9.99514010e-01 3.07150739e-02 5.32247275e-03 8.10638381e+01] [-3.07138640e-02 9.99528170e-01 -3.08933075e-04 -2.20442186e+00] [-5.32945035e-03 1.45309232e-04 9.99985788e-01 -5.90704026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.246559995 meters 0.0535225634440209 Centerline is valid? [True, True] Translation: X:81.12, Y:-2.21, Z:-0.59 [[ 9.99591770e-01 2.81421808e-02 4.93054331e-03 8.11244248e+01] [-2.81411114e-02 9.99603920e-01 -2.86153481e-04 -2.20986072e+00] [-4.93664340e-03 1.47285696e-04 9.99987804e-01 -5.92256684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.306559995 meters 0.05257416186722065 Centerline is valid? [True, True] Translation: X:81.19, Y:-2.20, Z:-0.59 [[ 9.99641865e-01 2.63883668e-02 4.44927085e-03 8.11871163e+01] [-2.63874786e-02 9.99651757e-01 -2.58235431e-04 -2.20291488e+00] [-4.45453583e-03 1.40737909e-04 9.99990069e-01 -5.92910845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.366559995 meters 0.052709839022263706 Centerline is valid? [True, True] Translation: X:81.25, Y:-2.21, Z:-0.59 [[ 9.99646040e-01 2.61384646e-02 4.95744579e-03 8.12479928e+01] [-2.61373587e-02 9.99658319e-01 -2.87739595e-04 -2.20750187e+00] [-4.96327299e-03 1.58063208e-04 9.99987670e-01 -5.94141057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.426559995 meters 0.05283635898613017 Centerline is valid? [True, True] Translation: X:81.31, Y:-2.21, Z:-0.59 [[ 9.99614103e-01 2.69343355e-02 6.79613526e-03 8.13097950e+01] [-2.69322683e-02 9.99637182e-01 -3.95525930e-04 -2.20644757e+00] [-6.80432273e-03 2.12337960e-04 9.99976828e-01 -5.94149404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48655999500001 meters 0.05297798775674823 Centerline is valid? [True, True] Translation: X:81.37, Y:-2.20, Z:-0.60 [[ 9.99551381e-01 2.89105167e-02 7.82424961e-03 8.13714065e+01] [-2.89078298e-02 9.99581977e-01 -4.56316224e-04 -2.20497275e+00] [-7.83417124e-03 2.29929436e-04 9.99969286e-01 -5.95545451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.546559995 meters 0.05277503294797937 Centerline is valid? [True, True] Translation: X:81.43, Y:-2.21, Z:-0.60 [[ 9.99379460e-01 3.43913349e-02 7.61120208e-03 8.14316020e+01] [-3.43889491e-02 9.99408426e-01 -4.44145849e-04 -2.20936786e+00] [-7.62197426e-03 1.82128998e-04 9.99970936e-01 -5.97049678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.606559995 meters 0.05226846472276697 Centerline is valid? [True, True] Translation: X:81.49, Y:-2.21, Z:-0.60 [[ 9.99120404e-01 4.15555807e-02 5.61714653e-03 8.14915641e+01] [-4.15543941e-02 9.99136189e-01 -3.27847982e-04 -2.20553612e+00] [-5.62591829e-03 9.41424882e-05 9.99984170e-01 -5.97881994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.666559995 meters 0.052075779787225614 Centerline is valid? [True, True] Translation: X:81.55, Y:-2.20, Z:-0.60 [[ 9.98925826e-01 4.60433783e-02 5.21543700e-03 8.15537252e+01] [-4.60424171e-02 9.98939439e-01 -3.04278367e-04 -2.20480342e+00] [-5.22391572e-03 6.38201933e-05 9.99986353e-01 -5.99156243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.726559995 meters 0.051795420583778756 Centerline is valid? [True, True] Translation: X:81.61, Y:-2.21, Z:-0.60 [[ 9.98713900e-01 5.04469199e-02 5.06499243e-03 8.16138664e+01] [-5.04460690e-02 9.98726743e-01 -2.95688770e-04 -2.20826311e+00] [-5.07345998e-03 3.97995273e-05 9.99987129e-01 -5.99909560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.786559995 meters 0.05199766955477258 Centerline is valid? [True, True] Translation: X:81.68, Y:-2.21, Z:-0.60 [[ 9.98665782e-01 5.13417825e-02 5.53866751e-03 8.16759020e+01] [-5.13407793e-02 9.98681140e-01 -3.23263970e-04 -2.20980111e+00] [-5.54795974e-03 3.84731592e-05 9.99984609e-01 -6.00101747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.846559995 meters 0.05227504754994072 Centerline is valid? [True, True] Translation: X:81.74, Y:-2.22, Z:-0.60 [[ 9.98813335e-01 4.84439106e-02 5.01093633e-03 8.17370484e+01] [-4.84430502e-02 9.98825903e-01 -2.92992425e-04 -2.21512480e+00] [-5.01924670e-03 4.98997011e-05 9.99987402e-01 -6.01077637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.906559995 meters 0.05252865786413732 Centerline is valid? [True, True] Translation: X:81.80, Y:-2.22, Z:-0.60 [[ 9.98985904e-01 4.47028145e-02 5.36856453e-03 8.17989708e+01] [-4.47017689e-02 9.99000327e-01 -3.14650590e-04 -2.22189170e+00] [-5.37726349e-03 7.43471731e-05 9.99985540e-01 -6.01499830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.966559995 meters 0.05284830381729515 Centerline is valid? [True, True] Translation: X:81.86, Y:-2.23, Z:-0.60 [[ 9.99236270e-01 3.87192571e-02 5.26262645e-03 8.18599428e+01] [-3.87181679e-02 9.99250123e-01 -3.08719873e-04 -2.22715352e+00] [-5.27063353e-03 1.04724840e-04 9.99986105e-01 -6.01233754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.026559995 meters 0.05302934977152757 Centerline is valid? [True, True] Translation: X:81.92, Y:-2.23, Z:-0.60 [[ 9.99331287e-01 3.62693893e-02 4.63795416e-03 8.19225559e+01] [-3.62685172e-02 9.99342044e-01 -2.72035213e-04 -2.22578305e+00] [-4.64476914e-03 1.03641579e-04 9.99989208e-01 -6.01613224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.086559995 meters 0.05302300700215518 Centerline is valid? [True, True] Translation: X:81.98, Y:-2.23, Z:-0.60 [[ 9.99377783e-01 3.51500961e-02 2.91840739e-03 8.19841486e+01] [-3.51497470e-02 9.99382042e-01 -1.70855289e-04 -2.22614795e+00] [-2.92260952e-03 6.81676982e-05 9.99995727e-01 -6.02901586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.146559995 meters 0.05322551251672782 Centerline is valid? [True, True] Translation: X:82.05, Y:-2.23, Z:-0.60 [[ 9.99365035e-01 3.55529933e-02 2.34761226e-03 8.20458314e+01] [-3.55527675e-02 9.99367791e-01 -1.37882652e-04 -2.22931455e+00] [-2.35103022e-03 5.43309886e-05 9.99997235e-01 -6.04057662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.206559995 meters 0.05307820969832117 Centerline is valid? [True, True] Translation: X:82.11, Y:-2.23, Z:-0.60 [[ 9.99335316e-01 3.63634685e-02 2.57360174e-03 8.21067810e+01] [-3.63632002e-02 9.99338629e-01 -1.50983781e-04 -2.23410661e+00] [-2.57738992e-03 5.72990296e-05 9.99996677e-01 -6.04731133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.266559995 meters 0.053256771096881726 Centerline is valid? [True, True] Translation: X:82.17, Y:-2.23, Z:-0.60 [[ 9.99268049e-01 3.80263577e-02 4.16688910e-03 8.21683875e+01] [-3.80256641e-02 9.99276733e-01 -2.45597884e-04 -2.23115993e+00] [-4.17321452e-03 8.69693932e-05 9.99991288e-01 -6.03270671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.326559995 meters 0.05276004499205398 Centerline is valid? [True, True] Translation: X:82.23, Y:-2.24, Z:-0.60 [[ 9.99155436e-01 4.07963481e-02 4.90648596e-03 8.22281451e+01] [-4.07954188e-02 9.99167478e-01 -2.89381294e-04 -2.23837064e+00] [-4.91420690e-03 8.89747428e-05 9.99987921e-01 -6.04255657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.386559995 meters 0.05300203810160037 Centerline is valid? [True, True] Translation: X:82.29, Y:-2.24, Z:-0.61 [[ 9.98887214e-01 4.68324882e-02 5.57247865e-03 8.22892361e+01] [-4.68313831e-02 9.98902755e-01 -3.28699921e-04 -2.24273677e+00] [-5.58175811e-03 6.73672654e-05 9.99984420e-01 -6.05471209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.446559995 meters 0.052052584102089766 Centerline is valid? [True, True] Translation: X:82.35, Y:-2.24, Z:-0.61 [[ 9.98506428e-01 5.43447960e-02 5.61756958e-03 8.23498602e+01] [-5.43437912e-02 9.98522229e-01 -3.31467639e-04 -2.24066267e+00] [-5.62728164e-03 2.56925392e-05 9.99984166e-01 -6.06382563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.506559995 meters 0.052289269671660414 Centerline is valid? [True, True] Translation: X:82.41, Y:-2.24, Z:-0.61 [[ 9.98242665e-01 5.89860096e-02 5.67736951e-03 8.24124914e+01] [-5.89850584e-02 9.98258809e-01 -3.34988861e-04 -2.24019122e+00] [-5.68724379e-03 -4.79798947e-07 9.99983827e-01 -6.06901877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.566559995 meters 0.05190843692075012 Centerline is valid? [True, True] Translation: X:82.47, Y:-2.24, Z:-0.61 [[ 9.97975907e-01 6.34488465e-02 4.28160943e-03 8.24739601e+01] [-6.34483470e-02 9.97985092e-01 -2.52532612e-04 -2.24198163e+00] [-4.28900529e-03 -1.96395786e-05 9.99990802e-01 -6.07478294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.626559995 meters 0.05187681310045599 Centerline is valid? [True, True] Translation: X:82.54, Y:-2.25, Z:-0.61 [[ 9.97956960e-01 6.37252508e-02 4.58240224e-03 8.25363496e+01] [-6.37246785e-02 9.97967480e-01 -2.70953412e-04 -2.24576499e+00] [-4.59035499e-03 -2.16122659e-05 9.99989464e-01 -6.08723206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.686559995 meters 0.05186967718752049 Centerline is valid? [True, True] Translation: X:82.60, Y:-2.25, Z:-0.61 [[ 9.98153912e-01 6.05091328e-02 5.23568601e-03 8.25983625e+01] [-6.05083401e-02 9.98167644e-01 -3.09823522e-04 -2.25307414e+00] [-5.24483952e-03 -7.55110849e-06 9.99986246e-01 -6.08516735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.746559995 meters 0.051907973576631926 Centerline is valid? [True, True] Translation: X:82.66, Y:-2.26, Z:-0.61 [[ 9.98333082e-01 5.74655323e-02 5.36377980e-03 8.26597404e+01] [-5.74646529e-02 9.98347491e-01 -3.18039236e-04 -2.25962532e+00] [-5.37319240e-03 9.28134616e-06 9.99985564e-01 -6.08352887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.806559995 meters 0.0524841410916531 Centerline is valid? [True, True] Translation: X:82.72, Y:-2.27, Z:-0.61 [[ 9.98531346e-01 5.39535759e-02 4.91555879e-03 8.27217325e+01] [-5.39527910e-02 9.98543445e-01 -2.92220780e-04 -2.26668360e+00] [-4.92416537e-03 2.65834921e-05 9.99987876e-01 -6.08865699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.866559995 meters 0.05222999167104687 Centerline is valid? [True, True] Translation: X:82.78, Y:-2.27, Z:-0.61 [[ 9.98609672e-01 5.25150349e-02 4.57109947e-03 8.27834381e+01] [-5.25143406e-02 9.98620133e-01 -2.71883486e-04 -2.27470203e+00] [-4.57906993e-03 3.14572045e-05 9.99989516e-01 -6.10437173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.926559995 meters 0.05190647215323259 Centerline is valid? [True, True] Translation: X:82.84, Y:-2.28, Z:-0.61 [[ 9.98621746e-01 5.23348185e-02 3.95919946e-03 8.28440032e+01] [-5.23342958e-02 9.98629594e-01 -2.35556535e-04 -2.27828617e+00] [-3.96610156e-03 2.80299626e-05 9.99992135e-01 -6.10610965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98655999500001 meters 0.05176715601508203 Centerline is valid? [True, True] Translation: X:82.91, Y:-2.29, Z:-0.61 [[ 9.98576470e-01 5.32298370e-02 3.40848874e-03 8.29055173e+01] [-5.32294542e-02 9.98582287e-01 -2.02999133e-04 -2.28555269e+00] [-3.41446209e-03 2.12781623e-05 9.99994170e-01 -6.11618571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.046559995 meters 0.05208616375508325 Centerline is valid? [True, True] Translation: X:82.97, Y:-2.29, Z:-0.61 [[ 9.98431794e-01 5.59395844e-02 2.17132051e-03 8.29661738e+01] [-5.59394363e-02 9.98434155e-01 -1.28947651e-04 -2.28999601e+00] [-2.17513384e-03 7.28298953e-06 9.99997634e-01 -6.13067194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.106559995 meters 0.05188724086646935 Centerline is valid? [True, True] Translation: X:83.03, Y:-2.29, Z:-0.61 [[ 9.98314695e-01 5.79924748e-02 2.15454042e-03 8.30282409e+01] [-5.79923324e-02 9.98317020e-01 -1.28532417e-04 -2.29407511e+00] [-2.15836828e-03 3.36897689e-06 9.99997671e-01 -6.13838258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.166559995 meters 0.05133191347142323 Centerline is valid? [True, True] Translation: X:83.09, Y:-2.30, Z:-0.61 [[ 9.98015418e-01 6.29141620e-02 2.65222778e-03 8.30911737e+01] [-6.29139644e-02 9.98018942e-01 -1.57956340e-04 -2.29947356e+00] [-2.65691126e-03 -9.21930194e-06 9.99996470e-01 -6.13012456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.226559995 meters 0.05155202651131003 Centerline is valid? [True, True] Translation: X:83.15, Y:-2.30, Z:-0.61 [[ 9.97925437e-01 6.43274141e-02 2.60883625e-03 8.31528853e+01] [-6.43272267e-02 9.97928847e-01 -1.55760196e-04 -2.30314241e+00] [-2.61345260e-03 -1.23821394e-05 9.99996585e-01 -6.13926891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.286559995 meters 0.05078592318725763 Centerline is valid? [True, True] Translation: X:83.21, Y:-2.31, Z:-0.61 [[ 9.97710654e-01 6.75192594e-02 3.82098043e-03 8.32149383e+01] [-6.75188764e-02 9.97717971e-01 -2.29283509e-04 -2.30816965e+00] [-3.82774189e-03 -2.92297056e-05 9.99992674e-01 -6.13997606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.346559995 meters 0.05162087448527333 Centerline is valid? [True, True] Translation: X:83.28, Y:-2.32, Z:-0.61 [[ 9.97551090e-01 6.97973410e-02 4.48941193e-03 8.32759549e+01] [-6.97968338e-02 9.97561191e-01 -2.69740078e-04 -2.31872567e+00] [-4.49729025e-03 -4.42672296e-05 9.99989886e-01 -6.12856405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.406559995 meters 0.051349920322221 Centerline is valid? [True, True] Translation: X:83.34, Y:-2.32, Z:-0.61 [[ 9.97440403e-01 7.13837531e-02 4.12331968e-03 8.33377467e+01] [-7.13833377e-02 9.97448925e-01 -2.48020646e-04 -2.32178087e+00] [-4.13050543e-03 -4.69505082e-05 9.99991468e-01 -6.14830426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.466559995 meters 0.050981427587516906 Centerline is valid? [True, True] Translation: X:83.40, Y:-2.33, Z:-0.62 [[ 9.97187216e-01 7.49142468e-02 2.34783212e-03 8.33992377e+01] [-7.49141227e-02 9.97189979e-01 -1.40859539e-04 -2.32723718e+00] [-2.35178704e-03 -3.54224517e-05 9.99997234e-01 -6.17143520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.526559995 meters 0.05076113187394887 Centerline is valid? [True, True] Translation: X:83.46, Y:-2.33, Z:-0.62 [[ 9.97002548e-01 7.73375383e-02 2.19631664e-03 8.34614425e+01] [-7.73374344e-02 9.97004967e-01 -1.32331996e-04 -2.33424982e+00] [-2.19997283e-03 -3.79221565e-05 9.99997579e-01 -6.17612238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.586559995 meters 0.050492902251714225 Centerline is valid? [True, True] Translation: X:83.52, Y:-2.34, Z:-0.62 [[ 9.96792008e-01 7.99980149e-02 2.45174913e-03 8.35223851e+01] [-7.99978941e-02 9.96795022e-01 -1.47471186e-04 -2.34069819e+00] [-2.45568873e-03 -4.91366681e-05 9.99996984e-01 -6.19062688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.646559995 meters 0.051002591297336475 Centerline is valid? [True, True] Translation: X:83.58, Y:-2.35, Z:-0.62 [[ 9.96731701e-01 8.07573645e-02 2.04065476e-03 8.35827829e+01] [-8.07572817e-02 9.96733789e-01 -1.23101999e-04 -2.34607570e+00] [-2.04393095e-03 -4.20980662e-05 9.99997910e-01 -6.20044037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.706559995 meters 0.05025573916819559 Centerline is valid? [True, True] Translation: X:83.64, Y:-2.35, Z:-0.62 [[ 9.96650817e-01 8.17307080e-02 2.69060381e-03 8.36443627e+01] [-8.17305674e-02 9.96654448e-01 -1.62341061e-04 -2.35477063e+00] [-2.69487051e-03 -5.81072258e-05 9.99996367e-01 -6.20569467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.766559995 meters 0.05048236799400698 Centerline is valid? [True, True] Translation: X:83.71, Y:-2.36, Z:-0.62 [[ 9.96646523e-01 8.17627609e-02 3.24947162e-03 8.37055937e+01] [-8.17625543e-02 9.96651818e-01 -1.96580741e-04 -2.36369795e+00] [-3.25466478e-03 -6.97635879e-05 9.99994701e-01 -6.20560430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.826559995 meters 0.05070784828802231 Centerline is valid? [True, True] Translation: X:83.77, Y:-2.37, Z:-0.62 [[ 9.96728452e-01 8.07377999e-02 3.71489229e-03 8.37661848e+01] [-8.07375207e-02 9.96735372e-01 -2.25309250e-04 -2.36987209e+00] [-3.72095552e-03 -7.53590523e-05 9.99993074e-01 -6.21065880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.886559995 meters 0.049974471917243884 Centerline is valid? [True, True] Translation: X:83.83, Y:-2.38, Z:-0.62 [[ 9.96893880e-01 7.86242452e-02 4.56280085e-03 8.38271756e+01] [-7.86237977e-02 9.96904319e-01 -2.77630286e-04 -2.38080952e+00] [-4.57050435e-03 -8.19767984e-05 9.99989552e-01 -6.20671995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.946559995 meters 0.0499734222214923 Centerline is valid? [True, True] Translation: X:83.89, Y:-2.38, Z:-0.62 [[ 9.96987654e-01 7.74266644e-02 4.55286099e-03 8.38885412e+01] [-7.74262072e-02 9.96998047e-01 -2.76851483e-04 -2.38410486e+00] [-4.56062921e-03 -7.64932477e-05 9.99989597e-01 -6.21555284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.006559995 meters 0.05001149426666297 Centerline is valid? [True, True] Translation: X:83.95, Y:-2.39, Z:-0.62 [[ 9.97026221e-01 7.69160167e-02 4.75831490e-03 8.39502189e+01] [-7.69155091e-02 9.97037572e-01 -2.89854553e-04 -2.38644225e+00] [-4.76651319e-03 -7.69956235e-05 9.99988637e-01 -6.22659082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.066559995 meters 0.050338484668286505 Centerline is valid? [True, True] Translation: X:84.01, Y:-2.39, Z:-0.62 [[ 9.97096690e-01 7.60279484e-02 4.23575851e-03 8.40112437e+01] [-7.60275359e-02 9.97105685e-01 -2.58563534e-04 -2.38562427e+00] [-4.24315694e-03 -6.42214373e-05 9.99990996e-01 -6.24207917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.126559995 meters 0.050319711500445646 Centerline is valid? [True, True] Translation: X:84.07, Y:-2.39, Z:-0.62 [[ 9.97283656e-01 7.35308935e-02 4.30318505e-03 8.40736197e+01] [-7.35304429e-02 9.97292938e-01 -2.63041610e-04 -2.39179789e+00] [-4.31087775e-03 -5.40880040e-05 9.99990707e-01 -6.23639355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.186559995 meters 0.05078626405599408 Centerline is valid? [True, True] Translation: X:84.13, Y:-2.40, Z:-0.62 [[ 9.97714364e-01 6.74549868e-02 3.98408985e-03 8.41342805e+01] [-6.74545513e-02 9.97722318e-01 -2.43752518e-04 -2.39972435e+00] [-3.99145768e-03 -2.55496044e-05 9.99992034e-01 -6.23351954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.246559995 meters 0.051081631768521533 Centerline is valid? [True, True] Translation: X:84.20, Y:-2.40, Z:-0.62 [[ 9.98161006e-01 6.05153921e-02 3.53460498e-03 8.41962027e+01] [-6.05150069e-02 9.98167264e-01 -2.15921826e-04 -2.40487039e+00] [-3.54119358e-03 1.62810262e-06 9.99993730e-01 -6.23459987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.306559995 meters 0.050756828717859456 Centerline is valid? [True, True] Translation: X:84.26, Y:-2.41, Z:-0.63 [[ 9.98440841e-01 5.57685043e-02 2.40021120e-03 8.42581074e+01] [-5.57683123e-02 9.98443726e-01 -1.46892397e-04 -2.41093538e+00] [-2.40466778e-03 1.28076402e-05 9.99997109e-01 -6.26587558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.366559995 meters 0.05157763023188055 Centerline is valid? [True, True] Translation: X:84.32, Y:-2.42, Z:-0.63 [[ 9.98851110e-01 4.78314037e-02 2.93551994e-03 8.43185762e+01] [-4.78310808e-02 9.98855423e-01 -1.80128687e-04 -2.41714290e+00] [-2.94077582e-03 3.95126472e-05 9.99995675e-01 -6.25139002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.426559995 meters 0.05142221435139895 Centerline is valid? [True, True] Translation: X:84.38, Y:-2.42, Z:-0.62 [[ 9.99029402e-01 4.38856328e-02 3.78218992e-03 8.43780262e+01] [-4.38850680e-02 9.99036559e-01 -2.32246291e-04 -2.42263941e+00] [-3.78873828e-03 6.60392109e-05 9.99992821e-01 -6.23877351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.486559995 meters 0.05148197969444506 Centerline is valid? [True, True] Translation: X:84.44, Y:-2.43, Z:-0.62 [[ 9.99162024e-01 4.06029205e-02 5.16270569e-03 8.44392984e+01] [-4.06018244e-02 9.99175356e-01 -3.16985813e-04 -2.42581778e+00] [-5.17131884e-03 1.07104917e-04 9.99986623e-01 -6.23043848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.546559995 meters 0.05223237289624083 Centerline is valid? [True, True] Translation: X:84.50, Y:-2.43, Z:-0.62 [[ 9.99193835e-01 3.98598889e-02 4.78225363e-03 8.45009319e+01] [-3.98589406e-02 9.99205274e-01 -2.93478994e-04 -2.42685464e+00] [-4.79015109e-03 1.02626838e-04 9.99988522e-01 -6.23532079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.606559995 meters 0.052474590526309095 Centerline is valid? [True, True] Translation: X:84.56, Y:-2.43, Z:-0.63 [[ 9.99164335e-01 4.06632565e-02 4.13898680e-03 8.45621973e+01] [-4.06625519e-02 9.99172904e-01 -2.54277473e-04 -2.43179462e+00] [-4.14590321e-03 8.57632168e-05 9.99991402e-01 -6.25265977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.666559995 meters 0.05195493014829432 Centerline is valid? [True, True] Translation: X:84.63, Y:-2.43, Z:-0.62 [[ 9.99100721e-01 4.21466009e-02 4.62735499e-03 8.46250240e+01] [-4.21457335e-02 9.99111433e-01 -2.84835723e-04 -2.42789284e+00] [-4.63524814e-03 8.95563057e-05 9.99989253e-01 -6.24872087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.726559995 meters 0.05225948366512173 Centerline is valid? [True, True] Translation: X:84.69, Y:-2.44, Z:-0.63 [[ 9.98961449e-01 4.53266036e-02 4.63919403e-03 8.46850744e+01] [-4.53257627e-02 9.98972218e-01 -2.86309130e-04 -2.43673957e+00] [-4.64740337e-03 7.57367761e-05 9.99989198e-01 -6.25620043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.786559995 meters 0.051792088678230264 Centerline is valid? [True, True] Translation: X:84.75, Y:-2.44, Z:-0.63 [[ 9.98823015e-01 4.83377749e-02 4.00557840e-03 8.47464375e+01] [-4.83371720e-02 9.98831045e-01 -2.47253635e-04 -2.43786292e+00] [-4.01284775e-03 5.33442893e-05 9.99991947e-01 -6.26526057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.846559995 meters 0.05189621441599859 Centerline is valid? [True, True] Translation: X:84.81, Y:-2.44, Z:-0.63 [[ 9.98669867e-01 5.14533910e-02 3.32359445e-03 8.48085663e+01] [-5.14529944e-02 9.98675396e-01 -2.04785908e-04 -2.43684484e+00] [-3.32972893e-03 3.35046286e-05 9.99994456e-01 -6.27246700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.906559995 meters 0.05121991516100318 Centerline is valid? [True, True] Translation: X:84.87, Y:-2.44, Z:-0.63 [[ 9.98497246e-01 5.47433685e-02 2.53238978e-03 8.48710898e+01] [-5.47431477e-02 9.98500457e-01 -1.56476788e-04 -2.43876321e+00] [-2.53715842e-03 1.76106535e-05 9.99996781e-01 -6.28168764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.966559995 meters 0.05147984766748317 Centerline is valid? [True, True] Translation: X:84.93, Y:-2.44, Z:-0.63 [[ 9.98158634e-01 6.06363986e-02 1.60243972e-03 8.49324008e+01] [-6.06363185e-02 9.98159921e-01 -9.85723459e-05 -2.43932110e+00] [-1.60546818e-03 1.22479290e-06 9.99998711e-01 -6.26915278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.026559995 meters 0.050871554669920035 Centerline is valid? [True, True] Translation: X:84.99, Y:-2.44, Z:-0.63 [[ 9.97937420e-01 6.41859109e-02 1.03690732e-03 8.49934950e+01] [-6.41858793e-02 9.97937958e-01 -6.37061437e-05 -2.44324103e+00] [-1.03885821e-03 -2.98006332e-06 9.99999460e-01 -6.27978716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.086559995 meters 0.0503123485186835 Centerline is valid? [True, True] Translation: X:85.06, Y:-2.45, Z:-0.63 [[ 9.97699449e-01 6.77905538e-02 5.00970509e-04 8.50556849e+01] [-6.77905469e-02 9.97699574e-01 -3.07099169e-05 -2.44539478e+00] [-5.01899906e-04 -3.32179767e-06 9.99999874e-01 -6.30305974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.146559995 meters 0.05065410982948895 Centerline is valid? [True, True] Translation: X:85.12, Y:-2.45, Z:-0.63 [[ 9.97595563e-01 6.93031724e-02 4.03573321e-04 8.51166614e+01] [-6.93031681e-02 9.97595645e-01 -2.46656517e-05 -2.44920966e+00] [-4.04312395e-04 -3.36256501e-06 9.99999918e-01 -6.31672441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.206559995 meters 0.05078857074194206 Centerline is valid? [True, True] Translation: X:85.18, Y:-2.46, Z:-0.63 [[ 9.97668504e-01 6.82422398e-02 7.43593864e-04 8.51782627e+01] [-6.82422248e-02 9.97668781e-01 -4.55291283e-05 -2.45552983e+00] [-7.44967393e-04 -5.32152225e-06 9.99999722e-01 -6.30715304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.266559995 meters 0.050594963856238975 Centerline is valid? [True, True] Translation: X:85.24, Y:-2.47, Z:-0.63 [[ 9.98056540e-01 6.23034680e-02 1.19208659e-03 8.52398807e+01] [-6.23034245e-02 9.98057252e-01 -7.36273751e-05 -2.46589469e+00] [-1.19435791e-03 -7.86793819e-07 9.99999287e-01 -6.29838988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.326559995 meters 0.050987668287744675 Centerline is valid? [True, True] Translation: X:85.30, Y:-2.47, Z:-0.63 [[ 9.98430434e-01 5.60058504e-02 1.18664944e-04 8.53012647e+01] [-5.60058500e-02 9.98430441e-01 -6.58478845e-06 -2.47489726e+00] [-1.18847479e-04 -7.14778524e-08 9.99999993e-01 -6.29667062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.386559995 meters 0.05159460808111937 Centerline is valid? [True, True] Translation: X:85.36, Y:-2.48, Z:-0.63 [[ 9.98637330e-01 5.21816576e-02 7.46289533e-04 8.53626436e+01] [-5.21816377e-02 9.98637609e-01 -4.60193305e-05 -2.47586681e+00] [-7.47674160e-04 7.01401123e-06 9.99999720e-01 -6.28678564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.446559995 meters 0.05124930437976042 Centerline is valid? [True, True] Translation: X:85.42, Y:-2.48, Z:-0.63 [[ 9.98820655e-01 4.85508358e-02 3.40262505e-04 8.54249081e+01] [-4.85508315e-02 9.98820713e-01 -2.10754667e-05 -2.48059344e+00] [-3.40884470e-04 4.53058388e-06 9.99999942e-01 -6.29026468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.506559995 meters 0.05163296261123266 Centerline is valid? [True, True] Translation: X:85.49, Y:-2.49, Z:-0.63 [[ 9.98972990e-01 4.53083870e-02 -3.40120264e-04 8.54856555e+01] [-4.53083823e-02 9.98973048e-01 2.14849925e-05 -2.49073463e+00] [ 3.40744427e-04 -6.05262824e-06 9.99999942e-01 -6.31231978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.566559995 meters 0.05234089464294592 Centerline is valid? [True, True] Translation: X:85.55, Y:-2.49, Z:-0.63 [[ 9.99127513e-01 4.17527669e-02 -9.58545852e-04 8.55454218e+01] [-4.17527281e-02 9.99127973e-01 6.04642770e-05 -2.49223284e+00] [ 9.60234525e-04 -2.03896184e-05 9.99999539e-01 -6.31039803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.626559995 meters 0.05248266185554532 Centerline is valid? [True, True] Translation: X:85.61, Y:-2.49, Z:-0.63 [[ 9.99259084e-01 3.84850451e-02 -4.29204688e-04 8.56067646e+01] [-3.84850370e-02 9.99259176e-01 2.70729506e-05 -2.48705226e+00] [ 4.29928626e-04 -1.05349336e-05 9.99999908e-01 -6.28861331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.686559995 meters 0.052252549013570335 Centerline is valid? [True, True] Translation: X:85.67, Y:-2.49, Z:-0.63 [[ 9.99319183e-01 3.68935439e-02 -1.90519806e-04 8.56683897e+01] [-3.68935422e-02 9.99319201e-01 1.27515438e-05 -2.49165180e+00] [ 1.90860550e-04 -5.71391181e-06 9.99999982e-01 -6.28535952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.746559995 meters 0.05184836456154591 Centerline is valid? [True, True] Translation: X:85.73, Y:-2.51, Z:-0.63 [[ 9.99379868e-01 3.52089023e-02 4.60580492e-04 8.57289057e+01] [-3.52088931e-02 9.99379974e-01 -2.82564150e-05 -2.50551159e+00] [-4.61289798e-04 1.20223630e-05 9.99999894e-01 -6.30371786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.806559995 meters 0.052635928995778694 Centerline is valid? [True, True] Translation: X:85.79, Y:-2.50, Z:-0.63 [[ 9.99399650e-01 3.46258811e-02 1.17810623e-03 8.57915594e+01] [-3.46258180e-02 9.99400344e-01 -7.39887476e-05 -2.50081174e+00] [-1.17996169e-03 3.31514367e-05 9.99999303e-01 -6.29458621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.866559995 meters 0.052895907368193086 Centerline is valid? [True, True] Translation: X:85.85, Y:-2.51, Z:-0.63 [[ 9.99377185e-01 3.52234876e-02 2.13241711e-03 8.58518473e+01] [-3.52232820e-02 9.99379459e-01 -1.33912167e-04 -2.51448243e+00] [-2.13581071e-03 5.87180358e-05 9.99997717e-01 -6.31426467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.926559995 meters 0.05252622721662213 Centerline is valid? [True, True] Translation: X:85.91, Y:-2.51, Z:-0.63 [[ 9.99356426e-01 3.57253261e-02 3.23042337e-03 8.59142486e+01] [-3.57248545e-02 9.99361643e-01 -2.03601499e-04 -2.51207501e+00] [-3.23563493e-03 8.80640620e-05 9.99994761e-01 -6.30181739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.986559995 meters 0.05265745872015872 Centerline is valid? [True, True] Translation: X:85.98, Y:-2.52, Z:-0.63 [[ 9.99292145e-01 3.74875570e-02 3.14520021e-03 8.59754540e+01] [-3.74871167e-02 9.99297091e-01 -1.98865894e-04 -2.51757686e+00] [-3.15044442e-03 8.08206381e-05 9.99995034e-01 -6.31520429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.046559995 meters 0.05232529742995195 Centerline is valid? [True, True] Translation: X:86.04, Y:-2.52, Z:-0.63 [[ 9.99242608e-01 3.87664857e-02 3.37207731e-03 8.60381024e+01] [-3.87659876e-02 9.99248294e-01 -2.12967557e-04 -2.51627711e+00] [-3.37779850e-03 8.20843495e-05 9.99994292e-01 -6.32043907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.106559995 meters 0.05240569187022219 Centerline is valid? [True, True] Translation: X:86.10, Y:-2.52, Z:-0.63 [[ 9.99234361e-01 3.89762114e-02 3.39794964e-03 8.61001009e+01] [-3.89757048e-02 9.99240135e-01 -2.15208866e-04 -2.52266203e+00] [-3.40375569e-03 8.26066115e-05 9.99994204e-01 -6.32972473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.166559995 meters 0.0523912651378845 Centerline is valid? [True, True] Translation: X:86.16, Y:-2.52, Z:-0.63 [[ 9.99305018e-01 3.72125588e-02 2.16946029e-03 8.61609066e+01] [-3.72123484e-02 9.99307371e-01 -1.37295798e-04 -2.52272703e+00] [-2.17306679e-03 5.64696677e-05 9.99997637e-01 -6.32530929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.226559995 meters 0.052639696558065524 Centerline is valid? [True, True] Translation: X:86.22, Y:-2.53, Z:-0.63 [[ 9.99491536e-01 3.18066558e-02 2.23744444e-03 8.62216985e+01] [-3.18064176e-02 9.99494038e-01 -1.41980417e-04 -2.52757605e+00] [-2.24082830e-03 7.07431326e-05 9.99997487e-01 -6.32680337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.286559995 meters 0.05349689567795417 Centerline is valid? [True, True] Translation: X:86.28, Y:-2.53, Z:-0.63 [[ 9.99636324e-01 2.68060088e-02 2.94255380e-03 8.62831102e+01] [-2.68055750e-02 9.99640649e-01 -1.86783796e-04 -2.52893729e+00] [-2.94650331e-03 1.07839020e-04 9.99995653e-01 -6.31630546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.346559995 meters 0.053327390091590765 Centerline is valid? [True, True] Translation: X:86.34, Y:-2.53, Z:-0.63 [[ 9.99690853e-01 2.46846096e-02 2.97807140e-03 8.63438358e+01] [-2.46841558e-02 9.99695282e-01 -1.89059196e-04 -2.53363562e+00] [-2.98183078e-03 1.15489570e-04 9.99995548e-01 -6.32963139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.406559995 meters 0.0540484706598062 Centerline is valid? [True, True] Translation: X:86.41, Y:-2.54, Z:-0.63 [[ 9.99690794e-01 2.47549797e-02 2.34676445e-03 8.64055386e+01] [-2.47546992e-02 9.99693544e-01 -1.48467448e-04 -2.54446708e+00] [-2.34972058e-03 9.03280932e-05 9.99997235e-01 -6.34323327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.466559995 meters 0.05328304145501283 Centerline is valid? [True, True] Translation: X:86.47, Y:-2.54, Z:-0.63 [[ 9.99649964e-01 2.63404885e-02 2.47548894e-03 8.64676906e+01] [-2.63401793e-02 9.99653025e-01 -1.57434309e-04 -2.53551029e+00] [-2.47877690e-03 9.21743788e-05 9.99996924e-01 -6.33675175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.526559995 meters 0.05319918034063031 Centerline is valid? [True, True] Translation: X:86.53, Y:-2.54, Z:-0.63 [[ 9.99538853e-01 3.03306246e-02 1.46067792e-03 8.65276460e+01] [-3.03305210e-02 9.99539920e-01 -9.29980120e-05 -2.53837355e+00] [-1.46282658e-03 4.86520040e-05 9.99998929e-01 -6.34196313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.586559995 meters 0.053058429121822556 Centerline is valid? [True, True] Translation: X:86.59, Y:-2.54, Z:-0.63 [[ 9.99392915e-01 3.47363857e-02 2.68052206e-03 8.65888009e+01] [-3.47360529e-02 9.99396507e-01 -1.70634113e-04 -2.53503523e+00] [-2.68483159e-03 7.74197680e-05 9.99996393e-01 -6.33787875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.646559995 meters 0.05267819859377003 Centerline is valid? [True, True] Translation: X:86.65, Y:-2.54, Z:-0.63 [[ 9.99298184e-01 3.72756463e-02 3.69658643e-03 8.66481167e+01] [-3.72750304e-02 9.99305017e-01 -2.35387049e-04 -2.53930879e+00] [-3.70279157e-03 9.74314784e-05 9.99993140e-01 -6.34117773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.706559995 meters 0.05290116585825527 Centerline is valid? [True, True] Translation: X:86.71, Y:-2.54, Z:-0.64 [[ 9.99177353e-01 4.03337674e-02 4.21950674e-03 8.67075541e+01] [-4.03329921e-02 9.99186258e-01 -2.68708219e-04 -2.54023023e+00] [-4.22691117e-03 9.83018352e-05 9.99991062e-01 -6.35426476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.766559995 meters 0.05316530542650128 Centerline is valid? [True, True] Translation: X:86.77, Y:-2.54, Z:-0.64 [[ 9.99145610e-01 4.11631209e-02 3.69419760e-03 8.67702841e+01] [-4.11625330e-02 9.99152436e-01 -2.35069950e-04 -2.53989692e+00] [-3.70074275e-03 8.28065784e-05 9.99993149e-01 -6.35619338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.826559995 meters 0.0527821373425424 Centerline is valid? [True, True] Translation: X:86.83, Y:-2.54, Z:-0.64 [[ 9.99107944e-01 4.21637906e-02 2.35192438e-03 8.68315766e+01] [-4.21635558e-02 9.99110711e-01 -1.49348645e-04 -2.54066434e+00] [-2.35612994e-03 5.00499224e-05 9.99997223e-01 -6.37260608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.886559995 meters 0.05280832043017508 Centerline is valid? [True, True] Translation: X:86.89, Y:-2.54, Z:-0.64 [[ 9.99190550e-01 4.02265079e-02 -2.69130315e-04 8.68926700e+01] [-4.02265047e-02 9.99190586e-01 1.72880200e-05 -2.53605346e+00] [ 2.69607914e-04 -6.44785430e-06 9.99999964e-01 -6.36784491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.946559995 meters 0.0530237570287257 Centerline is valid? [True, True] Translation: X:86.95, Y:-2.54, Z:-0.64 [[ 9.99331256e-01 3.65321831e-02 -1.56190285e-03 8.69532755e+01] [-3.65320717e-02 9.99332476e-01 9.98012667e-05 -2.54137334e+00] [ 1.56450620e-03 -4.26749783e-05 9.99998775e-01 -6.37667266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.006559995 meters 0.053555336571273544 Centerline is valid? [True, True] Translation: X:87.01, Y:-2.54, Z:-0.64 [[ 9.99599478e-01 2.82541728e-02 -1.60819567e-03 8.70134673e+01] [-2.82540441e-02 9.99600770e-01 1.02708019e-04 -2.54128254e+00] [ 1.61045556e-03 -5.72288509e-05 9.99998702e-01 -6.36464092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.066559995 meters 0.05411165309605351 Centerline is valid? [True, True] Translation: X:87.07, Y:-2.55, Z:-0.64 [[ 9.99755130e-01 2.21120108e-02 -8.59238478e-04 8.70725721e+01] [-2.21119717e-02 9.99755499e-01 5.49016954e-05 -2.54978017e+00] [ 8.60242380e-04 -3.58887947e-05 9.99999629e-01 -6.37471789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.126559995 meters 0.05463102210819672 Centerline is valid? [True, True] Translation: X:87.13, Y:-2.55, Z:-0.64 [[ 9.99880500e-01 1.54591281e-02 -4.40884057e-05 8.71327643e+01] [-1.54591280e-02 9.99880501e-01 2.83097550e-06 -2.55329436e+00] [ 4.41269015e-05 -2.14906889e-06 9.99999999e-01 -6.36966398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.186559995 meters 0.05484297131465652 Centerline is valid? [True, True] Translation: X:87.20, Y:-2.55, Z:-0.64 [[ 9.99884241e-01 1.52048351e-02 -5.64147355e-04 8.71952525e+01] [-1.52048170e-02 9.99884399e-01 3.63548738e-05 -2.55124443e+00] [ 5.64634909e-04 -2.77729081e-05 9.99999840e-01 -6.37241018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.246559995 meters 0.05487476249113523 Centerline is valid? [True, True] Translation: X:87.26, Y:-2.55, Z:-0.64 [[ 9.99820574e-01 1.89222882e-02 -8.75578736e-04 8.72552041e+01] [-1.89222465e-02 9.99820957e-01 5.59372019e-05 -2.55242411e+00] [ 8.76480429e-04 -3.93592487e-05 9.99999615e-01 -6.37879752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.306559995 meters 0.05473020219951103 Centerline is valid? [True, True] Translation: X:87.32, Y:-2.55, Z:-0.64 [[ 9.99694067e-01 2.47253313e-02 -6.56751838e-04 8.73160640e+01] [-2.47253091e-02 9.99694282e-01 4.19790637e-05 -2.55186336e+00] [ 6.57589003e-04 -2.57278287e-05 9.99999783e-01 -6.38073405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.366559995 meters 0.05400948970334916 Centerline is valid? [True, True] Translation: X:87.38, Y:-2.54, Z:-0.64 [[ 9.99389852e-01 3.49204514e-02 -6.96719876e-04 8.73776665e+01] [-3.49204288e-02 9.99390095e-01 4.45596768e-05 -2.54304921e+00] [ 6.97850987e-04 -2.02027320e-05 9.99999756e-01 -6.37378076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.426559995 meters 0.05462228693729443 Centerline is valid? [True, True] Translation: X:87.44, Y:-2.55, Z:-0.64 [[ 9.99116486e-01 4.19926127e-02 -1.69347739e-03 8.74366470e+01] [-4.19924897e-02 9.99117921e-01 1.08131066e-04 -2.54797998e+00] [ 1.69652431e-03 -3.69221986e-05 9.99998560e-01 -6.40406053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.486559995 meters 0.05354874138683163 Centerline is valid? [True, True] Translation: X:87.50, Y:-2.54, Z:-0.64 [[ 9.98704001e-01 5.08862058e-02 -9.54814428e-04 8.74979133e+01] [-5.08861707e-02 9.98704458e-01 6.10326487e-05 -2.54357470e+00] [ 9.56683146e-04 -1.23667005e-05 9.99999542e-01 -6.38580793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.546559995 meters 0.05333769430680642 Centerline is valid? [True, True] Translation: X:87.56, Y:-2.54, Z:-0.64 [[ 9.98295274e-01 5.83593789e-02 8.53211239e-04 8.75591252e+01] [-5.83593537e-02 9.98295639e-01 -5.44639582e-05 -2.54256339e+00] [-8.54935542e-04 4.57825560e-06 9.99999635e-01 -6.37512571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.606559995 meters 0.053397558624467024 Centerline is valid? [True, True] Translation: X:87.62, Y:-2.55, Z:-0.64 [[ 9.98070775e-01 6.20662125e-02 1.58532102e-03 8.76213057e+01] [-6.20661302e-02 9.98072034e-01 -1.01062626e-04 -2.54537469e+00] [-1.58853715e-03 2.47291291e-06 9.99998738e-01 -6.39473977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.666559995 meters 0.05277507949001626 Centerline is valid? [True, True] Translation: X:87.68, Y:-2.55, Z:-0.64 [[ 9.97838399e-01 6.56955106e-02 1.62161635e-03 8.76842912e+01] [-6.56954301e-02 9.97839717e-01 -1.02922325e-04 -2.54784004e+00] [-1.62487473e-03 -3.83293514e-06 9.99998680e-01 -6.39316112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.726559995 meters 0.053102488481173146 Centerline is valid? [True, True] Translation: X:87.75, Y:-2.55, Z:-0.64 [[ 9.97744050e-01 6.71200717e-02 1.30618346e-03 8.77463814e+01] [-6.71200206e-02 9.97744905e-01 -8.29583494e-05 -2.55194264e+00] [-1.30880607e-03 -4.89986137e-06 9.99999144e-01 -6.39429502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.786559995 meters 0.05267480055003799 Centerline is valid? [True, True] Translation: X:87.81, Y:-2.56, Z:-0.64 [[ 9.97749479e-01 6.70470943e-02 8.15366271e-04 8.78086643e+01] [-6.70470745e-02 9.97749812e-01 -5.15782117e-05 -2.55803861e+00] [-8.16989713e-04 -3.20578933e-06 9.99999666e-01 -6.39989037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.846559995 meters 0.05336258312932435 Centerline is valid? [True, True] Translation: X:87.87, Y:-2.57, Z:-0.64 [[ 9.97987231e-01 6.34149671e-02 1.68952975e-04 8.78709593e+01] [-6.34149663e-02 9.97987245e-01 -1.02697120e-05 -2.56633406e+00] [-1.69264168e-04 -4.65105755e-07 9.99999986e-01 -6.40623404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.906559995 meters 0.053131413208673435 Centerline is valid? [True, True] Translation: X:87.93, Y:-2.57, Z:-0.64 [[ 9.98254096e-01 5.90652606e-02 2.35590550e-04 8.79314976e+01] [-5.90652587e-02 9.98254123e-01 -1.47647843e-05 -2.57476049e+00] [-2.36051324e-04 8.23789566e-07 9.99999972e-01 -6.40990567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.966559995 meters 0.05333824752268273 Centerline is valid? [True, True] Translation: X:87.99, Y:-2.58, Z:-0.64 [[ 9.98548991e-01 5.38507956e-02 -6.22312177e-05 8.79928229e+01] [-5.38507954e-02 9.98548993e-01 4.37116657e-06 -2.58364859e+00] [ 6.23763105e-05 -1.01362339e-06 9.99999998e-01 -6.42081499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.026559995 meters 0.053049721526056026 Centerline is valid? [True, True] Translation: X:88.05, Y:-2.59, Z:-0.64 [[ 9.98999742e-01 4.47047966e-02 -9.98497314e-04 8.80530233e+01] [-4.47047544e-02 9.99000241e-01 6.44982363e-05 -2.59442662e+00] [ 1.00038244e-03 -1.97961442e-05 9.99999499e-01 -6.42803467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.086559995 meters 0.05419897083059193 Centerline is valid? [True, True] Translation: X:88.11, Y:-2.61, Z:-0.65 [[ 9.99248346e-01 3.87198893e-02 -1.87461807e-03 8.81116865e+01] [-3.87197299e-02 9.99250103e-01 1.21247398e-04 -2.60988564e+00] [ 1.87790698e-03 -4.85715571e-05 9.99998236e-01 -6.45329283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.146559995 meters 0.05488478139787449 Centerline is valid? [True, True] Translation: X:88.17, Y:-2.63, Z:-0.65 [[ 9.99498947e-01 3.15800251e-02 -2.13455131e-03 8.81717254e+01] [-3.15798027e-02 9.99501224e-01 1.37821217e-04 -2.62683171e+00] [ 2.13783905e-03 -7.03434524e-05 9.99997712e-01 -6.46511229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.206559995 meters 0.05424479905339674 Centerline is valid? [True, True] Translation: X:88.23, Y:-2.62, Z:-0.64 [[ 9.99622648e-01 2.74653011e-02 -4.66868707e-04 8.82328226e+01] [-2.74652900e-02 9.99622757e-01 3.02136450e-05 -2.62331290e+00] [ 4.67522411e-04 -1.73795594e-05 9.99999891e-01 -6.42877142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.266559995 meters 0.05512138356255951 Centerline is valid? [True, True] Translation: X:88.29, Y:-2.64, Z:-0.64 [[ 9.99615978e-01 2.76940077e-02 9.68284439e-04 8.82930351e+01] [-2.76939608e-02 9.99616447e-01 -6.18390946e-05 -2.64031965e+00] [-9.69625623e-04 3.49997157e-05 9.99999529e-01 -6.43944724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.326559995 meters 0.05409114578268184 Centerline is valid? [True, True] Translation: X:88.35, Y:-2.65, Z:-0.64 [[ 9.99475698e-01 3.23084268e-02 2.12006091e-03 8.83526681e+01] [-3.23082086e-02 9.99477944e-01 -1.37100987e-04 -2.64619029e+00] [-2.12338364e-03 6.85337350e-05 9.99997743e-01 -6.43669180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.386559995 meters 0.05341140599248633 Centerline is valid? [True, True] Translation: X:88.41, Y:-2.65, Z:-0.64 [[ 9.99117995e-01 4.19338793e-02 2.18673579e-03 8.84138267e+01] [-4.19336702e-02 9.99120387e-01 -1.41444820e-04 -2.64687755e+00] [-2.19074364e-03 4.96222077e-05 9.99997599e-01 -6.44746632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.446559995 meters 0.05220607707445059 Centerline is valid? [True, True] Translation: X:88.47, Y:-2.65, Z:-0.65 [[ 9.98768213e-01 4.95861572e-02 1.80833954e-03 8.84749979e+01] [-4.95860268e-02 9.98769850e-01 -1.16887848e-04 -2.64713615e+00] [-1.81191103e-03 2.70754945e-05 9.99998358e-01 -6.45531354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.506559995 meters 0.05206091802718838 Centerline is valid? [True, True] Translation: X:88.54, Y:-2.65, Z:-0.65 [[ 9.98196307e-01 6.00107926e-02 1.68473449e-03 8.85361226e+01] [-6.00106943e-02 9.98197728e-01 -1.08895907e-04 -2.65043897e+00] [-1.68823307e-03 7.59740642e-06 9.99998575e-01 -6.47560434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.566559995 meters 0.05142219120063392 Centerline is valid? [True, True] Translation: X:88.60, Y:-2.65, Z:-0.65 [[ 9.97842627e-01 6.56305103e-02 1.65167514e-03 8.85978958e+01] [-6.56304239e-02 9.97843994e-01 -1.06487805e-04 -2.65205158e+00] [-1.65510297e-03 -2.14206886e-06 9.99998630e-01 -6.47782404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.626559995 meters 0.05149721137212361 Centerline is valid? [True, True] Translation: X:88.66, Y:-2.66, Z:-0.65 [[ 9.97687444e-01 6.79467055e-02 1.73453874e-03 8.86609758e+01] [-6.79466142e-02 9.97688952e-01 -1.11559650e-04 -2.65581953e+00] [-1.73811025e-03 -6.55437242e-06 9.99998489e-01 -6.48119986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.686559995 meters 0.05070974156376163 Centerline is valid? [True, True] Translation: X:88.72, Y:-2.66, Z:-0.65 [[ 9.97390164e-01 7.21795506e-02 1.72421082e-03 8.87223293e+01] [-7.21794661e-02 9.97391654e-01 -1.11249661e-04 -2.66080335e+00] [-1.72774343e-03 -1.34932994e-05 9.99998507e-01 -6.49516435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.746559995 meters 0.05119728600984737 Centerline is valid? [True, True] Translation: X:88.79, Y:-2.67, Z:-0.65 [[ 9.97364422e-01 7.25402499e-02 1.45699623e-03 8.87851412e+01] [-7.25401902e-02 9.97365486e-01 -9.39047072e-05 -2.66832195e+00] [-1.45996962e-03 -1.20335696e-05 9.99998934e-01 -6.50054378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.806559995 meters 0.05102235691851126 Centerline is valid? [True, True] Translation: X:88.85, Y:-2.68, Z:-0.65 [[ 9.97500795e-01 7.06442867e-02 1.24483065e-03 8.88471645e+01] [-7.06442411e-02 9.97501571e-01 -8.06592416e-05 -2.67947822e+00] [-1.24741865e-03 -7.48245902e-06 9.99999222e-01 -6.50197342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.866559995 meters 0.05091449118252697 Centerline is valid? [True, True] Translation: X:88.91, Y:-2.69, Z:-0.65 [[ 9.97694163e-01 6.78688178e-02 4.25695573e-04 8.89076567e+01] [-6.78688124e-02 9.97694254e-01 -2.72941914e-05 -2.69105365e+00] [-4.26566451e-04 -1.66019755e-06 9.99999909e-01 -6.50545137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.926559995 meters 0.05109278823602161 Centerline is valid? [True, True] Translation: X:88.97, Y:-2.70, Z:-0.65 [[ 9.97853099e-01 6.54918066e-02 1.26790207e-04 8.89691238e+01] [-6.54918061e-02 9.97853107e-01 -7.97180931e-06 -2.70105797e+00] [-1.27040090e-04 -3.49025003e-07 9.99999992e-01 -6.51574468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.986559995 meters 0.05107486001634193 Centerline is valid? [True, True] Translation: X:89.03, Y:-2.71, Z:-0.65 [[ 9.98119164e-01 6.12638718e-02 -2.20728252e-03 8.90294702e+01] [-6.12637008e-02 9.98121605e-01 1.45066312e-04 -2.71466393e+00] [ 2.21202369e-03 -9.56717057e-06 9.99997553e-01 -6.53756262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.046559995 meters 0.051311852156832614 Centerline is valid? [True, True] Translation: X:89.09, Y:-2.72, Z:-0.65 [[ 9.98198515e-01 5.99812573e-02 -1.40473689e-03 8.90922807e+01] [-5.99811860e-02 9.98199503e-01 9.28733770e-05 -2.72093498e+00] [ 1.40777832e-03 -8.44828250e-06 9.99999009e-01 -6.51287367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.106559995 meters 0.050790544134637926 Centerline is valid? [True, True] Translation: X:89.15, Y:-2.73, Z:-0.65 [[ 9.98189767e-01 6.01430704e-02 -7.43321147e-06 8.91538137e+01] [-6.01430704e-02 9.98189767e-01 7.69093133e-07 -2.72775066e+00] [ 7.46601122e-06 -3.20644734e-07 1.00000000e+00 -6.50978204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.166559995 meters 0.050829320878308215 Centerline is valid? [True, True] Translation: X:89.22, Y:-2.73, Z:-0.65 [[ 9.98244297e-01 5.92280593e-02 5.99823084e-04 8.92160733e+01] [-5.92280466e-02 9.98244478e-01 -3.89205183e-05 -2.73457134e+00] [-6.01075268e-04 3.32583594e-06 9.99999819e-01 -6.51622548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.226559995 meters 0.050813058199536805 Centerline is valid? [True, True] Translation: X:89.28, Y:-2.74, Z:-0.65 [[ 9.98339250e-01 5.75829826e-02 1.71531201e-03 8.92770610e+01] [-5.75828753e-02 9.98340723e-01 -1.11899898e-04 -2.73997176e+00] [-1.71890937e-03 1.29414626e-05 9.99998523e-01 -6.51625318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.286559995 meters 0.05120569271291019 Centerline is valid? [True, True] Translation: X:89.34, Y:-2.74, Z:-0.65 [[ 9.98435321e-01 5.59051067e-02 1.23610327e-03 8.93393617e+01] [-5.59050498e-02 9.98436087e-01 -8.05034917e-05 -2.74099054e+00] [-1.23867067e-03 1.12731145e-05 9.99999233e-01 -6.51426086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.346559995 meters 0.0511457535705576 Centerline is valid? [True, True] Translation: X:89.40, Y:-2.74, Z:-0.65 [[ 9.98625325e-01 5.24157874e-02 -2.12601606e-04 8.93997682e+01] [-5.24157855e-02 9.98625348e-01 1.44144944e-05 -2.74457611e+00] [ 2.13064900e-04 -3.25099902e-06 9.99999977e-01 -6.52902731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.406559995 meters 0.052122759105754035 Centerline is valid? [True, True] Translation: X:89.46, Y:-2.74, Z:-0.65 [[ 9.98826757e-01 4.84219483e-02 -6.50715529e-04 8.94600577e+01] [-4.84219307e-02 9.98826969e-01 4.28528499e-05 -2.74477559e+00] [ 6.52027238e-04 -1.12936709e-05 9.99999787e-01 -6.52412668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.466559995 meters 0.051311619767625265 Centerline is valid? [True, True] Translation: X:89.52, Y:-2.75, Z:-0.65 [[ 9.98972999e-01 4.53090818e-02 -1.87033537e-04 8.95211948e+01] [-4.53090803e-02 9.98973016e-01 1.24883560e-05 -2.74874822e+00] [ 1.87407293e-04 -4.00121286e-06 9.99999982e-01 -6.52157058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.526559995 meters 0.051965229946921834 Centerline is valid? [True, True] Translation: X:89.58, Y:-2.76, Z:-0.65 [[ 9.99182373e-01 4.04278220e-02 4.20170603e-04 8.95801906e+01] [-4.04278139e-02 9.99182461e-01 -2.77175240e-05 -2.75807813e+00] [-4.20947657e-04 1.07082824e-05 9.99999911e-01 -6.53751792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.586559995 meters 0.05234968678529387 Centerline is valid? [True, True] Translation: X:89.64, Y:-2.77, Z:-0.66 [[ 9.99244926e-01 3.88446585e-02 8.19351059e-04 8.96420128e+01] [-3.88446274e-02 9.99245261e-01 -5.37379475e-05 -2.76817473e+00] [-8.20820095e-04 2.18699847e-05 9.99999663e-01 -6.55209477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.646559995 meters 0.051970300665298175 Centerline is valid? [True, True] Translation: X:89.70, Y:-2.76, Z:-0.65 [[ 9.99192616e-01 4.01682508e-02 7.92827854e-04 8.97043509e+01] [-4.01682222e-02 9.99192930e-01 -5.20077377e-05 -2.76345842e+00] [-7.94277047e-04 2.01192620e-05 9.99999684e-01 -6.54435923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.706559995 meters 0.0521143381538392 Centerline is valid? [True, True] Translation: X:89.76, Y:-2.77, Z:-0.66 [[ 9.99065589e-01 4.32138215e-02 7.16623690e-04 8.97639708e+01] [-4.32137987e-02 9.99065846e-01 -4.72582232e-05 -2.76832950e+00] [-7.17996461e-04 1.62460327e-05 9.99999742e-01 -6.56182721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.766559995 meters 0.05179515727360532 Centerline is valid? [True, True] Translation: X:89.82, Y:-2.77, Z:-0.66 [[ 9.98739900e-01 5.01814642e-02 6.58332904e-04 8.98247336e+01] [-5.01814465e-02 9.98740117e-01 -4.33559419e-05 -2.77026977e+00] [-6.59679146e-04 1.02652116e-05 9.99999782e-01 -6.58441966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.826559995 meters 0.05038187013228978 Centerline is valid? [True, True] Translation: X:89.89, Y:-2.77, Z:-0.66 [[ 9.98319333e-01 5.79526296e-02 -4.72021233e-05 8.98859833e+01] [-5.79526295e-02 9.98319334e-01 3.17304874e-06 -2.76595719e+00] [ 4.73066788e-05 -4.32228737e-07 9.99999999e-01 -6.56449221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.886559995 meters 0.05087398175404331 Centerline is valid? [True, True] Translation: X:89.95, Y:-2.77, Z:-0.66 [[ 9.98049477e-01 6.24211354e-02 -9.17943662e-04 8.99472123e+01] [-6.24211054e-02 9.98049899e-01 6.13365985e-05 -2.76902458e+00] [ 9.19982279e-04 -3.91790202e-06 9.99999577e-01 -6.58985566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.946559995 meters 0.05050391780021036 Centerline is valid? [True, True] Translation: X:90.01, Y:-2.77, Z:-0.66 [[ 9.97750971e-01 6.70284063e-02 -4.38407998e-04 9.00094601e+01] [-6.70283997e-02 9.97751068e-01 2.97394649e-05 -2.77183307e+00] [ 4.39415437e-04 -2.86793462e-07 9.99999903e-01 -6.58874745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.006559995 meters 0.0509126345178852 Centerline is valid? [True, True] Translation: X:90.07, Y:-2.78, Z:-0.66 [[ 9.97655019e-01 6.84431325e-02 -3.18436893e-05 9.00721220e+01] [-6.84431325e-02 9.97655019e-01 2.72816024e-06 -2.77639164e+00] [ 3.19557403e-05 -5.42280908e-07 9.99999999e-01 -6.61611278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.066559995 meters 0.05075756371459243 Centerline is valid? [True, True] Translation: X:90.13, Y:-2.78, Z:-0.66 [[ 9.97643737e-01 6.86067699e-02 -2.91393806e-04 9.01339561e+01] [-6.86067670e-02 9.97643780e-01 2.02416559e-05 -2.78318595e+00] [ 2.92095932e-04 -2.02374335e-07 9.99999957e-01 -6.63211875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.126559995 meters 0.05059729422992193 Centerline is valid? [True, True] Translation: X:90.20, Y:-2.79, Z:-0.66 [[ 9.97633430e-01 6.87564174e-02 -3.08528868e-04 9.01952604e+01] [-6.87564141e-02 9.97633477e-01 2.13526983e-05 -2.78877365e+00] [ 3.09266862e-04 -8.88270663e-08 9.99999952e-01 -6.64651740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.186559995 meters 0.05023107492123336 Centerline is valid? [True, True] Translation: X:90.26, Y:-2.80, Z:-0.66 [[ 9.97626854e-01 6.88519196e-02 2.69816475e-04 9.02574690e+01] [-6.88519173e-02 9.97626891e-01 -1.76630619e-05 -2.79564978e+00] [-2.70392306e-04 -9.56236734e-07 9.99999963e-01 -6.64126831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.246559995 meters 0.04990755890486712 Centerline is valid? [True, True] Translation: X:90.32, Y:-2.80, Z:-0.66 [[ 9.97650991e-01 6.84961858e-02 8.78654794e-04 9.03194723e+01] [-6.84961615e-02 9.97651378e-01 -5.77406096e-05 -2.80332854e+00] [-8.80546178e-04 -2.57950431e-06 9.99999612e-01 -6.64420074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.306559995 meters 0.05012330536435594 Centerline is valid? [True, True] Translation: X:90.38, Y:-2.81, Z:-0.66 [[ 9.97465251e-01 7.11217359e-02 2.18423772e-03 9.03819472e+01] [-7.11215891e-02 9.97467643e-01 -1.44865091e-04 -2.80694294e+00] [-2.18900950e-03 -1.08485633e-05 9.99997604e-01 -6.64958789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.366559995 meters 0.05005803146103587 Centerline is valid? [True, True] Translation: X:90.44, Y:-2.81, Z:-0.67 [[ 9.97304320e-01 7.33510885e-02 1.92632655e-03 9.04427362e+01] [-7.33509781e-02 9.97306180e-01 -1.28034580e-04 -2.80938967e+00] [-1.93052885e-03 -1.36084971e-05 9.99998136e-01 -6.66328947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.426559995 meters 0.05052939992924276 Centerline is valid? [True, True] Translation: X:90.50, Y:-2.81, Z:-0.67 [[ 9.97182403e-01 7.50028187e-02 1.35335139e-03 9.05046048e+01] [-7.50027659e-02 9.97183322e-01 -8.98178147e-05 -2.81374545e+00] [-1.35627602e-03 -1.19403529e-05 9.99999080e-01 -6.67165715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.486559995 meters 0.05011208489312297 Centerline is valid? [True, True] Translation: X:90.57, Y:-2.82, Z:-0.67 [[ 9.97251197e-01 7.40848957e-02 1.21594790e-03 9.05657099e+01] [-7.40848522e-02 9.97251938e-01 -8.08058262e-05 -2.81748067e+00] [-1.21859289e-03 -9.49961329e-06 9.99999257e-01 -6.68482201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.546559995 meters 0.04967333809316426 Centerline is valid? [True, True] Translation: X:90.63, Y:-2.82, Z:-0.67 [[ 9.97494073e-01 7.07129521e-02 2.29172425e-03 9.06272735e+01] [-7.07127868e-02 9.97496706e-01 -1.53160688e-04 -2.82369565e+00] [-2.29681784e-03 -9.27732972e-06 9.99997362e-01 -6.68058104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.606559995 meters 0.05047333438667555 Centerline is valid? [True, True] Translation: X:90.69, Y:-2.83, Z:-0.67 [[ 9.97828414e-01 6.57762046e-02 3.45655836e-03 9.06885132e+01] [-6.57757956e-02 9.97834401e-01 -2.31970789e-04 -2.82964056e+00] [-3.46433100e-03 4.10916811e-06 9.99993999e-01 -6.66934745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.666559995 meters 0.05044267812139057 Centerline is valid? [True, True] Translation: X:90.75, Y:-2.84, Z:-0.67 [[ 9.98344560e-01 5.73942971e-02 3.74621661e-03 9.07500673e+01] [-5.73937566e-02 9.98351588e-01 -2.51713383e-04 -2.83728728e+00] [-3.75448821e-03 3.62872425e-05 9.99992951e-01 -6.68401065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.726559995 meters 0.05122945824164028 Centerline is valid? [True, True] Translation: X:90.81, Y:-2.84, Z:-0.67 [[ 9.98626739e-01 5.22376129e-02 3.98346187e-03 9.08113891e+01] [-5.22369594e-02 9.98634682e-01 -2.67996519e-04 -2.84324470e+00] [-3.99202268e-03 5.95445542e-05 9.99992030e-01 -6.68759264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.786559995 meters 0.051153634253827004 Centerline is valid? [True, True] Translation: X:90.87, Y:-2.85, Z:-0.67 [[ 9.98870775e-01 4.72597611e-02 4.86721248e-03 9.08726755e+01] [-4.72587259e-02 9.98882629e-01 -3.27546039e-04 -2.84553235e+00] [-4.87725374e-03 9.71579055e-05 9.99988101e-01 -6.68847610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.846559995 meters 0.051533173623340374 Centerline is valid? [True, True] Translation: X:90.94, Y:-2.85, Z:-0.67 [[ 9.98953900e-01 4.53521703e-02 5.85544761e-03 9.09350418e+01] [-4.53506389e-02 9.98971053e-01 -3.94118301e-04 -2.84903164e+00] [-5.86729678e-03 1.28157724e-04 9.99982779e-01 -6.69628401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.906559995 meters 0.05125401466292459 Centerline is valid? [True, True] Translation: X:91.00, Y:-2.85, Z:-0.67 [[ 9.98934647e-01 4.57343143e-02 6.15981656e-03 9.09963147e+01] [-4.57326257e-02 9.98953630e-01 -4.14778633e-04 -2.85145134e+00] [-6.17234073e-03 1.32632162e-04 9.99980942e-01 -6.69946473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.966559995 meters 0.051574823747870306 Centerline is valid? [True, True] Translation: X:91.06, Y:-2.86, Z:-0.67 [[ 9.98804811e-01 4.84596705e-02 6.37252068e-03 9.10567925e+01] [-4.84579141e-02 9.98825133e-01 -4.29828274e-04 -2.85727483e+00] [-6.38586315e-03 1.20515488e-04 9.99979603e-01 -6.71080075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.026559995 meters 0.05132768047878936 Centerline is valid? [True, True] Translation: X:91.12, Y:-2.85, Z:-0.67 [[ 9.98695574e-01 5.05661755e-02 7.08604587e-03 9.11183791e+01] [-5.05640559e-02 9.98720706e-01 -4.78067984e-04 -2.85413319e+00] [-7.10115480e-03 1.19145160e-04 9.99974779e-01 -6.71535004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.086559995 meters 0.051531517509240586 Centerline is valid? [True, True] Translation: X:91.18, Y:-2.85, Z:-0.67 [[ 9.98576157e-01 5.28900205e-02 6.95015379e-03 9.11798160e+01] [-5.28880369e-02 9.98600338e-01 -4.69029154e-04 -2.85330952e+00] [-6.96523288e-03 1.00781340e-04 9.99975737e-01 -6.72329153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.146559995 meters 0.05108535481209666 Centerline is valid? [True, True] Translation: X:91.24, Y:-2.85, Z:-0.67 [[ 9.98441320e-01 5.53480694e-02 7.17787362e-03 9.12410905e+01] [-5.53460117e-02 9.98467117e-01 -4.85156723e-04 -2.85442743e+00] [-7.19372327e-03 8.71338419e-05 9.99974121e-01 -6.72822995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.206559995 meters 0.050752316529975895 Centerline is valid? [True, True] Translation: X:91.30, Y:-2.85, Z:-0.67 [[ 9.98343987e-01 5.70540824e-02 7.35628175e-03 9.13039404e+01] [-5.70519621e-02 9.98371086e-01 -4.97927375e-04 -2.85368383e+00] [-7.37270779e-03 7.74124932e-05 9.99972818e-01 -6.73985769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.266559995 meters 0.050926873708199115 Centerline is valid? [True, True] Translation: X:91.37, Y:-2.86, Z:-0.67 [[ 9.98262382e-01 5.84608720e-02 7.38536840e-03 9.13664465e+01] [-5.84587714e-02 9.98289698e-01 -5.00158049e-04 -2.85602217e+00] [-7.40197686e-03 6.75494022e-05 9.99972603e-01 -6.74651267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.326559995 meters 0.05127523556831505 Centerline is valid? [True, True] Translation: X:91.43, Y:-2.86, Z:-0.68 [[ 9.98192011e-01 5.97064516e-02 6.91732103e-03 9.14282358e+01] [-5.97046342e-02 9.98215977e-01 -4.69122573e-04 -2.85983917e+00] [-6.93299002e-03 5.52782821e-05 9.99975965e-01 -6.75883301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.386559995 meters 0.05129342917328452 Centerline is valid? [True, True] Translation: X:91.49, Y:-2.86, Z:-0.68 [[ 9.98180001e-01 6.00178334e-02 5.87752152e-03 9.14915716e+01] [-6.00165263e-02 9.98197304e-01 -3.98662194e-04 -2.86121693e+00] [-5.89085297e-03 4.51882043e-05 9.99982648e-01 -6.77400928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.446559995 meters 0.051413109533211585 Centerline is valid? [True, True] Translation: X:91.55, Y:-2.86, Z:-0.68 [[ 9.98233308e-01 5.91839065e-02 5.24665973e-03 9.15537460e+01] [-5.91828496e-02 9.98247095e-01 -3.56606763e-04 -2.86288846e+00] [-5.25856822e-03 4.54644750e-05 9.99986173e-01 -6.78176039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.506559995 meters 0.05036497399503747 Centerline is valid? [True, True] Translation: X:91.62, Y:-2.87, Z:-0.68 [[ 9.98347700e-01 5.71870949e-02 5.61311340e-03 9.16155387e+01] [-5.71858530e-02 9.98363477e-01 -3.81619505e-04 -2.86689886e+00] [-5.62575113e-03 5.99982771e-05 9.99984174e-01 -6.77229559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.566559995 meters 0.05122741604807492 Centerline is valid? [True, True] Translation: X:91.68, Y:-2.87, Z:-0.68 [[ 9.98446878e-01 5.54482994e-02 5.41451268e-03 9.16777661e+01] [-5.54471149e-02 9.98461557e-01 -3.68757462e-04 -2.87158943e+00] [-5.42662973e-03 6.79656310e-05 9.99985273e-01 -6.78137330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.626559995 meters 0.05197187853190638 Centerline is valid? [True, True] Translation: X:91.74, Y:-2.87, Z:-0.68 [[ 9.98585143e-01 5.29442054e-02 4.96211324e-03 9.17395724e+01] [-5.29431795e-02 9.98597469e-01 -3.37964072e-04 -2.87204881e+00] [-4.97304696e-03 7.47758494e-05 9.99987632e-01 -6.78341630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.686559995 meters 0.05227400330181043 Centerline is valid? [True, True] Translation: X:91.80, Y:-2.88, Z:-0.68 [[ 9.98721110e-01 5.03766760e-02 4.28196578e-03 9.18010582e+01] [-5.03758864e-02 9.98730286e-01 -2.92125176e-04 -2.88021867e+00] [-4.29124521e-03 7.60437588e-05 9.99990790e-01 -6.80244410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.746559995 meters 0.05197974036979603 Centerline is valid? [True, True] Translation: X:91.86, Y:-2.88, Z:-0.68 [[ 9.98947664e-01 4.57621245e-02 3.06467494e-03 9.18618157e+01] [-4.57616978e-02 9.98952363e-01 -2.09253375e-04 -2.88160747e+00] [-3.07104015e-03 6.87884420e-05 9.99995282e-01 -6.80140731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.806559995 meters 0.052983233755875984 Centerline is valid? [True, True] Translation: X:91.92, Y:-2.89, Z:-0.68 [[ 9.99068679e-01 4.29884078e-02 3.71097724e-03 9.19220847e+01] [-4.29877631e-02 9.99075567e-01 -2.53359322e-04 -2.89172527e+00] [-3.71843821e-03 9.35967524e-05 9.99993082e-01 -6.80433043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.866559995 meters 0.05275137230883278 Centerline is valid? [True, True] Translation: X:91.98, Y:-2.90, Z:-0.68 [[ 9.99189402e-01 4.00017819e-02 4.51624544e-03 9.19827112e+01] [-4.00007961e-02 9.99199600e-01 -3.08420146e-04 -2.89865333e+00] [-4.52496799e-03 1.27516728e-04 9.99989754e-01 -6.80496226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.926559995 meters 0.05369244918194152 Centerline is valid? [True, True] Translation: X:92.04, Y:-2.91, Z:-0.68 [[ 9.99210143e-01 3.94415355e-02 4.84317003e-03 9.20443553e+01] [-3.94403959e-02 9.99221870e-01 -3.30610619e-04 -2.90741619e+00] [-4.85244121e-03 1.39332941e-04 9.99988217e-01 -6.81221044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.986559995 meters 0.05221310617740177 Centerline is valid? [True, True] Translation: X:92.11, Y:-2.90, Z:-0.68 [[ 9.99182617e-01 4.00676674e-02 5.35542496e-03 9.21072385e+01] [-4.00662792e-02 9.99196957e-01 -3.66302029e-04 -2.90119838e+00] [-5.36580120e-03 1.51430668e-04 9.99985593e-01 -6.81226767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.046559995 meters 0.05330650023145716 Centerline is valid? [True, True] Translation: X:92.17, Y:-2.91, Z:-0.68 [[ 9.99110677e-01 4.19105098e-02 4.62222424e-03 9.21681616e+01] [-4.19094945e-02 9.99121361e-01 -3.16336510e-04 -2.91098659e+00] [-4.63142080e-03 1.22340103e-04 9.99989267e-01 -6.82839238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.106559995 meters 0.052019970123221 Centerline is valid? [True, True] Translation: X:92.23, Y:-2.91, Z:-0.68 [[ 9.99068809e-01 4.29621941e-02 3.97057244e-03 9.22307538e+01] [-4.29614541e-02 9.99076694e-01 -2.71496377e-04 -2.90803752e+00] [-3.97857047e-03 1.00661996e-04 9.99992080e-01 -6.82699452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.166559995 meters 0.0522032483167377 Centerline is valid? [True, True] Translation: X:92.29, Y:-2.92, Z:-0.68 [[ 9.98989883e-01 4.48099929e-02 3.35822281e-03 9.22917390e+01] [-4.48094722e-02 9.98995525e-01 -2.30150128e-04 -2.91584538e+00] [-3.36516258e-03 7.94374576e-05 9.99994335e-01 -6.84069619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.226559995 meters 0.05179380142530694 Centerline is valid? [True, True] Translation: X:92.35, Y:-2.92, Z:-0.68 [[ 9.98944950e-01 4.58103924e-02 3.22413373e-03 9.23541708e+01] [-4.58099185e-02 9.98950150e-01 -2.20696799e-04 -2.91739240e+00] [-3.23085908e-03 7.27666492e-05 9.99994778e-01 -6.84217114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.286559995 meters 0.05205215483630104 Centerline is valid? [True, True] Translation: X:92.42, Y:-2.92, Z:-0.68 [[ 9.98932704e-01 4.60730579e-02 3.27513721e-03 9.24165091e+01] [-4.60725684e-02 9.98938070e-01 -2.24793877e-04 -2.92376442e+00] [-3.28201618e-03 7.36599722e-05 9.99994611e-01 -6.84727652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.346559995 meters 0.05267447295655423 Centerline is valid? [True, True] Translation: X:92.48, Y:-2.93, Z:-0.68 [[ 9.99000989e-01 4.45180650e-02 3.89436847e-03 9.24776860e+01] [-4.45173611e-02 9.99008575e-01 -2.67284962e-04 -2.93083564e+00] [-3.90240651e-03 9.36509344e-05 9.99992381e-01 -6.84353864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.406559995 meters 0.05268459208306668 Centerline is valid? [True, True] Translation: X:92.54, Y:-2.93, Z:-0.68 [[ 9.99182055e-01 4.02474788e-02 3.91947071e-03 9.25383320e+01] [-4.02467302e-02 9.99189736e-01 -2.69692642e-04 -2.93120930e+00] [-3.92714935e-03 1.11726168e-04 9.99992282e-01 -6.82804549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.466559995 meters 0.0528126272536219 Centerline is valid? [True, True] Translation: X:92.60, Y:-2.94, Z:-0.68 [[ 9.99241748e-01 3.87145693e-02 4.13658113e-03 9.25994057e+01] [-3.87137230e-02 9.99250302e-01 -2.84498232e-04 -2.94052710e+00] [-4.14449417e-03 1.24140054e-04 9.99991404e-01 -6.83909465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.526559995 meters 0.05278320901201904 Centerline is valid? [True, True] Translation: X:92.66, Y:-2.94, Z:-0.68 [[ 9.99357064e-01 3.56289202e-02 4.00489288e-03 9.26601060e+01] [-3.56281010e-02 9.99365080e-01 -2.75730675e-04 -2.94018418e+00] [-4.01217408e-03 1.32866670e-04 9.99991942e-01 -6.83659105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.586559995 meters 0.05346853390697416 Centerline is valid? [True, True] Translation: X:92.72, Y:-2.95, Z:-0.69 [[ 9.99492021e-01 3.17646404e-02 2.58976523e-03 9.27210177e+01] [-3.17642849e-02 9.99495372e-01 -1.78292608e-04 -2.94983849e+00] [-2.59412176e-03 9.59399985e-05 9.99996631e-01 -6.85128437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.646559995 meters 0.05422443762660456 Centerline is valid? [True, True] Translation: X:92.78, Y:-2.96, Z:-0.69 [[ 9.99579172e-01 2.88906220e-02 2.60966082e-03 9.27814130e+01] [-2.88902511e-02 9.99582573e-01 -1.79700991e-04 -2.95551489e+00] [-2.61376316e-03 1.04231611e-04 9.99996579e-01 -6.85098300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.706559995 meters 0.05420632398713135 Centerline is valid? [True, True] Translation: X:92.84, Y:-2.96, Z:-0.68 [[ 9.99605606e-01 2.78584038e-02 3.54130768e-03 9.28432106e+01] [-2.78577146e-02 9.99611869e-01 -2.43815669e-04 -2.95704944e+00] [-3.54672550e-03 1.45066771e-04 9.99993700e-01 -6.84771614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.766559995 meters 0.053505520658688965 Centerline is valid? [True, True] Translation: X:92.90, Y:-2.96, Z:-0.69 [[ 9.99540038e-01 3.01866034e-02 2.91244164e-03 9.29031706e+01] [-3.01861465e-02 9.99544274e-01 -2.00711842e-04 -2.95807678e+00] [-2.91717318e-03 1.12704132e-04 9.99995739e-01 -6.85393168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.826559995 meters 0.0530573104165579 Centerline is valid? [True, True] Translation: X:92.96, Y:-2.95, Z:-0.69 [[ 9.99392458e-01 3.47232520e-02 3.00185537e-03 9.29643729e+01] [-3.47227871e-02 9.99396961e-01 -2.06843986e-04 -2.95469497e+00] [-3.00722743e-03 1.02485535e-04 9.99995473e-01 -6.85892942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.886559995 meters 0.05242693347854925 Centerline is valid? [True, True] Translation: X:93.02, Y:-2.96, Z:-0.69 [[ 9.99024789e-01 4.40600620e-02 2.86029414e-03 9.30246794e+01] [-4.40596782e-02 9.99028881e-01 -1.97094272e-04 -2.95888197e+00] [-2.86620045e-03 7.08784241e-05 9.99995890e-01 -6.87412262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.946559995 meters 0.05208792693294534 Centerline is valid? [True, True] Translation: X:93.08, Y:-2.96, Z:-0.69 [[ 9.98543413e-01 5.38818107e-02 2.79339776e-03 9.30842761e+01] [-5.38814829e-02 9.98547319e-01 -1.92533054e-04 -2.96247652e+00] [-2.79971387e-03 4.17401999e-05 9.99996080e-01 -6.89873742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.006559995 meters 0.051655967987928035 Centerline is valid? [True, True] Translation: X:93.15, Y:-2.96, Z:-0.69 [[ 9.98213593e-01 5.96643927e-02 3.12789182e-03 9.31458168e+01] [-5.96640102e-02 9.98218493e-01 -2.15566167e-04 -2.96018350e+00] [-3.13518108e-03 2.85585094e-05 9.99995085e-01 -6.89084701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.066559995 meters 0.05139450961819605 Centerline is valid? [True, True] Translation: X:93.21, Y:-2.96, Z:-0.69 [[ 9.97896311e-01 6.47453429e-02 3.31548182e-03 9.32072162e+01] [-6.47449410e-02 9.97901819e-01 -2.28517962e-04 -2.96209086e+00] [-3.32332081e-03 1.33765572e-05 9.99994478e-01 -6.89258398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.126559995 meters 0.05118256633640995 Centerline is valid? [True, True] Translation: X:93.27, Y:-2.96, Z:-0.69 [[ 9.97471094e-01 7.09852934e-02 3.53621721e-03 9.32697872e+01] [-7.09848762e-02 9.97477362e-01 -2.43516818e-04 -2.96415022e+00] [-3.54458273e-03 -8.11695420e-06 9.99993718e-01 -6.90299738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.186559995 meters 0.05106936271663588 Centerline is valid? [True, True] Translation: X:93.33, Y:-2.97, Z:-0.69 [[ 9.97164486e-01 7.51907730e-02 3.05542407e-03 9.33322686e+01] [-7.51904801e-02 9.97169167e-01 -2.10801453e-04 -2.96630055e+00] [-3.06262500e-03 -1.95350796e-05 9.99995310e-01 -6.92917769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.246559995 meters 0.05110865034621792 Centerline is valid? [True, True] Translation: X:93.39, Y:-2.97, Z:-0.69 [[ 9.97019607e-01 7.70959949e-02 2.84798621e-03 9.33939436e+01] [-7.70957484e-02 9.97023674e-01 -1.96392358e-04 -2.97375365e+00] [-2.85465074e-03 -2.37605966e-05 9.99995925e-01 -6.92603730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.306559995 meters 0.050595506239458035 Centerline is valid? [True, True] Translation: X:93.46, Y:-2.98, Z:-0.69 [[ 9.96888117e-01 7.87996897e-02 2.16598661e-03 9.34554785e+01] [-7.87995503e-02 9.96890470e-01 -1.49770368e-04 -2.97907808e+00] [-2.17105327e-03 -2.13744713e-05 9.99997643e-01 -6.94926500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.366559995 meters 0.050275381213957866 Centerline is valid? [True, True] Translation: X:93.52, Y:-2.99, Z:-0.70 [[ 9.96879835e-01 7.89237504e-02 1.27928748e-03 9.35174918e+01] [-7.89237025e-02 9.96880656e-01 -8.79747363e-05 -2.98707988e+00] [-1.28224024e-03 -1.32658642e-05 9.99999178e-01 -6.96116478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.426559995 meters 0.04979421431037191 Centerline is valid? [True, True] Translation: X:93.58, Y:-3.00, Z:-0.70 [[ 9.97036412e-01 7.69271748e-02 7.76946965e-04 9.35783678e+01] [-7.69271567e-02 9.97036714e-01 -5.32118135e-05 -3.00126820e+00] [-7.78738084e-04 -6.71420533e-06 9.99999697e-01 -6.95995809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.486559995 meters 0.05058376468308437 Centerline is valid? [True, True] Translation: X:93.64, Y:-3.01, Z:-0.70 [[ 9.97258529e-01 7.39884396e-02 1.06636117e-03 9.36399054e+01] [-7.39884029e-02 9.97259099e-01 -7.38604848e-05 -3.01153160e+00] [-1.06890320e-03 -5.24036157e-06 9.99999429e-01 -6.96970479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.546559995 meters 0.05059186694769984 Centerline is valid? [True, True] Translation: X:93.70, Y:-3.03, Z:-0.70 [[ 9.97653003e-01 6.84591805e-02 1.35146236e-03 9.37014477e+01] [-6.84591169e-02 9.97653918e-01 -9.33201642e-05 -3.02667427e+00] [-1.35468034e-03 5.81222043e-07 9.99999082e-01 -6.95265200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.606559995 meters 0.05017690465987516 Centerline is valid? [True, True] Translation: X:93.76, Y:-3.04, Z:-0.70 [[ 9.97877864e-01 6.50874431e-02 1.84202895e-03 9.37625943e+01] [-6.50873176e-02 9.97879564e-01 -1.28052939e-04 -3.03873339e+00] [-1.84645769e-03 7.88846975e-06 9.99998295e-01 -6.97333076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.666559995 meters 0.05003260010508898 Centerline is valid? [True, True] Translation: X:93.82, Y:-3.04, Z:-0.69 [[ 9.97763027e-01 6.67145525e-02 4.25573345e-03 9.38246465e+01] [-6.67138963e-02 9.97772102e-01 -2.96132132e-04 -3.04143292e+00] [-4.26600844e-03 1.15531319e-05 9.99990900e-01 -6.94637660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.726559995 meters 0.04984855232053752 Centerline is valid? [True, True] Translation: X:93.89, Y:-3.05, Z:-0.69 [[ 9.97733315e-01 6.72175689e-02 3.16709267e-03 9.38860651e+01] [-6.72172076e-02 9.97738342e-01 -2.20497694e-04 -3.04631180e+00] [-3.17475111e-03 7.11476953e-06 9.99994960e-01 -6.94827493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.786559995 meters 0.05046442881226757 Centerline is valid? [True, True] Translation: X:93.95, Y:-3.05, Z:-0.70 [[ 9.97838170e-01 6.56562361e-02 2.87146614e-03 9.39479381e+01] [-6.56559309e-02 9.97842301e-01 -2.00525215e-04 -3.05123186e+00] [-2.87843611e-03 1.15629313e-05 9.99995857e-01 -6.95852023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.846559995 meters 0.05038888216505554 Centerline is valid? [True, True] Translation: X:94.01, Y:-3.06, Z:-0.70 [[ 9.97975983e-01 6.35261168e-02 2.89309408e-03 9.40093810e+01] [-6.35257976e-02 9.97980176e-01 -2.02166981e-04 -3.05791093e+00] [-2.90009342e-03 1.79716829e-05 9.99995795e-01 -6.98609599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.906559995 meters 0.05120178615607036 Centerline is valid? [True, True] Translation: X:94.07, Y:-3.06, Z:-0.70 [[ 9.98346267e-01 5.74041255e-02 3.08186991e-03 9.40704919e+01] [-5.74037331e-02 9.98351023e-01 -2.15699056e-04 -3.06131377e+00] [-3.08916999e-03 3.84315100e-05 9.99995228e-01 -6.96512929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.966559995 meters 0.050850734638398516 Centerline is valid? [True, True] Translation: X:94.13, Y:-3.07, Z:-0.70 [[ 9.98545939e-01 5.37582514e-02 4.00737958e-03 9.41310272e+01] [-5.37575584e-02 9.98553978e-01 -2.80519772e-04 -3.06551784e+00] [-4.01666507e-03 6.46849365e-05 9.99991931e-01 -6.96572345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.026559995 meters 0.051342172869941624 Centerline is valid? [True, True] Translation: X:94.19, Y:-3.07, Z:-0.70 [[ 9.98759281e-01 4.95664784e-02 4.80227740e-03 9.41921837e+01] [-4.95654325e-02 9.98770822e-01 -3.36651719e-04 -3.06759140e+00] [-4.81306119e-03 9.82070729e-05 9.99988412e-01 -6.96617874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.086559995 meters 0.05131573381160196 Centerline is valid? [True, True] Translation: X:94.25, Y:-3.07, Z:-0.70 [[ 9.98802054e-01 4.87411528e-02 4.33085149e-03 9.42540153e+01] [-4.87402953e-02 9.98811439e-01 -3.03391801e-04 -3.07050920e+00] [-4.34049168e-03 9.19413737e-05 9.99990576e-01 -6.98202414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.146559995 meters 0.0514249291924649 Centerline is valid? [True, True] Translation: X:94.32, Y:-3.07, Z:-0.70 [[ 9.98795540e-01 4.89898164e-02 2.73262372e-03 9.43163506e+01] [-4.89894760e-02 9.98799276e-01 -1.91403302e-04 -3.07358071e+00] [-2.73871941e-03 5.73029596e-05 9.99996248e-01 -6.99737561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.206559995 meters 0.051530243587713936 Centerline is valid? [True, True] Translation: X:94.38, Y:-3.08, Z:-0.70 [[ 9.98713641e-01 5.06699737e-02 1.90187952e-03 9.43788410e+01] [-5.06698115e-02 9.98715451e-01 -1.33438904e-04 -3.07598005e+00] [-1.90619781e-03 3.68993768e-05 9.99998183e-01 -7.00402558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.266559995 meters 0.05158146522650425 Centerline is valid? [True, True] Translation: X:94.44, Y:-3.08, Z:-0.70 [[ 9.98629981e-01 5.23013280e-02 1.65316896e-03 9.44407758e+01] [-5.23012075e-02 9.98631349e-01 -1.16067988e-04 -3.08237854e+00] [-1.65697686e-03 2.94462398e-05 9.99998627e-01 -7.02204818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.326559995 meters 0.051198979202871045 Centerline is valid? [True, True] Translation: X:94.50, Y:-3.08, Z:-0.70 [[ 9.98541171e-01 5.39660533e-02 1.78755034e-03 9.45028034e+01] [-5.39659153e-02 9.98542770e-01 -1.25373628e-04 -3.08414128e+00] [-1.79171139e-03 2.87239392e-05 9.99998394e-01 -7.02298299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.386559995 meters 0.05082728970336045 Centerline is valid? [True, True] Translation: X:94.56, Y:-3.09, Z:-0.70 [[ 9.98486986e-01 5.49180203e-02 2.78394171e-03 9.45646945e+01] [-5.49176865e-02 9.98490866e-01 -1.96239471e-04 -3.08735315e+00] [-2.79051745e-03 4.30549194e-05 9.99996106e-01 -7.02457004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.446559995 meters 0.05129426008499903 Centerline is valid? [True, True] Translation: X:94.63, Y:-3.09, Z:-0.70 [[ 9.98539193e-01 5.39305499e-02 3.31289516e-03 9.46264688e+01] [-5.39300717e-02 9.98544687e-01 -2.33580037e-04 -3.09329985e+00] [-3.32067096e-03 5.45741488e-05 9.99994485e-01 -7.02927546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.506559995 meters 0.05143761179100175 Centerline is valid? [True, True] Translation: X:94.69, Y:-3.10, Z:-0.70 [[ 9.98633637e-01 5.21935450e-02 2.58704456e-03 9.46868351e+01] [-5.21932474e-02 9.98636987e-01 -1.82481647e-04 -3.10291762e+00] [-2.59304275e-03 4.72060539e-05 9.99996637e-01 -7.04800212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.566559995 meters 0.051612451552061255 Centerline is valid? [True, True] Translation: X:94.75, Y:-3.11, Z:-0.71 [[ 9.98800460e-01 4.89524818e-02 1.13792824e-03 9.47465375e+01] [-4.89524219e-02 9.98801108e-01 -8.04643833e-05 -3.11014251e+00] [-1.14050292e-03 2.46635198e-05 9.99999349e-01 -7.06128847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.626559995 meters 0.050964000712818466 Centerline is valid? [True, True] Translation: X:94.81, Y:-3.11, Z:-0.71 [[ 9.98851408e-01 4.79144181e-02 -2.72232751e-04 9.48090230e+01] [-4.79144145e-02 9.98851445e-01 1.97226763e-05 -3.11187515e+00] [ 2.72865077e-04 -6.65615013e-06 9.99999963e-01 -7.05992906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.686559995 meters 0.05155484189117709 Centerline is valid? [True, True] Translation: X:94.87, Y:-3.11, Z:-0.71 [[ 9.98855036e-01 4.78215781e-02 -1.30935880e-03 9.48700986e+01] [-4.78214970e-02 9.98855893e-01 9.32228877e-05 -3.11305270e+00] [ 1.31231882e-03 -3.05006531e-05 9.99999138e-01 -7.05974303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.746559995 meters 0.0522443623104925 Centerline is valid? [True, True] Translation: X:94.93, Y:-3.11, Z:-0.71 [[ 9.98845724e-01 4.80037014e-02 -1.69225218e-03 9.49327621e+01] [-4.80035659e-02 9.98847157e-01 1.20639507e-04 -3.11472314e+00] [ 1.69609242e-03 -3.92661170e-05 9.99998561e-01 -7.05723227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.806559995 meters 0.051879685615032804 Centerline is valid? [True, True] Translation: X:94.99, Y:-3.13, Z:-0.71 [[ 9.98866833e-01 4.75684443e-02 -1.51406473e-03 9.49935892e+01] [-4.75683346e-02 9.98867980e-01 1.08392362e-04 -3.12598173e+00] [ 1.51750683e-03 -3.62479976e-05 9.99998848e-01 -7.08616384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.866559995 meters 0.051819697849235985 Centerline is valid? [True, True] Translation: X:95.05, Y:-3.13, Z:-0.71 [[ 9.99001210e-01 4.46820014e-02 -3.17749474e-04 9.50543544e+01] [-4.46819964e-02 9.99001261e-01 2.26345809e-05 -3.12851399e+00] [ 3.18443483e-04 -8.41429283e-06 9.99999949e-01 -7.06965334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.926559995 meters 0.05189231679080527 Centerline is valid? [True, True] Translation: X:95.12, Y:-3.13, Z:-0.71 [[ 9.99095768e-01 4.25090760e-02 7.90037965e-04 9.51160817e+01] [-4.25090450e-02 9.99096080e-01 -5.59041331e-05 -3.13252737e+00] [-7.91700267e-04 2.22698233e-05 9.99999686e-01 -7.06891614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.986559995 meters 0.051715495843478745 Centerline is valid? [True, True] Translation: X:95.18, Y:-3.13, Z:-0.71 [[ 9.99108041e-01 4.22253751e-02 3.75453743e-04 9.51778600e+01] [-4.22253684e-02 9.99108111e-01 -2.59148638e-05 -3.12963623e+00] [-3.76213145e-04 1.00380762e-05 9.99999929e-01 -7.05835582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.046559995 meters 0.05171823781999915 Centerline is valid? [True, True] Translation: X:95.24, Y:-3.13, Z:-0.71 [[ 9.99079405e-01 4.28991643e-02 6.36731197e-05 9.52390747e+01] [-4.28991641e-02 9.99079407e-01 -3.78410042e-06 -3.12796820e+00] [-6.37768374e-05 1.04909318e-06 9.99999998e-01 -7.05341903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.106559995 meters 0.05233267753347142 Centerline is valid? [True, True] Translation: X:95.30, Y:-3.14, Z:-0.71 [[ 9.99064757e-01 4.32389926e-02 3.24459382e-06 9.53001781e+01] [-4.32389926e-02 9.99064757e-01 2.13686003e-07 -3.14111505e+00] [-3.23231979e-06 -3.53779123e-07 1.00000000e+00 -7.09191383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.166559995 meters 0.052382771867548396 Centerline is valid? [True, True] Translation: X:95.36, Y:-3.14, Z:-0.71 [[ 9.99112862e-01 4.21036306e-02 -8.79543184e-04 9.53609471e+01] [-4.21035912e-02 9.99113249e-01 6.32222426e-05 -3.14186625e+00] [ 8.81425133e-04 -2.61342291e-05 9.99999611e-01 -7.09294481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.226559995 meters 0.05217578978696275 Centerline is valid? [True, True] Translation: X:95.42, Y:-3.14, Z:-0.71 [[ 9.99197046e-01 4.00586278e-02 -7.54652701e-04 9.54219546e+01] [-4.00585984e-02 9.99197331e-01 5.40146427e-05 -3.14435892e+00] [ 7.56210717e-04 -2.37409420e-05 9.99999714e-01 -7.09362936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.286559995 meters 0.05267446526274232 Centerline is valid? [True, True] Translation: X:95.48, Y:-3.15, Z:-0.71 [[ 9.99306373e-01 3.72305790e-02 -8.10190330e-04 9.54820053e+01] [-3.72305444e-02 9.99306701e-01 5.78673561e-05 -3.14978555e+00] [ 8.11783061e-04 -2.76633908e-05 9.99999670e-01 -7.10111271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.346559995 meters 0.05243931104552628 Centerline is valid? [True, True] Translation: X:95.54, Y:-3.15, Z:-0.71 [[ 9.99434139e-01 3.36295975e-02 6.71678550e-04 9.55432118e+01] [-3.36295729e-02 9.99434365e-01 -4.79620486e-05 -3.14614105e+00] [-6.72911569e-04 2.53466460e-05 9.99999773e-01 -7.07770222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.406559995 meters 0.052788223886466305 Centerline is valid? [True, True] Translation: X:95.60, Y:-3.15, Z:-0.71 [[ 9.99462132e-01 3.27358018e-02 1.95310034e-03 9.56039336e+01] [-3.27355927e-02 9.99464037e-01 -1.38930805e-04 -3.15421886e+00] [-1.95660156e-03 7.49201813e-05 9.99998083e-01 -7.08068790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.466559995 meters 0.052382372984090424 Centerline is valid? [True, True] Translation: X:95.67, Y:-3.15, Z:-0.71 [[ 9.99425762e-01 3.38585386e-02 1.32159086e-03 9.56658192e+01] [-3.38584433e-02 9.99426634e-01 -9.43902240e-05 -3.15375776e+00] [-1.32402902e-03 4.95890125e-05 9.99999122e-01 -7.08209922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.526559995 meters 0.05248522745367237 Centerline is valid? [True, True] Translation: X:95.73, Y:-3.16, Z:-0.71 [[ 9.99352614e-01 3.59754178e-02 3.49223173e-04 9.57273425e+01] [-3.59754113e-02 9.99352675e-01 -2.48170307e-05 -3.15643759e+00] [-3.49889915e-04 1.22375173e-05 9.99999939e-01 -7.08962411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.586559995 meters 0.05209399628541573 Centerline is valid? [True, True] Translation: X:95.79, Y:-3.16, Z:-0.71 [[ 9.99161102e-01 4.09523096e-02 -2.68074253e-05 9.57866941e+01] [-4.09523095e-02 9.99161102e-01 1.85495934e-06 -3.16142033e+00] [ 2.68609015e-05 -7.55577243e-07 1.00000000e+00 -7.09147465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.646559995 meters 0.05256248537060461 Centerline is valid? [True, True] Translation: X:95.85, Y:-3.17, Z:-0.71 [[ 9.98974688e-01 4.52648659e-02 8.14934086e-04 9.58470843e+01] [-4.52648334e-02 9.98975020e-01 -5.82642019e-05 -3.16714510e+00] [-8.16736117e-04 2.13166073e-05 9.99999666e-01 -7.09731176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.706559995 meters 0.05185860092809974 Centerline is valid? [True, True] Translation: X:95.91, Y:-3.17, Z:-0.71 [[ 9.98625059e-01 5.23902436e-02 1.80374783e-03 9.59062068e+01] [-5.23900957e-02 9.98626688e-01 -1.29164549e-04 -3.17072497e+00] [-1.80803769e-03 3.44884341e-05 9.99998365e-01 -7.10019470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.766559995 meters 0.05219705355772808 Centerline is valid? [True, True] Translation: X:95.97, Y:-3.17, Z:-0.71 [[ 9.98352438e-01 5.73057224e-02 2.90932570e-03 9.59666474e+01] [-5.73053590e-02 9.98356676e-01 -2.08193521e-04 -3.17443808e+00] [-2.91647542e-03 4.11305557e-05 9.99995746e-01 -7.10088302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.826559995 meters 0.05174633813696466 Centerline is valid? [True, True] Translation: X:96.03, Y:-3.17, Z:-0.71 [[ 9.97794677e-01 6.62904535e-02 3.37026902e-03 9.60280338e+01] [-6.62900170e-02 9.97800369e-01 -2.41180187e-04 -3.17241936e+00] [-3.37884361e-03 1.72331163e-05 9.99994292e-01 -7.09587760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.886559995 meters 0.05122730937959716 Centerline is valid? [True, True] Translation: X:96.09, Y:-3.17, Z:-0.71 [[ 9.97006826e-01 7.72841697e-02 2.13192802e-03 9.60891860e+01] [-7.72840213e-02 9.97009106e-01 -1.52066982e-04 -3.17197817e+00] [-2.13730402e-03 -1.31521515e-05 9.99997716e-01 -7.09938568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.946559995 meters 0.05121748957314009 Centerline is valid? [True, True] Translation: X:96.15, Y:-3.17, Z:-0.71 [[ 9.96418541e-01 8.45527924e-02 9.57383820e-04 9.61506028e+01] [-8.45527655e-02 9.96419001e-01 -6.85562717e-05 -3.16706785e+00] [-9.59752053e-04 -1.26387094e-05 9.99999539e-01 -7.14457723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.006559995 meters 0.050714671190426636 Centerline is valid? [True, True] Translation: X:96.21, Y:-3.17, Z:-0.71 [[ 9.95930393e-01 9.01257585e-02 -1.41348913e-05 9.62110578e+01] [-9.01257585e-02 9.95930393e-01 1.13526524e-06 -3.17492807e+00] [ 1.41796845e-05 1.43272644e-07 1.00000000e+00 -7.13005455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.066559995 meters 0.050707803277217384 Centerline is valid? [True, True] Translation: X:96.27, Y:-3.18, Z:-0.71 [[ 9.95576080e-01 9.39573944e-02 -5.25558828e-04 9.62719086e+01] [-9.39573876e-02 9.95576219e-01 3.77670535e-05 -3.17967725e+00] [ 5.26782365e-04 1.17801594e-05 9.99999861e-01 -7.13037497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.126559995 meters 0.050959426099967425 Centerline is valid? [True, True] Translation: X:96.33, Y:-3.19, Z:-0.71 [[ 9.95628979e-01 9.33965914e-02 -1.09809065e-04 9.63324560e+01] [-9.33965910e-02 9.95628985e-01 8.65078777e-06 -3.18876574e+00] [ 1.10137042e-04 1.64281735e-06 9.99999994e-01 -7.12096122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.186559995 meters 0.05162756508141351 Centerline is valid? [True, True] Translation: X:96.39, Y:-3.19, Z:-0.71 [[ 9.96019507e-01 8.91292893e-02 1.05427193e-03 9.63937028e+01] [-8.91292591e-02 9.96020065e-01 -7.57037784e-05 -3.19129713e+00] [-1.05682342e-03 -1.85640358e-05 9.99999441e-01 -7.14748823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.246559995 meters 0.05139609341019236 Centerline is valid? [True, True] Translation: X:96.46, Y:-3.20, Z:-0.71 [[ 9.96153858e-01 8.76107190e-02 1.36161651e-03 9.64555108e+01] [-8.76106679e-02 9.96154788e-01 -9.72102575e-05 -3.19879436e+00] [-1.36489747e-03 -2.24557590e-05 9.99999068e-01 -7.14761962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.306559995 meters 0.05124511935950102 Centerline is valid? [True, True] Translation: X:96.52, Y:-3.21, Z:-0.71 [[ 9.96417996e-01 8.45493461e-02 1.60803110e-03 9.65167388e+01] [-8.45492697e-02 9.96419293e-01 -1.15587858e-04 -3.21019571e+00] [-1.61204609e-03 -2.07840334e-05 9.99998700e-01 -7.14080881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.366559995 meters 0.05111364312029654 Centerline is valid? [True, True] Translation: X:96.58, Y:-3.22, Z:-0.72 [[ 9.96679064e-01 8.14229991e-02 1.06750783e-03 9.65786710e+01] [-8.14229637e-02 9.96679635e-01 -7.66048971e-05 -3.22104776e+00] [-1.07020071e-03 -1.05691541e-05 9.99999427e-01 -7.15056234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.426559995 meters 0.05109323795224967 Centerline is valid? [True, True] Translation: X:96.64, Y:-3.23, Z:-0.71 [[ 9.96775832e-01 8.02286327e-02 1.14302537e-03 9.66400371e+01] [-8.02285919e-02 9.96776488e-01 -8.15987933e-05 -3.23384879e+00] [-1.14588738e-03 -1.03676111e-05 9.99999343e-01 -7.13579210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.486559995 meters 0.05083688649955594 Centerline is valid? [True, True] Translation: X:96.70, Y:-3.24, Z:-0.72 [[ 9.96729304e-01 8.08123373e-02 2.47151474e-04 9.67005721e+01] [-8.08123356e-02 9.96729334e-01 -1.71761980e-05 -3.23708000e+00] [-2.47731173e-04 -2.85286801e-06 9.99999969e-01 -7.16906733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.546559995 meters 0.050588152253322326 Centerline is valid? [True, True] Translation: X:96.76, Y:-3.25, Z:-0.72 [[ 9.96632708e-01 8.19934506e-02 -5.65160025e-04 9.67623331e+01] [-8.19934401e-02 9.96632868e-01 4.17438552e-05 -3.24817329e+00] [ 5.66679780e-04 4.73612322e-06 9.99999839e-01 -7.15070062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.606559995 meters 0.05089169518811994 Centerline is valid? [True, True] Translation: X:96.82, Y:-3.25, Z:-0.72 [[ 9.96584108e-01 8.25779743e-02 -9.96432546e-04 9.68233092e+01] [-8.25779426e-02 9.96584607e-01 7.29883852e-05 -3.25390721e+00] [ 9.99056569e-04 9.54428483e-06 9.99999501e-01 -7.15716638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.666559995 meters 0.05121479209518659 Centerline is valid? [True, True] Translation: X:96.89, Y:-3.26, Z:-0.72 [[ 9.96604137e-01 8.23393904e-02 -6.47128801e-04 9.68854876e+01] [-8.23393767e-02 9.96604347e-01 4.77989246e-05 -3.25983424e+00] [ 6.48867110e-04 5.64757616e-06 9.99999789e-01 -7.16309060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.726559995 meters 0.05133339648118999 Centerline is valid? [True, True] Translation: X:96.95, Y:-3.26, Z:-0.72 [[ 9.96691203e-01 8.12808859e-02 -2.50570177e-04 9.69469827e+01] [-8.12808837e-02 9.96691235e-01 1.90441332e-05 -3.26336352e+00] [ 2.51289023e-04 1.38544536e-06 9.99999968e-01 -7.17794551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.786559995 meters 0.05091861552901635 Centerline is valid? [True, True] Translation: X:97.01, Y:-3.27, Z:-0.72 [[ 9.96945469e-01 7.80957157e-02 8.88909133e-04 9.70090118e+01] [-7.80956897e-02 9.96945866e-01 -6.38965956e-05 -3.27065056e+00] [-8.91184335e-04 -5.71855028e-06 9.99999603e-01 -7.16419048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.846559995 meters 0.05066639525892118 Centerline is valid? [True, True] Translation: X:97.07, Y:-3.28, Z:-0.72 [[ 9.97268212e-01 7.38593784e-02 9.51401607e-04 9.70705847e+01] [-7.38593466e-02 9.97268666e-01 -6.85467519e-05 -3.27749194e+00] [-9.53865832e-04 -1.91040435e-06 9.99999545e-01 -7.16476788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.906559995 meters 0.051080298503303444 Centerline is valid? [True, True] Translation: X:97.13, Y:-3.28, Z:-0.72 [[ 9.97653763e-01 6.84447861e-02 1.51007487e-03 9.71328547e+01] [-6.84446991e-02 9.97654906e-01 -1.09317250e-04 -3.28378397e+00] [-1.51401580e-03 5.70414536e-06 9.99998854e-01 -7.16034816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.966559995 meters 0.05111046680060905 Centerline is valid? [True, True] Translation: X:97.19, Y:-3.29, Z:-0.72 [[ 9.98295570e-01 5.83164871e-02 2.26751964e-03 9.71938236e+01] [-5.83162616e-02 9.98298145e-01 -1.65493157e-04 -3.29063746e+00] [-2.27331163e-03 3.29778171e-05 9.99997415e-01 -7.16951470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.026559995 meters 0.05247758660497558 Centerline is valid? [True, True] Translation: X:97.25, Y:-3.30, Z:-0.72 [[ 9.98938257e-01 4.60315364e-02 1.85909859e-03 9.72525025e+01] [-4.60313633e-02 9.98939986e-01 -1.35779924e-04 -3.29944113e+00] [-1.86337808e-03 5.00589181e-05 9.99998263e-01 -7.18346264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.086559995 meters 0.053303632611339594 Centerline is valid? [True, True] Translation: X:97.31, Y:-3.31, Z:-0.72 [[ 9.99264647e-01 3.82923999e-02 1.96386374e-03 9.73127638e+01] [-3.82921917e-02 9.99266575e-01 -1.43485527e-04 -3.30510168e+00] [-1.96791779e-03 6.81793682e-05 9.99998061e-01 -7.18521949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.146559995 meters 0.05292734184140019 Centerline is valid? [True, True] Translation: X:97.37, Y:-3.30, Z:-0.72 [[ 9.99517148e-01 3.09628465e-02 2.60243678e-03 9.73721481e+01] [-3.09624559e-02 9.99520530e-01 -1.90266383e-04 -3.30363876e+00] [-2.60708018e-03 1.09596678e-04 9.99996596e-01 -7.18271735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.206559995 meters 0.05349096086982495 Centerline is valid? [True, True] Translation: X:97.43, Y:-3.30, Z:-0.72 [[ 9.99575542e-01 2.89708352e-02 3.07017443e-03 9.74331556e+01] [-2.89702828e-02 9.99580248e-01 -2.24249984e-04 -3.30391428e+00] [-3.07538243e-03 1.35210978e-04 9.99995262e-01 -7.18234296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.266559995 meters 0.0525745669835996 Centerline is valid? [True, True] Translation: X:97.49, Y:-3.30, Z:-0.72 [[ 9.99447926e-01 3.30590845e-02 3.30770615e-03 9.74934984e+01] [-3.30584652e-02 9.99453390e-01 -2.41754564e-04 -3.29910397e+00] [-3.31389031e-03 1.32273409e-04 9.99994500e-01 -7.19192721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.326559995 meters 0.0517449519259148 Centerline is valid? [True, True] Translation: X:97.55, Y:-3.30, Z:-0.72 [[ 9.99189747e-01 4.01217067e-02 3.17787487e-03 9.75540071e+01] [-4.01211707e-02 9.99194795e-01 -2.32261713e-04 -3.29939153e+00] [-3.18463476e-03 1.04573462e-04 9.99994924e-01 -7.20295165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.386559995 meters 0.05180496719064692 Centerline is valid? [True, True] Translation: X:97.61, Y:-3.30, Z:-0.72 [[ 9.98547713e-01 5.38186617e-02 2.45274913e-03 9.76143741e+01] [-5.38183836e-02 9.98550725e-01 -1.79291531e-04 -3.29641800e+00] [-2.45884365e-03 4.70281547e-05 9.99996976e-01 -7.21855877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.446559995 meters 0.051339012353758894 Centerline is valid? [True, True] Translation: X:97.68, Y:-3.30, Z:-0.72 [[ 9.98009652e-01 6.30128854e-02 2.47203843e-03 9.76753273e+01] [-6.30126313e-02 9.98012713e-01 -1.80617547e-04 -3.29725629e+00] [-2.47850702e-03 2.44884089e-05 9.99996928e-01 -7.22947629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.506559995 meters 0.051164387971821663 Centerline is valid? [True, True] Translation: X:97.74, Y:-3.29, Z:-0.73 [[ 9.97127771e-01 7.56935486e-02 2.58756880e-03 9.77362254e+01] [-7.56933128e-02 9.97131128e-01 -1.89087629e-04 -3.28993868e+00] [-2.59445811e-03 -7.31712897e-06 9.99996634e-01 -7.25524753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.566559995 meters 0.05101310767508126 Centerline is valid? [True, True] Translation: X:97.80, Y:-3.29, Z:-0.73 [[ 9.96534342e-01 8.31409749e-02 2.62350461e-03 9.77983407e+01] [-8.31407595e-02 9.96537795e-01 -1.91272578e-04 -3.28879785e+00] [-2.63032409e-03 -2.75104733e-05 9.99996540e-01 -7.25608361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.626559995 meters 0.05148939752129732 Centerline is valid? [True, True] Translation: X:97.86, Y:-3.29, Z:-0.73 [[ 9.95870427e-01 9.07532100e-02 2.43855181e-03 9.78582131e+01] [-9.07530448e-02 9.95873412e-01 -1.78532859e-04 -3.28648397e+00] [-2.44469134e-03 -4.35104066e-05 9.99997011e-01 -7.26580202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.686559995 meters 0.051336618333179825 Centerline is valid? [True, True] Translation: X:97.92, Y:-3.29, Z:-0.73 [[ 9.95614050e-01 9.35345934e-02 1.98578936e-03 9.79186784e+01] [-9.35344897e-02 9.95616029e-01 -1.45241655e-04 -3.28838604e+00] [-1.99066884e-03 -4.11351624e-05 9.99998018e-01 -7.27507473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.746559995 meters 0.05075458364135648 Centerline is valid? [True, True] Translation: X:97.98, Y:-3.29, Z:-0.73 [[ 9.95503183e-01 9.47190439e-02 1.30986433e-03 9.79805855e+01] [-9.47190006e-02 9.95504044e-01 -9.52267722e-05 -3.29467902e+00] [-1.31299503e-03 -2.92704854e-05 9.99999138e-01 -7.28189723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.806559995 meters 0.0505236964635038 Centerline is valid? [True, True] Translation: X:98.04, Y:-3.30, Z:-0.73 [[ 9.95582111e-01 9.38949196e-02 -6.84651600e-05 9.80427120e+01] [-9.38949194e-02 9.95582113e-01 5.86040862e-06 -3.29847497e+00] [ 6.87129512e-05 5.94012698e-07 9.99999998e-01 -7.29877213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.866559995 meters 0.050979830219957036 Centerline is valid? [True, True] Translation: X:98.10, Y:-3.31, Z:-0.73 [[ 9.95864170e-01 9.08370763e-02 -1.78319591e-03 9.81034343e+01] [-9.08369871e-02 9.95865766e-01 1.31124496e-04 -3.30572892e+00] [ 1.78773473e-03 3.13979565e-05 9.99998402e-01 -7.31281728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.926559995 meters 0.05071797355721058 Centerline is valid? [True, True] Translation: X:98.16, Y:-3.31, Z:-0.73 [[ 9.96133449e-01 8.78135156e-02 -2.63414491e-03 9.81641654e+01] [-8.78133104e-02 9.96136931e-01 1.93683372e-04 -3.31327085e+00] [ 2.64097704e-03 3.83784994e-05 9.99996512e-01 -7.32176018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.986559995 meters 0.05108930648691832 Centerline is valid? [True, True] Translation: X:98.22, Y:-3.32, Z:-0.73 [[ 9.96675138e-01 8.14654012e-02 -1.43412593e-03 9.82247488e+01] [-8.14653337e-02 9.96676170e-01 1.05529004e-04 -3.32446387e+00] [ 1.43795611e-03 1.16534129e-05 9.99998966e-01 -7.31448309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.046559995 meters 0.05060178475371999 Centerline is valid? [True, True] Translation: X:98.29, Y:-3.33, Z:-0.73 [[ 9.97026992e-01 7.70491374e-02 -7.79321640e-04 9.82862567e+01] [-7.70491154e-02 9.97027297e-01 5.82335697e-05 -3.33373750e+00] [ 7.81491794e-04 1.98560213e-06 9.99999695e-01 -7.30790470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.106559995 meters 0.05123958846436301 Centerline is valid? [True, True] Translation: X:98.35, Y:-3.35, Z:-0.73 [[ 9.97472127e-01 7.10571173e-02 -4.92186687e-04 9.83478346e+01] [-7.10571076e-02 9.97472248e-01 3.71534404e-05 -3.34580236e+00] [ 4.93582578e-04 -2.08615879e-06 9.99999878e-01 -7.30707495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.166559995 meters 0.051026928828557486 Centerline is valid? [True, True] Translation: X:98.41, Y:-3.35, Z:-0.73 [[ 9.97566885e-01 6.97136298e-02 -5.65853307e-04 9.84103009e+01] [-6.97136168e-02 9.97567045e-01 4.27920264e-05 -3.35247515e+00] [ 5.67459799e-04 -3.24022788e-06 9.99999839e-01 -7.31130773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.226559995 meters 0.05132908738021901 Centerline is valid? [True, True] Translation: X:98.47, Y:-3.36, Z:-0.73 [[ 9.97758161e-01 6.69218152e-02 -3.49413445e-04 9.84712551e+01] [-6.69218101e-02 9.97758223e-01 2.63021050e-05 -3.36024599e+00] [ 3.50390322e-04 -2.85975973e-06 9.99999939e-01 -7.31641223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.286559995 meters 0.05120719647576612 Centerline is valid? [True, True] Translation: X:98.53, Y:-3.37, Z:-0.73 [[ 9.97961664e-01 6.38110278e-02 8.17916413e-04 9.85324035e+01] [-6.38110003e-02 9.97962000e-01 -5.96890254e-05 -3.36846586e+00] [-8.20058317e-04 7.37529464e-06 9.99999664e-01 -7.30994696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.346559995 meters 0.05153183651104845 Centerline is valid? [True, True] Translation: X:98.59, Y:-3.38, Z:-0.73 [[ 9.98062310e-01 6.22035128e-02 1.53245093e-03 9.85930030e+01] [-6.22034129e-02 9.98063486e-01 -1.12835253e-04 -3.37816256e+00] [-1.53650207e-03 1.72929350e-05 9.99998819e-01 -7.31621985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.406559995 meters 0.050440230456703955 Centerline is valid? [True, True] Translation: X:98.66, Y:-3.39, Z:-0.73 [[ 9.98253865e-01 5.90568589e-02 1.22806420e-03 9.86551657e+01] [-5.90567918e-02 9.98254620e-01 -9.08686500e-05 -3.38509187e+00] [-1.23128718e-03 1.81844492e-05 9.99999242e-01 -7.30930220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.466559995 meters 0.05141952629501031 Centerline is valid? [True, True] Translation: X:98.72, Y:-3.39, Z:-0.73 [[ 9.98393388e-01 5.66399966e-02 1.59813081e-03 9.87178624e+01] [-5.66398797e-02 9.98394666e-01 -1.18381318e-04 -3.38543071e+00] [-1.60227039e-03 2.76731881e-05 9.99998716e-01 -7.29131244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.526559995 meters 0.051935467373259644 Centerline is valid? [True, True] Translation: X:98.78, Y:-3.40, Z:-0.73 [[ 9.98692887e-01 5.10591920e-02 2.34024689e-03 9.87771041e+01] [-5.10589250e-02 9.98695627e-01 -1.73708137e-04 -3.39971216e+00] [-2.34606373e-03 5.39905900e-05 9.99997247e-01 -7.31144350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.586559995 meters 0.05164634035924551 Centerline is valid? [True, True] Translation: X:98.84, Y:-3.40, Z:-0.73 [[ 9.98923848e-01 4.63275402e-02 2.21457915e-03 9.88378736e+01] [-4.63272895e-02 9.98926301e-01 -1.64390336e-04 -3.39843128e+00] [-2.21981716e-03 6.16179772e-05 9.99997534e-01 -7.31001985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.646559995 meters 0.05188211834833846 Centerline is valid? [True, True] Translation: X:98.90, Y:-3.41, Z:-0.73 [[ 9.99037309e-01 4.38414078e-02 1.54487227e-03 9.88970979e+01] [-4.38412828e-02 9.99038502e-01 -1.14686411e-04 -3.40899963e+00] [-1.54841490e-03 4.68468213e-05 9.99998800e-01 -7.33067472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.706559995 meters 0.052336902245111866 Centerline is valid? [True, True] Translation: X:98.96, Y:-3.42, Z:-0.74 [[ 9.99130703e-01 4.16598513e-02 1.51482669e-03 9.89579400e+01] [-4.16597288e-02 9.99131850e-01 -1.12347317e-04 -3.42021448e+00] [-1.51819197e-03 4.91423847e-05 9.99998846e-01 -7.35204883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.766559995 meters 0.05230487484653535 Centerline is valid? [True, True] Translation: X:99.02, Y:-3.42, Z:-0.74 [[ 9.99153187e-01 4.10689263e-02 2.50052012e-03 9.90195833e+01] [-4.10685906e-02 9.99156312e-01 -1.85461491e-04 -3.42396351e+00] [-2.50602717e-03 8.26116023e-05 9.99996856e-01 -7.35067363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.826559995 meters 0.05241876671629779 Centerline is valid? [True, True] Translation: X:99.08, Y:-3.43, Z:-0.73 [[ 9.99126976e-01 4.16249443e-02 3.55657515e-03 9.90807668e+01] [-4.16242686e-02 9.99133300e-01 -2.63814819e-04 -3.42768054e+00] [-3.56447394e-03 1.15544663e-04 9.99993641e-01 -7.34380552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.886559995 meters 0.05202985850462875 Centerline is valid? [True, True] Translation: X:99.14, Y:-3.43, Z:-0.73 [[ 9.99015947e-01 4.41719853e-02 3.99660766e-03 9.91412134e+01] [-4.41711488e-02 9.99023934e-01 -2.97380690e-04 -3.42807203e+00] [-4.00584260e-03 1.20553301e-04 9.99991969e-01 -7.34866494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.946559995 meters 0.0519072141979512 Centerline is valid? [True, True] Translation: X:99.20, Y:-3.43, Z:-0.74 [[ 9.98697764e-01 5.09485018e-02 2.65085607e-03 9.92007515e+01] [-5.09481574e-02 9.98701280e-01 -1.97331046e-04 -3.42810386e+00] [-2.65746707e-03 6.20178420e-05 9.99996467e-01 -7.35987897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.006559995 meters 0.051762605660259635 Centerline is valid? [True, True] Translation: X:99.26, Y:-3.43, Z:-0.74 [[ 9.98402202e-01 5.64775679e-02 1.82386503e-03 9.92617248e+01] [-5.64774143e-02 9.98403868e-01 -1.35648489e-04 -3.43009810e+00] [-1.82861500e-03 3.24245689e-05 9.99998328e-01 -7.37752456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.066559995 meters 0.05110747181395987 Centerline is valid? [True, True] Translation: X:99.32, Y:-3.43, Z:-0.74 [[ 9.98088970e-01 6.17871977e-02 8.66118050e-04 9.93233137e+01] [-6.17871651e-02 9.98089346e-01 -6.43582679e-05 -3.42887545e+00] [-8.68439715e-04 1.07202983e-05 9.99999623e-01 -7.37567911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.126559995 meters 0.05162878529300798 Centerline is valid? [True, True] Translation: X:99.39, Y:-3.43, Z:-0.74 [[ 9.97618502e-01 6.89710868e-02 -5.59980972e-04 9.93851200e+01] [-6.89710741e-02 9.97618659e-01 4.19544433e-05 -3.42939937e+00] [ 5.61541110e-04 -3.23203981e-06 9.99999842e-01 -7.39215377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.186559995 meters 0.05165345502595397 Centerline is valid? [True, True] Translation: X:99.45, Y:-3.43, Z:-0.74 [[ 9.97303736e-01 7.33790262e-02 -8.81483489e-04 9.94459575e+01] [-7.33789960e-02 9.97304125e-01 6.65529135e-05 -3.43085877e+00] [ 8.83990708e-04 -1.69109588e-06 9.99999609e-01 -7.41022895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.246559995 meters 0.05115455649499044 Centerline is valid? [True, True] Translation: X:99.51, Y:-3.43, Z:-0.74 [[ 9.97037715e-01 7.69118533e-02 -6.01308482e-04 9.95088621e+01] [-7.69118396e-02 9.97037896e-01 4.59056686e-05 -3.43405917e+00] [ 6.03058034e-04 4.78058573e-07 9.99999818e-01 -7.39963792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.306559995 meters 0.05045120381570901 Centerline is valid? [True, True] Translation: X:99.57, Y:-3.44, Z:-0.74 [[ 9.96807449e-01 7.98412788e-02 -5.28397766e-04 9.95705260e+01] [-7.98412689e-02 9.96807589e-01 3.98126149e-05 -3.43834646e+00] [ 5.29889594e-04 2.50243707e-06 9.99999860e-01 -7.39383056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.366559995 meters 0.05055009807477569 Centerline is valid? [True, True] Translation: X:99.63, Y:-3.44, Z:-0.74 [[ 9.96679185e-01 8.14283280e-02 1.73260067e-04 9.96328362e+01] [-8.14283271e-02 9.96679200e-01 -1.20507025e-05 -3.44189085e+00] [-1.73665974e-04 -2.09759311e-06 9.99999985e-01 -7.40375355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.426559995 meters 0.05067748073437001 Centerline is valid? [True, True] Translation: X:99.69, Y:-3.45, Z:-0.74 [[ 9.96530753e-01 8.32234579e-02 5.61234090e-04 9.96943693e+01] [-8.32234478e-02 9.96530911e-01 -4.12919144e-05 -3.44631148e+00] [-5.62723575e-04 -5.55917352e-06 9.99999842e-01 -7.39786257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.486559995 meters 0.05095968618272875 Centerline is valid? [True, True] Translation: X:99.76, Y:-3.45, Z:-0.74 [[ 9.96468417e-01 8.39653160e-02 7.20901410e-04 9.97573521e+01] [-8.39652995e-02 9.96468678e-01 -5.31798661e-05 -3.45101369e+00] [-7.22820939e-04 -7.53864574e-06 9.99999739e-01 -7.40169771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.546559995 meters 0.050844387998359455 Centerline is valid? [True, True] Translation: X:99.82, Y:-3.46, Z:-0.74 [[ 9.96476369e-01 8.38718290e-02 -6.02591273e-04 9.98182071e+01] [-8.38718164e-02 9.96476551e-01 4.61265643e-05 -3.45561781e+00] [ 6.04336792e-04 4.57639329e-06 9.99999817e-01 -7.41702975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.606559995 meters 0.051033704767188125 Centerline is valid? [True, True] Translation: X:99.88, Y:-3.46, Z:-0.74 [[ 9.96553798e-01 8.29408009e-02 -1.16272283e-03 9.98804380e+01] [-8.29407542e-02 9.96554476e-01 8.84709589e-05 -3.46250568e+00] [ 1.16605449e-03 8.27103849e-06 9.99999320e-01 -7.41609862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.666559995 meters 0.051382063846050784 Centerline is valid? [True, True] Translation: X:99.94, Y:-3.47, Z:-0.74 [[ 9.96745081e-01 8.05992635e-02 -1.73281220e-03 9.99419407e+01] [-8.05991576e-02 9.96746587e-01 1.30952392e-04 -3.46950169e+00] [ 1.73772931e-03 9.13705125e-06 9.99998490e-01 -7.42534995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.726559995 meters 0.05099980431781856 Centerline is valid? [True, True] Translation: X:100.00, Y:-3.48, Z:-0.74 [[ 9.96949916e-01 7.80206067e-02 -1.91047961e-03 1.00003928e+02] [-7.80204718e-02 9.96951747e-01 1.45124480e-04 -3.47694132e+00] [ 1.91597868e-03 4.37468215e-06 9.99998165e-01 -7.42723016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.786559995 meters 0.051192541732545255 Centerline is valid? [True, True] Translation: X:100.07, Y:-3.49, Z:-0.74 [[ 9.97431969e-01 7.16154172e-02 -8.36135140e-04 1.00065689e+02] [-7.16153886e-02 9.97432320e-01 6.41114586e-05 -3.48711714e+00] [ 8.38579581e-04 -4.06667545e-06 9.99999648e-01 -7.41696106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.846559995 meters 0.050799135403956544 Centerline is valid? [True, True] Translation: X:100.13, Y:-3.50, Z:-0.74 [[ 9.97848551e-01 6.55611176e-02 9.19303355e-05 1.00126435e+02] [-6.55611173e-02 9.97848556e-01 -6.15501958e-06 -3.49651931e+00] [-9.21360825e-05 1.14721861e-07 9.99999996e-01 -7.42301855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.906559995 meters 0.05096658894362911 Centerline is valid? [True, True] Translation: X:100.19, Y:-3.51, Z:-0.74 [[ 9.98496857e-01 5.47733598e-02 1.97637377e-03 1.00186187e+02] [-5.47731708e-02 9.98498812e-01 -1.49626632e-04 -3.50590496e+00] [-1.98160241e-03 4.11494637e-05 9.99998036e-01 -7.39949462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.966559995 meters 0.05182575678605976 Centerline is valid? [True, True] Translation: X:100.25, Y:-3.51, Z:-0.74 [[ 9.98863109e-01 4.76472935e-02 1.49146287e-03 1.00246447e+02] [-4.76471780e-02 9.98864222e-01 -1.12927687e-04 -3.51470799e+00] [-1.49514960e-03 4.17353040e-05 9.99998881e-01 -7.40326817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.026559995 meters 0.05241051227749769 Centerline is valid? [True, True] Translation: X:100.31, Y:-3.53, Z:-0.74 [[ 9.99254503e-01 3.86061944e-02 -1.19326047e-05 1.00306348e+02] [-3.86061944e-02 9.99254503e-01 9.43218472e-07 -3.52534554e+00] [ 1.19601231e-05 -4.81842847e-07 1.00000000e+00 -7.41458145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.086559995 meters 0.05280398037398333 Centerline is valid? [True, True] Translation: X:100.37, Y:-3.52, Z:-0.74 [[ 9.99376430e-01 3.53093420e-02 4.96370473e-05 1.00367768e+02] [-3.53093418e-02 9.99376431e-01 -3.74841671e-06 -3.52164602e+00] [-4.97384494e-05 1.99342784e-06 9.99999999e-01 -7.39694760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.146559995 meters 0.05321855436089927 Centerline is valid? [True, True] Translation: X:100.43, Y:-3.53, Z:-0.74 [[ 9.99486606e-01 3.20272849e-02 8.81472102e-04 1.00427172e+02] [-3.20272385e-02 9.99486994e-01 -6.67526100e-05 -3.52980341e+00] [-8.83157807e-04 3.84872224e-05 9.99999609e-01 -7.40170151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.206559995 meters 0.05342979994028677 Centerline is valid? [True, True] Translation: X:100.49, Y:-3.54, Z:-0.74 [[ 9.99545756e-01 3.01302503e-02 6.70020240e-04 1.00487006e+02] [-3.01302230e-02 9.99545980e-01 -5.07192051e-05 -3.53839232e+00] [-6.71244221e-04 3.05083070e-05 9.99999774e-01 -7.40585283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.266559995 meters 0.05304149638427504 Centerline is valid? [True, True] Translation: X:100.55, Y:-3.53, Z:-0.74 [[ 9.99519793e-01 3.09855787e-02 2.78156937e-04 1.00549898e+02] [-3.09855741e-02 9.99519832e-01 -2.07936884e-05 -3.53447508e+00] [-2.78667680e-04 1.21648507e-05 9.99999961e-01 -7.40151699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.326559995 meters 0.05272334284859666 Centerline is valid? [True, True] Translation: X:100.61, Y:-3.53, Z:-0.74 [[ 9.99310981e-01 3.71121000e-02 5.04945217e-04 1.00611104e+02] [-3.71120854e-02 9.99311109e-01 -3.82804614e-05 -3.52963451e+00] [-5.06018033e-04 1.95145154e-05 9.99999872e-01 -7.40267054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.386559995 meters 0.05309405143717397 Centerline is valid? [True, True] Translation: X:100.67, Y:-3.53, Z:-0.74 [[ 9.98801693e-01 4.88915770e-02 2.18888842e-03 1.00670966e+02] [-4.88913306e-02 9.98804090e-01 -1.65975295e-04 -3.53404653e+00] [-2.19438550e-03 5.87587381e-05 9.99997591e-01 -7.41441426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.446559995 meters 0.05268148409324341 Centerline is valid? [True, True] Translation: X:100.73, Y:-3.53, Z:-0.74 [[ 9.98309512e-01 5.80360817e-02 3.15139085e-03 1.00731790e+02] [-5.80356164e-02 9.98314485e-01 -2.38960882e-04 -3.53095053e+00] [-3.15994749e-03 5.56640114e-05 9.99995006e-01 -7.41138243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.506559995 meters 0.05156525198424178 Centerline is valid? [True, True] Translation: X:100.79, Y:-3.52, Z:-0.74 [[ 9.97464151e-01 7.10803309e-02 3.58517962e-03 1.00792981e+02] [-7.10798130e-02 9.97470594e-01 -2.71820933e-04 -3.52284222e+00] [-3.59543237e-03 1.62977387e-05 9.99993536e-01 -7.41666946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.566559995 meters 0.05095380215748333 Centerline is valid? [True, True] Translation: X:100.86, Y:-3.52, Z:-0.74 [[ 9.96850952e-01 7.92274408e-02 3.34553697e-03 1.00856109e+02] [-7.92270360e-02 9.96856566e-01 -2.53544538e-04 -3.51664449e+00] [-3.35510818e-03 -1.23108644e-05 9.99994372e-01 -7.42945079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.626559995 meters 0.05167866310638661 Centerline is valid? [True, True] Translation: X:100.92, Y:-3.51, Z:-0.74 [[ 9.96247667e-01 8.64889829e-02 3.20027896e-03 1.00918534e+02] [-8.64886495e-02 9.96252807e-01 -2.42677801e-04 -3.51425706e+00] [-3.20927585e-03 -3.50206123e-05 9.99994850e-01 -7.43488160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.686559995 meters 0.05184377233555555 Centerline is valid? [True, True] Translation: X:100.98, Y:-3.51, Z:-0.74 [[ 9.95614974e-01 9.35105230e-02 2.57030934e-03 1.00978882e+02] [-9.35103308e-02 9.95618290e-01 -1.95103740e-04 -3.50995508e+00] [-2.57729124e-03 -4.61022718e-05 9.99996678e-01 -7.44674122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.746559995 meters 0.05158925177637058 Centerline is valid? [True, True] Translation: X:101.04, Y:-3.51, Z:-0.74 [[ 9.95400155e-01 9.57742712e-02 2.41261427e-03 1.01040698e+02] [-9.57741090e-02 9.95403077e-01 -1.82935047e-04 -3.51403355e+00] [-2.41904414e-03 -4.89724083e-05 9.99997073e-01 -7.44401383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.806559995 meters 0.051941500135832055 Centerline is valid? [True, True] Translation: X:101.10, Y:-3.51, Z:-0.75 [[ 9.95236910e-01 9.74733101e-02 1.56432740e-03 1.01101760e+02] [-9.74732439e-02 9.95238139e-01 -1.18711461e-04 -3.51309129e+00] [-1.56844949e-03 -3.43340392e-05 9.99998769e-01 -7.46567750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.866559995 meters 0.05131259163514481 Centerline is valid? [True, True] Translation: X:101.16, Y:-3.52, Z:-0.75 [[ 9.95442924e-01 9.53572671e-02 -6.13744325e-04 1.01161986e+02] [-9.53572560e-02 9.95443113e-01 4.74169700e-05 -3.52424398e+00] [ 6.15469115e-04 1.13240875e-05 9.99999811e-01 -7.46619998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.926559995 meters 0.051575245528473056 Centerline is valid? [True, True] Translation: X:101.22, Y:-3.54, Z:-0.75 [[ 9.95976582e-01 8.95963158e-02 -1.77430120e-03 1.01222123e+02] [-8.95962173e-02 9.95978162e-01 1.35082459e-04 -3.53536079e+00] [ 1.77926814e-03 2.44317094e-05 9.99998417e-01 -7.46097312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.986559995 meters 0.05127333073880277 Centerline is valid? [True, True] Translation: X:101.28, Y:-3.54, Z:-0.75 [[ 9.96180256e-01 8.72868223e-02 -2.43082848e-03 1.01283986e+02] [-8.72866285e-02 9.96183221e-01 1.85876844e-04 -3.54161376e+00] [ 2.43777514e-03 2.70119800e-05 9.99997028e-01 -7.47227050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.046559995 meters 0.052107870693186176 Centerline is valid? [True, True] Translation: X:101.35, Y:-3.55, Z:-0.75 [[ 9.96199826e-01 8.70524714e-02 -2.78810097e-03 1.01346857e+02] [-8.70522153e-02 9.96203727e-01 2.13302545e-04 -3.54539548e+00] [ 2.79608509e-03 3.02184076e-05 9.99996090e-01 -7.49428882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.106559995 meters 0.051814629327285346 Centerline is valid? [True, True] Translation: X:101.41, Y:-3.55, Z:-0.75 [[ 9.96224498e-01 8.67810264e-02 -2.40911070e-03 1.01407681e+02] [-8.67808343e-02 9.96227410e-01 1.84372414e-04 -3.55382852e+00] [ 2.41602214e-03 2.53883211e-05 9.99997081e-01 -7.47058571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.166559995 meters 0.05181239492214434 Centerline is valid? [True, True] Translation: X:101.47, Y:-3.55, Z:-0.75 [[ 9.96186586e-01 8.72294944e-02 -1.81670661e-03 1.01469593e+02] [-8.72293845e-02 9.96188243e-01 1.39788210e-04 -3.55354283e+00] [ 1.82197542e-03 1.92150601e-05 9.99998340e-01 -7.51672462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.226559995 meters 0.052242204425432925 Centerline is valid? [True, True] Translation: X:101.53, Y:-3.56, Z:-0.75 [[ 9.96173154e-01 8.73826467e-02 -1.82195147e-03 1.01532367e+02] [-8.73825360e-02 9.96174820e-01 1.40408287e-04 -3.56104634e+00] [ 1.82725143e-03 1.93357738e-05 9.99998330e-01 -7.51853973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.286559995 meters 0.0512840757603758 Centerline is valid? [True, True] Translation: X:101.59, Y:-3.57, Z:-0.75 [[ 9.96340634e-01 8.54507124e-02 -1.87555388e-03 1.01594464e+02] [-8.54505915e-02 9.96342399e-01 1.44601482e-04 -3.56877107e+00] [ 1.88105015e-03 1.61948562e-05 9.99998231e-01 -7.53109890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34655999499999 meters 0.05084566260923218 Centerline is valid? [True, True] Translation: X:101.66, Y:-3.58, Z:-0.75 [[ 9.96678439e-01 8.14205227e-02 -1.66961832e-03 1.01655861e+02] [-8.14204209e-02 9.96679837e-01 1.28992161e-04 -3.58035195e+00] [ 1.67457752e-03 7.37732024e-06 9.99998598e-01 -7.52982180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.406559995 meters 0.05168145900479099 Centerline is valid? [True, True] Translation: X:101.72, Y:-3.59, Z:-0.75 [[ 9.96886448e-01 7.88319192e-02 -1.71437399e-03 1.01717271e+02] [-7.88318077e-02 9.96887922e-01 1.32614605e-04 -3.59028948e+00] [ 1.71949299e-03 2.94549776e-06 9.99998522e-01 -7.48476359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.466559995 meters 0.05194908720739944 Centerline is valid? [True, True] Translation: X:101.78, Y:-3.60, Z:-0.75 [[ 9.97151888e-01 7.53886959e-02 -2.15812576e-03 1.01779216e+02] [-7.53885107e-02 9.97154223e-01 1.67165956e-04 -3.59944053e+00] [ 2.16458664e-03 -3.99196235e-06 9.99997657e-01 -7.49283820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.526559995 meters 0.05179339115724175 Centerline is valid? [True, True] Translation: X:101.84, Y:-3.61, Z:-0.75 [[ 9.97330520e-01 7.29744903e-02 -2.56061225e-03 1.01841027e+02] [-7.29742234e-02 9.97333808e-01 1.97641068e-04 -3.60696014e+00] [ 2.56820792e-03 -1.02547792e-05 9.99996702e-01 -7.49699824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.586559995 meters 0.051813720161117204 Centerline is valid? [True, True] Translation: X:101.90, Y:-3.62, Z:-0.75 [[ 9.97606830e-01 6.91059415e-02 -2.23181316e-03 1.01901225e+02] [-6.91057293e-02 9.97609327e-01 1.72155267e-04 -3.61643740e+00] [ 2.23837458e-03 -1.75121935e-05 9.99997495e-01 -7.50247471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.646559995 meters 0.05193410500864411 Centerline is valid? [True, True] Translation: X:101.96, Y:-3.63, Z:-0.75 [[ 9.97755133e-01 6.69341490e-02 -2.12448706e-03 1.01961866e+02] [-6.69339499e-02 9.97757395e-01 1.64759162e-04 -3.62504324e+00] [ 2.13075069e-03 -2.21889894e-05 9.99997730e-01 -7.51510399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.706559995 meters 0.052119818974413056 Centerline is valid? [True, True] Translation: X:102.02, Y:-3.64, Z:-0.75 [[ 9.97845585e-01 6.55920861e-02 -1.36616369e-03 1.02022008e+02] [-6.55920019e-02 9.97846520e-01 1.06436085e-04 -3.63638960e+00] [ 1.37020305e-03 -1.65973667e-05 9.99999061e-01 -7.51799632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.766559995 meters 0.05221266842748444 Centerline is valid? [True, True] Translation: X:102.08, Y:-3.64, Z:-0.75 [[ 9.97824579e-01 6.59101721e-02 -1.39940090e-03 1.02084509e+02] [-6.59100836e-02 9.97825560e-01 1.09320817e-04 -3.64211048e+00] [ 1.40356334e-03 -1.68483680e-05 9.99999015e-01 -7.51055804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.826559995 meters 0.051961063610687225 Centerline is valid? [True, True] Translation: X:102.15, Y:-3.65, Z:-0.75 [[ 9.97753472e-01 6.69762619e-02 -1.47994784e-03 1.02146333e+02] [-6.69761640e-02 9.97754569e-01 1.15623213e-04 -3.64590549e+00] [ 1.48436873e-03 -1.62422331e-05 9.99998898e-01 -7.49660312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.886559995 meters 0.052262460831656775 Centerline is valid? [True, True] Translation: X:102.21, Y:-3.65, Z:-0.75 [[ 9.97653126e-01 6.84686563e-02 -5.32446277e-04 1.02206890e+02] [-6.84686435e-02 9.97653268e-01 4.21983040e-05 -3.65340999e+00] [ 5.34086029e-04 -5.64339556e-06 9.99999857e-01 -7.51663651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.946559995 meters 0.052254157351714965 Centerline is valid? [True, True] Translation: X:102.27, Y:-3.66, Z:-0.75 [[ 9.97578628e-01 6.95475256e-02 -1.48438059e-04 1.02268701e+02] [-6.95475245e-02 9.97578639e-01 1.23763681e-05 -3.65913275e+00] [ 1.48939383e-04 -2.02290072e-06 9.99999989e-01 -7.50838881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.006559995 meters 0.05178417525262723 Centerline is valid? [True, True] Translation: X:102.33, Y:-3.66, Z:-0.75 [[ 9.97489275e-01 7.08169064e-02 -3.33338937e-04 1.02329840e+02] [-7.08169014e-02 9.97489331e-01 2.67239841e-05 -3.66472318e+00] [ 3.34394543e-04 -3.05085693e-06 9.99999944e-01 -7.51323132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.066559995 meters 0.05203071309033915 Centerline is valid? [True, True] Translation: X:102.39, Y:-3.67, Z:-0.75 [[ 9.97236536e-01 7.42847037e-02 -1.03601779e-03 1.02391778e+02] [-7.42846595e-02 9.97237075e-01 8.10390771e-05 -3.66678492e+00] [ 1.03917531e-03 -3.85489998e-06 9.99999460e-01 -7.49719900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.126559995 meters 0.051445872981929826 Centerline is valid? [True, True] Translation: X:102.45, Y:-3.67, Z:-0.75 [[ 9.96999253e-01 7.73822832e-02 -2.11478954e-03 1.02453868e+02] [-7.73821052e-02 9.97001496e-01 1.65987504e-04 -3.67054351e+00] [ 2.12129283e-03 -1.84255112e-06 9.99997750e-01 -7.51178441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.186559995 meters 0.051773125547512816 Centerline is valid? [True, True] Translation: X:102.52, Y:-3.67, Z:-0.75 [[ 9.96648410e-01 8.17482079e-02 -3.02946699e-03 1.02515892e+02] [-8.17478631e-02 9.96653014e-01 2.37665984e-04 -3.67483893e+00] [ 3.03875618e-03 1.07830282e-05 9.99995383e-01 -7.51235901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.246559995 meters 0.0513416067235955 Centerline is valid? [True, True] Translation: X:102.58, Y:-3.68, Z:-0.75 [[ 9.96503242e-01 8.35101909e-02 -2.70851811e-03 1.02578067e+02] [-8.35099205e-02 9.96506923e-01 2.12966773e-04 -3.67955822e+00] [ 2.71684195e-03 1.39660522e-05 9.99996309e-01 -7.52721654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.306559995 meters 0.05116523199048438 Centerline is valid? [True, True] Translation: X:102.64, Y:-3.69, Z:-0.75 [[ 9.96430089e-01 8.43732095e-02 -2.87051243e-03 1.02638477e+02] [-8.43729092e-02 9.96434223e-01 2.25786361e-04 -3.68540758e+00] [ 2.87932714e-03 1.72131602e-05 9.99995855e-01 -7.53372181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.366559995 meters 0.05123318819057307 Centerline is valid? [True, True] Translation: X:102.70, Y:-3.69, Z:-0.75 [[ 9.96426565e-01 8.44170160e-02 -2.80483955e-03 1.02700953e+02] [-8.44167277e-02 9.96430513e-01 2.21220304e-04 -3.69258128e+00] [ 2.81350247e-03 1.63455888e-05 9.99996042e-01 -7.51744532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.426559995 meters 0.051727569589403784 Centerline is valid? [True, True] Translation: X:102.76, Y:-3.70, Z:-0.75 [[ 9.96426963e-01 8.43908546e-02 -3.38996144e-03 1.02763200e+02] [-8.43904325e-02 9.96432729e-01 2.67631453e-04 -3.69929795e+00] [ 3.40045417e-03 1.94051161e-05 9.99994218e-01 -7.52303265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.486559995 meters 0.051800352910317954 Centerline is valid? [True, True] Translation: X:102.82, Y:-3.71, Z:-0.75 [[ 9.96528151e-01 8.31878319e-02 -3.38075677e-03 1.02823806e+02] [-8.31874045e-02 9.96533885e-01 2.67076364e-04 -3.70548387e+00] [ 3.39125619e-03 1.50872659e-05 9.99994250e-01 -7.53994626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.546559995 meters 0.05192598989685781 Centerline is valid? [True, True] Translation: X:102.89, Y:-3.71, Z:-0.75 [[ 9.96805656e-01 7.98042596e-02 -3.12465004e-03 1.02885274e+02] [-7.98038763e-02 9.96810554e-01 2.47338389e-04 -3.71455924e+00] [ 3.13442279e-03 2.81087954e-06 9.99995088e-01 -7.52311781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.606559995 meters 0.051559610826693 Centerline is valid? [True, True] Translation: X:102.95, Y:-3.72, Z:-0.75 [[ 9.96972421e-01 7.76922762e-02 -3.14687795e-03 1.02948335e+02] [-7.76918753e-02 9.96977387e-01 2.49634974e-04 -3.72194098e+00] [ 3.15676087e-03 -4.39233537e-06 9.99995017e-01 -7.52846422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.666559995 meters 0.05120757155730812 Centerline is valid? [True, True] Translation: X:103.01, Y:-3.73, Z:-0.75 [[ 9.97078067e-01 7.63385941e-02 -2.78339709e-03 1.03010610e+02] [-7.63382738e-02 9.97081952e-01 2.21295357e-04 -3.72755798e+00] [ 2.79216838e-03 -8.16901699e-06 9.99996102e-01 -7.53018379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.726559995 meters 0.05202001068220431 Centerline is valid? [True, True] Translation: X:103.07, Y:-3.73, Z:-0.75 [[ 9.97166848e-01 7.51839710e-02 -2.37641955e-03 1.03071972e+02] [-7.51837334e-02 9.97169680e-01 1.89314981e-04 -3.73213459e+00] [ 2.38392698e-03 -1.01105294e-05 9.99997158e-01 -7.54875755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.786559995 meters 0.05171602574990812 Centerline is valid? [True, True] Translation: X:103.13, Y:-3.74, Z:-0.76 [[ 9.97436089e-01 7.15267710e-02 -2.27377167e-03 1.03132594e+02] [-7.15265446e-02 9.97438680e-01 1.80839734e-04 -3.73893555e+00] [ 2.28088270e-03 -1.77410462e-05 9.99997399e-01 -7.55905913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84655999499999 meters 0.05205380461307876 Centerline is valid? [True, True] Translation: X:103.19, Y:-3.74, Z:-0.75 [[ 9.97740096e-01 6.71646733e-02 -1.89929987e-03 1.03194333e+02] [-6.71645075e-02 9.97741904e-01 1.50999539e-04 -3.74292133e+00] [ 1.90515290e-03 -2.30927542e-05 9.99998185e-01 -7.54033975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.906559995 meters 0.052603411103688894 Centerline is valid? [True, True] Translation: X:103.26, Y:-3.75, Z:-0.75 [[ 9.97931015e-01 6.42676821e-02 -1.83158652e-03 1.03256610e+02] [-6.42675230e-02 9.97932695e-01 1.45687538e-04 -3.74644436e+00] [ 1.83716307e-03 -2.76745842e-05 9.99998312e-01 -7.53928491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.966559995 meters 0.05242765136925642 Centerline is valid? [True, True] Translation: X:103.32, Y:-3.75, Z:-0.76 [[ 9.98217048e-01 5.96232992e-02 -2.79055988e-03 1.03316826e+02] [-5.96229124e-02 9.98220947e-01 2.21669089e-04 -3.75179614e+00] [ 2.79881197e-03 -5.48925567e-05 9.99996082e-01 -7.55063730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.026559995 meters 0.052764828812982265 Centerline is valid? [True, True] Translation: X:103.38, Y:-3.75, Z:-0.75 [[ 9.98355619e-01 5.72635606e-02 -2.63498431e-03 1.03378667e+02] [-5.72632048e-02 9.98359094e-01 2.10344767e-04 -3.75358251e+00] [ 2.64270564e-03 -5.91112343e-05 9.99996506e-01 -7.54669785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.086559995 meters 0.05315848235366453 Centerline is valid? [True, True] Translation: X:103.44, Y:-3.76, Z:-0.75 [[ 9.98494864e-01 5.48107926e-02 -1.94510840e-03 1.03439482e+02] [-5.48105942e-02 9.98496757e-01 1.55226377e-04 -3.75550687e+00] [ 1.95069251e-03 -4.83801926e-05 9.99998096e-01 -7.54505388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.146559995 meters 0.05337515614917604 Centerline is valid? [True, True] Translation: X:103.50, Y:-3.76, Z:-0.76 [[ 9.98624653e-01 5.24131475e-02 -1.29037243e-03 1.03500575e+02] [-5.24130583e-02 9.98625486e-01 1.02858788e-04 -3.76058411e+00] [ 1.29398995e-03 -3.50849557e-05 9.99999162e-01 -7.56035464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.206559995 meters 0.05354256300813436 Centerline is valid? [True, True] Translation: X:103.56, Y:-3.76, Z:-0.76 [[ 9.98613471e-01 5.26224909e-02 -1.41763834e-03 1.03562725e+02] [-5.26223826e-02 9.98614476e-01 1.13595765e-04 -3.76420295e+00] [ 1.42165186e-03 -3.88387538e-05 9.99998989e-01 -7.56820615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.266559995 meters 0.0533276933836914 Centerline is valid? [True, True] Translation: X:103.62, Y:-3.76, Z:-0.76 [[ 9.98427698e-01 5.60459103e-02 -9.93675658e-04 1.03623341e+02] [-5.60458593e-02 9.98428192e-01 7.91827434e-05 -3.76033410e+00] [ 9.96551660e-04 -2.33668381e-05 9.99999503e-01 -7.55574044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.326559995 meters 0.05301790318057785 Centerline is valid? [True, True] Translation: X:103.68, Y:-3.76, Z:-0.76 [[ 9.98191504e-01 6.01142157e-02 -4.26111561e-05 1.03684395e+02] [-6.01142156e-02 9.98191505e-01 3.44663921e-06 -3.76031644e+00] [ 4.27412860e-05 -8.78869756e-07 9.99999999e-01 -7.56434298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.386559995 meters 0.05249488467295506 Centerline is valid? [True, True] Translation: X:103.75, Y:-3.76, Z:-0.76 [[ 9.97709755e-01 6.76405462e-02 -3.87985582e-05 1.03745179e+02] [-6.76405462e-02 9.97709756e-01 3.20372243e-06 -3.75840122e+00] [ 3.89264016e-05 -5.72029448e-07 9.99999999e-01 -7.58074850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.446559995 meters 0.0529321737242603 Centerline is valid? [True, True] Translation: X:103.81, Y:-3.76, Z:-0.76 [[ 9.97355061e-01 7.26799197e-02 -7.14960367e-04 1.03806906e+02] [-7.26798969e-02 9.97355317e-01 5.79556844e-05 -3.75832160e+00] [ 7.17281738e-04 -5.83914944e-06 9.99999743e-01 -7.59580886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.506559995 meters 0.05243582265062418 Centerline is valid? [True, True] Translation: X:103.87, Y:-3.76, Z:-0.76 [[ 9.96878019e-01 7.89472683e-02 -1.24254928e-03 1.03869065e+02] [-7.89472047e-02 9.96878793e-01 1.00202105e-04 -3.75677622e+00] [ 1.24658171e-03 -1.79348311e-06 9.99999223e-01 -7.60466317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.566559995 meters 0.05182934864112256 Centerline is valid? [True, True] Translation: X:103.93, Y:-3.76, Z:-0.76 [[ 9.96583029e-01 8.25963263e-02 -3.37376725e-04 1.03930174e+02] [-8.25963217e-02 9.96583086e-01 2.74815436e-05 -3.75703167e+00] [ 3.38493812e-04 4.78436580e-07 9.99999943e-01 -7.61409433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.626559995 meters 0.05221903459919656 Centerline is valid? [True, True] Translation: X:103.99, Y:-3.76, Z:-0.77 [[ 9.96443040e-01 8.42674226e-02 -5.19032623e-04 1.03991772e+02] [-8.42674119e-02 9.96443175e-01 4.23185682e-05 -3.75672247e+00] [ 5.20752591e-04 1.56949308e-06 9.99999864e-01 -7.66534818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.686559995 meters 0.051614789903925984 Centerline is valid? [True, True] Translation: X:104.05, Y:-3.76, Z:-0.76 [[ 9.96398095e-01 8.47947325e-02 8.30000698e-04 1.04053488e+02] [-8.47947068e-02 9.96398441e-01 -6.62392600e-05 -3.76241566e+00] [-8.32628142e-04 -4.37899330e-06 9.99999653e-01 -7.61588261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.746559995 meters 0.05229400018229986 Centerline is valid? [True, True] Translation: X:104.11, Y:-3.77, Z:-0.76 [[ 9.96386258e-01 8.49376664e-02 -1.31431082e-04 1.04114048e+02] [-8.49376657e-02 9.96386267e-01 1.12940750e-05 -3.76719441e+00] [ 1.31915417e-04 -8.98118259e-08 9.99999991e-01 -7.60692724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.806559995 meters 0.052588527069759285 Centerline is valid? [True, True] Translation: X:104.18, Y:-3.77, Z:-0.76 [[ 9.96406412e-01 8.46989275e-02 -5.94601697e-04 1.04176503e+02] [-8.46989138e-02 9.96406590e-01 4.81648647e-05 -3.77015825e+00] [ 5.96544562e-04 2.37033793e-06 9.99999822e-01 -7.63508446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.866559995 meters 0.05261418486133521 Centerline is valid? [True, True] Translation: X:104.24, Y:-3.77, Z:-0.76 [[ 9.96422190e-01 8.45121832e-02 -7.14587298e-04 1.04238169e+02] [-8.45121631e-02 9.96422446e-01 5.83570715e-05 -3.77480584e+00] [ 7.16962707e-04 2.24303740e-06 9.99999743e-01 -7.63553804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.926559995 meters 0.05260350247313639 Centerline is valid? [True, True] Translation: X:104.30, Y:-3.78, Z:-0.77 [[ 9.96471114e-01 8.39361838e-02 -1.88063964e-04 1.04298794e+02] [-8.39361822e-02 9.96471132e-01 1.59569407e-05 -3.77857631e+00] [ 1.88739676e-04 -1.15259308e-07 9.99999982e-01 -7.65372276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.986559995 meters 0.05243901218439661 Centerline is valid? [True, True] Translation: X:104.36, Y:-3.78, Z:-0.76 [[ 9.96586512e-01 8.25528772e-02 5.87954508e-04 1.04360919e+02] [-8.25528641e-02 9.96586686e-01 -4.66069181e-05 -3.78455660e+00] [-5.89795169e-04 -2.08950265e-06 9.99999826e-01 -7.63632215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.046559995 meters 0.05205847000054443 Centerline is valid? [True, True] Translation: X:104.42, Y:-3.79, Z:-0.76 [[ 9.96852982e-01 7.92644155e-02 1.13364770e-03 1.04422692e+02] [-7.92643632e-02 9.96853626e-01 -9.10385424e-05 -3.79129427e+00] [-1.13729693e-03 8.94179830e-07 9.99999353e-01 -7.63026381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.106559995 meters 0.052671374168832545 Centerline is valid? [True, True] Translation: X:104.48, Y:-3.80, Z:-0.76 [[ 9.97100056e-01 7.60917965e-02 1.23142830e-03 1.04484250e+02] [-7.60917327e-02 9.97100817e-01 -9.86729868e-05 -3.79804062e+00] [-1.23536636e-03 4.68532795e-06 9.99999237e-01 -7.63199413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.166559995 meters 0.05271604194698955 Centerline is valid? [True, True] Translation: X:104.54, Y:-3.81, Z:-0.76 [[ 9.97405264e-01 7.19873325e-02 7.49964671e-04 1.04544469e+02] [-7.19873073e-02 9.97405546e-01 -6.05110521e-05 -3.80552227e+00] [-7.52374951e-04 6.36610472e-06 9.99999717e-01 -7.63539705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.226559995 meters 0.05318952167861567 Centerline is valid? [True, True] Translation: X:104.60, Y:-3.82, Z:-0.76 [[ 9.97875358e-01 6.51511335e-02 3.15941370e-04 1.04604058e+02] [-6.51511287e-02 9.97875408e-01 -2.55434094e-05 -3.81526547e+00] [-3.16934305e-04 4.90520196e-06 9.99999950e-01 -7.64459306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.286559995 meters 0.05379641759890444 Centerline is valid? [True, True] Translation: X:104.66, Y:-3.82, Z:-0.76 [[ 9.98281637e-01 5.85983816e-02 -4.55283208e-05 1.04663448e+02] [-5.85983815e-02 9.98281638e-01 3.73356129e-06 -3.81909623e+00] [ 4.56688673e-05 -1.05925976e-06 9.99999999e-01 -7.63125834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34655999499999 meters 0.05396961321976951 Centerline is valid? [True, True] Translation: X:104.72, Y:-3.82, Z:-0.76 [[ 9.98504754e-01 5.46575073e-02 9.01547214e-04 1.04724301e+02] [-5.46574638e-02 9.98505161e-01 -7.27857247e-05 -3.82380695e+00] [-9.04177832e-04 2.34006080e-05 9.99999591e-01 -7.62635804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.406559995 meters 0.05410073489713604 Centerline is valid? [True, True] Translation: X:104.78, Y:-3.83, Z:-0.76 [[ 9.98743800e-01 5.01080360e-02 8.02305047e-05 1.04783921e+02] [-5.01080357e-02 9.98743803e-01 -6.43328931e-06 -3.82500689e+00] [-8.04520789e-05 2.40501482e-06 9.99999997e-01 -7.61904042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.466559995 meters 0.054804843866246594 Centerline is valid? [True, True] Translation: X:104.85, Y:-3.83, Z:-0.76 [[ 9.98814573e-01 4.86755277e-02 3.76232773e-04 1.04845838e+02] [-4.86755198e-02 9.98814644e-01 -3.01362245e-05 -3.83185138e+00] [-3.77253700e-04 1.17871745e-05 9.99999929e-01 -7.63612624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.526559995 meters 0.05496578337766751 Centerline is valid? [True, True] Translation: X:104.91, Y:-3.83, Z:-0.76 [[ 9.98771494e-01 4.95530204e-02 -6.38784354e-06 1.04908126e+02] [-4.95530204e-02 9.98771494e-01 8.43704368e-07 -3.83446715e+00] [ 6.42180411e-06 -5.26130930e-07 1.00000000e+00 -7.63978209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.586559995 meters 0.05463248660029868 Centerline is valid? [True, True] Translation: X:104.97, Y:-3.83, Z:-0.76 [[ 9.98613805e-01 5.26321620e-02 5.68746573e-04 1.04968328e+02] [-5.26321443e-02 9.98613967e-01 -4.60496319e-05 -3.83393707e+00] [-5.70381964e-04 1.60514464e-05 9.99999837e-01 -7.64392583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.646559995 meters 0.05434888010310607 Centerline is valid? [True, True] Translation: X:105.03, Y:-3.83, Z:-0.76 [[ 9.98207786e-01 5.98402428e-02 6.01469133e-04 1.05028643e+02] [-5.98402243e-02 9.98207967e-01 -4.87588314e-05 -3.82608774e+00] [-6.03309021e-04 1.26793973e-05 9.99999818e-01 -7.62789315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.706559995 meters 0.05384125955348084 Centerline is valid? [True, True] Translation: X:105.09, Y:-3.83, Z:-0.76 [[ 9.97810686e-01 6.61327852e-02 5.39045706e-04 1.05088356e+02] [-6.61327712e-02 9.97810831e-01 -4.36761829e-05 -3.82964608e+00] [-5.40754072e-04 7.93197560e-06 9.99999854e-01 -7.64880530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.766559995 meters 0.053828908829658906 Centerline is valid? [True, True] Translation: X:105.15, Y:-3.83, Z:-0.77 [[ 9.97148558e-01 7.54590347e-02 8.29388624e-04 1.05149870e+02] [-7.54590050e-02 9.97148903e-01 -6.70949441e-05 -3.82757897e+00] [-8.32086876e-04 4.31878651e-06 9.99999654e-01 -7.66857671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.826559995 meters 0.05320800158797117 Centerline is valid? [True, True] Translation: X:105.21, Y:-3.83, Z:-0.77 [[ 9.96722871e-01 8.08873076e-02 8.72555270e-04 1.05210998e+02] [-8.08872774e-02 9.96723253e-01 -6.99282027e-05 -3.82782830e+00] [-8.75352432e-04 -8.79581150e-07 9.99999617e-01 -7.66473796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.886559995 meters 0.05328534175724878 Centerline is valid? [True, True] Translation: X:105.27, Y:-3.83, Z:-0.77 [[ 9.96105178e-01 8.81571944e-02 1.66848202e-03 1.05273329e+02] [-8.81570918e-02 9.96106575e-01 -1.35052068e-04 -3.82664746e+00] [-1.67389172e-03 -1.25624585e-05 9.99998599e-01 -7.67264755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.946559995 meters 0.05312688272970574 Centerline is valid? [True, True] Translation: X:105.34, Y:-3.83, Z:-0.77 [[ 9.95705268e-01 9.25678302e-02 1.48870476e-03 1.05335033e+02] [-9.25677539e-02 9.95706381e-01 -1.20172718e-04 -3.82800624e+00] [-1.49343696e-03 -1.81494477e-05 9.99998885e-01 -7.68364153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.006559995 meters 0.05304753793936591 Centerline is valid? [True, True] Translation: X:105.40, Y:-3.83, Z:-0.77 [[ 9.95181741e-01 9.80365802e-02 1.45957164e-03 1.05395709e+02] [-9.80365119e-02 9.95182812e-01 -1.18424995e-04 -3.82946762e+00] [-1.46415059e-03 -2.52369194e-05 9.99998928e-01 -7.69856975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.066559995 meters 0.05419045727039551 Centerline is valid? [True, True] Translation: X:105.46, Y:-3.83, Z:-0.77 [[ 9.94897323e-01 1.00891619e-01 4.44956438e-04 1.05456992e+02] [-1.00891614e-01 9.94897422e-01 -3.53814904e-05 -3.82928124e+00] [-4.46255709e-04 -9.69142298e-06 9.99999900e-01 -7.71947158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.126559995 meters 0.053408697292449944 Centerline is valid? [True, True] Translation: X:105.52, Y:-3.84, Z:-0.77 [[ 9.94645032e-01 1.03349711e-01 3.13243237e-04 1.05518319e+02] [-1.03349708e-01 9.94645081e-01 -2.47416164e-05 -3.83738577e+00] [-3.14122884e-04 -7.76447134e-06 9.99999951e-01 -7.71540258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.186559995 meters 0.05391338046779284 Centerline is valid? [True, True] Translation: X:105.58, Y:-3.84, Z:-0.77 [[ 9.94555563e-01 1.04207101e-01 3.36421402e-04 1.05579026e+02] [-1.04207098e-01 9.94555619e-01 -2.72853616e-05 -3.83840557e+00] [-3.37433124e-04 -7.92068972e-06 9.99999943e-01 -7.73219848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.246559995 meters 0.05415653202468561 Centerline is valid? [True, True] Translation: X:105.64, Y:-3.85, Z:-0.77 [[ 9.94404239e-01 1.05630672e-01 1.53937571e-03 1.05640420e+02] [-1.05630604e-01 9.94405430e-01 -1.25166519e-04 -3.84768834e+00] [-1.54398499e-03 -3.81390704e-05 9.99998807e-01 -7.72298221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.306559995 meters 0.05299139560843577 Centerline is valid? [True, True] Translation: X:105.70, Y:-3.86, Z:-0.77 [[ 9.94271836e-01 1.06863941e-01 1.90121002e-03 1.05701402e+02] [-1.06863841e-01 9.94273652e-01 -1.54321403e-04 -3.86195668e+00] [-1.90681443e-03 -4.97331810e-05 9.99998181e-01 -7.71043786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.366559995 meters 0.05381700661208635 Centerline is valid? [True, True] Translation: X:105.76, Y:-3.86, Z:-0.77 [[ 9.94178175e-01 1.07723930e-01 2.30456982e-03 1.05762657e+02] [-1.07723784e-01 9.94180844e-01 -1.87761397e-04 -3.86425380e+00] [-2.31138557e-03 -6.15886999e-05 9.99997327e-01 -7.71982370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.426559995 meters 0.054244007842872914 Centerline is valid? [True, True] Translation: X:105.82, Y:-3.87, Z:-0.77 [[ 9.94017663e-01 1.09181947e-01 2.86139412e-03 1.05824086e+02] [-1.09181728e-01 9.94021778e-01 -2.33221723e-04 -3.87150716e+00] [-2.86975168e-03 -8.05854417e-05 9.99995879e-01 -7.71969428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.486559995 meters 0.05401496864745513 Centerline is valid? [True, True] Translation: X:105.89, Y:-3.88, Z:-0.77 [[ 9.93923780e-01 1.10031037e-01 2.94809172e-03 1.05885450e+02] [-1.10030807e-01 9.93928148e-01 -2.40571252e-04 -3.87914520e+00] [-2.95666165e-03 -8.52714233e-05 9.99995625e-01 -7.72537709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.546559995 meters 0.054002255236743894 Centerline is valid? [True, True] Translation: X:105.95, Y:-3.89, Z:-0.77 [[ 9.93970751e-01 1.09618931e-01 2.41594406e-03 1.05946702e+02] [-1.09618775e-01 9.93973684e-01 -1.97261488e-04 -3.89098828e+00] [-2.42300841e-03 -6.87606782e-05 9.99997062e-01 -7.72837836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.606559995 meters 0.053699389048031815 Centerline is valid? [True, True] Translation: X:106.01, Y:-3.90, Z:-0.77 [[ 9.94197562e-01 1.07535595e-01 2.70249761e-03 1.06007201e+02] [-1.07535390e-01 9.94201233e-01 -2.21456737e-04 -3.90047368e+00] [-2.71064094e-03 -7.04423848e-05 9.99996324e-01 -7.73569909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.666559995 meters 0.05311555016930202 Centerline is valid? [True, True] Translation: X:106.07, Y:-3.91, Z:-0.78 [[ 9.94846813e-01 1.01359604e-01 2.45946785e-03 1.06066693e+02] [-1.01359415e-01 9.94849852e-01 -2.01639963e-04 -3.91352989e+00] [-2.46723938e-03 -4.86893491e-05 9.99996955e-01 -7.75038374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.726559995 meters 0.05175705024005973 Centerline is valid? [True, True] Translation: X:106.13, Y:-3.93, Z:-0.77 [[ 9.95440439e-01 9.53527030e-02 2.48879362e-03 1.06125915e+02] [-9.53524909e-02 9.95443550e-01 -2.04028429e-04 -3.93285881e+00] [-2.49690822e-03 -3.42145221e-05 9.99996882e-01 -7.73950614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.786559995 meters 0.051157477428491145 Centerline is valid? [True, True] Translation: X:106.19, Y:-3.95, Z:-0.77 [[ 9.96109562e-01 8.80794441e-02 2.78426431e-03 1.06185913e+02] [-8.80791502e-02 9.96113453e-01 -2.28249875e-04 -3.94848648e+00] [-2.79354726e-03 -1.78737514e-05 9.99996098e-01 -7.72097428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84655999499999 meters 0.05170316725580753 Centerline is valid? [True, True] Translation: X:106.25, Y:-3.96, Z:-0.77 [[ 9.96776151e-01 8.01487525e-02 3.67185498e-03 1.06246987e+02] [-8.01481886e-02 9.96782914e-01 -3.00709885e-04 -3.95932594e+00] [-3.68414382e-03 5.44791694e-06 9.99993214e-01 -7.72364559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.906559995 meters 0.05189655863055658 Centerline is valid? [True, True] Translation: X:106.31, Y:-3.98, Z:-0.78 [[ 9.97712651e-01 6.74803775e-02 3.98308494e-03 1.06306314e+02] [-6.74796098e-02 9.97720600e-01 -3.26957742e-04 -3.97698664e+00] [-3.99606913e-03 5.74328574e-05 9.99992014e-01 -7.75105415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.966559995 meters 0.05189560380308867 Centerline is valid? [True, True] Translation: X:106.37, Y:-3.99, Z:-0.78 [[ 9.98201219e-01 5.97952986e-02 4.34156812e-03 1.06366703e+02] [-5.97943133e-02 9.98210656e-01 -3.56512602e-04 -3.98795082e+00] [-4.35511733e-03 9.62702300e-05 9.99990512e-01 -7.75741859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.026559995 meters 0.05383002859987102 Centerline is valid? [True, True] Translation: X:106.43, Y:-4.00, Z:-0.78 [[ 9.98752464e-01 4.97577019e-02 4.20553992e-03 1.06425091e+02] [-4.97566884e-02 9.98761309e-01 -3.45350870e-04 -4.00470455e+00] [-4.21751442e-03 1.35666293e-04 9.99991097e-01 -7.77428595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.086559995 meters 0.05253616221718615 Centerline is valid? [True, True] Translation: X:106.49, Y:-4.01, Z:-0.78 [[ 9.98987814e-01 4.47764667e-02 4.29136607e-03 1.06486630e+02] [-4.47753656e-02 9.98997018e-01 -3.52378740e-04 -4.00546903e+00] [-4.30284018e-03 1.59874583e-04 9.99990730e-01 -7.77287353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.146559995 meters 0.054117918068625225 Centerline is valid? [True, True] Translation: X:106.55, Y:-4.02, Z:-0.78 [[ 9.99159713e-01 4.06334588e-02 5.36561442e-03 1.06545962e+02] [-4.06316770e-02 9.99174095e-01 -4.40699681e-04 -4.02348806e+00] [-5.37909009e-03 2.22315455e-04 9.99985508e-01 -7.77875567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.206559995 meters 0.053346212377476596 Centerline is valid? [True, True] Translation: X:106.61, Y:-4.02, Z:-0.78 [[ 9.99168444e-01 4.03573065e-02 5.80588086e-03 1.06608153e+02] [-4.03552156e-02 9.99185283e-01 -4.76871204e-04 -4.01951484e+00] [-5.82039595e-03 2.42177084e-04 9.99983032e-01 -7.78233750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.266559995 meters 0.05408933161288141 Centerline is valid? [True, True] Translation: X:106.67, Y:-4.03, Z:-0.78 [[ 9.99063982e-01 4.28893787e-02 5.62674589e-03 1.06667269e+02] [-4.28874524e-02 9.99079803e-01 -4.62616953e-04 -4.03127363e+00] [-5.64140952e-03 2.20867140e-04 9.99984063e-01 -7.79331933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.326559995 meters 0.05383487157896541 Centerline is valid? [True, True] Translation: X:106.73, Y:-4.04, Z:-0.78 [[ 9.98927123e-01 4.59821973e-02 5.49921052e-03 1.06727203e+02] [-4.59804042e-02 9.98942240e-01 -4.52130638e-04 -4.03776188e+00] [-5.51418363e-03 1.98789635e-04 9.99984777e-01 -7.80291165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.386559995 meters 0.051698877196775274 Centerline is valid? [True, True] Translation: X:106.79, Y:-4.03, Z:-0.78 [[ 9.98627955e-01 5.20387935e-02 5.84562965e-03 1.06789403e+02] [-5.20368709e-02 9.98645049e-01 -4.80614487e-04 -4.02779549e+00] [-5.86271971e-03 1.75766787e-04 9.99982799e-01 -7.81068543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.446559995 meters 0.05328140501163702 Centerline is valid? [True, True] Translation: X:106.85, Y:-4.04, Z:-0.78 [[ 9.98340099e-01 5.73045965e-02 5.76457295e-03 1.06847874e+02] [-5.73028146e-02 9.98356731e-01 -4.73952732e-04 -4.04293576e+00] [-5.78225987e-03 1.42839763e-04 9.99983272e-01 -7.83013169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.506559995 meters 0.051867998112909625 Centerline is valid? [True, True] Translation: X:106.91, Y:-4.04, Z:-0.78 [[ 9.97752250e-01 6.68417431e-02 4.75708172e-03 1.06907775e+02] [-6.68406378e-02 9.97763587e-01 -3.91144329e-04 -4.03734744e+00] [-4.77258769e-03 7.22987579e-05 9.99988609e-01 -7.83347707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.566559995 meters 0.05147265429297112 Centerline is valid? [True, True] Translation: X:106.97, Y:-4.04, Z:-0.79 [[ 9.97355753e-01 7.25160939e-02 4.78733346e-03 1.06969618e+02] [-7.25150405e-02 9.97367241e-01 -3.93481259e-04 -4.03995540e+00] [-4.80326329e-03 4.52871170e-05 9.99988463e-01 -7.85069711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.626559995 meters 0.05153422528561845 Centerline is valid? [True, True] Translation: X:107.03, Y:-4.04, Z:-0.78 [[ 9.96956194e-01 7.78475601e-02 4.25485168e-03 1.07031336e+02] [-7.78467771e-02 9.96965274e-01 -3.49572616e-04 -4.04172836e+00] [-4.26915274e-03 1.72820942e-05 9.99990887e-01 -7.84779782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.686559995 meters 0.05072837064511236 Centerline is valid? [True, True] Translation: X:107.09, Y:-4.05, Z:-0.79 [[ 9.96829707e-01 7.94283957e-02 4.65449401e-03 1.07092753e+02] [-7.94274723e-02 9.96840574e-01 -3.83177832e-04 -4.04871190e+00] [-4.67022368e-03 1.22683521e-05 9.99989094e-01 -7.86312251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.746559995 meters 0.050904200124790196 Centerline is valid? [True, True] Translation: X:107.16, Y:-4.05, Z:-0.79 [[ 9.96670715e-01 8.14123020e-02 4.41858670e-03 1.07155213e+02] [-8.14114892e-02 9.96680509e-01 -3.63795078e-04 -4.05409737e+00] [-4.43353664e-03 2.86017695e-06 9.99990172e-01 -7.87211812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.806559995 meters 0.05110436745899789 Centerline is valid? [True, True] Translation: X:107.22, Y:-4.06, Z:-0.79 [[ 9.96587506e-01 8.24468332e-02 3.98269492e-03 1.07216758e+02] [-8.24461792e-02 9.96595464e-01 -3.28378816e-04 -4.05982042e+00] [-3.99620949e-03 -1.09975343e-06 9.99992015e-01 -7.88338595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.866559995 meters 0.050964731958791476 Centerline is valid? [True, True] Translation: X:107.28, Y:-4.07, Z:-0.79 [[ 9.96569314e-01 8.26697512e-02 3.91343727e-03 1.07279354e+02] [-8.26691197e-02 9.96576998e-01 -3.23124851e-04 -4.06723021e+00] [-3.92675421e-03 -1.50410266e-06 9.99992290e-01 -7.88957375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.926559995 meters 0.05117734428593575 Centerline is valid? [True, True] Translation: X:107.34, Y:-4.07, Z:-0.79 [[ 9.96645733e-01 8.17878983e-02 2.83254964e-03 1.07340846e+02] [-8.17875634e-02 9.96649758e-01 -2.34025349e-04 -4.07466613e+00] [-2.84220036e-03 1.57303172e-06 9.99995961e-01 -7.90747249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.986559995 meters 0.05093782159139861 Centerline is valid? [True, True] Translation: X:107.40, Y:-4.08, Z:-0.79 [[ 9.96888538e-01 7.87619927e-02 3.12900084e-03 1.07401912e+02] [-7.87615676e-02 9.96893449e-01 -2.59060661e-04 -4.08465017e+00] [-3.13968457e-03 1.18095930e-05 9.99995071e-01 -7.89996014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.046559995 meters 0.05173439647853945 Centerline is valid? [True, True] Translation: X:107.46, Y:-4.09, Z:-0.79 [[ 9.97093142e-01 7.61181555e-02 3.36054321e-03 1.07463539e+02] [-7.61176487e-02 9.97098804e-01 -2.78637578e-04 -4.09225368e+00] [-3.37200299e-03 2.20309702e-05 9.99994315e-01 -7.88816471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.106559995 meters 0.05178647969200113 Centerline is valid? [True, True] Translation: X:107.52, Y:-4.10, Z:-0.79 [[ 9.97296246e-01 7.33989689e-02 3.57626491e-03 1.07524318e+02] [-7.33983757e-02 9.97302657e-01 -2.97018885e-04 -4.09849365e+00] [-3.58841937e-03 3.37237833e-05 9.99993561e-01 -7.87477765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.166559995 meters 0.052031058450159554 Centerline is valid? [True, True] Translation: X:107.59, Y:-4.10, Z:-0.79 [[ 9.97365078e-01 7.24624336e-02 3.47797011e-03 1.07586254e+02] [-7.24618656e-02 9.97371142e-01 -2.89225618e-04 -4.10296423e+00] [-3.48978502e-03 3.64433282e-05 9.99993910e-01 -7.87659391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.226559995 meters 0.05174586570504827 Centerline is valid? [True, True] Translation: X:107.65, Y:-4.11, Z:-0.79 [[ 9.97448310e-01 7.13209585e-02 3.19214656e-03 1.07648042e+02] [-7.13204726e-02 9.97453417e-01 -2.65952143e-04 -4.10988102e+00] [-3.20298545e-03 3.76081151e-05 9.99994870e-01 -7.88407515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.286559995 meters 0.05163670285571023 Centerline is valid? [True, True] Translation: X:107.71, Y:-4.11, Z:-0.79 [[ 9.97604680e-01 6.91136576e-02 2.86428678e-03 1.07709027e+02] [-6.91132578e-02 9.97608791e-01 -2.38421082e-04 -4.11347302e+00] [-2.87391583e-03 3.98897970e-05 9.99995869e-01 -7.87769123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34655999499999 meters 0.05220873261601154 Centerline is valid? [True, True] Translation: X:107.77, Y:-4.12, Z:-0.79 [[ 9.97942490e-01 6.39840525e-02 4.10216367e-03 1.07768278e+02] [-6.39831847e-02 9.97950918e-01 -3.42576661e-04 -4.12008440e+00] [-4.11567745e-03 7.94023095e-05 9.99991527e-01 -7.88173301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.406559995 meters 0.05179836215569216 Centerline is valid? [True, True] Translation: X:107.83, Y:-4.12, Z:-0.79 [[ 9.98188255e-01 5.99736298e-02 4.83433690e-03 1.07828102e+02] [-5.99723768e-02 9.98199955e-01 -4.03857765e-04 -4.12178664e+00] [-4.84985569e-03 1.13199404e-04 9.99988233e-01 -7.88548951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.466559995 meters 0.05229806066980482 Centerline is valid? [True, True] Translation: X:107.89, Y:-4.13, Z:-0.79 [[ 9.98283121e-01 5.83246305e-02 5.38963406e-03 1.07889870e+02] [-5.83230495e-02 9.98297661e-01 -4.50190562e-04 -4.12508667e+00] [-5.40671627e-03 1.35077745e-04 9.99985374e-01 -7.88710232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.526559995 meters 0.05387364310262564 Centerline is valid? [True, True] Translation: X:107.95, Y:-4.14, Z:-0.79 [[ 9.98308367e-01 5.79388845e-02 4.84670134e-03 1.07949632e+02] [-5.79376011e-02 9.98320124e-01 -4.04904533e-04 -4.13863208e+00] [-4.86201920e-03 1.23413335e-04 9.99988173e-01 -7.89143197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.586559995 meters 0.05287941970762035 Centerline is valid? [True, True] Translation: X:108.01, Y:-4.14, Z:-0.79 [[ 9.98252966e-01 5.88254748e-02 5.52991381e-03 1.08012549e+02] [-5.88238157e-02 9.98268273e-01 -4.62327299e-04 -4.13609813e+00] [-5.54753413e-03 1.36228966e-04 9.99984603e-01 -7.89476746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.646559995 meters 0.052523174398066544 Centerline is valid? [True, True] Translation: X:108.07, Y:-4.13, Z:-0.79 [[ 9.98093650e-01 6.14885311e-02 5.31294365e-03 1.08073350e+02] [-6.14870359e-02 9.98107783e-01 -4.44471708e-04 -4.13324883e+00] [-5.33022032e-03 1.16947233e-04 9.99985787e-01 -7.89439756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.706559995 meters 0.053247786213479927 Centerline is valid? [True, True] Translation: X:108.14, Y:-4.14, Z:-0.79 [[ 9.98010225e-01 6.28254895e-02 5.34305941e-03 1.08135359e+02] [-6.28239971e-02 9.98024522e-01 -4.46852578e-04 -4.13658956e+00] [-5.36057804e-03 1.10291093e-04 9.99985626e-01 -7.90539014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.766559995 meters 0.05220899287961149 Centerline is valid? [True, True] Translation: X:108.20, Y:-4.13, Z:-0.79 [[ 9.97626932e-01 6.87219773e-02 4.21839149e-03 1.08196455e+02] [-6.87210973e-02 9.97635848e-01 -3.53366073e-04 -4.13392300e+00] [-4.23270259e-03 6.26350196e-05 9.99991040e-01 -7.91027547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.826559995 meters 0.052310359438424055 Centerline is valid? [True, True] Translation: X:108.26, Y:-4.13, Z:-0.79 [[ 9.97285409e-01 7.35407643e-02 3.68371590e-03 1.08258321e+02] [-7.35401263e-02 9.97292211e-01 -3.08524391e-04 -4.13342405e+00] [-3.69643030e-03 3.67859411e-05 9.99993168e-01 -7.92022516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.886559995 meters 0.051900253740499974 Centerline is valid? [True, True] Translation: X:108.32, Y:-4.13, Z:-0.79 [[ 9.96905139e-01 7.85816499e-02 2.25117186e-03 1.08320385e+02] [-7.85814248e-02 9.96907681e-01 -1.88429154e-04 -4.13382459e+00] [-2.25901759e-03 1.09456996e-05 9.99997448e-01 -7.94172098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.946559995 meters 0.05268004899300088 Centerline is valid? [True, True] Translation: X:108.38, Y:-4.14, Z:-0.79 [[ 9.96776848e-01 8.02143795e-02 1.25279682e-03 1.08383033e+02] [-8.02143119e-02 9.96777635e-01 -1.04212368e-04 -4.13534944e+00] [-1.25711918e-03 3.38424025e-06 9.99999210e-01 -7.94871990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.006559995 meters 0.05221808490637947 Centerline is valid? [True, True] Translation: X:108.45, Y:-4.14, Z:-0.80 [[ 9.96776386e-01 8.02238387e-02 9.85993803e-04 1.08445316e+02] [-8.02237969e-02 9.96776874e-01 -8.20009887e-05 -4.13761707e+00] [-9.89394254e-04 2.63648258e-06 9.99999511e-01 -7.96508340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.066559995 meters 0.052388981505752164 Centerline is valid? [True, True] Translation: X:108.51, Y:-4.14, Z:-0.80 [[ 9.97058667e-01 7.66410046e-02 4.14140174e-04 1.08507345e+02] [-7.66409968e-02 9.97058753e-01 -3.45454084e-05 -4.14118556e+00] [-4.15569680e-04 2.70368305e-06 9.99999914e-01 -7.95026109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.126559995 meters 0.053215453106814845 Centerline is valid? [True, True] Translation: X:108.57, Y:-4.15, Z:-0.79 [[ 9.97355153e-01 7.26806443e-02 4.71406635e-04 1.08567906e+02] [-7.26806337e-02 9.97355265e-01 -3.95517243e-05 -4.14554312e+00] [-4.73034534e-04 5.18498308e-06 9.99999888e-01 -7.94007819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.186559995 meters 0.053689402840311075 Centerline is valid? [True, True] Translation: X:108.63, Y:-4.16, Z:-0.80 [[ 9.97872374e-01 6.51963635e-02 -3.99702789e-04 1.08628102e+02] [-6.51963552e-02 9.97872454e-01 3.37200124e-05 -4.15629564e+00] [ 4.01050825e-04 -7.58910383e-06 9.99999920e-01 -7.95678211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.246559995 meters 0.05367318993992958 Centerline is valid? [True, True] Translation: X:108.69, Y:-4.16, Z:-0.79 [[ 9.98160947e-01 6.05998731e-02 -1.54276748e-03 1.08688798e+02] [-6.05997447e-02 9.98162138e-01 1.29921023e-04 -4.15650185e+00] [ 1.54780529e-03 -3.61907758e-05 9.99998801e-01 -7.93521731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.306559995 meters 0.054960905685741045 Centerline is valid? [True, True] Translation: X:108.75, Y:-4.17, Z:-0.79 [[ 9.98409226e-01 5.63334857e-02 -2.35699245e-03 1.08748701e+02] [-5.63331739e-02 9.98412006e-01 1.98513729e-04 -4.16582180e+00] [ 2.36443253e-03 -6.54210734e-05 9.99997203e-01 -7.94996864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.366559995 meters 0.05458689656862786 Centerline is valid? [True, True] Translation: X:108.81, Y:-4.17, Z:-0.79 [[ 9.98677457e-01 5.13762641e-02 -1.95369558e-03 1.08809180e+02] [-5.13760405e-02 9.98679366e-01 1.64493667e-04 -4.17147875e+00] [ 1.95956653e-03 -6.39029735e-05 9.99998078e-01 -7.93737214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.426559995 meters 0.05412916893590317 Centerline is valid? [True, True] Translation: X:108.87, Y:-4.17, Z:-0.79 [[ 9.98792046e-01 4.91189798e-02 -1.33247487e-03 1.08871152e+02] [-4.91188736e-02 9.98792933e-01 1.12328811e-04 -4.16747450e+00] [ 1.33638396e-03 -4.67434578e-05 9.99999106e-01 -7.91213809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.486559995 meters 0.055432791784232646 Centerline is valid? [True, True] Translation: X:108.93, Y:-4.18, Z:-0.79 [[ 9.98892674e-01 4.70426032e-02 -6.46952150e-04 1.08929998e+02] [-4.70425776e-02 9.98892884e-01 5.47748069e-05 -4.18348253e+00] [ 6.48812649e-04 -2.42798566e-05 9.99999789e-01 -7.94281800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.546559995 meters 0.05509645847584507 Centerline is valid? [True, True] Translation: X:108.99, Y:-4.18, Z:-0.79 [[ 9.98868903e-01 4.75466091e-02 -4.85046447e-04 1.08992774e+02] [-4.75465945e-02 9.98869020e-01 4.17266981e-05 -4.17818695e+00] [ 4.86481832e-04 -1.86171945e-05 9.99999881e-01 -7.93147702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.606559995 meters 0.054724496018206184 Centerline is valid? [True, True] Translation: X:109.05, Y:-4.18, Z:-0.79 [[ 9.98750500e-01 4.99714320e-02 -5.43472180e-04 1.09052679e+02] [-4.99714144e-02 9.98750647e-01 4.58440622e-05 -4.18003749e+00] [ 5.45084085e-04 -1.86287065e-05 9.99999851e-01 -7.92863612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.666559995 meters 0.054431815393916505 Centerline is valid? [True, True] Translation: X:109.11, Y:-4.19, Z:-0.80 [[ 9.98474740e-01 5.52050732e-02 -7.70323781e-04 1.09112565e+02] [-5.52050394e-02 9.98475037e-01 6.50483627e-05 -4.18639453e+00] [ 7.72740066e-04 -2.24233923e-05 9.99999701e-01 -7.95134125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.726559995 meters 0.05442810346079781 Centerline is valid? [True, True] Translation: X:109.17, Y:-4.18, Z:-0.79 [[ 9.98256035e-01 5.90174881e-02 -1.35051258e-03 1.09172652e+02] [-5.90173880e-02 9.98256948e-01 1.13932558e-04 -4.18476379e+00] [ 1.35488258e-03 -3.40301390e-05 9.99999082e-01 -7.94693827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.786559995 meters 0.05398093904963081 Centerline is valid? [True, True] Translation: X:109.23, Y:-4.19, Z:-0.80 [[ 9.98022761e-01 6.28198007e-02 -2.05963196e-03 1.09233957e+02] [-6.28195757e-02 9.98024885e-01 1.73827404e-04 -4.18596047e+00] [ 2.06648375e-03 -4.40985001e-05 9.99997864e-01 -7.95338391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84655999499999 meters 0.05445397191743809 Centerline is valid? [True, True] Translation: X:109.30, Y:-4.19, Z:-0.80 [[ 9.97948886e-01 6.39989070e-02 -1.47021017e-03 1.09295149e+02] [-6.39987924e-02 9.97949968e-01 1.24973788e-04 -4.19281815e+00] [ 1.47519438e-03 -3.06257768e-05 9.99998911e-01 -7.96985483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.906559995 meters 0.054201097563436385 Centerline is valid? [True, True] Translation: X:109.36, Y:-4.20, Z:-0.80 [[ 9.97964951e-01 6.37477275e-02 -1.47801962e-03 1.09357111e+02] [-6.37476120e-02 9.97966045e-01 1.25174444e-04 -4.19752758e+00] [ 1.48299298e-03 -3.06994865e-05 9.99998900e-01 -7.96952330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.966559995 meters 0.054129226508591005 Centerline is valid? [True, True] Translation: X:109.42, Y:-4.20, Z:-0.80 [[ 9.98011364e-01 6.30245281e-02 -1.10713273e-03 1.09419144e+02] [-6.30244627e-02 9.98011978e-01 9.38811529e-05 -4.20091692e+00] [ 1.11084854e-03 -2.39180122e-05 9.99999383e-01 -7.96010233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.026559995 meters 0.05424709638897698 Centerline is valid? [True, True] Translation: X:109.48, Y:-4.20, Z:-0.80 [[ 9.98096888e-01 6.16422663e-02 -1.68319133e-03 1.09480981e+02] [-6.16421131e-02 9.98098307e-01 1.42768213e-04 -4.20336225e+00] [ 1.68879097e-03 -3.87410390e-05 9.99998573e-01 -7.95238546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.086559995 meters 0.05463589505620808 Centerline is valid? [True, True] Translation: X:109.54, Y:-4.21, Z:-0.80 [[ 9.98162782e-01 6.05436005e-02 -2.35208209e-03 1.09542926e+02] [-6.05432986e-02 9.98165552e-01 1.99408263e-04 -4.20988337e+00] [ 2.35984021e-03 -5.66390981e-05 9.99997214e-01 -7.96813789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.146559995 meters 0.05420459529219209 Centerline is valid? [True, True] Translation: X:109.60, Y:-4.21, Z:-0.79 [[ 9.98222865e-01 5.95394774e-02 -2.48244757e-03 1.09603997e+02] [-5.95391361e-02 9.98225950e-01 2.11235970e-04 -4.20924116e+00] [ 2.49062046e-03 -6.30577915e-05 9.99996896e-01 -7.94015799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.206559995 meters 0.054758088661885765 Centerline is valid? [True, True] Translation: X:109.67, Y:-4.21, Z:-0.79 [[ 9.98253977e-01 5.90391869e-02 -1.83633340e-03 1.09666097e+02] [-5.90389985e-02 9.98255665e-01 1.56663526e-04 -4.21482290e+00] [ 1.84237951e-03 -4.79747027e-05 9.99998302e-01 -7.93892185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.266559995 meters 0.05468501280274362 Centerline is valid? [True, True] Translation: X:109.73, Y:-4.22, Z:-0.79 [[ 9.98255932e-01 5.89972519e-02 -2.10224305e-03 1.09728046e+02] [-5.89970061e-02 9.98258144e-01 1.78789671e-04 -4.22140968e+00] [ 2.10912934e-03 -5.44518036e-05 9.99997774e-01 -7.94423828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.326559995 meters 0.05424718677082387 Centerline is valid? [True, True] Translation: X:109.79, Y:-4.23, Z:-0.80 [[ 9.98172381e-01 6.04018771e-02 -1.87370484e-03 1.09788717e+02] [-6.04016830e-02 9.98174139e-01 1.60046986e-04 -4.23145374e+00] [ 1.87995086e-03 -4.65795557e-05 9.99998232e-01 -7.96477321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.386559995 meters 0.0537448854332219 Centerline is valid? [True, True] Translation: X:109.85, Y:-4.23, Z:-0.80 [[ 9.98129492e-01 6.11255111e-02 -1.09028889e-03 1.09851460e+02] [-6.11254460e-02 9.98130087e-01 9.30037713e-05 -4.23273893e+00] [ 1.09393505e-03 -2.61854121e-05 9.99999401e-01 -7.95564050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.446559995 meters 0.05391731324884281 Centerline is valid? [True, True] Translation: X:109.91, Y:-4.24, Z:-0.80 [[ 9.98108101e-01 6.14786555e-02 -7.70643156e-04 1.09913585e+02] [-6.14786229e-02 9.98108398e-01 6.58610937e-05 -4.23535692e+00] [ 7.73234457e-04 -1.83584111e-05 9.99999701e-01 -7.95110456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.506559995 meters 0.05426300501855594 Centerline is valid? [True, True] Translation: X:109.97, Y:-4.24, Z:-0.80 [[ 9.98038040e-01 6.25956066e-02 -1.36436499e-03 1.09974911e+02] [-6.25955050e-02 9.98038972e-01 1.17048181e-04 -4.24189127e+00] [ 1.36901613e-03 -3.14154217e-05 9.99999062e-01 -7.96436507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.566559995 meters 0.05423014381562586 Centerline is valid? [True, True] Translation: X:110.04, Y:-4.25, Z:-0.80 [[ 9.97948702e-01 6.40008272e-02 -1.51092665e-03 1.10037395e+02] [-6.40007050e-02 9.97949845e-01 1.29133667e-04 -4.24702610e+00] [ 1.51609368e-03 -3.21684042e-05 9.99998850e-01 -7.97028845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.626559995 meters 0.05419312647260342 Centerline is valid? [True, True] Translation: X:110.10, Y:-4.25, Z:-0.80 [[ 9.97895269e-01 6.48327605e-02 -1.32089335e-03 1.10100108e+02] [-6.48326669e-02 9.97896143e-01 1.13572170e-04 -4.24693979e+00] [ 1.32547758e-03 -2.76960928e-05 9.99999121e-01 -7.95714514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.686559995 meters 0.05416817268236505 Centerline is valid? [True, True] Translation: X:110.16, Y:-4.25, Z:-0.80 [[ 9.97766882e-01 6.67825237e-02 -1.15879888e-03 1.10160664e+02] [-6.67824528e-02 9.97767555e-01 9.97857668e-05 -4.25293578e+00] [ 1.16287587e-03 -2.21755018e-05 9.99999324e-01 -7.97122388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.746559995 meters 0.054618461568024884 Centerline is valid? [True, True] Translation: X:110.22, Y:-4.26, Z:-0.80 [[ 9.97745551e-01 6.71104687e-02 -2.57159305e-05 1.10222532e+02] [-6.71104687e-02 9.97745551e-01 3.00892197e-06 -4.25774112e+00] [ 2.58598853e-05 -1.27633037e-06 1.00000000e+00 -7.97098099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.806559995 meters 0.05386734067240461 Centerline is valid? [True, True] Translation: X:110.28, Y:-4.27, Z:-0.80 [[ 9.97767168e-01 6.67779361e-02 -1.17734605e-03 1.10282553e+02] [-6.67778636e-02 9.97767862e-01 1.00878126e-04 -4.26763273e+00] [ 1.18145448e-03 -2.20322279e-05 9.99999302e-01 -8.00160216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.866559995 meters 0.05341179992133219 Centerline is valid? [True, True] Translation: X:110.34, Y:-4.27, Z:-0.80 [[ 9.97878139e-01 6.51092848e-02 2.57697359e-05 1.10344402e+02] [-6.51092848e-02 9.97878139e-01 -1.91120415e-06 -4.27421347e+00] [-2.58394933e-05 2.29299763e-07 1.00000000e+00 -8.01199910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.926559995 meters 0.05454655419104778 Centerline is valid? [True, True] Translation: X:110.40, Y:-4.28, Z:-0.80 [[ 9.98009710e-01 6.30540901e-02 8.94573386e-04 1.10404827e+02] [-6.30540468e-02 9.98010111e-01 -7.64940958e-05 -4.27897734e+00] [-8.97616550e-04 1.99353782e-05 9.99999597e-01 -8.00321907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.986559995 meters 0.05439018120527279 Centerline is valid? [True, True] Translation: X:110.46, Y:-4.29, Z:-0.80 [[ 9.98278242e-01 5.86392783e-02 1.40915696e-03 1.10464874e+02] [-5.86391664e-02 9.98279236e-01 -1.20618307e-04 -4.28635365e+00] [-1.41380510e-03 3.77788417e-05 9.99999000e-01 -8.01166383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.046559995 meters 0.05440131875703064 Centerline is valid? [True, True] Translation: X:110.52, Y:-4.30, Z:-0.80 [[ 9.98452552e-01 5.55848910e-02 1.67986088e-03 1.10524361e+02] [-5.55847278e-02 9.98453964e-01 -1.43716022e-04 -4.29681535e+00] [-1.68525219e-03 5.01190197e-05 9.99998579e-01 -8.02226324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.106559995 meters 0.05479882551138229 Centerline is valid? [True, True] Translation: X:110.58, Y:-4.30, Z:-0.80 [[ 9.98707395e-01 5.07481920e-02 2.85650866e-03 1.10584927e+02] [-5.07476995e-02 9.98711475e-01 -2.44696070e-04 -4.30431362e+00] [-2.86524587e-03 9.94185312e-05 9.99995890e-01 -8.02918671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.166559995 meters 0.054136784168455555 Centerline is valid? [True, True] Translation: X:110.65, Y:-4.30, Z:-0.80 [[ 9.98825228e-01 4.82989856e-02 3.92075566e-03 1.10645108e+02] [-4.82980383e-02 9.98832912e-01 -3.35985430e-04 -4.30127766e+00] [-3.93240755e-03 1.46225917e-04 9.99992257e-01 -8.03322879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.226559995 meters 0.05450619390356623 Centerline is valid? [True, True] Translation: X:110.71, Y:-4.31, Z:-0.81 [[ 9.98886927e-01 4.68262121e-02 5.67572965e-03 1.10706732e+02] [-4.68242036e-02 9.98903027e-01 -4.86308265e-04 -4.31116227e+00] [-5.69227550e-03 2.20005447e-04 9.99983775e-01 -8.05447527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.286559995 meters 0.05483680778287688 Centerline is valid? [True, True] Translation: X:110.77, Y:-4.32, Z:-0.81 [[ 9.98820385e-01 4.82506721e-02 5.45075425e-03 1.10766843e+02] [-4.82488395e-02 9.98835237e-01 -4.67288512e-04 -4.32370499e+00] [-5.46695240e-03 2.03744724e-04 9.99985035e-01 -8.06801015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34655999499999 meters 0.05352584091536139 Centerline is valid? [True, True] Translation: X:110.83, Y:-4.32, Z:-0.81 [[ 9.98562824e-01 5.30298653e-02 7.75370546e-03 1.10828449e+02] [-5.30262995e-02 9.98592895e-01 -6.64884803e-04 -4.31793171e+00] [-7.77805394e-03 2.52778939e-04 9.99969719e-01 -8.08386013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.406559995 meters 0.05361637613247021 Centerline is valid? [True, True] Translation: X:110.89, Y:-4.32, Z:-0.81 [[ 9.98216068e-01 5.90644219e-02 8.72208219e-03 1.10888468e+02] [-5.90601408e-02 9.98254146e-01 -7.47812309e-04 -4.32009318e+00] [-8.75102381e-03 2.31350860e-04 9.99961682e-01 -8.10013646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.466559995 meters 0.05348237755400909 Centerline is valid? [True, True] Translation: X:110.95, Y:-4.33, Z:-0.81 [[ 9.97960292e-01 6.29866381e-02 1.03893589e-02 1.10948759e+02] [-6.29807760e-02 9.98014343e-01 -8.90776792e-04 -4.33268574e+00] [-1.04248362e-02 2.34629981e-04 9.99945632e-01 -8.10096978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.526559995 meters 0.05353022984500318 Centerline is valid? [True, True] Translation: X:111.01, Y:-4.33, Z:-0.81 [[ 9.97606055e-01 6.83338390e-02 1.06135015e-02 1.11008285e+02] [-6.83280219e-02 9.97662495e-01 -9.10158027e-04 -4.33384613e+00] [-1.06508869e-02 1.82779597e-04 9.99943261e-01 -8.10404359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.586559995 meters 0.05305108276429287 Centerline is valid? [True, True] Translation: X:111.07, Y:-4.34, Z:-0.81 [[ 9.97359453e-01 7.18466477e-02 1.05915181e-02 1.11069405e+02] [-7.18410495e-02 9.97415680e-01 -9.08569343e-04 -4.33634418e+00] [-1.06294239e-02 1.45264448e-04 9.99943496e-01 -8.11497736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.646559995 meters 0.05269857079765294 Centerline is valid? [True, True] Translation: X:111.13, Y:-4.33, Z:-0.81 [[ 9.96942199e-01 7.74390748e-02 1.04614512e-02 1.11131286e+02] [-7.74339189e-02 9.96997082e-01 -8.97610660e-04 -4.33482948e+00] [-1.04995465e-02 8.47947783e-05 9.99944875e-01 -8.14436256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.706559995 meters 0.05227507061784718 Centerline is valid? [True, True] Translation: X:111.19, Y:-4.34, Z:-0.81 [[ 9.96663295e-01 8.10020270e-02 1.00472458e-02 1.11192056e+02] [-8.09974470e-02 9.96713936e-01 -8.62589289e-04 -4.33933606e+00] [-1.00841014e-02 4.59098242e-05 9.99949153e-01 -8.14065861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.766559995 meters 0.05221121507776348 Centerline is valid? [True, True] Translation: X:111.26, Y:-4.34, Z:-0.82 [[ 9.96658394e-01 8.10581952e-02 1.00803905e-02 1.11255100e+02] [-8.10535759e-02 9.96709369e-01 -8.66618119e-04 -4.34300820e+00] [-1.01174661e-02 4.66705277e-05 9.99948816e-01 -8.16481793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.826559995 meters 0.052493653632686814 Centerline is valid? [True, True] Translation: X:111.32, Y:-4.35, Z:-0.82 [[ 9.96892360e-01 7.81829981e-02 9.64579529e-03 1.11317159e+02] [-7.81786226e-02 9.96939022e-01 -8.30421794e-04 -4.35023623e+00] [-9.68119459e-03 7.37461522e-05 9.99953133e-01 -8.18234600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.886559995 meters 0.05281525043517196 Centerline is valid? [True, True] Translation: X:111.38, Y:-4.36, Z:-0.82 [[ 9.97275486e-01 7.32257527e-02 8.92154459e-03 1.11377523e+02] [-7.32218038e-02 9.97315385e-01 -7.68905453e-04 -4.35768483e+00] [-8.95389735e-03 1.13558973e-04 9.99959907e-01 -8.19254185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.946559995 meters 0.052284628890054696 Centerline is valid? [True, True] Translation: X:111.44, Y:-4.36, Z:-0.82 [[ 9.97882786e-01 6.41782499e-02 1.05402846e-02 1.11438368e+02] [-6.41722274e-02 9.97938424e-01 -9.08945002e-04 -4.36422354e+00] [-1.05768895e-02 2.30627030e-04 9.99944037e-01 -8.21701338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.006559995 meters 0.05267122936971864 Centerline is valid? [True, True] Translation: X:111.50, Y:-4.37, Z:-0.82 [[ 9.98267053e-01 5.80388972e-02 9.71480760e-03 1.11497038e+02] [-5.80334897e-02 9.98314285e-01 -8.37840051e-04 -4.37214809e+00] [-9.74705852e-03 2.72603932e-04 9.99952459e-01 -8.21986803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.066559995 meters 0.05345832329129538 Centerline is valid? [True, True] Translation: X:111.56, Y:-4.39, Z:-0.82 [[ 9.98627745e-01 5.14757411e-02 9.63714384e-03 1.11557443e+02] [-5.14701148e-02 9.98674189e-01 -8.31097060e-04 -4.38570713e+00] [-9.66714815e-03 3.33931684e-04 9.99953216e-01 -8.22448448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.126559995 meters 0.053082335832347956 Centerline is valid? [True, True] Translation: X:111.62, Y:-4.39, Z:-0.82 [[ 9.98765914e-01 4.87916815e-02 9.27470783e-03 1.11617611e+02] [-4.87863527e-02 9.98808917e-01 -8.00067659e-04 -4.38513660e+00] [-9.30269753e-03 3.46601139e-04 9.99956669e-01 -8.23649442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.186559995 meters 0.0533861730196313 Centerline is valid? [True, True] Translation: X:111.68, Y:-4.39, Z:-0.82 [[ 9.98772312e-01 4.87687647e-02 8.68772457e-03 1.11679458e+02] [-4.87640848e-02 9.98810043e-01 -7.49817461e-04 -4.39323536e+00] [-8.71395422e-03 3.25247981e-04 9.99961980e-01 -8.23892068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.246559995 meters 0.05323638927556881 Centerline is valid? [True, True] Translation: X:111.74, Y:-4.39, Z:-0.82 [[ 9.98657460e-01 5.11379383e-02 8.25762032e-03 1.11740287e+02] [-5.11337843e-02 9.98691557e-01 -7.13534168e-04 -4.39259239e+00] [-8.28330437e-03 2.90332843e-04 9.99965651e-01 -8.24282397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.306559995 meters 0.0532884654018141 Centerline is valid? [True, True] Translation: X:111.80, Y:-4.40, Z:-0.82 [[ 9.98333702e-01 5.70589202e-02 8.60806004e-03 1.11799560e+02] [-5.70546259e-02 9.98370781e-01 -7.43814391e-04 -4.40241479e+00] [-8.63647687e-03 2.51445329e-04 9.99962673e-01 -8.23869734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.366559995 meters 0.05318401905047606 Centerline is valid? [True, True] Translation: X:111.86, Y:-4.40, Z:-0.82 [[ 9.98067086e-01 6.14398398e-02 9.34012834e-03 1.11860578e+02] [-6.14349756e-02 9.98110762e-01 -8.07072610e-04 -4.39980319e+00] [-9.37206903e-03 2.31702051e-04 9.99956054e-01 -8.24101378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.426559995 meters 0.05279345596381517 Centerline is valid? [True, True] Translation: X:111.92, Y:-4.40, Z:-0.82 [[ 9.97701876e-01 6.71522999e-02 9.02967151e-03 1.11920037e+02] [-6.71479873e-02 9.97742722e-01 -7.80260492e-04 -4.40172909e+00] [-9.06168532e-03 1.72143089e-04 9.99958927e-01 -8.24002955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.486559995 meters 0.05309584230027342 Centerline is valid? [True, True] Translation: X:111.98, Y:-4.41, Z:-0.82 [[ 9.97581635e-01 6.88690562e-02 9.37731405e-03 1.11981640e+02] [-6.88644808e-02 9.97625695e-01 -8.10326980e-04 -4.40934503e+00] [-9.41085590e-03 1.62603451e-04 9.99955704e-01 -8.24104507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.546559995 meters 0.05336784707427428 Centerline is valid? [True, True] Translation: X:112.04, Y:-4.41, Z:-0.82 [[ 9.97370499e-01 7.17254306e-02 1.03706143e-02 1.12042165e+02] [-7.17199855e-02 9.97424403e-01 -8.96486351e-04 -4.41242892e+00] [-1.04082046e-02 1.50348734e-04 9.99945822e-01 -8.23438096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.606559995 meters 0.05255302540959467 Centerline is valid? [True, True] Translation: X:112.10, Y:-4.42, Z:-0.82 [[ 9.97266119e-01 7.31139067e-02 1.07072217e-02 1.12104400e+02] [-7.31081796e-02 9.97323587e-01 -9.25830335e-04 -4.41564666e+00] [-1.07462558e-02 1.40513737e-04 9.99942247e-01 -8.24024664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.666559995 meters 0.05229860354597064 Centerline is valid? [True, True] Translation: X:112.17, Y:-4.42, Z:-0.83 [[ 9.97341113e-01 7.21495202e-02 1.02543003e-02 1.12166877e+02] [-7.21442092e-02 9.97393817e-01 -8.87378562e-04 -4.41785634e+00] [-1.02915997e-02 1.45230737e-04 9.99947030e-01 -8.25472503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.726559995 meters 0.05283373131972694 Centerline is valid? [True, True] Translation: X:112.23, Y:-4.42, Z:-0.83 [[ 9.97633630e-01 6.80354985e-02 9.91519860e-03 1.12228100e+02] [-6.80303217e-02 9.97682884e-01 -8.58841958e-04 -4.42055793e+00] [-9.95065568e-03 1.82275469e-04 9.99950474e-01 -8.26971436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.786559995 meters 0.05331918443135474 Centerline is valid? [True, True] Translation: X:112.29, Y:-4.43, Z:-0.83 [[ 9.97956116e-01 6.32798765e-02 8.90209697e-03 1.12287763e+02] [-6.32755135e-02 9.97995799e-01 -7.71190399e-04 -4.42844977e+00] [-8.93305621e-03 2.06329418e-04 9.99960078e-01 -8.27401017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84655999499999 meters 0.053832606752043384 Centerline is valid? [True, True] Translation: X:112.35, Y:-4.43, Z:-0.83 [[ 9.98118750e-01 6.07860471e-02 8.00104329e-03 1.12347628e+02] [-6.07824424e-02 9.98150797e-01 -6.93154149e-04 -4.43312946e+00] [-8.02838184e-03 2.05527200e-04 9.99967751e-01 -8.27959281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.906559995 meters 0.05322720179822135 Centerline is valid? [True, True] Translation: X:112.41, Y:-4.44, Z:-0.83 [[ 9.98260543e-01 5.84388511e-02 7.79671813e-03 1.12408863e+02] [-5.84353545e-02 9.98290966e-01 -6.75721148e-04 -4.43752984e+00] [-7.82288164e-03 2.18941773e-04 9.99969377e-01 -8.29618744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.966559995 meters 0.05377897436929502 Centerline is valid? [True, True] Translation: X:112.47, Y:-4.44, Z:-0.83 [[ 9.98296761e-01 5.78999769e-02 7.15327791e-03 1.12470798e+02] [-5.78970188e-02 9.98322368e-01 -6.20096272e-04 -4.44040774e+00] [-7.17718090e-03 2.04886635e-04 9.99974223e-01 -8.30139238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.026559995 meters 0.05333521131312796 Centerline is valid? [True, True] Translation: X:112.53, Y:-4.45, Z:-0.83 [[ 9.98272851e-01 5.84214325e-02 6.18482823e-03 1.12532113e+02] [-5.84192275e-02 9.98291994e-01 -5.36731620e-04 -4.44714326e+00] [-6.20562114e-03 1.74491718e-04 9.99980730e-01 -8.30724478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.086559995 meters 0.05335475979713111 Centerline is valid? [True, True] Translation: X:112.59, Y:-4.44, Z:-0.83 [[ 9.98068011e-01 6.18628842e-02 5.76445691e-03 1.12593635e+02] [-6.18610218e-02 9.98084647e-01 -5.00988825e-04 -4.44486957e+00] [-5.78440856e-03 1.43425725e-04 9.99983260e-01 -8.30838863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.146559995 meters 0.05334317122118305 Centerline is valid? [True, True] Translation: X:112.65, Y:-4.45, Z:-0.83 [[ 9.97783086e-01 6.62930357e-02 5.84358835e-03 1.12653387e+02] [-6.62911974e-02 9.97800190e-01 -5.07927322e-04 -4.44780578e+00] [-5.86440561e-03 1.19422822e-04 9.99982797e-01 -8.30866014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.206559995 meters 0.053182795421412306 Centerline is valid? [True, True] Translation: X:112.71, Y:-4.45, Z:-0.83 [[ 9.97344588e-01 7.25239200e-02 6.63724326e-03 1.12712322e+02] [-7.25216863e-02 9.97366669e-01 -5.76915276e-04 -4.45489219e+00] [-6.66160536e-03 9.40392544e-05 9.99977807e-01 -8.31590862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.266559995 meters 0.05286052368228204 Centerline is valid? [True, True] Translation: X:112.77, Y:-4.46, Z:-0.83 [[ 9.97150331e-01 7.51557339e-02 6.54465017e-03 1.12774689e+02] [-7.51536192e-02 9.97171806e-01 -5.68801950e-04 -4.45809680e+00] [-6.56888935e-03 7.53269059e-05 9.99978422e-01 -8.31837220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.326559995 meters 0.0528841480742722 Centerline is valid? [True, True] Translation: X:112.84, Y:-4.47, Z:-0.83 [[ 9.96927904e-01 7.80821337e-02 6.15915750e-03 1.12835514e+02] [-7.80803156e-02 9.96946928e-01 -5.35457582e-04 -4.46504876e+00] [-6.18216282e-03 5.29036435e-05 9.99980889e-01 -8.32216551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.386559995 meters 0.052896415091315055 Centerline is valid? [True, True] Translation: X:112.90, Y:-4.47, Z:-0.83 [[ 9.96765541e-01 8.01610001e-02 5.71585336e-03 1.12897793e+02] [-8.01594646e-02 9.96781928e-01 -4.97590662e-04 -4.47054687e+00] [-5.73734670e-03 3.78014801e-05 9.99983541e-01 -8.32887977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.446559995 meters 0.052602299058716974 Centerline is valid? [True, True] Translation: X:112.96, Y:-4.48, Z:-0.83 [[ 9.96406245e-01 8.45669984e-02 4.79765961e-03 1.12959765e+02] [-8.45659673e-02 9.96417795e-01 -4.17732784e-04 -4.47782309e+00] [-4.81579982e-03 1.05128294e-05 9.99988404e-01 -8.34010660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.506559995 meters 0.052305146483433124 Centerline is valid? [True, True] Translation: X:113.02, Y:-4.48, Z:-0.84 [[ 9.96027111e-01 8.89519041e-02 4.18952766e-03 1.13021172e+02] [-8.89511567e-02 9.96035922e-01 -3.64763586e-04 -4.48490128e+00] [-4.20536646e-03 -9.34891078e-06 9.99991157e-01 -8.35485846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.566559995 meters 0.0519494669651895 Centerline is valid? [True, True] Translation: X:113.08, Y:-4.49, Z:-0.84 [[ 9.95837750e-01 9.10481702e-02 4.17199146e-03 1.13082309e+02] [-9.10474448e-02 9.95846489e-01 -3.63874957e-04 -4.49171856e+00] [-4.18779319e-03 -1.74887425e-05 9.99991231e-01 -8.35979379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.626559995 meters 0.051902339803952056 Centerline is valid? [True, True] Translation: X:113.14, Y:-4.50, Z:-0.84 [[ 9.95706987e-01 9.24629835e-02 4.26523946e-03 1.13143891e+02] [-9.24622354e-02 9.95716122e-01 -3.72680451e-04 -4.50145840e+00] [-4.28142684e-03 -2.32930461e-05 9.99990834e-01 -8.35855377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.686559995 meters 0.05202873875638837 Centerline is valid? [True, True] Translation: X:113.21, Y:-4.51, Z:-0.84 [[ 9.95710490e-01 9.24263542e-02 4.24142970e-03 1.13205400e+02] [-9.24256144e-02 9.95719523e-01 -3.70516247e-04 -4.51251599e+00] [-4.25751982e-03 -2.30898322e-05 9.99990936e-01 -8.35037881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.746559995 meters 0.05173174382928507 Centerline is valid? [True, True] Translation: X:113.27, Y:-4.52, Z:-0.84 [[ 9.95923538e-01 9.01220775e-02 3.78376094e-03 1.13266651e+02] [-9.01214695e-02 9.95930726e-01 -3.31217447e-04 -4.52299418e+00] [-3.79821379e-03 -1.11308447e-05 9.99992787e-01 -8.36761507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.806559995 meters 0.052085679044111384 Centerline is valid? [True, True] Translation: X:113.33, Y:-4.53, Z:-0.84 [[ 9.96151678e-01 8.75676655e-02 3.70647287e-03 1.13329328e+02] [-8.75670652e-02 9.96158574e-01 -3.24245769e-04 -4.53376969e+00] [-3.72062817e-03 -1.56698474e-06 9.99993078e-01 -8.36750619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.866559995 meters 0.05239172548215636 Centerline is valid? [True, True] Translation: X:113.39, Y:-4.55, Z:-0.84 [[ 9.96772139e-01 8.01871096e-02 3.91551598e-03 1.13389614e+02] [-8.01863800e-02 9.96779829e-01 -3.43211004e-04 -4.54647317e+00] [-3.93042845e-03 2.81321137e-05 9.99992275e-01 -8.35724381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.926559995 meters 0.051747331735691314 Centerline is valid? [True, True] Translation: X:113.45, Y:-4.56, Z:-0.84 [[ 9.97288709e-01 7.34997518e-02 3.60807023e-03 1.13449786e+02] [-7.34990862e-02 9.97295234e-01 -3.16906590e-04 -4.56202727e+00] [-3.62160380e-03 5.08574998e-05 9.99993441e-01 -8.36040620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.986559995 meters 0.05248395807004016 Centerline is valid? [True, True] Translation: X:113.51, Y:-4.58, Z:-0.84 [[ 9.97921637e-01 6.43203387e-02 3.91150702e-03 1.13508974e+02] [-6.43194851e-02 9.97929299e-01 -3.43750305e-04 -4.57575382e+00] [-3.92551760e-03 9.14497494e-05 9.99992291e-01 -8.35065571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.046559995 meters 0.05238587766410997 Centerline is valid? [True, True] Translation: X:113.57, Y:-4.58, Z:-0.84 [[ 9.98208303e-01 5.97395545e-02 3.37191303e-03 1.13567740e+02] [-5.97388939e-02 9.98213993e-01 -2.96376418e-04 -4.58311810e+00] [-3.38359616e-03 9.44110471e-05 9.99994271e-01 -8.35318317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.106559995 meters 0.05336528237328277 Centerline is valid? [True, True] Translation: X:113.63, Y:-4.59, Z:-0.84 [[ 9.98383469e-01 5.68051685e-02 1.90311218e-03 1.13628299e+02] [-5.68049530e-02 9.98385281e-01 -1.67167431e-04 -4.58969656e+00] [-1.90953516e-03 5.87910021e-05 9.99998175e-01 -8.35401656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.166559995 meters 0.053435244698107495 Centerline is valid? [True, True] Translation: X:113.69, Y:-4.61, Z:-0.84 [[ 9.98387204e-01 5.67634328e-02 9.50694382e-04 1.13688632e+02] [-5.67633797e-02 9.98387656e-01 -8.28317174e-05 -4.60598531e+00] [-9.53863349e-04 2.87335005e-05 9.99999545e-01 -8.37824511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.226559995 meters 0.052503778776714756 Centerline is valid? [True, True] Translation: X:113.75, Y:-4.61, Z:-0.84 [[ 9.98178327e-01 6.03281595e-02 7.35087245e-04 1.13749683e+02] [-6.03281282e-02 9.98178598e-01 -6.46426550e-05 -4.60611245e+00] [-7.37648128e-04 2.01784596e-05 9.99999728e-01 -8.36943062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.286559995 meters 0.052541387748296295 Centerline is valid? [True, True] Translation: X:113.81, Y:-4.61, Z:-0.84 [[ 9.97907514e-01 6.46266800e-02 1.99640535e-03 1.13809192e+02] [-6.46264577e-02 9.97909510e-01 -1.75753874e-04 -4.60749160e+00] [-2.00359028e-03 4.63655049e-05 9.99997992e-01 -8.35654911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34655999499999 meters 0.05195420397287421 Centerline is valid? [True, True] Translation: X:113.87, Y:-4.62, Z:-0.84 [[ 9.97391758e-01 7.20979613e-02 3.40082637e-03 1.13868715e+02] [-7.20973596e-02 9.97397554e-01 -2.99336580e-04 -4.61598250e+00] [-3.41355746e-03 5.33652362e-05 9.99994172e-01 -8.35777142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.406559995 meters 0.05205795531083672 Centerline is valid? [True, True] Translation: X:113.93, Y:-4.62, Z:-0.84 [[ 9.97240223e-01 7.41894350e-02 2.80461348e-03 1.13931282e+02] [-7.41890351e-02 9.97244166e-01 -2.46506174e-04 -4.62039242e+00] [-2.81517258e-03 3.77543039e-05 9.99996037e-01 -8.35925983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.466559995 meters 0.051929953496904546 Centerline is valid? [True, True] Translation: X:113.99, Y:-4.62, Z:-0.84 [[ 9.96773734e-01 8.02016639e-02 3.13319245e-03 1.13991480e+02] [-8.02011926e-02 9.96778658e-01 -2.75982864e-04 -4.62446242e+00] [-3.14523365e-03 2.38066994e-05 9.99995053e-01 -8.37688567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.526559995 meters 0.0514067268251595 Centerline is valid? [True, True] Translation: X:114.05, Y:-4.63, Z:-0.84 [[ 9.96483973e-01 8.37405895e-02 2.68419412e-03 1.14052417e+02] [-8.37402576e-02 9.96487588e-01 -2.35992381e-04 -4.62669866e+00] [-2.69452827e-03 1.03875185e-05 9.99996370e-01 -8.37248835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.586559995 meters 0.05151450154300611 Centerline is valid? [True, True] Translation: X:114.11, Y:-4.63, Z:-0.84 [[ 9.96296275e-01 8.59835512e-02 7.49882210e-04 1.14113998e+02] [-8.59835260e-02 9.96296557e-01 -6.58883054e-05 -4.63271440e+00] [-7.52770374e-04 1.16675671e-06 9.99999717e-01 -8.40361033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.646559995 meters 0.051527603799092055 Centerline is valid? [True, True] Translation: X:114.17, Y:-4.64, Z:-0.84 [[ 9.96443726e-01 8.42607296e-02 -1.76353154e-04 1.14174944e+02] [-8.42607280e-02 9.96443741e-01 1.63324639e-05 -4.63970066e+00] [ 1.77102182e-04 -1.41473598e-06 9.99999984e-01 -8.40314924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.706559995 meters 0.0524910265083391 Centerline is valid? [True, True] Translation: X:114.23, Y:-4.65, Z:-0.84 [[ 9.97114689e-01 7.59027138e-02 -1.03675699e-03 1.14234919e+02] [-7.59026595e-02 9.97115228e-01 9.17311318e-05 -4.65440783e+00] [ 1.04072882e-03 -1.27738462e-05 9.99999458e-01 -8.42152800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.766559995 meters 0.05303941818394094 Centerline is valid? [True, True] Translation: X:114.30, Y:-4.66, Z:-0.84 [[ 9.98015310e-01 6.29644885e-02 -9.55765922e-04 1.14295814e+02] [-6.29644364e-02 9.98015768e-01 8.44852664e-05 -4.65938261e+00] [ 9.59189032e-04 -2.41383268e-05 9.99999540e-01 -8.37054515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.826559995 meters 0.05309106886369676 Centerline is valid? [True, True] Translation: X:114.36, Y:-4.67, Z:-0.84 [[ 9.98480188e-01 5.51047909e-02 -8.80782631e-04 1.14356321e+02] [-5.51047435e-02 9.98480576e-01 7.79924662e-05 -4.66973021e+00] [ 8.83742108e-04 -2.93386314e-05 9.99999609e-01 -8.37758767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.886559995 meters 0.05340641529574289 Centerline is valid? [True, True] Translation: X:114.42, Y:-4.67, Z:-0.84 [[ 9.98735094e-01 5.02669195e-02 -1.20368477e-03 1.14417762e+02] [-5.02668276e-02 9.98735818e-01 1.06506798e-04 -4.66982423e+00] [ 1.20751687e-03 -4.58666619e-05 9.99999270e-01 -8.37684106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.946559995 meters 0.05384436362588531 Centerline is valid? [True, True] Translation: X:114.48, Y:-4.68, Z:-0.84 [[ 9.98659518e-01 5.16856622e-02 -2.78549920e-03 1.14478177e+02] [-5.16851731e-02 9.98663398e-01 2.47311975e-04 -4.67877275e+00] [ 2.79455858e-03 -1.03011449e-04 9.99996090e-01 -8.39658113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.006559995 meters 0.05357632903494265 Centerline is valid? [True, True] Translation: X:114.54, Y:-4.67, Z:-0.84 [[ 9.98444053e-01 5.56026296e-02 -4.22143723e-03 1.14539008e+02] [-5.56015462e-02 9.98452968e-01 3.73661681e-04 -4.67368363e+00] [ 4.23568311e-03 -1.38361846e-04 9.99991020e-01 -8.36723272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.066559995 meters 0.05329807874127404 Centerline is valid? [True, True] Translation: X:114.60, Y:-4.68, Z:-0.84 [[ 9.98274602e-01 5.85700646e-02 -4.16722655e-03 1.14599302e+02] [-5.85690339e-02 9.98283292e-01 3.69048039e-04 -4.68324331e+00] [ 4.18168781e-03 -1.24340851e-04 9.99991249e-01 -8.39632344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.126559995 meters 0.05332239531669222 Centerline is valid? [True, True] Translation: X:114.66, Y:-4.69, Z:-0.84 [[ 9.98056347e-01 6.22587526e-02 -2.71589648e-03 1.14658959e+02] [-6.22583285e-02 9.98060040e-01 2.40520435e-04 -4.69042350e+00] [ 2.72560225e-03 -7.09657722e-05 9.99996283e-01 -8.42219862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.186559995 meters 0.05307438016586238 Centerline is valid? [True, True] Translation: X:114.72, Y:-4.69, Z:-0.84 [[ 9.98000540e-01 6.31812007e-02 -1.74879824e-03 1.14721336e+02] [-6.31810244e-02 9.98002071e-01 1.55948223e-04 -4.69046824e+00] [ 1.75515726e-03 -4.51455464e-05 9.99998459e-01 -8.40837121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.246559995 meters 0.05343894401085382 Centerline is valid? [True, True] Translation: X:114.78, Y:-4.69, Z:-0.84 [[ 9.98070578e-01 6.20895214e-02 -1.12835278e-04 1.14782365e+02] [-6.20895205e-02 9.98070584e-01 1.08429838e-05 -4.69236800e+00] [ 1.13290807e-04 -3.81617480e-06 9.99999994e-01 -8.39721741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.306559995 meters 0.053121217610902625 Centerline is valid? [True, True] Translation: X:114.84, Y:-4.69, Z:-0.84 [[ 9.98169934e-01 6.04662635e-02 7.83528977e-04 1.14844753e+02] [-6.04662277e-02 9.98170241e-01 -6.93546248e-05 -4.69219956e+00] [-7.86288923e-04 2.18506597e-05 9.99999691e-01 -8.39966586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.366559995 meters 0.052992853856435554 Centerline is valid? [True, True] Translation: X:114.91, Y:-4.70, Z:-0.84 [[ 9.98311524e-01 5.80862609e-02 2.95079933e-04 1.14905285e+02] [-5.80862557e-02 9.98311568e-01 -2.60858395e-05 -4.69995527e+00] [-2.96096940e-04 8.90170567e-06 9.99999956e-01 -8.42670021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.426559995 meters 0.0529098364405869 Centerline is valid? [True, True] Translation: X:114.97, Y:-4.70, Z:-0.84 [[ 9.98437329e-01 5.58800848e-02 -5.63091507e-04 1.14965793e+02] [-5.58800655e-02 9.98437487e-01 5.00137026e-05 -4.69684581e+00] [ 5.65006439e-04 -1.84699574e-05 9.99999840e-01 -8.42265040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.486559995 meters 0.053199149957301316 Centerline is valid? [True, True] Translation: X:115.03, Y:-4.70, Z:-0.84 [[ 9.98506610e-01 5.46197456e-02 -1.11012597e-03 1.15027281e+02] [-5.46196687e-02 9.98507227e-01 9.94778147e-05 -4.70212455e+00] [ 1.11390226e-03 -3.86945429e-05 9.99999379e-01 -8.44280393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.546559995 meters 0.05374952417764194 Centerline is valid? [True, True] Translation: X:115.09, Y:-4.71, Z:-0.85 [[ 9.98577748e-01 5.32905833e-02 -1.61117620e-03 1.15088289e+02] [-5.32904199e-02 9.98579046e-01 1.44198261e-04 -4.70624044e+00] [ 1.61657121e-03 -5.81329187e-05 9.99998692e-01 -8.45319492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.606559995 meters 0.053507509860980317 Centerline is valid? [True, True] Translation: X:115.15, Y:-4.71, Z:-0.85 [[ 9.98534276e-01 5.41090553e-02 -1.22833662e-03 1.15150965e+02] [-5.41089613e-02 9.98535031e-01 1.09697690e-04 -4.70878051e+00] [ 1.23247278e-03 -4.30728849e-05 9.99999240e-01 -8.45347860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.666559995 meters 0.054019052350884736 Centerline is valid? [True, True] Translation: X:115.21, Y:-4.71, Z:-0.85 [[ 9.98332703e-01 5.77028784e-02 -1.48083779e-03 1.15210753e+02] [-5.77027462e-02 9.98333800e-01 1.31844871e-04 -4.71379757e+00] [ 1.48597825e-03 -4.61766396e-05 9.99998895e-01 -8.47017287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.726559995 meters 0.05312383791864422 Centerline is valid? [True, True] Translation: X:115.27, Y:-4.72, Z:-0.85 [[ 9.97962135e-01 6.38002858e-02 -1.04872471e-03 1.15271278e+02] [-6.38002229e-02 9.97962686e-01 9.34356331e-05 -4.71584519e+00] [ 1.05254935e-03 -2.63363537e-05 9.99999446e-01 -8.47894481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.786559995 meters 0.05285471538779791 Centerline is valid? [True, True] Translation: X:115.33, Y:-4.72, Z:-0.85 [[ 9.97632925e-01 6.87637092e-02 -3.13528701e-04 1.15331214e+02] [-6.87637039e-02 9.97632975e-01 2.78874672e-05 -4.71603868e+00] [ 3.14704216e-04 -6.26206072e-06 9.99999950e-01 -8.46803067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84655999499999 meters 0.05251652486604466 Centerline is valid? [True, True] Translation: X:115.39, Y:-4.72, Z:-0.85 [[ 9.97168574e-01 7.51950937e-02 7.30231265e-04 1.15390186e+02] [-7.51950662e-02 9.97168841e-01 -6.50255616e-05 -4.72283306e+00] [-7.33053467e-04 9.93165822e-06 9.99999731e-01 -8.48326675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.906559995 meters 0.05237503261327455 Centerline is valid? [True, True] Translation: X:115.45, Y:-4.72, Z:-0.85 [[ 9.96984404e-01 7.75762836e-02 2.00464407e-03 1.15452436e+02] [-7.75760826e-02 9.96986419e-01 -1.77943667e-04 -4.72353412e+00] [-2.01240712e-03 2.18946276e-05 9.99997975e-01 -8.46222645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.966559995 meters 0.05257433137058519 Centerline is valid? [True, True] Translation: X:115.51, Y:-4.73, Z:-0.85 [[ 9.96934426e-01 7.82149544e-02 2.04211181e-03 1.15512499e+02] [-7.82147465e-02 9.96936518e-01 -1.81557294e-04 -4.73388372e+00] [-2.05005634e-03 2.12774594e-05 9.99997898e-01 -8.48165443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.026559995 meters 0.05259284220235644 Centerline is valid? [True, True] Translation: X:115.57, Y:-4.74, Z:-0.85 [[ 9.97150066e-01 7.54275716e-02 1.55783591e-03 1.15573612e+02] [-7.54274472e-02 9.97151283e-01 -1.38539938e-04 -4.74320707e+00] [-1.56384781e-03 2.06415224e-05 9.99998777e-01 -8.49220710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.086559995 meters 0.053254537091139136 Centerline is valid? [True, True] Translation: X:115.63, Y:-4.75, Z:-0.85 [[ 9.97396931e-01 7.20810934e-02 1.91780158e-03 1.15634377e+02] [-7.20808972e-02 9.97398774e-01 -1.71314713e-04 -4.74973778e+00] [-1.92516150e-03 3.26319104e-05 9.99998146e-01 -8.48847840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.146559995 meters 0.05347264233935929 Centerline is valid? [True, True] Translation: X:115.69, Y:-4.76, Z:-0.85 [[ 9.97820879e-01 6.59609368e-02 1.62730703e-03 1.15692610e+02] [-6.59607872e-02 9.97822205e-01 -1.45482933e-04 -4.76391919e+00] [-1.63335928e-03 3.78274552e-05 9.99998665e-01 -8.49404589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20655999499999 meters 0.052949608841751296 Centerline is valid? [True, True] Translation: X:115.75, Y:-4.77, Z:-0.85 [[ 9.98084233e-01 6.18367951e-02 2.01854992e-03 1.15753462e+02] [-6.18365566e-02 9.98086273e-01 -1.80392030e-04 -4.76577817e+00] [-2.02584183e-03 5.52262644e-05 9.99997946e-01 -8.48114397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.266559995 meters 0.0534529993566353 Centerline is valid? [True, True] Translation: X:115.81, Y:-4.77, Z:-0.85 [[ 9.98379060e-01 5.69024282e-02 1.16888962e-03 1.15814161e+02] [-5.69023449e-02 9.98379744e-01 -1.04451106e-04 -4.77085534e+00] [-1.17293924e-03 3.77692371e-05 9.99999311e-01 -8.49042385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.326559995 meters 0.05321396648629922 Centerline is valid? [True, True] Translation: X:115.88, Y:-4.78, Z:-0.85 [[ 9.98435456e-01 5.59108251e-02 7.87382789e-04 1.15875722e+02] [-5.59107871e-02 9.98435766e-01 -7.01048683e-05 -4.78078769e+00] [-7.90070759e-04 2.59719947e-05 9.99999688e-01 -8.50417643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.386559995 meters 0.05341357582493722 Centerline is valid? [True, True] Translation: X:115.94, Y:-4.79, Z:-0.85 [[ 9.98429204e-01 5.60278476e-02 -7.01499501e-05 1.15936302e+02] [-5.60278472e-02 9.98429206e-01 7.09106214e-06 -4.78650651e+00] [ 7.04370559e-05 -3.14957284e-06 9.99999998e-01 -8.51287171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.446559995 meters 0.052972455914401646 Centerline is valid? [True, True] Translation: X:116.00, Y:-4.79, Z:-0.85 [[ 9.98284916e-01 5.85336534e-02 1.01832383e-03 1.15997194e+02] [-5.85335908e-02 9.98285435e-01 -9.11321726e-05 -4.79154939e+00] [-1.02191215e-03 3.13697229e-05 9.99999477e-01 -8.51658871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.506559995 meters 0.05313788384336195 Centerline is valid? [True, True] Translation: X:116.06, Y:-4.80, Z:-0.85 [[ 9.97871367e-01 6.51720185e-02 2.31149292e-03 1.16056835e+02] [-6.51717137e-02 9.97874043e-01 -2.06996371e-04 -4.79776181e+00] [-2.32006915e-03 5.59117965e-05 9.99997307e-01 -8.52501942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.566559995 meters 0.0522650859861212 Centerline is valid? [True, True] Translation: X:116.12, Y:-4.80, Z:-0.85 [[ 9.97440244e-01 7.14650216e-02 2.38957364e-03 1.16115989e+02] [-7.14647139e-02 9.97443106e-01 -2.14019562e-04 -4.80025359e+00] [-2.39875866e-03 4.27015275e-05 9.99997122e-01 -8.52917526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.626559995 meters 0.05224942789343414 Centerline is valid? [True, True] Translation: X:116.18, Y:-4.80, Z:-0.85 [[ 9.96496115e-01 8.35664086e-02 3.48530026e-03 1.16176722e+02] [-8.35658282e-02 9.96502210e-01 -3.12079105e-04 -4.79788896e+00] [-3.49918874e-03 1.97336130e-05 9.99993878e-01 -8.52730719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.686559995 meters 0.05165757324830247 Centerline is valid? [True, True] Translation: X:116.24, Y:-4.80, Z:-0.85 [[ 9.95709287e-01 9.24547535e-02 3.89021289e-03 1.16238943e+02] [-9.24540987e-02 9.95716887e-01 -3.48187956e-04 -4.80021174e+00] [-3.90574230e-03 -1.29721448e-05 9.99992372e-01 -8.54225980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.746559995 meters 0.05194046355515408 Centerline is valid? [True, True] Translation: X:116.30, Y:-4.79, Z:-0.86 [[ 9.94482437e-01 1.04859490e-01 3.02833014e-03 1.16299440e+02] [-1.04859150e-01 9.94487046e-01 -2.71307284e-04 -4.79466408e+00] [-3.04008424e-03 -4.77377946e-05 9.99995378e-01 -8.56025391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.806559995 meters 0.0518138563939771 Centerline is valid? [True, True] Translation: X:116.36, Y:-4.80, Z:-0.86 [[ 9.93695334e-01 1.12093694e-01 2.14176375e-03 1.16360135e+02] [-1.12093541e-01 9.93697641e-01 -1.91812240e-04 -4.79754162e+00] [-2.14976653e-03 -4.94749540e-05 9.99997688e-01 -8.56150513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.866559995 meters 0.053229419342375336 Centerline is valid? [True, True] Translation: X:116.42, Y:-4.79, Z:-0.86 [[ 9.92798498e-01 1.19781621e-01 1.87220046e-03 1.16419976e+02] [-1.19781517e-01 9.92800262e-01 -1.67625222e-04 -4.79392025e+00] [-1.87879953e-03 -5.78369440e-05 9.99998233e-01 -8.57325560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.926559995 meters 0.05285330217768911 Centerline is valid? [True, True] Translation: X:116.48, Y:-4.80, Z:-0.86 [[ 9.92480676e-01 1.22390016e-01 1.67100031e-03 1.16480179e+02] [-1.22389938e-01 9.92482081e-01 -1.49684030e-04 -4.80262285e+00] [-1.67675770e-03 -5.59551167e-05 9.99998593e-01 -8.57014518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.986559995 meters 0.05254235471248334 Centerline is valid? [True, True] Translation: X:116.54, Y:-4.81, Z:-0.86 [[ 9.92392656e-01 1.23106264e-01 1.28970265e-03 1.16541924e+02] [-1.23106218e-01 9.92393493e-01 -1.14937830e-04 -4.81067246e+00] [-1.29404208e-03 -4.47069567e-05 9.99999162e-01 -8.57410785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.046559995 meters 0.05116895419497188 Centerline is valid? [True, True] Translation: X:116.60, Y:-4.83, Z:-0.86 [[ 9.92448247e-01 1.22663844e-01 2.40198044e-04 1.16602500e+02] [-1.22663843e-01 9.92448276e-01 -2.07740541e-05 -4.82690343e+00] [-2.40932360e-04 -8.84644155e-06 9.99999971e-01 -8.57080479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.106559995 meters 0.051758946111880776 Centerline is valid? [True, True] Translation: X:116.66, Y:-4.83, Z:-0.86 [[ 9.92553836e-01 1.21801793e-01 -1.09826746e-03 1.16663004e+02] [-1.21801757e-01 9.92554443e-01 9.95011398e-05 -4.83261905e+00] [ 1.10220966e-03 3.50106678e-05 9.99999392e-01 -8.59028650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.166559995 meters 0.05195685015828165 Centerline is valid? [True, True] Translation: X:116.72, Y:-4.84, Z:-0.86 [[ 9.92867550e-01 1.19202548e-01 -2.18626184e-03 1.16722556e+02] [-1.19202404e-01 9.92869955e-01 1.96599588e-04 -4.84390909e+00] [ 2.19410887e-03 6.54103161e-05 9.99997591e-01 -8.60316911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.226559995 meters 0.05076126951716722 Centerline is valid? [True, True] Translation: X:116.78, Y:-4.86, Z:-0.86 [[ 9.93182670e-01 1.16544762e-01 -2.34586374e-03 1.16782601e+02] [-1.16544588e-01 9.93185438e-01 2.11027165e-04 -4.85783563e+00] [ 2.35447182e-03 6.38092011e-05 9.99997226e-01 -8.58948780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.286559995 meters 0.05101457705668675 Centerline is valid? [True, True] Translation: X:116.84, Y:-4.87, Z:-0.86 [[ 9.93684009e-01 1.12193520e-01 -2.16910935e-03 1.16842600e+02] [-1.12193362e-01 9.93686375e-01 1.95123748e-04 -4.87149809e+00] [ 2.17730603e-03 4.94683220e-05 9.99997628e-01 -8.58077750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34655999499999 meters 0.05086386725313177 Centerline is valid? [True, True] Translation: X:116.90, Y:-4.88, Z:-0.86 [[ 9.94055116e-01 1.08871263e-01 -1.21387839e-03 1.16902830e+02] [-1.08871211e-01 9.94055857e-01 1.09309509e-04 -4.88319527e+00] [ 1.21856358e-03 2.34967335e-05 9.99999257e-01 -8.56851535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.406559995 meters 0.05099840421854316 Centerline is valid? [True, True] Translation: X:116.96, Y:-4.89, Z:-0.86 [[ 9.94644298e-01 1.03354083e-01 -8.08872351e-04 1.16961649e+02] [-1.03354058e-01 9.94644627e-01 7.26965273e-05 -4.89383239e+00] [ 8.12054020e-04 1.12930532e-05 9.99999670e-01 -8.57482270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.466559995 meters 0.05094308268953401 Centerline is valid? [True, True] Translation: X:117.02, Y:-4.91, Z:-0.86 [[ 9.95321500e-01 9.66160230e-02 -6.75048616e-04 1.17022464e+02] [-9.66160039e-02 9.95321729e-01 6.10334227e-05 -4.90915042e+00] [ 6.77787362e-04 4.47262182e-06 9.99999770e-01 -8.56155646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.526559995 meters 0.05135419638498761 Centerline is valid? [True, True] Translation: X:117.08, Y:-4.92, Z:-0.86 [[ 9.95742624e-01 9.21770323e-02 1.44501586e-04 1.17083657e+02] [-9.21770315e-02 9.95742635e-01 -1.21812787e-05 -4.91572186e+00] [-1.45009224e-04 -1.19030887e-06 9.99999989e-01 -8.56944459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.586559995 meters 0.0510644527491395 Centerline is valid? [True, True] Translation: X:117.14, Y:-4.92, Z:-0.86 [[ 9.95930450e-01 9.01244648e-02 3.45679535e-04 1.17144795e+02] [-9.01244596e-02 9.95930510e-01 -3.04179096e-05 -4.92074449e+00] [-3.47014193e-04 -8.60058936e-07 9.99999940e-01 -8.57208408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.646559995 meters 0.051353698054492344 Centerline is valid? [True, True] Translation: X:117.21, Y:-4.93, Z:-0.86 [[ 9.96471968e-01 8.39257235e-02 -3.00610094e-04 1.17206461e+02] [-8.39257191e-02 9.96472013e-01 2.74159090e-05 -4.92915885e+00] [ 3.01850445e-04 -2.09026652e-06 9.99999954e-01 -8.57766921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70655999499999 meters 0.05196201213587374 Centerline is valid? [True, True] Translation: X:117.27, Y:-4.94, Z:-0.86 [[ 9.96952597e-01 7.80073693e-02 -6.07239481e-04 1.17267610e+02] [-7.80073499e-02 9.96952782e-01 5.56297292e-05 -4.93632689e+00] [ 6.09728619e-04 -8.09106040e-06 9.99999814e-01 -8.56682051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.766559995 meters 0.052507614773159794 Centerline is valid? [True, True] Translation: X:117.33, Y:-4.94, Z:-0.86 [[ 9.97783787e-01 6.65347936e-02 -7.97597796e-04 1.17328212e+02] [-6.65347572e-02 9.97784105e-01 7.21828164e-05 -4.93946735e+00] [ 8.00633072e-04 -1.89548682e-05 9.99999679e-01 -8.55714893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.826559995 meters 0.05368204870203855 Centerline is valid? [True, True] Translation: X:117.39, Y:-4.95, Z:-0.86 [[ 9.98259547e-01 5.89724151e-02 -3.63239300e-04 1.17388792e+02] [-5.89724070e-02 9.98259613e-01 3.29385478e-05 -4.94579203e+00] [ 3.64549588e-04 -1.14601240e-05 9.99999933e-01 -8.56382669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.886559995 meters 0.05386076409338312 Centerline is valid? [True, True] Translation: X:117.45, Y:-4.95, Z:-0.85 [[ 9.98715139e-01 5.06757037e-02 2.09773731e-04 1.17448631e+02] [-5.06757008e-02 9.98715161e-01 -1.89119036e-05 -4.94907022e+00] [-2.10462580e-04 8.25717355e-06 9.99999978e-01 -8.54640472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.946559995 meters 0.054260792911722096 Centerline is valid? [True, True] Translation: X:117.51, Y:-4.96, Z:-0.86 [[ 9.98852984e-01 4.78491388e-02 1.78221365e-03 1.17508203e+02] [-4.78489274e-02 9.98854571e-01 -1.61072722e-04 -4.95715363e+00] [-1.78787944e-03 7.56109572e-05 9.99998399e-01 -8.55525214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.006559995 meters 0.05305464047526577 Centerline is valid? [True, True] Translation: X:117.57, Y:-4.95, Z:-0.86 [[ 9.98757932e-01 4.97553125e-02 2.64616620e-03 1.17570356e+02] [-4.97548533e-02 9.98761432e-01 -2.39140685e-04 -4.94994146e+00] [-2.65478727e-03 1.07184044e-04 9.99996470e-01 -8.55791546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.066559995 meters 0.05379500967403163 Centerline is valid? [True, True] Translation: X:117.63, Y:-4.95, Z:-0.86 [[ 9.98283117e-01 5.85257120e-02 2.35797458e-03 1.17629871e+02] [-5.85253717e-02 9.98285899e-01 -2.13114283e-04 -4.95399560e+00] [-2.36640544e-03 7.47470518e-05 9.99997197e-01 -8.58585295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.126559995 meters 0.0530248264249077 Centerline is valid? [True, True] Translation: X:117.69, Y:-4.95, Z:-0.86 [[ 9.97351554e-01 7.27140040e-02 1.59734979e-03 1.17691280e+02] [-7.27138660e-02 9.97352833e-01 -1.44386238e-04 -4.94710344e+00] [-1.60362024e-03 2.78543601e-05 9.99998714e-01 -8.60307221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.186559995 meters 0.05246806258843886 Centerline is valid? [True, True] Translation: X:117.75, Y:-4.95, Z:-0.86 [[ 9.96946403e-01 7.80771292e-02 1.35336541e-03 1.17752178e+02] [-7.80770351e-02 9.96947321e-01 -1.22254093e-04 -4.94925084e+00] [-1.35877927e-03 1.62140198e-05 9.99999077e-01 -8.62229178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.246559995 meters 0.05175953513926182 Centerline is valid? [True, True] Translation: X:117.81, Y:-4.94, Z:-0.86 [[ 9.95573961e-01 9.39789949e-02 6.60855505e-04 1.17814665e+02] [-9.39789761e-02 9.95574180e-01 -5.96406888e-05 -4.93848909e+00] [-6.63535650e-04 -2.72980686e-06 9.99999780e-01 -8.59206724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.306559995 meters 0.05159234824769348 Centerline is valid? [True, True] Translation: X:117.88, Y:-4.93, Z:-0.86 [[ 9.94716757e-01 1.02655970e-01 -5.70624858e-04 1.17875913e+02] [-1.02655957e-01 9.94716920e-01 5.17334989e-05 -4.93499405e+00] [ 5.72920954e-04 7.11786260e-06 9.99999836e-01 -8.63337790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.366559995 meters 0.05230968656071468 Centerline is valid? [True, True] Translation: X:117.94, Y:-4.94, Z:-0.86 [[ 9.93925446e-01 1.10045908e-01 -1.45146200e-03 1.17936465e+02] [-1.10045834e-01 9.93926505e-01 1.31311901e-04 -4.93603791e+00] [ 1.45709689e-03 2.92131062e-05 9.99998938e-01 -8.63683448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.426559995 meters 0.05191676956490379 Centerline is valid? [True, True] Translation: X:118.00, Y:-4.94, Z:-0.86 [[ 9.93652336e-01 1.12486309e-01 -1.36582800e-03 1.17997582e+02] [-1.12486244e-01 9.93653274e-01 1.24484162e-04 -4.93839542e+00] [ 1.37116222e-03 2.99428832e-05 9.99999060e-01 -8.63854223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.486559995 meters 0.05186753928880192 Centerline is valid? [True, True] Translation: X:118.06, Y:-4.94, Z:-0.86 [[ 9.93645849e-01 1.12548491e-01 -8.73452784e-04 1.18059612e+02] [-1.12548464e-01 9.93646233e-01 8.00450520e-05 -4.94497943e+00] [ 8.76912019e-04 1.87693358e-05 9.99999615e-01 -8.63711071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.546559995 meters 0.05185733485941823 Centerline is valid? [True, True] Translation: X:118.12, Y:-4.95, Z:-0.86 [[ 9.93787289e-01 1.11290737e-01 -1.09338425e-03 1.18121331e+02] [-1.11290694e-01 9.93787891e-01 1.00109434e-04 -4.95267446e+00] [ 1.09773328e-03 2.21960086e-05 9.99999397e-01 -8.64050003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.606559995 meters 0.0516098249212088 Centerline is valid? [True, True] Translation: X:118.18, Y:-4.96, Z:-0.87 [[ 9.93862164e-01 1.10607879e-01 -1.97407512e-03 1.18182278e+02] [-1.10607739e-01 9.93864123e-01 1.80209165e-04 -4.95640283e+00] [ 1.98189499e-03 3.92449147e-05 9.99998035e-01 -8.66877748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.666559995 meters 0.05204969746683923 Centerline is valid? [True, True] Translation: X:118.24, Y:-4.97, Z:-0.87 [[ 9.93751458e-01 1.11580428e-01 -2.80146813e-03 1.18243190e+02] [-1.11580151e-01 9.93755405e-01 2.55221875e-04 -4.96739884e+00] [ 2.81245186e-03 5.89611276e-05 9.99996043e-01 -8.67586506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.726559995 meters 0.051247866118954745 Centerline is valid? [True, True] Translation: X:118.30, Y:-4.98, Z:-0.87 [[ 9.93564473e-01 1.13233748e-01 -2.78514704e-03 1.18304119e+02] [-1.13233479e-01 9.93568374e-01 2.54385634e-04 -4.97785103e+00] [ 2.79603906e-03 6.26233622e-05 9.99996089e-01 -8.66531424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.786559995 meters 0.051367044595157375 Centerline is valid? [True, True] Translation: X:118.37, Y:-4.99, Z:-0.87 [[ 9.93362859e-01 1.15001108e-01 -2.23055764e-03 1.18365802e+02] [-1.15000939e-01 9.93365362e-01 2.04165555e-04 -4.98794243e+00] [ 2.23923796e-03 5.37057448e-05 9.99997491e-01 -8.66928924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84655999499999 meters 0.05200300231158963 Centerline is valid? [True, True] Translation: X:118.43, Y:-4.99, Z:-0.87 [[ 9.93405627e-01 1.14640025e-01 -1.70997401e-03 1.18426800e+02] [-1.14639925e-01 9.93407098e-01 1.56841048e-04 -4.99087098e+00] [ 1.71668058e-03 4.02245115e-05 9.99998526e-01 -8.69010497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.906559995 meters 0.05109577020069432 Centerline is valid? [True, True] Translation: X:118.49, Y:-5.01, Z:-0.87 [[ 9.93803168e-01 1.11152125e-01 -6.84031132e-04 1.18485743e+02] [-1.11152108e-01 9.93803404e-01 6.24337793e-05 -5.01181267e+00] [ 6.86732114e-04 1.39846148e-05 9.99999764e-01 -8.66860466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.966559995 meters 0.050974847610809136 Centerline is valid? [True, True] Translation: X:118.55, Y:-5.03, Z:-0.87 [[ 9.94453838e-01 1.05173359e-01 -3.58383937e-04 1.18545212e+02] [-1.05173354e-01 9.94453903e-01 3.28362022e-05 -5.02710197e+00] [ 3.59849798e-04 5.03835350e-06 9.99999935e-01 -8.67127746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.026559995 meters 0.050952522710713086 Centerline is valid? [True, True] Translation: X:118.61, Y:-5.04, Z:-0.87 [[ 9.95080150e-01 9.90679637e-02 -1.01630656e-03 1.18605891e+02] [-9.90679203e-02 9.95080669e-01 9.30749479e-05 -5.04252538e+00] [ 1.02052775e-03 8.06634370e-06 9.99999479e-01 -8.67783985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.086559995 meters 0.050980772809573284 Centerline is valid? [True, True] Translation: X:118.67, Y:-5.05, Z:-0.87 [[ 9.95410650e-01 9.56943761e-02 -4.72757675e-04 1.18667500e+02] [-9.56943660e-02 9.95410763e-01 4.40875988e-05 -5.05460902e+00] [ 4.74807013e-04 1.35498055e-06 9.99999887e-01 -8.67208614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.146559995 meters 0.051231463157038255 Centerline is valid? [True, True] Translation: X:118.73, Y:-5.07, Z:-0.87 [[ 9.95830697e-01 9.12204330e-02 -2.35162802e-04 1.18727490e+02] [-9.12204303e-02 9.95830725e-01 2.23229745e-05 -5.06838508e+00] [ 2.36218655e-04 -7.78251312e-07 9.99999972e-01 -8.68057112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20655999499999 meters 0.0510502337638132 Centerline is valid? [True, True] Translation: X:118.79, Y:-5.07, Z:-0.87 [[ 9.95868177e-01 9.07995712e-02 1.41827366e-03 1.18789222e+02] [-9.07994787e-02 9.95869187e-01 -1.29599342e-04 -5.07490425e+00] [-1.42418260e-03 2.85351652e-07 9.99998986e-01 -8.67319498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.266559995 meters 0.051005204086531274 Centerline is valid? [True, True] Translation: X:118.85, Y:-5.08, Z:-0.87 [[ 9.95732144e-01 9.22610163e-02 2.32436234e-03 1.18850414e+02] [-9.22607719e-02 9.95734857e-01 -2.12354902e-04 -5.08102614e+00] [-2.33404068e-03 -2.99886155e-06 9.99997276e-01 -8.67089657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.326559995 meters 0.050676076924319725 Centerline is valid? [True, True] Translation: X:118.91, Y:-5.09, Z:-0.87 [[ 9.95784110e-01 9.16830910e-02 2.86638471e-03 1.18911728e+02] [-9.16827158e-02 9.95788236e-01 -2.62317324e-04 -5.08866482e+00] [-2.87836224e-03 -1.58651214e-06 9.99995858e-01 -8.67381166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.386559995 meters 0.05071592942930192 Centerline is valid? [True, True] Translation: X:118.97, Y:-5.09, Z:-0.87 [[ 9.95847827e-01 9.09822627e-02 3.05511853e-03 1.18974720e+02] [-9.09818315e-02 9.95852513e-01 -2.80119073e-04 -5.09460725e+00] [-3.06793333e-03 9.95690596e-07 9.99995294e-01 -8.66464260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.446559995 meters 0.05141130216011776 Centerline is valid? [True, True] Translation: X:119.04, Y:-5.10, Z:-0.87 [[ 9.95883244e-01 9.06267924e-02 1.83015324e-03 1.19035881e+02] [-9.06266370e-02 9.95884925e-01 -1.67852921e-04 -5.09763292e+00] [-1.83783399e-03 1.30127793e-06 9.99998311e-01 -8.67540235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.506559995 meters 0.05175055660042399 Centerline is valid? [True, True] Translation: X:119.10, Y:-5.10, Z:-0.87 [[ 9.95947189e-01 8.99371794e-02 7.07721929e-04 1.19098286e+02] [-8.99371564e-02 9.95947440e-01 -6.44281519e-05 -5.10153677e+00] [-7.10648330e-04 5.16538930e-07 9.99999747e-01 -8.67407388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.566559995 meters 0.05095364977765917 Centerline is valid? [True, True] Translation: X:119.16, Y:-5.11, Z:-0.87 [[ 9.96025329e-01 8.90645684e-02 1.02314158e-03 1.19161327e+02] [-8.90645194e-02 9.96025854e-01 -9.34489828e-05 -5.10593415e+00] [-1.02739846e-03 1.95194076e-06 9.99999472e-01 -8.66748479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.626559995 meters 0.05113711453267838 Centerline is valid? [True, True] Translation: X:119.22, Y:-5.11, Z:-0.87 [[ 9.96265851e-01 8.63130999e-02 2.09820180e-03 1.19223211e+02] [-8.63128844e-02 9.96268061e-01 -1.93209806e-04 -5.11148579e+00] [-2.10704798e-03 1.13864823e-05 9.99997780e-01 -8.69668760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.686559995 meters 0.05082755763842522 Centerline is valid? [True, True] Translation: X:119.28, Y:-5.12, Z:-0.87 [[ 9.96624720e-01 8.20464858e-02 2.74624703e-03 1.19284929e+02] [-8.20461008e-02 9.96628503e-01 -2.52746568e-04 -5.11783170e+00] [-2.75772504e-03 2.65746168e-05 9.99996197e-01 -8.70691944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.746559995 meters 0.05136083179067249 Centerline is valid? [True, True] Translation: X:119.35, Y:-5.13, Z:-0.87 [[ 9.96871283e-01 7.90163033e-02 2.01717411e-03 1.19345709e+02] [-7.90160893e-02 9.96873324e-01 -1.85701729e-04 -5.12817661e+00] [-2.02554052e-03 2.57315113e-05 9.99997948e-01 -8.72837150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.806559995 meters 0.05137575346689031 Centerline is valid? [True, True] Translation: X:119.41, Y:-5.13, Z:-0.87 [[ 9.97274200e-01 7.37788460e-02 9.23014048e-04 1.19407543e+02] [-7.37787987e-02 9.97274627e-01 -8.52319949e-05 -5.12634511e+00] [-9.26786809e-04 1.69008019e-05 9.99999570e-01 -8.70321548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.866559995 meters 0.05242097713677953 Centerline is valid? [True, True] Translation: X:119.47, Y:-5.14, Z:-0.87 [[ 9.97566830e-01 6.97157306e-02 3.69505883e-04 1.19466332e+02] [-6.97157227e-02 9.97566898e-01 -3.41121465e-05 -5.14303831e+00] [-3.70984991e-04 8.26877619e-06 9.99999931e-01 -8.74768690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.926559995 meters 0.05264265288602895 Centerline is valid? [True, True] Translation: X:119.53, Y:-5.14, Z:-0.87 [[ 9.97787675e-01 6.64806273e-02 -2.85787621e-04 1.19527956e+02] [-6.64806225e-02 9.97787716e-01 2.64957476e-05 -5.13845508e+00] [ 2.86916832e-04 -7.43779144e-06 9.99999959e-01 -8.72075380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.986559995 meters 0.05234178543568214 Centerline is valid? [True, True] Translation: X:119.59, Y:-5.15, Z:-0.88 [[ 9.97862916e-01 6.53287037e-02 -1.32717962e-03 1.19589438e+02] [-6.53285975e-02 9.97863798e-01 1.23260887e-04 -5.15150594e+00] [ 1.33239697e-03 -3.62946845e-05 9.99999112e-01 -8.75322189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.046559995 meters 0.052567764144945316 Centerline is valid? [True, True] Translation: X:119.65, Y:-5.15, Z:-0.87 [[ 9.97910849e-01 6.45662708e-02 -2.26603503e-03 1.19650922e+02] [-6.45659596e-02 9.97913419e-01 2.10295392e-04 -5.15305044e+00] [ 2.27488475e-03 -6.35473276e-05 9.99997410e-01 -8.74465513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.106559995 meters 0.052487812456394355 Centerline is valid? [True, True] Translation: X:119.71, Y:-5.16, Z:-0.87 [[ 9.97907339e-01 6.46155985e-02 -2.40146163e-03 1.19712763e+02] [-6.46152485e-02 9.97910226e-01 2.23130747e-04 -5.15616974e+00] [ 2.41086084e-03 -6.74927705e-05 9.99997092e-01 -8.73970874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.166559995 meters 0.05300168766709708 Centerline is valid? [True, True] Translation: X:119.77, Y:-5.16, Z:-0.87 [[ 9.97872616e-01 6.51819794e-02 -1.24565281e-03 1.19774786e+02] [-6.51818856e-02 9.97873393e-01 1.15803458e-04 -5.15977105e+00] [ 1.25055210e-03 -3.43631007e-05 9.99999217e-01 -8.73690050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.226559995 meters 0.05231436359718814 Centerline is valid? [True, True] Translation: X:119.84, Y:-5.17, Z:-0.87 [[ 9.97770548e-01 6.67332618e-02 -7.77668230e-04 1.19835777e+02] [-6.67332257e-02 9.97770851e-01 7.23162654e-05 -5.16696044e+00] [ 7.80760592e-04 -2.02587302e-05 9.99999695e-01 -8.74671892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.286559995 meters 0.05252621449000855 Centerline is valid? [True, True] Translation: X:119.90, Y:-5.17, Z:-0.87 [[ 9.97655930e-01 6.84268755e-02 -6.39423464e-04 1.19896572e+02] [-6.84268514e-02 9.97656134e-01 5.94427708e-05 -5.16958598e+00] [ 6.41992224e-04 -1.55496984e-05 9.99999794e-01 -8.73963392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34655999499999 meters 0.05307622453641154 Centerline is valid? [True, True] Translation: X:119.96, Y:-5.17, Z:-0.87 [[ 9.97547327e-01 6.99945915e-02 2.95353194e-04 1.19958275e+02] [-6.99945865e-02 9.97547371e-01 -2.72344385e-05 -5.16748516e+00] [-2.96535065e-04 6.49451669e-06 9.99999956e-01 -8.72744541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.406559995 meters 0.05250759175275598 Centerline is valid? [True, True] Translation: X:120.02, Y:-5.17, Z:-0.87 [[ 9.97387124e-01 7.22420921e-02 -6.65743457e-05 1.20018739e+02] [-7.22420919e-02 9.97387127e-01 6.29350985e-06 -5.17226281e+00] [ 6.68550517e-05 -1.46759569e-06 9.99999998e-01 -8.73360001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.466559995 meters 0.05260284709073531 Centerline is valid? [True, True] Translation: X:120.08, Y:-5.17, Z:-0.87 [[ 9.97315145e-01 7.32281400e-02 3.76100407e-04 1.20081557e+02] [-7.32281322e-02 9.97315216e-01 -3.44830735e-05 -5.17303011e+00] [-3.77615790e-04 6.84936112e-06 9.99999929e-01 -8.72086575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.526559995 meters 0.05260377266403217 Centerline is valid? [True, True] Translation: X:120.14, Y:-5.19, Z:-0.88 [[ 9.97341281e-01 7.28718202e-02 2.59834128e-04 1.20141045e+02] [-7.28718166e-02 9.97341315e-01 -2.32857476e-05 -5.18913180e+00] [-2.60840185e-04 4.28925244e-06 9.99999966e-01 -8.76239258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.586559995 meters 0.05289876085532154 Centerline is valid? [True, True] Translation: X:120.20, Y:-5.19, Z:-0.87 [[ 9.97588493e-01 6.94014404e-02 7.99086354e-04 1.20202931e+02] [-6.94014032e-02 9.97588813e-01 -7.41966488e-05 -5.18584529e+00] [-8.02308962e-04 1.85600088e-05 9.99999678e-01 -8.73639935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.646559995 meters 0.05281577120722802 Centerline is valid? [True, True] Translation: X:120.26, Y:-5.19, Z:-0.87 [[ 9.97989147e-01 6.33505957e-02 2.08893055e-03 1.20263730e+02] [-6.33503279e-02 9.97991332e-01 -1.94179403e-04 -5.19025836e+00] [-2.09703596e-03 6.14545021e-05 9.99997799e-01 -8.73522754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70655999499999 meters 0.05361623846621573 Centerline is valid? [True, True] Translation: X:120.32, Y:-5.21, Z:-0.88 [[ 9.98284185e-01 5.85209401e-02 1.99617195e-03 1.20322429e+02] [-5.85206857e-02 9.98286179e-01 -1.85673053e-04 -5.20937923e+00] [-2.00361663e-03 6.85371216e-05 9.99997990e-01 -8.76347159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.766559995 meters 0.05401809057817604 Centerline is valid? [True, True] Translation: X:120.38, Y:-5.21, Z:-0.88 [[ 9.98659371e-01 5.17242887e-02 2.01448852e-03 1.20383189e+02] [-5.17240158e-02 9.98661400e-01 -1.87386286e-04 -5.21381958e+00] [-2.02148435e-03 8.29376345e-05 9.99997953e-01 -8.76326518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.826559995 meters 0.05376416434207206 Centerline is valid? [True, True] Translation: X:120.44, Y:-5.21, Z:-0.88 [[ 9.98847757e-01 4.79629666e-02 1.64661900e-03 1.20444299e+02] [-4.79627793e-02 9.98849112e-01 -1.53115734e-04 -5.21203810e+00] [-1.65206781e-03 7.39628836e-05 9.99998633e-01 -8.76409648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.886559995 meters 0.05363713339463399 Centerline is valid? [True, True] Translation: X:120.51, Y:-5.21, Z:-0.88 [[ 9.98889366e-01 4.70907725e-02 1.57936112e-03 1.20506137e+02] [-4.70905999e-02 9.98890612e-01 -1.46347147e-04 -5.21447729e+00] [-1.58450060e-03 7.18115465e-05 9.99998742e-01 -8.77010715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.946559995 meters 0.05497360313638454 Centerline is valid? [True, True] Translation: X:120.57, Y:-5.22, Z:-0.88 [[ 9.98824859e-01 4.84427033e-02 1.48533374e-03 1.20566116e+02] [-4.84425511e-02 9.98825961e-01 -1.38260967e-04 -5.22442543e+00] [-1.49028763e-03 6.61451356e-05 9.99998887e-01 -8.78201151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.006559995 meters 0.05397814143109532 Centerline is valid? [True, True] Translation: X:120.63, Y:-5.22, Z:-0.88 [[ 9.98637665e-01 5.20933432e-02 3.01609584e-03 1.20628149e+02] [-5.20927319e-02 9.98642212e-01 -2.80924638e-04 -5.21576648e+00] [-3.02663493e-03 1.23425253e-04 9.99995412e-01 -8.77330232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.066559995 meters 0.054362983994743354 Centerline is valid? [True, True] Translation: X:120.69, Y:-5.22, Z:-0.88 [[ 9.98419582e-01 5.60446618e-02 4.16344140e-03 1.20687434e+02] [-5.60435306e-02 9.98428251e-01 -3.87970641e-04 -5.22356139e+00] [-4.17864120e-03 1.54023530e-04 9.99991258e-01 -8.77790187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.126559995 meters 0.0533333359244686 Centerline is valid? [True, True] Translation: X:120.75, Y:-5.21, Z:-0.88 [[ 9.98021572e-01 6.26396195e-02 5.40559974e-03 1.20749504e+02] [-6.26378097e-02 9.98036197e-01 -5.03631023e-04 -5.21287627e+00] [-5.42653147e-03 1.64039697e-04 9.99985263e-01 -8.76805365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.186559995 meters 0.05342282782091953 Centerline is valid? [True, True] Translation: X:120.81, Y:-5.21, Z:-0.88 [[ 9.97571339e-01 6.94551417e-02 5.23524448e-03 1.20809449e+02] [-6.94535377e-02 9.97585068e-01 -4.87785515e-04 -5.21320072e+00] [-5.25648093e-03 1.22994599e-04 9.99986177e-01 -8.78405996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.246559995 meters 0.05292190545437813 Centerline is valid? [True, True] Translation: X:120.87, Y:-5.21, Z:-0.88 [[ 9.97275308e-01 7.35797795e-02 5.28924806e-03 1.20870237e+02] [-7.35781999e-02 9.97289329e-01 -4.92870103e-04 -5.20780593e+00] [-5.31117592e-03 1.02353833e-04 9.99985890e-01 -8.78890695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.306559995 meters 0.05257111603158277 Centerline is valid? [True, True] Translation: X:120.93, Y:-5.21, Z:-0.88 [[ 9.96960087e-01 7.77972399e-02 4.26323824e-03 1.20931116e+02] [-7.77962523e-02 9.96969200e-01 -3.97263023e-04 -5.20714460e+00] [-4.28122319e-03 6.43914197e-05 9.99990833e-01 -8.80199971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.366559995 meters 0.053344177917875525 Centerline is valid? [True, True] Translation: X:120.99, Y:-5.21, Z:-0.88 [[ 9.96951335e-01 7.79807192e-02 2.65391998e-03 1.20993026e+02] [-7.79803376e-02 9.96954867e-01 -2.47126442e-04 -5.20797676e+00] [-2.66510954e-03 3.94194602e-05 9.99996448e-01 -8.82612163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.426559995 meters 0.05365437122564475 Centerline is valid? [True, True] Translation: X:121.06, Y:-5.21, Z:-0.88 [[ 9.97099765e-01 7.60717222e-02 2.26989286e-03 1.21055334e+02] [-7.60714381e-02 9.97102348e-01 -2.11340894e-04 -5.21258618e+00] [-2.27939256e-03 3.80539416e-05 9.99997401e-01 -8.83427776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.486559995 meters 0.053730314409836895 Centerline is valid? [True, True] Translation: X:121.12, Y:-5.21, Z:-0.88 [[ 9.97437551e-01 7.15352945e-02 1.01666905e-03 1.21116755e+02] [-7.15352351e-02 9.97438069e-01 -9.47199650e-05 -5.21352952e+00] [-1.02084024e-03 2.17495902e-05 9.99999479e-01 -8.83018166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.546559995 meters 0.053991289364315666 Centerline is valid? [True, True] Translation: X:121.18, Y:-5.22, Z:-0.88 [[ 9.97652171e-01 6.84733252e-02 1.24447919e-03 1.21176258e+02] [-6.84732339e-02 9.97652947e-01 -1.15850815e-04 -5.22070300e+00] [-1.24949102e-03 3.03653026e-05 9.99999219e-01 -8.83976197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.606559995 meters 0.05436081380630411 Centerline is valid? [True, True] Translation: X:121.24, Y:-5.22, Z:-0.88 [[ 9.98029676e-01 6.27102508e-02 2.04700585e-03 1.21236535e+02] [-6.27099908e-02 9.98031773e-01 -1.91024996e-04 -5.22201443e+00] [-2.05495611e-03 6.22808967e-05 9.99997887e-01 -8.83303468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.666559995 meters 0.05497620419514614 Centerline is valid? [True, True] Translation: X:121.30, Y:-5.23, Z:-0.88 [[ 9.98315298e-01 5.79869150e-02 2.02081991e-03 1.21295292e+02] [-5.79866523e-02 9.98317341e-01 -1.88415822e-04 -5.23267325e+00] [-2.02834521e-03 7.09178157e-05 9.99997940e-01 -8.84240845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.726559995 meters 0.05511343053790344 Centerline is valid? [True, True] Translation: X:121.36, Y:-5.24, Z:-0.88 [[ 9.98403685e-01 5.64545563e-02 1.72187308e-03 1.21356575e+02] [-5.64543630e-02 9.98405168e-01 -1.60691275e-04 -5.23849546e+00] [-1.72819873e-03 6.32275138e-05 9.99998505e-01 -8.84888635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.786559995 meters 0.05517412106190485 Centerline is valid? [True, True] Translation: X:121.42, Y:-5.24, Z:-0.88 [[ 9.98382257e-01 5.68543086e-02 6.75437807e-04 1.21418681e+02] [-5.68542794e-02 9.98382485e-01 -6.24123458e-05 -5.23880271e+00] [-6.77893687e-04 2.39098489e-05 9.99999770e-01 -8.84957745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84655999499999 meters 0.0546050554238829 Centerline is valid? [True, True] Translation: X:121.48, Y:-5.23, Z:-0.88 [[ 9.98277458e-01 5.86683880e-02 -3.70653349e-04 1.21480846e+02] [-5.86683791e-02 9.98277527e-01 3.47599646e-05 -5.23021978e+00] [ 3.72054220e-04 -1.29544579e-05 9.99999931e-01 -8.84001643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.906559995 meters 0.05480372121814242 Centerline is valid? [True, True] Translation: X:121.54, Y:-5.24, Z:-0.89 [[ 9.98221903e-01 5.96055447e-02 -4.60506783e-04 1.21542490e+02] [-5.96055310e-02 9.98222009e-01 4.35536228e-05 -5.24244005e+00] [ 4.62284043e-04 -1.60274289e-05 9.99999893e-01 -8.86487502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.966559995 meters 0.054971995914633365 Centerline is valid? [True, True] Translation: X:121.60, Y:-5.24, Z:-0.89 [[ 9.98160915e-01 6.06131953e-02 9.10080427e-04 1.21604175e+02] [-6.06131431e-02 9.98161329e-01 -8.49372419e-05 -5.24120929e+00] [-9.13555406e-04 2.96182000e-05 9.99999582e-01 -8.86068336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.026559995 meters 0.05525803477958983 Centerline is valid? [True, True] Translation: X:121.67, Y:-5.25, Z:-0.89 [[ 9.98125268e-01 6.11941511e-02 1.10683392e-03 1.21666485e+02] [-6.11940746e-02 9.98125881e-01 -1.02882810e-04 -5.24562576e+00] [-1.11105541e-03 3.49582554e-05 9.99999382e-01 -8.86461652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.086559995 meters 0.054827227443789484 Centerline is valid? [True, True] Translation: X:121.73, Y:-5.25, Z:-0.89 [[ 9.98034073e-01 6.26439988e-02 1.92857939e-03 1.21726498e+02] [-6.26437669e-02 9.98035934e-01 -1.80461690e-04 -5.25271247e+00] [-1.93609638e-03 5.92934375e-05 9.99998124e-01 -8.87401073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.146559995 meters 0.05444378978146161 Centerline is valid? [True, True] Translation: X:121.79, Y:-5.25, Z:-0.89 [[ 9.97744322e-01 6.70292667e-02 3.65303100e-03 1.21786904e+02] [-6.70284616e-02 9.97751005e-01 -3.42496896e-04 -5.25412466e+00] [-3.66777267e-03 9.68672854e-05 9.99993269e-01 -8.87614282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20655999499999 meters 0.05413033681509442 Centerline is valid? [True, True] Translation: X:121.85, Y:-5.26, Z:-0.89 [[ 9.97398609e-01 7.19712974e-02 4.01824457e-03 1.21845809e+02] [-7.19703633e-02 9.97406700e-01 -3.76755320e-04 -5.26231665e+00] [-4.03493963e-03 8.65807107e-05 9.99991856e-01 -8.88667248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.266559995 meters 0.054032156219776604 Centerline is valid? [True, True] Translation: X:121.91, Y:-5.26, Z:-0.89 [[ 9.96502409e-01 8.34247385e-02 4.82311415e-03 1.21907119e+02] [-8.34235270e-02 9.96514080e-01 -4.52164711e-04 -5.26167379e+00] [-4.84402288e-03 4.82220297e-05 9.99988266e-01 -8.90591535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.326559995 meters 0.053796713055069945 Centerline is valid? [True, True] Translation: X:121.97, Y:-5.26, Z:-0.89 [[ 9.96065315e-01 8.84943777e-02 4.75740835e-03 1.21968720e+02] [-8.84932571e-02 9.96076676e-01 -4.45947644e-04 -5.26364670e+00] [-4.77820736e-03 2.31944203e-05 9.99988584e-01 -8.91690312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.386559995 meters 0.05292917641717887 Centerline is valid? [True, True] Translation: X:122.03, Y:-5.27, Z:-0.89 [[ 9.95710919e-01 9.24430161e-02 3.74905522e-03 1.22030195e+02] [-9.24423490e-02 9.95717977e-01 -3.51196733e-04 -5.26703367e+00] [-3.76546736e-03 3.11895089e-06 9.99992911e-01 -8.92997661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.446559995 meters 0.05313643789218938 Centerline is valid? [True, True] Translation: X:122.09, Y:-5.27, Z:-0.89 [[ 9.95398116e-01 9.57430960e-02 3.98121303e-03 1.22093325e+02] [-9.57423685e-02 9.95406078e-01 -3.73352215e-04 -5.27233588e+00] [-3.99866955e-03 -9.53667360e-06 9.99992005e-01 -8.94328481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.506559995 meters 0.0533411337419209 Centerline is valid? [True, True] Translation: X:122.16, Y:-5.28, Z:-0.90 [[ 9.95396503e-01 9.57368546e-02 4.50075868e-03 1.22155600e+02] [-9.57359211e-02 9.95406678e-01 -4.22897910e-04 -5.27930581e+00] [-4.52057216e-03 -9.93317706e-06 9.99989782e-01 -8.95811021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.566559995 meters 0.05250170604329125 Centerline is valid? [True, True] Translation: X:122.22, Y:-5.29, Z:-0.90 [[ 9.95653951e-01 9.30604210e-02 3.60110670e-03 1.22217164e+02] [-9.30598065e-02 9.95660463e-01 -3.38195003e-04 -5.29041482e+00] [-3.61695214e-03 1.60689863e-06 9.99993459e-01 -8.96105104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.626559995 meters 0.05357354122130605 Centerline is valid? [True, True] Translation: X:122.28, Y:-5.30, Z:-0.90 [[ 9.96125223e-01 8.78697709e-02 3.66660161e-03 1.22278299e+02] [-8.78690967e-02 9.96131971e-01 -3.44890166e-04 -5.30154614e+00] [-3.68272451e-03 2.13728224e-05 9.99993219e-01 -8.97058144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.686559995 meters 0.053527638932163175 Centerline is valid? [True, True] Translation: X:122.34, Y:-5.31, Z:-0.90 [[ 9.96394534e-01 8.47283238e-02 4.36385548e-03 1.22339796e+02] [-8.47273361e-02 9.96404089e-01 -4.11047053e-04 -5.30901808e+00] [-4.38299077e-03 3.98271871e-05 9.99990394e-01 -8.97111715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.746559995 meters 0.05337930056170332 Centerline is valid? [True, True] Translation: X:122.40, Y:-5.32, Z:-0.90 [[ 9.96738860e-01 8.05706082e-02 4.47469316e-03 1.22400582e+02] [-8.05695246e-02 9.96748902e-01 -4.22191717e-04 -5.32044701e+00] [-4.49416174e-03 6.02909899e-05 9.99989899e-01 -8.98016148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.806559995 meters 0.05337912145786072 Centerline is valid? [True, True] Translation: X:122.46, Y:-5.34, Z:-0.90 [[ 9.97067064e-01 7.63979339e-02 4.54152538e-03 1.22459596e+02] [-7.63967735e-02 9.97077404e-01 -4.28704854e-04 -5.33538173e+00] [-4.56100450e-03 8.04896049e-05 9.99989595e-01 -8.98751221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.866559995 meters 0.053370085959220756 Centerline is valid? [True, True] Translation: X:122.52, Y:-5.34, Z:-0.90 [[ 9.97283127e-01 7.34710157e-02 5.32672312e-03 1.22520458e+02] [-7.34693773e-02 9.97297347e-01 -5.02858636e-04 -5.34032737e+00] [-5.34927237e-03 1.10141403e-04 9.99985686e-01 -8.98524171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.926559995 meters 0.05380974080305878 Centerline is valid? [True, True] Translation: X:122.58, Y:-5.35, Z:-0.90 [[ 9.97301135e-01 7.32315217e-02 5.25258134e-03 1.22581178e+02] [-7.32299259e-02 9.97314961e-01 -4.95757842e-04 -5.35138355e+00] [-5.27478306e-03 1.09773717e-04 9.99986082e-01 -8.99385697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.986559995 meters 0.052913438406075264 Centerline is valid? [True, True] Translation: X:122.64, Y:-5.37, Z:-0.90 [[ 9.97230274e-01 7.42577037e-02 4.19210825e-03 1.22641626e+02] [-7.42566950e-02 9.97239082e-01 -3.95965502e-04 -5.36505067e+00] [-4.20993767e-03 8.35766826e-05 9.99991135e-01 -9.00370788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.046559995 meters 0.05394690799664396 Centerline is valid? [True, True] Translation: X:122.70, Y:-5.37, Z:-0.90 [[ 9.97119669e-01 7.56767097e-02 5.03995083e-03 1.22704117e+02] [-7.56752660e-02 9.97132402e-01 -4.76820478e-04 -5.36909067e+00] [-5.06158248e-03 9.40474580e-05 9.99987186e-01 -9.00554775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.106559995 meters 0.0530706117011493 Centerline is valid? [True, True] Translation: X:122.76, Y:-5.38, Z:-0.90 [[ 9.96898572e-01 7.85584598e-02 4.66968806e-03 1.22763652e+02] [-7.85572506e-02 9.96909506e-01 -4.42087096e-04 -5.38307536e+00] [-4.68998610e-03 7.38781392e-05 9.99988999e-01 -9.00770434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.166559995 meters 0.05302162337445926 Centerline is valid? [True, True] Translation: X:122.82, Y:-5.39, Z:-0.90 [[ 9.96647887e-01 8.16686629e-02 4.81859793e-03 1.22824634e+02] [-8.16674117e-02 9.96659534e-01 -4.56188647e-04 -5.39084016e+00] [-4.83975788e-03 6.11370302e-05 9.99988286e-01 -9.01088266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.226559995 meters 0.0526147857139359 Centerline is valid? [True, True] Translation: X:122.89, Y:-5.40, Z:-0.90 [[ 9.96407733e-01 8.45431139e-02 4.90827049e-03 1.22886362e+02] [-8.45418510e-02 9.96419821e-01 -4.64586745e-04 -5.39685771e+00] [-4.92997562e-03 4.79635523e-05 9.99987846e-01 -9.01212547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.286559995 meters 0.05251005862817848 Centerline is valid? [True, True] Translation: X:122.95, Y:-5.40, Z:-0.90 [[ 9.95944567e-01 8.98685405e-02 4.25022658e-03 1.22947822e+02] [-8.98676405e-02 9.95953636e-01 -4.02648421e-04 -5.40447045e+00] [-4.26921404e-03 1.90576737e-05 9.99990887e-01 -9.01857583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34655999499999 meters 0.05244716380783259 Centerline is valid? [True, True] Translation: X:123.01, Y:-5.41, Z:-0.90 [[ 9.95600424e-01 9.36025547e-02 4.28450570e-03 1.23008899e+02] [-9.36016728e-02 9.95609643e-01 -4.06349637e-04 -5.41287691e+00] [-4.30373055e-03 3.52497095e-06 9.99990739e-01 -9.03052163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.406559995 meters 0.051768628304452675 Centerline is valid? [True, True] Translation: X:123.07, Y:-5.42, Z:-0.91 [[ 9.95541620e-01 9.42509435e-02 3.69369012e-03 1.23071191e+02] [-9.42502908e-02 9.95548472e-01 -3.50771131e-04 -5.42226388e+00] [-3.71030807e-03 1.07589141e-06 9.99993117e-01 -9.05350203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.466559995 meters 0.051975836817434104 Centerline is valid? [True, True] Translation: X:123.13, Y:-5.44, Z:-0.90 [[ 9.95762605e-01 9.18998890e-02 3.35338175e-03 1.23132723e+02] [-9.18993379e-02 9.95768251e-01 -3.18382037e-04 -5.43507213e+00] [-3.36845035e-03 8.85936380e-06 9.99994327e-01 -9.03953733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.526559995 meters 0.05214152297472288 Centerline is valid? [True, True] Translation: X:123.19, Y:-5.45, Z:-0.91 [[ 9.96045734e-01 8.87807388e-02 3.29795348e-03 1.23194105e+02] [-8.87801869e-02 9.96051193e-01 -3.13680542e-04 -5.44701233e+00] [-3.31277929e-03 1.96472395e-05 9.99994513e-01 -9.05363986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.586559995 meters 0.05217475488121687 Centerline is valid? [True, True] Translation: X:123.25, Y:-5.46, Z:-0.91 [[ 9.96603517e-01 8.22507781e-02 4.02974599e-03 1.23254355e+02] [-8.22498990e-02 9.96611663e-01 -3.83677558e-04 -5.46346076e+00] [-4.04764963e-03 5.09282031e-05 9.99991807e-01 -9.05712448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.646559995 meters 0.05250121952056441 Centerline is valid? [True, True] Translation: X:123.31, Y:-5.47, Z:-0.91 [[ 9.97140843e-01 7.54186675e-02 4.70793145e-03 1.23314960e+02] [-7.54173906e-02 9.97151952e-01 -4.48415147e-04 -5.47284902e+00] [-4.72834191e-03 9.20731527e-05 9.99988817e-01 -9.05232628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70655999499999 meters 0.05287825006429113 Centerline is valid? [True, True] Translation: X:123.37, Y:-5.49, Z:-0.91 [[ 9.97370041e-01 7.24117068e-02 3.08972830e-03 1.23374063e+02] [-7.24111424e-02 9.97374824e-01 -2.94281362e-04 -5.48976417e+00] [-3.10292663e-03 6.97766581e-05 9.99995183e-01 -9.07769984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.766559995 meters 0.05209224850368283 Centerline is valid? [True, True] Translation: X:123.44, Y:-5.50, Z:-0.91 [[ 9.97544478e-01 6.99859167e-02 2.64322337e-03 1.23435282e+02] [-6.99854951e-02 9.97547977e-01 -2.51779300e-04 -5.49605234e+00] [-2.65436313e-03 6.61737543e-05 9.99996475e-01 -9.07215847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.826559995 meters 0.05192510405105629 Centerline is valid? [True, True] Translation: X:123.50, Y:-5.51, Z:-0.91 [[ 9.97542088e-01 6.99985105e-02 3.16095601e-03 1.23496500e+02] [-6.99979088e-02 9.97547093e-01 -3.00718818e-04 -5.51060279e+00] [-3.17425235e-03 7.87193669e-05 9.99994959e-01 -9.08441978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.886559995 meters 0.05186873026022423 Centerline is valid? [True, True] Translation: X:123.56, Y:-5.52, Z:-0.91 [[ 9.97171796e-01 7.49996650e-02 4.84341665e-03 1.23556011e+02] [-7.49983045e-02 9.97183554e-01 -4.62177653e-04 -5.52115492e+00] [-4.86443860e-03 9.76224841e-05 9.99988164e-01 -9.09598496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.946559995 meters 0.051471126647744427 Centerline is valid? [True, True] Translation: X:123.62, Y:-5.53, Z:-0.91 [[ 9.96996546e-01 7.72880415e-02 4.94429478e-03 1.23617919e+02] [-7.72866530e-02 9.97008802e-01 -4.71557333e-04 -5.52679464e+00] [-4.96595116e-03 8.80130369e-05 9.99987666e-01 -9.09493410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.006559995 meters 0.05138313370919821 Centerline is valid? [True, True] Translation: X:123.68, Y:-5.54, Z:-0.91 [[ 9.96634165e-01 8.17969698e-02 5.44033661e-03 1.23678208e+02] [-8.17953508e-02 9.96649011e-01 -5.19796625e-04 -5.53631384e+00] [-5.46462389e-03 7.30528345e-05 9.99985066e-01 -9.08683921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.066559995 meters 0.05146793341249242 Centerline is valid? [True, True] Translation: X:123.74, Y:-5.54, Z:-0.91 [[ 9.96307184e-01 8.56783538e-02 5.58694639e-03 1.23740162e+02] [-8.56767069e-02 9.96322848e-01 -5.33889364e-04 -5.53746430e+00] [-5.61214510e-03 5.32466400e-05 9.99984250e-01 -9.08042164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.126559995 meters 0.05133963653980407 Centerline is valid? [True, True] Translation: X:123.80, Y:-5.54, Z:-0.91 [[ 9.95956680e-01 8.96880408e-02 5.13291251e-03 1.23802766e+02] [-8.96867043e-02 9.95969906e-01 -4.90418645e-04 -5.53847664e+00] [-5.15621108e-03 2.80817185e-05 9.99986706e-01 -9.07578842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.186559995 meters 0.05133626733794633 Centerline is valid? [True, True] Translation: X:123.86, Y:-5.54, Z:-0.91 [[ 9.95753788e-01 9.19476164e-02 4.47545528e-03 1.23864495e+02] [-9.19466205e-02 9.95763845e-01 -4.28206002e-04 -5.54497858e+00] [-4.49586908e-03 1.48847596e-05 9.99989893e-01 -9.09003810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.246559995 meters 0.05110796539865558 Centerline is valid? [True, True] Translation: X:123.93, Y:-5.55, Z:-0.91 [[ 9.95582189e-01 9.38238919e-02 3.63083791e-03 1.23926111e+02] [-9.38232497e-02 9.95588809e-01 -3.47184610e-04 -5.54882163e+00] [-3.64739581e-03 4.99380179e-06 9.99993348e-01 -9.09115853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.306559995 meters 0.05116449665433129 Centerline is valid? [True, True] Translation: X:123.99, Y:-5.55, Z:-0.91 [[ 9.95644342e-01 9.31851304e-02 2.97935543e-03 1.23987701e+02] [-9.31846935e-02 9.95648799e-01 -2.85441712e-04 -5.55496747e+00] [-2.99299058e-03 6.56810259e-06 9.99995521e-01 -9.10439331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.366559995 meters 0.051237940514337776 Centerline is valid? [True, True] Translation: X:124.05, Y:-5.56, Z:-0.91 [[ 9.95765783e-01 9.18888089e-02 2.63682433e-03 1.24048746e+02] [-9.18884627e-02 9.95769274e-01 -2.52388794e-04 -5.56234688e+00] [-2.64886036e-03 9.02639046e-06 9.99996492e-01 -9.10501530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.426559995 meters 0.05152786885095499 Centerline is valid? [True, True] Translation: X:124.11, Y:-5.57, Z:-0.91 [[ 9.95942074e-01 8.99643418e-02 2.40887207e-03 1.24109394e+02] [-8.99640462e-02 9.95944987e-01 -2.30987390e-04 -5.56845391e+00] [-2.41988469e-03 1.33381829e-05 9.99997072e-01 -9.09231189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.486559995 meters 0.05148250941904832 Centerline is valid? [True, True] Translation: X:124.17, Y:-5.58, Z:-0.91 [[ 9.96074467e-01 8.84988955e-02 1.89781741e-03 1.24171048e+02] [-8.84987092e-02 9.96076275e-01 -1.82121799e-04 -5.57780697e+00] [-1.90648847e-03 1.34524827e-05 9.99998183e-01 -9.11363722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.546559995 meters 0.05160155593442641 Centerline is valid? [True, True] Translation: X:124.23, Y:-5.59, Z:-0.91 [[ 9.96456981e-01 8.40847933e-02 1.79801942e-03 1.24231607e+02] [-8.40846194e-02 9.96458603e-01 -1.72251209e-04 -5.58948563e+00] [-1.80613563e-03 2.04551415e-05 9.99998369e-01 -9.11180287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.606559995 meters 0.052169297735377394 Centerline is valid? [True, True] Translation: X:124.29, Y:-5.59, Z:-0.91 [[ 9.96843620e-01 7.93882422e-02 5.51545059e-04 1.24293099e+02] [-7.93882250e-02 9.96843773e-01 -5.29647238e-05 -5.59186565e+00] [-5.54009034e-04 9.01136380e-06 9.99999846e-01 -9.09143890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.666559995 meters 0.052169297735377394 Centerline is valid? [True, True] Translation: X:124.36, Y:-5.60, Z:-0.91 [[ 9.96835177e-01 7.94941870e-02 5.51603720e-04 1.24355305e+02] [-7.94941702e-02 9.96835330e-01 -5.23555605e-05 -5.59777512e+00] [-5.54020039e-04 8.34058439e-06 9.99999846e-01 -9.09604403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.726559995 meters 0.05247608506331867 Centerline is valid? [True, True] Translation: X:124.42, Y:-5.60, Z:-0.91 [[ 9.96877678e-01 7.89607695e-02 3.01691432e-04 1.24416910e+02] [-7.89607645e-02 9.96877724e-01 -2.83283384e-05 -5.60136890e+00] [-3.02986296e-04 4.41810210e-06 9.99999954e-01 -9.09244000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.786559995 meters 0.05283996972130754 Centerline is valid? [True, True] Translation: X:124.48, Y:-5.60, Z:-0.91 [[ 9.97019886e-01 7.71350672e-02 -1.23637127e-03 1.24478388e+02] [-7.71349776e-02 9.97020652e-01 1.20105807e-04 -5.60470893e+00] [ 1.24195206e-03 -2.43804079e-05 9.99999228e-01 -9.08320054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84655999499999 meters 0.05348810005708383 Centerline is valid? [True, True] Translation: X:124.54, Y:-5.62, Z:-0.91 [[ 9.97223974e-01 7.44046822e-02 -2.87897313e-03 1.24538522e+02] [-7.44041891e-02 9.97228128e-01 2.78128826e-04 -5.61569730e+00] [ 2.89168707e-03 -6.31490722e-05 9.99995817e-01 -9.12712474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.906559995 meters 0.05367978571681501 Centerline is valid? [True, True] Translation: X:124.60, Y:-5.61, Z:-0.91 [[ 9.97346678e-01 7.27439705e-02 -2.81395178e-03 1.24601020e+02] [-7.27434923e-02 9.97350646e-01 2.72074517e-04 -5.61270801e+00] [ 2.82628841e-03 -6.66559360e-05 9.99996004e-01 -9.10074450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.966559995 meters 0.0530997944144802 Centerline is valid? [True, True] Translation: X:124.66, Y:-5.62, Z:-0.91 [[ 9.97382998e-01 7.22776892e-02 -1.75830215e-03 1.24663028e+02] [-7.22775011e-02 9.97384547e-01 1.70381887e-04 -5.62109262e+00] [ 1.76601820e-03 -4.28503117e-05 9.99998440e-01 -9.11052786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.026559995 meters 0.05243714613136902 Centerline is valid? [True, True] Translation: X:124.72, Y:-5.62, Z:-0.91 [[ 9.97256465e-01 7.40067639e-02 -1.59423352e-03 1.24723023e+02] [-7.40066120e-02 9.97257739e-01 1.54168194e-04 -5.62460317e+00] [ 1.60127120e-03 -3.57614067e-05 9.99998717e-01 -9.10553687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.086559995 meters 0.052612453341677294 Centerline is valid? [True, True] Translation: X:124.78, Y:-5.63, Z:-0.91 [[ 9.96810746e-01 7.97911549e-02 -1.30724309e-03 1.24782880e+02] [-7.97910576e-02 9.96811603e-01 1.26476311e-04 -5.63344206e+00] [ 1.31316677e-03 -2.17666375e-05 9.99999138e-01 -9.14848407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.146559995 meters 0.05278349092380359 Centerline is valid? [True, True] Translation: X:124.84, Y:-5.63, Z:-0.91 [[ 9.96345208e-01 8.54135755e-02 -8.64739456e-04 1.24844083e+02] [-8.54135350e-02 9.96345583e-01 8.36708872e-05 -5.63101123e+00] [ 8.68725967e-04 -9.50463370e-06 9.99999623e-01 -9.11616119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20655999499999 meters 0.051881428310086075 Centerline is valid? [True, True] Translation: X:124.91, Y:-5.64, Z:-0.91 [[ 9.96124772e-01 8.79509660e-02 -2.55433633e-04 1.24905943e+02] [-8.79509625e-02 9.96124805e-01 2.50826521e-05 -5.64079255e+00] [ 2.56649822e-04 -2.51981717e-06 9.99999967e-01 -9.13971374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.266559995 meters 0.05129229652735421 Centerline is valid? [True, True] Translation: X:124.97, Y:-5.65, Z:-0.92 [[ 9.95806946e-01 9.14767599e-02 7.26780134e-04 1.24966862e+02] [-9.14767335e-02 9.95807211e-01 -6.95795434e-05 -5.64835162e+00] [-7.30097810e-04 2.80432008e-06 9.99999733e-01 -9.16115766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.326559995 meters 0.05113133509447954 Centerline is valid? [True, True] Translation: X:125.03, Y:-5.65, Z:-0.92 [[ 9.95456635e-01 9.52069637e-02 1.31196169e-03 1.25027480e+02] [-9.52068794e-02 9.95457500e-01 -1.26667387e-04 -5.65487119e+00] [-1.31806172e-03 1.18411246e-06 9.99999131e-01 -9.17457278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.386559995 meters 0.051714785686857195 Centerline is valid? [True, True] Translation: X:125.09, Y:-5.66, Z:-0.92 [[ 9.95257611e-01 9.72639294e-02 1.41986267e-03 1.25089880e+02] [-9.72638328e-02 9.95258624e-01 -1.37096534e-04 -5.66179212e+00] [-1.42646512e-03 -1.65491656e-06 9.99998983e-01 -9.18458827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.446559995 meters 0.0512433773692374 Centerline is valid? [True, True] Translation: X:125.15, Y:-5.67, Z:-0.92 [[ 9.95022263e-01 9.96409087e-02 1.54478758e-03 1.25152553e+02] [-9.96407973e-02 9.95023462e-01 -1.49094641e-04 -5.67015868e+00] [-1.55195581e-03 -5.57137897e-06 9.99998796e-01 -9.18444381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.506559995 meters 0.05038776466525577 Centerline is valid? [True, True] Translation: X:125.21, Y:-5.68, Z:-0.92 [[ 9.94705575e-01 1.02737542e-01 2.41158883e-03 1.25213204e+02] [-1.02737278e-01 9.94708499e-01 -2.33719586e-04 -5.67812999e+00] [-2.42283968e-03 -1.52778962e-05 9.99997065e-01 -9.17332525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.566559995 meters 0.05066583200431378 Centerline is valid? [True, True] Translation: X:125.28, Y:-5.68, Z:-0.92 [[ 9.94426413e-01 1.05400728e-01 2.60673565e-03 1.25275285e+02] [-1.05400426e-01 9.94429830e-01 -2.53276937e-04 -5.67956769e+00] [-2.61891126e-03 -2.28857708e-05 9.99996570e-01 -9.20264110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.626559995 meters 0.050959719151831735 Centerline is valid? [True, True] Translation: X:125.34, Y:-5.69, Z:-0.92 [[ 9.94426960e-01 1.05404779e-01 2.20302426e-03 1.25338192e+02] [-1.05404564e-01 9.94429400e-01 -2.13615266e-04 -5.68835004e+00] [-2.21326817e-03 -1.97840320e-05 9.99997551e-01 -9.19993659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.686559995 meters 0.05103800320704711 Centerline is valid? [True, True] Translation: X:125.40, Y:-5.70, Z:-0.92 [[ 9.94777469e-01 1.02043648e-01 2.20930808e-03 1.25399706e+02] [-1.02043423e-01 9.94779922e-01 -2.14599572e-04 -5.69574865e+00] [-2.21967384e-03 -1.19665394e-05 9.99997536e-01 -9.20662291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.746559995 meters 0.050793339093725576 Centerline is valid? [True, True] Translation: X:125.46, Y:-5.70, Z:-0.92 [[ 9.95440339e-01 9.53340236e-02 3.15511896e-03 1.25460420e+02] [-9.53335287e-02 9.95445339e-01 -3.07225691e-04 -5.70436311e+00] [-3.17003752e-03 5.03622276e-06 9.99994975e-01 -9.19014527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.806559995 meters 0.05158180306069575 Centerline is valid? [True, True] Translation: X:125.52, Y:-5.71, Z:-0.92 [[ 9.95689562e-01 9.26679948e-02 3.86509705e-03 1.25521824e+02] [-9.26672288e-02 9.95697064e-01 -3.77171695e-04 -5.71173289e+00] [-3.88341753e-03 1.73780863e-05 9.99992459e-01 -9.20480053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.866559995 meters 0.05157288617419683 Centerline is valid? [True, True] Translation: X:125.58, Y:-5.72, Z:-0.92 [[ 9.96431159e-01 8.42697603e-02 4.85306363e-03 1.25581767e+02] [-8.42684514e-02 9.96442976e-01 -4.73932037e-04 -5.71877858e+00] [-4.87573931e-03 6.32804924e-05 9.99988112e-01 -9.20673034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.926559995 meters 0.05160000780384507 Centerline is valid? [True, True] Translation: X:125.64, Y:-5.73, Z:-0.92 [[ 9.96855006e-01 7.91089226e-02 4.67715803e-03 1.25641869e+02] [-7.91076499e-02 9.96865974e-01 -4.56791608e-04 -5.72666390e+00] [-4.69863599e-03 8.53560217e-05 9.99988958e-01 -9.21746523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.986559995 meters 0.05298690313816206 Centerline is valid? [True, True] Translation: X:125.70, Y:-5.73, Z:-0.92 [[ 9.97183739e-01 7.48419681e-02 4.82404354e-03 1.25702620e+02] [-7.48405641e-02 9.97195401e-01 -4.71155177e-04 -5.72960041e+00] [-4.84577621e-03 1.08794142e-04 9.99988253e-01 -9.22176713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.046559995 meters 0.05230062074557599 Centerline is valid? [True, True] Translation: X:125.76, Y:-5.73, Z:-0.92 [[ 9.97279497e-01 7.34815890e-02 5.83620604e-03 1.25764215e+02] [-7.34795110e-02 9.97296564e-01 -5.69959874e-04 -5.73325872e+00] [-5.86230979e-03 1.39567730e-04 9.99982807e-01 -9.23431821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.106559995 meters 0.05248175982362698 Centerline is valid? [True, True] Translation: X:125.83, Y:-5.74, Z:-0.92 [[ 9.97302081e-01 7.32610449e-02 4.62359251e-03 1.25826142e+02] [-7.32597367e-02 9.97312793e-01 -4.51904439e-04 -5.73745840e+00] [-4.64427495e-03 1.11962068e-04 9.99989209e-01 -9.24088723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.166559995 meters 0.05280475130450684 Centerline is valid? [True, True] Translation: X:125.89, Y:-5.74, Z:-0.92 [[ 9.97271290e-01 7.37016380e-02 4.24763988e-03 1.25887760e+02] [-7.37005360e-02 9.97280331e-01 -4.15595917e-04 -5.74133220e+00] [-4.26671781e-03 1.01408540e-04 9.99990892e-01 -9.24858323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.226559995 meters 0.05256721486084699 Centerline is valid? [True, True] Translation: X:125.95, Y:-5.74, Z:-0.93 [[ 9.97181486e-01 7.49026991e-02 4.32085640e-03 1.25949815e+02] [-7.49015677e-02 9.97190842e-01 -4.23292314e-04 -5.74492126e+00] [-4.34042417e-03 9.84603404e-05 9.99990575e-01 -9.26438231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.286559995 meters 0.05299523295402023 Centerline is valid? [True, True] Translation: X:126.01, Y:-5.75, Z:-0.93 [[ 9.96966553e-01 7.77230811e-02 4.10068302e-03 1.26010137e+02] [-7.77220826e-02 9.96974983e-01 -4.02531216e-04 -5.74870279e+00] [-4.11956435e-03 8.25965343e-05 9.99991511e-01 -9.27911376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34655999499999 meters 0.052424682904010075 Centerline is valid? [True, True] Translation: X:126.07, Y:-5.75, Z:-0.93 [[ 9.96699579e-01 8.10623481e-02 4.34106502e-03 1.26072234e+02] [-8.10612607e-02 9.96709030e-01 -4.26142611e-04 -5.74595766e+00] [-4.36132283e-03 7.28439572e-05 9.99990487e-01 -9.26952488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.406559995 meters 0.05168045960071438 Centerline is valid? [True, True] Translation: X:126.13, Y:-5.76, Z:-0.93 [[ 9.96461260e-01 8.39409366e-02 4.34463627e-03 1.26132043e+02] [-8.39398745e-02 9.96470730e-01 -4.26569509e-04 -5.75628892e+00] [-4.36510952e-03 6.03717668e-05 9.99990471e-01 -9.28413975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.466559995 meters 0.0514417853818661 Centerline is valid? [True, True] Translation: X:126.19, Y:-5.76, Z:-0.93 [[ 9.96003845e-01 8.92169909e-02 4.08274699e-03 1.26193484e+02] [-8.92160970e-02 9.96012212e-01 -4.00917538e-04 -5.75729006e+00] [-4.10223452e-03 3.50686575e-05 9.99991585e-01 -9.29097197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.526559995 meters 0.05157843145565923 Centerline is valid? [True, True] Translation: X:126.25, Y:-5.76, Z:-0.93 [[ 9.95605696e-01 9.35351994e-02 4.52383582e-03 1.26254831e+02] [-9.35341463e-02 9.95615973e-01 -4.44252075e-04 -5.76256696e+00] [-4.54555641e-03 1.91667748e-05 9.99989669e-01 -9.29614006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.586559995 meters 0.05119702072162238 Centerline is valid? [True, True] Translation: X:126.32, Y:-5.77, Z:-0.93 [[ 9.95470869e-01 9.49584363e-02 4.54353399e-03 1.26316033e+02] [-9.49573889e-02 9.95481238e-01 -4.46192647e-04 -5.76864371e+00] [-4.56537259e-03 1.27296588e-05 9.99989579e-01 -9.29107480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.646559995 meters 0.051523549072690564 Centerline is valid? [True, True] Translation: X:126.38, Y:-5.77, Z:-0.93 [[ 9.95487221e-01 9.47753412e-02 4.77791530e-03 1.26378040e+02] [-9.47741777e-02 9.95498686e-01 -4.69840698e-04 -5.77496865e+00] [-4.80093772e-03 1.48974165e-05 9.99988475e-01 -9.29080258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70655999499999 meters 0.05164482506889531 Centerline is valid? [True, True] Translation: X:126.44, Y:-5.78, Z:-0.93 [[ 9.95690090e-01 9.25806311e-02 5.48378175e-03 1.26439369e+02] [-9.25790622e-02 9.95705190e-01 -5.39803746e-04 -5.78356926e+00] [-5.51020533e-03 2.97938682e-05 9.99984818e-01 -9.29733410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.766559995 meters 0.05106104633989701 Centerline is valid? [True, True] Translation: X:126.50, Y:-5.79, Z:-0.93 [[ 9.96152267e-01 8.75309893e-02 4.35749450e-03 1.26500475e+02] [-8.75299492e-02 9.96161796e-01 -4.29198694e-04 -5.79208488e+00] [-4.37833774e-03 4.61359789e-05 9.99990414e-01 -9.30372198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.826559995 meters 0.05149705725437721 Centerline is valid? [True, True] Translation: X:126.56, Y:-5.80, Z:-0.93 [[ 9.96571152e-01 8.26972035e-02 2.66662694e-03 1.26560168e+02] [-8.26967968e-02 9.96574719e-01 -2.62613570e-04 -5.79863676e+00] [-2.67921040e-03 4.11916013e-05 9.99996410e-01 -9.30686797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.886559995 meters 0.05286039525445142 Centerline is valid? [True, True] Translation: X:126.62, Y:-5.82, Z:-0.93 [[ 9.97219273e-01 7.44530626e-02 3.23462575e-03 1.26620121e+02] [-7.44524199e-02 9.97224516e-01 -3.18844048e-04 -5.81678155e+00] [-3.24938702e-03 7.71317148e-05 9.99994718e-01 -9.32777615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.946559995 meters 0.05245082696893296 Centerline is valid? [True, True] Translation: X:126.68, Y:-5.82, Z:-0.93 [[ 9.97923809e-01 6.42641698e-02 4.26463014e-03 1.26679094e+02] [-6.42629590e-02 9.97932911e-01 -4.20473361e-04 -5.82303397e+00] [-4.28283614e-03 1.45542626e-04 9.99990818e-01 -9.31793002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.006559995 meters 0.05217847554322563 Centerline is valid? [True, True] Translation: X:126.74, Y:-5.82, Z:-0.93 [[ 9.98176475e-01 6.01248508e-02 5.35981786e-03 1.26740279e+02] [-6.01228773e-02 9.98190844e-01 -5.28719798e-04 -5.82177256e+00] [-5.38191031e-03 2.05507992e-04 9.99985496e-01 -9.31646284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.066559995 meters 0.05289495627465903 Centerline is valid? [True, True] Translation: X:126.80, Y:-5.83, Z:-0.93 [[ 9.98326118e-01 5.76112281e-02 5.09005430e-03 1.26799523e+02] [-5.76094152e-02 9.98339072e-01 -5.02192196e-04 -5.83107766e+00] [-5.11053200e-03 2.08116534e-04 9.99986919e-01 -9.32398340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.126559995 meters 0.053215771875514836 Centerline is valid? [True, True] Translation: X:126.86, Y:-5.84, Z:-0.93 [[ 9.98309999e-01 5.79944354e-02 3.71362909e-03 1.26860457e+02] [-5.79934745e-02 9.98316895e-01 -3.66016199e-04 -5.83989422e+00] [-3.72860556e-03 1.50031378e-04 9.99993037e-01 -9.33718264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.186559995 meters 0.053302643022648595 Centerline is valid? [True, True] Translation: X:126.92, Y:-5.84, Z:-0.93 [[ 9.98146443e-01 6.07019080e-02 4.35382241e-03 1.26921791e+02] [-6.07006091e-02 9.98155925e-01 -4.29965525e-04 -5.83917785e+00] [-4.37189336e-03 1.64888887e-04 9.99990430e-01 -9.34244072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.246559995 meters 0.052902039456157464 Centerline is valid? [True, True] Translation: X:126.98, Y:-5.84, Z:-0.93 [[ 9.97650471e-01 6.83095457e-02 5.22907680e-03 1.26981068e+02] [-6.83077758e-02 9.97664162e-01 -5.16535722e-04 -5.84488981e+00] [-5.25214685e-03 1.58135501e-04 9.99986195e-01 -9.34637918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.306559995 meters 0.05283443445181214 Centerline is valid? [True, True] Translation: X:127.04, Y:-5.85, Z:-0.94 [[ 9.97213772e-01 7.43806080e-02 5.67616221e-03 1.27041099e+02] [-7.43786211e-02 9.97229917e-01 -5.60625307e-04 -5.84944994e+00] [-5.70213842e-03 1.36878158e-04 9.99983733e-01 -9.35712442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.366559995 meters 0.05177808942238292 Centerline is valid? [True, True] Translation: X:127.10, Y:-5.84, Z:-0.94 [[ 9.96546710e-01 8.27841625e-02 6.43710327e-03 1.27101834e+02] [-8.27817819e-02 9.96567495e-01 -6.35842871e-04 -5.84315053e+00] [-6.46764560e-03 1.00772243e-04 9.99979079e-01 -9.36636127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.426559995 meters 0.05144091777986052 Centerline is valid? [True, True] Translation: X:127.16, Y:-5.84, Z:-0.94 [[ 9.96060695e-01 8.84545209e-02 6.23612910e-03 1.27162623e+02] [-8.84523978e-02 9.96080215e-01 -6.15987154e-04 -5.84348289e+00] [-6.26617166e-03 6.19600211e-05 9.99980365e-01 -9.37349374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.486559995 meters 0.0519185555638043 Centerline is valid? [True, True] Translation: X:127.22, Y:-5.85, Z:-0.94 [[ 9.95906894e-01 9.01484244e-02 6.53605166e-03 1.27224391e+02] [-9.01461289e-02 9.95928340e-01 -6.45564453e-04 -5.84774964e+00] [-6.56763570e-03 5.37223340e-05 9.99978431e-01 -9.38639359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.546559995 meters 0.051699893287457326 Centerline is valid? [True, True] Translation: X:127.29, Y:-5.85, Z:-0.94 [[ 9.96001456e-01 8.91243417e-02 6.16050115e-03 1.27286699e+02] [-8.91222810e-02 9.96020506e-01 -6.08756497e-04 -5.85370354e+00] [-6.19024050e-03 5.72844423e-05 9.99980839e-01 -9.40364491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.606559995 meters 0.05250007437369596 Centerline is valid? [True, True] Translation: X:127.35, Y:-5.86, Z:-0.94 [[ 9.96286455e-01 8.59886457e-02 4.38780741e-03 1.27347641e+02] [-8.59875680e-02 9.96296116e-01 -4.34017696e-04 -5.85834013e+00] [-4.40887607e-03 5.51090634e-05 9.99990279e-01 -9.42708537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.666559995 meters 0.05218318839269887 Centerline is valid? [True, True] Translation: X:127.41, Y:-5.86, Z:-0.94 [[ 9.96497929e-01 8.35829229e-02 2.40279505e-03 1.27409228e+02] [-8.35825928e-02 9.96500825e-01 -2.37646142e-04 -5.86379069e+00] [-2.41425041e-03 3.59820477e-05 9.99997085e-01 -9.42810328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.726559995 meters 0.0525749293066207 Centerline is valid? [True, True] Translation: X:127.47, Y:-5.87, Z:-0.94 [[ 9.96824088e-01 7.96306975e-02 -8.30749019e-04 1.27469635e+02] [-7.96306565e-02 9.96824434e-01 8.24138289e-05 -5.87239115e+00] [ 8.34673592e-04 -1.59990000e-05 9.99999652e-01 -9.43093312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.786559995 meters 0.053383259584114516 Centerline is valid? [True, True] Translation: X:127.53, Y:-5.89, Z:-0.95 [[ 9.97072584e-01 7.63135906e-02 -4.74331153e-03 1.27529479e+02] [-7.63122174e-02 9.97083860e-01 4.70073556e-04 -5.88576501e+00] [ 4.76535237e-03 -1.06724833e-04 9.99988640e-01 -9.47337445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84655999499999 meters 0.05244085022979723 Centerline is valid? [True, True] Translation: X:127.59, Y:-5.90, Z:-0.95 [[ 9.97439413e-01 7.12952815e-02 -5.62135591e-03 1.27588085e+02] [-7.12932732e-02 9.97455242e-01 5.57082011e-04 -5.89774275e+00] [ 5.64676824e-03 -1.54890691e-04 9.99984045e-01 -9.47563762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.906559995 meters 0.05325721590826909 Centerline is valid? [True, True] Translation: X:127.65, Y:-5.90, Z:-0.94 [[ 9.97832923e-01 6.57522244e-02 -2.47050247e-03 1.27648481e+02] [-6.57518194e-02 9.97835978e-01 2.44908956e-04 -5.90286837e+00] [ 2.48125956e-03 -8.19381868e-05 9.99996918e-01 -9.43205100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.966559995 meters 0.053507545653227545 Centerline is valid? [True, True] Translation: X:127.71, Y:-5.92, Z:-0.94 [[ 9.97868409e-01 6.52567812e-02 -4.37963059e-04 1.27709600e+02] [-6.52567680e-02 9.97868504e-01 4.44022006e-05 -5.91520351e+00] [ 4.39927087e-04 -1.57274996e-05 9.99999903e-01 -9.43201328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.026559995 meters 0.05280984163884191 Centerline is valid? [True, True] Translation: X:127.77, Y:-5.92, Z:-0.94 [[ 9.97729417e-01 6.72310170e-02 4.00007331e-03 1.27769844e+02] [-6.72299655e-02 9.97737427e-01 -3.96926878e-04 -5.91609571e+00] [-4.01770865e-03 1.27100832e-04 9.99991921e-01 -9.39592744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.086559995 meters 0.052209930334157495 Centerline is valid? [True, True] Translation: X:127.83, Y:-5.92, Z:-0.94 [[ 9.97227186e-01 7.41372233e-02 6.45078519e-03 1.27831346e+02] [-7.41346327e-02 9.97248037e-01 -6.40105835e-04 -5.91644821e+00] [-6.48048853e-03 1.60104349e-04 9.99978989e-01 -9.37779502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.146559995 meters 0.05206114070767807 Centerline is valid? [True, True] Translation: X:127.89, Y:-5.92, Z:-0.94 [[ 9.96777650e-01 7.99712210e-02 6.23856606e-03 1.27892031e+02] [-7.99689121e-02 9.96797166e-01 -6.19078901e-04 -5.91720349e+00] [-6.26809346e-03 1.18192671e-04 9.99980348e-01 -9.38124916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20655999499999 meters 0.05218158296678233 Centerline is valid? [True, True] Translation: X:127.95, Y:-5.92, Z:-0.94 [[ 9.96158681e-01 8.74231182e-02 5.00804466e-03 1.27952607e+02] [-8.74217242e-02 9.96171268e-01 -4.97008859e-04 -5.91814528e+00] [-5.03232027e-03 5.72877899e-05 9.99987336e-01 -9.39918426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.266559995 meters 0.052111510917024435 Centerline is valid? [True, True] Translation: X:128.02, Y:-5.92, Z:-0.94 [[ 9.95967943e-01 8.95748263e-02 4.91999061e-03 1.28015161e+02] [-8.95735074e-02 9.95980094e-01 -4.88196991e-04 -5.92045463e+00] [-4.94394287e-03 4.55277374e-05 9.99987778e-01 -9.40819911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.326559995 meters 0.05067083282730917 Centerline is valid? [True, True] Translation: X:128.08, Y:-5.93, Z:-0.94 [[ 9.96341582e-01 8.51713965e-02 7.02029456e-03 1.28075254e+02] [-8.51685994e-02 9.96366310e-01 -6.96974402e-04 -5.92732849e+00] [-7.05414727e-03 9.65159240e-05 9.99975115e-01 -9.43279230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.386559995 meters 0.05174660040264382 Centerline is valid? [True, True] Translation: X:128.14, Y:-5.93, Z:-0.95 [[ 9.96313544e-01 8.57545478e-02 -2.34086672e-03 1.28137675e+02] [-8.57542374e-02 9.96316293e-01 2.32807489e-04 -5.92671790e+00] [ 2.35220796e-03 -3.12100138e-05 9.99997233e-01 -9.49847506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.446559995 meters 0.051886362819075736 Centerline is valid? [True, True] Translation: X:128.20, Y:-5.94, Z:-0.95 [[ 9.96555603e-01 8.29008641e-02 -2.09196941e-03 1.28199254e+02] [-8.29006096e-02 9.96557798e-01 2.08253269e-04 -5.93803335e+00] [ 2.10203281e-03 -3.41104220e-05 9.99997790e-01 -9.51649968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.506559995 meters 0.051886362819075736 Centerline is valid? [True, True] Translation: X:128.26, Y:-5.94, Z:-0.95 [[ 9.96544456e-01 8.30347640e-02 -2.09187383e-03 1.28261431e+02] [-8.30345077e-02 9.96546651e-01 2.09214010e-04 -5.94418875e+00] [ 2.10202189e-03 -3.47933479e-05 9.99997790e-01 -9.52110510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.566559995 meters 0.05171453562926938 Centerline is valid? [True, True] Translation: X:128.32, Y:-5.95, Z:-0.95 [[ 9.96858828e-01 7.91762599e-02 -1.89638627e-03 1.28321452e+02] [-7.91760439e-02 9.96860631e-01 1.88838819e-04 -5.95404290e+00] [ 1.90538436e-03 -3.80972817e-05 9.99998184e-01 -9.51983547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.626559995 meters 0.05171453562926938 Centerline is valid? [True, True] Translation: X:128.38, Y:-5.96, Z:-0.95 [[ 9.96848126e-01 7.93108897e-02 -1.89626822e-03 1.28383631e+02] [-7.93106717e-02 9.96849929e-01 1.90023846e-04 -5.96021260e+00] [ 1.90536580e-03 -3.90306082e-05 9.99998184e-01 -9.52444030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.686559995 meters 0.05196742352184823 Centerline is valid? [True, True] Translation: X:128.44, Y:-5.96, Z:-0.95 [[ 9.97187774e-01 7.49350801e-02 -1.13041241e-03 1.28444776e+02] [-7.49350004e-02 9.97188414e-01 1.12829248e-04 -5.96466962e+00] [ 1.13568903e-03 -2.78044926e-05 9.99999355e-01 -9.50663975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.746559995 meters 0.0524958745396199 Centerline is valid? [True, True] Translation: X:128.50, Y:-5.97, Z:-0.95 [[ 9.97520757e-01 7.03681150e-02 -8.17602775e-04 1.28504805e+02] [-7.03680718e-02 9.97521091e-01 8.16123896e-05 -5.97298993e+00] [ 8.21318923e-04 -2.38769219e-05 9.99999662e-01 -9.50815103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.806559995 meters 0.052614160514455645 Centerline is valid? [True, True] Translation: X:128.57, Y:-5.98, Z:-0.95 [[ 9.97854329e-01 6.54696176e-02 -6.83012774e-04 1.28565510e+02] [-6.54695863e-02 9.97854563e-01 6.81285212e-05 -5.97590395e+00] [ 6.86007761e-04 -2.32657761e-05 9.99999764e-01 -9.49519871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.866559995 meters 0.05346196869764025 Centerline is valid? [True, True] Translation: X:128.62, Y:-6.00, Z:-0.95 [[ 9.98505346e-01 5.46538774e-02 1.68859435e-04 1.28623825e+02] [-5.46538754e-02 9.98505360e-01 -1.67524393e-05 -5.99953332e+00] [-1.69522636e-04 7.49857773e-06 9.99999986e-01 -9.52118031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.926559995 meters 0.05291662251081423 Centerline is valid? [True, True] Translation: X:128.68, Y:-6.00, Z:-0.95 [[ 9.98608012e-01 5.27409676e-02 6.54629138e-04 1.28684257e+02] [-5.27409362e-02 9.98608226e-01 -6.52238810e-05 -6.00219714e+00] [-6.57158013e-04 3.06073366e-05 9.99999784e-01 -9.50578496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.986559995 meters 0.05259334264939641 Centerline is valid? [True, True] Translation: X:128.75, Y:-6.00, Z:-0.95 [[ 9.98237040e-01 5.93519761e-02 3.94256443e-04 1.28745263e+02] [-5.93519653e-02 9.98237117e-01 -3.92200739e-05 -6.00466482e+00] [-3.95889204e-04 1.57510358e-05 9.99999922e-01 -9.51425001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.046559995 meters 0.052262110956465595 Centerline is valid? [True, True] Translation: X:128.81, Y:-6.01, Z:-0.95 [[ 9.97819213e-01 6.60059895e-02 -1.68466830e-04 1.28805781e+02] [-6.60059876e-02 9.97819227e-01 1.68243864e-05 -6.01042876e+00] [ 1.69209952e-04 -5.66787649e-06 9.99999986e-01 -9.53454152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.106559995 meters 0.052267269049590795 Centerline is valid? [True, True] Translation: X:128.87, Y:-6.01, Z:-0.95 [[ 9.97152478e-01 7.54092275e-02 -6.19027122e-04 1.28865410e+02] [-7.54092037e-02 9.97152670e-01 6.16834886e-05 -6.01132514e+00] [ 6.21916052e-04 -1.48275012e-05 9.99999807e-01 -9.54158149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.166559995 meters 0.05165253646242571 Centerline is valid? [True, True] Translation: X:128.93, Y:-6.02, Z:-0.95 [[ 9.96831824e-01 7.95283941e-02 -1.24462736e-03 1.28926005e+02] [-7.95283010e-02 9.96832601e-01 1.24228000e-04 -6.01555925e+00] [ 1.25056478e-03 -2.48513253e-05 9.99999218e-01 -9.54248787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.226559995 meters 0.051705984022039894 Centerline is valid? [True, True] Translation: X:128.99, Y:-6.02, Z:-0.96 [[ 9.96551040e-01 8.29800239e-02 -5.83738410e-04 1.28987152e+02] [-8.29800039e-02 9.96551211e-01 5.85408660e-05 -6.02418389e+00] [ 5.86582942e-04 -9.90034531e-06 9.99999828e-01 -9.55444220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.286559995 meters 0.05175625962920639 Centerline is valid? [True, True] Translation: X:129.05, Y:-6.03, Z:-0.96 [[ 9.96518378e-01 8.33716383e-02 5.40750747e-04 1.29049165e+02] [-8.33716217e-02 9.96518525e-01 -5.31729165e-05 -6.03067729e+00] [-5.43301250e-04 7.90452180e-06 9.99999852e-01 -9.55086882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.346559995 meters 0.05178123441537998 Centerline is valid? [True, True] Translation: X:129.11, Y:-6.04, Z:-0.96 [[ 9.96599965e-01 8.23870812e-02 9.37464757e-04 1.29111030e+02] [-8.23870302e-02 9.96600406e-01 -9.29119520e-05 -6.03816095e+00] [-9.41932502e-04 1.53611108e-05 9.99999556e-01 -9.55402952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.406559995 meters 0.052176676656047305 Centerline is valid? [True, True] Translation: X:129.17, Y:-6.04, Z:-0.95 [[ 9.96766504e-01 8.03481842e-02 8.40185469e-04 1.29173340e+02] [-8.03481421e-02 9.96766858e-01 -8.38179528e-05 -6.03816415e+00] [-8.44203650e-04 1.60395864e-05 9.99999644e-01 -9.53035278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.466559995 meters 0.051995021861345074 Centerline is valid? [True, True] Translation: X:129.23, Y:-6.05, Z:-0.96 [[ 9.97171420e-01 7.51586626e-02 5.77926051e-04 1.29231981e+02] [-7.51586417e-02 9.97171588e-01 -5.78073864e-05 -6.05203851e+00] [-5.80636164e-04 1.42077366e-05 9.99999831e-01 -9.55159540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52655999499999 meters 0.05194346802404189 Centerline is valid? [True, True] Translation: X:129.29, Y:-6.06, Z:-0.95 [[ 9.97598341e-01 6.92582949e-02 9.16171712e-04 1.29292899e+02] [-6.92582400e-02 9.97598761e-01 -9.15986165e-05 -6.06006133e+00] [-9.20315729e-04 2.79261875e-05 9.99999576e-01 -9.54470098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.586559995 meters 0.052368372489874575 Centerline is valid? [True, True] Translation: X:129.35, Y:-6.07, Z:-0.96 [[ 9.97901855e-01 6.47446786e-02 1.23555408e-04 1.29353305e+02] [-6.47446776e-02 9.97901862e-01 -1.22648433e-05 -6.06573049e+00] [-1.24090255e-04 4.23955485e-06 9.99999992e-01 -9.55409059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.646559995 meters 0.05273435405131993 Centerline is valid? [True, True] Translation: X:129.41, Y:-6.07, Z:-0.96 [[ 9.97959398e-01 6.38506480e-02 -3.66290659e-04 1.29414552e+02] [-6.38506385e-02 9.97959465e-01 3.74589756e-05 -6.07220849e+00] [ 3.67935010e-04 -1.39946443e-05 9.99999932e-01 -9.56041682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.706559995 meters 0.05302273897345257 Centerline is valid? [True, True] Translation: X:129.48, Y:-6.08, Z:-0.96 [[ 9.98014562e-01 6.29696023e-02 -1.32807501e-03 1.29475168e+02] [-6.29694797e-02 9.98015444e-01 1.33951418e-04 -6.07829093e+00] [ 1.33387424e-03 -5.00572735e-05 9.99999109e-01 -9.56721451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.766559995 meters 0.05265653420627958 Centerline is valid? [True, True] Translation: X:129.54, Y:-6.08, Z:-0.96 [[ 9.97944982e-01 6.40655526e-02 -1.19085851e-03 1.29536897e+02] [-6.40654553e-02 9.97945691e-01 1.19643860e-04 -6.08228368e+00] [ 1.19607717e-03 -4.31050975e-05 9.99999284e-01 -9.56715587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.826559995 meters 0.053160016474978714 Centerline is valid? [True, True] Translation: X:129.60, Y:-6.09, Z:-0.96 [[ 9.97748526e-01 6.70635824e-02 -5.95938479e-04 1.29597297e+02] [-6.70635586e-02 9.97748704e-01 5.98465638e-05 -6.08754344e+00] [ 5.98610370e-04 -1.97460657e-05 9.99999821e-01 -9.56643893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.886559995 meters 0.05283362865186607 Centerline is valid? [True, True] Translation: X:129.66, Y:-6.10, Z:-0.96 [[ 9.97566745e-01 6.97176443e-02 1.98699998e-04 1.29657900e+02] [-6.97176417e-02 9.97566765e-01 -1.98872228e-05 -6.09568693e+00] [-1.99603005e-04 5.98593680e-06 9.99999980e-01 -9.57508638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.946559995 meters 0.05206341313632612 Centerline is valid? [True, True] Translation: X:129.72, Y:-6.10, Z:-0.96 [[ 9.97186438e-01 7.49198826e-02 2.49389462e-03 1.29716987e+02] [-7.49194908e-02 9.97189554e-01 -2.50266269e-04 -6.10155236e+00] [-2.50563559e-03 6.27208138e-05 9.99996859e-01 -9.57819767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.006559995 meters 0.05205640101630473 Centerline is valid? [True, True] Translation: X:129.78, Y:-6.10, Z:-0.96 [[ 9.96666218e-01 8.14684194e-02 4.39857249e-03 1.29778004e+02] [-8.14672650e-02 9.96675920e-01 -4.41284057e-04 -6.10196620e+00] [-4.41990200e-03 8.14732408e-05 9.99990229e-01 -9.57137321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.066559995 meters 0.05117292516062383 Centerline is valid? [True, True] Translation: X:129.84, Y:-6.10, Z:-0.96 [[ 9.96245320e-01 8.64617396e-02 4.43055787e-03 1.29838872e+02] [-8.64606177e-02 9.96255170e-01 -4.44483346e-04 -6.10335358e+00] [-4.45239699e-03 5.97456832e-05 9.99990086e-01 -9.57749729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.126559995 meters 0.05162292061009028 Centerline is valid? [True, True] Translation: X:129.90, Y:-6.11, Z:-0.96 [[ 9.96078262e-01 8.84168130e-02 3.25005369e-03 1.29899813e+02] [-8.84162203e-02 9.96083564e-01 -3.25862429e-04 -6.10848482e+00] [-3.26613678e-03 3.72270186e-05 9.99994665e-01 -9.59271470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.186559995 meters 0.0514067616198379 Centerline is valid? [True, True] Translation: X:129.96, Y:-6.11, Z:-0.96 [[ 9.96095436e-01 8.82493438e-02 2.43644091e-03 1.29961881e+02] [-8.82490107e-02 9.96098415e-01 -2.44117047e-04 -6.11438545e+00] [-2.44847809e-03 2.81503770e-05 9.99997002e-01 -9.60401858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.246559995 meters 0.05209865458038117 Centerline is valid? [True, True] Translation: X:130.02, Y:-6.12, Z:-0.96 [[ 9.96332078e-01 8.55376128e-02 2.38913643e-03 1.30023430e+02] [-8.55372833e-02 9.96334941e-01 -2.39946144e-04 -6.11931860e+00] [-2.40090452e-03 3.47058006e-05 9.99997117e-01 -9.60077058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.306559995 meters 0.05223399793009234 Centerline is valid? [True, True] Translation: X:130.08, Y:-6.13, Z:-0.96 [[ 9.96921475e-01 7.83846182e-02 1.85043872e-03 1.30082091e+02] [-7.83844080e-02 9.96923192e-01 -1.85975659e-04 -6.12861017e+00] [-1.85932291e-03 4.03575847e-05 9.99998271e-01 -9.60008821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.366559995 meters 0.05226794475997746 Centerline is valid? [True, True] Translation: X:130.14, Y:-6.13, Z:-0.96 [[ 9.97366260e-01 7.25033191e-02 1.95255408e-03 1.30142700e+02] [-7.25030738e-02 9.97368170e-01 -1.96231376e-04 -6.13471504e+00] [-1.96164271e-03 5.41483811e-05 9.99998075e-01 -9.59475183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.426559995 meters 0.0529907016183914 Centerline is valid? [True, True] Translation: X:130.20, Y:-6.14, Z:-0.96 [[ 9.97827018e-01 6.58409720e-02 2.49150651e-03 1.30203070e+02] [-6.58405515e-02 9.97830125e-01 -2.50487073e-04 -6.13908144e+00] [-2.50259257e-03 8.59006059e-05 9.99996865e-01 -9.58736803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.486559995 meters 0.05286479650097633 Centerline is valid? [True, True] Translation: X:130.26, Y:-6.15, Z:-0.96 [[ 9.97992689e-01 6.32574031e-02 3.01548990e-03 1.30262014e+02] [-6.32567752e-02 9.97997239e-01 -3.03249793e-04 -6.14936465e+00] [-3.02863339e-03 1.11890910e-04 9.99995407e-01 -9.59008926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.546559995 meters 0.053209668350763094 Centerline is valid? [True, True] Translation: X:130.32, Y:-6.15, Z:-0.96 [[ 9.97927937e-01 6.42401369e-02 3.61086233e-03 1.30324703e+02] [-6.42392436e-02 9.97934461e-01 -3.62972550e-04 -6.15067125e+00] [-3.62672136e-03 1.30261384e-04 9.99993415e-01 -9.58774702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.606559995 meters 0.054016566047807045 Centerline is valid? [True, True] Translation: X:130.38, Y:-6.17, Z:-0.96 [[ 9.97561752e-01 6.97387489e-02 2.65663049e-03 1.30382805e+02] [-6.97382841e-02 9.97565286e-01 -2.67309681e-04 -6.16604285e+00] [-2.66880420e-03 8.13890616e-05 9.99996435e-01 -9.61549629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.666559995 meters 0.052384147729019614 Centerline is valid? [True, True] Translation: X:130.44, Y:-6.16, Z:-0.96 [[ 9.97126280e-01 7.57000563e-02 2.94666527e-03 1.30444330e+02] [-7.56995107e-02 9.97130631e-01 -2.96390348e-04 -6.16035846e+00] [-2.96064697e-03 7.24774860e-05 9.99995615e-01 -9.61676006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.726559995 meters 0.05270385217927768 Centerline is valid? [True, True] Translation: X:130.50, Y:-6.16, Z:-0.96 [[ 9.96294842e-01 8.59526626e-02 2.95441280e-03 1.30503991e+02] [-8.59521590e-02 9.96299221e-01 -2.97259057e-04 -6.16039342e+00] [-2.96902938e-03 4.22195071e-05 9.99995592e-01 -9.61869111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.786559995 meters 0.05209652627203883 Centerline is valid? [True, True] Translation: X:130.56, Y:-6.17, Z:-0.96 [[ 9.95760200e-01 9.19348016e-02 3.10110783e-03 1.30563496e+02] [-9.19342759e-02 9.95765028e-01 -3.11954064e-04 -6.16528208e+00] [-3.11665416e-03 2.55333386e-05 9.99995143e-01 -9.62861283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.846559995 meters 0.05183723186538286 Centerline is valid? [True, True] Translation: X:130.63, Y:-6.17, Z:-0.96 [[ 9.95139764e-01 9.83823015e-02 4.21579339e-03 1.30625924e+02] [-9.83813883e-02 9.95148694e-01 -4.23960949e-04 -6.16776883e+00] [-4.23705154e-03 7.14479271e-06 9.99991024e-01 -9.63089559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.906559995 meters 0.0521423626194069 Centerline is valid? [True, True] Translation: X:130.69, Y:-6.17, Z:-0.96 [[ 9.94880163e-01 1.00956806e-01 4.60270348e-03 1.30688466e+02] [-1.00955745e-01 9.94890810e-01 -4.62836155e-04 -6.17277878e+00] [-4.62591385e-03 -4.20284922e-06 9.99989300e-01 -9.62933276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.966559995 meters 0.05174804145353584 Centerline is valid? [True, True] Translation: X:130.75, Y:-6.18, Z:-0.96 [[ 9.94905342e-01 1.00711483e-01 4.53404131e-03 1.30750282e+02] [-1.00710448e-01 9.94915673e-01 -4.56538838e-04 -6.18031354e+00] [-4.55696747e-03 -2.41240547e-06 9.99989617e-01 -9.63175881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02655999499999 meters 0.05148693897118618 Centerline is valid? [True, True] Translation: X:130.81, Y:-6.19, Z:-0.96 [[ 9.95137684e-01 9.83857522e-02 4.60799699e-03 1.30812256e+02] [-9.83846559e-02 9.95148353e-01 -4.64532304e-04 -6.18891979e+00] [-4.63134397e-03 8.91740277e-06 9.99989275e-01 -9.63659481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.086559995 meters 0.051235790017474636 Centerline is valid? [True, True] Translation: X:130.87, Y:-6.20, Z:-0.97 [[ 9.95551525e-01 9.41384922e-02 3.88643322e-03 1.30874094e+02] [-9.41376777e-02 9.95559111e-01 -3.92396376e-04 -6.19929185e+00] [-3.90611360e-03 2.47910126e-05 9.99992371e-01 -9.65055539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.146559995 meters 0.051616406634846 Centerline is valid? [True, True] Translation: X:130.93, Y:-6.21, Z:-0.97 [[ 9.95862036e-01 9.08384836e-02 2.67859971e-03 1.30934351e+02] [-9.08380854e-02 9.95865638e-01 -2.70162497e-04 -6.20781580e+00] [-2.69206656e-03 2.57257057e-05 9.99996376e-01 -9.65442313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.206559995 meters 0.05205183558238611 Centerline is valid? [True, True] Translation: X:130.99, Y:-6.21, Z:-0.97 [[ 9.96309328e-01 8.58285619e-02 1.08629856e-03 1.30994824e+02] [-8.58284932e-02 9.96309921e-01 -1.09779167e-04 -6.21478387e+00] [-1.09171222e-03 1.61386394e-05 9.99999404e-01 -9.66125497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.266559995 meters 0.05247906024469964 Centerline is valid? [True, True] Translation: X:131.05, Y:-6.23, Z:-0.97 [[ 9.96608621e-01 8.22861977e-02 4.88583034e-04 1.31054049e+02] [-8.22861835e-02 9.96608740e-01 -4.91742841e-05 -6.22668216e+00] [-4.90972487e-04 8.80388227e-06 9.99999879e-01 -9.68459677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.326559995 meters 0.05227081959331667 Centerline is valid? [True, True] Translation: X:131.11, Y:-6.24, Z:-0.97 [[ 9.97134790e-01 7.56450549e-02 -1.91439722e-04 1.31114106e+02] [-7.56450525e-02 9.97134808e-01 1.94737844e-05 -6.23598821e+00] [ 1.92364306e-04 -4.93652012e-06 9.99999981e-01 -9.67567727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.386559995 meters 0.05272636717621434 Centerline is valid? [True, True] Translation: X:131.17, Y:-6.25, Z:-0.97 [[ 9.97414261e-01 7.18664800e-02 -1.56522146e-05 1.31174163e+02] [-7.18664799e-02 9.97414262e-01 1.70949696e-06 -6.25014232e+00] [ 1.57345975e-05 -5.80207081e-07 1.00000000e+00 -9.68741608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.446559995 meters 0.05310638855215657 Centerline is valid? [True, True] Translation: X:131.24, Y:-6.25, Z:-0.97 [[ 9.97659770e-01 6.83738126e-02 -7.71534112e-05 1.31235676e+02] [-6.83738122e-02 9.97659773e-01 7.87194736e-06 -6.24873295e+00] [ 7.75110897e-05 -2.57825235e-06 9.99999997e-01 -9.65269141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.506559995 meters 0.0532699407300989 Centerline is valid? [True, True] Translation: X:131.30, Y:-6.27, Z:-0.97 [[ 9.97556964e-01 6.98561850e-02 4.65710437e-04 1.31295654e+02] [-6.98561707e-02 9.97557073e-01 -4.68913875e-05 -6.26919890e+00] [-4.67848394e-04 1.42440824e-05 9.99999890e-01 -9.67139648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.566559995 meters 0.05219722654667384 Centerline is valid? [True, True] Translation: X:131.36, Y:-6.27, Z:-0.97 [[ 9.97420542e-01 7.17756761e-02 7.17327466e-04 1.31356794e+02] [-7.17756424e-02 9.97420800e-01 -7.25268640e-05 -6.26984365e+00] [-7.20683000e-04 2.08531443e-05 9.99999740e-01 -9.65775425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.626559995 meters 0.0524021714200808 Centerline is valid? [True, True] Translation: X:131.42, Y:-6.28, Z:-0.97 [[ 9.96912959e-01 7.85062978e-02 1.14561590e-03 1.31416701e+02] [-7.85062163e-02 9.96913617e-01 -1.16013301e-04 -6.27567315e+00] [-1.15118787e-03 2.57171936e-05 9.99999337e-01 -9.65973995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.686559995 meters 0.052756957926561404 Centerline is valid? [True, True] Translation: X:131.48, Y:-6.29, Z:-0.97 [[ 9.96527095e-01 8.32686564e-02 2.83722833e-04 1.31476817e+02] [-8.32686516e-02 9.96527135e-01 -2.86218563e-05 -6.28658965e+00] [-2.85120806e-04 4.89723755e-06 9.99999959e-01 -9.69714037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.746559995 meters 0.051330999916045755 Centerline is valid? [True, True] Translation: X:131.54, Y:-6.29, Z:-0.97 [[ 9.96125837e-01 8.79384660e-02 -3.76927549e-04 1.31538377e+02] [-8.79384577e-02 9.96125909e-01 3.83896421e-05 -6.29183317e+00] [ 3.78843223e-04 -5.09448704e-06 9.99999928e-01 -9.67669595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.806559995 meters 0.051244404941489546 Centerline is valid? [True, True] Translation: X:131.60, Y:-6.30, Z:-0.97 [[ 9.96062981e-01 8.86476130e-02 -3.72643106e-04 1.31598938e+02] [-8.86476048e-02 9.96063051e-01 3.86052448e-05 -6.30112792e+00] [ 3.74598292e-04 -5.41933642e-06 9.99999930e-01 -9.68247841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.866559995 meters 0.05144724459502093 Centerline is valid? [True, True] Translation: X:131.66, Y:-6.31, Z:-0.97 [[ 9.96268712e-01 8.63029379e-02 6.75370839e-04 1.31660605e+02] [-8.63029118e-02 9.96268941e-01 -6.77430407e-05 -6.31061913e+00] [-6.78697414e-04 9.20380200e-06 9.99999770e-01 -9.68311530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.926559995 meters 0.051985370696770256 Centerline is valid? [True, True] Translation: X:131.72, Y:-6.32, Z:-0.97 [[ 9.96313006e-01 8.57594630e-02 2.38930374e-03 1.31722036e+02] [-8.57591291e-02 9.96315870e-01 -2.42064586e-04 -6.31595009e+00] [-2.40126056e-03 3.62674874e-05 9.99997116e-01 -9.66934563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.986559995 meters 0.051539630922613135 Centerline is valid? [True, True] Translation: X:131.78, Y:-6.32, Z:-0.97 [[ 9.96423897e-01 8.44478163e-02 2.82567299e-03 1.31784249e+02] [-8.44473414e-02 9.96427902e-01 -2.87171677e-04 -6.32114552e+00] [-2.83983043e-03 4.75241492e-05 9.99995967e-01 -9.66799685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.046559995 meters 0.051827597572995 Centerline is valid? [True, True] Translation: X:131.84, Y:-6.33, Z:-0.97 [[ 9.96524380e-01 8.32773745e-02 2.00991181e-03 1.31844256e+02] [-8.32771320e-02 9.96526406e-01 -2.04182042e-04 -6.33124203e+00] [-2.01993393e-03 3.60926915e-05 9.99997959e-01 -9.68832180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.106559995 meters 0.0521019149529244 Centerline is valid? [True, True] Translation: X:131.91, Y:-6.33, Z:-0.97 [[ 9.96611292e-01 8.22448646e-02 1.30955268e-03 1.31906172e+02] [-8.22447613e-02 9.96612152e-01 -1.32644004e-04 -6.33279849e+00] [-1.31602540e-03 2.44906644e-05 9.99999134e-01 -9.68924066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.166559995 meters 0.05282619281037971 Centerline is valid? [True, True] Translation: X:131.97, Y:-6.34, Z:-0.97 [[ 9.96725000e-01 8.08652896e-02 2.80817133e-04 1.31966497e+02] [-8.08652849e-02 9.96725040e-01 -2.82351540e-05 -6.34072198e+00] [-2.82180712e-04 5.43432640e-06 9.99999960e-01 -9.70993518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.226559995 meters 0.05312571147698007 Centerline is valid? [True, True] Translation: X:132.03, Y:-6.35, Z:-0.97 [[ 9.96830799e-01 7.95509736e-02 3.36016836e-05 1.32028217e+02] [-7.95509735e-02 9.96830799e-01 -2.97735513e-06 -6.34675135e+00] [-3.37320447e-05 2.94872654e-07 9.99999999e-01 -9.71883188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.286559995 meters 0.05262413353303655 Centerline is valid? [True, True] Translation: X:132.09, Y:-6.35, Z:-0.97 [[ 9.96899175e-01 7.86892518e-02 -1.91077970e-04 1.32089628e+02] [-7.86892494e-02 9.96899193e-01 1.99531302e-05 -6.35086381e+00] [ 1.92055571e-04 -4.85547702e-06 9.99999982e-01 -9.72141621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.346559995 meters 0.05351732497465345 Centerline is valid? [True, True] Translation: X:132.15, Y:-6.36, Z:-0.97 [[ 9.96965469e-01 7.78424286e-02 6.40291388e-04 1.32151232e+02] [-7.78424030e-02 9.96965674e-01 -6.49366433e-05 -6.35695120e+00] [-6.43403361e-04 1.48977708e-05 9.99999793e-01 -9.72478350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.406559995 meters 0.05237724832518854 Centerline is valid? [True, True] Translation: X:132.21, Y:-6.36, Z:-0.97 [[ 9.97050466e-01 7.67464033e-02 5.98034747e-04 1.32213095e+02] [-7.67463807e-02 9.97050645e-01 -6.06715046e-05 -6.35588694e+00] [-6.00927250e-04 1.45955496e-05 9.99999819e-01 -9.70757011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.466559995 meters 0.05267671086744103 Centerline is valid? [True, True] Translation: X:132.27, Y:-6.36, Z:-0.97 [[ 9.97260424e-01 7.39648882e-02 9.17827006e-04 1.32272873e+02] [-7.39648332e-02 9.97260846e-01 -9.37393691e-05 -6.36310378e+00] [-9.22246358e-04 2.55956416e-05 9.99999574e-01 -9.71332200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52655999499999 meters 0.052670265114523135 Centerline is valid? [True, True] Translation: X:132.33, Y:-6.37, Z:-0.97 [[ 9.97486162e-01 7.08381401e-02 1.82080887e-03 1.32333904e+02] [-7.08379185e-02 9.97487822e-01 -1.85994380e-04 -6.36754808e+00] [-1.82941017e-03 5.65445102e-05 9.99998325e-01 -9.70500181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.586559995 meters 0.053204054276840225 Centerline is valid? [True, True] Translation: X:132.40, Y:-6.38, Z:-0.97 [[ 9.97550876e-01 6.99008807e-02 2.47307095e-03 1.32395522e+02] [-6.99004692e-02 9.97553939e-01 -2.52551509e-04 -6.37696474e+00] [-2.48467524e-03 7.90641602e-05 9.99996910e-01 -9.72594248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.646559995 meters 0.0528489748550331 Centerline is valid? [True, True] Translation: X:132.46, Y:-6.38, Z:-0.97 [[ 9.97423948e-01 7.17263168e-02 8.96418385e-04 1.32456308e+02] [-7.17262634e-02 9.97424350e-01 -9.16027084e-05 -6.37618235e+00] [-9.00679850e-04 2.70699938e-05 9.99999594e-01 -9.72997951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.706559995 meters 0.05298086593672832 Centerline is valid? [True, True] Translation: X:132.52, Y:-6.39, Z:-0.97 [[ 9.97353560e-01 7.27016646e-02 5.86384194e-04 1.32516485e+02] [-7.27016423e-02 9.97353732e-01 -5.92559901e-05 -6.38868585e+00] [-5.89140474e-04 1.64680788e-05 9.99999826e-01 -9.74986023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.766559995 meters 0.0535827731963961 Centerline is valid? [True, True] Translation: X:132.58, Y:-6.39, Z:-0.98 [[ 9.97331284e-01 7.30088221e-02 1.49748130e-04 1.32578742e+02] [-7.30088207e-02 9.97331295e-01 -1.50181808e-05 -6.39400124e+00] [-1.50444956e-04 4.04516716e-06 9.99999989e-01 -9.75050360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.826559995 meters 0.05292516086127788 Centerline is valid? [True, True] Translation: X:132.64, Y:-6.40, Z:-0.98 [[ 9.97387901e-01 7.22313987e-02 -8.70867925e-07 1.32639950e+02] [-7.22313987e-02 9.97387901e-01 9.88477434e-07 -6.40104384e+00] [ 9.39992202e-07 -9.22991425e-07 1.00000000e+00 -9.75603534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.886559995 meters 0.052661656475456564 Centerline is valid? [True, True] Translation: X:132.70, Y:-6.40, Z:-0.97 [[ 9.97602915e-01 6.91983034e-02 1.34450709e-04 1.32701254e+02] [-6.91983022e-02 9.97602924e-01 -1.36586684e-05 -6.40484663e+00] [-1.35073577e-04 4.32216664e-06 9.99999991e-01 -9.74172058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.946559995 meters 0.05369494600624821 Centerline is valid? [True, True] Translation: X:132.76, Y:-6.41, Z:-0.98 [[ 9.97772738e-01 6.67048105e-02 1.77590048e-04 1.32760538e+02] [-6.67048083e-02 9.97772754e-01 -1.79653584e-05 -6.41466583e+00] [-1.78392887e-04 6.07923473e-06 9.99999984e-01 -9.75307720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.006559995 meters 0.053825348714626596 Centerline is valid? [True, True] Translation: X:132.82, Y:-6.41, Z:-0.97 [[ 9.97959594e-01 6.38452313e-02 6.59672162e-04 1.32821764e+02] [-6.38452006e-02 9.97959812e-01 -6.75620165e-05 -6.41180042e+00] [-6.62639819e-04 2.53072611e-05 9.99999780e-01 -9.74285348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.066559995 meters 0.05298529473144876 Centerline is valid? [True, True] Translation: X:132.88, Y:-6.42, Z:-0.97 [[ 9.97969716e-01 6.36885933e-02 4.57239368e-04 1.32883597e+02] [-6.36885786e-02 9.97969821e-01 -4.66278080e-05 -6.41963385e+00] [-4.59280750e-04 1.74122148e-05 9.99999894e-01 -9.74592436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.126559995 meters 0.05304500597765666 Centerline is valid? [True, True] Translation: X:132.94, Y:-6.43, Z:-0.98 [[ 9.97898038e-01 6.48031879e-02 2.30034712e-04 1.32944545e+02] [-6.48031843e-02 9.97898064e-01 -2.28482823e-05 -6.42635913e+00] [-2.31031835e-04 7.89327424e-06 9.99999973e-01 -9.75517119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.186559995 meters 0.053292936110029956 Centerline is valid? [True, True] Translation: X:133.01, Y:-6.43, Z:-0.98 [[ 9.97696267e-01 6.78353301e-02 7.26051557e-04 1.33005322e+02] [-6.78352938e-02 9.97696531e-01 -7.44831583e-05 -6.43378390e+00] [-7.29431709e-04 2.50596483e-05 9.99999734e-01 -9.77070517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.246559995 meters 0.052988161034807524 Centerline is valid? [True, True] Translation: X:133.07, Y:-6.44, Z:-0.98 [[ 9.97483657e-01 7.08953094e-02 4.56748164e-04 1.33065002e+02] [-7.08952953e-02 9.97483762e-01 -4.69372826e-05 -6.43573416e+00] [-4.58926510e-04 1.44378763e-05 9.99999895e-01 -9.77072069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.306559995 meters 0.05225375239672796 Centerline is valid? [True, True] Translation: X:133.13, Y:-6.44, Z:-0.98 [[ 9.97053559e-01 7.66974329e-02 1.30567862e-03 1.33125045e+02] [-7.66973229e-02 9.97054413e-01 -1.34179861e-04 -6.43915802e+00] [-1.31212388e-03 3.36424534e-05 9.99999139e-01 -9.77739662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.366559995 meters 0.05214149051893784 Centerline is valid? [True, True] Translation: X:133.18, Y:-6.44, Z:-0.98 [[ 9.96702973e-01 8.11074661e-02 2.18225368e-03 1.33184444e+02] [-8.11071694e-02 9.96705361e-01 -2.24278915e-04 -6.44472612e+00] [-2.19325463e-03 4.65430425e-05 9.99997594e-01 -9.78506898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.426559995 meters 0.05143617015690124 Centerline is valid? [True, True] Translation: X:133.24, Y:-6.45, Z:-0.98 [[ 9.96331524e-01 8.55333793e-02 2.74521788e-03 1.33244947e+02] [-8.55329268e-02 9.96335304e-01 -2.82029025e-04 -6.44898160e+00] [-2.75928039e-03 4.61878880e-05 9.99996192e-01 -9.79071217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.486559995 meters 0.051399485413255674 Centerline is valid? [True, True] Translation: X:133.31, Y:-6.46, Z:-0.98 [[ 9.95994492e-01 8.93753026e-02 2.65077716e-03 1.33305750e+02] [-8.93748943e-02 9.95998019e-01 -2.72318904e-04 -6.45724238e+00] [-2.66450739e-03 3.43151995e-05 9.99996450e-01 -9.82007640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.546559995 meters 0.05197788993380535 Centerline is valid? [True, True] Translation: X:133.37, Y:-6.46, Z:-0.98 [[ 9.95503640e-01 9.46883970e-02 2.57088294e-03 1.33367584e+02] [-9.46880304e-02 9.95506960e-01 -2.64201986e-04 -6.45556609e+00] [-2.58434872e-03 1.95821968e-05 9.99996660e-01 -9.80581324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.606559995 meters 0.051302596344710634 Centerline is valid? [True, True] Translation: X:133.43, Y:-6.46, Z:-0.98 [[ 9.95250032e-01 9.73063828e-02 2.97364256e-03 1.33429855e+02] [-9.73059043e-02 9.95254474e-01 -3.05508712e-04 -6.46189515e+00] [-2.98925901e-03 1.47045768e-05 9.99995532e-01 -9.81937278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.666559995 meters 0.051065178382850074 Centerline is valid? [True, True] Translation: X:133.49, Y:-6.47, Z:-0.98 [[ 9.95006926e-01 9.97916584e-02 1.68600838e-03 1.33492040e+02] [-9.97915090e-02 9.95008354e-01 -1.72708194e-04 -6.46621761e+00] [-1.69482726e-03 3.59652874e-06 9.99998564e-01 -9.82680316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.726559995 meters 0.051233312066503625 Centerline is valid? [True, True] Translation: X:133.55, Y:-6.47, Z:-0.98 [[ 9.95002324e-01 9.98452630e-02 1.13919449e-03 1.33553479e+02] [-9.98451944e-02 9.95002977e-01 -1.17103245e-04 -6.47309718e+00] [-1.14519411e-03 2.77490620e-06 9.99999344e-01 -9.82255460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.786559995 meters 0.05178242779913904 Centerline is valid? [True, True] Translation: X:133.62, Y:-6.48, Z:-0.98 [[ 9.95192251e-01 9.79334273e-02 1.19473422e-03 1.33615114e+02] [-9.79333504e-02 9.95192968e-01 -1.22831041e-04 -6.48321088e+00] [-1.20102036e-03 5.23617459e-06 9.99999279e-01 -9.84511283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.846559995 meters 0.051795539999126144 Centerline is valid? [True, True] Translation: X:133.68, Y:-6.49, Z:-0.98 [[ 9.95456625e-01 9.52037166e-02 1.53605221e-03 1.33675948e+02] [-9.52035866e-02 9.95457810e-01 -1.57681424e-04 -6.49023390e+00] [-1.54408702e-03 1.07273391e-05 9.99998808e-01 -9.82639122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.906559995 meters 0.0520945893190781 Centerline is valid? [True, True] Translation: X:133.74, Y:-6.50, Z:-0.98 [[ 9.95615325e-01 9.35302264e-02 1.49069820e-03 1.33737042e+02] [-9.35301019e-02 9.95616440e-01 -1.53183180e-04 -6.49820318e+00] [-1.49849089e-03 1.30863671e-05 9.99998877e-01 -9.83201697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.966559995 meters 0.05153424547463331 Centerline is valid? [True, True] Translation: X:133.80, Y:-6.51, Z:-0.99 [[ 9.95733552e-01 9.22725584e-02 6.84387439e-04 1.33798451e+02] [-9.22725318e-02 9.95733787e-01 -7.04101947e-05 -6.51149926e+00] [-6.87964625e-04 6.95963152e-06 9.99999763e-01 -9.85841306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02655999499999 meters 0.051723027068695075 Centerline is valid? [True, True] Translation: X:133.86, Y:-6.52, Z:-0.99 [[ 9.95784626e-01 9.17222334e-02 -1.05467769e-04 1.33859066e+02] [-9.17222326e-02 9.95784631e-01 1.17172508e-05 -6.51831983e+00] [ 1.06097916e-04 -1.99411895e-06 9.99999994e-01 -9.85140702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.086559995 meters 0.051635363336225246 Centerline is valid? [True, True] Translation: X:133.92, Y:-6.53, Z:-0.99 [[ 9.95998856e-01 8.93648749e-02 4.45233504e-04 1.33920177e+02] [-8.93648634e-02 9.95998955e-01 -4.57678539e-05 -6.53097320e+00] [-4.47542144e-04 5.79649888e-06 9.99999900e-01 -9.86788566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.146559995 meters 0.051968944295373916 Centerline is valid? [True, True] Translation: X:133.98, Y:-6.54, Z:-0.99 [[ 9.96205584e-01 8.70309609e-02 2.16651942e-04 1.33980536e+02] [-8.70309583e-02 9.96205607e-01 -2.16444559e-05 -6.54089088e+00] [-2.17713617e-04 2.70690174e-06 9.99999976e-01 -9.87223292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.206559995 meters 0.05225678467539828 Centerline is valid? [True, True] Translation: X:134.04, Y:-6.55, Z:-0.99 [[ 9.96422871e-01 8.45032419e-02 8.15113843e-04 1.34041538e+02] [-8.45032013e-02 9.96423204e-01 -8.41753873e-05 -6.55243643e+00] [-8.19311440e-04 1.49945519e-05 9.99999664e-01 -9.88083236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.266559995 meters 0.05169839799664804 Centerline is valid? [True, True] Translation: X:134.10, Y:-6.56, Z:-0.99 [[ 9.96470559e-01 8.39274538e-02 1.61474954e-03 1.34102637e+02] [-8.39272931e-02 9.96471867e-01 -1.67110967e-04 -6.56207799e+00] [-1.62307769e-03 3.09996003e-05 9.99998682e-01 -9.87935903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.326559995 meters 0.05162220257786218 Centerline is valid? [True, True] Translation: X:134.16, Y:-6.57, Z:-0.99 [[ 9.96414101e-01 8.45898282e-02 1.87103184e-03 1.34163994e+02] [-8.45896142e-02 9.96415857e-01 -1.93333171e-04 -6.56844619e+00] [-1.88067982e-03 3.43700360e-05 9.99998231e-01 -9.87663468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.386559995 meters 0.05192701415330635 Centerline is valid? [True, True] Translation: X:134.23, Y:-6.57, Z:-0.99 [[ 9.96242908e-01 8.65837828e-02 1.82136824e-03 1.34225392e+02] [-8.65835831e-02 9.96244572e-01 -1.88401751e-04 -6.57396889e+00] [-1.83084076e-03 2.99933200e-05 9.99998324e-01 -9.88073303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.446559995 meters 0.0511115387249829 Centerline is valid? [True, True] Translation: X:134.28, Y:-6.58, Z:-0.99 [[ 9.95754454e-01 9.20358145e-02 1.57367142e-03 1.34284940e+02] [-9.20356711e-02 9.95755697e-01 -1.63485005e-04 -6.58237210e+00] [-1.58203876e-03 1.79570166e-05 9.99998748e-01 -9.90778993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.506559995 meters 0.050947617277331506 Centerline is valid? [True, True] Translation: X:134.35, Y:-6.58, Z:-0.99 [[ 9.95138658e-01 9.84769530e-02 1.15807439e-03 1.34347033e+02] [-9.84768798e-02 9.95139332e-01 -1.20138354e-04 -6.58157262e+00] [-1.16427624e-03 5.51076758e-06 9.99999322e-01 -9.90140209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.566559995 meters 0.051018842456940675 Centerline is valid? [True, True] Translation: X:134.41, Y:-6.59, Z:-0.99 [[ 9.94823283e-01 1.01615723e-01 9.38638892e-04 1.34407770e+02] [-1.01615677e-01 9.94823726e-01 -9.71460971e-05 -6.58608621e+00] [-9.43651810e-04 1.26277316e-06 9.99999555e-01 -9.91509524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.626559995 meters 0.050809283685941266 Centerline is valid? [True, True] Translation: X:134.47, Y:-6.59, Z:-0.99 [[ 9.94639313e-01 1.03404477e-01 3.87600228e-04 1.34470800e+02] [-1.03404469e-01 9.94639389e-01 -3.93768639e-05 -6.59097315e+00] [-3.89594198e-04 -9.13818987e-07 9.99999924e-01 -9.91633575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.686559995 meters 0.05054799644058229 Centerline is valid? [True, True] Translation: X:134.53, Y:-6.60, Z:-0.99 [[ 9.94669724e-01 1.03111353e-01 4.35781171e-04 1.34533124e+02] [-1.03111344e-01 9.94669819e-01 -4.44578921e-05 -6.59790091e+00] [-4.38042492e-04 -7.13062987e-07 9.99999904e-01 -9.91536822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.746559995 meters 0.05063993438014717 Centerline is valid? [True, True] Translation: X:134.59, Y:-6.61, Z:-0.99 [[ 9.94839948e-01 1.01456782e-01 1.10553652e-05 1.34593745e+02] [-1.01456782e-01 9.94839948e-01 -3.05206692e-07 -6.60613792e+00] [-1.10292842e-05 -8.18009963e-07 1.00000000e+00 -9.94279862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.806559995 meters 0.05081120659997259 Centerline is valid? [True, True] Translation: X:134.66, Y:-6.61, Z:-0.99 [[ 9.95055007e-01 9.93253637e-02 -6.76369821e-05 1.34655611e+02] [-9.93253634e-02 9.95055010e-01 7.89591680e-06 -6.61369476e+00] [ 6.80867827e-05 -1.13880372e-06 9.99999998e-01 -9.94154620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.866559995 meters 0.0509289614255883 Centerline is valid? [True, True] Translation: X:134.72, Y:-6.62, Z:-0.99 [[ 9.95466161e-01 9.51163187e-02 -9.32039578e-05 1.34717606e+02] [-9.51163182e-02 9.95466165e-01 1.00609328e-05 -6.62174306e+00] [ 9.37383453e-05 -1.15010083e-06 9.99999996e-01 -9.93296099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.926559995 meters 0.051474962262040416 Centerline is valid? [True, True] Translation: X:134.78, Y:-6.63, Z:-0.99 [[ 9.95772341e-01 9.18554872e-02 1.19788793e-04 1.34777930e+02] [-9.18554864e-02 9.95772348e-01 -1.17216499e-05 -6.62994265e+00] [-1.20359066e-04 6.68836870e-07 9.99999993e-01 -9.93296559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.986559995 meters 0.051724543405074784 Centerline is valid? [True, True] Translation: X:134.84, Y:-6.64, Z:-0.99 [[ 9.96179952e-01 8.73236969e-02 2.75457427e-04 1.34837873e+02] [-8.73236923e-02 9.96179990e-01 -2.87148155e-05 -6.64067017e+00] [-2.76912661e-04 4.55116393e-06 9.99999962e-01 -9.94212150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.046559995 meters 0.05179399211414401 Centerline is valid? [True, True] Translation: X:134.90, Y:-6.65, Z:-0.99 [[ 9.96328137e-01 8.56167953e-02 8.29475716e-05 1.34899600e+02] [-8.56167949e-02 9.96328141e-01 -7.81303644e-06 -6.64769520e+00] [-8.33119270e-05 6.82642813e-07 9.99999997e-01 -9.94060421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.106559995 meters 0.051537303412232366 Centerline is valid? [True, True] Translation: X:134.96, Y:-6.66, Z:-0.99 [[ 9.96357708e-01 8.52679229e-02 8.35916290e-04 1.34961078e+02] [-8.52678800e-02 9.96358059e-01 -8.67964983e-05 -6.65925940e+00] [-8.40272889e-04 1.52035502e-05 9.99999647e-01 -9.94584640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.166559995 meters 0.05194427783450791 Centerline is valid? [True, True] Translation: X:135.02, Y:-6.66, Z:-0.99 [[ 9.96312899e-01 8.57737708e-02 1.86202287e-03 1.35022802e+02] [-8.57735557e-02 9.96314639e-01 -1.95211111e-04 -6.66287077e+00] [-1.87190464e-03 3.47790260e-05 9.99998247e-01 -9.94328562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.226559995 meters 0.05192438763077599 Centerline is valid? [True, True] Translation: X:135.08, Y:-6.67, Z:-1.00 [[ 9.96166132e-01 8.74549541e-02 2.16052901e-03 1.35084862e+02] [-8.74546686e-02 9.96168475e-01 -2.26461300e-04 -6.67095364e+00] [-2.17205605e-03 3.66447282e-05 9.99997640e-01 -9.95559200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.286559995 meters 0.05073478453752215 Centerline is valid? [True, True] Translation: X:135.15, Y:-6.67, Z:-1.00 [[ 9.96074819e-01 8.84952167e-02 1.88442916e-03 1.35147266e+02] [-8.84950016e-02 9.96076601e-01 -1.97365000e-04 -6.67086368e+00] [-1.89450166e-03 2.98277446e-05 9.99998205e-01 -9.95153558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.346559995 meters 0.05097745775013004 Centerline is valid? [True, True] Translation: X:135.21, Y:-6.68, Z:-1.00 [[ 9.95966783e-01 8.97006795e-02 1.98897319e-03 1.35208900e+02] [-8.97004411e-02 9.95968768e-01 -2.08933152e-04 -6.67570525e+00] [-1.99969662e-03 2.96787073e-05 9.99998000e-01 -9.97066925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.406559995 meters 0.05142091631419991 Centerline is valid? [True, True] Translation: X:135.27, Y:-6.68, Z:-1.00 [[ 9.95966976e-01 8.96823049e-02 2.62049224e-03 1.35270279e+02] [-8.96818904e-02 9.95970423e-01 -2.75472818e-04 -6.68257093e+00] [-2.63463780e-03 3.93511315e-05 9.99996529e-01 -9.98228667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.466559995 meters 0.051219869666436046 Centerline is valid? [True, True] Translation: X:135.33, Y:-6.69, Z:-1.00 [[ 9.96039499e-01 8.88332835e-02 3.73674970e-03 1.35332193e+02] [-8.88324348e-02 9.96046507e-01 -3.92822257e-04 -6.68853505e+00] [-3.75687218e-03 5.93219106e-05 9.99992941e-01 -9.98161126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52655999499999 meters 0.05172215364006515 Centerline is valid? [True, True] Translation: X:135.39, Y:-6.70, Z:-1.00 [[ 9.96159459e-01 8.74283726e-02 4.75519043e-03 1.35392959e+02] [-8.74269782e-02 9.96170805e-01 -5.00714691e-04 -6.69642103e+00] [-4.78075855e-03 8.30597460e-05 9.99988569e-01 -9.97459380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.586559995 meters 0.05222239168502275 Centerline is valid? [True, True] Translation: X:135.46, Y:-6.70, Z:-1.00 [[ 9.96119501e-01 8.77786719e-02 6.39103058e-03 1.35455801e+02] [-8.77761540e-02 9.96139996e-01 -6.73949222e-04 -6.69725080e+00] [-6.42551955e-03 1.10353879e-04 9.99979350e-01 -9.98080425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.646559995 meters 0.05146969768178896 Centerline is valid? [True, True] Translation: X:135.52, Y:-6.70, Z:-1.00 [[ 9.95892675e-01 9.02182347e-02 7.64531029e-03 1.35517179e+02] [-9.02146960e-02 9.95922014e-01 -8.07172102e-04 -6.70427070e+00] [-7.68695446e-03 1.14137441e-04 9.99970448e-01 -9.99776552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.706559995 meters 0.050652047913240926 Centerline is valid? [True, True] Translation: X:135.58, Y:-6.72, Z:-1.00 [[ 9.95571249e-01 9.36734393e-02 7.94827668e-03 1.35576383e+02] [-9.36697226e-02 9.95602972e-01 -8.39416871e-04 -6.71560153e+00] [-7.99195896e-03 9.11864309e-05 9.99968060e-01 -1.00068294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.766559995 meters 0.050797954528954276 Centerline is valid? [True, True] Translation: X:135.64, Y:-6.72, Z:-1.00 [[ 9.95427054e-01 9.52183559e-02 7.64492616e-03 1.35638269e+02] [-9.52149618e-02 9.95456407e-01 -8.07535310e-04 -6.71997333e+00] [-7.68708291e-03 7.59311418e-05 9.99970451e-01 -1.00272914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.826559995 meters 0.05046949422045265 Centerline is valid? [True, True] Translation: X:135.70, Y:-6.73, Z:-1.00 [[ 9.95395114e-01 9.56183561e-02 6.75993329e-03 1.35699315e+02] [-9.56157068e-02 9.95418066e-01 -7.14750229e-04 -6.72727127e+00] [-6.79730296e-03 6.51030862e-05 9.99976896e-01 -1.00488452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.886559995 meters 0.050977691429764056 Centerline is valid? [True, True] Translation: X:135.76, Y:-6.74, Z:-1.01 [[ 9.95633860e-01 9.31200955e-02 6.47034700e-03 1.35759399e+02] [-9.31176100e-02 9.95654881e-01 -6.85001318e-04 -6.73679734e+00] [-6.50601996e-03 7.95072575e-05 9.99978832e-01 -1.00663550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.946559995 meters 0.05100366399158349 Centerline is valid? [True, True] Translation: X:135.82, Y:-6.74, Z:-1.01 [[ 9.96155236e-01 8.73910748e-02 6.12752316e-03 1.35820624e+02] [-8.73887367e-02 9.96174075e-01 -6.48797590e-04 -6.74226033e+00] [-6.16077883e-03 1.10826609e-04 9.99981016e-01 -1.00826099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.006559995 meters 0.051135691928773236 Centerline is valid? [True, True] Translation: X:135.88, Y:-6.76, Z:-1.01 [[ 9.96473106e-01 8.36280116e-02 6.90680704e-03 1.35879982e+02] [-8.36249497e-02 9.96497031e-01 -7.31430040e-04 -6.75716490e+00] [-6.94378075e-03 1.51268972e-04 9.99975880e-01 -1.00951571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.066559995 meters 0.05124955705891081 Centerline is valid? [True, True] Translation: X:135.94, Y:-6.76, Z:-1.01 [[ 9.96649156e-01 8.14218939e-02 7.80603449e-03 1.35940732e+02] [-8.14179139e-02 9.96679708e-01 -8.26818213e-04 -6.75986967e+00] [-7.84743728e-03 1.88496630e-04 9.99969191e-01 -1.01013771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.126559995 meters 0.05081591506313131 Centerline is valid? [True, True] Translation: X:136.00, Y:-6.77, Z:-1.01 [[ 9.96710280e-01 8.06832431e-02 7.67021033e-03 1.36002414e+02] [-8.06793752e-02 9.96739774e-01 -8.12871044e-04 -6.76546897e+00] [-7.71078879e-03 1.91369149e-04 9.99970253e-01 -1.01053662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.186559995 meters 0.0508316743065596 Centerline is valid? [True, True] Translation: X:136.07, Y:-6.76, Z:-1.01 [[ 9.96677738e-01 8.10517148e-02 8.00667839e-03 1.36065097e+02] [-8.10475055e-02 9.96709878e-01 -8.49329750e-04 -6.76292887e+00] [-8.04917508e-03 1.97586743e-04 9.99967585e-01 -1.01281536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.246559995 meters 0.05096410729017216 Centerline is valid? [True, True] Translation: X:136.12, Y:-6.77, Z:-1.01 [[ 9.96339646e-01 8.52480921e-02 6.33031341e-03 1.36123724e+02] [-8.52455440e-02 9.96359747e-01 -6.71744776e-04 -6.77348226e+00] [-6.36453443e-03 1.29654941e-04 9.99979738e-01 -1.01461708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.306559995 meters 0.05052016050682312 Centerline is valid? [True, True] Translation: X:136.19, Y:-6.78, Z:-1.02 [[ 9.95962041e-01 8.95090187e-02 6.90999319e-03 1.36185026e+02] [-8.95060855e-02 9.95986005e-01 -7.33192921e-04 -6.77539517e+00] [-6.94788389e-03 1.11745877e-04 9.99975857e-01 -1.01517884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.366559995 meters 0.04996937213146774 Centerline is valid? [True, True] Translation: X:136.24, Y:-6.78, Z:-1.02 [[ 9.95414920e-01 9.53699185e-02 7.32904369e-03 1.36244941e+02] [-9.53667774e-02 9.95441898e-01 -7.77673548e-04 -6.77787015e+00] [-7.36980383e-03 7.51605755e-05 9.99972840e-01 -1.01502127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.426559995 meters 0.049875635597523824 Centerline is valid? [True, True] Translation: X:136.31, Y:-6.78, Z:-1.02 [[ 9.95148613e-01 9.81059254e-02 7.38008795e-03 1.36307078e+02] [-9.81028156e-02 9.95175977e-01 -7.83095930e-04 -6.78038082e+00] [-7.42131259e-03 5.52894215e-05 9.99972460e-01 -1.01590363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.486559995 meters 0.05072643723645023 Centerline is valid? [True, True] Translation: X:136.37, Y:-6.79, Z:-1.02 [[ 9.94894574e-01 1.00668666e-01 7.11380629e-03 1.36369497e+02] [-1.00665836e-01 9.94920006e-01 -7.55662020e-04 -6.78585121e+00] [-7.15373969e-03 3.56867863e-05 9.99974411e-01 -1.01787883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.546559995 meters 0.050247188334525524 Centerline is valid? [True, True] Translation: X:136.43, Y:-6.79, Z:-1.02 [[ 9.94773220e-01 1.01901689e-01 6.50287158e-03 1.36430479e+02] [-1.01899349e-01 9.94794474e-01 -6.91021332e-04 -6.79301890e+00] [-6.53943695e-03 2.47711378e-05 9.99978617e-01 -1.01899929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.606559995 meters 0.049882983307042744 Centerline is valid? [True, True] Translation: X:136.49, Y:-6.80, Z:-1.02 [[ 9.94662675e-01 1.02969663e-01 6.58875059e-03 1.36493430e+02] [-1.02967280e-01 9.94684497e-01 -7.00882825e-04 -6.79991244e+00] [-6.62589773e-03 1.87162608e-05 9.99978048e-01 -1.01940400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.666559995 meters 0.04976241851319909 Centerline is valid? [True, True] Translation: X:136.55, Y:-6.81, Z:-1.02 [[ 9.94381046e-01 1.05615011e-01 7.19754976e-03 1.36554290e+02] [-1.05612228e-01 9.94407094e-01 -7.66728403e-04 -6.80778414e+00] [-7.23827257e-03 2.27092430e-06 9.99973803e-01 -1.01922893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.726559995 meters 0.049611780369224236 Centerline is valid? [True, True] Translation: X:136.62, Y:-6.82, Z:-1.02 [[ 9.94170624e-01 1.07637286e-01 6.24385707e-03 1.36616184e+02] [-1.07635228e-01 9.94190231e-01 -6.65700473e-04 -6.81610591e+00] [-6.27923589e-03 -1.02391240e-05 9.99980285e-01 -1.01989927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.786559995 meters 0.04975402600067943 Centerline is valid? [True, True] Translation: X:136.68, Y:-6.82, Z:-1.02 [[ 9.94101295e-01 1.08315951e-01 5.50183696e-03 1.36678306e+02] [-1.08314360e-01 9.94116520e-01 -5.87284110e-04 -6.82406681e+00] [-5.53307925e-03 -1.21080542e-05 9.99984692e-01 -1.02085120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.846559995 meters 0.05027735462925031 Centerline is valid? [True, True] Translation: X:136.74, Y:-6.83, Z:-1.02 [[ 9.94146369e-01 1.07973606e-01 3.83364678e-03 1.36740099e+02] [-1.07972831e-01 9.94153761e-01 -4.09076627e-04 -6.83190144e+00] [-3.85540385e-03 -7.24765421e-06 9.99992568e-01 -1.02305983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.906559995 meters 0.04951933925507267 Centerline is valid? [True, True] Translation: X:136.80, Y:-6.84, Z:-1.02 [[ 9.94712268e-01 1.02659649e-01 2.91552249e-03 1.36801367e+02] [-1.02659178e-01 9.94716541e-01 -3.11310497e-04 -6.84457354e+00] [-2.93207747e-03 1.03592297e-05 9.99995701e-01 -1.02344538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.966559995 meters 0.05050368035152011 Centerline is valid? [True, True] Translation: X:136.86, Y:-6.86, Z:-1.02 [[ 9.95400546e-01 9.57074785e-02 4.22279907e-03 1.36862816e+02] [-9.57064222e-02 9.95409502e-01 -4.51964819e-04 -6.85555384e+00] [-4.24667073e-03 4.57370370e-05 9.99990982e-01 -1.02259644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02655999499999 meters 0.05030742107956933 Centerline is valid? [True, True] Translation: X:136.92, Y:-6.87, Z:-1.02 [[ 9.95858663e-01 9.08479470e-02 3.48921304e-03 1.36922522e+02] [-9.08471953e-02 9.95864774e-01 -3.73668519e-04 -6.86586652e+00] [-3.50873137e-03 5.51358129e-05 9.99993843e-01 -1.02286961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.086559995 meters 0.05063756858344464 Centerline is valid? [True, True] Translation: X:136.98, Y:-6.87, Z:-1.02 [[ 9.96226025e-01 8.67176367e-02 3.70929972e-03 1.36984025e+02] [-8.67167584e-02 9.96232928e-01 -3.97248167e-04 -6.86752423e+00] [-3.72977494e-03 7.40905142e-05 9.99993042e-01 -1.02132235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.146559995 meters 0.05122568754071494 Centerline is valid? [True, True] Translation: X:137.04, Y:-6.88, Z:-1.02 [[ 9.96736557e-01 8.06372628e-02 3.72401184e-03 1.37043680e+02] [-8.06363349e-02 9.96743509e-01 -3.98891352e-04 -6.87713044e+00] [-3.74405014e-03 9.72989271e-05 9.99992986e-01 -1.02192575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.206559995 meters 0.05188898388155 Centerline is valid? [True, True] Translation: X:137.10, Y:-6.88, Z:-1.02 [[ 9.97117905e-01 7.57883696e-02 3.46517173e-03 1.37103604e+02] [-7.57875367e-02 9.97123920e-01 -3.71235247e-04 -6.88380328e+00] [-3.48334094e-03 1.07548482e-04 9.99993927e-01 -1.02214642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.266559995 meters 0.052077311399690795 Centerline is valid? [True, True] Translation: X:137.16, Y:-6.89, Z:-1.02 [[ 9.97416947e-01 7.17076403e-02 4.17705936e-03 1.37162589e+02] [-7.17063941e-02 9.97425683e-01 -4.47521384e-04 -6.89189329e+00] [-4.19839699e-03 1.46843547e-04 9.99991176e-01 -1.02263603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.326559995 meters 0.05231710255897704 Centerline is valid? [True, True] Translation: X:137.22, Y:-6.89, Z:-1.02 [[ 9.97563060e-01 6.95902067e-02 5.01442748e-03 1.37223380e+02] [-6.95883841e-02 9.97575645e-01 -5.37242697e-04 -6.89074266e+00] [-5.03965756e-03 1.86987563e-04 9.99987283e-01 -1.02162264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.386559995 meters 0.05220031262903703 Centerline is valid? [True, True] Translation: X:137.29, Y:-6.90, Z:-1.02 [[ 9.97525251e-01 7.00586477e-02 5.92951610e-03 1.37285662e+02] [-7.00561073e-02 9.97542850e-01 -6.35305791e-04 -6.89629963e+00] [-5.95945506e-03 2.18334752e-04 9.99982218e-01 -1.02072673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.446559995 meters 0.05189670612830604 Centerline is valid? [True, True] Translation: X:137.35, Y:-6.90, Z:-1.02 [[ 9.97321666e-01 7.28404804e-02 6.61511753e-03 1.37345387e+02] [-7.28373776e-02 9.97343579e-01 -7.09077206e-04 -6.89754046e+00] [-6.64919452e-03 2.25350247e-04 9.99977868e-01 -1.02114305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.506559995 meters 0.051109268636540396 Centerline is valid? [True, True] Translation: X:137.41, Y:-6.89, Z:-1.02 [[ 9.96860189e-01 7.88446403e-02 7.29969866e-03 1.37407269e+02] [-7.88410228e-02 9.96886895e-01 -7.82457544e-04 -6.88757880e+00] [-7.33866651e-03 2.04485066e-04 9.99973051e-01 -1.02247058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.566559995 meters 0.051910236526613564 Centerline is valid? [True, True] Translation: X:137.47, Y:-6.90, Z:-1.02 [[ 9.96510606e-01 8.31703457e-02 7.02178004e-03 1.37465708e+02] [-8.31671053e-02 9.96535331e-01 -7.52719540e-04 -6.89980721e+00] [-7.06005585e-03 1.66111884e-04 9.99975064e-01 -1.02345132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.626559995 meters 0.0518771590429144 Centerline is valid? [True, True] Translation: X:137.53, Y:-6.90, Z:-1.02 [[ 9.96229295e-01 8.65222725e-02 6.41000783e-03 1.37527573e+02] [-8.65196417e-02 9.96249908e-01 -6.87111468e-04 -6.89576545e+00] [-6.44542016e-03 1.29928993e-04 9.99979220e-01 -1.02351879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.686559995 meters 0.05186933451934233 Centerline is valid? [True, True] Translation: X:137.59, Y:-6.90, Z:-1.02 [[ 9.96219597e-01 8.67000884e-02 5.44148404e-03 1.37590151e+02] [-8.66981953e-02 9.96234452e-01 -5.83267790e-04 -6.89956926e+00] [-5.47156324e-03 1.09295956e-04 9.99985025e-01 -1.02480938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.746559995 meters 0.05149252262249145 Centerline is valid? [True, True] Translation: X:137.65, Y:-6.90, Z:-1.03 [[ 9.96450311e-01 8.40512720e-02 4.70748694e-03 1.37651537e+02] [-8.40498248e-02 9.96461425e-01 -5.04776701e-04 -6.90127031e+00] [-4.73325627e-03 1.07321449e-04 9.99988792e-01 -1.02597987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.806559995 meters 0.05173752157106871 Centerline is valid? [True, True] Translation: X:137.71, Y:-6.90, Z:-1.03 [[ 9.96832638e-01 7.93912309e-02 4.66102830e-03 1.37711968e+02] [-7.93897607e-02 9.96843526e-01 -4.99896078e-04 -6.90023651e+00] [-4.68600325e-03 1.28274805e-04 9.99989012e-01 -1.02626009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.866559995 meters 0.05313998486195271 Centerline is valid? [True, True] Translation: X:137.77, Y:-6.92, Z:-1.03 [[ 9.97113603e-01 7.58055168e-02 4.24097140e-03 1.37771928e+02] [-7.58042670e-02 9.97122613e-01 -4.54891820e-04 -6.91557976e+00] [-4.26325180e-03 1.32095093e-04 9.99990904e-01 -1.02757843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.926559995 meters 0.052973124681778214 Centerline is valid? [True, True] Translation: X:137.83, Y:-6.91, Z:-1.03 [[ 9.97334117e-01 7.28791299e-02 3.64582363e-03 1.37833968e+02] [-7.28781866e-02 9.97340773e-01 -3.91122860e-04 -6.91280107e+00] [-3.66463325e-03 1.24379157e-04 9.99993277e-01 -1.02764749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.986559995 meters 0.05271836689909236 Centerline is valid? [True, True] Translation: X:137.90, Y:-6.92, Z:-1.03 [[ 9.97421646e-01 7.17265878e-02 2.31436895e-03 1.37895200e+02] [-7.17262048e-02 9.97424328e-01 -2.48191332e-04 -6.92004042e+00] [-2.32620981e-03 8.15505053e-05 9.99997291e-01 -1.02886169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.046559995 meters 0.052625128613429495 Centerline is valid? [True, True] Translation: X:137.96, Y:-6.92, Z:-1.03 [[ 9.97237906e-01 7.42655894e-02 1.08658451e-03 1.37955504e+02] [-7.42655064e-02 9.97238498e-01 -1.16641590e-04 -6.92105953e+00] [-1.09224636e-03 3.56236659e-05 9.99999403e-01 -1.02845123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.106559995 meters 0.05253063877072108 Centerline is valid? [True, True] Translation: X:138.02, Y:-6.92, Z:-1.03 [[ 9.96693633e-01 8.12514638e-02 -3.00041478e-05 1.38016949e+02] [-8.12514637e-02 9.96693634e-01 3.27563226e-06 -6.91918336e+00] [ 3.01710930e-05 -8.26920888e-07 1.00000000e+00 -1.02801428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.166559995 meters 0.052216003242913415 Centerline is valid? [True, True] Translation: X:138.08, Y:-6.92, Z:-1.03 [[ 9.96211325e-01 8.69651201e-02 -2.53032359e-04 1.38076009e+02] [-8.69651160e-02 9.96211357e-01 2.71126095e-05 -6.92471052e+00] [ 2.54431561e-04 -5.00490013e-06 9.99999968e-01 -1.02956231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.226559995 meters 0.0519479997184776 Centerline is valid? [True, True] Translation: X:138.14, Y:-6.93, Z:-1.03 [[ 9.95621564e-01 9.34756655e-02 -3.69775747e-05 1.38136660e+02] [-9.34756654e-02 9.95621565e-01 4.03848912e-06 -6.93053710e+00] [ 3.71931712e-05 -5.64303460e-07 9.99999999e-01 -1.03072011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.286559995 meters 0.05168753796550043 Centerline is valid? [True, True] Translation: X:138.20, Y:-6.93, Z:-1.03 [[ 9.95329205e-01 9.65352312e-02 8.50004292e-04 1.38198284e+02] [-9.65351891e-02 9.95329568e-01 -9.04897689e-05 -6.93484394e+00] [-8.54769856e-04 8.01178470e-06 9.99999635e-01 -1.03005910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.346559995 meters 0.05193249930615876 Centerline is valid? [True, True] Translation: X:138.26, Y:-6.94, Z:-1.03 [[ 9.94908464e-01 1.00782074e-01 3.49753682e-04 1.38260769e+02] [-1.00782067e-01 9.94908525e-01 -3.68298067e-05 -6.93690390e+00] [-3.51684704e-04 1.39338729e-06 9.99999938e-01 -1.02811632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.406559995 meters 0.05189086235283013 Centerline is valid? [True, True] Translation: X:138.32, Y:-6.94, Z:-1.03 [[ 9.94604907e-01 1.03733133e-01 7.19001080e-04 1.38321952e+02] [-1.03733105e-01 9.94605166e-01 -7.67018092e-05 -6.94355038e+00] [-7.23078708e-04 1.70378165e-06 9.99999739e-01 -1.02891710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.466559995 meters 0.05175454702716749 Centerline is valid? [True, True] Translation: X:138.38, Y:-6.95, Z:-1.03 [[ 9.94273801e-01 1.06862326e-01 2.27423507e-04 1.38383943e+02] [-1.06862324e-01 9.94273827e-01 -2.41937994e-05 -6.94866295e+00] [-2.28706647e-04 -2.47743492e-07 9.99999974e-01 -1.03145411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52655999499999 meters 0.051858359873463954 Centerline is valid? [True, True] Translation: X:138.45, Y:-6.96, Z:-1.03 [[ 9.94286336e-01 1.06739598e-01 -1.15744224e-03 1.38445777e+02] [-1.06739524e-01 9.94287010e-01 1.25715696e-04 -6.95568259e+00] [ 1.16424863e-03 -1.45256528e-06 9.99999322e-01 -1.03118172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.586559995 meters 0.05204384702823837 Centerline is valid? [True, True] Translation: X:138.51, Y:-6.97, Z:-1.03 [[ 9.94716455e-01 1.02625115e-01 -2.69459499e-03 1.38505689e+02] [-1.02624704e-01 9.94720104e-01 2.90774604e-04 -6.96536944e+00] [ 2.71020858e-03 -1.27062710e-05 9.99996327e-01 -1.03277333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.646559995 meters 0.05224724547083512 Centerline is valid? [True, True] Translation: X:138.57, Y:-6.98, Z:-1.03 [[ 9.95434172e-01 9.53794565e-02 -3.68351449e-03 1.38565553e+02] [-9.53786384e-02 9.95440986e-01 3.97505838e-04 -6.97692976e+00] [ 3.70463518e-03 -4.43622984e-05 9.99993137e-01 -1.03109367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.706559995 meters 0.052821986698390146 Centerline is valid? [True, True] Translation: X:138.63, Y:-6.98, Z:-1.03 [[ 9.95948680e-01 8.98372772e-02 -3.93575761e-03 1.38625248e+02] [-8.98363006e-02 9.95956454e-01 4.24591061e-04 -6.98215719e+00] [ 3.95798730e-03 -6.92970028e-05 9.99992165e-01 -1.02774920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.766559995 meters 0.05304951312310954 Centerline is valid? [True, True] Translation: X:138.68, Y:-7.00, Z:-1.03 [[ 9.96405956e-01 8.46239073e-02 -3.73687920e-03 1.38683752e+02] [-8.46229900e-02 9.96412960e-01 4.03192529e-04 -6.99672783e+00] [ 3.75759459e-03 -8.55175463e-05 9.99992937e-01 -1.03035074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.826559995 meters 0.052987483727999565 Centerline is valid? [True, True] Translation: X:138.74, Y:-7.00, Z:-1.03 [[ 9.96881452e-01 7.87629235e-02 -4.87568637e-03 1.38744885e+02] [-7.87612912e-02 9.96893365e-01 5.26190520e-04 -7.00197568e+00] [ 4.90198370e-03 -1.40534215e-04 9.99987975e-01 -1.02735806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.886559995 meters 0.053866999462178884 Centerline is valid? [True, True] Translation: X:138.81, Y:-7.01, Z:-1.02 [[ 9.97057677e-01 7.64655293e-02 -5.38621616e-03 1.38805804e+02] [-7.64635039e-02 9.97072211e-01 5.81276138e-04 -7.00721870e+00] [ 5.41489404e-03 -1.67716876e-04 9.99985325e-01 -1.02497818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.946559995 meters 0.05415410583264547 Centerline is valid? [True, True] Translation: X:138.87, Y:-7.01, Z:-1.03 [[ 9.96962803e-01 7.76894447e-02 -5.43326540e-03 1.38867538e+02] [-7.76873976e-02 9.96977594e-01 5.87118753e-04 -7.01390973e+00] [ 5.46245679e-03 -1.63239308e-04 9.99985067e-01 -1.02507500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.006559995 meters 0.053777667263336326 Centerline is valid? [True, True] Translation: X:138.93, Y:-7.02, Z:-1.03 [[ 9.96556497e-01 8.27074479e-02 -5.88435963e-03 1.38926831e+02] [-8.27051378e-02 9.96573859e-01 6.35258980e-04 -7.01957681e+00] [ 5.91673963e-03 -1.46404690e-04 9.99982485e-01 -1.02557678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.066559995 meters 0.05304946325255993 Centerline is valid? [True, True] Translation: X:138.99, Y:-7.03, Z:-1.03 [[ 9.96166980e-01 8.72786373e-02 -5.81262614e-03 1.38986248e+02] [-8.72764606e-02 9.96183932e-01 6.27564964e-04 -7.02690382e+00] [ 5.84521778e-03 -1.17854059e-04 9.99982910e-01 -1.02751265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.126559995 meters 0.05264356394588323 Centerline is valid? [True, True] Translation: X:139.05, Y:-7.03, Z:-1.03 [[ 9.95504808e-01 9.45770359e-02 -5.03596336e-03 1.39046878e+02] [-9.45754947e-02 9.95517544e-01 5.43841513e-04 -7.03303837e+00] [ 5.06482479e-03 -6.51181156e-05 9.99987172e-01 -1.02966353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.186559995 meters 0.05307151090541931 Centerline is valid? [True, True] Translation: X:139.11, Y:-7.04, Z:-1.03 [[ 9.95273080e-01 9.70150884e-02 -4.42356623e-03 1.39107343e+02] [-9.70139178e-02 9.95282910e-01 4.78944809e-04 -7.03918053e+00] [ 4.44916474e-03 -4.75333850e-05 9.99990101e-01 -1.03093069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.246559995 meters 0.05280545897911745 Centerline is valid? [True, True] Translation: X:139.17, Y:-7.04, Z:-1.03 [[ 9.94832070e-01 1.01439371e-01 -4.38249998e-03 1.39168496e+02] [-1.01438263e-01 9.94841723e-01 4.74956234e-04 -7.04343982e+00] [ 4.40807309e-03 -2.79485078e-05 9.99990284e-01 -1.03151670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.306559995 meters 0.051677102445209885 Centerline is valid? [True, True] Translation: X:139.23, Y:-7.05, Z:-1.03 [[ 9.94420560e-01 1.05375645e-01 -4.87066336e-03 1.39230972e+02] [-1.05374325e-01 9.94432488e-01 5.27471871e-04 -7.04872171e+00] [ 4.89912857e-03 -1.12860094e-05 9.99987999e-01 -1.03266940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.366559995 meters 0.05173357854744275 Centerline is valid? [True, True] Translation: X:139.29, Y:-7.05, Z:-1.04 [[ 9.93973579e-01 1.09527370e-01 -4.50321181e-03 1.39292331e+02] [-1.09526280e-01 9.93983780e-01 4.88735538e-04 -7.05308858e+00] [ 4.52964942e-03 7.42982675e-06 9.99989741e-01 -1.03547978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.426559995 meters 0.051963958583436 Centerline is valid? [True, True] Translation: X:139.36, Y:-7.06, Z:-1.03 [[ 9.94090304e-01 1.08455946e-01 -4.66633608e-03 1.39355101e+02] [-1.08454760e-01 9.94101256e-01 5.07153511e-04 -7.06228432e+00] [ 4.69381437e-03 1.92997170e-06 9.99988984e-01 -1.03363113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.486559995 meters 0.051514498777970666 Centerline is valid? [True, True] Translation: X:139.42, Y:-7.07, Z:-1.03 [[ 9.94550693e-01 1.04112785e-01 -5.42654192e-03 1.39416105e+02] [-1.04111119e-01 9.94565497e-01 5.89437356e-04 -7.07190860e+00] [ 5.45841932e-03 -2.12619797e-05 9.99985102e-01 -1.03037445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.546559995 meters 0.05279573605390182 Centerline is valid? [True, True] Translation: X:139.48, Y:-7.08, Z:-1.03 [[ 9.95572968e-01 9.37841878e-02 -6.24432031e-03 1.39475896e+02] [-9.37817802e-02 9.95592546e-01 6.77908852e-04 -7.08388039e+00] [ 6.28037589e-03 -8.93042536e-05 9.99980274e-01 -1.03101674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.606559995 meters 0.05304297904269769 Centerline is valid? [True, True] Translation: X:139.53, Y:-7.10, Z:-1.03 [[ 9.96239194e-01 8.64046424e-02 -6.45803166e-03 1.39533993e+02] [-8.64019130e-02 9.96260116e-01 7.00966213e-04 -7.09720438e+00] [ 6.49444611e-03 -1.40343725e-04 9.99978901e-01 -1.03307648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.666559995 meters 0.05324127553320607 Centerline is valid? [True, True] Translation: X:139.59, Y:-7.11, Z:-1.03 [[ 9.97052517e-01 7.64882214e-02 -5.98584275e-03 1.39594047e+02] [-7.64856974e-02 9.97070467e-01 6.49784144e-04 -7.10649016e+00] [ 6.01800786e-03 -1.90037558e-04 9.99981874e-01 -1.03125498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.726559995 meters 0.053736986357516045 Centerline is valid? [True, True] Translation: X:139.65, Y:-7.12, Z:-1.03 [[ 9.97354197e-01 7.24392442e-02 -6.09606796e-03 1.39653661e+02] [-7.24365508e-02 9.97372803e-01 6.61755973e-04 -7.11622493e+00] [ 6.12798949e-03 -2.18426960e-04 9.99981200e-01 -1.03107850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.786559995 meters 0.05364730171272216 Centerline is valid? [True, True] Translation: X:139.72, Y:-7.12, Z:-1.03 [[ 9.97444354e-01 7.12081468e-02 -5.84464467e-03 1.39715817e+02] [-7.12056475e-02 9.97461454e-01 6.34878218e-04 -7.12250267e+00] [ 5.87501627e-03 -2.17083987e-04 9.99982718e-01 -1.03097883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.846559995 meters 0.05340813941536785 Centerline is valid? [True, True] Translation: X:139.78, Y:-7.13, Z:-1.03 [[ 9.97220318e-01 7.42172640e-02 -6.59055266e-03 1.39775947e+02] [-7.42141526e-02 9.97242071e-01 7.15745008e-04 -7.13026651e+00] [ 6.62549702e-03 -2.24643184e-04 9.99978026e-01 -1.03112884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.906559995 meters 0.05308261450076653 Centerline is valid? [True, True] Translation: X:139.83, Y:-7.14, Z:-1.03 [[ 9.96614884e-01 8.19562301e-02 -6.47676385e-03 1.39834562e+02] [-8.19533893e-02 9.96635915e-01 7.03257188e-04 -7.14168152e+00] [ 6.51261177e-03 -1.70083833e-04 9.99978778e-01 -1.03434222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.966559995 meters 0.05230676577934663 Centerline is valid? [True, True] Translation: X:139.90, Y:-7.14, Z:-1.03 [[ 9.96029765e-01 8.88329819e-02 -5.77993245e-03 1.39895345e+02] [-8.88308350e-02 9.96046529e-01 6.27619885e-04 -7.14421453e+00] [ 5.81283500e-03 -1.11691861e-04 9.99983099e-01 -1.03254681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02655999499999 meters 0.05125227386055257 Centerline is valid? [True, True] Translation: X:139.96, Y:-7.15, Z:-1.03 [[ 9.95036091e-01 9.94221981e-02 -4.29005923e-03 1.39955646e+02] [-9.94211132e-02 9.95045338e-01 4.65933525e-04 -7.15065161e+00] [ 4.31512757e-03 -3.70982088e-05 9.99990689e-01 -1.03430855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.086559995 meters 0.05169038717756073 Centerline is valid? [True, True] Translation: X:140.02, Y:-7.16, Z:-1.03 [[ 9.94496770e-01 1.04715241e-01 -3.30041386e-03 1.40017328e+02] [-1.04714627e-01 9.94502246e-01 3.58757631e-04 -7.15586058e+00] [ 3.31983639e-03 -1.11816991e-05 9.99994489e-01 -1.03469034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.146559995 meters 0.051167133493443595 Centerline is valid? [True, True] Translation: X:140.08, Y:-7.16, Z:-1.03 [[ 9.94154870e-01 1.07922849e-01 -2.95855202e-03 1.40079671e+02] [-1.07922369e-01 9.94159272e-01 3.22019918e-04 -7.16184704e+00] [ 2.97602523e-03 -8.43728569e-07 9.99995572e-01 -1.03382154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.206559995 meters 0.0508835498224961 Centerline is valid? [True, True] Translation: X:140.14, Y:-7.17, Z:-1.03 [[ 9.94056600e-01 1.08841853e-01 -2.21968471e-03 1.40141623e+02] [-1.08841585e-01 9.94059078e-01 2.41652790e-04 -7.17058941e+00] [ 2.23279967e-03 1.37745007e-06 9.99997507e-01 -1.03398497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.266559995 meters 0.05102368601404318 Centerline is valid? [True, True] Translation: X:140.20, Y:-7.18, Z:-1.04 [[ 9.94336666e-01 1.06255075e-01 -2.11026801e-03 1.40202613e+02] [-1.06254825e-01 9.94338905e-01 2.30626169e-04 -7.18093682e+00] [ 2.12282678e-03 -5.09389753e-06 9.99997747e-01 -1.03630618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.326559995 meters 0.05132932057267086 Centerline is valid? [True, True] Translation: X:140.26, Y:-7.20, Z:-1.04 [[ 9.95158626e-01 9.82466380e-02 -2.62832360e-03 1.40262791e+02] [-9.82462246e-02 9.95162096e-01 2.86263306e-04 -7.19741727e+00] [ 2.64373243e-03 -2.66545269e-05 9.99996505e-01 -1.03800963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.386559995 meters 0.051981954635528356 Centerline is valid? [True, True] Translation: X:140.32, Y:-7.21, Z:-1.04 [[ 9.95809879e-01 9.14171177e-02 -2.36550026e-03 1.40322446e+02] [-9.14167638e-02 9.95812688e-01 2.57535013e-04 -7.20618665e+00] [ 2.37913828e-03 -4.02095312e-05 9.99997169e-01 -1.03586149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.446559995 meters 0.05229215249095545 Centerline is valid? [True, True] Translation: X:140.38, Y:-7.22, Z:-1.04 [[ 9.96675033e-01 8.14561341e-02 -1.94318479e-03 1.40381657e+02] [-8.14558761e-02 9.96676926e-01 2.11646766e-04 -7.22267153e+00] [ 1.95396737e-03 -5.26592286e-05 9.99998090e-01 -1.03717453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.506559995 meters 0.05223136445121789 Centerline is valid? [True, True] Translation: X:140.44, Y:-7.23, Z:-1.03 [[ 9.97190977e-01 7.48695049e-02 -2.17104531e-03 1.40442905e+02] [-7.48691671e-02 9.97193337e-01 2.36567147e-04 -7.22521530e+00] [ 2.18266359e-03 -7.33582703e-05 9.99997615e-01 -1.03469264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.566559995 meters 0.052047174385182374 Centerline is valid? [True, True] Translation: X:140.50, Y:-7.23, Z:-1.04 [[ 9.97312324e-01 7.32226131e-02 -2.56479112e-03 1.40504030e+02] [-7.32221360e-02 9.97315617e-01 2.79550974e-04 -7.23299927e+00] [ 2.57837570e-03 -9.10001475e-05 9.99996672e-01 -1.03550525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.626559995 meters 0.05203720249783361 Centerline is valid? [True, True] Translation: X:140.56, Y:-7.24, Z:-1.04 [[ 9.97216598e-01 7.45316820e-02 -2.02096589e-03 1.40563699e+02] [-7.45313878e-02 9.97218644e-01 2.20597376e-04 -7.24397786e+00] [ 2.03178636e-03 -6.93579717e-05 9.99997934e-01 -1.03710009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.686559995 meters 0.05239973788923633 Centerline is valid? [True, True] Translation: X:140.62, Y:-7.26, Z:-1.04 [[ 9.96819634e-01 7.96560438e-02 -2.35200844e-03 1.40622416e+02] [-7.96556608e-02 9.96822406e-01 2.56226172e-04 -7.25565974e+00] [ 2.36494468e-03 -6.80604922e-05 9.99997201e-01 -1.03892149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74655999499998 meters 0.05197811484099704 Centerline is valid? [True, True] Translation: X:140.68, Y:-7.26, Z:-1.04 [[ 9.96245612e-01 8.65565973e-02 -1.62367104e-03 1.40683214e+02] [-8.65564236e-02 9.96246934e-01 1.77047280e-04 -7.26044010e+00] [ 1.63290190e-03 -3.58434177e-05 9.99998666e-01 -1.03918722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.806559995 meters 0.05180939426891248 Centerline is valid? [True, True] Translation: X:140.74, Y:-7.26, Z:-1.04 [[ 9.95737458e-01 9.22306249e-02 6.53669735e-04 1.40744012e+02] [-9.22305981e-02 9.95737672e-01 -7.12153517e-05 -7.26005853e+00] [-6.57451817e-04 1.06234426e-05 9.99999784e-01 -1.03782313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.866559995 meters 0.051665069391172797 Centerline is valid? [True, True] Translation: X:140.80, Y:-7.27, Z:-1.04 [[ 9.95217667e-01 9.76558318e-02 2.26564852e-03 1.40804314e+02] [-9.76555228e-02 9.95220246e-01 -2.46892739e-04 -7.26713938e+00] [-2.27892979e-03 2.44589256e-05 9.99997403e-01 -1.03947038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.926559995 meters 0.050951614322449795 Centerline is valid? [True, True] Translation: X:140.87, Y:-7.27, Z:-1.04 [[ 9.94565144e-01 1.04089051e-01 2.37564881e-03 1.40865573e+02] [-1.04088730e-01 9.94567981e-01 -2.58832904e-04 -7.26795125e+00] [-2.38968591e-03 1.01479182e-05 9.99997145e-01 -1.03829304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.986559995 meters 0.05154515497646388 Centerline is valid? [True, True] Translation: X:140.93, Y:-7.27, Z:-1.04 [[ 9.94157841e-01 1.07924272e-01 1.59345174e-03 1.40927677e+02] [-1.07924133e-01 9.94159118e-01 -1.73103880e-04 -7.27176810e+00] [-1.60282669e-03 1.20682217e-07 9.99998715e-01 -1.03867327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.046559995 meters 0.050582962956727234 Centerline is valid? [True, True] Translation: X:140.99, Y:-7.28, Z:-1.04 [[ 9.94091370e-01 1.08537914e-01 1.36755742e-03 1.40990701e+02] [-1.08537812e-01 9.94092310e-01 -1.48865304e-04 -7.27788568e+00] [-1.37563585e-03 -4.45976464e-07 9.99999054e-01 -1.04204915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.106559995 meters 0.051029052120325366 Centerline is valid? [True, True] Translation: X:141.05, Y:-7.28, Z:-1.04 [[ 9.94094870e-01 1.08514021e-01 3.10451993e-04 1.41051420e+02] [-1.08514016e-01 9.94094919e-01 -3.31375945e-05 -7.28289512e+00] [-3.12214642e-04 -7.46479743e-07 9.99999951e-01 -1.04156023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.166559995 meters 0.05153969735408872 Centerline is valid? [True, True] Translation: X:141.11, Y:-7.29, Z:-1.04 [[ 9.94510225e-01 1.04633984e-01 -1.06828151e-03 1.41113090e+02] [-1.04633919e-01 9.94510799e-01 1.17041397e-04 -7.28968980e+00] [ 1.07466401e-03 -4.62038537e-06 9.99999423e-01 -1.04136846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.226559995 meters 0.05110153464819649 Centerline is valid? [True, True] Translation: X:141.17, Y:-7.30, Z:-1.04 [[ 9.94981857e-01 1.00054025e-01 -5.44787326e-04 1.41174160e+02] [-1.00054007e-01 9.94982006e-01 5.98868686e-05 -7.30001362e+00] [ 5.48045509e-04 -5.07819273e-06 9.99999850e-01 -1.04330499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.286559995 meters 0.05150326333540154 Centerline is valid? [True, True] Translation: X:141.23, Y:-7.31, Z:-1.04 [[ 9.95742207e-01 9.21778664e-02 -8.34977696e-04 1.41233745e+02] [-9.21778223e-02 9.95742557e-01 9.13064004e-05 -7.30885051e+00] [ 8.39839256e-04 -1.39512110e-05 9.99999647e-01 -1.04206275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.346559995 meters 0.051698339560847247 Centerline is valid? [True, True] Translation: X:141.29, Y:-7.32, Z:-1.04 [[ 9.96068446e-01 8.85842331e-02 -6.95941765e-04 1.41294694e+02] [-8.85842014e-02 9.96068689e-01 7.62834281e-05 -7.31627242e+00] [ 6.99963311e-04 -1.43340702e-05 9.99999755e-01 -1.04288760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.406559995 meters 0.05238248917264205 Centerline is valid? [True, True] Translation: X:141.36, Y:-7.32, Z:-1.04 [[ 9.96298835e-01 8.59520260e-02 -9.38558807e-04 1.41356345e+02] [-8.59519673e-02 9.96299277e-01 1.02788520e-04 -7.31813134e+00] [ 9.43920342e-04 -2.17371071e-05 9.99999554e-01 -1.04187408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.466559995 meters 0.0520209408122226 Centerline is valid? [True, True] Translation: X:141.42, Y:-7.33, Z:-1.04 [[ 9.96439823e-01 8.42940886e-02 -1.47825751e-03 1.41417431e+02] [-8.42939410e-02 9.96440919e-01 1.61997463e-04 -7.32780897e+00] [ 1.48665170e-03 -3.68125722e-05 9.99998894e-01 -1.04300941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52655999499999 meters 0.052369817975359875 Centerline is valid? [True, True] Translation: X:141.48, Y:-7.35, Z:-1.05 [[ 9.96305641e-01 8.58782277e-02 -2.24095450e-05 1.41476777e+02] [-8.58782276e-02 9.96305641e-01 2.64843464e-06 -7.34540545e+00] [ 2.25541989e-05 -7.14158370e-07 1.00000000e+00 -1.04646795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.586559995 meters 0.051880332148177714 Centerline is valid? [True, True] Translation: X:141.54, Y:-7.35, Z:-1.05 [[ 9.96054096e-01 8.87481622e-02 2.89920880e-05 1.41537394e+02] [-8.87481622e-02 9.96054097e-01 -3.10880278e-06 -7.34804563e+00] [-2.91535886e-05 5.23541215e-07 1.00000000e+00 -1.04536265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.646559995 meters 0.05172745488201076 Centerline is valid? [True, True] Translation: X:141.60, Y:-7.36, Z:-1.05 [[ 9.95431949e-01 9.54666856e-02 1.16078701e-03 1.41597368e+02] [-9.54666024e-02 9.95432625e-01 -1.26978679e-04 -7.35719984e+00] [-1.16760750e-03 1.55822422e-05 9.99999318e-01 -1.04721689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.706559995 meters 0.0513467007401275 Centerline is valid? [True, True] Translation: X:141.66, Y:-7.36, Z:-1.05 [[ 9.94901642e-01 1.00843239e-01 1.16742912e-03 1.41658482e+02] [-1.00843159e-01 9.94902327e-01 -1.27695125e-04 -7.36142889e+00] [-1.17435514e-03 9.31684966e-06 9.99999310e-01 -1.04762282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.766559995 meters 0.05088972871495757 Centerline is valid? [True, True] Translation: X:141.72, Y:-7.37, Z:-1.05 [[ 9.94180970e-01 1.07719053e-01 8.97372889e-04 1.41719661e+02] [-1.07719009e-01 9.94181375e-01 -9.75443879e-05 -7.36593718e+00] [-9.02658802e-04 3.12655807e-07 9.99999593e-01 -1.04957941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.826559995 meters 0.050802595098214984 Centerline is valid? [True, True] Translation: X:141.78, Y:-7.37, Z:-1.05 [[ 9.93850729e-01 1.10719871e-01 1.35621176e-03 1.41782739e+02] [-1.10719772e-01 9.93851654e-01 -1.47821273e-04 -7.37256441e+00] [-1.36424005e-03 -3.24717634e-06 9.99999069e-01 -1.04881916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.886559995 meters 0.050679212986485415 Centerline is valid? [True, True] Translation: X:141.84, Y:-7.38, Z:-1.05 [[ 9.93680098e-01 1.12245388e-01 9.13887764e-04 1.41843157e+02] [-1.12245344e-01 9.93680518e-01 -9.98675845e-05 -7.37991991e+00] [-9.19322143e-04 -3.34321512e-06 9.99999577e-01 -1.04847935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.946559995 meters 0.050824761319226607 Centerline is valid? [True, True] Translation: X:141.90, Y:-7.39, Z:-1.05 [[ 9.93726364e-01 1.11829891e-01 1.41044319e-03 1.41904908e+02] [-1.11829784e-01 9.93727365e-01 -1.54630470e-04 -7.38635120e+00] [-1.41888831e-03 -4.06918322e-06 9.99998993e-01 -1.05033429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.006559995 meters 0.050696974703789616 Centerline is valid? [True, True] Translation: X:141.97, Y:-7.39, Z:-1.05 [[ 9.93931739e-01 1.09984292e-01 1.77578808e-03 1.41966495e+02] [-1.09984120e-01 9.93933326e-01 -1.94402608e-04 -7.39484962e+00] [-1.78639619e-03 -2.08556661e-06 9.99998404e-01 -1.05040297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.066559995 meters 0.050473326357283015 Centerline is valid? [True, True] Translation: X:142.03, Y:-7.41, Z:-1.05 [[ 9.94590144e-01 1.03868361e-01 1.34501896e-03 1.42026201e+02] [-1.03868257e-01 9.94591053e-01 -1.47547254e-04 -7.40710724e+00] [-1.35306932e-03 7.04427024e-06 9.99999085e-01 -1.05269019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.126559995 meters 0.05106177976578236 Centerline is valid? [True, True] Translation: X:142.09, Y:-7.42, Z:-1.05 [[ 9.95452098e-01 9.52533249e-02 1.38767707e-03 1.42086368e+02] [-9.52532047e-02 9.95453065e-01 -1.52624048e-04 -7.41682284e+00] [-1.39590534e-03 1.97492413e-05 9.99999026e-01 -1.05177416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.186559995 meters 0.05159823844523145 Centerline is valid? [True, True] Translation: X:142.15, Y:-7.43, Z:-1.05 [[ 9.95918733e-01 9.02469102e-02 1.17194158e-03 1.42146396e+02] [-9.02468210e-02 9.95919422e-01 -1.28852909e-04 -7.42576225e+00] [-1.17878796e-03 2.25630238e-05 9.99999305e-01 -1.05198920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24655999499998 meters 0.05186255039879389 Centerline is valid? [True, True] Translation: X:142.21, Y:-7.44, Z:-1.05 [[ 9.96318982e-01 8.57027232e-02 1.87853469e-03 1.42206405e+02] [-8.57024858e-02 9.96320752e-01 -2.06626642e-04 -7.43755926e+00] [-1.88933156e-03 4.48709535e-05 9.99998214e-01 -1.05334879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.306559995 meters 0.0519599487940735 Centerline is valid? [True, True] Translation: X:142.27, Y:-7.44, Z:-1.05 [[ 9.96389517e-01 8.48710902e-02 2.19720587e-03 1.42267549e+02] [-8.48707644e-02 9.96391939e-01 -2.41259738e-04 -7.43983818e+00] [-2.20975419e-03 5.39101327e-05 9.99997557e-01 -1.05234436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.366559995 meters 0.052118581428101475 Centerline is valid? [True, True] Translation: X:142.33, Y:-7.44, Z:-1.05 [[ 9.96312365e-01 8.57312380e-02 3.43898931e-03 1.42330371e+02] [-8.57304416e-02 9.96318297e-01 -3.78599123e-04 -7.44249398e+00] [-3.45878574e-03 8.23769157e-05 9.99994015e-01 -1.05290514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.426559995 meters 0.05168440133477599 Centerline is valid? [True, True] Translation: X:142.39, Y:-7.45, Z:-1.05 [[ 9.96200164e-01 8.70468910e-02 2.84097992e-03 1.42391259e+02] [-8.70463525e-02 9.96204213e-01 -3.12902191e-04 -7.45004595e+00] [-2.85743333e-03 6.44162748e-05 9.99995915e-01 -1.05354064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.486559995 meters 0.05163806699004993 Centerline is valid? [True, True] Translation: X:142.45, Y:-7.46, Z:-1.05 [[ 9.95956660e-01 8.97776763e-02 3.20932378e-03 1.42452697e+02] [-8.97770021e-02 9.95961829e-01 -3.53838362e-04 -7.45595205e+00] [-3.22813077e-03 6.42842061e-05 9.99994788e-01 -1.05492221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.546559995 meters 0.05100359291098703 Centerline is valid? [True, True] Translation: X:142.51, Y:-7.45, Z:-1.06 [[ 9.95708518e-01 9.25213811e-02 2.08373727e-03 1.42514967e+02] [-9.25211026e-02 9.95710697e-01 -2.29835803e-04 -7.45214000e+00] [-2.09606422e-03 3.60597967e-05 9.99997803e-01 -1.05565719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.606559995 meters 0.05133350185318803 Centerline is valid? [True, True] Translation: X:142.58, Y:-7.46, Z:-1.06 [[ 9.95520691e-01 9.45300151e-02 1.62183452e-03 1.42576096e+02] [-9.45298499e-02 9.95522012e-01 -1.78412271e-04 -7.45708438e+00] [-1.63143728e-03 2.43013330e-05 9.99998669e-01 -1.05696878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.666559995 meters 0.05089508775756472 Centerline is valid? [True, True] Translation: X:142.64, Y:-7.46, Z:-1.06 [[ 9.95382431e-01 9.59674495e-02 2.01623377e-03 1.42637475e+02] [-9.59671959e-02 9.95384472e-01 -2.22380020e-04 -7.46430668e+00] [-2.02826903e-03 2.78608640e-05 9.99997943e-01 -1.05873350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.726559995 meters 0.05166909781227305 Centerline is valid? [True, True] Translation: X:142.70, Y:-7.47, Z:-1.06 [[ 9.95281029e-01 9.69849924e-02 3.09584075e-03 1.42698476e+02] [-9.69843981e-02 9.95285843e-01 -3.41875035e-04 -7.46749717e+00] [-3.11440322e-03 4.00134849e-05 9.99995149e-01 -1.05874583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.786559995 meters 0.0512937489071231 Centerline is valid? [True, True] Translation: X:142.76, Y:-7.47, Z:-1.06 [[ 9.95247672e-01 9.73005400e-02 3.83108275e-03 1.42761347e+02] [-9.72996304e-02 9.95255044e-01 -4.23532524e-04 -7.46847560e+00] [-3.85411437e-03 4.87568235e-05 9.99992572e-01 -1.05821754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.846559995 meters 0.051130494572730244 Centerline is valid? [True, True] Translation: X:142.82, Y:-7.48, Z:-1.06 [[ 9.95230841e-01 9.74835108e-02 3.54102409e-03 1.42822099e+02] [-9.74827358e-02 9.95237139e-01 -3.91229924e-04 -7.47937449e+00] [-3.56229715e-03 4.41753707e-05 9.99993654e-01 -1.05959451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.906559995 meters 0.051481424081472285 Centerline is valid? [True, True] Translation: X:142.88, Y:-7.48, Z:-1.06 [[ 9.95323553e-01 9.65706026e-02 2.26773006e-03 1.42882933e+02] [-9.65702811e-02 9.95326136e-01 -2.51084629e-04 -7.48085598e+00] [-2.28137840e-03 3.09151158e-05 9.99997397e-01 -1.05998029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.966559995 meters 0.05165881904902279 Centerline is valid? [True, True] Translation: X:142.94, Y:-7.49, Z:-1.06 [[ 9.95506519e-01 9.46898209e-02 7.79970107e-04 1.42944507e+02] [-9.46897825e-02 9.95506825e-01 -8.61285409e-05 -7.49011775e+00] [-7.84621061e-04 1.18863241e-05 9.99999692e-01 -1.06230743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02655999499999 meters 0.05147109347928387 Centerline is valid? [True, True] Translation: X:143.01, Y:-7.49, Z:-1.06 [[ 9.95630370e-01 9.33814621e-02 2.63160767e-04 1.43006449e+02] [-9.33814579e-02 9.95630405e-01 -2.83365148e-05 -7.49213394e+00] [-2.64656967e-04 3.63835858e-06 9.99999965e-01 -1.06121207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.086559995 meters 0.05229152101458705 Centerline is valid? [True, True] Translation: X:143.07, Y:-7.50, Z:-1.06 [[ 9.96173997e-01 8.73905319e-02 -5.12049244e-04 1.43067282e+02] [-8.73905142e-02 9.96174129e-01 5.68882316e-05 -7.49781366e+00] [ 5.15061702e-04 -1.19223303e-05 9.99999867e-01 -1.06060646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.146559995 meters 0.05237463709514906 Centerline is valid? [True, True] Translation: X:143.13, Y:-7.50, Z:-1.06 [[ 9.96608139e-01 8.22916434e-02 -5.49864177e-04 1.43127334e+02] [-8.22916223e-02 9.96608291e-01 6.10254379e-05 -7.50295072e+00] [ 5.53021081e-04 -1.55692330e-05 9.99999847e-01 -1.05948775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.206559995 meters 0.05283075580808156 Centerline is valid? [True, True] Translation: X:143.19, Y:-7.51, Z:-1.06 [[ 9.97214953e-01 7.45808474e-02 -1.83778289e-04 1.43186671e+02] [-7.45808449e-02 9.97214970e-01 2.04357057e-05 -7.51356502e+00] [ 1.84790574e-04 -6.67245125e-06 9.99999983e-01 -1.06114504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.266559995 meters 0.05328887255269819 Centerline is valid? [True, True] Translation: X:143.25, Y:-7.52, Z:-1.06 [[ 9.97675099e-01 6.81491026e-02 -3.09703594e-04 1.43245130e+02] [-6.81490952e-02 9.97675147e-01 3.43193300e-05 -7.52397125e+00] [ 3.11322410e-04 -1.31335213e-05 9.99999951e-01 -1.06150317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.326559995 meters 0.05351196911407731 Centerline is valid? [True, True] Translation: X:143.31, Y:-7.53, Z:-1.06 [[ 9.97855492e-01 6.54547109e-02 -3.12790441e-04 1.43305967e+02] [-6.54547032e-02 9.97855541e-01 3.47234632e-05 -7.52934381e+00] [ 3.14392488e-04 -1.41753930e-05 9.99999950e-01 -1.06182601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.386559995 meters 0.05364094344310786 Centerline is valid? [True, True] Translation: X:143.37, Y:-7.53, Z:-1.06 [[ 9.97928636e-01 6.43285836e-02 5.20399692e-04 1.43368134e+02] [-6.43285626e-02 9.97928771e-01 -5.70112097e-05 -7.52588184e+00] [-5.22989276e-04 2.34165546e-05 9.99999863e-01 -1.05971353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.446559995 meters 0.05391547641707503 Centerline is valid? [True, True] Translation: X:143.43, Y:-7.54, Z:-1.06 [[ 9.97897125e-01 6.48077513e-02 1.13322889e-03 1.43428747e+02] [-6.48076503e-02 9.97897767e-01 -1.25604144e-04 -7.54009883e+00] [-1.13898670e-03 5.18981121e-05 9.99999350e-01 -1.06067853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.506559995 meters 0.05347644626231779 Centerline is valid? [True, True] Translation: X:143.49, Y:-7.54, Z:-1.06 [[ 9.97770431e-01 6.67100147e-02 1.98496317e-03 1.43490012e+02] [-6.67097078e-02 9.97772402e-01 -2.20519272e-04 -7.53579166e+00] [-1.99525231e-03 8.76112960e-05 9.99998006e-01 -1.05877889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.566559995 meters 0.05317561491084291 Centerline is valid? [True, True] Translation: X:143.55, Y:-7.54, Z:-1.06 [[ 9.97595704e-01 6.92420874e-02 2.88869751e-03 1.43550839e+02] [-6.92414481e-02 9.97599879e-01 -3.20863938e-04 -7.53882841e+00] [-2.90398157e-03 1.20074888e-04 9.99995776e-01 -1.05925700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.626559995 meters 0.05385214798071842 Centerline is valid? [True, True] Translation: X:143.61, Y:-7.54, Z:-1.06 [[ 9.97523249e-01 7.02751501e-02 2.96162537e-03 1.43611806e+02] [-7.02744826e-02 9.97527638e-01 -3.28987971e-04 -7.54125321e+00] [-2.97742284e-03 1.20046459e-04 9.99995560e-01 -1.05940060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.686559995 meters 0.054055047919631276 Centerline is valid? [True, True] Translation: X:143.67, Y:-7.55, Z:-1.06 [[ 9.97487939e-01 7.08024945e-02 2.19500874e-03 1.43672667e+02] [-7.08021300e-02 9.97490350e-01 -2.43397414e-04 -7.54674468e+00] [-2.20673318e-03 8.73746907e-05 9.99997561e-01 -1.06005154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74655999499998 meters 0.05448841801121807 Centerline is valid? [True, True] Translation: X:143.74, Y:-7.54, Z:-1.06 [[ 9.97520384e-01 7.03742993e-02 7.35421365e-04 1.43736417e+02] [-7.03742583e-02 9.97520655e-01 -8.15213016e-05 -7.53611030e+00] [-7.39335007e-04 2.95644270e-05 9.99999726e-01 -1.05859939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.806559995 meters 0.05458764525912858 Centerline is valid? [True, True] Translation: X:143.80, Y:-7.54, Z:-1.06 [[ 9.97479586e-01 7.09536734e-02 2.28056719e-04 1.43797287e+02] [-7.09536696e-02 9.97479612e-01 -2.46030972e-05 -7.54412861e+00] [-2.29227608e-04 8.35962605e-06 9.99999974e-01 -1.06022294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.866559995 meters 0.05481444525251128 Centerline is valid? [True, True] Translation: X:143.86, Y:-7.54, Z:-1.06 [[ 9.97458640e-01 7.12478624e-02 -5.10213898e-05 1.43859595e+02] [-7.12478622e-02 9.97458642e-01 5.98960670e-06 -7.54323819e+00] [ 5.13184728e-05 -2.33922000e-06 9.99999999e-01 -1.05999018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.926559995 meters 0.05532713439503323 Centerline is valid? [True, True] Translation: X:143.92, Y:-7.55, Z:-1.06 [[ 9.97424210e-01 7.17269482e-02 -4.36898562e-04 1.43921085e+02] [-7.17269334e-02 9.97424305e-01 4.95176345e-05 -7.54710158e+00] [ 4.39324994e-04 -1.80526934e-05 9.99999903e-01 -1.06081080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.986559995 meters 0.05554065273563305 Centerline is valid? [True, True] Translation: X:143.98, Y:-7.55, Z:-1.06 [[ 9.97315058e-01 7.32054093e-02 -1.90851151e-03 1.43982384e+02] [-7.32051353e-02 9.97316882e-01 2.13150075e-04 -7.55058178e+00] [ 1.91899449e-03 -7.28649366e-05 9.99998156e-01 -1.06255975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.046559995 meters 0.055621417282039474 Centerline is valid? [True, True] Translation: X:144.04, Y:-7.55, Z:-1.06 [[ 9.97095969e-01 7.61307519e-02 -1.93297633e-03 1.44042487e+02] [-7.61304768e-02 9.97097841e-01 2.15638076e-04 -7.55120784e+00] [ 1.94378322e-03 -6.78534463e-05 9.99998109e-01 -1.06314892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.106559995 meters 0.055546983220558184 Centerline is valid? [True, True] Translation: X:144.10, Y:-7.55, Z:-1.06 [[ 9.96596108e-01 8.24360503e-02 -7.03865842e-04 1.44102255e+02] [-8.24360155e-02 9.96596356e-01 7.84503852e-05 -7.55127308e+00] [ 7.07937273e-04 -2.01594531e-05 9.99999749e-01 -1.06289166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.166559995 meters 0.05494734580387241 Centerline is valid? [True, True] Translation: X:144.16, Y:-7.54, Z:-1.06 [[ 9.96221161e-01 8.68504483e-02 -6.30327138e-04 1.44163832e+02] [-8.68504211e-02 9.96221361e-01 7.03775238e-05 -7.54478312e+00] [ 6.34057678e-04 -1.53674011e-05 9.99999799e-01 -1.06033066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.226559995 meters 0.05494777108952114 Centerline is valid? [True, True] Translation: X:144.22, Y:-7.54, Z:-1.06 [[ 9.95532407e-01 9.44134968e-02 -1.14845881e-03 1.44224640e+02] [-9.44134117e-02 9.95533069e-01 1.28178612e-04 -7.54315950e+00] [ 1.15543051e-03 -1.91760477e-05 9.99999332e-01 -1.06157098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.286559995 meters 0.054863980584945765 Centerline is valid? [True, True] Translation: X:144.29, Y:-7.54, Z:-1.06 [[ 9.94675567e-01 1.03046724e-01 -1.37464731e-03 1.44285998e+02] [-1.03046610e-01 9.94676517e-01 1.53431771e-04 -7.54134702e+00] [ 1.38314004e-03 -1.09620877e-05 9.99999043e-01 -1.06251920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.346559995 meters 0.05496471408514335 Centerline is valid? [True, True] Translation: X:144.35, Y:-7.54, Z:-1.06 [[ 9.94148974e-01 1.08003245e-01 -1.76538537e-03 1.44347664e+02] [-1.08003063e-01 9.94150541e-01 1.97993500e-04 -7.54417966e+00] [ 1.77644276e-03 -6.16800722e-06 9.99998422e-01 -1.06412307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.406559995 meters 0.05516695347261093 Centerline is valid? [True, True] Translation: X:144.41, Y:-7.55, Z:-1.06 [[ 9.93733656e-01 1.11750839e-01 -2.27385130e-03 1.44411199e+02] [-1.11750547e-01 9.93736258e-01 2.55173746e-04 -7.54708302e+00] [ 2.28812437e-03 5.29388104e-07 9.99997382e-01 -1.06289111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.466559995 meters 0.054735974290011494 Centerline is valid? [True, True] Translation: X:144.47, Y:-7.55, Z:-1.06 [[ 9.93447202e-01 1.14264674e-01 -2.49825104e-03 1.44472002e+02] [-1.14264332e-01 9.93450343e-01 2.79929603e-04 -7.55057240e+00] [ 2.51387442e-03 7.36570440e-06 9.99996840e-01 -1.06395689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52655999499999 meters 0.054400287766339296 Centerline is valid? [True, True] Translation: X:144.53, Y:-7.56, Z:-1.07 [[ 9.93699834e-01 1.12058771e-01 -1.86340403e-03 1.44533779e+02] [-1.12058576e-01 9.93701581e-01 2.08847292e-04 -7.55712115e+00] [ 1.87507071e-03 1.27888350e-06 9.99998242e-01 -1.06660194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.586559995 meters 0.054602832005841234 Centerline is valid? [True, True] Translation: X:144.60, Y:-7.57, Z:-1.07 [[ 9.94121153e-01 1.08259439e-01 -1.73960389e-03 1.44596218e+02] [-1.08259262e-01 9.94122675e-01 1.95935304e-04 -7.56672182e+00] [ 1.75059152e-03 -6.45519640e-06 9.99998468e-01 -1.06599964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.646559995 meters 0.054286029262775155 Centerline is valid? [True, True] Translation: X:144.66, Y:-7.58, Z:-1.07 [[ 9.94902960e-01 1.00816907e-01 -2.01293927e-03 1.44656771e+02] [-1.00816655e-01 9.94904996e-01 2.26595627e-04 -7.57770249e+00] [ 2.02552801e-03 -2.25028548e-05 9.99997948e-01 -1.06550286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.706559995 meters 0.054840479171990524 Centerline is valid? [True, True] Translation: X:144.72, Y:-7.59, Z:-1.07 [[ 9.95361410e-01 9.61761064e-02 -2.41251969e-03 1.44716787e+02] [-9.61757325e-02 9.95364333e-01 2.70804617e-04 -7.58830771e+00] [ 2.42738099e-03 -3.75226170e-05 9.99997053e-01 -1.06626269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.766559995 meters 0.05523155019592552 Centerline is valid? [True, True] Translation: X:144.78, Y:-7.60, Z:-1.07 [[ 9.95827115e-01 9.12354262e-02 -2.11032986e-03 1.44776418e+02] [-9.12351291e-02 9.95829350e-01 2.36822771e-04 -7.59871866e+00] [ 2.12313504e-03 -4.32983198e-05 9.99997745e-01 -1.06594541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.826559995 meters 0.05537302638551689 Centerline is valid? [True, True] Translation: X:144.84, Y:-7.61, Z:-1.06 [[ 9.96141817e-01 8.77481119e-02 -1.32233960e-03 1.44837439e+02] [-8.77479921e-02 9.96142695e-01 1.48496209e-04 -7.60501429e+00] [ 1.33026919e-03 -3.18906391e-05 9.99999115e-01 -1.06492562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.886559995 meters 0.0551624124326194 Centerline is valid? [True, True] Translation: X:144.90, Y:-7.62, Z:-1.07 [[ 9.96232967e-01 8.67110427e-02 -1.03503105e-03 1.44897602e+02] [-8.67109678e-02 9.96233504e-01 1.17093937e-04 -7.61594837e+00] [ 1.04128594e-03 -2.69042969e-05 9.99999457e-01 -1.06612165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.946559995 meters 0.05533879561284414 Centerline is valid? [True, True] Translation: X:144.96, Y:-7.62, Z:-1.06 [[ 9.96331080e-01 8.55821704e-02 -2.68423104e-04 1.44959582e+02] [-8.55821652e-02 9.96331116e-01 3.10747102e-05 -7.61938360e+00] [ 2.70097731e-04 -7.98846922e-06 9.99999963e-01 -1.06461889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.006559995 meters 0.055539665899272346 Centerline is valid? [True, True] Translation: X:145.02, Y:-7.63, Z:-1.07 [[ 9.96305152e-01 8.58834400e-02 2.80097944e-04 1.45019481e+02] [-8.58834347e-02 9.96305192e-01 -3.10060546e-05 -7.63284231e+00] [-2.81725943e-04 6.83571847e-06 9.99999960e-01 -1.06579072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.066559995 meters 0.05558622632042127 Centerline is valid? [True, True] Translation: X:145.08, Y:-7.65, Z:-1.07 [[ 9.96066956e-01 8.85987341e-02 9.39638734e-04 1.45080263e+02] [-8.85986740e-02 9.96067399e-01 -1.05497846e-04 -7.64515983e+00] [-9.45290486e-04 2.18321722e-05 9.99999553e-01 -1.06744353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.126559995 meters 0.054906117601023735 Centerline is valid? [True, True] Translation: X:145.14, Y:-7.65, Z:-1.07 [[ 9.95745605e-01 9.21392503e-02 1.02361130e-03 1.45140982e+02] [-9.21391806e-02 9.95746131e-01 -1.15151986e-04 -7.64619886e+00] [-1.02986701e-03 2.03473777e-05 9.99999469e-01 -1.06547048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.186559995 meters 0.054007316349396886 Centerline is valid? [True, True] Translation: X:145.20, Y:-7.65, Z:-1.07 [[ 9.95153649e-01 9.83296792e-02 6.99291731e-04 1.45201147e+02] [-9.83296482e-02 9.95153895e-01 -7.86694913e-05 -7.65318554e+00] [-7.03638436e-04 9.52712137e-06 9.99999752e-01 -1.06650302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24655999499998 meters 0.054554121579774205 Centerline is valid? [True, True] Translation: X:145.26, Y:-7.66, Z:-1.07 [[ 9.94782573e-01 1.02017299e-01 3.20816618e-04 1.45261576e+02] [-1.02017293e-01 9.94782625e-01 -3.60069085e-05 -7.66116317e+00] [-3.22816125e-04 3.09020221e-06 9.99999948e-01 -1.06787623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.306559995 meters 0.054373656381818326 Centerline is valid? [True, True] Translation: X:145.32, Y:-7.67, Z:-1.07 [[ 9.94430583e-01 1.05391550e-01 6.61376067e-04 1.45323794e+02] [-1.05391524e-01 9.94430803e-01 -7.41602582e-05 -7.66907823e+00] [-6.65508598e-04 4.04379740e-06 9.99999779e-01 -1.06771828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.366559995 meters 0.054378410178386904 Centerline is valid? [True, True] Translation: X:145.38, Y:-7.68, Z:-1.07 [[ 9.94552553e-01 1.04230392e-01 1.11547073e-03 1.45384791e+02] [-1.04230318e-01 9.94553179e-01 -1.24978567e-04 -7.67946957e+00] [-1.12242153e-03 8.03188460e-06 9.99999370e-01 -1.06774233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.426559995 meters 0.05434981149640931 Centerline is valid? [True, True] Translation: X:145.44, Y:-7.69, Z:-1.07 [[ 9.94798866e-01 1.01840106e-01 1.95190176e-03 1.45444899e+02] [-1.01839871e-01 9.94800780e-01 -2.19516619e-04 -7.69140221e+00] [-1.96410899e-03 1.95934587e-05 9.99998071e-01 -1.06925582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.486559995 meters 0.05424474914712411 Centerline is valid? [True, True] Translation: X:145.51, Y:-7.70, Z:-1.07 [[ 9.95111940e-01 9.87180146e-02 2.64192013e-03 1.45506948e+02] [-9.87175716e-02 9.95115447e-01 -2.97894898e-04 -7.69825983e+00] [-2.65842313e-03 3.56348304e-05 9.99996466e-01 -1.06784006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.546559995 meters 0.054477680898405365 Centerline is valid? [True, True] Translation: X:145.57, Y:-7.71, Z:-1.07 [[ 9.95462146e-01 9.51423306e-02 1.74711508e-03 1.45566797e+02] [-9.51421312e-02 9.95463679e-01 -1.97097830e-04 -7.71273480e+00] [-1.75794195e-03 2.99791773e-05 9.99998454e-01 -1.06919015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.606559995 meters 0.054445019503460944 Centerline is valid? [True, True] Translation: X:145.63, Y:-7.72, Z:-1.07 [[ 9.95617108e-01 9.35159847e-02 -1.15515335e-03 1.45627366e+02] [-9.35158960e-02 9.95617778e-01 1.30692297e-04 -7.72490097e+00] [ 1.16231303e-03 -2.20942866e-05 9.99999324e-01 -1.07275259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.666559995 meters 0.05445729511461888 Centerline is valid? [True, True] Translation: X:145.69, Y:-7.73, Z:-1.07 [[ 9.95653767e-01 9.31007574e-02 -2.41368007e-03 1.45688856e+02] [-9.31003674e-02 9.95656691e-01 2.73649773e-04 -7.72915130e+00] [ 2.42867372e-03 -4.77459256e-05 9.99997050e-01 -1.07098870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.726559995 meters 0.05478961041092021 Centerline is valid? [True, True] Translation: X:145.75, Y:-7.74, Z:-1.07 [[ 9.95916350e-01 9.02633002e-02 -1.77799280e-03 1.45749140e+02] [-9.02630846e-02 9.95917936e-01 2.01278647e-04 -7.74471349e+00] [ 1.78890299e-03 -3.99695805e-05 9.99998399e-01 -1.07188353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.786559995 meters 0.05470993475176125 Centerline is valid? [True, True] Translation: X:145.81, Y:-7.75, Z:-1.07 [[ 9.96224107e-01 8.67978725e-02 -1.91273256e-03 1.45809489e+02] [-8.67976170e-02 9.96225942e-01 2.16343948e-04 -7.75181844e+00] [ 1.92429199e-03 -4.95064283e-05 9.99998147e-01 -1.07038937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.846559995 meters 0.05497387468887599 Centerline is valid? [True, True] Translation: X:145.87, Y:-7.77, Z:-1.07 [[ 9.96702232e-01 8.11172863e-02 -2.15576775e-03 1.45867750e+02] [-8.11169482e-02 9.96704561e-01 2.43947108e-04 -7.76983009e+00] [ 2.16845188e-03 -6.82733265e-05 9.99997647e-01 -1.07155740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.906559995 meters 0.055240360529973165 Centerline is valid? [True, True] Translation: X:145.93, Y:-7.77, Z:-1.07 [[ 9.96850263e-01 7.92967104e-02 -1.25911618e-03 1.45930356e+02] [-7.92965932e-02 9.96851057e-01 1.42742883e-04 -7.76781085e+00] [ 1.26647034e-03 -4.24496565e-05 9.99999197e-01 -1.06805024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.966559995 meters 0.05490627622312029 Centerline is valid? [True, True] Translation: X:145.99, Y:-7.77, Z:-1.07 [[ 9.96616018e-01 8.21941406e-02 -7.96823043e-04 1.45991728e+02] [-8.21940947e-02 9.96616337e-01 9.02345522e-05 -7.77042143e+00] [ 8.01543613e-04 -2.44350515e-05 9.99999678e-01 -1.06617162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02655999499999 meters 0.054975772652004706 Centerline is valid? [True, True] Translation: X:146.05, Y:-7.78, Z:-1.07 [[ 9.96229920e-01 8.67466191e-02 -9.84995380e-04 1.46050978e+02] [-8.67465513e-02 9.96230407e-01 1.11445020e-04 -7.78254626e+00] [ 9.90949827e-04 -2.55799108e-05 9.99999509e-01 -1.06825388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.086559995 meters 0.054699004756308914 Centerline is valid? [True, True] Translation: X:146.11, Y:-7.79, Z:-1.07 [[ 9.95633899e-01 9.33315343e-02 -1.53763982e-03 1.46111223e+02] [-9.33313769e-02 9.95635086e-01 1.73977285e-04 -7.78604846e+00] [ 1.54716572e-03 -2.97076416e-05 9.99998803e-01 -1.06881701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.146559995 meters 0.0549131203159935 Centerline is valid? [True, True] Translation: X:146.17, Y:-7.79, Z:-1.07 [[ 9.95379678e-01 9.59721664e-02 -2.93952763e-03 1.46172200e+02] [-9.59716007e-02 9.95384017e-01 3.33258998e-04 -7.79372312e+00] [ 2.95794240e-03 -4.96080623e-05 9.99995624e-01 -1.07065135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.206559995 meters 0.054715502634961 Centerline is valid? [True, True] Translation: X:146.23, Y:-7.80, Z:-1.07 [[ 9.95437073e-01 9.53871882e-02 -2.51342971e-03 1.46233515e+02] [-9.53867710e-02 9.95440245e-01 2.85598751e-04 -7.80119853e+00] [ 2.52921155e-03 -4.45476404e-05 9.99996801e-01 -1.07044938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.266559995 meters 0.05426304206169772 Centerline is valid? [True, True] Translation: X:146.30, Y:-7.81, Z:-1.07 [[ 9.95670223e-01 9.29524584e-02 -8.05254510e-04 1.46296010e+02] [-9.29524143e-02 9.95670548e-01 9.21259725e-05 -7.80520230e+00] [ 8.10331535e-04 -1.68767367e-05 9.99999672e-01 -1.06812603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.326559995 meters 0.05448060608801319 Centerline is valid? [True, True] Translation: X:146.36, Y:-7.82, Z:-1.07 [[ 9.95800082e-01 9.15533980e-02 -4.14702081e-04 1.46355586e+02] [-9.15533860e-02 9.95800168e-01 4.77726734e-05 -7.82198790e+00] [ 4.17334153e-04 -9.60465233e-06 9.99999913e-01 -1.07156436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.386559995 meters 0.054443233145553216 Centerline is valid? [True, True] Translation: X:146.42, Y:-7.83, Z:-1.07 [[ 9.95763257e-01 9.19539096e-02 -1.22057016e-04 1.46417988e+02] [-9.19539086e-02 9.95763264e-01 1.41199907e-05 -7.82676322e+00] [ 1.22838281e-04 -2.83654827e-06 9.99999992e-01 -1.07086208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.446559995 meters 0.05442897162484487 Centerline is valid? [True, True] Translation: X:146.48, Y:-7.83, Z:-1.07 [[ 9.95548177e-01 9.42507518e-02 -7.89207623e-04 1.46480124e+02] [-9.42507097e-02 9.95548490e-01 9.05140646e-05 -7.83101833e+00] [ 7.94225476e-04 -1.57277334e-05 9.99999684e-01 -1.07164385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.506559995 meters 0.054822205442510916 Centerline is valid? [True, True] Translation: X:146.54, Y:-7.84, Z:-1.07 [[ 9.95106360e-01 9.87938187e-02 -1.76460010e-03 1.46540029e+02] [-9.87936182e-02 9.95107924e-01 2.00646506e-04 -7.83638490e+00] [ 1.77579018e-03 -2.53333858e-05 9.99998423e-01 -1.07284314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.566559995 meters 0.05407061949339071 Centerline is valid? [True, True] Translation: X:146.60, Y:-7.84, Z:-1.07 [[ 9.94982947e-01 1.00025613e-01 -1.95258223e-03 1.46601709e+02] [-1.00025368e-01 9.94984862e-01 2.22979639e-04 -7.84221935e+00] [ 1.96509344e-03 -2.65531808e-05 9.99998069e-01 -1.07289872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.626559995 meters 0.054586289589610974 Centerline is valid? [True, True] Translation: X:146.66, Y:-7.85, Z:-1.07 [[ 9.95251819e-01 9.73124123e-02 -2.02758040e-03 1.46663286e+02] [-9.73121436e-02 9.95253884e-01 2.31007549e-04 -7.84997091e+00] [ 2.04043717e-03 -3.26024884e-05 9.99997918e-01 -1.07284889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.686559995 meters 0.054493505937529836 Centerline is valid? [True, True] Translation: X:146.72, Y:-7.87, Z:-1.07 [[ 9.96013098e-01 8.92054183e-02 -5.48775914e-04 1.46722610e+02] [-8.92053973e-02 9.96013249e-01 6.25542513e-05 -7.86631117e+00] [ 5.52168260e-04 -1.33510801e-05 9.99999847e-01 -1.07407981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74655999499998 meters 0.05428925005216697 Centerline is valid? [True, True] Translation: X:146.78, Y:-7.87, Z:-1.07 [[ 9.96528612e-01 8.32475322e-02 7.57209055e-04 1.46783301e+02] [-8.32474907e-02 9.96528900e-01 -8.61681959e-05 -7.87325086e+00] [-7.61753996e-04 2.28333190e-05 9.99999710e-01 -1.07282925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.806559995 meters 0.05556408220489073 Centerline is valid? [True, True] Translation: X:146.84, Y:-7.89, Z:-1.07 [[ 9.96897637e-01 7.86998288e-02 1.19910429e-03 1.46841185e+02] [-7.86997214e-02 9.96898358e-01 -1.36527938e-04 -7.88968833e+00] [-1.20612982e-03 4.17352047e-05 9.99999272e-01 -1.07432299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.866559995 meters 0.05535631823589658 Centerline is valid? [True, True] Translation: X:146.90, Y:-7.89, Z:-1.07 [[ 9.97086271e-01 7.62679401e-02 1.47294342e-03 1.46902101e+02] [-7.62677757e-02 9.97087357e-01 -1.67562417e-04 -7.89028090e+00] [-1.48143290e-03 5.47360671e-05 9.99998901e-01 -1.07422466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.926559995 meters 0.0548193645079278 Centerline is valid? [True, True] Translation: X:146.96, Y:-7.90, Z:-1.07 [[ 9.97009640e-01 7.72771196e-02 1.54916956e-04 1.46963495e+02] [-7.72771179e-02 9.97009652e-01 -1.67995178e-05 -7.89534340e+00] [-1.55751919e-04 4.77774533e-06 9.99999988e-01 -1.07485128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.986559995 meters 0.054898130167063526 Centerline is valid? [True, True] Translation: X:147.02, Y:-7.90, Z:-1.08 [[ 9.96773970e-01 8.02591727e-02 3.44092308e-04 1.47023727e+02] [-8.02591640e-02 9.96774029e-01 -3.91555707e-05 -7.90066191e+00] [-3.46124870e-04 1.14126927e-05 9.99999940e-01 -1.07586180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.046559995 meters 0.05474084271763327 Centerline is valid? [True, True] Translation: X:147.08, Y:-7.91, Z:-1.08 [[ 9.96240551e-01 8.66252947e-02 9.07068400e-04 1.47082540e+02] [-8.66252364e-02 9.96240964e-01 -1.03434664e-04 -7.90980514e+00] [-9.12618755e-04 2.44707917e-05 9.99999583e-01 -1.07716434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.106559995 meters 0.05447019373012512 Centerline is valid? [True, True] Translation: X:147.14, Y:-7.92, Z:-1.08 [[ 9.95967449e-01 8.97145908e-02 3.63886316e-04 1.47141668e+02] [-8.97145817e-02 9.95967516e-01 -4.14681447e-05 -7.92024538e+00] [-3.66139248e-04 8.65501369e-06 9.99999933e-01 -1.07841555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.166559995 meters 0.05389049760679936 Centerline is valid? [True, True] Translation: X:147.20, Y:-7.92, Z:-1.08 [[ 9.95799439e-01 9.15218202e-02 2.68949264e-03 1.47204004e+02] [-9.15213264e-02 9.95803069e-01 -3.06379567e-04 -7.92017778e+00] [-2.70624544e-03 5.89466672e-05 9.99996336e-01 -1.07649503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.226559995 meters 0.054222733305035575 Centerline is valid? [True, True] Translation: X:147.27, Y:-7.93, Z:-1.08 [[ 9.95703345e-01 9.25332207e-02 3.52866830e-03 1.47265818e+02] [-9.25323776e-02 9.95709595e-01 -4.01775793e-04 -7.92598730e+00] [-3.55070650e-03 7.35334329e-05 9.99993694e-01 -1.07640596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.286559995 meters 0.05391715641262649 Centerline is valid? [True, True] Translation: X:147.33, Y:-7.94, Z:-1.08 [[ 9.95563003e-01 9.40616918e-02 2.58959216e-03 1.47326210e+02] [-9.40612427e-02 9.95566369e-01 -2.94970752e-04 -7.93871080e+00] [-2.60585631e-03 5.00817118e-05 9.99996603e-01 -1.07826321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.346559995 meters 0.05399541445466711 Centerline is valid? [True, True] Translation: X:147.39, Y:-7.94, Z:-1.08 [[ 9.95359190e-01 9.61976934e-02 2.46705292e-03 1.47387419e+02] [-9.61972907e-02 9.95362247e-01 -2.81672459e-04 -7.94230483e+00] [-2.48270758e-03 4.30414636e-05 9.99996917e-01 -1.07890040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.406559995 meters 0.05370011186512426 Centerline is valid? [True, True] Translation: X:147.45, Y:-7.95, Z:-1.08 [[ 9.94946749e-01 1.00401649e-01 6.89585081e-04 1.47449223e+02] [-1.00401619e-01 9.94946988e-01 -7.85200359e-05 -7.94638720e+00] [-6.93984141e-04 8.88779615e-06 9.99999759e-01 -1.07950000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.466559995 meters 0.053629892313381465 Centerline is valid? [True, True] Translation: X:147.51, Y:-7.95, Z:-1.08 [[ 9.94767824e-01 1.02159914e-01 -5.73386532e-04 1.47510052e+02] [-1.02159893e-01 9.94767989e-01 6.60044703e-05 -7.95402907e+00] [ 5.77129578e-04 -7.08201633e-06 9.99999833e-01 -1.08099898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52655999499999 meters 0.05377829571051944 Centerline is valid? [True, True] Translation: X:147.57, Y:-7.97, Z:-1.08 [[ 9.94782168e-01 1.02021667e-01 -1.32033629e-04 1.47572005e+02] [-1.02021666e-01 9.94782177e-01 1.55292954e-05 -7.96559618e+00] [ 1.32929025e-04 -1.97797537e-06 9.99999991e-01 -1.08322415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.586559995 meters 0.05394174648073519 Centerline is valid? [True, True] Translation: X:147.63, Y:-7.98, Z:-1.08 [[ 9.95114357e-01 9.87150635e-02 1.65938627e-03 1.47631656e+02] [-9.87148848e-02 9.95115740e-01 -1.89461016e-04 -7.97799871e+00] [-1.66998405e-03 2.47292524e-05 9.99998605e-01 -1.08310784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.646559995 meters 0.05361765226707353 Centerline is valid? [True, True] Translation: X:147.69, Y:-7.98, Z:-1.08 [[ 9.95315416e-01 9.66593836e-02 2.04593921e-03 1.47693454e+02] [-9.66591078e-02 9.95317518e-01 -2.33518654e-04 -7.98206396e+00] [-2.05893090e-03 3.46660580e-05 9.99997880e-01 -1.08121151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.706559995 meters 0.053555975762227315 Centerline is valid? [True, True] Translation: X:147.75, Y:-7.99, Z:-1.08 [[ 9.95399812e-01 9.57886340e-02 1.93681509e-03 1.47754692e+02] [-9.57883847e-02 9.95401696e-01 -2.21292116e-04 -7.98972030e+00] [-1.94910629e-03 3.47497416e-05 9.99998100e-01 -1.08138868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.766559995 meters 0.05357598378029226 Centerline is valid? [True, True] Translation: X:147.82, Y:-8.00, Z:-1.08 [[ 9.95219439e-01 9.76506561e-02 1.61794643e-03 1.47815697e+02] [-9.76504846e-02 9.95220754e-01 -1.84856976e-04 -7.99840417e+00] [-1.62826527e-03 2.59800033e-05 9.99998674e-01 -1.08250646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.826559995 meters 0.05358433623080921 Centerline is valid? [True, True] Translation: X:147.88, Y:-8.01, Z:-1.09 [[ 9.94732304e-01 1.02506249e-01 3.33702755e-04 1.47876163e+02] [-1.02506242e-01 9.94732360e-01 -3.81207438e-05 -8.00775458e+00] [-3.35852544e-04 3.71331991e-06 9.99999944e-01 -1.08577092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.886559995 meters 0.05325671323266942 Centerline is valid? [True, True] Translation: X:147.94, Y:-8.01, Z:-1.09 [[ 9.94299059e-01 1.06626386e-01 -4.42440605e-04 1.47938562e+02] [-1.06626374e-01 9.94299157e-01 5.12963710e-05 -8.01429132e+00] [ 4.45387867e-04 -3.82809606e-06 9.99999901e-01 -1.08606450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.946559995 meters 0.05310843595259876 Centerline is valid? [True, True] Translation: X:148.00, Y:-8.02, Z:-1.09 [[ 9.94166622e-01 1.07855126e-01 1.50627811e-06 1.48000624e+02] [-1.07855126e-01 9.94166622e-01 7.39185647e-07 -8.02126357e+00] [-1.41776651e-06 -8.97333512e-07 1.00000000e+00 -1.08509584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.006559995 meters 0.05257253112627007 Centerline is valid? [True, True] Translation: X:148.06, Y:-8.03, Z:-1.08 [[ 9.94328909e-01 1.06344204e-01 9.64573063e-04 1.48061278e+02] [-1.06344147e-01 9.94329377e-01 -1.10074953e-04 -8.03268801e+00] [-9.70809166e-04 6.87400854e-06 9.99999529e-01 -1.08472239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.066559995 meters 0.05303691262567058 Centerline is valid? [True, True] Translation: X:148.12, Y:-8.05, Z:-1.09 [[ 9.94601961e-01 1.03756103e-01 1.26864463e-03 1.48120870e+02] [-1.03756001e-01 9.94602770e-01 -1.45938324e-04 -8.04540480e+00] [-1.27693946e-03 1.35210493e-05 9.99999185e-01 -1.08616980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.126559995 meters 0.05316407494321874 Centerline is valid? [True, True] Translation: X:148.18, Y:-8.06, Z:-1.09 [[ 9.95012548e-01 9.97454623e-02 9.33851713e-04 1.48182160e+02] [-9.97454055e-02 9.95012986e-01 -1.07246484e-04 -8.05837205e+00] [-9.39891931e-04 1.35641800e-05 9.99999558e-01 -1.08684905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.186559995 meters 0.05318832925241625 Centerline is valid? [True, True] Translation: X:148.24, Y:-8.07, Z:-1.09 [[ 9.95192786e-01 9.79340078e-02 4.98380896e-04 1.48243378e+02] [-9.79339917e-02 9.95192911e-01 -5.65778424e-05 -8.06749148e+00] [-5.01526029e-04 7.49743005e-06 9.99999874e-01 -1.08760126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24655999499998 meters 0.05315042358599382 Centerline is valid? [True, True] Translation: X:148.30, Y:-8.08, Z:-1.09 [[ 9.95436549e-01 9.54257051e-02 -1.10422004e-04 1.48304660e+02] [-9.54257043e-02 9.95436555e-01 1.29863653e-05 -8.07993487e+00] [ 1.11157332e-04 -2.39000514e-06 9.99999994e-01 -1.08703804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.306559995 meters 0.05343228049814137 Centerline is valid? [True, True] Translation: X:148.37, Y:-8.09, Z:-1.09 [[ 9.95801251e-01 9.15407396e-02 -4.02567640e-04 1.48365601e+02] [-9.15407282e-02 9.95801332e-01 4.65585192e-05 -8.08653033e+00] [ 4.05139394e-04 -9.51169669e-06 9.99999918e-01 -1.08551695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.366559995 meters 0.05411578130420848 Centerline is valid? [True, True] Translation: X:148.42, Y:-8.11, Z:-1.09 [[ 9.96109257e-01 8.81268343e-02 9.38676856e-05 1.48423672e+02] [-8.81268337e-02 9.96109262e-01 -1.08268338e-05 -8.10624050e+00] [-9.44566057e-05 2.51244743e-06 9.99999996e-01 -1.08790498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.426559995 meters 0.05373299480782903 Centerline is valid? [True, True] Translation: X:148.48, Y:-8.12, Z:-1.09 [[ 9.96404120e-01 8.47241703e-02 8.02741585e-04 1.48484082e+02] [-8.47241233e-02 9.96404443e-01 -9.24794806e-05 -8.11668076e+00] [-8.07690530e-04 2.41353584e-05 9.99999674e-01 -1.08682896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.486559995 meters 0.05439070461196207 Centerline is valid? [True, True] Translation: X:148.55, Y:-8.12, Z:-1.09 [[ 9.96602193e-01 8.23607132e-02 8.84584166e-04 1.48545082e+02] [-8.23606552e-02 9.96602585e-01 -1.01871785e-04 -8.12497632e+00] [-8.89969100e-04 2.86707132e-05 9.99999604e-01 -1.08502961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.546559995 meters 0.05361520721795376 Centerline is valid? [True, True] Translation: X:148.61, Y:-8.12, Z:-1.08 [[ 9.96323978e-01 8.56629815e-02 -6.20575504e-04 1.48606375e+02] [-8.56629535e-02 9.96324171e-01 7.16763595e-05 -8.12379873e+00] [ 6.24434385e-04 -1.82525450e-05 9.99999805e-01 -1.08382317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.606559995 meters 0.05387907272779509 Centerline is valid? [True, True] Translation: X:148.67, Y:-8.14, Z:-1.09 [[ 9.95952625e-01 8.98694214e-02 -1.36225613e-03 1.48666327e+02] [-8.98692903e-02 9.95953556e-01 1.57279006e-04 -8.13590771e+00] [ 1.37087841e-03 -3.42174470e-05 9.99999060e-01 -1.08610731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.666559995 meters 0.0536573164616941 Centerline is valid? [True, True] Translation: X:148.73, Y:-8.14, Z:-1.09 [[ 9.95500981e-01 9.47236542e-02 -2.28626426e-03 1.48726572e+02] [-9.47232976e-02 9.95503605e-01 2.64012925e-04 -8.14395323e+00] [ 2.30099258e-03 -4.62626353e-05 9.99997352e-01 -1.08729214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.726559995 meters 0.05284285471812844 Centerline is valid? [True, True] Translation: X:148.79, Y:-8.15, Z:-1.09 [[ 9.95085153e-01 9.89812843e-02 -2.87126562e-03 1.48786480e+02] [-9.89807397e-02 9.95089294e-01 3.31495856e-04 -8.15056193e+00] [ 2.88997756e-03 -4.56666102e-05 9.99995823e-01 -1.08811650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.786559995 meters 0.05280901456173061 Centerline is valid? [True, True] Translation: X:148.85, Y:-8.16, Z:-1.09 [[ 9.94792393e-01 1.01900144e-01 -2.11068289e-03 1.48847713e+02] [-1.01899856e-01 9.94794632e-01 2.43794686e-04 -8.15724507e+00] [ 2.12453872e-03 -2.74468164e-05 9.99997743e-01 -1.08787117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.846559995 meters 0.05301669885971412 Centerline is valid? [True, True] Translation: X:148.91, Y:-8.16, Z:-1.09 [[ 9.94521060e-01 1.04535751e-01 -3.71490250e-04 1.48908964e+02] [-1.04535742e-01 9.94521129e-01 4.30208191e-05 -8.16366414e+00] [ 3.73952117e-04 -3.95110173e-06 9.99999930e-01 -1.08632415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.906559995 meters 0.052578959205538074 Centerline is valid? [True, True] Translation: X:148.97, Y:-8.17, Z:-1.09 [[ 9.94379453e-01 1.05874569e-01 2.79494161e-04 1.48969508e+02] [-1.05874564e-01 9.94379493e-01 -3.14896257e-05 -8.17055947e+00] [-2.81257213e-04 1.72131424e-06 9.99999960e-01 -1.08511636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.966559995 meters 0.05241283916069101 Centerline is valid? [True, True] Translation: X:149.03, Y:-8.18, Z:-1.09 [[ 9.94365349e-01 1.06006541e-01 4.07434248e-04 1.49031622e+02] [-1.06006530e-01 9.94365433e-01 -4.65210490e-05 -8.17999849e+00] [-4.10070068e-04 3.06822818e-06 9.99999916e-01 -1.08644059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02655999499999 meters 0.05270440079068455 Centerline is valid? [True, True] Translation: X:149.09, Y:-8.19, Z:-1.09 [[ 9.94323778e-01 1.06395698e-01 4.25013667e-04 1.49093220e+02] [-1.06395686e-01 9.94323869e-01 -4.87348948e-05 -8.19053193e+00] [-4.27786417e-04 3.23864385e-06 9.99999908e-01 -1.08796673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.086559995 meters 0.05243597752080169 Centerline is valid? [True, True] Translation: X:149.15, Y:-8.20, Z:-1.09 [[ 9.94362384e-01 1.06029284e-01 -1.11348280e-03 1.49154463e+02] [-1.06029206e-01 9.94363008e-01 1.29205869e-04 -8.20107621e+00] [ 1.12090571e-03 -1.04157587e-05 9.99999372e-01 -1.09093751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.146559995 meters 0.053034696166629744 Centerline is valid? [True, True] Translation: X:149.22, Y:-8.21, Z:-1.09 [[ 9.94700694e-01 1.02791193e-01 -2.12141302e-03 1.49215785e+02] [-1.02790902e-01 9.94702956e-01 2.46111186e-04 -8.20938248e+00] [ 2.13547387e-03 -2.67450097e-05 9.99997720e-01 -1.08920773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.206559995 meters 0.05290325298079314 Centerline is valid? [True, True] Translation: X:149.28, Y:-8.22, Z:-1.09 [[ 9.95287999e-01 9.69491695e-02 -1.63009030e-03 1.49276164e+02] [-9.69489900e-02 9.95289334e-01 1.88998237e-04 -8.22259885e+00] [ 1.64073471e-03 -3.00720693e-05 9.99998654e-01 -1.09020841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.266559995 meters 0.053198193290246214 Centerline is valid? [True, True] Translation: X:149.34, Y:-8.23, Z:-1.09 [[ 9.95759082e-01 9.19904021e-02 -1.27119927e-03 1.49336327e+02] [-9.19902889e-02 9.95759893e-01 1.47303469e-04 -8.23347630e+00] [ 1.27935975e-03 -2.97407788e-05 9.99999181e-01 -1.09061372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.326559995 meters 0.05337600067490639 Centerline is valid? [True, True] Translation: X:149.40, Y:-8.25, Z:-1.09 [[ 9.96447750e-01 8.42032251e-02 -1.30292124e-03 1.49396276e+02] [-8.42030995e-02 9.96448601e-01 1.51031994e-04 -8.24681511e+00] [ 1.31101142e-03 -4.07854844e-05 9.99999140e-01 -1.09128266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.386559995 meters 0.053765825527540806 Centerline is valid? [True, True] Translation: X:149.46, Y:-8.25, Z:-1.09 [[ 9.96740606e-01 8.06710308e-02 -5.90063066e-04 1.49456719e+02] [-8.06710044e-02 9.96740781e-01 6.84638688e-05 -8.25036491e+00] [ 5.93662972e-04 -2.06397379e-05 9.99999824e-01 -1.08978544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.446559995 meters 0.05395689615630791 Centerline is valid? [True, True] Translation: X:149.52, Y:-8.27, Z:-1.09 [[ 9.96847883e-01 7.93363076e-02 -2.20528829e-04 1.49516559e+02] [-7.93363039e-02 9.96847907e-01 2.58038464e-05 -8.26563577e+00] [ 2.21880883e-04 -8.22656748e-06 9.99999975e-01 -1.09192267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.506559995 meters 0.0534899262397523 Centerline is valid? [True, True] Translation: X:149.58, Y:-8.28, Z:-1.09 [[ 9.96609339e-01 8.22731009e-02 -9.81014054e-04 1.49576533e+02] [-8.22730287e-02 9.96609821e-01 1.13762190e-04 -8.27869287e+00] [ 9.87047810e-04 -3.26654640e-05 9.99999512e-01 -1.09402912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.566559995 meters 0.05354418986882763 Centerline is valid? [True, True] Translation: X:149.64, Y:-8.28, Z:-1.09 [[ 9.96339094e-01 8.54824393e-02 -1.07794933e-03 1.49637576e+02] [-8.54823540e-02 9.96339677e-01 1.25040739e-04 -8.28440662e+00] [ 1.08469248e-03 -3.24373307e-05 9.99999411e-01 -1.09461725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.626559995 meters 0.053787339832189404 Centerline is valid? [True, True] Translation: X:149.70, Y:-8.29, Z:-1.09 [[ 9.96024281e-01 8.90718825e-02 -1.35348060e-03 1.49698681e+02] [-8.90717513e-02 9.96025200e-01 1.56995435e-04 -8.28949849e+00] [ 1.36208466e-03 -3.58143781e-05 9.99999072e-01 -1.09435040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.686559995 meters 0.053446016305532126 Centerline is valid? [True, True] Translation: X:149.76, Y:-8.29, Z:-1.09 [[ 9.95543422e-01 9.43034207e-02 -3.98861482e-04 1.49758626e+02] [-9.43034097e-02 9.95543502e-01 4.61978580e-05 -8.28762288e+00] [ 4.01440573e-04 -8.37797589e-06 9.99999919e-01 -1.09199549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74655999499998 meters 0.05257884501416155 Centerline is valid? [True, True] Translation: X:149.82, Y:-8.30, Z:-1.09 [[ 9.95236096e-01 9.74876952e-02 1.12347505e-03 1.49817337e+02] [-9.74876102e-02 9.95236730e-01 -1.30241255e-04 -8.29953177e+00] [-1.13082056e-03 2.00959003e-05 9.99999360e-01 -1.09423329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.806559995 meters 0.051715719222391335 Centerline is valid? [True, True] Translation: X:149.88, Y:-8.31, Z:-1.09 [[ 9.94894976e-01 1.00849122e-01 3.66633438e-03 1.49878402e+02] [-1.00848241e-01 9.94901730e-01 -4.24903916e-04 -8.30874884e+00] [-3.69049360e-03 5.29913979e-05 9.99993189e-01 -1.09379373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.866559995 meters 0.05187141787564842 Centerline is valid? [True, True] Translation: X:149.94, Y:-8.32, Z:-1.09 [[ 9.94718642e-01 1.02527365e-01 4.79192290e-03 1.49938902e+02] [-1.02525879e-01 9.94730182e-01 -5.55398173e-04 -8.31539545e+00] [-4.82361385e-03 6.11688097e-05 9.99988364e-01 -1.09408913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.926559995 meters 0.052011882789975775 Centerline is valid? [True, True] Translation: X:150.00, Y:-8.32, Z:-1.09 [[ 9.94523856e-01 1.04392402e-01 4.95237930e-03 1.49999903e+02] [-1.04390835e-01 9.94536185e-01 -5.74572954e-04 -8.32103743e+00] [-4.98530146e-03 5.44435005e-05 9.99987572e-01 -1.09498029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.986559995 meters 0.05144054658739145 Centerline is valid? [True, True] Translation: X:150.06, Y:-8.33, Z:-1.10 [[ 9.94413352e-01 1.05457369e-01 4.56385518e-03 1.50060148e+02] [-1.05456048e-01 9.94423824e-01 -5.29916910e-04 -8.32885672e+00] [-4.59428996e-03 4.56703220e-05 9.99989445e-01 -1.09645442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.046559995 meters 0.052127395200307215 Centerline is valid? [True, True] Translation: X:150.12, Y:-8.33, Z:-1.10 [[ 9.94258945e-01 1.06928655e-01 3.92585845e-03 1.50122265e+02] [-1.06927688e-01 9.94266695e-01 -4.56127764e-04 -8.33164595e+00] [-3.95212343e-03 3.37261431e-05 9.99992190e-01 -1.09742736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.106559995 meters 0.05222677288214916 Centerline is valid? [True, True] Translation: X:150.18, Y:-8.34, Z:-1.10 [[ 9.94139985e-01 1.08052244e-01 3.22542573e-03 1.50183499e+02] [-1.08051596e-01 9.94145217e-01 -3.75015381e-04 -8.33762486e+00] [-3.24706281e-03 2.43053870e-05 9.99994728e-01 -1.09779073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.166559995 meters 0.051994758826026596 Centerline is valid? [True, True] Translation: X:150.24, Y:-8.35, Z:-1.10 [[ 9.94182536e-01 1.07655056e-01 3.38729278e-03 1.50244397e+02] [-1.07654338e-01 9.94188306e-01 -3.94270776e-04 -8.34750437e+00] [-3.41005211e-03 2.73203597e-05 9.99994185e-01 -1.09905485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.226559995 meters 0.051340740779715205 Centerline is valid? [True, True] Translation: X:150.31, Y:-8.36, Z:-1.10 [[ 9.94396239e-01 1.05586609e-01 5.25250268e-03 1.50306021e+02] [-1.05584847e-01 9.94410109e-01 -6.12462784e-04 -8.35810451e+00] [-5.28780964e-03 5.44459962e-05 9.99986018e-01 -1.09856979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.286559995 meters 0.0519469732095425 Centerline is valid? [True, True] Translation: X:150.37, Y:-8.37, Z:-1.10 [[ 9.94545410e-01 1.04139099e-01 5.87160162e-03 1.50366024e+02] [-1.04136869e-01 9.94562740e-01 -6.85071737e-04 -8.36767360e+00] [-5.91101894e-03 6.98847447e-05 9.99982527e-01 -1.09875767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.346559995 meters 0.051804413430345565 Centerline is valid? [True, True] Translation: X:150.43, Y:-8.37, Z:-1.10 [[ 9.94745982e-01 1.02223999e-01 5.53943608e-03 1.50428182e+02] [-1.02221983e-01 9.94761403e-01 -6.46526574e-04 -8.37243445e+00] [-5.57650774e-03 7.68775676e-05 9.99984448e-01 -1.09851581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.406559995 meters 0.05188499458703115 Centerline is valid? [True, True] Translation: X:150.49, Y:-8.38, Z:-1.10 [[ 9.94881947e-01 1.00934424e-01 4.70683718e-03 1.50489545e+02] [-1.00932952e-01 9.94893078e-01 -5.49869070e-04 -8.38007649e+00] [-4.73830045e-03 7.19798416e-05 9.99988772e-01 -1.09924758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.466559995 meters 0.05150060380176079 Centerline is valid? [True, True] Translation: X:150.55, Y:-8.39, Z:-1.10 [[ 9.95100759e-01 9.87927106e-02 3.80527848e-03 1.50549930e+02] [-9.87917322e-02 9.95108032e-01 -4.44693955e-04 -8.39004803e+00] [-3.83059570e-03 6.65852393e-05 9.99992661e-01 -1.10053509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52655999499999 meters 0.05189982059845236 Centerline is valid? [True, True] Translation: X:150.61, Y:-8.39, Z:-1.10 [[ 9.95264360e-01 9.71487805e-02 3.31176154e-03 1.50611737e+02] [-9.71480307e-02 9.95269868e-01 -3.86923616e-04 -8.39274037e+00] [-3.33368563e-03 6.33601735e-05 9.99994441e-01 -1.10081071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.586559995 meters 0.052696178063629556 Centerline is valid? [True, True] Translation: X:150.67, Y:-8.41, Z:-1.10 [[ 9.95312342e-01 9.66746299e-02 2.71237035e-03 1.50671027e+02] [-9.66741248e-02 9.95316037e-01 -3.17022322e-04 -8.40754155e+00] [-2.73031372e-03 5.33202004e-05 9.99996271e-01 -1.10345677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.646559995 meters 0.05258781918175675 Centerline is valid? [True, True] Translation: X:150.73, Y:-8.42, Z:-1.10 [[ 9.95253843e-01 9.72933259e-02 1.94863897e-03 1.50731215e+02] [-9.72930664e-02 9.95255750e-01 -2.27709050e-04 -8.41868841e+00] [-1.96154871e-03 3.70392464e-05 9.99998075e-01 -1.10478871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.706559995 meters 0.052622546702275744 Centerline is valid? [True, True] Translation: X:150.79, Y:-8.42, Z:-1.10 [[ 9.94959165e-01 1.00269821e-01 1.49076566e-03 1.50792984e+02] [-1.00269672e-01 9.94960282e-01 -1.74687822e-04 -8.42229369e+00] [-1.50076854e-03 2.43286656e-05 9.99998874e-01 -1.10379541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.766559995 meters 0.05201475050784441 Centerline is valid? [True, True] Translation: X:150.85, Y:-8.43, Z:-1.10 [[ 9.94394353e-01 1.05711138e-01 2.24202724e-03 1.50852605e+02] [-1.05710814e-01 9.94396880e-01 -2.63002661e-04 -8.42973869e+00] [-2.25726720e-03 2.45218375e-05 9.99997452e-01 -1.10386308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.826559995 meters 0.051325543287843146 Centerline is valid? [True, True] Translation: X:150.91, Y:-8.44, Z:-1.10 [[ 9.93967021e-01 1.09653163e-01 2.39696035e-03 1.50913371e+02] [-1.09652805e-01 9.93969911e-01 -2.80662404e-04 -8.43582783e+00] [-2.41328199e-03 1.61357477e-05 9.99997088e-01 -1.10381822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.886559995 meters 0.051275108814567434 Centerline is valid? [True, True] Translation: X:150.97, Y:-8.44, Z:-1.10 [[ 9.93372871e-01 1.14895006e-01 3.07833321e-03 1.50974593e+02] [-1.14894439e-01 9.93377641e-01 -3.60995478e-04 -8.43998997e+00] [-3.09942396e-03 4.91974823e-06 9.99995197e-01 -1.10427712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.946559995 meters 0.05125053204568474 Centerline is valid? [True, True] Translation: X:151.04, Y:-8.44, Z:-1.10 [[ 9.92981465e-01 1.18226590e-01 3.20690140e-03 1.51037600e+02] [-1.18225991e-01 9.92986643e-01 -3.76328077e-04 -8.44461471e+00] [-3.22890224e-03 -5.45229058e-06 9.99994787e-01 -1.10432246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.006559995 meters 0.050905637712094325 Centerline is valid? [True, True] Translation: X:151.10, Y:-8.45, Z:-1.10 [[ 9.92904298e-01 1.18896135e-01 2.18264143e-03 1.51098992e+02] [-1.18895859e-01 9.92906697e-01 -2.56196754e-04 -8.45226772e+00] [-2.19762010e-03 -5.12817107e-06 9.99997585e-01 -1.10319217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.066559995 meters 0.051531714720909144 Centerline is valid? [True, True] Translation: X:151.16, Y:-8.46, Z:-1.10 [[ 9.93095601e-01 1.17307730e-01 -1.51647898e-04 1.51160956e+02] [-1.17307729e-01 9.93095613e-01 1.81232314e-05 -8.46021163e+00] [ 1.52726857e-04 -2.08630853e-07 9.99999988e-01 -1.10452482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.126559995 meters 0.051378971478000086 Centerline is valid? [True, True] Translation: X:151.22, Y:-8.47, Z:-1.11 [[ 9.93414645e-01 1.14572042e-01 -7.68810900e-04 1.51222270e+02] [-1.14572006e-01 9.93414942e-01 9.08904952e-05 -8.46875316e+00] [ 7.74161745e-04 -2.20774209e-06 9.99999700e-01 -1.10656542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.186559995 meters 0.05169485681722583 Centerline is valid? [True, True] Translation: X:151.28, Y:-8.48, Z:-1.11 [[ 9.93889977e-01 1.10374780e-01 3.47766026e-04 1.51282656e+02] [-1.10374772e-01 9.93890038e-01 -4.01580683e-05 -8.47680419e+00] [-3.50073627e-04 1.52810575e-06 9.99999939e-01 -1.10722426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24655999499998 meters 0.05225490704363608 Centerline is valid? [True, True] Translation: X:151.34, Y:-8.48, Z:-1.11 [[ 9.94559301e-01 1.04169085e-01 7.73070147e-04 1.51342401e+02] [-1.04169046e-01 9.94559602e-01 -9.11251613e-05 -8.48374158e+00] [-7.78356762e-04 1.00993972e-05 9.99999697e-01 -1.10663671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.306559995 meters 0.052156056325286984 Centerline is valid? [True, True] Translation: X:151.40, Y:-8.49, Z:-1.11 [[ 9.95118766e-01 9.86802703e-02 9.20195683e-04 1.51401282e+02] [-9.86802122e-02 9.95119191e-01 -1.08539767e-04 -8.49303585e+00] [-9.26415117e-04 1.72048534e-05 9.99999571e-01 -1.10616537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.366559995 meters 0.05204472456535992 Centerline is valid? [True, True] Translation: X:151.46, Y:-8.49, Z:-1.10 [[ 9.95797579e-01 9.15739202e-02 1.18269045e-03 1.51462595e+02] [-9.15738192e-02 9.95798281e-01 -1.39380798e-04 -8.49331461e+00] [-1.19048476e-03 3.04915805e-05 9.99999291e-01 -1.10488961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.426559995 meters 0.05381875270406567 Centerline is valid? [True, True] Translation: X:151.52, Y:-8.51, Z:-1.11 [[ 9.96217795e-01 8.68913374e-02 -8.25895972e-06 1.51521316e+02] [-8.68913374e-02 9.96217795e-01 9.56127725e-07 -8.50593335e+00] [ 8.31080181e-06 -2.34879398e-07 1.00000000e+00 -1.10850269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.486559995 meters 0.05334976221614291 Centerline is valid? [True, True] Translation: X:151.58, Y:-8.50, Z:-1.11 [[ 9.96406972e-01 8.46933991e-02 4.16525015e-04 1.51583569e+02] [-8.46933860e-02 9.96407059e-01 -4.89702292e-05 -8.50081184e+00] [-4.19175921e-04 1.35173639e-05 9.99999912e-01 -1.10599463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.546559995 meters 0.05310618738639575 Centerline is valid? [True, True] Translation: X:151.64, Y:-8.51, Z:-1.11 [[ 9.96378197e-01 8.50317124e-02 3.10851739e-04 1.51643324e+02] [-8.50317054e-02 9.96378245e-01 -3.59422800e-05 -8.51343299e+00] [-3.12782144e-04 9.37985068e-06 9.99999951e-01 -1.10764849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.606559995 meters 0.05339109433334538 Centerline is valid? [True, True] Translation: X:151.70, Y:-8.51, Z:-1.11 [[ 9.96189292e-01 8.71917872e-02 2.11827288e-03 1.51704693e+02] [-8.71914524e-02 9.96191542e-01 -2.50083933e-04 -8.51220166e+00] [-2.13201079e-03 6.44356471e-05 9.99997725e-01 -1.10671412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.666559995 meters 0.05279359564099247 Centerline is valid? [True, True] Translation: X:151.76, Y:-8.52, Z:-1.11 [[ 9.95723709e-01 9.23374859e-02 2.84332910e-03 1.51763162e+02] [-9.23369030e-02 9.95727766e-01 -3.35874969e-04 -8.52377807e+00] [-2.86219559e-03 7.18944663e-05 9.99995901e-01 -1.10769177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.726559995 meters 0.05309059489652326 Centerline is valid? [True, True] Translation: X:151.82, Y:-8.53, Z:-1.11 [[ 9.95269215e-01 9.70729424e-02 4.00407178e-03 1.51823766e+02] [-9.70718252e-02 9.95277266e-01 -4.72902631e-04 -8.52531368e+00] [-4.03106766e-03 8.19828753e-05 9.99991872e-01 -1.10773532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.786559995 meters 0.05225644034601417 Centerline is valid? [True, True] Translation: X:151.89, Y:-8.52, Z:-1.11 [[ 9.94422448e-01 1.05395013e-01 3.98567215e-03 1.51885649e+02] [-1.05393973e-01 9.94430434e-01 -4.70743176e-04 -8.52127880e+00] [-4.01308767e-03 4.80517604e-05 9.99991946e-01 -1.10847029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.846559995 meters 0.05198863277818766 Centerline is valid? [True, True] Translation: X:151.95, Y:-8.53, Z:-1.11 [[ 9.93868650e-01 1.10487989e-01 4.18465929e-03 1.51947014e+02] [-1.10486888e-01 9.93877459e-01 -4.94188333e-04 -8.52532680e+00] [-4.21364041e-03 2.88083098e-05 9.99991122e-01 -1.11025092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.906559995 meters 0.05220950463362065 Centerline is valid? [True, True] Translation: X:152.01, Y:-8.53, Z:-1.11 [[ 9.93219171e-01 1.16220913e-01 2.89435782e-03 1.52008615e+02] [-1.16220412e-01 9.93223388e-01 -3.41469692e-04 -8.52512098e+00] [-2.91442980e-03 2.77078721e-06 9.99995753e-01 -1.11169210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.966559995 meters 0.052349675679102405 Centerline is valid? [True, True] Translation: X:152.07, Y:-8.53, Z:-1.11 [[ 9.92976961e-01 1.18292180e-01 1.92767954e-03 1.52070544e+02] [-1.18291961e-01 9.92978832e-01 -2.27743921e-04 -8.52950284e+00] [-1.94108531e-03 -1.88452654e-06 9.99998116e-01 -1.11149497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02655999499999 meters 0.052094266799242124 Centerline is valid? [True, True] Translation: X:152.13, Y:-8.53, Z:-1.11 [[ 9.92995905e-01 1.18131445e-01 2.02368922e-03 1.52133375e+02] [-1.18131203e-01 9.92997967e-01 -2.39052715e-04 -8.53453104e+00] [-2.03775892e-03 -1.68247538e-06 9.99997924e-01 -1.11418371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.086559995 meters 0.05213570497050154 Centerline is valid? [True, True] Translation: X:152.19, Y:-8.54, Z:-1.11 [[ 9.93338718e-01 1.15203360e-01 2.52527734e-03 1.52194519e+02] [-1.15202975e-01 9.93341928e-01 -2.98239390e-04 -8.54321732e+00] [-2.54282204e-03 5.33327197e-06 9.99996767e-01 -1.11318090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.146559995 meters 0.05292056719059593 Centerline is valid? [True, True] Translation: X:152.26, Y:-8.55, Z:-1.11 [[ 9.93790461e-01 1.11218845e-01 3.29976062e-03 1.52255523e+02] [-1.11218161e-01 9.93795939e-01 -3.90494437e-04 -8.55196325e+00] [-3.32271904e-03 2.10763387e-05 9.99994480e-01 -1.11334596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.206559995 meters 0.05239602693002224 Centerline is valid? [True, True] Translation: X:152.32, Y:-8.56, Z:-1.12 [[ 9.93987259e-01 1.09422764e-01 3.99851996e-03 1.52317050e+02] [-1.09421743e-01 9.93995301e-01 -4.73903728e-04 -8.56270670e+00] [-4.02636590e-03 3.35292439e-05 9.99991894e-01 -1.11537781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.266559995 meters 0.05253730459923867 Centerline is valid? [True, True] Translation: X:152.38, Y:-8.57, Z:-1.12 [[ 9.94204778e-01 1.07459476e-01 3.05291957e-03 1.52378104e+02] [-1.07458873e-01 9.94209465e-01 -3.61611630e-04 -8.56884201e+00] [-3.07410013e-03 3.14527153e-05 9.99995274e-01 -1.11542166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.326559995 meters 0.05272357911172484 Centerline is valid? [True, True] Translation: X:152.44, Y:-8.58, Z:-1.12 [[ 9.94318541e-01 1.06420434e-01 2.30866486e-03 1.52439370e+02] [-1.06420085e-01 9.94321221e-01 -2.73850930e-04 -8.57710068e+00] [-2.32469780e-03 2.66067459e-05 9.99997298e-01 -1.11673439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.386559995 meters 0.052142407631758765 Centerline is valid? [True, True] Translation: X:152.50, Y:-8.58, Z:-1.12 [[ 9.94487671e-01 1.04842867e-01 1.49831137e-03 1.52500601e+02] [-1.04842719e-01 9.94488800e-01 -1.77204008e-04 -8.58479822e+00] [-1.50863245e-03 1.91401628e-05 9.99998862e-01 -1.11772583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.446559995 meters 0.0517690834344998 Centerline is valid? [True, True] Translation: X:152.56, Y:-8.59, Z:-1.12 [[ 9.94712183e-01 1.02698442e-01 8.38972704e-04 1.52561333e+02] [-1.02698394e-01 9.94712536e-01 -9.93236534e-05 -8.59445120e+00] [-8.44737051e-04 1.26372984e-05 9.99999643e-01 -1.11805426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.506559995 meters 0.05244678593939943 Centerline is valid? [True, True] Translation: X:152.62, Y:-8.60, Z:-1.12 [[ 9.94856258e-01 1.01293521e-01 8.05337923e-04 1.52623030e+02] [-1.01293477e-01 9.94856584e-01 -9.54883712e-05 -8.60249236e+00] [-8.10868088e-04 1.34217252e-05 9.99999671e-01 -1.11837226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.566559995 meters 0.05334696747679518 Centerline is valid? [True, True] Translation: X:152.68, Y:-8.62, Z:-1.12 [[ 9.95460427e-01 9.51709918e-02 1.01041701e-03 1.52682780e+02] [-9.51709189e-02 9.95460939e-01 -1.20113228e-04 -8.61507134e+00] [-1.01726196e-03 2.34056503e-05 9.99999482e-01 -1.11878303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.626559995 meters 0.053165032006870595 Centerline is valid? [True, True] Translation: X:152.74, Y:-8.62, Z:-1.12 [[ 9.95972632e-01 8.96095629e-02 2.93978932e-03 1.52741805e+02] [-8.96089207e-02 9.95976967e-01 -3.49690742e-04 -8.62326144e+00] [-2.95929808e-03 8.48510612e-05 9.99995618e-01 -1.11694911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.686559995 meters 0.05308483982140234 Centerline is valid? [True, True] Translation: X:152.80, Y:-8.64, Z:-1.12 [[ 9.96239464e-01 8.65390973e-02 4.23252005e-03 1.52801824e+02] [-8.65377383e-02 9.96248446e-01 -5.03534278e-04 -8.63701333e+00] [-4.26021693e-03 1.35368007e-04 9.99990916e-01 -1.11692209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74655999499998 meters 0.05325329765380377 Centerline is valid? [True, True] Translation: X:152.86, Y:-8.64, Z:-1.12 [[ 9.96260775e-01 8.63225607e-02 3.58940494e-03 1.52864727e+02] [-8.63215831e-02 9.96267234e-01 -4.26693382e-04 -8.63806420e+00] [-3.61283979e-03 1.15254763e-04 9.99993467e-01 -1.11779811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.806559995 meters 0.05213067936886271 Centerline is valid? [True, True] Translation: X:152.92, Y:-8.65, Z:-1.12 [[ 9.95884773e-01 9.05027286e-02 4.77228570e-03 1.52922761e+02] [-9.05010429e-02 9.95896198e-01 -5.68434363e-04 -8.65128219e+00] [-4.80414604e-03 1.34198294e-04 9.99988451e-01 -1.11808462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.866559995 meters 0.052852407530639266 Centerline is valid? [True, True] Translation: X:152.98, Y:-8.66, Z:-1.12 [[ 9.95659679e-01 9.29245555e-02 5.17976236e-03 1.52983244e+02] [-9.29226032e-02 9.95673144e-01 -6.16835537e-04 -8.66437551e+00] [-5.21466944e-03 1.32841272e-04 9.99986395e-01 -1.11917662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.926559995 meters 0.05240076772352621 Centerline is valid? [True, True] Translation: X:153.04, Y:-8.66, Z:-1.12 [[ 9.94729125e-01 1.02480660e-01 3.41801782e-03 1.53044017e+02] [-1.02479866e-01 9.94734996e-01 -4.07232072e-04 -8.65890431e+00] [-3.44175535e-03 5.48075962e-05 9.99994076e-01 -1.12098554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.986559995 meters 0.05156692383636859 Centerline is valid? [True, True] Translation: X:153.10, Y:-8.67, Z:-1.12 [[ 9.93582101e-01 1.13082884e-01 2.62120680e-03 1.53104580e+02] [-1.13082453e-01 9.93585558e-01 -3.12249698e-04 -8.66573081e+00] [-2.63970332e-03 1.38332151e-05 9.99996516e-01 -1.12357030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.046559995 meters 0.051405512737312115 Centerline is valid? [True, True] Translation: X:153.17, Y:-8.67, Z:-1.12 [[ 9.92672067e-01 1.20799686e-01 3.09887076e-03 1.53165625e+02] [-1.20799123e-01 9.92676904e-01 -3.68955532e-04 -8.66826728e+00] [-3.12074714e-03 -8.08901993e-06 9.99995130e-01 -1.12429805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.106559995 meters 0.051257164426793365 Centerline is valid? [True, True] Translation: X:153.23, Y:-8.67, Z:-1.12 [[ 9.92309533e-01 1.23725322e-01 3.71953302e-03 1.53226798e+02] [-1.23724530e-01 9.92316504e-01 -4.43057780e-04 -8.67497792e+00] [-3.74577147e-03 -2.05470163e-05 9.99992984e-01 -1.12428171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.166559995 meters 0.05063795704978192 Centerline is valid? [True, True] Translation: X:153.29, Y:-8.68, Z:-1.12 [[ 9.92031553e-01 1.25862461e-01 5.66023994e-03 1.53288069e+02] [-1.25860657e-01 9.92047700e-01 -6.75309471e-04 -8.68284584e+00] [-5.70022412e-03 -4.24732131e-05 9.99983753e-01 -1.12416282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.226559995 meters 0.051336711245030274 Centerline is valid? [True, True] Translation: X:153.35, Y:-8.69, Z:-1.12 [[ 9.91846111e-01 1.27274958e-01 6.50971867e-03 1.53349169e+02] [-1.27272600e-01 9.91867472e-01 -7.76889164e-04 -8.69365904e+00] [-6.55565673e-03 -5.79543258e-05 9.99978510e-01 -1.12491529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.286559995 meters 0.05104781375538311 Centerline is valid? [True, True] Translation: X:153.41, Y:-8.70, Z:-1.13 [[ 9.91681415e-01 1.28601383e-01 5.44562333e-03 1.53410103e+02] [-1.28599750e-01 9.91696365e-01 -6.50411523e-04 -8.69933553e+00] [-5.48404869e-03 -5.53047813e-05 9.99984961e-01 -1.12675452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.346559995 meters 0.050771037450444374 Centerline is valid? [True, True] Translation: X:153.47, Y:-8.71, Z:-1.13 [[ 9.91322239e-01 1.31388127e-01 4.16875293e-03 1.53471864e+02] [-1.31387192e-01 9.91331003e-01 -4.98335936e-04 -8.70737435e+00] [-4.19808945e-03 -5.37092477e-05 9.99991187e-01 -1.12879765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.406559995 meters 0.05022765255015797 Centerline is valid? [True, True] Translation: X:153.53, Y:-8.72, Z:-1.13 [[ 9.91081502e-01 1.33231914e-01 2.59094290e-03 1.53532276e+02] [-1.33231560e-01 9.91084888e-01 -3.09464683e-04 -8.72177923e+00] [-2.60907493e-03 -3.84906427e-05 9.99996596e-01 -1.12931027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.466559995 meters 0.050233933801653696 Centerline is valid? [True, True] Translation: X:153.59, Y:-8.73, Z:-1.13 [[ 9.91163793e-01 1.32638670e-01 1.14847739e-03 1.53593492e+02] [-1.32638600e-01 9.91164458e-01 -1.36769488e-04 -8.73009786e+00] [-1.15647089e-03 -1.67714693e-05 9.99999331e-01 -1.13243282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52655999499999 meters 0.05110284287894267 Centerline is valid? [True, True] Translation: X:153.66, Y:-8.74, Z:-1.13 [[ 9.91536293e-01 1.29823676e-01 1.26189637e-03 1.53655039e+02] [-1.29823589e-01 9.91537096e-01 -1.50903001e-04 -8.74273025e+00] [-1.27080784e-03 -1.41981132e-05 9.99999192e-01 -1.13245732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.586559995 meters 0.05013313377749045 Centerline is valid? [True, True] Translation: X:153.72, Y:-8.76, Z:-1.13 [[ 9.92425182e-01 1.22814358e-01 2.98202030e-03 1.53715302e+02] [-1.22813838e-01 9.92429662e-01 -3.57483751e-04 -8.75769442e+00] [-3.00334953e-03 -1.14574816e-05 9.99995490e-01 -1.13133527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.646559995 meters 0.050371539122215966 Centerline is valid? [True, True] Translation: X:153.78, Y:-8.77, Z:-1.13 [[ 9.93005413e-01 1.17970547e-01 4.81669595e-03 1.53776113e+02] [-1.17969134e-01 9.93017094e-01 -5.77540124e-04 -8.76653202e+00] [-4.85119415e-03 5.27901927e-06 9.99988233e-01 -1.13063315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.706559995 meters 0.051052656966583856 Centerline is valid? [True, True] Translation: X:153.84, Y:-8.78, Z:-1.13 [[ 9.93491636e-01 1.13830453e-01 4.12270660e-03 1.53837371e+02] [-1.13829380e-01 9.93500190e-01 -4.94618985e-04 -8.77664284e+00] [-4.15221249e-03 2.21146876e-05 9.99991379e-01 -1.13190378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.766559995 meters 0.05081858971751707 Centerline is valid? [True, True] Translation: X:153.90, Y:-8.78, Z:-1.13 [[ 9.93813602e-01 1.10992821e-01 3.88827707e-03 1.53898582e+02] [-1.10991843e-01 9.93821208e-01 -4.66874281e-04 -8.78470941e+00] [-3.91607191e-03 3.24189707e-05 9.99992332e-01 -1.13264055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.826559995 meters 0.050951796048134906 Centerline is valid? [True, True] Translation: X:153.96, Y:-8.79, Z:-1.13 [[ 9.94322885e-01 1.06333956e-01 3.88448669e-03 1.53960455e+02] [-1.06332944e-01 9.94330472e-01 -4.66826984e-04 -8.78642396e+00] [-3.91210305e-03 5.11278487e-05 9.99992346e-01 -1.13197292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.886559995 meters 0.05158634808132711 Centerline is valid? [True, True] Translation: X:154.02, Y:-8.80, Z:-1.13 [[ 9.94832466e-01 1.01502541e-01 2.36609214e-03 1.54019599e+02] [-1.01502151e-01 9.94835279e-01 -2.84798420e-04 -8.80146164e+00] [-2.38277969e-03 4.31632735e-05 9.99997160e-01 -1.13465310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.946559995 meters 0.05198840575160168 Centerline is valid? [True, True] Translation: X:154.08, Y:-8.80, Z:-1.13 [[ 9.95510180e-01 9.46266951e-02 2.29576361e-03 1.54080890e+02] [-9.46263093e-02 9.95512825e-01 -2.76306490e-04 -8.80082037e+00] [-2.31160809e-03 5.78262859e-05 9.99997327e-01 -1.13498622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.006559995 meters 0.05172666682929701 Centerline is valid? [True, True] Translation: X:154.14, Y:-8.80, Z:-1.13 [[ 9.96166672e-01 8.74554938e-02 1.87043948e-03 1.54141558e+02] [-8.74552249e-02 9.96168426e-01 -2.25194067e-04 -8.80302386e+00] [-1.88296721e-03 6.07511191e-05 9.99998225e-01 -1.13420038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.066559995 meters 0.05232204044257457 Centerline is valid? [True, True] Translation: X:154.20, Y:-8.80, Z:-1.13 [[ 9.96470517e-01 8.39128346e-02 2.26834527e-03 1.54202525e+02] [-8.39124300e-02 9.96473095e-01 -2.73101246e-04 -8.80398451e+00] [-2.28326173e-03 8.17949760e-05 9.99997390e-01 -1.13411651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.126559995 meters 0.052504834709894886 Centerline is valid? [True, True] Translation: X:154.26, Y:-8.82, Z:-1.14 [[ 9.96629065e-01 8.19851659e-02 2.98979055e-03 1.54261354e+02] [-8.19844545e-02 9.96633543e-01 -3.59951873e-04 -8.82120128e+00] [-3.00923626e-03 1.13622152e-04 9.99995466e-01 -1.13675862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.186559995 meters 0.052691964213353384 Centerline is valid? [True, True] Translation: X:154.32, Y:-8.82, Z:-1.14 [[ 9.96524048e-01 8.32517075e-02 2.99567552e-03 1.54323483e+02] [-8.32510000e-02 9.96528545e-01 -3.60289507e-04 -8.81863101e+00] [-3.01527089e-03 1.09644175e-04 9.99995448e-01 -1.13653148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24655999499998 meters 0.05249087406189105 Centerline is valid? [True, True] Translation: X:154.39, Y:-8.81, Z:-1.14 [[ 9.96176498e-01 8.73055622e-02 3.18181361e-03 1.54385141e+02] [-8.73047819e-02 9.96181574e-01 -3.83578168e-04 -8.81261397e+00] [-3.20315260e-03 1.04324012e-04 9.99994864e-01 -1.13597387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.306559995 meters 0.05209319903878027 Centerline is valid? [True, True] Translation: X:154.44, Y:-8.83, Z:-1.14 [[ 9.95862169e-01 9.08436916e-02 2.44195327e-03 1.54443738e+02] [-9.08432426e-02 9.95865161e-01 -2.94393221e-04 -8.82980540e+00] [-2.45859995e-03 7.13401181e-05 9.99996975e-01 -1.13792343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.366559995 meters 0.05250508385195236 Centerline is valid? [True, True] Translation: X:154.50, Y:-8.84, Z:-1.14 [[ 9.95357892e-01 9.61581277e-02 4.03509239e-03 1.54504366e+02] [-9.61569456e-02 9.95366066e-01 -4.86408622e-04 -8.83737692e+00] [-4.06316618e-03 9.61485011e-05 9.99991741e-01 -1.13922125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.426559995 meters 0.05154108685414674 Centerline is valid? [True, True] Translation: X:154.57, Y:-8.84, Z:-1.14 [[ 9.95192272e-01 9.78228846e-02 4.79850446e-03 1.54565831e+02] [-9.78212319e-02 9.95203834e-01 -5.78493406e-04 -8.83736557e+00] [-4.83207993e-03 1.06316549e-04 9.99988320e-01 -1.13893083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.486559995 meters 0.052134512771333456 Centerline is valid? [True, True] Translation: X:154.63, Y:-8.85, Z:-1.14 [[ 9.94837917e-01 1.01403677e-01 3.84886626e-03 1.54625814e+02] [-1.01402640e-01 9.94845359e-01 -4.64095825e-04 -8.84599502e+00] [-3.87608776e-03 7.14149217e-05 9.99992485e-01 -1.14003067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.546559995 meters 0.05208197336617877 Centerline is valid? [True, True] Translation: X:154.69, Y:-8.85, Z:-1.14 [[ 9.94626510e-01 1.03469372e-01 3.49213248e-03 1.54688238e+02] [-1.03468532e-01 9.94632639e-01 -4.20792998e-04 -8.84674426e+00] [-3.51692813e-03 5.72060491e-05 9.99993814e-01 -1.13990192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.606559995 meters 0.0519413043986179 Centerline is valid? [True, True] Translation: X:154.75, Y:-8.86, Z:-1.14 [[ 9.94477557e-01 1.04906715e-01 2.99480691e-03 1.54748097e+02] [-1.04906103e-01 9.94482066e-01 -3.61072678e-04 -8.85781151e+00] [-3.01616071e-03 4.49051532e-05 9.99995450e-01 -1.14180701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.666559995 meters 0.05220208637901099 Centerline is valid? [True, True] Translation: X:154.81, Y:-8.86, Z:-1.14 [[ 9.94650122e-01 1.03283084e-01 1.93389553e-03 1.54810268e+02] [-1.03282825e-01 9.94652001e-01 -2.33438064e-04 -8.86437590e+00] [-1.94766327e-03 3.24510051e-05 9.99998103e-01 -1.14299517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.726559995 meters 0.05215231948383778 Centerline is valid? [True, True] Translation: X:154.87, Y:-8.87, Z:-1.14 [[ 9.94898611e-01 1.00870528e-01 1.37522462e-03 1.54870482e+02] [-1.00870395e-01 9.94899561e-01 -1.65878744e-04 -8.87205027e+00] [-1.38494265e-03 2.63130811e-05 9.99999041e-01 -1.14247747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.786559995 meters 0.052066998532851134 Centerline is valid? [True, True] Translation: X:154.93, Y:-8.88, Z:-1.14 [[ 9.95538970e-01 9.43371086e-02 1.63345708e-03 1.54930979e+02] [-9.43369116e-02 9.95540310e-01 -1.97402015e-04 -8.88125933e+00] [-1.64479471e-03 4.24261028e-05 9.99998646e-01 -1.14180462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.846559995 meters 0.0528690462270467 Centerline is valid? [True, True] Translation: X:154.99, Y:-8.89, Z:-1.14 [[ 9.96294908e-01 8.59856835e-02 1.70849128e-03 1.54990869e+02] [-8.59854555e-02 9.96296371e-01 -2.06566260e-04 -8.89225430e+00] [-1.71992540e-03 5.88955123e-05 9.99998519e-01 -1.14220360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.906559995 meters 0.052827751336273536 Centerline is valid? [True, True] Translation: X:155.05, Y:-8.90, Z:-1.14 [[ 9.96905039e-01 7.85791751e-02 2.37822360e-03 1.55049930e+02] [-7.85787120e-02 9.96907871e-01 -2.87688580e-04 -8.89729950e+00] [-2.39347616e-03 9.99204483e-05 9.99997131e-01 -1.14086930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.966559995 meters 0.053438982599959085 Centerline is valid? [True, True] Translation: X:155.11, Y:-8.90, Z:-1.14 [[ 9.97139658e-01 7.55248264e-02 2.91586440e-03 1.55109221e+02] [-7.55241175e-02 9.97143913e-01 -3.52627714e-04 -8.90494424e+00] [-2.93416859e-03 1.31400992e-04 9.99995687e-01 -1.14088345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02655999499999 meters 0.05464545253621691 Centerline is valid? [True, True] Translation: X:155.17, Y:-8.92, Z:-1.14 [[ 9.97194711e-01 7.47656598e-02 3.57825819e-03 1.55169389e+02] [-7.47645882e-02 9.97201118e-01 -4.32493080e-04 -8.91831791e+00] [-3.60057870e-03 1.63752812e-04 9.99993504e-01 -1.14148549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.086559995 meters 0.05412208352179675 Centerline is valid? [True, True] Translation: X:155.23, Y:-8.92, Z:-1.14 [[ 9.97034937e-01 7.68250568e-02 4.38690920e-03 1.55231403e+02] [-7.68234642e-02 9.97044570e-01 -5.30646058e-04 -8.91609731e+00] [-4.41471091e-03 1.92055097e-04 9.99990237e-01 -1.14166974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.146559995 meters 0.05393275547277762 Centerline is valid? [True, True] Translation: X:155.29, Y:-8.92, Z:-1.14 [[ 9.96640328e-01 8.17644852e-02 4.75656878e-03 1.55291588e+02] [-8.17626684e-02 9.96651662e-01 -5.75484850e-04 -8.91716988e+00] [-4.78769640e-03 1.84641654e-04 9.99988522e-01 -1.14190820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.206559995 meters 0.053313270971719916 Centerline is valid? [True, True] Translation: X:155.35, Y:-8.92, Z:-1.14 [[ 9.96409986e-01 8.45010353e-02 5.16862404e-03 1.55352282e+02] [-8.44989270e-02 9.96423374e-01 -6.25320021e-04 -8.91788688e+00] [-5.20297799e-03 1.86331929e-04 9.99986447e-01 -1.14193838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.266559995 meters 0.05290077408645472 Centerline is valid? [True, True] Translation: X:155.41, Y:-8.91, Z:-1.14 [[ 9.96188335e-01 8.70757529e-02 5.15893579e-03 1.55413648e+02] [-8.70736869e-02 9.96201678e-01 -6.24168315e-04 -8.91420533e+00] [-5.19369042e-03 1.72581635e-04 9.99986498e-01 -1.14369283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.326559995 meters 0.05338909520956303 Centerline is valid? [True, True] Translation: X:155.47, Y:-8.92, Z:-1.14 [[ 9.96122137e-01 8.77748916e-02 6.02130820e-03 1.55474787e+02] [-8.77720903e-02 9.96140316e-01 -7.28424595e-04 -8.92184920e+00] [-6.06200524e-03 1.97097058e-04 9.99981606e-01 -1.14424136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.386559995 meters 0.053419012246989986 Centerline is valid? [True, True] Translation: X:155.54, Y:-8.93, Z:-1.15 [[ 9.96103442e-01 8.80157219e-02 5.58264910e-03 1.55535998e+02] [-8.80133135e-02 9.96119069e-01 -6.76090944e-04 -8.92960737e+00] [-5.62048986e-03 1.82109070e-04 9.99984188e-01 -1.14550211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.446559995 meters 0.05376020992304178 Centerline is valid? [True, True] Translation: X:155.60, Y:-8.93, Z:-1.15 [[ 9.96035717e-01 8.88322250e-02 4.65695306e-03 1.55598327e+02] [-8.88305577e-02 9.96046592e-01 -5.64057971e-04 -8.92918123e+00] [-4.68864875e-03 1.48142147e-04 9.99988997e-01 -1.14786708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.506559995 meters 0.053959969586269356 Centerline is valid? [True, True] Translation: X:155.66, Y:-8.93, Z:-1.15 [[ 9.95952491e-01 8.97248310e-02 5.29997683e-03 1.55661231e+02] [-8.97226822e-02 9.95966580e-01 -6.42294084e-04 -8.93060314e+00] [-5.33622953e-03 1.64166256e-04 9.99985749e-01 -1.14834686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.566559995 meters 0.05373204730786582 Centerline is valid? [True, True] Translation: X:155.72, Y:-8.93, Z:-1.15 [[ 9.95760841e-01 9.18180941e-02 5.45751562e-03 1.55721757e+02] [-9.18158450e-02 9.95775784e-01 -6.61754694e-04 -8.93375764e+00] [-5.49522295e-03 1.57863003e-04 9.99984889e-01 -1.14843247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.626559995 meters 0.05349539731262611 Centerline is valid? [True, True] Translation: X:155.78, Y:-8.94, Z:-1.15 [[ 9.95566377e-01 9.39116157e-02 5.31014557e-03 1.55783806e+02] [-9.39095163e-02 9.95580528e-01 -6.43883206e-04 -8.93522088e+00] [-5.34714564e-03 1.42355268e-04 9.99985694e-01 -1.14909983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.686559995 meters 0.053758836836789926 Centerline is valid? [True, True] Translation: X:155.85, Y:-8.94, Z:-1.15 [[ 9.95432687e-01 9.53313154e-02 5.07009469e-03 1.55845602e+02] [-9.53294199e-02 9.95445591e-01 -6.14766141e-04 -8.93594107e+00] [-5.10560987e-03 1.28629126e-04 9.99986958e-01 -1.15037541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74655999499998 meters 0.05388014860612352 Centerline is valid? [True, True] Translation: X:155.91, Y:-8.95, Z:-1.15 [[ 9.95451435e-01 9.51739157e-02 4.28564583e-03 1.55906808e+02] [-9.51725577e-02 9.95460654e-01 -5.20172016e-04 -8.94597539e+00] [-4.31569861e-03 1.09930104e-04 9.99990681e-01 -1.15223340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.806559995 meters 0.05414598592960721 Centerline is valid? [True, True] Translation: X:155.97, Y:-8.95, Z:-1.15 [[ 9.95579880e-01 9.38302127e-02 4.07362102e-03 1.55969472e+02] [-9.38289739e-02 9.95588208e-01 -4.94590680e-04 -8.94549876e+00] [-4.10205660e-03 1.10180849e-04 9.99991580e-01 -1.15323136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.866559995 meters 0.05418635029729843 Centerline is valid? [True, True] Translation: X:156.03, Y:-8.95, Z:-1.15 [[ 9.95691080e-01 9.26446220e-02 4.03073566e-03 1.56031365e+02] [-9.26433990e-02 9.95699232e-01 -4.89472483e-04 -8.94921614e+00] [-4.05874740e-03 1.13942333e-04 9.99991757e-01 -1.15382956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.926559995 meters 0.054596162381310244 Centerline is valid? [True, True] Translation: X:156.09, Y:-8.96, Z:-1.16 [[ 9.95833571e-01 9.11055946e-02 3.90768610e-03 1.56090720e+02] [-9.11044329e-02 9.95841231e-01 -4.74616138e-04 -8.96458716e+00] [-3.93467512e-03 1.16631157e-04 9.99992252e-01 -1.15505624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.986559995 meters 0.05326963580504481 Centerline is valid? [True, True] Translation: X:156.15, Y:-8.96, Z:-1.16 [[ 9.96107035e-01 8.80548584e-02 4.13723141e-03 1.56152457e+02] [-8.80535285e-02 9.96115617e-01 -5.02848683e-04 -8.95932188e+00] [-4.16543909e-03 1.36593287e-04 9.99991315e-01 -1.15585965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.046559995 meters 0.05414411727090754 Centerline is valid? [True, True] Translation: X:156.21, Y:-8.97, Z:-1.16 [[ 9.96473070e-01 8.38269006e-02 3.80421851e-03 1.56212343e+02] [-8.38257452e-02 9.96480321e-01 -4.62437154e-04 -8.97066009e+00] [-3.82959355e-03 1.41914719e-04 9.99992657e-01 -1.15735914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.106559995 meters 0.05449946710592961 Centerline is valid? [True, True] Translation: X:156.27, Y:-8.98, Z:-1.16 [[ 9.96682028e-01 8.13354766e-02 3.07825905e-03 1.56271654e+02] [-8.13347080e-02 9.96686774e-01 -3.74260900e-04 -8.97825569e+00] [-3.09850077e-03 1.22649812e-04 9.99995192e-01 -1.15801938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.166559995 meters 0.05529642875744218 Centerline is valid? [True, True] Translation: X:156.33, Y:-8.98, Z:-1.16 [[ 9.96919618e-01 7.81719247e-02 6.35810615e-03 1.56332061e+02] [-7.81685814e-02 9.96939855e-01 -7.73019424e-04 -8.98493980e+00] [-6.39907784e-03 2.73634090e-04 9.99979488e-01 -1.15760617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.226559995 meters 0.054252756248983194 Centerline is valid? [True, True] Translation: X:156.40, Y:-8.98, Z:-1.16 [[ 9.96859221e-01 7.88800928e-02 7.04447201e-03 1.56395209e+02] [-7.88760059e-02 9.96884067e-01 -8.56534348e-04 -8.97810094e+00] [-7.09008541e-03 2.98204347e-04 9.99974821e-01 -1.15722955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.286559995 meters 0.05389003916199665 Centerline is valid? [True, True] Translation: X:156.45, Y:-8.99, Z:-1.16 [[ 9.96678506e-01 8.10996856e-02 7.40250493e-03 1.56453818e+02] [-8.10952267e-02 9.96705951e-01 -9.01031370e-04 -8.98959248e+00] [-7.45119408e-03 2.97730784e-04 9.99972195e-01 -1.15797493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.346559995 meters 0.05394262203981589 Centerline is valid? [True, True] Translation: X:156.52, Y:-8.99, Z:-1.16 [[ 9.96564754e-01 8.23837833e-02 8.46183977e-03 1.56515001e+02] [-8.23780029e-02 9.96600624e-01 -1.03000160e-03 -8.99340031e+00] [-8.51793022e-03 3.29393834e-04 9.99963668e-01 -1.15843179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.406559995 meters 0.05392153411249468 Centerline is valid? [True, True] Translation: X:156.58, Y:-8.99, Z:-1.16 [[ 9.95944915e-01 8.97430661e-02 6.31724431e-03 1.56575288e+02] [-8.97399913e-02 9.95964930e-01 -7.69096254e-04 -8.99256517e+00] [-6.36077485e-03 1.99068054e-04 9.99979750e-01 -1.16024706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.466559995 meters 0.05418665416587043 Centerline is valid? [True, True] Translation: X:156.63, Y:-9.00, Z:-1.16 [[ 9.95668114e-01 9.28469708e-02 4.94442579e-03 1.56634363e+02] [-9.28451256e-02 9.95680381e-01 -6.01920628e-04 -9.00318701e+00] [-4.97895426e-03 1.40247342e-04 9.99987595e-01 -1.16176596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52655999499999 meters 0.054386420361852546 Centerline is valid? [True, True] Translation: X:156.70, Y:-9.01, Z:-1.16 [[ 9.95413602e-01 9.55544752e-02 4.59375040e-03 1.56695158e+02] [-9.55529113e-02 9.95424195e-01 -5.59220447e-04 -9.00801027e+00] [-4.62616631e-03 1.17709416e-04 9.99989292e-01 -1.16285432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.586559995 meters 0.05385151793436134 Centerline is valid? [True, True] Translation: X:156.76, Y:-9.00, Z:-1.16 [[ 9.95330322e-01 9.63929524e-02 5.09407104e-03 1.56758704e+02] [-9.63910415e-02 9.95343349e-01 -6.19893541e-04 -9.00321730e+00] [-5.13010310e-03 1.25976024e-04 9.99986833e-01 -1.16250680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.646559995 meters 0.055157983827869836 Centerline is valid? [True, True] Translation: X:156.82, Y:-9.02, Z:-1.16 [[ 9.95449686e-01 9.51331743e-02 5.44083407e-03 1.56818100e+02] [-9.51309716e-02 9.95464544e-01 -6.62815413e-04 -9.02273674e+00] [-5.47921315e-03 1.42207563e-04 9.99984979e-01 -1.16324786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.706559995 meters 0.053849080040121525 Centerline is valid? [True, True] Translation: X:156.88, Y:-9.02, Z:-1.16 [[ 9.95661018e-01 9.28276753e-02 6.49310891e-03 1.56880091e+02] [-9.28244831e-02 9.95682172e-01 -7.91928515e-04 -9.01927458e+00] [-6.53858567e-03 1.85772873e-04 9.99978606e-01 -1.16261908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.766559995 meters 0.05387790322232674 Centerline is valid? [True, True] Translation: X:156.94, Y:-9.02, Z:-1.16 [[ 9.95911180e-01 9.01091869e-02 6.42301101e-03 1.56940272e+02] [-9.01060060e-02 9.95931872e-01 -7.83491132e-04 -9.02493002e+00] [-6.46748112e-03 2.01535709e-04 9.99979065e-01 -1.16330560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.826559995 meters 0.05470389689556854 Centerline is valid? [True, True] Translation: X:157.00, Y:-9.04, Z:-1.16 [[ 9.95952350e-01 8.97227928e-02 5.36070577e-03 1.57000825e+02] [-8.97205723e-02 9.95966762e-01 -6.53759862e-04 -9.03646837e+00] [-5.39774193e-03 1.70148082e-04 9.99985418e-01 -1.16417776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.886559995 meters 0.05435911422062933 Centerline is valid? [True, True] Translation: X:157.06, Y:-9.04, Z:-1.16 [[ 9.95860137e-01 9.07613380e-02 4.99661960e-03 1.57063275e+02] [-9.07594198e-02 9.95872660e-01 -6.09802654e-04 -9.04055230e+00] [-5.03134335e-03 1.53787860e-04 9.99987331e-01 -1.16435166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.946559995 meters 0.053999846589958274 Centerline is valid? [True, True] Translation: X:157.12, Y:-9.04, Z:-1.17 [[ 9.95741072e-01 9.20327339e-02 5.44920241e-03 1.57124579e+02] [-9.20304669e-02 9.95755969e-01 -6.65859200e-04 -9.04344321e+00] [-5.48735666e-03 1.61530712e-04 9.99984931e-01 -1.16516580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.006559995 meters 0.05437568251400822 Centerline is valid? [True, True] Translation: X:157.19, Y:-9.05, Z:-1.17 [[ 9.95751160e-01 9.19981044e-02 3.99695958e-03 1.57185504e+02] [-9.19968853e-02 9.95759175e-01 -4.88185429e-04 -9.05129583e+00] [-4.02492131e-03 1.18403375e-04 9.99991893e-01 -1.16678311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.066559995 meters 0.05430698298418926 Centerline is valid? [True, True] Translation: X:157.25, Y:-9.05, Z:-1.17 [[ 9.95783512e-01 9.16537642e-02 3.84512407e-03 1.57248058e+02] [-9.16526311e-02 9.95790929e-01 -4.70233513e-04 -9.05228330e+00] [-3.87203834e-03 1.15835041e-04 9.99992497e-01 -1.16667880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.126559995 meters 0.05440776840734013 Centerline is valid? [True, True] Translation: X:157.31, Y:-9.06, Z:-1.17 [[ 9.95539471e-01 9.42701497e-02 3.78148237e-03 1.57308335e+02] [-9.42690717e-02 9.95546648e-01 -4.62696503e-04 -9.05824503e+00] [-3.80826057e-03 1.04155799e-04 9.99992743e-01 -1.16721040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.186559995 meters 0.05461318836307184 Centerline is valid? [True, True] Translation: X:157.37, Y:-9.07, Z:-1.17 [[ 9.95058502e-01 9.92343517e-02 3.33495980e-03 1.57367845e+02] [-9.92335407e-02 9.95064087e-01 -4.08191155e-04 -9.06648924e+00] [-3.35900532e-03 7.52342096e-05 9.99994356e-01 -1.16890654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24655999499998 meters 0.053785983138303045 Centerline is valid? [True, True] Translation: X:157.43, Y:-9.07, Z:-1.17 [[ 9.93793501e-01 1.11174491e-01 3.83540534e-03 1.57429156e+02] [-1.11173507e-01 9.93800901e-01 -4.69368959e-04 -9.06947218e+00] [-3.86381114e-03 4.00603581e-05 9.99992535e-01 -1.16948130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.306559995 meters 0.053097303157038776 Centerline is valid? [True, True] Translation: X:157.49, Y:-9.07, Z:-1.17 [[ 9.92947065e-01 1.18479572e-01 4.32637298e-03 1.57490346e+02] [-1.18478389e-01 9.92956490e-01 -5.29447997e-04 -9.07215039e+00] [-4.35862890e-03 1.31321321e-05 9.99990501e-01 -1.16902659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.366559995 meters 0.05342542165483597 Centerline is valid? [True, True] Translation: X:157.55, Y:-9.08, Z:-1.17 [[ 9.92541054e-01 1.21816513e-01 4.79512702e-03 1.57552395e+02] [-1.21815099e-01 9.92552637e-01 -5.86896817e-04 -9.07918374e+00] [-4.83090969e-03 -1.59968931e-06 9.99988331e-01 -1.16846713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.426559995 meters 0.05299044881165143 Centerline is valid? [True, True] Translation: X:157.61, Y:-9.09, Z:-1.17 [[ 9.92197020e-01 1.24584210e-01 4.88354830e-03 1.57613718e+02] [-1.24582777e-01 9.92209038e-01 -5.97725878e-04 -9.08663883e+00] [-4.91996797e-03 -1.53441731e-05 9.99987897e-01 -1.16917154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.486559995 meters 0.05299226991010435 Centerline is valid? [True, True] Translation: X:157.67, Y:-9.10, Z:-1.17 [[ 9.91830554e-01 1.27503208e-01 3.88369923e-03 1.57674777e+02] [-1.27502323e-01 9.91838158e-01 -4.75729129e-04 -9.09628123e+00] [-3.91265808e-03 -2.33379877e-05 9.99992345e-01 -1.16956887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.546559995 meters 0.052640851835572655 Centerline is valid? [True, True] Translation: X:157.73, Y:-9.11, Z:-1.17 [[ 9.91685001e-01 1.28624974e-01 4.05886351e-03 1.57734856e+02] [-1.28624015e-01 9.91693307e-01 -4.97711468e-04 -9.10647799e+00] [-4.08916591e-03 -2.84943220e-05 9.99991639e-01 -1.16978474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.606559995 meters 0.052481165939431466 Centerline is valid? [True, True] Translation: X:157.80, Y:-9.12, Z:-1.17 [[ 9.91824423e-01 1.27581383e-01 2.70279350e-03 1.57796907e+02] [-1.27580953e-01 9.91828105e-01 -3.31622627e-04 -9.11915651e+00] [-2.72301543e-03 -1.59135480e-05 9.99996292e-01 -1.17106447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.666559995 meters 0.052968132975657604 Centerline is valid? [True, True] Translation: X:157.86, Y:-9.13, Z:-1.17 [[ 9.92254575e-01 1.24212129e-01 1.48503568e-03 1.57857139e+02] [-1.24211996e-01 9.92255686e-01 -1.81799186e-04 -9.13382460e+00] [-1.49611676e-03 -4.06817200e-06 9.99998881e-01 -1.17148825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.726559995 meters 0.05286215105746506 Centerline is valid? [True, True] Translation: X:157.92, Y:-9.15, Z:-1.17 [[ 9.93047930e-01 1.17698145e-01 1.71897261e-03 1.57917964e+02] [-1.17697956e-01 9.93049418e-01 -2.11142497e-04 -9.15041180e+00] [-1.73187583e-03 7.35505721e-06 9.99998500e-01 -1.17135047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.786559995 meters 0.053244271110515516 Centerline is valid? [True, True] Translation: X:157.98, Y:-9.16, Z:-1.17 [[ 9.93713897e-01 1.11943460e-01 1.16341395e-03 1.57978413e+02] [-1.11943370e-01 9.93714578e-01 -1.42426262e-04 -9.16222284e+00] [-1.17204509e-03 1.12944779e-05 9.99999313e-01 -1.17030885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.846559995 meters 0.05311152542276112 Centerline is valid? [True, True] Translation: X:158.04, Y:-9.18, Z:-1.17 [[ 9.94715722e-01 1.02662027e-01 1.06798113e-03 1.58037276e+02] [-1.02661945e-01 9.94716295e-01 -1.31423796e-04 -9.17885705e+00] [-1.07583047e-03 2.10882962e-05 9.99999421e-01 -1.17060604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.906559995 meters 0.05353895565591847 Centerline is valid? [True, True] Translation: X:158.10, Y:-9.19, Z:-1.17 [[ 9.95395871e-01 9.58381119e-02 1.45483312e-03 1.58097355e+02] [-9.58379525e-02 9.95396933e-01 -1.79057220e-04 -9.19166984e+00] [-1.46529693e-03 3.88045896e-05 9.99998926e-01 -1.16997678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.966559995 meters 0.05290977586810356 Centerline is valid? [True, True] Translation: X:158.16, Y:-9.20, Z:-1.17 [[ 9.95574953e-01 9.39442625e-02 2.23351776e-03 1.58157828e+02] [-9.39438829e-02 9.95577456e-01 -2.74508946e-04 -9.20215083e+00] [-2.24942847e-03 6.34689004e-05 9.99997468e-01 -1.17008198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02655999499999 meters 0.05324541816837886 Centerline is valid? [True, True] Translation: X:158.22, Y:-9.22, Z:-1.17 [[ 9.95504096e-01 9.46579617e-02 3.38600728e-03 1.58217787e+02] [-9.46570905e-02 9.95509850e-01 -4.16970605e-04 -9.21613503e+00] [-3.41027319e-03 9.45863476e-05 9.99994181e-01 -1.17051755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.086559995 meters 0.05321900335349751 Centerline is valid? [True, True] Translation: X:158.28, Y:-9.22, Z:-1.17 [[ 9.95356346e-01 9.62219193e-02 2.66218249e-03 1.58280331e+02] [-9.62213856e-02 9.95359903e-01 -3.28120593e-04 -9.21799672e+00] [-2.68140210e-03 7.04380263e-05 9.99996403e-01 -1.17019182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.146559995 meters 0.05396489939932194 Centerline is valid? [True, True] Translation: X:158.34, Y:-9.23, Z:-1.17 [[ 9.95257522e-01 9.72694080e-02 1.06142935e-03 1.58340614e+02] [-9.72693240e-02 9.95258088e-01 -1.30587026e-04 -9.22640541e+00] [-1.06909827e-03 2.67232049e-05 9.99999428e-01 -1.17175952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.206559995 meters 0.05347530857985636 Centerline is valid? [True, True] Translation: X:158.40, Y:-9.24, Z:-1.17 [[ 9.95185229e-01 9.80038949e-02 1.26372081e-03 1.58401224e+02] [-9.80037766e-02 9.95186031e-01 -1.55369616e-04 -9.23796563e+00] [-1.27286412e-03 3.07721353e-05 9.99999189e-01 -1.17282517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.266559995 meters 0.05314042903989397 Centerline is valid? [True, True] Translation: X:158.46, Y:-9.24, Z:-1.17 [[ 9.95012623e-01 9.97348795e-02 1.68342760e-03 1.58462496e+02] [-9.97346703e-02 9.95014046e-01 -2.07937192e-04 -9.24408503e+00] [-1.69577270e-03 3.90040349e-05 9.99998561e-01 -1.17266371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.326559995 meters 0.05374257734279371 Centerline is valid? [True, True] Translation: X:158.52, Y:-9.25, Z:-1.17 [[ 9.94719794e-01 1.02606827e-01 2.09043355e-03 1.58523208e+02] [-1.02606511e-01 9.94721990e-01 -2.58364265e-04 -9.24855258e+00] [-2.10591016e-03 4.25079556e-05 9.99997782e-01 -1.17382070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.386559995 meters 0.05286921995158072 Centerline is valid? [True, True] Translation: X:158.58, Y:-9.26, Z:-1.17 [[ 9.94414027e-01 1.05540939e-01 1.36112558e-03 1.58584495e+02] [-1.05540808e-01 9.94414958e-01 -1.68174077e-04 -9.25503459e+00] [-1.37127289e-03 2.35803682e-05 9.99999060e-01 -1.17425898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.446559995 meters 0.05274317871178585 Centerline is valid? [True, True] Translation: X:158.65, Y:-9.27, Z:-1.18 [[ 9.94377061e-01 1.05894213e-01 8.22592136e-04 1.58645466e+02] [-1.05894166e-01 9.94377401e-01 -1.00985630e-04 -9.26526609e+00] [-8.28660824e-04 1.33100860e-05 9.99999657e-01 -1.17567480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.506559995 meters 0.05285349269296877 Centerline is valid? [True, True] Translation: X:158.71, Y:-9.27, Z:-1.17 [[ 9.94732910e-01 1.02497843e-01 7.93734248e-04 1.58706630e+02] [-1.02497797e-01 9.94733227e-01 -9.81559953e-05 -9.26940975e+00] [-7.99614607e-04 1.62829868e-05 9.99999680e-01 -1.17415272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.566559995 meters 0.05368883982812034 Centerline is valid? [True, True] Translation: X:158.77, Y:-9.28, Z:-1.17 [[ 9.95192966e-01 9.79333987e-02 -9.64364842e-05 1.58766673e+02] [-9.79333980e-02 9.95192971e-01 1.20312590e-05 -9.27770329e+00] [ 9.71511733e-05 -2.52907179e-06 9.99999995e-01 -1.17475902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.626559995 meters 0.05402017935707174 Centerline is valid? [True, True] Translation: X:158.83, Y:-9.29, Z:-1.18 [[ 9.95504862e-01 9.47094791e-02 4.29022527e-04 1.58827391e+02] [-9.47094650e-02 9.95504954e-01 -5.30103394e-05 -9.28642942e+00] [-4.32114632e-04 1.21395566e-05 9.99999907e-01 -1.17566216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.686559995 meters 0.05400585121285401 Centerline is valid? [True, True] Translation: X:158.89, Y:-9.29, Z:-1.18 [[ 9.95831597e-01 9.12101862e-02 3.62610195e-04 1.58887782e+02] [-9.12101759e-02 9.95831663e-01 -4.48391330e-05 -9.28939040e+00] [-3.65188499e-04 1.15784858e-05 9.99999933e-01 -1.17522867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74655999499998 meters 0.053732119018331276 Centerline is valid? [True, True] Translation: X:158.95, Y:-9.30, Z:-1.18 [[ 9.95854978e-01 9.09400098e-02 -1.66640345e-03 1.58948399e+02] [-9.09397900e-02 9.95856371e-01 2.07377424e-04 -9.30063570e+00] [ 1.67835740e-03 -5.49754602e-05 9.99998590e-01 -1.17887012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.806559995 meters 0.05427450687773959 Centerline is valid? [True, True] Translation: X:159.01, Y:-9.31, Z:-1.18 [[ 9.95773269e-01 9.18375494e-02 -1.20869990e-03 1.59010027e+02] [-9.18374345e-02 9.95774002e-01 1.50378586e-04 -9.30697786e+00] [ 1.21740234e-03 -3.87390780e-05 9.99999258e-01 -1.17860679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.866559995 meters 0.054306400732046206 Centerline is valid? [True, True] Translation: X:159.07, Y:-9.31, Z:-1.18 [[ 9.95526228e-01 9.44736047e-02 -1.50549192e-03 1.59070343e+02] [-9.44734303e-02 9.95527366e-01 1.86720680e-04 -9.31217735e+00] [ 1.51639858e-03 -4.36563484e-05 9.99998849e-01 -1.17877499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.926559995 meters 0.053919555883463734 Centerline is valid? [True, True] Translation: X:159.13, Y:-9.32, Z:-1.18 [[ 9.95138725e-01 9.84691995e-02 -1.65354338e-03 1.59130772e+02] [-9.84689946e-02 9.95140098e-01 2.05082963e-04 -9.31600211e+00] [ 1.66570167e-03 -4.12632445e-05 9.99998612e-01 -1.17845667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.986559995 meters 0.05324252136294769 Centerline is valid? [True, True] Translation: X:159.19, Y:-9.32, Z:-1.18 [[ 9.94613120e-01 1.03656670e-01 1.89760925e-04 1.59189789e+02] [-1.03656667e-01 9.94613138e-01 -2.35848164e-05 -9.32280672e+00] [-1.91183433e-04 3.78778279e-06 9.99999982e-01 -1.17849190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.046559995 meters 0.05321936642827541 Centerline is valid? [True, True] Translation: X:159.25, Y:-9.33, Z:-1.18 [[ 9.94583600e-01 1.03939706e-01 -2.30074872e-05 1.59250946e+02] [-1.03939705e-01 9.94583600e-01 3.44402734e-06 -9.33064770e+00] [ 2.32408406e-05 -1.03398166e-06 1.00000000e+00 -1.17773949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.106559995 meters 0.0533793534797434 Centerline is valid? [True, True] Translation: X:159.31, Y:-9.34, Z:-1.18 [[ 9.94653133e-01 1.03272167e-01 6.71079831e-05 1.59312711e+02] [-1.03272167e-01 9.94653135e-01 -8.04067916e-06 -9.33886045e+00] [-6.75795442e-05 1.06729990e-06 9.99999998e-01 -1.17785530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.166559995 meters 0.05384482760131459 Centerline is valid? [True, True] Translation: X:159.37, Y:-9.35, Z:-1.18 [[ 9.94759624e-01 1.02241022e-01 -2.54498891e-04 1.59374757e+02] [-1.02241017e-01 9.94759656e-01 3.24527910e-05 -9.34551099e+00] [ 2.56483236e-04 -6.26250080e-06 9.99999967e-01 -1.17793013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.226559995 meters 0.054224633737236794 Centerline is valid? [True, True] Translation: X:159.44, Y:-9.35, Z:-1.18 [[ 9.94903753e-01 1.00827315e-01 6.12536612e-04 1.59436176e+02] [-1.00827288e-01 9.94903941e-01 -7.53282411e-05 -9.35185677e+00] [-6.17010234e-04 1.31839446e-05 9.99999810e-01 -1.17834443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.286559995 meters 0.053959573814555656 Centerline is valid? [True, True] Translation: X:159.50, Y:-9.36, Z:-1.18 [[ 9.94979841e-01 1.00074079e-01 5.42395844e-04 1.59496755e+02] [-1.00074057e-01 9.94979989e-01 -6.67243225e-05 -9.36204914e+00] [-5.46350386e-04 1.21096033e-05 9.99999851e-01 -1.17924258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.346559995 meters 0.05376799640859389 Centerline is valid? [True, True] Translation: X:159.56, Y:-9.37, Z:-1.18 [[ 9.95224177e-01 9.76154028e-02 2.66540955e-04 1.59555931e+02] [-9.76153975e-02 9.95224212e-01 -3.31785147e-05 -9.37118777e+00] [-2.68506746e-04 7.00155867e-06 9.99999964e-01 -1.18045847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.406559995 meters 0.05407957374099558 Centerline is valid? [True, True] Translation: X:159.62, Y:-9.38, Z:-1.18 [[ 9.95314857e-01 9.66860162e-02 3.86559038e-04 1.59616455e+02] [-9.66860051e-02 9.95314932e-01 -4.74052164e-05 -9.38077409e+00] [-3.89331404e-04 9.80826706e-06 9.99999924e-01 -1.18107161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.466559995 meters 0.05398272223080686 Centerline is valid? [True, True] Translation: X:159.68, Y:-9.39, Z:-1.18 [[ 9.95184512e-01 9.80123005e-02 1.17281583e-03 1.59677534e+02] [-9.80121966e-02 9.95185203e-01 -1.45928678e-04 -9.38970994e+00] [-1.18147176e-03 3.02757050e-05 9.99999302e-01 -1.18118750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52655999499999 meters 0.05426093412152886 Centerline is valid? [True, True] Translation: X:159.74, Y:-9.40, Z:-1.18 [[ 9.94952968e-01 1.00334588e-01 1.24991737e-03 1.59737535e+02] [-1.00334472e-01 9.94953752e-01 -1.55663078e-04 -9.40136479e+00] [-1.25922837e-03 2.94676417e-05 9.99999207e-01 -1.18273187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.586559995 meters 0.05385954005408789 Centerline is valid? [True, True] Translation: X:159.80, Y:-9.40, Z:-1.18 [[ 9.94609631e-01 1.03685373e-01 1.01259667e-03 1.59798765e+02] [-1.03685298e-01 9.94610146e-01 -1.26097676e-04 -9.40302737e+00] [-1.02021341e-03 2.04265751e-05 9.99999479e-01 -1.18225379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.646559995 meters 0.052661169868121915 Centerline is valid? [True, True] Translation: X:159.86, Y:-9.41, Z:-1.18 [[ 9.93430691e-01 1.14434720e-01 3.96459385e-04 1.59858878e+02] [-1.14434709e-01 9.93430770e-01 -4.93564341e-05 -9.40896110e+00] [-3.99503042e-04 3.66348195e-06 9.99999920e-01 -1.18451407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.706559995 meters 0.05289984796684575 Centerline is valid? [True, True] Translation: X:159.92, Y:-9.41, Z:-1.19 [[ 9.92696710e-01 1.20635796e-01 4.97409887e-04 1.59919556e+02] [-1.20635781e-01 9.92696834e-01 -6.12482285e-05 -9.41399526e+00] [-5.01165949e-04 7.95484791e-07 9.99999874e-01 -1.18529555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.766559995 meters 0.05266417114146464 Centerline is valid? [True, True] Translation: X:159.98, Y:-9.42, Z:-1.19 [[ 9.92050825e-01 1.25833217e-01 1.07773082e-03 1.59981597e+02] [-1.25833146e-01 9.92051411e-01 -1.33728373e-04 -9.42064840e+00] [-1.08599185e-03 -2.94891570e-06 9.99999410e-01 -1.18516843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.826559995 meters 0.052063600432276036 Centerline is valid? [True, True] Translation: X:160.04, Y:-9.43, Z:-1.18 [[ 9.91430883e-01 1.30618829e-01 1.87751620e-03 1.60042330e+02] [-1.30618621e-01 9.91432661e-01 -2.33863030e-04 -9.43212554e+00] [-1.89197779e-03 -1.33795456e-05 9.99998210e-01 -1.18287359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.886559995 meters 0.05225263321492857 Centerline is valid? [True, True] Translation: X:160.10, Y:-9.44, Z:-1.18 [[ 9.91160225e-01 1.32652231e-01 2.18971004e-03 1.60102448e+02] [-1.32651951e-01 9.91162643e-01 -2.73373265e-04 -9.44315685e+00] [-2.20662236e-03 -1.95126014e-05 9.99997565e-01 -1.18439758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.946559995 meters 0.05144200303332297 Centerline is valid? [True, True] Translation: X:160.16, Y:-9.46, Z:-1.18 [[ 9.91105069e-01 1.33067920e-01 1.91577870e-03 1.60163569e+02] [-1.33067706e-01 9.91106921e-01 -2.39335981e-04 -9.45534715e+00] [-1.93058947e-03 -1.77211728e-05 9.99998136e-01 -1.18458726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.006559995 meters 0.052107524312584495 Centerline is valid? [True, True] Translation: X:160.22, Y:-9.47, Z:-1.19 [[ 9.91060960e-01 1.33405330e-01 1.09146541e-03 1.60223827e+02] [-1.33405262e-01 9.91061561e-01 -1.35849686e-04 -9.46859858e+00] [-1.09983248e-03 -1.09719081e-05 9.99999395e-01 -1.18760697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.066559995 meters 0.051765399527056444 Centerline is valid? [True, True] Translation: X:160.28, Y:-9.49, Z:-1.19 [[ 9.91212677e-01 1.32275931e-01 7.12188112e-04 1.60283966e+02] [-1.32275901e-01 9.91212933e-01 -8.84015679e-05 -9.48710187e+00] [-7.17623467e-04 -6.58056961e-06 9.99999742e-01 -1.18634068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.126559995 meters 0.051340102531108815 Centerline is valid? [True, True] Translation: X:160.34, Y:-9.50, Z:-1.19 [[ 9.91475517e-01 1.30291868e-01 -5.73567328e-04 1.60344364e+02] [-1.30291848e-01 9.91475683e-01 7.28095651e-05 -9.50171404e+00] [ 5.78164552e-04 2.54224577e-06 9.99999833e-01 -1.18688122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.186559995 meters 0.05119748148308545 Centerline is valid? [True, True] Translation: X:160.40, Y:-9.52, Z:-1.19 [[ 9.91897325e-01 1.27035295e-01 -1.31526526e-03 1.60404279e+02] [-1.27035187e-01 9.91898197e-01 1.65922651e-04 -9.51641065e+00] [ 1.32568728e-03 2.50673486e-06 9.99999121e-01 -1.18875487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24655999499998 meters 0.051779372503575005 Centerline is valid? [True, True] Translation: X:160.47, Y:-9.53, Z:-1.19 [[ 9.92476648e-01 1.22424519e-01 -1.52965317e-03 1.60465837e+02] [-1.22424367e-01 9.92477827e-01 1.92868122e-04 -9.53290098e+00] [ 1.54175864e-03 -4.15028645e-06 9.99998811e-01 -1.18874225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.306559995 meters 0.05172058076994329 Centerline is valid? [True, True] Translation: X:160.53, Y:-9.55, Z:-1.19 [[ 9.93430377e-01 1.14436965e-01 -5.17011331e-04 1.60525279e+02] [-1.14436947e-01 9.93430511e-01 6.54070373e-05 -9.55285294e+00] [ 5.21099814e-04 -5.81213946e-06 9.99999864e-01 -1.18858004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.366559995 meters 0.05192374352496561 Centerline is valid? [True, True] Translation: X:160.58, Y:-9.57, Z:-1.19 [[ 9.94056347e-01 1.08866733e-01 -1.18690999e-04 1.60583257e+02] [-1.08866732e-01 9.94056354e-01 1.52069829e-05 -9.56992298e+00] [ 1.19641076e-04 -2.19509673e-06 9.99999993e-01 -1.18737252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.426559995 meters 0.05252116846726145 Centerline is valid? [True, True] Translation: X:160.65, Y:-9.58, Z:-1.19 [[ 9.94139233e-01 1.08106572e-01 3.93955542e-04 1.60645161e+02] [-1.08106561e-01 9.94139311e-01 -4.92668163e-05 -9.57854561e+00] [-3.96972757e-04 6.38889620e-06 9.99999921e-01 -1.18613758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.486559995 meters 0.05167835440456533 Centerline is valid? [True, True] Translation: X:160.71, Y:-9.59, Z:-1.19 [[ 9.93808597e-01 1.11101312e-01 9.85898986e-04 1.60705134e+02] [-1.11101243e-01 9.93809085e-01 -1.23834273e-04 -9.59376601e+00] [-9.93553520e-04 1.35329622e-05 9.99999506e-01 -1.18856117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.546559995 meters 0.05167406515961391 Centerline is valid? [True, True] Translation: X:160.77, Y:-9.60, Z:-1.19 [[ 9.93344957e-01 1.15173642e-01 9.09780926e-04 1.60765169e+02] [-1.15173585e-01 9.93345374e-01 -1.14337575e-04 -9.60313458e+00] [-9.16895349e-04 8.79392206e-06 9.99999580e-01 -1.18908873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.606559995 meters 0.05125488589946867 Centerline is valid? [True, True] Translation: X:160.83, Y:-9.61, Z:-1.19 [[ 9.93065873e-01 1.17555958e-01 8.76493742e-04 1.60825495e+02] [-1.17555907e-01 9.93066260e-01 -1.09593384e-04 -9.61288635e+00] [-8.83299718e-04 5.79643263e-06 9.99999610e-01 -1.18933511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.666559995 meters 0.05110940052087401 Centerline is valid? [True, True] Translation: X:160.89, Y:-9.62, Z:-1.19 [[ 9.92667853e-01 1.20867867e-01 1.22128920e-03 1.60886793e+02] [-1.20867770e-01 9.92668605e-01 -1.53533049e-04 -9.62372445e+00] [-1.23089266e-03 4.79282047e-06 9.99999242e-01 -1.19047460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.726559995 meters 0.051205264464455294 Centerline is valid? [True, True] Translation: X:160.95, Y:-9.63, Z:-1.19 [[ 9.92327838e-01 1.23634187e-01 -2.22036559e-04 1.60949325e+02] [-1.23634184e-01 9.92327863e-01 2.89733846e-05 -9.63287834e+00] [ 2.23915165e-04 -1.29978738e-06 9.99999975e-01 -1.18876375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.786559995 meters 0.05073600537425092 Centerline is valid? [True, True] Translation: X:161.01, Y:-9.64, Z:-1.19 [[ 9.92150318e-01 1.25050927e-01 -1.12863307e-04 1.61010623e+02] [-1.25050926e-01 9.92150324e-01 1.51993012e-05 -9.64352700e+00] [ 1.13878053e-04 -9.66330468e-07 9.99999994e-01 -1.19361134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.846559995 meters 0.050378394721357724 Centerline is valid? [True, True] Translation: X:161.07, Y:-9.65, Z:-1.19 [[ 9.92035377e-01 1.25959408e-01 -1.98082446e-04 1.61073324e+02] [-1.25959406e-01 9.92035396e-01 2.59592051e-05 -9.65168473e+00] [ 1.99774604e-04 -8.02102657e-07 9.99999980e-01 -1.19267968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.906559995 meters 0.05068135214167872 Centerline is valid? [True, True] Translation: X:161.13, Y:-9.66, Z:-1.19 [[ 9.92217397e-01 1.24513763e-01 -9.79440100e-04 1.61134568e+02] [-1.24513701e-01 9.92217881e-01 1.24255730e-04 -9.65993628e+00] [ 9.87289529e-04 -1.33498562e-06 9.99999513e-01 -1.19450762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.966559995 meters 0.05091833152166781 Centerline is valid? [True, True] Translation: X:161.20, Y:-9.67, Z:-1.19 [[ 9.92673126e-01 1.20829045e-01 -6.38133555e-04 1.61195937e+02] [-1.20829018e-01 9.92673331e-01 8.15624751e-05 -9.66947626e+00] [ 6.43313277e-04 -3.85982667e-06 9.99999793e-01 -1.19455048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02655999499999 meters 0.05155160236195368 Centerline is valid? [True, True] Translation: X:161.26, Y:-9.68, Z:-1.19 [[ 9.93252582e-01 1.15967292e-01 -9.46059330e-04 1.61257529e+02] [-1.15967231e-01 9.93253033e-01 1.19984115e-04 -9.67678111e+00] [ 9.53590532e-04 -9.46265179e-06 9.99999545e-01 -1.19226312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.086559995 meters 0.051497607141441394 Centerline is valid? [True, True] Translation: X:161.32, Y:-9.68, Z:-1.19 [[ 9.94077157e-01 1.08672669e-01 -9.25755602e-04 1.61319087e+02] [-1.08672607e-01 9.94077588e-01 1.17302492e-04 -9.68005192e+00] [ 9.33020470e-04 -1.60034538e-05 9.99999565e-01 -1.19016662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.146559995 meters 0.05329064676371177 Centerline is valid? [True, True] Translation: X:161.38, Y:-9.69, Z:-1.19 [[ 9.94796404e-01 1.01845385e-01 -2.76262716e-03 1.61380233e+02] [-1.01844806e-01 9.94800238e-01 3.49886216e-04 -9.68632213e+00] [ 2.78389646e-03 -6.67063220e-05 9.99996123e-01 -1.19164945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.206559995 meters 0.05296849259855332 Centerline is valid? [True, True] Translation: X:161.44, Y:-9.71, Z:-1.20 [[ 9.95217424e-01 9.76252247e-02 -3.40511346e-03 1.61438300e+02] [-9.76243209e-02 9.95223244e-01 4.31030898e-04 -9.70518583e+00] [ 3.43092755e-03 -9.65475710e-05 9.99994110e-01 -1.19616730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.266559995 meters 0.053008748776002416 Centerline is valid? [True, True] Translation: X:161.50, Y:-9.70, Z:-1.19 [[ 9.95583796e-01 9.38307116e-02 -2.95012295e-03 1.61499233e+02] [-9.38300161e-02 9.95588162e-01 3.73580928e-04 -9.70410551e+00] [ 2.97216085e-03 -9.51210346e-05 9.99995579e-01 -1.19336255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.326559995 meters 0.05298220006713357 Centerline is valid? [True, True] Translation: X:161.56, Y:-9.71, Z:-1.19 [[ 9.95878329e-01 9.06665240e-02 -2.43622841e-03 1.61559329e+02] [-9.06660400e-02 9.95881305e-01 3.08610295e-04 -9.71377069e+00] [ 2.45417495e-03 -8.64551221e-05 9.99996985e-01 -1.19468163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.386559995 meters 0.05288161754346574 Centerline is valid? [True, True] Translation: X:161.62, Y:-9.71, Z:-1.19 [[ 9.95773357e-01 9.18415253e-02 -7.45259476e-04 1.61620362e+02] [-9.18414800e-02 9.95773636e-01 9.47968490e-05 -9.71337742e+00] [ 7.50816025e-04 -2.59504433e-05 9.99999718e-01 -1.19286766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.446559995 meters 0.05322797018272867 Centerline is valid? [True, True] Translation: X:161.68, Y:-9.72, Z:-1.19 [[ 9.95546571e-01 9.42709986e-02 6.85003396e-05 1.61679125e+02] [-9.42709982e-02 9.95546573e-01 -8.73490272e-06 -9.72343099e+00] [-6.90187264e-05 2.23840705e-06 9.99999998e-01 -1.19330969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.506559995 meters 0.05219595178259208 Centerline is valid? [True, True] Translation: X:161.74, Y:-9.73, Z:-1.19 [[ 9.95182920e-01 9.80349402e-02 3.24830871e-04 1.61739808e+02] [-9.80349320e-02 9.95182973e-01 -4.10844668e-05 -9.72919588e+00] [-3.27293865e-04 9.04178730e-06 9.99999946e-01 -1.19362791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.566559995 meters 0.05259949783057621 Centerline is valid? [True, True] Translation: X:161.80, Y:-9.74, Z:-1.19 [[ 9.94944389e-01 1.00426740e-01 3.63360516e-04 1.61801206e+02] [-1.00426730e-01 9.94944456e-01 -4.58308324e-05 -9.73779495e+00] [-3.66126172e-04 9.10802109e-06 9.99999933e-01 -1.19446300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.626559995 meters 0.052744119989068194 Centerline is valid? [True, True] Translation: X:161.86, Y:-9.74, Z:-1.19 [[ 9.94764228e-01 1.02194717e-01 6.08808424e-04 1.61862603e+02] [-1.02194689e-01 9.94764414e-01 -7.70419842e-05 -9.74245039e+00] [-6.13494239e-04 1.44216222e-05 9.99999812e-01 -1.19421605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.686559995 meters 0.05296009301786138 Centerline is valid? [True, True] Translation: X:161.92, Y:-9.75, Z:-1.20 [[ 9.94899570e-01 1.00867961e-01 -7.07033679e-04 1.61924286e+02] [-1.00867922e-01 9.94899821e-01 8.98264417e-05 -9.75228990e+00] [ 7.12488291e-04 -1.80512701e-05 9.99999746e-01 -1.19701810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74655999499998 meters 0.05273124731751779 Centerline is valid? [True, True] Translation: X:161.99, Y:-9.75, Z:-1.20 [[ 9.95165976e-01 9.82041835e-02 -7.86534568e-04 1.61986198e+02] [-9.82041352e-02 9.95166287e-01 9.98745543e-05 -9.75353337e+00] [ 7.92540784e-04 -2.21508112e-05 9.99999686e-01 -1.19521819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.806559995 meters 0.05291221157264554 Centerline is valid? [True, True] Translation: X:162.05, Y:-9.76, Z:-1.19 [[ 9.95672400e-01 9.29324884e-02 -1.53469640e-04 1.62046977e+02] [-9.29324865e-02 9.95672412e-01 1.96022966e-05 -9.76180749e+00] [ 1.54627177e-04 -5.25515042e-06 9.99999988e-01 -1.19468912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.866559995 meters 0.05318141188620682 Centerline is valid? [True, True] Translation: X:162.11, Y:-9.77, Z:-1.20 [[ 9.96044034e-01 8.88572052e-02 -8.24280159e-04 1.62107843e+02] [-8.88571490e-02 9.96044375e-01 1.04642925e-04 -9.76770285e+00] [ 8.30317894e-04 -3.09857767e-05 9.99999655e-01 -1.19502940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.926559995 meters 0.05356852645589695 Centerline is valid? [True, True] Translation: X:162.17, Y:-9.78, Z:-1.20 [[ 9.96103577e-01 8.81852796e-02 -1.00984383e-03 1.62168538e+02] [-8.81851942e-02 9.96104088e-01 1.28918623e-04 -9.77777043e+00] [ 1.01727829e-03 -3.93630275e-05 9.99999482e-01 -1.19593913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.986559995 meters 0.05341686300256576 Centerline is valid? [True, True] Translation: X:162.23, Y:-9.79, Z:-1.20 [[ 9.95934962e-01 9.00697699e-02 -9.93990413e-04 1.62227629e+02] [-9.00696888e-02 9.95935457e-01 1.26177485e-04 -9.79436333e+00] [ 1.00131507e-03 -3.61361616e-05 9.99999498e-01 -1.19818662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.046559995 meters 0.05299375418099362 Centerline is valid? [True, True] Translation: X:162.29, Y:-9.79, Z:-1.20 [[ 9.95838248e-01 9.11326963e-02 -1.00763426e-03 1.62291254e+02] [-9.11326132e-02 9.95838757e-01 1.28227298e-04 -9.78963503e+00] [ 1.01512695e-03 -3.58653051e-05 9.99999484e-01 -1.19599208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.106559995 meters 0.0528464127204313 Centerline is valid? [True, True] Translation: X:162.35, Y:-9.80, Z:-1.20 [[ 9.95477432e-01 9.49949776e-02 -7.97717886e-04 1.62351051e+02] [-9.49949268e-02 9.95477751e-01 1.01382488e-04 -9.79982131e+00] [ 8.03741234e-04 -2.51448264e-05 9.99999677e-01 -1.19865277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.166559995 meters 0.05337751737883815 Centerline is valid? [True, True] Translation: X:162.41, Y:-9.81, Z:-1.20 [[ 9.95309975e-01 9.67320849e-02 -9.78585722e-04 1.62410760e+02] [-9.67320093e-02 9.95310456e-01 1.24399503e-04 -9.81075099e+00] [ 9.86030024e-04 -2.91555026e-05 9.99999513e-01 -1.20016061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.226559995 meters 0.05288569320402123 Centerline is valid? [True, True] Translation: X:162.47, Y:-9.81, Z:-1.20 [[ 9.94829097e-01 1.01560488e-01 7.31904899e-04 1.62472159e+02] [-1.01560447e-01 9.94829366e-01 -9.28780632e-05 -9.81009041e+00] [-7.37553228e-04 1.80652112e-05 9.99999728e-01 -1.19821740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.286559995 meters 0.05208544945306845 Centerline is valid? [True, True] Translation: X:162.53, Y:-9.81, Z:-1.20 [[ 9.94302764e-01 1.06588047e-01 1.00093746e-03 1.62532462e+02] [-1.06587973e-01 9.94303268e-01 -1.27117680e-04 -9.81421204e+00] [-1.00878461e-03 1.97055659e-05 9.99999491e-01 -1.19827290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.346559995 meters 0.05225924563387702 Centerline is valid? [True, True] Translation: X:162.59, Y:-9.82, Z:-1.20 [[ 9.93777369e-01 1.11384521e-01 1.73425105e-04 1.62591625e+02] [-1.11384519e-01 9.93777384e-01 -2.20243368e-05 -9.82193337e+00] [-1.74799117e-04 2.57041564e-06 9.99999985e-01 -1.20045901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.406559995 meters 0.052269990276751215 Centerline is valid? [True, True] Translation: X:162.65, Y:-9.83, Z:-1.20 [[ 9.93513472e-01 1.13711824e-01 -7.75364605e-04 1.62653765e+02] [-1.13711782e-01 9.93513775e-01 9.87717853e-05 -9.82829319e+00] [ 7.81566935e-04 -9.96300853e-06 9.99999695e-01 -1.20097709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.466559995 meters 0.05242683004505726 Centerline is valid? [True, True] Translation: X:162.71, Y:-9.84, Z:-1.20 [[ 9.93312940e-01 1.15438894e-01 -1.80689472e-03 1.62714706e+02] [-1.15438667e-01 9.93314583e-01 2.29899701e-04 -9.83893256e+00] [ 1.82135424e-03 -1.97768290e-05 9.99998341e-01 -1.20454253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52655999499999 meters 0.05215931602048263 Centerline is valid? [True, True] Translation: X:162.78, Y:-9.85, Z:-1.20 [[ 9.93354643e-01 1.15061985e-01 -2.70046347e-03 1.62775766e+02] [-1.15061474e-01 9.93358313e-01 3.44193285e-04 -9.84628480e+00] [ 2.72213140e-03 -3.11866895e-05 9.99996295e-01 -1.20445808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.586559995 meters 0.05167843795347508 Centerline is valid? [True, True] Translation: X:162.84, Y:-9.86, Z:-1.20 [[ 9.93540057e-01 1.13471974e-01 -1.50560027e-03 1.62837212e+02] [-1.13471813e-01 9.93541197e-01 1.92020983e-04 -9.85758736e+00] [ 1.51766489e-03 -1.99373459e-05 9.99998848e-01 -1.20471536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.646559995 meters 0.0522961020115534 Centerline is valid? [True, True] Translation: X:162.90, Y:-9.87, Z:-1.20 [[ 9.94059209e-01 1.08840635e-01 -7.31639926e-05 1.62897086e+02] [-1.08840635e-01 9.94059212e-01 9.43420265e-06 -9.86949059e+00] [ 7.37561653e-05 -1.41494063e-06 9.99999997e-01 -1.20377719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.706559995 meters 0.05213837887348523 Centerline is valid? [True, True] Translation: X:162.96, Y:-9.88, Z:-1.20 [[ 9.94662431e-01 1.03181500e-01 -4.76748003e-04 1.62956348e+02] [-1.03181483e-01 9.94662545e-01 6.06367908e-05 -9.88040985e+00] [ 4.80459977e-04 -1.11215719e-05 9.99999885e-01 -1.20389672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.766559995 meters 0.052379116716142204 Centerline is valid? [True, True] Translation: X:163.02, Y:-9.90, Z:-1.21 [[ 9.95135524e-01 9.85127120e-02 -7.31102374e-04 1.63015984e+02] [-9.85126701e-02 9.95135792e-01 9.31416419e-05 -9.89597976e+00] [ 7.36721776e-04 -2.06657096e-05 9.99999728e-01 -1.20542905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.826559995 meters 0.05280993951870402 Centerline is valid? [True, True] Translation: X:163.08, Y:-9.90, Z:-1.21 [[ 9.95336285e-01 9.64600870e-02 -1.06387613e-03 1.63076847e+02] [-9.64599972e-02 9.95336853e-01 1.35545016e-04 -9.90449419e+00] [ 1.07198981e-03 -3.22913838e-05 9.99999425e-01 -1.20525168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.886559995 meters 0.05263645915472397 Centerline is valid? [True, True] Translation: X:163.14, Y:-9.92, Z:-1.21 [[ 9.95462797e-01 9.51462141e-02 -1.00920680e-03 1.63136285e+02] [-9.51461326e-02 9.95463308e-01 1.28603441e-04 -9.91841312e+00] [ 1.01686447e-03 -3.19978171e-05 9.99999482e-01 -1.20593766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.946559995 meters 0.053274667535564355 Centerline is valid? [True, True] Translation: X:163.20, Y:-9.93, Z:-1.20 [[ 9.95431784e-01 9.54742435e-02 -4.80885131e-04 1.63198299e+02] [-9.54742249e-02 9.95431901e-01 6.15446550e-05 -9.92537545e+00] [ 4.84564330e-04 -1.53513706e-05 9.99999882e-01 -1.20495937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.006559995 meters 0.052694035506740136 Centerline is valid? [True, True] Translation: X:163.26, Y:-9.94, Z:-1.21 [[ 9.95331440e-01 9.65156831e-02 2.17291620e-04 1.63258322e+02] [-9.65156795e-02 9.95331464e-01 -2.73653938e-05 -9.94223404e+00] [-2.18918376e-04 6.26558848e-06 9.99999976e-01 -1.20634690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.066559995 meters 0.05254373228081508 Centerline is valid? [True, True] Translation: X:163.32, Y:-9.95, Z:-1.21 [[ 9.95202417e-01 9.78335032e-02 8.69239279e-04 1.63319712e+02] [-9.78334444e-02 9.95202796e-01 -1.09932774e-04 -9.94927448e+00] [-8.75824469e-04 2.43646900e-05 9.99999616e-01 -1.20580129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.126559995 meters 0.051518733695211615 Centerline is valid? [True, True] Translation: X:163.38, Y:-9.95, Z:-1.21 [[ 9.94766572e-01 1.02159343e-01 1.71359438e-03 1.63379275e+02] [-1.02159118e-01 9.94768047e-01 -2.18514827e-04 -9.95494960e+00] [-1.72695226e-03 4.23119550e-05 9.99998508e-01 -1.20587053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.186559995 meters 0.05177008646150864 Centerline is valid? [True, True] Translation: X:163.44, Y:-9.96, Z:-1.21 [[ 9.93966479e-01 1.09669240e-01 1.81570700e-03 1.63438378e+02] [-1.09669000e-01 9.93968137e-01 -2.31557955e-04 -9.96085197e+00] [-1.83014969e-03 3.10340744e-05 9.99998325e-01 -1.20556840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24655999499998 meters 0.05157384451652484 Centerline is valid? [True, True] Translation: X:163.50, Y:-9.97, Z:-1.21 [[ 9.93117625e-01 1.17119932e-01 5.51896429e-04 1.63498487e+02] [-1.17119911e-01 9.93117778e-01 -7.02558522e-05 -9.96909973e+00] [-5.56326516e-04 5.13426436e-06 9.99999845e-01 -1.20876110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.306559995 meters 0.051777343553961304 Centerline is valid? [True, True] Translation: X:163.56, Y:-9.97, Z:-1.21 [[ 9.92624062e-01 1.21233131e-01 -1.26452411e-05 1.63559528e+02] [-1.21233131e-01 9.92624062e-01 2.38991475e-06 -9.97412627e+00] [ 1.28417074e-05 -8.39264718e-07 1.00000000e+00 -1.20875678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.366559995 meters 0.05083063528532086 Centerline is valid? [True, True] Translation: X:163.62, Y:-9.98, Z:-1.21 [[ 9.92142396e-01 1.25113654e-01 1.97617905e-04 1.63621390e+02] [-1.25113651e-01 9.92142416e-01 -2.45065399e-05 -9.97952486e+00] [-1.99131209e-04 -4.10720456e-07 9.99999980e-01 -1.20920291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.426559995 meters 0.05095054001102422 Centerline is valid? [True, True] Translation: X:163.68, Y:-9.99, Z:-1.21 [[ 9.92048209e-01 1.25858261e-01 2.21872670e-04 1.63683659e+02] [-1.25858258e-01 9.92048234e-01 -2.77101562e-05 -9.98730663e+00] [-2.23595943e-04 -4.34696838e-07 9.99999975e-01 -1.21140968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.486559995 meters 0.051077956876910274 Centerline is valid? [True, True] Translation: X:163.75, Y:-10.00, Z:-1.21 [[ 9.92350603e-01 1.23449366e-01 7.31778602e-04 1.63745294e+02] [-1.23449331e-01 9.92350872e-01 -9.29987209e-05 -9.99737420e+00] [-7.37661767e-04 1.94975818e-06 9.99999728e-01 -1.21096648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.546559995 meters 0.05156638163175726 Centerline is valid? [True, True] Translation: X:163.81, Y:-10.01, Z:-1.21 [[ 9.92713355e-01 1.20496574e-01 8.78234474e-04 1.63807242e+02] [-1.20496522e-01 9.92713743e-01 -1.11567565e-04 -1.00052995e+01] [-8.85278941e-04 4.93041212e-06 9.99999608e-01 -1.20974807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.606559995 meters 0.05146728195801002 Centerline is valid? [True, True] Translation: X:163.87, Y:-10.01, Z:-1.21 [[ 9.93266491e-01 1.15851964e-01 1.50474912e-05 1.63867400e+02] [-1.15851964e-01 9.93266491e-01 -1.51196362e-06 -1.00135131e+01] [-1.51213328e-05 -2.41498615e-07 1.00000000e+00 -1.21154781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.666559995 meters 0.05234703445237265 Centerline is valid? [True, True] Translation: X:163.93, Y:-10.02, Z:-1.21 [[ 9.93680309e-01 1.12240609e-01 -1.21996404e-03 1.63928351e+02] [-1.12240501e-01 9.93681058e-01 1.56454513e-04 -1.00213816e+01] [ 1.22981571e-03 -1.85363938e-05 9.99999244e-01 -1.21194244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.726559995 meters 0.05227331551746898 Centerline is valid? [True, True] Translation: X:163.99, Y:-10.03, Z:-1.21 [[ 9.93925264e-01 1.10028702e-01 -2.50072579e-03 1.63988639e+02] [-1.10028242e-01 9.93928409e-01 3.21418559e-04 -1.00303122e+01] [ 2.52090767e-03 -4.43155654e-05 9.99996822e-01 -1.21281429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.786559995 meters 0.052194399186227744 Centerline is valid? [True, True] Translation: X:164.05, Y:-10.04, Z:-1.21 [[ 9.94297834e-01 1.06581425e-01 -3.49526853e-03 1.64049169e+02] [-1.06580508e-01 9.94303975e-01 4.48363562e-04 -1.00403133e+01] [ 3.52314662e-03 -7.32794244e-05 9.99993791e-01 -1.21414002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.846559995 meters 0.052293194806284325 Centerline is valid? [True, True] Translation: X:164.11, Y:-10.05, Z:-1.21 [[ 9.94474527e-01 1.04939396e-01 -2.85269113e-03 1.64110085e+02] [-1.04938776e-01 9.94478617e-01 3.66858865e-04 -1.00470982e+01] [ 2.87543828e-03 -6.54738819e-05 9.99995864e-01 -1.21363573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.906559995 meters 0.05211488711358447 Centerline is valid? [True, True] Translation: X:164.17, Y:-10.06, Z:-1.21 [[ 9.94639147e-01 1.03402503e-01 -9.43287171e-04 1.64171530e+02] [-1.03402434e-01 9.94639594e-01 1.21890365e-04 -1.00555637e+01] [ 9.50834537e-04 -2.36987390e-05 9.99999548e-01 -1.21217833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.966559995 meters 0.052098568235697966 Centerline is valid? [True, True] Translation: X:164.24, Y:-10.06, Z:-1.21 [[ 9.94663833e-01 1.03169048e-01 7.61092557e-05 1.64235094e+02] [-1.03169048e-01 9.94663836e-01 -9.36513277e-06 -1.00557011e+01] [-7.66693161e-05 1.46303941e-06 9.99999997e-01 -1.21009751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02655999499999 meters 0.052492508511054733 Centerline is valid? [True, True] Translation: X:164.30, Y:-10.07, Z:-1.21 [[ 9.94587298e-01 1.03902039e-01 6.87914327e-04 1.64295009e+02] [-1.03902003e-01 9.94587536e-01 -8.76947079e-05 -1.00702836e+01] [-6.93302674e-04 1.57443661e-05 9.99999760e-01 -1.21216079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.086559995 meters 0.05184899669349619 Centerline is valid? [True, True] Translation: X:164.36, Y:-10.07, Z:-1.21 [[ 9.94304086e-01 1.06564810e-01 1.82354197e-03 1.64355277e+02] [-1.06564559e-01 9.94305758e-01 -2.34497961e-04 -1.00738164e+01] [-1.83814751e-03 3.88373351e-05 9.99998310e-01 -1.21137275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.146559995 meters 0.051951800031925795 Centerline is valid? [True, True] Translation: X:164.42, Y:-10.08, Z:-1.21 [[ 9.94010323e-01 1.09259779e-01 2.40378427e-03 1.64416542e+02] [-1.09259351e-01 9.94013229e-01 -3.09006376e-04 -1.00787259e+01] [-2.42315533e-03 4.45196182e-05 9.99997063e-01 -1.21161618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.206559995 meters 0.05174494854245275 Centerline is valid? [True, True] Translation: X:164.48, Y:-10.08, Z:-1.21 [[ 9.93648883e-01 1.12482433e-01 3.09843682e-03 1.64478355e+02] [-1.12481737e-01 9.93653712e-01 -3.98381494e-04 -1.00806094e+01] [-3.12358416e-03 4.73337696e-05 9.99995120e-01 -1.21108948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.266559995 meters 0.051837063544094335 Centerline is valid? [True, True] Translation: X:164.54, Y:-10.09, Z:-1.21 [[ 9.93547205e-01 1.13377921e-01 3.06560448e-03 1.64539128e+02] [-1.13377245e-01 9.93551934e-01 -3.93958998e-04 -1.00886459e+01] [-3.09050351e-03 4.38470706e-05 9.99995223e-01 -1.21172750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.326559995 meters 0.051883641350362254 Centerline is valid? [True, True] Translation: X:164.60, Y:-10.09, Z:-1.21 [[ 9.93621068e-01 1.12733919e-01 2.87014453e-03 1.64600850e+02] [-1.12733323e-01 9.93625212e-01 -3.69093423e-04 -1.00920069e+01] [-2.89345731e-03 4.31780725e-05 9.99995813e-01 -1.21267636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.386559995 meters 0.0518748204220942 Centerline is valid? [True, True] Translation: X:164.66, Y:-10.10, Z:-1.21 [[ 9.94027134e-01 1.09091532e-01 3.01576302e-03 1.64662014e+02] [-1.09090855e-01 9.94031707e-01 -3.88495159e-04 -1.00956482e+01] [-3.04014560e-03 5.71825628e-05 9.99995377e-01 -1.21213376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.446559995 meters 0.051987688902300724 Centerline is valid? [True, True] Translation: X:164.72, Y:-10.11, Z:-1.21 [[ 9.94459157e-01 1.05050380e-01 3.92451595e-03 1.64721679e+02] [-1.05049202e-01 9.94466897e-01 -5.05654192e-04 -1.01100237e+01] [-3.95592036e-03 9.05851730e-05 9.99992171e-01 -1.21361284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.506559995 meters 0.052858358493134534 Centerline is valid? [True, True] Translation: X:164.78, Y:-10.11, Z:-1.21 [[ 9.95145520e-01 9.82598315e-02 5.51353450e-03 1.64781516e+02] [-9.82574014e-02 9.95160780e-01 -7.10558415e-04 -1.01148116e+01] [-5.55667264e-03 1.65363451e-04 9.99984548e-01 -1.21293806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.566559995 meters 0.05281528871326131 Centerline is valid? [True, True] Translation: X:164.84, Y:-10.11, Z:-1.21 [[ 9.95688973e-01 9.26550738e-02 4.30200399e-03 1.64842918e+02] [-9.26535420e-02 9.95698254e-01 -5.54436445e-04 -1.01123477e+01] [-4.33486921e-03 1.53450347e-04 9.99990593e-01 -1.21385635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.626559995 meters 0.053018527892213625 Centerline is valid? [True, True] Translation: X:164.90, Y:-10.12, Z:-1.22 [[ 9.95893305e-01 9.04557590e-02 3.77895594e-03 1.64903118e+02] [-9.04545614e-02 9.95900464e-01 -4.86997322e-04 -1.01234267e+01] [-3.80751569e-03 1.43173570e-04 9.99992741e-01 -1.21521725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.686559995 meters 0.05390627060300221 Centerline is valid? [True, True] Translation: X:164.96, Y:-10.13, Z:-1.22 [[ 9.95993500e-01 8.93343867e-02 4.03922371e-03 1.64963310e+02] [-8.93330089e-02 9.96001678e-01 -5.20611566e-04 -1.01301052e+01] [-4.06958211e-03 1.57689728e-04 9.99991707e-01 -1.21590137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74655999499998 meters 0.05318263860900234 Centerline is valid? [True, True] Translation: X:165.03, Y:-10.13, Z:-1.22 [[ 9.95840013e-01 9.09842524e-02 4.95319827e-03 1.65025548e+02] [-9.09822005e-02 9.95852314e-01 -6.38483540e-04 -1.01301900e+01] [-4.99074591e-03 1.85174578e-04 9.99987529e-01 -1.21549640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.806559995 meters 0.05347369161051722 Centerline is valid? [True, True] Translation: X:165.08, Y:-10.14, Z:-1.22 [[ 9.95558576e-01 9.40178878e-02 4.87435570e-03 1.65084455e+02] [-9.40159359e-02 9.95570494e-01 -6.28554557e-04 -1.01395772e+01] [-4.91186009e-03 1.67495766e-04 9.99987923e-01 -1.21639548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.866559995 meters 0.05252318273615305 Centerline is valid? [True, True] Translation: X:165.15, Y:-10.13, Z:-1.22 [[ 9.95234150e-01 9.73273221e-02 6.03143849e-03 1.65146310e+02] [-9.73243944e-02 9.95252409e-01 -7.77731322e-04 -1.01334462e+01] [-6.07849819e-03 1.87018673e-04 9.99981508e-01 -1.21656296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.926559995 meters 0.053425643218444965 Centerline is valid? [True, True] Translation: X:165.21, Y:-10.14, Z:-1.22 [[ 9.94748161e-01 1.02201349e-01 5.56601001e-03 1.65205684e+02] [-1.02198931e-01 9.94763722e-01 -7.17782333e-04 -1.01412690e+01] [-5.61022316e-03 1.45172381e-04 9.99984252e-01 -1.21823144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.986559995 meters 0.05277506855678777 Centerline is valid? [True, True] Translation: X:165.27, Y:-10.14, Z:-1.22 [[ 9.94597332e-01 1.03676703e-01 5.22391306e-03 1.65268466e+02] [-1.03674595e-01 9.94611042e-01 -6.73488353e-04 -1.01385210e+01] [-5.26558666e-03 1.28262648e-04 9.99986128e-01 -1.21896908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.046559995 meters 0.05343282177009927 Centerline is valid? [True, True] Translation: X:165.33, Y:-10.15, Z:-1.22 [[ 9.94688674e-01 1.02845259e-01 4.15856434e-03 1.65328867e+02] [-1.02843915e-01 9.94697362e-01 -5.36314755e-04 -1.01490167e+01] [-4.19167040e-03 1.05783177e-04 9.99991209e-01 -1.22055174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.106559995 meters 0.053309863329706 Centerline is valid? [True, True] Translation: X:165.39, Y:-10.15, Z:-1.22 [[ 9.95096978e-01 9.88334617e-02 3.73522259e-03 1.65390579e+02] [-9.88323478e-02 9.95103982e-01 -4.82103682e-04 -1.01468595e+01] [-3.76458285e-03 1.10579099e-04 9.99992908e-01 -1.22086616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.166559995 meters 0.054341637864243814 Centerline is valid? [True, True] Translation: X:165.45, Y:-10.16, Z:-1.22 [[ 9.95414114e-01 9.55580591e-02 4.40453981e-03 1.65449876e+02] [-9.55564781e-02 9.95423848e-01 -5.68466937e-04 -1.01642346e+01] [-4.43870557e-03 1.44977700e-04 9.99990138e-01 -1.22326208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.226559995 meters 0.05398056390919168 Centerline is valid? [True, True] Translation: X:165.51, Y:-10.17, Z:-1.22 [[ 9.95697164e-01 9.24879265e-02 5.75685818e-03 1.65510106e+02] [-9.24851735e-02 9.95713784e-01 -7.43171631e-04 -1.01657878e+01] [-5.80091744e-03 2.07549858e-04 9.99983153e-01 -1.22260424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.286559995 meters 0.05370470619085405 Centerline is valid? [True, True] Translation: X:165.57, Y:-10.17, Z:-1.22 [[ 9.95715276e-01 9.23212627e-02 5.27953080e-03 1.65572857e+02] [-9.23189456e-02 9.95729254e-01 -6.81435397e-04 -1.01669130e+01] [-5.31989424e-03 1.91114918e-04 9.99985831e-01 -1.22391622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.346559995 meters 0.053380446736230554 Centerline is valid? [True, True] Translation: X:165.63, Y:-10.17, Z:-1.23 [[ 9.95500607e-01 9.46518796e-02 4.42304478e-03 1.65633466e+02] [-9.46502749e-02 9.95510421e-01 -5.71192480e-04 -1.01741501e+01] [-4.45725161e-03 1.49980056e-04 9.99990055e-01 -1.22545442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.406559995 meters 0.05310499031852506 Centerline is valid? [True, True] Translation: X:165.69, Y:-10.18, Z:-1.23 [[ 9.94814060e-01 1.01636699e-01 3.86872235e-03 1.65694563e+02] [-1.01635524e-01 9.94821577e-01 -4.99653244e-04 -1.01767131e+01] [-3.89947157e-03 1.03862449e-04 9.99992392e-01 -1.22683033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.466559995 meters 0.05252233344023714 Centerline is valid? [True, True] Translation: X:165.75, Y:-10.18, Z:-1.23 [[ 9.93920664e-01 1.10052175e-01 3.19873863e-03 1.65753689e+02] [-1.10051415e-01 9.93925810e-01 -4.13263938e-04 -1.01824788e+01] [-3.22478948e-03 5.87258558e-05 9.99994799e-01 -1.22798758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52655999499999 meters 0.05269461896217797 Centerline is valid? [True, True] Translation: X:165.81, Y:-10.19, Z:-1.23 [[ 9.92980566e-01 1.18219157e-01 3.71831557e-03 1.65814541e+02] [-1.18218187e-01 9.92987527e-01 -4.80303244e-04 -1.01852652e+01] [-3.74902203e-03 3.73592604e-05 9.99992972e-01 -1.22802525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.586559995 meters 0.05271590892406568 Centerline is valid? [True, True] Translation: X:165.88, Y:-10.19, Z:-1.23 [[ 9.92286072e-01 1.23888601e-01 4.46831381e-03 1.65875724e+02] [-1.23887258e-01 9.92296132e-01 -5.77153645e-04 -1.01884753e+01] [-4.50539327e-03 1.91343786e-05 9.99989850e-01 -1.22745553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.646559995 meters 0.052113240376722963 Centerline is valid? [True, True] Translation: X:165.94, Y:-10.20, Z:-1.23 [[ 9.91618664e-01 1.29126283e-01 4.33920213e-03 1.65937152e+02] [-1.29125066e-01 9.91628158e-01 -5.60462403e-04 -1.01953447e+01] [-4.37524544e-03 -4.53478375e-06 9.99990429e-01 -1.22920309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.706559995 meters 0.052164332497061046 Centerline is valid? [True, True] Translation: X:166.00, Y:-10.20, Z:-1.23 [[ 9.90534761e-01 1.37210926e-01 3.74814663e-03 1.65997984e+02] [-1.37210076e-01 9.90541852e-01 -4.84329514e-04 -1.01986594e+01] [-3.77915140e-03 -3.45382626e-05 9.99992858e-01 -1.23072956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.766559995 meters 0.051838524921244584 Centerline is valid? [True, True] Translation: X:166.06, Y:-10.21, Z:-1.23 [[ 9.90116823e-01 1.40158925e-01 4.91443827e-03 1.66059996e+02] [-1.40157499e-01 9.90129018e-01 -6.34938173e-04 -1.02068327e+01] [-4.95492019e-03 -6.01324130e-05 9.99987722e-01 -1.23056384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.826559995 meters 0.051973721021061195 Centerline is valid? [True, True] Translation: X:166.12, Y:-10.22, Z:-1.23 [[ 9.90005766e-01 1.40919237e-01 5.50916542e-03 1.66121210e+02] [-1.40917453e-01 9.90021092e-01 -7.12598034e-04 -1.02184141e+01] [-5.55460874e-03 -7.08613992e-05 9.99984571e-01 -1.23048251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.886559995 meters 0.05124696498419672 Centerline is valid? [True, True] Translation: X:166.18, Y:-10.23, Z:-1.23 [[ 9.90068329e-01 1.40524325e-01 4.19728702e-03 1.66181892e+02] [-1.40523286e-01 9.90077225e-01 -5.42750287e-04 -1.02322835e+01] [-4.23190791e-03 -5.24566954e-05 9.99991044e-01 -1.23162743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.946559995 meters 0.05158911900198548 Centerline is valid? [True, True] Translation: X:166.24, Y:-10.24, Z:-1.23 [[ 9.90448530e-01 1.37830678e-01 3.79642309e-03 1.66243424e+02] [-1.37829806e-01 9.90455806e-01 -4.91612483e-04 -1.02428951e+01] [-3.82794857e-03 -3.63433949e-05 9.99992673e-01 -1.23381865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.006559995 meters 0.05168633869444737 Centerline is valid? [True, True] Translation: X:166.30, Y:-10.26, Z:-1.23 [[ 9.91243179e-01 1.31974049e-01 4.45090508e-03 1.66303563e+02] [-1.31972792e-01 9.91253172e-01 -5.76361051e-04 -1.02626351e+01] [-4.48803848e-03 -1.60844102e-05 9.99989929e-01 -1.23322964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.066559995 meters 0.05218271248904348 Centerline is valid? [True, True] Translation: X:166.36, Y:-10.28, Z:-1.23 [[ 9.92173741e-01 1.24806797e-01 3.81206119e-03 1.66364863e+02] [-1.24805820e-01 9.92181064e-01 -4.93910224e-04 -1.02810254e+01] [-3.84389828e-03 1.42773313e-05 9.99992612e-01 -1.23423151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.126559995 meters 0.051460279171640984 Centerline is valid? [True, True] Translation: X:166.42, Y:-10.30, Z:-1.24 [[ 9.92983715e-01 1.18218921e-01 2.76203409e-03 1.66423291e+02] [-1.18218382e-01 9.92987556e-01 -3.58340808e-04 -1.03010858e+01] [-2.78502814e-03 2.93033866e-05 9.99996121e-01 -1.23583109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.186559995 meters 0.05182551939295622 Centerline is valid? [True, True] Translation: X:166.48, Y:-10.31, Z:-1.24 [[ 9.93211447e-01 1.16296196e-01 2.49312446e-03 1.66484744e+02] [-1.16295751e-01 9.93214576e-01 -3.23235823e-04 -1.03108234e+01] [-2.51379865e-03 3.11017387e-05 9.99996840e-01 -1.23580050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24655999499998 meters 0.05172546697102218 Centerline is valid? [True, True] Translation: X:166.54, Y:-10.32, Z:-1.24 [[ 9.93758249e-01 1.11521752e-01 2.72799864e-03 1.66543532e+02] [-1.11521198e-01 9.93761992e-01 -3.54667780e-04 -1.03225117e+01] [-2.75053453e-03 4.82243548e-05 9.99996216e-01 -1.23593244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.306559995 meters 0.05165024895639552 Centerline is valid? [True, True] Translation: X:166.60, Y:-10.34, Z:-1.24 [[ 9.94160290e-01 1.07797459e-01 5.00261462e-03 1.66603517e+02] [-1.07795551e-01 9.94172870e-01 -6.50339984e-04 -1.03375690e+01] [-5.04356873e-03 1.07282587e-04 9.99987275e-01 -1.23510292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.366559995 meters 0.051116715841745784 Centerline is valid? [True, True] Translation: X:166.66, Y:-10.35, Z:-1.23 [[ 9.94388687e-01 1.05613976e-01 6.06848562e-03 1.66663806e+02] [-1.05611127e-01 9.94407194e-01 -7.89024941e-04 -1.03475097e+01] [-6.11787782e-03 1.43697871e-04 9.99981275e-01 -1.23434217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.426559995 meters 0.05148371257958595 Centerline is valid? [True, True] Translation: X:166.72, Y:-10.36, Z:-1.24 [[ 9.94290387e-01 1.06537917e-01 6.02487152e-03 1.66723098e+02] [-1.06535124e-01 9.94308631e-01 -7.83659561e-04 -1.03641682e+01] [-6.07407121e-03 1.37324736e-04 9.99981543e-01 -1.23621463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.486559995 meters 0.05116440923637924 Centerline is valid? [True, True] Translation: X:166.78, Y:-10.37, Z:-1.24 [[ 9.94023989e-01 1.08991792e-01 6.09086163e-03 1.66784559e+02] [-1.08988978e-01 9.94042642e-01 -7.92990537e-04 -1.03683421e+01] [-6.14100564e-03 1.24414831e-04 9.99981136e-01 -1.23674929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.546559995 meters 0.05168747467551001 Centerline is valid? [True, True] Translation: X:166.84, Y:-10.38, Z:-1.24 [[ 9.93355356e-01 1.14904773e-01 6.48303778e-03 1.66842755e+02] [-1.14901710e-01 9.93376507e-01 -8.44223122e-04 -1.03828837e+01] [-6.53710269e-03 9.37014304e-05 9.99978629e-01 -1.23753121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.606559995 meters 0.050661989300213865 Centerline is valid? [True, True] Translation: X:166.90, Y:-10.39, Z:-1.24 [[ 9.92892745e-01 1.18852504e-01 6.17086088e-03 1.66903928e+02] [-1.18849804e-01 9.92911919e-01 -8.03609557e-04 -1.03860213e+01] [-6.22263233e-03 6.44924907e-05 9.99980637e-01 -1.23810042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.666559995 meters 0.050918476752449614 Centerline is valid? [True, True] Translation: X:166.97, Y:-10.39, Z:-1.24 [[ 9.92506770e-01 1.22060989e-01 5.60599112e-03 1.66965890e+02] [-1.22058813e-01 9.92522601e-01 -7.29961579e-04 -1.03925556e+01] [-5.65317272e-03 4.02311873e-05 9.99984020e-01 -1.23878255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.726559995 meters 0.0505962806475132 Centerline is valid? [True, True] Translation: X:167.03, Y:-10.40, Z:-1.24 [[ 9.92698425e-01 1.20482780e-01 5.80836524e-03 1.67026058e+02] [-1.20480413e-01 9.92715416e-01 -7.57037908e-04 -1.04012794e+01] [-5.85726374e-03 5.17160979e-05 9.99982845e-01 -1.23973927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.786559995 meters 0.050878825854317924 Centerline is valid? [True, True] Translation: X:167.09, Y:-10.41, Z:-1.24 [[ 9.93078004e-01 1.17304818e-01 5.97132287e-03 1.67087175e+02] [-1.17302254e-01 9.93095954e-01 -7.79029851e-04 -1.04119206e+01] [-6.02148054e-03 7.31877764e-05 9.99981868e-01 -1.24001028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.846559995 meters 0.05128974151621163 Centerline is valid? [True, True] Translation: X:167.15, Y:-10.43, Z:-1.24 [[ 9.93595933e-01 1.12878084e-01 5.06551970e-03 1.67146402e+02] [-1.12876180e-01 9.93608842e-01 -6.61070852e-04 -1.04262658e+01] [-5.10776558e-03 8.50607958e-05 9.99986952e-01 -1.24209644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.906559995 meters 0.051851057626121515 Centerline is valid? [True, True] Translation: X:167.21, Y:-10.44, Z:-1.24 [[ 9.93932111e-01 1.09898713e-01 4.60770102e-03 1.67206973e+02] [-1.09897106e-01 9.93942787e-01 -6.01374145e-04 -1.04357604e+01] [-4.64588144e-03 9.13520672e-05 9.99989204e-01 -1.24279305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.966559995 meters 0.05119053608665338 Centerline is valid? [True, True] Translation: X:167.27, Y:-10.44, Z:-1.24 [[ 9.94299977e-01 1.06577249e-01 2.97404328e-03 1.67268697e+02] [-1.06576564e-01 9.94304423e-01 -3.88185021e-04 -1.04385553e+01] [-2.99847608e-03 6.90090434e-05 9.99995502e-01 -1.24239380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02655999499999 meters 0.05192409534881512 Centerline is valid? [True, True] Translation: X:167.33, Y:-10.45, Z:-1.24 [[ 9.94511007e-01 1.04604260e-01 2.40946561e-03 1.67330467e+02] [-1.04603805e-01 9.94513924e-01 -3.14385949e-04 -1.04471307e+01] [-2.42913321e-03 6.06210166e-05 9.99997048e-01 -1.24318090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.086559995 meters 0.05173558305213075 Centerline is valid? [True, True] Translation: X:167.39, Y:-10.46, Z:-1.25 [[ 9.94575641e-01 1.04002738e-01 1.65090904e-03 1.67390157e+02] [-1.04002524e-01 9.94577010e-01 -2.14923833e-04 -1.04637015e+01] [-1.66430884e-03 4.20593019e-05 9.99998614e-01 -1.24555417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.146559995 meters 0.05251696364767859 Centerline is valid? [True, True] Translation: X:167.45, Y:-10.47, Z:-1.25 [[ 9.94609837e-01 1.03682535e-01 1.09729451e-03 1.67451058e+02] [-1.03682440e-01 9.94610442e-01 -1.42756769e-04 -1.04718644e+01] [-1.10618196e-03 2.82171142e-05 9.99999388e-01 -1.24580911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.206559995 meters 0.0522204417065835 Centerline is valid? [True, True] Translation: X:167.51, Y:-10.48, Z:-1.25 [[ 9.94561877e-01 1.04131844e-01 1.79767668e-03 1.67512796e+02] [-1.04131590e-01 9.94563501e-01 -2.34974090e-04 -1.04812632e+01] [-1.81237190e-03 4.65013424e-05 9.99998357e-01 -1.24562390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.266559995 meters 0.05171751369307969 Centerline is valid? [True, True] Translation: X:167.57, Y:-10.49, Z:-1.24 [[ 9.94457065e-01 1.05102514e-01 2.93387100e-03 1.67573261e+02] [-1.05101840e-01 9.94461390e-01 -3.83510698e-04 -1.04915693e+01] [-2.95792937e-03 7.30296836e-05 9.99995623e-01 -1.24485612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.326559995 meters 0.050984206512040775 Centerline is valid? [True, True] Translation: X:167.63, Y:-10.49, Z:-1.24 [[ 9.94404847e-01 1.05573287e-01 3.64434938e-03 1.67634091e+02] [-1.05572247e-01 9.94411521e-01 -4.77008771e-04 -1.04947902e+01] [-3.67434239e-03 8.95976804e-05 9.99993246e-01 -1.24379781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.386559995 meters 0.051940255387541004 Centerline is valid? [True, True] Translation: X:167.69, Y:-10.51, Z:-1.25 [[ 9.94436828e-01 1.05286970e-01 3.16987777e-03 1.67694880e+02] [-1.05286180e-01 9.94441877e-01 -4.15441514e-04 -1.05109824e+01] [-3.19599978e-03 7.93860185e-05 9.99994890e-01 -1.24632228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.446559995 meters 0.051686298314083744 Centerline is valid? [True, True] Translation: X:167.76, Y:-10.51, Z:-1.25 [[ 9.94429427e-01 1.05379552e-01 2.29431198e-03 1.67758421e+02] [-1.05379140e-01 9.94432072e-01 -3.00224521e-04 -1.05124319e+01] [-2.31317495e-03 5.67794760e-05 9.99997323e-01 -1.24687548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.506559995 meters 0.05166006718127805 Centerline is valid? [True, True] Translation: X:167.82, Y:-10.53, Z:-1.25 [[ 9.94370088e-01 1.05939408e-01 2.22946825e-03 1.67818963e+02] [-1.05939018e-01 9.94372586e-01 -2.92504715e-04 -1.05287507e+01] [-2.24790989e-03 5.46702615e-05 9.99997472e-01 -1.24922100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.566559995 meters 0.051086021929019315 Centerline is valid? [True, True] Translation: X:167.88, Y:-10.54, Z:-1.25 [[ 9.94223774e-01 1.07323629e-01 8.51782846e-04 1.67879444e+02] [-1.07323573e-01 9.94224139e-01 -1.11153919e-04 -1.05365512e+01] [-8.58792508e-04 1.90954905e-05 9.99999631e-01 -1.25020210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.626559995 meters 0.05117040717494222 Centerline is valid? [True, True] Translation: X:167.94, Y:-10.54, Z:-1.25 [[ 9.94134501e-01 1.08147676e-01 8.21023743e-04 1.67942847e+02] [-1.08147624e-01 9.94134840e-01 -1.07654556e-04 -1.05353812e+01] [-8.27850897e-04 1.82313415e-05 9.99999657e-01 -1.24778154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.686559995 meters 0.05092069889105151 Centerline is valid? [True, True] Translation: X:168.00, Y:-10.55, Z:-1.25 [[ 9.94179344e-01 1.07730154e-01 1.28274549e-03 1.68003115e+02] [-1.07730026e-01 9.94180171e-01 -1.68414199e-04 -1.05521240e+01] [-1.29342342e-03 2.92437127e-05 9.99999163e-01 -1.25031417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74655999499998 meters 0.05125295149920043 Centerline is valid? [True, True] Translation: X:168.06, Y:-10.55, Z:-1.25 [[ 9.94232439e-01 1.07241724e-01 1.03443004e-03 1.68064279e+02] [-1.07241641e-01 9.94232977e-01 -1.35367328e-04 -1.05537211e+01] [-1.04298149e-03 2.36526134e-05 9.99999456e-01 -1.24902509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.806559995 meters 0.05136137965545451 Centerline is valid? [True, True] Translation: X:168.13, Y:-10.56, Z:-1.25 [[ 9.94175524e-01 1.07755008e-01 1.97139373e-03 1.68126105e+02] [-1.07754706e-01 9.94177477e-01 -2.58938833e-04 -1.05600370e+01] [-1.98781720e-03 4.50036980e-05 9.99998023e-01 -1.24897682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.866559995 meters 0.05123525808916827 Centerline is valid? [True, True] Translation: X:168.19, Y:-10.58, Z:-1.25 [[ 9.94041414e-01 1.08976181e-01 2.42041161e-03 1.68186546e+02] [-1.08975728e-01 9.94044360e-01 -3.18693568e-04 -1.05753635e+01] [-2.44072652e-03 5.30284883e-05 9.99997020e-01 -1.25090363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.926559995 meters 0.050965069616054584 Centerline is valid? [True, True] Translation: X:168.25, Y:-10.58, Z:-1.25 [[ 9.93794838e-01 1.11192021e-01 2.85573688e-03 1.68247566e+02] [-1.11191398e-01 9.93798939e-01 -3.76310564e-04 -1.05767149e+01] [-2.87987101e-03 5.64421196e-05 9.99995852e-01 -1.25001981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.986559995 meters 0.051123169118705486 Centerline is valid? [True, True] Translation: X:168.31, Y:-10.58, Z:-1.25 [[ 9.93283878e-01 1.15692316e-01 1.55718554e-03 1.68306672e+02] [-1.15692137e-01 9.93285099e-01 -2.05097252e-04 -1.05833659e+01] [-1.57045737e-03 2.35656706e-05 9.99998767e-01 -1.25150642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.046559995 meters 0.05102600546902 Centerline is valid? [True, True] Translation: X:168.37, Y:-10.59, Z:-1.25 [[ 9.92783958e-01 1.19906820e-01 1.53882372e-03 1.68367910e+02] [-1.19906650e-01 9.92785150e-01 -2.02663291e-04 -1.05902113e+01] [-1.55202205e-03 1.66856670e-05 9.99998795e-01 -1.25273781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.106559995 meters 0.05125654047978577 Centerline is valid? [True, True] Translation: X:168.43, Y:-10.59, Z:-1.25 [[ 9.92771574e-01 1.20001411e-01 2.06470119e-03 1.68431441e+02] [-1.20001106e-01 9.92773721e-01 -2.71592871e-04 -1.05921071e+01] [-2.08237261e-03 2.18632558e-05 9.99997832e-01 -1.25093726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.166559995 meters 0.050975339546584134 Centerline is valid? [True, True] Translation: X:168.49, Y:-10.61, Z:-1.25 [[ 9.92955540e-01 1.18482319e-01 1.11121730e-03 1.68491394e+02] [-1.18482230e-01 9.92956162e-01 -1.45979461e-04 -1.06073288e+01] [-1.12068605e-03 1.32916114e-05 9.99999372e-01 -1.25389612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.226559995 meters 0.05101488911795463 Centerline is valid? [True, True] Translation: X:168.55, Y:-10.61, Z:-1.25 [[ 9.93499534e-01 1.13829726e-01 1.21191912e-03 1.68552312e+02] [-1.13829615e-01 9.93500273e-01 -1.60091841e-04 -1.06097250e+01] [-1.22226519e-03 2.10988820e-05 9.99999253e-01 -1.25158138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.286559995 meters 0.051350576652554686 Centerline is valid? [True, True] Translation: X:168.61, Y:-10.62, Z:-1.25 [[ 9.94175460e-01 1.07770651e-01 8.01204183e-04 1.68611915e+02] [-1.07770601e-01 9.94175782e-01 -1.05799848e-04 -1.06231263e+01] [-8.07939914e-04 1.88373565e-05 9.99999673e-01 -1.25346840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.346559995 meters 0.05165594963749398 Centerline is valid? [True, True] Translation: X:168.67, Y:-10.63, Z:-1.25 [[ 9.94835557e-01 1.01493285e-01 1.15195131e-03 1.68671725e+02] [-1.01493176e-01 9.94836224e-01 -1.52112906e-04 -1.06349127e+01] [-1.16144133e-03 3.44121300e-05 9.99999325e-01 -1.25369119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.406559995 meters 0.052269660245019334 Centerline is valid? [True, True] Translation: X:168.73, Y:-10.65, Z:-1.25 [[ 9.95158515e-01 9.82737956e-02 1.33853781e-03 1.68730927e+02] [-9.82736464e-02 9.95159414e-01 -1.76930845e-04 -1.06466930e+01] [-1.34944617e-03 4.45312451e-05 9.99999089e-01 -1.25344528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.466559995 meters 0.05259851944745571 Centerline is valid? [True, True] Translation: X:168.79, Y:-10.65, Z:-1.25 [[ 9.95382418e-01 9.59839013e-02 9.65272131e-04 1.68792362e+02] [-9.59838228e-02 9.95382886e-01 -1.27493307e-04 -1.06510327e+01] [-9.73052664e-04 3.42540871e-05 9.99999526e-01 -1.25336958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52655999499999 meters 0.05222740139810039 Centerline is valid? [True, True] Translation: X:168.85, Y:-10.66, Z:-1.26 [[ 9.95502151e-01 9.47295172e-02 -1.33627287e-03 1.68852759e+02] [-9.47293651e-02 9.95503047e-01 1.76834775e-04 -1.06618814e+01] [ 1.34701519e-03 -4.94551182e-05 9.99999092e-01 -1.25578039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.586559995 meters 0.052702388384642744 Centerline is valid? [True, True] Translation: X:168.91, Y:-10.66, Z:-1.25 [[ 9.95677626e-01 9.28742114e-02 -6.67131182e-04 1.68914526e+02] [-9.28741731e-02 9.95677850e-01 8.82773819e-05 -1.06582956e+01] [ 6.72446433e-04 -2.59365572e-05 9.99999774e-01 -1.25322261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.646559995 meters 0.052155176458941056 Centerline is valid? [True, True] Translation: X:168.98, Y:-10.66, Z:-1.25 [[ 9.95852686e-01 9.09802540e-02 1.46797049e-04 1.68975144e+02] [-9.09802522e-02 9.95852697e-01 -1.92891496e-05 -1.06634039e+01] [-1.47943169e-04 5.85351886e-06 9.99999989e-01 -1.25216368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.706559995 meters 0.05257625655455455 Centerline is valid? [True, True] Translation: X:169.03, Y:-10.68, Z:-1.25 [[ 9.95907420e-01 9.03768721e-02 6.56641767e-04 1.69034132e+02] [-9.03768346e-02 9.95907636e-01 -8.67240634e-05 -1.06803944e+01] [-6.61792400e-04 2.70239339e-05 9.99999781e-01 -1.25388918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.766559995 meters 0.0529921705094671 Centerline is valid? [True, True] Translation: X:169.09, Y:-10.69, Z:-1.25 [[ 9.95806552e-01 9.14761143e-02 1.19618167e-03 1.69093765e+02] [-9.14759905e-02 9.95807270e-01 -1.57929162e-04 -1.06885753e+01] [-1.20561315e-03 4.78449908e-05 9.99999272e-01 -1.25372715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.826559995 meters 0.05262352166667208 Centerline is valid? [True, True] Translation: X:169.16, Y:-10.69, Z:-1.25 [[ 9.95580284e-01 9.39003257e-02 1.62062485e-03 1.69155399e+02] [-9.39001010e-02 9.95581601e-01 -2.14375418e-04 -1.06886061e+01] [-1.63359421e-03 6.12511020e-05 9.99998664e-01 -1.25290638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.886559995 meters 0.05269607324090858 Centerline is valid? [True, True] Translation: X:169.22, Y:-10.69, Z:-1.25 [[ 9.95152214e-01 9.83278339e-02 1.92577726e-03 1.69215971e+02] [-9.83275248e-02 9.95154075e-01 -2.54754693e-04 -1.06938284e+01] [-1.94149457e-03 6.41627851e-05 9.99998113e-01 -1.25299713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.946559995 meters 0.05231458124745974 Centerline is valid? [True, True] Translation: X:169.28, Y:-10.70, Z:-1.25 [[ 9.94890035e-01 1.00938297e-01 2.29730898e-03 1.69275159e+02] [-1.00937864e-01 9.94892685e-01 -3.03992956e-04 -1.07026569e+01] [-2.31626043e-03 7.05541005e-05 9.99997315e-01 -1.25359288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.006559995 meters 0.05223575234898765 Centerline is valid? [True, True] Translation: X:169.34, Y:-10.70, Z:-1.25 [[ 9.94651972e-01 1.03254519e-01 2.44121916e-03 1.69337372e+02] [-1.03254037e-01 9.94654965e-01 -3.22921131e-04 -1.06992548e+01] [-2.46151382e-03 6.91284066e-05 9.99996968e-01 -1.25262028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.066559995 meters 0.052522410544344984 Centerline is valid? [True, True] Translation: X:169.40, Y:-10.70, Z:-1.25 [[ 9.94568535e-01 1.04063531e-01 2.05182995e-03 1.69400042e+02] [-1.04063193e-01 9.94570650e-01 -2.70960967e-04 -1.07006176e+01] [-2.06888701e-03 5.59692751e-05 9.99997858e-01 -1.25253133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.126559995 meters 0.05235735966410012 Centerline is valid? [True, True] Translation: X:169.46, Y:-10.72, Z:-1.25 [[ 9.94510996e-01 1.04616863e-01 1.78623127e-03 1.69460492e+02] [-1.04616607e-01 9.94512599e-01 -2.36245756e-04 -1.07154403e+01] [-1.80114480e-03 4.80795472e-05 9.99998377e-01 -1.25482415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.186559995 meters 0.05318095392840415 Centerline is valid? [True, True] Translation: X:169.52, Y:-10.72, Z:-1.26 [[ 9.94434134e-01 1.05333265e-01 2.37842149e-03 1.69521273e+02] [-1.05332813e-01 9.94436976e-01 -3.14863451e-04 -1.07209828e+01] [-2.39835587e-03 6.25851376e-05 9.99997122e-01 -1.25511139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24655999499998 meters 0.05331575445845628 Centerline is valid? [True, True] Translation: X:169.58, Y:-10.73, Z:-1.26 [[ 9.94372213e-01 1.05908442e-01 2.70243862e-03 1.69582981e+02] [-1.05907860e-01 9.94375883e-01 -3.57872688e-04 -1.07268041e+01] [-2.72514153e-03 6.96491660e-05 9.99996284e-01 -1.25587106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.306559995 meters 0.052499505790391594 Centerline is valid? [True, True] Translation: X:169.64, Y:-10.73, Z:-1.26 [[ 9.94125756e-01 1.08214670e-01 1.88858343e-03 1.69644567e+02] [-1.08214390e-01 9.94127549e-01 -2.50478672e-04 -1.07304084e+01] [-1.90459828e-03 4.46353960e-05 9.99998185e-01 -1.25712793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.366559995 meters 0.05239053584970951 Centerline is valid? [True, True] Translation: X:169.70, Y:-10.73, Z:-1.26 [[ 9.93555749e-01 1.13334516e-01 1.50396653e-03 1.69704440e+02] [-1.13334344e-01 9.93556887e-01 -1.99616017e-04 -1.07320540e+01] [-1.51689968e-03 2.78785824e-05 9.99998849e-01 -1.25776867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.426559995 meters 0.05232404507962666 Centerline is valid? [True, True] Translation: X:169.77, Y:-10.73, Z:-1.26 [[ 9.92829144e-01 1.19529860e-01 1.70378355e-03 1.69765412e+02] [-1.19529648e-01 9.92830606e-01 -2.26088804e-04 -1.07322613e+01] [-1.71859282e-03 2.08149054e-05 9.99998523e-01 -1.25800787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.486559995 meters 0.052054868790779966 Centerline is valid? [True, True] Translation: X:169.83, Y:-10.74, Z:-1.26 [[ 9.92691840e-01 1.20665013e-01 1.69280095e-03 1.69826633e+02] [-1.20664807e-01 9.92693283e-01 -2.24065814e-04 -1.07379927e+01] [-1.70746903e-03 1.81668061e-05 9.99998542e-01 -1.25806999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.546559995 meters 0.052016871333604275 Centerline is valid? [True, True] Translation: X:169.89, Y:-10.75, Z:-1.26 [[ 9.92456727e-01 1.22581049e-01 1.87947409e-03 1.69888307e+02] [-1.22580796e-01 9.92458506e-01 -2.49453163e-04 -1.07463427e+01] [-1.89587828e-03 1.71840397e-05 9.99998203e-01 -1.25949979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.606559995 meters 0.05123380838683589 Centerline is valid? [True, True] Translation: X:169.95, Y:-10.75, Z:-1.26 [[ 9.92381896e-01 1.23180827e-01 2.15767466e-03 1.69949537e+02] [-1.23180496e-01 9.92384242e-01 -2.86166756e-04 -1.07521329e+01] [-2.17649258e-03 1.82032743e-05 9.99997631e-01 -1.25958601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.666559995 meters 0.051844695172512695 Centerline is valid? [True, True] Translation: X:170.01, Y:-10.76, Z:-1.26 [[ 9.92504138e-01 1.22190871e-01 2.21979562e-03 1.70010956e+02] [-1.22190517e-01 9.92506620e-01 -2.94949861e-04 -1.07593718e+01] [-2.23920203e-03 2.15009825e-05 9.99997493e-01 -1.25939159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.726559995 meters 0.05271994170387587 Centerline is valid? [True, True] Translation: X:170.07, Y:-10.77, Z:-1.26 [[ 9.93299092e-01 1.15547374e-01 2.39137423e-03 1.70069893e+02] [-1.15546943e-01 9.93301970e-01 -3.18108443e-04 -1.07738652e+01] [-2.41211333e-03 3.96608445e-05 9.99997090e-01 -1.26016790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.786559995 meters 0.05241501029848989 Centerline is valid? [True, True] Translation: X:170.13, Y:-10.78, Z:-1.26 [[ 9.93945413e-01 1.09840768e-01 2.74260383e-03 1.70129798e+02] [-1.09840179e-01 9.93949195e-01 -3.64873143e-04 -1.07836880e+01] [-2.76608682e-03 6.14158901e-05 9.99996172e-01 -1.26018112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.846559995 meters 0.053483456879652995 Centerline is valid? [True, True] Translation: X:170.19, Y:-10.80, Z:-1.26 [[ 9.94750404e-01 1.02281795e-01 3.17294943e-03 1.70188926e+02] [-1.02280968e-01 9.94755460e-01 -4.22199184e-04 -1.07961737e+01] [-3.19949206e-03 9.54504706e-05 9.99994877e-01 -1.26164584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.906559995 meters 0.05295417335058768 Centerline is valid? [True, True] Translation: X:170.25, Y:-10.80, Z:-1.26 [[ 9.95038558e-01 9.94569498e-02 2.56588146e-03 1.70249820e+02] [-9.94563996e-02 9.95041862e-01 -3.41449073e-04 -1.08028747e+01] [-2.58711895e-03 8.45616614e-05 9.99996650e-01 -1.26250476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96655999499998 meters 0.0534799088328377 Centerline is valid? [True, True] Translation: X:170.31, Y:-10.81, Z:-1.26 [[ 9.95114888e-01 9.86985562e-02 2.22583320e-03 1.70310853e+02] [-9.86981413e-02 9.95117375e-01 -2.95721287e-04 -1.08102631e+01] [-2.24415256e-03 7.45910559e-05 9.99997479e-01 -1.26331618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02655999499999 meters 0.053318477206598734 Centerline is valid? [True, True] Translation: X:170.37, Y:-10.81, Z:-1.26 [[ 9.94992056e-01 9.99280559e-02 2.27847014e-03 1.70372344e+02] [-9.99276226e-02 9.94994662e-01 -3.03510344e-04 -1.08133397e+01] [-2.29739483e-03 7.43082769e-05 9.99997358e-01 -1.26328665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.086559995 meters 0.05297199667249467 Centerline is valid? [True, True] Translation: X:170.43, Y:-10.82, Z:-1.26 [[ 9.94568031e-01 1.04063846e-01 2.26883577e-03 1.70432746e+02] [-1.04063427e-01 9.94570617e-01 -3.02321096e-04 -1.08205515e+01] [-2.28797808e-03 6.45760715e-05 9.99997380e-01 -1.26426736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.146559995 meters 0.05297882447108183 Centerline is valid? [True, True] Translation: X:170.49, Y:-10.82, Z:-1.27 [[ 9.93839366e-01 1.10812908e-01 1.95307250e-03 1.70492540e+02] [-1.10812611e-01 9.93841284e-01 -2.60309036e-04 -1.08206934e+01] [-1.96988968e-03 4.22803044e-05 9.99998059e-01 -1.26504210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.206559995 meters 0.05279000004092749 Centerline is valid? [True, True] Translation: X:170.55, Y:-10.82, Z:-1.27 [[ 9.93387984e-01 1.14783643e-01 2.24247123e-03 1.70552949e+02] [-1.14783261e-01 9.93390514e-01 -2.98763564e-04 -1.08236330e+01] [-2.26194281e-03 3.93899754e-05 9.99997441e-01 -1.26512733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.266559995 meters 0.0530681546724006 Centerline is valid? [True, True] Translation: X:170.62, Y:-10.83, Z:-1.27 [[ 9.93271014e-01 1.15797072e-01 1.93137474e-03 1.70615099e+02] [-1.15796792e-01 9.93272892e-01 -2.56718547e-04 -1.08270378e+01] [-1.94810943e-03 3.13440926e-05 9.99998102e-01 -1.26531477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.326559995 meters 0.05343515790406482 Centerline is valid? [True, True] Translation: X:170.68, Y:-10.84, Z:-1.27 [[ 9.93761691e-01 1.11519957e-01 1.00060933e-03 1.70675626e+02] [-1.11519879e-01 9.93762194e-01 -1.33289713e-04 -1.08368976e+01] [-1.00923219e-03 2.08703789e-05 9.99999491e-01 -1.26595491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.386559995 meters 0.05287128749049865 Centerline is valid? [True, True] Translation: X:170.74, Y:-10.84, Z:-1.26 [[ 9.94229069e-01 1.07274482e-01 8.62841918e-04 1.70737262e+02] [-1.07274423e-01 9.94229443e-01 -1.15049724e-04 -1.08378752e+01] [-8.70204739e-04 2.18249115e-05 9.99999621e-01 -1.26393332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.446559995 meters 0.05314456613285427 Centerline is valid? [True, True] Translation: X:170.80, Y:-10.85, Z:-1.27 [[ 9.94853448e-01 1.01324107e-01 -2.04057804e-04 1.70796488e+02] [-1.01324103e-01 9.94853469e-01 2.73245905e-05 -1.08474290e+01] [ 2.05776253e-04 -6.50798908e-06 9.99999979e-01 -1.26527396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.506559995 meters 0.05358972108822501 Centerline is valid? [True, True] Translation: X:170.86, Y:-10.85, Z:-1.27 [[ 9.95173576e-01 9.81302627e-02 -6.87935396e-05 1.70857087e+02] [-9.81302623e-02 9.95173579e-01 9.30300239e-06 -1.08537095e+01] [ 6.93744190e-05 -2.50737407e-06 9.99999998e-01 -1.26517558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.566559995 meters 0.054184995373373984 Centerline is valid? [True, True] Translation: X:170.92, Y:-10.86, Z:-1.27 [[ 9.95433139e-01 9.54613276e-02 -1.83617321e-05 1.70916306e+02] [-9.54613275e-02 9.95433139e-01 2.45028949e-06 -1.08622627e+01] [ 1.85117844e-05 -6.86264043e-07 1.00000000e+00 -1.26577336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.626559995 meters 0.05503898005817309 Centerline is valid? [True, True] Translation: X:170.98, Y:-10.87, Z:-1.27 [[ 9.95341511e-01 9.64088353e-02 -7.82957708e-04 1.70978001e+02] [-9.64087827e-02 9.95341818e-01 1.04766263e-04 -1.08713229e+01] [ 7.89410942e-04 -2.87942105e-05 9.99999688e-01 -1.26721276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.686559995 meters 0.05396996898474453 Centerline is valid? [True, True] Translation: X:171.04, Y:-10.87, Z:-1.27 [[ 9.94974471e-01 1.00113939e-01 -1.73215926e-03 1.71038974e+02] [-1.00113688e-01 9.94975978e-01 2.31285349e-04 -1.08711516e+01] [ 1.74661174e-03 -5.67101666e-05 9.99998473e-01 -1.26664304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74655999499998 meters 0.05415984922013145 Centerline is valid? [True, True] Translation: X:171.10, Y:-10.87, Z:-1.26 [[ 9.94091394e-01 1.08516614e-01 -2.53859283e-03 1.71100784e+02] [-1.08516102e-01 9.94094634e-01 3.39019355e-04 -1.08671036e+01] [ 2.56039075e-03 -6.15380237e-05 9.99996720e-01 -1.26447478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.806559995 meters 0.05367862925363341 Centerline is valid? [True, True] Translation: X:171.16, Y:-10.87, Z:-1.27 [[ 9.92913505e-01 1.18819508e-01 -2.16687617e-03 1.71160517e+02] [-1.18819160e-01 9.92915869e-01 2.89277859e-04 -1.08711637e+01] [ 2.18589759e-03 -2.97614878e-05 9.99997610e-01 -1.26611661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.866559995 meters 0.05286308999872396 Centerline is valid? [True, True] Translation: X:171.22, Y:-10.87, Z:-1.27 [[ 9.92138743e-01 1.25131949e-01 -1.64636151e-03 1.71220494e+02] [-1.25131757e-01 9.92140109e-01 2.19793960e-04 -1.08741825e+01] [ 1.66092454e-03 -1.20539951e-05 9.99998621e-01 -1.26524111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.926559995 meters 0.05383169757977158 Centerline is valid? [True, True] Translation: X:171.28, Y:-10.88, Z:-1.27 [[ 9.91071488e-01 1.33324880e-01 -1.33504319e-03 1.71283188e+02] [-1.33324760e-01 9.91072387e-01 1.78645231e-04 -1.08769621e+01] [ 1.34694229e-03 9.44118475e-07 9.99999093e-01 -1.26716416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.986559995 meters 0.05254258032022349 Centerline is valid? [True, True] Translation: X:171.35, Y:-10.88, Z:-1.27 [[ 9.90314846e-01 1.38830650e-01 -1.59903623e-03 1.71345478e+02] [-1.38830485e-01 9.90316137e-01 2.14601316e-04 -1.08816752e+01] [ 1.61334462e-03 9.47210509e-06 9.99998699e-01 -1.26591389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.046559995 meters 0.05341045668455731 Centerline is valid? [True, True] Translation: X:171.41, Y:-10.89, Z:-1.27 [[ 9.89044849e-01 1.47609338e-01 -1.33070162e-03 1.71405497e+02] [-1.47609232e-01 9.89045744e-01 1.77872889e-04 -1.08850723e+01] [ 1.34238048e-03 2.04995807e-05 9.99999099e-01 -1.26600883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.106559995 meters 0.05281279355947585 Centerline is valid? [True, True] Translation: X:171.47, Y:-10.89, Z:-1.27 [[ 9.87984896e-01 1.54547997e-01 -8.73193992e-04 1.71465788e+02] [-1.54547954e-01 9.87985281e-01 1.16809357e-04 -1.08890030e+01] [ 8.80755464e-04 1.95444650e-05 9.99999612e-01 -1.26653571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.166559995 meters 0.05411301449980547 Centerline is valid? [True, True] Translation: X:171.53, Y:-10.89, Z:-1.27 [[ 9.87546936e-01 1.57324113e-01 -4.16042253e-04 1.71525527e+02] [-1.57324104e-01 9.87547023e-01 5.59250511e-05 -1.08947761e+01] [ 4.19659647e-04 1.02248617e-05 9.99999912e-01 -1.26750330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.226559995 meters 0.05347422275385338 Centerline is valid? [True, True] Translation: X:171.59, Y:-10.91, Z:-1.27 [[ 9.87514792e-01 1.57521055e-01 -1.28541435e-03 1.71586197e+02] [-1.57520963e-01 9.87515628e-01 1.72773416e-04 -1.09061827e+01] [ 1.29658221e-03 3.18634024e-05 9.99999159e-01 -1.26981774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.286559995 meters 0.05207951982969325 Centerline is valid? [True, True] Translation: X:171.65, Y:-10.93, Z:-1.27 [[ 9.87940774e-01 1.54813737e-01 -2.39447894e-03 1.71645829e+02] [-1.54813414e-01 9.87943674e-01 3.20684082e-04 -1.09275318e+01] [ 2.41525663e-03 5.38805811e-05 9.99997082e-01 -1.26872607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.346559995 meters 0.052818150641330074 Centerline is valid? [True, True] Translation: X:171.71, Y:-10.94, Z:-1.27 [[ 9.88326424e-01 1.52320584e-01 -3.05291762e-03 1.71705046e+02] [-1.52320046e-01 9.88331137e-01 4.09155331e-04 -1.09405364e+01] [ 3.07961632e-03 6.06415284e-05 9.99995256e-01 -1.27006892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.406559995 meters 0.052592044235212056 Centerline is valid? [True, True] Translation: X:171.76, Y:-10.96, Z:-1.27 [[ 9.88913440e-01 1.48431817e-01 -4.26655885e-03 1.71764663e+02] [-1.48430732e-01 9.88922642e-01 5.71585554e-04 -1.09581149e+01] [ 4.30413813e-03 6.80398155e-05 9.99990735e-01 -1.27050154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46655999499998 meters 0.05174158226895027 Centerline is valid? [True, True] Translation: X:171.82, Y:-10.98, Z:-1.27 [[ 9.89508385e-01 1.44359856e-01 -5.77828618e-03 1.71824040e+02] [-1.44357789e-01 9.89525254e-01 7.75303394e-04 -1.09775683e+01] [ 5.82968278e-03 6.69714097e-05 9.99983005e-01 -1.27073342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52655999499999 meters 0.05155501998428322 Centerline is valid? [True, True] Translation: X:171.88, Y:-10.99, Z:-1.27 [[ 9.89727623e-01 1.42848685e-01 -5.78666216e-03 1.71884671e+02] [-1.42846583e-01 9.89744538e-01 7.77145829e-04 -1.09900840e+01] [ 5.83833152e-03 5.74422192e-05 9.99982955e-01 -1.27064601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.586559995 meters 0.052278055072093335 Centerline is valid? [True, True] Translation: X:171.95, Y:-11.01, Z:-1.27 [[ 9.90224283e-01 1.39356970e-01 -5.95857611e-03 1.71945738e+02] [-1.39354680e-01 9.90242209e-01 7.99909741e-04 -1.10060612e+01] [ 6.01190657e-03 3.82654172e-05 9.99981928e-01 -1.27104565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.646559995 meters 0.051924199112654064 Centerline is valid? [True, True] Translation: X:172.01, Y:-11.03, Z:-1.27 [[ 9.91003133e-01 1.33747441e-01 -4.94090364e-03 1.72005117e+02] [-1.33745791e-01 9.91015450e-01 6.64363949e-04 -1.10259365e+01] [ 4.98536883e-03 2.43831307e-06 9.99987573e-01 -1.27071259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.706559995 meters 0.051788107368686144 Centerline is valid? [True, True] Translation: X:172.07, Y:-11.04, Z:-1.27 [[ 9.91427895e-01 1.30594936e-01 -3.96138441e-03 1.72065714e+02] [-1.30593850e-01 9.91435809e-01 5.32508324e-04 -1.10416579e+01] [ 3.99700125e-03 -1.06111632e-05 9.99992012e-01 -1.26929219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.766559995 meters 0.05142738143540896 Centerline is valid? [True, True] Translation: X:172.13, Y:-11.06, Z:-1.27 [[ 9.91786536e-01 1.27865830e-01 -3.12996471e-03 1.72125933e+02] [-1.27865135e-01 9.91791475e-01 4.21846365e-04 -1.10619043e+01] [ 3.15821205e-03 -1.81681852e-05 9.99995013e-01 -1.27083896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.826559995 meters 0.0511582285856837 Centerline is valid? [True, True] Translation: X:172.19, Y:-11.08, Z:-1.27 [[ 9.91710519e-01 1.28456867e-01 -3.01326700e-03 1.72185412e+02] [-1.28456225e-01 9.91715097e-01 4.06322258e-04 -1.10783462e+01] [ 3.04049726e-03 -1.58811539e-05 9.99995378e-01 -1.27221487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.886559995 meters 0.0515713491070526 Centerline is valid? [True, True] Translation: X:172.25, Y:-11.09, Z:-1.27 [[ 9.91558557e-01 1.29627314e-01 -2.89609885e-03 1.72246880e+02] [-1.29626725e-01 9.91562786e-01 3.90859380e-04 -1.10894852e+01] [ 2.92232989e-03 -1.21481525e-05 9.99995730e-01 -1.26902507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.946559995 meters 0.05098993311191664 Centerline is valid? [True, True] Translation: X:172.31, Y:-11.10, Z:-1.27 [[ 9.91411042e-01 1.30752615e-01 -2.81058758e-03 1.72307408e+02] [-1.30752066e-01 9.91415026e-01 3.79201781e-04 -1.11035974e+01] [ 2.83604039e-03 -8.45469951e-06 9.99995978e-01 -1.27348839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.006559995 meters 0.050797596733663325 Centerline is valid? [True, True] Translation: X:172.37, Y:-11.12, Z:-1.28 [[ 9.91267398e-01 1.31835904e-01 -2.87042481e-03 1.72367795e+02] [-1.31835334e-01 9.91271554e-01 3.87658541e-04 -1.11184326e+01] [ 2.89647778e-03 -5.84985900e-06 9.99995805e-01 -1.27633318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.066559995 meters 0.05103161065518239 Centerline is valid? [True, True] Translation: X:172.43, Y:-11.13, Z:-1.27 [[ 9.91077463e-01 1.33271580e-01 -2.03657931e-03 1.72429240e+02] [-1.33271295e-01 9.91079556e-01 2.75708500e-04 -1.11307266e+01] [ 2.05515623e-03 -1.83091792e-06 9.99997888e-01 -1.27423434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.126559995 meters 0.050525242486010404 Centerline is valid? [True, True] Translation: X:172.49, Y:-11.13, Z:-1.28 [[ 9.90368798e-01 1.38454481e-01 -6.64633422e-06 1.72490420e+02] [-1.38454481e-01 9.90368798e-01 1.68961373e-06 -1.11348641e+01] [ 6.81625657e-06 -7.53125960e-07 1.00000000e+00 -1.27516710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.186559995 meters 0.05063782623686046 Centerline is valid? [True, True] Translation: X:172.55, Y:-11.14, Z:-1.28 [[ 9.90210301e-01 1.39583508e-01 -6.57108578e-05 1.72552021e+02] [-1.39583508e-01 9.90210303e-01 9.71818989e-06 -1.11425409e+01] [ 6.64240674e-05 -4.50899711e-07 9.99999998e-01 -1.27613899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24655999499998 meters 0.05031436953022814 Centerline is valid? [True, True] Translation: X:172.61, Y:-11.15, Z:-1.28 [[ 9.90258455e-01 1.39241109e-01 -3.26459718e-04 1.72613835e+02] [-1.39241102e-01 9.90258508e-01 4.50528306e-05 -1.11507825e+01] [ 3.29552720e-04 8.42664391e-07 9.99999946e-01 -1.27763635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.306559995 meters 0.05031967060680731 Centerline is valid? [True, True] Translation: X:172.68, Y:-11.16, Z:-1.28 [[ 9.90285921e-01 1.39044886e-01 -5.60464502e-04 1.72676655e+02] [-1.39044865e-01 9.90286080e-01 7.68479752e-05 -1.11574502e+01] [ 5.65705513e-04 1.82824315e-06 9.99999840e-01 -1.27842855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.366559995 meters 0.05046077390805515 Centerline is valid? [True, True] Translation: X:172.74, Y:-11.17, Z:-1.28 [[ 9.90579486e-01 1.36928980e-01 -1.65426468e-03 1.72739199e+02] [-1.36928795e-01 9.90580867e-01 2.25246950e-04 -1.11664747e+01] [ 1.66952578e-03 3.39146134e-06 9.99998606e-01 -1.27767803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.426559995 meters 0.05054027029156048 Centerline is valid? [True, True] Translation: X:172.80, Y:-11.17, Z:-1.28 [[ 9.90971035e-01 1.34059222e-01 -2.12892985e-03 1.72801521e+02] [-1.34058910e-01 9.90973322e-01 2.89167306e-04 -1.11745540e+01] [ 2.14847823e-03 -1.15440892e-06 9.99997692e-01 -1.27944862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.486559995 meters 0.050872594687903616 Centerline is valid? [True, True] Translation: X:172.86, Y:-11.18, Z:-1.28 [[ 9.91850079e-01 1.27372424e-01 -3.11238065e-03 1.72862469e+02] [-1.27371722e-01 9.91854962e-01 4.23320905e-04 -1.11829369e+01] [ 3.14094960e-03 -2.34415884e-05 9.99995067e-01 -1.28106430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.546559995 meters 0.05174431303319218 Centerline is valid? [True, True] Translation: X:172.92, Y:-11.19, Z:-1.28 [[ 9.93223150e-01 1.16192157e-01 -2.67537293e-03 1.72921971e+02] [-1.16191600e-01 9.93226752e-01 3.63205398e-04 -1.11936218e+01] [ 2.69945359e-03 -4.98881469e-05 9.99996355e-01 -1.28039344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.606559995 meters 0.05266255268855587 Centerline is valid? [True, True] Translation: X:172.98, Y:-11.20, Z:-1.28 [[ 9.94417749e-01 1.05502508e-01 -1.60046546e-03 1.72982740e+02] [-1.05502295e-01 9.94419036e-01 2.17294095e-04 -1.11974155e+01] [ 1.61445839e-03 -4.72283262e-05 9.99998696e-01 -1.27738201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.666559995 meters 0.052663579178276645 Centerline is valid? [True, True] Translation: X:173.04, Y:-11.21, Z:-1.28 [[ 9.94973162e-01 1.00133551e-01 -1.29611328e-03 1.73041352e+02] [-1.00133406e-01 9.94974005e-01 1.75987383e-04 -1.12079966e+01] [ 1.30722127e-03 -4.53184852e-05 9.99999145e-01 -1.27854472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.726559995 meters 0.052994714010287165 Centerline is valid? [True, True] Translation: X:173.10, Y:-11.23, Z:-1.28 [[ 9.95333271e-01 9.64933404e-02 -8.45649048e-04 1.73100458e+02] [-9.64932775e-02 9.95333630e-01 1.14902785e-04 -1.12263145e+01] [ 8.52790290e-04 -3.27671163e-05 9.99999636e-01 -1.28155042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.786559995 meters 0.05281521631120858 Centerline is valid? [True, True] Translation: X:173.16, Y:-11.23, Z:-1.28 [[ 9.95472265e-01 9.50523856e-02 1.17516985e-04 1.73161680e+02] [-9.50523845e-02 9.95472272e-01 -1.51343657e-05 -1.12281494e+01] [-1.18423458e-04 3.89557162e-06 9.99999993e-01 -1.28060422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.846559995 meters 0.052950889193276694 Centerline is valid? [True, True] Translation: X:173.22, Y:-11.23, Z:-1.28 [[ 9.95320773e-01 9.66148732e-02 1.45757912e-03 1.73223880e+02] [-9.66146868e-02 9.95321839e-01 -1.97958970e-04 -1.12270341e+01] [-1.46988611e-03 5.62091253e-05 9.99998918e-01 -1.27920350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.906559995 meters 0.052303271133399894 Centerline is valid? [True, True] Translation: X:173.28, Y:-11.24, Z:-1.28 [[ 9.95213885e-01 9.77049056e-02 1.75352971e-03 1.73283720e+02] [-9.77046376e-02 9.95215428e-01 -2.38028156e-04 -1.12368202e+01] [-1.76839634e-03 6.55609407e-05 9.99998434e-01 -1.28049281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96655999499998 meters 0.05324932277871196 Centerline is valid? [True, True] Translation: X:173.35, Y:-11.24, Z:-1.28 [[ 9.95129490e-01 9.85693376e-02 1.17607343e-03 1.73345548e+02] [-9.85692182e-02 9.95130184e-01 -1.59183753e-04 -1.12397359e+01] [-1.18603680e-03 4.24838084e-05 9.99999296e-01 -1.28053918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02655999499999 meters 0.05306339067865232 Centerline is valid? [True, True] Translation: X:173.40, Y:-11.26, Z:-1.28 [[ 9.95157105e-01 9.82925962e-02 9.49234550e-04 1.73404723e+02] [-9.82925183e-02 9.95157558e-01 -1.28528615e-04 -1.12584344e+01] [-9.57271348e-04 3.46035104e-05 9.99999541e-01 -1.28284073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.086559995 meters 0.05302709730343793 Centerline is valid? [True, True] Translation: X:173.47, Y:-11.26, Z:-1.28 [[ 9.95241922e-01 9.74197025e-02 1.70827984e-03 1.73467581e+02] [-9.74194476e-02 9.95243386e-01 -2.31968366e-04 -1.12579021e+01] [-1.72275250e-03 6.44449644e-05 9.99998514e-01 -1.28296954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.146559995 meters 0.052753005267665354 Centerline is valid? [True, True] Translation: X:173.53, Y:-11.27, Z:-1.28 [[ 9.95419201e-01 9.55826467e-02 2.13836300e-03 1.73526544e+02] [-9.55822409e-02 9.95421494e-01 -2.91398646e-04 -1.12690487e+01] [-2.15642514e-03 8.56742804e-05 9.99997671e-01 -1.28463550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.206559995 meters 0.05293304688951437 Centerline is valid? [True, True] Translation: X:173.59, Y:-11.28, Z:-1.29 [[ 9.95463126e-01 9.51220619e-02 2.22678115e-03 1.73587290e+02] [-9.51216219e-02 9.95465612e-01 -3.02921890e-04 -1.12785880e+01] [-2.24549861e-03 8.97325365e-05 9.99997475e-01 -1.28539293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.266559995 meters 0.052102160955392635 Centerline is valid? [True, True] Translation: X:173.65, Y:-11.28, Z:-1.29 [[ 9.95218304e-01 9.76313860e-02 2.93936745e-03 1.73648561e+02] [-9.76306274e-02 9.95222638e-01 -4.00822002e-04 -1.12811062e+01] [-2.96445783e-03 1.11933106e-04 9.99995600e-01 -1.28504780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.326559995 meters 0.052362421823437456 Centerline is valid? [True, True] Translation: X:173.71, Y:-11.29, Z:-1.29 [[ 9.94751802e-01 1.02279092e-01 2.80002358e-03 1.73707523e+02] [-1.02278421e-01 9.94755738e-01 -3.81915010e-04 -1.12896758e+01] [-2.82440145e-03 9.35286526e-05 9.99996007e-01 -1.28583660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.386559995 meters 0.052569074876632746 Centerline is valid? [True, True] Translation: X:173.77, Y:-11.30, Z:-1.29 [[ 9.93838620e-01 1.10815636e-01 2.16615679e-03 1.73767244e+02] [-1.10815255e-01 9.93840979e-01 -2.95397416e-04 -1.12992923e+01] [-2.18555004e-03 5.35341426e-05 9.99997610e-01 -1.28836192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.446559995 meters 0.05245359745075703 Centerline is valid? [True, True] Translation: X:173.83, Y:-11.30, Z:-1.29 [[ 9.93547385e-01 1.13394472e-01 2.29925013e-03 1.73828761e+02] [-1.13394050e-01 9.93550045e-01 -3.13393407e-04 -1.13043073e+01] [-2.31995715e-03 5.06499150e-05 9.99997308e-01 -1.28866168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.506559995 meters 0.05177535478081667 Centerline is valid? [True, True] Translation: X:173.89, Y:-11.31, Z:-1.29 [[ 9.93054466e-01 1.17652093e-01 9.01198359e-04 1.73887613e+02] [-1.17652030e-01 9.93054875e-01 -1.22989581e-04 -1.13120936e+01] [-9.09409406e-04 1.61075364e-05 9.99999586e-01 -1.28959551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.566559995 meters 0.05193683559859319 Centerline is valid? [True, True] Translation: X:173.95, Y:-11.31, Z:-1.29 [[ 9.92865296e-01 1.19241329e-01 9.17180391e-05 1.73949148e+02] [-1.19241329e-01 9.92865301e-01 -1.17356522e-05 -1.13145724e+01] [-9.24630333e-05 7.15340951e-07 9.99999996e-01 -1.28759132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.626559995 meters 0.05223346430303685 Centerline is valid? [True, True] Translation: X:174.01, Y:-11.32, Z:-1.29 [[ 9.93218786e-01 1.16260108e-01 1.77216041e-04 1.74009269e+02] [-1.16260105e-01 9.93218801e-01 -2.40857336e-05 -1.13247287e+01] [-1.78814514e-04 3.31924756e-06 9.99999984e-01 -1.28766781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.686559995 meters 0.052964436470109955 Centerline is valid? [True, True] Translation: X:174.07, Y:-11.34, Z:-1.29 [[ 9.94238810e-01 1.07174175e-01 1.69853754e-03 1.74068101e+02] [-1.07173935e-01 9.94240260e-01 -2.31819330e-04 -1.13407321e+01] [-1.71359945e-03 4.84448226e-05 9.99998531e-01 -1.28836860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74655999499998 meters 0.05314883764081064 Centerline is valid? [True, True] Translation: X:174.13, Y:-11.35, Z:-1.29 [[ 9.95259881e-01 9.72263700e-02 2.19119219e-03 1.74127576e+02] [-9.72259467e-02 9.95262290e-01 -2.99128733e-04 -1.13497470e+01] [-2.20989416e-03 8.46700925e-05 9.99997555e-01 -1.28766414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.806559995 meters 0.05240088994080674 Centerline is valid? [True, True] Translation: X:174.19, Y:-11.35, Z:-1.29 [[ 9.95700781e-01 9.25829007e-02 2.89171847e-03 1.74188332e+02] [-9.25821438e-02 9.95704972e-01 -3.94802463e-04 -1.13548385e+01] [-2.91585042e-03 1.25383625e-04 9.99995741e-01 -1.28748751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.866559995 meters 0.05324228757948965 Centerline is valid? [True, True] Translation: X:174.25, Y:-11.37, Z:-1.29 [[ 9.95943880e-01 8.99324594e-02 2.81803045e-03 1.74247637e+02] [-8.99317299e-02 9.95947858e-01 -3.84771564e-04 -1.13694618e+01] [-2.84121485e-03 1.29780530e-04 9.99995955e-01 -1.28875498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.926559995 meters 0.053049777810886906 Centerline is valid? [True, True] Translation: X:174.31, Y:-11.37, Z:-1.29 [[ 9.95845016e-01 9.10642830e-02 -3.32981697e-05 1.74309039e+02] [-9.10642829e-02 9.95845016e-01 5.09502380e-06 -1.13724907e+01] [ 3.36237909e-05 -2.04158011e-06 9.99999999e-01 -1.28960006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.986559995 meters 0.05328275813111779 Centerline is valid? [True, True] Translation: X:174.37, Y:-11.38, Z:-1.29 [[ 9.95538876e-01 9.43485875e-02 -8.30547105e-04 1.74368370e+02] [-9.43485256e-02 9.95539222e-01 1.13511721e-04 -1.13831343e+01] [ 8.37551889e-04 -3.46444359e-05 9.99999649e-01 -1.29105420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.046559995 meters 0.05265905713531096 Centerline is valid? [True, True] Translation: X:174.43, Y:-11.38, Z:-1.29 [[ 9.95367950e-01 9.61383369e-02 -2.55030785e-04 1.74430469e+02] [-9.61383311e-02 9.95367982e-01 3.50428941e-05 -1.13813558e+01] [ 2.57218443e-04 -1.03623397e-05 9.99999967e-01 -1.29047757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.106559995 meters 0.053247560764033613 Centerline is valid? [True, True] Translation: X:174.49, Y:-11.39, Z:-1.29 [[ 9.95278814e-01 9.70489467e-02 1.25849720e-03 1.74489559e+02] [-9.70488067e-02 9.95279609e-01 -1.71961605e-04 -1.13929678e+01] [-1.26924529e-03 4.90140905e-05 9.99999193e-01 -1.29121916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.166559995 meters 0.05287547241509128 Centerline is valid? [True, True] Translation: X:174.55, Y:-11.41, Z:-1.29 [[ 9.95168868e-01 9.81265376e-02 3.17901424e-03 1.74549265e+02] [-9.81256499e-02 9.95173939e-01 -4.34392324e-04 -1.14081256e+01] [-3.20629754e-03 1.20350879e-04 9.99994853e-01 -1.29198456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.226559995 meters 0.05277114764920233 Centerline is valid? [True, True] Translation: X:174.61, Y:-11.41, Z:-1.29 [[ 9.95070769e-01 9.90846868e-02 4.04837778e-03 1.74610973e+02] [-9.90832554e-02 9.95078993e-01 -5.53111702e-04 -1.14115942e+01] [-4.08326059e-03 1.49258837e-04 9.99991652e-01 -1.29193284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.286559995 meters 0.052437232292169525 Centerline is valid? [True, True] Translation: X:174.67, Y:-11.41, Z:-1.29 [[ 9.94806632e-01 1.01666181e-01 4.87373871e-03 1.74671877e+02] [-1.01664133e-01 9.94818556e-01 -6.66951795e-04 -1.14142128e+01] [-4.91629214e-03 1.68003651e-04 9.99987901e-01 -1.29200982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.346559995 meters 0.0530362244725408 Centerline is valid? [True, True] Translation: X:174.73, Y:-11.42, Z:-1.29 [[ 9.94419737e-01 1.05370862e-01 5.13489750e-03 1.74731994e+02] [-1.05368637e-01 9.94432982e-01 -7.02746460e-04 -1.14192809e+01] [-5.18036044e-03 1.57767799e-04 9.99986569e-01 -1.29238983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.406559995 meters 0.053467437846115254 Centerline is valid? [True, True] Translation: X:174.79, Y:-11.43, Z:-1.29 [[ 9.94171514e-01 1.07742225e-01 3.82281690e-03 1.74790793e+02] [-1.07741009e-01 9.94178858e-01 -5.23171126e-04 -1.14343505e+01] [-3.85693136e-03 1.08247679e-04 9.99992556e-01 -1.29413847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46655999499998 meters 0.0526647109203331 Centerline is valid? [True, True] Translation: X:174.85, Y:-11.43, Z:-1.29 [[ 9.93924220e-01 1.10017967e-01 3.26988771e-03 1.74852651e+02] [-1.10017089e-01 9.93929595e-01 -4.47494029e-04 -1.14343161e+01] [-3.29927055e-03 8.50316253e-05 9.99994554e-01 -1.29378031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52655999499999 meters 0.05305056739205071 Centerline is valid? [True, True] Translation: X:174.91, Y:-11.44, Z:-1.29 [[ 9.93887161e-01 1.10337501e-01 3.73449258e-03 1.74914538e+02] [-1.10336360e-01 9.93894173e-01 -5.11035540e-04 -1.14427043e+01] [-3.76807680e-03 9.58613453e-05 9.99992896e-01 -1.29440308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.586559995 meters 0.05322680972580199 Centerline is valid? [True, True] Translation: X:174.98, Y:-11.45, Z:-1.29 [[ 9.94049666e-01 1.08872131e-01 3.48136317e-03 1.74975370e+02] [-1.08871130e-01 9.94055758e-01 -4.76257422e-04 -1.14507000e+01] [-3.51252027e-03 9.44035878e-05 9.99993827e-01 -1.29476487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.646559995 meters 0.0535930681560401 Centerline is valid? [True, True] Translation: X:175.04, Y:-11.46, Z:-1.29 [[ 9.94579065e-01 1.03891171e-01 4.37119792e-03 1.75035270e+02] [-1.03889541e-01 9.94588661e-01 -5.98999973e-04 -1.14621500e+01] [-4.40977470e-03 1.41631089e-04 9.99990267e-01 -1.29456931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.706559995 meters 0.05334114954732235 Centerline is valid? [True, True] Translation: X:175.10, Y:-11.46, Z:-1.30 [[ 9.94936858e-01 1.00393479e-01 4.66886860e-03 1.75096788e+02] [-1.00391580e-01 9.94947798e-01 -6.39923932e-04 -1.14626431e+01] [-4.70952472e-03 1.67968812e-04 9.99988896e-01 -1.29504846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.766559995 meters 0.05282561636281787 Centerline is valid? [True, True] Translation: X:175.16, Y:-11.47, Z:-1.30 [[ 9.95228214e-01 9.74290147e-02 5.32817507e-03 1.75157509e+02] [-9.74264991e-02 9.95242455e-01 -7.30290116e-04 -1.14664656e+01] [-5.37397748e-03 2.07699885e-04 9.99985539e-01 -1.29586760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.826559995 meters 0.0535564600015388 Centerline is valid? [True, True] Translation: X:175.22, Y:-11.47, Z:-1.30 [[ 9.95179132e-01 9.80180212e-02 3.31097388e-03 1.75217847e+02] [-9.80170537e-02 9.95184632e-01 -4.53602175e-04 -1.14741757e+01] [-3.33949151e-03 1.26883514e-04 9.99994416e-01 -1.29713452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.886559995 meters 0.0535787808405639 Centerline is valid? [True, True] Translation: X:175.28, Y:-11.48, Z:-1.30 [[ 9.95005206e-01 9.97701676e-02 3.24850951e-03 1.75279402e+02] [-9.97692443e-02 9.95010502e-01 -4.45429924e-04 -1.14762198e+01] [-3.27674170e-03 1.19103755e-04 9.99994624e-01 -1.29793088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.946559995 meters 0.05326135433476353 Centerline is valid? [True, True] Translation: X:175.34, Y:-11.48, Z:-1.30 [[ 9.94806568e-01 1.01739685e-01 2.98828160e-03 1.75340764e+02] [-1.01738912e-01 9.94811050e-01 -4.09844327e-04 -1.14812397e+01] [-3.01447299e-03 1.03691310e-04 9.99995451e-01 -1.29818304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.006559995 meters 0.05364630862268401 Centerline is valid? [True, True] Translation: X:175.40, Y:-11.49, Z:-1.30 [[ 9.94562299e-01 1.04107147e-01 2.74507077e-03 1.75401688e+02] [-1.04106504e-01 9.94566083e-01 -3.76561895e-04 -1.14852240e+01] [-2.76935707e-03 8.87345434e-05 9.99996161e-01 -1.29825727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.066559995 meters 0.053381704991880434 Centerline is valid? [True, True] Translation: X:175.46, Y:-11.50, Z:-1.30 [[ 9.94358155e-01 1.06030337e-01 3.07051544e-03 1.75460961e+02] [-1.06029542e-01 9.94362891e-01 -4.21063820e-04 -1.14958431e+01] [-3.09785215e-03 9.31228960e-05 9.99995197e-01 -1.29926701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.126559995 meters 0.054279829177202386 Centerline is valid? [True, True] Translation: X:175.52, Y:-11.51, Z:-1.30 [[ 9.94339181e-01 1.06212354e-01 2.92027112e-03 1.75522289e+02] [-1.06211636e-01 9.94343466e-01 -4.00297557e-04 -1.15055229e+01] [-2.94626905e-03 8.78647716e-05 9.99995656e-01 -1.29948443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.186559995 meters 0.05396485123198523 Centerline is valid? [True, True] Translation: X:175.58, Y:-11.50, Z:-1.30 [[ 9.94512685e-01 1.04591678e-01 2.25818340e-03 1.75583950e+02] [-1.04591243e-01 9.94515247e-01 -3.10119723e-04 -1.15037100e+01] [-2.27823377e-03 7.22317894e-05 9.99997402e-01 -1.29905005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24655999499998 meters 0.0531945264800351 Centerline is valid? [True, True] Translation: X:175.64, Y:-11.51, Z:-1.30 [[ 9.94719321e-01 1.02613782e-01 1.97106207e-03 1.75644694e+02] [-1.02613447e-01 9.94721271e-01 -2.70749648e-04 -1.15081960e+01] [-1.98844001e-03 6.70624329e-05 9.99998021e-01 -1.29927861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.306559995 meters 0.05439983620650741 Centerline is valid? [True, True] Translation: X:175.70, Y:-11.52, Z:-1.30 [[ 9.95143503e-01 9.84199894e-02 1.70707968e-03 1.75703868e+02] [-9.84197316e-02 9.95144965e-01 -2.34542125e-04 -1.15168792e+01] [-1.72187538e-03 6.53927475e-05 9.99998515e-01 -1.30033966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.366559995 meters 0.05456914208766647 Centerline is valid? [True, True] Translation: X:175.76, Y:-11.52, Z:-1.30 [[ 9.95287679e-01 9.69485555e-02 1.84774163e-03 1.75764352e+02] [-9.69482511e-02 9.95289391e-01 -2.53826905e-04 -1.15238001e+01] [-1.86364579e-03 7.34954723e-05 9.99998261e-01 -1.30087876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.426559995 meters 0.05435524268672343 Centerline is valid? [True, True] Translation: X:175.83, Y:-11.53, Z:-1.30 [[ 9.95565665e-01 9.40572706e-02 1.49569697e-03 1.75825333e+02] [-9.40570679e-02 9.95566786e-01 -2.05449059e-04 -1.15265354e+01] [-1.50839020e-03 6.38571581e-05 9.99998860e-01 -1.30131110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.486559995 meters 0.05603037645360937 Centerline is valid? [True, True] Translation: X:175.88, Y:-11.54, Z:-1.30 [[ 9.95829807e-01 9.12268868e-02 8.06576958e-04 1.75882891e+02] [-9.12268269e-02 9.95830133e-01 -1.10864671e-04 -1.15429465e+01] [-8.13327478e-04 3.68208874e-05 9.99999669e-01 -1.30313806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.546559995 meters 0.05396912274689758 Centerline is valid? [True, True] Translation: X:175.95, Y:-11.53, Z:-1.30 [[ 9.95921228e-01 9.02144007e-02 1.50626842e-03 1.75947545e+02] [-9.02141911e-02 9.95922365e-01 -2.06658671e-04 -1.15290860e+01] [-1.51876999e-03 6.99289707e-05 9.99998844e-01 -1.30130979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.606559995 meters 0.054465810847350526 Centerline is valid? [True, True] Translation: X:176.01, Y:-11.53, Z:-1.30 [[ 9.95854850e-01 9.09250616e-02 2.39789732e-03 1.76007577e+02] [-9.09245315e-02 9.95857731e-01 -3.29401571e-04 -1.15349754e+01] [-2.41791544e-03 1.10008462e-04 9.99997071e-01 -1.30158846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.666559995 meters 0.054787663811871286 Centerline is valid? [True, True] Translation: X:176.07, Y:-11.54, Z:-1.30 [[ 9.95495879e-01 9.47854614e-02 1.91598544e-03 1.76066552e+02] [-9.47851296e-02 9.95497720e-01 -2.63456749e-04 -1.15449953e+01] [-1.93233101e-03 8.06631790e-05 9.99998130e-01 -1.30284390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.726559995 meters 0.05481932988827994 Centerline is valid? [True, True] Translation: X:176.13, Y:-11.55, Z:-1.30 [[ 9.95128602e-01 9.85783112e-02 1.17598735e-03 1.76127173e+02] [-9.85781888e-02 9.95129295e-01 -1.61690500e-04 -1.15476582e+01] [-1.18619864e-03 4.49761378e-05 9.99999295e-01 -1.30392321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.786559995 meters 0.05420898422004064 Centerline is valid? [True, True] Translation: X:176.19, Y:-11.55, Z:-1.30 [[ 9.94718203e-01 1.02641244e-01 6.87200772e-04 1.76189082e+02] [-1.02641203e-01 9.94718440e-01 -9.46276888e-05 -1.15456152e+01] [-6.93283983e-04 2.35927703e-05 9.99999759e-01 -1.30358544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.846559995 meters 0.054196552508160245 Centerline is valid? [True, True] Translation: X:176.25, Y:-11.55, Z:-1.30 [[ 9.94208684e-01 1.07458516e-01 1.32659599e-03 1.76248929e+02] [-1.07458368e-01 9.94209568e-01 -1.82336096e-04 -1.15513980e+01] [-1.33850799e-03 3.87262889e-05 9.99999103e-01 -1.30484923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.906559995 meters 0.054557726809261284 Centerline is valid? [True, True] Translation: X:176.31, Y:-11.56, Z:-1.30 [[ 9.94084302e-01 1.08609339e-01 6.42147416e-04 1.76311069e+02] [-1.08609305e-01 9.94084509e-01 -8.75102609e-05 -1.15557442e+01] [-6.47853230e-04 1.72493919e-05 9.99999790e-01 -1.30497349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96655999499998 meters 0.0551250387947229 Centerline is valid? [True, True] Translation: X:176.37, Y:-11.56, Z:-1.31 [[ 9.94221327e-01 1.07348375e-01 5.28358678e-04 1.76371220e+02] [-1.07348352e-01 9.94221467e-01 -7.23156598e-05 -1.15639596e+01] [-5.33068509e-04 1.51793380e-05 9.99999858e-01 -1.30637314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02655999499999 meters 0.055453566575464436 Centerline is valid? [True, True] Translation: X:176.43, Y:-11.57, Z:-1.31 [[ 9.94615597e-01 1.03632266e-01 4.10023190e-04 1.76431489e+02] [-1.03632252e-01 9.94615681e-01 -5.64307084e-05 -1.15675118e+01] [-4.13663537e-04 1.36352363e-05 9.99999914e-01 -1.30603136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.086559995 meters 0.055176745323678625 Centerline is valid? [True, True] Translation: X:176.49, Y:-11.57, Z:-1.31 [[ 9.94864142e-01 1.01219044e-01 2.12350809e-04 1.76492446e+02] [-1.01219040e-01 9.94864164e-01 -2.91159946e-05 -1.15721408e+01] [-2.14207303e-04 7.47251397e-06 9.99999977e-01 -1.30566480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.146559995 meters 0.05562024353122879 Centerline is valid? [True, True] Translation: X:176.55, Y:-11.57, Z:-1.31 [[ 9.95029336e-01 9.95821076e-02 1.54118944e-04 1.76554164e+02] [-9.95821055e-02 9.95029348e-01 -2.10977921e-05 -1.15740423e+01] [-1.55453835e-04 5.64543315e-06 9.99999988e-01 -1.30555932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.206559995 meters 0.055586769780827605 Centerline is valid? [True, True] Translation: X:176.61, Y:-11.58, Z:-1.31 [[ 9.95034693e-01 9.95286493e-02 -9.19058221e-05 1.76614345e+02] [-9.95286485e-02 9.95034697e-01 1.34664671e-05 -1.15829698e+01] [ 9.27897811e-05 -4.25233970e-06 9.99999996e-01 -1.30654434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.266559995 meters 0.05654780724791488 Centerline is valid? [True, True] Translation: X:176.67, Y:-11.59, Z:-1.31 [[ 9.94921285e-01 1.00650605e-01 -1.04475620e-03 1.76674120e+02] [-1.00650508e-01 9.94921833e-01 1.44864722e-04 -1.15949732e+01] [ 1.05403147e-03 -3.89737537e-05 9.99999444e-01 -1.30860517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.326559995 meters 0.05577572901275506 Centerline is valid? [True, True] Translation: X:176.74, Y:-11.59, Z:-1.31 [[ 9.94835138e-01 1.01501177e-01 -7.48313069e-04 1.76736865e+02] [-1.01501128e-01 9.94835419e-01 1.03529666e-04 -1.15938436e+01] [ 7.54956728e-04 -2.70403287e-05 9.99999715e-01 -1.30695061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.386559995 meters 0.05525176173406568 Centerline is valid? [True, True] Translation: X:176.80, Y:-11.59, Z:-1.31 [[ 9.94681710e-01 1.02984593e-01 -1.57134470e-03 1.76799222e+02] [-1.02984379e-01 9.94682950e-01 2.17079339e-04 -1.15939065e+01] [ 1.58534561e-03 -5.41008908e-05 9.99998742e-01 -1.30604752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.446559995 meters 0.055950790409451584 Centerline is valid? [True, True] Translation: X:176.86, Y:-11.60, Z:-1.31 [[ 9.94532509e-01 1.04397635e-01 -2.49453689e-03 1.76859972e+02] [-1.04397098e-01 9.94535634e-01 3.44876583e-04 -1.16022133e+01] [ 2.51691013e-03 -8.25685613e-05 9.99996829e-01 -1.30732330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.506559995 meters 0.05578441091708414 Centerline is valid? [True, True] Translation: X:176.92, Y:-11.60, Z:-1.31 [[ 9.94331043e-01 1.06313155e-01 -1.81374224e-03 1.76921992e+02] [-1.06312875e-01 9.94332696e-01 2.50546485e-04 -1.16022423e+01] [ 1.83009960e-03 -5.63019966e-05 9.99998324e-01 -1.30615244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.566559995 meters 0.05614139477668439 Centerline is valid? [True, True] Translation: X:176.98, Y:-11.61, Z:-1.31 [[ 9.94245555e-01 1.07123796e-01 -5.18872999e-04 1.76984291e+02] [-1.07123773e-01 9.94245690e-01 7.20218040e-05 -1.16098558e+01] [ 5.23602492e-04 -1.60237252e-05 9.99999863e-01 -1.30586468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.626559995 meters 0.05592024990625651 Centerline is valid? [True, True] Translation: X:177.05, Y:-11.62, Z:-1.31 [[ 9.94194368e-01 1.07598513e-01 -3.45895246e-04 1.77045016e+02] [-1.07598502e-01 9.94194428e-01 4.85783226e-05 -1.16162600e+01] [ 3.49114081e-04 -1.10784843e-05 9.99999939e-01 -1.30551476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.686559995 meters 0.05608364143157247 Centerline is valid? [True, True] Translation: X:177.11, Y:-11.62, Z:-1.31 [[ 9.94093210e-01 1.08527669e-01 -6.59051330e-04 1.77105727e+02] [-1.08527632e-01 9.94093429e-01 9.15892270e-05 -1.16245051e+01] [ 6.65098561e-04 -1.95229484e-05 9.99999779e-01 -1.30702389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74655999499998 meters 0.0560828026665862 Centerline is valid? [True, True] Translation: X:177.17, Y:-11.63, Z:-1.31 [[ 9.93924473e-01 1.10056819e-01 -1.28025655e-03 1.77168147e+02] [-1.10056681e-01 9.93925297e-01 1.77592928e-04 -1.16277306e+01] [ 1.29202468e-03 -3.56131715e-05 9.99999165e-01 -1.30678847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.806559995 meters 0.05652786614100727 Centerline is valid? [True, True] Translation: X:177.23, Y:-11.64, Z:-1.31 [[ 9.93838515e-01 1.10827884e-01 -1.47831771e-03 1.77229838e+02] [-1.10827702e-01 9.93839614e-01 2.04902763e-04 -1.16363819e+01] [ 1.49191964e-03 -3.98017036e-05 9.99998886e-01 -1.30786684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.866559995 meters 0.05630361669694482 Centerline is valid? [True, True] Translation: X:177.29, Y:-11.64, Z:-1.31 [[ 9.93815251e-01 1.11013330e-01 -2.69970058e-03 1.77291968e+02] [-1.11012721e-01 9.93818915e-01 3.74823906e-04 -1.16406318e+01] [ 2.72462395e-03 -7.28046074e-05 9.99996286e-01 -1.30804452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.926559995 meters 0.05613073919523084 Centerline is valid? [True, True] Translation: X:177.35, Y:-11.64, Z:-1.31 [[ 9.93915230e-01 1.10107730e-01 -2.96708017e-03 1.77353445e+02] [-1.10106990e-01 9.93919655e-01 4.12091959e-04 -1.16435617e+01] [ 2.99441381e-03 -8.28882062e-05 9.99995513e-01 -1.30676525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.986559995 meters 0.05616433695495427 Centerline is valid? [True, True] Translation: X:177.41, Y:-11.66, Z:-1.31 [[ 9.93966426e-01 1.09667476e-01 -1.94621191e-03 1.77414160e+02] [-1.09667157e-01 9.93968330e-01 2.70166561e-04 -1.16590278e+01] [ 1.96410148e-03 -5.51009641e-05 9.99998070e-01 -1.30946292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.046559995 meters 0.055708782220659114 Centerline is valid? [True, True] Translation: X:177.48, Y:-11.67, Z:-1.31 [[ 9.93862500e-01 1.10603501e-01 -2.04838145e-03 1.77476455e+02] [-1.10603150e-01 9.93864610e-01 2.84420151e-04 -1.16661006e+01] [ 2.06727169e-03 -5.61170833e-05 9.99997862e-01 -1.30917410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.106559995 meters 0.05651692265731066 Centerline is valid? [True, True] Translation: X:177.54, Y:-11.67, Z:-1.31 [[ 9.93537487e-01 1.13488793e-01 -1.88561359e-03 1.77535979e+02] [-1.13488500e-01 9.93539275e-01 2.61821777e-04 -1.16706347e+01] [ 1.90314500e-03 -4.61342931e-05 9.99998188e-01 -1.30917575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.166559995 meters 0.05606397173210598 Centerline is valid? [True, True] Translation: X:177.60, Y:-11.68, Z:-1.31 [[ 9.92657288e-01 1.20950982e-01 -1.53926898e-03 1.77596143e+02] [-1.20950796e-01 9.92658481e-01 2.13622650e-04 -1.16769481e+01] [ 1.55380627e-03 -2.58782716e-05 9.99998793e-01 -1.30970930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.226559995 meters 0.0553238191234992 Centerline is valid? [True, True] Translation: X:177.66, Y:-11.68, Z:-1.31 [[ 9.91864136e-01 1.27292232e-01 -1.49096935e-03 1.77655569e+02] [-1.27292065e-01 9.91865257e-01 2.06861940e-04 -1.16827517e+01] [ 1.50517261e-03 -1.53903732e-05 9.99998867e-01 -1.30952312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.286559995 meters 0.05550240405266367 Centerline is valid? [True, True] Translation: X:177.72, Y:-11.69, Z:-1.31 [[ 9.91464696e-01 1.30371010e-01 -1.07486680e-03 1.77717835e+02] [-1.30370925e-01 9.91465279e-01 1.49716343e-04 -1.16904196e+01] [ 1.08521178e-03 -8.30709076e-06 9.99999411e-01 -1.30929371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.346559995 meters 0.05481951120571801 Centerline is valid? [True, True] Translation: X:177.78, Y:-11.70, Z:-1.31 [[ 9.90475229e-01 1.37688439e-01 -8.45304998e-04 1.77779367e+02] [-1.37688388e-01 9.90475590e-01 1.17881205e-04 -1.16981384e+01] [ 8.53484845e-04 -3.69730653e-07 9.99999636e-01 -1.31060513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.406559995 meters 0.05594190384424891 Centerline is valid? [True, True] Translation: X:177.84, Y:-11.71, Z:-1.31 [[ 9.89897816e-01 1.41779785e-01 -8.97489024e-04 1.77840300e+02] [-1.41779729e-01 9.89898223e-01 1.25603866e-04 -1.17077089e+01] [ 9.06230879e-04 2.91075821e-06 9.99999589e-01 -1.30937355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46655999499998 meters 0.05473612865842734 Centerline is valid? [True, True] Translation: X:177.90, Y:-11.72, Z:-1.31 [[ 9.89780303e-01 1.42599110e-01 -6.67864538e-04 1.77902460e+02] [-1.42599079e-01 9.89780528e-01 9.39489451e-05 -1.17184085e+01] [ 6.74436351e-04 2.24805288e-06 9.99999773e-01 -1.30940646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52655999499999 meters 0.054983889356082026 Centerline is valid? [True, True] Translation: X:177.96, Y:-11.73, Z:-1.31 [[ 9.89813721e-01 1.42366804e-01 -7.00771624e-04 1.77963809e+02] [-1.42366770e-01 9.89813969e-01 9.85456726e-05 -1.17297334e+01] [ 7.07663175e-04 2.22473346e-06 9.99999750e-01 -1.31045600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.586559995 meters 0.05531076848452655 Centerline is valid? [True, True] Translation: X:178.03, Y:-11.74, Z:-1.31 [[ 9.90097600e-01 1.40372995e-01 -1.47162932e-03 1.78025580e+02] [-1.40372844e-01 9.90098693e-01 2.05437040e-04 -1.17446913e+01] [ 1.48589608e-03 3.17407384e-06 9.99998896e-01 -1.31009970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.646559995 meters 0.05469474226738456 Centerline is valid? [True, True] Translation: X:178.09, Y:-11.76, Z:-1.31 [[ 9.90412075e-01 1.38128790e-01 -2.08782611e-03 1.78086453e+02] [-1.38128481e-01 9.90414276e-01 2.91997611e-04 -1.17588246e+01] [ 2.10814607e-03 -8.09708816e-07 9.99997778e-01 -1.31239242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.706559995 meters 0.05482667672279651 Centerline is valid? [True, True] Translation: X:178.15, Y:-11.78, Z:-1.31 [[ 9.91122007e-01 1.32941302e-01 -1.94377322e-03 1.78146395e+02] [-1.32941026e-01 9.91123913e-01 2.71433935e-04 -1.17777088e+01] [ 1.96260490e-03 -1.06169403e-05 9.99998074e-01 -1.31303020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.766559995 meters 0.054647093403855374 Centerline is valid? [True, True] Translation: X:178.21, Y:-11.80, Z:-1.31 [[ 9.91946985e-01 1.26635696e-01 -2.13995054e-03 1.78206662e+02] [-1.26635346e-01 9.91949293e-01 2.98898901e-04 -1.17966712e+01] [ 2.16057369e-03 -2.54984865e-05 9.99997666e-01 -1.31288495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.826559995 meters 0.054809686891937236 Centerline is valid? [True, True] Translation: X:178.27, Y:-11.81, Z:-1.31 [[ 9.92462004e-01 1.22533822e-01 -2.15251968e-03 1.78267845e+02] [-1.22533458e-01 9.92464338e-01 3.00672894e-04 -1.18075035e+01] [ 2.17314161e-03 -3.46507429e-05 9.99997638e-01 -1.30991655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.886559995 meters 0.05410687351949408 Centerline is valid? [True, True] Translation: X:178.33, Y:-11.83, Z:-1.31 [[ 9.93070533e-01 1.17502773e-01 -2.00354926e-03 1.78325708e+02] [-1.17502448e-01 9.93072553e-01 2.79621805e-04 -1.18258934e+01] [ 2.02252612e-03 -4.22622316e-05 9.99997954e-01 -1.31106443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.946559995 meters 0.05463183407953594 Centerline is valid? [True, True] Translation: X:178.39, Y:-11.84, Z:-1.31 [[ 9.93300792e-01 1.15526724e-01 -2.66695808e-03 1.78386854e+02] [-1.15526140e-01 9.93304370e-01 3.72624075e-04 -1.18397729e+01] [ 2.69214916e-03 -6.20244167e-05 9.99996374e-01 -1.31184780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.006559995 meters 0.05484971159470735 Centerline is valid? [True, True] Translation: X:178.45, Y:-11.85, Z:-1.31 [[ 9.93399243e-01 1.14660774e-01 -3.29404496e-03 1.78447096e+02] [-1.14659875e-01 9.93404701e-01 4.61010442e-04 -1.18531450e+01] [ 3.32517956e-03 -8.02726393e-05 9.99994468e-01 -1.31174713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.066559995 meters 0.05501781380559578 Centerline is valid? [True, True] Translation: X:178.51, Y:-11.87, Z:-1.31 [[ 9.93385827e-01 1.14783377e-01 -3.06178551e-03 1.78507642e+02] [-1.14782599e-01 9.93390543e-01 4.29004977e-04 -1.18669788e+01] [ 3.09079141e-03 -7.47277641e-05 9.99995221e-01 -1.31253819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.126559995 meters 0.054440228986844745 Centerline is valid? [True, True] Translation: X:178.57, Y:-11.88, Z:-1.31 [[ 9.93449890e-01 1.14247611e-01 -2.19087930e-03 1.78569171e+02] [-1.14247212e-01 9.93452304e-01 3.06705609e-04 -1.18781422e+01] [ 2.21157447e-03 -5.43948020e-05 9.99997553e-01 -1.31134783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.186559995 meters 0.054819304687198166 Centerline is valid? [True, True] Translation: X:178.63, Y:-11.89, Z:-1.31 [[ 9.93453324e-01 1.14220708e-01 -2.03055083e-03 1.78631535e+02] [-1.14220364e-01 9.93455398e-01 2.84856373e-04 -1.18855566e+01] [ 2.04979818e-03 -5.10612551e-05 9.99997898e-01 -1.31047894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24655999499998 meters 0.054937193961429966 Centerline is valid? [True, True] Translation: X:178.69, Y:-11.89, Z:-1.31 [[ 9.93353061e-01 1.15081611e-01 -2.43288470e-03 1.78692898e+02] [-1.15081119e-01 9.93356039e-01 3.41634125e-04 -1.18931256e+01] [ 2.45603651e-03 -5.93842108e-05 9.99996982e-01 -1.30930601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.306559995 meters 0.05488502829412555 Centerline is valid? [True, True] Translation: X:178.75, Y:-11.91, Z:-1.31 [[ 9.93292414e-01 1.15613891e-01 -1.89977772e-03 1.78752918e+02] [-1.15613592e-01 9.93294229e-01 2.67069558e-04 -1.19065043e+01] [ 1.91791520e-03 -4.56380396e-05 9.99998160e-01 -1.30994021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.366559995 meters 0.05517203109176726 Centerline is valid? [True, True] Translation: X:178.82, Y:-11.91, Z:-1.31 [[ 9.93277724e-01 1.15738965e-01 -1.96344708e-03 1.78815232e+02] [-1.15738646e-01 9.93279663e-01 2.75781664e-04 -1.19137011e+01] [ 1.98217074e-03 -4.66810776e-05 9.99998034e-01 -1.30916715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.426559995 meters 0.05525956380098328 Centerline is valid? [True, True] Translation: X:178.88, Y:-11.92, Z:-1.31 [[ 9.93191270e-01 1.16447118e-01 -3.34205021e-03 1.78876007e+02] [-1.16446195e-01 9.93196890e-01 4.70027688e-04 -1.19240554e+01] [ 3.37404725e-03 -7.76583648e-05 9.99994305e-01 -1.31062101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.486559995 meters 0.05474163308385538 Centerline is valid? [True, True] Translation: X:178.94, Y:-11.93, Z:-1.31 [[ 9.93148481e-01 1.16806261e-01 -3.52031280e-03 1.78938104e+02] [-1.16805241e-01 9.93154717e-01 4.94575647e-04 -1.19308208e+01] [ 3.55398479e-03 -7.99960671e-05 9.99993681e-01 -1.31031228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.546559995 meters 0.05533382784058469 Centerline is valid? [True, True] Translation: X:179.00, Y:-11.94, Z:-1.31 [[ 9.93212698e-01 1.16243502e-01 -3.99820957e-03 1.78998194e+02] [-1.16242182e-01 9.93220741e-01 5.61560929e-04 -1.19393385e+01] [ 4.03638248e-03 -9.29888389e-05 9.99991849e-01 -1.31108096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.606559995 meters 0.055121015050455587 Centerline is valid? [True, True] Translation: X:179.06, Y:-11.95, Z:-1.31 [[ 9.93480319e-01 1.13959136e-01 -3.18915261e-03 1.79059733e+02] [-1.13958284e-01 9.93485435e-01 4.48253565e-04 -1.19486696e+01] [ 3.21945926e-03 -8.19007367e-05 9.99994814e-01 -1.31126450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.666559995 meters 0.0554430763914021 Centerline is valid? [True, True] Translation: X:179.12, Y:-11.95, Z:-1.31 [[ 9.93662587e-01 1.12373627e-01 -2.61347961e-03 1.79121255e+02] [-1.12373047e-01 9.93666022e-01 3.68151284e-04 -1.19535623e+01] [ 2.63829638e-03 -7.21334909e-05 9.99996517e-01 -1.30990243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.726559995 meters 0.055722550500616704 Centerline is valid? [True, True] Translation: X:179.18, Y:-11.96, Z:-1.31 [[ 9.93865664e-01 1.10576723e-01 -1.95717373e-03 1.79181034e+02] [-1.10576394e-01 9.93867589e-01 2.76090922e-04 -1.19648227e+01] [ 1.97570076e-03 -5.79800742e-05 9.99998047e-01 -1.31099385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.786559995 meters 0.05582771121302537 Centerline is valid? [True, True] Translation: X:179.24, Y:-11.97, Z:-1.31 [[ 9.94025908e-01 1.09138341e-01 -1.14718446e-03 1.79243360e+02] [-1.09138227e-01 9.94026570e-01 1.61662120e-04 -1.19691558e+01] [ 1.15797537e-03 -3.54946577e-05 9.99999329e-01 -1.31033881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.846559995 meters 0.05625756467112873 Centerline is valid? [True, True] Translation: X:179.30, Y:-11.98, Z:-1.31 [[ 9.94010086e-01 1.09285322e-01 -8.16694359e-04 1.79303375e+02] [-1.09285263e-01 9.94010421e-01 1.15796137e-04 -1.19814497e+01] [ 8.24457522e-04 -2.58498702e-05 9.99999660e-01 -1.31137228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.906559995 meters 0.056117261377247624 Centerline is valid? [True, True] Translation: X:179.37, Y:-11.98, Z:-1.31 [[ 9.93996171e-01 1.09410822e-01 -9.40349843e-04 1.79367057e+02] [-1.09410744e-01 9.93996615e-01 1.33417229e-04 -1.19845085e+01] [ 9.49301850e-04 -2.97318386e-05 9.99999549e-01 -1.31056422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96655999499998 meters 0.056077514049622024 Centerline is valid? [True, True] Translation: X:179.43, Y:-11.99, Z:-1.31 [[ 9.94089163e-01 1.08565838e-01 -4.42536912e-04 1.79429616e+02] [-1.08565820e-01 9.94089261e-01 6.28571839e-05 -1.19871250e+01] [ 4.46745335e-04 -1.44412623e-05 9.99999900e-01 -1.31043080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02655999499999 meters 0.05632914141144026 Centerline is valid? [True, True] Translation: X:179.49, Y:-12.00, Z:-1.31 [[ 9.94170871e-01 1.07812405e-01 -8.74400938e-04 1.79489175e+02] [-1.07812338e-01 9.94171255e-01 1.23791642e-04 -1.20028877e+01] [ 8.82650553e-04 -2.87988358e-05 9.99999610e-01 -1.31313559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.086559995 meters 0.05660830876204114 Centerline is valid? [True, True] Translation: X:179.55, Y:-12.01, Z:-1.31 [[ 9.94388655e-01 1.05786823e-01 5.92564676e-04 1.79550852e+02] [-1.05786792e-01 9.94388831e-01 -8.34861692e-05 -1.20054543e+01] [-5.98071432e-04 2.03321835e-05 9.99999821e-01 -1.31236779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.146559995 meters 0.0569414202729917 Centerline is valid? [True, True] Translation: X:179.61, Y:-12.01, Z:-1.31 [[ 9.94466173e-01 1.05053395e-01 9.02317450e-04 1.79611195e+02] [-1.05053324e-01 9.94466582e-01 -1.26662315e-04 -1.20140317e+01] [-9.10630857e-04 3.11699408e-05 9.99999585e-01 -1.31303471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.206559995 meters 0.05671341476128797 Centerline is valid? [True, True] Translation: X:179.67, Y:-12.02, Z:-1.31 [[ 9.94723183e-01 1.02575681e-01 2.00461529e-03 1.79672701e+02] [-1.02575319e-01 9.94725200e-01 -2.82892621e-04 -1.20170664e+01] [-2.02305925e-03 7.57757953e-05 9.99997951e-01 -1.31313804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.266559995 meters 0.057353888725293505 Centerline is valid? [True, True] Translation: X:179.73, Y:-12.02, Z:-1.31 [[ 9.94921616e-01 1.00631392e-01 2.07367125e-03 1.79734028e+02] [-1.00631000e-01 9.94923774e-01 -2.92683849e-04 -1.20217206e+01] [-2.09259801e-03 8.25218762e-05 9.99997807e-01 -1.31433961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.326559995 meters 0.056804369706664345 Centerline is valid? [True, True] Translation: X:179.80, Y:-12.02, Z:-1.32 [[ 9.94854460e-01 1.01282543e-01 2.53958079e-03 1.79797110e+02] [-1.01281957e-01 9.94857697e-01 -3.58452298e-04 -1.20181386e+01] [-2.56282646e-03 9.93941542e-05 9.99996711e-01 -1.31514462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.386559995 meters 0.056573224103900116 Centerline is valid? [True, True] Translation: X:179.86, Y:-12.02, Z:-1.32 [[ 9.94812098e-01 1.01680704e-01 3.15009810e-03 1.79860075e+02] [-1.01679805e-01 9.94817078e-01 -4.44682840e-04 -1.20202843e+01] [-3.17898706e-03 1.22074508e-04 9.99994940e-01 -1.31576701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.446559995 meters 0.05881361963063013 Centerline is valid? [True, True] Translation: X:179.92, Y:-12.04, Z:-1.32 [[ 9.94903886e-01 1.00793543e-01 2.63041849e-03 1.79919382e+02] [-1.00792913e-01 9.94907358e-01 -3.71502122e-04 -1.20372652e+01] [-2.65446773e-03 1.04481364e-04 9.99996471e-01 -1.31809578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.506559995 meters 0.05736033088587488 Centerline is valid? [True, True] Translation: X:179.98, Y:-12.03, Z:-1.32 [[ 9.95033337e-01 9.95221223e-02 2.00141808e-03 1.79982028e+02] [-9.95217543e-02 9.95035346e-01 -2.82893952e-04 -1.20314541e+01] [-2.01963594e-03 8.23042746e-05 9.99997957e-01 -1.31915690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.566559995 meters 0.057180792781432635 Centerline is valid? [True, True] Translation: X:180.05, Y:-12.03, Z:-1.32 [[ 9.94981588e-01 1.00033915e-01 2.20359893e-03 1.80045493e+02] [-1.00033470e-01 9.94984024e-01 -3.11345212e-04 -1.20298740e+01] [-2.22369081e-03 8.93491052e-05 9.99997524e-01 -1.31970704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.626559995 meters 0.05774685423525693 Centerline is valid? [True, True] Translation: X:180.10, Y:-12.04, Z:-1.32 [[ 9.94700149e-01 1.02791608e-01 2.34490702e-03 1.80104159e+02] [-1.02791111e-01 9.94702909e-01 -3.31696254e-04 -1.20443418e+01] [-2.36658142e-03 8.89027161e-05 9.99997196e-01 -1.32137596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.686559995 meters 0.05693732061370554 Centerline is valid? [True, True] Translation: X:180.17, Y:-12.04, Z:-1.32 [[ 9.93971575e-01 1.09571852e-01 3.81012261e-03 1.80166025e+02] [-1.09570590e-01 9.93978871e-01 -5.38919501e-04 -1.20388438e+01] [-3.84623178e-03 1.18193282e-04 9.99992596e-01 -1.32099027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74655999499998 meters 0.05717040074676533 Centerline is valid? [True, True] Translation: X:180.23, Y:-12.04, Z:-1.32 [[ 9.93421194e-01 1.14457547e-01 3.71490161e-03 1.80225818e+02] [-1.14456382e-01 9.93428136e-01 -5.25447898e-04 -1.20448091e+01] [-3.75062926e-03 9.67968794e-05 9.99992962e-01 -1.32192911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.806559995 meters 0.055893445010288374 Centerline is valid? [True, True] Translation: X:180.29, Y:-12.04, Z:-1.32 [[ 9.92866420e-01 1.19154426e-01 4.30046280e-03 1.80287506e+02] [-1.19152909e-01 9.92875730e-01 -6.08269891e-04 -1.20431434e+01] [-4.34230319e-03 9.15180983e-05 9.99990568e-01 -1.32151264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.866559995 meters 0.05610899722553993 Centerline is valid? [True, True] Translation: X:180.35, Y:-12.05, Z:-1.32 [[ 9.92839944e-01 1.19352532e-01 4.88037093e-03 1.80349954e+02] [-1.19350581e-01 9.92851934e-01 -6.90212904e-04 -1.20481978e+01] [-4.92786437e-03 1.02795837e-04 9.99987853e-01 -1.32203137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.926559995 meters 0.0568553598883121 Centerline is valid? [True, True] Translation: X:180.41, Y:-12.06, Z:-1.32 [[ 9.93354067e-01 1.15022234e-01 4.19328754e-03 1.80408536e+02] [-1.15020754e-01 9.93362912e-01 -5.93273065e-04 -1.20603144e+01] [-4.23369591e-03 1.07015119e-04 9.99991032e-01 -1.32385810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.986559995 meters 0.0573475841583024 Centerline is valid? [True, True] Translation: X:180.47, Y:-12.07, Z:-1.32 [[ 9.93957735e-01 1.09691812e-01 3.96590393e-03 1.80468584e+02] [-1.09690445e-01 9.93965639e-01 -5.61075120e-04 -1.20686024e+01] [-4.00351758e-03 1.22663188e-04 9.99991978e-01 -1.32491984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.046559995 meters 0.05685124575646132 Centerline is valid? [True, True] Translation: X:180.53, Y:-12.07, Z:-1.33 [[ 9.94272121e-01 1.06805405e-01 3.94398755e-03 1.80530805e+02] [-1.06804031e-01 9.94279934e-01 -5.58053762e-04 -1.20672778e+01] [-3.98103084e-03 1.33623529e-04 9.99992067e-01 -1.32512195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.106559995 meters 0.05740517213601204 Centerline is valid? [True, True] Translation: X:180.59, Y:-12.08, Z:-1.33 [[ 9.94563188e-01 1.04073794e-01 3.56513543e-03 1.80589406e+02] [-1.04072653e-01 9.94569569e-01 -5.04536370e-04 -1.20815002e+01] [-3.59828422e-03 1.30760197e-04 9.99993518e-01 -1.32701340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.166559995 meters 0.05849963733243371 Centerline is valid? [True, True] Translation: X:180.65, Y:-12.10, Z:-1.33 [[ 9.94716246e-01 1.02591394e-01 3.82056151e-03 1.80647577e+02] [-1.02590073e-01 9.94723572e-01 -5.40693527e-04 -1.20979917e+01] [-3.85587310e-03 1.45884949e-04 9.99992555e-01 -1.32813951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.226559995 meters 0.057371424708743034 Centerline is valid? [True, True] Translation: X:180.71, Y:-12.09, Z:-1.33 [[ 9.94697089e-01 1.02691242e-01 5.67544606e-03 1.80712249e+02] [-1.02688329e-01 9.94713256e-01 -8.03068993e-04 -1.20889278e+01] [-5.72790958e-03 2.16008316e-04 9.99983572e-01 -1.32753140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.286559995 meters 0.05682104359271572 Centerline is valid? [True, True] Translation: X:180.77, Y:-12.10, Z:-1.33 [[ 9.94477518e-01 1.04786758e-01 5.84818067e-03 1.80771068e+02] [-1.04783695e-01 9.94494691e-01 -8.28507678e-04 -1.20975921e+01] [-5.90280126e-03 2.11138280e-04 9.99982556e-01 -1.32828234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.346559995 meters 0.05710784533559055 Centerline is valid? [True, True] Translation: X:180.83, Y:-12.10, Z:-1.33 [[ 9.93905241e-01 1.10076445e-01 5.96214765e-03 1.80831476e+02] [-1.10073358e-01 9.93923107e-01 -8.44586915e-04 -1.21022611e+01] [-6.01888544e-03 1.83165751e-04 9.99981870e-01 -1.32917684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.406559995 meters 0.056321396911609214 Centerline is valid? [True, True] Translation: X:180.89, Y:-12.11, Z:-1.33 [[ 9.93537571e-01 1.13323717e-01 6.38981613e-03 1.80891973e+02] [-1.13320237e-01 9.93558103e-01 -9.05194530e-04 -1.21092652e+01] [-6.45123360e-03 1.75249294e-04 9.99979175e-01 -1.32956694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46655999499998 meters 0.05652633091202531 Centerline is valid? [True, True] Translation: X:180.95, Y:-12.12, Z:-1.33 [[ 9.93259848e-01 1.15760316e-01 5.86708121e-03 1.80953139e+02] [-1.15757425e-01 9.93277166e-01 -8.31173978e-04 -1.21150296e+01] [-5.92385475e-03 1.46413527e-04 9.99982443e-01 -1.33018720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52655999499999 meters 0.05742231175575307 Centerline is valid? [True, True] Translation: X:181.01, Y:-12.13, Z:-1.33 [[ 9.93221311e-01 1.16111154e-01 5.44310432e-03 1.81013269e+02] [-1.16108671e-01 9.93236217e-01 -7.71026559e-04 -1.21278919e+01] [-5.49581312e-03 1.33808403e-04 9.99984889e-01 -1.33104326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.586559995 meters 0.05679002012567 Centerline is valid? [True, True] Translation: X:181.07, Y:-12.13, Z:-1.33 [[ 9.93320675e-01 1.15171237e-01 7.04435562e-03 1.81074724e+02] [-1.15167048e-01 9.93345636e-01 -9.98813860e-04 -1.21335660e+01] [-7.11251454e-03 1.80864816e-04 9.99974689e-01 -1.33114627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.646559995 meters 0.05648117111755485 Centerline is valid? [True, True] Translation: X:181.14, Y:-12.14, Z:-1.33 [[ 9.93632866e-01 1.12383476e-01 7.98009483e-03 1.81135127e+02] [-1.12378003e-01 9.93664884e-01 -1.13242138e-03 -1.21401891e+01] [-8.05680546e-03 2.28423981e-04 9.99967517e-01 -1.33191219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.706559995 meters 0.05632411413321231 Centerline is valid? [True, True] Translation: X:181.19, Y:-12.15, Z:-1.33 [[ 9.93795876e-01 1.10943667e-01 7.82689521e-03 1.81194951e+02] [-1.10938356e-01 9.93826669e-01 -1.11080970e-03 -1.21494491e+01] [-7.90181449e-03 2.35615214e-04 9.99968752e-01 -1.33324305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.766559995 meters 0.05677530885400069 Centerline is valid? [True, True] Translation: X:181.25, Y:-12.16, Z:-1.33 [[ 9.93849250e-01 1.10420918e-01 8.41957763e-03 1.81254492e+02] [-1.10414752e-01 9.93884880e-01 -1.19516968e-03 -1.21649023e+01] [-8.50006264e-03 2.58172911e-04 9.99963840e-01 -1.33295852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.826559995 meters 0.057127350999156556 Centerline is valid? [True, True] Translation: X:181.32, Y:-12.17, Z:-1.34 [[ 9.94013785e-01 1.09078621e-01 6.20080664e-03 1.81316166e+02] [-1.09075247e-01 9.94033106e-01 -8.80723438e-04 -1.21701870e+01] [-6.25987518e-03 1.99096725e-04 9.99980387e-01 -1.33586333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.886559995 meters 0.057999505505433445 Centerline is valid? [True, True] Translation: X:181.38, Y:-12.18, Z:-1.34 [[ 9.94101297e-01 1.08305541e-01 5.70271410e-03 1.81376160e+02] [-1.08302675e-01 9.94117636e-01 -8.10009703e-04 -1.21845857e+01] [-5.75689720e-03 1.87612508e-04 9.99983411e-01 -1.33775713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.946559995 meters 0.05704565757683415 Centerline is valid? [True, True] Translation: X:181.44, Y:-12.19, Z:-1.34 [[ 9.94429690e-01 1.05123541e-01 7.65715997e-03 1.81437592e+02] [-1.05118271e-01 9.94459131e-01 -1.08867436e-03 -1.21869578e+01] [-7.72917796e-03 2.77702691e-04 9.99970091e-01 -1.33666864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.006559995 meters 0.05748697598696402 Centerline is valid? [True, True] Translation: X:181.50, Y:-12.19, Z:-1.34 [[ 9.94761726e-01 1.01960848e-01 7.28662111e-03 1.81498208e+02] [-1.01955990e-01 9.94788371e-01 -1.03606889e-03 -1.21932351e+01] [-7.35428440e-03 2.87727002e-04 9.99972915e-01 -1.33750375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.066559995 meters 0.05706974854462207 Centerline is valid? [True, True] Translation: X:181.56, Y:-12.20, Z:-1.34 [[ 9.95349117e-01 9.60274680e-02 7.67206989e-03 1.81558668e+02] [-9.60219062e-02 9.95378623e-01 -1.09089243e-03 -1.21994875e+01] [-7.74137001e-03 3.49132044e-04 9.99969974e-01 -1.33843960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.126559995 meters 0.05738232349439322 Centerline is valid? [True, True] Translation: X:181.62, Y:-12.21, Z:-1.34 [[ 9.95577957e-01 9.35938747e-02 8.04476181e-03 1.81618539e+02] [-9.35876797e-02 9.95610384e-01 -1.14392423e-03 -1.22096626e+01] [-8.11651270e-03 3.85975154e-04 9.99966986e-01 -1.33897325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.186559995 meters 0.05790909772015841 Centerline is valid? [True, True] Translation: X:181.68, Y:-12.22, Z:-1.34 [[ 9.96287117e-01 8.56259221e-02 8.95439157e-03 1.81678059e+02] [-8.56179252e-02 9.96327230e-01 -1.27332745e-03 -1.22229163e+01] [-9.03053399e-03 5.01943304e-04 9.99959098e-01 -1.33901564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24655999499998 meters 0.05750544624298467 Centerline is valid? [True, True] Translation: X:181.74, Y:-12.23, Z:-1.34 [[ 9.96641251e-01 8.12773755e-02 1.00102233e-02 1.81739274e+02] [-8.12671618e-02 9.96691337e-01 -1.42357772e-03 -1.22262641e+01] [-1.00928075e-02 6.05293840e-04 9.99948883e-01 -1.33965293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.306559995 meters 0.05859108646326305 Centerline is valid? [True, True] Translation: X:181.80, Y:-12.24, Z:-1.34 [[ 9.96719412e-01 8.02162099e-02 1.07598309e-02 1.81798603e+02] [-8.02043469e-02 9.96777268e-01 -1.53023383e-03 -1.22387899e+01] [-1.08479044e-02 6.62228555e-04 9.99940940e-01 -1.33907880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.366559995 meters 0.0584983902783609 Centerline is valid? [True, True] Translation: X:181.86, Y:-12.24, Z:-1.34 [[ 9.96533462e-01 8.25122946e-02 1.06197988e-02 1.81858654e+02] [-8.25008677e-02 9.96589848e-01 -1.51037824e-03 -1.22442011e+01] [-1.07082084e-02 6.28999847e-04 9.99942468e-01 -1.33968480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.426559995 meters 0.059064822524240064 Centerline is valid? [True, True] Translation: X:181.92, Y:-12.25, Z:-1.34 [[ 9.95951085e-01 8.93715096e-02 9.70410254e-03 1.81919662e+02] [-8.93622929e-02 9.95998231e-01 -1.38012696e-03 -1.22485316e+01] [-9.78861299e-03 5.07358088e-04 9.99951962e-01 -1.34133562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.486559995 meters 0.05864107398795878 Centerline is valid? [True, True] Translation: X:181.98, Y:-12.25, Z:-1.34 [[ 9.95278213e-01 9.66286023e-02 9.17561005e-03 1.81981010e+02] [-9.66206701e-02 9.95320422e-01 -1.30491737e-03 -1.22501651e+01] [-9.25876441e-03 4.12202237e-04 9.99957052e-01 -1.34244543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.546559995 meters 0.057684288123492154 Centerline is valid? [True, True] Translation: X:182.04, Y:-12.24, Z:-1.34 [[ 9.94151319e-01 1.07609319e-01 9.13176563e-03 1.82043353e+02] [-1.07601925e-01 9.94193210e-01 -1.29868475e-03 -1.22424049e+01] [-9.21848997e-03 3.08493600e-04 9.99957461e-01 -1.34429065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.606559995 meters 0.057614590500968316 Centerline is valid? [True, True] Translation: X:182.10, Y:-12.25, Z:-1.34 [[ 9.93559639e-01 1.12966423e-01 8.82222908e-03 1.82103033e+02] [-1.12959732e-01 9.93598775e-01 -1.25464929e-03 -1.22455078e+01] [-8.90748924e-03 2.50012259e-04 9.99960296e-01 -1.34483868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.666559995 meters 0.05713234023331355 Centerline is valid? [True, True] Translation: X:182.17, Y:-12.25, Z:-1.35 [[ 9.93431400e-01 1.14105364e-01 8.60347762e-03 1.82165154e+02] [-1.14099043e-01 9.93468626e-01 -1.22361572e-03 -1.22514983e+01] [-8.68690621e-03 2.33929716e-04 9.99962241e-01 -1.34531863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.726559995 meters 0.057447686608180816 Centerline is valid? [True, True] Translation: X:182.23, Y:-12.25, Z:-1.35 [[ 9.94184328e-01 1.07365648e-01 8.37499004e-03 1.82226866e+02] [-1.07359412e-01 9.94219561e-01 -1.19187007e-03 -1.22515654e+01] [-8.45454482e-03 2.85804538e-04 9.99964219e-01 -1.34720689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.786559995 meters 0.0594953624398321 Centerline is valid? [True, True] Translation: X:182.28, Y:-12.27, Z:-1.35 [[ 9.95327967e-01 9.61791652e-02 8.47381086e-03 1.82284822e+02] [-9.61723753e-02 9.95363963e-01 -1.20609324e-03 -1.22652725e+01] [-8.55052700e-03 3.85511813e-04 9.99963369e-01 -1.34748236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.846559995 meters 0.0594953624398321 Centerline is valid? [True, True] Translation: X:182.35, Y:-12.27, Z:-1.35 [[ 9.95316152e-01 9.63013640e-02 8.47377164e-03 1.82346764e+02] [-9.62945763e-02 9.95352148e-01 -1.20636864e-03 -1.22740686e+01] [-8.55056176e-03 3.84739944e-04 9.99963369e-01 -1.34794341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.906559995 meters 0.05744396124654582 Centerline is valid? [True, True] Translation: X:182.41, Y:-12.27, Z:-1.35 [[ 9.95461710e-01 9.47175051e-02 9.19663784e-03 1.82409206e+02] [-9.47094328e-02 9.95504097e-01 -1.31030317e-03 -1.22701645e+01] [-9.27939929e-03 4.33348285e-04 9.99956852e-01 -1.34903983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96655999499998 meters 0.06262535086030865 Centerline is valid? [True, True] Translation: X:182.47, Y:-12.30, Z:-1.35 [[ 9.95708510e-01 9.21549720e-02 8.48675821e-03 1.82465159e+02] [-9.21480039e-02 9.95744587e-01 -1.20928603e-03 -1.22981657e+01] [-8.56208527e-03 4.22058561e-04 9.99963256e-01 -1.34844325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02655999499999 meters 0.06032892760634113 Centerline is valid? [True, True] Translation: X:182.53, Y:-12.29, Z:-1.35 [[ 9.95853216e-01 9.05420675e-02 8.86035396e-03 1.82527374e+02] [-9.05344078e-02 9.95892528e-01 -1.26261428e-03 -1.22941984e+01] [-8.93828001e-03 4.55211594e-04 9.99959949e-01 -1.34987734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.086559995 meters 0.06053948451103143 Centerline is valid? [True, True] Translation: X:182.59, Y:-12.30, Z:-1.35 [[ 9.96057368e-01 8.82847356e-02 8.69052480e-03 1.82587964e+02] [-8.82772802e-02 9.96095170e-01 -1.23852191e-03 -1.23006167e+01] [-8.76593236e-03 4.66462982e-04 9.99961470e-01 -1.35114687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.146559995 meters 0.058182882707382005 Centerline is valid? [True, True] Translation: X:182.65, Y:-12.29, Z:-1.35 [[ 9.96489946e-01 8.32247585e-02 9.02371351e-03 1.82650191e+02] [-8.32165132e-02 9.96530661e-01 -1.28603453e-03 -1.22927481e+01] [-9.09943711e-03 5.30598507e-04 9.99958458e-01 -1.35340428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.206559995 meters 0.060467623151664145 Centerline is valid? [True, True] Translation: X:182.71, Y:-12.31, Z:-1.35 [[ 9.96815288e-01 7.92667918e-02 8.72113281e-03 1.82708140e+02] [-7.92589385e-02 9.96853287e-01 -1.24299709e-03 -1.23122321e+01] [-8.79221830e-03 5.47810769e-04 9.99961198e-01 -1.35355883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.266559995 meters 0.05845361089930155 Centerline is valid? [True, True] Translation: X:182.77, Y:-12.31, Z:-1.35 [[ 9.97137992e-01 7.50653378e-02 9.00109753e-03 1.82770108e+02] [-7.50568012e-02 9.97178435e-01 -1.28295061e-03 -1.23058470e+01] [-9.07200547e-03 6.03685207e-04 9.99958666e-01 -1.35421635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.326559995 meters 0.06170883793707954 Centerline is valid? [True, True] Translation: X:182.83, Y:-12.33, Z:-1.35 [[ 9.97147533e-01 7.49218262e-02 9.13883669e-03 1.82829311e+02] [-7.49130180e-02 9.97189221e-01 -1.30283449e-03 -1.23261311e+01] [-9.21076017e-03 6.14500359e-04 9.99957391e-01 -1.35353448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.386559995 meters 0.06321525477342195 Centerline is valid? [True, True] Translation: X:182.89, Y:-12.34, Z:-1.35 [[ 9.96943673e-01 7.76080333e-02 8.96136651e-03 1.82889355e+02] [-7.75996643e-02 9.96983780e-01 -1.27837898e-03 -1.23359467e+01] [-9.03354954e-03 5.79072798e-04 9.99959029e-01 -1.35360496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.446559995 meters 0.06421345920083726 Centerline is valid? [True, True] Translation: X:182.95, Y:-12.34, Z:-1.35 [[ 9.96692645e-01 8.08338616e-02 8.34619636e-03 1.82949838e+02] [-8.08267144e-02 9.96727458e-01 -1.19066734e-03 -1.23432570e+01] [-8.41512932e-03 5.12133753e-04 9.99964461e-01 -1.35464913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.506559995 meters 0.05814773877849746 Centerline is valid? [True, True] Translation: X:183.01, Y:-12.32, Z:-1.36 [[ 9.96386367e-01 8.44876868e-02 8.72005498e-03 1.83014331e+02] [-8.44800241e-02 9.96424396e-01 -1.24402817e-03 -1.23199867e+01] [-8.79398058e-03 5.02862256e-04 9.99961206e-01 -1.35710443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.566559995 meters 0.058305117892530046 Centerline is valid? [True, True] Translation: X:183.07, Y:-12.32, Z:-1.36 [[ 9.96242116e-01 8.61575668e-02 8.86113261e-03 1.83074861e+02] [-8.61497190e-02 9.96281400e-01 -1.26427098e-03 -1.23210477e+01] [-8.93710811e-03 4.96135915e-04 9.99959940e-01 -1.35735772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.626559995 meters 0.059169278880873394 Centerline is valid? [True, True] Translation: X:183.13, Y:-12.33, Z:-1.36 [[ 9.96169440e-01 8.69626945e-02 9.16173780e-03 1.83133975e+02] [-8.69543388e-02 9.96211441e-01 -1.30719016e-03 -1.23331325e+01] [-9.24070479e-03 5.05530035e-04 9.99957176e-01 -1.35735565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.686559995 meters 0.05873441828482617 Centerline is valid? [True, True] Translation: X:183.20, Y:-12.33, Z:-1.36 [[ 9.96108900e-01 8.77123026e-02 8.57972033e-03 1.83196458e+02] [-8.77050013e-02 9.96145739e-01 -1.22430212e-03 -1.23329969e+01] [-8.65403821e-03 4.67053856e-04 9.99962444e-01 -1.35814665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74655999499998 meters 0.059463923041477976 Centerline is valid? [True, True] Translation: X:183.26, Y:-12.34, Z:-1.36 [[ 9.96020250e-01 8.88133071e-02 7.47376829e-03 1.83256306e+02] [-8.88077960e-02 9.96048210e-01 -1.06670606e-03 -1.23444383e+01] [-7.53897122e-03 3.98731944e-04 9.99971502e-01 -1.35906828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.806559995 meters 0.05864878142843584 Centerline is valid? [True, True] Translation: X:183.32, Y:-12.34, Z:-1.36 [[ 9.95783098e-01 9.15191014e-02 6.34638586e-03 1.83317902e+02] [-9.15151816e-02 9.95803269e-01 -9.05923269e-04 -1.23448130e+01] [-6.40266107e-03 3.21312425e-04 9.99979451e-01 -1.36064226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.866559995 meters 0.05889227825612446 Centerline is valid? [True, True] Translation: X:183.38, Y:-12.35, Z:-1.36 [[ 9.95470656e-01 9.48755707e-02 6.06615740e-03 1.83379105e+02] [-9.48720523e-02 9.95489098e-01 -8.65803486e-04 -1.23465249e+01] [-6.12093715e-03 2.86373163e-04 9.99981226e-01 -1.36125692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.926559995 meters 0.05887957348139161 Centerline is valid? [True, True] Translation: X:183.44, Y:-12.35, Z:-1.36 [[ 9.95095164e-01 9.87892600e-02 5.12805677e-03 1.83439645e+02] [-9.87867981e-02 9.95108352e-01 -7.31796439e-04 -1.23522086e+01] [-5.17526576e-03 2.21622788e-04 9.99986584e-01 -1.36200771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.986559995 meters 0.0585594274858881 Centerline is valid? [True, True] Translation: X:183.50, Y:-12.35, Z:-1.36 [[ 9.94718215e-01 1.02569462e-01 3.89590190e-03 1.83499555e+02] [-1.02568070e-01 9.94725833e-01 -5.56037543e-04 -1.23539679e+01] [-3.93238673e-03 1.53505534e-04 9.99992256e-01 -1.36193925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.046559995 meters 0.05779938681590362 Centerline is valid? [True, True] Translation: X:183.56, Y:-12.36, Z:-1.36 [[ 9.94511659e-01 1.04544643e-01 4.12049987e-03 1.83561064e+02] [-1.04543103e-01 9.94520183e-01 -5.88020169e-04 -1.23565194e+01] [-4.15939465e-03 1.54023072e-04 9.99991338e-01 -1.36163407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.106559995 meters 0.06061401832670563 Centerline is valid? [True, True] Translation: X:183.62, Y:-12.38, Z:-1.36 [[ 9.94549838e-01 1.04188817e-01 3.91281047e-03 1.83620134e+02] [-1.04187427e-01 9.94557524e-01 -5.58022338e-04 -1.23752578e+01] [-3.94965478e-03 1.47315370e-04 9.99992189e-01 -1.36266982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.166559995 meters 0.05806776806430013 Centerline is valid? [True, True] Translation: X:183.68, Y:-12.37, Z:-1.36 [[ 9.94721248e-01 1.02526180e-01 4.24510816e-03 1.83682773e+02] [-1.02524525e-01 9.94730292e-01 -6.06231203e-04 -1.23667506e+01] [-4.28489225e-03 1.67803363e-04 9.99990806e-01 -1.36171861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.226559995 meters 0.05896405901603782 Centerline is valid? [True, True] Translation: X:183.74, Y:-12.38, Z:-1.36 [[ 9.94901374e-01 1.00752022e-01 4.50405971e-03 1.83742282e+02] [-1.00750140e-01 9.94911552e-01 -6.43321082e-04 -1.23780844e+01] [-4.54595693e-03 1.86256381e-04 9.99989650e-01 -1.36241528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.286559995 meters 0.05975985595677153 Centerline is valid? [True, True] Translation: X:183.80, Y:-12.39, Z:-1.36 [[ 9.94940443e-01 1.00387513e-01 3.98266867e-03 1.83802491e+02] [-1.00386040e-01 9.94948401e-01 -5.68550137e-04 -1.23898119e+01] [-4.01962515e-03 1.65869189e-04 9.99991908e-01 -1.36317594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.346559995 meters 0.058531623333296555 Centerline is valid? [True, True] Translation: X:183.87, Y:-12.39, Z:-1.36 [[ 9.94930255e-01 1.00514838e-01 3.24893329e-03 1.83866142e+02] [-1.00513858e-01 9.94935550e-01 -4.63893646e-04 -1.23898586e+01] [-3.27910743e-03 1.34979004e-04 9.99994615e-01 -1.36336649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.406559995 meters 0.059155730721889885 Centerline is valid? [True, True] Translation: X:183.93, Y:-12.40, Z:-1.36 [[ 9.94783094e-01 1.01976726e-01 2.70984082e-03 1.83925679e+02] [-1.01976047e-01 9.94786779e-01 -3.87670390e-04 -1.24018771e+01] [-2.73524718e-03 1.09309094e-04 9.99996253e-01 -1.36427078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46655999499998 meters 0.06040804229078325 Centerline is valid? [True, True] Translation: X:183.99, Y:-12.41, Z:-1.37 [[ 9.94578584e-01 1.03953834e-01 2.65327288e-03 1.83985136e+02] [-1.03953190e-01 9.94582118e-01 -3.79698825e-04 -1.24140784e+01] [-2.67836891e-03 1.01824140e-04 9.99996408e-01 -1.36567674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52655999499999 meters 0.05838266413995799 Centerline is valid? [True, True] Translation: X:184.05, Y:-12.41, Z:-1.37 [[ 9.94157832e-01 1.07912222e-01 2.27079284e-03 1.84046153e+02] [-1.07911761e-01 9.94160423e-01 -3.24928505e-04 -1.24131339e+01] [-2.29259612e-03 7.79849645e-05 9.99997369e-01 -1.36556320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.586559995 meters 0.05826445202113665 Centerline is valid? [True, True] Translation: X:184.11, Y:-12.42, Z:-1.37 [[ 9.93730669e-01 1.11788453e-01 1.64266988e-03 1.84106708e+02] [-1.11788217e-01 9.93732026e-01 -2.35075547e-04 -1.24183378e+01] [-1.65865240e-03 4.99706437e-05 9.99998623e-01 -1.36578835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.646559995 meters 0.05807248281446418 Centerline is valid? [True, True] Translation: X:184.17, Y:-12.43, Z:-1.37 [[ 9.93456852e-01 1.14206354e-01 6.26675245e-04 1.84167352e+02] [-1.14206320e-01 9.93457049e-01 -8.95843570e-05 -1.24256728e+01] [-6.32806042e-04 1.74279197e-05 9.99999800e-01 -1.36649373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.706559995 meters 0.057875416733692876 Centerline is valid? [True, True] Translation: X:184.23, Y:-12.43, Z:-1.37 [[ 9.93391708e-01 1.14772693e-01 3.78573443e-04 1.84228006e+02] [-1.14772681e-01 9.93391780e-01 -5.41852998e-05 -1.24300954e+01] [-3.82290739e-04 1.03773386e-05 9.99999927e-01 -1.36517766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.766559995 meters 0.05855958981429626 Centerline is valid? [True, True] Translation: X:184.29, Y:-12.44, Z:-1.36 [[ 9.93644310e-01 1.12548275e-01 1.96749574e-03 1.84286898e+02] [-1.12547938e-01 9.93646256e-01 -2.81524938e-04 -1.24446010e+01] [-1.98667992e-03 5.82980637e-05 9.99998025e-01 -1.36486148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.826559995 meters 0.058614454275643046 Centerline is valid? [True, True] Translation: X:184.35, Y:-12.46, Z:-1.36 [[ 9.93710817e-01 1.11932547e-01 3.14926773e-03 1.84346871e+02] [-1.11931682e-01 9.93715802e-01 -4.50389783e-04 -1.24567641e+01] [-3.17989038e-03 9.50543663e-05 9.99994940e-01 -1.36462876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.886559995 meters 0.0577244071600705 Centerline is valid? [True, True] Translation: X:184.41, Y:-12.46, Z:-1.36 [[ 9.93427720e-01 1.14406704e-01 3.53137235e-03 1.84407657e+02] [-1.14405628e-01 9.93433992e-01 -5.05854559e-04 -1.24596360e+01] [-3.56605849e-03 9.85210694e-05 9.99993637e-01 -1.36418789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.946559995 meters 0.05815928451853283 Centerline is valid? [True, True] Translation: X:184.47, Y:-12.47, Z:-1.37 [[ 9.92980696e-01 1.18228958e-01 3.35426328e-03 1.84467111e+02] [-1.18228010e-01 9.92986358e-01 -4.80453139e-04 -1.24715998e+01] [-3.38754115e-03 8.05128209e-05 9.99994259e-01 -1.36561686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.006559995 meters 0.05766303343130681 Centerline is valid? [True, True] Translation: X:184.53, Y:-12.48, Z:-1.37 [[ 9.91882808e-01 1.27121672e-01 2.92857455e-03 1.84528266e+02] [-1.27120988e-01 9.91887130e-01 -4.19499763e-04 -1.24758688e+01] [-2.95814292e-03 4.38113136e-05 9.99995624e-01 -1.36544715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.066559995 meters 0.05806714112757233 Centerline is valid? [True, True] Translation: X:184.59, Y:-12.48, Z:-1.36 [[ 9.90922634e-01 1.34377564e-01 3.87352739e-03 1.84588995e+02] [-1.34376421e-01 9.90930204e-01 -5.54903993e-04 -1.24813191e+01] [-3.91296193e-03 2.93561783e-05 9.99992344e-01 -1.36481551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.126559995 meters 0.05785178529983761 Centerline is valid? [True, True] Translation: X:184.65, Y:-12.49, Z:-1.37 [[ 9.89310206e-01 1.45768097e-01 4.12034298e-03 1.84649271e+02] [-1.45766903e-01 9.89318787e-01 -5.90158269e-04 -1.24883394e+01] [-4.16235897e-03 -1.67600383e-05 9.99991337e-01 -1.36510660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.186559995 meters 0.05794024565097579 Centerline is valid? [True, True] Translation: X:184.71, Y:-12.50, Z:-1.37 [[ 9.88412221e-01 1.51740474e-01 4.01371108e-03 1.84709385e+02] [-1.51739390e-01 9.88420369e-01 -5.75192935e-04 -1.24976439e+01] [-4.05451384e-03 -4.05103435e-05 9.99991780e-01 -1.36612241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24655999499998 meters 0.057397102241638076 Centerline is valid? [True, True] Translation: X:184.77, Y:-12.51, Z:-1.37 [[ 9.87711121e-01 1.56253418e-01 3.40754960e-03 1.84768594e+02] [-1.56252662e-01 9.87716997e-01 -4.88373708e-04 -1.25072724e+01] [-3.44200472e-03 -5.00665553e-05 9.99994075e-01 -1.36757137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.306559995 meters 0.05744028728024646 Centerline is valid? [True, True] Translation: X:184.83, Y:-12.53, Z:-1.37 [[ 9.87186031e-01 1.59542188e-01 3.16713770e-03 1.84828139e+02] [-1.59541554e-01 9.87191110e-01 -4.53477152e-04 -1.25256581e+01] [-3.19891892e-03 -5.76237621e-05 9.99994882e-01 -1.36810899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.366559995 meters 0.057263227212649065 Centerline is valid? [True, True] Translation: X:184.89, Y:-12.54, Z:-1.37 [[ 9.87463908e-01 1.57821600e-01 2.71538139e-03 1.84887674e+02] [-1.57821127e-01 9.87467640e-01 -3.88981122e-04 -1.25418815e+01] [-2.74274088e-03 -4.44397317e-05 9.99996238e-01 -1.36875309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.426559995 meters 0.057357891989632044 Centerline is valid? [True, True] Translation: X:184.95, Y:-12.56, Z:-1.37 [[ 9.88038224e-01 1.54171940e-01 3.38833053e-03 1.84946587e+02] [-1.54171179e-01 9.88044033e-01 -4.86238132e-04 -1.25624185e+01] [-3.42278404e-03 -4.19610530e-05 9.99994141e-01 -1.36762188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.486559995 meters 0.05713491125829694 Centerline is valid? [True, True] Translation: X:185.00, Y:-12.58, Z:-1.37 [[ 9.88859992e-01 1.48800452e-01 3.78697423e-03 1.85004797e+02] [-1.48799461e-01 9.88867243e-01 -5.43590709e-04 -1.25836829e+01] [-3.82570131e-03 -2.59646207e-05 9.99992682e-01 -1.36890682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.546559995 meters 0.05694071293665652 Centerline is valid? [True, True] Translation: X:185.06, Y:-12.60, Z:-1.37 [[ 9.89138202e-01 1.46913233e-01 4.70301119e-03 1.85064846e+02] [-1.46911684e-01 9.89149383e-01 -6.74959794e-04 -1.26020539e+01] [-4.75114114e-03 -2.32987785e-05 9.99988713e-01 -1.36903222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.606559995 meters 0.05696916680828757 Centerline is valid? [True, True] Translation: X:185.13, Y:-12.62, Z:-1.37 [[ 9.89180254e-01 1.46608516e-01 5.32625761e-03 1.85125609e+02] [-1.46606521e-01 9.89194593e-01 -7.65199746e-04 -1.26186976e+01] [-5.38089002e-03 -2.39436206e-05 9.99985523e-01 -1.37029363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.666559995 meters 0.05656949678977823 Centerline is valid? [True, True] Translation: X:185.19, Y:-12.64, Z:-1.37 [[ 9.88879862e-01 1.48650173e-01 4.44347957e-03 1.85185531e+02] [-1.48648806e-01 9.88889845e-01 -6.38300588e-04 -1.26410345e+01] [-4.48899532e-03 -2.93153348e-05 9.99989924e-01 -1.37112519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.726559995 meters 0.056394922966035675 Centerline is valid? [True, True] Translation: X:185.25, Y:-12.66, Z:-1.37 [[ 9.88574022e-01 1.50681155e-01 4.07331296e-03 1.85246134e+02] [-1.50680021e-01 9.88582413e-01 -5.85709679e-04 -1.26590889e+01] [-4.11506097e-03 -3.47495080e-05 9.99991532e-01 -1.37103332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.786559995 meters 0.05631679612575583 Centerline is valid? [True, True] Translation: X:185.30, Y:-12.68, Z:-1.37 [[ 9.88348924e-01 1.52113323e-01 5.28590830e-03 1.85304924e+02] [-1.52111432e-01 9.88363058e-01 -7.60249254e-04 -1.26804762e+01] [-5.34004053e-03 -5.26555498e-05 9.99985740e-01 -1.37024677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.846559995 meters 0.056162428306146525 Centerline is valid? [True, True] Translation: X:185.36, Y:-12.70, Z:-1.37 [[ 9.88356905e-01 1.52003915e-01 6.74079900e-03 1.85364634e+02] [-1.52000831e-01 9.88379889e-01 -9.70492102e-04 -1.27024376e+01] [-6.80998876e-03 -6.54144818e-05 9.99976810e-01 -1.37101884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.906559995 meters 0.05562347061099062 Centerline is valid? [True, True] Translation: X:185.43, Y:-12.72, Z:-1.37 [[ 9.88424754e-01 1.51572974e-01 6.49140885e-03 1.85425723e+02] [-1.51570103e-01 9.88446068e-01 -9.34767162e-04 -1.27176794e+01] [-6.55809299e-03 -5.99565050e-05 9.99978494e-01 -1.37173567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96655999499998 meters 0.05565894177462669 Centerline is valid? [True, True] Translation: X:185.49, Y:-12.74, Z:-1.37 [[ 9.88530458e-01 1.50923144e-01 5.45323973e-03 1.85486191e+02] [-1.50921106e-01 9.88545498e-01 -7.85762258e-04 -1.27357267e+01] [-5.50936530e-03 -4.62590451e-05 9.99984822e-01 -1.37345740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02655999499999 meters 0.05510347709198033 Centerline is valid? [True, True] Translation: X:185.55, Y:-12.76, Z:-1.38 [[ 9.88639237e-01 1.50259657e-01 3.80730935e-03 1.85545619e+02] [-1.50258657e-01 9.88646567e-01 -5.48756451e-04 -1.27580295e+01] [-3.84653927e-03 -2.95590329e-05 9.99992602e-01 -1.37571110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.086559995 meters 0.055269736304280004 Centerline is valid? [True, True] Translation: X:185.61, Y:-12.78, Z:-1.38 [[ 9.88573347e-01 1.50683913e-01 4.13467531e-03 1.85606868e+02] [-1.50682736e-01 9.88581993e-01 -5.96719835e-04 -1.27755929e+01] [-4.17738164e-03 -3.31228614e-05 9.99991274e-01 -1.37634102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.146559995 meters 0.05461489562553982 Centerline is valid? [True, True] Translation: X:185.67, Y:-12.79, Z:-1.38 [[ 9.88196095e-01 1.53125490e-01 4.58925935e-03 1.85665432e+02] [-1.53124063e-01 9.88206751e-01 -6.62657628e-04 -1.27947436e+01] [-4.63660684e-03 -4.78903582e-05 9.99989250e-01 -1.37684273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.206559995 meters 0.05384745763367927 Centerline is valid? [True, True] Translation: X:185.72, Y:-12.82, Z:-1.38 [[ 9.87875036e-01 1.55167234e-01 5.10317284e-03 1.85723800e+02] [-1.55165496e-01 9.87888215e-01 -7.37231793e-04 -1.28150235e+01] [-5.15575853e-03 -6.35434612e-05 9.99986707e-01 -1.37629963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.266559995 meters 0.05409982342011444 Centerline is valid? [True, True] Translation: X:185.78, Y:-12.83, Z:-1.38 [[ 9.87551051e-01 1.57172924e-01 6.29229885e-03 1.85783656e+02] [-1.57170319e-01 9.87571093e-01 -9.09509992e-04 -1.28345309e+01] [-6.35704280e-03 -9.07750671e-05 9.99979790e-01 -1.37808086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.326559995 meters 0.053750142091821454 Centerline is valid? [True, True] Translation: X:185.84, Y:-12.85, Z:-1.38 [[ 9.87628827e-01 1.56697929e-01 5.92110466e-03 1.85842998e+02] [-1.56695612e-01 9.87646573e-01 -8.55991752e-04 -1.28514387e+01] [-5.98209086e-03 -8.24089908e-05 9.99982104e-01 -1.37891273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.386559995 meters 0.05305482448064406 Centerline is valid? [True, True] Translation: X:185.90, Y:-12.88, Z:-1.38 [[ 9.88095989e-01 1.53751103e-01 5.18802381e-03 1.85901379e+02] [-1.53749282e-01 9.88109607e-01 -7.50476230e-04 -1.28763279e+01] [-5.24172272e-03 -5.61123837e-05 9.99986261e-01 -1.37908895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.446559995 meters 0.053018662823014484 Centerline is valid? [True, True] Translation: X:185.96, Y:-12.89, Z:-1.38 [[ 9.88382585e-01 1.51859110e-01 6.21901091e-03 1.85961525e+02] [-1.51856450e-01 9.88402149e-01 -9.00477389e-04 -1.28938448e+01] [-6.28362944e-03 -5.43807494e-05 9.99980256e-01 -1.37865838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.506559995 meters 0.052534708167886635 Centerline is valid? [True, True] Translation: X:186.02, Y:-12.92, Z:-1.38 [[ 9.89247555e-01 1.46071120e-01 7.24592778e-03 1.86019772e+02] [-1.46067351e-01 9.89274091e-01 -1.04951479e-03 -1.29191346e+01] [-7.32151242e-03 -2.01635379e-05 9.99973197e-01 -1.37803188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.566559995 meters 0.05257007689938014 Centerline is valid? [True, True] Translation: X:186.08, Y:-12.94, Z:-1.38 [[ 9.90492653e-01 1.37426197e-01 6.19229713e-03 1.86080184e+02] [-1.37423272e-01 9.90512008e-01 -8.97457153e-04 -1.29378463e+01] [-6.25687879e-03 3.79589829e-05 9.99980425e-01 -1.37939451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.626559995 meters 0.05317894658766459 Centerline is valid? [True, True] Translation: X:186.14, Y:-12.96, Z:-1.38 [[ 9.91909602e-01 1.26842088e-01 5.14064902e-03 1.86137467e+02] [-1.26839927e-01 9.91922919e-01 -7.45670159e-04 -1.29620473e+01] [-5.19370994e-03 8.75978464e-05 9.99986509e-01 -1.38127346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.686559995 meters 0.05388214131162942 Centerline is valid? [True, True] Translation: X:186.20, Y:-12.98, Z:-1.38 [[ 9.93720814e-01 1.11732536e-01 5.89776428e-03 1.86195613e+02] [-1.11729424e-01 9.93738297e-01 -8.55515134e-04 -1.29810583e+01] [-5.95642311e-03 1.91189386e-04 9.99982242e-01 -1.37956800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74655999499998 meters 0.054829083231639736 Centerline is valid? [True, True] Translation: X:186.25, Y:-13.00, Z:-1.38 [[ 9.94427185e-01 1.05125666e-01 7.94777480e-03 1.86253262e+02] [-1.05119804e-01 9.94458897e-01 -1.15298701e-03 -1.30034588e+01] [-8.02494388e-03 3.11093101e-04 9.99967751e-01 -1.37819752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.806559995 meters 0.053851915565379764 Centerline is valid? [True, True] Translation: X:186.31, Y:-13.01, Z:-1.38 [[ 9.94842749e-01 1.00967776e-01 9.66507194e-03 1.86312042e+02] [-1.00958909e-01 9.94889608e-01 -1.40216897e-03 -1.30136217e+01] [-9.75725352e-03 4.19162511e-04 9.99952309e-01 -1.37775740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.866559995 meters 0.054488539148245876 Centerline is valid? [True, True] Translation: X:186.37, Y:-13.03, Z:-1.38 [[ 9.94733514e-01 1.02027329e-01 9.78060883e-03 1.86372011e+02] [-1.02018300e-01 9.94781510e-01 -1.41896845e-03 -1.30283234e+01] [-9.87434239e-03 4.13694391e-04 9.99951162e-01 -1.37788164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.926559995 meters 0.05389349162697791 Centerline is valid? [True, True] Translation: X:186.43, Y:-13.03, Z:-1.38 [[ 9.93821137e-01 1.10618335e-01 9.11761132e-03 1.86432872e+02] [-1.10610848e-01 9.93862913e-01 -1.32294131e-03 -1.30304779e+01] [-9.20799731e-03 3.06260322e-04 9.99957559e-01 -1.38089776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.986559995 meters 0.05312654986206487 Centerline is valid? [True, True] Translation: X:186.49, Y:-13.03, Z:-1.38 [[ 9.92191906e-01 1.24532498e-01 6.84684605e-03 1.86493542e+02] [-1.24528606e-01 9.92215521e-01 -9.93487002e-04 -1.30323914e+01] [-6.91726833e-03 1.33101567e-04 9.99976067e-01 -1.38306239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.046559995 meters 0.05256417618012153 Centerline is valid? [True, True] Translation: X:186.55, Y:-13.04, Z:-1.38 [[ 9.91138508e-01 1.32726687e-01 5.29943126e-03 1.86554712e+02] [-1.32724473e-01 9.91152674e-01 -7.68952738e-04 -1.30365159e+01] [-5.35460601e-03 5.87744501e-05 9.99985662e-01 -1.38464863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.106559995 meters 0.052937400986466474 Centerline is valid? [True, True] Translation: X:186.62, Y:-13.04, Z:-1.39 [[ 9.90386324e-01 1.38283491e-01 3.55031408e-03 1.86615846e+02] [-1.38282533e-01 9.90392688e-01 -5.15114011e-04 -1.30439543e+01] [-3.58743687e-03 1.92154468e-05 9.99993565e-01 -1.38638582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.166559995 meters 0.0521920839992146 Centerline is valid? [True, True] Translation: X:186.68, Y:-13.05, Z:-1.39 [[ 9.90034419e-01 1.40802180e-01 2.56807578e-03 1.86677548e+02] [-1.40801688e-01 9.90037750e-01 -3.72184207e-04 -1.30502105e+01] [-2.59489631e-03 6.88576950e-06 9.99996633e-01 -1.38676079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.226559995 meters 0.05277077540900965 Centerline is valid? [True, True] Translation: X:186.74, Y:-13.06, Z:-1.39 [[ 9.90171418e-01 1.39847046e-01 1.83497070e-03 1.86739106e+02] [-1.39846793e-01 9.90173118e-01 -2.66302370e-04 -1.30610376e+01] [-1.85418026e-03 7.07022793e-06 9.99998281e-01 -1.38737811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.286559995 meters 0.05292751261955492 Centerline is valid? [True, True] Translation: X:186.80, Y:-13.08, Z:-1.39 [[ 9.90681117e-01 1.36201777e-01 -1.75972314e-06 1.86799385e+02] [-1.36201777e-01 9.90681117e-01 1.05761476e-06 -1.30758205e+01] [ 1.88737344e-06 -8.08081550e-07 1.00000000e+00 -1.38859621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.346559995 meters 0.05318007616915344 Centerline is valid? [True, True] Translation: X:186.86, Y:-13.09, Z:-1.39 [[ 9.91019927e-01 1.33705732e-01 -1.51029687e-03 1.86859195e+02] [-1.33705551e-01 9.91021078e-01 2.20562739e-04 -1.30910745e+01] [ 1.52622653e-03 -1.66469952e-05 9.99998835e-01 -1.39152337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.406559995 meters 0.05219112347807243 Centerline is valid? [True, True] Translation: X:186.92, Y:-13.10, Z:-1.39 [[ 9.91140150e-01 1.32804536e-01 -2.03928895e-03 1.86919401e+02] [-1.32804205e-01 9.91142247e-01 2.97715803e-04 -1.31038873e+01] [ 2.06076344e-03 -2.42519388e-05 9.99997876e-01 -1.39030307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46655999499998 meters 0.052990661866820984 Centerline is valid? [True, True] Translation: X:186.98, Y:-13.12, Z:-1.39 [[ 9.90927489e-01 1.34384647e-01 -1.86489490e-03 1.86980804e+02] [-1.34384373e-01 9.90929244e-01 2.72247640e-04 -1.31174100e+01] [ 1.88456479e-03 -1.91649393e-05 9.99998224e-01 -1.38937994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52655999499999 meters 0.0518525407327976 Centerline is valid? [True, True] Translation: X:187.04, Y:-13.13, Z:-1.39 [[ 9.90768601e-01 1.35558341e-01 -1.23100532e-03 1.87041391e+02] [-1.35558221e-01 9.90769366e-01 1.80374496e-04 -1.31299492e+01] [ 1.24409363e-03 -1.18364948e-05 9.99999226e-01 -1.38875049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.586559995 meters 0.052223486429095196 Centerline is valid? [True, True] Translation: X:187.10, Y:-13.14, Z:-1.39 [[ 9.90633364e-01 1.36543897e-01 1.14080019e-03 1.87101636e+02] [-1.36543797e-01 9.90634021e-01 -1.65662061e-04 -1.31407331e+01] [-1.15273562e-03 8.34117579e-06 9.99999336e-01 -1.38654452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.646559995 meters 0.05171333130960073 Centerline is valid? [True, True] Translation: X:187.16, Y:-13.16, Z:-1.39 [[ 9.90273581e-01 1.39087069e-01 3.60868361e-03 1.87160697e+02] [-1.39086075e-01 9.90280156e-01 -5.26157653e-04 -1.31585998e+01] [-3.64678949e-03 1.91223851e-05 9.99993350e-01 -1.38870179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.706559995 meters 0.051672929559058355 Centerline is valid? [True, True] Translation: X:187.22, Y:-13.17, Z:-1.39 [[ 9.89931834e-01 1.41458674e-01 4.94046218e-03 1.87221748e+02] [-1.41456836e-01 9.89944162e-01 -7.21227612e-04 -1.31690033e+01] [-4.99280559e-03 1.51040214e-05 9.99987536e-01 -1.38758763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.766559995 meters 0.05124975145829074 Centerline is valid? [True, True] Translation: X:187.28, Y:-13.18, Z:-1.39 [[ 9.89659786e-01 1.43328827e-01 5.50955511e-03 1.87282249e+02] [-1.43326566e-01 9.89675122e-01 -8.05088093e-04 -1.31794065e+01] [-5.56806196e-03 7.09769532e-06 9.99984498e-01 -1.38793095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.826559995 meters 0.050998241970727505 Centerline is valid? [True, True] Translation: X:187.34, Y:-13.19, Z:-1.39 [[ 9.88659774e-01 1.50050526e-01 6.05730343e-03 1.87343486e+02] [-1.50047914e-01 9.88678329e-01 -8.85871877e-04 -1.31894540e+01] [-6.12165018e-03 -3.30598577e-05 9.99981262e-01 -1.38780309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.886559995 meters 0.05067593170044727 Centerline is valid? [True, True] Translation: X:187.40, Y:-13.20, Z:-1.39 [[ 9.88034135e-01 1.54173560e-01 4.36588055e-03 1.87403734e+02] [-1.54172242e-01 9.88043780e-01 -6.38795395e-04 -1.31988532e+01] [-4.41216649e-03 -4.19459372e-05 9.99990265e-01 -1.38999440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.946559995 meters 0.05007629989902856 Centerline is valid? [True, True] Translation: X:187.46, Y:-13.22, Z:-1.39 [[ 9.87601236e-01 1.56983163e-01 2.90236982e-04 1.87463610e+02] [-1.56983158e-01 9.87601279e-01 -4.17427006e-05 -1.32166888e+01] [-2.93191316e-04 -4.33717519e-06 9.99999957e-01 -1.39276379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.006559995 meters 0.05020413577565179 Centerline is valid? [True, True] Translation: X:187.52, Y:-13.23, Z:-1.39 [[ 9.87932378e-01 1.54868246e-01 -2.33309607e-03 1.87524908e+02] [-1.54867867e-01 9.87935132e-01 3.43331412e-04 -1.32338708e+01] [ 2.35811871e-03 2.21333952e-05 9.99997219e-01 -1.39462626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.066559995 meters 0.050810412587992605 Centerline is valid? [True, True] Translation: X:187.59, Y:-13.25, Z:-1.39 [[ 9.88443597e-01 1.51575021e-01 -2.06622603e-03 1.87585447e+02] [-1.51574716e-01 9.88445756e-01 3.04291220e-04 -1.32498768e+01] [ 2.08847530e-03 1.24129150e-05 9.99997819e-01 -1.39460796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.126559995 meters 0.04998617227118347 Centerline is valid? [True, True] Translation: X:187.64, Y:-13.27, Z:-1.39 [[ 9.88989207e-01 1.47983500e-01 1.10992124e-03 1.87644238e+02] [-1.47983410e-01 9.88989830e-01 -1.62892477e-04 -1.32685504e+01] [-1.12180622e-03 -3.15102856e-06 9.99999371e-01 -1.39370454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.186559995 meters 0.049556396092704076 Centerline is valid? [True, True] Translation: X:187.70, Y:-13.28, Z:-1.39 [[ 9.89070794e-01 1.47411817e-01 2.95295260e-03 1.87704661e+02] [-1.47411181e-01 9.89075202e-01 -4.33196059e-04 -1.32834414e+01] [-2.98455041e-03 -6.83665962e-06 9.99995546e-01 -1.39161253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24655999499998 meters 0.04962605044892521 Centerline is valid? [True, True] Translation: X:187.77, Y:-13.29, Z:-1.39 [[ 9.88500384e-01 1.51147862e-01 4.61680466e-03 1.87765645e+02] [-1.51146343e-01 9.88511165e-01 -6.78321390e-04 -1.32913646e+01] [-4.66628978e-03 -2.72921844e-05 9.99989112e-01 -1.39126257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.306559995 meters 0.04952038112874149 Centerline is valid? [True, True] Translation: X:187.83, Y:-13.29, Z:-1.39 [[ 9.87067932e-01 1.60249737e-01 4.11341078e-03 1.87826754e+02] [-1.60248607e-01 9.87076501e-01 -6.05036770e-04 -1.32944709e+01] [-4.15720810e-03 -6.19559532e-05 9.99991357e-01 -1.39209283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.366559995 meters 0.04955740749705873 Centerline is valid? [True, True] Translation: X:187.89, Y:-13.30, Z:-1.39 [[ 9.86450569e-01 1.64043936e-01 2.20510449e-03 1.87887451e+02] [-1.64043621e-01 9.86453032e-01 -3.24295462e-04 -1.33024999e+01] [-2.22843072e-03 -4.18318832e-05 9.99997516e-01 -1.39372907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.426559995 meters 0.049912256006532235 Centerline is valid? [True, True] Translation: X:187.95, Y:-13.31, Z:-1.40 [[ 9.86292983e-01 1.65002816e-01 -4.70662054e-04 1.87948899e+02] [-1.65002802e-01 9.86293096e-01 7.00445929e-05 -1.33090974e+01] [ 4.75768289e-04 8.57606711e-06 9.99999887e-01 -1.39611878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.486559995 meters 0.05009947212015294 Centerline is valid? [True, True] Translation: X:188.01, Y:-13.32, Z:-1.40 [[ 9.86465911e-01 1.63962472e-01 -1.14669491e-03 1.88009937e+02] [-1.63962385e-01 9.86466577e-01 1.69795822e-04 -1.33182638e+01] [ 1.15901635e-03 2.05170424e-05 9.99999328e-01 -1.39529906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.546559995 meters 0.05009139445047544 Centerline is valid? [True, True] Translation: X:188.07, Y:-13.33, Z:-1.39 [[ 9.86675045e-01 1.62702809e-01 -3.89477329e-04 1.88070833e+02] [-1.62702799e-01 9.86675122e-01 5.82067062e-05 -1.33256895e+01] [ 3.93757986e-04 5.93794698e-06 9.99999922e-01 -1.39488812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.606559995 meters 0.05058103855703074 Centerline is valid? [True, True] Translation: X:188.13, Y:-13.33, Z:-1.40 [[ 9.87106269e-01 1.60065873e-01 -3.59844020e-04 1.88130965e+02] [-1.60065864e-01 9.87106335e-01 5.31816220e-05 -1.33305966e+01] [ 3.63716875e-04 5.10283170e-06 9.99999934e-01 -1.39753599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.666559995 meters 0.050460907432274466 Centerline is valid? [True, True] Translation: X:188.19, Y:-13.35, Z:-1.40 [[ 9.88279143e-01 1.52656569e-01 -5.53846947e-04 1.88189670e+02] [-1.52656547e-01 9.88279299e-01 8.17419915e-05 -1.33461526e+01] [ 5.59833924e-04 3.76445715e-06 9.99999843e-01 -1.39846495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.726559995 meters 0.05025455166003186 Centerline is valid? [True, True] Translation: X:188.25, Y:-13.36, Z:-1.40 [[ 9.88914840e-01 1.48481155e-01 -8.86569925e-04 1.88250773e+02] [-1.48481097e-01 9.88915237e-01 1.31690877e-04 -1.33594363e+01] [ 8.96296121e-04 1.40781235e-06 9.99999598e-01 -1.39795414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.786559995 meters 0.049721333940420984 Centerline is valid? [True, True] Translation: X:188.31, Y:-13.37, Z:-1.40 [[ 9.88905440e-01 1.48536663e-01 -1.70044362e-03 1.88311515e+02] [-1.48536449e-01 9.88906902e-01 2.51926098e-04 -1.33687626e+01] [ 1.71900069e-03 3.44676812e-06 9.99998523e-01 -1.39937066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.846559995 meters 0.05023003726581272 Centerline is valid? [True, True] Translation: X:188.37, Y:-13.38, Z:-1.40 [[ 9.88421355e-01 1.51710457e-01 -2.67605996e-03 1.88373475e+02] [-1.51709940e-01 9.88424978e-01 3.96407621e-04 -1.33766319e+01] [ 2.70522369e-03 1.41671376e-05 9.99996341e-01 -1.39901177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.906559995 meters 0.04977179847159028 Centerline is valid? [True, True] Translation: X:188.43, Y:-13.38, Z:-1.40 [[ 9.87558644e-01 1.57225521e-01 -2.83920572e-03 1.88434332e+02] [-1.57224963e-01 9.87562724e-01 4.20227773e-04 -1.33827259e+01] [ 2.86996427e-03 3.13944442e-05 9.99995881e-01 -1.40017615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96655999499998 meters 0.050042779514851726 Centerline is valid? [True, True] Translation: X:188.50, Y:-13.39, Z:-1.40 [[ 9.87239255e-01 1.59230842e-01 -2.04767570e-03 1.88495580e+02] [-1.59230554e-01 9.87241378e-01 3.03876746e-04 -1.33926140e+01] [ 2.06993673e-03 2.60534832e-05 9.99997857e-01 -1.39909369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02655999499999 meters 0.05032830092860036 Centerline is valid? [True, True] Translation: X:188.56, Y:-13.40, Z:-1.40 [[ 9.87365398e-01 1.58459349e-01 -4.53990314e-04 1.88556490e+02] [-1.58459334e-01 9.87365502e-01 6.80816127e-05 -1.34020206e+01] [ 4.59042542e-04 4.71757428e-06 9.99999895e-01 -1.39973445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.086559995 meters 0.05052584977122184 Centerline is valid? [True, True] Translation: X:188.62, Y:-13.41, Z:-1.40 [[ 9.87632692e-01 1.56784858e-01 -4.17485225e-04 1.88617773e+02] [-1.56784846e-01 9.87632780e-01 6.27154435e-05 -1.34125588e+01] [ 4.22154925e-04 3.51553435e-06 9.99999911e-01 -1.40012067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.146559995 meters 0.049669244125323676 Centerline is valid? [True, True] Translation: X:188.68, Y:-13.42, Z:-1.40 [[ 9.87922830e-01 1.54946128e-01 4.22493212e-04 1.88677604e+02] [-1.54946116e-01 9.87922921e-01 -6.18929842e-05 -1.34232863e+01] [-4.26980806e-04 -4.31819002e-06 9.99999909e-01 -1.40083597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.206559995 meters 0.049961650213564766 Centerline is valid? [True, True] Translation: X:188.74, Y:-13.43, Z:-1.40 [[ 9.87980440e-01 1.54574306e-01 1.19760993e-03 1.88738207e+02] [-1.54574204e-01 9.87981166e-01 -1.77241831e-04 -1.34314346e+01] [-1.21061309e-03 -1.00081408e-05 9.99999267e-01 -1.40207881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.266559995 meters 0.049934352624703374 Centerline is valid? [True, True] Translation: X:188.80, Y:-13.44, Z:-1.40 [[ 9.87926253e-01 1.54915562e-01 1.69938737e-03 1.88800915e+02] [-1.54915359e-01 9.87927714e-01 -2.51440899e-04 -1.34406616e+01] [-1.71782399e-03 -1.48561398e-05 9.99998524e-01 -1.40216824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.326559995 meters 0.04985567321140131 Centerline is valid? [True, True] Translation: X:188.86, Y:-13.45, Z:-1.40 [[ 9.87901002e-01 1.55080663e-01 1.26407957e-03 1.88863181e+02] [-1.55080551e-01 9.87901811e-01 -1.86920874e-04 -1.34489674e+01] [-1.27777431e-03 -1.13748382e-05 9.99999184e-01 -1.40316812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.386559995 meters 0.049744717715339344 Centerline is valid? [True, True] Translation: X:188.93, Y:-13.46, Z:-1.40 [[ 9.88081561e-01 1.53931245e-01 -3.29552993e-05 1.88925067e+02] [-1.53931245e-01 9.88081561e-01 5.88259889e-06 -1.34580576e+01] [ 3.34680393e-05 -7.39637261e-07 9.99999999e-01 -1.40464142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.446559995 meters 0.05001471315291779 Centerline is valid? [True, True] Translation: X:188.99, Y:-13.47, Z:-1.41 [[ 9.88383140e-01 1.51982513e-01 -2.90659914e-04 1.88985790e+02] [-1.51982507e-01 9.88383183e-01 4.40717157e-05 -1.34680669e+01] [ 2.93981501e-04 6.15481550e-07 9.99999957e-01 -1.40595239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.506559995 meters 0.05014725376481122 Centerline is valid? [True, True] Translation: X:189.05, Y:-13.48, Z:-1.40 [[ 9.89002211e-01 1.47897765e-01 9.36943254e-04 1.89047571e+02] [-1.47897700e-01 9.89002655e-01 -1.39182624e-04 -1.34789211e+01] [-9.47224164e-04 -9.19829273e-07 9.99999551e-01 -1.40478982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.566559995 meters 0.050187468202625374 Centerline is valid? [True, True] Translation: X:189.11, Y:-13.49, Z:-1.41 [[ 9.89531924e-01 1.44300291e-01 1.99914050e-03 1.89108948e+02] [-1.44299986e-01 9.89533944e-01 -2.97088631e-04 -1.34880146e+01] [-2.02108736e-03 5.50273999e-06 9.99997958e-01 -1.40567233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.626559995 meters 0.05068519951877064 Centerline is valid? [True, True] Translation: X:189.17, Y:-13.50, Z:-1.40 [[ 9.90461635e-01 1.37731816e-01 3.96192382e-03 1.89169819e+02] [-1.37730555e-01 9.90469558e-01 -5.90455064e-04 -1.35000174e+01] [-4.00548938e-03 3.91451195e-05 9.99991977e-01 -1.40445571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.686559995 meters 0.05049311698992116 Centerline is valid? [True, True] Translation: X:189.23, Y:-13.51, Z:-1.40 [[ 9.90945970e-01 1.34201448e-01 4.00700122e-03 1.89230500e+02] [-1.34200131e-01 9.90954070e-01 -5.97124133e-04 -1.35096252e+01] [-4.05088909e-03 5.39776662e-05 9.99991794e-01 -1.40352236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74655999499998 meters 0.05043728045845107 Centerline is valid? [True, True] Translation: X:189.29, Y:-13.52, Z:-1.40 [[ 9.91091155e-01 1.33122592e-01 4.08630023e-03 1.89291336e+02] [-1.33121211e-01 9.91099577e-01 -6.09434997e-04 -1.35200167e+01] [-4.13105999e-03 6.00324014e-05 9.99991465e-01 -1.40389678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.806559995 meters 0.05048285240299767 Centerline is valid? [True, True] Translation: X:189.35, Y:-13.52, Z:-1.40 [[ 9.90936505e-01 1.34283155e-01 3.58856115e-03 1.89353969e+02] [-1.34282095e-01 9.90943001e-01 -5.35709263e-04 -1.35243198e+01] [-3.62799628e-03 4.89743554e-05 9.99993418e-01 -1.40489830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.866559995 meters 0.050730177191745975 Centerline is valid? [True, True] Translation: X:189.41, Y:-13.53, Z:-1.41 [[ 9.90264714e-01 1.39179882e-01 2.18080549e-03 1.89414544e+02] [-1.39179503e-01 9.90267115e-01 -3.25646128e-04 -1.35309277e+01] [-2.20490335e-03 1.89524458e-05 9.99997569e-01 -1.40694712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.926559995 meters 0.05048866248823881 Centerline is valid? [True, True] Translation: X:189.48, Y:-13.53, Z:-1.41 [[ 9.88901672e-01 1.48570226e-01 6.09554756e-04 1.89476630e+02] [-1.48570199e-01 9.88901860e-01 -9.06314591e-05 -1.35339693e+01] [-6.16254968e-04 -9.36069732e-07 9.99999810e-01 -1.40878377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.986559995 meters 0.050375340329856445 Centerline is valid? [True, True] Translation: X:189.54, Y:-13.54, Z:-1.41 [[ 9.88039696e-01 1.54199734e-01 -3.80115899e-05 1.89539064e+02] [-1.54199734e-01 9.88039697e-01 6.53915302e-06 -1.35393201e+01] [ 3.85652953e-05 -5.99565718e-07 9.99999999e-01 -1.40978226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.046559995 meters 0.05014852940489121 Centerline is valid? [True, True] Translation: X:189.60, Y:-13.54, Z:-1.41 [[ 9.87053733e-01 1.60389905e-01 7.87048439e-05 1.89599598e+02] [-1.60389904e-01 9.87053736e-01 -1.15930620e-05 -1.35446464e+01] [-7.95453204e-05 -1.18048726e-06 9.99999997e-01 -1.40922045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.106559995 meters 0.05098814630058797 Centerline is valid? [True, True] Translation: X:189.66, Y:-13.55, Z:-1.41 [[ 9.86640341e-01 1.62903110e-01 1.84751357e-03 1.89661313e+02] [-1.62902879e-01 9.86642071e-01 -2.75716522e-04 -1.35531006e+01] [-1.86774969e-03 -2.89322368e-05 9.99998255e-01 -1.40859588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.166559995 meters 0.05085536608178448 Centerline is valid? [True, True] Translation: X:189.72, Y:-13.56, Z:-1.41 [[ 9.86440322e-01 1.64096180e-01 2.81700032e-03 1.89722032e+02] [-1.64095646e-01 9.86444343e-01 -4.21213912e-04 -1.35579757e+01] [-2.84793362e-03 -4.67550991e-05 9.99995944e-01 -1.40898123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.226559995 meters 0.05069005315433753 Centerline is valid? [True, True] Translation: X:189.78, Y:-13.57, Z:-1.41 [[ 9.86447599e-01 1.64050075e-01 2.95078748e-03 1.89784444e+02] [-1.64049488e-01 9.86452011e-01 -4.41485676e-04 -1.35695853e+01] [-2.98323600e-03 -4.85726905e-05 9.99995549e-01 -1.40905533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.286559995 meters 0.05017969232096085 Centerline is valid? [True, True] Translation: X:189.85, Y:-13.58, Z:-1.41 [[ 9.86586003e-01 1.63230467e-01 1.96824869e-03 1.89845337e+02] [-1.63230204e-01 9.86587966e-01 -2.94514149e-04 -1.35776449e+01] [-1.98992415e-03 -3.07140971e-05 9.99998020e-01 -1.41182507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.346559995 meters 0.04989716178436948 Centerline is valid? [True, True] Translation: X:189.91, Y:-13.59, Z:-1.41 [[ 9.86842538e-01 1.61679844e-01 1.19692639e-03 1.89906037e+02] [-1.61679746e-01 9.86843264e-01 -1.78923276e-04 -1.35902936e+01] [-1.21010703e-03 -1.69496538e-05 9.99999268e-01 -1.41213293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.406559995 meters 0.05045525750314785 Centerline is valid? [True, True] Translation: X:189.97, Y:-13.61, Z:-1.41 [[ 9.87509820e-01 1.57547880e-01 -1.73830116e-03 1.89966882e+02] [-1.57547664e-01 9.87511349e-01 2.61443554e-04 -1.36071890e+01] [ 1.75778200e-03 1.56872100e-05 9.99998455e-01 -1.41237317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46655999499998 meters 0.05092107523413071 Centerline is valid? [True, True] Translation: X:190.03, Y:-13.62, Z:-1.41 [[ 9.87729020e-01 1.56135026e-01 -3.63809282e-03 1.90028822e+02] [-1.56134068e-01 9.87735720e-01 5.47685018e-04 -1.36159661e+01] [ 3.67898705e-03 2.70658459e-05 9.99993232e-01 -1.41383748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52655999499999 meters 0.05160413760615744 Centerline is valid? [True, True] Translation: X:190.09, Y:-13.62, Z:-1.41 [[ 9.87788765e-01 1.55744786e-01 -4.11300467e-03 1.90091808e+02] [-1.55743555e-01 9.87797328e-01 6.19723314e-04 -1.36228520e+01] [ 4.15933369e-03 2.84182418e-05 9.99991350e-01 -1.41414802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.586559995 meters 0.05119968978612157 Centerline is valid? [True, True] Translation: X:190.15, Y:-13.63, Z:-1.41 [[ 9.87865504e-01 1.55264264e-01 -3.84115685e-03 1.90153511e+02] [-1.55263185e-01 9.87872972e-01 5.79183248e-04 -1.36319390e+01] [ 3.88450149e-03 2.42350955e-05 9.99992455e-01 -1.41152215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.646559995 meters 0.051061522434956604 Centerline is valid? [True, True] Translation: X:190.21, Y:-13.64, Z:-1.41 [[ 9.88461626e-01 1.51456297e-01 -2.14582916e-03 1.90214291e+02] [-1.51455950e-01 9.88463955e-01 3.24105592e-04 -1.36406698e+01] [ 2.17016261e-03 4.63265386e-06 9.99997645e-01 -1.41259574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.706559995 meters 0.05129176177754857 Centerline is valid? [True, True] Translation: X:190.28, Y:-13.65, Z:-1.41 [[ 9.89018737e-01 1.47771651e-01 -2.34030016e-03 1.90276006e+02] [-1.47771227e-01 9.89021506e-01 3.53865397e-04 -1.36515627e+01] [ 2.36689846e-03 -4.15048079e-06 9.99997199e-01 -1.41182995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.766559995 meters 0.05142488268782876 Centerline is valid? [True, True] Translation: X:190.34, Y:-13.66, Z:-1.41 [[ 9.89954650e-01 1.41349429e-01 -3.18283944e-03 1.90337363e+02] [-1.41348615e-01 9.89959766e-01 4.80399498e-04 -1.36639700e+01] [ 3.21878719e-03 -2.56837715e-05 9.99994819e-01 -1.41221513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.826559995 meters 0.051904975640935526 Centerline is valid? [True, True] Translation: X:190.40, Y:-13.67, Z:-1.41 [[ 9.90494833e-01 1.37488394e-01 -4.11440778e-03 1.90398236e+02] [-1.37486996e-01 9.90503377e-01 6.21865559e-04 -1.36733681e+01] [ 4.16083409e-03 -5.02770551e-05 9.99991342e-01 -1.41156223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.886559995 meters 0.052373237900063804 Centerline is valid? [True, True] Translation: X:190.46, Y:-13.68, Z:-1.41 [[ 9.90846783e-01 1.34941590e-01 -3.66332190e-03 1.90458786e+02] [-1.34940463e-01 9.90853553e-01 5.54156948e-04 -1.36827003e+01] [ 3.70459434e-03 -5.47542745e-05 9.99993136e-01 -1.41332927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.946559995 meters 0.0524492785471408 Centerline is valid? [True, True] Translation: X:190.52, Y:-13.69, Z:-1.41 [[ 9.90928844e-01 1.34331727e-01 -3.87475441e-03 1.90521081e+02] [-1.34330460e-01 9.90936417e-01 5.86581305e-04 -1.36854458e+01] [ 3.91843173e-03 -6.07627921e-05 9.99992321e-01 -1.40868382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.006559995 meters 0.05214890906052769 Centerline is valid? [True, True] Translation: X:190.58, Y:-13.69, Z:-1.41 [[ 9.91102159e-01 1.33055342e-01 -3.57571948e-03 1.90582634e+02] [-1.33054253e-01 9.91108608e-01 5.41718871e-04 -1.36931055e+01] [ 3.61600494e-03 -6.11340579e-05 9.99993460e-01 -1.40733395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.066559995 meters 0.051990894116143826 Centerline is valid? [True, True] Translation: X:190.64, Y:-13.71, Z:-1.41 [[ 9.91273647e-01 1.31798504e-01 -2.38980391e-03 1.90642682e+02] [-1.31798013e-01 9.91276527e-01 3.62490314e-04 -1.37059189e+01] [ 2.41673220e-03 -4.43556895e-05 9.99997079e-01 -1.41075899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.126559995 meters 0.05290071754742919 Centerline is valid? [True, True] Translation: X:190.70, Y:-13.71, Z:-1.41 [[ 9.91551506e-01 1.29713050e-01 3.68203230e-04 1.90704427e+02] [-1.29713038e-01 9.91551574e-01 -5.53012049e-05 -1.37141458e+01] [-3.72265780e-04 7.07323328e-06 9.99999931e-01 -1.41120128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.186559995 meters 0.05222572768916149 Centerline is valid? [True, True] Translation: X:190.76, Y:-13.72, Z:-1.41 [[ 9.91685064e-01 1.28682326e-01 1.26180660e-03 1.90764795e+02] [-1.28682188e-01 9.91685867e-01 -1.90731214e-04 -1.37211514e+01] [-1.27585951e-03 2.67732620e-05 9.99999186e-01 -1.40894676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24655999499998 meters 0.052342279216283635 Centerline is valid? [True, True] Translation: X:190.83, Y:-13.73, Z:-1.41 [[ 9.92004388e-01 1.26191186e-01 1.75482485e-03 1.90825145e+02] [-1.26190913e-01 9.92005939e-01 -2.65777359e-04 -1.37311003e+01] [-1.77433543e-03 4.22093566e-05 9.99998425e-01 -1.40918865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.306559995 meters 0.053042629181036464 Centerline is valid? [True, True] Translation: X:190.89, Y:-13.74, Z:-1.41 [[ 9.92375315e-01 1.23250757e-01 6.97224654e-04 1.90886092e+02] [-1.23250713e-01 9.92375559e-01 -1.05592698e-04 -1.37360424e+01] [-7.04923086e-04 1.88541509e-05 9.99999751e-01 -1.41084857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.366559995 meters 0.05323088595776654 Centerline is valid? [True, True] Translation: X:190.95, Y:-13.74, Z:-1.41 [[ 9.92603406e-01 1.21401292e-01 -4.51647326e-04 1.90947531e+02] [-1.21401273e-01 9.92603509e-01 6.85605801e-05 -1.37369312e+01] [ 4.56630064e-04 -1.32229050e-05 9.99999896e-01 -1.41023082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.426559995 meters 0.05366841506941865 Centerline is valid? [True, True] Translation: X:191.01, Y:-13.75, Z:-1.41 [[ 9.92774542e-01 1.19987292e-01 -1.32603678e-03 1.91007448e+02] [-1.19987130e-01 9.92775427e-01 2.01226368e-04 -1.37487191e+01] [ 1.34060134e-03 -4.06650684e-05 9.99999101e-01 -1.41182598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.486559995 meters 0.05424229664996399 Centerline is valid? [True, True] Translation: X:191.07, Y:-13.75, Z:-1.41 [[ 9.92828825e-01 1.19524035e-01 -2.22005153e-03 1.91068908e+02] [-1.19523580e-01 9.92831305e-01 3.37061651e-04 -1.37545671e+01] [ 2.24442363e-03 -6.92960166e-05 9.99997479e-01 -1.41288028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.546559995 meters 0.05406087927354105 Centerline is valid? [True, True] Translation: X:191.13, Y:-13.76, Z:-1.41 [[ 9.92599499e-01 1.21392077e-01 -3.19347118e-03 1.91128539e+02] [-1.21391147e-01 9.92604632e-01 4.84315260e-04 -1.37625071e+01] [ 3.22864632e-03 -9.30719560e-05 9.99994784e-01 -1.41476273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.606559995 meters 0.05339903811906654 Centerline is valid? [True, True] Translation: X:191.19, Y:-13.77, Z:-1.42 [[ 9.92163565e-01 1.24908062e-01 -3.07177778e-03 1.91189350e+02] [-1.24907218e-01 9.92168317e-01 4.65885561e-04 -1.37698449e+01] [ 3.10591345e-03 -7.85474621e-05 9.99995174e-01 -1.41526936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.666559995 meters 0.0530167357275266 Centerline is valid? [True, True] Translation: X:191.25, Y:-13.78, Z:-1.42 [[ 9.91646289e-01 1.28955138e-01 -2.86521913e-03 1.91249400e+02] [-1.28954421e-01 9.91650427e-01 4.34587156e-04 -1.37764653e+01] [ 2.89733802e-03 -6.14740677e-05 9.99995801e-01 -1.41544155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.726559995 meters 0.05271562419958147 Centerline is valid? [True, True] Translation: X:191.31, Y:-13.79, Z:-1.42 [[ 9.90912354e-01 1.34497927e-01 -1.73600754e-03 1.91308603e+02] [-1.34497672e-01 9.90913875e-01 2.63360523e-04 -1.37855273e+01] [ 1.75565540e-03 -2.74782236e-05 9.99998458e-01 -1.41686087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.786559995 meters 0.05247324837909585 Centerline is valid? [True, True] Translation: X:191.37, Y:-13.79, Z:-1.41 [[ 9.90482872e-01 1.37635460e-01 -4.00586018e-04 1.91369840e+02] [-1.37635447e-01 9.90482953e-01 6.08841789e-05 -1.37873825e+01] [ 4.05153444e-04 -5.16990079e-06 9.99999918e-01 -1.41298678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.846559995 meters 0.052641547641270776 Centerline is valid? [True, True] Translation: X:191.43, Y:-13.79, Z:-1.41 [[ 9.89911597e-01 1.41684947e-01 6.37736119e-04 1.91431311e+02] [-1.41684914e-01 9.89911802e-01 -9.65894659e-05 -1.37948353e+01] [-6.44987784e-04 5.25744533e-06 9.99999792e-01 -1.41261002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.906559995 meters 0.052164463013279164 Centerline is valid? [True, True] Translation: X:191.49, Y:-13.81, Z:-1.42 [[ 9.89411326e-01 1.45137017e-01 6.88352922e-04 1.91490672e+02] [-1.45136980e-01 9.89411566e-01 -1.03666757e-04 -1.38087143e+01] [-6.96110226e-04 2.66359956e-06 9.99999758e-01 -1.41935489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96655999499998 meters 0.05195821499492511 Centerline is valid? [True, True] Translation: X:191.55, Y:-13.81, Z:-1.42 [[ 9.88661557e-01 1.50160864e-01 -2.01606405e-04 1.91552975e+02] [-1.50160861e-01 9.88661578e-01 3.14580656e-05 -1.38146594e+01] [ 2.04044277e-04 -8.27988702e-07 9.99999979e-01 -1.41928071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02655999499999 meters 0.05190214071454434 Centerline is valid? [True, True] Translation: X:191.61, Y:-13.82, Z:-1.42 [[ 9.88278643e-01 1.52657969e-01 -9.31558311e-04 1.91613984e+02] [-1.52657903e-01 9.88279082e-01 1.41878600e-04 -1.38241637e+01] [ 9.42298492e-04 1.99414824e-06 9.99999556e-01 -1.41956348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.086559995 meters 0.05257706188480949 Centerline is valid? [True, True] Translation: X:191.68, Y:-13.84, Z:-1.42 [[ 9.87888876e-01 1.55137903e-01 -2.79286786e-03 1.91675308e+02] [-1.55137320e-01 9.87892824e-01 4.25657813e-04 -1.38351609e+01] [ 2.82508977e-03 1.27754162e-05 9.99996009e-01 -1.42024084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.146559995 meters 0.05153882036224404 Centerline is valid? [True, True] Translation: X:191.74, Y:-13.85, Z:-1.42 [[ 9.87787711e-01 1.55768559e-01 -3.40499830e-03 1.91736272e+02] [-1.55767695e-01 9.87793579e-01 5.19160732e-04 -1.38463155e+01] [ 3.44430438e-03 1.75681460e-05 9.99994068e-01 -1.42052745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.206559995 meters 0.0517288896616252 Centerline is valid? [True, True] Translation: X:191.80, Y:-13.86, Z:-1.42 [[ 9.87993584e-01 1.54443687e-01 -3.97814239e-03 1.91797158e+02] [-1.54442495e-01 9.88001593e-01 6.06960143e-04 -1.38593542e+01] [ 4.02415218e-03 1.47215094e-05 9.99991903e-01 -1.42100294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.266559995 meters 0.05146254722713948 Centerline is valid? [True, True] Translation: X:191.86, Y:-13.87, Z:-1.42 [[ 9.88431861e-01 1.51614385e-01 -3.94137267e-03 1.91858488e+02] [-1.51613194e-01 9.88439719e-01 6.00893427e-04 -1.38727571e+01] [ 3.98691338e-03 3.62189056e-06 9.99992052e-01 -1.42125525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.326559995 meters 0.052518488316779945 Centerline is valid? [True, True] Translation: X:191.92, Y:-13.89, Z:-1.42 [[ 9.89293669e-01 1.45930570e-01 -1.51850777e-03 1.91918994e+02] [-1.45930385e-01 9.89294834e-01 2.32427211e-04 -1.38875964e+01] [ 1.53617013e-03 -8.34234498e-06 9.99998820e-01 -1.41688160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.386559995 meters 0.051684717686934646 Centerline is valid? [True, True] Translation: X:191.98, Y:-13.90, Z:-1.42 [[ 9.89802441e-01 1.42440294e-01 -1.37486533e-03 1.91978082e+02] [-1.42440139e-01 9.89803396e-01 2.10544317e-04 -1.39031034e+01] [ 1.39083637e-03 -1.25612692e-05 9.99999033e-01 -1.41873162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.446559995 meters 0.05170424282180286 Centerline is valid? [True, True] Translation: X:192.04, Y:-13.92, Z:-1.42 [[ 9.90377973e-01 1.38369582e-01 -2.30868683e-03 1.92038218e+02] [-1.38369134e-01 9.90380663e-01 3.53269646e-04 -1.39176747e+01] [ 2.33536057e-03 -3.04194772e-05 9.99997273e-01 -1.41752604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.506559995 meters 0.052354191043017584 Centerline is valid? [True, True] Translation: X:192.10, Y:-13.93, Z:-1.42 [[ 9.90615520e-01 1.36633312e-01 -3.49717153e-03 1.92098403e+02] [-1.36632276e-01 9.90621691e-01 5.34475017e-04 -1.39346376e+01] [ 3.53740107e-03 -5.16327402e-05 9.99993742e-01 -1.42026043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.566559995 meters 0.05219225336245497 Centerline is valid? [True, True] Translation: X:192.16, Y:-13.95, Z:-1.42 [[ 9.90877159e-01 1.34722676e-01 -3.50087591e-03 1.92157187e+02] [-1.34721623e-01 9.90883342e-01 5.35925803e-04 -1.39508837e+01] [ 3.54116098e-03 -5.93929517e-05 9.99993728e-01 -1.42268867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.626559995 meters 0.0521084835578154 Centerline is valid? [True, True] Translation: X:192.22, Y:-13.96, Z:-1.42 [[ 9.90705761e-01 1.36006388e-01 -2.08721957e-03 1.92217677e+02] [-1.36006016e-01 9.90707960e-01 3.20066398e-04 -1.39598843e+01] [ 2.11135611e-03 -3.32172067e-05 9.99997771e-01 -1.42239788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.686559995 meters 0.05236275401337639 Centerline is valid? [True, True] Translation: X:192.28, Y:-13.97, Z:-1.42 [[ 9.90589804e-01 1.36863397e-01 -5.01022854e-04 1.92279236e+02] [-1.36863376e-01 9.90589930e-01 7.69745827e-05 -1.39673348e+01] [ 5.06843197e-04 -7.67855746e-06 9.99999872e-01 -1.42002564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74655999499998 meters 0.051563820181578936 Centerline is valid? [True, True] Translation: X:192.34, Y:-13.97, Z:-1.42 [[ 9.90418244e-01 1.38100324e-01 -5.63686771e-05 1.92339956e+02] [-1.38100324e-01 9.90418245e-01 9.44920050e-06 -1.39743404e+01] [ 5.71335039e-05 -1.57412799e-06 9.99999998e-01 -1.41745984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.806559995 meters 0.05159381127185974 Centerline is valid? [True, True] Translation: X:192.40, Y:-13.98, Z:-1.42 [[ 9.90312770e-01 1.38854158e-01 -3.74329891e-04 1.92401041e+02] [-1.38854146e-01 9.90312841e-01 5.76218588e-05 -1.39836644e+01] [ 3.78704732e-04 -5.08640540e-06 9.99999928e-01 -1.41994899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.866559995 meters 0.051673627694442 Centerline is valid? [True, True] Translation: X:192.46, Y:-13.99, Z:-1.42 [[ 9.90214616e-01 1.39545998e-01 -1.38898858e-03 1.92463102e+02] [-1.39545835e-01 9.90215590e-01 2.13771610e-04 -1.39887481e+01] [ 1.40522912e-03 -1.78522012e-05 9.99999013e-01 -1.41964879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.926559995 meters 0.05224656653499035 Centerline is valid? [True, True] Translation: X:192.53, Y:-14.00, Z:-1.42 [[ 9.90112199e-01 1.40261661e-01 -2.12139225e-03 1.92525698e+02] [-1.40261285e-01 9.90114471e-01 3.25698831e-04 -1.39976090e+01] [ 2.14610422e-03 -2.49291827e-05 9.99997697e-01 -1.42277857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.986559995 meters 0.05203095139978032 Centerline is valid? [True, True] Translation: X:192.59, Y:-14.01, Z:-1.42 [[ 9.90084910e-01 1.40436501e-01 -3.07567898e-03 1.92585830e+02] [-1.40435712e-01 9.90089687e-01 4.72198882e-04 -1.40056461e+01] [ 3.11151200e-03 -3.55818195e-05 9.99995159e-01 -1.42415920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.046559995 meters 0.05224287494148754 Centerline is valid? [True, True] Translation: X:192.65, Y:-14.01, Z:-1.42 [[ 9.90260387e-01 1.39193842e-01 -3.07256475e-03 1.92647954e+02] [-1.39193048e-01 9.90265153e-01 4.71741953e-04 -1.40128514e+01] [ 3.10831737e-03 -3.94677167e-05 9.99995168e-01 -1.42408749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.106559995 meters 0.05269184141409374 Centerline is valid? [True, True] Translation: X:192.71, Y:-14.01, Z:-1.42 [[ 9.90904775e-01 1.34530790e-01 -3.03217080e-03 1.92708111e+02] [-1.34529996e-01 9.90909412e-01 4.65238049e-04 -1.40148065e+01] [ 3.06719543e-03 -5.30886769e-05 9.99995295e-01 -1.41927409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.166559995 meters 0.05300909012411554 Centerline is valid? [True, True] Translation: X:192.77, Y:-14.03, Z:-1.42 [[ 9.91455297e-01 1.30425506e-01 -2.36237987e-03 1.92765802e+02] [-1.30425012e-01 9.91458110e-01 3.62539532e-04 -1.40324788e+01] [ 2.38948508e-03 -5.13283165e-05 9.99997144e-01 -1.42274610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.226559995 meters 0.05279453015231977 Centerline is valid? [True, True] Translation: X:192.83, Y:-14.04, Z:-1.42 [[ 9.92337414e-01 1.23552265e-01 -1.13778996e-03 1.92826136e+02] [-1.23552146e-01 9.92338066e-01 1.74710429e-04 -1.40399554e+01] [ 1.15065816e-03 -3.27953039e-05 9.99999337e-01 -1.42036749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.286559995 meters 0.053513823662447495 Centerline is valid? [True, True] Translation: X:192.89, Y:-14.05, Z:-1.42 [[ 9.92854617e-01 1.19328754e-01 -5.98399327e-04 1.92886325e+02] [-1.19328720e-01 9.92854797e-01 9.19361765e-05 -1.40459613e+01] [ 6.05094272e-04 -1.98730316e-05 9.99999817e-01 -1.42018113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.346559995 meters 0.05398486401619966 Centerline is valid? [True, True] Translation: X:192.95, Y:-14.06, Z:-1.42 [[ 9.93394214e-01 1.14748286e-01 -8.75901452e-04 1.92946323e+02] [-1.14748212e-01 9.93394599e-01 1.34523824e-04 -1.40588014e+01] [ 8.85552150e-04 -3.31270631e-05 9.99999607e-01 -1.42156818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.406559995 meters 0.054141782305028564 Centerline is valid? [True, True] Translation: X:193.01, Y:-14.06, Z:-1.42 [[ 9.93590251e-01 1.13033921e-01 -1.32133509e-03 1.93007164e+02] [-1.13033751e-01 9.93591128e-01 2.02924959e-04 -1.40618043e+01] [ 1.33580423e-03 -5.22687998e-05 9.99999106e-01 -1.42159202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46655999499998 meters 0.05396690700318901 Centerline is valid? [True, True] Translation: X:193.07, Y:-14.07, Z:-1.42 [[ 9.93684000e-01 1.12198715e-01 -1.88558694e-03 1.93068960e+02] [-1.12198367e-01 9.93685787e-01 2.89726866e-04 -1.40650865e+01] [ 1.90618792e-03 -7.63371754e-05 9.99998180e-01 -1.42156869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52655999499999 meters 0.05422315444635277 Centerline is valid? [True, True] Translation: X:193.13, Y:-14.07, Z:-1.42 [[ 9.93622898e-01 1.12739017e-01 -1.85781053e-03 1.93129113e+02] [-1.12738680e-01 9.93624632e-01 2.85817689e-04 -1.40739392e+01] [ 1.87818911e-03 -7.45478939e-05 9.99998233e-01 -1.42223752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.586559995 meters 0.05353546518035737 Centerline is valid? [True, True] Translation: X:193.19, Y:-14.08, Z:-1.42 [[ 9.93394198e-01 1.14740021e-01 -1.64143930e-03 1.93190111e+02] [-1.14739760e-01 9.93395553e-01 2.52114174e-04 -1.40757772e+01] [ 1.65952608e-03 -6.21104064e-05 9.99998621e-01 -1.42100074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.646559995 meters 0.053805678550733024 Centerline is valid? [True, True] Translation: X:193.25, Y:-14.09, Z:-1.42 [[ 9.92827809e-01 1.19534092e-01 -2.13111454e-03 1.93249956e+02] [-1.19533664e-01 9.92830094e-01 3.27322052e-04 -1.40861033e+01] [ 2.15496080e-03 -7.02345058e-05 9.99997676e-01 -1.42292929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.706559995 meters 0.05385698313789184 Centerline is valid? [True, True] Translation: X:193.31, Y:-14.09, Z:-1.42 [[ 9.92245785e-01 1.24275743e-01 -1.95996302e-03 1.93311384e+02] [-1.24275390e-01 9.92247719e-01 3.01117532e-04 -1.40879619e+01] [ 1.98219044e-03 -5.52074326e-05 9.99998034e-01 -1.42186978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.766559995 meters 0.053803755530093395 Centerline is valid? [True, True] Translation: X:193.37, Y:-14.09, Z:-1.42 [[ 9.91991448e-01 1.26298033e-01 -1.33172136e-03 1.93373050e+02] [-1.26297872e-01 9.91992342e-01 2.04696649e-04 -1.40904805e+01] [ 1.34691018e-03 -3.48637515e-05 9.99999092e-01 -1.42085450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.826559995 meters 0.05474948022732187 Centerline is valid? [True, True] Translation: X:193.43, Y:-14.10, Z:-1.42 [[ 9.91822968e-01 1.27620354e-01 -4.96111662e-04 1.93432495e+02] [-1.27620332e-01 9.91823092e-01 7.62752269e-05 -1.41003626e+01] [ 5.01789274e-04 -1.23375870e-05 9.99999874e-01 -1.42223021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.886559995 meters 0.054168583259056165 Centerline is valid? [True, True] Translation: X:193.49, Y:-14.11, Z:-1.42 [[ 9.91884441e-01 1.27142170e-01 3.53678449e-04 1.93493846e+02] [-1.27142158e-01 9.91884504e-01 -5.39298944e-05 -1.41074873e+01] [-3.57664937e-04 8.52478175e-06 9.99999936e-01 -1.42276992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.946559995 meters 0.05397026131363598 Centerline is valid? [True, True] Translation: X:193.55, Y:-14.12, Z:-1.42 [[ 9.92130268e-01 1.25209805e-01 -1.92266293e-04 1.93552989e+02] [-1.25209801e-01 9.92130286e-01 2.98373231e-05 -1.41182478e+01] [ 1.94489138e-04 -5.52888706e-06 9.99999981e-01 -1.42435987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.006559995 meters 0.05420762658813923 Centerline is valid? [True, True] Translation: X:193.61, Y:-14.12, Z:-1.42 [[ 9.92436018e-01 1.22762877e-01 -1.62333971e-04 1.93614293e+02] [-1.22762875e-01 9.92436031e-01 2.50641399e-05 -1.41197880e+01] [ 1.64183027e-04 -4.94597024e-06 9.99999987e-01 -1.42336205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.066559995 meters 0.05487647282721169 Centerline is valid? [True, True] Translation: X:193.67, Y:-14.12, Z:-1.42 [[ 9.92964551e-01 1.18403826e-01 -1.39064166e-03 1.93674946e+02] [-1.18403642e-01 9.92965524e-01 2.13939278e-04 -1.41244006e+01] [ 1.40619046e-03 -4.77770815e-05 9.99999010e-01 -1.42471791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.126559995 meters 0.05464027667486348 Centerline is valid? [True, True] Translation: X:193.74, Y:-14.13, Z:-1.43 [[ 9.93588232e-01 1.13048278e-01 -1.58520350e-03 1.93735583e+02] [-1.13048033e-01 9.93589494e-01 2.43845919e-04 -1.41317966e+01] [ 1.60260790e-03 -6.30782987e-05 9.99998714e-01 -1.42608826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.186559995 meters 0.0553127285992741 Centerline is valid? [True, True] Translation: X:193.79, Y:-14.14, Z:-1.43 [[ 9.93981595e-01 1.09532312e-01 -1.80620539e-03 1.93793963e+02] [-1.09531987e-01 9.93983233e-01 2.78030621e-04 -1.41424930e+01] [ 1.82579121e-03 -7.85200550e-05 9.99998330e-01 -1.42699154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24655999499998 meters 0.05563123082918871 Centerline is valid? [True, True] Translation: X:193.85, Y:-14.15, Z:-1.43 [[ 9.94254572e-01 1.07023354e-01 -1.96172061e-03 1.93853877e+02] [-1.07022967e-01 9.94256503e-01 3.01669203e-04 -1.41470614e+01] [ 1.98273912e-03 -8.99868249e-05 9.99998030e-01 -1.42676088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.306559995 meters 0.056036963024164214 Centerline is valid? [True, True] Translation: X:193.92, Y:-14.15, Z:-1.43 [[ 9.94267497e-01 1.06918013e-01 -8.25788767e-04 1.93915882e+02] [-1.06917945e-01 9.94267840e-01 1.27322213e-04 -1.41521685e+01] [ 8.34668252e-04 -3.83007009e-05 9.99999651e-01 -1.42677791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.366559995 meters 0.05540867266851311 Centerline is valid? [True, True] Translation: X:193.98, Y:-14.15, Z:-1.42 [[ 9.93990036e-01 1.09469769e-01 4.22224248e-04 1.93978072e+02] [-1.09469751e-01 9.93990125e-01 -6.49354203e-05 -1.41483050e+01] [-4.26795199e-04 1.83243773e-05 9.99999909e-01 -1.42481604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.426559995 meters 0.05515636429826474 Centerline is valid? [True, True] Translation: X:194.04, Y:-14.16, Z:-1.43 [[ 9.93170868e-01 1.16655673e-01 1.75502208e-03 1.94037543e+02] [-1.16655378e-01 9.93172417e-01 -2.69945201e-04 -1.41609154e+01] [-1.77453016e-03 6.33689454e-05 9.99998424e-01 -1.42653414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.486559995 meters 0.055188271928608465 Centerline is valid? [True, True] Translation: X:194.10, Y:-14.16, Z:-1.43 [[ 9.92434052e-01 1.22759509e-01 2.18072054e-03 1.94097679e+02] [-1.22759068e-01 9.92436446e-01 -3.35463949e-04 -1.41649995e+01] [-2.20540793e-03 6.52226251e-05 9.99997566e-01 -1.42621935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.546559995 meters 0.05466841326786818 Centerline is valid? [True, True] Translation: X:194.16, Y:-14.17, Z:-1.43 [[ 9.91211299e-01 1.32266431e-01 2.39837649e-03 1.94158353e+02] [-1.32265925e-01 9.91214199e-01 -3.68980751e-04 -1.41664172e+01] [-2.42610860e-03 4.85144054e-05 9.99997056e-01 -1.42678046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.606559995 meters 0.054029397937626365 Centerline is valid? [True, True] Translation: X:194.22, Y:-14.17, Z:-1.43 [[ 9.90510583e-01 1.37404653e-01 2.95758512e-03 1.94219837e+02] [-1.37403906e-01 9.90514997e-01 -4.54959463e-04 -1.41689502e+01] [-2.99204596e-03 4.42584136e-05 9.99995523e-01 -1.42699767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.666559995 meters 0.053913179506986264 Centerline is valid? [True, True] Translation: X:194.28, Y:-14.17, Z:-1.43 [[ 9.90012743e-01 1.40955690e-01 2.50232635e-03 1.94280143e+02] [-1.40955168e-01 9.90015905e-01 -3.84992133e-04 -1.41730206e+01] [-2.53160972e-03 2.84312868e-05 9.99996795e-01 -1.42731504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.726559995 meters 0.054220467551326784 Centerline is valid? [True, True] Translation: X:194.34, Y:-14.18, Z:-1.43 [[ 9.90130530e-01 1.40125053e-01 2.55019311e-03 1.94341824e+02] [-1.40124508e-01 9.90133813e-01 -3.91935588e-04 -1.41807865e+01] [-2.57995242e-03 3.07228365e-05 9.99996671e-01 -1.42762841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.786559995 meters 0.054084158437351926 Centerline is valid? [True, True] Translation: X:194.40, Y:-14.19, Z:-1.43 [[ 9.90950652e-01 1.34187439e-01 3.24589874e-03 1.94401992e+02] [-1.34186522e-01 9.90955967e-01 -4.99746717e-04 -1.41917950e+01] [-3.28360246e-03 5.96684720e-05 9.99994607e-01 -1.42738670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.846559995 meters 0.05534983823669834 Centerline is valid? [True, True] Translation: X:194.46, Y:-14.20, Z:-1.43 [[ 9.92239765e-01 1.24264243e-01 4.31827475e-03 1.94461726e+02] [-1.24262525e-01 9.92249154e-01 -6.64979818e-04 -1.42027266e+01] [-4.36743768e-03 1.23219694e-04 9.99990455e-01 -1.42663305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.906559995 meters 0.05498698384295237 Centerline is valid? [True, True] Translation: X:194.52, Y:-14.21, Z:-1.43 [[ 9.93042092e-01 1.17703339e-01 3.65057130e-03 1.94523083e+02] [-1.17702067e-01 9.93048794e-01 -5.62119674e-04 -1.42058233e+01] [-3.69135879e-03 1.28528710e-04 9.99993179e-01 -1.42659570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96655999499998 meters 0.0563445766846916 Centerline is valid? [True, True] Translation: X:194.58, Y:-14.22, Z:-1.43 [[ 9.93801691e-01 1.11138848e-01 2.52084649e-03 1.94580550e+02] [-1.11138220e-01 9.93804883e-01 -3.88238051e-04 -1.42245533e+01] [-2.54837788e-03 1.05669238e-04 9.99996747e-01 -1.42913992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02655999499999 meters 0.05849636810608124 Centerline is valid? [True, True] Translation: X:194.64, Y:-14.24, Z:-1.43 [[ 9.93950571e-01 1.09818364e-01 1.47942671e-03 1.94638523e+02] [-1.09818146e-01 9.93951670e-01 -2.27820478e-04 -1.42431777e+01] [-1.49549752e-03 6.39743951e-05 9.99998880e-01 -1.43135528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.086559995 meters 0.05612468594432871 Centerline is valid? [True, True] Translation: X:194.70, Y:-14.24, Z:-1.43 [[ 9.93782759e-01 1.11313371e-01 2.27169465e-03 1.94701103e+02] [-1.11312862e-01 9.93785351e-01 -3.49758316e-04 -1.42413973e+01] [-2.29650964e-03 9.47149509e-05 9.99997359e-01 -1.43040665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.146559995 meters 0.05549619151137856 Centerline is valid? [True, True] Translation: X:194.76, Y:-14.24, Z:-1.43 [[ 9.93499607e-01 1.13812795e-01 2.27573091e-03 1.94761891e+02] [-1.13812290e-01 9.93502209e-01 -3.50609619e-04 -1.42415673e+01] [-2.30084754e-03 8.93243732e-05 9.99997349e-01 -1.42972074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.206559995 meters 0.056077282366682815 Centerline is valid? [True, True] Translation: X:194.82, Y:-14.26, Z:-1.43 [[ 9.92911913e-01 1.18842647e-01 1.53589384e-03 1.94819604e+02] [-1.18842423e-01 9.92913099e-01 -2.36672602e-04 -1.42561604e+01] [-1.55313592e-03 5.24656997e-05 9.99998793e-01 -1.43206374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.266559995 meters 0.055002380005341835 Centerline is valid? [True, True] Translation: X:194.88, Y:-14.26, Z:-1.43 [[ 9.92257007e-01 1.24181940e-01 2.20838657e-03 1.94880552e+02] [-1.24181490e-01 9.92259463e-01 -3.40176928e-04 -1.42591500e+01] [-2.23353630e-03 6.33022063e-05 9.99997504e-01 -1.43231466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.326559995 meters 0.054533724706268584 Centerline is valid? [True, True] Translation: X:194.94, Y:-14.27, Z:-1.43 [[ 9.91726764e-01 1.28330002e-01 3.07191020e-03 1.94939555e+02] [-1.28329151e-01 9.91731519e-01 -4.73319266e-04 -1.42652918e+01] [-3.10725123e-03 7.51877565e-05 9.99995170e-01 -1.43170424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.386559995 meters 0.05513999763513598 Centerline is valid? [True, True] Translation: X:195.00, Y:-14.28, Z:-1.43 [[ 9.91458252e-01 1.30363949e-01 3.97188142e-03 1.94999131e+02] [-1.30362543e-01 9.91466204e-01 -6.11855255e-04 -1.42755432e+01] [-4.01775006e-03 8.88443784e-05 9.99991925e-01 -1.43234945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.446559995 meters 0.05423859958440392 Centerline is valid? [True, True] Translation: X:195.06, Y:-14.28, Z:-1.43 [[ 9.90957763e-01 1.34082349e-01 4.96345805e-03 1.95057867e+02] [-1.34080200e-01 9.90970189e-01 -7.64691502e-04 -1.42849105e+01] [-5.02117059e-03 9.22755305e-05 9.99987390e-01 -1.43256971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.506559995 meters 0.054320280289365586 Centerline is valid? [True, True] Translation: X:195.12, Y:-14.29, Z:-1.43 [[ 9.90357451e-01 1.38437900e-01 5.20262904e-03 1.95118483e+02] [-1.38435599e-01 9.90371114e-01 -8.01466961e-04 -1.42912558e+01] [-5.26348692e-03 7.35097071e-05 9.99986145e-01 -1.43391215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.566559995 meters 0.05462010027761559 Centerline is valid? [True, True] Translation: X:195.18, Y:-14.30, Z:-1.44 [[ 9.90173413e-01 1.39788240e-01 3.98237241e-03 1.95179748e+02] [-1.39786904e-01 9.90181421e-01 -6.13180446e-04 -1.43005619e+01] [-4.02898659e-03 5.04714653e-05 9.99991882e-01 -1.43595800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.626559995 meters 0.05438348150970615 Centerline is valid? [True, True] Translation: X:195.24, Y:-14.31, Z:-1.44 [[ 9.90276554e-01 1.39088513e-01 2.59450949e-03 1.95241096e+02] [-1.39087943e-01 9.90279952e-01 -3.99723433e-04 -1.43125608e+01] [-2.62488767e-03 3.49717555e-05 9.99996554e-01 -1.43810895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.686559995 meters 0.0542853400266849 Centerline is valid? [True, True] Translation: X:195.30, Y:-14.32, Z:-1.44 [[ 9.90562571e-01 1.37023614e-01 3.21278579e-03 1.95302962e+02] [-1.37022728e-01 9.90567780e-01 -4.95237989e-04 -1.43211444e+01] [-3.25034139e-03 5.03395405e-05 9.99994716e-01 -1.43717996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74655999499998 meters 0.05438467604212486 Centerline is valid? [True, True] Translation: X:195.36, Y:-14.34, Z:-1.44 [[ 9.91127030e-01 1.32883487e-01 3.03146539e-03 1.95360922e+02] [-1.32882678e-01 9.91131664e-01 -4.67543119e-04 -1.43380185e+01] [-3.06671010e-03 6.05653831e-05 9.99995296e-01 -1.43898640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.806559995 meters 0.054600196436390754 Centerline is valid? [True, True] Translation: X:195.42, Y:-14.35, Z:-1.44 [[ 9.91651083e-01 1.28911690e-01 3.14729327e-03 1.95420485e+02] [-1.28910798e-01 9.91656075e-01 -4.85623950e-04 -1.43530874e+01] [-3.18363510e-03 7.58494288e-05 9.99994929e-01 -1.44016600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.866559995 meters 0.05368610966789061 Centerline is valid? [True, True] Translation: X:195.48, Y:-14.36, Z:-1.44 [[ 9.92062533e-01 1.25667670e-01 4.42353132e-03 1.95482000e+02] [-1.25665875e-01 9.92072387e-01 -6.82630315e-04 -1.43571199e+01] [-4.47424784e-03 1.21325028e-04 9.99989983e-01 -1.43971426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.926559995 meters 0.054269376578526714 Centerline is valid? [True, True] Translation: X:195.54, Y:-14.37, Z:-1.44 [[ 9.92788161e-01 1.19804674e-01 4.30208785e-03 1.95540544e+02] [-1.19802920e-01 9.92797471e-01 -6.64014543e-04 -1.43739205e+01] [-4.35065399e-03 1.43823088e-04 9.99990526e-01 -1.44073854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.986559995 meters 0.05555637631460689 Centerline is valid? [True, True] Translation: X:195.60, Y:-14.39, Z:-1.44 [[ 9.93148011e-01 1.16815205e-01 3.35200349e-03 1.95597504e+02] [-1.16814123e-01 9.93153660e-01 -5.17399082e-04 -1.43944779e+01] [-3.38949462e-03 1.22292521e-04 9.99994248e-01 -1.44181268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.046559995 meters 0.05516484117034439 Centerline is valid? [True, True] Translation: X:195.66, Y:-14.40, Z:-1.44 [[ 9.93313128e-01 1.15381550e-01 4.01588426e-03 1.95657326e+02] [-1.15379985e-01 9.93321234e-01 -6.20016895e-04 -1.44049982e+01] [-4.06060162e-03 1.52518255e-04 9.99991744e-01 -1.44184600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.106559995 meters 0.054683709784085426 Centerline is valid? [True, True] Translation: X:195.72, Y:-14.40, Z:-1.44 [[ 9.93214009e-01 1.16202972e-01 4.77504470e-03 1.95721029e+02] [-1.16200769e-01 9.93225472e-01 -7.37187659e-04 -1.43985829e+01] [-4.82835942e-03 1.77321245e-04 9.99988328e-01 -1.44167605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.166559995 meters 0.05491180330959997 Centerline is valid? [True, True] Translation: X:195.78, Y:-14.42, Z:-1.44 [[ 9.92837131e-01 1.19424628e-01 3.49141510e-03 1.95778368e+02] [-1.19423469e-01 9.92843263e-01 -5.39197743e-04 -1.44191695e+01] [-3.53082145e-03 1.18378635e-04 9.99993760e-01 -1.44339653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.226559995 meters 0.054208045355552986 Centerline is valid? [True, True] Translation: X:195.84, Y:-14.43, Z:-1.44 [[ 9.92473909e-01 1.22412962e-01 3.25690110e-03 1.95838082e+02] [-1.22411970e-01 9.92479247e-01 -5.03005288e-04 -1.44296377e+01] [-3.29398112e-03 1.00535944e-04 9.99994570e-01 -1.44427563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.286559995 meters 0.0547709475684985 Centerline is valid? [True, True] Translation: X:195.90, Y:-14.44, Z:-1.45 [[ 9.91664741e-01 1.28808148e-01 3.08260782e-03 1.95896048e+02] [-1.28807290e-01 9.91669529e-01 -4.76175096e-04 -1.44428175e+01] [-3.11826348e-03 7.51436948e-05 9.99995135e-01 -1.44532965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.346559995 meters 0.05383223398978165 Centerline is valid? [True, True] Translation: X:195.96, Y:-14.45, Z:-1.44 [[ 9.91039338e-01 1.33506492e-01 4.12889525e-03 1.95957168e+02] [-1.33504993e-01 9.91047935e-01 -6.37697718e-04 -1.44473592e+01] [-4.17706989e-03 8.07553930e-05 9.99991273e-01 -1.44436888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.406559995 meters 0.05357370919217282 Centerline is valid? [True, True] Translation: X:196.02, Y:-14.46, Z:-1.44 [[ 9.90207637e-01 1.39497111e-01 5.42135193e-03 1.96016210e+02] [-1.39494616e-01 9.90222475e-01 -8.37350600e-04 -1.44574960e+01] [-5.48515252e-03 7.29015514e-05 9.99984954e-01 -1.44438714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46655999499998 meters 0.05321164363009236 Centerline is valid? [True, True] Translation: X:196.08, Y:-14.46, Z:-1.44 [[ 9.89680937e-01 1.43161861e-01 6.02698196e-03 1.96077699e+02] [-1.43158847e-01 9.89699287e-01 -9.30850265e-04 -1.44640060e+01] [-6.09816201e-03 5.84289730e-05 9.99981404e-01 -1.44459720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52655999499999 meters 0.05266436952897027 Centerline is valid? [True, True] Translation: X:196.14, Y:-14.47, Z:-1.45 [[ 9.89122569e-01 1.46974828e-01 5.91134153e-03 1.96139565e+02] [-1.46971996e-01 9.89140232e-01 -9.13096081e-04 -1.44720891e+01] [-5.98134787e-03 3.43622773e-05 9.99982111e-01 -1.44520819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.586559995 meters 0.05299029974716655 Centerline is valid? [True, True] Translation: X:196.20, Y:-14.48, Z:-1.45 [[ 9.89056099e-01 1.47444581e-01 5.30360257e-03 1.96201779e+02] [-1.47442308e-01 9.89070318e-01 -8.19221830e-04 -1.44834496e+01] [-5.36642570e-03 2.82809445e-05 9.99985600e-01 -1.44620845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.646559995 meters 0.05308378685852807 Centerline is valid? [True, True] Translation: X:196.26, Y:-14.50, Z:-1.45 [[ 9.89408558e-01 1.45085424e-01 4.57442644e-03 1.96261473e+02] [-1.45083706e-01 9.89419132e-01 -7.07127709e-04 -1.44958059e+01] [-4.62861896e-03 3.59634684e-05 9.99989287e-01 -1.44664588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.706559995 meters 0.05297438366135551 Centerline is valid? [True, True] Translation: X:196.32, Y:-14.51, Z:-1.45 [[ 9.90517852e-01 1.37315802e-01 4.33067360e-03 1.96320834e+02] [-1.37314184e-01 9.90527317e-01 -6.70137419e-04 -1.45099887e+01] [-4.38167096e-03 6.91201659e-05 9.99990398e-01 -1.44723204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.766559995 meters 0.05363885104382869 Centerline is valid? [True, True] Translation: X:196.38, Y:-14.53, Z:-1.45 [[ 9.91449418e-01 1.30415365e-01 4.45925943e-03 1.96378289e+02] [-1.30413580e-01 9.91459440e-01 -6.90056968e-04 -1.45275831e+01] [-4.51116889e-03 1.02608594e-04 9.99989819e-01 -1.44846930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.826559995 meters 0.05384904133379251 Centerline is valid? [True, True] Translation: X:196.44, Y:-14.54, Z:-1.45 [[ 9.92683898e-01 1.20627270e-01 5.26686647e-03 1.96438083e+02] [-1.20624640e-01 9.92697855e-01 -8.15284285e-04 -1.45360365e+01] [-5.32675257e-03 1.74005709e-04 9.99985798e-01 -1.44868361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.886559995 meters 0.05413815218102271 Centerline is valid? [True, True] Translation: X:196.50, Y:-14.55, Z:-1.45 [[ 9.93277466e-01 1.15662668e-01 4.69292501e-03 1.96497321e+02] [-1.15660524e-01 9.93288536e-01 -7.26473488e-04 -1.45461624e+01] [-4.74545447e-03 1.78803578e-04 9.99988724e-01 -1.44931725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.946559995 meters 0.05420518925861193 Centerline is valid? [True, True] Translation: X:196.56, Y:-14.56, Z:-1.45 [[ 9.93607491e-01 1.12800732e-01 4.48883665e-03 1.96557273e+02] [-1.12798742e-01 9.93617613e-01 -6.94895489e-04 -1.45580892e+01] [-4.53857188e-03 1.84118237e-04 9.99989684e-01 -1.45017109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.006559995 meters 0.05436084940770983 Centerline is valid? [True, True] Translation: X:196.62, Y:-14.57, Z:-1.45 [[ 9.93441336e-01 1.14227791e-01 5.13061371e-03 1.96617724e+02] [-1.14225211e-01 9.93454564e-01 -7.94236530e-04 -1.45701826e+01] [-5.18775549e-03 2.02981968e-04 9.99986523e-01 -1.45067111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.066559995 meters 0.053926674650313464 Centerline is valid? [True, True] Translation: X:196.68, Y:-14.57, Z:-1.45 [[ 9.92833704e-01 1.19378178e-01 5.48517644e-03 1.96679020e+02] [-1.19375305e-01 9.92848838e-01 -8.49364436e-04 -1.45709101e+01] [-5.54734664e-03 1.88483025e-04 9.99984596e-01 -1.45099098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.126559995 meters 0.05406537779300688 Centerline is valid? [True, True] Translation: X:196.74, Y:-14.58, Z:-1.45 [[ 9.92337950e-01 1.23438174e-01 5.33006577e-03 1.96737294e+02] [-1.23435520e-01 9.92352252e-01 -8.25411268e-04 -1.45831337e+01] [-5.39119003e-03 1.61167487e-04 9.99985454e-01 -1.45188165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.186559995 meters 0.054241571652381255 Centerline is valid? [True, True] Translation: X:196.80, Y:-14.59, Z:-1.45 [[ 9.91607938e-01 1.29178274e-01 5.16438354e-03 1.96797642e+02] [-1.29175860e-01 9.91621378e-01 -7.99698153e-04 -1.45890686e+01] [-5.22441675e-03 1.25873349e-04 9.99986345e-01 -1.45224775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24655999499998 meters 0.05417840884182485 Centerline is valid? [True, True] Translation: X:196.86, Y:-14.60, Z:-1.45 [[ 9.91175814e-01 1.32443082e-01 5.41633390e-03 1.96858659e+02] [-1.32440475e-01 9.91190606e-01 -8.38720133e-04 -1.45953173e+01] [-5.47970196e-03 1.13977275e-04 9.99984980e-01 -1.45275431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.306559995 meters 0.05375336043107662 Centerline is valid? [True, True] Translation: X:196.92, Y:-14.60, Z:-1.45 [[ 9.90972320e-01 1.33984891e-01 4.68080958e-03 1.96919038e+02] [-1.33982962e-01 9.90983371e-01 -7.24691188e-04 -1.46026280e+01] [-4.73570212e-03 9.10001754e-05 9.99988782e-01 -1.45297176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.366559995 meters 0.05377007269784919 Centerline is valid? [True, True] Translation: X:196.98, Y:-14.61, Z:-1.45 [[ 9.90665093e-01 1.36229881e-01 4.90852918e-03 1.96980648e+02] [-1.36227783e-01 9.90677249e-01 -7.60780109e-04 -1.46078171e+01] [-4.96640917e-03 8.50002495e-05 9.99987664e-01 -1.45263591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.426559995 meters 0.05407069265265569 Centerline is valid? [True, True] Translation: X:197.04, Y:-14.62, Z:-1.45 [[ 9.90727648e-01 1.35760969e-01 5.26192780e-03 1.97042345e+02] [-1.35758551e-01 9.90741616e-01 -8.15645279e-04 -1.46161977e+01] [-5.32394365e-03 9.37306356e-05 9.99985823e-01 -1.45269961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.486559995 meters 0.05403808631863515 Centerline is valid? [True, True] Translation: X:197.10, Y:-14.63, Z:-1.45 [[ 9.91085896e-01 1.33145578e-01 4.58270942e-03 1.97103031e+02] [-1.33143715e-01 9.91096487e-01 -7.10566927e-04 -1.46250100e+01] [-4.63651605e-03 9.40739050e-05 9.99989247e-01 -1.45340632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.546559995 meters 0.05373414398695284 Centerline is valid? [True, True] Translation: X:197.16, Y:-14.63, Z:-1.45 [[ 9.91574189e-01 1.29504504e-01 3.03514174e-03 1.97162253e+02] [-1.29503670e-01 9.91578831e-01 -4.70563703e-04 -1.46325027e+01] [-3.07052241e-03 7.35368275e-05 9.99995283e-01 -1.45481020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.606559995 meters 0.054935970387746266 Centerline is valid? [True, True] Translation: X:197.22, Y:-14.65, Z:-1.46 [[ 9.91869981e-01 1.27223985e-01 2.82830934e-03 1.97220352e+02] [-1.27223251e-01 9.91874010e-01 -4.38626090e-04 -1.46519648e+01] [-2.86113029e-03 7.52333410e-05 9.99995904e-01 -1.45704145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.666559995 meters 0.054397964660605466 Centerline is valid? [True, True] Translation: X:197.28, Y:-14.66, Z:-1.46 [[ 9.92162613e-01 1.24920048e-01 2.88647634e-03 1.97280493e+02] [-1.24919274e-01 9.92166808e-01 -4.47673457e-04 -1.46621858e+01] [-2.91978941e-03 8.35883380e-05 9.99995734e-01 -1.45731590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.726559995 meters 0.05428498590038642 Centerline is valid? [True, True] Translation: X:197.34, Y:-14.67, Z:-1.46 [[ 9.92334923e-01 1.23550045e-01 2.60518745e-03 1.97342438e+02] [-1.23549410e-01 9.92338340e-01 -4.04036073e-04 -1.46691678e+01] [-2.63514606e-03 7.90697335e-05 9.99996525e-01 -1.45748361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.786559995 meters 0.05376464906860846 Centerline is valid? [True, True] Translation: X:197.40, Y:-14.68, Z:-1.46 [[ 9.92575441e-01 1.21580396e-01 3.49313999e-03 1.97402751e+02] [-1.21579241e-01 9.92581581e-01 -5.41977922e-04 -1.46783948e+01] [-3.53312031e-03 1.13260666e-04 9.99993752e-01 -1.45713900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.846559995 meters 0.0545422732411618 Centerline is valid? [True, True] Translation: X:197.46, Y:-14.69, Z:-1.46 [[ 9.92462450e-01 1.22500487e-01 3.45196572e-03 1.97463088e+02] [-1.22499365e-01 9.92468447e-01 -5.35270257e-04 -1.46908863e+01] [-3.49153793e-03 1.08372020e-04 9.99993899e-01 -1.45743817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.906559995 meters 0.05389462865184575 Centerline is valid? [True, True] Translation: X:197.52, Y:-14.70, Z:-1.46 [[ 9.91813700e-01 1.27642197e-01 3.61315464e-03 1.97523119e+02] [-1.27640999e-01 9.91820276e-01 -5.61107617e-04 -1.46970553e+01] [-3.65522105e-03 9.53275536e-05 9.99993315e-01 -1.45763823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96655999499998 meters 0.05379022315307071 Centerline is valid? [True, True] Translation: X:197.58, Y:-14.70, Z:-1.46 [[ 9.91053901e-01 1.33400593e-01 4.05551832e-03 1.97584021e+02] [-1.33399132e-01 9.91062195e-01 -6.29853259e-04 -1.47002468e+01] [-4.10329368e-03 8.32159077e-05 9.99991578e-01 -1.45722013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02655999499999 meters 0.05325264000932933 Centerline is valid? [True, True] Translation: X:197.64, Y:-14.71, Z:-1.46 [[ 9.89904924e-01 1.41690603e-01 3.46608493e-03 1.97643189e+02] [-1.41689586e-01 9.89910992e-01 -5.38348549e-04 -1.47098653e+01] [-3.50739450e-03 4.18057408e-05 9.99993848e-01 -1.45814783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.086559995 meters 0.053044002733484946 Centerline is valid? [True, True] Translation: X:197.71, Y:-14.72, Z:-1.46 [[ 9.89428933e-01 1.44982331e-01 3.24203492e-03 1.97705105e+02] [-1.44981460e-01 9.89434244e-01 -5.03335173e-04 -1.47181052e+01] [-3.28075508e-03 2.79794283e-05 9.99994618e-01 -1.45874401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.146559995 meters 0.05314133786931024 Centerline is valid? [True, True] Translation: X:197.77, Y:-14.73, Z:-1.46 [[ 9.89547644e-01 1.44190626e-01 2.12703248e-03 1.97765458e+02] [-1.44190250e-01 9.89549929e-01 -3.29858989e-04 -1.47273569e+01] [-2.15236742e-03 1.97138392e-05 9.99997683e-01 -1.45916375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.206559995 meters 0.05344583643657335 Centerline is valid? [True, True] Translation: X:197.82, Y:-14.74, Z:-1.46 [[ 9.90555775e-01 1.37095233e-01 2.03786112e-03 1.97824972e+02] [-1.37094872e-01 9.90557871e-01 -3.16714440e-04 -1.47424211e+01] [-2.06203942e-03 3.43430078e-05 9.99997873e-01 -1.45942385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.266559995 meters 0.05375587761505858 Centerline is valid? [True, True] Translation: X:197.88, Y:-14.75, Z:-1.46 [[ 9.91306691e-01 1.31552398e-01 2.23871456e-03 1.97884363e+02] [-1.31551947e-01 9.91309217e-01 -3.48026598e-04 -1.47544332e+01] [-2.26504211e-03 5.04938363e-05 9.99997434e-01 -1.45886916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.326559995 meters 0.05446551704228328 Centerline is valid? [True, True] Translation: X:197.94, Y:-14.77, Z:-1.46 [[ 9.92181564e-01 1.24771763e-01 2.78415798e-03 1.97942941e+02] [-1.24771039e-01 9.92185467e-01 -4.32877699e-04 -1.47681714e+01] [-2.81641200e-03 8.21109879e-05 9.99996031e-01 -1.45900104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.386559995 meters 0.05502543203587504 Centerline is valid? [True, True] Translation: X:198.00, Y:-14.78, Z:-1.46 [[ 9.92550749e-01 1.21816015e-01 1.96719596e-03 1.98002792e+02] [-1.21815648e-01 9.92552696e-01 -3.05777984e-04 -1.47819887e+01] [-1.98979431e-03 6.38649164e-05 9.99998018e-01 -1.45977852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.446559995 meters 0.05426600000583634 Centerline is valid? [True, True] Translation: X:198.06, Y:-14.79, Z:-1.46 [[ 9.92898349e-01 1.18963380e-01 7.64067982e-04 1.98063236e+02] [-1.18963323e-01 9.92898642e-01 -1.18736204e-04 -1.47885756e+01] [-7.72767322e-04 2.69969141e-05 9.99999701e-01 -1.45874104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.506559995 meters 0.0547822046079391 Centerline is valid? [True, True] Translation: X:198.12, Y:-14.80, Z:-1.46 [[ 9.92971493e-01 1.18350304e-01 9.05798781e-04 1.98124333e+02] [-1.18350225e-01 9.92971905e-01 -1.40604302e-04 -1.47979595e+01] [-9.16073303e-04 3.24145740e-05 9.99999580e-01 -1.45900462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.566559995 meters 0.05524483150967936 Centerline is valid? [True, True] Translation: X:198.18, Y:-14.81, Z:-1.46 [[ 9.92759415e-01 1.20107557e-01 1.70836345e-03 1.98184376e+02] [-1.20107277e-01 9.92760883e-01 -2.65668564e-04 -1.48088037e+01] [-1.72790521e-03 5.85580862e-05 9.99998505e-01 -1.45906053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.626559995 meters 0.05464344488585066 Centerline is valid? [True, True] Translation: X:198.24, Y:-14.82, Z:-1.46 [[ 9.92521899e-01 1.22057665e-01 1.48573591e-03 1.98244045e+02] [-1.22057455e-01 9.92523009e-01 -2.31106244e-04 -1.48182325e+01] [-1.50283536e-03 4.80328634e-05 9.99998870e-01 -1.45908234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.686559995 meters 0.05441638830848776 Centerline is valid? [True, True] Translation: X:198.30, Y:-14.83, Z:-1.46 [[ 9.92162592e-01 1.24948590e-01 1.11406351e-03 1.98304072e+02] [-1.24948474e-01 9.92163217e-01 -1.73285292e-04 -1.48252159e+01] [-1.12698459e-03 3.27266491e-05 9.99999364e-01 -1.45958123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74655999499998 meters 0.05467454303687987 Centerline is valid? [True, True] Translation: X:198.36, Y:-14.83, Z:-1.46 [[ 9.91888948e-01 1.27101318e-01 1.25277954e-03 1.98364274e+02] [-1.27101173e-01 9.91889739e-01 -1.94828137e-04 -1.48330034e+01] [-1.26738208e-03 3.40181273e-05 9.99999196e-01 -1.46006397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.806559995 meters 0.05435874382747752 Centerline is valid? [True, True] Translation: X:198.43, Y:-14.84, Z:-1.46 [[ 9.91531468e-01 1.29859800e-01 1.33431810e-03 1.98425908e+02] [-1.29859638e-01 9.91532365e-01 -2.07444783e-04 -1.48394592e+01] [-1.34995832e-03 3.24139655e-05 9.99999088e-01 -1.46050667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.866559995 meters 0.05448529003133826 Centerline is valid? [True, True] Translation: X:198.49, Y:-14.85, Z:-1.46 [[ 9.91258765e-01 1.31924114e-01 1.44529644e-03 1.98485589e+02] [-1.31923926e-01 9.91259818e-01 -2.24911563e-04 -1.48476567e+01] [-1.46233554e-03 3.22763778e-05 9.99998930e-01 -1.46104205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.926559995 meters 0.054163467311185896 Centerline is valid? [True, True] Translation: X:198.55, Y:-14.85, Z:-1.46 [[ 9.90954560e-01 1.34190670e-01 1.38707999e-03 1.98546770e+02] [-1.34190499e-01 9.90955530e-01 -2.15818412e-04 -1.48513731e+01] [-1.40349540e-03 2.77332839e-05 9.99999015e-01 -1.46088439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.986559995 meters 0.05394857254712435 Centerline is valid? [True, True] Translation: X:198.61, Y:-14.86, Z:-1.46 [[ 9.90934019e-01 1.34339573e-01 1.62750420e-03 1.98608842e+02] [-1.34339340e-01 9.90935355e-01 -2.52654134e-04 -1.48594175e+01] [-1.64669290e-03 3.17257374e-05 9.99998644e-01 -1.46129354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.046559995 meters 0.05392299586223801 Centerline is valid? [True, True] Translation: X:198.67, Y:-14.87, Z:-1.46 [[ 9.91359121e-01 1.31162449e-01 1.87214620e-03 1.98669658e+02] [-1.31162132e-01 9.91360888e-01 -2.91548575e-04 -1.48682154e+01] [-1.89421274e-03 4.34746523e-05 9.99998205e-01 -1.46181333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.106559995 meters 0.05484361024116188 Centerline is valid? [True, True] Translation: X:198.73, Y:-14.89, Z:-1.46 [[ 9.92124133e-01 1.25227340e-01 2.79620417e-03 1.98727595e+02] [-1.25226609e-01 9.92128070e-01 -4.35703040e-04 -1.48859277e+01] [-2.82875458e-03 8.21123344e-05 9.99995996e-01 -1.46270139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.166559995 meters 0.05540188702183578 Centerline is valid? [True, True] Translation: X:198.79, Y:-14.90, Z:-1.46 [[ 9.92639122e-01 1.21058804e-01 3.51283375e-03 1.98787358e+02] [-1.21057624e-01 9.92645330e-01 -5.47369871e-04 -1.48963270e+01] [-3.55326196e-03 1.18085441e-04 9.99993680e-01 -1.46310035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.226559995 meters 0.055125422438733904 Centerline is valid? [True, True] Translation: X:198.85, Y:-14.90, Z:-1.46 [[ 9.92840166e-01 1.19394846e-01 3.64359032e-03 1.98849059e+02] [-1.19393566e-01 9.92846843e-01 -5.67719283e-04 -1.48993211e+01] [-3.68530991e-03 1.28633267e-04 9.99993201e-01 -1.46264872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.286559995 meters 0.05523842264400751 Centerline is valid? [True, True] Translation: X:198.91, Y:-14.91, Z:-1.46 [[ 9.93138763e-01 1.16880620e-01 3.78389503e-03 1.98909835e+02] [-1.16879220e-01 9.93145961e-01 -5.89671634e-04 -1.49072878e+01] [-3.82688125e-03 1.43367057e-04 9.99992667e-01 -1.46336026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.346559995 meters 0.055641128189165105 Centerline is valid? [True, True] Translation: X:198.97, Y:-14.91, Z:-1.46 [[ 9.93135785e-01 1.16910724e-01 3.63263256e-03 1.98973155e+02] [-1.16909435e-01 9.93142419e-01 -5.65944490e-04 -1.49127760e+01] [-3.67388647e-03 1.37370706e-04 9.99993242e-01 -1.46404210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.406559995 meters 0.0559014059841714 Centerline is valid? [True, True] Translation: X:199.03, Y:-14.93, Z:-1.47 [[ 9.92943508e-01 1.18551346e-01 2.96108622e-03 1.99032322e+02] [-1.18550495e-01 9.92947918e-01 -4.61626619e-04 -1.49254959e+01] [-2.99493085e-03 1.07330916e-04 9.99995509e-01 -1.46586980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46655999499998 meters 0.05493013880286814 Centerline is valid? [True, True] Translation: X:199.09, Y:-14.92, Z:-1.47 [[ 9.92309807e-01 1.23740955e-01 3.06957619e-03 1.99093930e+02] [-1.23740066e-01 9.92314551e-01 -4.78535277e-04 -1.49249099e+01] [-3.10519953e-03 9.50256887e-05 9.99995174e-01 -1.46643495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52655999499999 meters 0.05511426925553923 Centerline is valid? [True, True] Translation: X:199.15, Y:-14.93, Z:-1.47 [[ 9.91820624e-01 1.27582949e-01 3.80010579e-03 1.99152727e+02] [-1.27581615e-01 9.91827899e-01 -5.92575600e-04 -1.49344133e+01] [-3.84465349e-03 1.02905068e-04 9.99992604e-01 -1.46694770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.586559995 meters 0.05412746731828625 Centerline is valid? [True, True] Translation: X:199.21, Y:-14.94, Z:-1.47 [[ 9.91227634e-01 1.32056824e-01 5.36406533e-03 1.99213364e+02] [-1.32054231e-01 9.91242140e-01 -8.36396637e-04 -1.49423915e+01] [-5.42753949e-03 1.20711940e-04 9.99985264e-01 -1.46705898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.646559995 meters 0.05461586414831395 Centerline is valid? [True, True] Translation: X:199.27, Y:-14.95, Z:-1.47 [[ 9.90742934e-01 1.35633476e-01 5.65685089e-03 1.99272815e+02] [-1.35630649e-01 9.90759077e-01 -8.82157474e-04 -1.49513314e+01] [-5.72422645e-03 1.06748928e-04 9.99983611e-01 -1.46802991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.706559995 meters 0.05364554593594761 Centerline is valid? [True, True] Translation: X:199.33, Y:-14.95, Z:-1.47 [[ 9.89803308e-01 1.42312403e-01 6.04903202e-03 1.99334092e+02] [-1.42309295e-01 9.89821789e-01 -9.43309943e-04 -1.49541382e+01] [-6.12170841e-03 7.28578166e-05 9.99981260e-01 -1.46882033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.766559995 meters 0.05373404573891103 Centerline is valid? [True, True] Translation: X:199.40, Y:-14.96, Z:-1.47 [[ 9.88665350e-01 1.50012512e-01 6.08861381e-03 1.99395300e+02] [-1.50009509e-01 9.88684098e-01 -9.49501499e-04 -1.49585586e+01] [-6.16215275e-03 2.53892642e-05 9.99981013e-01 -1.46986491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.826559995 meters 0.05305127658519445 Centerline is valid? [True, True] Translation: X:199.46, Y:-14.97, Z:-1.47 [[ 9.87987083e-01 1.54402787e-01 6.42669774e-03 1.99456934e+02] [-1.54399533e-01 9.88007986e-01 -1.00230409e-03 -1.49652654e+01] [-6.50438723e-03 -2.01563760e-06 9.99978846e-01 -1.47062027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.886559995 meters 0.05288684936722215 Centerline is valid? [True, True] Translation: X:199.52, Y:-14.97, Z:-1.47 [[ 9.87326616e-01 1.58603914e-01 5.56337544e-03 1.99517206e+02] [-1.58601541e-01 9.87342290e-01 -8.67898154e-04 -1.49723052e+01] [-5.63060789e-03 -2.54609715e-05 9.99984148e-01 -1.47212596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.946559995 meters 0.05302215681780081 Centerline is valid? [True, True] Translation: X:199.58, Y:-14.98, Z:-1.47 [[ 9.87394764e-01 1.58209135e-01 4.63136242e-03 1.99578108e+02] [-1.58207488e-01 9.87405625e-01 -7.22285764e-04 -1.49848251e+01] [-4.68730551e-03 -1.95350322e-05 9.99989014e-01 -1.47292953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.006559995 meters 0.05301727522903143 Centerline is valid? [True, True] Translation: X:199.64, Y:-15.00, Z:-1.47 [[ 9.88475975e-01 1.51319391e-01 4.20576244e-03 1.99638474e+02] [-1.51317967e-01 9.88484922e-01 -6.56578542e-04 -1.50009230e+01] [-4.25668582e-03 1.26046925e-05 9.99990940e-01 -1.47408108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.066559995 meters 0.05345657592202552 Centerline is valid? [True, True] Translation: X:199.70, Y:-15.02, Z:-1.47 [[ 9.89592838e-01 1.43850179e-01 3.62497494e-03 1.99697823e+02] [-1.43849072e-01 9.89599477e-01 -5.65774171e-04 -1.50169944e+01] [-3.66866002e-03 3.84367875e-05 9.99993270e-01 -1.47463519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.126559995 meters 0.05376875058241375 Centerline is valid? [True, True] Translation: X:199.76, Y:-15.04, Z:-1.48 [[ 9.91260548e-01 1.31873436e-01 3.45305849e-03 1.99755539e+02] [-1.31872356e-01 9.91266559e-01 -5.39640901e-04 -1.50410416e+01] [-3.49406570e-03 7.95617776e-05 9.99993893e-01 -1.47577449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.186559995 meters 0.0537537366900676 Centerline is valid? [True, True] Translation: X:199.81, Y:-15.05, Z:-1.48 [[ 9.92023999e-01 1.25985005e-01 4.02043017e-03 1.99813729e+02] [-1.25983492e-01 9.92032139e-01 -6.28393493e-04 -1.50537228e+01] [-4.06756410e-03 1.16873593e-04 9.99991721e-01 -1.47555618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24655999499998 meters 0.053489726737461565 Centerline is valid? [True, True] Translation: X:199.87, Y:-15.07, Z:-1.48 [[ 9.92513408e-01 1.22046519e-01 4.66718891e-03 1.99873757e+02] [-1.22044436e-01 9.92524369e-01 -7.29584538e-04 -1.50653882e+01] [-4.72134199e-03 1.54517996e-04 9.99988842e-01 -1.47570321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.306559995 meters 0.053229759705486865 Centerline is valid? [True, True] Translation: X:199.93, Y:-15.08, Z:-1.48 [[ 9.92131788e-01 1.25155331e-01 3.26474250e-03 1.99932512e+02] [-1.25154328e-01 9.92137155e-01 -5.10372271e-04 -1.50792504e+01] [-3.30294814e-03 9.77598994e-05 9.99994540e-01 -1.47646746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.366559995 meters 0.052856408642778206 Centerline is valid? [True, True] Translation: X:199.99, Y:-15.09, Z:-1.48 [[ 9.91382252e-01 1.30975352e-01 2.58614338e-03 1.99992345e+02] [-1.30974743e-01 9.91385623e-01 -4.04286140e-04 -1.50897201e+01] [-2.61681688e-03 6.20826395e-05 9.99996574e-01 -1.47787836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.426559995 meters 0.05290627227516957 Centerline is valid? [True, True] Translation: X:200.05, Y:-15.10, Z:-1.48 [[ 9.89642019e-01 1.43535897e-01 2.47393499e-03 2.00052383e+02] [-1.43535379e-01 9.89645111e-01 -3.86728027e-04 -1.50980496e+01] [-2.50382702e-03 2.76251093e-05 9.99996865e-01 -1.47893007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.486559995 meters 0.0527281570626797 Centerline is valid? [True, True] Translation: X:200.11, Y:-15.11, Z:-1.48 [[ 9.88431905e-01 1.51629259e-01 3.30718079e-03 2.00112654e+02] [-1.51628378e-01 9.88437437e-01 -5.16918559e-04 -1.51074498e+01] [-3.34732129e-03 9.47633627e-06 9.99994398e-01 -1.48007306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.546559995 meters 0.05224080333934868 Centerline is valid? [True, True] Translation: X:200.18, Y:-15.12, Z:-1.48 [[ 9.87304285e-01 1.58801495e-01 3.51202468e-03 2.00175344e+02] [-1.58800548e-01 9.87310531e-01 -5.48618858e-04 -1.51158374e+01] [-3.55458045e-03 -1.60576961e-05 9.99993682e-01 -1.48052839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.606559995 meters 0.05141091054142421 Centerline is valid? [True, True] Translation: X:200.24, Y:-15.13, Z:-1.48 [[ 9.85835476e-01 1.67656020e-01 4.45788199e-03 2.00235497e+02] [-1.67654579e-01 9.85845554e-01 -6.97615419e-04 -1.51256452e+01] [-4.51174256e-03 -5.96503000e-05 9.99989820e-01 -1.48083512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.666559995 meters 0.05206640990252391 Centerline is valid? [True, True] Translation: X:200.29, Y:-15.14, Z:-1.48 [[ 9.84913126e-01 1.72971715e-01 5.18843485e-03 2.00294944e+02] [-1.72969837e-01 9.84926787e-01 -8.11970577e-04 -1.51357344e+01] [-5.25067641e-03 -9.77222485e-05 9.99986210e-01 -1.48181860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.726559995 meters 0.05134803030393535 Centerline is valid? [True, True] Translation: X:200.36, Y:-15.15, Z:-1.48 [[ 9.84740853e-01 1.73933327e-01 5.71401328e-03 2.00355607e+02] [-1.73931065e-01 9.84757424e-01 -8.94209227e-04 -1.51484586e+01] [-5.78244979e-03 -1.13280059e-04 9.99983275e-01 -1.48205876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.786559995 meters 0.05086027410919333 Centerline is valid? [True, True] Translation: X:200.41, Y:-15.17, Z:-1.48 [[ 9.85206706e-01 1.71256152e-01 6.25107329e-03 2.00413635e+02] [-1.71253386e-01 9.85226532e-01 -9.79164207e-04 -1.51689912e+01] [-6.32641115e-03 -1.05838320e-04 9.99979982e-01 -1.48203562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.846559995 meters 0.051374903212289574 Centerline is valid? [True, True] Translation: X:200.47, Y:-15.18, Z:-1.48 [[ 9.85884324e-01 1.67317456e-01 6.08023573e-03 2.00474797e+02] [-1.67314763e-01 9.85903070e-01 -9.52425160e-04 -1.51787365e+01] [-6.15388042e-03 -7.83321667e-05 9.99981062e-01 -1.48338330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.906559995 meters 0.05066649136403257 Centerline is valid? [True, True] Translation: X:200.53, Y:-15.20, Z:-1.48 [[ 9.87190127e-01 1.59472018e-01 4.93234089e-03 2.00533396e+02] [-1.59470148e-01 9.87202449e-01 -7.72740849e-04 -1.52033519e+01] [-4.99244955e-03 -2.37189944e-05 9.99987537e-01 -1.48446716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96655999499998 meters 0.05082573563063078 Centerline is valid? [True, True] Translation: X:200.59, Y:-15.22, Z:-1.49 [[ 9.87993688e-01 1.54456742e-01 3.40409910e-03 2.00592207e+02] [-1.54455822e-01 9.87999552e-01 -5.32984268e-04 -1.52203817e+01] [-3.44557140e-03 8.02166352e-07 9.99994064e-01 -1.48739655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02655999499999 meters 0.05077425812009659 Centerline is valid? [True, True] Translation: X:200.65, Y:-15.24, Z:-1.49 [[ 9.88907891e-01 1.48528958e-01 5.76461620e-04 2.00651960e+02] [-1.48528931e-01 9.88908059e-01 -9.01698116e-05 -1.52395056e+01] [-5.83460370e-04 3.54841024e-06 9.99999830e-01 -1.48865144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.086559995 meters 0.05135609541348104 Centerline is valid? [True, True] Translation: X:200.71, Y:-15.26, Z:-1.49 [[ 9.89326138e-01 1.45717008e-01 -5.88436858e-04 2.00711008e+02] [-1.45716978e-01 9.89326313e-01 9.31695782e-05 -1.52569969e+01] [ 5.95732459e-04 -6.42985836e-06 9.99999823e-01 -1.49065672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.146559995 meters 0.05205207156816379 Centerline is valid? [True, True] Translation: X:200.77, Y:-15.27, Z:-1.49 [[ 9.89705767e-01 1.43110353e-01 -1.38590755e-03 2.00771039e+02] [-1.43110187e-01 9.89706738e-01 2.18448036e-04 -1.52699215e+01] [ 1.40290421e-03 -1.78617926e-05 9.99999016e-01 -1.48823457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.206559995 meters 0.05148762052495202 Centerline is valid? [True, True] Translation: X:200.83, Y:-15.29, Z:-1.49 [[ 9.90036898e-01 1.40800441e-01 -1.47558991e-03 2.00831667e+02] [-1.40800251e-01 9.90037997e-01 2.32090758e-04 -1.52861776e+01] [ 1.49356856e-03 -2.20149834e-05 9.99998884e-01 -1.48825600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.266559995 meters 0.05125227851470414 Centerline is valid? [True, True] Translation: X:200.89, Y:-15.30, Z:-1.49 [[ 9.90383166e-01 1.38349170e-01 8.31309480e-04 2.00892658e+02] [-1.38349109e-01 9.90383515e-01 -1.30347996e-04 -1.52979911e+01] [-8.41348742e-04 1.40835348e-05 9.99999646e-01 -1.48612193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.326559995 meters 0.05155985786678992 Centerline is valid? [True, True] Translation: X:200.95, Y:-15.31, Z:-1.49 [[ 9.90245775e-01 1.39283433e-01 3.66467855e-03 2.00952299e+02] [-1.39282257e-01 9.90252554e-01 -5.75523928e-04 -1.53104155e+01] [-3.70911825e-03 5.94854382e-05 9.99993119e-01 -1.48688887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.386559995 meters 0.05073594564706731 Centerline is valid? [True, True] Translation: X:201.01, Y:-15.32, Z:-1.49 [[ 9.89900164e-01 1.41679556e-01 4.95665304e-03 2.01011250e+02] [-1.41677429e-01 9.89912571e-01 -7.79411578e-04 -1.53229631e+01] [-5.01707984e-03 6.92937905e-05 9.99987412e-01 -1.48683850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.446559995 meters 0.050844489523532856 Centerline is valid? [True, True] Translation: X:201.07, Y:-15.33, Z:-1.49 [[ 9.89667773e-01 1.43317786e-01 4.20839264e-03 2.01072398e+02] [-1.43316269e-01 9.89676720e-01 -6.61517258e-04 -1.53329993e+01] [-4.25975541e-03 5.15511816e-05 9.99990926e-01 -1.48664775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.506559995 meters 0.050730707377168324 Centerline is valid? [True, True] Translation: X:201.13, Y:-15.34, Z:-1.49 [[ 9.89307718e-01 1.45808835e-01 3.16577083e-03 2.01134370e+02] [-1.45807988e-01 9.89312783e-01 -4.98052983e-04 -1.53425267e+01] [-3.20455807e-03 3.11329849e-05 9.99994865e-01 -1.48872638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.566559995 meters 0.05077184105499072 Centerline is valid? [True, True] Translation: X:201.19, Y:-15.35, Z:-1.49 [[ 9.89041239e-01 1.47625332e-01 2.04648078e-03 2.01194977e+02] [-1.47624983e-01 9.89043357e-01 -3.21545444e-04 -1.53515649e+01] [-2.07152647e-03 1.59100147e-05 9.99997854e-01 -1.49235924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.626559995 meters 0.05134617444007005 Centerline is valid? [True, True] Translation: X:201.26, Y:-15.36, Z:-1.49 [[ 9.88850518e-01 1.48902432e-01 1.64909164e-03 2.01256995e+02] [-1.48902207e-01 9.88851893e-01 -2.59113076e-04 -1.53567473e+01] [-1.66928996e-03 1.06707142e-05 9.99998607e-01 -1.49195597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.686559995 meters 0.05087583516119636 Centerline is valid? [True, True] Translation: X:201.32, Y:-15.36, Z:-1.49 [[ 9.88914682e-01 1.48465647e-01 2.38817510e-03 2.01319607e+02] [-1.48465173e-01 9.88917565e-01 -3.75834451e-04 -1.53648366e+01] [-2.41750681e-03 1.71073774e-05 9.99997078e-01 -1.49095331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74655999499998 meters 0.05063913773971563 Centerline is valid? [True, True] Translation: X:201.38, Y:-15.37, Z:-1.49 [[ 9.89006316e-01 1.47848055e-01 2.73117247e-03 2.01380954e+02] [-1.47847431e-01 9.89010087e-01 -4.30326581e-04 -1.53745250e+01] [-2.76478007e-03 2.17988737e-05 9.99996178e-01 -1.49216901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.806559995 meters 0.050771704172086506 Centerline is valid? [True, True] Translation: X:201.44, Y:-15.38, Z:-1.49 [[ 9.89027593e-01 1.47717767e-01 1.97038768e-03 2.01442695e+02] [-1.47717441e-01 9.89029555e-01 -3.10527586e-04 -1.53822603e+01] [-1.99464209e-03 1.60597248e-05 9.99998011e-01 -1.49416031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.866559995 meters 0.0513761872724238 Centerline is valid? [True, True] Translation: X:201.50, Y:-15.39, Z:-1.50 [[ 9.89009420e-01 1.47849001e-01 1.01939384e-03 2.01502740e+02] [-1.47848914e-01 9.89009946e-01 -1.60411485e-04 -1.53911717e+01] [-1.03190733e-03 7.93219739e-06 9.99999468e-01 -1.49588108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.926559995 meters 0.0509877984519863 Centerline is valid? [True, True] Translation: X:201.56, Y:-15.40, Z:-1.50 [[ 9.89111507e-01 1.47165635e-01 8.38161452e-04 2.01564467e+02] [-1.47165576e-01 9.89111862e-01 -1.32272454e-04 -1.54005059e+01] [-8.48501394e-04 7.48369289e-06 9.99999640e-01 -1.49608009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.986559995 meters 0.0511517689944963 Centerline is valid? [True, True] Translation: X:201.63, Y:-15.41, Z:-1.49 [[ 9.89181867e-01 1.46692120e-01 8.09538884e-04 2.01625003e+02] [-1.46692065e-01 9.89182198e-01 -1.27332906e-04 -1.54074829e+01] [-8.19460187e-04 7.20247113e-06 9.99999664e-01 -1.49429798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.046559995 meters 0.051100740520647 Centerline is valid? [True, True] Translation: X:201.69, Y:-15.42, Z:-1.50 [[ 9.89536285e-01 1.44281291e-01 9.21489547e-04 2.01685963e+02] [-1.44281218e-01 9.89536714e-01 -1.45453332e-04 -1.54211220e+01] [-9.32833933e-04 1.09777158e-05 9.99999565e-01 -1.49604545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.106559995 meters 0.05069372515242637 Centerline is valid? [True, True] Translation: X:201.75, Y:-15.43, Z:-1.50 [[ 9.89850268e-01 1.42107396e-01 1.39092435e-03 2.01745917e+02] [-1.42107227e-01 9.89851245e-01 -2.19893203e-04 -1.54338449e+01] [-1.40805665e-03 2.00009438e-05 9.99999008e-01 -1.49702110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.166559995 meters 0.051300339825923955 Centerline is valid? [True, True] Translation: X:201.81, Y:-15.45, Z:-1.50 [[ 9.90325418e-01 1.38757336e-01 1.40277308e-03 2.01806312e+02] [-1.38757161e-01 9.90326411e-01 -2.22143823e-04 -1.54455563e+01] [-1.42002731e-03 2.53498656e-05 9.99998991e-01 -1.49724172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.226559995 meters 0.05148883268299119 Centerline is valid? [True, True] Translation: X:201.86, Y:-15.46, Z:-1.50 [[ 9.90990107e-01 1.33918264e-01 2.12280631e-03 2.01864951e+02] [-1.33917851e-01 9.90992379e-01 -3.36353859e-04 -1.54567810e+01] [-2.14872880e-03 4.90416881e-05 9.99997690e-01 -1.49776290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.286559995 meters 0.051955243422574196 Centerline is valid? [True, True] Translation: X:201.93, Y:-15.46, Z:-1.50 [[ 9.91254384e-01 1.31943129e-01 2.39949220e-03 2.01927341e+02] [-1.31942595e-01 9.91257286e-01 -3.80035088e-04 -1.54582415e+01] [-2.42865715e-03 6.01162186e-05 9.99997049e-01 -1.49659375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.346559995 meters 0.051627857439846686 Centerline is valid? [True, True] Translation: X:201.99, Y:-15.46, Z:-1.50 [[ 9.91328021e-01 1.31402077e-01 1.49985284e-03 2.01989161e+02] [-1.31401869e-01 9.91329155e-01 -2.37031970e-04 -1.54628848e+01] [-1.51799434e-03 3.78929684e-05 9.99998847e-01 -1.49635766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.406559995 meters 0.0516305098265423 Centerline is valid? [True, True] Translation: X:202.05, Y:-15.47, Z:-1.50 [[ 9.91394975e-01 1.30903466e-01 5.34779312e-04 2.02050040e+02] [-1.30903440e-01 9.91395119e-01 -8.40371714e-05 -1.54723842e+01] [-5.41178357e-04 1.33095781e-05 9.99999853e-01 -1.49639820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46655999499998 meters 0.051939599737192074 Centerline is valid? [True, True] Translation: X:202.11, Y:-15.48, Z:-1.50 [[ 9.91306861e-01 1.31569436e-01 4.37010168e-04 2.02110556e+02] [-1.31569419e-01 9.91306957e-01 -6.86265748e-05 -1.54802678e+01] [-4.42240380e-04 1.05328206e-05 9.99999902e-01 -1.49761566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52655999499999 meters 0.052061681487715776 Centerline is valid? [True, True] Translation: X:202.17, Y:-15.50, Z:-1.50 [[ 9.91012987e-01 1.33762993e-01 8.48860946e-04 2.02169235e+02] [-1.33762927e-01 9.91013351e-01 -1.34704818e-04 -1.54965786e+01] [-8.59251050e-04 1.99480996e-05 9.99999631e-01 -1.50147538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.586559995 meters 0.05192267329936846 Centerline is valid? [True, True] Translation: X:202.23, Y:-15.50, Z:-1.50 [[ 9.90845265e-01 1.34987111e-01 2.03470934e-03 2.02230814e+02] [-1.34986732e-01 9.90847353e-01 -3.22959107e-04 -1.55034792e+01] [-2.05968169e-03 4.53437364e-05 9.99997878e-01 -1.50040613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.646559995 meters 0.05236823646124941 Centerline is valid? [True, True] Translation: X:202.29, Y:-15.51, Z:-1.50 [[ 9.90760945e-01 1.35573454e-01 3.54795165e-03 2.02291298e+02] [-1.35572306e-01 9.90767295e-01 -5.63275926e-04 -1.55114953e+01] [-3.59155972e-03 7.70678016e-05 9.99993547e-01 -1.49968080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.706559995 meters 0.051417193901465305 Centerline is valid? [True, True] Translation: X:202.35, Y:-15.52, Z:-1.50 [[ 9.90791373e-01 1.35352586e-01 3.48331307e-03 2.02353948e+02] [-1.35351476e-01 9.90797493e-01 -5.53410767e-04 -1.55153812e+01] [-3.52616344e-03 7.68430474e-05 9.99993780e-01 -1.49902642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.766559995 meters 0.051613500674638456 Centerline is valid? [True, True] Translation: X:202.41, Y:-15.53, Z:-1.50 [[ 9.90814042e-01 1.35190632e-01 3.32063600e-03 2.02414780e+02] [-1.35189621e-01 9.90819604e-01 -5.28118384e-04 -1.55261318e+01] [-3.36154790e-03 7.43515888e-05 9.99994347e-01 -1.50016949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.826559995 meters 0.05184361441621132 Centerline is valid? [True, True] Translation: X:202.48, Y:-15.53, Z:-1.50 [[ 9.90769956e-01 1.35524087e-01 2.84875981e-03 2.02477487e+02] [-1.35523345e-01 9.90774050e-01 -4.52776470e-04 -1.55283541e+01] [-2.88383942e-03 6.25238659e-05 9.99995840e-01 -1.49931310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.886559995 meters 0.05144385325084686 Centerline is valid? [True, True] Translation: X:202.54, Y:-15.54, Z:-1.50 [[ 9.90773461e-01 1.35486293e-01 3.37831716e-03 2.02540226e+02] [-1.35485247e-01 9.90779218e-01 -5.37684817e-04 -1.55373347e+01] [-3.42001535e-03 7.50117131e-05 9.99994149e-01 -1.50038192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.946559995 meters 0.05114271706728049 Centerline is valid? [True, True] Translation: X:202.60, Y:-15.54, Z:-1.50 [[ 9.90829412e-01 1.35079479e-01 3.25743091e-03 2.02602248e+02] [-1.35078503e-01 9.90834764e-01 -5.18596791e-04 -1.55431731e+01] [-3.29762757e-03 7.38320608e-05 9.99994560e-01 -1.50118363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.006559995 meters 0.051363552448090564 Centerline is valid? [True, True] Translation: X:202.66, Y:-15.56, Z:-1.50 [[ 9.90870942e-01 1.34791764e-01 2.44047482e-03 2.02661493e+02] [-1.34791215e-01 9.90873946e-01 -3.88645259e-04 -1.55612598e+01] [-2.47058909e-03 5.61427274e-05 9.99996947e-01 -1.50379260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.066559995 meters 0.05235782274161368 Centerline is valid? [True, True] Translation: X:202.72, Y:-15.57, Z:-1.51 [[ 9.91386710e-01 1.30967059e-01 1.44639907e-04 2.02721494e+02] [-1.30967057e-01 9.91386720e-01 -2.29538890e-05 -1.55714774e+01] [-1.46400286e-04 3.81311750e-06 9.99999989e-01 -1.50518567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.126559995 meters 0.052413902061201965 Centerline is valid? [True, True] Translation: X:202.78, Y:-15.58, Z:-1.50 [[ 9.91893336e-01 1.27073243e-01 -4.21339503e-05 2.02782566e+02] [-1.27073242e-01 9.91893337e-01 6.85535970e-06 -1.55782665e+01] [ 4.26635172e-05 -1.44568793e-06 9.99999999e-01 -1.50460988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18655999499998 meters 0.05240693664646934 Centerline is valid? [True, True] Translation: X:202.84, Y:-15.59, Z:-1.51 [[ 9.92609970e-01 1.21340990e-01 1.34586946e-03 2.02841750e+02] [-1.21340810e-01 9.92610881e-01 -2.14770675e-04 -1.55902807e+01] [-1.36198516e-03 4.98746221e-05 9.99999071e-01 -1.50521372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24655999499998 meters 0.05310727083902575 Centerline is valid? [True, True] Translation: X:202.90, Y:-15.60, Z:-1.51 [[ 9.93038874e-01 1.17763673e-01 2.34765515e-03 2.02901443e+02] [-1.17763116e-01 9.93041645e-01 -3.74636895e-04 -1.56030338e+01] [-2.37543795e-03 9.55618155e-05 9.99997174e-01 -1.50587468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.306559995 meters 0.05257066666832379 Centerline is valid? [True, True] Translation: X:202.96, Y:-15.61, Z:-1.51 [[ 9.93491673e-01 1.13860895e-01 3.16102014e-03 2.02962124e+02] [-1.13859865e-01 9.93496692e-01 -5.04553531e-04 -1.56061826e+01] [-3.19791197e-03 1.41356405e-04 9.99994877e-01 -1.50509638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.366559995 meters 0.05309522569838727 Centerline is valid? [True, True] Translation: X:203.02, Y:-15.61, Z:-1.51 [[ 9.93605624e-01 1.12854072e-01 3.43848259e-03 2.03023991e+02] [-1.12852847e-01 9.93611561e-01 -5.48716142e-04 -1.56141524e+01] [-3.47844090e-03 1.57164894e-04 9.99993938e-01 -1.50613671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.426559995 meters 0.05332222315512108 Centerline is valid? [True, True] Translation: X:203.08, Y:-15.62, Z:-1.51 [[ 9.93421138e-01 1.14485105e-01 2.75739759e-03 2.03084742e+02] [-1.14484324e-01 9.93424957e-01 -4.40154526e-04 -1.56203811e+01] [-2.78965872e-03 1.21580013e-04 9.99996102e-01 -1.50693135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.486559995 meters 0.052471583195250734 Centerline is valid? [True, True] Translation: X:203.15, Y:-15.63, Z:-1.51 [[ 9.92934583e-01 1.18654813e-01 1.39638262e-03 2.03145455e+02] [-1.18654617e-01 9.92935563e-01 -2.23006814e-04 -1.56275932e+01] [-1.41297879e-03 5.57439331e-05 9.99999000e-01 -1.50829705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.546559995 meters 0.053108206921112455 Centerline is valid? [True, True] Translation: X:203.20, Y:-15.64, Z:-1.51 [[ 9.92531758e-01 1.21986472e-01 1.04543974e-04 2.03204898e+02] [-1.21986471e-01 9.92531763e-01 -1.67224099e-05 -1.56361236e+01] [-1.05803123e-04 3.84457240e-06 9.99999994e-01 -1.50943423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.606559995 meters 0.05363257031922585 Centerline is valid? [True, True] Translation: X:203.27, Y:-15.64, Z:-1.51 [[ 9.91808444e-01 1.27733945e-01 -2.20828765e-04 2.03265915e+02] [-1.27733940e-01 9.91808469e-01 3.52591995e-05 -1.56411407e+01] [ 2.23523636e-04 -6.76304351e-06 9.99999975e-01 -1.51109188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.666559995 meters 0.05289595840042178 Centerline is valid? [True, True] Translation: X:203.33, Y:-15.64, Z:-1.51 [[ 9.91272292e-01 1.31830321e-01 -9.82917104e-05 2.03327129e+02] [-1.31830320e-01 9.91272297e-01 1.57290239e-05 -1.56425831e+01] [ 9.95074118e-05 -2.63391796e-06 9.99999995e-01 -1.51038752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.726559995 meters 0.0526200392161554 Centerline is valid? [True, True] Translation: X:203.39, Y:-15.65, Z:-1.51 [[ 9.90358550e-01 1.38527751e-01 -6.06198493e-05 2.03386716e+02] [-1.38527751e-01 9.90358552e-01 9.62415239e-06 -1.56474859e+01] [ 6.13685983e-05 -1.13383021e-06 9.99999998e-01 -1.51019672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.786559995 meters 0.052180453887626245 Centerline is valid? [True, True] Translation: X:203.45, Y:-15.65, Z:-1.51 [[ 9.89467298e-01 1.44756312e-01 2.75636650e-04 2.03447034e+02] [-1.44756305e-01 9.89467337e-01 -4.39499577e-05 -1.56526044e+01] [-2.79095496e-04 3.58690271e-06 9.99999961e-01 -1.51096010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.846559995 meters 0.05284586563827693 Centerline is valid? [True, True] Translation: X:203.51, Y:-15.66, Z:-1.51 [[ 9.88930800e-01 1.48377286e-01 -2.32480807e-04 2.03507875e+02] [-1.48377281e-01 9.88930827e-01 3.79288202e-05 -1.56595575e+01] [ 2.35535212e-04 -3.01410837e-06 9.99999972e-01 -1.51193871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.906559995 meters 0.051860525864564036 Centerline is valid? [True, True] Translation: X:203.57, Y:-15.67, Z:-1.51 [[ 9.88399858e-01 1.51872764e-01 6.19495486e-04 2.03570267e+02] [-1.51872732e-01 9.88400052e-01 -9.86766598e-05 -1.56669419e+01] [-6.27295668e-04 3.44752459e-06 9.99999803e-01 -1.51261441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96655999499998 meters 0.0520823017215155 Centerline is valid? [True, True] Translation: X:203.63, Y:-15.68, Z:-1.51 [[ 9.88317691e-01 1.52403729e-01 1.11596581e-03 2.03631416e+02] [-1.52403625e-01 9.88318321e-01 -1.78090902e-04 -1.56776850e+01] [-1.13007117e-03 5.93315448e-06 9.99999361e-01 -1.51324335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02655999499999 meters 0.05191147923095801 Centerline is valid? [True, True] Translation: X:203.69, Y:-15.69, Z:-1.51 [[ 9.88405129e-01 1.51836478e-01 9.92001810e-04 2.03692371e+02] [-1.51836396e-01 9.88405627e-01 -1.57777678e-04 -1.56878982e+01] [-1.00445658e-03 5.32628665e-06 9.99999496e-01 -1.51337402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.086559995 meters 0.05189088501935607 Centerline is valid? [True, True] Translation: X:203.75, Y:-15.70, Z:-1.51 [[ 9.88491864e-01 1.51269991e-01 1.10700667e-03 2.03754749e+02] [-1.51269888e-01 9.88492483e-01 -1.76508184e-04 -1.56991956e+01] [-1.12096816e-03 7.02012832e-06 9.99999372e-01 -1.51410236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.146559995 meters 0.05225619136863879 Centerline is valid? [True, True] Translation: X:203.81, Y:-15.71, Z:-1.51 [[ 9.88543192e-01 1.50936323e-01 7.63710388e-04 2.03814724e+02] [-1.50936274e-01 9.88543487e-01 -1.21856698e-04 -1.57082807e+01] [-7.73353533e-04 5.18900925e-06 9.99999701e-01 -1.51315507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.206559995 meters 0.0520307722480734 Centerline is valid? [True, True] Translation: X:203.87, Y:-15.72, Z:-1.51 [[ 9.88838047e-01 1.48989880e-01 -1.15464262e-03 2.03874354e+02] [-1.48989765e-01 9.88838721e-01 1.85383346e-04 -1.57216060e+01] [ 1.16937558e-03 -1.12841727e-05 9.99999316e-01 -1.51489794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.266559995 meters 0.05207088784237147 Centerline is valid? [True, True] Translation: X:203.94, Y:-15.74, Z:-1.52 [[ 9.89112214e-01 1.47158652e-01 -1.16598923e-03 2.03935279e+02] [-1.47158534e-01 9.89112901e-01 1.87158364e-04 -1.57351547e+01] [ 1.18083697e-03 -1.35353573e-05 9.99999303e-01 -1.51634818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.326559995 meters 0.05201627483587244 Centerline is valid? [True, True] Translation: X:203.99, Y:-15.75, Z:-1.52 [[ 9.89373606e-01 1.45395398e-01 2.16098976e-04 2.03994991e+02] [-1.45395394e-01 9.89373629e-01 -3.38520896e-05 -1.57498656e+01] [-2.18724566e-04 2.07256830e-06 9.99999976e-01 -1.51570510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.386559995 meters 0.05195462292075144 Centerline is valid? [True, True] Translation: X:204.06, Y:-15.76, Z:-1.52 [[ 9.89393029e-01 1.45257191e-01 1.33480127e-03 2.04056052e+02] [-1.45257035e-01 9.89393930e-01 -2.13797056e-04 -1.57623550e+01] [-1.35169983e-03 1.76400427e-05 9.99999086e-01 -1.51576135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.446559995 meters 0.05162634012232016 Centerline is valid? [True, True] Translation: X:204.12, Y:-15.77, Z:-1.52 [[ 9.88984650e-01 1.48000481e-01 2.28449849e-03 2.04117039e+02] [-1.48000031e-01 9.88987289e-01 -3.65847271e-04 -1.57720184e+01] [-2.31348554e-03 2.37114887e-05 9.99997324e-01 -1.51512236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.506559995 meters 0.05175804751326619 Centerline is valid? [True, True] Translation: X:204.18, Y:-15.78, Z:-1.52 [[ 9.87948090e-01 1.54768529e-01 2.29658667e-03 2.04176332e+02] [-1.54768091e-01 9.87950759e-01 -3.68428668e-04 -1.57822777e+01] [-2.32593570e-03 8.55006422e-06 9.99997295e-01 -1.51581046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.566559995 meters 0.0512606750744372 Centerline is valid? [True, True] Translation: X:204.24, Y:-15.79, Z:-1.52 [[ 9.86898554e-01 1.61326780e-01 2.21675318e-03 2.04237732e+02] [-1.61326388e-01 9.86901044e-01 -3.55642832e-04 -1.57931137e+01] [-2.24509074e-03 -6.63738749e-06 9.99997480e-01 -1.51525499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.626559995 meters 0.05084074262054754 Centerline is valid? [True, True] Translation: X:204.30, Y:-15.80, Z:-1.52 [[ 9.85105857e-01 1.71942394e-01 1.50441287e-03 2.04298360e+02] [-1.71942226e-01 9.85107006e-01 -2.41548764e-04 -1.58013963e+01] [-1.52354013e-03 -2.07209943e-05 9.99998839e-01 -1.51767443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68655999499998 meters 0.050903637992738886 Centerline is valid? [True, True] Translation: X:204.36, Y:-15.81, Z:-1.52 [[ 9.84248056e-01 1.76788749e-01 1.22571948e-03 2.04357870e+02] [-1.76788641e-01 9.84248819e-01 -1.96899910e-04 -1.58091821e+01] [-1.24122264e-03 -2.28949268e-05 9.99999229e-01 -1.51923041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74655999499998 meters 0.05039069694668553 Centerline is valid? [True, True] Translation: X:204.42, Y:-15.83, Z:-1.52 [[ 9.83647647e-01 1.80090882e-01 2.14039575e-03 2.04416893e+02] [-1.80090560e-01 9.83649974e-01 -3.43746661e-04 -1.58300678e+01] [-2.16730587e-03 -4.73394753e-05 9.99997650e-01 -1.51727771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.806559995 meters 0.05039576525213911 Centerline is valid? [True, True] Translation: X:204.48, Y:-15.84, Z:-1.52 [[ 9.83515942e-01 1.80799498e-01 2.81648779e-03 2.04476807e+02] [-1.80798944e-01 9.83519973e-01 -4.52004032e-04 -1.58402072e+01] [-2.85179410e-03 -6.46648474e-05 9.99995932e-01 -1.51883988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.866559995 meters 0.04988534692409243 Centerline is valid? [True, True] Translation: X:204.54, Y:-15.86, Z:-1.52 [[ 9.83758657e-01 1.79483775e-01 2.11655053e-03 2.04537013e+02] [-1.79483459e-01 9.83760933e-01 -3.39690385e-04 -1.58575222e+01] [-2.14314863e-03 -4.57124527e-05 9.99997702e-01 -1.52048366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.926559995 meters 0.050239012959827876 Centerline is valid? [True, True] Translation: X:204.60, Y:-15.87, Z:-1.52 [[ 9.83916180e-01 1.78623074e-01 1.65746317e-03 2.04597300e+02] [-1.78622879e-01 9.83917576e-01 -2.66002884e-04 -1.58719490e+01] [-1.67832140e-03 -3.43363022e-05 9.99998591e-01 -1.52090263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.986559995 meters 0.050721896896837225 Centerline is valid? [True, True] Translation: X:204.66, Y:-15.88, Z:-1.52 [[ 9.84170651e-01 1.77215697e-01 1.65106139e-03 2.04657073e+02] [-1.77215501e-01 9.84172036e-01 -2.65440645e-04 -1.58837405e+01] [-1.67196869e-03 -3.13547778e-05 9.99998602e-01 -1.52271878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.046559995 meters 0.05085952772477877 Centerline is valid? [True, True] Translation: X:204.72, Y:-15.89, Z:-1.52 [[ 9.83636761e-01 1.80144673e-01 2.57265124e-03 2.04718271e+02] [-1.80144207e-01 9.83640124e-01 -4.13871861e-04 -1.58925170e+01] [-2.60511980e-03 -5.63486402e-05 9.99996605e-01 -1.52246879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.106559995 meters 0.05015392585569431 Centerline is valid? [True, True] Translation: X:204.78, Y:-15.90, Z:-1.52 [[ 9.83461709e-01 1.81116007e-01 2.41212127e-04 2.04779253e+02] [-1.81116003e-01 9.83461739e-01 -3.86427747e-05 -1.59034535e+01] [-2.44221723e-04 -5.68368723e-06 9.99999970e-01 -1.52372719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.166559995 meters 0.0507190473585228 Centerline is valid? [True, True] Translation: X:204.84, Y:-15.91, Z:-1.53 [[ 9.84632324e-01 1.74639111e-01 -6.06739334e-04 2.04839575e+02] [-1.74639084e-01 9.84632510e-01 9.79157640e-05 -1.59135969e+01] [ 6.14515196e-04 9.54937535e-06 9.99999811e-01 -1.52553703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.226559995 meters 0.05097921168044411 Centerline is valid? [True, True] Translation: X:204.90, Y:-15.93, Z:-1.52 [[ 9.85590239e-01 1.69150123e-01 -3.42717894e-04 2.04898077e+02] [-1.69150114e-01 9.85590298e-01 5.52930465e-05 -1.59302967e+01] [ 3.47132257e-04 3.47448404e-06 9.99999940e-01 -1.52212095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.286559995 meters 0.05016456864651196 Centerline is valid? [True, True] Translation: X:204.96, Y:-15.94, Z:-1.52 [[ 9.86917363e-01 1.61226873e-01 1.20172993e-04 2.04958250e+02] [-1.61226872e-01 9.86917370e-01 -1.92020801e-05 -1.59425759e+01] [-1.21696705e-04 -4.24249526e-07 9.99999993e-01 -1.52416940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.346559995 meters 0.0507962032093117 Centerline is valid? [True, True] Translation: X:205.02, Y:-15.95, Z:-1.52 [[ 9.87802766e-01 1.55709706e-01 -4.28622306e-04 2.05019122e+02] [-1.55709691e-01 9.87802859e-01 6.94266519e-05 -1.59527493e+01] [ 4.34204743e-04 -1.83919191e-06 9.99999906e-01 -1.52466123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.406559995 meters 0.05074655895695984 Centerline is valid? [True, True] Translation: X:205.08, Y:-15.96, Z:-1.52 [[ 9.88178652e-01 1.53306577e-01 -2.11671070e-04 2.05080067e+02] [-1.53306573e-01 9.88178675e-01 3.49455747e-05 -1.59622381e+01] [ 2.14526224e-04 -2.08190458e-06 9.99999977e-01 -1.52443765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46655999499998 meters 0.051246875784291816 Centerline is valid? [True, True] Translation: X:205.14, Y:-15.97, Z:-1.52 [[ 9.88402322e-01 1.51857994e-01 -8.98877532e-06 2.05140548e+02] [-1.51857994e-01 9.88402322e-01 1.91089706e-06 -1.59702560e+01] [ 9.17471133e-06 -5.23717703e-07 1.00000000e+00 -1.52208038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52655999499999 meters 0.050535677460459304 Centerline is valid? [True, True] Translation: X:205.20, Y:-15.98, Z:-1.52 [[ 9.88384971e-01 1.51970436e-01 -3.69121241e-04 2.05202964e+02] [-1.51970425e-01 9.88385040e-01 6.00460868e-05 -1.59808150e+01] [ 3.73959143e-04 -3.25313793e-06 9.99999930e-01 -1.52350522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.586559995 meters 0.05118155382095995 Centerline is valid? [True, True] Translation: X:205.26, Y:-15.99, Z:-1.53 [[ 9.88046728e-01 1.54145119e-01 -1.71607500e-03 2.05264849e+02] [-1.54144870e-01 9.88048219e-01 2.77547793e-04 -1.59882784e+01] [ 1.73834748e-03 -9.70603181e-06 9.99998489e-01 -1.52608225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.646559995 meters 0.0508519592924658 Centerline is valid? [True, True] Translation: X:205.33, Y:-16.00, Z:-1.53 [[ 9.87586814e-01 1.57066600e-01 -1.53892396e-03 2.05326756e+02] [-1.57066401e-01 9.87588013e-01 2.49683632e-04 -1.59964784e+01] [ 1.55903982e-03 -4.87101383e-06 9.99998785e-01 -1.52574033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.706559995 meters 0.05101027111137788 Centerline is valid? [True, True] Translation: X:205.39, Y:-16.00, Z:-1.53 [[ 9.86923462e-01 1.61187602e-01 -7.97846525e-04 2.05388436e+02] [-1.61187550e-01 9.86923785e-01 1.29506715e-04 -1.60040567e+01] [ 8.08288589e-04 7.89711158e-07 9.99999673e-01 -1.52611500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.766559995 meters 0.05108476217597659 Centerline is valid? [True, True] Translation: X:205.45, Y:-16.01, Z:-1.53 [[ 9.86623617e-01 1.63014758e-01 -1.62719633e-04 2.05450590e+02] [-1.63014756e-01 9.86623631e-01 2.73466465e-05 -1.60130728e+01] [ 1.65000942e-04 -4.55145954e-07 9.99999986e-01 -1.52516460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.826559995 meters 0.0500340564578072 Centerline is valid? [True, True] Translation: X:205.51, Y:-16.02, Z:-1.52 [[ 9.86435792e-01 1.64143657e-01 1.13494375e-03 2.05510826e+02] [-1.64143555e-01 9.86436445e-01 -1.83034474e-04 -1.60216374e+01] [-1.14959383e-03 -5.74194495e-06 9.99999339e-01 -1.52437958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.886559995 meters 0.050785871097285024 Centerline is valid? [True, True] Translation: X:205.57, Y:-16.03, Z:-1.53 [[ 9.86392190e-01 1.64402596e-01 1.49463740e-03 2.05572563e+02] [-1.64402419e-01 9.86393322e-01 -2.41387119e-04 -1.60309008e+01] [-1.51398502e-03 -7.61963531e-06 9.99998854e-01 -1.52574128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.946559995 meters 0.050594639548875685 Centerline is valid? [True, True] Translation: X:205.63, Y:-16.04, Z:-1.52 [[ 9.86256433e-01 1.65209185e-01 2.04317051e-03 2.05634471e+02] [-1.65208854e-01 9.86258549e-01 -3.30553825e-04 -1.60411716e+01] [-2.06970491e-03 -1.15390229e-05 9.99997858e-01 -1.52449069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.006559995 meters 0.05038654758107729 Centerline is valid? [True, True] Translation: X:205.70, Y:-16.05, Z:-1.53 [[ 9.85852937e-01 1.67611324e-01 6.56236536e-04 2.05696165e+02] [-1.67611290e-01 9.85853155e-01 -1.05727213e-04 -1.60481604e+01] [-6.64673937e-04 -5.76116903e-06 9.99999779e-01 -1.52694788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.066559995 meters 0.05075637478573665 Centerline is valid? [True, True] Translation: X:205.76, Y:-16.06, Z:-1.53 [[ 9.85506185e-01 1.69627444e-01 -2.02216397e-03 2.05757442e+02] [-1.69627127e-01 9.85508260e-01 3.28614290e-04 -1.60582136e+01] [ 2.04860130e-03 1.91624492e-05 9.99997901e-01 -1.52840715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.126559995 meters 0.05045390139700126 Centerline is valid? [True, True] Translation: X:205.82, Y:-16.07, Z:-1.53 [[ 9.85090647e-01 1.71951677e-01 -5.38871508e-03 2.05817748e+02] [-1.71949461e-01 9.85105384e-01 8.75263232e-04 -1.60692567e+01] [ 5.45895522e-03 6.43730328e-05 9.99985098e-01 -1.52986025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18655999499998 meters 0.05054364672315115 Centerline is valid? [True, True] Translation: X:205.88, Y:-16.08, Z:-1.53 [[ 9.85038393e-01 1.72235221e-01 -5.86457202e-03 2.05879227e+02] [-1.72232593e-01 9.85055848e-01 9.53970991e-04 -1.60812370e+01] [ 5.94123837e-03 7.03723961e-05 9.99982348e-01 -1.53007808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24655999499998 meters 0.050567385863508854 Centerline is valid? [True, True] Translation: X:205.94, Y:-16.10, Z:-1.53 [[ 9.85405689e-01 1.70157026e-01 -4.71326549e-03 2.05939407e+02] [-1.70155302e-01 9.85416960e-01 7.67401898e-04 -1.60951740e+01] [ 4.77511058e-03 4.57849163e-05 9.99988598e-01 -1.52873566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.306559995 meters 0.04973569798346204 Centerline is valid? [True, True] Translation: X:206.00, Y:-16.11, Z:-1.53 [[ 9.86167691e-01 1.65744243e-01 -1.45968744e-03 2.05998238e+02] [-1.65744073e-01 9.86168771e-01 2.37471711e-04 -1.61102443e+01] [ 1.47885774e-03 7.74761281e-06 9.99998906e-01 -1.52743536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.366559995 meters 0.05035041691855644 Centerline is valid? [True, True] Translation: X:206.06, Y:-16.12, Z:-1.53 [[ 9.86593521e-01 1.63194718e-01 8.41173719e-04 2.06057872e+02] [-1.63194662e-01 9.86593880e-01 -1.36397337e-04 -1.61226646e+01] [-8.52156169e-04 -2.70633129e-06 9.99999637e-01 -1.52659658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.426559995 meters 0.050317583215455916 Centerline is valid? [True, True] Translation: X:206.12, Y:-16.13, Z:-1.53 [[ 9.86752293e-01 1.62228204e-01 1.38657156e-03 2.06117968e+02] [-1.62228048e-01 9.86753267e-01 -2.25005019e-04 -1.61325508e+01] [-1.40470618e-03 -2.91657986e-06 9.99999013e-01 -1.52725600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.486559995 meters 0.05060479939956783 Centerline is valid? [True, True] Translation: X:206.18, Y:-16.14, Z:-1.53 [[ 9.86791702e-01 1.61993910e-01 3.32894937e-04 2.06179625e+02] [-1.61993901e-01 9.86791758e-01 -5.33824593e-05 -1.61433481e+01] [-3.37145613e-04 -1.24958168e-06 9.99999943e-01 -1.52662529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.546559995 meters 0.05063600693257187 Centerline is valid? [True, True] Translation: X:206.24, Y:-16.15, Z:-1.53 [[ 9.86644172e-01 1.62886051e-01 -1.18875194e-03 2.06240697e+02] [-1.62885935e-01 9.86644888e-01 1.94703071e-04 -1.61525918e+01] [ 1.20459044e-03 1.52832084e-06 9.99999274e-01 -1.52747781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.606559995 meters 0.05085727842364384 Centerline is valid? [True, True] Translation: X:206.30, Y:-16.16, Z:-1.53 [[ 9.86448202e-01 1.64062156e-01 -1.88518965e-03 2.06301456e+02] [-1.64061866e-01 9.86450003e-01 3.08393686e-04 -1.61598290e+01] [ 1.91024107e-03 5.07333521e-06 9.99998175e-01 -1.52948606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.666559995 meters 0.05102558074777366 Centerline is valid? [True, True] Translation: X:206.36, Y:-16.17, Z:-1.53 [[ 9.85931439e-01 1.67075854e-01 -4.98573661e-03 2.06363072e+02] [-1.67073870e-01 9.85944044e-01 8.14831207e-04 -1.61658089e+01] [ 5.05179594e-03 2.96186050e-05 9.99987239e-01 -1.53102848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.726559995 meters 0.05074044031194547 Centerline is valid? [True, True] Translation: X:206.42, Y:-16.17, Z:-1.53 [[ 9.85583996e-01 1.69058819e-01 -6.58050355e-03 2.06424011e+02] [-1.69055403e-01 9.85605962e-01 1.07592733e-03 -1.61730287e+01] [ 6.66767854e-03 5.20529209e-05 9.99977769e-01 -1.53410937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.786559995 meters 0.05136358987315657 Centerline is valid? [True, True] Translation: X:206.49, Y:-16.18, Z:-1.53 [[ 9.85422783e-01 1.70018640e-01 -5.96656097e-03 2.06486280e+02] [-1.70015843e-01 9.85440845e-01 9.76603127e-04 -1.61846835e+01] [ 6.04573362e-03 5.20429240e-05 9.99981723e-01 -1.53198249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.846559995 meters 0.051101801256418264 Centerline is valid? [True, True] Translation: X:206.55, Y:-16.19, Z:-1.53 [[ 9.85349862e-01 1.70463963e-01 -5.26188124e-03 2.06548077e+02] [-1.70461791e-01 9.85363910e-01 8.61870470e-04 -1.61946407e+01] [ 5.33178573e-03 4.77057526e-05 9.99985785e-01 -1.53204047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.906559995 meters 0.05095754122649357 Centerline is valid? [True, True] Translation: X:206.61, Y:-16.21, Z:-1.53 [[ 9.85289560e-01 1.70877198e-01 -2.33818722e-03 2.06608807e+02] [-1.70876768e-01 9.85292334e-01 3.83729404e-04 -1.62052089e+01] [ 2.36936854e-03 2.14572998e-05 9.99997193e-01 -1.53054682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96655999499998 meters 0.05004530284075043 Centerline is valid? [True, True] Translation: X:206.67, Y:-16.22, Z:-1.53 [[ 9.85132912e-01 1.71793782e-01 -2.06526371e-04 2.06669519e+02] [-1.71793779e-01 9.85132933e-01 3.43125001e-05 -1.62153440e+01] [ 2.09350604e-04 1.67757261e-06 9.99999978e-01 -1.52920462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02655999499999 meters 0.049758158220778184 Centerline is valid? [True, True] Translation: X:206.73, Y:-16.23, Z:-1.53 [[ 9.84990565e-01 1.72606221e-01 8.24694710e-04 2.06731313e+02] [-1.72606169e-01 9.84990910e-01 -1.34255174e-04 -1.62262076e+01] [-8.35490071e-04 -1.01073147e-05 9.99999651e-01 -1.52934456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.086559995 meters 0.05059018778023586 Centerline is valid? [True, True] Translation: X:206.79, Y:-16.24, Z:-1.53 [[ 9.84791291e-01 1.73739843e-01 7.61166380e-04 2.06793194e+02] [-1.73739799e-01 9.84791585e-01 -1.24048620e-04 -1.62356179e+01] [-7.71142434e-04 -1.00828935e-05 9.99999703e-01 -1.53046010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.146559995 meters 0.050662103622286646 Centerline is valid? [True, True] Translation: X:206.85, Y:-16.25, Z:-1.53 [[ 9.84309656e-01 1.76445855e-01 -1.16703933e-03 2.06853879e+02] [-1.76445751e-01 9.84310347e-01 1.92355107e-04 -1.62457534e+01] [ 1.18266915e-03 1.65821414e-05 9.99999301e-01 -1.53221023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.206559995 meters 0.05075698431992914 Centerline is valid? [True, True] Translation: X:206.91, Y:-16.26, Z:-1.53 [[ 9.84073940e-01 1.77735098e-01 -2.95232866e-03 2.06914783e+02] [-1.77734443e-01 9.84078367e-01 4.85007818e-04 -1.62571344e+01] [ 2.99152568e-03 4.74469354e-05 9.99995524e-01 -1.53270958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.266559995 meters 0.05062961459958279 Centerline is valid? [True, True] Translation: X:206.98, Y:-16.26, Z:-1.53 [[ 9.83795290e-01 1.79241350e-01 -4.40068281e-03 2.06975338e+02] [-1.79239907e-01 9.83805129e-01 7.23253046e-04 -1.62632839e+01] [ 4.45905118e-03 7.72450393e-05 9.99990055e-01 -1.53495806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.326559995 meters 0.05041098166694063 Centerline is valid? [True, True] Translation: X:207.04, Y:-16.27, Z:-1.53 [[ 9.83912658e-01 1.78615673e-01 -3.51039012e-03 2.07037318e+02] [-1.78614751e-01 9.83918918e-01 5.77034560e-04 -1.62725239e+01] [ 3.55700666e-03 5.92558486e-05 9.99993672e-01 -1.53428325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.386559995 meters 0.050535881968415595 Centerline is valid? [True, True] Translation: X:207.10, Y:-16.28, Z:-1.53 [[ 9.84896104e-01 1.73135060e-01 -1.97877618e-03 2.07097070e+02] [-1.73134756e-01 9.84898091e-01 3.25174240e-04 -1.62849531e+01] [ 2.00519195e-03 2.23320893e-05 9.99997989e-01 -1.53279954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.446559995 meters 0.051120514159495783 Centerline is valid? [True, True] Translation: X:207.16, Y:-16.30, Z:-1.53 [[ 9.85982604e-01 1.66840746e-01 -1.57164444e-03 2.07155990e+02] [-1.66840546e-01 9.85983857e-01 2.58298443e-04 -1.62982611e+01] [ 1.59271075e-03 7.53624515e-06 9.99998732e-01 -1.53348908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.506559995 meters 0.050839777547535464 Centerline is valid? [True, True] Translation: X:207.22, Y:-16.31, Z:-1.53 [[ 9.87719348e-01 1.56230399e-01 -1.59747823e-03 2.07215969e+02] [-1.56230178e-01 9.87720640e-01 2.62865927e-04 -1.63141880e+01] [ 1.61892986e-03 -1.00634543e-05 9.99998689e-01 -1.53158463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.566559995 meters 0.050802607492998156 Centerline is valid? [True, True] Translation: X:207.27, Y:-16.33, Z:-1.53 [[ 9.88836215e-01 1.48989533e-01 -2.24932672e-03 2.07274957e+02] [-1.48989078e-01 9.88838773e-01 3.69687374e-04 -1.63251436e+01] [ 2.27930103e-03 -3.04351498e-05 9.99997402e-01 -1.53248779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.626559995 meters 0.0516914161999224 Centerline is valid? [True, True] Translation: X:207.34, Y:-16.33, Z:-1.53 [[ 9.89566301e-01 1.44033758e-01 -3.57949096e-03 2.07335671e+02] [-1.44032571e-01 9.89572773e-01 5.88495472e-04 -1.63298428e+01] [ 3.62693001e-03 -6.67920009e-05 9.99993420e-01 -1.53034868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68655999499998 meters 0.05224045230790551 Centerline is valid? [True, True] Translation: X:207.40, Y:-16.35, Z:-1.53 [[ 9.89859963e-01 1.41999601e-01 -3.65597865e-03 2.07395860e+02] [-1.41998348e-01 9.89866712e-01 6.01408437e-04 -1.63476520e+01] [ 3.70433133e-03 -7.61672035e-05 9.99993136e-01 -1.53475422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74655999499998 meters 0.0517995441001455 Centerline is valid? [True, True] Translation: X:207.46, Y:-16.35, Z:-1.53 [[ 9.89924450e-01 1.41568256e-01 -2.83049809e-03 2.07458406e+02] [-1.41567501e-01 9.89928495e-01 4.66672587e-04 -1.63518935e+01] [ 2.86805674e-03 -6.12640636e-05 9.99995885e-01 -1.53196062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.806559995 meters 0.052541461637625 Centerline is valid? [True, True] Translation: X:207.52, Y:-16.36, Z:-1.53 [[ 9.89787697e-01 1.42536677e-01 -1.90001964e-03 2.07519666e+02] [-1.42536338e-01 9.89789520e-01 3.13026755e-04 -1.63628440e+01] [ 1.92523732e-03 -3.90081886e-05 9.99998146e-01 -1.53405119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.866559995 meters 0.051933375494934736 Centerline is valid? [True, True] Translation: X:207.58, Y:-16.37, Z:-1.53 [[ 9.89462080e-01 1.44775575e-01 -2.19649197e-03 2.07580666e+02] [-1.44775126e-01 9.89464517e-01 3.62561311e-04 -1.63687434e+01] [ 2.22584089e-03 -4.07432664e-05 9.99997522e-01 -1.53273081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.926559995 meters 0.051648520844453635 Centerline is valid? [True, True] Translation: X:207.64, Y:-16.37, Z:-1.53 [[ 9.88758727e-01 1.49510982e-01 -1.62685170e-03 2.07641387e+02] [-1.49510744e-01 9.88760065e-01 2.68013797e-04 -1.63725623e+01] [ 1.64863700e-03 -2.17691731e-05 9.99998641e-01 -1.53182113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.986559995 meters 0.0510527167429817 Centerline is valid? [True, True] Translation: X:207.70, Y:-16.38, Z:-1.53 [[ 9.88254554e-01 1.52814851e-01 -7.46840392e-04 2.07701338e+02] [-1.52814802e-01 9.88254836e-01 1.23077632e-04 -1.63782522e+01] [ 7.56876720e-04 -7.50376311e-06 9.99999714e-01 -1.53151879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.046559995 meters 0.05112421427451155 Centerline is valid? [True, True] Translation: X:207.76, Y:-16.39, Z:-1.53 [[ 9.87731812e-01 1.56158230e-01 -6.88842914e-04 2.07763599e+02] [-1.56158188e-01 9.87732052e-01 1.13868341e-04 -1.63850357e+01] [ 6.98173703e-04 -4.90292177e-06 9.99999756e-01 -1.53312086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.106559995 meters 0.050762744410614284 Centerline is valid? [True, True] Translation: X:207.82, Y:-16.39, Z:-1.53 [[ 9.87788932e-01 1.55794394e-01 -1.06420793e-03 2.07824018e+02] [-1.55794294e-01 9.87789505e-01 1.76126621e-04 -1.63915136e+01] [ 1.07865296e-03 -8.17840335e-06 9.99999418e-01 -1.53079443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.166559995 meters 0.05138703378483536 Centerline is valid? [True, True] Translation: X:207.89, Y:-16.40, Z:-1.53 [[ 9.88400431e-01 1.51867438e-01 -9.32153464e-04 2.07885082e+02] [-1.51867360e-01 9.88400871e-01 1.54025422e-04 -1.64016344e+01] [ 9.44732741e-04 -1.06751075e-05 9.99999554e-01 -1.53273929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.226559995 meters 0.052376262564208714 Centerline is valid? [True, True] Translation: X:207.94, Y:-16.41, Z:-1.53 [[ 9.89168004e-01 1.46781620e-01 -1.34763394e-03 2.07943748e+02] [-1.46781453e-01 9.89168922e-01 2.22417631e-04 -1.64125723e+01] [ 1.36568443e-03 -2.22007354e-05 9.99999067e-01 -1.53385574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.286559995 meters 0.05206193519025096 Centerline is valid? [True, True] Translation: X:208.00, Y:-16.42, Z:-1.53 [[ 9.89552037e-01 1.44160413e-01 -2.13084257e-03 2.08004868e+02] [-1.44159988e-01 9.89554331e-01 3.52488874e-04 -1.64214768e+01] [ 2.15939943e-03 -4.16238438e-05 9.99997668e-01 -1.53484178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.346559995 meters 0.05221692107179131 Centerline is valid? [True, True] Translation: X:208.07, Y:-16.43, Z:-1.53 [[ 9.89838874e-01 1.42151977e-01 -3.43801873e-03 2.08065203e+02] [-1.42150861e-01 9.89844841e-01 5.68046658e-04 -1.64287694e+01] [ 3.48385406e-03 -7.35573425e-05 9.99993929e-01 -1.53470976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.406559995 meters 0.05312252014851868 Centerline is valid? [True, True] Translation: X:208.13, Y:-16.44, Z:-1.54 [[ 9.89590158e-01 1.43846948e-01 -4.40160343e-03 2.08126495e+02] [-1.43845136e-01 9.89599943e-01 7.27161224e-04 -1.64405863e+01] [ 4.46042643e-03 -8.64423477e-05 9.99990049e-01 -1.53801655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46655999499998 meters 0.052506416410649244 Centerline is valid? [True, True] Translation: X:208.19, Y:-16.44, Z:-1.53 [[ 9.89170301e-01 1.46693271e-01 -4.81662252e-03 2.08188543e+02] [-1.46691136e-01 9.89182025e-01 7.95605184e-04 -1.64430482e+01] [ 4.88122635e-03 -8.04331895e-05 9.99988084e-01 -1.53470210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52655999499999 meters 0.0532135977022385 Centerline is valid? [True, True] Translation: X:208.25, Y:-16.45, Z:-1.54 [[ 9.88316794e-01 1.52348400e-01 -4.45868630e-03 2.08247795e+02] [-1.52346628e-01 9.88326850e-01 7.36369888e-04 -1.64499355e+01] [ 4.51882416e-03 -4.85009034e-05 9.99989789e-01 -1.53580663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.586559995 meters 0.05221126048138199 Centerline is valid? [True, True] Translation: X:208.31, Y:-16.46, Z:-1.54 [[ 9.87021245e-01 1.60569805e-01 -2.52960974e-03 2.08307220e+02] [-1.60569261e-01 9.87024487e-01 4.17775173e-04 -1.64563485e+01] [ 2.56386883e-03 -6.17540520e-06 9.99996713e-01 -1.53636057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.646559995 meters 0.05190099933836238 Centerline is valid? [True, True] Translation: X:208.37, Y:-16.46, Z:-1.54 [[ 9.86059411e-01 1.66389534e-01 -1.16698676e-03 2.08369223e+02] [-1.66389422e-01 9.86060101e-01 1.93072149e-04 -1.64639767e+01] [ 1.18284427e-03 3.79364373e-06 9.99999300e-01 -1.53753736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.706559995 meters 0.05177145046112993 Centerline is valid? [True, True] Translation: X:208.43, Y:-16.47, Z:-1.54 [[ 9.84775137e-01 1.73831986e-01 -6.09046413e-04 2.08431202e+02] [-1.73831957e-01 9.84775325e-01 1.01075565e-04 -1.64700202e+01] [ 6.17344045e-04 6.33502592e-06 9.99999809e-01 -1.53807610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.766559995 meters 0.05210171127256904 Centerline is valid? [True, True] Translation: X:208.49, Y:-16.48, Z:-1.54 [[ 9.84413072e-01 1.75871107e-01 -5.07256424e-04 2.08492183e+02] [-1.75871087e-01 9.84413203e-01 8.46745921e-05 -1.64794023e+01] [ 5.14241735e-04 5.85696348e-06 9.99999868e-01 -1.53868406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.826559995 meters 0.05134099757648261 Centerline is valid? [True, True] Translation: X:208.55, Y:-16.49, Z:-1.54 [[ 9.83698921e-01 1.79820294e-01 -1.04615758e-03 2.08551433e+02] [-1.79820211e-01 9.83699477e-01 1.73332057e-04 -1.64885602e+01] [ 1.06027328e-03 1.76137183e-05 9.99999438e-01 -1.53970286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.886559995 meters 0.051230984195300894 Centerline is valid? [True, True] Translation: X:208.61, Y:-16.50, Z:-1.54 [[ 9.83293134e-01 1.82018057e-01 -2.00977335e-03 2.08612884e+02] [-1.82017757e-01 9.83295187e-01 3.32803009e-04 -1.64996052e+01] [ 2.03677662e-03 3.85715239e-05 9.99997925e-01 -1.54065581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.946559995 meters 0.051747481024934684 Centerline is valid? [True, True] Translation: X:208.67, Y:-16.51, Z:-1.54 [[ 9.83172594e-01 1.82665306e-01 -2.24426958e-03 2.08674023e+02] [-1.82664932e-01 9.83175154e-01 3.72399789e-04 -1.65106335e+01] [ 2.27453461e-03 4.38160830e-05 9.99997412e-01 -1.54180520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.006559995 meters 0.05109326379858499 Centerline is valid? [True, True] Translation: X:208.73, Y:-16.53, Z:-1.54 [[ 9.83363190e-01 1.81634265e-01 -2.41448031e-03 2.08734250e+02] [-1.81633828e-01 9.83366153e-01 4.00887112e-04 -1.65274671e+01] [ 2.44713305e-03 4.43336717e-05 9.99997005e-01 -1.54159818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.066559995 meters 0.051005290727807025 Centerline is valid? [True, True] Translation: X:208.79, Y:-16.54, Z:-1.54 [[ 9.83855237e-01 1.78954568e-01 -2.03377089e-03 2.08793421e+02] [-1.78954253e-01 9.83857338e-01 3.37106776e-04 -1.65419579e+01] [ 2.06126721e-03 3.22876836e-05 9.99997875e-01 -1.54260681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.126559995 meters 0.050918727522173225 Centerline is valid? [True, True] Translation: X:208.85, Y:-16.55, Z:-1.54 [[ 9.84141475e-01 1.77379425e-01 -1.44819434e-03 2.08853565e+02] [-1.77379263e-01 9.84142540e-01 2.40866704e-04 -1.65548547e+01] [ 1.46795445e-03 1.98327304e-05 9.99998922e-01 -1.54383235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18655999499998 meters 0.05080722419188646 Centerline is valid? [True, True] Translation: X:208.91, Y:-16.57, Z:-1.54 [[ 9.84369172e-01 1.76117382e-01 8.07450898e-06 2.08913126e+02] [-1.76117382e-01 9.84369173e-01 -5.97252546e-07 -1.65702567e+01] [-8.05348434e-06 -8.34144387e-07 1.00000000e+00 -1.54403781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24655999499998 meters 0.05061585119166536 Centerline is valid? [True, True] Translation: X:208.97, Y:-16.59, Z:-1.54 [[ 9.84375268e-01 1.76082401e-01 5.65028534e-04 2.08973505e+02] [-1.76082377e-01 9.84375430e-01 -9.29949182e-05 -1.65876096e+01] [-5.72574974e-04 -7.94966950e-06 9.99999836e-01 -1.54309381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.306559995 meters 0.050274732225116206 Centerline is valid? [True, True] Translation: X:209.03, Y:-16.60, Z:-1.54 [[ 9.84341463e-01 1.76272146e-01 1.17115932e-04 2.09034705e+02] [-1.76272145e-01 9.84341470e-01 -1.85086635e-05 -1.66034647e+01] [-1.18544631e-04 -2.42543177e-06 9.99999993e-01 -1.54275126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.366559995 meters 0.04966868080463766 Centerline is valid? [True, True] Translation: X:209.09, Y:-16.62, Z:-1.54 [[ 9.84113196e-01 1.77541980e-01 2.52054892e-04 2.09094304e+02] [-1.77541975e-01 9.84113228e-01 -4.10500895e-05 -1.66225892e+01] [-2.55338668e-04 -4.35238858e-06 9.99999967e-01 -1.54129892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.426559995 meters 0.050722328321741866 Centerline is valid? [True, True] Translation: X:209.15, Y:-16.63, Z:-1.54 [[ 9.83871910e-01 1.78872914e-01 7.38617724e-04 2.09154709e+02] [-1.78872873e-01 9.83872187e-01 -1.22096302e-04 -1.66322247e+01] [-7.48545157e-04 -1.19915527e-05 9.99999720e-01 -1.54211116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.486559995 meters 0.049881622786392084 Centerline is valid? [True, True] Translation: X:209.22, Y:-16.65, Z:-1.54 [[ 9.83669371e-01 1.79977822e-01 1.59742175e-03 2.09215610e+02] [-1.79977629e-01 9.83670668e-01 -2.65114912e-04 -1.66450519e+01] [-1.61905172e-03 -2.67147588e-05 9.99998689e-01 -1.54171938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.546559995 meters 0.050343465335656375 Centerline is valid? [True, True] Translation: X:209.28, Y:-16.66, Z:-1.54 [[ 9.83730855e-01 1.79640810e-01 1.66889309e-03 2.09275646e+02] [-1.79640598e-01 9.83732270e-01 -2.77258610e-04 -1.66552020e+01] [-1.69155095e-03 -2.70531031e-05 9.99998569e-01 -1.54261307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.606559995 meters 0.05045818775856725 Centerline is valid? [True, True] Translation: X:209.34, Y:-16.67, Z:-1.54 [[ 9.84308146e-01 1.76453634e-01 1.26062027e-03 2.09336052e+02] [-1.76453510e-01 9.84308953e-01 -2.09909500e-04 -1.66670430e+01] [-1.27787911e-03 -1.58252404e-05 9.99999183e-01 -1.54472505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.666559995 meters 0.05001028467447146 Centerline is valid? [True, True] Translation: X:209.40, Y:-16.68, Z:-1.55 [[ 9.84549472e-01 1.75105170e-01 7.18344831e-04 2.09396923e+02] [-1.75105130e-01 9.84549734e-01 -1.18959125e-04 -1.66786999e+01] [-7.28076570e-04 -8.66472149e-06 9.99999735e-01 -1.54517477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.726559995 meters 0.05031943992905372 Centerline is valid? [True, True] Translation: X:209.46, Y:-16.68, Z:-1.55 [[ 9.84505239e-01 1.75354277e-01 5.58542114e-04 2.09458687e+02] [-1.75354253e-01 9.84505397e-01 -9.23288371e-05 -1.66828378e+01] [-5.66077982e-04 -7.04451130e-06 9.99999840e-01 -1.54794648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.786559995 meters 0.05023488376995139 Centerline is valid? [True, True] Translation: X:209.52, Y:-16.69, Z:-1.55 [[ 9.84379727e-01 1.76054277e-01 1.20222627e-03 2.09520157e+02] [-1.76054164e-01 9.84380461e-01 -2.00322320e-04 -1.66945329e+01] [-1.21871566e-03 -1.44637107e-05 9.99999257e-01 -1.54668201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.846559995 meters 0.04978240958902683 Centerline is valid? [True, True] Translation: X:209.58, Y:-16.70, Z:-1.55 [[ 9.84604807e-01 1.74790079e-01 1.34234976e-03 2.09580728e+02] [-1.74789937e-01 9.84605722e-01 -2.23377975e-04 -1.67034829e+01] [-1.36072950e-03 -1.46902019e-05 9.99999074e-01 -1.54894996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.906559995 meters 0.05033882168427387 Centerline is valid? [True, True] Translation: X:209.64, Y:-16.72, Z:-1.55 [[ 9.85376675e-01 1.70380069e-01 1.85501913e-03 2.09640862e+02] [-1.70379788e-01 9.85378421e-01 -3.09610325e-04 -1.67185868e+01] [-1.88064725e-03 -1.09749729e-05 9.99998232e-01 -1.54984127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96655999499998 meters 0.049979567801118285 Centerline is valid? [True, True] Translation: X:209.70, Y:-16.73, Z:-1.55 [[ 9.86032012e-01 1.66533130e-01 2.75460601e-03 2.09701125e+02] [-1.66532496e-01 9.86035860e-01 -4.59817311e-04 -1.67326142e+01] [-2.79271512e-03 -5.33682417e-06 9.99996100e-01 -1.54855946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02655999499999 meters 0.049895250584036106 Centerline is valid? [True, True] Translation: X:209.76, Y:-16.74, Z:-1.55 [[ 9.86252236e-01 1.65214515e-01 3.26982680e-03 2.09761711e+02] [-1.65213614e-01 9.86257656e-01 -5.45745593e-04 -1.67432171e+01] [-3.31505681e-03 -1.97709171e-06 9.99994505e-01 -1.54913243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.086559995 meters 0.04997133862410366 Centerline is valid? [True, True] Translation: X:209.82, Y:-16.75, Z:-1.55 [[ 9.86283315e-01 1.65040146e-01 2.64070371e-03 2.09824103e+02] [-1.65039557e-01 9.86286850e-01 -4.40803727e-04 -1.67538476e+01] [-2.67724166e-03 -1.06321081e-06 9.99996416e-01 -1.54922956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.146559995 meters 0.04970274266994485 Centerline is valid? [True, True] Translation: X:209.89, Y:-16.76, Z:-1.55 [[ 9.86314708e-01 1.64869338e-01 1.18234463e-03 2.09885525e+02] [-1.64869220e-01 9.86315417e-01 -1.97525900e-04 -1.67639297e+01] [-1.19873070e-03 -1.09536785e-07 9.99999282e-01 -1.55036184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.206559995 meters 0.050417975924379195 Centerline is valid? [True, True] Translation: X:209.95, Y:-16.77, Z:-1.55 [[ 9.86524086e-01 1.63615175e-01 -5.49384578e-04 2.09946398e+02] [-1.63615149e-01 9.86524239e-01 9.24321055e-05 -1.67740099e+01] [ 5.57104498e-04 -1.29885904e-06 9.99999845e-01 -1.55134140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.266559995 meters 0.05038942934852944 Centerline is valid? [True, True] Translation: X:210.01, Y:-16.78, Z:-1.55 [[ 9.86612147e-01 1.63084226e-01 8.72653039e-05 2.10007013e+02] [-1.63084225e-01 9.86612150e-01 -1.41356214e-05 -1.67826593e+01] [-8.84023061e-05 -2.85218647e-07 9.99999996e-01 -1.55067706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.326559995 meters 0.05032248710742774 Centerline is valid? [True, True] Translation: X:210.07, Y:-16.79, Z:-1.55 [[ 9.87121112e-01 1.59971394e-01 1.03126063e-03 2.10068177e+02] [-1.59971302e-01 9.87121651e-01 -1.72289513e-04 -1.67932617e+01] [-1.04554109e-03 5.09851064e-06 9.99999453e-01 -1.54995329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.386559995 meters 0.05060812937436538 Centerline is valid? [True, True] Translation: X:210.13, Y:-16.80, Z:-1.55 [[ 9.87619119e-01 1.56867617e-01 1.01281292e-03 2.10129038e+02] [-1.56867526e-01 9.87619639e-01 -1.69263523e-04 -1.68046029e+01] [-1.02682590e-03 8.29043479e-06 9.99999473e-01 -1.55117124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.446559995 meters 0.050911482581904886 Centerline is valid? [True, True] Translation: X:210.19, Y:-16.81, Z:-1.55 [[ 9.87986187e-01 1.54542196e-01 -6.60571009e-05 2.10189172e+02] [-1.54542196e-01 9.87986189e-01 1.15145524e-05 -1.68134136e+01] [ 6.70429875e-05 -1.16760925e-06 9.99999998e-01 -1.55266626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.506559995 meters 0.05114277958396971 Centerline is valid? [True, True] Translation: X:210.25, Y:-16.82, Z:-1.55 [[ 9.87771658e-01 1.55903646e-01 -1.09800953e-03 2.10250179e+02] [-1.55903537e-01 9.87772268e-01 1.84977240e-04 -1.68175189e+01] [ 1.11342199e-03 -1.15317059e-05 9.99999380e-01 -1.55169115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.566559995 meters 0.05112600712729969 Centerline is valid? [True, True] Translation: X:210.31, Y:-16.83, Z:-1.55 [[ 9.87721416e-01 1.56210313e-01 -2.17752049e-03 2.10311760e+02] [-1.56209887e-01 9.87723816e-01 3.65654531e-04 -1.68275811e+01] [ 2.20790786e-03 -2.10145822e-05 9.99997562e-01 -1.55310388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.626559995 meters 0.05125720935429028 Centerline is valid? [True, True] Translation: X:210.37, Y:-16.84, Z:-1.56 [[ 9.87737192e-01 1.56106268e-01 -2.46445667e-03 2.10372849e+02] [-1.56105721e-01 9.87740266e-01 4.13912551e-04 -1.68384604e+01] [ 2.49885743e-03 -2.41210350e-05 9.99996878e-01 -1.55527265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68655999499998 meters 0.05075447501099265 Centerline is valid? [True, True] Translation: X:210.43, Y:-16.85, Z:-1.56 [[ 9.87639299e-01 1.56729086e-01 -2.14682489e-03 2.10432918e+02] [-1.56728671e-01 9.87641632e-01 3.61311896e-04 -1.68483797e+01] [ 2.17692172e-03 -2.03768143e-05 9.99997630e-01 -1.55648850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74655999499998 meters 0.050758096680724195 Centerline is valid? [True, True] Translation: X:210.49, Y:-16.86, Z:-1.56 [[ 9.87152185e-01 1.59782400e-01 -3.84319356e-04 2.10493827e+02] [-1.59782387e-01 9.87152260e-01 6.47918810e-05 -1.68560394e+01] [ 3.89734324e-04 -2.55198271e-06 9.99999924e-01 -1.55653093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.806559995 meters 0.05044943845666743 Centerline is valid? [True, True] Translation: X:210.56, Y:-16.86, Z:-1.55 [[ 9.86641401e-01 1.62906345e-01 5.18028941e-04 2.10555924e+02] [-1.62906322e-01 9.86641537e-01 -8.67335168e-05 -1.68641572e+01] [-5.25238311e-04 1.18468923e-06 9.99999862e-01 -1.55457997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.866559995 meters 0.05037294885585008 Centerline is valid? [True, True] Translation: X:210.62, Y:-16.87, Z:-1.55 [[ 9.85680495e-01 1.68608048e-01 2.29949840e-03 2.10617761e+02] [-1.68607607e-01 9.85683177e-01 -3.85776937e-04 -1.68714694e+01] [-2.33162198e-03 -7.46011982e-06 9.99997282e-01 -1.55364543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.926559995 meters 0.0502050574201241 Centerline is valid? [True, True] Translation: X:210.68, Y:-16.88, Z:-1.55 [[ 9.84527339e-01 1.75204269e-01 3.06315033e-03 2.10678238e+02] [-1.75203515e-01 9.84532104e-01 -5.14929337e-04 -1.68770692e+01] [-3.10598766e-03 -2.97126948e-05 9.99995176e-01 -1.55479237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.986559995 meters 0.05003397020080431 Centerline is valid? [True, True] Translation: X:210.74, Y:-16.89, Z:-1.55 [[ 9.83807683e-01 1.79210495e-01 2.45803045e-03 2.10738153e+02] [-1.79210022e-01 9.83810753e-01 -4.13053666e-04 -1.68919368e+01] [-2.49226034e-03 -3.41383212e-05 9.99996894e-01 -1.55338834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.046559995 meters 0.05028247349407149 Centerline is valid? [True, True] Translation: X:210.80, Y:-16.89, Z:-1.56 [[ 9.83066387e-01 1.83249092e-01 4.99490266e-04 2.10799402e+02] [-1.83249073e-01 9.83066514e-01 -8.39061708e-05 -1.68922470e+01] [-5.06407885e-04 -9.04579204e-06 9.99999872e-01 -1.55784701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.106559995 meters 0.05037600875593557 Centerline is valid? [True, True] Translation: X:210.86, Y:-16.91, Z:-1.56 [[ 9.82753881e-01 1.84917311e-01 -6.29996794e-04 2.10859250e+02] [-1.84917280e-01 9.82754083e-01 1.06819923e-04 -1.69083008e+01] [ 6.38884775e-04 1.15195995e-05 9.99999796e-01 -1.55732959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.166559995 meters 0.050554339992087007 Centerline is valid? [True, True] Translation: X:210.92, Y:-16.92, Z:-1.56 [[ 9.82717761e-01 1.85103297e-01 -1.60387960e-03 2.10919891e+02] [-1.85103101e-01 9.82719069e-01 2.70900654e-04 -1.69179443e+01] [ 1.62630767e-03 3.06642033e-05 9.99998677e-01 -1.55845972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.226559995 meters 0.05053780301800469 Centerline is valid? [True, True] Translation: X:210.98, Y:-16.93, Z:-1.56 [[ 9.82944823e-01 1.83893655e-01 -1.61185168e-03 2.10980156e+02] [-1.83893456e-01 9.82946144e-01 2.72391277e-04 -1.69305157e+01] [ 1.63445442e-03 2.86633803e-05 9.99998664e-01 -1.55892168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.286559995 meters 0.04998754694155342 Centerline is valid? [True, True] Translation: X:211.04, Y:-16.95, Z:-1.56 [[ 9.83488940e-01 1.80963548e-01 -1.30352773e-03 2.11039758e+02] [-1.80963415e-01 9.83489804e-01 2.20012648e-04 -1.69494425e+01] [ 1.32182050e-03 1.95108238e-05 9.99999126e-01 -1.55545848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.346559995 meters 0.05020250964682184 Centerline is valid? [True, True] Translation: X:211.10, Y:-16.96, Z:-1.56 [[ 9.83877851e-01 1.78838590e-01 -1.06406962e-03 2.11100731e+02] [-1.78838499e-01 9.83878427e-01 1.80337605e-04 -1.69578368e+01] [ 1.07916647e-03 1.28664389e-05 9.99999418e-01 -1.55784689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.406559995 meters 0.0500833922319122 Centerline is valid? [True, True] Translation: X:211.16, Y:-16.97, Z:-1.56 [[ 9.84333932e-01 1.76310124e-01 -1.20410225e-03 2.11162430e+02] [-1.76310007e-01 9.84334669e-01 2.03627873e-04 -1.69671329e+01] [ 1.22114124e-03 1.18574501e-05 9.99999254e-01 -1.55887526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46655999499998 meters 0.05074788190129841 Centerline is valid? [True, True] Translation: X:211.22, Y:-16.98, Z:-1.56 [[ 9.84570409e-01 1.74984670e-01 -1.21461129e-03 2.11223946e+02] [-1.74984549e-01 9.84571158e-01 2.05920969e-04 -1.69768826e+01] [ 1.23190426e-03 9.79451582e-06 9.99999241e-01 -1.55981910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52655999499999 meters 0.05095887263364416 Centerline is valid? [True, True] Translation: X:211.29, Y:-16.99, Z:-1.56 [[ 9.85005936e-01 1.72519271e-01 -6.37614215e-04 2.11285026e+02] [-1.72519237e-01 9.85006143e-01 1.07999879e-04 -1.69895489e+01] [ 6.46685978e-04 3.62019628e-06 9.99999791e-01 -1.55864988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.586559995 meters 0.05041096390961729 Centerline is valid? [True, True] Translation: X:211.35, Y:-17.00, Z:-1.56 [[ 9.85354154e-01 1.70514630e-01 -1.39743261e-03 2.11345438e+02] [-1.70514466e-01 9.85355145e-01 2.36977479e-04 -1.70014784e+01] [ 1.41737554e-03 4.77573153e-06 9.99998996e-01 -1.56033823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.646559995 meters 0.0504867569866194 Centerline is valid? [True, True] Translation: X:211.41, Y:-17.01, Z:-1.56 [[ 9.85305907e-01 1.70771831e-01 -3.04156327e-03 2.11407325e+02] [-1.70771054e-01 9.85310602e-01 5.15248704e-04 -1.70102492e+01] [ 3.08487450e-03 1.17333745e-05 9.99995242e-01 -1.56126740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.706559995 meters 0.05092217327355322 Centerline is valid? [True, True] Translation: X:211.47, Y:-17.02, Z:-1.56 [[ 9.85099328e-01 1.71968290e-01 -2.49437753e-03 2.11469576e+02] [-1.71967770e-01 9.85102486e-01 4.23158971e-04 -1.70185297e+01] [ 2.52998743e-03 1.20989227e-05 9.99996800e-01 -1.56085487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.766559995 meters 0.050723747489404024 Centerline is valid? [True, True] Translation: X:211.53, Y:-17.03, Z:-1.56 [[ 9.85111091e-01 1.71918000e-01 -5.83331812e-04 2.11531095e+02] [-1.71917971e-01 9.85111263e-01 9.96494488e-05 -1.70277664e+01] [ 5.91778272e-04 2.11944429e-06 9.99999825e-01 -1.55966353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.826559995 meters 0.05063418840168334 Centerline is valid? [True, True] Translation: X:211.59, Y:-17.04, Z:-1.56 [[ 9.85231924e-01 1.71223099e-01 8.40650143e-04 2.11592163e+02] [-1.71223040e-01 9.85232282e-01 -1.41616320e-04 -1.70378511e+01] [-8.52483645e-04 -4.41375426e-06 9.99999637e-01 -1.55738837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.886559995 meters 0.0508556241878766 Centerline is valid? [True, True] Translation: X:211.65, Y:-17.05, Z:-1.56 [[ 9.85470529e-01 1.69845693e-01 5.25451215e-04 2.11652510e+02] [-1.69845670e-01 9.85470670e-01 -8.86095074e-05 -1.70475563e+01] [-5.32866704e-04 -1.92355562e-06 9.99999858e-01 -1.55788602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.946559995 meters 0.051002818751550126 Centerline is valid? [True, True] Translation: X:211.71, Y:-17.06, Z:-1.56 [[ 9.85658810e-01 1.68750428e-01 -5.52097676e-05 2.11713530e+02] [-1.68750428e-01 9.85658812e-01 9.97650457e-06 -1.70583795e+01] [ 5.61015333e-05 -5.16757724e-07 9.99999998e-01 -1.56001784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.006559995 meters 0.05140321808693695 Centerline is valid? [True, True] Translation: X:211.77, Y:-17.07, Z:-1.56 [[ 9.85999991e-01 1.66741790e-01 -1.09265641e-03 2.11774498e+02] [-1.66741686e-01 9.86000596e-01 1.86347341e-04 -1.70695053e+01] [ 1.10843176e-03 -1.54710362e-06 9.99999386e-01 -1.55938302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.066559995 meters 0.05102275266232727 Centerline is valid? [True, True] Translation: X:211.83, Y:-17.08, Z:-1.56 [[ 9.86476848e-01 1.63897398e-01 -1.03506389e-03 2.11834688e+02] [-1.63897303e-01 9.86477391e-01 1.76617438e-04 -1.70804197e+01] [ 1.05001427e-03 -4.58483279e-06 9.99999449e-01 -1.55823921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.126559995 meters 0.05120912912665266 Centerline is valid? [True, True] Translation: X:211.89, Y:-17.09, Z:-1.56 [[ 9.86943002e-01 1.61069756e-01 -2.09226321e-04 2.11894792e+02] [-1.61069752e-01 9.86943025e-01 3.64006591e-05 -1.70944888e+01] [ 2.12357503e-04 -2.22534424e-06 9.99999977e-01 -1.56138838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18655999499998 meters 0.0514063722858552 Centerline is valid? [True, True] Translation: X:211.96, Y:-17.10, Z:-1.56 [[ 9.87174247e-01 1.59646340e-01 2.30501604e-04 2.11956204e+02] [-1.59646335e-01 9.87174273e-01 -3.88777987e-05 -1.71048552e+01] [-2.33751952e-04 1.58042519e-06 9.99999973e-01 -1.56144398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24655999499998 meters 0.05143487351014062 Centerline is valid? [True, True] Translation: X:212.02, Y:-17.11, Z:-1.56 [[ 9.87229875e-01 1.59302035e-01 1.87809980e-04 2.12018792e+02] [-1.59302032e-01 9.87229893e-01 -3.09333562e-05 -1.71149322e+01] [-1.90339373e-04 6.19821880e-07 9.99999982e-01 -1.56121708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.306559995 meters 0.051555792144988066 Centerline is valid? [True, True] Translation: X:212.08, Y:-17.13, Z:-1.56 [[ 9.87137591e-01 1.59872159e-01 -5.18582883e-04 2.12079652e+02] [-1.59872134e-01 9.87137727e-01 8.93259585e-05 -1.71272682e+01] [ 5.26193463e-04 -5.27005943e-06 9.99999862e-01 -1.56441304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.366559995 meters 0.050893682502387495 Centerline is valid? [True, True] Translation: X:212.14, Y:-17.14, Z:-1.57 [[ 9.86900141e-01 1.61318796e-01 -2.08730325e-03 2.12141176e+02] [-1.61318403e-01 9.86902349e-01 3.56646662e-04 -1.71373523e+01] [ 2.11749829e-03 -1.52542153e-05 9.99997758e-01 -1.56653524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.426559995 meters 0.05093201632648644 Centerline is valid? [True, True] Translation: X:212.20, Y:-17.15, Z:-1.57 [[ 9.86904647e-01 1.61280355e-01 -2.80424807e-03 2.12202224e+02] [-1.61279647e-01 9.86908631e-01 4.78367641e-04 -1.71465733e+01] [ 2.84468793e-03 -1.98351092e-05 9.99995954e-01 -1.56517945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.486559995 meters 0.0517749995889288 Centerline is valid? [True, True] Translation: X:212.26, Y:-17.16, Z:-1.57 [[ 9.87267238e-01 1.59041367e-01 -3.04036441e-03 2.12263209e+02] [-1.59040521e-01 9.87271919e-01 5.19558252e-04 -1.71571873e+01] [ 3.08429767e-03 -2.94017002e-05 9.99995243e-01 -1.56503110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.546559995 meters 0.05133052889890538 Centerline is valid? [True, True] Translation: X:212.32, Y:-17.17, Z:-1.57 [[ 9.87409931e-01 1.58157216e-01 -2.81494106e-03 2.12323024e+02] [-1.58156486e-01 9.87413943e-01 4.81337637e-04 -1.71688201e+01] [ 2.85563907e-03 -3.00763773e-05 9.99995922e-01 -1.56630281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.606559995 meters 0.05185082145795822 Centerline is valid? [True, True] Translation: X:212.38, Y:-17.18, Z:-1.57 [[ 9.88010876e-01 1.54375783e-01 -1.62088926e-03 2.12382962e+02] [-1.54375535e-01 9.88012205e-01 2.77659735e-04 -1.71811345e+01] [ 1.64432231e-03 -2.41051919e-05 9.99998648e-01 -1.56647661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.666559995 meters 0.05176890842630012 Centerline is valid? [True, True] Translation: X:212.44, Y:-17.19, Z:-1.57 [[ 9.88444224e-01 1.51578044e-01 -1.45364349e-03 2.12444394e+02] [-1.51577842e-01 9.88445292e-01 2.48685656e-04 -1.71913407e+01] [ 1.47454235e-03 -2.54717561e-05 9.99998913e-01 -1.56620664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.726559995 meters 0.0516486626651845 Centerline is valid? [True, True] Translation: X:212.51, Y:-17.20, Z:-1.57 [[ 9.88814550e-01 1.49141620e-01 -1.60057911e-03 2.12505526e+02] [-1.49141373e-01 9.88815845e-01 2.73784638e-04 -1.72033581e+01] [ 1.62351067e-03 -3.20096686e-05 9.99998682e-01 -1.56681906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.786559995 meters 0.05195568034495973 Centerline is valid? [True, True] Translation: X:212.57, Y:-17.21, Z:-1.56 [[ 9.88621299e-01 1.50424603e-01 -6.04597182e-04 2.12567427e+02] [-1.50424567e-01 9.88621484e-01 1.03873227e-04 -1.72054149e+01] [ 6.13342852e-04 -1.17450148e-05 9.99999812e-01 -1.56458856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.846559995 meters 0.052173733136812436 Centerline is valid? [True, True] Translation: X:212.63, Y:-17.22, Z:-1.57 [[ 9.88156549e-01 1.53449123e-01 -3.19120260e-05 2.12627803e+02] [-1.53449123e-01 9.88156550e-01 5.64735869e-06 -1.72172692e+01] [ 3.24006596e-05 -6.83602065e-07 9.99999999e-01 -1.56790650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.906559995 meters 0.051642758138598276 Centerline is valid? [True, True] Translation: X:212.69, Y:-17.22, Z:-1.57 [[ 9.87097618e-01 1.60119295e-01 -3.22925858e-04 2.12688563e+02] [-1.60119286e-01 9.87097671e-01 5.52625764e-05 -1.72217011e+01] [ 3.27607967e-04 -2.84289989e-06 9.99999946e-01 -1.56843794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96655999499998 meters 0.05153623249146166 Centerline is valid? [True, True] Translation: X:212.75, Y:-17.23, Z:-1.57 [[ 9.86309167e-01 1.64905996e-01 -4.89284819e-04 2.12749004e+02] [-1.64905974e-01 9.86309288e-01 8.45386434e-05 -1.72288655e+01] [ 4.96527091e-04 -2.69524915e-06 9.99999877e-01 -1.57057520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02655999499999 meters 0.05115495815911564 Centerline is valid? [True, True] Translation: X:212.81, Y:-17.23, Z:-1.57 [[ 9.84960395e-01 1.72780134e-01 2.14321603e-04 2.12810906e+02] [-1.72780130e-01 9.84960418e-01 -3.58301436e-05 -1.72329656e+01] [-2.17289033e-04 -1.73924206e-06 9.99999976e-01 -1.56974577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.086559995 meters 0.050348982835940734 Centerline is valid? [True, True] Translation: X:212.87, Y:-17.24, Z:-1.57 [[ 9.83529249e-01 1.80748609e-01 -3.96449646e-04 2.12871324e+02] [-1.80748596e-01 9.83529329e-01 6.81881977e-05 -1.72354941e+01] [ 4.02244776e-04 4.59263015e-06 9.99999919e-01 -1.57161549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.146559995 meters 0.05109133824765175 Centerline is valid? [True, True] Translation: X:212.93, Y:-17.24, Z:-1.57 [[ 9.82839656e-01 1.84458871e-01 -1.06582072e-03 2.12932334e+02] [-1.84458781e-01 9.82840234e-01 1.82673309e-04 -1.72435661e+01] [ 1.08122719e-03 1.70614177e-05 9.99999415e-01 -1.57260955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.206559995 meters 0.05091771485686311 Centerline is valid? [True, True] Translation: X:212.99, Y:-17.25, Z:-1.57 [[ 9.82413305e-01 1.86715031e-01 -1.26304990e-03 2.12992931e+02] [-1.86714906e-01 9.82414117e-01 2.17239313e-04 -1.72549829e+01] [ 1.28139990e-03 2.24114530e-05 9.99999179e-01 -1.57167515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.266559995 meters 0.05130839475582325 Centerline is valid? [True, True] Translation: X:213.05, Y:-17.27, Z:-1.57 [[ 9.82473215e-01 1.86403613e-01 -2.73856393e-04 2.13054393e+02] [-1.86403607e-01 9.82473253e-01 4.77910854e-05 -1.72658369e+01] [ 2.77965012e-04 4.09435822e-06 9.99999961e-01 -1.57145082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.326559995 meters 0.05122506606590214 Centerline is valid? [True, True] Translation: X:213.11, Y:-17.28, Z:-1.57 [[ 9.82731555e-01 1.85034096e-01 -1.03663753e-03 2.13114934e+02] [-1.85034010e-01 9.82732101e-01 1.78726055e-04 -1.72787032e+01] [ 1.05180739e-03 1.61734657e-05 9.99999447e-01 -1.57230531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.386559995 meters 0.050605719436883 Centerline is valid? [True, True] Translation: X:213.18, Y:-17.29, Z:-1.57 [[ 9.83262393e-01 1.82159810e-01 -3.58746444e-03 2.13175539e+02] [-1.82158771e-01 9.83268937e-01 6.16913704e-04 -1.72934180e+01] [ 3.63981923e-03 4.69000679e-05 9.99993375e-01 -1.57412166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.446559995 meters 0.0521506015478901 Centerline is valid? [True, True] Translation: X:213.24, Y:-17.31, Z:-1.57 [[ 9.83951164e-01 1.78359869e-01 -5.27868687e-03 2.13236169e+02] [-1.78357564e-01 9.83965322e-01 9.07985665e-04 -1.73098917e+01] [ 5.35599303e-03 4.80801799e-05 9.99985655e-01 -1.57189775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.506559995 meters 0.05138354853482955 Centerline is valid? [True, True] Translation: X:213.30, Y:-17.33, Z:-1.58 [[ 9.85719817e-01 1.68272012e-01 -6.40097600e-03 2.13295331e+02] [-1.68268407e-01 9.85740600e-01 1.10156633e-03 -1.73264078e+01] [ 6.49506470e-03 -8.75372208e-06 9.99978907e-01 -1.57577528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.566559995 meters 0.05173130565355872 Centerline is valid? [True, True] Translation: X:213.36, Y:-17.34, Z:-1.57 [[ 9.87177766e-01 1.59534061e-01 -5.37973873e-03 2.13355853e+02] [-1.59531385e-01 9.87192423e-01 9.25641925e-04 -1.73431766e+01] [ 5.45850873e-03 -5.55359539e-05 9.99985101e-01 -1.57430050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.626559995 meters 0.05234044299659782 Centerline is valid? [True, True] Translation: X:213.42, Y:-17.35, Z:-1.57 [[ 9.88534340e-01 1.50976371e-01 -2.44834503e-03 2.13415408e+02] [-1.50975791e-01 9.88537371e-01 4.21207516e-04 -1.73530391e+01] [ 2.48387294e-03 -4.67372665e-05 9.99996914e-01 -1.57212420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68655999499998 meters 0.05307096563152865 Centerline is valid? [True, True] Translation: X:213.47, Y:-17.37, Z:-1.57 [[ 9.89703670e-01 1.43105920e-01 -2.70963977e-03 2.13474391e+02] [-1.43105179e-01 9.89707376e-01 4.66316559e-04 -1.73701986e+01] [ 2.74848313e-03 -7.37517255e-05 9.99996220e-01 -1.57442337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74655999499998 meters 0.0538319260484277 Centerline is valid? [True, True] Translation: X:213.53, Y:-17.38, Z:-1.57 [[ 9.90862797e-01 1.34827713e-01 -3.52209045e-03 2.13533025e+02] [-1.34826410e-01 9.90869049e-01 6.06081218e-04 -1.73806006e+01] [ 3.57164696e-03 -1.25672520e-04 9.99993614e-01 -1.57449769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.806559995 meters 0.053847959957384124 Centerline is valid? [True, True] Translation: X:213.59, Y:-17.39, Z:-1.57 [[ 9.91445372e-01 1.30480550e-01 -3.30163023e-03 2.13593910e+02] [-1.30479380e-01 9.91450860e-01 5.68176782e-04 -1.73865770e+01] [ 3.34754015e-03 -1.32521576e-04 9.99994388e-01 -1.57460904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.866559995 meters 0.054523051981863656 Centerline is valid? [True, True] Translation: X:213.65, Y:-17.40, Z:-1.58 [[ 9.91456405e-01 1.30434055e-01 -1.07470231e-03 2.13654676e+02] [-1.30433930e-01 9.91456986e-01 1.85433693e-04 -1.73954230e+01] [ 1.08970798e-03 -4.36717773e-05 9.99999405e-01 -1.57587753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.926559995 meters 0.05353008500050558 Centerline is valid? [True, True] Translation: X:213.72, Y:-17.39, Z:-1.57 [[ 9.90434742e-01 1.37979289e-01 8.58909218e-04 2.13716458e+02] [-1.37979213e-01 9.90435114e-01 -1.47844198e-04 -1.73921434e+01] [-8.71093287e-04 2.79184129e-05 9.99999620e-01 -1.57361485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.986559995 meters 0.05340774633624881 Centerline is valid? [True, True] Translation: X:213.78, Y:-17.40, Z:-1.57 [[ 9.89378762e-01 1.45354134e-01 1.35658993e-03 2.13776712e+02] [-1.45353951e-01 9.89379692e-01 -2.33448792e-04 -1.73979791e+01] [-1.37611527e-03 3.37835711e-05 9.99999053e-01 -1.57486646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.046559995 meters 0.0521323325871011 Centerline is valid? [True, True] Translation: X:213.84, Y:-17.39, Z:-1.58 [[ 9.87482502e-01 1.57698869e-01 3.06196234e-03 2.13838866e+02] [-1.57697993e-01 9.87487248e-01 -5.26998712e-04 -1.73933038e+01] [-3.10675587e-03 3.75366902e-05 9.99995173e-01 -1.57572980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.106559995 meters 0.05225545082267146 Centerline is valid? [True, True] Translation: X:213.90, Y:-17.39, Z:-1.58 [[ 9.85279510e-01 1.70916350e-01 3.44809880e-03 2.13900415e+02] [-1.70915320e-01 9.85285543e-01 -5.93517836e-04 -1.73924999e+01] [-3.49880380e-03 -4.55194631e-06 9.99993879e-01 -1.57721357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.166559995 meters 0.051702649813668865 Centerline is valid? [True, True] Translation: X:213.96, Y:-17.39, Z:-1.58 [[ 9.82972576e-01 1.83703586e-01 4.23166014e-03 2.13962130e+02] [-1.83702152e-01 9.82981683e-01 -7.28495169e-04 -1.73933305e+01] [-4.29347158e-03 -6.12743009e-05 9.99990781e-01 -1.57676222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.226559995 meters 0.05204927212621163 Centerline is valid? [True, True] Translation: X:214.02, Y:-17.40, Z:-1.58 [[ 9.81742272e-01 1.90145635e-01 5.17198630e-03 2.14022061e+02] [-1.90143581e-01 9.81755889e-01 -8.90482073e-04 -1.74000964e+01] [-5.24694928e-03 -1.09196101e-04 9.99986229e-01 -1.57762608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.286559995 meters 0.05354855231716584 Centerline is valid? [True, True] Translation: X:214.09, Y:-17.39, Z:-1.58 [[ 9.81077735e-01 1.93506275e-01 6.46532314e-03 2.14085148e+02] [-1.93503137e-01 9.81099025e-01 -1.11333091e-03 -1.73930355e+01] [-6.55855875e-03 -1.58796148e-04 9.99978480e-01 -1.57836390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.346559995 meters 0.052446413355352474 Centerline is valid? [True, True] Translation: X:214.15, Y:-17.41, Z:-1.58 [[ 9.81503478e-01 1.91317486e-01 6.96721692e-03 2.14145448e+02] [-1.91313787e-01 9.81528194e-01 -1.19987044e-03 -1.74075465e+01] [-7.06807604e-03 -1.55247644e-04 9.99975009e-01 -1.57997453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.406559995 meters 0.05173067657416045 Centerline is valid? [True, True] Translation: X:214.20, Y:-17.42, Z:-1.58 [[ 9.82055786e-01 1.88496799e-01 5.94898042e-03 2.14203851e+02] [-1.88494049e-01 9.82073797e-01 -1.02459878e-03 -1.74222580e+01] [-6.03547138e-03 -1.15134246e-04 9.99981780e-01 -1.58126605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46655999499998 meters 0.05224998801340996 Centerline is valid? [True, True] Translation: X:214.27, Y:-17.43, Z:-1.58 [[ 9.82371704e-01 1.86832497e-01 6.28114119e-03 2.14265896e+02] [-1.86829396e-01 9.82391778e-01 -1.08213149e-03 -1.74296984e+01] [-6.37271879e-03 -1.10446463e-04 9.99979688e-01 -1.58299110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52655999499999 meters 0.05229714418613359 Centerline is valid? [True, True] Translation: X:214.32, Y:-17.44, Z:-1.59 [[ 9.83722381e-01 1.79639025e-01 4.48299486e-03 2.14324839e+02] [-1.79637369e-01 9.83732595e-01 -7.72530182e-04 -1.74433774e+01] [-4.54884473e-03 -4.53581723e-05 9.99989653e-01 -1.58638084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.586559995 meters 0.05247790423381801 Centerline is valid? [True, True] Translation: X:214.38, Y:-17.46, Z:-1.59 [[ 9.85817191e-01 1.67799333e-01 2.80188072e-03 2.14382829e+02] [-1.67798639e-01 9.85821172e-01 -4.82833309e-04 -1.74614527e+01] [-2.84317245e-03 5.83360454e-06 9.99995958e-01 -1.58832393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.646559995 meters 0.05268757174779522 Centerline is valid? [True, True] Translation: X:214.44, Y:-17.48, Z:-1.59 [[ 9.88263120e-01 1.52693572e-01 4.54732646e-03 2.14441863e+02] [-1.52691582e-01 9.88273579e-01 -7.83690211e-04 -1.74785966e+01] [-4.61366705e-03 8.01536625e-05 9.99989354e-01 -1.58852222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.706559995 meters 0.052700297476600495 Centerline is valid? [True, True] Translation: X:214.50, Y:-17.49, Z:-1.59 [[ 9.89696561e-01 1.43031231e-01 6.54088603e-03 2.14501029e+02] [-1.43026902e-01 9.89718159e-01 -1.12735330e-03 -1.74913893e+01] [-6.63488042e-03 1.80215021e-04 9.99977973e-01 -1.58905404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.766559995 meters 0.05388158477122576 Centerline is valid? [True, True] Translation: X:214.56, Y:-17.51, Z:-1.59 [[ 9.91214021e-01 1.31981692e-01 8.69464477e-03 2.14559786e+02] [-1.31973615e-01 9.91252096e-01 -1.49870863e-03 -1.75083964e+01] [-8.81638696e-03 3.38077309e-04 9.99961078e-01 -1.58934354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.826559995 meters 0.05287744859172894 Centerline is valid? [True, True] Translation: X:214.62, Y:-17.51, Z:-1.59 [[ 9.91821712e-01 1.27242710e-01 9.94911878e-03 2.14621163e+02] [-1.27231895e-01 9.91871515e-01 -1.71510148e-03 -1.75092680e+01] [-1.00864817e-02 4.35229645e-04 9.99949035e-01 -1.59028716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.886559995 meters 0.05418018538516282 Centerline is valid? [True, True] Translation: X:214.68, Y:-17.53, Z:-1.59 [[ 9.91265572e-01 1.31466412e-01 1.04473886e-02 2.14677491e+02] [-1.31454719e-01 9.91320540e-01 -1.80113598e-03 -1.75345395e+01] [-1.05934998e-02 4.12045550e-04 9.99943802e-01 -1.59013227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.946559995 meters 0.052374650795242464 Centerline is valid? [True, True] Translation: X:214.74, Y:-17.53, Z:-1.59 [[ 9.90386999e-01 1.37997581e-01 9.50056896e-03 2.14739284e+02] [-1.37988211e-01 9.90432517e-01 -1.63792567e-03 -1.75337327e+01] [-9.63570221e-03 3.11213777e-04 9.99953527e-01 -1.59189230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.006559995 meters 0.05296729367562088 Centerline is valid? [True, True] Translation: X:214.80, Y:-17.54, Z:-1.59 [[ 9.88678957e-01 1.49775325e-01 9.01505396e-03 2.14798968e+02] [-1.49767376e-01 9.88720040e-01 -1.55425476e-03 -1.75364640e+01] [-9.14615352e-03 1.86497998e-04 9.99958156e-01 -1.59314237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.066559995 meters 0.05217443098151311 Centerline is valid? [True, True] Translation: X:214.86, Y:-17.54, Z:-1.59 [[ 9.87052485e-01 1.60143511e-01 9.02487199e-03 2.14858074e+02] [-1.60135978e-01 9.87093738e-01 -1.55588449e-03 -1.75439505e+01] [-9.15755943e-03 9.05329457e-05 9.99958065e-01 -1.59175712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.126559995 meters 0.052061198305317524 Centerline is valid? [True, True] Translation: X:214.92, Y:-17.54, Z:-1.59 [[ 9.85550772e-01 1.69116364e-01 9.45151286e-03 2.14920646e+02] [-1.69108513e-01 9.85596091e-01 -1.62950412e-03 -1.75449368e+01] [-9.59094995e-03 7.62775133e-06 9.99954006e-01 -1.59292278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18655999499998 meters 0.05193252966179053 Centerline is valid? [True, True] Translation: X:214.98, Y:-17.55, Z:-1.59 [[ 9.84740989e-01 1.73781038e-01 9.23770319e-03 2.14982564e+02] [-1.73773741e-01 9.84784316e-01 -1.59290604e-03 -1.75517845e+01] [-9.37396209e-03 -3.66703722e-05 9.99956063e-01 -1.59299510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24655999499998 meters 0.05190451691237412 Centerline is valid? [True, True] Translation: X:215.04, Y:-17.56, Z:-1.59 [[ 9.84051113e-01 1.77678542e-01 8.58733804e-03 2.15044277e+02] [-1.77672381e-01 9.84088579e-01 -1.48121002e-03 -1.75580500e+01] [-8.71388052e-03 -6.81464281e-05 9.99962031e-01 -1.59474490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.306559995 meters 0.052241691444111775 Centerline is valid? [True, True] Translation: X:215.11, Y:-17.57, Z:-1.60 [[ 9.83564698e-01 1.80387900e-01 7.79041785e-03 2.15105658e+02] [-1.80382908e-01 9.83595546e-01 -1.34461242e-03 -1.75662382e+01] [-7.90517211e-03 -8.27449177e-05 9.99968750e-01 -1.59617362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.366559995 meters 0.05192548918980442 Centerline is valid? [True, True] Translation: X:215.17, Y:-17.58, Z:-1.60 [[ 9.83351364e-01 1.81576074e-01 7.08692797e-03 2.15166713e+02] [-1.81571967e-01 9.83376898e-01 -1.22396824e-03 -1.75770518e+01] [-7.19136459e-03 -8.31966143e-05 9.99974138e-01 -1.59666353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.426559995 meters 0.05196313676952019 Centerline is valid? [True, True] Translation: X:215.23, Y:-17.59, Z:-1.60 [[ 9.83230244e-01 1.82271439e-01 5.95068115e-03 2.15226805e+02] [-1.82268553e-01 9.83248248e-01 -1.02837487e-03 -1.75859106e+01] [-6.03844018e-03 -7.34927692e-05 9.99981766e-01 -1.59784933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.486559995 meters 0.05147773335023882 Centerline is valid? [True, True] Translation: X:215.29, Y:-17.60, Z:-1.60 [[ 9.83134381e-01 1.82834766e-01 4.27043837e-03 2.15287308e+02] [-1.82833285e-01 9.83143654e-01 -7.37996433e-04 -1.76006153e+01] [-4.33338579e-03 -5.52286089e-05 9.99990609e-01 -1.59942454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.546559995 meters 0.05136525629121227 Centerline is valid? [True, True] Translation: X:215.35, Y:-17.61, Z:-1.60 [[ 9.82987293e-01 1.83645806e-01 3.19362436e-03 2.15348456e+02] [-1.83644981e-01 9.82992480e-01 -5.52051652e-04 -1.76142569e+01] [-3.24069070e-03 -4.38333251e-05 9.99994748e-01 -1.60058662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.606559995 meters 0.051612950943697306 Centerline is valid? [True, True] Translation: X:215.41, Y:-17.63, Z:-1.60 [[ 9.82673999e-01 1.85342161e-01 3.07642821e-04 2.15408960e+02] [-1.85342153e-01 9.82674047e-01 -5.30246002e-05 -1.76305734e+01] [-3.12140310e-04 -4.91328679e-06 9.99999951e-01 -1.60185323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.666559995 meters 0.05168036339822558 Centerline is valid? [True, True] Translation: X:215.47, Y:-17.64, Z:-1.60 [[ 9.82376187e-01 1.86914389e-01 -1.94357680e-04 2.15469137e+02] [-1.86914386e-01 9.82376207e-01 3.45288426e-05 -1.76428440e+01] [ 1.97386298e-04 2.40793357e-06 9.99999981e-01 -1.60353571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.726559995 meters 0.051421902106757296 Centerline is valid? [True, True] Translation: X:215.53, Y:-17.66, Z:-1.60 [[ 9.82437832e-01 1.86586190e-01 1.22475677e-03 2.15528943e+02] [-1.86586071e-01 9.82438595e-01 -2.11520647e-04 -1.76621225e+01] [-1.24271515e-03 -2.07166680e-05 9.99999228e-01 -1.60083548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.786559995 meters 0.050893823403479636 Centerline is valid? [True, True] Translation: X:215.59, Y:-17.68, Z:-1.60 [[ 9.82803605e-01 1.84638978e-01 2.34983557e-03 2.15588914e+02] [-1.84638533e-01 9.82806414e-01 -4.06887609e-04 -1.76777229e+01] [-2.38456078e-03 -3.39795828e-05 9.99997156e-01 -1.60067107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.846559995 meters 0.0511256707933815 Centerline is valid? [True, True] Translation: X:215.65, Y:-17.70, Z:-1.60 [[ 9.83697719e-01 1.79787631e-01 3.89945792e-03 2.15647401e+02] [-1.79786361e-01 9.83705447e-01 -6.76556486e-04 -1.76985982e+01] [-3.95755449e-03 -3.55422785e-05 9.99992168e-01 -1.59897029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.906559995 meters 0.05114010792243187 Centerline is valid? [True, True] Translation: X:215.71, Y:-17.72, Z:-1.60 [[ 9.84483959e-01 1.75436944e-01 3.63502248e-03 2.15706703e+02] [-1.75435813e-01 9.84490669e-01 -6.30345827e-04 -1.77185307e+01] [-3.68923167e-03 -1.71477692e-05 9.99993195e-01 -1.59876855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96655999499998 meters 0.050963082618485735 Centerline is valid? [True, True] Translation: X:215.77, Y:-17.74, Z:-1.60 [[ 9.85083043e-01 1.72054904e-01 2.91698403e-03 2.15765859e+02] [-1.72054160e-01 9.85087362e-01 -5.06052208e-04 -1.77370913e+01] [-2.96055286e-03 -3.37578733e-06 9.99995618e-01 -1.59976549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02655999499999 meters 0.05083839463057484 Centerline is valid? [True, True] Translation: X:215.83, Y:-17.75, Z:-1.60 [[ 9.85335943e-01 1.70612933e-01 2.07519090e-03 2.15827037e+02] [-1.70612554e-01 9.85338128e-01 -3.59885333e-04 -1.77523602e+01] [-2.10616581e-03 5.54335009e-07 9.99997782e-01 -1.60053605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.086559995 meters 0.05122398949904957 Centerline is valid? [True, True] Translation: X:215.89, Y:-17.77, Z:-1.60 [[ 9.85895576e-01 1.67352498e-01 1.74762873e-03 2.15887436e+02] [-1.67352223e-01 9.85897125e-01 -3.03255156e-04 -1.77677592e+01] [-1.77373265e-03 6.50836392e-06 9.99998427e-01 -1.59848930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.146559995 meters 0.05064836710177998 Centerline is valid? [True, True] Translation: X:215.95, Y:-17.79, Z:-1.60 [[ 9.86399599e-01 1.64354225e-01 1.87630009e-03 2.15946239e+02] [-1.64353902e-01 9.86401383e-01 -3.25892981e-04 -1.77856576e+01] [-1.90434689e-03 1.30834646e-05 9.99998187e-01 -1.60096074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.206559995 meters 0.0509288642934208 Centerline is valid? [True, True] Translation: X:216.01, Y:-17.80, Z:-1.60 [[ 9.87018985e-01 1.60592163e-01 1.91854046e-03 2.16005998e+02] [-1.60591818e-01 9.87020849e-01 -3.33774680e-04 -1.78041364e+01] [-1.94724103e-03 2.13400455e-05 9.99998104e-01 -1.60031377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.266559995 meters 0.05078598426336975 Centerline is valid? [True, True] Translation: X:216.07, Y:-17.82, Z:-1.60 [[ 9.87036599e-01 1.60478935e-01 2.29447326e-03 2.16066832e+02] [-1.60478440e-01 9.87039265e-01 -3.99287385e-04 -1.78167549e+01] [-2.32881241e-03 2.58977733e-05 9.99997288e-01 -1.59980076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.326559995 meters 0.05069513464349779 Centerline is valid? [True, True] Translation: X:216.13, Y:-17.83, Z:-1.60 [[ 9.86284164e-01 1.65042466e-01 2.12901684e-03 2.16126922e+02] [-1.65042050e-01 9.86286462e-01 -3.70996497e-04 -1.78272912e+01] [-2.16105066e-03 1.45306670e-05 9.99997665e-01 -1.60000377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.386559995 meters 0.05102295111876625 Centerline is valid? [True, True] Translation: X:216.19, Y:-17.84, Z:-1.60 [[ 9.85863309e-01 1.67534088e-01 2.42176484e-03 2.16188649e+02] [-1.67533557e-01 9.85866284e-01 -4.21781171e-04 -1.78380605e+01] [-2.45819902e-03 1.00917032e-05 9.99996979e-01 -1.60192078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.446559995 meters 0.05070691397135531 Centerline is valid? [True, True] Translation: X:216.25, Y:-17.85, Z:-1.60 [[ 9.84707521e-01 1.74208529e-01 1.57663486e-03 2.16250761e+02] [-1.74208313e-01 9.84708784e-01 -2.74163773e-04 -1.78459875e+01] [-1.60028786e-03 -4.69176935e-06 9.99998720e-01 -1.60196030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.506559995 meters 0.051078406917326624 Centerline is valid? [True, True] Translation: X:216.31, Y:-17.86, Z:-1.60 [[ 9.84034615e-01 1.77972713e-01 1.26089015e-03 2.16311894e+02] [-1.77972578e-01 9.84035423e-01 -2.19320155e-04 -1.78557930e+01] [-1.27979358e-03 -8.58524637e-06 9.99999181e-01 -1.60208204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.566559995 meters 0.050508321389068175 Centerline is valid? [True, True] Translation: X:216.37, Y:-17.86, Z:-1.60 [[ 9.83887585e-01 1.78782019e-01 1.48640491e-03 2.16373461e+02] [-1.78781832e-01 9.83888708e-01 -2.58839629e-04 -1.78646279e+01] [-1.50873288e-03 -1.10730964e-05 9.99998862e-01 -1.60324307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.626559995 meters 0.05052024735996607 Centerline is valid? [True, True] Translation: X:216.44, Y:-17.87, Z:-1.60 [[ 9.83884308e-01 1.78794442e-01 2.05336188e-03 2.16435190e+02] [-1.78794084e-01 9.83886450e-01 -3.58266529e-04 -1.78740264e+01] [-2.08433100e-03 -1.46361410e-05 9.99997828e-01 -1.60308173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68655999499998 meters 0.051011939758240914 Centerline is valid? [True, True] Translation: X:216.50, Y:-17.88, Z:-1.60 [[ 9.83944420e-01 1.78467917e-01 1.60633937e-03 2.16496836e+02] [-1.78467697e-01 9.83945732e-01 -2.80456720e-04 -1.78840061e+01] [-1.63060329e-03 -1.07258631e-05 9.99998671e-01 -1.60389550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74655999499998 meters 0.05026453175096945 Centerline is valid? [True, True] Translation: X:216.56, Y:-17.89, Z:-1.61 [[ 9.84189495e-01 1.77118042e-01 -4.86972755e-04 2.16557755e+02] [-1.77118021e-01 9.84189615e-01 8.60436389e-05 -1.78941097e+01] [ 4.94513409e-04 1.56840518e-06 9.99999878e-01 -1.60688678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.806559995 meters 0.050303192119360095 Centerline is valid? [True, True] Translation: X:216.62, Y:-17.91, Z:-1.61 [[ 9.84644859e-01 1.74546571e-01 -2.82783492e-03 2.16618552e+02] [-1.74545865e-01 9.84648920e-01 4.96142824e-04 -1.79070920e+01] [ 2.87102462e-03 5.06241183e-06 9.99995879e-01 -1.60778978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.866559995 meters 0.05091261781531951 Centerline is valid? [True, True] Translation: X:216.68, Y:-17.92, Z:-1.61 [[ 9.84874781e-01 1.73235774e-01 -3.32161802e-03 2.16680668e+02] [-1.73234792e-01 9.84880382e-01 5.83172003e-04 -1.79195292e+01] [ 3.37242267e-03 1.06840774e-06 9.99994313e-01 -1.60836873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.926559995 meters 0.051296361230754144 Centerline is valid? [True, True] Translation: X:216.74, Y:-17.93, Z:-1.61 [[ 9.85085073e-01 1.72024814e-01 -3.85505896e-03 2.16741334e+02] [-1.72023485e-01 9.85092617e-01 6.76209448e-04 -1.79313873e+01] [ 3.91391492e-03 -2.96315540e-06 9.99992341e-01 -1.60829310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.986559995 meters 0.0510978461148348 Centerline is valid? [True, True] Translation: X:216.80, Y:-17.94, Z:-1.60 [[ 9.85245905e-01 1.71117553e-01 -3.04779705e-03 2.16802286e+02] [-1.71116715e-01 9.85250619e-01 5.35617870e-04 -1.79431216e+01] [ 3.09449755e-03 -6.18629583e-06 9.99995212e-01 -1.60400434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.046559995 meters 0.05153434205630852 Centerline is valid? [True, True] Translation: X:216.86, Y:-17.95, Z:-1.60 [[ 9.85372914e-01 1.70396997e-01 -2.25490161e-03 2.16862647e+02] [-1.70396536e-01 9.85375494e-01 3.96275379e-04 -1.79546710e+01] [ 2.28944892e-03 -6.25160161e-06 9.99997379e-01 -1.60369855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.106559995 meters 0.051211980238288726 Centerline is valid? [True, True] Translation: X:216.92, Y:-17.96, Z:-1.60 [[ 9.85428386e-01 1.70069997e-01 -2.66310235e-03 2.16924135e+02] [-1.70069354e-01 9.85431984e-01 4.67869019e-04 -1.79649532e+01] [ 2.70387672e-03 -8.13931624e-06 9.99996344e-01 -1.60235350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.166559995 meters 0.05154729710844498 Centerline is valid? [True, True] Translation: X:216.99, Y:-17.97, Z:-1.60 [[ 9.85180956e-01 1.71495064e-01 -2.81561766e-03 2.16985774e+02] [-1.71494347e-01 9.85184979e-01 4.95657259e-04 -1.79742918e+01] [ 2.85890699e-03 -5.44957970e-06 9.99995913e-01 -1.60320847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.226559995 meters 0.0510021191619329 Centerline is valid? [True, True] Translation: X:217.05, Y:-17.98, Z:-1.60 [[ 9.84824151e-01 1.73521800e-01 -3.40238887e-03 2.17048141e+02] [-1.73520765e-01 9.84830029e-01 5.99265136e-04 -1.79828461e+01] [ 3.45476030e-03 2.14340176e-07 9.99994032e-01 -1.60292941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.286559995 meters 0.05095300272104121 Centerline is valid? [True, True] Translation: X:217.11, Y:-17.99, Z:-1.60 [[ 9.84528908e-01 1.75178752e-01 -3.90302028e-03 2.17108894e+02] [-1.75177405e-01 9.84536645e-01 6.87022793e-04 -1.79917249e+01] [ 3.96301829e-03 7.32716350e-06 9.99992147e-01 -1.60469806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.346559995 meters 0.0514658405258361 Centerline is valid? [True, True] Translation: X:217.17, Y:-18.00, Z:-1.61 [[ 9.84286376e-01 1.76512668e-01 -4.85890242e-03 2.17170440e+02] [-1.76510592e-01 9.84298368e-01 8.56108370e-04 -1.80009520e+01] [ 4.93372370e-03 1.49919395e-05 9.99987829e-01 -1.60508127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.406559995 meters 0.05154403078282947 Centerline is valid? [True, True] Translation: X:217.23, Y:-18.01, Z:-1.60 [[ 9.84345118e-01 1.76184927e-01 -4.85380747e-03 2.17232879e+02] [-1.76182848e-01 9.84357085e-01 8.56021906e-04 -1.80120081e+01] [ 4.92869793e-03 1.25366384e-05 9.99987854e-01 -1.60427175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46655999499998 meters 0.0514971535335382 Centerline is valid? [True, True] Translation: X:217.29, Y:-18.02, Z:-1.60 [[ 9.84782532e-01 1.73737626e-01 -4.31288008e-03 2.17293855e+02] [-1.73735959e-01 9.84791977e-01 7.61126097e-04 -1.80235788e+01] [ 4.37952594e-03 -2.41327487e-07 9.99990410e-01 -1.60440736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52655999499999 meters 0.05166796418545714 Centerline is valid? [True, True] Translation: X:217.35, Y:-18.04, Z:-1.60 [[ 9.85561995e-01 1.69257635e-01 -4.40531359e-03 2.17354891e+02] [-1.69255849e-01 9.85571840e-01 7.77977001e-04 -1.80367243e+01] [ 4.47343157e-03 -2.11194740e-05 9.99989994e-01 -1.60362130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.586559995 meters 0.05188590604767192 Centerline is valid? [True, True] Translation: X:217.41, Y:-18.05, Z:-1.60 [[ 9.86254440e-01 1.65177323e-01 -4.31637615e-03 2.17414462e+02] [-1.65175569e-01 9.86263885e-01 7.62135865e-04 -1.80502100e+01] [ 4.38297347e-03 -3.86999953e-05 9.99990394e-01 -1.60407485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.646559995 meters 0.0522727097368055 Centerline is valid? [True, True] Translation: X:217.47, Y:-18.06, Z:-1.60 [[ 9.87377753e-01 1.58354141e-01 -3.02310936e-03 2.17473207e+02] [-1.58353248e-01 9.87382380e-01 5.33859397e-04 -1.80627025e+01] [ 3.06950376e-03 -4.84017052e-05 9.99995288e-01 -1.60294079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.706559995 meters 0.05175744190564578 Centerline is valid? [True, True] Translation: X:217.53, Y:-18.08, Z:-1.60 [[ 9.87950471e-01 1.54739275e-01 -3.10208705e-03 2.17532552e+02] [-1.54738318e-01 9.87955340e-01 5.47703455e-04 -1.80757703e+01] [ 3.14947470e-03 -6.10921541e-05 9.99995039e-01 -1.60358979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.766559995 meters 0.05230820287431725 Centerline is valid? [True, True] Translation: X:217.59, Y:-18.08, Z:-1.60 [[ 9.88283458e-01 1.52603671e-01 -2.81547421e-03 2.17594139e+02] [-1.52602873e-01 9.88287466e-01 4.97342403e-04 -1.80837589e+01] [ 2.85839415e-03 -6.18658167e-05 9.99995913e-01 -1.60237461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.826559995 meters 0.052053136773767106 Centerline is valid? [True, True] Translation: X:217.65, Y:-18.10, Z:-1.61 [[ 9.87806197e-01 1.55656567e-01 -3.15430448e-03 2.17653447e+02] [-1.55655581e-01 9.87811232e-01 5.57289117e-04 -1.80962522e+01] [ 3.20260310e-03 -5.95085482e-05 9.99994870e-01 -1.60627065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.886559995 meters 0.0519331155407149 Centerline is valid? [True, True] Translation: X:217.72, Y:-18.10, Z:-1.60 [[ 9.87046928e-01 1.60396856e-01 -3.34820029e-03 2.17715560e+02] [-1.60395772e-01 9.87052606e-01 5.91649091e-04 -1.80988634e+01] [ 3.39974847e-03 -4.69482482e-05 9.99994220e-01 -1.60459359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.946559995 meters 0.05199805048358263 Centerline is valid? [True, True] Translation: X:217.78, Y:-18.11, Z:-1.61 [[ 9.85569017e-01 1.69206619e-01 -4.77827201e-03 2.17776511e+02] [-1.69204515e-01 9.85580600e-01 8.44285075e-04 -1.81071446e+01] [ 4.85223082e-03 -2.35960156e-05 9.99988228e-01 -1.60755485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.006559995 meters 0.05149116860833458 Centerline is valid? [True, True] Translation: X:217.84, Y:-18.11, Z:-1.61 [[ 9.83960154e-01 1.78336436e-01 -4.30479108e-03 2.17837905e+02] [-1.78334810e-01 9.83969570e-01 7.61750358e-04 -1.81118045e+01] [ 4.37163128e-03 1.81621015e-05 9.99990444e-01 -1.60816081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.066559995 meters 0.051907540758987104 Centerline is valid? [True, True] Translation: X:217.90, Y:-18.12, Z:-1.61 [[ 9.82982582e-01 1.83663085e-01 -3.62139837e-03 2.17899761e+02] [-1.83661968e-01 9.82989252e-01 6.41433970e-04 -1.81192971e+01] [ 3.67760342e-03 3.45947326e-05 9.99993237e-01 -1.60782886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.126559995 meters 0.05135939456550863 Centerline is valid? [True, True] Translation: X:217.96, Y:-18.13, Z:-1.61 [[ 9.81947005e-01 1.89134269e-01 -2.88223582e-03 2.17960604e+02] [-1.89133587e-01 9.81951234e-01 5.09994048e-04 -1.81269544e+01] [ 2.92667237e-03 4.43404700e-05 9.99995716e-01 -1.60699211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18655999499998 meters 0.0523463737632161 Centerline is valid? [True, True] Translation: X:218.02, Y:-18.13, Z:-1.61 [[ 9.81591438e-01 1.90983672e-01 -1.86683233e-03 2.18021769e+02] [-1.90983389e-01 9.81593213e-01 3.30808022e-04 -1.81307990e+01] [ 1.89564888e-03 3.18156424e-05 9.99998203e-01 -1.61018139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24655999499998 meters 0.05171890640317599 Centerline is valid? [True, True] Translation: X:218.08, Y:-18.14, Z:-1.61 [[ 9.81443939e-01 1.91734897e-01 -2.35018601e-03 2.18082413e+02] [-1.91734448e-01 9.81446752e-01 4.16888000e-04 -1.81419764e+01] [ 2.38651441e-03 4.14594163e-05 9.99997151e-01 -1.60954535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.306559995 meters 0.050964081372771114 Centerline is valid? [True, True] Translation: X:218.14, Y:-18.15, Z:-1.61 [[ 9.81543956e-01 1.91213279e-01 -2.99059170e-03 2.18143068e+02] [-1.91212549e-01 9.81548511e-01 5.30730826e-04 -1.81549839e+01] [ 3.03689361e-03 5.09030261e-05 9.99995387e-01 -1.60870400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.366559995 meters 0.05114550561690982 Centerline is valid? [True, True] Translation: X:218.20, Y:-18.17, Z:-1.61 [[ 9.81778192e-01 1.90000164e-01 -3.39392278e-03 2.18204435e+02] [-1.89999216e-01 9.81784057e-01 6.02615572e-04 -1.81668433e+01] [ 3.44659633e-03 5.32078408e-05 9.99994059e-01 -1.60891343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.426559995 meters 0.05119333650725028 Centerline is valid? [True, True] Translation: X:218.26, Y:-18.18, Z:-1.61 [[ 9.82470409e-01 1.86370861e-01 -4.21875565e-03 2.18264607e+02] [-1.86369366e-01 9.82479465e-01 7.48192331e-04 -1.81793917e+01] [ 4.28428205e-03 5.11699903e-05 9.99990821e-01 -1.60874222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.486559995 meters 0.05136912330356739 Centerline is valid? [True, True] Translation: X:218.33, Y:-18.19, Z:-1.61 [[ 9.83356205e-01 1.81604745e-01 -5.50366135e-03 2.18325376e+02] [-1.81602118e-01 9.83371606e-01 9.77432266e-04 -1.81916246e+01] [ 5.58965064e-03 3.83124757e-05 9.99984377e-01 -1.61023853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.546559995 meters 0.05156837465434344 Centerline is valid? [True, True] Translation: X:218.39, Y:-18.20, Z:-1.61 [[ 9.84056379e-01 1.77735418e-01 -6.56998196e-03 2.18385024e+02] [-1.77731586e-01 9.84078310e-01 1.16730227e-03 -1.82041780e+01] [ 6.67284770e-03 1.90020681e-05 9.99977736e-01 -1.61181249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.606559995 meters 0.052600741868374025 Centerline is valid? [True, True] Translation: X:218.45, Y:-18.22, Z:-1.61 [[ 9.85397352e-01 1.70148287e-01 -6.45128409e-03 2.18445527e+02] [-1.70144430e-01 9.85418469e-01 1.14600524e-03 -1.82204306e+01] [ 6.55220532e-03 -3.16204743e-05 9.99978534e-01 -1.61194397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.666559995 meters 0.052523288766415085 Centerline is valid? [True, True] Translation: X:218.51, Y:-18.24, Z:-1.61 [[ 9.86381572e-01 1.64407077e-01 -4.65906497e-03 2.18506125e+02] [-1.64404996e-01 9.86392574e-01 8.28843620e-04 -1.82351224e+01] [ 4.73193485e-03 -5.15825144e-05 9.99988803e-01 -1.61060612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.726559995 meters 0.05308576770348951 Centerline is valid? [True, True] Translation: X:218.57, Y:-18.24, Z:-1.61 [[ 9.87482866e-01 1.57711976e-01 -2.12647917e-03 2.18566482e+02] [-1.57711527e-01 9.87485155e-01 3.78117162e-04 -1.82431955e+01] [ 2.15950022e-03 -3.80139410e-05 9.99997668e-01 -1.60574022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.786559995 meters 0.05270339184710662 Centerline is valid? [True, True] Translation: X:218.63, Y:-18.25, Z:-1.61 [[ 9.87763186e-01 1.55958192e-01 -9.64825014e-04 2.18626319e+02] [-1.55958099e-01 9.87763657e-01 1.71954842e-04 -1.82547796e+01] [ 9.79836850e-04 -1.93783883e-05 9.99999520e-01 -1.60668841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.846559995 meters 0.05318536716236505 Centerline is valid? [True, True] Translation: X:218.69, Y:-18.27, Z:-1.61 [[ 9.88114452e-01 1.53718535e-01 -6.63875805e-04 2.18686365e+02] [-1.53718490e-01 9.88114675e-01 1.18365540e-04 -1.82733559e+01] [ 6.74180403e-04 -1.49087147e-05 9.99999773e-01 -1.60957183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.906559995 meters 0.053982466547726926 Centerline is valid? [True, True] Translation: X:218.75, Y:-18.28, Z:-1.61 [[ 9.88350096e-01 1.52079341e-01 -5.99688566e-03 2.18746128e+02] [-1.52075667e-01 9.88368278e-01 1.06656628e-03 -1.82838417e+01] [ 6.08933426e-03 -1.42160493e-04 9.99981450e-01 -1.61427401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96655999499998 meters 0.05353343677453055 Centerline is valid? [True, True] Translation: X:218.81, Y:-18.29, Z:-1.61 [[ 9.88786103e-01 1.49168472e-01 -7.12807816e-03 2.18807454e+02] [-1.49163205e-01 9.88811777e-01 1.26793834e-03 -1.82888327e+01] [ 7.23746405e-03 -1.90472825e-04 9.99973791e-01 -1.61058608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02655999499999 meters 0.05325719567603658 Centerline is valid? [True, True] Translation: X:218.87, Y:-18.30, Z:-1.61 [[ 9.88905739e-01 1.48452801e-01 -5.21582642e-03 2.18868889e+02] [-1.48449968e-01 9.88919484e-01 9.28246409e-04 -1.82964313e+01] [ 5.29583315e-03 -1.43658934e-04 9.99985967e-01 -1.60919067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.086559995 meters 0.05348161711712308 Centerline is valid? [True, True] Translation: X:218.93, Y:-18.31, Z:-1.61 [[ 9.88875944e-01 1.48718666e-01 -2.66960760e-03 2.18929526e+02] [-1.48717924e-01 9.88879544e-01 4.75383157e-04 -1.83069481e+01] [ 2.71061869e-03 -7.30764686e-05 9.99996324e-01 -1.60960704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.146559995 meters 0.05470881841581791 Centerline is valid? [True, True] Translation: X:218.99, Y:-18.32, Z:-1.61 [[ 9.88540750e-01 1.50952972e-01 6.20596529e-04 2.18987782e+02] [-1.50952932e-01 9.88540945e-01 -1.10376153e-04 -1.83224597e+01] [-6.30146688e-04 1.54304595e-05 9.99999801e-01 -1.60979865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.206559995 meters 0.0540638835235881 Centerline is valid? [True, True] Translation: X:219.05, Y:-18.31, Z:-1.61 [[ 9.87913168e-01 1.55003770e-01 1.18452531e-03 2.19049870e+02] [-1.55003629e-01 9.87913878e-01 -2.10847522e-04 -1.83134472e+01] [-1.20289116e-03 2.46933214e-05 9.99999276e-01 -1.60512912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.266559995 meters 0.053017935806879794 Centerline is valid? [True, True] Translation: X:219.11, Y:-18.32, Z:-1.61 [[ 9.86291185e-01 1.65011773e-01 9.01736420e-04 2.19110959e+02] [-1.65011696e-01 9.86291597e-01 -1.60429540e-04 -1.83154342e+01] [-9.15847817e-04 9.43318525e-06 9.99999581e-01 -1.60771429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.326559995 meters 0.05274978275987417 Centerline is valid? [True, True] Translation: X:219.17, Y:-18.31, Z:-1.61 [[ 9.84245349e-01 1.76807548e-01 -4.28642768e-04 2.19174218e+02] [-1.76807532e-01 9.84245442e-01 7.65201088e-05 -1.83120827e+01] [ 4.35419024e-04 4.72708587e-07 9.99999905e-01 -1.61146707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.386559995 meters 0.054147177485202015 Centerline is valid? [True, True] Translation: X:219.24, Y:-18.31, Z:-1.61 [[ 9.82956634e-01 1.83834843e-01 -1.00313211e-03 2.19236956e+02] [-1.83834757e-01 9.82957146e-01 1.78807611e-04 -1.83119432e+01] [ 1.01890695e-03 8.65042052e-06 9.99999481e-01 -1.61366144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.446559995 meters 0.05395265737927612 Centerline is valid? [True, True] Translation: X:219.30, Y:-18.32, Z:-1.61 [[ 9.81693176e-01 1.90467766e-01 -7.33650230e-04 2.19297781e+02] [-1.90467721e-01 9.81693450e-01 1.30670898e-04 -1.83164512e+01] [ 7.45108219e-04 1.14579584e-05 9.99999722e-01 -1.61167161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.506559995 meters 0.053947833897306494 Centerline is valid? [True, True] Translation: X:219.36, Y:-18.32, Z:-1.61 [[ 9.81172470e-01 1.93127156e-01 1.57680508e-03 2.19359604e+02] [-1.93126955e-01 9.81173736e-01 -2.80112979e-04 -1.83187641e+01] [-1.60121716e-03 -2.96844208e-05 9.99998718e-01 -1.61169255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.566559995 meters 0.05360620012587714 Centerline is valid? [True, True] Translation: X:219.42, Y:-18.33, Z:-1.61 [[ 9.80766589e-01 1.95182695e-01 7.83166257e-04 2.19421246e+02] [-1.95182646e-01 9.80766902e-01 -1.39304656e-04 -1.83261819e+01] [-7.95293402e-04 -1.62351100e-05 9.99999684e-01 -1.61196004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.626559995 meters 0.053161537969658564 Centerline is valid? [True, True] Translation: X:219.48, Y:-18.34, Z:-1.61 [[ 9.79261099e-01 2.02562690e-01 -4.00714640e-03 2.19481030e+02] [-2.02561462e-01 9.79269291e-01 7.13994394e-04 -1.83381879e+01] [ 4.06870404e-03 1.12506499e-04 9.99991716e-01 -1.61139124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68655999499998 meters 0.053161537969658564 Centerline is valid? [True, True] Translation: X:219.54, Y:-18.35, Z:-1.61 [[ 9.79235454e-01 2.02686630e-01 -4.00689887e-03 2.19542576e+02] [-2.02685398e-01 9.79243646e-01 7.15383124e-04 -1.83491083e+01] [ 4.06872885e-03 1.11611374e-04 9.99991716e-01 -1.61185188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74655999499998 meters 0.0530279787632868 Centerline is valid? [True, True] Translation: X:219.60, Y:-18.36, Z:-1.61 [[ 9.79316833e-01 2.02297183e-01 -3.79351001e-03 2.19603859e+02] [-2.02296077e-01 9.79324174e-01 6.77091321e-04 -1.83605015e+01] [ 3.85204972e-03 1.04325264e-04 9.99992575e-01 -1.61207524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.806559995 meters 0.0530279787632868 Centerline is valid? [True, True] Translation: X:219.67, Y:-18.37, Z:-1.61 [[ 9.79290066e-01 2.02426720e-01 -3.79332906e-03 2.19665400e+02] [-2.02425611e-01 9.79297407e-01 6.78105225e-04 -1.83714369e+01] [ 3.85206393e-03 1.03805243e-04 9.99992575e-01 -1.61253598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.866559995 meters 0.05334968953151268 Centerline is valid? [True, True] Translation: X:219.73, Y:-18.38, Z:-1.61 [[ 9.79377069e-01 2.02008420e-01 -3.62695554e-03 2.19726330e+02] [-2.02007402e-01 9.79383780e-01 6.48715220e-04 -1.83839772e+01] [ 3.68322737e-03 9.73350556e-05 9.99993212e-01 -1.61230335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.926559995 meters 0.052935246070406415 Centerline is valid? [True, True] Translation: X:219.79, Y:-18.40, Z:-1.61 [[ 9.79720329e-01 2.00333904e-01 -3.79524861e-03 2.19786355e+02] [-2.00332779e-01 9.79727675e-01 6.78294094e-04 -1.83984711e+01] [ 3.85419540e-03 9.57741882e-05 9.99992568e-01 -1.61156893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.986559995 meters 0.05364619822882866 Centerline is valid? [True, True] Translation: X:219.85, Y:-18.41, Z:-1.61 [[ 9.79947652e-01 1.99220655e-01 -3.70542278e-03 2.19847558e+02] [-1.99219570e-01 9.79954653e-01 6.63296891e-04 -1.84106127e+01] [ 3.76328874e-03 8.81965030e-05 9.99992915e-01 -1.61287915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.046559995 meters 0.05352530923594239 Centerline is valid? [True, True] Translation: X:219.91, Y:-18.42, Z:-1.61 [[ 9.80147087e-01 1.98239279e-01 -3.58835404e-03 2.19907383e+02] [-1.98238255e-01 9.80153652e-01 6.42240068e-04 -1.84230217e+01] [ 3.64445553e-03 8.18593128e-05 9.99993356e-01 -1.61406190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.106559995 meters 0.053174000434182495 Centerline is valid? [True, True] Translation: X:219.97, Y:-18.44, Z:-1.61 [[ 9.80132425e-01 1.98307795e-01 -3.80093479e-03 2.19968724e+02] [-1.98306644e-01 9.80139792e-01 6.81241364e-04 -1.84382663e+01] [ 3.86054290e-03 8.60438709e-05 9.99992544e-01 -1.61365924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.166559995 meters 0.05349628667260878 Centerline is valid? [True, True] Translation: X:220.03, Y:-18.45, Z:-1.61 [[ 9.80004193e-01 1.98943465e-01 -3.64406496e-03 2.20029467e+02] [-1.98942410e-01 9.80010965e-01 6.53497383e-04 -1.84523607e+01] [ 3.70123265e-03 8.45288879e-05 9.99993147e-01 -1.61265636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.226559995 meters 0.05326227523268309 Centerline is valid? [True, True] Translation: X:220.09, Y:-18.46, Z:-1.61 [[ 9.79778418e-01 2.00048224e-01 -3.86781087e-03 2.20089916e+02] [-2.00047043e-01 9.79786048e-01 6.93928608e-04 -1.84602235e+01] [ 3.92844632e-03 9.38478542e-05 9.99992279e-01 -1.61417727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.286559995 meters 0.052923782187441135 Centerline is valid? [True, True] Translation: X:220.15, Y:-18.48, Z:-1.61 [[ 9.79531911e-01 2.01272046e-01 -2.60752776e-03 2.20150326e+02] [-2.01271512e-01 9.79535379e-01 4.68429769e-04 -1.84750187e+01] [ 2.64844751e-03 6.59791474e-05 9.99996491e-01 -1.61361125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.346559995 meters 0.052608511054268295 Centerline is valid? [True, True] Translation: X:220.21, Y:-18.49, Z:-1.61 [[ 9.79347523e-01 2.02174836e-01 -1.94042418e-03 2.20210929e+02] [-2.02174541e-01 9.79349444e-01 3.49036021e-04 -1.84880733e+01] [ 1.97091964e-03 5.04768055e-05 9.99998056e-01 -1.61367505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.406559995 meters 0.052898280838369956 Centerline is valid? [True, True] Translation: X:220.27, Y:-18.50, Z:-1.61 [[ 9.78804580e-01 2.04769996e-01 -3.29294919e-03 2.20270160e+02] [-2.04769166e-01 9.78810114e-01 5.90968849e-04 -1.85012879e+01] [ 3.34418466e-03 9.58514439e-05 9.99994404e-01 -1.61393199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46655999499998 meters 0.054112022010358404 Centerline is valid? [True, True] Translation: X:220.33, Y:-18.51, Z:-1.62 [[ 9.78272736e-01 2.07299546e-01 -3.05830250e-03 2.20330003e+02] [-2.07298842e-01 9.78277511e-01 5.48802139e-04 -1.85070086e+01] [ 3.10563500e-03 9.71043982e-05 9.99995173e-01 -1.61642803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52655999499999 meters 0.05313015061316901 Centerline is valid? [True, True] Translation: X:220.39, Y:-18.52, Z:-1.62 [[ 9.78315763e-01 2.07106347e-01 -2.28660176e-03 2.20390150e+02] [-2.07105952e-01 9.78318433e-01 4.10695037e-04 -1.85242687e+01] [ 2.32208220e-03 7.17794074e-05 9.99997301e-01 -1.61581597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.586559995 meters 0.05305013963606996 Centerline is valid? [True, True] Translation: X:220.45, Y:-18.54, Z:-1.61 [[ 9.78895564e-01 2.04357742e-01 -1.17791832e-03 2.20448158e+02] [-2.04357636e-01 9.78896272e-01 2.11419432e-04 -1.85431910e+01] [ 1.19626505e-03 3.37590588e-05 9.99999284e-01 -1.61483426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.646559995 meters 0.05294076001446346 Centerline is valid? [True, True] Translation: X:220.51, Y:-18.56, Z:-1.61 [[ 9.80680324e-01 1.95615464e-01 8.31915441e-04 2.20506304e+02] [-1.95615408e-01 9.80680677e-01 -1.49266508e-04 -1.85642104e+01] [-8.45042235e-04 -1.63527506e-05 9.99999643e-01 -1.61400408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.706559995 meters 0.05242266709364302 Centerline is valid? [True, True] Translation: X:220.56, Y:-18.58, Z:-1.62 [[ 9.82205081e-01 1.87804667e-01 1.60808874e-03 2.20564028e+02] [-1.87804446e-01 9.82206397e-01 -2.88653477e-04 -1.85788557e+01] [-1.63368552e-03 -1.84893046e-05 9.99998665e-01 -1.61518608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.766559995 meters 0.05326799616953965 Centerline is valid? [True, True] Translation: X:220.62, Y:-18.60, Z:-1.62 [[ 9.84183721e-01 1.77144739e-01 1.46450892e-03 2.20622782e+02] [-1.77144544e-01 9.84184811e-01 -2.62630060e-04 -1.86006662e+01] [-1.48787097e-03 -9.53535801e-07 9.99998893e-01 -1.61533028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.826559995 meters 0.05239150602588281 Centerline is valid? [True, True] Translation: X:220.68, Y:-18.62, Z:-1.62 [[ 9.85088174e-01 1.72050251e-01 -1.90473410e-05 2.20682875e+02] [-1.72050251e-01 9.85088174e-01 4.30557830e-06 -1.86162875e+01] [ 1.95040861e-05 -9.64274451e-07 1.00000000e+00 -1.61677401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.886559995 meters 0.05285401861833943 Centerline is valid? [True, True] Translation: X:220.74, Y:-18.63, Z:-1.62 [[ 9.86194654e-01 1.65589392e-01 -5.07975136e-04 2.20741141e+02] [-1.65589367e-01 9.86194785e-01 9.15971000e-05 -1.86309615e+01] [ 5.16129938e-04 -6.21728913e-06 9.99999867e-01 -1.61613307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.946559995 meters 0.05349763444801963 Centerline is valid? [True, True] Translation: X:220.80, Y:-18.65, Z:-1.62 [[ 9.86929592e-01 1.61152038e-01 3.06873315e-05 2.20799332e+02] [-1.61152038e-01 9.86929592e-01 -5.24656479e-06 -1.86470206e+01] [-3.11317302e-05 2.32664033e-07 1.00000000e+00 -1.61751905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.006559995 meters 0.053131390795400385 Centerline is valid? [True, True] Translation: X:220.86, Y:-18.66, Z:-1.62 [[ 9.87143897e-01 1.59832153e-01 7.80293167e-04 2.20860043e+02] [-1.59832093e-01 9.87144206e-01 -1.39605378e-04 -1.86578315e+01] [-7.92575307e-04 1.30947074e-05 9.99999686e-01 -1.61685974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.066559995 meters 0.05283578830201775 Centerline is valid? [True, True] Translation: X:220.92, Y:-18.67, Z:-1.62 [[ 9.86945549e-01 1.61053013e-01 6.41000739e-04 2.20919915e+02] [-1.61052972e-01 9.86945757e-01 -1.15023382e-04 -1.86731610e+01] [-6.51157821e-04 1.02867405e-05 9.99999788e-01 -1.61880799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.126559995 meters 0.05309780915242328 Centerline is valid? [True, True] Translation: X:220.98, Y:-18.68, Z:-1.62 [[ 9.86369682e-01 1.64543850e-01 4.14035936e-04 2.20980327e+02] [-1.64543833e-01 9.86369769e-01 -7.43023178e-05 -1.86846829e+01] [-4.20618520e-04 5.16249357e-06 9.99999912e-01 -1.62060923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18655999499998 meters 0.05310761063240207 Centerline is valid? [True, True] Translation: X:221.04, Y:-18.69, Z:-1.62 [[ 9.84943157e-01 1.72877330e-01 -6.37148276e-04 2.21040664e+02] [-1.72877292e-01 9.84943363e-01 1.14686704e-04 -1.86902729e+01] [ 6.47381697e-04 -2.81141570e-06 9.99999790e-01 -1.61980517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24655999499998 meters 0.05250081778778667 Centerline is valid? [True, True] Translation: X:221.10, Y:-18.70, Z:-1.62 [[ 9.83940261e-01 1.78497978e-01 -1.87059131e-04 2.21101697e+02] [-1.78497975e-01 9.83940279e-01 3.41104461e-05 -1.86993941e+01] [ 1.90143659e-04 -1.72965231e-07 9.99999982e-01 -1.62399270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.306559995 meters 0.052497473103269535 Centerline is valid? [True, True] Translation: X:221.16, Y:-18.71, Z:-1.62 [[ 9.82806054e-01 1.84636097e-01 1.33099363e-03 2.21163096e+02] [-1.84635943e-01 9.82806955e-01 -2.38848968e-04 -1.87077665e+01] [-1.35220994e-03 -1.10070526e-05 9.99999086e-01 -1.62316519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.366559995 meters 0.05240813044192415 Centerline is valid? [True, True] Translation: X:221.22, Y:-18.72, Z:-1.62 [[ 9.82295238e-01 1.87315023e-01 3.02445001e-03 2.21223621e+02] [-1.87314235e-01 9.82299894e-01 -5.44201517e-04 -1.87171350e+01] [-3.07285404e-03 -3.19559818e-05 9.99995278e-01 -1.62345110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.426559995 meters 0.05153589816644668 Centerline is valid? [True, True] Translation: X:221.28, Y:-18.73, Z:-1.62 [[ 9.81747425e-01 1.90148895e-01 3.92311643e-03 2.21284703e+02] [-1.90147590e-01 9.81755262e-01 -7.06497621e-04 -1.87307569e+01] [-3.98587994e-03 -5.23689139e-05 9.99992055e-01 -1.62313297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.486559995 meters 0.05200645345504346 Centerline is valid? [True, True] Translation: X:221.35, Y:-18.74, Z:-1.63 [[ 9.81599922e-01 1.90939078e-01 1.96519361e-03 2.21345886e+02] [-1.90938751e-01 9.81601889e-01 -3.54003099e-04 -1.87369743e+01] [-1.99663078e-03 -2.77421997e-05 9.99998006e-01 -1.62719981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.546559995 meters 0.05143940915689706 Centerline is valid? [True, True] Translation: X:221.41, Y:-18.75, Z:-1.63 [[ 9.81897609e-01 1.89409528e-01 1.05635913e-03 2.21406020e+02] [-1.89409433e-01 9.81898177e-01 -1.89813604e-04 -1.87539529e+01] [-1.07318961e-03 -1.37068595e-05 9.99999424e-01 -1.62718895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.606559995 meters 0.05180717760002294 Centerline is valid? [True, True] Translation: X:221.47, Y:-18.77, Z:-1.63 [[ 9.82998990e-01 1.83610785e-01 -2.55835485e-04 2.21465200e+02] [-1.83610779e-01 9.82999023e-01 4.63636165e-05 -1.87696421e+01] [ 2.59998891e-04 1.39876447e-06 9.99999966e-01 -1.62873180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.666559995 meters 0.052328464792963075 Centerline is valid? [True, True] Translation: X:221.52, Y:-18.79, Z:-1.63 [[ 9.83983003e-01 1.78260588e-01 -7.82090858e-04 2.21524713e+02] [-1.78260531e-01 9.83983314e-01 1.42049615e-04 -1.87852182e+01] [ 7.94886203e-04 -3.58474479e-07 9.99999684e-01 -1.62985200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.726559995 meters 0.05227459347933994 Centerline is valid? [True, True] Translation: X:221.58, Y:-18.80, Z:-1.63 [[ 9.85458307e-01 1.69916456e-01 -5.68544024e-04 2.21583930e+02] [-1.69916425e-01 9.85458471e-01 1.03590696e-04 -1.88043386e+01] [ 5.77878289e-04 -5.47934379e-06 9.99999833e-01 -1.62981738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.786559995 meters 0.05241205368790827 Centerline is valid? [True, True] Translation: X:221.64, Y:-18.82, Z:-1.63 [[ 9.86437826e-01 1.64134190e-01 6.18234832e-04 2.21643472e+02] [-1.64134153e-01 9.86438020e-01 -1.11567562e-04 -1.88209010e+01] [-6.28162395e-04 8.58101327e-06 9.99999803e-01 -1.62745534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.846559995 meters 0.052324156912836796 Centerline is valid? [True, True] Translation: X:221.70, Y:-18.84, Z:-1.63 [[ 9.86748704e-01 1.62248078e-01 1.59911838e-03 2.21702798e+02] [-1.62247824e-01 9.86749999e-01 -2.88431586e-04 -1.88362208e+01] [-1.62472753e-03 2.51560161e-05 9.99998680e-01 -1.62753020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.906559995 meters 0.052299136019975094 Centerline is valid? [True, True] Translation: X:221.76, Y:-18.84, Z:-1.63 [[ 9.86543552e-01 1.63489573e-01 1.72641450e-03 2.21764365e+02] [-1.63489278e-01 9.86545062e-01 -3.11578996e-04 -1.88438173e+01] [-1.75412562e-03 2.51359896e-05 9.99998461e-01 -1.62664649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96655999499998 meters 0.052135543253299714 Centerline is valid? [True, True] Translation: X:221.82, Y:-18.85, Z:-1.63 [[ 9.85700851e-01 1.68498976e-01 1.38842678e-03 2.21823872e+02] [-1.68498789e-01 9.85701829e-01 -2.51250703e-04 -1.88526558e+01] [-1.41091030e-03 1.37098004e-05 9.99999005e-01 -1.62728247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02655999499999 meters 0.05222139301786782 Centerline is valid? [True, True] Translation: X:221.88, Y:-18.86, Z:-1.63 [[ 9.84410632e-01 1.75884248e-01 6.62116230e-04 2.21884887e+02] [-1.75884207e-01 9.84410855e-01 -1.19121508e-04 -1.88581732e+01] [-6.72746001e-04 8.08690765e-07 9.99999774e-01 -1.62728149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.086559995 meters 0.05237796213511683 Centerline is valid? [True, True] Translation: X:221.95, Y:-18.87, Z:-1.63 [[ 9.83938455e-01 1.78507942e-01 1.75540739e-04 2.21946967e+02] [-1.78507939e-01 9.83938471e-01 -3.13761519e-05 -1.88675061e+01] [-1.78322179e-04 -4.63213077e-07 9.99999984e-01 -1.62814238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.146559995 meters 0.05148322514839069 Centerline is valid? [True, True] Translation: X:222.01, Y:-18.87, Z:-1.63 [[ 9.83048204e-01 1.83345983e-01 -6.92245405e-04 2.22007942e+02] [-1.83345939e-01 9.83048448e-01 1.26286131e-04 -1.88745920e+01] [ 7.03664826e-04 2.77503024e-06 9.99999752e-01 -1.63006141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.206559995 meters 0.05205215016927867 Centerline is valid? [True, True] Translation: X:222.07, Y:-18.88, Z:-1.63 [[ 9.82093721e-01 1.88392937e-01 -1.56752241e-04 2.22069433e+02] [-1.88392935e-01 9.82093733e-01 2.92730755e-05 -1.88832394e+01] [ 1.59460235e-04 7.82111127e-07 9.99999987e-01 -1.62943117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.266559995 meters 0.05260684309517888 Centerline is valid? [True, True] Translation: X:222.13, Y:-18.89, Z:-1.63 [[ 9.81505367e-01 1.91434587e-01 1.12565496e-04 2.22130991e+02] [-1.91434586e-01 9.81505374e-01 -1.96491588e-05 -1.88865301e+01] [-1.14245168e-04 -2.26317440e-06 9.99999993e-01 -1.63161908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.326559995 meters 0.052134728501676844 Centerline is valid? [True, True] Translation: X:222.19, Y:-18.90, Z:-1.63 [[ 9.81251687e-01 1.92730633e-01 1.75474671e-04 2.22191169e+02] [-1.92730630e-01 9.81251702e-01 -3.11020407e-05 -1.89000309e+01] [-1.78179136e-04 -3.30041401e-06 9.99999984e-01 -1.62930176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.386559995 meters 0.05192762069763584 Centerline is valid? [True, True] Translation: X:222.25, Y:-18.91, Z:-1.63 [[ 9.80803521e-01 1.94993842e-01 -1.36180465e-03 2.22251792e+02] [-1.94993686e-01 9.80804466e-01 2.48227320e-04 -1.89075707e+01] [ 1.38406688e-03 2.20810780e-05 9.99999042e-01 -1.62973015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.446559995 meters 0.052051819310636085 Centerline is valid? [True, True] Translation: X:222.31, Y:-18.92, Z:-1.63 [[ 9.80364273e-01 1.97176400e-01 -2.71277912e-03 2.22312380e+02] [-1.97175788e-01 9.80368025e-01 4.94031753e-04 -1.89194359e+01] [ 2.75693331e-03 5.05632786e-05 9.99996198e-01 -1.62896766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.506559995 meters 0.05223995109308114 Centerline is valid? [True, True] Translation: X:222.37, Y:-18.93, Z:-1.63 [[ 9.80003581e-01 1.98943747e-01 -3.79031165e-03 2.22372616e+02] [-1.98942568e-01 9.80010908e-01 6.89360316e-04 -1.89270692e+01] [ 3.85169068e-03 7.84787560e-05 9.99992579e-01 -1.62992221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.566559995 meters 0.05236466079281432 Centerline is valid? [True, True] Translation: X:222.43, Y:-18.94, Z:-1.63 [[ 9.80081806e-01 1.98552234e-01 -4.08217396e-03 2.22433202e+02] [-1.98550858e-01 9.80090304e-01 7.43613183e-04 -1.89401768e+01] [ 4.14854517e-03 8.17173897e-05 9.99991391e-01 -1.62907115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.626559995 meters 0.05286244541647358 Centerline is valid? [True, True] Translation: X:222.49, Y:-18.95, Z:-1.63 [[ 9.80526621e-01 1.96347124e-01 -3.91815375e-03 2.22493767e+02] [-1.96345841e-01 9.80534447e-01 7.13305095e-04 -1.89534442e+01] [ 3.98194012e-03 6.98985576e-05 9.99992070e-01 -1.62811137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68655999499998 meters 0.053087095624397125 Centerline is valid? [True, True] Translation: X:222.56, Y:-18.97, Z:-1.63 [[ 9.80856024e-01 1.94698103e-01 -3.75614471e-03 2.22555129e+02] [-1.94696911e-01 9.80863214e-01 6.84037254e-04 -1.89661806e+01] [ 3.81744493e-03 6.03677109e-05 9.99992712e-01 -1.62769471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74655999499998 meters 0.05211055599612429 Centerline is valid? [True, True] Translation: X:222.62, Y:-18.98, Z:-1.63 [[ 9.81555385e-01 1.91156470e-01 -2.86886565e-03 2.22615550e+02] [-1.91155759e-01 9.81559577e-01 5.22586424e-04 -1.89795690e+01] [ 2.91585833e-03 3.54526736e-05 9.99995748e-01 -1.62712264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.806559995 meters 0.052626460602822014 Centerline is valid? [True, True] Translation: X:222.67, Y:-18.99, Z:-1.63 [[ 9.82360489e-01 1.86993103e-01 -1.20384589e-03 2.22674346e+02] [-1.86992974e-01 9.82361227e-01 2.19251435e-04 -1.89937114e+01] [ 1.22361003e-03 9.72677670e-06 9.99999251e-01 -1.62632537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.866559995 meters 0.052076523518323224 Centerline is valid? [True, True] Translation: X:222.74, Y:-19.00, Z:-1.63 [[ 9.82759201e-01 1.84887907e-01 -9.03077656e-04 2.22735924e+02] [-1.84887834e-01 9.82759615e-01 1.64754228e-04 -1.90044851e+01] [ 9.17969315e-04 5.05433801e-06 9.99999579e-01 -1.62881178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.926559995 meters 0.05246691926818085 Centerline is valid? [True, True] Translation: X:222.80, Y:-19.02, Z:-1.63 [[ 9.82858852e-01 1.84349691e-01 -1.91518264e-03 2.22797893e+02] [-1.84349359e-01 9.82860718e-01 3.50021338e-04 -1.90164001e+01] [ 1.94688411e-03 9.04111997e-06 9.99998105e-01 -1.62933969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.986559995 meters 0.05291391756005973 Centerline is valid? [True, True] Translation: X:222.86, Y:-19.03, Z:-1.63 [[ 9.82973554e-01 1.83703948e-01 -3.98137733e-03 2.22858940e+02] [-1.83702511e-01 9.82981617e-01 7.26930703e-04 -1.90267911e+01] [ 4.04716076e-03 1.68353547e-05 9.99991810e-01 -1.63161899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.046559995 meters 0.05299708804615154 Centerline is valid? [True, True] Translation: X:222.92, Y:-19.04, Z:-1.63 [[ 9.83326415e-01 1.81792632e-01 -4.53873790e-03 2.22920550e+02] [-1.81790741e-01 9.83336890e-01 8.29329836e-04 -1.90386563e+01] [ 4.61387447e-03 9.59859194e-06 9.99989356e-01 -1.63113226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.106559995 meters 0.052218534875018666 Centerline is valid? [True, True] Translation: X:222.98, Y:-19.05, Z:-1.63 [[ 9.84118408e-01 1.77494245e-01 -2.59849961e-03 2.22980797e+02] [-1.77493609e-01 9.84121838e-01 4.75406456e-04 -1.90516481e+01] [ 2.64162213e-03 -6.63917115e-06 9.99996511e-01 -1.63235741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.166559995 meters 0.05267684522632102 Centerline is valid? [True, True] Translation: X:223.04, Y:-19.07, Z:-1.63 [[ 9.84893693e-01 1.73156631e-01 -1.09259184e-03 2.23041941e+02] [-1.73156516e-01 9.84894299e-01 1.99877281e-04 -1.90653318e+01] [ 1.11069755e-03 -7.66847725e-06 9.99999383e-01 -1.63226490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.226559995 meters 0.05316775117413059 Centerline is valid? [True, True] Translation: X:223.10, Y:-19.08, Z:-1.63 [[ 9.85449815e-01 1.69966636e-01 -7.38028688e-05 2.23101834e+02] [-1.69966635e-01 9.85449817e-01 1.42670128e-05 -1.90782641e+01] [ 7.51539397e-05 -1.51539986e-06 9.99999997e-01 -1.63216759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.286559995 meters 0.0534763103629083 Centerline is valid? [True, True] Translation: X:223.16, Y:-19.09, Z:-1.63 [[ 9.85869681e-01 1.67511998e-01 8.38243187e-04 2.23161719e+02] [-1.67511929e-01 9.85870037e-01 -1.52486008e-04 -1.90922487e+01] [-8.51942078e-04 9.91559942e-06 9.99999637e-01 -1.63396074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.346559995 meters 0.05396531113087228 Centerline is valid? [True, True] Translation: X:223.22, Y:-19.10, Z:-1.63 [[ 9.86113598e-01 1.66072185e-01 1.77629164e-05 2.23223420e+02] [-1.66072185e-01 9.86113599e-01 -2.39902790e-06 -1.90986652e+01] [-1.79146653e-05 -5.84212297e-07 1.00000000e+00 -1.63257346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.406559995 meters 0.05341450777321063 Centerline is valid? [True, True] Translation: X:223.28, Y:-19.11, Z:-1.63 [[ 9.86214385e-01 1.65472612e-01 -2.75698962e-05 2.23284575e+02] [-1.65472611e-01 9.86214386e-01 5.92207027e-06 -1.91078587e+01] [ 2.81697686e-05 -1.27836817e-06 1.00000000e+00 -1.63236094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46655999499998 meters 0.05405963017363462 Centerline is valid? [True, True] Translation: X:223.35, Y:-19.11, Z:-1.63 [[ 9.86188618e-01 1.65625321e-01 -5.12713259e-04 2.23347731e+02] [-1.65625294e-01 9.86188751e-01 9.50022652e-05 -1.91148640e+01] [ 5.21366829e-04 -8.77186826e-06 9.99999864e-01 -1.63138757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52655999499999 meters 0.053107009043149724 Centerline is valid? [True, True] Translation: X:223.41, Y:-19.12, Z:-1.63 [[ 9.85680207e-01 1.68624744e-01 -4.73665967e-04 2.23408556e+02] [-1.68624721e-01 9.85680321e-01 8.77666485e-05 -1.91248105e+01] [ 4.81682851e-04 -6.63805666e-06 9.99999884e-01 -1.63368010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.586559995 meters 0.053869740801429616 Centerline is valid? [True, True] Translation: X:223.47, Y:-19.13, Z:-1.63 [[ 9.85116045e-01 1.71890490e-01 -1.94939363e-04 2.23470837e+02] [-1.71890486e-01 9.85116064e-01 3.65356561e-05 -1.91311317e+01] [ 1.98318030e-04 -2.48363907e-06 9.99999980e-01 -1.63240957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.646559995 meters 0.05375721458656608 Centerline is valid? [True, True] Translation: X:223.53, Y:-19.14, Z:-1.63 [[ 9.84186218e-01 1.77136710e-01 2.71425586e-04 2.23533270e+02] [-1.77136703e-01 9.84186256e-01 -4.94400896e-05 -1.91379480e+01] [-2.75890986e-04 5.78821266e-07 9.99999962e-01 -1.63313323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.706559995 meters 0.05321566129718672 Centerline is valid? [True, True] Translation: X:223.59, Y:-19.15, Z:-1.64 [[ 9.83435664e-01 1.81257260e-01 3.18450066e-04 2.23594431e+02] [-1.81257250e-01 9.83435715e-01 -5.76648406e-05 -1.91451503e+01] [-3.23627339e-04 -1.01172251e-06 9.99999948e-01 -1.63573525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.766559995 meters 0.052837237920572905 Centerline is valid? [True, True] Translation: X:223.66, Y:-19.16, Z:-1.63 [[ 9.83055948e-01 1.83300822e-01 1.34588033e-03 2.23656596e+02] [-1.83300657e-01 9.83056869e-01 -2.46438703e-04 -1.91550574e+01] [-1.36824932e-03 -4.43771583e-06 9.99999064e-01 -1.63178880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.826559995 meters 0.05348967628545732 Centerline is valid? [True, True] Translation: X:223.72, Y:-19.16, Z:-1.63 [[ 9.82741924e-01 1.84968704e-01 2.21134772e-03 2.23719084e+02] [-1.84968259e-01 9.82744412e-01 -4.06141483e-04 -1.91628557e+01] [-2.24831307e-03 -9.89687374e-06 9.99997472e-01 -1.63424266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.886559995 meters 0.052959789653370046 Centerline is valid? [True, True] Translation: X:223.78, Y:-19.17, Z:-1.63 [[ 9.82261526e-01 1.87492629e-01 2.96793791e-03 2.23780390e+02] [-1.87491838e-01 9.82266010e-01 -5.45148917e-04 -1.91709974e+01] [-3.01751593e-03 -2.09853269e-05 9.99995447e-01 -1.63476797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.946559995 meters 0.05332921133505504 Centerline is valid? [True, True] Translation: X:223.84, Y:-19.18, Z:-1.64 [[ 9.81429603e-01 1.91793335e-01 3.35417549e-03 2.23841949e+02] [-1.91792347e-01 9.81435334e-01 -6.16617323e-04 -1.91762198e+01] [-3.41016944e-03 -3.81386971e-05 9.99994185e-01 -1.63643862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.006559995 meters 0.05291876008209541 Centerline is valid? [True, True] Translation: X:223.90, Y:-19.19, Z:-1.64 [[ 9.81083680e-01 1.93552063e-01 3.52301357e-03 2.23902692e+02] [-1.93550984e-01 9.81090004e-01 -6.48011672e-04 -1.91904208e+01] [-3.58181740e-03 -4.61290660e-05 9.99993584e-01 -1.63581544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.066559995 meters 0.05275624972366411 Centerline is valid? [True, True] Translation: X:223.96, Y:-19.20, Z:-1.64 [[ 9.80108832e-01 1.98436524e-01 3.10227934e-03 2.23963005e+02] [-1.98435709e-01 9.80113740e-01 -5.71345499e-04 -1.91983839e+01] [-3.15396242e-03 -5.56222315e-05 9.99995025e-01 -1.63763994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.126559995 meters 0.05405992793385203 Centerline is valid? [True, True] Translation: X:224.02, Y:-19.20, Z:-1.64 [[ 9.79584027e-01 2.01023642e-01 2.15176209e-03 2.24024734e+02] [-2.01023258e-01 9.79586389e-01 -3.95775870e-04 -1.92009293e+01] [-2.18739716e-03 -4.48585048e-05 9.99997607e-01 -1.64104222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18655999499998 meters 0.05365447899360895 Centerline is valid? [True, True] Translation: X:224.09, Y:-19.21, Z:-1.64 [[ 9.79360370e-01 2.02115236e-01 1.64234221e-03 2.24085439e+02] [-2.02115013e-01 9.79361746e-01 -3.02118041e-04 -1.92115512e+01] [-1.66950979e-03 -3.60595803e-05 9.99998606e-01 -1.64298102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24655999499998 meters 0.05271163511465166 Centerline is valid? [True, True] Translation: X:224.15, Y:-19.23, Z:-1.64 [[ 9.79402625e-01 2.01907835e-01 1.92992593e-03 2.24145823e+02] [-2.01907527e-01 9.79404525e-01 -3.55286815e-04 -1.92280481e+01] [-1.96191338e-03 -4.16977328e-05 9.99998075e-01 -1.64261334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.306559995 meters 0.052916453624919424 Centerline is valid? [True, True] Translation: X:224.20, Y:-19.24, Z:-1.64 [[ 9.80029474e-01 1.98840996e-01 2.11840837e-03 2.24204813e+02] [-1.98840616e-01 9.80031763e-01 -3.90826716e-04 -1.92400064e+01] [-2.15381987e-03 -3.82039231e-05 9.99997680e-01 -1.64468526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.366559995 meters 0.05293299890586393 Centerline is valid? [True, True] Translation: X:224.26, Y:-19.26, Z:-1.64 [[ 9.80790812e-01 1.95046953e-01 2.46372587e-03 2.24263837e+02] [-1.95046427e-01 9.80793905e-01 -4.54490159e-04 -1.92580635e+01] [-2.50505424e-03 -3.47811565e-05 9.99996862e-01 -1.64416635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.426559995 meters 0.05228761965410321 Centerline is valid? [True, True] Translation: X:224.32, Y:-19.28, Z:-1.64 [[ 9.82120469e-01 1.88217046e-01 3.70502468e-03 2.24321543e+02] [-1.88215806e-01 9.82127458e-01 -6.83696579e-04 -1.92791810e+01] [-3.76748982e-03 -2.58718015e-05 9.99992903e-01 -1.64373626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.486559995 meters 0.051868375420170365 Centerline is valid? [True, True] Translation: X:224.38, Y:-19.30, Z:-1.64 [[ 9.82892080e-01 1.84124190e-01 4.63056084e-03 2.24380426e+02] [-1.84122208e-01 9.82902987e-01 -8.54404020e-04 -1.92954235e+01] [-4.70870853e-03 -1.28021429e-05 9.99988914e-01 -1.64457773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.546559995 meters 0.05209539889812651 Centerline is valid? [True, True] Translation: X:224.44, Y:-19.31, Z:-1.64 [[ 9.83666747e-01 1.79912177e-01 5.59821472e-03 2.24440047e+02] [-1.79909210e-01 9.83682677e-01 -1.03332587e-03 -1.93132530e+01] [-5.69277474e-03 9.27790586e-06 9.99983796e-01 -1.64489938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.606559995 meters 0.0519360590252543 Centerline is valid? [True, True] Translation: X:224.50, Y:-19.33, Z:-1.65 [[ 9.84211028e-01 1.76904131e-01 5.79494001e-03 2.24500265e+02] [-1.76900895e-01 9.84228087e-01 -1.07042879e-03 -1.93280416e+01] [-5.89290600e-03 2.83977478e-05 9.99982636e-01 -1.64603846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.666559995 meters 0.05249727208122299 Centerline is valid? [True, True] Translation: X:224.56, Y:-19.34, Z:-1.65 [[ 9.84565885e-01 1.74949265e-01 4.77206984e-03 2.24559876e+02] [-1.74947048e-01 9.84577449e-01 -8.81465803e-04 -1.93419383e+01] [-4.85268414e-03 3.30016297e-05 9.99988225e-01 -1.64712632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.726559995 meters 0.05281286339111143 Centerline is valid? [True, True] Translation: X:224.62, Y:-19.36, Z:-1.65 [[ 9.84978451e-01 1.72619239e-01 4.47761392e-03 2.24620344e+02] [-1.72617259e-01 9.84988628e-01 -8.27750511e-04 -1.93583234e+01] [-4.55328445e-03 4.24029726e-05 9.99989633e-01 -1.64913701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.786559995 meters 0.05271689414717522 Centerline is valid? [True, True] Translation: X:224.68, Y:-19.37, Z:-1.65 [[ 9.85013654e-01 1.72435249e-01 3.76640642e-03 2.24680133e+02] [-1.72433848e-01 9.85020854e-01 -6.96062506e-04 -1.93743402e+01] [-3.83001458e-03 3.61751221e-05 9.99992665e-01 -1.65114753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.846559995 meters 0.05253338389259549 Centerline is valid? [True, True] Translation: X:224.74, Y:-19.39, Z:-1.65 [[ 9.84586782e-01 1.74842316e-01 4.36263830e-03 2.24741243e+02] [-1.74840457e-01 9.84596447e-01 -8.07022634e-04 -1.93850278e+01] [-4.43653988e-03 3.18181454e-05 9.99990158e-01 -1.65055131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.906559995 meters 0.05193789032190236 Centerline is valid? [True, True] Translation: X:224.80, Y:-19.40, Z:-1.65 [[ 9.83972784e-01 1.78223790e-01 5.81725593e-03 2.24802734e+02] [-1.78220537e-01 9.83989980e-01 -1.07706569e-03 -1.93951591e+01] [-5.91608027e-03 2.30488495e-05 9.99982500e-01 -1.65076973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96655999499998 meters 0.05152598100375958 Centerline is valid? [True, True] Translation: X:224.86, Y:-19.41, Z:-1.65 [[ 9.82806460e-01 1.84552362e-01 5.64695139e-03 2.24863230e+02] [-1.84549397e-01 9.82822683e-01 -1.04628101e-03 -1.94059619e+01] [-5.74304555e-03 -1.38497379e-05 9.99983508e-01 -1.65120761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02655999499999 meters 0.0512801919767069 Centerline is valid? [True, True] Translation: X:224.92, Y:-19.42, Z:-1.65 [[ 9.81651194e-01 1.90554467e-01 7.06603843e-03 2.24923495e+02] [-1.90549975e-01 9.81676623e-01 -1.30981386e-03 -1.94189887e+01] [-7.18615563e-03 -6.06531113e-05 9.99974177e-01 -1.65199897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.086559995 meters 0.05108837251254737 Centerline is valid? [True, True] Translation: X:224.98, Y:-19.43, Z:-1.65 [[ 9.81017842e-01 1.93781161e-01 7.27009229e-03 2.24983731e+02] [-1.93776488e-01 9.81044777e-01 -1.34849611e-03 -1.94293423e+01] [-7.39359921e-03 -8.58742098e-05 9.99972663e-01 -1.65249008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.146559995 meters 0.05037663935654493 Centerline is valid? [True, True] Translation: X:225.04, Y:-19.44, Z:-1.65 [[ 9.80242261e-01 1.97649247e-01 7.73848101e-03 2.25044307e+02] [-1.97644066e-01 9.80272799e-01 -1.43630058e-03 -1.94391492e+01] [-7.86970617e-03 -1.21542325e-04 9.99969026e-01 -1.65331022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.206559995 meters 0.051095146281185284 Centerline is valid? [True, True] Translation: X:225.11, Y:-19.45, Z:-1.65 [[ 9.80005717e-01 1.98817839e-01 7.76279985e-03 2.25105081e+02] [-1.98812655e-01 9.80036453e-01 -1.44165801e-03 -1.94483100e+01] [-7.89445417e-03 -1.30509760e-04 9.99968830e-01 -1.65398994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.266559995 meters 0.05120935582578376 Centerline is valid? [True, True] Translation: X:225.17, Y:-19.46, Z:-1.66 [[ 9.80075772e-01 1.98481830e-01 7.51300170e-03 2.25166270e+02] [-1.98476958e-01 9.80104560e-01 -1.39601926e-03 -1.94601589e+01] [-7.64061168e-03 -1.22953075e-04 9.99970803e-01 -1.65531858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.326559995 meters 0.05069472079440553 Centerline is valid? [True, True] Translation: X:225.23, Y:-19.47, Z:-1.66 [[ 9.80251500e-01 1.97634858e-01 6.88909767e-03 2.25226733e+02] [-1.97630740e-01 9.80275702e-01 -1.28031468e-03 -1.94687459e+01] [-7.00624987e-03 -1.06467091e-04 9.99975450e-01 -1.65674710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.386559995 meters 0.050869432501526986 Centerline is valid? [True, True] Translation: X:225.29, Y:-19.48, Z:-1.66 [[ 9.80457431e-01 1.96630891e-01 6.28639186e-03 2.25286826e+02] [-1.96627437e-01 9.80477580e-01 -1.16886853e-03 -1.94837933e+01] [-6.39350194e-03 -9.00512866e-05 9.99979557e-01 -1.65890945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.446559995 meters 0.0504361199028068 Centerline is valid? [True, True] Translation: X:225.35, Y:-19.49, Z:-1.66 [[ 9.80585688e-01 1.96025274e-01 5.07934175e-03 2.25346801e+02] [-1.96023009e-01 9.80598841e-01 -9.44885321e-04 -1.94933693e+01] [-5.16601804e-03 -6.91268321e-05 9.99986654e-01 -1.66066819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.506559995 meters 0.051339964076694326 Centerline is valid? [True, True] Translation: X:225.41, Y:-19.51, Z:-1.66 [[ 9.80842623e-01 1.94760140e-01 4.02944146e-03 2.25407480e+02] [-1.94758703e-01 9.80850899e-01 -7.49824996e-04 -1.95057632e+01] [-4.09831730e-03 -4.93084760e-05 9.99991601e-01 -1.66073943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.566559995 meters 0.050926929403886184 Centerline is valid? [True, True] Translation: X:225.47, Y:-19.52, Z:-1.66 [[ 9.81112512e-01 1.93402564e-01 3.69957246e-03 2.25468276e+02] [-1.93401341e-01 9.81119486e-01 -6.88802083e-04 -1.95163872e+01] [-3.76293872e-03 -3.97099352e-05 9.99992919e-01 -1.66112733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.626559995 meters 0.050960345329289065 Centerline is valid? [True, True] Translation: X:225.53, Y:-19.53, Z:-1.66 [[ 9.81663339e-01 1.90583967e-01 3.85227605e-03 2.25529208e+02] [-1.90582618e-01 9.81670897e-01 -7.17718269e-04 -1.95280104e+01] [-3.91845288e-03 -2.96191425e-05 9.99992322e-01 -1.66035164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68655999499998 meters 0.0507709091875845 Centerline is valid? [True, True] Translation: X:225.59, Y:-19.54, Z:-1.66 [[ 9.82235655e-01 1.87584449e-01 5.01912803e-03 2.25589974e+02] [-1.87582115e-01 9.82248479e-01 -9.35960474e-04 -1.95414377e+01] [-5.10560251e-03 -2.21649042e-05 9.99986966e-01 -1.65906204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74655999499998 meters 0.05105643045792514 Centerline is valid? [True, True] Translation: X:225.65, Y:-19.55, Z:-1.66 [[ 9.82616413e-01 1.85557274e-01 5.78640990e-03 2.25650534e+02] [-1.85554131e-01 9.82633450e-01 -1.07995092e-03 -1.95526425e+01] [-5.88631268e-03 -1.25147598e-05 9.99982675e-01 -1.65929182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.806559995 meters 0.05162821198975649 Centerline is valid? [True, True] Translation: X:225.71, Y:-19.56, Z:-1.66 [[ 9.82998315e-01 1.83501851e-01 6.43291456e-03 2.25712586e+02] [-1.83497921e-01 9.83019364e-01 -1.20105439e-03 -1.95643285e+01] [-6.54407528e-03 2.07996387e-07 9.99978587e-01 -1.65994300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.866559995 meters 0.05170176538151656 Centerline is valid? [True, True] Translation: X:225.77, Y:-19.58, Z:-1.66 [[ 9.83044639e-01 1.83249259e-01 6.55344443e-03 2.25774124e+02] [-1.83245168e-01 9.83066483e-01 -1.22444866e-03 -1.95758651e+01] [-6.66685087e-03 2.80066355e-06 9.99977776e-01 -1.66044210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.926559995 meters 0.05141345120189713 Centerline is valid? [True, True] Translation: X:225.84, Y:-19.59, Z:-1.66 [[ 9.83075237e-01 1.83108568e-01 5.85928256e-03 2.25835141e+02] [-1.83105291e-01 9.83092698e-01 -1.09546799e-03 -1.95879425e+01] [-5.96080747e-03 4.06181740e-06 9.99982234e-01 -1.66043051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.986559995 meters 0.051607650004644255 Centerline is valid? [True, True] Translation: X:225.90, Y:-19.60, Z:-1.66 [[ 9.82887577e-01 1.84122774e-01 5.55119193e-03 2.25896230e+02] [-1.84119845e-01 9.82903253e-01 -1.03853946e-03 -1.95992977e+01] [-5.64750337e-03 -1.31706575e-06 9.99984053e-01 -1.66149149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.046559995 meters 0.051339023655134236 Centerline is valid? [True, True] Translation: X:225.96, Y:-19.61, Z:-1.66 [[ 9.82511155e-01 1.86141894e-01 4.79853968e-03 2.25958035e+02] [-1.86139727e-01 9.82522873e-01 -8.98198757e-04 -1.96088118e+01] [-4.88186741e-03 -1.07085707e-05 9.99988084e-01 -1.66333450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.106559995 meters 0.05198360409908244 Centerline is valid? [True, True] Translation: X:226.02, Y:-19.62, Z:-1.67 [[ 9.82303723e-01 1.87261149e-01 3.55793438e-03 2.26018713e+02] [-1.87259963e-01 9.82310166e-01 -6.66305905e-04 -1.96190799e+01] [-3.61976832e-03 -1.17438916e-05 9.99993449e-01 -1.66548291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.166559995 meters 0.05192169841266136 Centerline is valid? [True, True] Translation: X:226.08, Y:-19.63, Z:-1.67 [[ 9.82535616e-01 1.86052755e-01 2.85240292e-03 2.26080272e+02] [-1.86051988e-01 9.82539756e-01 -5.34209927e-04 -1.96325717e+01] [-2.90199050e-03 -5.81495433e-06 9.99995789e-01 -1.66546173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.226559995 meters 0.05176712761158694 Centerline is valid? [True, True] Translation: X:226.14, Y:-19.65, Z:-1.67 [[ 9.83072068e-01 1.83193556e-01 3.07099978e-03 2.26140442e+02] [-1.83192651e-01 9.83076864e-01 -5.75687912e-04 -1.96453768e+01] [-3.12449115e-03 3.35811317e-06 9.99995119e-01 -1.66668068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.286559995 meters 0.05187235040325579 Centerline is valid? [True, True] Translation: X:226.20, Y:-19.66, Z:-1.67 [[ 9.84106531e-01 1.77491843e-01 5.56604997e-03 2.26199780e+02] [-1.77488772e-01 9.84122271e-01 -1.04499209e-03 -1.96606975e+01] [-5.66315131e-03 4.04721680e-05 9.99983963e-01 -1.66624639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.346559995 meters 0.051923839413556626 Centerline is valid? [True, True] Translation: X:226.26, Y:-19.67, Z:-1.67 [[ 9.84762136e-01 1.73754497e-01 7.27397063e-03 2.26260817e+02] [-1.73749145e-01 9.84788997e-01 -1.36622625e-03 -1.96745649e+01] [-7.40071419e-03 8.15617012e-05 9.99972611e-01 -1.66527657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.406559995 meters 0.051975131299966164 Centerline is valid? [True, True] Translation: X:226.32, Y:-19.69, Z:-1.67 [[ 9.85821411e-01 1.67611313e-01 7.91158990e-03 2.26320970e+02] [-1.67604781e-01 9.85853147e-01 -1.48632512e-03 -1.96864132e+01] [-8.04879070e-03 1.39230834e-04 9.99967598e-01 -1.66592855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46655999499998 meters 0.051942733105518224 Centerline is valid? [True, True] Translation: X:226.38, Y:-19.70, Z:-1.67 [[ 9.86691352e-01 1.62485690e-01 6.21093221e-03 2.26379968e+02] [-1.62481561e-01 9.86710890e-01 -1.16697587e-03 -1.96975841e+01] [-6.31801133e-03 1.42283034e-04 9.99980031e-01 -1.66795506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52655999499999 meters 0.05279410294553211 Centerline is valid? [True, True] Translation: X:226.44, Y:-19.70, Z:-1.67 [[ 9.87327050e-01 1.58593694e-01 5.77381759e-03 2.26441008e+02] [-1.58590059e-01 9.87343920e-01 -1.08483594e-03 -1.97039840e+01] [-5.87279183e-03 1.55417795e-04 9.99982743e-01 -1.66880628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.586559995 meters 0.0526144782724532 Centerline is valid? [True, True] Translation: X:226.50, Y:-19.71, Z:-1.67 [[ 9.88379877e-01 1.51888001e-01 5.93750221e-03 2.26502522e+02] [-1.51884037e-01 9.88397691e-01 -1.11560896e-03 -1.97090824e+01] [-6.03806108e-03 2.00833641e-04 9.99981751e-01 -1.66897118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.646559995 meters 0.05352979608604738 Centerline is valid? [True, True] Translation: X:226.56, Y:-19.72, Z:-1.67 [[ 9.89108846e-01 1.47072635e-01 5.77334744e-03 2.26561313e+02] [-1.47068804e-01 9.89125669e-01 -1.08490509e-03 -1.97219633e+01] [-5.87012600e-03 2.24009913e-04 9.99982746e-01 -1.66928070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.706559995 meters 0.05378751459296385 Centerline is valid? [True, True] Translation: X:226.62, Y:-19.74, Z:-1.67 [[ 9.89219538e-01 1.46354480e-01 5.00710566e-03 2.26620380e+02] [-1.46351590e-01 9.89232191e-01 -9.40758079e-04 -1.97399866e+01] [-5.09087426e-03 1.97818397e-04 9.99987022e-01 -1.67000720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.766559995 meters 0.05291529553849158 Centerline is valid? [True, True] Translation: X:226.68, Y:-19.74, Z:-1.67 [[ 9.89098926e-01 1.47165136e-01 5.07310548e-03 2.26682759e+02] [-1.47162177e-01 9.89111917e-01 -9.53863771e-04 -1.97434999e+01] [-5.15824458e-03 1.96896386e-04 9.99986677e-01 -1.67025307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.826559995 meters 0.05347886295684822 Centerline is valid? [True, True] Translation: X:226.74, Y:-19.75, Z:-1.67 [[ 9.88495272e-01 1.51180459e-01 4.64386067e-03 2.26741556e+02] [-1.51178022e-01 9.88506167e-01 -8.73437470e-04 -1.97522326e+01] [-4.72253159e-03 1.61339139e-04 9.99988836e-01 -1.67120171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.886559995 meters 0.05347004148536967 Centerline is valid? [True, True] Translation: X:226.80, Y:-19.76, Z:-1.67 [[ 9.87576725e-01 1.57092711e-01 3.75394069e-03 2.26802471e+02] [-1.57091162e-01 9.87583854e-01 -7.06000724e-04 -1.97569513e+01] [-3.81823878e-03 1.07518979e-04 9.99992705e-01 -1.67150574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.946559995 meters 0.053068202607870256 Centerline is valid? [True, True] Translation: X:226.86, Y:-19.76, Z:-1.67 [[ 9.86702456e-01 1.62498487e-01 3.53631153e-03 2.26863604e+02] [-1.62497146e-01 9.86708789e-01 -6.65106987e-04 -1.97577490e+01] [-3.59738854e-03 8.16221668e-05 9.99993526e-01 -1.67112411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.006559995 meters 0.05227696668498426 Centerline is valid? [True, True] Translation: X:226.92, Y:-19.76, Z:-1.67 [[ 9.85342324e-01 1.70542779e-01 3.95788728e-03 2.26923056e+02] [-1.70541164e-01 9.85350271e-01 -7.44456658e-04 -1.97623265e+01] [-4.02686701e-03 5.85619491e-05 9.99991890e-01 -1.67202997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.066559995 meters 0.05313351330035937 Centerline is valid? [True, True] Translation: X:226.98, Y:-19.77, Z:-1.67 [[ 9.84319097e-01 1.76351806e-01 3.99447316e-03 2.26983030e+02] [-1.76350210e-01 9.84327201e-01 -7.51266727e-04 -1.97696761e+01] [-4.06435583e-03 3.50600061e-05 9.99991740e-01 -1.67396058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.126559995 meters 0.05258392428581033 Centerline is valid? [True, True] Translation: X:227.04, Y:-19.78, Z:-1.67 [[ 9.83725954e-01 1.79636234e-01 3.75102059e-03 2.27044629e+02] [-1.79634850e-01 9.83733106e-01 -7.05413992e-04 -1.97784573e+01] [-3.81672105e-03 2.01200307e-05 9.99992716e-01 -1.67393481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18655999499998 meters 0.052300941033006906 Centerline is valid? [True, True] Translation: X:227.11, Y:-19.78, Z:-1.67 [[ 9.82256185e-01 1.87505008e-01 3.82871060e-03 2.27106862e+02] [-1.87503626e-01 9.82263647e-01 -7.20158556e-04 -1.97820353e+01] [-3.89583657e-03 -1.05169226e-05 9.99992411e-01 -1.67482033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24655999499998 meters 0.05227538754042646 Centerline is valid? [True, True] Translation: X:227.17, Y:-19.79, Z:-1.68 [[ 9.80808041e-01 1.94946604e-01 3.37773355e-03 2.27169810e+02] [-1.94945572e-01 9.80813856e-01 -6.35463583e-04 -1.97851439e+01] [-3.43680934e-03 -3.52064066e-05 9.99994094e-01 -1.67585202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.306559995 meters 0.05168607228350323 Centerline is valid? [True, True] Translation: X:227.23, Y:-19.79, Z:-1.68 [[ 9.78675290e-01 2.05403331e-01 2.03657980e-03 2.27230598e+02] [-2.05402978e-01 9.78677408e-01 -3.83207140e-04 -1.97935128e+01] [-2.07186666e-03 -4.32841969e-05 9.99997853e-01 -1.67560032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.366559995 meters 0.052271607651129974 Centerline is valid? [True, True] Translation: X:227.29, Y:-19.80, Z:-1.68 [[ 9.77655442e-01 2.10211205e-01 1.04215005e-03 2.27289969e+02] [-2.10211115e-01 9.77655997e-01 -1.96163452e-04 -1.98001617e+01] [-1.06010000e-03 -2.72912570e-05 9.99999438e-01 -1.67636180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.426559995 meters 0.052362826405764167 Centerline is valid? [True, True] Translation: X:227.35, Y:-19.81, Z:-1.68 [[ 9.77001562e-01 2.13231976e-01 2.68747852e-04 2.27350649e+02] [-2.13231970e-01 9.77001599e-01 -5.04631740e-05 -1.98082031e+01] [-2.73327444e-04 -8.00303410e-06 9.99999963e-01 -1.67701301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.486559995 meters 0.052350811101357 Centerline is valid? [True, True] Translation: X:227.41, Y:-19.82, Z:-1.68 [[ 9.77047473e-01 2.13021364e-01 3.66484154e-04 2.27411074e+02] [-2.13021354e-01 9.77047541e-01 -6.81828964e-05 -1.98210477e+01] [-3.72596855e-04 -1.14510238e-05 9.99999931e-01 -1.67672354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.546559995 meters 0.05184720267189137 Centerline is valid? [True, True] Translation: X:227.47, Y:-19.83, Z:-1.68 [[ 9.77864442e-01 2.09234937e-01 1.36925635e-03 2.27470201e+02] [-2.09234781e-01 9.77865400e-01 -2.57898873e-04 -1.98324151e+01] [-1.39290987e-03 -3.43059149e-05 9.99999029e-01 -1.67635950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.606559995 meters 0.05199006166257343 Centerline is valid? [True, True] Translation: X:227.53, Y:-19.84, Z:-1.68 [[ 9.78850144e-01 2.04567695e-01 2.11033068e-03 2.27528607e+02] [-2.04567314e-01 9.78852418e-01 -3.97479512e-04 -1.98444575e+01] [-2.14701376e-03 -4.26318011e-05 9.99997694e-01 -1.67638361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.666559995 meters 0.051925525229496554 Centerline is valid? [True, True] Translation: X:227.59, Y:-19.86, Z:-1.68 [[ 9.80723657e-01 1.95387538e-01 2.19490781e-03 2.27586828e+02] [-1.95387103e-01 9.80726113e-01 -4.13345932e-04 -1.98635819e+01] [-2.23336605e-03 -2.34785428e-05 9.99997506e-01 -1.67582062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.726559995 meters 0.052902765327774035 Centerline is valid? [True, True] Translation: X:227.65, Y:-19.88, Z:-1.68 [[ 9.82116423e-01 1.88267810e-01 1.60120020e-03 2.27645087e+02] [-1.88267569e-01 9.82117728e-01 -3.01551753e-04 -1.98792189e+01] [-1.62933959e-03 -5.29513965e-06 9.99998673e-01 -1.67680730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.786559995 meters 0.05253804822177271 Centerline is valid? [True, True] Translation: X:227.70, Y:-19.90, Z:-1.68 [[ 9.84287047e-01 1.76575640e-01 2.26994563e-04 2.27704168e+02] [-1.76575635e-01 9.84287074e-01 -4.23331926e-05 -1.99007507e+01] [-2.30902825e-04 1.58630397e-06 9.99999973e-01 -1.67722038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.846559995 meters 0.0528562096182489 Centerline is valid? [True, True] Translation: X:227.76, Y:-19.91, Z:-1.68 [[ 9.85023792e-01 1.72417619e-01 -5.41151492e-04 2.27764459e+02] [-1.72417589e-01 9.85023941e-01 1.02248755e-04 -1.99132112e+01] [ 5.50676662e-04 -7.41342059e-06 9.99999848e-01 -1.67594597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.906559995 meters 0.053800869981291875 Centerline is valid? [True, True] Translation: X:227.82, Y:-19.93, Z:-1.68 [[ 9.87223420e-01 1.59334485e-01 -1.56257574e-03 2.27822849e+02] [-1.59334218e-01 9.87224655e-01 2.94585036e-04 -1.99299888e+01] [ 1.58955085e-03 -4.18494636e-05 9.99998736e-01 -1.67547744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96655999499998 meters 0.05444809612918812 Centerline is valid? [True, True] Translation: X:227.88, Y:-19.95, Z:-1.68 [[ 9.88570357e-01 1.50752663e-01 -1.51131289e-03 2.27880661e+02] [-1.50752404e-01 9.88571511e-01 2.84941055e-04 -1.99487885e+01] [ 1.53699649e-03 -5.38502285e-05 9.99998817e-01 -1.67633569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02655999499999 meters 0.05501499616102238 Centerline is valid? [True, True] Translation: X:227.94, Y:-19.96, Z:-1.67 [[ 9.90233396e-01 1.39419312e-01 2.76444918e-04 2.27939846e+02] [-1.39419303e-01 9.90233435e-01 -5.20977368e-05 -1.99603291e+01] [-2.81008432e-04 1.30471610e-05 9.99999960e-01 -1.67391202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.086559995 meters 0.055008345222569074 Centerline is valid? [True, True] Translation: X:228.00, Y:-19.97, Z:-1.67 [[ 9.90929839e-01 1.34376481e-01 1.00792522e-03 2.27999911e+02] [-1.34376357e-01 9.90930350e-01 -1.89919815e-04 -1.99709430e+01] [-1.02430445e-03 5.27558927e-05 9.99999474e-01 -1.67280420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.146559995 meters 0.055692617252336714 Centerline is valid? [True, True] Translation: X:228.06, Y:-19.99, Z:-1.67 [[ 9.91306494e-01 1.31544525e-01 2.73362342e-03 2.28056906e+02] [-1.31543603e-01 9.91310252e-01 -5.15284780e-04 -1.99907011e+01] [-2.77765181e-03 1.51214476e-04 9.99996131e-01 -1.67331181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.206559995 meters 0.055499372607280564 Centerline is valid? [True, True] Translation: X:228.12, Y:-19.99, Z:-1.67 [[ 9.91133975e-01 1.32860889e-01 1.19489679e-03 2.28119097e+02] [-1.32860714e-01 9.91134693e-01 -2.25094417e-04 -1.99944220e+01] [-1.21420991e-03 6.43438834e-05 9.99999261e-01 -1.67449693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.266559995 meters 0.05520116894307892 Centerline is valid? [True, True] Translation: X:228.18, Y:-20.00, Z:-1.68 [[ 9.90418519e-01 1.38098231e-01 1.90802261e-04 2.28180058e+02] [-1.38098227e-01 9.90418537e-01 -3.59321850e-05 -1.99961484e+01] [-1.93936268e-04 9.23844745e-06 9.99999981e-01 -1.67577733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.326559995 meters 0.05489755272698168 Centerline is valid? [True, True] Translation: X:228.24, Y:-20.00, Z:-1.68 [[ 9.89883077e-01 1.41883651e-01 7.23924018e-04 2.28239780e+02] [-1.41883589e-01 9.89883341e-01 -1.36475065e-04 -2.00031346e+01] [-7.35963906e-04 3.23814194e-05 9.99999729e-01 -1.67648556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.386559995 meters 0.05474684726408826 Centerline is valid? [True, True] Translation: X:228.30, Y:-20.01, Z:-1.68 [[ 9.89357530e-01 1.45495504e-01 1.65423241e-03 2.28300218e+02] [-1.45495185e-01 9.89358911e-01 -3.11812418e-04 -2.00103181e+01] [-1.68199688e-03 6.78111116e-05 9.99998583e-01 -1.67745887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.446559995 meters 0.05490231711958372 Centerline is valid? [True, True] Translation: X:228.36, Y:-20.01, Z:-1.68 [[ 9.89153659e-01 1.46865298e-01 2.37114889e-03 2.28362775e+02] [-1.46864648e-01 9.89156497e-01 -4.46874917e-04 -2.00126294e+01] [-2.41106775e-03 9.37900133e-05 9.99997089e-01 -1.67729610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.506559995 meters 0.05494302365481568 Centerline is valid? [True, True] Translation: X:228.42, Y:-20.02, Z:-1.68 [[ 9.89118030e-01 1.47089111e-01 3.21190792e-03 2.28423089e+02] [-1.47087920e-01 9.89123237e-01 -6.05221070e-04 -2.00232930e+01] [-3.26599419e-03 1.26202215e-04 9.99994659e-01 -1.67777766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.566559995 meters 0.05521894453251769 Centerline is valid? [True, True] Translation: X:228.49, Y:-20.03, Z:-1.68 [[ 9.89018035e-01 1.47740699e-01 4.00144716e-03 2.28485478e+02] [-1.47738852e-01 9.89026118e-01 -7.54804497e-04 -2.00261133e+01] [-4.06905109e-03 1.55346049e-04 9.99991709e-01 -1.67863480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.626559995 meters 0.05597492841175881 Centerline is valid? [True, True] Translation: X:228.54, Y:-20.04, Z:-1.68 [[ 9.88551236e-01 1.50840641e-01 3.68178420e-03 2.28543843e+02] [-1.50839098e-01 9.88558083e-01 -6.94828430e-04 -2.00371222e+01] [-3.74446590e-03 1.31516496e-04 9.99992981e-01 -1.68009224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68655999499998 meters 0.05482543000726643 Centerline is valid? [True, True] Translation: X:228.61, Y:-20.03, Z:-1.68 [[ 9.87895742e-01 1.55067474e-01 4.01023416e-03 2.28606809e+02] [-1.55065678e-01 9.87903873e-01 -7.56701418e-04 -2.00293724e+01] [-4.07906564e-03 1.25692428e-04 9.99991673e-01 -1.68032473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74655999499998 meters 0.05532630688277892 Centerline is valid? [True, True] Translation: X:228.67, Y:-20.04, Z:-1.68 [[ 9.86492820e-01 1.63790222e-01 2.16300537e-03 2.28666000e+02] [-1.63789720e-01 9.86495191e-01 -4.08192718e-04 -2.00385212e+01] [-2.20065237e-03 4.84011405e-05 9.99997577e-01 -1.68339748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.806559995 meters 0.054092549185548545 Centerline is valid? [True, True] Translation: X:228.73, Y:-20.04, Z:-1.68 [[ 9.85531920e-01 1.69476247e-01 2.15311713e-03 2.28728013e+02] [-1.69475763e-01 9.85534272e-01 -4.06261598e-04 -2.00371396e+01] [-2.19082241e-03 3.54826040e-05 9.99997600e-01 -1.68220826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.866559995 meters 0.0545803348139631 Centerline is valid? [True, True] Translation: X:228.79, Y:-20.04, Z:-1.68 [[ 9.84340603e-01 1.76253027e-01 2.90651799e-03 2.28788874e+02] [-1.76252175e-01 9.84344894e-01 -5.48486263e-04 -2.00422697e+01] [-2.95768851e-03 2.76171797e-05 9.99995626e-01 -1.68336192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.926559995 meters 0.05405847137832484 Centerline is valid? [True, True] Translation: X:228.85, Y:-20.05, Z:-1.68 [[ 9.83721225e-01 1.79665563e-01 3.58274324e-03 2.28851010e+02] [-1.79664292e-01 9.83727749e-01 -6.76011074e-04 -2.00497899e+01] [-3.64589985e-03 2.13154134e-05 9.99993353e-01 -1.68364561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.986559995 meters 0.05456141439018443 Centerline is valid? [True, True] Translation: X:228.91, Y:-20.06, Z:-1.68 [[ 9.82870850e-01 1.84231446e-01 4.86488899e-03 2.28912400e+02] [-1.84229159e-01 9.82882889e-01 -9.18083049e-04 -2.00558780e+01] [-4.95075591e-03 6.10266115e-06 9.99987745e-01 -1.68294039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.046559995 meters 0.0537629956236452 Centerline is valid? [True, True] Translation: X:228.97, Y:-20.06, Z:-1.68 [[ 9.81821003e-01 1.89752503e-01 4.63752395e-03 2.28974652e+02] [-1.89750484e-01 9.81831955e-01 -8.75625912e-04 -2.00630134e+01] [-4.71942141e-03 -2.02645008e-05 9.99988863e-01 -1.68363380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.106559995 meters 0.05335308186708328 Centerline is valid? [True, True] Translation: X:229.04, Y:-20.07, Z:-1.69 [[ 9.80494929e-01 1.96501462e-01 4.10739059e-03 2.29036098e+02] [-1.96499934e-01 9.80503531e-01 -7.76120226e-04 -2.00690376e+01] [-4.17981973e-03 -4.61200356e-05 9.99991263e-01 -1.68590100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.166559995 meters 0.05419553118097025 Centerline is valid? [True, True] Translation: X:229.10, Y:-20.07, Z:-1.69 [[ 9.79475326e-01 2.01546852e-01 2.63656562e-03 2.29096653e+02] [-2.01546241e-01 9.79478874e-01 -4.98256981e-04 -2.00747911e+01] [-2.68288245e-03 -4.33594688e-05 9.99996400e-01 -1.68849048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.226559995 meters 0.05379752753850002 Centerline is valid? [True, True] Translation: X:229.16, Y:-20.09, Z:-1.69 [[ 9.79250132e-01 2.02641555e-01 2.36202911e-03 2.29157400e+02] [-2.02641068e-01 9.79252980e-01 -4.46210908e-04 -2.00901730e+01] [-2.40344491e-03 -4.16920116e-05 9.99997111e-01 -1.68816742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.286559995 meters 0.05401490496226737 Centerline is valid? [True, True] Translation: X:229.22, Y:-20.11, Z:-1.69 [[ 9.79056261e-01 2.03584011e-01 1.54552317e-03 2.29217116e+02] [-2.03583804e-01 9.79057480e-01 -2.91894059e-04 -2.01062101e+01] [-1.57258099e-03 -2.88627806e-05 9.99998763e-01 -1.68875931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.346559995 meters 0.053920942752801 Centerline is valid? [True, True] Translation: X:229.28, Y:-20.12, Z:-1.69 [[ 9.79075414e-01 2.03495971e-01 8.51056772e-04 2.29278013e+02] [-2.03495909e-01 9.79075783e-01 -1.60164458e-04 -2.01202613e+01] [-8.65841898e-04 -1.63734881e-05 9.99999625e-01 -1.68929181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.406559995 meters 0.05416174412242362 Centerline is valid? [True, True] Translation: X:229.34, Y:-20.14, Z:-1.69 [[ 9.79085410e-01 2.03445728e-01 1.26312506e-03 2.29336969e+02] [-2.03445589e-01 9.79086225e-01 -2.38707581e-04 -2.01362627e+01] [-1.28527239e-03 -2.32621133e-05 9.99999174e-01 -1.68917256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46655999499998 meters 0.0532155122413313 Centerline is valid? [True, True] Translation: X:229.40, Y:-20.15, Z:-1.69 [[ 9.79033591e-01 2.03680797e-01 2.71305250e-03 2.29397257e+02] [-2.03680156e-01 9.79037349e-01 -5.13573127e-04 -2.01542794e+01] [-2.76078471e-03 -4.97896131e-05 9.99996188e-01 -1.68767303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52655999499999 meters 0.053085798664190866 Centerline is valid? [True, True] Translation: X:229.46, Y:-20.17, Z:-1.69 [[ 9.78713982e-01 2.05175827e-01 4.67131916e-03 2.29456457e+02] [-2.05173941e-01 9.78725126e-01 -8.84515270e-04 -2.01703622e+01] [-4.75341859e-03 -9.27455022e-05 9.99988698e-01 -1.68659537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.586559995 meters 0.05324265862143284 Centerline is valid? [True, True] Translation: X:229.52, Y:-20.18, Z:-1.69 [[ 9.78433460e-01 2.06496922e-01 5.19470653e-03 2.29516375e+02] [-2.06494605e-01 9.78447244e-01 -9.84291913e-04 -2.01820180e+01] [-5.28599954e-03 -1.09614733e-04 9.99986023e-01 -1.68701672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.646559995 meters 0.052677512448655775 Centerline is valid? [True, True] Translation: X:229.57, Y:-20.20, Z:-1.69 [[ 9.77864686e-01 2.09183279e-01 4.79701613e-03 2.29574331e+02] [-2.09181332e-01 9.77876446e-01 -9.09605481e-04 -2.02028534e+01] [-4.88116334e-03 -1.13975145e-04 9.99988081e-01 -1.68778097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.706559995 meters 0.05337688472614121 Centerline is valid? [True, True] Translation: X:229.63, Y:-20.21, Z:-1.69 [[ 9.77692450e-01 2.09998157e-01 4.27156410e-03 2.29634960e+02] [-2.09996622e-01 9.77701776e-01 -8.09941487e-04 -2.02129498e+01] [-4.34640203e-03 -1.05140354e-04 9.99990549e-01 -1.68891446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.766559995 meters 0.05222780199634366 Centerline is valid? [True, True] Translation: X:229.69, Y:-20.24, Z:-1.69 [[ 9.77560087e-01 2.10631601e-01 3.25656299e-03 2.29692996e+02] [-2.10630712e-01 9.77565508e-01 -6.17370079e-04 -2.02428170e+01] [-3.31354130e-03 -8.24158316e-05 9.99994507e-01 -1.68903341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.826559995 meters 0.05259449967916913 Centerline is valid? [True, True] Translation: X:229.75, Y:-20.26, Z:-1.69 [[ 9.78430433e-01 2.06561615e-01 2.48727666e-03 2.29751671e+02] [-2.06561082e-01 9.78433593e-01 -4.72117329e-04 -2.02574854e+01] [-2.53115636e-03 -5.18405944e-05 9.99996795e-01 -1.69083809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.886559995 meters 0.052065742652814655 Centerline is valid? [True, True] Translation: X:229.81, Y:-20.28, Z:-1.69 [[ 9.79438821e-01 2.01728990e-01 2.23856110e-03 2.29810366e+02] [-2.01728545e-01 9.79441378e-01 -4.24920549e-04 -2.02758468e+01] [-2.27825816e-03 -3.53979923e-05 9.99997404e-01 -1.69092400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.946559995 meters 0.05200133283935014 Centerline is valid? [True, True] Translation: X:229.87, Y:-20.30, Z:-1.69 [[ 9.81159928e-01 1.93170181e-01 3.23681566e-03 2.29868198e+02] [-1.93169205e-01 9.81165267e-01 -6.14451387e-04 -2.02978335e+01] [-3.29454479e-03 -2.23780315e-05 9.99994573e-01 -1.69123477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.006559995 meters 0.05189467607973942 Centerline is valid? [True, True] Translation: X:229.93, Y:-20.32, Z:-1.69 [[ 9.82453045e-01 1.86475145e-01 3.61023306e-03 2.29926084e+02] [-1.86473887e-01 9.82459679e-01 -6.85024421e-04 -2.03186051e+01] [-3.67464844e-03 -2.09862131e-07 9.99993248e-01 -1.69160431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.066559995 meters 0.05172999242542216 Centerline is valid? [True, True] Translation: X:229.99, Y:-20.34, Z:-1.69 [[ 9.82859775e-01 1.84322935e-01 3.42321355e-03 2.29987340e+02] [-1.84321789e-01 9.82865736e-01 -6.49870048e-04 -2.03352334e+01] [-3.48434526e-03 7.75828322e-06 9.99993930e-01 -1.69221162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.126559995 meters 0.051466618199974 Centerline is valid? [True, True] Translation: X:230.05, Y:-20.35, Z:-1.69 [[ 9.82736465e-01 1.84980893e-01 3.33321824e-03 2.30048054e+02] [-1.84979809e-01 9.82742117e-01 -6.33229011e-04 -2.03522518e+01] [-3.39282922e-03 5.71916527e-06 9.99994244e-01 -1.69242088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18655999499998 meters 0.0514460708461661 Centerline is valid? [True, True] Translation: X:230.11, Y:-20.37, Z:-1.69 [[ 9.82265291e-01 1.87470176e-01 3.13535274e-03 2.30108901e+02] [-1.87469229e-01 9.82270295e-01 -5.95930443e-04 -2.03660197e+01] [-3.19148305e-03 -2.42036970e-06 9.99994907e-01 -1.69386552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24655999499998 meters 0.05180698814808878 Centerline is valid? [True, True] Translation: X:230.17, Y:-20.38, Z:-1.69 [[ 9.81426490e-01 1.91822334e-01 2.49749741e-03 2.30169616e+02] [-1.91821747e-01 9.81429667e-01 -4.74609210e-04 -2.03804219e+01] [-2.54215870e-03 -1.32802654e-05 9.99996769e-01 -1.69468774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.306559995 meters 0.05175748988374725 Centerline is valid? [True, True] Translation: X:230.23, Y:-20.39, Z:-1.70 [[ 9.80988759e-01 1.94057805e-01 1.61966566e-03 2.30229639e+02] [-1.94057561e-01 9.80990096e-01 -3.07739178e-04 -2.03923657e+01] [-1.64859516e-03 -1.24196928e-05 9.99998641e-01 -1.69632472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.366559995 meters 0.05182417653366128 Centerline is valid? [True, True] Translation: X:230.29, Y:-20.41, Z:-1.70 [[ 9.80695587e-01 1.95531446e-01 1.90236879e-03 2.30289430e+02] [-1.95531112e-01 9.80697432e-01 -3.61831342e-04 -2.04073585e+01] [-1.93639760e-03 -1.71258861e-05 9.99998125e-01 -1.69673135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.426559995 meters 0.051950585348789415 Centerline is valid? [True, True] Translation: X:230.35, Y:-20.42, Z:-1.70 [[ 9.80729761e-01 1.95347676e-01 2.90185343e-03 2.30349838e+02] [-1.95346896e-01 9.80734054e-01 -5.52592285e-04 -2.04241381e+01] [-2.95389410e-03 -2.49243590e-05 9.99995637e-01 -1.69555337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.486559995 meters 0.05091691966165709 Centerline is valid? [True, True] Translation: X:230.41, Y:-20.44, Z:-1.70 [[ 9.80875000e-01 1.94598324e-01 3.96558209e-03 2.30409325e+02] [-1.94596858e-01 9.80883016e-01 -7.55986752e-04 -2.04382562e+01] [-4.03688588e-03 -3.01613087e-05 9.99991851e-01 -1.69555250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.546559995 meters 0.051021065583564264 Centerline is valid? [True, True] Translation: X:230.47, Y:-20.45, Z:-1.70 [[ 9.81008767e-01 1.93926286e-01 3.79404887e-03 2.30468842e+02] [-1.93924938e-01 9.81016103e-01 -7.23682223e-04 -2.04505088e+01] [-3.86236405e-03 -2.58220859e-05 9.99992541e-01 -1.69689581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.606559995 meters 0.05091223550678282 Centerline is valid? [True, True] Translation: X:230.53, Y:-20.47, Z:-1.70 [[ 9.81136963e-01 1.93304633e-01 1.89197861e-03 2.30530377e+02] [-1.93304297e-01 9.81138787e-01 -3.60584981e-04 -2.04652635e+01] [-1.92599635e-03 -1.19443420e-05 9.99998145e-01 -1.69859487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.666559995 meters 0.051112035684390524 Centerline is valid? [True, True] Translation: X:230.59, Y:-20.48, Z:-1.70 [[ 9.81224063e-01 1.92868969e-01 9.48295075e-04 2.30592035e+02] [-1.92868885e-01 9.81224521e-01 -1.80334260e-04 -2.04795620e+01] [-9.65271264e-04 -5.94829850e-06 9.99999534e-01 -1.69850535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.726559995 meters 0.05091456526047777 Centerline is valid? [True, True] Translation: X:230.65, Y:-20.49, Z:-1.70 [[ 9.81368547e-01 1.92133778e-01 -6.20926000e-04 2.30651707e+02] [-1.92133740e-01 9.81368744e-01 1.19475106e-04 -2.04903049e+01] [ 6.32312572e-04 2.05172385e-06 9.99999800e-01 -1.70189404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.786559995 meters 0.05162910643629711 Centerline is valid? [True, True] Translation: X:230.71, Y:-20.50, Z:-1.70 [[ 9.81443020e-01 1.91752811e-01 -6.76690544e-04 2.30713622e+02] [-1.91752767e-01 9.81443253e-01 1.30545657e-04 -2.05027205e+01] [ 6.89165866e-04 1.63415987e-06 9.99999763e-01 -1.70045768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.846559995 meters 0.05166728085290887 Centerline is valid? [True, True] Translation: X:230.77, Y:-20.51, Z:-1.70 [[ 9.81833769e-01 1.89743086e-01 1.05662992e-04 2.30773912e+02] [-1.89743085e-01 9.81833775e-01 -1.94364530e-05 -2.05117816e+01] [-1.07431427e-04 -9.65456082e-07 9.99999994e-01 -1.70235592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.906559995 meters 0.05175288591382508 Centerline is valid? [True, True] Translation: X:230.84, Y:-20.53, Z:-1.70 [[ 9.83003631e-01 1.83583220e-01 1.03051722e-03 2.30835064e+02] [-1.83583114e-01 9.83004172e-01 -1.97136701e-04 -2.05251334e+01] [-1.04919372e-03 4.60053225e-06 9.99999450e-01 -1.69984821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96655999499998 meters 0.05161828038341778 Centerline is valid? [True, True] Translation: X:230.90, Y:-20.54, Z:-1.70 [[ 9.83866518e-01 1.78896533e-01 1.64459867e-03 2.30895363e+02] [-1.78896257e-01 9.83867893e-01 -3.14480369e-04 -2.05350301e+01] [-1.67432728e-03 1.51941590e-05 9.99998598e-01 -1.69845098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02655999499999 meters 0.05204402569744584 Centerline is valid? [True, True] Translation: X:230.96, Y:-20.55, Z:-1.70 [[ 9.84541003e-01 1.75146177e-01 1.68254331e-03 2.30955000e+02] [-1.75145882e-01 9.84542440e-01 -3.22485766e-04 -2.05464032e+01] [-1.71301745e-03 2.28099274e-05 9.99998533e-01 -1.70084680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.086559995 meters 0.05256609119871493 Centerline is valid? [True, True] Translation: X:231.02, Y:-20.56, Z:-1.70 [[ 9.85733066e-01 1.68315456e-01 -4.79429968e-04 2.31015142e+02] [-1.68315431e-01 9.85733183e-01 9.20551647e-05 -2.05583194e+01] [ 4.88084335e-04 -1.00463579e-05 9.99999881e-01 -1.70298481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.146559995 meters 0.052560891383252845 Centerline is valid? [True, True] Translation: X:231.07, Y:-20.57, Z:-1.70 [[ 9.86572992e-01 1.63318895e-01 -8.18876304e-04 2.31074719e+02] [-1.63318821e-01 9.86573331e-01 1.57134194e-04 -2.05691586e+01] [ 8.33544506e-04 -2.12864392e-05 9.99999652e-01 -1.70349105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.206559995 meters 0.05295801309803483 Centerline is valid? [True, True] Translation: X:231.13, Y:-20.58, Z:-1.70 [[ 9.86781282e-01 1.62057675e-01 1.04544311e-04 2.31134969e+02] [-1.62057674e-01 9.86781288e-01 -1.96327761e-05 -2.05775376e+01] [-1.06344012e-04 2.43104813e-06 9.99999994e-01 -1.70329234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.266559995 meters 0.05298326979599595 Centerline is valid? [True, True] Translation: X:231.20, Y:-20.59, Z:-1.70 [[ 9.86710258e-01 1.62489576e-01 5.93234961e-05 2.31195860e+02] [-1.62489576e-01 9.86710260e-01 -1.10575922e-05 -2.05904056e+01] [-6.03318459e-05 1.27118997e-06 9.99999998e-01 -1.70466590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.326559995 meters 0.05315304941357109 Centerline is valid? [True, True] Translation: X:231.26, Y:-20.59, Z:-1.70 [[ 9.86258189e-01 1.65206299e-01 -1.28973106e-03 2.31257359e+02] [-1.65206116e-01 9.86259032e-01 2.47608726e-04 -2.05918310e+01] [ 1.31291543e-03 -3.11346739e-05 9.99999138e-01 -1.70384773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.386559995 meters 0.05242297609698418 Centerline is valid? [True, True] Translation: X:231.32, Y:-20.60, Z:-1.70 [[ 9.85028021e-01 1.72394307e-01 -3.09590090e-06 2.31316152e+02] [-1.72394307e-01 9.85028021e-01 5.51586416e-07 -2.06028148e+01] [ 3.14463942e-06 -9.61238409e-09 1.00000000e+00 -1.70483520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.446559995 meters 0.05194976432934615 Centerline is valid? [True, True] Translation: X:231.38, Y:-20.61, Z:-1.71 [[ 9.83999286e-01 1.78165342e-01 1.58592834e-03 2.31376215e+02] [-1.78165084e-01 9.84000564e-01 -3.04205316e-04 -2.06132581e+01] [-1.61475323e-03 1.67807576e-05 9.99998696e-01 -1.70549457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.506559995 meters 0.051664508102018086 Centerline is valid? [True, True] Translation: X:231.44, Y:-20.62, Z:-1.71 [[ 9.81957255e-01 1.89093973e-01 1.84894378e-03 2.31437770e+02] [-1.89093640e-01 9.81958996e-01 -3.54707423e-04 -2.06180954e+01] [-1.88266001e-03 -1.31598140e-06 9.99998228e-01 -1.70581129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.566559995 meters 0.05085494321363148 Centerline is valid? [True, True] Translation: X:231.50, Y:-20.62, Z:-1.71 [[ 9.79615946e-01 2.00872366e-01 1.70026571e-03 2.31497735e+02] [-2.00872103e-01 9.79617421e-01 -3.26082734e-04 -2.06241424e+01] [-1.73111092e-03 -2.21001023e-05 9.99998501e-01 -1.70680279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.626559995 meters 0.05119229948316422 Centerline is valid? [True, True] Translation: X:231.56, Y:-20.63, Z:-1.71 [[ 9.78867093e-01 2.04492771e-01 1.38590874e-03 2.31556934e+02] [-2.04492599e-01 9.78868074e-01 -2.66030130e-04 -2.06322292e+01] [-1.41102306e-03 -2.29999416e-05 9.99999004e-01 -1.70777825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68655999499998 meters 0.051561116131633014 Centerline is valid? [True, True] Translation: X:231.62, Y:-20.63, Z:-1.71 [[ 9.77689280e-01 2.10054953e-01 7.66690422e-04 2.31617331e+02] [-2.10054902e-01 9.77689581e-01 -1.47180817e-04 -2.06348046e+01] [-7.80501297e-04 -1.71499742e-05 9.99999695e-01 -1.71038828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74655999499998 meters 0.05084234836180612 Centerline is valid? [True, True] Translation: X:231.67, Y:-20.66, Z:-1.71 [[ 9.76745263e-01 2.14399747e-01 1.20016890e-03 2.31674271e+02] [-2.14399626e-01 9.76745999e-01 -2.30334563e-04 -2.06592970e+01] [-1.22164384e-03 -3.23375690e-05 9.99999253e-01 -1.70618129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.806559995 meters 0.05129351523685384 Centerline is valid? [True, True] Translation: X:231.74, Y:-20.66, Z:-1.71 [[ 9.76540792e-01 2.15329783e-01 1.07975032e-03 2.31738032e+02] [-2.15329685e-01 9.76541389e-01 -2.07021035e-04 -2.06589091e+01] [-1.09899868e-03 -3.03378119e-05 9.99999396e-01 -1.70927235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.866559995 meters 0.05145883619566053 Centerline is valid? [True, True] Translation: X:231.80, Y:-20.68, Z:-1.71 [[ 9.76635741e-01 2.14897091e-01 -1.36740249e-03 2.31798647e+02] [-2.14896932e-01 9.76636698e-01 2.63677930e-04 -2.06763404e+01] [ 1.39211907e-03 3.63333098e-05 9.99999030e-01 -1.70981919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.926559995 meters 0.051795252209687004 Centerline is valid? [True, True] Translation: X:231.86, Y:-20.69, Z:-1.71 [[ 9.77296177e-01 2.11861309e-01 -2.63983469e-03 2.31858202e+02] [-2.11860712e-01 9.77299740e-01 5.07274436e-04 -2.06866404e+01] [ 2.68738158e-03 6.35198893e-05 9.99996387e-01 -1.71319970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.986559995 meters 0.05143023279537621 Centerline is valid? [True, True] Translation: X:231.92, Y:-20.71, Z:-1.71 [[ 9.77929424e-01 2.08928939e-01 -1.65553448e-03 2.31916224e+02] [-2.08928699e-01 9.77930824e-01 3.18225081e-04 -2.07074169e+01] [ 1.68548463e-03 3.46869960e-05 9.99998579e-01 -1.71022019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.046559995 meters 0.05120091176392576 Centerline is valid? [True, True] Translation: X:231.97, Y:-20.73, Z:-1.71 [[ 9.78872718e-01 2.04469600e-01 6.19992737e-04 2.31974887e+02] [-2.04469565e-01 9.78872914e-01 -1.19078979e-04 -2.07257301e+01] [-6.31242129e-04 -1.02064816e-05 9.99999801e-01 -1.70919405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.106559995 meters 0.05112037570189009 Centerline is valid? [True, True] Translation: X:232.03, Y:-20.74, Z:-1.71 [[ 9.79288639e-01 2.02465341e-01 1.24380458e-03 2.32034324e+02] [-2.02465201e-01 9.79289429e-01 -2.38366867e-04 -2.07394148e+01] [-1.26630570e-03 -1.83971794e-05 9.99999198e-01 -1.70999373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.166559995 meters 0.05105374355860775 Centerline is valid? [True, True] Translation: X:232.09, Y:-20.76, Z:-1.71 [[ 9.79076119e-01 2.03489424e-01 1.41683033e-03 2.32094938e+02] [-2.03489244e-01 9.79077144e-01 -2.71728553e-04 -2.07553138e+01] [-1.44248008e-03 -2.22667953e-05 9.99998959e-01 -1.70990939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.226559995 meters 0.05097473466594145 Centerline is valid? [True, True] Translation: X:232.15, Y:-20.76, Z:-1.71 [[ 9.78265164e-01 2.07357739e-01 -1.92150183e-04 2.32154321e+02] [-2.07357736e-01 9.78265183e-01 3.69672991e-05 -2.07640985e+01] [ 1.95639289e-04 3.68000596e-06 9.99999981e-01 -1.71252309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.286559995 meters 0.05172632130889683 Centerline is valid? [True, True] Translation: X:232.21, Y:-20.78, Z:-1.71 [[ 9.77348540e-01 2.11630889e-01 -1.48245373e-03 2.32214088e+02] [-2.11630700e-01 9.77349664e-01 2.85338607e-04 -2.07753227e+01] [ 1.50926212e-03 3.48574499e-05 9.99998860e-01 -1.71243770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.346559995 meters 0.051130255378245705 Centerline is valid? [True, True] Translation: X:232.27, Y:-20.78, Z:-1.71 [[ 9.76957945e-01 2.13426368e-01 -1.53569248e-03 2.32274358e+02] [-2.13426166e-01 9.76959152e-01 2.95950593e-04 -2.07847282e+01] [ 1.56347248e-03 3.86256746e-05 9.99998777e-01 -1.71287053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40655999499998 meters 0.05111258042395909 Centerline is valid? [True, True] Translation: X:232.34, Y:-20.80, Z:-1.71 [[ 9.76844975e-01 2.13944528e-01 -1.27824300e-03 2.32335692e+02] [-2.13944387e-01 9.76845811e-01 2.46983563e-04 -2.07967333e+01] [ 1.30148711e-03 3.22082646e-05 9.99999153e-01 -1.71266795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46655999499998 meters 0.05125627766131663 Centerline is valid? [True, True] Translation: X:232.40, Y:-20.80, Z:-1.71 [[ 9.76737882e-01 2.14432040e-01 -1.41802396e-03 2.32396748e+02] [-2.14431868e-01 9.76738910e-01 2.73990288e-04 -2.08039470e+01] [ 1.44379147e-03 3.64528326e-05 9.99998957e-01 -1.71394343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52655999499999 meters 0.051376955395796876 Centerline is valid? [True, True] Translation: X:232.46, Y:-20.82, Z:-1.71 [[ 9.76451079e-01 2.15738102e-01 -6.00884443e-04 2.32457284e+02] [-2.15738071e-01 9.76451264e-01 1.16682776e-04 -2.08185603e+01] [ 6.11907294e-04 1.56986277e-05 9.99999813e-01 -1.71289235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.586559995 meters 0.05163515227305912 Centerline is valid? [True, True] Translation: X:232.52, Y:-20.82, Z:-1.71 [[ 9.76305381e-01 2.16397326e-01 2.40753804e-05 2.32518167e+02] [-2.16397326e-01 9.76305381e-01 -3.87734908e-06 -2.08237957e+01] [-2.43439715e-05 -1.42437117e-06 1.00000000e+00 -1.71461879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.646559995 meters 0.05132335643068939 Centerline is valid? [True, True] Translation: X:232.58, Y:-20.84, Z:-1.71 [[ 9.76466595e-01 2.15668676e-01 -1.00760300e-04 2.32578438e+02] [-2.15668675e-01 9.76466601e-01 2.02850172e-05 -2.08398303e+01] [ 1.02763911e-04 1.92319878e-06 9.99999995e-01 -1.71385868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.706559995 meters 0.051230651147020814 Centerline is valid? [True, True] Translation: X:232.64, Y:-20.85, Z:-1.71 [[ 9.76929824e-01 2.13559141e-01 -7.82630597e-04 2.32638655e+02] [-2.13559088e-01 9.76930137e-01 1.51191953e-04 -2.08514228e+01] [ 7.96863840e-04 1.94339485e-05 9.99999682e-01 -1.71425572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.766559995 meters 0.05097009214455776 Centerline is valid? [True, True] Translation: X:232.70, Y:-20.86, Z:-1.72 [[ 9.78069548e-01 2.08277426e-01 -6.88239352e-04 2.32698075e+02] [-2.08277384e-01 9.78069790e-01 1.32945275e-04 -2.08611763e+01] [ 7.00835618e-04 1.33149671e-05 9.99999754e-01 -1.71540645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.826559995 meters 0.05120918649889062 Centerline is valid? [True, True] Translation: X:232.76, Y:-20.87, Z:-1.72 [[ 9.79813370e-01 1.99911723e-01 1.03130749e-03 2.32756578e+02] [-1.99911624e-01 9.79813912e-01 -1.99014863e-04 -2.08741466e+01] [-1.05027483e-03 -1.11729320e-05 9.99999448e-01 -1.71617279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.886559995 meters 0.051233352090623574 Centerline is valid? [True, True] Translation: X:232.82, Y:-20.89, Z:-1.71 [[ 9.81422635e-01 1.91855282e-01 1.07804765e-03 2.32815245e+02] [-1.91855169e-01 9.81423227e-01 -2.08024577e-04 -2.08904866e+01] [-1.09793162e-03 -2.66898690e-06 9.99999397e-01 -1.71465208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.946559995 meters 0.05198181227607162 Centerline is valid? [True, True] Translation: X:232.87, Y:-20.91, Z:-1.72 [[ 9.84116061e-01 1.77525280e-01 -5.93740649e-04 2.32874001e+02] [-1.77525244e-01 9.84116240e-01 1.14762593e-04 -2.09068125e+01] [ 6.04683077e-04 -7.53575805e-06 9.99999817e-01 -1.71618249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.006559995 meters 0.05204006242846545 Centerline is valid? [True, True] Translation: X:232.93, Y:-20.92, Z:-1.72 [[ 9.85676415e-01 1.68642920e-01 -1.25307569e-03 2.32933533e+02] [-1.68642748e-01 9.85677211e-01 2.42127823e-04 -2.09199802e+01] [ 1.27596130e-03 -2.73375559e-05 9.99999186e-01 -1.71692118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.066559995 meters 0.05325059574822118 Centerline is valid? [True, True] Translation: X:232.99, Y:-20.93, Z:-1.72 [[ 9.87657747e-01 1.56612161e-01 -2.19204262e-03 2.32993788e+02] [-1.56611607e-01 9.87660177e-01 4.23346373e-04 -2.09263545e+01] [ 2.23129440e-03 -7.48220071e-05 9.99997508e-01 -1.71582753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.126559995 meters 0.05357188450214247 Centerline is valid? [True, True] Translation: X:233.05, Y:-20.95, Z:-1.72 [[ 9.88852013e-01 1.48888750e-01 -1.95881515e-03 2.33051142e+02] [-1.48888293e-01 9.88853949e-01 3.78380111e-04 -2.09480747e+01] [ 1.99331864e-03 -8.25172902e-05 9.99998010e-01 -1.71862054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18655999499998 meters 0.05476241776924358 Centerline is valid? [True, True] Translation: X:233.11, Y:-20.94, Z:-1.72 [[ 9.90207856e-01 1.39597914e-01 -9.08291035e-04 2.33112464e+02] [-1.39597812e-01 9.90208271e-01 1.75405230e-04 -2.09445033e+01] [ 9.23883499e-04 -4.68921952e-05 9.99999572e-01 -1.71541295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24655999499998 meters 0.054203480472792206 Centerline is valid? [True, True] Translation: X:233.17, Y:-20.95, Z:-1.72 [[ 9.90746835e-01 1.35722726e-01 2.23593665e-04 2.33172920e+02] [-1.35722720e-01 9.90746860e-01 -4.30345136e-05 -2.09537688e+01] [-2.27365483e-04 1.22895679e-05 9.99999974e-01 -1.71569106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.306559995 meters 0.054308930521967544 Centerline is valid? [True, True] Translation: X:233.23, Y:-20.96, Z:-1.72 [[ 9.90396895e-01 1.38249578e-01 1.02182933e-03 2.33233409e+02] [-1.38249448e-01 9.90397421e-01 -1.97245215e-04 -2.09624193e+01] [-1.03928620e-03 5.40837078e-05 9.99999458e-01 -1.71591049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.366559995 meters 0.054352877973109386 Centerline is valid? [True, True] Translation: X:233.29, Y:-20.97, Z:-1.72 [[ 9.89479213e-01 1.44668606e-01 1.37163321e-03 2.33292867e+02] [-1.44668378e-01 9.89480162e-01 -2.64916481e-04 -2.09708332e+01] [-1.39552895e-03 6.36973996e-05 9.99999024e-01 -1.71702473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.426559995 meters 0.0535496752110493 Centerline is valid? [True, True] Translation: X:233.36, Y:-20.97, Z:-1.72 [[ 9.87258337e-01 1.59116055e-01 1.74823228e-03 2.33355298e+02] [-1.59115706e-01 9.87259884e-01 -3.37673489e-04 -2.09659196e+01] [-1.77968887e-03 5.51997539e-05 9.99998415e-01 -1.71696253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.486559995 meters 0.05365624296787025 Centerline is valid? [True, True] Translation: X:233.41, Y:-20.97, Z:-1.72 [[ 9.85537777e-01 1.69440248e-01 2.30059087e-03 2.33414967e+02] [-1.69439672e-01 9.85540461e-01 -4.44445445e-04 -2.09693914e+01] [-2.34263233e-03 4.82064144e-05 9.99997255e-01 -1.71773665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.546559995 meters 0.053415031095595984 Centerline is valid? [True, True] Translation: X:233.47, Y:-20.98, Z:-1.72 [[ 9.83878388e-01 1.78819043e-01 2.65839463e-03 2.33474438e+02] [-1.78818309e-01 9.83881979e-01 -5.13545231e-04 -2.09752442e+01] [-2.70737823e-03 2.98964238e-05 9.99996335e-01 -1.71968530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.606559995 meters 0.05267121285800475 Centerline is valid? [True, True] Translation: X:233.54, Y:-20.97, Z:-1.72 [[ 9.81857123e-01 1.89598408e-01 3.00561877e-03 2.33537946e+02] [-1.89597520e-01 9.81861723e-01 -5.80423530e-04 -2.09709591e+01] [-3.06114940e-03 3.51137405e-08 9.99995315e-01 -1.72039057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.666559995 meters 0.052645064748955014 Centerline is valid? [True, True] Translation: X:233.60, Y:-20.98, Z:-1.72 [[ 9.81036341e-01 1.93802228e-01 2.89719371e-03 2.33599346e+02] [-1.93801421e-01 9.81040619e-01 -5.59237369e-04 -2.09754329e+01] [-2.95064615e-03 -1.28480753e-05 9.99995647e-01 -1.72141057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.726559995 meters 0.053065718534922035 Centerline is valid? [True, True] Translation: X:233.66, Y:-20.98, Z:-1.72 [[ 9.80648265e-01 1.95767960e-01 1.97119786e-03 2.33660861e+02] [-1.95767590e-01 9.80650246e-01 -3.80439921e-04 -2.09783935e+01] [-2.00753362e-03 -1.28189077e-05 9.99997985e-01 -1.72455488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.786559995 meters 0.05351781900056977 Centerline is valid? [True, True] Translation: X:233.72, Y:-20.99, Z:-1.72 [[ 9.80973506e-01 1.94136325e-01 1.43769415e-03 2.33722101e+02] [-1.94136127e-01 9.80974560e-01 -2.77701005e-04 -2.09885690e+01] [-1.46425324e-03 -6.69104569e-06 9.99998928e-01 -1.72496438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.846559995 meters 0.053840065018785195 Centerline is valid? [True, True] Translation: X:233.78, Y:-21.00, Z:-1.73 [[ 9.82113575e-01 1.88280347e-01 1.85378732e-03 2.33782245e+02] [-1.88280006e-01 9.82115325e-01 -3.58313917e-04 -2.09994331e+01] [-1.88809640e-03 2.87387532e-06 9.99998218e-01 -1.72648384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90655999499998 meters 0.0533239740351002 Centerline is valid? [True, True] Translation: X:233.84, Y:-21.01, Z:-1.73 [[ 9.82981722e-01 1.83683373e-01 2.71152971e-03 2.33842695e+02] [-1.83682625e-01 9.82985462e-01 -5.24369373e-04 -2.10116479e+01] [-2.76171222e-03 1.73846137e-05 9.99996186e-01 -1.72560600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96655999499998 meters 0.05338265283589888 Centerline is valid? [True, True] Translation: X:233.90, Y:-21.02, Z:-1.73 [[ 9.83742891e-01 1.79563751e-01 2.60435562e-03 2.33903741e+02] [-1.79563046e-01 9.83746338e-01 -5.04242226e-04 -2.10236971e+01] [-2.65256893e-03 2.83986773e-05 9.99996482e-01 -1.72602724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02655999499999 meters 0.054399472459056845 Centerline is valid? [True, True] Translation: X:233.96, Y:-21.04, Z:-1.73 [[ 9.84262936e-01 1.76708640e-01 7.27706575e-04 2.33963670e+02] [-1.76708584e-01 9.84263205e-01 -1.40632835e-04 -2.10366317e+01] [-7.41105843e-04 9.82768825e-06 9.99999725e-01 -1.72878193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.086559995 meters 0.05421745930059803 Centerline is valid? [True, True] Translation: X:234.03, Y:-21.05, Z:-1.73 [[ 9.84188648e-01 1.77119197e-01 1.22314952e-03 2.34025136e+02] [-1.77119040e-01 9.84189408e-01 -2.36310232e-04 -2.10454695e+01] [-1.24566588e-03 1.59307784e-05 9.99999224e-01 -1.72843985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.146559995 meters 0.054176304786208884 Centerline is valid? [True, True] Translation: X:234.09, Y:-21.06, Z:-1.73 [[ 9.83602190e-01 1.80348051e-01 1.14566457e-03 2.34085271e+02] [-1.80347915e-01 9.83602857e-01 -2.21471526e-04 -2.10564176e+01] [-1.16682090e-03 1.12216618e-05 9.99999319e-01 -1.72952573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.206559995 meters 0.053437266607298986 Centerline is valid? [True, True] Translation: X:234.15, Y:-21.07, Z:-1.73 [[ 9.82829268e-01 1.84511176e-01 1.50198477e-03 2.34146875e+02] [-1.84510947e-01 9.82830416e-01 -2.90695172e-04 -2.10661986e+01] [-1.52983282e-03 8.57109131e-06 9.99998830e-01 -1.72907504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.266559995 meters 0.05309694665972573 Centerline is valid? [True, True] Translation: X:234.21, Y:-21.08, Z:-1.73 [[ 9.81239550e-01 1.92779001e-01 2.28074248e-03 2.34208107e+02] [-1.92778494e-01 9.81242201e-01 -4.42429668e-04 -2.10756375e+01] [-2.32325192e-03 -5.54861210e-06 9.99997301e-01 -1.73066635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.326559995 meters 0.053364675990281926 Centerline is valid? [True, True] Translation: X:234.27, Y:-21.08, Z:-1.73 [[ 9.79343046e-01 2.02188219e-01 2.66860037e-03 2.34268022e+02] [-2.02187559e-01 9.79346682e-01 -5.17844527e-04 -2.10822809e+01] [-2.71818698e-03 -3.24103560e-05 9.99996305e-01 -1.73139641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.386559995 meters 0.0528278016733705 Centerline is valid? [True, True] Translation: X:234.33, Y:-21.09, Z:-1.73 [[ 9.77989875e-01 2.08637159e-01 2.51796937e-03 2.34327228e+02] [-2.08636591e-01 9.77993115e-01 -4.88912966e-04 -2.10935986e+01] [-2.56456212e-03 -4.71886159e-05 9.99996710e-01 -1.73091883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.446559995 meters 0.05348885362920279 Centerline is valid? [True, True] Translation: X:234.39, Y:-21.10, Z:-1.73 [[ 9.76213304e-01 2.16774961e-01 4.02513203e-03 2.34387671e+02] [-2.16773579e-01 9.76221596e-01 -7.81513781e-04 -2.11020706e+01] [-4.09883343e-03 -1.09618127e-04 9.99991594e-01 -1.73157932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.506559995 meters 0.05331455726054421 Centerline is valid? [True, True] Translation: X:234.45, Y:-21.11, Z:-1.73 [[ 9.75395777e-01 2.20428181e-01 3.80734942e-03 2.34447145e+02] [-2.20426973e-01 9.75403200e-01 -7.39285047e-04 -2.11149077e+01] [-3.87666007e-03 -1.18146995e-04 9.99992479e-01 -1.73137467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.566559995 meters 0.05304111745463046 Centerline is valid? [True, True] Translation: X:234.51, Y:-21.13, Z:-1.73 [[ 9.74762458e-01 2.23215949e-01 3.57630473e-03 2.34506577e+02] [-2.23214902e-01 9.74769011e-01 -6.94436300e-04 -2.11298288e+01] [-3.64108028e-03 -1.21374075e-04 9.99993364e-01 -1.73159077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.626559995 meters 0.05302304603661404 Centerline is valid? [True, True] Translation: X:234.57, Y:-21.15, Z:-1.73 [[ 9.74764590e-01 2.23202189e-01 3.84407867e-03 2.34566246e+02] [-2.23200980e-01 9.74772161e-01 -7.46175468e-04 -2.11463420e+01] [-3.91364887e-03 -1.30656700e-04 9.99992333e-01 -1.73272997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68655999499998 meters 0.05281056735346474 Centerline is valid? [True, True] Translation: X:234.63, Y:-21.16, Z:-1.73 [[ 9.75081240e-01 2.21829921e-01 2.83934812e-03 2.34626190e+02] [-2.21829254e-01 9.75085369e-01 -5.51653640e-04 -2.11624745e+01] [-2.89098009e-03 -9.19433594e-05 9.99995817e-01 -1.73373058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74655999499998 meters 0.052965196366573465 Centerline is valid? [True, True] Translation: X:234.68, Y:-21.18, Z:-1.74 [[ 9.75812666e-01 2.18604553e-01 1.30002928e-03 2.34684069e+02] [-2.18604411e-01 9.75813531e-01 -2.52662901e-04 -2.11817641e+01] [-1.32381942e-03 -3.76404758e-05 9.99999123e-01 -1.73559800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.806559995 meters 0.05196116145902782 Centerline is valid? [True, True] Translation: X:234.74, Y:-21.20, Z:-1.74 [[ 9.76363063e-01 2.16135930e-01 6.55102073e-04 2.34743337e+02] [-2.16135893e-01 9.76363283e-01 -1.27154730e-04 -2.12018168e+01] [-6.67100316e-04 -1.74418900e-05 9.99999777e-01 -1.73652815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.866559995 meters 0.05173263734336471 Centerline is valid? [True, True] Translation: X:234.80, Y:-21.22, Z:-1.74 [[ 9.77093147e-01 2.12812080e-01 3.57346745e-06 2.34801100e+02] [-2.12812080e-01 9.77093147e-01 -6.32979523e-07 -2.12235726e+01] [-3.62631632e-06 -1.41997088e-07 1.00000000e+00 -1.73644387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.926559995 meters 0.051944246966253466 Centerline is valid? [True, True] Translation: X:234.86, Y:-21.24, Z:-1.74 [[ 9.77623830e-01 2.10356003e-01 1.41359720e-03 2.34859748e+02] [-2.10355826e-01 9.77624852e-01 -2.74683198e-04 -2.12399879e+01] [-1.43974902e-03 -2.88215667e-05 9.99998963e-01 -1.73722764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.986559995 meters 0.051359837145006866 Centerline is valid? [True, True] Translation: X:234.92, Y:-21.26, Z:-1.74 [[ 9.77770806e-01 2.09660029e-01 2.63111125e-03 2.34919671e+02] [-2.09659412e-01 9.77774345e-01 -5.10950885e-04 -2.12587421e+01] [-2.67975905e-03 -5.20443791e-05 9.99996408e-01 -1.73667648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.046559995 meters 0.051597352313711535 Centerline is valid? [True, True] Translation: X:234.98, Y:-21.27, Z:-1.74 [[ 9.77398279e-01 2.11387707e-01 2.80030869e-03 2.34978962e+02] [-2.11387015e-01 9.77402289e-01 -5.44236052e-04 -2.12738471e+01] [-2.85207293e-03 -6.00135144e-05 9.99995931e-01 -1.73795313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.106559995 meters 0.051443862083763094 Centerline is valid? [True, True] Translation: X:235.04, Y:-21.29, Z:-1.74 [[ 9.76824062e-01 2.14026968e-01 2.68484804e-03 2.35037942e+02] [-2.14026340e-01 9.76827750e-01 -5.22473270e-04 -2.12908443e+01] [-2.73445744e-03 -6.42637369e-05 9.99996259e-01 -1.73832145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.166559995 meters 0.05137904393307311 Centerline is valid? [True, True] Translation: X:235.10, Y:-21.30, Z:-1.74 [[ 9.75469267e-01 2.20126515e-01 2.00645917e-03 2.35096795e+02] [-2.20126177e-01 9.75471329e-01 -3.90524219e-04 -2.13024723e+01] [-2.04320813e-03 -6.07298125e-05 9.99997911e-01 -1.73949723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.226559995 meters 0.051037451359663685 Centerline is valid? [True, True] Translation: X:235.16, Y:-21.32, Z:-1.74 [[ 9.74470908e-01 2.24507853e-01 1.63526302e-03 2.35155989e+02] [-2.24507635e-01 9.74472278e-01 -3.18197179e-04 -2.13155825e+01] [-1.66495624e-03 -5.70551376e-05 9.99998612e-01 -1.74040181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.286559995 meters 0.052151578710587884 Centerline is valid? [True, True] Translation: X:235.22, Y:-21.33, Z:-1.74 [[ 9.73469582e-01 2.28815166e-01 7.69388042e-04 2.35215317e+02] [-2.28815119e-01 9.73469886e-01 -1.49745701e-04 -2.13254758e+01] [-7.83240177e-04 -3.02747316e-05 9.99999693e-01 -1.74195326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.346559995 meters 0.051207634124200256 Centerline is valid? [True, True] Translation: X:235.27, Y:-21.35, Z:-1.74 [[ 9.73394320e-01 2.29135555e-01 6.29464702e-04 2.35273978e+02] [-2.29135524e-01 9.73394523e-01 -1.21786687e-04 -2.13484904e+01] [-6.40623153e-04 -2.56862546e-05 9.99999794e-01 -1.74089649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40655999499998 meters 0.05126277717142585 Centerline is valid? [True, True] Translation: X:235.33, Y:-21.36, Z:-1.74 [[ 9.73794041e-01 2.27431025e-01 5.41954750e-04 2.35333903e+02] [-2.27431002e-01 9.73794192e-01 -1.05458555e-04 -2.13602048e+01] [-5.51736935e-04 -2.05623989e-05 9.99999848e-01 -1.74152575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46655999499998 meters 0.05184757327152357 Centerline is valid? [True, True] Translation: X:235.39, Y:-21.37, Z:-1.74 [[ 9.74610670e-01 2.23901799e-01 1.42325725e-03 2.35392865e+02] [-2.23901632e-01 9.74611708e-01 -2.77265858e-04 -2.13695034e+01] [-1.44920350e-03 -4.84433570e-05 9.99998949e-01 -1.74258532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52655999499999 meters 0.05102216347259806 Centerline is valid? [True, True] Translation: X:235.45, Y:-21.40, Z:-1.74 [[ 9.75973100e-01 2.17862818e-01 3.50713867e-03 2.35449686e+02] [-2.17861769e-01 9.75979397e-01 -6.83170141e-04 -2.13962516e+01] [-3.57173245e-03 -9.73157534e-05 9.99993617e-01 -1.74148022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.586559995 meters 0.05028883610099058 Centerline is valid? [True, True] Translation: X:235.51, Y:-21.41, Z:-1.74 [[ 9.76846526e-01 2.13912844e-01 3.48720527e-03 2.35507784e+02] [-2.13911781e-01 9.76852746e-01 -6.79355091e-04 -2.14095336e+01] [-3.55180882e-03 -8.23286300e-05 9.99993689e-01 -1.74242642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.646559995 meters 0.050707350902484995 Centerline is valid? [True, True] Translation: X:235.57, Y:-21.42, Z:-1.74 [[ 9.77918145e-01 2.08964142e-01 3.17627419e-03 2.35566185e+02] [-2.08963234e-01 9.77923302e-01 -6.18781480e-04 -2.14241972e+01] [-3.23545568e-03 -5.86068875e-05 9.99994764e-01 -1.74389882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.706559995 meters 0.05092625344987959 Centerline is valid? [True, True] Translation: X:235.63, Y:-21.44, Z:-1.75 [[ 9.78447860e-01 2.06474163e-01 2.86442044e-03 2.35626204e+02] [-2.06473414e-01 9.78452052e-01 -5.57958768e-04 -2.14378704e+01] [-2.91790212e-03 -4.54931049e-05 9.99995742e-01 -1.74612477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.766559995 meters 0.05062613450244484 Centerline is valid? [True, True] Translation: X:235.69, Y:-21.46, Z:-1.74 [[ 9.78421134e-01 2.06589744e-01 3.57241128e-03 2.35686918e+02] [-2.06588581e-01 9.78427654e-01 -6.95543914e-04 -2.14569080e+01] [-3.63903823e-03 -5.74845134e-05 9.99993377e-01 -1.74453078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.826559995 meters 0.05073855365455119 Centerline is valid? [True, True] Translation: X:235.75, Y:-21.46, Z:-1.75 [[ 9.77827761e-01 2.09408906e-01 8.83532893e-04 2.35748090e+02] [-2.09408836e-01 9.77828160e-01 -1.72146454e-04 -2.14618763e+01] [-8.99992343e-04 -1.66900128e-05 9.99999595e-01 -1.74596400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.886559995 meters 0.05131179481233334 Centerline is valid? [True, True] Translation: X:235.81, Y:-21.46, Z:-1.75 [[ 9.76177272e-01 2.16931582e-01 -4.31527107e-03 2.35808060e+02] [-2.16929980e-01 9.76186804e-01 8.41649571e-04 -2.14649038e+01] [ 4.39509105e-03 1.14512485e-04 9.99990335e-01 -1.75014560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.946559995 meters 0.05148635404815767 Centerline is valid? [True, True] Translation: X:235.87, Y:-21.47, Z:-1.75 [[ 9.74998752e-01 2.22164081e-01 -4.53382519e-03 2.35869116e+02] [-2.22162368e-01 9.75009282e-01 8.84231561e-04 -2.14729633e+01] [ 4.61696614e-03 1.45120674e-04 9.99989331e-01 -1.75047157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.006559995 meters 0.05183543252183585 Centerline is valid? [True, True] Translation: X:235.93, Y:-21.48, Z:-1.75 [[ 9.74071762e-01 2.26214333e-01 -3.35820408e-03 2.35928388e+02] [-2.26213418e-01 9.74077543e-01 6.54884997e-04 -2.14807272e+01] [ 3.41929555e-03 1.21765841e-04 9.99994147e-01 -1.74813670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.066559995 meters 0.05228285881854181 Centerline is valid? [True, True] Translation: X:235.99, Y:-21.49, Z:-1.75 [[ 9.73895193e-01 2.26982658e-01 -2.65066206e-03 2.35989551e+02] [-2.26982088e-01 9.73898795e-01 5.17885159e-04 -2.14877047e+01] [ 2.69902754e-03 9.72869430e-05 9.99996353e-01 -1.74774262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.126559995 meters 0.05168485183608361 Centerline is valid? [True, True] Translation: X:236.05, Y:-21.50, Z:-1.75 [[ 9.74159151e-01 2.25862674e-01 1.78128360e-05 2.36049852e+02] [-2.25862674e-01 9.74159152e-01 -3.30805063e-06 -2.15004590e+01] [-1.80997025e-05 -8.00686984e-07 1.00000000e+00 -1.74531968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18655999499998 meters 0.050495247535924985 Centerline is valid? [True, True] Translation: X:236.11, Y:-21.51, Z:-1.74 [[ 9.74183631e-01 2.25752857e-01 1.37874061e-03 2.36110266e+02] [-2.25752703e-01 9.74184605e-01 -2.68382742e-04 -2.15137709e+01] [-1.40373605e-03 -4.98003457e-05 9.99999014e-01 -1.74335469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24655999499998 meters 0.05020568002603182 Centerline is valid? [True, True] Translation: X:236.17, Y:-21.53, Z:-1.74 [[ 9.74448121e-01 2.24597286e-01 2.63018103e-03 2.36170036e+02] [-2.24596718e-01 9.74451667e-01 -5.13363069e-04 -2.15306132e+01] [-2.67828424e-03 -9.04843477e-05 9.99996409e-01 -1.74147197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.306559995 meters 0.05113453140354065 Centerline is valid? [True, True] Translation: X:236.23, Y:-21.53, Z:-1.74 [[ 9.74673847e-01 2.23611391e-01 2.97268006e-03 2.36231606e+02] [-2.23610661e-01 9.74678376e-01 -5.80046956e-04 -2.15349211e+01] [-3.02711208e-03 -9.93663564e-05 9.99995413e-01 -1.74252114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.366559995 meters 0.05154970123216322 Centerline is valid? [True, True] Translation: X:236.29, Y:-21.55, Z:-1.74 [[ 9.75418362e-01 2.20347801e-01 2.42178501e-03 2.36291659e+02] [-2.20347305e-01 9.75421366e-01 -4.73109028e-04 -2.15465613e+01] [-2.46650937e-03 -7.21545661e-05 9.99996956e-01 -1.74357462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.426559995 meters 0.05191475149692546 Centerline is valid? [True, True] Translation: X:236.35, Y:-21.56, Z:-1.75 [[ 9.76374640e-01 2.16082982e-01 8.41534037e-04 2.36350704e+02] [-2.16082920e-01 9.76375002e-01 -1.64442486e-04 -2.15559274e+01] [-8.57186019e-04 -2.12836597e-05 9.99999632e-01 -1.74567217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.486559995 meters 0.05145644951118977 Centerline is valid? [True, True] Translation: X:236.41, Y:-21.57, Z:-1.75 [[ 9.77415920e-01 2.11323716e-01 6.36982799e-04 2.36409818e+02] [-2.11323680e-01 9.77416128e-01 -1.24416881e-04 -2.15708754e+01] [-6.48889498e-04 -1.30025092e-05 9.99999789e-01 -1.74650285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.546559995 meters 0.05169611646222792 Centerline is valid? [True, True] Translation: X:236.47, Y:-21.58, Z:-1.75 [[ 9.78515896e-01 2.06168668e-01 1.05929717e-03 2.36469215e+02] [-2.06168564e-01 9.78516469e-01 -2.06895694e-04 -2.15842117e+01] [-1.07919513e-03 -1.59430504e-05 9.99999418e-01 -1.74838514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.606559995 meters 0.05196288070228119 Centerline is valid? [True, True] Translation: X:236.53, Y:-21.60, Z:-1.75 [[ 9.78245948e-01 2.07447015e-01 7.75779293e-04 2.36529913e+02] [-2.07446960e-01 9.78246255e-01 -1.50844043e-04 -2.15956476e+01] [-7.90195335e-04 -1.33704830e-05 9.99999688e-01 -1.74870401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.666559995 meters 0.05196288070228119 Centerline is valid? [True, True] Translation: X:236.59, Y:-21.61, Z:-1.75 [[ 9.78218790e-01 2.07575038e-01 7.75783005e-04 2.36591239e+02] [-2.07574983e-01 9.78219098e-01 -1.50825356e-04 -2.16076013e+01] [-7.90193330e-04 -1.34929474e-05 9.99999688e-01 -1.74916473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.726559995 meters 0.05148264267000759 Centerline is valid? [True, True] Translation: X:236.65, Y:-21.62, Z:-1.75 [[ 9.77939295e-01 2.08886263e-01 1.12472877e-03 2.36652015e+02] [-2.08886149e-01 9.77939941e-01 -2.19352175e-04 -2.16208230e+01] [-1.14573685e-03 -2.04271503e-05 9.99999343e-01 -1.74908734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.786559995 meters 0.05148264267000759 Centerline is valid? [True, True] Translation: X:236.71, Y:-21.63, Z:-1.75 [[ 9.77911486e-01 2.09016412e-01 1.12472299e-03 2.36713340e+02] [-2.09016298e-01 9.77912133e-01 -2.19382006e-04 -2.16327826e+01] [-1.14573470e-03 -2.05492507e-05 9.99999343e-01 -1.74954806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.846559995 meters 0.05194236847527516 Centerline is valid? [True, True] Translation: X:236.77, Y:-21.64, Z:-1.75 [[ 9.77608396e-01 2.10428173e-01 1.34481093e-03 2.36773651e+02] [-2.10428011e-01 9.77609320e-01 -2.62850334e-04 -2.16422725e+01] [-1.37001082e-03 -2.60211962e-05 9.99999061e-01 -1.75080740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90655999499998 meters 0.0514354468196182 Centerline is valid? [True, True] Translation: X:236.83, Y:-21.66, Z:-1.75 [[ 9.77356707e-01 2.11595811e-01 1.03914086e-03 2.36834554e+02] [-2.11595715e-01 9.77357259e-01 -2.03001920e-04 -2.16557695e+01] [-1.05856622e-03 -2.14724652e-05 9.99999439e-01 -1.75065897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96655999499998 meters 0.05126094497388689 Centerline is valid? [True, True] Translation: X:236.89, Y:-21.67, Z:-1.75 [[ 9.76896153e-01 2.13714028e-01 4.68814164e-04 2.36894713e+02] [-2.13714009e-01 9.76896266e-01 -9.12175141e-05 -2.16697391e+01] [-4.77477268e-04 -1.10821159e-05 9.99999886e-01 -1.75034421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02655999499999 meters 0.0515697538698465 Centerline is valid? [True, True] Translation: X:236.96, Y:-21.67, Z:-1.75 [[ 9.76325920e-01 2.16302233e-01 1.02058181e-03 2.36956400e+02] [-2.16302143e-01 9.76326453e-01 -1.99640300e-04 -2.16735467e+01] [-1.03960366e-03 -2.58400312e-05 9.99999459e-01 -1.75305064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.086559995 meters 0.05224563736580925 Centerline is valid? [True, True] Translation: X:237.02, Y:-21.69, Z:-1.75 [[ 9.75812613e-01 2.18601915e-01 1.71643955e-03 2.37016489e+02] [-2.18601661e-01 9.75814122e-01 -3.36541048e-04 -2.16864190e+01] [-1.74849447e-03 -4.68155371e-05 9.99998470e-01 -1.75314060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.146559995 meters 0.050097634648025975 Centerline is valid? [True, True] Translation: X:237.08, Y:-21.71, Z:-1.75 [[ 9.75557983e-01 2.19731255e-01 2.19035069e-03 2.37075288e+02] [-2.19730843e-01 9.75560440e-01 -4.29792994e-04 -2.17087971e+01] [-2.23125844e-03 -6.19996191e-05 9.99997509e-01 -1.75130008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.206559995 meters 0.05090177296261126 Centerline is valid? [True, True] Translation: X:237.14, Y:-21.71, Z:-1.75 [[ 9.75347499e-01 2.20664376e-01 2.11897509e-03 2.37136618e+02] [-2.20663992e-01 9.75349799e-01 -4.16058198e-04 -2.17138973e+01] [-2.15855115e-03 -6.17801803e-05 9.99997668e-01 -1.75346701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.266559995 meters 0.05036015207483508 Centerline is valid? [True, True] Translation: X:237.20, Y:-21.73, Z:-1.75 [[ 9.75140297e-01 2.21587887e-01 4.57356304e-04 2.37196667e+02] [-2.21587870e-01 9.75140404e-01 -8.97485353e-05 -2.17300126e+01] [-4.65873799e-04 -1.38271956e-05 9.99999891e-01 -1.75405563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.326559995 meters 0.05127584007048676 Centerline is valid? [True, True] Translation: X:237.26, Y:-21.74, Z:-1.76 [[ 9.75090484e-01 2.21807283e-01 -2.78238915e-04 2.37257521e+02] [-2.21807276e-01 9.75090524e-01 5.55408436e-05 -2.17394741e+01] [ 2.83627493e-04 7.55806773e-06 9.99999960e-01 -1.75529314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.386559995 meters 0.050559111699512674 Centerline is valid? [True, True] Translation: X:237.32, Y:-21.75, Z:-1.76 [[ 9.75175387e-01 2.21432018e-01 -9.09311120e-04 2.37317558e+02] [-2.21431946e-01 9.75175810e-01 1.79942193e-04 -2.17544436e+01] [ 9.26583171e-04 2.58753335e-05 9.99999570e-01 -1.75552928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.446559995 meters 0.05090465189967216 Centerline is valid? [True, True] Translation: X:237.38, Y:-21.77, Z:-1.76 [[ 9.75736351e-01 2.18944950e-01 -1.29713429e-03 2.37378078e+02] [-2.18944803e-01 9.75737212e-01 2.55805774e-04 -2.17676359e+01] [ 1.32166958e-03 3.44018187e-05 9.99999126e-01 -1.75600863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.506559995 meters 0.05065629327055592 Centerline is valid? [True, True] Translation: X:237.44, Y:-21.78, Z:-1.76 [[ 9.77014867e-01 2.13169656e-01 -8.05201342e-04 2.37436643e+02] [-2.13169598e-01 9.77015198e-01 1.58756879e-04 -2.17836379e+01] [ 8.20536098e-04 1.65366153e-05 9.99999663e-01 -1.75569785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.566559995 meters 0.05130759081429361 Centerline is valid? [True, True] Translation: X:237.50, Y:-21.80, Z:-1.76 [[ 9.78358832e-01 2.06915324e-01 2.09005329e-04 2.37495252e+02] [-2.06915320e-01 9.78358855e-01 -4.11822119e-05 -2.17987239e+01] [-2.13003445e-04 -2.95542389e-06 9.99999977e-01 -1.75559622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.626559995 meters 0.05143878105783154 Centerline is valid? [True, True] Translation: X:237.55, Y:-21.82, Z:-1.75 [[ 9.79989594e-01 1.99040843e-01 1.77180974e-03 2.37553227e+02] [-1.99040537e-01 9.79991195e-01 -3.49089459e-04 -2.18153913e+01] [-1.80584101e-03 -1.05579263e-05 9.99998369e-01 -1.75401998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68655999499998 meters 0.051273502482418784 Centerline is valid? [True, True] Translation: X:237.61, Y:-21.83, Z:-1.76 [[ 9.81678289e-01 1.90542629e-01 1.11507300e-03 2.37613245e+02] [-1.90542503e-01 9.81678922e-01 -2.19449576e-04 -2.18321637e+01] [-1.13645816e-03 2.96008519e-06 9.99999354e-01 -1.75648148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74655999499998 meters 0.05224362844858601 Centerline is valid? [True, True] Translation: X:237.67, Y:-21.85, Z:-1.76 [[ 9.82746729e-01 1.84956369e-01 -9.09212045e-05 2.37673433e+02] [-1.84956368e-01 9.82746733e-01 1.81789197e-05 -2.18452198e+01] [ 9.27148236e-05 -1.04881806e-06 9.99999996e-01 -1.75655926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.806559995 meters 0.05199202941956288 Centerline is valid? [True, True] Translation: X:237.73, Y:-21.86, Z:-1.76 [[ 9.83672876e-01 1.79957365e-01 -1.73788898e-03 2.37731077e+02] [-1.79957040e-01 9.83674411e-01 3.42922180e-04 -2.18621834e+01] [ 1.77122829e-03 -2.45778910e-05 9.99998431e-01 -1.75882108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.866559995 meters 0.05235433572187204 Centerline is valid? [True, True] Translation: X:237.79, Y:-21.87, Z:-1.76 [[ 9.84005321e-01 1.78132967e-01 -1.47488174e-03 2.37793432e+02] [-1.78132730e-01 9.84006426e-01 2.91809542e-04 -2.18693892e+01] [ 1.50327401e-03 -2.44174308e-05 9.99998870e-01 -1.75536812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.926559995 meters 0.052495492296194324 Centerline is valid? [True, True] Translation: X:237.85, Y:-21.89, Z:-1.76 [[ 9.84374912e-01 1.76084641e-01 -4.82291289e-04 2.37853498e+02] [-1.76084615e-01 9.84375030e-01 9.56266800e-05 -2.18861260e+01] [ 4.91593892e-04 -9.20842867e-06 9.99999879e-01 -1.75788342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.986559995 meters 0.052253263378028346 Centerline is valid? [True, True] Translation: X:237.91, Y:-21.90, Z:-1.76 [[ 9.84007656e-01 1.78125996e-01 -2.49108058e-04 2.37914222e+02] [-1.78125990e-01 9.84007688e-01 4.94835436e-05 -2.18987333e+01] [ 2.53938549e-04 -4.31956641e-06 9.99999968e-01 -1.75833644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.046559995 meters 0.05293552375624809 Centerline is valid? [True, True] Translation: X:237.97, Y:-21.91, Z:-1.76 [[ 9.83357970e-01 1.81678482e-01 -1.76629716e-04 2.37974754e+02] [-1.81678479e-01 9.83357986e-01 3.49922863e-05 -2.19087277e+01] [ 1.80047588e-04 -2.32012546e-06 9.99999984e-01 -1.75851530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.106559995 meters 0.05202904855689313 Centerline is valid? [True, True] Translation: X:238.04, Y:-21.92, Z:-1.76 [[ 9.82428723e-01 1.86638026e-01 2.27902565e-04 2.38035517e+02] [-1.86638021e-01 9.82428749e-01 -4.48632243e-05 -2.19157105e+01] [-2.32271216e-04 1.53963654e-06 9.99999973e-01 -1.75653333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.166559995 meters 0.051845875470841664 Centerline is valid? [True, True] Translation: X:238.10, Y:-21.92, Z:-1.76 [[ 9.80647671e-01 1.95778128e-01 1.03490767e-03 2.38096157e+02] [-1.95778022e-01 9.80648217e-01 -2.03589570e-04 -2.19234133e+01] [-1.05473875e-03 -2.96253888e-06 9.99999444e-01 -1.76036468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.226559995 meters 0.051682249490703075 Centerline is valid? [True, True] Translation: X:238.16, Y:-21.93, Z:-1.76 [[ 9.79372564e-01 2.02061466e-01 7.37537665e-04 2.38158215e+02] [-2.02061414e-01 9.79372842e-01 -1.45468131e-04 -2.19310488e+01] [-7.51717863e-04 -6.56040646e-06 9.99999717e-01 -1.76055224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.286559995 meters 0.05119326786598342 Centerline is valid? [True, True] Translation: X:238.22, Y:-21.94, Z:-1.76 [[ 9.77508427e-01 2.10894296e-01 9.33071973e-04 2.38217974e+02] [-2.10894216e-01 9.77508872e-01 -1.84250874e-04 -2.19418239e+01] [-9.50943591e-04 -1.66727005e-05 9.99999548e-01 -1.75976984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.346559995 meters 0.050961743947676975 Centerline is valid? [True, True] Translation: X:238.28, Y:-21.95, Z:-1.76 [[ 9.76087253e-01 2.17372321e-01 1.71738297e-03 2.38277591e+02] [-2.17372060e-01 9.76088763e-01 -3.39292782e-04 -2.19506497e+01] [-1.75007108e-03 -4.21317146e-05 9.99998468e-01 -1.75991287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40655999499998 meters 0.0518909429986348 Centerline is valid? [True, True] Translation: X:238.34, Y:-21.95, Z:-1.76 [[ 9.75605658e-01 2.19525835e-01 1.41700049e-03 2.38338225e+02] [-2.19525660e-01 9.75606686e-01 -2.79949764e-04 -2.19514460e+01] [-1.44389136e-03 -3.79473940e-05 9.99998957e-01 -1.76225278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46655999499998 meters 0.050638814525484285 Centerline is valid? [True, True] Translation: X:238.40, Y:-21.97, Z:-1.76 [[ 9.75397773e-01 2.20445716e-01 1.69432584e-03 2.38396608e+02] [-2.20445468e-01 9.75399243e-01 -3.34144813e-04 -2.19743643e+01] [-1.72630494e-03 -4.75823469e-05 9.99998509e-01 -1.76047517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52655999499999 meters 0.050456390714953295 Centerline is valid? [True, True] Translation: X:238.46, Y:-21.99, Z:-1.76 [[ 9.75293461e-01 2.20910552e-01 1.09177446e-03 2.38456779e+02] [-2.20910450e-01 9.75294072e-01 -2.15091054e-04 -2.19889806e+01] [-1.11231704e-03 -3.14074882e-05 9.99999381e-01 -1.76098295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.586559995 meters 0.05063992074290204 Centerline is valid? [True, True] Translation: X:238.52, Y:-22.00, Z:-1.76 [[ 9.75724486e-01 2.19001584e-01 1.85082876e-04 2.38516071e+02] [-2.19001581e-01 9.75724503e-01 -3.65489287e-05 -2.20004393e+01] [-1.88594171e-04 -4.87175797e-06 9.99999982e-01 -1.76165423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.646559995 meters 0.051066912096563416 Centerline is valid? [True, True] Translation: X:238.58, Y:-22.02, Z:-1.76 [[ 9.76714069e-01 2.14540962e-01 1.34262392e-03 2.38575525e+02] [-2.14540799e-01 9.76714992e-01 -2.65506077e-04 -2.20150709e+01] [-1.36832284e-03 -2.87240884e-05 9.99999063e-01 -1.76116083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.706559995 meters 0.05065043156634074 Centerline is valid? [True, True] Translation: X:238.64, Y:-22.03, Z:-1.76 [[ 9.77109121e-01 2.12730385e-01 1.88388528e-03 2.38635676e+02] [-2.12730062e-01 9.77110936e-01 -3.72516292e-04 -2.20287317e+01] [-1.92001044e-03 -3.67699647e-05 9.99998156e-01 -1.76113145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.766559995 meters 0.05100596684814619 Centerline is valid? [True, True] Translation: X:238.69, Y:-22.04, Z:-1.76 [[ 9.78083268e-01 2.08194044e-01 2.89165876e-03 2.38694011e+02] [-2.08193262e-01 9.78087541e-01 -5.72105330e-04 -2.20405864e+01] [-2.94740433e-03 -4.24572178e-05 9.99995655e-01 -1.76184121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.826559995 meters 0.05015485261821155 Centerline is valid? [True, True] Translation: X:238.75, Y:-22.06, Z:-1.76 [[ 9.80050517e-01 1.98721294e-01 3.29121857e-03 2.38752422e+02] [-1.98720229e-01 9.80056043e-01 -6.51021186e-04 -2.20611362e+01] [-3.35495042e-03 -1.59980580e-05 9.99994372e-01 -1.76093245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.886559995 meters 0.050604666273183205 Centerline is valid? [True, True] Translation: X:238.81, Y:-22.08, Z:-1.76 [[ 9.81415959e-01 1.91857979e-01 3.63750687e-03 2.38811457e+02] [-1.91856631e-01 9.81422700e-01 -7.19255390e-04 -2.20769008e+01] [-3.70792670e-03 8.00890414e-06 9.99993126e-01 -1.76304245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.946559995 meters 0.05177511769642606 Centerline is valid? [True, True] Translation: X:238.87, Y:-22.10, Z:-1.76 [[ 9.83660677e-01 1.80000250e-01 3.40330734e-03 2.38870098e+02] [-1.79998996e-01 9.83666563e-01 -6.73601733e-04 -2.20963661e+01] [-3.46896812e-03 5.00036319e-05 9.99993982e-01 -1.76300314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.006559995 meters 0.05198773241860643 Centerline is valid? [True, True] Translation: X:238.93, Y:-22.11, Z:-1.76 [[ 9.84981553e-01 1.72634373e-01 2.95193704e-03 2.38930382e+02] [-1.72633397e-01 9.84985974e-01 -5.84387746e-04 -2.21054750e+01] [-3.00850200e-03 6.60082302e-05 9.99995472e-01 -1.76190434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.066559995 meters 0.05298034397285399 Centerline is valid? [True, True] Translation: X:238.99, Y:-22.13, Z:-1.76 [[ 9.86122909e-01 1.65986309e-01 3.18656188e-03 2.38987046e+02] [-1.65985137e-01 9.86128053e-01 -6.30839260e-04 -2.21264453e+01] [-3.24706874e-03 9.31631365e-05 9.99994724e-01 -1.76318139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.126559995 meters 0.05329636658385739 Centerline is valid? [True, True] Translation: X:239.05, Y:-22.14, Z:-1.76 [[ 9.86352830e-01 1.64621544e-01 2.80029019e-03 2.39048272e+02] [-1.64620633e-01 9.86356802e-01 -5.54341778e-04 -2.21374158e+01] [-2.85334187e-03 8.57910390e-05 9.99995926e-01 -1.76341928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18655999499998 meters 0.052912697146106864 Centerline is valid? [True, True] Translation: X:239.11, Y:-22.14, Z:-1.76 [[ 9.86287555e-01 1.65004671e-01 3.21216028e-03 2.39110810e+02] [-1.65003474e-01 9.86292781e-01 -6.35885020e-04 -2.21417002e+01] [-3.27305450e-03 9.71478760e-05 9.99994639e-01 -1.76327454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24655999499998 meters 0.05302392251246318 Centerline is valid? [True, True] Translation: X:239.17, Y:-22.15, Z:-1.76 [[ 9.86149571e-01 1.65822686e-01 3.44389258e-03 2.39171464e+02] [-1.65821315e-01 9.86155579e-01 -6.81963194e-04 -2.21539623e+01] [-3.50929885e-03 1.01446916e-04 9.99993837e-01 -1.76384394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.306559995 meters 0.05342940407930703 Centerline is valid? [True, True] Translation: X:239.23, Y:-22.16, Z:-1.76 [[ 9.85362102e-01 1.70443053e-01 3.27023858e-03 2.39230975e+02] [-1.70441840e-01 9.85367525e-01 -6.48046928e-04 -2.21597496e+01] [-3.33284199e-03 8.11754025e-05 9.99994443e-01 -1.76438300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.366559995 meters 0.05276870670063809 Centerline is valid? [True, True] Translation: X:239.29, Y:-22.17, Z:-1.77 [[ 9.84484486e-01 1.75450808e-01 2.70385847e-03 2.39291525e+02] [-1.75449998e-01 9.84488198e-01 -5.35759354e-04 -2.21656790e+01] [-2.75591616e-03 5.30548099e-05 9.99996201e-01 -1.76530515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.426559995 meters 0.052287067305892956 Centerline is valid? [True, True] Translation: X:239.35, Y:-22.17, Z:-1.77 [[ 9.82690880e-01 1.85231053e-01 2.84441312e-03 2.39352971e+02] [-1.85230197e-01 9.82694997e-01 -5.63624871e-04 -2.21669874e+01] [-2.89959137e-03 2.69978183e-05 9.99995796e-01 -1.76651506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.486559995 meters 0.051936653742667566 Centerline is valid? [True, True] Translation: X:239.41, Y:-22.17, Z:-1.77 [[ 9.81213371e-01 1.92901862e-01 3.03194101e-03 2.39414880e+02] [-1.92900926e-01 9.81218055e-01 -6.00770443e-04 -2.21714076e+01] [-3.09088499e-03 4.61976324e-06 9.99995223e-01 -1.76759730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.546559995 meters 0.05186040877006022 Centerline is valid? [True, True] Translation: X:239.48, Y:-22.17, Z:-1.77 [[ 9.79754393e-01 2.00182641e-01 2.87039881e-03 2.39476459e+02] [-2.00181835e-01 9.79758598e-01 -5.68458725e-04 -2.21745287e+01] [-2.92609348e-03 -1.76517676e-05 9.99995719e-01 -1.76882777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.606559995 meters 0.05185523890247384 Centerline is valid? [True, True] Translation: X:239.54, Y:-22.18, Z:-1.77 [[ 9.77894560e-01 2.09087049e-01 2.19879071e-03 2.39537725e+02] [-2.09086597e-01 9.77897032e-01 -4.35975104e-04 -2.21770443e+01] [-2.24134766e-03 -3.33999843e-05 9.99997488e-01 -1.76885813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.666559995 meters 0.052231085741056504 Centerline is valid? [True, True] Translation: X:239.60, Y:-22.18, Z:-1.77 [[ 9.77131640e-01 2.12618505e-01 2.66998635e-03 2.39598116e+02] [-2.12617851e-01 9.77135287e-01 -5.29507897e-04 -2.21829085e+01] [-2.72152105e-03 -5.02878400e-05 9.99996295e-01 -1.76953589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.726559995 meters 0.052905829072737116 Centerline is valid? [True, True] Translation: X:239.66, Y:-22.19, Z:-1.77 [[ 9.76744080e-01 2.14378966e-01 3.55813798e-03 2.39659972e+02] [-2.14377818e-01 9.76750559e-01 -7.05319135e-04 -2.21896028e+01] [-3.62661884e-03 -7.38695664e-05 9.99993421e-01 -1.76980622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.786559995 meters 0.05182824457288758 Centerline is valid? [True, True] Translation: X:239.72, Y:-22.20, Z:-1.77 [[ 9.76919660e-01 2.13592905e-01 2.45954038e-03 2.39721403e+02] [-2.13592353e-01 9.76922755e-01 -4.87814548e-04 -2.22020891e+01] [-2.50697469e-03 -4.87833953e-05 9.99996856e-01 -1.77144781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.846559995 meters 0.051610242893549194 Centerline is valid? [True, True] Translation: X:239.78, Y:-22.22, Z:-1.77 [[ 9.77201680e-01 2.12311220e-01 9.06430292e-04 2.39780975e+02] [-2.12311145e-01 9.77202101e-01 -1.79190747e-04 -2.22194652e+01] [-9.23809792e-04 -1.73397541e-05 9.99999573e-01 -1.77275083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90655999499998 meters 0.05180796360424555 Centerline is valid? [True, True] Translation: X:239.84, Y:-22.23, Z:-1.78 [[ 9.77599872e-01 2.10469310e-01 -1.07662365e-03 2.39840949e+02] [-2.10469201e-01 9.77600465e-01 2.14750182e-04 -2.22307739e+01] [ 1.09770611e-03 1.66563698e-05 9.99999397e-01 -1.77510649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96655999499998 meters 0.051530886395029625 Centerline is valid? [True, True] Translation: X:239.90, Y:-22.25, Z:-1.77 [[ 9.78412397e-01 2.06656626e-01 -1.49020065e-03 2.39899748e+02] [-2.06656415e-01 9.78413531e-01 2.96306287e-04 -2.22489866e+01] [ 1.51926614e-03 1.80497792e-05 9.99998846e-01 -1.77296749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02655999499999 meters 0.0515064755921059 Centerline is valid? [True, True] Translation: X:239.96, Y:-22.26, Z:-1.77 [[ 9.78908661e-01 2.04298365e-01 -1.02828680e-04 2.39960408e+02] [-2.04298364e-01 9.78908667e-01 2.13237129e-05 -2.22638796e+01] [ 1.05016286e-04 1.33763974e-07 9.99999994e-01 -1.77213105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.086559995 meters 0.05171743880116525 Centerline is valid? [True, True] Translation: X:240.02, Y:-22.28, Z:-1.77 [[ 9.79457697e-01 2.01633699e-01 2.54398908e-03 2.40020337e+02] [-2.01633067e-01 9.79461000e-01 -5.05366062e-04 -2.22782308e+01] [-2.59363692e-03 -1.79676424e-05 9.99996636e-01 -1.77255131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.146559995 meters 0.0519606084974003 Centerline is valid? [True, True] Translation: X:240.08, Y:-22.29, Z:-1.77 [[ 9.79644525e-01 2.00716326e-01 3.09210406e-03 2.40081092e+02] [-2.00715385e-01 9.79649405e-01 -6.14837434e-04 -2.22930727e+01] [-3.15258581e-03 -1.83107301e-05 9.99995030e-01 -1.77307344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.206559995 meters 0.05196717282926557 Centerline is valid? [True, True] Translation: X:240.14, Y:-22.31, Z:-1.78 [[ 9.79447885e-01 2.01689825e-01 1.74776504e-03 2.40140860e+02] [-2.01689526e-01 9.79449445e-01 -3.47417373e-04 -2.23071306e+01] [-1.78191805e-03 -1.22286913e-05 9.99998412e-01 -1.77527835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.266559995 meters 0.05191347116840093 Centerline is valid? [True, True] Translation: X:240.20, Y:-22.32, Z:-1.77 [[ 9.78631694e-01 2.05617222e-01 1.25082279e-03 2.40200473e+02] [-2.05617072e-01 9.78632494e-01 -2.48822737e-04 -2.23229095e+01] [-1.27525806e-03 -1.36847015e-05 9.99999187e-01 -1.77387469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.326559995 meters 0.051509093175884854 Centerline is valid? [True, True] Translation: X:240.26, Y:-22.33, Z:-1.77 [[ 9.77700474e-01 2.10004201e-01 1.38572337e-04 2.40260743e+02] [-2.10004199e-01 9.77700484e-01 -2.74938685e-05 -2.23349060e+01] [-1.41256069e-04 -2.22000456e-06 9.99999990e-01 -1.77473526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.386559995 meters 0.05159744620312493 Centerline is valid? [True, True] Translation: X:240.32, Y:-22.34, Z:-1.78 [[ 9.76205395e-01 2.16847935e-01 -5.21962153e-06 2.40319576e+02] [-2.16847935e-01 9.76205395e-01 1.03384800e-06 -2.23445200e+01] [ 5.31961042e-06 1.22616153e-07 1.00000000e+00 -1.77650688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.446559995 meters 0.051997352640754085 Centerline is valid? [True, True] Translation: X:240.38, Y:-22.36, Z:-1.78 [[ 9.75344209e-01 2.20688894e-01 2.91987369e-04 2.40379743e+02] [-2.20688887e-01 9.75344253e-01 -5.80774991e-05 -2.23571694e+01] [-2.97605261e-04 -7.79281493e-06 9.99999956e-01 -1.77637103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.506559995 meters 0.0521113732177755 Centerline is valid? [True, True] Translation: X:240.44, Y:-22.37, Z:-1.78 [[ 9.74787777e-01 2.23131675e-01 1.02293276e-03 2.40438818e+02] [-2.23131584e-01 9.74788313e-01 -2.03635685e-04 -2.23660172e+01] [-1.04258047e-03 -2.97470309e-05 9.99999456e-01 -1.77661074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.566559995 meters 0.052018524856458956 Centerline is valid? [True, True] Translation: X:240.50, Y:-22.38, Z:-1.77 [[ 9.74635978e-01 2.23787400e-01 1.97756280e-03 2.40498405e+02] [-2.23787062e-01 9.74637982e-01 -3.93638858e-04 -2.23833881e+01] [-2.01549923e-03 -5.88983743e-05 9.99997967e-01 -1.77494338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.626559995 meters 0.051506601031960426 Centerline is valid? [True, True] Translation: X:240.56, Y:-22.40, Z:-1.77 [[ 9.74281474e-01 2.25315835e-01 2.89540214e-03 2.40558986e+02] [-2.25315114e-01 9.74285772e-01 -5.77370659e-04 -2.23972662e+01] [-2.95103986e-03 -8.98563252e-05 9.99995642e-01 -1.77468789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68655999499998 meters 0.05231180730932574 Centerline is valid? [True, True] Translation: X:240.62, Y:-22.41, Z:-1.78 [[ 9.73952165e-01 2.26743495e-01 2.13721007e-03 2.40618943e+02] [-2.26743105e-01 9.73954507e-01 -4.26298798e-04 -2.24056563e+01] [-2.17820586e-03 -6.94030100e-05 9.99997625e-01 -1.77746624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74655999499998 meters 0.05127660578078009 Centerline is valid? [True, True] Translation: X:240.68, Y:-22.42, Z:-1.78 [[ 9.73967200e-01 2.26682709e-01 1.68590916e-03 2.40679695e+02] [-2.26682468e-01 9.73968658e-01 -3.35639443e-04 -2.24221164e+01] [-1.71810634e-03 -5.52642389e-05 9.99998523e-01 -1.77898045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.806559995 meters 0.051671855558574155 Centerline is valid? [True, True] Translation: X:240.74, Y:-22.44, Z:-1.78 [[ 9.74305689e-01 2.25220165e-01 2.07394652e-03 2.40739202e+02] [-2.25219793e-01 9.74307895e-01 -4.13928264e-04 -2.24369282e+01] [-2.11388746e-03 -6.38011445e-05 9.99997764e-01 -1.77918159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.866559995 meters 0.05200291585292038 Centerline is valid? [True, True] Translation: X:240.80, Y:-22.45, Z:-1.78 [[ 9.74642178e-01 2.23752343e-01 2.74108782e-03 2.40799022e+02] [-2.23751688e-01 9.74646029e-01 -5.47159381e-04 -2.24475453e+01] [-2.79401855e-03 -8.00384152e-05 9.99996094e-01 -1.77948792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.926559995 meters 0.051450592311905165 Centerline is valid? [True, True] Translation: X:240.86, Y:-22.46, Z:-1.78 [[ 9.74986079e-01 2.22243937e-01 3.12718469e-03 2.40858609e+02] [-2.22243076e-01 9.74991090e-01 -6.24295305e-04 -2.24611734e+01] [-3.18772305e-03 -8.63159142e-05 9.99994915e-01 -1.77956823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.986559995 meters 0.05171449686129116 Centerline is valid? [True, True] Translation: X:240.92, Y:-22.48, Z:-1.78 [[ 9.75267558e-01 2.20994848e-01 3.80356320e-03 2.40918171e+02] [-2.20993566e-01 9.75274970e-01 -7.59346992e-04 -2.24777201e+01] [-3.87733176e-03 -9.99965083e-05 9.99992478e-01 -1.77958578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.046559995 meters 0.05053143247978979 Centerline is valid? [True, True] Translation: X:240.98, Y:-22.49, Z:-1.78 [[ 9.75403725e-01 2.20392897e-01 3.81358091e-03 2.40978301e+02] [-2.20391604e-01 9.75411176e-01 -7.61197923e-04 -2.24924351e+01] [-3.88757205e-03 -9.80059238e-05 9.99992439e-01 -1.78053514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.106559995 meters 0.05120000703524447 Centerline is valid? [True, True] Translation: X:241.04, Y:-22.50, Z:-1.78 [[ 9.75534562e-01 2.19822344e-01 3.23336392e-03 2.41038916e+02] [-2.19821410e-01 9.75539918e-01 -6.45661960e-04 -2.25015330e+01] [-3.29620649e-03 -8.08970580e-05 9.99994564e-01 -1.78225992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.166559995 meters 0.05212057754425055 Centerline is valid? [True, True] Translation: X:241.10, Y:-22.51, Z:-1.79 [[ 9.75922503e-01 2.18109300e-01 1.89798790e-03 2.41099631e+02] [-2.18108975e-01 9.75924347e-01 -3.78905097e-04 -2.25100100e+01] [-1.93493533e-03 -4.41861851e-05 9.99998127e-01 -1.78501625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.226559995 meters 0.05175746883927642 Centerline is valid? [True, True] Translation: X:241.16, Y:-22.53, Z:-1.79 [[ 9.77154924e-01 2.12525595e-01 1.06089112e-03 2.41158486e+02] [-2.12525490e-01 9.77155500e-01 -2.12145491e-04 -2.25267422e+01] [-1.08174194e-03 -1.81673950e-05 9.99999415e-01 -1.78556685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.286559995 meters 0.05040297911576433 Centerline is valid? [True, True] Translation: X:241.22, Y:-22.55, Z:-1.78 [[ 9.78909210e-01 2.04276157e-01 2.83008278e-03 2.41216277e+02] [-2.04275374e-01 9.78913301e-01 -5.66038661e-04 -2.25499254e+01] [-2.88603388e-03 -2.40157606e-05 9.99995835e-01 -1.78209161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.346559995 meters 0.05122827528055561 Centerline is valid? [True, True] Translation: X:241.28, Y:-22.57, Z:-1.78 [[ 9.80340987e-01 1.97274106e-01 3.80486503e-03 2.41276127e+02] [-1.97272639e-01 9.80348370e-01 -7.60759344e-04 -2.25653490e+01] [-3.88017135e-03 -4.79219999e-06 9.99992472e-01 -1.78280309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40655999499998 meters 0.0514090299354981 Centerline is valid? [True, True] Translation: X:241.34, Y:-22.58, Z:-1.78 [[ 9.81683270e-01 1.90479957e-01 3.91707586e-03 2.41335532e+02] [-1.90478346e-01 9.81691085e-01 -7.83715379e-04 -2.25805565e+01] [-3.99464052e-03 2.32421454e-05 9.99992021e-01 -1.78381932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46655999499998 meters 0.052069343754632486 Centerline is valid? [True, True] Translation: X:241.40, Y:-22.60, Z:-1.78 [[ 9.83169377e-01 1.82611649e-01 5.56430612e-03 2.41395105e+02] [-1.82608267e-01 9.83185119e-01 -1.11435001e-03 -2.25963064e+01] [-5.67423627e-03 7.95065062e-05 9.99983898e-01 -1.78309559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52655999499999 meters 0.052987461224838314 Centerline is valid? [True, True] Translation: X:241.45, Y:-22.61, Z:-1.78 [[ 9.84585459e-01 1.74875123e-01 3.18821501e-03 2.41453688e+02] [-1.74873971e-01 9.84590619e-01 -6.38585351e-04 -2.26101537e+01] [-3.25075928e-03 7.12060308e-05 9.99994714e-01 -1.78487494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.586559995 meters 0.052693689091505624 Centerline is valid? [True, True] Translation: X:241.51, Y:-22.62, Z:-1.79 [[ 9.85580430e-01 1.69174645e-01 3.34012236e-03 2.41513629e+02] [-1.69173348e-01 9.85586085e-01 -6.68999056e-04 -2.26185808e+01] [-3.40515579e-03 9.42926940e-05 9.99994198e-01 -1.78526058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.646559995 meters 0.0527494840364101 Centerline is valid? [True, True] Translation: X:241.58, Y:-22.62, Z:-1.79 [[ 9.86829743e-01 1.61712437e-01 4.01825994e-03 2.41575170e+02] [-1.61710498e-01 9.86837913e-01 -8.04863813e-04 -2.26208447e+01] [-4.09552774e-03 1.44468733e-04 9.99991603e-01 -1.78525408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.706559995 meters 0.053352100074347916 Centerline is valid? [True, True] Translation: X:241.63, Y:-22.63, Z:-1.79 [[ 9.87239057e-01 1.59188187e-01 4.26207136e-03 2.41634113e+02] [-1.59185982e-01 9.87248243e-01 -8.53778366e-04 -2.26333810e+01] [-4.34363390e-03 1.64421333e-04 9.99990553e-01 -1.78605371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.766559995 meters 0.05338522732851482 Centerline is valid? [True, True] Translation: X:241.69, Y:-22.64, Z:-1.79 [[ 9.87306329e-01 1.58773355e-01 4.15136053e-03 2.41694678e+02] [-1.58771261e-01 9.87315044e-01 -8.31327597e-04 -2.26438013e+01] [-4.23069337e-03 1.61658253e-04 9.99991038e-01 -1.78634129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.826559995 meters 0.05314583765953059 Centerline is valid? [True, True] Translation: X:241.75, Y:-22.65, Z:-1.79 [[ 9.86469989e-01 1.63868909e-01 4.89305268e-03 2.41754536e+02] [-1.63866058e-01 9.86482110e-01 -9.80793690e-04 -2.26479231e+01] [-4.98763053e-03 1.65718285e-04 9.99987548e-01 -1.78724925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.886559995 meters 0.05312334813076363 Centerline is valid? [True, True] Translation: X:241.81, Y:-22.66, Z:-1.79 [[ 9.85284327e-01 1.70864931e-01 4.46880359e-03 2.41814873e+02] [-1.70862625e-01 9.85294454e-01 -8.95661481e-04 -2.26576847e+01] [-4.55612453e-03 1.18929708e-04 9.99989614e-01 -1.78838777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.946559995 meters 0.05207064276248756 Centerline is valid? [True, True] Translation: X:241.88, Y:-22.66, Z:-1.79 [[ 9.82841128e-01 1.84405935e-01 4.21524928e-03 2.41876363e+02] [-1.84404007e-01 9.82850166e-01 -8.44921629e-04 -2.26564866e+01] [-4.29876701e-03 5.31148712e-05 9.99990759e-01 -1.78860258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.006559995 meters 0.052086572787577196 Centerline is valid? [True, True] Translation: X:241.94, Y:-22.66, Z:-1.79 [[ 9.80958908e-01 1.94160432e-01 4.62027010e-03 2.41937431e+02] [-1.94158224e-01 9.80969789e-01 -9.26138301e-04 -2.26593276e+01] [-4.71216479e-03 1.14401816e-05 9.99988898e-01 -1.78938419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.066559995 meters 0.05211795867265668 Centerline is valid? [True, True] Translation: X:242.00, Y:-22.66, Z:-1.79 [[ 9.78336174e-01 2.06974530e-01 4.45802978e-03 2.42000805e+02] [-2.06972608e-01 9.78346330e-01 -8.93360752e-04 -2.26566971e+01] [-4.54640000e-03 -4.86829094e-05 9.99989664e-01 -1.79035650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.126559995 meters 0.052254630699507566 Centerline is valid? [True, True] Translation: X:242.06, Y:-22.66, Z:-1.79 [[ 9.77062220e-01 2.12916072e-01 4.02052926e-03 2.42061965e+02] [-2.12914556e-01 9.77070490e-01 -8.06427448e-04 -2.26561462e+01] [-4.10004186e-03 -6.80994078e-05 9.99991592e-01 -1.79206527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18655999499998 meters 0.05123120207547527 Centerline is valid? [True, True] Translation: X:242.12, Y:-22.67, Z:-1.79 [[ 9.76199702e-01 2.16835656e-01 4.05469421e-03 2.42120742e+02] [-2.16834147e-01 9.76208119e-01 -8.13255081e-04 -2.26717833e+01] [-4.13456810e-03 -8.52967943e-05 9.99991449e-01 -1.78996968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24655999499998 meters 0.052553231602595694 Centerline is valid? [True, True] Translation: X:242.18, Y:-22.67, Z:-1.79 [[ 9.76227617e-01 2.16705580e-01 4.28159438e-03 2.42183387e+02] [-2.16703897e-01 9.76237002e-01 -8.58709706e-04 -2.26747008e+01] [-4.36593805e-03 -8.95420601e-05 9.99990465e-01 -1.79148990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.306559995 meters 0.05328113804128543 Centerline is valid? [True, True] Translation: X:242.24, Y:-22.68, Z:-1.79 [[ 9.76676054e-01 2.14697251e-01 2.99614209e-03 2.42244611e+02] [-2.14696418e-01 9.76680648e-01 -6.00635726e-04 -2.26836065e+01] [-3.05522883e-03 -5.66344439e-05 9.99995331e-01 -1.79438199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.366559995 meters 0.05244515565593527 Centerline is valid? [True, True] Translation: X:242.30, Y:-22.70, Z:-1.79 [[ 9.77519273e-01 2.10840268e-01 1.56604720e-03 2.42303204e+02] [-2.10840035e-01 9.77520527e-01 -3.14213555e-04 -2.27037557e+01] [-1.59709215e-03 -2.30356404e-05 9.99998724e-01 -1.79445594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.426559995 meters 0.05276048291077543 Centerline is valid? [True, True] Translation: X:242.36, Y:-22.72, Z:-1.80 [[ 9.79358625e-01 2.02130175e-01 -2.76425611e-04 2.42361089e+02] [-2.02130167e-01 9.79358664e-01 5.55729950e-05 -2.27219052e+01] [ 2.81952797e-04 1.44806310e-06 9.99999960e-01 -1.79505784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.486559995 meters 0.05329979449944867 Centerline is valid? [True, True] Translation: X:242.42, Y:-22.74, Z:-1.79 [[ 9.81238665e-01 1.92796408e-01 -4.77529945e-04 2.42420700e+02] [-1.92796384e-01 9.81238781e-01 9.63715662e-05 -2.27407784e+01] [ 4.87150992e-04 -2.49746045e-06 9.99999881e-01 -1.79485839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.546559995 meters 0.05329979449944867 Centerline is valid? [True, True] Translation: X:242.48, Y:-22.75, Z:-1.80 [[ 9.81213138e-01 1.92926281e-01 -4.77415256e-04 2.42481961e+02] [-1.92926256e-01 9.81213254e-01 9.69422755e-05 -2.27530395e+01] [ 4.87148889e-04 -3.01509633e-06 9.99999881e-01 -1.79531894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.606559995 meters 0.05285703692412845 Centerline is valid? [True, True] Translation: X:242.54, Y:-22.77, Z:-1.80 [[ 9.83131548e-01 1.82897863e-01 -8.54801947e-04 2.42539090e+02] [-1.82897783e-01 9.83131920e-01 1.72039463e-04 -2.27713288e+01] [ 8.71848729e-04 -1.27960429e-05 9.99999620e-01 -1.79515839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.666559995 meters 0.053020867871501634 Centerline is valid? [True, True] Translation: X:242.60, Y:-22.79, Z:-1.79 [[ 9.84300374e-01 1.76500119e-01 -6.94656611e-04 2.42598361e+02] [-1.76500064e-01 9.84300619e-01 1.39706536e-04 -2.27859428e+01] [ 7.08409152e-04 -1.49062587e-05 9.99999749e-01 -1.79421241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.726559995 meters 0.05454287906290616 Centerline is valid? [True, True] Translation: X:242.66, Y:-22.80, Z:-1.79 [[ 9.85972938e-01 1.66905260e-01 -6.72229334e-07 2.42657287e+02] [-1.66905260e-01 9.85972938e-01 1.81231095e-07 -2.27995902e+01] [ 6.93048276e-07 -6.64903422e-08 1.00000000e+00 -1.79358779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.786559995 meters 0.05403514957837228 Centerline is valid? [True, True] Translation: X:242.71, Y:-22.82, Z:-1.79 [[ 9.87423723e-01 1.58092582e-01 1.06126519e-03 2.42714462e+02] [-1.58092444e-01 9.87424293e-01 -2.13262138e-04 -2.28212354e+01] [-1.08163419e-03 4.28020867e-05 9.99999414e-01 -1.79400945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.846559995 meters 0.05387031676274654 Centerline is valid? [True, True] Translation: X:242.77, Y:-22.84, Z:-1.79 [[ 9.88050922e-01 1.54121346e-01 1.40917524e-03 2.42773294e+02] [-1.54121099e-01 9.88051925e-01 -2.83184410e-04 -2.28351668e+01] [-1.43598307e-03 6.26169817e-05 9.99998967e-01 -1.79389479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90655999499998 meters 0.054398485023857426 Centerline is valid? [True, True] Translation: X:242.83, Y:-22.85, Z:-1.79 [[ 9.88261066e-01 1.52767222e-01 1.49723994e-03 2.42833432e+02] [-1.52766941e-01 9.88262198e-01 -3.00927409e-04 -2.28475335e+01] [-1.52563748e-03 6.86660754e-05 9.99998834e-01 -1.79431547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96655999499998 meters 0.05513012435219042 Centerline is valid? [True, True] Translation: X:242.89, Y:-22.87, Z:-1.80 [[ 9.87733432e-01 1.56143060e-01 1.41826132e-03 2.42890129e+02] [-1.56142811e-01 9.87734449e-01 -2.85122150e-04 -2.28672290e+01] [-1.44538540e-03 6.01733703e-05 9.99998954e-01 -1.79618165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02655999499999 meters 0.054070302125376946 Centerline is valid? [True, True] Translation: X:242.95, Y:-22.87, Z:-1.80 [[ 9.87343618e-01 1.58586636e-01 1.69064620e-03 2.42951584e+02] [-1.58586287e-01 9.87345063e-01 -3.39896718e-04 -2.28685569e+01] [-1.72315425e-03 6.74815529e-05 9.99998513e-01 -1.79542402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.086559995 meters 0.054169615618251725 Centerline is valid? [True, True] Translation: X:243.01, Y:-22.88, Z:-1.80 [[ 9.85591891e-01 1.69135878e-01 1.29596842e-03 2.43010868e+02] [-1.69135682e-01 9.85592742e-01 -2.60561457e-04 -2.28781147e+01] [-1.32136736e-03 3.76127564e-05 9.99999126e-01 -1.79686188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.146559995 meters 0.05370870095463689 Centerline is valid? [True, True] Translation: X:243.07, Y:-22.89, Z:-1.80 [[ 9.84017342e-01 1.78072202e-01 4.01490661e-04 2.43070174e+02] [-1.78072184e-01 9.84017424e-01 -8.07395163e-05 -2.28877206e+01] [-4.09451269e-04 7.95476543e-06 9.99999916e-01 -1.79857664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.206559995 meters 0.05342972727462983 Centerline is valid? [True, True] Translation: X:243.13, Y:-22.89, Z:-1.80 [[ 9.82305893e-01 1.87283149e-01 3.94206376e-04 2.43131546e+02] [-1.87283132e-01 9.82305972e-01 -7.91819915e-05 -2.28921699e+01] [-4.02060730e-04 3.95273212e-06 9.99999919e-01 -1.79748313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.266559995 meters 0.05234873155338595 Centerline is valid? [True, True] Translation: X:243.19, Y:-22.90, Z:-1.80 [[ 9.79722847e-01 2.00350927e-01 1.62755857e-03 2.43192102e+02] [-2.00350660e-01 9.79724199e-01 -3.27201615e-04 -2.28958347e+01] [-1.66011366e-03 -5.51553582e-06 9.99998622e-01 -1.79918342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.326559995 meters 0.05341487752219081 Centerline is valid? [True, True] Translation: X:243.25, Y:-22.90, Z:-1.80 [[ 9.77454148e-01 2.11135096e-01 2.31491702e-03 2.43253182e+02] [-2.11134586e-01 9.77456889e-01 -4.65413770e-04 -2.28951161e+01] [-2.36099677e-03 -3.38384273e-05 9.99997212e-01 -1.79997486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.386559995 meters 0.05254003184735756 Centerline is valid? [True, True] Translation: X:243.31, Y:-22.90, Z:-1.80 [[ 9.76225894e-01 2.16737777e-01 2.78225600e-03 2.43313585e+02] [-2.16737062e-01 9.76229857e-01 -5.59606884e-04 -2.29044847e+01] [-2.83740933e-03 -5.67152610e-05 9.99995973e-01 -1.79956995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.446559995 meters 0.053330314349810115 Centerline is valid? [True, True] Translation: X:243.37, Y:-22.91, Z:-1.80 [[ 9.74667353e-01 2.23638422e-01 3.06706164e-03 2.43373806e+02] [-2.23637587e-01 9.74672175e-01 -6.16933479e-04 -2.29122501e+01] [-3.12734967e-03 -8.46053425e-05 9.99995106e-01 -1.79927822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.506559995 meters 0.05290328923915831 Centerline is valid? [True, True] Translation: X:243.43, Y:-22.93, Z:-1.80 [[ 9.73932629e-01 2.26816674e-01 3.07077283e-03 2.43432859e+02] [-2.26815853e-01 9.73937466e-01 -6.17681324e-04 -2.29261076e+01] [-3.13084113e-03 -9.49199639e-05 9.99995094e-01 -1.79916870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.566559995 meters 0.05515720666272104 Centerline is valid? [True, True] Translation: X:243.49, Y:-22.93, Z:-1.80 [[ 9.73520962e-01 2.28588518e-01 2.05552757e-03 2.43493415e+02] [-2.28588154e-01 9.73523130e-01 -4.13505159e-04 -2.29285192e+01] [-2.09562617e-03 -6.73133128e-05 9.99997802e-01 -1.80153420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.626559995 meters 0.05380033251210809 Centerline is valid? [True, True] Translation: X:243.55, Y:-22.95, Z:-1.80 [[ 9.73753978e-01 2.27600781e-01 1.03661226e-03 2.43553000e+02] [-2.27600689e-01 9.73754529e-01 -2.07863270e-04 -2.29468533e+01] [-1.05671573e-03 -3.35259783e-05 9.99999441e-01 -1.80198282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68655999499998 meters 0.05357521368886117 Centerline is valid? [True, True] Translation: X:243.61, Y:-22.96, Z:-1.80 [[ 9.74764979e-01 2.23233493e-01 2.08919341e-04 2.43611259e+02] [-2.23233489e-01 9.74765001e-01 -4.19918673e-05 -2.29634182e+01] [-2.13021253e-04 -5.70559169e-06 9.99999977e-01 -1.80423938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74655999499998 meters 0.05280396974213462 Centerline is valid? [True, True] Translation: X:243.67, Y:-22.98, Z:-1.80 [[ 9.75853191e-01 2.18427446e-01 -1.55642559e-05 2.43668846e+02] [-2.18427446e-01 9.75853191e-01 3.17446768e-06 -2.29838348e+01] [ 1.58818195e-05 3.01846245e-07 1.00000000e+00 -1.80432409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.806559995 meters 0.05264416100249757 Centerline is valid? [True, True] Translation: X:243.73, Y:-23.01, Z:-1.80 [[ 9.77859151e-01 2.09263860e-01 3.43548350e-04 2.43725599e+02] [-2.09263849e-01 9.77859211e-01 -6.90893881e-05 -2.30081457e+01] [-3.50399831e-04 -4.33255947e-06 9.99999939e-01 -1.80353261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.866559995 meters 0.05217171442978621 Centerline is valid? [True, True] Translation: X:243.78, Y:-23.03, Z:-1.80 [[ 9.79214246e-01 2.02827003e-01 8.16711073e-04 2.43783962e+02] [-2.02826937e-01 9.79214587e-01 -1.64178871e-04 -2.30318301e+01] [-8.33035304e-04 -4.88471591e-06 9.99999653e-01 -1.79991496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.926559995 meters 0.05191526500423835 Centerline is valid? [True, True] Translation: X:243.84, Y:-23.05, Z:-1.80 [[ 9.80802491e-01 1.94999609e-01 1.27565005e-03 2.43842416e+02] [-1.94999440e-01 9.80803320e-01 -2.56268465e-04 -2.30517926e+01] [-1.30113406e-03 2.59770284e-06 9.99999154e-01 -1.80126740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.986559995 meters 0.052806020857668286 Centerline is valid? [True, True] Translation: X:243.90, Y:-23.07, Z:-1.80 [[ 9.81703755e-01 1.90407049e-01 1.70079898e-03 2.43901739e+02] [-1.90406742e-01 9.81705228e-01 -3.42072439e-04 -2.30694616e+01] [-1.73481626e-03 1.19702031e-05 9.99998495e-01 -1.80081283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.046559995 meters 0.052304111719249945 Centerline is valid? [True, True] Translation: X:243.96, Y:-23.09, Z:-1.80 [[ 9.82858363e-01 1.84356405e-01 1.46770754e-03 2.43960634e+02] [-1.84356169e-01 9.82859459e-01 -2.95692256e-04 -2.30880186e+01] [-1.49706300e-03 2.00426673e-05 9.99998879e-01 -1.80138291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.106559995 meters 0.05310972708025383 Centerline is valid? [True, True] Translation: X:244.02, Y:-23.11, Z:-1.80 [[ 9.83870915e-01 1.78873638e-01 1.49805958e-03 2.44019172e+02] [-1.78873386e-01 9.83872055e-01 -3.01831922e-04 -2.31069401e+01] [-1.52788873e-03 2.90006605e-05 9.99998832e-01 -1.80189639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.166559995 meters 0.05269412357230082 Centerline is valid? [True, True] Translation: X:244.08, Y:-23.12, Z:-1.80 [[ 9.84445911e-01 1.75677974e-01 1.87015210e-03 2.44078308e+02] [-1.75677575e-01 9.84447687e-01 -3.76812279e-04 -2.31233130e+01] [-1.90726453e-03 4.24075215e-05 9.99998180e-01 -1.80213366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.226559995 meters 0.05390736448056802 Centerline is valid? [True, True] Translation: X:244.14, Y:-23.14, Z:-1.80 [[ 9.85419858e-01 1.70122101e-01 2.48494498e-03 2.44136126e+02] [-1.70121378e-01 9.85422988e-01 -5.00847081e-04 -2.31436420e+01] [-2.53392706e-03 7.08023958e-05 9.99996787e-01 -1.80267004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.286559995 meters 0.05388487081347888 Centerline is valid? [True, True] Translation: X:244.20, Y:-23.15, Z:-1.80 [[ 9.86170957e-01 1.65692906e-01 3.56430678e-03 2.44195854e+02] [-1.65691390e-01 9.86177391e-01 -7.18449689e-04 -2.31535880e+01] [-3.63408077e-03 1.17939272e-04 9.99993390e-01 -1.80175987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.346559995 meters 0.053930633040493205 Centerline is valid? [True, True] Translation: X:244.25, Y:-23.17, Z:-1.80 [[ 9.86743665e-01 1.62241259e-01 3.83575187e-03 2.44254587e+02] [-1.62239477e-01 9.86751111e-01 -7.73231980e-04 -2.31691217e+01] [-3.91038254e-03 1.40671381e-04 9.99992345e-01 -1.80177398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40655999499998 meters 0.053691556753237106 Centerline is valid? [True, True] Translation: X:244.32, Y:-23.17, Z:-1.80 [[ 9.87185634e-01 1.59552367e-01 2.75069161e-03 2.44317995e+02] [-1.59551441e-01 9.87189460e-01 -5.54497990e-04 -2.31655386e+01] [-2.80392523e-03 1.08515641e-04 9.99996063e-01 -1.80136697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46655999499998 meters 0.05367520315912066 Centerline is valid? [True, True] Translation: X:244.38, Y:-23.18, Z:-1.80 [[ 9.87108645e-01 1.60042591e-01 1.70048369e-03 2.44377284e+02] [-1.60042239e-01 9.87110108e-01 -3.42259244e-04 -2.31818702e+01] [-1.73334070e-03 6.56978420e-05 9.99998496e-01 -1.80318799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52655999499999 meters 0.05401516339982982 Centerline is valid? [True, True] Translation: X:244.44, Y:-23.19, Z:-1.80 [[ 9.86827150e-01 1.61769280e-01 1.69578805e-03 2.44436988e+02] [-1.61768930e-01 9.86828605e-01 -3.42025320e-04 -2.31945891e+01] [-1.72878134e-03 6.31940532e-05 9.99998504e-01 -1.80393044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.586559995 meters 0.053442158956430987 Centerline is valid? [True, True] Translation: X:244.50, Y:-23.20, Z:-1.80 [[ 9.86659159e-01 1.62784674e-01 2.20316481e-03 2.44498626e+02] [-1.62784087e-01 9.86661616e-01 -4.44384661e-04 -2.32007716e+01] [-2.24611716e-03 7.98160237e-05 9.99997474e-01 -1.80319052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.646559995 meters 0.053527406212445096 Centerline is valid? [True, True] Translation: X:244.56, Y:-23.22, Z:-1.80 [[ 9.86450798e-01 1.64020082e-01 3.49787653e-03 2.44557674e+02] [-1.64018609e-01 9.86456992e-01 -7.05763977e-04 -2.32153838e+01] [-3.56626422e-03 1.22484595e-04 9.99993633e-01 -1.80418473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.706559995 meters 0.05324826671173224 Centerline is valid? [True, True] Translation: X:244.62, Y:-23.22, Z:-1.81 [[ 9.86271511e-01 1.65087035e-01 3.84404479e-03 2.44619517e+02] [-1.65085266e-01 9.86278994e-01 -7.75366604e-04 -2.32232913e+01] [-3.91930360e-03 1.30126837e-04 9.99992311e-01 -1.80504362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.766559995 meters 0.053575864958050806 Centerline is valid? [True, True] Translation: X:244.68, Y:-23.22, Z:-1.81 [[ 9.85806006e-01 1.67862012e-01 2.97727830e-03 2.44681483e+02] [-1.67860961e-01 9.85810497e-01 -6.01128438e-04 -2.32228775e+01] [-3.03593883e-03 9.28272266e-05 9.99995387e-01 -1.80632279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.826559995 meters 0.053670168324455654 Centerline is valid? [True, True] Translation: X:244.74, Y:-23.23, Z:-1.81 [[ 9.85037593e-01 1.72326283e-01 2.14312054e-03 2.44742069e+02] [-1.72325749e-01 9.85039923e-01 -4.32720355e-04 -2.32302217e+01] [-2.18562838e-03 5.69309650e-05 9.99997610e-01 -1.80707293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.886559995 meters 0.05337399687367962 Centerline is valid? [True, True] Translation: X:244.80, Y:-23.25, Z:-1.81 [[ 9.84531453e-01 1.75205486e-01 9.25187354e-04 2.44800574e+02] [-1.75205388e-01 9.84531887e-01 -1.86718617e-04 -2.32479639e+01] [-9.43590577e-04 2.17325418e-05 9.99999555e-01 -1.81003465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.946559995 meters 0.05411687169308961 Centerline is valid? [True, True] Translation: X:244.86, Y:-23.26, Z:-1.81 [[ 9.84343152e-01 1.76260484e-01 8.95433454e-04 2.44861478e+02] [-1.76260392e-01 9.84343559e-01 -1.80547701e-04 -2.32594780e+01] [-9.13237578e-04 1.98914416e-05 9.99999583e-01 -1.81107184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.006559995 meters 0.05343040235493666 Centerline is valid? [True, True] Translation: X:244.92, Y:-23.26, Z:-1.81 [[ 9.83978803e-01 1.78284721e-01 5.22823618e-04 2.44923115e+02] [-1.78284690e-01 9.83978942e-01 -1.04825163e-04 -2.32646568e+01] [-5.33136156e-04 9.93429110e-06 9.99999858e-01 -1.81042178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.066559995 meters 0.05299431196934902 Centerline is valid? [True, True] Translation: X:244.98, Y:-23.27, Z:-1.81 [[ 9.83837948e-01 1.79058194e-01 1.02689073e-03 2.44984874e+02] [-1.79058076e-01 9.83838484e-01 -2.06857050e-04 -2.32743773e+01] [-1.04733407e-03 1.96407381e-05 9.99999451e-01 -1.81034336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.126559995 meters 0.053073258269295605 Centerline is valid? [True, True] Translation: X:245.05, Y:-23.29, Z:-1.81 [[ 9.83499216e-01 1.80909167e-01 1.07990582e-03 2.45045924e+02] [-1.80909036e-01 9.83499808e-01 -2.18064206e-04 -2.32885826e+01] [-1.10153698e-03 1.91012534e-05 9.99999393e-01 -1.81195349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18655999499998 meters 0.05373784772427875 Centerline is valid? [True, True] Translation: X:245.11, Y:-23.30, Z:-1.81 [[ 9.82683822e-01 1.85289323e-01 6.11140269e-04 2.45105244e+02] [-1.85289282e-01 9.82684012e-01 -1.23503641e-04 -2.33013261e+01] [-6.23441677e-04 8.12728800e-06 9.99999806e-01 -1.81498330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24655999499998 meters 0.05245803550056903 Centerline is valid? [True, True] Translation: X:245.17, Y:-23.31, Z:-1.81 [[ 9.81854753e-01 1.89634073e-01 4.03816361e-04 2.45166919e+02] [-1.89634055e-01 9.81854836e-01 -8.15164290e-05 -2.33076417e+01] [-4.11947339e-04 3.45995918e-06 9.99999915e-01 -1.81382221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.306559995 meters 0.052376848914060206 Centerline is valid? [True, True] Translation: X:245.23, Y:-23.31, Z:-1.81 [[ 9.80270758e-01 1.97659158e-01 -3.12252979e-04 2.45228718e+02] [-1.97659148e-01 9.80270808e-01 6.35044165e-05 -2.33147183e+01] [ 3.18644710e-04 -5.31864632e-07 9.99999949e-01 -1.81363761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.366559995 meters 0.05265895578870665 Centerline is valid? [True, True] Translation: X:245.29, Y:-23.33, Z:-1.81 [[ 9.79150761e-01 2.03133731e-01 -6.89238022e-04 2.45289492e+02] [-2.03133683e-01 9.79151003e-01 1.40455264e-04 -2.33255476e+01] [ 7.03399303e-04 2.48057964e-06 9.99999753e-01 -1.81409149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.426559995 meters 0.051688013506590295 Centerline is valid? [True, True] Translation: X:245.35, Y:-23.34, Z:-1.81 [[ 9.77650589e-01 2.10236017e-01 -3.77768622e-04 2.45349464e+02] [-2.10236003e-01 9.77650662e-01 7.73543540e-05 -2.33368668e+01] [ 3.85588415e-04 3.79503552e-06 9.99999926e-01 -1.81412346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.486559995 meters 0.05251509015297233 Centerline is valid? [True, True] Translation: X:245.41, Y:-23.35, Z:-1.81 [[ 9.76772696e-01 2.14275223e-01 1.10840150e-03 2.45409473e+02] [-2.14275107e-01 9.76773325e-01 -2.23887345e-04 -2.33478504e+01] [-1.13063053e-03 -1.88158032e-05 9.99999361e-01 -1.81390382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.546559995 meters 0.05220619375639599 Centerline is valid? [True, True] Translation: X:245.47, Y:-23.36, Z:-1.81 [[ 9.75571505e-01 2.19659045e-01 3.18460811e-03 2.45468519e+02] [-2.19658108e-01 9.75576701e-01 -6.45418473e-04 -2.33565939e+01] [-3.24860148e-03 -6.98731206e-05 9.99994721e-01 -1.81348686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.606559995 meters 0.052875720133080395 Centerline is valid? [True, True] Translation: X:245.53, Y:-23.37, Z:-1.81 [[ 9.74711137e-01 2.23446758e-01 3.12195408e-03 2.45529306e+02] [-2.23445876e-01 9.74716133e-01 -6.32874162e-04 -2.33662517e+01] [-3.18443269e-03 -8.07182705e-05 9.99994926e-01 -1.81422749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.666559995 meters 0.0523999855337488 Centerline is valid? [True, True] Translation: X:245.59, Y:-23.38, Z:-1.82 [[ 9.73550144e-01 2.28471641e-01 9.09045027e-04 2.45588684e+02] [-2.28471569e-01 9.73550568e-01 -1.84236210e-04 -2.33814370e+01] [-9.27094052e-04 -2.83277548e-05 9.99999570e-01 -1.81619588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.726559995 meters 0.051240982130933706 Centerline is valid? [True, True] Translation: X:245.65, Y:-23.40, Z:-1.82 [[ 9.73044789e-01 2.30615129e-01 -7.08337865e-04 2.45646237e+02] [-2.30615085e-01 9.73045046e-01 1.43692378e-04 -2.34041782e+01] [ 7.22382287e-04 2.35342780e-05 9.99999739e-01 -1.81621095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.786559995 meters 0.05306139156766157 Centerline is valid? [True, True] Translation: X:245.71, Y:-23.41, Z:-1.82 [[ 9.72960649e-01 2.30959065e-01 -2.34202207e-03 2.45707349e+02] [-2.30958588e-01 9.72963465e-01 4.75918357e-04 -2.34107574e+01] [ 2.38861957e-03 7.78602763e-05 9.99997144e-01 -1.82000176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.846559995 meters 0.05190085783200389 Centerline is valid? [True, True] Translation: X:245.77, Y:-23.43, Z:-1.82 [[ 9.73386306e-01 2.29156102e-01 -2.56499545e-03 2.45766355e+02] [-2.29155525e-01 9.73389683e-01 5.20617268e-04 -2.34319687e+01] [ 2.61604273e-03 8.10211600e-05 9.99996575e-01 -1.81910508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90655999499998 meters 0.0513638304664509 Centerline is valid? [True, True] Translation: X:245.82, Y:-23.46, Z:-1.82 [[ 9.74631251e-01 2.23815178e-01 -8.31415636e-04 2.45823182e+02] [-2.23815115e-01 9.74631605e-01 1.68724158e-04 -2.34568132e+01] [ 8.48086983e-04 2.16395489e-05 9.99999640e-01 -1.81694239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96655999499998 meters 0.05029786874384687 Centerline is valid? [True, True] Translation: X:245.88, Y:-23.48, Z:-1.82 [[ 9.75379878e-01 2.20530238e-01 7.12378237e-04 2.45880415e+02] [-2.20530191e-01 9.75380138e-01 -1.44546647e-04 -2.34782749e+01] [-7.26716490e-04 -1.61130179e-05 9.99999736e-01 -1.81533696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02655999499999 meters 0.049876887703170544 Centerline is valid? [True, True] Translation: X:245.94, Y:-23.49, Z:-1.82 [[ 9.75853684e-01 2.18411134e-01 2.48288378e-03 2.45939033e+02] [-2.18410559e-01 9.75856841e-01 -5.03714820e-04 -2.34941074e+01] [-2.53295605e-03 -5.07360727e-05 9.99996791e-01 -1.81580792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.086559995 meters 0.04968798708039278 Centerline is valid? [True, True] Translation: X:246.00, Y:-23.51, Z:-1.82 [[ 9.75894274e-01 2.18228632e-01 2.57493365e-03 2.45997926e+02] [-2.18228014e-01 9.75897669e-01 -5.22217592e-04 -2.35131525e+01] [-2.62683458e-03 -5.22934991e-05 9.99996548e-01 -1.81526737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.146559995 meters 0.05048336543566058 Centerline is valid? [True, True] Translation: X:246.06, Y:-23.52, Z:-1.82 [[ 9.75860439e-01 2.18386831e-01 1.89629117e-03 2.46058812e+02] [-2.18386496e-01 9.75862281e-01 -3.84405305e-04 -2.35236497e+01] [-1.93446808e-03 -3.89984544e-05 9.99998128e-01 -1.81842505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.206559995 meters 0.05082886561346815 Centerline is valid? [True, True] Translation: X:246.12, Y:-23.54, Z:-1.82 [[ 9.76014099e-01 2.17703196e-01 1.34051639e-03 2.46119212e+02] [-2.17703028e-01 9.76015019e-01 -2.72009093e-04 -2.35372701e+01] [-1.36758138e-03 -2.63497667e-05 9.99999065e-01 -1.81979142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.266559995 meters 0.050460053033522474 Centerline is valid? [True, True] Translation: X:246.18, Y:-23.55, Z:-1.82 [[ 9.76366349e-01 2.16121744e-01 3.80917284e-04 2.46179932e+02] [-2.16121730e-01 9.76366423e-01 -7.70914959e-05 -2.35523632e+01] [-3.88575995e-04 -7.05496009e-06 9.99999924e-01 -1.82111347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.326559995 meters 0.051044731240282956 Centerline is valid? [True, True] Translation: X:246.24, Y:-23.56, Z:-1.82 [[ 9.76850957e-01 2.13920705e-01 3.73971379e-04 2.46241163e+02] [-2.13920692e-01 9.76851029e-01 -7.51804398e-05 -2.35637964e+01] [-3.81396978e-04 -6.56013148e-06 9.99999927e-01 -1.82189691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.386559995 meters 0.05120559880746533 Centerline is valid? [True, True] Translation: X:246.30, Y:-23.58, Z:-1.82 [[ 9.77372958e-01 2.11510368e-01 2.33792924e-03 2.46301501e+02] [-2.11509837e-01 9.77375753e-01 -4.75135965e-04 -2.35780855e+01] [-2.38553153e-03 -3.01099887e-05 9.99997154e-01 -1.82079854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.446559995 meters 0.05079482598203249 Centerline is valid? [True, True] Translation: X:246.36, Y:-23.59, Z:-1.82 [[ 9.77603382e-01 2.10436127e-01 2.87458488e-03 2.46361738e+02] [-2.10435319e-01 9.77607608e-01 -5.83909802e-04 -2.35901476e+01] [-2.93309176e-03 -3.40819891e-05 9.99995698e-01 -1.82138714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.506559995 meters 0.05075605167397092 Centerline is valid? [True, True] Translation: X:246.42, Y:-23.60, Z:-1.82 [[ 9.77802281e-01 2.09520512e-01 1.96319512e-03 2.46422509e+02] [-2.09520134e-01 9.77804252e-01 -3.98792208e-04 -2.35997661e+01] [-2.00317568e-03 -2.13889738e-05 9.99997993e-01 -1.82497089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.566559995 meters 0.05045514547112896 Centerline is valid? [True, True] Translation: X:246.48, Y:-23.61, Z:-1.82 [[ 9.77709530e-01 2.09959475e-01 1.04605989e-03 2.46483189e+02] [-2.09959368e-01 9.77710089e-01 -2.12184453e-04 -2.36149689e+01] [-1.06729345e-03 -1.21753114e-05 9.99999430e-01 -1.82441129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.626559995 meters 0.051138583726994216 Centerline is valid? [True, True] Translation: X:246.54, Y:-23.63, Z:-1.82 [[ 9.77492383e-01 2.10968518e-01 9.61967263e-04 2.46543598e+02] [-2.10968428e-01 9.77492856e-01 -1.95158937e-04 -2.36277554e+01] [-9.81488520e-04 -1.21783475e-05 9.99999518e-01 -1.82397002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68655999499998 meters 0.05073841505680537 Centerline is valid? [True, True] Translation: X:246.60, Y:-23.64, Z:-1.82 [[ 9.77277407e-01 2.11957967e-01 1.64015862e-03 2.46603982e+02] [-2.11957706e-01 9.77278783e-01 -3.33610004e-04 -2.36372636e+01] [-1.67360352e-03 -2.16147386e-05 9.99998599e-01 -1.82499508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74655999499998 meters 0.050856713745777 Centerline is valid? [True, True] Translation: X:246.66, Y:-23.65, Z:-1.82 [[ 9.76972090e-01 2.13338346e-01 3.50518124e-03 2.46664624e+02] [-2.13337156e-01 9.76978376e-01 -7.14207448e-04 -2.36503552e+01] [-3.57685411e-03 -5.00246559e-05 9.99993602e-01 -1.82457331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.806559995 meters 0.05075500701693576 Centerline is valid? [True, True] Translation: X:246.73, Y:-23.66, Z:-1.83 [[ 9.76773397e-01 2.14245733e-01 3.53498868e-03 2.46725097e+02] [-2.14244527e-01 9.76779792e-01 -7.20748255e-04 -2.36579063e+01] [-3.60732275e-03 -5.33442572e-05 9.99993492e-01 -1.82571004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.866559995 meters 0.05097947982802212 Centerline is valid? [True, True] Translation: X:246.79, Y:-23.67, Z:-1.83 [[ 9.76742855e-01 2.14389122e-01 3.27091736e-03 2.46786293e+02] [-2.14388090e-01 9.76748331e-01 -6.67142318e-04 -2.36714443e+01] [-3.33789113e-03 -4.96192343e-05 9.99994428e-01 -1.82613399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.926559995 meters 0.05107574656115347 Centerline is valid? [True, True] Translation: X:246.85, Y:-23.68, Z:-1.83 [[ 9.76940227e-01 2.13497068e-01 2.60682354e-03 2.46846433e+02] [-2.13496408e-01 9.76943704e-01 -5.31949900e-04 -2.36803162e+01] [-2.66028959e-03 -3.68642060e-05 9.99996461e-01 -1.82824649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.986559995 meters 0.05058086994734043 Centerline is valid? [True, True] Translation: X:246.91, Y:-23.70, Z:-1.83 [[ 9.77270212e-01 2.11975748e-01 3.03550687e-03 2.46906914e+02] [-2.11974845e-01 9.77274926e-01 -6.20116170e-04 -2.36976351e+01] [-3.09797435e-03 -3.74300362e-05 9.99995201e-01 -1.82785685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.046559995 meters 0.051291111730819544 Centerline is valid? [True, True] Translation: X:246.97, Y:-23.71, Z:-1.83 [[ 9.77863460e-01 2.09233179e-01 2.12860845e-03 2.46967676e+02] [-2.09232729e-01 9.77865776e-01 -4.34460092e-04 -2.37111598e+01] [-2.17239682e-03 -2.05319062e-05 9.99997640e-01 -1.82839855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.106559995 meters 0.05102203418025445 Centerline is valid? [True, True] Translation: X:247.03, Y:-23.72, Z:-1.83 [[ 9.78084860e-01 2.08203690e-01 1.10942349e-03 2.47028006e+02] [-2.08203567e-01 9.78085489e-01 -2.26216379e-04 -2.37221736e+01] [-1.13221010e-03 -9.72711265e-06 9.99999359e-01 -1.83042810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.166559995 meters 0.05134438348244011 Centerline is valid? [True, True] Translation: X:247.09, Y:-23.73, Z:-1.83 [[ 9.78327458e-01 2.07063176e-01 4.75449836e-04 2.47089203e+02] [-2.07063153e-01 9.78327574e-01 -9.65107954e-05 -2.37343192e+01] [-4.85129516e-04 -4.02898122e-06 9.99999882e-01 -1.83203522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.226559995 meters 0.05113265409052274 Centerline is valid? [True, True] Translation: X:247.15, Y:-23.75, Z:-1.83 [[ 9.78684299e-01 2.05369196e-01 7.32271727e-04 2.47149905e+02] [-2.05369141e-01 9.78684573e-01 -1.49638913e-04 -2.37466767e+01] [-7.47394266e-04 -3.93676121e-06 9.99999721e-01 -1.83196590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.286559995 meters 0.05080146201080917 Centerline is valid? [True, True] Translation: X:247.21, Y:-23.76, Z:-1.83 [[ 9.78829812e-01 2.04673248e-01 1.03001811e-03 2.47210793e+02] [-2.04673140e-01 9.78830354e-01 -2.10168595e-04 -2.37594134e+01] [-1.05122888e-03 -5.09775515e-06 9.99999447e-01 -1.83177747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.346559995 meters 0.051033844418630916 Centerline is valid? [True, True] Translation: X:247.27, Y:-23.77, Z:-1.83 [[ 9.78934701e-01 2.04168794e-01 1.39791155e-03 2.47270707e+02] [-2.04168594e-01 9.78935699e-01 -2.85774678e-04 -2.37698700e+01] [-1.42681179e-03 -5.65488621e-06 9.99998982e-01 -1.83191779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40655999499998 meters 0.05113853395227284 Centerline is valid? [True, True] Translation: X:247.33, Y:-23.78, Z:-1.83 [[ 9.78792702e-01 2.04841351e-01 2.20620906e-03 2.47332044e+02] [-2.04840853e-01 9.78795188e-01 -4.51645526e-04 -2.37803846e+01] [-2.25194249e-03 -9.85440169e-06 9.99997464e-01 -1.83243681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46655999499998 meters 0.051107621394762714 Centerline is valid? [True, True] Translation: X:247.39, Y:-23.79, Z:-1.83 [[ 9.78484446e-01 2.06306932e-01 2.37442892e-03 2.47393089e+02] [-2.06306359e-01 9.78487327e-01 -4.86496867e-04 -2.37902133e+01] [-2.42371628e-03 -1.38301678e-05 9.99997063e-01 -1.83248675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52655999499999 meters 0.051798920137642084 Centerline is valid? [True, True] Translation: X:247.46, Y:-23.80, Z:-1.83 [[ 9.78339850e-01 2.06989615e-01 2.53726313e-03 2.47455125e+02] [-2.06988962e-01 9.78343140e-01 -5.20129160e-04 -2.38024703e+01] [-2.58997531e-03 -1.63223773e-05 9.99996646e-01 -1.83270401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.586559995 meters 0.05111867661702719 Centerline is valid? [True, True] Translation: X:247.52, Y:-23.81, Z:-1.83 [[ 9.78316975e-01 2.07099463e-01 2.38950995e-03 2.47517495e+02] [-2.07098883e-01 9.78319893e-01 -4.90112714e-04 -2.38136318e+01] [-2.43920720e-03 -1.53792557e-05 9.99997025e-01 -1.83339400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.646559995 meters 0.05084674057452604 Centerline is valid? [True, True] Translation: X:247.58, Y:-23.82, Z:-1.83 [[ 9.78226985e-01 2.07531346e-01 1.64523197e-03 2.47577568e+02] [-2.07531071e-01 9.78228368e-01 -3.37519430e-04 -2.38237252e+01] [-1.67945845e-03 -1.12661390e-05 9.99998590e-01 -1.83445963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.706559995 meters 0.05127828403756796 Centerline is valid? [True, True] Translation: X:247.64, Y:-23.83, Z:-1.84 [[ 9.77851752e-01 2.09295445e-01 1.16932233e-03 2.47638197e+02] [-2.09295308e-01 9.77852451e-01 -2.39814012e-04 -2.38317347e+01] [-1.19361668e-03 -1.02311247e-05 9.99999288e-01 -1.83657586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.766559995 meters 0.05111136678124971 Centerline is valid? [True, True] Translation: X:247.70, Y:-23.85, Z:-1.83 [[ 9.77394502e-01 2.11417429e-01 1.63036553e-03 2.47698726e+02] [-2.11417164e-01 9.77395862e-01 -3.34765385e-04 -2.38455465e+01] [-1.66428776e-03 -1.74894112e-05 9.99998615e-01 -1.83431768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.826559995 meters 0.051305686224747425 Centerline is valid? [True, True] Translation: X:247.76, Y:-23.85, Z:-1.84 [[ 9.77128651e-01 2.12643114e-01 1.58272714e-03 2.47759246e+02] [-2.12642867e-01 9.77129933e-01 -3.25209811e-04 -2.38538284e+01] [-1.61568369e-03 -1.87838107e-05 9.99998695e-01 -1.83562342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.886559995 meters 0.05141322010923662 Centerline is valid? [True, True] Translation: X:247.82, Y:-23.86, Z:-1.84 [[ 9.77134961e-01 2.12615905e-01 1.32062344e-03 2.47819983e+02] [-2.12615732e-01 9.77135854e-01 -2.71298994e-04 -2.38643321e+01] [-1.34811100e-03 -1.56895892e-05 9.99999091e-01 -1.83646492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.946559995 meters 0.05134227755326094 Centerline is valid? [True, True] Translation: X:247.88, Y:-23.88, Z:-1.83 [[ 9.77255726e-01 2.12051473e-01 2.32771668e-03 2.47880231e+02] [-2.12050933e-01 9.77258498e-01 -4.79160963e-04 -2.38802467e+01] [-2.37638769e-03 -2.53316984e-05 9.99997176e-01 -1.83464705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.006559995 meters 0.05137178652122608 Centerline is valid? [True, True] Translation: X:247.94, Y:-23.89, Z:-1.84 [[ 9.77279754e-01 2.11936560e-01 2.67905742e-03 2.47940575e+02] [-2.11935843e-01 9.77283426e-01 -5.51979896e-04 -2.38920192e+01] [-2.73518313e-03 -2.83495142e-05 9.99996259e-01 -1.83522580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.066559995 meters 0.05164830322604577 Centerline is valid? [True, True] Translation: X:248.00, Y:-23.90, Z:-1.84 [[ 9.77078213e-01 2.12864789e-01 2.59759623e-03 2.48001271e+02] [-2.12864117e-01 9.77081665e-01 -5.35423062e-04 -2.39048708e+01] [-2.65203637e-03 -2.97848203e-05 9.99996483e-01 -1.83643314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.126559995 meters 0.051392166025796736 Centerline is valid? [True, True] Translation: X:248.06, Y:-23.92, Z:-1.84 [[ 9.76961944e-01 2.13399819e-01 2.42425322e-03 2.48061477e+02] [-2.13399236e-01 9.76964951e-01 -4.99966316e-04 -2.39181813e+01] [-2.47510315e-03 -2.88857203e-05 9.99996937e-01 -1.83700148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18655999499998 meters 0.051317311187116486 Centerline is valid? [True, True] Translation: X:248.12, Y:-23.93, Z:-1.84 [[ 9.76827770e-01 2.14020919e-01 1.59805732e-03 2.48121938e+02] [-2.14020666e-01 9.76829077e-01 -3.29775243e-04 -2.39254349e+01] [-1.63160766e-03 -1.98836768e-05 9.99998669e-01 -1.84019914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24655999499998 meters 0.05134620853193727 Centerline is valid? [True, True] Translation: X:248.18, Y:-23.94, Z:-1.84 [[ 9.77128457e-01 2.12638771e-01 2.17498411e-03 2.48181345e+02] [-2.12638298e-01 9.77130878e-01 -4.49203656e-04 -2.39431365e+01] [-2.22076224e-03 -2.35552430e-05 9.99997534e-01 -1.83872962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.306559995 meters 0.05155313263430842 Centerline is valid? [True, True] Translation: X:248.24, Y:-23.95, Z:-1.84 [[ 9.77348407e-01 2.11622013e-01 2.49306239e-03 2.48242104e+02] [-2.11621388e-01 9.77351586e-01 -5.14726337e-04 -2.39533651e+01] [-2.54552590e-03 -2.45183574e-05 9.99996760e-01 -1.84034236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.366559995 meters 0.05102837100597248 Centerline is valid? [True, True] Translation: X:248.30, Y:-23.97, Z:-1.84 [[ 9.77159563e-01 2.12489713e-01 2.70363950e-03 2.48303135e+02] [-2.12488981e-01 9.77163303e-01 -5.58557933e-04 -2.39675046e+01] [-2.76058512e-03 -2.86933764e-05 9.99996189e-01 -1.83919464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.426559995 meters 0.05138383080698167 Centerline is valid? [True, True] Translation: X:248.36, Y:-23.98, Z:-1.84 [[ 9.76945872e-01 2.13476811e-01 2.10102279e-03 2.48364250e+02] [-2.13476371e-01 9.76948131e-01 -4.34102676e-04 -2.39794436e+01] [-2.14526115e-03 -2.44239033e-05 9.99997699e-01 -1.83974026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.486559995 meters 0.05124910941204926 Centerline is valid? [True, True] Translation: X:248.42, Y:-23.99, Z:-1.84 [[ 9.76708330e-01 2.14563411e-01 1.83882028e-03 2.48424044e+02] [-2.14563075e-01 9.76710061e-01 -3.80349298e-04 -2.39899196e+01] [-1.87760331e-03 -2.30526055e-05 9.99998237e-01 -1.84071582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.546559995 meters 0.050891824014144375 Centerline is valid? [True, True] Translation: X:248.48, Y:-24.01, Z:-1.84 [[ 9.76724629e-01 2.14485068e-01 2.27051361e-03 2.48482857e+02] [-2.14484555e-01 9.76727267e-01 -4.69642778e-04 -2.40059031e+01] [-2.31840392e-03 -2.82784343e-05 9.99997312e-01 -1.83908125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.606559995 meters 0.05114072393511994 Centerline is valid? [True, True] Translation: X:248.54, Y:-24.02, Z:-1.84 [[ 9.77118535e-01 2.12680174e-01 2.55174813e-03 2.48544205e+02] [-2.12679519e-01 9.77121867e-01 -5.28467717e-04 -2.40180002e+01] [-2.60576350e-03 -2.63289624e-05 9.99996605e-01 -1.83952328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.666559995 meters 0.051256247348381676 Centerline is valid? [True, True] Translation: X:248.60, Y:-24.03, Z:-1.84 [[ 9.77434694e-01 2.11221818e-01 2.60055057e-03 2.48604249e+02] [-2.11221133e-01 9.77438153e-01 -5.38382674e-04 -2.40299536e+01] [-2.65559552e-03 -2.30573336e-05 9.99996474e-01 -1.84038027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.726559995 meters 0.05099296355556269 Centerline is valid? [True, True] Translation: X:248.67, Y:-24.04, Z:-1.84 [[ 9.77465497e-01 2.11082334e-01 2.33465480e-03 2.48665541e+02] [-2.11081782e-01 9.77468285e-01 -4.83398676e-04 -2.40424375e+01] [-2.38408795e-03 -2.02975685e-05 9.99997158e-01 -1.84096480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.786559995 meters 0.05128031662972143 Centerline is valid? [True, True] Translation: X:248.73, Y:-24.05, Z:-1.84 [[ 9.77595927e-01 2.10479069e-01 2.18292952e-03 2.48725496e+02] [-2.10478584e-01 9.77598364e-01 -4.52329335e-04 -2.40545230e+01] [-2.22923419e-03 -1.72645999e-05 9.99997515e-01 -1.84247536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.846559995 meters 0.051634740310889785 Centerline is valid? [True, True] Translation: X:248.79, Y:-24.07, Z:-1.84 [[ 9.77957192e-01 2.08798686e-01 1.68514783e-03 2.48786077e+02] [-2.08798394e-01 9.77958644e-01 -3.49086088e-04 -2.40706260e+01] [-1.72089360e-03 -1.04649102e-05 9.99998519e-01 -1.84118477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90655999499998 meters 0.05066750209345441 Centerline is valid? [True, True] Translation: X:248.85, Y:-24.08, Z:-1.84 [[ 9.78512994e-01 2.06168851e-01 2.59333414e-03 2.48846238e+02] [-2.06168149e-01 9.78516431e-01 -5.38022543e-04 -2.40839426e+01] [-2.64854355e-03 -8.20085095e-06 9.99996493e-01 -1.84157493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96655999499998 meters 0.051676579202749685 Centerline is valid? [True, True] Translation: X:248.91, Y:-24.10, Z:-1.84 [[ 9.78746433e-01 2.05062081e-01 2.22793974e-03 2.48907171e+02] [-2.05061559e-01 9.78748968e-01 -4.62564798e-04 -2.40971356e+01] [-2.27544822e-03 -4.13115024e-06 9.99997411e-01 -1.84326070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02655999499999 meters 0.0511356157523085 Centerline is valid? [True, True] Translation: X:248.97, Y:-24.11, Z:-1.84 [[ 9.78940655e-01 2.04143131e-01 8.80743468e-04 2.48967672e+02] [-2.04143049e-01 9.78941051e-01 -1.82339039e-04 -2.41105391e+01] [-8.99419199e-04 -1.29855831e-06 9.99999596e-01 -1.84281678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.086559995 meters 0.05120443079936763 Centerline is valid? [True, True] Translation: X:249.03, Y:-24.12, Z:-1.85 [[ 9.78828713e-01 2.04677595e-01 1.19727116e-03 2.49028026e+02] [-2.04677444e-01 9.78829445e-01 -2.48278698e-04 -2.41227888e+01] [-1.22274136e-03 -2.03208333e-06 9.99999252e-01 -1.84585649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.146559995 meters 0.05136427676798822 Centerline is valid? [True, True] Translation: X:249.09, Y:-24.14, Z:-1.84 [[ 9.78832733e-01 2.04655175e-01 1.65532103e-03 2.49089288e+02] [-2.04654886e-01 9.78834133e-01 -3.43776117e-04 -2.41358189e+01] [-1.69064028e-03 -2.27022008e-06 9.99998571e-01 -1.84379446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.206559995 meters 0.05146231473249603 Centerline is valid? [True, True] Translation: X:249.15, Y:-24.15, Z:-1.85 [[ 9.78823942e-01 2.04699503e-01 1.34293463e-03 2.49149685e+02] [-2.04699313e-01 9.78824864e-01 -2.78948016e-04 -2.41488584e+01] [-1.37159833e-03 -1.85680027e-06 9.99999059e-01 -1.84528145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.266559995 meters 0.05155835210019046 Centerline is valid? [True, True] Translation: X:249.21, Y:-24.16, Z:-1.84 [[ 9.78800834e-01 2.04813279e-01 6.69828577e-04 2.49211085e+02] [-2.04813232e-01 9.78801063e-01 -1.38695659e-04 -2.41625869e+01] [-6.84035636e-04 -1.43432957e-06 9.99999766e-01 -1.84475186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.326559995 meters 0.05142082332815478 Centerline is valid? [True, True] Translation: X:249.27, Y:-24.18, Z:-1.85 [[ 9.78722198e-01 2.05189618e-01 2.82375602e-04 2.49272458e+02] [-2.05189610e-01 9.78722239e-01 -5.79158561e-05 -2.41758020e+01] [-2.88251014e-04 -1.25700578e-06 9.99999958e-01 -1.84514256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.386559995 meters 0.0516055729919191 Centerline is valid? [True, True] Translation: X:249.33, Y:-24.19, Z:-1.85 [[ 9.78471038e-01 2.06383860e-01 3.59875030e-04 2.49333581e+02] [-2.06383847e-01 9.78471104e-01 -7.45026955e-05 -2.41882890e+01] [-3.67503472e-04 -1.37366320e-06 9.99999932e-01 -1.84873105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.446559995 meters 0.05161934320893165 Centerline is valid? [True, True] Translation: X:249.40, Y:-24.20, Z:-1.85 [[ 9.78073046e-01 2.08261406e-01 5.51102918e-04 2.49395316e+02] [-2.08261375e-01 9.78073201e-01 -1.14125205e-04 -2.42026748e+01] [-5.62786871e-04 -3.15066492e-06 9.99999842e-01 -1.84668980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.506559995 meters 0.051386448500249926 Centerline is valid? [True, True] Translation: X:249.46, Y:-24.21, Z:-1.85 [[ 9.77039369e-01 2.13058717e-01 2.32625019e-04 2.49455036e+02] [-2.13058712e-01 9.77039397e-01 -4.78129470e-05 -2.42145302e+01] [-2.37470774e-04 -2.84765530e-06 9.99999972e-01 -1.84831065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.566559995 meters 0.05134359816920093 Centerline is valid? [True, True] Translation: X:249.52, Y:-24.23, Z:-1.85 [[ 9.75830201e-01 2.18529935e-01 2.94479362e-04 2.49515177e+02] [-2.18529926e-01 9.75830245e-01 -6.14403585e-05 -2.42263527e+01] [-3.00788426e-04 -4.39719594e-06 9.99999955e-01 -1.84828299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.626559995 meters 0.05158914211675552 Centerline is valid? [True, True] Translation: X:249.57, Y:-24.24, Z:-1.85 [[ 9.75053292e-01 2.21970609e-01 3.56872448e-04 2.49574122e+02] [-2.21970597e-01 9.75053357e-01 -7.45986333e-05 -2.42368366e+01] [-3.64528382e-04 -6.47754717e-06 9.99999934e-01 -1.84917397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68655999499998 meters 0.05078496968283292 Centerline is valid? [True, True] Translation: X:249.63, Y:-24.25, Z:-1.85 [[ 9.74101834e-01 2.26108837e-01 6.41038731e-04 2.49633019e+02] [-2.26108797e-01 9.74102045e-01 -1.33945579e-04 -2.42534328e+01] [-6.54723417e-04 -1.44678629e-05 9.99999786e-01 -1.84777064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74655999499998 meters 0.05104244195595995 Centerline is valid? [True, True] Translation: X:249.69, Y:-24.27, Z:-1.85 [[ 9.73745169e-01 2.27640590e-01 3.27787521e-04 2.49693260e+02] [-2.27640580e-01 9.73745224e-01 -6.82925532e-05 -2.42690014e+01] [-3.34727691e-04 -8.11819762e-06 9.99999944e-01 -1.84779180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.806559995 meters 0.05185114569204767 Centerline is valid? [True, True] Translation: X:249.75, Y:-24.28, Z:-1.85 [[ 9.73869454e-01 2.27105481e-01 -1.17794518e-03 2.49753659e+02] [-2.27105347e-01 9.73870166e-01 2.47318254e-04 -2.42806135e+01] [ 1.20333300e-03 2.66619555e-05 9.99999276e-01 -1.84997097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.866559995 meters 0.05136866030236593 Centerline is valid? [True, True] Translation: X:249.81, Y:-24.30, Z:-1.85 [[ 9.74382700e-01 2.24890648e-01 -1.59717054e-03 2.49813746e+02] [-2.24890402e-01 9.74384008e-01 3.34346761e-04 -2.42960405e+01] [ 1.63144889e-03 3.34066261e-05 9.99998669e-01 -1.84940033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.926559995 meters 0.05146786398352746 Centerline is valid? [True, True] Translation: X:249.87, Y:-24.31, Z:-1.85 [[ 9.75095837e-01 2.21783482e-01 -4.42032723e-04 2.49873071e+02] [-2.21783463e-01 9.75095937e-01 9.25467399e-05 -2.43073816e+01] [ 4.51549651e-04 7.79360730e-06 9.99999898e-01 -1.85004228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.986559995 meters 0.051324407003459166 Centerline is valid? [True, True] Translation: X:249.93, Y:-24.32, Z:-1.85 [[ 9.75228762e-01 2.21198364e-01 3.80874813e-04 2.49934080e+02] [-2.21198350e-01 9.75228837e-01 -7.89103464e-05 -2.43206636e+01] [-3.88894940e-04 -7.29324086e-06 9.99999924e-01 -1.84955469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.046559995 meters 0.051585558416697874 Centerline is valid? [True, True] Translation: X:249.99, Y:-24.33, Z:-1.85 [[ 9.74937138e-01 2.22477592e-01 1.13961041e-03 2.49994219e+02] [-2.22477466e-01 9.74937803e-01 -2.38475248e-04 -2.43295489e+01] [-1.16410467e-03 -2.10392594e-05 9.99999322e-01 -1.85101338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.106559995 meters 0.05177608995722493 Centerline is valid? [True, True] Translation: X:250.05, Y:-24.34, Z:-1.85 [[ 9.74650440e-01 2.23733027e-01 2.27750153e-04 2.50054125e+02] [-2.23733022e-01 9.74650467e-01 -4.69430337e-05 -2.43448582e+01] [-2.32479500e-04 -5.20218158e-06 9.99999973e-01 -1.85060049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.166559995 meters 0.051041749157796905 Centerline is valid? [True, True] Translation: X:250.11, Y:-24.36, Z:-1.85 [[ 9.74174913e-01 2.25790314e-01 -1.40442247e-03 2.50113886e+02] [-2.25790124e-01 9.74175925e-01 2.94326839e-04 -2.43576693e+01] [ 1.43461071e-03 3.03789020e-05 9.99998970e-01 -1.85023455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.226559995 meters 0.05083161076095702 Centerline is valid? [True, True] Translation: X:250.17, Y:-24.37, Z:-1.85 [[ 9.73529356e-01 2.28555686e-01 -1.70038800e-03 2.50174069e+02] [-2.28555412e-01 9.73530840e-01 3.56280733e-04 -2.43653321e+01] [ 1.73681014e-03 4.17831268e-05 9.99998491e-01 -1.85061192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.286559995 meters 0.051848716397065404 Centerline is valid? [True, True] Translation: X:250.23, Y:-24.37, Z:-1.85 [[ 9.72896346e-01 2.31236783e-01 -1.49981587e-03 2.50234260e+02] [-2.31236574e-01 9.72897501e-01 3.14202559e-04 -2.43703858e+01] [ 1.53182230e-03 4.11257616e-05 9.99998826e-01 -1.85189407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.346559995 meters 0.05144570315841195 Centerline is valid? [True, True] Translation: X:250.29, Y:-24.39, Z:-1.85 [[ 9.72329689e-01 2.33605355e-01 -1.87460010e-03 2.50293249e+02] [-2.33605032e-01 9.72331494e-01 3.92867288e-04 -2.43885239e+01] [ 1.91450862e-03 5.59194883e-05 9.99998166e-01 -1.84986423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40655999499998 meters 0.052184654047895684 Centerline is valid? [True, True] Translation: X:250.35, Y:-24.40, Z:-1.85 [[ 9.72458126e-01 2.33064654e-01 -2.46162284e-03 2.50354647e+02] [-2.33064092e-01 9.72461239e-01 5.16764793e-04 -2.43951371e+01] [ 2.51427240e-03 7.11837691e-05 9.99996837e-01 -1.85206071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46655999499998 meters 0.05191624914135623 Centerline is valid? [True, True] Translation: X:250.41, Y:-24.41, Z:-1.85 [[ 9.73632807e-01 2.28106621e-01 -2.55455403e-03 2.50413381e+02] [-2.28106001e-01 9.73636157e-01 5.35552797e-04 -2.44106235e+01] [ 2.60936931e-03 6.12773303e-05 9.99996594e-01 -1.85190407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52655999499999 meters 0.0512666550111994 Centerline is valid? [True, True] Translation: X:250.47, Y:-24.43, Z:-1.85 [[ 9.74954594e-01 2.22390441e-01 -2.45587971e-03 2.50471724e+02] [-2.22389849e-01 9.74957686e-01 5.14975813e-04 -2.44316963e+01] [ 2.50890450e-03 4.40846842e-05 9.99996852e-01 -1.84839855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.586559995 meters 0.05181253334499139 Centerline is valid? [True, True] Translation: X:250.53, Y:-24.44, Z:-1.85 [[ 9.76872562e-01 2.13816325e-01 -1.60495085e-03 2.50530158e+02] [-2.13816061e-01 9.76873881e-01 3.36462104e-04 -2.44438354e+01] [ 1.63977565e-03 1.44836706e-05 9.99998655e-01 -1.85257729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.646559995 meters 0.051850805543009165 Centerline is valid? [True, True] Translation: X:250.59, Y:-24.46, Z:-1.85 [[ 9.77447177e-01 2.11174996e-01 -1.46216973e-03 2.50589484e+02] [-2.11174772e-01 9.77448270e-01 3.07484860e-04 -2.44619169e+01] [ 1.49412838e-03 8.22314968e-06 9.99998884e-01 -1.84812416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.706559995 meters 0.05138799776176542 Centerline is valid? [True, True] Translation: X:250.65, Y:-24.48, Z:-1.85 [[ 9.78936791e-01 2.04151626e-01 -2.20745445e-03 2.50649566e+02] [-2.04151100e-01 9.78939280e-01 4.63418513e-04 -2.44791190e+01] [ 2.25557151e-03 -3.00317868e-06 9.99997456e-01 -1.84885446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.766559995 meters 0.051644759085121776 Centerline is valid? [True, True] Translation: X:250.71, Y:-24.49, Z:-1.85 [[ 9.78773012e-01 2.04918179e-01 -3.45404275e-03 2.50709895e+02] [-2.04916894e-01 9.78779107e-01 7.25820920e-04 -2.44900683e+01] [ 3.52947877e-03 -2.62221782e-06 9.99993771e-01 -1.85165872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.826559995 meters 0.05159029430657297 Centerline is valid? [True, True] Translation: X:250.77, Y:-24.50, Z:-1.85 [[ 9.78585207e-01 2.05809260e-01 -3.67993651e-03 2.50771555e+02] [-2.05807805e-01 9.78592126e-01 7.73931250e-04 -2.45009263e+01] [ 3.76043911e-03 1.98314596e-09 9.99992930e-01 -1.85077975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.886559995 meters 0.0517476337729929 Centerline is valid? [True, True] Translation: X:250.83, Y:-24.51, Z:-1.85 [[ 9.77956400e-01 2.08769225e-01 -4.08537937e-03 2.50832949e+02] [-2.08767456e-01 9.77964933e-01 8.59456945e-04 -2.45109690e+01] [ 4.17478592e-03 1.23828382e-05 9.99991285e-01 -1.85090617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.946559995 meters 0.05142292351909772 Centerline is valid? [True, True] Translation: X:250.89, Y:-24.52, Z:-1.85 [[ 9.76912255e-01 2.13577031e-01 -5.22481055e-03 2.50893633e+02] [-2.13574209e-01 9.76926225e-01 1.09879743e-03 -2.45169001e+01] [ 5.33893234e-03 4.24561064e-05 9.99985747e-01 -1.85359265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.006559995 meters 0.05172983307311626 Centerline is valid? [True, True] Translation: X:250.95, Y:-24.53, Z:-1.85 [[ 9.76080587e-01 2.17325123e-01 -6.03968512e-03 2.50954546e+02] [-2.17321417e-01 9.76099271e-01 1.27114353e-03 -2.45276999e+01] [ 6.17158366e-03 7.18144083e-05 9.99980953e-01 -1.85105106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.066559995 meters 0.05194000106252059 Centerline is valid? [True, True] Translation: X:251.01, Y:-24.53, Z:-1.85 [[ 9.74985960e-01 2.22196240e-01 -5.58647654e-03 2.51014534e+02] [-2.22193154e-01 9.75001960e-01 1.17501839e-03 -2.45330300e+01] [ 5.70791024e-03 9.56504052e-05 9.99983705e-01 -1.85251017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.126559995 meters 0.05173351876471406 Centerline is valid? [True, True] Translation: X:251.08, Y:-24.55, Z:-1.85 [[ 9.74680293e-01 2.23548730e-01 -4.92872393e-03 2.51075759e+02] [-2.23546338e-01 9.74692750e-01 1.03809458e-03 -2.45456354e+01] [ 5.03605620e-03 8.99878588e-05 9.99987315e-01 -1.85110241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18655999499998 meters 0.05214249944233648 Centerline is valid? [True, True] Translation: X:251.14, Y:-24.55, Z:-1.85 [[ 9.74747267e-01 2.23290242e-01 -3.03869483e-03 2.51137084e+02] [-2.23289329e-01 9.74752002e-01 6.40600634e-04 -2.45508731e+01] [ 3.10501374e-03 5.40844133e-05 9.99995178e-01 -1.85451893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24655999499998 meters 0.05159996887624686 Centerline is valid? [True, True] Translation: X:251.20, Y:-24.57, Z:-1.85 [[ 9.75005331e-01 2.22168929e-01 -2.36031723e-03 2.51197132e+02] [-2.22168374e-01 9.75008187e-01 4.98056617e-04 -2.45676505e+01] [ 2.41198133e-03 3.87799832e-05 9.99997090e-01 -1.85180576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.306559995 meters 0.05184741570592814 Centerline is valid? [True, True] Translation: X:251.26, Y:-24.58, Z:-1.85 [[ 9.75678329e-01 2.19202267e-01 -1.47127778e-03 2.51256792e+02] [-2.19202048e-01 9.75679438e-01 3.10093300e-04 -2.45783061e+01] [ 1.50346863e-03 1.99557896e-05 9.99998870e-01 -1.85374584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.366559995 meters 0.05165506814557538 Centerline is valid? [True, True] Translation: X:251.32, Y:-24.60, Z:-1.85 [[ 9.76218741e-01 2.16787451e-01 -4.12167009e-04 2.51316474e+02] [-2.16787434e-01 9.76218828e-01 8.70271938e-05 -2.45955802e+01] [ 4.21231599e-04 4.39505077e-06 9.99999911e-01 -1.85180260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.426559995 meters 0.05197883569157515 Centerline is valid? [True, True] Translation: X:251.38, Y:-24.61, Z:-1.85 [[ 9.77111434e-01 2.12724722e-01 -1.19961634e-03 2.51376666e+02] [-2.12724570e-01 9.77112170e-01 2.53743802e-04 -2.46088362e+01] [ 1.22613731e-03 7.25190181e-06 9.99999248e-01 -1.85451699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.486559995 meters 0.05228284326238356 Centerline is valid? [True, True] Translation: X:251.44, Y:-24.62, Z:-1.86 [[ 9.78048847e-01 2.08347257e-01 -3.44588088e-03 2.51436845e+02] [-2.08345989e-01 9.78054917e-01 7.26934243e-04 -2.46245199e+01] [ 3.52171549e-03 6.95826012e-06 9.99993799e-01 -1.85516291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.546559995 meters 0.0520682453507324 Centerline is valid? [True, True] Translation: X:251.50, Y:-24.64, Z:-1.86 [[ 9.78815023e-01 2.04695641e-01 -4.56560354e-03 2.51497776e+02] [-2.04693371e-01 9.78825671e-01 9.64177975e-04 -2.46387252e+01] [ 4.66629297e-03 -9.20311008e-06 9.99989113e-01 -1.85533414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.606559995 meters 0.05274271126558779 Centerline is valid? [True, True] Translation: X:251.56, Y:-24.65, Z:-1.86 [[ 9.79497571e-01 2.01422072e-01 -3.69547633e-03 2.51559038e+02] [-2.01420558e-01 9.79504542e-01 7.81239547e-04 -2.46536579e+01] [ 3.77709474e-03 -2.08773354e-05 9.99992867e-01 -1.85567664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.666559995 meters 0.05231656960162471 Centerline is valid? [True, True] Translation: X:251.62, Y:-24.67, Z:-1.86 [[ 9.79465333e-01 2.01576833e-01 -3.80034984e-03 2.51619352e+02] [-2.01575234e-01 9.79472705e-01 8.03332443e-04 -2.46671969e+01] [ 3.88427215e-03 -2.07798712e-05 9.99992456e-01 -1.85687140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.726559995 meters 0.053207193428173205 Centerline is valid? [True, True] Translation: X:251.68, Y:-24.68, Z:-1.86 [[ 9.79316874e-01 2.02304984e-01 -3.33965600e-03 2.51680377e+02] [-2.02303750e-01 9.79322569e-01 7.06700395e-04 -2.46794369e+01] [ 3.41356950e-03 -1.64586885e-05 9.99994174e-01 -1.85660398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.786559995 meters 0.05241982147064544 Centerline is valid? [True, True] Translation: X:251.74, Y:-24.69, Z:-1.86 [[ 9.78927331e-01 2.04186446e-01 -3.02921105e-03 2.51741531e+02] [-2.04185438e-01 9.78932018e-01 6.41461216e-04 -2.46916038e+01] [ 3.09636937e-03 -9.42313049e-06 9.99995206e-01 -1.85685216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.846559995 meters 0.052906205053822014 Centerline is valid? [True, True] Translation: X:251.80, Y:-24.70, Z:-1.86 [[ 9.78411551e-01 2.06650569e-01 -2.52572915e-03 2.51802986e+02] [-2.06649877e-01 9.78414811e-01 5.34531973e-04 -2.47036902e+01] [ 2.58167214e-03 -1.05063733e-06 9.99996667e-01 -1.85722675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90655999499998 meters 0.0516412424547009 Centerline is valid? [True, True] Translation: X:251.86, Y:-24.71, Z:-1.86 [[ 9.77532859e-01 2.10779321e-01 -1.25992353e-03 2.51863514e+02] [-2.10779151e-01 9.77533671e-01 2.67442733e-04 -2.47142795e+01] [ 1.28798907e-03 4.13155285e-06 9.99999171e-01 -1.85811784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96655999499998 meters 0.05257545406544228 Centerline is valid? [True, True] Translation: X:251.92, Y:-24.73, Z:-1.86 [[ 9.76729553e-01 2.14474636e-01 -1.02446668e-04 2.51923225e+02] [-2.14474635e-01 9.76729559e-01 2.21542467e-05 -2.47259104e+01] [ 1.04814213e-04 3.33504380e-07 9.99999995e-01 -1.85907790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02655999499999 meters 0.05207438122036102 Centerline is valid? [True, True] Translation: X:251.98, Y:-24.74, Z:-1.86 [[ 9.76345708e-01 2.16214628e-01 -5.41053276e-04 2.51983642e+02] [-2.16214598e-01 9.76345858e-01 1.15436131e-04 -2.47390414e+01] [ 5.53214105e-04 4.27804510e-06 9.99999847e-01 -1.85943653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.086559995 meters 0.05195583864337376 Centerline is valid? [True, True] Translation: X:252.04, Y:-24.75, Z:-1.86 [[ 9.75903983e-01 2.18200386e-01 -8.79390425e-05 2.52044684e+02] [-2.18200385e-01 9.75903987e-01 1.94921893e-05 -2.47525940e+01] [ 9.00732653e-05 1.65827779e-07 9.99999996e-01 -1.85898994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.146559995 meters 0.05157938715273022 Centerline is valid? [True, True] Translation: X:252.11, Y:-24.77, Z:-1.86 [[ 9.75592763e-01 2.19586128e-01 -8.32327459e-04 2.52105800e+02] [-2.19586057e-01 9.75593118e-01 1.77343244e-04 -2.47653189e+01] [ 8.50955057e-04 9.75271948e-06 9.99999638e-01 -1.85941511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.206559995 meters 0.05205316007612552 Centerline is valid? [True, True] Translation: X:252.17, Y:-24.78, Z:-1.86 [[ 9.75295870e-01 2.20890225e-01 -2.33988197e-03 2.52166290e+02] [-2.20889668e-01 9.75298676e-01 4.97279687e-04 -2.47785282e+01] [ 2.39192801e-03 3.18609248e-05 9.99997139e-01 -1.86094248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.266559995 meters 0.05257824929017578 Centerline is valid? [True, True] Translation: X:252.23, Y:-24.79, Z:-1.86 [[ 9.75307207e-01 2.20826538e-01 -3.38997338e-03 2.52226239e+02] [-2.20825369e-01 9.75313097e-01 7.19893295e-04 -2.47905331e+01] [ 3.46525698e-03 4.64750025e-05 9.99993995e-01 -1.86300284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.326559995 meters 0.05219484991524431 Centerline is valid? [True, True] Translation: X:252.29, Y:-24.81, Z:-1.86 [[ 9.75692838e-01 2.19123937e-01 -2.86123134e-03 2.52286677e+02] [-2.19123097e-01 9.75697032e-01 6.07653485e-04 -2.48076710e+01] [ 2.92484636e-03 3.40787207e-05 9.99995722e-01 -1.86103835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.386559995 meters 0.051810615408110404 Centerline is valid? [True, True] Translation: X:252.35, Y:-24.83, Z:-1.86 [[ 9.76646300e-01 2.14842012e-01 -2.21688763e-03 2.52346245e+02] [-2.14841497e-01 9.76648816e-01 4.70819222e-04 -2.48256251e+01] [ 2.26627243e-03 1.64556071e-05 9.99997432e-01 -1.85899943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.446559995 meters 0.05189686005195491 Centerline is valid? [True, True] Translation: X:252.41, Y:-24.84, Z:-1.86 [[ 9.77443346e-01 2.11189314e-01 -1.89160704e-03 2.52406317e+02] [-2.11188930e-01 9.77445177e-01 4.02690333e-04 -2.48395937e+01] [ 1.93398607e-03 5.87948106e-06 9.99998130e-01 -1.86318747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.506559995 meters 0.05209428806435617 Centerline is valid? [True, True] Translation: X:252.47, Y:-24.86, Z:-1.86 [[ 9.78753526e-01 2.05036911e-01 -1.18306171e-03 2.52466231e+02] [-2.05036757e-01 9.78754241e-01 2.51813634e-04 -2.48592420e+01] [ 1.20955776e-03 -3.89234652e-06 9.99999268e-01 -1.86007249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.566559995 meters 0.05292939466503265 Centerline is valid? [True, True] Translation: X:252.53, Y:-24.87, Z:-1.86 [[ 9.79138451e-01 2.03191247e-01 -1.10059651e-03 2.52526493e+02] [-2.03191112e-01 9.79139069e-01 2.34205425e-04 -2.48728958e+01] [ 1.12522554e-03 -5.68810735e-06 9.99999367e-01 -1.85961029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.626559995 meters 0.05328364831535827 Centerline is valid? [True, True] Translation: X:252.59, Y:-24.89, Z:-1.86 [[ 9.79906880e-01 1.99447262e-01 -1.81551262e-03 2.52586156e+02] [-1.99446887e-01 9.79908562e-01 3.86838479e-04 -2.48887135e+01] [ 1.85619024e-03 -1.69673450e-05 9.99998277e-01 -1.86055027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68655999499998 meters 0.05232535021975315 Centerline is valid? [True, True] Translation: X:252.64, Y:-24.91, Z:-1.86 [[ 9.80880846e-01 1.94594039e-01 -2.43444946e-03 2.52644050e+02] [-1.94593353e-01 9.80883866e-01 5.17874916e-04 -2.49060600e+01] [ 2.48868757e-03 -3.42459022e-05 9.99996903e-01 -1.86078956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74655999499998 meters 0.053170601844024536 Centerline is valid? [True, True] Translation: X:252.70, Y:-24.92, Z:-1.86 [[ 9.81542786e-01 1.91234295e-01 -1.79009779e-03 2.52704566e+02] [-1.91233919e-01 9.81544417e-01 3.80973743e-04 -2.49209058e+01] [ 1.82991574e-03 -3.16146135e-05 9.99998325e-01 -1.86022598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.806559995 meters 0.05304520844170674 Centerline is valid? [True, True] Translation: X:252.77, Y:-24.93, Z:-1.86 [[ 9.81810743e-01 1.89861858e-01 -3.73816128e-04 2.52765776e+02] [-1.89861841e-01 9.81810814e-01 8.03239721e-05 -2.49278208e+01] [ 3.82267175e-04 -7.88952049e-06 9.99999927e-01 -1.85741227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.866559995 meters 0.05244790004073946 Centerline is valid? [True, True] Translation: X:252.83, Y:-24.95, Z:-1.86 [[ 9.81605891e-01 1.90911693e-01 1.61240465e-03 2.52825660e+02] [-1.90911387e-01 9.81607215e-01 -3.42692505e-04 -2.49469106e+01] [-1.64817205e-03 2.85625734e-05 9.99998641e-01 -1.85865711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.926559995 meters 0.05223059021535545 Centerline is valid? [True, True] Translation: X:252.89, Y:-24.96, Z:-1.86 [[ 9.81114400e-01 1.93423904e-01 1.31439691e-03 2.52886178e+02] [-1.93423703e-01 9.81115280e-01 -2.79143793e-04 -2.49551098e+01] [-1.34356798e-03 1.96364763e-05 9.99999097e-01 -1.85880734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.986559995 meters 0.05292265305981575 Centerline is valid? [True, True] Translation: X:252.95, Y:-24.96, Z:-1.86 [[ 9.79650431e-01 2.00707816e-01 1.18558826e-03 2.52946707e+02] [-2.00707657e-01 9.79651148e-01 -2.52509907e-04 -2.49610438e+01] [-1.21214361e-03 9.41479691e-06 9.99999265e-01 -1.86104549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.046559995 meters 0.05241382148462992 Centerline is valid? [True, True] Translation: X:253.01, Y:-24.97, Z:-1.86 [[ 9.77516997e-01 2.10851711e-01 1.44122672e-03 2.53009430e+02] [-2.10851488e-01 9.77518059e-01 -3.06654877e-04 -2.49674083e+01] [-1.47348385e-03 -4.12444347e-06 9.99998914e-01 -1.86150295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.106559995 meters 0.05185369546832424 Centerline is valid? [True, True] Translation: X:253.07, Y:-24.97, Z:-1.86 [[ 9.75835394e-01 2.18498531e-01 1.91737405e-03 2.53070590e+02] [-2.18498151e-01 9.75837277e-01 -4.07868526e-04 -2.49731109e+01] [-1.96016375e-03 -2.09301409e-05 9.99998079e-01 -1.86365491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.166559995 meters 0.05296433099473811 Centerline is valid? [True, True] Translation: X:253.13, Y:-24.97, Z:-1.86 [[ 9.73729219e-01 2.27671233e-01 4.14950699e-03 2.53131837e+02] [-2.27669531e-01 9.73738057e-01 -8.84403615e-04 -2.49746219e+01] [-4.24188613e-03 -8.35466665e-05 9.99991000e-01 -1.86432223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.226559995 meters 0.05207856456675579 Centerline is valid? [True, True] Translation: X:253.19, Y:-24.99, Z:-1.86 [[ 9.72686155e-01 2.32049743e-01 5.87879161e-03 2.53191361e+02] [-2.32046405e-01 9.72703910e-01 -1.25315519e-03 -2.49861603e+01] [-6.00911792e-03 -1.45225751e-04 9.99981935e-01 -1.86407686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.286559995 meters 0.05085160706519525 Centerline is valid? [True, True] Translation: X:253.25, Y:-25.00, Z:-1.86 [[ 9.71593841e-01 2.36527908e-01 7.74320465e-03 2.53249935e+02] [-2.36522258e-01 9.71624669e-01 -1.65066119e-03 -2.50011515e+01] [-7.91391609e-03 -2.27668002e-04 9.99968659e-01 -1.86430388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.346559995 meters 0.052603197553835725 Centerline is valid? [True, True] Translation: X:253.31, Y:-25.00, Z:-1.87 [[ 9.71033531e-01 2.38829358e-01 7.37690695e-03 2.53310976e+02] [-2.38824296e-01 9.71061524e-01 -1.57263089e-03 -2.50030978e+01] [-7.53902093e-03 -2.34707278e-04 9.99971554e-01 -1.86606309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40655999499998 meters 0.05245703024586444 Centerline is valid? [True, True] Translation: X:253.37, Y:-25.02, Z:-1.87 [[ 9.70550619e-01 2.40834417e-01 5.50274950e-03 2.53370487e+02] [-2.40831633e-01 9.70566200e-01 -1.17307929e-03 -2.50157303e+01] [-5.62330054e-03 -1.86703314e-04 9.99984172e-01 -1.86906621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46655999499998 meters 0.05325031341525979 Centerline is valid? [True, True] Translation: X:253.43, Y:-25.03, Z:-1.87 [[ 9.70602233e-01 2.40658439e-01 3.84974748e-03 2.53431711e+02] [-2.40657076e-01 9.70609859e-01 -8.20368340e-04 -2.50258926e+01] [-3.93403142e-03 -1.30217627e-04 9.99992253e-01 -1.87203372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52655999499999 meters 0.051340856695246254 Centerline is valid? [True, True] Translation: X:253.49, Y:-25.05, Z:-1.87 [[ 9.71483721e-01 2.37091483e-01 2.64746998e-03 2.53488415e+02] [-2.37090824e-01 9.71487325e-01 -5.64664918e-04 -2.50500227e+01] [-2.70586077e-03 -7.91280629e-05 9.99996336e-01 -1.87448261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.586559995 meters 0.05156943383446039 Centerline is valid? [True, True] Translation: X:253.55, Y:-25.07, Z:-1.88 [[ 9.73190050e-01 2.29956454e-01 4.59949401e-03 2.53546724e+02] [-2.29954384e-01 9.73200914e-01 -9.81080649e-04 -2.50677591e+01] [-4.70183760e-03 -1.02895887e-04 9.99988941e-01 -1.87520146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.646559995 meters 0.05176242005722071 Centerline is valid? [True, True] Translation: X:253.60, Y:-25.08, Z:-1.88 [[ 9.74106844e-01 2.26016161e-01 5.70532472e-03 2.53604901e+02] [-2.26012909e-01 9.74123547e-01 -1.21702951e-03 -2.50826697e+01] [-5.83275949e-03 -1.03960261e-04 9.99982984e-01 -1.87506178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.706559995 meters 0.05130876131293228 Centerline is valid? [True, True] Translation: X:253.66, Y:-25.10, Z:-1.88 [[ 9.74704862e-01 2.23388168e-01 6.93956539e-03 2.53664392e+02] [-2.23383289e-01 9.74729560e-01 -1.48030487e-03 -2.51001137e+01] [-7.09488211e-03 -1.07322580e-04 9.99974825e-01 -1.87508478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.766559995 meters 0.051226421504667184 Centerline is valid? [True, True] Translation: X:253.72, Y:-25.12, Z:-1.88 [[ 9.75060341e-01 2.21824673e-01 7.15163632e-03 2.53724186e+02] [-2.21819448e-01 9.75086563e-01 -1.52571088e-03 -2.51176753e+01] [-7.31190479e-03 -9.87118451e-05 9.99973263e-01 -1.87666088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.826559995 meters 0.05080852636148394 Centerline is valid? [True, True] Translation: X:253.78, Y:-25.13, Z:-1.88 [[ 9.75535545e-01 2.19741851e-01 6.62722246e-03 2.53783476e+02] [-2.19737311e-01 9.75558052e-01 -1.41453967e-03 -2.51314613e+01] [-6.77607380e-03 -7.63143140e-05 9.99977039e-01 -1.87856099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.886559995 meters 0.050659174914991625 Centerline is valid? [True, True] Translation: X:253.84, Y:-25.15, Z:-1.88 [[ 9.75726624e-01 2.18885806e-01 6.82339268e-03 2.53844025e+02] [-2.18880968e-01 9.75750480e-01 -1.45718131e-03 -2.51476200e+01] [-6.97688499e-03 -7.17001888e-05 9.99975659e-01 -1.87918854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.946559995 meters 0.05082388431318261 Centerline is valid? [True, True] Translation: X:253.90, Y:-25.16, Z:-1.88 [[ 9.76245094e-01 2.16569800e-01 6.56042233e-03 2.53904369e+02] [-2.16565273e-01 9.76267135e-01 -1.40123253e-03 -2.51625302e+01] [-6.70818936e-03 -5.28132692e-05 9.99977498e-01 -1.88012118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.006559995 meters 0.050410971325908646 Centerline is valid? [True, True] Translation: X:253.96, Y:-25.18, Z:-1.88 [[ 9.77172770e-01 2.12327588e-01 7.09734458e-03 2.53964145e+02] [-2.12322171e-01 9.77198544e-01 -1.51681145e-03 -2.51782243e+01] [-7.25757571e-03 -2.47367672e-05 9.99973663e-01 -1.88110999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.066559995 meters 0.050643311083882904 Centerline is valid? [True, True] Translation: X:254.02, Y:-25.19, Z:-1.88 [[ 9.77841294e-01 2.09241904e-01 6.65047486e-03 2.54023713e+02] [-2.09237075e-01 9.77863910e-01 -1.42153271e-03 -2.51929007e+01] [-6.80070356e-03 -1.49252692e-06 9.99976875e-01 -1.88164682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.126559995 meters 0.05084285827635051 Centerline is valid? [True, True] Translation: X:254.08, Y:-25.21, Z:-1.88 [[ 9.78759415e-01 2.04883802e-01 7.25499801e-03 2.54084167e+02] [-2.04877930e-01 9.78786303e-01 -1.55161370e-03 -2.52075738e+01] [-7.41899320e-03 3.22675432e-05 9.99972478e-01 -1.88303822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18655999499998 meters 0.051455091609601614 Centerline is valid? [True, True] Translation: X:254.14, Y:-25.22, Z:-1.88 [[ 9.79278820e-01 2.02383351e-01 7.34650069e-03 2.54143557e+02] [-2.02377256e-01 9.79306375e-01 -1.57150997e-03 -2.52224937e+01] [-7.51252242e-03 5.21817756e-05 9.99971779e-01 -1.88371450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24655999499998 meters 0.05114301331548094 Centerline is valid? [True, True] Translation: X:254.20, Y:-25.24, Z:-1.88 [[ 9.79749730e-01 2.00072477e-01 7.84034573e-03 2.54204069e+02] [-2.00065454e-01 9.79781097e-01 -1.67808033e-03 -2.52351810e+01] [-8.01756023e-03 7.55164213e-05 9.99967856e-01 -1.88384491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.306559995 meters 0.05155752115544134 Centerline is valid? [True, True] Translation: X:254.26, Y:-25.25, Z:-1.88 [[ 9.80100584e-01 1.98380375e-01 6.93343315e-03 2.54263868e+02] [-1.98374835e-01 9.80125104e-01 -1.48472822e-03 -2.52487703e+01] [-7.09017283e-03 7.97643333e-05 9.99974861e-01 -1.88442525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.366559995 meters 0.05160615605945334 Centerline is valid? [True, True] Translation: X:254.33, Y:-25.26, Z:-1.89 [[ 9.79995833e-01 1.98868930e-01 7.70171691e-03 2.54325048e+02] [-1.98862102e-01 9.80026092e-01 -1.65018154e-03 -2.52590802e+01] [-7.87605336e-03 8.55914193e-05 9.99968980e-01 -1.88556502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.426559995 meters 0.051595431532674305 Centerline is valid? [True, True] Translation: X:254.39, Y:-25.27, Z:-1.89 [[ 9.79328080e-01 2.02129347e-01 7.76136700e-03 2.54385217e+02] [-2.02122512e-01 9.79358833e-01 -1.66334431e-03 -2.52706244e+01] [-7.93737402e-03 6.02127945e-05 9.99968497e-01 -1.88572611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.486559995 meters 0.051248116196291695 Centerline is valid? [True, True] Translation: X:254.45, Y:-25.28, Z:-1.89 [[ 9.79046441e-01 2.03488892e-01 7.76766479e-03 2.54446569e+02] [-2.03482081e-01 9.79077253e-01 -1.66563691e-03 -2.52820577e+01] [-7.94408252e-03 5.01552930e-05 9.99968444e-01 -1.88617315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.546559995 meters 0.05098127829054396 Centerline is valid? [True, True] Translation: X:254.51, Y:-25.29, Z:-1.89 [[ 9.77978890e-01 2.08584102e-01 7.06848274e-03 2.54507531e+02] [-2.08578590e-01 9.78004434e-01 -1.51646809e-03 -2.52896864e+01] [-7.22931860e-03 8.73961921e-06 9.99973868e-01 -1.88668254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.606559995 meters 0.05105736493836409 Centerline is valid? [True, True] Translation: X:254.57, Y:-25.30, Z:-1.89 [[ 9.77175852e-01 2.12331761e-01 6.52512822e-03 2.54570142e+02] [-2.12327143e-01 9.77197638e-01 -1.40052486e-03 -2.52993524e+01] [-6.67371579e-03 -1.69027573e-05 9.99977730e-01 -1.88745597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.666559995 meters 0.051103722831550076 Centerline is valid? [True, True] Translation: X:254.63, Y:-25.31, Z:-1.89 [[ 9.76078164e-01 2.17372257e-01 4.55182217e-03 2.54630749e+02] [-2.17370062e-01 9.76088777e-01 -9.77641692e-04 -2.53063654e+01] [-4.65549472e-03 -3.51751579e-05 9.99989163e-01 -1.88926609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.726559995 meters 0.05097665126463065 Centerline is valid? [True, True] Translation: X:254.69, Y:-25.32, Z:-1.89 [[ 9.75526078e-01 2.19852673e-01 3.69761151e-03 2.54691577e+02] [-2.19851243e-01 9.75533085e-01 -7.94056531e-04 -2.53164636e+01] [-3.78171782e-03 -3.83016322e-05 9.99992849e-01 -1.88898083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.786559995 meters 0.05064252315008318 Centerline is valid? [True, True] Translation: X:254.75, Y:-25.33, Z:-1.89 [[ 9.75596797e-01 2.19541030e-01 3.55319614e-03 2.54753050e+02] [-2.19539707e-01 9.75603267e-01 -7.62969519e-04 -2.53299837e+01] [-3.63401288e-03 -3.57170220e-05 9.99993396e-01 -1.88853957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.846559995 meters 0.05114183316148806 Centerline is valid? [True, True] Translation: X:254.81, Y:-25.34, Z:-1.89 [[ 9.75922904e-01 2.18088617e-01 3.44093051e-03 2.54813653e+02] [-2.18087365e-01 9.75928970e-01 -7.39373923e-04 -2.53435445e+01] [-3.51935280e-03 -2.88515225e-05 9.99993807e-01 -1.88824146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90655999499998 meters 0.051895746608680696 Centerline is valid? [True, True] Translation: X:254.87, Y:-25.36, Z:-1.89 [[ 9.76514529e-01 2.15429917e-01 3.05380802e-03 2.54873992e+02] [-2.15428917e-01 9.76519304e-01 -6.56462331e-04 -2.53576883e+01] [-3.12352410e-03 -1.68335498e-05 9.99995122e-01 -1.88819558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96655999499998 meters 0.05191708916123934 Centerline is valid? [True, True] Translation: X:254.93, Y:-25.37, Z:-1.89 [[ 9.76936062e-01 2.13511897e-01 2.93285815e-03 2.54934487e+02] [-2.13510965e-01 9.76940464e-01 -6.30785404e-04 -2.53713917e+01] [-2.99990799e-03 -9.96036658e-06 9.99995500e-01 -1.88792468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02655999499999 meters 0.05159336974955786 Centerline is valid? [True, True] Translation: X:254.99, Y:-25.38, Z:-1.89 [[ 9.76992496e-01 2.13262403e-01 2.19301036e-03 2.54994748e+02] [-2.13261882e-01 9.76994958e-01 -4.71665905e-04 -2.53839156e+01] [-2.24314867e-03 -6.87146618e-06 9.99997484e-01 -1.88869014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.086559995 meters 0.05198206618162017 Centerline is valid? [True, True] Translation: X:255.06, Y:-25.40, Z:-1.89 [[ 9.77086755e-01 2.12838823e-01 1.05285281e-03 2.55056153e+02] [-2.12838703e-01 9.77087322e-01 -2.26048435e-04 -2.53973437e+01] [-1.07684102e-03 -3.21889598e-06 9.99999420e-01 -1.88881415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.146559995 meters 0.05188249117521652 Centerline is valid? [True, True] Translation: X:255.12, Y:-25.41, Z:-1.89 [[ 9.77022305e-01 2.13135575e-01 8.01631072e-04 2.55117302e+02] [-2.13135505e-01 9.77022634e-01 -1.71972970e-04 -2.54111514e+01] [-8.19865259e-04 -2.83461600e-06 9.99999664e-01 -1.88868192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.206559995 meters 0.05213736013553518 Centerline is valid? [True, True] Translation: X:255.18, Y:-25.42, Z:-1.89 [[ 9.76793707e-01 2.14182229e-01 1.64012960e-04 2.55178473e+02] [-2.14182226e-01 9.76793721e-01 -3.45300329e-05 -2.54239519e+01] [-1.67602549e-04 -1.39994206e-06 9.99999986e-01 -1.88836615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.266559995 meters 0.05181159941962046 Centerline is valid? [True, True] Translation: X:255.24, Y:-25.44, Z:-1.89 [[ 9.76405578e-01 2.15944625e-01 -2.58922697e-04 2.55239724e+02] [-2.15944618e-01 9.76405612e-01 5.68149755e-05 -2.54361977e+01] [ 2.65082463e-04 4.38503940e-07 9.99999965e-01 -1.88792599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.326559995 meters 0.05231843687686552 Centerline is valid? [True, True] Translation: X:255.30, Y:-25.45, Z:-1.89 [[ 9.76050159e-01 2.17545581e-01 -8.75037822e-05 2.55300640e+02] [-2.17545580e-01 9.76050163e-01 1.97932460e-05 -2.54484765e+01] [ 8.97140140e-05 -2.83139863e-07 9.99999996e-01 -1.88809152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.386559995 meters 0.052294571056467266 Centerline is valid? [True, True] Translation: X:255.36, Y:-25.46, Z:-1.89 [[ 9.75787034e-01 2.18722690e-01 2.24064481e-04 2.55361179e+02] [-2.18722685e-01 9.75787059e-01 -4.75247224e-05 -2.54601417e+01] [-2.29033957e-04 -2.63397700e-06 9.99999974e-01 -1.88751993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.446559995 meters 0.052149553331388585 Centerline is valid? [True, True] Translation: X:255.42, Y:-25.47, Z:-1.89 [[ 9.75790406e-01 2.18706126e-01 8.44371900e-04 2.55421524e+02] [-2.18706051e-01 9.75790772e-01 -1.81922547e-04 -2.54707385e+01] [-8.63717883e-04 -7.15096733e-06 9.99999627e-01 -1.88891660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.506559995 meters 0.05217924033654451 Centerline is valid? [True, True] Translation: X:255.48, Y:-25.48, Z:-1.89 [[ 9.75938540e-01 2.18041156e-01 1.42160905e-03 2.55482050e+02] [-2.18040940e-01 9.75939575e-01 -3.06960937e-04 -2.54848735e+01] [-1.45433465e-03 -1.03939647e-05 9.99998942e-01 -1.88802663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.566559995 meters 0.05227031282071852 Centerline is valid? [True, True] Translation: X:255.54, Y:-25.50, Z:-1.89 [[ 9.75921201e-01 2.18121025e-01 1.01405857e-03 2.55543288e+02] [-2.18120916e-01 9.75921728e-01 -2.18790951e-04 -2.54969741e+01] [-1.03736470e-03 -7.66465644e-06 9.99999462e-01 -1.88939126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.626559995 meters 0.05110716691767375 Centerline is valid? [True, True] Translation: X:255.60, Y:-25.51, Z:-1.89 [[ 9.75614966e-01 2.19489038e-01 3.10511790e-06 2.55604005e+02] [-2.19489038e-01 9.75614966e-01 1.47425329e-07 -2.55082185e+01] [-2.99704134e-06 -8.25369698e-07 1.00000000e+00 -1.89070803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68655999499998 meters 0.05222495076852561 Centerline is valid? [True, True] Translation: X:255.66, Y:-25.52, Z:-1.89 [[ 9.75421430e-01 2.20347528e-01 -2.99211317e-05 2.55664797e+02] [-2.20347528e-01 9.75421430e-01 7.31050769e-06 -2.55204325e+01] [ 3.07965653e-05 -5.37778464e-07 1.00000000e+00 -1.89126239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74655999499998 meters 0.05222706472950531 Centerline is valid? [True, True] Translation: X:255.72, Y:-25.53, Z:-1.89 [[ 9.75288034e-01 2.20936843e-01 -4.01824255e-04 2.55724481e+02] [-2.20936826e-01 9.75288117e-01 8.79362592e-05 -2.55324459e+01] [ 4.11322781e-04 3.01459401e-06 9.99999915e-01 -1.89200991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.806559995 meters 0.051779783353971556 Centerline is valid? [True, True] Translation: X:255.78, Y:-25.55, Z:-1.89 [[ 9.75337723e-01 2.20714697e-01 -1.16149072e-03 2.55784464e+02] [-2.20714553e-01 9.75338414e-01 2.52505520e-04 -2.55471864e+01] [ 1.18857819e-03 1.00797456e-05 9.99999294e-01 -1.89076149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.866559995 meters 0.05184306415397237 Centerline is valid? [True, True] Translation: X:255.84, Y:-25.56, Z:-1.89 [[ 9.75474712e-01 2.20108289e-01 -1.19488255e-03 2.55844790e+02] [-2.20108135e-01 9.75475444e-01 2.60332445e-04 -2.55619313e+01] [ 1.22287991e-03 9.05565294e-06 9.99999252e-01 -1.88987310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.926559995 meters 0.05127974678781847 Centerline is valid? [True, True] Translation: X:255.90, Y:-25.58, Z:-1.89 [[ 9.75878590e-01 2.18313932e-01 -7.11846489e-05 2.55904620e+02] [-2.18313932e-01 9.75878592e-01 1.62734472e-05 -2.55755398e+01] [ 7.30202952e-05 -3.40308146e-07 9.99999997e-01 -1.89067716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.986559995 meters 0.051539598883429676 Centerline is valid? [True, True] Translation: X:255.97, Y:-25.59, Z:-1.89 [[ 9.76172452e-01 2.16996047e-01 -2.44713826e-04 2.55965446e+02] [-2.16996040e-01 9.76172483e-01 5.40557854e-05 -2.55889059e+01] [ 2.50612794e-04 3.34162594e-07 9.99999969e-01 -1.89193987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.046559995 meters 0.051805309775671826 Centerline is valid? [True, True] Translation: X:256.03, Y:-25.60, Z:-1.89 [[ 9.76479382e-01 2.15610184e-01 -5.14864454e-04 2.56026976e+02] [-2.15610155e-01 9.76479518e-01 1.13000270e-04 -2.56030463e+01] [ 5.27118603e-04 6.67570929e-07 9.99999861e-01 -1.89228347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.106559995 meters 0.052610899297115106 Centerline is valid? [True, True] Translation: X:256.09, Y:-25.62, Z:-1.90 [[ 9.77151796e-01 2.12535804e-01 -1.70272999e-03 2.56086268e+02] [-2.12535480e-01 9.77153280e-01 3.71373473e-04 -2.56176277e+01] [ 1.74275835e-03 -9.97721869e-07 9.99998481e-01 -1.89513394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.166559995 meters 0.051830829894388315 Centerline is valid? [True, True] Translation: X:256.15, Y:-25.63, Z:-1.89 [[ 9.77641145e-01 2.10276162e-01 -1.31458863e-03 2.56147651e+02] [-2.10275967e-01 9.77642028e-01 2.86599117e-04 -2.56333291e+01] [ 1.34546206e-03 -3.76469362e-06 9.99999095e-01 -1.89420065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.226559995 meters 0.05261610339257987 Centerline is valid? [True, True] Translation: X:256.21, Y:-25.65, Z:-1.89 [[ 9.78084293e-01 2.08206228e-01 -1.13249141e-03 2.56208274e+02] [-2.08206081e-01 9.78084949e-01 2.47562277e-04 -2.56473921e+01] [ 1.15921681e-03 -6.34517713e-06 9.99999328e-01 -1.89324397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.286559995 meters 0.052128419666283565 Centerline is valid? [True, True] Translation: X:256.27, Y:-25.66, Z:-1.89 [[ 9.78124771e-01 2.08017923e-01 -6.90135885e-04 2.56269501e+02] [-2.08017868e-01 9.78125014e-01 1.51448515e-04 -2.56601606e+01] [ 7.06543177e-04 -4.57494850e-06 9.99999750e-01 -1.89312954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.346559995 meters 0.053200780068819994 Centerline is valid? [True, True] Translation: X:256.33, Y:-25.67, Z:-1.89 [[ 9.77817871e-01 2.09456540e-01 -4.10518591e-04 2.56329689e+02] [-2.09456521e-01 9.77817957e-01 9.00144954e-05 -2.56716619e+01] [ 4.20266575e-04 -2.03198652e-06 9.99999912e-01 -1.89001064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40655999499998 meters 0.05236682312951318 Centerline is valid? [True, True] Translation: X:256.39, Y:-25.69, Z:-1.89 [[ 9.77575819e-01 2.10583456e-01 -3.55883832e-04 2.56390411e+02] [-2.10583441e-01 9.77575884e-01 7.86101421e-05 -2.56858732e+01] [ 3.64457447e-04 -1.90413208e-06 9.99999934e-01 -1.89447245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46655999499998 meters 0.05283362109404424 Centerline is valid? [True, True] Translation: X:256.45, Y:-25.70, Z:-1.89 [[ 9.76926835e-01 2.13571611e-01 -1.06086133e-03 2.56452732e+02] [-2.13571485e-01 9.76927411e-01 2.31943793e-04 -2.56955040e+01] [ 1.08592112e-03 -2.23871252e-08 9.99999410e-01 -1.89391910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52655999499999 meters 0.05242842725335094 Centerline is valid? [True, True] Translation: X:256.51, Y:-25.71, Z:-1.89 [[ 9.76394425e-01 2.15994334e-01 -6.11941195e-04 2.56514456e+02] [-2.15994293e-01 9.76394617e-01 1.34640229e-04 -2.57062463e+01] [ 6.26577616e-04 7.13836229e-07 9.99999804e-01 -1.89456956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.586559995 meters 0.052752088672059695 Centerline is valid? [True, True] Translation: X:256.58, Y:-25.72, Z:-1.89 [[ 9.75968084e-01 2.17912974e-01 4.84413169e-04 2.56575306e+02] [-2.17912948e-01 9.75968204e-01 -1.04899298e-04 -2.57171318e+01] [-4.95630769e-04 -3.18153508e-06 9.99999877e-01 -1.89422579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.646559995 meters 0.05213106722725388 Centerline is valid? [True, True] Translation: X:256.64, Y:-25.73, Z:-1.90 [[ 9.76036440e-01 2.17603719e-01 1.22031489e-03 2.56636017e+02] [-2.17603557e-01 9.76037203e-01 -2.65960532e-04 -2.57273987e+01] [-1.24894673e-03 -5.95768891e-06 9.99999220e-01 -1.89529428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.706559995 meters 0.05268250231587557 Centerline is valid? [True, True] Translation: X:256.70, Y:-25.74, Z:-1.90 [[ 9.76133356e-01 2.17166508e-01 1.54273864e-03 2.56696563e+02] [-2.17166246e-01 9.76134575e-01 -3.37002094e-04 -2.57394679e+01] [-1.57910609e-03 -6.07177463e-06 9.99998753e-01 -1.89517433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.766559995 meters 0.05200847712814481 Centerline is valid? [True, True] Translation: X:256.76, Y:-25.75, Z:-1.90 [[ 9.76154915e-01 2.17070553e-01 1.39892305e-03 2.56758247e+02] [-2.17070339e-01 9.76155917e-01 -3.05053650e-04 -2.57517133e+01] [-1.43178518e-03 -5.88508085e-06 9.99998975e-01 -1.89561362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.826559995 meters 0.0530432793036606 Centerline is valid? [True, True] Translation: X:256.82, Y:-25.76, Z:-1.90 [[ 9.76192362e-01 2.16904352e-01 9.86817940e-04 2.56818866e+02] [-2.16904245e-01 9.76192861e-01 -2.15091290e-04 -2.57622823e+01] [-1.00997886e-03 -4.07452575e-06 9.99999490e-01 -1.89963307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.886559995 meters 0.053145004092147966 Centerline is valid? [True, True] Translation: X:256.88, Y:-25.78, Z:-1.90 [[ 9.76283252e-01 2.16494980e-01 9.67630488e-04 2.56880829e+02] [-2.16494876e-01 9.76283731e-01 -2.11455161e-04 -2.57754426e+01] [-9.90460884e-04 -3.04691065e-06 9.99999509e-01 -1.89838389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.946559995 meters 0.05228402904670563 Centerline is valid? [True, True] Translation: X:256.94, Y:-25.79, Z:-1.90 [[ 9.76294881e-01 2.16440826e-01 1.29405839e-03 2.56941662e+02] [-2.16440642e-01 9.76295738e-01 -2.82605875e-04 -2.57870487e+01] [-1.32455114e-03 -4.18016069e-06 9.99999123e-01 -1.89936288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.006559995 meters 0.052422521765634306 Centerline is valid? [True, True] Translation: X:257.00, Y:-25.80, Z:-1.90 [[ 9.76304679e-01 2.16390688e-01 2.06033855e-03 2.57002346e+02] [-2.16390218e-01 9.76306853e-01 -4.50827009e-04 -2.57995919e+01] [-2.10907741e-03 -5.69259048e-06 9.99997776e-01 -1.89867618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.066559995 meters 0.05257047521937997 Centerline is valid? [True, True] Translation: X:257.06, Y:-25.81, Z:-1.90 [[ 9.76220446e-01 2.16777030e-01 1.16655417e-03 2.57063590e+02] [-2.16776880e-01 9.76221143e-01 -2.55023363e-04 -2.58115703e+01] [-1.19409805e-03 -3.92295151e-06 9.99999287e-01 -1.89996146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.126559995 meters 0.052806645350151234 Centerline is valid? [True, True] Translation: X:257.13, Y:-25.82, Z:-1.90 [[ 9.76037297e-01 2.17600787e-01 1.04530330e-03 2.57125062e+02] [-2.17600667e-01 9.76037857e-01 -2.28433017e-04 -2.58238927e+01] [-1.06996280e-03 -4.49955116e-06 9.99999428e-01 -1.89997128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18655999499998 meters 0.05248742572668983 Centerline is valid? [True, True] Translation: X:257.19, Y:-25.83, Z:-1.90 [[ 9.75665314e-01 2.19263467e-01 8.52614681e-04 2.57186613e+02] [-2.19263388e-01 9.75665687e-01 -1.86371552e-04 -2.58344314e+01] [-8.72731361e-04 -5.11092411e-06 9.99999619e-01 -1.90008893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24655999499998 meters 0.052161438986893204 Centerline is valid? [True, True] Translation: X:257.25, Y:-25.85, Z:-1.90 [[ 9.75516401e-01 2.19926589e-01 2.16794746e-04 2.57247127e+02] [-2.19926584e-01 9.75516425e-01 -4.71519994e-05 -2.58455079e+01] [-2.21856814e-04 -1.68137909e-06 9.99999975e-01 -1.90123766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.306559995 meters 0.05272964363067606 Centerline is valid? [True, True] Translation: X:257.31, Y:-25.86, Z:-1.90 [[ 9.75715915e-01 2.19038702e-01 7.06737277e-04 2.57308277e+02] [-2.19038647e-01 9.75716171e-01 -1.54995395e-04 -2.58580359e+01] [-7.23524981e-04 -3.57130324e-06 9.99999738e-01 -1.90140020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.366559995 meters 0.05284113770437308 Centerline is valid? [True, True] Translation: X:257.37, Y:-25.87, Z:-1.90 [[ 9.76110620e-01 2.17271362e-01 1.10175097e-03 2.57368789e+02] [-2.17271227e-01 9.76111241e-01 -2.41807757e-04 -2.58716302e+01] [-1.12796940e-03 -3.34766484e-06 9.99999364e-01 -1.90028122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.426559995 meters 0.05307044168883264 Centerline is valid? [True, True] Translation: X:257.43, Y:-25.89, Z:-1.90 [[ 9.76482086e-01 2.15597717e-01 6.00925360e-04 2.57430027e+02] [-2.15597677e-01 9.76482270e-01 -1.31131468e-04 -2.58854936e+01] [-6.15064605e-04 -1.51058206e-06 9.99999811e-01 -1.90025061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.486559995 meters 0.05306304014244571 Centerline is valid? [True, True] Translation: X:257.49, Y:-25.90, Z:-1.90 [[ 9.77015392e-01 2.13168438e-01 3.75180205e-04 2.57490119e+02] [-2.13168423e-01 9.77015464e-01 -8.16098565e-05 -2.59002477e+01] [-3.83953507e-04 -2.42486460e-07 9.99999926e-01 -1.90278911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.546559995 meters 0.053215536244375077 Centerline is valid? [True, True] Translation: X:257.55, Y:-25.91, Z:-1.90 [[ 9.77812084e-01 2.09482187e-01 8.60776777e-04 2.57550302e+02] [-2.09482102e-01 9.77812463e-01 -1.88626618e-04 -2.59149802e+01] [-8.81192177e-04 4.12405725e-06 9.99999612e-01 -1.90023791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.606559995 meters 0.053471427418913274 Centerline is valid? [True, True] Translation: X:257.61, Y:-25.93, Z:-1.90 [[ 9.78177090e-01 2.07769932e-01 1.11139729e-03 2.57611233e+02] [-2.07769789e-01 9.78177722e-01 -2.43936090e-04 -2.59293231e+01] [-1.13782665e-03 7.69791521e-06 9.99999353e-01 -1.90062326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.666559995 meters 0.053280853390278556 Centerline is valid? [True, True] Translation: X:257.67, Y:-25.94, Z:-1.90 [[ 9.78334036e-01 2.07030143e-01 1.01674166e-03 2.57671593e+02] [-2.07030023e-01 9.78334564e-01 -2.23246851e-04 -2.59420363e+01] [-1.04093234e-03 7.91394354e-06 9.99999458e-01 -1.89983470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.726559995 meters 0.053834116819712216 Centerline is valid? [True, True] Translation: X:257.73, Y:-25.95, Z:-1.90 [[ 9.77852750e-01 2.09292785e-01 7.27700554e-04 2.57732704e+02] [-2.09292724e-01 9.77853021e-01 -1.59567855e-04 -2.59540654e+01] [-7.44980586e-04 3.73143473e-06 9.99999722e-01 -1.90040780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.786559995 meters 0.05372242513385461 Centerline is valid? [True, True] Translation: X:257.79, Y:-25.97, Z:-1.90 [[ 9.77222365e-01 2.12217443e-01 4.53315250e-04 2.57793737e+02] [-2.12217420e-01 9.77222471e-01 -9.91155107e-05 -2.59656187e+01] [-4.64023888e-04 6.56501269e-07 9.99999892e-01 -1.90087877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.846559995 meters 0.05353524796648414 Centerline is valid? [True, True] Translation: X:257.86, Y:-25.98, Z:-1.90 [[ 9.76364525e-01 2.16130201e-01 2.22585778e-04 2.57855016e+02] [-2.16130196e-01 9.76364551e-01 -4.81839428e-05 -2.59769464e+01] [-2.27738868e-04 -1.06241532e-06 9.99999974e-01 -1.90115751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90655999499998 meters 0.0530539372793864 Centerline is valid? [True, True] Translation: X:257.92, Y:-25.99, Z:-1.90 [[ 9.75150415e-01 2.21542970e-01 6.16297649e-04 2.57916150e+02] [-2.21542929e-01 9.75150610e-01 -1.35789166e-04 -2.59871241e+01] [-6.31066164e-04 -4.12152469e-06 9.99999801e-01 -1.90205164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96655999499998 meters 0.05267678554109388 Centerline is valid? [True, True] Translation: X:257.98, Y:-26.00, Z:-1.90 [[ 9.74224288e-01 2.25567441e-01 2.52315281e-03 2.57976359e+02] [-2.25566756e-01 9.74227555e-01 -5.56611281e-04 -2.60037603e+01] [-2.58367838e-03 -2.68751647e-05 9.99996662e-01 -1.89917546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02655999499996 meters 0.05360045925664907 Centerline is valid? [True, True] Translation: X:258.04, Y:-26.01, Z:-1.90 [[ 9.73799323e-01 2.27392492e-01 2.74453441e-03 2.58036965e+02] [-2.27391687e-01 9.73803190e-01 -6.05887928e-04 -2.60127961e+01] [-2.81041073e-03 -3.40710568e-05 9.99996050e-01 -1.90134576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08655999499996 meters 0.052901398412371826 Centerline is valid? [True, True] Translation: X:258.10, Y:-26.03, Z:-1.90 [[ 9.73736692e-01 2.27650767e-01 3.46159672e-03 2.58097995e+02] [-2.27649486e-01 9.73742844e-01 -7.64972889e-04 -2.60270728e+01] [-3.54485170e-03 -4.31485434e-05 9.99993716e-01 -1.90164163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14655999499996 meters 0.05291846687186673 Centerline is valid? [True, True] Translation: X:258.16, Y:-26.04, Z:-1.90 [[ 9.73715800e-01 2.27748636e-01 2.84614949e-03 2.58158455e+02] [-2.27747771e-01 9.73719959e-01 -6.28761449e-04 -2.60384267e+01] [-2.91455213e-03 -3.59692444e-05 9.99995752e-01 -1.90317023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20655999499996 meters 0.052804634411044354 Centerline is valid? [True, True] Translation: X:258.22, Y:-26.05, Z:-1.91 [[ 9.73682275e-01 2.27900219e-01 2.07783694e-03 2.58219141e+02] [-2.27899758e-01 9.73684492e-01 -4.59080367e-04 -2.60501297e+01] [-2.12778212e-03 -2.65401199e-05 9.99997736e-01 -1.90573610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26655999499997 meters 0.05250128768567182 Centerline is valid? [True, True] Translation: X:258.28, Y:-26.06, Z:-1.91 [[ 9.73676687e-01 2.27927014e-01 1.72784825e-03 2.58280574e+02] [-2.27926695e-01 9.73678220e-01 -3.81786510e-04 -2.60640583e+01] [-1.76938767e-03 -2.20861175e-05 9.99998434e-01 -1.90706013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32655999499997 meters 0.05293745270099836 Centerline is valid? [True, True] Translation: X:258.34, Y:-26.08, Z:-1.91 [[ 9.73812799e-01 2.27349435e-01 9.31074128e-04 2.58341032e+02] [-2.27349342e-01 9.73813244e-01 -2.05406897e-04 -2.60809941e+01] [-9.53391459e-04 -1.16512251e-05 9.99999545e-01 -1.90831008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38655999499997 meters 0.05238826100876669 Centerline is valid? [True, True] Translation: X:258.40, Y:-26.10, Z:-1.91 [[ 9.74076343e-01 2.26218950e-01 5.15208592e-04 2.58400711e+02] [-2.26218922e-01 9.74076479e-01 -1.13368682e-04 -2.60995486e+01] [-5.27498715e-04 -6.12018136e-06 9.99999861e-01 -1.90829506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.446559995 meters 0.05214994311638796 Centerline is valid? [True, True] Translation: X:258.46, Y:-26.11, Z:-1.91 [[ 9.74154648e-01 2.25881751e-01 3.95268533e-04 2.58460494e+02] [-2.25881734e-01 9.74154728e-01 -8.71845257e-05 -2.61142391e+01] [-4.04746104e-04 -4.35273054e-06 9.99999918e-01 -1.90915417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.506559995 meters 0.05177892408118707 Centerline is valid? [True, True] Translation: X:258.52, Y:-26.13, Z:-1.91 [[ 9.73984844e-01 2.26609023e-01 1.36942515e-03 2.58521372e+02] [-2.26608820e-01 9.73985806e-01 -3.02959231e-04 -2.61299965e+01] [-1.40245395e-03 -1.52461182e-05 9.99999016e-01 -1.90912042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.566559995 meters 0.0517411110170713 Centerline is valid? [True, True] Translation: X:258.58, Y:-26.14, Z:-1.91 [[ 9.73712130e-01 2.27770666e-01 2.28306969e-03 2.58581500e+02] [-2.27770105e-01 9.73714806e-01 -5.06189485e-04 -2.61427082e+01] [-2.33835387e-03 -2.71321812e-05 9.99997266e-01 -1.90972264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.626559995 meters 0.05209266384835255 Centerline is valid? [True, True] Translation: X:258.64, Y:-26.16, Z:-1.91 [[ 9.72942060e-01 2.31015383e-01 3.95491222e-03 2.58641597e+02] [-2.31013722e-01 9.72950096e-01 -8.78129703e-04 -2.61584041e+01] [-4.05079369e-03 -5.92696698e-05 9.99991794e-01 -1.90880209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.686559995 meters 0.05221420554475039 Centerline is valid? [True, True] Translation: X:258.70, Y:-26.17, Z:-1.91 [[ 9.72122916e-01 2.34446647e-01 3.43586791e-03 2.58700608e+02] [-2.34445413e-01 9.72128986e-01 -7.63093229e-04 -2.61692863e+01] [-3.51901143e-03 -6.37030571e-05 9.99993806e-01 -1.90979726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.746559995 meters 0.05189516809504845 Centerline is valid? [True, True] Translation: X:258.76, Y:-26.18, Z:-1.91 [[ 9.70787638e-01 2.39932596e-01 1.92647105e-03 2.58760165e+02] [-2.39932219e-01 9.70789548e-01 -4.27820696e-04 -2.61840849e+01] [-1.97284609e-03 -4.68994315e-05 9.99998053e-01 -1.91101582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.806559995 meters 0.05201502331905635 Centerline is valid? [True, True] Translation: X:258.82, Y:-26.20, Z:-1.91 [[ 9.70119098e-01 2.42626593e-01 1.12758832e-03 2.58819961e+02] [-2.42626465e-01 9.70119753e-01 -2.50341674e-04 -2.61979997e+01] [-1.15463525e-03 -3.07215306e-05 9.99999333e-01 -1.91145000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.866559995 meters 0.051454270712765746 Centerline is valid? [True, True] Translation: X:258.88, Y:-26.22, Z:-1.91 [[ 9.69544344e-01 2.44913272e-01 1.12029123e-03 2.58879038e+02] [-2.44913148e-01 9.69544990e-01 -2.48737651e-04 -2.62159219e+01] [-1.14709190e-03 -3.32118688e-05 9.99999342e-01 -1.91013913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.926559995 meters 0.051253076999680534 Centerline is valid? [True, True] Translation: X:258.94, Y:-26.23, Z:-1.91 [[ 9.69206815e-01 2.46247348e-01 -6.26715325e-04 2.58938468e+02] [-2.46247310e-01 9.69207018e-01 1.39347130e-04 -2.62311008e+01] [ 6.41730752e-04 1.92707742e-05 9.99999794e-01 -1.91140955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.986559995 meters 0.05073878369054447 Centerline is valid? [True, True] Translation: X:259.00, Y:-26.25, Z:-1.91 [[ 9.69218194e-01 2.46202812e-01 -5.17559697e-04 2.58998410e+02] [-2.46202785e-01 9.69218332e-01 1.15872063e-04 -2.62464496e+01] [ 5.30156374e-04 1.51193270e-05 9.99999859e-01 -1.91181199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04655999499994 meters 0.05124448964949914 Centerline is valid? [True, True] Translation: X:259.06, Y:-26.26, Z:-1.91 [[ 9.69465389e-01 2.45228015e-01 -2.82830600e-04 2.59058573e+02] [-2.45228007e-01 9.69465430e-01 6.37346258e-05 -2.62631611e+01] [ 2.89824005e-04 7.56947064e-06 9.99999958e-01 -1.91157151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10655999499994 meters 0.05115460393898446 Centerline is valid? [True, True] Translation: X:259.12, Y:-26.28, Z:-1.91 [[ 9.69809692e-01 2.43862475e-01 5.05164486e-04 2.59117452e+02] [-2.43862449e-01 9.69809823e-01 -1.12010584e-04 -2.62755249e+01] [-5.17228659e-04 -1.45616995e-05 9.99999866e-01 -1.91241552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16655999499994 meters 0.051020184520283896 Centerline is valid? [True, True] Translation: X:259.18, Y:-26.29, Z:-1.91 [[ 9.70238062e-01 2.42144045e-01 2.08900564e-03 2.59176517e+02] [-2.42143606e-01 9.70240310e-01 -4.64586178e-04 -2.62919492e+01] [-2.13933426e-03 -5.50801663e-05 9.99997710e-01 -1.91187070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22655999499995 meters 0.05130995415150476 Centerline is valid? [True, True] Translation: X:259.24, Y:-26.31, Z:-1.91 [[ 9.70616658e-01 2.40623599e-01 1.89379622e-03 2.59236488e+02] [-2.40623236e-01 9.70618504e-01 -4.21148752e-04 -2.63073805e+01] [-1.93949199e-03 -4.69173805e-05 9.99998118e-01 -1.91247912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28655999499995 meters 0.0509040616996402 Centerline is valid? [True, True] Translation: X:259.30, Y:-26.32, Z:-1.91 [[ 9.70882587e-01 2.39551744e-01 1.40182677e-03 2.59296205e+02] [-2.39551544e-01 9.70883598e-01 -3.11192134e-04 -2.63240211e+01] [-1.43555724e-03 -3.36787434e-05 9.99998969e-01 -1.91318750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34655999499995 meters 0.05193479547766914 Centerline is valid? [True, True] Translation: X:259.36, Y:-26.34, Z:-1.91 [[ 9.70990175e-01 2.39110901e-01 2.01409144e-03 2.59356525e+02] [-2.39110486e-01 9.70992263e-01 -4.47762246e-04 -2.63360547e+01] [-2.06273203e-03 -4.68176403e-05 9.99997871e-01 -1.91490036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40655999499995 meters 0.05140506892532936 Centerline is valid? [True, True] Translation: X:259.42, Y:-26.35, Z:-1.91 [[ 9.71101900e-01 2.38641280e-01 3.38223965e-03 2.59416736e+02] [-2.38640105e-01 9.71107787e-01 -7.52797605e-04 -2.63494603e+01] [-3.46416785e-03 -7.60948411e-05 9.99993997e-01 -1.91429114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46655999499995 meters 0.05111556399643645 Centerline is valid? [True, True] Translation: X:259.48, Y:-26.37, Z:-1.91 [[ 9.70765758e-01 2.39999153e-01 3.77482323e-03 2.59477226e+02] [-2.39997697e-01 9.70773093e-01 -8.40706333e-04 -2.63652971e+01] [-3.86626563e-03 -8.98199611e-05 9.99992522e-01 -1.91478458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52655999499996 meters 0.05137386926790042 Centerline is valid? [True, True] Translation: X:259.54, Y:-26.38, Z:-1.92 [[ 9.70445085e-01 2.41299603e-01 3.29219290e-03 2.59537320e+02] [-2.41298502e-01 9.70450666e-01 -7.33481244e-04 -2.63798036e+01] [-3.37189952e-03 -8.25979470e-05 9.99994312e-01 -1.91661046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58655999499996 meters 0.051233236644287604 Centerline is valid? [True, True] Translation: X:259.60, Y:-26.39, Z:-1.92 [[ 9.70000106e-01 2.43086980e-01 2.91805948e-03 2.59597614e+02] [-2.43086121e-01 9.70004492e-01 -6.50805248e-04 -2.63885287e+01] [-2.98873309e-03 -7.80586018e-05 9.99995531e-01 -1.91866534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64655999499996 meters 0.05242368772131754 Centerline is valid? [True, True] Translation: X:259.66, Y:-26.40, Z:-1.92 [[ 9.69621806e-01 2.44593057e-01 2.79122933e-03 2.59657358e+02] [-2.44592277e-01 9.69625820e-01 -6.22390982e-04 -2.63990303e+01] [-2.85868054e-03 -7.92292720e-05 9.99995911e-01 -1.91989883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70655999499996 meters 0.05072285249721667 Centerline is valid? [True, True] Translation: X:259.72, Y:-26.42, Z:-1.92 [[ 9.69416465e-01 2.45410534e-01 2.32092653e-03 2.59716488e+02] [-2.45409999e-01 9.69419241e-01 -5.17287487e-04 -2.64208516e+01] [-2.37689863e-03 -6.81115692e-05 9.99997173e-01 -1.92026722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76655999499997 meters 0.05093105074881095 Centerline is valid? [True, True] Translation: X:259.78, Y:-26.43, Z:-1.92 [[ 9.69537351e-01 2.44927034e-01 2.84138061e-03 2.59777518e+02] [-2.44926227e-01 9.69541511e-01 -6.33805123e-04 -2.64301679e+01] [-2.91007246e-03 -8.14308924e-05 9.99995762e-01 -1.92215989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82655999499997 meters 0.050473083340137635 Centerline is valid? [True, True] Translation: X:259.84, Y:-26.45, Z:-1.92 [[ 9.70494010e-01 2.41086354e-01 4.32971329e-03 2.59836107e+02] [-2.41084438e-01 9.70503662e-01 -9.67018208e-04 -2.64489450e+01] [-4.43513750e-03 -1.05341117e-04 9.99990159e-01 -1.92104500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88655999499997 meters 0.051113846574550724 Centerline is valid? [True, True] Translation: X:259.89, Y:-26.46, Z:-1.92 [[ 9.71311448e-01 2.37750142e-01 5.37965201e-03 2.59894248e+02] [-2.37747131e-01 9.71326339e-01 -1.20165520e-03 -2.64630265e+01] [-5.51109139e-03 -1.11815379e-04 9.99984808e-01 -1.92144374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.946559995 meters 0.0512307817356586 Centerline is valid? [True, True] Translation: X:259.95, Y:-26.48, Z:-1.92 [[ 9.72150483e-01 2.34301576e-01 5.11950405e-03 2.59953540e+02] [-2.34298802e-01 9.72163959e-01 -1.14350241e-03 -2.64804065e+01] [-5.24492174e-03 -8.78372438e-05 9.99986241e-01 -1.92137164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.006559995 meters 0.050584772806699305 Centerline is valid? [True, True] Translation: X:260.01, Y:-26.50, Z:-1.92 [[ 9.72713746e-01 2.31965975e-01 4.44451860e-03 2.60013735e+02] [-2.31963860e-01 9.72723898e-01 -9.92828705e-04 -2.64951715e+01] [-4.55359194e-03 -6.52295606e-05 9.99989630e-01 -1.92276289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.066559995 meters 0.051148892428550044 Centerline is valid? [True, True] Translation: X:260.07, Y:-26.51, Z:-1.92 [[ 9.73023346e-01 2.30696787e-01 2.13541316e-03 2.60073648e+02] [-2.30696297e-01 9.73025689e-01 -4.76555535e-04 -2.65107723e+01] [-2.18775169e-03 -2.89322470e-05 9.99997606e-01 -1.92436249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.126559995 meters 0.05108742065300002 Centerline is valid? [True, True] Translation: X:260.13, Y:-26.52, Z:-1.93 [[ 9.73034873e-01 2.30656316e-01 8.93822124e-04 2.60133499e+02] [-2.30656230e-01 9.73035284e-01 -1.99423891e-04 -2.65227270e+01] [-9.15718844e-04 -1.21192410e-05 9.99999581e-01 -1.92637546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.186559995 meters 0.051208411361120774 Centerline is valid? [True, True] Translation: X:260.19, Y:-26.54, Z:-1.93 [[ 9.72998210e-01 2.30811571e-01 7.08582559e-04 2.60194369e+02] [-2.30811517e-01 9.72998468e-01 -1.57584017e-04 -2.65375857e+01] [-7.25821958e-04 -1.02200495e-05 9.99999737e-01 -1.92634780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.246559995 meters 0.05147449390041265 Centerline is valid? [True, True] Translation: X:260.25, Y:-26.55, Z:-1.93 [[ 9.73071759e-01 2.30500231e-01 9.97616762e-04 2.60254879e+02] [-2.30500124e-01 9.73072270e-01 -2.22558253e-04 -2.65478534e+01] [-1.02205294e-03 -1.33856359e-05 9.99999478e-01 -1.92786031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.306559995 meters 0.05089509450279511 Centerline is valid? [True, True] Translation: X:260.32, Y:-26.56, Z:-1.93 [[ 9.73125786e-01 2.30268342e-01 1.64153625e-03 2.60315330e+02] [-2.30268051e-01 9.73127171e-01 -3.66847026e-04 -2.65639043e+01] [-1.68189678e-03 -2.10050526e-05 9.99998585e-01 -1.92651613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.366559995 meters 0.050842209173987046 Centerline is valid? [True, True] Translation: X:260.38, Y:-26.58, Z:-1.93 [[ 9.73384157e-01 2.29169610e-01 2.13832182e-03 2.60376245e+02] [-2.29169111e-01 9.73386506e-01 -4.78764216e-04 -2.65781675e+01] [-2.19113182e-03 -2.40158091e-05 9.99997599e-01 -1.92556011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.426559995 meters 0.051280279283661134 Centerline is valid? [True, True] Translation: X:260.44, Y:-26.59, Z:-1.93 [[ 9.73599167e-01 2.28255681e-01 2.00150902e-03 2.60436255e+02] [-2.28255242e-01 9.73601224e-01 -4.47848415e-04 -2.65907371e+01] [-2.05089558e-03 -2.08300839e-05 9.99997897e-01 -1.92687403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.486559995 meters 0.051795990080222946 Centerline is valid? [True, True] Translation: X:260.50, Y:-26.60, Z:-1.93 [[ 9.73704407e-01 2.27807396e-01 1.87589363e-03 2.60496154e+02] [-2.27807010e-01 9.73706213e-01 -4.19904188e-04 -2.66014255e+01] [-1.92222657e-03 -1.84791614e-05 9.99998152e-01 -1.92870572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54655999499994 meters 0.05167969751745473 Centerline is valid? [True, True] Translation: X:260.56, Y:-26.62, Z:-1.93 [[ 9.73766156e-01 2.27542292e-01 1.99486303e-03 2.60556777e+02] [-2.27541854e-01 9.73768199e-01 -4.46753892e-04 -2.66169400e+01] [-2.04418959e-03 -1.88810127e-05 9.99997910e-01 -1.92753846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60655999499994 meters 0.05124978978017736 Centerline is valid? [True, True] Translation: X:260.62, Y:-26.63, Z:-1.93 [[ 9.73551793e-01 2.28462613e-01 1.31973728e-03 2.60617202e+02] [-2.28462422e-01 9.73552687e-01 -2.95743322e-04 -2.66287823e+01] [-1.35240007e-03 -1.35889344e-05 9.99999085e-01 -1.92825584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66655999499994 meters 0.05095121145290877 Centerline is valid? [True, True] Translation: X:260.68, Y:-26.64, Z:-1.93 [[ 9.73627094e-01 2.28142345e-01 1.16285342e-03 2.60679404e+02] [-2.28142197e-01 9.73627788e-01 -2.60203483e-04 -2.66411405e+01] [-1.19154983e-03 -1.19547726e-05 9.99999290e-01 -1.92928578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72655999499995 meters 0.051045308699316824 Centerline is valid? [True, True] Translation: X:260.74, Y:-26.65, Z:-1.93 [[ 9.73611234e-01 2.28208448e-01 1.43812930e-03 2.60740579e+02] [-2.28208221e-01 9.73612297e-01 -3.22210663e-04 -2.66542334e+01] [-1.47371156e-03 -1.44850078e-05 9.99998914e-01 -1.92966506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78655999499995 meters 0.05116353808680266 Centerline is valid? [True, True] Translation: X:260.80, Y:-26.67, Z:-1.93 [[ 9.73360932e-01 2.29269712e-01 1.97371744e-03 2.60801019e+02] [-2.29269286e-01 9.73362933e-01 -4.42858373e-04 -2.66695078e+01] [-2.02267741e-03 -2.14517493e-05 9.99997954e-01 -1.92863115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84655999499995 meters 0.05135481912790913 Centerline is valid? [True, True] Translation: X:260.86, Y:-26.68, Z:-1.93 [[ 9.72902029e-01 2.31212901e-01 1.49514299e-03 2.60860967e+02] [-2.31212659e-01 9.72903178e-01 -3.35500078e-04 -2.66804733e+01] [-1.53220132e-03 -1.92872798e-05 9.99998826e-01 -1.92938637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90655999499995 meters 0.05131729101865912 Centerline is valid? [True, True] Translation: X:260.92, Y:-26.69, Z:-1.93 [[ 9.72115128e-01 2.34501645e-01 1.07535229e-03 2.60922138e+02] [-2.34501521e-01 9.72115723e-01 -2.41663699e-04 -2.66933256e+01] [-1.10203740e-03 -1.72468086e-05 9.99999393e-01 -1.92877556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96655999499995 meters 0.05111404447466241 Centerline is valid? [True, True] Translation: X:260.98, Y:-26.71, Z:-1.93 [[ 9.71452053e-01 2.37234763e-01 7.59215059e-04 2.60983410e+02] [-2.37234703e-01 9.71452349e-01 -1.70574442e-04 -2.67055181e+01] [-7.78007440e-04 -1.44072667e-05 9.99999697e-01 -1.92970670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02655999499996 meters 0.05164648274261077 Centerline is valid? [True, True] Translation: X:261.04, Y:-26.72, Z:-1.93 [[ 9.70605275e-01 2.40676626e-01 4.01993282e-04 2.61043659e+02] [-2.40676609e-01 9.70605358e-01 -9.03307535e-05 -2.67180255e+01] [-4.11917334e-04 -9.07487397e-06 9.99999915e-01 -1.92984664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08655999499996 meters 0.051717720665663304 Centerline is valid? [True, True] Translation: X:261.10, Y:-26.73, Z:-1.93 [[ 9.70241249e-01 2.42140034e-01 3.51318449e-04 2.61103597e+02] [-2.42140022e-01 9.70241312e-01 -7.86490020e-05 -2.67296857e+01] [-3.59907746e-04 -8.75975115e-06 9.99999935e-01 -1.93028504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14655999499996 meters 0.051324873357545285 Centerline is valid? [True, True] Translation: X:261.16, Y:-26.74, Z:-1.93 [[ 9.70065961e-01 2.42839946e-01 8.89944695e-04 2.61163087e+02] [-2.42839865e-01 9.70066369e-01 -1.99938428e-04 -2.67416846e+01] [-9.11858456e-04 -2.21605860e-05 9.99999584e-01 -1.92988557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20655999499996 meters 0.05187281805854792 Centerline is valid? [True, True] Translation: X:261.22, Y:-26.75, Z:-1.93 [[ 9.70156758e-01 2.42466924e-01 2.37805892e-03 2.61223079e+02] [-2.42466341e-01 9.70159671e-01 -5.34849418e-04 -2.67521949e+01] [-2.43678015e-03 -5.77114665e-05 9.99997029e-01 -1.92951278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26655999499997 meters 0.05192253526269287 Centerline is valid? [True, True] Translation: X:261.28, Y:-26.77, Z:-1.93 [[ 9.70594509e-01 2.40706232e-01 2.60931036e-03 2.61282771e+02] [-2.40705522e-01 9.70598015e-01 -5.87577151e-04 -2.67688976e+01] [-2.67402493e-03 -5.77762553e-05 9.99996423e-01 -1.92900871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32655999499997 meters 0.05198472512724184 Centerline is valid? [True, True] Translation: X:261.34, Y:-26.78, Z:-1.93 [[ 9.71948965e-01 2.35187973e-01 1.35132421e-03 2.61340528e+02] [-2.35187777e-01 9.71949905e-01 -3.04388020e-04 -2.67832364e+01] [-1.38500784e-03 -2.19653163e-05 9.99999041e-01 -1.93052995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38655999499997 meters 0.0518190165339135 Centerline is valid? [True, True] Translation: X:261.40, Y:-26.80, Z:-1.93 [[ 9.73142466e-01 2.30203444e-01 3.40773977e-04 2.61399105e+02] [-2.30203431e-01 9.73142525e-01 -7.66427728e-05 -2.68011918e+01] [-3.49265079e-04 -3.86300189e-06 9.99999939e-01 -1.93049209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.446559995 meters 0.05121341977616785 Centerline is valid? [True, True] Translation: X:261.46, Y:-26.82, Z:-1.93 [[ 9.75321597e-01 2.20788780e-01 -3.11399197e-04 2.61456862e+02] [-2.20788769e-01 9.75321647e-01 7.02772535e-05 -2.68184926e+01] [ 3.19230807e-04 2.10522163e-07 9.99999949e-01 -1.93086420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.506559995 meters 0.051909960926390095 Centerline is valid? [True, True] Translation: X:261.52, Y:-26.83, Z:-1.93 [[ 9.76672855e-01 2.14732488e-01 -3.05067592e-04 2.61515456e+02] [-2.14732477e-01 9.76672903e-01 6.88560281e-05 -2.68346273e+01] [ 3.12736877e-04 -1.74189382e-06 9.99999951e-01 -1.93107511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.566559995 meters 0.05285917620751205 Centerline is valid? [True, True] Translation: X:261.58, Y:-26.85, Z:-1.93 [[ 9.78430889e-01 2.06574191e-01 -3.14696756e-04 2.61575120e+02] [-2.06574179e-01 9.78430940e-01 7.10278463e-05 -2.68494923e+01] [ 3.22581562e-04 -4.48761487e-06 9.99999948e-01 -1.93144829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.626559995 meters 0.052934604934573526 Centerline is valid? [True, True] Translation: X:261.63, Y:-26.86, Z:-1.93 [[ 9.79120635e-01 2.03280045e-01 -7.67874238e-05 2.61634893e+02] [-2.03280044e-01 9.79120638e-01 1.77109292e-05 -2.68621680e+01] [ 7.87844298e-05 -1.73178536e-06 9.99999997e-01 -1.93117449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.686559995 meters 0.05287832595410466 Centerline is valid? [True, True] Translation: X:261.69, Y:-26.88, Z:-1.93 [[ 9.79341431e-01 2.02213558e-01 1.95785644e-04 2.61694743e+02] [-2.02213553e-01 9.79341451e-01 -4.38202747e-05 -2.68808973e+01] [-2.00602051e-04 3.32449981e-06 9.99999980e-01 -1.93270544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.746559995 meters 0.052148537245908996 Centerline is valid? [True, True] Translation: X:261.76, Y:-26.89, Z:-1.93 [[ 9.78809245e-01 2.04772780e-01 -7.55324573e-04 2.61756578e+02] [-2.04772709e-01 9.78809536e-01 1.70614199e-04 -2.68916880e+01] [ 7.74256038e-04 -1.23288964e-05 9.99999700e-01 -1.93363253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.806559995 meters 0.053286166603589015 Centerline is valid? [True, True] Translation: X:261.82, Y:-26.90, Z:-1.93 [[ 9.77626363e-01 2.10346005e-01 -1.11876164e-03 2.61818147e+02] [-2.10345854e-01 9.77627003e-01 2.52460095e-04 -2.68988330e+01] [ 1.14683556e-03 -1.14847730e-05 9.99999342e-01 -1.93445253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.866559995 meters 0.05297091517996487 Centerline is valid? [True, True] Translation: X:261.88, Y:-26.91, Z:-1.94 [[ 9.76596249e-01 2.15079576e-01 -7.36442698e-04 2.61878938e+02] [-2.15079511e-01 9.76596527e-01 1.66956806e-04 -2.69085907e+01] [ 7.55116380e-04 -4.65565513e-06 9.99999715e-01 -1.93510280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.926559995 meters 0.05245976872820109 Centerline is valid? [True, True] Translation: X:261.94, Y:-26.92, Z:-1.94 [[ 9.75482045e-01 2.20078759e-01 -3.45424390e-04 2.61939825e+02] [-2.20078745e-01 9.75482106e-01 7.87571364e-05 -2.69171465e+01] [ 3.54288084e-04 -8.05606424e-07 9.99999937e-01 -1.93696225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.986559995 meters 0.05221620557230039 Centerline is valid? [True, True] Translation: X:262.00, Y:-26.92, Z:-1.93 [[ 9.73631462e-01 2.28124707e-01 9.45687901e-04 2.62002302e+02] [-2.28124608e-01 9.73631921e-01 -2.12729089e-04 -2.69223763e+01] [-9.69280689e-04 -8.61494722e-06 9.99999530e-01 -1.93481834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04655999499994 meters 0.05242306020727201 Centerline is valid? [True, True] Translation: X:262.06, Y:-26.93, Z:-1.94 [[ 9.72263431e-01 2.33888053e-01 4.46181889e-04 2.62063099e+02] [-2.33888031e-01 9.72263534e-01 -1.00650769e-04 -2.69309997e+01] [-4.57347393e-04 -6.49754182e-06 9.99999895e-01 -1.93558351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10655999499994 meters 0.053140220053343824 Centerline is valid? [True, True] Translation: X:262.12, Y:-26.93, Z:-1.94 [[ 9.70959035e-01 2.39244032e-01 -9.19405906e-04 2.62123107e+02] [-2.39243942e-01 9.70959470e-01 2.07630924e-04 -2.69349307e+01] [ 9.42380331e-04 1.83611716e-05 9.99999556e-01 -1.93903825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16655999499994 meters 0.053707994324694 Centerline is valid? [True, True] Translation: X:262.18, Y:-26.94, Z:-1.94 [[ 9.69849565e-01 2.43701916e-01 -1.09418111e-03 2.62183770e+02] [-2.43701792e-01 9.69850182e-01 2.47169439e-04 -2.69441258e+01] [ 1.12142741e-03 2.69367242e-05 9.99999371e-01 -1.93892219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22655999499995 meters 0.05424283987454357 Centerline is valid? [True, True] Translation: X:262.24, Y:-26.95, Z:-1.94 [[ 9.68835657e-01 2.47702717e-01 -9.13502222e-04 2.62244205e+02] [-2.47702633e-01 9.68836087e-01 2.06364543e-04 -2.69514013e+01] [ 9.36150976e-04 2.63435780e-05 9.99999561e-01 -1.93953888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28655999499995 meters 0.05223984934681039 Centerline is valid? [True, True] Translation: X:262.30, Y:-26.97, Z:-1.94 [[ 9.68594709e-01 2.48639940e-01 -1.57129980e-03 2.62303205e+02] [-2.48639690e-01 9.68595983e-01 3.55869371e-04 -2.69735920e+01] [ 1.61043802e-03 4.59943061e-05 9.99998702e-01 -1.93787537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34655999499995 meters 0.05515657209728588 Centerline is valid? [True, True] Translation: X:262.36, Y:-26.98, Z:-1.94 [[ 9.68686454e-01 2.48279907e-01 -1.90842188e-03 2.62364924e+02] [-2.48279538e-01 9.68688332e-01 4.31822426e-04 -2.69786480e+01] [ 1.95587884e-03 5.55215674e-05 9.99998086e-01 -1.94204545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40655999499995 meters 0.055029901656414484 Centerline is valid? [True, True] Translation: X:262.42, Y:-26.99, Z:-1.94 [[ 9.69024028e-01 2.46960724e-01 -1.68351028e-03 2.62424736e+02] [-2.46960435e-01 9.69025489e-01 3.80736089e-04 -2.69943211e+01] [ 1.72539123e-03 4.68180125e-05 9.99998510e-01 -1.94249718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46655999499995 meters 0.05308614476000817 Centerline is valid? [True, True] Translation: X:262.48, Y:-27.02, Z:-1.94 [[ 9.69709616e-01 2.44256165e-01 -1.47877722e-03 2.62481268e+02] [-2.44255939e-01 9.69710743e-01 3.34353816e-04 -2.70200209e+01] [ 1.51565414e-03 3.69740078e-05 9.99998851e-01 -1.94014372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52655999499996 meters 0.05448610017829478 Centerline is valid? [True, True] Translation: X:262.54, Y:-27.03, Z:-1.94 [[ 9.69881100e-01 2.43574979e-01 -1.37179941e-03 2.62542525e+02] [-2.43574783e-01 9.69882069e-01 3.11053575e-04 -2.70292585e+01] [ 1.40624852e-03 3.24507590e-05 9.99999011e-01 -1.94318121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58655999499996 meters 0.0520465317826449 Centerline is valid? [True, True] Translation: X:262.60, Y:-27.06, Z:-1.94 [[ 9.69613691e-01 2.44638463e-01 -1.14549862e-03 2.62599727e+02] [-2.44638327e-01 9.69614367e-01 2.60029146e-04 -2.70572922e+01] [ 1.17430505e-03 2.81050461e-05 9.99999310e-01 -1.93834845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64655999499996 meters 0.052313317582780496 Centerline is valid? [True, True] Translation: X:262.66, Y:-27.07, Z:-1.94 [[ 9.69094646e-01 2.46688770e-01 -4.67486797e-04 2.62659813e+02] [-2.46688748e-01 9.69094758e-01 1.06187438e-04 -2.70693697e+01] [ 4.79234253e-04 1.24180552e-05 9.99999885e-01 -1.93897533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70655999499996 meters 0.05322808077889068 Centerline is valid? [True, True] Translation: X:262.72, Y:-27.08, Z:-1.94 [[ 9.68025396e-01 2.50850326e-01 -9.72943447e-04 2.62720088e+02] [-2.50850231e-01 9.68025884e-01 2.20228596e-04 -2.70763127e+01] [ 9.97078856e-04 3.08762151e-05 9.99999502e-01 -1.94098189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76655999499997 meters 0.05151113281747768 Centerline is valid? [True, True] Translation: X:262.78, Y:-27.10, Z:-1.94 [[ 9.67407515e-01 2.53220313e-01 -1.47383516e-03 2.62777482e+02] [-2.53220098e-01 9.67408637e-01 3.33743482e-04 -2.70999862e+01] [ 1.51031150e-03 5.03387320e-05 9.99998858e-01 -1.93838193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82655999499997 meters 0.05242794796695341 Centerline is valid? [True, True] Translation: X:262.84, Y:-27.11, Z:-1.94 [[ 9.66465739e-01 2.56794650e-01 -6.94523895e-04 2.62837945e+02] [-2.56794604e-01 9.66465988e-01 1.57378575e-04 -2.71065126e+01] [ 7.11647699e-04 2.62489876e-05 9.99999746e-01 -1.93917737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88655999499997 meters 0.05288979473293739 Centerline is valid? [True, True] Translation: X:262.90, Y:-27.12, Z:-1.94 [[ 9.65873282e-01 2.59014741e-01 -4.08847563e-04 2.62897525e+02] [-2.59014725e-01 9.65873368e-01 9.26143356e-05 -2.71197934e+01] [ 4.18883451e-04 1.64438271e-05 9.99999912e-01 -1.93909442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.946559995 meters 0.054097782805662145 Centerline is valid? [True, True] Translation: X:262.96, Y:-27.13, Z:-1.94 [[ 9.65525759e-01 2.60307520e-01 6.77751206e-05 2.62956961e+02] [-2.60307520e-01 9.65525761e-01 -1.53434709e-05 -2.71288048e+01] [-6.94326458e-05 -2.82785717e-06 9.99999998e-01 -1.93994486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.006559995 meters 0.05375760166437781 Centerline is valid? [True, True] Translation: X:263.02, Y:-27.14, Z:-1.94 [[ 9.65954923e-01 2.58709450e-01 7.12636732e-04 2.63015352e+02] [-2.58709401e-01 9.65955185e-01 -1.61319123e-04 -2.71443582e+01] [-7.30109927e-04 -2.85388213e-05 9.99999733e-01 -1.94018701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.066559995 meters 0.052181683137969184 Centerline is valid? [True, True] Translation: X:263.07, Y:-27.17, Z:-1.94 [[ 9.66511981e-01 2.56620839e-01 5.79887235e-04 2.63073262e+02] [-2.56620807e-01 9.66512154e-01 -1.31176107e-04 -2.71659018e+01] [-5.94130583e-04 -2.20278509e-05 9.99999823e-01 -1.93893300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.126559995 meters 0.051943182482696186 Centerline is valid? [True, True] Translation: X:263.13, Y:-27.18, Z:-1.94 [[ 9.66608406e-01 2.56257760e-01 3.87645434e-04 2.63133324e+02] [-2.56257745e-01 9.66608484e-01 -8.70062549e-05 -2.71809485e+01] [-3.96997393e-04 -1.52361676e-05 9.99999921e-01 -1.93922336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.186559995 meters 0.051749284757519054 Centerline is valid? [True, True] Translation: X:263.19, Y:-27.20, Z:-1.94 [[ 9.67003956e-01 2.54761172e-01 3.06220763e-04 2.63192630e+02] [-2.54761163e-01 9.67004005e-01 -6.91968042e-05 -2.71990949e+01] [-3.13745363e-04 -1.10995741e-05 9.99999951e-01 -1.93994936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.246559995 meters 0.05379637811438998 Centerline is valid? [True, True] Translation: X:263.25, Y:-27.20, Z:-1.94 [[ 9.67426580e-01 2.53151191e-01 -5.35359121e-04 2.63253699e+02] [-2.53151163e-01 9.67426728e-01 1.21343475e-04 -2.72030102e+01] [ 5.48638968e-04 1.81358804e-05 9.99999849e-01 -1.94274098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.306559995 meters 0.05236598598713184 Centerline is valid? [True, True] Translation: X:263.31, Y:-27.23, Z:-1.94 [[ 9.68854748e-01 2.47627636e-01 -1.01514330e-03 2.63311507e+02] [-2.47627531e-01 9.68855280e-01 2.30102128e-04 -2.72256015e+01] [ 1.04050659e-03 2.84418892e-05 9.99999458e-01 -1.94198480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.366559995 meters 0.05187665235283395 Centerline is valid? [True, True] Translation: X:263.37, Y:-27.25, Z:-1.94 [[ 9.70455281e-01 2.41279995e-01 -7.15065753e-04 2.63369124e+02] [-2.41279941e-01 9.70455544e-01 1.62131911e-04 -2.72464289e+01] [ 7.33058711e-04 1.51892542e-05 9.99999731e-01 -1.94044570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.426559995 meters 0.051706000415815835 Centerline is valid? [True, True] Translation: X:263.43, Y:-27.26, Z:-1.94 [[ 9.73036504e-01 2.30650517e-01 -5.48235552e-04 2.63427020e+02] [-2.30650484e-01 9.73036659e-01 1.24333242e-04 -2.72631880e+01] [ 5.62130816e-04 5.47001189e-06 9.99999842e-01 -1.94107357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.486559995 meters 0.05231186302962677 Centerline is valid? [True, True] Translation: X:263.49, Y:-27.28, Z:-1.94 [[ 9.75543399e-01 2.19803166e-01 -1.28267002e-03 2.63485415e+02] [-2.19802974e-01 9.75544242e-01 2.90949951e-04 -2.72823840e+01] [ 1.31525307e-03 -1.89961969e-06 9.99999135e-01 -1.94149272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54655999499994 meters 0.052504012729707776 Centerline is valid? [True, True] Translation: X:263.54, Y:-27.30, Z:-1.94 [[ 9.77025439e-01 2.13109846e-01 -2.34204919e-03 2.63544031e+02] [-2.13109185e-01 9.77028246e-01 5.31340884e-04 -2.73001008e+01] [ 2.40148218e-03 -2.00213672e-05 9.99997116e-01 -1.94472868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60655999499994 meters 0.05339348261728692 Centerline is valid? [True, True] Translation: X:263.60, Y:-27.31, Z:-1.94 [[ 9.78270360e-01 2.07312469e-01 -2.93981240e-03 2.63603826e+02] [-2.07311402e-01 9.78274776e-01 6.66695426e-04 -2.73147749e+01] [ 3.01415860e-03 -4.27517448e-05 9.99995456e-01 -1.94375077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66655999499994 meters 0.053902690634360775 Centerline is valid? [True, True] Translation: X:263.66, Y:-27.33, Z:-1.94 [[ 9.79562656e-01 2.01131429e-01 -1.77499298e-03 2.63662677e+02] [-2.01131030e-01 9.79564264e-01 4.02419906e-04 -2.73267743e+01] [ 1.81965898e-03 -3.71893461e-05 9.99998344e-01 -1.94077061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72655999499995 meters 0.05355621990603226 Centerline is valid? [True, True] Translation: X:263.72, Y:-27.34, Z:-1.94 [[ 9.79838658e-01 1.99788874e-01 -7.81644947e-04 2.63723690e+02] [-1.99788795e-01 9.79838969e-01 1.78051119e-04 -2.73363178e+01] [ 8.01458812e-04 -1.82974670e-05 9.99999679e-01 -1.93930975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78655999499995 meters 0.05390410665908399 Centerline is valid? [True, True] Translation: X:263.78, Y:-27.36, Z:-1.94 [[ 9.79590128e-01 2.01002538e-01 -1.07703685e-03 2.63782060e+02] [-2.01002390e-01 9.79590720e-01 2.45285210e-04 -2.73550184e+01] [ 1.10435825e-03 -2.37919900e-05 9.99999390e-01 -1.94271188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84655999499995 meters 0.053959358488090796 Centerline is valid? [True, True] Translation: X:263.84, Y:-27.36, Z:-1.94 [[ 9.78613926e-01 2.05696178e-01 -1.96632298e-03 2.63843089e+02] [-2.05695696e-01 9.78615901e-01 4.46443273e-04 -2.73629386e+01] [ 2.01610661e-03 -3.24314293e-05 9.99997967e-01 -1.94401193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90655999499995 meters 0.05365757647468993 Centerline is valid? [True, True] Translation: X:263.90, Y:-27.37, Z:-1.94 [[ 9.77639442e-01 2.10275784e-01 -2.28382535e-03 2.63902812e+02] [-2.10275146e-01 9.77642109e-01 5.18430163e-04 -2.73720625e+01] [ 2.34177715e-03 -2.66060650e-05 9.99997258e-01 -1.94488513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96655999499995 meters 0.053859052249560606 Centerline is valid? [True, True] Translation: X:263.96, Y:-27.38, Z:-1.95 [[ 9.76986628e-01 2.13287558e-01 -2.35498763e-03 2.63963107e+02] [-2.13286887e-01 9.76989466e-01 5.35607364e-04 -2.73834090e+01] [ 2.41503649e-03 -2.09932528e-05 9.99997084e-01 -1.94601410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02655999499996 meters 0.0538250413593297 Centerline is valid? [True, True] Translation: X:264.03, Y:-27.39, Z:-1.94 [[ 9.74870564e-01 2.22761739e-01 -2.14280022e-03 2.64025993e+02] [-2.22761207e-01 9.74872919e-01 4.86997694e-04 -2.73896400e+01] [ 2.19744236e-03 2.57304692e-06 9.99997586e-01 -1.94388135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08655999499996 meters 0.052758229560796684 Centerline is valid? [True, True] Translation: X:264.09, Y:-27.39, Z:-1.95 [[ 9.73036412e-01 2.30650076e-01 -8.26748658e-04 2.64087123e+02] [-2.30649999e-01 9.73036763e-01 1.88715513e-04 -2.73949634e+01] [ 8.47984085e-04 7.06251086e-06 9.99999640e-01 -1.94547088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14655999499996 meters 0.053109863062016656 Centerline is valid? [True, True] Translation: X:264.15, Y:-27.41, Z:-1.94 [[ 9.72204336e-01 2.34133998e-01 -2.78865205e-05 2.64148488e+02] [-2.34133998e-01 9.72204336e-01 7.18549047e-06 -2.74065534e+01] [ 2.87937637e-05 -4.56582458e-07 1.00000000e+00 -1.94428167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20655999499996 meters 0.05269467796986159 Centerline is valid? [True, True] Translation: X:264.21, Y:-27.41, Z:-1.94 [[ 9.71557741e-01 2.36801764e-01 6.93251029e-04 2.64209267e+02] [-2.36801713e-01 9.71557988e-01 -1.56867938e-04 -2.74147378e+01] [-7.10680180e-04 -1.17567716e-05 9.99999747e-01 -1.94435449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26655999499997 meters 0.05317355050001253 Centerline is valid? [True, True] Translation: X:264.27, Y:-27.43, Z:-1.94 [[ 9.71534273e-01 2.36898536e-01 4.90840671e-04 2.64270894e+02] [-2.36898510e-01 9.71534397e-01 -1.10776867e-04 -2.74279074e+01] [-5.03111473e-04 -8.65590033e-06 9.99999873e-01 -1.94497705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32655999499997 meters 0.05308807641333111 Centerline is valid? [True, True] Translation: X:264.33, Y:-27.44, Z:-1.95 [[ 9.71923445e-01 2.35296290e-01 -6.88284124e-04 2.64330456e+02] [-2.35296238e-01 9.71923688e-01 1.57619860e-04 -2.74448342e+01] [ 7.06047013e-04 8.75622791e-06 9.99999751e-01 -1.94505514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38655999499997 meters 0.05319574494441135 Centerline is valid? [True, True] Translation: X:264.39, Y:-27.46, Z:-1.95 [[ 9.72915562e-01 2.31155380e-01 -1.58102153e-03 2.64390170e+02] [-2.31155099e-01 9.72916847e-01 3.60280346e-04 -2.74603164e+01] [ 1.62148322e-03 1.49388335e-05 9.99998685e-01 -1.94555789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.446559995 meters 0.05315113849395508 Centerline is valid? [True, True] Translation: X:264.45, Y:-27.48, Z:-1.95 [[ 9.74007783e-01 2.26506116e-01 -1.95375881e-03 2.64450498e+02] [-2.26505678e-01 9.74009743e-01 4.45590211e-04 -2.74763961e+01] [ 2.00390902e-03 8.52912956e-06 9.99997992e-01 -1.94628503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.506559995 meters 0.053696402147278936 Centerline is valid? [True, True] Translation: X:264.51, Y:-27.49, Z:-1.95 [[ 9.75895323e-01 2.18232609e-01 -1.68724062e-03 2.64511272e+02] [-2.18232268e-01 9.75896782e-01 3.85643642e-04 -2.74942004e+01] [ 1.73073270e-03 -8.13748053e-06 9.99998502e-01 -1.94653167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.566559995 meters 0.05385664399127053 Centerline is valid? [True, True] Translation: X:264.57, Y:-27.51, Z:-1.95 [[ 9.77132083e-01 2.12630006e-01 -1.17171471e-03 2.64570323e+02] [-2.12629837e-01 9.77132785e-01 2.68051390e-04 -2.75104112e+01] [ 1.20191663e-03 -1.27801038e-05 9.99999278e-01 -1.94668977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.626559995 meters 0.054531650862184235 Centerline is valid? [True, True] Translation: X:264.63, Y:-27.52, Z:-1.94 [[ 9.78931414e-01 2.04188554e-01 -5.65911037e-04 2.64629666e+02] [-2.04188513e-01 9.78931578e-01 1.29191818e-04 -2.75249204e+01] [ 5.80367675e-04 -1.09173960e-05 9.99999832e-01 -1.94478512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.686559995 meters 0.05501158540769038 Centerline is valid? [True, True] Translation: X:264.69, Y:-27.54, Z:-1.95 [[ 9.80316987e-01 1.97429920e-01 1.76306035e-04 2.64687679e+02] [-1.97429916e-01 9.80317003e-01 -4.01880974e-05 -2.75403116e+01] [-1.80770137e-04 4.58898876e-06 9.99999984e-01 -1.94546766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.746559995 meters 0.054891666186432965 Centerline is valid? [True, True] Translation: X:264.75, Y:-27.55, Z:-1.95 [[ 9.80884259e-01 1.94587445e-01 1.34061806e-03 2.64747149e+02] [-1.94587209e-01 9.80885174e-01 -3.05745875e-04 -2.75525379e+01] [-1.37448669e-03 3.90341893e-05 9.99999055e-01 -1.94507183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.806559995 meters 0.0551837973772861 Centerline is valid? [True, True] Translation: X:264.81, Y:-27.57, Z:-1.95 [[ 9.80845555e-01 1.94780836e-01 1.55650501e-03 2.64807922e+02] [-1.94780518e-01 9.80846789e-01 -3.54826392e-04 -2.75671913e+01] [-1.59580633e-03 4.48530369e-05 9.99998726e-01 -1.94565315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.866559995 meters 0.054111539943205486 Centerline is valid? [True, True] Translation: X:264.87, Y:-27.58, Z:-1.95 [[ 9.80308320e-01 1.97468465e-01 1.34251152e-03 2.64867751e+02] [-1.97468231e-01 9.80309239e-01 -3.06286744e-04 -2.75769013e+01] [-1.37655842e-03 3.51520690e-05 9.99999052e-01 -1.94652881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.926559995 meters 0.05540074908920799 Centerline is valid? [True, True] Translation: X:264.93, Y:-27.59, Z:-1.95 [[ 9.79409007e-01 2.01874241e-01 2.18826413e-03 2.64928411e+02] [-2.01873630e-01 9.79411450e-01 -4.99166321e-04 -2.75862918e+01] [-2.24397977e-03 4.71351688e-05 9.99997481e-01 -1.94712003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.986559995 meters 0.054623893080530846 Centerline is valid? [True, True] Translation: X:264.99, Y:-27.60, Z:-1.95 [[ 9.78785545e-01 2.04870311e-01 2.64815478e-03 2.64987627e+02] [-2.04869426e-01 9.78789126e-01 -6.04165331e-04 -2.75985197e+01] [-2.71576064e-03 4.88223442e-05 9.99996311e-01 -1.94766658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04655999499994 meters 0.054757230884170296 Centerline is valid? [True, True] Translation: X:265.05, Y:-27.61, Z:-1.95 [[ 9.77823048e-01 2.09407015e-01 3.28453961e-03 2.65048308e+02] [-2.09405679e-01 9.77828564e-01 -7.49325273e-04 -2.76081149e+01] [-3.36863062e-03 4.49062744e-05 9.99994325e-01 -1.94982024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10655999499994 meters 0.053763221705516964 Centerline is valid? [True, True] Translation: X:265.11, Y:-27.61, Z:-1.95 [[ 9.76611819e-01 2.14996970e-01 2.37865607e-03 2.65109979e+02] [-2.14996286e-01 9.76614715e-01 -5.42750978e-04 -2.76098993e+01] [-2.43972034e-03 1.86547986e-05 9.99997024e-01 -1.95009533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16655999499994 meters 0.05373179225132752 Centerline is valid? [True, True] Translation: X:265.17, Y:-27.62, Z:-1.95 [[ 9.75707391e-01 2.19062974e-01 2.54976113e-03 2.65171004e+02] [-2.19062202e-01 9.75710722e-01 -5.81668073e-04 -2.76205546e+01] [-2.61525121e-03 8.98155188e-06 9.99996580e-01 -1.95292849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22655999499995 meters 0.05404627715183564 Centerline is valid? [True, True] Translation: X:265.23, Y:-27.63, Z:-1.95 [[ 9.74359730e-01 2.24976239e-01 2.96786379e-03 2.65233080e+02] [-2.24975221e-01 9.74364250e-01 -6.76865917e-04 -2.76261359e+01] [-3.04405913e-03 -8.18492034e-06 9.99995367e-01 -1.95247390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28655999499995 meters 0.053460890953166966 Centerline is valid? [True, True] Translation: X:265.29, Y:-27.63, Z:-1.95 [[ 9.73320887e-01 2.29436657e-01 2.29577394e-03 2.65293744e+02] [-2.29436060e-01 9.73323595e-01 -5.23717945e-04 -2.76342708e+01] [-2.35469104e-03 -1.69877132e-05 9.99997228e-01 -1.95438656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34655999499995 meters 0.05398171362834968 Centerline is valid? [True, True] Translation: X:265.35, Y:-27.64, Z:-1.96 [[ 9.71842320e-01 2.35627911e-01 1.41150224e-03 2.65354504e+02] [-2.35627691e-01 9.71843345e-01 -3.22456774e-04 -2.76390340e+01] [-1.44773888e-03 -1.92118745e-05 9.99998952e-01 -1.95707279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40655999499995 meters 0.05383419766393084 Centerline is valid? [True, True] Translation: X:265.41, Y:-27.65, Z:-1.96 [[ 9.71031834e-01 2.38944572e-01 1.63356241e-03 2.65414341e+02] [-2.38944283e-01 9.71033208e-01 -3.72631491e-04 -2.76548021e+01] [-1.67528162e-03 -2.84933599e-05 9.99998596e-01 -1.95574532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46655999499995 meters 0.05279880972382917 Centerline is valid? [True, True] Translation: X:265.47, Y:-27.67, Z:-1.95 [[ 9.70485716e-01 2.41152899e-01 1.65989184e-03 2.65472883e+02] [-2.41152602e-01 9.70487135e-01 -3.79364675e-04 -2.76707478e+01] [-1.70238856e-03 -3.21192376e-05 9.99998550e-01 -1.95429761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52655999499996 meters 0.05379851549048317 Centerline is valid? [True, True] Translation: X:265.54, Y:-27.68, Z:-1.96 [[ 9.70385248e-01 2.41546073e-01 2.82212593e-03 2.65535586e+02] [-2.41545218e-01 9.70389350e-01 -6.44947005e-04 -2.76804888e+01] [-2.89434536e-03 -5.58239640e-05 9.99995810e-01 -1.95581533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58655999499996 meters 0.05406583703611433 Centerline is valid? [True, True] Translation: X:265.60, Y:-27.69, Z:-1.96 [[ 9.69950137e-01 2.43290924e-01 2.50167594e-03 2.65595509e+02] [-2.43290258e-01 9.69953362e-01 -5.71579273e-04 -2.76930589e+01] [-2.56556903e-03 -5.42299902e-05 9.99996707e-01 -1.95737942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64655999499996 meters 0.053512046343176904 Centerline is valid? [True, True] Translation: X:265.66, Y:-27.71, Z:-1.96 [[ 9.69592353e-01 2.44720186e-01 1.64281106e-03 2.65655309e+02] [-2.44719900e-01 9.69593744e-01 -3.75666925e-04 -2.77114521e+01] [-1.68479260e-03 -3.77847795e-05 9.99998580e-01 -1.95768901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70655999499996 meters 0.053144062207653636 Centerline is valid? [True, True] Translation: X:265.72, Y:-27.73, Z:-1.96 [[ 9.69258871e-01 2.46040344e-01 1.17869021e-03 2.65715164e+02] [-2.46040199e-01 9.69259588e-01 -2.68993479e-04 -2.77292787e+01] [-1.20864003e-03 -2.92808569e-05 9.99999269e-01 -1.95812870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76655999499997 meters 0.05455658307881418 Centerline is valid? [True, True] Translation: X:265.78, Y:-27.74, Z:-1.96 [[ 9.69170358e-01 2.46388128e-01 1.30665769e-03 2.65777237e+02] [-2.46387950e-01 9.69171238e-01 -2.98408528e-04 -2.77375708e+01] [-1.33989937e-03 -3.27360102e-05 9.99999102e-01 -1.96005146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82655999499997 meters 0.05308594746319298 Centerline is valid? [True, True] Translation: X:265.84, Y:-27.76, Z:-1.96 [[ 9.69146144e-01 2.46476787e-01 2.22382070e-03 2.65835085e+02] [-2.46476268e-01 9.69148694e-01 -5.08819817e-04 -2.77630902e+01] [-2.28062520e-03 -5.49982630e-05 9.99997398e-01 -1.95761266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88655999499997 meters 0.053478587079764765 Centerline is valid? [True, True] Translation: X:265.89, Y:-27.78, Z:-1.96 [[ 9.69180998e-01 2.46337504e-01 2.45492074e-03 2.65894183e+02] [-2.46336870e-01 9.69184106e-01 -5.62117372e-04 -2.77782956e+01] [-2.51774075e-03 -5.99440165e-05 9.99996829e-01 -1.95815310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.946559995 meters 0.05380443144659929 Centerline is valid? [True, True] Translation: X:265.96, Y:-27.79, Z:-1.96 [[ 9.69173725e-01 2.46368241e-01 2.23173276e-03 2.65955267e+02] [-2.46367717e-01 9.69176293e-01 -5.11113316e-04 -2.77872997e+01] [-2.28886457e-03 -5.44693097e-05 9.99997379e-01 -1.95976685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.006559995 meters 0.05347068125755267 Centerline is valid? [True, True] Translation: X:266.01, Y:-27.81, Z:-1.96 [[ 9.69036728e-01 2.46906886e-01 2.19318895e-03 2.66013933e+02] [-2.46906381e-01 9.69039208e-01 -5.02596142e-04 -2.78086257e+01] [-2.24938053e-03 -5.44782241e-05 9.99997469e-01 -1.95932545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.066559995 meters 0.05272432248664372 Centerline is valid? [True, True] Translation: X:266.07, Y:-27.83, Z:-1.96 [[ 9.69015639e-01 2.46992493e-01 1.84411347e-03 2.66074085e+02] [-2.46992135e-01 9.69017392e-01 -4.22560583e-04 -2.78297079e+01] [-1.89134732e-03 -4.60137097e-05 9.99998210e-01 -1.95949997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.126559995 meters 0.05273798832192828 Centerline is valid? [True, True] Translation: X:266.13, Y:-27.84, Z:-1.96 [[ 9.68808188e-01 2.47809182e-01 1.14209957e-03 2.66133241e+02] [-2.47809046e-01 9.68808861e-01 -2.61643856e-04 -2.78449638e+01] [-1.17131394e-03 -2.95398961e-05 9.99999314e-01 -1.96047161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.186559995 meters 0.05344319302772265 Centerline is valid? [True, True] Translation: X:266.19, Y:-27.86, Z:-1.96 [[ 9.68388768e-01 2.49443549e-01 1.05332591e-03 2.66192652e+02] [-2.49443434e-01 9.68389340e-01 -2.41381563e-04 -2.78593344e+01] [-1.08024065e-03 -2.89940370e-05 9.99999416e-01 -1.96045418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.246559995 meters 0.052493134690167254 Centerline is valid? [True, True] Translation: X:266.25, Y:-27.88, Z:-1.96 [[ 9.67910569e-01 2.51293031e-01 9.71451428e-04 2.66252063e+02] [-2.51292934e-01 9.67911056e-01 -2.23121468e-04 -2.78780786e+01] [-9.96347447e-04 -2.81572525e-05 9.99999503e-01 -1.96020592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.306559995 meters 0.05227984070622367 Centerline is valid? [True, True] Translation: X:266.31, Y:-27.89, Z:-1.96 [[ 9.67459103e-01 2.53020911e-01 1.81718959e-03 2.66311129e+02] [-2.53020573e-01 9.67460808e-01 -4.17718030e-04 -2.78923153e+01] [-1.86375111e-03 -5.56612394e-05 9.99998262e-01 -1.96129280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.366559995 meters 0.05274235548731472 Centerline is valid? [True, True] Translation: X:266.37, Y:-27.91, Z:-1.96 [[ 9.66747492e-01 2.55716700e-01 2.87336942e-03 2.66370459e+02] [-2.55715865e-01 9.66751757e-01 -6.60618843e-04 -2.79076139e+01] [-2.94676621e-03 -9.61145383e-05 9.99995654e-01 -1.96110380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.426559995 meters 0.05271830354928235 Centerline is valid? [True, True] Translation: X:266.43, Y:-27.93, Z:-1.96 [[ 9.66446240e-01 2.56851290e-01 3.01331251e-03 2.66429764e+02] [-2.56850378e-01 9.66450932e-01 -6.92476751e-04 -2.79254591e+01] [-3.09008223e-03 -1.04728903e-04 9.99995220e-01 -1.96119877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.486559995 meters 0.0518394510867294 Centerline is valid? [True, True] Translation: X:266.49, Y:-27.94, Z:-1.96 [[ 9.66117815e-01 2.58082813e-01 3.10317520e-03 2.66489538e+02] [-2.58081849e-01 9.66122792e-01 -7.13772791e-04 -2.79442117e+01] [-3.18226078e-03 -1.11284586e-04 9.99994930e-01 -1.96077652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54655999499994 meters 0.055167037557355365 Centerline is valid? [True, True] Translation: X:266.55, Y:-27.95, Z:-1.96 [[ 9.66007640e-01 2.58501213e-01 2.52232904e-03 2.66550523e+02] [-2.58500579e-01 9.66010929e-01 -5.79879678e-04 -2.79509640e+01] [-2.58649702e-03 -9.18553178e-05 9.99996651e-01 -1.96327027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60655999499994 meters 0.05098395642466053 Centerline is valid? [True, True] Translation: X:266.61, Y:-27.99, Z:-1.96 [[ 9.66254265e-01 2.57582499e-01 1.98789369e-03 2.66606208e+02] [-2.57582103e-01 9.66256307e-01 -4.56990726e-04 -2.79855911e+01] [-2.03852763e-03 -7.04765996e-05 9.99997920e-01 -1.96223811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66655999499994 meters 0.05346762726578265 Centerline is valid? [True, True] Translation: X:266.67, Y:-27.99, Z:-1.97 [[ 9.66420453e-01 2.56963415e-01 1.14515001e-03 2.66668231e+02] [-2.56963284e-01 9.66421131e-01 -2.63091220e-04 -2.79867972e+01] [-1.17430198e-03 -4.00047709e-05 9.99999310e-01 -1.96570317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72655999499995 meters 0.05207665445921371 Centerline is valid? [True, True] Translation: X:266.73, Y:-28.01, Z:-1.97 [[ 9.66735347e-01 2.55778743e-01 -5.31666784e-05 2.66726219e+02] [-2.55778742e-01 9.66735349e-01 1.26000660e-05 -2.80145777e+01] [ 5.46209364e-05 1.41797696e-06 9.99999999e-01 -1.96500510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78655999499995 meters 0.052028126077276776 Centerline is valid? [True, True] Translation: X:266.78, Y:-28.03, Z:-1.96 [[ 9.67280554e-01 2.53709035e-01 -2.34100329e-04 2.66784734e+02] [-2.53709029e-01 9.67280583e-01 5.40740472e-05 -2.80338807e+01] [ 2.40159777e-04 7.08859282e-06 9.99999971e-01 -1.96495374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84655999499995 meters 0.05186460899344877 Centerline is valid? [True, True] Translation: X:266.84, Y:-28.05, Z:-1.97 [[ 9.67638559e-01 2.52340185e-01 -2.22453699e-04 2.66843326e+02] [-2.52340180e-01 9.67638585e-01 5.13315415e-05 -2.80467513e+01] [ 2.28207793e-04 6.46362757e-06 9.99999974e-01 -1.96614319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90655999499995 meters 0.054268471919298004 Centerline is valid? [True, True] Translation: X:266.90, Y:-28.05, Z:-1.97 [[ 9.68246059e-01 2.49998959e-01 2.98220141e-04 2.66903828e+02] [-2.49998950e-01 9.68246105e-01 -6.87142045e-05 -2.80514072e+01] [-3.05928970e-04 -8.02246436e-06 9.99999953e-01 -1.96944058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96655999499995 meters 0.051703496970571396 Centerline is valid? [True, True] Translation: X:266.96, Y:-28.08, Z:-1.97 [[ 9.68244562e-01 2.50004261e-01 5.80360259e-04 2.66961854e+02] [-2.50004227e-01 9.68244736e-01 -1.33017054e-04 -2.80781663e+01] [-5.95185596e-04 -1.62994785e-05 9.99999823e-01 -1.96670071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02655999499996 meters 0.05207562833235611 Centerline is valid? [True, True] Translation: X:267.02, Y:-28.09, Z:-1.97 [[ 9.68281602e-01 2.49861354e-01 -2.05721793e-04 2.67023464e+02] [-2.49861350e-01 9.68281624e-01 4.83990011e-05 -2.80925435e+01] [ 2.11289672e-04 4.53806254e-06 9.99999978e-01 -1.96738204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08655999499996 meters 0.052061828743131214 Centerline is valid? [True, True] Translation: X:267.08, Y:-28.11, Z:-1.97 [[ 9.68101194e-01 2.50556595e-01 -1.21274698e-03 2.67084222e+02] [-2.50556440e-01 9.68101953e-01 2.80769488e-04 -2.81056963e+01] [ 1.24441136e-03 3.20482885e-05 9.99999225e-01 -1.96820286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14655999499996 meters 0.05155567447834731 Centerline is valid? [True, True] Translation: X:267.14, Y:-28.12, Z:-1.97 [[ 9.67650034e-01 2.52296055e-01 -3.35470291e-04 2.67144257e+02] [-2.52296043e-01 9.67650092e-01 7.76908463e-05 -2.81209687e+01] [ 3.44218952e-04 9.46027704e-06 9.99999941e-01 -1.96744985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20655999499996 meters 0.0524052209510021 Centerline is valid? [True, True] Translation: X:267.21, Y:-28.13, Z:-1.97 [[ 9.67794987e-01 2.51738730e-01 6.88918025e-04 2.67206028e+02] [-2.51738681e-01 9.67795232e-01 -1.58365502e-04 -2.81264262e+01] [-7.06598310e-04 -2.01619754e-05 9.99999750e-01 -1.96965967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26655999499997 meters 0.05167062628971651 Centerline is valid? [True, True] Translation: X:267.26, Y:-28.15, Z:-1.97 [[ 9.68301220e-01 2.49775743e-01 2.19674215e-03 2.67264643e+02] [-2.49775235e-01 9.68303710e-01 -5.07290699e-04 -2.81480023e+01] [-2.25382249e-03 -5.74815847e-05 9.99997458e-01 -1.96830039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32655999499997 meters 0.05173473401288952 Centerline is valid? [True, True] Translation: X:267.32, Y:-28.16, Z:-1.97 [[ 9.69646510e-01 2.44493312e-01 2.94383751e-03 2.67324214e+02] [-2.44492373e-01 9.69650977e-01 -6.80050741e-04 -2.81577867e+01] [-3.02076277e-03 -6.03369910e-05 9.99995436e-01 -1.96999460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38655999499997 meters 0.051691696310349956 Centerline is valid? [True, True] Translation: X:267.38, Y:-28.18, Z:-1.97 [[ 9.70891360e-01 2.39505467e-01 2.66440835e-03 2.67381803e+02] [-2.39504679e-01 9.70895015e-01 -6.15471254e-04 -2.81795032e+01] [-2.73426951e-03 -4.05825446e-05 9.99996261e-01 -1.96978205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.446559995 meters 0.05211567284361205 Centerline is valid? [True, True] Translation: X:267.44, Y:-28.20, Z:-1.97 [[ 9.72720690e-01 2.31976553e-01 1.15653567e-03 2.67440726e+02] [-2.31976400e-01 9.72721378e-01 -2.67049665e-04 -2.81974385e+01] [-1.18693623e-03 -8.52424594e-06 9.99999296e-01 -1.97012794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.506559995 meters 0.05214752337137411 Centerline is valid? [True, True] Translation: X:267.50, Y:-28.21, Z:-1.97 [[ 9.74157329e-01 2.25868104e-01 1.04814376e-03 2.67500738e+02] [-2.25867975e-01 9.74157892e-01 -2.41898685e-04 -2.82132696e+01] [-1.07569472e-03 -1.09473224e-06 9.99999421e-01 -1.97191212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.566559995 meters 0.052274238815927306 Centerline is valid? [True, True] Translation: X:267.56, Y:-28.23, Z:-1.97 [[ 9.75267650e-01 2.21014828e-01 2.33604787e-03 2.67560267e+02] [-2.21014171e-01 9.75270447e-01 -5.39194926e-04 -2.82306461e+01] [-2.39744852e-03 9.55968569e-06 9.99997126e-01 -1.97336181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.626559995 meters 0.05196884075488317 Centerline is valid? [True, True] Translation: X:267.62, Y:-28.25, Z:-1.97 [[ 9.75687128e-01 2.19136378e-01 3.72502419e-03 2.67620475e+02] [-2.19134688e-01 9.75694239e-01 -8.61076308e-04 -2.82471385e+01] [-3.82317778e-03 2.38590577e-05 9.99992691e-01 -1.97259567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.686559995 meters 0.052006658485531675 Centerline is valid? [True, True] Translation: X:267.68, Y:-28.26, Z:-1.97 [[ 9.75541080e-01 2.19774118e-01 4.35180283e-03 2.67681002e+02] [-2.19771817e-01 9.75550786e-01 -1.00614238e-03 -2.82594317e+01] [-4.46652872e-03 2.51296070e-05 9.99990025e-01 -1.97171900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.746559995 meters 0.051795689501678996 Centerline is valid? [True, True] Translation: X:267.74, Y:-28.27, Z:-1.97 [[ 9.75014481e-01 2.22101726e-01 4.19352028e-03 2.67741274e+02] [-2.22099608e-01 9.75023499e-01 -9.70027796e-04 -2.82704633e+01] [-4.30422566e-03 1.44119370e-05 9.99990737e-01 -1.97307346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.806559995 meters 0.051899142867178075 Centerline is valid? [True, True] Translation: X:267.80, Y:-28.28, Z:-1.97 [[ 9.74603367e-01 2.23898438e-01 4.21492333e-03 2.67802624e+02] [-2.23896314e-01 9.74612482e-01 -9.75409496e-04 -2.82821737e+01] [-4.32630955e-03 6.93158257e-06 9.99990641e-01 -1.97403528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.866559995 meters 0.05192521804856627 Centerline is valid? [True, True] Translation: X:267.86, Y:-28.29, Z:-1.97 [[ 9.72656564e-01 2.32210331e-01 4.19171756e-03 2.67864713e+02] [-2.32208305e-01 9.72665596e-01 -9.70500894e-04 -2.82898290e+01] [-4.30249979e-03 -2.93875634e-05 9.99990744e-01 -1.97404689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.926559995 meters 0.05146596406572993 Centerline is valid? [True, True] Translation: X:267.93, Y:-28.29, Z:-1.97 [[ 9.70941206e-01 2.39258480e-01 5.34354669e-03 2.67925351e+02] [-2.39255287e-01 9.70955907e-01 -1.23827786e-03 -2.82949592e+01] [-5.48461670e-03 -7.61768032e-05 9.99984956e-01 -1.97403434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.986559995 meters 0.05261536861262213 Centerline is valid? [True, True] Translation: X:267.99, Y:-28.30, Z:-1.97 [[ 9.69990372e-01 2.43066166e-01 6.12508807e-03 2.67986661e+02] [-2.43062047e-01 9.70009704e-01 -1.41944045e-03 -2.83023716e+01] [-6.28641282e-03 -1.11932877e-04 9.99980234e-01 -1.97457400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04655999499994 meters 0.05197294451412103 Centerline is valid? [True, True] Translation: X:268.05, Y:-28.32, Z:-1.97 [[ 9.69143473e-01 2.46399327e-01 6.94982494e-03 2.68046738e+02] [-2.46394109e-01 9.69168380e-01 -1.61069112e-03 -2.83150903e+01] [-7.13242379e-03 -1.51405143e-04 9.99974552e-01 -1.97343659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10655999499994 meters 0.05227242767278029 Centerline is valid? [True, True] Translation: X:268.11, Y:-28.33, Z:-1.97 [[ 9.68309053e-01 2.49649553e-01 7.25798682e-03 2.68107171e+02] [-2.49643952e-01 9.68336237e-01 -1.68223126e-03 -2.83265310e+01] [-7.44813992e-03 -1.82992753e-04 9.99972245e-01 -1.97334662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16655999499994 meters 0.05304485441191862 Centerline is valid? [True, True] Translation: X:268.17, Y:-28.33, Z:-1.97 [[ 9.67265142e-01 2.53684785e-01 6.49419187e-03 2.68167208e+02] [-2.53680391e-01 9.67286924e-01 -1.50530366e-03 -2.83315238e+01] [-6.66361951e-03 -1.91421377e-04 9.99977780e-01 -1.97472997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22655999499995 meters 0.052718786829015624 Centerline is valid? [True, True] Translation: X:268.23, Y:-28.34, Z:-1.98 [[ 9.66733049e-01 2.55733375e-01 5.25854627e-03 2.68226453e+02] [-2.55730524e-01 9.66747337e-01 -1.21887330e-03 -2.83442492e+01] [-5.39539219e-03 -1.66445690e-04 9.99985431e-01 -1.97623045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28655999499995 meters 0.051907602461563 Centerline is valid? [True, True] Translation: X:268.29, Y:-28.36, Z:-1.98 [[ 9.66911933e-01 2.55074631e-01 4.27169054e-03 2.68286020e+02] [-2.55072745e-01 9.66921359e-01 -9.89844065e-04 -2.83636464e+01] [-4.38287294e-03 -1.32499794e-04 9.99990386e-01 -1.97681482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34655999499995 meters 0.05239132100767028 Centerline is valid? [True, True] Translation: X:268.35, Y:-28.38, Z:-1.98 [[ 9.67647760e-01 2.52282212e-01 3.39097447e-03 2.68345246e+02] [-2.52281004e-01 9.67653697e-01 -7.86406128e-04 -2.83751061e+01] [-3.47968526e-03 -9.45143182e-05 9.99993941e-01 -1.97720024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40655999499995 meters 0.05279244658850388 Centerline is valid? [True, True] Translation: X:268.40, Y:-28.39, Z:-1.98 [[ 9.68781009e-01 2.47890180e-01 3.71681505e-03 2.68404043e+02] [-2.47888697e-01 9.68788135e-01 -8.61944161e-04 -2.83881988e+01] [-3.81447382e-03 -8.63213044e-05 9.99992721e-01 -1.97740762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46655999499995 meters 0.052800204816682045 Centerline is valid? [True, True] Translation: X:268.46, Y:-28.40, Z:-1.98 [[ 9.70180794e-01 2.42338543e-01 4.61069137e-03 2.68463444e+02] [-2.42336197e-01 9.70191746e-01 -1.06932439e-03 -2.84036284e+01] [-4.73239322e-03 -7.98994201e-05 9.99988799e-01 -1.97763963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52655999499996 meters 0.052907216345770565 Centerline is valid? [True, True] Translation: X:268.52, Y:-28.42, Z:-1.98 [[ 9.71119420e-01 2.38550427e-01 4.55689688e-03 2.68521712e+02] [-2.38548093e-01 9.71130110e-01 -1.05689134e-03 -2.84231889e+01] [-4.67746165e-03 -6.06713564e-05 9.99989059e-01 -1.97789869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58655999499996 meters 0.05295767921016064 Centerline is valid? [True, True] Translation: X:268.58, Y:-28.44, Z:-1.98 [[ 9.71855737e-01 2.35547763e-01 3.69844401e-03 2.68580772e+02] [-2.35546205e-01 9.71862773e-01 -8.57515731e-04 -2.84382992e+01] [-3.79636596e-03 -3.77728665e-05 9.99992793e-01 -1.97918552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64655999499996 meters 0.05214608347446206 Centerline is valid? [True, True] Translation: X:268.64, Y:-28.46, Z:-1.98 [[ 9.72820784e-01 2.31542417e-01 2.79836519e-03 2.68640311e+02] [-2.31541507e-01 9.72824809e-01 -6.49219970e-04 -2.84586689e+01] [-2.87264104e-03 -1.63630135e-05 9.99995874e-01 -1.97777126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70655999499996 meters 0.053212160054003844 Centerline is valid? [True, True] Translation: X:268.70, Y:-28.47, Z:-1.98 [[ 9.73238411e-01 2.29780255e-01 2.83373679e-03 2.68700041e+02] [-2.29779316e-01 9.73242536e-01 -6.57306683e-04 -2.84726193e+01] [-2.90894928e-03 -1.14179877e-05 9.99995769e-01 -1.97846279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76655999499997 meters 0.05320240375349896 Centerline is valid? [True, True] Translation: X:268.76, Y:-28.49, Z:-1.98 [[ 9.73441882e-01 2.28920548e-01 2.50697079e-03 2.68761587e+02] [-2.28919809e-01 9.73445110e-01 -5.81844463e-04 -2.84869926e+01] [-2.57359461e-03 -7.50350463e-06 9.99996688e-01 -1.97930548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82655999499997 meters 0.05293030813813372 Centerline is valid? [True, True] Translation: X:268.82, Y:-28.50, Z:-1.98 [[ 9.73379640e-01 2.29191350e-01 1.84425495e-03 2.68822591e+02] [-2.29190951e-01 9.73381387e-01 -4.27617465e-04 -2.85007715e+01] [-1.89316966e-03 -6.45241103e-06 9.99998208e-01 -1.98079191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88655999499997 meters 0.0528978822554905 Centerline is valid? [True, True] Translation: X:268.88, Y:-28.51, Z:-1.98 [[ 9.73231545e-01 2.29822509e-01 1.40492368e-03 2.68882198e+02] [-2.29822278e-01 9.73232559e-01 -3.26120013e-04 -2.85133768e+01] [-1.44226719e-03 -5.49247564e-06 9.99998960e-01 -1.98256960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.946559995 meters 0.052938184506387154 Centerline is valid? [True, True] Translation: X:268.94, Y:-28.53, Z:-1.98 [[ 9.73348791e-01 2.29317446e-01 2.37472366e-03 2.68942277e+02] [-2.29316783e-01 9.73351688e-01 -5.51446549e-04 -2.85293125e+01] [-2.43789760e-03 -7.81415895e-06 9.99997028e-01 -1.98129325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.006559995 meters 0.05252265950561797 Centerline is valid? [True, True] Translation: X:269.00, Y:-28.54, Z:-1.98 [[ 9.73475030e-01 2.28776701e-01 2.75446014e-03 2.69003969e+02] [-2.28775806e-01 9.73478927e-01 -6.40023835e-04 -2.85440700e+01] [-2.82783144e-03 -7.10661703e-06 9.99996002e-01 -1.98136260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.066559995 meters 0.05294827917526903 Centerline is valid? [True, True] Translation: X:269.06, Y:-28.56, Z:-1.98 [[ 9.73912799e-01 2.26879949e-01 4.39867464e-03 2.69063850e+02] [-2.26877641e-01 9.73922732e-01 -1.02336027e-03 -2.85584965e+01] [-4.51614915e-03 -1.29726067e-06 9.99989802e-01 -1.98085655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.126559995 meters 0.05276601407987787 Centerline is valid? [True, True] Translation: X:269.13, Y:-28.57, Z:-1.98 [[ 9.74328829e-01 2.25065426e-01 5.37474488e-03 2.69125502e+02] [-2.25061948e-01 9.74343653e-01 -1.25117581e-03 -2.85724806e+01] [-5.51844497e-03 9.40611206e-06 9.99984773e-01 -1.98110432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.186559995 meters 0.052888522372002665 Centerline is valid? [True, True] Translation: X:269.18, Y:-28.59, Z:-1.98 [[ 9.74732447e-01 2.23309881e-01 5.41795607e-03 2.69184894e+02] [-2.23306315e-01 9.74747504e-01 -1.26204503e-03 -2.85861570e+01] [-5.56296628e-03 2.02924287e-05 9.99984526e-01 -1.98279469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.246559995 meters 0.05295517669177089 Centerline is valid? [True, True] Translation: X:269.25, Y:-28.60, Z:-1.98 [[ 9.74882208e-01 2.22660246e-01 5.20532368e-03 2.69246177e+02] [-2.22656943e-01 9.74896104e-01 -1.21304763e-03 -2.85980831e+01] [-5.34474727e-03 2.35770939e-05 9.99985716e-01 -1.98241568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.306559995 meters 0.052844812328910085 Centerline is valid? [True, True] Translation: X:269.31, Y:-28.61, Z:-1.98 [[ 9.74881647e-01 2.22664951e-01 5.10814228e-03 2.69307413e+02] [-2.22661767e-01 9.74895030e-01 -1.19108894e-03 -2.86116292e+01] [-5.24511628e-03 2.37827591e-05 9.99986244e-01 -1.98372878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.366559995 meters 0.052789196302370923 Centerline is valid? [True, True] Translation: X:269.37, Y:-28.62, Z:-1.98 [[ 9.74641860e-01 2.23723835e-01 4.57064052e-03 2.69369257e+02] [-2.23721296e-01 9.74652577e-01 -1.06598639e-03 -2.86219819e+01] [-4.69327312e-03 1.64053387e-05 9.99988986e-01 -1.98396851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.426559995 meters 0.052844106151670275 Centerline is valid? [True, True] Translation: X:269.43, Y:-28.63, Z:-1.99 [[ 9.74373086e-01 2.24915705e-01 3.16459650e-03 2.69430394e+02] [-2.24914493e-01 9.74378225e-01 -7.38240240e-04 -2.86324981e+01] [-3.24955575e-03 7.55780199e-06 9.99994720e-01 -1.98518016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.486559995 meters 0.05326891382769957 Centerline is valid? [True, True] Translation: X:269.49, Y:-28.65, Z:-1.99 [[ 9.74249103e-01 2.25460683e-01 2.48321674e-03 2.69492181e+02] [-2.25459938e-01 9.74252267e-01 -5.79773435e-04 -2.86458747e+01] [-2.54999565e-03 4.97785913e-06 9.99996749e-01 -1.98798371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54655999499994 meters 0.05307945563869724 Centerline is valid? [True, True] Translation: X:269.55, Y:-28.66, Z:-1.99 [[ 9.74067398e-01 2.26243626e-01 2.55443900e-03 2.69553964e+02] [-2.26242840e-01 9.74070748e-01 -5.96203877e-04 -2.86571873e+01] [-2.62309163e-03 2.81922656e-06 9.99996560e-01 -1.98701214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60655999499994 meters 0.05362990265210626 Centerline is valid? [True, True] Translation: X:269.62, Y:-28.67, Z:-1.99 [[ 9.73739163e-01 2.27652181e-01 2.55484714e-03 2.69615685e+02] [-2.27651399e-01 9.73742515e-01 -5.96640049e-04 -2.86695363e+01] [-2.62358969e-03 -6.42743817e-07 9.99996558e-01 -1.98690451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66655999499994 meters 0.0531694694890922 Centerline is valid? [True, True] Translation: X:269.68, Y:-28.68, Z:-1.99 [[ 9.72966754e-01 2.30926120e-01 2.97032774e-03 2.69676934e+02] [-2.30925077e-01 9.72971288e-01 -6.94258727e-04 -2.86787559e+01] [-3.05036608e-03 -1.04325013e-05 9.99995348e-01 -1.98637162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72655999499995 meters 0.052578888318303985 Centerline is valid? [True, True] Translation: X:269.74, Y:-28.69, Z:-1.99 [[ 9.72719083e-01 2.31963631e-01 3.23413776e-03 2.69738779e+02] [-2.31962399e-01 9.72724459e-01 -7.56374998e-04 -2.86915321e+01] [-3.32137640e-03 -1.44579581e-05 9.99994484e-01 -1.98682563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78655999499995 meters 0.052984734918049434 Centerline is valid? [True, True] Translation: X:269.80, Y:-28.70, Z:-1.99 [[ 9.72585957e-01 2.32535646e-01 1.93110589e-03 2.69799353e+02] [-2.32535207e-01 9.72587874e-01 -4.51595221e-04 -2.87039684e+01] [-1.98318216e-03 -9.83493685e-06 9.99998033e-01 -1.98807102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84655999499995 meters 0.053471594488720305 Centerline is valid? [True, True] Translation: X:269.86, Y:-28.72, Z:-1.99 [[ 9.72997202e-01 2.30812457e-01 1.43363286e-03 2.69858998e+02] [-2.30812214e-01 9.72998258e-01 -3.35180511e-04 -2.87202069e+01] [-1.47228611e-03 -4.77027352e-06 9.99998916e-01 -1.98747074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90655999499995 meters 0.05309093245931613 Centerline is valid? [True, True] Translation: X:269.92, Y:-28.74, Z:-1.99 [[ 9.74315163e-01 2.25186022e-01 1.10371744e-03 2.69918206e+02] [-2.25185874e-01 9.74315788e-01 -2.57932819e-04 -2.87390038e+01] [-1.13345220e-03 2.76627967e-06 9.99999358e-01 -1.98788142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96655999499995 meters 0.054150710655257804 Centerline is valid? [True, True] Translation: X:269.98, Y:-28.76, Z:-1.99 [[ 9.75262584e-01 2.21047049e-01 1.04587843e-03 2.69978505e+02] [-2.21046913e-01 9.75263145e-01 -2.45017436e-04 -2.87557348e+01] [-1.07416707e-03 7.76813887e-06 9.99999423e-01 -1.98671571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02655999499996 meters 0.05407631295135999 Centerline is valid? [True, True] Translation: X:270.04, Y:-28.77, Z:-1.99 [[ 9.76419475e-01 2.15881416e-01 4.73215099e-04 2.70037382e+02] [-2.15881388e-01 9.76419589e-01 -1.10883216e-04 -2.87736064e+01] [-4.85994119e-04 6.11019871e-06 9.99999882e-01 -1.98694292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08655999499996 meters 0.0545032630278669 Centerline is valid? [True, True] Translation: X:270.10, Y:-28.79, Z:-1.99 [[ 9.77113397e-01 2.12718290e-01 5.81995429e-04 2.70096213e+02] [-2.12718246e-01 9.77113570e-01 -1.36127666e-04 -2.87890938e+01] [-5.97632476e-04 9.21111949e-06 9.99999821e-01 -1.98653389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14655999499996 meters 0.05433636108873225 Centerline is valid? [True, True] Translation: X:270.16, Y:-28.80, Z:-1.99 [[ 9.77212128e-01 2.12265051e-01 -6.87765051e-05 2.70156894e+02] [-2.12265051e-01 9.77212131e-01 1.68973272e-05 -2.88024788e+01] [ 7.07959470e-05 -1.91342475e-06 9.99999997e-01 -1.98643808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20655999499996 meters 0.05434487080891204 Centerline is valid? [True, True] Translation: X:270.22, Y:-28.82, Z:-1.99 [[ 9.76681714e-01 2.14691304e-01 -6.88348091e-04 2.70217706e+02] [-2.14691243e-01 9.76681956e-01 1.61878073e-04 -2.88170821e+01] [ 7.07050975e-04 -1.03210462e-05 9.99999750e-01 -1.98661135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26655999499997 meters 0.054022376789740645 Centerline is valid? [True, True] Translation: X:270.28, Y:-28.83, Z:-1.99 [[ 9.75922088e-01 2.18116503e-01 -1.12679073e-03 2.70277740e+02] [-2.18116342e-01 9.75922738e-01 2.64832121e-04 -2.88323787e+01] [ 1.15742495e-03 -1.26840427e-05 9.99999330e-01 -1.98900269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32655999499997 meters 0.05332781712963164 Centerline is valid? [True, True] Translation: X:270.34, Y:-28.84, Z:-1.99 [[ 9.74387566e-01 2.24873759e-01 -8.15039154e-04 2.70337706e+02] [-2.24873677e-01 9.74387907e-01 1.91520083e-04 -2.88422202e+01] [ 8.37232136e-04 -3.33393612e-06 9.99999650e-01 -1.98946180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38655999499997 meters 0.05305051450613167 Centerline is valid? [True, True] Translation: X:270.40, Y:-28.85, Z:-1.99 [[ 9.72671652e-01 2.32183452e-01 -8.37833446e-04 2.70399294e+02] [-2.32183368e-01 9.72672013e-01 1.97834329e-04 -2.88535497e+01] [ 8.60871002e-04 2.10314795e-06 9.99999629e-01 -1.98961873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.446559995 meters 0.05274535447420887 Centerline is valid? [True, True] Translation: X:270.46, Y:-28.86, Z:-1.99 [[ 9.71435138e-01 2.37305044e-01 -2.96810932e-04 2.70459025e+02] [-2.37305033e-01 9.71435184e-01 7.01831248e-05 -2.88646585e+01] [ 3.04987392e-04 2.25637454e-06 9.99999953e-01 -1.99096063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.506559995 meters 0.05337018140948543 Centerline is valid? [True, True] Translation: X:270.52, Y:-28.88, Z:-1.99 [[ 9.69497625e-01 2.45100379e-01 3.99134378e-04 2.70519283e+02] [-2.45100361e-01 9.69497707e-01 -9.36982563e-05 -2.88766969e+01] [-4.09925342e-04 -6.98774293e-06 9.99999916e-01 -1.99068527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.566559995 meters 0.05269585284827883 Centerline is valid? [True, True] Translation: X:270.58, Y:-28.89, Z:-1.99 [[ 9.68189443e-01 2.50217788e-01 5.09867040e-04 2.70578071e+02] [-2.50217760e-01 9.68189578e-01 -1.19791089e-04 -2.88915829e+01] [-5.23621815e-04 -1.15973212e-05 9.99999863e-01 -1.99014279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.626559995 meters 0.05366356665358784 Centerline is valid? [True, True] Translation: X:270.64, Y:-28.90, Z:-1.99 [[ 9.66142064e-01 2.58006825e-01 1.41082028e-03 2.70638389e+02] [-2.58006615e-01 9.66143093e-01 -3.31577526e-04 -2.88984631e+01] [-1.44860354e-03 -4.36499700e-05 9.99998950e-01 -1.99254134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.686559995 meters 0.05366428244115456 Centerline is valid? [True, True] Translation: X:270.70, Y:-28.91, Z:-1.99 [[ 9.65628307e-01 2.59923680e-01 1.28559938e-03 2.70697439e+02] [-2.59923508e-01 9.65629162e-01 -3.02143497e-04 -2.89126967e+01] [-1.31994650e-03 -4.23991873e-05 9.99999128e-01 -1.99332036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.746559995 meters 0.053630828403816964 Centerline is valid? [True, True] Translation: X:270.76, Y:-28.93, Z:-2.00 [[ 9.65798164e-01 2.59293996e-01 7.27950239e-04 2.70757227e+02] [-2.59293941e-01 9.65798438e-01 -1.70414534e-04 -2.89299876e+01] [-7.47240669e-04 -2.41670422e-05 9.99999721e-01 -1.99500000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.806559995 meters 0.05235802417363486 Centerline is valid? [True, True] Translation: X:270.81, Y:-28.95, Z:-1.99 [[ 9.66676193e-01 2.56001243e-01 7.08160790e-04 2.70813767e+02] [-2.56001190e-01 9.66676452e-01 -1.66489126e-04 -2.89545298e+01] [-7.27183783e-04 -2.03489303e-05 9.99999735e-01 -1.99363957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.866559995 meters 0.052012664478969066 Centerline is valid? [True, True] Translation: X:270.87, Y:-28.98, Z:-1.99 [[ 9.68063171e-01 2.50705406e-01 7.03859702e-04 2.70870888e+02] [-2.50705352e-01 9.68063427e-01 -1.65468660e-04 -2.89773623e+01] [-7.22864723e-04 -1.62772788e-05 9.99999739e-01 -1.99310706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.926559995 meters 0.05231475159018899 Centerline is valid? [True, True] Translation: X:270.93, Y:-28.99, Z:-2.00 [[ 9.70893142e-01 2.39512668e-01 4.34648046e-04 2.70928407e+02] [-2.39512646e-01 9.70893239e-01 -1.02139629e-04 -2.89948940e+01] [-4.46460585e-04 -4.93703832e-06 9.99999900e-01 -1.99649961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.986559995 meters 0.05235069108797608 Centerline is valid? [True, True] Translation: X:270.99, Y:-29.02, Z:-2.00 [[ 9.73148366e-01 2.30178303e-01 4.53265789e-04 2.70986034e+02] [-2.30178279e-01 9.73148472e-01 -1.06345512e-04 -2.90205056e+01] [-4.65573339e-04 -8.41978035e-07 9.99999892e-01 -1.99507410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04655999499994 meters 0.053117820137033464 Centerline is valid? [True, True] Translation: X:271.04, Y:-29.04, Z:-1.99 [[ 9.75674970e-01 2.19211637e-01 2.14715322e-03 2.71044698e+02] [-2.19211057e-01 9.75677333e-01 -5.04817746e-04 -2.90380948e+01] [-2.20559066e-03 2.18583121e-05 9.99997567e-01 -1.99410071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10655999499994 meters 0.05345830027074697 Centerline is valid? [True, True] Translation: X:271.10, Y:-29.06, Z:-2.00 [[ 9.76982262e-01 2.13293611e-01 3.39058766e-03 2.71103109e+02] [-2.13292127e-01 9.76988143e-01 -7.97741893e-04 -2.90555596e+01] [-3.48271719e-03 5.61940275e-05 9.99993934e-01 -1.99559855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16655999499994 meters 0.05373834695340508 Centerline is valid? [True, True] Translation: X:271.16, Y:-29.07, Z:-2.00 [[ 9.77721786e-01 2.09884742e-01 2.91628869e-03 2.71160562e+02] [-2.09883628e-01 9.77726133e-01 -6.86151555e-04 -2.90738812e+01] [-2.99534441e-03 5.87840723e-05 9.99995512e-01 -1.99650784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22655999499995 meters 0.053497710715636665 Centerline is valid? [True, True] Translation: X:271.22, Y:-29.08, Z:-2.00 [[ 9.78573095e-01 2.05882825e-01 2.63828869e-03 2.71222621e+02] [-2.05881899e-01 9.78576649e-01 -6.20867148e-04 -2.90764361e+01] [-2.70959358e-03 6.43880022e-05 9.99996327e-01 -1.99552941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28655999499995 meters 0.05382830241898658 Centerline is valid? [True, True] Translation: X:271.28, Y:-29.09, Z:-2.00 [[ 9.79046987e-01 2.03612865e-01 2.96624394e-03 2.71282881e+02] [-2.03611683e-01 9.79051477e-01 -6.98080517e-04 -2.90858176e+01] [-3.04624368e-03 7.94917054e-05 9.99995357e-01 -1.99815159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34655999499995 meters 0.054436082359481684 Centerline is valid? [True, True] Translation: X:271.34, Y:-29.10, Z:-2.00 [[ 9.79604033e-01 2.00909692e-01 3.35188220e-03 2.71341944e+02] [-2.00908168e-01 9.79609762e-01 -7.88836414e-04 -2.91001605e+01] [-3.44202140e-03 9.93268212e-05 9.99994071e-01 -1.99993795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40655999499995 meters 0.05375912462666459 Centerline is valid? [True, True] Translation: X:271.40, Y:-29.11, Z:-2.00 [[ 9.79571638e-01 2.01076477e-01 2.76685502e-03 2.71403495e+02] [-2.01075440e-01 9.79575543e-01 -6.50683706e-04 -2.91087288e+01] [-2.84118070e-03 8.10447123e-05 9.99995961e-01 -2.00063198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46655999499995 meters 0.05378059566329073 Centerline is valid? [True, True] Translation: X:271.46, Y:-29.12, Z:-2.00 [[ 9.79227552e-01 2.02743186e-01 2.93280078e-03 2.71463504e+02] [-2.02742027e-01 9.79231941e-01 -6.90589390e-04 -2.91225888e+01] [-3.01190449e-03 8.16421841e-05 9.99995461e-01 -2.00281280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52655999499996 meters 0.05365567986091185 Centerline is valid? [True, True] Translation: X:271.52, Y:-29.13, Z:-2.00 [[ 9.78347683e-01 2.06940794e-01 3.36423011e-03 2.71523907e+02] [-2.06939293e-01 9.78353464e-01 -7.92394484e-04 -2.91285507e+01] [-3.45538493e-03 7.90459077e-05 9.99994027e-01 -2.00385395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58655999499996 meters 0.0535311311421216 Centerline is valid? [True, True] Translation: X:271.58, Y:-29.14, Z:-2.00 [[ 9.77993323e-01 2.08606495e-01 3.51991787e-03 2.71582895e+02] [-2.08604863e-01 9.77999655e-01 -8.28679713e-04 -2.91447844e+01] [-3.61534643e-03 7.61712431e-05 9.99993462e-01 -2.00472455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64655999499996 meters 0.05379057478257344 Centerline is valid? [True, True] Translation: X:271.64, Y:-29.15, Z:-2.00 [[ 9.76939781e-01 2.13461567e-01 4.77734495e-03 2.71643815e+02] [-2.13458614e-01 9.76951459e-01 -1.12571566e-03 -2.91529892e+01] [-4.90753115e-03 7.99909827e-05 9.99987955e-01 -2.00496694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70655999499996 meters 0.05295198194531876 Centerline is valid? [True, True] Translation: X:271.70, Y:-29.16, Z:-2.01 [[ 9.75516477e-01 2.19835044e-01 6.33689299e-03 2.71704162e+02] [-2.19829982e-01 9.75537057e-01 -1.49326920e-03 -2.91629602e+01] [-6.51014684e-03 6.36696437e-05 9.99978807e-01 -2.00602670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76655999499997 meters 0.05249459852096801 Centerline is valid? [True, True] Translation: X:271.77, Y:-29.17, Z:-2.01 [[ 9.74460663e-01 2.24483409e-01 5.79793094e-03 2.71766459e+02] [-2.24479253e-01 9.74477911e-01 -1.36625060e-03 -2.91715924e+01] [-5.95665623e-03 2.98422603e-05 9.99982259e-01 -2.00729182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82655999499997 meters 0.05289740240575424 Centerline is valid? [True, True] Translation: X:271.83, Y:-29.18, Z:-2.01 [[ 9.73482542e-01 2.28703502e-01 5.14282766e-03 2.71827524e+02] [-2.28700290e-01 9.73496126e-01 -1.21206667e-03 -2.91814931e+01] [-5.28372670e-03 3.75956390e-06 9.99986041e-01 -2.00912382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88655999499997 meters 0.052280704420798296 Centerline is valid? [True, True] Translation: X:271.89, Y:-29.19, Z:-2.01 [[ 9.72415835e-01 2.33235135e-01 2.96913151e-03 2.71888039e+02] [-2.33234087e-01 9.72420368e-01 -6.99475144e-04 -2.91908743e+01] [-3.05038613e-03 -1.23219695e-05 9.99995347e-01 -2.01139785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.946559995 meters 0.05353205091653131 Centerline is valid? [True, True] Translation: X:271.95, Y:-29.20, Z:-2.01 [[ 9.72479252e-01 2.32980687e-01 2.02572556e-03 2.71949399e+02] [-2.32980199e-01 9.72481362e-01 -4.77084553e-04 -2.92048475e+01] [-2.08113184e-03 -7.99911583e-06 9.99997834e-01 -2.01364527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.006559995 meters 0.052627405281921044 Centerline is valid? [True, True] Translation: X:272.01, Y:-29.22, Z:-2.02 [[ 9.73831732e-01 2.27268885e-01 7.82503308e-04 2.72009618e+02] [-2.27268810e-01 9.73832046e-01 -1.83810914e-04 -2.92248096e+01] [-8.03801299e-04 1.16230478e-06 9.99999677e-01 -2.01510503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.066559995 meters 0.05256557513748454 Centerline is valid? [True, True] Translation: X:272.07, Y:-29.24, Z:-2.02 [[ 9.75216898e-01 2.21246116e-01 1.46907777e-03 2.72068725e+02] [-2.21245845e-01 9.75218004e-01 -3.46513944e-04 -2.92449406e+01] [-1.50933596e-03 1.28989002e-05 9.99998861e-01 -2.01526455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.126559995 meters 0.053494674948045565 Centerline is valid? [True, True] Translation: X:272.13, Y:-29.26, Z:-2.01 [[ 9.76708774e-01 2.14557967e-01 2.20243487e-03 2.72127152e+02] [-2.14557339e-01 9.76711256e-01 -5.20136083e-04 -2.92614407e+01] [-2.26274227e-03 3.54729105e-05 9.99997439e-01 -2.01462172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.186559995 meters 0.05395073439086327 Centerline is valid? [True, True] Translation: X:272.18, Y:-29.28, Z:-2.01 [[ 9.78657496e-01 2.05461185e-01 3.89969208e-03 2.72183289e+02] [-2.05459146e-01 9.78665260e-01 -9.21016432e-04 -2.92843149e+01] [-4.00572629e-03 1.00132231e-04 9.99991972e-01 -2.01406229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.246559995 meters 0.05362181164172593 Centerline is valid? [True, True] Translation: X:272.24, Y:-29.30, Z:-2.01 [[ 9.79816663e-01 1.99820976e-01 5.55735821e-03 2.72243574e+02] [-1.99816741e-01 9.79832408e-01 -1.31269542e-03 -2.92959003e+01] [-5.70758376e-03 1.75747640e-04 9.99983696e-01 -2.01250388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.306559995 meters 0.054399138958378696 Centerline is valid? [True, True] Translation: X:272.30, Y:-29.32, Z:-2.01 [[ 9.80187754e-01 1.98012003e-01 4.81811094e-03 2.72299573e+02] [-1.98008797e-01 9.80199582e-01 -1.13815906e-03 -2.93185714e+01] [-4.94807949e-03 1.61581216e-04 9.99987745e-01 -2.01471447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.366559995 meters 0.05419626979330836 Centerline is valid? [True, True] Translation: X:272.36, Y:-29.33, Z:-2.02 [[ 9.79675920e-01 2.00544848e-01 4.10548642e-03 2.72360277e+02] [-2.00542543e-01 9.79684515e-01 -9.69823845e-04 -2.93283423e+01] [-4.21657465e-03 1.26788383e-04 9.99991102e-01 -2.01597990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.426559995 meters 0.05394639476587728 Centerline is valid? [True, True] Translation: X:272.42, Y:-29.34, Z:-2.02 [[ 9.79098278e-01 2.03339170e-01 4.44334939e-03 2.72418270e+02] [-2.03336498e-01 9.79108353e-01 -1.04978641e-03 -2.93411755e+01] [-4.56398320e-03 1.24348966e-04 9.99989577e-01 -2.01585850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.486559995 meters 0.053616025519010464 Centerline is valid? [True, True] Translation: X:272.48, Y:-29.35, Z:-2.02 [[ 9.78386905e-01 2.06729944e-01 4.66852715e-03 2.72477702e+02] [-2.06727033e-01 9.78398036e-01 -1.10294170e-03 -2.93484640e+01] [-4.79568887e-03 1.13992953e-04 9.99988494e-01 -2.01534971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54655999499994 meters 0.052970075617850276 Centerline is valid? [True, True] Translation: X:272.54, Y:-29.36, Z:-2.02 [[ 9.76913621e-01 2.13543423e-01 6.24365389e-03 2.72536903e+02] [-2.13538356e-01 9.76933567e-01 -1.47498196e-03 -2.93611264e+01] [-6.41460776e-03 1.07670383e-04 9.99979420e-01 -2.01556264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60655999499994 meters 0.052473359539256643 Centerline is valid? [True, True] Translation: X:272.60, Y:-29.37, Z:-2.02 [[ 9.74858489e-01 2.22742038e-01 6.07546357e-03 2.72596233e+02] [-2.22737419e-01 9.74877419e-01 -1.43526695e-03 -2.93738667e+01] [-6.24252653e-03 4.59490949e-05 9.99980514e-01 -2.01647423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66655999499994 meters 0.05255949478003993 Centerline is valid? [True, True] Translation: X:272.66, Y:-29.38, Z:-2.02 [[ 9.73249410e-01 2.29676677e-01 5.84899460e-03 2.72656810e+02] [-2.29672521e-01 9.73266985e-01 -1.38173266e-03 -2.93829029e+01] [-6.00998511e-03 1.41716342e-06 9.99981940e-01 -2.01631714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72655999499995 meters 0.0522541558638282 Centerline is valid? [True, True] Translation: X:272.72, Y:-29.39, Z:-2.02 [[ 9.70864178e-01 2.39549076e-01 6.24407516e-03 2.72718824e+02] [-2.39544538e-01 9.70884255e-01 -1.47588684e-03 -2.93875759e+01] [-6.41582159e-03 -6.28484304e-05 9.99979416e-01 -2.01692709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78655999499995 meters 0.05242394785745666 Centerline is valid? [True, True] Translation: X:272.78, Y:-29.40, Z:-2.02 [[ 9.69220356e-01 2.46095829e-01 6.98167333e-03 2.72778303e+02] [-2.46090323e-01 9.69245495e-01 -1.65048573e-03 -2.93993243e+01] [-7.17313308e-03 -1.18437879e-04 9.99974266e-01 -2.01647438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84655999499995 meters 0.05200438921577146 Centerline is valid? [True, True] Translation: X:272.84, Y:-29.41, Z:-2.02 [[ 9.68532424e-01 2.48788037e-01 7.03257099e-03 2.72838444e+02] [-2.48782521e-01 9.68557945e-01 -1.66256090e-03 -2.94128791e+01] [-7.22507777e-03 -1.39336601e-04 9.99973889e-01 -2.01735803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90655999499995 meters 0.05254942577537627 Centerline is valid? [True, True] Translation: X:272.90, Y:-29.43, Z:-2.02 [[ 9.68621433e-01 2.48459999e-01 6.33634160e-03 2.72898696e+02] [-2.48455510e-01 9.68642150e-01 -1.49855656e-03 -2.94283496e+01] [-6.50997891e-03 -1.22764984e-04 9.99978802e-01 -2.01822135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96655999499995 meters 0.05187492323120564 Centerline is valid? [True, True] Translation: X:272.96, Y:-29.45, Z:-2.02 [[ 9.69735980e-01 2.44112927e-01 4.58343819e-03 2.72957279e+02] [-2.44110527e-01 9.69746809e-01 -1.08452198e-03 -2.94484633e+01] [-4.70952040e-03 -6.71655278e-05 9.99988908e-01 -2.02052191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02655999499996 meters 0.052465105740358474 Centerline is valid? [True, True] Translation: X:273.01, Y:-29.47, Z:-2.02 [[ 9.72060875e-01 2.34701390e-01 3.59342732e-03 2.73013323e+02] [-2.34699850e-01 9.72067517e-01 -8.50377336e-04 -2.94713437e+01] [-3.69263871e-03 -1.67583146e-05 9.99993182e-01 -2.02097930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08655999499996 meters 0.05227190699676715 Centerline is valid? [True, True] Translation: X:273.07, Y:-29.49, Z:-2.02 [[ 9.73852510e-01 2.27154313e-01 3.49388222e-03 2.73072426e+02] [-2.27152809e-01 9.73858777e-01 -8.26724142e-04 -2.94935000e+01] [-3.59034182e-03 1.14622222e-05 9.99993555e-01 -2.02177244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14655999499996 meters 0.0530644887643098 Centerline is valid? [True, True] Translation: X:273.13, Y:-29.51, Z:-2.02 [[ 9.75481201e-01 2.20051301e-01 3.72179941e-03 2.73130700e+02] [-2.20049542e-01 9.75488300e-01 -8.80598590e-04 -2.95131318e+01] [-3.82434864e-03 4.00271138e-05 9.99992686e-01 -2.02103975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20655999499996 meters 0.05304143385907077 Centerline is valid? [True, True] Translation: X:273.19, Y:-29.54, Z:-2.02 [[ 9.77703769e-01 2.09930665e-01 4.94524208e-03 2.73186912e+02] [-2.09927425e-01 9.77716270e-01 -1.17109744e-03 -2.95376646e+01] [-5.08089290e-03 1.06844441e-04 9.99987086e-01 -2.02047721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26655999499997 meters 0.05350282434175976 Centerline is valid? [True, True] Translation: X:273.25, Y:-29.55, Z:-2.02 [[ 9.79553338e-01 2.01101072e-01 5.79801004e-03 2.73245347e+02] [-2.01096464e-01 9.79570481e-01 -1.37306490e-03 -2.95546706e+01] [-5.95568431e-03 1.79030991e-04 9.99982249e-01 -2.01976341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32655999499997 meters 0.054176763313081085 Centerline is valid? [True, True] Translation: X:273.30, Y:-29.58, Z:-2.02 [[ 9.80497097e-01 1.96463416e-01 5.25056463e-03 2.73302029e+02] [-1.96459570e-01 9.80511138e-01 -1.24349864e-03 -2.95777563e+01] [-5.39253909e-03 1.87723136e-04 9.99985443e-01 -2.02093532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38655999499997 meters 0.05333730712062605 Centerline is valid? [True, True] Translation: X:273.37, Y:-29.58, Z:-2.02 [[ 9.80489932e-01 1.96502332e-01 5.13103110e-03 2.73366463e+02] [-1.96498661e-01 9.80503340e-01 -1.21499487e-03 -2.95778643e+01] [-5.26974246e-03 1.83049493e-04 9.99986098e-01 -2.02049369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.446559995 meters 0.053850632658858005 Centerline is valid? [True, True] Translation: X:273.42, Y:-29.60, Z:-2.02 [[ 9.79798236e-01 1.99924382e-01 5.06530209e-03 2.73422737e+02] [-1.99920845e-01 9.79811316e-01 -1.20041057e-03 -2.96003695e+01] [-5.20303165e-03 1.63500681e-04 9.99986451e-01 -2.02168976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.506559995 meters 0.05425847143873499 Centerline is valid? [True, True] Translation: X:273.48, Y:-29.62, Z:-2.02 [[ 9.79398831e-01 2.01851543e-01 5.82096487e-03 2.73482765e+02] [-2.01846906e-01 9.79416114e-01 -1.37944566e-03 -2.96158298e+01] [-5.97959003e-03 1.76083720e-04 9.99982107e-01 -2.02212520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.566559995 meters 0.05301498563783427 Centerline is valid? [True, True] Translation: X:273.54, Y:-29.63, Z:-2.02 [[ 9.78408037e-01 2.06598615e-01 5.89281041e-03 2.73541698e+02] [-2.06593947e-01 9.78425771e-01 -1.39672633e-03 -2.96261411e+01] [-6.05423930e-03 1.49149306e-04 9.99981662e-01 -2.02175108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.626559995 meters 0.05280137492038933 Centerline is valid? [True, True] Translation: X:273.60, Y:-29.64, Z:-2.02 [[ 9.77597134e-01 2.10437509e-01 4.46080771e-03 2.73601721e+02] [-2.10434875e-01 9.77607307e-01 -1.05725601e-03 -2.96377111e+01] [-4.58340453e-03 9.48609358e-05 9.99989492e-01 -2.02374047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.686559995 meters 0.05226839182552286 Centerline is valid? [True, True] Translation: X:273.66, Y:-29.65, Z:-2.02 [[ 9.76169627e-01 2.16947607e-01 5.15696108e-03 2.73661346e+02] [-2.16944176e-01 9.76183246e-01 -1.22238217e-03 -2.96485594e+01] [-5.29933190e-03 7.44796771e-05 9.99985956e-01 -2.02405470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.746559995 meters 0.05197990256835669 Centerline is valid? [True, True] Translation: X:273.72, Y:-29.66, Z:-2.03 [[ 9.75127320e-01 2.21585761e-01 5.14398428e-03 2.73720651e+02] [-2.21582412e-01 9.75140886e-01 -1.21933420e-03 -2.96625944e+01] [-5.28629648e-03 4.91896494e-05 9.99986026e-01 -2.02558426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.806559995 meters 0.05168497355297242 Centerline is valid? [True, True] Translation: X:273.78, Y:-29.67, Z:-2.03 [[ 9.73440190e-01 2.28893449e-01 4.68886295e-03 2.73782227e+02] [-2.28890750e-01 9.73451483e-01 -1.11150774e-03 -2.96700659e+01] [-4.81879743e-03 8.74894810e-06 9.99988389e-01 -2.02638644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.866559995 meters 0.05160529120484441 Centerline is valid? [True, True] Translation: X:273.84, Y:-29.68, Z:-2.03 [[ 9.72237101e-01 2.33937327e-01 5.32409602e-03 2.73844386e+02] [-2.33933924e-01 9.72251679e-01 -1.26203706e-03 -2.96823279e+01] [-5.47159887e-03 -1.84874178e-05 9.99985031e-01 -2.02634388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.926559995 meters 0.05174631470667945 Centerline is valid? [True, True] Translation: X:273.90, Y:-29.69, Z:-2.03 [[ 9.70695575e-01 2.40253565e-01 5.32215077e-03 2.73904984e+02] [-2.40250253e-01 9.70710164e-01 -1.26255102e-03 -2.96897194e+01] [-5.46959823e-03 -5.30953808e-05 9.99985040e-01 -2.02745008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.986559995 meters 0.05142823159696268 Centerline is valid? [True, True] Translation: X:273.96, Y:-29.70, Z:-2.03 [[ 9.69422631e-01 2.45328738e-01 5.79425920e-03 2.73964851e+02] [-2.45324903e-01 9.69439943e-01 -1.37465959e-03 -2.97032370e+01] [-5.95442981e-03 -8.88499638e-05 9.99982268e-01 -2.02720429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04655999499994 meters 0.05191064787287113 Centerline is valid? [True, True] Translation: X:274.02, Y:-29.71, Z:-2.03 [[ 9.68086993e-01 2.50551305e-01 5.62294255e-03 2.74024430e+02] [-2.50547780e-01 9.68103316e-01 -1.33413083e-03 -2.97109346e+01] [-5.77785754e-03 -1.17261071e-04 9.99983301e-01 -2.02805354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10655999499994 meters 0.0534994245740561 Centerline is valid? [True, True] Translation: X:274.09, Y:-29.72, Z:-2.03 [[ 9.66790083e-01 2.55549248e-01 3.39375464e-03 2.74085294e+02] [-2.55547995e-01 9.66796035e-01 -8.05185630e-04 -2.97169447e+01] [-3.48683311e-03 -8.88217107e-05 9.99993917e-01 -2.03236739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16655999499994 meters 0.051345100928293246 Centerline is valid? [True, True] Translation: X:274.14, Y:-29.74, Z:-2.03 [[ 9.66362446e-01 2.57175859e-01 2.04958073e-03 2.74142867e+02] [-2.57175407e-01 9.66364618e-01 -4.85769189e-04 -2.97419314e+01] [-2.10557041e-03 -5.76726564e-05 9.99997782e-01 -2.03237150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22655999499995 meters 0.05073059723289879 Centerline is valid? [True, True] Translation: X:274.20, Y:-29.76, Z:-2.03 [[ 9.66685560e-01 2.55958863e-01 2.02193030e-03 2.74202858e+02] [-2.55958419e-01 9.66687673e-01 -4.79648334e-04 -2.97604364e+01] [-2.07734534e-03 -5.38609645e-05 9.99997841e-01 -2.03209409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28655999499995 meters 0.05150595804104654 Centerline is valid? [True, True] Translation: X:274.26, Y:-29.77, Z:-2.03 [[ 9.67867703e-01 2.51421232e-01 4.41295678e-03 2.74261374e+02] [-2.51419067e-01 9.67877758e-01 -1.04782572e-03 -2.97740943e+01] [-4.53464835e-03 -9.53448002e-05 9.99989714e-01 -2.03158343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34655999499995 meters 0.051009497860184105 Centerline is valid? [True, True] Translation: X:274.32, Y:-29.79, Z:-2.03 [[ 9.68732904e-01 2.48041200e-01 5.66776858e-03 2.74319756e+02] [-2.48037570e-01 9.68749479e-01 -1.34575598e-03 -2.97943883e+01] [-5.82445078e-03 -1.02141451e-04 9.99983033e-01 -2.03125010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40655999499995 meters 0.0507449230030349 Centerline is valid? [True, True] Translation: X:274.38, Y:-29.82, Z:-2.03 [[ 9.69428322e-01 2.45292605e-01 6.34556045e-03 2.74377349e+02] [-2.45287995e-01 9.69449085e-01 -1.50679905e-03 -2.98172983e+01] [-6.52130444e-03 -9.57561323e-05 9.99978731e-01 -2.03048692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46655999499995 meters 0.05079579254712013 Centerline is valid? [True, True] Translation: X:274.44, Y:-29.83, Z:-2.03 [[ 9.68534585e-01 2.48875011e-01 1.40932952e-03 2.74436255e+02] [-2.48874787e-01 9.68535610e-01 -3.34632632e-04 -2.98316608e+01] [-1.44826753e-03 -2.66433087e-05 9.99998951e-01 -2.03454479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52655999499996 meters 0.05108362727271984 Centerline is valid? [True, True] Translation: X:274.50, Y:-29.84, Z:-2.04 [[ 9.67956241e-01 2.51118639e-01 -3.79835447e-04 2.74496772e+02] [-2.51118622e-01 9.67956316e-01 9.03318883e-05 -2.98432262e+01] [ 3.90348141e-04 7.94643910e-06 9.99999924e-01 -2.03629183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58655999499996 meters 0.050795771420156614 Centerline is valid? [True, True] Translation: X:274.56, Y:-29.85, Z:-2.04 [[ 9.67658088e-01 2.52264974e-01 -4.55617908e-04 2.74556927e+02] [-2.52264950e-01 9.67658195e-01 1.09034038e-04 -2.98539418e+01] [ 4.68387871e-04 9.42876039e-06 9.99999890e-01 -2.03689588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64655999499996 meters 0.05087693328261112 Centerline is valid? [True, True] Translation: X:274.62, Y:-29.86, Z:-2.04 [[ 9.67271354e-01 2.53742702e-01 8.77088267e-04 2.74618171e+02] [-2.53742618e-01 9.67271751e-01 -2.07682749e-04 -2.98649275e+01] [-9.01080686e-04 -2.16690989e-05 9.99999594e-01 -2.03600579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70655999499996 meters 0.05030222640460281 Centerline is valid? [True, True] Translation: X:274.68, Y:-29.88, Z:-2.04 [[ 9.67474921e-01 2.52954202e-01 2.53945865e-03 2.74677893e+02] [-2.52953490e-01 9.67478252e-01 -6.03129915e-04 -2.98832855e+01] [-2.60943526e-03 -5.88518611e-05 9.99996594e-01 -2.03500395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76655999499997 meters 0.05116902105454409 Centerline is valid? [True, True] Translation: X:274.74, Y:-29.89, Z:-2.04 [[ 9.68100786e-01 2.50497426e-01 5.64866854e-03 2.74738284e+02] [-2.50493850e-01 9.68117259e-01 -1.34349173e-03 -2.98907871e+01] [-5.80511472e-03 -1.14321327e-04 9.99983144e-01 -2.03515769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82655999499997 meters 0.05140053783608853 Centerline is valid? [True, True] Translation: X:274.80, Y:-29.91, Z:-2.03 [[ 9.69187682e-01 2.46248979e-01 6.05610542e-03 2.74797164e+02] [-2.46244785e-01 9.69206599e-01 -1.44045273e-03 -2.99053304e+01] [-6.22432736e-03 -9.52153305e-05 9.99980624e-01 -2.03492639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88655999499997 meters 0.05075200104736313 Centerline is valid? [True, True] Translation: X:274.86, Y:-29.92, Z:-2.04 [[ 9.69940094e-01 2.43278968e-01 5.61765640e-03 2.74856352e+02] [-2.43275309e-01 9.69956359e-01 -1.33620539e-03 -2.99210678e+01] [-5.77395221e-03 -7.05979086e-05 9.99983328e-01 -2.03520695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.946559995 meters 0.05021419869420925 Centerline is valid? [True, True] Translation: X:274.92, Y:-29.94, Z:-2.04 [[ 9.70563773e-01 2.40804246e-01 4.39059627e-03 2.74916870e+02] [-2.40801987e-01 9.70573703e-01 -1.04411350e-03 -2.99355162e+01] [-4.51282425e-03 -4.38855651e-05 9.99989816e-01 -2.03652814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.006559995 meters 0.05074443908735744 Centerline is valid? [True, True] Translation: X:274.98, Y:-29.95, Z:-2.04 [[ 9.71671231e-01 2.36323922e-01 2.45419160e-03 2.74977052e+02] [-2.36323202e-01 9.71674330e-01 -5.83541792e-04 -2.99512281e+01] [-2.52257987e-03 -1.29716467e-05 9.99996818e-01 -2.03874658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.066559995 meters 0.05123872511857543 Centerline is valid? [True, True] Translation: X:275.04, Y:-29.97, Z:-2.04 [[ 9.73072711e-01 2.30490807e-01 1.86754588e-03 2.75036994e+02] [-2.30490378e-01 9.73074503e-01 -4.44455314e-04 -2.99678711e+01] [-1.91970414e-03 2.03598091e-06 9.99998157e-01 -2.04057943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.126559995 meters 0.05161215201510774 Centerline is valid? [True, True] Translation: X:275.10, Y:-29.99, Z:-2.04 [[ 9.74647682e-01 2.23733854e-01 2.24917071e-03 2.75095692e+02] [-2.23733215e-01 9.74650277e-01 -5.35104293e-04 -2.99855120e+01] [-2.31187580e-03 1.83239659e-05 9.99997327e-01 -2.03910042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.186559995 meters 0.051862009813086446 Centerline is valid? [True, True] Translation: X:275.15, Y:-30.01, Z:-2.04 [[ 9.75952794e-01 2.17964411e-01 2.76747352e-03 2.75153180e+02] [-2.17963417e-01 9.75956717e-01 -6.59299405e-04 -3.00075604e+01] [-2.84463818e-03 4.02371118e-05 9.99995953e-01 -2.03972260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.246559995 meters 0.0516311261837443 Centerline is valid? [True, True] Translation: X:275.21, Y:-30.02, Z:-2.04 [[ 9.76260626e-01 2.16576526e-01 3.13040917e-03 2.75214790e+02] [-2.16575249e-01 9.76265643e-01 -7.45421141e-04 -3.00156756e+01] [-3.21755164e-03 4.97561649e-05 9.99994822e-01 -2.03982498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.306559995 meters 0.051733077006173134 Centerline is valid? [True, True] Translation: X:275.28, Y:-30.03, Z:-2.04 [[ 9.75992765e-01 2.17786935e-01 2.64070270e-03 2.75275101e+02] [-2.17786030e-01 9.75996337e-01 -6.29075449e-04 -3.00281328e+01] [-2.71432057e-03 3.88649294e-05 9.99996315e-01 -2.04053689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.366559995 meters 0.05195237958079258 Centerline is valid? [True, True] Translation: X:275.34, Y:-30.04, Z:-2.04 [[ 9.76040712e-01 2.17571292e-01 2.69479125e-03 2.75335894e+02] [-2.17570347e-01 9.76044431e-01 -6.42522731e-04 -3.00419794e+01] [-2.77003050e-03 4.08216743e-05 9.99996163e-01 -2.04075086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.426559995 meters 0.05195237958079258 Centerline is valid? [True, True] Translation: X:275.40, Y:-30.06, Z:-2.04 [[ 9.76016175e-01 2.17681338e-01 2.69485171e-03 2.75396681e+02] [-2.17680394e-01 9.76019894e-01 -6.42269391e-04 -3.00564331e+01] [-2.77003894e-03 4.02489323e-05 9.99996163e-01 -2.04121139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.486559995 meters 0.05215391310348761 Centerline is valid? [True, True] Translation: X:275.46, Y:-30.07, Z:-2.04 [[ 9.76118624e-01 2.17221072e-01 2.72736511e-03 2.75457309e+02] [-2.17220101e-01 9.76122433e-01 -6.50716560e-04 -3.00704625e+01] [-2.80359162e-03 4.27380257e-05 9.99996069e-01 -2.04180221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54655999499994 meters 0.05162333565477819 Centerline is valid? [True, True] Translation: X:275.52, Y:-30.09, Z:-2.04 [[ 9.76716002e-01 2.14519893e-01 2.65831957e-03 2.75517798e+02] [-2.14518961e-01 9.76719618e-01 -6.34370761e-04 -3.00850313e+01] [-2.73251802e-03 4.93401226e-05 9.99996265e-01 -2.04308719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60655999499994 meters 0.05239578821830309 Centerline is valid? [True, True] Translation: X:275.58, Y:-30.10, Z:-2.04 [[ 9.77507168e-01 2.10890643e-01 2.20764079e-03 2.75577075e+02] [-2.10889991e-01 9.77509659e-01 -5.26924610e-04 -3.00977973e+01] [-2.26911366e-03 4.95032377e-05 9.99997424e-01 -2.04321660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66655999499994 meters 0.052460809594347596 Centerline is valid? [True, True] Translation: X:275.64, Y:-30.11, Z:-2.04 [[ 9.78036353e-01 2.08425085e-01 1.96867332e-03 2.75636505e+02] [-2.08424561e-01 9.78038333e-01 -4.69944170e-04 -3.01104164e+01] [-2.02338613e-03 4.93026109e-05 9.99997952e-01 -2.04435216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72655999499995 meters 0.05272725418014974 Centerline is valid? [True, True] Translation: X:275.70, Y:-30.12, Z:-2.05 [[ 9.78419200e-01 2.06626748e-01 1.12095263e-03 2.75695736e+02] [-2.06626577e-01 9.78419841e-01 -2.67568979e-04 -3.01234805e+01] [-1.15204920e-03 3.01760213e-05 9.99999336e-01 -2.04525497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78655999499995 meters 0.05246412529053053 Centerline is valid? [True, True] Translation: X:275.76, Y:-30.14, Z:-2.05 [[ 9.78219131e-01 2.07574516e-01 3.89086720e-04 2.75756501e+02] [-2.07574495e-01 9.78219209e-01 -9.21684033e-05 -3.01350800e+01] [-3.99743916e-04 9.39641571e-06 9.99999920e-01 -2.04577489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84655999499995 meters 0.0536413129760886 Centerline is valid? [True, True] Translation: X:275.82, Y:-30.15, Z:-2.05 [[ 9.77571079e-01 2.10605483e-01 -3.39773322e-04 2.75816554e+02] [-2.10605467e-01 9.77571138e-01 8.13889793e-05 -3.01486816e+01] [ 3.49293558e-04 -8.00539317e-06 9.99999939e-01 -2.04869921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90655999499995 meters 0.052621095749384936 Centerline is valid? [True, True] Translation: X:275.88, Y:-30.15, Z:-2.05 [[ 9.76351121e-01 2.16185786e-01 -1.48171177e-03 2.75878503e+02] [-2.16185497e-01 9.76352245e-01 3.54023351e-04 -3.01528204e+01] [ 1.52320743e-03 -2.53265001e-05 9.99998840e-01 -2.04977575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96655999499995 meters 0.05196455973717658 Centerline is valid? [True, True] Translation: X:275.94, Y:-30.16, Z:-2.05 [[ 9.74889401e-01 2.22688701e-01 -6.31034991e-04 2.75938352e+02] [-2.22688650e-01 9.74889605e-01 1.50874748e-04 -3.01636541e+01] [ 6.48787554e-04 -6.56186271e-06 9.99999790e-01 -2.05257903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02655999499996 meters 0.05184789512055708 Centerline is valid? [True, True] Translation: X:276.00, Y:-30.17, Z:-2.05 [[ 9.73346256e-01 2.29340058e-01 4.50478197e-04 2.76000265e+02] [-2.29340033e-01 9.73346361e-01 -1.07367111e-04 -3.01701123e+01] [-4.63094893e-04 1.19269045e-06 9.99999893e-01 -2.05225879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08655999499996 meters 0.05184509579377818 Centerline is valid? [True, True] Translation: X:276.06, Y:-30.18, Z:-2.05 [[ 9.72344600e-01 2.33550156e-01 5.49894847e-04 2.76061727e+02] [-2.33550120e-01 9.72344756e-01 -1.30637043e-04 -3.01784994e+01] [-5.65197672e-04 -1.40378374e-06 9.99999840e-01 -2.05302809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14655999499996 meters 0.05185691085004918 Centerline is valid? [True, True] Translation: X:276.12, Y:-30.19, Z:-2.05 [[ 9.71630895e-01 2.36501745e-01 5.73792174e-04 2.76122970e+02] [-2.36501706e-01 9.71631064e-01 -1.36342841e-04 -3.01910583e+01] [-5.89759621e-04 -3.22791084e-06 9.99999826e-01 -2.04940699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20655999499996 meters 0.05238163740996658 Centerline is valid? [True, True] Translation: X:276.18, Y:-30.20, Z:-2.05 [[ 9.70933048e-01 2.39348868e-01 1.06521521e-03 2.76183910e+02] [-2.39348733e-01 9.70933633e-01 -2.54082441e-04 -3.01979305e+01] [-1.09506762e-03 -8.26087186e-06 9.99999400e-01 -2.05344119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26655999499997 meters 0.05258522311651601 Centerline is valid? [True, True] Translation: X:276.24, Y:-30.21, Z:-2.06 [[ 9.70704137e-01 2.40276968e-01 -6.76695823e-04 2.76244978e+02] [-2.40276913e-01 9.70704372e-01 1.62825123e-04 -3.02111189e+01] [ 6.95994721e-04 4.53936232e-06 9.99999758e-01 -2.05598117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32655999499997 meters 0.052127763062994624 Centerline is valid? [True, True] Translation: X:276.31, Y:-30.23, Z:-2.06 [[ 9.70685877e-01 2.40345418e-01 -1.73457247e-03 2.76305544e+02] [-2.40345058e-01 9.70687426e-01 4.16285193e-04 -3.02250410e+01] [ 1.78377992e-03 1.28137632e-05 9.99998409e-01 -2.05774805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38655999499997 meters 0.05192234809193151 Centerline is valid? [True, True] Translation: X:276.37, Y:-30.25, Z:-2.05 [[ 9.70802709e-01 2.39867056e-01 -2.42796909e-03 2.76365661e+02] [-2.39866348e-01 9.70805745e-01 5.82922235e-04 -3.02457097e+01] [ 2.49691018e-03 1.64855925e-05 9.99996883e-01 -2.05128536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.446559995 meters 0.05236782338517398 Centerline is valid? [True, True] Translation: X:276.43, Y:-30.26, Z:-2.06 [[ 9.71172234e-01 2.38374452e-01 -1.45320755e-03 2.76425935e+02] [-2.38374196e-01 9.71173322e-01 3.49246060e-04 -3.02576063e+01] [ 1.49456774e-03 7.22910390e-06 9.99998883e-01 -2.05745609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.506559995 meters 0.05140723712233847 Centerline is valid? [True, True] Translation: X:276.49, Y:-30.28, Z:-2.05 [[ 9.71934962e-01 2.35248603e-01 7.24654442e-04 2.76485024e+02] [-2.35248539e-01 9.71935232e-01 -1.73039946e-04 -3.02777493e+01] [-7.45024589e-04 -2.29032544e-06 9.99999722e-01 -2.05296769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.566559995 meters 0.05206948273473712 Centerline is valid? [True, True] Translation: X:276.55, Y:-30.30, Z:-2.05 [[ 9.72739331e-01 2.31900419e-01 6.23958532e-04 2.76545011e+02] [-2.31900371e-01 9.72739531e-01 -1.49272840e-04 -3.02959054e+01] [-6.41565564e-04 5.07347209e-07 9.99999794e-01 -2.05205985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.626559995 meters 0.052395679467295224 Centerline is valid? [True, True] Translation: X:276.60, Y:-30.31, Z:-2.05 [[ 9.74076991e-01 2.26212521e-01 1.38220222e-03 2.76603193e+02] [-2.26212280e-01 9.74077972e-01 -3.30994070e-04 -3.03138780e+01] [-1.42124773e-03 9.74259369e-06 9.99998990e-01 -2.05054036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.686559995 meters 0.052077275578234154 Centerline is valid? [True, True] Translation: X:276.66, Y:-30.33, Z:-2.05 [[ 9.75278634e-01 2.20976160e-01 1.05935301e-03 2.76662249e+02] [-2.20976014e-01 9.75279210e-01 -2.54170002e-04 -3.03300877e+01] [-1.08933048e-03 1.37949664e-05 9.99999407e-01 -2.05003300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.746559995 meters 0.05197152644874416 Centerline is valid? [True, True] Translation: X:276.72, Y:-30.35, Z:-2.05 [[ 9.76047726e-01 2.17556024e-01 4.62059613e-04 2.76721348e+02] [-2.17555996e-01 9.76047835e-01 -1.10828215e-04 -3.03463328e+01] [-4.75103631e-04 7.64978777e-06 9.99999887e-01 -2.05090731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.806559995 meters 0.05232214426923191 Centerline is valid? [True, True] Translation: X:276.78, Y:-30.36, Z:-2.05 [[ 9.76293700e-01 2.16447364e-01 1.07258714e-03 2.76779500e+02] [-2.16447213e-01 9.76294289e-01 -2.56894745e-04 -3.03647414e+01] [-1.10276489e-03 1.86462249e-05 9.99999392e-01 -2.05273445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.866559995 meters 0.05235056875280065 Centerline is valid? [True, True] Translation: X:276.84, Y:-30.38, Z:-2.05 [[ 9.76114986e-01 2.17248640e-01 1.60076156e-03 2.76838570e+02] [-2.17248302e-01 9.76116298e-01 -3.84320997e-04 -3.03830520e+01] [-1.64602266e-03 2.73787542e-05 9.99998645e-01 -2.05440030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.926559995 meters 0.05245279645783713 Centerline is valid? [True, True] Translation: X:276.90, Y:-30.40, Z:-2.05 [[ 9.75625884e-01 2.19427603e-01 2.37919273e-03 2.76897977e+02] [-2.19426862e-01 9.75628785e-01 -5.71487227e-04 -3.03970442e+01] [-2.44660898e-03 3.54989361e-05 9.99997006e-01 -2.05471026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.986559995 meters 0.05185135994646882 Centerline is valid? [True, True] Translation: X:276.96, Y:-30.41, Z:-2.05 [[ 9.73214855e-01 2.29872908e-01 3.36027381e-03 2.76957708e+02] [-2.29871491e-01 9.73220656e-01 -8.07408690e-04 -3.04061496e+01] [-3.45588927e-03 1.33509819e-05 9.99994028e-01 -2.05401863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04655999499994 meters 0.051845113782282654 Centerline is valid? [True, True] Translation: X:277.02, Y:-30.42, Z:-2.05 [[ 9.71614313e-01 2.36562732e-01 1.92382206e-03 2.77019120e+02] [-2.36562282e-01 9.71616217e-01 -4.61614638e-04 -3.04184756e+01] [-1.97841753e-03 -6.59234780e-06 9.99998043e-01 -2.05436035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10655999499994 meters 0.05188209605687322 Centerline is valid? [True, True] Translation: X:277.08, Y:-30.43, Z:-2.06 [[ 9.70129574e-01 2.42586181e-01 7.43980183e-04 2.77080214e+02] [-2.42586115e-01 9.70129860e-01 -1.78580491e-04 -3.04292039e+01] [-7.65078550e-04 -7.23304684e-06 9.99999707e-01 -2.05790368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16655999499994 meters 0.05162730369095701 Centerline is valid? [True, True] Translation: X:277.14, Y:-30.44, Z:-2.06 [[ 9.68391077e-01 2.49435627e-01 7.68419333e-04 2.77139327e+02] [-2.49435559e-01 9.68391382e-01 -1.84708005e-04 -3.04423792e+01] [-7.90203417e-04 -1.28015221e-05 9.99999688e-01 -2.05736796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22655999499995 meters 0.05294613619087555 Centerline is valid? [True, True] Translation: X:277.20, Y:-30.45, Z:-2.06 [[ 9.67354466e-01 2.53421540e-01 1.69111587e-03 2.77200716e+02] [-2.53421216e-01 9.67355944e-01 -4.06590141e-04 -3.04456963e+01] [-1.73894969e-03 -3.52478514e-05 9.99998487e-01 -2.06003584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28655999499995 meters 0.05163598772804582 Centerline is valid? [True, True] Translation: X:277.26, Y:-30.47, Z:-2.06 [[ 9.67215660e-01 2.53940421e-01 2.85111103e-03 2.77259611e+02] [-2.53939504e-01 9.67219861e-01 -6.85022934e-04 -3.04693324e+01] [-2.93160622e-03 -6.14448125e-05 9.99995701e-01 -2.05797236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34655999499995 meters 0.051192193202239576 Centerline is valid? [True, True] Translation: X:277.32, Y:-30.49, Z:-2.06 [[ 9.67298311e-01 2.53625693e-01 2.82592314e-03 2.77318955e+02] [-2.53624790e-01 9.67302437e-01 -6.79389560e-04 -3.04874792e+01] [-2.90583298e-03 -5.95517882e-05 9.99995776e-01 -2.05755452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40655999499995 meters 0.05099352620256307 Centerline is valid? [True, True] Translation: X:277.38, Y:-30.51, Z:-2.06 [[ 9.67661184e-01 2.52242463e-01 2.36071715e-03 2.77378952e+02] [-2.52241828e-01 9.67664062e-01 -5.68051293e-04 -3.05056654e+01] [-2.42766780e-03 -4.57904218e-05 9.99997052e-01 -2.05914603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46655999499995 meters 0.051278077527730205 Centerline is valid? [True, True] Translation: X:277.44, Y:-30.52, Z:-2.06 [[ 9.67584037e-01 2.52546477e-01 1.18676411e-03 2.77438375e+02] [-2.52546317e-01 9.67584764e-01 -2.85005635e-04 -3.05232341e+01] [-1.22027204e-03 -2.39460013e-05 9.99999255e-01 -2.06049534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52655999499996 meters 0.05111901945271671 Centerline is valid? [True, True] Translation: X:277.50, Y:-30.54, Z:-2.06 [[ 9.67532582e-01 2.52744579e-01 9.38788430e-04 2.77499658e+02] [-2.52744479e-01 9.67533037e-01 -2.25284097e-04 -3.05382024e+01] [-9.65248155e-04 -1.93038884e-05 9.99999534e-01 -2.06152381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58655999499996 meters 0.05114784848039345 Centerline is valid? [True, True] Translation: X:277.56, Y:-30.56, Z:-2.06 [[ 9.67918445e-01 2.51264496e-01 -1.92177377e-04 2.77558918e+02] [-2.51264491e-01 9.67918464e-01 4.71947072e-05 -3.05573484e+01] [ 1.97870386e-04 2.60672319e-06 9.99999980e-01 -2.06267878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64655999499996 meters 0.050927981832881455 Centerline is valid? [True, True] Translation: X:277.62, Y:-30.58, Z:-2.06 [[ 9.68835609e-01 2.47704326e-01 3.61468983e-04 2.77617960e+02] [-2.47704310e-01 9.68835676e-01 -8.69854078e-05 -3.05758760e+01] [-3.71750708e-04 -5.26286448e-06 9.99999931e-01 -2.06251624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70655999499996 meters 0.05158044936162456 Centerline is valid? [True, True] Translation: X:277.67, Y:-30.60, Z:-2.06 [[ 9.71203809e-01 2.38236838e-01 2.52405760e-03 2.77674557e+02] [-2.38236061e-01 9.71207089e-01 -6.08683977e-04 -3.05977095e+01] [-2.59639358e-03 -1.01653432e-05 9.99996629e-01 -2.06188324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76655999499997 meters 0.050883422938618285 Centerline is valid? [True, True] Translation: X:277.73, Y:-30.62, Z:-2.06 [[ 9.74015948e-01 2.26435460e-01 4.46261191e-03 2.77732425e+02] [-2.26432906e-01 9.74026171e-01 -1.07605933e-03 -3.06228084e+01] [-4.59035878e-03 3.76167656e-05 9.99989464e-01 -2.06065020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82655999499997 meters 0.051942083916129644 Centerline is valid? [True, True] Translation: X:277.79, Y:-30.64, Z:-2.06 [[ 9.75229846e-01 2.21170454e-01 3.22129181e-03 2.77791468e+02] [-2.21169094e-01 9.75235166e-01 -7.76895459e-04 -3.06377234e+01] [-3.31334338e-03 4.52014465e-05 9.99994510e-01 -2.06370068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88655999499997 meters 0.052232005547799776 Centerline is valid? [True, True] Translation: X:277.85, Y:-30.65, Z:-2.06 [[ 9.76106042e-01 2.17292639e-01 9.51266753e-04 2.77850486e+02] [-2.17292518e-01 9.76106505e-01 -2.29403940e-04 -3.06521414e+01] [-9.78385453e-04 1.72194231e-05 9.99999521e-01 -2.06421822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.946559995 meters 0.05230540932266185 Centerline is valid? [True, True] Translation: X:277.91, Y:-30.66, Z:-2.07 [[ 9.76738316e-01 2.14430126e-01 -1.40831804e-03 2.77910754e+02] [-2.14429859e-01 9.76739331e-01 3.39869640e-04 -3.06643515e+01] [ 1.44843791e-03 -2.99782618e-05 9.99998951e-01 -2.06516818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.006559995 meters 0.05348288805261245 Centerline is valid? [True, True] Translation: X:277.97, Y:-30.67, Z:-2.06 [[ 9.78665726e-01 2.05456290e-01 -1.05322065e-03 2.77969616e+02] [-2.05456135e-01 9.78666292e-01 2.54064136e-04 -3.06745039e+01] [ 1.08295062e-03 -3.22532185e-05 9.99999413e-01 -2.06469127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.066559995 meters 0.05344223280623315 Centerline is valid? [True, True] Translation: X:278.03, Y:-30.68, Z:-2.06 [[ 9.78984781e-01 2.03932719e-01 -4.93899015e-04 2.78031045e+02] [-2.03932685e-01 9.78984906e-01 1.19404183e-04 -3.06838522e+01] [ 5.07870100e-04 -1.61727255e-05 9.99999871e-01 -2.06288869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.126559995 meters 0.05282429991803719 Centerline is valid? [True, True] Translation: X:278.09, Y:-30.70, Z:-2.06 [[ 9.79452120e-01 2.01675759e-01 6.57680179e-04 2.78089358e+02] [-2.01675698e-01 9.79452341e-01 -1.58627612e-04 -3.06992116e+01] [-6.76157735e-04 2.27300413e-05 9.99999771e-01 -2.06203137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.186559995 meters 0.05370447337494662 Centerline is valid? [True, True] Translation: X:278.15, Y:-30.71, Z:-2.06 [[ 9.79090644e-01 2.03415872e-01 1.86937289e-03 2.78149423e+02] [-2.03415382e-01 9.79092426e-01 -4.50898749e-04 -3.07122108e+01] [-1.92200880e-03 6.12115463e-05 9.99998151e-01 -2.06320421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.246559995 meters 0.05345738176057654 Centerline is valid? [True, True] Translation: X:278.21, Y:-30.72, Z:-2.06 [[ 9.78472438e-01 2.06371053e-01 1.63587497e-03 2.78207878e+02] [-2.06370681e-01 9.78473805e-01 -3.94747217e-04 -3.07244186e+01] [-1.68212520e-03 4.86526408e-05 9.99998584e-01 -2.06484626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.306559995 meters 0.05347825295093029 Centerline is valid? [True, True] Translation: X:278.27, Y:-30.72, Z:-2.06 [[ 9.77468893e-01 2.11064782e-01 2.49426657e-03 2.78270648e+02] [-2.11063933e-01 9.77472073e-01 -6.01827635e-04 -3.07248904e+01] [-2.56510054e-03 6.18180786e-05 9.99996708e-01 -2.06330389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.366559995 meters 0.053255984277700376 Centerline is valid? [True, True] Translation: X:278.33, Y:-30.74, Z:-2.07 [[ 9.76792358e-01 2.14178050e-01 2.11016326e-03 2.78329500e+02] [-2.14177450e-01 9.76794636e-01 -5.09140363e-04 -3.07409054e+01] [-2.17024285e-03 4.53750280e-05 9.99997644e-01 -2.06506253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.426559995 meters 0.05316218951790592 Centerline is valid? [True, True] Translation: X:278.39, Y:-30.75, Z:-2.07 [[ 9.75816609e-01 2.18577094e-01 2.44937199e-03 2.78389572e+02] [-2.18576298e-01 9.75819682e-01 -5.91075920e-04 -3.07491251e+01] [-2.51934106e-03 4.14070372e-05 9.99996826e-01 -2.06617598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.486559995 meters 0.052774001160933365 Centerline is valid? [True, True] Translation: X:278.45, Y:-30.76, Z:-2.07 [[ 9.74934228e-01 2.22470003e-01 3.21689319e-03 2.78449589e+02] [-2.22468653e-01 9.74939534e-01 -7.76339717e-04 -3.07564636e+01] [-3.30898865e-03 4.12222698e-05 9.99994524e-01 -2.06555025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54655999499994 meters 0.05212727401219794 Centerline is valid? [True, True] Translation: X:278.51, Y:-30.77, Z:-2.07 [[ 9.73889276e-01 2.27020351e-01 1.19928797e-03 2.78508783e+02] [-2.27020167e-01 9.73890014e-01 -2.89304413e-04 -3.07697730e+01] [-1.23365257e-03 9.48790960e-06 9.99999239e-01 -2.07028829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60655999499994 meters 0.052600026723178546 Centerline is valid? [True, True] Translation: X:278.57, Y:-30.78, Z:-2.07 [[ 9.72879732e-01 2.31311530e-01 -5.99675272e-05 2.78569901e+02] [-2.31311529e-01 9.72879734e-01 1.49534359e-05 -3.07809086e+01] [ 6.18000940e-05 -6.76714244e-07 9.99999998e-01 -2.06982568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66655999499994 meters 0.052616707354240635 Centerline is valid? [True, True] Translation: X:278.63, Y:-30.80, Z:-2.07 [[ 9.72679983e-01 2.32145535e-01 -1.44980191e-03 2.78628756e+02] [-2.32145270e-01 9.72681063e-01 3.51036657e-04 -3.07954180e+01] [ 1.49168646e-03 -4.88167306e-06 9.99998887e-01 -2.07174588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72655999499995 meters 0.05262856325176068 Centerline is valid? [True, True] Translation: X:278.69, Y:-30.81, Z:-2.07 [[ 9.72777126e-01 2.31740080e-01 -1.09481986e-03 2.78689814e+02] [-2.31739927e-01 9.72777742e-01 2.65649069e-04 -3.08105432e+01] [ 1.12657793e-03 -4.70386148e-06 9.99999365e-01 -2.07179571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78655999499995 meters 0.05200837133573266 Centerline is valid? [True, True] Translation: X:278.75, Y:-30.83, Z:-2.07 [[ 9.73262406e-01 2.29696035e-01 -1.42676919e-04 2.78749602e+02] [-2.29696032e-01 9.73262417e-01 3.54540648e-05 -3.08285966e+01] [ 1.47005741e-04 -1.73378640e-06 9.99999989e-01 -2.07185790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84655999499995 meters 0.05237806643445927 Centerline is valid? [True, True] Translation: X:278.81, Y:-30.84, Z:-2.07 [[ 9.73836969e-01 2.27242529e-01 1.54646589e-03 2.78808997e+02] [-2.27242223e-01 9.73838196e-01 -3.73348620e-04 -3.08437159e+01] [-1.59084824e-03 1.21583431e-05 9.99998735e-01 -2.06849265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90655999499995 meters 0.052744536268955436 Centerline is valid? [True, True] Translation: X:278.87, Y:-30.86, Z:-2.07 [[ 9.74245233e-01 2.25479680e-01 2.26701235e-03 2.78867386e+02] [-2.25479015e-01 9.74247871e-01 -5.47966963e-04 -3.08618889e+01] [-2.33218737e-03 2.26904908e-05 9.99997280e-01 -2.06911009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96655999499995 meters 0.0525002603841392 Centerline is valid? [True, True] Translation: X:278.93, Y:-30.88, Z:-2.07 [[ 9.74091405e-01 2.26137989e-01 2.74672166e-03 2.78925782e+02] [-2.26137014e-01 9.74095277e-01 -6.64424749e-04 -3.08787125e+01] [-2.82582027e-03 2.60750026e-05 9.99996007e-01 -2.07027229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02655999499996 meters 0.05257973800361481 Centerline is valid? [True, True] Translation: X:278.99, Y:-30.89, Z:-2.07 [[ 9.73569589e-01 2.28375268e-01 2.64447652e-03 2.78986886e+02] [-2.28374371e-01 9.73573180e-01 -6.40197923e-04 -3.08925392e+01] [-2.72079679e-03 1.93465662e-05 9.99996298e-01 -2.06950027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08655999499996 meters 0.051983987032136435 Centerline is valid? [True, True] Translation: X:279.05, Y:-30.91, Z:-2.07 [[ 9.72337578e-01 2.33572374e-01 1.89204349e-03 2.79047296e+02] [-2.33571925e-01 9.72339419e-01 -4.57848610e-04 -3.09087875e+01] [-1.94664925e-03 3.25516882e-06 9.99998105e-01 -2.07222019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14655999499996 meters 0.05196457559173162 Centerline is valid? [True, True] Translation: X:279.11, Y:-30.92, Z:-2.07 [[ 9.70770263e-01 2.40006954e-01 1.32614811e-03 2.79108073e+02] [-2.40006740e-01 9.70771169e-01 -3.20569530e-04 -3.09216049e+01] [-1.36432527e-03 -7.08511850e-06 9.99999069e-01 -2.07293634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20655999499996 meters 0.05227667253083639 Centerline is valid? [True, True] Translation: X:279.17, Y:-30.94, Z:-2.07 [[ 9.70235936e-01 2.42160390e-01 7.57747480e-04 2.79168393e+02] [-2.42160321e-01 9.70236232e-01 -1.82893646e-04 -3.09359737e+01] [-7.79483656e-04 -6.04638558e-06 9.99999696e-01 -2.07327919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26655999499997 meters 0.0521254946633514 Centerline is valid? [True, True] Translation: X:279.23, Y:-30.95, Z:-2.07 [[ 9.69329937e-01 2.45762647e-01 4.41646719e-04 2.79228678e+02] [-2.45762624e-01 9.69330037e-01 -1.06288836e-04 -3.09506167e+01] [-4.54223256e-04 -5.51130620e-06 9.99999897e-01 -2.07352660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32655999499997 meters 0.051568016929835016 Centerline is valid? [True, True] Translation: X:279.29, Y:-30.97, Z:-2.07 [[ 9.68653783e-01 2.48414671e-01 -3.68080408e-06 2.79287927e+02] [-2.48414671e-01 9.68653783e-01 1.69035938e-06 -3.09659426e+01] [ 3.98533478e-06 -7.23007278e-07 1.00000000e+00 -2.07429501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38655999499997 meters 0.05182272923460018 Centerline is valid? [True, True] Translation: X:279.35, Y:-30.98, Z:-2.08 [[ 9.68698370e-01 2.48238435e-01 1.07098403e-03 2.79347785e+02] [-2.48238300e-01 9.68698962e-01 -2.59270827e-04 -3.09806404e+01] [-1.10182210e-03 -1.47040275e-05 9.99999393e-01 -2.07524753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.446559995 meters 0.05181179029025332 Centerline is valid? [True, True] Translation: X:279.41, Y:-31.00, Z:-2.07 [[ 9.69128327e-01 2.46542466e-01 2.66423030e-03 2.79406742e+02] [-2.46541620e-01 9.69131989e-01 -6.46528771e-04 -3.09998147e+01] [-2.74138761e-03 -3.02743067e-05 9.99996242e-01 -2.07304412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.506559995 meters 0.05217294452550399 Centerline is valid? [True, True] Translation: X:279.46, Y:-31.02, Z:-2.07 [[ 9.70302503e-01 2.41876760e-01 2.94706059e-03 2.79463541e+02] [-2.41875700e-01 9.70306979e-01 -7.16039304e-04 -3.10211860e+01] [-3.03274672e-03 -1.80476151e-05 9.99995401e-01 -2.07393768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.566559995 meters 0.051556271792279756 Centerline is valid? [True, True] Translation: X:279.52, Y:-31.04, Z:-2.07 [[ 9.70700273e-01 2.40284653e-01 2.06530170e-03 2.79523013e+02] [-2.40284131e-01 9.70702470e-01 -5.01223727e-04 -3.10406213e+01] [-2.12522983e-03 -9.72121353e-06 9.99997742e-01 -2.07408052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.626559995 meters 0.05184011327506579 Centerline is valid? [True, True] Translation: X:279.58, Y:-31.06, Z:-2.08 [[ 9.70807425e-01 2.39859435e-01 6.27916290e-04 2.79582392e+02] [-2.39859387e-01 9.70807628e-01 -1.51916664e-04 -3.10565830e+01] [-6.46024570e-04 -3.12979109e-06 9.99999791e-01 -2.07618999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.686559995 meters 0.05137268329608161 Centerline is valid? [True, True] Translation: X:279.64, Y:-31.07, Z:-2.08 [[ 9.70527721e-01 2.40988169e-01 -8.03420177e-04 2.79642617e+02] [-2.40988089e-01 9.70528053e-01 1.96344678e-04 -3.10736748e+01] [ 8.27058565e-04 3.05674100e-06 9.99999658e-01 -2.07779650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.746559995 meters 0.05179831601834595 Centerline is valid? [True, True] Translation: X:279.70, Y:-31.09, Z:-2.08 [[ 9.70458178e-01 2.41266783e-01 -1.12485478e-03 2.79703717e+02] [-2.41266626e-01 9.70458829e-01 2.74860152e-04 -3.10906443e+01] [ 1.15793988e-03 4.64963666e-06 9.99999330e-01 -2.07731308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.806559995 meters 0.051681679055096914 Centerline is valid? [True, True] Translation: X:279.76, Y:-31.11, Z:-2.08 [[ 9.70349522e-01 2.41703076e-01 -1.19481722e-03 2.79764450e+02] [-2.41702900e-01 9.70350258e-01 2.92089213e-04 -3.11072013e+01] [ 1.22999006e-03 5.36215886e-06 9.99999244e-01 -2.07700787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.866559995 meters 0.05160853801610201 Centerline is valid? [True, True] Translation: X:279.82, Y:-31.12, Z:-2.08 [[ 9.69781354e-01 2.43971252e-01 -1.46735120e-03 2.79824255e+02] [-2.43970991e-01 9.69782464e-01 3.57623403e-04 -3.11178688e+01] [ 1.51026130e-03 1.11746190e-05 9.99998859e-01 -2.08072480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.926559995 meters 0.051495546696794015 Centerline is valid? [True, True] Translation: X:279.88, Y:-31.13, Z:-2.08 [[ 9.68957500e-01 2.47224862e-01 -1.10983037e-03 2.79884426e+02] [-2.47224713e-01 9.68958135e-01 2.71403247e-04 -3.11349987e+01] [ 1.14247680e-03 1.13992837e-05 9.99999347e-01 -2.07753933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98655999499994 meters 0.05141272699847855 Centerline is valid? [True, True] Translation: X:279.94, Y:-31.15, Z:-2.08 [[ 9.68570488e-01 2.48739053e-01 3.03790816e-04 2.79944023e+02] [-2.48739043e-01 9.68570536e-01 -7.32765392e-05 -3.11483031e+01] [-3.12469571e-04 -4.59114339e-06 9.99999951e-01 -2.07715352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04655999499994 meters 0.05124363183365089 Centerline is valid? [True, True] Translation: X:280.00, Y:-31.16, Z:-2.08 [[ 9.68548450e-01 2.48818077e-01 1.86138122e-03 2.80004243e+02] [-2.48817664e-01 9.68550238e-01 -4.53575668e-04 -3.11605387e+01] [-1.91569905e-03 -2.38345181e-05 9.99998165e-01 -2.07817742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10655999499994 meters 0.05129251848635313 Centerline is valid? [True, True] Translation: X:280.06, Y:-31.18, Z:-2.08 [[ 9.69075421e-01 2.46760102e-01 1.50996683e-03 2.80063216e+02] [-2.46759829e-01 9.69076597e-01 -3.67649928e-04 -3.11793352e+01] [-1.55399485e-03 -1.63186480e-05 9.99998792e-01 -2.07775892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16655999499994 meters 0.05134306014559682 Centerline is valid? [True, True] Translation: X:280.12, Y:-31.19, Z:-2.08 [[ 9.69389073e-01 2.45526852e-01 1.17913347e-03 2.80122810e+02] [-2.45526684e-01 9.69389790e-01 -2.87102614e-04 -3.11939044e+01] [-1.21353135e-03 -1.11945934e-05 9.99999264e-01 -2.07867688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22655999499995 meters 0.05085069059516298 Centerline is valid? [True, True] Translation: X:280.18, Y:-31.21, Z:-2.08 [[ 9.69757412e-01 2.44070709e-01 -2.25817403e-04 2.80183064e+02] [-2.44070703e-01 9.69757438e-01 5.60727186e-05 -3.12083049e+01] [ 2.32673815e-04 7.38477872e-07 9.99999973e-01 -2.07997092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28655999499995 meters 0.05115359932414454 Centerline is valid? [True, True] Translation: X:280.24, Y:-31.22, Z:-2.08 [[ 9.69898482e-01 2.43505084e-01 -1.48612583e-03 2.80243920e+02] [-2.43504813e-01 9.69899621e-01 3.63420224e-04 -3.12222049e+01] [ 1.52988755e-03 9.39806890e-06 9.99998830e-01 -2.08176704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34655999499995 meters 0.05137790619584758 Centerline is valid? [True, True] Translation: X:280.30, Y:-31.24, Z:-2.08 [[ 9.69842246e-01 2.43727647e-01 -1.68868402e-03 2.80304977e+02] [-2.43727296e-01 9.69843716e-01 4.13805541e-04 -3.12370623e+01] [ 1.73861543e-03 1.02522935e-05 9.99998489e-01 -2.08095433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40655999499995 meters 0.05185920530558101 Centerline is valid? [True, True] Translation: X:280.37, Y:-31.25, Z:-2.08 [[ 9.69734460e-01 2.44154460e-01 -1.91765816e-03 2.80366261e+02] [-2.44154008e-01 9.69736356e-01 4.70066380e-04 -3.12515345e+01] [ 1.97439163e-03 1.23643575e-05 9.99998051e-01 -2.07997408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46655999499995 meters 0.0510740107470432 Centerline is valid? [True, True] Translation: X:280.43, Y:-31.27, Z:-2.08 [[ 9.69470409e-01 2.45194165e-01 -2.63567386e-03 2.80427118e+02] [-2.45193315e-01 9.69473992e-01 6.45894329e-04 -3.12652794e+01] [ 2.71358678e-03 2.00741719e-05 9.99996318e-01 -2.08009382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52655999499996 meters 0.0514809778765129 Centerline is valid? [True, True] Translation: X:280.49, Y:-31.28, Z:-2.08 [[ 9.69120196e-01 2.46575836e-01 -2.53041017e-03 2.80487592e+02] [-2.46575057e-01 9.69123499e-01 6.20436708e-04 -3.12786104e+01] [ 2.60526466e-03 2.26582881e-05 9.99996606e-01 -2.07935966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58655999499996 meters 0.05157863056910342 Centerline is valid? [True, True] Translation: X:280.55, Y:-31.29, Z:-2.08 [[ 9.68726523e-01 2.48121223e-01 -2.18695331e-03 2.80547237e+02] [-2.48120644e-01 9.68728991e-01 5.36512775e-04 -3.12910406e+01] [ 2.25168528e-03 2.28941080e-05 9.99997465e-01 -2.07938028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64655999499996 meters 0.05162716000443968 Centerline is valid? [True, True] Translation: X:280.61, Y:-31.30, Z:-2.08 [[ 9.68197740e-01 2.50177470e-01 -2.09019131e-03 2.80606356e+02] [-2.50176947e-01 9.68199996e-01 5.12173944e-04 -3.13044542e+01] [ 2.15185760e-03 2.70320264e-05 9.99997684e-01 -2.07811613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70655999499996 meters 0.051704867501065094 Centerline is valid? [True, True] Translation: X:280.67, Y:-31.32, Z:-2.08 [[ 9.67709190e-01 2.52060132e-01 -2.14762215e-03 2.80666217e+02] [-2.52059583e-01 9.67711573e-01 5.27250400e-04 -3.13192982e+01] [ 2.21117761e-03 3.11036846e-05 9.99997555e-01 -2.07637061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76655999499997 meters 0.05200641056071124 Centerline is valid? [True, True] Translation: X:280.73, Y:-31.33, Z:-2.08 [[ 9.67629414e-01 2.52366568e-01 -2.10515900e-03 2.80726757e+02] [-2.52366040e-01 9.67631704e-01 5.17178860e-04 -3.13314692e+01] [ 2.16753725e-03 3.08331632e-05 9.99997650e-01 -2.07752332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82655999499997 meters 0.0519183309348006 Centerline is valid? [True, True] Translation: X:280.79, Y:-31.35, Z:-2.08 [[ 9.67231225e-01 2.53889165e-01 -2.01228591e-03 2.80787674e+02] [-2.53888685e-01 9.67233318e-01 4.94565762e-04 -3.13450245e+01] [ 2.07191487e-03 3.25371766e-05 9.99997853e-01 -2.07702675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88655999499997 meters 0.051401780981299106 Centerline is valid? [True, True] Translation: X:280.85, Y:-31.36, Z:-2.08 [[ 9.66994068e-01 2.54784568e-01 -2.70138581e-03 2.80847339e+02] [-2.54783707e-01 9.66997840e-01 6.63953083e-04 -3.13610163e+01] [ 2.78139924e-03 4.62303970e-05 9.99996131e-01 -2.07583878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.946559995 meters 0.05218234268572076 Centerline is valid? [True, True] Translation: X:280.91, Y:-31.37, Z:-2.08 [[ 9.66749971e-01 2.55694992e-01 -3.81626876e-03 2.80908448e+02] [-2.55693281e-01 9.66757501e-01 9.38059891e-04 -3.13699111e+01] [ 3.92926367e-03 6.89249083e-05 9.99992278e-01 -2.08008994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.006559995 meters 0.05197668597044872 Centerline is valid? [True, True] Translation: X:280.97, Y:-31.39, Z:-2.08 [[ 9.67062795e-01 2.54500187e-01 -4.38237978e-03 2.80967841e+02] [-2.54497916e-01 9.67072722e-01 1.07764751e-03 -3.13884813e+01] [ 4.51234143e-03 7.31537077e-05 9.99989817e-01 -2.07854926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.066559995 meters 0.051994792809694046 Centerline is valid? [True, True] Translation: X:281.03, Y:-31.40, Z:-2.08 [[ 9.67462954e-01 2.52984511e-01 -3.77740974e-03 2.81027526e+02] [-2.52982810e-01 9.67470327e-01 9.29354719e-04 -3.14030597e+01] [ 3.88964419e-03 5.65034705e-05 9.99992434e-01 -2.07995550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.126559995 meters 0.05212307984072935 Centerline is valid? [True, True] Translation: X:281.09, Y:-31.42, Z:-2.08 [[ 9.67593274e-01 2.52489436e-01 -3.51296272e-03 2.81087471e+02] [-2.52487960e-01 9.67599650e-01 8.64724031e-04 -3.14170964e+01] [ 3.61747518e-03 5.02796365e-05 9.99993456e-01 -2.08123842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.186559995 meters 0.051774144134831855 Centerline is valid? [True, True] Translation: X:281.15, Y:-31.44, Z:-2.08 [[ 9.68381447e-01 2.49464697e-01 -2.17687479e-03 2.81146142e+02] [-2.49464123e-01 9.68383893e-01 5.35600110e-04 -3.14366304e+01] [ 2.24166381e-03 2.43869521e-05 9.99997487e-01 -2.07865640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.246559995 meters 0.05219078815527936 Centerline is valid? [True, True] Translation: X:281.21, Y:-31.45, Z:-2.08 [[ 9.68956660e-01 2.47227972e-01 -1.14907233e-03 2.81205565e+02] [-2.47227810e-01 9.68957341e-01 2.83555811e-04 -3.14503366e+01] [ 1.18350500e-03 9.32934397e-06 9.99999300e-01 -2.08196239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.306559995 meters 0.05180825685143841 Centerline is valid? [True, True] Translation: X:281.27, Y:-31.47, Z:-2.08 [[ 9.69125824e-01 2.46557058e-01 -2.18036618e-03 2.81266766e+02] [-2.46556472e-01 9.69128277e-01 5.37766855e-04 -3.14668682e+01] [ 2.24564473e-03 1.64196460e-05 9.99997478e-01 -2.08264186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.366559995 meters 0.05201018032871705 Centerline is valid? [True, True] Translation: X:281.33, Y:-31.48, Z:-2.08 [[ 9.70003100e-01 2.43070376e-01 -3.28313533e-03 2.81326032e+02] [-2.43069028e-01 9.70008656e-01 8.09559096e-04 -3.14843367e+01] [ 3.38144952e-03 1.27536814e-05 9.99994283e-01 -2.08362191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.426559995 meters 0.05235525651836489 Centerline is valid? [True, True] Translation: X:281.39, Y:-31.50, Z:-2.08 [[ 9.70826939e-01 2.39776349e-01 -1.53506726e-03 2.81386203e+02] [-2.39776050e-01 9.70828153e-01 3.79186563e-04 -3.15011382e+01] [ 1.58120648e-03 -5.21660551e-08 9.99998750e-01 -2.08237361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48655999499994 meters 0.051710968693809534 Centerline is valid? [True, True] Translation: X:281.45, Y:-31.52, Z:-2.08 [[ 9.71028700e-01 2.38962507e-01 -4.28843456e-04 2.81445061e+02] [-2.38962483e-01 9.71028795e-01 1.06616087e-04 -3.15164964e+01] [ 4.41896591e-04 -1.04978274e-06 9.99999902e-01 -2.08461814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54655999499994 meters 0.05267333504598773 Centerline is valid? [True, True] Translation: X:281.51, Y:-31.53, Z:-2.08 [[ 9.70821199e-01 2.39802983e-01 -8.53327042e-04 2.81506593e+02] [-2.39802890e-01 9.70821574e-01 2.11520953e-04 -3.15310333e+01] [ 8.79151658e-04 -7.18734981e-07 9.99999614e-01 -2.08406893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60655999499994 meters 0.051313490337633494 Centerline is valid? [True, True] Translation: X:281.57, Y:-31.54, Z:-2.09 [[ 9.70383066e-01 2.41570955e-01 -4.23063792e-04 2.81566930e+02] [-2.41570932e-01 9.70383158e-01 1.05027276e-04 -3.15445445e+01] [ 4.35905518e-04 2.83224827e-07 9.99999905e-01 -2.08626709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66655999499994 meters 0.052110727091098104 Centerline is valid? [True, True] Translation: X:281.63, Y:-31.56, Z:-2.09 [[ 9.69929606e-01 2.43385604e-01 -9.02584632e-05 2.81627866e+02] [-2.43385603e-01 9.69929610e-01 2.31641752e-05 -3.15565063e+01] [ 9.31821826e-05 -5.00008876e-07 9.99999996e-01 -2.08798023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72655999499995 meters 0.05205743574837532 Centerline is valid? [True, True] Translation: X:281.69, Y:-31.57, Z:-2.09 [[ 9.69357874e-01 2.45651657e-01 7.58218462e-04 2.81689687e+02] [-2.45651587e-01 9.69358171e-01 -1.86348261e-04 -3.15701344e+01] [-7.80762020e-04 -5.61941434e-06 9.99999695e-01 -2.08744765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78655999499995 meters 0.0519181309522911 Centerline is valid? [True, True] Translation: X:281.75, Y:-31.58, Z:-2.09 [[ 9.68746229e-01 2.48049846e-01 1.42069788e-03 2.81749750e+02] [-2.48049599e-01 9.68747270e-01 -3.50361622e-04 -3.15820882e+01] [-1.46320434e-03 -1.29920406e-05 9.99998929e-01 -2.08747820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84655999499995 meters 0.05131475973758653 Centerline is valid? [True, True] Translation: X:281.81, Y:-31.60, Z:-2.09 [[ 9.68407096e-01 2.49353560e-01 3.24015798e-03 2.81810931e+02] [-2.49352277e-01 9.68412516e-01 -8.00679477e-04 -3.15950933e+01] [-3.33746182e-03 -3.25570823e-05 9.99994430e-01 -2.08655482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90655999499995 meters 0.05145319942389426 Centerline is valid? [True, True] Translation: X:281.87, Y:-31.61, Z:-2.09 [[ 9.67934901e-01 2.51157813e-01 4.66693044e-03 2.81871532e+02] [-2.51155171e-01 9.67946150e-01 -1.15338226e-03 -3.16076960e+01] [-4.80701832e-03 -5.57247670e-05 9.99988445e-01 -2.08671460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96655999499995 meters 0.05141397595879783 Centerline is valid? [True, True] Translation: X:281.93, Y:-31.62, Z:-2.09 [[ 9.67678359e-01 2.52124138e-01 5.65789723e-03 2.81932022e+02] [-2.52120267e-01 9.67694897e-01 -1.39909265e-03 -3.16224603e+01] [-5.82786331e-03 -7.25988771e-05 9.99983015e-01 -2.08654781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02655999499996 meters 0.05154317488634057 Centerline is valid? [True, True] Translation: X:281.99, Y:-31.63, Z:-2.09 [[ 9.67054905e-01 2.54502542e-01 5.76773394e-03 2.81992685e+02] [-2.54498557e-01 9.67072101e-01 -1.42694893e-03 -3.16317882e+01] [-5.94097670e-03 -8.79420034e-05 9.99982348e-01 -2.08795572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08655999499996 meters 0.05145466304096706 Centerline is valid? [True, True] Translation: X:282.05, Y:-31.64, Z:-2.09 [[ 9.66080631e-01 2.58206893e-01 4.17304548e-03 2.82052761e+02] [-2.58204839e-01 9.66089641e-01 -1.03292225e-03 -3.16447791e+01] [-4.29824366e-03 -7.96143635e-05 9.99990759e-01 -2.09066906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14655999499996 meters 0.051671590054876274 Centerline is valid? [True, True] Translation: X:282.11, Y:-31.65, Z:-2.09 [[ 9.65282055e-01 2.61195798e-01 2.70374513e-03 2.82112198e+02] [-2.61194947e-01 9.65285839e-01 -6.69314012e-04 -3.16530965e+01] [-2.78470889e-03 -6.01277596e-05 9.99996121e-01 -2.09341401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20655999499996 meters 0.050775599435411094 Centerline is valid? [True, True] Translation: X:282.17, Y:-31.67, Z:-2.09 [[ 9.65469380e-01 2.60473981e-01 4.70980368e-03 2.82170696e+02] [-2.60471391e-01 9.65480862e-01 -1.16580822e-03 -3.16748888e+01] [-4.85088802e-03 -1.01216977e-04 9.99988229e-01 -2.09195405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26655999499997 meters 0.05067397907880668 Centerline is valid? [True, True] Translation: X:282.23, Y:-31.69, Z:-2.09 [[ 9.66161785e-01 2.57855257e-01 6.48626011e-03 2.82229525e+02] [-2.57850285e-01 9.66183550e-01 -1.60595646e-03 -3.16890455e+01] [-6.68102213e-03 -1.20870258e-04 9.99977674e-01 -2.09112490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32655999499997 meters 0.05150166225995915 Centerline is valid? [True, True] Translation: X:282.29, Y:-31.70, Z:-2.09 [[ 9.67023920e-01 2.54592676e-01 6.87811802e-03 2.82288120e+02] [-2.54587001e-01 9.67048375e-01 -1.70304248e-03 -3.17029602e+01] [-7.08505499e-03 -1.04196622e-04 9.99974895e-01 -2.09157102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38655999499997 meters 0.05140539178173162 Centerline is valid? [True, True] Translation: X:282.35, Y:-31.72, Z:-2.09 [[ 9.67378206e-01 2.53278214e-01 5.43632435e-03 2.82347614e+02] [-2.53274649e-01 9.67393478e-01 -1.34590113e-03 -3.17156430e+01] [-5.59995215e-03 -7.48877216e-05 9.99984317e-01 -2.09452226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.446559995 meters 0.05070767332618332 Centerline is valid? [True, True] Translation: X:282.41, Y:-31.73, Z:-2.09 [[ 9.67239777e-01 2.53802681e-01 5.60466969e-03 2.82406943e+02] [-2.53798897e-01 9.67256012e-01 -1.38823945e-03 -3.17329056e+01] [-5.77348935e-03 -7.96985711e-05 9.99983330e-01 -2.09393466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.506559995 meters 0.051320073906866305 Centerline is valid? [True, True] Translation: X:282.47, Y:-31.75, Z:-2.09 [[ 9.67058538e-01 2.54502092e-01 5.14484467e-03 2.82467280e+02] [-2.54498911e-01 9.67072220e-01 -1.27488574e-03 -3.17463925e+01] [-5.29989745e-03 -7.64682263e-05 9.99985953e-01 -2.09497919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.566559995 meters 0.05170548224764088 Centerline is valid? [True, True] Translation: X:282.53, Y:-31.76, Z:-2.10 [[ 9.66887574e-01 2.55171150e-01 4.01298530e-03 2.82527531e+02] [-2.55169218e-01 9.66895900e-01 -9.94727866e-04 -3.17567310e+01] [-4.13396489e-03 -6.22003104e-05 9.99991453e-01 -2.09748909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.626559995 meters 0.05141993304864301 Centerline is valid? [True, True] Translation: X:282.59, Y:-31.78, Z:-2.10 [[ 9.66886999e-01 2.55181176e-01 3.47840947e-03 2.82587319e+02] [-2.55179724e-01 9.66893254e-01 -8.62423062e-04 -3.17776606e+01] [-3.58332478e-03 -5.37539229e-05 9.99993578e-01 -2.09651823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.686559995 meters 0.05110742031743309 Centerline is valid? [True, True] Translation: X:282.65, Y:-31.79, Z:-2.10 [[ 9.67352084e-01 2.53408783e-01 3.73282463e-03 2.82648172e+02] [-2.53407094e-01 9.67359285e-01 -9.26348069e-04 -3.17896950e+01] [-3.84572730e-03 -4.98195061e-05 9.99992604e-01 -2.09831938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.746559995 meters 0.05152701267244061 Centerline is valid? [True, True] Translation: X:282.71, Y:-31.81, Z:-2.10 [[ 9.67815665e-01 2.51601604e-01 5.42877434e-03 2.82707454e+02] [-2.51598003e-01 9.67830889e-01 -1.34756150e-03 -3.18107276e+01] [-5.59318413e-03 -6.16776509e-05 9.99984356e-01 -2.09709073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.806559995 meters 0.05059234152302581 Centerline is valid? [True, True] Translation: X:282.77, Y:-31.83, Z:-2.10 [[ 9.67833392e-01 2.51489004e-01 7.19759590e-03 2.82766880e+02] [-2.51482668e-01 9.67860152e-01 -1.78703347e-03 -3.18269544e+01] [-7.41568554e-03 -8.05199606e-05 9.99972500e-01 -2.09662366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.866559995 meters 0.05108505554115567 Centerline is valid? [True, True] Translation: X:282.83, Y:-31.84, Z:-2.10 [[ 9.67581567e-01 2.52463751e-01 6.92567231e-03 2.82826139e+02] [-2.52457904e-01 9.67606349e-01 -1.72024526e-03 -3.18407657e+01] [-7.13562408e-03 -8.39631124e-05 9.99974538e-01 -2.09757398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.926559995 meters 0.0511677118534706 Centerline is valid? [True, True] Translation: X:282.89, Y:-31.86, Z:-2.10 [[ 9.66568753e-01 2.56348224e-01 5.51665983e-03 2.82885467e+02] [-2.56344574e-01 9.66584492e-01 -1.37084565e-03 -3.18573408e+01] [-5.68373169e-03 -8.91492405e-05 9.99983843e-01 -2.10035476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98655999499994 meters 0.05108633108224115 Centerline is valid? [True, True] Translation: X:282.95, Y:-31.87, Z:-2.10 [[ 9.65887179e-01 2.58911023e-01 5.19994800e-03 2.82945850e+02] [-2.58907817e-01 9.65901171e-01 -1.29219372e-03 -3.18726129e+01] [-5.35719906e-03 -9.81938411e-05 9.99985645e-01 -2.10149443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04655999499994 meters 0.051190522682026264 Centerline is valid? [True, True] Translation: X:283.01, Y:-31.88, Z:-2.10 [[ 9.65588526e-01 2.60034773e-01 4.55145358e-03 2.83006312e+02] [-2.60032329e-01 9.65599248e-01 -1.13109480e-03 -3.18820887e+01] [-4.68900414e-03 -9.13529181e-05 9.99989002e-01 -2.10311606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10655999499994 meters 0.05123038385286995 Centerline is valid? [True, True] Translation: X:283.07, Y:-31.90, Z:-2.10 [[ 9.65726206e-01 2.59513704e-01 5.05298426e-03 2.83065156e+02] [-2.59510683e-01 9.65739420e-01 -1.25597364e-03 -3.19037418e+01] [-5.20580846e-03 -9.83767335e-05 9.99986445e-01 -2.10331981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16655999499994 meters 0.05003611498546286 Centerline is valid? [True, True] Translation: X:283.12, Y:-31.93, Z:-2.10 [[ 9.66102075e-01 2.58103595e-01 5.41428721e-03 2.83122941e+02] [-2.58100101e-01 9.66117242e-01 -1.34643995e-03 -3.19281971e+01] [-5.57835722e-03 -9.66296433e-05 9.99984436e-01 -2.10283900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22655999499995 meters 0.05056836082695167 Centerline is valid? [True, True] Translation: X:283.18, Y:-31.94, Z:-2.11 [[ 9.66188745e-01 2.57818799e-01 2.96241152e-03 2.83183204e+02] [-2.57817752e-01 9.66193285e-01 -7.36634817e-04 -3.19424453e+01] [-3.05218042e-03 -5.20340085e-05 9.99995341e-01 -2.10679203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28655999499995 meters 0.05019701396972981 Centerline is valid? [True, True] Translation: X:283.24, Y:-31.96, Z:-2.11 [[ 9.66092200e-01 2.58190140e-01 1.92695529e-03 2.83242809e+02] [-2.58189698e-01 9.66094121e-01 -4.79170993e-04 -3.19591567e+01] [-1.98533741e-03 -3.45966466e-05 9.99998029e-01 -2.10790668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34655999499995 meters 0.05019701396972981 Centerline is valid? [True, True] Translation: X:283.30, Y:-31.97, Z:-2.11 [[ 9.66060821e-01 2.58307523e-01 1.92692385e-03 2.83303442e+02] [-2.58307081e-01 9.66062742e-01 -4.79297406e-04 -3.19742387e+01] [-1.98533546e-03 -3.47076276e-05 9.99998029e-01 -2.10836740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40655999499995 meters 0.0499325697288313 Centerline is valid? [True, True] Translation: X:283.36, Y:-32.00, Z:-2.11 [[ 9.66374318e-01 2.57134588e-01 1.57533457e-03 2.83362436e+02] [-2.57134290e-01 9.66375601e-01 -3.91938384e-04 -3.19954728e+01] [-1.62314581e-03 -2.63133483e-05 9.99998682e-01 -2.10734838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46655999499995 meters 0.050146278118374986 Centerline is valid? [True, True] Translation: X:283.42, Y:-32.01, Z:-2.11 [[ 9.67234974e-01 2.53866035e-01 2.92265058e-03 2.83421820e+02] [-2.53864992e-01 9.67239389e-01 -7.28570793e-04 -3.20122274e+01] [-3.01186214e-03 -3.72595158e-05 9.99995464e-01 -2.10793473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52655999499996 meters 0.050416730144784976 Centerline is valid? [True, True] Translation: X:283.48, Y:-32.03, Z:-2.11 [[ 9.67565145e-01 2.52601223e-01 3.21133784e-03 2.83481223e+02] [-2.52599958e-01 9.67570473e-01 -8.00365171e-04 -3.20252832e+01] [-3.30936890e-03 -3.67783601e-05 9.99994523e-01 -2.10897114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58655999499996 meters 0.0497390154230263 Centerline is valid? [True, True] Translation: X:283.54, Y:-32.04, Z:-2.11 [[ 9.69531896e-01 2.44922805e-01 4.55211540e-03 2.83538934e+02] [-2.44920172e-01 9.69542583e-01 -1.13562497e-03 -3.20421961e+01] [-4.69161017e-03 -1.38802572e-05 9.99988994e-01 -2.10867199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64655999499996 meters 0.05015391329481327 Centerline is valid? [True, True] Translation: X:283.60, Y:-32.06, Z:-2.11 [[ 9.70134139e-01 2.42498098e-01 5.86725892e-03 2.83599528e+02] [-2.42493681e-01 9.70151881e-01 -1.46371453e-03 -3.20579187e+01] [-6.04708027e-03 -2.77378011e-06 9.99981716e-01 -2.10773367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70655999499996 meters 0.05063505263868685 Centerline is valid? [True, True] Translation: X:283.66, Y:-32.07, Z:-2.11 [[ 9.71198135e-01 2.38233640e-01 4.34924258e-03 2.83658800e+02] [-2.38231168e-01 9.71207873e-01 -1.08547070e-03 -3.20735789e+01] [-4.48261427e-03 1.80819829e-05 9.99989953e-01 -2.11128520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76655999499997 meters 0.05060840688648656 Centerline is valid? [True, True] Translation: X:283.72, Y:-32.09, Z:-2.11 [[ 9.72077562e-01 2.34632304e-01 3.59101520e-03 2.83719290e+02] [-2.34630593e-01 9.72084195e-01 -8.96405266e-04 -3.20889347e+01] [-3.70109475e-03 2.88134205e-05 9.99993151e-01 -2.11211725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82655999499997 meters 0.05123744165449245 Centerline is valid? [True, True] Translation: X:283.78, Y:-32.10, Z:-2.11 [[ 9.73467537e-01 2.28795374e-01 3.69209334e-03 2.83779408e+02] [-2.28793522e-01 9.73474537e-01 -9.22026051e-04 -3.21020966e+01] [-3.80511415e-03 5.28353892e-05 9.99992759e-01 -2.11266344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88655999499997 meters 0.05175778636332313 Centerline is valid? [True, True] Translation: X:283.84, Y:-32.12, Z:-2.11 [[ 9.74211271e-01 2.25605311e-01 3.82664195e-03 2.83839550e+02] [-2.25603297e-01 9.74218784e-01 -9.55609380e-04 -3.21170471e+01] [-3.94357702e-03 6.76623859e-05 9.99992222e-01 -2.11328134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.946559995 meters 0.05268798772646189 Centerline is valid? [True, True] Translation: X:283.90, Y:-32.13, Z:-2.11 [[ 9.74883419e-01 2.22679087e-01 4.04275947e-03 2.83898401e+02] [-2.22676814e-01 9.74891798e-01 -1.00955734e-03 -3.21335123e+01] [-4.16606035e-03 8.39719130e-05 9.99991318e-01 -2.11395652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.006559995 meters 0.05271209557558402 Centerline is valid? [True, True] Translation: X:283.96, Y:-32.15, Z:-2.11 [[ 9.75099460e-01 2.21728505e-01 4.18480152e-03 2.83957511e+02] [-2.21726058e-01 9.75108436e-01 -1.04582553e-03 -3.21474907e+01] [-4.31252460e-03 9.19043677e-05 9.99990697e-01 -2.11397028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.066559995 meters 0.05212640237443142 Centerline is valid? [True, True] Translation: X:284.02, Y:-32.15, Z:-2.11 [[ 9.75082864e-01 2.21797130e-01 4.40916203e-03 2.84021129e+02] [-2.21794415e-01 9.75092828e-01 -1.10166353e-03 -3.21536249e+01] [-4.54368808e-03 9.62857169e-05 9.99989673e-01 -2.11450288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.126559995 meters 0.05132947564094945 Centerline is valid? [True, True] Translation: X:284.08, Y:-32.17, Z:-2.11 [[ 9.74648788e-01 2.23675938e-01 5.36796998e-03 2.84081336e+02] [-2.23671936e-01 9.74663564e-01 -1.34235422e-03 -3.21658358e+01] [-5.53221709e-03 1.07659675e-04 9.99984691e-01 -2.11427450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.186559995 meters 0.05105143934536629 Centerline is valid? [True, True] Translation: X:284.14, Y:-32.18, Z:-2.11 [[ 9.73683011e-01 2.27791425e-01 7.24294695e-03 2.84141457e+02] [-2.27784251e-01 9.73709943e-01 -1.81137500e-03 -3.21759157e+01] [-7.46514516e-03 1.13875814e-04 9.99972129e-01 -2.11351987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.246559995 meters 0.05085416540323786 Centerline is valid? [True, True] Translation: X:284.20, Y:-32.19, Z:-2.11 [[ 9.72839605e-01 2.31385364e-01 6.62696743e-03 2.84200279e+02] [-2.31379442e-01 9.72862173e-01 -1.65737260e-03 -3.21884923e+01] [-6.83061769e-03 7.90136794e-05 9.99976668e-01 -2.11485633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.306559995 meters 0.05143091753147807 Centerline is valid? [True, True] Translation: X:284.26, Y:-32.20, Z:-2.12 [[ 9.71612580e-01 2.36506553e-01 5.80050175e-03 2.84260862e+02] [-2.36502106e-01 9.71629893e-01 -1.45068946e-03 -3.21988430e+01] [-5.97903846e-03 3.76772478e-05 9.99982125e-01 -2.11654726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.366559995 meters 0.050663400786618025 Centerline is valid? [True, True] Translation: X:284.32, Y:-32.21, Z:-2.12 [[ 9.70843324e-01 2.39647940e-01 5.66615581e-03 2.84321028e+02] [-2.39643750e-01 9.70859858e-01 -1.41710530e-03 -3.22106497e+01] [-5.84064959e-03 1.79283965e-05 9.99982943e-01 -2.11666929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.426559995 meters 0.05100390184442079 Centerline is valid? [True, True] Translation: X:284.38, Y:-32.22, Z:-2.12 [[ 9.70058351e-01 2.42804175e-01 5.73831304e-03 2.84381969e+02] [-2.42799930e-01 9.70075323e-01 -1.43584599e-03 -3.22217812e+01] [-5.91522527e-03 -4.07613911e-07 9.99982505e-01 -2.11731867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48655999499994 meters 0.05093695873828841 Centerline is valid? [True, True] Translation: X:284.44, Y:-32.24, Z:-2.12 [[ 9.69828649e-01 2.43723219e-01 5.60209881e-03 2.84441970e+02] [-2.43719185e-01 9.69844829e-01 -1.40231179e-03 -3.22352209e+01] [-5.77494251e-03 -5.33679975e-06 9.99983325e-01 -2.11914789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54655999499994 meters 0.05116813938885356 Centerline is valid? [True, True] Translation: X:284.50, Y:-32.25, Z:-2.12 [[ 9.69669801e-01 2.44363339e-01 5.19954574e-03 2.84503118e+02] [-2.44359870e-01 9.69683741e-01 -1.30218377e-03 -3.22494205e+01] [-5.36012094e-03 -7.87204006e-06 9.99985634e-01 -2.11975312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60655999499994 meters 0.05107228647683441 Centerline is valid? [True, True] Translation: X:284.56, Y:-32.26, Z:-2.12 [[ 9.69569091e-01 2.44756745e-01 5.46934769e-03 2.84564188e+02] [-2.44752908e-01 9.69584517e-01 -1.37053761e-03 -3.22644966e+01] [-5.63844317e-03 -9.80784633e-06 9.99984104e-01 -2.11951917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66655999499994 meters 0.051284196107171096 Centerline is valid? [True, True] Translation: X:284.62, Y:-32.28, Z:-2.12 [[ 9.69562007e-01 2.44761644e-01 6.42270849e-03 2.84624265e+02] [-2.44756346e-01 9.69583280e-01 -1.61044192e-03 -3.22790833e+01] [-6.62152518e-03 -1.05753641e-05 9.99978077e-01 -2.11966411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72655999499995 meters 0.05125770186228892 Centerline is valid? [True, True] Translation: X:284.69, Y:-32.30, Z:-2.12 [[ 9.69522551e-01 2.44898332e-01 7.12951020e-03 2.84685203e+02] [-2.44891800e-01 9.69548765e-01 -1.78870586e-03 -3.22955415e+01] [-7.35045889e-03 -1.17679147e-05 9.99972985e-01 -2.11862421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78655999499995 meters 0.05111538990099037 Centerline is valid? [True, True] Translation: X:284.74, Y:-32.31, Z:-2.12 [[ 9.69532745e-01 2.44954718e-01 1.85544063e-03 2.84744961e+02] [-2.44954277e-01 9.69534520e-01 -4.65121725e-04 -3.23108905e+01] [-1.91284750e-03 -3.54737393e-06 9.99998170e-01 -2.12417372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84655999499995 meters 0.05137285337344411 Centerline is valid? [True, True] Translation: X:284.80, Y:-32.33, Z:-2.13 [[ 9.70516964e-01 2.41030386e-01 1.08436721e-03 2.84803387e+02] [-2.41030233e-01 9.70517570e-01 -2.71610495e-04 -3.23307282e+01] [-1.11786381e-03 2.23731248e-06 9.99999375e-01 -2.12625530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90655999499995 meters 0.05121921251372636 Centerline is valid? [True, True] Translation: X:284.86, Y:-32.35, Z:-2.12 [[ 9.70872811e-01 2.39592645e-01 1.16182881e-03 2.84864712e+02] [-2.39592468e-01 9.70873506e-01 -2.91115977e-04 -3.23455540e+01] [-1.19773806e-03 4.27115350e-06 9.99999283e-01 -2.12259115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96655999499995 meters 0.051790695592053605 Centerline is valid? [True, True] Translation: X:284.92, Y:-32.36, Z:-2.12 [[ 9.72135000e-01 2.34418962e-01 1.13708989e-03 2.84923978e+02] [-2.34418788e-01 9.72135665e-01 -2.85658475e-04 -3.23633606e+01] [-1.17236940e-03 1.11433670e-05 9.99999313e-01 -2.12289538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02655999499996 meters 0.05226993992116367 Centerline is valid? [True, True] Translation: X:284.98, Y:-32.39, Z:-2.12 [[ 9.75142377e-01 2.21567021e-01 2.32391371e-03 2.84981850e+02] [-2.21566257e-01 9.75145144e-01 -5.84162860e-04 -3.23851853e+01] [-2.39558439e-03 5.47410979e-05 9.99997129e-01 -2.12166715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08655999499996 meters 0.05389391728920721 Centerline is valid? [True, True] Translation: X:285.04, Y:-32.41, Z:-2.12 [[ 9.77652804e-01 2.10189938e-01 3.89670829e-03 2.85037576e+02] [-2.10187700e-01 9.77660560e-01 -9.79795567e-04 -3.24106378e+01] [-4.01560118e-03 1.38859729e-04 9.99991928e-01 -2.12058857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14655999499996 meters 0.05320502039612109 Centerline is valid? [True, True] Translation: X:285.10, Y:-32.42, Z:-2.12 [[ 9.78450362e-01 2.06444542e-01 3.94213387e-03 2.85098712e+02] [-2.06442221e-01 9.78458291e-01 -9.91254582e-04 -3.24155379e+01] [-4.06185266e-03 1.56070532e-04 9.99991738e-01 -2.12008492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20655999499996 meters 0.05267324296825511 Centerline is valid? [True, True] Translation: X:285.16, Y:-32.43, Z:-2.12 [[ 9.78440238e-01 2.06494397e-01 3.84258695e-03 2.85160539e+02] [-2.06492194e-01 9.78447771e-01 -9.65791411e-04 -3.24260446e+01] [-3.95920115e-03 1.51504967e-04 9.99992151e-01 -2.12103534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26655999499997 meters 0.05322578876610913 Centerline is valid? [True, True] Translation: X:285.22, Y:-32.44, Z:-2.12 [[ 9.77659661e-01 2.10166060e-01 3.43733697e-03 2.85219603e+02] [-2.10164317e-01 9.77665695e-01 -8.64738400e-04 -3.24400199e+01] [-3.54230510e-03 1.23014273e-04 9.99993718e-01 -2.12149880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32655999499997 meters 0.05360308119877494 Centerline is valid? [True, True] Translation: X:285.28, Y:-32.45, Z:-2.12 [[ 9.76057126e-01 2.17496146e-01 2.81297891e-03 2.85277374e+02] [-2.17495009e-01 9.76061176e-01 -7.07755024e-04 -3.24549192e+01] [-2.89957349e-03 7.90004628e-05 9.99995793e-01 -2.12316137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38655999499997 meters 0.05281874462208317 Centerline is valid? [True, True] Translation: X:285.34, Y:-32.46, Z:-2.13 [[ 9.74104489e-01 2.26098248e-01 -1.65698411e-04 2.85338822e+02] [-2.26098244e-01 9.74104503e-01 4.17176759e-05 -3.24617095e+01] [ 1.70839862e-04 -3.17325562e-06 9.99999985e-01 -2.12694864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.446559995 meters 0.05195974533714191 Centerline is valid? [True, True] Translation: X:285.40, Y:-32.47, Z:-2.12 [[ 9.71856263e-01 2.35560313e-01 2.59677591e-03 2.85399240e+02] [-2.35559408e-01 9.71859732e-01 -6.53338239e-04 -3.24681983e+01] [-2.67760250e-03 2.32558613e-05 9.99996415e-01 -2.12335345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.506559995 meters 0.0518679796827393 Centerline is valid? [True, True] Translation: X:285.46, Y:-32.48, Z:-2.12 [[ 9.69330249e-01 2.45729418e-01 3.99009114e-03 2.85459497e+02] [-2.45727368e-01 9.69338462e-01 -1.00380391e-03 -3.24763116e+01] [-4.11441296e-03 -7.45710372e-06 9.99991536e-01 -2.12406274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.566559995 meters 0.05153373442613454 Centerline is valid? [True, True] Translation: X:285.52, Y:-32.48, Z:-2.13 [[ 9.64676628e-01 2.63423146e-01 2.69234451e-03 2.85522330e+02] [-2.63422281e-01 9.64680384e-01 -6.77448155e-04 -3.24777911e+01] [-2.77570746e-03 -5.57051297e-05 9.99996146e-01 -2.12506327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.626559995 meters 0.05175677423481489 Centerline is valid? [True, True] Translation: X:285.58, Y:-32.49, Z:-2.13 [[ 9.63358120e-01 2.68217956e-01 5.10921276e-04 2.85582304e+02] [-2.68217925e-01 9.63358255e-01 -1.28534186e-04 -3.24902753e+01] [-5.26675405e-04 -1.32137933e-05 9.99999861e-01 -2.12741769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.686559995 meters 0.05175677423481489 Centerline is valid? [True, True] Translation: X:285.64, Y:-32.51, Z:-2.13 [[ 9.63324490e-01 2.68338714e-01 5.11116927e-04 2.85642919e+02] [-2.68338684e-01 9.63324626e-01 -1.27757048e-04 -3.25055007e+01] [-5.26653684e-04 -1.40809507e-05 9.99999861e-01 -2.12787826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.746559995 meters 0.051736821770135256 Centerline is valid? [True, True] Translation: X:285.70, Y:-32.52, Z:-2.13 [[ 9.63374807e-01 2.68158143e-01 -4.38430357e-04 2.85703545e+02] [-2.68158120e-01 9.63374906e-01 1.11347056e-04 -3.25189376e+01] [ 4.52231424e-04 1.02997121e-05 9.99999898e-01 -2.12977701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.806559995 meters 0.05176111009302139 Centerline is valid? [True, True] Translation: X:285.76, Y:-32.54, Z:-2.13 [[ 9.63662764e-01 2.67118822e-01 -1.26979995e-03 2.85762802e+02] [-2.67118631e-01 9.63663600e-01 3.20894432e-04 -3.25374502e+01] [ 1.30937694e-03 2.99532095e-05 9.99999142e-01 -2.12992850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.866559995 meters 0.051671632297704606 Centerline is valid? [True, True] Translation: X:285.82, Y:-32.56, Z:-2.13 [[ 9.64920907e-01 2.62531755e-01 -2.17288061e-03 2.85819941e+02] [-2.62531187e-01 9.64923352e-01 5.47697084e-04 -3.25579030e+01] [ 2.24045112e-03 4.19645581e-05 9.99997489e-01 -2.12986542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.926559995 meters 0.05173498044708504 Centerline is valid? [True, True] Translation: X:285.88, Y:-32.58, Z:-2.13 [[ 9.68187987e-01 2.50197588e-01 -3.63160702e-03 2.85876918e+02] [-2.50195914e-01 9.68194798e-01 9.15566546e-04 -3.25814837e+01] [ 3.74517557e-03 2.21727080e-05 9.99992987e-01 -2.13195445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98655999499994 meters 0.05202928151453836 Centerline is valid? [True, True] Translation: X:285.93, Y:-32.61, Z:-2.13 [[ 9.72018934e-01 2.34899323e-01 -1.22461389e-03 2.85934153e+02] [-2.34899119e-01 9.72019706e-01 3.09712389e-04 -3.26099218e+01] [ 1.26310006e-03 -1.33855830e-05 9.99999202e-01 -2.12838491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04655999499994 meters 0.05265834267398662 Centerline is valid? [True, True] Translation: X:285.99, Y:-32.64, Z:-2.13 [[ 9.75512493e-01 2.19943051e-01 6.55648413e-04 2.85990240e+02] [-2.19942989e-01 9.75512713e-01 -1.65290532e-04 -3.26365721e+01] [-6.75947866e-04 1.70377070e-05 9.99999771e-01 -2.12674540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10655999499994 meters 0.05347434615324175 Centerline is valid? [True, True] Translation: X:286.05, Y:-32.66, Z:-2.13 [[ 9.78062805e-01 2.08309859e-01 3.89010364e-04 2.86047509e+02] [-2.08309837e-01 9.78062883e-01 -9.79714888e-05 -3.26563223e+01] [-4.00885025e-04 1.47875837e-05 9.99999920e-01 -2.12714591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16655999499994 meters 0.053764312099571526 Centerline is valid? [True, True] Translation: X:286.10, Y:-32.67, Z:-2.13 [[ 9.79712975e-01 2.00403939e-01 -8.64567161e-04 2.86104741e+02] [-2.00403825e-01 9.79713356e-01 2.18058265e-04 -3.26723927e+01] [ 8.90727729e-04 -4.03719458e-05 9.99999602e-01 -2.12720437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22655999499995 meters 0.057011951559453655 Centerline is valid? [True, True] Translation: X:286.16, Y:-32.70, Z:-2.13 [[ 9.80906688e-01 1.94468151e-01 -2.05109826e-03 2.86160717e+02] [-1.94467493e-01 9.80908827e-01 5.17537624e-04 -3.27012133e+01] [ 2.11258497e-03 -1.08784180e-04 9.99997763e-01 -2.13079910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28655999499995 meters 0.05526947249308497 Centerline is valid? [True, True] Translation: X:286.22, Y:-32.71, Z:-2.13 [[ 9.80890042e-01 1.94547104e-01 -2.47999073e-03 2.86223245e+02] [-1.94546140e-01 9.80893168e-01 6.26656142e-04 -3.27073448e+01] [ 2.55452010e-03 -1.32208146e-04 9.99996728e-01 -2.12975029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34655999499995 meters 0.054792751499970115 Centerline is valid? [True, True] Translation: X:286.28, Y:-32.72, Z:-2.13 [[ 9.80725013e-01 1.95379265e-01 -2.32206742e-03 2.86283569e+02] [-1.95378423e-01 9.80727754e-01 5.86239024e-04 -3.27197907e+01] [ 2.39185491e-03 -1.21257404e-04 9.99997132e-01 -2.12993629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40655999499995 meters 0.0552414181472883 Centerline is valid? [True, True] Translation: X:286.34, Y:-32.73, Z:-2.13 [[ 9.80006635e-01 1.98950514e-01 -2.38500753e-03 2.86342205e+02] [-1.98949637e-01 9.80009530e-01 6.01876339e-04 -3.27307818e+01] [ 2.45707371e-03 -1.15346425e-04 9.99996975e-01 -2.13030500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46655999499995 meters 0.054183984075074854 Centerline is valid? [True, True] Translation: X:286.40, Y:-32.74, Z:-2.13 [[ 9.78812227e-01 2.04752495e-01 -1.74342735e-03 2.86402077e+02] [-2.04752035e-01 9.78813777e-01 4.40144700e-04 -3.27419397e+01] [ 1.79661144e-03 -7.38487151e-05 9.99998383e-01 -2.13005100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52655999499996 meters 0.054024860888171454 Centerline is valid? [True, True] Translation: X:286.46, Y:-32.75, Z:-2.13 [[ 9.76056901e-01 2.17515324e-01 9.61896405e-05 2.86461174e+02] [-2.17515322e-01 9.76056906e-01 -2.42151523e-05 -3.27520169e+01] [-9.91537297e-05 2.71264581e-06 9.99999995e-01 -2.12990611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58655999499996 meters 0.05316644767609474 Centerline is valid? [True, True] Translation: X:286.52, Y:-32.76, Z:-2.13 [[ 9.72669718e-01 2.32185806e-01 1.83628050e-03 2.86522953e+02] [-2.32185345e-01 9.72671451e-01 -4.63448664e-04 -3.27569332e+01] [-1.89370382e-03 2.44250585e-05 9.99998207e-01 -2.12955374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64655999499996 meters 0.05180785454835928 Centerline is valid? [True, True] Translation: X:286.59, Y:-32.76, Z:-2.13 [[ 9.69269395e-01 2.45992950e-01 2.07567468e-03 2.86585400e+02] [-2.45992392e-01 9.69271618e-01 -5.23888880e-04 -3.27585322e+01] [-2.14076552e-03 -2.81072010e-06 9.99997709e-01 -2.13227333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70655999499996 meters 0.0519442338028579 Centerline is valid? [True, True] Translation: X:286.65, Y:-32.77, Z:-2.13 [[ 9.67352925e-01 2.53419338e-01 2.63784768e-03 2.86647099e+02] [-2.53418465e-01 9.67356521e-01 -6.65690494e-04 -3.27678807e+01] [-2.72043799e-03 -2.45216625e-05 9.99996299e-01 -2.13081760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76655999499997 meters 0.05249391861028456 Centerline is valid? [True, True] Translation: X:286.71, Y:-32.77, Z:-2.13 [[ 9.64878363e-01 2.62671558e-01 3.66037646e-03 2.86709805e+02] [-2.62669942e-01 9.64885303e-01 -9.24006649e-04 -3.27694141e+01] [-3.77455372e-03 -6.99168501e-05 9.99992874e-01 -2.13114299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82655999499997 meters 0.053159720272141026 Centerline is valid? [True, True] Translation: X:286.77, Y:-32.78, Z:-2.13 [[ 9.63533457e-01 2.67574827e-01 2.64362411e-03 2.86769678e+02] [-2.67574002e-01 9.63537082e-01 -6.67397830e-04 -3.27810678e+01] [-2.72580872e-03 -6.43049452e-05 9.99996283e-01 -2.13217606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88655999499997 meters 0.052465647189146605 Centerline is valid? [True, True] Translation: X:286.83, Y:-32.80, Z:-2.13 [[ 9.62607996e-01 2.70894818e-01 -1.35807112e-03 2.86828652e+02] [-2.70894603e-01 9.62608953e-01 3.43007244e-04 -3.27980005e+01] [ 1.40021030e-03 3.77126222e-05 9.99999019e-01 -2.13499192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.946559995 meters 0.05186219827641396 Centerline is valid? [True, True] Translation: X:286.89, Y:-32.82, Z:-2.13 [[ 9.62519800e-01 2.71204429e-01 -1.94739590e-03 2.86888560e+02] [-2.71203987e-01 9.62521768e-01 4.92776650e-04 -3.28157846e+01] [ 2.00805415e-03 5.38342494e-05 9.99997982e-01 -2.13486055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.006559995 meters 0.05223465144804107 Centerline is valid? [True, True] Translation: X:286.95, Y:-32.83, Z:-2.14 [[ 9.63489481e-01 2.67728430e-01 -3.08327911e-03 2.86946429e+02] [-2.67727308e-01 9.63494412e-01 7.78858305e-04 -3.28304119e+01] [ 3.17924470e-03 7.50562313e-05 9.99994943e-01 -2.13682267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.066559995 meters 0.052774506457822466 Centerline is valid? [True, True] Translation: X:287.01, Y:-32.84, Z:-2.14 [[ 9.64726775e-01 2.63234280e-01 -3.15643929e-03 2.87005558e+02] [-2.63233079e-01 9.64731937e-01 7.97339090e-04 -3.28421970e+01] [ 3.25500477e-03 6.16648658e-05 9.99994701e-01 -2.14126058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.126559995 meters 0.051978201309407994 Centerline is valid? [True, True] Translation: X:287.06, Y:-32.87, Z:-2.14 [[ 9.67490765e-01 2.52893261e-01 -2.57241083e-03 2.87060710e+02] [-2.52892427e-01 9.67494185e-01 6.50049344e-04 -3.28739941e+01] [ 2.65318562e-03 2.16264796e-05 9.99996480e-01 -2.13666394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.186559995 meters 0.05218190568576236 Centerline is valid? [True, True] Translation: X:287.12, Y:-32.90, Z:-2.13 [[ 9.69630722e-01 2.44572565e-01 -7.23196748e-04 2.87117261e+02] [-2.44572497e-01 9.69630992e-01 1.82770916e-04 -3.28960336e+01] [ 7.45934731e-04 -3.46260623e-07 9.99999722e-01 -2.13294277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.246559995 meters 0.052007784700620716 Centerline is valid? [True, True] Translation: X:287.17, Y:-32.92, Z:-2.14 [[ 9.72564396e-01 2.32633647e-01 2.84703874e-04 2.87172777e+02] [-2.32633636e-01 9.72564438e-01 -7.18212302e-05 -3.29224496e+01] [-2.93600898e-04 3.61907401e-06 9.99999957e-01 -2.13582686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.306559995 meters 0.052849370639758426 Centerline is valid? [True, True] Translation: X:287.23, Y:-32.95, Z:-2.13 [[ 9.74704486e-01 2.23480859e-01 2.73323756e-03 2.87229190e+02] [-2.23479801e-01 9.74708316e-01 -6.90515269e-04 -3.29486757e+01] [-2.81842632e-03 6.22249456e-05 9.99996026e-01 -2.13414562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.366559995 meters 0.05256357158630913 Centerline is valid? [True, True] Translation: X:287.29, Y:-32.96, Z:-2.13 [[ 9.75821550e-01 2.18551297e-01 2.76288569e-03 2.87288834e+02] [-2.18550196e-01 9.75825458e-01 -6.98017623e-04 -3.29615804e+01] [-2.84864685e-03 7.73114290e-05 9.99995940e-01 -2.13352675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.426559995 meters 0.052466482158629646 Centerline is valid? [True, True] Translation: X:287.35, Y:-32.98, Z:-2.14 [[ 9.76661205e-01 2.14785001e-01 5.43026424e-04 2.87348351e+02] [-2.14784958e-01 9.76661355e-01 -1.37101433e-04 -3.29753573e+01] [-5.59800254e-04 1.72677434e-05 9.99999843e-01 -2.13522672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48655999499994 meters 0.05313606320729554 Centerline is valid? [True, True] Translation: X:287.41, Y:-32.99, Z:-2.14 [[ 9.76876390e-01 2.13804858e-01 2.43602043e-05 2.87407848e+02] [-2.13804858e-01 9.76876391e-01 -5.85760039e-06 -3.29925393e+01] [-2.50492920e-05 5.13821493e-07 1.00000000e+00 -2.13690465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54655999499994 meters 0.05311234825376098 Centerline is valid? [True, True] Translation: X:287.47, Y:-33.00, Z:-2.14 [[ 9.76858625e-01 2.13884982e-01 6.64499376e-04 2.87470747e+02] [-2.13884918e-01 9.76858851e-01 -1.67057793e-04 -3.30023772e+01] [-6.84853250e-04 2.10654516e-05 9.99999765e-01 -2.13527804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60655999499994 meters 0.05324866961411933 Centerline is valid? [True, True] Translation: X:287.53, Y:-33.02, Z:-2.14 [[ 9.76676561e-01 2.14699082e-01 2.68318011e-03 2.87527918e+02] [-2.14698028e-01 9.76680243e-01 -6.78008676e-04 -3.30242021e+01] [-2.76617684e-03 8.61217019e-05 9.99996170e-01 -2.13543252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66655999499994 meters 0.052660990416096704 Centerline is valid? [True, True] Translation: X:287.59, Y:-33.04, Z:-2.14 [[ 9.75618001e-01 2.19444490e-01 3.69205164e-03 2.87585541e+02] [-2.19442525e-01 9.75624982e-01 -9.34062060e-04 -3.30419955e+01] [-3.80703258e-03 1.01094627e-04 9.99992748e-01 -2.13615452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72655999499995 meters 0.052011346541227764 Centerline is valid? [True, True] Translation: X:287.65, Y:-33.04, Z:-2.14 [[ 9.72481744e-01 2.32966005e-01 2.46946592e-03 2.87648808e+02] [-2.32965169e-01 9.72484879e-01 -6.24737245e-04 -3.30412039e+01] [-2.54706080e-03 3.22460192e-05 9.99996756e-01 -2.13688373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78655999499995 meters 0.052478472069946526 Centerline is valid? [True, True] Translation: X:287.71, Y:-33.06, Z:-2.14 [[ 9.71957724e-01 2.35146775e-01 2.04372896e-03 2.87708417e+02] [-2.35146208e-01 9.71959872e-01 -5.16769174e-04 -3.30586116e+01] [-2.10793914e-03 2.17026756e-05 9.99997778e-01 -2.13925471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84655999499995 meters 0.05253893030088973 Centerline is valid? [True, True] Translation: X:287.77, Y:-33.07, Z:-2.14 [[ 9.71551778e-01 2.36823462e-01 1.33824984e-03 2.87769525e+02] [-2.36823221e-01 9.71552700e-01 -3.37941177e-04 -3.30686740e+01] [-1.38021265e-03 1.13987132e-05 9.99999047e-01 -2.13816520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90655999499995 meters 0.0519229069035458 Centerline is valid? [True, True] Translation: X:287.83, Y:-33.08, Z:-2.14 [[ 9.71261883e-01 2.38013206e-01 -2.62034003e-04 2.87829594e+02] [-2.38013196e-01 9.71261918e-01 6.73355348e-05 -3.30829890e+01] [ 2.70530395e-04 -3.03288779e-06 9.99999963e-01 -2.14054978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96655999499995 meters 0.051807061681877514 Centerline is valid? [True, True] Translation: X:287.89, Y:-33.09, Z:-2.14 [[ 9.71682508e-01 2.36288531e-01 -9.12754568e-04 2.87891146e+02] [-2.36288418e-01 9.71682937e-01 2.31561754e-04 -3.30949025e+01] [ 9.41623426e-04 -9.33117295e-06 9.99999557e-01 -2.13920707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02655999499996 meters 0.052902188602056775 Centerline is valid? [True, True] Translation: X:287.95, Y:-33.11, Z:-2.14 [[ 9.73034613e-01 2.30656836e-01 -1.03234203e-03 2.87948650e+02] [-2.30656688e-01 9.73035161e-01 2.61641479e-04 -3.31143486e+01] [ 1.06485449e-03 -1.64696216e-05 9.99999433e-01 -2.14157501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08655999499996 meters 0.05351182045893272 Centerline is valid? [True, True] Translation: X:288.01, Y:-33.13, Z:-2.14 [[ 9.74658751e-01 2.23693196e-01 -1.29338330e-03 2.88007137e+02] [-2.23692958e-01 9.74659609e-01 3.27888861e-04 -3.31334457e+01] [ 1.33395496e-03 -3.02590133e-05 9.99999110e-01 -2.14159741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14655999499996 meters 0.053193118561757326 Centerline is valid? [True, True] Translation: X:288.07, Y:-33.14, Z:-2.14 [[ 9.76703587e-01 2.14589828e-01 -1.14393302e-03 2.88067165e+02] [-2.14589636e-01 9.76704256e-01 2.89955405e-04 -3.31442599e+01] [ 1.17950573e-03 -3.77243130e-05 9.99999304e-01 -2.13922540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20655999499996 meters 0.053245569403276155 Centerline is valid? [True, True] Translation: X:288.12, Y:-33.16, Z:-2.14 [[ 9.77094505e-01 2.12801159e-01 -1.41228104e-03 2.88123949e+02] [-2.12800864e-01 9.77095525e-01 3.57895763e-04 -3.31644237e+01] [ 1.45609412e-03 -4.91633580e-05 9.99998939e-01 -2.14121141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26655999499997 meters 0.05344865275960983 Centerline is valid? [True, True] Translation: X:288.18, Y:-33.17, Z:-2.14 [[ 9.77930978e-01 2.08904276e-01 -3.16318509e-03 2.88184665e+02] [-2.08902775e-01 9.77936086e-01 8.01649502e-04 -3.31717600e+01] [ 3.26086085e-03 -1.23159740e-04 9.99994676e-01 -2.13967996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32655999499997 meters 0.054078352222374546 Centerline is valid? [True, True] Translation: X:288.24, Y:-33.19, Z:-2.14 [[ 9.78244455e-01 2.07433997e-01 -2.98726160e-03 2.88242894e+02] [-2.07432650e-01 9.78249008e-01 7.57223270e-04 -3.31907877e+01] [ 3.07935955e-03 -1.21093874e-04 9.99995251e-01 -2.14037324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38655999499997 meters 0.055251619449805466 Centerline is valid? [True, True] Translation: X:288.30, Y:-33.22, Z:-2.14 [[ 9.78095154e-01 2.08125423e-01 -3.69831428e-03 2.88298773e+02] [-2.08123361e-01 9.78102135e-01 9.38036590e-04 -3.32174035e+01] [ 3.81255835e-03 -1.47783445e-04 9.99992721e-01 -2.14454916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.446559995 meters 0.054176165295394256 Centerline is valid? [True, True] Translation: X:288.36, Y:-33.22, Z:-2.14 [[ 9.77404906e-01 2.11320804e-01 -4.81333189e-03 2.88360775e+02] [-2.11317353e-01 9.77416742e-01 1.22031378e-03 -3.32188365e+01] [ 4.96250886e-03 -1.75600117e-04 9.99987671e-01 -2.14139244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.506559995 meters 0.054269371954961516 Centerline is valid? [True, True] Translation: X:288.42, Y:-33.24, Z:-2.14 [[ 9.76538479e-01 2.15313996e-01 -3.53300934e-03 2.88417444e+02] [-2.15312163e-01 9.76544863e-01 8.95636763e-04 -3.32396096e+01] [ 3.64298525e-03 -1.13923879e-04 9.99993358e-01 -2.14380453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.566559995 meters 0.05379831107405841 Centerline is valid? [True, True] Translation: X:288.48, Y:-33.25, Z:-2.14 [[ 9.75482998e-01 2.20064480e-01 -2.13176334e-03 2.88478674e+02] [-2.20063824e-01 9.75485326e-01 5.40532726e-04 -3.32461115e+01] [ 2.19845591e-03 -5.81564930e-05 9.99997582e-01 -2.14081148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.626559995 meters 0.05384374905316508 Centerline is valid? [True, True] Translation: X:288.54, Y:-33.26, Z:-2.14 [[ 9.73404294e-01 2.29093227e-01 -6.11089598e-04 2.88536370e+02] [-2.29093175e-01 9.73404486e-01 1.54922906e-04 -3.32629241e+01] [ 6.30329145e-04 -1.08061657e-05 9.99999801e-01 -2.14346667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.686559995 meters 0.05219333663778118 Centerline is valid? [True, True] Translation: X:288.60, Y:-33.27, Z:-2.14 [[ 9.70994877e-01 2.39099667e-01 -5.46432717e-04 2.88597085e+02] [-2.39099627e-01 9.70995031e-01 1.38577071e-04 -3.32691775e+01] [ 5.63717184e-04 -3.90576700e-06 9.99999841e-01 -2.14263286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.746559995 meters 0.05235828155191177 Centerline is valid? [True, True] Translation: X:288.66, Y:-33.28, Z:-2.14 [[ 9.70162118e-01 2.42455618e-01 -8.59610419e-04 2.88657450e+02] [-2.42455520e-01 9.70162498e-01 2.18457505e-04 -3.32826282e+01] [ 8.86928041e-04 -3.52190454e-06 9.99999607e-01 -2.14487672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.806559995 meters 0.05217340487860767 Centerline is valid? [True, True] Translation: X:288.72, Y:-33.29, Z:-2.15 [[ 9.67423389e-01 2.53160384e-01 -1.34439325e-03 2.88719966e+02] [-2.53160153e-01 9.67424323e-01 3.41985800e-04 -3.32901882e+01] [ 1.38717599e-03 9.50173897e-06 9.99999038e-01 -2.14514737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.866559995 meters 0.052289931406541854 Centerline is valid? [True, True] Translation: X:288.78, Y:-33.30, Z:-2.15 [[ 9.64909516e-01 2.62579214e-01 -1.33467256e-03 2.88779725e+02] [-2.62578997e-01 9.64910439e-01 3.38805921e-04 -3.32966275e+01] [ 1.37680288e-03 2.35399254e-05 9.99999052e-01 -2.14675717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.926559995 meters 0.05321025649291016 Centerline is valid? [True, True] Translation: X:288.84, Y:-33.31, Z:-2.15 [[ 9.63920702e-01 2.66184705e-01 -1.60718017e-03 2.88839606e+02] [-2.66184395e-01 9.63922041e-01 4.07876612e-04 -3.33053982e+01] [ 1.65776691e-03 3.46455713e-05 9.99998625e-01 -2.14911961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98655999499994 meters 0.05195778929785585 Centerline is valid? [True, True] Translation: X:288.90, Y:-33.33, Z:-2.15 [[ 9.63600497e-01 2.67336085e-01 -2.34517853e-03 2.88897304e+02] [-2.67335425e-01 9.63603349e-01 5.96144513e-04 -3.33287242e+01] [ 2.41919282e-03 5.25041511e-05 9.99997072e-01 -2.14677257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04655999499994 meters 0.05252032341955984 Centerline is valid? [True, True] Translation: X:288.96, Y:-33.34, Z:-2.15 [[ 9.64016318e-01 2.65814041e-01 -3.92870660e-03 2.88956824e+02] [-2.65812177e-01 9.64024320e-01 9.98665448e-04 -3.33444027e+01] [ 4.05282801e-03 8.15682683e-05 9.99991784e-01 -2.14915239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10655999499994 meters 0.05261386897291623 Centerline is valid? [True, True] Translation: X:289.01, Y:-33.36, Z:-2.15 [[ 9.65188375e-01 2.61520562e-01 -4.28903296e-03 2.89013551e+02] [-2.61518303e-01 9.65197902e-01 1.08924095e-03 -3.33630497e+01] [ 4.42462452e-03 7.03379242e-05 9.99990209e-01 -2.15071456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16655999499994 meters 0.05179780775300826 Centerline is valid? [True, True] Translation: X:289.07, Y:-33.39, Z:-2.15 [[ 9.66827657e-01 2.55411321e-01 -3.05599115e-03 2.89069913e+02] [-2.55410144e-01 9.66832486e-01 7.76135504e-04 -3.33869371e+01] [ 3.15286532e-03 3.01418689e-05 9.99995029e-01 -2.14786886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22655999499995 meters 0.05201901849598002 Centerline is valid? [True, True] Translation: X:289.13, Y:-33.41, Z:-2.15 [[ 9.68926319e-01 2.47333108e-01 -2.84995173e-03 2.89127484e+02] [-2.47332048e-01 9.68930510e-01 7.24155985e-04 -3.34112080e+01] [ 2.94051293e-03 3.23060451e-06 9.99995677e-01 -2.14720538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28655999499995 meters 0.052017570995315954 Centerline is valid? [True, True] Translation: X:289.19, Y:-33.43, Z:-2.15 [[ 9.69644912e-01 2.44495245e-01 -3.28932901e-03 2.89185969e+02] [-2.44493813e-01 9.69650491e-01 8.36693555e-04 -3.34290677e+01] [ 3.39406709e-03 -7.07505556e-06 9.99994240e-01 -2.14784934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34655999499995 meters 0.0522901867088175 Centerline is valid? [True, True] Translation: X:289.24, Y:-33.45, Z:-2.15 [[ 9.72022583e-01 2.34843367e-01 -4.54876890e-03 2.89242573e+02] [-2.34840527e-01 9.72033225e-01 1.15613880e-03 -3.34542292e+01] [ 4.69306603e-03 -5.55577314e-05 9.99988986e-01 -2.14997671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40655999499995 meters 0.0526189808267103 Centerline is valid? [True, True] Translation: X:289.30, Y:-33.47, Z:-2.15 [[ 9.73728711e-01 2.27651358e-01 -5.22086239e-03 2.89300469e+02] [-2.27647515e-01 9.73742701e-01 1.32691768e-03 -3.34730686e+01] [ 5.38585126e-03 -1.03541498e-04 9.99985491e-01 -2.14854087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46655999499995 meters 0.05307861035963379 Centerline is valid? [True, True] Translation: X:289.36, Y:-33.49, Z:-2.15 [[ 9.76196983e-01 2.16823109e-01 -5.21438850e-03 2.89357591e+02] [-2.16819121e-01 9.76210896e-01 1.32523028e-03 -3.34912726e+01] [ 5.37768342e-03 -1.63106665e-04 9.99985527e-01 -2.14645382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52655999499996 meters 0.05336968879029577 Centerline is valid? [True, True] Translation: X:289.41, Y:-33.52, Z:-2.15 [[ 9.77965260e-01 2.08708679e-01 -4.96369857e-03 2.89414117e+02] [-2.08704959e-01 9.77977836e-01 1.26175531e-03 -3.35159896e+01] [ 5.11772647e-03 -1.98004354e-04 9.99986885e-01 -2.14810157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58655999499996 meters 0.053572301723416 Centerline is valid? [True, True] Translation: X:289.47, Y:-33.53, Z:-2.15 [[ 9.78195166e-01 2.07649627e-01 -3.98119414e-03 2.89474150e+02] [-2.07647223e-01 9.78203254e-01 1.01259194e-03 -3.35292933e+01] [ 4.10468140e-03 -1.63828636e-04 9.99991562e-01 -2.14755702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64655999499996 meters 0.05401422395035845 Centerline is valid? [True, True] Translation: X:289.53, Y:-33.54, Z:-2.15 [[ 9.77778721e-01 2.09621753e-01 -2.73736446e-03 2.89533759e+02] [-2.09620625e-01 9.77782547e-01 6.96005504e-04 -3.35424544e+01] [ 2.82244508e-03 -1.06731324e-04 9.99996011e-01 -2.14691039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70655999499996 meters 0.05318846598280867 Centerline is valid? [True, True] Translation: X:289.59, Y:-33.56, Z:-2.15 [[ 9.76818654e-01 2.14053960e-01 -2.49370013e-03 2.89590528e+02] [-2.14053039e-01 9.76821834e-01 6.33955031e-04 -3.35610881e+01] [ 2.57160132e-03 -8.54750088e-05 9.99996690e-01 -2.14802266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76655999499997 meters 0.05331861884798986 Centerline is valid? [True, True] Translation: X:289.65, Y:-33.57, Z:-2.15 [[ 9.75346128e-01 2.20646806e-01 -3.86233938e-03 2.89651380e+02] [-2.20644645e-01 9.75353770e-01 9.82046566e-04 -3.35695578e+01] [ 3.98383271e-03 -1.05630813e-04 9.99992059e-01 -2.14853571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82655999499997 meters 0.05227404743610258 Centerline is valid? [True, True] Translation: X:289.71, Y:-33.58, Z:-2.15 [[ 9.73852866e-01 2.27164671e-01 -2.60909351e-03 2.89709187e+02] [-2.27163709e-01 9.73856360e-01 6.63295722e-04 -3.35839659e+01] [ 2.69155966e-03 -5.32610823e-05 9.99996376e-01 -2.14880661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88655999499997 meters 0.05236278536577798 Centerline is valid? [True, True] Translation: X:289.77, Y:-33.59, Z:-2.15 [[ 9.72866396e-01 2.31351271e-01 -2.75038242e-03 2.89769384e+02] [-2.31350219e-01 9.72870283e-01 6.99254666e-04 -3.35925289e+01] [ 2.83753878e-03 -4.39797919e-05 9.99995973e-01 -2.14868619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.946559995 meters 0.05262129260351102 Centerline is valid? [True, True] Translation: X:289.83, Y:-33.61, Z:-2.15 [[ 9.71957975e-01 2.35132292e-01 -3.24024667e-03 2.89829358e+02] [-2.35130851e-01 9.71963376e-01 8.24152510e-04 -3.36070608e+01] [ 3.34318596e-03 -3.91596467e-05 9.99994411e-01 -2.15178587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.006559995 meters 0.051739072239792246 Centerline is valid? [True, True] Translation: X:289.89, Y:-33.62, Z:-2.15 [[ 9.71447973e-01 2.37245443e-01 -1.85381635e-03 2.89888828e+02] [-2.37244973e-01 9.71449741e-01 4.72375418e-04 -3.36211144e+01] [ 1.91295832e-03 -1.90795329e-05 9.99998170e-01 -2.15265113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.066559995 meters 0.052224069068466564 Centerline is valid? [True, True] Translation: X:289.95, Y:-33.63, Z:-2.15 [[ 9.71323490e-01 2.37759036e-01 -1.14821847e-03 2.89949756e+02] [-2.37758856e-01 9.71324169e-01 2.92626941e-04 -3.36348101e+01] [ 1.18486705e-03 -1.12363109e-05 9.99999298e-01 -2.15301481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.126559995 meters 0.052081516042084997 Centerline is valid? [True, True] Translation: X:290.01, Y:-33.65, Z:-2.15 [[ 9.71270570e-01 2.37976301e-01 -8.71435586e-04 2.90010079e+02] [-2.37976197e-01 9.71270961e-01 2.22282193e-04 -3.36473472e+01] [ 8.99297974e-04 -8.51522537e-06 9.99999596e-01 -2.15235574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.186559995 meters 0.05210837518414572 Centerline is valid? [True, True] Translation: X:290.07, Y:-33.66, Z:-2.15 [[ 9.71077693e-01 2.38763228e-01 -4.85201501e-04 2.90069961e+02] [-2.38763196e-01 9.71077814e-01 1.23828271e-04 -3.36625220e+01] [ 5.00734051e-04 -4.39861074e-06 9.99999875e-01 -2.15178319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.246559995 meters 0.05247830547363734 Centerline is valid? [True, True] Translation: X:290.13, Y:-33.68, Z:-2.15 [[ 9.70729036e-01 2.40173114e-01 -1.41926028e-03 2.90131916e+02] [-2.40172840e-01 9.70730073e-01 3.62524430e-04 -3.36752965e+01] [ 1.46478726e-03 -1.10452172e-05 9.99998927e-01 -2.15326477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.306559995 meters 0.052301853917582776 Centerline is valid? [True, True] Translation: X:290.19, Y:-33.69, Z:-2.15 [[ 9.70509770e-01 2.41051312e-01 -2.24733971e-03 2.90191900e+02] [-2.41050630e-01 9.70512372e-01 5.73674045e-04 -3.36898888e+01] [ 2.31935587e-03 -1.50336138e-05 9.99997310e-01 -2.15441616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.366559995 meters 0.05257414323001553 Centerline is valid? [True, True] Translation: X:290.25, Y:-33.71, Z:-2.15 [[ 9.70335791e-01 2.41750976e-01 -2.21759080e-03 2.90251296e+02] [-2.41750314e-01 9.70338325e-01 5.65780800e-04 -3.37051854e+01] [ 2.28859140e-03 -1.28940881e-05 9.99997381e-01 -2.15354890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.426559995 meters 0.05188143252103731 Centerline is valid? [True, True] Translation: X:290.31, Y:-33.72, Z:-2.15 [[ 9.70376744e-01 2.41591555e-01 -1.57946269e-03 2.90311201e+02] [-2.41591220e-01 9.70378030e-01 4.02980831e-04 -3.37217367e+01] [ 1.63003266e-03 -9.45890979e-06 9.99998671e-01 -2.15489488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48655999499994 meters 0.05226657588939008 Centerline is valid? [True, True] Translation: X:290.37, Y:-33.74, Z:-2.16 [[ 9.70704911e-01 2.40264843e-01 -2.18649341e-03 2.90371670e+02] [-2.40264196e-01 9.70707373e-01 5.58044545e-04 -3.37375277e+01] [ 2.25652376e-03 -1.63604988e-05 9.99997454e-01 -2.15663697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54655999499994 meters 0.053024234967753006 Centerline is valid? [True, True] Translation: X:290.43, Y:-33.75, Z:-2.15 [[ 9.71492184e-01 2.37066284e-01 -1.58542451e-03 2.90431645e+02] [-2.37065938e-01 9.71493478e-01 4.05389091e-04 -3.37529740e+01] [ 1.63633365e-03 -1.79821861e-05 9.99998661e-01 -2.15166220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60655999499994 meters 0.05246332121730027 Centerline is valid? [True, True] Translation: X:290.49, Y:-33.77, Z:-2.15 [[ 9.71657477e-01 2.36387303e-01 -1.67029679e-03 2.90490528e+02] [-2.36386917e-01 9.71658913e-01 4.27292191e-04 -3.37714974e+01] [ 1.72396521e-03 -2.03453423e-05 9.99998514e-01 -2.15478521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66655999499994 meters 0.05312724657305769 Centerline is valid? [True, True] Translation: X:290.55, Y:-33.78, Z:-2.15 [[ 9.71847029e-01 2.35606359e-01 -1.73114442e-03 2.90550140e+02] [-2.35605943e-01 9.71848570e-01 4.42966246e-04 -3.37849467e+01] [ 1.78677590e-03 -2.26275155e-05 9.99998403e-01 -2.15365883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72655999499995 meters 0.05312724657305769 Centerline is valid? [True, True] Translation: X:290.61, Y:-33.80, Z:-2.15 [[ 9.71818334e-01 2.35724691e-01 -1.73107322e-03 2.90610694e+02] [-2.35724275e-01 9.71819875e-01 4.43244756e-04 -3.38003436e+01] [ 1.78677510e-03 -2.26974000e-05 9.99998403e-01 -2.15411955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78655999499995 meters 0.05288084911182946 Centerline is valid? [True, True] Translation: X:290.67, Y:-33.82, Z:-2.16 [[ 9.72288468e-01 2.33774692e-01 -2.12800747e-03 2.90667705e+02] [-2.33774060e-01 9.72290796e-01 5.44711718e-04 -3.38227561e+01] [ 2.19638189e-03 -3.21439758e-05 9.99997587e-01 -2.15777899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84655999499995 meters 0.05350972469953069 Centerline is valid? [True, True] Translation: X:290.73, Y:-33.84, Z:-2.16 [[ 9.73275710e-01 2.29631226e-01 -1.97277420e-03 2.90726830e+02] [-2.29630675e-01 9.73277709e-01 5.04446386e-04 -3.38400208e+01] [ 2.03589380e-03 -3.79559435e-05 9.99997927e-01 -2.15815393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90655999499995 meters 0.05348546587952364 Centerline is valid? [True, True] Translation: X:290.79, Y:-33.86, Z:-2.16 [[ 9.73885344e-01 2.27030979e-01 -2.06665757e-03 2.90786959e+02] [-2.27030367e-01 9.73887536e-01 5.28897321e-04 -3.38566363e+01] [ 2.13276812e-03 -4.58913228e-05 9.99997725e-01 -2.15871822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96655999499995 meters 0.05350790033625321 Centerline is valid? [True, True] Translation: X:290.84, Y:-33.88, Z:-2.16 [[ 9.74493309e-01 2.24399387e-01 -2.77583778e-03 2.90844121e+02] [-2.24398275e-01 9.74497260e-01 7.10023473e-04 -3.38761230e+01] [ 2.86437514e-03 -6.90199157e-05 9.99995895e-01 -2.15957310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02655999499996 meters 0.05323037095072976 Centerline is valid? [True, True] Translation: X:290.90, Y:-33.89, Z:-2.16 [[ 9.74537402e-01 2.24218833e-01 -1.66363240e-03 2.90904880e+02] [-2.24218432e-01 9.74538821e-01 4.26020625e-04 -3.38902133e+01] [ 1.71679621e-03 -4.21559837e-05 9.99998525e-01 -2.15903908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08655999499996 meters 0.0530676835633137 Centerline is valid? [True, True] Translation: X:290.96, Y:-33.90, Z:-2.16 [[ 9.73909428e-01 2.26932784e-01 -1.39185361e-03 2.90963509e+02] [-2.26932506e-01 9.73910422e-01 3.56478328e-04 -3.39047037e+01] [ 1.43643735e-03 -3.13207771e-05 9.99998968e-01 -2.15891646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14655999499996 meters 0.05256969377962585 Centerline is valid? [True, True] Translation: X:291.02, Y:-33.92, Z:-2.16 [[ 9.73146654e-01 2.30185562e-01 4.42726361e-04 2.91023145e+02] [-2.30185535e-01 9.73146755e-01 -1.13203930e-04 -3.39189398e+01] [-4.56895632e-04 8.25482157e-06 9.99999896e-01 -2.15942277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20655999499996 meters 0.052150771053938186 Centerline is valid? [True, True] Translation: X:291.08, Y:-33.93, Z:-2.16 [[ 9.71749333e-01 2.36014242e-01 7.14453112e-04 2.91083740e+02] [-2.36014172e-01 9.71749596e-01 -1.82744997e-04 -3.39268322e+01] [-7.37399945e-04 8.96126933e-06 9.99999728e-01 -2.15766462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26655999499997 meters 0.05184906061942907 Centerline is valid? [True, True] Translation: X:291.14, Y:-33.94, Z:-2.16 [[ 9.69913374e-01 2.43450120e-01 2.92103156e-04 2.91143526e+02] [-2.43450109e-01 9.69913418e-01 -7.44987643e-05 -3.39429785e+01] [-3.01451504e-04 1.14480273e-06 9.99999955e-01 -2.16080092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32655999499997 meters 0.05154853400378412 Centerline is valid? [True, True] Translation: X:291.20, Y:-33.95, Z:-2.16 [[ 9.67392160e-01 2.53282297e-01 -6.98263488e-04 2.91203615e+02] [-2.53282234e-01 9.67392412e-01 1.79575833e-04 -3.39540410e+01] [ 7.20978178e-04 3.13748313e-06 9.99999740e-01 -2.16413776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38655999499997 meters 0.05180469748491713 Centerline is valid? [True, True] Translation: X:291.26, Y:-33.97, Z:-2.16 [[ 9.65565838e-01 2.60158173e-01 -5.81370857e-04 2.91263621e+02] [-2.60158130e-01 9.65566013e-01 1.48966913e-04 -3.39661389e+01] [ 6.00106900e-04 7.41099344e-06 9.99999820e-01 -2.16404791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.446559995 meters 0.05277231116015738 Centerline is valid? [True, True] Translation: X:291.32, Y:-33.97, Z:-2.17 [[ 9.63408597e-01 2.68036933e-01 2.78988061e-04 2.91323784e+02] [-2.68036924e-01 9.63408637e-01 -7.14204945e-05 -3.39729015e+01] [-2.87922838e-04 -5.97198320e-06 9.99999959e-01 -2.16579593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.506559995 meters 0.052310986900030415 Centerline is valid? [True, True] Translation: X:291.38, Y:-33.99, Z:-2.16 [[ 9.62801793e-01 2.70207976e-01 5.97372706e-04 2.91383810e+02] [-2.70207934e-01 9.62801978e-01 -1.52736340e-04 -3.39891308e+01] [-6.16422200e-04 -1.43600224e-05 9.99999810e-01 -2.16470009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.566559995 meters 0.05143196144949098 Centerline is valid? [True, True] Translation: X:291.44, Y:-34.01, Z:-2.16 [[ 9.62452560e-01 2.71440909e-01 2.21406864e-03 2.91443008e+02] [-2.71440324e-01 9.62455105e-01 -5.66390106e-04 -3.40089091e+01] [-2.28468311e-03 -5.58639009e-05 9.99997389e-01 -2.16324362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.626559995 meters 0.052709470983443356 Centerline is valid? [True, True] Translation: X:291.50, Y:-34.02, Z:-2.17 [[ 9.62322838e-01 2.71908013e-01 8.87605652e-04 2.91503196e+02] [-2.71907919e-01 9.62323247e-01 -2.26686494e-04 -3.40233445e+01] [-9.15801427e-04 -2.32014161e-05 9.99999580e-01 -2.16583859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.686559995 meters 0.05174943836580879 Centerline is valid? [True, True] Translation: X:291.56, Y:-34.05, Z:-2.17 [[ 9.62284443e-01 2.72044336e-01 -7.27716627e-04 2.91561267e+02] [-2.72044272e-01 9.62284718e-01 1.87412017e-04 -3.40472873e+01] [ 7.51254967e-04 1.76274721e-05 9.99999718e-01 -2.16642895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.746559995 meters 0.052099137837885494 Centerline is valid? [True, True] Translation: X:291.62, Y:-34.06, Z:-2.17 [[ 9.62554297e-01 2.71083758e-01 -1.67995846e-03 2.91620614e+02] [-2.71083417e-01 9.62555762e-01 4.31681571e-04 -3.40632286e+01] [ 1.73407555e-03 3.98919278e-05 9.99998496e-01 -2.16819690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.806559995 meters 0.05109757194305735 Centerline is valid? [True, True] Translation: X:291.68, Y:-34.09, Z:-2.17 [[ 9.63863873e-01 2.66394833e-01 4.76564119e-04 2.91677077e+02] [-2.66394805e-01 9.63863991e-01 -1.22138561e-04 -3.40883725e+01] [-4.91880075e-04 -9.22925925e-06 9.99999879e-01 -2.16591027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.866559995 meters 0.050597882425404306 Centerline is valid? [True, True] Translation: X:291.73, Y:-34.11, Z:-2.16 [[ 9.65908389e-01 2.58871479e-01 2.55752788e-03 2.91734584e+02] [-2.58870649e-01 9.65911775e-01 -6.56016431e-04 -3.41113964e+01] [-2.64017024e-03 -2.84171273e-05 9.99996514e-01 -2.16361741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.926559995 meters 0.051120274010898206 Centerline is valid? [True, True] Translation: X:291.79, Y:-34.13, Z:-2.16 [[ 9.66753997e-01 2.55696970e-01 2.40176040e-03 2.91793864e+02] [-2.55696230e-01 9.66756980e-01 -6.15602945e-04 -3.41275558e+01] [-2.47932644e-03 -1.89844726e-05 9.99996926e-01 -2.16447456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98655999499994 meters 0.051346084810364644 Centerline is valid? [True, True] Translation: X:291.85, Y:-34.14, Z:-2.17 [[ 9.66617344e-01 2.56222603e-01 -9.41717612e-04 2.91854595e+02] [-2.56222489e-01 9.66617803e-01 2.42660532e-04 -3.41394046e+01] [ 9.72456122e-04 6.72935128e-06 9.99999527e-01 -2.16740527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04655999499994 meters 0.05151448120546366 Centerline is valid? [True, True] Translation: X:291.91, Y:-34.15, Z:-2.17 [[ 9.67066909e-01 2.54518433e-01 -1.40050990e-03 2.91914304e+02] [-2.54518178e-01 9.67067923e-01 3.60185782e-04 -3.41529816e+01] [ 1.44606212e-03 8.13147718e-06 9.99998954e-01 -2.16933689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10655999499994 meters 0.05123581076037603 Centerline is valid? [True, True] Translation: X:291.97, Y:-34.17, Z:-2.17 [[ 9.67503395e-01 2.52856830e-01 -7.76975209e-04 2.91974418e+02] [-2.52856750e-01 9.67503707e-01 2.00511815e-04 -3.41699490e+01] [ 8.02427177e-04 2.46756456e-06 9.99999678e-01 -2.16527039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16655999499994 meters 0.052262441828330085 Centerline is valid? [True, True] Translation: X:292.03, Y:-34.18, Z:-2.17 [[ 9.68548213e-01 2.48825713e-01 -3.51324873e-04 2.92034189e+02] [-2.48825697e-01 9.68548277e-01 9.11100994e-05 -3.41828178e+01] [ 3.62945636e-04 -8.25867743e-07 9.99999934e-01 -2.16740010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22655999499995 meters 0.05189806266608688 Centerline is valid? [True, True] Translation: X:292.09, Y:-34.20, Z:-2.17 [[ 9.68921107e-01 2.47369494e-01 4.70397866e-04 2.92094392e+02] [-2.47369465e-01 9.68921221e-01 -1.20127417e-04 -3.41966458e+01] [-4.85494333e-04 3.19215306e-08 9.99999882e-01 -2.16561036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28655999499995 meters 0.052428442149303 Centerline is valid? [True, True] Translation: X:292.16, Y:-34.21, Z:-2.16 [[ 9.69250381e-01 2.46075753e-01 6.49895844e-04 2.92155899e+02] [-2.46075697e-01 9.69250599e-01 -1.66255338e-04 -3.42095225e+01] [-6.70823343e-04 1.21947672e-06 9.99999775e-01 -2.16440427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34655999499995 meters 0.05209342899776129 Centerline is valid? [True, True] Translation: X:292.22, Y:-34.22, Z:-2.16 [[ 9.69667869e-01 2.44424845e-01 8.48371482e-04 2.92216008e+02] [-2.44424748e-01 9.69668240e-01 -2.17607365e-04 -3.42224248e+01] [-8.75827528e-04 3.64388345e-06 9.99999616e-01 -2.16355221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40655999499995 meters 0.0523617437635502 Centerline is valid? [True, True] Translation: X:292.28, Y:-34.24, Z:-2.16 [[ 9.70266353e-01 2.42033535e-01 1.72396170e-03 2.92276116e+02] [-2.42033129e-01 9.70267884e-01 -4.43572395e-04 -3.42368709e+01] [-1.78006406e-03 1.31275253e-05 9.99998416e-01 -2.16471866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46655999499995 meters 0.05283456974497274 Centerline is valid? [True, True] Translation: X:292.34, Y:-34.25, Z:-2.17 [[ 9.70451098e-01 2.41297841e-01 1.38719598e-04 2.92336919e+02] [-2.41297838e-01 9.70451108e-01 -3.48453247e-05 -3.42489338e+01] [-1.43028689e-04 3.42944584e-07 9.99999990e-01 -2.16521318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52655999499996 meters 0.05286170399282659 Centerline is valid? [True, True] Translation: X:292.40, Y:-34.26, Z:-2.17 [[ 9.70493799e-01 2.41125806e-01 -3.64319259e-04 2.92397682e+02] [-2.41125787e-01 9.70493867e-01 9.48014033e-05 -3.42623220e+01] [ 3.76428671e-04 -4.15740571e-06 9.99999929e-01 -2.16526646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58655999499996 meters 0.05299352557143312 Centerline is valid? [True, True] Translation: X:292.46, Y:-34.27, Z:-2.16 [[ 9.70501842e-01 2.41093688e-01 9.32750212e-05 2.92458213e+02] [-2.41093687e-01 9.70501846e-01 -2.30839971e-05 -3.42740371e+01] [-9.60889864e-05 -8.49570271e-08 9.99999995e-01 -2.16320214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64655999499996 meters 0.052593001459226206 Centerline is valid? [True, True] Translation: X:292.52, Y:-34.29, Z:-2.16 [[ 9.70639756e-01 2.40519460e-01 2.97537080e-03 2.92518419e+02] [-2.40518240e-01 9.70644316e-01 -7.66768843e-04 -3.42876004e+01] [-3.07244958e-03 2.86253759e-05 9.99995280e-01 -2.16280814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70655999499996 meters 0.05274115510130148 Centerline is valid? [True, True] Translation: X:292.58, Y:-34.30, Z:-2.17 [[ 9.70171719e-01 2.42416126e-01 1.12106564e-03 2.92579959e+02] [-2.42415954e-01 9.70172367e-01 -2.88941050e-04 -3.42981125e+01] [-1.15767087e-03 8.55824025e-06 9.99999330e-01 -2.16564061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76655999499997 meters 0.05350230714927879 Centerline is valid? [True, True] Translation: X:292.64, Y:-34.31, Z:-2.17 [[ 9.68471965e-01 2.49104708e-01 -2.98278643e-03 2.92642524e+02] [-2.49103515e-01 9.68476559e-01 7.70907502e-04 -3.43052177e+01] [ 3.08079542e-03 -3.57971964e-06 9.99995254e-01 -2.16912106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82655999499997 meters 0.05350230714927879 Centerline is valid? [True, True] Translation: X:292.70, Y:-34.32, Z:-2.17 [[ 9.68438006e-01 2.49236700e-01 -2.98264979e-03 2.92703021e+02] [-2.49235506e-01 9.68442599e-01 7.71436403e-04 -3.43208078e+01] [ 3.08079538e-03 -3.70610047e-06 9.99995254e-01 -2.16958174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88655999499997 meters 0.05253181814501218 Centerline is valid? [True, True] Translation: X:292.76, Y:-34.34, Z:-2.17 [[ 9.68216097e-01 2.50089264e-01 -3.59858023e-03 2.92761681e+02] [-2.50087532e-01 9.68222784e-01 9.30747442e-04 -3.43363750e+01] [ 3.71699732e-03 -1.20460794e-06 9.99993092e-01 -2.17108369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.946559995 meters 0.05253181814501218 Centerline is valid? [True, True] Translation: X:292.82, Y:-34.35, Z:-2.17 [[ 9.68182966e-01 2.50217496e-01 -3.59841527e-03 2.92822174e+02] [-2.50215763e-01 9.68189653e-01 9.31385433e-04 -3.43519883e+01] [ 3.71699736e-03 -1.37128930e-06 9.99993092e-01 -2.17154435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.006559995 meters 0.05312858585293982 Centerline is valid? [True, True] Translation: X:292.88, Y:-34.37, Z:-2.17 [[ 9.67766884e-01 2.51800867e-01 -4.85610336e-03 2.92880947e+02] [-2.51797733e-01 9.67779067e-01 1.25634579e-03 -3.43684033e+01] [ 5.01598414e-03 6.90596693e-06 9.99987420e-01 -2.17012819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.066559995 meters 0.05321490127858863 Centerline is valid? [True, True] Translation: X:292.94, Y:-34.39, Z:-2.18 [[ 9.67281481e-01 2.53516337e-01 -9.79810415e-03 2.92939517e+02] [-2.53503673e-01 9.67331104e-01 2.53424894e-03 -3.43860260e+01] [ 1.01204844e-02 3.25233139e-05 9.99948786e-01 -2.17641502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.126559995 meters 0.053557213679323666 Centerline is valid? [True, True] Translation: X:293.00, Y:-34.40, Z:-2.18 [[ 9.66393974e-01 2.56743073e-01 -1.28717717e-02 2.92998464e+02] [-2.56721499e-01 9.66479688e-01 3.32942259e-03 -3.44035283e+01] [ 1.32951121e-02 8.69266012e-05 9.99911612e-01 -2.17620129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.186559995 meters 0.052503814475885126 Centerline is valid? [True, True] Translation: X:293.06, Y:-34.42, Z:-2.17 [[ 9.63567969e-01 2.67310683e-01 -9.04255282e-03 2.93057298e+02] [-2.67300498e-01 9.63610384e-01 2.33913690e-03 -3.44191489e+01] [ 9.33877407e-03 1.63161484e-04 9.99956379e-01 -2.17168712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.246559995 meters 0.052336768391377804 Centerline is valid? [True, True] Translation: X:293.12, Y:-34.44, Z:-2.17 [[ 9.61787842e-01 2.73715522e-01 -6.63015972e-03 2.93115866e+02] [-2.73710199e-01 9.61810681e-01 1.71512704e-03 -3.44357253e+01] [ 6.84641533e-03 1.65154003e-04 9.99976549e-01 -2.16694311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.306559995 meters 0.054252716255925454 Centerline is valid? [True, True] Translation: X:293.18, Y:-34.44, Z:-2.17 [[ 9.60041712e-01 2.79808539e-01 -5.20500328e-03 2.93177228e+02] [-2.79805347e-01 9.60055808e-01 1.34646377e-03 -3.44374690e+01] [ 5.37384569e-03 1.63726364e-04 9.99985547e-01 -2.17057005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.366559995 meters 0.05336407635835332 Centerline is valid? [True, True] Translation: X:293.24, Y:-34.46, Z:-2.17 [[ 9.58517146e-01 2.85020512e-01 -2.86160756e-03 2.93235440e+02] [-2.85019570e-01 9.58521412e-01 7.40287451e-04 -3.44553766e+01] [ 2.95390923e-03 1.06035943e-04 9.99995632e-01 -2.16606021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.426559995 meters 0.05222581187896437 Centerline is valid? [True, True] Translation: X:293.29, Y:-34.47, Z:-2.16 [[ 9.56493669e-01 2.91750640e-01 -1.19390189e-03 2.93293961e+02] [-2.91750481e-01 9.56494413e-01 3.08962145e-04 -3.44737527e+01] [ 1.23210039e-03 5.28011162e-05 9.99999240e-01 -2.16218775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48655999499994 meters 0.052809401626243015 Centerline is valid? [True, True] Translation: X:293.35, Y:-34.49, Z:-2.16 [[ 9.55994099e-01 2.93374467e-01 -2.58937889e-03 2.93353721e+02] [-2.93373726e-01 9.55997598e-01 6.70028269e-04 -3.44865017e+01] [ 2.67200918e-03 1.19112659e-04 9.99996423e-01 -2.16406873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54655999499994 meters 0.05219318421911501 Centerline is valid? [True, True] Translation: X:293.41, Y:-34.52, Z:-2.16 [[ 9.57227530e-01 2.89329517e-01 -1.97135429e-03 2.93409499e+02] [-2.89329079e-01 9.57229556e-01 5.10203650e-04 -3.45159171e+01] [ 2.03465557e-03 8.19891400e-05 9.99997927e-01 -2.16184610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60655999499994 meters 0.05333863205539658 Centerline is valid? [True, True] Translation: X:293.47, Y:-34.53, Z:-2.16 [[ 9.59398369e-01 2.82052649e-01 1.03612133e-03 2.93469280e+02] [-2.82052524e-01 9.59398928e-01 -2.68039273e-04 -3.45253270e+01] [-1.06965488e-03 -3.50841931e-05 9.99999427e-01 -2.16312513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66655999499994 meters 0.05210041802880717 Centerline is valid? [True, True] Translation: X:293.52, Y:-34.57, Z:-2.17 [[ 9.69175625e-01 2.46360601e-01 -2.24987292e-03 2.93521067e+02] [-2.46359913e-01 9.69178237e-01 5.82315344e-04 -3.45668017e+01] [ 2.32398743e-03 -1.00873407e-05 9.99997299e-01 -2.17139147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72655999499995 meters 0.053070672613544166 Centerline is valid? [True, True] Translation: X:293.58, Y:-34.58, Z:-2.17 [[ 9.69244661e-01 2.46086622e-01 -2.48230833e-03 2.93582307e+02] [-2.46085781e-01 9.69247839e-01 6.43649016e-04 -3.45804451e+01] [ 2.56436540e-03 -1.29925899e-05 9.99996712e-01 -2.16794507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78655999499995 meters 0.053070672613544166 Centerline is valid? [True, True] Translation: X:293.64, Y:-34.60, Z:-2.17 [[ 9.69215684e-01 2.46200724e-01 -2.48225335e-03 2.93642811e+02] [-2.46199883e-01 9.69218862e-01 6.43861103e-04 -3.45960246e+01] [ 2.56436584e-03 -1.29097959e-05 9.99996712e-01 -2.16840582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84655999499995 meters 0.052855177712688245 Centerline is valid? [True, True] Translation: X:293.70, Y:-34.61, Z:-2.17 [[ 9.69242290e-01 2.46090311e-01 -2.99014949e-03 2.93701576e+02] [-2.46089089e-01 9.69246903e-01 7.75718152e-04 -3.46139567e+01] [ 3.08908985e-03 -1.60156744e-05 9.99995229e-01 -2.17415134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90655999499995 meters 0.05257640919728557 Centerline is valid? [True, True] Translation: X:293.76, Y:-34.63, Z:-2.18 [[ 9.69252788e-01 2.46049916e-01 -2.91073557e-03 2.93762614e+02] [-2.46048757e-01 9.69257158e-01 7.55259560e-04 -3.46300194e+01] [ 3.00708283e-03 -1.58545661e-05 9.99995479e-01 -2.17553041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96655999499995 meters 0.05257640919728557 Centerline is valid? [True, True] Translation: X:293.82, Y:-34.65, Z:-2.18 [[ 9.69220377e-01 2.46177558e-01 -2.91055877e-03 2.93823091e+02] [-2.46176398e-01 9.69224747e-01 7.55941185e-04 -3.46456798e+01] [ 3.00708134e-03 -1.61627259e-05 9.99995479e-01 -2.17599101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02655999499996 meters 0.05257640919728557 Centerline is valid? [True, True] Translation: X:293.88, Y:-34.66, Z:-2.18 [[ 9.69187948e-01 2.46305198e-01 -2.91045925e-03 2.93883566e+02] [-2.46304038e-01 9.69192318e-01 7.56324502e-04 -3.46613480e+01] [ 3.00708141e-03 -1.61627264e-05 9.99995479e-01 -2.17645173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08655999499996 meters 0.053098373579191865 Centerline is valid? [True, True] Translation: X:293.94, Y:-34.68, Z:-2.18 [[ 9.69147586e-01 2.46461801e-01 -3.08826455e-03 2.93943675e+02] [-2.46460496e-01 9.69152506e-01 8.02358030e-04 -3.46776887e+01] [ 3.19074993e-03 -1.64681367e-05 9.99994909e-01 -2.17783409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14655999499996 meters 0.05293331786922875 Centerline is valid? [True, True] Translation: X:294.00, Y:-34.69, Z:-2.18 [[ 9.68867343e-01 2.47562768e-01 -2.95774277e-03 2.94003933e+02] [-2.47561574e-01 9.68871857e-01 7.69077294e-04 -3.46934394e+01] [ 3.05606864e-03 -1.29104187e-05 9.99995330e-01 -2.17768434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20655999499996 meters 0.05249981352610539 Centerline is valid? [True, True] Translation: X:294.06, Y:-34.71, Z:-2.18 [[ 9.68258092e-01 2.49944075e-01 -2.05568934e-03 2.94064739e+02] [-2.49943504e-01 9.68260275e-01 5.34323792e-04 -3.47085299e+01] [ 2.12399339e-03 -3.55713741e-06 9.99997744e-01 -2.17594961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26655999499997 meters 0.05169839527295169 Centerline is valid? [True, True] Translation: X:294.13, Y:-34.72, Z:-2.18 [[ 9.65989262e-01 2.58574710e-01 1.96574636e-03 2.94125029e+02] [-2.58574208e-01 9.65991262e-01 -5.10028650e-04 -3.47180839e+01] [-2.03077432e-03 -1.56091086e-05 9.99997938e-01 -2.17579656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32655999499997 meters 0.051306637880663655 Centerline is valid? [True, True] Translation: X:294.19, Y:-34.73, Z:-2.18 [[ 9.64520499e-01 2.63981697e-01 3.72421003e-03 2.94185769e+02] [-2.63979928e-01 9.64527688e-01 -9.67775919e-04 -3.47317159e+01] [-3.84757882e-03 -4.96769835e-05 9.99992597e-01 -2.17520225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38655999499997 meters 0.050852348900462425 Centerline is valid? [True, True] Translation: X:294.24, Y:-34.75, Z:-2.18 [[ 9.62833527e-01 2.70068640e-01 3.81179314e-03 2.94244700e+02] [-2.70066833e-01 9.62841069e-01 -9.90756998e-04 -3.47466218e+01] [-3.93772338e-03 -7.55048484e-05 9.99992244e-01 -2.17589272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.446559995 meters 0.051404767178140215 Centerline is valid? [True, True] Translation: X:294.31, Y:-34.76, Z:-2.18 [[ 9.62419280e-01 2.71547865e-01 3.29956973e-03 2.94305291e+02] [-2.71546521e-01 9.62424933e-01 -8.57441503e-04 -3.47559407e+01] [-3.40842459e-03 -7.07684479e-05 9.99994189e-01 -2.17799213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.506559995 meters 0.05170740379609905 Centerline is valid? [True, True] Translation: X:294.36, Y:-34.78, Z:-2.18 [[ 9.62134648e-01 2.72563185e-01 2.49590028e-03 2.94364826e+02] [-2.72562420e-01 9.62137883e-01 -6.48382052e-04 -3.47751884e+01] [-2.57812529e-03 -5.64577822e-05 9.99996675e-01 -2.17866570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.566559995 meters 0.05162626134416823 Centerline is valid? [True, True] Translation: X:294.42, Y:-34.79, Z:-2.18 [[ 9.62766851e-01 2.70329754e-01 1.34701585e-03 2.94423471e+02] [-2.70329528e-01 9.62767793e-01 -3.50279192e-04 -3.47909845e+01] [-1.39155436e-03 -2.69009646e-05 9.99999031e-01 -2.18084020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.626559995 meters 0.05164976605164604 Centerline is valid? [True, True] Translation: X:294.48, Y:-34.81, Z:-2.18 [[ 9.64761617e-01 2.63124850e-01 5.79549423e-04 2.94480560e+02] [-2.63124807e-01 9.64761791e-01 -1.50650464e-04 -3.48128888e+01] [-5.98767020e-04 -7.15204509e-06 9.99999821e-01 -2.18224884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.686559995 meters 0.05113831199000835 Centerline is valid? [True, True] Translation: X:294.54, Y:-34.84, Z:-2.18 [[ 9.66718325e-01 2.55841193e-01 9.81717261e-04 2.94538348e+02] [-2.55841066e-01 9.66718824e-01 -2.55177173e-04 -3.48363342e+01] [-1.01432939e-03 -4.47914139e-06 9.99999486e-01 -2.18157992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.746559995 meters 0.05219753147613543 Centerline is valid? [True, True] Translation: X:294.60, Y:-34.85, Z:-2.18 [[ 9.68630510e-01 2.48480079e-01 3.54750394e-03 2.94598092e+02] [-2.48478366e-01 9.68637006e-01 -9.22828378e-04 -3.48541826e+01] [-3.66554806e-03 1.24017419e-05 9.99993282e-01 -2.18131823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.806559995 meters 0.05187979524913056 Centerline is valid? [True, True] Translation: X:294.66, Y:-34.87, Z:-2.18 [[ 9.69122982e-01 2.46556457e-01 3.24943546e-03 2.94656821e+02] [-2.46555010e-01 9.69128430e-01 -8.45132106e-04 -3.48715200e+01] [-3.35749306e-03 1.78723568e-05 9.99994363e-01 -2.18209152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.866559995 meters 0.05188522310149875 Centerline is valid? [True, True] Translation: X:294.72, Y:-34.89, Z:-2.18 [[ 9.69013302e-01 2.46990205e-01 3.00977132e-03 2.94717944e+02] [-2.46988964e-01 9.69017976e-01 -7.83312038e-04 -3.48859855e+01] [-3.10999292e-03 1.56594844e-05 9.99995164e-01 -2.18233683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.926559995 meters 0.050965342762843285 Centerline is valid? [True, True] Translation: X:294.78, Y:-34.90, Z:-2.18 [[ 9.68487629e-01 2.49051511e-01 2.24907905e-03 2.94779184e+02] [-2.49050824e-01 9.68490240e-01 -5.85050534e-04 -3.48990964e+01] [-2.32391883e-03 6.47921387e-06 9.99997300e-01 -2.18341345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98655999499994 meters 0.052179159713656116 Centerline is valid? [True, True] Translation: X:294.84, Y:-34.91, Z:-2.19 [[ 9.67201942e-01 2.53997775e-01 2.35238762e-03 2.94841023e+02] [-2.53997037e-01 9.67204803e-01 -6.12189852e-04 -3.49085590e+01] [-2.43073547e-03 -5.38827305e-06 9.99997046e-01 -2.18608870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04655999499994 meters 0.05214915853761482 Centerline is valid? [True, True] Translation: X:294.90, Y:-34.92, Z:-2.18 [[ 9.66499422e-01 2.56644334e-01 3.54295385e-03 2.94902687e+02] [-2.56642675e-01 9.66505916e-01 -9.23017413e-04 -3.49216438e+01] [-3.66117305e-03 -1.71773578e-05 9.99993298e-01 -2.18489784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10655999499994 meters 0.051639205808341734 Centerline is valid? [True, True] Translation: X:294.96, Y:-34.93, Z:-2.19 [[ 9.65755514e-01 2.59421593e-01 4.08954037e-03 2.94963128e+02] [-2.59419404e-01 9.65764172e-01 -1.06623888e-03 -3.49336827e+01] [-4.22613696e-03 -3.11800480e-05 9.99991069e-01 -2.18510617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16655999499994 meters 0.051400234009014 Centerline is valid? [True, True] Translation: X:295.02, Y:-34.95, Z:-2.19 [[ 9.65138980e-01 2.61695515e-01 4.71241474e-03 2.95023181e+02] [-2.61692632e-01 9.65150483e-01 -1.22930516e-03 -3.49478229e+01] [-4.86989301e-03 -4.67538840e-05 9.99988141e-01 -2.18565424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22655999499995 meters 0.05177583529204636 Centerline is valid? [True, True] Translation: X:295.08, Y:-34.96, Z:-2.19 [[ 9.64732056e-01 2.63189903e-01 4.80998341e-03 2.95084195e+02] [-2.63186914e-01 9.64744045e-01 -1.25548055e-03 -3.49603957e+01] [-4.97083266e-03 -5.47223599e-05 9.99987644e-01 -2.18676925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28655999499995 meters 0.05104630896086269 Centerline is valid? [True, True] Translation: X:295.14, Y:-34.97, Z:-2.19 [[ 9.64201409e-01 2.65127423e-01 4.80549601e-03 2.95144633e+02] [-2.65124464e-01 9.64213382e-01 -1.25433373e-03 -3.49741849e+01] [-4.96608183e-03 -6.46242044e-05 9.99987667e-01 -2.18676951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34655999499995 meters 0.05169949109446717 Centerline is valid? [True, True] Translation: X:295.21, Y:-34.99, Z:-2.19 [[ 9.63945757e-01 2.66021726e-01 6.40462483e-03 2.95205258e+02] [-2.66016482e-01 9.63967029e-01 -1.67280968e-03 -3.49896066e+01] [-6.61885089e-03 -9.12379697e-05 9.99978091e-01 -2.18646842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40655999499995 meters 0.05131272862236085 Centerline is valid? [True, True] Translation: X:295.27, Y:-35.00, Z:-2.19 [[ 9.63717026e-01 2.66843320e-01 6.64344149e-03 2.95265397e+02] [-2.66837692e-01 9.63739920e-01 -1.73602390e-03 -3.50047415e+01] [-6.86579615e-03 -9.96848057e-05 9.99976425e-01 -2.18686578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46655999499995 meters 0.051949674078595555 Centerline is valid? [True, True] Translation: X:295.33, Y:-35.01, Z:-2.19 [[ 9.63230108e-01 2.68632173e-01 4.95120000e-03 2.95325629e+02] [-2.68629067e-01 9.63242829e-01 -1.29442490e-03 -3.50141618e+01] [-5.11693207e-03 -8.32071997e-05 9.99986905e-01 -2.18908578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52655999499996 meters 0.05091715652860642 Centerline is valid? [True, True] Translation: X:295.38, Y:-35.03, Z:-2.19 [[ 9.62813093e-01 2.70139215e-01 3.96892565e-03 2.95384249e+02] [-2.70137233e-01 9.62821271e-01 -1.03734289e-03 -3.50343641e+01] [-4.10159303e-03 -7.33872806e-05 9.99991586e-01 -2.18975849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58655999499996 meters 0.051888093272997156 Centerline is valid? [True, True] Translation: X:295.44, Y:-35.05, Z:-2.19 [[ 9.62289974e-01 2.72013574e-01 2.57341310e-03 2.95443388e+02] [-2.72012747e-01 9.62293413e-01 -6.72893792e-04 -3.50500406e+01] [-2.65941472e-03 -5.24822167e-05 9.99996462e-01 -2.19140823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64655999499996 meters 0.05170239500886733 Centerline is valid? [True, True] Translation: X:295.50, Y:-35.07, Z:-2.19 [[ 9.62209385e-01 2.72301602e-01 2.22188922e-03 2.95501751e+02] [-2.72300986e-01 9.62211949e-01 -5.80885748e-04 -3.50665876e+01] [-2.29610447e-03 -4.60889069e-05 9.99997363e-01 -2.19199993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70655999499996 meters 0.05149995175459987 Centerline is valid? [True, True] Translation: X:295.56, Y:-35.09, Z:-2.19 [[ 9.62890506e-01 2.69883420e-01 2.19385287e-03 2.95559059e+02] [-2.69882812e-01 9.62893004e-01 -5.74115462e-04 -3.50860462e+01] [-2.26738982e-03 -3.92728546e-05 9.99997429e-01 -2.19253177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76655999499997 meters 0.05136824085858541 Centerline is valid? [True, True] Translation: X:295.61, Y:-35.11, Z:-2.19 [[ 9.64314984e-01 2.64737656e-01 3.25343780e-03 2.95614834e+02] [-2.64736289e-01 9.64320472e-01 -8.51565724e-04 -3.51116262e+01] [-3.36279818e-03 -4.01254607e-05 9.99994345e-01 -2.19103657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82655999499997 meters 0.051436219104484676 Centerline is valid? [True, True] Translation: X:295.67, Y:-35.13, Z:-2.19 [[ 9.65472399e-01 2.60485225e-01 3.23940954e-03 2.95672129e+02] [-2.60483846e-01 9.65477834e-01 -8.47878326e-04 -3.51310673e+01] [-3.34843788e-03 -2.52107338e-05 9.99994394e-01 -2.19228102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88655999499997 meters 0.05117585530202206 Centerline is valid? [True, True] Translation: X:295.73, Y:-35.15, Z:-2.19 [[ 9.65883155e-01 2.58946600e-01 4.04849360e-03 2.95730890e+02] [-2.58944433e-01 9.65891639e-01 -1.05958971e-03 -3.51525961e+01] [-4.18478327e-03 -2.48950223e-05 9.99991243e-01 -2.19111085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.946559995 meters 0.05095915465511589 Centerline is valid? [True, True] Translation: X:295.79, Y:-35.17, Z:-2.19 [[ 9.65740594e-01 2.59481523e-01 3.80059406e-03 2.95789777e+02] [-2.59479618e-01 9.65748072e-01 -9.94594686e-04 -3.51703807e+01] [-3.92849533e-03 -2.56562331e-05 9.99992283e-01 -2.19122377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.006559995 meters 0.05103349631292366 Centerline is valid? [True, True] Translation: X:295.85, Y:-35.19, Z:-2.19 [[ 9.64410874e-01 2.64388253e-01 3.24325906e-03 2.95849083e+02] [-2.64386891e-01 9.64416326e-01 -8.49351457e-04 -3.51888416e+01] [-3.35241054e-03 -3.83513996e-05 9.99994380e-01 -2.19014395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.066559995 meters 0.05122284948230548 Centerline is valid? [True, True] Translation: X:295.91, Y:-35.20, Z:-2.19 [[ 9.63241095e-01 2.68631258e-01 1.95981158e-03 2.95909759e+02] [-2.68630770e-01 9.63243088e-01 -5.13250362e-04 -3.52000292e+01] [-2.02565004e-03 -3.20818523e-05 9.99997948e-01 -2.19212317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.126559995 meters 0.05090066973151263 Centerline is valid? [True, True] Translation: X:295.97, Y:-35.22, Z:-2.19 [[ 9.62284993e-01 2.72040022e-01 1.34886124e-03 2.95968833e+02] [-2.72039794e-01 9.62285938e-01 -3.53325302e-04 -3.52151089e+01] [-1.39410883e-03 -2.69442970e-05 9.99999028e-01 -2.19255058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.186559995 meters 0.051631041742285354 Centerline is valid? [True, True] Translation: X:296.03, Y:-35.23, Z:-2.19 [[ 9.61860899e-01 2.73528556e-01 2.39580249e-03 2.96028520e+02] [-2.73527842e-01 9.61863881e-01 -6.27156415e-04 -3.52292059e+01] [-2.47598107e-03 -5.20814513e-05 9.99996933e-01 -2.19280998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.246559995 meters 0.05073623122321988 Centerline is valid? [True, True] Translation: X:296.09, Y:-35.24, Z:-2.19 [[ 9.62553613e-01 2.71052008e-01 4.62075948e-03 2.96087296e+02] [-2.71049316e-01 9.62564700e-01 -1.21104843e-03 -3.52441941e+01] [-4.77603708e-03 -8.67546530e-05 9.99988591e-01 -2.19212167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.306559995 meters 0.051463134375022 Centerline is valid? [True, True] Translation: X:296.15, Y:-35.26, Z:-2.19 [[ 9.63121168e-01 2.68999194e-01 6.08681939e-03 2.96145986e+02] [-2.68994482e-01 9.63140396e-01 -1.59542318e-03 -3.52615092e+01] [-6.29162919e-03 -1.00734991e-04 9.99980202e-01 -2.19150892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.366559995 meters 0.051317034576066754 Centerline is valid? [True, True] Translation: X:296.21, Y:-35.27, Z:-2.19 [[ 9.63349643e-01 2.68176005e-01 6.25264502e-03 2.96205499e+02] [-2.68171015e-01 9.63369929e-01 -1.63891515e-03 -3.52743121e+01] [-6.46312791e-03 -9.79298367e-05 9.99979109e-01 -2.19156286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.426559995 meters 0.051045461944516896 Centerline is valid? [True, True] Translation: X:296.26, Y:-35.29, Z:-2.19 [[ 9.64046516e-01 2.65658249e-01 6.32539477e-03 2.96263906e+02] [-2.65653083e-01 9.64067263e-01 -1.65872924e-03 -3.52921702e+01] [-6.53876113e-03 -8.12684760e-05 9.99978619e-01 -2.19225698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48655999499994 meters 0.050862571641815485 Centerline is valid? [True, True] Translation: X:296.32, Y:-35.31, Z:-2.19 [[ 9.64465215e-01 2.64160598e-01 5.10176577e-03 2.96324536e+02] [-2.64157216e-01 9.64478707e-01 -1.33790976e-03 -3.53081427e+01] [-5.27396749e-03 -5.73008201e-05 9.99986091e-01 -2.19436701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54655999499994 meters 0.051231520496843284 Centerline is valid? [True, True] Translation: X:296.38, Y:-35.33, Z:-2.20 [[ 9.64556895e-01 2.63848395e-01 3.74433710e-03 2.96384857e+02] [-2.63846572e-01 9.64564162e-01 -9.81688371e-04 -3.53258710e+01] [-3.87067027e-03 -4.10362189e-05 9.99992508e-01 -2.19589324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60655999499994 meters 0.051232660831556066 Centerline is valid? [True, True] Translation: X:296.44, Y:-35.34, Z:-2.20 [[ 9.64537909e-01 2.63933033e-01 2.44450566e-03 2.96444756e+02] [-2.63932256e-01 9.64541007e-01 -6.40877910e-04 -3.53440831e+01] [-2.52697480e-03 -2.70328541e-05 9.99996807e-01 -2.19615171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66655999499994 meters 0.051469290419793395 Centerline is valid? [True, True] Translation: X:296.50, Y:-35.36, Z:-2.20 [[ 9.64627434e-01 2.63604337e-01 2.58222209e-03 2.96504555e+02] [-2.63603467e-01 9.64630889e-01 -6.77719896e-04 -3.53583055e+01] [-2.66954110e-03 -2.69354926e-05 9.99996436e-01 -2.19708532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72655999499995 meters 0.051336082350040356 Centerline is valid? [True, True] Translation: X:296.56, Y:-35.38, Z:-2.20 [[ 9.65214322e-01 2.61423913e-01 4.34174819e-03 2.96564188e+02] [-2.61421429e-01 9.65224086e-01 -1.14019324e-03 -3.53762813e+01] [-4.48883371e-03 -3.44951702e-05 9.99989925e-01 -2.19632195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78655999499995 meters 0.05141123234040354 Centerline is valid? [True, True] Translation: X:296.62, Y:-35.39, Z:-2.20 [[ 9.65924897e-01 2.58753510e-01 5.97607853e-03 2.96622964e+02] [-2.58748751e-01 9.65943383e-01 -1.56967410e-03 -3.53931457e+01] [-6.17871220e-03 -3.01155610e-05 9.99980911e-01 -2.19554799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84655999499995 meters 0.0513635216858385 Centerline is valid? [True, True] Translation: X:296.68, Y:-35.41, Z:-2.19 [[ 9.66612277e-01 2.56133914e-01 7.49164353e-03 2.96681911e+02] [-2.56126348e-01 9.66641308e-01 -1.96877124e-03 -3.54125605e+01] [-7.74600118e-03 -1.57688494e-05 9.99969999e-01 -2.19481227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90655999499995 meters 0.05115721497134909 Centerline is valid? [True, True] Translation: X:296.74, Y:-35.43, Z:-2.19 [[ 9.67109877e-01 2.54228770e-01 8.13745532e-03 2.96742211e+02] [-2.54219767e-01 9.67144112e-01 -2.13946190e-03 -3.54295338e+01] [-8.41400477e-03 3.92736491e-07 9.99964602e-01 -2.19448226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96655999499995 meters 0.05154552272213801 Centerline is valid? [True, True] Translation: X:296.80, Y:-35.44, Z:-2.20 [[ 9.66712944e-01 2.55760365e-01 7.26085963e-03 2.96804012e+02] [-2.55753238e-01 9.66740211e-01 -1.90939403e-03 -3.54436797e+01] [-7.50771229e-03 -1.11524340e-05 9.99971817e-01 -2.19633953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02655999499996 meters 0.05124484575296073 Centerline is valid? [True, True] Translation: X:296.86, Y:-35.46, Z:-2.20 [[ 9.66009019e-01 2.58424914e-01 6.56796544e-03 2.96864019e+02] [-2.58419138e-01 9.66031347e-01 -1.72801579e-03 -3.54565119e+01] [-6.79142283e-03 -2.80091306e-05 9.99976938e-01 -2.19683288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08655999499996 meters 0.050982064795271016 Centerline is valid? [True, True] Translation: X:296.92, Y:-35.47, Z:-2.20 [[ 9.65478170e-01 2.60381986e-01 7.28859377e-03 2.96924268e+02] [-2.60374922e-01 9.65505681e-01 -1.91850964e-03 -3.54705231e+01] [-7.53672404e-03 -4.54878609e-05 9.99971597e-01 -2.19703955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14655999499996 meters 0.051011660013876935 Centerline is valid? [True, True] Translation: X:296.98, Y:-35.49, Z:-2.20 [[ 9.64477591e-01 2.64084068e-01 6.52547243e-03 2.96984343e+02] [-2.64078486e-01 9.64499663e-01 -1.71831830e-03 -3.54854081e+01] [-6.74759644e-03 -6.59573847e-05 9.99977233e-01 -2.19613581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20655999499996 meters 0.051603297218842804 Centerline is valid? [True, True] Translation: X:297.04, Y:-35.50, Z:-2.20 [[ 9.63764695e-01 2.66717413e-01 4.40832802e-03 2.97044880e+02] [-2.66714892e-01 9.63774776e-01 -1.16107380e-03 -3.55003141e+01] [-4.55831395e-03 -5.67647954e-05 9.99989609e-01 -2.19921815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26655999499997 meters 0.050453124188247586 Centerline is valid? [True, True] Translation: X:297.10, Y:-35.52, Z:-2.20 [[ 9.63534123e-01 2.67519834e-01 5.92726735e-03 2.97104420e+02] [-2.67515285e-01 9.63552350e-01 -1.56210829e-03 -3.55178266e+01] [-6.12912734e-03 -8.04899788e-05 9.99981213e-01 -2.19798147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32655999499997 meters 0.05138856662047742 Centerline is valid? [True, True] Translation: X:297.16, Y:-35.54, Z:-2.20 [[ 9.64081409e-01 2.65513229e-01 7.05418989e-03 2.97164546e+02] [-2.65506725e-01 9.64107213e-01 -1.86008449e-03 -3.55351430e+01] [-7.29487239e-03 -7.96619824e-05 9.99973389e-01 -2.19759998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38655999499997 meters 0.05089071346396793 Centerline is valid? [True, True] Translation: X:297.23, Y:-35.55, Z:-2.20 [[ 9.64019651e-01 2.65704793e-01 8.19002810e-03 2.97226060e+02] [-2.65696029e-01 9.64054435e-01 -2.16007403e-03 -3.55504528e+01] [-8.46957494e-03 -9.37041290e-05 9.99964128e-01 -2.19743538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.446559995 meters 0.05106439667114877 Centerline is valid? [True, True] Translation: X:297.29, Y:-35.56, Z:-2.20 [[ 9.63980559e-01 2.65781089e-01 1.00943122e-02 2.97286459e+02] [-2.65767766e-01 9.64033402e-01 -2.66368024e-03 -3.55628848e+01] [-1.04392100e-02 -1.15006841e-04 9.99945503e-01 -2.19647903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.506559995 meters 0.05120935723849249 Centerline is valid? [True, True] Translation: X:297.35, Y:-35.58, Z:-2.20 [[ 9.63995535e-01 2.65636966e-01 1.22315214e-02 2.97347192e+02] [-2.65617377e-01 9.64073122e-01 -3.22878680e-03 -3.55771059e+01] [-1.26497661e-02 -1.36368561e-04 9.99919979e-01 -2.19614417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.566559995 meters 0.05124770400102822 Centerline is valid? [True, True] Translation: X:297.41, Y:-35.59, Z:-2.20 [[ 9.64495793e-01 2.63657698e-01 1.52474440e-02 2.97408326e+02] [-2.63626977e-01 9.64616297e-01 -4.02701060e-03 -3.55931552e+01] [-1.57696854e-02 -1.35602801e-04 9.99875642e-01 -2.19526014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.626559995 meters 0.05113399050853122 Centerline is valid? [True, True] Translation: X:297.47, Y:-35.61, Z:-2.20 [[ 9.65082937e-01 2.61386312e-01 1.70915338e-02 2.97468745e+02] [-2.61347325e-01 9.65234264e-01 -4.51571428e-03 -3.56106049e+01] [-1.76776799e-02 -1.08787844e-04 9.99843732e-01 -2.19536564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.686559995 meters 0.05124876814017147 Centerline is valid? [True, True] Translation: X:297.53, Y:-35.63, Z:-2.19 [[ 9.66680977e-01 2.55215464e-01 1.98231163e-02 2.97527954e+02] [-2.55161677e-01 9.66884206e-01 -5.23945267e-03 -3.56312262e+01] [-2.05038474e-02 6.77963768e-06 9.99789774e-01 -2.19462628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.746559995 meters 0.05141969787562166 Centerline is valid? [True, True] Translation: X:297.59, Y:-35.65, Z:-2.19 [[ 9.68298355e-01 2.48841901e-01 2.18175405e-02 2.97585855e+02] [-2.48775065e-01 9.68544105e-01 -5.76920012e-03 -3.56518292e+01] [-2.25668689e-02 1.58646929e-04 9.99745323e-01 -2.19268559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.806559995 meters 0.05225604529213467 Centerline is valid? [True, True] Translation: X:297.64, Y:-35.67, Z:-2.19 [[ 9.69280620e-01 2.44778626e-01 2.40521020e-02 2.97643550e+02] [-2.44696115e-01 9.69578953e-01 -6.36125524e-03 -3.56692183e+01] [-2.48775112e-02 2.80385490e-04 9.99690468e-01 -2.19044484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.866559995 meters 0.052860791698292234 Centerline is valid? [True, True] Translation: X:297.70, Y:-35.69, Z:-2.19 [[ 9.69927859e-01 2.42253557e-01 2.35194192e-02 2.97702396e+02] [-2.42173891e-01 9.70212914e-01 -6.22149996e-03 -3.56875275e+01] [-2.43260247e-02 3.38616881e-04 9.99704021e-01 -2.18820065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.926559995 meters 0.05138372809222543 Centerline is valid? [True, True] Translation: X:297.76, Y:-35.69, Z:-2.20 [[ 9.71096514e-01 2.37773887e-01 2.08599803e-02 2.97764835e+02] [-2.37710144e-01 9.71320450e-01 -5.51997732e-03 -3.56918273e+01] [-2.15742319e-02 4.01801811e-04 9.99767168e-01 -2.20299537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98655999499994 meters 0.052523533847493455 Centerline is valid? [True, True] Translation: X:297.82, Y:-35.71, Z:-2.20 [[ 9.72370533e-01 2.32778432e-01 1.75996435e-02 2.97822553e+02] [-2.32732226e-01 9.72529698e-01 -4.65800577e-03 -3.57087094e+01] [-1.82004592e-02 4.33303350e-04 9.99834264e-01 -2.20482124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04655999499994 meters 0.05470497988281599 Centerline is valid? [True, True] Translation: X:297.88, Y:-35.73, Z:-2.21 [[ 9.73281379e-01 2.29165194e-01 1.43760474e-02 2.97879359e+02] [-2.29133969e-01 9.73387460e-01 -3.80494455e-03 -3.57301460e+01] [-1.48654251e-02 4.09240889e-04 9.99889420e-01 -2.20775711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10655999499994 meters 0.052557141070449696 Centerline is valid? [True, True] Translation: X:297.94, Y:-35.74, Z:-2.21 [[ 9.73376961e-01 2.28837609e-01 1.30629240e-02 2.97942949e+02] [-2.28811791e-01 9.73464538e-01 -3.45797635e-03 -3.57365820e+01] [-1.35076083e-02 3.76963482e-04 9.99908697e-01 -2.21165294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16655999499994 meters 0.05401204467689601 Centerline is valid? [True, True] Translation: X:298.00, Y:-35.76, Z:-2.21 [[ 9.73311563e-01 2.29171461e-01 1.20433407e-02 2.98001041e+02] [-2.29149531e-01 9.73386009e-01 -3.18897174e-03 -3.57550489e+01] [-1.24536406e-02 3.44137208e-04 9.99922391e-01 -2.21248068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22655999499995 meters 0.05320514462449934 Centerline is valid? [True, True] Translation: X:298.06, Y:-35.76, Z:-2.22 [[ 9.72907843e-01 2.31006728e-01 9.28547612e-03 2.98063486e+02] [-2.30993771e-01 9.72952121e-01 -2.45909989e-03 -3.57578331e+01] [-9.60239231e-03 2.47590423e-04 9.99953865e-01 -2.21660911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28655999499995 meters 0.05269617178803468 Centerline is valid? [True, True] Translation: X:298.12, Y:-35.78, Z:-2.22 [[ 9.72427586e-01 2.33107216e-01 6.75389437e-03 2.98120215e+02] [-2.33100412e-01 9.72451026e-01 -1.78872817e-03 -3.57797864e+01] [-6.98479696e-03 1.65073057e-04 9.99975592e-01 -2.21818154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34655999499995 meters 0.05271356884587593 Centerline is valid? [True, True] Translation: X:298.18, Y:-35.79, Z:-2.22 [[ 9.71250700e-01 2.38054873e-01 1.39802450e-03 2.98181073e+02] [-2.38054587e-01 9.71251706e-01 -3.70236487e-04 -3.57868422e+01] [-1.44597028e-03 2.67863029e-05 9.99998954e-01 -2.22300457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40655999499995 meters 0.05223403744536249 Centerline is valid? [True, True] Translation: X:298.24, Y:-35.79, Z:-2.23 [[ 9.68891588e-01 2.47449109e-01 -4.24607703e-03 2.98241684e+02] [-2.47446555e-01 9.68900891e-01 1.12484370e-03 -3.57947142e+01] [ 4.39236939e-03 -3.91744649e-05 9.99990353e-01 -2.23196740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46655999499995 meters 0.05229461465755486 Centerline is valid? [True, True] Translation: X:298.31, Y:-35.80, Z:-2.23 [[ 9.66481245e-01 2.56644242e-01 -6.90910715e-03 2.98305482e+02] [-2.56637703e-01 9.66505941e-01 1.83201696e-03 -3.58008641e+01] [ 7.14786970e-03 2.52735838e-06 9.99974454e-01 -2.23423346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52655999499996 meters 0.052463595755916435 Centerline is valid? [True, True] Translation: X:298.37, Y:-35.81, Z:-2.24 [[ 9.64953392e-01 2.62308183e-01 -7.70504470e-03 2.98365780e+02] [-2.62300233e-01 9.64984152e-01 2.04285058e-03 -3.58098831e+01] [ 7.97110245e-03 4.97794271e-05 9.99968229e-01 -2.23644318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58655999499996 meters 0.05380204579434688 Centerline is valid? [True, True] Translation: X:298.43, Y:-35.81, Z:-2.25 [[ 9.63003094e-01 2.69302339e-01 -1.00643561e-02 2.98428723e+02] [-2.69289160e-01 9.63055674e-01 2.66796423e-03 -3.58079012e+01] [ 1.04110243e-02 1.40964204e-04 9.99945794e-01 -2.25005098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64655999499996 meters 0.05215240047385414 Centerline is valid? [True, True] Translation: X:298.49, Y:-35.83, Z:-2.24 [[ 9.62182813e-01 2.72164074e-01 -1.14434206e-02 2.98487370e+02] [-2.72147233e-01 9.62250840e-01 3.03394379e-03 -3.58268228e+01] [ 1.18371716e-02 1.95086692e-04 9.99929919e-01 -2.24068665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70655999499996 meters 0.05208114387588291 Centerline is valid? [True, True] Translation: X:298.55, Y:-35.83, Z:-2.24 [[ 9.61378883e-01 2.74945421e-01 -1.24762868e-02 2.98546980e+02] [-2.74925630e-01 9.61459803e-01 3.30833022e-03 -3.58349608e+01] [ 1.29050585e-02 2.49492187e-04 9.99916695e-01 -2.24239074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76655999499997 meters 0.05305169060085444 Centerline is valid? [True, True] Translation: X:298.61, Y:-35.85, Z:-2.24 [[ 9.61138654e-01 2.75722747e-01 -1.37642435e-02 2.98607603e+02] [-2.75698729e-01 9.61237164e-01 3.65043074e-03 -3.58482958e+01] [ 1.42372092e-02 2.86214348e-04 9.99898605e-01 -2.24117887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82655999499997 meters 0.05282984272746589 Centerline is valid? [True, True] Translation: X:298.67, Y:-35.86, Z:-2.24 [[ 9.61100628e-01 2.75827421e-01 -1.43114316e-02 2.98667867e+02] [-2.75801438e-01 9.61207129e-01 3.79756303e-03 -3.58597517e+01] [ 1.48037221e-02 2.97273188e-04 9.99890375e-01 -2.24419520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88655999499997 meters 0.052595351242610756 Centerline is valid? [True, True] Translation: X:298.73, Y:-35.87, Z:-2.24 [[ 9.61460828e-01 2.74592198e-01 -1.38636317e-02 2.98727679e+02] [-2.74567691e-01 9.61560737e-01 3.67849571e-03 -3.58739678e+01] [ 1.43408102e-02 2.69775821e-04 9.99897129e-01 -2.24394673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.946559995 meters 0.05290886865612751 Centerline is valid? [True, True] Translation: X:298.79, Y:-35.89, Z:-2.24 [[ 9.62015326e-01 2.72639418e-01 -1.39377230e-02 2.98787530e+02] [-2.72614433e-01 9.62116256e-01 3.69883829e-03 -3.58927735e+01] [ 1.44181590e-02 2.41285324e-04 9.99896024e-01 -2.24225596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.006559995 meters 0.05203687288197484 Centerline is valid? [True, True] Translation: X:298.84, Y:-35.92, Z:-2.24 [[ 9.63545147e-01 2.67222963e-01 -1.31391486e-02 2.98844080e+02] [-2.67200259e-01 9.63634716e-01 3.48663729e-03 -3.59155862e+01] [ 1.35930493e-02 1.51251471e-04 9.99907599e-01 -2.23752243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.066559995 meters 0.051860993462111656 Centerline is valid? [True, True] Translation: X:298.90, Y:-35.94, Z:-2.23 [[ 9.65185458e-01 2.61319342e-01 -1.13680876e-02 2.98900228e+02] [-2.61301936e-01 9.65252401e-01 3.01666411e-03 -3.59388382e+01] [ 1.17613865e-02 5.88629574e-05 9.99930831e-01 -2.23444398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.126559995 meters 0.05165951115974427 Centerline is valid? [True, True] Translation: X:298.96, Y:-35.96, Z:-2.23 [[ 9.65823542e-01 2.58991007e-01 -1.04184653e-02 2.98959077e+02] [-2.58976245e-01 9.65879732e-01 2.76531810e-03 -3.59610980e+01] [ 1.07791770e-02 2.73257158e-05 9.99941903e-01 -2.23165541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.186559995 meters 0.05134336449279507 Centerline is valid? [True, True] Translation: X:299.02, Y:-35.98, Z:-2.23 [[ 9.65534387e-01 2.60082336e-01 -1.00262862e-02 2.99016910e+02] [-2.60068716e-01 9.65586442e-01 2.66199133e-03 -3.59843000e+01] [ 1.03735830e-02 3.72792209e-05 9.99946192e-01 -2.23429512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.246559995 meters 0.05192364765482472 Centerline is valid? [True, True] Translation: X:299.08, Y:-36.01, Z:-2.23 [[ 9.63886067e-01 2.66181370e-01 -8.43377416e-03 2.99075589e+02] [-2.66171953e-01 9.63922959e-01 2.24059320e-03 -3.60065209e+01] [ 8.72591271e-03 8.51575798e-05 9.99961925e-01 -2.23007167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.306559995 meters 0.05255925875795328 Centerline is valid? [True, True] Translation: X:299.13, Y:-36.02, Z:-2.23 [[ 9.62439291e-01 2.71406430e-01 -7.01152372e-03 2.99134820e+02] [-2.71400062e-01 9.62464824e-01 1.86253484e-03 -3.60245524e+01] [ 7.25384887e-03 1.10351262e-04 9.99973684e-01 -2.23052661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.366559995 meters 0.05198269504079232 Centerline is valid? [True, True] Translation: X:299.19, Y:-36.04, Z:-2.23 [[ 9.61303119e-01 2.75432695e-01 -5.75708607e-03 2.99193297e+02] [-2.75428466e-01 9.61320351e-01 1.53048560e-03 -3.60429196e+01] [ 5.95594977e-03 1.14404808e-04 9.99982257e-01 -2.23061696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.426559995 meters 0.05156571810017505 Centerline is valid? [True, True] Translation: X:299.25, Y:-36.07, Z:-2.23 [[ 9.60426418e-01 2.78515706e-01 -3.17765613e-03 2.99250974e+02] [-2.78514432e-01 9.60431672e-01 8.45501544e-04 -3.60691456e+01] [ 3.28740705e-03 7.29810727e-05 9.99994594e-01 -2.22536378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48655999499994 meters 0.0519752817467087 Centerline is valid? [True, True] Translation: X:299.31, Y:-36.08, Z:-2.23 [[ 9.60893586e-01 2.76905244e-01 -2.64625285e-03 2.99310490e+02] [-2.76904356e-01 9.60897228e-01 7.03519515e-04 -3.60811786e+01] [ 2.73758527e-03 5.67515516e-05 9.99996251e-01 -2.22663030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54655999499994 meters 0.05213404729722889 Centerline is valid? [True, True] Translation: X:299.37, Y:-36.09, Z:-2.23 [[ 9.61821059e-01 2.73671038e-01 -2.10066634e-03 2.99370787e+02] [-2.73670470e-01 9.61823353e-01 5.58654284e-04 -3.60927177e+01] [ 2.17335744e-03 3.75648904e-05 9.99997638e-01 -2.22706322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60655999499994 meters 0.052302398026872005 Centerline is valid? [True, True] Translation: X:299.43, Y:-36.11, Z:-2.23 [[ 9.62182424e-01 2.72405799e-01 -2.53801374e-04 2.99429680e+02] [-2.72405791e-01 9.62182457e-01 6.75343910e-05 -3.61059066e+01] [ 2.62599990e-04 4.15656008e-06 9.99999966e-01 -2.22625345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66655999499994 meters 0.051351547474240436 Centerline is valid? [True, True] Translation: X:299.49, Y:-36.12, Z:-2.23 [[ 9.62458210e-01 2.71429306e-01 5.70076125e-04 2.99489132e+02] [-2.71429264e-01 9.62458379e-01 -1.50827526e-04 -3.61238662e+01] [-5.89613554e-04 -9.57015257e-06 9.99999826e-01 -2.22579584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72655999499995 meters 0.05145822478787583 Centerline is valid? [True, True] Translation: X:299.55, Y:-36.14, Z:-2.23 [[ 9.62706884e-01 2.70546170e-01 -4.75046069e-04 2.99548826e+02] [-2.70546140e-01 9.62707001e-01 1.27203358e-04 -3.61422002e+01] [ 4.91744558e-04 6.06233183e-06 9.99999879e-01 -2.22767341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78655999499995 meters 0.05147144476843203 Centerline is valid? [True, True] Translation: X:299.61, Y:-36.16, Z:-2.23 [[ 9.62719812e-01 2.70495952e-01 -1.58248725e-03 2.99608307e+02] [-2.70495624e-01 9.62721112e-01 4.22105404e-04 -3.61607453e+01] [ 1.63767168e-03 2.16866398e-05 9.99998659e-01 -2.22785448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84655999499995 meters 0.051790424889570766 Centerline is valid? [True, True] Translation: X:299.67, Y:-36.18, Z:-2.23 [[ 9.62434394e-01 2.71508685e-01 -1.75245192e-03 2.99667845e+02] [-2.71508284e-01 9.62435989e-01 4.67584273e-04 -3.61790959e+01] [ 1.81357599e-03 2.57860277e-05 9.99998355e-01 -2.22611427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90655999499995 meters 0.05134640054759319 Centerline is valid? [True, True] Translation: X:299.73, Y:-36.19, Z:-2.23 [[ 9.62312189e-01 2.71945138e-01 -1.04520365e-03 2.99728337e+02] [-2.71944995e-01 9.62312757e-01 2.79416118e-04 -3.61946428e+01] [ 1.08179866e-03 1.53523659e-05 9.99999415e-01 -2.22653372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96655999499995 meters 0.05148638021920744 Centerline is valid? [True, True] Translation: X:299.79, Y:-36.21, Z:-2.23 [[ 9.62471968e-01 2.71377047e-01 1.48655861e-03 2.99787714e+02] [-2.71376760e-01 9.62473115e-01 -3.95494523e-04 -3.62098020e+01] [-1.53810084e-03 -2.27650686e-05 9.99998817e-01 -2.22749048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02655999499996 meters 0.05129282034924645 Centerline is valid? [True, True] Translation: X:299.85, Y:-36.22, Z:-2.23 [[ 9.62546970e-01 2.71105260e-01 2.29552462e-03 2.99847239e+02] [-2.71104572e-01 9.62549706e-01 -6.11391374e-04 -3.62248837e+01] [-2.37530796e-03 -3.38343054e-05 9.99997178e-01 -2.22853811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08655999499996 meters 0.05157262944669945 Centerline is valid? [True, True] Translation: X:299.91, Y:-36.24, Z:-2.23 [[ 9.62304834e-01 2.71963550e-01 2.28780638e-03 2.99906940e+02] [-2.71962869e-01 9.62307553e-01 -6.09549917e-04 -3.62419723e+01] [-2.36734872e-03 -3.56255550e-05 9.99997197e-01 -2.22956359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14655999499996 meters 0.05155194396324363 Centerline is valid? [True, True] Translation: X:299.97, Y:-36.26, Z:-2.23 [[ 9.62313039e-01 2.71941089e-01 1.28824775e-03 2.99967920e+02] [-2.71940873e-01 9.62313901e-01 -3.42931399e-04 -3.62568550e+01] [-1.33295586e-03 -2.03198622e-05 9.99999111e-01 -2.23133461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20655999499996 meters 0.05137447562543912 Centerline is valid? [True, True] Translation: X:300.03, Y:-36.27, Z:-2.23 [[ 9.62507623e-01 2.71252604e-01 1.04898216e-03 3.00028611e+02] [-2.71252461e-01 9.62508195e-01 -2.79303137e-04 -3.62711542e+01] [-1.08541563e-03 -1.57075932e-05 9.99999411e-01 -2.23287171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26655999499997 meters 0.05146938197630367 Centerline is valid? [True, True] Translation: X:300.09, Y:-36.29, Z:-2.23 [[ 9.63022882e-01 2.69418026e-01 9.24815247e-04 3.00088219e+02] [-2.69417914e-01 9.63023326e-01 -2.46235409e-04 -3.62895281e+01] [-9.56958913e-04 -1.20314609e-05 9.99999542e-01 -2.23231083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32655999499997 meters 0.05165705953167669 Centerline is valid? [True, True] Translation: X:300.15, Y:-36.31, Z:-2.23 [[ 9.63740938e-01 2.66837696e-01 1.02382313e-03 3.00147726e+02] [-2.66837556e-01 9.63741482e-01 -2.73245640e-04 -3.63081740e+01] [-1.05961305e-03 -9.85645135e-06 9.99999439e-01 -2.23144651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38655999499997 meters 0.05163768155358562 Centerline is valid? [True, True] Translation: X:300.21, Y:-36.32, Z:-2.23 [[ 9.63972784e-01 2.65997773e-01 1.28693381e-03 3.00207575e+02] [-2.65997552e-01 9.63973643e-01 -3.43155085e-04 -3.63228172e+01] [-1.33184876e-03 -1.15290789e-05 9.99999113e-01 -2.23329444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.446559995 meters 0.0512754461784611 Centerline is valid? [True, True] Translation: X:300.27, Y:-36.34, Z:-2.23 [[ 9.64108198e-01 2.65504153e-01 1.71119004e-03 3.00267190e+02] [-2.65503760e-01 9.64109716e-01 -4.56730985e-04 -3.63402352e+01] [-1.77103892e-03 -1.39893041e-05 9.99998432e-01 -2.23214714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.506559995 meters 0.05041361961630629 Centerline is valid? [True, True] Translation: X:300.33, Y:-36.35, Z:-2.24 [[ 9.64609689e-01 2.63677222e-01 1.57192949e-03 3.00326980e+02] [-2.63676889e-01 9.64610969e-01 -4.19735041e-04 -3.63530084e+01] [-1.62697500e-03 -9.60098973e-06 9.99998676e-01 -2.23584590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.566559995 meters 0.05086947036253702 Centerline is valid? [True, True] Translation: X:300.39, Y:-36.37, Z:-2.24 [[ 9.64609961e-01 2.63674223e-01 1.87792072e-03 3.00387950e+02] [-2.63673746e-01 9.64611789e-01 -5.01702279e-04 -3.63702569e+01] [-1.94375042e-03 -1.12113730e-05 9.99998111e-01 -2.23532832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.626559995 meters 0.051037440658987576 Centerline is valid? [True, True] Translation: X:300.45, Y:-36.39, Z:-2.23 [[ 9.64209374e-01 2.65141872e-01 2.65862521e-04 3.00446265e+02] [-2.65141862e-01 9.64209411e-01 -7.10480663e-05 -3.63872068e+01] [-2.75184963e-04 -1.98607255e-06 9.99999962e-01 -2.23447419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.686559995 meters 0.05173878368605244 Centerline is valid? [True, True] Translation: X:300.51, Y:-36.40, Z:-2.24 [[ 9.63910113e-01 2.66225454e-01 -1.14046561e-03 3.00507367e+02] [-2.66225279e-01 9.63910788e-01 3.05656035e-04 -3.63996686e+01] [ 1.18068052e-03 8.99583120e-06 9.99999303e-01 -2.23841775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.746559995 meters 0.051804044269666026 Centerline is valid? [True, True] Translation: X:300.57, Y:-36.41, Z:-2.24 [[ 9.63548307e-01 2.67525439e-01 -2.19058335e-03 3.00567012e+02] [-2.67524795e-01 9.63550797e-01 5.87560233e-04 -3.64139926e+01] [ 2.26792565e-03 1.98926937e-05 9.99997428e-01 -2.24006444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.806559995 meters 0.05100538866666971 Centerline is valid? [True, True] Translation: X:300.63, Y:-36.43, Z:-2.24 [[ 9.63780639e-01 2.66696117e-01 -2.48124720e-04 3.00626605e+02] [-2.66696108e-01 9.63780671e-01 6.73713051e-05 -3.64312793e+01] [ 2.57105475e-04 1.24273776e-06 9.99999967e-01 -2.23772020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.866559995 meters 0.05088071003909133 Centerline is valid? [True, True] Translation: X:300.69, Y:-36.45, Z:-2.24 [[ 9.64147408e-01 2.65364661e-01 1.17156718e-03 3.00685878e+02] [-2.65364476e-01 9.64148120e-01 -3.13270024e-04 -3.64471492e+01] [-1.21269509e-03 -8.85382973e-06 9.99999265e-01 -2.23684549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.926559995 meters 0.051019407131157594 Centerline is valid? [True, True] Translation: X:300.75, Y:-36.46, Z:-2.24 [[ 9.64468099e-01 2.64188567e-01 2.38460603e-03 3.00745972e+02] [-2.64187794e-01 9.64471047e-01 -6.39091847e-04 -3.64616033e+01] [-2.46872423e-03 -1.36001058e-05 9.99996953e-01 -2.23890088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98655999499994 meters 0.050794137091372225 Centerline is valid? [True, True] Translation: X:300.81, Y:-36.48, Z:-2.24 [[ 9.64474733e-01 2.64153254e-01 3.39826136e-03 3.00806210e+02] [-2.64151685e-01 9.64480719e-01 -9.10745019e-04 -3.64773261e+01] [-3.51813382e-03 -1.92659030e-05 9.99993811e-01 -2.23873562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04655999499994 meters 0.05148128296946699 Centerline is valid? [True, True] Translation: X:300.87, Y:-36.49, Z:-2.24 [[ 9.63883138e-01 2.66322248e-01 1.32499311e-03 3.00866406e+02] [-2.66322012e-01 9.63884049e-01 -3.54696160e-04 -3.64926461e+01] [-1.37160320e-03 -1.09891827e-05 9.99999059e-01 -2.23998322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10655999499994 meters 0.05139624242499099 Centerline is valid? [True, True] Translation: X:300.93, Y:-36.51, Z:-2.24 [[ 9.63517729e-01 2.67643347e-01 -7.90270805e-04 3.00926755e+02] [-2.67643262e-01 9.63518053e-01 2.13061749e-04 -3.65074871e+01] [ 8.18464747e-04 6.22188406e-06 9.99999665e-01 -2.24189960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16655999499994 meters 0.051297813619071535 Centerline is valid? [True, True] Translation: X:300.99, Y:-36.52, Z:-2.24 [[ 9.63962602e-01 2.66029774e-01 -2.06415092e-03 3.00986623e+02] [-2.66029195e-01 9.63964812e-01 5.55013164e-04 -3.65239211e+01] [ 2.13741888e-03 1.41124744e-05 9.99997716e-01 -2.24212968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22655999499995 meters 0.05089639727860796 Centerline is valid? [True, True] Translation: X:301.04, Y:-36.54, Z:-2.24 [[ 9.65506984e-01 2.60377090e-01 -1.88321578e-04 3.01044194e+02] [-2.60377085e-01 9.65507002e-01 5.06412178e-05 -3.65421239e+01] [ 1.95011615e-04 1.40173976e-07 9.99999981e-01 -2.24160579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28655999499995 meters 0.05123825235369394 Centerline is valid? [True, True] Translation: X:301.10, Y:-36.56, Z:-2.24 [[ 9.66599270e-01 2.56290159e-01 1.09823225e-03 3.01102748e+02] [-2.56289990e-01 9.66599894e-01 -2.94271446e-04 -3.65612030e+01] [-1.13697005e-03 2.97663195e-06 9.99999354e-01 -2.24240349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34655999499995 meters 0.05079143865036878 Centerline is valid? [True, True] Translation: X:301.16, Y:-36.58, Z:-2.24 [[ 9.67580604e-01 2.52555498e-01 1.86980780e-03 3.01162492e+02] [-2.52555000e-01 9.67582410e-01 -5.01818141e-04 -3.65776001e+01] [-1.93593007e-03 1.33201913e-05 9.99998126e-01 -2.23978401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40655999499995 meters 0.05158936224591588 Centerline is valid? [True, True] Translation: X:301.22, Y:-36.59, Z:-2.24 [[ 9.68536513e-01 2.48865450e-01 1.73519313e-03 3.01220989e+02] [-2.48865014e-01 9.68538067e-01 -4.66174683e-04 -3.65945809e+01] [-1.79661538e-03 1.96783388e-05 9.99998386e-01 -2.24079356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46655999499995 meters 0.051993074927923176 Centerline is valid? [True, True] Translation: X:301.28, Y:-36.61, Z:-2.24 [[ 9.68795437e-01 2.47858759e-01 1.19843553e-03 3.01280147e+02] [-2.47858550e-01 9.68796178e-01 -3.21978384e-04 -3.66133949e+01] [-1.24084492e-03 1.48886969e-05 9.99999230e-01 -2.24280629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52655999499996 meters 0.05168264918695341 Centerline is valid? [True, True] Translation: X:301.34, Y:-36.63, Z:-2.24 [[ 9.68522572e-01 2.48923032e-01 1.16251706e-03 3.01339800e+02] [-2.48922837e-01 9.68523270e-01 -3.11972028e-04 -3.66284240e+01] [-1.20358184e-03 1.27749076e-05 9.99999276e-01 -2.24314982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58655999499996 meters 0.051849141114881904 Centerline is valid? [True, True] Translation: X:301.40, Y:-36.64, Z:-2.24 [[ 9.67714025e-01 2.52047375e-01 1.29894778e-03 3.01401103e+02] [-2.52047134e-01 9.67714896e-01 -3.49186346e-04 -3.66389277e+01] [-1.34502262e-03 1.05164581e-05 9.99999095e-01 -2.24288746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64655999499996 meters 0.05200195536612628 Centerline is valid? [True, True] Translation: X:301.46, Y:-36.65, Z:-2.24 [[ 9.67104911e-01 2.54374666e-01 1.27303027e-03 3.01460893e+02] [-2.54374437e-01 9.67105749e-01 -3.41856024e-04 -3.66508315e+01] [-1.31811440e-03 6.78428171e-06 9.99999131e-01 -2.24300419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70655999499996 meters 0.051831403227324366 Centerline is valid? [True, True] Translation: X:301.52, Y:-36.66, Z:-2.24 [[ 9.66462513e-01 2.56796138e-01 2.44007868e-03 3.01521888e+02] [-2.56795299e-01 9.66465593e-01 -6.56503843e-04 -3.66639486e+01] [-2.52683974e-03 7.88561956e-06 9.99996808e-01 -2.24295193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76655999499997 meters 0.0511175905264137 Centerline is valid? [True, True] Translation: X:301.58, Y:-36.68, Z:-2.24 [[ 9.66175304e-01 2.57869488e-01 2.93398138e-03 3.01581257e+02] [-2.57868279e-01 9.66179759e-01 -7.89669495e-04 -3.66787841e+01] [-3.03838510e-03 6.37843433e-06 9.99995384e-01 -2.24373020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82655999499997 meters 0.05134311533235571 Centerline is valid? [True, True] Translation: X:301.64, Y:-36.69, Z:-2.24 [[ 9.65943903e-01 2.58728595e-01 3.44813234e-03 3.01641299e+02] [-2.58726930e-01 9.65950058e-01 -9.28242174e-04 -3.66908369e+01] [-3.57088642e-03 4.50517610e-06 9.99993624e-01 -2.24110111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88655999499997 meters 0.051628421673359494 Centerline is valid? [True, True] Translation: X:301.70, Y:-36.70, Z:-2.24 [[ 9.66274150e-01 2.57475316e-01 4.55295588e-03 3.01702936e+02] [-2.57472394e-01 9.66284876e-01 -1.22654186e-03 -3.67045950e+01] [-4.71525666e-03 1.29152414e-05 9.99988883e-01 -2.24299782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.946559995 meters 0.05173932195178918 Centerline is valid? [True, True] Translation: X:301.76, Y:-36.72, Z:-2.24 [[ 9.66682679e-01 2.55940350e-01 4.37434627e-03 3.01762167e+02] [-2.55937637e-01 9.66692576e-01 -1.17852955e-03 -3.67183793e+01] [-4.53028133e-03 1.97042532e-05 9.99989738e-01 -2.24320598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.006559995 meters 0.05118389336868612 Centerline is valid? [True, True] Translation: X:301.82, Y:-36.74, Z:-2.24 [[ 9.67086526e-01 2.54418044e-01 3.88729934e-03 3.01822193e+02] [-2.54415887e-01 9.67094338e-01 -1.04786955e-03 -3.67355253e+01] [-4.02598210e-03 2.43898162e-05 9.99991895e-01 -2.24492611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.066559995 meters 0.05225562492292939 Centerline is valid? [True, True] Translation: X:301.88, Y:-36.75, Z:-2.25 [[ 9.67271415e-01 2.53715936e-01 3.77285541e-03 3.01882488e+02] [-2.53713898e-01 9.67278772e-01 -1.01716811e-03 -3.67512363e+01] [-3.90747470e-03 2.66517865e-05 9.99992365e-01 -2.24651888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.126559995 meters 0.05238828483042828 Centerline is valid? [True, True] Translation: X:301.94, Y:-36.76, Z:-2.25 [[ 9.66990230e-01 2.54795651e-01 3.01180004e-03 3.01943961e+02] [-2.54794358e-01 9.66994920e-01 -8.11634218e-04 -3.67634687e+01] [-3.11919620e-03 1.74527014e-05 9.99995135e-01 -2.24686234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.186559995 meters 0.052679321922703935 Centerline is valid? [True, True] Translation: X:302.01, Y:-36.77, Z:-2.25 [[ 9.66075679e-01 2.58249769e-01 2.19983657e-03 3.02005848e+02] [-2.58249088e-01 9.66078184e-01 -5.92957779e-04 -3.67741735e+01] [-2.27834533e-03 4.73629944e-06 9.99997405e-01 -2.24741478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.246559995 meters 0.051838401839727793 Centerline is valid? [True, True] Translation: X:302.07, Y:-36.79, Z:-2.25 [[ 9.65207738e-01 2.61481268e-01 1.25259005e-03 3.02067012e+02] [-2.61481050e-01 9.65208551e-01 -3.37374698e-04 -3.67870058e+01] [-1.29722779e-03 -1.89189310e-06 9.99999159e-01 -2.24881272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.306559995 meters 0.05191188051360495 Centerline is valid? [True, True] Translation: X:302.13, Y:-36.80, Z:-2.25 [[ 9.64835724e-01 2.62850624e-01 1.25525101e-03 3.02126963e+02] [-2.62850406e-01 9.64836540e-01 -3.38277816e-04 -3.68018602e+01] [-1.30002858e-03 -3.56071723e-06 9.99999155e-01 -2.24831696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.366559995 meters 0.05198757983263797 Centerline is valid? [True, True] Translation: X:302.19, Y:-36.82, Z:-2.25 [[ 9.64581868e-01 2.63781964e-01 9.46504065e-04 3.02187745e+02] [-2.63781840e-01 9.64582332e-01 -2.55019932e-04 -3.68173517e+01] [-9.80250757e-04 -3.68298119e-06 9.99999520e-01 -2.24831424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.426559995 meters 0.05178514938971581 Centerline is valid? [True, True] Translation: X:302.25, Y:-36.83, Z:-2.25 [[ 9.64230854e-01 2.65062246e-01 9.30354927e-04 3.02248666e+02] [-2.65062127e-01 9.64231303e-01 -2.51105467e-04 -3.68314221e+01] [-9.63635922e-04 -4.47821709e-06 9.99999536e-01 -2.24953817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48655999499994 meters 0.05293157213795333 Centerline is valid? [True, True] Translation: X:302.31, Y:-36.85, Z:-2.25 [[ 9.63998328e-01 2.65899204e-01 2.19948184e-03 3.02308472e+02] [-2.65898540e-01 9.64000837e-01 -5.94140402e-04 -3.68459027e+01] [-2.27828379e-03 -1.20886559e-05 9.99997405e-01 -2.25028195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54655999499994 meters 0.052546012440688086 Centerline is valid? [True, True] Translation: X:302.37, Y:-36.86, Z:-2.25 [[ 9.63751046e-01 2.66773710e-01 3.96354721e-03 3.02369432e+02] [-2.66771557e-01 9.63759196e-01 -1.07204607e-03 -3.68602491e+01] [-4.10589878e-03 -2.41761391e-05 9.99991570e-01 -2.25024177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60655999499994 meters 0.05260129983173575 Centerline is valid? [True, True] Translation: X:302.43, Y:-36.88, Z:-2.25 [[ 9.63512670e-01 2.67628194e-01 4.29942957e-03 3.02430284e+02] [-2.67625669e-01 9.63522262e-01 -1.16283634e-03 -3.68757467e+01] [-4.45380389e-03 -3.02301664e-05 9.99990081e-01 -2.25059122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66655999499994 meters 0.0519186082704876 Centerline is valid? [True, True] Translation: X:302.49, Y:-36.89, Z:-2.25 [[ 9.63505045e-01 2.67674109e-01 2.93260468e-03 3.02491294e+02] [-2.67672935e-01 9.63509507e-01 -7.93256519e-04 -3.68919625e+01] [-3.03792672e-03 -2.06722425e-05 9.99995385e-01 -2.25222455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72655999499995 meters 0.05162938702039037 Centerline is valid? [True, True] Translation: X:302.55, Y:-36.91, Z:-2.25 [[ 9.63666027e-01 2.67103173e-01 1.91926623e-03 3.02550522e+02] [-2.67102669e-01 9.63667938e-01 -5.19130901e-04 -3.69107969e+01] [-1.98819684e-03 -1.23723193e-05 9.99998023e-01 -2.25203125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78655999499995 meters 0.05131982462480258 Centerline is valid? [True, True] Translation: X:302.61, Y:-36.93, Z:-2.25 [[ 9.63969136e-01 2.66013753e-01 4.33519056e-04 3.02610478e+02] [-2.66013727e-01 9.63969234e-01 -1.17178174e-04 -3.69287061e+01] [-4.49070038e-04 -2.36587679e-06 9.99999899e-01 -2.25405766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84655999499995 meters 0.051848629140332884 Centerline is valid? [True, True] Translation: X:302.67, Y:-36.95, Z:-2.25 [[ 9.63964882e-01 2.66028355e-01 7.87888261e-04 3.02669661e+02] [-2.66028270e-01 9.63965204e-01 -2.13232999e-04 -3.69477487e+01] [-8.16222892e-04 -4.05142819e-06 9.99999667e-01 -2.25400786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90655999499995 meters 0.05216012843342978 Centerline is valid? [True, True] Translation: X:302.73, Y:-36.97, Z:-2.25 [[ 9.64221257e-01 2.65096901e-01 9.99772263e-04 3.02728349e+02] [-2.65096764e-01 9.64221776e-01 -2.70221847e-04 -3.69669181e+01] [-1.03563716e-03 -4.48274243e-06 9.99999464e-01 -2.25422457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96655999499995 meters 0.05217096167892011 Centerline is valid? [True, True] Translation: X:302.79, Y:-36.99, Z:-2.26 [[ 9.64803365e-01 2.62968509e-01 1.42513970e-03 3.02786200e+02] [-2.62968226e-01 9.64804417e-01 -3.85811788e-04 -3.69874783e+01] [-1.47643743e-03 -2.53394789e-06 9.99998910e-01 -2.25549504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02655999499996 meters 0.05178057755588078 Centerline is valid? [True, True] Translation: X:302.85, Y:-37.01, Z:-2.25 [[ 9.65092958e-01 2.61892898e-01 2.77354857e-03 3.02845787e+02] [-2.61891818e-01 9.65096943e-01 -7.52182056e-04 -3.70068182e+01] [-2.87373439e-03 -4.44073224e-07 9.99995871e-01 -2.25381245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08655999499996 meters 0.05115895083827184 Centerline is valid? [True, True] Translation: X:302.90, Y:-37.02, Z:-2.25 [[ 9.64777585e-01 2.63014587e-01 5.24776242e-03 3.02904071e+02] [-2.63010734e-01 9.64791857e-01 -1.42357295e-03 -3.70248757e+01] [-5.43741890e-03 -6.78656892e-06 9.99985217e-01 -2.25310415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14655999499996 meters 0.051184838431279044 Centerline is valid? [True, True] Translation: X:302.96, Y:-37.04, Z:-2.25 [[ 9.64092591e-01 2.65514079e-01 5.26783621e-03 3.02963641e+02] [-2.65510230e-01 9.64106982e-01 -1.42963454e-03 -3.70414467e+01] [-5.45834577e-03 -2.03643388e-05 9.99985103e-01 -2.25353887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20655999499996 meters 0.05045425396774543 Centerline is valid? [True, True] Translation: X:303.02, Y:-37.06, Z:-2.26 [[ 9.63018187e-01 2.69405185e-01 4.10089621e-03 3.03022801e+02] [-2.69402887e-01 9.63026918e-01 -1.11327226e-03 -3.70568375e+01] [-4.24919476e-03 -3.26918459e-05 9.99990972e-01 -2.25522929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26655999499997 meters 0.05135081758038476 Centerline is valid? [True, True] Translation: X:303.08, Y:-37.07, Z:-2.26 [[ 9.62753030e-01 2.70359083e-01 3.54545122e-03 3.03082845e+02] [-2.70357371e-01 9.62759557e-01 -9.62740449e-04 -3.70736579e+01] [-3.67370268e-03 -3.16575867e-05 9.99993251e-01 -2.25678715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32655999499997 meters 0.051403491936668114 Centerline is valid? [True, True] Translation: X:303.14, Y:-37.09, Z:-2.26 [[ 9.62794023e-01 2.70232653e-01 1.40840605e-03 3.03141390e+02] [-2.70232383e-01 9.62795053e-01 -3.82101776e-04 -3.70942197e+01] [-1.45926275e-03 -1.27116167e-05 9.99998935e-01 -2.25857780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38655999499997 meters 0.05172189961935379 Centerline is valid? [True, True] Translation: X:303.20, Y:-37.12, Z:-2.26 [[ 9.62994587e-01 2.69520137e-01 5.66569220e-04 3.03200787e+02] [-2.69520094e-01 9.62994754e-01 -1.53638443e-04 -3.71155352e+01] [-5.87011841e-04 -4.74880006e-06 9.99999828e-01 -2.25838700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.446559995 meters 0.05074617981283722 Centerline is valid? [True, True] Translation: X:303.26, Y:-37.14, Z:-2.26 [[ 9.63599122e-01 2.67348869e-01 1.14634617e-03 3.03259205e+02] [-2.67348688e-01 9.63599804e-01 -3.11012510e-04 -3.71355494e+01] [-1.18776779e-03 -6.78276349e-06 9.99999295e-01 -2.25983297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.506559995 meters 0.050314278122455515 Centerline is valid? [True, True] Translation: X:303.32, Y:-37.16, Z:-2.26 [[ 9.63924327e-01 2.66171848e-01 1.56197471e-03 3.03317609e+02] [-2.66171510e-01 9.63925592e-01 -4.24365336e-04 -3.71553173e+01] [-1.61858151e-03 -6.69709731e-06 9.99998690e-01 -2.26021763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.566559995 meters 0.05083912450939431 Centerline is valid? [True, True] Translation: X:303.37, Y:-37.18, Z:-2.26 [[ 9.64034883e-01 2.65767681e-01 2.06969762e-03 3.03374888e+02] [-2.65767085e-01 9.64037105e-01 -5.62762675e-04 -3.71766551e+01] [-2.14482943e-03 -7.53465328e-06 9.99997700e-01 -2.26073256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.626559995 meters 0.05084835165307645 Centerline is valid? [True, True] Translation: X:303.43, Y:-37.20, Z:-2.26 [[ 9.63952126e-01 2.66066644e-01 2.19990589e-03 3.03434427e+02] [-2.66065972e-01 9.63954636e-01 -5.98376501e-04 -3.71963038e+01] [-2.27981751e-03 -8.51379689e-06 9.99997401e-01 -2.26021658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.686559995 meters 0.049962729914792905 Centerline is valid? [True, True] Translation: X:303.49, Y:-37.21, Z:-2.26 [[ 9.63407616e-01 2.68029855e-01 2.40058232e-03 3.03493490e+02] [-2.68029059e-01 9.63410606e-01 -6.53450001e-04 -3.72142651e+01] [-2.48789058e-03 -1.38871122e-05 9.99996905e-01 -2.26092651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.746559995 meters 0.05055647098275213 Centerline is valid? [True, True] Translation: X:303.55, Y:-37.23, Z:-2.26 [[ 9.62775257e-01 2.70285575e-01 3.08426499e-03 3.03552366e+02] [-2.70284270e-01 9.62780197e-01 -8.40186018e-04 -3.72292241e+01] [-3.19655941e-03 -2.47180025e-05 9.99994891e-01 -2.26170563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.806559995 meters 0.05047130674643118 Centerline is valid? [True, True] Translation: X:303.61, Y:-37.24, Z:-2.26 [[ 9.62030246e-01 2.72937182e-01 1.76072374e-03 3.03612587e+02] [-2.72936762e-01 9.62031857e-01 -4.79468708e-04 -3.72438270e+01] [-1.82473717e-03 -1.93028374e-05 9.99998335e-01 -2.26346991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.866559995 meters 0.05050614579744657 Centerline is valid? [True, True] Translation: X:303.67, Y:-37.26, Z:-2.26 [[ 9.61623826e-01 2.74367775e-01 1.39327784e-03 3.03672787e+02] [-2.74367513e-01 9.61624835e-01 -3.79384267e-04 -3.72590723e+01] [-1.44390139e-03 -1.74452269e-05 9.99998957e-01 -2.26368824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.926559995 meters 0.05091248212071742 Centerline is valid? [True, True] Translation: X:303.73, Y:-37.27, Z:-2.26 [[ 9.61094902e-01 2.76217547e-01 6.75620087e-04 3.03732438e+02] [-2.76217486e-01 9.61095139e-01 -1.83643723e-04 -3.72744621e+01] [-7.00060800e-04 -1.01190362e-05 9.99999755e-01 -2.26420280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98655999499994 meters 0.05037819861369944 Centerline is valid? [True, True] Translation: X:303.79, Y:-37.29, Z:-2.26 [[ 9.60940992e-01 2.76753167e-01 3.08956852e-04 3.03792387e+02] [-2.76753154e-01 9.60941041e-01 -8.35247687e-05 -3.72895634e+01] [-3.20005063e-04 -5.24240913e-06 9.99999949e-01 -2.26473895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04655999499994 meters 0.049403630081451606 Centerline is valid? [True, True] Translation: X:303.85, Y:-37.30, Z:-2.27 [[ 9.60694249e-01 2.77608569e-01 -2.03612116e-04 3.03852025e+02] [-2.77608564e-01 9.60694271e-01 5.60830685e-05 -3.73031836e+01] [ 2.11178134e-04 2.64578565e-06 9.99999978e-01 -2.26628806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10655999499994 meters 0.050780378470855675 Centerline is valid? [True, True] Translation: X:303.91, Y:-37.32, Z:-2.27 [[ 9.60192435e-01 2.79334563e-01 -1.63977553e-03 3.03911899e+02] [-2.79334205e-01 9.60193835e-01 4.48258476e-04 -3.73187282e+01] [ 1.69971644e-03 2.76309949e-05 9.99998555e-01 -2.26758679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16655999499994 meters 0.050080417271879334 Centerline is valid? [True, True] Translation: X:303.97, Y:-37.34, Z:-2.27 [[ 9.60188521e-01 2.79352716e-01 -2.55335233e-04 3.03971799e+02] [-2.79352707e-01 9.60188554e-01 7.00801232e-05 -3.73372993e+01] [ 2.64747041e-04 4.03845884e-06 9.99999965e-01 -2.26584660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22655999499995 meters 0.05086202974725706 Centerline is valid? [True, True] Translation: X:304.03, Y:-37.35, Z:-2.27 [[ 9.60563953e-01 2.78057167e-01 1.05091735e-03 3.04032160e+02] [-2.78057020e-01 9.60564528e-01 -2.86762820e-04 -3.73475753e+01] [-1.08921038e-03 -1.67609167e-05 9.99999407e-01 -2.26770041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28655999499995 meters 0.050529256638796 Centerline is valid? [True, True] Translation: X:304.09, Y:-37.37, Z:-2.27 [[ 9.61319730e-01 2.75432164e-01 1.22453301e-03 3.04090554e+02] [-2.75431962e-01 9.61320510e-01 -3.34608393e-04 -3.73656937e+01] [-1.26933061e-03 -1.56098781e-05 9.99999194e-01 -2.26816657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34655999499995 meters 0.05044408762803887 Centerline is valid? [True, True] Translation: X:304.15, Y:-37.39, Z:-2.27 [[ 9.61945875e-01 2.73237394e-01 1.20799286e-03 3.04149458e+02] [-2.73237195e-01 9.61946634e-01 -3.29963111e-04 -3.73854865e+01] [-1.25218293e-03 -1.26619276e-05 9.99999216e-01 -2.26821164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40655999499995 meters 0.05018923675483835 Centerline is valid? [True, True] Translation: X:304.21, Y:-37.41, Z:-2.27 [[ 9.62827791e-01 2.70115763e-01 3.45492813e-04 3.04208586e+02] [-2.70115747e-01 9.62827853e-01 -9.36834719e-05 -3.74050277e+01] [-3.57955486e-04 -3.12199901e-06 9.99999936e-01 -2.26938506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46655999499995 meters 0.05058440776832214 Centerline is valid? [True, True] Translation: X:304.27, Y:-37.42, Z:-2.27 [[ 9.62782982e-01 2.70275586e-01 -1.92186190e-04 3.04269524e+02] [-2.70275580e-01 9.62783001e-01 5.35141879e-05 -3.74196210e+01] [ 1.99497175e-04 4.20684601e-07 9.99999980e-01 -2.27112208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52655999499996 meters 0.050798059984485486 Centerline is valid? [True, True] Translation: X:304.33, Y:-37.44, Z:-2.27 [[ 9.62520747e-01 2.71206736e-01 -8.47696120e-04 3.04329920e+02] [-2.71206636e-01 9.62521120e-01 2.32941575e-04 -3.74361031e+01] [ 8.79100743e-04 5.68971438e-06 9.99999614e-01 -2.26902660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58655999499996 meters 0.05117636229736431 Centerline is valid? [True, True] Translation: X:304.39, Y:-37.45, Z:-2.27 [[ 9.62359025e-01 2.71780959e-01 -4.65932122e-04 3.04390547e+02] [-2.71780929e-01 9.62359138e-01 1.28546879e-04 -3.74504550e+01] [ 4.83330630e-04 2.92321569e-06 9.99999883e-01 -2.27070836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64655999499996 meters 0.05032868609489223 Centerline is valid? [True, True] Translation: X:304.45, Y:-37.46, Z:-2.27 [[ 9.62197961e-01 2.72351011e-01 -1.06598485e-04 3.04450899e+02] [-2.72351009e-01 9.62197967e-01 3.01063393e-05 -3.74634538e+01] [ 1.10768337e-04 6.39465845e-08 9.99999994e-01 -2.27276553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70655999499996 meters 0.05089773051730639 Centerline is valid? [True, True] Translation: X:304.51, Y:-37.48, Z:-2.27 [[ 9.62323425e-01 2.71906095e-01 8.37309455e-04 3.04511215e+02] [-2.71905998e-01 9.62323789e-01 -2.28719149e-04 -3.74787479e+01] [-8.67952939e-04 -7.56766866e-06 9.99999623e-01 -2.27283413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76655999499997 meters 0.05064235906437201 Centerline is valid? [True, True] Translation: X:304.57, Y:-37.50, Z:-2.27 [[ 9.62502494e-01 2.71271617e-01 -8.11265632e-04 3.04570414e+02] [-2.71271525e-01 9.62502836e-01 2.23351656e-04 -3.74974135e+01] [ 8.41434437e-04 5.09673927e-06 9.99999646e-01 -2.27241264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82655999499997 meters 0.0506344255726574 Centerline is valid? [True, True] Translation: X:304.63, Y:-37.52, Z:-2.27 [[ 9.62967355e-01 2.69584980e-01 -4.22028372e-03 3.04628943e+02] [-2.69582491e-01 9.62976603e-01 1.15868216e-03 -3.75156192e+01] [ 4.37639779e-03 2.19415021e-05 9.99990423e-01 -2.27492302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88655999499997 meters 0.050532523432611554 Centerline is valid? [True, True] Translation: X:304.69, Y:-37.53, Z:-2.28 [[ 9.63252663e-01 2.68565426e-01 -4.11317973e-03 3.04688756e+02] [-2.68563054e-01 9.63261445e-01 1.12898406e-03 -3.75334067e+01] [ 4.26527353e-03 1.71512039e-05 9.99990904e-01 -2.27501646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.946559995 meters 0.05073539800603764 Centerline is valid? [True, True] Translation: X:304.75, Y:-37.55, Z:-2.27 [[ 9.63121918e-01 2.69050890e-01 -2.79101939e-03 3.04749421e+02] [-2.69049797e-01 9.63125962e-01 7.67098947e-04 -3.75487642e+01] [ 2.89449189e-03 1.21133899e-05 9.99995811e-01 -2.27437556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.006559995 meters 0.050648145215739786 Centerline is valid? [True, True] Translation: X:304.81, Y:-37.57, Z:-2.27 [[ 9.63693530e-01 2.67009595e-01 -8.09728198e-04 3.04807782e+02] [-2.67009502e-01 9.63693871e-01 2.22854187e-04 -3.75672541e+01] [ 8.39834307e-04 1.44198500e-06 9.99999647e-01 -2.27364661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.066559995 meters 0.05126930028146969 Centerline is valid? [True, True] Translation: X:304.87, Y:-37.58, Z:-2.27 [[ 9.64044299e-01 2.65740825e-01 6.35234405e-04 3.04866350e+02] [-2.65740768e-01 9.64044508e-01 -1.73659312e-04 -3.75848754e+01] [-6.58542609e-04 -1.39240915e-06 9.99999783e-01 -2.27426621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.126559995 meters 0.04996879603300399 Centerline is valid? [True, True] Translation: X:304.93, Y:-37.60, Z:-2.27 [[ 9.63616060e-01 2.67284901e-01 1.69395228e-03 3.04925370e+02] [-2.67284497e-01 9.63617549e-01 -4.64776523e-04 -3.75992929e+01] [-1.75654989e-03 -4.90106047e-06 9.99998457e-01 -2.27434128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.186559995 meters 0.05064415595297647 Centerline is valid? [True, True] Translation: X:304.99, Y:-37.61, Z:-2.27 [[ 9.62864136e-01 2.69985584e-01 6.64180619e-04 3.04985996e+02] [-2.69985522e-01 9.62864365e-01 -1.81799802e-04 -3.76138799e+01] [-6.88599175e-04 -4.27064203e-06 9.99999763e-01 -2.27400548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.246559995 meters 0.05088149153611621 Centerline is valid? [True, True] Translation: X:305.05, Y:-37.62, Z:-2.28 [[ 9.60995113e-01 2.76563930e-01 -8.86112884e-04 3.05047055e+02] [-2.76563823e-01 9.60995522e-01 2.43830658e-04 -3.76237969e+01] [ 9.18985278e-04 1.07466961e-05 9.99999578e-01 -2.27764285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.306559995 meters 0.04998300731042465 Centerline is valid? [True, True] Translation: X:305.11, Y:-37.64, Z:-2.28 [[ 9.60428860e-01 2.78521561e-01 -1.46433783e-03 3.05107686e+02] [-2.78521269e-01 9.60429976e-01 4.03651190e-04 -3.76387670e+01] [ 1.51881950e-03 2.01709782e-05 9.99998846e-01 -2.27905041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.366559995 meters 0.05044514450025015 Centerline is valid? [True, True] Translation: X:305.17, Y:-37.66, Z:-2.28 [[ 9.60386253e-01 2.78671243e-01 -7.63693488e-04 3.05166997e+02] [-2.78671163e-01 9.60386557e-01 2.11030424e-04 -3.76571252e+01] [ 7.92249070e-04 1.01486343e-05 9.99999686e-01 -2.27860158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.426559995 meters 0.05053179347902877 Centerline is valid? [True, True] Translation: X:305.23, Y:-37.67, Z:-2.28 [[ 9.61049962e-01 2.76374644e-01 -1.62501300e-04 3.05226670e+02] [-2.76374641e-01 9.61049976e-01 4.55992723e-05 -3.76747595e+01] [ 1.68774353e-04 1.08805945e-06 9.99999986e-01 -2.27908012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48655999499994 meters 0.05115017327398486 Centerline is valid? [True, True] Translation: X:305.29, Y:-37.69, Z:-2.28 [[ 9.62400144e-01 2.71632389e-01 1.34463467e-03 3.05285072e+02] [-2.71632137e-01 9.62401083e-01 -3.70113529e-04 -3.76917673e+01] [-1.39461268e-03 -9.04867423e-06 9.99999027e-01 -2.28081282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54655999499994 meters 0.05152604849634538 Centerline is valid? [True, True] Translation: X:305.34, Y:-37.71, Z:-2.28 [[ 9.63761284e-01 2.66748560e-01 3.06492254e-03 3.05343307e+02] [-2.66747226e-01 9.63766157e-01 -8.43741824e-04 -3.77130445e+01] [-3.17893554e-03 -4.39388160e-06 9.99994947e-01 -2.27900957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60655999499994 meters 0.05052725362221832 Centerline is valid? [True, True] Translation: X:305.40, Y:-37.73, Z:-2.28 [[ 9.64352864e-01 2.64612694e-01 1.91722131e-03 3.05403901e+02] [-2.64612169e-01 9.64354770e-01 -5.27242350e-04 -3.77315042e+01] [-1.98839654e-03 1.12758025e-06 9.99998023e-01 -2.27972119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66655999499994 meters 0.0515534185720202 Centerline is valid? [True, True] Translation: X:305.47, Y:-37.74, Z:-2.28 [[ 9.63036777e-01 2.69369645e-01 -4.01096065e-04 3.05465513e+02] [-2.69369622e-01 9.63036860e-01 1.11454112e-04 -3.77432523e+01] [ 4.16292650e-04 7.08686585e-07 9.99999913e-01 -2.28205582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72655999499995 meters 0.0515534185720202 Centerline is valid? [True, True] Translation: X:305.53, Y:-37.76, Z:-2.28 [[ 9.63000888e-01 2.69497922e-01 -4.01048875e-04 3.05525747e+02] [-2.69497898e-01 9.63000971e-01 1.11625048e-04 -3.77598183e+01] [ 4.16293174e-04 5.86809112e-07 9.99999913e-01 -2.28251648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78655999499995 meters 0.050598776675628176 Centerline is valid? [True, True] Translation: X:305.59, Y:-37.78, Z:-2.28 [[ 9.62906364e-01 2.69834772e-01 -7.28487829e-04 3.05586259e+02] [-2.69834696e-01 9.62906639e-01 2.02034674e-04 -3.77763073e+01] [ 7.55981747e-04 2.03081886e-06 9.99999714e-01 -2.28283929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84655999499995 meters 0.050680064438598016 Centerline is valid? [True, True] Translation: X:305.65, Y:-37.79, Z:-2.28 [[ 9.62708158e-01 2.70540400e-01 -9.45363371e-04 3.05646285e+02] [-2.70540273e-01 9.62708623e-01 2.62008178e-04 -3.77937554e+01] [ 9.80993266e-04 3.52145347e-06 9.99999519e-01 -2.28278729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90655999499995 meters 0.05000097429967115 Centerline is valid? [True, True] Translation: X:305.71, Y:-37.81, Z:-2.28 [[ 9.62648739e-01 2.70751680e-01 -9.66189233e-04 3.05705781e+02] [-2.70751548e-01 9.62649224e-01 2.67462191e-04 -3.78098139e+01] [ 1.00251715e-03 4.12508956e-06 9.99999497e-01 -2.28365792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96655999499995 meters 0.05113991655953488 Centerline is valid? [True, True] Translation: X:305.77, Y:-37.83, Z:-2.28 [[ 9.62287357e-01 2.72034847e-01 2.91219828e-04 3.05767146e+02] [-2.72034836e-01 9.62287401e-01 -7.94657007e-05 -3.78255367e+01] [-3.01854611e-04 -2.75309902e-06 9.99999954e-01 -2.28347459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02655999499996 meters 0.05092588527738197 Centerline is valid? [True, True] Translation: X:305.83, Y:-37.84, Z:-2.29 [[ 9.61947260e-01 2.73229937e-01 1.69402588e-03 3.05827325e+02] [-2.73229538e-01 9.61948752e-01 -4.67368750e-04 -3.78388225e+01] [-1.75726522e-03 -1.32738206e-05 9.99998456e-01 -2.28500355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08655999499996 meters 0.05030257277050001 Centerline is valid? [True, True] Translation: X:305.89, Y:-37.86, Z:-2.28 [[ 9.61965518e-01 2.73154933e-01 2.95378797e-03 3.05886274e+02] [-2.73153714e-01 9.61970053e-01 -8.16038552e-04 -3.78573739e+01] [-3.06436053e-03 -2.18372080e-05 9.99995305e-01 -2.28343782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14655999499996 meters 0.050823000652142 Centerline is valid? [True, True] Translation: X:305.94, Y:-37.87, Z:-2.28 [[ 9.62089025e-01 2.72715611e-01 3.30188541e-03 3.05944787e+02] [-2.72714085e-01 9.62094691e-01 -9.12747970e-04 -3.78733779e+01] [-3.42564705e-03 -2.23258536e-05 9.99994132e-01 -2.28391340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20655999499996 meters 0.04922158271301878 Centerline is valid? [True, True] Translation: X:306.01, Y:-37.89, Z:-2.28 [[ 9.61965595e-01 2.73151755e-01 3.21125843e-03 3.06005137e+02] [-2.73150313e-01 9.61970955e-01 -8.87967716e-04 -3.78918157e+01] [-3.33168728e-03 -2.29618525e-05 9.99994450e-01 -2.28354827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26655999499997 meters 0.05094666942422559 Centerline is valid? [True, True] Translation: X:306.07, Y:-37.91, Z:-2.29 [[ 9.61591989e-01 2.74471623e-01 2.48490245e-03 3.06065791e+02] [-2.74470762e-01 9.61595200e-01 -6.87642120e-04 -3.79055384e+01] [-2.57820852e-03 -2.08019151e-05 9.99996676e-01 -2.28513955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32655999499997 meters 0.04977917682519535 Centerline is valid? [True, True] Translation: X:306.13, Y:-37.92, Z:-2.29 [[ 9.60740072e-01 2.77441984e-01 2.11171735e-03 3.06125483e+02] [-2.77441370e-01 9.60742393e-01 -5.84308853e-04 -3.79212076e+01] [-2.19092818e-03 -2.45088228e-05 9.99997600e-01 -2.28539130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38655999499997 meters 0.051074483278990064 Centerline is valid? [True, True] Translation: X:306.19, Y:-37.93, Z:-2.29 [[ 9.59857396e-01 2.80481610e-01 1.96105274e-03 3.06186497e+02] [-2.80481087e-01 9.59859399e-01 -5.42450323e-04 -3.79299406e+01] [-2.03448224e-03 -2.93632478e-05 9.99997930e-01 -2.28784532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.446559995 meters 0.051140296833048826 Centerline is valid? [True, True] Translation: X:306.25, Y:-37.95, Z:-2.29 [[ 9.59432689e-01 2.81930663e-01 2.00430794e-03 3.06247015e+02] [-2.81930120e-01 9.59434782e-01 -5.54667023e-04 -3.79454716e+01] [-2.07938039e-03 -3.29091036e-05 9.99997838e-01 -2.28818887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.506559995 meters 0.050383739327488394 Centerline is valid? [True, True] Translation: X:306.31, Y:-37.96, Z:-2.29 [[ 9.59403813e-01 2.82030849e-01 1.71013136e-03 3.06307034e+02] [-2.82030453e-01 9.59405336e-01 -4.73294516e-04 -3.79628099e+01] [-1.77419281e-03 -2.82285599e-05 9.99998426e-01 -2.28900643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.566559995 meters 0.050458592827887026 Centerline is valid? [True, True] Translation: X:306.37, Y:-37.98, Z:-2.29 [[ 9.60015730e-01 2.79939391e-01 1.93266156e-03 3.06365943e+02] [-2.79938881e-01 9.60017675e-01 -5.35240223e-04 -3.79836094e+01] [-2.00522408e-03 -2.71880804e-05 9.99997989e-01 -2.28807460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.626559995 meters 0.050499990455245294 Centerline is valid? [True, True] Translation: X:306.43, Y:-38.00, Z:-2.29 [[ 9.60957114e-01 2.76687711e-01 2.30994083e-03 3.06425007e+02] [-2.76686970e-01 9.60959890e-01 -6.40613040e-04 -3.80024017e+01] [-2.39701024e-03 -2.35288701e-05 9.99997127e-01 -2.28756246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.686559995 meters 0.050514477550793295 Centerline is valid? [True, True] Translation: X:306.48, Y:-38.02, Z:-2.29 [[ 9.62497487e-01 2.71263983e-01 3.79985901e-03 3.06483444e+02] [-2.71261936e-01 9.62504988e-01 -1.05402340e-03 -3.80217034e+01] [-3.94330183e-03 -1.62622400e-05 9.99992225e-01 -2.28658021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.746559995 meters 0.05118726786805558 Centerline is valid? [True, True] Translation: X:306.54, Y:-38.04, Z:-2.29 [[ 9.63539127e-01 2.67544847e-01 3.47918845e-03 3.06542244e+02] [-2.67543107e-01 9.63545409e-01 -9.64839098e-04 -3.80389423e+01] [-3.61049379e-03 -1.17266574e-06 9.99993482e-01 -2.28825792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.806559995 meters 0.05080478934886453 Centerline is valid? [True, True] Translation: X:306.60, Y:-38.06, Z:-2.29 [[ 9.63866921e-01 2.66368151e-01 2.92705512e-03 3.06602548e+02] [-2.66366914e-01 9.63871365e-01 -8.11809956e-04 -3.80557737e+01] [-3.03754493e-03 2.80612466e-06 9.99995387e-01 -2.28674183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.866559995 meters 0.050313447203303226 Centerline is valid? [True, True] Translation: X:306.66, Y:-38.07, Z:-2.29 [[ 9.64144745e-01 2.65367559e-01 2.22928466e-03 3.06661815e+02] [-2.65366838e-01 9.64147322e-01 -6.18504088e-04 -3.80720669e+01] [-2.31348976e-03 4.74924435e-06 9.99997324e-01 -2.28690703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.926559995 meters 0.05066204377416269 Centerline is valid? [True, True] Translation: X:306.72, Y:-38.09, Z:-2.29 [[ 9.63964214e-01 2.66029131e-01 1.22287760e-03 3.06721578e+02] [-2.66028915e-01 9.63964990e-01 -3.39022344e-04 -3.80874924e+01] [-1.26900102e-03 1.48460575e-06 9.99999195e-01 -2.28767732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98655999499994 meters 0.050915449258655085 Centerline is valid? [True, True] Translation: X:306.78, Y:-38.10, Z:-2.29 [[ 9.63581003e-01 2.67416007e-01 5.75007562e-04 3.06782072e+02] [-2.67415959e-01 9.63581174e-01 -1.59526748e-04 -3.81022809e+01] [-5.96726468e-04 -4.92546600e-08 9.99999822e-01 -2.29140179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04655999499994 meters 0.05078257863743017 Centerline is valid? [True, True] Translation: X:306.84, Y:-38.11, Z:-2.29 [[ 9.62822412e-01 2.70134747e-01 -4.70284124e-04 3.06841777e+02] [-2.70134715e-01 9.62822527e-01 1.31532253e-04 -3.81142676e+01] [ 4.88331580e-04 3.97866935e-07 9.99999881e-01 -2.29492506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10655999499994 meters 0.051072532234450456 Centerline is valid? [True, True] Translation: X:306.90, Y:-38.13, Z:-2.29 [[ 9.61867004e-01 2.73517441e-01 2.75213709e-04 3.06901894e+02] [-2.73517431e-01 9.61867043e-01 -7.62264129e-05 -3.81304249e+01] [-2.85568250e-04 -1.95607516e-06 9.99999959e-01 -2.29080419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16655999499994 meters 0.051427391770485664 Centerline is valid? [True, True] Translation: X:306.96, Y:-38.14, Z:-2.29 [[ 9.61032789e-01 2.76432570e-01 1.00591968e-03 3.06962249e+02] [-2.76432430e-01 9.61033316e-01 -2.78990832e-04 -3.81443039e+01] [-1.04384448e-03 -9.94948332e-06 9.99999455e-01 -2.29005550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22655999499995 meters 0.05086642876647439 Centerline is valid? [True, True] Translation: X:307.02, Y:-38.15, Z:-2.29 [[ 9.60015582e-01 2.79942973e-01 1.41927900e-03 3.07022674e+02] [-2.79942696e-01 9.60016631e-01 -3.94232153e-04 -3.81546023e+01] [-1.47289397e-03 -1.88477801e-05 9.99998915e-01 -2.29214530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28655999499995 meters 0.05103438962728482 Centerline is valid? [True, True] Translation: X:307.08, Y:-38.17, Z:-2.29 [[ 9.58726399e-01 2.84317933e-01 2.64652916e-03 3.07082925e+02] [-2.84316982e-01 9.58730051e-01 -7.36551272e-04 -3.81665306e+01] [-2.74672177e-03 -4.63020350e-05 9.99996227e-01 -2.29093931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34655999499995 meters 0.051111076561949166 Centerline is valid? [True, True] Translation: X:307.14, Y:-38.18, Z:-2.29 [[ 9.58262086e-01 2.85871031e-01 3.39528206e-03 3.07142600e+02] [-2.85869477e-01 9.58268099e-01 -9.44862059e-04 -3.81822162e+01] [-3.52369917e-03 -6.51820201e-05 9.99993790e-01 -2.28998544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40655999499995 meters 0.051487552601708404 Centerline is valid? [True, True] Translation: X:307.20, Y:-38.20, Z:-2.29 [[ 9.58056511e-01 2.86577875e-01 9.18290995e-04 3.07203365e+02] [-2.86577762e-01 9.58056951e-01 -2.54943519e-04 -3.81966452e+01] [-9.52836242e-04 -1.89114795e-05 9.99999546e-01 -2.29272445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46655999499995 meters 0.05128131940210795 Centerline is valid? [True, True] Translation: X:307.26, Y:-38.21, Z:-2.29 [[ 9.58417152e-01 2.85369429e-01 9.23070044e-04 3.07263032e+02] [-2.85369314e-01 9.58417596e-01 -2.56696052e-04 -3.82099112e+01] [-9.57939779e-04 -1.73939663e-05 9.99999541e-01 -2.29436171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52655999499996 meters 0.05104608549120013 Centerline is valid? [True, True] Translation: X:307.32, Y:-38.23, Z:-2.30 [[ 9.59217000e-01 2.82670732e-01 -7.31896186e-05 3.07322085e+02] [-2.82670731e-01 9.59217002e-01 2.05662065e-05 -3.82285281e+01] [ 7.60181911e-05 9.61108069e-07 9.99999997e-01 -2.29567135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58655999499996 meters 0.05143165746653018 Centerline is valid? [True, True] Translation: X:307.38, Y:-38.25, Z:-2.30 [[ 9.60664039e-01 2.77707265e-01 -1.81075155e-03 3.07379033e+02] [-2.77706807e-01 9.60665746e-01 5.04666956e-04 -3.82532396e+01] [ 1.87967667e-03 1.80426340e-05 9.99998233e-01 -2.29526148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64655999499996 meters 0.050549113086261185 Centerline is valid? [True, True] Translation: X:307.44, Y:-38.27, Z:-2.29 [[ 9.61407602e-01 2.75118720e-01 -2.26128040e-03 3.07437632e+02] [-2.75117996e-01 9.61410261e-01 6.31247542e-04 -3.82735709e+01] [ 2.34768620e-03 1.52327472e-05 9.99997244e-01 -2.29489261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70655999499996 meters 0.05080313167725414 Centerline is valid? [True, True] Translation: X:307.50, Y:-38.29, Z:-2.30 [[ 9.62343848e-01 2.71825056e-01 -2.33581540e-03 3.07496598e+02] [-2.71824274e-01 9.62346683e-01 6.52232231e-04 -3.82907584e+01] [ 2.42515727e-03 7.25965112e-06 9.99997059e-01 -2.29638543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76655999499997 meters 0.051398104492070204 Centerline is valid? [True, True] Translation: X:307.55, Y:-38.31, Z:-2.29 [[ 9.63275841e-01 2.68510396e-01 -1.34967248e-03 3.07554975e+02] [-2.68510131e-01 9.63276786e-01 3.77459494e-04 -3.83118784e+01] [ 1.40145997e-03 -1.19687575e-06 9.99999018e-01 -2.29489563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82655999499997 meters 0.05117889828144305 Centerline is valid? [True, True] Translation: X:307.61, Y:-38.33, Z:-2.30 [[ 9.63385520e-01 2.68117223e-01 -1.22258552e-03 3.07614395e+02] [-2.68117005e-01 9.63386296e-01 3.41854161e-04 -3.83302446e+01] [ 1.26947913e-03 -1.54137917e-06 9.99999194e-01 -2.29534767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88655999499997 meters 0.05120062250225036 Centerline is valid? [True, True] Translation: X:307.67, Y:-38.35, Z:-2.30 [[ 9.63362233e-01 2.68201361e-01 -1.11259837e-03 3.07673972e+02] [-2.68201180e-01 9.63362876e-01 3.11607264e-04 -3.83488800e+01] [ 1.15540945e-03 -1.79047557e-06 9.99999333e-01 -2.29692036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.946559995 meters 0.051620165654887286 Centerline is valid? [True, True] Translation: X:307.73, Y:-38.36, Z:-2.29 [[ 9.62839427e-01 2.70066854e-01 -2.03260775e-03 3.07734427e+02] [-2.70066255e-01 9.62841573e-01 5.68637107e-04 -3.83644892e+01] [ 2.11064928e-03 1.43253781e-06 9.99997773e-01 -2.29464052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.006559995 meters 0.051750518181182176 Centerline is valid? [True, True] Translation: X:307.80, Y:-38.38, Z:-2.30 [[ 9.62203279e-01 2.72325814e-01 -1.87077661e-03 3.07795830e+02] [-2.72325311e-01 9.62205098e-01 5.23466052e-04 -3.83803127e+01] [ 1.94262411e-03 5.77907212e-06 9.99998113e-01 -2.29793886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.066559995 meters 0.05120482274680603 Centerline is valid? [True, True] Translation: X:307.86, Y:-38.40, Z:-2.30 [[ 9.61053694e-01 2.76361386e-01 -4.26368628e-04 3.07855842e+02] [-2.76361360e-01 9.61053789e-01 1.20085868e-04 -3.83969765e+01] [ 4.42950282e-04 2.42284679e-06 9.99999902e-01 -2.29616193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.126559995 meters 0.0509923690973922 Centerline is valid? [True, True] Translation: X:307.92, Y:-38.41, Z:-2.30 [[ 9.60103178e-01 2.79644194e-01 -1.00631202e-03 3.07915767e+02] [-2.79644052e-01 9.60103705e-01 2.82347510e-04 -3.84133758e+01] [ 1.04512074e-03 1.03264294e-05 9.99999454e-01 -2.29576245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.186559995 meters 0.051580395072966516 Centerline is valid? [True, True] Translation: X:307.98, Y:-38.43, Z:-2.30 [[ 9.59630933e-01 2.81258774e-01 -1.40479407e-03 3.07975776e+02] [-2.81258499e-01 9.59631961e-01 3.93985330e-04 -3.84295640e+01] [ 1.45889712e-03 1.70297629e-05 9.99998936e-01 -2.29603947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.246559995 meters 0.05109093339529467 Centerline is valid? [True, True] Translation: X:308.04, Y:-38.44, Z:-2.30 [[ 9.59413667e-01 2.81996822e-01 -1.79092618e-03 3.08035106e+02] [-2.81996376e-01 9.59415338e-01 5.02159947e-04 -3.84449351e+01] [ 1.85984956e-03 2.32555763e-05 9.99998270e-01 -2.29801559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.306559995 meters 0.05126752608522836 Centerline is valid? [True, True] Translation: X:308.09, Y:-38.46, Z:-2.30 [[ 9.59784346e-01 2.80737598e-01 -6.40168156e-04 3.08094427e+02] [-2.80737541e-01 9.59784560e-01 1.80153234e-04 -3.84639760e+01] [ 6.64999298e-04 6.81097958e-06 9.99999779e-01 -2.29703517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.366559995 meters 0.05113086852821803 Centerline is valid? [True, True] Translation: X:308.15, Y:-38.48, Z:-2.30 [[ 9.61656480e-01 2.74253255e-01 1.40221626e-03 3.08152082e+02] [-2.74252974e-01 9.61657503e-01 -3.92601380e-04 -3.84830762e+01] [-1.45612399e-03 -7.01431690e-06 9.99998940e-01 -2.29841583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.426559995 meters 0.05091027780152728 Centerline is valid? [True, True] Translation: X:308.21, Y:-38.50, Z:-2.30 [[ 9.62136320e-01 2.72566506e-01 1.09635632e-03 3.08211139e+02] [-2.72566334e-01 9.62136944e-01 -3.06357708e-04 -3.85016418e+01] [-1.13834777e-03 -4.07194397e-06 9.99999352e-01 -2.29869758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48655999499994 meters 0.05162935454979767 Centerline is valid? [True, True] Translation: X:308.27, Y:-38.52, Z:-2.30 [[ 9.63661069e-01 2.67127951e-01 -4.18032047e-05 3.08269883e+02] [-2.67127951e-01 9.63661070e-01 1.25528645e-05 -3.85237894e+01] [ 4.36373419e-05 -9.29902385e-07 9.99999999e-01 -2.30047983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54655999499994 meters 0.05138982074684051 Centerline is valid? [True, True] Translation: X:308.33, Y:-38.54, Z:-2.30 [[ 9.64326000e-01 2.64716564e-01 -7.11657714e-04 3.08328994e+02] [-2.64716488e-01 9.64326263e-01 1.99823064e-04 -3.85421226e+01] [ 7.39166698e-04 -4.30704536e-06 9.99999727e-01 -2.30133218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60655999499994 meters 0.05132739418637359 Centerline is valid? [True, True] Translation: X:308.39, Y:-38.56, Z:-2.30 [[ 9.64755049e-01 2.63146574e-01 -1.25522731e-03 3.08388322e+02] [-2.63146338e-01 9.64755866e-01 3.52928297e-04 -3.85601154e+01] [ 1.30385979e-03 -1.01808863e-05 9.99999150e-01 -2.30258896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66655999499994 meters 0.05101519150228905 Centerline is valid? [True, True] Translation: X:308.45, Y:-38.57, Z:-2.30 [[ 9.64303055e-01 2.64796564e-01 -1.54870352e-03 3.08448861e+02] [-2.64796206e-01 9.64304298e-01 4.35455769e-04 -3.85736036e+01] [ 1.60872865e-03 -9.82051167e-06 9.99998706e-01 -2.30204563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72655999499995 meters 0.05142363666848421 Centerline is valid? [True, True] Translation: X:308.51, Y:-38.59, Z:-2.30 [[ 9.63412534e-01 2.68001121e-01 -3.41877046e-03 3.08507805e+02] [-2.67999400e-01 9.63418600e-01 9.60303575e-04 -3.85881552e+01] [ 3.55106948e-03 -8.94006787e-06 9.99993695e-01 -2.30044640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78655999499995 meters 0.05066806693341151 Centerline is valid? [True, True] Translation: X:308.57, Y:-38.60, Z:-2.30 [[ 9.62007124e-01 2.72993182e-01 -4.12514056e-03 3.08567887e+02] [-2.72990723e-01 9.62015968e-01 1.15863882e-03 -3.86026865e+01] [ 4.28475159e-03 1.15063089e-05 9.99990820e-01 -2.30482847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84655999499995 meters 0.05051131357871661 Centerline is valid? [True, True] Translation: X:308.63, Y:-38.62, Z:-2.31 [[ 9.61252255e-01 2.75651197e-01 -3.24338745e-03 3.08628243e+02] [-2.75649690e-01 9.61257727e-01 9.11516032e-04 -3.86170456e+01] [ 3.36899173e-03 1.78419028e-05 9.99994325e-01 -2.30607958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90655999499995 meters 0.05170326019683394 Centerline is valid? [True, True] Translation: X:308.69, Y:-38.63, Z:-2.30 [[ 9.60019391e-01 2.79923416e-01 -2.37716377e-03 3.08688016e+02] [-2.79922618e-01 9.60022333e-01 6.68704375e-04 -3.86322483e+01] [ 2.46931632e-03 2.34527404e-05 9.99996951e-01 -2.30439190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96655999499995 meters 0.05098540980571141 Centerline is valid? [True, True] Translation: X:308.75, Y:-38.65, Z:-2.30 [[ 9.58965654e-01 2.83511582e-01 -2.46115983e-03 3.08747832e+02] [-2.83510738e-01 9.58968812e-01 6.92575798e-04 -3.86469052e+01] [ 2.55652878e-03 3.36088389e-05 9.99996732e-01 -2.30493540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02655999499996 meters 0.051143180305192916 Centerline is valid? [True, True] Translation: X:308.81, Y:-38.66, Z:-2.30 [[ 9.57886095e-01 2.87143258e-01 -1.72560784e-03 3.08807680e+02] [-2.87142848e-01 9.57887649e-01 4.86026464e-04 -3.86618521e+01] [ 1.79249766e-03 2.99379591e-05 9.99998393e-01 -2.30488259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08655999499996 meters 0.050700061189229984 Centerline is valid? [True, True] Translation: X:308.87, Y:-38.68, Z:-2.30 [[ 9.57829802e-01 2.87336158e-01 5.48181268e-05 3.08866287e+02] [-2.87336157e-01 9.57829803e-01 -1.46205318e-05 -3.86777045e+01] [-5.67074431e-05 -1.74724886e-06 9.99999998e-01 -2.30495721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14655999499996 meters 0.05079265125629878 Centerline is valid? [True, True] Translation: X:308.93, Y:-38.70, Z:-2.31 [[ 9.58174103e-01 2.86185175e-01 6.58506873e-04 3.08925742e+02] [-2.86185115e-01 9.58174330e-01 -1.84473173e-04 -3.86954285e+01] [-6.83757869e-04 -1.16974483e-05 9.99999766e-01 -2.30520297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20655999499996 meters 0.050892608958613625 Centerline is valid? [True, True] Translation: X:308.99, Y:-38.71, Z:-2.31 [[ 9.58249652e-01 2.85932272e-01 -5.83962562e-04 3.08986317e+02] [-2.85932224e-01 9.58249830e-01 1.65381280e-04 -3.87131603e+01] [ 6.06869871e-04 8.49716028e-06 9.99999816e-01 -2.30721746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26655999499997 meters 0.0503417504374883 Centerline is valid? [True, True] Translation: X:309.05, Y:-38.73, Z:-2.31 [[ 9.57984839e-01 2.86809279e-01 -2.34239918e-03 3.09045648e+02] [-2.86808521e-01 9.57987701e-01 6.60552732e-04 -3.87300481e+01] [ 2.43344226e-03 3.90205412e-05 9.99997038e-01 -2.30958704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32655999499997 meters 0.05147459995556529 Centerline is valid? [True, True] Translation: X:309.10, Y:-38.75, Z:-2.31 [[ 9.57786404e-01 2.87446085e-01 -4.46686575e-03 3.09104177e+02] [-2.87443336e-01 9.57796817e-01 1.25941911e-03 -3.87479330e+01] [ 4.64036489e-03 7.77162897e-05 9.99989230e-01 -2.31255999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38655999499997 meters 0.051399719214170296 Centerline is valid? [True, True] Translation: X:309.16, Y:-38.77, Z:-2.31 [[ 9.57754374e-01 2.87568381e-01 -3.31445449e-03 3.09163938e+02] [-2.87566866e-01 9.57760107e-01 9.35111586e-04 -3.87658035e+01] [ 3.44336081e-03 5.75200785e-05 9.99994070e-01 -2.31290196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.446559995 meters 0.04942389358108761 Centerline is valid? [True, True] Translation: X:309.22, Y:-38.79, Z:-2.31 [[ 9.57790902e-01 2.87456872e-01 -2.26579424e-03 3.09222246e+02] [-2.87456164e-01 9.57793582e-01 6.39108456e-04 -3.87881548e+01] [ 2.35387930e-03 3.91842569e-05 9.99997229e-01 -2.30978867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.506559995 meters 0.050408249151705546 Centerline is valid? [True, True] Translation: X:309.28, Y:-38.80, Z:-2.31 [[ 9.57554529e-01 2.88249867e-01 -1.15730130e-03 3.09282115e+02] [-2.88249681e-01 9.57555228e-01 3.27358499e-04 -3.88037618e+01] [ 1.20254096e-03 2.01281185e-05 9.99999277e-01 -2.31024333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.566559995 meters 0.05099342533741148 Centerline is valid? [True, True] Translation: X:309.34, Y:-38.82, Z:-2.31 [[ 9.57362050e-01 2.88889934e-01 -7.14457492e-04 3.09342135e+02] [-2.88889864e-01 9.57362317e-01 2.02034305e-04 -3.88151106e+01] [ 7.42360356e-04 1.29795509e-05 9.99999724e-01 -2.31328531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.626559995 meters 0.05044302442434365 Centerline is valid? [True, True] Translation: X:309.40, Y:-38.84, Z:-2.31 [[ 9.57500737e-01 2.88429723e-01 -7.96184777e-04 3.09400519e+02] [-2.88429635e-01 9.57501068e-01 2.25553208e-04 -3.88354626e+01] [ 8.27404023e-04 1.36759212e-05 9.99999658e-01 -2.31220426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.686559995 meters 0.049915838276255606 Centerline is valid? [True, True] Translation: X:309.46, Y:-38.85, Z:-2.31 [[ 9.57690619e-01 2.87799709e-01 8.10769001e-05 3.09460042e+02] [-2.87799708e-01 9.57690622e-01 -2.25803647e-05 -3.88536095e+01] [-8.41452094e-05 -1.70890474e-06 9.99999996e-01 -2.31098613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.746559995 meters 0.050183889201747454 Centerline is valid? [True, True] Translation: X:309.52, Y:-38.87, Z:-2.31 [[ 9.57529459e-01 2.88335391e-01 1.94830090e-04 3.09519511e+02] [-2.88335386e-01 9.57529478e-01 -5.42231746e-05 -3.88692853e+01] [-2.02190015e-04 -4.25612227e-06 9.99999980e-01 -2.31124506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.806559995 meters 0.05041567217902667 Centerline is valid? [True, True] Translation: X:309.58, Y:-38.89, Z:-2.31 [[ 9.57523261e-01 2.88354993e-01 -7.76566969e-04 3.09579010e+02] [-2.88354909e-01 9.57523576e-01 2.20267311e-04 -3.88872210e+01] [ 8.07096359e-04 1.30158239e-05 9.99999674e-01 -2.31102435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.866559995 meters 0.0509927748041869 Centerline is valid? [True, True] Translation: X:309.64, Y:-38.90, Z:-2.31 [[ 9.57592325e-01 2.88119311e-01 -2.04992153e-03 3.09638928e+02] [-2.88118729e-01 9.57594518e-01 5.80269308e-04 -3.89003053e+01] [ 2.13018042e-03 3.49593506e-05 9.99997731e-01 -2.31423621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.926559995 meters 0.05009008646333665 Centerline is valid? [True, True] Translation: X:309.70, Y:-38.92, Z:-2.31 [[ 9.58413651e-01 2.85376930e-01 -1.81152935e-03 3.09696709e+02] [-2.85376472e-01 9.58415363e-01 5.12098309e-04 -3.89169914e+01] [ 1.88233861e-03 2.61658458e-05 9.99998228e-01 -2.31411148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98655999499994 meters 0.0512564041749695 Centerline is valid? [True, True] Translation: X:309.76, Y:-38.94, Z:-2.31 [[ 9.59644703e-01 2.81215297e-01 5.47382534e-06 3.09755591e+02] [-2.81215297e-01 9.59644703e-01 -1.36642779e-06 -3.89366011e+01] [-5.63718799e-06 -2.28038229e-07 1.00000000e+00 -2.31255284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04655999499994 meters 0.05008839995678574 Centerline is valid? [True, True] Translation: X:309.81, Y:-38.96, Z:-2.31 [[ 9.62539463e-01 2.71131252e-01 2.37222230e-03 3.09813381e+02] [-2.71130423e-01 9.62542386e-01 -6.70380575e-04 -3.89586544e+01] [-2.46512564e-03 2.08612247e-06 9.99996962e-01 -2.31033535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10655999499994 meters 0.051743328479428544 Centerline is valid? [True, True] Translation: X:309.87, Y:-38.98, Z:-2.31 [[ 9.65531180e-01 2.60282782e-01 1.55394193e-03 3.09868448e+02] [-2.60282412e-01 9.65532430e-01 -4.39109144e-04 -3.89832524e+01] [-1.61467388e-03 1.95098157e-05 9.99998696e-01 -2.31224367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16655999499994 meters 0.0518895190157475 Centerline is valid? [True, True] Translation: X:309.93, Y:-39.00, Z:-2.31 [[ 9.66985016e-01 2.54832157e-01 7.41897432e-04 3.09927647e+02] [-2.54832071e-01 9.66985301e-01 -2.09725659e-04 -3.89973702e+01] [-7.70848753e-04 1.37423115e-05 9.99999703e-01 -2.31169811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22655999499995 meters 0.053275079882361805 Centerline is valid? [True, True] Translation: X:309.99, Y:-39.02, Z:-2.31 [[ 9.67748105e-01 2.51919329e-01 5.07797021e-04 3.09986100e+02] [-2.51919288e-01 9.67748238e-01 -1.43474072e-04 -3.90151095e+01] [-5.27563565e-04 1.09228967e-05 9.99999861e-01 -2.31395383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28655999499995 meters 0.05187871404092435 Centerline is valid? [True, True] Translation: X:310.05, Y:-39.03, Z:-2.31 [[ 9.68019071e-01 2.50875940e-01 5.83365120e-04 3.10045399e+02] [-2.50875887e-01 9.68019247e-01 -1.64219240e-04 -3.90301860e+01] [-6.05907320e-04 1.26151147e-05 9.99999816e-01 -2.31351098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34655999499995 meters 0.052466074876529156 Centerline is valid? [True, True] Translation: X:310.10, Y:-39.05, Z:-2.31 [[ 9.67666119e-01 2.52229770e-01 1.55736100e-03 3.10104938e+02] [-2.52229387e-01 9.67667372e-01 -4.40457690e-04 -3.90454469e+01] [-1.61810397e-03 3.34037719e-05 9.99998690e-01 -2.31396094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40655999499995 meters 0.052291808286777396 Centerline is valid? [True, True] Translation: X:310.17, Y:-39.05, Z:-2.31 [[ 9.66284412e-01 2.57474130e-01 1.22790160e-03 3.10166260e+02] [-2.57473897e-01 9.66285192e-01 -3.47362675e-04 -3.90511504e+01] [-1.27594004e-03 1.94985279e-05 9.99999186e-01 -2.31425157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46655999499995 meters 0.052401457316978796 Centerline is valid? [True, True] Translation: X:310.23, Y:-39.06, Z:-2.31 [[ 9.64920814e-01 2.62541031e-01 -1.71746945e-04 3.10227738e+02] [-2.62541026e-01 9.64920829e-01 4.87637538e-05 -3.90610345e+01] [ 1.78524691e-04 -1.96254184e-06 9.99999984e-01 -2.31410598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52655999499996 meters 0.051677834393957206 Centerline is valid? [True, True] Translation: X:310.29, Y:-39.07, Z:-2.32 [[ 9.62708569e-01 2.70534612e-01 -1.79851865e-03 3.10289626e+02] [-2.70534132e-01 9.62710249e-01 5.09502535e-04 -3.90700992e+01] [ 1.86929041e-03 -3.94177368e-06 9.99998253e-01 -2.31633231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58655999499996 meters 0.05146616203629365 Centerline is valid? [True, True] Translation: X:310.35, Y:-39.08, Z:-2.32 [[ 9.60759148e-01 2.77380288e-01 -1.42674744e-03 3.10350850e+02] [-2.77379993e-01 9.60760207e-01 4.04870567e-04 -3.90779754e+01] [ 1.48306528e-03 6.76809437e-06 9.99998900e-01 -2.31826182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64655999499996 meters 0.05175152796449531 Centerline is valid? [True, True] Translation: X:310.41, Y:-39.09, Z:-2.32 [[ 9.59710215e-01 2.80989676e-01 -1.05106951e-03 3.10411600e+02] [-2.80989517e-01 9.59710791e-01 2.98623850e-04 -3.90908015e+01] [ 1.09263297e-03 8.74715572e-06 9.99999403e-01 -2.31795915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70655999499996 meters 0.051577333761280666 Centerline is valid? [True, True] Translation: X:310.47, Y:-39.10, Z:-2.32 [[ 9.58516483e-01 2.85035606e-01 9.25215846e-04 3.10470902e+02] [-2.85035486e-01 9.58516929e-01 -2.61711304e-04 -3.91043095e+01] [-9.61432091e-04 -1.28647499e-05 9.99999538e-01 -2.31527549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76655999499997 meters 0.05086779612477076 Centerline is valid? [True, True] Translation: X:310.53, Y:-39.12, Z:-2.32 [[ 9.57849733e-01 2.87256955e-01 2.70760725e-03 3.10531837e+02] [-2.87255935e-01 9.57853559e-01 -7.66638676e-04 -3.91154607e+01] [-2.81371353e-03 -4.34516031e-05 9.99996041e-01 -2.31608220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82655999499997 meters 0.05221559665880843 Centerline is valid? [True, True] Translation: X:310.59, Y:-39.12, Z:-2.32 [[ 9.56846586e-01 2.90580134e-01 2.79220715e-03 3.10592072e+02] [-2.90579062e-01 9.56850659e-01 -7.91287280e-04 -3.91230335e+01] [-2.90165762e-03 -5.42164018e-05 9.99995789e-01 -2.31810827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88655999499997 meters 0.05196144284935623 Centerline is valid? [True, True] Translation: X:310.65, Y:-39.14, Z:-2.32 [[ 9.56144473e-01 2.92887635e-01 2.14017884e-03 3.10651157e+02] [-2.92887010e-01 9.56146867e-01 -6.06572117e-04 -3.91417478e+01] [-2.22398276e-03 -4.68600042e-05 9.99997526e-01 -2.31861329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.946559995 meters 0.05250413313426123 Centerline is valid? [True, True] Translation: X:310.71, Y:-39.15, Z:-2.32 [[ 9.55380081e-01 2.95378882e-01 -4.64672236e-04 3.10710745e+02] [-2.95378853e-01 9.55380194e-01 1.31750564e-04 -3.91504024e+01] [ 4.82854986e-04 1.13824873e-05 9.99999883e-01 -2.32260435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.006559995 meters 0.052295876412288715 Centerline is valid? [True, True] Translation: X:310.77, Y:-39.17, Z:-2.32 [[ 9.55150822e-01 2.96110639e-01 -2.32290790e-03 3.10769616e+02] [-2.96109912e-01 9.55153645e-01 6.58935478e-04 -3.91695832e+01] [ 2.41385175e-03 5.84532882e-05 9.99997085e-01 -2.32312936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.066559995 meters 0.05181897628255985 Centerline is valid? [True, True] Translation: X:310.83, Y:-39.19, Z:-2.32 [[ 9.55677524e-01 2.94400227e-01 -2.99592177e-03 3.10827833e+02] [-2.94399006e-01 9.55682218e-01 8.50762646e-04 -3.91918249e+01] [ 3.11361388e-03 6.89416527e-05 9.99995150e-01 -2.32296299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.126559995 meters 0.051440343771399354 Centerline is valid? [True, True] Translation: X:310.89, Y:-39.21, Z:-2.32 [[ 9.56713742e-01 2.91023087e-01 -2.09265440e-03 3.10885616e+02] [-2.91022485e-01 9.56716029e-01 5.93661170e-04 -3.92078999e+01] [ 2.17484512e-03 4.10456838e-05 9.99997634e-01 -2.32385139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.186559995 meters 0.051679106787865824 Centerline is valid? [True, True] Translation: X:310.94, Y:-39.23, Z:-2.32 [[ 9.58873357e-01 2.83830037e-01 1.54781610e-03 3.10941690e+02] [-2.83829698e-01 9.58874606e-01 -4.39004473e-04 -3.92335620e+01] [-1.60876421e-03 -1.83664839e-05 9.99998706e-01 -2.32058770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.246559995 meters 0.05112017525629549 Centerline is valid? [True, True] Translation: X:311.00, Y:-39.26, Z:-2.32 [[ 9.60909412e-01 2.76841592e-01 3.44029153e-03 3.10998328e+02] [-2.76839872e-01 9.60915570e-01 -9.75964451e-04 -3.92574104e+01] [-3.57601725e-03 -1.45964427e-05 9.99993606e-01 -2.31929572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.306559995 meters 0.05159947441243648 Centerline is valid? [True, True] Translation: X:311.06, Y:-39.28, Z:-2.32 [[ 9.62019442e-01 2.72964929e-01 2.95654267e-03 3.11056457e+02] [-2.72963641e-01 9.62023985e-01 -8.38390250e-04 -3.92780615e+01] [-3.07311610e-03 -4.80933226e-07 9.99995278e-01 -2.31911690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.366559995 meters 0.051582651649878596 Centerline is valid? [True, True] Translation: X:311.11, Y:-39.30, Z:-2.32 [[ 9.63312816e-01 2.68376020e-01 1.65251028e-03 3.11114998e+02] [-2.68375610e-01 9.63314233e-01 -4.68803700e-04 -3.92997912e+01] [-1.71770234e-03 8.11115806e-06 9.99998525e-01 -2.32222013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.426559995 meters 0.051624858544241516 Centerline is valid? [True, True] Translation: X:311.17, Y:-39.32, Z:-2.32 [[ 9.64223375e-01 2.65088337e-01 1.20699471e-03 3.11172949e+02] [-2.65088116e-01 9.64224130e-01 -3.41990277e-04 -3.93197988e+01] [-1.25447105e-03 9.79506619e-06 9.99999213e-01 -2.32309919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48655999499994 meters 0.05187067340436091 Centerline is valid? [True, True] Translation: X:311.23, Y:-39.34, Z:-2.32 [[ 9.65935268e-01 2.58780590e-01 1.29046217e-03 3.11230747e+02] [-2.58780331e-01 9.65936129e-01 -3.66376051e-04 -3.93402726e+01] [-1.34131504e-03 1.99493222e-05 9.99999100e-01 -2.32189274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54655999499994 meters 0.052891415711456106 Centerline is valid? [True, True] Translation: X:311.29, Y:-39.36, Z:-2.32 [[ 9.67073803e-01 2.54493149e-01 1.22331959e-03 3.11286228e+02] [-2.54492913e-01 9.67074576e-01 -3.47418694e-04 -3.93636717e+01] [-1.27145695e-03 2.46533524e-05 9.99999191e-01 -2.32379188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60655999499994 meters 0.052760472680914744 Centerline is valid? [True, True] Translation: X:311.35, Y:-39.37, Z:-2.32 [[ 9.67563450e-01 2.52623409e-01 1.54402704e-03 3.11347220e+02] [-2.52623031e-01 9.67564681e-01 -4.38299182e-04 -3.93742575e+01] [-1.60467066e-03 3.40254780e-05 9.99998712e-01 -2.32231180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66655999499994 meters 0.05297936924952725 Centerline is valid? [True, True] Translation: X:311.40, Y:-39.40, Z:-2.32 [[ 9.68556473e-01 2.48782976e-01 2.32153147e-03 3.11402020e+02] [-2.48782109e-01 9.68559253e-01 -6.59346471e-04 -3.93999843e+01] [-2.41257496e-03 6.10587961e-05 9.99997088e-01 -2.32460714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72655999499995 meters 0.05359521060132929 Centerline is valid? [True, True] Translation: X:311.46, Y:-39.42, Z:-2.32 [[ 9.68466824e-01 2.49130523e-01 2.44823786e-03 3.11460502e+02] [-2.49129562e-01 9.68469916e-01 -6.94849738e-04 -3.94190815e+01] [-2.54415299e-03 6.30104936e-05 9.99996762e-01 -2.32469742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78655999499995 meters 0.05223177196557241 Centerline is valid? [True, True] Translation: X:311.52, Y:-39.43, Z:-2.33 [[ 9.67244130e-01 2.53818035e-01 3.89847601e-03 3.11518390e+02] [-2.53815630e-01 9.67251983e-01 -1.10779589e-03 -3.94342562e+01] [-4.05198723e-03 8.20149220e-05 9.99991787e-01 -2.32516430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84655999499995 meters 0.05202673171748723 Centerline is valid? [True, True] Translation: X:311.58, Y:-39.45, Z:-2.33 [[ 9.65613842e-01 2.59940687e-01 4.55486917e-03 3.11577991e+02] [-2.59937473e-01 9.65624583e-01 -1.29428070e-03 -3.94464303e+01] [-4.73472985e-03 6.57941743e-05 9.99988789e-01 -2.32596589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90655999499995 meters 0.05078901968735176 Centerline is valid? [True, True] Translation: X:311.64, Y:-39.46, Z:-2.33 [[ 9.62688809e-01 2.70528407e-01 6.68112878e-03 3.11636958e+02] [-2.70521746e-01 9.62711992e-01 -1.89859819e-03 -3.94597254e+01] [-6.94562754e-03 2.03686100e-05 9.99975879e-01 -2.32705387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96655999499995 meters 0.05086208729260919 Centerline is valid? [True, True] Translation: X:311.70, Y:-39.47, Z:-2.33 [[ 9.59710978e-01 2.80910649e-01 6.63664250e-03 3.11696867e+02] [-2.80904323e-01 9.59733924e-01 -1.88596704e-03 -3.94735581e+01] [-6.89919917e-03 -5.42782934e-05 9.99976199e-01 -2.32822566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02655999499996 meters 0.051585445917841734 Centerline is valid? [True, True] Translation: X:311.76, Y:-39.48, Z:-2.33 [[ 9.57929312e-01 2.86912857e-01 7.24192898e-03 3.11757259e+02] [-2.86905489e-01 9.57956680e-01 -2.05889654e-03 -3.94841575e+01] [-7.52817814e-03 -1.05471831e-04 9.99971657e-01 -2.32861883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08655999499996 meters 0.05157235740946345 Centerline is valid? [True, True] Translation: X:311.82, Y:-39.50, Z:-2.33 [[ 9.56273806e-01 2.92399396e-01 6.55754977e-03 3.11815906e+02] [-2.92393483e-01 9.56296280e-01 -1.86442591e-03 -3.94993483e+01] [-6.81611746e-03 -1.34483150e-04 9.99976761e-01 -2.33053515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14655999499996 meters 0.05168760050332439 Centerline is valid? [True, True] Translation: X:311.88, Y:-39.51, Z:-2.33 [[ 9.54088534e-01 2.99492399e-01 4.40131599e-03 3.11875005e+02] [-2.99489810e-01 9.54098678e-01 -1.25139397e-03 -3.95110941e+01] [-4.57407275e-03 -1.24208647e-04 9.99989531e-01 -2.33321665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20655999499996 meters 0.05045973424609431 Centerline is valid? [True, True] Translation: X:311.93, Y:-39.54, Z:-2.33 [[ 9.53177742e-01 3.02397081e-01 2.86308274e-03 3.11929643e+02] [-3.02395998e-01 9.53182038e-01 -8.14030408e-04 -3.95405643e+01] [-2.97519946e-03 -8.98690971e-05 9.99995570e-01 -2.33380911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26655999499997 meters 0.05045741100207894 Centerline is valid? [True, True] Translation: X:311.99, Y:-39.56, Z:-2.34 [[ 9.53559542e-01 3.01195367e-01 2.35591848e-03 3.11989143e+02] [-3.01194631e-01 9.53562450e-01 -6.69677884e-04 -3.95602124e+01] [-2.44821928e-03 -7.10122625e-05 9.99997001e-01 -2.33514265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32655999499997 meters 0.050978525953830046 Centerline is valid? [True, True] Translation: X:312.05, Y:-39.58, Z:-2.34 [[ 9.54612301e-01 2.97843925e-01 2.08584645e-03 3.12046746e+02] [-2.97843340e-01 9.54614578e-01 -5.93167493e-04 -3.95762900e+01] [-2.16785076e-03 -5.50104870e-05 9.99997649e-01 -2.33760362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38655999499997 meters 0.051054787901030005 Centerline is valid? [True, True] Translation: X:312.10, Y:-39.60, Z:-2.34 [[ 9.55369432e-01 2.95402535e-01 2.56723500e-03 3.12104121e+02] [-2.95401639e-01 9.55372879e-01 -7.30017140e-04 -3.95991561e+01] [-2.66831561e-03 -6.09293667e-05 9.99996438e-01 -2.33742074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.446559995 meters 0.05013996221283459 Centerline is valid? [True, True] Translation: X:312.16, Y:-39.63, Z:-2.34 [[ 9.56342633e-01 2.92233525e-01 2.88708407e-03 3.12160229e+02] [-2.92232378e-01 9.56346989e-01 -8.21016327e-04 -3.96260308e+01] [-3.00098265e-03 -5.85265268e-05 9.99995495e-01 -2.33681154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.506559995 meters 0.04996874507514467 Centerline is valid? [True, True] Translation: X:312.22, Y:-39.64, Z:-2.34 [[ 9.55962947e-01 2.93480030e-01 2.07735976e-03 3.12219702e+02] [-2.93479440e-01 9.55965203e-01 -5.90292116e-04 -3.96420332e+01] [-2.15912260e-03 -4.53649889e-05 9.99997668e-01 -2.33873176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.566559995 meters 0.05052997264044643 Centerline is valid? [True, True] Translation: X:312.28, Y:-39.66, Z:-2.34 [[ 9.56049650e-01 2.93204554e-01 3.95377677e-04 3.12280188e+02] [-2.93204532e-01 9.56049732e-01 -1.11569387e-04 -3.96580035e+01] [-4.10713374e-04 -9.26065339e-06 9.99999916e-01 -2.34015632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.626559995 meters 0.05036850461183601 Centerline is valid? [True, True] Translation: X:312.34, Y:-39.67, Z:-2.34 [[ 9.56643885e-01 2.91259663e-01 5.34729388e-04 3.12338990e+02] [-2.91259623e-01 9.56644035e-01 -1.52166862e-04 -3.96719849e+01] [-5.55865749e-04 -1.01755816e-05 9.99999845e-01 -2.34044695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.686559995 meters 0.05018603791333953 Centerline is valid? [True, True] Translation: X:312.40, Y:-39.69, Z:-2.34 [[ 9.56742115e-01 2.90936201e-01 8.07768992e-04 3.12398093e+02] [-2.90936111e-01 9.56742456e-01 -2.29260393e-04 -3.96883811e+01] [-8.39527037e-04 -1.56660961e-05 9.99999647e-01 -2.34028008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.746559995 meters 0.04986151476524689 Centerline is valid? [True, True] Translation: X:312.46, Y:-39.71, Z:-2.34 [[ 9.56691923e-01 2.91099820e-01 1.20770516e-03 3.12457696e+02] [-2.91099619e-01 9.56692685e-01 -3.43134172e-04 -3.97088984e+01] [-1.25528899e-03 -2.32888221e-05 9.99999212e-01 -2.33959892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.806559995 meters 0.05016328197678389 Centerline is valid? [True, True] Translation: X:312.52, Y:-39.73, Z:-2.34 [[ 9.57097616e-01 2.89764691e-01 7.59374687e-04 3.12517771e+02] [-2.89764611e-01 9.57097917e-01 -2.16033333e-04 -3.97268292e+01] [-7.89394764e-04 -1.32749229e-05 9.99999688e-01 -2.34072304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.866559995 meters 0.05070311547950577 Centerline is valid? [True, True] Translation: X:312.58, Y:-39.74, Z:-2.34 [[ 9.57652820e-01 2.87921962e-01 1.42145820e-03 3.12577312e+02] [-2.87921679e-01 9.57653874e-01 -4.04391196e-04 -3.97427673e+01] [-1.47769806e-03 -2.20022627e-05 9.99998908e-01 -2.34101842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.926559995 meters 0.05053309532930368 Centerline is valid? [True, True] Translation: X:312.64, Y:-39.76, Z:-2.34 [[ 9.57858597e-01 2.87230721e-01 2.32844479e-03 3.12636278e+02] [-2.87229957e-01 9.57861426e-01 -6.63326454e-04 -3.97580926e+01] [-2.42085519e-03 -3.34261499e-05 9.99997069e-01 -2.34107272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98655999499994 meters 0.04992426181962316 Centerline is valid? [True, True] Translation: X:312.69, Y:-39.78, Z:-2.34 [[ 9.58003049e-01 2.86736115e-01 3.54389462e-03 3.12694826e+02] [-2.86734338e-01 9.58009602e-01 -1.01064234e-03 -3.97802257e+01] [-3.68487273e-03 -4.79578351e-05 9.99993210e-01 -2.33903965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04655999499994 meters 0.05056466618655791 Centerline is valid? [True, True] Translation: X:312.75, Y:-39.80, Z:-2.34 [[ 9.58149110e-01 2.86245009e-01 3.75206959e-03 3.12753629e+02] [-2.86243013e-01 9.58156455e-01 -1.06995780e-03 -3.97969144e+01] [-3.90133978e-03 -4.88245902e-05 9.99992389e-01 -2.34000705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10655999499994 meters 0.04982018668915026 Centerline is valid? [True, True] Translation: X:312.81, Y:-39.82, Z:-2.34 [[ 9.58636906e-01 2.84604959e-01 3.91154352e-03 3.12812558e+02] [-2.84602774e-01 9.58644885e-01 -1.11607736e-03 -3.98166137e+01] [-4.06742234e-03 -4.33231867e-05 9.99991727e-01 -2.34003955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16655999499994 meters 0.049653976695206554 Centerline is valid? [True, True] Translation: X:312.87, Y:-39.84, Z:-2.34 [[ 9.59129165e-01 2.82930847e-01 4.62404644e-03 3.12871859e+02] [-2.82927772e-01 9.59140310e-01 -1.31961743e-03 -3.98357508e+01] [-4.80846981e-03 -4.25875926e-05 9.99988438e-01 -2.33951287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22655999499995 meters 0.05062429872353082 Centerline is valid? [True, True] Translation: X:312.93, Y:-39.85, Z:-2.34 [[ 9.59757237e-01 2.80765796e-01 6.05102624e-03 3.12931456e+02] [-2.80760482e-01 9.59776311e-01 -1.72789069e-03 -3.98514280e+01] [-6.29276424e-03 -4.05334485e-05 9.99980200e-01 -2.33968217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28655999499995 meters 0.049894615441445196 Centerline is valid? [True, True] Translation: X:312.99, Y:-39.87, Z:-2.34 [[ 9.60022276e-01 2.79865697e-01 5.69400987e-03 3.12990882e+02] [-2.79860971e-01 9.60039161e-01 -1.62660346e-03 -3.98692276e+01] [-5.92170297e-03 -3.19555816e-05 9.99982466e-01 -2.34026883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34655999499995 meters 0.04979620573208476 Centerline is valid? [True, True] Translation: X:313.05, Y:-39.89, Z:-2.34 [[ 9.60264781e-01 2.79056421e-01 4.36633729e-03 3.13051439e+02] [-2.79053633e-01 9.60274707e-01 -1.24761639e-03 -3.98881305e+01] [-4.54103863e-03 -2.04001995e-05 9.99989689e-01 -2.34078047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40655999499995 meters 0.05005106923075223 Centerline is valid? [True, True] Translation: X:313.11, Y:-39.90, Z:-2.34 [[ 9.60071106e-01 2.79731441e-01 3.71388485e-03 3.13110800e+02] [-2.79729426e-01 9.60078289e-01 -1.06181113e-03 -3.99025083e+01] [-3.86264217e-03 -1.94686973e-05 9.99992540e-01 -2.34250320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46655999499995 meters 0.0498401718735872 Centerline is valid? [True, True] Translation: X:313.17, Y:-39.92, Z:-2.34 [[ 9.59448779e-01 2.81867609e-01 2.94817074e-03 3.13171314e+02] [-2.81866350e-01 9.59453308e-01 -8.42759286e-04 -3.99156256e+01] [-3.06617872e-03 -2.24057605e-05 9.99995299e-01 -2.34368299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52655999499996 meters 0.05032033480912445 Centerline is valid? [True, True] Translation: X:313.23, Y:-39.93, Z:-2.34 [[ 9.59300170e-01 2.82376299e-01 2.60948218e-03 3.13231270e+02] [-2.82375314e-01 9.59303719e-01 -7.46131925e-04 -3.99309322e+01] [-2.71397593e-03 -2.10888686e-05 9.99996317e-01 -2.34482382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58655999499996 meters 0.049942546698942436 Centerline is valid? [True, True] Translation: X:313.29, Y:-39.95, Z:-2.34 [[ 9.59087900e-01 2.83100310e-01 2.14842419e-03 3.13290920e+02] [-2.83099643e-01 9.59090306e-01 -6.14457544e-04 -3.99471463e+01] [-2.23448593e-03 -1.88993270e-05 9.99997503e-01 -2.34449794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64655999499996 meters 0.0501201440620794 Centerline is valid? [True, True] Translation: X:313.35, Y:-39.96, Z:-2.35 [[ 9.58992393e-01 2.83427435e-01 1.57431681e-03 3.13351307e+02] [-2.83427078e-01 9.58993686e-01 -4.50180848e-04 -3.99617028e+01] [-1.63735348e-03 -1.44840040e-05 9.99998659e-01 -2.34630790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70655999499996 meters 0.050526657402728055 Centerline is valid? [True, True] Translation: X:313.41, Y:-39.98, Z:-2.35 [[ 9.58796804e-01 2.84090704e-01 1.07728509e-03 3.13411341e+02] [-2.84090537e-01 9.58797409e-01 -3.07987946e-04 -3.99769931e+01] [-1.12039466e-03 -1.07486401e-05 9.99999372e-01 -2.34706979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76655999499997 meters 0.04981282286539731 Centerline is valid? [True, True] Translation: X:313.47, Y:-39.99, Z:-2.35 [[ 9.58903280e-01 2.83732473e-01 6.19882460e-04 3.13471226e+02] [-2.83732418e-01 9.58903480e-01 -1.76829215e-04 -3.99949812e+01] [-6.44579638e-04 -6.31863498e-06 9.99999792e-01 -2.34660442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82655999499997 meters 0.05050326215921808 Centerline is valid? [True, True] Translation: X:313.53, Y:-40.01, Z:-2.35 [[ 9.59473309e-01 2.81798570e-01 7.31355840e-04 3.13530689e+02] [-2.81798492e-01 9.59473588e-01 -2.08969926e-04 -4.00144670e+01] [-7.60604038e-04 -5.59390717e-06 9.99999711e-01 -2.34603389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88655999499997 meters 0.05003628827352495 Centerline is valid? [True, True] Translation: X:313.59, Y:-40.03, Z:-2.35 [[ 9.60277139e-01 2.79048053e-01 -1.92996706e-05 3.13589114e+02] [-2.79048053e-01 9.60277139e-01 6.34210386e-06 -4.00329312e+01] [ 2.03027841e-05 -7.04641833e-07 1.00000000e+00 -2.34723058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.946559995 meters 0.05027292368353598 Centerline is valid? [True, True] Translation: X:313.65, Y:-40.05, Z:-2.35 [[ 9.61579226e-01 2.74527578e-01 -1.22543709e-05 3.13647859e+02] [-2.74527578e-01 9.61579226e-01 3.83707833e-06 -4.00542754e+01] [ 1.28369322e-05 -3.25492040e-07 1.00000000e+00 -2.34625329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.006559995 meters 0.05133611610994074 Centerline is valid? [True, True] Translation: X:313.71, Y:-40.07, Z:-2.35 [[ 9.62090290e-01 2.72731026e-01 2.47691580e-04 3.13706769e+02] [-2.72731017e-01 9.62090322e-01 -7.01809625e-05 -4.00727811e+01] [-2.57442198e-04 -3.27538622e-08 9.99999967e-01 -2.34652760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.066559995 meters 0.0503658622594933 Centerline is valid? [True, True] Translation: X:313.77, Y:-40.09, Z:-2.35 [[ 9.62252836e-01 2.72157051e-01 -1.40272583e-04 3.13765158e+02] [-2.72157048e-01 9.62252846e-01 4.11438393e-05 -4.00893815e+01] [ 1.46175278e-04 -1.41460399e-06 9.99999989e-01 -2.34888501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.126559995 meters 0.05055717202354692 Centerline is valid? [True, True] Translation: X:313.83, Y:-40.11, Z:-2.35 [[ 9.62096833e-01 2.72705283e-01 -1.22947388e-03 3.13825401e+02] [-2.72705053e-01 9.62097619e-01 3.54256587e-04 -4.01053809e+01] [ 1.27948153e-03 -5.54540139e-06 9.99999181e-01 -2.34896652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.186559995 meters 0.0510891240708256 Centerline is valid? [True, True] Translation: X:313.89, Y:-40.12, Z:-2.35 [[ 9.61009267e-01 2.76500807e-01 -2.91407872e-03 3.13885551e+02] [-2.76499537e-01 9.61013686e-01 8.38075570e-04 -4.01196758e+01] [ 3.03219811e-03 3.43026788e-07 9.99995403e-01 -2.34969186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.246559995 meters 0.0505369569855236 Centerline is valid? [True, True] Translation: X:313.95, Y:-40.14, Z:-2.35 [[ 9.60237896e-01 2.79159940e-01 -3.59325990e-03 3.13945371e+02] [-2.79158024e-01 9.60244619e-01 1.03436425e-03 -4.01350404e+01] [ 3.73916154e-03 9.85158174e-06 9.99993009e-01 -2.34817069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.306559995 meters 0.05125125250572213 Centerline is valid? [True, True] Translation: X:314.00, Y:-40.15, Z:-2.35 [[ 9.60205649e-01 2.79278526e-01 -2.93558166e-03 3.14004901e+02] [-2.79277246e-01 9.60210136e-01 8.45473356e-04 -4.01505838e+01] [ 3.05489781e-03 8.01286746e-06 9.99995334e-01 -2.34915635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.366559995 meters 0.05085915280295807 Centerline is valid? [True, True] Translation: X:314.07, Y:-40.17, Z:-2.35 [[ 9.60890150e-01 2.76924270e-01 -1.75148317e-03 3.14065052e+02] [-2.76923811e-01 9.60891747e-01 5.04540163e-04 -4.01679696e+01] [ 1.82270514e-03 2.19721721e-07 9.99998339e-01 -2.34879543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.426559995 meters 0.05075374685210439 Centerline is valid? [True, True] Translation: X:314.12, Y:-40.19, Z:-2.35 [[ 9.61621907e-01 2.74376827e-01 -8.15380009e-04 3.14123159e+02] [-2.74376726e-01 9.61622253e-01 2.35564441e-04 -4.01868580e+01] [ 8.48720985e-04 -2.80263012e-06 9.99999640e-01 -2.34864334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48655999499994 meters 0.04986667821458959 Centerline is valid? [True, True] Translation: X:314.18, Y:-40.21, Z:-2.35 [[ 9.62687174e-01 2.70615917e-01 6.56017513e-04 3.14182569e+02] [-2.70615852e-01 9.62687398e-01 -1.88078938e-04 -4.02052046e+01] [-6.82436946e-04 3.53244307e-06 9.99999767e-01 -2.34741395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54655999499994 meters 0.05092513548829377 Centerline is valid? [True, True] Translation: X:314.24, Y:-40.22, Z:-2.35 [[ 9.63246407e-01 2.68616605e-01 1.21640482e-03 3.14241183e+02] [-2.68616378e-01 9.63247175e-01 -3.49701197e-04 -4.02237633e+01] [-1.26563406e-03 1.01021641e-05 9.99999199e-01 -2.34793565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60655999499994 meters 0.05088973478707977 Centerline is valid? [True, True] Translation: X:314.30, Y:-40.24, Z:-2.35 [[ 9.63821140e-01 2.66549091e-01 -6.25663264e-04 3.14300185e+02] [-2.66549030e-01 9.63821344e-01 1.80520469e-04 -4.02424634e+01] [ 6.51145175e-04 -7.21950827e-06 9.99999788e-01 -2.35039056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66655999499994 meters 0.050743813327030346 Centerline is valid? [True, True] Translation: X:314.36, Y:-40.26, Z:-2.35 [[ 9.63836307e-01 2.66485266e-01 -2.27534928e-03 3.14359568e+02] [-2.66484458e-01 9.63838992e-01 6.56874774e-04 -4.02592271e+01] [ 2.36811780e-03 -2.67745367e-05 9.99997196e-01 -2.35251041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72655999499995 meters 0.05180421819133901 Centerline is valid? [True, True] Translation: X:314.42, Y:-40.28, Z:-2.35 [[ 9.63722200e-01 2.66896349e-01 -2.42076725e-03 3.14420729e+02] [-2.66895434e-01 9.63725240e-01 6.99317372e-04 -4.02751624e+01] [ 2.51959975e-03 -2.78559496e-05 9.99996825e-01 -2.35212206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78655999499995 meters 0.05079229060000665 Centerline is valid? [True, True] Translation: X:314.48, Y:-40.29, Z:-2.35 [[ 9.63570592e-01 2.67450956e-01 -1.30368429e-03 3.14479156e+02] [-2.67450691e-01 9.63571474e-01 3.77036369e-04 -4.02927858e+01] [ 1.35703173e-03 -1.46298929e-05 9.99999079e-01 -2.35261766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84655999499995 meters 0.05117947005847099 Centerline is valid? [True, True] Translation: X:314.54, Y:-40.31, Z:-2.35 [[ 9.62561957e-01 2.71061322e-01 -4.88538629e-04 3.14538765e+02] [-2.71061285e-01 9.62562081e-01 1.41854231e-04 -4.03076949e+01] [ 5.08699954e-04 -4.11957721e-06 9.99999871e-01 -2.35306327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90655999499995 meters 0.049763851263014885 Centerline is valid? [True, True] Translation: X:314.60, Y:-40.32, Z:-2.35 [[ 9.60724227e-01 2.77504863e-01 -1.02332867e-04 3.14599363e+02] [-2.77504862e-01 9.60724232e-01 3.04147456e-05 -4.03214236e+01] [ 1.06753905e-04 -8.22314889e-07 9.99999994e-01 -2.34937693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96655999499995 meters 0.05077246018548538 Centerline is valid? [True, True] Translation: X:314.66, Y:-40.34, Z:-2.35 [[ 9.59019907e-01 2.83336983e-01 -9.85427588e-04 3.14660324e+02] [-2.83336840e-01 9.59020414e-01 2.84950712e-04 -4.03352191e+01] [ 1.02578225e-03 5.93453334e-06 9.99999474e-01 -2.35280245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02655999499996 meters 0.0512805745552772 Centerline is valid? [True, True] Translation: X:314.72, Y:-40.35, Z:-2.35 [[ 9.56376439e-01 2.92128230e-01 -2.28104537e-03 3.14719724e+02] [-2.92127489e-01 9.56379159e-01 6.58962054e-04 -4.03484463e+01] [ 2.37404567e-03 3.61402731e-05 9.99997181e-01 -2.35233821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08655999499996 meters 0.050928029172997664 Centerline is valid? [True, True] Translation: X:314.78, Y:-40.36, Z:-2.35 [[ 9.55162477e-01 2.96073935e-01 -2.20602741e-03 3.14778354e+02] [-2.96073253e-01 9.55165024e-01 6.37230395e-04 -4.03608450e+01] [ 2.29578753e-03 4.44871477e-05 9.99997364e-01 -2.35421885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14655999499996 meters 0.05029591415527256 Centerline is valid? [True, True] Translation: X:314.84, Y:-40.38, Z:-2.35 [[ 9.54358915e-01 2.98655793e-01 -1.94397221e-03 3.14836825e+02] [-2.98655268e-01 9.54360894e-01 5.61711318e-04 -4.03805063e+01] [ 2.02300940e-03 4.45033380e-05 9.99997953e-01 -2.35172168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20655999499996 meters 0.05073231925509333 Centerline is valid? [True, True] Translation: X:314.90, Y:-40.40, Z:-2.35 [[ 9.54003656e-01 2.99794130e-01 -7.09519324e-04 3.14895868e+02] [-2.99794059e-01 9.54003920e-01 2.05829725e-04 -4.03952360e+01] [ 7.38590760e-04 1.63473676e-05 9.99999727e-01 -2.35285189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26655999499997 meters 0.04984805870943867 Centerline is valid? [True, True] Translation: X:314.95, Y:-40.42, Z:-2.35 [[ 9.54472565e-01 2.98298713e-01 3.73292262e-05 3.14953986e+02] [-2.98298713e-01 9.54472565e-01 -1.06657064e-05 -4.04159353e+01] [-3.88112888e-05 -9.55136015e-07 9.99999999e-01 -2.35193101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32655999499997 meters 0.05007709415867441 Centerline is valid? [True, True] Translation: X:315.01, Y:-40.43, Z:-2.35 [[ 9.55398619e-01 2.95318580e-01 -6.44612208e-04 3.15011978e+02] [-2.95318522e-01 9.55398836e-01 1.86364034e-04 -4.04319536e+01] [ 6.70898515e-04 1.23139837e-05 9.99999775e-01 -2.35453585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38655999499997 meters 0.04969664430552471 Centerline is valid? [True, True] Translation: X:315.07, Y:-40.46, Z:-2.35 [[ 9.55929194e-01 2.93585358e-01 -2.64831656e-03 3.15069888e+02] [-2.93584363e-01 9.55932861e-01 7.65830178e-04 -4.04557915e+01] [ 2.75644935e-03 4.54249040e-05 9.99996200e-01 -2.35336982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.446559995 meters 0.049901994707195925 Centerline is valid? [True, True] Translation: X:315.13, Y:-40.47, Z:-2.35 [[ 9.56031337e-01 2.93251524e-01 -2.76148826e-03 3.15129325e+02] [-2.93250438e-01 9.56035325e-01 7.99352676e-04 -4.04718741e+01] [ 2.87449171e-03 4.56014320e-05 9.99995868e-01 -2.35497860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.506559995 meters 0.05079555276822069 Centerline is valid? [True, True] Translation: X:315.19, Y:-40.49, Z:-2.36 [[ 9.56292532e-01 2.92395923e-01 -3.03614259e-03 3.15188522e+02] [-2.92394605e-01 9.56297350e-01 8.79099672e-04 -4.04875224e+01] [ 3.16050027e-03 4.70752630e-05 9.99995004e-01 -2.35765435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.566559995 meters 0.05012071108870984 Centerline is valid? [True, True] Translation: X:315.25, Y:-40.51, Z:-2.36 [[ 9.56736571e-01 2.90935228e-01 -3.43899720e-03 3.15246711e+02] [-2.90933527e-01 9.56742750e-01 9.96120934e-04 -4.05085915e+01] [ 3.58004231e-03 4.74942591e-05 9.99993591e-01 -2.35688674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.626559995 meters 0.050749044887873934 Centerline is valid? [True, True] Translation: X:315.31, Y:-40.53, Z:-2.36 [[ 9.57343666e-01 2.88940367e-01 -2.56309131e-03 3.15305969e+02] [-2.88939413e-01 9.57347097e-01 7.42939997e-04 -4.05284690e+01] [ 2.66843338e-03 2.93291987e-05 9.99996439e-01 -2.35664675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.686559995 meters 0.05028107678260362 Centerline is valid? [True, True] Translation: X:315.37, Y:-40.55, Z:-2.36 [[ 9.57789890e-01 2.87462226e-01 -1.99883026e-03 3.15365169e+02] [-2.87461642e-01 9.57791975e-01 5.79814768e-04 -4.05472029e+01] [ 2.08113843e-03 1.92463064e-05 9.99997834e-01 -2.35655818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.746559995 meters 0.050660377954582426 Centerline is valid? [True, True] Translation: X:315.42, Y:-40.57, Z:-2.36 [[ 9.58479947e-01 2.85152471e-01 -2.06397976e-03 3.15423434e+02] [-2.85151843e-01 9.58482169e-01 5.98459620e-04 -4.05664512e+01] [ 2.14894004e-03 1.49360878e-05 9.99997691e-01 -2.35814766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.806559995 meters 0.05005002367838961 Centerline is valid? [True, True] Translation: X:315.48, Y:-40.58, Z:-2.36 [[ 9.58165039e-01 2.86214339e-01 -1.05415242e-03 3.15483338e+02] [-2.86214175e-01 9.58165618e-01 3.06545806e-04 -4.05847211e+01] [ 1.09779041e-03 7.99189073e-06 9.99999397e-01 -2.35623638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.866559995 meters 0.05104731043746963 Centerline is valid? [True, True] Translation: X:315.54, Y:-40.60, Z:-2.36 [[ 9.57791111e-01 2.87464482e-01 -5.99086856e-04 3.15543209e+02] [-2.87464429e-01 9.57791299e-01 1.74591287e-04 -4.06007790e+01] [ 6.23988972e-04 4.99417821e-06 9.99999805e-01 -2.35686111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.926559995 meters 0.050559534359848855 Centerline is valid? [True, True] Translation: X:315.60, Y:-40.62, Z:-2.36 [[ 9.57624047e-01 2.88020954e-01 3.37231265e-04 3.15603929e+02] [-2.88020938e-01 9.57624107e-01 -9.68319218e-05 -4.06171976e+01] [-3.50830411e-04 -4.40108826e-06 9.99999938e-01 -2.35657087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98655999499994 meters 0.05057716216289413 Centerline is valid? [True, True] Translation: X:315.66, Y:-40.63, Z:-2.36 [[ 9.57380041e-01 2.88831149e-01 1.58187926e-04 3.15662993e+02] [-2.88831145e-01 9.57380054e-01 -4.51037836e-05 -4.06327300e+01] [-1.64473343e-04 -2.50813770e-06 9.99999986e-01 -2.35675520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04655999499994 meters 0.05087602825148016 Centerline is valid? [True, True] Translation: X:315.72, Y:-40.64, Z:-2.36 [[ 9.57058624e-01 2.89893164e-01 8.62436498e-04 3.15723769e+02] [-2.89893057e-01 9.57059012e-01 -2.49609230e-04 -4.06436809e+01] [-8.97762632e-04 -1.11236866e-05 9.99999597e-01 -2.35905981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10655999499994 meters 0.05032435950146236 Centerline is valid? [True, True] Translation: X:315.78, Y:-40.66, Z:-2.36 [[ 9.57152348e-01 2.89578819e-01 1.86828976e-03 3.15783153e+02] [-2.89578313e-01 9.57154171e-01 -5.41823402e-04 -4.06624757e+01] [-1.94514192e-03 -2.24086561e-05 9.99998108e-01 -2.35778598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16655999499994 meters 0.05017986180518649 Centerline is valid? [True, True] Translation: X:315.84, Y:-40.68, Z:-2.36 [[ 9.57693776e-01 2.87777972e-01 2.54374482e-03 3.15841915e+02] [-2.87777026e-01 9.57697154e-01 -7.38374069e-04 -4.06789623e+01] [-2.64862496e-03 -2.48950669e-05 9.99996492e-01 -2.35792360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22655999499995 meters 0.051017461226460836 Centerline is valid? [True, True] Translation: X:315.90, Y:-40.69, Z:-2.36 [[ 9.58234482e-01 2.85973748e-01 2.38578366e-03 3.15901169e+02] [-2.85972910e-01 9.58237452e-01 -6.92744769e-04 -4.06949013e+01] [-2.48425407e-03 -1.84575701e-05 9.99996914e-01 -2.36006846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28655999499995 meters 0.050645053779605764 Centerline is valid? [True, True] Translation: X:315.96, Y:-40.71, Z:-2.36 [[ 9.58892991e-01 2.83754716e-01 2.73740968e-03 3.15961350e+02] [-2.83753601e-01 9.58896898e-01 -7.95564492e-04 -4.07123100e+01] [-2.85063883e-03 -1.38886404e-05 9.99995937e-01 -2.36165916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34655999499995 meters 0.05057283881865845 Centerline is valid? [True, True] Translation: X:316.02, Y:-40.73, Z:-2.36 [[ 9.59397354e-01 2.82047901e-01 2.38734732e-03 3.16019971e+02] [-2.82047049e-01 9.59400324e-01 -6.93571295e-04 -4.07303004e+01] [-2.48604212e-03 -7.93380103e-06 9.99996910e-01 -2.36106505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40655999499995 meters 0.04993088729545443 Centerline is valid? [True, True] Translation: X:316.08, Y:-40.75, Z:-2.36 [[ 9.59872396e-01 2.80417423e-01 3.32461442e-03 3.16079424e+02] [-2.80415756e-01 9.59878153e-01 -9.66801010e-04 -4.07468479e+01] [-3.46233260e-03 -4.26866646e-06 9.99994006e-01 -2.36345264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46655999499995 meters 0.05000853755633538 Centerline is valid? [True, True] Translation: X:316.14, Y:-40.76, Z:-2.36 [[ 9.59909877e-01 2.80294718e-01 2.81060907e-03 3.16139672e+02] [-2.80293527e-01 9.59913991e-01 -8.17046009e-04 -4.07634196e+01] [-2.92695665e-03 -3.50499543e-06 9.99995716e-01 -2.36432036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52655999499996 meters 0.050819377759165354 Centerline is valid? [True, True] Translation: X:316.20, Y:-40.78, Z:-2.37 [[ 9.59623961e-01 2.81265839e-01 3.37365411e-03 3.16200800e+02] [-2.81264126e-01 9.59629891e-01 -9.81559482e-04 -4.07772020e+01] [-3.51353848e-03 -6.95987842e-06 9.99993827e-01 -2.36676975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58655999499996 meters 0.05044760549089233 Centerline is valid? [True, True] Translation: X:316.26, Y:-40.79, Z:-2.37 [[ 9.59632335e-01 2.81232960e-01 3.71530224e-03 3.16261289e+02] [-2.81230883e-01 9.59639527e-01 -1.08096595e-03 -4.07945363e+01] [-3.86935413e-03 -7.52784876e-06 9.99992514e-01 -2.36649561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64655999499996 meters 0.04992376533881621 Centerline is valid? [True, True] Translation: X:316.32, Y:-40.81, Z:-2.37 [[ 9.59798619e-01 2.80656940e-01 4.27700468e-03 3.16320247e+02] [-2.80654177e-01 9.59808149e-01 -1.24530535e-03 -4.08109651e+01] [-4.45460754e-03 -5.11686913e-06 9.99990078e-01 -2.36566195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70655999499996 meters 0.050084835445540536 Centerline is valid? [True, True] Translation: X:316.38, Y:-40.83, Z:-2.37 [[ 9.60035688e-01 2.79851698e-01 3.80856170e-03 3.16381017e+02] [-2.79849501e-01 9.60043242e-01 -1.10888854e-03 -4.08264322e+01] [-3.96670827e-03 -1.25151916e-06 9.99992133e-01 -2.36696996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76655999499997 meters 0.05053060154868269 Centerline is valid? [True, True] Translation: X:316.44, Y:-40.84, Z:-2.37 [[ 9.60465442e-01 2.78376703e-01 3.54216159e-03 3.16441281e+02] [-2.78374791e-01 9.60471973e-01 -1.03172999e-03 -4.08439468e+01] [-3.68935652e-03 4.89251033e-06 9.99993194e-01 -2.36806649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82655999499997 meters 0.05012407957381674 Centerline is valid? [True, True] Translation: X:316.50, Y:-40.86, Z:-2.37 [[ 9.60845559e-01 2.77067854e-01 3.03567639e-03 3.16502688e+02] [-2.77066443e-01 9.60850355e-01 -8.84414793e-04 -4.08596468e+01] [-3.16187364e-03 8.70196898e-06 9.99995001e-01 -2.36755081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88655999499997 meters 0.05163820905917721 Centerline is valid? [True, True] Translation: X:316.56, Y:-40.87, Z:-2.37 [[ 9.60752022e-01 2.77400193e-01 2.16453474e-03 3.16563123e+02] [-2.77399476e-01 9.60754460e-01 -6.30685490e-04 -4.08749430e+01] [-2.25453868e-03 5.49155775e-06 9.99997459e-01 -2.36940168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.946559995 meters 0.05060924871197036 Centerline is valid? [True, True] Translation: X:316.62, Y:-40.89, Z:-2.37 [[ 9.60236709e-01 2.79178182e-01 2.23736710e-03 3.16623396e+02] [-2.79177420e-01 9.60239315e-01 -6.52344535e-04 -4.08881018e+01] [-2.33052821e-03 1.78279493e-06 9.99997284e-01 -2.36931570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.006559995 meters 0.05078522886611046 Centerline is valid? [True, True] Translation: X:316.68, Y:-40.90, Z:-2.37 [[ 9.59527531e-01 2.81609675e-01 1.70535602e-03 3.16683905e+02] [-2.81609237e-01 9.59529046e-01 -4.97106961e-04 -4.09028144e+01] [-1.77632876e-03 -3.25619179e-06 9.99998422e-01 -2.37096241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.066559995 meters 0.05010596565039847 Centerline is valid? [True, True] Translation: X:316.74, Y:-40.92, Z:-2.37 [[ 9.58929448e-01 2.83630930e-01 2.79463508e-03 3.16744841e+02] [-2.83629757e-01 9.58933520e-01 -8.15663487e-04 -4.09182681e+01] [-2.91121665e-03 -1.04779308e-05 9.99995762e-01 -2.37033708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.126559995 meters 0.050655263703260726 Centerline is valid? [True, True] Translation: X:316.81, Y:-40.93, Z:-2.37 [[ 9.58222322e-01 2.86003628e-01 3.45064136e-03 3.16805077e+02] [-2.86001852e-01 9.58228534e-01 -1.00811339e-03 -4.09291139e+01] [-3.59482710e-03 -2.08930648e-05 9.99993538e-01 -2.37268510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.186559995 meters 0.050563064132963104 Centerline is valid? [True, True] Translation: X:316.86, Y:-40.95, Z:-2.37 [[ 9.56955281e-01 2.90217625e-01 3.21248355e-03 3.16864601e+02] [-2.90216110e-01 9.56960673e-01 -9.38489337e-04 -4.09464597e+01] [-3.34658656e-03 -3.42221499e-05 9.99994400e-01 -2.37096091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.246559995 meters 0.05200768532975642 Centerline is valid? [True, True] Translation: X:316.93, Y:-40.95, Z:-2.38 [[ 9.55313691e-01 2.95583627e-01 2.46403333e-03 3.16926056e+02] [-2.95582752e-01 9.55316868e-01 -7.20517754e-04 -4.09495280e+01] [-2.56690585e-03 -4.00052763e-05 9.99996705e-01 -2.37507729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.306559995 meters 0.05076472960263174 Centerline is valid? [True, True] Translation: X:316.98, Y:-40.97, Z:-2.37 [[ 9.54717430e-01 2.97505905e-01 2.20580891e-03 3.16983909e+02] [-2.97505209e-01 9.54719977e-01 -6.44841065e-04 -4.09734252e+01] [-2.29777386e-03 -4.05986379e-05 9.99997359e-01 -2.37281304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.366559995 meters 0.05050895982733074 Centerline is valid? [True, True] Translation: X:317.04, Y:-40.99, Z:-2.37 [[ 9.53585217e-01 3.01120941e-01 1.18840977e-03 3.17043074e+02] [-3.01120742e-01 9.53585957e-01 -3.47498311e-04 -4.09882165e+01] [-1.23788989e-03 -2.64855796e-05 9.99999233e-01 -2.37373040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.426559995 meters 0.050665035809481736 Centerline is valid? [True, True] Translation: X:317.10, Y:-41.01, Z:-2.37 [[ 9.53106818e-01 3.02632204e-01 1.06929287e-03 3.17102686e+02] [-3.02632043e-01 9.53107417e-01 -3.12517732e-04 -4.10057736e+01] [-1.11372890e-03 -2.57395058e-05 9.99999379e-01 -2.37364586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48655999499994 meters 0.05034326954636782 Centerline is valid? [True, True] Translation: X:317.16, Y:-41.03, Z:-2.37 [[ 9.52892211e-01 3.03309046e-01 2.39585987e-04 3.17161792e+02] [-3.03309038e-01 9.52892241e-01 -6.92426648e-05 -4.10256982e+01] [-2.49301554e-04 -6.68779919e-06 9.99999969e-01 -2.37408367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54655999499994 meters 0.050585541604565944 Centerline is valid? [True, True] Translation: X:317.22, Y:-41.04, Z:-2.38 [[ 9.53031405e-01 3.02871384e-01 2.56235319e-04 3.17220487e+02] [-3.02871375e-01 9.53031440e-01 -7.42061651e-05 -4.10416950e+01] [-2.66675239e-04 -6.88553753e-06 9.99999964e-01 -2.37565643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60655999499994 meters 0.0512998648650171 Centerline is valid? [True, True] Translation: X:317.28, Y:-41.06, Z:-2.38 [[ 9.53719178e-01 3.00695629e-01 1.36646819e-03 3.17278495e+02] [-3.00695365e-01 9.53720157e-01 -3.99904507e-04 -4.10593562e+01] [-1.42347779e-03 -2.94940534e-05 9.99998986e-01 -2.37544767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66655999499994 meters 0.05041589820281713 Centerline is valid? [True, True] Translation: X:317.34, Y:-41.09, Z:-2.37 [[ 9.54379068e-01 2.98593175e-01 1.64634993e-03 3.17335188e+02] [-2.98592787e-01 9.54380488e-01 -4.81815058e-04 -4.10859027e+01] [-1.71511094e-03 -3.17540081e-05 9.99998529e-01 -2.37353678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72655999499995 meters 0.05028337216194996 Centerline is valid? [True, True] Translation: X:317.39, Y:-41.10, Z:-2.38 [[ 9.55225528e-01 2.95875377e-01 1.39699634e-03 3.17392721e+02] [-2.95875096e-01 9.55226549e-01 -4.08948706e-04 -4.11035312e+01] [-1.45544585e-03 -2.26981824e-05 9.99998941e-01 -2.37606308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78655999499995 meters 0.05042336328382451 Centerline is valid? [True, True] Translation: X:317.45, Y:-41.13, Z:-2.38 [[ 9.55672871e-01 2.94430490e-01 2.24408137e-04 3.17450427e+02] [-2.94430483e-01 9.55672897e-01 -6.48817119e-05 -4.11261590e+01] [-2.33563928e-04 -4.06690421e-06 9.99999973e-01 -2.37687154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84655999499995 meters 0.051373936990113764 Centerline is valid? [True, True] Translation: X:317.51, Y:-41.15, Z:-2.38 [[ 9.55747965e-01 2.94186637e-01 -2.22556774e-04 3.17509989e+02] [-2.94186629e-01 9.55747991e-01 6.62322050e-05 -4.11482438e+01] [ 2.32192820e-04 2.17193216e-06 9.99999973e-01 -2.37695078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90655999499995 meters 0.05020682294004216 Centerline is valid? [True, True] Translation: X:317.57, Y:-41.16, Z:-2.38 [[ 9.55480971e-01 2.95051729e-01 -7.68339058e-04 3.17568317e+02] [-2.95051643e-01 9.55481280e-01 2.25295388e-04 -4.11647983e+01] [ 8.00607380e-04 1.14342457e-05 9.99999679e-01 -2.37954564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96655999499995 meters 0.051131356988798185 Centerline is valid? [True, True] Translation: X:317.63, Y:-41.19, Z:-2.38 [[ 9.55166491e-01 2.96069041e-01 -3.11397818e-04 3.17626732e+02] [-2.96069027e-01 9.55166542e-01 9.21453904e-05 -4.11852018e+01] [ 3.24718174e-04 4.18105960e-06 9.99999947e-01 -2.37884810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02655999499996 meters 0.049806501467043504 Centerline is valid? [True, True] Translation: X:317.68, Y:-41.21, Z:-2.38 [[ 9.54688057e-01 2.97606774e-01 -9.60554544e-04 3.17684923e+02] [-2.97606640e-01 9.54688540e-01 2.82598291e-04 -4.12072502e+01] [ 1.00113358e-03 1.60741977e-05 9.99999499e-01 -2.37862507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08655999499996 meters 0.050132923576911924 Centerline is valid? [True, True] Translation: X:317.74, Y:-41.23, Z:-2.38 [[ 9.54423496e-01 2.98452461e-01 -1.38489080e-03 3.17743410e+02] [-2.98452185e-01 9.54424501e-01 4.07223949e-04 -4.12273471e+01] [ 1.44331070e-03 2.46595790e-05 9.99998958e-01 -2.37884951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14655999499996 meters 0.05011325368058615 Centerline is valid? [True, True] Translation: X:317.80, Y:-41.25, Z:-2.38 [[ 9.54028983e-01 2.99708595e-01 -1.85918823e-03 3.17801973e+02] [-2.99708099e-01 9.54030794e-01 5.46538267e-04 -4.12465339e+01] [ 1.93752504e-03 3.58004223e-05 9.99998122e-01 -2.37941122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20655999499996 meters 0.050887628094949025 Centerline is valid? [True, True] Translation: X:317.86, Y:-41.26, Z:-2.38 [[ 9.53641030e-01 3.00942627e-01 -1.52378086e-03 3.17860178e+02] [-3.00942294e-01 9.53642247e-01 4.48245159e-04 -4.12642992e+01] [ 1.58803788e-03 3.11051333e-05 9.99998739e-01 -2.37972915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26655999499997 meters 0.04986071207017501 Centerline is valid? [True, True] Translation: X:317.92, Y:-41.29, Z:-2.38 [[ 9.53760421e-01 3.00567724e-01 -3.19119518e-04 3.17918560e+02] [-3.00567709e-01 9.53760475e-01 9.46054946e-05 -4.12853618e+01] [ 3.32798941e-04 5.68604606e-06 9.99999945e-01 -2.37776056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32655999499997 meters 0.050264459990530946 Centerline is valid? [True, True] Translation: X:317.98, Y:-41.30, Z:-2.38 [[ 9.54441580e-01 2.98395770e-01 1.11119972e-03 3.17978074e+02] [-2.98395593e-01 9.54442227e-01 -3.26214696e-04 -4.13012652e+01] [-1.15791702e-03 -2.02242288e-05 9.99999329e-01 -2.37771638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38655999499997 meters 0.04982039373008721 Centerline is valid? [True, True] Translation: X:318.04, Y:-41.32, Z:-2.38 [[ 9.54658208e-01 2.97700797e-01 1.39317728e-03 3.18038515e+02] [-2.97700518e-01 9.54659224e-01 -4.08628473e-04 -4.13174893e+01] [-1.45165856e-03 -2.46490709e-05 9.99998946e-01 -2.37803956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.446559995 meters 0.05006870789538124 Centerline is valid? [True, True] Translation: X:318.10, Y:-41.33, Z:-2.38 [[ 9.54560745e-01 2.98015439e-01 7.63349150e-04 3.18098833e+02] [-2.98015355e-01 9.54561050e-01 -2.23658864e-04 -4.13295705e+01] [-7.95317160e-04 -1.39937960e-05 9.99999684e-01 -2.38013716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.506559995 meters 0.04975982942078636 Centerline is valid? [True, True] Translation: X:318.16, Y:-41.35, Z:-2.38 [[ 9.54024370e-01 2.99728885e-01 -3.10960784e-04 3.18157951e+02] [-2.99728871e-01 9.54024421e-01 9.16939210e-05 -4.13487747e+01] [ 3.24147499e-04 5.72568950e-06 9.99999947e-01 -2.37972330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.566559995 meters 0.049971668249953215 Centerline is valid? [True, True] Translation: X:318.22, Y:-41.36, Z:-2.38 [[ 9.52905874e-01 3.03253888e-01 -2.73410932e-03 3.18217580e+02] [-3.03252828e-01 9.52909794e-01 8.04212164e-04 -4.13628547e+01] [ 2.84924001e-03 6.27878875e-05 9.99995939e-01 -2.38245131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.626559995 meters 0.05074099241304399 Centerline is valid? [True, True] Translation: X:318.28, Y:-41.38, Z:-2.39 [[ 9.52789567e-01 3.03580052e-01 -5.58512364e-03 3.18276941e+02] [-3.03575629e-01 9.52805927e-01 1.64397381e-03 -4.13795673e+01] [ 5.82061656e-03 1.29146322e-04 9.99983052e-01 -2.38534578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.686559995 meters 0.05057730295161489 Centerline is valid? [True, True] Translation: X:318.34, Y:-41.40, Z:-2.38 [[ 9.53692054e-01 3.00727178e-01 -5.88480295e-03 3.18335627e+02] [-3.00722216e-01 9.53710202e-01 1.73168443e-03 -4.13992130e+01] [ 6.13316118e-03 1.18197299e-04 9.99981185e-01 -2.38466302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.746559995 meters 0.05010090001082401 Centerline is valid? [True, True] Translation: X:318.39, Y:-41.42, Z:-2.38 [[ 9.55646284e-01 2.94498777e-01 -3.26344729e-03 3.18392523e+02] [-2.94497214e-01 9.55651855e-01 9.60415975e-04 -4.14216974e+01] [ 3.40156079e-03 4.32581791e-05 9.99994214e-01 -2.38229299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.806559995 meters 0.050476503737600736 Centerline is valid? [True, True] Translation: X:318.45, Y:-41.44, Z:-2.38 [[ 9.56972941e-01 2.90171861e-01 -1.75534003e-03 3.18449916e+02] [-2.90171401e-01 9.56974551e-01 5.16591457e-04 -4.14408873e+01] [ 1.82971604e-03 1.49854297e-05 9.99998326e-01 -2.38190937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.866559995 meters 0.04988680987860609 Centerline is valid? [True, True] Translation: X:318.51, Y:-41.46, Z:-2.38 [[ 9.58743019e-01 2.84274170e-01 -1.43464266e-04 3.18507037e+02] [-2.84274167e-01 9.58743029e-01 4.22790332e-05 -4.14605285e+01] [ 1.49564202e-04 2.48456672e-07 9.99999989e-01 -2.38441715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.926559995 meters 0.05075760691580183 Centerline is valid? [True, True] Translation: X:318.57, Y:-41.48, Z:-2.38 [[ 9.59620473e-01 2.81296986e-01 -7.43954578e-04 3.18567931e+02] [-2.81296900e-01 9.59620761e-01 2.20021520e-04 -4.14783519e+01] [ 7.75805649e-04 -1.86503880e-06 9.99999699e-01 -2.38304401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98655999499994 meters 0.050887668006734124 Centerline is valid? [True, True] Translation: X:318.63, Y:-41.50, Z:-2.39 [[ 9.60118096e-01 2.79590652e-01 -1.51929652e-03 3.18625651e+02] [-2.79590293e-01 9.60119298e-01 4.47824293e-04 -4.14969454e+01] [ 1.58391339e-03 -5.18364796e-06 9.99998746e-01 -2.38619610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04655999499994 meters 0.05043746564823552 Centerline is valid? [True, True] Translation: X:318.69, Y:-41.51, Z:-2.38 [[ 9.60949149e-01 2.76710415e-01 -2.84230328e-03 3.18685358e+02] [-2.76709147e-01 9.60953353e-01 8.38180278e-04 -4.15133295e+01] [ 2.96325408e-03 -1.89573102e-05 9.99995609e-01 -2.38485646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10655999499994 meters 0.05087439503855963 Centerline is valid? [True, True] Translation: X:318.74, Y:-41.53, Z:-2.39 [[ 9.61469801e-01 2.74891750e-01 -3.21677494e-03 3.18744786e+02] [-2.74890116e-01 9.61475182e-01 9.48087672e-04 -4.15319666e+01] [ 3.35347074e-03 -2.72980303e-05 9.99994377e-01 -2.38696212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16655999499994 meters 0.05180815676569361 Centerline is valid? [True, True] Translation: X:318.80, Y:-41.55, Z:-2.39 [[ 9.62263219e-01 2.72096122e-01 -3.63275741e-03 3.18804881e+02] [-2.72094015e-01 9.62270076e-01 1.07165092e-03 -4.15485079e+01] [ 3.78728580e-03 -4.27587157e-05 9.99992827e-01 -2.38645208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22655999499995 meters 0.051328012706609756 Centerline is valid? [True, True] Translation: X:318.86, Y:-41.57, Z:-2.39 [[ 9.62298572e-01 2.71963569e-01 -4.15638629e-03 3.18864637e+02] [-2.71960808e-01 9.62307547e-01 1.22647211e-03 -4.15654274e+01] [ 4.33327763e-03 -4.98581831e-05 9.99990610e-01 -2.38672057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28655999499995 meters 0.051694319920361644 Centerline is valid? [True, True] Translation: X:318.92, Y:-41.58, Z:-2.39 [[ 9.62210139e-01 2.72284503e-01 -3.57734609e-03 3.18924682e+02] [-2.72282461e-01 9.62216788e-01 1.05536940e-03 -4.15799666e+01] [ 3.72954320e-03 -4.14385429e-05 9.99993044e-01 -2.38539729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34655999499995 meters 0.051394549899964725 Centerline is valid? [True, True] Translation: X:318.99, Y:-41.59, Z:-2.38 [[ 9.61462422e-01 2.74929469e-01 -1.94917195e-03 3.18985423e+02] [-2.74928866e-01 9.61464397e-01 5.76044478e-04 -4.15926742e+01] [ 2.03243104e-03 -1.79614840e-05 9.99997934e-01 -2.38384286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40655999499995 meters 0.051294760184702255 Centerline is valid? [True, True] Translation: X:319.05, Y:-41.61, Z:-2.38 [[ 9.60760110e-01 2.77377612e-01 -1.29281141e-03 3.19045416e+02] [-2.77377349e-01 9.60760980e-01 3.82552828e-04 -4.16074606e+01] [ 1.34819435e-03 -8.94489489e-06 9.99999091e-01 -2.38361636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46655999499995 meters 0.0516582307848252 Centerline is valid? [True, True] Translation: X:319.11, Y:-41.62, Z:-2.38 [[ 9.59694896e-01 2.81042637e-01 -8.61436563e-04 3.19105497e+02] [-2.81042521e-01 9.59695283e-01 2.55249468e-04 -4.16212576e+01] [ 8.98452590e-04 -2.86130859e-06 9.99999596e-01 -2.38366640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52655999499996 meters 0.05080334971138349 Centerline is valid? [True, True] Translation: X:319.17, Y:-41.64, Z:-2.38 [[ 9.58953235e-01 2.83563514e-01 -6.53334942e-04 3.19165813e+02] [-2.83563448e-01 9.58953457e-01 1.93900964e-04 -4.16351629e+01] [ 6.81501040e-04 -6.80047875e-07 9.99999768e-01 -2.38345544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58655999499996 meters 0.05152005103467344 Centerline is valid? [True, True] Translation: X:319.23, Y:-41.65, Z:-2.38 [[ 9.58081164e-01 2.86496204e-01 6.39456063e-04 3.19226916e+02] [-2.86496142e-01 9.58081377e-01 -1.88104319e-04 -4.16473234e+01] [-6.66542119e-04 -2.98249003e-06 9.99999778e-01 -2.38271331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64655999499996 meters 0.0513805118980556 Centerline is valid? [True, True] Translation: X:319.29, Y:-41.66, Z:-2.38 [[ 9.57975920e-01 2.86844351e-01 1.56690554e-03 3.19286419e+02] [-2.86843978e-01 9.57977201e-01 -4.62726542e-04 -4.16617382e+01] [-1.63379028e-03 -6.17653346e-06 9.99998665e-01 -2.38327415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70655999499996 meters 0.05095820991259313 Centerline is valid? [True, True] Translation: X:319.35, Y:-41.68, Z:-2.39 [[ 9.58130480e-01 2.86331190e-01 6.58301369e-04 3.19346613e+02] [-2.86331124e-01 9.58130706e-01 -1.93775356e-04 -4.16761513e+01] [-6.86222684e-04 -2.83009582e-06 9.99999765e-01 -2.38652476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76655999499997 meters 0.0509565855652418 Centerline is valid? [True, True] Translation: X:319.41, Y:-41.69, Z:-2.39 [[ 9.58285015e-01 2.85813756e-01 -5.72176961e-04 3.19405944e+02] [-2.85813706e-01 9.58285185e-01 1.70138151e-04 -4.16934778e+01] [ 5.96936529e-04 4.95177318e-07 9.99999822e-01 -2.38694728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82655999499997 meters 0.05232132716812725 Centerline is valid? [True, True] Translation: X:319.47, Y:-41.71, Z:-2.39 [[ 9.58461221e-01 2.85213287e-01 -2.33873509e-03 3.19466277e+02] [-2.85212446e-01 9.58464074e-01 6.92419500e-04 -4.17091222e+01] [ 2.43908081e-03 3.37911851e-06 9.99997025e-01 -2.38677705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88655999499997 meters 0.05182177141006698 Centerline is valid? [True, True] Translation: X:319.53, Y:-41.73, Z:-2.39 [[ 9.58130965e-01 2.86294753e-01 -4.51312201e-03 3.19525752e+02] [-2.86291631e-01 9.58141594e-01 1.33693585e-03 -4.17250364e+01] [ 4.70696764e-03 1.11094247e-05 9.99988922e-01 -2.38821351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.946559995 meters 0.052577942884047595 Centerline is valid? [True, True] Translation: X:319.59, Y:-41.74, Z:-2.39 [[ 9.57788062e-01 2.87431632e-01 -5.00841543e-03 3.19585556e+02] [-2.87427804e-01 9.57801157e-01 1.48354406e-03 -4.17420665e+01] [ 5.22348359e-03 1.86370588e-05 9.99986357e-01 -2.38835403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.006559995 meters 0.05223021940946153 Centerline is valid? [True, True] Translation: X:319.65, Y:-41.76, Z:-2.39 [[ 9.57209010e-01 2.89370461e-01 -3.95569266e-03 3.19645002e+02] [-2.89368086e-01 9.57217183e-01 1.17275117e-03 -4.17598742e+01] [ 4.12581653e-03 2.20832220e-05 9.99991489e-01 -2.38738350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.066559995 meters 0.05217244443750944 Centerline is valid? [True, True] Translation: X:319.70, Y:-41.78, Z:-2.39 [[ 9.56477015e-01 2.91793565e-01 -2.86974382e-03 3.19704424e+02] [-2.91792324e-01 9.56481320e-01 8.51493640e-04 -4.17770780e+01] [ 2.99331672e-03 2.29351216e-05 9.99995520e-01 -2.38634539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.126559995 meters 0.05196220729474617 Centerline is valid? [True, True] Translation: X:319.76, Y:-41.79, Z:-2.39 [[ 9.55151671e-01 2.96109395e-01 -2.12395820e-03 3.19764110e+02] [-2.96108726e-01 9.55154032e-01 6.29819917e-04 -4.17929438e+01] [ 2.21520284e-03 2.73490116e-05 9.99997546e-01 -2.38665775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.186559995 meters 0.05200003486380997 Centerline is valid? [True, True] Translation: X:319.82, Y:-41.81, Z:-2.39 [[ 9.54135765e-01 2.99366319e-01 -2.17945089e-03 3.19823549e+02] [-2.99365622e-01 9.54138253e-01 6.46589402e-04 -4.18061641e+01] [ 2.27306456e-03 3.55185994e-05 9.99997416e-01 -2.38897790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.246559995 meters 0.05145026404477732 Centerline is valid? [True, True] Translation: X:319.88, Y:-41.83, Z:-2.39 [[ 9.53180955e-01 3.02381368e-01 -3.40210079e-03 3.19880930e+02] [-3.02379693e-01 9.53187024e-01 1.00873257e-03 -4.18269538e+01] [ 3.54786026e-03 6.72215175e-05 9.99993704e-01 -2.38716871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.306559995 meters 0.0521406144856115 Centerline is valid? [True, True] Translation: X:319.94, Y:-41.84, Z:-2.39 [[ 9.52129376e-01 3.05667870e-01 -4.09937276e-03 3.19938733e+02] [-3.05665469e-01 9.52138196e-01 1.21540052e-03 -4.18432479e+01] [ 4.27467827e-03 9.58181542e-05 9.99990859e-01 -2.38902777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.366559995 meters 0.05151467875771823 Centerline is valid? [True, True] Translation: X:320.00, Y:-41.87, Z:-2.39 [[ 9.51595062e-01 3.07332871e-01 -3.65292060e-03 3.19996636e+02] [-3.07330972e-01 9.51602069e-01 1.08436847e-03 -4.18656632e+01] [ 3.80938888e-03 9.07759569e-05 9.99992740e-01 -2.38759106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.426559995 meters 0.05157777966219419 Centerline is valid? [True, True] Translation: X:320.06, Y:-41.88, Z:-2.39 [[ 9.51257370e-01 3.08368880e-01 -4.24851158e-03 3.20055865e+02] [-3.08366319e-01 9.51266851e-01 1.26144326e-03 -4.18805776e+01] [ 4.43045808e-03 1.10140679e-04 9.99990179e-01 -2.39057249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48655999499994 meters 0.05178632752089068 Centerline is valid? [True, True] Translation: X:320.11, Y:-41.90, Z:-2.39 [[ 9.50982957e-01 3.09195710e-01 -5.42474837e-03 3.20114413e+02] [-3.09191552e-01 9.50998418e-01 1.61007452e-03 -4.19023355e+01] [ 5.65675526e-03 1.46132940e-04 9.99983990e-01 -2.39188707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54655999499994 meters 0.050023324445890416 Centerline is valid? [True, True] Translation: X:320.17, Y:-41.93, Z:-2.39 [[ 9.51016604e-01 3.09087884e-01 -5.66555206e-03 3.20172965e+02] [-3.09083339e-01 9.51033468e-01 1.68310162e-03 -4.19281452e+01] [ 5.90835594e-03 1.50470154e-04 9.99982534e-01 -2.38954608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60655999499994 meters 0.052187262067163905 Centerline is valid? [True, True] Translation: X:320.23, Y:-41.94, Z:-2.39 [[ 9.51216634e-01 3.08484730e-01 -4.90778074e-03 3.20233069e+02] [-3.08481308e-01 9.51229287e-01 1.45848041e-03 -4.19406670e+01] [ 5.11834370e-03 1.26627796e-04 9.99986893e-01 -2.39426412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66655999499994 meters 0.05072111730574891 Centerline is valid? [True, True] Translation: X:320.29, Y:-41.97, Z:-2.39 [[ 9.51306826e-01 3.08227845e-01 -3.30443342e-03 3.20290367e+02] [-3.08226292e-01 9.51312561e-01 9.81899174e-04 -4.19675509e+01] [ 3.44619768e-03 8.44258748e-05 9.99994058e-01 -2.39040513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72655999499995 meters 0.05079956741838697 Centerline is valid? [True, True] Translation: X:320.35, Y:-41.99, Z:-2.39 [[ 9.51136954e-01 3.08763152e-01 -1.95193198e-03 3.20349103e+02] [-3.08762610e-01 9.51138956e-01 5.81103492e-04 -4.19919467e+01] [ 2.03598189e-03 4.99746065e-05 9.99997926e-01 -2.38822821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78655999499995 meters 0.05105598365410834 Centerline is valid? [True, True] Translation: X:320.41, Y:-42.00, Z:-2.39 [[ 9.50546935e-01 3.10574794e-01 -1.95469016e-03 3.20409359e+02] [-3.10574254e-01 9.50548944e-01 5.81955390e-04 -4.20035391e+01] [ 2.03876934e-03 5.39005251e-05 9.99997920e-01 -2.39161666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84655999499995 meters 0.05045212941037782 Centerline is valid? [True, True] Translation: X:320.47, Y:-42.02, Z:-2.39 [[ 9.50123888e-01 3.11862777e-01 -2.49130625e-03 3.20468241e+02] [-3.11861905e-01 9.50127151e-01 7.41014256e-04 -4.20243878e+01] [ 2.59815247e-03 7.28881674e-05 9.99996622e-01 -2.39178425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90655999499995 meters 0.05012756703143801 Centerline is valid? [True, True] Translation: X:320.53, Y:-42.05, Z:-2.39 [[ 9.49752695e-01 3.12983656e-01 -3.32413479e-03 3.20526402e+02] [-3.12982110e-01 9.49758507e-01 9.88777749e-04 -4.20481006e+01] [ 3.46659657e-03 1.01300391e-04 9.99993986e-01 -2.39023910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96655999499995 meters 0.050647849485296284 Centerline is valid? [True, True] Translation: X:320.59, Y:-42.06, Z:-2.39 [[ 9.50322040e-01 3.11245047e-01 -3.81331501e-03 3.20585843e+02] [-3.11243000e-01 9.50329684e-01 1.13419215e-03 -4.20614309e+01] [ 3.97691814e-03 1.09019803e-04 9.99992086e-01 -2.39324642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02655999499996 meters 0.05075095555663372 Centerline is valid? [True, True] Translation: X:320.64, Y:-42.08, Z:-2.39 [[ 9.50870848e-01 3.09573415e-01 -2.98840029e-03 3.20644250e+02] [-3.09572148e-01 9.50875541e-01 8.89086343e-04 -4.20824469e+01] [ 3.11683424e-03 7.97192136e-05 9.99995139e-01 -2.39250956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08655999499996 meters 0.05133239488511345 Centerline is valid? [True, True] Translation: X:320.70, Y:-42.10, Z:-2.39 [[ 9.51645772e-01 3.07194305e-01 -1.40877383e-03 3.20702437e+02] [-3.07194020e-01 9.51646814e-01 4.19221247e-04 -4.21018637e+01] [ 1.46943751e-03 3.38167701e-05 9.99998920e-01 -2.39219327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14655999499996 meters 0.05014169629913312 Centerline is valid? [True, True] Translation: X:320.76, Y:-42.12, Z:-2.39 [[ 9.52594860e-01 3.04241571e-01 3.14012161e-04 3.20759542e+02] [-3.04241557e-01 9.52594912e-01 -9.34212838e-05 -4.21191571e+01] [-3.27549025e-04 -6.54291402e-06 9.99999946e-01 -2.39235322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20655999499996 meters 0.05097060803180466 Centerline is valid? [True, True] Translation: X:320.82, Y:-42.14, Z:-2.39 [[ 9.53421039e-01 3.01640145e-01 1.24278852e-03 3.20817851e+02] [-3.01639919e-01 9.53421849e-01 -3.69572942e-04 -4.21368536e+01] [-1.29637977e-03 -2.25160107e-05 9.99999159e-01 -2.39296836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26655999499997 meters 0.051573735674912496 Centerline is valid? [True, True] Translation: X:320.88, Y:-42.16, Z:-2.39 [[ 9.54139064e-01 2.99362313e-01 9.23567717e-04 3.20876339e+02] [-2.99362188e-01 9.54139510e-01 -2.74465700e-04 -4.21592873e+01] [-9.63377136e-04 -1.46028057e-05 9.99999536e-01 -2.39258676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32655999499997 meters 0.05009450913515629 Centerline is valid? [True, True] Translation: X:320.94, Y:-42.18, Z:-2.39 [[ 9.53822623e-01 3.00368711e-01 -1.02079029e-03 3.20936454e+02] [-3.00368557e-01 9.53823169e-01 3.04695709e-04 -4.21757977e+01] [ 1.06517449e-03 1.59876468e-05 9.99999433e-01 -2.39446940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38655999499997 meters 0.05197433470393997 Centerline is valid? [True, True] Translation: X:321.00, Y:-42.19, Z:-2.40 [[ 9.53177325e-01 3.02409848e-01 -1.12704476e-03 3.20996049e+02] [-3.02409662e-01 9.53177991e-01 3.36372971e-04 -4.21893371e+01] [ 1.17599676e-03 2.02061374e-05 9.99999308e-01 -2.39587443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.446559995 meters 0.051698638197417865 Centerline is valid? [True, True] Translation: X:321.06, Y:-42.20, Z:-2.40 [[ 9.52429050e-01 3.04756071e-01 -1.62550345e-03 3.21055416e+02] [-3.04755689e-01 9.52430436e-01 4.84074233e-04 -4.22012509e+01] [ 1.69570353e-03 3.43350633e-05 9.99998562e-01 -2.39743861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.506559995 meters 0.051226932664830936 Centerline is valid? [True, True] Translation: X:321.11, Y:-42.22, Z:-2.40 [[ 9.52416048e-01 3.04796579e-01 -1.64865513e-03 3.21114781e+02] [-3.04796183e-01 9.52417474e-01 4.92110954e-04 -4.22222616e+01] [ 1.72020169e-03 3.38094227e-05 9.99998520e-01 -2.39579549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.566559995 meters 0.05109865857717914 Centerline is valid? [True, True] Translation: X:321.17, Y:-42.24, Z:-2.40 [[ 9.53056393e-01 3.02789441e-01 -1.43778510e-03 3.21173217e+02] [-3.02789139e-01 9.53057477e-01 4.28462143e-04 -4.22414778e+01] [ 1.50002565e-03 2.69971266e-05 9.99998875e-01 -2.39578385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.626559995 meters 0.051519362731810195 Centerline is valid? [True, True] Translation: X:321.23, Y:-42.26, Z:-2.40 [[ 9.54358671e-01 2.98661799e-01 -8.10363624e-04 3.21231014e+02] [-2.98661702e-01 9.54359015e-01 2.41519938e-04 -4.22586748e+01] [ 8.45510609e-04 1.15279324e-05 9.99999642e-01 -2.39797472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.686559995 meters 0.05133858195040268 Centerline is valid? [True, True] Translation: X:321.29, Y:-42.28, Z:-2.40 [[ 9.55477990e-01 2.95062254e-01 -2.76338933e-04 3.21288634e+02] [-2.95062243e-01 9.55478030e-01 8.24547741e-05 -4.22790826e+01] [ 2.88365071e-04 2.75346355e-06 9.99999958e-01 -2.39789910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.746559995 meters 0.05049040872924933 Centerline is valid? [True, True] Translation: X:321.35, Y:-42.30, Z:-2.40 [[ 9.57232381e-01 2.89319789e-01 4.78280652e-04 3.21346554e+02] [-2.89319754e-01 9.57232500e-01 -1.42327246e-04 -4.22999056e+01] [-4.99003873e-04 -2.13579229e-06 9.99999875e-01 -2.39805006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.806559995 meters 0.051419218741562925 Centerline is valid? [True, True] Translation: X:321.41, Y:-42.32, Z:-2.40 [[ 9.58298840e-01 2.85766439e-01 -9.35763136e-04 3.21406526e+02] [-2.85766302e-01 9.58299297e-01 2.79963901e-04 -4.23206651e+01] [ 9.76745442e-04 -8.79510396e-07 9.99999523e-01 -2.39904933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.866559995 meters 0.050755985203333215 Centerline is valid? [True, True] Translation: X:321.47, Y:-42.34, Z:-2.40 [[ 9.58679061e-01 2.84487436e-01 -1.16453920e-03 3.21465664e+02] [-2.84487223e-01 9.58679769e-01 3.48254918e-04 -4.23391005e+01] [ 1.21549432e-03 -2.56817437e-06 9.99999261e-01 -2.39965514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.926559995 meters 0.05092065202916971 Centerline is valid? [True, True] Translation: X:321.52, Y:-42.35, Z:-2.40 [[ 9.58547356e-01 2.84923774e-01 -2.32580814e-03 3.21524951e+02] [-2.84922927e-01 9.58550178e-01 6.94694785e-04 -4.23546528e+01] [ 2.42733887e-03 -3.22178494e-06 9.99997054e-01 -2.39883217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98655999499994 meters 0.051374649587211864 Centerline is valid? [True, True] Translation: X:321.59, Y:-42.37, Z:-2.40 [[ 9.57990418e-01 2.86788753e-01 -2.56339399e-03 3.21586187e+02] [-2.86787732e-01 9.57993847e-01 7.65371068e-04 -4.23711055e+01] [ 2.67521548e-03 1.93179839e-06 9.99996422e-01 -2.40254060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04655999499994 meters 0.05062627519052341 Centerline is valid? [True, True] Translation: X:321.65, Y:-42.39, Z:-2.40 [[ 9.57465160e-01 2.88537140e-01 -2.60517095e-03 3.21645859e+02] [-2.88536092e-01 9.57468704e-01 7.77856005e-04 -4.23880184e+01] [ 2.71881000e-03 6.91582046e-06 9.99996304e-01 -2.40188664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10655999499994 meters 0.05066868485488503 Centerline is valid? [True, True] Translation: X:321.71, Y:-42.40, Z:-2.40 [[ 9.56657144e-01 2.91206424e-01 -2.43478954e-03 3.21705399e+02] [-2.91205515e-01 9.56660242e-01 7.27795340e-04 -4.24038330e+01] [ 2.54120503e-03 1.27735323e-05 9.99996771e-01 -2.40300235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16655999499994 meters 0.051217124247274315 Centerline is valid? [True, True] Translation: X:321.77, Y:-42.42, Z:-2.40 [[ 9.55615391e-01 2.94604825e-01 -2.68747915e-03 3.21765051e+02] [-2.94603730e-01 9.55619169e-01 8.03558594e-04 -4.24197033e+01] [ 2.80493883e-03 2.38484216e-05 9.99996066e-01 -2.40209790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22655999499995 meters 0.051122758604384366 Centerline is valid? [True, True] Translation: X:321.82, Y:-42.44, Z:-2.40 [[ 9.55259014e-01 2.95766052e-01 -1.63061381e-03 3.21824873e+02] [-2.95765650e-01 9.55260405e-01 4.87830312e-04 -4.24365165e+01] [ 1.70194445e-03 1.62752503e-05 9.99998552e-01 -2.40278512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28655999499995 meters 0.05124321732192757 Centerline is valid? [True, True] Translation: X:321.88, Y:-42.45, Z:-2.40 [[ 9.54987750e-01 2.96644883e-01 -4.58957103e-04 3.21884225e+02] [-2.96644851e-01 9.54987860e-01 1.38115153e-04 -4.24535366e+01] [ 4.79269615e-04 4.24898243e-06 9.99999885e-01 -2.40291370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34655999499995 meters 0.05110020910034164 Centerline is valid? [True, True] Translation: X:321.94, Y:-42.47, Z:-2.40 [[ 9.54590029e-01 2.97922545e-01 -1.83183057e-04 3.21943526e+02] [-2.97922540e-01 9.54590047e-01 5.56479659e-05 -4.24721311e+01] [ 1.91443507e-04 1.45336824e-06 9.99999982e-01 -2.40248233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40655999499995 meters 0.05083531332956397 Centerline is valid? [True, True] Translation: X:322.00, Y:-42.49, Z:-2.40 [[ 9.53986137e-01 2.99850711e-01 -3.51326588e-05 3.22003410e+02] [-2.99850710e-01 9.53986138e-01 1.13811810e-05 -4.24880138e+01] [ 3.69287246e-05 -3.22936173e-07 9.99999999e-01 -2.40356895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46655999499995 meters 0.05083878849945098 Centerline is valid? [True, True] Translation: X:322.06, Y:-42.51, Z:-2.40 [[ 9.53573216e-01 3.01161000e-01 -4.17389656e-04 3.22063257e+02] [-3.01160974e-01 9.53573307e-01 1.25784577e-04 -4.25051962e+01] [ 4.35893043e-04 5.75667187e-06 9.99999905e-01 -2.40417397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52655999499996 meters 0.05114121494704408 Centerline is valid? [True, True] Translation: X:322.12, Y:-42.52, Z:-2.40 [[ 9.53017845e-01 3.02914073e-01 -2.26328396e-04 3.22121745e+02] [-3.02914066e-01 9.53017872e-01 6.78636143e-05 -4.25214310e+01] [ 2.36251850e-04 3.88281911e-06 9.99999972e-01 -2.40483520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58655999499996 meters 0.05052166763888735 Centerline is valid? [True, True] Translation: X:322.18, Y:-42.54, Z:-2.41 [[ 9.52773713e-01 3.03681023e-01 2.97961369e-04 3.22182164e+02] [-3.03681010e-01 9.52773759e-01 -8.83730028e-05 -4.25378530e+01] [-3.10726977e-04 -6.28573529e-06 9.99999952e-01 -2.40577525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64655999499996 meters 0.051145908862377625 Centerline is valid? [True, True] Translation: X:322.24, Y:-42.56, Z:-2.41 [[ 9.52228320e-01 3.05385926e-01 -8.14663867e-04 3.22241026e+02] [-3.05385828e-01 9.52228668e-01 2.44390300e-04 -4.25558766e+01] [ 8.50379646e-04 1.60714353e-05 9.99999638e-01 -2.40690534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70655999499996 meters 0.05057752712409957 Centerline is valid? [True, True] Translation: X:322.30, Y:-42.58, Z:-2.41 [[ 9.52013409e-01 3.06051338e-01 -1.74552228e-03 3.22299574e+02] [-3.06050892e-01 9.52015009e-01 5.23836980e-04 -4.25758556e+01] [ 1.82208442e-03 3.55188227e-05 9.99998339e-01 -2.40671695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76655999499997 meters 0.0511126432099281 Centerline is valid? [True, True] Translation: X:322.36, Y:-42.59, Z:-2.41 [[ 9.52695241e-01 3.03918303e-01 -2.33314187e-03 3.22358785e+02] [-3.03917499e-01 9.52698097e-01 7.00173707e-04 -4.25929671e+01] [ 2.43557542e-03 4.20304840e-05 9.99997033e-01 -2.40848864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82655999499997 meters 0.050930316939180265 Centerline is valid? [True, True] Translation: X:322.42, Y:-42.61, Z:-2.41 [[ 9.53577520e-01 3.01141413e-01 -1.93989744e-03 3.22416615e+02] [-3.01140853e-01 9.53579492e-01 5.81589490e-04 -4.26115867e+01] [ 2.02498709e-03 2.95917059e-05 9.99997949e-01 -2.40958069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88655999499997 meters 0.05082423440249182 Centerline is valid? [True, True] Translation: X:322.47, Y:-42.64, Z:-2.40 [[ 9.54981741e-01 2.96664455e-01 2.74051165e-04 3.22471587e+02] [-2.96664443e-01 9.54981781e-01 -8.21216240e-05 -4.26376041e+01] [-2.86076437e-04 -2.87658493e-06 9.99999959e-01 -2.40422116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.946559995 meters 0.05105425909161527 Centerline is valid? [True, True] Translation: X:322.53, Y:-42.66, Z:-2.40 [[ 9.55999448e-01 2.93367970e-01 5.38420256e-04 3.22530664e+02] [-2.93367926e-01 9.55999600e-01 -1.60714146e-04 -4.26562408e+01] [-5.61877932e-04 -4.31259826e-06 9.99999842e-01 -2.40487103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.006559995 meters 0.050794197560027766 Centerline is valid? [True, True] Translation: X:322.59, Y:-42.68, Z:-2.41 [[ 9.57294223e-01 2.89114945e-01 -5.64634680e-04 3.22589055e+02] [-2.89114895e-01 9.57294390e-01 1.69640867e-04 -4.26766478e+01] [ 5.89567321e-04 8.48074971e-07 9.99999826e-01 -2.40600208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.066559995 meters 0.05081049934678145 Centerline is valid? [True, True] Translation: X:322.65, Y:-42.69, Z:-2.41 [[ 9.57438669e-01 2.88635293e-01 -9.28941644e-04 3.22648230e+02] [-2.88635157e-01 9.57439120e-01 2.79637681e-04 -4.26949479e+01] [ 9.70118373e-04 3.89288247e-07 9.99999529e-01 -2.40775785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.126559995 meters 0.05103964729419822 Centerline is valid? [True, True] Translation: X:322.71, Y:-42.71, Z:-2.41 [[ 9.57391763e-01 2.88790010e-01 -1.15834460e-03 3.22708747e+02] [-2.88789800e-01 9.57392464e-01 3.48655831e-04 -4.27137152e+01] [ 1.20967871e-03 7.17884486e-07 9.99999268e-01 -2.40553891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.186559995 meters 0.05118897967852536 Centerline is valid? [True, True] Translation: X:322.77, Y:-42.73, Z:-2.41 [[ 9.56988356e-01 2.90124395e-01 -1.05920691e-03 3.22769082e+02] [-2.90124220e-01 9.56988942e-01 3.18434204e-04 -4.27308452e+01] [ 1.10603483e-03 2.56375286e-06 9.99999388e-01 -2.40654439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.246559995 meters 0.05125649096976285 Centerline is valid? [True, True] Translation: X:322.83, Y:-42.75, Z:-2.41 [[ 9.55985754e-01 2.93411406e-01 -9.92253674e-04 3.22828587e+02] [-2.93411254e-01 9.55986269e-01 2.98817642e-04 -4.27464431e+01] [ 1.03625739e-03 5.47298586e-06 9.99999463e-01 -2.40712335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.306559995 meters 0.05049533767136158 Centerline is valid? [True, True] Translation: X:322.89, Y:-42.76, Z:-2.41 [[ 9.55143074e-01 2.96141605e-01 -1.36297910e-03 3.22887358e+02] [-2.96141321e-01 9.55144047e-01 4.09860613e-04 -4.27617907e+01] [ 1.42321815e-03 1.21589055e-05 9.99998987e-01 -2.40818053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.366559995 meters 0.05092420604465095 Centerline is valid? [True, True] Translation: X:322.95, Y:-42.78, Z:-2.41 [[ 9.53841460e-01 3.00308433e-01 -1.14640442e-03 3.22947438e+02] [-3.00308235e-01 9.53842149e-01 3.44660268e-04 -4.27783298e+01] [ 1.19699324e-03 1.55234354e-05 9.99999283e-01 -2.40735285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.426559995 meters 0.05023363806044625 Centerline is valid? [True, True] Translation: X:323.01, Y:-42.80, Z:-2.41 [[ 9.53175518e-01 3.02417100e-01 -5.73739664e-04 3.23006836e+02] [-3.02417051e-01 9.53175691e-01 1.72848834e-04 -4.27952315e+01] [ 5.99147144e-04 8.75338073e-06 9.99999820e-01 -2.40738639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48655999499994 meters 0.05016062784352638 Centerline is valid? [True, True] Translation: X:323.07, Y:-42.81, Z:-2.41 [[ 9.52942526e-01 3.03149330e-01 1.01279693e-03 3.23067615e+02] [-3.03149179e-01 9.52943064e-01 -3.03511086e-04 -4.28116847e+01] [-1.05714699e-03 -1.77999377e-05 9.99999441e-01 -2.40673629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54655999499994 meters 0.0509817679695979 Centerline is valid? [True, True] Translation: X:323.13, Y:-42.82, Z:-2.41 [[ 9.53136542e-01 3.02534860e-01 1.84131509e-03 3.23127280e+02] [-3.02534356e-01 9.53138320e-01 -5.53204091e-04 -4.28244511e+01] [-1.92239150e-03 -2.97820415e-05 9.99998152e-01 -2.40838533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60655999499994 meters 0.050111149857924545 Centerline is valid? [True, True] Translation: X:323.18, Y:-42.85, Z:-2.41 [[ 9.53902969e-01 3.00101379e-01 2.87879839e-03 3.23184089e+02] [-3.00100133e-01 9.53907312e-01 -8.65586804e-04 -4.28473456e+01] [-3.00587063e-03 -3.82419574e-05 9.99995482e-01 -2.40706575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66655999499994 meters 0.05094459927443066 Centerline is valid? [True, True] Translation: X:323.24, Y:-42.86, Z:-2.41 [[ 9.54544755e-01 2.98054476e-01 2.79988415e-03 3.23243146e+02] [-2.98053290e-01 9.54548861e-01 -8.41475281e-04 -4.28622237e+01] [-2.92343170e-03 -3.12888639e-05 9.99995726e-01 -2.40954921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72655999499995 meters 0.05080766657261929 Centerline is valid? [True, True] Translation: X:323.30, Y:-42.88, Z:-2.41 [[ 9.55490380e-01 2.95021138e-01 8.13694852e-04 3.23302189e+02] [-2.95021038e-01 9.55490726e-01 -2.44051487e-04 -4.28807485e+01] [-8.49478233e-04 -6.86825143e-06 9.99999639e-01 -2.41221518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78655999499995 meters 0.05066757810287297 Centerline is valid? [True, True] Translation: X:323.36, Y:-42.90, Z:-2.41 [[ 9.56208682e-01 2.92685300e-01 5.21004478e-04 3.23360850e+02] [-2.92685258e-01 9.56208824e-01 -1.56010702e-04 -4.29000129e+01] [-5.43851118e-04 -3.31154276e-06 9.99999852e-01 -2.41240053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84655999499995 meters 0.051197035677978904 Centerline is valid? [True, True] Translation: X:323.42, Y:-42.92, Z:-2.41 [[ 9.57752652e-01 2.87591306e-01 -1.04828821e-03 3.23420794e+02] [-2.87591132e-01 9.57753225e-01 3.16420209e-04 -4.29204805e+01] [ 1.09500111e-03 -1.57390339e-06 9.99999400e-01 -2.41305138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90655999499995 meters 0.0505995982809834 Centerline is valid? [True, True] Translation: X:323.48, Y:-42.94, Z:-2.41 [[ 9.58757850e-01 2.84216490e-01 -2.09099390e-03 3.23478418e+02] [-2.84215791e-01 9.58760130e-01 6.30332298e-04 -4.29393646e+01] [ 2.18391242e-03 -1.00425524e-05 9.99997615e-01 -2.41414309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96655999499995 meters 0.05151956257144148 Centerline is valid? [True, True] Translation: X:323.54, Y:-42.96, Z:-2.42 [[ 9.60195350e-01 2.79323504e-01 -1.80832865e-03 3.23535764e+02] [-2.79322972e-01 9.60197053e-01 5.45742061e-04 -4.29590765e+01] [ 1.88879043e-03 -1.89112557e-05 9.99998216e-01 -2.41668448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02655999499996 meters 0.05174299334590222 Centerline is valid? [True, True] Translation: X:323.59, Y:-42.98, Z:-2.42 [[ 9.60959923e-01 2.76686923e-01 -6.11206546e-04 3.23594578e+02] [-2.76686861e-01 9.60960117e-01 1.84688226e-04 -4.29801358e+01] [ 6.38445931e-04 -8.36516267e-06 9.99999796e-01 -2.41712293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08655999499996 meters 0.052129083269083366 Centerline is valid? [True, True] Translation: X:323.65, Y:-43.00, Z:-2.42 [[ 9.61328940e-01 2.75402488e-01 3.72307924e-04 3.23653825e+02] [-2.75402465e-01 9.61329012e-01 -1.11414245e-04 -4.29972730e+01] [-3.88594170e-04 4.57121819e-06 9.99999924e-01 -2.41512330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14655999499996 meters 0.05195253770931147 Centerline is valid? [True, True] Translation: X:323.71, Y:-43.01, Z:-2.42 [[ 9.60716671e-01 2.77525962e-01 1.67883544e-03 3.23714164e+02] [-2.77525502e-01 9.60718138e-01 -5.05533558e-04 -4.30133903e+01] [-1.75318635e-03 1.97548670e-05 9.99998463e-01 -2.41534091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20655999499996 meters 0.05106749159379328 Centerline is valid? [True, True] Translation: X:323.77, Y:-43.03, Z:-2.42 [[ 9.59044306e-01 2.83240813e-01 2.94288003e-03 3.23774100e+02] [-2.83239423e-01 9.59048821e-01 -8.87689710e-04 -4.30262534e+01] [-3.07379558e-03 1.77941198e-05 9.99995276e-01 -2.41519845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26655999499997 meters 0.05221203711584275 Centerline is valid? [True, True] Translation: X:323.83, Y:-43.04, Z:-2.42 [[ 9.57867104e-01 2.87190621e-01 3.48693101e-03 3.23834480e+02] [-2.87188696e-01 9.57873451e-01 -1.05149146e-03 -4.30410590e+01] [-3.64201713e-03 5.78190997e-06 9.99993368e-01 -2.41547212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32655999499997 meters 0.050973509276486445 Centerline is valid? [True, True] Translation: X:323.89, Y:-43.05, Z:-2.42 [[ 9.55885645e-01 2.93724752e-01 2.89878600e-03 3.23894615e+02] [-2.93723451e-01 9.55890041e-01 -8.74401175e-04 -4.30522609e+01] [-3.02775394e-03 -1.56138969e-05 9.99995416e-01 -2.41749782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38655999499997 meters 0.050973410898063405 Centerline is valid? [True, True] Translation: X:323.95, Y:-43.07, Z:-2.42 [[ 9.54455208e-01 2.98343015e-01 2.58855983e-03 3.23954772e+02] [-2.98341993e-01 9.54458718e-01 -7.81372859e-04 -4.30670650e+01] [-2.70379063e-03 -2.64907048e-05 9.99996344e-01 -2.41657607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.446559995 meters 0.05150355774013491 Centerline is valid? [True, True] Translation: X:324.01, Y:-43.08, Z:-2.42 [[ 9.53973079e-01 2.99885835e-01 1.96233155e-03 3.24013836e+02] [-2.99885250e-01 9.53975097e-01 -5.92487805e-04 -4.30814375e+01] [-2.04969413e-03 -2.32568718e-05 9.99997899e-01 -2.41772804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.506559995 meters 0.05118015291295701 Centerline is valid? [True, True] Translation: X:324.07, Y:-43.10, Z:-2.42 [[ 9.54075418e-01 2.99564956e-01 9.65916780e-04 3.24074356e+02] [-2.99564815e-01 9.54075907e-01 -2.90837766e-04 -4.30978529e+01] [-1.00868273e-03 -1.18735191e-05 9.99999491e-01 -2.41903295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.566559995 meters 0.0513566036746903 Centerline is valid? [True, True] Translation: X:324.13, Y:-43.12, Z:-2.42 [[ 9.54776852e-01 2.97322914e-01 4.98712640e-04 3.24133079e+02] [-2.97322876e-01 9.54776982e-01 -1.50216282e-04 -4.31156600e+01] [-5.20822092e-04 -4.85564790e-06 9.99999864e-01 -2.41943388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.626559995 meters 0.05147604023349151 Centerline is valid? [True, True] Translation: X:324.19, Y:-43.14, Z:-2.42 [[ 9.56649848e-01 2.91240385e-01 3.25651384e-04 3.24192407e+02] [-2.91240368e-01 9.56649904e-01 -9.81195823e-05 -4.31362198e+01] [-3.40110750e-04 -9.76745363e-07 9.99999942e-01 -2.41968143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.686559995 meters 0.05151768053952973 Centerline is valid? [True, True] Translation: X:324.25, Y:-43.16, Z:-2.42 [[ 9.58104716e-01 2.86417709e-01 4.97965845e-04 3.24251859e+02] [-2.86417670e-01 9.58104846e-01 -1.50089855e-04 -4.31573760e+01] [-5.20091882e-04 1.17558091e-06 9.99999865e-01 -2.41924233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.746559995 meters 0.05177744668357136 Centerline is valid? [True, True] Translation: X:324.31, Y:-43.18, Z:-2.42 [[ 9.59874051e-01 2.80430837e-01 5.93503903e-04 3.24308698e+02] [-2.80430780e-01 9.59874234e-01 -1.79306266e-04 -4.31790713e+01] [-6.19972111e-04 5.67466939e-06 9.99999808e-01 -2.42000457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.806559995 meters 0.052151028034498476 Centerline is valid? [True, True] Translation: X:324.37, Y:-43.20, Z:-2.42 [[ 9.60633890e-01 2.77816269e-01 8.06608229e-04 3.24366624e+02] [-2.77816163e-01 9.60634228e-01 -2.43098838e-04 -4.32000107e+01] [-8.42392286e-04 9.44017942e-06 9.99999645e-01 -2.42116837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.866559995 meters 0.053013976267375945 Centerline is valid? [True, True] Translation: X:324.43, Y:-43.21, Z:-2.42 [[ 9.61455961e-01 2.74958870e-01 2.35997132e-04 3.24427116e+02] [-2.74958861e-01 9.61455989e-01 -7.05728939e-05 -4.32126218e+01] [-2.46305500e-04 2.96322682e-06 9.99999970e-01 -2.41857176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.926559995 meters 0.05296277149763693 Centerline is valid? [True, True] Translation: X:324.48, Y:-43.23, Z:-2.42 [[ 9.61689920e-01 2.74139545e-01 -8.08103249e-05 3.24484286e+02] [-2.74139544e-01 9.61689924e-01 2.52171274e-05 -4.32334373e+01] [ 8.46274869e-05 -2.09775164e-06 9.99999996e-01 -2.42050825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98655999499994 meters 0.05270033313862922 Centerline is valid? [True, True] Translation: X:324.55, Y:-43.25, Z:-2.42 [[ 9.62105654e-01 2.72675901e-01 7.50206069e-04 3.24545646e+02] [-2.72675807e-01 9.62105947e-01 -2.26805698e-04 -4.32461528e+01] [-7.83622169e-04 1.36479989e-05 9.99999693e-01 -2.41803006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04655999499994 meters 0.05225816506086229 Centerline is valid? [True, True] Translation: X:324.60, Y:-43.27, Z:-2.42 [[ 9.62023925e-01 2.72963635e-01 9.06759194e-04 3.24602546e+02] [-2.72963499e-01 9.62024352e-01 -2.73574400e-04 -4.32725095e+01] [-9.47000289e-04 1.56729563e-05 9.99999551e-01 -2.42288800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10655999499994 meters 0.051982699839845686 Centerline is valid? [True, True] Translation: X:324.66, Y:-43.29, Z:-2.42 [[ 9.61517083e-01 2.74745101e-01 1.70422391e-04 3.24661998e+02] [-2.74745097e-01 9.61517098e-01 -5.08042716e-05 -4.32874961e+01] [-1.77822268e-04 2.02645877e-06 9.99999984e-01 -2.42264690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16655999499994 meters 0.05175006710541415 Centerline is valid? [True, True] Translation: X:324.72, Y:-43.30, Z:-2.42 [[ 9.60956954e-01 2.76697860e-01 1.64253251e-04 3.24723202e+02] [-2.76697855e-01 9.60956968e-01 -4.89847926e-05 -4.33002974e+01] [-1.71394294e-04 1.62375475e-06 9.99999985e-01 -2.42173372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22655999499995 meters 0.05206792125312795 Centerline is valid? [True, True] Translation: X:324.78, Y:-43.32, Z:-2.42 [[ 9.60096020e-01 2.79670448e-01 2.70362401e-04 3.24782626e+02] [-2.79670436e-01 9.60096058e-01 -8.14831850e-05 -4.33179693e+01] [-2.82362314e-04 2.61931122e-06 9.99999960e-01 -2.42428239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28655999499995 meters 0.05201470546565544 Centerline is valid? [True, True] Translation: X:324.84, Y:-43.33, Z:-2.43 [[ 9.58531005e-01 2.84988160e-01 -2.48490489e-04 3.24842123e+02] [-2.84988150e-01 9.58531037e-01 7.55363575e-05 -4.33324843e+01] [ 2.59712814e-04 -1.58709596e-06 9.99999966e-01 -2.42592199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34655999499995 meters 0.05183867901850034 Centerline is valid? [True, True] Translation: X:324.90, Y:-43.35, Z:-2.43 [[ 9.57086559e-01 2.89802201e-01 -6.03398493e-05 3.24901612e+02] [-2.89802200e-01 9.57086561e-01 1.91404692e-05 -4.33481368e+01] [ 6.32974089e-05 -8.32464719e-07 9.99999998e-01 -2.42801122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40655999499995 meters 0.05234033043975416 Centerline is valid? [True, True] Translation: X:324.96, Y:-43.36, Z:-2.42 [[ 9.56186822e-01 2.92757168e-01 -4.59984283e-05 3.24962093e+02] [-2.92757167e-01 9.56186823e-01 1.49463825e-05 -4.33646431e+01] [ 4.83587515e-05 -8.25164411e-07 9.99999999e-01 -2.42436982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46655999499995 meters 0.05105299901801791 Centerline is valid? [True, True] Translation: X:325.02, Y:-43.38, Z:-2.43 [[ 9.55265298e-01 2.95748870e-01 9.03121304e-04 3.25022784e+02] [-2.95748743e-01 9.55265725e-01 -2.73782400e-04 -4.33797871e+01] [-9.43691663e-04 -5.56216436e-06 9.99999555e-01 -2.42739657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52655999499996 meters 0.050963621007805174 Centerline is valid? [True, True] Translation: X:325.08, Y:-43.40, Z:-2.43 [[ 9.55309388e-01 2.95606042e-01 1.01988307e-03 3.25082270e+02] [-2.95605881e-01 9.55309933e-01 -3.08719372e-04 -4.33975829e+01] [-1.06556374e-03 -6.56091997e-06 9.99999432e-01 -2.42836072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58655999499996 meters 0.05194395407734446 Centerline is valid? [True, True] Translation: X:325.14, Y:-43.42, Z:-2.43 [[ 9.56345010e-01 2.92238567e-01 9.17217551e-04 3.25140313e+02] [-2.92238435e-01 9.56345450e-01 -2.77734499e-04 -4.34191591e+01] [-9.58341564e-04 -2.43621871e-06 9.99999541e-01 -2.42800611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64655999499996 meters 0.05162530047166676 Centerline is valid? [True, True] Translation: X:325.20, Y:-43.44, Z:-2.43 [[ 9.57178711e-01 2.89496319e-01 8.92791004e-04 3.25199595e+02] [-2.89496192e-01 9.57179127e-01 -2.70298017e-04 -4.34392195e+01] [-9.32811195e-04 2.63910725e-07 9.99999565e-01 -2.42869085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70655999499996 meters 0.050777363202808505 Centerline is valid? [True, True] Translation: X:325.26, Y:-43.46, Z:-2.43 [[ 9.58386637e-01 2.85473364e-01 -1.08439049e-04 3.25257624e+02] [-2.85473362e-01 9.58386643e-01 3.38050195e-05 -4.34599962e+01] [ 1.13576969e-04 -1.44181901e-06 9.99999994e-01 -2.42802364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76655999499997 meters 0.051979788819046115 Centerline is valid? [True, True] Translation: X:325.32, Y:-43.48, Z:-2.43 [[ 9.59199980e-01 2.82728489e-01 -1.80486105e-05 3.25315777e+02] [-2.82728489e-01 9.59199980e-01 5.78944105e-06 -4.34816207e+01] [ 1.89490667e-05 -4.50375355e-07 1.00000000e+00 -2.43012999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82655999499997 meters 0.05187852129316306 Centerline is valid? [True, True] Translation: X:325.37, Y:-43.50, Z:-2.43 [[ 9.60355720e-01 2.78777476e-01 -1.03054139e-04 3.25374379e+02] [-2.78777475e-01 9.60355725e-01 3.17607307e-05 -4.35015557e+01] [ 1.07822809e-04 -1.77242683e-06 9.99999994e-01 -2.43029703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88655999499997 meters 0.05193694711561895 Centerline is valid? [True, True] Translation: X:325.43, Y:-43.52, Z:-2.43 [[ 9.61061444e-01 2.76334633e-01 -2.65438308e-04 3.25432768e+02] [-2.76334621e-01 9.61061481e-01 8.11804162e-05 -4.35186417e+01] [ 2.77535494e-04 -4.66957373e-06 9.99999961e-01 -2.42814641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.946559995 meters 0.053096142949527664 Centerline is valid? [True, True] Translation: X:325.49, Y:-43.54, Z:-2.43 [[ 9.62048083e-01 2.72879981e-01 -4.41299485e-05 3.25491346e+02] [-2.72879981e-01 9.62048084e-01 1.35422122e-05 -4.35363844e+01] [ 4.61505309e-05 -9.86079758e-07 9.99999999e-01 -2.42742016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.006559995 meters 0.052857156566156395 Centerline is valid? [True, True] Translation: X:325.55, Y:-43.56, Z:-2.43 [[ 9.62326123e-01 2.71893174e-01 1.59235448e-03 3.25547974e+02] [-2.71892745e-01 9.62327440e-01 -4.83826396e-04 -4.35609767e+01] [-1.66391550e-03 3.26491507e-05 9.99998615e-01 -2.42835077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.066559995 meters 0.052126539103505495 Centerline is valid? [True, True] Translation: X:325.61, Y:-43.57, Z:-2.43 [[ 9.61893176e-01 2.73405550e-01 3.30492479e-03 3.25608635e+02] [-2.73403708e-01 9.61898852e-01 -1.00557813e-03 -4.35743358e+01] [-3.45393400e-03 6.36800446e-05 9.99994033e-01 -2.42744663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.126559995 meters 0.052318952713861326 Centerline is valid? [True, True] Translation: X:325.67, Y:-43.59, Z:-2.43 [[ 9.60983356e-01 2.76582375e-01 3.63044143e-03 3.25667090e+02] [-2.76580174e-01 9.60990212e-01 -1.10492526e-03 -4.35917413e+01] [-3.79442153e-03 5.77066631e-05 9.99992799e-01 -2.42861863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.186559995 meters 0.05196134396695007 Centerline is valid? [True, True] Translation: X:325.73, Y:-43.60, Z:-2.43 [[ 9.59185132e-01 2.82748627e-01 4.13474732e-03 3.25727494e+02] [-2.82745828e-01 9.59194043e-01 -1.25855638e-03 -4.35985374e+01] [-4.32188009e-03 3.81060152e-05 9.99990660e-01 -2.42746694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.246559995 meters 0.05261344514972218 Centerline is valid? [True, True] Translation: X:325.79, Y:-43.61, Z:-2.43 [[ 9.57380367e-01 2.88799039e-01 4.23641083e-03 3.25787386e+02] [-2.88796161e-01 9.57389740e-01 -1.28932401e-03 -4.36139410e+01] [-4.42825180e-03 1.09143049e-05 9.99990195e-01 -2.42871140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.306559995 meters 0.05195769898435527 Centerline is valid? [True, True] Translation: X:325.85, Y:-43.62, Z:-2.43 [[ 9.54053714e-01 2.99620941e-01 2.96702269e-03 3.25849292e+02] [-2.99619581e-01 9.54058327e-01 -9.03078400e-04 -4.36207106e+01] [-3.10129390e-03 -2.73927946e-05 9.99995191e-01 -2.43154063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.366559995 meters 0.052074266422413945 Centerline is valid? [True, True] Translation: X:325.91, Y:-43.63, Z:-2.43 [[ 9.51646750e-01 3.07178276e-01 3.15746046e-03 3.25909871e+02] [-3.07176776e-01 9.51651987e-01 -9.61487590e-04 -4.36308801e+01] [-3.30015162e-03 -5.49019855e-05 9.99994553e-01 -2.43115625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.426559995 meters 0.05191800420315353 Centerline is valid? [True, True] Translation: X:325.97, Y:-43.65, Z:-2.43 [[ 9.50801066e-01 3.09782139e-01 3.51559103e-03 3.25969643e+02] [-3.09780297e-01 9.50807563e-01 -1.07048456e-03 -4.36486037e+01] [-3.67426753e-03 -7.12429698e-05 9.99993247e-01 -2.43020665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48655999499994 meters 0.05168643448452298 Centerline is valid? [True, True] Translation: X:326.03, Y:-43.67, Z:-2.43 [[ 9.50429896e-01 3.10918501e-01 3.56350667e-03 3.26028881e+02] [-3.10916618e-01 9.50436573e-01 -1.08493076e-03 -4.36655855e+01] [-3.72421212e-03 -7.68028092e-05 9.99993062e-01 -2.43103669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54655999499994 meters 0.0516866446098244 Centerline is valid? [True, True] Translation: X:326.09, Y:-43.68, Z:-2.43 [[ 9.50623924e-01 3.10335993e-01 2.39298398e-03 3.26087984e+02] [-3.10335142e-01 9.50626935e-01 -7.28518547e-04 -4.36840706e+01] [-2.50092056e-03 -5.00798645e-05 9.99996871e-01 -2.43258966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60655999499994 meters 0.0516015689512171 Centerline is valid? [True, True] Translation: X:326.15, Y:-43.70, Z:-2.43 [[ 9.50937187e-01 3.09377392e-01 2.02371222e-03 3.26147026e+02] [-3.09376781e-01 9.50939340e-01 -6.16197086e-04 -4.37046157e+01] [-2.11506501e-03 -4.01248485e-05 9.99997762e-01 -2.43321488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66655999499994 meters 0.051196377321304526 Centerline is valid? [True, True] Translation: X:326.21, Y:-43.72, Z:-2.43 [[ 9.51163002e-01 3.08679131e-01 2.47766111e-03 3.26205538e+02] [-3.08678211e-01 9.51166227e-01 -7.54977595e-04 -4.37221797e+01] [-2.58971340e-03 -4.66932446e-05 9.99996646e-01 -2.43376743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72655999499995 meters 0.0512217346507261 Centerline is valid? [True, True] Translation: X:326.26, Y:-43.74, Z:-2.43 [[ 9.51710648e-01 3.06981466e-01 3.03683333e-03 3.26264583e+02] [-3.06980074e-01 9.51715492e-01 -9.25872696e-04 -4.37422837e+01] [-3.17442708e-03 -5.10844164e-05 9.99994960e-01 -2.43426684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78655999499995 meters 0.051365271599490746 Centerline is valid? [True, True] Translation: X:326.32, Y:-43.76, Z:-2.44 [[ 9.52255206e-01 3.05287168e-01 3.12547791e-03 3.26324049e+02] [-3.05285683e-01 9.52260334e-01 -9.53318751e-04 -4.37586603e+01] [-3.26730462e-03 -4.63609146e-05 9.99994661e-01 -2.43594053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84655999499995 meters 0.05138414291367257 Centerline is valid? [True, True] Translation: X:326.38, Y:-43.78, Z:-2.43 [[ 9.52634822e-01 3.04099103e-01 3.26070613e-03 3.26381456e+02] [-3.04097479e-01 9.52640401e-01 -9.94982174e-04 -4.37839739e+01] [-3.40885358e-03 -4.37178474e-05 9.99994189e-01 -2.43477068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90655999499995 meters 0.051185613141742664 Centerline is valid? [True, True] Translation: X:326.44, Y:-43.81, Z:-2.44 [[ 9.53740309e-01 3.00627485e-01 1.59349816e-03 3.26438252e+02] [-3.00627092e-01 9.53741640e-01 -4.86036376e-04 -4.38060048e+01] [-1.66590145e-03 -1.54962364e-05 9.99998612e-01 -2.43555572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96655999499995 meters 0.0515135939211676 Centerline is valid? [True, True] Translation: X:326.50, Y:-43.83, Z:-2.43 [[ 9.54525770e-01 2.98126888e-01 9.55143344e-04 3.26495724e+02] [-2.98126746e-01 9.54526248e-01 -2.91572141e-04 -4.38302567e+01] [-9.98634888e-04 -6.44065471e-06 9.99999501e-01 -2.43424387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02655999499996 meters 0.05124301048421027 Centerline is valid? [True, True] Translation: X:326.55, Y:-43.85, Z:-2.44 [[ 9.54895080e-01 2.96940015e-01 1.41931791e-03 3.26553655e+02] [-2.96939699e-01 9.54896134e-01 -4.33010020e-04 -4.38488415e+01] [-1.48387919e-03 -7.97269591e-06 9.99998899e-01 -2.43678429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08655999499996 meters 0.05066224514326477 Centerline is valid? [True, True] Translation: X:326.61, Y:-43.87, Z:-2.44 [[ 9.55329510e-01 2.95536489e-01 1.92615589e-03 3.26611094e+02] [-2.95535904e-01 9.55331452e-01 -5.88227760e-04 -4.38706986e+01] [-2.01396007e-03 -7.29688333e-06 9.99997972e-01 -2.43765825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14655999499996 meters 0.051155925254082475 Centerline is valid? [True, True] Translation: X:326.67, Y:-43.89, Z:-2.44 [[ 9.55725637e-01 2.94250994e-01 2.20412138e-03 3.26668212e+02] [-2.94250224e-01 9.55728179e-01 -6.73568571e-04 -4.38927959e+01] [-2.30473914e-03 -4.81645740e-06 9.99997344e-01 -2.43595378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20655999499996 meters 0.052016139106484095 Centerline is valid? [True, True] Translation: X:326.73, Y:-43.91, Z:-2.44 [[ 9.56038826e-01 2.93225849e-01 2.89211568e-03 3.26726330e+02] [-2.93224515e-01 9.56043201e-01 -8.84576892e-04 -4.39147200e+01] [-3.02436835e-03 -2.34936485e-06 9.99995427e-01 -2.43720802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26655999499997 meters 0.05040366077872218 Centerline is valid? [True, True] Translation: X:326.78, Y:-43.94, Z:-2.44 [[ 9.55439779e-01 2.95173859e-01 2.68752413e-03 3.26784827e+02] [-2.95172715e-01 9.55443558e-01 -8.21821828e-04 -4.39351225e+01] [-2.81035794e-03 -8.08252813e-06 9.99996051e-01 -2.43912961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32655999499997 meters 0.05102884636597415 Centerline is valid? [True, True] Translation: X:326.84, Y:-43.95, Z:-2.44 [[ 9.54605721e-01 2.97857271e-01 2.99409587e-03 3.26843903e+02] [-2.97855862e-01 9.54610416e-01 -9.16149256e-04 -4.39538684e+01] [-3.13107682e-03 -1.72476875e-05 9.99995098e-01 -2.43916454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38655999499997 meters 0.051681128262027726 Centerline is valid? [True, True] Translation: X:326.90, Y:-43.97, Z:-2.44 [[ 9.53589300e-01 3.01096220e-01 2.91781337e-03 3.26902772e+02] [-3.01094897e-01 9.53593763e-01 -8.93100519e-04 -4.39740408e+01] [-3.05131782e-03 -2.68876167e-05 9.99995344e-01 -2.43904071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.446559995 meters 0.04971930349925691 Centerline is valid? [True, True] Translation: X:326.96, Y:-44.00, Z:-2.44 [[ 9.51882202e-01 3.06451643e-01 2.76844985e-03 3.26960578e+02] [-3.06450472e-01 9.51886227e-01 -8.48116289e-04 -4.39954679e+01] [-2.89515591e-03 -4.10859616e-05 9.99995808e-01 -2.43926183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.506559995 meters 0.05034113907582833 Centerline is valid? [True, True] Translation: X:327.02, Y:-44.01, Z:-2.44 [[ 9.50919245e-01 3.09419685e-01 3.47101572e-03 3.27019389e+02] [-3.09417865e-01 9.50925578e-01 -1.06308488e-03 -4.40123144e+01] [-3.62961702e-03 -6.30863996e-05 9.99993411e-01 -2.44040957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.566559995 meters 0.05079524424541799 Centerline is valid? [True, True] Translation: X:327.08, Y:-44.03, Z:-2.44 [[ 9.50302159e-01 3.11305135e-01 3.86262063e-03 3.27077672e+02] [-3.11302895e-01 9.50310006e-01 -1.18359507e-03 -4.40312793e+01] [-4.03914626e-03 -7.76720314e-05 9.99991840e-01 -2.44039417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.626559995 meters 0.04979713314653967 Centerline is valid? [True, True] Translation: X:327.14, Y:-44.05, Z:-2.44 [[ 9.50457450e-01 3.10833430e-01 3.63509619e-03 3.27136604e+02] [-3.10831441e-01 9.50464399e-01 -1.11423123e-03 -4.40521518e+01] [-3.80136983e-03 -7.08728143e-05 9.99992772e-01 -2.44129485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.686559995 meters 0.05021991378678836 Centerline is valid? [True, True] Translation: X:327.20, Y:-44.07, Z:-2.44 [[ 9.50874393e-01 3.09563799e-01 2.85365591e-03 3.27195403e+02] [-3.09562567e-01 9.50878673e-01 -8.75075176e-04 -4.40739455e+01] [-2.98437214e-03 -5.12984698e-05 9.99995545e-01 -2.44283977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.746559995 meters 0.050635250408420235 Centerline is valid? [True, True] Translation: X:327.25, Y:-44.09, Z:-2.44 [[ 9.51819575e-01 3.06653963e-01 1.68607817e-03 3.27254112e+02] [-3.06653528e-01 9.51821068e-01 -5.17217343e-04 -4.40919541e+01] [-1.76345147e-03 -2.47442267e-05 9.99998445e-01 -2.44424280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.806559995 meters 0.05041983319598707 Centerline is valid? [True, True] Translation: X:327.31, Y:-44.11, Z:-2.45 [[ 9.51982551e-01 3.06150863e-01 9.33582891e-04 3.27312834e+02] [-3.06150730e-01 9.51983009e-01 -2.85708051e-04 -4.41076927e+01] [-9.76224816e-04 -1.38280039e-05 9.99999523e-01 -2.44519893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.866559995 meters 0.049975104132619935 Centerline is valid? [True, True] Translation: X:327.37, Y:-44.13, Z:-2.44 [[ 9.51244388e-01 3.08433971e-01 1.61266750e-03 3.27372217e+02] [-3.08433576e-01 9.51245754e-01 -4.94345854e-04 -4.41269336e+01] [-1.68651617e-03 -2.71570848e-05 9.99998577e-01 -2.44405963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.926559995 meters 0.050081491916474825 Centerline is valid? [True, True] Translation: X:327.43, Y:-44.14, Z:-2.45 [[ 9.50527605e-01 3.10636181e-01 1.56030942e-03 3.27432117e+02] [-3.10635813e-01 9.50528886e-01 -4.78942673e-04 -4.41434521e+01] [-1.63189609e-03 -2.94397519e-05 9.99998668e-01 -2.44502318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98655999499994 meters 0.050246053944652765 Centerline is valid? [True, True] Translation: X:327.49, Y:-44.16, Z:-2.45 [[ 9.50426411e-01 3.10948697e-01 7.38211571e-04 3.27491687e+02] [-3.10948615e-01 9.50426698e-01 -2.26295716e-04 -4.41618824e+01] [-7.71982344e-04 -1.44684409e-05 9.99999702e-01 -2.44596657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04655999499994 meters 0.05006782086492946 Centerline is valid? [True, True] Translation: X:327.55, Y:-44.18, Z:-2.45 [[ 9.50958723e-01 3.09316401e-01 9.33233860e-04 3.27551129e+02] [-3.09316269e-01 9.50959181e-01 -2.86397108e-04 -4.41817671e+01] [-9.76054630e-04 -1.63125881e-05 9.99999524e-01 -2.44526748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10655999499994 meters 0.05090728758588498 Centerline is valid? [True, True] Translation: X:327.61, Y:-44.19, Z:-2.45 [[ 9.51466369e-01 3.07748153e-01 1.68022010e-03 3.27611885e+02] [-3.07747722e-01 9.51467852e-01 -5.15592656e-04 -4.41913093e+01] [-1.75734809e-03 -2.65148347e-05 9.99998456e-01 -2.44769888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16655999499994 meters 0.05088615098602601 Centerline is valid? [True, True] Translation: X:327.67, Y:-44.21, Z:-2.45 [[ 9.51407807e-01 3.07927106e-01 2.02050650e-03 3.27670846e+02] [-3.07926483e-01 9.51409952e-01 -6.20481328e-04 -4.42141912e+01] [-2.11339301e-03 -3.18366804e-05 9.99997766e-01 -2.44595849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22655999499995 meters 0.05080937750326688 Centerline is valid? [True, True] Translation: X:327.73, Y:-44.23, Z:-2.45 [[ 9.50802108e-01 3.09795088e-01 1.53431778e-03 3.27730455e+02] [-3.09794731e-01 9.50803346e-01 -4.71352118e-04 -4.42285132e+01] [-1.60485705e-03 -2.71609750e-05 9.99998712e-01 -2.44726884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28655999499995 meters 0.0500431443267803 Centerline is valid? [True, True] Translation: X:327.79, Y:-44.25, Z:-2.45 [[ 9.50243044e-01 3.11508186e-01 8.98241249e-04 3.27788133e+02] [-3.11508064e-01 9.50243469e-01 -2.75431053e-04 -4.42525763e+01] [-9.39346908e-04 -1.80829510e-05 9.99999559e-01 -2.44597432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34655999499995 meters 0.050658380089664806 Centerline is valid? [True, True] Translation: X:327.85, Y:-44.27, Z:-2.45 [[ 9.49968741e-01 3.12344426e-01 5.92170670e-04 3.27847170e+02] [-3.12344374e-01 9.49968925e-01 -1.81418172e-04 -4.42673343e+01] [-6.19208690e-04 -1.26195844e-05 9.99999808e-01 -2.44769923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40655999499995 meters 0.05033517985585881 Centerline is valid? [True, True] Translation: X:327.91, Y:-44.28, Z:-2.45 [[ 9.49409233e-01 3.14041535e-01 1.47987356e-04 3.27906843e+02] [-3.14041532e-01 9.49409245e-01 -4.54206579e-05 -4.42792712e+01] [-1.54764537e-04 -3.35138383e-06 9.99999988e-01 -2.45033903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46655999499995 meters 0.050641875804628804 Centerline is valid? [True, True] Translation: X:327.97, Y:-44.30, Z:-2.45 [[ 9.49315089e-01 3.14325962e-01 2.27875314e-04 3.27965119e+02] [-3.14325955e-01 9.49315116e-01 -6.91769620e-05 -4.43026162e+01] [-2.38069595e-04 -5.95639162e-06 9.99999972e-01 -2.44853423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52655999499996 meters 0.05069940424719803 Centerline is valid? [True, True] Translation: X:328.02, Y:-44.32, Z:-2.45 [[ 9.49912434e-01 3.12515757e-01 5.18270327e-04 3.28023596e+02] [-3.12515716e-01 9.49912576e-01 -1.59456782e-04 -4.43190671e+01] [-5.42144258e-04 -1.04976424e-05 9.99999853e-01 -2.45026195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58655999499996 meters 0.05056170292843674 Centerline is valid? [True, True] Translation: X:328.08, Y:-44.34, Z:-2.45 [[ 9.50842295e-01 3.09668381e-01 2.10313520e-03 3.28081322e+02] [-3.09667706e-01 9.50844621e-01 -6.47490693e-04 -4.43382071e+01] [-2.20026218e-03 -3.56115156e-05 9.99997579e-01 -2.44964910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64655999499996 meters 0.05013868558956633 Centerline is valid? [True, True] Translation: X:328.14, Y:-44.36, Z:-2.45 [[ 9.51400076e-01 3.07941477e-01 3.15326961e-03 3.28141535e+02] [-3.07939950e-01 9.51405300e-01 -9.70810477e-04 -4.43557928e+01] [-3.29899023e-03 -4.73885251e-05 9.99994557e-01 -2.45009357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70655999499996 meters 0.05099294340176585 Centerline is valid? [True, True] Translation: X:328.20, Y:-44.38, Z:-2.45 [[ 9.51947736e-01 3.06241835e-01 3.38317362e-03 3.28199817e+02] [-3.06240067e-01 9.51953747e-01 -1.04147843e-03 -4.43765045e+01] [-3.53956907e-03 -4.46302836e-05 9.99993735e-01 -2.44994709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76655999499997 meters 0.05066418042126023 Centerline is valid? [True, True] Translation: X:328.26, Y:-44.40, Z:-2.45 [[ 9.52128958e-01 3.05679305e-01 3.25713748e-03 3.28259144e+02] [-3.05677662e-01 9.52134529e-01 -1.00330160e-03 -4.43968217e+01] [-3.40792160e-03 -4.03616653e-05 9.99994192e-01 -2.44992638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82655999499997 meters 0.05024967826027659 Centerline is valid? [True, True] Translation: X:328.32, Y:-44.42, Z:-2.45 [[ 9.52268474e-01 3.05252083e-01 2.43290010e-03 3.28318993e+02] [-3.05251165e-01 9.52271582e-01 -7.48993242e-04 -4.44163870e+01] [-2.54541338e-03 -2.94029408e-05 9.99996760e-01 -2.45085040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88655999499997 meters 0.050585249111011234 Centerline is valid? [True, True] Translation: X:328.38, Y:-44.43, Z:-2.45 [[ 9.52149098e-01 3.05633229e-01 6.51879968e-04 3.28378122e+02] [-3.05633163e-01 9.52149321e-01 -2.00212053e-04 -4.44338102e+01] [-6.81878525e-04 -8.60441114e-06 9.99999767e-01 -2.45273686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.946559995 meters 0.050510506993947324 Centerline is valid? [True, True] Translation: X:328.44, Y:-44.45, Z:-2.45 [[ 9.52402252e-01 3.04844040e-01 2.48974530e-04 3.28436228e+02] [-3.04844030e-01 9.52402284e-01 -7.63023106e-05 -4.44514847e+01] [-2.60384216e-04 -3.22790692e-06 9.99999966e-01 -2.45351803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.006559995 meters 0.05073551560837259 Centerline is valid? [True, True] Translation: X:328.50, Y:-44.47, Z:-2.45 [[ 9.52953560e-01 3.03116260e-01 2.11708520e-04 3.28495527e+02] [-3.03116253e-01 9.52953584e-01 -6.49986913e-05 -4.44718920e+01] [-2.21450553e-04 -2.23155903e-06 9.99999975e-01 -2.45289163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.066559995 meters 0.05079138853255279 Centerline is valid? [True, True] Translation: X:328.55, Y:-44.49, Z:-2.45 [[ 9.53791740e-01 3.00468347e-01 2.96830468e-04 3.28553696e+02] [-3.00468334e-01 9.53791787e-01 -9.07966542e-05 -4.44918512e+01] [-3.10395983e-04 -2.58705718e-06 9.99999952e-01 -2.45424444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.126559995 meters 0.05076219366393095 Centerline is valid? [True, True] Translation: X:328.61, Y:-44.51, Z:-2.45 [[ 9.53920648e-01 3.00057463e-01 9.56945133e-04 3.28612815e+02] [-3.00057319e-01 9.53921128e-01 -2.94546964e-04 -4.45103284e+01] [-1.00123120e-03 -6.16396007e-06 9.99999499e-01 -2.45313238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.186559995 meters 0.05047975342385799 Centerline is valid? [True, True] Translation: X:328.67, Y:-44.53, Z:-2.45 [[ 9.53436658e-01 3.01593222e-01 2.60330890e-04 3.28671330e+02] [-3.01593212e-01 9.53436693e-01 -8.02496924e-05 -4.45264438e+01] [-2.72411786e-04 -2.00103079e-06 9.99999963e-01 -2.45373378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.246559995 meters 0.05046705850745713 Centerline is valid? [True, True] Translation: X:328.73, Y:-44.54, Z:-2.45 [[ 9.53042321e-01 3.02837124e-01 1.05671193e-04 3.28731233e+02] [-3.02837122e-01 9.53042327e-01 -3.23187952e-05 -4.45432871e+01] [-1.10496451e-04 -1.19998045e-06 9.99999994e-01 -2.45494419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.306559995 meters 0.051034777142141274 Centerline is valid? [True, True] Translation: X:328.79, Y:-44.56, Z:-2.46 [[ 9.52967275e-01 3.03073191e-01 -1.18775267e-04 3.28791423e+02] [-3.03073189e-01 9.52967282e-01 3.76990269e-05 -4.45623464e+01] [ 1.24614507e-04 7.16598582e-08 9.99999992e-01 -2.45546871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.366559995 meters 0.050883296038513756 Centerline is valid? [True, True] Translation: X:328.85, Y:-44.58, Z:-2.46 [[ 9.52886993e-01 3.03324040e-01 -9.51226076e-04 3.28850115e+02] [-3.03323897e-01 9.52887468e-01 2.94788440e-04 -4.45789186e+01] [ 9.95827828e-04 7.62953038e-06 9.99999504e-01 -2.45724367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.426559995 meters 0.0505689224504504 Centerline is valid? [True, True] Translation: X:328.91, Y:-44.60, Z:-2.46 [[ 9.52415502e-01 3.04801227e-01 -9.60708209e-04 3.28909100e+02] [-3.04801081e-01 9.52415987e-01 2.97807094e-04 -4.45958215e+01] [ 1.00576582e-03 9.18880809e-06 9.99999494e-01 -2.45766860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48655999499994 meters 0.050755953591098656 Centerline is valid? [True, True] Translation: X:328.97, Y:-44.61, Z:-2.46 [[ 9.51563808e-01 3.07451182e-01 -3.00903691e-04 3.28968928e+02] [-3.07451168e-01 9.51563855e-01 9.33533619e-05 -4.46122302e+01] [ 3.15030678e-04 3.68151068e-06 9.99999950e-01 -2.45711942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54655999499994 meters 0.05102810588230181 Centerline is valid? [True, True] Translation: X:329.03, Y:-44.62, Z:-2.46 [[ 9.51131801e-01 3.08785177e-01 1.08564114e-04 3.29028781e+02] [-3.08785175e-01 9.51131807e-01 -3.27736650e-05 -4.46249617e+01] [-1.13378804e-04 -2.35091404e-06 9.99999994e-01 -2.45992925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60655999499994 meters 0.050674318559359964 Centerline is valid? [True, True] Translation: X:329.09, Y:-44.64, Z:-2.46 [[ 9.50844370e-01 3.09669092e-01 -1.92719639e-04 3.29088036e+02] [-3.09669086e-01 9.50844390e-01 5.99329967e-05 -4.46448731e+01] [ 2.01805784e-04 2.69236204e-06 9.99999980e-01 -2.46016804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66655999499994 meters 0.04981399936689773 Centerline is valid? [True, True] Translation: X:329.15, Y:-44.66, Z:-2.46 [[ 9.50828540e-01 3.09717718e-01 -1.52424014e-04 3.29148203e+02] [-3.09717714e-01 9.50828552e-01 4.81102006e-05 -4.46610979e+01] [ 1.59829686e-04 1.46386548e-06 9.99999987e-01 -2.46175196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72655999499995 meters 0.05048847775155569 Centerline is valid? [True, True] Translation: X:329.21, Y:-44.68, Z:-2.46 [[ 9.51085640e-01 3.08926837e-01 -5.60807992e-04 3.29207484e+02] [-3.08926788e-01 9.51085806e-01 1.74486865e-04 -4.46809407e+01] [ 5.87280196e-04 7.29665945e-06 9.99999828e-01 -2.46262363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78655999499995 meters 0.05103803040536757 Centerline is valid? [True, True] Translation: X:329.27, Y:-44.70, Z:-2.46 [[ 9.51380983e-01 3.08012346e-01 -1.61858821e-03 3.29267035e+02] [-3.08011937e-01 9.51382360e-01 5.02191319e-04 -4.46994184e+01] [ 1.69457740e-03 2.07692199e-05 9.99998564e-01 -2.46395173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84655999499995 meters 0.050922041706472486 Centerline is valid? [True, True] Translation: X:329.33, Y:-44.72, Z:-2.46 [[ 9.51606819e-01 3.07311337e-01 -2.05028953e-03 3.29325759e+02] [-3.07310680e-01 9.51609028e-01 6.36174482e-04 -4.47194057e+01] [ 2.14657765e-03 2.46878921e-05 9.99997696e-01 -2.46383313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90655999499995 meters 0.050297230917551325 Centerline is valid? [True, True] Translation: X:329.39, Y:-44.74, Z:-2.46 [[ 9.51669190e-01 3.07117730e-01 -2.11013905e-03 3.29385535e+02] [-3.07117035e-01 9.51671529e-01 6.54260471e-04 -4.47380675e+01] [ 2.20909425e-03 2.54201151e-05 9.99997560e-01 -2.46472218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96655999499995 meters 0.05050739483764279 Centerline is valid? [True, True] Translation: X:329.45, Y:-44.76, Z:-2.47 [[ 9.51600267e-01 3.07330154e-01 -2.26016441e-03 3.29445149e+02] [-3.07329353e-01 9.51602951e-01 7.01761370e-04 -4.47580384e+01] [ 2.36645155e-03 2.68185602e-05 9.99997200e-01 -2.46587227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02655999499996 meters 0.05074295645224269 Centerline is valid? [True, True] Translation: X:329.50, Y:-44.78, Z:-2.47 [[ 9.51298146e-01 3.08255269e-01 -3.24459236e-03 3.29504414e+02] [-3.08253626e-01 9.51303678e-01 1.00724561e-03 -4.47768136e+01] [ 3.39708141e-03 4.19664759e-05 9.99994229e-01 -2.46622041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08655999499996 meters 0.050887620958249995 Centerline is valid? [True, True] Translation: X:329.56, Y:-44.79, Z:-2.47 [[ 9.50787592e-01 3.09831410e-01 -2.73006047e-03 3.29563817e+02] [-3.09830252e-01 9.50791510e-01 8.47890523e-04 -4.47920062e+01] [ 2.85842143e-03 3.96915353e-05 9.99995914e-01 -2.46818472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14655999499996 meters 0.051159655841082015 Centerline is valid? [True, True] Translation: X:329.62, Y:-44.81, Z:-2.47 [[ 9.50284016e-01 3.11382883e-01 -9.94415103e-04 3.29623526e+02] [-3.11382730e-01 9.50284536e-01 3.09540216e-04 -4.48103423e+01] [ 1.04136282e-03 1.54925695e-05 9.99999458e-01 -2.46676727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20655999499996 meters 0.05047881106870522 Centerline is valid? [True, True] Translation: X:329.68, Y:-44.83, Z:-2.47 [[ 9.50477338e-01 3.10793179e-01 6.55701903e-04 3.29682652e+02] [-3.10793112e-01 9.50477564e-01 -2.03249773e-04 -4.48301537e+01] [-6.86398591e-04 -1.06033317e-05 9.99999764e-01 -2.46549972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26655999499997 meters 0.05067147374522445 Centerline is valid? [True, True] Translation: X:329.74, Y:-44.85, Z:-2.47 [[ 9.51370455e-01 3.08047060e-01 1.12478425e-03 3.29741341e+02] [-3.08046863e-01 9.51371120e-01 -3.49086754e-04 -4.48456632e+01] [-1.17762240e-03 -1.43754345e-05 9.99999306e-01 -2.46744881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32655999499997 meters 0.0503035188145372 Centerline is valid? [True, True] Translation: X:329.80, Y:-44.87, Z:-2.47 [[ 9.52396898e-01 3.04853222e-01 2.15910715e-03 3.29798699e+02] [-3.04852486e-01 9.52399345e-01 -6.70251903e-04 -4.48669202e+01] [-2.26066069e-03 -1.98633510e-05 9.99997445e-01 -2.46691096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38655999499997 meters 0.050256957558001934 Centerline is valid? [True, True] Translation: X:329.86, Y:-44.88, Z:-2.47 [[ 9.53023743e-01 3.02888657e-01 2.05086718e-03 3.29858258e+02] [-3.02887989e-01 9.53025950e-01 -6.36142696e-04 -4.48830092e+01] [-2.14721005e-03 -1.49239424e-05 9.99997695e-01 -2.46945476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.446559995 meters 0.05043022148126707 Centerline is valid? [True, True] Translation: X:329.92, Y:-44.90, Z:-2.47 [[ 9.53881956e-01 3.00177938e-01 1.55531267e-03 3.29916268e+02] [-3.00177550e-01 9.53883224e-01 -4.82860294e-04 -4.49042856e+01] [-1.62853067e-03 -6.27822318e-06 9.99998674e-01 -2.46917738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.506559995 meters 0.05059038256214043 Centerline is valid? [True, True] Translation: X:329.98, Y:-44.92, Z:-2.47 [[ 9.54220755e-01 2.99099506e-01 1.49552821e-03 3.29975974e+02] [-2.99099147e-01 9.54221927e-01 -4.63806271e-04 -4.49230134e+01] [-1.56579004e-03 -4.73764158e-06 9.99998774e-01 -2.46943228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.566559995 meters 0.05056909642424876 Centerline is valid? [True, True] Translation: X:330.03, Y:-44.94, Z:-2.47 [[ 9.54434325e-01 2.98413550e-01 2.11465726e-03 3.30034782e+02] [-2.98412828e-01 9.54436668e-01 -6.56674015e-04 -4.49397546e+01] [-2.21426685e-03 -4.28863239e-06 9.99997548e-01 -2.47038092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.626559995 meters 0.05053980233595094 Centerline is valid? [True, True] Translation: X:330.10, Y:-44.96, Z:-2.47 [[ 9.54364646e-01 2.98635178e-01 2.27018333e-03 3.30095351e+02] [-2.98634345e-01 9.54367346e-01 -7.05173803e-04 -4.49578095e+01] [-2.37717854e-03 -4.96176582e-06 9.99997174e-01 -2.47025788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.686559995 meters 0.05124889571298691 Centerline is valid? [True, True] Translation: X:330.16, Y:-44.98, Z:-2.47 [[ 9.53998179e-01 2.99800977e-01 2.61688871e-03 3.30155680e+02] [-2.99799874e-01 9.54001768e-01 -8.13360015e-04 -4.49763130e+01] [-2.74036258e-03 -8.59893192e-06 9.99996245e-01 -2.46984793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.746559995 meters 0.05081459254918353 Centerline is valid? [True, True] Translation: X:330.21, Y:-44.99, Z:-2.47 [[ 9.53369459e-01 3.01793240e-01 2.74121931e-03 3.30214747e+02] [-3.01792036e-01 9.53373400e-01 -8.52781975e-04 -4.49926348e+01] [-2.87076941e-03 -1.42618643e-05 9.99995879e-01 -2.47145800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.806559995 meters 0.0508526071426117 Centerline is valid? [True, True] Translation: X:330.27, Y:-45.01, Z:-2.47 [[ 9.52358483e-01 3.04948214e-01 4.46178135e-03 3.30274155e+02] [-3.04945055e-01 9.52368933e-01 -1.38852126e-03 -4.50099395e+01] [-4.67268903e-03 -3.82281660e-05 9.99989082e-01 -2.47040495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.866559995 meters 0.05083707884053357 Centerline is valid? [True, True] Translation: X:330.33, Y:-45.02, Z:-2.47 [[ 9.51427041e-01 3.07831605e-01 5.12722852e-03 3.30333607e+02] [-3.07827470e-01 9.51440855e-01 -1.59650259e-03 -4.50242097e+01] [-5.36970864e-03 -5.93460471e-05 9.99985581e-01 -2.47098385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.926559995 meters 0.05028791836812251 Centerline is valid? [True, True] Translation: X:330.39, Y:-45.04, Z:-2.47 [[ 9.50053203e-01 3.12049636e-01 4.89254973e-03 3.30392387e+02] [-3.12045925e-01 9.50065797e-01 -1.52384385e-03 -4.50403121e+01] [-5.12375907e-03 -7.89674799e-05 9.99986870e-01 -2.47140277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98655999499994 meters 0.05090489747646105 Centerline is valid? [True, True] Translation: X:330.45, Y:-45.06, Z:-2.47 [[ 9.49207318e-01 3.14618022e-01 4.57912699e-03 3.30451706e+02] [-3.14614802e-01 9.49218359e-01 -1.42614388e-03 -4.50565549e+01] [-4.79528197e-03 -8.69549255e-05 9.99988499e-01 -2.47193476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04655999499994 meters 0.05077265961358878 Centerline is valid? [True, True] Translation: X:330.51, Y:-45.07, Z:-2.47 [[ 9.48281843e-01 3.17405852e-01 3.88226881e-03 3.30510676e+02] [-3.17403559e-01 9.48289786e-01 -1.20939061e-03 -4.50714370e+01] [-4.06538352e-03 -8.54027812e-05 9.99991733e-01 -2.47357878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10655999499994 meters 0.05022330933721458 Centerline is valid? [True, True] Translation: X:330.57, Y:-45.09, Z:-2.47 [[ 9.48016495e-01 3.18211096e-01 2.53426614e-03 3.30569119e+02] [-3.18210124e-01 9.48019881e-01 -7.88988766e-04 -4.50940369e+01] [-2.65359967e-03 -5.84547780e-05 9.99996477e-01 -2.47336333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16655999499994 meters 0.05081157058380232 Centerline is valid? [True, True] Translation: X:330.63, Y:-45.11, Z:-2.47 [[ 9.48121967e-01 3.17904261e-01 1.27116763e-03 3.30628792e+02] [-3.17904017e-01 9.48122819e-01 -3.95376000e-04 -4.51134049e+01] [-1.33091476e-03 -2.92446259e-05 9.99999114e-01 -2.47406763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22655999499995 meters 0.0503124249919287 Centerline is valid? [True, True] Translation: X:330.69, Y:-45.13, Z:-2.47 [[ 9.48478771e-01 3.16839342e-01 9.22566510e-04 3.30687869e+02] [-3.16839213e-01 9.48479220e-01 -2.86912179e-04 -4.51331133e+01] [-9.65940230e-04 -2.01751358e-05 9.99999533e-01 -2.47478066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28655999499995 meters 0.0511691331120696 Centerline is valid? [True, True] Translation: X:330.75, Y:-45.15, Z:-2.48 [[ 9.49484868e-01 3.13812278e-01 5.83116491e-04 3.30745599e+02] [-3.13812226e-01 9.49485047e-01 -1.81836863e-04 -4.51508591e+01] [-6.10723029e-04 -1.03377341e-05 9.99999813e-01 -2.47651729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34655999499995 meters 0.05103682145809325 Centerline is valid? [True, True] Translation: X:330.80, Y:-45.18, Z:-2.48 [[ 9.50256701e-01 3.11466019e-01 1.05842266e-03 3.30802539e+02] [-3.11465845e-01 9.50257291e-01 -3.30008841e-04 -4.51762768e+01] [-1.10856039e-03 -1.60693962e-05 9.99999385e-01 -2.47515455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40655999499995 meters 0.051670257356598796 Centerline is valid? [True, True] Translation: X:330.86, Y:-45.20, Z:-2.47 [[ 9.51256069e-01 3.08398717e-01 1.45704454e-03 3.30857530e+02] [-3.08398382e-01 9.51257185e-01 -4.54503087e-04 -4.52016089e+01] [-1.52619225e-03 -1.70013588e-05 9.99998835e-01 -2.47338462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46655999499995 meters 0.051092543223142585 Centerline is valid? [True, True] Translation: X:330.92, Y:-45.22, Z:-2.48 [[ 9.50700806e-01 3.10100194e-01 2.41811508e-03 3.30918158e+02] [-3.10099279e-01 9.50703881e-01 -7.54094367e-04 -4.52159141e+01] [-2.53275620e-03 -3.29376188e-05 9.99996792e-01 -2.47603406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52655999499996 meters 0.05055746124827466 Centerline is valid? [True, True] Translation: X:330.98, Y:-45.23, Z:-2.48 [[ 9.50126313e-01 3.11858987e-01 1.99057554e-03 3.30977679e+02] [-3.11858371e-01 9.50128397e-01 -6.20519143e-04 -4.52348965e+01] [-2.08481682e-03 -3.12060800e-05 9.99997826e-01 -2.47608897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58655999499996 meters 0.05023755427765171 Centerline is valid? [True, True] Translation: X:331.04, Y:-45.25, Z:-2.48 [[ 9.49520022e-01 3.13698618e-01 2.21470778e-03 3.31036927e+02] [-3.13697860e-01 9.49522604e-01 -6.90750643e-04 -4.52541387e+01] [-2.31960262e-03 -3.88675278e-05 9.99997309e-01 -2.47661756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64655999499996 meters 0.050780784488640214 Centerline is valid? [True, True] Translation: X:331.10, Y:-45.27, Z:-2.48 [[ 9.49202157e-01 3.14653548e-01 2.89994204e-03 3.31097225e+02] [-3.14652250e-01 9.49206586e-01 -9.05150273e-04 -4.52676372e+01] [-3.03745283e-03 -5.33026978e-05 9.99995386e-01 -2.47806483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70655999499996 meters 0.050776479286175374 Centerline is valid? [True, True] Translation: X:331.16, Y:-45.28, Z:-2.48 [[ 9.48719645e-01 3.16094869e-01 3.88197395e-03 3.31157195e+02] [-3.16092553e-01 9.48727584e-01 -1.21237721e-03 -4.52842771e+01] [-4.06616198e-03 -7.68569884e-05 9.99991730e-01 -2.47831501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76655999499997 meters 0.050329401910921646 Centerline is valid? [True, True] Translation: X:331.22, Y:-45.30, Z:-2.48 [[ 9.48489075e-01 3.16792750e-01 3.29061906e-03 3.31216129e+02] [-3.16791090e-01 9.48494781e-01 -1.02795025e-03 -4.53042302e+01] [-3.44678219e-03 -6.74392179e-05 9.99994058e-01 -2.47869509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82655999499997 meters 0.050136345974316716 Centerline is valid? [True, True] Translation: X:331.28, Y:-45.32, Z:-2.48 [[ 9.48577381e-01 3.16536737e-01 2.33397967e-03 3.31276143e+02] [-3.16535901e-01 9.48580251e-01 -7.29060055e-04 -4.53225671e+01] [-2.44474131e-03 -4.72184788e-05 9.99997011e-01 -2.47995348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88655999499997 meters 0.050076309716846505 Centerline is valid? [True, True] Translation: X:331.34, Y:-45.34, Z:-2.48 [[ 9.48472760e-01 3.16854679e-01 1.59221129e-03 3.31336038e+02] [-3.16854290e-01 9.48474096e-01 -4.97671972e-04 -4.53387634e+01] [-1.66786086e-03 -3.24706689e-05 9.99998609e-01 -2.48184003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.946559995 meters 0.051240231443279875 Centerline is valid? [True, True] Translation: X:331.40, Y:-45.36, Z:-2.48 [[ 9.48394196e-01 3.17090772e-01 1.37552334e-03 3.31396459e+02] [-3.17090482e-01 9.48395193e-01 -4.29540491e-04 -4.53573724e+01] [-1.44074304e-03 -2.87916492e-05 9.99998962e-01 -2.48273780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.006559995 meters 0.0505365087818234 Centerline is valid? [True, True] Translation: X:331.45, Y:-45.38, Z:-2.48 [[ 9.49146623e-01 3.14832082e-01 1.20311322e-03 3.31454604e+02] [-3.14831858e-01 9.49147386e-01 -3.76471524e-04 -4.53765359e+01] [-1.26045708e-03 -2.14516938e-05 9.99999205e-01 -2.48367725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.066559995 meters 0.05075184120984026 Centerline is valid? [True, True] Translation: X:331.51, Y:-45.40, Z:-2.48 [[ 9.49402869e-01 3.14058016e-01 1.32429655e-03 3.31513751e+02] [-3.14057745e-01 9.49403793e-01 -4.13823388e-04 -4.53955836e+01] [-1.38725672e-03 -2.30204768e-05 9.99999037e-01 -2.48420736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.126559995 meters 0.04987264127174244 Centerline is valid? [True, True] Translation: X:331.57, Y:-45.41, Z:-2.48 [[ 9.49999298e-01 3.12240083e-01 2.73229467e-03 3.31572803e+02] [-3.12238914e-01 9.50003226e-01 -8.55062657e-04 -4.54133476e+01] [-2.86267358e-03 -4.08197975e-05 9.99995902e-01 -2.48465087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.186559995 meters 0.05028546670891645 Centerline is valid? [True, True] Translation: X:331.63, Y:-45.44, Z:-2.48 [[ 9.50134988e-01 3.11806311e-01 4.50881523e-03 3.31630928e+02] [-3.11803120e-01 9.50145684e-01 -1.41214214e-03 -4.54352971e+01] [-4.72434616e-03 -6.41369969e-05 9.99988838e-01 -2.48336372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.246559995 meters 0.049410790365645156 Centerline is valid? [True, True] Translation: X:331.69, Y:-45.45, Z:-2.48 [[ 9.50067199e-01 3.11980356e-01 6.36980516e-03 3.31689916e+02] [-3.11973983e-01 9.50088548e-01 -1.99612060e-03 -4.54534077e+01] [-6.67462935e-03 -9.07647814e-05 9.99977720e-01 -2.48257844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.306559995 meters 0.05022322067997472 Centerline is valid? [True, True] Translation: X:331.75, Y:-45.47, Z:-2.48 [[ 9.49477393e-01 3.13785211e-01 5.61438321e-03 3.31748596e+02] [-3.13780288e-01 9.49493988e-01 -1.76002012e-03 -4.54740534e+01] [-5.88309139e-03 -9.05834646e-05 9.99982690e-01 -2.48414763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.366559995 meters 0.04968518124128675 Centerline is valid? [True, True] Translation: X:331.81, Y:-45.49, Z:-2.49 [[ 9.48703706e-01 3.16125648e-01 5.08458778e-03 3.31807510e+02] [-3.16121640e-01 9.48717327e-01 -1.59464609e-03 -4.54939166e+01] [-5.32794506e-03 -9.45015767e-05 9.99985802e-01 -2.48631017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.426559995 meters 0.04933375803155626 Centerline is valid? [True, True] Translation: X:331.87, Y:-45.51, Z:-2.49 [[ 9.47541546e-01 3.19616577e-01 3.20352192e-03 3.31865859e+02] [-3.19615005e-01 9.47546959e-01 -1.00482521e-03 -4.55094308e+01] [-3.35664624e-03 -7.17800410e-05 9.99994364e-01 -2.48779957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48655999499994 meters 0.049758215116144956 Centerline is valid? [True, True] Translation: X:331.93, Y:-45.52, Z:-2.49 [[ 9.47371876e-01 3.20119419e-01 3.17587401e-03 3.31925707e+02] [-3.20117879e-01 9.47377196e-01 -9.95780693e-04 -4.55223767e+01] [-3.32751936e-03 -7.32794293e-05 9.99994461e-01 -2.48863983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54655999499994 meters 0.049586450280694645 Centerline is valid? [True, True] Translation: X:331.98, Y:-45.55, Z:-2.49 [[ 9.47416957e-01 3.19981359e-01 3.61108395e-03 3.31982958e+02] [-3.19979365e-01 9.47423835e-01 -1.13271264e-03 -4.55463300e+01] [-3.78367394e-03 -8.23211840e-05 9.99992838e-01 -2.48793955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60655999499994 meters 0.04979384685194607 Centerline is valid? [True, True] Translation: X:332.04, Y:-45.56, Z:-2.49 [[ 9.47822181e-01 3.18774395e-01 3.99973309e-03 3.32042114e+02] [-3.18771935e-01 9.47830617e-01 -1.25524895e-03 -4.55617465e+01] [-4.19121071e-03 -8.52498572e-05 9.99991213e-01 -2.48871826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66655999499994 meters 0.05042976304741156 Centerline is valid? [True, True] Translation: X:332.10, Y:-45.58, Z:-2.49 [[ 9.49002592e-01 3.15238817e-01 4.30907462e-03 3.32099673e+02] [-3.15235922e-01 9.49012372e-01 -1.35316008e-03 -4.55812056e+01] [-4.51593371e-03 -7.42226912e-05 9.99989800e-01 -2.48855737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72655999499995 meters 0.0495526246759799 Centerline is valid? [True, True] Translation: X:332.16, Y:-45.60, Z:-2.49 [[ 9.49655912e-01 3.13268900e-01 4.03048907e-03 3.32157912e+02] [-3.13266350e-01 9.49664463e-01 -1.26543396e-03 -4.56028545e+01] [-4.22403335e-03 -6.08897607e-05 9.99991077e-01 -2.48896038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78655999499995 meters 0.050062045891834765 Centerline is valid? [True, True] Translation: X:332.22, Y:-45.62, Z:-2.49 [[ 9.50014535e-01 3.12188382e-01 3.28597642e-03 3.32217241e+02] [-3.12186680e-01 9.50020217e-01 -1.03191756e-03 -4.56209300e+01] [-3.44389670e-03 -4.55013893e-05 9.99994069e-01 -2.49063480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84655999499995 meters 0.050613017228710026 Centerline is valid? [True, True] Translation: X:332.28, Y:-45.64, Z:-2.49 [[ 9.49703439e-01 3.13150481e-01 3.93553024e-04 3.32276301e+02] [-3.13150457e-01 9.49703520e-01 -1.22871440e-04 -4.56403400e+01] [-4.12235943e-04 -6.54988053e-06 9.99999915e-01 -2.49153208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90655999499995 meters 0.050162218226635504 Centerline is valid? [True, True] Translation: X:332.34, Y:-45.66, Z:-2.49 [[ 9.49268824e-01 3.14463755e-01 -1.11659532e-03 3.32335108e+02] [-3.14463559e-01 9.49269480e-01 3.52008249e-04 -4.56585624e+01] [ 1.17064369e-03 1.69780802e-05 9.99999315e-01 -2.49159549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96655999499995 meters 0.05074849405989819 Centerline is valid? [True, True] Translation: X:332.40, Y:-45.67, Z:-2.49 [[ 9.48543987e-01 3.16641285e-01 -1.61270521e-03 3.32395159e+02] [-3.16640879e-01 9.48545358e-01 5.08221001e-04 -4.56725112e+01] [ 1.69064779e-03 2.85784199e-05 9.99998570e-01 -2.49277274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02655999499996 meters 0.05013688992935595 Centerline is valid? [True, True] Translation: X:332.45, Y:-45.69, Z:-2.49 [[ 9.48727647e-01 3.16093275e-01 -9.45282000e-04 3.32454182e+02] [-3.16093134e-01 9.48728118e-01 2.98409934e-04 -4.56926629e+01] [ 9.91140985e-04 1.56873958e-05 9.99999509e-01 -2.49068990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08655999499996 meters 0.04988919592942694 Centerline is valid? [True, True] Translation: X:332.51, Y:-45.71, Z:-2.49 [[ 9.49999094e-01 3.12252255e-01 5.01241048e-04 3.32512364e+02] [-3.12252216e-01 9.49999226e-01 -1.57599773e-04 -4.57145520e+01] [-5.25389492e-04 -6.79398638e-06 9.99999862e-01 -2.48884487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14655999499996 meters 0.050573507464551685 Centerline is valid? [True, True] Translation: X:332.57, Y:-45.73, Z:-2.49 [[ 9.50823361e-01 3.09733547e-01 2.55570885e-04 3.32571202e+02] [-3.09733537e-01 9.50823396e-01 -7.95933238e-05 -4.57348939e+01] [-2.67655499e-04 -3.47968258e-06 9.99999964e-01 -2.48872508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20655999499996 meters 0.05015642848309539 Centerline is valid? [True, True] Translation: X:332.63, Y:-45.75, Z:-2.49 [[ 9.51576326e-01 3.07412073e-01 -5.60078130e-04 3.32629676e+02] [-3.07412022e-01 9.51576491e-01 1.77266601e-04 -4.57539080e+01] [ 5.87451075e-04 3.49204948e-06 9.99999827e-01 -2.49034912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26655999499997 meters 0.049664065922038106 Centerline is valid? [True, True] Translation: X:332.69, Y:-45.77, Z:-2.49 [[ 9.51872816e-01 3.06490991e-01 -1.18919782e-03 3.32689705e+02] [-3.06490761e-01 9.51873559e-01 3.75833255e-04 -4.57736902e+01] [ 1.24715546e-03 6.73268527e-06 9.99999222e-01 -2.49027749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32655999499997 meters 0.05138018964581547 Centerline is valid? [True, True] Translation: X:332.75, Y:-45.79, Z:-2.49 [[ 9.52294311e-01 3.05179536e-01 -9.98445647e-04 3.32747215e+02] [-3.05179373e-01 9.52294834e-01 3.15636807e-04 -4.57945376e+01] [ 1.04714053e-03 4.12588035e-06 9.99999452e-01 -2.48724602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38655999499997 meters 0.050460065517294095 Centerline is valid? [True, True] Translation: X:332.81, Y:-45.81, Z:-2.49 [[ 9.52594485e-01 3.04241874e-01 -7.93451082e-04 3.32806971e+02] [-3.04241770e-01 9.52594815e-01 2.50696547e-04 -4.58104919e+01] [ 8.32109774e-04 2.58881409e-06 9.99999654e-01 -2.49185993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.446559995 meters 0.05023453137591332 Centerline is valid? [True, True] Translation: X:332.87, Y:-45.83, Z:-2.49 [[ 9.52416612e-01 3.04798767e-01 5.55948851e-04 3.32865679e+02] [-3.04798717e-01 9.52416774e-01 -1.74868127e-04 -4.58262097e+01] [-5.82794601e-04 -2.90518689e-06 9.99999830e-01 -2.49364985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.506559995 meters 0.050638192214368556 Centerline is valid? [True, True] Translation: X:332.93, Y:-45.84, Z:-2.49 [[ 9.52028558e-01 3.06007688e-01 9.59065542e-04 3.32925995e+02] [-3.06007539e-01 9.52029041e-01 -3.01694268e-04 -4.58434995e+01] [-1.00537901e-03 -6.25972786e-06 9.99999495e-01 -2.49450009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.566559995 meters 0.04981032436419985 Centerline is valid? [True, True] Translation: X:332.99, Y:-45.86, Z:-2.49 [[ 9.51648249e-01 3.07187164e-01 1.28714566e-03 3.32986989e+02] [-3.07186897e-01 9.51649119e-01 -4.05403630e-04 -4.58601687e+01] [-1.34944583e-03 -9.59262737e-06 9.99999089e-01 -2.49448992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.626559995 meters 0.04980158021776392 Centerline is valid? [True, True] Translation: X:333.05, Y:-45.88, Z:-2.49 [[ 9.51730919e-01 3.06930938e-01 1.28682566e-03 3.33047223e+02] [-3.06930671e-01 9.51731789e-01 -4.05442696e-04 -4.58787637e+01] [-1.34915579e-03 -9.09391226e-06 9.99999090e-01 -2.49415939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.686559995 meters 0.04991092199894012 Centerline is valid? [True, True] Translation: X:333.11, Y:-45.89, Z:-2.50 [[ 9.52048894e-01 3.05945203e-01 -6.59862011e-04 3.33106219e+02] [-3.05945132e-01 9.52049123e-01 2.09308127e-04 -4.58945600e+01] [ 6.92257866e-04 2.60999881e-06 9.99999760e-01 -2.49743154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.746559995 meters 0.05001299128887102 Centerline is valid? [True, True] Translation: X:333.17, Y:-45.91, Z:-2.50 [[ 9.52633834e-01 3.04111806e-01 -2.18825446e-03 3.33165035e+02] [-3.04111017e-01 9.52636347e-01 6.92597165e-04 -4.59136163e+01] [ 2.29523771e-03 5.68079703e-06 9.99997366e-01 -2.49681422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.806559995 meters 0.0501218947149402 Centerline is valid? [True, True] Translation: X:333.22, Y:-45.93, Z:-2.50 [[ 9.53100190e-01 3.02647996e-01 -2.05397938e-03 3.33224315e+02] [-3.02647297e-01 9.53102403e-01 6.50420029e-04 -4.59329664e+01] [ 2.15450100e-03 1.71585431e-06 9.99997679e-01 -2.49613097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.866559995 meters 0.04987489561408502 Centerline is valid? [True, True] Translation: X:333.28, Y:-45.95, Z:-2.50 [[ 9.53806624e-01 3.00420084e-01 -8.35499731e-04 3.33282355e+02] [-3.00419967e-01 9.53806989e-01 2.65203140e-04 -4.59522227e+01] [ 8.76577833e-04 -1.95170993e-06 9.99999616e-01 -2.49797790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.926559995 meters 0.05049363563135765 Centerline is valid? [True, True] Translation: X:333.34, Y:-45.97, Z:-2.50 [[ 9.54087008e-01 2.99527875e-01 -1.01627121e-03 3.33342438e+02] [-2.99527701e-01 9.54087550e-01 3.22629641e-04 -4.59709816e+01] [ 1.06624827e-03 -3.41537168e-06 9.99999432e-01 -2.49858720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98655999499994 meters 0.05076515926271243 Centerline is valid? [True, True] Translation: X:333.40, Y:-45.99, Z:-2.50 [[ 9.53767788e-01 3.00541380e-01 -1.37334614e-03 3.33402592e+02] [-3.00541064e-01 9.53768777e-01 4.35892706e-04 -4.59885619e+01] [ 1.44085846e-03 -2.99351251e-06 9.99998962e-01 -2.49861129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04655999499994 meters 0.05042501521171203 Centerline is valid? [True, True] Translation: X:333.46, Y:-46.01, Z:-2.50 [[ 9.52986815e-01 3.03002930e-01 -2.31417078e-03 3.33462417e+02] [-3.03002041e-01 9.52989625e-01 7.33962548e-04 -4.60061695e+01] [ 2.42777355e-03 1.74183926e-06 9.99997053e-01 -2.49936567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10655999499994 meters 0.05021339697898079 Centerline is valid? [True, True] Translation: X:333.52, Y:-46.02, Z:-2.50 [[ 9.52370108e-01 3.04937935e-01 -2.00831924e-03 3.33522169e+02] [-3.04937269e-01 9.52372225e-01 6.37373418e-04 -4.60230114e+01] [ 2.10702680e-03 5.39599393e-06 9.99997780e-01 -2.50157077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16655999499994 meters 0.05002509415010413 Centerline is valid? [True, True] Translation: X:333.58, Y:-46.04, Z:-2.50 [[ 9.52138758e-01 3.05662008e-01 -1.58839410e-03 3.33581856e+02] [-3.05661593e-01 9.52140083e-01 5.03747692e-04 -4.60419987e+01] [ 1.66635022e-03 5.87336833e-06 9.99998612e-01 -2.50101994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22655999499995 meters 0.050197173985556606 Centerline is valid? [True, True] Translation: X:333.64, Y:-46.06, Z:-2.50 [[ 9.52173172e-01 3.05558684e-01 -3.76586725e-04 3.33640492e+02] [-3.05558660e-01 9.52173246e-01 1.20279156e-04 -4.60609652e+01] [ 3.95328144e-04 5.42749422e-07 9.99999922e-01 -2.50136345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28655999499995 meters 0.05015260718324599 Centerline is valid? [True, True] Translation: X:333.70, Y:-46.08, Z:-2.50 [[ 9.52425505e-01 3.04771306e-01 3.27673585e-04 3.33699457e+02] [-3.04771289e-01 9.52425562e-01 -1.03073325e-04 -4.60809459e+01] [-3.43498490e-04 -1.69583771e-06 9.99999941e-01 -2.50190561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34655999499995 meters 0.050475328358668685 Centerline is valid? [True, True] Translation: X:333.76, Y:-46.10, Z:-2.50 [[ 9.52890008e-01 3.03316044e-01 -9.64271290e-05 3.33759221e+02] [-3.03316042e-01 9.52890013e-01 3.16042096e-05 -4.61010143e+01] [ 1.01470512e-04 -8.67440410e-07 9.99999995e-01 -2.50004142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40655999499995 meters 0.05038885122280721 Centerline is valid? [True, True] Translation: X:333.82, Y:-46.12, Z:-2.50 [[ 9.53229158e-01 3.02248452e-01 2.11918116e-04 3.33818458e+02] [-3.02248445e-01 9.53229182e-01 -6.63332823e-05 -4.61206229e+01] [-2.22055664e-04 -8.21102116e-07 9.99999975e-01 -2.50315050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46655999499995 meters 0.05067554592856946 Centerline is valid? [True, True] Translation: X:333.88, Y:-46.14, Z:-2.50 [[ 9.53282907e-01 3.02078687e-01 4.06903515e-04 3.33878056e+02] [-3.02078660e-01 9.53282994e-01 -1.28767409e-04 -4.61408019e+01] [-4.26792091e-04 -1.65098717e-07 9.99999909e-01 -2.50478759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52655999499996 meters 0.050514740496657426 Centerline is valid? [True, True] Translation: X:333.94, Y:-46.16, Z:-2.50 [[ 9.53010416e-01 3.02936658e-01 7.26714349e-04 3.33937279e+02] [-3.02936571e-01 9.53010693e-01 -2.29848872e-04 -4.61612863e+01] [-7.62196195e-04 -1.09998344e-06 9.99999710e-01 -2.50451438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58655999499996 meters 0.05037132196762848 Centerline is valid? [True, True] Translation: X:334.00, Y:-46.18, Z:-2.51 [[ 9.52352052e-01 3.05000710e-01 3.69279063e-04 3.33996588e+02] [-3.05000688e-01 9.52352123e-01 -1.16376501e-04 -4.61794784e+01] [-3.87178616e-04 -1.79896860e-06 9.99999925e-01 -2.50771194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64655999499996 meters 0.04969936617235466 Centerline is valid? [True, True] Translation: X:334.06, Y:-46.20, Z:-2.51 [[ 9.51091645e-01 3.08905484e-01 1.44397549e-03 3.34055866e+02] [-3.08905144e-01 9.51092741e-01 -4.58211332e-04 -4.61972835e+01] [-1.51489860e-03 -1.02504870e-05 9.99998852e-01 -2.50689546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70655999499996 meters 0.05019535200150801 Centerline is valid? [True, True] Translation: X:334.11, Y:-46.22, Z:-2.51 [[ 9.49551956e-01 3.13598368e-01 2.67339639e-03 3.34114585e+02] [-3.13597218e-01 9.49555719e-01 -8.49715976e-04 -4.62152968e+01] [-2.80500838e-03 -3.15202061e-05 9.99996065e-01 -2.50678040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76655999499997 meters 0.05001495415361588 Centerline is valid? [True, True] Translation: X:334.17, Y:-46.23, Z:-2.51 [[ 9.48678168e-01 3.16220970e-01 3.74595614e-03 3.34173513e+02] [-3.16218732e-01 9.48685562e-01 -1.19103651e-03 -4.62333435e+01] [-3.93036522e-03 -5.46311606e-05 9.99992275e-01 -2.50681097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82655999499997 meters 0.0499336771920268 Centerline is valid? [True, True] Translation: X:334.23, Y:-46.25, Z:-2.51 [[ 9.47413932e-01 3.19988164e-01 3.79681298e-03 3.34232836e+02] [-3.19985893e-01 9.47421538e-01 -1.20763194e-03 -4.62461216e+01] [-3.98361032e-03 -7.07992686e-05 9.99992063e-01 -2.50840187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88655999499997 meters 0.04934224805081587 Centerline is valid? [True, True] Translation: X:334.29, Y:-46.27, Z:-2.51 [[ 9.46663444e-01 3.22212626e-01 2.71045286e-03 3.34290222e+02] [-3.22211479e-01 9.46667323e-01 -8.61892050e-04 -4.62693500e+01] [-2.84360966e-03 -5.74173283e-05 9.99995955e-01 -2.50938917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.946559995 meters 0.050490838782185854 Centerline is valid? [True, True] Translation: X:334.35, Y:-46.28, Z:-2.51 [[ 9.46658505e-01 3.22226381e-01 2.79900174e-03 3.34350788e+02] [-3.22225157e-01 9.46662641e-01 -8.90105401e-04 -4.62828031e+01] [-2.93652582e-03 -5.92829263e-05 9.99995687e-01 -2.51125888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.006559995 meters 0.049767127962819305 Centerline is valid? [True, True] Translation: X:334.41, Y:-46.31, Z:-2.51 [[ 9.47074197e-01 3.20999126e-01 3.16633806e-03 3.34409194e+02] [-3.20997552e-01 9.47079488e-01 -1.00732003e-03 -4.63060509e+01] [-3.32212268e-03 -6.23799530e-05 9.99994480e-01 -2.51051832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.066559995 meters 0.04971565034387241 Centerline is valid? [True, True] Translation: X:334.47, Y:-46.33, Z:-2.51 [[ 9.47483239e-01 3.19789420e-01 3.19961565e-03 3.34468090e+02] [-3.19787805e-01 9.47488640e-01 -1.01827448e-03 -4.63272812e+01] [-3.35723289e-03 -5.84000588e-05 9.99994363e-01 -2.51064166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.126559995 meters 0.0502009341445349 Centerline is valid? [True, True] Translation: X:334.53, Y:-46.35, Z:-2.51 [[ 9.48223599e-01 3.17594821e-01 2.35287492e-03 3.34526445e+02] [-3.17593942e-01 9.48226517e-01 -7.48497887e-04 -4.63461935e+01] [-2.46877744e-03 -3.75154597e-05 9.99996952e-01 -2.51190271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.186559995 meters 0.050003254087915276 Centerline is valid? [True, True] Translation: X:334.58, Y:-46.37, Z:-2.51 [[ 9.49397719e-01 3.14065717e-01 2.58779435e-03 3.34584660e+02] [-3.14064637e-01 9.49401245e-01 -8.23993303e-04 -4.63676450e+01] [-2.71564323e-03 -3.04373322e-05 9.99996312e-01 -2.51210090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.246559995 meters 0.049171469353002616 Centerline is valid? [True, True] Translation: X:334.64, Y:-46.39, Z:-2.51 [[ 9.50622929e-01 3.10323453e-01 3.92437860e-03 3.34641752e+02] [-3.10320938e-01 9.50631029e-01 -1.24974219e-03 -4.63893680e+01] [-4.11846038e-03 -2.97832621e-05 9.99991519e-01 -2.51204622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.306559995 meters 0.05005605902115317 Centerline is valid? [True, True] Translation: X:334.70, Y:-46.41, Z:-2.51 [[ 9.52760369e-01 3.03671429e-01 5.59838461e-03 3.34700181e+02] [-3.03666194e-01 9.52776817e-01 -1.78303113e-03 -4.64117804e+01] [-5.87546668e-03 -1.23875009e-06 9.99982739e-01 -2.51158342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.366559995 meters 0.04917319344734753 Centerline is valid? [True, True] Translation: X:334.76, Y:-46.43, Z:-2.51 [[ 9.53918804e-01 3.00018195e-01 5.29128884e-03 3.34758860e+02] [-3.00013458e-01 9.53933479e-01 -1.68599800e-03 -4.64323651e+01] [-5.55336765e-03 2.08473282e-05 9.99984580e-01 -2.51227952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.426559995 meters 0.049996008623031635 Centerline is valid? [True, True] Translation: X:334.82, Y:-46.45, Z:-2.51 [[ 9.53145665e-01 3.02473186e-01 4.82828217e-03 3.34818402e+02] [-3.02469273e-01 9.53157894e-01 -1.53849994e-03 -4.64472054e+01] [-5.06747025e-03 6.00755317e-06 9.99987160e-01 -2.51323372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48655999499994 meters 0.049875239836100295 Centerline is valid? [True, True] Translation: X:334.88, Y:-46.46, Z:-2.51 [[ 9.52724426e-01 3.03798593e-01 4.75219549e-03 3.34879292e+02] [-3.03794817e-01 9.52736278e-01 -1.51475578e-03 -4.64648089e+01] [-4.98776971e-03 -5.47530366e-07 9.99987561e-01 -2.51336554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54655999499994 meters 0.04989823646832376 Centerline is valid? [True, True] Translation: X:334.94, Y:-46.48, Z:-2.51 [[ 9.52419375e-01 3.04757676e-01 4.48244031e-03 3.34938424e+02] [-3.04754324e-01 9.52429923e-01 -1.42936221e-03 -4.64823403e+01] [-4.70481939e-03 -4.69080101e-06 9.99988932e-01 -2.51312492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60655999499994 meters 0.05114802795059796 Centerline is valid? [True, True] Translation: X:335.00, Y:-46.50, Z:-2.51 [[ 9.51708942e-01 3.06957127e-01 5.23560454e-03 3.35000276e+02] [-3.06952582e-01 9.51723343e-01 -1.67046571e-03 -4.64971373e+01] [-5.49560841e-03 -1.72851793e-05 9.99984899e-01 -2.51355717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66655999499994 meters 0.050655386081485884 Centerline is valid? [True, True] Translation: X:335.06, Y:-46.51, Z:-2.51 [[ 9.50642895e-01 3.10242960e-01 5.23366325e-03 3.35060397e+02] [-3.10238464e-01 9.50657301e-01 -1.67065848e-03 -4.65111738e+01] [-5.49373021e-03 -3.54840361e-05 9.99984909e-01 -2.51356668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72655999499995 meters 0.05022236277591401 Centerline is valid? [True, True] Translation: X:335.12, Y:-46.53, Z:-2.51 [[ 9.49597305e-01 3.13413904e-01 6.05670069e-03 3.35121020e+02] [-3.13407941e-01 9.49616618e-01 -1.93425856e-03 -4.65258490e+01] [-6.35776716e-03 -6.14513765e-05 9.99979787e-01 -2.51390142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78655999499995 meters 0.0498326846701619 Centerline is valid? [True, True] Translation: X:335.18, Y:-46.54, Z:-2.51 [[ 9.49136066e-01 3.14799800e-01 6.46631621e-03 3.35180740e+02] [-3.14793032e-01 9.49158090e-01 -2.06554067e-03 -4.65393821e+01] [-6.78778813e-03 -7.50721440e-05 9.99976960e-01 -2.51355133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84655999499995 meters 0.05064358235800069 Centerline is valid? [True, True] Translation: X:335.24, Y:-46.55, Z:-2.51 [[ 9.48762629e-01 3.15920102e-01 6.63041989e-03 3.35241204e+02] [-3.15913011e-01 9.48785794e-01 -2.11841661e-03 -4.65503067e+01] [-6.96009859e-03 -8.47613951e-05 9.99975775e-01 -2.51388448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90655999499995 meters 0.05090795271833487 Centerline is valid? [True, True] Translation: X:335.30, Y:-46.57, Z:-2.51 [[ 9.48761023e-01 3.15941663e-01 5.77809116e-03 3.35301197e+02] [-3.15936275e-01 9.48778615e-01 -1.84660479e-03 -4.65691684e+01] [-6.06554871e-03 -7.35219481e-05 9.99981602e-01 -2.51484842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96655999499995 meters 0.04999410460772515 Centerline is valid? [True, True] Translation: X:335.36, Y:-46.59, Z:-2.52 [[ 9.48740666e-01 3.15997994e-01 6.03465800e-03 3.35362039e+02] [-3.15992112e-01 9.48759855e-01 -1.92947469e-03 -4.65865774e+01] [-6.33515138e-03 -7.63332211e-05 9.99979930e-01 -2.51549369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02655999499996 meters 0.05023195810152865 Centerline is valid? [True, True] Translation: X:335.42, Y:-46.60, Z:-2.52 [[ 9.48551450e-01 3.16567485e-01 5.93076896e-03 3.35422060e+02] [-3.16561810e-01 9.48569988e-01 -1.89707640e-03 -4.66043150e+01] [-6.22630214e-03 -7.79803839e-05 9.99980613e-01 -2.51599171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08655999499996 meters 0.05085517251685551 Centerline is valid? [True, True] Translation: X:335.48, Y:-46.62, Z:-2.52 [[ 9.48634944e-01 3.16327896e-01 5.32975170e-03 3.35482012e+02] [-3.16323305e-01 9.48649913e-01 -1.70551578e-03 -4.66196970e+01] [-5.59557071e-03 -6.80128079e-05 9.99984342e-01 -2.51671467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14655999499996 meters 0.05031364556398244 Centerline is valid? [True, True] Translation: X:335.54, Y:-46.64, Z:-2.52 [[ 9.48719086e-01 3.16090278e-01 4.36265954e-03 3.35541856e+02] [-3.16087201e-01 9.48729115e-01 -1.39590763e-03 -4.66402403e+01] [-4.58021496e-03 -5.46566274e-05 9.99989509e-01 -2.51736483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20655999499996 meters 0.05055495283619912 Centerline is valid? [True, True] Translation: X:335.60, Y:-46.65, Z:-2.52 [[ 9.48739896e-01 3.16053485e-01 1.67451179e-03 3.35601633e+02] [-3.16053032e-01 9.48741374e-01 -5.35548159e-04 -4.66538010e+01] [-1.75794048e-03 -2.11386250e-05 9.99998455e-01 -2.52162155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26655999499997 meters 0.05059348614772787 Centerline is valid? [True, True] Translation: X:335.66, Y:-46.68, Z:-2.52 [[ 9.48752970e-01 3.16018168e-01 5.65911028e-04 3.35659725e+02] [-3.16018116e-01 9.48753138e-01 -1.80981360e-04 -4.66758706e+01] [-5.94103261e-04 -7.13153444e-06 9.99999823e-01 -2.52130524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32655999499997 meters 0.05125357594786065 Centerline is valid? [True, True] Translation: X:335.72, Y:-46.69, Z:-2.52 [[ 9.48695780e-01 3.16190082e-01 3.85194693e-04 3.35718553e+02] [-3.16190058e-01 9.48695859e-01 -1.22498853e-04 -4.66949892e+01] [-4.04165533e-04 -5.58058784e-06 9.99999918e-01 -2.52164758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38655999499997 meters 0.051478168425563305 Centerline is valid? [True, True] Translation: X:335.78, Y:-46.71, Z:-2.52 [[ 9.48500274e-01 3.16776120e-01 3.46650431e-04 3.35777439e+02] [-3.16776101e-01 9.48500337e-01 -1.10800365e-04 -4.67141710e+01] [-3.63896960e-04 -4.71639539e-06 9.99999934e-01 -2.52193994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.446559995 meters 0.051180889128628275 Centerline is valid? [True, True] Translation: X:335.84, Y:-46.73, Z:-2.52 [[ 9.47372230e-01 3.20134105e-01 1.07549758e-04 3.35835694e+02] [-3.20134103e-01 9.47372237e-01 -3.36589212e-05 -4.67323260e+01] [-1.12665023e-04 -2.54281804e-06 9.99999994e-01 -2.52194176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.506559995 meters 0.05076933168399564 Centerline is valid? [True, True] Translation: X:335.89, Y:-46.75, Z:-2.52 [[ 9.46324606e-01 3.23217717e-01 2.16379438e-04 3.35894711e+02] [-3.23217710e-01 9.46324631e-01 -6.85958298e-05 -4.67499105e+01] [-2.26936579e-04 -5.02374471e-06 9.99999974e-01 -2.52178280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.566559995 meters 0.05090166466760078 Centerline is valid? [True, True] Translation: X:335.95, Y:-46.77, Z:-2.52 [[ 9.44830334e-01 3.27558350e-01 1.08017882e-03 3.35952499e+02] [-3.27558168e-01 9.44830951e-01 -3.46453371e-04 -4.67682968e+01] [-1.13407008e-03 -2.64817421e-05 9.99999357e-01 -2.52049362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.626559995 meters 0.05066266288809047 Centerline is valid? [True, True] Translation: X:336.01, Y:-46.79, Z:-2.52 [[ 9.44127074e-01 3.29579514e-01 1.18833537e-03 3.36011231e+02] [-3.29579295e-01 9.44127821e-01 -3.80873695e-04 -4.67869546e+01] [-1.24746865e-03 -3.20575675e-05 9.99999221e-01 -2.52052554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.686559995 meters 0.05088539514833251 Centerline is valid? [True, True] Translation: X:336.07, Y:-46.80, Z:-2.52 [[ 9.43982732e-01 3.29994523e-01 -4.65956754e-04 3.36069483e+02] [-3.29994490e-01 9.43982846e-01 1.49635804e-04 -4.68038638e+01] [ 4.89234178e-04 1.25095462e-05 9.99999880e-01 -2.52258522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.746559995 meters 0.05089575648232098 Centerline is valid? [True, True] Translation: X:336.13, Y:-46.83, Z:-2.52 [[ 9.45259382e-01 3.26316754e-01 -1.44100768e-03 3.36125888e+02] [-3.26316428e-01 9.45260480e-01 4.62486723e-04 -4.68268432e+01] [ 1.51304478e-03 3.30545654e-05 9.99998855e-01 -2.52390470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.806559995 meters 0.05045338156207803 Centerline is valid? [True, True] Translation: X:336.18, Y:-46.85, Z:-2.52 [[ 9.46841015e-01 3.21700169e-01 -1.04555767e-03 3.36181769e+02] [-3.21699995e-01 9.46841592e-01 3.35598990e-04 -4.68537811e+01] [ 1.09793974e-03 1.85970074e-05 9.99999397e-01 -2.52183488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.866559995 meters 0.05035100102469315 Centerline is valid? [True, True] Translation: X:336.24, Y:-46.88, Z:-2.52 [[ 9.49700251e-01 3.13159976e-01 5.12755454e-04 3.36236943e+02] [-3.13159933e-01 9.49700389e-01 -1.64422515e-04 -4.68770155e+01] [-5.38454606e-04 -4.42235984e-06 9.99999855e-01 -2.52325322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.926559995 meters 0.05058626677038946 Centerline is valid? [True, True] Translation: X:336.29, Y:-46.91, Z:-2.52 [[ 9.52316652e-01 3.05106018e-01 1.81959603e-03 3.36292446e+02] [-3.05105461e-01 9.52318391e-01 -5.83280038e-04 -4.69065900e+01] [-1.91079701e-03 2.98607479e-07 9.99998174e-01 -2.52179457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98655999499994 meters 0.05061128883053662 Centerline is valid? [True, True] Translation: X:336.35, Y:-46.93, Z:-2.52 [[ 9.53664683e-01 3.00865887e-01 1.84155434e-03 3.36347984e+02] [-3.00865307e-01 9.53666461e-01 -5.90858598e-04 -4.69325017e+01] [-1.93399780e-03 9.42116703e-06 9.99998130e-01 -2.52360803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04655999499994 meters 0.05050737259694157 Centerline is valid? [True, True] Translation: X:336.41, Y:-46.95, Z:-2.52 [[ 9.52994755e-01 3.02977359e-01 2.39111729e-03 3.36406549e+02] [-3.02976387e-01 9.52997754e-01 -7.67277023e-04 -4.69503027e+01] [-2.51119698e-03 6.75890027e-06 9.99996847e-01 -2.52349969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10655999499994 meters 0.0508142946619361 Centerline is valid? [True, True] Translation: X:336.47, Y:-46.97, Z:-2.52 [[ 9.50848999e-01 3.09651957e-01 1.35887941e-03 3.36466003e+02] [-3.09651651e-01 9.50849970e-01 -4.35836202e-04 -4.69681853e+01] [-1.42704798e-03 -6.36483579e-06 9.99998982e-01 -2.52211495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16655999499994 meters 0.0509639230711454 Centerline is valid? [True, True] Translation: X:336.53, Y:-46.98, Z:-2.53 [[ 9.48471955e-01 3.16861081e-01 7.51244669e-05 3.36525243e+02] [-3.16861080e-01 9.48471958e-01 -2.40159958e-05 -4.69811848e+01] [-7.88631847e-05 -1.02552127e-06 9.99999997e-01 -2.52620511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22655999499995 meters 0.050213500836332005 Centerline is valid? [True, True] Translation: X:336.58, Y:-47.00, Z:-2.53 [[ 9.47012562e-01 3.21196138e-01 -4.98445037e-04 3.36583537e+02] [-3.21196098e-01 9.47012693e-01 1.60246824e-04 -4.69981873e+01] [ 5.23504438e-04 8.34284535e-06 9.99999863e-01 -2.52666184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28655999499995 meters 0.05061197665671193 Centerline is valid? [True, True] Translation: X:336.64, Y:-47.01, Z:-2.53 [[ 9.45610370e-01 3.25301356e-01 -2.37239089e-04 3.36642661e+02] [-3.25301347e-01 9.45610400e-01 7.63055718e-05 -4.70131027e+01] [ 2.49158056e-04 5.01885519e-06 9.99999969e-01 -2.52697061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34655999499995 meters 0.05046950315585418 Centerline is valid? [True, True] Translation: X:336.70, Y:-47.03, Z:-2.53 [[ 9.45270312e-01 3.26287630e-01 6.47803595e-04 3.36701916e+02] [-3.26287565e-01 9.45270534e-01 -2.07463123e-04 -4.70278973e+01] [-6.80042301e-04 -1.52615263e-05 9.99999769e-01 -2.52766388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40655999499995 meters 0.049928635990423555 Centerline is valid? [True, True] Translation: X:336.76, Y:-47.05, Z:-2.53 [[ 9.46139269e-01 3.23749847e-01 2.55329206e-03 3.36758443e+02] [-3.23748811e-01 9.46142713e-01 -8.20781596e-04 -4.70521101e+01] [-2.68150659e-03 -5.00515680e-05 9.99996404e-01 -2.52507654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46655999499995 meters 0.0502752318193393 Centerline is valid? [True, True] Translation: X:336.82, Y:-47.07, Z:-2.53 [[ 9.47568576e-01 3.19530925e-01 3.71236241e-03 3.36815785e+02] [-3.19528701e-01 9.47575846e-01 -1.19349931e-03 -4.70700016e+01] [-3.89910489e-03 -5.52839005e-05 9.99992397e-01 -2.52544003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52655999499996 meters 0.0504457442677031 Centerline is valid? [True, True] Translation: X:336.87, Y:-47.09, Z:-2.53 [[ 9.49060604e-01 3.15080877e-01 2.83044409e-03 3.36872480e+02] [-3.15079564e-01 9.49064824e-01 -9.09987574e-04 -4.70935862e+01] [-2.97299460e-03 -2.81817323e-05 9.99995580e-01 -2.52583490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58655999499996 meters 0.050777160714170204 Centerline is valid? [True, True] Translation: X:336.93, Y:-47.11, Z:-2.53 [[ 9.50487386e-01 3.10757886e-01 1.80701951e-03 3.36930876e+02] [-3.10757344e-01 9.50489104e-01 -5.80802645e-04 -4.71142519e+01] [-1.89804135e-03 -9.49899376e-06 9.99998199e-01 -2.52763116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64655999499996 meters 0.05123663382203267 Centerline is valid? [True, True] Translation: X:336.99, Y:-47.13, Z:-2.53 [[ 9.51061524e-01 3.08998816e-01 1.30709547e-03 3.36989270e+02] [-3.08998531e-01 9.51062423e-01 -4.19623920e-04 -4.71344406e+01] [-1.37279268e-03 -4.80241653e-06 9.99999058e-01 -2.52840993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70655999499996 meters 0.050494367059078234 Centerline is valid? [True, True] Translation: X:337.05, Y:-47.15, Z:-2.53 [[ 9.51438535e-01 3.07837599e-01 8.52735777e-04 3.37047739e+02] [-3.07837478e-01 9.51438917e-01 -2.73506849e-04 -4.71541923e+01] [-8.95521696e-04 -2.27907491e-06 9.99999599e-01 -2.52955761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76655999499997 meters 0.05032859972601411 Centerline is valid? [True, True] Translation: X:337.11, Y:-47.17, Z:-2.53 [[ 9.50580886e-01 3.10477002e-01 -9.99132532e-05 3.37107750e+02] [-3.10477000e-01 9.50580891e-01 3.30545300e-05 -4.71697438e+01] [ 1.05238301e-04 -4.00237316e-07 9.99999994e-01 -2.53075030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82655999499997 meters 0.05084044696135345 Centerline is valid? [True, True] Translation: X:337.17, Y:-47.19, Z:-2.53 [[ 9.49701310e-01 3.13152051e-01 -1.79278535e-03 3.37167453e+02] [-3.13151517e-01 9.49703002e-01 5.78340393e-04 -4.71862591e+01] [ 1.88372211e-03 1.21628248e-05 9.99998226e-01 -2.53227827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88655999499997 meters 0.050489856355641204 Centerline is valid? [True, True] Translation: X:337.23, Y:-47.20, Z:-2.53 [[ 9.48832810e-01 3.15764594e-01 -3.00317035e-03 3.37227542e+02] [-3.15763110e-01 9.48837563e-01 9.68534667e-04 -4.72021394e+01] [ 3.15534979e-03 2.93129397e-05 9.99995021e-01 -2.53350548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.946559995 meters 0.05009051873941885 Centerline is valid? [True, True] Translation: X:337.29, Y:-47.22, Z:-2.53 [[ 9.48295062e-01 3.17375090e-01 -3.08661837e-03 3.37286294e+02] [-3.17373530e-01 9.48300085e-01 9.95734598e-04 -4.72181834e+01] [ 3.24306182e-03 3.53607656e-05 9.99994741e-01 -2.53391338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.006559995 meters 0.05067005058266697 Centerline is valid? [True, True] Translation: X:337.35, Y:-47.24, Z:-2.53 [[ 9.48277832e-01 3.17424043e-01 -3.33615547e-03 3.37345725e+02] [-3.17422222e-01 9.48283700e-01 1.07581553e-03 -4.72357394e+01] [ 3.50511157e-03 3.87978585e-05 9.99993856e-01 -2.53490297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.066559995 meters 0.050297419716774976 Centerline is valid? [True, True] Translation: X:337.40, Y:-47.26, Z:-2.54 [[ 9.48919525e-01 3.15502068e-01 -3.19056419e-03 3.37403142e+02] [-3.15500388e-01 9.48924889e-01 1.02981205e-03 -4.72559006e+01] [ 3.35251360e-03 2.94154792e-05 9.99994380e-01 -2.53552074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.126559995 meters 0.0502708396873006 Centerline is valid? [True, True] Translation: X:337.46, Y:-47.28, Z:-2.53 [[ 9.49345172e-01 3.14227561e-01 -2.18716956e-03 3.37460887e+02] [-3.14226767e-01 9.49347692e-01 7.06393467e-04 -4.72772258e+01] [ 2.29835267e-03 1.66559923e-05 9.99997359e-01 -2.53436654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.186559995 meters 0.05046252112820883 Centerline is valid? [True, True] Translation: X:337.52, Y:-47.30, Z:-2.53 [[ 9.49431770e-01 3.13971885e-01 -9.84318578e-04 3.37519242e+02] [-3.13971724e-01 9.49432281e-01 3.17919180e-04 -4.72985192e+01] [ 1.03436152e-03 7.20563042e-06 9.99999465e-01 -2.53291599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.246559995 meters 0.05004137459675821 Centerline is valid? [True, True] Translation: X:337.58, Y:-47.32, Z:-2.53 [[ 9.48839696e-01 3.15758168e-01 1.03822788e-04 3.37577288e+02] [-3.15758166e-01 9.48839702e-01 -3.26805973e-05 -4.73188822e+01] [-1.08830349e-04 -1.77424509e-06 9.99999994e-01 -2.53340657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.306559995 meters 0.05026829782436431 Centerline is valid? [True, True] Translation: X:337.64, Y:-47.34, Z:-2.53 [[ 9.48455474e-01 3.16910418e-01 2.64046245e-05 3.37635120e+02] [-3.16910418e-01 9.48455474e-01 -8.39764734e-06 -4.73372367e+01] [-2.77049127e-05 -4.03105979e-07 1.00000000e+00 -2.53434609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.366559995 meters 0.04974822510250302 Centerline is valid? [True, True] Translation: X:337.69, Y:-47.36, Z:-2.53 [[ 9.47166585e-01 3.20740407e-01 -1.02516755e-03 3.37692565e+02] [-3.20740236e-01 9.47167140e-01 3.31065385e-04 -4.73584120e+01] [ 1.07719107e-03 1.52384135e-05 9.99999420e-01 -2.53422911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.426559995 meters 0.04941129317034368 Centerline is valid? [True, True] Translation: X:337.75, Y:-47.37, Z:-2.54 [[ 9.45773906e-01 3.24821163e-01 -1.71180293e-03 3.37751020e+02] [-3.24820695e-01 9.45775455e-01 5.52671568e-04 -4.73739109e+01] [ 1.79850062e-03 3.33266698e-05 9.99998382e-01 -2.53745579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48655999499994 meters 0.050331446185482256 Centerline is valid? [True, True] Translation: X:337.81, Y:-47.39, Z:-2.54 [[ 9.44859336e-01 3.27465062e-01 -2.73281319e-03 3.37809082e+02] [-3.27463878e-01 9.44863286e-01 8.82622861e-04 -4.73889272e+01] [ 2.87116300e-03 6.09431535e-05 9.99995876e-01 -2.53931397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54655999499994 meters 0.04959457582319462 Centerline is valid? [True, True] Translation: X:337.87, Y:-47.41, Z:-2.54 [[ 9.44842147e-01 3.27516180e-01 -2.54330856e-03 3.37868524e+02] [-3.27515152e-01 9.44845569e-01 8.22483089e-04 -4.74097926e+01] [ 2.67241034e-03 5.58554008e-05 9.99996428e-01 -2.53833715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60655999499994 meters 0.04958251608109827 Centerline is valid? [True, True] Translation: X:337.93, Y:-47.43, Z:-2.54 [[ 9.45580118e-01 3.25380592e-01 -2.38979715e-03 3.37927624e+02] [-3.25379680e-01 9.45583136e-01 7.72163483e-04 -4.74285146e+01] [ 2.51099889e-03 4.74489928e-05 9.99996846e-01 -2.53802690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66655999499994 meters 0.04936121289194779 Centerline is valid? [True, True] Translation: X:337.99, Y:-47.45, Z:-2.54 [[ 9.46534925e-01 3.22598303e-01 -1.40389386e-03 3.37986253e+02] [-3.22597985e-01 9.46535966e-01 4.53728732e-04 -4.74486735e+01] [ 1.47520815e-03 2.34232389e-05 9.99998912e-01 -2.53752555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72655999499995 meters 0.049373400242707734 Centerline is valid? [True, True] Translation: X:338.04, Y:-47.47, Z:-2.54 [[ 9.48524396e-01 3.16703669e-01 -5.06708194e-04 3.38042616e+02] [-3.16703627e-01 9.48524531e-01 1.63733240e-04 -4.74691973e+01] [ 5.32480070e-04 5.17135071e-06 9.99999858e-01 -2.53783054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78655999499995 meters 0.05014471552929504 Centerline is valid? [True, True] Translation: X:338.10, Y:-47.49, Z:-2.54 [[ 9.51004048e-01 3.09177472e-01 -7.68713291e-04 3.38099523e+02] [-3.09177373e-01 9.51004359e-01 2.48480926e-04 -4.74884406e+01] [ 8.07874395e-04 1.36238875e-06 9.99999674e-01 -2.54061050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84655999499995 meters 0.05063883873567685 Centerline is valid? [True, True] Translation: X:338.16, Y:-47.51, Z:-2.54 [[ 9.51497891e-01 3.07654290e-01 -7.75156817e-04 3.38158762e+02] [-3.07654187e-01 9.51498207e-01 2.51597555e-04 -4.75086336e+01] [ 8.14965388e-04 -9.14302989e-07 9.99999668e-01 -2.53875089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90655999499995 meters 0.05055074255639405 Centerline is valid? [True, True] Translation: X:338.22, Y:-47.53, Z:-2.54 [[ 9.52419659e-01 3.04789690e-01 -1.93584607e-04 3.38218328e+02] [-3.04789683e-01 9.52419679e-01 6.30452495e-05 -4.75300974e+01] [ 2.03589331e-04 -1.04294395e-06 9.99999979e-01 -2.53814938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96655999499995 meters 0.050413354812625946 Centerline is valid? [True, True] Translation: X:338.28, Y:-47.55, Z:-2.54 [[ 9.52234035e-01 3.05367702e-01 9.53324841e-04 3.38276654e+02] [-3.05367548e-01 9.52234512e-01 -3.07468287e-04 -4.75482025e+01] [-1.00167970e-03 1.66729871e-06 9.99999498e-01 -2.53821288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02655999499996 meters 0.04988346183671175 Centerline is valid? [True, True] Translation: X:338.34, Y:-47.56, Z:-2.54 [[ 9.51249717e-01 3.08419522e-01 1.17242315e-03 3.38337075e+02] [-3.08419290e-01 9.51250439e-01 -3.78424254e-04 -4.75637953e+01] [-1.23198147e-03 -1.62195306e-06 9.99999241e-01 -2.53914530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08655999499996 meters 0.0500902515423765 Centerline is valid? [True, True] Translation: X:338.40, Y:-47.58, Z:-2.54 [[ 9.50416884e-01 3.10977920e-01 6.93240387e-04 3.38395869e+02] [-3.10977839e-01 9.50417137e-01 -2.23544764e-04 -4.75803392e+01] [-7.28385029e-04 -3.12168012e-06 9.99999735e-01 -2.54146912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14655999499996 meters 0.050142748277230746 Centerline is valid? [True, True] Translation: X:338.46, Y:-47.60, Z:-2.54 [[ 9.49080716e-01 3.15031119e-01 1.09030884e-03 3.38455333e+02] [-3.15030921e-01 9.49081342e-01 -3.52624130e-04 -4.75985892e+01] [-1.14587935e-03 -8.81223695e-06 9.99999343e-01 -2.54003609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20655999499996 meters 0.050538816626058275 Centerline is valid? [True, True] Translation: X:338.52, Y:-47.61, Z:-2.54 [[ 9.47663892e-01 3.19263405e-01 2.00657244e-03 3.38515119e+02] [-3.19262747e-01 9.47666016e-01 -6.48954543e-04 -4.76126617e+01] [-2.10874795e-03 -2.56330426e-05 9.99997776e-01 -2.54131633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26655999499997 meters 0.05032426476763841 Centerline is valid? [True, True] Translation: X:338.57, Y:-47.63, Z:-2.54 [[ 9.46614096e-01 3.22363708e-01 1.84223160e-03 3.38574486e+02] [-3.22363159e-01 9.46615888e-01 -5.95986333e-04 -4.76282228e+01] [-1.93601006e-03 -2.96985332e-05 9.99998125e-01 -2.54281219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32655999499997 meters 0.049564120807879246 Centerline is valid? [True, True] Translation: X:338.63, Y:-47.65, Z:-2.54 [[ 9.46285723e-01 3.23329179e-01 1.25419731e-03 3.38632830e+02] [-3.23328925e-01 9.46286554e-01 -4.05576968e-04 -4.76504902e+01] [-1.31796492e-03 -2.17265741e-05 9.99999131e-01 -2.54250150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38655999499997 meters 0.05005866389823306 Centerline is valid? [True, True] Translation: X:338.69, Y:-47.67, Z:-2.54 [[ 9.46096249e-01 3.23885607e-01 2.09363474e-05 3.38691406e+02] [-3.23885607e-01 9.46096250e-01 -5.89304599e-06 -4.76721271e+01] [-2.17164726e-05 -1.20559286e-06 1.00000000e+00 -2.54459446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.446559995 meters 0.049830955895738806 Centerline is valid? [True, True] Translation: X:338.75, Y:-47.69, Z:-2.55 [[ 9.46140145e-01 3.23756416e-01 -7.81004395e-04 3.38749980e+02] [-3.23756316e-01 9.46140467e-01 2.54329618e-04 -4.76946364e+01] [ 8.21280708e-04 1.22236441e-05 9.99999663e-01 -2.54546737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.506559995 meters 0.05028853446591256 Centerline is valid? [True, True] Translation: X:338.81, Y:-47.72, Z:-2.55 [[ 9.47056289e-01 3.21067215e-01 -4.78451562e-04 3.38806930e+02] [-3.21067178e-01 9.47056410e-01 1.55384225e-04 -4.77193267e+01] [ 5.03009399e-04 6.45748559e-06 9.99999873e-01 -2.54557995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.566559995 meters 0.050664117141044865 Centerline is valid? [True, True] Translation: X:338.86, Y:-47.74, Z:-2.55 [[ 9.48089262e-01 3.18003725e-01 -6.18792482e-04 3.38863742e+02] [-3.18003661e-01 9.48089463e-01 2.01673892e-04 -4.77418707e+01] [ 6.50803681e-04 5.57342384e-06 9.99999788e-01 -2.54648693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.626559995 meters 0.04877978229841296 Centerline is valid? [True, True] Translation: X:338.92, Y:-47.76, Z:-2.55 [[ 9.48565274e-01 3.16578748e-01 1.34800711e-03 3.38922645e+02] [-3.16578447e-01 9.48566232e-01 -4.37164845e-04 -4.77630250e+01] [-1.41707112e-03 -1.20706044e-05 9.99998996e-01 -2.54541294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.686559995 meters 0.04969020697901995 Centerline is valid? [True, True] Translation: X:338.98, Y:-47.78, Z:-2.55 [[ 9.48699926e-01 3.16174784e-01 1.39839461e-03 3.38981170e+02] [-3.16174459e-01 9.48700957e-01 -4.53127787e-04 -4.77826322e+01] [-1.46992589e-03 -1.22543634e-05 9.99998920e-01 -2.54554527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.746559995 meters 0.05005175641330279 Centerline is valid? [True, True] Translation: X:339.04, Y:-47.80, Z:-2.55 [[ 9.49309833e-01 3.14341352e-01 5.95853614e-04 3.39040463e+02] [-3.14341293e-01 9.49310020e-01 -1.92648922e-04 -4.78022893e+01] [-6.26207329e-04 -4.41787922e-06 9.99999804e-01 -2.54668637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.806559995 meters 0.049952304878803415 Centerline is valid? [True, True] Translation: X:339.10, Y:-47.82, Z:-2.55 [[ 9.49262562e-01 3.14482324e-01 -1.20696781e-03 3.39100115e+02] [-3.14482078e-01 9.49263329e-01 3.93053928e-04 -4.78197339e+01] [ 1.26933880e-03 6.45836694e-06 9.99999194e-01 -2.54761923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.866559995 meters 0.0500512501161038 Centerline is valid? [True, True] Translation: X:339.16, Y:-47.84, Z:-2.55 [[ 9.49687789e-01 3.13184330e-01 -2.94579935e-03 3.39159384e+02] [-3.13182864e-01 9.49692358e-01 9.58399372e-04 -4.78380485e+01] [ 3.09775880e-03 1.23936978e-05 9.99995202e-01 -2.54804005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92655999499993 meters 0.05030310275514148 Centerline is valid? [True, True] Translation: X:339.22, Y:-47.86, Z:-2.55 [[ 9.50375862e-01 3.11080285e-01 -3.84417446e-03 3.39217940e+02] [-3.11077772e-01 9.50383636e-01 1.25050360e-03 -4.78568346e+01] [ 4.04244751e-03 7.38878654e-06 9.99991829e-01 -2.54932394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98655999499994 meters 0.05016523318119868 Centerline is valid? [True, True] Translation: X:339.28, Y:-47.88, Z:-2.55 [[ 9.52070955e-01 3.05864095e-01 -2.83776779e-03 3.39276683e+02] [-3.05862700e-01 9.52075184e-01 9.23889598e-04 -4.78764263e+01] [ 2.98435295e-03 -1.16411331e-05 9.99995547e-01 -2.54864150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04655999499994 meters 0.05091260556218188 Centerline is valid? [True, True] Translation: X:339.33, Y:-47.90, Z:-2.55 [[ 9.53921103e-01 3.00057529e-01 8.95339687e-05 3.39333778e+02] [-3.00057527e-01 9.53921108e-01 -2.86640624e-05 -4.78988296e+01] [-9.40092104e-05 4.77912777e-07 9.99999996e-01 -2.54664907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10655999499994 meters 0.050228881042365066 Centerline is valid? [True, True] Translation: X:339.39, Y:-47.92, Z:-2.55 [[ 9.54842758e-01 2.97104304e-01 2.08301393e-03 3.39393739e+02] [-2.97103533e-01 9.54845030e-01 -6.77455979e-04 -4.79158156e+01] [-2.19023059e-03 2.79931361e-05 9.99997601e-01 -2.54524918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16655999499994 meters 0.05032186162180714 Centerline is valid? [True, True] Translation: X:339.45, Y:-47.94, Z:-2.55 [[ 9.54963930e-01 2.96714849e-01 2.04716425e-03 3.39451694e+02] [-2.96714104e-01 9.54966124e-01 -6.65552489e-04 -4.79366611e+01] [-2.15245181e-03 2.81561153e-05 9.99997683e-01 -2.54717549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22655999499995 meters 0.05038552689214339 Centerline is valid? [True, True] Translation: X:339.51, Y:-47.95, Z:-2.55 [[ 9.55296059e-01 2.95636254e-01 2.94026600e-03 3.39512315e+02] [-2.95634709e-01 9.55300583e-01 -9.56800484e-04 -4.79510104e+01] [-3.09170273e-03 4.47830489e-05 9.99995220e-01 -2.54631315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28655999499995 meters 0.05092718189097963 Centerline is valid? [True, True] Translation: X:339.57, Y:-47.98, Z:-2.55 [[ 9.56057397e-01 2.93158259e-01 3.53393800e-03 3.39567996e+02] [-2.93156010e-01 9.56063926e-01 -1.14993733e-03 -4.79757114e+01] [-3.71578426e-03 6.34109310e-05 9.99993094e-01 -2.54739776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34655999499995 meters 0.05101448360115545 Centerline is valid? [True, True] Translation: X:339.63, Y:-47.99, Z:-2.55 [[ 9.57107970e-01 2.89694541e-01 4.62667267e-03 3.39626195e+02] [-2.89690641e-01 9.57119148e-01 -1.50658596e-03 -4.79902768e+01] [-4.86472673e-03 1.01661656e-04 9.99988162e-01 -2.54777503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40655999499995 meters 0.05073867632126701 Centerline is valid? [True, True] Translation: X:339.69, Y:-48.00, Z:-2.55 [[ 9.56960007e-01 2.90183760e-01 4.57509825e-03 3.39686516e+02] [-2.90179953e-01 9.56970938e-01 -1.48953338e-03 -4.80014443e+01] [-4.81047446e-03 9.78220811e-05 9.99988425e-01 -2.54872802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46655999499995 meters 0.050904865279246855 Centerline is valid? [True, True] Translation: X:339.74, Y:-48.02, Z:-2.55 [[ 9.56044458e-01 2.93187385e-01 4.48904710e-03 3.39743558e+02] [-2.93183750e-01 9.56054994e-01 -1.46215093e-03 -4.80234550e+01] [-4.72046010e-03 8.17656338e-05 9.99988855e-01 -2.55049788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52655999499996 meters 0.05117696484126164 Centerline is valid? [True, True] Translation: X:339.81, Y:-48.03, Z:-2.55 [[ 9.54107462e-01 2.99434281e-01 4.24998302e-03 3.39806016e+02] [-2.99431084e-01 9.54116926e-01 -1.38451393e-03 -4.80285861e+01] [-4.46955167e-03 4.83980483e-05 9.99990010e-01 -2.55070138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58655999499996 meters 0.050080304790062286 Centerline is valid? [True, True] Translation: X:339.87, Y:-48.04, Z:-2.55 [[ 9.51676260e-01 3.07089049e-01 2.93474214e-03 3.39865504e+02] [-3.07087561e-01 9.51680785e-01 -9.55979351e-04 -4.80432415e+01] [-3.08650850e-03 8.56004568e-06 9.99995237e-01 -2.55268173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64655999499996 meters 0.05038826037805653 Centerline is valid? [True, True] Translation: X:339.93, Y:-48.06, Z:-2.55 [[ 9.49869308e-01 3.12634830e-01 2.78579903e-03 3.39926323e+02] [-3.12633514e-01 9.49873393e-01 -9.07056708e-04 -4.80573511e+01] [-2.92973390e-03 -9.34881277e-06 9.99995708e-01 -2.55278280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70655999499996 meters 0.05042316720330559 Centerline is valid? [True, True] Translation: X:339.99, Y:-48.07, Z:-2.55 [[ 9.47330181e-01 3.20238516e-01 3.58077344e-03 3.39987117e+02] [-3.20236392e-01 9.47336947e-01 -1.16707615e-03 -4.80680024e+01] [-3.76594171e-03 -4.10875025e-05 9.99992908e-01 -2.55404070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76655999499997 meters 0.051123824407419395 Centerline is valid? [True, True] Translation: X:340.05, Y:-48.08, Z:-2.55 [[ 9.45416677e-01 3.25839561e-01 3.98589798e-03 3.40046561e+02] [-3.25836978e-01 9.45425077e-01 -1.29929027e-03 -4.80804556e+01] [-4.19172808e-03 -7.03822624e-05 9.99991212e-01 -2.55449753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82655999499997 meters 0.05004438829602958 Centerline is valid? [True, True] Translation: X:340.10, Y:-48.11, Z:-2.55 [[ 9.44898316e-01 3.27335524e-01 4.31588175e-03 3.40103751e+02] [-3.27332513e-01 9.44908169e-01 -1.40658087e-03 -4.81051142e+01] [-4.53853581e-03 -8.36525188e-05 9.99989697e-01 -2.55235748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88655999499997 meters 0.05018536724275852 Centerline is valid? [True, True] Translation: X:340.16, Y:-48.12, Z:-2.55 [[ 9.44958975e-01 3.27159775e-01 4.36097314e-03 3.40162496e+02] [-3.27156696e-01 9.44969034e-01 -1.42183223e-03 -4.81240292e+01] [-4.58615088e-03 -8.31484354e-05 9.99989480e-01 -2.55345437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.946559995 meters 0.05066297553389832 Centerline is valid? [True, True] Translation: X:340.22, Y:-48.14, Z:-2.56 [[ 9.44934494e-01 3.27245789e-01 2.99918743e-03 3.40223161e+02] [-3.27244333e-01 9.44939252e-01 -9.77911100e-04 -4.81391058e+01] [-3.15406722e-03 -5.74051603e-05 9.99995024e-01 -2.55580775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.006559995 meters 0.05026656863008582 Centerline is valid? [True, True] Translation: X:340.28, Y:-48.16, Z:-2.56 [[ 9.45176094e-01 3.26561047e-01 1.86414221e-04 3.40281333e+02] [-3.26561041e-01 9.45176112e-01 -5.98639614e-05 -4.81633084e+01] [-1.95743507e-04 -4.29363695e-06 9.99999981e-01 -2.55716179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.066559995 meters 0.050349807047261275 Centerline is valid? [True, True] Translation: X:340.34, Y:-48.19, Z:-2.56 [[ 9.46199897e-01 3.23582300e-01 -4.99546482e-04 3.40337999e+02] [-3.23582259e-01 9.46200029e-01 1.63251368e-04 -4.81879302e+01] [ 5.25496149e-04 7.17595178e-06 9.99999862e-01 -2.55676482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.126559995 meters 0.04990459793743521 Centerline is valid? [True, True] Translation: X:340.40, Y:-48.21, Z:-2.56 [[ 9.47105654e-01 3.20921894e-01 -1.38113268e-04 3.40396055e+02] [-3.20921890e-01 9.47105664e-01 4.60277677e-05 -4.82083004e+01] [ 1.45579177e-04 7.30412175e-07 9.99999989e-01 -2.55798279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.186559995 meters 0.04970998051334505 Centerline is valid? [True, True] Translation: X:340.45, Y:-48.24, Z:-2.56 [[ 9.48814073e-01 3.15835140e-01 1.37823693e-04 3.40451294e+02] [-3.15835137e-01 9.48814083e-01 -4.47671938e-05 -4.82358517e+01] [-1.44908114e-04 -1.05382142e-06 9.99999990e-01 -2.55568063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.246559995 meters 0.050051171181421876 Centerline is valid? [True, True] Translation: X:340.51, Y:-48.26, Z:-2.56 [[ 9.50262988e-01 3.11448277e-01 4.72378228e-04 3.40508239e+02] [-3.11448240e-01 9.50263106e-01 -1.53843499e-04 -4.82596494e+01] [-4.96797895e-04 -9.29584235e-07 9.99999877e-01 -2.55694296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.306559995 meters 0.05037552975904402 Centerline is valid? [True, True] Translation: X:340.56, Y:-48.29, Z:-2.56 [[ 9.52599801e-01 3.04226244e-01 1.09801420e-04 3.40564976e+02] [-3.04226242e-01 9.52599807e-01 -3.50054059e-05 -4.82861887e+01] [-1.15246375e-04 -5.83306596e-08 9.99999993e-01 -2.55658420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.366559995 meters 0.05126735678123323 Centerline is valid? [True, True] Translation: X:340.62, Y:-48.31, Z:-2.56 [[ 9.54010137e-01 2.99773182e-01 -8.34909875e-04 3.40621357e+02] [-2.99773057e-01 9.54010503e-01 2.73858487e-04 -4.83099854e+01] [ 8.78608220e-04 -1.09802866e-05 9.99999614e-01 -2.55661973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42655999499993 meters 0.050784856499054024 Centerline is valid? [True, True] Translation: X:340.68, Y:-48.33, Z:-2.56 [[ 9.54173765e-01 2.99251890e-01 -8.55907641e-04 3.40679663e+02] [-2.99251759e-01 9.54174149e-01 2.80210131e-04 -4.83326055e+01] [ 9.00538356e-04 -1.12372886e-05 9.99999594e-01 -2.55716799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48655999499994 meters 0.05082820618550697 Centerline is valid? [True, True] Translation: X:340.74, Y:-48.36, Z:-2.56 [[ 9.53457210e-01 3.01528342e-01 9.07844358e-05 3.40738201e+02] [-3.01528341e-01 9.53457214e-01 -2.93403607e-05 -4.83552663e+01] [-9.54060256e-05 6.00698135e-07 9.99999995e-01 -2.55845709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54655999499994 meters 0.05050630743035276 Centerline is valid? [True, True] Translation: X:340.80, Y:-48.37, Z:-2.56 [[ 9.52230134e-01 3.05379570e-01 1.04431436e-03 3.40795701e+02] [-3.05379379e-01 9.52230706e-01 -3.41508083e-04 -4.83749661e+01] [-1.09871779e-03 6.28221641e-06 9.99999396e-01 -2.55896107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60655999499994 meters 0.05010663442993647 Centerline is valid? [True, True] Translation: X:340.86, Y:-48.39, Z:-2.56 [[ 9.49480861e-01 3.13824899e-01 -1.65352213e-04 3.40855024e+02] [-3.13824894e-01 9.49480876e-01 5.44078976e-05 -4.83933331e+01] [ 1.74073317e-04 2.32383165e-07 9.99999985e-01 -2.56051760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66655999499994 meters 0.0500862421767123 Centerline is valid? [True, True] Translation: X:340.91, Y:-48.41, Z:-2.56 [[ 9.48507921e-01 3.16752556e-01 -7.36355243e-04 3.40913842e+02] [-3.16752464e-01 9.48508207e-01 2.41263044e-04 -4.84123324e+01] [ 7.74859677e-04 4.40242956e-06 9.99999700e-01 -2.56102116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72655999499995 meters 0.04944169643176811 Centerline is valid? [True, True] Translation: X:340.97, Y:-48.43, Z:-2.56 [[ 9.46476484e-01 3.22770457e-01 -1.22350552e-03 3.40972628e+02] [-3.22770209e-01 9.46477275e-01 4.00502720e-04 -4.84301623e+01] [ 1.28729061e-03 1.58447249e-05 9.99999171e-01 -2.56151195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78655999499995 meters 0.05035706773696737 Centerline is valid? [True, True] Translation: X:341.03, Y:-48.44, Z:-2.56 [[ 9.44603727e-01 3.28211891e-01 -8.67836855e-04 3.41031505e+02] [-3.28211768e-01 9.44604126e-01 2.83988689e-04 -4.84418266e+01] [ 9.12970738e-04 1.65774946e-05 9.99999583e-01 -2.56475427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84655999499995 meters 0.049487877279833684 Centerline is valid? [True, True] Translation: X:341.09, Y:-48.46, Z:-2.56 [[ 9.43066447e-01 3.32604284e-01 2.57577125e-04 3.41088548e+02] [-3.32604274e-01 9.43066482e-01 -8.41531914e-05 -4.84630641e+01] [-2.70902066e-04 -6.30920139e-06 9.99999963e-01 -2.56226691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90655999499995 meters 0.04971714465377683 Centerline is valid? [True, True] Translation: X:341.15, Y:-48.48, Z:-2.56 [[ 9.43653837e-01 3.30933435e-01 7.04735473e-04 3.41147093e+02] [-3.30933355e-01 9.43654101e-01 -2.30576084e-04 -4.84781692e+01] [-7.41331855e-04 -1.56364681e-05 9.99999725e-01 -2.56337062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96655999499995 meters 0.050588953208043234 Centerline is valid? [True, True] Translation: X:341.21, Y:-48.49, Z:-2.56 [[ 9.44754488e-01 3.27777702e-01 8.57510757e-04 3.41205048e+02] [-3.27777583e-01 9.44754877e-01 -2.80531258e-04 -4.84949707e+01] [-9.02089361e-04 -1.60396380e-05 9.99999593e-01 -2.56396818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02655999499996 meters 0.05022650402522523 Centerline is valid? [True, True] Translation: X:341.26, Y:-48.52, Z:-2.56 [[ 9.44990196e-01 3.27096846e-01 1.08733568e-03 3.41263593e+02] [-3.27096653e-01 9.44990822e-01 -3.55163068e-04 -4.85161467e+01] [-1.14369495e-03 -2.00382426e-05 9.99999346e-01 -2.56333960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08655999499996 meters 0.0503771056379139 Centerline is valid? [True, True] Translation: X:341.32, Y:-48.53, Z:-2.56 [[ 9.45073049e-01 3.26857425e-01 1.07470544e-03 3.41322523e+02] [-3.26857237e-01 9.45073660e-01 -3.51209591e-04 -4.85341434e+01] [-1.13047127e-03 -1.93565325e-05 9.99999361e-01 -2.56489263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14655999499996 meters 0.049878154148519226 Centerline is valid? [True, True] Translation: X:341.38, Y:-48.56, Z:-2.57 [[ 9.46105409e-01 3.23856107e-01 -1.33309001e-03 3.41380355e+02] [-3.23855812e-01 9.46106348e-01 4.37250099e-04 -4.85584245e+01] [ 1.40285103e-03 1.80442629e-05 9.99999016e-01 -2.56647782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20655999499996 meters 0.05010432527017619 Centerline is valid? [True, True] Translation: X:341.44, Y:-48.58, Z:-2.57 [[ 9.48199132e-01 3.17653453e-01 -3.83280642e-03 3.41437749e+02] [-3.17650967e-01 9.48206878e-01 1.25693312e-03 -4.85788251e+01] [ 4.03356255e-03 2.56717768e-05 9.99991865e-01 -2.57032627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26655999499997 meters 0.05061737521584961 Centerline is valid? [True, True] Translation: X:341.50, Y:-48.60, Z:-2.57 [[ 9.49786646e-01 3.12871031e-01 -4.12862106e-03 3.41495724e+02] [-3.12868099e-01 9.49795619e-01 1.35443394e-03 -4.86007735e+01] [ 4.34510934e-03 5.29055951e-06 9.99990560e-01 -2.56772792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32655999499997 meters 0.05061981166683924 Centerline is valid? [True, True] Translation: X:341.55, Y:-48.62, Z:-2.57 [[ 9.52671008e-01 3.03973893e-01 -4.22179101e-03 3.41551781e+02] [-3.03970739e-01 9.52680361e-01 1.38540999e-03 -4.86249393e+01] [ 4.44314585e-03 -3.65390011e-05 9.99990129e-01 -2.56813163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38655999499997 meters 0.05159922169019767 Centerline is valid? [True, True] Translation: X:341.61, Y:-48.64, Z:-2.56 [[ 9.55261706e-01 2.95733833e-01 -4.07111816e-03 3.41611697e+02] [-2.95730827e-01 9.55270378e-01 1.33536165e-03 -4.86395916e+01] [ 4.28393020e-03 -7.16647105e-05 9.99990821e-01 -2.56279121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.446559995 meters 0.051301069738649285 Centerline is valid? [True, True] Translation: X:341.67, Y:-48.66, Z:-2.56 [[ 9.56700876e-01 2.91039607e-01 -4.40251361e-03 3.41667825e+02] [-2.91036041e-01 9.56711000e-01 1.44402451e-03 -4.86594613e+01] [ 4.63220152e-03 -1.00209376e-04 9.99989266e-01 -2.56471687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.506559995 meters 0.05149598951009593 Centerline is valid? [True, True] Translation: X:341.73, Y:-48.68, Z:-2.56 [[ 9.57241179e-01 2.89271266e-01 -3.38526194e-03 3.41728302e+02] [-2.89269143e-01 9.57247161e-01 1.11147931e-03 -4.86755453e+01] [ 3.56205141e-03 -8.47019441e-05 9.99993652e-01 -2.56335709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.566559995 meters 0.05151964812302604 Centerline is valid? [True, True] Translation: X:341.79, Y:-48.69, Z:-2.56 [[ 9.55588401e-01 2.94698687e-01 -1.86850167e-03 3.41785921e+02] [-2.94698051e-01 9.55590228e-01 6.13065157e-04 -4.86924566e+01] [ 1.96619143e-03 -3.51941535e-05 9.99998066e-01 -2.56415533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.626559995 meters 0.05060948576243881 Centerline is valid? [True, True] Translation: X:341.85, Y:-48.70, Z:-2.56 [[ 9.53622278e-01 3.01005040e-01 -7.19702526e-04 3.41847002e+02] [-3.01004947e-01 9.53622549e-01 2.36215145e-04 -4.87016717e+01] [ 7.57426506e-04 -8.62600344e-06 9.99999713e-01 -2.56083490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.686559995 meters 0.050780787212462916 Centerline is valid? [True, True] Translation: X:341.91, Y:-48.71, Z:-2.56 [[ 9.49356211e-01 3.14201281e-01 -5.82766346e-04 3.41907121e+02] [-3.14201223e-01 9.49356390e-01 1.91339141e-04 -4.87140708e+01] [ 6.13371958e-04 1.45689611e-06 9.99999812e-01 -2.56296692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.746559995 meters 0.05145873400211239 Centerline is valid? [True, True] Translation: X:341.97, Y:-48.72, Z:-2.57 [[ 9.44863524e-01 3.27464364e-01 1.06985088e-04 3.41969208e+02] [-3.27464362e-01 9.44863530e-01 -3.50343454e-05 -4.87180332e+01] [-1.12558808e-04 -1.93112845e-06 9.99999994e-01 -2.56776113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.806559995 meters 0.05115560214243895 Centerline is valid? [True, True] Translation: X:342.03, Y:-48.73, Z:-2.57 [[ 9.41840020e-01 3.36060814e-01 7.11829578e-04 3.42029113e+02] [-3.36060733e-01 9.41840289e-01 -2.33485333e-04 -4.87326462e+01] [-7.48895046e-04 -1.93121394e-05 9.99999719e-01 -2.56665527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.866559995 meters 0.05172669731454337 Centerline is valid? [True, True] Translation: X:342.09, Y:-48.75, Z:-2.57 [[ 9.40936400e-01 3.38579875e-01 1.53602582e-03 3.42087551e+02] [-3.38579503e-01 9.40937653e-01 -5.04004112e-04 -4.87506734e+01] [-1.61595018e-03 -4.58310433e-05 9.99998693e-01 -2.56661106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92655999499993 meters 0.052372048371089414 Centerline is valid? [True, True] Translation: X:342.15, Y:-48.77, Z:-2.57 [[ 9.40141902e-01 3.40782120e-01 8.66696928e-04 3.42146884e+02] [-3.40782003e-01 9.40142301e-01 -2.84313771e-04 -4.87666104e+01] [-9.11707494e-04 -2.80594250e-05 9.99999584e-01 -2.56827418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98655999499994 meters 0.050064742152349226 Centerline is valid? [True, True] Translation: X:342.20, Y:-48.80, Z:-2.57 [[ 9.40155252e-01 3.40745006e-01 -9.70602265e-04 3.42202650e+02] [-3.40744858e-01 9.40155753e-01 3.19511283e-04 -4.87968596e+01] [ 1.02138918e-03 3.03375198e-05 9.99999478e-01 -2.56904458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04655999499994 meters 0.051616874784219495 Centerline is valid? [True, True] Translation: X:342.26, Y:-48.81, Z:-2.57 [[ 9.41741149e-01 3.36337323e-01 -9.01432957e-04 3.42261043e+02] [-3.36337194e-01 9.41741580e-01 2.95955341e-04 -4.88110542e+01] [ 9.48457725e-04 2.44721082e-05 9.99999550e-01 -2.57358900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10655999499994 meters 0.04985501016979571 Centerline is valid? [True, True] Translation: X:342.31, Y:-48.84, Z:-2.57 [[ 9.43801334e-01 3.30512475e-01 -7.39385976e-04 3.42314834e+02] [-3.30512386e-01 9.43801623e-01 2.42903682e-04 -4.88427272e+01] [ 7.78116381e-04 1.51234040e-05 9.99999697e-01 -2.57195019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16655999499994 meters 0.05041311073829597 Centerline is valid? [True, True] Translation: X:342.37, Y:-48.87, Z:-2.58 [[ 9.47245867e-01 3.20497392e-01 -2.58620044e-03 3.42369051e+02] [-3.20496267e-01 9.47249398e-01 8.49293343e-04 -4.88709383e+01] [ 2.72197311e-03 2.43779785e-05 9.99996295e-01 -2.57551489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22655999499995 meters 0.0503879214865175 Centerline is valid? [True, True] Translation: X:342.42, Y:-48.90, Z:-2.58 [[ 9.50204067e-01 3.11579031e-01 -5.54423749e-03 3.42422560e+02] [-3.11573705e-01 9.50220242e-01 1.82182518e-03 -4.89028293e+01] [ 5.83588921e-03 -3.66708026e-06 9.99982971e-01 -2.57622300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28655999499995 meters 0.05082318286896394 Centerline is valid? [True, True] Translation: X:342.48, Y:-48.92, Z:-2.57 [[ 9.50771486e-01 3.09824164e-01 -6.52443626e-03 3.42480935e+02] [-3.09816748e-01 9.50793872e-01 2.14379716e-03 -4.89232147e+01] [ 6.86759418e-03 -1.68815891e-05 9.99976418e-01 -2.57368623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34655999499995 meters 0.05119512971516614 Centerline is valid? [True, True] Translation: X:342.54, Y:-48.94, Z:-2.58 [[ 9.49887878e-01 3.12427036e-01 -1.01176355e-02 3.42538649e+02] [-3.12409348e-01 9.49941760e-01 3.32447277e-03 -4.89401367e+01] [ 1.06498196e-02 2.96752986e-06 9.99943289e-01 -2.57526089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40655999499995 meters 0.05153366391830099 Centerline is valid? [True, True] Translation: X:342.60, Y:-48.95, Z:-2.58 [[ 9.49437909e-01 3.13586774e-01 -1.51984513e-02 3.42598013e+02] [-3.13547008e-01 9.49559548e-01 4.99390926e-03 -4.89542701e+01] [ 1.59978585e-02 2.40221731e-05 9.99872026e-01 -2.58028428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46655999499995 meters 0.05104049414879983 Centerline is valid? [True, True] Translation: X:342.66, Y:-48.97, Z:-2.58 [[ 9.49593593e-01 3.13116383e-01 -1.51703042e-02 3.42656316e+02] [-3.13076656e-01 9.49714763e-01 4.98769883e-03 -4.89746842e+01] [ 1.59691920e-02 1.31812391e-05 9.99872484e-01 -2.58108431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52655999499996 meters 0.050349535602422016 Centerline is valid? [True, True] Translation: X:342.71, Y:-49.00, Z:-2.57 [[ 9.50658008e-01 3.10087781e-01 -9.74264447e-03 3.42713067e+02] [-3.10071244e-01 9.50707930e-01 3.20254998e-03 -4.89952830e+01] [ 1.02554810e-02 -2.36158983e-05 9.99947411e-01 -2.57073136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58655999499996 meters 0.050300476318056314 Centerline is valid? [True, True] Translation: X:342.77, Y:-49.01, Z:-2.57 [[ 9.50673346e-01 3.10171668e-01 -3.70485254e-03 3.42772194e+02] [-3.10169277e-01 9.50680565e-01 1.21793532e-03 -4.90087611e+01] [ 3.89990033e-03 -8.72721599e-06 9.99992395e-01 -2.56872226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64655999499996 meters 0.05023474128443163 Centerline is valid? [True, True] Translation: X:342.83, Y:-49.02, Z:-2.56 [[ 9.49475698e-01 3.13831700e-01 2.35851394e-03 3.42830628e+02] [-3.13830743e-01 9.49478627e-01 -7.75257328e-04 -4.90235758e+01] [-2.48265891e-03 -4.08619001e-06 9.99996918e-01 -2.56496607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70655999499996 meters 0.050439502930582865 Centerline is valid? [True, True] Translation: X:342.89, Y:-49.03, Z:-2.56 [[ 9.44893317e-01 3.27336774e-01 5.22066365e-03 3.42893115e+02] [-3.27332287e-01 9.44907736e-01 -1.71617305e-03 -4.90276901e+01] [-5.49481201e-03 -8.72913246e-05 9.99984900e-01 -2.56486897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76655999499997 meters 0.05048985046123733 Centerline is valid? [True, True] Translation: X:342.95, Y:-49.05, Z:-2.57 [[ 9.45816214e-01 3.24646469e-01 6.02991972e-03 3.42951478e+02] [-3.24640428e-01 9.45835431e-01 -1.98231467e-03 -4.90472802e+01] [-6.34686318e-03 -8.26503634e-05 9.99979855e-01 -2.56582431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82655999499997 meters 0.05054536137874497 Centerline is valid? [True, True] Translation: X:343.00, Y:-49.08, Z:-2.57 [[ 9.55090152e-01 2.96277529e-01 4.73569520e-03 3.43004864e+02] [-2.96273450e-01 9.55101889e-01 -1.55691935e-03 -4.90777222e+01] [-4.98435166e-03 8.39375869e-05 9.99987575e-01 -2.57040713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88655999499997 meters 0.057172863789889734 Centerline is valid? [True, True] Translation: X:343.06, Y:-49.11, Z:-2.59 [[ 9.58037574e-01 2.86597654e-01 -5.07847717e-03 3.43057298e+02] [-2.86592825e-01 9.58051024e-01 1.66987949e-03 -4.91138794e+01] [ 5.34402380e-03 -1.44352179e-04 9.99985710e-01 -2.58943009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.946559995 meters 0.05192863824806924 Centerline is valid? [True, True] Translation: X:343.12, Y:-49.11, Z:-2.58 [[ 9.58649003e-01 2.84575418e-01 -2.98686484e-03 3.43123224e+02] [-2.84573736e-01 9.58653651e-01 9.82547234e-04 -4.91125806e+01] [ 3.14297767e-03 -9.19346383e-05 9.99995057e-01 -2.57944434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.006559995 meters 0.05192863824806924 Centerline is valid? [True, True] Translation: X:343.18, Y:-49.13, Z:-2.58 [[ 9.58608359e-01 2.84712302e-01 -2.98649769e-03 3.43182602e+02] [-2.84710618e-01 9.58613006e-01 9.83663380e-04 -4.91320812e+01] [ 3.14295660e-03 -9.26603344e-05 9.99995057e-01 -2.57990500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.066559995 meters 0.052035810653229354 Centerline is valid? [True, True] Translation: X:343.24, Y:-49.15, Z:-2.58 [[ 9.59059813e-01 2.83188175e-01 -2.95512571e-03 3.43242452e+02] [-2.83186518e-01 9.59064361e-01 9.73503305e-04 -4.91451993e+01] [ 3.10984037e-03 -9.67961371e-05 9.99995160e-01 -2.57770793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.126559995 meters 0.0526592458518002 Centerline is valid? [True, True] Translation: X:343.30, Y:-49.16, Z:-2.58 [[ 9.59490766e-01 2.81727667e-01 -2.64412038e-03 3.43302282e+02] [-2.81726336e-01 9.59494405e-01 8.70687507e-04 -4.91617774e+01] [ 2.78231547e-03 -9.04982753e-05 9.99996125e-01 -2.57710358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.186559995 meters 0.0526592458518002 Centerline is valid? [True, True] Translation: X:343.36, Y:-49.18, Z:-2.58 [[ 9.59453662e-01 2.81854006e-01 -2.64379643e-03 3.43361678e+02] [-2.81852673e-01 9.59457300e-01 8.71671373e-04 -4.91812571e+01] [ 2.78229385e-03 -9.11672003e-05 9.99996125e-01 -2.57756432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.246559995 meters 0.0526592458518002 Centerline is valid? [True, True] Translation: X:343.42, Y:-49.20, Z:-2.58 [[ 9.59416539e-01 2.81980345e-01 -2.64368169e-03 3.43421072e+02] [-2.81979012e-01 9.59420177e-01 8.72019521e-04 -4.92007442e+01] [ 2.78229392e-03 -9.11672023e-05 9.99996125e-01 -2.57802527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.306559995 meters 0.05241051436203944 Centerline is valid? [True, True] Translation: X:343.48, Y:-49.23, Z:-2.58 [[ 9.59682005e-01 2.81072216e-01 -2.97623892e-03 3.43476401e+02] [-2.81070521e-01 9.59686615e-01 9.81737198e-04 -4.92272626e+01] [ 3.13219571e-03 -1.05622496e-04 9.99995089e-01 -2.58076765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.366559995 meters 0.05241051436203944 Centerline is valid? [True, True] Translation: X:343.54, Y:-49.25, Z:-2.58 [[ 9.59648367e-01 2.81187046e-01 -2.97609029e-03 3.43535787e+02] [-2.81185351e-01 9.59652976e-01 9.82187947e-04 -4.92467924e+01] [ 3.13219243e-03 -1.05722068e-04 9.99995089e-01 -2.58122859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42655999499993 meters 0.05275077195363577 Centerline is valid? [True, True] Translation: X:343.60, Y:-49.26, Z:-2.58 [[ 9.59883899e-01 2.80382721e-01 -2.90353476e-03 3.43595931e+02] [-2.80381102e-01 9.59888284e-01 9.58539877e-04 -4.92616890e+01] [ 3.05582702e-03 -1.05990716e-04 9.99995325e-01 -2.58028760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48655999499994 meters 0.052298033985632764 Centerline is valid? [True, True] Translation: X:343.65, Y:-49.28, Z:-2.58 [[ 9.59431710e-01 2.81927616e-01 -2.75912258e-03 3.43653373e+02] [-2.81926163e-01 9.59435673e-01 9.10342240e-04 -4.92832483e+01] [ 2.90385125e-03 -9.55423694e-05 9.99995779e-01 -2.58189001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54655999499994 meters 0.05205705677117389 Centerline is valid? [True, True] Translation: X:343.71, Y:-49.30, Z:-2.58 [[ 9.57467300e-01 2.88538487e-01 -1.38213316e-03 3.43711650e+02] [-2.88538130e-01 9.57468297e-01 4.55940192e-04 -4.92992704e+01] [ 1.45490497e-03 -3.77497091e-05 9.99998941e-01 -2.58222540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60655999499994 meters 0.05118773393683444 Centerline is valid? [True, True] Translation: X:343.77, Y:-49.31, Z:-2.58 [[ 9.54518615e-01 2.98151166e-01 -3.09317930e-04 3.43769742e+02] [-2.98151149e-01 9.54518665e-01 1.01972715e-04 -4.93131649e+01] [ 3.25653022e-04 -5.11135872e-06 9.99999947e-01 -2.58114262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66655999499994 meters 0.05067338344696198 Centerline is valid? [True, True] Translation: X:343.83, Y:-49.33, Z:-2.58 [[ 9.52447570e-01 3.04702136e-01 -4.85187982e-04 3.43829725e+02] [-3.04702094e-01 9.52447693e-01 1.60139906e-04 -4.93252997e+01] [ 5.10911145e-04 -4.68707030e-06 9.99999869e-01 -2.57977256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72655999499995 meters 0.05061901455411361 Centerline is valid? [True, True] Translation: X:343.89, Y:-49.34, Z:-2.58 [[ 9.49381263e-01 3.14123492e-01 -1.28399965e-03 3.43890378e+02] [-3.14123206e-01 9.49382132e-01 4.23934799e-04 -4.93395662e+01] [ 1.35217420e-03 8.58330504e-07 9.99999086e-01 -2.58464834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78655999499995 meters 0.05078220578642917 Centerline is valid? [True, True] Translation: X:343.95, Y:-49.35, Z:-2.58 [[ 9.47024582e-01 3.21157047e-01 -1.60985849e-03 3.43950033e+02] [-3.21156606e-01 9.47025951e-01 5.32144904e-04 -4.93542263e+01] [ 1.69547985e-03 1.30623828e-05 9.99998563e-01 -2.58305581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84655999499995 meters 0.051633516863977096 Centerline is valid? [True, True] Translation: X:344.01, Y:-49.37, Z:-2.58 [[ 9.45454488e-01 3.25754134e-01 -2.35473582e-04 3.44009945e+02] [-3.25754124e-01 9.45454517e-01 7.80410355e-05 -4.93704102e+01] [ 2.48051751e-04 2.92224319e-06 9.99999969e-01 -2.58341691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90655999499995 meters 0.05112805297207397 Centerline is valid? [True, True] Translation: X:344.07, Y:-49.39, Z:-2.58 [[ 9.44813092e-01 3.27609182e-01 -6.67622442e-04 3.44068547e+02] [-3.27609108e-01 9.44813327e-01 2.21344033e-04 -4.93906731e+01] [ 7.03292918e-04 9.59045214e-06 9.99999753e-01 -2.58361200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96655999499995 meters 0.05048474252178376 Centerline is valid? [True, True] Translation: X:344.13, Y:-49.41, Z:-2.59 [[ 9.44605709e-01 3.28199502e-01 -2.26726952e-03 3.44126888e+02] [-3.28198648e-01 9.44608430e-01 7.49751261e-04 -4.94099949e+01] [ 2.38774989e-03 3.58954690e-05 9.99997149e-01 -2.58580763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02655999499996 meters 0.05070839342533615 Centerline is valid? [True, True] Translation: X:344.18, Y:-49.43, Z:-2.59 [[ 9.44761786e-01 3.27747939e-01 -2.54095999e-03 3.44184632e+02] [-3.27746863e-01 9.44765202e-01 8.40541123e-04 -4.94335545e+01] [ 2.67609620e-03 3.86805333e-05 9.99996419e-01 -2.58574959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08655999499996 meters 0.05136950746681314 Centerline is valid? [True, True] Translation: X:344.24, Y:-49.46, Z:-2.59 [[ 9.45768573e-01 3.24825577e-01 -3.18615281e-03 3.44242077e+02] [-3.24823869e-01 9.45773939e-01 1.05411358e-03 -4.94563891e+01] [ 3.35578334e-03 3.79909827e-05 9.99994369e-01 -2.58858321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14655999499996 meters 0.05001745644514851 Centerline is valid? [True, True] Translation: X:344.30, Y:-49.48, Z:-2.59 [[ 9.46562656e-01 3.22503296e-01 -3.28070370e-03 3.44298810e+02] [-3.22501471e-01 9.46568341e-01 1.08519944e-03 -4.94822346e+01] [ 3.45539065e-03 3.08225069e-05 9.99994030e-01 -2.58748948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20655999499996 meters 0.050145743893182215 Centerline is valid? [True, True] Translation: X:344.36, Y:-49.51, Z:-2.59 [[ 9.47313757e-01 3.20293573e-01 -2.94507790e-03 3.44355767e+02] [-3.20292090e-01 9.47318334e-01 9.74993919e-04 -4.95088065e+01] [ 3.10221058e-03 1.96600036e-05 9.99995188e-01 -2.58684044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26655999499997 meters 0.050133732727623566 Centerline is valid? [True, True] Translation: X:344.41, Y:-49.53, Z:-2.59 [[ 9.47259362e-01 3.20455317e-01 -2.84442071e-03 3.44413558e+02] [-3.20453933e-01 9.47263632e-01 9.42136002e-04 -4.95329734e+01] [ 2.99632878e-03 1.90586538e-05 9.99995511e-01 -2.58818600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32655999499997 meters 0.0502224274337667 Centerline is valid? [True, True] Translation: X:344.47, Y:-49.56, Z:-2.59 [[ 9.46975891e-01 3.21296330e-01 -2.30857931e-03 3.44471897e+02] [-3.21295420e-01 9.46978705e-01 7.64845537e-04 -4.95571613e+01] [ 2.43191751e-03 1.74456759e-05 9.99997043e-01 -2.58747700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38655999499997 meters 0.05012108975997902 Centerline is valid? [True, True] Translation: X:344.53, Y:-49.58, Z:-2.59 [[ 9.46829803e-01 3.21731656e-01 -1.43696241e-03 3.44527766e+02] [-3.21731304e-01 9.46830894e-01 4.76247780e-04 -4.95828970e+01] [ 1.51378439e-03 1.13901983e-05 9.99998854e-01 -2.58770708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.446559995 meters 0.04977121220278923 Centerline is valid? [True, True] Translation: X:344.58, Y:-49.61, Z:-2.59 [[ 9.47111605e-01 3.20904216e-01 -3.03561007e-04 3.44584345e+02] [-3.20904200e-01 9.47111654e-01 1.01033085e-04 -4.96071686e+01] [ 3.19928110e-04 1.72439441e-06 9.99999949e-01 -2.58722434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.506559995 meters 0.049868670862554525 Centerline is valid? [True, True] Translation: X:344.64, Y:-49.63, Z:-2.59 [[ 9.47315482e-01 3.20301826e-01 3.42748522e-04 3.44640858e+02] [-3.20301806e-01 9.47315544e-01 -1.12647168e-04 -4.96338563e+01] [-3.60772096e-04 -3.07056397e-06 9.99999935e-01 -2.58679247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.566559995 meters 0.04907818755456414 Centerline is valid? [True, True] Translation: X:344.70, Y:-49.66, Z:-2.59 [[ 9.46525725e-01 3.22624595e-01 1.55671498e-03 3.44697223e+02] [-3.22624184e-01 9.46527005e-01 -5.15152801e-04 -4.96565815e+01] [-1.63967373e-03 -1.46285214e-05 9.99998656e-01 -2.58759603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.626559995 meters 0.04935256476290073 Centerline is valid? [True, True] Translation: X:344.76, Y:-49.68, Z:-2.59 [[ 9.45024796e-01 3.26995004e-01 1.55021859e-03 3.44756469e+02] [-3.26994601e-01 9.45026067e-01 -5.13503239e-04 -4.96764571e+01] [-1.63290997e-03 -2.16398155e-05 9.99998667e-01 -2.58791593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.686559995 meters 0.049429331991591115 Centerline is valid? [True, True] Translation: X:344.81, Y:-49.69, Z:-2.59 [[ 9.43323811e-01 3.31873735e-01 1.12561934e-04 3.44814123e+02] [-3.31873733e-01 9.43323817e-01 -3.73039532e-05 -4.96920047e+01] [-1.18562555e-04 -2.16664172e-06 9.99999993e-01 -2.58940511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.746559995 meters 0.04950889811719785 Centerline is valid? [True, True] Translation: X:344.87, Y:-49.71, Z:-2.59 [[ 9.42411713e-01 3.34455023e-01 -3.61694618e-05 3.44873516e+02] [-3.34455023e-01 9.42411713e-01 1.21081132e-05 -4.97085209e+01] [ 3.81361436e-05 6.86230468e-07 9.99999999e-01 -2.59011516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.806559995 meters 0.049730128895845375 Centerline is valid? [True, True] Translation: X:344.93, Y:-49.73, Z:-2.59 [[ 9.42037178e-01 3.35507431e-01 8.47702716e-04 3.44931974e+02] [-3.35507315e-01 9.42037559e-01 -2.80185924e-04 -4.97285984e+01] [-8.92572257e-04 -2.04649049e-05 9.99999601e-01 -2.58919316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.866559995 meters 0.04994244229283237 Centerline is valid? [True, True] Translation: X:344.99, Y:-49.75, Z:-2.59 [[ 9.42781095e-01 3.33411040e-01 9.40754653e-04 3.44989312e+02] [-3.33410895e-01 9.42781564e-01 -3.11853709e-04 -4.97467639e+01] [-9.90901613e-04 -1.96480690e-05 9.99999509e-01 -2.58945601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92655999499993 meters 0.049968167294557796 Centerline is valid? [True, True] Translation: X:345.05, Y:-49.77, Z:-2.59 [[ 9.43355695e-01 3.31780120e-01 1.40893444e-03 3.45047541e+02] [-3.31779793e-01 9.43356746e-01 -4.66524791e-04 -4.97654083e+01] [-1.48391146e-03 -2.73571590e-05 9.99998899e-01 -2.59006302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98655999499994 meters 0.05039294058664209 Centerline is valid? [True, True] Translation: X:345.10, Y:-49.79, Z:-2.59 [[ 9.45949297e-01 3.24309536e-01 1.80357921e-03 3.45103689e+02] [-3.24308985e-01 9.45951016e-01 -5.98097773e-04 -4.97896971e+01] [-1.90006640e-03 -1.91467768e-05 9.99998195e-01 -2.59027032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04655999499994 meters 0.0500007107037061 Centerline is valid? [True, True] Translation: X:345.16, Y:-49.81, Z:-2.59 [[ 9.48620864e-01 3.16413391e-01 1.01115337e-03 3.45160689e+02] [-3.16413213e-01 9.48621403e-01 -3.35177261e-04 -4.98145623e+01] [-1.06525630e-03 -1.98614253e-06 9.99999433e-01 -2.59119857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10655999499994 meters 0.05040347623459687 Centerline is valid? [True, True] Translation: X:345.22, Y:-49.84, Z:-2.59 [[ 9.49813644e-01 3.12815401e-01 7.52785078e-04 3.45219948e+02] [-3.12815302e-01 9.49813942e-01 -2.48833366e-04 -4.98360545e+01] [-7.92844672e-04 8.62634629e-07 9.99999686e-01 -2.58910989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16655999499994 meters 0.0495586318565466 Centerline is valid? [True, True] Translation: X:345.28, Y:-49.86, Z:-2.59 [[ 9.50784427e-01 3.09853127e-01 -1.16709556e-04 3.45278245e+02] [-3.09853124e-01 9.50784434e-01 3.90575543e-05 -4.98564542e+01] [ 1.23067734e-04 -9.72493843e-07 9.99999992e-01 -2.59101419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22655999499995 meters 0.0503895815337317 Centerline is valid? [True, True] Translation: X:345.34, Y:-49.88, Z:-2.59 [[ 9.50983403e-01 3.09241672e-01 -3.93375937e-04 3.45336241e+02] [-3.09241644e-01 9.50983485e-01 1.31445054e-04 -4.98750029e+01] [ 4.14742308e-04 -3.35384305e-06 9.99999914e-01 -2.59276144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28655999499995 meters 0.050105055528718224 Centerline is valid? [True, True] Translation: X:345.40, Y:-49.89, Z:-2.59 [[ 9.50237065e-01 3.11527646e-01 -2.15272696e-04 3.45395980e+02] [-3.11527638e-01 9.50237089e-01 7.18098267e-05 -4.98912957e+01] [ 2.26930846e-04 -1.17296430e-06 9.99999974e-01 -2.59325254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34655999499995 meters 0.050112053849830605 Centerline is valid? [True, True] Translation: X:345.46, Y:-49.91, Z:-2.59 [[ 9.48381571e-01 3.17126087e-01 -1.85483983e-03 3.45455393e+02] [-3.17125487e-01 9.48383385e-01 6.17008642e-04 -4.99070153e+01] [ 1.95476881e-03 3.05735706e-06 9.99998089e-01 -2.59469099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40655999499995 meters 0.04960089413181198 Centerline is valid? [True, True] Translation: X:345.52, Y:-49.92, Z:-2.60 [[ 9.46315855e-01 3.23230572e-01 -2.88083662e-03 3.45516587e+02] [-3.23229154e-01 9.46320240e-01 9.57614514e-04 -4.99197032e+01] [ 3.03572429e-03 2.49645849e-05 9.99995392e-01 -2.59662629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46655999499995 meters 0.050577752610580125 Centerline is valid? [True, True] Translation: X:345.58, Y:-49.93, Z:-2.60 [[ 9.44814856e-01 3.27591491e-01 -2.94992985e-03 3.45576668e+02] [-3.27590026e-01 9.44819461e-01 9.80694352e-04 -4.99333170e+01] [ 3.10841825e-03 3.97930015e-05 9.99995168e-01 -2.59819408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52655999499996 meters 0.050430801783675754 Centerline is valid? [True, True] Translation: X:345.64, Y:-49.95, Z:-2.60 [[ 9.44466293e-01 3.28600680e-01 -2.23935206e-03 3.45635848e+02] [-3.28599837e-01 9.44468947e-01 7.45253340e-04 -4.99513559e+01] [ 2.35988924e-03 3.19840622e-05 9.99997215e-01 -2.59777163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58655999499996 meters 0.05011415999598867 Centerline is valid? [True, True] Translation: X:345.69, Y:-49.98, Z:-2.59 [[ 9.44990051e-01 3.27098511e-01 -6.06875275e-04 3.45692478e+02] [-3.27098449e-01 9.44990245e-01 2.02717570e-04 -4.99772406e+01] [ 6.39799830e-04 6.94187377e-06 9.99999795e-01 -2.59192429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64655999499996 meters 0.05002257287691311 Centerline is valid? [True, True] Translation: X:345.75, Y:-50.00, Z:-2.59 [[ 9.45553555e-01 3.25465536e-01 8.12481468e-04 3.45751120e+02] [-3.25465424e-01 9.45553904e-01 -2.69468065e-04 -4.99955070e+01] [-8.55947592e-04 -9.63813843e-06 9.99999634e-01 -2.59249145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70655999499996 meters 0.0502996444173491 Centerline is valid? [True, True] Translation: X:345.81, Y:-50.02, Z:-2.59 [[ 9.46403761e-01 3.22983271e-01 1.31416150e-03 3.45809724e+02] [-3.22982977e-01 9.46404674e-01 -4.36474669e-04 -5.00170119e+01] [-1.38470260e-03 -1.13705242e-05 9.99999041e-01 -2.59197123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76655999499997 meters 0.05010125273052414 Centerline is valid? [True, True] Translation: X:345.87, Y:-50.04, Z:-2.59 [[ 9.46613980e-01 3.22369003e-01 -4.45141570e-04 3.45867323e+02] [-3.22368968e-01 9.46614085e-01 1.49012801e-04 -5.00369690e+01] [ 4.69414388e-04 2.44222847e-06 9.99999890e-01 -2.59480810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82655999499997 meters 0.049834893857875165 Centerline is valid? [True, True] Translation: X:345.93, Y:-50.06, Z:-2.60 [[ 9.46278703e-01 3.23341053e-01 -2.67945048e-03 3.45926203e+02] [-3.23339820e-01 9.46282496e-01 8.93288682e-04 -5.00576084e+01] [ 2.82435399e-03 2.10729809e-05 9.99996011e-01 -2.59567114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88655999499997 meters 0.05035906024383414 Centerline is valid? [True, True] Translation: X:345.98, Y:-50.07, Z:-2.60 [[ 9.45305700e-01 3.26140031e-01 -5.46025607e-03 3.45983557e+02] [-3.26134964e-01 9.45321467e-01 1.81909871e-03 -5.00745231e+01] [ 5.75497819e-03 6.11760339e-05 9.99983438e-01 -2.60030266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.946559995 meters 0.0500508327459054 Centerline is valid? [True, True] Translation: X:346.04, Y:-50.10, Z:-2.60 [[ 9.44816979e-01 3.27555208e-01 -5.33488594e-03 3.46041379e+02] [-3.27550387e-01 9.44832038e-01 1.77856135e-03 -5.00968776e+01] [ 5.62314819e-03 6.70289908e-05 9.99984188e-01 -2.59808082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.006559995 meters 0.050705434387937745 Centerline is valid? [True, True] Translation: X:346.10, Y:-50.12, Z:-2.60 [[ 9.44440886e-01 3.28675341e-01 -1.98317311e-03 3.46100201e+02] [-3.28674677e-01 9.44442968e-01 6.61227816e-04 -5.01177218e+01] [ 2.09032318e-03 2.73281994e-05 9.99997815e-01 -2.59687911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.066559995 meters 0.04992393027068937 Centerline is valid? [True, True] Translation: X:346.16, Y:-50.13, Z:-2.60 [[ 9.44239936e-01 3.29258020e-01 -3.16535224e-04 3.46159450e+02] [-3.29258003e-01 9.44239989e-01 1.06327218e-04 -5.01336768e+01] [ 3.33894306e-04 3.82335050e-06 9.99999944e-01 -2.59872179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.126559995 meters 0.049980657759319 Centerline is valid? [True, True] Translation: X:346.22, Y:-50.16, Z:-2.60 [[ 9.44220167e-01 3.29312060e-01 -1.35791289e-03 3.46216659e+02] [-3.29311748e-01 9.44221143e-01 4.53743060e-04 -5.01591722e+01] [ 1.43159312e-03 1.87433203e-05 9.99998975e-01 -2.59765152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.186559995 meters 0.04994190204643693 Centerline is valid? [True, True] Translation: X:346.28, Y:-50.18, Z:-2.60 [[ 9.43978683e-01 3.29998550e-01 -2.28108012e-03 3.46275326e+02] [-3.29997672e-01 9.43981438e-01 7.61922778e-04 -5.01800035e+01] [ 2.40473071e-03 3.35122699e-05 9.99997108e-01 -2.59834090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.246559995 meters 0.04902382529537318 Centerline is valid? [True, True] Translation: X:346.33, Y:-50.20, Z:-2.60 [[ 9.43611734e-01 3.31050405e-01 -1.58889656e-03 3.46334572e+02] [-3.31049979e-01 9.43613072e-01 5.31200826e-04 -5.01999451e+01] [ 1.67515781e-03 2.47568404e-05 9.99998597e-01 -2.59773357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.306559995 meters 0.049559069717857215 Centerline is valid? [True, True] Translation: X:346.39, Y:-50.22, Z:-2.60 [[ 9.43297408e-01 3.31947206e-01 -1.02592350e-03 3.46393497e+02] [-3.31947029e-01 9.43297966e-01 3.42969843e-04 -5.02178137e+01] [ 1.08159943e-03 1.70296950e-05 9.99999415e-01 -2.59860006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.366559995 meters 0.04979614219715835 Centerline is valid? [True, True] Translation: X:346.45, Y:-50.24, Z:-2.60 [[ 9.43025121e-01 3.32714807e-01 -2.11637664e-03 3.46452226e+02] [-3.32714056e-01 9.43027495e-01 7.07635146e-04 -5.02375855e+01] [ 2.23124205e-03 3.68305367e-05 9.99997510e-01 -2.59910498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42655999499993 meters 0.04936319109950578 Centerline is valid? [True, True] Translation: X:346.51, Y:-50.26, Z:-2.60 [[ 9.42961929e-01 3.32885161e-01 -3.20465539e-03 3.46511087e+02] [-3.32883441e-01 9.42967373e-01 1.07147096e-03 -5.02574438e+01] [ 3.37856226e-03 5.64203931e-05 9.99994291e-01 -2.60030658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48655999499994 meters 0.05021813531354585 Centerline is valid? [True, True] Translation: X:346.57, Y:-50.28, Z:-2.60 [[ 9.42909102e-01 3.33032739e-01 -3.40897673e-03 3.46570070e+02] [-3.33030792e-01 9.42915262e-01 1.14023344e-03 -5.02759086e+01] [ 3.59411125e-03 6.01577362e-05 9.99993539e-01 -2.60149802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54655999499994 meters 0.0493405478173668 Centerline is valid? [True, True] Translation: X:346.63, Y:-50.30, Z:-2.60 [[ 9.42870354e-01 3.33149529e-01 -2.62425144e-03 3.46628776e+02] [-3.33148374e-01 9.42874005e-01 8.78236111e-04 -5.02957944e+01] [ 2.76692242e-03 4.62023095e-05 9.99996171e-01 -2.59963116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60655999499994 meters 0.05005762321678026 Centerline is valid? [True, True] Translation: X:346.69, Y:-50.31, Z:-2.60 [[ 9.42707380e-01 3.33609160e-01 -2.77916711e-03 3.46687786e+02] [-3.33607868e-01 9.42711475e-01 9.29824313e-04 -5.03117927e+01] [ 2.93015064e-03 5.05997723e-05 9.99995706e-01 -2.60078891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66655999499994 meters 0.05012048126406231 Centerline is valid? [True, True] Translation: X:346.75, Y:-50.33, Z:-2.60 [[ 9.42751075e-01 3.33482493e-01 -3.13632003e-03 3.46747110e+02] [-3.33480844e-01 9.42756291e-01 1.05009644e-03 -5.03284067e+01] [ 3.30697422e-03 5.59231034e-05 9.99994530e-01 -2.60179449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72655999499995 meters 0.050072911109247345 Centerline is valid? [True, True] Translation: X:346.80, Y:-50.35, Z:-2.60 [[ 9.43478344e-01 3.31410477e-01 -3.96355466e-03 3.46804786e+02] [-3.31407825e-01 9.43486668e-01 1.32728868e-03 -5.03521120e+01] [ 4.17943835e-03 6.12849060e-05 9.99991264e-01 -2.60047690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78655999499995 meters 0.05022549191247847 Centerline is valid? [True, True] Translation: X:346.86, Y:-50.37, Z:-2.60 [[ 9.43732018e-01 3.30686518e-01 -4.03786507e-03 3.46863858e+02] [-3.30683756e-01 9.43740655e-01 1.35268504e-03 -5.03726883e+01] [ 4.25801213e-03 5.86842098e-05 9.99990933e-01 -2.60045633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84655999499995 meters 0.050454782266187305 Centerline is valid? [True, True] Translation: X:346.92, Y:-50.39, Z:-2.60 [[ 9.44143212e-01 3.29509887e-01 -4.10227607e-03 3.46922019e+02] [-3.29507024e-01 9.44152123e-01 1.37466224e-03 -5.03907445e+01] [ 4.32613746e-03 5.38507584e-05 9.99990641e-01 -2.60135907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90655999499995 meters 0.050188975355243554 Centerline is valid? [True, True] Translation: X:346.98, Y:-50.41, Z:-2.60 [[ 9.44333811e-01 3.28955768e-01 -4.66446751e-03 3.46981902e+02] [-3.28952056e-01 9.44345329e-01 1.56381627e-03 -5.04107218e+01] [ 4.91929448e-03 5.76216008e-05 9.99987899e-01 -2.60055892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96655999499995 meters 0.05037597629726386 Centerline is valid? [True, True] Translation: X:347.04, Y:-50.43, Z:-2.60 [[ 9.44443020e-01 3.28621552e-01 -5.93774082e-03 3.47040873e+02] [-3.28615528e-01 9.44461683e-01 1.99104250e-03 -5.04303819e+01] [ 6.26226817e-03 7.08076407e-05 9.99980389e-01 -2.60134837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02655999499996 meters 0.05023802847707645 Centerline is valid? [True, True] Translation: X:347.10, Y:-50.45, Z:-2.60 [[ 9.44302939e-01 3.29010850e-01 -6.61967853e-03 3.47099206e+02] [-3.29003368e-01 9.44326138e-01 2.22031869e-03 -5.04483847e+01] [ 6.98164440e-03 8.12430625e-05 9.99975625e-01 -2.60302593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08655999499996 meters 0.050297305384486825 Centerline is valid? [True, True] Translation: X:347.16, Y:-50.47, Z:-2.60 [[ 9.44233261e-01 3.29235349e-01 -5.25683466e-03 3.47158373e+02] [-3.29230629e-01 9.44247892e-01 1.76410826e-03 -5.04680387e+01] [ 5.54456184e-03 6.49812809e-05 9.99984627e-01 -2.60091459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14655999499996 meters 0.05063329741761515 Centerline is valid? [True, True] Translation: X:347.22, Y:-50.49, Z:-2.60 [[ 9.44401283e-01 3.28773894e-01 -3.73400630e-03 3.47216621e+02] [-3.28771506e-01 9.44408664e-01 1.25369774e-03 -5.04861673e+01] [ 3.93861099e-03 4.36411210e-05 9.99992243e-01 -2.60030764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20655999499996 meters 0.050629721830527094 Centerline is valid? [True, True] Translation: X:347.28, Y:-50.51, Z:-2.60 [[ 9.44629225e-01 3.28122738e-01 -3.33091183e-03 3.47275678e+02] [-3.28120833e-01 9.44635097e-01 1.11892013e-03 -5.05058327e+01] [ 3.51363936e-03 3.59769093e-05 9.99993827e-01 -2.59906452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26655999499997 meters 0.049801888289423384 Centerline is valid? [True, True] Translation: X:347.33, Y:-50.52, Z:-2.60 [[ 9.44113847e-01 3.29595214e-01 -4.00480833e-03 3.47334403e+02] [-3.29592472e-01 9.44122340e-01 1.34552199e-03 -5.05243585e+01] [ 4.22450662e-03 4.96287360e-05 9.99991076e-01 -2.59912995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32655999499997 meters 0.050070702303001514 Centerline is valid? [True, True] Translation: X:347.39, Y:-50.54, Z:-2.60 [[ 9.43271968e-01 3.31988188e-01 -4.67311784e-03 3.47394408e+02] [-3.31984485e-01 9.43283541e-01 1.56952965e-03 -5.05413606e+01] [ 4.92914044e-03 7.09092998e-05 9.99987849e-01 -2.59937399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38655999499997 meters 0.05099942640230929 Centerline is valid? [True, True] Translation: X:347.45, Y:-50.56, Z:-2.60 [[ 9.42675723e-01 3.33670512e-01 -5.14495617e-03 3.47454765e+02] [-3.33666043e-01 9.42689759e-01 1.72924221e-03 -5.05573554e+01] [ 5.42709463e-03 8.65825185e-05 9.99985269e-01 -2.60088423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.446559995 meters 0.05137293166804424 Centerline is valid? [True, True] Translation: X:347.51, Y:-50.58, Z:-2.60 [[ 9.42298494e-01 3.34718933e-01 -6.06501772e-03 3.47513749e+02] [-3.34712739e-01 9.42318006e-01 2.03907757e-03 -5.05758806e+01] [ 6.39769327e-03 1.08618975e-04 9.99979529e-01 -2.60135545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.506559995 meters 0.050571859305407585 Centerline is valid? [True, True] Translation: X:347.57, Y:-50.59, Z:-2.60 [[ 9.41927135e-01 3.35735349e-01 -7.41945372e-03 3.47572821e+02] [-3.35726116e-01 9.41956345e-01 2.49388983e-03 -5.05946439e+01] [ 7.82608848e-03 1.41841882e-04 9.99969366e-01 -2.60206417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.566559995 meters 0.051200928398732734 Centerline is valid? [True, True] Translation: X:347.63, Y:-50.61, Z:-2.61 [[ 9.41321383e-01 3.37400546e-01 -8.65597019e-03 3.47631488e+02] [-3.37388052e-01 9.41361163e-01 2.90922830e-03 -5.06080549e+01] [ 9.12996938e-03 1.81902112e-04 9.99958304e-01 -2.60516927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.626559995 meters 0.05207029100999542 Centerline is valid? [True, True] Translation: X:347.69, Y:-50.63, Z:-2.60 [[ 9.41358560e-01 3.37326537e-01 -7.40737593e-03 3.47689632e+02] [-3.37317371e-01 9.41387691e-01 2.49136032e-03 -5.06291157e+01] [ 7.81361447e-03 1.53373212e-04 9.99969461e-01 -2.60061080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.686559995 meters 0.05136085565523373 Centerline is valid? [True, True] Translation: X:347.75, Y:-50.65, Z:-2.60 [[ 9.41818732e-01 3.36078315e-01 -5.37048399e-03 3.47747909e+02] [-3.36073479e-01 9.41834038e-01 1.80587749e-03 -5.06489364e+01] [ 5.66502088e-03 1.04067993e-04 9.99983948e-01 -2.59849583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.746559995 meters 0.051384513211924165 Centerline is valid? [True, True] Translation: X:347.81, Y:-50.66, Z:-2.60 [[ 9.42605432e-01 3.33893336e-01 -3.19985903e-03 3.47807055e+02] [-3.33891607e-01 9.42610862e-01 1.07609086e-03 -5.06634122e+01] [ 3.37552145e-03 5.40769798e-05 9.99994301e-01 -2.60064152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.806559995 meters 0.0519657089099722 Centerline is valid? [True, True] Translation: X:347.87, Y:-50.69, Z:-2.60 [[ 9.43128167e-01 3.32412104e-01 -3.38439845e-03 3.47865112e+02] [-3.32410158e-01 9.43134238e-01 1.13848429e-03 -5.06875118e+01] [ 3.57038801e-03 5.12718214e-05 9.99993625e-01 -2.59770308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.866559995 meters 0.05111864260064539 Centerline is valid? [True, True] Translation: X:347.92, Y:-50.70, Z:-2.60 [[ 9.43725347e-01 3.30708375e-01 -3.80005413e-03 3.47924423e+02] [-3.30705904e-01 9.43732996e-01 1.27930359e-03 -5.07042341e+01] [ 4.00931288e-03 4.93891124e-05 9.99991961e-01 -2.60020897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92655999499993 meters 0.0510811516385638 Centerline is valid? [True, True] Translation: X:347.98, Y:-50.72, Z:-2.60 [[ 9.44038616e-01 3.29811902e-01 -3.89887611e-03 3.47983037e+02] [-3.29809295e-01 9.44046666e-01 1.31217672e-03 -5.07238169e+01] [ 4.11349249e-03 4.71400889e-05 9.99991538e-01 -2.59938339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98655999499994 meters 0.05183625116973594 Centerline is valid? [True, True] Translation: X:348.04, Y:-50.74, Z:-2.60 [[ 9.44025576e-01 3.29847522e-01 -4.04036592e-03 3.48043232e+02] [-3.29844718e-01 9.44034221e-01 1.36098354e-03 -5.07392974e+01] [ 4.26316074e-03 4.78900910e-05 9.99990912e-01 -2.60415654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04655999499994 meters 0.05212117766620313 Centerline is valid? [True, True] Translation: X:348.10, Y:-50.76, Z:-2.60 [[ 9.43858936e-01 3.30315780e-01 -4.66844079e-03 3.48101988e+02] [-3.30312040e-01 9.43870479e-01 1.57293091e-03 -5.07604786e+01] [ 4.92596735e-03 5.74173029e-05 9.99987866e-01 -2.60304346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10655999499994 meters 0.05185945158050917 Centerline is valid? [True, True] Translation: X:348.16, Y:-50.78, Z:-2.60 [[ 9.42735018e-01 3.33487974e-01 -6.03797323e-03 3.48159653e+02] [-3.33481789e-01 9.42754349e-01 2.03332516e-03 -5.07785185e+01] [ 6.37041501e-03 9.66672902e-05 9.99979704e-01 -2.60347904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16655999499994 meters 0.05145798322307121 Centerline is valid? [True, True] Translation: X:348.22, Y:-50.79, Z:-2.61 [[ 9.41306444e-01 3.37442256e-01 -8.65458728e-03 3.48218127e+02] [-3.37429716e-01 9.41346213e-01 2.91439316e-03 -5.07935947e+01] [ 9.13040237e-03 1.76977867e-04 9.99958301e-01 -2.60760162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22655999499995 meters 0.05182859062145484 Centerline is valid? [True, True] Translation: X:348.28, Y:-50.81, Z:-2.60 [[ 9.38904383e-01 3.44049056e-01 -9.42374706e-03 3.48276036e+02] [-3.44034518e-01 9.38951638e-01 3.17365528e-03 -5.08144483e+01] [ 9.94033584e-03 2.62335430e-04 9.99950559e-01 -2.60488015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28655999499995 meters 0.052565874604025474 Centerline is valid? [True, True] Translation: X:348.34, Y:-50.83, Z:-2.61 [[ 9.37262041e-01 3.48538528e-01 -7.79487791e-03 3.48335070e+02] [-3.48528738e-01 9.37294419e-01 2.62500473e-03 -5.08278115e+01] [ 8.22101086e-03 2.56421663e-04 9.99966174e-01 -2.60516664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34655999499995 meters 0.05195671532844623 Centerline is valid? [True, True] Translation: X:348.39, Y:-50.85, Z:-2.60 [[ 9.36228347e-01 3.51332315e-01 -6.48742613e-03 3.48392304e+02] [-3.51325598e-01 9.36250794e-01 2.18500109e-03 -5.08488305e+01] [ 6.84151936e-03 2.33538900e-04 9.99976569e-01 -2.60249499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40655999499995 meters 0.05282995840429662 Centerline is valid? [True, True] Translation: X:348.45, Y:-50.86, Z:-2.60 [[ 9.35247592e-01 3.53976415e-01 -3.55528877e-03 3.48452414e+02] [-3.53974416e-01 9.35254339e-01 1.19744965e-03 -5.08589469e+01] [ 3.74896818e-03 1.38569365e-04 9.99992963e-01 -2.60281753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46655999499995 meters 0.05247377928473625 Centerline is valid? [True, True] Translation: X:348.51, Y:-50.88, Z:-2.60 [[ 9.34798993e-01 3.55171501e-01 -2.01190672e-03 3.48512308e+02] [-3.55170862e-01 9.34801155e-01 6.78641998e-04 -5.08764340e+01] [ 2.12176702e-03 8.01767862e-05 9.99997746e-01 -2.60181048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52655999499996 meters 0.05171139241821012 Centerline is valid? [True, True] Translation: X:348.57, Y:-50.90, Z:-2.60 [[ 9.34303927e-01 3.56469802e-01 -2.33502592e-03 3.48569316e+02] [-3.56468946e-01 9.34306840e-01 7.86851826e-04 -5.08997223e+01] [ 2.46211960e-03 9.72054791e-05 9.99996964e-01 -2.59981914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58655999499996 meters 0.05245736289305471 Centerline is valid? [True, True] Translation: X:348.63, Y:-50.91, Z:-2.60 [[ 9.34168714e-01 3.56816705e-01 -3.26382600e-03 3.48629037e+02] [-3.56815035e-01 9.34174406e-01 1.10029284e-03 -5.09125901e+01] [ 3.44158558e-03 1.36723036e-04 9.99994068e-01 -2.60232052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64655999499996 meters 0.05146220025910381 Centerline is valid? [True, True] Translation: X:348.69, Y:-50.94, Z:-2.60 [[ 9.34333219e-01 3.56364498e-01 -5.07753859e-03 3.48687440e+02] [-3.56360443e-01 9.34346992e-01 1.71277406e-03 -5.09361625e+01] [ 5.35455478e-03 2.09132197e-04 9.99985642e-01 -2.60115734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70655999499996 meters 0.0520681186339165 Centerline is valid? [True, True] Translation: X:348.75, Y:-50.95, Z:-2.60 [[ 9.34603747e-01 3.55648094e-01 -5.50181408e-03 3.48747422e+02] [-3.55643324e-01 9.34619914e-01 1.85548713e-03 -5.09542590e+01] [ 5.80200546e-03 2.22538218e-04 9.99983143e-01 -2.60201662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76655999499997 meters 0.05324336398447159 Centerline is valid? [True, True] Translation: X:348.81, Y:-50.96, Z:-2.61 [[ 9.36289659e-01 3.51181707e-01 -5.75176148e-03 3.48808018e+02] [-3.51176411e-01 9.36307304e-01 1.93950898e-03 -5.09639821e+01] [ 6.06653636e-03 2.03940750e-04 9.99981578e-01 -2.60620350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82655999499997 meters 0.05314400826744671 Centerline is valid? [True, True] Translation: X:348.86, Y:-50.99, Z:-2.61 [[ 9.38242825e-01 3.45936463e-01 -5.32591652e-03 3.48864271e+02] [-3.45931837e-01 9.38257928e-01 1.79601486e-03 -5.09872188e+01] [ 5.61839042e-03 1.57306029e-04 9.99984204e-01 -2.60552835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88655999499997 meters 0.0521758057731762 Centerline is valid? [True, True] Translation: X:348.92, Y:-51.01, Z:-2.60 [[ 9.42190336e-01 3.35067421e-01 -2.68205669e-03 3.48919860e+02] [-3.35066203e-01 9.42194153e-01 9.04597852e-04 -5.10119583e+01] [ 2.83011940e-03 4.63631973e-05 9.99995994e-01 -2.60095856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.946559995 meters 0.05373354857593929 Centerline is valid? [True, True] Translation: X:348.98, Y:-51.03, Z:-2.60 [[ 9.46220883e-01 3.23489011e-01 -4.57161261e-03 3.48978416e+02] [-3.23485338e-01 9.46231927e-01 1.54176889e-03 -5.10256520e+01] [ 4.82455111e-03 1.99957278e-05 9.99988362e-01 -2.60415691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.006559995 meters 0.053441068384649265 Centerline is valid? [True, True] Translation: X:349.04, Y:-51.05, Z:-2.60 [[ 9.46701745e-01 3.22077685e-01 -4.66598889e-03 3.49036786e+02] [-3.22073834e-01 9.46713243e-01 1.57507033e-03 -5.10461242e+01] [ 4.92464848e-03 1.16711031e-05 9.99987874e-01 -2.60343447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.066559995 meters 0.053441068384649265 Centerline is valid? [True, True] Translation: X:349.10, Y:-51.07, Z:-2.60 [[ 9.46657993e-01 3.22206261e-01 -4.66573460e-03 3.49095995e+02] [-3.22202408e-01 9.46669491e-01 1.57582372e-03 -5.10660749e+01] [ 4.92464887e-03 1.15448075e-05 9.99987874e-01 -2.60389516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.126559995 meters 0.05297581839252209 Centerline is valid? [True, True] Translation: X:349.15, Y:-51.09, Z:-2.60 [[ 9.47205061e-01 3.20596561e-01 -4.51866084e-03 3.49154599e+02] [-3.20592926e-01 9.47215839e-01 1.52664950e-03 -5.10864334e+01] [ 4.76958570e-03 2.60056493e-06 9.99988625e-01 -2.60384046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.186559995 meters 0.05297581839252209 Centerline is valid? [True, True] Translation: X:349.21, Y:-51.11, Z:-2.60 [[ 9.47161387e-01 3.20725571e-01 -4.51841190e-03 3.49213802e+02] [-3.20721934e-01 9.47172164e-01 1.52738641e-03 -5.11064001e+01] [ 4.76958586e-03 2.47236952e-06 9.99988625e-01 -2.60430115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.246559995 meters 0.053440452065609316 Centerline is valid? [True, True] Translation: X:349.27, Y:-51.13, Z:-2.60 [[ 9.48282957e-01 3.17402005e-01 -3.92431212e-03 3.49272783e+02] [-3.17399230e-01 9.48291077e-01 1.32717912e-03 -5.11261968e+01] [ 4.14263948e-03 -1.29676960e-05 9.99991419e-01 -2.60137383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.306559995 meters 0.05341910990238058 Centerline is valid? [True, True] Translation: X:349.33, Y:-51.15, Z:-2.60 [[ 9.50144196e-01 3.11798033e-01 -2.82724736e-03 3.49331292e+02] [-3.11796569e-01 9.50148402e-01 9.56136454e-04 -5.11483573e+01] [ 2.98442603e-03 -2.69414769e-05 9.99995546e-01 -2.60405525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.366559995 meters 0.05381192554588448 Centerline is valid? [True, True] Translation: X:349.39, Y:-51.17, Z:-2.60 [[ 9.51405078e-01 3.07935684e-01 -1.99821155e-03 3.49388324e+02] [-3.07934943e-01 9.51407176e-01 6.76018083e-04 -5.11689025e+01] [ 2.10928290e-03 -2.78478757e-05 9.99997775e-01 -2.60347653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42655999499993 meters 0.05461164423007141 Centerline is valid? [True, True] Translation: X:349.45, Y:-51.18, Z:-2.60 [[ 9.51281833e-01 3.08318528e-01 -1.60009937e-03 3.49449215e+02] [-3.08318052e-01 9.51283178e-01 5.42059381e-04 -5.11832271e+01] [ 1.68927456e-03 -2.23117224e-05 9.99998573e-01 -2.60127964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48655999499994 meters 0.054339701254392817 Centerline is valid? [True, True] Translation: X:349.51, Y:-51.20, Z:-2.61 [[ 9.49423842e-01 3.13993960e-01 -1.47011848e-03 3.49508716e+02] [-3.13993566e-01 9.49424980e-01 4.97522797e-04 -5.12002933e+01] [ 1.55198636e-03 -1.07522604e-05 9.99998796e-01 -2.60502098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54655999499994 meters 0.05339114679231454 Centerline is valid? [True, True] Translation: X:349.57, Y:-51.22, Z:-2.60 [[ 9.47478815e-01 3.19807018e-01 -2.71400600e-03 3.49568229e+02] [-3.19805697e-01 9.47482702e-01 9.19182610e-04 -5.12155987e+01] [ 2.86543479e-03 -2.95146804e-06 9.99995895e-01 -2.60245525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60655999499994 meters 0.05372988288954158 Centerline is valid? [True, True] Translation: X:349.63, Y:-51.23, Z:-2.61 [[ 9.44874501e-01 3.27417731e-01 -3.13165655e-03 3.49629480e+02] [-3.27416015e-01 9.44879690e-01 1.06010764e-03 -5.12291642e+01] [ 3.30613671e-03 2.36858368e-05 9.99994534e-01 -2.60859005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66655999499994 meters 0.053636997909864696 Centerline is valid? [True, True] Translation: X:349.69, Y:-51.25, Z:-2.61 [[ 9.43808031e-01 3.30479763e-01 -3.08655356e-03 3.49687736e+02] [-3.30478110e-01 9.43813077e-01 1.04571234e-03 -5.12490322e+01] [ 3.25871638e-03 3.30866844e-05 9.99994690e-01 -2.60583094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72655999499995 meters 0.053709208223124374 Centerline is valid? [True, True] Translation: X:349.75, Y:-51.26, Z:-2.61 [[ 9.43075807e-01 3.32573530e-01 -1.69419452e-03 3.49748413e+02] [-3.32573036e-01 9.43077328e-01 5.73914045e-04 -5.12635425e+01] [ 1.78862506e-03 2.21989632e-05 9.99998400e-01 -2.60860430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78655999499995 meters 0.05374541953889963 Centerline is valid? [True, True] Translation: X:349.81, Y:-51.28, Z:-2.61 [[ 9.42633725e-01 3.33827845e-01 -7.94256615e-04 3.49807515e+02] [-3.33827736e-01 9.42634059e-01 2.69882871e-04 -5.12840044e+01] [ 8.38787754e-04 1.07441919e-05 9.99999648e-01 -2.60762177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84655999499995 meters 0.0537210684596245 Centerline is valid? [True, True] Translation: X:349.86, Y:-51.31, Z:-2.61 [[ 9.41644605e-01 3.36608568e-01 -3.31196787e-04 3.49864537e+02] [-3.36608550e-01 9.41644663e-01 1.12611312e-04 -5.13057074e+01] [ 3.49775620e-04 5.44383561e-06 9.99999939e-01 -2.60570818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90655999499995 meters 0.05352691349861493 Centerline is valid? [True, True] Translation: X:349.92, Y:-51.32, Z:-2.61 [[ 9.41056729e-01 3.38248741e-01 -1.50860171e-04 3.49924365e+02] [-3.38248737e-01 9.41056741e-01 5.14218909e-05 -5.13226088e+01] [ 1.59361371e-04 2.63734581e-06 9.99999987e-01 -2.60750783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96655999499995 meters 0.05374824078417671 Centerline is valid? [True, True] Translation: X:349.98, Y:-51.34, Z:-2.61 [[ 9.40394723e-01 3.40084166e-01 -7.24520436e-04 3.49982540e+02] [-3.40084077e-01 9.40395002e-01 2.45751878e-04 -5.13443840e+01] [ 7.64911719e-04 1.52940948e-05 9.99999707e-01 -2.60725307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02655999499996 meters 0.053758767373985654 Centerline is valid? [True, True] Translation: X:350.04, Y:-51.36, Z:-2.61 [[ 9.39964130e-01 3.41266948e-01 -2.07463140e-03 3.50040072e+02] [-3.41266227e-01 9.39966418e-01 7.03131328e-04 -5.13633729e+01] [ 2.19003933e-03 4.70834028e-05 9.99997601e-01 -2.60908098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08655999499996 meters 0.053820364694887025 Centerline is valid? [True, True] Translation: X:350.10, Y:-51.39, Z:-2.61 [[ 9.40030447e-01 3.41075938e-01 -3.15659472e-03 3.50098890e+02] [-3.41074263e-01 9.40035744e-01 1.07110905e-03 -5.13873921e+01] [ 3.33264139e-03 6.97581050e-05 9.99994444e-01 -2.60966574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14655999499996 meters 0.053006521642465464 Centerline is valid? [True, True] Translation: X:350.15, Y:-51.41, Z:-2.61 [[ 9.41049170e-01 3.38256329e-01 -3.01910250e-03 3.50154465e+02] [-3.38254785e-01 9.41054011e-01 1.02367010e-03 -5.14147922e+01] [ 3.18740141e-03 5.79019737e-05 9.99994919e-01 -2.60860878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20655999499996 meters 0.05354480911147677 Centerline is valid? [True, True] Translation: X:350.21, Y:-51.44, Z:-2.61 [[ 9.42010406e-01 3.35575301e-01 -2.36908474e-03 3.50210087e+02] [-3.35574342e-01 9.42013384e-01 8.03256936e-04 -5.14378450e+01] [ 2.50126272e-03 3.83276597e-05 9.99996871e-01 -2.60878977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26655999499997 meters 0.053593117374243986 Centerline is valid? [True, True] Translation: X:350.27, Y:-51.47, Z:-2.61 [[ 9.43073019e-01 3.32580168e-01 -1.92673770e-03 3.50266004e+02] [-3.32579527e-01 9.43074987e-01 6.53554384e-04 -5.14655928e+01] [ 2.03441736e-03 2.44440063e-05 9.99997930e-01 -2.60824815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32655999499997 meters 0.05350640123387594 Centerline is valid? [True, True] Translation: X:350.32, Y:-51.49, Z:-2.61 [[ 9.43315712e-01 3.31892204e-01 -1.74159538e-03 3.50322997e+02] [-3.31891677e-01 9.43317319e-01 5.91665629e-04 -5.14903184e+01] [ 1.83924630e-03 1.98935286e-05 9.99998308e-01 -2.60834971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38655999499997 meters 0.05277532708023483 Centerline is valid? [True, True] Translation: X:350.38, Y:-51.51, Z:-2.61 [[ 9.42590579e-01 3.33942665e-01 -2.30159269e-03 3.50379814e+02] [-3.33941752e-01 9.42593388e-01 7.81822140e-04 -5.15138279e+01] [ 2.43054983e-03 3.16597123e-05 9.99997046e-01 -2.60957694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.446559995 meters 0.05292026572502005 Centerline is valid? [True, True] Translation: X:350.44, Y:-51.53, Z:-2.61 [[ 9.40727017e-01 3.39145210e-01 -3.63393918e-03 3.50436730e+02] [-3.39142977e-01 9.40734033e-01 1.23306608e-03 -5.15314300e+01] [ 3.83675872e-03 7.24463729e-05 9.99992637e-01 -2.61300628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.506559995 meters 0.05238082071774983 Centerline is valid? [True, True] Translation: X:350.49, Y:-51.56, Z:-2.61 [[ 9.39307630e-01 3.43056780e-01 -3.63617852e-03 3.50492645e+02] [-3.43054573e-01 9.39314664e-01 1.23392378e-03 -5.15563616e+01] [ 3.83882172e-03 8.83736456e-05 9.99992628e-01 -2.61081820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.566559995 meters 0.05175932808582809 Centerline is valid? [True, True] Translation: X:350.55, Y:-51.58, Z:-2.61 [[ 9.38032399e-01 3.46531907e-01 -3.29484856e-03 3.50548173e+02] [-3.46530116e-01 9.38038181e-01 1.11813205e-03 -5.15832550e+01] [ 3.47816218e-03 9.29201681e-05 9.99993947e-01 -2.61001915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.626559995 meters 0.05201459696824479 Centerline is valid? [True, True] Translation: X:350.60, Y:-51.61, Z:-2.61 [[ 9.37739260e-01 3.47323129e-01 -3.42400377e-03 3.50603689e+02] [-3.47321196e-01 9.37745506e-01 1.16311573e-03 -5.16089125e+01] [ 3.61482114e-03 9.85298022e-05 9.99993462e-01 -2.60864288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.686559995 meters 0.051690472839724055 Centerline is valid? [True, True] Translation: X:350.66, Y:-51.63, Z:-2.61 [[ 9.37467381e-01 3.48066517e-01 -2.14700593e-03 3.50662575e+02] [-3.48065759e-01 9.37469837e-01 7.29225705e-04 -5.16283328e+01] [ 2.26657235e-03 6.36739364e-05 9.99997429e-01 -2.61064679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.746559995 meters 0.05298843760240792 Centerline is valid? [True, True] Translation: X:350.72, Y:-51.64, Z:-2.61 [[ 9.37247829e-01 3.48661932e-01 -1.16800342e-03 3.50721950e+02] [-3.48661707e-01 9.37248556e-01 3.97495109e-04 -5.16447272e+01] [ 1.23330094e-03 3.46866399e-05 9.99999239e-01 -2.61281196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.806559995 meters 0.051438758513176586 Centerline is valid? [True, True] Translation: X:350.78, Y:-51.68, Z:-2.61 [[ 9.37307466e-01 3.48501981e-01 -1.04101208e-03 3.50776277e+02] [-3.48501802e-01 9.37308043e-01 3.54556856e-04 -5.16781399e+01] [ 1.09931277e-03 3.04657993e-05 9.99999395e-01 -2.61002460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.866559995 meters 0.052977406652786045 Centerline is valid? [True, True] Translation: X:350.84, Y:-51.69, Z:-2.61 [[ 9.37705249e-01 3.47428871e-01 -1.43057473e-03 3.50835498e+02] [-3.47428532e-01 9.37706339e-01 4.86633926e-04 -5.16929419e+01] [ 1.51052966e-03 4.07032903e-05 9.99998858e-01 -2.61328028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92655999499993 meters 0.051662959678919394 Centerline is valid? [True, True] Translation: X:350.89, Y:-51.73, Z:-2.61 [[ 9.39142633e-01 3.43524233e-01 -1.48885601e-03 3.50888793e+02] [-3.43523862e-01 9.39143812e-01 5.06118692e-04 -5.17256762e+01] [ 1.57211394e-03 3.61399264e-05 9.99998764e-01 -2.61094405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98655999499994 meters 0.05206033859943355 Centerline is valid? [True, True] Translation: X:350.95, Y:-51.75, Z:-2.61 [[ 9.40294225e-01 3.40361413e-01 -9.37140744e-04 3.50945295e+02] [-3.40361265e-01 9.40294692e-01 3.18555329e-04 -5.17473102e+01] [ 9.89612409e-04 1.94306725e-05 9.99999510e-01 -2.61183723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04655999499994 meters 0.051322483373740804 Centerline is valid? [True, True] Translation: X:351.00, Y:-51.77, Z:-2.61 [[ 9.41775667e-01 3.36241773e-01 2.52183178e-04 3.51000956e+02] [-3.36241762e-01 9.41775701e-01 -8.55523586e-05 -5.17735121e+01] [-2.66266266e-04 -4.22338642e-06 9.99999965e-01 -2.61041117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10655999499994 meters 0.05211695960141686 Centerline is valid? [True, True] Translation: X:351.06, Y:-51.79, Z:-2.61 [[ 9.42388121e-01 3.34521477e-01 1.08038020e-04 3.51058385e+02] [-3.34521475e-01 9.42388127e-01 -3.59137490e-05 -5.17948512e+01] [-1.13827668e-04 -2.29634739e-06 9.99999994e-01 -2.61168639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16655999499994 meters 0.05145121540317913 Centerline is valid? [True, True] Translation: X:351.12, Y:-51.82, Z:-2.61 [[ 9.42834896e-01 3.33257365e-01 -1.37385074e-03 3.51115449e+02] [-3.33257036e-01 9.42835897e-01 4.68144446e-04 -5.18191978e+01] [ 1.45132838e-03 1.64625074e-05 9.99998947e-01 -2.61259980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22655999499995 meters 0.05097908646920024 Centerline is valid? [True, True] Translation: X:351.17, Y:-51.84, Z:-2.61 [[ 9.42956371e-01 3.32910051e-01 -2.04478930e-03 3.51174186e+02] [-3.32909323e-01 9.42958587e-01 6.96669571e-04 -5.18404276e+01] [ 2.16007993e-03 2.38004120e-05 9.99997667e-01 -2.61423542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28655999499995 meters 0.05189730330330557 Centerline is valid? [True, True] Translation: X:351.23, Y:-51.87, Z:-2.61 [[ 9.43326346e-01 3.31863802e-01 -1.35018802e-03 3.51231762e+02] [-3.31863483e-01 9.43327312e-01 4.59779436e-04 -5.18657826e+01] [ 1.42625339e-03 1.43560455e-05 9.99998983e-01 -2.61220759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34655999499995 meters 0.05169132936190755 Centerline is valid? [True, True] Translation: X:351.29, Y:-51.89, Z:-2.61 [[ 9.43571778e-01 3.31167730e-01 -4.84795487e-04 3.51289559e+02] [-3.31167689e-01 9.43571902e-01 1.65856686e-04 -5.18866411e+01] [ 5.12365782e-04 4.05091308e-06 9.99999869e-01 -2.61255840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40655999499995 meters 0.05085278784739345 Centerline is valid? [True, True] Translation: X:351.35, Y:-51.91, Z:-2.61 [[ 9.43403709e-01 3.31646539e-01 -1.23856923e-04 3.51348641e+02] [-3.31646536e-01 9.43403717e-01 4.31878285e-05 -5.19086026e+01] [ 1.31170176e-04 3.33162074e-07 9.99999991e-01 -2.61179302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46655999499995 meters 0.05199281337785481 Centerline is valid? [True, True] Translation: X:351.41, Y:-51.93, Z:-2.61 [[ 9.42416760e-01 3.34439549e-01 -9.16351211e-04 3.51406975e+02] [-3.34439403e-01 9.42417205e-01 3.12353693e-04 -5.19293635e+01] [ 9.68048575e-04 1.20965966e-05 9.99999531e-01 -2.61259973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52655999499996 meters 0.050652868952262856 Centerline is valid? [True, True] Translation: X:351.47, Y:-51.95, Z:-2.61 [[ 9.41456444e-01 3.37132109e-01 -1.30540101e-03 3.51465828e+02] [-3.37131815e-01 9.41457349e-01 4.45565053e-04 -5.19468301e+01] [ 1.37919366e-03 2.06121215e-05 9.99999049e-01 -2.61458887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58655999499996 meters 0.05146784107598765 Centerline is valid? [True, True] Translation: X:351.52, Y:-51.96, Z:-2.62 [[ 9.40352889e-01 3.40193613e-01 -2.17951015e-03 3.51524511e+02] [-3.40192804e-01 9.40355414e-01 7.42959150e-04 -5.19603384e+01] [ 2.30226413e-03 4.28098869e-05 9.99997349e-01 -2.61711781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64655999499996 meters 0.051776734812351094 Centerline is valid? [True, True] Translation: X:351.58, Y:-51.99, Z:-2.61 [[ 9.39610422e-01 3.42239365e-01 -2.11469757e-03 3.51581089e+02] [-3.42238608e-01 9.39612801e-01 7.20904515e-04 -5.19876124e+01] [ 2.23371881e-03 4.63617578e-05 9.99997504e-01 -2.61288448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70655999499996 meters 0.050824285387620655 Centerline is valid? [True, True] Translation: X:351.64, Y:-52.01, Z:-2.61 [[ 9.39016814e-01 3.43866345e-01 -1.83314206e-03 3.51640380e+02] [-3.43865779e-01 9.39018602e-01 6.25793989e-04 -5.20072122e+01] [ 1.93654399e-03 4.27237450e-05 9.99998124e-01 -2.61289212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76655999499997 meters 0.051169080006891375 Centerline is valid? [True, True] Translation: X:351.70, Y:-52.03, Z:-2.61 [[ 9.38343313e-01 3.45696364e-01 -2.41877067e-03 3.51699577e+02] [-3.45695385e-01 9.38346429e-01 8.24909792e-04 -5.20256894e+01] [ 2.55481314e-03 6.21092728e-05 9.99996735e-01 -2.61393318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82655999499997 meters 0.05182364860675289 Centerline is valid? [True, True] Translation: X:351.76, Y:-52.05, Z:-2.61 [[ 9.38338279e-01 3.45705221e-01 -3.02873847e-03 3.51757916e+02] [-3.45703683e-01 9.38343164e-01 1.03409053e-03 -5.20488255e+01] [ 3.19948654e-03 7.67193200e-05 9.99994879e-01 -2.61325137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88655999499997 meters 0.05157855460270095 Centerline is valid? [True, True] Translation: X:351.82, Y:-52.07, Z:-2.61 [[ 9.38909526e-01 3.44146041e-01 -3.52204376e-03 3.51816331e+02] [-3.44143951e-01 9.38916128e-01 1.20209643e-03 -5.20670801e+01] [ 3.72060041e-03 8.34302630e-05 9.99993075e-01 -2.61406128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.946559995 meters 0.051833774316432955 Centerline is valid? [True, True] Translation: X:351.87, Y:-52.09, Z:-2.61 [[ 9.39421379e-01 3.42749807e-01 -3.16894969e-03 3.51874666e+02] [-3.42748106e-01 9.39426721e-01 1.08230251e-03 -5.20855178e+01] [ 3.34795500e-03 6.94133904e-05 9.99994393e-01 -2.61465698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.006559995 meters 0.05075267424070857 Centerline is valid? [True, True] Translation: X:351.93, Y:-52.11, Z:-2.61 [[ 9.40708503e-01 3.39212719e-01 -1.49764864e-03 3.51932057e+02] [-3.39212335e-01 9.40709695e-01 5.11323930e-04 -5.21072009e+01] [ 1.58230018e-03 2.70141226e-05 9.99998748e-01 -2.61322028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.066559995 meters 0.05081728042874547 Centerline is valid? [True, True] Translation: X:351.99, Y:-52.13, Z:-2.61 [[ 9.42027271e-01 3.35535873e-01 -5.45868516e-04 3.51990089e+02] [-3.35535821e-01 9.42027430e-01 1.86513391e-04 -5.21281223e+01] [ 5.76805048e-04 7.45773925e-06 9.99999834e-01 -2.61318139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.126559995 meters 0.05167334671809373 Centerline is valid? [True, True] Translation: X:352.05, Y:-52.15, Z:-2.62 [[ 9.44466836e-01 3.28605142e-01 -1.02801888e-03 3.52047582e+02] [-3.28604954e-01 9.44467395e-01 3.51040208e-04 -5.21482387e+01] [ 1.08628393e-03 6.26626199e-06 9.99999410e-01 -2.61756412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.186559995 meters 0.05168981562757214 Centerline is valid? [True, True] Translation: X:352.10, Y:-52.17, Z:-2.62 [[ 9.46501779e-01 3.22693740e-01 -1.77022489e-03 3.52104758e+02] [-3.22693173e-01 9.46503434e-01 6.04650024e-04 -5.21724809e+01] [ 1.87064071e-03 -1.06283725e-06 9.99998250e-01 -2.61674607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.246559995 meters 0.05214660256625245 Centerline is valid? [True, True] Translation: X:352.16, Y:-52.19, Z:-2.62 [[ 9.47150988e-01 3.20777409e-01 -2.61928927e-03 3.52163484e+02] [-3.20776159e-01 9.47154609e-01 8.95450053e-04 -5.21929049e+01] [ 2.76811205e-03 -7.92084932e-06 9.99996169e-01 -2.61626633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.306559995 meters 0.05273542101111102 Centerline is valid? [True, True] Translation: X:352.22, Y:-52.21, Z:-2.62 [[ 9.47473847e-01 3.19819448e-01 -2.97135725e-03 3.52220861e+02] [-3.19817836e-01 9.47478507e-01 1.01549015e-03 -5.22128026e+01] [ 3.14007063e-03 -1.18573156e-05 9.99995070e-01 -2.61789353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.366559995 meters 0.05197830329344903 Centerline is valid? [True, True] Translation: X:352.28, Y:-52.23, Z:-2.62 [[ 9.47219086e-01 3.20581309e-01 -1.90438991e-03 3.52279905e+02] [-3.20580647e-01 9.47221001e-01 6.51666863e-04 -5.22319943e+01] [ 2.01279033e-03 -6.76074240e-06 9.99997974e-01 -2.61712213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42655999499993 meters 0.05194184950005482 Centerline is valid? [True, True] Translation: X:352.34, Y:-52.25, Z:-2.62 [[ 9.46124307e-01 3.23800594e-01 1.40387477e-03 3.52340403e+02] [-3.23800239e-01 9.46125349e-01 -4.79477773e-04 -5.22490485e+01] [-1.48349670e-03 -9.29411403e-07 9.99998900e-01 -2.61512214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48655999499994 meters 0.051659681966479874 Centerline is valid? [True, True] Translation: X:352.40, Y:-52.26, Z:-2.62 [[ 9.44903635e-01 3.27340039e-01 2.37053225e-03 3.52400275e+02] [-3.27339037e-01 9.44906609e-01 -8.09753352e-04 -5.22646906e+01] [-2.50499628e-03 -1.08288574e-05 9.99996862e-01 -2.61624525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54655999499994 meters 0.052121132518252226 Centerline is valid? [True, True] Translation: X:352.46, Y:-52.28, Z:-2.62 [[ 9.44178821e-01 3.29422569e-01 2.66928140e-03 3.52459629e+02] [-3.29421307e-01 9.44182594e-01 -9.11978530e-04 -5.22835850e+01] [-2.82071534e-03 -1.82473530e-05 9.99996022e-01 -2.61559591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60655999499994 meters 0.05217018535853214 Centerline is valid? [True, True] Translation: X:352.52, Y:-52.30, Z:-2.62 [[ 9.42186876e-01 3.35085874e-01 1.16122163e-03 3.52519215e+02] [-3.35085639e-01 9.42187591e-01 -3.97119289e-04 -5.22950312e+01] [-1.22715768e-03 -1.49481109e-05 9.99999247e-01 -2.61818388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66655999499994 meters 0.052631936041560294 Centerline is valid? [True, True] Translation: X:352.58, Y:-52.31, Z:-2.62 [[ 9.40088807e-01 3.40929029e-01 -6.57125525e-04 3.52578367e+02] [-3.40928955e-01 9.40089037e-01 2.24800269e-04 -5.23109127e+01] [ 6.94397439e-04 1.27009015e-05 9.99999759e-01 -2.61976453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72655999499995 meters 0.052208414497280815 Centerline is valid? [True, True] Translation: X:352.64, Y:-52.33, Z:-2.62 [[ 9.39119921e-01 3.43588154e-01 -9.76896615e-04 3.52637158e+02] [-3.43587992e-01 9.39120429e-01 3.34229944e-04 -5.23276682e+01] [ 1.03226102e-03 2.17679480e-05 9.99999467e-01 -2.62054005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78655999499995 meters 0.05209062131474242 Centerline is valid? [True, True] Translation: X:352.70, Y:-52.34, Z:-2.62 [[ 9.39076575e-01 3.43707874e-01 -2.88541709e-04 3.52695435e+02] [-3.43707860e-01 9.39076620e-01 9.91809132e-05 -5.23449732e+01] [ 3.05052033e-04 6.03558077e-06 9.99999953e-01 -2.62033136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84655999499995 meters 0.052153096956788346 Centerline is valid? [True, True] Translation: X:352.75, Y:-52.37, Z:-2.62 [[ 9.40000358e-01 3.41173456e-01 -5.83059642e-07 3.52752924e+02] [-3.41173456e-01 9.40000358e-01 3.18421854e-07 -5.23657093e+01] [ 6.56713245e-07 -1.00392180e-07 1.00000000e+00 -2.62069183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90655999499995 meters 0.0525020591744684 Centerline is valid? [True, True] Translation: X:352.81, Y:-52.39, Z:-2.62 [[ 9.42104254e-01 3.35320063e-01 -1.70299664e-04 3.52809201e+02] [-3.35320058e-01 9.42104270e-01 5.83778028e-05 -5.23900068e+01] [ 1.80015289e-04 2.10691691e-06 9.99999984e-01 -2.62076904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96655999499995 meters 0.053039281556512816 Centerline is valid? [True, True] Translation: X:352.87, Y:-52.41, Z:-2.62 [[ 9.44251540e-01 3.29224656e-01 -3.95221867e-04 3.52866035e+02] [-3.29224628e-01 9.44251622e-01 1.35495990e-04 -5.24109388e+01] [ 4.17797510e-04 2.17447497e-06 9.99999913e-01 -2.62305347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02655999499996 meters 0.0523429527887736 Centerline is valid? [True, True] Translation: X:352.92, Y:-52.43, Z:-2.62 [[ 9.45501567e-01 3.25617545e-01 -2.33081116e-05 3.52924014e+02] [-3.25617545e-01 9.45501568e-01 8.87332086e-06 -5.24341232e+01] [ 2.49271649e-05 -8.00208693e-07 1.00000000e+00 -2.62165602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08655999499996 meters 0.052175773722941264 Centerline is valid? [True, True] Translation: X:352.98, Y:-52.46, Z:-2.62 [[ 9.46835661e-01 3.21717589e-01 1.54487884e-04 3.52981499e+02] [-3.21717585e-01 9.46835674e-01 -5.19481907e-05 -5.24572555e+01] [-1.62987286e-04 -5.15069351e-07 9.99999987e-01 -2.62405214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14655999499996 meters 0.05334594150514684 Centerline is valid? [True, True] Translation: X:353.04, Y:-52.48, Z:-2.62 [[ 9.47086934e-01 3.20977157e-01 6.48448619e-05 3.53041143e+02] [-3.20977156e-01 9.47086936e-01 -2.12610847e-05 -5.24761654e+01] [-6.82380442e-05 -6.77623838e-07 9.99999998e-01 -2.62166995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20655999499996 meters 0.05211410590135327 Centerline is valid? [True, True] Translation: X:353.10, Y:-52.50, Z:-2.62 [[ 9.46896257e-01 3.21538826e-01 -5.11749375e-04 3.53099762e+02] [-3.21538778e-01 9.46896395e-01 1.75637594e-04 -5.24965364e+01] [ 5.41047944e-04 -1.76331150e-06 9.99999854e-01 -2.62423524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26655999499997 meters 0.052481294418977906 Centerline is valid? [True, True] Translation: X:353.16, Y:-52.52, Z:-2.62 [[ 9.47000361e-01 3.21227340e-01 -1.82007081e-03 3.53158464e+02] [-3.21226732e-01 9.47002110e-01 6.24708324e-04 -5.25161589e+01] [ 1.92428429e-03 -6.94360890e-06 9.99998149e-01 -2.62385410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32655999499997 meters 0.05247306152729463 Centerline is valid? [True, True] Translation: X:353.22, Y:-52.54, Z:-2.63 [[ 9.47431477e-01 3.19955440e-01 -1.45343834e-03 3.53216546e+02] [-3.19955051e-01 9.47432592e-01 4.99311377e-04 -5.25363667e+01] [ 1.53679225e-03 -8.02837656e-06 9.99998819e-01 -2.62528173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38655999499997 meters 0.05299390151717475 Centerline is valid? [True, True] Translation: X:353.28, Y:-52.56, Z:-2.62 [[ 9.48690397e-01 3.16206441e-01 1.30182280e-04 3.53275112e+02] [-3.16206438e-01 9.48690406e-01 -4.43268929e-05 -5.25579195e+01] [-1.37519129e-04 8.88022688e-07 9.99999991e-01 -2.62422529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.446559995 meters 0.05312144002959732 Centerline is valid? [True, True] Translation: X:353.33, Y:-52.58, Z:-2.62 [[ 9.49546278e-01 3.13623629e-01 1.44404172e-03 3.53333998e+02] [-3.13623240e-01 9.49547376e-01 -4.94466085e-04 -5.25786819e+01] [-1.52626227e-03 1.66333893e-05 9.99998835e-01 -2.62303067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.506559995 meters 0.05353997882588762 Centerline is valid? [True, True] Translation: X:353.39, Y:-52.60, Z:-2.62 [[ 9.50127716e-01 3.11859182e-01 1.08379837e-03 3.53392625e+02] [-3.11858961e-01 9.50128334e-01 -3.71084746e-04 -5.25972721e+01] [-1.14547373e-03 1.45856662e-05 9.99999344e-01 -2.62290455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.566559995 meters 0.05342655929036339 Centerline is valid? [True, True] Translation: X:353.45, Y:-52.61, Z:-2.62 [[ 9.50739422e-01 3.09986687e-01 1.67482219e-03 3.53452614e+02] [-3.09986156e-01 9.50740897e-01 -5.74535955e-04 -5.26133544e+01] [-1.77042045e-03 2.70622890e-05 9.99998432e-01 -2.62275667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.626559995 meters 0.05333294444621691 Centerline is valid? [True, True] Translation: X:353.51, Y:-52.64, Z:-2.63 [[ 9.51244022e-01 3.08433375e-01 1.91411474e-03 3.53509099e+02] [-3.08432679e-01 9.51245947e-01 -6.56269948e-04 -5.26389287e+01] [-2.02320944e-03 3.38973299e-05 9.99997953e-01 -2.62601039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.686559995 meters 0.0537237807412949 Centerline is valid? [True, True] Translation: X:353.57, Y:-52.65, Z:-2.62 [[ 9.51301548e-01 3.08260761e-01 8.17455331e-04 3.53568707e+02] [-3.08260634e-01 9.51301899e-01 -2.80257909e-04 -5.26520989e+01] [-8.64039325e-04 1.46204842e-05 9.99999627e-01 -2.62472565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.746559995 meters 0.05418980832110073 Centerline is valid? [True, True] Translation: X:353.63, Y:-52.68, Z:-2.63 [[ 9.50892849e-01 3.09519331e-01 7.56683330e-04 3.53626534e+02] [-3.09519223e-01 9.50893150e-01 -2.59573768e-04 -5.26754718e+01] [-7.99868095e-04 1.26188032e-05 9.99999680e-01 -2.62828065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.806559995 meters 0.053507889183005745 Centerline is valid? [True, True] Translation: X:353.69, Y:-52.69, Z:-2.63 [[ 9.50197913e-01 3.11645890e-01 8.75127835e-04 3.53688788e+02] [-3.11645747e-01 9.50198316e-01 -2.99772914e-04 -5.26854451e+01] [-9.24967991e-04 1.21137296e-05 9.99999572e-01 -2.62534318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.866559995 meters 0.053734049261263475 Centerline is valid? [True, True] Translation: X:353.75, Y:-52.70, Z:-2.63 [[ 9.49283661e-01 3.14419583e-01 9.25863398e-04 3.53746830e+02] [-3.14419423e-01 9.49284112e-01 -3.17691118e-04 -5.27049497e+01] [-9.78795723e-04 1.04695526e-05 9.99999521e-01 -2.62620777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92655999499993 meters 0.05227686607203189 Centerline is valid? [True, True] Translation: X:353.81, Y:-52.72, Z:-2.63 [[ 9.47592529e-01 3.19476076e-01 1.85369978e-03 3.53805862e+02] [-3.19475441e-01 9.47594342e-01 -6.36877975e-04 -5.27221952e+01] [-1.96002270e-03 1.12892571e-05 9.99998079e-01 -2.62828654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98655999499994 meters 0.05323585507233938 Centerline is valid? [True, True] Translation: X:353.87, Y:-52.74, Z:-2.63 [[ 9.45682053e-01 3.25082002e-01 2.67317578e-03 3.53866919e+02] [-3.25080705e-01 9.45685831e-01 -9.18472726e-04 -5.27357700e+01] [-2.82656341e-03 -4.14691345e-07 9.99996005e-01 -2.62873299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04655999499994 meters 0.05295338657809061 Centerline is valid? [True, True] Translation: X:353.93, Y:-52.75, Z:-2.63 [[ 9.44374680e-01 3.28865543e-01 1.97954293e-03 3.53926409e+02] [-3.28864841e-01 9.44376754e-01 -6.79758544e-04 -5.27526288e+01] [-2.09298349e-03 -9.05531390e-06 9.99997810e-01 -2.62761709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10655999499994 meters 0.053200149749234656 Centerline is valid? [True, True] Translation: X:353.99, Y:-52.77, Z:-2.63 [[ 9.43123633e-01 3.32428784e-01 2.98617356e-03 3.53986595e+02] [-3.32427199e-01 9.43128360e-01 -1.02655610e-03 -5.27675597e+01] [-3.15760176e-03 -2.45159971e-05 9.99995014e-01 -2.62873858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16655999499994 meters 0.052832670363253856 Centerline is valid? [True, True] Translation: X:354.05, Y:-52.78, Z:-2.63 [[ 9.42702316e-01 3.33620567e-01 3.10835996e-03 3.54045893e+02] [-3.33618857e-01 9.42707440e-01 -1.06840370e-03 -5.27843730e+01] [-3.28671551e-03 -2.98208530e-05 9.99994598e-01 -2.62962554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22655999499995 meters 0.0527876284895324 Centerline is valid? [True, True] Translation: X:354.10, Y:-52.80, Z:-2.63 [[ 9.42187751e-01 3.35065008e-01 3.69906106e-03 3.54104086e+02] [-3.35062596e-01 9.42195011e-01 -1.27205603e-03 -5.28047582e+01] [-3.91145834e-03 -4.09013966e-05 9.99992349e-01 -2.62840617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28655999499995 meters 0.0528412913673955 Centerline is valid? [True, True] Translation: X:354.16, Y:-52.82, Z:-2.63 [[ 9.41131723e-01 3.38018159e-01 3.84759032e-03 3.54163520e+02] [-3.38015571e-01 9.41139586e-01 -1.32379114e-03 -5.28208859e+01] [-4.06858500e-03 -5.46836064e-05 9.99991722e-01 -2.62896136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34655999499995 meters 0.0534899871862325 Centerline is valid? [True, True] Translation: X:354.22, Y:-52.84, Z:-2.63 [[ 9.40108745e-01 3.40860378e-01 3.12252863e-03 3.54222595e+02] [-3.40858689e-01 9.40113929e-01 -1.07425635e-03 -5.28373009e+01] [-3.30170408e-03 -5.44232244e-05 9.99994548e-01 -2.63010298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40655999499995 meters 0.05355827687792482 Centerline is valid? [True, True] Translation: X:354.28, Y:-52.86, Z:-2.63 [[ 9.39551080e-01 3.42398710e-01 2.62513343e-03 3.54281572e+02] [-3.42397523e-01 9.39554746e-01 -9.03284604e-04 -5.28555629e+01] [-2.77574006e-03 -5.01571584e-05 9.99996146e-01 -2.63119811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46655999499995 meters 0.053716615143374176 Centerline is valid? [True, True] Translation: X:354.34, Y:-52.87, Z:-2.63 [[ 9.38454337e-01 3.45398705e-01 1.78671197e-03 3.54340361e+02] [-3.45398160e-01 9.38456037e-01 -6.15262881e-04 -5.28734168e+01] [-1.88926164e-03 -3.97309077e-05 9.99998215e-01 -2.63214153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52655999499996 meters 0.05352061094251705 Centerline is valid? [True, True] Translation: X:354.40, Y:-52.90, Z:-2.63 [[ 9.38385726e-01 3.45583351e-01 2.09187716e-03 3.54399162e+02] [-3.45582605e-01 9.38388057e-01 -7.19809598e-04 -5.28972761e+01] [-2.21174675e-03 -4.74573037e-05 9.99997553e-01 -2.63152641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58655999499996 meters 0.05223409825419075 Centerline is valid? [True, True] Translation: X:354.45, Y:-52.92, Z:-2.63 [[ 9.39068080e-01 3.43715035e-01 3.33390570e-03 3.54454908e+02] [-3.43713122e-01 9.39073996e-01 -1.14866249e-03 -5.29239127e+01] [-3.52559672e-03 -6.72348607e-05 9.99993783e-01 -2.63037747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64655999499996 meters 0.052933966332510046 Centerline is valid? [True, True] Translation: X:354.51, Y:-52.94, Z:-2.63 [[ 9.39809140e-01 3.41688735e-01 2.75462816e-03 3.54512935e+02] [-3.41687421e-01 9.39813176e-01 -9.48877329e-04 -5.29435997e+01] [-2.91305653e-03 -4.94582059e-05 9.99995756e-01 -2.63160509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70655999499996 meters 0.052850715138280956 Centerline is valid? [True, True] Translation: X:354.57, Y:-52.97, Z:-2.63 [[ 9.40216205e-01 3.40566190e-01 2.85607668e-03 3.54571155e+02] [-3.40564772e-01 9.40220542e-01 -9.84081311e-04 -5.29661698e+01] [-3.02048678e-03 -4.74299061e-05 9.99995437e-01 -2.63228462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76655999499997 meters 0.05267380706844653 Centerline is valid? [True, True] Translation: X:354.63, Y:-52.99, Z:-2.63 [[ 9.41125855e-01 3.38038518e-01 3.47650773e-03 3.54627371e+02] [-3.38036397e-01 9.41132275e-01 -1.19831073e-03 -5.29923804e+01] [-3.67692881e-03 -4.74249410e-05 9.99993239e-01 -2.63168483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82655999499997 meters 0.05300371902010407 Centerline is valid? [True, True] Translation: X:354.69, Y:-53.01, Z:-2.63 [[ 9.41870356e-01 3.35957635e-01 3.56372103e-03 3.54685049e+02] [-3.35955392e-01 9.41877097e-01 -1.22816466e-03 -5.30120411e+01] [-3.76919851e-03 -4.04794063e-05 9.99992896e-01 -2.63313807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88655999499997 meters 0.0529975222930524 Centerline is valid? [True, True] Translation: X:354.74, Y:-53.04, Z:-2.63 [[ 9.43507383e-01 3.31320109e-01 4.56114759e-03 3.54740921e+02] [-3.31316377e-01 9.43518407e-01 -1.57288081e-03 -5.30389591e+01] [-4.82465375e-03 -2.71582345e-05 9.99988361e-01 -2.63313827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.946559995 meters 0.05284257999806763 Centerline is valid? [True, True] Translation: X:354.80, Y:-53.06, Z:-2.63 [[ 9.44881395e-01 3.27376447e-01 4.87972796e-03 3.54798123e+02] [-3.27372122e-01 9.44893995e-01 -1.68274584e-03 -5.30639637e+01] [-5.16171701e-03 -7.49165717e-06 9.99986678e-01 -2.63276118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.006559995 meters 0.05273693418615946 Centerline is valid? [True, True] Translation: X:354.85, Y:-53.09, Z:-2.64 [[ 9.47089233e-01 3.20944281e-01 4.09295338e-03 3.54853849e+02] [-3.20941177e-01 9.47098077e-01 -1.41185458e-03 -5.30884088e+01] [-4.32955493e-03 2.35549996e-05 9.99990627e-01 -2.63552653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.066559995 meters 0.05326737332823767 Centerline is valid? [True, True] Translation: X:354.91, Y:-53.11, Z:-2.64 [[ 9.48448777e-01 3.16911125e-01 3.50105540e-03 3.54911730e+02] [-3.16908824e-01 9.48455238e-01 -1.20816280e-03 -5.31121493e+01] [-3.70347456e-03 3.63651862e-05 9.99993141e-01 -2.63608549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.126559995 meters 0.05311520050327983 Centerline is valid? [True, True] Translation: X:354.97, Y:-53.13, Z:-2.64 [[ 9.49566501e-01 3.13546979e-01 3.42818379e-03 3.54970154e+02] [-3.13544751e-01 9.49572688e-01 -1.18308306e-03 -5.31319215e+01] [-3.62626182e-03 4.85270073e-05 9.99993424e-01 -2.63612140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.186559995 meters 0.053282602865455 Centerline is valid? [True, True] Translation: X:355.03, Y:-53.15, Z:-2.64 [[ 9.49391064e-01 3.14082120e-01 3.00503408e-03 3.55029097e+02] [-3.14080411e-01 9.49395819e-01 -1.03692762e-03 -5.31529768e+01] [-3.17864722e-03 4.06274767e-05 9.99994947e-01 -2.63735873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.246559995 meters 0.05298707877407745 Centerline is valid? [True, True] Translation: X:355.09, Y:-53.18, Z:-2.64 [[ 9.48439748e-01 3.16944132e-01 2.90886627e-03 3.55086026e+02] [-3.16942542e-01 9.48444208e-01 -1.00437287e-03 -5.31765773e+01] [-3.07722746e-03 3.06436820e-05 9.99995265e-01 -2.63913403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.306559995 meters 0.05280994750735692 Centerline is valid? [True, True] Translation: X:355.15, Y:-53.20, Z:-2.64 [[ 9.47434531e-01 3.19927152e-01 3.79829774e-03 3.55145290e+02] [-3.19924464e-01 9.47442144e-01 -1.31172767e-03 -5.31955918e+01] [-4.01832465e-03 2.76077236e-05 9.99991926e-01 -2.63880165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.366559995 meters 0.05213740058114645 Centerline is valid? [True, True] Translation: X:355.20, Y:-53.21, Z:-2.64 [[ 9.45734121e-01 3.24906552e-01 4.76491542e-03 3.55203517e+02] [-3.24902384e-01 9.45746125e-01 -1.64568384e-03 -5.32137279e+01] [-5.04109375e-03 8.24697693e-06 9.99987294e-01 -2.63809056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42655999499993 meters 0.05163281899129646 Centerline is valid? [True, True] Translation: X:355.26, Y:-53.23, Z:-2.64 [[ 9.44608107e-01 3.28163853e-01 4.89995091e-03 3.55263092e+02] [-3.28159485e-01 9.44620816e-01 -1.69304755e-03 -5.32332709e+01] [-5.18419264e-03 -8.69893198e-06 9.99986562e-01 -2.63949983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48655999499994 meters 0.05218688270030196 Centerline is valid? [True, True] Translation: X:355.32, Y:-53.25, Z:-2.64 [[ 9.42686458e-01 3.33639579e-01 5.18390982e-03 3.55321769e+02] [-3.33634772e-01 9.42700711e-01 -1.79141166e-03 -5.32504386e+01] [-5.48456130e-03 -4.07930616e-05 9.99984959e-01 -2.64005929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54655999499994 meters 0.05198948935495212 Centerline is valid? [True, True] Translation: X:355.38, Y:-53.27, Z:-2.64 [[ 9.40499936e-01 3.39757039e-01 5.00251161e-03 3.55380526e+02] [-3.39752645e-01 9.40513237e-01 -1.72947347e-03 -5.32670566e+01] [-5.29252917e-03 -7.30468643e-05 9.99985992e-01 -2.64113178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60655999499994 meters 0.05180875151739228 Centerline is valid? [True, True] Translation: X:355.44, Y:-53.29, Z:-2.64 [[ 9.39121162e-01 3.43551941e-01 4.84836557e-03 3.55438938e+02] [-3.43547864e-01 9.39133673e-01 -1.67620367e-03 -5.32852936e+01] [-5.12912638e-03 -9.14872979e-05 9.99986842e-01 -2.64249887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66655999499994 meters 0.052438362916311015 Centerline is valid? [True, True] Translation: X:355.50, Y:-53.30, Z:-2.64 [[ 9.37824881e-01 3.47072365e-01 5.02653514e-03 3.55497044e+02] [-3.47068033e-01 9.37838345e-01 -1.73789139e-03 -5.33045558e+01] [-5.31725147e-03 -1.14711876e-04 9.99985857e-01 -2.64367490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72655999499995 meters 0.05188188679529184 Centerline is valid? [True, True] Translation: X:355.56, Y:-53.33, Z:-2.64 [[ 9.37797657e-01 3.47144438e-01 5.12770547e-03 3.55555051e+02] [-3.47139930e-01 9.37811669e-01 -1.77287947e-03 -5.33284592e+01] [-5.42426727e-03 -1.17429108e-04 9.99985282e-01 -2.64363633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78655999499995 meters 0.05139479138390552 Centerline is valid? [True, True] Translation: X:355.61, Y:-53.35, Z:-2.64 [[ 9.38311361e-01 3.45762449e-01 4.48541746e-03 3.55612487e+02] [-3.45758984e-01 9.38322077e-01 -1.55087892e-03 -5.33528204e+01] [-4.74500192e-03 -9.56660796e-05 9.99988738e-01 -2.64427739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84655999499995 meters 0.05172145140981753 Centerline is valid? [True, True] Translation: X:355.67, Y:-53.37, Z:-2.65 [[ 9.38628600e-01 3.44908222e-01 3.83010758e-03 3.55670411e+02] [-3.44905687e-01 9.38636411e-01 -1.32464237e-03 -5.33745733e+01] [-4.05195847e-03 -7.76786730e-05 9.99991788e-01 -2.64533301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90655999499995 meters 0.05114738571015598 Centerline is valid? [True, True] Translation: X:355.73, Y:-53.40, Z:-2.65 [[ 9.39020758e-01 3.43849995e-01 2.68261108e-03 3.55727006e+02] [-3.43848747e-01 9.39024589e-01 -9.27840763e-04 -5.33997096e+01] [-2.83807581e-03 -5.11507201e-05 9.99995971e-01 -2.64711017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96655999499995 meters 0.052040524925653565 Centerline is valid? [True, True] Translation: X:355.78, Y:-53.42, Z:-2.65 [[ 9.39543222e-01 3.42424057e-01 2.07371974e-03 3.55784347e+02] [-3.42423307e-01 9.39545509e-01 -7.17562349e-04 -5.34211421e+01] [-2.19406468e-03 -3.59091290e-05 9.99997592e-01 -2.64787028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02655999499996 meters 0.0516411287161246 Centerline is valid? [True, True] Translation: X:355.84, Y:-53.45, Z:-2.65 [[ 9.40839284e-01 3.38844977e-01 2.35015390e-03 3.55840214e+02] [-3.38844002e-01 9.40842219e-01 -8.13688557e-04 -5.34479074e+01] [-2.48683829e-03 -3.07853920e-05 9.99996907e-01 -2.64711822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08655999499996 meters 0.051612831874920224 Centerline is valid? [True, True] Translation: X:355.90, Y:-53.47, Z:-2.65 [[ 9.42760028e-01 3.33458391e-01 3.00533158e-03 3.55895761e+02] [-3.33456768e-01 9.42764817e-01 -1.04065180e-03 -5.34724468e+01] [-3.18033495e-03 -2.10632393e-05 9.99994943e-01 -2.64593018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14655999499996 meters 0.05180580267528732 Centerline is valid? [True, True] Translation: X:355.95, Y:-53.50, Z:-2.65 [[ 9.44164683e-01 3.29451588e-01 3.83445031e-03 3.55953314e+02] [-3.29448912e-01 9.44172469e-01 -1.32769197e-03 -5.34968075e+01] [-4.05779264e-03 -9.69561800e-06 9.99991767e-01 -2.64536534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20655999499996 meters 0.051550026026703395 Centerline is valid? [True, True] Translation: X:356.01, Y:-53.52, Z:-2.64 [[ 9.45567925e-01 3.25389778e-01 4.77404086e-03 3.56012273e+02] [-3.25385579e-01 9.45579977e-01 -1.65308231e-03 -5.35182852e+01] [-5.05213353e-03 9.69755861e-06 9.99987238e-01 -2.64468469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26655999499997 meters 0.05146422960968214 Centerline is valid? [True, True] Translation: X:356.07, Y:-53.54, Z:-2.64 [[ 9.46656893e-01 3.22201906e-01 5.16325200e-03 3.56070201e+02] [-3.22196942e-01 9.46670973e-01 -1.78874963e-03 -5.35387828e+01] [-5.46423934e-03 2.97481563e-05 9.99985070e-01 -2.64386172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32655999499997 meters 0.05142214552343587 Centerline is valid? [True, True] Translation: X:356.13, Y:-53.56, Z:-2.64 [[ 9.47222130e-01 3.20549323e-01 4.28581754e-03 3.56128902e+02] [-3.20545883e-01 9.47231825e-01 -1.48533869e-03 -5.35604532e+01] [-4.53578708e-03 3.31445047e-05 9.99989713e-01 -2.64481552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38655999499997 meters 0.05211906110920204 Centerline is valid? [True, True] Translation: X:356.19, Y:-53.58, Z:-2.65 [[ 9.47920304e-01 3.18505393e-01 1.18787751e-03 3.56186928e+02] [-3.18505128e-01 9.47921049e-01 -4.11665637e-04 -5.35779739e+01] [-1.25713182e-03 1.18811395e-05 9.99999210e-01 -2.64798881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.446559995 meters 0.05274875368242875 Centerline is valid? [True, True] Translation: X:356.25, Y:-53.60, Z:-2.65 [[ 9.48246379e-01 3.17534829e-01 -6.61218805e-04 3.56246175e+02] [-3.17534746e-01 9.48246609e-01 2.30171421e-04 -5.35973577e+01] [ 7.00085932e-04 -8.29927178e-06 9.99999755e-01 -2.64990818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.506559995 meters 0.05390631839704214 Centerline is valid? [True, True] Translation: X:356.31, Y:-53.62, Z:-2.65 [[ 9.49244589e-01 3.14535174e-01 -1.52820192e-03 3.56305588e+02] [-3.14534728e-01 9.49245819e-01 5.30274180e-04 -5.36153062e+01] [ 1.61742916e-03 -2.26873222e-05 9.99998692e-01 -2.64974572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.566559995 meters 0.0541749599781256 Centerline is valid? [True, True] Translation: X:356.36, Y:-53.63, Z:-2.65 [[ 9.50706643e-01 3.10089885e-01 -1.06887487e-03 3.56363700e+02] [-3.10089665e-01 9.50707243e-01 3.70713199e-04 -5.36300614e+01] [ 1.13114149e-03 -2.09924522e-05 9.99999360e-01 -2.64815571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.626559995 meters 0.05358170575237365 Centerline is valid? [True, True] Translation: X:356.42, Y:-53.66, Z:-2.65 [[ 9.51560820e-01 3.07460109e-01 5.35488627e-04 3.56420807e+02] [-3.07460053e-01 9.51560971e-01 -1.85289813e-04 -5.36550960e+01] [-5.66519304e-04 1.16731644e-05 9.99999839e-01 -2.64975644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.686559995 meters 0.052879801828257064 Centerline is valid? [True, True] Translation: X:356.48, Y:-53.67, Z:-2.65 [[ 9.51739885e-01 3.06900862e-01 1.74685254e-03 3.56480425e+02] [-3.06900267e-01 9.51741488e-01 -6.05629266e-04 -5.36684349e+01] [-1.84842018e-03 4.02920166e-05 9.99998291e-01 -2.64663703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.746559995 meters 0.05367970916431202 Centerline is valid? [True, True] Translation: X:356.54, Y:-53.69, Z:-2.65 [[ 9.50589722e-01 3.10434128e-01 3.13578347e-03 3.56537154e+02] [-3.10432227e-01 9.50594892e-01 -1.08792547e-03 -5.36896330e+01] [-3.31858894e-03 6.07225209e-05 9.99994492e-01 -2.64874692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.806559995 meters 0.05283908068131305 Centerline is valid? [True, True] Translation: X:356.60, Y:-53.70, Z:-2.65 [[ 9.47763855e-01 3.18953115e-01 3.54769933e-03 3.56597291e+02] [-3.18950741e-01 9.47770494e-01 -1.23095503e-03 -5.36979549e+01] [-3.75502168e-03 3.51133560e-05 9.99992949e-01 -2.64919613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.866559995 meters 0.05286005585967168 Centerline is valid? [True, True] Translation: X:356.66, Y:-53.71, Z:-2.65 [[ 9.45020091e-01 3.26994297e-01 3.42883655e-03 3.56657046e+02] [-3.26992133e-01 9.45026312e-01 -1.18962981e-03 -5.37130952e+01] [-3.62934293e-03 3.02149513e-06 9.99993414e-01 -2.65168987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92655999499993 meters 0.05202952415533536 Centerline is valid? [True, True] Translation: X:356.72, Y:-53.72, Z:-2.65 [[ 9.40909738e-01 3.38642405e-01 3.19158661e-03 3.56717595e+02] [-3.38640596e-01 9.40915150e-01 -1.10744938e-03 -5.37249946e+01] [-3.37804151e-03 -3.87908872e-05 9.99994294e-01 -2.65190764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98655999499994 meters 0.052104167696877805 Centerline is valid? [True, True] Translation: X:356.77, Y:-53.74, Z:-2.65 [[ 9.38805055e-01 3.44441148e-01 2.31608720e-03 3.56774436e+02] [-3.44440213e-01 9.38807911e-01 -8.03540862e-04 -5.37446514e+01] [-2.45113353e-03 -4.33853472e-05 9.99996995e-01 -2.65247241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04655999499994 meters 0.051567631323261406 Centerline is valid? [True, True] Translation: X:356.83, Y:-53.76, Z:-2.65 [[ 9.37038771e-01 3.49215937e-01 2.56352485e-03 3.56831763e+02] [-3.49214809e-01 9.37042275e-01 -8.89579451e-04 -5.37643599e+01] [-2.71278648e-03 -6.16504064e-05 9.99996318e-01 -2.65310252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10655999499994 meters 0.051968207902648424 Centerline is valid? [True, True] Translation: X:356.89, Y:-53.78, Z:-2.66 [[ 9.36609511e-01 3.50367060e-01 2.35533462e-03 3.56891791e+02] [-3.50366112e-01 9.36612470e-01 -8.17155842e-04 -5.37762563e+01] [-2.49234026e-03 -5.98735006e-05 9.99996892e-01 -2.65558796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16655999499994 meters 0.05291647100141454 Centerline is valid? [True, True] Translation: X:356.95, Y:-53.80, Z:-2.66 [[ 9.36553866e-01 3.50520631e-01 1.46442547e-03 3.56950674e+02] [-3.50520265e-01 9.36555010e-01 -5.07700545e-04 -5.37955256e+01] [-1.54947453e-03 -3.78218966e-05 9.99998799e-01 -2.65803008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22655999499995 meters 0.05110136981972535 Centerline is valid? [True, True] Translation: X:357.00, Y:-53.83, Z:-2.66 [[ 9.37196506e-01 3.48799487e-01 1.27583775e-03 3.57003539e+02] [-3.48799207e-01 9.37197374e-01 -4.42925309e-04 -5.38299640e+01] [-1.35020391e-03 -2.99031440e-05 9.99999088e-01 -2.65548073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28655999499995 meters 0.05219407402272789 Centerline is valid? [True, True] Translation: X:357.06, Y:-53.84, Z:-2.66 [[ 9.37889559e-01 3.46930626e-01 1.52172020e-03 3.57062225e+02] [-3.46930225e-01 9.37890793e-01 -5.28388497e-04 -5.38449852e+01] [-1.61052152e-03 -3.23606761e-05 9.99998703e-01 -2.65793091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34655999499995 meters 0.05148970584881658 Centerline is valid? [True, True] Translation: X:357.12, Y:-53.87, Z:-2.66 [[ 9.38151997e-01 3.46219022e-01 1.79408552e-03 3.57118149e+02] [-3.46218464e-01 9.38153712e-01 -6.22684475e-04 -5.38727820e+01] [-1.89871320e-03 -3.69728476e-05 9.99998197e-01 -2.65673095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40655999499995 meters 0.0518858219004313 Centerline is valid? [True, True] Translation: X:357.17, Y:-53.90, Z:-2.66 [[ 9.39402520e-01 3.42813308e-01 1.39306949e-03 3.57174526e+02] [-3.42812968e-01 9.39403553e-01 -4.83768384e-04 -5.38964087e+01] [-1.47449667e-03 -2.31090484e-05 9.99998913e-01 -2.65844112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46655999499995 meters 0.051507390580479914 Centerline is valid? [True, True] Translation: X:357.23, Y:-53.92, Z:-2.66 [[ 9.40210207e-01 3.40587614e-01 2.20114502e-03 3.57230381e+02] [-3.40586757e-01 9.40212783e-01 -7.64545750e-04 -5.39191235e+01] [-2.32993950e-03 -3.08471271e-05 9.99997285e-01 -2.65885386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52655999499996 meters 0.051945367924512126 Centerline is valid? [True, True] Translation: X:357.29, Y:-53.95, Z:-2.66 [[ 9.41514165e-01 3.36961739e-01 2.80428135e-03 3.57286166e+02] [-3.36960332e-01 9.41518341e-01 -9.74044902e-04 -5.39456877e+01] [-2.96849819e-03 -2.78545030e-05 9.99995594e-01 -2.65803264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58655999499996 meters 0.05145992478709877 Centerline is valid? [True, True] Translation: X:357.34, Y:-53.97, Z:-2.66 [[ 9.42339896e-01 3.34642954e-01 3.10047355e-03 3.57343623e+02] [-3.34641222e-01 9.42344997e-01 -1.07688703e-03 -5.39713107e+01] [-3.28208840e-03 -2.27526496e-05 9.99994614e-01 -2.65788808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64655999499996 meters 0.05148944551046711 Centerline is valid? [True, True] Translation: X:357.40, Y:-54.00, Z:-2.66 [[ 9.42794273e-01 3.33360855e-01 3.08194658e-03 3.57401277e+02] [-3.33359137e-01 9.42799310e-01 -1.07057608e-03 -5.39963318e+01] [-3.26254527e-03 -1.80620560e-05 9.99994678e-01 -2.65841232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70655999499996 meters 0.05081110319933674 Centerline is valid? [True, True] Translation: X:357.46, Y:-54.01, Z:-2.66 [[ 9.41576644e-01 3.36780126e-01 3.54545968e-03 3.57459821e+02] [-3.36777876e-01 9.41583319e-01 -1.23154821e-03 -5.40131416e+01] [-3.75310666e-03 -3.44353500e-05 9.99992956e-01 -2.65943650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76655999499997 meters 0.05125120381514828 Centerline is valid? [True, True] Translation: X:357.52, Y:-54.03, Z:-2.66 [[ 9.40459874e-01 3.39899261e-01 1.92837953e-03 3.57520142e+02] [-3.39898601e-01 9.40461850e-01 -6.70109640e-04 -5.40296678e+01] [-2.04133715e-03 -2.52422783e-05 9.99997916e-01 -2.66109538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82655999499997 meters 0.051549199201112464 Centerline is valid? [True, True] Translation: X:357.58, Y:-54.05, Z:-2.66 [[ 9.38992750e-01 3.43936924e-01 -8.69454885e-05 3.57578850e+02] [-3.43936922e-01 9.38992754e-01 3.03528821e-05 -5.40471814e+01] [ 9.20806604e-05 1.40262749e-06 9.99999996e-01 -2.66240104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88655999499997 meters 0.051833424326203296 Centerline is valid? [True, True] Translation: X:357.64, Y:-54.07, Z:-2.66 [[ 9.38213653e-01 3.46056189e-01 5.06490246e-04 3.57638056e+02] [-3.46056144e-01 9.38213789e-01 -1.75277844e-04 -5.40654496e+01] [-5.35852115e-04 -1.08259950e-05 9.99999856e-01 -2.66288732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.946559995 meters 0.052025100858857774 Centerline is valid? [True, True] Translation: X:357.70, Y:-54.08, Z:-2.66 [[ 9.38268740e-01 3.45901302e-01 2.01503970e-03 3.57698201e+02] [-3.45900596e-01 9.38270903e-01 -7.00152351e-04 -5.40802743e+01] [-2.13283672e-03 -4.00723680e-05 9.99997725e-01 -2.66366366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.006559995 meters 0.05204329799961562 Centerline is valid? [True, True] Translation: X:357.76, Y:-54.10, Z:-2.66 [[ 9.38834147e-01 3.44351108e-01 3.57180986e-03 3.57756171e+02] [-3.44348873e-01 9.38840940e-01 -1.24252941e-03 -5.41021659e+01] [-3.78122771e-03 -6.34196626e-05 9.99992849e-01 -2.66252666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.066559995 meters 0.0508971469586408 Centerline is valid? [True, True] Translation: X:357.81, Y:-54.13, Z:-2.66 [[ 9.40620432e-01 3.39428615e-01 4.62807187e-03 3.57812995e+02] [-3.39424800e-01 9.40631816e-01 -1.61016792e-03 -5.41252577e+01] [-4.89984871e-03 -5.63255268e-05 9.99987994e-01 -2.66263471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.126559995 meters 0.05169190737196933 Centerline is valid? [True, True] Translation: X:357.87, Y:-54.15, Z:-2.67 [[ 9.43144913e-01 3.32363284e-01 3.51014371e-03 3.57869809e+02] [-3.32361041e-01 9.43151444e-01 -1.22116437e-03 -5.41496723e+01] [-3.71646731e-03 -1.49000521e-05 9.99993094e-01 -2.66576116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.186559995 meters 0.0517608014647925 Centerline is valid? [True, True] Translation: X:357.93, Y:-54.17, Z:-2.66 [[ 9.44561189e-01 3.28324903e-01 2.63036492e-03 3.57927339e+02] [-3.28323629e-01 9.44564851e-01 -9.14772002e-04 -5.41739212e+01] [-2.78489268e-03 4.47174127e-07 9.99996122e-01 -2.66498986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.246559995 meters 0.05148748632642441 Centerline is valid? [True, True] Translation: X:357.99, Y:-54.19, Z:-2.67 [[ 9.45125437e-01 3.26699281e-01 2.34247469e-03 3.57985472e+02] [-3.26698265e-01 9.45128340e-01 -8.14858993e-04 -5.41949815e+01] [-2.48015306e-03 4.86154689e-06 9.99996924e-01 -2.66625714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.306559995 meters 0.05207405508076205 Centerline is valid? [True, True] Translation: X:358.04, Y:-54.22, Z:-2.67 [[ 9.45880911e-01 3.24504652e-01 2.45634019e-03 3.58044394e+02] [-3.24503526e-01 9.45884100e-01 -8.54835016e-04 -5.42154120e+01] [-2.60081107e-03 1.14810708e-05 9.99996618e-01 -2.66709582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.366559995 meters 0.05157736482376419 Centerline is valid? [True, True] Translation: X:358.10, Y:-54.23, Z:-2.67 [[ 9.45524521e-01 3.25541385e-01 2.48755181e-03 3.58103608e+02] [-3.25540232e-01 9.45527793e-01 -8.66296947e-04 -5.42335981e+01] [-2.63406488e-03 9.30680968e-06 9.99996531e-01 -2.66686964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42655999499993 meters 0.05105647834566068 Centerline is valid? [True, True] Translation: X:358.16, Y:-54.25, Z:-2.67 [[ 9.44822877e-01 3.27572753e-01 2.41316428e-03 3.58162500e+02] [-3.27571675e-01 9.44825958e-01 -8.40455178e-04 -5.42532445e+01] [-2.55533047e-03 3.59701509e-06 9.99996735e-01 -2.66846579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48655999499994 meters 0.05127660826767627 Centerline is valid? [True, True] Translation: X:358.22, Y:-54.27, Z:-2.67 [[ 9.43063270e-01 3.32604318e-01 2.45685963e-03 3.58221342e+02] [-3.32603218e-01 9.43066471e-01 -8.55457270e-04 -5.42696842e+01] [-2.60151072e-03 -1.04090883e-05 9.99996616e-01 -2.66951543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54655999499994 meters 0.05081831559208002 Centerline is valid? [True, True] Translation: X:358.28, Y:-54.29, Z:-2.67 [[ 9.41365395e-01 3.37379142e-01 2.55086308e-03 3.58280629e+02] [-3.37377972e-01 9.41368851e-01 -8.88781909e-04 -5.42856088e+01] [-2.70115953e-03 -2.39364807e-05 9.99996352e-01 -2.67076599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60655999499994 meters 0.05131187828698535 Centerline is valid? [True, True] Translation: X:358.34, Y:-54.30, Z:-2.67 [[ 9.38541383e-01 3.45160181e-01 2.12668050e-03 3.58339944e+02] [-3.45159387e-01 9.38543791e-01 -7.41216912e-04 -5.42983002e+01] [-2.25182134e-03 -3.83809903e-05 9.99997464e-01 -2.67188899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66655999499994 meters 0.05173328156430043 Centerline is valid? [True, True] Translation: X:358.40, Y:-54.32, Z:-2.67 [[ 9.36912382e-01 3.49558683e-01 1.97895842e-03 3.58397872e+02] [-3.49558005e-01 9.36914471e-01 -6.89883102e-04 -5.43177957e+01] [-2.09526941e-03 -4.54007384e-05 9.99997804e-01 -2.67180029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72655999499995 meters 0.051262448496010714 Centerline is valid? [True, True] Translation: X:358.46, Y:-54.34, Z:-2.67 [[ 9.35340395e-01 3.53739521e-01 2.58799328e-03 3.58456016e+02] [-3.53738377e-01 9.35343972e-01 -9.02239249e-04 -5.43360334e+01] [-2.73982159e-03 -7.15717277e-05 9.99996244e-01 -2.67191980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78655999499995 meters 0.052027703495189995 Centerline is valid? [True, True] Translation: X:358.52, Y:-54.35, Z:-2.67 [[ 9.34618031e-01 3.55637997e-01 3.27894194e-03 3.58515686e+02] [-3.55636173e-01 9.34623778e-01 -1.14316776e-03 -5.43473693e+01] [-3.47113099e-03 -9.76851603e-05 9.99993971e-01 -2.67321099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84655999499995 meters 0.052280266738354786 Centerline is valid? [True, True] Translation: X:358.57, Y:-54.37, Z:-2.67 [[ 9.33863654e-01 3.57591916e-01 5.16690377e-03 3.58574066e+02] [-3.57587418e-01 9.33877933e-01 -1.80129196e-03 -5.43668561e+01] [-5.46938485e-03 -1.65458679e-04 9.99985029e-01 -2.67229213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90655999499995 meters 0.0522243154375285 Centerline is valid? [True, True] Translation: X:358.63, Y:-54.39, Z:-2.67 [[ 9.33756916e-01 3.57863314e-01 5.64539283e-03 3.58633245e+02] [-3.57857945e-01 9.33773964e-01 -1.96874468e-03 -5.43873959e+01] [-5.97606234e-03 -1.81919717e-04 9.99982127e-01 -2.67255019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96655999499995 meters 0.0515323878010085 Centerline is valid? [True, True] Translation: X:358.69, Y:-54.41, Z:-2.67 [[ 9.34368753e-01 3.56274582e-01 4.84307797e-03 3.58690269e+02] [-3.56270605e-01 9.34381293e-01 -1.68968639e-03 -5.44109493e+01] [-5.12727377e-03 -1.46656151e-04 9.99986845e-01 -2.67489085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02655999499996 meters 0.05110620345556165 Centerline is valid? [True, True] Translation: X:358.75, Y:-54.44, Z:-2.68 [[ 9.35935696e-01 3.52138355e-01 4.79081341e-03 3.58745909e+02] [-3.52134409e-01 9.35947949e-01 -1.67159774e-03 -5.44379576e+01] [-5.07258566e-03 -1.22502254e-04 9.99987127e-01 -2.67562153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08655999499996 meters 0.05167889691211106 Centerline is valid? [True, True] Translation: X:358.80, Y:-54.46, Z:-2.68 [[ 9.37400650e-01 3.48213603e-01 5.22568250e-03 3.58801984e+02] [-3.48208846e-01 9.37415209e-01 -1.82340053e-03 -5.44589261e+01] [-5.53356712e-03 -1.10372028e-04 9.99984684e-01 -2.67599601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14655999499996 meters 0.05122876489428465 Centerline is valid? [True, True] Translation: X:358.86, Y:-54.49, Z:-2.68 [[ 9.39742568e-01 3.41835418e-01 5.69676079e-03 3.58857194e+02] [-3.41829647e-01 9.39759831e-01 -1.98784626e-03 -5.44867822e+01] [-6.03310321e-03 -7.92579849e-05 9.99981798e-01 -2.67680489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20655999499996 meters 0.050810051780575405 Centerline is valid? [True, True] Translation: X:358.91, Y:-54.51, Z:-2.68 [[ 9.40749526e-01 3.39054121e-01 5.71254202e-03 3.58914744e+02] [-3.39048266e-01 9.40766868e-01 -1.99344074e-03 -5.45088184e+01] [-6.05005456e-03 -6.14990374e-05 9.99981696e-01 -2.67808222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26655999499997 meters 0.05106703130013234 Centerline is valid? [True, True] Translation: X:358.97, Y:-54.53, Z:-2.68 [[ 9.41703571e-01 3.36397667e-01 5.56725514e-03 3.58972044e+02] [-3.36392059e-01 9.41720026e-01 -1.94296917e-03 -5.45346815e+01] [-5.89640595e-03 -4.30794165e-05 9.99982615e-01 -2.67925456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32655999499997 meters 0.05070437237253286 Centerline is valid? [True, True] Translation: X:359.03, Y:-54.56, Z:-2.68 [[ 9.41582032e-01 3.36722597e-01 6.41640252e-03 3.59031910e+02] [-3.36715153e-01 9.41603892e-01 -2.23959971e-03 -5.45551831e+01] [-6.79583342e-03 -5.17331095e-05 9.99976907e-01 -2.68083565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38655999499997 meters 0.05069763368013922 Centerline is valid? [True, True] Translation: X:359.09, Y:-54.57, Z:-2.68 [[ 9.41156637e-01 3.37912594e-01 6.26603326e-03 3.59090205e+02] [-3.37905515e-01 9.41177494e-01 -2.18803041e-03 -5.45730643e+01] [-6.63681251e-03 -5.80478565e-05 9.99977974e-01 -2.68178915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.446559995 meters 0.05069839767610496 Centerline is valid? [True, True] Translation: X:359.15, Y:-54.59, Z:-2.68 [[ 9.40708993e-01 3.39148536e-01 6.69788604e-03 3.59148849e+02] [-3.39140473e-01 9.40732834e-01 -2.33967544e-03 -5.45927482e+01] [-7.09441882e-03 -7.05705162e-05 9.99974832e-01 -2.68245600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.506559995 meters 0.05022932178322803 Centerline is valid? [True, True] Translation: X:359.21, Y:-54.61, Z:-2.68 [[ 9.40302978e-01 3.40294339e-01 5.48379409e-03 3.59207432e+02] [-3.40288950e-01 9.40318966e-01 -1.91612126e-03 -5.46112967e+01] [-5.80856081e-03 -6.43400113e-05 9.99983128e-01 -2.68347830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.566559995 meters 0.05059141420554127 Centerline is valid? [True, True] Translation: X:359.27, Y:-54.63, Z:-2.69 [[ 9.40053613e-01 3.40986646e-01 5.22611064e-03 3.59265960e+02] [-3.40981759e-01 9.40068138e-01 -1.82664552e-03 -5.46315493e+01] [-5.53576183e-03 -6.48636777e-05 9.99984675e-01 -2.68574323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.626559995 meters 0.05030629215304632 Centerline is valid? [True, True] Translation: X:359.32, Y:-54.65, Z:-2.69 [[ 9.40154985e-01 3.40691377e-01 6.16363095e-03 3.59324494e+02] [-3.40684567e-01 9.40175186e-01 -2.15524053e-03 -5.46516821e+01] [-6.52916474e-03 -7.35938197e-05 9.99978682e-01 -2.68622517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.686559995 meters 0.05056836046260321 Centerline is valid? [True, True] Translation: X:359.38, Y:-54.67, Z:-2.69 [[ 9.40659906e-01 3.39268324e-01 7.47973480e-03 3.59382903e+02] [-3.39258243e-01 9.40689640e-01 -2.61654993e-03 -5.46737633e+01] [-7.92382154e-03 -7.62780701e-05 9.99968603e-01 -2.68543665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.746559995 meters 0.05093036094505334 Centerline is valid? [True, True] Translation: X:359.44, Y:-54.70, Z:-2.68 [[ 9.41936905e-01 3.35652501e-01 9.60547743e-03 3.59440911e+02] [-3.35635673e-01 9.41985879e-01 -3.36146421e-03 -5.46976752e+01] [-1.01765080e-02 -5.76536863e-05 9.99948216e-01 -2.68455635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.806559995 meters 0.050292171198651654 Centerline is valid? [True, True] Translation: X:359.50, Y:-54.72, Z:-2.68 [[ 9.42633941e-01 3.33689554e-01 9.61951485e-03 3.59498684e+02] [-3.33672567e-01 9.42683022e-01 -3.36716073e-03 -5.47171545e+01] [-1.01917397e-02 -3.57682261e-05 9.99948062e-01 -2.68496424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.866559995 meters 0.05042327430667295 Centerline is valid? [True, True] Translation: X:359.56, Y:-54.74, Z:-2.69 [[ 9.43238677e-01 3.31978920e-01 9.52862737e-03 3.59557316e+02] [-3.31962154e-01 9.43286805e-01 -3.33646457e-03 -5.47382052e+01] [-1.00958644e-02 -1.60612382e-05 9.99949035e-01 -2.68666573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92655999499993 meters 0.050168774714982774 Centerline is valid? [True, True] Translation: X:359.62, Y:-54.76, Z:-2.69 [[ 9.43815637e-01 3.30368123e-01 8.30347426e-03 3.59615853e+02] [-3.30355322e-01 9.43852162e-01 -2.90828025e-03 -5.47594382e+01] [-8.79805522e-03 1.78346322e-06 9.99961296e-01 -2.68733215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98655999499994 meters 0.05087955030674121 Centerline is valid? [True, True] Translation: X:359.67, Y:-54.78, Z:-2.69 [[ 9.44278068e-01 3.29061353e-01 7.58665007e-03 3.59674605e+02] [-3.29050621e-01 9.44308544e-01 -2.65758645e-03 -5.47801259e+01] [-8.03864748e-03 1.31086804e-05 9.99967689e-01 -2.68792832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04655999499994 meters 0.05057021018188515 Centerline is valid? [True, True] Translation: X:359.73, Y:-54.80, Z:-2.69 [[ 9.44788706e-01 3.27634742e-01 5.45688914e-03 3.59733013e+02] [-3.27629163e-01 9.44804464e-01 -1.91204403e-03 -5.47974905e+01] [-5.78214527e-03 1.86415762e-05 9.99983283e-01 -2.69097828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10655999499994 meters 0.05030224401702135 Centerline is valid? [True, True] Translation: X:359.79, Y:-54.82, Z:-2.69 [[ 9.45059241e-01 3.26870371e-01 4.33490979e-03 3.59791421e+02] [-3.26866840e-01 9.45069183e-01 -1.51941997e-03 -5.48194182e+01] [-4.59344303e-03 1.90036205e-05 9.99989450e-01 -2.69245718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16655999499994 meters 0.050192159251319646 Centerline is valid? [True, True] Translation: X:359.85, Y:-54.84, Z:-2.69 [[ 9.45149075e-01 3.26620237e-01 3.52787770e-03 3.59849543e+02] [-3.26617898e-01 9.45155659e-01 -1.23633510e-03 -5.48397123e+01] [-3.73820564e-03 1.62529788e-05 9.99993013e-01 -2.69205902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22655999499995 meters 0.05105228479459285 Centerline is valid? [True, True] Translation: X:359.91, Y:-54.86, Z:-2.69 [[ 9.45411370e-01 3.25862213e-01 3.34061817e-03 3.59908707e+02] [-3.25860108e-01 9.45417272e-01 -1.17145713e-03 -5.48602768e+01] [-3.54001173e-03 1.89346915e-05 9.99993734e-01 -2.69242200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28655999499995 meters 0.05138992899083197 Centerline is valid? [True, True] Translation: X:359.97, Y:-54.88, Z:-2.69 [[ 9.45373747e-01 3.25956343e-01 4.57619675e-03 3.59967245e+02] [-3.25952392e-01 9.45384822e-01 -1.60506846e-03 -5.48801945e+01] [-4.84944920e-03 2.57673096e-05 9.99988241e-01 -2.69189265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34655999499995 meters 0.050657494679505845 Centerline is valid? [True, True] Translation: X:360.03, Y:-54.90, Z:-2.69 [[ 9.44846380e-01 3.27467072e-01 5.53497176e-03 3.60025203e+02] [-3.27461317e-01 9.44862591e-01 -1.94157443e-03 -5.49002136e+01] [-5.86558945e-03 2.20004280e-05 9.99982797e-01 -2.69089499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40655999499995 meters 0.05057931967063582 Centerline is valid? [True, True] Translation: X:360.08, Y:-54.92, Z:-2.69 [[ 9.43273341e-01 3.31955109e-01 6.41942644e-03 3.60084738e+02] [-3.31947465e-01 9.43295185e-01 -2.25277683e-03 -5.49192026e+01] [-6.80323483e-03 -5.92800758e-06 9.99976858e-01 -2.69078673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46655999499995 meters 0.050965756917083764 Centerline is valid? [True, True] Translation: X:360.14, Y:-54.93, Z:-2.69 [[ 9.41695163e-01 3.36402212e-01 6.61600116e-03 3.60144224e+02] [-3.36394198e-01 9.41718403e-01 -2.32222431e-03 -5.49338641e+01] [-7.01161144e-03 -3.87570082e-05 9.99975418e-01 -2.69188945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52655999499996 meters 0.050697539156203286 Centerline is valid? [True, True] Translation: X:360.20, Y:-54.95, Z:-2.69 [[ 9.39553362e-01 3.42352134e-01 5.87341059e-03 3.60203423e+02] [-3.42345932e-01 9.39571717e-01 -2.06197613e-03 -5.49501603e+01] [-6.22441240e-03 -7.34016150e-05 9.99980625e-01 -2.69333904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58655999499996 meters 0.050658061878168466 Centerline is valid? [True, True] Translation: X:360.26, Y:-54.97, Z:-2.69 [[ 9.38559921e-01 3.45075220e-01 5.32599424e-03 3.60261859e+02] [-3.45070165e-01 9.38575029e-01 -1.86980901e-03 -5.49674637e+01] [-5.64406995e-03 -8.29139146e-05 9.99984069e-01 -2.69410226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64655999499996 meters 0.05071029303449802 Centerline is valid? [True, True] Translation: X:360.32, Y:-54.99, Z:-2.70 [[ 9.37338923e-01 3.48395445e-01 4.04434085e-03 3.60319976e+02] [-3.48392560e-01 9.37347645e-01 -1.42011967e-03 -5.49870381e+01] [-4.28571659e-03 -7.78848174e-05 9.99990813e-01 -2.69512835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70655999499996 meters 0.050677874630453854 Centerline is valid? [True, True] Translation: X:360.38, Y:-55.01, Z:-2.70 [[ 9.36825732e-01 3.49780544e-01 3.33444655e-03 3.60377561e+02] [-3.49778592e-01 9.36831664e-01 -1.17048962e-03 -5.50097180e+01] [-3.53322960e-03 -6.97732287e-05 9.99993756e-01 -2.69566391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76655999499997 meters 0.050735411380441464 Centerline is valid? [True, True] Translation: X:360.44, Y:-55.03, Z:-2.70 [[ 9.36691222e-01 3.50137329e-01 3.66139333e-03 3.60436610e+02] [-3.50134976e-01 9.36698374e-01 -1.28599902e-03 -5.50268073e+01] [-3.87989745e-03 -7.73978735e-05 9.99992470e-01 -2.69586809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82655999499997 meters 0.05083609366866334 Centerline is valid? [True, True] Translation: X:360.49, Y:-55.05, Z:-2.70 [[ 9.37224963e-01 3.48698693e-01 4.31153840e-03 3.60494103e+02] [-3.48695414e-01 9.37234877e-01 -1.51462517e-03 -5.50478312e+01] [-4.56907198e-03 -8.38691450e-05 9.99989558e-01 -2.69568613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88655999499997 meters 0.049924778891364735 Centerline is valid? [True, True] Translation: X:360.55, Y:-55.07, Z:-2.70 [[ 9.37769323e-01 3.47233494e-01 4.19488237e-03 3.60550199e+02] [-3.47230373e-01 9.37778703e-01 -1.47404544e-03 -5.50745017e+01] [-4.44570929e-03 -7.42759754e-05 9.99990115e-01 -2.69583650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.946559995 meters 0.05115844232449938 Centerline is valid? [True, True] Translation: X:360.61, Y:-55.09, Z:-2.70 [[ 9.38185079e-01 3.46125583e-01 2.41638759e-03 3.60608485e+02] [-3.46124544e-01 9.38188190e-01 -8.49073421e-04 -5.50933533e+01] [-2.56091233e-03 -3.97830387e-05 9.99996720e-01 -2.69814389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.006559995 meters 0.049951499584677886 Centerline is valid? [True, True] Translation: X:360.67, Y:-55.12, Z:-2.70 [[ 9.38574420e-01 3.45074913e-01 1.16769756e-03 3.60665935e+02] [-3.45074670e-01 9.38575146e-01 -4.09969013e-04 -5.51176427e+01] [-1.23744193e-03 -1.81564226e-05 9.99999234e-01 -2.69861119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.066559995 meters 0.04996377747908383 Centerline is valid? [True, True] Translation: X:360.72, Y:-55.14, Z:-2.70 [[ 9.38925871e-01 3.44119310e-01 3.30746140e-04 3.60723542e+02] [-3.44119291e-01 9.38925929e-01 -1.15597852e-04 -5.51371405e+01] [-3.50325580e-04 -5.27831353e-06 9.99999939e-01 -2.70063468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.126559995 meters 0.05009025392759464 Centerline is valid? [True, True] Translation: X:360.78, Y:-55.16, Z:-2.70 [[ 9.39501747e-01 3.42542495e-01 1.05144314e-03 3.60780709e+02] [-3.42542296e-01 9.39502336e-01 -3.69334009e-04 -5.51620584e+01] [-1.11434588e-03 -1.31738016e-05 9.99999379e-01 -2.69978360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.186559995 meters 0.050542817258818075 Centerline is valid? [True, True] Translation: X:360.84, Y:-55.19, Z:-2.70 [[ 9.39948637e-01 3.41311565e-01 1.72481982e-03 3.60838376e+02] [-3.41311026e-01 9.39950219e-01 -6.07043864e-04 -5.51868997e+01] [-1.82843586e-03 -1.81099707e-05 9.99998328e-01 -2.69866260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.246559995 meters 0.05012968807371429 Centerline is valid? [True, True] Translation: X:360.89, Y:-55.21, Z:-2.70 [[ 9.40685964e-01 3.39265696e-01 2.95031249e-03 3.60894918e+02] [-3.39264108e-01 9.40690590e-01 -1.03842232e-03 -5.52092032e+01] [-3.12763227e-03 -2.41058350e-05 9.99995109e-01 -2.69876632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.306559995 meters 0.05036427634160257 Centerline is valid? [True, True] Translation: X:360.95, Y:-55.23, Z:-2.70 [[ 9.40854780e-01 3.38799889e-01 2.63027850e-03 3.60953496e+02] [-3.38798624e-01 9.40858456e-01 -9.25891453e-04 -5.52312658e+01] [-2.78841169e-03 -2.00053377e-05 9.99996112e-01 -2.69905662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.366559995 meters 0.05002295172402326 Centerline is valid? [True, True] Translation: X:361.01, Y:-55.25, Z:-2.70 [[ 9.40850024e-01 3.38804251e-01 3.59333978e-03 3.61011943e+02] [-3.38801887e-01 9.40856885e-01 -1.26605107e-03 -5.52498850e+01] [-3.80976196e-03 -2.62661196e-05 9.99992742e-01 -2.70048393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42655999499993 meters 0.04988782983772974 Centerline is valid? [True, True] Translation: X:361.07, Y:-55.27, Z:-2.70 [[ 9.40925452e-01 3.38589459e-01 4.05863418e-03 3.61069558e+02] [-3.38586440e-01 9.40934205e-01 -1.43022766e-03 -5.52693810e+01] [-4.30316773e-03 -2.84608881e-05 9.99990741e-01 -2.70067642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48655999499994 meters 0.050501260074829704 Centerline is valid? [True, True] Translation: X:361.13, Y:-55.29, Z:-2.70 [[ 9.41571685e-01 3.36790332e-01 3.87736963e-03 3.61128063e+02] [-3.36787560e-01 9.41579668e-01 -1.36673246e-03 -5.52901178e+01] [-4.11115469e-03 -1.89732725e-05 9.99991549e-01 -2.70187925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54655999499994 meters 0.05042462339126822 Centerline is valid? [True, True] Translation: X:361.19, Y:-55.31, Z:-2.70 [[ 9.42863351e-01 3.33163696e-01 3.26390798e-03 3.61185808e+02] [-3.33161708e-01 9.42869000e-01 -1.15103358e-03 -5.53125955e+01] [-3.46092025e-03 -2.14178023e-06 9.99994011e-01 -2.70288671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60655999499994 meters 0.04986287770202799 Centerline is valid? [True, True] Translation: X:361.24, Y:-55.33, Z:-2.70 [[ 9.44430339e-01 3.28691385e-01 3.64803248e-03 3.61243844e+02] [-3.28688868e-01 9.44437385e-01 -1.28641136e-03 -5.53341403e+01] [-3.86817059e-03 1.58582489e-05 9.99992518e-01 -2.70325203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66655999499994 meters 0.05097317108419466 Centerline is valid? [True, True] Translation: X:361.30, Y:-55.36, Z:-2.70 [[ 9.45563387e-01 3.25414872e-01 3.87833507e-03 3.61300931e+02] [-3.25411997e-01 9.45571341e-01 -1.36820105e-03 -5.53555888e+01] [-4.11247546e-03 3.16640587e-05 9.99991543e-01 -2.70476280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72655999499995 meters 0.051111318144764446 Centerline is valid? [True, True] Translation: X:361.36, Y:-55.38, Z:-2.71 [[ 9.47383237e-01 3.20073205e-01 4.25972423e-03 3.61357232e+02] [-3.20069679e-01 9.47392812e-01 -1.50356970e-03 -5.53800097e+01] [-4.51688449e-03 6.10481602e-05 9.99989797e-01 -2.70634611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78655999499995 meters 0.050665514028361835 Centerline is valid? [True, True] Translation: X:361.42, Y:-55.40, Z:-2.71 [[ 9.48284311e-01 3.17388567e-01 4.62202250e-03 3.61417388e+02] [-3.17384384e-01 9.48295572e-01 -1.63156010e-03 -5.53957160e+01] [-4.90088199e-03 8.02250870e-05 9.99987987e-01 -2.70551809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84655999499995 meters 0.050881773767762054 Centerline is valid? [True, True] Translation: X:361.48, Y:-55.41, Z:-2.71 [[ 9.48433845e-01 3.16957730e-01 3.32234369e-03 3.61477473e+02] [-3.16955567e-01 9.48439663e-01 -1.17252281e-03 -5.54103591e+01] [-3.52268270e-03 5.90249882e-05 9.99993794e-01 -2.70622886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90655999499995 meters 0.051011265948077644 Centerline is valid? [True, True] Translation: X:361.54, Y:-55.43, Z:-2.71 [[ 9.47840700e-01 3.18733327e-01 2.65983712e-03 3.61536930e+02] [-3.18731946e-01 9.47844431e-01 -9.39191563e-04 -5.54285232e+01] [-2.82046345e-03 4.24289275e-05 9.99996022e-01 -2.70796171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96655999499995 meters 0.05121058023236437 Centerline is valid? [True, True] Translation: X:361.60, Y:-55.44, Z:-2.71 [[ 9.46418026e-01 3.22936065e-01 2.28451189e-03 3.61596084e+02] [-3.22935058e-01 9.46420783e-01 -8.06895830e-04 -5.54414530e+01] [-2.42268529e-03 2.59117798e-05 9.99997065e-01 -2.70889129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02655999499996 meters 0.05130304790053121 Centerline is valid? [True, True] Translation: X:361.66, Y:-55.46, Z:-2.71 [[ 9.45889901e-01 3.24480668e-01 2.14295228e-03 3.61655882e+02] [-3.24479786e-01 9.45892328e-01 -7.56758785e-04 -5.54591410e+01] [-2.27255572e-03 2.04657952e-05 9.99997418e-01 -2.70842718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08655999499996 meters 0.05082773893519726 Centerline is valid? [True, True] Translation: X:361.72, Y:-55.48, Z:-2.71 [[ 9.44385011e-01 3.28830684e-01 2.70789658e-03 3.61715579e+02] [-3.28829293e-01 9.44388893e-01 -9.56418947e-04 -5.54773052e+01] [-2.87180735e-03 1.27919991e-05 9.99995876e-01 -2.70933625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14655999499996 meters 0.05120924440640206 Centerline is valid? [True, True] Translation: X:361.77, Y:-55.49, Z:-2.71 [[ 9.43449997e-01 3.31498033e-01 3.34025959e-03 3.61774579e+02] [-3.31495934e-01 9.43455910e-01 -1.17972819e-03 -5.54947328e+01] [-3.54246523e-03 5.73208814e-06 9.99993725e-01 -2.71013213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20655999499996 meters 0.05070241822682884 Centerline is valid? [True, True] Translation: X:361.84, Y:-55.51, Z:-2.71 [[ 9.42490076e-01 3.34210301e-01 3.99132411e-03 3.61835366e+02] [-3.34207326e-01 9.42498528e-01 -1.41026383e-03 -5.55127466e+01] [-4.23314180e-03 -4.77008920e-06 9.99991040e-01 -2.70952668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26655999499997 meters 0.050576756992577465 Centerline is valid? [True, True] Translation: X:361.89, Y:-55.53, Z:-2.71 [[ 9.42157671e-01 3.35149239e-01 3.72970912e-03 3.61894192e+02] [-3.35146646e-01 9.42165053e-01 -1.31852379e-03 -5.55316335e+01] [-3.95590384e-03 -7.74220104e-06 9.99992175e-01 -2.70898593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32655999499997 meters 0.05035685995873558 Centerline is valid? [True, True] Translation: X:361.95, Y:-55.55, Z:-2.71 [[ 9.42149238e-01 3.35176528e-01 3.39242645e-03 3.61953540e+02] [-3.35174381e-01 9.42155346e-01 -1.19966239e-03 -5.55513122e+01] [-3.59829139e-03 -6.79342360e-06 9.99993526e-01 -2.71084823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38655999499997 meters 0.05047056176895374 Centerline is valid? [True, True] Translation: X:362.01, Y:-55.57, Z:-2.71 [[ 9.42134798e-01 3.35229184e-01 1.84822080e-03 3.62011845e+02] [-3.35228548e-01 9.42136611e-01 -6.53224186e-04 -5.55699392e+01] [-1.96025629e-03 -4.15113856e-06 9.99998079e-01 -2.71168518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.446559995 meters 0.051055631164008415 Centerline is valid? [True, True] Translation: X:362.07, Y:-55.59, Z:-2.71 [[ 9.42357796e-01 3.34606370e-01 6.01374062e-04 3.62071085e+02] [-3.34606303e-01 9.42357988e-01 -2.12116281e-04 -5.55900925e+01] [-6.37685110e-04 -1.33412092e-06 9.99999797e-01 -2.71246255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.506559995 meters 0.051400429086428084 Centerline is valid? [True, True] Translation: X:362.13, Y:-55.61, Z:-2.72 [[ 9.43011415e-01 3.32757907e-01 -1.28299476e-03 3.62129569e+02] [-3.32757596e-01 9.43012288e-01 4.54546744e-04 -5.56107352e+01] [ 1.36113385e-03 -1.71651591e-06 9.99999074e-01 -2.71565570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.566559995 meters 0.05111076912791555 Centerline is valid? [True, True] Translation: X:362.19, Y:-55.63, Z:-2.72 [[ 9.44015625e-01 3.29895906e-01 -1.78634155e-03 3.62187272e+02] [-3.29895298e-01 9.44017315e-01 6.33566112e-04 -5.56344754e+01] [ 1.89534822e-03 -8.79063094e-06 9.99998204e-01 -2.71514415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.626559995 meters 0.05103977801188828 Centerline is valid? [True, True] Translation: X:362.24, Y:-55.66, Z:-2.71 [[ 9.44809772e-01 3.27615848e-01 -1.53326590e-03 3.62244197e+02] [-3.27615396e-01 9.44811016e-01 5.44043809e-04 -5.56560249e+01] [ 1.62688389e-03 -1.16963919e-05 9.99998677e-01 -2.71424859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.686559995 meters 0.05089999211510573 Centerline is valid? [True, True] Translation: X:362.30, Y:-55.68, Z:-2.71 [[ 9.44686026e-01 3.27975101e-01 -8.03178977e-04 3.62302610e+02] [-3.27974977e-01 9.44686368e-01 2.85432778e-04 -5.56783013e+01] [ 8.52367075e-04 -6.22174997e-06 9.99999637e-01 -2.71410183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.746559995 meters 0.05092605638800637 Centerline is valid? [True, True] Translation: X:362.36, Y:-55.70, Z:-2.71 [[ 9.44340987e-01 3.28968092e-01 -3.06931459e-04 3.62360618e+02] [-3.28968074e-01 9.44341037e-01 1.09103803e-04 -5.56996228e+01] [ 3.25739642e-04 -2.06054246e-06 9.99999947e-01 -2.71487239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.806559995 meters 0.051221178328210125 Centerline is valid? [True, True] Translation: X:362.42, Y:-55.72, Z:-2.71 [[ 9.42164014e-01 3.35151093e-01 8.46126522e-04 3.62419954e+02] [-3.35150959e-01 9.42164394e-01 -2.99112044e-04 -5.57182707e+01] [-8.97438010e-04 -1.76751140e-06 9.99999597e-01 -2.71433082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.866559995 meters 0.05068086404964288 Centerline is valid? [True, True] Translation: X:362.48, Y:-55.74, Z:-2.72 [[ 9.39247361e-01 3.43240626e-01 5.17158899e-04 3.62478030e+02] [-3.43240577e-01 9.39247503e-01 -1.82974494e-04 -5.57354678e+01] [-5.48544484e-04 -5.65160852e-06 9.99999850e-01 -2.71647425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92655999499993 meters 0.0504350869916019 Centerline is valid? [True, True] Translation: X:362.54, Y:-55.76, Z:-2.72 [[ 9.37621883e-01 3.47656680e-01 1.92528179e-04 3.62536298e+02] [-3.47656673e-01 9.37621903e-01 -6.74708574e-05 -5.57558063e+01] [-2.03975331e-04 -3.67155366e-06 9.99999979e-01 -2.71638390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98655999499994 meters 0.05035438957771365 Centerline is valid? [True, True] Translation: X:362.59, Y:-55.77, Z:-2.72 [[ 9.35937701e-01 3.52165529e-01 -2.43142780e-04 3.62594012e+02] [-3.52165519e-01 9.35937733e-01 8.63212257e-05 -5.57744370e+01] [ 2.57965862e-04 4.83521366e-06 9.99999967e-01 -2.71727793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04655999499994 meters 0.05021020053492118 Centerline is valid? [True, True] Translation: X:362.65, Y:-55.79, Z:-2.72 [[ 9.35138773e-01 3.54280740e-01 -7.95451111e-04 3.62653002e+02] [-3.54280628e-01 9.35139111e-01 2.82478748e-04 -5.57944723e+01] [ 8.43934225e-04 1.76560894e-05 9.99999644e-01 -2.71862910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10655999499994 meters 0.05063258558418206 Centerline is valid? [True, True] Translation: X:362.71, Y:-55.81, Z:-2.72 [[ 9.34980857e-01 3.54690706e-01 -2.30218540e-03 3.62710586e+02] [-3.54689768e-01 9.34983690e-01 8.17424004e-04 -5.58143390e+01] [ 2.44243849e-03 5.22858088e-05 9.99997016e-01 -2.72095279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16655999499994 meters 0.0509911041132878 Centerline is valid? [True, True] Translation: X:362.77, Y:-55.84, Z:-2.72 [[ 9.36280558e-01 3.51250460e-01 -1.35315398e-03 3.62766073e+02] [-3.51250133e-01 9.36281535e-01 4.80233831e-04 -5.58375966e+01] [ 1.43561544e-03 2.56619154e-05 9.99998969e-01 -2.72150165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22655999499995 meters 0.0506754413340634 Centerline is valid? [True, True] Translation: X:362.82, Y:-55.86, Z:-2.72 [[ 9.37584318e-01 3.47757833e-01 -3.68131248e-04 3.62822278e+02] [-3.47757809e-01 9.37584391e-01 1.30753630e-04 -5.58610759e+01] [ 3.90624711e-04 5.42796312e-06 9.99999924e-01 -2.72170246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28655999499995 meters 0.04948419355822478 Centerline is valid? [True, True] Translation: X:362.88, Y:-55.89, Z:-2.72 [[ 9.39319564e-01 3.43042822e-01 6.15443283e-04 3.62876416e+02] [-3.43042752e-01 9.39319766e-01 -2.18236263e-04 -5.58922636e+01] [-6.52962424e-04 -6.12976619e-06 9.99999787e-01 -2.71867106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34655999499995 meters 0.05045216748708424 Centerline is valid? [True, True] Translation: X:362.93, Y:-55.92, Z:-2.72 [[ 9.40146844e-01 3.40767923e-01 1.06455207e-03 3.62933435e+02] [-3.40767715e-01 9.40147447e-01 -3.77055100e-04 -5.59161969e+01] [-1.12932419e-03 -8.27781306e-06 9.99999362e-01 -2.71930897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40655999499995 meters 0.05015570902239108 Centerline is valid? [True, True] Translation: X:362.99, Y:-55.94, Z:-2.72 [[ 9.40707759e-01 3.39217862e-01 3.93439092e-04 3.62990516e+02] [-3.39217834e-01 9.40707841e-01 -1.38900255e-04 -5.59386109e+01] [-4.17228687e-04 -2.79700857e-06 9.99999913e-01 -2.72366227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46655999499995 meters 0.05028628320263296 Centerline is valid? [True, True] Translation: X:363.05, Y:-55.96, Z:-2.72 [[ 9.40521433e-01 3.39734321e-01 -1.56865947e-04 3.63047916e+02] [-3.39734316e-01 9.40521446e-01 5.66191805e-05 -5.59632024e+01] [ 1.66771266e-04 4.11923139e-08 9.99999986e-01 -2.72266401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52655999499996 meters 0.05032865458132136 Centerline is valid? [True, True] Translation: X:363.11, Y:-55.98, Z:-2.72 [[ 9.39695795e-01 3.42011183e-01 -4.05788749e-04 3.63106121e+02] [-3.42011152e-01 9.39695882e-01 1.45128478e-04 -5.59848020e+01] [ 4.30953579e-04 2.40765747e-06 9.99999907e-01 -2.72299485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58655999499996 meters 0.05048195569952441 Centerline is valid? [True, True] Translation: X:363.16, Y:-56.00, Z:-2.72 [[ 9.38350550e-01 3.45684807e-01 -5.09931419e-04 3.63163971e+02] [-3.45684760e-01 9.38350688e-01 1.81702739e-04 -5.60043646e+01] [ 5.41306374e-04 5.77465472e-06 9.99999853e-01 -2.72335066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64655999499996 meters 0.05008369677438748 Centerline is valid? [True, True] Translation: X:363.22, Y:-56.02, Z:-2.72 [[ 9.37452640e-01 3.48111744e-01 -8.72891687e-04 3.63222425e+02] [-3.48111605e-01 9.37453046e-01 3.10584718e-04 -5.60246716e+01] [ 9.26413159e-04 1.27052627e-05 9.99999571e-01 -2.72377900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70655999499996 meters 0.04984863383910445 Centerline is valid? [True, True] Translation: X:363.28, Y:-56.04, Z:-2.72 [[ 9.36186698e-01 3.51503132e-01 -1.24739537e-04 3.63281309e+02] [-3.51503129e-01 9.36186706e-01 4.47670004e-05 -5.60436066e+01] [ 1.32515237e-04 1.93606745e-06 9.99999991e-01 -2.72375382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76655999499997 meters 0.05005272680717548 Centerline is valid? [True, True] Translation: X:363.34, Y:-56.06, Z:-2.72 [[ 9.35939588e-01 3.52160147e-01 5.64349162e-04 3.63340648e+02] [-3.52160090e-01 9.35939758e-01 -1.99925712e-04 -5.60606495e+01] [-5.98602687e-04 -1.16228634e-05 9.99999821e-01 -2.72384553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82655999499997 meters 0.05028233371580938 Centerline is valid? [True, True] Translation: X:363.40, Y:-56.08, Z:-2.72 [[ 9.36229349e-01 3.51386820e-01 1.38136166e-03 3.63398854e+02] [-3.51386478e-01 9.36230368e-01 -4.90660054e-04 -5.60830261e+01] [-1.46568421e-03 -2.60214662e-05 9.99998926e-01 -2.72316205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88655999499997 meters 0.049848030509100055 Centerline is valid? [True, True] Translation: X:363.46, Y:-56.10, Z:-2.72 [[ 9.37353926e-01 3.48374582e-01 1.66367107e-03 3.63456742e+02] [-3.48374081e-01 9.37355402e-01 -5.91769637e-04 -5.61041323e+01] [-1.76560856e-03 -2.48822864e-05 9.99998441e-01 -2.72310662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.946559995 meters 0.05011705220620165 Centerline is valid? [True, True] Translation: X:363.52, Y:-56.12, Z:-2.72 [[ 9.37819860e-01 3.47120379e-01 1.16259418e-03 3.63515276e+02] [-3.47120134e-01 9.37820581e-01 -4.13010996e-04 -5.61236052e+01] [-1.23366929e-03 -1.62299337e-05 9.99999239e-01 -2.72424870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.006559995 meters 0.05085394821650436 Centerline is valid? [True, True] Translation: X:363.57, Y:-56.15, Z:-2.72 [[ 9.38932895e-01 3.44099812e-01 5.81032323e-04 3.63573447e+02] [-3.44099750e-01 9.38933075e-01 -2.06553903e-04 -5.61467037e+01] [-6.16625625e-04 -5.99282241e-06 9.99999810e-01 -2.72435570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.066559995 meters 0.05079320855242243 Centerline is valid? [True, True] Translation: X:363.63, Y:-56.17, Z:-2.73 [[ 9.40399948e-01 3.40070481e-01 -7.79722560e-05 3.63630478e+02] [-3.40070480e-01 9.40399951e-01 2.85716920e-05 -5.61678792e+01] [ 8.30414947e-05 -3.52755141e-07 9.99999997e-01 -2.72534574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.126559995 meters 0.05045107875768561 Centerline is valid? [True, True] Translation: X:363.69, Y:-56.19, Z:-2.73 [[ 9.41628145e-01 3.36654730e-01 -1.72954046e-04 3.63687461e+02] [-3.36654724e-01 9.41628161e-01 6.24129507e-05 -5.61890515e+01] [ 1.83870015e-04 -5.43994162e-07 9.99999983e-01 -2.72652187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.186559995 meters 0.0503923806424882 Centerline is valid? [True, True] Translation: X:363.75, Y:-56.21, Z:-2.73 [[ 9.42062148e-01 3.35438380e-01 5.29057101e-05 3.63746224e+02] [-3.35438380e-01 9.42062149e-01 -1.78746581e-05 -5.62110657e+01] [-5.58363134e-05 -9.07566914e-07 9.99999998e-01 -2.72713573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.246559995 meters 0.05089173924187803 Centerline is valid? [True, True] Translation: X:363.80, Y:-56.23, Z:-2.73 [[ 9.41896771e-01 3.35901839e-01 -6.53880571e-04 3.63804035e+02] [-3.35901757e-01 9.41896998e-01 2.33911612e-04 -5.62313268e+01] [ 6.94459487e-04 -6.80959211e-07 9.99999759e-01 -2.72796258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.306559995 meters 0.050903942970350904 Centerline is valid? [True, True] Translation: X:363.86, Y:-56.25, Z:-2.73 [[ 9.41125158e-01 3.38055860e-01 -1.29325491e-03 3.63862580e+02] [-3.38055545e-01 9.41126047e-01 4.61610300e-04 -5.62494788e+01] [ 1.37316595e-03 2.75892682e-06 9.99999057e-01 -2.72966366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.366559995 meters 0.05122252948195114 Centerline is valid? [True, True] Translation: X:363.92, Y:-56.27, Z:-2.73 [[ 9.39785759e-01 3.41763578e-01 -6.19485634e-04 3.63921815e+02] [-3.41763506e-01 9.39785963e-01 2.21890103e-04 -5.62683474e+01] [ 6.58017859e-04 3.18842337e-06 9.99999784e-01 -2.72702450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42655999499993 meters 0.05124269356556682 Centerline is valid? [True, True] Translation: X:363.98, Y:-56.29, Z:-2.73 [[ 9.38959946e-01 3.44026208e-01 4.33286622e-04 3.63980077e+02] [-3.44026174e-01 9.38960046e-01 -1.53770058e-04 -5.62857783e+01] [-4.59739756e-04 -4.67801378e-06 9.99999894e-01 -2.72822719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48655999499994 meters 0.05033983681651264 Centerline is valid? [True, True] Translation: X:364.04, Y:-56.31, Z:-2.73 [[ 9.39080040e-01 3.43697061e-01 1.00467818e-03 3.64037555e+02] [-3.43696874e-01 9.39080577e-01 -3.58225571e-04 -5.63094143e+01] [-1.06659485e-03 -8.90226779e-06 9.99999431e-01 -2.72617743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54655999499994 meters 0.050644754551928 Centerline is valid? [True, True] Translation: X:364.10, Y:-56.33, Z:-2.73 [[ 9.40101022e-01 3.40894929e-01 8.46533477e-04 3.64096518e+02] [-3.40894796e-01 9.40101403e-01 -3.01822256e-04 -5.63307559e+01] [-8.98716986e-04 -4.83544481e-06 9.99999596e-01 -2.72633836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60655999499994 meters 0.050945213702509824 Centerline is valid? [True, True] Translation: X:364.15, Y:-56.35, Z:-2.73 [[ 9.41103280e-01 3.38117212e-01 1.16976770e-03 3.64153786e+02] [-3.38116955e-01 9.41104007e-01 -4.16815843e-04 -5.63519312e+01] [-1.24180568e-03 -3.25153568e-06 9.99999229e-01 -2.72650825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66655999499994 meters 0.05139519200881962 Centerline is valid? [True, True] Translation: X:364.21, Y:-56.37, Z:-2.73 [[ 9.43128670e-01 3.32427538e-01 4.93999996e-04 3.64211587e+02] [-3.32427491e-01 9.43128799e-01 -1.75515670e-04 -5.63733924e+01] [-5.24251865e-04 1.31468081e-06 9.99999863e-01 -2.72687853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72655999499995 meters 0.051171089014107995 Centerline is valid? [True, True] Translation: X:364.27, Y:-56.40, Z:-2.73 [[ 9.44285123e-01 3.29128451e-01 -2.61926354e-04 3.64268375e+02] [-3.29128438e-01 9.44285160e-01 9.44544026e-05 -5.63954334e+01] [ 2.78420800e-04 -2.98447546e-06 9.99999961e-01 -2.72837659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78655999499995 meters 0.05133838515510589 Centerline is valid? [True, True] Translation: X:364.33, Y:-56.42, Z:-2.73 [[ 9.45127326e-01 3.26700385e-01 -1.09355912e-03 3.64325840e+02] [-3.26700150e-01 9.45127959e-01 3.91722108e-04 -5.64173594e+01] [ 1.16152907e-03 -1.29613385e-05 9.99999325e-01 -2.72966783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84655999499995 meters 0.051757048308814876 Centerline is valid? [True, True] Translation: X:364.39, Y:-56.44, Z:-2.73 [[ 9.44895547e-01 3.27365559e-01 -2.04825568e-03 3.64386105e+02] [-3.27364738e-01 9.44897767e-01 7.33416704e-04 -5.64370167e+01] [ 2.17548758e-03 -2.24754957e-05 9.99997633e-01 -2.73033243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90655999499995 meters 0.052007795346547724 Centerline is valid? [True, True] Translation: X:364.45, Y:-56.45, Z:-2.73 [[ 9.43372850e-01 3.31710955e-01 -3.93809020e-03 3.64446273e+02] [-3.31707961e-01 9.43381069e-01 1.40955093e-03 -5.64541813e+01] [ 4.18268323e-03 -2.34362089e-05 9.99991252e-01 -2.73177063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96655999499995 meters 0.051628393123533504 Centerline is valid? [True, True] Translation: X:364.51, Y:-56.47, Z:-2.73 [[ 9.41810569e-01 3.36117550e-01 -4.22432303e-03 3.64505299e+02] [-3.36114151e-01 9.41820043e-01 1.51157541e-03 -5.64729024e+01] [ 4.48661912e-03 -3.76294431e-06 9.99989935e-01 -2.73162112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02655999499996 meters 0.051456199330254075 Centerline is valid? [True, True] Translation: X:364.56, Y:-56.49, Z:-2.73 [[ 9.39383294e-01 3.42845556e-01 -3.99385919e-03 3.64563795e+02] [-3.42842574e-01 9.39391784e-01 1.43013097e-03 -5.64902124e+01] [ 4.24211255e-03 2.58238187e-05 9.99991002e-01 -2.73241562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08655999499996 meters 0.05098397876495942 Centerline is valid? [True, True] Translation: X:364.62, Y:-56.51, Z:-2.73 [[ 9.37297317e-01 3.48522638e-01 -2.38959519e-03 3.64621567e+02] [-3.48521589e-01 9.37300363e-01 8.55505580e-04 -5.65117936e+01] [ 2.53793150e-03 3.09624275e-05 9.99996779e-01 -2.72923151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14655999499996 meters 0.051065719809756556 Centerline is valid? [True, True] Translation: X:364.68, Y:-56.53, Z:-2.73 [[ 9.36235771e-01 3.51372377e-01 1.84798745e-04 3.64679657e+02] [-3.51372371e-01 9.36235789e-01 -6.52473603e-05 -5.65347777e+01] [-1.95941319e-04 -3.84626063e-06 9.99999981e-01 -2.72651527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20655999499996 meters 0.05110316966946153 Centerline is valid? [True, True] Translation: X:364.74, Y:-56.55, Z:-2.73 [[ 9.35139342e-01 3.54276781e-01 1.54079846e-03 3.64737578e+02] [-3.54276354e-01 9.35140611e-01 -5.51008012e-04 -5.65536089e+01] [-1.63607256e-03 -3.05991904e-05 9.99998661e-01 -2.72679777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26655999499997 meters 0.05069343955520219 Centerline is valid? [True, True] Translation: X:364.80, Y:-56.57, Z:-2.73 [[ 9.34297855e-01 3.56492421e-01 8.20005175e-04 3.64795336e+02] [-3.56492301e-01 9.34298214e-01 -2.93584416e-04 -5.65723388e+01] [-8.70789990e-04 -1.80302420e-05 9.99999621e-01 -2.72865282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32655999499997 meters 0.051010740724486185 Centerline is valid? [True, True] Translation: X:364.85, Y:-56.59, Z:-2.73 [[ 9.32950400e-01 3.59998926e-01 -2.07945104e-03 3.64853470e+02] [-3.59998160e-01 9.32952716e-01 7.44907686e-04 -5.65916686e+01] [ 2.20819546e-03 5.36366242e-05 9.99997560e-01 -2.73072191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38655999499997 meters 0.05121339172596533 Centerline is valid? [True, True] Translation: X:364.91, Y:-56.61, Z:-2.73 [[ 9.32194019e-01 3.61925892e-01 -4.89481618e-03 3.64910778e+02] [-3.61921671e-01 9.32206860e-01 1.75338018e-03 -5.66129608e+01] [ 5.19757491e-03 1.37049532e-04 9.99986483e-01 -2.73218701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.446559995 meters 0.0518273654374073 Centerline is valid? [True, True] Translation: X:364.97, Y:-56.63, Z:-2.73 [[ 9.31844347e-01 3.62797920e-01 -6.61674454e-03 3.64968669e+02] [-3.62790218e-01 9.31867819e-01 2.37167302e-03 -5.66322788e+01] [ 7.02636935e-03 1.90460095e-04 9.99975297e-01 -2.73447477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.506559995 meters 0.051681706920744024 Centerline is valid? [True, True] Translation: X:365.03, Y:-56.65, Z:-2.73 [[ 9.32349439e-01 3.61508254e-01 -6.02552990e-03 3.65025957e+02] [-3.61501843e-01 9.32368894e-01 2.15925651e-03 -5.66547914e+01] [ 6.39860570e-03 1.65058565e-04 9.99979515e-01 -2.73414867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.566559995 meters 0.0511182814884274 Centerline is valid? [True, True] Translation: X:365.08, Y:-56.68, Z:-2.73 [[ 9.34257232e-01 3.56588092e-01 -2.89091712e-03 3.65081118e+02] [-3.56586592e-01 9.34261702e-01 1.03611132e-03 -5.66821433e+01] [ 3.07033811e-03 6.28677945e-05 9.99995285e-01 -2.73053961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.626559995 meters 0.05182457435419897 Centerline is valid? [True, True] Translation: X:365.14, Y:-56.70, Z:-2.73 [[ 9.35756690e-01 3.52645877e-01 -5.50758159e-04 3.65137636e+02] [-3.52645822e-01 9.35756852e-01 1.97405800e-04 -5.67020486e+01] [ 5.84990062e-04 9.49876516e-06 9.99999829e-01 -2.73138324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.686559995 meters 0.050914695424038 Centerline is valid? [True, True] Translation: X:365.19, Y:-56.73, Z:-2.73 [[ 9.37259502e-01 3.48632425e-01 -2.41053441e-04 3.65193963e+02] [-3.48632414e-01 9.37259533e-01 8.65746788e-05 -5.67274767e+01] [ 2.56112376e-04 2.89610277e-06 9.99999967e-01 -2.73076116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.746559995 meters 0.05097369282041829 Centerline is valid? [True, True] Translation: X:365.25, Y:-56.75, Z:-2.73 [[ 9.37522693e-01 3.47919721e-01 -1.75145601e-03 3.65252239e+02] [-3.47919153e-01 9.37524329e-01 6.28850215e-04 -5.67482621e+01] [ 1.86082201e-03 1.98037438e-05 9.99998268e-01 -2.73257506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.806559995 meters 0.051692297711849355 Centerline is valid? [True, True] Translation: X:365.31, Y:-56.77, Z:-2.73 [[ 9.37156876e-01 3.48891909e-01 -3.38023676e-03 3.65310412e+02] [-3.48889802e-01 9.37162971e-01 1.21320896e-03 -5.67695682e+01] [ 3.59111151e-03 4.23630151e-05 9.99993551e-01 -2.73189827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.866559995 meters 0.05144017936282455 Centerline is valid? [True, True] Translation: X:365.37, Y:-56.79, Z:-2.73 [[ 9.36418844e-01 3.50851993e-01 -4.75673857e-03 3.65368718e+02] [-3.50847852e-01 9.36430923e-01 1.70620359e-03 -5.67863649e+01] [ 5.05298202e-03 7.11703167e-05 9.99987231e-01 -2.73352253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92655999499993 meters 0.05175145712044911 Centerline is valid? [True, True] Translation: X:365.43, Y:-56.80, Z:-2.73 [[ 9.35891661e-01 3.52258253e-01 -4.57418950e-03 3.65428246e+02] [-3.52254433e-01 9.35902836e-01 1.64205346e-03 -5.68047092e+01] [ 4.85942381e-03 7.44943884e-05 9.99988190e-01 -2.73402825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98655999499994 meters 0.051416627744032904 Centerline is valid? [True, True] Translation: X:365.49, Y:-56.82, Z:-2.73 [[ 9.35535486e-01 3.53206646e-01 -4.29189112e-03 3.65487467e+02] [-3.53203291e-01 9.35545327e-01 1.54131364e-03 -5.68242673e+01] [ 4.55966091e-03 7.39564623e-05 9.99989602e-01 -2.73250018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04655999499994 meters 0.05193030946698626 Centerline is valid? [True, True] Translation: X:365.55, Y:-56.84, Z:-2.73 [[ 9.35716714e-01 3.52723587e-01 -4.50575154e-03 3.65545978e+02] [-3.52719881e-01 9.35727559e-01 1.61863764e-03 -5.68439381e+01] [ 4.78708757e-03 7.46818543e-05 9.99988539e-01 -2.73279726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10655999499994 meters 0.051560828497504575 Centerline is valid? [True, True] Translation: X:365.60, Y:-56.86, Z:-2.73 [[ 9.35835874e-01 3.52411470e-01 -4.16797861e-03 3.65604966e+02] [-3.52408293e-01 9.35845153e-01 1.49789007e-03 -5.68642117e+01] [ 4.42845622e-03 6.70509663e-05 9.99990192e-01 -2.73314454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16655999499994 meters 0.05136494074438974 Centerline is valid? [True, True] Translation: X:365.66, Y:-56.89, Z:-2.73 [[ 9.36035390e-01 3.51888798e-01 -3.46748887e-03 3.65663628e+02] [-3.51886593e-01 9.36041811e-01 1.24676533e-03 -5.68857707e+01] [ 3.68443732e-03 5.31463791e-05 9.99993211e-01 -2.73081520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22655999499995 meters 0.051928494643369884 Centerline is valid? [True, True] Translation: X:365.72, Y:-56.91, Z:-2.73 [[ 9.36144513e-01 3.51604746e-01 -2.74827349e-03 3.65721648e+02] [-3.51603358e-01 9.36148547e-01 9.88616809e-04 -5.69054010e+01] [ 2.92039459e-03 4.08139861e-05 9.99995735e-01 -2.73083056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28655999499995 meters 0.05157392147099793 Centerline is valid? [True, True] Translation: X:365.78, Y:-56.92, Z:-2.73 [[ 9.36207204e-01 3.51443118e-01 -1.95100707e-03 3.65780025e+02] [-3.51442418e-01 9.36209236e-01 7.02275643e-04 -5.69229011e+01] [ 2.07336078e-03 2.81911262e-05 9.99997850e-01 -2.73230252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34655999499995 meters 0.051963986234740786 Centerline is valid? [True, True] Translation: X:365.84, Y:-56.94, Z:-2.73 [[ 9.36140639e-01 3.51621160e-01 -1.80646339e-03 3.65838735e+02] [-3.51620559e-01 9.36142382e-01 6.50644683e-04 -5.69417859e+01] [ 1.91988738e-03 2.60947383e-05 9.99998157e-01 -2.73320477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40655999499995 meters 0.051237428766417945 Centerline is valid? [True, True] Translation: X:365.90, Y:-56.96, Z:-2.73 [[ 9.35843104e-01 3.52410445e-01 -2.13626305e-03 3.65897357e+02] [-3.52409607e-01 9.35845541e-01 7.69510454e-04 -5.69631918e+01] [ 2.27039577e-03 3.26985692e-05 9.99997422e-01 -2.73189116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46655999499995 meters 0.05167161437266047 Centerline is valid? [True, True] Translation: X:365.96, Y:-56.98, Z:-2.73 [[ 9.35637381e-01 3.52947075e-01 -3.32460091e-03 3.65956237e+02] [-3.52945048e-01 9.35643286e-01 1.19739324e-03 -5.69800184e+01] [ 3.53325696e-03 5.30755568e-05 9.99993757e-01 -2.73362961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52655999499996 meters 0.05157564636856319 Centerline is valid? [True, True] Translation: X:366.01, Y:-57.00, Z:-2.74 [[ 9.35402996e-01 3.53540425e-01 -5.51385819e-03 3.66014610e+02] [-3.53534859e-01 9.35419243e-01 1.98599376e-03 -5.69996567e+01] [ 5.85989813e-03 9.16365646e-05 9.99982826e-01 -2.73500289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58655999499996 meters 0.052528429243318756 Centerline is valid? [True, True] Translation: X:366.07, Y:-57.02, Z:-2.74 [[ 9.35421445e-01 3.53476711e-01 -6.39801854e-03 3.66073441e+02] [-3.53469210e-01 9.35443319e-01 2.30520164e-03 -5.70193838e+01] [ 6.79981879e-03 1.05167509e-04 9.99976875e-01 -2.73585349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64655999499996 meters 0.05168580495536984 Centerline is valid? [True, True] Translation: X:366.13, Y:-57.04, Z:-2.74 [[ 9.35918018e-01 3.52164121e-01 -6.15601199e-03 3.66131977e+02] [-3.52157143e-01 9.35938259e-01 2.21881711e-03 -5.70406468e+01] [ 6.54303491e-03 9.12526816e-05 9.99978590e-01 -2.73519005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70655999499996 meters 0.05165668754082586 Centerline is valid? [True, True] Translation: X:366.19, Y:-57.06, Z:-2.74 [[ 9.37334362e-01 3.48385465e-01 -5.64468691e-03 3.66189300e+02] [-3.48379532e-01 9.37351356e-01 2.03405402e-03 -5.70604329e+01] [ 5.99968979e-03 5.99046635e-05 9.99982000e-01 -2.73741652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76655999499997 meters 0.05208050531598189 Centerline is valid? [True, True] Translation: X:366.25, Y:-57.08, Z:-2.73 [[ 9.38876209e-01 3.44215148e-01 -5.23404092e-03 3.66246260e+02] [-3.44209981e-01 9.38890798e-01 1.88625278e-03 -5.70848017e+01] [ 5.56346963e-03 3.06512643e-05 9.99984523e-01 -2.73227463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82655999499997 meters 0.05239880716996425 Centerline is valid? [True, True] Translation: X:366.31, Y:-57.11, Z:-2.73 [[ 9.40406654e-01 3.40007933e-01 -5.47081322e-03 3.66305166e+02] [-3.40002209e-01 9.40422567e-01 1.97303188e-03 -5.71058418e+01] [ 5.81572270e-03 4.63626396e-06 9.99983089e-01 -2.73329086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88655999499997 meters 0.052117786176313526 Centerline is valid? [True, True] Translation: X:366.36, Y:-57.13, Z:-2.73 [[ 9.42936592e-01 3.32923537e-01 -5.70105655e-03 3.66362033e+02] [-3.32917186e-01 9.42953825e-01 2.05679415e-03 -5.71285996e+01] [ 6.06058827e-03 -4.14467600e-05 9.99981634e-01 -2.73478882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.946559995 meters 0.05294173799747984 Centerline is valid? [True, True] Translation: X:366.42, Y:-57.15, Z:-2.73 [[ 9.45268227e-01 3.26253204e-01 -5.17939174e-03 3.66417751e+02] [-3.26247866e-01 9.45282414e-01 1.86774770e-03 -5.71504339e+01] [ 5.50534659e-03 -7.57570590e-05 9.99984843e-01 -2.73492825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.006559995 meters 0.05312809185633732 Centerline is valid? [True, True] Translation: X:366.48, Y:-57.17, Z:-2.74 [[ 9.46482491e-01 3.22724178e-01 -4.47207904e-03 3.66475616e+02] [-3.22720153e-01 9.46493052e-01 1.61405546e-03 -5.71717543e+01] [ 4.75368646e-03 -8.44452014e-05 9.99988698e-01 -2.73510975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.066559995 meters 0.05360562670261754 Centerline is valid? [True, True] Translation: X:366.54, Y:-57.19, Z:-2.73 [[ 9.47231453e-01 3.20522209e-01 -4.25306915e-03 3.66536429e+02] [-3.20518548e-01 9.47240996e-01 1.53463328e-03 -5.71858760e+01] [ 4.52056551e-03 -9.04653613e-05 9.99989778e-01 -2.73096548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.126559995 meters 0.05323978315788466 Centerline is valid? [True, True] Translation: X:366.59, Y:-57.21, Z:-2.73 [[ 9.47041136e-01 3.21073834e-01 -4.96793721e-03 3.66593267e+02] [-3.21068839e-01 9.47054160e-01 1.79379821e-03 -5.72106351e+01] [ 5.28084727e-03 -1.03750857e-04 9.99986051e-01 -2.73495681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.186559995 meters 0.05431220629236152 Centerline is valid? [True, True] Translation: X:366.66, Y:-57.22, Z:-2.73 [[ 9.46225461e-01 3.23475044e-01 -4.61225414e-03 3.66655585e+02] [-3.23470770e-01 9.46236698e-01 1.66502370e-03 -5.72200680e+01] [ 4.90287775e-03 -8.35584138e-05 9.99987977e-01 -2.73116600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.246559995 meters 0.05356799763858537 Centerline is valid? [True, True] Translation: X:366.71, Y:-57.24, Z:-2.74 [[ 9.45296008e-01 3.26174177e-01 -5.08562595e-03 3.66712337e+02] [-3.26169013e-01 9.45309685e-01 1.83717342e-03 -5.72429678e+01] [ 5.40672999e-03 -7.78991049e-05 9.99985380e-01 -2.73505060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.306559995 meters 0.054220008848624934 Centerline is valid? [True, True] Translation: X:366.77, Y:-57.26, Z:-2.73 [[ 9.43997811e-01 3.29909599e-01 -5.27164868e-03 3.66773423e+02] [-3.29904111e-01 9.44012528e-01 1.90378169e-03 -5.72556071e+01] [ 5.60457825e-03 -5.80271761e-05 9.99984293e-01 -2.73033003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.366559995 meters 0.05303191969041258 Centerline is valid? [True, True] Translation: X:366.83, Y:-57.28, Z:-2.73 [[ 9.43302320e-01 3.31900617e-01 -4.76579885e-03 3.66830997e+02] [-3.31896150e-01 9.43314358e-01 1.72246745e-03 -5.72771148e+01] [ 5.06733450e-03 -4.30572448e-05 9.99987160e-01 -2.73497896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42655999499993 meters 0.053750417144252 Centerline is valid? [True, True] Translation: X:366.89, Y:-57.30, Z:-2.74 [[ 9.42841077e-01 3.33225288e-01 -3.40750718e-03 3.66888870e+02] [-3.33223012e-01 9.42847234e-01 1.23167300e-03 -5.72962803e+01] [ 3.62318331e-03 -2.58120878e-05 9.99993436e-01 -2.73753096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48655999499994 meters 0.053724879502521444 Centerline is valid? [True, True] Translation: X:366.95, Y:-57.31, Z:-2.73 [[ 9.43259490e-01 3.32051965e-01 -1.73983959e-03 3.66949556e+02] [-3.32051368e-01 9.43261095e-01 6.29723404e-04 -5.73109245e+01] [ 1.85022389e-03 -1.62764617e-05 9.99998288e-01 -2.73184255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54655999499994 meters 0.05348388912506057 Centerline is valid? [True, True] Translation: X:367.01, Y:-57.33, Z:-2.73 [[ 9.44105864e-01 3.29638191e-01 -1.66724538e-03 3.67006964e+02] [-3.29637639e-01 9.44107336e-01 6.03688313e-04 -5.73333479e+01] [ 1.77305732e-03 -2.03588442e-05 9.99998428e-01 -2.73498932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60655999499994 meters 0.05382919755690754 Centerline is valid? [True, True] Translation: X:367.06, Y:-57.35, Z:-2.74 [[ 9.45831381e-01 3.24641207e-01 -3.32956221e-03 3.67063756e+02] [-3.24638979e-01 9.45837239e-01 1.20419081e-03 -5.73522473e+01] [ 3.54015388e-03 -5.80557832e-05 9.99993732e-01 -2.73509472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66655999499994 meters 0.05392863475905955 Centerline is valid? [True, True] Translation: X:367.12, Y:-57.38, Z:-2.74 [[ 9.46980739e-01 3.21246426e-01 -5.31164206e-03 3.67118878e+02] [-3.21240704e-01 9.46995629e-01 1.92066197e-03 -5.73763299e+01] [ 5.64710761e-03 -1.12514259e-04 9.99984049e-01 -2.73908815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72655999499995 meters 0.054476398989012055 Centerline is valid? [True, True] Translation: X:367.18, Y:-57.39, Z:-2.73 [[ 9.47300809e-01 3.20299743e-01 -5.40853410e-03 3.67180343e+02] [-3.20293792e-01 9.47316241e-01 1.95619359e-03 -5.73882150e+01] [ 5.75016049e-03 -1.20783875e-04 9.99983460e-01 -2.73473746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78655999499995 meters 0.054476398989012055 Centerline is valid? [True, True] Translation: X:367.24, Y:-57.41, Z:-2.74 [[ 9.47264139e-01 3.20408183e-01 -5.40811233e-03 3.67239140e+02] [-3.20402227e-01 9.47279569e-01 1.95735962e-03 -5.74094033e+01] [ 5.75014835e-03 -1.21365341e-04 9.99983460e-01 -2.73519811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84655999499995 meters 0.05356655422290045 Centerline is valid? [True, True] Translation: X:367.30, Y:-57.43, Z:-2.74 [[ 9.46818426e-01 3.21726648e-01 -5.18000825e-03 3.67296759e+02] [-3.21721205e-01 9.46832589e-01 1.87471184e-03 -5.74321820e+01] [ 5.50774538e-03 -1.08493219e-04 9.99984826e-01 -2.73822733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90655999499995 meters 0.05370051968958472 Centerline is valid? [True, True] Translation: X:367.35, Y:-57.45, Z:-2.74 [[ 9.45354501e-01 3.26021185e-01 -3.87993520e-03 3.67354310e+02] [-3.26018167e-01 9.45362461e-01 1.40405791e-03 -5.74533202e+01] [ 4.12569772e-03 -6.24031043e-05 9.99991487e-01 -2.73919029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96655999499995 meters 0.053432599406086745 Centerline is valid? [True, True] Translation: X:367.41, Y:-57.47, Z:-2.74 [[ 9.43485956e-01 3.31391684e-01 -3.71516413e-03 3.67412513e+02] [-3.31388958e-01 9.43493270e-01 1.34460033e-03 -5.74720126e+01] [ 3.95082172e-03 -3.74471573e-05 9.99992195e-01 -2.74090060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02655999499996 meters 0.052890042503458363 Centerline is valid? [True, True] Translation: X:367.47, Y:-57.49, Z:-2.74 [[ 9.39956076e-01 3.41282433e-01 -2.97938478e-03 3.67471907e+02] [-3.41280730e-01 9.39960797e-01 1.07824618e-03 -5.74852983e+01] [ 3.16849137e-03 3.30256647e-06 9.99994980e-01 -2.73742555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08655999499996 meters 0.052943351391757675 Centerline is valid? [True, True] Translation: X:367.53, Y:-57.50, Z:-2.74 [[ 9.36199967e-01 3.51456169e-01 -2.86061306e-03 3.67531475e+02] [-3.51454646e-01 9.36204337e-01 1.03538202e-03 -5.74995761e+01] [ 3.04200975e-03 3.60511399e-05 9.99995372e-01 -2.74059192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14655999499996 meters 0.05303176263501318 Centerline is valid? [True, True] Translation: X:367.59, Y:-57.52, Z:-2.74 [[ 9.33028125e-01 3.59791443e-01 -2.93873673e-03 3.67589091e+02] [-3.59789877e-01 9.33032750e-01 1.06347080e-03 -5.75155437e+01] [ 3.12456531e-03 6.50795599e-05 9.99995116e-01 -2.74178436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20655999499996 meters 0.05286631093704086 Centerline is valid? [True, True] Translation: X:367.65, Y:-57.54, Z:-2.74 [[ 9.31584428e-01 3.63517154e-01 -2.39415388e-03 3.67645030e+02] [-3.63516127e-01 9.31587503e-01 8.66516803e-04 -5.75392157e+01] [ 2.54535755e-03 6.30799827e-05 9.99996759e-01 -2.74004302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26655999499997 meters 0.0533661947460586 Centerline is valid? [True, True] Translation: X:367.70, Y:-57.55, Z:-2.74 [[ 9.30651656e-01 3.65901221e-01 -1.94707980e-03 3.67703555e+02] [-3.65900547e-01 9.30653691e-01 7.04736716e-04 -5.75545382e+01] [ 2.06992103e-03 5.65731706e-05 9.99997856e-01 -2.74191253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32655999499997 meters 0.05426220687809854 Centerline is valid? [True, True] Translation: X:367.76, Y:-57.58, Z:-2.74 [[ 9.30265722e-01 3.66883265e-01 -1.53489660e-03 3.67760916e+02] [-3.66882846e-01 9.30266987e-01 5.56442941e-04 -5.75750547e+01] [ 1.63201324e-03 4.54874384e-05 9.99998667e-01 -2.74224846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38655999499997 meters 0.05259121765850957 Centerline is valid? [True, True] Translation: X:367.82, Y:-57.60, Z:-2.74 [[ 9.30089709e-01 3.67318377e-01 -3.21610283e-03 3.67816538e+02] [-3.67316541e-01 9.30095264e-01 1.16556314e-03 -5.76044791e+01] [ 3.41941477e-03 9.72494896e-05 9.99994149e-01 -2.74279370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.446559995 meters 0.05276567612628144 Centerline is valid? [True, True] Translation: X:367.87, Y:-57.63, Z:-2.74 [[ 9.30077298e-01 3.67348276e-01 -3.38577546e-03 3.67874129e+02] [-3.67346238e-01 9.30083455e-01 1.22764719e-03 -5.76306929e+01] [ 3.60002782e-03 1.01945093e-04 9.99993515e-01 -2.74259824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.506559995 meters 0.0523176468450933 Centerline is valid? [True, True] Translation: X:367.93, Y:-57.66, Z:-2.74 [[ 9.30367611e-01 3.66615700e-01 -3.00618801e-03 3.67930207e+02] [-3.66614089e-01 9.30372464e-01 1.09038180e-03 -5.76576796e+01] [ 3.19662564e-03 8.76549699e-05 9.99994887e-01 -2.74191348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.566559995 meters 0.05287009733666295 Centerline is valid? [True, True] Translation: X:367.99, Y:-57.68, Z:-2.74 [[ 9.30877735e-01 3.65323715e-01 -2.28581949e-03 3.67986796e+02] [-3.65322781e-01 9.30880540e-01 8.28593275e-04 -5.76800336e+01] [ 2.43052965e-03 6.37429005e-05 9.99997044e-01 -2.74284860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.626559995 meters 0.052019770075946166 Centerline is valid? [True, True] Translation: X:368.04, Y:-57.71, Z:-2.74 [[ 9.31311472e-01 3.64221226e-01 -1.35671039e-03 3.68041876e+02] [-3.64220896e-01 9.31312459e-01 4.91871261e-04 -5.77082814e+01] [ 1.44267124e-03 3.60569261e-05 9.99998959e-01 -2.74170205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.686559995 meters 0.05270834648891302 Centerline is valid? [True, True] Translation: X:368.10, Y:-57.73, Z:-2.74 [[ 9.32461742e-01 3.61268731e-01 5.96537695e-05 3.68097921e+02] [-3.61268730e-01 9.32461744e-01 -2.15929055e-05 -5.77297458e+01] [-6.34256997e-05 -1.41648323e-06 9.99999998e-01 -2.74325121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.746559995 meters 0.052040601803573346 Centerline is valid? [True, True] Translation: X:368.15, Y:-57.76, Z:-2.74 [[ 9.33581439e-01 3.58362200e-01 1.49337375e-03 3.68152335e+02] [-3.58361793e-01 9.33582633e-01 -5.41156906e-04 -5.77596443e+01] [-1.58811797e-03 -2.99540504e-05 9.99998738e-01 -2.74135205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.806559995 meters 0.05183442422576919 Centerline is valid? [True, True] Translation: X:368.21, Y:-57.79, Z:-2.74 [[ 9.35890096e-01 3.52275813e-01 3.38824975e-03 3.68205817e+02] [-3.52273675e-01 9.35896228e-01 -1.22818033e-03 -5.77895765e+01] [-3.60370838e-03 -4.41493823e-05 9.99993506e-01 -2.73974304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.866559995 meters 0.05160459727076364 Centerline is valid? [True, True] Translation: X:368.26, Y:-57.82, Z:-2.74 [[ 9.36431351e-01 3.50848101e-01 1.39078104e-03 3.68261490e+02] [-3.50847740e-01 9.36432384e-01 -5.03422056e-04 -5.78171211e+01] [-1.47899708e-03 -1.65321897e-05 9.99998906e-01 -2.74061152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92655999499993 meters 0.051556423206708876 Centerline is valid? [True, True] Translation: X:368.32, Y:-57.84, Z:-2.74 [[ 9.36951199e-01 3.49459718e-01 -5.97147878e-04 3.68319015e+02] [-3.49459650e-01 9.36951389e-01 2.17578459e-04 -5.78409031e+01] [ 6.35533441e-04 4.81868990e-06 9.99999798e-01 -2.74421728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98655999499994 meters 0.05137895110370297 Centerline is valid? [True, True] Translation: X:368.38, Y:-57.87, Z:-2.74 [[ 9.37335245e-01 3.48428199e-01 -6.55032814e-04 3.68376572e+02] [-3.48428117e-01 9.37335474e-01 2.38597074e-04 -5.78657765e+01] [ 6.97119441e-04 4.58640297e-06 9.99999757e-01 -2.74400888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04655999499994 meters 0.05206459017965948 Centerline is valid? [True, True] Translation: X:368.43, Y:-57.89, Z:-2.74 [[ 9.38149885e-01 3.46228873e-01 -6.00667093e-04 3.68433967e+02] [-3.46228804e-01 9.38150077e-01 2.18945802e-04 -5.78905573e+01] [ 6.39321238e-04 2.56427066e-06 9.99999796e-01 -2.74498468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10655999499994 meters 0.05177888555861167 Centerline is valid? [True, True] Translation: X:368.49, Y:-57.92, Z:-2.75 [[ 9.39070544e-01 3.43722431e-01 1.18473883e-03 3.68490998e+02] [-3.43722163e-01 9.39071291e-01 -4.29329362e-04 -5.79159063e+01] [-1.26012436e-03 -4.05043605e-06 9.99999206e-01 -2.74523771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16655999499994 meters 0.05177717333364016 Centerline is valid? [True, True] Translation: X:368.55, Y:-57.94, Z:-2.75 [[ 9.39935213e-01 3.41341543e-01 2.78317766e-03 3.68547518e+02] [-3.41340048e-01 9.39939334e-01 -1.01015744e-03 -5.79408608e+01] [-2.96082685e-03 -5.27449637e-07 9.99995617e-01 -2.74532720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22655999499995 meters 0.05123865879752176 Centerline is valid? [True, True] Translation: X:368.61, Y:-57.96, Z:-2.75 [[ 9.40705701e-01 3.39198449e-01 4.14685867e-03 3.68605209e+02] [-3.39195105e-01 9.40714841e-01 -1.50630511e-03 -5.79645025e+01] [-4.41194785e-03 1.03956486e-05 9.99990267e-01 -2.74505515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28655999499995 meters 0.0510180952016596 Centerline is valid? [True, True] Translation: X:368.66, Y:-57.99, Z:-2.74 [[ 9.41395740e-01 3.37249571e-01 6.06519373e-03 3.68662317e+02] [-3.37242374e-01 9.41415278e-01 -2.20348019e-03 -5.79881832e+01] [-6.45298879e-03 2.89065319e-05 9.99979179e-01 -2.74474116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34655999499995 meters 0.05103254495860778 Centerline is valid? [True, True] Translation: X:368.72, Y:-58.01, Z:-2.75 [[ 9.41523653e-01 3.36879117e-01 6.75810250e-03 3.68720362e+02] [-3.36870164e-01 9.41547906e-01 -2.45630438e-03 -5.80122822e+01] [-7.19055490e-03 3.60655756e-05 9.99974147e-01 -2.74586631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40655999499995 meters 0.05174874355440431 Centerline is valid? [True, True] Translation: X:368.78, Y:-58.03, Z:-2.75 [[ 9.40885426e-01 3.38682784e-01 5.34662926e-03 3.68778154e+02] [-3.38677208e-01 9.40900617e-01 -1.94344871e-03 -5.80317604e+01] [-5.68885939e-03 1.77811019e-05 9.99983818e-01 -2.74755145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46655999499995 meters 0.0509225573919213 Centerline is valid? [True, True] Translation: X:368.84, Y:-58.05, Z:-2.75 [[ 9.39867931e-01 3.41487730e-01 5.86528235e-03 3.68836891e+02] [-3.41481070e-01 9.39886233e-01 -2.13280370e-03 -5.80524574e+01] [-6.24102442e-03 1.67091472e-06 9.99980525e-01 -2.74913855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52655999499996 meters 0.05099767982284425 Centerline is valid? [True, True] Translation: X:368.90, Y:-58.07, Z:-2.75 [[ 9.37498722e-01 3.47955901e-01 4.77887379e-03 3.68895551e+02] [-3.47951562e-01 9.37510901e-01 -1.73797508e-03 -5.80686767e+01] [-5.08498496e-03 -3.34671807e-05 9.99987071e-01 -2.75201664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58655999499996 meters 0.050724703185393696 Centerline is valid? [True, True] Translation: X:368.95, Y:-58.09, Z:-2.75 [[ 9.36197372e-01 3.51454085e-01 3.80865962e-03 3.68953051e+02] [-3.51451360e-01 9.36205119e-01 -1.38485778e-03 -5.80913353e+01] [-4.05240056e-03 -4.20583884e-05 9.99991788e-01 -2.75341851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64655999499996 meters 0.050846362443395125 Centerline is valid? [True, True] Translation: X:369.01, Y:-58.11, Z:-2.75 [[ 9.35487475e-01 3.53349017e-01 2.76702798e-03 3.69010689e+02] [-3.53347586e-01 9.35491566e-01 -1.00622384e-03 -5.81124623e+01] [-2.94407954e-03 -3.64128559e-05 9.99995666e-01 -2.75462360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70655999499996 meters 0.05028600682099563 Centerline is valid? [True, True] Translation: X:369.07, Y:-58.13, Z:-2.76 [[ 9.33873511e-01 3.57600697e-01 1.41653402e-03 3.69066576e+02] [-3.57600327e-01 9.33874585e-01 -5.15536991e-04 -5.81335110e+01] [-1.50722151e-03 -2.51066891e-05 9.99998864e-01 -2.75621911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76655999499997 meters 0.05105172113788924 Centerline is valid? [True, True] Translation: X:369.12, Y:-58.15, Z:-2.76 [[ 9.31623137e-01 3.63423285e-01 1.35861762e-03 3.69123828e+02] [-3.63422950e-01 9.31624127e-01 -4.94439667e-04 -5.81513305e+01] [-1.44541185e-03 -3.31213913e-05 9.99998955e-01 -2.75819394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82655999499997 meters 0.05105172113788924 Centerline is valid? [True, True] Translation: X:369.18, Y:-58.17, Z:-2.76 [[ 9.31578175e-01 3.63538522e-01 1.35885890e-03 3.69182559e+02] [-3.63538188e-01 9.31579166e-01 -4.93776848e-04 -5.81726686e+01] [-1.44539155e-03 -3.40053687e-05 9.99998955e-01 -2.75865443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88655999499997 meters 0.05065322458807348 Centerline is valid? [True, True] Translation: X:369.24, Y:-58.19, Z:-2.76 [[ 9.31247739e-01 3.64385374e-01 9.73334666e-04 3.69241021e+02] [-3.64385203e-01 9.31248247e-01 -3.53709043e-04 -5.81912606e+01] [-1.03530260e-03 -2.52780036e-05 9.99999464e-01 -2.75966138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.946559995 meters 0.05063841066236884 Centerline is valid? [True, True] Translation: X:369.30, Y:-58.22, Z:-2.76 [[ 9.31214699e-01 3.64469695e-01 1.01297652e-03 3.69298724e+02] [-3.64469510e-01 9.31215249e-01 -3.68105621e-04 -5.82154098e+01] [-1.07746252e-03 -2.64136890e-05 9.99999419e-01 -2.75965185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.006559995 meters 0.050466801809737526 Centerline is valid? [True, True] Translation: X:369.36, Y:-58.24, Z:-2.76 [[ 9.32266132e-01 3.61768599e-01 1.82751765e-03 3.69355749e+02] [-3.61767989e-01 9.32267922e-01 -6.65705158e-04 -5.82400063e+01] [-1.94456730e-03 -4.05230127e-05 9.99998109e-01 -2.75908062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.066559995 meters 0.05047355140304276 Centerline is valid? [True, True] Translation: X:369.41, Y:-58.26, Z:-2.76 [[ 9.32658376e-01 3.60752814e-01 2.40032582e-03 3.69414243e+02] [-3.60751758e-01 9.32661463e-01 -8.74080859e-04 -5.82583019e+01] [-2.55401852e-03 -5.07029256e-05 9.99996737e-01 -2.75984491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.126559995 meters 0.050463149341284416 Centerline is valid? [True, True] Translation: X:369.47, Y:-58.28, Z:-2.76 [[ 9.32226551e-01 3.61873597e-01 1.07551423e-03 3.69473276e+02] [-3.61873386e-01 9.32227171e-01 -3.91285883e-04 -5.82783012e+01] [-1.14421962e-03 -2.44328888e-05 9.99999345e-01 -2.76166917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.186559995 meters 0.05035568920098583 Centerline is valid? [True, True] Translation: X:369.53, Y:-58.30, Z:-2.76 [[ 9.31710769e-01 3.63200925e-01 3.62726266e-04 3.69531051e+02] [-3.63200902e-01 9.31710839e-01 -1.31468210e-04 -5.83005103e+01] [-3.85705369e-04 -9.25215981e-06 9.99999926e-01 -2.76220187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.246559995 meters 0.05044572124161472 Centerline is valid? [True, True] Translation: X:369.59, Y:-58.32, Z:-2.76 [[ 9.31692129e-01 3.63247096e-01 1.15082859e-03 3.69588543e+02] [-3.63246856e-01 9.31692839e-01 -4.19015553e-04 -5.83243645e+01] [-1.22442494e-03 -2.76413729e-05 9.99999250e-01 -2.76145132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.306559995 meters 0.050304799047164735 Centerline is valid? [True, True] Translation: X:369.65, Y:-58.35, Z:-2.76 [[ 9.32274051e-01 3.61741865e-01 2.81382640e-03 3.69645844e+02] [-3.61740414e-01 9.32278295e-01 -1.02656060e-03 -5.83468445e+01] [-2.99461923e-03 -6.08389175e-05 9.99995514e-01 -2.76121693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.366559995 meters 0.050956827271252766 Centerline is valid? [True, True] Translation: X:369.71, Y:-58.36, Z:-2.76 [[ 9.32368040e-01 3.61493642e-01 3.49069407e-03 3.69705895e+02] [-3.61491407e-01 9.32374571e-01 -1.27325730e-03 -5.83603623e+01] [-3.71490880e-03 -7.47114963e-05 9.99993097e-01 -2.76210858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42655999499993 meters 0.05096714245647769 Centerline is valid? [True, True] Translation: X:369.76, Y:-58.38, Z:-2.76 [[ 9.32052700e-01 3.62309415e-01 3.10668606e-03 3.69763835e+02] [-3.62307649e-01 9.32057875e-01 -1.13348693e-03 -5.83815426e+01] [-3.30628419e-03 -6.91065647e-05 9.99994532e-01 -2.76300451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48655999499994 meters 0.051379045024247 Centerline is valid? [True, True] Translation: X:369.82, Y:-58.40, Z:-2.76 [[ 9.31709080e-01 3.63199446e-01 2.08625149e-03 3.69821891e+02] [-3.63198652e-01 9.31711415e-01 -7.61104574e-04 -5.84034521e+01] [-2.22021709e-03 -4.85956856e-05 9.99997534e-01 -2.76463363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54655999499994 meters 0.049971305482812124 Centerline is valid? [True, True] Translation: X:369.88, Y:-58.43, Z:-2.76 [[ 9.31445604e-01 3.63874832e-01 2.04773564e-03 3.69878111e+02] [-3.63874068e-01 9.31447854e-01 -7.47251613e-04 -5.84296720e+01] [-2.17926502e-03 -4.90936651e-05 9.99997624e-01 -2.76358299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60655999499994 meters 0.04995568263367508 Centerline is valid? [True, True] Translation: X:369.93, Y:-58.46, Z:-2.76 [[ 9.30557886e-01 3.66130914e-01 3.18968204e-03 3.69932346e+02] [-3.66129070e-01 9.30563349e-01 -1.16509323e-03 -5.84577020e+01] [-3.39477785e-03 -8.36486218e-05 9.99994234e-01 -2.76085372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66655999499994 meters 0.051008810861537204 Centerline is valid? [True, True] Translation: X:370.00, Y:-58.47, Z:-2.76 [[ 9.30286216e-01 3.66821514e-01 3.08762392e-03 3.69995441e+02] [-3.66819789e-01 9.30291336e-01 -1.12799186e-03 -5.84652652e+01] [-3.28616147e-03 -8.32462727e-05 9.99994597e-01 -2.76441026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72655999499995 meters 0.05070112126926762 Centerline is valid? [True, True] Translation: X:370.05, Y:-58.49, Z:-2.77 [[ 9.30498436e-01 3.66288503e-01 2.32217214e-03 3.70053585e+02] [-3.66287526e-01 9.30501332e-01 -8.48128573e-04 -5.84863275e+01] [-2.47144402e-03 -6.14003773e-05 9.99996944e-01 -2.76564518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78655999499995 meters 0.05095351355740066 Centerline is valid? [True, True] Translation: X:370.11, Y:-58.51, Z:-2.77 [[ 9.30587030e-01 3.66061416e-01 2.61144498e-03 3.70111485e+02] [-3.66060179e-01 9.30590691e-01 -9.54238008e-04 -5.85053495e+01] [-2.77949610e-03 -6.79445012e-05 9.99996135e-01 -2.76528984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84655999499995 meters 0.05191364482898537 Centerline is valid? [True, True] Translation: X:370.17, Y:-58.53, Z:-2.77 [[ 9.31432652e-01 3.63898196e-01 3.36429143e-03 3.70169472e+02] [-3.63896124e-01 9.31438724e-01 -1.23025759e-03 -5.85252518e+01] [-3.58131984e-03 -7.83505182e-05 9.99993584e-01 -2.76621907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90655999499995 meters 0.04992702844338035 Centerline is valid? [True, True] Translation: X:370.22, Y:-58.55, Z:-2.77 [[ 9.33491766e-01 3.58578408e-01 3.82730888e-03 3.70224590e+02] [-3.58575682e-01 9.33499609e-01 -1.39966362e-03 -5.85533571e+01] [-4.07468050e-03 -6.58054331e-05 9.99991696e-01 -2.76530480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96655999499995 meters 0.050586634798777175 Centerline is valid? [True, True] Translation: X:370.28, Y:-58.58, Z:-2.77 [[ 9.36589616e-01 3.50403410e-01 4.16419658e-03 3.70279958e+02] [-3.50400102e-01 9.36598873e-01 -1.52293270e-03 -5.85760534e+01] [-4.43382264e-03 -3.27719557e-05 9.99990170e-01 -2.76577248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02655999499996 meters 0.0508491830805275 Centerline is valid? [True, True] Translation: X:370.34, Y:-58.60, Z:-2.77 [[ 9.39975427e-01 3.41220402e-01 3.85137102e-03 3.70336272e+02] [-3.41217495e-01 9.39983317e-01 -1.40847638e-03 -5.86036739e+01] [-4.10082539e-03 9.77801517e-06 9.99991592e-01 -2.76583287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08655999499996 meters 0.05078465553208713 Centerline is valid? [True, True] Translation: X:370.39, Y:-58.63, Z:-2.77 [[ 9.42096717e-01 3.35325481e-01 3.25553814e-03 3.70392377e+02] [-3.35323369e-01 9.42102341e-01 -1.19040877e-03 -5.86281061e+01] [-3.46622449e-03 2.98221817e-05 9.99993992e-01 -2.76666110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14655999499996 meters 0.050713161541210014 Centerline is valid? [True, True] Translation: X:370.45, Y:-58.65, Z:-2.77 [[ 9.43920122e-01 3.30161185e-01 2.89734294e-03 3.70450917e+02] [-3.30159486e-01 9.43924568e-01 -1.06012284e-03 -5.86460630e+01] [-3.08488460e-03 4.40860183e-05 9.99995241e-01 -2.76537104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20655999499996 meters 0.051846191041784215 Centerline is valid? [True, True] Translation: X:370.51, Y:-58.67, Z:-2.77 [[ 9.45737931e-01 3.24924574e-01 1.94599895e-03 3.70506456e+02] [-3.24923796e-01 9.45739932e-01 -7.12056698e-04 -5.86695055e+01] [-2.07177364e-03 4.11176616e-05 9.99997853e-01 -2.76636903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26655999499997 meters 0.05182614018522195 Centerline is valid? [True, True] Translation: X:370.57, Y:-58.69, Z:-2.77 [[ 9.45898249e-01 3.24463016e-01 5.03379161e-04 3.70565383e+02] [-3.24462965e-01 9.45898383e-01 -1.83441568e-04 -5.86876882e+01] [-5.35665539e-04 1.01891625e-05 9.99999856e-01 -2.76729193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32655999499997 meters 0.051872529672565636 Centerline is valid? [True, True] Translation: X:370.62, Y:-58.71, Z:-2.77 [[ 9.44076296e-01 3.29725368e-01 -1.06244716e-03 3.70622640e+02] [-3.29725139e-01 9.44076894e-01 3.89060610e-04 -5.87073512e+01] [ 1.13131497e-03 -1.69873625e-05 9.99999360e-01 -2.77174018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38655999499997 meters 0.051180876129476374 Centerline is valid? [True, True] Translation: X:370.68, Y:-58.72, Z:-2.77 [[ 9.41900176e-01 3.35890601e-01 -1.25023686e-03 3.70682346e+02] [-3.35890289e-01 9.41901005e-01 4.58033099e-04 -5.87240769e+01] [ 1.33144837e-03 -1.14790354e-05 9.99999114e-01 -2.77300604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.446559995 meters 0.051296753028178134 Centerline is valid? [True, True] Translation: X:370.74, Y:-58.74, Z:-2.77 [[ 9.36797114e-01 3.49872297e-01 7.36452736e-04 3.70743170e+02] [-3.49872194e-01 9.36797404e-01 -2.68856359e-04 -5.87358924e+01] [-7.83972403e-04 -5.80047337e-06 9.99999693e-01 -2.77175748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.506559995 meters 0.050142117047008626 Centerline is valid? [True, True] Translation: X:370.80, Y:-58.75, Z:-2.77 [[ 9.33436777e-01 3.58732909e-01 2.54612313e-03 3.70801416e+02] [-3.58731700e-01 9.33440249e-01 -9.32459204e-04 -5.87501257e+01] [-2.71115762e-03 -4.29833645e-05 9.99996324e-01 -2.77109713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.566559995 meters 0.05043931032942316 Centerline is valid? [True, True] Translation: X:370.86, Y:-58.77, Z:-2.77 [[ 9.32295651e-01 3.61682131e-01 3.29456769e-03 3.70860459e+02] [-3.61680126e-01 9.32301470e-01 -1.20614130e-03 -5.87675120e+01] [-3.50777005e-03 -6.70993649e-05 9.99993846e-01 -2.77142473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.626559995 meters 0.05102130083846026 Centerline is valid? [True, True] Translation: X:370.92, Y:-58.79, Z:-2.77 [[ 9.30520341e-01 3.66218984e-01 3.94341691e-03 3.70918143e+02] [-3.66216148e-01 9.30528692e-01 -1.44461472e-03 -5.87865213e+01] [-4.19850791e-03 -9.98995715e-05 9.99991181e-01 -2.77054161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.686559995 meters 0.051028759589578226 Centerline is valid? [True, True] Translation: X:370.98, Y:-58.80, Z:-2.77 [[ 9.28960114e-01 3.70178357e-01 1.04404001e-03 3.70977475e+02] [-3.70178161e-01 9.28960701e-01 -3.82375806e-04 -5.88033781e+01] [-1.11141938e-03 -3.12689362e-05 9.99999382e-01 -2.77473021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.746559995 meters 0.05017752832360771 Centerline is valid? [True, True] Translation: X:371.03, Y:-58.83, Z:-2.77 [[ 9.28378915e-01 3.71633878e-01 -9.22805648e-04 3.71033065e+02] [-3.71633725e-01 9.28379373e-01 3.38312925e-04 -5.88279525e+01] [ 9.82442273e-04 2.88631141e-05 9.99999517e-01 -2.77473112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.806559995 meters 0.05053129036618296 Centerline is valid? [True, True] Translation: X:371.09, Y:-58.85, Z:-2.78 [[ 9.28625124e-01 3.71008918e-01 -2.78595851e-03 3.71091161e+02] [-3.71007520e-01 9.28629299e-01 1.02198500e-03 -5.88488514e+01] [ 2.96628825e-03 8.45706069e-05 9.99995597e-01 -2.77559685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.866559995 meters 0.05131012403371509 Centerline is valid? [True, True] Translation: X:371.15, Y:-58.87, Z:-2.78 [[ 9.30653667e-01 3.65871745e-01 -4.64959724e-03 3.71148105e+02] [-3.65867794e-01 9.30665274e-01 1.70433559e-03 -5.88680777e+01] [ 4.95078693e-03 1.14991723e-04 9.99987738e-01 -2.77865160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92655999499993 meters 0.05068124827040692 Centerline is valid? [True, True] Translation: X:371.20, Y:-58.90, Z:-2.78 [[ 9.32742754e-01 3.60525791e-01 -3.47969552e-03 3.71202731e+02] [-3.60523540e-01 9.32749243e-01 1.27558169e-03 -5.88963062e+01] [ 3.70556345e-03 6.47225704e-05 9.99993132e-01 -2.77531956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98655999499994 meters 0.05061282847978884 Centerline is valid? [True, True] Translation: X:371.26, Y:-58.92, Z:-2.77 [[ 9.36651521e-01 3.50259520e-01 -1.48236537e-03 3.71258302e+02] [-3.50259098e-01 9.36652694e-01 5.43550951e-04 -5.89228523e+01] [ 1.57884541e-03 1.00941324e-05 9.99998754e-01 -2.77407662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04655999499994 meters 0.05156348892776505 Centerline is valid? [True, True] Translation: X:371.32, Y:-58.95, Z:-2.77 [[ 9.37504356e-01 3.47971037e-01 -1.31920728e-03 3.71316384e+02] [-3.47970700e-01 9.37505284e-01 4.84666266e-04 -5.89454255e+01] [ 1.40541362e-03 4.66874494e-06 9.99999012e-01 -2.77416228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10655999499994 meters 0.051189181093769937 Centerline is valid? [True, True] Translation: X:371.37, Y:-58.97, Z:-2.77 [[ 9.38894011e-01 3.44206318e-01 -2.14778208e-04 3.71372300e+02] [-3.44206309e-01 9.38894036e-01 7.96188236e-05 -5.89692911e+01] [ 2.29059280e-04 -8.25622578e-07 9.99999974e-01 -2.77348117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16655999499994 meters 0.05123755203250314 Centerline is valid? [True, True] Translation: X:371.43, Y:-58.99, Z:-2.77 [[ 9.39903863e-01 3.41437985e-01 -9.10912090e-04 3.71430304e+02] [-3.41437821e-01 9.39904305e-01 3.35158060e-04 -5.89900661e+01] [ 9.70605888e-04 -3.99651697e-06 9.99999529e-01 -2.77387309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22655999499995 meters 0.052469777109664904 Centerline is valid? [True, True] Translation: X:371.49, Y:-59.01, Z:-2.77 [[ 9.42250094e-01 3.34904372e-01 -1.95484790e-03 3.71487612e+02] [-3.34903604e-01 9.42252122e-01 7.17591809e-04 -5.90124485e+01] [ 2.08228422e-03 -2.14653407e-05 9.99997832e-01 -2.77419409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28655999499995 meters 0.05282047252304978 Centerline is valid? [True, True] Translation: X:371.54, Y:-59.03, Z:-2.77 [[ 9.43888154e-01 3.30263831e-01 -9.77540024e-04 3.71544845e+02] [-3.30263636e-01 9.43888660e-01 3.58887428e-04 -5.90321579e+01] [ 1.04121648e-03 -1.59036685e-05 9.99999458e-01 -2.77132962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34655999499995 meters 0.05326785483437585 Centerline is valid? [True, True] Translation: X:371.60, Y:-59.06, Z:-2.77 [[ 9.47463175e-01 3.19864641e-01 3.79536512e-04 3.71600588e+02] [-3.19864611e-01 9.47463251e-01 -1.39164489e-04 -5.90583596e+01] [-4.04110697e-04 1.04529293e-05 9.99999918e-01 -2.77213275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40655999499995 meters 0.0526169522042634 Centerline is valid? [True, True] Translation: X:371.66, Y:-59.07, Z:-2.77 [[ 9.48591353e-01 3.16502342e-01 -8.43834336e-04 3.71660817e+02] [-3.16502191e-01 9.48591728e-01 3.09791431e-04 -5.90700710e+01] [ 8.98503985e-04 -2.67900562e-05 9.99999596e-01 -2.77303308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46655999499995 meters 0.05340647770359777 Centerline is valid? [True, True] Translation: X:371.72, Y:-59.09, Z:-2.77 [[ 9.47389996e-01 3.20078862e-01 -1.31092872e-03 3.71718563e+02] [-3.20078502e-01 9.47390902e-01 4.81314543e-04 -5.90897061e+01] [ 1.39602055e-03 -3.63924834e-05 9.99999025e-01 -2.77448379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52655999499996 meters 0.05357101284037254 Centerline is valid? [True, True] Translation: X:371.77, Y:-59.12, Z:-2.78 [[ 9.46604058e-01 3.22395937e-01 -1.27203885e-03 3.71774735e+02] [-3.22395600e-01 9.46604912e-01 4.67211033e-04 -5.91159410e+01] [ 1.35474517e-03 -3.21641304e-05 9.99999082e-01 -2.77730622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58655999499996 meters 0.05320616771604589 Centerline is valid? [True, True] Translation: X:371.83, Y:-59.13, Z:-2.78 [[ 9.45730102e-01 3.24950516e-01 -1.31779764e-03 3.71833757e+02] [-3.24950157e-01 9.45731020e-01 4.83909656e-04 -5.91325905e+01] [ 1.40352880e-03 -2.94293782e-05 9.99999015e-01 -2.77639096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64655999499996 meters 0.052963339145723536 Centerline is valid? [True, True] Translation: X:371.89, Y:-59.15, Z:-2.77 [[ 9.43718618e-01 3.30746356e-01 -1.42067927e-03 3.71892438e+02] [-3.30745946e-01 9.43719687e-01 5.21563288e-04 -5.91461357e+01] [ 1.51322815e-03 -2.23250777e-05 9.99998855e-01 -2.77498983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70655999499996 meters 0.05233453268290158 Centerline is valid? [True, True] Translation: X:371.95, Y:-59.16, Z:-2.78 [[ 9.40583328e-01 3.39561532e-01 -9.84248611e-04 3.71950055e+02] [-3.39561340e-01 9.40583843e-01 3.61435893e-04 -5.91629411e+01] [ 1.04849807e-03 -5.74779799e-06 9.99999450e-01 -2.77995623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76655999499997 meters 0.05257621561829785 Centerline is valid? [True, True] Translation: X:372.01, Y:-59.18, Z:-2.78 [[ 9.38419104e-01 3.45498346e-01 -6.91139669e-04 3.72010444e+02] [-3.45498252e-01 9.38419359e-01 2.54683908e-04 -5.91787071e+01] [ 7.36571714e-04 -2.12697300e-07 9.99999729e-01 -2.77627498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82655999499997 meters 0.05245192650123426 Centerline is valid? [True, True] Translation: X:372.07, Y:-59.19, Z:-2.78 [[ 9.35017391e-01 3.54599874e-01 -1.18675091e-03 3.72071095e+02] [-3.54599607e-01 9.35018144e-01 4.35996614e-04 -5.91912848e+01] [ 1.26423797e-03 1.31569886e-05 9.99999201e-01 -2.77959602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88655999499997 meters 0.05262833770755819 Centerline is valid? [True, True] Translation: X:372.13, Y:-59.20, Z:-2.78 [[ 9.31955876e-01 3.62570829e-01 -7.99805306e-04 3.72130205e+02] [-3.62570710e-01 9.31956219e-01 2.93929871e-04 -5.92031374e+01] [ 8.51953926e-04 1.60563072e-05 9.99999637e-01 -2.78065666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.946559995 meters 0.05242339243089999 Centerline is valid? [True, True] Translation: X:372.19, Y:-59.23, Z:-2.78 [[ 9.30724679e-01 3.65719881e-01 -7.35253566e-04 3.72186818e+02] [-3.65719781e-01 9.30724969e-01 2.70193079e-04 -5.92271031e+01] [ 7.83133834e-04 1.74214065e-05 9.99999693e-01 -2.77828077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.006559995 meters 0.05314205570037703 Centerline is valid? [True, True] Translation: X:372.25, Y:-59.24, Z:-2.78 [[ 9.30137044e-01 3.67212510e-01 -2.25552023e-04 3.72247665e+02] [-3.67212501e-01 9.30137072e-01 8.33072853e-05 -5.92380309e+01] [ 2.40385776e-04 5.33833039e-06 9.99999971e-01 -2.78157083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.066559995 meters 0.052116843295969634 Centerline is valid? [True, True] Translation: X:372.30, Y:-59.27, Z:-2.78 [[ 9.29769916e-01 3.68139764e-01 -1.00857708e-03 3.72303231e+02] [-3.68139578e-01 9.29770463e-01 3.70894726e-04 -5.92681037e+01] [ 1.07428627e-03 2.64503816e-05 9.99999423e-01 -2.77929985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.126559995 meters 0.053194232800871044 Centerline is valid? [True, True] Translation: X:372.36, Y:-59.29, Z:-2.78 [[ 9.29805582e-01 3.68030984e-01 -3.84369222e-03 3.72361801e+02] [-3.68028283e-01 9.29813521e-01 1.41355607e-03 -5.92866696e+01] [ 4.09414943e-03 1.00255127e-04 9.99991614e-01 -2.78304003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.186559995 meters 0.05193902792269744 Centerline is valid? [True, True] Translation: X:372.42, Y:-59.31, Z:-2.78 [[ 9.31317762e-01 3.64185411e-01 -4.02646743e-03 3.72417308e+02] [-3.64182415e-01 9.31326462e-01 1.47993912e-03 -5.93110279e+01] [ 4.28892790e-03 8.80750422e-05 9.99990799e-01 -2.78268585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.246559995 meters 0.053039458337043426 Centerline is valid? [True, True] Translation: X:372.47, Y:-59.34, Z:-2.78 [[ 9.34845457e-01 3.55042339e-01 -2.98469255e-03 3.72472292e+02] [-3.55040645e-01 9.34850221e-01 1.09721221e-03 -5.93384677e+01] [ 3.17979728e-03 3.39633119e-05 9.99994944e-01 -2.78189750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.306559995 meters 0.052192045953109986 Centerline is valid? [True, True] Translation: X:372.52, Y:-59.37, Z:-2.78 [[ 9.39859566e-01 3.41556446e-01 -1.78591174e-03 3.72524884e+02] [-3.41555815e-01 9.39861263e-01 6.56602941e-04 -5.93700385e+01] [ 1.90277623e-03 -7.12601390e-06 9.99998190e-01 -2.78375935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.366559995 meters 0.05271203701098168 Centerline is valid? [True, True] Translation: X:372.58, Y:-59.39, Z:-2.78 [[ 9.41613522e-01 3.36694400e-01 -9.25554099e-04 3.72581467e+02] [-3.36694227e-01 9.41613977e-01 3.41253099e-04 -5.93946084e+01] [ 9.86412683e-04 -9.69981002e-06 9.99999513e-01 -2.78186288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42655999499993 meters 0.05380031920417991 Centerline is valid? [True, True] Translation: X:372.64, Y:-59.43, Z:-2.78 [[ 9.47028811e-01 3.21147206e-01 -9.50396994e-04 3.72635425e+02] [-3.21147016e-01 9.47029288e-01 3.49668777e-04 -5.94255850e+01] [ 1.01234894e-03 -2.59292468e-05 9.99999487e-01 -2.78241269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48655999499994 meters 0.05352420524031702 Centerline is valid? [True, True] Translation: X:372.69, Y:-59.44, Z:-2.78 [[ 9.48748568e-01 3.16028898e-01 -1.37516557e-03 3.72693133e+02] [-3.16028496e-01 9.48749563e-01 5.05831902e-04 -5.94448991e+01] [ 1.46454523e-03 -4.53157858e-05 9.99998927e-01 -2.78193740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54655999499994 meters 0.054674539310775545 Centerline is valid? [True, True] Translation: X:372.75, Y:-59.47, Z:-2.78 [[ 9.53140863e-01 3.02525084e-01 -1.03414673e-03 3.72748704e+02] [-3.02524849e-01 9.53141422e-01 3.80657678e-04 -5.94665204e+01] [ 1.10084658e-03 -4.99653049e-05 9.99999393e-01 -2.78004560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60655999499994 meters 0.054103454120393316 Centerline is valid? [True, True] Translation: X:372.81, Y:-59.49, Z:-2.78 [[ 9.55839312e-01 2.93889369e-01 4.97688628e-04 3.72807135e+02] [-2.93889314e-01 9.55839441e-01 -1.82883399e-04 -5.94854947e+01] [-5.29457907e-04 2.85417725e-05 9.99999859e-01 -2.77953811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66655999499994 meters 0.05650798120875491 Centerline is valid? [True, True] Translation: X:372.86, Y:-59.52, Z:-2.78 [[ 9.56608031e-01 2.91375306e-01 1.22754181e-03 3.72857674e+02] [-2.91374966e-01 9.56608815e-01 -4.51277337e-04 -5.95207234e+01] [-1.30576839e-03 7.40205705e-05 9.99999145e-01 -2.78142753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72655999499995 meters 0.05498779281960596 Centerline is valid? [True, True] Translation: X:372.92, Y:-59.52, Z:-2.78 [[ 9.54796074e-01 2.97237699e-01 3.76930778e-03 3.72920666e+02] [-2.97234535e-01 9.54803492e-01 -1.38655176e-03 -5.95249764e+01] [-4.01108369e-03 2.03505738e-04 9.99991935e-01 -2.78094917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78655999499995 meters 0.0552816449125845 Centerline is valid? [True, True] Translation: X:372.98, Y:-59.55, Z:-2.78 [[ 9.52125573e-01 3.05677867e-01 4.23494083e-03 3.72977264e+02] [-3.05673955e-01 9.52134973e-01 -1.55795577e-03 -5.95459448e+01] [-4.50846787e-03 1.88858417e-04 9.99989819e-01 -2.78162042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84655999499995 meters 0.05389463855131279 Centerline is valid? [True, True] Translation: X:373.04, Y:-59.55, Z:-2.78 [[ 9.46153594e-01 3.23680903e-01 4.90402793e-03 3.73042611e+02] [-3.23675897e-01 9.46166296e-01 -1.80413686e-03 -5.95450276e+01] [-5.22399059e-03 1.19674939e-04 9.99986348e-01 -2.78347733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90655999499995 meters 0.05301465120314239 Centerline is valid? [True, True] Translation: X:373.10, Y:-59.55, Z:-2.79 [[ 9.37138289e-01 3.48925525e-01 4.77544298e-03 3.73104567e+02] [-3.48921102e-01 9.37150456e-01 -1.75691919e-03 -5.95513153e+01] [-5.08834252e-03 -1.97765816e-05 9.99987054e-01 -2.78580000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96655999499995 meters 0.052319955205971755 Centerline is valid? [True, True] Translation: X:373.17, Y:-59.56, Z:-2.79 [[ 9.32598446e-01 3.60886692e-01 4.57545202e-03 3.73165155e+02] [-3.60882774e-01 9.32609666e-01 -1.68344749e-03 -5.95591075e+01] [-4.87464458e-03 -8.12213038e-05 9.99988116e-01 -2.78750290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02655999499996 meters 0.05193568628933233 Centerline is valid? [True, True] Translation: X:373.22, Y:-59.58, Z:-2.79 [[ 9.31100849e-01 3.64719983e-01 5.52652750e-03 3.73222524e+02] [-3.64714335e-01 9.31117242e-01 -2.03337671e-03 -5.95786503e+01] [-5.88745817e-03 -1.22325022e-04 9.99982661e-01 -2.78775376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08655999499996 meters 0.05262346288574615 Centerline is valid? [True, True] Translation: X:373.28, Y:-59.59, Z:-2.79 [[ 9.30560005e-01 3.66089764e-01 6.03008602e-03 3.73282175e+02] [-3.66083069e-01 9.30579532e-01 -2.21866228e-03 -5.95929952e+01] [-6.42370418e-03 -1.42914008e-04 9.99979358e-01 -2.78835548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14655999499996 meters 0.051253597339476466 Centerline is valid? [True, True] Translation: X:373.34, Y:-59.62, Z:-2.79 [[ 9.31162885e-01 3.64572065e-01 4.78451271e-03 3.73338955e+02] [-3.64567829e-01 9.31175171e-01 -1.76057074e-03 -5.96190496e+01] [-5.09707435e-03 -1.04901277e-04 9.99987004e-01 -2.79002585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20655999499996 meters 0.052441351540218596 Centerline is valid? [True, True] Translation: X:373.40, Y:-59.64, Z:-2.79 [[ 9.32267229e-01 3.61756257e-01 3.19755576e-03 3.73397244e+02] [-3.61754348e-01 9.32272711e-01 -1.17673008e-03 -5.96355366e+01] [-3.40668345e-03 -5.97028070e-05 9.99994195e-01 -2.79246411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26655999499997 meters 0.05264823099644008 Centerline is valid? [True, True] Translation: X:373.45, Y:-59.66, Z:-2.79 [[ 9.33132179e-01 3.59530465e-01 1.47698426e-03 3.73454448e+02] [-3.59530055e-01 9.33133348e-01 -5.43481920e-04 -5.96608568e+01] [-1.57362157e-03 -2.38797634e-05 9.99998762e-01 -2.79446420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32655999499997 meters 0.052605128178307294 Centerline is valid? [True, True] Translation: X:373.51, Y:-59.69, Z:-2.80 [[ 9.34014662e-01 3.57234639e-01 1.56017890e-04 3.73511209e+02] [-3.57234635e-01 9.34014675e-01 -5.68829952e-05 -5.96880894e+01] [-1.66043575e-04 -2.60544256e-06 9.99999986e-01 -2.79514617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38655999499997 meters 0.05203965660106966 Centerline is valid? [True, True] Translation: X:373.57, Y:-59.71, Z:-2.80 [[ 9.35244490e-01 3.54002134e-01 4.83147989e-04 3.73567916e+02] [-3.54002090e-01 9.35244614e-01 -1.77064851e-04 -5.97138512e+01] [-5.14542890e-04 -5.43647151e-06 9.99999868e-01 -2.79560789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.446559995 meters 0.052425967515296226 Centerline is valid? [True, True] Translation: X:373.62, Y:-59.74, Z:-2.79 [[ 9.38259605e-01 3.45925931e-01 2.04043334e-03 3.73623153e+02] [-3.45925114e-01 9.38261824e-01 -7.51481105e-04 -5.97431461e+01] [-2.17441751e-03 -7.52772317e-07 9.99997636e-01 -2.79442830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.506559995 meters 0.05209216981793512 Centerline is valid? [True, True] Translation: X:373.68, Y:-59.77, Z:-2.79 [[ 9.40745025e-01 3.39106746e-01 2.32668884e-03 3.73679168e+02] [-3.39105664e-01 9.40747902e-01 -8.56583831e-04 -5.97702130e+01] [-2.47930100e-03 1.68336120e-05 9.99996926e-01 -2.79343420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.566559995 meters 0.05317461566800475 Centerline is valid? [True, True] Translation: X:373.73, Y:-59.80, Z:-2.79 [[ 9.44652681e-01 3.28057460e-01 3.10089245e-03 3.73733624e+02] [-3.28055476e-01 9.44657768e-01 -1.14278132e-03 -5.97982847e+01] [-3.30418008e-03 6.22666878e-05 9.99994539e-01 -2.79323320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.626559995 meters 0.05274243712812592 Centerline is valid? [True, True] Translation: X:373.79, Y:-59.83, Z:-2.79 [[ 9.48142018e-01 3.17824955e-01 3.74316806e-03 3.73787540e+02] [-3.17821982e-01 9.48149400e-01 -1.37968167e-03 -5.98258138e+01] [-3.98757981e-03 1.18473066e-04 9.99992043e-01 -2.79214813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.686559995 meters 0.05406789431853006 Centerline is valid? [True, True] Translation: X:373.84, Y:-59.86, Z:-2.79 [[ 9.50315543e-01 3.11274215e-01 2.95486019e-03 3.73840904e+02] [-3.11272331e-01 9.50320130e-01 -1.08909349e-03 -5.98554203e+01] [-3.14706984e-03 1.15216251e-04 9.99995041e-01 -2.79339155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.746559995 meters 0.05373651092783059 Centerline is valid? [True, True] Translation: X:373.90, Y:-59.86, Z:-2.79 [[ 9.51114025e-01 3.08826050e-01 2.92961527e-03 3.73902464e+02] [-3.08824187e-01 9.51118529e-01 -1.07981977e-03 -5.98634582e+01] [-3.11988784e-03 1.22295677e-04 9.99995126e-01 -2.79174890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.806559995 meters 0.054072858662120325 Centerline is valid? [True, True] Translation: X:373.96, Y:-59.89, Z:-2.79 [[ 9.50918097e-01 3.09440293e-01 1.21538366e-03 3.73958902e+02] [-3.09439974e-01 9.50918873e-01 -4.47278405e-04 -5.98904507e+01] [-1.29413722e-03 4.92368426e-05 9.99999161e-01 -2.79296721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.866559995 meters 0.053685951051344424 Centerline is valid? [True, True] Translation: X:374.02, Y:-59.91, Z:-2.79 [[ 9.49914189e-01 3.12508546e-01 1.20102192e-03 3.74016858e+02] [-3.12508235e-01 9.49914947e-01 -4.42796131e-04 -5.99091179e+01] [-1.27924625e-03 4.52890859e-05 9.99999181e-01 -2.79344164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92655999499993 meters 0.0536723076892687 Centerline is valid? [True, True] Translation: X:374.07, Y:-59.93, Z:-2.79 [[ 9.49146011e-01 3.14828040e-01 2.27052897e-03 3.74073844e+02] [-3.14826937e-01 9.49148723e-01 -8.37119705e-04 -5.99318262e+01] [-2.41861843e-03 7.97251470e-05 9.99997072e-01 -2.79332570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98655999499994 meters 0.053984070175907915 Centerline is valid? [True, True] Translation: X:374.13, Y:-59.95, Z:-2.79 [[ 9.48423886e-01 3.16985041e-01 3.55195742e-03 3.74132853e+02] [-3.16982356e-01 9.48430530e-01 -1.30981438e-03 -5.99482939e+01] [-3.78397642e-03 1.16351415e-04 9.99992834e-01 -2.79182659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04655999499994 meters 0.05361209627943198 Centerline is valid? [True, True] Translation: X:374.19, Y:-59.96, Z:-2.79 [[ 9.47916942e-01 3.18504178e-01 2.92581223e-03 3.74194797e+02] [-3.18502364e-01 9.47921453e-01 -1.07892440e-03 -5.99575652e+01] [-3.11708211e-03 9.08526051e-05 9.99995138e-01 -2.79138282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10655999499994 meters 0.05359283009367703 Centerline is valid? [True, True] Translation: X:374.25, Y:-59.98, Z:-2.79 [[ 9.47508192e-01 3.19720810e-01 2.61350837e-03 3.74250396e+02] [-3.19719368e-01 9.47511793e-01 -9.63416519e-04 -5.99840729e+01] [-2.78435431e-03 7.72558013e-05 9.99996121e-01 -2.79393313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16655999499994 meters 0.05377014621547619 Centerline is valid? [True, True] Translation: X:374.31, Y:-59.99, Z:-2.79 [[ 9.47177961e-01 3.20702257e-01 1.99329164e-03 3.74313509e+02] [-3.20701420e-01 9.47180056e-01 -7.34786753e-04 -5.99923599e+01] [-2.12365386e-03 5.67223590e-05 9.99997743e-01 -2.79372064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22655999499995 meters 0.054625464698190504 Centerline is valid? [True, True] Translation: X:374.38, Y:-60.00, Z:-2.79 [[ 9.47086017e-01 3.20978684e-01 8.72669222e-04 3.74376519e+02] [-3.20978524e-01 9.47086418e-01 -3.21162819e-04 -6.00046512e+01] [-9.29579587e-04 2.40607358e-05 9.99999568e-01 -2.79387284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28655999499995 meters 0.054556524539654164 Centerline is valid? [True, True] Translation: X:374.43, Y:-60.03, Z:-2.80 [[ 9.47108984e-01 3.20911434e-01 6.51018301e-04 3.74433022e+02] [-3.20911345e-01 9.47109208e-01 -2.39548352e-04 -6.00290357e+01] [-6.93459232e-04 1.79592384e-05 9.99999759e-01 -2.79596954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34655999499995 meters 0.05479177126436197 Centerline is valid? [True, True] Translation: X:374.49, Y:-60.04, Z:-2.80 [[ 9.48444062e-01 3.16943871e-01 6.65805290e-04 3.74492859e+02] [-3.16943777e-01 9.48444296e-01 -2.45813203e-04 -6.00425783e+01] [-7.09388218e-04 2.21172292e-05 9.99999748e-01 -2.79653080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40655999499995 meters 0.05531299601760318 Centerline is valid? [True, True] Translation: X:374.55, Y:-60.07, Z:-2.80 [[ 9.49007985e-01 3.15251768e-01 4.08508741e-04 3.74547025e+02] [-3.15251732e-01 9.49008073e-01 -1.50590863e-04 -6.00687308e+01] [-4.35152129e-04 1.41288432e-05 9.99999905e-01 -2.79824660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46655999499995 meters 0.05517947450264017 Centerline is valid? [True, True] Translation: X:374.61, Y:-60.08, Z:-2.80 [[ 9.50884377e-01 3.09545152e-01 8.36474905e-04 3.74606383e+02] [-3.09545000e-01 9.50884745e-01 -3.08906592e-04 -6.00834038e+01] [-8.91011765e-04 3.48078281e-05 9.99999602e-01 -2.79729538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52655999499996 meters 0.05518821651824819 Centerline is valid? [True, True] Translation: X:374.67, Y:-60.10, Z:-2.80 [[ 9.51896794e-01 3.06418080e-01 6.73904318e-04 3.74666711e+02] [-3.06417980e-01 9.51897032e-01 -2.48891209e-04 -6.00972003e+01] [-7.17752286e-04 3.04223446e-05 9.99999742e-01 -2.79635621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58655999499996 meters 0.05485432574477707 Centerline is valid? [True, True] Translation: X:374.73, Y:-60.12, Z:-2.80 [[ 9.52462948e-01 3.04653610e-01 7.14213497e-04 3.74725406e+02] [-3.04653498e-01 9.52463215e-01 -2.63759545e-04 -6.01150443e+01] [-7.60617381e-04 3.36335540e-05 9.99999710e-01 -2.79676874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64655999499996 meters 0.05599835272933872 Centerline is valid? [True, True] Translation: X:374.79, Y:-60.13, Z:-2.80 [[ 9.51718478e-01 3.06969695e-01 1.24289624e-03 3.74785710e+02] [-3.06969356e-01 9.51719288e-01 -4.59095725e-04 -6.01287332e+01] [-1.32381680e-03 5.53988256e-05 9.99999122e-01 -2.79741024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70655999499996 meters 0.055766727338777224 Centerline is valid? [True, True] Translation: X:374.84, Y:-60.14, Z:-2.80 [[ 9.50212346e-01 3.11602016e-01 8.24837759e-04 3.74844800e+02] [-3.11601869e-01 9.50212704e-01 -3.04740459e-04 -6.01418873e+01] [-8.78729059e-04 3.25471600e-05 9.99999613e-01 -2.79848619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76655999499997 meters 0.05573380476179229 Centerline is valid? [True, True] Translation: X:374.91, Y:-60.15, Z:-2.80 [[ 9.49488768e-01 3.13800883e-01 2.90661215e-04 3.74906693e+02] [-3.13800865e-01 9.49488813e-01 -1.07285111e-04 -6.01517810e+01] [-3.09645735e-04 1.06562670e-05 9.99999952e-01 -2.79777206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82655999499997 meters 0.05564237610391409 Centerline is valid? [True, True] Translation: X:374.96, Y:-60.17, Z:-2.80 [[ 9.49015410e-01 3.15229581e-01 2.51831003e-04 3.74964015e+02] [-3.15229568e-01 9.49015443e-01 -9.28642153e-05 -6.01731120e+01] [-2.68265059e-04 8.74499324e-06 9.99999964e-01 -2.79862234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88655999499997 meters 0.056202422243459615 Centerline is valid? [True, True] Translation: X:375.02, Y:-60.19, Z:-2.80 [[ 9.47260288e-01 3.20465201e-01 3.73851758e-05 3.75023273e+02] [-3.20465200e-01 9.47260289e-01 -1.37060859e-05 -6.01869666e+01] [-3.98058161e-05 1.00258305e-06 9.99999999e-01 -2.79941985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.946559995 meters 0.055519829443318465 Centerline is valid? [True, True] Translation: X:375.08, Y:-60.20, Z:-2.80 [[ 9.45043476e-01 3.26944616e-01 2.15909382e-04 3.75081177e+02] [-3.26944607e-01 9.45043501e-01 -7.98163382e-05 -6.02031238e+01] [-2.30139281e-04 4.83950167e-06 9.99999974e-01 -2.80051787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.006559995 meters 0.05561269847281738 Centerline is valid? [True, True] Translation: X:375.14, Y:-60.22, Z:-2.80 [[ 9.43655816e-01 3.30926863e-01 -1.05493105e-03 3.75141575e+02] [-3.30926634e-01 9.43656405e-01 3.90067108e-04 -6.02168428e+01] [ 1.12457613e-03 -1.89843139e-05 9.99999367e-01 -2.80059509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.066559995 meters 0.05566090995624257 Centerline is valid? [True, True] Translation: X:375.20, Y:-60.24, Z:-2.80 [[ 9.43248398e-01 3.32086735e-01 -9.27716085e-04 3.75198552e+02] [-3.32086557e-01 9.43248854e-01 3.43807091e-04 -6.02379166e+01] [ 9.89240908e-04 -1.62134468e-05 9.99999511e-01 -2.80171733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.126559995 meters 0.055244049839074404 Centerline is valid? [True, True] Translation: X:375.26, Y:-60.26, Z:-2.80 [[ 9.42611853e-01 3.33889824e-01 -6.93034809e-04 3.75256109e+02] [-3.33889726e-01 9.42612107e-01 2.57120512e-04 -6.02576333e+01] [ 7.39112925e-04 -1.09676402e-05 9.99999727e-01 -2.80282116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.186559995 meters 0.05547608561829218 Centerline is valid? [True, True] Translation: X:375.31, Y:-60.28, Z:-2.80 [[ 9.42226341e-01 3.34976188e-01 -6.89578401e-04 3.75314128e+02] [-3.34976091e-01 9.42226593e-01 2.55883206e-04 -6.02761634e+01] [ 7.35453889e-04 -1.01076198e-05 9.99999730e-01 -2.80308880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.246559995 meters 0.055826724547590495 Centerline is valid? [True, True] Translation: X:375.37, Y:-60.30, Z:-2.80 [[ 9.42217837e-01 3.35000703e-01 2.77022507e-04 3.75373417e+02] [-3.35000687e-01 9.42217878e-01 -1.02183948e-04 -6.02960436e+01] [-2.95247253e-04 3.47680822e-06 9.99999956e-01 -2.80211191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.306559995 meters 0.05630535683412994 Centerline is valid? [True, True] Translation: X:375.43, Y:-60.32, Z:-2.80 [[ 9.42389356e-01 3.34517228e-01 7.24462862e-04 3.75433293e+02] [-3.34517122e-01 9.42389635e-01 -2.67129180e-04 -6.03157663e+01] [-7.72085605e-04 9.39446487e-06 9.99999702e-01 -2.80142119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.366559995 meters 0.056122606633818205 Centerline is valid? [True, True] Translation: X:375.49, Y:-60.34, Z:-2.80 [[ 9.42808292e-01 3.33334680e-01 -7.18371790e-04 3.75491891e+02] [-3.33334573e-01 9.42808565e-01 2.66870041e-04 -6.03358962e+01] [ 7.66244117e-04 -1.21491333e-05 9.99999706e-01 -2.80244083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42655999499993 meters 0.056110280020364986 Centerline is valid? [True, True] Translation: X:375.55, Y:-60.36, Z:-2.80 [[ 9.43010311e-01 3.32763337e-01 -3.38827199e-04 3.75548255e+02] [-3.32763313e-01 9.43010372e-01 1.26317992e-04 -6.03589918e+01] [ 3.61551559e-04 -6.36990813e-06 9.99999935e-01 -2.80292301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48655999499994 meters 0.05665096117583502 Centerline is valid? [True, True] Translation: X:375.61, Y:-60.38, Z:-2.80 [[ 9.43115678e-01 3.32463517e-01 9.09546400e-04 3.75606151e+02] [-3.32463347e-01 9.43116117e-01 -3.36575046e-04 -6.03817460e+01] [-9.69706792e-04 1.50383620e-05 9.99999530e-01 -2.80284330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54655999499994 meters 0.05585745850999625 Centerline is valid? [True, True] Translation: X:375.66, Y:-60.40, Z:-2.80 [[ 9.42411607e-01 3.34454989e-01 4.73675914e-04 3.75663904e+02] [-3.34454943e-01 9.42411726e-01 -1.74645866e-04 -6.04007819e+01] [-5.04808917e-04 6.16504027e-06 9.99999873e-01 -2.80305071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60655999499994 meters 0.0560644838002453 Centerline is valid? [True, True] Translation: X:375.72, Y:-60.42, Z:-2.80 [[ 9.41405919e-01 3.37275462e-01 3.96960231e-04 3.75722511e+02] [-3.37275430e-01 9.41406003e-01 -1.46802793e-04 -6.04209249e+01] [-4.23213725e-04 4.31608541e-06 9.99999910e-01 -2.80293715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66655999499994 meters 0.05548950172467743 Centerline is valid? [True, True] Translation: X:375.78, Y:-60.44, Z:-2.81 [[ 9.39133349e-01 3.43552689e-01 3.19022867e-04 3.75781006e+02] [-3.43552669e-01 9.39133404e-01 -1.17967980e-04 -6.04408731e+01] [-3.40133248e-04 1.18650688e-06 9.99999942e-01 -2.80540761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72655999499995 meters 0.05564957120374028 Centerline is valid? [True, True] Translation: X:375.84, Y:-60.46, Z:-2.81 [[ 9.36562959e-01 3.50498954e-01 5.53422527e-04 3.75839400e+02] [-3.50498895e-01 9.36563123e-01 -2.04306218e-04 -6.04592006e+01] [-5.89924246e-04 -2.62834838e-06 9.99999826e-01 -2.80529462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78655999499995 meters 0.05538352205530843 Centerline is valid? [True, True] Translation: X:375.90, Y:-60.48, Z:-2.80 [[ 9.34445831e-01 3.56104389e-01 8.08650295e-04 3.75896949e+02] [-3.56104263e-01 9.34446181e-01 -2.99596660e-04 -6.04828858e+01] [-8.62327866e-04 -8.00696747e-06 9.99999628e-01 -2.80318653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84655999499995 meters 0.055124315680407654 Centerline is valid? [True, True] Translation: X:375.96, Y:-60.50, Z:-2.81 [[ 9.32879957e-01 3.60184533e-01 1.44489085e-03 3.75956642e+02] [-3.60184135e-01 9.32881076e-01 -5.35493998e-04 -6.05012426e+01] [-1.54078799e-03 -2.08751426e-05 9.99998813e-01 -2.80530211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90655999499995 meters 0.05511857095742457 Centerline is valid? [True, True] Translation: X:376.01, Y:-60.52, Z:-2.81 [[ 9.32087784e-01 3.62229731e-01 1.40866069e-03 3.76013073e+02] [-3.62229355e-01 9.32088849e-01 -5.22275226e-04 -6.05234371e+01] [-1.50218054e-03 -2.34518950e-05 9.99998871e-01 -2.80679026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96655999499995 meters 0.05500657425960382 Centerline is valid? [True, True] Translation: X:376.07, Y:-60.55, Z:-2.81 [[ 9.31918010e-01 3.62667072e-01 1.19052190e-03 3.76070971e+02] [-3.62666805e-01 9.31918770e-01 -4.40791541e-04 -6.05461742e+01] [-1.26933028e-03 -2.09811981e-05 9.99999194e-01 -2.80711373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02655999499996 meters 0.05493464867533905 Centerline is valid? [True, True] Translation: X:376.13, Y:-60.58, Z:-2.81 [[ 9.31632832e-01 3.63400759e-01 3.93361346e-04 3.76126992e+02] [-3.63400730e-01 9.31632915e-01 -1.45617105e-04 -6.05751340e+01] [-4.19385744e-04 -7.28612390e-06 9.99999912e-01 -2.80678762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08655999499996 meters 0.05470170142534851 Centerline is valid? [True, True] Translation: X:376.18, Y:-60.60, Z:-2.81 [[ 9.31279429e-01 3.64305559e-01 -2.89700496e-04 3.76181842e+02] [-3.64305543e-01 9.31279474e-01 1.08376491e-04 -6.06030666e+01] [ 3.09274284e-04 4.61070043e-06 9.99999952e-01 -2.80601550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14655999499996 meters 0.05499944967785892 Centerline is valid? [True, True] Translation: X:376.24, Y:-60.63, Z:-2.81 [[ 9.30357058e-01 3.66654631e-01 -3.53495905e-04 3.76236887e+02] [-3.66654608e-01 9.30357126e-01 1.31198953e-04 -6.06266329e+01] [ 3.76982138e-04 7.54903027e-06 9.99999929e-01 -2.80794114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20655999499996 meters 0.0545701245726793 Centerline is valid? [True, True] Translation: X:376.29, Y:-60.65, Z:-2.81 [[ 9.29467373e-01 3.68902400e-01 -1.19219851e-03 3.76292982e+02] [-3.68902135e-01 9.29468138e-01 4.42628008e-04 -6.06500409e+01] [ 1.27139706e-03 2.83962847e-05 9.99999191e-01 -2.81011427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26655999499997 meters 0.0548091048807186 Centerline is valid? [True, True] Translation: X:376.35, Y:-60.67, Z:-2.81 [[ 9.29198888e-01 3.69577216e-01 -1.45220319e-03 3.76350356e+02] [-3.69576823e-01 9.29200022e-01 5.40076729e-04 -6.06746122e+01] [ 1.54898729e-03 3.48619439e-05 9.99998800e-01 -2.81052350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32655999499997 meters 0.054461245507756835 Centerline is valid? [True, True] Translation: X:376.41, Y:-60.70, Z:-2.81 [[ 9.28750364e-01 3.70702741e-01 -1.49642192e-03 3.76405860e+02] [-3.70702326e-01 9.28751569e-01 5.56003214e-04 -6.07035847e+01] [ 1.59591612e-03 3.83388983e-05 9.99998726e-01 -2.81096224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38655999499997 meters 0.05454255049449642 Centerline is valid? [True, True] Translation: X:376.46, Y:-60.73, Z:-2.81 [[ 9.28600354e-01 3.71076059e-01 -1.98500911e-03 3.76461668e+02] [-3.71075328e-01 9.28602474e-01 7.38303081e-04 -6.07326478e+01] [ 2.11725097e-03 5.09994044e-05 9.99997757e-01 -2.81046036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.446559995 meters 0.0546058375709665 Centerline is valid? [True, True] Translation: X:376.52, Y:-60.76, Z:-2.81 [[ 9.28886453e-01 3.70359869e-01 -1.87727489e-03 3.76515856e+02] [-3.70359214e-01 9.28888349e-01 6.98437217e-04 -6.07615861e+01] [ 2.00245189e-03 4.64971835e-05 9.99997994e-01 -2.81074800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.506559995 meters 0.05355824554674991 Centerline is valid? [True, True] Translation: X:376.57, Y:-60.79, Z:-2.81 [[ 9.29301417e-01 3.69318977e-01 -1.53912260e-03 3.76570770e+02] [-3.69318534e-01 9.29302691e-01 5.73017587e-04 -6.07910801e+01] [ 1.64193704e-03 3.59204464e-05 9.99998651e-01 -2.80920841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.566559995 meters 0.05341424257945669 Centerline is valid? [True, True] Translation: X:376.63, Y:-60.82, Z:-2.81 [[ 9.30474523e-01 3.66355412e-01 -9.35227836e-04 3.76625863e+02] [-3.66355247e-01 9.30474993e-01 3.48000048e-04 -6.08204589e+01] [ 9.97697814e-04 1.88204462e-05 9.99999502e-01 -2.81018325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.626559995 meters 0.053092690651966555 Centerline is valid? [True, True] Translation: X:376.68, Y:-60.85, Z:-2.81 [[ 9.31771570e-01 3.63038221e-01 -2.23400833e-03 3.76679288e+02] [-3.63037273e-01 9.31774248e-01 8.30798545e-04 -6.08537297e+01] [ 2.38320306e-03 3.69138274e-05 9.99997159e-01 -2.81016027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.686559995 meters 0.05317701800641643 Centerline is valid? [True, True] Translation: X:376.73, Y:-60.88, Z:-2.81 [[ 9.32665367e-01 3.60731359e-01 -2.86342233e-03 3.76733902e+02] [-3.60729788e-01 9.32669762e-01 1.06535839e-03 -6.08819012e+01] [ 3.05493561e-03 3.92988549e-05 9.99995333e-01 -2.81081465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.746559995 meters 0.0529002268452784 Centerline is valid? [True, True] Translation: X:376.79, Y:-60.91, Z:-2.81 [[ 9.33087780e-01 3.59638865e-01 -2.66110296e-03 3.76790172e+02] [-3.59637504e-01 9.33091574e-01 9.90040617e-04 -6.09084948e+01] [ 2.83910983e-03 3.32376245e-05 9.99995969e-01 -2.81208887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.806559995 meters 0.053114500545274036 Centerline is valid? [True, True] Translation: X:376.84, Y:-60.94, Z:-2.81 [[ 9.32900370e-01 3.60121677e-01 -3.04598003e-03 3.76844785e+02] [-3.60119893e-01 9.32905341e-01 1.13416469e-03 -6.09387231e+01] [ 3.25004833e-03 3.88553450e-05 9.99994718e-01 -2.81269523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.866559995 meters 0.05248707340246887 Centerline is valid? [True, True] Translation: X:376.90, Y:-60.96, Z:-2.81 [[ 9.32478427e-01 3.61214121e-01 -2.88829022e-03 3.76900287e+02] [-3.61212521e-01 9.32482899e-01 1.07577426e-03 -6.09645205e+01] [ 3.08186609e-03 4.01503055e-05 9.99995250e-01 -2.81342109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92655999499993 meters 0.052338920852048464 Centerline is valid? [True, True] Translation: X:376.96, Y:-61.00, Z:-2.81 [[ 9.31516202e-01 3.63690144e-01 -2.65429483e-03 3.76955465e+02] [-3.63688804e-01 9.31519982e-01 9.88210951e-04 -6.09950685e+01] [ 2.83193126e-03 4.48028026e-05 9.99995989e-01 -2.81340423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98655999499994 meters 0.05226712773200883 Centerline is valid? [True, True] Translation: X:377.01, Y:-61.02, Z:-2.82 [[ 9.30273007e-01 3.66865193e-01 -1.43600041e-03 3.77011726e+02] [-3.66864803e-01 9.30274115e-01 5.35489130e-04 -6.10186725e+01] [ 1.53232633e-03 2.86669230e-05 9.99998826e-01 -2.81558557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04655999499994 meters 0.05184097613391177 Centerline is valid? [True, True] Translation: X:377.06, Y:-61.05, Z:-2.81 [[ 9.29059216e-01 3.69931036e-01 4.62100276e-05 3.77064771e+02] [-3.69931036e-01 9.29059217e-01 -1.70723728e-05 -6.10526589e+01] [-4.92474527e-05 -1.23327809e-06 9.99999999e-01 -2.81229813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10655999499994 meters 0.05132896310709832 Centerline is valid? [True, True] Translation: X:377.12, Y:-61.08, Z:-2.81 [[ 9.28316170e-01 3.71791684e-01 1.78046130e-04 3.77121145e+02] [-3.71791678e-01 9.28316188e-01 -6.58800443e-05 -6.10785334e+01] [-1.89776757e-04 -5.03855901e-06 9.99999982e-01 -2.81250081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16655999499994 meters 0.05148054467409479 Centerline is valid? [True, True] Translation: X:377.18, Y:-61.10, Z:-2.81 [[ 9.27852100e-01 3.72948300e-01 -2.14087881e-04 3.77176473e+02] [-3.72948291e-01 9.27852125e-01 8.05664565e-05 -6.11044673e+01] [ 2.28689018e-04 5.08995342e-06 9.99999974e-01 -2.81356241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22655999499995 meters 0.051700141001802424 Centerline is valid? [True, True] Translation: X:377.23, Y:-61.12, Z:-2.82 [[ 9.28139465e-01 3.72231844e-01 -7.67441716e-04 3.77234602e+02] [-3.72231734e-01 9.28139782e-01 2.86768716e-04 -6.11235714e+01] [ 8.19037635e-04 1.95047986e-05 9.99999664e-01 -2.81682639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28655999499995 meters 0.050832986958511725 Centerline is valid? [True, True] Translation: X:377.29, Y:-61.16, Z:-2.82 [[ 9.29435286e-01 3.68983500e-01 -1.10668968e-03 3.77286529e+02] [-3.68983271e-01 9.29435945e-01 4.12488321e-04 -6.11590839e+01] [ 1.18079855e-03 2.49687758e-05 9.99999303e-01 -2.81537801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34655999499995 meters 0.050788376522999175 Centerline is valid? [True, True] Translation: X:377.34, Y:-61.19, Z:-2.81 [[ 9.31090557e-01 3.64786846e-01 -9.64678500e-04 3.77340742e+02] [-3.64786670e-01 9.31091057e-01 3.59633027e-04 -6.11882677e+01] [ 1.02939292e-03 1.70509420e-05 9.99999470e-01 -2.81411603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40655999499995 meters 0.051347134944503076 Centerline is valid? [True, True] Translation: X:377.40, Y:-61.21, Z:-2.82 [[ 9.31660617e-01 3.63328622e-01 -8.98376999e-04 3.77399878e+02] [-3.63328467e-01 9.31661050e-01 3.35740458e-04 -6.12053146e+01] [ 9.58966976e-04 1.36097760e-05 9.99999540e-01 -2.81729015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46655999499995 meters 0.05158252151859253 Centerline is valid? [True, True] Translation: X:377.46, Y:-61.23, Z:-2.82 [[ 9.32112056e-01 3.62166644e-01 -1.56133495e-03 3.77458086e+02] [-3.62166176e-01 9.32113363e-01 5.82444733e-04 -6.12284797e+01] [ 1.66628322e-03 2.25589490e-05 9.99998611e-01 -2.81644012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52655999499996 meters 0.051914772016679094 Centerline is valid? [True, True] Translation: X:377.52, Y:-61.24, Z:-2.82 [[ 9.32424893e-01 3.61362355e-01 -1.03298474e-03 3.77517324e+02] [-3.61362149e-01 9.32425465e-01 3.86084932e-04 -6.12435683e+01] [ 1.10269784e-03 1.32863850e-05 9.99999392e-01 -2.81961216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58655999499996 meters 0.05149670822454092 Centerline is valid? [True, True] Translation: X:377.57, Y:-61.27, Z:-2.82 [[ 9.32586566e-01 3.60945952e-01 -5.62141813e-04 3.77574518e+02] [-3.60945891e-01 9.32586736e-01 2.10005219e-04 -6.12694925e+01] [ 6.00046532e-04 7.05473128e-06 9.99999820e-01 -2.81643373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64655999499996 meters 0.05118267046966996 Centerline is valid? [True, True] Translation: X:377.63, Y:-61.29, Z:-2.82 [[ 9.33171636e-01 3.59430906e-01 3.48843197e-04 3.77632336e+02] [-3.59430883e-01 9.33171701e-01 -1.29327574e-04 -6.12883102e+01] [-3.72014927e-04 -4.70019424e-06 9.99999931e-01 -2.81910231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70655999499996 meters 0.05204173801771118 Centerline is valid? [True, True] Translation: X:377.69, Y:-61.31, Z:-2.82 [[ 9.35098778e-01 3.54383751e-01 1.55956613e-03 3.77689213e+02] [-3.54383274e-01 9.35100079e-01 -5.81816709e-04 -6.13109086e+01] [-1.66453679e-03 -8.62805519e-06 9.99998615e-01 -2.81929898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76655999499997 meters 0.052080728572953386 Centerline is valid? [True, True] Translation: X:377.75, Y:-61.33, Z:-2.82 [[ 9.36538168e-01 3.50559180e-01 2.12629514e-03 3.77745911e+02] [-3.50558283e-01 9.36540582e-01 -7.92852770e-04 -6.13342181e+01] [-2.26930350e-03 -2.85349249e-06 9.99997425e-01 -2.81892562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82655999499997 meters 0.05175121696816937 Centerline is valid? [True, True] Translation: X:377.80, Y:-61.36, Z:-2.82 [[ 9.37774680e-01 3.47234949e-01 2.55715323e-03 3.77804979e+02] [-3.47233639e-01 9.37778167e-01 -9.53838123e-04 -6.13565891e+01] [-2.72924840e-03 6.55561904e-06 9.99996276e-01 -2.81581332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88655999499997 meters 0.0519620184493385 Centerline is valid? [True, True] Translation: X:377.86, Y:-61.38, Z:-2.82 [[ 9.37908448e-01 3.46879976e-01 1.42305929e-03 3.77862954e+02] [-3.46879570e-01 9.37909528e-01 -5.31123486e-04 -6.13783338e+01] [-1.51893697e-03 4.51501021e-06 9.99998846e-01 -2.82080431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.946559995 meters 0.05194117322599081 Centerline is valid? [True, True] Translation: X:377.92, Y:-61.40, Z:-2.82 [[ 9.37688390e-01 3.47477259e-01 1.93214918e-04 3.77920281e+02] [-3.47477252e-01 9.37688410e-01 -7.13280611e-05 -6.13993310e+01] [-2.05960269e-04 -2.54293940e-07 9.99999979e-01 -2.82316404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.006559995 meters 0.05216503356980832 Centerline is valid? [True, True] Translation: X:377.98, Y:-61.42, Z:-2.82 [[ 9.37252612e-01 3.48650810e-01 -3.92239232e-04 3.77979291e+02] [-3.48650778e-01 9.37252694e-01 1.47650294e-04 -6.14207075e+01] [ 4.19105672e-04 -1.63110967e-06 9.99999912e-01 -2.82291534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.066559995 meters 0.05233609290408464 Centerline is valid? [True, True] Translation: X:378.04, Y:-61.44, Z:-2.82 [[ 9.36353775e-01 3.51057316e-01 6.07020285e-04 3.78038460e+02] [-3.51057243e-01 9.36353972e-01 -2.26508231e-04 -6.14413052e+01] [-6.47903227e-04 -1.00703102e-06 9.99999790e-01 -2.82351392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.126559995 meters 0.051356351219018 Centerline is valid? [True, True] Translation: X:378.10, Y:-61.46, Z:-2.82 [[ 9.35496911e-01 3.53330631e-01 1.73073646e-03 3.78097066e+02] [-3.53330040e-01 9.35498512e-01 -6.46201625e-04 -6.14625919e+01] [-1.84742421e-03 -7.00156025e-06 9.99998293e-01 -2.82399119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.186559995 meters 0.051237122395309524 Centerline is valid? [True, True] Translation: X:378.16, Y:-61.48, Z:-2.82 [[ 9.35274381e-01 3.53920018e-01 1.56588564e-03 3.78155423e+02] [-3.53919535e-01 9.35275692e-01 -5.84796766e-04 -6.14841343e+01] [-1.67150606e-03 -7.25208320e-06 9.99998603e-01 -2.82479882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.246559995 meters 0.05148077796034726 Centerline is valid? [True, True] Translation: X:378.21, Y:-61.51, Z:-2.82 [[ 9.34636984e-01 3.55598383e-01 1.87050335e-03 3.78213544e+02] [-3.55597696e-01 9.34638855e-01 -6.99045837e-04 -6.15063739e+01] [-1.99682468e-03 -1.17925886e-05 9.99998006e-01 -2.82496593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.306559995 meters 0.051739939316247346 Centerline is valid? [True, True] Translation: X:378.27, Y:-61.53, Z:-2.83 [[ 9.34074122e-01 3.57073633e-01 1.98857084e-03 3.78271545e+02] [-3.57072859e-01 9.34076239e-01 -7.43535073e-04 -6.15265341e+01] [-2.12297354e-03 -1.55478058e-05 9.99997746e-01 -2.82605160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.366559995 meters 0.05137118573312834 Centerline is valid? [True, True] Translation: X:378.33, Y:-61.55, Z:-2.83 [[ 9.33590045e-01 3.58338900e-01 1.69146177e-03 3.78329092e+02] [-3.58338341e-01 9.33591577e-01 -6.33056674e-04 -6.15457816e+01] [-1.80598330e-03 -1.51001981e-05 9.99998369e-01 -2.82745455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42655999499993 meters 0.05139797375292195 Centerline is valid? [True, True] Translation: X:378.39, Y:-61.57, Z:-2.83 [[ 9.32924403e-01 3.60069352e-01 1.45584320e-03 3.78386752e+02] [-3.60068941e-01 9.32925539e-01 -5.44288151e-04 -6.15680075e+01] [-1.55417478e-03 -1.64242201e-05 9.99998792e-01 -2.82783097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48655999499994 meters 0.05155090190610993 Centerline is valid? [True, True] Translation: X:378.44, Y:-61.59, Z:-2.83 [[ 9.32603949e-01 3.60900165e-01 9.71989124e-04 3.78444900e+02] [-3.60899982e-01 9.32604456e-01 -3.63285350e-04 -6.15878773e+01] [-1.03759113e-03 -1.19895046e-05 9.99999462e-01 -2.82971829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54655999499994 meters 0.051353566461014855 Centerline is valid? [True, True] Translation: X:378.50, Y:-61.61, Z:-2.83 [[ 9.32799958e-01 3.60393926e-01 6.76340174e-04 3.78501704e+02] [-3.60393837e-01 9.32800203e-01 -2.52541920e-04 -6.16135176e+01] [-7.21904826e-04 -8.17773824e-06 9.99999739e-01 -2.82887064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60655999499994 meters 0.051593218620921755 Centerline is valid? [True, True] Translation: X:378.56, Y:-61.64, Z:-2.83 [[ 9.33293890e-01 3.59112519e-01 8.44517586e-04 3.78560034e+02] [-3.59112381e-01 9.33294272e-01 -3.15654173e-04 -6.16361559e+01] [-9.01538791e-04 -8.67860958e-06 9.99999594e-01 -2.82931172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66655999499994 meters 0.05150181743867893 Centerline is valid? [True, True] Translation: X:378.62, Y:-61.66, Z:-2.83 [[ 9.33717957e-01 3.58009428e-01 -1.62697023e-04 3.78618474e+02] [-3.58009422e-01 9.33717971e-01 6.20447362e-05 -6.16590594e+01] [ 1.74125735e-04 3.14782963e-07 9.99999985e-01 -2.83030199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72655999499995 meters 0.051425689921337406 Centerline is valid? [True, True] Translation: X:378.68, Y:-61.68, Z:-2.83 [[ 9.34914928e-01 3.54868937e-01 -1.45420158e-03 3.78675596e+02] [-3.54868517e-01 9.34916059e-01 5.45703289e-04 -6.16835506e+01] [ 1.55320955e-03 5.86420611e-06 9.99998794e-01 -2.83128972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78655999499995 meters 0.0511145217658165 Centerline is valid? [True, True] Translation: X:378.73, Y:-61.71, Z:-2.83 [[ 9.36213722e-01 3.51430198e-01 -8.26061315e-04 3.78732335e+02] [-3.51430061e-01 9.36214086e-01 3.10744310e-04 -6.17068697e+01] [ 8.82575174e-04 -6.20308870e-07 9.99999611e-01 -2.83280894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84655999499995 meters 0.051645435145995226 Centerline is valid? [True, True] Translation: X:378.79, Y:-61.73, Z:-2.83 [[ 9.37468588e-01 3.48065017e-01 1.84123959e-03 3.78789853e+02] [-3.48064333e-01 9.37470396e-01 -6.90114053e-04 -6.17302183e+01] [-1.96631217e-03 6.09041677e-06 9.99998067e-01 -2.83007494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90655999499995 meters 0.05157153678454972 Centerline is valid? [True, True] Translation: X:378.85, Y:-61.75, Z:-2.83 [[ 9.37927521e-01 3.46821499e-01 2.61030803e-03 3.78849074e+02] [-3.46820117e-01 9.37931153e-01 -9.79333087e-04 -6.17527723e+01] [-2.78794299e-03 1.32361177e-05 9.99996114e-01 -2.82989447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96655999499995 meters 0.052354821472255356 Centerline is valid? [True, True] Translation: X:378.91, Y:-61.77, Z:-2.83 [[ 9.39226725e-01 3.43284796e-01 2.95076801e-03 3.78906409e+02] [-3.43283012e-01 9.39231360e-01 -1.10709796e-03 -6.17747205e+01] [-3.15150375e-03 2.68674584e-05 9.99995034e-01 -2.82972609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02655999499996 meters 0.05251446711998338 Centerline is valid? [True, True] Translation: X:378.96, Y:-61.80, Z:-2.83 [[ 9.40264392e-01 3.40437692e-01 2.24755140e-03 3.78964327e+02] [-3.40436648e-01 9.40267077e-01 -8.43668696e-04 -6.17965850e+01] [-2.40051521e-03 2.81227699e-05 9.99997118e-01 -2.83167148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08655999499996 meters 0.05263141311647622 Centerline is valid? [True, True] Translation: X:379.02, Y:-61.82, Z:-2.83 [[ 9.40557317e-01 3.39630834e-01 1.68216780e-03 3.79022577e+02] [-3.39630249e-01 9.40558821e-01 -6.30979167e-04 -6.18180752e+01] [-1.79647774e-03 2.21570054e-05 9.99998386e-01 -2.83247069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14655999499996 meters 0.05254037313666387 Centerline is valid? [True, True] Translation: X:379.08, Y:-61.83, Z:-2.83 [[ 9.40611473e-01 3.39484188e-01 7.37451576e-04 3.79081768e+02] [-3.39484075e-01 9.40611762e-01 -2.76257112e-04 -6.18344617e+01] [-7.87440547e-04 9.49754204e-06 9.99999690e-01 -2.83151105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20655999499996 meters 0.05263759978427329 Centerline is valid? [True, True] Translation: X:379.14, Y:-61.86, Z:-2.83 [[ 9.40439804e-01 3.39960255e-01 -3.32563972e-06 3.79140432e+02] [-3.39960255e-01 9.40439804e-01 1.96692593e-06 -6.18584135e+01] [ 3.79624049e-06 -7.19190103e-07 1.00000000e+00 -2.83382731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26655999499997 meters 0.05227598960222163 Centerline is valid? [True, True] Translation: X:379.20, Y:-61.88, Z:-2.83 [[ 9.39850896e-01 3.41584912e-01 2.03635145e-04 3.79197622e+02] [-3.41584904e-01 9.39850918e-01 -7.56440290e-05 -6.18800237e+01] [-2.17225537e-04 1.53541691e-06 9.99999976e-01 -2.83476837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32655999499997 meters 0.05235012503760326 Centerline is valid? [True, True] Translation: X:379.26, Y:-61.90, Z:-2.83 [[ 9.39025875e-01 3.43845208e-01 9.37408217e-04 3.79255776e+02] [-3.43845028e-01 9.39026343e-01 -3.51749117e-04 -6.18999747e+01] [-1.00119826e-03 7.97836790e-06 9.99999499e-01 -2.83477130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38655999499997 meters 0.05254317870418783 Centerline is valid? [True, True] Translation: X:379.32, Y:-61.92, Z:-2.83 [[ 9.38372542e-01 3.45622825e-01 1.35440650e-03 3.79315073e+02] [-3.45622451e-01 9.38373520e-01 -5.08708814e-04 -6.19185563e+01] [-1.44676057e-03 9.24508818e-06 9.99998953e-01 -2.83380860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.446559995 meters 0.05262905927735477 Centerline is valid? [True, True] Translation: X:379.37, Y:-61.94, Z:-2.83 [[ 9.37564238e-01 3.47808408e-01 1.61583883e-03 3.79372929e+02] [-3.47807878e-01 9.37565630e-01 -6.07603982e-04 -6.19390040e+01] [-1.72628473e-03 7.66628957e-06 9.99998510e-01 -2.83479986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.506559995 meters 0.05167223442179469 Centerline is valid? [True, True] Translation: X:379.43, Y:-61.96, Z:-2.83 [[ 9.36359199e-01 3.51036465e-01 2.20265271e-03 3.79432541e+02] [-3.51035487e-01 9.36361789e-01 -8.28370399e-04 -6.19574519e+01] [-2.35326805e-03 2.44297709e-06 9.99997231e-01 -2.83435984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.566559995 meters 0.051599532241104584 Centerline is valid? [True, True] Translation: X:379.49, Y:-61.98, Z:-2.83 [[ 9.35236886e-01 3.54006595e-01 3.36119205e-03 3.79492114e+02] [-3.54004335e-01 9.35242926e-01 -1.26497015e-03 -6.19766594e+01] [-3.59133886e-03 -6.82981072e-06 9.99993551e-01 -2.83437895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.626559995 meters 0.05120931610089734 Centerline is valid? [True, True] Translation: X:379.55, Y:-61.99, Z:-2.84 [[ 9.33402691e-01 3.58817704e-01 3.04483075e-03 3.79550650e+02] [-3.58815874e-01 9.33407657e-01 -1.14627304e-03 -6.19945158e+01] [-3.25337140e-03 -2.25992622e-05 9.99994708e-01 -2.83611925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.686559995 meters 0.051202168148355605 Centerline is valid? [True, True] Translation: X:379.61, Y:-62.02, Z:-2.84 [[ 9.32272182e-01 3.61753731e-01 1.67835016e-03 3.79609268e+02] [-3.61753180e-01 9.32273692e-01 -6.31620684e-04 -6.20152830e+01] [-1.79317284e-03 -1.83061157e-05 9.99998392e-01 -2.83719654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.746559995 meters 0.051275991395918354 Centerline is valid? [True, True] Translation: X:379.67, Y:-62.04, Z:-2.84 [[ 9.31938881e-01 3.62612876e-01 1.35052715e-03 3.79667832e+02] [-3.62612521e-01 9.31939859e-01 -5.08250263e-04 -6.20368608e+01] [-1.44290817e-03 -1.60598723e-05 9.99998959e-01 -2.83719821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.806559995 meters 0.05183920367784505 Centerline is valid? [True, True] Translation: X:379.73, Y:-62.06, Z:-2.84 [[ 9.31834533e-01 3.62883455e-01 -2.09851185e-05 3.79726029e+02] [-3.62883455e-01 9.31834534e-01 8.82263553e-06 -6.20583535e+01] [ 2.27562465e-05 -6.06084144e-07 1.00000000e+00 -2.83901983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.866559995 meters 0.05166123861559441 Centerline is valid? [True, True] Translation: X:379.78, Y:-62.08, Z:-2.84 [[ 9.31913925e-01 3.62679455e-01 -2.24065454e-04 3.79783637e+02] [-3.62679445e-01 9.31913952e-01 8.55071455e-05 -6.20804727e+01] [ 2.39821408e-04 1.57863490e-06 9.99999971e-01 -2.83935069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92655999499993 meters 0.05174384408371581 Centerline is valid? [True, True] Translation: X:379.84, Y:-62.11, Z:-2.84 [[ 9.32826103e-01 3.60326715e-01 -3.46982434e-04 3.79840890e+02] [-3.60326691e-01 9.32826167e-01 1.31850422e-04 -6.21054932e+01] [ 3.71183523e-04 2.03351722e-06 9.99999931e-01 -2.83869759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98655999499994 meters 0.05173619053737058 Centerline is valid? [True, True] Translation: X:379.90, Y:-62.13, Z:-2.84 [[ 9.33760799e-01 3.57897433e-01 -4.45082385e-04 3.79898244e+02] [-3.57897393e-01 9.33760905e-01 1.68928505e-04 -6.21293119e+01] [ 4.76059609e-04 1.55500986e-06 9.99999887e-01 -2.83986325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04655999499994 meters 0.05191136326448279 Centerline is valid? [True, True] Translation: X:379.95, Y:-62.15, Z:-2.84 [[ 9.35230880e-01 3.54038214e-01 -3.81303133e-04 3.79953918e+02] [-3.54038184e-01 9.35230957e-01 1.44899630e-04 -6.21549466e+01] [ 4.07906500e-04 -5.18739976e-07 9.99999917e-01 -2.84192074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10655999499994 meters 0.05219148955090895 Centerline is valid? [True, True] Translation: X:380.01, Y:-62.18, Z:-2.84 [[ 9.35592031e-01 3.53082915e-01 8.36697469e-05 3.80012354e+02] [-3.53082913e-01 9.35592035e-01 -3.05545345e-05 -6.21789801e+01] [-8.90690330e-05 -9.55778990e-07 9.99999996e-01 -2.83938298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16655999499994 meters 0.051750158360396314 Centerline is valid? [True, True] Translation: X:380.07, Y:-62.20, Z:-2.84 [[ 9.36790657e-01 3.49887700e-01 1.36497959e-03 3.80068724e+02] [-3.49887321e-01 9.36791651e-01 -5.14939675e-04 -6.22045493e+01] [-1.45887254e-03 4.80162339e-06 9.99998936e-01 -2.83760796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22655999499995 meters 0.05206504428568942 Centerline is valid? [True, True] Translation: X:380.13, Y:-62.23, Z:-2.84 [[ 9.37982369e-01 3.46678422e-01 1.77405418e-03 3.80125083e+02] [-3.46677774e-01 9.37984047e-01 -6.70293096e-04 -6.22308075e+01] [-1.89641067e-03 1.36979532e-05 9.99998202e-01 -2.83996829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28655999499995 meters 0.051633935905585876 Centerline is valid? [True, True] Translation: X:380.18, Y:-62.25, Z:-2.84 [[ 9.38416699e-01 3.45503318e-01 1.24735420e-03 3.80182861e+02] [-3.45502998e-01 9.38417528e-01 -4.70751436e-04 -6.22534415e+01] [-1.33318523e-03 1.07963917e-05 9.99999111e-01 -2.84001168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34655999499995 meters 0.05165955053628125 Centerline is valid? [True, True] Translation: X:380.24, Y:-62.28, Z:-2.84 [[ 9.38324940e-01 3.45753744e-01 8.09905982e-04 3.80241392e+02] [-3.45753609e-01 9.38325289e-01 -3.05328147e-04 -6.22762635e+01] [-8.65523615e-04 6.46909867e-06 9.99999625e-01 -2.84149137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40655999499995 meters 0.0523232400133988 Centerline is valid? [True, True] Translation: X:380.30, Y:-62.29, Z:-2.84 [[ 9.37805889e-01 3.47160039e-01 -1.43561257e-04 3.80300842e+02] [-3.47160035e-01 9.37805900e-01 5.53218343e-05 -6.22944077e+01] [ 1.53838124e-04 -2.04241088e-06 9.99999988e-01 -2.83919446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46655999499995 meters 0.05182285776935698 Centerline is valid? [True, True] Translation: X:380.36, Y:-62.32, Z:-2.84 [[ 9.36767838e-01 3.49951395e-01 -1.95788672e-04 3.80358392e+02] [-3.49951387e-01 9.36767859e-01 7.44397042e-05 -6.23183910e+01] [ 2.09458813e-04 -1.21620356e-06 9.99999978e-01 -2.84264446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52655999499996 meters 0.05144997823760641 Centerline is valid? [True, True] Translation: X:380.42, Y:-62.34, Z:-2.84 [[ 9.35786605e-01 3.52566633e-01 4.45942502e-04 3.80416232e+02] [-3.52566593e-01 9.35786712e-01 -1.67912425e-04 -6.23396330e+01] [-4.76507385e-04 -9.42304317e-08 9.99999886e-01 -2.84330991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58655999499996 meters 0.05175290743634253 Centerline is valid? [True, True] Translation: X:380.47, Y:-62.36, Z:-2.84 [[ 9.33982939e-01 3.57313180e-01 1.77812244e-03 3.80474212e+02] [-3.57312547e-01 9.33984631e-01 -6.72634955e-04 -6.23588844e+01] [-1.90108037e-03 -7.11588703e-06 9.99998193e-01 -2.84211541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64655999499996 meters 0.051232037564792166 Centerline is valid? [True, True] Translation: X:380.53, Y:-62.38, Z:-2.84 [[ 9.32421335e-01 3.61367473e-01 2.00079738e-03 3.80533530e+02] [-3.61366679e-01 9.32423482e-01 -7.57582250e-04 -6.23787306e+01] [-2.13935605e-03 -1.66356541e-05 9.99997711e-01 -2.84350994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70655999499996 meters 0.05111423486338758 Centerline is valid? [True, True] Translation: X:380.59, Y:-62.40, Z:-2.84 [[ 9.31348080e-01 3.64127222e-01 1.45615431e-03 3.80591845e+02] [-3.64126805e-01 9.31349218e-01 -5.50937632e-04 -6.23973751e+01] [-1.55679957e-03 -1.71101131e-05 9.99998788e-01 -2.84495426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76655999499997 meters 0.05180692298360242 Centerline is valid? [True, True] Translation: X:380.65, Y:-62.42, Z:-2.85 [[ 9.31146999e-01 3.64642472e-01 1.06536059e-03 3.80649354e+02] [-3.64642249e-01 9.31147608e-01 -4.03023981e-04 -6.24169189e+01] [-1.13896762e-03 -1.32009100e-05 9.99999351e-01 -2.84665821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82655999499997 meters 0.051059325975347555 Centerline is valid? [True, True] Translation: X:380.71, Y:-62.44, Z:-2.85 [[ 9.31208340e-01 3.64485906e-01 1.02574472e-03 3.80706767e+02] [-3.64485699e-01 9.31208905e-01 -3.87922586e-04 -6.24421647e+01] [-1.09657494e-03 -1.26325357e-05 9.99999399e-01 -2.84525622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88655999499997 meters 0.050863946805814395 Centerline is valid? [True, True] Translation: X:380.76, Y:-62.47, Z:-2.85 [[ 9.32163597e-01 3.62031999e-01 1.96464502e-03 3.80763868e+02] [-3.62031234e-01 9.32165667e-01 -7.44304854e-04 -6.24667230e+01] [-2.10083681e-03 -1.74489717e-05 9.99997793e-01 -2.84521242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.946559995 meters 0.050943688518486276 Centerline is valid? [True, True] Translation: X:380.82, Y:-62.49, Z:-2.85 [[ 9.33280869e-01 3.59142543e-01 1.85819146e-03 3.80820920e+02] [-3.59141852e-01 9.33282719e-01 -7.04220805e-04 -6.24888933e+01] [-1.98713363e-03 -1.01185176e-05 9.99998026e-01 -2.84759116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.006559995 meters 0.050391168940888346 Centerline is valid? [True, True] Translation: X:380.88, Y:-62.52, Z:-2.85 [[ 9.34793415e-01 3.55188320e-01 1.59001489e-03 3.80877651e+02] [-3.55187809e-01 9.34794767e-01 -6.02650836e-04 -6.25150083e+01] [-1.70039213e-03 -1.39986985e-06 9.99998554e-01 -2.84814206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.066559995 meters 0.0515041246633935 Centerline is valid? [True, True] Translation: X:380.93, Y:-62.54, Z:-2.85 [[ 9.36861466e-01 3.49700598e-01 2.92758379e-04 3.80934450e+02] [-3.49700580e-01 9.36861512e-01 -1.10236512e-04 -6.25390074e+01] [-3.12823832e-04 8.98564766e-07 9.99999951e-01 -2.84808087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.126559995 meters 0.05149814201596352 Centerline is valid? [True, True] Translation: X:380.99, Y:-62.56, Z:-2.85 [[ 9.37535860e-01 3.47888431e-01 -3.88435918e-04 3.80991183e+02] [-3.47888400e-01 9.37535940e-01 1.48006927e-04 -6.25611553e+01] [ 4.15662532e-04 -3.62945179e-06 9.99999914e-01 -2.84964141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.186559995 meters 0.051491196555456926 Centerline is valid? [True, True] Translation: X:381.05, Y:-62.58, Z:-2.85 [[ 9.38431828e-01 3.45462199e-01 -1.25416682e-03 3.81047998e+02] [-3.45461869e-01 9.38432666e-01 4.77312829e-04 -6.25845633e+01] [ 1.34184465e-03 -1.46587387e-05 9.99999100e-01 -2.85103825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.246559995 meters 0.05155297534404269 Centerline is valid? [True, True] Translation: X:381.11, Y:-62.60, Z:-2.85 [[ 9.38945180e-01 3.44065063e-01 -1.08729677e-03 3.81107234e+02] [-3.44064815e-01 9.38945809e-01 4.13437843e-04 -6.26046611e+01] [ 1.16316226e-03 -1.40949090e-05 9.99999323e-01 -2.84943277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.306559995 meters 0.05285434830742262 Centerline is valid? [True, True] Translation: X:381.16, Y:-62.63, Z:-2.85 [[ 9.39893899e-01 3.41466120e-01 -5.89383457e-04 3.81163312e+02] [-3.41466046e-01 9.39894084e-01 2.24074090e-04 -6.26280569e+01] [ 6.30471734e-04 -9.35143104e-06 9.99999801e-01 -2.85074747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.366559995 meters 0.0525144784434599 Centerline is valid? [True, True] Translation: X:381.22, Y:-62.65, Z:-2.85 [[ 9.40283376e-01 3.40392389e-01 4.41149639e-04 3.81222197e+02] [-3.40392348e-01 9.40283479e-01 -1.66801032e-04 -6.26466048e+01] [-4.71583519e-04 6.67627564e-06 9.99999889e-01 -2.84858003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42655999499993 meters 0.05218239647358509 Centerline is valid? [True, True] Translation: X:381.28, Y:-62.66, Z:-2.85 [[ 9.40075255e-01 3.40964211e-01 1.38630918e-03 3.81281856e+02] [-3.40963806e-01 9.40076277e-01 -5.26164999e-04 -6.26649446e+01] [-1.48263981e-03 2.19534399e-05 9.99998901e-01 -2.84844803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48655999499994 meters 0.05180928478402299 Centerline is valid? [True, True] Translation: X:381.34, Y:-62.69, Z:-2.85 [[ 9.39385626e-01 3.42858182e-01 1.70657090e-03 3.81339228e+02] [-3.42857570e-01 9.39387176e-01 -6.48225513e-04 -6.26853129e+01] [-1.82538023e-03 2.38229800e-05 9.99998334e-01 -2.84930792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54655999499994 meters 0.05252723233257391 Centerline is valid? [True, True] Translation: X:381.40, Y:-62.70, Z:-2.85 [[ 9.37724222e-01 3.47380561e-01 1.69542661e-04 3.81400812e+02] [-3.47380555e-01 9.37724238e-01 -6.42161602e-05 -6.26970897e+01] [-1.81291709e-04 1.32122514e-06 9.99999984e-01 -2.84722855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60655999499994 meters 0.052400304950512726 Centerline is valid? [True, True] Translation: X:381.46, Y:-62.72, Z:-2.85 [[ 9.36066128e-01 3.51824018e-01 -2.52197832e-04 3.81458269e+02] [-3.51824005e-01 9.36066162e-01 9.64236061e-05 -6.27169190e+01] [ 2.69997997e-04 -1.52962036e-06 9.99999964e-01 -2.84991934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66655999499994 meters 0.052174193996218754 Centerline is valid? [True, True] Translation: X:381.52, Y:-62.73, Z:-2.85 [[ 9.33475615e-01 3.58640429e-01 -5.65088788e-04 3.81518873e+02] [-3.58640364e-01 9.33475786e-01 2.15734536e-04 -6.27342944e+01] [ 6.04867827e-04 1.28071995e-06 9.99999817e-01 -2.85414034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72655999499995 meters 0.05169544170158058 Centerline is valid? [True, True] Translation: X:381.58, Y:-62.75, Z:-2.85 [[ 9.32001779e-01 3.62453436e-01 -4.35683923e-04 3.81577195e+02] [-3.62453398e-01 9.32001881e-01 1.66293673e-04 -6.27521784e+01] [ 4.66331949e-04 2.92911953e-06 9.99999891e-01 -2.85430093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78655999499995 meters 0.051341629451581106 Centerline is valid? [True, True] Translation: X:381.64, Y:-62.77, Z:-2.85 [[ 9.30688663e-01 3.65812247e-01 1.15991863e-04 3.81635316e+02] [-3.65812244e-01 9.30688670e-01 -4.33305552e-05 -6.27728479e+01] [-1.23803160e-04 -2.10398706e-06 9.99999992e-01 -2.85196444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84655999499995 meters 0.051561029422399964 Centerline is valid? [True, True] Translation: X:381.69, Y:-62.79, Z:-2.85 [[ 9.30010119e-01 3.67533511e-01 5.43685510e-04 3.81693099e+02] [-3.67533454e-01 9.30010278e-01 -2.06147859e-04 -6.27945616e+01] [-5.81399359e-04 -8.10301845e-06 9.99999831e-01 -2.85120396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90655999499995 meters 0.05166696386534309 Centerline is valid? [True, True] Translation: X:381.75, Y:-62.81, Z:-2.86 [[ 9.29580323e-01 3.68619570e-01 1.91827465e-04 3.81753075e+02] [-3.68619563e-01 9.29580342e-01 -7.22330068e-05 -6.28090049e+01] [-2.04945541e-04 -3.56497451e-06 9.99999979e-01 -2.85538009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96655999499995 meters 0.05166463588689189 Centerline is valid? [True, True] Translation: X:381.81, Y:-62.84, Z:-2.85 [[ 9.30821164e-01 3.65473815e-01 -9.21981033e-04 3.81809657e+02] [-3.65473646e-01 9.30821621e-01 3.51638643e-04 -6.28365433e+01] [ 9.86714596e-04 9.64707915e-06 9.99999513e-01 -2.85410322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02655999499996 meters 0.05159089128681509 Centerline is valid? [True, True] Translation: X:381.87, Y:-62.86, Z:-2.85 [[ 9.31494032e-01 3.63755215e-01 -1.00563520e-03 3.81867207e+02] [-3.63755012e-01 9.31494575e-01 3.84236747e-04 -6.28603501e+01] [ 1.07651186e-03 7.89060847e-06 9.99999421e-01 -2.85429644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08655999499996 meters 0.051837475487951534 Centerline is valid? [True, True] Translation: X:381.92, Y:-62.89, Z:-2.85 [[ 9.33339357e-01 3.58994632e-01 -7.06334517e-04 3.81924336e+02] [-3.58994531e-01 9.33339624e-01 2.70242925e-04 -6.28853511e+01] [ 7.56265751e-04 1.34187072e-06 9.99999714e-01 -2.85436586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14655999499996 meters 0.051591134646828886 Centerline is valid? [True, True] Translation: X:381.98, Y:-62.91, Z:-2.86 [[ 9.36625164e-01 3.50333113e-01 1.05160360e-04 3.81979153e+02] [-3.50333111e-01 9.36625170e-01 -3.91993763e-05 -6.29140777e+01] [-1.12228680e-04 -1.26033751e-07 9.99999994e-01 -2.85637699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20655999499996 meters 0.05175958403138415 Centerline is valid? [True, True] Translation: X:382.04, Y:-62.94, Z:-2.86 [[ 9.39100618e-01 3.43641429e-01 7.73545900e-04 3.82035035e+02] [-3.43641303e-01 9.39100936e-01 -2.94949566e-04 -6.29396244e+01] [-8.27794570e-04 1.11649989e-05 9.99999657e-01 -2.85507253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26655999499997 meters 0.05231344263452665 Centerline is valid? [True, True] Translation: X:382.09, Y:-62.97, Z:-2.85 [[ 9.42660341e-01 3.33750063e-01 1.54149187e-03 3.82089013e+02] [-3.33749548e-01 9.42661601e-01 -5.88031695e-04 -6.29654429e+01] [-1.64936081e-03 3.98419444e-05 9.99998639e-01 -2.85416598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32655999499997 meters 0.0539989389887342 Centerline is valid? [True, True] Translation: X:382.14, Y:-62.99, Z:-2.86 [[ 9.45713581e-01 3.24993750e-01 2.21037133e-03 3.82143805e+02] [-3.24992666e-01 9.45716161e-01 -8.43065424e-04 -6.29937983e+01] [-2.36437488e-03 7.89439491e-05 9.99997202e-01 -2.85558666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38655999499997 meters 0.05335548242680405 Centerline is valid? [True, True] Translation: X:382.20, Y:-63.01, Z:-2.85 [[ 9.47565672e-01 3.19553827e-01 2.15595657e-03 3.82202605e+02] [-3.19552781e-01 9.47568121e-01 -8.22426320e-04 -6.30103357e+01] [-2.30572519e-03 9.03610319e-05 9.99997338e-01 -2.85425704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.446559995 meters 0.05439875747107737 Centerline is valid? [True, True] Translation: X:382.26, Y:-63.03, Z:-2.85 [[ 9.49824909e-01 3.12773134e-01 2.36833697e-03 3.82259086e+02] [-3.12771851e-01 9.49827854e-01 -9.03388317e-04 -6.30336261e+01] [-2.53206802e-03 1.17311588e-04 9.99996787e-01 -2.85430470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.506559995 meters 0.05424891910164884 Centerline is valid? [True, True] Translation: X:382.32, Y:-63.05, Z:-2.85 [[ 9.50628828e-01 3.10319810e-01 2.53897053e-03 3.82316480e+02] [-3.10318326e-01 9.50632210e-01 -9.68673427e-04 -6.30513299e+01] [-2.71422572e-03 1.32959800e-04 9.99996308e-01 -2.85457851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.566559995 meters 0.0544430840677388 Centerline is valid? [True, True] Translation: X:382.38, Y:-63.07, Z:-2.86 [[ 9.51036165e-01 3.09064957e-01 3.01083932e-03 3.82376006e+02] [-3.09062865e-01 9.51040917e-01 -1.14859577e-03 -6.30670601e+01] [-3.21842209e-03 1.61817489e-04 9.99994808e-01 -2.85520830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.626559995 meters 0.055005995635783955 Centerline is valid? [True, True] Translation: X:382.44, Y:-63.09, Z:-2.86 [[ 9.50596594e-01 3.10420923e-01 2.22841944e-03 3.82435031e+02] [-3.10419781e-01 9.50599199e-01 -8.50124657e-04 -6.30858342e+01] [-2.38223022e-03 1.16380129e-04 9.99997156e-01 -2.85596557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.686559995 meters 0.05560670580363169 Centerline is valid? [True, True] Translation: X:382.49, Y:-63.10, Z:-2.86 [[ 9.48854881e-01 3.15704081e-01 2.31233171e-03 3.82493125e+02] [-3.15702867e-01 9.48857693e-01 -8.82329563e-04 -6.31026774e+01] [-2.47262878e-03 1.07192963e-04 9.99996937e-01 -2.85617439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.746559995 meters 0.0546198551622842 Centerline is valid? [True, True] Translation: X:382.56, Y:-63.11, Z:-2.86 [[ 9.47374492e-01 3.20114573e-01 2.86930109e-03 3.82555211e+02] [-3.20112722e-01 9.47378829e-01 -1.09480624e-03 -6.31104126e+01] [-3.06877854e-03 1.18691719e-04 9.99995284e-01 -2.85507778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.806559995 meters 0.054954284813101245 Centerline is valid? [True, True] Translation: X:382.61, Y:-63.13, Z:-2.86 [[ 9.44375800e-01 3.28846174e-01 3.81335828e-03 3.82612925e+02] [-3.28842976e-01 9.44383492e-01 -1.45512295e-03 -6.31284571e+01] [-4.07978422e-03 1.20186816e-04 9.99991670e-01 -2.85632678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.866559995 meters 0.054951074518984705 Centerline is valid? [True, True] Translation: X:382.68, Y:-63.14, Z:-2.86 [[ 9.42377799e-01 3.34515346e-01 4.85472990e-03 3.82675612e+02] [-3.34510238e-01 9.42390295e-01 -1.85261684e-03 -6.31366633e+01] [-5.19477911e-03 1.21908131e-04 9.99986500e-01 -2.85634290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92655999499993 meters 0.054650271078032844 Centerline is valid? [True, True] Translation: X:382.74, Y:-63.14, Z:-2.86 [[ 9.39555289e-01 3.42363592e-01 4.79900787e-03 3.82738042e+02] [-3.42358702e-01 9.39567541e-01 -1.83142826e-03 -6.31437688e+01] [-5.13600638e-03 7.77460047e-05 9.99986808e-01 -2.85757765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98655999499994 meters 0.054253991226981345 Centerline is valid? [True, True] Translation: X:382.80, Y:-63.15, Z:-2.86 [[ 9.37721801e-01 3.47374003e-01 3.02095155e-03 3.82799250e+02] [-3.47372091e-01 9.37726667e-01 -1.15284000e-03 -6.31542160e+01] [-3.23329347e-03 3.16489448e-05 9.99994772e-01 -2.85902688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04655999499994 meters 0.054599678362945554 Centerline is valid? [True, True] Translation: X:382.86, Y:-63.17, Z:-2.86 [[ 9.37286869e-01 3.48550367e-01 2.44279803e-03 3.82861246e+02] [-3.48549123e-01 9.37290052e-01 -9.31750610e-04 -6.31673942e+01] [-2.61437231e-03 2.18825026e-05 9.99996582e-01 -2.85827787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10655999499994 meters 0.0548618127950667 Centerline is valid? [True, True] Translation: X:382.92, Y:-63.19, Z:-2.86 [[ 9.37768548e-01 3.47257803e-01 1.47263171e-03 3.82919805e+02] [-3.47257350e-01 9.37769704e-01 -5.61517274e-04 -6.31852775e+01] [-1.57598066e-03 1.51910534e-05 9.99998758e-01 -2.86124535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16655999499994 meters 0.05513570938879323 Centerline is valid? [True, True] Translation: X:382.98, Y:-63.20, Z:-2.86 [[ 9.38872846e-01 3.44258922e-01 -1.89047668e-03 3.82979436e+02] [-3.44258166e-01 9.38874749e-01 7.22193960e-04 -6.32012023e+01] [ 2.02354253e-03 -2.72362649e-05 9.99997952e-01 -2.86247358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22655999499995 meters 0.05594192615739884 Centerline is valid? [True, True] Translation: X:383.04, Y:-63.22, Z:-2.86 [[ 9.41310055e-01 3.37535464e-01 -2.27842240e-03 3.83035373e+02] [-3.37534346e-01 9.41312811e-01 8.70281957e-04 -6.32221438e+01] [ 2.43845922e-03 -5.01593416e-05 9.99997026e-01 -2.86427373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28655999499995 meters 0.05609241176284426 Centerline is valid? [True, True] Translation: X:383.09, Y:-63.24, Z:-2.86 [[ 9.43266255e-01 3.32032990e-01 -1.69309679e-03 3.83092560e+02] [-3.32032364e-01 9.43267773e-01 6.46649340e-04 -6.32389427e+01] [ 1.81175255e-03 -4.77995715e-05 9.99998358e-01 -2.86146272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34655999499995 meters 0.05628930559485477 Centerline is valid? [True, True] Translation: X:383.15, Y:-63.26, Z:-2.86 [[ 9.46159306e-01 3.23699124e-01 -1.20171488e-03 3.83149452e+02] [-3.23698802e-01 9.46160068e-01 4.59150016e-04 -6.32599674e+01] [ 1.28564110e-03 -4.54353928e-05 9.99999173e-01 -2.86069957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40655999499995 meters 0.05674681839327929 Centerline is valid? [True, True] Translation: X:383.21, Y:-63.27, Z:-2.86 [[ 9.48067520e-01 3.18069137e-01 -2.92405417e-05 3.83209567e+02] [-3.18069137e-01 9.48067521e-01 1.12899052e-05 -6.32737931e+01] [ 3.13129782e-05 -1.40307851e-06 1.00000000e+00 -2.85919631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46655999499995 meters 0.056503722782203274 Centerline is valid? [True, True] Translation: X:383.27, Y:-63.29, Z:-2.86 [[ 9.48640871e-01 3.16354936e-01 2.29279284e-04 3.83267497e+02] [-3.16354925e-01 9.48640898e-01 -8.72713983e-05 -6.32904713e+01] [-2.45112443e-04 1.02555848e-05 9.99999970e-01 -2.85950762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52655999499996 meters 0.05794235076260624 Centerline is valid? [True, True] Translation: X:383.32, Y:-63.32, Z:-2.86 [[ 9.48429749e-01 3.16987389e-01 -8.36760651e-05 3.83322652e+02] [-3.16987388e-01 9.48429752e-01 3.27685456e-05 -6.33174143e+01] [ 8.97480853e-05 -4.55440612e-06 9.99999996e-01 -2.86229528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58655999499996 meters 0.05720731252399735 Centerline is valid? [True, True] Translation: X:383.39, Y:-63.32, Z:-2.86 [[ 9.47323993e-01 3.20276632e-01 -3.62006984e-04 3.83385314e+02] [-3.20276602e-01 9.47324062e-01 1.38466990e-04 -6.33236694e+01] [ 3.87285668e-04 -1.52307354e-05 9.99999925e-01 -2.86081452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64655999499996 meters 0.05714673717843207 Centerline is valid? [True, True] Translation: X:383.44, Y:-63.34, Z:-2.86 [[ 9.46767109e-01 3.21919226e-01 -2.32091989e-04 3.83441764e+02] [-3.21919214e-01 9.46767137e-01 8.87667909e-05 -6.33442140e+01] [ 2.48312804e-04 -9.32660731e-06 9.99999969e-01 -2.86167114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70655999499996 meters 0.056795436261271044 Centerline is valid? [True, True] Translation: X:383.50, Y:-63.36, Z:-2.86 [[ 9.44782420e-01 3.27698290e-01 -1.01623328e-04 3.83500799e+02] [-3.27698288e-01 9.44782425e-01 3.88357280e-05 -6.33566839e+01] [ 1.08738336e-04 -3.38952259e-06 9.99999994e-01 -2.86168864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76655999499997 meters 0.057483407105280486 Centerline is valid? [True, True] Translation: X:383.56, Y:-63.38, Z:-2.86 [[ 9.42668552e-01 3.33726783e-01 1.56072260e-03 3.83556216e+02] [-3.33726253e-01 9.42669843e-01 -5.96401125e-04 -6.33794702e+01] [-1.67028116e-03 4.13544807e-05 9.99998604e-01 -2.86399411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82655999499997 meters 0.05702012282952823 Centerline is valid? [True, True] Translation: X:383.62, Y:-63.39, Z:-2.86 [[ 9.41239713e-01 3.37733301e-01 2.00480557e-03 3.83616462e+02] [-3.37732435e-01 9.41241847e-01 -7.66147503e-04 -6.33935188e+01] [-2.14576042e-03 4.40405904e-05 9.99997697e-01 -2.86261401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88655999499997 meters 0.05623724021491892 Centerline is valid? [True, True] Translation: X:383.68, Y:-63.41, Z:-2.86 [[ 9.39538779e-01 3.42436524e-01 2.02735766e-03 3.83676285e+02] [-3.42435650e-01 9.39540965e-01 -7.74786159e-04 -6.34072833e+01] [-2.17010065e-03 3.37021047e-05 9.99997645e-01 -2.86237184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.946559995 meters 0.05664630060517456 Centerline is valid? [True, True] Translation: X:383.73, Y:-63.43, Z:-2.87 [[ 9.36333105e-01 3.51106459e-01 2.13777432e-03 3.83734252e+02] [-3.51105509e-01 9.36335546e-01 -8.16963037e-04 -6.34251090e+01] [-2.28851508e-03 1.43651971e-05 9.99997381e-01 -2.86536125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.006559995 meters 0.05638218257648631 Centerline is valid? [True, True] Translation: X:383.80, Y:-63.44, Z:-2.87 [[ 9.32499046e-01 3.61162719e-01 2.64944757e-03 3.83795216e+02] [-3.61161301e-01 9.32502810e-01 -1.01211513e-03 -6.34399719e+01] [-2.83615556e-03 -1.30815427e-05 9.99995978e-01 -2.86518738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.066559995 meters 0.05668134431231221 Centerline is valid? [True, True] Translation: X:383.86, Y:-63.45, Z:-2.87 [[ 9.27799414e-01 3.73068214e-01 2.89067280e-03 3.83855651e+02] [-3.73066581e-01 9.27803915e-01 -1.10515862e-03 -6.34507200e+01] [-3.09427709e-03 -5.30478941e-05 9.99995211e-01 -2.86770766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.126559995 meters 0.056660695451431854 Centerline is valid? [True, True] Translation: X:383.91, Y:-63.47, Z:-2.87 [[ 9.25975529e-01 3.77575596e-01 2.44724947e-03 3.83912503e+02] [-3.77574441e-01 9.25978761e-01 -9.35708773e-04 -6.34705132e+01] [-2.61940183e-03 -5.75754249e-05 9.99996568e-01 -2.86845928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.186559995 meters 0.05641464920837282 Centerline is valid? [True, True] Translation: X:383.97, Y:-63.50, Z:-2.87 [[ 9.25290178e-01 3.79254861e-01 1.95899927e-03 3.83968559e+02] [-3.79254125e-01 9.25292250e-01 -7.48843791e-04 -6.34969585e+01] [-2.09664949e-03 -5.00607499e-05 9.99997801e-01 -2.86795084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.246559995 meters 0.055877989053020716 Centerline is valid? [True, True] Translation: X:384.02, Y:-63.52, Z:-2.87 [[ 9.24489158e-01 3.81206401e-01 1.21553256e-03 3.84024600e+02] [-3.81206119e-01 9.24489956e-01 -4.64805245e-04 -6.35179780e+01] [-1.30093438e-03 -3.36610391e-05 9.99999153e-01 -2.86974800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.306559995 meters 0.05708455260097758 Centerline is valid? [True, True] Translation: X:384.08, Y:-63.54, Z:-2.87 [[ 9.24282402e-01 3.81708541e-01 7.94630800e-04 3.84082438e+02] [-3.81708421e-01 9.24282743e-01 -3.03083338e-04 -6.35384274e+01] [-8.50153035e-04 -2.31826721e-05 9.99999638e-01 -2.87150137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.366559995 meters 0.05565178706141957 Centerline is valid? [True, True] Translation: X:384.13, Y:-63.57, Z:-2.87 [[ 9.25435416e-01 3.78903974e-01 1.03433309e-03 3.84134404e+02] [-3.78903769e-01 9.25435993e-01 -3.95589873e-04 -6.35729328e+01] [-1.10709965e-03 -2.58198288e-05 9.99999387e-01 -2.86993356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42655999499993 meters 0.055773149678679586 Centerline is valid? [True, True] Translation: X:384.19, Y:-63.60, Z:-2.87 [[ 9.27796504e-01 3.73082906e-01 1.67082799e-03 3.84188011e+02] [-3.73082360e-01 9.27798008e-01 -6.39146470e-04 -6.35989463e+01] [-1.78864550e-03 -3.03585878e-05 9.99998400e-01 -2.87119984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48655999499994 meters 0.05523208869636358 Centerline is valid? [True, True] Translation: X:384.24, Y:-63.63, Z:-2.87 [[ 9.29548682e-01 3.68693975e-01 2.00031237e-03 3.84240769e+02] [-3.68693183e-01 9.29550833e-01 -7.65079518e-04 -6.36319888e+01] [-2.14147224e-03 -2.63228747e-05 9.99997707e-01 -2.86987559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54655999499994 meters 0.0554809436272192 Centerline is valid? [True, True] Translation: X:384.30, Y:-63.66, Z:-2.87 [[ 9.31300567e-01 3.64242593e-01 2.56655258e-03 3.84295677e+02] [-3.64241271e-01 9.31304103e-01 -9.81737492e-04 -6.36576832e+01] [-2.74783156e-03 -2.05516887e-05 9.99996224e-01 -2.87129640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60655999499994 meters 0.055326217136364514 Centerline is valid? [True, True] Translation: X:384.35, Y:-63.69, Z:-2.87 [[ 9.33781456e-01 3.57832615e-01 2.83042868e-03 3.84348929e+02] [-3.57830978e-01 9.33785746e-01 -1.08262812e-03 -6.36915109e+01] [-3.03041361e-03 -1.87699641e-06 9.99995408e-01 -2.87096191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66655999499994 meters 0.05489544673160019 Centerline is valid? [True, True] Translation: X:384.40, Y:-63.72, Z:-2.87 [[ 9.35499808e-01 3.53319855e-01 2.27805279e-03 3.84402904e+02] [-3.53318781e-01 9.35502581e-01 -8.71072319e-04 -6.37206013e+01] [-2.43889142e-03 1.00091499e-05 9.99997026e-01 -2.87256000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72655999499995 meters 0.055870205246581095 Centerline is valid? [True, True] Translation: X:384.46, Y:-63.75, Z:-2.87 [[ 9.38295653e-01 3.45827817e-01 2.09460928e-03 3.84456355e+02] [-3.45826890e-01 9.38297991e-01 -8.01545433e-04 -6.37515536e+01] [-2.24256439e-03 2.77143823e-05 9.99997485e-01 -2.87264071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78655999499995 meters 0.05525976062110244 Centerline is valid? [True, True] Translation: X:384.51, Y:-63.78, Z:-2.87 [[ 9.39901828e-01 3.41438212e-01 2.12168559e-03 3.84510473e+02] [-3.41437249e-01 9.39904222e-01 -8.11944485e-04 -6.37801798e+01] [-2.27141012e-03 3.87256154e-05 9.99997420e-01 -2.87338449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84655999499995 meters 0.0557580613255508 Centerline is valid? [True, True] Translation: X:384.56, Y:-63.81, Z:-2.87 [[ 9.41210389e-01 3.37820199e-01 7.18361236e-04 3.84563471e+02] [-3.37820088e-01 9.41210663e-01 -2.74730360e-04 -6.38097688e+01] [-7.68938720e-04 1.59022131e-05 9.99999704e-01 -2.87492274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90655999499995 meters 0.055588262391314376 Centerline is valid? [True, True] Translation: X:384.62, Y:-63.83, Z:-2.87 [[ 9.41522618e-01 3.36947210e-01 1.31818637e-03 3.84622123e+02] [-3.36946834e-01 9.41523540e-01 -5.04196756e-04 -6.38308021e+01] [-1.41099119e-03 3.05539260e-05 9.99999004e-01 -2.87446898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96655999499995 meters 0.05526394965551981 Centerline is valid? [True, True] Translation: X:384.68, Y:-63.86, Z:-2.87 [[ 9.41071731e-01 3.38200344e-01 2.12706883e-03 3.84677333e+02] [-3.38199367e-01 9.41074134e-01 -8.13997473e-04 -6.38573644e+01] [-2.27702368e-03 4.66566793e-05 9.99997406e-01 -2.87470652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02655999499996 meters 0.05528371285658966 Centerline is valid? [True, True] Translation: X:384.73, Y:-63.88, Z:-2.88 [[ 9.40311238e-01 3.40309044e-01 2.12842695e-03 3.84732002e+02] [-3.40308071e-01 9.40313646e-01 -8.14982670e-04 -6.38830061e+01] [-2.27873488e-03 4.20164936e-05 9.99997403e-01 -2.87537095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08655999499996 meters 0.05482531779544667 Centerline is valid? [True, True] Translation: X:384.79, Y:-63.91, Z:-2.87 [[ 9.38133055e-01 3.46255036e-01 3.71767078e-03 3.84787706e+02] [-3.46252113e-01 9.38140420e-01 -1.42361982e-03 -6.39055373e+01] [-3.98063276e-03 4.82934499e-05 9.99992076e-01 -2.87492742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14655999499996 meters 0.054002867456001816 Centerline is valid? [True, True] Translation: X:384.85, Y:-63.92, Z:-2.87 [[ 9.34635489e-01 3.55580353e-01 4.37213801e-03 3.84846049e+02] [-3.55576412e-01 9.34645715e-01 -1.67421603e-03 -6.39242381e+01] [-4.68171839e-03 1.01525730e-05 9.99989041e-01 -2.87477390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20655999499996 meters 0.054673184907832344 Centerline is valid? [True, True] Translation: X:384.90, Y:-63.95, Z:-2.88 [[ 9.31965921e-01 3.62515992e-01 4.65584119e-03 3.84904243e+02] [-3.62511610e-01 9.31977551e-01 -1.78265333e-03 -6.39453759e+01] [-4.98537980e-03 -2.64243340e-05 9.99987573e-01 -2.87564960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26655999499997 meters 0.0547602827747779 Centerline is valid? [True, True] Translation: X:384.96, Y:-63.96, Z:-2.88 [[ 9.28671039e-01 3.70881720e-01 4.10504979e-03 3.84962872e+02] [-3.70878392e-01 9.28680110e-01 -1.57245504e-03 -6.39613323e+01] [-4.39547291e-03 -6.21808084e-05 9.99990338e-01 -2.87844143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32655999499997 meters 0.054360008740476286 Centerline is valid? [True, True] Translation: X:385.02, Y:-63.99, Z:-2.88 [[ 9.27297986e-01 3.74307204e-01 3.54430726e-03 3.85017765e+02] [-3.74304748e-01 9.27304757e-01 -1.35765648e-03 -6.39897217e+01] [-3.79483358e-03 -6.76989163e-05 9.99992797e-01 -2.87788393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38655999499997 meters 0.0556025882841492 Centerline is valid? [True, True] Translation: X:385.08, Y:-64.01, Z:-2.88 [[ 9.26224737e-01 3.76960129e-01 2.96613476e-03 3.85076702e+02] [-3.76958422e-01 9.26229484e-01 -1.13621083e-03 -6.40058549e+01] [-3.17562765e-03 -6.57228980e-05 9.99994956e-01 -2.88084766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.446559995 meters 0.05518385179906616 Centerline is valid? [True, True] Translation: X:385.13, Y:-64.03, Z:-2.88 [[ 9.25631619e-01 3.78414453e-01 2.93384218e-03 3.85132484e+02] [-3.78412792e-01 9.25636266e-01 -1.12348187e-03 -6.40341913e+01] [-3.14081250e-03 -7.02730723e-05 9.99995065e-01 -2.88102879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.506559995 meters 0.054168801619259195 Centerline is valid? [True, True] Translation: X:385.19, Y:-64.06, Z:-2.88 [[ 9.25365428e-01 3.79066483e-01 2.72492391e-03 3.85188320e+02] [-3.79065052e-01 9.25369438e-01 -1.04374336e-03 -6.40633128e+01] [-2.91720944e-03 -6.70793997e-05 9.99995743e-01 -2.88123046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.566559995 meters 0.05394492174742479 Centerline is valid? [True, True] Translation: X:385.24, Y:-64.09, Z:-2.88 [[ 9.24949281e-01 3.80085914e-01 1.87764425e-03 3.85243406e+02] [-3.80085237e-01 9.24951185e-01 -7.19147676e-04 -6.40921250e+01] [-2.01006718e-03 -4.84897346e-05 9.99997979e-01 -2.88148326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.626559995 meters 0.053894708999837115 Centerline is valid? [True, True] Translation: X:385.30, Y:-64.12, Z:-2.88 [[ 9.24557443e-01 3.81040554e-01 1.27670326e-03 3.85300143e+02] [-3.81040242e-01 9.24558324e-01 -4.88862401e-04 -6.41180357e+01] [-1.36666303e-03 -3.44939474e-05 9.99999066e-01 -2.88233752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.686559995 meters 0.052674091856672045 Centerline is valid? [True, True] Translation: X:385.35, Y:-64.15, Z:-2.88 [[ 9.24098812e-01 3.82152767e-01 8.05155963e-04 3.85354385e+02] [-3.82152644e-01 9.24099162e-01 -3.08120548e-04 -6.41490725e+01] [-8.61793071e-04 -2.29586477e-05 9.99999628e-01 -2.88235902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.746559995 meters 0.0532088484328057 Centerline is valid? [True, True] Translation: X:385.41, Y:-64.17, Z:-2.88 [[ 9.24078451e-01 3.82202119e-01 7.46245668e-04 3.85411236e+02] [-3.82202013e-01 9.24078752e-01 -2.85504931e-04 -6.41736911e+01] [-7.98710355e-04 -2.13876419e-05 9.99999681e-01 -2.88315314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.806559995 meters 0.053049657688226295 Centerline is valid? [True, True] Translation: X:385.47, Y:-64.20, Z:-2.88 [[ 9.24176113e-01 3.81965431e-01 9.60474708e-04 3.85467892e+02] [-3.81965254e-01 9.24176611e-01 -3.67917925e-04 -6.42005909e+01] [-1.02818019e-03 -2.68470082e-05 9.99999471e-01 -2.88270657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.866559995 meters 0.0535412126850963 Centerline is valid? [True, True] Translation: X:385.52, Y:-64.22, Z:-2.88 [[ 9.25213272e-01 3.79446148e-01 1.01057833e-03 3.85524086e+02] [-3.79445950e-01 9.25213824e-01 -3.87995652e-04 -6.42222027e+01] [-1.08222450e-03 -2.44811297e-05 9.99999414e-01 -2.88432564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92655999499993 meters 0.054105236597171445 Centerline is valid? [True, True] Translation: X:385.58, Y:-64.25, Z:-2.89 [[ 9.26412608e-01 3.76508911e-01 8.48057120e-04 3.85581156e+02] [-3.76508770e-01 9.26412996e-01 -3.25495720e-04 -6.42455850e+01] [-9.08203177e-04 -1.77576045e-05 9.99999587e-01 -2.88621384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98655999499994 meters 0.05261089534209903 Centerline is valid? [True, True] Translation: X:385.63, Y:-64.28, Z:-2.88 [[ 9.29042620e-01 3.69970579e-01 1.25724730e-03 3.85632015e+02] [-3.69970264e-01 9.29043471e-01 -4.82717629e-04 -6.42840407e+01] [-1.34662872e-03 -1.66788655e-05 9.99999093e-01 -2.88416047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04655999499994 meters 0.0522219667847043 Centerline is valid? [True, True] Translation: X:385.69, Y:-64.32, Z:-2.88 [[ 9.31344130e-01 3.64136680e-01 1.60888891e-03 3.85686053e+02] [-3.64136157e-01 9.31345520e-01 -6.17689829e-04 -6.43163727e+01] [-1.72335500e-03 -1.05728263e-05 9.99998515e-01 -2.88302102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10655999499994 meters 0.05219974727789542 Centerline is valid? [True, True] Translation: X:385.74, Y:-64.35, Z:-2.88 [[ 9.34966808e-01 3.54732647e-01 1.34809531e-03 3.85738458e+02] [-3.54732270e-01 9.34967780e-01 -5.17130251e-04 -6.43504289e+01] [-1.44386866e-03 5.28671015e-06 9.99998958e-01 -2.88406946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16655999499994 meters 0.05256483793869214 Centerline is valid? [True, True] Translation: X:385.79, Y:-64.38, Z:-2.89 [[ 9.36828833e-01 3.49787811e-01 4.74995261e-04 3.85793930e+02] [-3.49787764e-01 9.36828953e-01 -1.82207244e-04 -6.43792035e+01] [-5.08723187e-04 4.54946971e-06 9.99999871e-01 -2.88565988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22655999499995 meters 0.05304816736267268 Centerline is valid? [True, True] Translation: X:385.85, Y:-64.41, Z:-2.89 [[ 9.38129939e-01 3.46282039e-01 -9.83656537e-04 3.85848187e+02] [-3.46281833e-01 9.38130454e-01 3.77955731e-04 -6.44051215e+01] [ 1.05367743e-03 -1.39491978e-05 9.99999445e-01 -2.88595841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28655999499995 meters 0.05274343980922266 Centerline is valid? [True, True] Translation: X:385.90, Y:-64.43, Z:-2.89 [[ 9.38210056e-01 3.46063610e-01 -1.36709283e-03 3.85903945e+02] [-3.46063212e-01 9.38211052e-01 5.25659857e-04 -6.44333856e+01] [ 1.46453335e-03 -2.00788268e-05 9.99998927e-01 -2.88835906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34655999499995 meters 0.05238821605159388 Centerline is valid? [True, True] Translation: X:385.96, Y:-64.46, Z:-2.89 [[ 9.37217427e-01 3.48742485e-01 -1.47467194e-03 3.85961305e+02] [-3.48742024e-01 9.37218587e-01 5.67067929e-04 -6.44588963e+01] [ 1.57985063e-03 -1.71858667e-05 9.99998752e-01 -2.88835201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40655999499995 meters 0.052551430342962474 Centerline is valid? [True, True] Translation: X:386.02, Y:-64.48, Z:-2.89 [[ 9.34293063e-01 3.56504734e-01 9.20491763e-04 3.86019425e+02] [-3.56504559e-01 9.34293516e-01 -3.53599041e-04 -6.44782174e+01] [-9.86069218e-04 2.20562124e-06 9.99999514e-01 -2.88689084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46655999499995 meters 0.05210582766801681 Centerline is valid? [True, True] Translation: X:386.08, Y:-64.50, Z:-2.89 [[ 9.31640809e-01 3.63379382e-01 9.10149024e-04 3.86077957e+02] [-3.63379215e-01 9.31641253e-01 -3.49017505e-04 -6.44986110e+01] [-9.74758142e-04 -5.57028636e-06 9.99999525e-01 -2.88711247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52655999499996 meters 0.05177904071802423 Centerline is valid? [True, True] Translation: X:386.14, Y:-64.52, Z:-2.89 [[ 9.28246129e-01 3.71966286e-01 4.53635203e-04 3.86135276e+02] [-3.71966245e-01 9.28246240e-01 -1.74403026e-04 -6.45171593e+01] [-4.85957217e-04 -6.84804965e-06 9.99999882e-01 -2.88799007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58655999499996 meters 0.0508125938461522 Centerline is valid? [True, True] Translation: X:386.19, Y:-64.54, Z:-2.89 [[ 9.26664482e-01 3.75889527e-01 -3.38028970e-05 3.86192486e+02] [-3.75889527e-01 9.26664483e-01 1.31271988e-05 -6.45396032e+01] [ 3.62583205e-05 5.41646121e-07 9.99999999e-01 -2.88761964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64655999499996 meters 0.05045768133234336 Centerline is valid? [True, True] Translation: X:386.25, Y:-64.56, Z:-2.89 [[ 9.25539727e-01 3.78650299e-01 -4.05335753e-04 3.86249891e+02] [-3.78650267e-01 9.25539816e-01 1.56605200e-04 -6.45607767e+01] [ 4.34452984e-04 8.53615723e-06 9.99999906e-01 -2.88743157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70655999499996 meters 0.051212961318435495 Centerline is valid? [True, True] Translation: X:386.31, Y:-64.57, Z:-2.89 [[ 9.25550462e-01 3.78622531e-01 -1.14949677e-03 3.86311486e+02] [-3.78622272e-01 9.25551175e-01 4.43251593e-04 -6.45723852e+01] [ 1.23174313e-03 2.49733639e-05 9.99999241e-01 -2.89206015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76655999499997 meters 0.05055441244116725 Centerline is valid? [True, True] Translation: X:386.37, Y:-64.60, Z:-2.89 [[ 9.26237576e-01 3.76937040e-01 -1.55607550e-03 3.86367180e+02] [-3.76936565e-01 9.26238882e-01 5.99099239e-04 -6.46013047e+01] [ 1.66712032e-03 3.16335271e-05 9.99998610e-01 -2.88958005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82655999499997 meters 0.051252733589349654 Centerline is valid? [True, True] Translation: X:386.42, Y:-64.62, Z:-2.89 [[ 9.28189362e-01 3.72104905e-01 -1.56437777e-03 3.86423176e+02] [-3.72104419e-01 9.28190680e-01 6.02053710e-04 -6.46225788e+01] [ 1.67606801e-03 2.32920327e-05 9.99998595e-01 -2.89088124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88655999499997 meters 0.05141715965833742 Centerline is valid? [True, True] Translation: X:386.48, Y:-64.65, Z:-2.89 [[ 9.30018976e-01 3.67507639e-01 -1.68519682e-03 3.86479491e+02] [-3.67507067e-01 9.30020502e-01 6.48638641e-04 -6.46458784e+01] [ 1.80564725e-03 1.60754976e-05 9.99998370e-01 -2.89222420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.946559995 meters 0.05191557889061859 Centerline is valid? [True, True] Translation: X:386.54, Y:-64.67, Z:-2.89 [[ 9.33282378e-01 3.59138666e-01 -1.84997704e-03 3.86535193e+02] [-3.59137958e-01 9.33284211e-01 7.13029885e-04 -6.46738093e+01] [ 1.98263097e-03 -1.06124908e-06 9.99998035e-01 -2.89189488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.006559995 meters 0.05207696798016962 Centerline is valid? [True, True] Translation: X:386.59, Y:-64.70, Z:-2.89 [[ 9.35540252e-01 3.53216238e-01 -1.65102665e-03 3.86591741e+02] [-3.53215665e-01 9.35541709e-01 6.35972508e-04 -6.46989556e+01] [ 1.76924011e-03 -1.18094021e-05 9.99998435e-01 -2.89242161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.066559995 meters 0.05167077531411451 Centerline is valid? [True, True] Translation: X:386.65, Y:-64.72, Z:-2.89 [[ 9.37202419e-01 3.48785766e-01 -3.40823638e-04 3.86647675e+02] [-3.48785741e-01 9.37202481e-01 1.32098045e-04 -6.47234626e+01] [ 3.65494677e-04 -4.92818256e-06 9.99999933e-01 -2.89280271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.126559995 meters 0.05210875455978722 Centerline is valid? [True, True] Translation: X:386.70, Y:-64.74, Z:-2.89 [[ 9.38937421e-01 3.44087548e-01 5.27766650e-04 3.86704081e+02] [-3.44087488e-01 9.38937570e-01 -2.03255977e-04 -6.47441819e+01] [-5.65477787e-04 9.24674255e-06 9.99999840e-01 -2.89051669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.186559995 meters 0.05175238875021135 Centerline is valid? [True, True] Translation: X:386.76, Y:-64.77, Z:-2.89 [[ 9.39663037e-01 3.42100310e-01 8.69411930e-04 3.86762093e+02] [-3.42100147e-01 9.39663439e-01 -3.34634754e-04 -6.47650805e+01] [-9.31433257e-04 1.70179605e-05 9.99999566e-01 -2.88995993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.246559995 meters 0.052661259371191614 Centerline is valid? [True, True] Translation: X:386.82, Y:-64.79, Z:-2.89 [[ 9.40764667e-01 3.39060096e-01 3.05318914e-04 3.86818742e+02] [-3.39060076e-01 9.40764716e-01 -1.17402790e-04 -6.47893194e+01] [-3.27039863e-04 6.92694242e-06 9.99999946e-01 -2.89185589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.306559995 meters 0.05306588319946952 Centerline is valid? [True, True] Translation: X:386.87, Y:-64.81, Z:-2.89 [[ 9.41722192e-01 3.36391601e-01 6.80603083e-05 3.86874009e+02] [-3.36391600e-01 9.41722194e-01 -2.62159414e-05 -6.48121973e+01] [-7.29127255e-05 1.79321775e-06 9.99999997e-01 -2.89203986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.366559995 meters 0.05362020943528216 Centerline is valid? [True, True] Translation: X:386.93, Y:-64.83, Z:-2.89 [[ 9.43447337e-01 3.31522210e-01 -3.82569081e-04 3.86930726e+02] [-3.31522177e-01 9.43447415e-01 1.47401212e-04 -6.48333430e+01] [ 4.09800586e-04 -1.22351466e-05 9.99999916e-01 -2.89166257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42655999499993 meters 0.05400131033204505 Centerline is valid? [True, True] Translation: X:386.99, Y:-64.86, Z:-2.89 [[ 9.44438581e-01 3.28687361e-01 6.20998424e-04 3.86986568e+02] [-3.28687275e-01 9.44438785e-01 -2.39152390e-04 -6.48579313e+01] [-6.65101365e-04 2.17504638e-05 9.99999779e-01 -2.89186715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48655999499994 meters 0.05357288100659041 Centerline is valid? [True, True] Translation: X:387.05, Y:-64.87, Z:-2.89 [[ 9.44759091e-01 3.27758450e-01 2.15847645e-03 3.87048676e+02] [-3.27757406e-01 9.44761553e-01 -8.30769340e-04 -6.48680367e+01] [-2.31153723e-03 7.74202440e-05 9.99997325e-01 -2.89034701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54655999499994 meters 0.05342952710542462 Centerline is valid? [True, True] Translation: X:387.11, Y:-64.88, Z:-2.89 [[ 9.43058539e-01 3.32611580e-01 3.18253738e-03 3.87109493e+02] [-3.32609334e-01 9.43063904e-01 -1.22631991e-03 -6.48786483e+01] [-3.40922433e-03 9.79498252e-05 9.99994184e-01 -2.88911869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60655999499994 meters 0.05334320796021379 Centerline is valid? [True, True] Translation: X:387.16, Y:-64.90, Z:-2.89 [[ 9.40887918e-01 3.38699451e-01 3.55076377e-03 3.87164054e+02] [-3.38696698e-01 9.40894614e-01 -1.36830561e-03 -6.49039083e+01] [-3.80433887e-03 8.47902541e-05 9.99992760e-01 -2.89038583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66655999499994 meters 0.05290292874459395 Centerline is valid? [True, True] Translation: X:387.23, Y:-64.92, Z:-2.89 [[ 9.37027665e-01 3.49243139e-01 2.89564629e-03 3.87225005e+02] [-3.49241358e-01 9.37032139e-01 -1.11580603e-03 -6.49165906e+01] [-3.10300123e-03 3.42616732e-05 9.99995185e-01 -2.89152212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72655999499995 meters 0.052555206765274656 Centerline is valid? [True, True] Translation: X:387.28, Y:-64.93, Z:-2.89 [[ 9.35677623e-01 3.52849293e-01 2.18217193e-03 3.87284556e+02] [-3.52848293e-01 9.35680167e-01 -8.40426497e-04 -6.49348655e+01] [-2.33835889e-03 1.63926282e-05 9.99997266e-01 -2.89225151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78655999499995 meters 0.05338778692207968 Centerline is valid? [True, True] Translation: X:387.35, Y:-64.95, Z:-2.90 [[ 9.31952660e-01 3.62578991e-01 8.44987305e-04 3.87346142e+02] [-3.62578845e-01 9.31953043e-01 -3.25445695e-04 -6.49481530e+01] [-9.05488263e-04 -3.07454040e-06 9.99999590e-01 -2.89533318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84655999499995 meters 0.05302307003347126 Centerline is valid? [True, True] Translation: X:387.41, Y:-64.97, Z:-2.90 [[ 9.29747810e-01 3.68196329e-01 6.87448321e-04 3.87405682e+02] [-3.68196234e-01 9.29748064e-01 -2.64798778e-04 -6.49668450e+01] [-7.36651684e-04 -6.91979916e-06 9.99999729e-01 -2.89551185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90655999499995 meters 0.05278799551219498 Centerline is valid? [True, True] Translation: X:387.46, Y:-64.98, Z:-2.90 [[ 9.27117906e-01 3.74765877e-01 1.71048919e-03 3.87463971e+02] [-3.74765298e-01 9.27119483e-01 -6.59311481e-04 -6.49824783e+01] [-1.83291530e-03 -2.97725120e-05 9.99998320e-01 -2.89602828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96655999499995 meters 0.053464485105759366 Centerline is valid? [True, True] Translation: X:387.52, Y:-65.00, Z:-2.90 [[ 9.25654676e-01 3.78362564e-01 2.27834665e-03 3.87522891e+02] [-3.78361547e-01 9.25657479e-01 -8.78584258e-04 -6.49964607e+01] [-2.44139201e-03 -4.87731368e-05 9.99997019e-01 -2.89739762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02655999499996 meters 0.051955805806586576 Centerline is valid? [True, True] Translation: X:387.58, Y:-65.02, Z:-2.90 [[ 9.23889584e-01 3.82650386e-01 2.59208784e-03 3.87577956e+02] [-3.82649087e-01 9.23893218e-01 -9.99489980e-04 -6.50241635e+01] [-2.77726760e-03 -6.84416615e-05 9.99996141e-01 -2.89566510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08655999499996 meters 0.05332899522769834 Centerline is valid? [True, True] Translation: X:387.64, Y:-65.03, Z:-2.90 [[ 9.22812205e-01 3.85245353e-01 1.91096759e-03 3.87638503e+02] [-3.85244652e-01 9.22814182e-01 -7.36903717e-04 -6.50346985e+01] [-2.04735672e-03 -5.61662991e-05 9.99997903e-01 -2.89869250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14655999499996 meters 0.05252877151190093 Centerline is valid? [True, True] Translation: X:387.69, Y:-65.06, Z:-2.90 [[ 9.21774557e-01 3.87726264e-01 9.81015927e-05 3.87693478e+02] [-3.87726262e-01 9.21774563e-01 -3.77722159e-05 -6.50623684e+01] [-1.05072833e-04 -3.21909620e-06 9.99999994e-01 -2.89913449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20655999499996 meters 0.053742206728255915 Centerline is valid? [True, True] Translation: X:387.75, Y:-65.08, Z:-2.90 [[ 9.21540395e-01 3.88279106e-01 -1.62348148e-03 3.87753004e+02] [-3.88278603e-01 9.21541824e-01 6.27098132e-04 -6.50779821e+01] [ 1.73959518e-03 5.24668601e-05 9.99998486e-01 -2.90278725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26655999499997 meters 0.052501405585926475 Centerline is valid? [True, True] Translation: X:387.81, Y:-65.11, Z:-2.90 [[ 9.22329441e-01 3.86394932e-01 -2.71269048e-03 3.87806817e+02] [-3.86393524e-01 9.22333426e-01 1.04666350e-03 -6.51083774e+01] [ 2.90643057e-03 8.27974699e-05 9.99995773e-01 -2.90126013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32655999499997 meters 0.052431498011590874 Centerline is valid? [True, True] Translation: X:387.86, Y:-65.13, Z:-2.90 [[ 9.23925540e-01 3.82570182e-01 -1.28531726e-03 3.87861864e+02] [-3.82569862e-01 9.23926434e-01 4.95969067e-04 -6.51349109e+01] [ 1.37728157e-03 3.34851585e-05 9.99999051e-01 -2.89970638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38655999499997 meters 0.05221193980341795 Centerline is valid? [True, True] Translation: X:387.92, Y:-65.16, Z:-2.90 [[ 9.25313912e-01 3.79200870e-01 9.30099196e-04 3.87918020e+02] [-3.79200701e-01 9.25314379e-01 -3.58817931e-04 -6.51573456e+01] [-9.96698231e-04 -2.06750435e-05 9.99999503e-01 -2.89953642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.446559995 meters 0.05212397275610769 Centerline is valid? [True, True] Translation: X:387.97, Y:-65.19, Z:-2.90 [[ 9.27345667e-01 3.74196552e-01 2.63697571e-03 3.87972799e+02] [-3.74195172e-01 9.27349416e-01 -1.01727223e-03 -6.51863747e+01] [-2.82605764e-03 -4.33805835e-05 9.99996006e-01 -2.89824553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.506559995 meters 0.05225941918617117 Centerline is valid? [True, True] Translation: X:388.03, Y:-65.21, Z:-2.90 [[ 9.28350379e-01 3.71699885e-01 2.18380692e-03 3.88030405e+02] [-3.71698933e-01 9.28352947e-01 -8.41973560e-04 -6.52084973e+01] [-2.34030506e-03 -3.00722270e-05 9.99997261e-01 -2.89969233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.566559995 meters 0.05268917814397616 Centerline is valid? [True, True] Translation: X:388.09, Y:-65.23, Z:-2.90 [[ 9.29426513e-01 3.69004559e-01 1.41157351e-03 3.88087919e+02] [-3.69004158e-01 9.29427585e-01 -5.44183598e-04 -6.52293045e+01] [-1.51276158e-03 -1.50978295e-05 9.99998856e-01 -2.90220797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.626559995 meters 0.0519100615612417 Centerline is valid? [True, True] Translation: X:388.14, Y:-65.26, Z:-2.90 [[ 9.29607627e-01 3.68547406e-01 1.57114961e-03 3.88143934e+02] [-3.68546908e-01 9.29608955e-01 -6.05905907e-04 -6.52557326e+01] [-1.68385980e-03 -1.57875798e-05 9.99998582e-01 -2.89940990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.686559995 meters 0.05261208357117509 Centerline is valid? [True, True] Translation: X:388.20, Y:-65.28, Z:-2.90 [[ 9.30043112e-01 3.67448816e-01 1.08483062e-03 3.88199991e+02] [-3.67448578e-01 9.30043745e-01 -4.18284907e-04 -6.52790190e+01] [-1.16263823e-03 -9.59647311e-06 9.99999324e-01 -2.89950520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.746559995 meters 0.052056564132014954 Centerline is valid? [True, True] Translation: X:388.26, Y:-65.30, Z:-2.90 [[ 9.30591924e-01 3.66057596e-01 7.11834304e-04 3.88258965e+02] [-3.66057493e-01 9.30592196e-01 -2.74726514e-04 -6.52996272e+01] [-7.62993176e-04 -4.91400560e-06 9.99999709e-01 -2.90288164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.806559995 meters 0.05273696570285388 Centerline is valid? [True, True] Translation: X:388.32, Y:-65.32, Z:-2.90 [[ 9.31585705e-01 3.63521413e-01 5.07214207e-04 3.88316186e+02] [-3.63521360e-01 9.31585843e-01 -1.95172930e-04 -6.53229819e+01] [-5.43463114e-04 -2.56288685e-06 9.99999852e-01 -2.90375791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.866559995 meters 0.05249004287289522 Centerline is valid? [True, True] Translation: X:388.37, Y:-65.35, Z:-2.90 [[ 9.32087430e-01 3.62232778e-01 6.61972845e-04 3.88373479e+02] [-3.62232688e-01 9.32087665e-01 -2.55011844e-04 -6.53471088e+01] [-7.09390372e-04 -2.09486813e-06 9.99999748e-01 -2.90245860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92655999499993 meters 0.05240015354646324 Centerline is valid? [True, True] Translation: X:388.43, Y:-65.37, Z:-2.90 [[ 9.32355020e-01 3.61543773e-01 4.65153007e-04 3.88430857e+02] [-3.61543729e-01 9.32355136e-01 -1.78915403e-04 -6.53700418e+01] [-4.98373546e-04 -1.36047855e-06 9.99999876e-01 -2.90321845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98655999499994 meters 0.052204593150909646 Centerline is valid? [True, True] Translation: X:388.49, Y:-65.39, Z:-2.90 [[ 9.31898514e-01 3.62718537e-01 6.49904674e-04 3.88489760e+02] [-3.62718450e-01 9.31898741e-01 -2.50447425e-04 -6.53916234e+01] [-6.96487271e-04 -2.34083297e-06 9.99999757e-01 -2.90430494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04655999499994 meters 0.05209008483020377 Centerline is valid? [True, True] Translation: X:388.55, Y:-65.41, Z:-2.90 [[ 9.30685994e-01 3.65816140e-01 1.46047924e-03 3.88548202e+02] [-3.65815705e-01 9.30687140e-01 -5.64379025e-04 -6.54117663e+01] [-1.56570821e-03 -9.00658980e-06 9.99998774e-01 -2.90424128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10655999499994 meters 0.051986368189040816 Centerline is valid? [True, True] Translation: X:388.61, Y:-65.43, Z:-2.91 [[ 9.29757388e-01 3.68168451e-01 1.78634903e-03 3.88605890e+02] [-3.68167802e-01 9.29759104e-01 -6.91327948e-04 -6.54308669e+01] [-1.91539941e-03 -1.49089287e-05 9.99998166e-01 -2.90616050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16655999499994 meters 0.051481411643897815 Centerline is valid? [True, True] Translation: X:388.66, Y:-65.45, Z:-2.91 [[ 9.28695586e-01 3.70834182e-01 2.55301079e-03 3.88663859e+02] [-3.70832868e-01 9.28699095e-01 -9.87673121e-04 -6.54534977e+01] [-2.73724177e-03 -2.94926468e-05 9.99996253e-01 -2.90568708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22655999499995 meters 0.05174839618813022 Centerline is valid? [True, True] Translation: X:388.72, Y:-65.48, Z:-2.91 [[ 9.28111501e-01 3.72290243e-01 3.00277176e-03 3.88720903e+02] [-3.72288431e-01 9.28116358e-01 -1.16221896e-03 -6.54768246e+01] [-3.21960437e-03 -3.92284020e-05 9.99994816e-01 -2.90601306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28655999499995 meters 0.05134222984758823 Centerline is valid? [True, True] Translation: X:388.78, Y:-65.50, Z:-2.91 [[ 9.27259930e-01 3.74412258e-01 2.11735214e-03 3.88778632e+02] [-3.74411363e-01 9.27262347e-01 -8.19530138e-04 -6.54967028e+01] [-2.27018305e-03 -3.28432424e-05 9.99997423e-01 -2.90829539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34655999499995 meters 0.05165485743505608 Centerline is valid? [True, True] Translation: X:388.84, Y:-65.52, Z:-2.91 [[ 9.26732808e-01 3.75718488e-01 1.38589317e-03 3.88835345e+02] [-3.75718106e-01 9.26733844e-01 -5.36590845e-04 -6.55211871e+01] [-1.48596121e-03 -2.34288179e-05 9.99998896e-01 -2.90828917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40655999499995 meters 0.05177290967653903 Centerline is valid? [True, True] Translation: X:388.89, Y:-65.54, Z:-2.91 [[ 9.26255791e-01 3.76895361e-01 3.11308919e-04 3.88893118e+02] [-3.76895342e-01 9.26255843e-01 -1.19857031e-04 -6.55410602e+01] [-3.33525265e-04 -6.31261227e-06 9.99999944e-01 -2.91125515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46655999499995 meters 0.05178116774658927 Centerline is valid? [True, True] Translation: X:388.95, Y:-65.57, Z:-2.91 [[ 9.26159434e-01 3.77132209e-01 7.90426808e-06 3.88951078e+02] [-3.77132209e-01 9.26159434e-01 -2.06657972e-06 -6.55668958e+01] [-8.09998634e-06 -1.06697178e-06 1.00000000e+00 -2.91170444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52655999499996 meters 0.0515243072134685 Centerline is valid? [True, True] Translation: X:389.01, Y:-65.59, Z:-2.91 [[ 9.26532808e-01 3.76213783e-01 3.80150920e-04 3.89007140e+02] [-3.76213754e-01 9.26532886e-01 -1.46570570e-04 -6.55945475e+01] [-4.07364198e-04 -7.21556357e-06 9.99999917e-01 -2.91134689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58655999499996 meters 0.05184823994360593 Centerline is valid? [True, True] Translation: X:389.06, Y:-65.62, Z:-2.91 [[ 9.26858386e-01 3.75410838e-01 4.84638366e-04 3.89064111e+02] [-3.75410792e-01 9.26858513e-01 -1.87164457e-04 -6.56194943e+01] [-5.19454761e-04 -8.46352600e-06 9.99999865e-01 -2.91225967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64655999499996 meters 0.05145500975301366 Centerline is valid? [True, True] Translation: X:389.12, Y:-65.64, Z:-2.91 [[ 9.26999402e-01 3.75062707e-01 2.74353917e-04 3.89120627e+02] [-3.75062692e-01 9.26999442e-01 -1.05667330e-04 -6.56420644e+01] [-2.93957803e-04 -4.94636663e-06 9.99999957e-01 -2.91321289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70655999499996 meters 0.0516056653569896 Centerline is valid? [True, True] Translation: X:389.18, Y:-65.67, Z:-2.92 [[ 9.27045438e-01 3.74948957e-01 1.89492542e-04 3.89177973e+02] [-3.74948950e-01 9.27045457e-01 -7.25644312e-05 -6.56681739e+01] [-2.02876158e-04 -3.77950457e-06 9.99999979e-01 -2.91507672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76655999499997 meters 0.051371086115832854 Centerline is valid? [True, True] Translation: X:389.23, Y:-65.69, Z:-2.92 [[ 9.26901002e-01 3.75305807e-01 -2.88066612e-04 3.89234197e+02] [-3.75305790e-01 9.26901047e-01 1.12778054e-04 -6.56941611e+01] [ 3.09335503e-04 3.57897638e-06 9.99999952e-01 -2.91600301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82655999499997 meters 0.05126686651218094 Centerline is valid? [True, True] Translation: X:389.29, Y:-65.72, Z:-2.92 [[ 9.26763151e-01 3.75646077e-01 -2.92851746e-04 3.89291660e+02] [-3.75646060e-01 9.26763198e-01 1.14806424e-04 -6.57202039e+01] [ 3.14530803e-04 3.61024119e-06 9.99999951e-01 -2.91607254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88655999499997 meters 0.05064796453422066 Centerline is valid? [True, True] Translation: X:389.35, Y:-65.74, Z:-2.92 [[ 9.26545986e-01 3.76180239e-01 9.82193275e-04 3.89348470e+02] [-3.76180046e-01 9.26546506e-01 -3.80860506e-04 -6.57449473e+01] [-1.05331994e-03 -1.65967393e-05 9.99999445e-01 -2.91622399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.946559995 meters 0.05084395393437416 Centerline is valid? [True, True] Translation: X:389.41, Y:-65.77, Z:-2.92 [[ 9.26479634e-01 3.76340651e-01 1.78944976e-03 3.89405179e+02] [-3.76340010e-01 9.26481362e-01 -6.94958210e-04 -6.57694782e+01] [-1.91943288e-03 -2.95769136e-05 9.99998157e-01 -2.91601874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.006559995 meters 0.050824574850492715 Centerline is valid? [True, True] Translation: X:389.46, Y:-65.79, Z:-2.92 [[ 9.26369089e-01 3.76604852e-01 3.01594380e-03 3.89461000e+02] [-3.76603031e-01 9.26373997e-01 -1.17228944e-03 -6.57941730e+01] [-3.23538181e-03 -4.98408713e-05 9.99994765e-01 -2.91674660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.066559995 meters 0.05108550041328716 Centerline is valid? [True, True] Translation: X:389.52, Y:-65.82, Z:-2.92 [[ 9.25825115e-01 3.77935609e-01 3.54020170e-03 3.89517445e+02] [-3.77933106e-01 9.25831881e-01 -1.37678446e-03 -6.58178961e+01] [-3.79796747e-03 -6.32977955e-05 9.99992786e-01 -2.91701884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.126559995 meters 0.05148951467643618 Centerline is valid? [True, True] Translation: X:389.57, Y:-65.85, Z:-2.92 [[ 9.25316302e-01 3.79194341e-01 1.18032325e-03 3.89572945e+02] [-3.79194065e-01 9.25317054e-01 -4.58497026e-04 -6.58453076e+01] [-1.26603271e-03 -2.33167983e-05 9.99999198e-01 -2.91838760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.186559995 meters 0.05092756725991831 Centerline is valid? [True, True] Translation: X:389.63, Y:-65.86, Z:-2.92 [[ 9.24936305e-01 3.80118419e-01 -1.67892619e-03 3.89632174e+02] [-3.80117857e-01 9.24937828e-01 6.54353998e-04 -6.58615660e+01] [ 1.80163436e-03 3.29540588e-05 9.99998377e-01 -2.92287575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.246559995 meters 0.05113883016269836 Centerline is valid? [True, True] Translation: X:389.69, Y:-65.88, Z:-2.92 [[ 9.24348383e-01 3.81546855e-01 -1.43694932e-03 3.89690518e+02] [-3.81546445e-01 9.24349499e-01 5.60274873e-04 -6.58817129e+01] [ 1.54201450e-03 3.03737321e-05 9.99998811e-01 -2.92243148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.306559995 meters 0.050991364764425645 Centerline is valid? [True, True] Translation: X:389.75, Y:-65.90, Z:-2.92 [[ 9.23705388e-01 3.83103416e-01 -3.59076851e-04 3.89749383e+02] [-3.83103391e-01 9.23705458e-01 1.40684060e-04 -6.59017178e+01] [ 3.85577791e-04 7.61293472e-06 9.99999926e-01 -2.92127715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.366559995 meters 0.05131845076882273 Centerline is valid? [True, True] Translation: X:389.80, Y:-65.93, Z:-2.92 [[ 9.24665370e-01 3.80780714e-01 4.66767841e-05 3.89803925e+02] [-3.80780713e-01 9.24665371e-01 -1.80529479e-05 -6.59310073e+01] [-5.00346204e-05 -1.08068345e-06 9.99999999e-01 -2.91921381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42655999499993 meters 0.050549531476285256 Centerline is valid? [True, True] Translation: X:389.86, Y:-65.95, Z:-2.92 [[ 9.25603029e-01 3.78495352e-01 5.49312489e-04 3.89860431e+02] [-3.78495292e-01 9.25603191e-01 -2.13846561e-04 -6.59534358e+01] [-5.89385322e-04 -9.97516688e-06 9.99999826e-01 -2.91977764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48655999499994 meters 0.05170564519921428 Centerline is valid? [True, True] Translation: X:389.92, Y:-65.98, Z:-2.92 [[ 9.27542396e-01 3.73716278e-01 1.11692963e-03 3.89916799e+02] [-3.73716025e-01 9.27543068e-01 -4.35002948e-04 -6.59760601e+01] [-1.19856802e-03 -1.39308265e-05 9.99999282e-01 -2.92050743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54655999499994 meters 0.050973886984933166 Centerline is valid? [True, True] Translation: X:389.97, Y:-66.00, Z:-2.92 [[ 9.29019074e-01 3.70028627e-01 1.54104457e-03 3.89972492e+02] [-3.70028140e-01 9.29020352e-01 -6.00154462e-04 -6.60014100e+01] [-1.65373610e-03 -1.26749134e-05 9.99998632e-01 -2.91990513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60655999499994 meters 0.0508523631349879 Centerline is valid? [True, True] Translation: X:390.03, Y:-66.02, Z:-2.92 [[ 9.30605446e-01 3.66018304e-01 2.02617314e-03 3.90029604e+02] [-3.66017455e-01 9.30607651e-01 -7.88748703e-04 -6.60242277e+01] [-2.17426869e-03 -7.60089743e-06 9.99997636e-01 -2.92119933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66655999499994 meters 0.05124515530273161 Centerline is valid? [True, True] Translation: X:390.09, Y:-66.05, Z:-2.92 [[ 9.31272958e-01 3.64315262e-01 2.25113919e-03 3.90085676e+02] [-3.64314207e-01 9.31275679e-01 -8.76715131e-04 -6.60479003e+01] [-2.41583188e-03 -3.66089336e-06 9.99997082e-01 -2.91996435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72655999499995 meters 0.05127556533628085 Centerline is valid? [True, True] Translation: X:390.14, Y:-66.07, Z:-2.92 [[ 9.31848897e-01 3.62842936e-01 1.62363855e-03 3.90144452e+02] [-3.62842385e-01 9.31850312e-01 -6.32357691e-04 -6.60703001e+01] [-1.74243461e-03 1.36932911e-07 9.99998482e-01 -2.92285555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78655999499995 meters 0.0515530358154092 Centerline is valid? [True, True] Translation: X:390.20, Y:-66.09, Z:-2.92 [[ 9.32422667e-01 3.61366924e-01 1.38434400e-03 3.90202034e+02] [-3.61366522e-01 9.32423695e-01 -5.39252408e-04 -6.60926047e+01] [-1.48566313e-03 2.55559453e-06 9.99998896e-01 -2.92286739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84655999499995 meters 0.05126334870762019 Centerline is valid? [True, True] Translation: X:390.26, Y:-66.12, Z:-2.92 [[ 9.32725349e-01 3.60579898e-01 2.35795423e-03 3.90259569e+02] [-3.60578727e-01 9.32728330e-01 -9.19312534e-04 -6.61157225e+01] [-2.53081633e-03 7.23797095e-06 9.99996797e-01 -2.92461869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90655999499995 meters 0.05169634346640046 Centerline is valid? [True, True] Translation: X:390.32, Y:-66.14, Z:-2.92 [[ 9.32620966e-01 3.60847701e-01 2.65909042e-03 3.90317481e+02] [-3.60846212e-01 9.32624756e-01 -1.03687887e-03 -6.61365548e+01] [-2.85408891e-03 7.49226871e-06 9.99995927e-01 -2.92405247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96655999499995 meters 0.05078519777535008 Centerline is valid? [True, True] Translation: X:390.38, Y:-66.15, Z:-2.93 [[ 9.29143691e-01 3.69704050e-01 3.30392882e-03 3.90377914e+02] [-3.69701804e-01 9.29149565e-01 -1.28897195e-03 -6.61523057e+01] [-3.54638218e-03 -2.38282861e-05 9.99993711e-01 -2.92616054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02655999499996 meters 0.05063599169090749 Centerline is valid? [True, True] Translation: X:390.44, Y:-66.17, Z:-2.93 [[ 9.27373157e-01 3.74133169e-01 1.84362446e-03 3.90436873e+02] [-3.74132479e-01 9.27374989e-01 -7.18821644e-04 -6.61693447e+01] [-1.97866623e-03 -2.31438936e-05 9.99998042e-01 -2.92834451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08655999499996 meters 0.050685270529698165 Centerline is valid? [True, True] Translation: X:390.49, Y:-66.19, Z:-2.93 [[ 9.26828429e-01 3.75481134e-01 1.72670194e-03 3.90494615e+02] [-3.75480531e-01 9.26830037e-01 -6.73345149e-04 -6.61923480e+01] [-1.85318762e-03 -2.42675331e-05 9.99998283e-01 -2.92874466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14655999499996 meters 0.051302896115252336 Centerline is valid? [True, True] Translation: X:390.55, Y:-66.21, Z:-2.93 [[ 9.26481371e-01 3.76338271e-01 1.33230005e-03 3.90551476e+02] [-3.76337912e-01 9.26482329e-01 -5.20084993e-04 -6.62134600e+01] [-1.43008034e-03 -1.95459624e-05 9.99998977e-01 -2.92943240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20655999499996 meters 0.05151926264551909 Centerline is valid? [True, True] Translation: X:390.61, Y:-66.24, Z:-2.93 [[ 9.26087320e-01 3.77304497e-01 1.89535337e-03 3.90608933e+02] [-3.77303774e-01 9.26089259e-01 -7.39508207e-04 -6.62359136e+01] [-2.03428617e-03 -3.02748064e-05 9.99997930e-01 -2.92930792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26655999499997 meters 0.05028235489640643 Centerline is valid? [True, True] Translation: X:390.67, Y:-66.26, Z:-2.93 [[ 9.26270351e-01 3.76851604e-01 2.47088249e-03 3.90666593e+02] [-3.76850370e-01 9.26273646e-01 -9.64919065e-04 -6.62567159e+01] [-2.65234463e-03 -3.73770610e-05 9.99996482e-01 -2.92984329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32655999499997 meters 0.050807862170569526 Centerline is valid? [True, True] Translation: X:390.72, Y:-66.28, Z:-2.93 [[ 9.27480283e-01 3.73851227e-01 3.94780339e-03 3.90721847e+02] [-3.73848047e-01 9.27488684e-01 -1.54247697e-03 -6.62804302e+01] [-4.23819988e-03 -4.52616087e-05 9.99991018e-01 -2.92976754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38655999499997 meters 0.051094373909726896 Centerline is valid? [True, True] Translation: X:390.78, Y:-66.30, Z:-2.93 [[ 9.28344689e-01 3.71700240e-01 3.88204641e-03 3.90779499e+02] [-3.71697148e-01 9.28352805e-01 -1.51670470e-03 -6.63028284e+01] [-4.16766817e-03 -3.49208194e-05 9.99991315e-01 -2.93083475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.446559995 meters 0.05066519847210436 Centerline is valid? [True, True] Translation: X:390.84, Y:-66.33, Z:-2.93 [[ 9.29167391e-01 3.69644076e-01 3.34917811e-03 3.90837187e+02] [-3.69641761e-01 9.29173427e-01 -1.30832636e-03 -6.63260464e+01] [-3.59558239e-03 -2.23419028e-05 9.99993536e-01 -2.93248515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.506559995 meters 0.05091953767967512 Centerline is valid? [True, True] Translation: X:390.90, Y:-66.35, Z:-2.93 [[ 9.29258704e-01 3.69420758e-01 2.56193697e-03 3.90895973e+02] [-3.69419403e-01 9.29262236e-01 -1.00088296e-03 -6.63471988e+01] [-2.75045822e-03 -1.63500229e-05 9.99996217e-01 -2.93409406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.566559995 meters 0.05108664461198042 Centerline is valid? [True, True] Translation: X:390.96, Y:-66.37, Z:-2.93 [[ 9.29024547e-01 3.70010890e-01 2.30916121e-03 3.90955007e+02] [-3.70009791e-01 9.29027417e-01 -9.02320899e-04 -6.63702482e+01] [-2.47914263e-03 -1.61339918e-05 9.99996927e-01 -2.93454517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.626559995 meters 0.05153446092526889 Centerline is valid? [True, True] Translation: X:391.01, Y:-66.39, Z:-2.94 [[ 9.28734597e-01 3.70736085e-01 2.60842369e-03 3.91013504e+02] [-3.70734683e-01 9.28738260e-01 -1.01978399e-03 -6.63927371e+01] [-2.80061360e-03 -1.99244583e-05 9.99996078e-01 -2.93505987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.686559995 meters 0.05114101065627379 Centerline is valid? [True, True] Translation: X:391.07, Y:-66.42, Z:-2.94 [[ 9.28389541e-01 3.71599676e-01 2.55765117e-03 3.91071121e+02] [-3.71598330e-01 9.28393063e-01 -1.00039341e-03 -6.64150652e+01] [-2.74625147e-03 -2.16641224e-05 9.99996229e-01 -2.93505857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.746559995 meters 0.05154441503232341 Centerline is valid? [True, True] Translation: X:391.13, Y:-66.44, Z:-2.94 [[ 9.27976393e-01 3.72636537e-01 1.35128314e-03 3.91127720e+02] [-3.72636162e-01 9.27977376e-01 -5.28661828e-04 -6.64367655e+01] [-1.45095890e-03 -1.29512671e-05 9.99998947e-01 -2.93583329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.806559995 meters 0.051202953598927 Centerline is valid? [True, True] Translation: X:391.19, Y:-66.46, Z:-2.94 [[ 9.27620991e-01 3.73519913e-01 1.47341349e-03 3.91185583e+02] [-3.73519469e-01 9.27622161e-01 -5.76228230e-04 -6.64595461e+01] [-1.58200372e-03 -1.58272208e-05 9.99998749e-01 -2.93578742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.866559995 meters 0.05074230099998496 Centerline is valid? [True, True] Translation: X:391.24, Y:-66.48, Z:-2.94 [[ 9.27098544e-01 3.74814504e-01 1.54211747e-03 3.91243365e+02] [-3.74814019e-01 9.27099826e-01 -6.03349236e-04 -6.64833864e+01] [-1.65584088e-03 -1.86430475e-05 9.99998629e-01 -2.93509396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92655999499993 meters 0.05109615329823986 Centerline is valid? [True, True] Translation: X:391.30, Y:-66.51, Z:-2.94 [[ 9.27166937e-01 3.74644116e-01 1.80467350e-03 3.91300670e+02] [-3.74643451e-01 9.27168693e-01 -7.06453134e-04 -6.65071180e+01] [-1.93790528e-03 -2.11091193e-05 9.99998122e-01 -2.93538904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98655999499994 meters 0.05165245086854116 Centerline is valid? [True, True] Translation: X:391.36, Y:-66.53, Z:-2.94 [[ 9.27700409e-01 3.73315548e-01 2.72993066e-03 3.91357325e+02] [-3.73314017e-01 9.27704425e-01 -1.06953333e-03 -6.65295032e+01] [-2.93184218e-03 -2.69148723e-05 9.99995702e-01 -2.93529344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04655999499994 meters 0.05108748656197067 Centerline is valid? [True, True] Translation: X:391.41, Y:-66.55, Z:-2.93 [[ 9.28425266e-01 3.71500462e-01 3.73260672e-03 3.91414939e+02] [-3.71497582e-01 9.28432769e-01 -1.46310556e-03 -6.65535311e+01] [-4.00901878e-03 -2.82702037e-05 9.99991963e-01 -2.93446066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10655999499994 meters 0.0515374858476337 Centerline is valid? [True, True] Translation: X:391.47, Y:-66.58, Z:-2.93 [[ 9.29785335e-01 3.68086317e-01 3.41975075e-03 3.91472146e+02] [-3.68083875e-01 9.29791624e-01 -1.34083072e-03 -6.65781237e+01] [-3.67319704e-03 -1.20703703e-05 9.99993254e-01 -2.93409799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16655999499994 meters 0.051700743299215625 Centerline is valid? [True, True] Translation: X:391.53, Y:-66.60, Z:-2.93 [[ 9.30730152e-01 3.65692993e-01 3.16534113e-03 3.91529624e+02] [-3.65690886e-01 9.30735534e-01 -1.24140772e-03 -6.66008511e+01] [-3.40006957e-03 -2.12081053e-06 9.99994220e-01 -2.93455781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22655999499995 meters 0.0516365981355947 Centerline is valid? [True, True] Translation: X:391.59, Y:-66.62, Z:-2.94 [[ 9.30962055e-01 3.65105714e-01 2.73324943e-03 3.91587683e+02] [-3.65104139e-01 9.30966067e-01 -1.07225693e-03 -6.66226091e+01] [-2.93604961e-03 3.09830307e-07 9.99995690e-01 -2.93593491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28655999499995 meters 0.051749229443893555 Centerline is valid? [True, True] Translation: X:391.65, Y:-66.64, Z:-2.94 [[ 9.31085267e-01 3.64799737e-01 1.17359295e-03 3.91645990e+02] [-3.64799446e-01 9.31086007e-01 -4.60532982e-04 -6.66437508e+01] [-1.26071828e-03 6.69417989e-07 9.99999205e-01 -2.93533316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34655999499995 meters 0.051703498689749786 Centerline is valid? [True, True] Translation: X:391.70, Y:-66.67, Z:-2.94 [[ 9.31012680e-01 3.64985118e-01 1.11949225e-03 3.91704315e+02] [-3.64984854e-01 9.31013353e-01 -4.38744453e-04 -6.66656247e+01] [-1.20239743e-03 -1.21066573e-07 9.99999277e-01 -2.93616561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40655999499995 meters 0.052326817339500405 Centerline is valid? [True, True] Translation: X:391.76, Y:-66.69, Z:-2.93 [[ 9.30882147e-01 3.65318097e-01 1.05655476e-03 3.91762098e+02] [-3.65317862e-01 9.30882747e-01 -4.14245662e-04 -6.66867673e+01] [-1.13486004e-03 -3.64436134e-07 9.99999356e-01 -2.93308403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46655999499995 meters 0.0516542938506624 Centerline is valid? [True, True] Translation: X:391.82, Y:-66.71, Z:-2.94 [[ 9.30956019e-01 3.65128796e-01 1.36143506e-03 3.91820498e+02] [-3.65128405e-01 9.30957014e-01 -5.34761610e-04 -6.67091968e+01] [-1.46269438e-03 7.40928518e-07 9.99998930e-01 -2.93500870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52655999499996 meters 0.052326722755956276 Centerline is valid? [True, True] Translation: X:391.88, Y:-66.73, Z:-2.93 [[ 9.30596972e-01 3.66042693e-01 1.42237755e-03 3.91879091e+02] [-3.66042267e-01 9.30598059e-01 -5.58195577e-04 -6.67312908e+01] [-1.52798520e-03 -1.19519122e-06 9.99998833e-01 -2.93431381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58655999499996 meters 0.05197836380755133 Centerline is valid? [True, True] Translation: X:391.94, Y:-66.75, Z:-2.93 [[ 9.29267845e-01 3.69402491e-01 1.75259608e-03 3.91938401e+02] [-3.69401850e-01 9.29269498e-01 -6.88298175e-04 -6.67516634e+01] [-1.88289314e-03 -7.79887371e-06 9.99998227e-01 -2.93438360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64655999499996 meters 0.052034968480379924 Centerline is valid? [True, True] Translation: X:392.00, Y:-66.77, Z:-2.93 [[ 9.28008572e-01 3.72556902e-01 1.20219538e-03 3.91997210e+02] [-3.72556603e-01 9.28009351e-01 -4.72106000e-04 -6.67721466e+01] [-1.29153490e-03 -9.76741138e-06 9.99999166e-01 -2.93495082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70655999499996 meters 0.052232853856858705 Centerline is valid? [True, True] Translation: X:392.06, Y:-66.79, Z:-2.94 [[ 9.25896183e-01 3.77778041e-01 1.04267922e-04 3.92055038e+02] [-3.77778038e-01 9.25896189e-01 -4.10262187e-05 -6.67889526e+01] [-1.12040077e-04 -1.40411197e-06 9.99999994e-01 -2.93714931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76655999499997 meters 0.05243709513661953 Centerline is valid? [True, True] Translation: X:392.11, Y:-66.81, Z:-2.94 [[ 9.24232270e-01 3.81828724e-01 -1.23996137e-03 3.92111665e+02] [-3.81828412e-01 9.24233101e-01 4.88078008e-04 -6.68113727e+01] [ 1.33237554e-03 2.23550341e-05 9.99999112e-01 -2.93642352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82655999499997 meters 0.051625894479501985 Centerline is valid? [True, True] Translation: X:392.17, Y:-66.83, Z:-2.94 [[ 9.23149528e-01 3.84437585e-01 -1.64074431e-03 3.92169084e+02] [-3.84437044e-01 9.23150986e-01 6.45812029e-04 -6.68329319e+01] [ 1.76292914e-03 3.45818217e-05 9.99998445e-01 -2.93652563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88655999499997 meters 0.05148536150039041 Centerline is valid? [True, True] Translation: X:392.23, Y:-66.86, Z:-2.94 [[ 9.22844031e-01 3.85167051e-01 -2.28825852e-03 3.92226970e+02] [-3.85165999e-01 9.22846867e-01 9.01658063e-04 -6.68559367e+01] [ 2.45900118e-03 4.92696153e-05 9.99996975e-01 -2.93684233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.946559995 meters 0.0525355778271223 Centerline is valid? [True, True] Translation: X:392.28, Y:-66.88, Z:-2.94 [[ 9.21987676e-01 3.87206277e-01 -3.16631040e-03 3.92284218e+02] [-3.87204278e-01 9.21993109e-01 1.24659014e-03 -6.68763249e+01] [ 3.40200389e-03 7.66681791e-05 9.99994210e-01 -2.93841530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.006559995 meters 0.05199105371330427 Centerline is valid? [True, True] Translation: X:392.34, Y:-66.90, Z:-2.94 [[ 9.21416380e-01 3.88562229e-01 -3.35384922e-03 3.92341536e+02] [-3.88559990e-01 9.21422480e-01 1.32162310e-03 -6.69001600e+01] [ 3.60384488e-03 8.54064490e-05 9.99993502e-01 -2.93825998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.066559995 meters 0.05216204846320236 Centerline is valid? [True, True] Translation: X:392.40, Y:-66.92, Z:-2.94 [[ 9.20994981e-01 3.89557717e-01 -3.60970375e-03 3.92399027e+02] [-3.89555130e-01 9.21002050e-01 1.42283576e-03 -6.69240393e+01] [ 3.87882120e-03 9.57540163e-05 9.99992473e-01 -2.93810498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.126559995 meters 0.05200527607231312 Centerline is valid? [True, True] Translation: X:392.46, Y:-66.95, Z:-2.94 [[ 9.20714883e-01 3.90220984e-01 -3.41867135e-03 3.92455778e+02] [-3.90218667e-01 9.20721225e-01 1.34804901e-03 -6.69504456e+01] [ 3.67368029e-03 9.28605874e-05 9.99993248e-01 -2.93634265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.186559995 meters 0.05215566547285777 Centerline is valid? [True, True] Translation: X:392.51, Y:-66.97, Z:-2.94 [[ 9.20455546e-01 3.90835486e-01 -3.03484504e-03 3.92512726e+02] [-3.90833665e-01 9.20460545e-01 1.19620072e-03 -6.69712788e+01] [ 3.26097281e-03 8.50700205e-05 9.99994679e-01 -2.93822516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.246559995 meters 0.052011025399729405 Centerline is valid? [True, True] Translation: X:392.57, Y:-66.99, Z:-2.94 [[ 9.20349715e-01 3.91087154e-01 -2.69078304e-03 3.92571011e+02] [-3.91085720e-01 9.20353645e-01 1.06170893e-03 -6.69934745e+01] [ 2.89169271e-03 7.51833186e-05 9.99995816e-01 -2.93945511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.306559995 meters 0.05235515812651298 Centerline is valid? [True, True] Translation: X:392.63, Y:-67.02, Z:-2.94 [[ 9.20380957e-01 3.91017282e-01 -2.09251665e-03 3.92627038e+02] [-3.91016414e-01 9.20383334e-01 8.25657467e-04 -6.70222748e+01] [ 2.24876379e-03 5.82889474e-05 9.99997470e-01 -2.93823978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.366559995 meters 0.05168161866544885 Centerline is valid? [True, True] Translation: X:392.68, Y:-67.05, Z:-2.94 [[ 9.20116383e-01 3.91640887e-01 -1.80499840e-03 3.92684236e+02] [-3.91640242e-01 9.20118152e-01 7.12336432e-04 -6.70450408e+01] [ 1.93979186e-03 5.14775902e-05 9.99998117e-01 -2.93834896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42655999499993 meters 0.051229707298466876 Centerline is valid? [True, True] Translation: X:392.74, Y:-67.07, Z:-2.94 [[ 9.19866966e-01 3.92229361e-01 -9.45299550e-04 3.92741804e+02] [-3.92229184e-01 9.19867451e-01 3.73812026e-04 -6.70692969e+01] [ 1.01617034e-03 2.69167374e-05 9.99999483e-01 -2.93820230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48655999499994 meters 0.05138338079676447 Centerline is valid? [True, True] Translation: X:392.80, Y:-67.09, Z:-2.94 [[ 9.19408371e-01 3.93303319e-01 -8.63611620e-04 3.92799608e+02] [-3.93303172e-01 9.19408777e-01 3.41193890e-04 -6.70880271e+01] [ 9.28204793e-04 2.59646707e-05 9.99999569e-01 -2.93937393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54655999499994 meters 0.05129199591714209 Centerline is valid? [True, True] Translation: X:392.86, Y:-67.11, Z:-2.94 [[ 9.17847612e-01 3.96930029e-01 -1.52100213e-03 3.92856327e+02] [-3.96929578e-01 9.17848871e-01 6.00330784e-04 -6.71119384e+01] [ 1.63433940e-03 5.27185580e-05 9.99998663e-01 -2.93975935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60655999499994 meters 0.05161683804229438 Centerline is valid? [True, True] Translation: X:392.91, Y:-67.14, Z:-2.94 [[ 9.16561057e-01 3.99889187e-01 -2.11363147e-03 3.92912677e+02] [-3.99888325e-01 9.16563490e-01 8.34249247e-04 -6.71361890e+01] [ 2.27088469e-03 8.05761789e-05 9.99997418e-01 -2.94013463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66655999499994 meters 0.05331294866224428 Centerline is valid? [True, True] Translation: X:392.97, Y:-67.15, Z:-2.94 [[ 9.15246058e-01 4.02889139e-01 -2.23491848e-03 3.92972929e+02] [-4.02888184e-01 9.15248782e-01 8.82253361e-04 -6.71464906e+01] [ 2.40095671e-03 9.29433362e-05 9.99997113e-01 -2.94353795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72655999499995 meters 0.05185916263001163 Centerline is valid? [True, True] Translation: X:393.03, Y:-67.18, Z:-2.94 [[ 9.15199773e-01 4.02997055e-01 -1.65779848e-03 3.93027188e+02] [-4.02996528e-01 9.15201272e-01 6.55311526e-04 -6.71779034e+01] [ 1.78130789e-03 6.83460719e-05 9.99998411e-01 -2.94051938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78655999499995 meters 0.051926046453583834 Centerline is valid? [True, True] Translation: X:393.08, Y:-67.20, Z:-2.94 [[ 9.15408137e-01 4.02526439e-01 6.40097708e-04 3.93084532e+02] [-4.02526360e-01 9.15408360e-01 -2.52585446e-04 -6.71992242e+01] [-6.87623113e-04 -2.64374279e-05 9.99999763e-01 -2.94046764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84655999499995 meters 0.05140843662685649 Centerline is valid? [True, True] Translation: X:393.14, Y:-67.22, Z:-2.94 [[ 9.15505253e-01 4.02302287e-01 1.73267607e-03 3.93144387e+02] [-4.02301712e-01 9.15506890e-01 -6.83825312e-04 -6.72155567e+01] [-1.86138137e-03 -7.10128853e-05 9.99998265e-01 -2.94162238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90655999499995 meters 0.051020056165389946 Centerline is valid? [True, True] Translation: X:393.20, Y:-67.24, Z:-2.94 [[ 9.15487381e-01 4.02341448e-01 2.05284409e-03 3.93199686e+02] [-4.02340642e-01 9.15489679e-01 -8.09925620e-04 -6.72447476e+01] [-2.20522423e-03 -8.44659262e-05 9.99997565e-01 -2.94137581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96655999499995 meters 0.05157040282791179 Centerline is valid? [True, True] Translation: X:393.26, Y:-67.26, Z:-2.94 [[ 9.15273721e-01 4.02829032e-01 1.66953170e-03 3.93258463e+02] [-4.02828499e-01 9.15275241e-01 -6.58797873e-04 -6.72620129e+01] [-1.79346393e-03 -6.95545666e-05 9.99998389e-01 -2.94272714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02655999499996 meters 0.052485855609262416 Centerline is valid? [True, True] Translation: X:393.32, Y:-67.28, Z:-2.95 [[ 9.15289107e-01 4.02796343e-01 9.77882981e-04 3.93320241e+02] [-4.02796160e-01 9.15289629e-01 -3.85826868e-04 -6.72752402e+01] [-1.05045580e-03 -4.07443803e-05 9.99999447e-01 -2.94531076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08655999499996 meters 0.05116087437115698 Centerline is valid? [True, True] Translation: X:393.37, Y:-67.31, Z:-2.94 [[ 9.15886700e-01 4.01435979e-01 8.41577630e-04 3.93374080e+02] [-4.01435842e-01 9.15887086e-01 -3.32334472e-04 -6.73076245e+01] [-9.04201097e-04 -3.34587021e-05 9.99999591e-01 -2.94384907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14655999499996 meters 0.05181926186736408 Centerline is valid? [True, True] Translation: X:393.43, Y:-67.33, Z:-2.95 [[ 9.17404082e-01 3.97955003e-01 1.25145787e-03 3.93432217e+02] [-3.97954698e-01 9.17404935e-01 -4.94510475e-04 -6.73253548e+01] [-1.34488655e-03 -4.43576111e-05 9.99999095e-01 -2.94506998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20655999499996 meters 0.052232688111447594 Centerline is valid? [True, True] Translation: X:393.49, Y:-67.35, Z:-2.95 [[ 9.18368459e-01 3.95724471e-01 1.23177126e-03 3.93489964e+02] [-3.95724173e-01 9.18369284e-01 -4.86717039e-04 -6.73471479e+01] [-1.32382674e-03 -4.04560876e-05 9.99999123e-01 -2.94578163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26655999499997 meters 0.05190495526855361 Centerline is valid? [True, True] Translation: X:393.55, Y:-67.37, Z:-2.95 [[ 9.19698713e-01 3.92624471e-01 5.49474363e-04 3.93546944e+02] [-3.92624411e-01 9.19698877e-01 -2.17196104e-04 -6.73653586e+01] [-5.90627460e-04 -1.59820713e-05 9.99999825e-01 -2.94746027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32655999499997 meters 0.05240404874982159 Centerline is valid? [True, True] Translation: X:393.61, Y:-67.39, Z:-2.95 [[ 9.20153773e-01 3.91557163e-01 -1.48931108e-04 3.93605536e+02] [-3.91557158e-01 9.20153785e-01 5.97255599e-05 -6.73869327e+01] [ 1.60425493e-04 3.35834199e-06 9.99999987e-01 -2.94863946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38655999499997 meters 0.052045521818649895 Centerline is valid? [True, True] Translation: X:393.66, Y:-67.41, Z:-2.95 [[ 9.20526998e-01 3.90678713e-01 -4.35347740e-04 3.93662847e+02] [-3.90678675e-01 9.20527101e-01 1.73058533e-04 -6.74115066e+01] [ 4.68359678e-04 1.07760266e-05 9.99999890e-01 -2.94830149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.446559995 meters 0.05214650504759082 Centerline is valid? [True, True] Translation: X:393.72, Y:-67.43, Z:-2.95 [[ 9.20692450e-01 3.90288425e-01 -5.97615485e-04 3.93720889e+02] [-3.90288353e-01 9.20692644e-01 2.36899982e-04 -6.74299483e+01] [ 6.42679501e-04 1.51303389e-05 9.99999793e-01 -2.94982926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.506559995 meters 0.05241386491389687 Centerline is valid? [True, True] Translation: X:393.78, Y:-67.45, Z:-2.95 [[ 9.21317458e-01 3.88810725e-01 6.01855240e-04 3.93777276e+02] [-3.88810652e-01 9.21317654e-01 -2.37958654e-04 -6.74538073e+01] [-6.47020735e-04 -1.47722660e-05 9.99999791e-01 -2.94890665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.566559995 meters 0.05280435354377221 Centerline is valid? [True, True] Translation: X:393.84, Y:-67.47, Z:-2.95 [[ 9.22530889e-01 3.85916601e-01 2.26612499e-03 3.93835490e+02] [-3.85915563e-01 9.22533671e-01 -8.96348548e-04 -6.74709357e+01] [-2.43649239e-03 -4.76236780e-05 9.99997031e-01 -2.94998637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.626559995 meters 0.05236125898794284 Centerline is valid? [True, True] Translation: X:393.89, Y:-67.50, Z:-2.95 [[ 9.23560058e-01 3.83443656e-01 2.78964656e-03 3.93891765e+02] [-3.83442071e-01 9.23564270e-01 -1.10353462e-03 -6.74951253e+01] [-2.99956124e-03 -5.04873632e-05 9.99995500e-01 -2.94950730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.686559995 meters 0.05265261849085066 Centerline is valid? [True, True] Translation: X:393.95, Y:-67.52, Z:-2.95 [[ 9.24933111e-01 3.80121011e-01 2.59928900e-03 3.93947728e+02] [-3.80119622e-01 9.24936763e-01 -1.02826685e-03 -6.75197385e+01] [-2.79504379e-03 -3.69626944e-05 9.99996093e-01 -2.94932549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.746559995 meters 0.052210383243527995 Centerline is valid? [True, True] Translation: X:394.01, Y:-67.54, Z:-2.95 [[ 9.25605755e-01 3.78485320e-01 1.68789974e-03 3.94005160e+02] [-3.78484732e-01 9.25607294e-01 -6.67157920e-04 -6.75413131e+01] [-1.81484178e-03 -2.13190694e-05 9.99998353e-01 -2.95001215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.806559995 meters 0.05227070706387009 Centerline is valid? [True, True] Translation: X:394.06, Y:-67.56, Z:-2.95 [[ 9.27109003e-01 3.74790037e-01 1.15094451e-03 3.94064591e+02] [-3.74789761e-01 9.27109717e-01 -4.55192391e-04 -6.75616659e+01] [-1.23765341e-03 -9.34925415e-06 9.99999234e-01 -2.95278526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.866559995 meters 0.05265863347252028 Centerline is valid? [True, True] Translation: X:394.12, Y:-67.58, Z:-2.95 [[ 9.28240219e-01 3.71980615e-01 7.19587409e-04 3.94121284e+02] [-3.71980506e-01 9.28240498e-01 -2.84085581e-04 -6.75837407e+01] [-7.73624504e-04 -3.97282713e-06 9.99999701e-01 -2.95470985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92655999499993 meters 0.05256570534485984 Centerline is valid? [True, True] Translation: X:394.18, Y:-67.61, Z:-2.96 [[ 9.30143607e-01 3.67195576e-01 5.29110948e-04 3.94178442e+02] [-3.67195517e-01 9.30143757e-01 -2.08679715e-04 -6.76079503e+01] [-5.68775513e-04 -1.85065191e-07 9.99999838e-01 -2.95552539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98655999499994 meters 0.05311729968598292 Centerline is valid? [True, True] Translation: X:394.24, Y:-67.63, Z:-2.95 [[ 9.31004537e-01 3.65006480e-01 9.06107581e-04 3.94236097e+02] [-3.65006304e-01 9.31004978e-01 -3.58607165e-04 -6.76308398e+01] [-9.74484608e-04 3.12991855e-06 9.99999525e-01 -2.95478851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04655999499994 meters 0.05328591501683646 Centerline is valid? [True, True] Translation: X:394.30, Y:-67.65, Z:-2.95 [[ 9.31152559e-01 3.64626789e-01 1.48879760e-03 3.94295305e+02] [-3.64626313e-01 9.31153749e-01 -5.88983728e-04 -6.76508300e+01] [-1.60105871e-03 5.57892589e-06 9.99998718e-01 -2.95164061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10655999499994 meters 0.053111376799950163 Centerline is valid? [True, True] Translation: X:394.35, Y:-67.67, Z:-2.95 [[ 9.30413461e-01 3.66504158e-01 2.34383677e-03 3.94353600e+02] [-3.66502981e-01 9.30416413e-01 -9.28583242e-04 -6.76719914e+01] [-2.52107382e-03 4.94318296e-06 9.99996822e-01 -2.95416076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16655999499994 meters 0.05239112315352301 Centerline is valid? [True, True] Translation: X:394.41, Y:-67.69, Z:-2.95 [[ 9.28132764e-01 3.72243702e-01 2.04912538e-03 3.94413097e+02] [-3.72242818e-01 9.28135026e-01 -8.11449706e-04 -6.76892616e+01] [-2.20392208e-03 -9.63914612e-06 9.99997571e-01 -2.95498928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22655999499995 meters 0.05315519929240675 Centerline is valid? [True, True] Translation: X:394.47, Y:-67.71, Z:-2.96 [[ 9.25552571e-01 3.78615106e-01 1.74377004e-03 3.94471886e+02] [-3.78614476e-01 9.25554213e-01 -6.90691660e-04 -6.77063687e+01] [-1.87546000e-03 -2.09451390e-05 9.99998241e-01 -2.95589074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28655999499995 meters 0.05294108050064081 Centerline is valid? [True, True] Translation: X:394.53, Y:-67.72, Z:-2.96 [[ 9.24118348e-01 3.82104788e-01 1.10011722e-03 3.94530491e+02] [-3.82104541e-01 9.24119002e-01 -4.35592109e-04 -6.77242294e+01] [-1.18308106e-03 -1.78211253e-05 9.99999300e-01 -2.95656782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34655999499995 meters 0.052608111463036046 Centerline is valid? [True, True] Translation: X:394.59, Y:-67.75, Z:-2.96 [[ 9.23495829e-01 3.83606563e-01 1.20821939e-03 3.94588175e+02] [-3.83606265e-01 9.23496619e-01 -4.78562755e-04 -6.77474573e+01] [-1.29936633e-03 -2.15298180e-05 9.99999156e-01 -2.95608482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40655999499995 meters 0.05278984833728902 Centerline is valid? [True, True] Translation: X:394.65, Y:-67.77, Z:-2.96 [[ 9.22437960e-01 3.86136254e-01 2.64646161e-03 3.94647063e+02] [-3.86134831e-01 9.22441755e-01 -1.04972204e-03 -6.77656583e+01] [-2.84654243e-03 -5.35875473e-05 9.99995947e-01 -2.95592861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46655999499995 meters 0.052828344440894404 Centerline is valid? [True, True] Translation: X:394.71, Y:-67.79, Z:-2.96 [[ 9.22298239e-01 3.86464376e-01 3.35329111e-03 3.94706392e+02] [-3.86462091e-01 9.22304332e-01 -1.33066021e-03 -6.77852891e+01] [-3.60700769e-03 -6.86543266e-05 9.99993492e-01 -2.95638090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52655999499996 meters 0.05289886305754187 Centerline is valid? [True, True] Translation: X:394.76, Y:-67.81, Z:-2.96 [[ 9.22751390e-01 3.85378287e-01 3.66720357e-03 3.94763414e+02] [-3.85375544e-01 9.22758674e-01 -1.45587447e-03 -6.78094886e+01] [-3.94500631e-03 -6.98403814e-05 9.99992216e-01 -2.95730684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58655999499996 meters 0.05318140498355843 Centerline is valid? [True, True] Translation: X:394.82, Y:-67.83, Z:-2.96 [[ 9.23005252e-01 3.84775837e-01 2.97644726e-03 3.94820946e+02] [-3.84774026e-01 9.23010050e-01 -1.18186295e-03 -6.78328461e+01] [-3.20204304e-03 -5.43938834e-05 9.99994872e-01 -2.95828914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64655999499996 meters 0.053235408967076625 Centerline is valid? [True, True] Translation: X:394.88, Y:-67.86, Z:-2.96 [[ 9.22958262e-01 3.84895523e-01 1.86604953e-03 3.94877217e+02] [-3.84894811e-01 9.22960148e-01 -7.40890391e-04 -6.78582171e+01] [-2.00745475e-03 -3.44218756e-05 9.99997984e-01 -2.95896538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70655999499996 meters 0.05304427735862246 Centerline is valid? [True, True] Translation: X:394.93, Y:-67.88, Z:-2.96 [[ 9.22423387e-01 3.86179912e-01 -4.13698580e-04 3.94934516e+02] [-3.86179876e-01 9.22423480e-01 1.65346787e-04 -6.78791641e+01] [ 4.45458891e-04 7.24232282e-06 9.99999901e-01 -2.96185142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76655999499997 meters 0.05280357327224201 Centerline is valid? [True, True] Translation: X:394.99, Y:-67.91, Z:-2.96 [[ 9.22130330e-01 3.86878418e-01 -8.63033198e-04 3.94990464e+02] [-3.86878265e-01 9.22130733e-01 3.44195116e-04 -6.79059387e+01] [ 9.28991098e-04 1.64960305e-05 9.99999568e-01 -2.96157382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82655999499997 meters 0.052951262062739056 Centerline is valid? [True, True] Translation: X:395.05, Y:-67.93, Z:-2.96 [[ 9.22365126e-01 3.86319114e-01 -3.42015695e-04 3.95047490e+02] [-3.86319090e-01 9.22365189e-01 1.36384188e-04 -6.79319121e+01] [ 3.68151190e-04 6.33117314e-06 9.99999932e-01 -2.96129791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88655999499997 meters 0.052842174215967624 Centerline is valid? [True, True] Translation: X:395.10, Y:-67.95, Z:-2.96 [[ 9.22687334e-01 3.85548871e-01 3.90289166e-04 3.95104005e+02] [-3.85548840e-01 9.22687416e-01 -1.54456653e-04 -6.79549214e+01] [-4.19665491e-04 -7.96033810e-06 9.99999912e-01 -2.96129041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.946559995 meters 0.05297293617124408 Centerline is valid? [True, True] Translation: X:395.16, Y:-67.98, Z:-2.96 [[ 9.23172565e-01 3.84384461e-01 1.00063574e-03 3.95160627e+02] [-3.84384256e-01 9.23173107e-01 -3.97466196e-04 -6.79784034e+01] [-1.07653983e-03 -1.76987364e-05 9.99999420e-01 -2.96185884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.006559995 meters 0.052565586318263524 Centerline is valid? [True, True] Translation: X:395.22, Y:-68.01, Z:-2.96 [[ 9.22994593e-01 3.84811561e-01 1.02111584e-03 3.95216808e+02] [-3.84811348e-01 9.22995158e-01 -4.05564456e-04 -6.80064123e+01] [-1.09855087e-03 -1.86031641e-05 9.99999396e-01 -2.96043924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.066559995 meters 0.05263810359640977 Centerline is valid? [True, True] Translation: X:395.27, Y:-68.03, Z:-2.96 [[ 9.21538696e-01 3.88284770e-01 1.17015611e-03 3.95272911e+02] [-3.88284491e-01 9.21539438e-01 -4.65958432e-04 -6.80271844e+01] [-1.25926956e-03 -2.49547431e-05 9.99999207e-01 -2.96183984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.126559995 meters 0.053175132969282356 Centerline is valid? [True, True] Translation: X:395.33, Y:-68.05, Z:-2.96 [[ 9.20118114e-01 3.91640963e-01 1.15071432e-04 3.95329415e+02] [-3.91640960e-01 9.20118121e-01 -4.57599259e-05 -6.80496133e+01] [-1.23800771e-04 -2.96214935e-06 9.99999992e-01 -2.96318153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.186559995 meters 0.05325739396719655 Centerline is valid? [True, True] Translation: X:395.39, Y:-68.07, Z:-2.96 [[ 9.18046126e-01 3.96472349e-01 -9.93380772e-04 3.95385712e+02] [-3.96472152e-01 9.18046663e-01 3.95897678e-04 -6.80693356e+01] [ 1.06893239e-03 3.03954828e-05 9.99999428e-01 -2.96463605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.246559995 meters 0.05300870547608914 Centerline is valid? [True, True] Translation: X:395.44, Y:-68.10, Z:-2.96 [[ 9.17071178e-01 3.98722926e-01 -6.94994858e-04 3.95441003e+02] [-3.98722830e-01 9.17071441e-01 2.76919368e-04 -6.80960840e+01] [ 7.47774036e-04 2.31555459e-05 9.99999720e-01 -2.96418857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.306559995 meters 0.05333339221530623 Centerline is valid? [True, True] Translation: X:395.50, Y:-68.12, Z:-2.96 [[ 9.16600933e-01 3.99803050e-01 5.00627283e-04 3.95497416e+02] [-3.99803001e-01 9.16601070e-01 -1.98647220e-04 -6.81193703e+01] [-5.38295267e-04 -1.80720628e-05 9.99999855e-01 -2.96355677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.366559995 meters 0.051996706521515765 Centerline is valid? [True, True] Translation: X:395.55, Y:-68.15, Z:-2.96 [[ 9.16471118e-01 4.00095551e-01 2.05926906e-03 3.95552718e+02] [-4.00094718e-01 9.16473428e-01 -8.19680539e-04 -6.81508755e+01] [-2.21521591e-03 -7.26891349e-05 9.99997544e-01 -2.96156624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42655999499993 meters 0.05228592503386646 Centerline is valid? [True, True] Translation: X:395.61, Y:-68.17, Z:-2.96 [[ 9.16027255e-01 4.01101084e-01 3.46256338e-03 3.95609263e+02] [-4.01098731e-01 9.16033790e-01 -1.37954458e-03 -6.81736086e+01] [-3.72516188e-03 -1.25129342e-04 9.99993054e-01 -2.96173207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48655999499994 meters 0.05515563351975018 Centerline is valid? [True, True] Translation: X:395.67, Y:-68.18, Z:-2.96 [[ 9.15430013e-01 4.02467869e-01 2.73977325e-03 3.95671385e+02] [-4.02466401e-01 9.15434107e-01 -1.09173948e-03 -6.81826152e+01] [-2.94747194e-03 -1.03255597e-04 9.99995651e-01 -2.96479490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54655999499994 meters 0.05164869928275827 Centerline is valid? [True, True] Translation: X:395.72, Y:-68.22, Z:-2.96 [[ 9.14262180e-01 4.05120153e-01 1.52553137e-03 3.95721920e+02] [-4.05119701e-01 9.14263451e-01 -6.08266702e-04 -6.82203712e+01] [-1.64115867e-03 -6.19075712e-05 9.99998651e-01 -2.96431824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60655999499994 meters 0.05164559319673673 Centerline is valid? [True, True] Translation: X:395.78, Y:-68.24, Z:-2.97 [[ 9.13631253e-01 4.06542295e-01 1.13862392e-03 3.95778060e+02] [-4.06542045e-01 9.13631961e-01 -4.53735321e-04 -6.82444428e+01] [-1.22474580e-03 -4.83517269e-05 9.99999249e-01 -2.96508858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66655999499994 meters 0.05334798187127825 Centerline is valid? [True, True] Translation: X:395.84, Y:-68.26, Z:-2.97 [[ 9.13322456e-01 4.07235345e-01 1.21022894e-03 3.95837058e+02] [-4.07235063e-01 9.13323257e-01 -4.82588832e-04 -6.82604954e+01] [-1.30185747e-03 -5.20884431e-05 9.99999151e-01 -2.96682298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72655999499995 meters 0.052716156635247424 Centerline is valid? [True, True] Translation: X:395.89, Y:-68.29, Z:-2.97 [[ 9.13441786e-01 4.06968096e-01 1.03551000e-03 3.95893083e+02] [-4.06967889e-01 9.13442372e-01 -4.12328124e-04 -6.82868081e+01] [-1.11368310e-03 -4.47815808e-05 9.99999379e-01 -2.96697948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78655999499995 meters 0.05398272404318263 Centerline is valid? [True, True] Translation: X:395.95, Y:-68.31, Z:-2.97 [[ 9.14073903e-01 4.05545745e-01 1.24397176e-03 3.95949926e+02] [-4.05545445e-01 9.14074748e-01 -4.96174401e-04 -6.83107722e+01] [-1.33830459e-03 -5.09470099e-05 9.99999103e-01 -2.96799447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84655999499995 meters 0.0536074595858716 Centerline is valid? [True, True] Translation: X:396.01, Y:-68.34, Z:-2.97 [[ 9.14384807e-01 4.04837586e-01 2.63692614e-03 3.96005372e+02] [-4.04836233e-01 9.14388603e-01 -1.05207068e-03 -6.83379951e+01] [-2.83709296e-03 -1.05525802e-04 9.99995970e-01 -2.96719643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90655999499995 meters 0.05085262863576711 Centerline is valid? [True, True] Translation: X:396.06, Y:-68.38, Z:-2.97 [[ 9.14544356e-01 4.04464943e-01 4.09023711e-03 3.96057585e+02] [-4.04461683e-01 9.14553489e-01 -1.63193636e-03 -6.83764105e+01] [-4.40080166e-03 -1.61866000e-04 9.99990303e-01 -2.96545341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96655999499995 meters 0.05054299821500819 Centerline is valid? [True, True] Translation: X:396.11, Y:-68.40, Z:-2.96 [[ 9.14493062e-01 4.04561097e-01 5.72358242e-03 3.96113966e+02] [-4.04554713e-01 9.14510945e-01 -2.28399533e-03 -6.84022164e+01] [-6.15829442e-03 -2.26804358e-04 9.99981012e-01 -2.96475145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02655999499996 meters 0.052340955593352924 Centerline is valid? [True, True] Translation: X:396.18, Y:-68.42, Z:-2.97 [[ 9.14437424e-01 4.04679342e-01 6.23121011e-03 3.96175727e+02] [-4.04671772e-01 9.14458621e-01 -2.48747307e-03 -6.84158091e+01] [-6.70481277e-03 -2.46956364e-04 9.99977492e-01 -2.96554311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08655999499996 meters 0.050505086177527705 Centerline is valid? [True, True] Translation: X:396.23, Y:-68.45, Z:-2.97 [[ 9.14436434e-01 4.04689749e-01 5.67584120e-03 3.96229129e+02] [-4.04683466e-01 9.14454021e-01 -2.26616878e-03 -6.84518415e+01] [-6.10739108e-03 -2.24651791e-04 9.99981324e-01 -2.96758328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14655999499996 meters 0.05072856502242859 Centerline is valid? [True, True] Translation: X:396.29, Y:-68.47, Z:-2.97 [[ 9.14401116e-01 4.04781133e-01 4.77854357e-03 3.96288356e+02] [-4.04776678e-01 9.14413582e-01 -1.90848586e-03 -6.84700253e+01] [-5.14208421e-03 -1.89121395e-04 9.99986762e-01 -2.96828629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20655999499996 meters 0.05346998817140665 Centerline is valid? [True, True] Translation: X:396.35, Y:-68.48, Z:-2.97 [[ 9.14147219e-01 4.05361426e-01 4.12026829e-03 3.96349940e+02] [-4.05358118e-01 9.14156489e-01 -1.64608771e-03 -6.84816071e+01] [-4.43383045e-03 -1.65417698e-04 9.99990157e-01 -2.96924651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26655999499997 meters 0.050852157552162276 Centerline is valid? [True, True] Translation: X:396.40, Y:-68.52, Z:-2.97 [[ 9.14112381e-01 4.05432388e-01 4.80973925e-03 3.96402401e+02] [-4.05427877e-01 9.14125014e-01 -1.92216557e-03 -6.85191420e+01] [-5.17601113e-03 -1.92927032e-04 9.99986586e-01 -2.96886417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32655999499997 meters 0.05107874058339624 Centerline is valid? [True, True] Translation: X:396.46, Y:-68.54, Z:-2.97 [[ 9.14219373e-01 4.05198615e-01 4.12554203e-03 3.96461615e+02] [-4.05195292e-01 9.14228667e-01 -1.64927436e-03 -6.85353071e+01] [-4.43997248e-03 -1.63851640e-04 9.99990130e-01 -2.96949774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38655999499997 meters 0.05068434518656423 Centerline is valid? [True, True] Translation: X:396.52, Y:-68.57, Z:-2.97 [[ 9.14528312e-01 4.04504473e-01 3.75461061e-03 3.96516306e+02] [-4.04501713e-01 9.14536008e-01 -1.50132941e-03 -6.85657254e+01] [-4.04102106e-03 -1.45738170e-04 9.99991824e-01 -2.96946280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.446559995 meters 0.05304292947660882 Centerline is valid? [True, True] Translation: X:396.58, Y:-68.57, Z:-2.97 [[ 9.15031255e-01 4.03374948e-01 2.54045040e-03 3.96577441e+02] [-4.03373678e-01 9.15034777e-01 -1.01631687e-03 -6.85747031e+01] [-2.73455723e-03 -9.47891264e-05 9.99996257e-01 -2.97208194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.506559995 meters 0.05096955797104041 Centerline is valid? [True, True] Translation: X:396.63, Y:-68.61, Z:-2.97 [[ 9.15658402e-01 4.01943440e-01 3.34091519e-03 3.96630176e+02] [-4.01941236e-01 9.15664489e-01 -1.33662096e-03 -6.86096138e+01] [-3.59640343e-03 -1.18963368e-04 9.99993526e-01 -2.97177368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.566559995 meters 0.05085157566464786 Centerline is valid? [True, True] Translation: X:396.69, Y:-68.63, Z:-2.97 [[ 9.16548145e-01 3.99900038e-01 4.41108584e-03 3.96686807e+02] [-3.99896169e-01 9.16558748e-01 -1.76510587e-03 -6.86342027e+01] [-4.74888522e-03 -1.46171819e-04 9.99988713e-01 -2.97192584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.626559995 meters 0.05135985009803133 Centerline is valid? [True, True] Translation: X:396.74, Y:-68.65, Z:-2.97 [[ 9.18121531e-01 3.96270921e-01 4.71287160e-03 3.96744506e+02] [-3.96266456e-01 9.18133617e-01 -1.88601532e-03 -6.86522631e+01] [-5.07441888e-03 -1.35961652e-04 9.99987116e-01 -2.97262109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.686559995 meters 0.05190752798392038 Centerline is valid? [True, True] Translation: X:396.80, Y:-68.68, Z:-2.97 [[ 9.19448417e-01 3.93184175e-01 4.56208623e-03 3.96800868e+02] [-3.93179953e-01 9.19459728e-01 -1.82566880e-03 -6.86763857e+01] [-4.91247865e-03 -1.15112566e-04 9.99987927e-01 -2.97407237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.746559995 meters 0.05172928887546127 Centerline is valid? [True, True] Translation: X:396.86, Y:-68.70, Z:-2.97 [[ 9.20285200e-01 3.91226051e-01 4.16262701e-03 3.96857006e+02] [-3.91222515e-01 9.20294609e-01 -1.66586806e-03 -6.87018896e+01] [-4.48257418e-03 -9.54396910e-05 9.99989949e-01 -2.97488217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.806559995 meters 0.051569283677179785 Centerline is valid? [True, True] Translation: X:396.91, Y:-68.73, Z:-2.98 [[ 9.21577593e-01 3.88176144e-01 3.74445519e-03 3.96912352e+02] [-3.88173258e-01 9.21585197e-01 -1.49862444e-03 -6.87289222e+01] [-4.03256473e-03 -7.23986654e-05 9.99991867e-01 -2.97614279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.866559995 meters 0.051245806544278176 Centerline is valid? [True, True] Translation: X:396.97, Y:-68.76, Z:-2.98 [[ 9.22860422e-01 3.85126462e-01 2.50009601e-03 3.96966048e+02] [-3.85125164e-01 9.22863807e-01 -1.00059919e-03 -6.87602214e+01] [-2.69260535e-03 -3.94364951e-05 9.99996374e-01 -2.97694278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92655999499993 meters 0.050864719520662224 Centerline is valid? [True, True] Translation: X:397.02, Y:-68.79, Z:-2.98 [[ 9.23427916e-01 3.83767008e-01 1.94106020e-03 3.97023161e+02] [-3.83766224e-01 9.23429956e-01 -7.76319913e-04 -6.87857627e+01] [-2.09035911e-03 -2.80378639e-05 9.99997815e-01 -2.97859379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98655999499994 meters 0.05059697158919985 Centerline is valid? [True, True] Translation: X:397.08, Y:-68.81, Z:-2.98 [[ 9.24361625e-01 3.81514901e-01 1.40199109e-03 3.97078904e+02] [-3.81514490e-01 9.24362688e-01 -5.60653391e-04 -6.88131291e+01] [-1.50984588e-03 -1.66334362e-05 9.99998860e-01 -2.97906325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04655999499994 meters 0.05028734845604999 Centerline is valid? [True, True] Translation: X:397.14, Y:-68.84, Z:-2.98 [[ 9.24382393e-01 3.81456915e-01 2.79528724e-03 3.97135541e+02] [-3.81455274e-01 9.24386619e-01 -1.11912327e-03 -6.88358867e+01] [-3.01082343e-03 -3.17792107e-05 9.99995467e-01 -2.97904147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10655999499994 meters 0.05069186706276407 Centerline is valid? [True, True] Translation: X:397.19, Y:-68.86, Z:-2.98 [[ 9.23737893e-01 3.83009012e-01 3.52166718e-03 3.97192752e+02] [-3.83006418e-01 9.23744604e-01 -1.41053857e-03 -6.88603119e+01] [-3.79337004e-03 -4.58532086e-05 9.99992804e-01 -2.97808101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16655999499994 meters 0.050779729590975625 Centerline is valid? [True, True] Translation: X:397.25, Y:-68.88, Z:-2.98 [[ 9.23031849e-01 3.84714246e-01 2.67478180e-03 3.97251367e+02] [-3.84712755e-01 9.23035724e-01 -1.07195168e-03 -6.88769520e+01] [-2.88131424e-03 -3.95771352e-05 9.99995848e-01 -2.98013423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22655999499995 meters 0.05064780072335806 Centerline is valid? [True, True] Translation: X:397.31, Y:-68.90, Z:-2.98 [[ 9.21791509e-01 3.87681874e-01 1.78275683e-03 3.97308965e+02] [-3.87681218e-01 9.21793232e-01 -7.14357109e-04 -6.89004327e+01] [-1.92027649e-03 -3.26530214e-05 9.99998156e-01 -2.97998597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28655999499995 meters 0.05105426145170831 Centerline is valid? [True, True] Translation: X:397.37, Y:-68.92, Z:-2.98 [[ 9.21115941e-01 3.89284644e-01 1.69949250e-03 3.97367427e+02] [-3.89284051e-01 9.21117509e-01 -6.80608929e-04 -6.89183715e+01] [-1.83038290e-03 -3.46655912e-05 9.99998324e-01 -2.98212428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34655999499995 meters 0.05072771892170794 Centerline is valid? [True, True] Translation: X:397.42, Y:-68.94, Z:-2.98 [[ 9.20899418e-01 3.89797238e-01 1.54093834e-03 3.97424800e+02] [-3.89796750e-01 9.20900707e-01 -6.17625551e-04 -6.89414748e+01] [-1.65979994e-03 -3.18817492e-05 9.99998622e-01 -2.98246463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40655999499995 meters 0.05034923175690095 Centerline is valid? [True, True] Translation: X:397.48, Y:-68.97, Z:-2.98 [[ 9.21261593e-01 3.88940763e-01 1.46958476e-03 3.97482357e+02] [-3.88940319e-01 9.21262765e-01 -5.88614232e-04 -6.89659607e+01] [-1.58280978e-03 -2.93130787e-05 9.99998747e-01 -2.98225406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46655999499995 meters 0.05099089423638726 Centerline is valid? [True, True] Translation: X:397.54, Y:-68.99, Z:-2.98 [[ 9.22561733e-01 3.85848025e-01 1.07275403e-03 3.97538896e+02] [-3.85847786e-01 9.22562356e-01 -4.30227275e-04 -6.89878737e+01] [-1.15568483e-03 -1.70085492e-05 9.99999332e-01 -2.98345797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52655999499996 meters 0.05152501043712957 Centerline is valid? [True, True] Translation: X:397.60, Y:-69.01, Z:-2.98 [[ 9.23603690e-01 3.83347224e-01 1.06237891e-03 3.97595314e+02] [-3.83346988e-01 9.23604301e-01 -4.25433616e-04 -6.90135743e+01] [-1.14430652e-03 -1.43276962e-05 9.99999345e-01 -2.98360585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58655999499996 meters 0.051285913058789025 Centerline is valid? [True, True] Translation: X:397.65, Y:-69.04, Z:-2.98 [[ 9.25297138e-01 3.79231345e-01 2.96534952e-03 3.97651385e+02] [-3.79229479e-01 9.25301889e-01 -1.18992576e-03 -6.90386973e+01] [-3.19510066e-03 -2.35130551e-05 9.99994895e-01 -2.98357595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64655999499996 meters 0.050613292248329 Centerline is valid? [True, True] Translation: X:397.71, Y:-69.06, Z:-2.98 [[ 9.26021358e-01 3.77446797e-01 4.28486262e-03 3.97708078e+02] [-3.77442882e-01 9.26031271e-01 -1.71928868e-03 -6.90607067e+01] [-4.61685679e-03 -2.51928641e-05 9.99989342e-01 -2.98452641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70655999499996 meters 0.05072322277824408 Centerline is valid? [True, True] Translation: X:397.76, Y:-69.09, Z:-2.98 [[ 9.26529269e-01 3.76182871e-01 5.47372392e-03 3.97764342e+02] [-3.76176455e-01 9.26545437e-01 -2.19722385e-03 -6.90869792e+01] [-5.89821190e-03 -2.32938525e-05 9.99982605e-01 -2.98350937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76655999499997 meters 0.05046939858281128 Centerline is valid? [True, True] Translation: X:397.82, Y:-69.11, Z:-2.98 [[ 9.26049238e-01 3.77382881e-01 3.86907403e-03 3.97822488e+02] [-3.77379685e-01 9.26057320e-01 -1.55332154e-03 -6.91101166e+01] [-4.16918128e-03 -2.16577090e-05 9.99991309e-01 -2.98481811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82655999499997 meters 0.050505790278007 Centerline is valid? [True, True] Translation: X:397.88, Y:-69.13, Z:-2.99 [[ 9.25528608e-01 3.78668013e-01 2.70771496e-03 3.97879698e+02] [-3.78666453e-01 9.25532568e-01 -1.08719571e-03 -6.91307056e+01] [-2.91776462e-03 -1.90900840e-05 9.99995743e-01 -2.98693577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88655999499997 meters 0.050833744283310923 Centerline is valid? [True, True] Translation: X:397.94, Y:-69.15, Z:-2.99 [[ 9.24812874e-01 3.80419503e-01 1.46639313e-03 3.97937329e+02] [-3.80419048e-01 9.24814036e-01 -5.88522408e-04 -6.91532054e+01] [-1.58002635e-03 -1.35707776e-05 9.99998752e-01 -2.98791906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.946559995 meters 0.05055453298784856 Centerline is valid? [True, True] Translation: X:398.00, Y:-69.18, Z:-2.99 [[ 9.24674110e-01 3.80757398e-01 1.26279550e-03 3.97995500e+02] [-3.80757061e-01 9.24674972e-01 -5.06742464e-04 -6.91768826e+01] [-1.36062133e-03 -1.22466664e-05 9.99999074e-01 -2.98767555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.006559995 meters 0.0510858562718938 Centerline is valid? [True, True] Translation: X:398.05, Y:-69.20, Z:-2.99 [[ 9.25036908e-01 3.79874177e-01 1.52590126e-03 3.98052455e+02] [-3.79873683e-01 9.25038167e-01 -6.12925578e-04 -6.91999049e+01] [-1.64435150e-03 -1.26709477e-05 9.99998648e-01 -2.98765093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.066559995 meters 0.05105849563404353 Centerline is valid? [True, True] Translation: X:398.11, Y:-69.22, Z:-2.99 [[ 9.25111321e-01 3.79688998e-01 2.30393714e-03 3.98110048e+02] [-3.79687869e-01 9.25114190e-01 -9.26117168e-04 -6.92233117e+01] [-2.48304144e-03 -1.80155071e-05 9.99996917e-01 -2.98760393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.126559995 meters 0.05078280670023306 Centerline is valid? [True, True] Translation: X:398.17, Y:-69.25, Z:-2.99 [[ 9.25146846e-01 3.79600605e-01 2.58732053e-03 3.98167272e+02] [-3.79599179e-01 9.25150464e-01 -1.04072515e-03 -6.92450357e+01] [-2.78872069e-03 -1.93211563e-05 9.99996111e-01 -2.98870175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.186559995 meters 0.049958405860396016 Centerline is valid? [True, True] Translation: X:398.22, Y:-69.27, Z:-2.99 [[ 9.25445359e-01 3.78868385e-01 3.10398927e-03 3.98224657e+02] [-3.78866328e-01 9.25450564e-01 -1.24867111e-03 -6.92685590e+01] [-3.34567063e-03 -2.04201398e-05 9.99994403e-01 -2.98854741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.246559995 meters 0.0509211085906638 Centerline is valid? [True, True] Translation: X:398.28, Y:-69.29, Z:-2.99 [[ 9.25889856e-01 3.77782441e-01 2.89869062e-03 3.98281269e+02] [-3.77780641e-01 9.25894393e-01 -1.16643981e-03 -6.92910479e+01] [-3.12454187e-03 -1.50744118e-05 9.99995118e-01 -2.98991395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.306559995 meters 0.050603241515539577 Centerline is valid? [True, True] Translation: X:398.34, Y:-69.32, Z:-2.99 [[ 9.26867184e-01 3.75380701e-01 2.55983239e-03 3.98338723e+02] [-3.75379287e-01 9.26870719e-01 -1.03027455e-03 -6.93158556e+01] [-2.75937887e-03 -5.98038887e-06 9.99996193e-01 -2.99082172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.366559995 meters 0.051842049660011255 Centerline is valid? [True, True] Translation: X:398.40, Y:-69.34, Z:-2.99 [[ 9.28184080e-01 3.72114488e-01 2.26315589e-03 3.98396938e+02] [-3.72113372e-01 9.28186839e-01 -9.11303706e-04 -6.93409326e+01] [-2.43974082e-03 3.70702278e-06 9.99997024e-01 -2.98989357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42655999499993 meters 0.05165843863404281 Centerline is valid? [True, True] Translation: X:398.45, Y:-69.36, Z:-2.99 [[ 9.29075374e-01 3.69883233e-01 2.31137443e-03 3.98454155e+02] [-3.69882062e-01 9.29078250e-01 -9.30624644e-04 -6.93633473e+01] [-2.49167017e-03 9.68449679e-06 9.99996896e-01 -2.98992469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48655999499994 meters 0.05155700240663591 Centerline is valid? [True, True] Translation: X:398.51, Y:-69.39, Z:-2.99 [[ 9.30316401e-01 3.66751172e-01 2.22982434e-03 3.98511549e+02] [-3.66750073e-01 9.30319073e-01 -8.98285919e-04 -6.93877303e+01] [-2.40389553e-03 1.79018839e-05 9.99997110e-01 -2.99134397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54655999499994 meters 0.051224905531192855 Centerline is valid? [True, True] Translation: X:398.57, Y:-69.41, Z:-2.99 [[ 9.30877465e-01 3.65321890e-01 2.65738292e-03 3.98567352e+02] [-3.65320322e-01 9.30881258e-01 -1.07080612e-03 -6.94123156e+01] [-2.86489687e-03 2.59933013e-05 9.99995896e-01 -2.99287295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60655999499994 meters 0.05147264862558289 Centerline is valid? [True, True] Translation: X:398.63, Y:-69.43, Z:-2.99 [[ 9.30505579e-01 3.66271146e-01 2.19447767e-03 3.98625729e+02] [-3.66270079e-01 9.30508166e-01 -8.84100859e-04 -6.94327760e+01] [-2.36580003e-03 1.88892719e-05 9.99997201e-01 -2.99378934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66655999499994 meters 0.051537545305077544 Centerline is valid? [True, True] Translation: X:398.68, Y:-69.45, Z:-2.99 [[ 9.29718797e-01 3.68269128e-01 8.98915664e-04 3.98684958e+02] [-3.68268950e-01 9.29719231e-01 -3.61716517e-04 -6.94523107e+01] [-9.68948207e-04 5.25191678e-06 9.99999531e-01 -2.99463831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72655999499995 meters 0.0510879174645603 Centerline is valid? [True, True] Translation: X:398.74, Y:-69.47, Z:-3.00 [[ 9.28724247e-01 3.70771095e-01 2.60628839e-04 3.98743866e+02] [-3.70771080e-01 9.28724284e-01 -1.04261694e-04 -6.94726333e+01] [-2.80709555e-04 1.96727195e-07 9.99999961e-01 -2.99585723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78655999499995 meters 0.051071062020696216 Centerline is valid? [True, True] Translation: X:398.80, Y:-69.49, Z:-3.00 [[ 9.27460077e-01 3.73922021e-01 -3.57075200e-04 3.98803191e+02] [-3.73921993e-01 9.27460146e-01 1.45217048e-04 -6.94933258e+01] [ 3.85472869e-04 -1.16474428e-06 9.99999926e-01 -2.99577769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84655999499995 meters 0.05157123958008546 Centerline is valid? [True, True] Translation: X:398.86, Y:-69.51, Z:-3.00 [[ 9.26828697e-01 3.75484302e-01 -3.23963864e-04 3.98861882e+02] [-3.75484279e-01 9.26828754e-01 1.31814776e-04 -6.95139228e+01] [ 3.49753403e-04 -5.26378923e-07 9.99999939e-01 -2.99681630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90655999499995 meters 0.05169556675220273 Centerline is valid? [True, True] Translation: X:398.92, Y:-69.54, Z:-3.00 [[ 9.26963230e-01 3.75151051e-01 9.26352661e-04 3.98918837e+02] [-3.75150866e-01 9.26963693e-01 -3.73380274e-04 -6.95352405e+01] [-9.98769286e-04 -1.41221800e-06 9.99999501e-01 -2.99744459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96655999499995 meters 0.051432057891331345 Centerline is valid? [True, True] Translation: X:398.98, Y:-69.56, Z:-3.00 [[ 9.27965331e-01 3.72658145e-01 2.50036372e-03 3.98976119e+02] [-3.72656778e-01 9.27968699e-01 -1.00947755e-03 -6.95586445e+01] [-2.69644930e-03 4.98267827e-06 9.99996365e-01 -2.99573462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02655999499996 meters 0.05139924389920354 Centerline is valid? [True, True] Translation: X:399.03, Y:-69.58, Z:-3.00 [[ 9.28759067e-01 3.70670107e-01 3.20422300e-03 3.99033662e+02] [-3.70667847e-01 9.28764594e-01 -1.29430184e-03 -6.95824878e+01] [-3.45572788e-03 1.43921266e-05 9.99994029e-01 -2.99736210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08655999499996 meters 0.050945310777442146 Centerline is valid? [True, True] Translation: X:399.09, Y:-69.61, Z:-3.00 [[ 9.30089261e-01 3.67328984e-01 1.83948241e-03 3.99091389e+02] [-3.67328232e-01 9.30091080e-01 -7.43351994e-04 -6.96056551e+01] [-1.98394092e-03 1.56898843e-05 9.99998032e-01 -2.99817465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14655999499996 meters 0.05160780774613237 Centerline is valid? [True, True] Translation: X:399.15, Y:-69.63, Z:-3.00 [[ 9.30868177e-01 3.65354453e-01 7.48808182e-04 3.99148895e+02] [-3.65354328e-01 9.30868478e-01 -3.01941760e-04 -6.96281800e+01] [-8.07357700e-04 7.48766573e-06 9.99999674e-01 -2.99883522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20655999499996 meters 0.05225615798482054 Centerline is valid? [True, True] Translation: X:399.20, Y:-69.65, Z:-3.00 [[ 9.32041706e-01 3.62349812e-01 -9.34042028e-04 3.99204803e+02] [-3.62349614e-01 9.32042174e-01 3.78752264e-04 -6.96535238e+01] [ 1.00780737e-03 -1.45631376e-05 9.99999492e-01 -3.00116062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26655999499997 meters 0.051961244348172224 Centerline is valid? [True, True] Translation: X:399.26, Y:-69.68, Z:-3.00 [[ 9.32743117e-01 3.60541568e-01 -2.33383325e-04 3.99262596e+02] [-3.60541556e-01 9.32743147e-01 9.47581221e-05 -6.96766291e+01] [ 2.51850939e-04 -4.24059921e-06 9.99999968e-01 -3.00071898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32655999499997 meters 0.052479522462507706 Centerline is valid? [True, True] Translation: X:399.32, Y:-69.70, Z:-3.00 [[ 9.32984040e-01 3.59917519e-01 4.00966555e-04 3.99319576e+02] [-3.59917482e-01 9.32984126e-01 -1.61353087e-04 -6.97006480e+01] [-4.32169234e-04 6.22498162e-06 9.99999907e-01 -3.00050551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38655999499997 meters 0.05220447716257708 Centerline is valid? [True, True] Translation: X:399.38, Y:-69.72, Z:-3.00 [[ 9.32823538e-01 3.60331213e-01 1.28959409e-03 3.99375730e+02] [-3.60330836e-01 9.32824430e-01 -5.21518660e-04 -6.97246171e+01] [-1.39088432e-03 2.18043640e-05 9.99999032e-01 -3.00040423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.446559995 meters 0.052243174908321956 Centerline is valid? [True, True] Translation: X:399.43, Y:-69.75, Z:-3.00 [[ 9.32127324e-01 3.62124019e-01 2.20137806e-03 3.99430605e+02] [-3.62122925e-01 9.32129923e-01 -8.90528428e-04 -6.97517199e+01] [-2.37445210e-03 3.29164166e-05 9.99997180e-01 -3.00219496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.506559995 meters 0.05173205052141096 Centerline is valid? [True, True] Translation: X:399.49, Y:-69.77, Z:-3.00 [[ 9.30691364e-01 3.65798504e-01 2.24504913e-03 3.99490515e+02] [-3.65797375e-01 9.30694071e-01 -9.08989977e-04 -6.97689189e+01] [-2.42196108e-03 2.47560435e-05 9.99997067e-01 -3.00104314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.566559995 meters 0.05115724827344744 Centerline is valid? [True, True] Translation: X:399.55, Y:-69.79, Z:-3.00 [[ 9.28380192e-01 3.71626145e-01 2.05611507e-03 3.99547629e+02] [-3.71625213e-01 9.28382469e-01 -8.32586750e-04 -6.97899102e+01] [-2.21827219e-03 8.85284754e-06 9.99997540e-01 -3.00263736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.626559995 meters 0.05119792573243267 Centerline is valid? [True, True] Translation: X:399.61, Y:-69.81, Z:-3.00 [[ 9.26366444e-01 3.76618614e-01 1.90546390e-03 3.99606542e+02] [-3.76617825e-01 9.26368404e-01 -7.71041905e-04 -6.98099192e+01] [-2.05555029e-03 -3.36432334e-06 9.99997887e-01 -3.00300724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.686559995 meters 0.05094415294835682 Centerline is valid? [True, True] Translation: X:399.67, Y:-69.83, Z:-3.01 [[ 9.23505884e-01 3.83583006e-01 9.79136127e-04 3.99665701e+02] [-3.83582802e-01 9.23506403e-01 -3.95950118e-04 -6.98270609e+01] [-1.05611822e-03 -9.91751513e-06 9.99999442e-01 -3.00561332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.746559995 meters 0.05104144687465703 Centerline is valid? [True, True] Translation: X:399.72, Y:-69.85, Z:-3.00 [[ 9.21614918e-01 3.88104740e-01 8.08169144e-04 3.99722927e+02] [-3.88104602e-01 9.21615273e-01 -3.27349025e-04 -6.98497286e+01] [-8.71866734e-04 -1.19644192e-05 9.99999620e-01 -3.00488581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.806559995 meters 0.05093274222701195 Centerline is valid? [True, True] Translation: X:399.78, Y:-69.87, Z:-3.01 [[ 9.20872101e-01 3.89864028e-01 7.82524534e-04 3.99781313e+02] [-3.89863900e-01 9.20872434e-01 -3.16411129e-04 -6.98687735e+01] [-8.43962589e-04 -1.37038855e-05 9.99999644e-01 -3.00666260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86655999499993 meters 0.051333617980035336 Centerline is valid? [True, True] Translation: X:399.84, Y:-69.90, Z:-3.01 [[ 9.20441702e-01 3.90879775e-01 2.73801305e-04 3.99837941e+02] [-3.90879760e-01 9.20441742e-01 -1.10699237e-04 -6.98950556e+01] [-2.95288243e-04 -5.13119466e-06 9.99999956e-01 -3.00672395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92655999499993 meters 0.05055785484255286 Centerline is valid? [True, True] Translation: X:399.90, Y:-69.92, Z:-3.01 [[ 9.20548871e-01 3.90627406e-01 -7.74765373e-05 3.99895893e+02] [-3.90627405e-01 9.20548874e-01 3.24334066e-05 -6.99204481e+01] [ 8.39903166e-05 4.07922878e-07 9.99999996e-01 -3.00746689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98655999499994 meters 0.050614187868198234 Centerline is valid? [True, True] Translation: X:399.95, Y:-69.95, Z:-3.01 [[ 9.21788662e-01 3.87692158e-01 6.73453622e-04 3.99950424e+02] [-3.87692062e-01 9.21788908e-01 -2.73036456e-04 -6.99485459e+01] [-7.26636171e-04 -9.41071399e-06 9.99999736e-01 -3.00673788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04655999499994 meters 0.051276648585733414 Centerline is valid? [True, True] Translation: X:400.01, Y:-69.97, Z:-3.01 [[ 9.22476230e-01 3.86052945e-01 8.53889417e-04 4.00007092e+02] [-3.86052790e-01 9.22476625e-01 -3.45555310e-04 -6.99730790e+01] [-9.21095672e-04 -1.08798325e-05 9.99999576e-01 -3.00713793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10655999499994 meters 0.050542261338702404 Centerline is valid? [True, True] Translation: X:400.06, Y:-70.00, Z:-3.01 [[ 9.25259714e-01 3.79332714e-01 1.07419339e-03 4.00062326e+02] [-3.79332464e-01 9.25260337e-01 -4.35693351e-04 -7.00000175e+01] [-1.15918128e-03 -4.34691893e-06 9.99999328e-01 -3.00791236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16655999499994 meters 0.05053711858016959 Centerline is valid? [True, True] Translation: X:400.12, Y:-70.03, Z:-3.01 [[ 9.29217174e-01 3.69533667e-01 5.58910702e-04 4.00117714e+02] [-3.69533598e-01 9.29217342e-01 -2.26492163e-04 -7.00291376e+01] [-6.03045996e-04 3.92412479e-06 9.99999818e-01 -3.00945140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22655999499995 meters 0.051477087296679665 Centerline is valid? [True, True] Translation: X:400.17, Y:-70.06, Z:-3.01 [[ 9.32077525e-01 3.62258667e-01 3.82222093e-04 4.00170766e+02] [-3.62258634e-01 9.32077603e-01 -1.55103611e-04 -7.00586564e+01] [-4.12448280e-04 6.10533699e-06 9.99999915e-01 -3.01077072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28655999499995 meters 0.05260657838123374 Centerline is valid? [True, True] Translation: X:400.23, Y:-70.08, Z:-3.01 [[ 9.35431759e-01 3.53504183e-01 1.48894863e-03 4.00228162e+02] [-3.53503669e-01 9.35432943e-01 -6.04165984e-04 -7.00795024e+01] [-1.60638680e-03 3.88072464e-05 9.99998709e-01 -3.00905752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34655999499995 meters 0.05307208767403322 Centerline is valid? [True, True] Translation: X:400.29, Y:-70.09, Z:-3.01 [[ 9.37380975e-01 3.48300088e-01 1.98933093e-03 4.00289378e+02] [-3.48299158e-01 9.37383083e-01 -8.07294766e-04 -7.00922524e+01] [-2.14594600e-03 6.38604659e-05 9.99997695e-01 -3.00726804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40655999499995 meters 0.05237685276986919 Centerline is valid? [True, True] Translation: X:400.34, Y:-70.12, Z:-3.01 [[ 9.38763279e-01 3.44560231e-01 1.32405115e-03 4.00343076e+02] [-3.44559815e-01 9.38764212e-01 -5.37303607e-04 -7.01201196e+01] [-1.42810529e-03 4.81860748e-05 9.99998979e-01 -3.00821359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46655999499995 meters 0.05262607951367927 Centerline is valid? [True, True] Translation: X:400.40, Y:-70.14, Z:-3.01 [[ 9.39155188e-01 3.43487650e-01 1.94088632e-03 4.00403191e+02] [-3.43486756e-01 9.39157191e-01 -7.87201429e-04 -7.01361223e+01] [-2.09319132e-03 7.26355600e-05 9.99997807e-01 -3.00804009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52655999499996 meters 0.053576808899919746 Centerline is valid? [True, True] Translation: X:400.46, Y:-70.16, Z:-3.01 [[ 9.38327070e-01 3.45739971e-01 2.48644813e-03 4.00459157e+02] [-3.45738508e-01 9.38330360e-01 -1.00937299e-03 -7.01619876e+01] [-2.68209036e-03 8.74611341e-05 9.99996399e-01 -3.01048648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58655999499996 meters 0.05313625269657427 Centerline is valid? [True, True] Translation: X:400.52, Y:-70.17, Z:-3.01 [[ 9.35278104e-01 3.53906716e-01 2.21477631e-03 4.00519401e+02] [-3.53905578e-01 9.35280724e-01 -8.99199464e-04 -7.01728169e+01] [-2.38967032e-03 5.71798806e-05 9.99997143e-01 -3.01006035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64655999499996 meters 0.05203824528834095 Centerline is valid? [True, True] Translation: X:400.58, Y:-70.19, Z:-3.01 [[ 9.32102300e-01 3.62188228e-01 2.23399487e-03 4.00579141e+02] [-3.62187094e-01 9.32104976e-01 -9.07012309e-04 -7.01875404e+01] [-2.41082691e-03 3.63041515e-05 9.99997093e-01 -3.00980747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70655999499996 meters 0.05221093092428871 Centerline is valid? [True, True] Translation: X:400.64, Y:-70.20, Z:-3.01 [[ 9.26499183e-01 3.76286622e-01 2.76446843e-03 4.00638104e+02] [-3.76284948e-01 9.26503307e-01 -1.12249958e-03 -7.02014016e+01] [-2.98367072e-03 -2.32921224e-07 9.99995549e-01 -3.01272526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76655999499997 meters 0.05170281602989526 Centerline is valid? [True, True] Translation: X:400.70, Y:-70.21, Z:-3.01 [[ 9.21999196e-01 3.87168178e-01 4.27600055e-03 4.00699034e+02] [-3.87164288e-01 9.22009110e-01 -1.73640932e-03 -7.02119140e+01] [-4.61479390e-03 -5.45467148e-05 9.99989350e-01 -3.01335966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82655999499997 meters 0.05138597929142478 Centerline is valid? [True, True] Translation: X:400.76, Y:-70.23, Z:-3.01 [[ 9.19523358e-01 3.92986212e-01 6.21543134e-03 4.00756389e+02] [-3.92978124e-01 9.19544356e-01 -2.52415044e-03 -7.02331531e+01] [-6.70732113e-03 -1.21513265e-04 9.99977498e-01 -3.01220745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88655999499997 meters 0.05186824629014055 Centerline is valid? [True, True] Translation: X:400.82, Y:-70.25, Z:-3.01 [[ 9.18685485e-01 3.94939966e-01 6.27713326e-03 4.00815194e+02] [-3.94931762e-01 9.18706920e-01 -2.54935679e-03 -7.02499813e+01] [-6.77368865e-03 -1.36982214e-04 9.99977049e-01 -3.01377373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.946559995 meters 0.05179257174848478 Centerline is valid? [True, True] Translation: X:400.87, Y:-70.27, Z:-3.02 [[ 9.18835694e-01 3.94611753e-01 4.74679889e-03 4.00873696e+02] [-3.94607058e-01 9.18847949e-01 -1.92765993e-03 -7.02701391e+01] [-5.12226369e-03 -1.01917587e-04 9.99986876e-01 -3.01533396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.006559995 meters 0.05199267410489345 Centerline is valid? [True, True] Translation: X:400.93, Y:-70.30, Z:-3.02 [[ 9.20726047e-01 3.90204551e-01 1.98885710e-03 4.00927885e+02] [-3.90203715e-01 9.20728194e-01 -8.07957652e-04 -7.02981947e+01] [-2.14646556e-03 -3.21517758e-05 9.99997696e-01 -3.01559466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.066559995 meters 0.051709842946828045 Centerline is valid? [True, True] Translation: X:400.98, Y:-70.32, Z:-3.02 [[ 9.24705089e-01 3.80680592e-01 1.66871029e-03 4.00984669e+02] [-3.80679989e-01 9.24706595e-01 -6.77894519e-04 -7.03200105e+01] [-1.80112870e-03 -8.39210366e-06 9.99998378e-01 -3.01835514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.126559995 meters 0.05127332744732001 Centerline is valid? [True, True] Translation: X:401.04, Y:-70.35, Z:-3.02 [[ 9.28138945e-01 3.72225546e-01 2.49817841e-03 4.01039697e+02] [-3.72224164e-01 9.28142307e-01 -1.01453428e-03 -7.03476957e+01] [-2.69630065e-03 1.17464069e-05 9.99996365e-01 -3.01772739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.186559995 meters 0.052597713106236565 Centerline is valid? [True, True] Translation: X:401.09, Y:-70.38, Z:-3.02 [[ 9.33673237e-01 3.58108345e-01 3.56357754e-03 4.01093879e+02] [-3.58105424e-01 9.33680035e-01 -1.44841049e-03 -7.03760803e+01] [-3.84592909e-03 7.62056689e-05 9.99992601e-01 -3.01637476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.246559995 meters 0.05363503646276069 Centerline is valid? [True, True] Translation: X:401.15, Y:-70.40, Z:-3.02 [[ 9.38616016e-01 3.44933973e-01 4.53075216e-03 4.01148813e+02] [-3.44929097e-01 9.38626937e-01 -1.84151485e-03 -7.03993100e+01] [-4.88788706e-03 1.65687080e-04 9.99988040e-01 -3.01549899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.306559995 meters 0.05405044996137011 Centerline is valid? [True, True] Translation: X:401.21, Y:-70.42, Z:-3.02 [[ 9.42210906e-01 3.34987573e-01 4.68347007e-03 4.01205665e+02] [-3.34982239e-01 9.42222519e-01 -1.90374960e-03 -7.04223871e+01] [-5.05060343e-03 2.24854346e-04 9.99987220e-01 -3.01541162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36655999499993 meters 0.05395967155793814 Centerline is valid? [True, True] Translation: X:401.27, Y:-70.44, Z:-3.02 [[ 9.43863095e-01 3.30313544e-01 3.92681908e-03 4.01265509e+02] [-3.30309754e-01 9.43871240e-01 -1.59629448e-03 -7.04385833e+01] [-4.23368929e-03 2.09616809e-04 9.99991016e-01 -3.01548336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42655999499993 meters 0.054978408946368816 Centerline is valid? [True, True] Translation: X:401.33, Y:-70.46, Z:-3.02 [[ 9.43613067e-01 3.31035156e-01 3.17893223e-03 4.01325251e+02] [-3.31032676e-01 9.43618407e-01 -1.29215583e-03 -7.04570110e+01] [-3.42744798e-03 1.66964686e-04 9.99994112e-01 -3.01628231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48655999499994 meters 0.054623694297026446 Centerline is valid? [True, True] Translation: X:401.38, Y:-70.47, Z:-3.02 [[ 9.42433531e-01 3.34379100e-01 3.10763719e-03 4.01384416e+02] [-3.34376748e-01 9.42438642e-01 -1.26346448e-03 -7.04724383e+01] [-3.35123349e-03 1.51609674e-04 9.99994373e-01 -3.01703965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54655999499994 meters 0.05433245844492414 Centerline is valid? [True, True] Translation: X:401.44, Y:-70.49, Z:-3.02 [[ 9.39175422e-01 3.43419981e-01 3.49894696e-03 4.01442898e+02] [-3.43417061e-01 9.39181930e-01 -1.42265376e-03 -7.04876546e+01] [-3.77471549e-03 1.34523366e-04 9.99992867e-01 -3.01678417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60655999499994 meters 0.05465693435023777 Centerline is valid? [True, True] Translation: X:401.50, Y:-70.50, Z:-3.02 [[ 9.34268932e-01 3.56545543e-01 4.10344204e-03 4.01504064e+02] [-3.56541652e-01 9.34277939e-01 -1.66840814e-03 -7.04996156e+01] [-4.42861885e-03 9.56938870e-05 9.99990189e-01 -3.01782675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66655999499994 meters 0.053990590809671134 Centerline is valid? [True, True] Translation: X:401.56, Y:-70.52, Z:-3.02 [[ 9.30690003e-01 3.65787362e-01 3.96536481e-03 4.01562008e+02] [-3.65783812e-01 9.30698449e-01 -1.61233745e-03 -7.05156489e+01] [-4.28033154e-03 5.01200854e-05 9.99990838e-01 -3.01910403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72655999499995 meters 0.053481075545637496 Centerline is valid? [True, True] Translation: X:401.62, Y:-70.53, Z:-3.02 [[ 9.25878877e-01 3.77802860e-01 3.64750497e-03 4.01624507e+02] [-3.77799950e-01 9.25886061e-01 -1.48296858e-03 -7.05256155e+01] [-3.93744378e-03 -4.97791533e-06 9.99992248e-01 -3.01959517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78655999499995 meters 0.053405382745751684 Centerline is valid? [True, True] Translation: X:401.69, Y:-70.54, Z:-3.02 [[ 9.23015509e-01 3.84749438e-01 3.19993317e-03 4.01685455e+02] [-3.84747240e-01 9.23021056e-01 -1.30077725e-03 -7.05390598e+01] [-3.45407900e-03 -3.05278812e-05 9.99994034e-01 -3.01978687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84655999499995 meters 0.05401730665737305 Centerline is valid? [True, True] Translation: X:401.75, Y:-70.56, Z:-3.02 [[ 9.22713091e-01 3.85473969e-01 3.22036291e-03 4.01745492e+02] [-3.85471746e-01 9.22718710e-01 -1.30944840e-03 -7.05550112e+01] [-3.47624739e-03 -3.31137311e-05 9.99993957e-01 -3.02176801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90655999499995 meters 0.05348181447484279 Centerline is valid? [True, True] Translation: X:401.80, Y:-70.58, Z:-3.02 [[ 9.24251262e-01 3.81774810e-01 2.75650144e-03 4.01802619e+02] [-3.81773165e-01 9.24255373e-01 -1.12111474e-03 -7.05775545e+01] [-2.97572464e-03 -1.61665620e-05 9.99995572e-01 -3.02240371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96655999499995 meters 0.053903097987800665 Centerline is valid? [True, True] Translation: X:401.86, Y:-70.60, Z:-3.02 [[ 9.26575188e-01 3.76102822e-01 2.25592790e-03 4.01859873e+02] [-3.76101702e-01 9.26577934e-01 -9.17651572e-04 -7.06017229e+01] [-2.43542436e-03 1.81485494e-06 9.99997034e-01 -3.02190030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02655999499996 meters 0.05453977323684158 Centerline is valid? [True, True] Translation: X:401.92, Y:-70.62, Z:-3.02 [[ 9.30337762e-01 3.66698495e-01 1.96510237e-03 4.01917184e+02] [-3.66697623e-01 9.30339837e-01 -8.00009266e-04 -7.06235040e+01] [-2.12157521e-03 2.36804637e-05 9.99997749e-01 -3.02222439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08655999499996 meters 0.05457361063895612 Centerline is valid? [True, True] Translation: X:401.97, Y:-70.65, Z:-3.02 [[ 9.32900418e-01 3.60133845e-01 6.50428799e-04 4.01972104e+02] [-3.60133748e-01 9.32900645e-01 -2.64779592e-04 -7.06475831e+01] [-7.02141539e-04 1.27716306e-05 9.99999753e-01 -3.02370382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14655999499996 meters 0.05436030567313415 Centerline is valid? [True, True] Translation: X:402.03, Y:-70.67, Z:-3.02 [[ 9.33547461e-01 3.58453525e-01 -4.56465115e-04 4.02029725e+02] [-3.58453477e-01 9.33547572e-01 1.86319455e-04 -7.06696416e+01] [ 4.92918766e-04 -1.03165461e-05 9.99999878e-01 -3.02409160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20655999499996 meters 0.055254040717049334 Centerline is valid? [True, True] Translation: X:402.09, Y:-70.69, Z:-3.02 [[ 9.33467439e-01 3.58659115e-01 -1.47613839e-03 4.02086826e+02] [-3.58658611e-01 9.33468606e-01 6.02151813e-04 -7.06906787e+01] [ 1.59389608e-03 -3.26593655e-05 9.99998729e-01 -3.02439951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26655999499997 meters 0.05506389604098803 Centerline is valid? [True, True] Translation: X:402.14, Y:-70.71, Z:-3.02 [[ 9.32549345e-01 3.61037966e-01 -1.81834989e-03 4.02144799e+02] [-3.61037207e-01 9.32551117e-01 7.41044319e-04 -7.07123061e+01] [ 1.96324935e-03 -3.45684278e-05 9.99998072e-01 -3.02483987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32655999499997 meters 0.05505442923034216 Centerline is valid? [True, True] Translation: X:402.20, Y:-70.73, Z:-3.02 [[ 9.30792985e-01 3.65546562e-01 -3.60614735e-04 4.02201246e+02] [-3.65546533e-01 9.30793055e-01 1.46914820e-04 -7.07335413e+01] [ 3.89361898e-04 -4.92581809e-06 9.99999924e-01 -3.02387844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38655999499997 meters 0.054254761663238144 Centerline is valid? [True, True] Translation: X:402.26, Y:-70.75, Z:-3.02 [[ 9.29222881e-01 3.69518836e-01 8.16337719e-04 4.02259526e+02] [-3.69518687e-01 9.29223240e-01 -3.32325856e-04 -7.07547187e+01] [-8.81360643e-04 7.15274727e-06 9.99999612e-01 -3.02404298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.446559995 meters 0.0539432291651708 Centerline is valid? [True, True] Translation: X:402.32, Y:-70.77, Z:-3.02 [[ 9.25739291e-01 3.78156816e-01 2.04623187e-03 4.02318297e+02] [-3.78155898e-01 9.25741553e-01 -8.33587817e-04 -7.07736254e+01] [-2.20950878e-03 -2.10965292e-06 9.99997559e-01 -3.02402752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.506559995 meters 0.05436126942794544 Centerline is valid? [True, True] Translation: X:402.38, Y:-70.79, Z:-3.03 [[ 9.21381658e-01 3.88655439e-01 1.67044800e-03 4.02376477e+02] [-3.88654844e-01 9.21383172e-01 -6.80558614e-04 -7.07912165e+01] [-1.80362549e-03 -2.21734847e-05 9.99998373e-01 -3.02588933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.566559995 meters 0.054182638664257834 Centerline is valid? [True, True] Translation: X:402.43, Y:-70.81, Z:-3.03 [[ 9.18531180e-01 3.95345630e-01 1.51774485e-03 4.02434187e+02] [-3.95345148e-01 9.18532434e-01 -6.18424694e-04 -7.08107109e+01] [-1.63858937e-03 -3.19906979e-05 9.99998657e-01 -3.02703759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.626559995 meters 0.05430287325521903 Centerline is valid? [True, True] Translation: X:402.49, Y:-70.83, Z:-3.03 [[ 9.15659459e-01 4.01954127e-01 7.96886351e-04 4.02489750e+02] [-4.01953997e-01 9.15659805e-01 -3.24598692e-04 -7.08347363e+01] [-8.60150585e-04 -2.30897909e-05 9.99999630e-01 -3.02660169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.686559995 meters 0.05415338189189577 Centerline is valid? [True, True] Translation: X:402.55, Y:-70.86, Z:-3.03 [[ 9.14718636e-01 4.04090987e-01 5.40309714e-04 4.02546089e+02] [-4.04090927e-01 9.14718795e-01 -2.20067339e-04 -7.08590095e+01] [-5.83158679e-04 -1.70345567e-05 9.99999830e-01 -3.02694661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.746559995 meters 0.05439305835953384 Centerline is valid? [True, True] Translation: X:402.60, Y:-70.88, Z:-3.03 [[ 9.14615716e-01 4.04323135e-01 9.45326398e-04 4.02603339e+02] [-4.04322953e-01 9.14616204e-01 -3.84417612e-04 -7.08836071e+01] [-1.02003978e-03 -3.06227711e-05 9.99999479e-01 -3.02818464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.806559995 meters 0.05507840917693469 Centerline is valid? [True, True] Translation: X:402.66, Y:-70.91, Z:-3.03 [[ 9.15587373e-01 4.02118822e-01 -4.62951187e-04 4.02658849e+02] [-4.02118778e-01 9.15587490e-01 1.88873393e-04 -7.09078986e+01] [ 4.99821862e-04 1.32312717e-05 9.99999875e-01 -3.03201228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86655999499993 meters 0.05404900052005274 Centerline is valid? [True, True] Translation: X:402.71, Y:-70.94, Z:-3.03 [[ 9.16346530e-01 4.00384307e-01 -1.20179761e-03 4.02711166e+02] [-4.00384008e-01 9.16347317e-01 4.90202007e-04 -7.09415728e+01] [ 1.29753320e-03 3.19856333e-05 9.99999158e-01 -3.03149402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92655999499993 meters 0.05378314307830758 Centerline is valid? [True, True] Translation: X:402.76, Y:-70.97, Z:-3.03 [[ 9.17037939e-01 3.98798098e-01 -1.22272184e-03 4.02764079e+02] [-3.98797788e-01 9.17038754e-01 4.98693308e-04 -7.09746098e+01] [ 1.32016125e-03 3.02980798e-05 9.99999128e-01 -3.03074584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98655999499994 meters 0.053142462901458624 Centerline is valid? [True, True] Translation: X:402.82, Y:-71.01, Z:-3.03 [[ 9.17015833e-01 3.98850762e-01 -1.77674306e-04 4.02817889e+02] [-3.98850755e-01 9.17015850e-01 7.33892017e-05 -7.10082717e+01] [ 1.92201493e-04 3.56647106e-06 9.99999982e-01 -3.03002220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04655999499994 meters 0.052428458207252435 Centerline is valid? [True, True] Translation: X:402.87, Y:-71.04, Z:-3.03 [[ 9.16906620e-01 3.99101723e-01 -2.56026105e-04 4.02873139e+02] [-3.99101709e-01 9.16906655e-01 1.05439347e-04 -7.10358410e+01] [ 2.76833065e-04 5.50242058e-06 9.99999962e-01 -3.03084514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10655999499994 meters 0.052965501065609245 Centerline is valid? [True, True] Translation: X:402.93, Y:-71.07, Z:-3.03 [[ 9.16751201e-01 3.99457193e-01 -1.08966662e-03 4.02926411e+02] [-3.99456946e-01 9.16751848e-01 4.44983410e-04 -7.10704968e+01] [ 1.17670571e-03 2.73358260e-05 9.99999307e-01 -3.03088743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16655999499994 meters 0.05244072710565981 Centerline is valid? [True, True] Translation: X:402.98, Y:-71.10, Z:-3.03 [[ 9.16559351e-01 3.99892505e-01 -2.22258827e-03 4.02981203e+02] [-3.99891478e-01 9.16562044e-01 9.08193759e-04 -7.11006526e+01] [ 2.40031993e-03 5.63806250e-05 9.99997118e-01 -3.03132193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22655999499995 meters 0.05476784368314303 Centerline is valid? [True, True] Translation: X:403.04, Y:-71.12, Z:-3.04 [[ 9.16289401e-01 4.00511252e-01 -2.11413642e-03 4.03039448e+02] [-4.00510324e-01 9.16291839e-01 8.64118889e-04 -7.11197983e+01] [ 2.28325529e-03 5.49504848e-05 9.99997392e-01 -3.03629561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28655999499995 meters 0.05219726939660268 Centerline is valid? [True, True] Translation: X:403.09, Y:-71.16, Z:-3.03 [[ 9.15548951e-01 4.02201560e-01 -2.00596274e-03 4.03090212e+02] [-4.02200729e-01 9.15551147e-01 8.19425560e-04 -7.11602456e+01] [ 2.16613573e-03 5.65754661e-05 9.99997652e-01 -3.03124000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34655999499995 meters 0.05237622609153148 Centerline is valid? [True, True] Translation: X:403.14, Y:-71.19, Z:-3.03 [[ 9.14639183e-01 4.04263613e-01 -2.46900853e-03 4.03144588e+02] [-4.04262362e-01 9.14642512e-01 1.00849296e-03 -7.11875909e+01] [ 2.66595717e-03 7.57200406e-05 9.99996443e-01 -3.03186587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40655999499995 meters 0.0517943780321589 Centerline is valid? [True, True] Translation: X:403.20, Y:-71.22, Z:-3.03 [[ 9.13576267e-01 4.06654902e-01 -3.19315111e-03 4.03196600e+02] [-4.06652825e-01 9.13581841e-01 1.30415566e-03 -7.12209373e+01] [ 3.44754616e-03 1.07058255e-04 9.99994051e-01 -3.03071690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46655999499995 meters 0.052322409927064585 Centerline is valid? [True, True] Translation: X:403.25, Y:-71.24, Z:-3.03 [[ 9.13261724e-01 4.07358821e-01 -3.43706116e-03 4.03253887e+02] [-4.07356418e-01 9.13268184e-01 1.40439835e-03 -7.12430629e+01] [ 3.71105266e-03 1.17525665e-04 9.99993107e-01 -3.03296878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52655999499996 meters 0.05232295167489149 Centerline is valid? [True, True] Translation: X:403.31, Y:-71.27, Z:-3.03 [[ 9.13571430e-01 4.06665228e-01 -3.26108717e-03 4.03308880e+02] [-4.06663057e-01 9.13577244e-01 1.33330293e-03 -7.12711850e+01] [ 3.52146297e-03 1.08096217e-04 9.99993794e-01 -3.03342731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58655999499996 meters 0.05100954075425563 Centerline is valid? [True, True] Translation: X:403.36, Y:-71.30, Z:-3.03 [[ 9.14321212e-01 4.04981836e-01 -2.53634639e-03 4.03361853e+02] [-4.04980517e-01 9.14324727e-01 1.03674295e-03 -7.13043231e+01] [ 2.73890628e-03 7.92548061e-05 9.99996246e-01 -3.03119459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64655999499996 meters 0.05097326337797847 Centerline is valid? [True, True] Translation: X:403.41, Y:-71.34, Z:-3.03 [[ 9.16432416e-01 4.00180633e-01 -2.66230051e-03 4.03413310e+02] [-4.00179160e-01 9.16436280e-01 1.08805762e-03 -7.13405180e+01] [ 2.87524837e-03 6.82659076e-05 9.99995864e-01 -3.02909265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70655999499996 meters 0.05138003765497608 Centerline is valid? [True, True] Translation: X:403.47, Y:-71.37, Z:-3.03 [[ 9.19277653e-01 3.93592935e-01 -3.63295566e-03 4.03465810e+02] [-3.93590140e-01 9.19284829e-01 1.48467032e-03 -7.13720589e+01] [ 3.92407677e-03 6.50712830e-05 9.99992299e-01 -3.03059275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76655999499997 meters 0.0511723292935672 Centerline is valid? [True, True] Translation: X:403.52, Y:-71.40, Z:-3.03 [[ 9.21104048e-01 3.89294133e-01 -4.17268017e-03 4.03519831e+02] [-3.89290401e-01 9.21113497e-01 1.70540356e-03 -7.14015934e+01] [ 4.50741562e-03 5.35302200e-05 9.99989840e-01 -3.03143248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82655999499997 meters 0.051455045948919316 Centerline is valid? [True, True] Translation: X:403.57, Y:-71.43, Z:-3.03 [[ 9.22102850e-01 3.86932212e-01 -3.13015979e-03 4.03574417e+02] [-3.86930098e-01 9.22108162e-01 1.27931564e-03 -7.14271364e+01] [ 3.38135432e-03 3.14924424e-05 9.99994283e-01 -3.03363598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88655999499997 meters 0.050527228613600234 Centerline is valid? [True, True] Translation: X:403.63, Y:-71.45, Z:-3.03 [[ 9.21307268e-01 3.88826011e-01 -2.69262147e-03 4.03631671e+02] [-3.88824452e-01 9.21311203e-01 1.10167812e-03 -7.14508297e+01] [ 2.90910344e-03 3.19730079e-05 9.99995768e-01 -3.03248733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.946559995 meters 0.05095334442485242 Centerline is valid? [True, True] Translation: X:403.69, Y:-71.47, Z:-3.03 [[ 9.20333828e-01 3.91118324e-01 -3.47874582e-03 4.03689161e+02] [-3.91115738e-01 9.20340401e-01 1.42342269e-03 -7.14735288e+01] [ 3.75835702e-03 5.05681875e-05 9.99992936e-01 -3.03250778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.006559995 meters 0.05110209814343618 Centerline is valid? [True, True] Translation: X:403.75, Y:-71.50, Z:-3.03 [[ 9.19306301e-01 3.93510132e-01 -5.06959383e-03 4.03745962e+02] [-3.93504674e-01 9.19320275e-01 2.07436780e-03 -7.14964667e+01] [ 5.47686514e-03 8.79294789e-05 9.99984998e-01 -3.03330480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.066559995 meters 0.05127936925292611 Centerline is valid? [True, True] Translation: X:403.80, Y:-71.52, Z:-3.03 [[ 9.18843424e-01 3.94577017e-01 -5.97825194e-03 4.03803770e+02] [-3.94569445e-01 9.18862865e-01 2.44703096e-03 -7.15190132e+01] [ 6.45873589e-03 1.10397241e-04 9.99979136e-01 -3.03331773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.126559995 meters 0.05144653336970554 Centerline is valid? [True, True] Translation: X:403.86, Y:-71.55, Z:-3.03 [[ 9.18612097e-01 3.95117349e-01 -5.83925017e-03 4.03859049e+02] [-3.95110131e-01 9.18630649e-01 2.39079226e-03 -7.15468490e+01] [ 6.30875767e-03 1.10936214e-04 9.99980093e-01 -3.02734951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.186559995 meters 0.05137001738315259 Centerline is valid? [True, True] Translation: X:403.92, Y:-71.56, Z:-3.03 [[ 9.18792003e-01 3.94704649e-01 -5.43105602e-03 4.03919273e+02] [-3.94698399e-01 9.18808049e-01 2.22346560e-03 -7.15635466e+01] [ 5.86771019e-03 1.00726704e-04 9.99982780e-01 -3.03217160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.246559995 meters 0.05132508601644935 Centerline is valid? [True, True] Translation: X:403.98, Y:-71.59, Z:-3.03 [[ 9.19479624e-01 3.93113157e-01 -4.38945306e-03 4.03975802e+02] [-3.93109056e-01 9.19490098e-01 1.79710128e-03 -7.15888858e+01] [ 4.74252278e-03 7.31357398e-05 9.99988752e-01 -3.02937830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.306559995 meters 0.05164872571449203 Centerline is valid? [True, True] Translation: X:404.03, Y:-71.61, Z:-3.03 [[ 9.20682065e-01 3.90305457e-01 -2.48710757e-03 4.04031395e+02] [-3.90304130e-01 9.20685424e-01 1.01832162e-03 -7.16128784e+01] [ 2.68730017e-03 3.31779088e-05 9.99996389e-01 -3.02782785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36655999499993 meters 0.05204299878240348 Centerline is valid? [True, True] Translation: X:404.09, Y:-71.63, Z:-3.03 [[ 9.21434919e-01 3.88527683e-01 -1.98250490e-03 4.04088181e+02] [-3.88526833e-01 9.21437051e-01 8.12579358e-04 -7.16349068e+01] [ 2.14246304e-03 2.15173552e-05 9.99997705e-01 -3.02898746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42655999499993 meters 0.05112662982111805 Centerline is valid? [True, True] Translation: X:404.15, Y:-71.66, Z:-3.03 [[ 9.22157546e-01 3.86803952e-01 -2.85709771e-03 4.04146012e+02] [-3.86802180e-01 9.22161972e-01 1.17113398e-03 -7.16557520e+01] [ 3.08770611e-03 2.51615864e-05 9.99995233e-01 -3.03272938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48655999499994 meters 0.051788501718255886 Centerline is valid? [True, True] Translation: X:404.20, Y:-71.68, Z:-3.03 [[ 9.22446111e-01 3.86105247e-01 -3.98873418e-03 4.04202951e+02] [-3.86101788e-01 9.22454734e-01 1.63461915e-03 -7.16812194e+01] [ 4.31056176e-03 3.22093204e-05 9.99990709e-01 -3.03206482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54655999499994 meters 0.05182207125401149 Centerline is valid? [True, True] Translation: X:404.26, Y:-71.70, Z:-3.03 [[ 9.22094910e-01 3.86913623e-01 -6.23097485e-03 4.04260776e+02] [-3.86905203e-01 9.22115961e-01 2.55325064e-03 -7.17034047e+01] [ 6.73356882e-03 5.64571639e-05 9.99977328e-01 -3.03424968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60655999499994 meters 0.05214121763068945 Centerline is valid? [True, True] Translation: X:404.32, Y:-71.73, Z:-3.03 [[ 9.22158403e-01 3.86725243e-01 -8.21380390e-03 4.04317218e+02] [-3.86710588e-01 9.22194980e-01 3.36742243e-03 -7.17293164e+01] [ 8.87699598e-03 7.10680482e-05 9.99960596e-01 -3.03164635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66655999499994 meters 0.05225190062793148 Centerline is valid? [True, True] Translation: X:404.37, Y:-71.75, Z:-3.03 [[ 9.23025531e-01 3.84651558e-01 -8.18823488e-03 4.04373730e+02] [-3.84636905e-01 9.23061849e-01 3.35778106e-03 -7.17529576e+01] [ 8.84982294e-03 5.01796837e-05 9.99960838e-01 -3.03435098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72655999499995 meters 0.05141921073430995 Centerline is valid? [True, True] Translation: X:404.43, Y:-71.78, Z:-3.03 [[ 9.24302069e-01 3.81583588e-01 -7.72342268e-03 4.04429789e+02] [-3.81570445e-01 9.24334336e-01 3.16706089e-03 -7.17798152e+01] [ 8.34752323e-03 1.97089006e-05 9.99965159e-01 -3.03374352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78655999499995 meters 0.05200311791787034 Centerline is valid? [True, True] Translation: X:404.49, Y:-71.80, Z:-3.03 [[ 9.24942577e-01 3.80067666e-01 -5.45872100e-03 4.04486404e+02] [-3.80061074e-01 9.24958685e-01 2.23853334e-03 -7.18036666e+01] [ 5.89988554e-03 4.13256609e-06 9.99982596e-01 -3.03407385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84655999499995 meters 0.051701097611027126 Centerline is valid? [True, True] Translation: X:404.54, Y:-71.83, Z:-3.03 [[ 9.24527255e-01 3.81093110e-01 -4.17094694e-03 4.04543977e+02] [-3.81089266e-01 9.24536663e-01 1.71174358e-03 -7.18279986e+01] [ 4.50852705e-03 6.94951860e-06 9.99989837e-01 -3.03231492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90655999499995 meters 0.05220782773296609 Centerline is valid? [True, True] Translation: X:404.60, Y:-71.85, Z:-3.03 [[ 9.24291004e-01 3.81669781e-01 -3.78401429e-03 4.04601630e+02] [-3.81666623e-01 9.24298749e-01 1.55262984e-03 -7.18511387e+01] [ 4.09015156e-03 9.15016310e-06 9.99991635e-01 -3.03273789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96655999499995 meters 0.05179920593559894 Centerline is valid? [True, True] Translation: X:404.66, Y:-71.87, Z:-3.04 [[ 9.24457870e-01 3.81266059e-01 -3.72014658e-03 4.04659611e+02] [-3.81263003e-01 9.24465355e-01 1.52661476e-03 -7.18733132e+01] [ 4.02119302e-03 7.06322938e-06 9.99991915e-01 -3.03516940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02655999499996 meters 0.052149082682647334 Centerline is valid? [True, True] Translation: X:404.72, Y:-71.90, Z:-3.03 [[ 9.24450004e-01 3.81271547e-01 -4.91902092e-03 4.04716660e+02] [-3.81266198e-01 9.24463091e-01 2.01962251e-03 -7.18964100e+01] [ 5.31747788e-03 8.41636837e-06 9.99985862e-01 -3.03166273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08655999499996 meters 0.05172481533996809 Centerline is valid? [True, True] Translation: X:404.78, Y:-71.92, Z:-3.04 [[ 9.24233173e-01 3.81788920e-01 -5.50113828e-03 4.04775037e+02] [-3.81782241e-01 9.24249544e-01 2.25825204e-03 -7.19188375e+01] [ 5.94660016e-03 1.30854508e-05 9.99982319e-01 -3.03631605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14655999499996 meters 0.051657267176383886 Centerline is valid? [True, True] Translation: X:404.83, Y:-71.94, Z:-3.04 [[ 9.23706481e-01 3.83066902e-01 -5.10733501e-03 4.04833107e+02] [-3.83061157e-01 9.23720601e-01 2.09797888e-03 -7.19393031e+01] [ 5.52141683e-03 1.85049707e-05 9.99984757e-01 -3.03854094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20655999499996 meters 0.052409237226792256 Centerline is valid? [True, True] Translation: X:404.89, Y:-71.96, Z:-3.03 [[ 9.23265075e-01 3.84153879e-01 -2.72016048e-03 4.04890893e+02] [-3.84152252e-01 9.23269082e-01 1.11811841e-03 -7.19619956e+01] [ 2.94096959e-03 1.26360951e-05 9.99995675e-01 -3.03331322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26655999499997 meters 0.052334065401062314 Centerline is valid? [True, True] Translation: X:404.95, Y:-71.98, Z:-3.04 [[ 9.23202845e-01 3.84307453e-01 -2.07070097e-03 4.04949372e+02] [-3.84306509e-01 9.23205168e-01 8.51642163e-04 -7.19814129e+01] [ 2.23897427e-03 9.54539473e-06 9.99997493e-01 -3.04103870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32655999499997 meters 0.05181699970960312 Centerline is valid? [True, True] Translation: X:405.01, Y:-72.00, Z:-3.04 [[ 9.22530606e-01 3.85921381e-01 -1.40274342e-03 4.05007538e+02] [-3.85920949e-01 9.22531673e-01 5.77540098e-04 -7.20046830e+01] [ 1.51696030e-03 8.54965478e-06 9.99998849e-01 -3.03811394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38655999499997 meters 0.051450250033342436 Centerline is valid? [True, True] Translation: X:405.07, Y:-72.03, Z:-3.04 [[ 9.21977863e-01 3.87241575e-01 -8.85140003e-04 4.05066310e+02] [-3.87241403e-01 9.21978288e-01 3.64987818e-04 -7.20285831e+01] [ 9.57418321e-04 6.25216823e-06 9.99999542e-01 -3.03723660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.446559995 meters 0.05152707167085794 Centerline is valid? [True, True] Translation: X:405.12, Y:-72.05, Z:-3.04 [[ 9.21316914e-01 3.88812262e-01 -4.11247641e-04 4.05124307e+02] [-3.88812225e-01 9.21317005e-01 1.70088626e-04 -7.20513706e+01] [ 4.45021988e-04 3.19258257e-06 9.99999901e-01 -3.03854281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.506559995 meters 0.05158315018471241 Centerline is valid? [True, True] Translation: X:405.18, Y:-72.07, Z:-3.04 [[ 9.20906842e-01 3.89782746e-01 7.44526011e-06 4.05182255e+02] [-3.89782746e-01 9.20906842e-01 -2.19525146e-06 -7.20701422e+01] [-7.71206225e-06 -8.80411838e-07 1.00000000e+00 -3.04216031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.566559995 meters 0.05208000074870334 Centerline is valid? [True, True] Translation: X:405.24, Y:-72.10, Z:-3.04 [[ 9.20825060e-01 3.89975086e-01 8.00376985e-04 4.05239674e+02] [-3.89974947e-01 9.20825408e-01 -3.29017539e-04 -7.20952821e+01] [-8.65316107e-04 -9.15937714e-06 9.99999626e-01 -3.04228980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.626559995 meters 0.05162235817560118 Centerline is valid? [True, True] Translation: X:405.30, Y:-72.12, Z:-3.04 [[ 9.20656320e-01 3.90373504e-01 6.84261357e-04 4.05297424e+02] [-3.90373403e-01 9.20656574e-01 -2.80724050e-04 -7.21184578e+01] [-7.39556948e-04 -8.66706398e-06 9.99999726e-01 -3.04333992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.686559995 meters 0.05153972842240752 Centerline is valid? [True, True] Translation: X:405.35, Y:-72.15, Z:-3.04 [[ 9.20258409e-01 3.91309037e-01 1.30314594e-03 4.05352869e+02] [-3.91308671e-01 9.20259332e-01 -5.35500079e-04 -7.21484180e+01] [-1.40877824e-03 -1.71338560e-05 9.99999008e-01 -3.04063582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.746559995 meters 0.05144305599931139 Centerline is valid? [True, True] Translation: X:405.41, Y:-72.17, Z:-3.04 [[ 9.19645102e-01 3.92747903e-01 1.40393422e-03 4.05409194e+02] [-3.92747479e-01 9.19646173e-01 -5.77710092e-04 -7.21709782e+01] [-1.51801716e-03 -2.01033709e-05 9.99998848e-01 -3.04181666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.806559995 meters 0.05167438862513224 Centerline is valid? [True, True] Translation: X:405.47, Y:-72.19, Z:-3.04 [[ 9.18810290e-01 3.94699002e-01 5.91116820e-04 4.05467086e+02] [-3.94698927e-01 9.18810480e-01 -2.43024579e-04 -7.21893782e+01] [-6.39045888e-04 -1.00196907e-05 9.99999796e-01 -3.04462301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86655999499993 meters 0.05232803301019804 Centerline is valid? [True, True] Translation: X:405.52, Y:-72.22, Z:-3.04 [[ 9.17824731e-01 3.96985845e-01 -3.68934336e-05 4.05522984e+02] [-3.96985845e-01 9.17824732e-01 1.54620362e-05 -7.22170004e+01] [ 3.99999152e-05 4.54731710e-07 9.99999999e-01 -3.04406505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92655999499993 meters 0.05240800622869414 Centerline is valid? [True, True] Translation: X:405.58, Y:-72.24, Z:-3.05 [[ 9.17564405e-01 3.97586662e-01 -6.38633847e-04 4.05581237e+02] [-3.97586575e-01 9.17564628e-01 2.63617056e-04 -7.22372150e+01] [ 6.90798454e-04 1.20266164e-05 9.99999761e-01 -3.04611247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98655999499994 meters 0.051643186295449284 Centerline is valid? [True, True] Translation: X:405.64, Y:-72.27, Z:-3.04 [[ 9.17954373e-01 3.96685382e-01 6.90260625e-04 4.05636954e+02] [-3.96685281e-01 9.17954633e-01 -2.83610900e-04 -7.22653186e+01] [-7.46132236e-04 -1.34743638e-05 9.99999722e-01 -3.04475131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04655999499994 meters 0.05169748136298332 Centerline is valid? [True, True] Translation: X:405.69, Y:-72.29, Z:-3.04 [[ 9.18352623e-01 3.95755874e-01 2.39730836e-03 4.05693071e+02] [-3.95754645e-01 9.18355751e-01 -9.87428594e-04 -7.22929459e+01] [-2.59236258e-03 -4.19382765e-05 9.99996639e-01 -3.04356162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10655999499994 meters 0.05156467632670876 Centerline is valid? [True, True] Translation: X:405.75, Y:-72.32, Z:-3.04 [[ 9.19023297e-01 3.94180724e-01 4.21148784e-03 4.05750521e+02] [-3.94176907e-01 9.19032944e-01 -1.73604613e-03 -7.23182198e+01] [-4.55481199e-03 -6.46044064e-05 9.99989625e-01 -3.04373260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16655999499994 meters 0.05192301939749009 Centerline is valid? [True, True] Translation: X:405.81, Y:-72.34, Z:-3.05 [[ 9.19559145e-01 3.92932720e-01 3.85449675e-03 4.05807922e+02] [-3.92929510e-01 9.19567221e-01 -1.58918749e-03 -7.23389002e+01] [-4.16891263e-03 -5.31936313e-05 9.99991309e-01 -3.04568881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22655999499995 meters 0.05176231849552095 Centerline is valid? [True, True] Translation: X:405.86, Y:-72.37, Z:-3.05 [[ 9.20302917e-01 3.91192132e-01 3.35501748e-03 4.05863273e+02] [-3.91189687e-01 9.20309032e-01 -1.38354128e-03 -7.23675061e+01] [-3.62888335e-03 -3.91711649e-05 9.99993415e-01 -3.04671021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28655999499995 meters 0.05235281067212618 Centerline is valid? [True, True] Translation: X:405.92, Y:-72.39, Z:-3.05 [[ 9.20869427e-01 3.89861037e-01 2.80538591e-03 4.05921108e+02] [-3.89859321e-01 9.20873700e-01 -1.15696500e-03 -7.23915714e+01] [-3.03446167e-03 -2.82921528e-05 9.99995396e-01 -3.04768040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34655999499995 meters 0.052318409607176264 Centerline is valid? [True, True] Translation: X:405.98, Y:-72.42, Z:-3.05 [[ 9.21063126e-01 3.89407178e-01 2.18353200e-03 4.05979434e+02] [-3.89406138e-01 9.21065714e-01 -9.00041808e-04 -7.24156653e+01] [-2.36165920e-03 -2.12854430e-05 9.99997211e-01 -3.04829781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40655999499995 meters 0.052140594171687885 Centerline is valid? [True, True] Translation: X:406.04, Y:-72.44, Z:-3.05 [[ 9.21079331e-01 3.89371638e-01 1.61076689e-03 4.06037582e+02] [-3.89371072e-01 9.21080739e-01 -6.63929639e-04 -7.24391217e+01] [-1.74216173e-03 -1.56541643e-05 9.99998482e-01 -3.04926953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46655999499995 meters 0.052696846108117555 Centerline is valid? [True, True] Translation: X:406.10, Y:-72.46, Z:-3.05 [[ 9.20854454e-01 3.89906076e-01 5.71575976e-04 4.06096212e+02] [-3.89906005e-01 9.20854631e-01 -2.35187594e-04 -7.24580245e+01] [-6.18039456e-04 -6.28736177e-06 9.99999809e-01 -3.05229993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52655999499996 meters 0.05237208743079677 Centerline is valid? [True, True] Translation: X:406.15, Y:-72.48, Z:-3.05 [[ 9.20149981e-01 3.91563609e-01 1.39752920e-03 4.06152605e+02] [-3.91563185e-01 9.20151042e-01 -5.76394757e-04 -7.24833098e+01] [-1.51163316e-03 -1.68513608e-05 9.99998857e-01 -3.04958079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58655999499996 meters 0.05256833677807901 Centerline is valid? [True, True] Translation: X:406.21, Y:-72.50, Z:-3.05 [[ 9.19605031e-01 3.92843330e-01 8.39609345e-04 4.06210567e+02] [-3.92843177e-01 9.19605414e-01 -3.46439706e-04 -7.25018608e+01] [-9.08205827e-04 -1.12471053e-05 9.99999588e-01 -3.05107177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64655999499996 meters 0.05243491364999967 Centerline is valid? [True, True] Translation: X:406.27, Y:-72.53, Z:-3.05 [[ 9.18679508e-01 3.95001195e-01 1.42042723e-03 4.06267732e+02] [-3.95000761e-01 9.18680606e-01 -5.86196522e-04 -7.25251265e+01] [-1.53646727e-03 -2.25431027e-05 9.99998819e-01 -3.04848441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70655999499996 meters 0.05263761550694939 Centerline is valid? [True, True] Translation: X:406.33, Y:-72.55, Z:-3.05 [[ 9.18095539e-01 3.96353893e-01 2.04261914e-03 4.06326064e+02] [-3.96352997e-01 9.18097811e-01 -8.43555126e-04 -7.25472964e+01] [-2.20967052e-03 -3.51340220e-05 9.99997558e-01 -3.04744198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76655999499997 meters 0.053205503333102054 Centerline is valid? [True, True] Translation: X:406.39, Y:-72.56, Z:-3.05 [[ 9.17043822e-01 3.98785116e-01 1.03000694e-03 4.06386094e+02] [-3.98784890e-01 9.17044400e-01 -4.25117216e-04 -7.25621965e+01] [-1.11409252e-03 -2.09000897e-05 9.99999379e-01 -3.04981139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82655999499997 meters 0.05257252723550174 Centerline is valid? [True, True] Translation: X:406.44, Y:-72.59, Z:-3.05 [[ 9.16426639e-01 4.00202678e-01 1.79595794e-04 4.06443509e+02] [-4.00202671e-01 9.16426656e-01 -7.34423281e-05 -7.25864011e+01] [-1.93978189e-04 -4.57021042e-06 9.99999981e-01 -3.04971330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88655999499997 meters 0.05236693555298956 Centerline is valid? [True, True] Translation: X:406.50, Y:-72.61, Z:-3.05 [[ 9.16632492e-01 3.99730813e-01 -3.89572646e-04 4.06500629e+02] [-3.99730780e-01 9.16632575e-01 1.62104947e-04 -7.26116531e+01] [ 4.21893319e-04 7.13351574e-06 9.99999911e-01 -3.04912389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.946559995 meters 0.05233121169937657 Centerline is valid? [True, True] Translation: X:406.56, Y:-72.64, Z:-3.05 [[ 9.17497140e-01 3.97742229e-01 3.43651167e-04 4.06556631e+02] [-3.97742204e-01 9.17497204e-01 -1.42079096e-04 -7.26365603e+01] [-3.71809841e-04 -6.32740788e-06 9.99999931e-01 -3.04831851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.006559995 meters 0.05170996775449763 Centerline is valid? [True, True] Translation: X:406.61, Y:-72.66, Z:-3.05 [[ 9.18025411e-01 3.96521541e-01 1.09779404e-04 4.06614285e+02] [-3.96521539e-01 9.18025418e-01 -4.45928588e-05 -7.26564212e+01] [-1.18462313e-04 -2.59252075e-06 9.99999993e-01 -3.05043312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.066559995 meters 0.052040539938791534 Centerline is valid? [True, True] Translation: X:406.67, Y:-72.68, Z:-3.05 [[ 9.18862173e-01 3.94578624e-01 -1.24792921e-04 4.06670863e+02] [-3.94578621e-01 9.18862182e-01 5.25956803e-05 -7.26821692e+01] [ 1.35420627e-04 9.12437646e-07 9.99999991e-01 -3.05106827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.126559995 meters 0.05259921532706326 Centerline is valid? [True, True] Translation: X:406.73, Y:-72.70, Z:-3.05 [[ 9.19424425e-01 3.93265291e-01 -1.06613884e-03 4.06727908e+02] [-3.93265042e-01 9.19425043e-01 4.42528755e-04 -7.27048360e+01] [ 1.15426595e-03 1.24033898e-05 9.99999334e-01 -3.05303011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.186559995 meters 0.05237526366427335 Centerline is valid? [True, True] Translation: X:406.78, Y:-72.73, Z:-3.05 [[ 9.20175590e-01 3.91505102e-01 -7.99837050e-04 4.06784481e+02] [-3.91504961e-01 9.20175937e-01 3.32317038e-04 -7.27293596e+01] [ 8.66094623e-04 7.35014677e-06 9.99999625e-01 -3.05302308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.246559995 meters 0.05258327892457912 Centerline is valid? [True, True] Translation: X:406.84, Y:-72.76, Z:-3.05 [[ 9.20488013e-01 3.90770801e-01 -9.03812499e-07 4.06840965e+02] [-3.90770801e-01 9.20488013e-01 6.95803513e-07 -7.27560058e+01] [ 1.10384813e-06 -2.87295256e-07 1.00000000e+00 -3.05090187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.306559995 meters 0.052420710120226734 Centerline is valid? [True, True] Translation: X:406.90, Y:-72.78, Z:-3.05 [[ 9.20970531e-01 3.89631936e-01 4.86357526e-04 4.06898420e+02] [-3.89631884e-01 9.20970659e-01 -2.01239068e-04 -7.27795408e+01] [-5.26330179e-04 -4.16514726e-06 9.99999861e-01 -3.05196450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36655999499993 meters 0.0528884686795592 Centerline is valid? [True, True] Translation: X:406.96, Y:-72.80, Z:-3.05 [[ 9.20701958e-01 3.90266012e-01 5.86859736e-04 4.06956056e+02] [-3.90265937e-01 9.20702145e-01 -2.42316851e-04 -7.28021578e+01] [-6.34891049e-04 -5.92976514e-06 9.99999798e-01 -3.05230934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42655999499993 meters 0.05335411917145544 Centerline is valid? [True, True] Translation: X:407.01, Y:-72.83, Z:-3.05 [[ 9.20472559e-01 3.90807096e-01 2.86340963e-04 4.07014104e+02] [-3.90807078e-01 9.20472604e-01 -1.17834304e-04 -7.28251302e+01] [-3.09619494e-04 -3.44083162e-06 9.99999952e-01 -3.05324486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48655999499994 meters 0.05263253915592785 Centerline is valid? [True, True] Translation: X:407.07, Y:-72.85, Z:-3.05 [[ 9.20613152e-01 3.90475890e-01 -5.80688932e-05 4.07072445e+02] [-3.90475889e-01 9.20613154e-01 2.51443343e-05 -7.28485346e+01] [ 6.32772431e-05 -4.73702161e-07 9.99999998e-01 -3.05396622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54655999499994 meters 0.05199514953274839 Centerline is valid? [True, True] Translation: X:407.13, Y:-72.87, Z:-3.05 [[ 9.20833994e-01 3.89952509e-01 1.34049328e-03 4.07129609e+02] [-3.89952113e-01 9.20834969e-01 -5.55399288e-04 -7.28725792e+01] [-1.45095243e-03 -1.12976425e-05 9.99998947e-01 -3.05269018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60655999499994 meters 0.05291856743547381 Centerline is valid? [True, True] Translation: X:407.19, Y:-72.89, Z:-3.05 [[ 9.20624842e-01 3.90445304e-01 1.53763954e-03 4.07188787e+02] [-3.90444784e-01 9.20626126e-01 -6.37322096e-04 -7.28947437e+01] [-1.66443056e-03 -1.36287854e-05 9.99998615e-01 -3.05320549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66655999499994 meters 0.052306697114373885 Centerline is valid? [True, True] Translation: X:407.25, Y:-72.92, Z:-3.05 [[ 9.20471218e-01 3.90808371e-01 1.24655495e-03 4.07246776e+02] [-3.90808030e-01 9.20472062e-01 -5.16730176e-04 -7.29170161e+01] [-1.34936149e-03 -1.15284304e-05 9.99999090e-01 -3.05465961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72655999499995 meters 0.052780781546063665 Centerline is valid? [True, True] Translation: X:407.30, Y:-72.94, Z:-3.05 [[ 9.19911951e-01 3.92122211e-01 1.47425206e-03 4.07304662e+02] [-3.92121734e-01 9.19913133e-01 -6.11559621e-04 -7.29400457e+01] [-1.59598994e-03 -1.55052710e-05 9.99998726e-01 -3.05479654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78655999499995 meters 0.05239542179920443 Centerline is valid? [True, True] Translation: X:407.36, Y:-72.96, Z:-3.05 [[ 9.19505392e-01 3.93073892e-01 1.65805701e-03 4.07362371e+02] [-3.93073290e-01 9.19506887e-01 -6.88149227e-04 -7.29635196e+01] [-1.79508834e-03 -1.89809990e-05 9.99998389e-01 -3.05499231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84655999499995 meters 0.052416360904790966 Centerline is valid? [True, True] Translation: X:407.42, Y:-72.98, Z:-3.06 [[ 9.18550801e-01 3.95300697e-01 1.33628672e-03 4.07419260e+02] [-3.95300308e-01 9.18551772e-01 -5.55245833e-04 -7.29848622e+01] [-1.44693760e-03 -1.82130474e-05 9.99998953e-01 -3.05568746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90655999499995 meters 0.052235191777677714 Centerline is valid? [True, True] Translation: X:407.48, Y:-73.01, Z:-3.06 [[ 9.17849069e-01 3.96929563e-01 -9.52359792e-05 4.07476615e+02] [-3.96929561e-01 9.17849074e-01 4.05192877e-05 -7.30087296e+01] [ 1.03495558e-04 6.11385005e-07 9.99999995e-01 -3.05667351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96655999499995 meters 0.05288136164777079 Centerline is valid? [True, True] Translation: X:407.53, Y:-73.03, Z:-3.06 [[ 9.16883978e-01 3.99153543e-01 4.69408098e-04 4.07534918e+02] [-3.99153496e-01 9.16884098e-01 -1.94365727e-04 -7.30271210e+01] [-5.07974590e-04 -9.15506207e-06 9.99999871e-01 -3.05973054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02655999499996 meters 0.05254179464241274 Centerline is valid? [True, True] Translation: X:407.59, Y:-73.06, Z:-3.06 [[ 9.16533436e-01 3.99954362e-01 1.72286228e-03 4.07591497e+02] [-3.99953723e-01 9.16535055e-01 -7.15693621e-04 -7.30554527e+01] [-1.86530846e-03 -3.31080508e-05 9.99998260e-01 -3.05754794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08655999499996 meters 0.05190832703658142 Centerline is valid? [True, True] Translation: X:407.65, Y:-73.08, Z:-3.06 [[ 9.17065408e-01 3.98732087e-01 1.93925667e-03 4.07648905e+02] [-3.98731273e-01 9.17067458e-01 -8.06173109e-04 -7.30759109e+01] [-2.09987627e-03 -3.39288087e-05 9.99997795e-01 -3.05871513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14655999499996 meters 0.0522761507734173 Centerline is valid? [True, True] Translation: X:407.70, Y:-73.10, Z:-3.06 [[ 9.18692881e-01 3.94968085e-01 1.89775572e-03 4.07703751e+02] [-3.94967296e-01 9.18694841e-01 -7.89671791e-04 -7.31031189e+01] [-2.05535355e-03 -2.40855933e-05 9.99997887e-01 -3.05906555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20655999499996 meters 0.052695234812164565 Centerline is valid? [True, True] Translation: X:407.76, Y:-73.13, Z:-3.06 [[ 9.20819251e-01 3.89986409e-01 1.58393500e-03 4.07759042e+02] [-3.89985852e-01 9.20820613e-01 -6.59148519e-04 -7.31269797e+01] [-1.71557896e-03 -1.07555934e-05 9.99998528e-01 -3.06042903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26655999499997 meters 0.05267196713812191 Centerline is valid? [True, True] Translation: X:407.82, Y:-73.15, Z:-3.06 [[ 9.21258001e-01 3.88950152e-01 1.21413962e-03 4.07815097e+02] [-3.88949825e-01 9.21258801e-01 -5.04619038e-04 -7.31517127e+01] [-1.31480846e-03 -7.35506757e-06 9.99999136e-01 -3.06029955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32655999499997 meters 0.0529053136752363 Centerline is valid? [True, True] Translation: X:407.87, Y:-73.18, Z:-3.06 [[ 9.22227592e-01 3.86645779e-01 1.14482550e-03 4.07872319e+02] [-3.86645486e-01 9.22228302e-01 -4.76113922e-04 -7.31771436e+01] [-1.23987792e-03 -3.55621601e-06 9.99999231e-01 -3.06160931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38655999499997 meters 0.05227134155793891 Centerline is valid? [True, True] Translation: X:407.93, Y:-73.20, Z:-3.06 [[ 9.22813143e-01 3.85247076e-01 7.70149374e-04 4.07929616e+02] [-3.85246944e-01 9.22813464e-01 -3.19733172e-04 -7.32043011e+01] [-8.33880482e-04 -1.64371889e-06 9.99999652e-01 -3.06236400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.446559995 meters 0.05239976259349505 Centerline is valid? [True, True] Translation: X:407.99, Y:-73.23, Z:-3.06 [[ 9.22833227e-01 3.85199512e-01 4.13661073e-04 4.07987141e+02] [-3.85199474e-01 9.22833320e-01 -1.71297855e-04 -7.32291546e+01] [-4.47724071e-04 -1.26267518e-06 9.99999900e-01 -3.06247918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.506559995 meters 0.05294542662589341 Centerline is valid? [True, True] Translation: X:408.04, Y:-73.25, Z:-3.06 [[ 9.22572175e-01 3.85820650e-01 1.73445602e-03 4.08043774e+02] [-3.85819974e-01 9.22573805e-01 -7.22379843e-04 -7.32531574e+01] [-1.87887275e-03 -2.74023371e-06 9.99998235e-01 -3.06365239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.566559995 meters 0.05336554793042767 Centerline is valid? [True, True] Translation: X:408.10, Y:-73.28, Z:-3.06 [[ 9.21603017e-01 3.88126379e-01 2.40668941e-03 4.08101899e+02] [-3.88125085e-01 9.21606160e-01 -1.00241059e-03 -7.32776990e+01] [-2.60708178e-03 -1.02719072e-05 9.99996602e-01 -3.06269905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.626559995 meters 0.05311053487502227 Centerline is valid? [True, True] Translation: X:408.16, Y:-73.30, Z:-3.06 [[ 9.20605485e-01 3.90488715e-01 2.02591918e-03 4.08158896e+02] [-3.90487802e-01 9.20607714e-01 -8.44383539e-04 -7.32987564e+01] [-2.19479907e-03 -1.37526117e-05 9.99997591e-01 -3.06406641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.686559995 meters 0.05307973090842436 Centerline is valid? [True, True] Translation: X:408.22, Y:-73.32, Z:-3.06 [[ 9.19202929e-01 3.93772814e-01 2.99107043e-03 4.08216529e+02] [-3.93770841e-01 9.19207795e-01 -1.24680899e-03 -7.33224339e+01] [-3.24037474e-03 -3.17258392e-05 9.99994749e-01 -3.06366701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.746559995 meters 0.05293171209242105 Centerline is valid? [True, True] Translation: X:408.27, Y:-73.34, Z:-3.06 [[ 9.17620187e-01 3.97452398e-01 2.18696980e-03 4.08273363e+02] [-3.97451354e-01 9.17622793e-01 -9.11723751e-04 -7.33449167e+01] [-2.36918013e-03 -3.25979882e-05 9.99997193e-01 -3.06451176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.806559995 meters 0.05349081101655593 Centerline is valid? [True, True] Translation: X:408.33, Y:-73.37, Z:-3.07 [[ 9.17139655e-01 3.98565018e-01 8.83308230e-04 4.08330008e+02] [-3.98564849e-01 9.17140080e-01 -3.67868477e-04 -7.33671796e+01] [-9.56736887e-04 -1.46688434e-05 9.99999542e-01 -3.06756291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86655999499993 meters 0.05298904053612005 Centerline is valid? [True, True] Translation: X:408.39, Y:-73.39, Z:-3.07 [[ 9.17062811e-01 3.98741910e-01 8.30381311e-04 4.08386198e+02] [-3.98741761e-01 9.17063187e-01 -3.45686967e-04 -7.33948978e+01] [-8.99352013e-04 -1.40910441e-05 9.99999595e-01 -3.06661698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92655999499993 meters 0.05314375063578297 Centerline is valid? [True, True] Translation: X:408.44, Y:-73.42, Z:-3.07 [[ 9.17282561e-01 3.98236410e-01 6.81855081e-04 4.08442961e+02] [-3.98236309e-01 9.17282814e-01 -2.83893204e-04 -7.34204423e+01] [-7.38510558e-04 -1.11291653e-05 9.99999727e-01 -3.06739336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98655999499994 meters 0.05323531761024638 Centerline is valid? [True, True] Translation: X:408.50, Y:-73.45, Z:-3.07 [[ 9.17756698e-01 3.97140476e-01 1.44426985e-03 4.08498573e+02] [-3.97140019e-01 9.17757834e-01 -6.02525174e-04 -7.34481785e+01] [-1.56477710e-03 -2.06058424e-05 9.99998776e-01 -3.06648324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04655999499994 meters 0.05288172646028877 Centerline is valid? [True, True] Translation: X:408.56, Y:-73.47, Z:-3.07 [[ 9.17763554e-01 3.97122306e-01 1.98300747e-03 4.08555687e+02] [-3.97121443e-01 9.17765696e-01 -8.28167150e-04 -7.34701368e+01] [-2.14881988e-03 -2.74331609e-05 9.99997691e-01 -3.06814213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10655999499994 meters 0.05253348627222456 Centerline is valid? [True, True] Translation: X:408.61, Y:-73.50, Z:-3.07 [[ 9.16874416e-01 3.99171195e-01 1.91344648e-03 4.08611479e+02] [-3.99170397e-01 9.16876412e-01 -7.98956820e-04 -7.34988184e+01] [-2.07331449e-03 -3.12481227e-05 9.99997850e-01 -3.06690802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16655999499994 meters 0.052771608736938466 Centerline is valid? [True, True] Translation: X:408.67, Y:-73.52, Z:-3.07 [[ 9.15828453e-01 4.01568642e-01 9.32735370e-04 4.08668788e+02] [-4.01568454e-01 9.15828928e-01 -3.89180487e-04 -7.35220691e+01] [-1.01050871e-03 -1.81345378e-05 9.99999489e-01 -3.06862098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22655999499995 meters 0.05299418263225249 Centerline is valid? [True, True] Translation: X:408.73, Y:-73.54, Z:-3.07 [[ 9.14000353e-01 4.05713269e-01 -3.13435048e-04 4.08725409e+02] [-4.05713248e-01 9.14000406e-01 1.31081784e-04 -7.35417235e+01] [ 3.39661381e-04 7.35595449e-06 9.99999942e-01 -3.07082003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28655999499995 meters 0.052937000614458204 Centerline is valid? [True, True] Translation: X:408.78, Y:-73.56, Z:-3.07 [[ 9.12936636e-01 4.08101299e-01 1.67313556e-04 4.08781350e+02] [-4.08101293e-01 9.12936651e-01 -6.99618966e-05 -7.35625855e+01] [-1.81298219e-04 -4.41010007e-06 9.99999984e-01 -3.07091752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34655999499995 meters 0.05243358188599033 Centerline is valid? [True, True] Translation: X:408.84, Y:-73.59, Z:-3.07 [[ 9.12425452e-01 4.09238615e-01 1.88424987e-03 4.08835696e+02] [-4.09237861e-01 9.12427396e-01 -7.87264967e-04 -7.35930059e+01] [-2.04142043e-03 -5.27857944e-05 9.99997915e-01 -3.06834976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40655999499995 meters 0.052837956676003224 Centerline is valid? [True, True] Translation: X:408.89, Y:-73.62, Z:-3.07 [[ 9.12596309e-01 4.08853041e-01 2.67736132e-03 4.08892207e+02] [-4.08851515e-01 9.12600233e-01 -1.11939143e-03 -7.36159975e+01] [-2.90102715e-03 -7.30907430e-05 9.99995789e-01 -3.06935652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46655999499995 meters 0.05215324584639922 Centerline is valid? [True, True] Translation: X:408.95, Y:-73.65, Z:-3.07 [[ 9.13632025e-01 4.06532391e-01 2.81737415e-03 4.08945819e+02] [-4.06530689e-01 9.13636366e-01 -1.17861362e-03 -7.36475354e+01] [-3.05320010e-03 -6.85299057e-05 9.99995337e-01 -3.06894035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52655999499996 meters 0.052589335654263755 Centerline is valid? [True, True] Translation: X:409.00, Y:-73.67, Z:-3.07 [[ 9.14773396e-01 4.03961116e-01 2.24720579e-03 4.09002283e+02] [-4.03960025e-01 9.14776155e-01 -9.40268004e-04 -7.36685189e+01] [-2.43552199e-03 -4.76491520e-05 9.99997033e-01 -3.07135472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58655999499996 meters 0.05164370199690042 Centerline is valid? [True, True] Translation: X:409.06, Y:-73.70, Z:-3.07 [[ 9.15933988e-01 4.01325612e-01 1.63794855e-03 4.09056840e+02] [-4.01325028e-01 9.15935452e-01 -6.85293864e-04 -7.36975634e+01] [-1.77528112e-03 -2.96658064e-05 9.99998424e-01 -3.07146502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64655999499996 meters 0.05212153431356704 Centerline is valid? [True, True] Translation: X:409.11, Y:-73.72, Z:-3.07 [[ 9.16569094e-01 3.99875299e-01 9.17050977e-04 4.09112967e+02] [-3.99875115e-01 9.16569553e-01 -3.83311644e-04 -7.37213908e+01] [-9.93817862e-04 -1.53742588e-05 9.99999506e-01 -3.07277340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70655999499996 meters 0.05179395571028434 Centerline is valid? [True, True] Translation: X:409.17, Y:-73.75, Z:-3.07 [[ 9.16840954e-01 3.99252494e-01 3.32225454e-04 4.09169130e+02] [-3.99252470e-01 9.16841015e-01 -1.38743421e-04 -7.37494398e+01] [-3.59991579e-04 -5.43618279e-06 9.99999935e-01 -3.07217545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76655999499997 meters 0.05152197362824833 Centerline is valid? [True, True] Translation: X:409.23, Y:-73.77, Z:-3.07 [[ 9.16843066e-01 3.99247763e-01 1.26078944e-04 4.09226622e+02] [-3.99247760e-01 9.16843075e-01 -5.18381399e-05 -7.37720786e+01] [-1.36290868e-04 -2.80929675e-06 9.99999991e-01 -3.07394301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82655999499997 meters 0.052110485640343374 Centerline is valid? [True, True] Translation: X:409.28, Y:-73.80, Z:-3.08 [[ 9.16648866e-01 3.99693397e-01 -2.13473081e-04 4.09283950e+02] [-3.99693386e-01 9.16648891e-01 9.02872758e-05 -7.37952641e+01] [ 2.31767091e-04 2.56204957e-06 9.99999973e-01 -3.07556151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88655999499997 meters 0.051683283974094725 Centerline is valid? [True, True] Translation: X:409.34, Y:-73.82, Z:-3.08 [[ 9.16642321e-01 3.99708461e-01 4.77712280e-05 4.09341841e+02] [-3.99708461e-01 9.16642322e-01 -1.89890589e-05 -7.38212194e+01] [-5.13792170e-05 -1.68838900e-06 9.99999999e-01 -3.07534086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.946559995 meters 0.0513262212867678 Centerline is valid? [True, True] Translation: X:409.40, Y:-73.85, Z:-3.07 [[ 9.16768829e-01 3.99416697e-01 1.10259643e-03 4.09398821e+02] [-3.99416431e-01 9.16769492e-01 -4.61236402e-04 -7.38466073e+01] [-1.19505229e-03 -1.75479751e-05 9.99999286e-01 -3.07494817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.006559995 meters 0.051537845363371027 Centerline is valid? [True, True] Translation: X:409.46, Y:-73.87, Z:-3.08 [[ 9.16779790e-01 3.99388976e-01 1.80654206e-03 4.09455793e+02] [-3.99388260e-01 9.16781569e-01 -7.56583575e-04 -7.38689592e+01] [-1.95837560e-03 -2.78911579e-05 9.99998082e-01 -3.07537504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.066559995 meters 0.05139247516691844 Centerline is valid? [True, True] Translation: X:409.51, Y:-73.89, Z:-3.08 [[ 9.16504872e-01 4.00014758e-01 2.64809452e-03 4.09513110e+02] [-4.00013220e-01 9.16508697e-01 -1.11004386e-03 -7.38932710e+01] [-2.87103558e-03 -4.19122080e-05 9.99995878e-01 -3.07588783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.126559995 meters 0.05139078916458504 Centerline is valid? [True, True] Translation: X:409.57, Y:-73.91, Z:-3.08 [[ 9.16068204e-01 4.01012645e-01 2.81132958e-03 4.09570075e+02] [-4.01010917e-01 9.16072517e-01 -1.17831833e-03 -7.39148403e+01] [-3.04790232e-03 -4.79538962e-05 9.99995354e-01 -3.07651485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.186559995 meters 0.05114475869966974 Centerline is valid? [True, True] Translation: X:409.63, Y:-73.94, Z:-3.08 [[ 9.16047991e-01 4.01060112e-01 2.62018072e-03 4.09628172e+02] [-4.01058610e-01 9.16051737e-01 -1.09835119e-03 -7.39396944e+01] [-2.84072595e-03 -4.47036359e-05 9.99995964e-01 -3.07621551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.246559995 meters 0.05139044801559421 Centerline is valid? [True, True] Translation: X:409.69, Y:-73.96, Z:-3.08 [[ 9.16707385e-01 3.99549494e-01 2.78775980e-03 4.09686146e+02] [-3.99547785e-01 9.16711623e-01 -1.16921604e-03 -7.39602621e+01] [-3.02273149e-03 -4.20142756e-05 9.99995431e-01 -3.07709233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.306559995 meters 0.051283600183988726 Centerline is valid? [True, True] Translation: X:409.74, Y:-73.99, Z:-3.08 [[ 9.17189931e-01 3.98437885e-01 3.14357002e-03 4.09743345e+02] [-3.98435704e-01 9.17195317e-01 -1.31922387e-03 -7.39857694e+01] [-3.40889647e-03 -4.25316851e-05 9.99994189e-01 -3.07694296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36655999499993 meters 0.051795659581342426 Centerline is valid? [True, True] Translation: X:409.80, Y:-74.01, Z:-3.08 [[ 9.17642793e-01 3.97398559e-01 2.46766036e-03 4.09801076e+02] [-3.97397211e-01 9.17646111e-01 -1.03529251e-03 -7.40065398e+01] [-2.67586268e-03 -3.06126322e-05 9.99996419e-01 -3.07843328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42655999499993 meters 0.05146373692775979 Centerline is valid? [True, True] Translation: X:409.86, Y:-74.03, Z:-3.08 [[ 9.17877091e-01 3.96859666e-01 2.01263462e-03 4.09856792e+02] [-3.96858768e-01 9.17879297e-01 -8.44728704e-04 -7.40308915e+01] [-2.18259440e-03 -2.33745679e-05 9.99997618e-01 -3.07830386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48655999499994 meters 0.05163221523762839 Centerline is valid? [True, True] Translation: X:409.92, Y:-74.05, Z:-3.08 [[ 9.18868853e-01 3.94557280e-01 2.14106354e-03 4.09915098e+02] [-3.94556256e-01 9.18871347e-01 -8.98938689e-04 -7.40528131e+01] [-2.32204474e-03 -1.87632525e-05 9.99997304e-01 -3.07962982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54655999499994 meters 0.05154335080772429 Centerline is valid? [True, True] Translation: X:409.97, Y:-74.08, Z:-3.08 [[ 9.20028573e-01 3.91842836e-01 2.57218366e-03 4.09970958e+02] [-3.91841349e-01 9.20032169e-01 -1.07981461e-03 -7.40771267e+01] [-2.78960933e-03 -1.44276197e-05 9.99996109e-01 -3.07935276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60655999499994 meters 0.05190806047993856 Centerline is valid? [True, True] Translation: X:410.03, Y:-74.10, Z:-3.08 [[ 9.22208031e-01 3.86667774e-01 4.51445395e-03 4.10026476e+02] [-3.86663123e-01 9.22219081e-01 -1.89637498e-03 -7.41032044e+01] [-4.89658266e-03 3.27937681e-06 9.99988012e-01 -3.07773922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66655999499994 meters 0.052174352920512784 Centerline is valid? [True, True] Translation: X:410.08, Y:-74.13, Z:-3.08 [[ 9.24647784e-01 3.80789535e-01 5.07999203e-03 4.10083293e+02] [-3.80783553e-01 9.24661737e-01 -2.13474614e-03 -7.41284476e+01] [-5.51016325e-03 3.95108660e-05 9.99984818e-01 -3.07754892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72655999499995 meters 0.052596450939089025 Centerline is valid? [True, True] Translation: X:410.14, Y:-74.15, Z:-3.08 [[ 9.26273789e-01 3.76818132e-01 4.99636457e-03 4.10138913e+02] [-3.76812286e-01 9.26287262e-01 -2.09995280e-03 -7.41545579e+01] [-5.41936915e-03 6.24396864e-05 9.99985313e-01 -3.07835742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78655999499995 meters 0.052582835788618096 Centerline is valid? [True, True] Translation: X:410.20, Y:-74.17, Z:-3.08 [[ 9.27973445e-01 3.72619718e-01 4.45323062e-03 4.10197971e+02] [-3.72615023e-01 9.27984127e-01 -1.87203642e-03 -7.41717852e+01] [-4.83008501e-03 7.78594509e-05 9.99988332e-01 -3.07791591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84655999499995 meters 0.053032579831117074 Centerline is valid? [True, True] Translation: X:410.26, Y:-74.19, Z:-3.08 [[ 9.27999572e-01 3.72564296e-01 3.55509989e-03 4.10256144e+02] [-3.72561305e-01 9.28006380e-01 -1.49417355e-03 -7.41917132e+01] [-3.85583109e-03 6.20997564e-05 9.99992564e-01 -3.07885932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90655999499995 meters 0.052942692715377215 Centerline is valid? [True, True] Translation: X:410.32, Y:-74.21, Z:-3.08 [[ 9.27152351e-01 3.74666411e-01 3.68758980e-03 4.10315150e+02] [-3.74663206e-01 9.27159683e-01 -1.55056492e-03 -7.42095477e+01] [-3.99992918e-03 5.60056978e-05 9.99991999e-01 -3.07846240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96655999499995 meters 0.05255243810563035 Centerline is valid? [True, True] Translation: X:410.37, Y:-74.23, Z:-3.08 [[ 9.24906086e-01 3.80175970e-01 3.86835567e-03 4.10374531e+02] [-3.80172492e-01 9.24914175e-01 -1.62666279e-03 -7.42265607e+01] [-4.19631510e-03 3.38679004e-05 9.99991195e-01 -3.07924104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02655999499996 meters 0.05297421422879682 Centerline is valid? [True, True] Translation: X:410.43, Y:-74.25, Z:-3.08 [[ 9.23066965e-01 3.84624987e-01 3.31611050e-03 4.10433051e+02] [-3.84622460e-01 9.23072922e-01 -1.39423363e-03 -7.42459122e+01] [-3.59726890e-03 1.15204218e-05 9.99993530e-01 -3.08001111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08655999499996 meters 0.052204921044474197 Centerline is valid? [True, True] Translation: X:410.49, Y:-74.26, Z:-3.08 [[ 9.20362309e-01 3.91056250e-01 2.86853883e-03 4.10494851e+02] [-3.91054389e-01 9.20366780e-01 -1.20644868e-03 -7.42608509e+01] [-3.11189714e-03 -1.13848102e-05 9.99995158e-01 -3.08326123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14655999499996 meters 0.05250089405024597 Centerline is valid? [True, True] Translation: X:410.55, Y:-74.28, Z:-3.08 [[ 9.18629946e-01 3.95104103e-01 3.43087718e-03 4.10554121e+02] [-3.95101469e-01 9.18636352e-01 -1.44299924e-03 -7.42809772e+01] [-3.72186342e-03 -2.99622963e-05 9.99993073e-01 -3.08212960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20655999499996 meters 0.05296400112320237 Centerline is valid? [True, True] Translation: X:410.61, Y:-74.30, Z:-3.08 [[ 9.15980882e-01 4.01199433e-01 4.24723646e-03 4.10612847e+02] [-4.01195456e-01 9.15990726e-01 -1.78750257e-03 -7.42968589e+01] [-4.60757422e-03 -6.66537879e-05 9.99989383e-01 -3.08175165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26655999499997 meters 0.05373559075000683 Centerline is valid? [True, True] Translation: X:410.67, Y:-74.31, Z:-3.08 [[ 9.13845361e-01 4.06040314e-01 4.23310338e-03 4.10674168e+02] [-4.06036416e-01 9.13855161e-01 -1.78151891e-03 -7.43059640e+01] [-4.59181187e-03 -9.07613347e-05 9.99989453e-01 -3.08329177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32655999499997 meters 0.05255849747845605 Centerline is valid? [True, True] Translation: X:410.73, Y:-74.33, Z:-3.08 [[ 9.13197143e-01 4.07497337e-01 4.11081614e-03 4.10731214e+02] [-4.07493676e-01 9.13206390e-01 -1.72997840e-03 -7.43306348e+01] [-4.45898516e-03 -9.53202426e-05 9.99990054e-01 -3.08377340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38655999499997 meters 0.05256796456774024 Centerline is valid? [True, True] Translation: X:410.79, Y:-74.36, Z:-3.08 [[ 9.13799895e-01 4.06145071e-01 3.99161127e-03 4.10787791e+02] [-4.06141604e-01 9.13808609e-01 -1.68027880e-03 -7.43571349e+01] [-4.33000570e-03 -8.57208136e-05 9.99990622e-01 -3.08387077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.446559995 meters 0.05305588657435017 Centerline is valid? [True, True] Translation: X:410.84, Y:-74.38, Z:-3.08 [[ 9.15458668e-01 4.02400615e-01 3.02868244e-03 4.10844190e+02] [-4.02398597e-01 9.15463676e-01 -1.27543974e-03 -7.43822989e+01] [-3.28588650e-03 -5.11251950e-05 9.99994600e-01 -3.08444537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.506559995 meters 0.0532697715718319 Centerline is valid? [True, True] Translation: X:410.90, Y:-74.40, Z:-3.09 [[ 9.15798408e-01 4.01632258e-01 2.19188868e-03 4.10901289e+02] [-4.01631200e-01 9.15801031e-01 -9.22707405e-04 -7.44036183e+01] [-2.37792297e-03 -3.53169070e-05 9.99997172e-01 -3.08627229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.566559995 meters 0.05308395548317819 Centerline is valid? [True, True] Translation: X:410.96, Y:-74.43, Z:-3.09 [[ 9.16188310e-01 4.00747827e-01 3.98896686e-04 4.10959006e+02] [-4.00747792e-01 9.16188397e-01 -1.67156799e-04 -7.44288166e+01] [-4.32452240e-04 -6.70986079e-06 9.99999906e-01 -3.08796820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.626559995 meters 0.05260909817445723 Centerline is valid? [True, True] Translation: X:411.01, Y:-74.46, Z:-3.09 [[ 9.16923586e-01 3.99061720e-01 -9.38985452e-04 4.11013143e+02] [-3.99061523e-01 9.16924066e-01 3.96835038e-04 -7.44594093e+01] [ 1.01934003e-03 1.08455584e-05 9.99999480e-01 -3.08657298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.686559995 meters 0.052797424158971644 Centerline is valid? [True, True] Translation: X:411.07, Y:-74.49, Z:-3.09 [[ 9.17676429e-01 3.97327675e-01 -8.30194574e-04 4.11068479e+02] [-3.97327520e-01 9.17676805e-01 3.51004844e-04 -7.44855168e+01] [ 9.01314243e-04 7.75027933e-06 9.99999594e-01 -3.08684896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.746559995 meters 0.0529991501504582 Centerline is valid? [True, True] Translation: X:411.12, Y:-74.52, Z:-3.08 [[ 9.20153985e-01 3.91556241e-01 5.94685491e-04 4.11122171e+02] [-3.91556161e-01 9.20154177e-01 -2.50621032e-04 -7.45161738e+01] [-6.45334568e-04 -2.24282705e-06 9.99999792e-01 -3.08471978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.806559995 meters 0.052450567624043876 Centerline is valid? [True, True] Translation: X:411.18, Y:-74.55, Z:-3.08 [[ 9.23579215e-01 3.83398792e-01 2.60777900e-03 4.11176930e+02] [-3.83397217e-01 9.23582896e-01 -1.09927995e-03 -7.45461811e+01] [-2.82996269e-03 1.54569055e-05 9.99995996e-01 -3.08332848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86655999499993 meters 0.05302616766256183 Centerline is valid? [True, True] Translation: X:411.23, Y:-74.57, Z:-3.08 [[ 9.25842692e-01 3.77895533e-01 3.20562356e-03 4.11231835e+02] [-3.77893116e-01 9.25848241e-01 -1.35212559e-03 -7.45741167e+01] [-3.47888315e-03 4.04725206e-05 9.99993948e-01 -3.08392577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92655999499993 meters 0.05310354679196871 Centerline is valid? [True, True] Translation: X:411.29, Y:-74.60, Z:-3.09 [[ 9.28718428e-01 3.70776392e-01 2.63596145e-03 4.11286928e+02] [-3.70774728e-01 9.28722167e-01 -1.11243750e-03 -7.46004683e+01] [-2.86054140e-03 5.57933201e-05 9.99995907e-01 -3.08536392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98655999499994 meters 0.05317054941131819 Centerline is valid? [True, True] Translation: X:411.34, Y:-74.63, Z:-3.09 [[ 9.30061848e-01 3.67399294e-01 1.64836177e-03 4.11340565e+02] [-3.67398637e-01 9.30063308e-01 -6.95645090e-04 -7.46295134e+01] [-1.78866031e-03 4.13870910e-05 9.99998399e-01 -3.08749991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04655999499994 meters 0.053959380140608366 Centerline is valid? [True, True] Translation: X:411.39, Y:-74.66, Z:-3.09 [[ 9.31583658e-01 3.63525163e-01 1.15917236e-03 4.11393927e+02] [-3.63524836e-01 9.31584379e-01 -4.89272705e-04 -7.46568399e+01] [-1.25772981e-03 3.44105129e-05 9.99999208e-01 -3.08912628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10655999499994 meters 0.05381539062542469 Centerline is valid? [True, True] Translation: X:411.45, Y:-74.68, Z:-3.09 [[ 9.32391049e-01 3.61449100e-01 1.21639377e-03 4.11451857e+02] [-3.61448737e-01 9.32391842e-01 -5.13347555e-04 -7.46758462e+01] [-1.31970464e-03 3.89766722e-05 9.99999128e-01 -3.08791637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16655999499994 meters 0.05398372296472652 Centerline is valid? [True, True] Translation: X:411.51, Y:-74.71, Z:-3.09 [[ 9.32917565e-01 3.60083685e-01 2.13453431e-03 4.11506625e+02] [-3.60082565e-01 9.32920005e-01 -9.00719947e-04 -7.47056518e+01] [-2.31568432e-03 7.16888688e-05 9.99997316e-01 -3.08931148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22655999499995 meters 0.054258986527370004 Centerline is valid? [True, True] Translation: X:411.56, Y:-74.73, Z:-3.09 [[ 9.31785947e-01 3.62995913e-01 2.98592650e-03 4.11564169e+02] [-3.62993736e-01 9.31790727e-01 -1.26059610e-03 -7.47273299e+01] [-3.23984986e-03 9.07331149e-05 9.99994748e-01 -3.08931042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28655999499995 meters 0.05333886163236936 Centerline is valid? [True, True] Translation: X:411.62, Y:-74.74, Z:-3.09 [[ 9.29916031e-01 3.67755369e-01 3.48756228e-03 4.11622606e+02] [-3.67752431e-01 9.29922567e-01 -1.47247892e-03 -7.47438764e+01] [-3.78467490e-03 8.67222507e-05 9.99992834e-01 -3.08958668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34655999499995 meters 0.05299724856329239 Centerline is valid? [True, True] Translation: X:411.68, Y:-74.76, Z:-3.09 [[ 9.25861602e-01 3.77852407e-01 2.80230254e-03 4.11680282e+02] [-3.77850556e-01 9.25865842e-01 -1.18307637e-03 -7.47639939e+01] [-3.04158445e-03 3.65134083e-05 9.99995374e-01 -3.09088825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40655999499995 meters 0.05312119952292931 Centerline is valid? [True, True] Translation: X:411.74, Y:-74.78, Z:-3.09 [[ 9.22424503e-01 3.86169600e-01 2.46515017e-03 4.11740067e+02] [-3.86168198e-01 9.22427797e-01 -1.04074999e-03 -7.47812759e+01] [-2.67582904e-03 8.05069920e-06 9.99996420e-01 -3.09167560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46655999499995 meters 0.053580864794850816 Centerline is valid? [True, True] Translation: X:411.80, Y:-74.79, Z:-3.09 [[ 9.17052102e-01 3.98756071e-01 3.00623356e-03 4.11801971e+02] [-3.98754053e-01 9.17057029e-01 -1.26894580e-03 -7.47923846e+01] [-3.26288746e-03 -3.50584022e-05 9.99994676e-01 -3.09429592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52655999499996 meters 0.05241774832432217 Centerline is valid? [True, True] Translation: X:411.86, Y:-74.82, Z:-3.09 [[ 9.13801884e-01 4.06142613e-01 3.78075006e-03 4.11857517e+02] [-4.06139480e-01 9.13809702e-01 -1.59694023e-03 -7.48169674e+01] [-4.10347157e-03 -7.62248738e-05 9.99991578e-01 -3.09258621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58655999499996 meters 0.05237405984907964 Centerline is valid? [True, True] Translation: X:411.92, Y:-74.83, Z:-3.09 [[ 9.10460307e-01 4.13576762e-01 4.03631150e-03 4.11915876e+02] [-4.13573264e-01 9.10469246e-01 -1.70494492e-03 -7.48349362e+01] [-4.38006309e-03 -1.17025853e-04 9.99990401e-01 -3.09306893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64655999499996 meters 0.05349061761656899 Centerline is valid? [True, True] Translation: X:411.97, Y:-74.85, Z:-3.09 [[ 9.09567726e-01 4.15538028e-01 3.83402058e-03 4.11974418e+02] [-4.15534889e-01 9.09575798e-01 -1.61957917e-03 -7.48510856e+01] [-4.16032906e-03 -1.20052375e-04 9.99991339e-01 -3.09427879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70655999499996 meters 0.05272799615780138 Centerline is valid? [True, True] Translation: X:412.03, Y:-74.88, Z:-3.10 [[ 9.09357980e-01 4.16003351e-01 3.04570922e-03 4.12028464e+02] [-4.16001374e-01 9.09363075e-01 -1.28618950e-03 -7.48815406e+01] [-3.30471465e-03 -9.74125364e-05 9.99994535e-01 -3.09524755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76655999499997 meters 0.05266744186484877 Centerline is valid? [True, True] Translation: X:412.09, Y:-74.91, Z:-3.10 [[ 9.09575960e-01 4.15535480e-01 1.35543681e-03 4.12085066e+02] [-4.15535089e-01 9.09576969e-01 -5.72062901e-04 -7.49074460e+01] [-1.47058654e-03 -4.28968924e-05 9.99998918e-01 -3.09729339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82655999499997 meters 0.05285078357561805 Centerline is valid? [True, True] Translation: X:412.14, Y:-74.94, Z:-3.10 [[ 9.10401100e-01 4.13726624e-01 3.44678608e-04 4.12138881e+02] [-4.13726598e-01 9.10401165e-01 -1.45433868e-04 -7.49374025e+01] [-3.73965669e-04 -1.01995548e-05 9.99999930e-01 -3.09878190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88655999499997 meters 0.052375011021948116 Centerline is valid? [True, True] Translation: X:412.19, Y:-74.97, Z:-3.10 [[ 9.11103367e-01 4.12177887e-01 2.07426682e-04 4.12192493e+02] [-4.12177878e-01 9.11103391e-01 -8.75583120e-05 -7.49674069e+01] [-2.25076753e-04 -5.72201664e-06 9.99999975e-01 -3.09817408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.946559995 meters 0.0522408523063015 Centerline is valid? [True, True] Translation: X:412.25, Y:-75.00, Z:-3.10 [[ 9.13061253e-01 4.07820738e-01 1.18057368e-03 4.12245560e+02] [-4.07820433e-01 9.13062016e-01 -4.98940424e-04 -7.49977861e+01] [-1.28141524e-03 -2.58989022e-05 9.99999179e-01 -3.09799385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.006559995 meters 0.05201209311163384 Centerline is valid? [True, True] Translation: X:412.30, Y:-75.02, Z:-3.10 [[ 9.14795410e-01 4.03909863e-01 2.48619309e-03 4.12299931e+02] [-4.03908498e-01 9.14798787e-01 -1.05103539e-03 -7.50234383e+01] [-2.69888998e-03 -4.27121635e-05 9.99996357e-01 -3.09760342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.066559995 meters 0.0520978283410289 Centerline is valid? [True, True] Translation: X:412.35, Y:-75.06, Z:-3.10 [[ 9.17478959e-01 3.97767019e-01 3.70909641e-03 4.12351242e+02] [-3.97763930e-01 9.17486456e-01 -1.56803697e-03 -7.50592700e+01] [-4.02675912e-03 -3.67038400e-05 9.99991892e-01 -3.09662519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.126559995 meters 0.05178340539281283 Centerline is valid? [True, True] Translation: X:412.41, Y:-75.09, Z:-3.10 [[ 9.18858244e-01 3.94577023e-01 2.91564207e-03 4.12406028e+02] [-3.94575100e-01 9.18862869e-01 -1.23222862e-03 -7.50879835e+01] [-3.16528434e-03 -1.81963343e-05 9.99994990e-01 -3.09853922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.186559995 meters 0.0520362120631869 Centerline is valid? [True, True] Translation: X:412.46, Y:-75.12, Z:-3.10 [[ 9.20698622e-01 3.90270471e-01 1.73413842e-03 4.12460333e+02] [-3.90269783e-01 9.20700255e-01 -7.32761621e-04 -7.51202644e+01] [-1.88259691e-03 -2.12921105e-06 9.99998228e-01 -3.09962053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.246559995 meters 0.052500386890023364 Centerline is valid? [True, True] Translation: X:412.51, Y:-75.15, Z:-3.10 [[ 9.22260096e-01 3.86567343e-01 1.41581798e-03 4.12514870e+02] [-3.86566880e-01 9.22261183e-01 -5.98331130e-04 -7.51483749e+01] [-1.53704924e-03 4.50858798e-06 9.99998819e-01 -3.09806874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.306559995 meters 0.052133423403731276 Centerline is valid? [True, True] Translation: X:412.57, Y:-75.18, Z:-3.10 [[ 9.25438536e-01 3.78891426e-01 2.19164180e-03 4.12566438e+02] [-3.78890292e-01 9.25441131e-01 -9.27356253e-04 -7.51838518e+01] [-2.37960280e-03 2.78194132e-05 9.99997168e-01 -3.10005612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36655999499993 meters 0.052915653395269005 Centerline is valid? [True, True] Translation: X:412.62, Y:-75.21, Z:-3.10 [[ 9.26296739e-01 3.76784418e-01 2.80255916e-03 4.12622576e+02] [-3.76782554e-01 9.26300977e-01 -1.18591076e-03 -7.52108645e+01] [-3.04284599e-03 4.25498738e-05 9.99995370e-01 -3.09970858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42655999499993 meters 0.05228737821398847 Centerline is valid? [True, True] Translation: X:412.68, Y:-75.23, Z:-3.10 [[ 9.27019258e-01 3.74980414e-01 4.99852269e-03 4.12680769e+02] [-3.74974456e-01 9.27032730e-01 -2.11559204e-03 -7.52292331e+01] [-5.42709971e-03 8.68762423e-05 9.99985269e-01 -3.09809117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48655999499994 meters 0.05283486242274755 Centerline is valid? [True, True] Translation: X:412.74, Y:-75.25, Z:-3.10 [[ 9.27211098e-01 3.74516356e-01 4.13262027e-03 4.12738528e+02] [-3.74512279e-01 9.27220305e-01 -1.74916306e-03 -7.52523836e+01] [-4.48693960e-03 7.41263675e-05 9.99989931e-01 -3.09875003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54655999499994 meters 0.05236055661528284 Centerline is valid? [True, True] Translation: X:412.79, Y:-75.28, Z:-3.10 [[ 9.27290064e-01 3.74327686e-01 3.45270147e-03 4.12793420e+02] [-3.74324837e-01 9.27296490e-01 -1.46165954e-03 -7.52796441e+01] [-3.74881758e-03 6.29504522e-05 9.99992971e-01 -3.10067327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60655999499994 meters 0.05356439982576925 Centerline is valid? [True, True] Translation: X:412.85, Y:-75.31, Z:-3.10 [[ 9.27312887e-01 3.74269827e-01 3.59247858e-03 4.12850023e+02] [-3.74266741e-01 9.27319843e-01 -1.52133637e-03 -7.53062766e+01] [-3.90076697e-03 6.62095745e-05 9.99992390e-01 -3.10294308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66655999499994 meters 0.05350503352778366 Centerline is valid? [True, True] Translation: X:412.91, Y:-75.32, Z:-3.10 [[ 9.27242201e-01 3.74433663e-01 4.61877181e-03 4.12910862e+02] [-3.74428561e-01 9.27253700e-01 -1.95654890e-03 -7.53227415e+01] [-5.01537103e-03 8.47946266e-05 9.99987419e-01 -3.10099843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72655999499995 meters 0.0532060213104596 Centerline is valid? [True, True] Translation: X:412.97, Y:-75.35, Z:-3.10 [[ 9.26918580e-01 3.75227590e-01 5.11888477e-03 4.12968800e+02] [-3.75221330e-01 9.26932709e-01 -2.16917633e-03 -7.53460217e+01] [-5.55879653e-03 8.99350924e-05 9.99984546e-01 -3.10097708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78655999499995 meters 0.05286400600234266 Centerline is valid? [True, True] Translation: X:413.03, Y:-75.37, Z:-3.10 [[ 9.26722209e-01 3.75701796e-01 5.84022832e-03 4.13026698e+02] [-3.75693653e-01 9.26740606e-01 -2.47571913e-03 -7.53684753e+01] [-6.34250886e-03 1.00167190e-04 9.99979881e-01 -3.10148436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84655999499995 meters 0.05274236501200596 Centerline is valid? [True, True] Translation: X:413.09, Y:-75.39, Z:-3.10 [[ 9.26042635e-01 3.77374871e-01 5.76576927e-03 4.13085757e+02] [-3.77366965e-01 9.26060580e-01 -2.44431697e-03 -7.53882084e+01] [-6.26187544e-03 8.77308746e-05 9.99980390e-01 -3.10302920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90655999499995 meters 0.053143769460445155 Centerline is valid? [True, True] Translation: X:413.15, Y:-75.41, Z:-3.10 [[ 9.24994306e-01 3.79954459e-01 4.48802743e-03 4.13145768e+02] [-3.79949696e-01 9.25005193e-01 -1.90316290e-03 -7.54054887e+01] [-4.87456391e-03 5.51901896e-05 9.99988118e-01 -3.10485467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96655999499995 meters 0.052241385399249704 Centerline is valid? [True, True] Translation: X:413.20, Y:-75.43, Z:-3.11 [[ 9.24208879e-01 3.81871000e-01 3.53375594e-03 4.13203349e+02] [-3.81868061e-01 9.24215634e-01 -1.49858769e-03 -7.54296901e+01] [-3.83821967e-03 3.55795210e-05 9.99992633e-01 -3.10646015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02655999499996 meters 0.05262058953753231 Centerline is valid? [True, True] Translation: X:413.26, Y:-75.45, Z:-3.11 [[ 9.23453424e-01 3.83693602e-01 3.60473995e-03 4.13261976e+02] [-3.83690558e-01 9.23460459e-01 -1.52859931e-03 -7.54504447e+01] [-3.91534859e-03 2.84855843e-05 9.99992335e-01 -3.10627896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08655999499996 meters 0.052714063609631 Centerline is valid? [True, True] Translation: X:413.32, Y:-75.47, Z:-3.11 [[ 9.23216457e-01 3.84259592e-01 3.99233348e-03 4.13319981e+02] [-3.84255860e-01 9.23225089e-01 -1.69378408e-03 -7.54731547e+01] [-4.33667521e-03 2.96517991e-05 9.99990596e-01 -3.10817665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14655999499996 meters 0.052511784304808774 Centerline is valid? [True, True] Translation: X:413.38, Y:-75.50, Z:-3.11 [[ 9.24010075e-01 3.82354263e-01 3.25549051e-03 4.13376526e+02] [-3.82351770e-01 9.24015810e-01 -1.38098291e-03 -7.54977420e+01] [-3.53614941e-03 3.12995590e-05 9.99993747e-01 -3.10920303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20655999499996 meters 0.05294417150270383 Centerline is valid? [True, True] Translation: X:413.43, Y:-75.52, Z:-3.11 [[ 9.26183134e-01 3.77069157e-01 1.91130251e-03 4.13430260e+02] [-3.77068286e-01 9.26185105e-01 -8.11296680e-04 -7.55247388e+01] [-2.07613487e-03 3.07177407e-05 9.99997844e-01 -3.11042445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26655999499997 meters 0.05323542666121078 Centerline is valid? [True, True] Translation: X:413.49, Y:-75.55, Z:-3.11 [[ 9.27613764e-01 3.73534164e-01 2.22125852e-03 4.13486260e+02] [-3.73532977e-01 9.27616422e-01 -9.42733233e-04 -7.55492514e+01] [-2.41261895e-03 4.47790147e-05 9.99997089e-01 -3.11046376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32655999499997 meters 0.05304935765884278 Centerline is valid? [True, True] Translation: X:413.54, Y:-75.57, Z:-3.11 [[ 9.28599007e-01 3.71077533e-01 2.31280235e-03 4.13542856e+02] [-3.71076239e-01 9.28601886e-01 -9.81488377e-04 -7.55711348e+01] [-2.51188090e-03 5.31831368e-05 9.99996844e-01 -3.10987225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38655999499997 meters 0.053076716618986955 Centerline is valid? [True, True] Translation: X:413.60, Y:-75.59, Z:-3.11 [[ 9.28476412e-01 3.71384131e-01 2.31952327e-03 4.13601194e+02] [-3.71382831e-01 9.28479308e-01 -9.84238127e-04 -7.55922138e+01] [-2.51915978e-03 5.24107651e-05 9.99996826e-01 -3.10966933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.446559995 meters 0.052773878883036224 Centerline is valid? [True, True] Translation: X:413.66, Y:-75.62, Z:-3.11 [[ 9.27633271e-01 3.73488920e-01 1.59415940e-03 4.13655322e+02] [-3.73488308e-01 9.27634640e-01 -6.76935926e-04 -7.56195538e+01] [-1.73162555e-03 3.25483925e-05 9.99998500e-01 -3.11217983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.506559995 meters 0.05289307958306423 Centerline is valid? [True, True] Translation: X:413.71, Y:-75.64, Z:-3.11 [[ 9.25276065e-01 3.79289782e-01 1.86153113e-03 4.13714579e+02] [-3.79288959e-01 9.25277937e-01 -7.90542921e-04 -7.56362035e+01] [-2.02227854e-03 2.54122380e-05 9.99997955e-01 -3.11067135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.566559995 meters 0.0525700258986589 Centerline is valid? [True, True] Translation: X:413.77, Y:-75.66, Z:-3.11 [[ 9.21435345e-01 3.88527111e-01 1.89459235e-03 4.13771231e+02] [-3.88526277e-01 9.21437293e-01 -8.04585047e-04 -7.56590546e+01] [-2.05835115e-03 5.27418719e-06 9.99997882e-01 -3.11252063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.626559995 meters 0.052035370103031935 Centerline is valid? [True, True] Translation: X:413.83, Y:-75.68, Z:-3.11 [[ 9.18425263e-01 3.95591789e-01 1.47390552e-03 4.13829317e+02] [-3.95591294e-01 9.18426446e-01 -6.25383514e-04 -7.56791235e+01] [-1.60107039e-03 -8.69617196e-06 9.99998718e-01 -3.11370275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.686559995 meters 0.05287808538791816 Centerline is valid? [True, True] Translation: X:413.89, Y:-75.70, Z:-3.11 [[ 9.15787011e-01 4.01661754e-01 1.40943313e-03 4.13886088e+02] [-4.01661308e-01 9.15788095e-01 -5.98810359e-04 -7.56995217e+01] [-1.53126130e-03 -1.77320078e-05 9.99998827e-01 -3.11387387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.746559995 meters 0.05187850085561413 Centerline is valid? [True, True] Translation: X:413.94, Y:-75.72, Z:-3.11 [[ 9.13192715e-01 4.07525004e-01 1.56125742e-03 4.13942302e+02] [-4.07524465e-01 9.13194049e-01 -6.63300068e-04 -7.57227091e+01] [-1.69604234e-03 -3.05298031e-05 9.99998561e-01 -3.11318293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.806559995 meters 0.051355771270714196 Centerline is valid? [True, True] Translation: X:414.00, Y:-75.75, Z:-3.11 [[ 9.12413864e-01 4.09262112e-01 2.33779871e-03 4.13997722e+02] [-4.09260911e-01 9.12416857e-01 -9.92698513e-04 -7.57513359e+01] [-2.53932084e-03 -5.10177444e-05 9.99996775e-01 -3.11220724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86655999499993 meters 0.05219491574349028 Centerline is valid? [True, True] Translation: X:414.05, Y:-75.77, Z:-3.11 [[ 9.12431152e-01 4.09220704e-01 2.79428799e-03 4.14054624e+02] [-4.09218987e-01 9.12435429e-01 -1.18715020e-03 -7.57734910e+01] [-3.03541380e-03 -6.02828750e-05 9.99995391e-01 -3.11327955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92655999499993 meters 0.05190914824342894 Centerline is valid? [True, True] Translation: X:414.11, Y:-75.80, Z:-3.11 [[ 9.12886889e-01 4.08207420e-01 2.05664674e-03 4.14110069e+02] [-4.08206487e-01 9.12889205e-01 -8.73791274e-04 -7.58008787e+01] [-2.23417869e-03 -4.18639458e-05 9.99997503e-01 -3.11456783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98655999499994 meters 0.05188694990949173 Centerline is valid? [True, True] Translation: X:414.16, Y:-75.83, Z:-3.12 [[ 9.13972573e-01 4.05774179e-01 1.20462082e-03 4.14164541e+02] [-4.05773856e-01 9.13973367e-01 -5.12152019e-04 -7.58309113e+01] [-1.30880941e-03 -2.07107364e-05 9.99999143e-01 -3.11642213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04655999499994 meters 0.05134556945952773 Centerline is valid? [True, True] Translation: X:414.22, Y:-75.86, Z:-3.12 [[ 9.15131399e-01 4.03152550e-01 1.59519815e-03 4.14217821e+02] [-4.03151980e-01 9.15132789e-01 -6.78353201e-04 -7.58623400e+01] [-1.73329795e-03 -2.23249780e-05 9.99998498e-01 -3.11533982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10655999499994 meters 0.05133827392785795 Centerline is valid? [True, True] Translation: X:414.27, Y:-75.89, Z:-3.12 [[ 9.18062730e-01 3.96430194e-01 1.98106553e-03 4.14271334e+02] [-3.96429299e-01 9.18064867e-01 -8.42466215e-04 -7.58924425e+01] [-2.15272571e-03 -1.19155848e-05 9.99997683e-01 -3.11663465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16655999499994 meters 0.051215921404843774 Centerline is valid? [True, True] Translation: X:414.33, Y:-75.92, Z:-3.11 [[ 9.20327558e-01 3.91139468e-01 2.66506921e-03 4.14325664e+02] [-3.91137827e-01 9.20331417e-01 -1.13303770e-03 -7.59241539e+01] [-2.89592268e-03 3.56437385e-07 9.99995807e-01 -3.11487860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22655999499995 meters 0.05170685685757657 Centerline is valid? [True, True] Translation: X:414.38, Y:-75.95, Z:-3.12 [[ 9.21359710e-01 3.88690957e-01 3.95290068e-03 4.14382528e+02] [-3.88687320e-01 9.21368189e-01 -1.68152147e-03 -7.59495447e+01] [-4.29566913e-03 1.28437637e-05 9.99990773e-01 -3.11542613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28655999499995 meters 0.05189411528236998 Centerline is valid? [True, True] Translation: X:414.44, Y:-75.97, Z:-3.11 [[ 9.21597897e-01 3.88128438e-01 3.69221312e-03 4.14440966e+02] [-3.88125258e-01 9.21605293e-01 -1.57110032e-03 -7.59720463e+01] [-4.01255187e-03 1.48815825e-05 9.99991950e-01 -3.11457110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34655999499995 meters 0.05193997262465675 Centerline is valid? [True, True] Translation: X:414.50, Y:-76.00, Z:-3.12 [[ 9.22921357e-01 3.84982054e-01 2.23297150e-03 4.14497219e+02] [-3.84980881e-01 9.22924058e-01 -9.50568387e-04 -7.59994599e+01] [-2.42681489e-03 1.76485291e-05 9.99997055e-01 -3.11786300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40655999499995 meters 0.051953228890162545 Centerline is valid? [True, True] Translation: X:414.55, Y:-76.02, Z:-3.12 [[ 9.24261525e-01 3.81755339e-01 1.86944072e-03 4.14554282e+02] [-3.81754511e-01 9.24263415e-01 -7.95431931e-04 -7.60236486e+01] [-2.03151605e-03 2.15196998e-05 9.99997936e-01 -3.11746477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46655999499995 meters 0.052561195291262755 Centerline is valid? [True, True] Translation: X:414.61, Y:-76.05, Z:-3.12 [[ 9.25690118e-01 3.78275848e-01 2.27779274e-03 4.14611108e+02] [-3.78274607e-01 9.25692919e-01 -9.69714205e-04 -7.60479401e+01] [-2.47535607e-03 3.60237028e-05 9.99996936e-01 -3.11808095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52655999499996 meters 0.05299076723698993 Centerline is valid? [True, True] Translation: X:414.67, Y:-76.07, Z:-3.12 [[ 9.27433993e-01 3.73964345e-01 4.10590553e-03 4.14667673e+02] [-3.73960263e-01 9.27443077e-01 -1.74931533e-03 -7.60704971e+01] [-4.46217522e-03 8.69289864e-05 9.99990041e-01 -3.11743801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58655999499996 meters 0.052813928993245725 Centerline is valid? [True, True] Translation: X:414.73, Y:-76.09, Z:-3.12 [[ 9.27622935e-01 3.73478696e-01 5.41794378e-03 4.14726734e+02] [-3.73471579e-01 9.27638749e-01 -2.30879378e-03 -7.60879133e+01] [-5.88817988e-03 1.18242048e-04 9.99982658e-01 -3.11642517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64655999499996 meters 0.052627785586269155 Centerline is valid? [True, True] Translation: X:414.79, Y:-76.11, Z:-3.12 [[ 9.26489887e-01 3.76274150e-01 5.85258754e-03 4.14785930e+02] [-3.76265895e-01 9.26508366e-01 -2.49489927e-03 -7.61064819e+01] [-6.36123742e-03 1.09369860e-04 9.99979761e-01 -3.11792999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70655999499996 meters 0.05327286217324913 Centerline is valid? [True, True] Translation: X:414.84, Y:-76.13, Z:-3.12 [[ 9.22996926e-01 3.84779221e-01 4.65029720e-03 4.14842565e+02] [-3.84774115e-01 9.23008640e-01 -1.98253860e-03 -7.61274975e+01] [-5.05510415e-03 4.05630397e-05 9.99987222e-01 -3.12115182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76655999499997 meters 0.052140565775556404 Centerline is valid? [True, True] Translation: X:414.90, Y:-76.14, Z:-3.12 [[ 9.18651061e-01 3.95052394e-01 3.71945595e-03 4.14903556e+02] [-3.95049213e-01 9.18658590e-01 -1.58539011e-03 -7.61420911e+01] [-4.04322232e-03 -1.29478398e-05 9.99991826e-01 -3.12180900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82655999499997 meters 0.052423323462727676 Centerline is valid? [True, True] Translation: X:414.96, Y:-76.16, Z:-3.12 [[ 9.15956678e-01 4.01258800e-01 3.83914305e-03 4.14961977e+02] [-4.01255463e-01 9.15964723e-01 -1.63701450e-03 -7.61614859e+01] [-4.17338607e-03 -4.10427582e-05 9.99991291e-01 -3.12200444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88655999499997 meters 0.05199646272763116 Centerline is valid? [True, True] Translation: X:415.02, Y:-76.18, Z:-3.12 [[ 9.13252554e-01 4.07355096e-01 5.62131157e-03 4.15019544e+02] [-4.07348049e-01 9.13269848e-01 -2.39819767e-03 -7.61801195e+01] [-6.11069240e-03 -9.96701546e-05 9.99981325e-01 -3.12068428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.946559995 meters 0.0526519758116256 Centerline is valid? [True, True] Translation: X:415.08, Y:-76.20, Z:-3.12 [[ 9.12332416e-01 4.09388269e-01 7.12796450e-03 4.15077915e+02] [-4.09376999e-01 9.12360249e-01 -3.04108171e-03 -7.61989576e+01] [-7.74825465e-03 -1.43547294e-04 9.99969972e-01 -3.12016855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.006559995 meters 0.05220002169830308 Centerline is valid? [True, True] Translation: X:415.14, Y:-76.22, Z:-3.12 [[ 9.11897246e-01 4.10353530e-01 7.30706954e-03 4.15135067e+02] [-4.10341713e-01 9.11926508e-01 -3.11800468e-03 -7.62233811e+01] [-7.94299464e-03 -1.55095549e-04 9.99968442e-01 -3.12153297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.066559995 meters 0.05223626653215933 Centerline is valid? [True, True] Translation: X:415.19, Y:-76.25, Z:-3.12 [[ 9.11676540e-01 4.10871216e-01 5.54355392e-03 4.15192124e+02] [-4.10864421e-01 9.11693386e-01 -2.36599819e-03 -7.62471037e+01] [-6.02614199e-03 -1.20624026e-04 9.99981835e-01 -3.12422378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.126559995 meters 0.05230814646964616 Centerline is valid? [True, True] Translation: X:415.25, Y:-76.27, Z:-3.13 [[ 9.11413279e-01 4.11481657e-01 2.94633318e-03 4.15249073e+02] [-4.11479741e-01 9.11418039e-01 -1.25750756e-03 -7.62697676e+01] [-3.20278250e-03 -6.62473273e-05 9.99994869e-01 -3.12732354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.186559995 meters 0.051397487772256785 Centerline is valid? [True, True] Translation: X:415.30, Y:-76.30, Z:-3.13 [[ 9.11641214e-01 4.10982801e-01 1.85338181e-03 4.15303282e+02] [-4.10982042e-01 9.11643097e-01 -7.90893045e-04 -7.63010049e+01] [-2.01466617e-03 -4.06959463e-05 9.99997970e-01 -3.12749878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.246559995 meters 0.05163101065311935 Centerline is valid? [True, True] Translation: X:415.36, Y:-76.33, Z:-3.13 [[ 9.13705168e-01 4.06374654e-01 1.58345885e-03 4.15357524e+02] [-4.06374092e-01 9.13706539e-01 -6.76320147e-04 -7.63305756e+01] [-1.72165607e-03 -2.55194395e-05 9.99998518e-01 -3.12815449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.306559995 meters 0.05199875893719597 Centerline is valid? [True, True] Translation: X:415.41, Y:-76.36, Z:-3.13 [[ 9.17320444e-01 3.98140790e-01 2.66705601e-03 4.15410258e+02] [-3.98139161e-01 9.17324321e-01 -1.13935378e-03 -7.63623051e+01] [-2.90017856e-03 -1.67069248e-05 9.99995794e-01 -3.12798768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36655999499993 meters 0.051660007452386456 Centerline is valid? [True, True] Translation: X:415.47, Y:-76.39, Z:-3.13 [[ 9.19704801e-01 3.92588790e-01 4.13766101e-03 4.15465241e+02] [-3.92584811e-01 9.19714109e-01 -1.76749335e-03 -7.63922138e+01] [-4.49936329e-03 1.18925281e-06 9.99989878e-01 -3.12712528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42655999499993 meters 0.051617796041809175 Centerline is valid? [True, True] Translation: X:415.52, Y:-76.42, Z:-3.13 [[ 9.22291572e-01 3.86459685e-01 5.21230345e-03 4.15518318e+02] [-3.86453268e-01 9.22306300e-01 -2.22751170e-03 -7.64231274e+01] [-5.66818378e-03 4.01035699e-05 9.99983935e-01 -3.12718815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48655999499994 meters 0.051582818848298205 Centerline is valid? [True, True] Translation: X:415.58, Y:-76.45, Z:-3.13 [[ 9.22921583e-01 3.84954123e-01 5.10640672e-03 4.15575741e+02] [-3.84947937e-01 9.22935708e-01 -2.18293295e-03 -7.64478253e+01] [-5.55321414e-03 4.89751995e-05 9.99984580e-01 -3.12659919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54655999499994 meters 0.05147699508683768 Centerline is valid? [True, True] Translation: X:415.63, Y:-76.48, Z:-3.13 [[ 9.22060812e-01 3.87008476e-01 5.31961906e-03 4.15631049e+02] [-3.87001792e-01 9.22076156e-01 -2.27495541e-03 -7.64754273e+01] [-5.78552092e-03 3.89451280e-05 9.99983263e-01 -3.12855091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60655999499994 meters 0.05108766490368455 Centerline is valid? [True, True] Translation: X:415.69, Y:-76.50, Z:-3.13 [[ 9.20621172e-01 3.90420121e-01 5.36537077e-03 4.15688787e+02] [-3.90413378e-01 9.20636806e-01 -2.29465817e-03 -7.64981074e+01] [-5.83543854e-03 1.77983685e-05 9.99982974e-01 -3.12986902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66655999499994 meters 0.05169994103037155 Centerline is valid? [True, True] Translation: X:415.75, Y:-76.52, Z:-3.13 [[ 9.18158396e-01 3.96197120e-01 3.60583515e-03 4.15746244e+02] [-3.96194119e-01 9.18165476e-01 -1.54229992e-03 -7.65204480e+01] [-3.92180814e-03 -1.25350573e-05 9.99992310e-01 -3.13215524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72655999499995 meters 0.051138198965605126 Centerline is valid? [True, True] Translation: X:415.80, Y:-76.55, Z:-3.13 [[ 9.16500049e-01 4.00026762e-01 2.50012163e-03 4.15803470e+02] [-4.00025332e-01 9.16503459e-01 -1.06972881e-03 -7.65452746e+01] [-2.71929028e-03 -1.97054788e-05 9.99996303e-01 -3.13285005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78655999499995 meters 0.0511406482169453 Centerline is valid? [True, True] Translation: X:415.86, Y:-76.57, Z:-3.13 [[ 9.14258516e-01 4.05125093e-01 2.24178287e-03 4.15859274e+02] [-4.05123958e-01 9.14261264e-01 -9.59322348e-04 -7.65692804e+01] [-2.43822079e-03 -3.11313235e-05 9.99997027e-01 -3.13285492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84655999499995 meters 0.05091426312659478 Centerline is valid? [True, True] Translation: X:415.92, Y:-76.59, Z:-3.13 [[ 9.13153795e-01 4.07605287e-01 2.84208454e-03 4.15916710e+02] [-4.07603475e-01 9.13158216e-01 -1.21630433e-03 -7.65905246e+01] [-3.09104492e-03 -4.77706131e-05 9.99995222e-01 -3.13386962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90655999499995 meters 0.050880584507841824 Centerline is valid? [True, True] Translation: X:415.97, Y:-76.62, Z:-3.13 [[ 9.12557793e-01 4.08919363e-01 4.81961917e-03 4.15973262e+02] [-4.08914164e-01 9.12570516e-01 -2.06379580e-03 -7.66150511e+01] [-5.24216842e-03 -8.74776012e-05 9.99986256e-01 -3.13374888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96655999499995 meters 0.05120692593449174 Centerline is valid? [True, True] Translation: X:416.03, Y:-76.64, Z:-3.13 [[ 9.12933052e-01 4.08062880e-01 6.15867396e-03 4.16030055e+02] [-4.08054365e-01 9.12953819e-01 -2.63818505e-03 -7.66408226e+01] [-6.69913030e-03 -1.04587461e-04 9.99977555e-01 -3.13309700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02655999499996 meters 0.05067659968538471 Centerline is valid? [True, True] Translation: X:416.09, Y:-76.67, Z:-3.13 [[ 9.13516584e-01 4.06756562e-01 6.04572259e-03 4.16085704e+02] [-4.06748323e-01 9.13536584e-01 -2.59053388e-03 -7.66685420e+01] [-6.57670542e-03 -9.25918629e-05 9.99978369e-01 -3.13383703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08655999499996 meters 0.05058516910284134 Centerline is valid? [True, True] Translation: X:416.14, Y:-76.69, Z:-3.14 [[ 9.14291157e-01 4.05019737e-01 5.54013438e-03 4.16142163e+02] [-4.05012783e-01 9.14307939e-01 -2.37451612e-03 -7.66945154e+01] [-6.02711474e-03 -7.28261494e-05 9.99981834e-01 -3.13591302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14655999499996 meters 0.0507775715176484 Centerline is valid? [True, True] Translation: X:416.20, Y:-76.71, Z:-3.14 [[ 9.13987589e-01 4.05711639e-01 4.97535598e-03 4.16200654e+02] [-4.05706037e-01 9.14001128e-01 -2.13315093e-03 -7.67133345e+01] [-5.41292513e-03 -6.88584817e-05 9.99985348e-01 -3.13821018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20655999499996 meters 0.05048386300777326 Centerline is valid? [True, True] Translation: X:416.26, Y:-76.74, Z:-3.14 [[ 9.13534314e-01 4.06738255e-01 4.36440518e-03 4.16258052e+02] [-4.06733956e-01 9.13544737e-01 -1.87134392e-03 -7.67365947e+01] [-4.74822654e-03 -6.56149007e-05 9.99988725e-01 -3.13894039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26655999499997 meters 0.050197247163852786 Centerline is valid? [True, True] Translation: X:416.31, Y:-76.76, Z:-3.14 [[ 9.11984987e-01 4.10215896e-01 2.51029120e-03 4.16314162e+02] [-4.10214485e-01 9.11988441e-01 -1.07676501e-03 -7.67619802e+01] [-2.73106268e-03 -4.77642855e-05 9.99996270e-01 -3.14078654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32655999499997 meters 0.05061860349373556 Centerline is valid? [True, True] Translation: X:416.37, Y:-76.79, Z:-3.14 [[ 9.11195387e-01 4.11972964e-01 1.11548530e-03 4.16371438e+02] [-4.11972687e-01 9.11196069e-01 -4.78319527e-04 -7.67863053e+01] [-1.21348054e-03 -2.37069309e-05 9.99999263e-01 -3.14286992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38655999499997 meters 0.05050987989747157 Centerline is valid? [True, True] Translation: X:416.43, Y:-76.81, Z:-3.14 [[ 9.11119801e-01 4.12140119e-01 1.10895786e-03 4.16427903e+02] [-4.12139846e-01 9.11120476e-01 -4.74902232e-04 -7.68136095e+01] [-1.20612047e-03 -2.43528928e-05 9.99999272e-01 -3.14249427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.446559995 meters 0.05028713370690594 Centerline is valid? [True, True] Translation: X:416.48, Y:-76.84, Z:-3.14 [[ 9.11781200e-01 4.10670806e-01 2.12903182e-03 4.16484220e+02] [-4.10669793e-01 9.11783684e-01 -9.13168420e-04 -7.68379328e+01] [-2.31622809e-03 -4.17192611e-05 9.99997317e-01 -3.14164941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.506559995 meters 0.05064873252630383 Centerline is valid? [True, True] Translation: X:416.54, Y:-76.86, Z:-3.14 [[ 9.13034062e-01 4.07851362e-01 5.10567128e-03 4.16540231e+02] [-4.07845480e-01 9.13048334e-01 -2.19189152e-03 -7.68600540e+01] [-5.55569059e-03 -8.10533323e-05 9.99984564e-01 -3.14012329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.566559995 meters 0.04996424880737299 Centerline is valid? [True, True] Translation: X:416.60, Y:-76.88, Z:-3.14 [[ 9.13616228e-01 4.06537693e-01 5.70012809e-03 4.16597054e+02] [-4.06530337e-01 9.13634006e-01 -2.44703010e-03 -7.68845308e+01] [-6.20264083e-03 -8.16285738e-05 9.99980760e-01 -3.14032065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.626559995 meters 0.0504019393671702 Centerline is valid? [True, True] Translation: X:416.66, Y:-76.91, Z:-3.14 [[ 9.13565949e-01 4.06668692e-01 4.22265894e-03 4.16655097e+02] [-4.06664656e-01 9.13575706e-01 -1.81302001e-03 -7.69096223e+01] [-4.59501710e-03 -6.08927973e-05 9.99989441e-01 -3.14211815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.686559995 meters 0.04991635551180517 Centerline is valid? [True, True] Translation: X:416.71, Y:-76.94, Z:-3.14 [[ 9.12693089e-01 4.08640809e-01 2.00342009e-03 4.16710432e+02] [-4.08639905e-01 9.12695288e-01 -8.60082492e-04 -7.69360459e+01] [-2.17997688e-03 -3.36860505e-05 9.99997623e-01 -3.14219518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.746559995 meters 0.05008511025899612 Centerline is valid? [True, True] Translation: X:416.77, Y:-76.95, Z:-3.14 [[ 9.11999577e-01 4.10188783e-01 1.39086025e-03 4.16770272e+02] [-4.10188349e-01 9.12000637e-01 -5.97424783e-04 -7.69548701e+01] [-1.51352238e-03 -2.56635205e-05 9.99998854e-01 -3.14470585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.806559995 meters 0.05033590775946036 Centerline is valid? [True, True] Translation: X:416.83, Y:-76.98, Z:-3.14 [[ 9.10958063e-01 4.12497649e-01 1.04688315e-03 4.16827160e+02] [-4.12497405e-01 9.10958665e-01 -4.49686967e-04 -7.69801612e+01] [-1.13916209e-03 -2.21906143e-05 9.99999351e-01 -3.14383819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86655999499993 meters 0.05047356830512505 Centerline is valid? [True, True] Translation: X:416.88, Y:-77.00, Z:-3.14 [[ 9.11182263e-01 4.12001552e-01 1.26662078e-03 4.16883755e+02] [-4.12001194e-01 9.11183143e-01 -5.43970421e-04 -7.70042045e+01] [-1.37824016e-03 -2.61930744e-05 9.99999050e-01 -3.14388478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92655999499993 meters 0.04995967014490223 Centerline is valid? [True, True] Translation: X:416.94, Y:-77.03, Z:-3.14 [[ 9.11973858e-01 4.10243249e-01 2.03949795e-03 4.16939355e+02] [-4.10242315e-01 9.11976137e-01 -8.76276179e-04 -7.70295652e+01] [-2.21945985e-03 -3.75473934e-05 9.99997536e-01 -3.14430305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98655999499994 meters 0.0501358788482219 Centerline is valid? [True, True] Translation: X:416.99, Y:-77.06, Z:-3.14 [[ 9.13814734e-01 4.06114823e-01 3.65822047e-03 4.16994409e+02] [-4.06111780e-01 9.13822055e-01 -1.57285399e-03 -7.70563805e+01] [-3.98172187e-03 -4.83492738e-05 9.99992072e-01 -3.14399290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04655999499994 meters 0.05007704769521087 Centerline is valid? [True, True] Translation: X:417.05, Y:-77.08, Z:-3.14 [[ 9.14913707e-01 4.03623406e-01 4.58857568e-03 4.17051082e+02] [-4.03618587e-01 9.14925212e-01 -1.97280963e-03 -7.70821970e+01] [-4.99447572e-03 -4.70838651e-05 9.99987526e-01 -3.14450370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10655999499994 meters 0.04981477532375 Centerline is valid? [True, True] Translation: X:417.11, Y:-77.11, Z:-3.15 [[ 9.16454692e-01 4.00111668e-01 4.63140038e-03 4.17107202e+02] [-4.00106711e-01 9.16466394e-01 -1.99185318e-03 -7.71078991e+01] [-5.04148650e-03 -2.76111799e-05 9.99987291e-01 -3.14561599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16655999499994 meters 0.0499511570067465 Centerline is valid? [True, True] Translation: X:417.16, Y:-77.13, Z:-3.15 [[ 9.17581180e-01 3.97529705e-01 3.86160093e-03 4.17163068e+02] [-3.97526234e-01 9.17589305e-01 -1.66117834e-03 -7.71325042e+01] [-4.20373145e-03 -1.08217010e-05 9.99991164e-01 -3.14772460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22655999499995 meters 0.05055089928752094 Centerline is valid? [True, True] Translation: X:417.22, Y:-77.16, Z:-3.15 [[ 9.18121678e-01 3.96284538e-01 3.33908239e-03 4.17220711e+02] [-3.96281934e-01 9.18127750e-01 -1.43661233e-03 -7.71585333e+01] [-3.63501146e-03 -4.23310454e-06 9.99993393e-01 -3.14717885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28655999499995 meters 0.05083495851912868 Centerline is valid? [True, True] Translation: X:417.28, Y:-77.18, Z:-3.15 [[ 9.18509224e-01 3.95387375e-01 3.10300753e-03 4.17277996e+02] [-3.95385119e-01 9.18514466e-01 -1.33551380e-03 -7.71813827e+01] [-3.37820260e-03 -2.01259471e-07 9.99994294e-01 -3.14936821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34655999499995 meters 0.05042504505130371 Centerline is valid? [True, True] Translation: X:417.34, Y:-77.21, Z:-3.15 [[ 9.18753395e-01 3.94823141e-01 2.62420092e-03 4.17336392e+02] [-3.94821524e-01 9.18757143e-01 -1.12988681e-03 -7.72052070e+01] [-2.85710880e-03 1.99633672e-06 9.99995918e-01 -3.15021043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40655999499995 meters 0.05042785323377133 Centerline is valid? [True, True] Translation: X:417.40, Y:-77.23, Z:-3.15 [[ 9.18900292e-01 3.94483455e-01 2.24884303e-03 4.17395356e+02] [-3.94482267e-01 9.18903044e-01 -9.68341157e-04 -7.72287157e+01] [-2.44846327e-03 2.68027427e-06 9.99997003e-01 -3.15093374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46655999499995 meters 0.05039178132194907 Centerline is valid? [True, True] Translation: X:417.45, Y:-77.25, Z:-3.15 [[ 9.18554218e-01 3.95289768e-01 2.03675884e-03 4.17453565e+02] [-3.95288796e-01 9.18556476e-01 -8.76744730e-04 -7.72512717e+01] [-2.21744625e-03 2.29618004e-07 9.99997541e-01 -3.15078541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52655999499996 meters 0.05007817209621915 Centerline is valid? [True, True] Translation: X:417.51, Y:-77.27, Z:-3.15 [[ 9.18301670e-01 3.95879220e-01 1.29872427e-03 4.17511780e+02] [-3.95878824e-01 9.18302588e-01 -5.59414036e-04 -7.72740610e+01] [-1.41408225e-03 -4.26593358e-07 9.99999000e-01 -3.15250115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58655999499996 meters 0.05070053854222573 Centerline is valid? [True, True] Translation: X:417.57, Y:-77.30, Z:-3.15 [[ 9.18006040e-01 3.96566384e-01 1.19445779e-04 4.17568678e+02] [-3.96566380e-01 9.18006048e-01 -5.06306645e-05 -7.72956949e+01] [-1.29730367e-04 -8.88924343e-07 9.99999992e-01 -3.15472012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64655999499996 meters 0.05004090894525004 Centerline is valid? [True, True] Translation: X:417.63, Y:-77.32, Z:-3.15 [[ 9.17720145e-01 3.97227401e-01 3.58075269e-04 4.17626573e+02] [-3.97227371e-01 9.17720214e-01 -1.53356365e-04 -7.73198228e+01] [-3.89530263e-04 -1.49907244e-06 9.99999924e-01 -3.15252619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70655999499996 meters 0.050650212231416254 Centerline is valid? [True, True] Translation: X:417.68, Y:-77.34, Z:-3.15 [[ 9.17235691e-01 3.98340718e-01 1.83287730e-03 4.17684163e+02] [-3.98339934e-01 9.17237522e-01 -7.90248305e-04 -7.73422760e+01] [-1.99597191e-03 -5.26427186e-06 9.99998008e-01 -3.15199316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76655999499997 meters 0.0506391920650213 Centerline is valid? [True, True] Translation: X:417.74, Y:-77.36, Z:-3.15 [[ 9.17098826e-01 3.98650323e-01 2.76817337e-03 4.17741318e+02] [-3.98648537e-01 9.17103004e-01 -1.19349457e-03 -7.73646455e+01] [-3.01448711e-03 -8.97579217e-06 9.99995456e-01 -3.15261683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82655999499997 meters 0.05053180481392568 Centerline is valid? [True, True] Translation: X:417.80, Y:-77.39, Z:-3.15 [[ 9.17543778e-01 3.97623842e-01 2.94896542e-03 4.17800011e+02] [-3.97621808e-01 9.17548517e-01 -1.27175683e-03 -7.73884609e+01] [-3.21149968e-03 -5.68039191e-06 9.99994843e-01 -3.15223874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88655999499997 meters 0.05105981356586946 Centerline is valid? [True, True] Translation: X:417.86, Y:-77.41, Z:-3.15 [[ 9.18344269e-01 3.95774561e-01 2.50998203e-03 4.17857429e+02] [-3.95773080e-01 9.18347699e-01 -1.08272847e-03 -7.74127915e+01] [-2.73355261e-03 9.34168794e-07 9.99996264e-01 -3.15373878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.946559995 meters 0.050991347733562994 Centerline is valid? [True, True] Translation: X:417.91, Y:-77.44, Z:-3.15 [[ 9.19910833e-01 3.92125345e-01 1.33155273e-03 4.17914794e+02] [-3.92124925e-01 9.19911797e-01 -5.74150280e-04 -7.74369890e+01] [-1.45004994e-03 6.03204822e-06 9.99998949e-01 -3.15413215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.006559995 meters 0.05100055459008285 Centerline is valid? [True, True] Translation: X:417.97, Y:-77.46, Z:-3.16 [[ 9.20906443e-01 3.89783149e-01 6.47721210e-04 4.17970940e+02] [-3.89783049e-01 9.20906671e-01 -2.78950335e-04 -7.74611766e+01] [-7.05220923e-04 4.41641308e-06 9.99999751e-01 -3.15554854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.066559995 meters 0.05151961335669438 Centerline is valid? [True, True] Translation: X:418.03, Y:-77.49, Z:-3.16 [[ 9.22374528e-01 3.86296419e-01 -5.54951663e-04 4.18026326e+02] [-3.86296344e-01 9.22374694e-01 2.39934660e-04 -7.74862725e+01] [ 6.04559270e-04 -6.93381999e-06 9.99999817e-01 -3.15748327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.126559995 meters 0.05180227006897415 Centerline is valid? [True, True] Translation: X:418.08, Y:-77.51, Z:-3.16 [[ 9.22853742e-01 3.85150160e-01 -5.69917429e-04 4.18083612e+02] [-3.85150081e-01 9.22853918e-01 2.47241407e-04 -7.75097047e+01] [ 6.21175600e-04 -8.66391327e-06 9.99999807e-01 -3.15711351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.186559995 meters 0.05179385828814851 Centerline is valid? [True, True] Translation: X:418.14, Y:-77.53, Z:-3.16 [[ 9.23993193e-01 3.82408346e-01 6.60492329e-04 4.18140287e+02] [-3.82408240e-01 9.23993429e-01 -2.85171709e-04 -7.75346243e+01] [-7.19342614e-04 1.09190086e-05 9.99999741e-01 -3.15733892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.246559995 meters 0.05204772378729449 Centerline is valid? [True, True] Translation: X:418.20, Y:-77.56, Z:-3.16 [[ 9.24144291e-01 3.82040848e-01 1.45615011e-03 4.18196761e+02] [-3.82040331e-01 9.24145438e-01 -6.28652611e-04 -7.75607967e+01] [-1.58586546e-03 2.46576504e-05 9.99998742e-01 -3.15784038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.306559995 meters 0.05115681759107252 Centerline is valid? [True, True] Translation: X:418.26, Y:-77.58, Z:-3.16 [[ 9.22936987e-01 3.84946057e-01 1.96216375e-03 4.18255067e+02] [-3.84945124e-01 9.22939073e-01 -8.48342562e-04 -7.75800433e+01] [-2.13752371e-03 2.76413634e-05 9.99997715e-01 -3.15660226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36655999499993 meters 0.051450862035554455 Centerline is valid? [True, True] Translation: X:418.31, Y:-77.60, Z:-3.16 [[ 9.20009487e-01 3.91892340e-01 1.71381874e-03 4.18313866e+02] [-3.91891639e-01 9.20011084e-01 -7.41037723e-04 -7.75961519e+01] [-1.86713924e-03 1.01305006e-05 9.99998257e-01 -3.15580261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42655999499993 meters 0.05123475557019157 Centerline is valid? [True, True] Translation: X:418.37, Y:-77.62, Z:-3.16 [[ 9.17462551e-01 3.97818660e-01 1.66787341e-03 4.18372508e+02] [-3.97818007e-01 9.17464067e-01 -7.20869037e-04 -7.76174537e+01] [-1.81698908e-03 -2.13973095e-06 9.99998349e-01 -3.15760716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48655999499994 meters 0.0519705056672222 Centerline is valid? [True, True] Translation: X:418.43, Y:-77.64, Z:-3.16 [[ 9.13781425e-01 4.06204631e-01 1.14234067e-03 4.18431833e+02] [-4.06204331e-01 9.13782139e-01 -4.93845413e-04 -7.76355321e+01] [-1.24445280e-03 -1.27569625e-05 9.99999226e-01 -3.15931604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54655999499994 meters 0.05135747255602215 Centerline is valid? [True, True] Translation: X:418.49, Y:-77.66, Z:-3.16 [[ 9.11944418e-01 4.10312978e-01 7.98437569e-04 4.18488318e+02] [-4.10312833e-01 9.11944768e-01 -3.45159128e-04 -7.76581982e+01] [-8.69754233e-04 -1.28432412e-05 9.99999622e-01 -3.15944249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60655999499994 meters 0.051348127428652184 Centerline is valid? [True, True] Translation: X:418.55, Y:-77.68, Z:-3.16 [[ 9.10702769e-01 4.13060724e-01 1.14239279e-03 4.18545877e+02] [-4.13060430e-01 9.10703485e-01 -4.93798930e-04 -7.76797755e+01] [-1.24435004e-03 -2.21732032e-05 9.99999226e-01 -3.15973783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66655999499994 meters 0.05155239022538941 Centerline is valid? [True, True] Translation: X:418.60, Y:-77.70, Z:-3.16 [[ 9.10565027e-01 4.13359822e-01 2.23350849e-03 4.18603518e+02] [-4.13358697e-01 9.10567765e-01 -9.65647692e-04 -7.77020205e+01] [-2.43292080e-03 -4.39551443e-05 9.99997039e-01 -3.15983245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72655999499995 meters 0.051769059519574924 Centerline is valid? [True, True] Translation: X:418.66, Y:-77.73, Z:-3.16 [[ 9.10806961e-01 4.12830464e-01 1.29922300e-03 4.18661169e+02] [-4.12830083e-01 9.10807887e-01 -5.61557555e-04 -7.77252714e+01] [-1.41517062e-03 -2.48878073e-05 9.99998998e-01 -3.16181392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78655999499995 meters 0.05108492062568519 Centerline is valid? [True, True] Translation: X:418.72, Y:-77.75, Z:-3.16 [[ 9.11128128e-01 4.12123081e-01 3.16499911e-04 4.18718148e+02] [-4.12123059e-01 9.11128183e-01 -1.36547083e-04 -7.77512832e+01] [-3.44646194e-04 -6.02502369e-06 9.99999941e-01 -3.16267030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84655999499995 meters 0.05179812234982994 Centerline is valid? [True, True] Translation: X:418.77, Y:-77.78, Z:-3.16 [[ 9.11724235e-01 4.10802651e-01 -3.18511833e-04 4.18774142e+02] [-4.10802628e-01 9.11724290e-01 1.38868609e-04 -7.77773474e+01] [ 3.47442568e-04 4.23562128e-06 9.99999940e-01 -3.16345895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90655999499995 meters 0.05145102649162377 Centerline is valid? [True, True] Translation: X:418.83, Y:-77.80, Z:-3.17 [[ 9.12708888e-01 4.08607549e-01 -1.53532353e-03 4.18828744e+02] [-4.08607007e-01 9.12710179e-01 6.65622148e-04 -7.78040713e+01] [ 1.67328365e-03 1.98247009e-05 9.99998600e-01 -3.16530423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96655999499995 meters 0.05139880798312992 Centerline is valid? [True, True] Translation: X:418.88, Y:-77.83, Z:-3.17 [[ 9.13642111e-01 4.06515854e-01 -1.71878338e-03 4.18884268e+02] [-4.06515172e-01 9.13643727e-01 7.44984250e-04 -7.78322683e+01] [ 1.87320356e-03 1.80625384e-05 9.99998245e-01 -3.16551990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02655999499996 meters 0.05155854084533234 Centerline is valid? [True, True] Translation: X:418.94, Y:-77.86, Z:-3.17 [[ 9.15935312e-01 4.01324360e-01 -1.12347420e-03 4.18937029e+02] [-4.01324065e-01 9.15936001e-01 4.86818990e-04 -7.78622754e+01] [ 1.22440279e-03 4.98252916e-06 9.99999250e-01 -3.16686918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08655999499996 meters 0.05148287129102302 Centerline is valid? [True, True] Translation: X:418.99, Y:-77.89, Z:-3.16 [[ 9.17946648e-01 3.96703677e-01 -3.78042392e-04 4.18991352e+02] [-3.96703643e-01 9.17946726e-01 1.64757646e-04 -7.78926919e+01] [ 4.12382740e-04 -1.26793521e-06 9.99999915e-01 -3.16481357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14655999499996 meters 0.051618543175271744 Centerline is valid? [True, True] Translation: X:419.05, Y:-77.92, Z:-3.16 [[ 9.20774428e-01 3.90093305e-01 1.29076997e-03 4.19045999e+02] [-3.90092904e-01 9.20775333e-01 -5.59134506e-04 -7.79240161e+01] [-1.40662377e-03 1.13165503e-05 9.99999011e-01 -3.16388376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20655999499996 meters 0.051570692236851866 Centerline is valid? [True, True] Translation: X:419.10, Y:-77.95, Z:-3.16 [[ 9.21982509e-01 3.87220110e-01 2.97304000e-03 4.19101130e+02] [-3.87217969e-01 9.21987302e-01 -1.28810415e-03 -7.79523769e+01] [-3.23988496e-03 3.63949808e-05 9.99994751e-01 -3.16267250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26655999499997 meters 0.05169838634572559 Centerline is valid? [True, True] Translation: X:419.16, Y:-77.98, Z:-3.16 [[ 9.21786641e-01 3.87685185e-01 3.09621367e-03 4.19157539e+02] [-3.87682864e-01 9.21791840e-01 -1.34199494e-03 -7.79768386e+01] [-3.37433605e-03 3.66840237e-05 9.99994306e-01 -3.16269620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32655999499997 meters 0.05204722317519151 Centerline is valid? [True, True] Translation: X:419.21, Y:-78.00, Z:-3.17 [[ 9.20587999e-01 3.90527602e-01 2.43480152e-03 4.19214761e+02] [-3.90526176e-01 9.20591218e-01 -1.05580682e-03 -7.80019288e+01] [-2.65377860e-03 2.11093637e-05 9.99996479e-01 -3.16515882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38655999499997 meters 0.051978382530204474 Centerline is valid? [True, True] Translation: X:419.27, Y:-78.03, Z:-3.17 [[ 9.19454182e-01 3.93191752e-01 2.06226625e-03 4.19272539e+02] [-3.93190736e-01 9.19456495e-01 -8.93879023e-04 -7.80258083e+01] [-2.24762996e-03 1.10168195e-05 9.99997474e-01 -3.16525421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.446559995 meters 0.051373014318508395 Centerline is valid? [True, True] Translation: X:419.33, Y:-78.05, Z:-3.17 [[ 9.17852339e-01 3.96919053e-01 1.53269029e-03 4.19329404e+02] [-3.96918496e-01 9.17853619e-01 -6.64631004e-04 -7.80494102e+01] [-1.67059004e-03 1.67999522e-06 9.99998605e-01 -3.16548273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.506559995 meters 0.05164044577194753 Centerline is valid? [True, True] Translation: X:419.39, Y:-78.07, Z:-3.16 [[ 9.16868486e-01 3.99188323e-01 9.28784762e-04 4.19386047e+02] [-3.99188120e-01 9.16868956e-01 -4.02223530e-04 -7.80744984e+01] [-1.01213685e-03 -1.97376436e-06 9.99999488e-01 -3.16495163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.566559995 meters 0.05165663381077201 Centerline is valid? [True, True] Translation: X:419.44, Y:-78.10, Z:-3.16 [[ 9.16559247e-01 3.99897862e-01 9.20263033e-04 4.19442897e+02] [-3.99897663e-01 9.16559709e-01 -3.98681382e-04 -7.81002293e+01] [-1.00290785e-03 -2.59592879e-06 9.99999497e-01 -3.16432008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.626559995 meters 0.051398509292574175 Centerline is valid? [True, True] Translation: X:419.50, Y:-78.13, Z:-3.16 [[ 9.16823303e-01 3.99284841e-01 2.57802449e-03 4.19499682e+02] [-3.99283272e-01 9.16826928e-01 -1.11930830e-03 -7.81268490e+01] [-2.81052511e-03 -3.15412110e-06 9.99996050e-01 -3.16091709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.686559995 meters 0.051504105106827854 Centerline is valid? [True, True] Translation: X:419.56, Y:-78.15, Z:-3.16 [[ 9.17473557e-01 3.97781622e-01 3.47189252e-03 4.19556091e+02] [-3.97778765e-01 9.17480126e-01 -1.50762863e-03 -7.81525878e+01] [-3.78509935e-03 2.16427997e-06 9.99992836e-01 -3.16000649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.746559995 meters 0.051505858128325754 Centerline is valid? [True, True] Translation: X:419.61, Y:-78.18, Z:-3.16 [[ 9.17806948e-01 3.97016106e-01 2.93547791e-03 4.19612596e+02] [-3.97014059e-01 9.17811643e-01 -1.27489505e-03 -7.81783121e+01] [-3.20036968e-03 4.68153671e-06 9.99994879e-01 -3.16064618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.806559995 meters 0.051643747888400954 Centerline is valid? [True, True] Translation: X:419.67, Y:-78.20, Z:-3.16 [[ 9.17837861e-01 3.96950979e-01 1.89265524e-03 4.19669339e+02] [-3.96950127e-01 9.17839812e-01 -8.22321819e-04 -7.82038869e+01] [-2.06357578e-03 3.46836296e-06 9.99997871e-01 -3.16258794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86655999499993 meters 0.05131500557217124 Centerline is valid? [True, True] Translation: X:419.73, Y:-78.23, Z:-3.17 [[ 9.17506894e-01 3.97718894e-01 8.84038078e-04 4.19725500e+02] [-3.97718709e-01 9.17507319e-01 -3.83506936e-04 -7.82272641e+01] [-9.63639362e-04 2.71774194e-07 9.99999536e-01 -3.16501464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92655999499993 meters 0.05157649925098021 Centerline is valid? [True, True] Translation: X:419.78, Y:-78.25, Z:-3.17 [[ 9.16769768e-01 3.99415035e-01 -9.06516367e-04 4.19783467e+02] [-3.99414840e-01 9.16770216e-01 3.95159402e-04 -7.82500624e+01] [ 9.88899813e-04 -1.94103257e-07 9.99999511e-01 -3.16629965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98655999499994 meters 0.05219420929512123 Centerline is valid? [True, True] Translation: X:419.84, Y:-78.27, Z:-3.17 [[ 9.16438546e-01 4.00172783e-01 -1.46124917e-03 4.19840699e+02] [-4.00172277e-01 9.16439711e-01 6.36658852e-04 -7.82747054e+01] [ 1.59392031e-03 1.29269466e-06 9.99998730e-01 -3.16560971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04655999499994 meters 0.0518680407519948 Centerline is valid? [True, True] Translation: X:419.90, Y:-78.30, Z:-3.17 [[ 9.15864698e-01 4.01480728e-01 -2.25370061e-03 4.19897678e+02] [-4.01479528e-01 9.15867471e-01 9.81741139e-04 -7.82993307e+01] [ 2.45824122e-03 5.67260301e-06 9.99996979e-01 -3.16527737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10655999499994 meters 0.05226849327732734 Centerline is valid? [True, True] Translation: X:419.95, Y:-78.32, Z:-3.17 [[ 9.15515682e-01 4.02274366e-01 -2.52413118e-03 4.19954771e+02] [-4.02272862e-01 9.15519161e-01 1.09986035e-03 -7.83237825e+01] [ 2.75333609e-03 8.45007722e-06 9.99996210e-01 -3.16716355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16655999499994 meters 0.05187002050461279 Centerline is valid? [True, True] Translation: X:420.01, Y:-78.35, Z:-3.17 [[ 9.15622841e-01 4.02031313e-01 -2.37427304e-03 4.20012108e+02] [-4.02029980e-01 9.15625919e-01 1.03505168e-03 -7.83501759e+01] [ 2.59006912e-03 6.81198752e-06 9.99996646e-01 -3.16618303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22655999499995 meters 0.05156604568581956 Centerline is valid? [True, True] Translation: X:420.07, Y:-78.38, Z:-3.17 [[ 9.16046664e-01 4.01066377e-01 -2.06635214e-03 4.20066941e+02] [-4.01065366e-01 9.16048995e-01 9.00575197e-04 -7.83763686e+01] [ 2.25407023e-03 3.77337001e-06 9.99997460e-01 -3.16715612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28655999499995 meters 0.05161487917925766 Centerline is valid? [True, True] Translation: X:420.12, Y:-78.40, Z:-3.17 [[ 9.16400079e-01 4.00261751e-01 -1.19397131e-03 4.20123620e+02] [-4.00261413e-01 9.16400857e-01 5.20442233e-04 -7.84030819e+01] [ 1.30246945e-03 9.67340273e-07 9.99999152e-01 -3.16683153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34655999499995 meters 0.05159675686216196 Centerline is valid? [True, True] Translation: X:420.18, Y:-78.43, Z:-3.17 [[ 9.16478341e-01 4.00084292e-01 -9.96476140e-05 4.20179013e+02] [-4.00084289e-01 9.16478346e-01 4.42480871e-05 -7.84286949e+01] [ 1.09027845e-04 -6.84968631e-07 9.99999994e-01 -3.16757508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40655999499995 meters 0.051912663048325904 Centerline is valid? [True, True] Translation: X:420.24, Y:-78.45, Z:-3.17 [[ 9.16217486e-01 4.00680975e-01 -5.24186258e-04 4.20235947e+02] [-4.00680910e-01 9.16217636e-01 2.29456582e-04 -7.84549262e+01] [ 5.72207580e-04 -2.00705756e-07 9.99999836e-01 -3.16628369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46655999499995 meters 0.0513350207579461 Centerline is valid? [True, True] Translation: X:420.29, Y:-78.48, Z:-3.17 [[ 9.15564726e-01 4.02168189e-01 -1.40701606e-03 4.20292506e+02] [-4.02167721e-01 9.15565807e-01 6.13681492e-04 -7.84817414e+01] [ 1.53501897e-03 3.99131471e-06 9.99998822e-01 -3.16859736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52655999499996 meters 0.05144889530393327 Centerline is valid? [True, True] Translation: X:420.35, Y:-78.51, Z:-3.17 [[ 9.14554092e-01 4.04461216e-01 -1.39210935e-03 4.20348812e+02] [-4.04460759e-01 9.14555151e-01 6.07999812e-04 -7.85079154e+01] [ 1.51907312e-03 7.00488767e-06 9.99998846e-01 -3.16687686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58655999499996 meters 0.05174030742812578 Centerline is valid? [True, True] Translation: X:420.40, Y:-78.53, Z:-3.17 [[ 9.13812739e-01 4.06133895e-01 -1.23975901e-03 4.20404983e+02] [-4.06133534e-01 9.13813580e-01 5.41648252e-04 -7.85314482e+01] [ 1.35289033e-03 8.54263396e-06 9.99999085e-01 -3.16831645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64655999499996 meters 0.05130750727258905 Centerline is valid? [True, True] Translation: X:420.46, Y:-78.56, Z:-3.17 [[ 9.13026818e-01 4.07899156e-01 -5.54744590e-04 4.20461976e+02] [-4.07899084e-01 9.13026987e-01 2.42973415e-04 -7.85572555e+01] [ 6.05605432e-04 4.43856626e-06 9.99999817e-01 -3.16895389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70655999499996 meters 0.05100443830399299 Centerline is valid? [True, True] Translation: X:420.52, Y:-78.58, Z:-3.17 [[ 9.12862578e-01 4.08266901e-01 -2.28165633e-04 4.20519052e+02] [-4.08266889e-01 9.12862606e-01 1.00562070e-04 -7.85824106e+01] [ 2.49340039e-04 1.35312289e-06 9.99999969e-01 -3.16930094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76655999499997 meters 0.051776579885135114 Centerline is valid? [True, True] Translation: X:420.57, Y:-78.61, Z:-3.17 [[ 9.12937133e-01 4.08099869e-01 5.36980677e-04 4.20574739e+02] [-4.08099802e-01 9.12937291e-01 -2.33523087e-04 -7.86090066e+01] [-5.85530426e-04 -5.94981074e-06 9.99999829e-01 -3.16909469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82655999499997 meters 0.051404689253283974 Centerline is valid? [True, True] Translation: X:420.63, Y:-78.63, Z:-3.17 [[ 9.12912504e-01 4.08153620e-01 1.17552213e-03 4.20630890e+02] [-4.08153298e-01 9.12913261e-01 -5.12823527e-04 -7.86333004e+01] [-1.28246052e-03 -1.16302255e-05 9.99999178e-01 -3.17009058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88655999499997 meters 0.050942214068092365 Centerline is valid? [True, True] Translation: X:420.69, Y:-78.66, Z:-3.17 [[ 9.12636191e-01 4.08769619e-01 1.60644755e-03 4.20685947e+02] [-4.08769019e-01 9.12637605e-01 -7.00784384e-04 -7.86608840e+01] [-1.75256381e-03 -1.71047985e-05 9.99998464e-01 -3.16896633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.946559995 meters 0.051353523032653066 Centerline is valid? [True, True] Translation: X:420.74, Y:-78.69, Z:-3.17 [[ 9.12265747e-01 4.09595580e-01 1.63333969e-03 4.20742633e+02] [-4.09594960e-01 9.12267209e-01 -7.12916021e-04 -7.86859286e+01] [-1.78204949e-03 -1.86388381e-05 9.99998412e-01 -3.16911272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.006559995 meters 0.051587221557575495 Centerline is valid? [True, True] Translation: X:420.80, Y:-78.71, Z:-3.17 [[ 9.12094176e-01 4.09976548e-01 1.85607540e-03 4.20802043e+02] [-4.09975747e-01 9.12096064e-01 -8.10715153e-04 -7.87068126e+01] [-2.02529327e-03 -2.14973310e-05 9.99997949e-01 -3.17296849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.066559995 meters 0.051642177514686735 Centerline is valid? [True, True] Translation: X:420.86, Y:-78.73, Z:-3.17 [[ 9.11993923e-01 4.10202124e-01 1.14052725e-03 4.20859354e+02] [-4.10201823e-01 9.11994637e-01 -4.97714143e-04 -7.87318923e+01] [-1.24431813e-03 -1.39340824e-05 9.99999226e-01 -3.17405711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.126559995 meters 0.05178204135705774 Centerline is valid? [True, True] Translation: X:420.92, Y:-78.76, Z:-3.17 [[ 9.12014717e-01 4.10156423e-01 9.29939322e-04 4.20916386e+02] [-4.10156222e-01 9.12015191e-01 -4.05646784e-04 -7.87579328e+01] [-1.01449742e-03 -1.14645622e-05 9.99999485e-01 -3.17419175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.186559995 meters 0.051451819853966144 Centerline is valid? [True, True] Translation: X:420.97, Y:-78.78, Z:-3.18 [[ 9.12420082e-01 4.09254865e-01 2.20397278e-04 4.20972476e+02] [-4.09254854e-01 9.12420109e-01 -9.55864921e-05 -7.87821348e+01] [-2.40214145e-04 -2.98362069e-06 9.99999971e-01 -3.17541821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.246559995 meters 0.050619789491408156 Centerline is valid? [True, True] Translation: X:421.03, Y:-78.81, Z:-3.18 [[ 9.12473678e-01 4.09135185e-01 4.33419801e-04 4.21029072e+02] [-4.09135142e-01 9.12473780e-01 -1.89133912e-04 -7.88056758e+01] [-4.72865542e-04 -4.74755556e-06 9.99999888e-01 -3.17558136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.306559995 meters 0.05116390199928184 Centerline is valid? [True, True] Translation: X:421.09, Y:-78.83, Z:-3.18 [[ 9.11776342e-01 4.10686971e-01 3.38509297e-04 4.21087486e+02] [-4.10686944e-01 9.11776405e-01 -1.47286352e-04 -7.88279712e+01] [-3.69133376e-04 -4.72913770e-06 9.99999932e-01 -3.17633222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36655999499993 meters 0.05154829128692139 Centerline is valid? [True, True] Translation: X:421.14, Y:-78.86, Z:-3.17 [[ 9.11185018e-01 4.11997406e-01 1.82581952e-05 4.21142881e+02] [-4.11997406e-01 9.11185018e-01 -7.13824729e-06 -7.88553018e+01] [-1.95775334e-05 -1.01806507e-06 1.00000000e+00 -3.17395639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42655999499993 meters 0.050803712612791256 Centerline is valid? [True, True] Translation: X:421.20, Y:-78.88, Z:-3.18 [[ 9.10453623e-01 4.13610136e-01 -9.25082907e-04 4.21200261e+02] [-4.13609937e-01 9.10454093e-01 4.05925722e-04 -7.88759043e+01] [ 1.01014051e-03 1.30469386e-05 9.99999490e-01 -3.17586231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48655999499994 meters 0.051562601627502376 Centerline is valid? [True, True] Translation: X:421.26, Y:-78.90, Z:-3.17 [[ 9.10508594e-01 4.13488231e-01 -1.25859809e-03 4.21256936e+02] [-4.13487862e-01 9.10509463e-01 5.52366372e-04 -7.89038095e+01] [ 1.37436246e-03 1.74807032e-05 9.99999055e-01 -3.17398978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54655999499994 meters 0.050903133820181176 Centerline is valid? [True, True] Translation: X:421.31, Y:-78.93, Z:-3.17 [[ 9.11026671e-01 4.12346430e-01 -9.09126959e-04 4.21313070e+02] [-4.12346238e-01 9.11027124e-01 3.98824687e-04 -7.89279496e+01] [ 9.92693255e-04 1.15351544e-05 9.99999507e-01 -3.17445174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60655999499994 meters 0.051634942623142985 Centerline is valid? [True, True] Translation: X:421.37, Y:-78.95, Z:-3.18 [[ 9.12052420e-01 4.10073549e-01 -2.59323120e-04 4.21369722e+02] [-4.10073533e-01 9.12052457e-01 1.14556769e-04 -7.89532812e+01] [ 2.83492989e-04 1.85976953e-06 9.99999960e-01 -3.17510889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66655999499994 meters 0.0514641272676742 Centerline is valid? [True, True] Translation: X:421.43, Y:-78.98, Z:-3.18 [[ 9.12615691e-01 4.08818173e-01 -5.49299446e-04 4.21426050e+02] [-4.08818101e-01 9.12615857e-01 2.41737240e-04 -7.89792872e+01] [ 6.00125961e-04 3.95035827e-06 9.99999820e-01 -3.17535703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72655999499995 meters 0.05175100663718374 Centerline is valid? [True, True] Translation: X:421.48, Y:-79.00, Z:-3.18 [[ 9.13478720e-01 4.06884291e-01 -1.34237117e-03 4.21481568e+02] [-4.06883864e-01 9.13479706e-01 5.89508121e-04 -7.90049394e+01] [ 1.46609041e-03 7.68604463e-06 9.99998925e-01 -3.17731672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78655999499995 meters 0.05240889707467474 Centerline is valid? [True, True] Translation: X:421.54, Y:-79.03, Z:-3.18 [[ 9.13584251e-01 4.06644966e-01 -1.92038895e-03 4.21538779e+02] [-4.06644091e-01 9.13586269e-01 8.43478345e-04 -7.90308861e+01] [ 2.09743720e-03 1.03262877e-05 9.99997800e-01 -3.17742012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84655999499995 meters 0.051687207148159664 Centerline is valid? [True, True] Translation: X:421.60, Y:-79.05, Z:-3.18 [[ 9.13035701e-01 4.07877035e-01 -1.46079366e-03 4.21596299e+02] [-4.07876530e-01 9.13036869e-01 6.41609729e-04 -7.90543251e+01] [ 1.59545634e-03 1.00108614e-05 9.99998727e-01 -3.17813163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90655999499995 meters 0.0512946875102636 Centerline is valid? [True, True] Translation: X:421.65, Y:-79.08, Z:-3.18 [[ 9.12656546e-01 4.08725120e-01 -1.34373707e-03 4.21654133e+02] [-4.08724693e-01 9.12657535e-01 5.90842284e-04 -7.90790959e+01] [ 1.46786385e-03 9.98244534e-06 9.99998923e-01 -3.17821503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96655999499995 meters 0.05151442307464294 Centerline is valid? [True, True] Translation: X:421.71, Y:-79.10, Z:-3.18 [[ 9.11487257e-01 4.11326687e-01 -1.15619007e-03 4.21712223e+02] [-4.11326373e-01 9.11487990e-01 5.08548797e-04 -7.91022748e+01] [ 1.26303306e-03 1.20357216e-05 9.99999202e-01 -3.17865853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02655999499996 meters 0.05183030077039133 Centerline is valid? [True, True] Translation: X:421.77, Y:-79.13, Z:-3.18 [[ 9.10489580e-01 4.13526652e-01 -2.10557341e-03 4.21769616e+02] [-4.13525619e-01 9.10492014e-01 9.24811022e-04 -7.91261156e+01] [ 2.29954178e-03 2.86777483e-05 9.99997356e-01 -3.17888179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08655999499996 meters 0.05201764880385276 Centerline is valid? [True, True] Translation: X:421.83, Y:-79.15, Z:-3.18 [[ 9.09311875e-01 4.16108134e-01 -2.43631316e-03 4.21828043e+02] [-4.16106759e-01 9.09315137e-01 1.07036896e-03 -7.91457027e+01] [ 2.66076567e-03 4.04671652e-05 9.99996459e-01 -3.18064159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14655999499996 meters 0.0517749181012861 Centerline is valid? [True, True] Translation: X:421.88, Y:-79.17, Z:-3.18 [[ 9.08629490e-01 4.17595276e-01 -2.57584729e-03 4.21884896e+02] [-4.17593743e-01 9.08633140e-01 1.13243099e-03 -7.91711882e+01] [ 2.81339804e-03 4.66975177e-05 9.99996041e-01 -3.17877541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20655999499996 meters 0.05203540132063344 Centerline is valid? [True, True] Translation: X:421.94, Y:-79.20, Z:-3.18 [[ 9.08788846e-01 4.17251756e-01 -1.95072300e-03 4.21942345e+02] [-4.17250876e-01 9.08790939e-01 8.57437526e-04 -7.91962166e+01] [ 2.13056670e-03 3.47112214e-05 9.99997730e-01 -3.17754207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26655999499997 meters 0.051652913030944846 Centerline is valid? [True, True] Translation: X:422.00, Y:-79.22, Z:-3.18 [[ 9.10425843e-01 4.13671154e-01 -9.79927528e-04 4.21998161e+02] [-4.13670930e-01 9.10426370e-01 4.30680711e-04 -7.92211793e+01] [ 1.07031205e-03 1.32646835e-05 9.99999427e-01 -3.17651752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32655999499997 meters 0.05211047672523257 Centerline is valid? [True, True] Translation: X:422.05, Y:-79.25, Z:-3.18 [[ 9.12377842e-01 4.09348187e-01 -8.57535874e-04 4.22053249e+02] [-4.09348014e-01 9.12378245e-01 3.76925181e-04 -7.92474478e+01] [ 9.36690715e-04 7.13242347e-06 9.99999561e-01 -3.17647978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38655999499997 meters 0.05241894670787622 Centerline is valid? [True, True] Translation: X:422.11, Y:-79.27, Z:-3.18 [[ 9.15702434e-01 4.01855940e-01 -9.24932209e-04 4.22108678e+02] [-4.01855733e-01 9.15702901e-01 4.07462820e-04 -7.92744662e+01] [ 1.01070446e-03 -1.42538466e-06 9.99999489e-01 -3.17603156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.446559995 meters 0.05202762167994537 Centerline is valid? [True, True] Translation: X:422.17, Y:-79.30, Z:-3.18 [[ 9.17645558e-01 3.97397467e-01 -1.37248227e-03 4.22165323e+02] [-3.97397009e-01 9.17646584e-01 6.03625755e-04 -7.93007901e+01] [ 1.49933301e-03 -8.49414427e-06 9.99998876e-01 -3.17799750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.506559995 meters 0.052399971766199684 Centerline is valid? [True, True] Translation: X:422.22, Y:-79.32, Z:-3.18 [[ 9.20043461e-01 3.91810119e-01 -2.20465006e-03 4.22222225e+02] [-3.91808921e-01 9.20046102e-01 9.69292448e-04 -7.93245727e+01] [ 2.40815829e-03 -2.79896156e-05 9.99997100e-01 -3.17730855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.566559995 meters 0.05277671837866602 Centerline is valid? [True, True] Translation: X:422.28, Y:-79.35, Z:-3.18 [[ 9.21314746e-01 3.88807293e-01 -2.83330483e-03 4.22279504e+02] [-3.88805300e-01 9.21319101e-01 1.24598419e-03 -7.93495383e+01] [ 3.09482561e-03 -4.63396734e-05 9.99995210e-01 -3.17810651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.626559995 meters 0.053261539891399895 Centerline is valid? [True, True] Translation: X:422.34, Y:-79.37, Z:-3.18 [[ 9.22287709e-01 3.86486383e-01 -3.69561054e-03 4.22337556e+02] [-3.86482974e-01 9.22295110e-01 1.62496439e-03 -7.93686184e+01] [ 4.03647014e-03 -7.03941317e-05 9.99991851e-01 -3.17630543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.686559995 meters 0.05366589639347385 Centerline is valid? [True, True] Translation: X:422.40, Y:-79.39, Z:-3.18 [[ 9.22659443e-01 3.85606141e-01 -2.73074181e-03 4.22395283e+02] [-3.85604272e-01 9.22663482e-01 1.20181387e-03 -7.93913999e+01] [ 2.98298255e-03 -5.58792060e-05 9.99995549e-01 -3.17665471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.746559995 meters 0.05302076675181786 Centerline is valid? [True, True] Translation: X:422.45, Y:-79.42, Z:-3.18 [[ 9.22086710e-01 3.86982317e-01 -8.85950487e-04 4.22450043e+02] [-3.86982121e-01 9.22087136e-01 3.89935674e-04 -7.94184807e+01] [ 9.67821757e-04 -1.67075039e-05 9.99999532e-01 -3.17827700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.806559995 meters 0.05310423891843615 Centerline is valid? [True, True] Translation: X:422.51, Y:-79.43, Z:-3.17 [[ 9.18990914e-01 3.94277336e-01 1.03979646e-03 4.22509665e+02] [-3.94277071e-01 9.18991503e-01 -4.57315772e-04 -7.94334521e+01] [-1.13587336e-03 1.03011343e-05 9.99999355e-01 -3.17432170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86655999499993 meters 0.052500624348858486 Centerline is valid? [True, True] Translation: X:422.57, Y:-79.45, Z:-3.18 [[ 9.13600212e-01 4.06608024e-01 2.13706613e-03 4.22569927e+02] [-4.06606938e-01 9.13602712e-01 -9.39730527e-04 -7.94503596e+01] [-2.33453139e-03 -1.04079077e-05 9.99997275e-01 -3.17651175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92655999499993 meters 0.0522188894683667 Centerline is valid? [True, True] Translation: X:422.63, Y:-79.47, Z:-3.18 [[ 9.09750137e-01 4.15148951e-01 2.45716787e-03 4.22628589e+02] [-4.15147546e-01 9.09753454e-01 -1.08076377e-03 -7.94680506e+01] [-2.68409490e-03 -3.68622197e-05 9.99996397e-01 -3.17755491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98655999499994 meters 0.051958858564106 Centerline is valid? [True, True] Translation: X:422.69, Y:-79.49, Z:-3.18 [[ 9.05031095e-01 4.25338512e-01 2.42220765e-03 4.22686875e+02] [-4.25337183e-01 9.05034334e-01 -1.06545705e-03 -7.94876897e+01] [-2.64536100e-03 -6.59832186e-05 9.99996499e-01 -3.17762333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04655999499994 meters 0.05204433936842321 Centerline is valid? [True, True] Translation: X:422.74, Y:-79.51, Z:-3.18 [[ 9.03148814e-01 4.29322447e-01 2.11121205e-03 4.22743455e+02] [-4.29321448e-01 9.03151279e-01 -9.28760415e-04 -7.95072023e+01] [-2.30548156e-03 -6.75797465e-05 9.99997340e-01 -3.17798140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10655999499994 meters 0.05209072337405806 Centerline is valid? [True, True] Translation: X:422.80, Y:-79.53, Z:-3.18 [[ 9.02063512e-01 4.31602338e-01 9.17057341e-04 4.22801030e+02] [-4.31602151e-01 9.02063978e-01 -4.03430936e-04 -7.95255135e+01] [-1.00136613e-03 -3.18835934e-05 9.99999498e-01 -3.17934658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16655999499994 meters 0.054135061537541655 Centerline is valid? [True, True] Translation: X:422.86, Y:-79.54, Z:-3.18 [[ 9.02552555e-01 4.30579656e-01 -2.13511179e-04 4.22861855e+02] [-4.30579645e-01 9.02552580e-01 9.47904616e-05 -7.95398771e+01] [ 2.33519910e-04 6.38019433e-06 9.99999973e-01 -3.18279558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22655999499995 meters 0.05321916212591792 Centerline is valid? [True, True] Translation: X:422.91, Y:-79.57, Z:-3.18 [[ 9.04881814e-01 4.25661997e-01 -8.76052843e-04 4.22914487e+02] [-4.25661823e-01 9.04882237e-01 3.85618027e-04 -7.95726451e+01] [ 9.56867596e-04 2.39635101e-05 9.99999542e-01 -3.18163456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28655999499995 meters 0.05357789603311927 Centerline is valid? [True, True] Translation: X:422.97, Y:-79.59, Z:-3.18 [[ 9.07168413e-01 4.20765711e-01 -1.29907054e-03 4.22970792e+02] [-4.20765324e-01 9.07169342e-01 5.71633666e-04 -7.95924899e+01] [ 1.41900082e-03 2.80358318e-05 9.99998993e-01 -3.18485861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34655999499995 meters 0.05279703400243037 Centerline is valid? [True, True] Translation: X:423.02, Y:-79.63, Z:-3.18 [[ 9.10825309e-01 4.12789964e-01 -1.30461246e-03 4.23023048e+02] [-4.12789564e-01 9.10826243e-01 5.74298703e-04 -7.96263011e+01] [ 1.42534001e-03 1.54446165e-05 9.99998984e-01 -3.18262735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40655999499995 meters 0.05310928197575959 Centerline is valid? [True, True] Translation: X:423.08, Y:-79.65, Z:-3.18 [[ 9.13302935e-01 4.07276599e-01 -1.87645067e-03 4.23077882e+02] [-4.07275761e-01 9.13304863e-01 8.26151408e-04 -7.96542936e+01] [ 2.05024365e-03 9.70636705e-06 9.99997898e-01 -3.18367377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46655999499995 meters 0.053045170795227435 Centerline is valid? [True, True] Translation: X:423.13, Y:-79.68, Z:-3.18 [[ 9.17308914e-01 3.98173099e-01 -1.59326889e-03 4.23132725e+02] [-3.98172479e-01 9.17310298e-01 7.02592895e-04 -7.96848544e+01] [ 1.74127555e-03 -1.00989009e-05 9.99998484e-01 -3.18307141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52655999499996 meters 0.0534158198950606 Centerline is valid? [True, True] Translation: X:423.18, Y:-79.72, Z:-3.18 [[ 9.21329866e-01 3.88779589e-01 -1.30752549e-03 4.23184965e+02] [-3.88779163e-01 9.21330793e-01 5.75852865e-04 -7.97162105e+01] [ 1.42854334e-03 -2.22117764e-05 9.99998979e-01 -3.18305719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58655999499996 meters 0.05397239905697856 Centerline is valid? [True, True] Translation: X:423.24, Y:-79.74, Z:-3.18 [[ 9.24445324e-01 3.81312994e-01 -1.11528877e-03 4.23240611e+02] [-3.81312678e-01 9.24445996e-01 4.91201626e-04 -7.97417174e+01] [ 1.21832580e-03 -2.88152969e-05 9.99999257e-01 -3.18074849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64655999499996 meters 0.054679623781701825 Centerline is valid? [True, True] Translation: X:423.29, Y:-79.77, Z:-3.18 [[ 9.25631565e-01 3.78425292e-01 -7.10485485e-04 4.23293407e+02] [-3.78425163e-01 9.25631837e-01 3.13177697e-04 -7.97697840e+01] [ 7.76162346e-04 -2.10215762e-05 9.99999699e-01 -3.18194463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70655999499996 meters 0.05397573175781852 Centerline is valid? [True, True] Translation: X:423.35, Y:-79.79, Z:-3.18 [[ 9.26179742e-01 3.77082015e-01 -4.89154881e-04 4.23351020e+02] [-3.77081953e-01 9.26179871e-01 2.15701687e-04 -7.97919585e+01] [ 5.34382631e-04 -1.53270545e-05 9.99999857e-01 -3.18152656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76655999499997 meters 0.0543484308212136 Centerline is valid? [True, True] Translation: X:423.41, Y:-79.81, Z:-3.18 [[ 9.25763182e-01 3.78103813e-01 -1.90942286e-04 4.23410390e+02] [-3.78103804e-01 9.25763202e-01 8.50014368e-05 -7.98094266e+01] [ 2.08906709e-04 -6.49519621e-06 9.99999978e-01 -3.18024616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82655999499997 meters 0.054460251477709 Centerline is valid? [True, True] Translation: X:423.47, Y:-79.84, Z:-3.18 [[ 9.25219372e-01 3.79432194e-01 -5.69679212e-04 4.23465517e+02] [-3.79432111e-01 9.25219547e-01 2.51914499e-04 -7.98373124e+01] [ 6.22662814e-04 -1.69215883e-05 9.99999806e-01 -3.18187031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88655999499997 meters 0.0547382045935886 Centerline is valid? [True, True] Translation: X:423.53, Y:-79.85, Z:-3.18 [[ 9.22684403e-01 3.85554855e-01 -9.73163715e-04 4.23525473e+02] [-3.85554617e-01 9.22684916e-01 4.29015411e-04 -7.98522227e+01] [ 1.06333245e-03 -2.06380652e-05 9.99999434e-01 -3.18125490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.946559995 meters 0.0543381825362912 Centerline is valid? [True, True] Translation: X:423.58, Y:-79.88, Z:-3.18 [[ 9.20386458e-01 3.91008155e-01 -1.17937572e-03 4.23581660e+02] [-3.91007810e-01 9.20387213e-01 5.19922784e-04 -7.98764553e+01] [ 1.28877638e-03 -1.73847733e-05 9.99999169e-01 -3.18418315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.006559995 meters 0.05381575705475598 Centerline is valid? [True, True] Translation: X:423.64, Y:-79.89, Z:-3.18 [[ 9.17065818e-01 3.98735823e-01 1.73212258e-04 4.23638663e+02] [-3.98735815e-01 9.17065834e-01 -7.63307886e-05 -7.98944542e+01] [-1.89282864e-04 9.34426155e-07 9.99999982e-01 -3.18490303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.066559995 meters 0.05300606883976273 Centerline is valid? [True, True] Translation: X:423.70, Y:-79.91, Z:-3.18 [[ 9.14916124e-01 4.03637981e-01 2.20606217e-03 4.23698084e+02] [-4.03636811e-01 9.14918784e-01 -9.71595936e-04 -7.99145557e+01] [-2.41054074e-03 -1.51911301e-06 9.99997095e-01 -3.18321562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.126559995 meters 0.053592187782090295 Centerline is valid? [True, True] Translation: X:423.76, Y:-79.93, Z:-3.18 [[ 9.11808617e-01 4.10590094e-01 4.56292357e-03 4.23756345e+02] [-4.10585170e-01 9.11820033e-01 -2.01133154e-03 -7.99344874e+01] [-4.98639793e-03 -3.95193190e-05 9.99987567e-01 -3.18324631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.186559995 meters 0.05316110736505035 Centerline is valid? [True, True] Translation: X:423.82, Y:-79.95, Z:-3.19 [[ 9.09265428e-01 4.16193719e-01 4.37837118e-03 4.23815896e+02] [-4.16189246e-01 9.09275967e-01 -1.93079307e-03 -7.99514975e+01] [-4.78473163e-03 -6.66276136e-05 9.99988551e-01 -3.18518555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.246559995 meters 0.05385834090372451 Centerline is valid? [True, True] Translation: X:423.87, Y:-79.97, Z:-3.19 [[ 9.07266401e-01 4.20538003e-01 3.93270918e-03 4.23873370e+02] [-4.20534435e-01 9.07274920e-01 -1.73431535e-03 -7.99704282e+01] [-4.29739393e-03 -8.03535937e-05 9.99990763e-01 -3.18715988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.306559995 meters 0.05339177870094598 Centerline is valid? [True, True] Translation: X:423.93, Y:-79.99, Z:-3.19 [[ 9.06743894e-01 4.21663418e-01 3.93354303e-03 4.23930418e+02] [-4.21659860e-01 9.06752422e-01 -1.73447487e-03 -7.99945609e+01] [-4.29811427e-03 -8.58927064e-05 9.99990759e-01 -3.18776620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36655999499993 meters 0.053611435326475734 Centerline is valid? [True, True] Translation: X:423.99, Y:-80.02, Z:-3.19 [[ 9.05951018e-01 4.23375745e-01 2.39393964e-03 4.23986645e+02] [-4.23374432e-01 9.05954180e-01 -1.05595825e-03 -8.00210552e+01] [-2.61586673e-03 -5.68863816e-05 9.99996577e-01 -3.18981665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42655999499993 meters 0.05304918690844997 Centerline is valid? [True, True] Translation: X:424.04, Y:-80.05, Z:-3.19 [[ 9.05942339e-01 4.23401082e-01 -5.24441935e-05 4.24040945e+02] [-4.23401082e-01 9.05942340e-01 2.40641218e-05 -8.00522058e+01] [ 5.77001904e-05 4.04221488e-07 9.99999998e-01 -3.19142410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48655999499994 meters 0.05289452459278788 Centerline is valid? [True, True] Translation: X:424.10, Y:-80.08, Z:-3.19 [[ 9.06155084e-01 4.22942465e-01 -1.62324053e-03 4.24097405e+02] [-4.22941858e-01 9.06156537e-01 7.17610202e-04 -8.00783512e+01] [ 1.77441784e-03 3.62702304e-05 9.99998425e-01 -3.19393507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54655999499994 meters 0.05270486770705672 Centerline is valid? [True, True] Translation: X:424.15, Y:-80.11, Z:-3.19 [[ 9.06775490e-01 4.21611931e-01 -1.26073257e-03 4.24149928e+02] [-4.21611563e-01 9.06776366e-01 5.57677086e-04 -8.01127411e+01] [ 1.37832581e-03 2.58515170e-05 9.99999050e-01 -3.19268036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60655999499994 meters 0.05259036010958571 Centerline is valid? [True, True] Translation: X:424.21, Y:-80.14, Z:-3.19 [[ 9.06815567e-01 4.21527400e-01 -4.22957347e-04 4.24205674e+02] [-4.21527358e-01 9.06815665e-01 1.87129580e-04 -8.01392122e+01] [ 4.62424593e-04 8.59607665e-06 9.99999893e-01 -3.19315162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66655999499994 meters 0.05202477973322702 Centerline is valid? [True, True] Translation: X:424.26, Y:-80.17, Z:-3.19 [[ 9.05887828e-01 4.23515748e-01 1.28625642e-03 4.24259462e+02] [-4.23515369e-01 9.05888740e-01 -5.67353501e-04 -8.01718106e+01] [-1.40548835e-03 -3.07907336e-05 9.99999012e-01 -3.19183279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72655999499995 meters 0.05206655043552422 Centerline is valid? [True, True] Translation: X:424.31, Y:-80.20, Z:-3.19 [[ 9.04369245e-01 4.26748489e-01 1.41270348e-03 4.24313598e+02] [-4.26748034e-01 9.04370348e-01 -6.24136359e-04 -8.01982059e+01] [-1.54395639e-03 -3.84187046e-05 9.99998807e-01 -3.19286204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78655999499995 meters 0.05200606841962053 Centerline is valid? [True, True] Translation: X:424.37, Y:-80.23, Z:-3.19 [[ 9.03531095e-01 4.28521278e-01 1.03675097e-03 4.24368798e+02] [-4.28521035e-01 9.03531689e-01 -4.57340563e-04 -8.02259366e+01] [-1.13271751e-03 -3.10481770e-05 9.99999358e-01 -3.19383036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84655999499995 meters 0.051680491444025464 Centerline is valid? [True, True] Translation: X:424.42, Y:-80.26, Z:-3.19 [[ 9.02917529e-01 4.29812836e-01 9.28179792e-04 4.24420995e+02] [-4.29812641e-01 9.02918006e-01 -4.09958034e-04 -8.02612112e+01] [-1.01427547e-03 -2.87851122e-05 9.99999485e-01 -3.19313130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90655999499995 meters 0.052374505313289424 Centerline is valid? [True, True] Translation: X:424.48, Y:-80.28, Z:-3.20 [[ 9.02956315e-01 4.29732324e-01 1.50312771e-04 4.24478054e+02] [-4.29732319e-01 9.02956328e-01 -6.54790233e-05 -8.02847309e+01] [-1.63864321e-04 -5.46955802e-06 9.99999987e-01 -3.19547580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96655999499995 meters 0.05135658670294777 Centerline is valid? [True, True] Translation: X:424.53, Y:-80.32, Z:-3.20 [[ 9.05077291e-01 4.25246481e-01 -7.26270155e-04 4.24530647e+02] [-4.25246360e-01 9.05077582e-01 3.21262131e-04 -8.03159898e+01] [ 7.93946427e-04 1.80766805e-05 9.99999685e-01 -3.19687311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02655999499996 meters 0.051886717303522886 Centerline is valid? [True, True] Translation: X:424.58, Y:-80.34, Z:-3.20 [[ 9.07913646e-01 4.19156919e-01 -5.36171776e-04 4.24584645e+02] [-4.19156852e-01 9.07913805e-01 2.37086051e-04 -8.03426767e+01] [ 5.86174016e-04 9.48641269e-06 9.99999828e-01 -3.19895821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08655999499996 meters 0.05128646157592582 Centerline is valid? [True, True] Translation: X:424.63, Y:-80.38, Z:-3.20 [[ 9.13816533e-01 4.06124476e-01 1.50140267e-03 4.24632999e+02] [-4.06123934e-01 9.13817766e-01 -6.63711743e-04 -8.03837283e+01] [-1.64155802e-03 -3.24479676e-06 9.99998653e-01 -3.19726938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14655999499996 meters 0.052563614214706914 Centerline is valid? [True, True] Translation: X:424.68, Y:-80.42, Z:-3.19 [[ 9.20023771e-01 3.91855493e-01 2.35211483e-03 4.24684356e+02] [-3.91854115e-01 9.20026777e-01 -1.03978198e-03 -8.04186356e+01] [-2.57145291e-03 3.49382585e-05 9.99996693e-01 -3.19482860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20655999499996 meters 0.05217853203061118 Centerline is valid? [True, True] Translation: X:424.74, Y:-80.45, Z:-3.20 [[ 9.25305235e-01 3.79219875e-01 1.58379029e-03 4.24736665e+02] [-3.79219231e-01 9.25306589e-01 -7.00209721e-04 -8.04516197e+01] [-1.73102504e-03 4.73039834e-05 9.99998501e-01 -3.19623268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26655999499997 meters 0.05336014288678579 Centerline is valid? [True, True] Translation: X:424.79, Y:-80.47, Z:-3.20 [[ 9.27505188e-01 3.73806908e-01 1.58798005e-03 4.24794889e+02] [-3.73806253e-01 9.27506546e-01 -7.02163905e-04 -8.04714458e+01] [-1.73533561e-03 5.76637908e-05 9.99998493e-01 -3.19625399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32655999499997 meters 0.05347663350034705 Centerline is valid? [True, True] Translation: X:424.85, Y:-80.51, Z:-3.20 [[ 9.28672775e-01 3.70895652e-01 1.81431787e-03 4.24845293e+02] [-3.70894792e-01 9.28674545e-01 -8.01919704e-04 -8.05060206e+01] [-1.98233935e-03 7.17999489e-05 9.99998033e-01 -3.19910523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38655999499997 meters 0.05385494481202735 Centerline is valid? [True, True] Translation: X:424.90, Y:-80.52, Z:-3.20 [[ 9.29701098e-01 3.68304192e-01 2.80902431e-03 4.24904326e+02] [-3.68302117e-01 9.29705334e-01 -1.24218542e-03 -8.05229148e+01] [-3.06906699e-03 1.20291549e-04 9.99995283e-01 -3.19933343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.446559995 meters 0.05293010677220056 Centerline is valid? [True, True] Translation: X:424.96, Y:-80.55, Z:-3.20 [[ 9.30176461e-01 3.67099018e-01 3.17217845e-03 4.24958663e+02] [-3.67096362e-01 9.30181859e-01 -1.40348733e-03 -8.05502096e+01] [-3.46592167e-03 1.40995703e-04 9.99993984e-01 -3.20029352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.506559995 meters 0.05331390179450374 Centerline is valid? [True, True] Translation: X:425.02, Y:-80.57, Z:-3.20 [[ 9.30260568e-01 3.66873742e-01 4.35112065e-03 4.25016842e+02] [-3.66868743e-01 9.30270724e-01 -1.92514692e-03 -8.05723935e+01] [-4.75400601e-03 1.94598101e-04 9.99988681e-01 -3.20180069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.566559995 meters 0.052973349111308805 Centerline is valid? [True, True] Translation: X:425.08, Y:-80.58, Z:-3.20 [[ 9.28409695e-01 3.71512775e-01 5.80484278e-03 4.25079010e+02] [-3.71503964e-01 9.28427814e-01 -2.56880208e-03 -8.05806763e+01] [-6.34372029e-03 2.28378652e-04 9.99979852e-01 -3.20164423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.626559995 meters 0.05304038222900156 Centerline is valid? [True, True] Translation: X:425.13, Y:-80.61, Z:-3.20 [[ 9.26111096e-01 3.77201080e-01 6.13053219e-03 4.25131330e+02] [-3.77191377e-01 9.26131365e-01 -2.71293793e-03 -8.06119832e+01] [-6.70100127e-03 2.00098041e-04 9.99977528e-01 -3.20233562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.686559995 meters 0.05195095322785578 Centerline is valid? [True, True] Translation: X:425.19, Y:-80.63, Z:-3.20 [[ 9.21837076e-01 3.87535995e-01 5.67958648e-03 4.25191218e+02] [-3.87527861e-01 9.21854565e-01 -2.51343300e-03 -8.06268177e+01] [-6.20979849e-03 1.15977727e-04 9.99980712e-01 -3.20397890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.746559995 meters 0.052511255278523954 Centerline is valid? [True, True] Translation: X:425.25, Y:-80.65, Z:-3.21 [[ 9.20354050e-01 3.91052755e-01 5.11518519e-03 4.25248827e+02] [-3.91046211e-01 9.20368261e-01 -2.26374098e-03 -8.06481033e+01] [-5.59309624e-03 8.31693906e-05 9.99984355e-01 -3.20577054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.806559995 meters 0.05177662093476439 Centerline is valid? [True, True] Translation: X:425.31, Y:-80.66, Z:-3.21 [[ 9.16301617e-01 4.00467729e-01 4.11649232e-03 4.25308408e+02] [-4.00463586e-01 9.16310863e-01 -1.82180245e-03 -8.06635168e+01] [-4.50155972e-03 2.08152553e-05 9.99989868e-01 -3.20762607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86655999499993 meters 0.051483433309204504 Centerline is valid? [True, True] Translation: X:425.37, Y:-80.69, Z:-3.21 [[ 9.14460239e-01 4.04653297e-01 4.26388510e-03 4.25365863e+02] [-4.04648897e-01 9.14470180e-01 -1.88706264e-03 -8.06861586e+01] [-4.66280189e-03 2.67354745e-07 9.99989129e-01 -3.20863912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92655999499993 meters 0.051994147721523824 Centerline is valid? [True, True] Translation: X:425.42, Y:-80.71, Z:-3.21 [[ 9.11877147e-01 4.10428460e-01 5.34301252e-03 4.25424675e+02] [-4.10421648e-01 9.11892800e-01 -2.36486850e-03 -8.07065620e+01] [-5.84286398e-03 -3.64184690e-05 9.99982930e-01 -3.20811132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98655999499994 meters 0.05125368962042291 Centerline is valid? [True, True] Translation: X:425.48, Y:-80.73, Z:-3.21 [[ 9.10213383e-01 4.14098610e-01 5.82563060e-03 4.25483093e+02] [-4.14090582e-01 9.10232024e-01 -2.57936182e-03 -8.07286085e+01] [-6.37078568e-03 -6.45691169e-05 9.99979704e-01 -3.20897304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04655999499994 meters 0.0517546214895056 Centerline is valid? [True, True] Translation: X:425.54, Y:-80.75, Z:-3.21 [[ 9.08531542e-01 4.17782064e-01 5.34643853e-03 4.25540987e+02] [-4.17775362e-01 9.08547269e-01 -2.36785822e-03 -8.07493734e+01] [-5.84674082e-03 -8.23364191e-05 9.99982904e-01 -3.21001361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10655999499994 meters 0.05131584520876036 Centerline is valid? [True, True] Translation: X:425.60, Y:-80.78, Z:-3.21 [[ 9.07888382e-01 4.19178734e-01 5.27956896e-03 4.25596874e+02] [-4.19172219e-01 9.07903729e-01 -2.33889493e-03 -8.07756056e+01] [-5.77375537e-03 -8.95930985e-05 9.99983328e-01 -3.21038159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16655999499994 meters 0.05136101816379383 Centerline is valid? [True, True] Translation: X:425.65, Y:-80.80, Z:-3.21 [[ 9.07133540e-01 4.20825870e-01 3.78521232e-03 4.25652905e+02] [-4.20822534e-01 9.07141435e-01 -1.67707451e-03 -8.08021366e+01] [-4.13947927e-03 -7.15721018e-05 9.99991430e-01 -3.21225811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22655999499995 meters 0.0509692524252693 Centerline is valid? [True, True] Translation: X:425.71, Y:-80.83, Z:-3.21 [[ 9.06370878e-01 4.22481544e-01 1.08494711e-03 4.25708067e+02] [-4.22481272e-01 9.06371527e-01 -4.80243134e-04 -8.08299820e+01] [-1.18625903e-03 -2.30914457e-05 9.99999296e-01 -3.21496751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28655999499995 meters 0.0508405072584073 Centerline is valid? [True, True] Translation: X:425.76, Y:-80.86, Z:-3.22 [[ 9.06047667e-01 4.23175582e-01 2.26875685e-04 4.25763265e+02] [-4.23175570e-01 9.06047696e-01 -9.97918026e-05 -8.08572034e+01] [-2.47789646e-04 -5.59211752e-06 9.99999969e-01 -3.21627517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34655999499995 meters 0.051216702825126054 Centerline is valid? [True, True] Translation: X:425.82, Y:-80.88, Z:-3.22 [[ 9.06872113e-01 4.21405599e-01 5.40403246e-04 4.25818030e+02] [-4.21405531e-01 9.06872274e-01 -2.39636258e-04 -8.08818437e+01] [-5.91060782e-04 -1.04094775e-05 9.99999825e-01 -3.21732451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40655999499995 meters 0.05091594092901897 Centerline is valid? [True, True] Translation: X:425.87, Y:-80.92, Z:-3.21 [[ 9.10014770e-01 4.14557693e-01 3.87788169e-03 4.25868598e+02] [-4.14554127e-01 9.10023031e-01 -1.71997807e-03 -8.09194706e+01] [-4.24199179e-03 -4.23864125e-05 9.99991002e-01 -3.21425333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46655999499995 meters 0.05129124225591181 Centerline is valid? [True, True] Translation: X:425.92, Y:-80.95, Z:-3.21 [[ 9.12981868e-01 4.07966975e-01 5.20148555e-03 4.25921131e+02] [-4.07960451e-01 9.12996685e-01 -2.30728464e-03 -8.09504631e+01] [-5.69023500e-03 -1.54913504e-05 9.99983810e-01 -3.21330456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52655999499996 meters 0.05139967385939078 Centerline is valid? [True, True] Translation: X:425.97, Y:-80.99, Z:-3.21 [[ 9.17498110e-01 3.97679454e-01 6.94768085e-03 4.25973263e+02] [-3.97667517e-01 9.17524412e-01 -3.08196825e-03 -8.09863637e+01] [-7.60030225e-03 6.48330526e-05 9.99971115e-01 -3.21262960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58655999499996 meters 0.051126776352107654 Centerline is valid? [True, True] Translation: X:426.03, Y:-81.02, Z:-3.21 [[ 9.19974677e-01 3.91910118e-01 7.28374541e-03 4.26026919e+02] [-3.91896812e-01 9.20003503e-01 -3.23155158e-03 -8.10162259e+01] [-7.96754905e-03 1.18469015e-04 9.99968252e-01 -3.21295293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64655999499996 meters 0.0514391910389 Centerline is valid? [True, True] Translation: X:426.08, Y:-81.04, Z:-3.22 [[ 9.21901304e-01 3.87384927e-01 5.55921144e-03 4.26081494e+02] [-3.87377094e-01 9.21918057e-01 -2.46639517e-03 -8.10441821e+01] [-6.08058173e-03 1.20261753e-04 9.99981506e-01 -3.21530984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70655999499996 meters 0.05192668558562772 Centerline is valid? [True, True] Translation: X:426.14, Y:-81.07, Z:-3.22 [[ 9.22527946e-01 3.85910064e-01 3.95107848e-03 4.26139123e+02] [-3.85906093e-01 9.22536402e-01 -1.75313243e-03 -8.10656554e+01] [-4.32156517e-03 9.25683959e-05 9.99990658e-01 -3.21658985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76655999499997 meters 0.051722896104236527 Centerline is valid? [True, True] Translation: X:426.19, Y:-81.10, Z:-3.22 [[ 9.22296165e-01 3.86470432e-01 3.22324538e-03 4.26192751e+02] [-3.86467790e-01 9.22301794e-01 -1.43075741e-03 -8.10975851e+01] [-3.52575043e-03 7.39015520e-05 9.99993782e-01 -3.21912630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82655999499997 meters 0.05140479782710844 Centerline is valid? [True, True] Translation: X:426.25, Y:-81.12, Z:-3.22 [[ 9.20888818e-01 3.89801129e-01 4.34343693e-03 4.26249288e+02] [-3.89796367e-01 9.20899057e-01 -1.92836815e-03 -8.11212596e+01] [-4.75154705e-03 8.27567289e-05 9.99988708e-01 -3.21906399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88655999499997 meters 0.051411438500205534 Centerline is valid? [True, True] Translation: X:426.30, Y:-81.15, Z:-3.22 [[ 9.19848970e-01 3.92244164e-01 4.73169662e-03 4.26304268e+02] [-3.92238545e-01 9.19861136e-01 -2.10094941e-03 -8.11458095e+01] [-5.17658897e-03 7.66023567e-05 9.99986598e-01 -3.21947744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.946559995 meters 0.05104317979862825 Centerline is valid? [True, True] Translation: X:426.36, Y:-81.17, Z:-3.22 [[ 9.17630761e-01 3.97387974e-01 6.04850461e-03 4.26361490e+02] [-3.97378902e-01 9.17650693e-01 -2.68571455e-03 -8.11652466e+01] [-6.61768511e-03 6.09461620e-05 9.99978101e-01 -3.21957648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.006559995 meters 0.05078094178396745 Centerline is valid? [True, True] Translation: X:426.42, Y:-81.19, Z:-3.22 [[ 9.15553588e-01 4.02145624e-01 6.36593870e-03 4.26419245e+02] [-4.02135690e-01 9.15575718e-01 -2.82671615e-03 -8.11883170e+01] [-6.96525043e-03 2.80389558e-05 9.99975742e-01 -3.22060775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.066559995 meters 0.05077692444311719 Centerline is valid? [True, True] Translation: X:426.48, Y:-81.21, Z:-3.22 [[ 9.12080737e-01 4.09956330e-01 6.67363897e-03 4.26479941e+02] [-4.09945619e-01 9.12105151e-01 -2.96365945e-03 -8.12067584e+01] [-7.30203143e-03 -3.27323576e-05 9.99973339e-01 -3.22120079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.126559995 meters 0.05022574246964662 Centerline is valid? [True, True] Translation: X:426.54, Y:-81.22, Z:-3.22 [[ 9.08868359e-01 4.17045098e-01 5.62951173e-03 4.26538487e+02] [-4.17037607e-01 9.08885791e-01 -2.50084979e-03 -8.12240955e+01] [-6.15955036e-03 -7.47748527e-05 9.99981027e-01 -3.22289494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.186559995 meters 0.050294695255542 Centerline is valid? [True, True] Translation: X:426.60, Y:-81.25, Z:-3.22 [[ 9.07266891e-01 4.20518014e-01 5.60255582e-03 4.26595437e+02] [-4.20510659e-01 9.07284184e-01 -2.48891800e-03 -8.12469112e+01] [-6.12974514e-03 -9.78215492e-05 9.99981208e-01 -3.22402697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.246559995 meters 0.0505843701882799 Centerline is valid? [True, True] Translation: X:426.65, Y:-81.27, Z:-3.23 [[ 9.06384255e-01 4.22425490e-01 4.92820435e-03 4.26653066e+02] [-4.22419828e-01 9.06397648e-01 -2.18938293e-03 -8.12700312e+01] [-5.39176399e-03 -9.73490193e-05 9.99985460e-01 -3.22550299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.306559995 meters 0.05073844005420062 Centerline is valid? [True, True] Translation: X:426.71, Y:-81.29, Z:-3.23 [[ 9.06951512e-01 4.21211342e-01 4.46769708e-03 4.26709407e+02] [-4.21206674e-01 9.06962512e-01 -1.98475644e-03 -8.12936977e+01] [-4.88803569e-03 -8.17459773e-05 9.99988050e-01 -3.22742963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36655999499993 meters 0.050235498107855436 Centerline is valid? [True, True] Translation: X:426.76, Y:-81.33, Z:-3.23 [[ 9.08735568e-01 4.17341858e-01 5.04398386e-03 4.26761565e+02] [-4.17335843e-01 9.08749564e-01 -2.24159727e-03 -8.13267318e+01] [-5.51923050e-03 -6.80160857e-05 9.99984767e-01 -3.22685476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42655999499993 meters 0.05046470279862947 Centerline is valid? [True, True] Translation: X:426.82, Y:-81.35, Z:-3.23 [[ 9.10872727e-01 4.12664612e-01 4.33514378e-03 4.26817106e+02] [-4.12660115e-01 9.10883043e-01 -1.92673078e-03 -8.13540597e+01] [-4.74390256e-03 -3.39344103e-05 9.99988747e-01 -3.22783065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48655999499994 meters 0.050568231464909345 Centerline is valid? [True, True] Translation: X:426.87, Y:-81.38, Z:-3.23 [[ 9.12400056e-01 4.09286103e-01 3.32009788e-03 4.26873375e+02] [-4.09283443e-01 9.12406097e-01 -1.47563664e-03 -8.13816554e+01] [-3.63323512e-03 -1.24901422e-05 9.99993400e-01 -3.22878421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54655999499994 meters 0.05085197072275117 Centerline is valid? [True, True] Translation: X:426.93, Y:-81.41, Z:-3.23 [[ 9.15302521e-01 4.02762780e-01 1.85427225e-03 4.26928505e+02] [-4.02761937e-01 9.15304399e-01 -8.23648593e-04 -8.14112611e+01] [-2.02895854e-03 7.05734946e-06 9.99997942e-01 -3.22635623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60655999499994 meters 0.05086026101070701 Centerline is valid? [True, True] Translation: X:426.98, Y:-81.44, Z:-3.23 [[ 9.16404139e-01 4.00252297e-01 1.24652428e-03 4.26983947e+02] [-4.00251913e-01 9.16404986e-01 -5.54055846e-04 -8.14397223e+01] [-1.36408319e-03 8.81534069e-06 9.99999070e-01 -3.22862479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66655999499994 meters 0.051383886864389855 Centerline is valid? [True, True] Translation: X:427.04, Y:-81.47, Z:-3.23 [[ 9.19376322e-01 3.93375326e-01 1.74103324e-03 4.27036657e+02] [-3.93374565e-01 9.19377970e-01 -7.73934234e-04 -8.14684866e+01] [-1.90511424e-03 2.66586138e-05 9.99998185e-01 -3.22865542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72655999499995 meters 0.051998671457870155 Centerline is valid? [True, True] Translation: X:427.09, Y:-81.49, Z:-3.23 [[ 9.21006005e-01 3.89537232e-01 2.94673241e-03 4.27092211e+02] [-3.89535032e-01 9.21010717e-01 -1.31069125e-03 -8.14946353e+01] [-3.22453517e-03 5.92990122e-05 9.99994799e-01 -3.22808133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78655999499995 meters 0.05184715152106386 Centerline is valid? [True, True] Translation: X:427.15, Y:-81.52, Z:-3.23 [[ 9.23787905e-01 3.82884772e-01 3.89330049e-03 4.27146215e+02] [-3.82880870e-01 9.23796103e-01 -1.73187847e-03 -8.15209956e+01] [-4.25972571e-03 1.09218104e-04 9.99990921e-01 -3.22770747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84655999499995 meters 0.05299271623584928 Centerline is valid? [True, True] Translation: X:427.20, Y:-81.54, Z:-3.23 [[ 9.27224582e-01 3.74488503e-01 3.59655127e-03 4.27203050e+02] [-3.74485110e-01 9.27231548e-01 -1.59987111e-03 -8.15448455e+01] [-3.93396914e-03 1.36584923e-04 9.99992253e-01 -3.22807831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90655999499995 meters 0.053091162635175305 Centerline is valid? [True, True] Translation: X:427.26, Y:-81.56, Z:-3.23 [[ 9.30199184e-01 3.67041129e-01 3.20755961e-03 4.27259801e+02] [-3.67038386e-01 9.30204702e-01 -1.42677014e-03 -8.15648103e+01] [-3.50737035e-03 1.49882918e-04 9.99993838e-01 -3.22902238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96655999499995 meters 0.05350521918983345 Centerline is valid? [True, True] Translation: X:427.32, Y:-81.58, Z:-3.23 [[ 9.31208218e-01 3.64474513e-01 3.09593261e-03 4.27317357e+02] [-3.64471942e-01 9.31213351e-01 -1.37740865e-03 -8.15846089e+01] [-3.38500413e-03 1.54273680e-04 9.99994259e-01 -3.22829677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02655999499996 meters 0.05367449018295364 Centerline is valid? [True, True] Translation: X:427.38, Y:-81.60, Z:-3.23 [[ 9.30778064e-01 3.65574640e-01 2.71641637e-03 4.27376142e+02] [-3.65572666e-01 9.30782018e-01 -1.20852000e-03 -8.16039365e+01] [-2.97019578e-03 1.31816333e-04 9.99995580e-01 -3.22846009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08655999499996 meters 0.05337104370826473 Centerline is valid? [True, True] Translation: X:427.43, Y:-81.63, Z:-3.23 [[ 9.29613021e-01 3.68525745e-01 2.89934988e-03 4.27431725e+02] [-3.68523511e-01 9.29617533e-01 -1.28996601e-03 -8.16304668e+01] [-3.17067217e-03 1.30690604e-04 9.99994965e-01 -3.22907683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14655999499996 meters 0.05297173724915664 Centerline is valid? [True, True] Translation: X:427.49, Y:-81.64, Z:-3.23 [[ 9.27432794e-01 3.73976904e-01 3.11239623e-03 4.27493226e+02] [-3.73974360e-01 9.27438009e-01 -1.38482896e-03 -8.16432902e+01] [-3.40444861e-03 1.20379402e-04 9.99994198e-01 -3.22925964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20655999499996 meters 0.05235539638666601 Centerline is valid? [True, True] Translation: X:427.55, Y:-81.66, Z:-3.23 [[ 9.25855113e-01 3.77866473e-01 3.03964179e-03 4.27551151e+02] [-3.77864066e-01 9.25860096e-01 -1.35247264e-03 -8.16622189e+01] [-3.32533711e-03 1.03622305e-04 9.99994466e-01 -3.22973556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26655999499997 meters 0.05270619691183331 Centerline is valid? [True, True] Translation: X:427.61, Y:-81.68, Z:-3.23 [[ 9.25156075e-01 3.79572922e-01 3.26082187e-03 4.27608546e+02] [-3.79570163e-01 9.25161816e-01 -1.45101808e-03 -8.16810840e+01] [-3.56755506e-03 1.04707508e-04 9.99993631e-01 -3.22888901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32655999499997 meters 0.05322121231643847 Centerline is valid? [True, True] Translation: X:427.67, Y:-81.70, Z:-3.23 [[ 9.23842165e-01 3.82755797e-01 3.69526741e-03 4.27666187e+02] [-3.82752279e-01 9.23849549e-01 -1.64434820e-03 -8.16994356e+01] [-4.04325494e-03 1.04746182e-04 9.99991821e-01 -3.23032054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38655999499997 meters 0.053658003996278375 Centerline is valid? [True, True] Translation: X:427.73, Y:-81.71, Z:-3.23 [[ 9.22726562e-01 3.85443692e-01 2.97527972e-03 4.27726516e+02] [-3.85441425e-01 9.22731356e-01 -1.32397195e-03 -8.17148283e+01] [-3.25570052e-03 7.48680330e-05 9.99994697e-01 -3.23086459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.446559995 meters 0.053326601176163106 Centerline is valid? [True, True] Translation: X:427.78, Y:-81.74, Z:-3.23 [[ 9.21984804e-01 3.87219170e-01 2.30993176e-03 4.27783054e+02] [-3.87217810e-01 9.21987696e-01 -1.02751833e-03 -8.17380743e+01] [-2.52760345e-03 5.29095708e-05 9.99996804e-01 -3.23224595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.506559995 meters 0.0536431663716917 Centerline is valid? [True, True] Translation: X:427.84, Y:-81.75, Z:-3.23 [[ 9.23986100e-01 3.82425691e-01 -5.27111864e-04 4.27844056e+02] [-3.82425619e-01 9.23986250e-01 2.34835991e-04 -8.17523155e+01] [ 5.76851431e-04 -1.54041102e-05 9.99999834e-01 -3.23244634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.566559995 meters 0.054170305824337885 Centerline is valid? [True, True] Translation: X:427.90, Y:-81.78, Z:-3.23 [[ 9.24847174e-01 3.80338187e-01 -7.53952719e-04 4.27900114e+02] [-3.80338040e-01 9.24847481e-01 3.35869020e-04 -8.17770362e+01] [ 8.25035087e-04 -2.38706144e-05 9.99999659e-01 -3.23327980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.626559995 meters 0.05380366120389837 Centerline is valid? [True, True] Translation: X:427.96, Y:-81.80, Z:-3.23 [[ 9.28018714e-01 3.72533386e-01 -3.76537752e-04 4.27957187e+02] [-3.72533349e-01 9.28018791e-01 1.67756435e-04 -8.17998657e+01] [ 4.11928982e-04 -1.54082419e-05 9.99999915e-01 -3.23248931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.686559995 meters 0.05499765678340633 Centerline is valid? [True, True] Translation: X:428.01, Y:-81.83, Z:-3.23 [[ 9.29869734e-01 3.67888826e-01 -3.00658516e-04 4.28010003e+02] [-3.67888802e-01 9.29869782e-01 1.33860460e-04 -8.18278316e+01] [ 3.28819037e-04 -1.38638891e-05 9.99999946e-01 -3.23367913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.746559995 meters 0.0549561706431458 Centerline is valid? [True, True] Translation: X:428.07, Y:-81.84, Z:-3.23 [[ 9.31383732e-01 3.64038888e-01 1.80321212e-04 4.28069663e+02] [-3.64038879e-01 9.31383749e-01 -8.02391568e-05 -8.18426584e+01] [-1.97158420e-04 9.08951332e-06 9.99999981e-01 -3.23359388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.806559995 meters 0.05502895191143671 Centerline is valid? [True, True] Translation: X:428.13, Y:-81.86, Z:-3.23 [[ 9.30952848e-01 3.65138028e-01 1.00774520e-03 4.28128763e+02] [-3.65137756e-01 9.30953392e-01 -4.48591837e-04 -8.18606868e+01] [-1.10196175e-03 4.96520262e-05 9.99999392e-01 -3.23280073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86655999499993 meters 0.05583064434665161 Centerline is valid? [True, True] Translation: X:428.18, Y:-81.89, Z:-3.24 [[ 9.28678837e-01 3.70883147e-01 1.14357837e-03 4.28179809e+02] [-3.70882801e-01 9.28679540e-01 -5.09092666e-04 -8.18926867e+01] [-1.25083173e-03 4.86500343e-05 9.99999217e-01 -3.23587139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92655999499993 meters 0.05459183704123173 Centerline is valid? [True, True] Translation: X:428.24, Y:-81.90, Z:-3.23 [[ 9.25221080e-01 3.79421102e-01 2.36231907e-03 4.28243894e+02] [-3.79419652e-01 9.25224092e-01 -1.05184149e-03 -8.18978315e+01] [-2.58476538e-03 7.68756361e-05 9.99996657e-01 -3.23415988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98655999499994 meters 0.05481258697315827 Centerline is valid? [True, True] Translation: X:428.30, Y:-81.92, Z:-3.23 [[ 9.22836113e-01 3.85177090e-01 3.48101026e-03 4.28302181e+02] [-3.85173981e-01 9.22842674e-01 -1.55001650e-03 -8.19170574e+01] [-3.80945566e-03 8.96166271e-05 9.99992740e-01 -3.23408574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04655999499994 meters 0.05395309279043062 Centerline is valid? [True, True] Translation: X:428.36, Y:-81.94, Z:-3.23 [[ 9.19990446e-01 3.91914990e-01 4.49660592e-03 4.28359574e+02] [-3.91909883e-01 9.20001432e-01 -2.00240434e-03 -8.19360332e+01] [-4.92165616e-03 7.99285604e-05 9.99987885e-01 -3.23423112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10655999499994 meters 0.05423029819938026 Centerline is valid? [True, True] Translation: X:428.42, Y:-81.96, Z:-3.24 [[ 9.18641020e-01 3.95064254e-01 4.78664579e-03 4.28416195e+02] [-3.95058509e-01 9.18653488e-01 -2.13149029e-03 -8.19596426e+01] [-5.23934447e-03 6.70692612e-05 9.99986272e-01 -3.23616905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16655999499994 meters 0.05429552477366466 Centerline is valid? [True, True] Translation: X:428.47, Y:-81.98, Z:-3.24 [[ 9.18700849e-01 3.94923396e-01 4.92558755e-03 4.28474240e+02] [-3.94917310e-01 9.18714051e-01 -2.19347813e-03 -8.19814047e+01] [-5.39146232e-03 6.99504354e-05 9.99985464e-01 -3.23651017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22655999499995 meters 0.05385551522192034 Centerline is valid? [True, True] Translation: X:428.53, Y:-82.00, Z:-3.24 [[ 9.19452087e-01 3.93180006e-01 4.16448146e-03 4.28531409e+02] [-3.93175637e-01 9.19461515e-01 -1.85481685e-03 -8.20042802e+01] [-4.55835733e-03 6.80425738e-05 9.99989608e-01 -3.23766009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28655999499995 meters 0.055003254460236774 Centerline is valid? [True, True] Translation: X:428.59, Y:-82.03, Z:-3.24 [[ 9.20918035e-01 3.89740046e-01 3.55936210e-03 4.28588385e+02] [-3.89736826e-01 9.20924911e-01 -1.58595244e-03 -8.20257858e+01] [-3.89601440e-03 7.33177141e-05 9.99992408e-01 -3.23789283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34655999499995 meters 0.05438390496013824 Centerline is valid? [True, True] Translation: X:428.64, Y:-82.05, Z:-3.24 [[ 9.22516502e-01 3.85940736e-01 3.61270278e-03 4.28644153e+02] [-3.85937389e-01 9.22523572e-01 -1.60972419e-03 -8.20498158e+01] [-3.95406161e-03 9.07200542e-05 9.99992179e-01 -3.23872513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40655999499995 meters 0.05454517821180022 Centerline is valid? [True, True] Translation: X:428.70, Y:-82.07, Z:-3.24 [[ 9.25314639e-01 3.79173808e-01 4.47685045e-03 4.28698545e+02] [-3.79168589e-01 9.25325457e-01 -1.99483265e-03 -8.20749816e+01] [-4.89893198e-03 1.48366778e-04 9.99987989e-01 -3.23924549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46655999499995 meters 0.05534098105155818 Centerline is valid? [True, True] Translation: X:428.75, Y:-82.10, Z:-3.24 [[ 9.27023754e-01 3.74978639e-01 4.24024521e-03 4.28754414e+02] [-3.74973913e-01 9.27033437e-01 -1.88961194e-03 -8.20981653e+01] [-4.63941320e-03 1.61733813e-04 9.99989225e-01 -3.23990276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52655999499996 meters 0.05568812211805822 Centerline is valid? [True, True] Translation: X:428.81, Y:-82.12, Z:-3.24 [[ 9.28033491e-01 3.72473446e-01 4.16779603e-03 4.28810766e+02] [-3.72468854e-01 9.28042834e-01 -1.85746892e-03 -8.21210861e+01] [-4.55975109e-03 1.71419156e-04 9.99989590e-01 -3.24052514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58655999499996 meters 0.05573496571094023 Centerline is valid? [True, True] Translation: X:428.87, Y:-82.14, Z:-3.24 [[ 9.28481560e-01 3.71353245e-01 4.33129640e-03 4.28869223e+02] [-3.71348274e-01 9.28491644e-01 -1.93030743e-03 -8.21410066e+01] [-4.73839844e-03 1.83835417e-04 9.99988757e-01 -3.24107536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64655999499996 meters 0.05627706167685739 Centerline is valid? [True, True] Translation: X:428.93, Y:-82.16, Z:-3.24 [[ 9.27897260e-01 3.72815644e-01 3.89493052e-03 4.28926749e+02] [-3.72811636e-01 9.27905421e-01 -1.73603761e-03 -8.21599296e+01] [-4.26134913e-03 1.58789125e-04 9.99990908e-01 -3.24211916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70655999499996 meters 0.055819399743303515 Centerline is valid? [True, True] Translation: X:428.99, Y:-82.18, Z:-3.24 [[ 9.26188005e-01 3.77044160e-01 3.67169469e-03 4.28986223e+02] [-3.77040631e-01 9.26195273e-01 -1.63658377e-03 -8.21751612e+01] [-4.01777062e-03 1.31406171e-04 9.99991920e-01 -3.24299698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76655999499997 meters 0.055563560134514696 Centerline is valid? [True, True] Translation: X:429.04, Y:-82.19, Z:-3.24 [[ 9.24725025e-01 3.80619770e-01 3.49567930e-03 4.29044119e+02] [-3.80616596e-01 9.24731625e-01 -1.55809880e-03 -8.21939794e+01] [-3.82560841e-03 1.10299391e-04 9.99992676e-01 -3.24382753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82655999499997 meters 0.055791753124292784 Centerline is valid? [True, True] Translation: X:429.10, Y:-82.21, Z:-3.24 [[ 9.22702871e-01 3.85499537e-01 3.08537317e-03 4.29103690e+02] [-3.85497092e-01 9.22708026e-01 -1.37527662e-03 -8.22106465e+01] [-3.37706708e-03 7.95692986e-05 9.99994295e-01 -3.24355614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88655999499997 meters 0.056010359643136616 Centerline is valid? [True, True] Translation: X:429.16, Y:-82.23, Z:-3.24 [[ 9.21578181e-01 3.88168999e-01 4.29924994e-03 4.29162684e+02] [-3.88164281e-01 9.21588204e-01 -1.91640580e-03 -8.22293996e+01] [-4.70602736e-03 9.73025087e-05 9.99988922e-01 -3.24353651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.946559995 meters 0.05567295152346159 Centerline is valid? [True, True] Translation: X:429.22, Y:-82.25, Z:-3.24 [[ 9.21224091e-01 3.89011609e-01 4.01784797e-03 4.29220504e+02] [-3.89007497e-01 9.21232848e-01 -1.79080396e-03 -8.22497821e+01] [-4.39801705e-03 8.67587649e-05 9.99990325e-01 -3.24397984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.006559995 meters 0.05622273075782908 Centerline is valid? [True, True] Translation: X:429.28, Y:-82.27, Z:-3.24 [[ 9.21039786e-01 3.89442279e-01 4.51933529e-03 4.29280290e+02] [-3.89437078e-01 9.21050868e-01 -2.01501578e-03 -8.22684972e+01] [-4.94727003e-03 9.59129694e-05 9.99987758e-01 -3.24402502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.066559995 meters 0.05624317689328204 Centerline is valid? [True, True] Translation: X:429.34, Y:-82.29, Z:-3.25 [[ 9.20778592e-01 3.90069067e-01 3.59263756e-03 4.29336933e+02] [-3.90065784e-01 9.20785598e-01 -1.60217824e-03 -8.22914049e+01] [-3.93300910e-03 7.38864351e-05 9.99992263e-01 -3.24587072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.126559995 meters 0.05635702740114892 Centerline is valid? [True, True] Translation: X:429.40, Y:-82.31, Z:-3.25 [[ 9.20847527e-01 3.89908695e-01 3.32291181e-03 4.29396019e+02] [-3.89905882e-01 9.20853520e-01 -1.48250428e-03 -8.23125986e+01] [-3.63795634e-03 6.95375391e-05 9.99993380e-01 -3.24636872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.186559995 meters 0.05619955207821789 Centerline is valid? [True, True] Translation: X:429.45, Y:-82.34, Z:-3.25 [[ 9.21420519e-01 3.88548427e-01 3.78768230e-03 4.29453897e+02] [-3.88544761e-01 9.21428300e-01 -1.69009098e-03 -8.23361425e+01] [-4.14675986e-03 8.56003911e-05 9.99991398e-01 -3.24648638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.246559995 meters 0.05672239231172672 Centerline is valid? [True, True] Translation: X:429.51, Y:-82.35, Z:-3.25 [[ 9.22699878e-01 3.85503511e-01 3.46088993e-03 4.29514162e+02] [-3.85500428e-01 9.22706364e-01 -1.54442946e-03 -8.23473993e+01] [-3.78876815e-03 9.08703238e-05 9.99992818e-01 -3.24577961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.306559995 meters 0.056789128605912016 Centerline is valid? [True, True] Translation: X:429.57, Y:-82.38, Z:-3.25 [[ 9.24658450e-01 3.80785183e-01 3.06507753e-03 4.29565711e+02] [-3.80782739e-01 9.24663525e-01 -1.36799681e-03 -8.23803641e+01] [-3.35507831e-03 9.78011999e-05 9.99994367e-01 -3.24809138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36655999499993 meters 0.05661768965024374 Centerline is valid? [True, True] Translation: X:429.62, Y:-82.40, Z:-3.25 [[ 9.26017819e-01 3.77465691e-01 3.26341445e-03 4.29624978e+02] [-3.77462899e-01 9.26023562e-01 -1.45662791e-03 -8.23965379e+01] [-3.57182574e-03 1.17045527e-04 9.99993614e-01 -3.24725508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42655999499993 meters 0.05705907580869871 Centerline is valid? [True, True] Translation: X:429.68, Y:-82.43, Z:-3.25 [[ 9.26948663e-01 3.75178892e-01 2.64116052e-03 4.29678143e+02] [-3.75177054e-01 9.26952420e-01 -1.17884818e-03 -8.24253059e+01] [-2.89050909e-03 1.01828923e-04 9.99995817e-01 -3.24837914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48655999499994 meters 0.05694980298915088 Centerline is valid? [True, True] Translation: X:429.74, Y:-82.44, Z:-3.25 [[ 9.26348492e-01 3.76651269e-01 3.50615022e-03 4.29736163e+02] [-3.76648039e-01 9.26355118e-01 -1.56506619e-03 -8.24427790e+01] [-3.83742437e-03 1.29212102e-04 9.99992629e-01 -3.24695836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54655999499994 meters 0.056626595087204495 Centerline is valid? [True, True] Translation: X:429.79, Y:-82.47, Z:-3.25 [[ 9.25478448e-01 3.78780942e-01 3.82633908e-03 4.29792560e+02] [-3.78777114e-01 9.25486348e-01 -1.70803438e-03 -8.24654363e+01] [-4.18819545e-03 1.31419328e-04 9.99991221e-01 -3.24718666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60655999499994 meters 0.056853132122098186 Centerline is valid? [True, True] Translation: X:429.85, Y:-82.49, Z:-3.25 [[ 9.24219256e-01 3.81849566e-01 3.11059585e-03 4.29849161e+02] [-3.81847053e-01 9.24224486e-01 -1.38851269e-03 -8.24888057e+01] [-3.40509182e-03 9.55183033e-05 9.99994198e-01 -3.24845196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66655999499994 meters 0.05695924979526469 Centerline is valid? [True, True] Translation: X:429.91, Y:-82.51, Z:-3.25 [[ 9.23084032e-01 3.84589839e-01 2.55466580e-03 4.29908122e+02] [-3.84588155e-01 9.23087564e-01 -1.14042132e-03 -8.25063911e+01] [-2.79677469e-03 7.02105011e-05 9.99996087e-01 -3.24878315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72655999499995 meters 0.05684676978308181 Centerline is valid? [True, True] Translation: X:429.97, Y:-82.53, Z:-3.25 [[ 9.21494321e-01 3.88380071e-01 3.02261760e-03 4.29965510e+02] [-3.88377733e-01 9.21499276e-01 -1.34936057e-03 -8.25281905e+01] [-3.30940468e-03 6.95107347e-05 9.99994521e-01 -3.24759620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78655999499995 meters 0.05680022196489039 Centerline is valid? [True, True] Translation: X:430.02, Y:-82.55, Z:-3.25 [[ 9.20345266e-01 3.91105247e-01 1.13027611e-03 4.30021711e+02] [-3.91104922e-01 9.20345960e-01 -5.04378559e-04 -8.25522853e+01] [-1.23751015e-03 2.21458704e-05 9.99999234e-01 -3.24905813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84655999499995 meters 0.056795920776120924 Centerline is valid? [True, True] Translation: X:430.08, Y:-82.58, Z:-3.25 [[ 9.19949904e-01 3.92035290e-01 7.11065941e-04 4.30078716e+02] [-3.92035162e-01 9.19950179e-01 -3.16684173e-04 -8.25779193e+01] [-7.78296611e-04 1.25707235e-05 9.99999697e-01 -3.24948300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90655999499995 meters 0.056349120688196516 Centerline is valid? [True, True] Translation: X:430.13, Y:-82.61, Z:-3.25 [[ 9.20235522e-01 3.91364563e-01 6.02764395e-04 4.30133547e+02] [-3.91364471e-01 9.20235719e-01 -2.68390625e-04 -8.26050586e+01] [-6.59723906e-04 1.10820179e-05 9.99999782e-01 -3.25036019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96655999499995 meters 0.056956840840566944 Centerline is valid? [True, True] Translation: X:430.19, Y:-82.63, Z:-3.25 [[ 9.21499041e-01 3.88380598e-01 1.70427789e-04 4.30188268e+02] [-3.88380591e-01 9.21499056e-01 -7.60140805e-05 -8.26319083e+01] [-1.86571441e-04 3.85605690e-06 9.99999983e-01 -3.25117790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02655999499996 meters 0.05737100451566567 Centerline is valid? [True, True] Translation: X:430.24, Y:-82.66, Z:-3.25 [[ 9.22600192e-01 3.85757459e-01 -2.60905510e-04 4.30244127e+02] [-3.85757441e-01 9.22600229e-01 1.16699926e-04 -8.26568485e+01] [ 2.85729350e-04 -7.02113177e-06 9.99999959e-01 -3.25013860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08655999499996 meters 0.05716359952269438 Centerline is valid? [True, True] Translation: X:430.30, Y:-82.69, Z:-3.25 [[ 9.24051345e-01 3.82267276e-01 9.17295265e-04 4.30295965e+02] [-3.82267057e-01 9.24051800e-01 -4.09777017e-04 -8.26868906e+01] [-1.00427269e-03 2.80032416e-05 9.99999495e-01 -3.25033334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14655999499996 meters 0.056959746675221246 Centerline is valid? [True, True] Translation: X:430.35, Y:-82.71, Z:-3.25 [[ 9.24318401e-01 3.81620165e-01 1.24252707e-03 4.30354516e+02] [-3.81619764e-01 9.24319235e-01 -5.54405867e-04 -8.27091863e+01] [-1.36006413e-03 3.82746554e-05 9.99999074e-01 -3.24998159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20655999499996 meters 0.057092155146035994 Centerline is valid? [True, True] Translation: X:430.41, Y:-82.74, Z:-3.25 [[ 9.23754857e-01 3.82982742e-01 1.08825087e-03 4.30409662e+02] [-3.82982435e-01 9.23755497e-01 -4.85637226e-04 -8.27370978e+01] [-1.19126840e-03 3.18287794e-05 9.99999290e-01 -3.25124944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26655999499997 meters 0.05717130034236543 Centerline is valid? [True, True] Translation: X:430.47, Y:-82.76, Z:-3.25 [[ 9.23172149e-01 3.84383981e-01 1.46229325e-03 4.30467052e+02] [-3.84383428e-01 9.23173306e-01 -6.53634189e-04 -8.27592162e+01] [-1.60119660e-03 4.13355884e-05 9.99998717e-01 -3.25048466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32655999499997 meters 0.056975162103631065 Centerline is valid? [True, True] Translation: X:430.52, Y:-82.79, Z:-3.25 [[ 9.21443473e-01 3.88508814e-01 1.68129363e-03 4.30520099e+02] [-3.88508089e-01 9.21445007e-01 -7.51676027e-04 -8.27866185e+01] [-1.84125238e-03 3.94307962e-05 9.99998304e-01 -3.25193859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38655999499997 meters 0.056889732157561865 Centerline is valid? [True, True] Translation: X:430.57, Y:-82.81, Z:-3.25 [[ 9.19144476e-01 3.93917661e-01 1.51919697e-03 4.30574398e+02] [-3.93917076e-01 9.19145731e-01 -6.79216447e-04 -8.28107511e+01] [-1.66391876e-03 2.58604165e-05 9.99998615e-01 -3.25273270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.446559995 meters 0.056911646347136816 Centerline is valid? [True, True] Translation: X:430.63, Y:-82.83, Z:-3.25 [[ 9.18235686e-01 3.96031467e-01 1.51714543e-03 4.30631928e+02] [-3.96030888e-01 9.18236939e-01 -6.77615707e-04 -8.28346011e+01] [-1.66145612e-03 2.13744738e-05 9.99998620e-01 -3.25241386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.506559995 meters 0.05632814162724794 Centerline is valid? [True, True] Translation: X:430.69, Y:-82.86, Z:-3.25 [[ 9.16649435e-01 3.99688077e-01 1.80409996e-03 4.30687993e+02] [-3.99687263e-01 9.16651210e-01 -8.06620238e-04 -8.28603016e+01] [-1.97612690e-03 1.83122095e-05 9.99998047e-01 -3.25294286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.566559995 meters 0.056575015352344986 Centerline is valid? [True, True] Translation: X:430.74, Y:-82.89, Z:-3.25 [[ 9.14752126e-01 4.04015350e-01 -3.81789955e-04 4.30744499e+02] [-4.04015314e-01 9.14752205e-01 1.71689305e-04 -8.28868668e+01] [ 4.18608318e-04 -2.80416817e-06 9.99999912e-01 -3.25431675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.626559995 meters 0.05659652558866598 Centerline is valid? [True, True] Translation: X:430.80, Y:-82.91, Z:-3.26 [[ 9.14702909e-01 4.04124552e-01 -1.39086055e-03 4.30800291e+02] [-4.04124072e-01 9.14703967e-01 6.22618717e-04 -8.29148936e+01] [ 1.52384117e-03 -7.43092286e-06 9.99998839e-01 -3.25549174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.686559995 meters 0.057029872120346985 Centerline is valid? [True, True] Translation: X:430.85, Y:-82.95, Z:-3.25 [[ 9.16817843e-01 3.99302556e-01 -1.58497542e-03 4.30853798e+02] [-3.99301926e-01 9.16819212e-01 7.09482341e-04 -8.29477380e+01] [ 1.73643403e-03 -1.75823294e-05 9.99998492e-01 -3.25348511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.746559995 meters 0.05610634551218985 Centerline is valid? [True, True] Translation: X:430.90, Y:-82.98, Z:-3.25 [[ 9.19557341e-01 3.92955093e-01 -7.68960281e-04 4.30904024e+02] [-3.92954943e-01 9.19557662e-01 3.44154515e-04 -8.29832846e+01] [ 8.42340588e-04 -1.43030673e-05 9.99999645e-01 -3.25410797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.806559995 meters 0.05610634551218985 Centerline is valid? [True, True] Translation: X:430.96, Y:-83.01, Z:-3.25 [[ 9.19509535e-01 3.93066946e-01 -7.68576992e-04 4.30961084e+02] [-3.93066795e-01 9.19509856e-01 3.45010931e-04 -8.30087981e+01] [ 8.42326513e-04 -1.51387463e-05 9.99999645e-01 -3.25456858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86655999499993 meters 0.05708563568529535 Centerline is valid? [True, True] Translation: X:431.01, Y:-83.04, Z:-3.25 [[ 9.21878862e-01 3.87477712e-01 -6.21810751e-04 4.31013643e+02] [-3.87477612e-01 9.21879072e-01 2.78444750e-04 -8.30389495e+01] [ 6.81125453e-04 -1.57545844e-05 9.99999768e-01 -3.25437590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92655999499993 meters 0.05745819702110092 Centerline is valid? [True, True] Translation: X:431.07, Y:-83.07, Z:-3.25 [[ 9.22656014e-01 3.85623774e-01 -4.29841695e-04 4.31068803e+02] [-3.85623726e-01 9.22656114e-01 1.92683540e-04 -8.30682037e+01] [ 4.70899422e-04 -1.20234709e-05 9.99999889e-01 -3.25458292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98655999499994 meters 0.05740526607150134 Centerline is valid? [True, True] Translation: X:431.12, Y:-83.10, Z:-3.25 [[ 9.22500194e-01 3.85994858e-01 -1.16716376e-03 4.31124643e+02] [-3.85994504e-01 9.22500931e-01 5.23627534e-04 -8.30960093e+01] [ 1.27882720e-03 -3.25277028e-05 9.99999182e-01 -3.25461959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04655999499994 meters 0.05724260986734977 Centerline is valid? [True, True] Translation: X:431.18, Y:-83.12, Z:-3.25 [[ 9.22150381e-01 3.86827075e-01 -1.86774443e-03 4.31180521e+02] [-3.86826171e-01 9.22152271e-01 8.37468867e-04 -8.31234101e+01] [ 2.04630040e-03 -4.97798075e-05 9.99997905e-01 -3.25471212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10655999499994 meters 0.057049443731955696 Centerline is valid? [True, True] Translation: X:431.24, Y:-83.15, Z:-3.25 [[ 9.21517932e-01 3.88332025e-01 -1.71436061e-03 4.31237532e+02] [-3.88331267e-01 9.21519526e-01 7.68343741e-04 -8.31486803e+01] [ 1.87818926e-03 -4.23027063e-05 9.99998235e-01 -3.25387632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16655999499994 meters 0.05711960175530573 Centerline is valid? [True, True] Translation: X:431.29, Y:-83.17, Z:-3.25 [[ 9.19852562e-01 3.92262722e-01 -1.10537974e-03 4.31293331e+02] [-3.92262410e-01 9.19853226e-01 4.95274018e-04 -8.31726286e+01] [ 1.21106465e-03 -2.19801529e-05 9.99999266e-01 -3.25421526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22655999499995 meters 0.05673748744203292 Centerline is valid? [True, True] Translation: X:431.35, Y:-83.20, Z:-3.25 [[ 9.17952249e-01 3.96690405e-01 -6.24551487e-04 4.31348071e+02] [-3.96690307e-01 9.17952462e-01 2.79724724e-04 -8.31954658e+01] [ 6.84272689e-04 -9.02041851e-06 9.99999766e-01 -3.25398440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28655999499995 meters 0.056100485197647425 Centerline is valid? [True, True] Translation: X:431.40, Y:-83.22, Z:-3.26 [[ 9.14475475e-01 4.04641109e-01 -4.22931356e-04 4.31404593e+02] [-4.04641064e-01 9.14475573e-01 1.89761452e-04 -8.32199760e+01] [ 4.63545678e-04 -2.39680007e-06 9.99999893e-01 -3.25549700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34655999499995 meters 0.056399441326624174 Centerline is valid? [True, True] Translation: X:431.46, Y:-83.24, Z:-3.25 [[ 9.11370650e-01 4.11584507e-01 -1.31644716e-03 4.31461762e+02] [-4.11584082e-01 9.11371600e-01 5.91057249e-04 -8.32428953e+01] [ 1.44304256e-03 3.15646698e-06 9.99998959e-01 -3.25306028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40655999499995 meters 0.05599562736519537 Centerline is valid? [True, True] Translation: X:431.52, Y:-83.26, Z:-3.26 [[ 9.06284819e-01 4.22665775e-01 -1.21218357e-03 4.31519791e+02] [-4.22665427e-01 9.06285629e-01 5.43436737e-04 -8.32631275e+01] [ 1.32827666e-03 1.98396206e-05 9.99999118e-01 -3.25549541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46655999499995 meters 0.05597707691572386 Centerline is valid? [True, True] Translation: X:431.57, Y:-83.29, Z:-3.25 [[ 9.03621778e-01 4.28330807e-01 -6.34634890e-04 4.31574528e+02] [-4.28330713e-01 9.03622000e-01 2.84686011e-04 -8.32871656e+01] [ 6.95409837e-04 1.45851358e-05 9.99999758e-01 -3.25494271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52655999499996 meters 0.0566824687580874 Centerline is valid? [True, True] Translation: X:431.63, Y:-83.31, Z:-3.26 [[ 9.02694466e-01 4.30281664e-01 -6.24449734e-04 4.31632047e+02] [-4.30281573e-01 9.02694682e-01 2.80168791e-04 -8.33086864e+01] [ 6.84238948e-04 1.57823964e-05 9.99999766e-01 -3.25735696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58655999499996 meters 0.05607772628278404 Centerline is valid? [True, True] Translation: X:431.68, Y:-83.34, Z:-3.26 [[ 9.04579114e-01 4.26304987e-01 -8.27352236e-04 4.31683480e+02] [-4.26304826e-01 9.04579492e-01 3.70941145e-04 -8.33435367e+01] [ 9.06539926e-04 1.71586386e-05 9.99999589e-01 -3.25692485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64655999499996 meters 0.05549698616662682 Centerline is valid? [True, True] Translation: X:431.74, Y:-83.37, Z:-3.26 [[ 9.06267496e-01 4.22702779e-01 -1.25948075e-03 4.31735831e+02] [-4.22702402e-01 9.06268371e-01 5.64681087e-04 -8.33742865e+01] [ 1.38011983e-03 2.06334226e-05 9.99999047e-01 -3.25742518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70655999499996 meters 0.05504081341158356 Centerline is valid? [True, True] Translation: X:431.79, Y:-83.41, Z:-3.26 [[ 9.07828889e-01 4.19338012e-01 -1.52966732e-03 4.31789042e+02] [-4.19337451e-01 9.07830177e-01 6.86080264e-04 -8.34064748e+01] [ 1.67637769e-03 1.86033128e-05 9.99998595e-01 -3.25849286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76655999499997 meters 0.05548982649183378 Centerline is valid? [True, True] Translation: X:431.84, Y:-83.44, Z:-3.26 [[ 9.07760724e-01 4.19485356e-01 -1.58262970e-03 4.31843968e+02] [-4.19484754e-01 9.07762103e-01 7.10903114e-04 -8.34372072e+01] [ 1.73486471e-03 1.85591064e-05 9.99998495e-01 -3.25853702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82655999499997 meters 0.05502915331195955 Centerline is valid? [True, True] Translation: X:431.90, Y:-83.47, Z:-3.26 [[ 9.06425574e-01 4.22363820e-01 -1.21754999e-03 4.31898254e+02] [-4.22363467e-01 9.06426391e-01 5.46471226e-04 -8.34677113e+01] [ 1.33442912e-03 1.89131416e-05 9.99999109e-01 -3.25920733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88655999499997 meters 0.05485114126430481 Centerline is valid? [True, True] Translation: X:431.95, Y:-83.50, Z:-3.26 [[ 9.04812480e-01 4.25804716e-01 -2.17259592e-03 4.31951345e+02] [-4.25803603e-01 9.04815087e-01 9.74511610e-04 -8.34959362e+01] [ 2.38074920e-03 4.33489025e-05 9.99997165e-01 -3.25988902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.946559995 meters 0.05525886026398295 Centerline is valid? [True, True] Translation: X:432.00, Y:-83.52, Z:-3.26 [[ 9.02647158e-01 4.30371401e-01 -2.92677749e-03 4.32004649e+02] [-4.30369405e-01 9.02651899e-01 1.31296500e-03 -8.35245709e+01] [ 3.20692384e-03 7.44513634e-05 9.99994855e-01 -3.26189384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.006559995 meters 0.05501584892259067 Centerline is valid? [True, True] Translation: X:432.06, Y:-83.55, Z:-3.26 [[ 9.01973301e-01 4.31785045e-01 -2.41666049e-03 4.32058797e+02] [-4.31783686e-01 9.01976536e-01 1.08518812e-03 -8.35526058e+01] [ 2.64833906e-03 6.46638599e-05 9.99996491e-01 -3.26271664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.066559995 meters 0.05502450838351598 Centerline is valid? [True, True] Translation: X:432.11, Y:-83.59, Z:-3.26 [[ 9.02635187e-01 4.30403808e-01 -1.51042728e-03 4.32109134e+02] [-4.30403276e-01 9.02636450e-01 6.77794163e-04 -8.35872915e+01] [ 1.65509190e-03 3.82919864e-05 9.99998630e-01 -3.26133252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.126559995 meters 0.05405490784971509 Centerline is valid? [True, True] Translation: X:432.16, Y:-83.62, Z:-3.26 [[ 9.03786030e-01 4.27984398e-01 -4.08785736e-04 4.32161186e+02] [-4.27984359e-01 9.03786122e-01 1.83732985e-04 -8.36207767e+01] [ 4.48089726e-04 8.89859582e-06 9.99999900e-01 -3.25997029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.186559995 meters 0.053604719298224815 Centerline is valid? [True, True] Translation: X:432.21, Y:-83.66, Z:-3.26 [[ 9.05585936e-01 4.24162734e-01 2.96776871e-04 4.32211316e+02] [-4.24162713e-01 9.05585984e-01 -1.33141740e-04 -8.36572982e+01] [-3.25230740e-04 -5.31039550e-06 9.99999947e-01 -3.25918633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.246559995 meters 0.053786922102262505 Centerline is valid? [True, True] Translation: X:432.26, Y:-83.69, Z:-3.26 [[ 9.06951200e-01 4.21235343e-01 -5.53522254e-04 4.32263486e+02] [-4.21235270e-01 9.06951369e-01 2.48609320e-04 -8.36915201e+01] [ 6.06740798e-04 7.68657500e-06 9.99999816e-01 -3.26007093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.306559995 meters 0.053423999145420877 Centerline is valid? [True, True] Translation: X:432.32, Y:-83.72, Z:-3.26 [[ 9.07701249e-01 4.19614241e-01 -1.52673153e-03 4.32317078e+02] [-4.19613680e-01 9.07702533e-01 6.86312353e-04 -8.37232013e+01] [ 1.67380451e-03 1.76708561e-05 9.99998599e-01 -3.26129774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36655999499993 meters 0.05353398273676958 Centerline is valid? [True, True] Translation: X:432.37, Y:-83.75, Z:-3.26 [[ 9.07980008e-01 4.19009210e-01 -1.89406198e-03 4.32372293e+02] [-4.19008345e-01 9.07981983e-01 8.51488926e-04 -8.37520588e+01] [ 2.07655586e-03 2.04928552e-05 9.99997844e-01 -3.26163938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42655999499993 meters 0.052980568675126634 Centerline is valid? [True, True] Translation: X:432.43, Y:-83.79, Z:-3.26 [[ 9.08498351e-01 4.17875598e-01 -3.27573688e-03 4.32425385e+02] [-4.17873005e-01 9.08504256e-01 1.47259507e-03 -8.37877889e+01] [ 3.59138245e-03 3.09918225e-05 9.99993550e-01 -3.26115763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48655999499994 meters 0.05323368207827709 Centerline is valid? [True, True] Translation: X:432.48, Y:-83.82, Z:-3.26 [[ 9.08805453e-01 4.17209240e-01 -3.01641425e-03 4.32479195e+02] [-4.17207036e-01 9.08810459e-01 1.35624541e-03 -8.38170198e+01] [ 3.30718694e-03 2.59060232e-05 9.99994531e-01 -3.26338839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54655999499994 meters 0.05292362113823438 Centerline is valid? [True, True] Translation: X:432.53, Y:-83.86, Z:-3.26 [[ 9.10736450e-01 4.12987758e-01 -4.80205553e-04 4.32529742e+02] [-4.12987701e-01 9.10736577e-01 2.16049558e-04 -8.38557475e+01] [ 5.26566584e-04 1.55477964e-06 9.99999861e-01 -3.26232246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60655999499994 meters 0.05272391414263439 Centerline is valid? [True, True] Translation: X:432.58, Y:-83.89, Z:-3.26 [[ 9.12068295e-01 4.10038071e-01 4.53817993e-04 4.32583159e+02] [-4.10038021e-01 9.12068408e-01 -2.03072838e-04 -8.38879094e+01] [-4.97180649e-04 -8.66334403e-07 9.99999876e-01 -3.26115892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66655999499994 meters 0.05255741151111571 Centerline is valid? [True, True] Translation: X:432.64, Y:-83.92, Z:-3.26 [[ 9.13277948e-01 4.07335468e-01 1.09875488e-03 4.32636683e+02] [-4.07335169e-01 9.13278609e-01 -4.93357049e-04 -8.39191526e+01] [-1.20443116e-03 3.01060740e-06 9.99999275e-01 -3.26126578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72655999499995 meters 0.05241969421512429 Centerline is valid? [True, True] Translation: X:432.69, Y:-83.95, Z:-3.26 [[ 9.13810438e-01 4.06139021e-01 1.25687311e-03 4.32690363e+02] [-4.06138628e-01 9.13811302e-01 -5.64832503e-04 -8.39505539e+01] [-1.37794537e-03 5.68511819e-06 9.99999051e-01 -3.26135739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78655999499995 meters 0.05267782026591148 Centerline is valid? [True, True] Translation: X:432.75, Y:-83.98, Z:-3.26 [[ 9.13094808e-01 4.07746053e-01 1.01353941e-03 4.32745339e+02] [-4.07745799e-01 9.13095371e-01 -4.54997349e-04 -8.39784394e+01] [-1.11098152e-03 2.18928061e-06 9.99999383e-01 -3.26298685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84655999499995 meters 0.05258816282987326 Centerline is valid? [True, True] Translation: X:432.80, Y:-84.01, Z:-3.26 [[ 9.11982977e-01 4.10227978e-01 -2.35090283e-04 4.32799586e+02] [-4.10227964e-01 9.11983007e-01 1.06644572e-04 -8.40069506e+01] [ 2.58146930e-04 -8.17425649e-07 9.99999967e-01 -3.26336908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90655999499995 meters 0.05236566101507832 Centerline is valid? [True, True] Translation: X:432.85, Y:-84.04, Z:-3.27 [[ 9.11719764e-01 4.10812256e-01 -6.01217708e-04 4.32854499e+02] [-4.10812167e-01 9.11719962e-01 2.70857669e-04 -8.40354077e+01] [ 6.59413836e-04 4.12592298e-08 9.99999783e-01 -3.26604082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96655999499995 meters 0.05255340398892646 Centerline is valid? [True, True] Translation: X:432.91, Y:-84.07, Z:-3.26 [[ 9.11902198e-01 4.10407493e-01 2.67095390e-04 4.32907634e+02] [-4.10407476e-01 9.11902237e-01 -1.19384116e-04 -8.40653792e+01] [-2.92561019e-04 -7.51307053e-07 9.99999957e-01 -3.26412823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02655999499996 meters 0.0521395028176486 Centerline is valid? [True, True] Translation: X:432.96, Y:-84.10, Z:-3.26 [[ 9.12396250e-01 4.09305400e-01 1.47424517e-03 4.32961989e+02] [-4.09304863e-01 9.12397441e-01 -6.63330155e-04 -8.40956295e+01] [-1.61660214e-03 1.80422762e-06 9.99998693e-01 -3.26316874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08655999499996 meters 0.052467955473746795 Centerline is valid? [True, True] Translation: X:433.02, Y:-84.12, Z:-3.26 [[ 9.12606491e-01 4.08832090e-01 2.39073799e-03 4.33017296e+02] [-4.08830674e-01 9.12609622e-01 -1.07587127e-03 -8.41238458e+01] [-2.62166119e-03 4.44007990e-06 9.99996563e-01 -3.26377407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14655999499996 meters 0.05228750885360039 Centerline is valid? [True, True] Translation: X:433.07, Y:-84.15, Z:-3.26 [[ 9.12197590e-01 4.09739725e-01 2.98578146e-03 4.33072433e+02] [-4.09737521e-01 9.12202476e-01 -1.34397861e-03 -8.41502685e+01] [-3.27431867e-03 2.58735386e-06 9.99994639e-01 -3.26323172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20655999499996 meters 0.051527657141847524 Centerline is valid? [True, True] Translation: X:433.13, Y:-84.18, Z:-3.26 [[ 9.10779448e-01 4.12877730e-01 3.57447931e-03 4.33130089e+02] [-4.12874593e-01 9.10786462e-01 -1.60936851e-03 -8.41767739e+01] [-3.92005978e-03 -1.00319258e-05 9.99992316e-01 -3.26453057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26655999499997 meters 0.05148668329772779 Centerline is valid? [True, True] Translation: X:433.19, Y:-84.20, Z:-3.27 [[ 9.08985964e-01 4.16820585e-01 2.26218093e-03 4.33187117e+02] [-4.16819342e-01 9.08988778e-01 -1.01820578e-03 -8.42019081e+01] [-2.48070621e-03 -1.73859997e-05 9.99996923e-01 -3.26651511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32655999499997 meters 0.05147103630220329 Centerline is valid? [True, True] Translation: X:433.24, Y:-84.23, Z:-3.27 [[ 9.07937221e-01 4.19102425e-01 1.77788898e-03 4.33242816e+02] [-4.19101661e-01 9.07938961e-01 -8.00311041e-04 -8.42284036e+01] [-1.94962698e-03 -1.84840439e-05 9.99998099e-01 -3.26705906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38655999499997 meters 0.05196702110326175 Centerline is valid? [True, True] Translation: X:433.30, Y:-84.25, Z:-3.27 [[ 9.07340467e-01 4.20390948e-01 2.17427657e-03 4.33298497e+02] [-4.20389808e-01 9.07343072e-01 -9.79454155e-04 -8.42539650e+01] [-2.38456844e-03 -2.53453192e-05 9.99997157e-01 -3.26824670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.446559995 meters 0.05162958500864767 Centerline is valid? [True, True] Translation: X:433.35, Y:-84.28, Z:-3.27 [[ 9.07062271e-01 4.20992030e-01 1.93581066e-03 4.33353141e+02] [-4.20991128e-01 9.07064336e-01 -8.71889506e-04 -8.42825341e+01] [-2.12296335e-03 -2.41010389e-05 9.99997746e-01 -3.26838580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.506559995 meters 0.051716880538685596 Centerline is valid? [True, True] Translation: X:433.41, Y:-84.31, Z:-3.27 [[ 9.06952761e-01 4.21224709e-01 2.53651771e-03 4.33409578e+02] [-4.21223159e-01 9.06956307e-01 -1.14309143e-03 -8.43100663e+01] [-2.78200909e-03 -3.17100779e-05 9.99996130e-01 -3.26922508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.566559995 meters 0.05134988597610267 Centerline is valid? [True, True] Translation: X:433.46, Y:-84.34, Z:-3.27 [[ 9.06432766e-01 4.22338922e-01 3.07829146e-03 4.33464735e+02] [-4.22336645e-01 9.06437992e-01 -1.38759861e-03 -8.43386168e+01] [-3.37631723e-03 -4.23104380e-05 9.99994299e-01 -3.26954644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.626559995 meters 0.05206057504013693 Centerline is valid? [True, True] Translation: X:433.52, Y:-84.36, Z:-3.27 [[ 9.05921496e-01 4.23437871e-01 2.57156211e-03 4.33520886e+02] [-4.23436285e-01 9.05925145e-01 -1.15942353e-03 -8.43618268e+01] [-2.82058660e-03 -3.85460090e-05 9.99996021e-01 -3.27151348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.686559995 meters 0.051179171928861476 Centerline is valid? [True, True] Translation: X:433.58, Y:-84.39, Z:-3.27 [[ 9.05128975e-01 4.25134412e-01 1.50695102e-03 4.33575729e+02] [-4.25133869e-01 9.05130229e-01 -6.79563615e-04 -8.43904229e+01] [-1.65289280e-03 -2.55631984e-05 9.99998634e-01 -3.27195062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.746559995 meters 0.051367156725841835 Centerline is valid? [True, True] Translation: X:433.63, Y:-84.42, Z:-3.27 [[ 9.04827052e-01 4.25778371e-01 8.86027252e-04 4.33632963e+02] [-4.25778184e-01 9.04827486e-01 -3.99043367e-04 -8.44156098e+01] [-9.71605845e-04 -1.61858410e-05 9.99999528e-01 -3.27265621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.806559995 meters 0.051721179003282054 Centerline is valid? [True, True] Translation: X:433.69, Y:-84.44, Z:-3.27 [[ 9.05236510e-01 4.24906748e-01 1.05632087e-03 4.33689255e+02] [-4.24906482e-01 9.05237126e-01 -4.76112374e-04 -8.44399180e+01] [-1.15852423e-03 -1.78432801e-05 9.99999329e-01 -3.27285217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86655999499993 meters 0.0513573130977281 Centerline is valid? [True, True] Translation: X:433.75, Y:-84.47, Z:-3.27 [[ 9.05945849e-01 4.23390121e-01 1.71029818e-03 4.33745075e+02] [-4.23389419e-01 9.05947463e-01 -7.71542127e-04 -8.44678593e+01] [-1.87610362e-03 -2.51467672e-05 9.99998240e-01 -3.27132495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92655999499993 meters 0.0520715934037227 Centerline is valid? [True, True] Translation: X:433.80, Y:-84.49, Z:-3.27 [[ 9.06923462e-01 4.21292537e-01 1.55958069e-03 4.33801666e+02] [-4.21291950e-01 9.06924803e-01 -7.03681369e-04 -8.44934509e+01] [-1.71087812e-03 -1.88536481e-05 9.99998536e-01 -3.27180585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98655999499994 meters 0.052466203117872194 Centerline is valid? [True, True] Translation: X:433.86, Y:-84.52, Z:-3.27 [[ 9.08944869e-01 4.16914568e-01 1.21205388e-03 4.33857546e+02] [-4.16914209e-01 9.08945677e-01 -5.46895449e-04 -8.45183706e+01] [-1.32969981e-03 -8.22467187e-06 9.99999116e-01 -3.27344301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04655999499994 meters 0.052576458924796725 Centerline is valid? [True, True] Translation: X:433.91, Y:-84.55, Z:-3.27 [[ 9.10656942e-01 4.13163291e-01 1.67344936e-04 4.33913615e+02] [-4.13163284e-01 9.10656958e-01 -7.47542402e-05 -8.45462959e+01] [-1.83279538e-04 -1.06531562e-06 9.99999983e-01 -3.27404127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10655999499994 meters 0.05242206276432528 Centerline is valid? [True, True] Translation: X:433.97, Y:-84.57, Z:-3.27 [[ 9.12877333e-01 4.08231326e-01 1.46936426e-03 4.33969934e+02] [-4.08230786e-01 9.12878516e-01 -6.63965029e-04 -8.45729626e+01] [-1.61240239e-03 6.27889846e-06 9.99998700e-01 -3.27140603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16655999499994 meters 0.052966066257308465 Centerline is valid? [True, True] Translation: X:434.02, Y:-84.60, Z:-3.27 [[ 9.14913844e-01 4.03642759e-01 2.27599257e-03 4.34024391e+02] [-4.03641450e-01 9.14916675e-01 -1.02839979e-03 -8.46013734e+01] [-2.49744968e-03 2.22122605e-05 9.99996881e-01 -3.27285922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22655999499995 meters 0.05317033336767899 Centerline is valid? [True, True] Translation: X:434.08, Y:-84.63, Z:-3.27 [[ 9.15628629e-01 4.02015503e-01 2.78366365e-03 4.34080289e+02] [-4.02013533e-01 9.15632860e-01 -1.25870290e-03 -8.46282743e+01] [-3.05483199e-03 3.34339514e-05 9.99995333e-01 -3.27370521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28655999499995 meters 0.05315475737628538 Centerline is valid? [True, True] Translation: X:434.14, Y:-84.65, Z:-3.27 [[ 9.18238485e-01 3.96016010e-01 3.06681922e-03 4.34139192e+02] [-3.96013585e-01 9.18243604e-01 -1.38698568e-03 -8.46457441e+01] [-3.36535567e-03 5.90815521e-05 9.99994335e-01 -3.27081774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34655999499995 meters 0.053687335667280456 Centerline is valid? [True, True] Translation: X:434.20, Y:-84.67, Z:-3.27 [[ 9.20579546e-01 3.90543684e-01 2.98825901e-03 4.34196467e+02] [-3.90541353e-01 9.20584393e-01 -1.35152725e-03 -8.46682480e+01] [-3.27877504e-03 7.71496280e-05 9.99994622e-01 -3.27223973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40655999499995 meters 0.05383432309135309 Centerline is valid? [True, True] Translation: X:434.25, Y:-84.70, Z:-3.27 [[ 9.21999077e-01 3.87185355e-01 2.28113972e-03 4.34250415e+02] [-3.87183986e-01 9.22001896e-01 -1.03173418e-03 -8.46965632e+01] [-2.50268751e-03 6.80371891e-05 9.99996866e-01 -3.27432356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46655999499995 meters 0.0542440511913552 Centerline is valid? [True, True] Translation: X:434.31, Y:-84.72, Z:-3.28 [[ 9.24022347e-01 3.82337554e-01 8.35308559e-04 4.34307228e+02] [-3.82337369e-01 9.24022724e-01 -3.77692045e-04 -8.47203350e+01] [-9.16249942e-04 2.96262130e-05 9.99999580e-01 -3.27515001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52655999499996 meters 0.05431291841515599 Centerline is valid? [True, True] Translation: X:434.37, Y:-84.74, Z:-3.27 [[ 9.25045465e-01 3.79856307e-01 2.71499453e-04 4.34365522e+02] [-3.79856287e-01 9.25045505e-01 -1.22515098e-04 -8.47368234e+01] [-2.97687482e-04 1.02012618e-05 9.99999956e-01 -3.27299979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58655999499996 meters 0.05429585521543394 Centerline is valid? [True, True] Translation: X:434.42, Y:-84.76, Z:-3.27 [[ 9.25329905e-01 3.79162240e-01 7.49977344e-04 4.34421895e+02] [-3.79162089e-01 9.25330209e-01 -3.38896423e-04 -8.47621378e+01] [-8.22473419e-04 2.92280183e-05 9.99999661e-01 -3.27347786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64655999499996 meters 0.055193056902141935 Centerline is valid? [True, True] Translation: X:434.47, Y:-84.79, Z:-3.28 [[ 9.24728226e-01 3.80626575e-01 1.05799120e-03 4.34474620e+02] [-3.80626276e-01 9.24728830e-01 -4.78641542e-04 -8.47912616e+01] [-1.16053866e-03 3.99140928e-05 9.99999326e-01 -3.27619674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70655999499996 meters 0.054863133859459734 Centerline is valid? [True, True] Translation: X:434.53, Y:-84.81, Z:-3.28 [[ 9.23790426e-01 3.82896976e-01 1.07508811e-03 4.34533497e+02] [-3.82896668e-01 9.23791050e-01 -4.86358348e-04 -8.48103460e+01] [-1.17938192e-03 3.76455280e-05 9.99999304e-01 -3.27551447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76655999499997 meters 0.054021467652178023 Centerline is valid? [True, True] Translation: X:434.59, Y:-84.83, Z:-3.27 [[ 9.21530483e-01 3.88303679e-01 1.34984059e-03 4.34592089e+02] [-3.88303200e-01 9.21531471e-01 -6.10811504e-04 -8.48277279e+01] [-1.48110093e-03 3.87340008e-05 9.99998902e-01 -3.27370619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82655999499997 meters 0.05357639760295469 Centerline is valid? [True, True] Translation: X:434.65, Y:-84.85, Z:-3.27 [[ 9.19736325e-01 3.92534144e-01 1.42791696e-03 4.34649016e+02] [-3.92533613e-01 9.19737433e-01 -6.46225563e-04 -8.48485909e+01] [-1.56697428e-03 3.38517212e-05 9.99998772e-01 -3.27406096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88655999499997 meters 0.0536061987689014 Centerline is valid? [True, True] Translation: X:434.71, Y:-84.87, Z:-3.27 [[ 9.16721963e-01 3.99521347e-01 1.88017608e-03 4.34708219e+02] [-3.99520442e-01 9.16723891e-01 -8.50826261e-04 -8.48655948e+01] [-2.06352559e-03 2.88023410e-05 9.99997871e-01 -3.27417342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.946559995 meters 0.0532208222248702 Centerline is valid? [True, True] Translation: X:434.77, Y:-84.88, Z:-3.27 [[ 9.14511142e-01 4.04557544e-01 1.60140756e-03 4.34767471e+02] [-4.04556895e-01 9.14512544e-01 -7.24673247e-04 -8.48842475e+01] [-1.75767933e-03 1.48612885e-05 9.99998455e-01 -3.27380523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.006559995 meters 0.053208584721293056 Centerline is valid? [True, True] Translation: X:434.83, Y:-84.90, Z:-3.28 [[ 9.11071700e-01 4.12247749e-01 3.89023186e-04 4.34826370e+02] [-4.12247711e-01 9.11071783e-01 -1.75246709e-04 -8.49023764e+01] [-4.26673109e-04 -7.11601457e-07 9.99999909e-01 -3.27854371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.066559995 meters 0.053302157037077996 Centerline is valid? [True, True] Translation: X:434.89, Y:-84.92, Z:-3.28 [[ 9.08901027e-01 4.17011729e-01 -3.74610322e-04 4.34885862e+02] [-4.17011694e-01 9.08901105e-01 1.70583475e-04 -8.49221559e+01] [ 4.11619046e-04 1.17338943e-06 9.99999915e-01 -3.27827785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.126559995 meters 0.05375885710270325 Centerline is valid? [True, True] Translation: X:434.94, Y:-84.94, Z:-3.28 [[ 9.06262060e-01 4.22711438e-01 -2.02953480e-03 4.34943974e+02] [-4.22710439e-01 9.06264332e-01 9.19411274e-04 -8.49417398e+01] [ 2.22794066e-03 2.46779904e-05 9.99997518e-01 -3.27864603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.186559995 meters 0.05402804818947447 Centerline is valid? [True, True] Translation: X:435.00, Y:-84.96, Z:-3.28 [[ 9.04453434e-01 4.26566156e-01 -2.30225949e-03 4.35001801e+02] [-4.26564883e-01 9.04456363e-01 1.04284824e-03 -8.49608380e+01] [ 2.52713701e-03 3.88553777e-05 9.99996806e-01 -3.28058068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.246559995 meters 0.053993699565218566 Centerline is valid? [True, True] Translation: X:435.06, Y:-84.98, Z:-3.28 [[ 9.03732830e-01 4.28091924e-01 -2.06822497e-03 4.35058812e+02] [-4.28090900e-01 9.03735195e-01 9.36945140e-04 -8.49818077e+01] [ 2.27022635e-03 3.86402072e-05 9.99997422e-01 -3.28218413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.306559995 meters 0.05418087737521288 Centerline is valid? [True, True] Translation: X:435.12, Y:-85.01, Z:-3.28 [[ 9.03160335e-01 4.29300899e-01 -1.46532773e-03 4.35115141e+02] [-4.29300385e-01 9.03161523e-01 6.64808252e-04 -8.50089411e+01] [ 1.60883041e-03 2.86373158e-05 9.99998705e-01 -3.28138079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36655999499993 meters 0.053658297503231665 Centerline is valid? [True, True] Translation: X:435.17, Y:-85.04, Z:-3.28 [[ 9.02643913e-01 4.30387851e-01 -5.14656746e-04 4.35170349e+02] [-4.30387787e-01 9.02644059e-01 2.33713156e-04 -8.50364849e+01] [ 5.65139158e-04 1.05422205e-05 9.99999840e-01 -3.28017929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42655999499993 meters 0.054993595165092064 Centerline is valid? [True, True] Translation: X:435.23, Y:-85.06, Z:-3.28 [[ 9.01858634e-01 4.32031047e-01 4.23091756e-04 4.35228530e+02] [-4.32031005e-01 9.01858733e-01 -1.90949006e-04 -8.50569489e+01] [-4.64064894e-04 -1.05797470e-05 9.99999892e-01 -3.28187820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48655999499994 meters 0.05415236796125027 Centerline is valid? [True, True] Translation: X:435.29, Y:-85.08, Z:-3.28 [[ 9.01186717e-01 4.33430223e-01 8.61588287e-04 4.35285010e+02] [-4.33430048e-01 9.01187129e-01 -3.89801676e-04 -8.50827987e+01] [-9.45404102e-04 -2.21541601e-05 9.99999553e-01 -3.28238623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54655999499994 meters 0.0539104832281746 Centerline is valid? [True, True] Translation: X:435.34, Y:-85.11, Z:-3.28 [[ 9.00193779e-01 4.35489022e-01 6.87087179e-04 4.35339154e+02] [-4.35488911e-01 9.00194041e-01 -3.11425109e-04 -8.51118905e+01] [-7.54134001e-04 -1.88759021e-05 9.99999715e-01 -3.28238032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60655999499994 meters 0.053371774821090394 Centerline is valid? [True, True] Translation: X:435.40, Y:-85.14, Z:-3.28 [[ 8.99639203e-01 4.36633963e-01 -2.94798330e-04 4.35395569e+02] [-4.36633942e-01 8.99639251e-01 1.33926076e-04 -8.51384347e+01] [ 3.23688822e-04 8.23380854e-06 9.99999948e-01 -3.28423896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66655999499994 meters 0.05286023243162697 Centerline is valid? [True, True] Translation: X:435.45, Y:-85.17, Z:-3.28 [[ 8.98892749e-01 4.38166310e-01 -1.45260410e-03 4.35448518e+02] [-4.38165816e-01 8.98893922e-01 6.59712177e-04 -8.51712347e+01] [ 1.59480065e-03 4.34709683e-05 9.99998727e-01 -3.28444740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72655999499995 meters 0.05350642782776969 Centerline is valid? [True, True] Translation: X:435.50, Y:-85.20, Z:-3.28 [[ 8.98829084e-01 4.38293706e-01 -2.21457768e-03 4.35502601e+02] [-4.38292558e-01 8.98831810e-01 1.00560301e-03 -8.51995906e+01] [ 2.43128233e-03 6.67676844e-05 9.99997042e-01 -3.28467467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78655999499995 meters 0.053881514055172275 Centerline is valid? [True, True] Translation: X:435.56, Y:-85.22, Z:-3.29 [[ 8.99295576e-01 4.37336613e-01 -2.03824585e-03 4.35558691e+02] [-4.37335637e-01 8.99297883e-01 9.25809828e-04 -8.52235826e+01] [ 2.23788071e-03 5.88208643e-05 9.99997494e-01 -3.28613973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84655999499995 meters 0.05367721145138342 Centerline is valid? [True, True] Translation: X:435.61, Y:-85.26, Z:-3.28 [[ 9.00879993e-01 4.34068233e-01 -8.62680933e-05 4.35611563e+02] [-4.34068231e-01 9.00879997e-01 3.92691091e-05 -8.52557572e+01] [ 9.47626723e-05 2.06948393e-06 9.99999996e-01 -3.28496421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90655999499995 meters 0.05284441169364648 Centerline is valid? [True, True] Translation: X:435.67, Y:-85.29, Z:-3.28 [[ 9.01845317e-01 4.32057453e-01 1.17516972e-03 4.35665747e+02] [-4.32057124e-01 9.01846083e-01 -5.33198795e-04 -8.52864423e+01] [-1.29019472e-03 -2.68776115e-05 9.99999167e-01 -3.28351904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96655999499995 meters 0.0528809790523374 Centerline is valid? [True, True] Translation: X:435.72, Y:-85.32, Z:-3.28 [[ 9.02348091e-01 4.31004307e-01 1.79151953e-03 4.35720362e+02] [-4.31003543e-01 9.02349869e-01 -8.12505011e-04 -8.53156556e+01] [-1.96677057e-03 -3.89889186e-05 9.99998065e-01 -3.28306384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02655999499996 meters 0.05182322625612577 Centerline is valid? [True, True] Translation: X:435.78, Y:-85.35, Z:-3.28 [[ 9.02326338e-01 4.31049397e-01 1.89638549e-03 4.35775739e+02] [-4.31048541e-01 9.02328330e-01 -8.60265934e-04 -8.53468110e+01] [-2.08197946e-03 -4.11935874e-05 9.99997832e-01 -3.28270304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08655999499996 meters 0.051657614205948874 Centerline is valid? [True, True] Translation: X:435.83, Y:-85.38, Z:-3.28 [[ 9.01745818e-01 4.32265406e-01 1.04825351e-03 4.35828511e+02] [-4.32265145e-01 9.01746427e-01 -4.75861802e-04 -8.53810314e+01] [-1.15095745e-03 -2.40170655e-05 9.99999337e-01 -3.28193649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14655999499996 meters 0.05303770096840995 Centerline is valid? [True, True] Translation: X:435.89, Y:-85.40, Z:-3.29 [[ 9.01611300e-01 4.32546723e-01 6.28832552e-04 4.35889493e+02] [-4.32546629e-01 9.01611519e-01 -2.85331368e-04 -8.53971612e+01] [-6.90381821e-04 -1.47414150e-05 9.99999762e-01 -3.28629111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20655999499996 meters 0.052576785019119686 Centerline is valid? [True, True] Translation: X:435.94, Y:-85.43, Z:-3.29 [[ 9.01808263e-01 4.32136086e-01 -5.09316214e-04 4.35944772e+02] [-4.32136024e-01 9.01808407e-01 2.32392031e-04 -8.54270842e+01] [ 5.59730626e-04 1.05208302e-05 9.99999843e-01 -3.28711664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26655999499997 meters 0.05210771339230297 Centerline is valid? [True, True] Translation: X:436.00, Y:-85.45, Z:-3.29 [[ 9.02436195e-01 4.30823196e-01 -5.35939269e-04 4.36001604e+02] [-4.30823127e-01 9.02436354e-01 2.43907707e-04 -8.54537103e+01] [ 5.88732178e-04 1.07838887e-05 9.99999827e-01 -3.28858007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32655999499997 meters 0.0518427125843419 Centerline is valid? [True, True] Translation: X:436.06, Y:-85.48, Z:-3.29 [[ 9.03468972e-01 4.28653398e-01 -2.84112490e-04 4.36056144e+02] [-4.28653379e-01 9.03469017e-01 1.29238089e-04 -8.54825763e+01] [ 3.12085178e-04 5.02317587e-06 9.99999951e-01 -3.28778045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38655999499997 meters 0.05261270583530634 Centerline is valid? [True, True] Translation: X:436.11, Y:-85.51, Z:-3.29 [[ 9.05540440e-01 4.24259476e-01 6.39845402e-04 4.36110071e+02] [-4.24259376e-01 9.05540666e-01 -2.90779132e-04 -8.55085631e+01] [-7.02771833e-04 -8.14814779e-06 9.99999753e-01 -3.28913618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.446559995 meters 0.05149478417612469 Centerline is valid? [True, True] Translation: X:436.16, Y:-85.54, Z:-3.29 [[ 9.07874103e-01 4.19238277e-01 1.96956048e-03 4.36163406e+02] [-4.19237323e-01 9.07876240e-01 -8.94865369e-04 -8.55397881e+01] [-2.16327898e-03 -1.32881691e-05 9.99997660e-01 -3.28815357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.506559995 meters 0.05136892338198789 Centerline is valid? [True, True] Translation: X:436.22, Y:-85.57, Z:-3.29 [[ 9.08829028e-01 4.17166766e-01 1.29899513e-03 4.36217870e+02] [-4.17166349e-01 9.08829956e-01 -5.89971528e-04 -8.55679594e+01] [-1.42668220e-03 -5.71380575e-06 9.99998982e-01 -3.28821791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.566559995 meters 0.05230445280290315 Centerline is valid? [True, True] Translation: X:436.27, Y:-85.60, Z:-3.29 [[ 9.09936807e-01 4.14746283e-01 7.26900295e-04 4.36273406e+02] [-4.14746152e-01 9.09937097e-01 -3.30124257e-04 -8.55955387e+01] [-7.98351353e-04 -1.08688770e-06 9.99999681e-01 -3.28953914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.626559995 meters 0.052144524183407585 Centerline is valid? [True, True] Translation: X:436.33, Y:-85.62, Z:-3.29 [[ 9.10032556e-01 4.14536588e-01 4.05409138e-04 4.36329688e+02] [-4.14536547e-01 9.10032646e-01 -1.83369485e-04 -8.56217488e+01] [-4.44948912e-04 -1.18470357e-06 9.99999901e-01 -3.29151300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.686559995 meters 0.05175009259363839 Centerline is valid? [True, True] Translation: X:436.39, Y:-85.65, Z:-3.29 [[ 9.09768598e-01 4.15115507e-01 4.62066333e-04 4.36385853e+02] [-4.15115454e-01 9.09768716e-01 -2.09240579e-04 -8.56487438e+01] [-5.07232503e-04 -1.45036751e-06 9.99999871e-01 -3.29257136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.746559995 meters 0.052361216817501124 Centerline is valid? [True, True] Translation: X:436.44, Y:-85.68, Z:-3.29 [[ 9.09287814e-01 4.16167290e-01 6.76394387e-04 4.36442048e+02] [-4.16167177e-01 9.09288066e-01 -3.06778960e-04 -8.56762095e+01] [-7.42708712e-04 -2.54277225e-06 9.99999724e-01 -3.28887802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.806559995 meters 0.05200131325404929 Centerline is valid? [True, True] Translation: X:436.50, Y:-85.70, Z:-3.29 [[ 9.08539342e-01 4.17798838e-01 6.27855406e-04 4.36498871e+02] [-4.17798741e-01 9.08539559e-01 -2.85415676e-04 -8.57011972e+01] [-6.89677812e-04 -3.00582778e-06 9.99999762e-01 -3.29163454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86655999499993 meters 0.051664024506398634 Centerline is valid? [True, True] Translation: X:436.56, Y:-85.73, Z:-3.29 [[ 9.07670379e-01 4.19683561e-01 4.38475403e-04 4.36555922e+02] [-4.19683514e-01 9.07670484e-01 -1.98708608e-04 -8.57263327e+01] [-4.81385918e-04 -3.65898011e-06 9.99999884e-01 -3.29221637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92655999499993 meters 0.05169299631495427 Centerline is valid? [True, True] Translation: X:436.61, Y:-85.75, Z:-3.29 [[ 9.07488933e-01 4.20075965e-01 -1.42972918e-04 4.36612346e+02] [-4.20075960e-01 9.07488944e-01 6.59321689e-05 -8.57509513e+01] [ 1.57442862e-04 2.26772067e-07 9.99999988e-01 -3.29390733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98655999499994 meters 0.05206169609068764 Centerline is valid? [True, True] Translation: X:436.67, Y:-85.78, Z:-3.29 [[ 9.08407035e-01 4.18086421e-01 -6.35510658e-04 4.36666988e+02] [-4.18086320e-01 9.08407257e-01 2.90395278e-04 -8.57800528e+01] [ 6.98712816e-04 1.90119894e-06 9.99999756e-01 -3.29188570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04655999499994 meters 0.05185640258526622 Centerline is valid? [True, True] Translation: X:436.72, Y:-85.81, Z:-3.29 [[ 9.09641034e-01 4.15391452e-01 -1.76954079e-03 4.36722434e+02] [-4.15390668e-01 9.09642755e-01 8.07266494e-04 -8.58072668e+01] [ 1.94498156e-03 7.28001887e-07 9.99998109e-01 -3.29467843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10655999499994 meters 0.05287483717292963 Centerline is valid? [True, True] Translation: X:436.78, Y:-85.84, Z:-3.29 [[ 9.12623923e-01 4.08795220e-01 -2.01109246e-03 4.36777323e+02] [-4.08794191e-01 9.12626138e-01 9.16978247e-04 -8.58376753e+01] [ 2.21023187e-03 -1.47333698e-05 9.99997557e-01 -3.29329510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16655999499994 meters 0.05227413981618751 Centerline is valid? [True, True] Translation: X:436.83, Y:-85.87, Z:-3.29 [[ 9.15026274e-01 4.03390703e-01 -1.69054037e-03 4.36832592e+02] [-4.03389968e-01 9.15027836e-01 7.70738127e-04 -8.58667703e+01] [ 1.85780009e-03 -2.32986112e-05 9.99998274e-01 -3.29288288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22655999499995 meters 0.05330624846896379 Centerline is valid? [True, True] Translation: X:436.89, Y:-85.89, Z:-3.29 [[ 9.18049622e-01 3.96465292e-01 -4.05455441e-04 4.36887360e+02] [-3.96465249e-01 9.18049711e-01 1.84990679e-04 -8.58949811e+01] [ 4.45570633e-04 -9.08163041e-06 9.99999901e-01 -3.29104162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28655999499995 meters 0.05329509866009891 Centerline is valid? [True, True] Translation: X:436.94, Y:-85.92, Z:-3.29 [[ 9.19877495e-01 3.92205136e-01 7.24619043e-04 4.36940840e+02] [-3.92204998e-01 9.19877780e-01 -3.30253812e-04 -8.59224923e+01] [-7.96088198e-04 1.95938392e-05 9.99999683e-01 -3.29113779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34655999499995 meters 0.05305565403490838 Centerline is valid? [True, True] Translation: X:437.00, Y:-85.95, Z:-3.29 [[ 9.20261777e-01 3.91302538e-01 7.65526250e-04 4.36997439e+02] [-3.91302384e-01 9.20262095e-01 -3.48058067e-04 -8.59484761e+01] [-8.40680795e-04 2.07522887e-05 9.99999646e-01 -3.29154997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40655999499995 meters 0.05298935812696461 Centerline is valid? [True, True] Translation: X:437.06, Y:-85.97, Z:-3.29 [[ 9.19474040e-01 3.93149955e-01 -7.75718877e-04 4.37056452e+02] [-3.93149796e-01 9.19474367e-01 3.54742297e-04 -8.59675181e+01] [ 8.52720542e-04 -2.12026150e-05 9.99999636e-01 -3.29202189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46655999499995 meters 0.05264002431758795 Centerline is valid? [True, True] Translation: X:437.11, Y:-85.99, Z:-3.29 [[ 9.18170702e-01 3.96182949e-01 -1.27797669e-03 4.37112690e+02] [-3.96182521e-01 9.18171591e-01 5.83063051e-04 -8.59920847e+01] [ 1.40440153e-03 -2.90393843e-05 9.99999013e-01 -3.29322586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52655999499996 meters 0.053056316974871766 Centerline is valid? [True, True] Translation: X:437.17, Y:-86.02, Z:-3.30 [[ 9.15660902e-01 4.01950291e-01 -1.03753437e-03 4.37168189e+02] [-4.01950012e-01 9.15661490e-01 4.73416448e-04 -8.60170303e+01] [ 1.14032014e-03 -1.64519799e-05 9.99999350e-01 -3.29654287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58655999499996 meters 0.052435464407461274 Centerline is valid? [True, True] Translation: X:437.23, Y:-86.04, Z:-3.30 [[ 9.13695845e-01 4.06398699e-01 -2.30722437e-06 4.37226783e+02] [-4.06398699e-01 9.13695845e-01 1.18785975e-06 -8.60366809e+01] [ 2.59084583e-06 -1.47689536e-07 1.00000000e+00 -3.29545370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64655999499996 meters 0.05224254638054092 Centerline is valid? [True, True] Translation: X:437.28, Y:-86.06, Z:-3.30 [[ 9.11414533e-01 4.11488131e-01 1.03346568e-03 4.37283819e+02] [-4.11487861e-01 9.11415119e-01 -4.71239627e-04 -8.60592285e+01] [-1.13582576e-03 4.23606089e-06 9.99999355e-01 -3.29563012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70655999499996 meters 0.051955633222881964 Centerline is valid? [True, True] Translation: X:437.34, Y:-86.08, Z:-3.30 [[ 9.07746421e-01 4.19513138e-01 2.27194112e-03 4.37342714e+02] [-4.19511859e-01 9.07749265e-01 -1.03573666e-03 -8.60797275e+01] [-2.49685801e-03 -1.29199994e-05 9.99996883e-01 -3.29679518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76655999499997 meters 0.051553913003355774 Centerline is valid? [True, True] Translation: X:437.40, Y:-86.10, Z:-3.30 [[ 9.04677614e-01 4.26088178e-01 2.69806900e-03 4.37400309e+02] [-4.26086401e-01 9.04681636e-01 -1.23111731e-03 -8.61010023e+01] [-2.96545801e-03 -3.58462439e-05 9.99995602e-01 -3.29643197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82655999499997 meters 0.05195337731470884 Centerline is valid? [True, True] Translation: X:437.46, Y:-86.12, Z:-3.30 [[ 9.02905345e-01 4.29831482e-01 2.61433624e-03 4.37455938e+02] [-4.29829830e-01 9.02909129e-01 -1.19262161e-03 -8.61249114e+01] [-2.87313437e-03 -4.68952757e-05 9.99995871e-01 -3.29648774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88655999499997 meters 0.05169034117388383 Centerline is valid? [True, True] Translation: X:437.51, Y:-86.15, Z:-3.30 [[ 9.01517212e-01 4.32734847e-01 2.69613421e-03 4.37512772e+02] [-4.32733101e-01 9.01521242e-01 -1.23055033e-03 -8.61475003e+01] [-2.96312426e-03 -5.73442138e-05 9.99995608e-01 -3.29756878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.946559995 meters 0.051566355547294294 Centerline is valid? [True, True] Translation: X:437.57, Y:-86.17, Z:-3.30 [[ 9.00014244e-01 4.35854167e-01 2.34655745e-03 4.37568365e+02] [-4.35852855e-01 9.00017301e-01 -1.07101672e-03 -8.61729815e+01] [-2.57874940e-03 -5.88234604e-05 9.99996673e-01 -3.29771478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.006559995 meters 0.05125198907272908 Centerline is valid? [True, True] Translation: X:437.62, Y:-86.20, Z:-3.30 [[ 8.98902768e-01 4.38142605e-01 2.20705143e-03 4.37624199e+02] [-4.38141452e-01 8.98905475e-01 -1.00707974e-03 -8.61973554e+01] [-2.42517515e-03 -6.17339551e-05 9.99997057e-01 -3.29758644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.066559995 meters 0.052317657124020735 Centerline is valid? [True, True] Translation: X:437.68, Y:-86.22, Z:-3.30 [[ 8.98560493e-01 4.38844035e-01 2.22584791e-03 4.37682739e+02] [-4.38842864e-01 8.98563247e-01 -1.01575641e-03 -8.62162526e+01] [-2.44582377e-03 -6.40788957e-05 9.99997007e-01 -3.29898683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.126559995 meters 0.05340194244688864 Centerline is valid? [True, True] Translation: X:437.74, Y:-86.24, Z:-3.30 [[ 8.98154047e-01 4.39670342e-01 3.04926076e-03 4.37740272e+02] [-4.39668147e-01 8.98159219e-01 -1.39221631e-03 -8.62388244e+01] [-3.35083789e-03 -9.02381131e-05 9.99994382e-01 -3.29871719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.186559995 meters 0.05161592891964502 Centerline is valid? [True, True] Translation: X:437.79, Y:-86.27, Z:-3.30 [[ 8.98100318e-01 4.39775740e-01 3.62177169e-03 4.37794454e+02] [-4.39772642e-01 8.98107614e-01 -1.65413197e-03 -8.62724445e+01] [-3.98018785e-03 -1.07179660e-04 9.99992073e-01 -3.29771601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.246559995 meters 0.05224013502266862 Centerline is valid? [True, True] Translation: X:437.85, Y:-86.29, Z:-3.30 [[ 8.97900530e-01 4.40180671e-01 3.95172019e-03 4.37852606e+02] [-4.40176984e-01 8.97909218e-01 -1.80559707e-03 -8.62919098e+01] [-4.34307491e-03 -1.18209710e-04 9.99990562e-01 -3.29864724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.306559995 meters 0.053333624500848144 Centerline is valid? [True, True] Translation: X:437.91, Y:-86.31, Z:-3.30 [[ 8.97825333e-01 4.40336683e-01 3.64370896e-03 4.37910394e+02] [-4.40333548e-01 8.97832720e-01 -1.66520948e-03 -8.63145795e+01] [-4.00469395e-03 -1.09380036e-04 9.99991975e-01 -3.29980215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36655999499993 meters 0.05201719543329647 Centerline is valid? [True, True] Translation: X:437.96, Y:-86.35, Z:-3.30 [[ 8.97394004e-01 4.41218226e-01 3.23703625e-03 4.37963445e+02] [-4.41215756e-01 8.97399837e-01 -1.47973068e-03 -8.63468611e+01] [-3.55779995e-03 -1.00329959e-04 9.99993666e-01 -3.29923047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42655999499993 meters 0.05223208846287238 Centerline is valid? [True, True] Translation: X:438.02, Y:-86.37, Z:-3.30 [[ 8.97432756e-01 4.41140514e-01 3.08152056e-03 4.38019376e+02] [-4.41138274e-01 8.97438041e-01 -1.40893889e-03 -8.63745660e+01] [-3.38701381e-03 -9.49487527e-05 9.99994260e-01 -3.29897746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48655999499994 meters 0.05234535286164549 Centerline is valid? [True, True] Translation: X:438.08, Y:-86.40, Z:-3.30 [[ 8.97734967e-01 4.40524093e-01 3.23310530e-03 4.38076660e+02] [-4.40521621e-01 8.97740784e-01 -1.47873512e-03 -8.63967368e+01] [-3.55390893e-03 -9.67405618e-05 9.99993680e-01 -3.29982465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54655999499994 meters 0.05292830394174608 Centerline is valid? [True, True] Translation: X:438.13, Y:-86.42, Z:-3.30 [[ 8.98593855e-01 4.38768770e-01 3.32411841e-03 4.38133729e+02] [-4.38766142e-01 8.98599999e-01 -1.52126012e-03 -8.64165837e+01] [-3.65453424e-03 -9.15156155e-05 9.99993318e-01 -3.30051309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60655999499994 meters 0.05251828972984306 Centerline is valid? [True, True] Translation: X:438.19, Y:-86.45, Z:-3.30 [[ 8.97863738e-01 4.40266995e-01 2.38343985e-03 4.38188908e+02] [-4.40265649e-01 8.97866899e-01 -1.09065076e-03 -8.64450190e+01] [-2.62018928e-03 -7.00909268e-05 9.99996565e-01 -3.30136341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66655999499994 meters 0.05229769626974066 Centerline is valid? [True, True] Translation: X:438.25, Y:-86.47, Z:-3.30 [[ 8.97473354e-01 4.41065912e-01 1.56189042e-03 4.38245000e+02] [-4.41065337e-01 8.97474712e-01 -7.14194242e-04 -8.64721338e+01] [-1.71676389e-03 -4.79254208e-05 9.99998525e-01 -3.30245768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72655999499995 meters 0.052261159022999173 Centerline is valid? [True, True] Translation: X:438.30, Y:-86.50, Z:-3.30 [[ 8.96930079e-01 4.42165218e-01 2.52037380e-03 4.38300362e+02] [-4.42163721e-01 8.96933617e-01 -1.15333921e-03 -8.65001964e+01] [-2.77057447e-03 -7.99532268e-05 9.99996159e-01 -3.30231217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78655999499995 meters 0.052604804600956845 Centerline is valid? [True, True] Translation: X:438.36, Y:-86.52, Z:-3.30 [[ 8.97147585e-01 4.41719808e-01 3.13420001e-03 4.38359592e+02] [-4.41717488e-01 8.97153054e-01 -1.43491818e-03 -8.65186605e+01] [-3.44568890e-03 -9.70975722e-05 9.99994059e-01 -3.30345662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84655999499995 meters 0.052191618088310576 Centerline is valid? [True, True] Translation: X:438.41, Y:-86.55, Z:-3.30 [[ 8.98122348e-01 4.39726290e-01 4.12772973e-03 4.38413007e+02] [-4.39722240e-01 8.98131826e-01 -1.89081509e-03 -8.65508065e+01] [-4.53868655e-03 -1.16871282e-04 9.99989693e-01 -3.30302913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90655999499995 meters 0.052430540367408025 Centerline is valid? [True, True] Translation: X:438.47, Y:-86.57, Z:-3.30 [[ 8.98969426e-01 4.37993292e-01 3.98090168e-03 4.38470157e+02] [-4.37989507e-01 8.98978234e-01 -1.82368951e-03 -8.65721714e+01] [-4.37750773e-03 -1.04152055e-04 9.99990413e-01 -3.30437640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96655999499995 meters 0.05255873835813204 Centerline is valid? [True, True] Translation: X:438.53, Y:-86.60, Z:-3.31 [[ 9.00158667e-01 4.35549842e-01 3.27234021e-03 4.38525098e+02] [-4.35547269e-01 9.00164612e-01 -1.49909932e-03 -8.66008531e+01] [-3.59857732e-03 -7.58315980e-05 9.99993522e-01 -3.30561390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02655999499996 meters 0.052256247566583106 Centerline is valid? [True, True] Translation: X:438.58, Y:-86.63, Z:-3.31 [[ 9.01792119e-01 4.32161948e-01 2.65056113e-03 4.38578424e+02] [-4.32160245e-01 9.01796012e-01 -1.21432669e-03 -8.66319214e+01] [-2.91505125e-03 -5.03969073e-05 9.99995750e-01 -3.30640734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08655999499996 meters 0.05215283389220575 Centerline is valid? [True, True] Translation: X:438.63, Y:-86.66, Z:-3.31 [[ 9.03173905e-01 4.29267785e-01 2.46311171e-03 4.38633628e+02] [-4.29266303e-01 9.03177263e-01 -1.12844389e-03 -8.66602478e+01] [-2.70903110e-03 -3.81497858e-05 9.99996330e-01 -3.30728433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14655999499996 meters 0.05180027488429398 Centerline is valid? [True, True] Translation: X:438.69, Y:-86.68, Z:-3.31 [[ 9.04723487e-01 4.25990901e-01 2.67677933e-03 4.38688610e+02] [-4.25989136e-01 9.04727446e-01 -1.22651202e-03 -8.66846070e+01] [-2.94423869e-03 -3.06246815e-05 9.99995665e-01 -3.30914306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20655999499996 meters 0.051863693828278316 Centerline is valid? [True, True] Translation: X:438.74, Y:-86.71, Z:-3.31 [[ 9.05184682e-01 4.25007491e-01 3.05349319e-03 4.38743853e+02] [-4.25005190e-01 9.05189832e-01 -1.39901969e-03 -8.67132073e+01] [-3.35858483e-03 -3.13792574e-05 9.99994359e-01 -3.30891020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26655999499997 meters 0.052356526477737045 Centerline is valid? [True, True] Translation: X:438.80, Y:-86.74, Z:-3.31 [[ 9.04646163e-01 4.26156403e-01 2.45759386e-03 4.38799864e+02] [-4.26154917e-01 9.04649501e-01 -1.12571695e-03 -8.67370482e+01] [-2.70299254e-03 -2.89401906e-05 9.99996346e-01 -3.31054049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32655999499997 meters 0.0518618087138523 Centerline is valid? [True, True] Translation: X:438.86, Y:-86.76, Z:-3.31 [[ 9.03941940e-01 4.27651177e-01 1.85476032e-03 4.38855438e+02] [-4.27650334e-01 9.03943843e-01 -8.49566084e-04 -8.67646917e+01] [-2.03991711e-03 -2.52304549e-05 9.99997919e-01 -3.30962000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38655999499997 meters 0.052238180465182665 Centerline is valid? [True, True] Translation: X:438.91, Y:-86.79, Z:-3.31 [[ 9.03278291e-01 4.29051859e-01 1.68265320e-03 4.38911744e+02] [-4.29051167e-01 9.03279858e-01 -7.70874861e-04 -8.67912151e+01] [-1.85065204e-03 -2.56297923e-05 9.99998287e-01 -3.31027631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.446559995 meters 0.051769469789460294 Centerline is valid? [True, True] Translation: X:438.97, Y:-86.81, Z:-3.31 [[ 9.03209364e-01 4.29197325e-01 1.58167862e-03 4.38969210e+02] [-4.29196714e-01 9.03210748e-01 -7.24735260e-04 -8.68146445e+01] [-1.73964357e-03 -2.42635947e-05 9.99998487e-01 -3.31164631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.506559995 meters 0.0523117347478295 Centerline is valid? [True, True] Translation: X:439.02, Y:-86.84, Z:-3.31 [[ 9.03844789e-01 4.27851393e-01 2.78983759e-03 4.39023731e+02] [-4.27849481e-01 9.03849094e-01 -1.27953550e-03 -8.68447850e+01] [-3.06904323e-03 -3.71290739e-05 9.99995290e-01 -3.31048529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.566559995 meters 0.05221131534171634 Centerline is valid? [True, True] Translation: X:439.08, Y:-86.87, Z:-3.31 [[ 9.04981092e-01 4.25436544e-01 3.60130030e-03 4.39078525e+02] [-4.25433336e-01 9.04988257e-01 -1.65250362e-03 -8.68712558e+01] [-3.96216991e-03 -3.66286738e-05 9.99992150e-01 -3.31023358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.626559995 meters 0.052463384602895353 Centerline is valid? [True, True] Translation: X:439.13, Y:-86.90, Z:-3.31 [[ 9.05779945e-01 4.23731687e-01 3.76131765e-03 4.39134121e+02] [-4.23728172e-01 9.05787754e-01 -1.72641952e-03 -8.68998396e+01] [-4.13849412e-03 -3.00200701e-05 9.99991436e-01 -3.31037148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.686559995 meters 0.051548349667908104 Centerline is valid? [True, True] Translation: X:439.19, Y:-86.93, Z:-3.31 [[ 9.06840907e-01 4.21463418e-01 2.85613298e-03 4.39188968e+02] [-4.21461378e-01 9.06845404e-01 -1.31134132e-03 -8.69279594e+01] [-3.14275346e-03 -1.45717901e-05 9.99995061e-01 -3.31192822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.746559995 meters 0.05184859106740212 Centerline is valid? [True, True] Translation: X:439.25, Y:-86.96, Z:-3.31 [[ 9.07183433e-01 4.20730678e-01 1.97899549e-03 4.39245184e+02] [-4.20729697e-01 9.07185591e-01 -9.08254892e-04 -8.69568636e+01] [-2.17744689e-03 -8.66838509e-06 9.99997629e-01 -3.31198525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.806559995 meters 0.052357373351293354 Centerline is valid? [True, True] Translation: X:439.30, Y:-86.98, Z:-3.31 [[ 9.07556280e-01 4.19928651e-01 1.23554436e-03 4.39300801e+02] [-4.19928268e-01 9.07557121e-01 -5.67169417e-04 -8.69841857e+01] [-1.35949777e-03 -4.10183904e-06 9.99999076e-01 -3.31288660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86655999499993 meters 0.0524811934520513 Centerline is valid? [True, True] Translation: X:439.36, Y:-87.01, Z:-3.31 [[ 9.07585065e-01 4.19866300e-01 1.28054437e-03 4.39356885e+02] [-4.19865889e-01 9.07585969e-01 -5.87622659e-04 -8.70121067e+01] [-1.40892705e-03 -4.33934948e-06 9.99999007e-01 -3.31186506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92655999499993 meters 0.051881335017732205 Centerline is valid? [True, True] Translation: X:439.41, Y:-87.04, Z:-3.31 [[ 9.07866227e-01 4.19256263e-01 1.76057478e-03 4.39411426e+02] [-4.19255483e-01 9.07867934e-01 -8.08737744e-04 -8.70402011e+01] [-1.93743776e-03 -3.90494732e-06 9.99998123e-01 -3.31353771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98655999499994 meters 0.052285658846691584 Centerline is valid? [True, True] Translation: X:439.47, Y:-87.07, Z:-3.31 [[ 9.07861348e-01 4.19265131e-01 2.12662575e-03 4.39468296e+02] [-4.19263992e-01 9.07863839e-01 -9.77249866e-04 -8.70673063e+01] [-2.34041341e-03 -4.41022175e-06 9.99997261e-01 -3.31338562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04655999499994 meters 0.05228192713810713 Centerline is valid? [True, True] Translation: X:439.53, Y:-87.09, Z:-3.31 [[ 9.07004602e-01 4.21115512e-01 2.09224133e-03 4.39525379e+02] [-4.21114414e-01 9.07007015e-01 -9.61709099e-04 -8.70944563e+01] [-2.30266818e-03 -8.79840280e-06 9.99997349e-01 -3.31239048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10655999499994 meters 0.0521300975885515 Centerline is valid? [True, True] Translation: X:439.58, Y:-87.12, Z:-3.31 [[ 9.05747890e-01 4.23813230e-01 1.76243373e-03 4.39582203e+02] [-4.23812456e-01 9.05749604e-01 -8.10321992e-04 -8.71190107e+01] [-1.93974884e-03 -1.29939343e-05 9.99998119e-01 -3.31301142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16655999499994 meters 0.052211822792765 Centerline is valid? [True, True] Translation: X:439.64, Y:-87.14, Z:-3.31 [[ 9.03606278e-01 4.28360549e-01 1.71275590e-03 4.39638955e+02] [-4.28359825e-01 9.03607901e-01 -7.87741538e-04 -8.71417355e+01] [-1.88509716e-03 -2.18676173e-05 9.99998223e-01 -3.31341706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22655999499995 meters 0.05205527209905405 Centerline is valid? [True, True] Translation: X:439.69, Y:-87.17, Z:-3.31 [[ 9.02269938e-01 4.31166837e-01 2.02890486e-03 4.39692711e+02] [-4.31165828e-01 9.02272219e-01 -9.33576219e-04 -8.71706396e+01] [-2.23315160e-03 -3.24566874e-05 9.99997506e-01 -3.31129840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28655999499995 meters 0.052485265069988005 Centerline is valid? [True, True] Translation: X:439.75, Y:-87.19, Z:-3.31 [[ 9.00653926e-01 4.34533032e-01 1.88387439e-03 4.39751446e+02] [-4.34532167e-01 9.00655896e-01 -8.67511349e-04 -8.71883231e+01] [-2.07368492e-03 -3.72765200e-05 9.99997849e-01 -3.31382448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34655999499995 meters 0.05202333693871749 Centerline is valid? [True, True] Translation: X:439.81, Y:-87.22, Z:-3.31 [[ 8.99904729e-01 4.36083685e-01 1.58083395e-03 4.39807119e+02] [-4.36083080e-01 8.99906116e-01 -7.27405069e-04 -8.72166979e+01] [-1.73981162e-03 -3.47796759e-05 9.99998486e-01 -3.31316530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40655999499995 meters 0.05202568516065069 Centerline is valid? [True, True] Translation: X:439.86, Y:-87.24, Z:-3.31 [[ 8.99594468e-01 4.36722236e-01 1.86601140e-03 4.39862877e+02] [-4.36721393e-01 8.99596402e-01 -8.59011184e-04 -8.72436857e+01] [-2.05380643e-03 -4.21653909e-05 9.99997890e-01 -3.31301444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46655999499995 meters 0.051096720144372394 Centerline is valid? [True, True] Translation: X:439.92, Y:-87.27, Z:-3.31 [[ 9.00290217e-01 4.35282800e-01 2.53170840e-03 4.39917577e+02] [-4.35281241e-01 9.00293775e-01 -1.16608242e-03 -8.72734271e+01] [-2.78685693e-03 -5.21925752e-05 9.99996115e-01 -3.31293598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52655999499996 meters 0.05190985374242727 Centerline is valid? [True, True] Translation: X:439.98, Y:-87.29, Z:-3.31 [[ 9.00974788e-01 4.33864678e-01 2.42339866e-03 4.39975222e+02] [-4.33863244e-01 9.00978046e-01 -1.11653498e-03 -8.72945835e+01] [-2.66785408e-03 -4.54537420e-05 9.99996440e-01 -3.31491143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58655999499996 meters 0.052646236744526474 Centerline is valid? [True, True] Translation: X:440.03, Y:-87.32, Z:-3.32 [[ 9.02023875e-01 4.31684481e-01 1.19895564e-03 4.40029516e+02] [-4.31684128e-01 9.02024672e-01 -5.52425734e-04 -8.73244571e+01] [-1.31996118e-03 -1.92689167e-05 9.99999129e-01 -3.31612910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64655999499996 meters 0.05199955811151231 Centerline is valid? [True, True] Translation: X:440.08, Y:-87.35, Z:-3.32 [[ 9.02551971e-01 4.30580647e-01 4.95176413e-04 4.40084944e+02] [-4.30580587e-01 9.02552107e-01 -2.27503852e-04 -8.73524263e+01] [-5.44881271e-04 -7.87930011e-06 9.99999852e-01 -3.31715886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70655999499996 meters 0.051947384713024514 Centerline is valid? [True, True] Translation: X:440.14, Y:-87.38, Z:-3.32 [[ 9.03128973e-01 4.29369258e-01 3.13533910e-04 4.40140297e+02] [-4.29369234e-01 9.03129027e-01 -1.43740226e-04 -8.73801673e+01] [-3.44879209e-04 -4.80585185e-06 9.99999941e-01 -3.31699550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76655999499997 meters 0.05213863909983921 Centerline is valid? [True, True] Translation: X:440.20, Y:-87.41, Z:-3.32 [[ 9.03506291e-01 4.28572814e-01 1.31335466e-03 4.40196290e+02] [-4.28572387e-01 9.03507245e-01 -6.05330078e-04 -8.74056699e+01] [-1.44605347e-03 -1.59480102e-05 9.99998954e-01 -3.31679649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82655999499997 meters 0.052245197564058994 Centerline is valid? [True, True] Translation: X:440.25, Y:-87.43, Z:-3.32 [[ 9.03628637e-01 4.28311651e-01 2.10122652e-03 4.40252911e+02] [-4.28310556e-01 9.03631080e-01 -9.69213851e-04 -8.74300575e+01] [-2.31385918e-03 -2.41681077e-05 9.99997323e-01 -3.31757850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88655999499997 meters 0.05216419225158221 Centerline is valid? [True, True] Translation: X:440.31, Y:-87.45, Z:-3.32 [[ 9.03631341e-01 4.28306189e-01 2.05141939e-03 4.40310911e+02] [-4.28305144e-01 9.03633669e-01 -9.46469679e-04 -8.74533009e+01] [-2.25911045e-03 -2.33738114e-05 9.99997448e-01 -3.31901181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.946559995 meters 0.0522627786973638 Centerline is valid? [True, True] Translation: X:440.37, Y:-87.48, Z:-3.32 [[ 9.03838838e-01 4.27869499e-01 1.74554562e-03 4.40366926e+02] [-4.27868741e-01 9.03840523e-01 -8.05496963e-04 -8.74807262e+01] [-1.92234245e-03 -1.88249677e-05 9.99998152e-01 -3.31806593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.006559995 meters 0.05198466256492504 Centerline is valid? [True, True] Translation: X:440.42, Y:-87.51, Z:-3.32 [[ 9.04103552e-01 4.27309353e-01 1.86658904e-03 4.40422731e+02] [-4.27308485e-01 9.04105479e-01 -8.61719028e-04 -8.75054233e+01] [-2.05581398e-03 -1.85261023e-05 9.99997887e-01 -3.31855719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.066559995 meters 0.05228218637202438 Centerline is valid? [True, True] Translation: X:440.48, Y:-87.53, Z:-3.32 [[ 9.04873653e-01 4.25677917e-01 1.40800799e-03 4.40478411e+02] [-4.25677421e-01 9.04874749e-01 -6.49916841e-04 -8.75321283e+01] [-1.55072612e-03 -1.12645825e-05 9.99998798e-01 -3.31852794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.126559995 meters 0.05220317354900912 Centerline is valid? [True, True] Translation: X:440.53, Y:-87.56, Z:-3.32 [[ 9.05255416e-01 4.24864936e-01 1.55472416e-03 4.40534450e+02] [-4.24864330e-01 9.05256751e-01 -7.17942752e-04 -8.75582877e+01] [-1.71245324e-03 -1.06252723e-05 9.99998534e-01 -3.31913965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.186559995 meters 0.05199145178957973 Centerline is valid? [True, True] Translation: X:440.59, Y:-87.58, Z:-3.32 [[ 9.05327950e-01 4.24710269e-01 1.57816334e-03 4.40591349e+02] [-4.24709644e-01 9.05329325e-01 -7.28950279e-04 -8.75820328e+01] [-1.73835022e-03 -1.03221275e-05 9.99998489e-01 -3.32077479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.246559995 meters 0.052689801929095885 Centerline is valid? [True, True] Translation: X:440.65, Y:-87.61, Z:-3.32 [[ 9.04667382e-01 4.26114441e-01 1.84696565e-03 4.40648119e+02] [-4.26113586e-01 9.04669267e-01 -8.53637718e-04 -8.76064309e+01] [-2.03464042e-03 -1.47589586e-05 9.99997930e-01 -3.32085399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.306559995 meters 0.05223764313594856 Centerline is valid? [True, True] Translation: X:440.70, Y:-87.63, Z:-3.32 [[ 9.03580034e-01 4.28414813e-01 1.96694354e-03 4.40704847e+02] [-4.28413849e-01 9.03582175e-01 -9.09382239e-04 -8.76311859e+01] [-2.16688795e-03 -2.09662189e-05 9.99997652e-01 -3.32077138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36655999499993 meters 0.052690990931357956 Centerline is valid? [True, True] Translation: X:440.76, Y:-87.66, Z:-3.32 [[ 9.01153235e-01 4.33498300e-01 1.43947055e-03 4.40761862e+02] [-4.33497789e-01 9.01154384e-01 -6.66048863e-04 -8.76553265e+01] [-1.58591625e-03 -2.37952141e-05 9.99998742e-01 -3.32150441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42655999499993 meters 0.05263251797252361 Centerline is valid? [True, True] Translation: X:440.82, Y:-87.68, Z:-3.32 [[ 8.98815502e-01 4.38322981e-01 1.91271300e-03 4.40818112e+02] [-4.38322090e-01 8.98817536e-01 -8.84719107e-04 -8.76787994e+01] [-2.10697270e-03 -4.31851129e-05 9.99997779e-01 -3.32129433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48655999499994 meters 0.05255140871023437 Centerline is valid? [True, True] Translation: X:440.88, Y:-87.70, Z:-3.32 [[ 8.97748985e-01 4.40500128e-01 2.52910701e-03 4.40877058e+02] [-4.40498578e-01 8.97752546e-01 -1.17029966e-03 -8.76968601e+01] [-2.78602941e-03 -6.34327134e-05 9.99996117e-01 -3.32316874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54655999499994 meters 0.05231222234456529 Centerline is valid? [True, True] Translation: X:440.93, Y:-87.73, Z:-3.32 [[ 8.96768238e-01 4.42488558e-01 3.25635807e-03 4.40931392e+02] [-4.42485999e-01 8.96774146e-01 -1.50750157e-03 -8.77265994e+01] [-3.58726992e-03 -8.90133229e-05 9.99993562e-01 -3.32204958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60655999499994 meters 0.05289444363194615 Centerline is valid? [True, True] Translation: X:440.99, Y:-87.74, Z:-3.32 [[ 8.96096768e-01 4.43849950e-01 2.79364351e-03 4.40992093e+02] [-4.43848072e-01 8.96101119e-01 -1.29352659e-03 -8.77414170e+01] [-3.07751879e-03 -8.08282887e-05 9.99995261e-01 -3.32488444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66655999499994 meters 0.05158354737867004 Centerline is valid? [True, True] Translation: X:441.04, Y:-87.78, Z:-3.32 [[ 8.95935487e-01 4.44179368e-01 2.07170502e-03 4.41044451e+02] [-4.44178336e-01 8.95937880e-01 -9.59250171e-04 -8.77755900e+01] [-2.28219814e-03 -6.07802198e-05 9.99997394e-01 -3.32418157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72655999499995 meters 0.05169017303245353 Centerline is valid? [True, True] Translation: X:441.10, Y:-87.80, Z:-3.33 [[ 8.96076760e-01 4.43898466e-01 7.70097569e-04 4.41101892e+02] [-4.43898323e-01 8.96077090e-01 -3.56500045e-04 -8.78023355e+01] [-8.48316612e-04 -2.23936142e-05 9.99999640e-01 -3.32525105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78655999499995 meters 0.05170654803234092 Centerline is valid? [True, True] Translation: X:441.16, Y:-87.83, Z:-3.33 [[ 8.96768067e-01 4.42500851e-01 -1.77483804e-04 4.41157831e+02] [-4.42500843e-01 8.96768084e-01 8.31555856e-05 -8.78270164e+01] [ 1.95958228e-04 3.96545912e-06 9.99999981e-01 -3.32655352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84655999499995 meters 0.05221079715350688 Centerline is valid? [True, True] Translation: X:441.21, Y:-87.85, Z:-3.33 [[ 8.97242420e-01 4.41538007e-01 -4.78258498e-04 4.41213985e+02] [-4.41537951e-01 8.97242547e-01 2.22648315e-04 -8.78507282e+01] [ 5.27421566e-04 1.13997646e-05 9.99999861e-01 -3.32821808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90655999499995 meters 0.05216291332187482 Centerline is valid? [True, True] Translation: X:441.27, Y:-87.88, Z:-3.33 [[ 8.98628923e-01 4.38708752e-01 -8.30289678e-04 4.41268808e+02] [-4.38708583e-01 8.98629307e-01 3.85219674e-04 -8.78767661e+01] [ 9.15121879e-04 1.80856673e-05 9.99999581e-01 -3.32924162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96655999499995 meters 0.05157107510994677 Centerline is valid? [True, True] Translation: X:441.32, Y:-87.91, Z:-3.33 [[ 8.99543065e-01 4.36831942e-01 3.59676487e-04 4.41321466e+02] [-4.36831910e-01 8.99543137e-01 -1.66631559e-04 -8.79099491e+01] [-3.96334503e-04 -7.22590396e-06 9.99999921e-01 -3.32678180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02655999499996 meters 0.05170099178845364 Centerline is valid? [True, True] Translation: X:441.38, Y:-87.94, Z:-3.33 [[ 9.00756869e-01 4.34317216e-01 2.37055200e-03 4.41376310e+02] [-4.34315826e-01 9.00759987e-01 -1.09950486e-03 -8.79355684e+01] [-2.61283228e-03 -3.91816968e-05 9.99996586e-01 -3.32706584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08655999499996 meters 0.05183536712511903 Centerline is valid? [True, True] Translation: X:441.43, Y:-87.96, Z:-3.33 [[ 9.00949756e-01 4.33915411e-01 2.63673967e-03 4.41431758e+02] [-4.33913691e-01 9.00953614e-01 -1.22253694e-03 -8.79608930e+01] [-2.90605775e-03 -4.26730809e-05 9.99995776e-01 -3.32849656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14655999499996 meters 0.05164769542455524 Centerline is valid? [True, True] Translation: X:441.49, Y:-87.99, Z:-3.33 [[ 9.00595336e-01 4.34654499e-01 1.87302902e-03 4.41486631e+02] [-4.34653632e-01 9.00597283e-01 -8.68371565e-04 -8.79895846e+01] [-2.06428645e-03 -3.20674872e-05 9.99997869e-01 -3.33027159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20655999499996 meters 0.05188578128846897 Centerline is valid? [True, True] Translation: X:441.54, Y:-88.01, Z:-3.33 [[ 8.99808129e-01 4.36285020e-01 8.43881871e-04 4.41542424e+02] [-4.36284845e-01 8.99808525e-01 -3.90911393e-04 -8.80138218e+01] [-9.29880887e-04 -1.64276216e-05 9.99999568e-01 -3.33230429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26655999499997 meters 0.05141332572595185 Centerline is valid? [True, True] Translation: X:441.60, Y:-88.04, Z:-3.33 [[ 8.99382930e-01 4.37155287e-01 2.36654086e-03 4.41599308e+02] [-4.37153911e-01 8.99386042e-01 -1.09796985e-03 -8.80411339e+01] [-2.60841714e-03 -4.70472466e-05 9.99996597e-01 -3.33173660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32655999499997 meters 0.05203771114977397 Centerline is valid? [True, True] Translation: X:441.66, Y:-88.07, Z:-3.33 [[ 8.99307314e-01 4.37300877e-01 3.78137529e-03 4.41655091e+02] [-4.37297359e-01 8.99315260e-01 -1.75563418e-03 -8.80680378e+01] [-4.16838887e-03 -7.47307736e-05 9.99991309e-01 -3.33086679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38655999499997 meters 0.051442297850295596 Centerline is valid? [True, True] Translation: X:441.71, Y:-88.09, Z:-3.33 [[ 8.98813954e-01 4.38308929e-01 4.33117834e-03 4.41711442e+02] [-4.38304322e-01 8.98824385e-01 -2.01163842e-03 -8.80927492e+01] [-4.77468779e-03 -9.02855011e-05 9.99988597e-01 -3.33045902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.446559995 meters 0.051535169034259726 Centerline is valid? [True, True] Translation: X:441.77, Y:-88.12, Z:-3.33 [[ 8.98335887e-01 4.39295746e-01 3.44689281e-03 4.41768228e+02] [-4.39292834e-01 8.98342497e-01 -1.60119885e-03 -8.81153249e+01] [-3.79989014e-03 -7.57809216e-05 9.99992778e-01 -3.33303185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.506559995 meters 0.052151905289683 Centerline is valid? [True, True] Translation: X:441.82, Y:-88.14, Z:-3.33 [[ 8.98205975e-01 4.39563069e-01 3.21473899e-03 4.41824503e+02] [-4.39560537e-01 8.98211725e-01 -1.49362090e-03 -8.81424724e+01] [-3.54405685e-03 -7.14931791e-05 9.99993717e-01 -3.33384445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.566559995 meters 0.05103494001483226 Centerline is valid? [True, True] Translation: X:441.88, Y:-88.17, Z:-3.33 [[ 8.98502712e-01 4.38954279e-01 3.46680334e-03 4.41878843e+02] [-4.38951326e-01 8.98509397e-01 -1.61157623e-03 -8.81739751e+01] [-3.82236366e-03 -7.37523092e-05 9.99992692e-01 -3.33286774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.626559995 meters 0.05187307768818318 Centerline is valid? [True, True] Translation: X:441.94, Y:-88.19, Z:-3.33 [[ 8.98735786e-01 4.38479778e-01 3.07754848e-03 4.41936457e+02] [-4.38477449e-01 8.98741053e-01 -1.43045482e-03 -8.81942187e+01] [-3.39314468e-03 -6.38346745e-05 9.99994241e-01 -3.33422839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.686559995 meters 0.051439297270868024 Centerline is valid? [True, True] Translation: X:441.99, Y:-88.23, Z:-3.33 [[ 8.99622208e-01 4.36646820e-01 4.40886592e-03 4.41988979e+02] [-4.36642014e-01 8.99633007e-01 -2.05034727e-03 -8.82261212e+01] [-4.86163893e-03 -8.05581568e-05 9.99988179e-01 -3.33301072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.746559995 meters 0.05229183457649338 Centerline is valid? [True, True] Translation: X:442.05, Y:-88.25, Z:-3.33 [[ 9.01022432e-01 4.33744201e-01 4.95434659e-03 4.42046015e+02] [-4.33738085e-01 9.01036050e-01 -2.30451300e-03 -8.82478508e+01] [-5.46361403e-03 -7.24708974e-05 9.99985072e-01 -3.33371972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.806559995 meters 0.05240135037244906 Centerline is valid? [True, True] Translation: X:442.10, Y:-88.28, Z:-3.33 [[ 9.01952834e-01 4.31801528e-01 5.34095347e-03 4.42101821e+02] [-4.31794386e-01 9.01968645e-01 -2.48442375e-03 -8.82759867e+01] [-5.89015054e-03 -6.53606761e-05 9.99982651e-01 -3.33384898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86655999499993 meters 0.05251361179912257 Centerline is valid? [True, True] Translation: X:442.16, Y:-88.30, Z:-3.34 [[ 9.02738133e-01 4.30169682e-01 4.23174801e-03 4.42158159e+02] [-4.30165180e-01 9.02748051e-01 -1.96838521e-03 -8.83021912e+01] [-4.66694190e-03 -4.34142535e-05 9.99989109e-01 -3.33517322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92655999499993 meters 0.05227470102756188 Centerline is valid? [True, True] Translation: X:442.22, Y:-88.33, Z:-3.34 [[ 9.02253790e-01 4.31192452e-01 3.34177981e-03 4.42215894e+02] [-4.31189651e-01 9.02259978e-01 -1.55467614e-03 -8.83260489e+01] [-3.68551879e-03 -3.82284239e-05 9.99993208e-01 -3.33678616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98655999499994 meters 0.05203638014183226 Centerline is valid? [True, True] Translation: X:442.27, Y:-88.35, Z:-3.34 [[ 9.01623735e-01 4.32504531e-01 3.80398309e-03 4.42271985e+02] [-4.32500911e-01 9.01631759e-01 -1.77032388e-03 -8.83517865e+01] [-4.19546507e-03 -4.90601236e-05 9.99991198e-01 -3.33660706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04655999499994 meters 0.052150454304235566 Centerline is valid? [True, True] Translation: X:442.33, Y:-88.38, Z:-3.34 [[ 9.01561165e-01 4.32620768e-01 5.17078088e-03 4.42328548e+02] [-4.32614075e-01 9.01575991e-01 -2.40740018e-03 -8.83792924e+01] [-5.70334321e-03 -6.65340727e-05 9.99983734e-01 -3.33671092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10655999499994 meters 0.05169879680413259 Centerline is valid? [True, True] Translation: X:442.38, Y:-88.40, Z:-3.34 [[ 9.01710303e-01 4.32315904e-01 4.63559725e-03 4.42384341e+02] [-4.32310517e-01 9.01722216e-01 -2.15892830e-03 -8.84045496e+01] [-5.11336007e-03 -5.72895597e-05 9.99986925e-01 -3.33722653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16655999499994 meters 0.05141759059723882 Centerline is valid? [True, True] Translation: X:442.44, Y:-88.43, Z:-3.34 [[ 9.01767871e-01 4.32192450e-01 4.93886126e-03 4.42440259e+02] [-4.32186329e-01 9.01781394e-01 -2.30100783e-03 -8.84315334e+01] [-5.44825140e-03 -5.95333881e-05 9.99985156e-01 -3.33784805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22655999499995 meters 0.05309091148541759 Centerline is valid? [True, True] Translation: X:442.50, Y:-88.45, Z:-3.34 [[ 9.01437302e-01 4.32878371e-01 5.20638818e-03 4.42496846e+02] [-4.32871579e-01 9.01452335e-01 -2.42580854e-03 -8.84549422e+01] [-5.74339083e-03 -6.69831720e-05 9.99983504e-01 -3.33796527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28655999499995 meters 0.05216216072366073 Centerline is valid? [True, True] Translation: X:442.55, Y:-88.48, Z:-3.34 [[ 9.01284904e-01 4.33192168e-01 5.48337305e-03 4.42551716e+02] [-4.33184635e-01 9.01301581e-01 -2.55566344e-03 -8.84849989e+01] [-6.04926619e-03 -7.19320790e-05 9.99981700e-01 -3.33768759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34655999499995 meters 0.052496645814556854 Centerline is valid? [True, True] Translation: X:442.61, Y:-88.51, Z:-3.34 [[ 9.01014453e-01 4.33766370e-01 4.43749994e-03 4.42608986e+02] [-4.33761442e-01 9.01025378e-01 -2.06860360e-03 -8.85099630e+01] [-4.89559074e-03 -6.09746323e-05 9.99988015e-01 -3.34086880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40655999499995 meters 0.05163273647231857 Centerline is valid? [True, True] Translation: X:442.67, Y:-88.54, Z:-3.34 [[ 9.01064906e-01 4.33670359e-01 3.47206717e-03 4.42665137e+02] [-4.33667342e-01 9.01071594e-01 -1.61833181e-03 -8.85359477e+01] [-3.83040364e-03 -4.75001425e-05 9.99992663e-01 -3.34218346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46655999499995 meters 0.05188257719030684 Centerline is valid? [True, True] Translation: X:442.72, Y:-88.56, Z:-3.34 [[ 9.01401746e-01 4.32964703e-01 4.05678473e-03 4.42720289e+02] [-4.32960573e-01 9.01410874e-01 -1.89171218e-03 -8.85622850e+01] [-4.47587447e-03 -5.12351797e-05 9.99989982e-01 -3.34125444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52655999499996 meters 0.05186532702835597 Centerline is valid? [True, True] Translation: X:442.78, Y:-88.59, Z:-3.34 [[ 9.01242449e-01 4.33291918e-01 4.49014989e-03 4.42777588e+02] [-4.33286860e-01 9.01253633e-01 -2.09442380e-03 -8.85866732e+01] [-4.95426080e-03 -5.79393103e-05 9.99987726e-01 -3.34179479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58655999499996 meters 0.051885883724478346 Centerline is valid? [True, True] Translation: X:442.83, Y:-88.61, Z:-3.34 [[ 8.99773261e-01 4.36331855e-01 4.75292536e-03 4.42833496e+02] [-4.36326225e-01 8.99785811e-01 -2.21795034e-03 -8.86144528e+01] [-5.24437719e-03 -7.81735739e-05 9.99986245e-01 -3.34193732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64655999499996 meters 0.05298484168881496 Centerline is valid? [True, True] Translation: X:442.89, Y:-88.63, Z:-3.34 [[ 8.98686990e-01 4.38577861e-01 3.33972629e-03 4.42892504e+02] [-4.38575097e-01 8.98693194e-01 -1.55824072e-03 -8.86326124e+01] [-3.68479916e-03 -6.43501186e-05 9.99993209e-01 -3.34476408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70655999499996 meters 0.05241029934036906 Centerline is valid? [True, True] Translation: X:442.95, Y:-88.66, Z:-3.35 [[ 8.97859097e-01 4.40271580e-01 3.15858375e-03 4.42948011e+02] [-4.40269118e-01 8.97864651e-01 -1.47407400e-03 -8.86606828e+01] [-3.48497359e-03 -6.71161278e-05 9.99993925e-01 -3.34500482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76655999499997 meters 0.05266749756179702 Centerline is valid? [True, True] Translation: X:443.01, Y:-88.68, Z:-3.35 [[ 8.97639020e-01 4.40720990e-01 3.03295845e-03 4.43005971e+02] [-4.40718721e-01 8.97644141e-01 -1.41584670e-03 -8.86806857e+01] [-3.34651075e-03 -6.57623223e-05 9.99994398e-01 -3.34641064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82655999499997 meters 0.05165167226649298 Centerline is valid? [True, True] Translation: X:443.06, Y:-88.72, Z:-3.34 [[ 8.97813145e-01 4.40353394e-01 4.52172123e-03 4.43059029e+02] [-4.40348340e-01 8.97824526e-01 -2.11190981e-03 -8.87152737e+01] [-4.98969887e-03 -9.50320463e-05 9.99987547e-01 -3.34360659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88655999499997 meters 0.05202388196792683 Centerline is valid? [True, True] Translation: X:443.12, Y:-88.74, Z:-3.34 [[ 8.98197762e-01 4.39559230e-01 5.33516486e-03 4.43117212e+02] [-4.39552178e-01 8.98213600e-01 -2.49223502e-03 -8.87361920e+01] [-5.88760254e-03 -1.06563416e-04 9.99982662e-01 -3.34375683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.946559995 meters 0.05203571756152948 Centerline is valid? [True, True] Translation: X:443.17, Y:-88.76, Z:-3.34 [[ 8.98138559e-01 4.39674001e-01 5.82249437e-03 4.43174609e+02] [-4.39665598e-01 8.98157425e-01 -2.72075738e-03 -8.87616320e+01] [-6.42576283e-03 -1.16333353e-04 9.99979348e-01 -3.34428508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.006559995 meters 0.051749957295636646 Centerline is valid? [True, True] Translation: X:443.23, Y:-88.79, Z:-3.35 [[ 8.97943054e-01 4.40072601e-01 5.86318156e-03 4.43230520e+02] [-4.40064083e-01 8.97962188e-01 -2.74065460e-03 -8.87898655e+01] [-6.47100234e-03 -1.19223860e-04 9.99979056e-01 -3.34563884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.066559995 meters 0.051999523361662074 Centerline is valid? [True, True] Translation: X:443.29, Y:-88.82, Z:-3.35 [[ 8.97881009e-01 4.40205535e-01 5.36474067e-03 4.43288182e+02] [-4.40198403e-01 8.97897029e-01 -2.50828649e-03 -8.88162420e+01] [-5.92114631e-03 -1.09407471e-04 9.99982464e-01 -3.34693517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.126559995 meters 0.05188731290610837 Centerline is valid? [True, True] Translation: X:443.34, Y:-88.84, Z:-3.35 [[ 8.97609752e-01 4.40769633e-01 4.34320180e-03 4.43344851e+02] [-4.40764963e-01 8.97620255e-01 -2.03119365e-03 -8.88417913e+01] [-4.79383438e-03 -9.11119479e-05 9.99988505e-01 -3.34715036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.186559995 meters 0.05201916228552983 Centerline is valid? [True, True] Translation: X:443.40, Y:-88.86, Z:-3.35 [[ 8.97159560e-01 4.41687395e-01 4.11931875e-03 4.43402527e+02] [-4.41683201e-01 8.97169012e-01 -1.92704843e-03 -8.88622311e+01] [-4.54687813e-03 -9.05639651e-05 9.99989659e-01 -3.34861600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.246559995 meters 0.05184995754710004 Centerline is valid? [True, True] Translation: X:443.46, Y:-88.89, Z:-3.35 [[ 8.96742669e-01 4.42530456e-01 4.40239290e-03 4.43459810e+02] [-4.42525673e-01 8.96753470e-01 -2.06009560e-03 -8.88857571e+01] [-4.85951615e-03 -1.00796250e-04 9.99988187e-01 -3.34879181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.306559995 meters 0.05302167454987717 Centerline is valid? [True, True] Translation: X:443.52, Y:-88.91, Z:-3.35 [[ 8.96759118e-01 4.42491796e-01 4.90860496e-03 4.43516494e+02] [-4.42485844e-01 8.96772545e-01 -2.29785202e-03 -8.89088376e+01] [-5.41868283e-03 -1.11368454e-04 9.99985313e-01 -3.34931965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36655999499993 meters 0.05163134614022083 Centerline is valid? [True, True] Translation: X:443.57, Y:-88.94, Z:-3.35 [[ 8.97272082e-01 4.41446797e-01 5.24751384e-03 4.43570942e+02] [-4.41439974e-01 8.97287419e-01 -2.45697312e-03 -8.89404582e+01] [-5.79315106e-03 -1.11888981e-04 9.99983213e-01 -3.34879929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42655999499993 meters 0.05215438705674161 Centerline is valid? [True, True] Translation: X:443.63, Y:-88.96, Z:-3.35 [[ 8.98541172e-01 4.38850645e-01 5.82006007e-03 4.43627384e+02] [-4.38842195e-01 8.98560015e-01 -2.72539846e-03 -8.89636824e+01] [-6.42571613e-03 -1.05205211e-04 9.99979349e-01 -3.34937257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48655999499994 meters 0.0520800356934685 Centerline is valid? [True, True] Translation: X:443.68, Y:-88.99, Z:-3.35 [[ 8.99709995e-01 4.36448341e-01 5.89664192e-03 4.43683024e+02] [-4.36439614e-01 8.99729314e-01 -2.76145805e-03 -8.89877002e+01] [-6.51061537e-03 -8.90167084e-05 9.99978802e-01 -3.35026581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54655999499994 meters 0.05266407513931969 Centerline is valid? [True, True] Translation: X:443.74, Y:-89.02, Z:-3.35 [[ 9.02289883e-01 4.31095736e-01 5.42519514e-03 4.43737161e+02] [-4.31088252e-01 9.02306192e-01 -2.54070019e-03 -8.90166052e+01] [-5.99047219e-03 -4.62898166e-05 9.99982056e-01 -3.35139170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60655999499994 meters 0.05227942575770831 Centerline is valid? [True, True] Translation: X:443.79, Y:-89.05, Z:-3.35 [[ 9.06028189e-01 4.23199175e-01 3.92159080e-03 4.43790634e+02] [-4.23195190e-01 9.06036676e-01 -1.83653374e-03 -8.90481001e+01] [-4.33032466e-03 4.35297736e-06 9.99990624e-01 -3.35256778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66655999499994 meters 0.052320859178349124 Centerline is valid? [True, True] Translation: X:443.85, Y:-89.08, Z:-3.35 [[ 9.08567980e-01 4.17725326e-01 3.12702167e-03 4.43846060e+02] [-4.17722761e-01 9.08573361e-01 -1.46418487e-03 -8.90760703e+01] [-3.45275568e-03 2.40833637e-05 9.99994039e-01 -3.35281595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72655999499995 meters 0.05310745874659996 Centerline is valid? [True, True] Translation: X:443.90, Y:-89.11, Z:-3.35 [[ 9.11817291e-01 4.10582918e-01 3.30081264e-03 4.43898491e+02] [-4.10580009e-01 9.11823264e-01 -1.54657363e-03 -8.91058272e+01] [-3.64475447e-03 5.49448943e-05 9.99993356e-01 -3.35292779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78655999499995 meters 0.05297556683276513 Centerline is valid? [True, True] Translation: X:443.95, Y:-89.13, Z:-3.35 [[ 9.13506438e-01 4.06803327e-01 4.12810435e-03 4.43953694e+02] [-4.06798738e-01 9.13515761e-01 -1.93415343e-03 -8.91318380e+01] [-4.55790843e-03 8.75539656e-05 9.99989609e-01 -3.35219364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84655999499995 meters 0.053020882774302294 Centerline is valid? [True, True] Translation: X:444.01, Y:-89.16, Z:-3.35 [[ 9.13625599e-01 4.06532266e-01 4.44757485e-03 4.44008543e+02] [-4.06526936e-01 9.13636420e-01 -2.08389945e-03 -8.91615499e+01] [-4.91063873e-03 9.58449092e-05 9.99987938e-01 -3.35336754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90655999499995 meters 0.05286456022416929 Centerline is valid? [True, True] Translation: X:444.07, Y:-89.18, Z:-3.35 [[ 9.12303936e-01 4.09497816e-01 3.61487122e-03 4.44065571e+02] [-4.09494317e-01 9.12311095e-01 -1.69397770e-03 -8.91817048e+01] [-3.99156729e-03 6.51532993e-05 9.99992032e-01 -3.35400643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96655999499995 meters 0.052883139551535195 Centerline is valid? [True, True] Translation: X:444.12, Y:-89.21, Z:-3.36 [[ 9.10745438e-01 4.12959821e-01 2.63318157e-03 4.44121808e+02] [-4.12957979e-01 9.10749244e-01 -1.23386914e-03 -8.92063378e+01] [-2.90770650e-03 3.63473509e-05 9.99995772e-01 -3.35527807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02655999499996 meters 0.052558093360734276 Centerline is valid? [True, True] Translation: X:444.18, Y:-89.23, Z:-3.35 [[ 9.07522063e-01 4.19998957e-01 2.14049951e-03 4.44179981e+02] [-4.19997759e-01 9.07524587e-01 -1.00307949e-03 -8.92252615e+01] [-2.36384827e-03 1.13117669e-05 9.99997206e-01 -3.35416499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08655999499996 meters 0.052932141031508166 Centerline is valid? [True, True] Translation: X:444.24, Y:-89.25, Z:-3.36 [[ 9.03955602e-01 4.27617558e-01 2.73734864e-03 4.44238310e+02] [-4.27615634e-01 9.03959747e-01 -1.28275892e-03 -8.92466606e+01] [-3.02298322e-03 -1.09759597e-05 9.99995431e-01 -3.35592001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14655999499996 meters 0.05255675029817942 Centerline is valid? [True, True] Translation: X:444.30, Y:-89.27, Z:-3.36 [[ 9.01715094e-01 4.32318602e-01 3.24280229e-03 4.44295949e+02] [-4.32315932e-01 9.01720924e-01 -1.51974558e-03 -8.92706520e+01] [-3.58111697e-03 -3.15375689e-05 9.99993587e-01 -3.35596396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20655999499996 meters 0.05227795634287623 Centerline is valid? [True, True] Translation: X:444.35, Y:-89.29, Z:-3.36 [[ 8.99221361e-01 4.37470445e-01 4.53362087e-03 4.44352376e+02] [-4.37465289e-01 8.99232786e-01 -2.12528441e-03 -8.92914770e+01] [-5.00652964e-03 -7.22006275e-05 9.99987465e-01 -3.35628049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26655999499997 meters 0.0520930540403066 Centerline is valid? [True, True] Translation: X:444.41, Y:-89.32, Z:-3.36 [[ 8.97736698e-01 4.40510951e-01 4.34997330e-03 4.44408655e+02] [-4.40506239e-01 8.97747233e-01 -2.03937174e-03 -8.93172427e+01] [-4.80354208e-03 -8.53715227e-05 9.99988459e-01 -3.35647745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32655999499997 meters 0.05123986916414032 Centerline is valid? [True, True] Translation: X:444.46, Y:-89.34, Z:-3.36 [[ 8.95622378e-01 4.44800238e-01 3.64752671e-03 4.44464793e+02] [-4.44796959e-01 8.95629801e-01 -1.71036879e-03 -8.93403241e+01] [-4.02760607e-03 -9.05642210e-05 9.99991885e-01 -3.35748267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38655999499997 meters 0.05174174369885502 Centerline is valid? [True, True] Translation: X:444.52, Y:-89.37, Z:-3.36 [[ 8.94293087e-01 4.47470594e-01 3.15313254e-03 4.44520402e+02] [-4.47468160e-01 8.94298641e-01 -1.47855133e-03 -8.93661497e+01] [-3.48145039e-03 -8.86681866e-05 9.99993936e-01 -3.35837984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.446559995 meters 0.05181840925135278 Centerline is valid? [True, True] Translation: X:444.57, Y:-89.39, Z:-3.36 [[ 8.92853978e-01 4.50341620e-01 2.04930694e-03 4.44574913e+02] [-4.50340599e-01 8.92856327e-01 -9.60898932e-04 -8.93934235e+01] [-2.26246945e-03 -6.49436820e-05 9.99997439e-01 -3.36004952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.506559995 meters 0.05239371961625797 Centerline is valid? [True, True] Translation: X:444.63, Y:-89.42, Z:-3.36 [[ 8.92840637e-01 4.50371770e-01 9.30136237e-04 4.44631552e+02] [-4.50371561e-01 8.92841121e-01 -4.35375799e-04 -8.94187911e+01] [-1.02654485e-03 -3.01857037e-05 9.99999473e-01 -3.36177141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.566559995 meters 0.052028580973621695 Centerline is valid? [True, True] Translation: X:444.68, Y:-89.45, Z:-3.36 [[ 8.94141622e-01 4.47783871e-01 6.03698894e-04 4.44683561e+02] [-4.47783782e-01 8.94141826e-01 -2.83109595e-04 -8.94524276e+01] [-6.66564342e-04 -1.71865017e-05 9.99999778e-01 -3.36048832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.626559995 meters 0.05190931363369583 Centerline is valid? [True, True] Translation: X:444.74, Y:-89.49, Z:-3.36 [[ 8.97595610e-01 4.40815871e-01 1.86814901e-03 4.44736024e+02] [-4.40815001e-01 8.97597553e-01 -8.76284793e-04 -8.94860898e+01] [-2.06312622e-03 -3.69587239e-05 9.99997871e-01 -3.35953216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.686559995 meters 0.05152195810411352 Centerline is valid? [True, True] Translation: X:444.79, Y:-89.51, Z:-3.36 [[ 8.98930580e-01 4.38085855e-01 2.14380262e-03 4.44790287e+02] [-4.38084702e-01 8.98933136e-01 -1.00574416e-03 -8.95133115e+01] [-2.36773750e-03 -3.50729493e-05 9.99997196e-01 -3.35980808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.746559995 meters 0.051921067130431264 Centerline is valid? [True, True] Translation: X:444.84, Y:-89.55, Z:-3.36 [[ 9.03581360e-01 4.28408644e-01 2.59995187e-03 4.44841684e+02] [-4.28406908e-01 9.03585100e-01 -1.21978343e-03 -8.95478792e+01] [-2.87184354e-03 -1.16637766e-05 9.99995876e-01 -3.35974263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.806559995 meters 0.052080655013268494 Centerline is valid? [True, True] Translation: X:444.89, Y:-89.58, Z:-3.36 [[ 9.06897794e-01 4.21344636e-01 2.25599379e-03 4.44894519e+02] [-4.21343308e-01 9.06900600e-01 -1.05786488e-03 -8.95801416e+01] [-2.49168781e-03 8.82743827e-06 9.99996896e-01 -3.36107632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86655999499993 meters 0.052431042220112876 Centerline is valid? [True, True] Translation: X:444.95, Y:-89.61, Z:-3.36 [[ 9.11962163e-01 4.10272445e-01 1.23874683e-03 4.44946718e+02] [-4.10272034e-01 9.11963004e-01 -5.81364507e-04 -8.96139279e+01] [-1.36820911e-03 2.19592540e-05 9.99999064e-01 -3.36201725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92655999499993 meters 0.05293189913860325 Centerline is valid? [True, True] Translation: X:445.00, Y:-89.65, Z:-3.36 [[ 9.15692074e-01 4.01880610e-01 -2.76865821e-05 4.44997623e+02] [-4.01880609e-01 9.15692075e-01 1.31380423e-05 -8.96491746e+01] [ 3.06323081e-05 -9.03700706e-07 1.00000000e+00 -3.36360913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98655999499994 meters 0.053230763034451796 Centerline is valid? [True, True] Translation: X:445.05, Y:-89.67, Z:-3.36 [[ 9.17417058e-01 3.97926834e-01 4.19154575e-04 4.45053151e+02] [-3.97926786e-01 9.17417154e-01 -1.96046295e-04 -8.96742006e+01] [-4.62551679e-04 1.30633821e-05 9.99999893e-01 -3.36267584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04655999499994 meters 0.05289810923084094 Centerline is valid? [True, True] Translation: X:445.11, Y:-89.70, Z:-3.36 [[ 9.18124093e-01 3.96290258e-01 1.47682694e-03 4.45108747e+02] [-3.96289655e-01 9.18125280e-01 -6.93219987e-04 -8.97016944e+01] [-1.63062848e-03 5.12107323e-05 9.99998669e-01 -3.36221168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10655999499994 meters 0.05337284549782134 Centerline is valid? [True, True] Translation: X:445.16, Y:-89.73, Z:-3.36 [[ 9.17312465e-01 3.98162187e-01 2.17136893e-03 4.45161423e+02] [-3.98160888e-01 9.17315032e-01 -1.01937416e-03 -8.97309740e+01] [-2.39770560e-03 7.05304373e-05 9.99997123e-01 -3.36360285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16655999499994 meters 0.053101378449120204 Centerline is valid? [True, True] Translation: X:445.22, Y:-89.76, Z:-3.36 [[ 9.14944235e-01 4.03574950e-01 2.07529684e-03 4.45216160e+02] [-4.03573777e-01 9.14946587e-01 -9.74657157e-04 -8.97558958e+01] [-2.29213298e-03 5.42215619e-05 9.99997372e-01 -3.36460529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22655999499995 meters 0.05292765598678762 Centerline is valid? [True, True] Translation: X:445.27, Y:-89.78, Z:-3.37 [[ 9.12735197e-01 4.08548693e-01 1.55733874e-03 4.45273381e+02] [-4.08548040e-01 9.12736525e-01 -7.31338081e-04 -8.97774720e+01] [-1.72022716e-03 3.12703205e-05 9.99998520e-01 -3.36526051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28655999499995 meters 0.05260606275187713 Centerline is valid? [True, True] Translation: X:445.33, Y:-89.80, Z:-3.37 [[ 9.08613817e-01 4.17635281e-01 1.30523089e-03 4.45331131e+02] [-4.17634832e-01 9.08614754e-01 -6.12901355e-04 -8.97987588e+01] [-1.44192128e-03 1.17807564e-05 9.99998960e-01 -3.36603746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34655999499995 meters 0.05164544838923267 Centerline is valid? [True, True] Translation: X:445.39, Y:-89.82, Z:-3.37 [[ 9.03836205e-01 4.27876618e-01 1.30943226e-03 4.45389578e+02] [-4.27876177e-01 9.03837153e-01 -6.14284709e-04 -8.98194937e+01] [-1.44635159e-03 -5.06210986e-06 9.99998954e-01 -3.36642797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40655999499995 meters 0.051957035326580005 Centerline is valid? [True, True] Translation: X:445.45, Y:-89.84, Z:-3.37 [[ 9.01049597e-01 4.33710808e-01 2.13503512e-03 4.45447324e+02] [-4.33709649e-01 9.01052126e-01 -1.00283734e-03 -8.98393868e+01] [-2.35871933e-03 -2.23791566e-05 9.99997218e-01 -3.36906518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46655999499995 meters 0.051038725009183494 Centerline is valid? [True, True] Translation: X:445.50, Y:-89.86, Z:-3.37 [[ 8.98345802e-01 4.39283830e-01 2.13018183e-03 4.45503447e+02] [-4.39282691e-01 8.98348326e-01 -1.00097837e-03 -8.98625220e+01] [-2.35335890e-03 -3.65272917e-05 9.99997230e-01 -3.36865737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52655999499996 meters 0.051003266997337614 Centerline is valid? [True, True] Translation: X:445.56, Y:-89.89, Z:-3.37 [[ 8.97355585e-01 4.41302313e-01 2.28543812e-03 4.45558375e+02] [-4.41301009e-01 8.97358494e-01 -1.07382809e-03 -8.98911004e+01] [-2.52474012e-03 -4.49605155e-05 9.99996812e-01 -3.36852381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58655999499996 meters 0.051114297637307356 Centerline is valid? [True, True] Translation: X:445.62, Y:-89.92, Z:-3.37 [[ 8.97123897e-01 4.41770771e-01 2.70193596e-03 4.45615888e+02] [-4.41768951e-01 8.97127964e-01 -1.26925202e-03 -8.99153957e+01] [-2.98470075e-03 -5.49550949e-05 9.99995544e-01 -3.36935552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64655999499996 meters 0.05143870698517903 Centerline is valid? [True, True] Translation: X:445.67, Y:-89.95, Z:-3.37 [[ 8.97049562e-01 4.41916220e-01 3.48395271e-03 4.45670031e+02] [-4.41913193e-01 8.97056324e-01 -1.63736905e-03 -8.99476128e+01] [-3.84888176e-03 -7.08034759e-05 9.99992591e-01 -3.36741294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70655999499996 meters 0.05144227191346438 Centerline is valid? [True, True] Translation: X:445.73, Y:-89.97, Z:-3.37 [[ 8.96879417e-01 4.42274307e-01 8.65522978e-04 4.45725617e+02] [-4.42274121e-01 8.96879834e-01 -4.06236699e-04 -8.99747279e+01] [-9.55938160e-04 -1.84530807e-05 9.99999543e-01 -3.36945681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76655999499997 meters 0.05139815942262433 Centerline is valid? [True, True] Translation: X:445.78, Y:-90.00, Z:-3.38 [[ 8.96586654e-01 4.42850837e-01 -3.93810989e-03 4.45780598e+02] [-4.42846969e-01 8.96595299e-01 1.85275679e-03 -8.99991499e+01] [ 4.35138571e-03 8.28230208e-05 9.99990529e-01 -3.37532018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82655999499997 meters 0.05177283485629461 Centerline is valid? [True, True] Translation: X:445.84, Y:-90.03, Z:-3.37 [[ 8.97312549e-01 4.41374705e-01 -4.30796031e-03 4.45835045e+02] [-4.41370058e-01 8.97322887e-01 2.02713738e-03 -9.00307904e+01] [ 4.76035854e-03 8.24288837e-05 9.99988666e-01 -3.37385458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88655999499997 meters 0.05109190637030532 Centerline is valid? [True, True] Translation: X:445.89, Y:-90.06, Z:-3.37 [[ 8.99246303e-01 4.37432863e-01 -2.92852835e-03 4.45888233e+02] [-4.37430694e-01 8.99251071e-01 1.37795280e-03 -9.00613809e+01] [ 3.23624410e-03 4.19092273e-05 9.99994762e-01 -3.37045969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.946559995 meters 0.05142016349503282 Centerline is valid? [True, True] Translation: X:445.94, Y:-90.09, Z:-3.37 [[ 9.01101569e-01 4.33604359e-01 -1.79511210e-03 4.45942334e+02] [-4.33603537e-01 9.01103357e-01 8.44848908e-04 -9.00900213e+01] [ 1.98391171e-03 1.70722794e-05 9.99998032e-01 -3.36898069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.006559995 meters 0.0513744469258095 Centerline is valid? [True, True] Translation: X:446.00, Y:-90.12, Z:-3.37 [[ 9.02884603e-01 4.29883000e-01 2.45075215e-05 4.45996014e+02] [-4.29882999e-01 9.02884603e-01 -1.14643853e-05 -9.01168986e+01] [-2.70558084e-05 -1.84349931e-07 1.00000000e+00 -3.36888586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.066559995 meters 0.051398521356342486 Centerline is valid? [True, True] Translation: X:446.05, Y:-90.15, Z:-3.37 [[ 9.06325949e-01 4.22577649e-01 1.18506563e-03 4.46049814e+02] [-4.22577282e-01 9.06326724e-01 -5.56849675e-04 -9.01459469e+01] [-1.30936887e-03 3.90549899e-06 9.99999143e-01 -3.36920103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.126559995 meters 0.0522735671312865 Centerline is valid? [True, True] Translation: X:446.11, Y:-90.17, Z:-3.37 [[ 9.09347164e-01 4.16036566e-01 1.14525776e-03 4.46105048e+02] [-4.16036218e-01 9.09347885e-01 -5.38820818e-04 -9.01741847e+01] [-1.26560689e-03 1.35064749e-05 9.99999199e-01 -3.36837964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.186559995 meters 0.052291783121054036 Centerline is valid? [True, True] Translation: X:446.16, Y:-90.20, Z:-3.37 [[ 9.13200079e-01 4.07509625e-01 1.23332161e-03 4.46158856e+02] [-4.07509213e-01 9.13200911e-01 -5.80435806e-04 -9.02026360e+01] [-1.36280360e-03 2.74641062e-05 9.99999071e-01 -3.36720667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.246559995 meters 0.05302201644951096 Centerline is valid? [True, True] Translation: X:446.21, Y:-90.23, Z:-3.37 [[ 9.15308339e-01 4.02752114e-01 1.17449917e-03 4.46212865e+02] [-4.02751736e-01 9.15309092e-01 -5.52837786e-04 -9.02289719e+01] [-1.29768636e-03 3.29854559e-05 9.99999157e-01 -3.36767023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.306559995 meters 0.05380605796041874 Centerline is valid? [True, True] Translation: X:446.27, Y:-90.25, Z:-3.37 [[ 9.17601414e-01 3.97500334e-01 1.06279451e-03 4.46269808e+02] [-3.97500022e-01 9.17602029e-01 -5.00134327e-04 -9.02518530e+01] [-1.17402596e-03 3.64631239e-05 9.99999310e-01 -3.36843284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36655999499993 meters 0.05399640632132008 Centerline is valid? [True, True] Translation: X:446.33, Y:-90.27, Z:-3.37 [[ 9.19008964e-01 3.94230619e-01 2.17807132e-03 4.46326969e+02] [-3.94229294e-01 9.19011541e-01 -1.02536731e-03 -9.02717147e+01] [-2.40590387e-03 8.36622330e-05 9.99997102e-01 -3.36845364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42655999499993 meters 0.05437203738713909 Centerline is valid? [True, True] Translation: X:446.38, Y:-90.30, Z:-3.37 [[ 9.18128107e-01 3.96276414e-01 2.40490471e-03 4.46381970e+02] [-3.96274806e-01 9.18131252e-01 -1.13196240e-03 -9.03002314e+01] [-2.65658818e-03 8.62833505e-05 9.99996468e-01 -3.36996248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48655999499994 meters 0.05291325445425132 Centerline is valid? [True, True] Translation: X:446.45, Y:-90.30, Z:-3.37 [[ 9.07781950e-01 4.19441060e-01 1.06249892e-03 4.46450405e+02] [-4.19440762e-01 9.07782571e-01 -5.00163652e-04 -9.02984515e+01] [-1.17430718e-03 8.38417720e-06 9.99999310e-01 -3.37150651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54655999499994 meters 0.05340132276652315 Centerline is valid? [True, True] Translation: X:446.51, Y:-90.32, Z:-3.37 [[ 9.04983162e-01 4.25442516e-01 2.03511217e-03 4.46508340e+02] [-4.25441438e-01 9.04985450e-01 -9.57841487e-04 -9.03189063e+01] [-2.24925340e-03 1.00936718e-06 9.99997470e-01 -3.37198630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60655999499994 meters 0.05340132276652315 Centerline is valid? [True, True] Translation: X:446.56, Y:-90.35, Z:-3.37 [[ 9.04926850e-01 4.25562281e-01 2.03518641e-03 4.46564866e+02] [-4.25561203e-01 9.04929138e-01 -9.57683958e-04 -9.03455045e+01] [-2.24925365e-03 5.37549842e-07 9.99997470e-01 -3.37244683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66655999499994 meters 0.052938050250301565 Centerline is valid? [True, True] Translation: X:446.62, Y:-90.37, Z:-3.37 [[ 9.03510495e-01 4.28561220e-01 2.01625787e-03 4.46622565e+02] [-4.28560169e-01 9.03512745e-01 -9.49080090e-04 -9.03698862e+01] [-2.22845361e-03 -6.58399169e-06 9.99997517e-01 -3.37245737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72655999499995 meters 0.05256817339042598 Centerline is valid? [True, True] Translation: X:446.68, Y:-90.39, Z:-3.37 [[ 9.02200550e-01 4.31312798e-01 1.85429682e-03 4.46678815e+02] [-4.31311914e-01 9.02202455e-01 -8.73481015e-04 -9.03941144e+01] [-2.04969468e-03 -1.17252567e-05 9.99997899e-01 -3.37299911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78655999499995 meters 0.05306321943508456 Centerline is valid? [True, True] Translation: X:446.74, Y:-90.42, Z:-3.37 [[ 9.00908009e-01 4.34007645e-01 1.45696267e-03 4.46735839e+02] [-4.34007102e-01 9.00909187e-01 -6.86449666e-04 -9.04197021e+01] [-1.61051546e-03 -1.39041446e-05 9.99998703e-01 -3.37321465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84655999499995 meters 0.052505039496510454 Centerline is valid? [True, True] Translation: X:446.79, Y:-90.44, Z:-3.37 [[ 8.98291037e-01 4.39400926e-01 1.96267493e-04 4.46792121e+02] [-4.39400917e-01 8.98291059e-01 -9.20076236e-05 -9.04416908e+01] [-2.16733569e-04 -3.59049271e-06 9.99999977e-01 -3.37456218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90655999499995 meters 0.05240880838401957 Centerline is valid? [True, True] Translation: X:446.85, Y:-90.46, Z:-3.38 [[ 8.94032873e-01 4.47999859e-01 -1.16117207e-03 4.46849631e+02] [-4.47999525e-01 8.94033627e-01 5.47811094e-04 -9.04594851e+01] [ 1.28354617e-03 3.04434112e-05 9.99999176e-01 -3.37628246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96655999499995 meters 0.052357591250569026 Centerline is valid? [True, True] Translation: X:446.90, Y:-90.49, Z:-3.37 [[ 8.93707042e-01 4.48650405e-01 -7.33315328e-04 4.46904660e+02] [-4.48650272e-01 8.93707342e-01 3.46812310e-04 -9.04883996e+01] [ 8.10966776e-04 1.90535179e-05 9.99999671e-01 -3.37477744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02655999499996 meters 0.05260846425469593 Centerline is valid? [True, True] Translation: X:446.96, Y:-90.51, Z:-3.37 [[ 8.94929990e-01 4.46206573e-01 7.99638087e-05 4.46959718e+02] [-4.46206572e-01 8.94929994e-01 -3.75821186e-05 -9.05144533e+01] [-8.83313993e-05 -2.04701187e-06 9.99999996e-01 -3.37460718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08655999499996 meters 0.052231579795848526 Centerline is valid? [True, True] Translation: X:447.01, Y:-90.54, Z:-3.37 [[ 8.96656258e-01 4.42726374e-01 9.55630148e-04 4.47014360e+02] [-4.42726145e-01 8.96656767e-01 -4.50623533e-04 -9.05430052e+01] [-1.05637516e-03 -1.90280404e-05 9.99999442e-01 -3.37426206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14655999499996 meters 0.05231260587865947 Centerline is valid? [True, True] Translation: X:447.07, Y:-90.57, Z:-3.37 [[ 8.99500465e-01 4.36919767e-01 1.75238412e-04 4.47066316e+02] [-4.36919759e-01 8.99500482e-01 -8.25995297e-05 -9.05747803e+01] [-1.93716404e-04 -2.26680951e-06 9.99999981e-01 -3.37252883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20655999499996 meters 0.052181010182562076 Centerline is valid? [True, True] Translation: X:447.12, Y:-90.60, Z:-3.37 [[ 9.01621941e-01 4.32523853e-01 -9.96117929e-04 4.47121095e+02] [-4.32523597e-01 9.01622491e-01 4.70069325e-04 -9.06017463e+01] [ 1.10143852e-03 7.01969287e-06 9.99999393e-01 -3.37379391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26655999499997 meters 0.053796071063514375 Centerline is valid? [True, True] Translation: X:447.17, Y:-90.63, Z:-3.38 [[ 9.05352905e-01 4.24654159e-01 -2.22778577e-03 4.47174956e+02] [-4.24652858e-01 9.05355646e-01 1.05135040e-03 -9.06323367e+01] [ 2.46339875e-03 -5.80754936e-06 9.99996966e-01 -3.37630050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32655999499997 meters 0.05323707767535926 Centerline is valid? [True, True] Translation: X:447.23, Y:-90.66, Z:-3.38 [[ 9.08257589e-01 4.18400524e-01 -3.02537565e-03 4.47228455e+02] [-4.18398090e-01 9.08262627e-01 1.42770621e-03 -9.06632454e+01] [ 3.34518866e-03 -3.09136048e-05 9.99994404e-01 -3.37723805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38655999499997 meters 0.05393654767524231 Centerline is valid? [True, True] Translation: X:447.28, Y:-90.69, Z:-3.37 [[ 9.12787941e-01 4.08418057e-01 -3.58686735e-03 4.47281129e+02] [-4.08414557e-01 9.12794985e-01 1.69269280e-03 -9.06934347e+01] [ 3.96540083e-03 -8.01407303e-05 9.99992135e-01 -3.37431952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.446559995 meters 0.054403617414928 Centerline is valid? [True, True] Translation: X:447.34, Y:-90.72, Z:-3.37 [[ 9.16202172e-01 4.00705377e-01 -2.96312214e-03 4.47335836e+02] [-4.00702948e-01 9.16206959e-01 1.39841553e-03 -9.07197954e+01] [ 3.27518575e-03 -9.38995660e-05 9.99994632e-01 -3.37266129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.506559995 meters 0.05466298177046665 Centerline is valid? [True, True] Translation: X:447.39, Y:-90.75, Z:-3.37 [[ 9.20896055e-01 3.89807559e-01 -7.23508296e-04 4.47386959e+02] [-3.89807411e-01 9.20896338e-01 3.41478998e-04 -9.07533113e+01] [ 7.99387235e-04 -3.24377665e-05 9.99999680e-01 -3.37242136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.566559995 meters 0.05487790466688117 Centerline is valid? [True, True] Translation: X:447.44, Y:-90.78, Z:-3.37 [[ 9.23184831e-01 3.84356094e-01 4.00944486e-04 4.47443171e+02] [-3.84356048e-01 9.23184918e-01 -1.89034859e-04 -9.07779385e+01] [-4.42802603e-04 2.04086762e-05 9.99999902e-01 -3.37176191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.626559995 meters 0.05651415265873764 Centerline is valid? [True, True] Translation: X:447.49, Y:-90.81, Z:-3.37 [[ 9.24329210e-01 3.81595472e-01 -6.38993718e-04 4.47492838e+02] [-3.81595354e-01 9.24329430e-01 3.01616153e-04 -9.08141813e+01] [ 7.05736057e-04 -3.49555863e-05 9.99999750e-01 -3.37379476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.686559995 meters 0.055906938353797925 Centerline is valid? [True, True] Translation: X:447.55, Y:-90.83, Z:-3.37 [[ 9.23807632e-01 3.82853996e-01 -1.50864788e-03 4.47551701e+02] [-3.82853342e-01 9.23808861e-01 7.12115922e-04 -9.08329936e+01] [ 1.66633870e-03 -8.02672415e-05 9.99998608e-01 -3.37327545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.746559995 meters 0.05485458775021367 Centerline is valid? [True, True] Translation: X:447.61, Y:-90.85, Z:-3.37 [[ 9.21381519e-01 3.88656787e-01 -1.41353754e-03 4.47612391e+02] [-3.88656219e-01 9.21382601e-01 6.67306309e-04 -9.08473491e+01] [ 1.56176202e-03 -6.54635455e-05 9.99998778e-01 -3.37307205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.806559995 meters 0.05518388296436462 Centerline is valid? [True, True] Translation: X:447.67, Y:-90.87, Z:-3.37 [[ 9.18244173e-01 3.96014429e-01 -4.58189531e-04 4.47668856e+02] [-3.96014371e-01 9.18244287e-01 2.16264010e-04 -9.08676278e+01] [ 5.06373587e-04 -1.71335285e-05 9.99999872e-01 -3.37385099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86655999499993 meters 0.05530216032066093 Centerline is valid? [True, True] Translation: X:447.72, Y:-90.90, Z:-3.38 [[ 9.16376984e-01 4.00315804e-01 6.92732035e-04 4.47723461e+02] [-4.00315672e-01 9.16377246e-01 -3.26775764e-04 -9.08955006e+01] [-7.65617377e-04 2.21382991e-05 9.99999707e-01 -3.37560916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92655999499993 meters 0.055080866271551204 Centerline is valid? [True, True] Translation: X:447.78, Y:-90.91, Z:-3.37 [[ 9.14338858e-01 4.04948591e-01 1.04513455e-03 4.47784508e+02] [-4.04948291e-01 9.14339455e-01 -4.93281325e-04 -9.09060779e+01] [-1.15536134e-03 2.78008312e-05 9.99999332e-01 -3.37334502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98655999499994 meters 0.05449498033218562 Centerline is valid? [True, True] Translation: X:447.84, Y:-90.94, Z:-3.38 [[ 9.13403037e-01 4.07055149e-01 9.98889413e-04 4.47837995e+02] [-4.07054877e-01 9.13403583e-01 -4.71212658e-04 -9.09378771e+01] [-1.10419871e-03 2.38042665e-05 9.99999390e-01 -3.37678876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04655999499994 meters 0.054934325232224114 Centerline is valid? [True, True] Translation: X:447.90, Y:-90.95, Z:-3.38 [[ 9.12555429e-01 4.08952449e-01 6.95916238e-04 4.47897804e+02] [-4.08952317e-01 9.12555694e-01 -3.28446088e-04 -9.09527847e+01] [-7.69381158e-04 1.51287020e-05 9.99999704e-01 -3.37597866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10655999499994 meters 0.05499914210592756 Centerline is valid? [True, True] Translation: X:447.96, Y:-90.98, Z:-3.38 [[ 9.12587061e-01 4.08881444e-01 9.06653960e-04 4.47955734e+02] [-4.08881220e-01 9.12587511e-01 -4.27628014e-04 -9.09773554e+01] [-1.00225024e-03 1.95340146e-05 9.99999498e-01 -3.37741587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16655999499994 meters 0.055733851243705834 Centerline is valid? [True, True] Translation: X:448.01, Y:-91.00, Z:-3.38 [[ 9.13456943e-01 4.06933515e-01 1.23605685e-03 4.48013453e+02] [-4.06933099e-01 9.13457779e-01 -5.83165068e-04 -9.10014439e+01] [-1.36639516e-03 2.97037347e-05 9.99999066e-01 -3.37860360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22655999499995 meters 0.05569798501463569 Centerline is valid? [True, True] Translation: X:448.07, Y:-91.02, Z:-3.38 [[ 9.14369053e-01 4.04880902e-01 8.30976288e-04 4.48073517e+02] [-4.04880712e-01 9.14369430e-01 -3.91995800e-04 -9.10172764e+01] [-9.18530928e-04 2.19825571e-05 9.99999578e-01 -3.37688446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28655999499995 meters 0.05588892670342956 Centerline is valid? [True, True] Translation: X:448.13, Y:-91.04, Z:-3.38 [[ 9.16801078e-01 3.99344003e-01 -3.87904932e-04 4.48132101e+02] [-3.99343962e-01 9.16801160e-01 1.83389586e-04 -9.10361793e+01] [ 4.28867223e-04 -1.32242778e-05 9.99999908e-01 -3.37585318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34655999499995 meters 0.05581327848560976 Centerline is valid? [True, True] Translation: X:448.19, Y:-91.06, Z:-3.38 [[ 9.19676951e-01 3.92674349e-01 -1.07777393e-03 4.48186644e+02] [-3.92674021e-01 9.19677582e-01 5.09270759e-04 -9.10609446e+01] [ 1.19118209e-03 -4.51507563e-05 9.99999290e-01 -3.37570647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40655999499995 meters 0.05709351782762671 Centerline is valid? [True, True] Translation: X:448.24, Y:-91.09, Z:-3.38 [[ 9.21273383e-01 3.88915259e-01 -5.25070761e-04 4.48241874e+02] [-3.88915181e-01 9.21273532e-01 2.48127272e-04 -9.10862249e+01] [ 5.80234277e-04 -2.43850614e-05 9.99999831e-01 -3.37658027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46655999499995 meters 0.0568220957445629 Centerline is valid? [True, True] Translation: X:448.30, Y:-91.11, Z:-3.38 [[ 9.21764157e-01 3.87750898e-01 -2.82056711e-04 4.48296655e+02] [-3.87750875e-01 9.21764200e-01 1.34164847e-04 -9.11138405e+01] [ 3.12012318e-04 -1.43006109e-05 9.99999951e-01 -3.37737120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52655999499996 meters 0.05735583382457485 Centerline is valid? [True, True] Translation: X:448.35, Y:-91.14, Z:-3.38 [[ 9.22435137e-01 3.86151854e-01 4.04831932e-04 4.48354318e+02] [-3.86151808e-01 9.22435225e-01 -1.91099100e-04 -9.11357201e+01] [-4.47224507e-04 1.99499423e-05 9.99999900e-01 -3.37767603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58655999499996 meters 0.056864625700997665 Centerline is valid? [True, True] Translation: X:448.41, Y:-91.15, Z:-3.38 [[ 9.21003672e-01 3.89553894e-01 -1.23678238e-06 4.48413508e+02] [-3.89553894e-01 9.21003672e-01 7.42099251e-07 -9.11532318e+01] [ 1.42816861e-06 -2.01682744e-07 1.00000000e+00 -3.37794054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64655999499996 meters 0.05681406949267528 Centerline is valid? [True, True] Translation: X:448.47, Y:-91.17, Z:-3.38 [[ 9.19042499e-01 3.94158043e-01 -5.67591315e-04 4.48470997e+02] [-3.94157953e-01 9.19042674e-01 2.68338397e-04 -9.11747174e+01] [ 6.27408378e-04 -2.28937605e-05 9.99999803e-01 -3.37894021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70655999499996 meters 0.05600432871355039 Centerline is valid? [True, True] Translation: X:448.53, Y:-91.19, Z:-3.38 [[ 9.15215513e-01 4.02964710e-01 -8.63769624e-05 4.48529530e+02] [-4.02964708e-01 9.15215517e-01 4.09194463e-05 -9.11930758e+01] [ 9.55426290e-05 -2.64324455e-06 9.99999995e-01 -3.37975864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76655999499997 meters 0.05654952471969047 Centerline is valid? [True, True] Translation: X:448.59, Y:-91.21, Z:-3.38 [[ 9.12459063e-01 4.09167852e-01 3.57753419e-04 4.48587473e+02] [-4.09167817e-01 9.12459133e-01 -1.68992946e-04 -9.12132839e+01] [-3.95581856e-04 7.81795958e-06 9.99999922e-01 -3.38022535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82655999499997 meters 0.05594067006679493 Centerline is valid? [True, True] Translation: X:448.64, Y:-91.23, Z:-3.38 [[ 9.08625224e-01 4.17611450e-01 9.38004903e-04 4.48644369e+02] [-4.17611215e-01 9.08625708e-01 -4.43214458e-04 -9.12331103e+01] [-1.03738680e-03 1.09944684e-05 9.99999462e-01 -3.38283512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88655999499997 meters 0.0560826583041142 Centerline is valid? [True, True] Translation: X:448.70, Y:-91.25, Z:-3.38 [[ 9.06398435e-01 4.22423615e-01 4.08551293e-04 4.48703330e+02] [-4.22423571e-01 9.06398527e-01 -1.92763043e-04 -9.12540973e+01] [-4.51737951e-04 2.13842466e-06 9.99999898e-01 -3.38295926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.946559995 meters 0.05595342578092866 Centerline is valid? [True, True] Translation: X:448.76, Y:-91.28, Z:-3.38 [[ 9.03729927e-01 4.28102692e-01 -5.51140445e-04 4.48762595e+02] [-4.28102612e-01 9.03730095e-01 2.61040032e-04 -9.12751387e+01] [ 6.09834147e-04 3.49753052e-08 9.99999814e-01 -3.38455833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.006559995 meters 0.05625011706170305 Centerline is valid? [True, True] Translation: X:448.82, Y:-91.30, Z:-3.38 [[ 9.01916283e-01 4.31909899e-01 -9.26365516e-04 4.48819270e+02] [-4.31909677e-01 9.01916758e-01 4.38485125e-04 -9.12986774e+01] [ 1.02489065e-03 4.62935637e-06 9.99999475e-01 -3.38381616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.066559995 meters 0.05583535594004377 Centerline is valid? [True, True] Translation: X:448.88, Y:-91.32, Z:-3.39 [[ 8.99210495e-01 4.37516125e-01 -3.54438837e-04 4.48877192e+02] [-4.37516093e-01 8.99210565e-01 1.67928445e-04 -9.13213832e+01] [ 3.92186550e-04 4.06967454e-06 9.99999923e-01 -3.38502503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.126559995 meters 0.055510060153271 Centerline is valid? [True, True] Translation: X:448.93, Y:-91.35, Z:-3.39 [[ 8.97560792e-01 4.40890451e-01 -4.84872713e-04 4.48933955e+02] [-4.40890391e-01 8.97560923e-01 2.29630146e-04 -9.13472125e+01] [ 5.36444538e-04 7.66870443e-06 9.99999856e-01 -3.38513165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.186559995 meters 0.055436611920293075 Centerline is valid? [True, True] Translation: X:448.99, Y:-91.38, Z:-3.38 [[ 8.97270738e-01 4.41480365e-01 -5.56318131e-04 4.48988955e+02] [-4.41480286e-01 8.97270911e-01 2.64132786e-04 -9.13757126e+01] [ 6.15777515e-04 8.60486744e-06 9.99999810e-01 -3.38477952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.246559995 meters 0.05552458500030766 Centerline is valid? [True, True] Translation: X:449.04, Y:-91.41, Z:-3.38 [[ 8.97534461e-01 4.40943930e-01 -5.85087290e-04 4.49042379e+02] [-4.40943843e-01 8.97534651e-01 2.77745766e-04 -9.14052883e+01] [ 6.47606426e-04 8.70424191e-06 9.99999790e-01 -3.38460952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.306559995 meters 0.055323671536381104 Centerline is valid? [True, True] Translation: X:449.10, Y:-91.43, Z:-3.39 [[ 8.97672443e-01 4.40663159e-01 -4.06316885e-04 4.49097336e+02] [-4.40663117e-01 8.97672535e-01 1.93175854e-04 -9.14322353e+01] [ 4.49864990e-04 5.64022434e-06 9.99999899e-01 -3.38531399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36655999499993 meters 0.05513489110494227 Centerline is valid? [True, True] Translation: X:449.15, Y:-91.46, Z:-3.38 [[ 8.98158025e-01 4.39672771e-01 1.27749748e-04 4.49150908e+02] [-4.39672767e-01 8.98158034e-01 -5.99709664e-05 -9.14649966e+01] [-1.41107064e-04 -2.30468060e-06 9.99999990e-01 -3.38441607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42655999499993 meters 0.055214847219888834 Centerline is valid? [True, True] Translation: X:449.21, Y:-91.49, Z:-3.39 [[ 8.98815430e-01 4.38327248e-01 -2.17270393e-04 4.49205770e+02] [-4.38327235e-01 8.98815456e-01 1.03202503e-04 -9.14937986e+01] [ 2.40522456e-04 2.47552861e-06 9.99999971e-01 -3.38658805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48655999499994 meters 0.05530920420987374 Centerline is valid? [True, True] Translation: X:449.26, Y:-91.53, Z:-3.39 [[ 9.01244262e-01 4.33311225e-01 -4.02202643e-04 4.49257976e+02] [-4.33311183e-01 9.01244352e-01 1.90631779e-04 -9.15281107e+01] [ 4.45085750e-04 2.47310549e-06 9.99999901e-01 -3.38693430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54655999499994 meters 0.055215054101361856 Centerline is valid? [True, True] Translation: X:449.31, Y:-91.56, Z:-3.39 [[ 9.04994835e-01 4.25422449e-01 -2.99093143e-04 4.49310055e+02] [-4.25422425e-01 9.04994884e-01 1.42600008e-04 -9.15639665e+01] [ 3.31343008e-04 -1.81134050e-06 9.99999945e-01 -3.38701131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60655999499994 meters 0.05493816971832242 Centerline is valid? [True, True] Translation: X:449.36, Y:-91.60, Z:-3.39 [[ 9.08095008e-01 4.18764192e-01 8.56479845e-05 4.49362224e+02] [-4.18764190e-01 9.08095012e-01 -3.96977954e-05 -9.15961089e+01] [-9.44005229e-05 1.83061007e-07 9.99999996e-01 -3.38655183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66655999499994 meters 0.056155129930482814 Centerline is valid? [True, True] Translation: X:449.41, Y:-91.63, Z:-3.39 [[ 9.12913259e-01 4.08151884e-01 1.19228222e-03 4.49412479e+02] [-4.08151495e-01 9.12914037e-01 -5.64669656e-04 -9.16328437e+01] [-1.31892216e-03 2.88626445e-05 9.99999130e-01 -3.38662416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72655999499995 meters 0.05558156723869769 Centerline is valid? [True, True] Translation: X:449.47, Y:-91.66, Z:-3.39 [[ 9.15588629e-01 4.02114025e-01 1.33133638e-03 4.49468308e+02] [-4.02113533e-01 9.15589596e-01 -6.30640260e-04 -9.16583799e+01] [-1.47254703e-03 4.20586765e-05 9.99998915e-01 -3.38553449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78655999499995 meters 0.05563721334758509 Centerline is valid? [True, True] Translation: X:449.52, Y:-91.69, Z:-3.39 [[ 9.18384881e-01 3.95686257e-01 1.26391379e-03 4.49521494e+02] [-3.95685807e-01 9.18385749e-01 -5.98690892e-04 -9.16892907e+01] [-1.39765417e-03 4.97159173e-05 9.99999022e-01 -3.38671276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84655999499995 meters 0.056068106671922774 Centerline is valid? [True, True] Translation: X:449.57, Y:-91.72, Z:-3.39 [[ 9.19629968e-01 3.92785025e-01 8.03889582e-04 4.49570952e+02] [-3.92784842e-01 9.19630319e-01 -3.80675251e-04 -9.17243278e+01] [-8.88804770e-04 3.43247266e-05 9.99999604e-01 -3.38787306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90655999499995 meters 0.0561240759756242 Centerline is valid? [True, True] Translation: X:449.63, Y:-91.74, Z:-3.39 [[ 9.19373830e-01 3.93384525e-01 6.12785928e-04 4.49630830e+02] [-3.93384420e-01 9.19374034e-01 -2.89490018e-04 -9.17427152e+01] [-6.77260364e-04 2.50891098e-05 9.99999770e-01 -3.38686536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96655999499995 meters 0.0563775205022041 Centerline is valid? [True, True] Translation: X:449.68, Y:-91.77, Z:-3.39 [[ 9.17607177e-01 3.97487929e-01 6.44744007e-04 4.49684815e+02] [-3.97487813e-01 9.17607403e-01 -3.05444959e-04 -9.17702039e+01] [-7.13032558e-04 2.40006018e-05 9.99999746e-01 -3.38866494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02655999499996 meters 0.055967713766674206 Centerline is valid? [True, True] Translation: X:449.74, Y:-91.80, Z:-3.39 [[ 9.14925664e-01 4.03621024e-01 1.04803985e-03 4.49737208e+02] [-4.03620719e-01 9.14926264e-01 -4.96733042e-04 -9.18004793e+01] [-1.15937108e-03 3.14632094e-05 9.99999327e-01 -3.39021590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08655999499996 meters 0.055943145510708184 Centerline is valid? [True, True] Translation: X:449.79, Y:-91.83, Z:-3.39 [[ 9.12957747e-01 4.08051105e-01 1.56465050e-03 4.49792839e+02] [-4.08050433e-01 9.12959087e-01 -7.41552813e-04 -9.18261035e+01] [-1.73105333e-03 3.85500723e-05 9.99998501e-01 -3.39173533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14655999499996 meters 0.05524544023800954 Centerline is valid? [True, True] Translation: X:449.85, Y:-91.84, Z:-3.39 [[ 9.09341768e-01 4.16047404e-01 1.45131051e-03 4.49852876e+02] [-4.16046836e-01 9.09342926e-01 -6.87911327e-04 -9.18418113e+01] [-1.60594267e-03 2.17333550e-05 9.99998710e-01 -3.39070035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20655999499996 meters 0.054865226450279005 Centerline is valid? [True, True] Translation: X:449.91, Y:-91.87, Z:-3.39 [[ 9.06605267e-01 4.21974960e-01 2.00569268e-03 4.49909146e+02] [-4.21973890e-01 9.06607486e-01 -9.50550010e-04 -9.18679222e+01] [-2.21948430e-03 1.54237052e-05 9.99997537e-01 -3.39255190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26655999499997 meters 0.053953678415482674 Centerline is valid? [True, True] Translation: X:449.97, Y:-91.89, Z:-3.39 [[ 9.02493867e-01 4.30695688e-01 2.45860099e-03 4.49967694e+02] [-4.30694113e-01 9.02497216e-01 -1.16498191e-03 -9.18892654e+01] [-2.72063324e-03 -7.51594858e-06 9.99996299e-01 -3.39225897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32655999499997 meters 0.054253374930796225 Centerline is valid? [True, True] Translation: X:450.02, Y:-91.91, Z:-3.39 [[ 8.99873905e-01 4.36145088e-01 2.10179187e-03 4.50023551e+02] [-4.36143949e-01 8.99876359e-01 -9.96634527e-04 -9.19131585e+01] [-2.32603007e-03 -1.98384043e-05 9.99997295e-01 -3.39277318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38655999499997 meters 0.05468645630190189 Centerline is valid? [True, True] Translation: X:450.08, Y:-91.94, Z:-3.39 [[ 8.97512131e-01 4.40985094e-01 2.03031724e-03 4.50079961e+02] [-4.40984044e-01 8.97514427e-01 -9.62780803e-04 -9.19367327e+01] [-2.24681099e-03 -3.12300554e-05 9.99997475e-01 -3.39469989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.446559995 meters 0.05501603780734755 Centerline is valid? [True, True] Translation: X:450.14, Y:-91.96, Z:-3.40 [[ 8.95582905e-01 4.44893578e-01 9.82025271e-04 4.50136389e+02] [-4.44893335e-01 8.95583443e-01 -4.65479410e-04 -9.19575889e+01] [-1.08657437e-03 -2.00210953e-05 9.99999409e-01 -3.39737761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.506559995 meters 0.05437232755872019 Centerline is valid? [True, True] Translation: X:450.19, Y:-91.99, Z:-3.40 [[ 8.94448842e-01 4.47170237e-01 -2.18481481e-04 4.50189798e+02] [-4.47170225e-01 8.94448869e-01 1.03827078e-04 -9.19874233e+01] [ 2.41848893e-04 4.83040338e-06 9.99999971e-01 -3.39718433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.566559995 meters 0.054550067511333025 Centerline is valid? [True, True] Translation: X:450.24, Y:-92.02, Z:-3.40 [[ 8.93658020e-01 4.48748585e-01 -2.23882551e-04 4.50243350e+02] [-4.48748572e-01 8.93658048e-01 1.07156724e-04 -9.20199222e+01] [ 2.48160871e-04 4.70550870e-06 9.99999969e-01 -3.39661306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.626559995 meters 0.054193374641741864 Centerline is valid? [True, True] Translation: X:450.30, Y:-92.05, Z:-3.40 [[ 8.93577453e-01 4.48909049e-01 1.42669139e-05 4.50299652e+02] [-4.48909049e-01 8.93577454e-01 -5.75499664e-06 -9.20456918e+01] [-1.53320628e-05 -1.26201152e-06 1.00000000e+00 -3.39804563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.686559995 meters 0.05407756918185337 Centerline is valid? [True, True] Translation: X:450.35, Y:-92.08, Z:-3.40 [[ 8.94199958e-01 4.47667752e-01 -1.39859306e-04 4.50352133e+02] [-4.47667747e-01 8.94199968e-01 6.73345682e-05 -9.20796008e+01] [ 1.55205702e-04 2.39993240e-06 9.99999988e-01 -3.39703657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.746559995 meters 0.0538663946129497 Centerline is valid? [True, True] Translation: X:450.41, Y:-92.11, Z:-3.40 [[ 8.95179734e-01 4.45705030e-01 5.19551495e-04 4.50405603e+02] [-4.45704962e-01 8.95179885e-01 -2.46609315e-04 -9.21079014e+01] [-5.75007060e-04 -1.08070185e-05 9.99999835e-01 -3.39770169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.806559995 meters 0.05372904515666339 Centerline is valid? [True, True] Translation: X:450.46, Y:-92.14, Z:-3.40 [[ 8.97899191e-01 4.40198437e-01 1.54238638e-03 4.50457718e+02] [-4.40197829e-01 8.97900515e-01 -7.32289069e-04 -9.21390144e+01] [-1.70726203e-03 -2.14333741e-05 9.99998542e-01 -3.39864093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86655999499993 meters 0.053509081191128294 Centerline is valid? [True, True] Translation: X:450.51, Y:-92.18, Z:-3.40 [[ 9.01503956e-01 4.32761765e-01 2.80591854e-03 4.50506842e+02] [-4.32759715e-01 9.01508322e-01 -1.33209454e-03 -9.21788600e+01] [-3.10603850e-03 -1.34000136e-05 9.99995176e-01 -3.39596478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92655999499993 meters 0.053373246810448666 Centerline is valid? [True, True] Translation: X:450.56, Y:-92.21, Z:-3.40 [[ 9.03862972e-01 4.27812283e-01 2.89443987e-03 4.50558565e+02] [-4.27810077e-01 9.03867607e-01 -1.37381784e-03 -9.22122779e+01] [-3.20392658e-03 3.47253470e-06 9.99994867e-01 -3.39721454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98655999499994 meters 0.05375960848743848 Centerline is valid? [True, True] Translation: X:450.61, Y:-92.25, Z:-3.40 [[ 9.07113398e-01 4.20878552e-01 2.55478657e-03 4.50609144e+02] [-4.20876805e-01 9.07116996e-01 -1.21291021e-03 -9.22494282e+01] [-2.82797821e-03 2.49966923e-05 9.99996001e-01 -3.39799652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04655999499994 meters 0.05371172145725808 Centerline is valid? [True, True] Translation: X:450.66, Y:-92.28, Z:-3.40 [[ 9.09139720e-01 4.16485671e-01 2.15785391e-03 4.50663326e+02] [-4.16484410e-01 9.09142280e-01 -1.02512204e-03 -9.22773931e+01] [-2.38874487e-03 3.32666460e-05 9.99997146e-01 -3.39663850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10655999499994 meters 0.05403541906820806 Centerline is valid? [True, True] Translation: X:450.72, Y:-92.31, Z:-3.40 [[ 9.11536420e-01 4.11216569e-01 1.51251437e-03 4.50715603e+02] [-4.11215943e-01 9.11537675e-01 -7.18475305e-04 -9.23103352e+01] [-1.67416278e-03 3.29463868e-05 9.99998598e-01 -3.39710316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16655999499994 meters 0.05443797707133179 Centerline is valid? [True, True] Translation: X:450.77, Y:-92.34, Z:-3.40 [[ 9.12645308e-01 4.08745810e-01 2.32474611e-03 4.50767688e+02] [-4.08744322e-01 9.12648267e-01 -1.10451433e-03 -9.23403360e+01] [-2.57314111e-03 5.78030470e-05 9.99996688e-01 -3.39667782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22655999499995 meters 0.05392259900359928 Centerline is valid? [True, True] Translation: X:450.82, Y:-92.37, Z:-3.40 [[ 9.12466809e-01 4.09132073e-01 3.90750031e-03 4.50821177e+02] [-4.09127873e-01 9.12475171e-01 -1.85638653e-03 -9.23719554e+01] [-4.32500429e-03 9.52238056e-05 9.99990643e-01 -3.39724123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28655999499995 meters 0.05341310488785436 Centerline is valid? [True, True] Translation: X:450.88, Y:-92.40, Z:-3.40 [[ 9.10952822e-01 4.12475237e-01 5.39771693e-03 4.50875756e+02] [-4.12467277e-01 9.10968807e-01 -2.56481227e-03 -9.23979326e+01] [-5.97507330e-03 1.10041367e-04 9.99982143e-01 -3.39649134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34655999499995 meters 0.05291323240237408 Centerline is valid? [True, True] Translation: X:450.93, Y:-92.42, Z:-3.40 [[ 9.09239841e-01 4.16238460e-01 5.33449682e-03 4.50932616e+02] [-4.16230750e-01 9.09255485e-01 -2.53486128e-03 -9.24223997e+01] [-5.90552725e-03 8.44152546e-05 9.99982559e-01 -3.39710038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40655999499995 meters 0.05246405713484822 Centerline is valid? [True, True] Translation: X:450.99, Y:-92.44, Z:-3.40 [[ 9.05786693e-01 4.23703218e-01 5.10399890e-03 4.50989866e+02] [-4.23696277e-01 9.05801072e-01 -2.42544765e-03 -9.24435768e+01] [-5.65087765e-03 3.43928771e-05 9.99984033e-01 -3.39878908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46655999499995 meters 0.053080660292176056 Centerline is valid? [True, True] Translation: X:451.05, Y:-92.47, Z:-3.40 [[ 9.03407305e-01 4.28756253e-01 4.82869715e-03 4.51046776e+02] [-4.28750113e-01 9.03420210e-01 -2.29463458e-03 -9.24686970e+01] [-5.34618151e-03 2.68519510e-06 9.99985709e-01 -3.40078294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52655999499996 meters 0.052533634213425585 Centerline is valid? [True, True] Translation: X:451.10, Y:-92.49, Z:-3.40 [[ 9.00730600e-01 4.34354069e-01 4.57477259e-03 4.51103904e+02] [-4.34348629e-01 9.00742217e-01 -2.17398192e-03 -9.24928363e+01] [-5.06496870e-03 -2.88741649e-05 9.99987173e-01 -3.40193613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58655999499996 meters 0.052718443316553724 Centerline is valid? [True, True] Translation: X:451.16, Y:-92.52, Z:-3.40 [[ 8.99628511e-01 4.36634302e-01 4.36214004e-03 4.51159611e+02] [-4.36629380e-01 8.99639086e-01 -2.07350600e-03 -9.25197765e+01] [-4.82971552e-03 -3.92533914e-05 9.99988336e-01 -3.40310953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64655999499996 meters 0.052160084545304936 Centerline is valid? [True, True] Translation: X:451.22, Y:-92.55, Z:-3.40 [[ 8.99287649e-01 4.37327538e-01 5.13313607e-03 4.51215936e+02] [-4.37320729e-01 8.99302297e-01 -2.44086794e-03 -9.25460476e+01] [-5.68369983e-03 -4.97844163e-05 9.99983846e-01 -3.40423296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70655999499996 meters 0.05143667330055969 Centerline is valid? [True, True] Translation: X:451.27, Y:-92.58, Z:-3.40 [[ 8.99705524e-01 4.36454772e-01 6.09933357e-03 4.51269951e+02] [-4.36445131e-01 8.99726197e-01 -2.90141749e-03 -9.25774140e+01] [-6.75406770e-03 -5.16030964e-05 9.99977190e-01 -3.40451066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76655999499997 meters 0.05212128767175209 Centerline is valid? [True, True] Translation: X:451.32, Y:-92.61, Z:-3.41 [[ 8.99596479e-01 4.36672093e-01 6.60739417e-03 4.51324869e+02] [-4.36660777e-01 8.99620742e-01 -3.14411500e-03 -9.26056548e+01] [-7.31709613e-03 -5.67550888e-05 9.99973228e-01 -3.40561602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82655999499997 meters 0.05142987978293632 Centerline is valid? [True, True] Translation: X:451.38, Y:-92.63, Z:-3.41 [[ 8.97407298e-01 4.41169680e-01 5.42726032e-03 4.51381313e+02] [-4.41162124e-01 8.97423706e-01 -2.58305529e-03 -9.26321181e+01] [-6.01011775e-03 -7.62490264e-05 9.99981936e-01 -3.40760486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88655999499997 meters 0.051418564460078 Centerline is valid? [True, True] Translation: X:451.44, Y:-92.66, Z:-3.41 [[ 8.95256655e-01 4.45529716e-01 4.33525750e-03 4.51435906e+02] [-4.45524946e-01 8.95267147e-01 -2.06335423e-03 -9.26588168e+01] [-4.80049924e-03 -8.42337597e-05 9.99988474e-01 -3.40987422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.946559995 meters 0.05294108350311422 Centerline is valid? [True, True] Translation: X:451.49, Y:-92.68, Z:-3.41 [[ 8.92650416e-01 4.50740323e-01 2.89773118e-03 4.51492037e+02] [-4.50738219e-01 8.92655116e-01 -1.37936741e-03 -9.26796522e+01] [-3.20841107e-03 -7.48252965e-05 9.99994850e-01 -3.41250497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.006559995 meters 0.05171535129175051 Centerline is valid? [True, True] Translation: X:451.54, Y:-92.71, Z:-3.41 [[ 8.92191625e-01 4.51644550e-01 3.36239915e-03 4.51544731e+02] [-4.51641723e-01 8.92197956e-01 -1.60040219e-03 -9.27137768e+01] [-3.72273857e-03 -9.07343208e-05 9.99993066e-01 -3.41161036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.066559995 meters 0.051017198698222244 Centerline is valid? [True, True] Translation: X:451.59, Y:-92.75, Z:-3.41 [[ 8.93937188e-01 4.48165667e-01 4.88245373e-03 4.51594510e+02] [-4.48159649e-01 8.93950515e-01 -2.32513358e-03 -9.27515945e+01] [-5.40671707e-03 -1.09595377e-04 9.99985378e-01 -3.41072777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.126559995 meters 0.05097206180247613 Centerline is valid? [True, True] Translation: X:451.65, Y:-92.78, Z:-3.41 [[ 8.96469840e-01 4.43069440e-01 5.59438647e-03 4.51647662e+02] [-4.43061438e-01 8.96487291e-01 -2.66432241e-03 -9.27805853e+01] [-6.19577621e-03 -9.01722293e-05 9.99980802e-01 -3.41102153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.186559995 meters 0.0509033545772651 Centerline is valid? [True, True] Translation: X:451.70, Y:-92.82, Z:-3.41 [[ 9.00465294e-01 4.34872934e-01 6.91263666e-03 4.51698432e+02] [-4.34860474e-01 9.00491826e-01 -3.29223812e-03 -9.28169066e+01] [-7.65647807e-03 -4.14862841e-05 9.99970688e-01 -3.41053882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.246559995 meters 0.05119463684497681 Centerline is valid? [True, True] Translation: X:451.75, Y:-92.85, Z:-3.41 [[ 9.03804263e-01 4.27889712e-01 6.94615495e-03 4.51749673e+02] [-4.27876922e-01 9.03830954e-01 -3.30844880e-03 -9.28516174e+01] [-7.69380106e-03 1.80907293e-05 9.99970402e-01 -3.41192542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.306559995 meters 0.05127626893585542 Centerline is valid? [True, True] Translation: X:451.80, Y:-92.88, Z:-3.41 [[ 9.04551499e-01 4.26317780e-01 6.30365691e-03 4.51804970e+02] [-4.26307203e-01 9.04573463e-01 -3.00313238e-03 -9.28809100e+01] [-6.98240949e-03 2.91935508e-05 9.99975622e-01 -3.41255365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36655999499993 meters 0.0509432204410025 Centerline is valid? [True, True] Translation: X:451.86, Y:-92.91, Z:-3.41 [[ 9.04436397e-01 4.26558956e-01 6.50079907e-03 4.51861491e+02] [-4.26547708e-01 9.04459759e-01 -3.09784491e-03 -9.29093334e+01] [-7.20112465e-03 2.89027464e-05 9.99974071e-01 -3.41390687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42655999499993 meters 0.05110347582664214 Centerline is valid? [True, True] Translation: X:451.92, Y:-92.93, Z:-3.42 [[ 9.02230012e-01 4.31224674e-01 5.12698592e-03 4.51919609e+02] [-4.31217752e-01 9.02244579e-01 -2.44331398e-03 -9.29321129e+01] [-5.67941253e-03 -6.41614290e-06 9.99983872e-01 -3.41647422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48655999499994 meters 0.05117805023884658 Centerline is valid? [True, True] Translation: X:451.98, Y:-92.96, Z:-3.42 [[ 9.01103500e-01 4.33586640e-01 3.88684752e-03 4.51976508e+02] [-4.33582682e-01 9.01111883e-01 -1.85263618e-03 -9.29577892e+01] [-4.30576279e-03 -1.58528292e-05 9.99990730e-01 -3.41801467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54655999499994 meters 0.050969723209554695 Centerline is valid? [True, True] Translation: X:452.03, Y:-92.98, Z:-3.42 [[ 9.00163289e-01 4.35538167e-01 3.54383266e-03 4.52032601e+02] [-4.35534890e-01 9.00170264e-01 -1.68959127e-03 -9.29828603e+01] [-3.92593426e-03 -2.25547381e-05 9.99992293e-01 -3.41924130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60655999499994 meters 0.05077208724642057 Centerline is valid? [True, True] Translation: X:452.09, Y:-93.01, Z:-3.42 [[ 9.00180772e-01 4.35479951e-01 5.63821474e-03 4.52089441e+02] [-4.35471648e-01 9.00198429e-01 -2.68936240e-03 -9.30085673e+01] [-6.24667546e-03 -3.43703443e-05 9.99980489e-01 -3.41868741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66655999499994 meters 0.051132728734564 Centerline is valid? [True, True] Translation: X:452.15, Y:-93.03, Z:-3.42 [[ 9.00389509e-01 4.35027615e-01 7.05031458e-03 4.52145480e+02] [-4.35014609e-01 9.00417111e-01 -3.36407924e-03 -9.30342278e+01] [-7.81169125e-03 -3.80081814e-05 9.99969488e-01 -3.41781807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72655999499995 meters 0.05012588472527647 Centerline is valid? [True, True] Translation: X:452.20, Y:-93.06, Z:-3.42 [[ 8.99972603e-01 4.35868214e-01 8.25922135e-03 4.52201439e+02] [-4.35850390e-01 9.00010499e-01 -3.94210114e-03 -9.30616924e+01] [-9.15162250e-03 -5.20018253e-05 9.99958122e-01 -3.41829955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78655999499995 meters 0.05066799377462147 Centerline is valid? [True, True] Translation: X:452.26, Y:-93.09, Z:-3.42 [[ 8.99170662e-01 4.37532095e-01 7.60170553e-03 4.52257884e+02] [-4.37517048e-01 8.99202792e-01 -3.62924248e-03 -9.30851702e+01] [-8.42338491e-03 -6.25673915e-05 9.99964521e-01 -3.41980654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84655999499995 meters 0.05046094163233594 Centerline is valid? [True, True] Translation: X:452.32, Y:-93.11, Z:-3.42 [[ 8.97661878e-01 4.40647343e-01 5.75079422e-03 4.52315253e+02] [-4.40638792e-01 8.97680296e-01 -2.74609305e-03 -9.31096727e+01] [-6.37243326e-03 -6.89599742e-05 9.99979693e-01 -3.42299162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90655999499995 meters 0.05105901209039468 Centerline is valid? [True, True] Translation: X:452.37, Y:-93.14, Z:-3.42 [[ 8.97099843e-01 4.41799023e-01 5.04920671e-03 4.52372164e+02] [-4.41792446e-01 8.97114050e-01 -2.41165834e-03 -9.31353378e+01] [-5.59518258e-03 -6.72030652e-05 9.99984345e-01 -3.42408871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96655999499995 meters 0.05063982854098064 Centerline is valid? [True, True] Translation: X:452.43, Y:-93.16, Z:-3.42 [[ 8.97364810e-01 4.41253636e-01 5.62369003e-03 4.52428294e+02] [-4.41245461e-01 8.97382429e-01 -2.68692625e-03 -9.31604400e+01] [-6.23221660e-03 -7.02746341e-05 9.99980577e-01 -3.42422417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02655999499996 meters 0.05048221429987064 Centerline is valid? [True, True] Translation: X:452.48, Y:-93.19, Z:-3.42 [[ 8.97965015e-01 4.40025634e-01 6.02270136e-03 4.52483708e+02] [-4.40016224e-01 8.97985210e-01 -2.87837749e-03 -9.31876090e+01] [-6.67485663e-03 -6.54040256e-05 9.99977721e-01 -3.42492573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08655999499996 meters 0.05055182403539795 Centerline is valid? [True, True] Translation: X:452.54, Y:-93.22, Z:-3.43 [[ 8.98779025e-01 4.38370044e-01 5.28846554e-03 4.52538471e+02] [-4.38362756e-01 8.98794583e-01 -2.52816300e-03 -9.32183766e+01] [-5.86151510e-03 -4.60064585e-05 9.99982820e-01 -3.42555723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14655999499996 meters 0.05023748516884315 Centerline is valid? [True, True] Translation: X:452.59, Y:-93.25, Z:-3.43 [[ 8.99734011e-01 4.36414556e-01 4.58732498e-03 4.52592740e+02] [-4.36409047e-01 8.99745705e-01 -2.19300311e-03 -9.32474691e+01] [-5.08448443e-03 -2.88306404e-05 9.99987074e-01 -3.42546037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20655999499996 meters 0.05058830859096467 Centerline is valid? [True, True] Translation: X:452.65, Y:-93.27, Z:-3.43 [[ 9.00577798e-01 4.34670322e-01 4.61970386e-03 4.52649032e+02] [-4.34664709e-01 9.00589646e-01 -2.20908093e-03 -9.32724131e+01] [-5.12067938e-03 -1.85729911e-05 9.99986889e-01 -3.42721399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26655999499997 meters 0.05026412030980767 Centerline is valid? [True, True] Translation: X:452.70, Y:-93.30, Z:-3.43 [[ 9.01656768e-01 4.32417818e-01 5.46835904e-03 4.52704189e+02] [-4.32409906e-01 9.01673351e-01 -2.61577964e-03 -9.33003368e+01] [-6.06178334e-03 -6.03720318e-06 9.99981627e-01 -3.42712286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32655999499997 meters 0.05000271048487551 Centerline is valid? [True, True] Translation: X:452.76, Y:-93.33, Z:-3.43 [[ 9.02305880e-01 4.31056474e-01 5.86646916e-03 4.52760840e+02] [-4.31047334e-01 9.02324950e-01 -2.80702934e-03 -9.33285348e+01] [-6.50344967e-03 4.07318814e-06 9.99978852e-01 -3.42702328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38655999499997 meters 0.050884831928036084 Centerline is valid? [True, True] Translation: X:452.82, Y:-93.36, Z:-3.43 [[ 9.03086328e-01 4.29423567e-01 5.52115586e-03 4.52817404e+02] [-4.29415437e-01 9.03103205e-01 -2.64258856e-03 -9.33558350e+01] [-6.12096336e-03 1.56160458e-05 9.99981267e-01 -3.42794028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.446559995 meters 0.05139762266257038 Centerline is valid? [True, True] Translation: X:452.87, Y:-93.38, Z:-3.43 [[ 9.04181434e-01 4.27123049e-01 4.67291586e-03 4.52872466e+02] [-4.27117190e-01 9.04193508e-01 -2.23735770e-03 -9.33832606e+01] [-5.18084723e-03 2.70945999e-05 9.99986579e-01 -3.43034395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.506559995 meters 0.05082198483494751 Centerline is valid? [True, True] Translation: X:452.93, Y:-93.41, Z:-3.43 [[ 9.04749283e-01 4.25915364e-01 4.98370974e-03 4.52928990e+02] [-4.25908680e-01 9.04763008e-01 -2.38646867e-03 -9.34085476e+01] [-5.52550989e-03 3.65505823e-05 9.99984734e-01 -3.43022010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.566559995 meters 0.05107205228959673 Centerline is valid? [True, True] Translation: X:452.98, Y:-93.44, Z:-3.43 [[ 9.05125624e-01 4.25108051e-01 5.54528332e-03 4.52983525e+02] [-4.25099754e-01 9.05142609e-01 -2.65628788e-03 -9.34353349e+01] [-6.14848157e-03 4.69756515e-05 9.99981097e-01 -3.43048058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.626559995 meters 0.05128672500913485 Centerline is valid? [True, True] Translation: X:453.04, Y:-93.46, Z:-3.43 [[ 9.04829689e-01 4.25734140e-01 5.80315367e-03 4.53041208e+02] [-4.25725062e-01 9.04848297e-01 -2.78061818e-03 -9.34587972e+01] [-6.43477780e-03 4.54379299e-05 9.99979296e-01 -3.43098742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.686559995 meters 0.052065760998061636 Centerline is valid? [True, True] Translation: X:453.10, Y:-93.48, Z:-3.43 [[ 9.04465491e-01 4.26505124e-01 5.96276381e-03 4.53098402e+02] [-4.26495550e-01 9.04485145e-01 -2.85797307e-03 -9.34823558e+01] [-6.61217145e-03 4.18457800e-05 9.99978138e-01 -3.43183940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.746559995 meters 0.051293146655528386 Centerline is valid? [True, True] Translation: X:453.15, Y:-93.50, Z:-3.43 [[ 9.03478019e-01 4.28604269e-01 5.08435564e-03 4.53154866e+02] [-4.28597341e-01 9.03492325e-01 -2.43702928e-03 -9.35049869e+01] [-5.63819744e-03 2.26610777e-05 9.99984105e-01 -3.43288089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.806559995 meters 0.051775825921969026 Centerline is valid? [True, True] Translation: X:453.21, Y:-93.53, Z:-3.43 [[ 9.02694055e-01 4.30256724e-01 4.75340594e-03 4.53212722e+02] [-4.30250688e-01 9.02706570e-01 -2.27893959e-03 -9.35286245e+01] [-5.27145985e-03 1.20290454e-05 9.99986106e-01 -3.43342111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86655999499993 meters 0.051445691091536 Centerline is valid? [True, True] Translation: X:453.27, Y:-93.55, Z:-3.43 [[ 9.01555808e-01 4.32627205e-01 5.55214618e-03 4.53269831e+02] [-4.32619010e-01 9.01572904e-01 -2.66287759e-03 -9.35511494e+01] [-6.15769785e-03 -1.23122408e-06 9.99981041e-01 -3.43299092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92655999499993 meters 0.050753150025240876 Centerline is valid? [True, True] Translation: X:453.33, Y:-93.58, Z:-3.43 [[ 9.00909970e-01 4.33960061e-01 6.31600563e-03 4.53328256e+02] [-4.33949484e-01 9.00932109e-01 -3.02980044e-03 -9.35751097e+01] [-7.00510465e-03 -1.12499637e-05 9.99975464e-01 -3.43285371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98655999499994 meters 0.0512032639523546 Centerline is valid? [True, True] Translation: X:453.39, Y:-93.60, Z:-3.43 [[ 9.00612462e-01 4.34576220e-01 6.37976744e-03 4.53385129e+02] [-4.34565441e-01 9.00635059e-01 -3.06083163e-03 -9.35989931e+01] [-7.07600687e-03 -1.58033420e-05 9.99974965e-01 -3.43372522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04655999499994 meters 0.050907951335562036 Centerline is valid? [True, True] Translation: X:453.44, Y:-93.62, Z:-3.43 [[ 9.00578705e-01 4.34648039e-01 6.25130301e-03 4.53442625e+02] [-4.34637685e-01 9.00600401e-01 -3.00014644e-03 -9.36248877e+01] [-6.93393376e-03 -1.51838735e-05 9.99975960e-01 -3.43442893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10655999499994 meters 0.052050946644733885 Centerline is valid? [True, True] Translation: X:453.50, Y:-93.65, Z:-3.44 [[ 9.00947214e-01 4.33898759e-01 5.09741355e-03 4.53500057e+02] [-4.33891859e-01 9.00961634e-01 -2.44708064e-03 -9.36513833e+01] [-5.65435930e-03 -7.03575297e-06 9.99984014e-01 -3.43621001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16655999499994 meters 0.051676541167912635 Centerline is valid? [True, True] Translation: X:453.56, Y:-93.68, Z:-3.44 [[ 9.00942606e-01 4.33923856e-01 3.53654308e-03 4.53555983e+02] [-4.33920536e-01 9.00949547e-01 -1.69762182e-03 -9.36771504e+01] [-3.92288550e-03 -5.11883872e-06 9.99992305e-01 -3.43727269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22655999499995 meters 0.0511517697325204 Centerline is valid? [True, True] Translation: X:453.61, Y:-93.70, Z:-3.44 [[ 9.00735871e-01 4.34353974e-01 3.39345765e-03 4.53613198e+02] [-4.34350917e-01 9.00742263e-01 -1.62953859e-03 -9.37041949e+01] [-3.76442729e-03 -6.16758287e-06 9.99992914e-01 -3.43844558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28655999499995 meters 0.05177528355413249 Centerline is valid? [True, True] Translation: X:453.67, Y:-93.73, Z:-3.44 [[ 9.00063384e-01 4.35752075e-01 2.45649138e-03 4.53670191e+02] [-4.35750478e-01 9.00066736e-01 -1.17954800e-03 -9.37296930e+01] [-2.72499667e-03 -8.74933451e-06 9.99996287e-01 -3.43941605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34655999499995 meters 0.05196308258537779 Centerline is valid? [True, True] Translation: X:453.73, Y:-93.76, Z:-3.44 [[ 8.99929062e-01 4.36032053e-01 1.93185385e-03 4.53726723e+02] [-4.36031067e-01 8.99931135e-01 -9.27586404e-04 -9.37565020e+01] [-2.14299283e-03 -7.58633106e-06 9.99997704e-01 -3.43965038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40655999499995 meters 0.05162695792503132 Centerline is valid? [True, True] Translation: X:453.78, Y:-93.78, Z:-3.44 [[ 9.00466377e-01 4.34919791e-01 2.25369957e-03 4.53782624e+02] [-4.34918443e-01 9.00469197e-01 -1.08315939e-03 -9.37848167e+01] [-2.50047450e-03 -4.82689205e-06 9.99996874e-01 -3.44002776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46655999499995 meters 0.05199032361849109 Centerline is valid? [True, True] Translation: X:453.84, Y:-93.81, Z:-3.44 [[ 9.01335100e-01 4.33111200e-01 3.11868563e-03 4.53836883e+02] [-4.33108606e-01 9.01340495e-01 -1.49888938e-03 -9.38129656e+01] [-3.46018343e-03 2.72028708e-07 9.99994014e-01 -3.44019159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52655999499996 meters 0.052001873898065376 Centerline is valid? [True, True] Translation: X:453.89, Y:-93.84, Z:-3.44 [[ 9.03211729e-01 4.29181141e-01 3.48151314e-03 4.53891362e+02] [-4.29177876e-01 9.03218439e-01 -1.67407741e-03 -9.38427418e+01] [-3.86304931e-03 1.78579398e-05 9.99992538e-01 -3.43920569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58655999499996 meters 0.05192066251705082 Centerline is valid? [True, True] Translation: X:453.95, Y:-93.87, Z:-3.44 [[ 9.04487319e-01 4.26489220e-01 3.10404836e-03 4.53945257e+02] [-4.26486610e-01 9.04492645e-01 -1.49240446e-03 -9.38726442e+01] [-3.44408332e-03 2.60258485e-05 9.99994069e-01 -3.44058482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64655999499996 meters 0.0516989402939331 Centerline is valid? [True, True] Translation: X:454.00, Y:-93.90, Z:-3.44 [[ 9.06096589e-01 4.23061348e-01 2.84021973e-03 4.54001337e+02] [-4.23059143e-01 9.06101040e-01 -1.36621720e-03 -9.39003327e+01] [-3.15151974e-03 3.63438185e-05 9.99995033e-01 -3.44018859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70655999499996 meters 0.051822922862261284 Centerline is valid? [True, True] Translation: X:454.06, Y:-93.93, Z:-3.44 [[ 9.06656409e-01 4.21859529e-01 2.94865076e-03 4.54055293e+02] [-4.21857147e-01 9.06661203e-01 -1.41816351e-03 -9.39288892e+01] [-3.27169303e-03 4.18776411e-05 9.99994647e-01 -3.44102463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76655999499997 meters 0.05228831454398733 Centerline is valid? [True, True] Translation: X:454.11, Y:-93.96, Z:-3.44 [[ 9.06623598e-01 4.21931784e-01 2.68732918e-03 4.54109693e+02] [-4.21929805e-01 9.06627580e-01 -1.29269807e-03 -9.39589626e+01] [-2.98183715e-03 3.81263021e-05 9.99995554e-01 -3.44282602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82655999499997 meters 0.051716642202854525 Centerline is valid? [True, True] Translation: X:454.17, Y:-93.98, Z:-3.44 [[ 9.05671023e-01 4.23975847e-01 2.11623264e-03 4.54166893e+02] [-4.23974626e-01 9.05673495e-01 -1.01816715e-03 -9.39820830e+01] [-2.34829409e-03 2.48955467e-05 9.99997242e-01 -3.44273998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88655999499997 meters 0.052200387446801194 Centerline is valid? [True, True] Translation: X:454.22, Y:-94.01, Z:-3.44 [[ 9.04785566e-01 4.25862599e-01 2.03149164e-03 4.54224060e+02] [-4.25861477e-01 9.04787846e-01 -9.77916637e-04 -9.40079447e+01] [-2.25452706e-03 1.96708287e-05 9.99997458e-01 -3.44329316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.946559995 meters 0.051629817378473844 Centerline is valid? [True, True] Translation: X:454.28, Y:-94.03, Z:-3.44 [[ 9.03038609e-01 4.29556279e-01 1.63544717e-03 4.54280647e+02] [-4.29555558e-01 9.03040089e-01 -7.87249548e-04 -9.40348647e+01] [-1.81504234e-03 8.40131682e-06 9.99998353e-01 -3.44392632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.006559995 meters 0.051644223643458 Centerline is valid? [True, True] Translation: X:454.34, Y:-94.06, Z:-3.44 [[ 9.01513627e-01 4.32745861e-01 2.04956058e-03 4.54337503e+02] [-4.32744735e-01 9.01515957e-01 -9.87063631e-04 -9.40605699e+01] [-2.27485927e-03 2.91476228e-06 9.99997413e-01 -3.44371085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.066559995 meters 0.05147359996498704 Centerline is valid? [True, True] Translation: X:454.39, Y:-94.08, Z:-3.44 [[ 8.98797395e-01 4.38359972e-01 1.94347845e-03 4.54393850e+02] [-4.38358974e-01 8.98799496e-01 -9.35672487e-04 -9.40843677e+01] [-2.15695881e-03 -1.09612223e-05 9.99997674e-01 -3.44492786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.126559995 meters 0.05158535342974192 Centerline is valid? [True, True] Translation: X:454.45, Y:-94.11, Z:-3.45 [[ 8.96886398e-01 4.42255913e-01 2.12058417e-03 4.54449882e+02] [-4.42254734e-01 8.96888904e-01 -1.02157167e-03 -9.41103409e+01] [-2.35372453e-03 -2.16046492e-05 9.99997230e-01 -3.44534996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.186559995 meters 0.05116799130597794 Centerline is valid? [True, True] Translation: X:454.51, Y:-94.13, Z:-3.45 [[ 8.94282184e-01 4.47497527e-01 2.31064399e-03 4.54505673e+02] [-4.47496144e-01 8.94285168e-01 -1.11337623e-03 -9.41339137e+01] [-2.56460776e-03 -3.83317464e-05 9.99996711e-01 -3.44535473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.246559995 meters 0.05121249015463007 Centerline is valid? [True, True] Translation: X:454.56, Y:-94.16, Z:-3.44 [[ 8.93023956e-01 4.49999659e-01 2.91910866e-03 4.54560694e+02] [-4.49997463e-01 8.93028725e-01 -1.40685159e-03 -9.41627089e+01] [-3.23993062e-03 -5.72393170e-05 9.99994750e-01 -3.44498435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.306559995 meters 0.05120972581630264 Centerline is valid? [True, True] Translation: X:454.62, Y:-94.18, Z:-3.45 [[ 8.92139619e-01 4.51743823e-01 3.79720804e-03 4.54617631e+02] [-4.51740122e-01 8.92147696e-01 -1.83045851e-03 -9.41849722e+01] [-4.21456873e-03 -8.23266677e-05 9.99991115e-01 -3.44618394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36655999499993 meters 0.05035027318728564 Centerline is valid? [True, True] Translation: X:454.67, Y:-94.22, Z:-3.45 [[ 8.92284917e-01 4.51460951e-01 3.26139483e-03 4.54670457e+02] [-4.51458219e-01 8.92290875e-01 -1.57209673e-03 -9.42176406e+01] [-3.61985313e-03 -6.96252956e-05 9.99993446e-01 -3.44687022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42655999499993 meters 0.050733248631561534 Centerline is valid? [True, True] Translation: X:454.73, Y:-94.25, Z:-3.45 [[ 8.92858608e-01 4.50331360e-01 2.27445218e-03 4.54725165e+02] [-4.50330028e-01 8.92861503e-01 -1.09638515e-03 -9.42473281e+01] [-2.52450740e-03 -4.53371963e-05 9.99996812e-01 -3.44849119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48655999499994 meters 0.050597208224204826 Centerline is valid? [True, True] Translation: X:454.78, Y:-94.28, Z:-3.45 [[ 8.93513581e-01 4.49033974e-01 1.40407308e-03 4.54780028e+02] [-4.49033465e-01 8.93514683e-01 -6.76717742e-04 -9.42751209e+01] [-1.55842917e-03 -2.58193068e-05 9.99998785e-01 -3.44991953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54655999499994 meters 0.051242819886501575 Centerline is valid? [True, True] Translation: X:454.83, Y:-94.30, Z:-3.45 [[ 8.95654255e-01 4.44750958e-01 -2.03486738e-04 4.54834071e+02] [-4.44750947e-01 8.95654278e-01 9.83348164e-05 -9.43026204e+01] [ 2.25988271e-04 2.42692287e-06 9.99999974e-01 -3.45206990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60655999499994 meters 0.05126473593256245 Centerline is valid? [True, True] Translation: X:454.89, Y:-94.33, Z:-3.45 [[ 8.97784685e-01 4.40434617e-01 8.97504091e-05 4.54886874e+02] [-4.40434615e-01 8.97784689e-01 -4.31862615e-05 -9.43349219e+01] [-9.95972679e-05 -7.57222728e-07 9.99999995e-01 -3.44866304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66655999499994 meters 0.050759697805242726 Centerline is valid? [True, True] Translation: X:454.94, Y:-94.36, Z:-3.45 [[ 9.00578628e-01 4.34685451e-01 2.58704300e-03 4.54943351e+02] [-4.34683658e-01 9.00582344e-01 -1.24836610e-03 -9.43610654e+01] [-2.87249183e-03 -2.93481372e-07 9.99995874e-01 -3.45008198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72655999499995 meters 0.05130826022247064 Centerline is valid? [True, True] Translation: X:455.00, Y:-94.39, Z:-3.45 [[ 9.02517238e-01 4.30643144e-01 3.01948420e-03 4.54998478e+02] [-4.30640680e-01 9.02522289e-01 -1.45691447e-03 -9.43900626e+01] [-3.35256202e-03 1.45776907e-05 9.99994380e-01 -3.44968993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78655999499995 meters 0.051844987465940656 Centerline is valid? [True, True] Translation: X:455.05, Y:-94.42, Z:-3.45 [[ 9.06253835e-01 4.22720848e-01 3.32729048e-03 4.55053071e+02] [-4.22717799e-01 9.06259942e-01 -1.60634573e-03 -9.44190721e+01] [-3.69442590e-03 4.92520700e-05 9.99993174e-01 -3.44995953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84655999499995 meters 0.05210785596680953 Centerline is valid? [True, True] Translation: X:455.11, Y:-94.45, Z:-3.45 [[ 9.10422615e-01 4.13666205e-01 3.30646921e-03 4.55107956e+02] [-4.13663134e-01 9.10428615e-01 -1.59644652e-03 -9.44469962e+01] [-3.67070016e-03 8.56765983e-05 9.99993259e-01 -3.45085128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90655999499995 meters 0.05236918853150856 Centerline is valid? [True, True] Translation: X:455.16, Y:-94.47, Z:-3.45 [[ 9.13575810e-01 4.06661818e-01 2.32468826e-03 4.55164707e+02] [-4.06660278e-01 9.13578765e-01 -1.12225439e-03 -9.44701043e+01] [-2.58016384e-03 7.99060869e-05 9.99996668e-01 -3.45124851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96655999499995 meters 0.0536828742921157 Centerline is valid? [True, True] Translation: X:455.22, Y:-94.50, Z:-3.45 [[ 9.18094891e-01 3.96358086e-01 1.42798567e-03 4.55218638e+02] [-3.96357492e-01 9.18095999e-01 -6.89443579e-04 -9.44964157e+01] [-1.58429446e-03 6.69818104e-05 9.99998743e-01 -3.45183098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02655999499996 meters 0.05377395641968146 Centerline is valid? [True, True] Translation: X:455.28, Y:-94.52, Z:-3.45 [[ 9.20172985e-01 3.91506338e-01 2.11325412e-03 4.55275167e+02] [-3.91505024e-01 9.20175404e-01 -1.02051685e-03 -9.45184896e+01] [-2.34410328e-03 1.11702435e-04 9.99997246e-01 -3.45192228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08655999499996 meters 0.0541158164680455 Centerline is valid? [True, True] Translation: X:455.33, Y:-94.55, Z:-3.45 [[ 9.20781886e-01 3.90070829e-01 2.33816323e-03 4.55328640e+02] [-3.90069216e-01 9.20784846e-01 -1.12929705e-03 -9.45489020e+01] [-2.59345111e-03 1.27790771e-04 9.99996629e-01 -3.45330779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14655999499996 meters 0.053858395514028205 Centerline is valid? [True, True] Translation: X:455.39, Y:-94.56, Z:-3.45 [[ 9.20776276e-01 3.90078939e-01 3.07736157e-03 4.55391164e+02] [-3.90076144e-01 9.20781404e-01 -1.48604894e-03 -9.45626058e+01] [-3.41325370e-03 1.67913276e-04 9.99994161e-01 -3.45391320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20655999499996 meters 0.053532148144906956 Centerline is valid? [True, True] Translation: X:455.45, Y:-94.59, Z:-3.45 [[ 9.18395967e-01 3.95639650e-01 4.25613805e-03 4.55446820e+02] [-3.95634358e-01 9.18405807e-01 -2.05658536e-03 -9.45880888e+01] [-4.72252861e-03 2.04885261e-04 9.99988828e-01 -3.45410547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26655999499997 meters 0.05312223998981488 Centerline is valid? [True, True] Translation: X:455.50, Y:-94.61, Z:-3.45 [[ 9.15547817e-01 4.02173008e-01 5.39127917e-03 4.55502909e+02] [-4.02164628e-01 9.15563665e-01 -2.60528267e-03 -9.46105973e+01] [-5.98383368e-03 2.17079082e-04 9.99982073e-01 -3.45422185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32655999499997 meters 0.05253175268611491 Centerline is valid? [True, True] Translation: X:455.56, Y:-94.62, Z:-3.46 [[ 9.09374870e-01 4.15925340e-01 6.59225407e-03 4.55563615e+02] [-4.15913169e-01 9.09398751e-01 -3.18566743e-03 -9.46239403e+01] [-7.31998742e-03 1.55160621e-04 9.99973196e-01 -3.45505351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38655999499997 meters 0.052060125851942966 Centerline is valid? [True, True] Translation: X:455.62, Y:-94.65, Z:-3.46 [[ 9.04739765e-01 4.25919090e-01 6.23594506e-03 4.55620569e+02] [-4.25908435e-01 9.04761252e-01 -3.01350772e-03 -9.46458353e+01] [-6.92555193e-03 7.04986582e-05 9.99976016e-01 -3.45644627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.446559995 meters 0.05143445909907071 Centerline is valid? [True, True] Translation: X:455.68, Y:-94.66, Z:-3.46 [[ 8.98371082e-01 4.39200566e-01 5.68006331e-03 4.55680888e+02] [-4.39191989e-01 8.98389037e-01 -2.74496143e-03 -9.46615131e+01] [-6.30849522e-03 -2.86443318e-05 9.99980101e-01 -3.45837126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.506559995 meters 0.05145309402459939 Centerline is valid? [True, True] Translation: X:455.74, Y:-94.69, Z:-3.46 [[ 8.94988124e-01 4.46053295e-01 5.71971333e-03 4.55737275e+02] [-4.46044737e-01 8.95006398e-01 -2.76422394e-03 -9.46865872e+01] [-6.35217122e-03 -7.73004260e-05 9.99979822e-01 -3.45919076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.566559995 meters 0.05192249457436664 Centerline is valid? [True, True] Translation: X:455.80, Y:-94.70, Z:-3.46 [[ 8.90875928e-01 4.54201349e-01 6.41993128e-03 4.55796946e+02] [-4.54190776e-01 8.90899047e-01 -3.10280763e-03 -9.47012852e+01] [-7.12881006e-03 -1.51656945e-04 9.99974578e-01 -3.45981973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.626559995 meters 0.05240570246113714 Centerline is valid? [True, True] Translation: X:455.85, Y:-94.72, Z:-3.46 [[ 8.88058231e-01 4.59697814e-01 5.52244590e-03 4.55854736e+02] [-4.59690096e-01 8.88075386e-01 -2.66914481e-03 -9.47191213e+01] [-6.13134831e-03 -1.68257670e-04 9.99981189e-01 -3.46132987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.686559995 meters 0.05197193038768881 Centerline is valid? [True, True] Translation: X:455.91, Y:-94.75, Z:-3.46 [[ 8.86833182e-01 4.62071542e-01 4.09834758e-03 4.55909591e+02] [-4.62067317e-01 8.86842642e-01 -1.98079699e-03 -9.47452830e+01] [-4.54985932e-03 -1.37075969e-04 9.99989640e-01 -3.46374835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.746559995 meters 0.05268586839661066 Centerline is valid? [True, True] Translation: X:455.97, Y:-94.77, Z:-3.47 [[ 8.86485381e-01 4.62751378e-01 2.19803213e-03 4.55965772e+02] [-4.62750166e-01 8.86488103e-01 -1.06183829e-03 -9.47690860e+01] [-2.43989647e-03 -7.58356140e-05 9.99997021e-01 -3.46664613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80655999499993 meters 0.05144205689973846 Centerline is valid? [True, True] Translation: X:456.02, Y:-94.81, Z:-3.47 [[ 8.87606282e-01 4.60597995e-01 2.13888268e-03 4.56015744e+02] [-4.60596840e-01 8.87608857e-01 -1.03396177e-03 -9.48061079e+01] [-2.37473193e-03 -6.74116441e-05 9.99997178e-01 -3.46503343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86655999499993 meters 0.051292146660464326 Centerline is valid? [True, True] Translation: X:456.07, Y:-94.83, Z:-3.47 [[ 8.89327193e-01 4.57264379e-01 2.53601037e-03 4.56069791e+02] [-4.57262741e-01 8.89330806e-01 -1.22598676e-03 -9.48349897e+01] [-2.81595222e-03 -6.93196837e-05 9.99996033e-01 -3.46545845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92655999499993 meters 0.05183452890924394 Centerline is valid? [True, True] Translation: X:456.12, Y:-94.86, Z:-3.47 [[ 8.91420694e-01 4.53171993e-01 2.07139496e-03 4.56123370e+02] [-4.53170889e-01 8.91423100e-01 -1.00148628e-03 -9.48622035e+01] [-2.30033485e-03 -4.59502989e-05 9.99997353e-01 -3.46692752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98655999499994 meters 0.050937962706061685 Centerline is valid? [True, True] Translation: X:456.18, Y:-94.90, Z:-3.47 [[ 8.92222067e-01 4.51591127e-01 2.28865978e-03 4.56176603e+02] [-4.51589775e-01 8.92225001e-01 -1.10596947e-03 -9.48951184e+01] [-2.54144547e-03 -4.67649943e-05 9.99996769e-01 -3.46661910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04655999499994 meters 0.05152540231018374 Centerline is valid? [True, True] Translation: X:456.23, Y:-94.93, Z:-3.47 [[ 8.92738389e-01 4.50567147e-01 2.72297677e-03 4.56230720e+02] [-4.50565227e-01 8.92742540e-01 -1.31639887e-03 -9.49265337e+01] [-3.02404328e-03 -5.16788336e-05 9.99995426e-01 -3.46646587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10655999499994 meters 0.05103308076720437 Centerline is valid? [True, True] Translation: X:456.28, Y:-94.95, Z:-3.47 [[ 8.92182271e-01 4.51662030e-01 3.49369178e-03 4.56284588e+02] [-4.51658874e-01 8.92189109e-01 -1.68997505e-03 -9.49544882e+01] [-3.88033132e-03 -7.01911210e-05 9.99992469e-01 -3.46603134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16655999499994 meters 0.0510590924629872 Centerline is valid? [True, True] Translation: X:456.34, Y:-94.98, Z:-3.47 [[ 8.91349100e-01 4.53303981e-01 3.50458170e-03 4.56340226e+02] [-4.53300817e-01 8.91355986e-01 -1.69558523e-03 -9.49829610e+01] [-3.89244541e-03 -7.72713801e-05 9.99992421e-01 -3.46614581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22655999499995 meters 0.0513927962051748 Centerline is valid? [True, True] Translation: X:456.39, Y:-95.01, Z:-3.47 [[ 8.89567148e-01 4.56795279e-01 2.89192031e-03 4.56394523e+02] [-4.56793142e-01 8.89571845e-01 -1.39930960e-03 -9.50117698e+01] [-3.21176890e-03 -7.62295077e-05 9.99994839e-01 -3.46745129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28655999499995 meters 0.05110492104277248 Centerline is valid? [True, True] Translation: X:456.45, Y:-95.04, Z:-3.47 [[ 8.88274830e-01 4.59307405e-01 2.12939420e-03 4.56450054e+02] [-4.59306253e-01 8.88277380e-01 -1.03035477e-03 -9.50379278e+01] [-2.36474227e-03 -6.28058608e-05 9.99997202e-01 -3.46874282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34655999499995 meters 0.05087937532165006 Centerline is valid? [True, True] Translation: X:456.51, Y:-95.06, Z:-3.47 [[ 8.86262349e-01 4.63179148e-01 2.03096230e-03 4.56505519e+02] [-4.63178111e-01 8.86264674e-01 -9.82781270e-04 -9.50646676e+01] [-2.25517393e-03 -6.96952440e-05 9.99997455e-01 -3.46999960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40655999499995 meters 0.05113471445215648 Centerline is valid? [True, True] Translation: X:456.56, Y:-95.09, Z:-3.47 [[ 8.85232772e-01 4.65141744e-01 2.46940261e-03 4.56559888e+02] [-4.65140218e-01 8.85236211e-01 -1.19478461e-03 -9.50921676e+01] [-2.74174880e-03 -9.09559807e-05 9.99996237e-01 -3.46954730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46655999499995 meters 0.05142112352544757 Centerline is valid? [True, True] Translation: X:456.62, Y:-95.12, Z:-3.47 [[ 8.84739636e-01 4.66065412e-01 4.33677726e-03 4.56615521e+02] [-4.66060715e-01 8.84750250e-01 -2.09878670e-03 -9.51179879e+01] [-4.81513665e-03 -1.64321728e-04 9.99988394e-01 -3.46899930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52655999499996 meters 0.05034807486076115 Centerline is valid? [True, True] Translation: X:456.67, Y:-95.15, Z:-3.47 [[ 8.85087553e-01 4.65394734e-01 5.26932935e-03 4.56669389e+02] [-4.65387784e-01 8.85103216e-01 -2.55090926e-03 -9.51489970e+01] [-5.85108009e-03 -1.94503475e-04 9.99982863e-01 -3.46892800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58655999499996 meters 0.050430025970370974 Centerline is valid? [True, True] Translation: X:456.72, Y:-95.18, Z:-3.47 [[ 8.86376213e-01 4.62925473e-01 6.10041010e-03 4.56722808e+02] [-4.62916092e-01 8.86397182e-01 -2.95426458e-03 -9.51786581e+01] [-6.77499065e-03 -2.05388158e-04 9.99977028e-01 -3.46899935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64655999499996 meters 0.0502850170451835 Centerline is valid? [True, True] Translation: X:456.78, Y:-95.21, Z:-3.47 [[ 8.87614824e-01 4.60547746e-01 5.97475329e-03 4.56777412e+02] [-4.60538693e-01 8.87634914e-01 -2.89354104e-03 -9.52061096e+01] [-6.63601343e-03 -1.83255148e-04 9.99977965e-01 -3.46994125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70655999499996 meters 0.05116219569223796 Centerline is valid? [True, True] Translation: X:456.83, Y:-95.23, Z:-3.47 [[ 8.89853786e-01 4.56218887e-01 4.95643595e-03 4.56833967e+02] [-4.56212589e-01 8.89867581e-01 -2.40045708e-03 -9.52278858e+01] [-5.50570553e-03 -1.25132656e-04 9.99984836e-01 -3.47153761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76655999499997 meters 0.05055838160945843 Centerline is valid? [True, True] Translation: X:456.89, Y:-95.26, Z:-3.47 [[ 8.91772116e-01 4.52460787e-01 4.66150730e-03 4.56886497e+02] [-4.52455165e-01 8.91784294e-01 -2.25761080e-03 -9.52601405e+01] [-5.17853936e-03 -9.58486901e-05 9.99986587e-01 -3.47213525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82655999499997 meters 0.05112473100145243 Centerline is valid? [True, True] Translation: X:456.94, Y:-95.29, Z:-3.47 [[ 8.95114460e-01 4.45822880e-01 3.47313712e-03 4.56939810e+02] [-4.45819708e-01 8.95121198e-01 -1.68219088e-03 -9.52885523e+01] [-3.85883784e-03 -4.26395942e-05 9.99992554e-01 -3.47383446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88655999499997 meters 0.05077469819400402 Centerline is valid? [True, True] Translation: X:456.99, Y:-95.32, Z:-3.47 [[ 8.97547847e-01 4.40905634e-01 3.17565616e-03 4.56993946e+02] [-4.40902952e-01 8.97553464e-01 -1.53804520e-03 -9.53175564e+01] [-3.52845398e-03 -1.96870163e-05 9.99993775e-01 -3.47498515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.946559995 meters 0.05092468366852112 Centerline is valid? [True, True] Translation: X:457.05, Y:-95.35, Z:-3.48 [[ 9.01332454e-01 4.33113767e-01 3.50325151e-03 4.57047863e+02] [-4.33110444e-01 9.01339262e-01 -1.69676273e-03 -9.53498207e+01] [-3.89250943e-03 1.20525004e-05 9.99992424e-01 -3.47557358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.006559995 meters 0.051188204027075454 Centerline is valid? [True, True] Translation: X:457.10, Y:-95.38, Z:-3.48 [[ 9.02383827e-01 4.30915845e-01 3.86835797e-03 4.57103167e+02] [-4.30911772e-01 9.02392118e-01 -1.87357511e-03 -9.53782679e+01] [-4.29812895e-03 2.37628870e-05 9.99990763e-01 -3.47590933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.066559995 meters 0.05128368663118791 Centerline is valid? [True, True] Translation: X:457.16, Y:-95.41, Z:-3.47 [[ 9.04369748e-01 4.26732659e-01 3.82052204e-03 4.57157935e+02] [-4.26728647e-01 9.04377817e-01 -1.85095100e-03 -9.54069726e+01] [-4.24505663e-03 4.36178857e-05 9.99990989e-01 -3.47497865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.126559995 meters 0.05168789704860407 Centerline is valid? [True, True] Translation: X:457.21, Y:-95.43, Z:-3.48 [[ 9.04034660e-01 4.27446908e-01 3.23631601e-03 4.57214101e+02] [-4.27444032e-01 9.04040453e-01 -1.56818244e-03 -9.54324608e+01] [-3.59607533e-03 3.43473114e-05 9.99993534e-01 -3.47648497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.186559995 meters 0.05084857237344049 Centerline is valid? [True, True] Translation: X:457.27, Y:-95.46, Z:-3.48 [[ 9.01134876e-01 4.33536289e-01 1.49031962e-03 4.57271014e+02] [-4.33535689e-01 9.01136108e-01 -7.21847631e-04 -9.54558359e+01] [-1.65592797e-03 4.37533255e-06 9.99998629e-01 -3.47851458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.246559995 meters 0.050861418593452175 Centerline is valid? [True, True] Translation: X:457.33, Y:-95.48, Z:-3.48 [[ 8.98340788e-01 4.39298865e-01 5.79850757e-04 4.57328360e+02] [-4.39298775e-01 8.98340975e-01 -2.80356272e-04 -9.54794307e+01] [-6.44063887e-04 -2.87225342e-06 9.99999793e-01 -3.47883656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30655999499993 meters 0.051470616202266894 Centerline is valid? [True, True] Translation: X:457.39, Y:-95.50, Z:-3.48 [[ 8.94828610e-01 4.46409488e-01 5.73119429e-04 4.57385003e+02] [-4.46409402e-01 8.94828793e-01 -2.77616945e-04 -9.55014427e+01] [-6.36774605e-04 -7.42631611e-06 9.99999797e-01 -3.47941275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36655999499993 meters 0.051003405539556505 Centerline is valid? [True, True] Translation: X:457.44, Y:-95.53, Z:-3.48 [[ 8.93145882e-01 4.49763089e-01 1.89691153e-03 4.57440485e+02] [-4.49762149e-01 8.93147895e-01 -9.19774314e-04 -9.55283795e+01] [-2.10790308e-03 -3.16663681e-05 9.99997778e-01 -3.47801486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42655999499993 meters 0.05034437927055799 Centerline is valid? [True, True] Translation: X:457.50, Y:-95.55, Z:-3.48 [[ 8.91253214e-01 4.53495233e-01 3.12774656e-03 4.57495927e+02] [-4.53492698e-01 8.91258700e-01 -1.51776940e-03 -9.55526139e+01] [-3.47593252e-03 -6.56933665e-05 9.99993957e-01 -3.47691891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48655999499994 meters 0.050610950503321706 Centerline is valid? [True, True] Translation: X:457.55, Y:-95.58, Z:-3.48 [[ 8.90439337e-01 4.55089073e-01 3.42374518e-03 4.57551961e+02] [-4.55086047e-01 8.90445916e-01 -1.66149432e-03 -9.55800611e+01] [-3.80478782e-03 -7.86387638e-05 9.99992759e-01 -3.47704802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54655999499994 meters 0.05012626089793177 Centerline is valid? [True, True] Translation: X:457.60, Y:-95.61, Z:-3.48 [[ 8.89976783e-01 4.55994763e-01 3.17832641e-03 4.57604444e+02] [-4.55992159e-01 8.89982455e-01 -1.54280340e-03 -9.56119069e+01] [-3.53216501e-03 -7.62327168e-05 9.99993759e-01 -3.47670794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60655999499994 meters 0.0507719328663189 Centerline is valid? [True, True] Translation: X:457.66, Y:-95.64, Z:-3.48 [[ 8.89933615e-01 4.56083325e-01 2.48226843e-03 4.57662534e+02] [-4.56081738e-01 8.89937075e-01 -1.20494546e-03 -9.56352880e+01] [-2.75861824e-03 -5.97958329e-05 9.99996193e-01 -3.47908140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66655999499994 meters 0.05037748568518125 Centerline is valid? [True, True] Translation: X:457.71, Y:-95.67, Z:-3.48 [[ 8.90776262e-01 4.54441963e-01 3.92161255e-04 4.57713482e+02] [-4.54441924e-01 8.90776348e-01 -1.89690258e-04 -9.56723522e+01] [-4.35531184e-04 -9.24293656e-06 9.99999905e-01 -3.47899766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72655999499995 meters 0.05053834188833863 Centerline is valid? [True, True] Translation: X:457.77, Y:-95.71, Z:-3.48 [[ 8.93306376e-01 4.49444842e-01 -1.74689972e-03 4.57765770e+02] [-4.49444041e-01 8.93308084e-01 8.49183197e-04 -9.57058972e+01] [ 1.94218065e-03 2.65529068e-05 9.99998114e-01 -3.47921465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78655999499995 meters 0.050976648456390265 Centerline is valid? [True, True] Translation: X:457.82, Y:-95.74, Z:-3.48 [[ 8.96008363e-01 4.44027947e-01 -2.86275925e-03 4.57819294e+02] [-4.44025767e-01 8.96012936e-01 1.39165153e-03 -9.57374233e+01] [ 3.18300149e-03 2.42074622e-05 9.99994934e-01 -3.47917186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84655999499995 meters 0.05122373725267112 Centerline is valid? [True, True] Translation: X:457.87, Y:-95.77, Z:-3.48 [[ 9.01361048e-01 4.33059573e-01 -2.76900996e-03 4.57870812e+02] [-4.33057478e-01 9.01365301e-01 1.34695431e-03 -9.57706430e+01] [ 3.07920095e-03 -1.49516781e-05 9.99995259e-01 -3.47890258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90655999499995 meters 0.05134400666530994 Centerline is valid? [True, True] Translation: X:457.93, Y:-95.80, Z:-3.48 [[ 9.04682009e-01 4.26084747e-01 -1.50067964e-03 4.57925066e+02] [-4.26084121e-01 9.04683253e-01 7.30532895e-04 -9.58006305e+01] [ 1.66890866e-03 -2.14842028e-05 9.99998607e-01 -3.47719787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96655999499995 meters 0.052136432341228126 Centerline is valid? [True, True] Translation: X:457.98, Y:-95.83, Z:-3.48 [[ 9.06574849e-01 4.22043899e-01 9.94663209e-04 4.57978507e+02] [-4.22043623e-01 9.06575395e-01 -4.83464075e-04 -9.58306610e+01] [-1.10578026e-03 1.85051069e-05 9.99999388e-01 -3.47844947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02655999499996 meters 0.05193485798157007 Centerline is valid? [True, True] Translation: X:458.04, Y:-95.85, Z:-3.48 [[ 9.06498265e-01 4.22209382e-01 3.64843841e-04 4.58036828e+02] [-4.22209345e-01 9.06498339e-01 -1.76446178e-04 -9.58547567e+01] [-4.05227567e-04 5.90767483e-06 9.99999918e-01 -3.47654182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08655999499996 meters 0.05150622717872841 Centerline is valid? [True, True] Translation: X:458.09, Y:-95.88, Z:-3.48 [[ 9.04965206e-01 4.25483810e-01 -1.22594777e-03 4.58091901e+02] [-4.25483392e-01 9.04966036e-01 5.96883466e-04 -9.58808377e+01] [ 1.36340535e-03 -1.85383513e-05 9.99999070e-01 -3.47838776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14655999499996 meters 0.051314657937680426 Centerline is valid? [True, True] Translation: X:458.15, Y:-95.91, Z:-3.48 [[ 9.03863436e-01 4.27815888e-01 -2.11088858e-03 4.58148217e+02] [-4.27814653e-01 9.03865900e-01 1.02808658e-03 -9.59054087e+01] [ 2.34779198e-03 -2.61808047e-05 9.99997244e-01 -3.47971553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20655999499996 meters 0.05151766332313419 Centerline is valid? [True, True] Translation: X:458.21, Y:-95.93, Z:-3.48 [[ 9.02662961e-01 4.30344178e-01 -1.86233280e-03 4.58205963e+02] [-4.30343221e-01 9.02664882e-01 9.07457944e-04 -9.59283477e+01] [ 2.07158166e-03 -1.76863762e-05 9.99997854e-01 -3.47984328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26655999499997 meters 0.05143252494851287 Centerline is valid? [True, True] Translation: X:458.26, Y:-95.95, Z:-3.48 [[ 9.02364091e-01 4.30973066e-01 -1.12433127e-03 4.58262692e+02] [-4.30972717e-01 9.02364791e-01 5.48386225e-04 -9.59541782e+01] [ 1.25089664e-03 -1.02879370e-05 9.99999218e-01 -3.47852947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32655999499997 meters 0.050947269332605995 Centerline is valid? [True, True] Translation: X:458.32, Y:-95.98, Z:-3.48 [[ 9.02172501e-01 4.31375396e-01 2.16339290e-04 4.58317578e+02] [-4.31375383e-01 9.02172527e-01 -1.04516541e-04 -9.59817643e+01] [-2.40261229e-04 9.68505031e-07 9.99999971e-01 -3.47949883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38655999499997 meters 0.051396557286534486 Centerline is valid? [True, True] Translation: X:458.38, Y:-96.00, Z:-3.48 [[ 9.01638680e-01 4.32487779e-01 1.41861033e-03 4.58375745e+02] [-4.32487229e-01 9.01639795e-01 -6.90208364e-04 -9.60045141e+01] [-1.57758221e-03 8.78770757e-06 9.99998756e-01 -3.47776663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.446559995 meters 0.051248764192343484 Centerline is valid? [True, True] Translation: X:458.43, Y:-96.03, Z:-3.48 [[ 9.00510485e-01 4.34830254e-01 1.87549037e-03 4.58431622e+02] [-4.34829295e-01 9.00512438e-01 -9.13063859e-04 -9.60288834e+01] [-2.08593019e-03 6.70542418e-06 9.99997824e-01 -3.47834819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.506559995 meters 0.05106409095576863 Centerline is valid? [True, True] Translation: X:458.49, Y:-96.05, Z:-3.48 [[ 8.97796079e-01 4.40406766e-01 2.02012598e-03 4.58488763e+02] [-4.40405667e-01 8.97798352e-01 -9.83885187e-04 -9.60504474e+01] [-2.24697547e-03 -6.34666528e-06 9.99997476e-01 -3.47953712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.566559995 meters 0.0510296766796974 Centerline is valid? [True, True] Translation: X:458.54, Y:-96.08, Z:-3.48 [[ 8.95717419e-01 4.44621900e-01 1.29246519e-03 4.58544483e+02] [-4.44621455e-01 8.95718352e-01 -6.29352130e-04 -9.60758954e+01] [-1.43750853e-03 -1.09360858e-05 9.99998967e-01 -3.47790628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.626559995 meters 0.05105813445201206 Centerline is valid? [True, True] Translation: X:458.60, Y:-96.10, Z:-3.48 [[ 8.93138211e-01 4.49782140e-01 -4.04761302e-04 4.58602724e+02] [-4.49782096e-01 8.93138302e-01 1.97496242e-04 -9.60953218e+01] [ 4.50338105e-04 5.66294650e-06 9.99999899e-01 -3.48141866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.686559995 meters 0.05148886982287177 Centerline is valid? [True, True] Translation: X:458.66, Y:-96.12, Z:-3.48 [[ 8.91676197e-01 4.52671412e-01 -1.46729562e-03 4.58657997e+02] [-4.52670847e-01 8.91677404e-01 7.15795210e-04 -9.61209369e+01] [ 1.63237438e-03 2.59444013e-05 9.99998667e-01 -3.48145650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.746559995 meters 0.05137798829420805 Centerline is valid? [True, True] Translation: X:458.71, Y:-96.15, Z:-3.48 [[ 8.90424387e-01 4.55124234e-01 -2.51835608e-03 4.58714261e+02] [-4.55122579e-01 8.90427947e-01 1.22830681e-03 -9.61464066e+01] [ 2.80144683e-03 5.24463767e-05 9.99996075e-01 -3.48148078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80655999499993 meters 0.05183206717065839 Centerline is valid? [True, True] Translation: X:458.77, Y:-96.17, Z:-3.48 [[ 8.90702714e-01 4.54576845e-01 -2.92700490e-03 4.58769247e+02] [-4.54574605e-01 8.90707521e-01 1.42820468e-03 -9.61721390e+01] [ 3.25633406e-03 5.84363056e-05 9.99994696e-01 -3.48232594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86655999499993 meters 0.051696334361270135 Centerline is valid? [True, True] Translation: X:458.82, Y:-96.20, Z:-3.48 [[ 8.93382144e-01 4.49285795e-01 -3.25887148e-03 4.58821930e+02] [-4.49282984e-01 8.93388086e-01 1.58974529e-03 -9.62034647e+01] [ 3.62568693e-03 4.39054494e-05 9.99993426e-01 -3.48108477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92655999499993 meters 0.051928331562242136 Centerline is valid? [True, True] Translation: X:458.88, Y:-96.23, Z:-3.48 [[ 8.94823534e-01 4.46409191e-01 -3.11073346e-03 4.58877102e+02] [-4.46406608e-01 8.94828941e-01 1.51874313e-03 -9.62326474e+01] [ 3.46155522e-03 2.96448739e-05 9.99994008e-01 -3.48094467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98655999499994 meters 0.05194000281737216 Centerline is valid? [True, True] Translation: X:458.93, Y:-96.27, Z:-3.48 [[ 9.00601554e-01 4.34640295e-01 -2.15761229e-03 4.58929020e+02] [-4.34639017e-01 9.00604138e-01 1.05390889e-03 -9.62653048e+01] [ 2.40122582e-03 -1.13694991e-05 9.99997117e-01 -3.48012904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04655999499994 meters 0.05296681467637733 Centerline is valid? [True, True] Translation: X:458.98, Y:-96.30, Z:-3.48 [[ 9.05253265e-01 4.24869173e-01 -1.64696991e-03 4.58980648e+02] [-4.24868413e-01 9.05254763e-01 8.03999147e-04 -9.62978410e+01] [ 1.83252181e-03 -2.80773599e-05 9.99998321e-01 -3.48031874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10655999499994 meters 0.053368956218697444 Centerline is valid? [True, True] Translation: X:459.04, Y:-96.33, Z:-3.48 [[ 9.12181755e-01 4.09784630e-01 -1.00199281e-03 4.59035456e+02] [-4.09784339e-01 9.12182304e-01 4.89182109e-04 -9.63251788e+01] [ 1.11445942e-03 -3.56220327e-05 9.99999378e-01 -3.47722259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16655999499994 meters 0.05378786804785435 Centerline is valid? [True, True] Translation: X:459.09, Y:-96.36, Z:-3.48 [[ 9.16116422e-01 4.00908029e-01 -1.85822284e-03 4.59089100e+02] [-4.00907012e-01 9.16118303e-01 9.07224702e-04 -9.63552196e+01] [ 2.06606563e-03 -8.61488792e-05 9.99997862e-01 -3.47756847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22655999499995 meters 0.054583059554907096 Centerline is valid? [True, True] Translation: X:459.14, Y:-96.38, Z:-3.48 [[ 9.20159876e-01 3.91526660e-01 -3.56032775e-03 4.59144118e+02] [-3.91522856e-01 9.20166741e-01 1.73824114e-03 -9.63796466e+01] [ 3.95666293e-03 -2.05510066e-04 9.99992151e-01 -3.47836895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28655999499995 meters 0.05484744972785271 Centerline is valid? [True, True] Translation: X:459.20, Y:-96.40, Z:-3.48 [[ 9.21977192e-01 3.87223045e-01 -4.04604920e-03 4.59200568e+02] [-3.87218089e-01 9.21986035e-01 1.97538930e-03 -9.64043677e+01] [ 4.49531711e-03 -2.54560440e-04 9.99989864e-01 -3.47864222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34655999499995 meters 0.054702830810265675 Centerline is valid? [True, True] Translation: X:459.26, Y:-96.43, Z:-3.48 [[ 9.21886551e-01 3.87440460e-01 -3.88300812e-03 4.59258965e+02] [-3.87435893e-01 9.21894696e-01 1.89693523e-03 -9.64257684e+01] [ 4.31467404e-03 -2.44342356e-04 9.99990662e-01 -3.47747124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40655999499995 meters 0.055107110196776506 Centerline is valid? [True, True] Translation: X:459.31, Y:-96.45, Z:-3.48 [[ 9.19715283e-01 3.92572889e-01 -3.21327420e-03 4.59314828e+02] [-3.92569794e-01 9.19720878e-01 1.56935272e-03 -9.64506093e+01] [ 3.57140070e-03 -1.81923285e-04 9.99993606e-01 -3.47817759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46655999499995 meters 0.05436504258142194 Centerline is valid? [True, True] Translation: X:459.37, Y:-96.48, Z:-3.48 [[ 9.16960813e-01 3.98972057e-01 -2.04084187e-03 4.59369320e+02] [-3.98970825e-01 9.16963079e-01 9.96688004e-04 -9.64770635e+01] [ 2.26902731e-03 -9.96874774e-05 9.99997421e-01 -3.47966253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52655999499996 meters 0.05362851179441677 Centerline is valid? [True, True] Translation: X:459.43, Y:-96.50, Z:-3.48 [[ 9.11282465e-01 4.11781773e-01 -2.01080402e-04 4.59425689e+02] [-4.11781762e-01 9.11282487e-01 9.83745189e-05 -9.65006829e+01] [ 2.23749882e-04 -6.84573198e-06 9.99999975e-01 -3.48071841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58655999499996 meters 0.05353227977193746 Centerline is valid? [True, True] Translation: X:459.49, Y:-96.51, Z:-3.48 [[ 9.06950018e-01 4.21238247e-01 -6.14420654e-05 4.59485862e+02] [-4.21238246e-01 9.06950020e-01 3.00332986e-05 -9.65134513e+01] [ 6.83760564e-05 -1.35695291e-06 9.99999998e-01 -3.47863621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64655999499996 meters 0.05362850935831358 Centerline is valid? [True, True] Translation: X:459.54, Y:-96.53, Z:-3.48 [[ 9.00193316e-01 4.35488661e-01 -1.27303776e-03 4.59542751e+02] [-4.35488217e-01 9.00194216e-01 6.21826694e-04 -9.65341227e+01] [ 1.41677970e-03 -5.37128816e-06 9.99998996e-01 -3.48133286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70655999499996 meters 0.05322908067616219 Centerline is valid? [True, True] Translation: X:459.60, Y:-96.55, Z:-3.49 [[ 8.96131369e-01 4.43785795e-01 -1.65469993e-03 4.59600802e+02] [-4.43785058e-01 8.96132896e-01 8.09306428e-04 -9.65536500e+01] [ 1.84198973e-03 9.08622495e-06 9.99998303e-01 -3.48591281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76655999499997 meters 0.052975704023433094 Centerline is valid? [True, True] Translation: X:459.66, Y:-96.57, Z:-3.48 [[ 8.92091933e-01 4.51850602e-01 -1.73680395e-03 4.59658934e+02] [-4.51849806e-01 8.92093623e-01 8.48656465e-04 -9.65746604e+01] [ 1.93285766e-03 2.76949405e-05 9.99998132e-01 -3.48423317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82655999499997 meters 0.052450951068518874 Centerline is valid? [True, True] Translation: X:459.72, Y:-96.60, Z:-3.49 [[ 8.90811273e-01 4.54371389e-01 -1.38407857e-03 4.59715372e+02] [-4.54370885e-01 8.90812348e-01 6.77265663e-04 -9.65978863e+01] [ 1.54068442e-03 2.55691166e-05 9.99998813e-01 -3.48504475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88655999499997 meters 0.0524326043182253 Centerline is valid? [True, True] Translation: X:459.77, Y:-96.63, Z:-3.48 [[ 8.90803113e-01 4.54388141e-01 -1.10971897e-03 4.59771104e+02] [-4.54387816e-01 8.90803804e-01 5.43425536e-04 -9.66260962e+01] [ 1.23546800e-03 2.01576220e-05 9.99999237e-01 -3.48414258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.946559995 meters 0.053001923852982115 Centerline is valid? [True, True] Translation: X:459.83, Y:-96.65, Z:-3.49 [[ 8.91529730e-01 4.52960267e-01 -1.31819132e-03 4.59826712e+02] [-4.52959807e-01 8.91530704e-01 6.45431589e-04 -9.66521640e+01] [ 1.46756290e-03 2.16662368e-05 9.99998923e-01 -3.48565984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.006559995 meters 0.05259241533054698 Centerline is valid? [True, True] Translation: X:459.88, Y:-96.68, Z:-3.49 [[ 8.92587645e-01 4.50868770e-01 -2.15591727e-03 4.59880843e+02] [-4.50867536e-01 8.92590248e-01 1.05543704e-03 -9.66821175e+01] [ 2.40021433e-03 2.99630487e-05 9.99997119e-01 -3.48597486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.066559995 meters 0.05258360766436525 Centerline is valid? [True, True] Translation: X:459.94, Y:-96.71, Z:-3.49 [[ 8.93095296e-01 4.49859795e-01 -2.63766394e-03 4.59936316e+02] [-4.49857942e-01 8.93099190e-01 1.29144208e-03 -9.67109049e+01] [ 2.93666340e-03 3.31932282e-05 9.99995687e-01 -3.48695204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.126559995 meters 0.05325158747411895 Centerline is valid? [True, True] Translation: X:459.99, Y:-96.74, Z:-3.49 [[ 8.93504499e-01 4.49044456e-01 -2.96416757e-03 4.59990685e+02] [-4.49042111e-01 8.93509415e-01 1.45151225e-03 -9.67384807e+01] [ 3.30030516e-03 3.41033405e-05 9.99994553e-01 -3.48836030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.186559995 meters 0.053391152772293705 Centerline is valid? [True, True] Translation: X:460.04, Y:-96.77, Z:-3.49 [[ 8.94760637e-01 4.46532828e-01 -3.44051931e-03 4.60043944e+02] [-4.46529648e-01 8.94767251e-01 1.68520526e-03 -9.67704977e+01] [ 3.83096347e-03 2.84385409e-05 9.99992661e-01 -3.48835159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.246559995 meters 0.052917152760893996 Centerline is valid? [True, True] Translation: X:460.10, Y:-96.80, Z:-3.49 [[ 8.96063473e-01 4.43917108e-01 -2.80253100e-03 4.60097926e+02] [-4.43914984e-01 8.96067855e-01 1.37330262e-03 -9.68011757e+01] [ 3.12089047e-03 1.35191901e-05 9.99995130e-01 -3.48791071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30655999499993 meters 0.0527838340983254 Centerline is valid? [True, True] Translation: X:460.15, Y:-96.83, Z:-3.49 [[ 8.98161815e-01 4.39663087e-01 -1.31296707e-03 4.60149939e+02] [-4.39662615e-01 8.98162775e-01 6.43999319e-04 -9.68334140e+01] [ 1.46240087e-03 -1.15306206e-06 9.99998931e-01 -3.48681442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36655999499993 meters 0.052488531044813144 Centerline is valid? [True, True] Translation: X:460.20, Y:-96.87, Z:-3.49 [[ 8.99703470e-01 4.36500663e-01 -9.15352148e-04 4.60203992e+02] [-4.36500432e-01 8.99703935e-01 4.49182115e-04 -9.68653348e+01] [ 1.01961422e-03 -4.57910013e-06 9.99999480e-01 -3.48844125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42655999499993 meters 0.05219991397824452 Centerline is valid? [True, True] Translation: X:460.26, Y:-96.90, Z:-3.49 [[ 9.01725300e-01 4.32308940e-01 -6.81435528e-04 4.60256561e+02] [-4.32308810e-01 9.01725557e-01 3.34379846e-04 -9.68963029e+01] [ 7.59023227e-04 -6.92818426e-06 9.99999712e-01 -3.48636588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48655999499994 meters 0.052942022646866246 Centerline is valid? [True, True] Translation: X:460.31, Y:-96.93, Z:-3.49 [[ 9.04014564e-01 4.27500430e-01 -1.02447425e-03 4.60309538e+02] [-4.27500136e-01 9.04015145e-01 5.02163065e-04 -9.69279281e+01] [ 1.14081517e-03 -1.59998424e-05 9.99999349e-01 -3.48787675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54655999499994 meters 0.053071087772854596 Centerline is valid? [True, True] Translation: X:460.36, Y:-96.96, Z:-3.49 [[ 9.06107957e-01 4.23044626e-01 -1.27087924e-03 4.60363389e+02] [-4.23044168e-01 9.06108848e-01 6.22918680e-04 -9.69560994e+01] [ 1.41507732e-03 -2.67935223e-05 9.99998998e-01 -3.48659740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60655999499994 meters 0.053799038236644635 Centerline is valid? [True, True] Translation: X:460.42, Y:-96.99, Z:-3.49 [[ 9.09753402e-01 4.15147989e-01 -9.45510051e-04 4.60416441e+02] [-4.15147732e-01 9.09753893e-01 4.63545282e-04 -9.69868337e+01] [ 1.05262134e-03 -2.91855441e-05 9.99999446e-01 -3.48612325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66655999499994 meters 0.053974474716396714 Centerline is valid? [True, True] Translation: X:460.47, Y:-97.01, Z:-3.49 [[ 9.11987115e-01 4.10218782e-01 -2.29010167e-04 4.60471691e+02] [-4.10218767e-01 9.11987144e-01 1.12429986e-04 -9.70135052e+01] [ 2.54975220e-04 -8.59043026e-06 9.99999967e-01 -3.48577566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72655999499995 meters 0.054760887755319565 Centerline is valid? [True, True] Translation: X:460.52, Y:-97.05, Z:-3.49 [[ 9.14468542e-01 4.04655829e-01 9.72347804e-04 4.60521594e+02] [-4.04655551e-01 9.14469058e-01 -4.76401602e-04 -9.70491042e+01] [-1.08196067e-03 4.21883422e-05 9.99999414e-01 -3.48697598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78655999499995 meters 0.05499712621405195 Centerline is valid? [True, True] Translation: X:460.58, Y:-97.07, Z:-3.49 [[ 9.14947972e-01 4.03565550e-01 2.24837290e-03 4.60580081e+02] [-4.03564059e-01 9.14950729e-01 -1.10179278e-03 -9.70715382e+01] [-2.50179603e-03 1.00720574e-04 9.99996865e-01 -3.48619971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84655999499995 meters 0.05484851478806507 Centerline is valid? [True, True] Translation: X:460.63, Y:-97.10, Z:-3.49 [[ 9.14528355e-01 4.04516666e-01 2.03822586e-03 4.60632355e+02] [-4.04515443e-01 9.14530622e-01 -9.98400123e-04 -9.71039207e+01] [-2.26788945e-03 8.85713847e-05 9.99997424e-01 -3.48750294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90655999499995 meters 0.05518353159418171 Centerline is valid? [True, True] Translation: X:460.69, Y:-97.13, Z:-3.49 [[ 9.13006879e-01 4.07940158e-01 1.80727417e-03 4.60688606e+02] [-4.07939202e-01 9.13008665e-01 -8.86043817e-04 -9.71290524e+01] [-2.01150983e-03 7.17061170e-05 9.99997974e-01 -3.48968015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96655999499995 meters 0.053950729380473225 Centerline is valid? [True, True] Translation: X:460.75, Y:-97.15, Z:-3.49 [[ 9.08927755e-01 4.16953058e-01 -6.95143044e-04 4.60747517e+02] [-4.16952919e-01 9.08928021e-01 3.40863115e-04 -9.71457165e+01] [ 7.73958909e-04 -1.99780242e-05 9.99999700e-01 -3.49068402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02655999499996 meters 0.05380610310334811 Centerline is valid? [True, True] Translation: X:460.81, Y:-97.17, Z:-3.49 [[ 9.04075113e-01 4.27372973e-01 -7.29718494e-04 4.60805475e+02] [-4.27372824e-01 9.04075407e-01 3.57957206e-04 -9.71655514e+01] [ 8.12701780e-04 -1.17583476e-05 9.99999670e-01 -3.49271769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08655999499996 meters 0.05326278806573414 Centerline is valid? [True, True] Translation: X:460.86, Y:-97.19, Z:-3.49 [[ 9.01241649e-01 4.33316829e-01 -1.28043833e-04 4.60862542e+02] [-4.33316825e-01 9.01241658e-01 6.28838854e-05 -9.71869114e+01] [ 1.42647082e-04 -1.19002958e-06 9.99999990e-01 -3.49344882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14655999499996 meters 0.05257258727362484 Centerline is valid? [True, True] Translation: X:460.92, Y:-97.21, Z:-3.49 [[ 8.98083132e-01 4.39820826e-01 2.08093358e-03 4.60921034e+02] [-4.39819642e-01 8.98085542e-01 -1.02026914e-03 -9.72072577e+01] [-2.31759198e-03 1.05104089e-06 9.99997314e-01 -3.49199133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20655999499996 meters 0.052663207587952156 Centerline is valid? [True, True] Translation: X:460.98, Y:-97.23, Z:-3.49 [[ 8.96534096e-01 4.42972801e-01 1.30877621e-03 4.60977677e+02] [-4.42972337e-01 8.96535051e-01 -6.41098270e-04 -9.72309910e+01] [-1.45735284e-03 -4.98519702e-06 9.99998938e-01 -3.49249668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26655999499997 meters 0.05271772996227575 Centerline is valid? [True, True] Translation: X:461.04, Y:-97.25, Z:-3.49 [[ 8.94712207e-01 4.46642716e-01 5.93066300e-04 4.61035850e+02] [-4.46642621e-01 8.94712403e-01 -2.90458274e-04 -9.72541184e+01] [-6.60354846e-04 -5.01212373e-06 9.99999782e-01 -3.49445444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32655999499997 meters 0.05302532128326551 Centerline is valid? [True, True] Translation: X:461.09, Y:-97.28, Z:-3.50 [[ 8.92713681e-01 4.50624322e-01 5.82001524e-05 4.61093268e+02] [-4.50624321e-01 8.92713683e-01 -2.81001053e-05 -9.72752909e+01] [-6.46186635e-05 -1.14105573e-06 9.99999998e-01 -3.49708520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38655999499997 meters 0.05241829875339306 Centerline is valid? [True, True] Translation: X:461.15, Y:-97.30, Z:-3.50 [[ 8.91475976e-01 4.53067762e-01 -4.33377367e-04 4.61148279e+02] [-4.53067712e-01 8.91476081e-01 2.12932009e-04 -9.73028833e+01] [ 4.82818185e-04 6.52552210e-06 9.99999883e-01 -3.49639547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.446559995 meters 0.052829562280332934 Centerline is valid? [True, True] Translation: X:461.20, Y:-97.33, Z:-3.50 [[ 8.90972086e-01 4.54051599e-01 -2.42652083e-03 4.61203328e+02] [-4.54050038e-01 8.90975389e-01 1.19136732e-03 -9.73286570e+01] [ 2.70291258e-03 4.02868518e-05 9.99996346e-01 -3.49877132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.506559995 meters 0.05253745847960703 Centerline is valid? [True, True] Translation: X:461.26, Y:-97.36, Z:-3.50 [[ 8.91517241e-01 4.52977659e-01 -2.87233520e-03 4.61257157e+02] [-4.52975463e-01 8.91521867e-01 1.41103827e-03 -9.73595931e+01] [ 3.19991846e-03 4.31324239e-05 9.99994879e-01 -3.49845816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.566559995 meters 0.052912385445658384 Centerline is valid? [True, True] Translation: X:461.31, Y:-97.39, Z:-3.50 [[ 8.92603417e-01 4.50833730e-01 -2.84399268e-03 4.61312092e+02] [-4.50831568e-01 8.92607947e-01 1.39666783e-03 -9.73899032e+01] [ 3.16823544e-03 3.54912012e-05 9.99994981e-01 -3.49884245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.626559995 meters 0.052741766835045376 Centerline is valid? [True, True] Translation: X:461.36, Y:-97.42, Z:-3.50 [[ 8.94528497e-01 4.47004546e-01 -2.38816090e-03 4.61363641e+02] [-4.47003009e-01 8.94531685e-01 1.17262165e-03 -9.74212849e+01] [ 2.66045280e-03 1.85716241e-05 9.99996461e-01 -3.49918421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.686559995 meters 0.052153931871856525 Centerline is valid? [True, True] Translation: X:461.42, Y:-97.46, Z:-3.50 [[ 8.96893968e-01 4.42243522e-01 -1.37038231e-03 4.61415675e+02] [-4.42243010e-01 8.96895015e-01 6.73258505e-04 -9.74570894e+01] [ 1.52683328e-03 2.20050639e-06 9.99998834e-01 -3.49688277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.746559995 meters 0.05204252363728334 Centerline is valid? [True, True] Translation: X:461.47, Y:-97.49, Z:-3.50 [[ 8.98154474e-01 4.39679414e-01 -7.44403451e-04 4.61468989e+02] [-4.39679261e-01 8.98154782e-01 3.66618265e-04 -9.74890247e+01] [ 8.29784023e-04 -1.98107524e-06 9.99999656e-01 -3.49708904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80655999499993 meters 0.0529898147775635 Centerline is valid? [True, True] Translation: X:461.52, Y:-97.52, Z:-3.50 [[ 8.99635212e-01 4.36642169e-01 -3.18674046e-04 4.61520307e+02] [-4.36642140e-01 8.99635269e-01 1.57475417e-04 -9.75226686e+01] [ 3.55450818e-04 -2.52391222e-06 9.99999937e-01 -3.49808146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86655999499993 meters 0.052760944341154456 Centerline is valid? [True, True] Translation: X:461.58, Y:-97.55, Z:-3.49 [[ 9.00775237e-01 4.34285469e-01 -3.20726378e-04 4.61575871e+02] [-4.34285440e-01 9.00775295e-01 1.58604341e-04 -9.75511531e+01] [ 3.57781958e-04 -3.58006672e-06 9.99999936e-01 -3.49396762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92655999499993 meters 0.05256931216042811 Centerline is valid? [True, True] Translation: X:461.62, Y:-97.59, Z:-3.50 [[ 9.03411276e-01 4.28773279e-01 -1.24157462e-03 4.61624548e+02] [-4.28772845e-01 9.03412129e-01 6.10260966e-04 -9.75885069e+01] [ 1.38331716e-03 -1.89631566e-05 9.99999043e-01 -3.49767505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98655999499994 meters 0.05351537030120761 Centerline is valid? [True, True] Translation: X:461.68, Y:-97.61, Z:-3.50 [[ 9.05410080e-01 4.24538072e-01 1.12476732e-04 4.61680028e+02] [-4.24538068e-01 9.05410087e-01 -5.51164024e-05 -9.76148511e+01] [-1.25236579e-04 2.15229181e-06 9.99999992e-01 -3.49506938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04655999499994 meters 0.05307424761492047 Centerline is valid? [True, True] Translation: X:461.73, Y:-97.64, Z:-3.50 [[ 9.08294789e-01 4.18328881e-01 1.23476829e-03 4.61734496e+02] [-4.18328442e-01 9.08295627e-01 -6.06734259e-04 -9.76437158e+01] [-1.37534910e-03 3.45548692e-05 9.99999054e-01 -3.49557962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10655999499994 meters 0.05374325637031554 Centerline is valid? [True, True] Translation: X:461.78, Y:-97.68, Z:-3.50 [[ 9.10526820e-01 4.13442808e-01 2.44025107e-03 4.61784764e+02] [-4.13441077e-01 9.10530086e-01 -1.19934165e-03 -9.76808087e+01] [-2.71778120e-03 8.31327085e-05 9.99996303e-01 -3.49678093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16655999499994 meters 0.053874658742343255 Centerline is valid? [True, True] Translation: X:461.84, Y:-97.71, Z:-3.50 [[ 9.11015742e-01 4.12365487e-01 2.24094492e-03 4.61836474e+02] [-4.12364024e-01 9.11018495e-01 -1.10147271e-03 -9.77131765e+01] [-2.49575160e-03 7.93739168e-05 9.99996882e-01 -3.49845824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22655999499995 meters 0.05361854946847919 Centerline is valid? [True, True] Translation: X:461.89, Y:-97.73, Z:-3.50 [[ 9.10127477e-01 4.14324020e-01 1.89275130e-03 4.61894048e+02] [-4.14322980e-01 9.10129443e-01 -9.30362999e-04 -9.77348967e+01] [-2.10812042e-03 6.25385715e-05 9.99997776e-01 -3.49883446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28655999499995 meters 0.05338334714278408 Centerline is valid? [True, True] Translation: X:461.95, Y:-97.76, Z:-3.50 [[ 9.08084230e-01 4.18782309e-01 2.09990753e-03 4.61950939e+02] [-4.18781041e-01 9.08086656e-01 -1.03220172e-03 -9.77587442e+01] [-2.33916583e-03 5.79246415e-05 9.99997262e-01 -3.50055107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34655999499995 meters 0.052980257256334 Centerline is valid? [True, True] Translation: X:462.01, Y:-97.78, Z:-3.50 [[ 9.03772875e-01 4.28011131e-01 1.03046549e-03 4.62008552e+02] [-4.28010831e-01 9.03773463e-01 -5.06461206e-04 -9.77796889e+01] [-1.14807840e-03 1.66755081e-05 9.99999341e-01 -3.50244023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40655999499995 meters 0.05186612185267217 Centerline is valid? [True, True] Translation: X:462.07, Y:-97.80, Z:-3.50 [[ 9.00739111e-01 4.34359500e-01 9.38087086e-04 4.62066091e+02] [-4.34359255e-01 9.00739599e-01 -4.61099360e-04 -9.78015826e+01] [-1.04525507e-03 7.86341954e-06 9.99999454e-01 -3.50325973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46655999499995 meters 0.05245520367664942 Centerline is valid? [True, True] Translation: X:462.12, Y:-97.82, Z:-3.50 [[ 8.96918667e-01 4.42193113e-01 1.46800470e-03 4.62124539e+02] [-4.42192525e-01 8.96919869e-01 -7.21027168e-04 -9.78221723e+01] [-1.63551583e-03 -2.43797650e-06 9.99998663e-01 -3.50469894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52655999499996 meters 0.052047811020800125 Centerline is valid? [True, True] Translation: X:462.18, Y:-97.85, Z:-3.50 [[ 8.93621601e-01 4.48815369e-01 2.27995635e-03 4.62182851e+02] [-4.48813971e-01 8.93624509e-01 -1.12071460e-03 -9.78452192e+01] [-2.54041881e-03 -2.17814820e-05 9.99996773e-01 -3.50451099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58655999499996 meters 0.052471847767422364 Centerline is valid? [True, True] Translation: X:462.24, Y:-97.87, Z:-3.50 [[ 8.91533838e-01 4.52946749e-01 2.58049946e-03 4.62239527e+02] [-4.52944972e-01 8.91537571e-01 -1.26925120e-03 -9.78692843e+01] [-2.87551542e-03 -3.72438637e-05 9.99995865e-01 -3.50484883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64655999499996 meters 0.05184020045315918 Centerline is valid? [True, True] Translation: X:462.30, Y:-97.89, Z:-3.51 [[ 8.88806050e-01 4.58274863e-01 2.82061547e-03 4.62296140e+02] [-4.58272766e-01 8.88810523e-01 -1.38780508e-03 -9.78910442e+01] [-3.14298890e-03 -5.91217063e-05 9.99995059e-01 -3.50584409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70655999499996 meters 0.05224912144695148 Centerline is valid? [True, True] Translation: X:462.35, Y:-97.92, Z:-3.51 [[ 8.88045012e-01 4.59748771e-01 2.66928829e-03 4.62351393e+02] [-4.59746901e-01 8.88049021e-01 -1.31286625e-03 -9.79194069e+01] [-2.97404749e-03 -6.13126964e-05 9.99995576e-01 -3.50612837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76655999499997 meters 0.051534140153475426 Centerline is valid? [True, True] Translation: X:462.41, Y:-97.95, Z:-3.51 [[ 8.86402641e-01 4.62911888e-01 1.71541313e-03 4.62406443e+02] [-4.62911120e-01 8.86404299e-01 -8.44184208e-04 -9.79453872e+01] [-1.91133248e-03 -4.57967044e-05 9.99998172e-01 -3.50740440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82655999499997 meters 0.0522626150004542 Centerline is valid? [True, True] Translation: X:462.46, Y:-97.97, Z:-3.51 [[ 8.85874962e-01 4.63923236e-01 8.84285796e-04 4.62462805e+02] [-4.63923033e-01 8.85875403e-01 -4.34972740e-04 -9.79719049e+01] [-9.85160998e-04 -2.49090884e-05 9.99999514e-01 -3.50873670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88655999499997 meters 0.051458413576457876 Centerline is valid? [True, True] Translation: X:462.52, Y:-98.01, Z:-3.51 [[ 8.86312479e-01 4.63087598e-01 -2.56408045e-04 4.62516010e+02] [-4.63087581e-01 8.86312516e-01 1.27180259e-04 -9.80050495e+01] [ 2.86153260e-04 6.01793086e-06 9.99999959e-01 -3.50940065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.946559995 meters 0.051985859176351124 Centerline is valid? [True, True] Translation: X:462.57, Y:-98.04, Z:-3.51 [[ 8.87451486e-01 4.60899275e-01 -1.31102055e-03 4.62569294e+02] [-4.60898824e-01 8.87452453e-01 6.45883974e-04 -9.80370382e+01] [ 1.46115586e-03 3.10571374e-05 9.99998932e-01 -3.51086787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.006559995 meters 0.05189399829441174 Centerline is valid? [True, True] Translation: X:462.62, Y:-98.07, Z:-3.51 [[ 8.91674623e-01 4.52672775e-01 -1.93038458e-03 4.62618875e+02] [-4.52671777e-01 8.91676712e-01 9.50647957e-04 -9.80722194e+01] [ 2.15161142e-03 2.61619602e-05 9.99997685e-01 -3.51205719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.066559995 meters 0.052036395741721996 Centerline is valid? [True, True] Translation: X:462.67, Y:-98.11, Z:-3.51 [[ 8.94199767e-01 4.47667352e-01 -8.47430748e-04 4.62671067e+02] [-4.47667157e-01 8.94200169e-01 4.17536536e-04 -9.81058963e+01] [ 9.44690193e-04 6.00584052e-06 9.99999554e-01 -3.51162705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.126559995 meters 0.05168416149277968 Centerline is valid? [True, True] Translation: X:462.72, Y:-98.14, Z:-3.51 [[ 8.97393709e-01 4.41227294e-01 1.73382971e-03 4.62721281e+02] [-4.41226468e-01 8.97395384e-01 -8.53717985e-04 -9.81422187e+01] [-1.93261446e-03 1.10959046e-06 9.99998132e-01 -3.50963148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.186559995 meters 0.051641340070228324 Centerline is valid? [True, True] Translation: X:462.77, Y:-98.18, Z:-3.51 [[ 8.98959239e-01 4.38026722e-01 2.20844624e-03 4.62773551e+02] [-4.38025373e-01 8.98961952e-01 -1.08708847e-03 -9.81754203e+01] [-2.46148294e-03 9.89274002e-06 9.99996970e-01 -3.51068968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.246559995 meters 0.05192346114742896 Centerline is valid? [True, True] Translation: X:462.83, Y:-98.21, Z:-3.51 [[ 9.00567949e-01 4.34713694e-01 1.17218684e-03 4.62827630e+02] [-4.34713311e-01 9.00568712e-01 -5.76667498e-04 -9.82068115e+01] [-1.30632005e-03 9.76304473e-06 9.99999147e-01 -3.50967620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30655999499993 meters 0.05178602179633795 Centerline is valid? [True, True] Translation: X:462.88, Y:-98.24, Z:-3.51 [[ 9.01456486e-01 4.32869697e-01 1.70639757e-04 4.62881209e+02] [-4.32869689e-01 9.01456502e-01 -8.32131755e-05 -9.82375246e+01] [-1.89844781e-04 1.14827827e-06 9.99999982e-01 -3.51039423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36655999499993 meters 0.05232304196224715 Centerline is valid? [True, True] Translation: X:462.94, Y:-98.27, Z:-3.51 [[ 9.02341635e-01 4.31021175e-01 -5.66354124e-04 4.62935935e+02] [-4.31021084e-01 9.02341812e-01 2.80241980e-04 -9.82668016e+01] [ 6.31835234e-04 -8.76343777e-06 9.99999800e-01 -3.51041677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42655999499993 meters 0.05262461471449666 Centerline is valid? [True, True] Translation: X:462.99, Y:-98.29, Z:-3.51 [[ 9.03107385e-01 4.29414475e-01 -5.08863565e-04 4.62991404e+02] [-4.29414401e-01 9.03107529e-01 2.51971286e-04 -9.82949089e+01] [ 5.67758634e-04 -9.04378622e-06 9.99999839e-01 -3.51014116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48655999499994 meters 0.05259113202500148 Centerline is valid? [True, True] Translation: X:463.05, Y:-98.32, Z:-3.51 [[ 9.02916232e-01 4.29816562e-01 -1.70442651e-05 4.63045445e+02] [-4.29816562e-01 9.02916232e-01 9.31784482e-06 -9.83227660e+01] [ 1.93945075e-05 -1.08732591e-06 1.00000000e+00 -3.51070716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54655999499994 meters 0.05247655565506994 Centerline is valid? [True, True] Translation: X:463.10, Y:-98.35, Z:-3.51 [[ 9.02342634e-01 4.31019327e-01 -3.32953107e-04 4.63102032e+02] [-4.31019295e-01 9.02342695e-01 1.65287779e-04 -9.83480756e+01] [ 3.71680031e-04 -5.63699628e-06 9.99999931e-01 -3.50975996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60655999499994 meters 0.05272044563826555 Centerline is valid? [True, True] Translation: X:463.16, Y:-98.37, Z:-3.51 [[ 9.01839345e-01 4.32071354e-01 3.75456321e-04 4.63157485e+02] [-4.32071315e-01 9.01839423e-01 -1.84374576e-04 -9.83749761e+01] [-4.18264284e-04 4.05234092e-06 9.99999913e-01 -3.51157778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66655999499994 meters 0.052343545892384484 Centerline is valid? [True, True] Translation: X:463.22, Y:-98.40, Z:-3.51 [[ 9.01542301e-01 4.32690101e-01 8.69562864e-04 4.63215741e+02] [-4.32689888e-01 9.01542720e-01 -4.28959854e-04 -9.83979216e+01] [-9.69554752e-04 1.04743958e-05 9.99999530e-01 -3.51099937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72655999499995 meters 0.052575864966298035 Centerline is valid? [True, True] Translation: X:463.27, Y:-98.42, Z:-3.51 [[ 9.00579788e-01 4.34689966e-01 8.24476781e-04 4.63272425e+02] [-4.34689776e-01 9.00580165e-01 -4.06258988e-04 -9.84206798e+01] [-9.19104141e-04 7.47700594e-06 9.99999578e-01 -3.50917381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78655999499995 meters 0.05220963875369394 Centerline is valid? [True, True] Translation: X:463.33, Y:-98.45, Z:-3.51 [[ 8.99376385e-01 4.37174017e-01 9.98357484e-04 4.63329334e+02] [-4.37173739e-01 8.99376939e-01 -4.92735990e-04 -9.84458196e+01] [-1.11331107e-03 6.69943886e-06 9.99999380e-01 -3.51053732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84655999499995 meters 0.05227928575435711 Centerline is valid? [True, True] Translation: X:463.39, Y:-98.47, Z:-3.51 [[ 8.96510078e-01 4.43022971e-01 5.72636864e-04 4.63387796e+02] [-4.43022881e-01 8.96510260e-01 -2.81936727e-04 -9.84670424e+01] [-6.38279271e-04 -9.32116408e-07 9.99999796e-01 -3.51190659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90655999499995 meters 0.05227964834947607 Centerline is valid? [True, True] Translation: X:463.45, Y:-98.49, Z:-3.52 [[ 8.92521487e-01 4.51004681e-01 4.16904340e-04 4.63446614e+02] [-4.51004634e-01 8.92521584e-01 -2.05133558e-04 -9.84856705e+01] [-4.64612317e-04 -4.93968136e-06 9.99999892e-01 -3.51551249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96655999499995 meters 0.05194976784441289 Centerline is valid? [True, True] Translation: X:463.50, Y:-98.51, Z:-3.51 [[ 8.89748306e-01 4.56451415e-01 2.37699102e-04 4.63501337e+02] [-4.56451400e-01 8.89748338e-01 -1.17281261e-04 -9.85118579e+01] [-2.65025579e-04 -4.14728442e-06 9.99999965e-01 -3.51352286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02655999499996 meters 0.05146570130400704 Centerline is valid? [True, True] Translation: X:463.56, Y:-98.54, Z:-3.51 [[ 8.86523048e-01 4.62683005e-01 -1.15003338e-03 4.63557132e+02] [-4.62682657e-01 8.86523793e-01 5.68501589e-04 -9.85365061e+01] [ 1.28256798e-03 2.81107412e-05 9.99999177e-01 -3.51337171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08655999499996 meters 0.0518031318300503 Centerline is valid? [True, True] Translation: X:463.61, Y:-98.56, Z:-3.52 [[ 8.85002728e-01 4.65582693e-01 -1.71103546e-03 4.63613897e+02] [-4.65581926e-01 8.85004381e-01 8.46245846e-04 -9.85582767e+01] [ 1.90827130e-03 4.76973028e-05 9.99998178e-01 -3.51534791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14655999499996 meters 0.052193840571156315 Centerline is valid? [True, True] Translation: X:463.67, Y:-98.59, Z:-3.52 [[ 8.84020227e-01 4.67441396e-01 -2.60370319e-03 4.63668608e+02] [-4.67439630e-01 8.84024058e-01 1.28718105e-03 -9.85861675e+01] [ 2.90341796e-03 7.91799730e-05 9.99995782e-01 -3.51513247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20655999499996 meters 0.05167523045282226 Centerline is valid? [True, True] Translation: X:463.72, Y:-98.62, Z:-3.51 [[ 8.84750442e-01 4.66057120e-01 -2.72315337e-03 4.63722723e+02] [-4.66055182e-01 8.84754630e-01 1.34637815e-03 -9.86159552e+01] [ 3.03681167e-03 7.79310778e-05 9.99995386e-01 -3.51411074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26655999499997 meters 0.05169330257753418 Centerline is valid? [True, True] Translation: X:463.78, Y:-98.64, Z:-3.52 [[ 8.86079006e-01 4.63527340e-01 -2.52991016e-03 4.63776950e+02] [-4.63525656e-01 8.86082615e-01 1.25083222e-03 -9.86428529e+01] [ 2.82150434e-03 6.43420960e-05 9.99996017e-01 -3.51533795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32655999499997 meters 0.05146188313346309 Centerline is valid? [True, True] Translation: X:463.83, Y:-98.67, Z:-3.51 [[ 8.88724073e-01 4.58437067e-01 -2.23108901e-03 4.63829900e+02] [-4.58435742e-01 8.88726872e-01 1.10322805e-03 -9.86745638e+01] [ 2.48858939e-03 4.23456191e-05 9.99996903e-01 -3.51478991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38655999499997 meters 0.05158363652906272 Centerline is valid? [True, True] Translation: X:463.88, Y:-98.70, Z:-3.52 [[ 8.90649453e-01 4.54686901e-01 -1.83655660e-03 4.63883517e+02] [-4.54685995e-01 8.90651346e-01 9.08154372e-04 -9.87035866e+01] [ 2.04865750e-03 2.62093685e-05 9.99997901e-01 -3.51535294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.446559995 meters 0.05218575227244604 Centerline is valid? [True, True] Translation: X:463.94, Y:-98.74, Z:-3.52 [[ 8.93614324e-01 4.48832720e-01 -1.62154916e-03 4.63936116e+02] [-4.48832003e-01 8.93615795e-01 8.02121141e-04 -9.87362256e+01] [ 1.80906016e-03 1.10162175e-05 9.99998364e-01 -3.51505052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.506559995 meters 0.05205480392455421 Centerline is valid? [True, True] Translation: X:463.99, Y:-98.77, Z:-3.52 [[ 8.96331054e-01 4.43380928e-01 -1.99869467e-03 4.63990255e+02] [-4.43379824e-01 8.96333282e-01 9.89531048e-04 -9.87677349e+01] [ 2.23023574e-03 -7.66517226e-07 9.99997513e-01 -3.51526340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.566559995 meters 0.052163311431616254 Centerline is valid? [True, True] Translation: X:464.04, Y:-98.80, Z:-3.52 [[ 8.97784326e-01 4.40431230e-01 -1.90665230e-03 4.64044222e+02] [-4.40430218e-01 8.97786351e-01 9.44362411e-04 -9.87977398e+01] [ 2.12769311e-03 -8.08648166e-06 9.99997736e-01 -3.51817702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.626559995 meters 0.052500079741351284 Centerline is valid? [True, True] Translation: X:464.10, Y:-98.83, Z:-3.52 [[ 8.98495808e-01 4.38978563e-01 -1.76192505e-03 4.64100204e+02] [-4.38977695e-01 8.98497535e-01 8.72954690e-04 -9.88256530e+01] [ 1.96629371e-03 -1.09003300e-05 9.99998067e-01 -3.51543469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.686559995 meters 0.051932822839573206 Centerline is valid? [True, True] Translation: X:464.15, Y:-98.86, Z:-3.52 [[ 9.00330341e-01 4.35204099e-01 -1.63373103e-03 4.64153188e+02] [-4.35203347e-01 9.00331823e-01 8.09659707e-04 -9.88560150e+01] [ 1.82326726e-03 -1.79559880e-05 9.99998338e-01 -3.51710512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.746559995 meters 0.05262254348234516 Centerline is valid? [True, True] Translation: X:464.21, Y:-98.88, Z:-3.52 [[ 9.01652113e-01 4.32460285e-01 -1.25260139e-03 4.64209431e+02] [-4.32459840e-01 9.01652983e-01 6.20506981e-04 -9.88824538e+01] [ 1.39775641e-03 -1.77816328e-05 9.99999023e-01 -3.51628534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80655999499993 meters 0.05301756093181247 Centerline is valid? [True, True] Translation: X:464.27, Y:-98.91, Z:-3.51 [[ 9.03144365e-01 4.29336741e-01 -4.66882612e-04 4.64266343e+02] [-4.29336678e-01 9.03144486e-01 2.32120728e-04 -9.89060086e+01] [ 5.21320413e-04 -9.18869826e-06 9.99999864e-01 -3.51478082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86655999499993 meters 0.05272364138938103 Centerline is valid? [True, True] Translation: X:464.32, Y:-98.93, Z:-3.52 [[ 9.04314022e-01 4.26867449e-01 -5.74341111e-04 4.64320540e+02] [-4.26867354e-01 9.04314205e-01 2.85286562e-04 -9.89342682e+01] [ 6.41164372e-04 -1.28211677e-05 9.99999794e-01 -3.51510581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92655999499993 meters 0.05314726696366571 Centerline is valid? [True, True] Translation: X:464.38, Y:-98.96, Z:-3.51 [[ 9.04811404e-01 4.25812285e-01 -4.69868392e-04 4.64377879e+02] [-4.25812221e-01 9.04811526e-01 2.33079397e-04 -9.89578550e+01] [ 5.24390408e-04 -1.08171931e-05 9.99999862e-01 -3.51454214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98655999499994 meters 0.05339891831666901 Centerline is valid? [True, True] Translation: X:464.43, Y:-98.98, Z:-3.52 [[ 9.04815907e-01 4.25802778e-01 4.10177237e-04 4.64433875e+02] [-4.25802730e-01 9.04816000e-01 -2.02453288e-04 -9.89831784e+01] [-4.57340100e-04 8.52836791e-06 9.99999895e-01 -3.51530505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04655999499994 meters 0.05357005353906958 Centerline is valid? [True, True] Translation: X:464.49, Y:-99.01, Z:-3.52 [[ 9.04683190e-01 4.26081703e-01 1.64534857e-03 4.64488088e+02] [-4.26080925e-01 9.04684686e-01 -8.15083568e-04 -9.90132138e+01] [-1.83581385e-03 3.63407601e-05 9.99998314e-01 -3.51723666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10655999499994 meters 0.05333698684193901 Centerline is valid? [True, True] Translation: X:464.55, Y:-99.03, Z:-3.52 [[ 9.04412930e-01 4.26651755e-01 2.35211837e-03 4.64547436e+02] [-4.26650167e-01 9.04415987e-01 -1.16509573e-03 -9.90339604e+01] [-2.62438360e-03 5.01959454e-05 9.99996555e-01 -3.51633861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16655999499994 meters 0.05311025949288583 Centerline is valid? [True, True] Translation: X:464.61, Y:-99.05, Z:-3.52 [[ 9.02973813e-01 4.29690410e-01 2.10831709e-03 4.64606727e+02] [-4.29689141e-01 9.02976273e-01 -1.04494920e-03 -9.90540238e+01] [-2.35276496e-03 3.76408061e-05 9.99997232e-01 -3.51775832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22655999499995 meters 0.0530220066645601 Centerline is valid? [True, True] Translation: X:464.66, Y:-99.07, Z:-3.52 [[ 9.01484682e-01 4.32805891e-01 2.10470202e-03 4.64664598e+02] [-4.32804634e-01 9.01487138e-01 -1.04320449e-03 -9.90746273e+01] [-2.34886685e-03 2.95080779e-05 9.99997241e-01 -3.51846842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28655999499995 meters 0.05264891477403173 Centerline is valid? [True, True] Translation: X:464.72, Y:-99.09, Z:-3.52 [[ 8.98821546e-01 4.38311318e-01 1.73703145e-03 4.64724529e+02] [-4.38310472e-01 8.98823224e-01 -8.60983220e-04 -9.90924337e+01] [-1.93866290e-03 1.25111948e-05 9.99998121e-01 -3.51936648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34655999499995 meters 0.05297818487466421 Centerline is valid? [True, True] Translation: X:464.78, Y:-99.11, Z:-3.52 [[ 8.96714453e-01 4.42607576e-01 1.31282706e-03 4.64783762e+02] [-4.42607098e-01 8.96715414e-01 -6.50596818e-04 -9.91137707e+01] [-1.46519134e-03 2.33299362e-06 9.99998927e-01 -3.52051736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40655999499995 meters 0.053532469783223346 Centerline is valid? [True, True] Translation: X:464.84, Y:-99.13, Z:-3.52 [[ 8.93964875e-01 4.48136649e-01 5.87721021e-04 4.64844639e+02] [-4.48136555e-01 8.93965068e-01 -2.90552858e-04 -9.91318862e+01] [-6.55609447e-04 -3.63522475e-06 9.99999785e-01 -3.52197096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46655999499995 meters 0.05348217837012712 Centerline is valid? [True, True] Translation: X:464.90, Y:-99.15, Z:-3.52 [[ 8.91981037e-01 4.52072621e-01 4.18982904e-04 4.64903502e+02] [-4.52072573e-01 8.91981135e-01 -2.07363959e-04 -9.91499980e+01] [-4.67468415e-04 -4.44596012e-06 9.99999891e-01 -3.52436530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52655999499996 meters 0.053331667031781375 Centerline is valid? [True, True] Translation: X:464.96, Y:-99.17, Z:-3.52 [[ 8.91108729e-01 4.53789624e-01 4.58131854e-04 4.64960404e+02] [-4.53789568e-01 8.91108847e-01 -2.26382722e-04 -9.91749626e+01] [-5.10975479e-04 -6.16383648e-06 9.99999869e-01 -3.52366873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58655999499996 meters 0.05376600737036586 Centerline is valid? [True, True] Translation: X:465.02, Y:-99.20, Z:-3.52 [[ 8.90571486e-01 4.54842937e-01 5.75015886e-04 4.65015748e+02] [-4.54842849e-01 8.90571672e-01 -2.84457233e-04 -9.92039867e+01] [-6.41476223e-04 -8.21236326e-06 9.99999794e-01 -3.52134613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64655999499996 meters 0.05364023657521869 Centerline is valid? [True, True] Translation: X:465.08, Y:-99.22, Z:-3.52 [[ 8.90207322e-01 4.55554990e-01 7.57989097e-04 4.65075046e+02] [-4.55554835e-01 8.90207645e-01 -3.75753718e-04 -9.92245483e+01] [-8.45944170e-04 -1.08068870e-05 9.99999642e-01 -3.52475290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70655999499996 meters 0.05337005380690557 Centerline is valid? [True, True] Translation: X:465.13, Y:-99.25, Z:-3.53 [[ 8.90020396e-01 4.55919598e-01 1.00685127e-03 4.65132019e+02] [-4.55919326e-01 8.90020966e-01 -4.98875080e-04 -9.92508169e+01] [-1.12356567e-03 -1.50339564e-05 9.99999369e-01 -3.52520951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76655999499997 meters 0.05368810874670261 Centerline is valid? [True, True] Translation: X:465.19, Y:-99.28, Z:-3.53 [[ 8.90372872e-01 4.55228784e-01 1.70360308e-03 4.65187858e+02] [-4.55228000e-01 8.90374502e-01 -8.45230957e-04 -9.92775742e+01] [-1.90161821e-03 -2.29571091e-05 9.99998192e-01 -3.52587583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82655999499997 meters 0.05329639515102483 Centerline is valid? [True, True] Translation: X:465.24, Y:-99.30, Z:-3.53 [[ 8.91172328e-01 4.53661494e-01 1.76935417e-03 4.65242883e+02] [-4.53660645e-01 8.91174084e-01 -8.78198893e-04 -9.93044674e+01] [-1.97520761e-03 -2.00598030e-05 9.99998049e-01 -3.52730483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88655999499997 meters 0.053657071227859725 Centerline is valid? [True, True] Translation: X:465.30, Y:-99.34, Z:-3.53 [[ 8.91533234e-01 4.52953671e-01 1.21013452e-03 4.65296799e+02] [-4.52953273e-01 8.91534055e-01 -6.00458407e-04 -9.93351335e+01] [-1.35085598e-03 -1.28057669e-05 9.99999088e-01 -3.52693534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.946559995 meters 0.0538323658503426 Centerline is valid? [True, True] Translation: X:465.35, Y:-99.36, Z:-3.53 [[ 8.91152250e-01 4.53703514e-01 -8.88452965e-04 4.65351618e+02] [-4.53703298e-01 8.91152693e-01 4.42554563e-04 -9.93630982e+01] [ 9.92535812e-04 8.71054640e-06 9.99999507e-01 -3.52926730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.006559995 meters 0.05363755866831748 Centerline is valid? [True, True] Translation: X:465.41, Y:-99.39, Z:-3.53 [[ 8.90693030e-01 4.54604518e-01 -8.11284630e-04 4.65406034e+02] [-4.54604338e-01 8.90693400e-01 4.04381213e-04 -9.93926610e+01] [ 9.06439391e-04 8.63398437e-06 9.99999589e-01 -3.52902205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.066559995 meters 0.05322747413245689 Centerline is valid? [True, True] Translation: X:465.46, Y:-99.43, Z:-3.53 [[ 8.90402397e-01 4.55173819e-01 -6.04069378e-04 4.65460324e+02] [-4.55173720e-01 8.90402602e-01 3.01573473e-04 -9.94254913e+01] [ 6.75133296e-04 6.43476285e-06 9.99999772e-01 -3.52719021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.126559995 meters 0.05327436306579779 Centerline is valid? [True, True] Translation: X:465.51, Y:-99.46, Z:-3.53 [[ 8.90839816e-01 4.54317463e-01 -2.55821150e-04 4.65513228e+02] [-4.54317445e-01 8.90839852e-01 1.28183376e-04 -9.94592837e+01] [ 2.86131621e-04 2.03315613e-06 9.99999959e-01 -3.52581967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.186559995 meters 0.053347120083347487 Centerline is valid? [True, True] Translation: X:465.57, Y:-99.49, Z:-3.53 [[ 8.91179723e-01 4.53650074e-01 5.58650766e-04 4.65567560e+02] [-4.53649990e-01 8.91179898e-01 -2.77195168e-04 -9.94882585e+01] [-6.23607941e-04 -6.40120153e-06 9.99999806e-01 -3.52697217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.246559995 meters 0.05332436022266868 Centerline is valid? [True, True] Translation: X:465.62, Y:-99.52, Z:-3.53 [[ 8.91329518e-01 4.53351447e-01 2.03878108e-03 4.65622776e+02] [-4.53350313e-01 8.91331849e-01 -1.01445149e-03 -9.95173936e+01] [-2.27713356e-03 -2.00714774e-05 9.99997407e-01 -3.52843356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30655999499993 meters 0.05276396143086434 Centerline is valid? [True, True] Translation: X:465.68, Y:-99.54, Z:-3.53 [[ 8.90887441e-01 4.54220528e-01 1.81090230e-03 4.65677776e+02] [-4.54219636e-01 8.90889281e-01 -9.00719337e-04 -9.95448037e+01] [-2.02243866e-03 -2.01078370e-05 9.99997955e-01 -3.53038431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36655999499993 meters 0.05262616178438397 Centerline is valid? [True, True] Translation: X:465.73, Y:-99.58, Z:-3.53 [[ 8.89350186e-01 4.57222600e-01 1.93396921e-03 4.65729728e+02] [-4.57221588e-01 8.89352289e-01 -9.62301678e-04 -9.95791409e+01] [-2.15996602e-03 -2.84292992e-05 9.99997667e-01 -3.52894436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42655999499993 meters 0.05313321775803661 Centerline is valid? [True, True] Translation: X:465.79, Y:-99.60, Z:-3.53 [[ 8.88200765e-01 4.59451047e-01 2.03389104e-03 4.65787172e+02] [-4.59449933e-01 8.88203093e-01 -1.01267071e-03 -9.96026800e+01] [-2.27178093e-03 -3.50162037e-05 9.99997419e-01 -3.53201282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48655999499994 meters 0.05319490679477421 Centerline is valid? [True, True] Translation: X:465.84, Y:-99.63, Z:-3.53 [[ 8.86445962e-01 4.62828325e-01 1.87010373e-03 4.65840875e+02] [-4.62827389e-01 8.86447934e-01 -9.31423010e-04 -9.96295521e+01] [-2.08883854e-03 -3.98790594e-05 9.99997818e-01 -3.53310390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54655999499994 meters 0.052773379714631266 Centerline is valid? [True, True] Translation: X:465.89, Y:-99.66, Z:-3.53 [[ 8.85771962e-01 4.64116889e-01 1.88282615e-03 4.65894780e+02] [-4.64115945e-01 8.85773962e-01 -9.37090158e-04 -9.96611408e+01] [-2.10267775e-03 -4.38014515e-05 9.99997788e-01 -3.53275777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60655999499994 meters 0.05272005591437528 Centerline is valid? [True, True] Translation: X:465.95, Y:-99.69, Z:-3.53 [[ 8.83861462e-01 4.67745838e-01 1.65722187e-03 4.65949589e+02] [-4.67745112e-01 8.83863015e-01 -8.25400745e-04 -9.96860477e+01] [-1.85083488e-03 -4.56175187e-05 9.99998286e-01 -3.53440724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66655999499994 meters 0.05261446450297655 Centerline is valid? [True, True] Translation: X:466.00, Y:-99.72, Z:-3.53 [[ 8.83177438e-01 4.69036587e-01 1.51418990e-03 4.66003215e+02] [-4.69035983e-01 8.83178735e-01 -7.54241533e-04 -9.97181630e+01] [-1.69106720e-03 -4.40804451e-05 9.99998569e-01 -3.53420949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72655999499995 meters 0.05182723235494795 Centerline is valid? [True, True] Translation: X:466.06, Y:-99.75, Z:-3.53 [[ 8.83118852e-01 4.69146853e-01 1.52427102e-03 4.66056376e+02] [-4.69146242e-01 8.83120166e-01 -7.58713280e-04 -9.97518755e+01] [-1.70206242e-03 -4.50720190e-05 9.99998550e-01 -3.53436669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78655999499995 meters 0.05208597219229835 Centerline is valid? [True, True] Translation: X:466.11, Y:-99.78, Z:-3.53 [[ 8.83316241e-01 4.68774704e-01 1.64160618e-03 4.66110088e+02] [-4.68773994e-01 8.83317765e-01 -8.17560809e-04 -9.97827099e+01] [-1.83331173e-03 -4.73775462e-05 9.99998318e-01 -3.53444211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84655999499995 meters 0.05314520292650777 Centerline is valid? [True, True] Translation: X:466.17, Y:-99.81, Z:-3.54 [[ 8.83531103e-01 4.68371589e-01 9.18633725e-04 4.66165431e+02] [-4.68371366e-01 8.83531581e-01 -4.57570240e-04 -9.98088336e+01] [-1.02595481e-03 -2.59841937e-05 9.99999473e-01 -3.53655170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90655999499995 meters 0.05210253713877324 Centerline is valid? [True, True] Translation: X:466.22, Y:-99.84, Z:-3.54 [[ 8.84251739e-01 4.67009715e-01 8.87882181e-04 4.66217086e+02] [-4.67009505e-01 8.84252185e-01 -4.42589637e-04 -9.98439406e+01] [-9.91805418e-04 -2.32887617e-05 9.99999508e-01 -3.53562194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96655999499995 meters 0.05207201592837631 Centerline is valid? [True, True] Translation: X:466.27, Y:-99.88, Z:-3.54 [[ 8.85151948e-01 4.65301052e-01 9.80254557e-04 4.66269678e+02] [-4.65300796e-01 8.85152490e-01 -4.88738817e-04 -9.98756324e+01] [-1.09508545e-03 -2.35051095e-05 9.99999400e-01 -3.53538972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02655999499996 meters 0.05179255595211867 Centerline is valid? [True, True] Translation: X:466.32, Y:-99.91, Z:-3.54 [[ 8.87084791e-01 4.61604070e-01 1.50237745e-03 4.66322342e+02] [-4.61603463e-01 8.87086062e-01 -7.49211040e-04 -9.99059161e+01] [-1.67857696e-03 -2.88889137e-05 9.99998591e-01 -3.53629781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08655999499996 meters 0.05227345070432975 Centerline is valid? [True, True] Translation: X:466.38, Y:-99.94, Z:-3.54 [[ 8.88505645e-01 4.58862614e-01 1.67903435e-03 4.66375250e+02] [-4.58861851e-01 8.88507232e-01 -8.37179258e-04 -9.99383357e+01] [-1.87598442e-03 -2.66063125e-05 9.99998240e-01 -3.53679345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14655999499996 meters 0.05175323476253915 Centerline is valid? [True, True] Translation: X:466.43, Y:-99.98, Z:-3.54 [[ 8.90639605e-01 4.54706085e-01 1.86307017e-03 4.66425139e+02] [-4.54705136e-01 8.90641553e-01 -9.29026449e-04 -9.99768735e+01] [-2.08176169e-03 -1.97198243e-05 9.99997833e-01 -3.53598089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20655999499996 meters 0.05167765307944023 Centerline is valid? [True, True] Translation: X:466.48, Y:-100.01, Z:-3.54 [[ 8.91820124e-01 4.52388843e-01 1.09629600e-03 4.66478720e+02] [-4.52388513e-01 8.91820797e-01 -5.46559663e-04 -1.00009662e+02] [-1.22495707e-03 -8.51881208e-06 9.99999250e-01 -3.53718673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26655999499997 meters 0.05158942951123079 Centerline is valid? [True, True] Translation: X:466.53, Y:-100.04, Z:-3.54 [[ 8.92015593e-01 4.52004485e-01 3.57638947e-04 4.66533979e+02] [-4.52004450e-01 8.92015665e-01 -1.77374275e-04 -1.00041050e+02] [-3.99193511e-04 -3.43377591e-06 9.99999920e-01 -3.53789042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32655999499997 meters 0.051363429297266436 Centerline is valid? [True, True] Translation: X:466.59, Y:-100.07, Z:-3.54 [[ 8.91177038e-01 4.53655692e-01 8.74813627e-06 4.66588074e+02] [-4.53655692e-01 8.91177038e-01 -3.85208732e-06 -1.00070367e+02] [-9.54365967e-06 -5.35750048e-07 1.00000000e+00 -3.53903271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38655999499997 meters 0.05134731992280516 Centerline is valid? [True, True] Translation: X:466.64, Y:-100.09, Z:-3.54 [[ 8.88861872e-01 4.58174752e-01 6.84591762e-04 4.66643923e+02] [-4.58174625e-01 8.88862136e-01 -3.41375681e-04 -1.00094365e+02] [-7.64917414e-04 -1.02267471e-05 9.99999707e-01 -3.54001404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.446559995 meters 0.05168318621390197 Centerline is valid? [True, True] Translation: X:466.70, Y:-100.12, Z:-3.54 [[ 8.87287863e-01 4.61215900e-01 3.77545012e-04 4.66700277e+02] [-4.61215862e-01 8.87287943e-01 -1.88043407e-04 -1.00117618e+02] [-4.21719747e-04 -7.28111550e-06 9.99999911e-01 -3.54115631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.506559995 meters 0.0517701088913286 Centerline is valid? [True, True] Translation: X:466.75, Y:-100.15, Z:-3.54 [[ 8.86123430e-01 4.63449255e-01 2.35250198e-04 4.66754363e+02] [-4.63449240e-01 8.86123461e-01 -1.17186805e-04 -1.00148409e+02] [-2.62770857e-04 -5.18455197e-06 9.99999965e-01 -3.53849666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.566559995 meters 0.05187823782987498 Centerline is valid? [True, True] Translation: X:466.81, Y:-100.17, Z:-3.54 [[ 8.86034804e-01 4.63618053e-01 -7.92510950e-04 4.66811784e+02] [-4.63617883e-01 8.86035158e-01 3.96629675e-04 -1.00169992e+02] [ 8.86077242e-04 1.59945530e-05 9.99999607e-01 -3.54138686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.626559995 meters 0.051939060514041215 Centerline is valid? [True, True] Translation: X:466.87, Y:-100.20, Z:-3.54 [[ 8.85869487e-01 4.63933929e-01 -7.49525502e-04 4.66865102e+02] [-4.63933778e-01 8.85869804e-01 3.74682865e-04 -1.00201670e+02] [ 8.37810103e-04 1.58100802e-05 9.99999649e-01 -3.53935496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.686559995 meters 0.051902780542356454 Centerline is valid? [True, True] Translation: X:466.92, Y:-100.23, Z:-3.54 [[ 8.85946268e-01 4.63787199e-01 8.02211111e-04 4.66921316e+02] [-4.63787027e-01 8.85946632e-01 -3.99895280e-04 -1.00225709e+02] [-8.96182543e-04 -1.77693753e-05 9.99999598e-01 -3.53996397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.746559995 meters 0.05155126635423194 Centerline is valid? [True, True] Translation: X:466.98, Y:-100.25, Z:-3.54 [[ 8.86729403e-01 4.62288495e-01 5.59375615e-04 4.66977031e+02] [-4.62288411e-01 8.86729579e-01 -2.78623081e-04 -1.00251832e+02] [-6.24819149e-04 -1.15295861e-05 9.99999805e-01 -3.54149156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80655999499993 meters 0.05152711719187481 Centerline is valid? [True, True] Translation: X:467.03, Y:-100.28, Z:-3.54 [[ 8.89129014e-01 4.57656146e-01 -6.69574865e-04 4.67029886e+02] [-4.57656024e-01 8.89129266e-01 3.34914746e-04 -1.00283804e+02] [ 7.48614400e-04 8.65255188e-06 9.99999720e-01 -3.54168228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86655999499993 meters 0.05130797615171319 Centerline is valid? [True, True] Translation: X:467.09, Y:-100.31, Z:-3.54 [[ 8.90409627e-01 4.55159822e-01 -4.82278185e-04 4.67085124e+02] [-4.55159758e-01 8.90409758e-01 2.41383114e-04 -1.00312974e+02] [ 5.39293097e-04 4.58377322e-06 9.99999855e-01 -3.54103797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92655999499993 meters 0.05186596803535689 Centerline is valid? [True, True] Translation: X:467.14, Y:-100.34, Z:-3.54 [[ 8.91531949e-01 4.52957513e-01 -5.24106138e-04 4.67140524e+02] [-4.52957437e-01 8.91532103e-01 2.62968058e-04 -1.00341484e+02] [ 5.86370805e-04 2.95334777e-06 9.99999828e-01 -3.54075283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98655999499994 meters 0.052127715012313156 Centerline is valid? [True, True] Translation: X:467.20, Y:-100.37, Z:-3.54 [[ 8.92054597e-01 4.51926134e-01 -1.16845553e-03 4.67196656e+02] [-4.51925755e-01 8.92055362e-01 5.85459615e-04 -1.00370117e+02] [ 1.30691152e-03 5.79320739e-06 9.99999146e-01 -3.54143117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04655999499994 meters 0.05215722538152005 Centerline is valid? [True, True] Translation: X:467.25, Y:-100.40, Z:-3.54 [[ 8.91948582e-01 4.52135349e-01 -1.16298537e-03 4.67252844e+02] [-4.52134973e-01 8.91949341e-01 5.82923447e-04 -1.00398999e+02] [ 1.30088433e-03 5.88861653e-06 9.99999154e-01 -3.54138923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10655999499994 meters 0.05176546527044873 Centerline is valid? [True, True] Translation: X:467.31, Y:-100.43, Z:-3.54 [[ 8.91262268e-01 4.53486687e-01 -1.18116282e-03 4.67308337e+02] [-4.53486301e-01 8.91263050e-01 5.91533461e-04 -1.00425152e+02] [ 1.32097933e-03 8.42970527e-06 9.99999127e-01 -3.54300984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16655999499994 meters 0.051955364397285445 Centerline is valid? [True, True] Translation: X:467.36, Y:-100.45, Z:-3.54 [[ 8.90196242e-01 4.55576801e-01 -6.54658716e-04 4.67363954e+02] [-4.55576683e-01 8.90196483e-01 3.28500826e-04 -1.00450853e+02] [ 7.32432242e-04 5.81704521e-06 9.99999732e-01 -3.54419797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22655999499995 meters 0.051961223527725836 Centerline is valid? [True, True] Translation: X:467.42, Y:-100.48, Z:-3.54 [[ 8.89592336e-01 4.56754972e-01 6.09093603e-04 4.67418830e+02] [-4.56754871e-01 8.89592545e-01 -3.03871736e-04 -1.00481975e+02] [-6.80640055e-04 -7.88450209e-06 9.99999768e-01 -3.54072708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28655999499995 meters 0.05171277769967545 Centerline is valid? [True, True] Translation: X:467.47, Y:-100.51, Z:-3.54 [[ 8.89565261e-01 4.56800720e-01 2.59792207e-03 4.67474881e+02] [-4.56798871e-01 8.89569054e-01 -1.30009965e-03 -1.00507765e+02] [-2.90491754e-03 -3.02043822e-05 9.99995780e-01 -3.54153248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34655999499995 meters 0.05170063308441405 Centerline is valid? [True, True] Translation: X:467.53, Y:-100.54, Z:-3.54 [[ 8.89824913e-01 4.56293431e-01 2.81569524e-03 4.67528772e+02] [-4.56291254e-01 8.89829368e-01 -1.40991651e-03 -1.00540117e+02] [-3.14882395e-03 -3.01982763e-05 9.99995042e-01 -3.54063684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40655999499995 meters 0.051472412251481955 Centerline is valid? [True, True] Translation: X:467.59, Y:-100.57, Z:-3.55 [[ 8.89373648e-01 4.57180919e-01 -3.47257171e-04 4.67585297e+02] [-4.57180886e-01 8.89373716e-01 1.74271433e-04 -1.00566660e+02] [ 3.88514974e-04 3.76692061e-06 9.99999925e-01 -3.54501983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46655999499995 meters 0.051472412251481955 Centerline is valid? [True, True] Translation: X:467.64, Y:-100.59, Z:-3.55 [[ 8.89314343e-01 4.57296270e-01 -3.46939301e-04 4.67641172e+02] [-4.57296237e-01 8.89314411e-01 1.74905889e-04 -1.00594603e+02] [ 3.88521931e-04 3.10772101e-06 9.99999925e-01 -3.54548031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52655999499996 meters 0.051530235884069894 Centerline is valid? [True, True] Translation: X:467.70, Y:-100.62, Z:-3.55 [[ 8.88894074e-01 4.58112534e-01 -4.81275300e-04 4.67697593e+02] [-4.58112470e-01 8.88894204e-01 2.42150326e-04 -1.00621719e+02] [ 5.38734924e-04 5.23222630e-06 9.99999855e-01 -3.54671600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58655999499996 meters 0.05114883613787443 Centerline is valid? [True, True] Translation: X:467.75, Y:-100.65, Z:-3.55 [[ 8.88571668e-01 4.58736892e-01 -9.24892053e-04 4.67752818e+02] [-4.58736657e-01 8.88572149e-01 4.63812173e-04 -1.00646966e+02] [ 1.03460107e-03 1.21515325e-05 9.99999465e-01 -3.54815695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64655999499996 meters 0.05188854340018807 Centerline is valid? [True, True] Translation: X:467.81, Y:-100.67, Z:-3.55 [[ 8.87482313e-01 4.60839989e-01 -1.28379137e-03 4.67809417e+02] [-4.60839539e-01 8.87483242e-01 6.44559372e-04 -1.00673304e+02] [ 1.43638206e-03 1.95867819e-05 9.99998968e-01 -3.54901231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70655999499996 meters 0.0512278955059462 Centerline is valid? [True, True] Translation: X:467.86, Y:-100.70, Z:-3.55 [[ 8.87077630e-01 4.61619534e-01 -8.27233558e-04 4.67864563e+02] [-4.61619347e-01 8.87078016e-01 4.15797697e-04 -1.00702583e+02] [ 9.25761042e-04 1.30221789e-05 9.99999571e-01 -3.54817082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76655999499997 meters 0.051284652582294865 Centerline is valid? [True, True] Translation: X:467.92, Y:-100.73, Z:-3.55 [[ 8.86797571e-01 4.62158004e-01 -2.16056031e-04 4.67920446e+02] [-4.62157991e-01 8.86797598e-01 1.09474587e-04 -1.00732135e+02] [ 2.42192525e-04 2.77022346e-06 9.99999971e-01 -3.54777863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82655999499997 meters 0.05137722931099562 Centerline is valid? [True, True] Translation: X:467.98, Y:-100.76, Z:-3.55 [[ 8.86731326e-01 4.62283042e-01 1.39435947e-03 4.67976328e+02] [-4.62282514e-01 8.86732422e-01 -6.98828585e-04 -1.00756299e+02] [-1.55948036e-03 -2.49148062e-05 9.99998784e-01 -3.54963814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88655999499997 meters 0.05168178884430972 Centerline is valid? [True, True] Translation: X:468.03, Y:-100.78, Z:-3.55 [[ 8.86371182e-01 4.62973461e-01 1.30450442e-03 4.68031161e+02] [-4.62973000e-01 8.86372142e-01 -6.54230191e-04 -1.00782690e+02] [-1.45916759e-03 -2.40595381e-05 9.99998935e-01 -3.55061252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.946559995 meters 0.05154950835423207 Centerline is valid? [True, True] Translation: X:468.09, Y:-100.81, Z:-3.55 [[ 8.85791039e-01 4.64083101e-01 1.05342842e-03 4.68085876e+02] [-4.64082802e-01 8.85791665e-01 -5.28005184e-04 -1.00811148e+02] [-1.17815640e-03 -2.11757533e-05 9.99999306e-01 -3.55117764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.006559995 meters 0.05108391628660443 Centerline is valid? [True, True] Translation: X:468.14, Y:-100.84, Z:-3.55 [[ 8.84870995e-01 4.65835931e-01 4.55094509e-04 4.68141755e+02] [-4.65835875e-01 8.84871112e-01 -2.28220476e-04 -1.00838031e+02] [-5.09013283e-04 -1.00536691e-05 9.99999870e-01 -3.55316907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.066559995 meters 0.0521744238240499 Centerline is valid? [True, True] Translation: X:468.20, Y:-100.86, Z:-3.56 [[ 8.84714226e-01 4.66133438e-01 -5.96949645e-04 4.68199067e+02] [-4.66133341e-01 8.84714427e-01 3.00601963e-04 -1.00859501e+02] [ 6.68250589e-04 1.23112997e-05 9.99999777e-01 -3.55637517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.126559995 meters 0.0508938931301314 Centerline is valid? [True, True] Translation: X:468.25, Y:-100.90, Z:-3.55 [[ 8.84567491e-01 4.66412184e-01 1.71107469e-04 4.68251154e+02] [-4.66412176e-01 8.84567507e-01 -8.48977635e-05 -1.00895690e+02] [-1.90953459e-04 -4.70880548e-06 9.99999982e-01 -3.55314771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.186559995 meters 0.050119937935757176 Centerline is valid? [True, True] Translation: X:468.31, Y:-100.93, Z:-3.55 [[ 8.84367045e-01 4.66791058e-01 1.01855395e-03 4.68306858e+02] [-4.66790779e-01 8.84367632e-01 -5.10745293e-04 -1.00925231e+02] [-1.13918748e-03 -2.37652875e-05 9.99999351e-01 -3.55281848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.246559995 meters 0.05147090741046281 Centerline is valid? [True, True] Translation: X:468.36, Y:-100.95, Z:-3.56 [[ 8.83997371e-01 4.67490578e-01 1.09914043e-03 4.68364902e+02] [-4.67490253e-01 8.83998053e-01 -5.51893377e-04 -1.00945029e+02] [-1.22964296e-03 -2.59651446e-05 9.99999244e-01 -3.55595318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30655999499993 meters 0.05109291824086742 Centerline is valid? [True, True] Translation: X:468.42, Y:-100.98, Z:-3.56 [[ 8.83715112e-01 4.68023636e-01 -1.21493897e-03 4.68418194e+02] [-4.68023237e-01 8.83715947e-01 6.11584196e-04 -1.00976456e+02] [ 1.35989680e-03 2.81534732e-05 9.99999075e-01 -3.55704555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36655999499993 meters 0.05132281309175553 Centerline is valid? [True, True] Translation: X:468.47, Y:-101.00, Z:-3.56 [[ 8.83145793e-01 4.69094209e-01 -2.03279739e-03 4.68473645e+02] [-4.69093098e-01 8.83148131e-01 1.02222127e-03 -1.01003541e+02] [ 2.27477929e-03 5.08008147e-05 9.99997411e-01 -3.55778112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42655999499993 meters 0.05098948224408587 Centerline is valid? [True, True] Translation: X:468.53, Y:-101.03, Z:-3.56 [[ 8.82058957e-01 4.71138480e-01 -7.26973669e-04 4.68527365e+02] [-4.71138338e-01 8.82059257e-01 3.66430248e-04 -1.01033737e+02] [ 8.13873244e-04 1.92920833e-05 9.99999669e-01 -3.55564147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48655999499994 meters 0.05063624830280289 Centerline is valid? [True, True] Translation: X:468.58, Y:-101.06, Z:-3.56 [[ 8.81402539e-01 4.72365835e-01 2.85803571e-04 4.68583936e+02] [-4.72365813e-01 8.81402586e-01 -1.42848501e-04 -1.01060183e+02] [-3.19384758e-04 -9.09680478e-06 9.99999949e-01 -3.55559102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54655999499994 meters 0.05158141344367237 Centerline is valid? [True, True] Translation: X:468.64, Y:-101.09, Z:-3.56 [[ 8.81889051e-01 4.71456741e-01 4.93943079e-04 4.68640135e+02] [-4.71456676e-01 8.81889189e-01 -2.47619377e-04 -1.01085846e+02] [-5.52344886e-04 -1.44999444e-05 9.99999847e-01 -3.55697280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60655999499994 meters 0.05294588184673082 Centerline is valid? [True, True] Translation: X:468.70, Y:-101.10, Z:-3.56 [[ 8.81638830e-01 4.71923025e-01 1.27784221e-03 4.68700159e+02] [-4.71922589e-01 8.81639755e-01 -6.42168565e-04 -1.01104565e+02] [-1.42965063e-03 -3.68818619e-05 9.99998977e-01 -3.55789790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66655999499994 meters 0.05203837736351569 Centerline is valid? [True, True] Translation: X:468.75, Y:-101.14, Z:-3.56 [[ 8.81330954e-01 4.72495558e-01 1.92287588e-03 4.68752341e+02] [-4.72494571e-01 8.81333050e-01 -9.67145166e-04 -1.01138471e+02] [-2.15166586e-03 -5.61734418e-05 9.99997684e-01 -3.55645480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72655999499995 meters 0.05135962177012513 Centerline is valid? [True, True] Translation: X:468.81, Y:-101.17, Z:-3.56 [[ 8.81286863e-01 4.72577121e-01 2.08099908e-03 4.68809413e+02] [-4.72575965e-01 8.81289317e-01 -1.04693883e-03 -1.01165965e+02] [-2.32872160e-03 -6.07767100e-05 9.99997287e-01 -3.55657261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78655999499995 meters 0.0519603145433652 Centerline is valid? [True, True] Translation: X:468.87, Y:-101.19, Z:-3.56 [[ 8.81227472e-01 4.72687731e-01 2.10976285e-03 4.68867270e+02] [-4.72686543e-01 8.81229996e-01 -1.06179111e-03 -1.01188727e+02] [-2.36108194e-03 -6.15770136e-05 9.99997211e-01 -3.55740085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84655999499995 meters 0.051433993568058466 Centerline is valid? [True, True] Translation: X:468.92, Y:-101.22, Z:-3.56 [[ 8.82019188e-01 4.71206352e-01 2.59352505e-03 4.68919760e+02] [-4.71204547e-01 8.82022998e-01 -1.30624047e-03 -1.01221363e+02] [-2.90305754e-03 -6.99516353e-05 9.99995784e-01 -3.55680025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90655999499995 meters 0.05114501514953887 Centerline is valid? [True, True] Translation: X:468.97, Y:-101.25, Z:-3.56 [[ 8.83688343e-01 4.68067521e-01 2.77618602e-03 4.68974524e+02] [-4.68065437e-01 8.83692702e-01 -1.39840098e-03 -1.01249855e+02] [-3.10784141e-03 -6.36860726e-05 9.99995169e-01 -3.55702302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96655999499995 meters 0.052274021571715554 Centerline is valid? [True, True] Translation: X:469.03, Y:-101.28, Z:-3.56 [[ 8.86895439e-01 4.61957418e-01 3.43865640e-03 4.69027605e+02] [-4.61954173e-01 8.86902103e-01 -1.73231965e-03 -1.01277359e+02] [-3.85000951e-03 -5.21152768e-05 9.99992587e-01 -3.55697772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02655999499996 meters 0.05182704492512448 Centerline is valid? [True, True] Translation: X:469.08, Y:-101.31, Z:-3.56 [[ 8.89931919e-01 4.56074314e-01 4.17125191e-03 4.69081442e+02] [-4.56069474e-01 8.89941694e-01 -2.10140845e-03 -1.01307849e+02] [-4.67056940e-03 -3.22702086e-05 9.99989092e-01 -3.55646746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08655999499996 meters 0.052373075283005055 Centerline is valid? [True, True] Translation: X:469.14, Y:-101.33, Z:-3.56 [[ 8.91312338e-01 4.53369395e-01 4.30194934e-03 4.69137351e+02] [-4.53364215e-01 8.91322720e-01 -2.16740454e-03 -1.01334402e+02] [-4.81706008e-03 -1.85154744e-05 9.99988398e-01 -3.55744440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14655999499996 meters 0.05143048087887275 Centerline is valid? [True, True] Translation: X:469.19, Y:-101.36, Z:-3.56 [[ 8.91412470e-01 4.53181397e-01 3.22948561e-03 4.69194779e+02] [-4.53178476e-01 8.91418320e-01 -1.62711326e-03 -1.01359200e+02] [-3.61620010e-03 -1.31043195e-05 9.99993461e-01 -3.55898159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20655999499996 meters 0.0521670202584485 Centerline is valid? [True, True] Translation: X:469.25, Y:-101.39, Z:-3.56 [[ 8.91238457e-01 4.53526660e-01 2.75354955e-03 4.69251091e+02] [-4.53524539e-01 8.91242710e-01 -1.38726407e-03 -1.01387507e+02] [-3.08324220e-03 -1.24191939e-05 9.99995247e-01 -3.55958264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26655999499997 meters 0.05219395829129632 Centerline is valid? [True, True] Translation: X:469.31, Y:-101.42, Z:-3.56 [[ 8.91033579e-01 4.53931798e-01 2.25473713e-03 4.69307333e+02] [-4.53930377e-01 8.91036432e-01 -1.13611017e-03 -1.01415770e+02] [-2.52476946e-03 -1.11813689e-05 9.99996813e-01 -3.56006740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32655999499997 meters 0.05202746363579365 Centerline is valid? [True, True] Translation: X:469.36, Y:-101.44, Z:-3.56 [[ 8.90772268e-01 4.54446606e-01 1.74608287e-03 4.69363120e+02] [-4.54445754e-01 8.90773980e-01 -8.79908829e-04 -1.01442092e+02] [-1.95523677e-03 -9.70156398e-06 9.99998088e-01 -3.56291013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38655999499997 meters 0.05169440365881229 Centerline is valid? [True, True] Translation: X:469.42, Y:-101.47, Z:-3.56 [[ 8.90218697e-01 4.55529666e-01 1.84240385e-03 4.69419331e+02] [-4.55528720e-01 8.90220604e-01 -9.28749456e-04 -1.01470867e+02] [-2.06321880e-03 -1.24777375e-05 9.99997871e-01 -3.56177743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.446559995 meters 0.05230188114304009 Centerline is valid? [True, True] Translation: X:469.48, Y:-101.50, Z:-3.56 [[ 8.89754806e-01 4.56434247e-01 2.04046617e-03 4.69475070e+02] [-4.56433088e-01 8.89757145e-01 -1.02910179e-03 -1.01497068e+02] [-2.28523665e-03 -1.56880111e-05 9.99997389e-01 -3.56288061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.506559995 meters 0.052295163145367134 Centerline is valid? [True, True] Translation: X:469.53, Y:-101.53, Z:-3.56 [[ 8.89578492e-01 4.56768891e-01 3.50527394e-03 4.69530613e+02] [-4.56765466e-01 8.89585397e-01 -1.76919247e-03 -1.01525605e+02] [-3.92635259e-03 -2.72525195e-05 9.99992291e-01 -3.56075046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.566559995 meters 0.05174707105338752 Centerline is valid? [True, True] Translation: X:469.59, Y:-101.55, Z:-3.56 [[ 8.89459428e-01 4.56998933e-01 3.72842971e-03 4.69586997e+02] [-4.56995057e-01 8.89467242e-01 -1.88236867e-03 -1.01553961e+02] [-4.17655657e-03 -2.95833871e-05 9.99991278e-01 -3.56080095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.626559995 meters 0.05236852922063103 Centerline is valid? [True, True] Translation: X:469.64, Y:-101.58, Z:-3.56 [[ 8.88987881e-01 4.57919927e-01 3.14463511e-03 4.69642449e+02] [-4.57917174e-01 8.88993442e-01 -1.58809549e-03 -1.01578958e+02] [-3.52278056e-03 -2.81847763e-05 9.99993795e-01 -3.56223011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.686559995 meters 0.052195492758916 Centerline is valid? [True, True] Translation: X:469.70, Y:-101.61, Z:-3.56 [[ 8.88606045e-01 4.58663665e-01 2.63415107e-03 4.69698953e+02] [-4.58661735e-01 8.88609949e-01 -1.33084636e-03 -1.01605561e+02] [-2.95114372e-03 -2.55861777e-05 9.99995645e-01 -3.56351600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.746559995 meters 0.05233303694298436 Centerline is valid? [True, True] Translation: X:469.76, Y:-101.63, Z:-3.56 [[ 8.87765397e-01 4.60290719e-01 2.24823562e-03 4.69755120e+02] [-4.60289319e-01 8.87768243e-01 -1.13559150e-03 -1.01630180e+02] [-2.51861441e-03 -2.66999985e-05 9.99996828e-01 -3.56439023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80655999499993 meters 0.05196792371740866 Centerline is valid? [True, True] Translation: X:469.81, Y:-101.66, Z:-3.57 [[ 8.87467380e-01 4.60866495e-01 1.92951019e-03 4.69811060e+02] [-4.60865465e-01 8.87469477e-01 -9.74670901e-04 -1.01657333e+02] [-2.16157456e-03 -2.42559817e-05 9.99997664e-01 -3.56512278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86655999499993 meters 0.052620713830914045 Centerline is valid? [True, True] Translation: X:469.87, Y:-101.68, Z:-3.57 [[ 8.87914567e-01 4.60006718e-01 1.24125053e-03 4.69865355e+02] [-4.60006291e-01 8.87915435e-01 -6.26906722e-04 -1.01684562e+02] [-1.39050681e-03 -1.43434431e-05 9.99999033e-01 -3.56633960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92655999499993 meters 0.05219129969438931 Centerline is valid? [True, True] Translation: X:469.92, Y:-101.71, Z:-3.57 [[ 8.88614538e-01 4.58652246e-01 1.52311071e-03 4.69920673e+02] [-4.58651600e-01 8.88615843e-01 -7.70072994e-04 -1.01713369e+02] [-1.70665602e-03 -1.42791088e-05 9.99998544e-01 -3.56718014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98655999499994 meters 0.052382794587113236 Centerline is valid? [True, True] Translation: X:469.97, Y:-101.75, Z:-3.57 [[ 8.89779419e-01 4.56385860e-01 2.12889288e-03 4.69973806e+02] [-4.56384591e-01 8.89781966e-01 -1.07614464e-03 -1.01745086e+02] [-2.38538769e-03 -1.40625570e-05 9.99997155e-01 -3.56567861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04655999499994 meters 0.05234137579998713 Centerline is valid? [True, True] Translation: X:470.03, Y:-101.77, Z:-3.57 [[ 8.90155827e-01 4.55648841e-01 2.59557200e-03 4.70028839e+02] [-4.55646950e-01 8.90159611e-01 -1.31268535e-03 -1.01772579e+02] [-2.90859692e-03 -1.41699554e-05 9.99995770e-01 -3.56746668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10655999499994 meters 0.051768760888763206 Centerline is valid? [True, True] Translation: X:470.08, Y:-101.80, Z:-3.57 [[ 8.90424232e-01 4.55113771e-01 4.01770689e-03 4.70083647e+02] [-4.55109231e-01 8.90433296e-01 -2.03294646e-03 -1.01802206e+02] [-4.50272192e-03 -1.83107027e-05 9.99989863e-01 -3.56697784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16655999499994 meters 0.05208960123795469 Centerline is valid? [True, True] Translation: X:470.14, Y:-101.83, Z:-3.57 [[ 8.90464526e-01 4.55043075e-01 2.95431628e-03 4.70139486e+02] [-4.55040620e-01 8.90469427e-01 -1.49496975e-03 -1.01831419e+02] [-3.31100395e-03 -1.31163793e-05 9.99994519e-01 -3.56875659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22655999499995 meters 0.0520692794770483 Centerline is valid? [True, True] Translation: X:470.20, Y:-101.86, Z:-3.57 [[ 8.90128255e-01 4.55699115e-01 3.16317453e-03 4.70195248e+02] [-4.55696303e-01 8.90133875e-01 -1.60122092e-03 -1.01860800e+02] [-3.54532376e-03 -1.61549516e-05 9.99993715e-01 -3.56853116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28655999499995 meters 0.05201241478744569 Centerline is valid? [True, True] Translation: X:470.25, Y:-101.89, Z:-3.57 [[ 8.88943137e-01 4.58005980e-01 3.25922129e-03 4.70248879e+02] [-4.58003006e-01 8.88949111e-01 -1.65070156e-03 -1.01889252e+02] [-3.65331305e-03 -2.53533224e-05 9.99993326e-01 -3.56743662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34655999499995 meters 0.05183877628461115 Centerline is valid? [True, True] Translation: X:470.31, Y:-101.91, Z:-3.57 [[ 8.87282426e-01 4.61217855e-01 2.82595280e-03 4.70305736e+02] [-4.61215635e-01 8.87286926e-01 -1.43147342e-03 -1.01914870e+02] [-3.16765208e-03 -3.32524117e-05 9.99994982e-01 -3.56967072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40655999499995 meters 0.051791137032552635 Centerline is valid? [True, True] Translation: X:470.36, Y:-101.94, Z:-3.57 [[ 8.86688045e-01 4.62362515e-01 2.28385454e-03 4.70361192e+02] [-4.62361070e-01 8.86690985e-01 -1.15658012e-03 -1.01941588e+02] [-2.55983253e-03 -3.04396633e-05 9.99996723e-01 -3.57074120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46655999499995 meters 0.05188797705523654 Centerline is valid? [True, True] Translation: X:470.42, Y:-101.97, Z:-3.57 [[ 8.85693381e-01 4.64263478e-01 2.58028482e-03 4.70416392e+02] [-4.64261638e-01 8.85697139e-01 -1.30747099e-03 -1.01969657e+02] [-2.89236191e-03 -3.99088512e-05 9.99995816e-01 -3.57118897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52655999499996 meters 0.05133466256418908 Centerline is valid? [True, True] Translation: X:470.47, Y:-102.00, Z:-3.57 [[ 8.85529708e-01 4.64572534e-01 3.08163868e-03 4.70471376e+02] [-4.64569913e-01 8.85535069e-01 -1.56133472e-03 -1.02000160e+02] [-3.45425234e-03 -4.90283373e-05 9.99994033e-01 -3.57031532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58655999499996 meters 0.0513884850786684 Centerline is valid? [True, True] Translation: X:470.53, Y:-102.03, Z:-3.57 [[ 8.86326616e-01 4.63040747e-01 4.28916109e-03 4.70526114e+02] [-4.63035646e-01 8.86336992e-01 -2.17433005e-03 -1.02029895e+02] [-4.80844555e-03 -5.88678822e-05 9.99988438e-01 -3.56999555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64655999499996 meters 0.05135977305709802 Centerline is valid? [True, True] Translation: X:470.58, Y:-102.06, Z:-3.57 [[ 8.87725109e-01 4.60352064e-01 4.48427108e-03 4.70579975e+02] [-4.60346450e-01 8.87736433e-01 -2.27395869e-03 -1.02058081e+02] [-5.02767239e-03 -4.56680511e-05 9.99987360e-01 -3.57058735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70655999499996 meters 0.051701385844348434 Centerline is valid? [True, True] Translation: X:470.63, Y:-102.09, Z:-3.57 [[ 8.89002860e-01 4.57877416e-01 4.71019683e-03 4.70634777e+02] [-4.57871184e-01 8.89015338e-01 -2.38918644e-03 -1.02087683e+02] [-5.28139174e-03 -3.26698189e-05 9.99986053e-01 -3.57109834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76655999499997 meters 0.05162083918609289 Centerline is valid? [True, True] Translation: X:470.69, Y:-102.12, Z:-3.57 [[ 8.90281969e-01 4.55387970e-01 4.45116980e-03 4.70689919e+02] [-4.55382371e-01 8.90293096e-01 -2.25839567e-03 -1.02117255e+02] [-4.99129196e-03 -1.63753085e-05 9.99987543e-01 -3.57160917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82655999499997 meters 0.05198835448203886 Centerline is valid? [True, True] Translation: X:470.74, Y:-102.15, Z:-3.57 [[ 8.91914846e-01 4.52194876e-01 2.77509327e-03 4.70744637e+02] [-4.52192684e-01 8.91919163e-01 -1.40800993e-03 -1.02147185e+02] [-3.11185375e-03 9.48079787e-07 9.99995158e-01 -3.57449622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88655999499997 meters 0.05173474600865849 Centerline is valid? [True, True] Translation: X:470.80, Y:-102.18, Z:-3.57 [[ 8.92200329e-01 4.51631961e-01 2.67307906e-03 4.70800533e+02] [-4.51629923e-01 8.92204333e-01 -1.35659324e-03 -1.02175846e+02] [-2.99761358e-03 3.11044846e-06 9.99995507e-01 -3.57478696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.946559995 meters 0.052618125613946125 Centerline is valid? [True, True] Translation: X:470.86, Y:-102.20, Z:-3.58 [[ 8.91818405e-01 4.52387303e-01 2.37932132e-03 4.70857577e+02] [-4.52385691e-01 8.91821579e-01 -1.20774652e-03 -1.02203251e+02] [-2.66829929e-03 7.19654896e-07 9.99996440e-01 -3.57538507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.006559995 meters 0.05173993741269198 Centerline is valid? [True, True] Translation: X:470.91, Y:-102.23, Z:-3.58 [[ 8.90971230e-01 4.54056764e-01 1.65015494e-03 4.70912907e+02] [-4.54055991e-01 8.90972758e-01 -8.37619240e-04 -1.02230133e+02] [-1.85056978e-03 -2.96809439e-06 9.99998288e-01 -3.57801013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.066559995 meters 0.051667166656134994 Centerline is valid? [True, True] Translation: X:470.97, Y:-102.26, Z:-3.58 [[ 8.89916855e-01 4.56113824e-01 2.85845179e-03 4.70968828e+02] [-4.56111512e-01 8.89921446e-01 -1.45221649e-03 -1.02257544e+02] [-3.20617356e-03 -1.14208382e-05 9.99994860e-01 -3.57709479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.126559995 meters 0.0516397054295348 Centerline is valid? [True, True] Translation: X:471.02, Y:-102.29, Z:-3.58 [[ 8.89606221e-01 4.56711602e-01 3.90944473e-03 4.71024831e+02] [-4.56707278e-01 8.89614811e-01 -1.98740645e-03 -1.02285349e+02] [-4.38557152e-03 -1.74627208e-05 9.99990383e-01 -3.57752941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.186559995 meters 0.051939536718635486 Centerline is valid? [True, True] Translation: X:471.08, Y:-102.31, Z:-3.58 [[ 8.87824884e-01 4.60167373e-01 3.60057134e-03 4.71081281e+02] [-4.60163735e-01 8.87832184e-01 -1.83026697e-03 -1.02311635e+02] [-4.03893226e-03 -3.18957981e-05 9.99991843e-01 -3.57871267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.246559995 meters 0.05157724820357008 Centerline is valid? [True, True] Translation: X:471.14, Y:-102.34, Z:-3.58 [[ 8.87060254e-01 4.61636703e-01 3.95726096e-03 4.71136743e+02] [-4.61632320e-01 8.87069080e-01 -2.01229141e-03 -1.02338399e+02] [-4.43931141e-03 -4.17758269e-05 9.99990145e-01 -3.57951542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30655999499993 meters 0.051019795893664885 Centerline is valid? [True, True] Translation: X:471.19, Y:-102.36, Z:-3.58 [[ 8.84920860e-01 4.65718343e-01 4.63638111e-03 4.71193262e+02] [-4.65712376e-01 8.84933003e-01 -2.35859033e-03 -1.02364000e+02] [-5.20132544e-03 -7.20542856e-05 9.99986470e-01 -3.58048193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36655999499993 meters 0.051677798244019496 Centerline is valid? [True, True] Translation: X:471.25, Y:-102.39, Z:-3.58 [[ 8.84011030e-01 4.67446810e-01 4.24008101e-03 4.71249341e+02] [-4.67441839e-01 8.84021196e-01 -2.15692584e-03 -1.02389008e+02] [-4.75656959e-03 -7.52450269e-05 9.99988685e-01 -3.58135980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42655999499993 meters 0.05113597937069342 Centerline is valid? [True, True] Translation: X:471.30, Y:-102.42, Z:-3.58 [[ 8.83357491e-01 4.68674253e-01 4.89766777e-03 4.71303554e+02] [-4.68667636e-01 8.83371063e-01 -2.49220584e-03 -1.02420118e+02] [-5.49449069e-03 -9.38696791e-05 9.99984901e-01 -3.58121754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48655999499994 meters 0.05086754203542419 Centerline is valid? [True, True] Translation: X:471.36, Y:-102.45, Z:-3.58 [[ 8.82604377e-01 4.70095475e-01 4.44489184e-03 4.71358377e+02] [-4.70090040e-01 8.82615565e-01 -2.26239976e-03 -1.02446426e+02] [-4.98667461e-03 -9.26954524e-05 9.99987562e-01 -3.58135548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54655999499994 meters 0.051040123263672174 Centerline is valid? [True, True] Translation: X:471.41, Y:-102.47, Z:-3.58 [[ 8.81353689e-01 4.72450178e-01 2.55013557e-03 4.71412909e+02] [-4.72448398e-01 8.81357377e-01 -1.29825548e-03 -1.02471786e+02] [-2.86094183e-03 -6.05852046e-05 9.99995906e-01 -3.58369221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60655999499994 meters 0.05105683261939473 Centerline is valid? [True, True] Translation: X:471.47, Y:-102.50, Z:-3.59 [[ 8.80289177e-01 4.74433573e-01 1.93622438e-03 4.71468215e+02] [-4.74432552e-01 8.80291305e-01 -9.85699259e-04 -1.02497076e+02] [-2.17209031e-03 -5.09074857e-05 9.99997640e-01 -3.58512996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66655999499994 meters 0.051178394404205595 Centerline is valid? [True, True] Translation: X:471.52, Y:-102.53, Z:-3.58 [[ 8.80290454e-01 4.74427858e-01 2.63141285e-03 4.71520831e+02] [-4.74425972e-01 8.80294384e-01 -1.33966327e-03 -1.02531225e+02] [-2.95199153e-03 -6.91178115e-05 9.99995640e-01 -3.58410820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72655999499995 meters 0.05069394514088788 Centerline is valid? [True, True] Translation: X:471.58, Y:-102.56, Z:-3.58 [[ 8.80536458e-01 4.73970765e-01 2.69452387e-03 4.71575191e+02] [-4.73968784e-01 8.80540578e-01 -1.37218489e-03 -1.02561046e+02] [-3.02301312e-03 -6.88613843e-05 9.99995428e-01 -3.58428438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78655999499995 meters 0.052211340444639716 Centerline is valid? [True, True] Translation: X:471.63, Y:-102.58, Z:-3.59 [[ 8.80698065e-01 4.73669826e-01 2.79541921e-03 4.71633655e+02] [-4.73667690e-01 8.80702499e-01 -1.42423579e-03 -1.02581726e+02] [-3.13655020e-03 -6.97780551e-05 9.99995079e-01 -3.58660227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84655999499995 meters 0.051251619115722374 Centerline is valid? [True, True] Translation: X:471.69, Y:-102.61, Z:-3.59 [[ 8.81590456e-01 4.72008735e-01 2.45392072e-03 4.71687154e+02] [-4.72007082e-01 8.81593869e-01 -1.25064083e-03 -1.02611943e+02] [-2.75367485e-03 -5.57149394e-05 9.99996207e-01 -3.58714963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90655999499995 meters 0.051227476596573875 Centerline is valid? [True, True] Translation: X:471.74, Y:-102.64, Z:-3.59 [[ 8.82276830e-01 4.70724251e-01 2.50484906e-03 4.71740219e+02] [-4.70722523e-01 8.82280385e-01 -1.27652158e-03 -1.02644030e+02] [-2.81086885e-03 -5.28434511e-05 9.99996048e-01 -3.58743199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96655999499995 meters 0.05048352224254707 Centerline is valid? [True, True] Translation: X:471.80, Y:-102.67, Z:-3.59 [[ 8.82866771e-01 4.69618932e-01 2.07949406e-03 4.71795133e+02] [-4.69617739e-01 8.82869219e-01 -1.05939533e-03 -1.02672838e+02] [-2.33343340e-03 -4.12623666e-05 9.99997277e-01 -3.58842535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02655999499996 meters 0.05056941399655054 Centerline is valid? [True, True] Translation: X:471.85, Y:-102.70, Z:-3.59 [[ 8.83165318e-01 4.69056370e-01 2.26804359e-03 4.71849793e+02] [-4.69054947e-01 8.83168229e-01 -1.15584127e-03 -1.02702878e+02] [-2.54521875e-03 -4.30381442e-05 9.99996760e-01 -3.58828289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08655999499996 meters 0.05115900243435444 Centerline is valid? [True, True] Translation: X:471.91, Y:-102.73, Z:-3.59 [[ 8.83267446e-01 4.68863832e-01 2.30780554e-03 4.71905152e+02] [-4.68862358e-01 8.83270460e-01 -1.17671452e-03 -1.02728000e+02] [-2.59013534e-03 -4.26895150e-05 9.99996645e-01 -3.59018155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14655999499996 meters 0.05121946830754403 Centerline is valid? [True, True] Translation: X:471.96, Y:-102.76, Z:-3.59 [[ 8.82342393e-01 4.70606146e-01 1.32581804e-03 4.71959077e+02] [-4.70605662e-01 8.82343388e-01 -6.75621818e-04 -1.02758107e+02] [-1.48777856e-03 -2.78077065e-05 9.99998893e-01 -3.59010214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20655999499996 meters 0.05116258120529658 Centerline is valid? [True, True] Translation: X:472.01, Y:-102.79, Z:-3.59 [[ 8.82441200e-01 4.70420323e-01 1.49919600e-03 4.72014134e+02] [-4.70419703e-01 8.82442473e-01 -7.64220086e-04 -1.02787915e+02] [-1.68245889e-03 -3.08720469e-05 9.99998584e-01 -3.59028288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26655999499997 meters 0.051053530304290586 Centerline is valid? [True, True] Translation: X:472.07, Y:-102.81, Z:-3.59 [[ 8.83270274e-01 4.68860017e-01 1.97685834e-03 4.72069394e+02] [-4.68858934e-01 8.83272485e-01 -1.00835719e-03 -1.02814752e+02] [-2.21888294e-03 -3.62157641e-05 9.99997538e-01 -3.59106587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32655999499997 meters 0.05122610801027498 Centerline is valid? [True, True] Translation: X:472.12, Y:-102.85, Z:-3.59 [[ 8.85929933e-01 4.63805814e-01 3.51015461e-03 4.72121459e+02] [-4.63802354e-01 8.85936886e-01 -1.79190193e-03 -1.02847729e+02] [-3.94086998e-03 -4.05184104e-05 9.99992234e-01 -3.58938101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38655999499997 meters 0.05086427260954999 Centerline is valid? [True, True] Translation: X:472.18, Y:-102.88, Z:-3.59 [[ 8.87948956e-01 4.59928962e-01 3.46425473e-03 4.72176150e+02] [-4.59925563e-01 8.87955714e-01 -1.76825872e-03 -1.02876058e+02] [-3.88937818e-03 -2.31758253e-05 9.99992436e-01 -3.59074230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.446559995 meters 0.05087089467625525 Centerline is valid? [True, True] Translation: X:472.23, Y:-102.91, Z:-3.59 [[ 8.91304118e-01 4.53398104e-01 2.67005740e-03 4.72230053e+02] [-4.53396054e-01 8.91308117e-01 -1.36324957e-03 -1.02908287e+02] [-2.99793861e-03 4.47646138e-06 9.99995506e-01 -3.59153532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.506559995 meters 0.0511217948083986 Centerline is valid? [True, True] Translation: X:472.28, Y:-102.94, Z:-3.59 [[ 8.93175121e-01 4.49706102e-01 1.61989617e-03 4.72284409e+02] [-4.49705343e-01 8.93176590e-01 -8.26701297e-04 -1.02938126e+02] [-1.81862595e-03 9.91307058e-06 9.99998346e-01 -3.59279413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.566559995 meters 0.05149137305836489 Centerline is valid? [True, True] Translation: X:472.34, Y:-102.96, Z:-3.59 [[ 8.94991848e-01 4.46081599e-01 8.94183523e-04 4.72340238e+02] [-4.46081366e-01 8.94992294e-01 -4.56094581e-04 -1.02964057e+02] [-1.00374276e-03 9.32232461e-06 9.99999496e-01 -3.59144459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.626559995 meters 0.05143985225311484 Centerline is valid? [True, True] Translation: X:472.39, Y:-102.99, Z:-3.59 [[ 8.95268836e-01 4.45519467e-01 2.47312476e-03 4.72393927e+02] [-4.45517675e-01 8.95272251e-01 -1.26376315e-03 -1.02994702e+02] [-2.77715105e-03 2.95869670e-05 9.99996143e-01 -3.59421391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.686559995 meters 0.05136799220389462 Centerline is valid? [True, True] Translation: X:472.45, Y:-103.02, Z:-3.60 [[ 8.94475715e-01 4.47107582e-01 2.82956892e-03 4.72448251e+02] [-4.47105245e-01 8.94480190e-01 -1.44578919e-03 -1.03022354e+02] [-3.17741666e-03 2.81082154e-05 9.99994952e-01 -3.59508683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.746559995 meters 0.05099705156292146 Centerline is valid? [True, True] Translation: X:472.51, Y:-103.05, Z:-3.59 [[ 8.92923852e-01 4.50198980e-01 2.80582704e-03 4.72505109e+02] [-4.50196696e-01 8.92928261e-01 -1.43401443e-03 -1.03046773e+02] [-3.15099410e-03 1.72916236e-05 9.99995035e-01 -3.59475529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80655999499993 meters 0.05157570076129492 Centerline is valid? [True, True] Translation: X:472.56, Y:-103.07, Z:-3.60 [[ 8.89366038e-01 4.57190671e-01 2.17756639e-03 4.72562965e+02] [-4.57189316e-01 8.89368703e-01 -1.11302224e-03 -1.03069095e+02] [-2.44552278e-03 -5.67591360e-06 9.99997010e-01 -3.59620848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86655999499993 meters 0.05098172905572004 Centerline is valid? [True, True] Translation: X:472.62, Y:-103.09, Z:-3.60 [[ 8.85267865e-01 4.65080138e-01 1.12797836e-03 4.72620575e+02] [-4.65079780e-01 8.85268584e-01 -5.76859576e-04 -1.03089670e+02] [-1.26684973e-03 -1.39246820e-05 9.99999197e-01 -3.59803908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92655999499993 meters 0.05113683295179346 Centerline is valid? [True, True] Translation: X:472.68, Y:-103.11, Z:-3.60 [[ 8.83207510e-01 4.68982363e-01 1.95052817e-04 4.72676075e+02] [-4.68982353e-01 8.83207531e-01 -9.95883388e-05 -1.03114572e+02] [-2.18977292e-04 -3.51916045e-06 9.99999976e-01 -3.59876697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98655999499994 meters 0.05103383217228476 Centerline is valid? [True, True] Translation: X:472.73, Y:-103.14, Z:-3.60 [[ 8.81719915e-01 4.71773171e-01 -2.59514774e-04 4.72731748e+02] [-4.71773152e-01 8.81719953e-01 1.33685408e-04 -1.03141545e+02] [ 2.91888543e-04 4.55901594e-06 9.99999957e-01 -3.59817900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04655999499994 meters 0.051072804644485756 Centerline is valid? [True, True] Translation: X:472.79, Y:-103.17, Z:-3.60 [[ 8.80225887e-01 4.74553639e-01 1.10948163e-03 4.72787606e+02] [-4.74553300e-01 8.80226586e-01 -5.67565905e-04 -1.03169192e+02] [-1.24593569e-03 -2.69219653e-05 9.99999223e-01 -3.59768223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10655999499994 meters 0.05177980865006663 Centerline is valid? [True, True] Translation: X:472.85, Y:-103.19, Z:-3.60 [[ 8.79849555e-01 4.75247764e-01 2.07922183e-03 4.72846811e+02] [-4.75246577e-01 8.79852010e-01 -1.06355991e-03 -1.03188273e+02] [-2.33486198e-03 -5.23703418e-05 9.99997273e-01 -3.59887259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16655999499994 meters 0.05177980865006663 Centerline is valid? [True, True] Translation: X:472.90, Y:-103.22, Z:-3.60 [[ 8.79792683e-01 4.75353040e-01 2.07914219e-03 4.72902442e+02] [-4.75351853e-01 8.79795138e-01 -1.06371555e-03 -1.03216741e+02] [-2.33485961e-03 -5.24749373e-05 9.99997273e-01 -3.59933336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22655999499995 meters 0.051269526400818895 Centerline is valid? [True, True] Translation: X:472.96, Y:-103.25, Z:-3.60 [[ 8.79587736e-01 4.75734635e-01 1.40437459e-03 4.72956177e+02] [-4.75734094e-01 8.79588856e-01 -7.18449218e-04 -1.03247957e+02] [-1.57706342e-03 -3.61697540e-05 9.99998756e-01 -3.59878652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28655999499995 meters 0.05100921046307446 Centerline is valid? [True, True] Translation: X:473.01, Y:-103.27, Z:-3.60 [[ 8.78629736e-01 4.77503564e-01 -3.65512808e-04 4.73011607e+02] [-4.77503527e-01 8.78629812e-01 1.87437015e-04 -1.03273973e+02] [ 4.10652292e-04 9.84591942e-06 9.99999916e-01 -3.60026912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34655999499995 meters 0.05202448699364394 Centerline is valid? [True, True] Translation: X:473.07, Y:-103.30, Z:-3.60 [[ 8.77103130e-01 4.80299223e-01 -1.66019590e-03 4.73068817e+02] [-4.80298473e-01 8.77104699e-01 8.50562576e-04 -1.03295232e+02] [ 1.86469017e-03 5.13584560e-05 9.99998260e-01 -3.60208569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40655999499995 meters 0.051185837810737336 Centerline is valid? [True, True] Translation: X:473.12, Y:-103.33, Z:-3.60 [[ 8.76264459e-01 4.81826368e-01 -1.98714156e-03 4.73123022e+02] [-4.81825297e-01 8.76266710e-01 1.01829557e-03 -1.03326434e+02] [ 2.23190766e-03 6.51588532e-05 9.99997507e-01 -3.60078056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46655999499995 meters 0.05196545221615507 Centerline is valid? [True, True] Translation: X:473.18, Y:-103.35, Z:-3.60 [[ 8.76100478e-01 4.82125247e-01 -1.78830733e-03 4.73179590e+02] [-4.82124377e-01 8.76102302e-01 9.17418125e-04 -1.03351307e+02] [ 2.00905060e-03 5.84360978e-05 9.99997980e-01 -3.60175435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52655999499996 meters 0.05233562953971878 Centerline is valid? [True, True] Translation: X:473.23, Y:-103.38, Z:-3.60 [[ 8.76950680e-01 4.80580307e-01 -2.69984051e-04 4.73234389e+02] [-4.80580287e-01 8.76950722e-01 1.38488818e-04 -1.03377519e+02] [ 3.03317707e-04 8.30114923e-06 9.99999954e-01 -3.60089306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58655999499996 meters 0.05189222092081694 Centerline is valid? [True, True] Translation: X:473.29, Y:-103.41, Z:-3.60 [[ 8.78131445e-01 4.78419128e-01 5.50491048e-04 4.73287741e+02] [-4.78419045e-01 8.78131618e-01 -2.81962901e-04 -1.03408993e+02] [-6.18300040e-04 -1.57649118e-05 9.99999809e-01 -3.59876075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64655999499996 meters 0.05154993258976007 Centerline is valid? [True, True] Translation: X:473.34, Y:-103.44, Z:-3.60 [[ 8.80005248e-01 4.74962682e-01 1.10185826e-03 4.73340862e+02] [-4.74962347e-01 8.80005937e-01 -5.64520106e-04 -1.03440686e+02] [-1.23776779e-03 -2.65605283e-05 9.99999234e-01 -3.59767225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70655999499996 meters 0.05137942681743622 Centerline is valid? [True, True] Translation: X:473.39, Y:-103.47, Z:-3.60 [[ 8.81125483e-01 4.72881527e-01 9.72011263e-04 4.73394661e+02] [-4.72881265e-01 8.81126019e-01 -4.98137056e-04 -1.03467594e+02] [-1.09202423e-03 -2.07246620e-05 9.99999404e-01 -3.59862283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76655999499997 meters 0.05164986950155473 Centerline is valid? [True, True] Translation: X:473.45, Y:-103.50, Z:-3.60 [[ 8.82302391e-01 4.70682941e-01 2.44952411e-04 4.73449617e+02] [-4.70682924e-01 8.82302425e-01 -1.25352101e-04 -1.03495963e+02] [-2.75123202e-04 -4.69645818e-06 9.99999962e-01 -3.59923895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82655999499997 meters 0.0520064805658693 Centerline is valid? [True, True] Translation: X:473.51, Y:-103.52, Z:-3.60 [[ 8.83331073e-01 4.68748934e-01 -8.07520081e-04 4.73507044e+02] [-4.68748751e-01 8.83331442e-01 4.14918311e-04 -1.03518506e+02] [ 9.07800394e-04 1.20137926e-05 9.99999588e-01 -3.60305594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88655999499997 meters 0.05199605364920158 Centerline is valid? [True, True] Translation: X:473.56, Y:-103.55, Z:-3.60 [[ 8.84169271e-01 4.67166555e-01 -3.32614515e-04 4.73561705e+02] [-4.67166524e-01 8.84169333e-01 1.70875247e-04 -1.03549080e+02] [ 3.73914754e-04 4.30372433e-06 9.99999930e-01 -3.60190216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.946559995 meters 0.05184089846886212 Centerline is valid? [True, True] Translation: X:473.62, Y:-103.58, Z:-3.60 [[ 8.85629930e-01 4.64391631e-01 -1.99509632e-04 4.73615899e+02] [-4.64391620e-01 8.85629953e-01 1.02651835e-04 -1.03580122e+02] [ 2.24362359e-04 1.73906350e-06 9.99999975e-01 -3.60056504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.006559995 meters 0.05237246416732193 Centerline is valid? [True, True] Translation: X:473.67, Y:-103.61, Z:-3.60 [[ 8.86384265e-01 4.62950044e-01 4.37008683e-04 4.73670283e+02] [-4.62949990e-01 8.86384373e-01 -2.23282932e-04 -1.03607752e+02] [-4.90726511e-04 -4.39868826e-06 9.99999880e-01 -3.60119522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.066559995 meters 0.05226190247120429 Centerline is valid? [True, True] Translation: X:473.73, Y:-103.64, Z:-3.60 [[ 8.86362417e-01 4.62991625e-01 6.48702147e-04 4.73725846e+02] [-4.62991507e-01 8.86362654e-01 -3.31744916e-04 -1.03636836e+02] [-7.28580475e-04 -6.29735896e-06 9.99999735e-01 -3.59965815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.126559995 meters 0.05199567451425599 Centerline is valid? [True, True] Translation: X:473.78, Y:-103.66, Z:-3.60 [[ 8.86149577e-01 4.63399309e-01 8.11655289e-05 4.73781684e+02] [-4.63399307e-01 8.86149581e-01 -4.07524327e-05 -1.03662703e+02] [-9.08094487e-05 -1.49929887e-06 9.99999996e-01 -3.60190256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.186559995 meters 0.05224914398814069 Centerline is valid? [True, True] Translation: X:473.84, Y:-103.69, Z:-3.60 [[ 8.85696109e-01 4.64265341e-01 -3.09016601e-04 4.73837724e+02] [-4.64265314e-01 8.85696163e-01 1.59587526e-04 -1.03689445e+02] [ 3.47785775e-04 2.11963804e-06 9.99999940e-01 -3.60189695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.246559995 meters 0.05266873534810384 Centerline is valid? [True, True] Translation: X:473.89, Y:-103.72, Z:-3.60 [[ 8.85830316e-01 4.64009322e-01 -2.67939497e-05 4.73893928e+02] [-4.64009321e-01 8.85830316e-01 1.40998061e-05 -1.03717160e+02] [ 3.02773342e-05 -5.73932973e-08 1.00000000e+00 -3.60152913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30655999499993 meters 0.05278060163329057 Centerline is valid? [True, True] Translation: X:473.95, Y:-103.75, Z:-3.60 [[ 8.86721075e-01 4.62304151e-01 7.78715507e-04 4.73949482e+02] [-4.62303979e-01 8.86721417e-01 -3.98973305e-04 -1.03745621e+02] [-8.74950733e-04 -6.22523996e-06 9.99999617e-01 -3.60162895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36655999499993 meters 0.052617593226872476 Centerline is valid? [True, True] Translation: X:474.00, Y:-103.77, Z:-3.60 [[ 8.87936255e-01 4.59963901e-01 1.55455920e-03 4.74004389e+02] [-4.59963209e-01 8.87937616e-01 -7.97688593e-04 -1.03773561e+02] [-1.74725955e-03 -6.74341631e-06 9.99998474e-01 -3.60260609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42655999499993 meters 0.052377821915264196 Centerline is valid? [True, True] Translation: X:474.06, Y:-103.80, Z:-3.60 [[ 8.90111345e-01 4.55742777e-01 5.60852878e-04 4.74059881e+02] [-4.55742686e-01 8.90111522e-01 -2.87156759e-04 -1.03803283e+02] [-6.30091228e-04 -3.10762344e-09 9.99999801e-01 -3.60337225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48655999499994 meters 0.05317459850601982 Centerline is valid? [True, True] Translation: X:474.11, Y:-103.83, Z:-3.60 [[ 8.91722475e-01 4.52582343e-01 -4.99178231e-04 4.74114773e+02] [-4.52582270e-01 8.91722615e-01 2.57067484e-04 -1.03830996e+02] [ 5.61472722e-04 -3.31363616e-06 9.99999842e-01 -3.60277853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54655999499994 meters 0.05327376372510127 Centerline is valid? [True, True] Translation: X:474.17, Y:-103.86, Z:-3.60 [[ 8.93863472e-01 4.48337327e-01 -1.31702069e-03 4.74170492e+02] [-4.48336815e-01 8.93864442e-01 6.77251081e-04 -1.03857530e+02] [ 1.48087490e-03 -1.49011433e-05 9.99998903e-01 -3.60208073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60655999499994 meters 0.053355500933044135 Centerline is valid? [True, True] Translation: X:474.22, Y:-103.89, Z:-3.61 [[ 8.94727676e-01 4.46609936e-01 -1.39657741e-03 4.74223019e+02] [-4.46609358e-01 8.94728766e-01 7.19052182e-04 -1.03888424e+02] [ 1.57069383e-03 -1.96313486e-05 9.99998766e-01 -3.60538562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66655999499994 meters 0.05367984274480819 Centerline is valid? [True, True] Translation: X:474.28, Y:-103.91, Z:-3.60 [[ 8.95088169e-01 4.45886724e-01 -1.48317944e-03 4.74281608e+02] [-4.45886070e-01 8.95089397e-01 7.63839832e-04 -1.03910740e+02] [ 1.66816423e-03 -2.23749428e-05 9.99998608e-01 -3.60177546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72655999499995 meters 0.0532524881995152 Centerline is valid? [True, True] Translation: X:474.34, Y:-103.94, Z:-3.61 [[ 8.94298931e-01 4.47464208e-01 -2.28127394e-03 4.74335392e+02] [-4.47462669e-01 8.94301840e-01 1.17382123e-03 -1.03942245e+02] [ 2.56539048e-03 -2.89621447e-05 9.99996709e-01 -3.60557667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78655999499995 meters 0.05329640325800371 Centerline is valid? [True, True] Translation: X:474.39, Y:-103.97, Z:-3.61 [[ 8.93101858e-01 4.49851272e-01 -1.70427909e-03 4.74390304e+02] [-4.49850415e-01 8.93103484e-01 8.77845259e-04 -1.03968475e+02] [ 1.91699740e-03 -1.73345772e-05 9.99998162e-01 -3.60624647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84655999499995 meters 0.05337690637666724 Centerline is valid? [True, True] Translation: X:474.45, Y:-103.99, Z:-3.61 [[ 8.91030106e-01 4.53942306e-01 -1.31641479e-03 4.74448011e+02] [-4.53941800e-01 8.91031078e-01 6.77753243e-04 -1.03993322e+02] [ 1.48062736e-03 -6.32284556e-06 9.99998904e-01 -3.60514928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90655999499995 meters 0.05317419028668649 Centerline is valid? [True, True] Translation: X:474.50, Y:-104.02, Z:-3.61 [[ 8.88532889e-01 4.58812584e-01 -5.64729627e-04 4.74504027e+02] [-4.58812492e-01 8.88533068e-01 2.90972628e-04 -1.04019147e+02] [ 6.35282851e-04 5.66258174e-07 9.99999798e-01 -3.60564800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96655999499995 meters 0.053161215263250176 Centerline is valid? [True, True] Translation: X:474.56, Y:-104.04, Z:-3.61 [[ 8.86784405e-01 4.62183294e-01 1.46953062e-04 4.74560146e+02] [-4.62183288e-01 8.86784417e-01 -7.46874998e-05 -1.04044764e+02] [-1.64835000e-04 -1.68753952e-06 9.99999986e-01 -3.60651226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02655999499996 meters 0.05313487627084929 Centerline is valid? [True, True] Translation: X:474.62, Y:-104.07, Z:-3.61 [[ 8.85375551e-01 4.64876036e-01 6.36643791e-04 4.74615646e+02] [-4.64875921e-01 8.85375780e-01 -3.26929356e-04 -1.04070403e+02] [-7.15650616e-04 -6.50511022e-06 9.99999744e-01 -3.60747524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08655999499996 meters 0.05300807190761735 Centerline is valid? [True, True] Translation: X:474.67, Y:-104.10, Z:-3.61 [[ 8.84834332e-01 4.65905749e-01 1.96006939e-04 4.74670632e+02] [-4.65905738e-01 8.84834354e-01 -9.99584005e-05 -1.04100111e+02] [-2.20004867e-04 -2.87413305e-06 9.99999976e-01 -3.60623958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14655999499996 meters 0.05300704949366362 Centerline is valid? [True, True] Translation: X:474.73, Y:-104.13, Z:-3.61 [[ 8.83668947e-01 4.68112000e-01 -5.89025211e-04 4.74725553e+02] [-4.68111901e-01 8.83669144e-01 3.04394810e-04 -1.04126373e+02] [ 6.62994267e-04 6.74546971e-06 9.99999780e-01 -3.60813913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20655999499996 meters 0.053117370498265995 Centerline is valid? [True, True] Translation: X:474.78, Y:-104.16, Z:-3.61 [[ 8.83094040e-01 4.69195098e-01 -9.36306359e-04 4.74779987e+02] [-4.69194850e-01 8.83094536e-01 4.83510673e-04 -1.04156834e+02] [ 1.05370787e-03 1.23247274e-05 9.99999445e-01 -3.60730772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26655999499997 meters 0.05306705010997878 Centerline is valid? [True, True] Translation: X:474.84, Y:-104.18, Z:-3.61 [[ 8.83039174e-01 4.69298249e-01 -9.85334346e-04 4.74835331e+02] [-4.69297973e-01 8.83039723e-01 5.08991991e-04 -1.04184614e+02] [ 1.10895842e-03 1.29555447e-05 9.99999385e-01 -3.60863362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32655999499997 meters 0.052987158540090895 Centerline is valid? [True, True] Translation: X:474.89, Y:-104.22, Z:-3.61 [[ 8.83447114e-01 4.68527864e-01 -1.68424213e-03 4.74889843e+02] [-4.68527060e-01 8.83448719e-01 8.68687635e-04 -1.04215624e+02] [ 1.89494591e-03 2.16734263e-05 9.99998204e-01 -3.60845588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38655999499997 meters 0.05293451320050025 Centerline is valid? [True, True] Translation: X:474.94, Y:-104.25, Z:-3.61 [[ 8.84399542e-01 4.66726414e-01 -1.97604061e-03 4.74942886e+02] [-4.66725300e-01 8.84401749e-01 1.02005493e-03 -1.04247424e+02] [ 2.22370035e-03 2.01320322e-05 9.99997527e-01 -3.60832873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.446559995 meters 0.05285235320731567 Centerline is valid? [True, True] Translation: X:475.00, Y:-104.28, Z:-3.61 [[ 8.84953704e-01 4.65675619e-01 -1.77743335e-03 4.74996448e+02] [-4.65674715e-01 8.84955489e-01 9.17799985e-04 -1.04276576e+02] [ 2.00034648e-03 1.54952718e-05 9.99997999e-01 -3.60905628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.506559995 meters 0.053017188866276765 Centerline is valid? [True, True] Translation: X:475.05, Y:-104.31, Z:-3.61 [[ 8.85210370e-01 4.65187683e-01 -1.73791819e-03 4.75050442e+02] [-4.65186819e-01 8.85212076e-01 8.96936669e-04 -1.04307304e+02] [ 1.95567006e-03 1.44789937e-05 9.99998088e-01 -3.61022833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.566559995 meters 0.05352510596065938 Centerline is valid? [True, True] Translation: X:475.10, Y:-104.34, Z:-3.61 [[ 8.85148084e-01 4.65303696e-01 -2.31090929e-03 4.75104130e+02] [-4.65302166e-01 8.85151100e-01 1.19352718e-03 -1.04338467e+02] [ 2.60085651e-03 1.88227969e-05 9.99996618e-01 -3.60938711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.626559995 meters 0.05317097041238009 Centerline is valid? [True, True] Translation: X:475.16, Y:-104.37, Z:-3.61 [[ 8.84567431e-01 4.66407955e-01 -2.01962609e-03 4.75158531e+02] [-4.66406789e-01 8.84569737e-01 1.04340750e-03 -1.04366877e+02] [ 2.27315368e-03 1.90030254e-05 9.99997416e-01 -3.61130448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.686559995 meters 0.05308923093325224 Centerline is valid? [True, True] Translation: X:475.21, Y:-104.40, Z:-3.61 [[ 8.84043873e-01 4.67402492e-01 -1.15832680e-03 4.75213391e+02] [-4.67402108e-01 8.84044631e-01 5.99162973e-04 -1.04398299e+02] [ 1.30406286e-03 1.17180342e-05 9.99999150e-01 -3.60985604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.746559995 meters 0.051976470293532036 Centerline is valid? [True, True] Translation: X:475.27, Y:-104.43, Z:-3.61 [[ 8.83491988e-01 4.68445902e-01 -5.85809136e-04 4.75268421e+02] [-4.68445804e-01 8.83492182e-01 3.03645079e-04 -1.04429101e+02] [ 6.59799085e-04 6.15183691e-06 9.99999782e-01 -3.60910618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80655999499993 meters 0.05256371070826185 Centerline is valid? [True, True] Translation: X:475.32, Y:-104.46, Z:-3.61 [[ 8.83059479e-01 4.69260502e-01 -7.34109946e-04 4.75322450e+02] [-4.69260348e-01 8.83059784e-01 3.80214788e-04 -1.04459289e+02] [ 8.26682752e-04 8.73641640e-06 9.99999658e-01 -3.61012568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86655999499993 meters 0.05235010053930283 Centerline is valid? [True, True] Translation: X:475.38, Y:-104.49, Z:-3.61 [[ 8.83221149e-01 4.68954157e-01 -1.54928352e-03 4.75376872e+02] [-4.68953473e-01 8.83222508e-01 8.01672727e-04 -1.04489056e+02] [ 1.74430983e-03 1.84875773e-05 9.99998479e-01 -3.61154337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92655999499993 meters 0.05272910232383724 Centerline is valid? [True, True] Translation: X:475.43, Y:-104.52, Z:-3.61 [[ 8.83618991e-01 4.68201750e-01 -2.14469113e-03 4.75430243e+02] [-4.68200436e-01 8.83621593e-01 1.10962938e-03 -1.04520172e+02] [ 2.41462581e-03 2.36557263e-05 9.99997085e-01 -3.61192442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98655999499994 meters 0.052451998710604526 Centerline is valid? [True, True] Translation: X:475.48, Y:-104.55, Z:-3.61 [[ 8.84125653e-01 4.67242636e-01 -2.47967328e-03 4.75484089e+02] [-4.67240874e-01 8.84129130e-01 1.28317996e-03 -1.04551731e+02] [ 2.79190777e-03 2.41123882e-05 9.99996102e-01 -3.61087087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04655999499994 meters 0.052851371792716165 Centerline is valid? [True, True] Translation: X:475.54, Y:-104.58, Z:-3.61 [[ 8.84268281e-01 4.66974290e-01 -2.14927236e-03 4.75538615e+02] [-4.66972965e-01 8.84270893e-01 1.11264282e-03 -1.04581599e+02] [ 2.42011458e-03 1.97773365e-05 9.99997071e-01 -3.61099871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10655999499994 meters 0.05241411494532064 Centerline is valid? [True, True] Translation: X:475.59, Y:-104.61, Z:-3.61 [[ 8.84061525e-01 4.67368376e-01 -1.42151675e-03 4.75592509e+02] [-4.67367796e-01 8.84062668e-01 7.36449366e-04 -1.04611881e+02] [ 1.60090303e-03 1.33046003e-05 9.99998718e-01 -3.60989312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16655999499994 meters 0.052249663993478905 Centerline is valid? [True, True] Translation: X:475.65, Y:-104.64, Z:-3.61 [[ 8.83596066e-01 4.68249202e-01 -8.22736967e-04 4.75647272e+02] [-4.68249008e-01 8.83596449e-01 4.26837740e-04 -1.04640110e+02] [ 9.26833893e-04 8.09362094e-06 9.99999570e-01 -3.61034542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22655999499995 meters 0.05307841936502702 Centerline is valid? [True, True] Translation: X:475.70, Y:-104.67, Z:-3.61 [[ 8.82693031e-01 4.69949463e-01 -7.17735158e-04 4.75701904e+02] [-4.69949316e-01 8.82693323e-01 3.72432470e-04 -1.04666988e+02] [ 8.08564471e-04 8.55560140e-06 9.99999673e-01 -3.61145789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28655999499995 meters 0.052054560516836386 Centerline is valid? [True, True] Translation: X:475.76, Y:-104.69, Z:-3.61 [[ 8.81811885e-01 4.71600475e-01 -8.89707200e-04 4.75757010e+02] [-4.71600249e-01 8.81812334e-01 4.61563464e-04 -1.04694727e+02] [ 1.00222833e-03 1.25739884e-05 9.99999498e-01 -3.61176054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34655999499995 meters 0.05219847651375863 Centerline is valid? [True, True] Translation: X:475.81, Y:-104.72, Z:-3.61 [[ 8.80299853e-01 4.74415823e-01 -1.34009922e-03 4.75812732e+02] [-4.74415315e-01 8.80300873e-01 6.94243806e-04 -1.04722968e+02] [ 1.50905076e-03 2.46208720e-05 9.99998861e-01 -3.61240691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40655999499995 meters 0.05263589119118266 Centerline is valid? [True, True] Translation: X:475.87, Y:-104.75, Z:-3.62 [[ 8.79629523e-01 4.75657553e-01 -1.33966132e-03 4.75868861e+02] [-4.75657047e-01 8.79630543e-01 6.93910059e-04 -1.04746530e+02] [ 1.50847058e-03 2.68355757e-05 9.99998862e-01 -3.61541498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46655999499995 meters 0.05260815705324116 Centerline is valid? [True, True] Translation: X:475.92, Y:-104.78, Z:-3.61 [[ 8.79741127e-01 4.75452472e-01 -7.04333813e-04 4.75922569e+02] [-4.75452332e-01 8.79741409e-01 3.65122677e-04 -1.04778687e+02] [ 7.93230100e-04 1.36637192e-05 9.99999685e-01 -3.61429684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52655999499996 meters 0.05275637487000003 Centerline is valid? [True, True] Translation: X:475.98, Y:-104.80, Z:-3.62 [[ 8.80031666e-01 4.74914738e-01 -5.09463657e-04 4.75979214e+02] [-4.74914664e-01 8.80031813e-01 2.64790067e-04 -1.04802998e+02] [ 5.74096930e-04 8.92811750e-06 9.99999835e-01 -3.61714691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58655999499996 meters 0.05193431417356521 Centerline is valid? [True, True] Translation: X:476.03, Y:-104.84, Z:-3.62 [[ 8.79908940e-01 4.75142217e-01 -3.62006005e-04 4.76033254e+02] [-4.75142179e-01 8.79909014e-01 1.88632586e-04 -1.04836547e+02] [ 4.08159652e-04 6.02482290e-06 9.99999917e-01 -3.61564077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64655999499996 meters 0.05209752525905651 Centerline is valid? [True, True] Translation: X:476.09, Y:-104.87, Z:-3.62 [[ 8.79447284e-01 4.75995221e-01 -1.01182751e-03 4.76088308e+02] [-4.75994932e-01 8.79447866e-01 5.25399203e-04 -1.04865350e+02] [ 1.13993706e-03 1.95638651e-05 9.99999350e-01 -3.61735113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70655999499996 meters 0.0517224731978694 Centerline is valid? [True, True] Translation: X:476.14, Y:-104.90, Z:-3.62 [[ 8.79284669e-01 4.76294735e-01 -1.33982381e-03 4.76141584e+02] [-4.76294228e-01 8.79285690e-01 6.95650846e-04 -1.04897579e+02] [ 1.50942273e-03 2.64752215e-05 9.99998860e-01 -3.61623197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76655999499997 meters 0.05197903868409092 Centerline is valid? [True, True] Translation: X:476.20, Y:-104.93, Z:-3.62 [[ 8.79006207e-01 4.76809487e-01 -8.94821111e-04 4.76196113e+02] [-4.76809260e-01 8.79006663e-01 4.65115935e-04 -1.04926101e+02] [ 1.00832541e-03 1.78191982e-05 9.99999491e-01 -3.61691954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82655999499997 meters 0.0520834083440723 Centerline is valid? [True, True] Translation: X:476.25, Y:-104.95, Z:-3.62 [[ 8.78335195e-01 4.78043925e-01 -1.13634592e-03 4.76251157e+02] [-4.78043561e-01 8.78335929e-01 5.90461710e-04 -1.04954580e+02] [ 1.28036008e-03 2.45995503e-05 9.99999180e-01 -3.61743136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88655999499997 meters 0.05267070923269571 Centerline is valid? [True, True] Translation: X:476.31, Y:-104.98, Z:-3.62 [[ 8.77484068e-01 4.79603246e-01 -1.56122522e-03 4.76305552e+02] [-4.79602562e-01 8.77485456e-01 8.11028991e-04 -1.04983778e+02] [ 1.75892456e-03 3.71025981e-05 9.99998452e-01 -3.61766927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.946559995 meters 0.052277107848603156 Centerline is valid? [True, True] Translation: X:476.36, Y:-105.01, Z:-3.62 [[ 8.77273244e-01 4.79989143e-01 -1.44164255e-03 4.76360796e+02] [-4.79988560e-01 8.77274427e-01 7.49244474e-04 -1.05012933e+02] [ 1.62434535e-03 3.46797997e-05 9.99998680e-01 -3.61828237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.006559995 meters 0.05264498307740071 Centerline is valid? [True, True] Translation: X:476.42, Y:-105.04, Z:-3.62 [[ 8.77045399e-01 4.80405913e-01 -1.23526233e-03 4.76415492e+02] [-4.80405485e-01 8.77046269e-01 6.42290007e-04 -1.05042242e+02] [ 1.39194213e-03 3.01093015e-05 9.99999031e-01 -3.61813193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.066559995 meters 0.051711081164443305 Centerline is valid? [True, True] Translation: X:476.47, Y:-105.07, Z:-3.62 [[ 8.76950640e-01 4.80580276e-01 -4.16731067e-04 4.76470283e+02] [-4.80580227e-01 8.76950739e-01 2.17361272e-04 -1.05072355e+02] [ 4.69912157e-04 9.65760463e-06 9.99999890e-01 -3.61754015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.126559995 meters 0.05217211600106388 Centerline is valid? [True, True] Translation: X:476.53, Y:-105.10, Z:-3.62 [[ 8.77064379e-01 4.80372669e-01 4.17008575e-04 4.76526591e+02] [-4.80372620e-01 8.77064478e-01 -2.16080485e-04 -1.05096283e+02] [-4.69542568e-04 -1.08030054e-05 9.99999890e-01 -3.61878840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.186559995 meters 0.051687609900621274 Centerline is valid? [True, True] Translation: X:476.58, Y:-105.13, Z:-3.62 [[ 8.77081061e-01 4.80341656e-01 8.40076339e-04 4.76579224e+02] [-4.80341459e-01 8.77081463e-01 -4.35571261e-04 -1.05129140e+02] [-9.46038405e-04 -2.14921908e-05 9.99999552e-01 -3.61755169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.246559995 meters 0.05247921179865453 Centerline is valid? [True, True] Translation: X:476.64, Y:-105.15, Z:-3.62 [[ 8.76672565e-01 4.81087520e-01 -1.06643155e-04 4.76635760e+02] [-4.81087517e-01 8.76672572e-01 5.62641889e-05 -1.05153227e+02] [ 1.20559128e-04 1.97941978e-06 9.99999993e-01 -3.62004568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30655999499993 meters 0.05269425496683639 Centerline is valid? [True, True] Translation: X:476.69, Y:-105.18, Z:-3.62 [[ 8.76085294e-01 4.82155418e-01 -8.43500895e-04 4.76691224e+02] [-4.82155219e-01 8.76085699e-01 4.38648940e-04 -1.05181626e+02] [ 9.50476035e-04 2.24044727e-05 9.99999548e-01 -3.62113290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36655999499993 meters 0.05253810792287391 Centerline is valid? [True, True] Translation: X:476.74, Y:-105.21, Z:-3.62 [[ 8.75126620e-01 4.83889868e-01 -1.99880273e-03 4.76743684e+02] [-4.83888755e-01 8.75128901e-01 1.03944487e-03 -1.05212696e+02] [ 2.25218687e-03 5.75522896e-05 9.99997462e-01 -3.62062744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42655999499993 meters 0.052451799759763634 Centerline is valid? [True, True] Translation: X:476.80, Y:-105.24, Z:-3.62 [[ 8.74863656e-01 4.84364610e-01 -2.12344066e-03 4.76798024e+02] [-4.84363353e-01 8.74866230e-01 1.10487859e-03 -1.05240770e+02] [ 2.39289061e-03 6.18987169e-05 9.99997135e-01 -3.62104741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.48655999499994 meters 0.05176287849968914 Centerline is valid? [True, True] Translation: X:476.85, Y:-105.27, Z:-3.62 [[ 8.74895101e-01 4.84311780e-01 -8.13925609e-04 4.76850703e+02] [-4.84311595e-01 8.74895479e-01 4.24227322e-04 -1.05274719e+02] [ 9.17558125e-04 2.30392040e-05 9.99999579e-01 -3.61930807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54655999499994 meters 0.05174331397374345 Centerline is valid? [True, True] Translation: X:476.91, Y:-105.30, Z:-3.62 [[ 8.74998646e-01 4.84125362e-01 -5.59365228e-05 4.76905821e+02] [-4.84125361e-01 8.74998648e-01 3.00256933e-05 -1.05304250e+02] [ 6.34805813e-05 8.07848264e-07 9.99999998e-01 -3.61907610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60655999499994 meters 0.051998385196029645 Centerline is valid? [True, True] Translation: X:476.96, Y:-105.33, Z:-3.62 [[ 8.74964794e-01 4.84185208e-01 1.13721281e-03 4.76962255e+02] [-4.84184848e-01 8.74965533e-01 -5.90893160e-04 -1.05327935e+02] [-1.28112374e-03 -3.36104986e-05 9.99999179e-01 -3.62046648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66655999499994 meters 0.05137371298888923 Centerline is valid? [True, True] Translation: X:477.02, Y:-105.36, Z:-3.62 [[ 8.74555784e-01 4.84922715e-01 1.46317890e-03 4.77015572e+02] [-4.84922120e-01 8.74557007e-01 -7.60659958e-04 -1.05359644e+02] [-1.64849466e-03 -4.42882507e-05 9.99998640e-01 -3.61977306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72655999499995 meters 0.05200975199773771 Centerline is valid? [True, True] Translation: X:477.07, Y:-105.39, Z:-3.62 [[ 8.74037708e-01 4.85857771e-01 5.57281146e-04 4.77070905e+02] [-4.85857685e-01 8.74037886e-01 -2.89823098e-04 -1.05387286e+02] [-6.27897639e-04 -1.74430109e-05 9.99999803e-01 -3.62087712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78655999499995 meters 0.051786081201043 Centerline is valid? [True, True] Translation: X:477.12, Y:-105.42, Z:-3.62 [[ 8.73631592e-01 4.86586929e-01 1.00048017e-03 4.77123869e+02] [-4.86586653e-01 8.73632165e-01 -5.19979941e-04 -1.05420467e+02] [-1.12706710e-03 -3.25493919e-05 9.99999364e-01 -3.62049512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84655999499995 meters 0.05208389850643881 Centerline is valid? [True, True] Translation: X:477.18, Y:-105.45, Z:-3.62 [[ 8.73809269e-01 4.86267772e-01 1.00740590e-03 4.77180552e+02] [-4.86267491e-01 8.73809849e-01 -5.23735928e-04 -1.05445135e+02] [-1.13495710e-03 -3.22234294e-05 9.99999355e-01 -3.62173450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90655999499995 meters 0.051718084493024404 Centerline is valid? [True, True] Translation: X:477.23, Y:-105.48, Z:-3.62 [[ 8.75114050e-01 4.83915086e-01 1.26019998e-03 4.77232755e+02] [-4.83914643e-01 8.75114957e-01 -6.56169498e-04 -1.05478194e+02] [-1.42035017e-03 -3.56060749e-05 9.99998991e-01 -3.62176200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96655999499995 meters 0.052311322723527384 Centerline is valid? [True, True] Translation: X:477.29, Y:-105.51, Z:-3.62 [[ 8.76278709e-01 4.81803489e-01 1.01078936e-03 4.77287113e+02] [-4.81803203e-01 8.76279292e-01 -5.26287550e-04 -1.05505281e+02] [-1.13930096e-03 -2.58269745e-05 9.99999351e-01 -3.62283571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02655999499996 meters 0.05225870275009229 Centerline is valid? [True, True] Translation: X:477.34, Y:-105.53, Z:-3.63 [[ 8.76860459e-01 4.80744949e-01 1.70609393e-04 4.77343667e+02] [-4.80744941e-01 8.76860476e-01 -8.80283624e-05 -1.05528156e+02] [-1.91919824e-04 -4.83101218e-06 9.99999982e-01 -3.62514953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08655999499996 meters 0.05200774164518224 Centerline is valid? [True, True] Translation: X:477.40, Y:-105.56, Z:-3.62 [[ 8.77347185e-01 4.79856102e-01 1.96525095e-04 4.77395753e+02] [-4.79856091e-01 8.77347207e-01 -1.01905158e-04 -1.05561836e+02] [-2.21320555e-04 -4.89756008e-06 9.99999975e-01 -3.62376608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14655999499996 meters 0.05186247662317086 Centerline is valid? [True, True] Translation: X:477.45, Y:-105.59, Z:-3.62 [[ 8.77886014e-01 4.78867850e-01 1.31495397e-03 4.77451604e+02] [-4.78867361e-01 8.77886998e-01 -6.84937940e-04 -1.05590261e+02] [-1.48237575e-03 -2.83911015e-05 9.99998901e-01 -3.62335655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20655999499996 meters 0.0517794240670085 Centerline is valid? [True, True] Translation: X:477.51, Y:-105.61, Z:-3.62 [[ 8.78591697e-01 4.77569958e-01 1.88835091e-03 4.77507847e+02] [-4.77568946e-01 8.78593725e-01 -9.83714048e-04 -1.05614729e+02] [-2.12888554e-03 -3.75347591e-05 9.99997733e-01 -3.62368854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26655999499997 meters 0.05187673799350684 Centerline is valid? [True, True] Translation: X:477.56, Y:-105.65, Z:-3.62 [[ 8.79272499e-01 4.76312489e-01 2.50681765e-03 4.77561970e+02] [-4.76310701e-01 8.79276072e-01 -1.30603553e-03 -1.05645339e+02] [-2.82626581e-03 -4.56629486e-05 9.99996005e-01 -3.62259330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32655999499997 meters 0.05194238014368604 Centerline is valid? [True, True] Translation: X:477.62, Y:-105.67, Z:-3.62 [[ 8.79700879e-01 4.75517180e-01 3.12634136e-03 4.77617520e+02] [-4.75514391e-01 8.79706433e-01 -1.62947012e-03 -1.05673031e+02] [-3.52510364e-03 -5.31740051e-05 9.99993785e-01 -3.62260397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38655999499997 meters 0.052786621411892325 Centerline is valid? [True, True] Translation: X:477.67, Y:-105.70, Z:-3.62 [[ 8.79621429e-01 4.75666227e-01 2.78958888e-03 4.77674931e+02] [-4.75664007e-01 8.79625851e-01 -1.45421228e-03 -1.05697674e+02] [-3.14551416e-03 -4.77507381e-05 9.99995052e-01 -3.62451237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.446559995 meters 0.05268982481136811 Centerline is valid? [True, True] Translation: X:477.73, Y:-105.72, Z:-3.63 [[ 8.79012568e-01 4.76791983e-01 2.51186972e-03 4.77730430e+02] [-4.76790187e-01 8.79016156e-01 -1.30977038e-03 -1.05724864e+02] [-2.83246208e-03 -4.63302045e-05 9.99995987e-01 -3.62534624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.506559995 meters 0.05280622959612102 Centerline is valid? [True, True] Translation: X:477.79, Y:-105.75, Z:-3.63 [[ 8.78809614e-01 4.77166456e-01 2.41559953e-03 4.77786741e+02] [-4.77164795e-01 8.78812933e-01 -1.25991691e-03 -1.05749701e+02] [-2.72405019e-03 -4.54119624e-05 9.99996289e-01 -3.62629959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.566559995 meters 0.052708888754123856 Centerline is valid? [True, True] Translation: X:477.84, Y:-105.78, Z:-3.63 [[ 8.78981085e-01 4.76843787e-01 3.50071403e-03 4.77842474e+02] [-4.76840292e-01 8.78988054e-01 -1.82668229e-03 -1.05777496e+02] [-3.94812791e-03 -6.36623203e-05 9.99992204e-01 -3.62612070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.626559995 meters 0.05276372074505071 Centerline is valid? [True, True] Translation: X:477.90, Y:-105.80, Z:-3.63 [[ 8.79101174e-01 4.76608667e-01 5.03038258e-03 4.77898945e+02] [-4.76601441e-01 8.79115562e-01 -2.62592544e-03 -1.05804283e+02] [-5.67382643e-03 -8.90334512e-05 9.99983900e-01 -3.62512822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.686559995 meters 0.05189806129378479 Centerline is valid? [True, True] Translation: X:477.95, Y:-105.83, Z:-3.63 [[ 8.79041617e-01 4.76715403e-01 5.31605792e-03 4.77954839e+02] [-4.76707331e-01 8.79057686e-01 -2.77578686e-03 -1.05834210e+02] [-5.99638193e-03 -9.41716119e-05 9.99982017e-01 -3.62615297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.746559995 meters 0.05249425926927722 Centerline is valid? [True, True] Translation: X:478.01, Y:-105.86, Z:-3.63 [[ 8.79059978e-01 4.76696163e-01 3.78472239e-03 4.78009550e+02] [-4.76692070e-01 8.79068123e-01 -1.97653939e-03 -1.05863002e+02] [-4.26923755e-03 -6.66504726e-05 9.99990885e-01 -3.62709465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80655999499993 meters 0.05241756303356171 Centerline is valid? [True, True] Translation: X:478.06, Y:-105.89, Z:-3.63 [[ 8.79593052e-01 4.75717877e-01 2.92640041e-03 4.78064515e+02] [-4.75715423e-01 8.79597919e-01 -1.52861131e-03 -1.05891488e+02] [-3.30124344e-03 -4.75779197e-05 9.99994550e-01 -3.62756996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86655999499993 meters 0.05316766600482252 Centerline is valid? [True, True] Translation: X:478.12, Y:-105.92, Z:-3.63 [[ 8.79922369e-01 4.75109655e-01 2.72780233e-03 4.78121782e+02] [-4.75107518e-01 8.79926596e-01 -1.42543542e-03 -1.05915782e+02] [-3.07750395e-03 -4.17268821e-05 9.99995264e-01 -3.62949028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92655999499993 meters 0.052586626648946776 Centerline is valid? [True, True] Translation: X:478.18, Y:-105.95, Z:-3.63 [[ 8.80619058e-01 4.73817057e-01 2.73327381e-03 4.78176090e+02] [-4.73814907e-01 8.80623299e-01 -1.42807120e-03 -1.05945460e+02] [-3.08362909e-03 -3.74791583e-05 9.99995245e-01 -3.62913065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98655999499994 meters 0.052877454536369835 Centerline is valid? [True, True] Translation: X:478.23, Y:-105.97, Z:-3.63 [[ 8.81693962e-01 4.71811104e-01 3.16848048e-03 4.78230859e+02] [-4.71808199e-01 8.81699655e-01 -1.65610678e-03 -1.05973055e+02] [-3.57501772e-03 -3.47357180e-05 9.99993609e-01 -3.62911567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04655999499994 meters 0.053110287269015295 Centerline is valid? [True, True] Translation: X:478.29, Y:-106.00, Z:-3.63 [[ 8.82551698e-01 4.70201518e-01 3.61020584e-03 4.78285201e+02] [-4.70197729e-01 8.82559081e-01 -1.88784080e-03 -1.06004208e+02] [-4.07388556e-03 -3.13934806e-05 9.99991701e-01 -3.62949879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10655999499994 meters 0.052226979793291106 Centerline is valid? [True, True] Translation: X:478.34, Y:-106.03, Z:-3.63 [[ 8.82884912e-01 4.69575042e-01 3.67592939e-03 4.78340500e+02] [-4.69571108e-01 8.82892564e-01 -1.92216979e-03 -1.06030575e+02] [-4.14805368e-03 -2.90555354e-05 9.99991396e-01 -3.63139629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16655999499994 meters 0.05234881511910544 Centerline is valid? [True, True] Translation: X:478.40, Y:-106.06, Z:-3.63 [[ 8.82199777e-01 4.70860772e-01 3.69973980e-03 4.78395545e+02] [-4.70856796e-01 8.82207534e-01 -1.93512843e-03 -1.06059843e+02] [-4.17511439e-03 -3.48777557e-05 9.99991284e-01 -3.63115474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22655999499995 meters 0.05240868007514728 Centerline is valid? [True, True] Translation: X:478.45, Y:-106.09, Z:-3.63 [[ 8.80405515e-01 4.74208105e-01 3.57790072e-03 4.78451827e+02] [-4.74204412e-01 8.80412784e-01 -1.87211383e-03 -1.06085867e+02] [-4.03780109e-03 -4.84369696e-05 9.99991847e-01 -3.63263348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28655999499995 meters 0.05301693789640799 Centerline is valid? [True, True] Translation: X:478.51, Y:-106.11, Z:-3.63 [[ 8.78802708e-01 4.77174865e-01 3.15417889e-03 4.78507632e+02] [-4.77172015e-01 8.78808366e-01 -1.65025119e-03 -1.06112479e+02] [-3.55937718e-03 -5.48406819e-05 9.99993664e-01 -3.63380275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34655999499995 meters 0.0522386301738903 Centerline is valid? [True, True] Translation: X:478.56, Y:-106.14, Z:-3.63 [[ 8.76841601e-01 4.80773604e-01 2.35563264e-03 4.78558983e+02] [-4.80772025e-01 8.76844763e-01 -1.23304910e-03 -1.06144787e+02] [-2.65834161e-03 -5.13335291e-05 9.99996465e-01 -3.63377523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40655999499995 meters 0.05245923548403246 Centerline is valid? [True, True] Translation: X:478.62, Y:-106.17, Z:-3.64 [[ 8.76307078e-01 4.81748910e-01 1.97283519e-03 4.78615398e+02] [-4.81747806e-01 8.76309298e-01 -1.03249578e-03 -1.06170723e+02] [-2.22621754e-03 -4.56256621e-05 9.99997521e-01 -3.63525570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46655999499995 meters 0.053079884696787205 Centerline is valid? [True, True] Translation: X:478.67, Y:-106.20, Z:-3.64 [[ 8.76318064e-01 4.81730331e-01 1.59317489e-03 4.78672225e+02] [-4.81729612e-01 8.76319512e-01 -8.33309283e-04 -1.06196383e+02] [-1.79756060e-03 -3.72355453e-05 9.99998384e-01 -3.63762338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52655999499996 meters 0.05300637426064924 Centerline is valid? [True, True] Translation: X:478.73, Y:-106.23, Z:-3.64 [[ 8.76735779e-01 4.80968270e-01 1.97434860e-03 4.78727086e+02] [-4.80967161e-01 8.76738001e-01 -1.03370758e-03 -1.06226367e+02] [-2.22816699e-03 -4.33084220e-05 9.99997517e-01 -3.63838885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58655999499996 meters 0.051919043137821815 Centerline is valid? [True, True] Translation: X:478.78, Y:-106.26, Z:-3.64 [[ 8.77056635e-01 4.80379524e-01 2.67816383e-03 4.78778308e+02] [-4.80377480e-01 8.77060722e-01 -1.40242808e-03 -1.06263593e+02] [-3.02261003e-03 -5.65207453e-05 9.99995430e-01 -3.63684266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64655999499996 meters 0.05229192671033 Centerline is valid? [True, True] Translation: X:478.83, Y:-106.29, Z:-3.64 [[ 8.76536035e-01 4.81326659e-01 3.03770937e-03 4.78832174e+02] [-4.81324035e-01 8.76541296e-01 -1.59062460e-03 -1.06292243e+02] [-3.42828773e-03 -6.78827546e-05 9.99994121e-01 -3.63721906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70655999499996 meters 0.05221492713290271 Centerline is valid? [True, True] Translation: X:478.89, Y:-106.32, Z:-3.64 [[ 8.75609294e-01 4.83013315e-01 2.54972958e-03 4.78887269e+02] [-4.83011472e-01 8.75613005e-01 -1.33567788e-03 -1.06321269e+02] [-2.87772658e-03 -6.20166712e-05 9.99995857e-01 -3.63842184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76655999499997 meters 0.053487046693792686 Centerline is valid? [True, True] Translation: X:478.94, Y:-106.34, Z:-3.64 [[ 8.74338926e-01 4.85313924e-01 1.35547470e-03 4.78943839e+02] [-4.85313406e-01 8.74339976e-01 -7.09951904e-04 -1.06342340e+02] [-1.52969527e-03 -3.70914600e-05 9.99998829e-01 -3.64154963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82655999499997 meters 0.05233394343261964 Centerline is valid? [True, True] Translation: X:478.99, Y:-106.38, Z:-3.64 [[ 8.72935368e-01 4.87835683e-01 4.35515580e-04 4.78993035e+02] [-4.87835630e-01 8.72935476e-01 -2.27488901e-04 -1.06381006e+02] [-4.91154204e-04 -1.38769096e-05 9.99999879e-01 -3.64039897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88655999499997 meters 0.05239253062156273 Centerline is valid? [True, True] Translation: X:479.05, Y:-106.40, Z:-3.64 [[ 8.72667624e-01 4.88314282e-01 6.17183412e-04 4.79050130e+02] [-4.88314176e-01 8.72667842e-01 -3.22703707e-04 -1.06404717e+02] [-6.96176945e-04 -1.97663319e-05 9.99999757e-01 -3.64262562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.946559995 meters 0.052663753664550124 Centerline is valid? [True, True] Translation: X:479.10, Y:-106.44, Z:-3.64 [[ 8.73171718e-01 4.87405872e-01 2.58203432e-03 4.79102484e+02] [-4.87403999e-01 8.73175532e-01 -1.35356527e-03 -1.06437346e+02] [-2.91430485e-03 -7.65989355e-05 9.99995750e-01 -3.64153788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.006559995 meters 0.05233383489038071 Centerline is valid? [True, True] Translation: X:479.16, Y:-106.47, Z:-3.64 [[ 8.73522101e-01 4.86770093e-01 3.74380003e-03 4.79156852e+02] [-4.86766149e-01 8.73530117e-01 -1.96240211e-03 -1.06467954e+02] [-4.22556073e-03 -1.08153512e-04 9.99991066e-01 -3.64136091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.066559995 meters 0.05174768543360474 Centerline is valid? [True, True] Translation: X:479.21, Y:-106.50, Z:-3.64 [[ 8.73603983e-01 4.86619066e-01 4.23849284e-03 4.79209261e+02] [-4.86614006e-01 8.73614257e-01 -2.22237613e-03 -1.06502279e+02] [-4.78425837e-03 -1.21033340e-04 9.99988548e-01 -3.64153016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.126559995 meters 0.05243099904355633 Centerline is valid? [True, True] Translation: X:479.27, Y:-106.53, Z:-3.64 [[ 8.73578575e-01 4.86670450e-01 3.51370743e-03 4.79265559e+02] [-4.86666972e-01 8.73585636e-01 -1.84265096e-03 -1.06528319e+02] [-3.96628811e-03 -1.00304957e-04 9.99992129e-01 -3.64313586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.186559995 meters 0.05199823909696722 Centerline is valid? [True, True] Translation: X:479.32, Y:-106.56, Z:-3.64 [[ 8.74269587e-01 4.85435589e-01 2.23109897e-03 4.79318079e+02] [-4.85434183e-01 8.74272432e-01 -1.17006146e-03 -1.06561231e+02] [-2.51857780e-03 -6.01025601e-05 9.99996827e-01 -3.64493616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.246559995 meters 0.052054347682259416 Centerline is valid? [True, True] Translation: X:479.37, Y:-106.59, Z:-3.65 [[ 8.74304012e-01 4.85375371e-01 1.80099097e-03 4.79373815e+02] [-4.85374454e-01 8.74305866e-01 -9.44476311e-04 -1.06590633e+02] [-2.03304251e-03 -4.83955831e-05 9.99997932e-01 -3.64586469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30655999499993 meters 0.05122275077885119 Centerline is valid? [True, True] Translation: X:479.43, Y:-106.63, Z:-3.64 [[ 8.74274555e-01 4.85429329e-01 1.53925253e-03 4.79425104e+02] [-4.85428660e-01 8.74275909e-01 -8.07267960e-04 -1.06628901e+02] [-1.73760295e-03 -4.14234575e-05 9.99998490e-01 -3.64461952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36655999499993 meters 0.05113976668509632 Centerline is valid? [True, True] Translation: X:479.48, Y:-106.66, Z:-3.65 [[ 8.74303925e-01 4.85377369e-01 1.20667560e-03 4.79477649e+02] [-4.85376957e-01 8.74304757e-01 -6.32873969e-04 -1.06661195e+02] [-1.36218492e-03 -3.23683351e-05 9.99999072e-01 -3.64516252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42655999499993 meters 0.051090997468436684 Centerline is valid? [True, True] Translation: X:479.53, Y:-106.69, Z:-3.64 [[ 8.74939906e-01 4.84227908e-01 1.86941555e-03 4.79530495e+02] [-4.84226915e-01 8.74941902e-01 -9.81722322e-04 -1.06693763e+02] [-2.11100734e-03 -4.62732894e-05 9.99997771e-01 -3.64484674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48655999499994 meters 0.051648627736712145 Centerline is valid? [True, True] Translation: X:479.59, Y:-106.72, Z:-3.65 [[ 8.76081131e-01 4.82156189e-01 2.69450384e-03 4.79587190e+02] [-4.82154115e-01 8.76085273e-01 -1.41539850e-03 -1.06716860e+02] [-3.04305828e-03 -5.91621920e-05 9.99995368e-01 -3.64607753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54655999499994 meters 0.050957436962093115 Centerline is valid? [True, True] Translation: X:479.64, Y:-106.75, Z:-3.65 [[ 8.76827827e-01 4.80791169e-01 3.57948976e-03 4.79639570e+02] [-4.80787499e-01 8.76835131e-01 -1.88010908e-03 -1.06750432e+02] [-4.04256221e-03 -7.24419662e-05 9.99991826e-01 -3.64509476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60655999499994 meters 0.05146982662002688 Centerline is valid? [True, True] Translation: X:479.69, Y:-106.78, Z:-3.65 [[ 8.77994919e-01 4.78649868e-01 4.38476360e-03 4.79693167e+02] [-4.78644328e-01 8.78005865e-01 -2.30412421e-03 -1.06777878e+02] [-4.95271690e-03 -7.57328814e-05 9.99987732e-01 -3.64540195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66655999499994 meters 0.05197340974632415 Centerline is valid? [True, True] Translation: X:479.75, Y:-106.81, Z:-3.65 [[ 8.79236656e-01 4.76372830e-01 3.43951283e-03 4.79747707e+02] [-4.76369404e-01 8.79243382e-01 -1.80736083e-03 -1.06808484e+02] [-3.88514649e-03 -4.93807840e-05 9.99992452e-01 -3.64783884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72655999499995 meters 0.05121634321669903 Centerline is valid? [True, True] Translation: X:479.80, Y:-106.84, Z:-3.65 [[ 8.79854219e-01 4.75236559e-01 2.60116240e-03 4.79800721e+02] [-4.75234596e-01 8.79858063e-01 -1.36650197e-03 -1.06840693e+02] [-2.93806541e-03 -3.38398417e-05 9.99995683e-01 -3.64810837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78655999499995 meters 0.050782870663584216 Centerline is valid? [True, True] Translation: X:479.85, Y:-106.87, Z:-3.65 [[ 8.80081744e-01 4.74817216e-01 2.17595725e-03 4.79854220e+02] [-4.74815840e-01 8.80084434e-01 -1.14333271e-03 -1.06870230e+02] [-2.45790016e-03 -2.69527274e-05 9.99996979e-01 -3.64837646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84655999499995 meters 0.050543913415434794 Centerline is valid? [True, True] Translation: X:479.91, Y:-106.90, Z:-3.65 [[ 8.81113910e-01 4.72899019e-01 2.18990761e-03 4.79909551e+02] [-4.72897618e-01 8.81116631e-01 -1.15131891e-03 -1.06898773e+02] [-2.47402160e-03 -2.11589903e-05 9.99996939e-01 -3.64933123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90655999499995 meters 0.05074413153453917 Centerline is valid? [True, True] Translation: X:479.96, Y:-106.93, Z:-3.65 [[ 8.81875743e-01 4.71473893e-01 2.74636637e-03 4.79964330e+02] [-4.71471683e-01 8.81880019e-01 -1.44378632e-03 -1.06926101e+02] [-3.10267319e-03 -2.15938372e-05 9.99995186e-01 -3.65086707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96655999499995 meters 0.050756149662881306 Centerline is valid? [True, True] Translation: X:480.02, Y:-106.96, Z:-3.65 [[ 8.82785192e-01 4.69764643e-01 3.38883653e-03 4.80018373e+02] [-4.69761262e-01 8.82791697e-01 -1.78245602e-03 -1.06956521e+02] [-3.82897157e-03 -1.84183447e-05 9.99992669e-01 -3.64956591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02655999499996 meters 0.05072946744537182 Centerline is valid? [True, True] Translation: X:480.07, Y:-106.98, Z:-3.65 [[ 8.83000340e-01 4.69362980e-01 2.96504290e-03 4.80073576e+02] [-4.69360390e-01 8.83005319e-01 -1.55928936e-03 -1.06983668e+02] [-3.35002135e-03 -1.48206556e-05 9.99994389e-01 -3.65139934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08655999499996 meters 0.05126973027028749 Centerline is valid? [True, True] Translation: X:480.13, Y:-107.01, Z:-3.65 [[ 8.82791796e-01 4.69757789e-01 2.50270781e-03 4.80129507e+02] [-4.69755945e-01 8.82795344e-01 -1.31634210e-03 -1.07013471e+02] [-2.82774076e-03 -1.36058635e-05 9.99996002e-01 -3.65120658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14655999499996 meters 0.05104694744303925 Centerline is valid? [True, True] Translation: X:480.18, Y:-107.04, Z:-3.65 [[ 8.82354653e-01 4.70582580e-01 1.51697962e-03 4.80184369e+02] [-4.70581904e-01 8.82355957e-01 -7.97866733e-04 -1.07039816e+02] [-1.71397819e-03 -9.86173120e-06 9.99998531e-01 -3.65347755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20655999499996 meters 0.05121792296189012 Centerline is valid? [True, True] Translation: X:480.24, Y:-107.07, Z:-3.65 [[ 8.82161545e-01 4.70942569e-01 2.02611218e-03 4.80240081e+02] [-4.70941362e-01 8.82163872e-01 -1.06611281e-03 -1.07068191e+02] [-2.28944087e-03 -1.36963109e-05 9.99997379e-01 -3.65366969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26655999499997 meters 0.0507222452064182 Centerline is valid? [True, True] Translation: X:480.30, Y:-107.10, Z:-3.65 [[ 8.82324923e-01 4.70635496e-01 2.22706387e-03 4.80295742e+02] [-4.70634036e-01 8.82327734e-01 -1.17229253e-03 -1.07097857e+02] [-2.51672269e-03 -1.37891399e-05 9.99996833e-01 -3.65356911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32655999499997 meters 0.05156186493021066 Centerline is valid? [True, True] Translation: X:480.35, Y:-107.13, Z:-3.66 [[ 8.82899014e-01 4.69558056e-01 2.13629794e-03 4.80349673e+02] [-4.69556708e-01 8.82901598e-01 -1.12518567e-03 -1.07126712e+02] [-2.41448086e-03 -9.68770496e-06 9.99997085e-01 -3.65509177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38655999499997 meters 0.05086693327167043 Centerline is valid? [True, True] Translation: X:480.41, Y:-107.16, Z:-3.65 [[ 8.83196962e-01 4.68999616e-01 1.57657584e-03 4.80405023e+02] [-4.68998882e-01 8.83198370e-01 -8.29924579e-04 -1.07157617e+02] [-1.78166352e-03 -6.42544054e-06 9.99998413e-01 -3.65457916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.446559995 meters 0.05133411804384308 Centerline is valid? [True, True] Translation: X:480.46, Y:-107.19, Z:-3.66 [[ 8.82972173e-01 4.69423426e-01 1.33764593e-03 4.80460304e+02] [-4.69422898e-01 8.82973186e-01 -7.04271263e-04 -1.07186096e+02] [-1.51170692e-03 -6.06970362e-06 9.99998857e-01 -3.65595148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.506559995 meters 0.051382304073967794 Centerline is valid? [True, True] Translation: X:480.52, Y:-107.21, Z:-3.66 [[ 8.82338039e-01 4.70614953e-01 1.07237014e-03 4.80515730e+02] [-4.70614615e-01 8.82338691e-01 -5.64629764e-04 -1.07214965e+02] [-1.21191688e-03 -6.47874156e-06 9.99999266e-01 -3.65632044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.566559995 meters 0.051536760056489786 Centerline is valid? [True, True] Translation: X:480.57, Y:-107.24, Z:-3.66 [[ 8.81956805e-01 4.71330048e-01 4.25074050e-04 4.80570480e+02] [-4.71329995e-01 8.81956907e-01 -2.23367830e-04 -1.07243128e+02] [-4.80176964e-04 -3.34937273e-06 9.99999885e-01 -3.65777910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.626559995 meters 0.05152695085740722 Centerline is valid? [True, True] Translation: X:480.63, Y:-107.27, Z:-3.66 [[ 8.81515478e-01 4.72154957e-01 3.97787092e-04 4.80626495e+02] [-4.72154911e-01 8.81515568e-01 -2.08831937e-04 -1.07272781e+02] [-4.49256549e-04 -3.72854457e-06 9.99999899e-01 -3.65797646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.686559995 meters 0.05105577586606871 Centerline is valid? [True, True] Translation: X:480.68, Y:-107.30, Z:-3.66 [[ 8.81206912e-01 4.72729830e-01 9.41545642e-04 4.80681600e+02] [-4.72729569e-01 8.81207415e-01 -4.95923378e-04 -1.07303605e+02] [-1.06413478e-03 -8.08535749e-06 9.99999434e-01 -3.65696931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.746559995 meters 0.05161824988646985 Centerline is valid? [True, True] Translation: X:480.74, Y:-107.33, Z:-3.66 [[ 8.81157330e-01 4.72821894e-01 1.10283845e-03 4.80736662e+02] [-4.72821537e-01 8.81158020e-01 -5.81318428e-04 -1.07332008e+02] [-1.24663503e-03 -9.21277724e-06 9.99999223e-01 -3.65859195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80655999499993 meters 0.051356326927112166 Centerline is valid? [True, True] Translation: X:480.79, Y:-107.36, Z:-3.66 [[ 8.80691148e-01 4.73690468e-01 6.65949885e-04 4.80790846e+02] [-4.73690338e-01 8.80691399e-01 -3.50894182e-04 -1.07360016e+02] [-7.52711565e-04 -6.42462643e-06 9.99999717e-01 -3.66004098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86655999499993 meters 0.05098104778815242 Centerline is valid? [True, True] Translation: X:480.84, Y:-107.39, Z:-3.66 [[ 8.80278658e-01 4.74456917e-01 3.42874119e-04 4.80844731e+02] [-4.74456883e-01 8.80278725e-01 -1.80194939e-04 -1.07390371e+02] [-3.87319528e-04 -4.05722629e-06 9.99999925e-01 -3.65922571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92655999499993 meters 0.05145278166635684 Centerline is valid? [True, True] Translation: X:480.90, Y:-107.42, Z:-3.66 [[ 8.80448243e-01 4.74142048e-01 4.57943700e-04 4.80898457e+02] [-4.74141987e-01 8.80448362e-01 -2.41129658e-04 -1.07419283e+02] [-5.17525491e-04 -4.82815223e-06 9.99999866e-01 -3.65994161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98655999499994 meters 0.050813063341456056 Centerline is valid? [True, True] Translation: X:480.95, Y:-107.45, Z:-3.66 [[ 8.81351116e-01 4.72461274e-01 7.44702876e-04 4.80951813e+02] [-4.72461111e-01 8.81351431e-01 -3.92789662e-04 -1.07448694e+02] [-8.41922850e-04 -5.65754197e-06 9.99999646e-01 -3.66067517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04655999499994 meters 0.05060477690701803 Centerline is valid? [True, True] Translation: X:481.00, Y:-107.48, Z:-3.66 [[ 8.83551348e-01 4.68332131e-01 1.42491267e-03 4.81004068e+02] [-4.68331526e-01 8.83552497e-01 -7.52504953e-04 -1.07481683e+02] [-1.61140739e-03 -2.45475769e-06 9.99998702e-01 -3.65981748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10655999499994 meters 0.051202315849116865 Centerline is valid? [True, True] Translation: X:481.06, Y:-107.51, Z:-3.66 [[ 8.85224625e-01 4.65160519e-01 1.74784642e-03 4.81059287e+02] [-4.65159602e-01 8.85226350e-01 -9.23791769e-04 -1.07512948e+02] [-1.97695117e-03 4.73567807e-06 9.99998046e-01 -3.65912689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16655999499994 meters 0.05114307156471491 Centerline is valid? [True, True] Translation: X:481.11, Y:-107.54, Z:-3.66 [[ 8.86128815e-01 4.63437827e-01 1.05085745e-03 4.81114475e+02] [-4.63437494e-01 8.86129438e-01 -5.55410232e-04 -1.07541795e+02] [-1.18859383e-03 5.15826860e-06 9.99999294e-01 -3.66061290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22655999499995 meters 0.051360577567126045 Centerline is valid? [True, True] Translation: X:481.17, Y:-107.57, Z:-3.66 [[ 8.86282448e-01 4.63144561e-01 7.33724998e-04 4.81169664e+02] [-4.63144399e-01 8.86282752e-01 -3.87121788e-04 -1.07570743e+02] [-8.29581161e-04 3.27862320e-06 9.99999656e-01 -3.66124842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28655999499995 meters 0.051521083942390924 Centerline is valid? [True, True] Translation: X:481.23, Y:-107.60, Z:-3.66 [[ 8.86290984e-01 4.63128293e-01 6.89345064e-04 4.81225948e+02] [-4.63128150e-01 8.86291253e-01 -3.64077922e-04 -1.07597406e+02] [-7.79575287e-04 3.42387589e-06 9.99999696e-01 -3.65991430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34655999499995 meters 0.05172640828318037 Centerline is valid? [True, True] Translation: X:481.28, Y:-107.63, Z:-3.66 [[ 8.86381292e-01 4.62954905e-01 9.80870795e-04 4.81281534e+02] [-4.62954614e-01 8.86381834e-01 -5.18624023e-04 -1.07626139e+02] [-1.10952559e-03 5.59997114e-06 9.99999384e-01 -3.66177164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40655999499995 meters 0.051680611900082836 Centerline is valid? [True, True] Translation: X:481.34, Y:-107.65, Z:-3.66 [[ 8.86730393e-01 4.62285874e-01 9.90556413e-04 4.81338969e+02] [-4.62285577e-01 8.86730946e-01 -5.23893484e-04 -1.07651170e+02] [-1.12054558e-03 6.63233262e-06 9.99999372e-01 -3.66032720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46655999499995 meters 0.052738902742587405 Centerline is valid? [True, True] Translation: X:481.39, Y:-107.68, Z:-3.66 [[ 8.87397144e-01 4.61005365e-01 6.02145161e-04 4.81394706e+02] [-4.61005255e-01 8.87397348e-01 -3.17860451e-04 -1.07677157e+02] [-6.80877393e-04 4.47637275e-06 9.99999768e-01 -3.66141596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52655999499996 meters 0.052367139848971844 Centerline is valid? [True, True] Translation: X:481.45, Y:-107.70, Z:-3.66 [[ 8.87975234e-01 4.59891238e-01 -1.81665818e-04 4.81451051e+02] [-4.59891228e-01 8.87975253e-01 9.70812645e-05 -1.07700668e+02] [ 2.05961573e-04 -2.65924244e-06 9.99999979e-01 -3.66047781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58655999499996 meters 0.0522470170673562 Centerline is valid? [True, True] Translation: X:481.51, Y:-107.73, Z:-3.66 [[ 8.88162077e-01 4.59530322e-01 8.35023573e-05 4.81507239e+02] [-4.59530320e-01 8.88162081e-01 -4.37653880e-05 -1.07730177e+02] [-9.42751506e-05 4.98892940e-07 9.99999996e-01 -3.66245620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64655999499996 meters 0.05234285747998456 Centerline is valid? [True, True] Translation: X:481.56, Y:-107.76, Z:-3.66 [[ 8.88173771e-01 4.59507680e-01 2.11467471e-04 4.81563761e+02] [-4.59507667e-01 8.88173796e-01 -1.10982115e-04 -1.07757643e+02] [-2.38817001e-04 1.40047920e-06 9.99999971e-01 -3.66249389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70655999499996 meters 0.05205520423489779 Centerline is valid? [True, True] Translation: X:481.62, Y:-107.79, Z:-3.66 [[ 8.88079003e-01 4.59690681e-01 4.02593196e-04 4.81619926e+02] [-4.59690632e-01 8.88079094e-01 -2.12946352e-04 -1.07785326e+02] [-4.55424055e-04 4.04486290e-06 9.99999896e-01 -3.66264996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76655999499997 meters 0.052205598862189284 Centerline is valid? [True, True] Translation: X:481.68, Y:-107.81, Z:-3.66 [[ 8.86937064e-01 4.61889339e-01 9.39686889e-04 4.81676338e+02] [-4.61889071e-01 8.86937562e-01 -4.97073252e-04 -1.07809052e+02] [-1.06303643e-03 6.84158643e-06 9.99999435e-01 -3.66285236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82655999499997 meters 0.05219597299053559 Centerline is valid? [True, True] Translation: X:481.73, Y:-107.83, Z:-3.66 [[ 8.85814778e-01 4.64038395e-01 7.40050518e-04 4.81732699e+02] [-4.64038230e-01 8.85815087e-01 -3.91400966e-04 -1.07832428e+02] [-8.37172990e-04 3.29702739e-06 9.99999650e-01 -3.66128726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88655999499997 meters 0.05253435389938144 Centerline is valid? [True, True] Translation: X:481.79, Y:-107.86, Z:-3.66 [[ 8.83525283e-01 4.68383202e-01 4.99759527e-04 4.81790615e+02] [-4.68383128e-01 8.83525425e-01 -2.64154085e-04 -1.07856173e+02] [-5.65275585e-04 -6.92118095e-07 9.99999840e-01 -3.66177597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.946559995 meters 0.05265350581735908 Centerline is valid? [True, True] Translation: X:481.85, Y:-107.88, Z:-3.66 [[ 8.81819876e-01 4.71586341e-01 1.73095957e-04 4.81848197e+02] [-4.71586332e-01 8.81819893e-01 -9.14515198e-05 -1.07881087e+02] [-1.95766746e-04 -9.85919306e-07 9.99999981e-01 -3.66394921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.006559995 meters 0.05278867729168077 Centerline is valid? [True, True] Translation: X:481.91, Y:-107.90, Z:-3.66 [[ 8.79107685e-01 4.76623176e-01 -1.60714919e-04 4.81906399e+02] [-4.76623169e-01 8.79107700e-01 8.55004593e-05 -1.07904402e+02] [ 1.82037223e-04 1.43634296e-06 9.99999983e-01 -3.66427552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.066559995 meters 0.05254796849538075 Centerline is valid? [True, True] Translation: X:481.96, Y:-107.93, Z:-3.67 [[ 8.77488754e-01 4.79597041e-01 -4.05552341e-04 4.81963296e+02] [-4.79596993e-01 8.77488848e-01 2.16002908e-04 -1.07927217e+02] [ 4.59462012e-04 4.96156025e-06 9.99999894e-01 -3.66658514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.126559995 meters 0.05262641931656161 Centerline is valid? [True, True] Translation: X:482.02, Y:-107.95, Z:-3.66 [[ 8.75898854e-01 4.82494432e-01 5.65939179e-04 4.82018716e+02] [-4.82494339e-01 8.75899037e-01 -2.99371000e-04 -1.07954597e+02] [-6.40150422e-04 -1.08437340e-05 9.99999795e-01 -3.66474219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.186559995 meters 0.052299784590039186 Centerline is valid? [True, True] Translation: X:482.07, Y:-107.98, Z:-3.66 [[ 8.75852307e-01 4.82574011e-01 2.24939662e-03 4.82074784e+02] [-4.82572539e-01 8.75855195e-01 -1.19281229e-03 -1.07981600e+02] [-2.54576593e-03 -4.07696378e-05 9.99996759e-01 -3.66437990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.246559995 meters 0.05275886404626162 Centerline is valid? [True, True] Translation: X:482.13, Y:-108.01, Z:-3.67 [[ 8.76746128e-01 4.80946313e-01 2.62122441e-03 4.82130848e+02] [-4.80944304e-01 8.76750046e-01 -1.39057602e-03 -1.08006026e+02] [-2.96695103e-03 -4.14808021e-05 9.99995598e-01 -3.66635210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30655999499993 meters 0.0530754961744905 Centerline is valid? [True, True] Translation: X:482.18, Y:-108.04, Z:-3.67 [[ 8.79461138e-01 4.75964896e-01 2.35050696e-03 4.82183462e+02] [-4.75963261e-01 8.79464279e-01 -1.24754233e-03 -1.08038758e+02] [-2.66097326e-03 -2.15899655e-05 9.99996459e-01 -3.66629397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36655999499993 meters 0.0528106847362657 Centerline is valid? [True, True] Translation: X:482.24, Y:-108.07, Z:-3.67 [[ 8.81917246e-01 4.71396624e-01 2.68227624e-03 4.82237380e+02] [-4.71394474e-01 8.81921325e-01 -1.42367677e-03 -1.08067702e+02] [-3.03667304e-03 -8.84510090e-06 9.99995389e-01 -3.66790017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42655999499993 meters 0.05269253157987401 Centerline is valid? [True, True] Translation: X:482.29, Y:-108.10, Z:-3.67 [[ 8.86048588e-01 4.63581661e-01 3.15331324e-03 4.82291569e+02] [-4.63578639e-01 8.86054199e-01 -1.67388356e-03 -1.08097031e+02] [-3.56998816e-03 2.13335005e-05 9.99993627e-01 -3.66637940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48655999499994 meters 0.05306605534870395 Centerline is valid? [True, True] Translation: X:482.35, Y:-108.12, Z:-3.67 [[ 8.88680649e-01 4.58519016e-01 2.64888312e-03 4.82346705e+02] [-4.58516860e-01 8.88684596e-01 -1.40674854e-03 -1.08124773e+02] [-2.99904258e-03 3.55926385e-05 9.99995502e-01 -3.66715371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54655999499994 meters 0.05363253954917299 Centerline is valid? [True, True] Translation: X:482.40, Y:-108.15, Z:-3.67 [[ 8.92062148e-01 4.51905525e-01 2.55373457e-03 4.82400854e+02] [-4.51903493e-01 8.92065801e-01 -1.35631251e-03 -1.08153742e+02] [-2.89102439e-03 5.58734752e-05 9.99995819e-01 -3.66930667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60655999499994 meters 0.05418949024062369 Centerline is valid? [True, True] Translation: X:482.46, Y:-108.18, Z:-3.67 [[ 8.93873919e-01 4.48309049e-01 2.90074475e-03 4.82456762e+02] [-4.48306408e-01 8.93878622e-01 -1.54072191e-03 -1.08179798e+02] [-3.28363329e-03 7.67886707e-05 9.99994606e-01 -3.66941724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66655999499994 meters 0.053772331333499325 Centerline is valid? [True, True] Translation: X:482.51, Y:-108.21, Z:-3.67 [[ 8.94034597e-01 4.47986625e-01 3.18166801e-03 4.82509788e+02] [-4.47983447e-01 8.94040254e-01 -1.68969497e-03 -1.08209445e+02] [-3.60150003e-03 8.53111582e-05 9.99993511e-01 -3.67084682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72655999499995 meters 0.05357520203738211 Centerline is valid? [True, True] Translation: X:482.56, Y:-108.24, Z:-3.67 [[ 8.93263241e-01 4.49520118e-01 3.52779647e-03 4.82562357e+02] [-4.49516219e-01 8.93270203e-01 -1.87434010e-03 -1.08242173e+02] [-3.99382905e-03 8.84773844e-05 9.99992021e-01 -3.67291434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78655999499995 meters 0.053810004933350544 Centerline is valid? [True, True] Translation: X:482.62, Y:-108.26, Z:-3.67 [[ 8.90298749e-01 4.55358294e-01 4.11831645e-03 4.82620430e+02] [-4.55353042e-01 8.90308272e-01 -2.18837927e-03 -1.08262876e+02] [-4.66306785e-03 7.30234033e-05 9.99989125e-01 -3.67399310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84655999499995 meters 0.05299017095427413 Centerline is valid? [True, True] Translation: X:482.68, Y:-108.28, Z:-3.67 [[ 8.85744445e-01 4.64157671e-01 3.79938874e-03 4.82679502e+02] [-4.64153281e-01 8.85752593e-01 -2.01895951e-03 -1.08282624e+02] [-4.30243397e-03 2.47834185e-05 9.99990744e-01 -3.67398546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90655999499995 meters 0.05312724337869201 Centerline is valid? [True, True] Translation: X:482.74, Y:-108.31, Z:-3.67 [[ 8.82077311e-01 4.71086263e-01 4.16534500e-03 4.82735043e+02] [-4.71081064e-01 8.82087146e-01 -2.21324182e-03 -1.08308574e+02] [-4.71682510e-03 -9.96476134e-06 9.99988876e-01 -3.67406880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96655999499995 meters 0.05261898582449204 Centerline is valid? [True, True] Translation: X:482.79, Y:-108.33, Z:-3.68 [[ 8.76516701e-01 4.81353118e-01 4.20110113e-03 4.82793529e+02] [-4.81347943e-01 8.76526766e-01 -2.23304141e-03 -1.08328675e+02] [-4.75725903e-03 -6.48932996e-05 9.99988682e-01 -3.67558764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02655999499996 meters 0.0523247113432921 Centerline is valid? [True, True] Translation: X:482.85, Y:-108.35, Z:-3.68 [[ 8.72494251e-01 4.88612239e-01 3.44402288e-03 4.82849519e+02] [-4.88608817e-01 8.72501044e-01 -1.83063152e-03 -1.08352569e+02] [-3.89938252e-03 -8.55644687e-05 9.99992394e-01 -3.67597869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08655999499996 meters 0.0526157634711389 Centerline is valid? [True, True] Translation: X:482.91, Y:-108.38, Z:-3.68 [[ 8.71071794e-01 4.91142293e-01 3.63004597e-03 4.82905430e+02] [-4.91138513e-01 8.71079352e-01 -1.92959954e-03 -1.08375175e+02] [-4.10976604e-03 -1.02035644e-04 9.99991550e-01 -3.67647747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14655999499996 meters 0.05412839629849202 Centerline is valid? [True, True] Translation: X:482.96, Y:-108.40, Z:-3.68 [[ 8.71345711e-01 4.90653938e-01 3.91972887e-03 4.82962869e+02] [-4.90649526e-01 8.71354521e-01 -2.08360911e-03 -1.08396982e+02] [-4.43780449e-03 -1.07669252e-04 9.99990147e-01 -3.67740669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20655999499996 meters 0.052958802267682674 Centerline is valid? [True, True] Translation: X:483.01, Y:-108.43, Z:-3.68 [[ 8.73032203e-01 4.87649412e-01 3.58094152e-03 4.83012874e+02] [-4.87645701e-01 8.73039543e-01 -1.90424379e-03 -1.08433132e+02] [-4.05490691e-03 -8.37645881e-05 9.99991775e-01 -3.67785744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26655999499997 meters 0.05349377093138454 Centerline is valid? [True, True] Translation: X:483.07, Y:-108.46, Z:-3.68 [[ 8.74247760e-01 4.85473499e-01 2.51704525e-03 4.83067685e+02] [-4.85471656e-01 8.74251382e-01 -1.33851295e-03 -1.08459521e+02] [-2.85034286e-03 -5.17621772e-05 9.99995936e-01 -3.67950123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32655999499997 meters 0.05333526176713195 Centerline is valid? [True, True] Translation: X:483.12, Y:-108.49, Z:-3.68 [[ 8.75291657e-01 4.83593379e-01 1.39926876e-03 4.83119386e+02] [-4.83592809e-01 8.75292775e-01 -7.43457388e-04 -1.08493876e+02] [-1.58430091e-03 -2.59342627e-05 9.99998745e-01 -3.67980321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38655999499997 meters 0.052916342531349 Centerline is valid? [True, True] Translation: X:483.17, Y:-108.53, Z:-3.68 [[ 8.75703537e-01 4.82848168e-01 9.80671900e-04 4.83172173e+02] [-4.82847887e-01 8.75704086e-01 -5.21395292e-04 -1.08527154e+02] [-1.11053315e-03 -1.69276532e-05 9.99999383e-01 -3.67888787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.446559995 meters 0.053527683005634694 Centerline is valid? [True, True] Translation: X:483.22, Y:-108.56, Z:-3.68 [[ 8.76497356e-01 4.81405756e-01 9.40150462e-04 4.83224526e+02] [-4.81405497e-01 8.76497860e-01 -4.99410328e-04 -1.08558065e+02] [-1.06445887e-03 -1.48617688e-05 9.99999433e-01 -3.67911091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.506559995 meters 0.05246214446231088 Centerline is valid? [True, True] Translation: X:483.28, Y:-108.59, Z:-3.68 [[ 8.77418983e-01 4.79724315e-01 7.14288186e-04 4.83276599e+02] [-4.79724165e-01 8.77419274e-01 -3.79315963e-04 -1.08589709e+02] [-8.08697312e-04 -9.84227675e-06 9.99999673e-01 -3.68015911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.566559995 meters 0.053170824591611765 Centerline is valid? [True, True] Translation: X:483.33, Y:-108.62, Z:-3.68 [[ 8.77497334e-01 4.79581223e-01 5.28322999e-04 4.83332038e+02] [-4.79581141e-01 8.77497493e-01 -2.80212052e-04 -1.08620153e+02] [-5.97986546e-04 -7.48841817e-06 9.99999821e-01 -3.68081604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.626559995 meters 0.05305327213929858 Centerline is valid? [True, True] Translation: X:483.39, Y:-108.65, Z:-3.68 [[ 8.77261297e-01 4.80013044e-01 3.06260586e-04 4.83385425e+02] [-4.80013017e-01 8.77261351e-01 -1.62131360e-04 -1.08651562e+02] [-3.46495743e-04 -4.77750062e-06 9.99999940e-01 -3.68079280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.686559995 meters 0.05316338389992177 Centerline is valid? [True, True] Translation: X:483.44, Y:-108.68, Z:-3.68 [[ 8.76097848e-01 4.82133201e-01 3.71146467e-04 4.83438179e+02] [-4.82133160e-01 8.76097926e-01 -1.97550122e-04 -1.08681647e+02] [-4.20406123e-04 -5.86878207e-06 9.99999912e-01 -3.68104589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.746559995 meters 0.05285946377095 Centerline is valid? [True, True] Translation: X:483.49, Y:-108.71, Z:-3.68 [[ 8.74573998e-01 4.84891712e-01 5.91628677e-04 4.83491551e+02] [-4.84891610e-01 8.74574198e-01 -3.14314128e-04 -1.08712582e+02] [-6.69831492e-04 -1.19848183e-05 9.99999776e-01 -3.68091793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80655999499993 meters 0.05307843638339543 Centerline is valid? [True, True] Translation: X:483.55, Y:-108.74, Z:-3.68 [[ 8.73356776e-01 4.87080948e-01 3.03470848e-04 4.83545225e+02] [-4.87080921e-01 8.73356829e-01 -1.61229410e-04 -1.08740692e+02] [-3.43570112e-04 -7.00406297e-06 9.99999941e-01 -3.68169370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86655999499993 meters 0.053181596017932445 Centerline is valid? [True, True] Translation: X:483.60, Y:-108.77, Z:-3.68 [[ 8.71088121e-01 4.91126503e-01 -4.92873382e-04 4.83599083e+02] [-4.91126433e-01 8.71088261e-01 2.62708316e-04 -1.08768205e+02] [ 5.58359234e-04 1.32210522e-05 9.99999844e-01 -3.68280550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92655999499993 meters 0.052619430019842484 Centerline is valid? [True, True] Translation: X:483.65, Y:-108.80, Z:-3.68 [[ 8.69523063e-01 4.93892130e-01 -4.55735369e-04 4.83652224e+02] [-4.93892070e-01 8.69523182e-01 2.42918370e-04 -1.08798310e+02] [ 5.16247939e-04 1.38609595e-05 9.99999867e-01 -3.68287352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98655999499994 meters 0.05375431860408475 Centerline is valid? [True, True] Translation: X:483.71, Y:-108.82, Z:-3.68 [[ 8.67545884e-01 4.97357107e-01 -2.17845759e-04 4.83706365e+02] [-4.97357093e-01 8.67545911e-01 1.16302102e-04 -1.08824229e+02] [ 2.46834874e-04 7.44972400e-06 9.99999970e-01 -3.68334326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04655999499994 meters 0.05268531991893014 Centerline is valid? [True, True] Translation: X:483.76, Y:-108.86, Z:-3.68 [[ 8.66708774e-01 4.98814246e-01 4.99066717e-04 4.83758883e+02] [-4.98814175e-01 8.66708918e-01 -2.65722495e-04 -1.08857658e+02] [-5.65091740e-04 -1.86375351e-05 9.99999840e-01 -3.68196761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10655999499994 meters 0.05324854579527237 Centerline is valid? [True, True] Translation: X:483.81, Y:-108.89, Z:-3.68 [[ 8.66518199e-01 4.99144003e-01 1.21485498e-03 4.83812880e+02] [-4.99143586e-01 8.66519049e-01 -6.46626037e-04 -1.08889635e+02] [-1.37545449e-03 -4.60738429e-05 9.99999053e-01 -3.68145059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16655999499994 meters 0.05247287058321989 Centerline is valid? [True, True] Translation: X:483.86, Y:-108.92, Z:-3.68 [[ 8.67729651e-01 4.97033770e-01 1.63809011e-03 4.83864675e+02] [-4.97033007e-01 8.67731196e-01 -8.73249184e-04 -1.08921640e+02] [-1.85545622e-03 -5.64406410e-05 9.99998277e-01 -3.68230629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22655999499995 meters 0.052168348027452946 Centerline is valid? [True, True] Translation: X:483.91, Y:-108.96, Z:-3.68 [[ 8.69602015e-01 4.93753285e-01 1.69456378e-04 4.83914490e+02] [-4.93753276e-01 8.69602032e-01 -9.01372291e-05 -1.08959363e+02] [-1.91865164e-04 -5.28612576e-06 9.99999982e-01 -3.68284641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28655999499995 meters 0.05244571522024169 Centerline is valid? [True, True] Translation: X:483.97, Y:-108.99, Z:-3.68 [[ 8.71134347e-01 4.91043755e-01 -9.89970010e-04 4.83967973e+02] [-4.91043471e-01 8.71134909e-01 5.28036063e-04 -1.08990875e+02] [ 1.12168625e-03 2.61279596e-05 9.99999371e-01 -3.68398547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34655999499995 meters 0.05208522085390209 Centerline is valid? [True, True] Translation: X:484.02, Y:-109.03, Z:-3.68 [[ 8.73925319e-01 4.86056651e-01 -1.86281759e-03 4.84019103e+02] [-4.86055637e-01 8.73927303e-01 9.93402600e-04 -1.09025747e+02] [ 2.11081709e-03 3.72733074e-05 9.99997772e-01 -3.68402718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40655999499995 meters 0.05205357005251683 Centerline is valid? [True, True] Translation: X:484.07, Y:-109.06, Z:-3.68 [[ 8.76156331e-01 4.82024554e-01 -1.55306791e-03 4.84070901e+02] [-4.82023843e-01 8.76157708e-01 8.28265711e-04 -1.09057443e+02] [ 1.75997683e-03 2.29255157e-05 9.99998451e-01 -3.68458965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46655999499995 meters 0.05198275952719342 Centerline is valid? [True, True] Translation: X:484.12, Y:-109.09, Z:-3.68 [[ 8.79019519e-01 4.76785760e-01 1.56604339e-04 4.84121768e+02] [-4.76785753e-01 8.79019533e-01 -8.33045087e-05 -1.09092250e+02] [-1.77376676e-04 -1.44042842e-06 9.99999984e-01 -3.68320527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52655999499996 meters 0.05183542933782286 Centerline is valid? [True, True] Translation: X:484.17, Y:-109.12, Z:-3.69 [[ 8.80467394e-01 4.74106698e-01 7.92350097e-05 4.84174747e+02] [-4.74106696e-01 8.80467398e-01 -4.13599448e-05 -1.09123502e+02] [-8.93728698e-05 -1.14976582e-06 9.99999996e-01 -3.68624621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58655999499996 meters 0.0519087946719357 Centerline is valid? [True, True] Translation: X:484.23, Y:-109.16, Z:-3.68 [[ 8.80580222e-01 4.73896624e-01 -6.80384498e-04 4.84229097e+02] [-4.73896484e-01 8.80580485e-01 3.64154127e-04 -1.09156391e+02] [ 7.71704722e-04 1.76489939e-06 9.99999702e-01 -3.68429601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64655999499996 meters 0.05183875658663697 Centerline is valid? [True, True] Translation: X:484.28, Y:-109.19, Z:-3.69 [[ 8.79523775e-01 4.75853640e-01 -1.11481733e-03 4.84282438e+02] [-4.75853267e-01 8.79524481e-01 5.95892534e-04 -1.09186402e+02] [ 1.26406677e-03 6.38781971e-06 9.99999201e-01 -3.68534131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70655999499996 meters 0.0513993109406215 Centerline is valid? [True, True] Translation: X:484.34, Y:-109.22, Z:-3.69 [[ 8.78049200e-01 4.78570360e-01 -1.13008629e-04 4.84336698e+02] [-4.78570356e-01 8.78049207e-01 6.12119145e-05 -1.09215151e+02] [ 1.28521345e-04 3.35507363e-07 9.99999992e-01 -3.68603671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76655999499997 meters 0.051577282230210825 Centerline is valid? [True, True] Translation: X:484.39, Y:-109.25, Z:-3.69 [[ 8.76645523e-01 4.81136664e-01 3.70423224e-04 4.84390918e+02] [-4.81136624e-01 8.76645601e-01 -1.96845333e-04 -1.09245482e+02] [-4.19439397e-04 -5.66059965e-06 9.99999912e-01 -3.68555385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82655999499997 meters 0.051356616196871985 Centerline is valid? [True, True] Translation: X:484.44, Y:-109.27, Z:-3.69 [[ 8.73699031e-01 4.86466851e-01 7.40149805e-05 4.84444562e+02] [-4.86466850e-01 8.73699034e-01 -3.92082693e-05 -1.09272957e+02] [-8.37403405e-05 -1.74960751e-06 9.99999996e-01 -3.68677731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88655999499997 meters 0.0513373097445219 Centerline is valid? [True, True] Translation: X:484.50, Y:-109.30, Z:-3.69 [[ 8.71323786e-01 4.90708499e-01 -1.72259939e-04 4.84497942e+02] [-4.90708490e-01 8.71323803e-01 9.27572410e-05 -1.09302668e+02] [ 1.95610952e-04 3.70782443e-06 9.99999981e-01 -3.68702011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.946559995 meters 0.05072137766778752 Centerline is valid? [True, True] Translation: X:484.55, Y:-109.33, Z:-3.69 [[ 8.68119515e-01 4.96354936e-01 -5.32823822e-04 4.84551025e+02] [-4.96354855e-01 8.68119679e-01 2.84835629e-04 -1.09333756e+02] [ 6.03934415e-04 1.71983224e-05 9.99999817e-01 -3.68692728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.006559995 meters 0.05069550740906994 Centerline is valid? [True, True] Translation: X:484.60, Y:-109.36, Z:-3.69 [[ 8.66474203e-01 4.99219384e-01 -1.56876260e-03 4.84604390e+02] [-4.99218684e-01 8.66475622e-01 8.38331472e-04 -1.09362525e+02] [ 1.77780587e-03 5.67630058e-05 9.99998418e-01 -3.68674619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.066559995 meters 0.052051345370744684 Centerline is valid? [True, True] Translation: X:484.66, Y:-109.39, Z:-3.69 [[ 8.66224917e-01 4.99653358e-01 -9.56015889e-04 4.84661255e+02] [-4.99653098e-01 8.66225444e-01 5.11707596e-04 -1.09386484e+02] [ 1.08380171e-03 3.44224303e-05 9.99999412e-01 -3.68920274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.126559995 meters 0.050617339109678514 Centerline is valid? [True, True] Translation: X:484.71, Y:-109.42, Z:-3.69 [[ 8.66768133e-01 4.98709730e-01 -1.26867467e-03 4.84711918e+02] [-4.98709270e-01 8.66769060e-01 6.79029497e-04 -1.09423158e+02] [ 1.43828657e-03 4.41386906e-05 9.99998965e-01 -3.68767915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.186559995 meters 0.051371486110600106 Centerline is valid? [True, True] Translation: X:484.77, Y:-109.45, Z:-3.69 [[ 8.67770660e-01 4.96962795e-01 -1.43622973e-03 4.84766122e+02] [-4.96962204e-01 8.67771847e-01 7.67743923e-04 -1.09449630e+02] [ 1.62785989e-03 4.75262419e-05 9.99998674e-01 -3.68957740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.246559995 meters 0.0507902135162976 Centerline is valid? [True, True] Translation: X:484.82, Y:-109.49, Z:-3.69 [[ 8.69796758e-01 4.93407311e-01 -1.68070496e-03 4.84816336e+02] [-4.93406494e-01 8.69798381e-01 8.98880208e-04 -1.09485501e+02] [ 1.90538852e-03 4.74276505e-05 9.99998184e-01 -3.68929381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30655999499993 meters 0.051293719329140036 Centerline is valid? [True, True] Translation: X:484.87, Y:-109.52, Z:-3.69 [[ 8.71002231e-01 4.91277686e-01 -1.16139095e-03 4.84866648e+02] [-4.91277294e-01 8.71003005e-01 6.21092196e-04 -1.09522678e+02] [ 1.31670374e-03 2.95923147e-05 9.99999133e-01 -3.68728394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36655999499993 meters 0.05105764610792116 Centerline is valid? [True, True] Translation: X:484.92, Y:-109.55, Z:-3.69 [[ 8.72621223e-01 4.88396521e-01 -1.01985083e-03 4.84921139e+02] [-4.88396217e-01 8.72621818e-01 5.45642076e-04 -1.09550037e+02] [ 1.15643378e-03 2.19524319e-05 9.99999331e-01 -3.68900824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42655999499993 meters 0.05169056020889637 Centerline is valid? [True, True] Translation: X:484.97, Y:-109.58, Z:-3.69 [[ 8.74526355e-01 4.84975699e-01 -1.49152523e-03 4.84972793e+02] [-4.84975044e-01 8.74527627e-01 7.97709436e-04 -1.09582907e+02] [ 1.69124972e-03 2.57345904e-05 9.99998570e-01 -3.68865540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48655999499994 meters 0.05144542508720971 Centerline is valid? [True, True] Translation: X:485.03, Y:-109.61, Z:-3.69 [[ 8.74937983e-01 4.84233436e-01 -1.22712548e-03 4.85027718e+02] [-4.84232990e-01 8.74938843e-01 6.57259770e-04 -1.09612242e+02] [ 1.39192691e-03 1.91531052e-05 9.99999031e-01 -3.68919734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54655999499994 meters 0.05161579494418142 Centerline is valid? [True, True] Translation: X:485.08, Y:-109.64, Z:-3.69 [[ 8.75690423e-01 4.82872307e-01 -7.86299289e-04 4.85083273e+02] [-4.82872123e-01 8.75690776e-01 4.21600883e-04 -1.09640900e+02] [ 8.92134426e-04 1.04901517e-05 9.99999602e-01 -3.68893170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60655999499994 meters 0.051405745185461406 Centerline is valid? [True, True] Translation: X:485.14, Y:-109.67, Z:-3.69 [[ 8.76600914e-01 4.81218058e-01 -1.39640628e-04 4.85138478e+02] [-4.81218052e-01 8.76600925e-01 7.52391207e-05 -1.09670185e+02] [ 1.58615527e-04 1.24290913e-06 9.99999987e-01 -3.68824125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66655999499994 meters 0.051042755350549925 Centerline is valid? [True, True] Translation: X:485.19, Y:-109.70, Z:-3.69 [[ 8.76739415e-01 4.80965599e-01 -2.99525811e-04 4.85194389e+02] [-4.80965572e-01 8.76739467e-01 1.61430573e-04 -1.09699620e+02] [ 3.40248652e-04 2.52905695e-06 9.99999942e-01 -3.68794915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72655999499995 meters 0.05143577240718755 Centerline is valid? [True, True] Translation: X:485.25, Y:-109.72, Z:-3.69 [[ 8.76237654e-01 4.81878527e-01 -8.12050338e-04 4.85250220e+02] [-4.81878330e-01 8.76238030e-01 4.35647499e-04 -1.09724568e+02] [ 9.21478563e-04 9.57871830e-06 9.99999575e-01 -3.68937035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78655999499995 meters 0.0518660284984488 Centerline is valid? [True, True] Translation: X:485.31, Y:-109.75, Z:-3.69 [[ 8.75243068e-01 4.83680719e-01 -1.59184657e-03 4.85306563e+02] [-4.83679967e-01 8.75244515e-01 8.53433991e-04 -1.09750609e+02] [ 1.80604454e-03 2.29821113e-05 9.99998369e-01 -3.68983869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84655999499995 meters 0.05184134077477523 Centerline is valid? [True, True] Translation: X:485.36, Y:-109.78, Z:-3.69 [[ 8.74388997e-01 4.85221343e-01 -2.03256630e-03 4.85362522e+02] [-4.85220120e-01 8.74391358e-01 1.08975410e-03 -1.09778180e+02] [ 2.30603035e-03 3.33730694e-05 9.99997341e-01 -3.68962193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90655999499995 meters 0.05158558445937738 Centerline is valid? [True, True] Translation: X:485.42, Y:-109.81, Z:-3.69 [[ 8.73636358e-01 4.86575966e-01 -1.82875149e-03 4.85418248e+02] [-4.86574978e-01 8.73638271e-01 9.80842056e-04 -1.09805782e+02] [ 2.07492146e-03 3.29254380e-05 9.99997847e-01 -3.68898743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96655999499995 meters 0.05185978127466282 Centerline is valid? [True, True] Translation: X:485.47, Y:-109.83, Z:-3.69 [[ 8.73216327e-01 4.87331199e-01 -1.24447953e-03 4.85474103e+02] [-4.87330743e-01 8.73217213e-01 6.67438994e-04 -1.09830819e+02] [ 1.41196479e-03 2.36545064e-05 9.99999003e-01 -3.69074395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02655999499996 meters 0.051752202896944544 Centerline is valid? [True, True] Translation: X:485.53, Y:-109.86, Z:-3.69 [[ 8.72382553e-01 4.88822488e-01 -1.12075743e-03 4.85529073e+02] [-4.88822119e-01 8.72383273e-01 6.01715670e-04 -1.09860178e+02] [ 1.27186219e-03 2.29247710e-05 9.99999191e-01 -3.68964929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08655999499996 meters 0.05189644797439672 Centerline is valid? [True, True] Translation: X:485.58, Y:-109.89, Z:-3.69 [[ 8.71586624e-01 4.90240822e-01 -8.32245734e-04 4.85583515e+02] [-4.90240619e-01 8.71587021e-01 4.47204049e-04 -1.09890508e+02] [ 9.44612261e-04 1.82235958e-05 9.99999554e-01 -3.68877261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14655999499996 meters 0.05253943864188775 Centerline is valid? [True, True] Translation: X:485.64, Y:-109.91, Z:-3.69 [[ 8.70947329e-01 4.91375069e-01 -1.13663452e-03 4.85640906e+02] [-4.91374691e-01 8.70948070e-01 6.10491483e-04 -1.09913664e+02] [ 1.28992994e-03 2.68075116e-05 9.99999168e-01 -3.69104487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20655999499996 meters 0.05284842755058935 Centerline is valid? [True, True] Translation: X:485.70, Y:-109.94, Z:-3.69 [[ 8.69572348e-01 4.93803922e-01 -1.27178907e-03 4.85697161e+02] [-4.93803453e-01 8.69573278e-01 6.82096250e-04 -1.09936028e+02] [ 1.44273559e-03 3.48817951e-05 9.99998959e-01 -3.69322758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26655999499997 meters 0.05262439539534318 Centerline is valid? [True, True] Translation: X:485.75, Y:-109.96, Z:-3.69 [[ 8.68097235e-01 4.96390524e-01 -1.90739985e-03 4.85751106e+02] [-4.96389474e-01 8.68099328e-01 1.02307245e-03 -1.09964921e+02] [ 2.16365600e-03 5.86868426e-05 9.99997658e-01 -3.69373641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32655999499997 meters 0.0519013605553393 Centerline is valid? [True, True] Translation: X:485.80, Y:-110.00, Z:-3.69 [[ 8.65919203e-01 5.00166840e-01 -4.13117052e-03 4.85802693e+02] [-5.00161953e-01 8.65929045e-01 2.21591515e-03 -1.09998476e+02] [ 4.68562782e-03 1.47450832e-04 9.99989012e-01 -3.69266890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38655999499997 meters 0.05213409748735469 Centerline is valid? [True, True] Translation: X:485.86, Y:-110.03, Z:-3.69 [[ 8.65006883e-01 5.01735054e-01 -5.00285568e-03 4.85857177e+02] [-5.01727912e-01 8.65021329e-01 2.68373682e-03 -1.10025653e+02] [ 5.67410171e-03 1.88621509e-04 9.99983884e-01 -3.69398512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.446559995 meters 0.05179853668696812 Centerline is valid? [True, True] Translation: X:485.91, Y:-110.06, Z:-3.69 [[ 8.64674762e-01 5.02314110e-01 -4.25343851e-03 4.85909726e+02] [-5.02308947e-01 8.64685208e-01 2.28304557e-03 -1.10058607e+02] [ 4.82469137e-03 1.62448336e-04 9.99988348e-01 -3.69212026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.506559995 meters 0.0524258365790988 Centerline is valid? [True, True] Translation: X:485.96, Y:-110.09, Z:-3.69 [[ 8.64912090e-01 5.01910514e-01 -3.59350704e-03 4.85964004e+02] [-5.01906824e-01 8.64919544e-01 1.92937264e-03 -1.10086606e+02] [ 4.07646688e-03 1.34867980e-04 9.99991682e-01 -3.69216258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.566559995 meters 0.05183459808009405 Centerline is valid? [True, True] Translation: X:486.02, Y:-110.12, Z:-3.69 [[ 8.66334232e-01 4.99460082e-01 -2.15040478e-03 4.86015036e+02] [-4.99458753e-01 8.66336898e-01 1.15436676e-03 -1.10120495e+02] [ 2.43953512e-03 7.39710486e-05 9.99997022e-01 -3.69026699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.626559995 meters 0.05177112223727525 Centerline is valid? [True, True] Translation: X:486.07, Y:-110.15, Z:-3.69 [[ 8.67002921e-01 4.98301944e-01 -1.05259001e-03 4.86068048e+02] [-4.98301624e-01 8.67003559e-01 5.65118305e-04 -1.10151604e+02] [ 1.19419883e-03 3.45480909e-05 9.99999286e-01 -3.68925594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.686559995 meters 0.05265182117011304 Centerline is valid? [True, True] Translation: X:486.13, Y:-110.17, Z:-3.69 [[ 8.66708656e-01 4.98813240e-01 -1.20686514e-03 4.86127204e+02] [-4.98812820e-01 8.66709496e-01 6.48316697e-04 -1.10169684e+02] [ 1.36939043e-03 4.00981103e-05 9.99999062e-01 -3.69290989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.746559995 meters 0.05180826873965693 Centerline is valid? [True, True] Translation: X:486.18, Y:-110.20, Z:-3.69 [[ 8.65571466e-01 5.00783111e-01 -1.52122140e-03 4.86178140e+02] [-5.00782446e-01 8.65572801e-01 8.17538053e-04 -1.10204608e+02] [ 1.72613712e-03 5.41633622e-05 9.99998509e-01 -3.69127543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80655999499993 meters 0.05373135046954908 Centerline is valid? [True, True] Translation: X:486.24, Y:-110.22, Z:-3.70 [[ 8.64843907e-01 5.02038081e-01 -1.66780995e-03 4.86238211e+02] [-5.02037285e-01 8.64845513e-01 8.95900929e-04 -1.10220697e+02] [ 1.89217433e-03 6.24883175e-05 9.99998208e-01 -3.69528818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86655999499993 meters 0.05197245990117163 Centerline is valid? [True, True] Translation: X:486.29, Y:-110.26, Z:-3.69 [[ 8.63672067e-01 5.04052137e-01 -1.41569254e-03 4.86286830e+02] [-5.04051566e-01 8.63673225e-01 7.61116406e-04 -1.10259361e+02] [ 1.60633810e-03 5.62270634e-05 9.99998708e-01 -3.69206413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92655999499993 meters 0.05337516631102521 Centerline is valid? [True, True] Translation: X:486.35, Y:-110.28, Z:-3.69 [[ 8.62325936e-01 5.06350995e-01 -1.62796679e-03 4.86346515e+02] [-5.06350243e-01 8.62327470e-01 8.75251455e-04 -1.10276595e+02] [ 1.84702493e-03 6.95693497e-05 9.99998292e-01 -3.69472036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98655999499994 meters 0.052154714780684175 Centerline is valid? [True, True] Translation: X:486.40, Y:-110.31, Z:-3.69 [[ 8.61173053e-01 5.08308805e-01 -1.76969152e-03 4.86397892e+02] [-5.08307920e-01 8.61174868e-01 9.51606715e-04 -1.10310276e+02] [ 2.00772393e-03 8.00501554e-05 9.99997981e-01 -3.69365117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04655999499994 meters 0.05277199026631896 Centerline is valid? [True, True] Translation: X:486.46, Y:-110.33, Z:-3.70 [[ 8.59585502e-01 5.10990588e-01 -1.17648109e-03 4.86455520e+02] [-5.10990200e-01 8.59586305e-01 6.32460975e-04 -1.10330792e+02] [ 1.33446864e-03 5.75160213e-05 9.99999108e-01 -3.69522094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10655999499994 meters 0.0515897994058748 Centerline is valid? [True, True] Translation: X:486.51, Y:-110.37, Z:-3.69 [[ 8.59520296e-01 5.11101599e-01 -1.24682461e-04 4.86505573e+02] [-5.11101595e-01 8.59520305e-01 6.74972295e-05 -1.10368964e+02] [ 1.41665048e-04 5.71016584e-06 9.99999990e-01 -3.69333111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16655999499994 meters 0.051589629545183445 Centerline is valid? [True, True] Translation: X:486.56, Y:-110.39, Z:-3.69 [[ 8.60167503e-01 5.10008309e-01 1.84167553e-03 4.86561224e+02] [-5.10007356e-01 8.60169470e-01 -9.89504687e-04 -1.10394088e+02] [-2.08880868e-03 -8.81282929e-05 9.99997815e-01 -3.69307791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22655999499995 meters 0.05163495237026637 Centerline is valid? [True, True] Translation: X:486.62, Y:-110.42, Z:-3.69 [[ 8.59791987e-01 5.10638004e-01 2.56271338e-03 4.86618010e+02] [-5.10636162e-01 8.59795798e-01 -1.37714255e-03 -1.10417958e+02] [-2.90663152e-03 -1.24557996e-04 9.99995768e-01 -3.69388272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28655999499995 meters 0.054128009041519404 Centerline is valid? [True, True] Translation: X:486.68, Y:-110.44, Z:-3.70 [[ 8.59817997e-01 5.10594652e-01 2.47262462e-03 4.86677441e+02] [-5.10592937e-01 8.59821544e-01 -1.32867602e-03 -1.10436966e+02] [-2.80443079e-03 -1.20085112e-04 9.99996060e-01 -3.69591029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34655999499995 meters 0.052045256750904545 Centerline is valid? [True, True] Translation: X:486.73, Y:-110.47, Z:-3.70 [[ 8.59572063e-01 5.11007310e-01 2.71982767e-03 4.86729256e+02] [-5.11005236e-01 8.59576356e-01 -1.46189008e-03 -1.10471592e+02] [-3.08493608e-03 -1.33246312e-04 9.99995233e-01 -3.69640398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40655999499995 meters 0.05273467757586637 Centerline is valid? [True, True] Translation: X:486.79, Y:-110.50, Z:-3.70 [[ 8.59655411e-01 5.10870787e-01 1.90119062e-03 4.86785100e+02] [-5.10869772e-01 8.59657508e-01 -1.02226893e-03 -1.10498232e+02] [-2.15662012e-03 -9.24618034e-05 9.99997670e-01 -3.69740274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46655999499995 meters 0.056502680286101746 Centerline is valid? [True, True] Translation: X:486.85, Y:-110.51, Z:-3.70 [[ 8.60032857e-01 5.10238472e-01 4.32625476e-04 4.86845919e+02] [-5.10238420e-01 8.60032965e-01 -2.31933791e-04 -1.10514440e+02] [-4.90413715e-04 -2.12714580e-05 9.99999880e-01 -3.70132441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52655999499996 meters 0.051835190602357736 Centerline is valid? [True, True] Translation: X:486.89, Y:-110.56, Z:-3.70 [[ 8.60652682e-01 5.09192319e-01 3.77304825e-04 4.86890903e+02] [-5.09192279e-01 8.60652765e-01 -2.02801138e-04 -1.10560557e+02] [-4.27993222e-04 -1.75793608e-05 9.99999908e-01 -3.69835957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58655999499996 meters 0.056200571714785916 Centerline is valid? [True, True] Translation: X:486.95, Y:-110.57, Z:-3.70 [[ 8.61529633e-01 5.07707262e-01 1.68885747e-04 4.86954195e+02] [-5.07707254e-01 8.61529649e-01 -9.07362463e-05 -1.10570627e+02] [-1.91567530e-04 -7.57255398e-06 9.99999982e-01 -3.70222213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64655999499996 meters 0.05199678412797808 Centerline is valid? [True, True] Translation: X:487.00, Y:-110.62, Z:-3.70 [[ 8.64246202e-01 5.03067054e-01 1.42869863e-03 4.86998747e+02] [-5.03066470e-01 8.64247381e-01 -7.68576692e-04 -1.10616339e+02] [-1.62139466e-03 -5.44908906e-05 9.99998684e-01 -3.69900706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70655999499996 meters 0.053144757300887156 Centerline is valid? [True, True] Translation: X:487.05, Y:-110.64, Z:-3.70 [[ 8.68647914e-01 4.95422783e-01 2.65855948e-03 4.87052271e+02] [-4.95420725e-01 8.68651979e-01 -1.43012545e-03 -1.10644125e+02] [-3.01787969e-03 -7.48299735e-05 9.99995443e-01 -3.69945643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76655999499997 meters 0.052923222495389353 Centerline is valid? [True, True] Translation: X:487.11, Y:-110.67, Z:-3.70 [[ 8.71674225e-01 4.90077603e-01 2.82635572e-03 4.87106594e+02] [-4.90075246e-01 8.71678805e-01 -1.52095902e-03 -1.10671183e+02] [-3.20906233e-03 -5.93462054e-05 9.99994849e-01 -3.70089372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82655999499997 meters 0.05278887877629862 Centerline is valid? [True, True] Translation: X:487.16, Y:-110.71, Z:-3.70 [[ 8.75792649e-01 4.82684212e-01 1.78519029e-03 4.87156752e+02] [-4.82683256e-01 8.75794469e-01 -9.60577552e-04 -1.10706827e+02] [-2.02711540e-03 -2.04147052e-05 9.99997945e-01 -3.70111988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88655999499997 meters 0.05220446721670401 Centerline is valid? [True, True] Translation: X:487.21, Y:-110.74, Z:-3.70 [[ 8.78319567e-01 4.78072618e-01 1.14464961e-03 4.87210467e+02] [-4.78072222e-01 8.78320313e-01 -6.15326381e-04 -1.10736505e+02] [-1.29953970e-03 -6.77198304e-06 9.99999156e-01 -3.70328995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.946559995 meters 0.053229736034867144 Centerline is valid? [True, True] Translation: X:487.26, Y:-110.77, Z:-3.70 [[ 8.82090691e-01 4.71077227e-01 1.50308637e-03 4.87263587e+02] [-4.71076532e-01 8.82091972e-01 -8.08901385e-04 -1.10769379e+02] [-1.70691545e-03 5.45566514e-06 9.99998543e-01 -3.70282157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.006559995 meters 0.053356488260466954 Centerline is valid? [True, True] Translation: X:487.32, Y:-110.80, Z:-3.70 [[ 8.85513432e-01 4.64611890e-01 1.32438472e-03 4.87316264e+02] [-4.64611344e-01 8.85514422e-01 -7.12648613e-04 -1.10799998e+02] [-1.50386679e-03 1.57357540e-05 9.99998869e-01 -3.70236580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.066559995 meters 0.05412579361148015 Centerline is valid? [True, True] Translation: X:487.37, Y:-110.83, Z:-3.70 [[ 8.87342755e-01 4.61108149e-01 1.45258348e-03 4.87371853e+02] [-4.61107487e-01 8.87343943e-01 -7.81928237e-04 -1.10828469e+02] [-1.64949463e-03 2.40412399e-05 9.99998639e-01 -3.70178046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.126559995 meters 0.053495073533287696 Centerline is valid? [True, True] Translation: X:487.42, Y:-110.86, Z:-3.70 [[ 8.88723371e-01 4.58442958e-01 9.08245790e-04 4.87423940e+02] [-4.58442698e-01 8.88723835e-01 -4.88871967e-04 -1.10861594e+02] [-1.03129959e-03 1.80932921e-05 9.99999468e-01 -3.70464778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.186559995 meters 0.05438234665216009 Centerline is valid? [True, True] Translation: X:487.48, Y:-110.89, Z:-3.71 [[ 8.88567333e-01 4.58746022e-01 4.27988602e-04 4.87477745e+02] [-4.58745964e-01 8.88567436e-01 -2.29525156e-04 -1.10891792e+02] [-4.85590487e-04 7.61051221e-06 9.99999882e-01 -3.70705887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.246559995 meters 0.05413773861606173 Centerline is valid? [True, True] Translation: X:487.54, Y:-110.92, Z:-3.71 [[ 8.87363028e-01 4.61071396e-01 1.55807369e-04 4.87535637e+02] [-4.61071388e-01 8.87363042e-01 -8.29871481e-05 -1.10915560e+02] [-1.76520702e-04 1.80140691e-06 9.99999984e-01 -3.70617320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30655999499993 meters 0.05347288311915932 Centerline is valid? [True, True] Translation: X:487.59, Y:-110.94, Z:-3.70 [[ 8.85523862e-01 4.64593854e-01 -2.00692530e-04 4.87591724e+02] [-4.64593841e-01 8.85523885e-01 1.08575650e-04 -1.10938057e+02] [ 2.28161608e-04 -2.90581539e-06 9.99999974e-01 -3.70473190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36655999499993 meters 0.05287457484785598 Centerline is valid? [True, True] Translation: X:487.65, Y:-110.96, Z:-3.71 [[ 8.82575319e-01 4.70170896e-01 -3.66639596e-04 4.87647273e+02] [-4.70170854e-01 8.82575395e-01 1.97809277e-04 -1.10964304e+02] [ 4.16591251e-04 -2.19833404e-06 9.99999913e-01 -3.70742998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42655999499993 meters 0.05293021463037619 Centerline is valid? [True, True] Translation: X:487.70, Y:-110.99, Z:-3.71 [[ 8.80410559e-01 4.74211969e-01 -5.05809757e-04 4.87703335e+02] [-4.74211890e-01 8.80410704e-01 2.73555858e-04 -1.10989506e+02] [ 5.75043786e-04 -9.80465125e-07 9.99999835e-01 -3.70715773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48655999499994 meters 0.053369251003683595 Centerline is valid? [True, True] Translation: X:487.76, Y:-111.01, Z:-3.71 [[ 8.76990526e-01 4.80507647e-01 1.37443770e-04 4.87760541e+02] [-4.80507641e-01 8.76990537e-01 -7.37514828e-05 -1.11014431e+02] [-1.55975037e-04 -1.36342992e-06 9.99999988e-01 -3.70590103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54655999499994 meters 0.05356108256808377 Centerline is valid? [True, True] Translation: X:487.82, Y:-111.04, Z:-3.71 [[ 8.74633406e-01 4.84784360e-01 7.27952565e-04 4.87816712e+02] [-4.84784202e-01 8.74633709e-01 -3.91668828e-04 -1.11038692e+02] [-8.26566774e-04 -1.03332615e-05 9.99999658e-01 -3.70717008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60655999499994 meters 0.053512096586522985 Centerline is valid? [True, True] Translation: X:487.87, Y:-111.07, Z:-3.71 [[ 8.71781639e-01 4.89892192e-01 1.55361948e-03 4.87871764e+02] [-4.89891477e-01 8.71783023e-01 -8.37761667e-04 -1.11065636e+02] [-1.76483198e-03 -3.07597005e-05 9.99998442e-01 -3.70588646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66655999499994 meters 0.05304225766115268 Centerline is valid? [True, True] Translation: X:487.93, Y:-111.09, Z:-3.71 [[ 8.69628773e-01 4.93702986e-01 1.77708452e-03 4.87926317e+02] [-4.93702058e-01 8.69630588e-01 -9.58370216e-04 -1.11093348e+02] [-2.01855730e-03 -4.39239707e-05 9.99997962e-01 -3.70550530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72655999499995 meters 0.05420945268265094 Centerline is valid? [True, True] Translation: X:487.98, Y:-111.12, Z:-3.71 [[ 8.68222952e-01 4.96172910e-01 1.16151247e-03 4.87982686e+02] [-4.96172515e-01 8.68223729e-01 -6.26385584e-04 -1.11116400e+02] [-1.31924824e-03 -3.24682209e-05 9.99999129e-01 -3.70770144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78655999499995 meters 0.05286267493197037 Centerline is valid? [True, True] Translation: X:488.03, Y:-111.15, Z:-3.71 [[ 8.66120504e-01 4.99835193e-01 -2.28141205e-04 4.88034070e+02] [-4.99835178e-01 8.66120534e-01 1.23144232e-04 -1.11150029e+02] [ 2.59149604e-04 7.37525527e-06 9.99999966e-01 -3.70738026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84655999499995 meters 0.05259858844375165 Centerline is valid? [True, True] Translation: X:488.09, Y:-111.18, Z:-3.71 [[ 8.65415940e-01 5.01053677e-01 -6.81435660e-04 4.88088761e+02] [-5.01053542e-01 8.65416208e-01 3.67905708e-04 -1.11179406e+02] [ 7.74065972e-04 2.30442868e-05 9.99999700e-01 -3.70834027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90655999499995 meters 0.05365944227073071 Centerline is valid? [True, True] Translation: X:488.14, Y:-111.21, Z:-3.71 [[ 8.66632551e-01 4.98946820e-01 -3.03598784e-04 4.88142444e+02] [-4.98946793e-01 8.66632604e-01 1.63883507e-04 -1.11208221e+02] [ 3.44877759e-04 9.45285807e-06 9.99999940e-01 -3.70901206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96655999499995 meters 0.0528372559839205 Centerline is valid? [True, True] Translation: X:488.19, Y:-111.25, Z:-3.71 [[ 8.69879738e-01 4.93262934e-01 9.58481774e-04 4.88190967e+02] [-4.93262664e-01 8.69880266e-01 -5.16886261e-04 -1.11247286e+02] [-1.08872521e-03 -2.31543876e-05 9.99999407e-01 -3.70758808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02655999499996 meters 0.05296716377729103 Centerline is valid? [True, True] Translation: X:488.24, Y:-111.28, Z:-3.71 [[ 8.72416404e-01 4.88762522e-01 9.03187450e-04 4.88242288e+02] [-4.88762279e-01 8.72416871e-01 -4.87163096e-04 -1.11280510e+02] [-1.02606303e-03 -1.64348801e-05 9.99999473e-01 -3.70765021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08655999499996 meters 0.05313260999032274 Centerline is valid? [True, True] Translation: X:488.29, Y:-111.32, Z:-3.71 [[ 8.76708482e-01 4.81021433e-01 7.86588649e-04 4.88293232e+02] [-4.81021246e-01 8.76708835e-01 -4.24158777e-04 -1.11315880e+02] [-8.93638680e-04 -6.50225498e-06 9.99999601e-01 -3.70909677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14655999499996 meters 0.05359757062443315 Centerline is valid? [True, True] Translation: X:488.35, Y:-111.35, Z:-3.71 [[ 8.79703572e-01 4.75521022e-01 1.17609899e-03 4.88345570e+02] [-4.75520599e-01 8.79704358e-01 -6.34208410e-04 -1.11350632e+02] [-1.33619884e-03 -1.34389377e-06 9.99999107e-01 -3.70803065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20655999499996 meters 0.05298921657867469 Centerline is valid? [True, True] Translation: X:488.40, Y:-111.39, Z:-3.71 [[ 8.83597887e-01 4.68243567e-01 1.65390021e-03 4.88395449e+02] [-4.68242718e-01 8.83599435e-01 -8.91681938e-04 -1.11387280e+02] [-1.87890962e-03 1.34615490e-05 9.99998235e-01 -3.70944416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26655999499997 meters 0.05369848716312402 Centerline is valid? [True, True] Translation: X:488.45, Y:-111.42, Z:-3.71 [[ 8.85438807e-01 4.64752587e-01 1.77527391e-03 4.88449539e+02] [-4.64751600e-01 8.85440587e-01 -9.57843432e-04 -1.11418729e+02] [-2.01705978e-03 2.30503570e-05 9.99997965e-01 -3.70892787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32655999499997 meters 0.05344231984337047 Centerline is valid? [True, True] Translation: X:488.50, Y:-111.45, Z:-3.71 [[ 8.86383629e-01 4.62950483e-01 9.54702147e-04 4.88503124e+02] [-4.62950198e-01 8.86384143e-01 -5.14452035e-04 -1.11450639e+02] [-1.08439866e-03 1.40223143e-05 9.99999412e-01 -3.70951473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38655999499997 meters 0.05374933832394938 Centerline is valid? [True, True] Translation: X:488.55, Y:-111.48, Z:-3.71 [[ 8.86377536e-01 4.62963000e-01 3.52298609e-04 4.88554792e+02] [-4.62962961e-01 8.86377606e-01 -1.89277422e-04 -1.11482809e+02] [-3.99898041e-04 4.67004718e-06 9.99999920e-01 -3.71162578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.446559995 meters 0.05382205419011002 Centerline is valid? [True, True] Translation: X:488.61, Y:-111.51, Z:-3.71 [[ 8.84748954e-01 4.66066777e-01 1.02359527e-03 4.88610235e+02] [-4.66066450e-01 8.84749546e-01 -5.52549241e-04 -1.11509545e+02] [-1.16315030e-03 1.18039469e-05 9.99999323e-01 -3.71065587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.506559995 meters 0.053573347702961766 Centerline is valid? [True, True] Translation: X:488.67, Y:-111.54, Z:-3.71 [[ 8.82986625e-01 4.69397166e-01 9.59861788e-04 4.88666575e+02] [-4.69396880e-01 8.82987146e-01 -5.18099538e-04 -1.11537183e+02] [-1.09074008e-03 6.91883409e-06 9.99999405e-01 -3.71002893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.566559995 meters 0.05276560553333407 Centerline is valid? [True, True] Translation: X:488.72, Y:-111.56, Z:-3.71 [[ 8.79812242e-01 4.75320783e-01 7.56661587e-04 4.88721459e+02] [-4.75320608e-01 8.79812567e-01 -4.07870172e-04 -1.11564748e+02] [-8.59589543e-04 -8.07675093e-07 9.99999631e-01 -3.71184108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.626559995 meters 0.053015991223393934 Centerline is valid? [True, True] Translation: X:488.78, Y:-111.59, Z:-3.71 [[ 8.77168562e-01 4.80181707e-01 9.18042242e-04 4.88776838e+02] [-4.80181452e-01 8.77169042e-01 -4.95266576e-04 -1.11590494e+02] [-1.04309618e-03 -6.39458645e-06 9.99999456e-01 -3.71274410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.686559995 meters 0.053137935885304424 Centerline is valid? [True, True] Translation: X:488.83, Y:-111.62, Z:-3.71 [[ 8.75760624e-01 4.82743711e-01 1.35618886e-03 4.88832313e+02] [-4.82743156e-01 8.75761674e-01 -7.32258356e-04 -1.11616725e+02] [-1.54119135e-03 -1.34078575e-05 9.99998812e-01 -3.71383215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.746559995 meters 0.0523715579776428 Centerline is valid? [True, True] Translation: X:488.89, Y:-111.65, Z:-3.71 [[ 8.74370808e-01 4.85250263e-01 2.80592174e-03 4.88885344e+02] [-4.85247896e-01 8.74375309e-01 -1.51623441e-03 -1.11648481e+02] [-3.18918183e-03 -3.58165101e-05 9.99994914e-01 -3.71181473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80655999499993 meters 0.052703037989596455 Centerline is valid? [True, True] Translation: X:488.94, Y:-111.68, Z:-3.71 [[ 8.73538747e-01 4.86745463e-01 2.98541082e-03 4.88939405e+02] [-4.86742790e-01 8.73543847e-01 -1.61371985e-03 -1.11678902e+02] [-3.39335807e-03 -4.34803715e-05 9.99994242e-01 -3.71177104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86655999499993 meters 0.052104978896035783 Centerline is valid? [True, True] Translation: X:488.99, Y:-111.71, Z:-3.71 [[ 8.72471767e-01 4.88658512e-01 2.42356114e-03 4.88994298e+02] [-4.88656758e-01 8.72475132e-01 -1.31025370e-03 -1.11705481e+02] [-2.75476345e-03 -4.11301626e-05 9.99996205e-01 -3.71368333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92655999499993 meters 0.05252193102562003 Centerline is valid? [True, True] Translation: X:489.05, Y:-111.73, Z:-3.72 [[ 8.70355096e-01 4.92423474e-01 1.06257965e-03 4.89049852e+02] [-4.92423139e-01 8.70355745e-01 -5.74594492e-04 -1.11729212e+02] [-1.20776612e-03 -2.31375619e-05 9.99999270e-01 -3.71705665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98655999499994 meters 0.05202931434289863 Centerline is valid? [True, True] Translation: X:489.10, Y:-111.76, Z:-3.72 [[ 8.68741069e-01 4.95266539e-01 1.05324224e-04 4.89101383e+02] [-4.95266536e-01 8.68741075e-01 -5.68013927e-05 -1.11762258e+02] [-1.19631309e-04 -2.81786074e-06 9.99999993e-01 -3.71704674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04655999499994 meters 0.052050565497448874 Centerline is valid? [True, True] Translation: X:489.15, Y:-111.80, Z:-3.72 [[ 8.68424765e-01 4.95820872e-01 -2.99570756e-04 4.89154412e+02] [-4.95820846e-01 8.68424817e-01 1.63081731e-04 -1.11795686e+02] [ 3.41014005e-04 6.90921107e-06 9.99999942e-01 -3.71670585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10655999499994 meters 0.05218907699774203 Centerline is valid? [True, True] Translation: X:489.21, Y:-111.83, Z:-3.72 [[ 8.69085669e-01 4.94661382e-01 -4.67001090e-04 4.89206794e+02] [-4.94661317e-01 8.69085794e-01 2.53764116e-04 -1.11828819e+02] [ 5.31391321e-04 1.04646180e-05 9.99999859e-01 -3.71692229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16655999499994 meters 0.05182328235983993 Centerline is valid? [True, True] Translation: X:489.26, Y:-111.86, Z:-3.72 [[ 8.69856264e-01 4.93305225e-01 1.86096421e-04 4.89259715e+02] [-4.93305215e-01 8.69856284e-01 -1.00416974e-04 -1.11862430e+02] [-2.11413360e-04 -4.45400170e-06 9.99999978e-01 -3.71670706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22655999499995 meters 0.05185482251620194 Centerline is valid? [True, True] Translation: X:489.31, Y:-111.89, Z:-3.72 [[ 8.71291372e-01 4.90765578e-01 7.01849562e-04 4.89311055e+02] [-4.90765431e-01 8.71291655e-01 -3.79877736e-04 -1.11894279e+02] [-7.97946583e-04 -1.34593087e-05 9.99999682e-01 -3.71699255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28655999499995 meters 0.05190457880267904 Centerline is valid? [True, True] Translation: X:489.37, Y:-111.92, Z:-3.72 [[ 8.71956759e-01 4.89582481e-01 6.36051095e-04 4.89365519e+02] [-4.89582360e-01 8.71956991e-01 -3.43590025e-04 -1.11922496e+02] [-7.22824856e-04 -1.18037517e-05 9.99999739e-01 -3.71937807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34655999499995 meters 0.05252352467053214 Centerline is valid? [True, True] Translation: X:489.42, Y:-111.96, Z:-3.72 [[ 8.72380956e-01 4.88826623e-01 2.28150253e-05 4.89417446e+02] [-4.88826622e-01 8.72380956e-01 -1.14566669e-05 -1.11957071e+02] [-2.55037176e-05 -1.15801379e-06 1.00000000e+00 -3.71926537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40655999499995 meters 0.051659073652048006 Centerline is valid? [True, True] Translation: X:489.47, Y:-111.99, Z:-3.72 [[ 8.72400427e-01 4.88791832e-01 -2.00921284e-04 4.89470374e+02] [-4.88791820e-01 8.72400450e-01 1.09970117e-04 -1.11992357e+02] [ 2.29036314e-04 2.27070356e-06 9.99999974e-01 -3.71863639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46655999499995 meters 0.05163686398196476 Centerline is valid? [True, True] Translation: X:489.53, Y:-112.02, Z:-3.72 [[ 8.72188121e-01 4.89170550e-01 2.34413566e-04 4.89525129e+02] [-4.89170534e-01 8.72188152e-01 -1.26046665e-04 -1.12022333e+02] [-2.66111052e-04 -4.73180496e-06 9.99999965e-01 -3.71965523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52655999499996 meters 0.05128406698242699 Centerline is valid? [True, True] Translation: X:489.58, Y:-112.06, Z:-3.72 [[ 8.73135735e-01 4.87476735e-01 6.48899434e-04 4.89576916e+02] [-4.87476608e-01 8.73135976e-01 -3.50856271e-04 -1.12056476e+02] [-7.37611711e-04 -9.97814720e-06 9.99999728e-01 -3.71858466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58655999499996 meters 0.05164957030841447 Centerline is valid? [True, True] Translation: X:489.63, Y:-112.09, Z:-3.72 [[ 8.74722020e-01 4.84623910e-01 1.02697720e-03 4.89630962e+02] [-4.84623590e-01 8.74722622e-01 -5.56537002e-04 -1.12088272e+02] [-1.16803133e-03 -1.08822067e-05 9.99999318e-01 -3.71947951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64655999499996 meters 0.05214296823350572 Centerline is valid? [True, True] Translation: X:489.68, Y:-112.12, Z:-3.72 [[ 8.77880543e-01 4.78878294e-01 1.15435939e-03 4.89682589e+02] [-4.78877886e-01 8.77881302e-01 -6.25218025e-04 -1.12121401e+02] [-1.31279386e-03 -3.93044427e-06 9.99999138e-01 -3.72083430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70655999499996 meters 0.05207858304553671 Centerline is valid? [True, True] Translation: X:489.74, Y:-112.15, Z:-3.72 [[ 8.80846927e-01 4.73397477e-01 1.87604570e-03 4.89736171e+02] [-4.73396385e-01 8.80848925e-01 -1.01678400e-03 -1.12153926e+02] [-2.13385582e-03 7.51781124e-06 9.99997723e-01 -3.71813271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76655999499997 meters 0.051689311690510734 Centerline is valid? [True, True] Translation: X:489.79, Y:-112.19, Z:-3.72 [[ 8.81863729e-01 4.71497210e-01 2.59689981e-03 4.89790221e+02] [-4.71495106e-01 8.81867553e-01 -1.40876406e-03 -1.12185208e+02] [-2.95435001e-03 1.79123771e-05 9.99995636e-01 -3.72067887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82655999499997 meters 0.05261501939199341 Centerline is valid? [True, True] Translation: X:489.85, Y:-112.21, Z:-3.72 [[ 8.82719108e-01 4.69894453e-01 2.48573177e-03 4.89846690e+02] [-4.69892519e-01 8.82722608e-01 -1.34818760e-03 -1.12211659e+02] [-2.82771751e-03 2.20441923e-05 9.99996002e-01 -3.71984853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88655999499997 meters 0.05164865679470371 Centerline is valid? [True, True] Translation: X:489.90, Y:-112.24, Z:-3.72 [[ 8.83070047e-01 4.69233220e-01 2.73441802e-03 4.89898193e+02] [-4.69230875e-01 8.83074280e-01 -1.48358654e-03 -1.12244064e+02] [-3.11084232e-03 2.70374713e-05 9.99995161e-01 -3.72291981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.946559995 meters 0.05234712413488853 Centerline is valid? [True, True] Translation: X:489.95, Y:-112.27, Z:-3.72 [[ 8.83698564e-01 4.68052339e-01 1.96337886e-03 4.89951899e+02] [-4.68051128e-01 8.83700745e-01 -1.06532908e-03 -1.12273067e+02] [-2.23366913e-03 2.24680858e-05 9.99997505e-01 -3.72440420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.006559995 meters 0.05222591660370299 Centerline is valid? [True, True] Translation: X:490.01, Y:-112.30, Z:-3.72 [[ 8.84121838e-01 4.67253491e-01 1.65836430e-03 4.90008074e+02] [-4.67252625e-01 8.84123394e-01 -8.99886160e-04 -1.12298879e+02] [-1.88667362e-03 2.07339340e-05 9.99998220e-01 -3.72426937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.066559995 meters 0.0530544794349763 Centerline is valid? [True, True] Translation: X:490.06, Y:-112.33, Z:-3.73 [[ 8.83715134e-01 4.68022739e-01 1.50883815e-03 4.90062982e+02] [-4.68022023e-01 8.83716422e-01 -8.19178606e-04 -1.12327092e+02] [-1.71677927e-03 1.77510478e-05 9.99998526e-01 -3.72632480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.126559995 meters 0.05242298982826394 Centerline is valid? [True, True] Translation: X:490.12, Y:-112.36, Z:-3.73 [[ 8.82895336e-01 4.69568357e-01 1.17624122e-03 4.90116919e+02] [-4.69567923e-01 8.82896119e-01 -6.38555342e-04 -1.12355168e+02] [-1.33834419e-03 1.14523847e-05 9.99999104e-01 -3.72825089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.186559995 meters 0.05245582670439536 Centerline is valid? [True, True] Translation: X:490.18, Y:-112.38, Z:-3.73 [[ 8.81823581e-01 4.71577283e-01 1.42782641e-03 4.90175305e+02] [-4.71576646e-01 8.81824736e-01 -7.75555025e-04 -1.12378893e+02] [-1.62482678e-03 1.05731187e-05 9.99998680e-01 -3.72553798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.246559995 meters 0.052352674621819195 Centerline is valid? [True, True] Translation: X:490.23, Y:-112.41, Z:-3.73 [[ 8.80624229e-01 4.73811944e-01 1.79132461e-03 4.90230406e+02] [-4.73810945e-01 8.80626051e-01 -9.73178212e-04 -1.12408453e+02] [-2.03859058e-03 8.25510567e-06 9.99997922e-01 -3.72833488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30655999499993 meters 0.052682874424444526 Centerline is valid? [True, True] Translation: X:490.29, Y:-112.43, Z:-3.73 [[ 8.78650556e-01 4.77461603e-01 1.90222513e-03 4.90286942e+02] [-4.77460485e-01 8.78652615e-01 -1.03310151e-03 -1.12434992e+02] [-2.16466139e-03 -5.02119607e-07 9.99997657e-01 -3.72868864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36655999499993 meters 0.05231426431928801 Centerline is valid? [True, True] Translation: X:490.34, Y:-112.46, Z:-3.73 [[ 8.77028517e-01 4.80436613e-01 1.28080544e-03 4.90343242e+02] [-4.80436110e-01 8.77029453e-01 -6.95482278e-04 -1.12462248e+02] [-1.45743924e-03 -5.38739068e-06 9.99998938e-01 -3.72927182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42655999499993 meters 0.05255061951815626 Centerline is valid? [True, True] Translation: X:490.40, Y:-112.49, Z:-3.73 [[ 8.74254060e-01 4.85468337e-01 5.75664231e-04 4.90400015e+02] [-4.85468237e-01 8.74254250e-01 -3.12590882e-04 -1.12486438e+02] [-6.55029877e-04 -6.18285119e-06 9.99999785e-01 -3.73139780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48655999499994 meters 0.051482367821203814 Centerline is valid? [True, True] Translation: X:490.46, Y:-112.51, Z:-3.73 [[ 8.71954078e-01 4.89587647e-01 1.49340017e-04 4.90455705e+02] [-4.89587640e-01 8.71954091e-01 -8.03547398e-05 -1.12513311e+02] [-1.69558327e-04 -3.04938374e-06 9.99999986e-01 -3.73175812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54655999499994 meters 0.05166011470593417 Centerline is valid? [True, True] Translation: X:490.51, Y:-112.54, Z:-3.73 [[ 8.70771059e-01 4.91688666e-01 1.35210146e-04 4.90511115e+02] [-4.91688660e-01 8.70771070e-01 -7.32875789e-05 -1.12541541e+02] [-1.53771756e-04 -2.66459281e-06 9.99999988e-01 -3.73264654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60655999499994 meters 0.05166006175447368 Centerline is valid? [True, True] Translation: X:490.57, Y:-112.57, Z:-3.73 [[ 8.69441579e-01 4.94035679e-01 2.98958509e-04 4.90566464e+02] [-4.94035652e-01 8.69441630e-01 -1.62383386e-04 -1.12570553e+02] [-3.40150160e-04 -6.51329488e-06 9.99999942e-01 -3.73235150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66655999499994 meters 0.0517709315304905 Centerline is valid? [True, True] Translation: X:490.62, Y:-112.60, Z:-3.73 [[ 8.68564066e-01 4.95576898e-01 -3.83085558e-05 4.90621731e+02] [-4.95576898e-01 8.68564067e-01 2.11142159e-05 -1.12599726e+02] [ 4.37371525e-05 6.45786040e-07 9.99999999e-01 -3.73274644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72655999499995 meters 0.05227044832414748 Centerline is valid? [True, True] Translation: X:490.68, Y:-112.63, Z:-3.73 [[ 8.67477907e-01 4.97475050e-01 -8.10049694e-04 4.90677031e+02] [-4.97474854e-01 8.67478285e-01 4.41736075e-04 -1.12626293e+02] [ 9.22453195e-04 1.97830677e-05 9.99999574e-01 -3.73438486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78655999499995 meters 0.0521984349498373 Centerline is valid? [True, True] Translation: X:490.73, Y:-112.66, Z:-3.73 [[ 8.66981181e-01 4.98340215e-01 -8.13654278e-04 4.90731608e+02] [-4.98340018e-01 8.66981562e-01 4.43860867e-04 -1.12655740e+02] [ 9.26616977e-04 2.06574686e-05 9.99999570e-01 -3.73450509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84655999499995 meters 0.052213658361578194 Centerline is valid? [True, True] Translation: X:490.79, Y:-112.68, Z:-3.73 [[ 8.67292647e-01 4.97798615e-01 5.44666506e-05 4.90786129e+02] [-4.97798614e-01 8.67292649e-01 -2.88131374e-05 -1.12683656e+02] [-6.15816658e-05 -2.12400091e-06 9.99999998e-01 -3.73398934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90655999499995 meters 0.0516474843624774 Centerline is valid? [True, True] Translation: X:490.84, Y:-112.72, Z:-3.73 [[ 8.68005882e-01 4.96549459e-01 2.10296305e-03 4.90836963e+02] [-4.96548143e-01 8.68008428e-01 -1.14469300e-03 -1.12718757e+02] [-2.39378634e-03 -5.06221437e-05 9.99997134e-01 -3.73147995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96655999499995 meters 0.052026208075238826 Centerline is valid? [True, True] Translation: X:490.89, Y:-112.75, Z:-3.73 [[ 8.68253761e-01 4.96117095e-01 1.79849749e-03 4.90891587e+02] [-4.96116131e-01 8.68255623e-01 -9.78844976e-04 -1.12746379e+02] [-2.04717729e-03 -4.23777850e-05 9.99997904e-01 -3.73233970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02655999499996 meters 0.052347464051695665 Centerline is valid? [True, True] Translation: X:490.95, Y:-112.77, Z:-3.73 [[ 8.68327411e-01 4.95990229e-01 1.09575724e-03 4.90947998e+02] [-4.95989872e-01 8.68328102e-01 -5.96075746e-04 -1.12773086e+02] [-1.24712455e-03 -2.58955861e-05 9.99999222e-01 -3.73433812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08655999499996 meters 0.05209628935137065 Centerline is valid? [True, True] Translation: X:491.00, Y:-112.80, Z:-3.74 [[ 8.68643077e-01 4.95438007e-01 6.20282480e-04 4.91002660e+02] [-4.95437893e-01 8.68643299e-01 -3.37159550e-04 -1.12802064e+02] [-7.05845875e-04 -1.44401354e-05 9.99999751e-01 -3.73557375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14655999499996 meters 0.05247309505780519 Centerline is valid? [True, True] Translation: X:491.06, Y:-112.83, Z:-3.74 [[ 8.68998672e-01 4.94813686e-01 8.51514182e-04 4.91057636e+02] [-4.94813469e-01 8.68999089e-01 -4.63378633e-04 -1.12829043e+02] [-9.69251138e-04 -1.86652701e-05 9.99999530e-01 -3.73586452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20655999499996 meters 0.05278668061783412 Centerline is valid? [True, True] Translation: X:491.11, Y:-112.86, Z:-3.74 [[ 8.69251793e-01 4.94368083e-01 1.23234269e-03 4.91112300e+02] [-4.94367628e-01 8.69252666e-01 -6.71176010e-04 -1.12855852e+02] [-1.40302517e-03 -2.58093825e-05 9.99999015e-01 -3.73627838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26655999499997 meters 0.05250002048395181 Centerline is valid? [True, True] Translation: X:491.17, Y:-112.89, Z:-3.74 [[ 8.69579480e-01 4.93789884e-01 1.75426637e-03 4.91166085e+02] [-4.93788960e-01 8.69581249e-01 -9.55959248e-04 -1.12886486e+02] [-1.99752014e-03 -3.49548186e-05 9.99998004e-01 -3.73616356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32655999499997 meters 0.052192696371770056 Centerline is valid? [True, True] Translation: X:491.22, Y:-112.92, Z:-3.74 [[ 8.69223615e-01 4.94413270e-01 2.41341658e-03 4.91220846e+02] [-4.94411522e-01 8.69226964e-01 -1.31581686e-03 -1.12916146e+02] [-2.74836409e-03 -4.94818803e-05 9.99996222e-01 -3.73530655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38655999499997 meters 0.052042117875374966 Centerline is valid? [True, True] Translation: X:491.28, Y:-112.95, Z:-3.74 [[ 8.68524525e-01 4.95638176e-01 2.81904607e-03 4.91275095e+02] [-4.95635795e-01 8.68529098e-01 -1.53755532e-03 -1.12945407e+02] [-3.21049465e-03 -6.18156336e-05 9.99994844e-01 -3.73526672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.446559995 meters 0.05290705852009895 Centerline is valid? [True, True] Translation: X:491.33, Y:-112.97, Z:-3.74 [[ 8.67763033e-01 4.96968391e-01 3.12033223e-03 4.91331599e+02] [-4.96965480e-01 8.67768640e-01 -1.70261142e-03 -1.12970053e+02] [-3.55387051e-03 -7.32341490e-05 9.99993682e-01 -3.73587938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.506559995 meters 0.052748160643723535 Centerline is valid? [True, True] Translation: X:491.39, Y:-113.00, Z:-3.74 [[ 8.67233038e-01 4.97891522e-01 3.29998263e-03 4.91387115e+02] [-4.97888272e-01 8.67239313e-01 -1.80070091e-03 -1.12997880e+02] [-3.75842839e-03 -8.13953256e-05 9.99992934e-01 -3.73641725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.566559995 meters 0.05284320586167244 Centerline is valid? [True, True] Translation: X:491.44, Y:-113.02, Z:-3.74 [[ 8.66971449e-01 4.98345303e-01 3.53059368e-03 4.91444154e+02] [-4.98341585e-01 8.66978633e-01 -1.92714080e-03 -1.13020677e+02] [-4.02133085e-03 -8.86655939e-05 9.99991910e-01 -3.73745680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.626559995 meters 0.053531223935591565 Centerline is valid? [True, True] Translation: X:491.50, Y:-113.05, Z:-3.74 [[ 8.67392238e-01 4.97614168e-01 3.29305933e-03 4.91498629e+02] [-4.97610926e-01 8.67398486e-01 -1.79812429e-03 -1.13051706e+02] [-3.75116680e-03 -7.89832523e-05 9.99992961e-01 -3.73829291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.686559995 meters 0.052412074484278114 Centerline is valid? [True, True] Translation: X:491.55, Y:-113.08, Z:-3.74 [[ 8.69265357e-01 4.94340203e-01 2.34577169e-03 4.91551117e+02] [-4.94338545e-01 8.69268521e-01 -1.28097362e-03 -1.13084494e+02] [-2.67234225e-03 -4.60993734e-05 9.99996428e-01 -3.73919336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.746559995 meters 0.05296757758601437 Centerline is valid? [True, True] Translation: X:491.61, Y:-113.11, Z:-3.74 [[ 8.71440777e-01 4.90496688e-01 1.99290336e-03 4.91605013e+02] [-4.90495482e-01 8.71443055e-01 -1.08840610e-03 -1.13111881e+02] [-2.27056138e-03 -2.90286304e-05 9.99997422e-01 -3.74101550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80655999499993 meters 0.05278087496801353 Centerline is valid? [True, True] Translation: X:491.66, Y:-113.15, Z:-3.74 [[ 8.72800848e-01 4.88071924e-01 2.11554075e-03 4.91657971e+02] [-4.88070558e-01 8.72803412e-01 -1.15522041e-03 -1.13145350e+02] [-2.41028183e-03 -2.42558025e-05 9.99997095e-01 -3.74001979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86655999499993 meters 0.05298465204260288 Centerline is valid? [True, True] Translation: X:491.71, Y:-113.17, Z:-3.74 [[ 8.73876041e-01 4.86138988e-01 3.09018303e-03 4.91712786e+02] [-4.86136060e-01 8.73881504e-01 -1.68743881e-03 -1.13173633e+02] [-3.52078359e-03 -2.76370567e-05 9.99993802e-01 -3.74124914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92655999499993 meters 0.05319655444200561 Centerline is valid? [True, True] Translation: X:491.77, Y:-113.20, Z:-3.74 [[ 8.74327597e-01 4.85323717e-01 3.48471029e-03 4.91767583e+02] [-4.85319985e-01 8.74334541e-01 -1.90354040e-03 -1.13203474e+02] [-3.97063588e-03 -2.68816417e-05 9.99992117e-01 -3.74144890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98655999499994 meters 0.05268243136528043 Centerline is valid? [True, True] Translation: X:491.82, Y:-113.23, Z:-3.74 [[ 8.74839558e-01 4.84397514e-01 3.84650135e-03 4.91822511e+02] [-4.84392953e-01 8.74848014e-01 -2.10207482e-03 -1.13233162e+02] [-4.38334388e-03 -2.42399455e-05 9.99990393e-01 -3.74216037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04655999499994 meters 0.05269189422477323 Centerline is valid? [True, True] Translation: X:491.88, Y:-113.26, Z:-3.74 [[ 8.74748364e-01 4.84565498e-01 3.40258118e-03 4.91876624e+02] [-4.84561931e-01 8.74754982e-01 -1.85929103e-03 -1.13262619e+02] [-3.87737312e-03 -2.23495131e-05 9.99992483e-01 -3.74231945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10655999499994 meters 0.05259390389354706 Centerline is valid? [True, True] Translation: X:491.93, Y:-113.29, Z:-3.74 [[ 8.74604574e-01 4.84824669e-01 3.44656793e-03 4.91932521e+02] [-4.84821009e-01 8.74611365e-01 -1.88414818e-03 -1.13292462e+02] [-3.92788900e-03 -2.30839219e-05 9.99992286e-01 -3.74333564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16655999499994 meters 0.05319401885269478 Centerline is valid? [True, True] Translation: X:491.99, Y:-113.32, Z:-3.74 [[ 8.74053760e-01 4.85822400e-01 2.57310408e-03 4.91985719e+02] [-4.85820364e-01 8.74057547e-01 -1.40646632e-03 -1.13322449e+02] [-2.93233389e-03 -2.07391888e-05 9.99995700e-01 -3.74282446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22655999499995 meters 0.05314622868159717 Centerline is valid? [True, True] Translation: X:492.04, Y:-113.35, Z:-3.75 [[ 8.73273426e-01 4.87227479e-01 1.70519184e-03 4.92042609e+02] [-4.87226587e-01 8.73275090e-01 -9.32291654e-04 -1.13348643e+02] [-1.94333967e-03 -1.66692748e-05 9.99998112e-01 -3.74547554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28655999499995 meters 0.053169295364668905 Centerline is valid? [True, True] Translation: X:492.10, Y:-113.38, Z:-3.75 [[ 8.72982095e-01 4.87749857e-01 1.52905142e-03 4.92098191e+02] [-4.87749142e-01 8.72983434e-01 -8.35599617e-04 -1.13378533e+02] [-1.74240016e-03 -1.63300160e-05 9.99998482e-01 -3.74582836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34655999499995 meters 0.05300120105978952 Centerline is valid? [True, True] Translation: X:492.15, Y:-113.41, Z:-3.75 [[ 8.73333547e-01 4.87119915e-01 1.64454755e-03 4.92152608e+02] [-4.87119085e-01 8.73335095e-01 -8.99246558e-04 -1.13407165e+02] [-1.87428200e-03 -1.57483140e-05 9.99998243e-01 -3.74646488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40655999499995 meters 0.05279855311715834 Centerline is valid? [True, True] Translation: X:492.21, Y:-113.44, Z:-3.74 [[ 8.74761453e-01 4.84548581e-01 2.25233678e-03 4.92205491e+02] [-4.84547014e-01 8.74764353e-01 -1.23217864e-03 -1.13439527e+02] [-2.56731434e-03 -1.35006871e-05 9.99996704e-01 -3.74475381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46655999499995 meters 0.05343609447909965 Centerline is valid? [True, True] Translation: X:492.26, Y:-113.47, Z:-3.75 [[ 8.75731052e-01 4.82792222e-01 2.60664875e-03 4.92259131e+02] [-4.82790114e-01 8.75734932e-01 -1.42659787e-03 -1.13468502e+02] [-2.97148372e-03 -9.14819950e-06 9.99995585e-01 -3.74676016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52655999499996 meters 0.05334872984142055 Centerline is valid? [True, True] Translation: X:492.31, Y:-113.50, Z:-3.75 [[ 8.76483483e-01 4.81426709e-01 2.24239306e-03 4.92313523e+02] [-4.81425144e-01 8.76486351e-01 -1.22769046e-03 -1.13499754e+02] [-2.55646989e-03 -3.49398810e-06 9.99996732e-01 -3.74584830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58655999499996 meters 0.053611612014053685 Centerline is valid? [True, True] Translation: X:492.37, Y:-113.53, Z:-3.75 [[ 8.76112984e-01 4.82103265e-01 1.57489475e-03 4.92368595e+02] [-4.82102495e-01 8.76114400e-01 -8.61784812e-04 -1.13528542e+02] [-1.79525724e-03 -4.23982476e-06 9.99998389e-01 -3.74883122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64655999499996 meters 0.05332480978756446 Centerline is valid? [True, True] Translation: X:492.42, Y:-113.56, Z:-3.75 [[ 8.74877378e-01 4.84344456e-01 1.46371413e-04 4.92423574e+02] [-4.84344449e-01 8.74877390e-01 -7.92306028e-05 -1.13557810e+02] [-1.66431943e-04 -1.57711932e-06 9.99999986e-01 -3.74788945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70655999499996 meters 0.053020296050116246 Centerline is valid? [True, True] Translation: X:492.48, Y:-113.59, Z:-3.75 [[ 8.73104463e-01 4.87533002e-01 -4.10166956e-04 4.92476984e+02] [-4.87532950e-01 8.73104560e-01 2.25757305e-04 -1.13587568e+02] [ 4.68182776e-04 2.86019526e-06 9.99999890e-01 -3.74717700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76655999499997 meters 0.05351779604867007 Centerline is valid? [True, True] Translation: X:492.53, Y:-113.62, Z:-3.75 [[ 8.72208975e-01 4.89133212e-01 -4.52276884e-04 4.92531945e+02] [-4.89133148e-01 8.72209093e-01 2.48973069e-04 -1.13615607e+02] [ 5.16261007e-04 4.06707088e-06 9.99999867e-01 -3.74879352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82655999499997 meters 0.05313371113207489 Centerline is valid? [True, True] Translation: X:492.59, Y:-113.64, Z:-3.75 [[ 8.71830289e-01 4.89807875e-01 4.37720346e-04 4.92587939e+02] [-4.89807817e-01 8.71830399e-01 -2.39033547e-04 -1.13642864e+02] [-4.98698418e-04 -6.00216030e-06 9.99999876e-01 -3.75120576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88655999499997 meters 0.05286653665175815 Centerline is valid? [True, True] Translation: X:492.64, Y:-113.67, Z:-3.75 [[ 8.72269773e-01 4.89024356e-01 7.88704755e-04 4.92641872e+02] [-4.89024166e-01 8.72270130e-01 -4.31809170e-04 -1.13674314e+02] [-8.99128801e-04 -9.04159761e-06 9.99999596e-01 -3.75102088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.946559995 meters 0.053160255911118684 Centerline is valid? [True, True] Translation: X:492.69, Y:-113.71, Z:-3.75 [[ 8.73582619e-01 4.86672737e-01 1.74764745e-03 4.92694718e+02] [-4.86671793e-01 8.73584367e-01 -9.58562593e-04 -1.13708458e+02] [-1.99322377e-03 -1.31470974e-05 9.99998013e-01 -3.74915522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.006559995 meters 0.052961798625565604 Centerline is valid? [True, True] Translation: X:492.75, Y:-113.74, Z:-3.75 [[ 8.75160300e-01 4.83830330e-01 1.63104069e-03 4.92747701e+02] [-4.83829503e-01 8.75161820e-01 -8.94657035e-04 -1.13741559e+02] [-1.86028675e-03 -6.17728911e-06 9.99998270e-01 -3.74903876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.066559995 meters 0.05322305776605729 Centerline is valid? [True, True] Translation: X:492.80, Y:-113.77, Z:-3.75 [[ 8.76196463e-01 4.81953898e-01 4.45883919e-04 4.92800734e+02] [-4.81953836e-01 8.76196576e-01 -2.43716782e-04 -1.13773063e+02] [-5.08142216e-04 -1.35168302e-06 9.99999871e-01 -3.75037391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.126559995 meters 0.053480092080471685 Centerline is valid? [True, True] Translation: X:492.85, Y:-113.81, Z:-3.75 [[ 8.77831647e-01 4.78966637e-01 -1.59991911e-03 4.92853635e+02] [-4.78965832e-01 8.77833105e-01 8.78607528e-04 -1.13806129e+02] [ 1.82528566e-03 -4.96290430e-06 9.99998334e-01 -3.75116746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.186559995 meters 0.053820412730503725 Centerline is valid? [True, True] Translation: X:492.91, Y:-113.84, Z:-3.75 [[ 8.78629984e-01 4.77497552e-01 -2.33218156e-03 4.92907186e+02] [-4.77495833e-01 8.78633079e-01 1.28156766e-03 -1.13837624e+02] [ 2.66107729e-03 -1.24167983e-05 9.99996459e-01 -3.75101764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.246559995 meters 0.054268362925527024 Centerline is valid? [True, True] Translation: X:492.96, Y:-113.87, Z:-3.75 [[ 8.79286971e-01 4.76287769e-01 -2.09383209e-03 4.92962190e+02] [-4.76286378e-01 8.79289464e-01 1.15125169e-03 -1.13869320e+02] [ 2.38941159e-03 -1.50169080e-05 9.99997145e-01 -3.74812228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30655999499993 meters 0.05345747801162373 Centerline is valid? [True, True] Translation: X:493.01, Y:-113.90, Z:-3.75 [[ 8.79313658e-01 4.76241585e-01 -1.20100107e-03 4.93014231e+02] [-4.76241127e-01 8.79314479e-01 6.60874116e-04 -1.13901697e+02] [ 1.37079337e-03 -9.14953225e-06 9.99999060e-01 -3.74975750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36655999499993 meters 0.0536457161586726 Centerline is valid? [True, True] Translation: X:493.07, Y:-113.93, Z:-3.75 [[ 8.78403059e-01 4.77920258e-01 -5.40762901e-04 4.93068399e+02] [-4.77920166e-01 8.78403226e-01 2.97715734e-04 -1.13930662e+02] [ 6.17292257e-04 -3.07291628e-06 9.99999809e-01 -3.74597305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42655999499993 meters 0.053592688928253515 Centerline is valid? [True, True] Translation: X:493.12, Y:-113.96, Z:-3.75 [[ 8.77186012e-01 4.80150357e-01 -5.79089639e-04 4.93122387e+02] [-4.80150251e-01 8.77186203e-01 3.19158123e-04 -1.13960430e+02] [ 6.61213328e-04 -1.91100468e-06 9.99999781e-01 -3.74691300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.48655999499994 meters 0.053230189318938526 Centerline is valid? [True, True] Translation: X:493.18, Y:-113.99, Z:-3.75 [[ 8.74662986e-01 4.84729165e-01 -1.51597673e-03 4.93177153e+02] [-4.84728446e-01 8.74664300e-01 8.34454005e-04 -1.13988729e+02] [ 1.73045492e-03 4.97101489e-06 9.99998503e-01 -3.74861445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54655999499994 meters 0.05363906233707078 Centerline is valid? [True, True] Translation: X:493.23, Y:-114.02, Z:-3.75 [[ 8.72284139e-01 4.88994013e-01 -2.28816148e-03 4.93232077e+02] [-4.88992394e-01 8.72287140e-01 1.25869202e-03 -1.14015071e+02] [ 2.61142669e-03 2.09564777e-05 9.99996590e-01 -3.75107344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60655999499994 meters 0.05302352410971324 Centerline is valid? [True, True] Translation: X:493.29, Y:-114.05, Z:-3.75 [[ 8.71599108e-01 4.90212138e-01 -2.65606408e-03 4.93285223e+02] [-4.90209959e-01 8.71603155e-01 1.46189263e-03 -1.14046803e+02] [ 3.03167134e-03 2.78447552e-05 9.99995404e-01 -3.74880217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66655999499994 meters 0.052775137159492946 Centerline is valid? [True, True] Translation: X:493.34, Y:-114.08, Z:-3.75 [[ 8.72190674e-01 4.89163176e-01 -1.67826649e-03 4.93339497e+02] [-4.89162303e-01 8.72192288e-01 9.24323515e-04 -1.14075824e+02] [ 1.91591612e-03 1.47583533e-05 9.99998165e-01 -3.75195723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72655999499995 meters 0.05328716883258682 Centerline is valid? [True, True] Translation: X:493.39, Y:-114.11, Z:-3.75 [[ 8.73457785e-01 4.86898518e-01 -1.15399142e-03 4.93392007e+02] [-4.86898103e-01 8.73458547e-01 6.35985328e-04 -1.14109190e+02] [ 1.31762398e-03 6.36989493e-06 9.99999132e-01 -3.75141153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78655999499995 meters 0.05263732381231562 Centerline is valid? [True, True] Translation: X:493.44, Y:-114.14, Z:-3.75 [[ 8.76157997e-01 4.82021632e-01 -1.52008706e-03 4.93443220e+02] [-4.82020906e-01 8.76159315e-01 8.36953789e-04 -1.14144811e+02] [ 1.73526827e-03 -5.90011842e-07 9.99998494e-01 -3.75156665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84655999499995 meters 0.05313660205931961 Centerline is valid? [True, True] Translation: X:493.49, Y:-114.18, Z:-3.75 [[ 8.79061859e-01 4.76703751e-01 -1.94491845e-03 4.93494576e+02] [-4.76702546e-01 8.79064010e-01 1.07173057e-03 -1.14179531e+02] [ 2.22060579e-03 -1.49698878e-05 9.99997534e-01 -3.75134532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90655999499995 meters 0.05366845971012953 Centerline is valid? [True, True] Translation: X:493.55, Y:-114.21, Z:-3.75 [[ 8.80953290e-01 4.73199250e-01 -1.94180151e-03 4.93545890e+02] [-4.73198042e-01 8.80955430e-01 1.06966639e-03 -1.14212154e+02] [ 2.21680591e-03 -2.34694522e-05 9.99997543e-01 -3.75071496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96655999499995 meters 0.053847941795141234 Centerline is valid? [True, True] Translation: X:493.60, Y:-114.24, Z:-3.75 [[ 8.82666426e-01 4.69996234e-01 -1.87637403e-03 4.93599592e+02] [-4.69995099e-01 8.82668420e-01 1.03349921e-03 -1.14243673e+02] [ 2.14195684e-03 -3.03484511e-05 9.99997706e-01 -3.75011758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02655999499996 meters 0.05399405276958847 Centerline is valid? [True, True] Translation: X:493.65, Y:-114.27, Z:-3.75 [[ 8.84084135e-01 4.67324540e-01 -1.73680676e-03 4.93654354e+02] [-4.67323562e-01 8.84085841e-01 9.56715274e-04 -1.14273004e+02] [ 1.98258279e-03 -3.41660765e-05 9.99998034e-01 -3.74927219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08655999499996 meters 0.053603920658448635 Centerline is valid? [True, True] Translation: X:493.70, Y:-114.31, Z:-3.75 [[ 8.85008949e-01 4.65572569e-01 -1.15905982e-03 4.93704453e+02] [-4.65572132e-01 8.85009707e-01 6.38749823e-04 -1.14307847e+02] [ 1.32316359e-03 -2.56733575e-05 9.99999124e-01 -3.75245079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14655999499996 meters 0.05422785608018166 Centerline is valid? [True, True] Translation: X:493.76, Y:-114.34, Z:-3.75 [[ 8.85275134e-01 4.65066512e-01 -1.03792163e-03 4.93755415e+02] [-4.65066160e-01 8.85275742e-01 5.72629884e-04 -1.14341602e+02] [ 1.18515782e-03 -2.42327712e-05 9.99999297e-01 -3.75402275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20655999499996 meters 0.0541710001770203 Centerline is valid? [True, True] Translation: X:493.81, Y:-114.37, Z:-3.75 [[ 8.83835979e-01 4.67796441e-01 -6.71826351e-04 4.93810375e+02] [-4.67796295e-01 8.83836235e-01 3.70478191e-04 -1.14369714e+02] [ 7.67092851e-04 -1.31640771e-05 9.99999706e-01 -3.75318104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26655999499997 meters 0.05356874352876333 Centerline is valid? [True, True] Translation: X:493.86, Y:-114.40, Z:-3.75 [[ 8.82206203e-01 4.70863165e-01 -3.07573482e-04 4.93863438e+02] [-4.70863135e-01 8.82206257e-01 1.69531140e-04 -1.14398407e+02] [ 3.51169219e-04 -4.73640892e-06 9.99999938e-01 -3.75378900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32655999499997 meters 0.05376347536491848 Centerline is valid? [True, True] Translation: X:493.92, Y:-114.43, Z:-3.76 [[ 8.78786304e-01 4.77215390e-01 3.20645975e-04 4.93919133e+02] [-4.77215357e-01 8.78786363e-01 -1.76341364e-04 -1.14425358e+02] [-3.65932123e-04 1.94919206e-06 9.99999933e-01 -3.75508862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38655999499997 meters 0.052700355301103896 Centerline is valid? [True, True] Translation: X:493.97, Y:-114.45, Z:-3.76 [[ 8.76248055e-01 4.81859929e-01 -5.94802446e-04 4.93974274e+02] [-4.81859818e-01 8.76248257e-01 3.28344029e-04 -1.14452541e+02] [ 6.79410437e-04 -1.09941850e-06 9.99999769e-01 -3.75676860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.446559995 meters 0.05301178640193988 Centerline is valid? [True, True] Translation: X:494.03, Y:-114.48, Z:-3.76 [[ 8.72018219e-01 4.89471217e-01 -1.46749699e-03 4.94030899e+02] [-4.89470548e-01 8.72019454e-01 8.09059706e-04 -1.14478441e+02] [ 1.67569736e-03 1.27817529e-05 9.99998596e-01 -3.75585324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.506559995 meters 0.05283571532459656 Centerline is valid? [True, True] Translation: X:494.09, Y:-114.51, Z:-3.76 [[ 8.68999620e-01 4.94808989e-01 -1.92985419e-03 4.94085042e+02] [-4.94807845e-01 8.69001762e-01 1.06463838e-03 -1.14506547e+02] [ 2.20383933e-03 2.97366428e-05 9.99997571e-01 -3.75522745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.566559995 meters 0.05258497352426122 Centerline is valid? [True, True] Translation: X:494.14, Y:-114.53, Z:-3.76 [[ 8.65196834e-01 5.01427817e-01 -2.14076030e-03 4.94139507e+02] [-5.01426431e-01 8.65199481e-01 1.18050160e-03 -1.14533510e+02] [ 2.44412104e-03 5.20675486e-05 9.99997012e-01 -3.75564914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.626559995 meters 0.052277374039714955 Centerline is valid? [True, True] Translation: X:494.19, Y:-114.57, Z:-3.75 [[ 8.63509819e-01 5.04329464e-01 -1.60779166e-03 4.94192311e+02] [-5.04328686e-01 8.63511314e-01 8.86764855e-04 -1.14565124e+02] [ 1.83556793e-03 4.51252966e-05 9.99998314e-01 -3.75462894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.686559995 meters 0.05272706150107791 Centerline is valid? [True, True] Translation: X:494.25, Y:-114.59, Z:-3.76 [[ 8.61622262e-01 5.07549873e-01 -4.51984767e-04 4.94248585e+02] [-5.07549812e-01 8.61622380e-01 2.49260704e-04 -1.14587603e+02] [ 5.15952429e-04 1.46362113e-05 9.99999867e-01 -3.75565778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.746559995 meters 0.05305203631260332 Centerline is valid? [True, True] Translation: X:494.30, Y:-114.62, Z:-3.76 [[ 8.59711551e-01 5.10779727e-01 -3.45563837e-04 4.94302153e+02] [-5.10779691e-01 8.59711621e-01 1.90688324e-04 -1.14616344e+02] [ 3.94484976e-04 1.25700355e-05 9.99999922e-01 -3.75586654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80655999499993 meters 0.054142045668522994 Centerline is valid? [True, True] Translation: X:494.36, Y:-114.64, Z:-3.76 [[ 8.58591463e-01 5.12659813e-01 -7.84854556e-04 4.94359200e+02] [-5.12659631e-01 8.58591821e-01 4.33266094e-04 -1.14638129e+02] [ 8.95987817e-04 3.03646769e-05 9.99999598e-01 -3.75842919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86655999499993 meters 0.052311700157371424 Centerline is valid? [True, True] Translation: X:494.41, Y:-114.68, Z:-3.76 [[ 8.57083590e-01 5.15173815e-01 -1.91285339e-03 4.94407094e+02] [-5.15172740e-01 8.57085721e-01 1.05584700e-03 -1.14678088e+02] [ 2.18342406e-03 8.05007869e-05 9.99997613e-01 -3.75666024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92655999499993 meters 0.05206271839208549 Centerline is valid? [True, True] Translation: X:494.46, Y:-114.71, Z:-3.76 [[ 8.56900739e-01 5.15475199e-01 -2.53828339e-03 4.94459599e+02] [-5.15473305e-01 8.56904492e-01 1.40132768e-03 -1.14710827e+02] [ 2.89741610e-03 1.07618599e-04 9.99995797e-01 -3.75727619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98655999499994 meters 0.052731930068266306 Centerline is valid? [True, True] Translation: X:494.52, Y:-114.73, Z:-3.76 [[ 8.57121143e-01 5.15109935e-01 -2.25856793e-03 4.94516081e+02] [-5.15108435e-01 8.57124114e-01 1.24679337e-03 -1.14734599e+02] [ 2.57810869e-03 9.47544311e-05 9.99996672e-01 -3.75976810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04655999499994 meters 0.052910838362447664 Centerline is valid? [True, True] Translation: X:494.57, Y:-114.77, Z:-3.76 [[ 8.57577159e-01 5.14353158e-01 -1.49848086e-03 4.94566928e+02] [-5.14352496e-01 8.57578466e-01 8.27675687e-04 -1.14769844e+02] [ 1.71078252e-03 6.09516047e-05 9.99998535e-01 -3.75870709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10655999499994 meters 0.0531868259751763 Centerline is valid? [True, True] Translation: X:494.62, Y:-114.80, Z:-3.76 [[ 8.58339344e-01 5.13082217e-01 -4.57022043e-04 4.94620754e+02] [-5.13082155e-01 8.58339466e-01 2.52367903e-04 -1.14798099e+02] [ 5.21765539e-04 1.78725538e-05 9.99999864e-01 -3.75986186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16655999499994 meters 0.053468396526474504 Centerline is valid? [True, True] Translation: X:494.67, Y:-114.82, Z:-3.76 [[ 8.58813179e-01 5.12288899e-01 -9.14150332e-05 4.94674866e+02] [-5.12288896e-01 8.58813184e-01 5.08240405e-05 -1.14824391e+02] [ 1.04545027e-04 3.18255062e-06 9.99999995e-01 -3.76146944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22655999499995 meters 0.05324002532570773 Centerline is valid? [True, True] Translation: X:494.73, Y:-114.85, Z:-3.76 [[ 8.58433404e-01 5.12924968e-01 -2.60517249e-04 4.94729576e+02] [-5.12924948e-01 8.58433443e-01 1.44697787e-04 -1.14854478e+02] [ 2.97855827e-04 9.41238285e-06 9.99999956e-01 -3.76124581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28655999499995 meters 0.05403282960623145 Centerline is valid? [True, True] Translation: X:494.79, Y:-114.88, Z:-3.76 [[ 8.56950425e-01 5.15398807e-01 -1.96831176e-04 4.94786055e+02] [-5.15398795e-01 8.56950448e-01 1.08764944e-04 -1.14878334e+02] [ 2.24731886e-04 8.24038608e-06 9.99999975e-01 -3.76279693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34655999499995 meters 0.05295002102769949 Centerline is valid? [True, True] Translation: X:494.84, Y:-114.91, Z:-3.76 [[ 8.55148440e-01 5.18383194e-01 -1.02345066e-04 4.94837128e+02] [-5.18383191e-01 8.55148446e-01 5.66316174e-05 -1.14913339e+02] [ 1.16877103e-04 4.62552286e-06 9.99999993e-01 -3.76282245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40655999499995 meters 0.0534800667630775 Centerline is valid? [True, True] Translation: X:494.89, Y:-114.94, Z:-3.76 [[ 8.54733748e-01 5.19065529e-01 -1.09363368e-03 4.94893152e+02] [-5.19065180e-01 8.54734446e-01 6.04785768e-04 -1.14938780e+02] [ 1.24868983e-03 5.07363579e-05 9.99999219e-01 -3.76443078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46655999499995 meters 0.05189960097835588 Centerline is valid? [True, True] Translation: X:494.94, Y:-114.98, Z:-3.76 [[ 8.54529336e-01 5.19402489e-01 -8.17995709e-04 4.94943299e+02] [-5.19402293e-01 8.54529726e-01 4.52758274e-04 -1.14977355e+02] [ 9.34165423e-04 3.79736193e-05 9.99999563e-01 -3.76244950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52655999499996 meters 0.052953462610195276 Centerline is valid? [True, True] Translation: X:495.00, Y:-115.00, Z:-3.76 [[ 8.54748824e-01 5.19041852e-01 -6.15796733e-05 4.95001511e+02] [-5.19041851e-01 8.54748826e-01 3.49095231e-05 -1.14999469e+02] [ 7.07546568e-05 2.12355380e-06 9.99999997e-01 -3.76433070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58655999499996 meters 0.053323544638336606 Centerline is valid? [True, True] Translation: X:495.06, Y:-115.03, Z:-3.76 [[ 8.55017516e-01 5.18598655e-01 6.93595841e-04 4.95055589e+02] [-5.18598515e-01 8.55017797e-01 -3.82478392e-04 -1.15029403e+02] [-7.91389568e-04 -3.26720489e-05 9.99999686e-01 -3.76464846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64655999499996 meters 0.05145322713541149 Centerline is valid? [True, True] Translation: X:495.10, Y:-115.07, Z:-3.76 [[ 8.56010431e-01 5.16954514e-01 2.04280947e-03 4.95103782e+02] [-5.16953289e-01 8.56012864e-01 -1.12882587e-03 -1.15069186e+02] [-2.33222282e-03 -8.97503547e-05 9.99997276e-01 -3.76373802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70655999499996 meters 0.053422240605417025 Centerline is valid? [True, True] Translation: X:495.16, Y:-115.09, Z:-3.77 [[ 8.56955660e-01 5.15385437e-01 2.20174779e-03 4.95161891e+02] [-5.15384010e-01 8.56958483e-01 -1.21669867e-03 -1.15089231e+02] [-2.51387522e-03 -9.20887903e-05 9.99996836e-01 -3.76558291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76655999499997 meters 0.052449963078333633 Centerline is valid? [True, True] Translation: X:495.22, Y:-115.12, Z:-3.77 [[ 8.58642758e-01 5.12568507e-01 2.47770305e-03 4.95215308e+02] [-5.12566686e-01 8.58646328e-01 -1.36953107e-03 -1.15119208e+02] [-2.82944912e-03 -9.40501095e-05 9.99995993e-01 -3.76563775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82655999499997 meters 0.053404033705197314 Centerline is valid? [True, True] Translation: X:495.27, Y:-115.15, Z:-3.77 [[ 8.60433220e-01 5.09558636e-01 2.16129912e-03 4.95270330e+02] [-5.09557241e-01 8.60435931e-01 -1.19465138e-03 -1.15146830e+02] [-2.46840435e-03 -7.33878888e-05 9.99996951e-01 -3.76707116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88655999499997 meters 0.0516658806843002 Centerline is valid? [True, True] Translation: X:495.32, Y:-115.19, Z:-3.77 [[ 8.64058790e-01 5.03389438e-01 1.21691657e-03 4.95319039e+02] [-5.03388990e-01 8.64059646e-01 -6.72540826e-04 -1.15186359e+02] [-1.39003845e-03 -3.14675933e-05 9.99999033e-01 -3.76708688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.946559995 meters 0.05190326026653595 Centerline is valid? [True, True] Translation: X:495.37, Y:-115.22, Z:-3.77 [[ 8.65480438e-01 5.00941402e-01 1.15015431e-03 4.95370385e+02] [-5.00941000e-01 8.65481202e-01 -6.35697428e-04 -1.15220402e+02] [-1.31388410e-03 -2.59757627e-05 9.99999137e-01 -3.76628461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.006559995 meters 0.05233841993181047 Centerline is valid? [True, True] Translation: X:495.42, Y:-115.25, Z:-3.77 [[ 8.69904494e-01 4.93219085e-01 1.05144307e-03 4.95424471e+02] [-4.93218743e-01 8.69905129e-01 -5.80960746e-04 -1.15247784e+02] [-1.20119664e-03 -1.32110629e-05 9.99999278e-01 -3.76885130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.066559995 meters 0.053068842149085305 Centerline is valid? [True, True] Translation: X:495.48, Y:-115.28, Z:-3.77 [[ 8.72653201e-01 4.88335422e-01 2.21506935e-03 4.95476186e+02] [-4.88333887e-01 8.72656012e-01 -1.22475590e-03 -1.15281262e+02] [-2.53108527e-03 -1.29062704e-05 9.99996797e-01 -3.76781547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.126559995 meters 0.052814605552961504 Centerline is valid? [True, True] Translation: X:495.53, Y:-115.31, Z:-3.76 [[ 8.75864064e-01 4.82549670e-01 2.82085496e-03 4.95528909e+02] [-4.82547150e-01 8.75868607e-01 -1.55935695e-03 -1.15314194e+02] [-3.22316548e-03 4.58919301e-06 9.99994806e-01 -3.76468352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.186559995 meters 0.05283024643704805 Centerline is valid? [True, True] Translation: X:495.58, Y:-115.35, Z:-3.77 [[ 8.78061524e-01 4.78532533e-01 3.81778905e-03 4.95582558e+02] [-4.78527875e-01 8.78069823e-01 -2.11156290e-03 -1.15346296e+02] [-4.36273690e-03 2.71636580e-05 9.99990483e-01 -3.76656287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.246559995 meters 0.05367261665235652 Centerline is valid? [True, True] Translation: X:495.64, Y:-115.37, Z:-3.77 [[ 8.78658292e-01 4.77433081e-01 4.15433628e-03 4.95637624e+02] [-4.77427553e-01 8.78668112e-01 -2.29775809e-03 -1.15372933e+02] [-4.74730855e-03 3.55495917e-05 9.99988731e-01 -3.76679612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30655999499993 meters 0.05334244552689792 Centerline is valid? [True, True] Translation: X:495.69, Y:-115.40, Z:-3.77 [[ 8.78268811e-01 4.78152701e-01 3.72699388e-03 4.95691584e+02] [-4.78148257e-01 8.78276718e-01 -2.06175599e-03 -1.15402827e+02] [-4.25916615e-03 2.87203555e-05 9.99990929e-01 -3.76925416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36655999499993 meters 0.05398727782095737 Centerline is valid? [True, True] Translation: X:495.75, Y:-115.43, Z:-3.77 [[ 8.77451661e-01 4.79650546e-01 3.73321839e-03 4.95747492e+02] [-4.79646098e-01 8.77459602e-01 -2.06583741e-03 -1.15430236e+02] [-4.26662836e-03 2.20488301e-05 9.99990898e-01 -3.76957369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42655999499993 meters 0.053698439651998345 Centerline is valid? [True, True] Translation: X:495.80, Y:-115.46, Z:-3.77 [[ 8.75371389e-01 4.83439071e-01 3.40529541e-03 4.95803365e+02] [-4.83435397e-01 8.75378012e-01 -1.88482071e-03 -1.15455606e+02] [-3.89211670e-03 3.67778935e-06 9.99992426e-01 -3.76879987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48655999499994 meters 0.053273537467140586 Centerline is valid? [True, True] Translation: X:495.86, Y:-115.48, Z:-3.77 [[ 8.73546575e-01 4.86721717e-01 4.28371551e-03 4.95860009e+02] [-4.86715938e-01 8.73557079e-01 -2.37195612e-03 -1.15482829e+02] [-4.89655257e-03 -1.29384643e-05 9.99988012e-01 -3.77046312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54655999499994 meters 0.05321536668104532 Centerline is valid? [True, True] Translation: X:495.92, Y:-115.51, Z:-3.77 [[ 8.70347325e-01 4.92413576e-01 4.94000390e-03 4.95915894e+02] [-4.92405979e-01 8.70361343e-01 -2.73578250e-03 -1.15509126e+02] [-5.64672487e-03 -5.14064719e-05 9.99984056e-01 -3.77085615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60655999499994 meters 0.052782215533088934 Centerline is valid? [True, True] Translation: X:495.97, Y:-115.54, Z:-3.77 [[ 8.68002948e-01 4.96540495e-01 4.29172447e-03 4.95970392e+02] [-4.96534810e-01 8.68013555e-01 -2.37709389e-03 -1.15535444e+02] [-4.90559840e-03 -6.76660906e-05 9.99987965e-01 -3.77129273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66655999499994 meters 0.05408817577392268 Centerline is valid? [True, True] Translation: X:496.03, Y:-115.56, Z:-3.77 [[ 8.64915795e-01 5.01904784e-01 3.50061612e-03 4.96028137e+02] [-5.01901045e-01 8.64922876e-01 -1.93901968e-03 -1.15556057e+02] [-4.00096622e-03 -7.98741363e-05 9.99991993e-01 -3.77321384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72655999499995 meters 0.053571297261689084 Centerline is valid? [True, True] Translation: X:496.08, Y:-115.59, Z:-3.77 [[ 8.63492994e-01 5.04347043e-01 3.72958914e-03 4.96081421e+02] [-5.04342821e-01 8.63501043e-01 -2.06595990e-03 -1.15585961e+02] [-4.26246488e-03 -9.70496073e-05 9.99990911e-01 -3.77261404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78655999499995 meters 0.052896738364780496 Centerline is valid? [True, True] Translation: X:496.14, Y:-115.62, Z:-3.77 [[ 8.62301751e-01 5.06378065e-01 4.11656503e-03 4.96135260e+02] [-5.06372943e-01 8.62311569e-01 -2.28065518e-03 -1.15615708e+02] [-4.70463540e-03 -1.17904192e-04 9.99988926e-01 -3.77309800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84655999499995 meters 0.05345468941556466 Centerline is valid? [True, True] Translation: X:496.19, Y:-115.64, Z:-3.77 [[ 8.62229216e-01 5.06508763e-01 3.10685031e-03 4.96190686e+02] [-5.06505846e-01 8.62234809e-01 -1.72138984e-03 -1.15644079e+02] [-3.55073352e-03 -8.94052286e-05 9.99993692e-01 -3.77497521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90655999499995 meters 0.05353729313350233 Centerline is valid? [True, True] Translation: X:496.24, Y:-115.68, Z:-3.78 [[ 8.62726331e-01 5.05662883e-01 2.88558189e-03 4.96244734e+02] [-5.05660361e-01 8.62731153e-01 -1.59921682e-03 -1.15675473e+02] [-3.29814598e-03 -7.94379190e-05 9.99994558e-01 -3.77603201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96655999499995 meters 0.0532592491413054 Centerline is valid? [True, True] Translation: X:496.30, Y:-115.71, Z:-3.78 [[ 8.64472992e-01 5.02667514e-01 3.43756777e-03 4.96296208e+02] [-5.02663906e-01 8.64479823e-01 -1.90613463e-03 -1.15710179e+02] [-3.92985993e-03 -8.01393359e-05 9.99992275e-01 -3.77547936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02655999499996 meters 0.052508951208520456 Centerline is valid? [True, True] Translation: X:496.35, Y:-115.75, Z:-3.77 [[ 8.67679568e-01 4.97103764e-01 4.47372615e-03 4.96346502e+02] [-4.97097579e-01 8.67691098e-01 -2.48083257e-03 -1.15745833e+02] [-5.11504356e-03 -7.13107052e-05 9.99986916e-01 -3.77464289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08655999499996 meters 0.052630728278300364 Centerline is valid? [True, True] Translation: X:496.40, Y:-115.77, Z:-3.78 [[ 8.70759802e-01 4.91687785e-01 4.52652837e-03 4.96399466e+02] [-4.91681378e-01 8.70771566e-01 -2.51030864e-03 -1.15774896e+02] [-5.17586030e-03 -3.97338589e-05 9.99986604e-01 -3.77627757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14655999499996 meters 0.05286343264158979 Centerline is valid? [True, True] Translation: X:496.45, Y:-115.82, Z:-3.78 [[ 8.76150527e-01 4.82011890e-01 4.97918380e-03 4.96448482e+02] [-4.82003982e-01 8.76164675e-01 -2.76121297e-03 -1.15815094e+02] [-5.69352243e-03 1.92517807e-05 9.99983792e-01 -3.77729431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20655999499996 meters 0.05373307161802511 Centerline is valid? [True, True] Translation: X:496.50, Y:-115.85, Z:-3.78 [[ 8.81758506e-01 4.71671065e-01 5.32396596e-03 4.96497869e+02] [-4.71661828e-01 8.81774573e-01 -2.95333714e-03 -1.15852727e+02] [-6.08754149e-03 9.30186273e-05 9.99981466e-01 -3.77782161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26655999499997 meters 0.05427425141725085 Centerline is valid? [True, True] Translation: X:496.55, Y:-115.89, Z:-3.78 [[ 8.84931568e-01 4.65685196e-01 5.78086734e-03 4.96550040e+02] [-4.65674176e-01 8.84950438e-01 -3.20697472e-03 -1.15885866e+02] [-6.60922173e-03 1.45952525e-04 9.99978148e-01 -3.77779236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32655999499997 meters 0.053836517707009854 Centerline is valid? [True, True] Translation: X:496.61, Y:-115.91, Z:-3.78 [[ 8.88135530e-01 4.59551646e-01 5.25024028e-03 4.96607565e+02] [-4.59542448e-01 8.88151031e-01 -2.91274239e-03 -1.15905959e+02] [-6.00156188e-03 1.74201740e-04 9.99981975e-01 -3.77765471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.38655999499997 meters 0.054465718279750025 Centerline is valid? [True, True] Translation: X:496.66, Y:-115.95, Z:-3.78 [[ 8.88634163e-01 4.58584724e-01 5.41993662e-03 4.96656331e+02] [-4.58574903e-01 8.88650671e-01 -3.00707930e-03 -1.15945897e+02] [-6.19543094e-03 1.86746488e-04 9.99980791e-01 -3.77889750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.446559995 meters 0.054217586321727816 Centerline is valid? [True, True] Translation: X:496.71, Y:-115.97, Z:-3.78 [[ 8.87100106e-01 4.61550649e-01 4.93958658e-03 4.96714432e+02] [-4.61542536e-01 8.87113846e-01 -2.74078872e-03 -1.15968601e+02] [-5.64698846e-03 1.51524647e-04 9.99984044e-01 -3.77972928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.506559995 meters 0.054168487418010426 Centerline is valid? [True, True] Translation: X:496.77, Y:-116.00, Z:-3.78 [[ 8.85042845e-01 4.65496133e-01 3.53735033e-03 4.96765430e+02] [-4.65492004e-01 8.85049909e-01 -1.96270525e-03 -1.16001041e+02] [-4.04436329e-03 9.04699435e-05 9.99991817e-01 -3.78161588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.566559995 meters 0.05403507600929325 Centerline is valid? [True, True] Translation: X:496.82, Y:-116.02, Z:-3.78 [[ 8.81335939e-01 4.72473452e-01 3.97493402e-03 4.96823217e+02] [-4.72468307e-01 8.81344900e-01 -2.20594452e-03 -1.16023017e+02] [-4.54553805e-03 6.61478407e-05 9.99989667e-01 -3.78131881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.626559995 meters 0.05336413226832884 Centerline is valid? [True, True] Translation: X:496.88, Y:-116.05, Z:-3.78 [[ 8.77449133e-01 4.79648054e-01 4.55657354e-03 4.96877649e+02] [-4.79641389e-01 8.77460964e-01 -2.52886818e-03 -1.16049775e+02] [-5.21118211e-03 3.34319361e-05 9.99986421e-01 -3.78172788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.686559995 meters 0.052741414880095594 Centerline is valid? [True, True] Translation: X:496.93, Y:-116.08, Z:-3.78 [[ 8.74964777e-01 4.84151168e-01 5.85541466e-03 4.96932433e+02] [-4.84140259e-01 8.74984369e-01 -3.25017879e-03 -1.16078586e+02] [-6.69697416e-03 8.94998608e-06 9.99977575e-01 -3.78225577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.746559995 meters 0.052174101831002045 Centerline is valid? [True, True] Translation: X:496.99, Y:-116.10, Z:-3.78 [[ 8.71944409e-01 4.89543257e-01 7.76826180e-03 4.96989145e+02] [-4.89524262e-01 8.71979012e-01 -4.31273658e-03 -1.16102781e+02] [-8.88503236e-03 -4.22860736e-05 9.99960526e-01 -3.78184451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.80655999499993 meters 0.05235385374261413 Centerline is valid? [True, True] Translation: X:497.04, Y:-116.13, Z:-3.78 [[ 8.71092847e-01 4.91055377e-01 7.86568520e-03 4.97043330e+02] [-4.91035957e-01 8.71128357e-01 -4.36756829e-03 -1.16132317e+02] [-8.99673931e-03 -5.77767601e-05 9.99959527e-01 -3.78247891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.86655999499993 meters 0.05214023934704873 Centerline is valid? [True, True] Translation: X:497.10, Y:-116.16, Z:-3.78 [[ 8.69750643e-01 4.93437883e-01 7.27154608e-03 4.97098522e+02] [-4.93421360e-01 8.69781036e-01 -4.03869190e-03 -1.16158022e+02] [-8.31749647e-03 -7.52812842e-05 9.99965406e-01 -3.78354735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.92655999499993 meters 0.05242095909482286 Centerline is valid? [True, True] Translation: X:497.15, Y:-116.19, Z:-3.79 [[ 8.69169797e-01 4.94481341e-01 5.66277866e-03 4.97153127e+02] [-4.94471339e-01 8.69188241e-01 -3.14575666e-03 -1.16188383e+02] [-6.47753859e-03 -6.58850685e-05 9.99979018e-01 -3.78513938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.98655999499994 meters 0.05233048533527679 Centerline is valid? [True, True] Translation: X:497.21, Y:-116.22, Z:-3.79 [[ 8.69088436e-01 4.94641613e-01 3.86857581e-03 4.97208360e+02] [-4.94636945e-01 8.69097045e-01 -2.14929962e-03 -1.16215945e+02] [-4.42530084e-03 -4.56090744e-05 9.99990207e-01 -3.78712841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04655999499994 meters 0.05296249476388704 Centerline is valid? [True, True] Translation: X:497.26, Y:-116.25, Z:-3.79 [[ 8.70515393e-01 4.92127683e-01 3.64608405e-03 4.97261645e+02] [-4.92123512e-01 8.70523028e-01 -2.02643897e-03 -1.16247580e+02] [-4.17126685e-03 -3.02773713e-05 9.99991300e-01 -3.78752376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10655999499994 meters 0.05239339513931506 Centerline is valid? [True, True] Translation: X:497.31, Y:-116.28, Z:-3.79 [[ 8.72065335e-01 4.89373427e-01 3.96235545e-03 4.97314278e+02] [-4.89368471e-01 8.72074337e-01 -2.20258035e-03 -1.16278280e+02] [-4.53335279e-03 -1.82578589e-05 9.99989724e-01 -3.78803612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16655999499994 meters 0.05283526038373051 Centerline is valid? [True, True] Translation: X:497.37, Y:-116.31, Z:-3.79 [[ 8.73538162e-01 4.86741719e-01 3.68499405e-03 4.97366575e+02] [-4.86737407e-01 8.73545934e-01 -2.04870125e-03 -1.16309453e+02] [-4.21619993e-03 -4.00572818e-06 9.99991112e-01 -3.78886472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22655999499995 meters 0.052979219111220784 Centerline is valid? [True, True] Translation: X:497.42, Y:-116.34, Z:-3.79 [[ 8.74869781e-01 4.84346369e-01 3.38549611e-03 4.97420881e+02] [-4.84342711e-01 8.74876331e-01 -1.88244825e-03 -1.16341050e+02] [-3.87364739e-03 7.15672377e-06 9.99992497e-01 -3.78829053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28655999499995 meters 0.05284522685316335 Centerline is valid? [True, True] Translation: X:497.48, Y:-116.37, Z:-3.79 [[ 8.75110968e-01 4.83910323e-01 3.40487794e-03 4.97475063e+02] [-4.83906619e-01 8.75117592e-01 -1.89322380e-03 -1.16371687e+02] [-3.89581913e-03 9.13793568e-06 9.99992411e-01 -3.78877199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34655999499995 meters 0.05320648503750444 Centerline is valid? [True, True] Translation: X:497.53, Y:-116.40, Z:-3.79 [[ 8.75151250e-01 4.83838060e-01 3.31992928e-03 4.97530501e+02] [-4.83834537e-01 8.75157547e-01 -1.84648077e-03 -1.16402510e+02] [-3.79885884e-03 9.65351135e-06 9.99992784e-01 -3.78926140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40655999499995 meters 0.05278503989555097 Centerline is valid? [True, True] Translation: X:497.59, Y:-116.43, Z:-3.79 [[ 8.74907504e-01 4.84279344e-01 3.22133609e-03 4.97586181e+02] [-4.84276028e-01 8.74913434e-01 -1.79215722e-03 -1.16432717e+02] [-3.68629494e-03 7.95595556e-06 9.99993206e-01 -3.78942568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46655999499995 meters 0.0526929564625632 Centerline is valid? [True, True] Translation: X:497.64, Y:-116.46, Z:-3.79 [[ 8.74097813e-01 4.85736438e-01 3.62314802e-03 4.97640502e+02] [-4.85732252e-01 8.74105322e-01 -2.01654624e-03 -1.16461888e+02] [-4.14652296e-03 2.77881126e-06 9.99991403e-01 -3.78884252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52655999499996 meters 0.05307298379321835 Centerline is valid? [True, True] Translation: X:497.69, Y:-116.49, Z:-3.79 [[ 8.73155814e-01 4.87433499e-01 2.73999711e-03 4.97693512e+02] [-4.87431112e-01 8.73160114e-01 -1.52548446e-03 -1.16491614e+02] [-3.13602841e-03 -3.57421261e-06 9.99995083e-01 -3.79075629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58655999499996 meters 0.05264418340994506 Centerline is valid? [True, True] Translation: X:497.75, Y:-116.52, Z:-3.79 [[ 8.72440456e-01 4.88710368e-01 3.13480699e-03 4.97748544e+02] [-4.88707251e-01 8.72446088e-01 -1.74547755e-03 -1.16522579e+02] [-3.58798307e-03 -9.17767723e-06 9.99993563e-01 -3.79084086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64655999499996 meters 0.05251381829826439 Centerline is valid? [True, True] Translation: X:497.80, Y:-116.55, Z:-3.79 [[ 8.71550156e-01 4.90293861e-01 3.50084966e-03 4.97803534e+02] [-4.90289986e-01 8.71557186e-01 -1.94952825e-03 -1.16552210e+02] [-4.00703242e-03 -1.73198809e-05 9.99991972e-01 -3.79183377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70655999499996 meters 0.052254761286368356 Centerline is valid? [True, True] Translation: X:497.86, Y:-116.58, Z:-3.79 [[ 8.70993803e-01 4.91282726e-01 3.32842190e-03 4.97857824e+02] [-4.91279228e-01 8.71000162e-01 -1.85407378e-03 -1.16581240e+02] [-3.80993043e-03 -2.02977643e-05 9.99992742e-01 -3.79281635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76655999499997 meters 0.05259523694808736 Centerline is valid? [True, True] Translation: X:497.91, Y:-116.61, Z:-3.79 [[ 8.70266673e-01 4.92567530e-01 3.62583759e-03 4.97911855e+02] [-4.92563387e-01 8.70274225e-01 -2.02048070e-03 -1.16611500e+02] [-4.15069618e-03 -2.75978302e-05 9.99991385e-01 -3.79221743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.82655999499997 meters 0.05191740466911288 Centerline is valid? [True, True] Translation: X:497.97, Y:-116.64, Z:-3.79 [[ 8.69655387e-01 4.93641395e-01 4.20493803e-03 4.97966140e+02] [-4.93635831e-01 8.69665552e-01 -2.34397035e-03 -1.16641517e+02] [-4.81397054e-03 -3.72616373e-05 9.99988412e-01 -3.79231249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.88655999499997 meters 0.05235966419942536 Centerline is valid? [True, True] Translation: X:498.02, Y:-116.67, Z:-3.79 [[ 8.68878675e-01 4.95011407e-01 3.68179905e-03 4.98019826e+02] [-4.95007152e-01 8.68886474e-01 -2.05283420e-03 -1.16670367e+02] [-4.21524174e-03 -3.88530075e-05 9.99991115e-01 -3.79310751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.946559995 meters 0.05255645160503685 Centerline is valid? [True, True] Translation: X:498.07, Y:-116.70, Z:-3.79 [[ 8.68007186e-01 4.96542226e-01 3.05662443e-03 4.98074317e+02] [-4.96539302e-01 8.68012567e-01 -1.70455243e-03 -1.16697541e+02] [-3.49957068e-03 -3.81703977e-05 9.99993876e-01 -3.79497757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.006559995 meters 0.05255098652760369 Centerline is valid? [True, True] Translation: X:498.13, Y:-116.73, Z:-3.80 [[ 8.66635175e-01 4.98934235e-01 2.84657594e-03 4.98129506e+02] [-4.98931709e-01 8.66639849e-01 -1.58810647e-03 -1.16726932e+02] [-3.25931683e-03 -4.39380704e-05 9.99994687e-01 -3.79597347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.066559995 meters 0.05249606591140135 Centerline is valid? [True, True] Translation: X:498.18, Y:-116.76, Z:-3.80 [[ 8.65809772e-01 5.00365305e-01 2.82829936e-03 4.98183098e+02] [-5.00362821e-01 8.65814390e-01 -1.57764279e-03 -1.16758937e+02] [-3.23818000e-03 -4.92373012e-05 9.99994756e-01 -3.79649277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.126559995 meters 0.052140419879722254 Centerline is valid? [True, True] Translation: X:498.24, Y:-116.79, Z:-3.80 [[ 8.64621973e-01 5.02417851e-01 2.26867987e-03 4.98235278e+02] [-5.02416258e-01 8.64624948e-01 -1.26613209e-03 -1.16790193e+02] [-2.59768458e-03 -4.50960303e-05 9.99996625e-01 -3.79729347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.186559995 meters 0.051831852913385885 Centerline is valid? [True, True] Translation: X:498.29, Y:-116.82, Z:-3.80 [[ 8.63788972e-01 5.03846676e-01 2.67188223e-03 4.98288280e+02] [-5.03844474e-01 8.63793103e-01 -1.49079757e-03 -1.16821920e+02] [-3.05908684e-03 -5.84785989e-05 9.99995319e-01 -3.79762508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.246559995 meters 0.052684345912366086 Centerline is valid? [True, True] Translation: X:498.34, Y:-116.85, Z:-3.80 [[ 8.62653635e-01 5.05789788e-01 2.32304513e-03 4.98343939e+02] [-5.05788130e-01 8.62656761e-01 -1.29642389e-03 -1.16847436e+02] [-2.65970856e-03 -5.66038669e-05 9.99996461e-01 -3.79941139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.30655999499993 meters 0.051765317712102174 Centerline is valid? [True, True] Translation: X:498.39, Y:-116.88, Z:-3.80 [[ 8.62200060e-01 5.06560266e-01 2.78438795e-03 4.98394473e+02] [-5.06557886e-01 8.62204554e-01 -1.55440507e-03 -1.16884380e+02] [-3.18811182e-03 -7.02455279e-05 9.99994915e-01 -3.79822461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.36655999499993 meters 0.05270239598417152 Centerline is valid? [True, True] Translation: X:498.45, Y:-116.91, Z:-3.80 [[ 8.62480199e-01 5.06082928e-01 2.82416423e-03 4.98450434e+02] [-5.06080476e-01 8.62484820e-01 -1.57708219e-03 -1.16909956e+02] [-3.23393315e-03 -6.90522187e-05 9.99994768e-01 -3.79986312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.42655999499993 meters 0.05235720500598468 Centerline is valid? [True, True] Translation: X:498.50, Y:-116.95, Z:-3.80 [[ 8.63262864e-01 5.04746549e-01 2.85459935e-03 4.98501805e+02] [-5.04744035e-01 8.63267581e-01 -1.59447507e-03 -1.16945401e+02] [-3.26908887e-03 -6.43908783e-05 9.99994654e-01 -3.80009000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.48655999499994 meters 0.05181951388516296 Centerline is valid? [True, True] Translation: X:498.55, Y:-116.98, Z:-3.80 [[ 8.64118118e-01 5.03285255e-01 1.95730624e-03 4.98554913e+02] [-5.03284068e-01 8.64120333e-01 -1.09366966e-03 -1.16978855e+02] [-2.24177593e-03 -4.00212797e-05 9.99997486e-01 -3.80249303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54655999499994 meters 0.051740010519368614 Centerline is valid? [True, True] Translation: X:498.60, Y:-117.02, Z:-3.80 [[ 8.64401822e-01 5.02798345e-01 1.82046716e-03 4.98604914e+02] [-5.02797318e-01 8.64403738e-01 -1.01682018e-03 -1.17016021e+02] [-2.08487412e-03 -3.63847888e-05 9.99997826e-01 -3.80190280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60655999499994 meters 0.051734127151271396 Centerline is valid? [True, True] Translation: X:498.66, Y:-117.05, Z:-3.80 [[ 8.64647621e-01 5.02377692e-01 1.07069608e-03 4.98658262e+02] [-5.02377337e-01 8.64648283e-01 -5.97806221e-04 -1.17048318e+02] [-1.22610004e-03 -2.10017206e-05 9.99999248e-01 -3.80231217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66655999499994 meters 0.051828444930500546 Centerline is valid? [True, True] Translation: X:498.71, Y:-117.08, Z:-3.80 [[ 8.66016299e-01 5.00014961e-01 8.99296689e-04 4.98710425e+02] [-5.00014709e-01 8.66016766e-01 -5.02311015e-04 -1.17080552e+02] [-1.02996903e-03 -1.46520465e-05 9.99999469e-01 -3.80302368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72655999499995 meters 0.05169537860624884 Centerline is valid? [True, True] Translation: X:498.76, Y:-117.11, Z:-3.80 [[ 8.66659370e-01 4.98898643e-01 1.29655324e-03 4.98763865e+02] [-4.98898117e-01 8.66660339e-01 -7.24433938e-04 -1.17112679e+02] [-1.48509038e-03 -1.90105125e-05 9.99998897e-01 -3.80345531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78655999499995 meters 0.05183448501079176 Centerline is valid? [True, True] Translation: X:498.81, Y:-117.15, Z:-3.80 [[ 8.69859228e-01 4.93289113e-01 3.28246096e-03 4.98813913e+02] [-4.93285695e-01 8.69865421e-01 -1.83635662e-03 -1.17149430e+02] [-3.76115402e-03 -2.18192808e-05 9.99992927e-01 -3.80098559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84655999499995 meters 0.051302811527081146 Centerline is valid? [True, True] Translation: X:498.87, Y:-117.18, Z:-3.80 [[ 8.72421902e-01 4.88729870e-01 4.81026954e-03 4.98868123e+02] [-4.88722460e-01 8.72435163e-01 -2.69129679e-03 -1.17180204e+02] [-5.51196542e-03 -2.94049826e-06 9.99984809e-01 -3.80234031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90655999499995 meters 0.05177691081278645 Centerline is valid? [True, True] Translation: X:498.92, Y:-117.21, Z:-3.80 [[ 8.76726508e-01 4.80960767e-01 5.23168915e-03 4.98920455e+02] [-4.80951861e-01 8.76742116e-01 -2.92728632e-03 -1.17212412e+02] [-5.99475210e-03 5.02388804e-05 9.99982030e-01 -3.80354120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96655999499995 meters 0.052359481831761624 Centerline is valid? [True, True] Translation: X:498.97, Y:-117.25, Z:-3.81 [[ 8.81027931e-01 4.73046349e-01 4.11550294e-03 4.98971351e+02] [-4.73040748e-01 8.81037539e-01 -2.30337763e-03 -1.17247853e+02] [-4.71551696e-03 8.25394374e-05 9.99988878e-01 -3.80603128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02655999499996 meters 0.05249479608739794 Centerline is valid? [True, True] Translation: X:499.03, Y:-117.27, Z:-3.81 [[ 8.82934598e-01 4.69484390e-01 3.30194937e-03 4.99025452e+02] [-4.69480760e-01 8.82940769e-01 -1.84802419e-03 -1.17274029e+02] [-3.78304422e-03 8.14827955e-05 9.99992841e-01 -3.80625897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08655999499996 meters 0.05333307517664279 Centerline is valid? [True, True] Translation: X:499.08, Y:-117.30, Z:-3.81 [[ 8.85616032e-01 4.64401619e-01 3.92161138e-03 4.99082572e+02] [-4.64396447e-01 8.85624707e-01 -2.19523083e-03 -1.17297246e+02] [-4.49254468e-03 1.22949220e-04 9.99989901e-01 -3.80682408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14655999499996 meters 0.05346571629838233 Centerline is valid? [True, True] Translation: X:499.13, Y:-117.34, Z:-3.81 [[ 8.87573780e-01 4.60636376e-01 5.18798645e-03 4.99129552e+02] [-4.60627258e-01 8.87588922e-01 -2.90437272e-03 -1.17336764e+02] [-5.94265903e-03 1.88117097e-04 9.99982325e-01 -3.80806383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20655999499996 meters 0.05419412283803849 Centerline is valid? [True, True] Translation: X:499.18, Y:-117.37, Z:-3.81 [[ 8.88960872e-01 4.57965920e-01 3.97299915e-03 4.99183567e+02] [-4.57960547e-01 8.88969736e-01 -2.22407369e-03 -1.17366011e+02] [-4.55042596e-03 1.57637627e-04 9.99989634e-01 -3.81081413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26655999499997 meters 0.05319735377633212 Centerline is valid? [True, True] Translation: X:499.24, Y:-117.38, Z:-3.81 [[ 8.88408322e-01 4.59034013e-01 4.29284628e-03 4.99244039e+02] [-4.59027749e-01 8.88418678e-01 -2.40361813e-03 -1.17384333e+02] [-4.91718730e-03 1.64858787e-04 9.99987897e-01 -3.81015687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.32655999499997 meters 0.05324752632759289 Centerline is valid? [True, True] Translation: X:499.30, Y:-117.41, Z:-3.81 [[ 8.86593810e-01 4.62526451e-01 4.54960132e-03 4.99300446e+02] [-4.62519457e-01 8.86605470e-01 -2.54819411e-03 -1.17408528e+02] [-5.21230859e-03 1.54933989e-04 9.99986404e-01 -3.81090648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.38655999499997 meters 0.052880843105192185 Centerline is valid? [True, True] Translation: X:499.36, Y:-117.43, Z:-3.81 [[ 8.82983400e-01 4.69390820e-01 3.54577047e-03 4.99357845e+02] [-4.69386625e-01 8.82990515e-01 -1.98645249e-03 -1.17431784e+02] [-4.06330426e-03 8.96673391e-05 9.99991741e-01 -3.81275306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.446559995 meters 0.05264015250403435 Centerline is valid? [True, True] Translation: X:499.42, Y:-117.45, Z:-3.81 [[ 8.77937966e-01 4.78766377e-01 2.77207882e-03 4.99415188e+02] [-4.78763859e-01 8.77942342e-01 -1.55318168e-03 -1.17451863e+02] [-3.17733654e-03 3.64260069e-05 9.99994952e-01 -3.81292946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.506559995 meters 0.0531838884946131 Centerline is valid? [True, True] Translation: X:499.47, Y:-117.48, Z:-3.81 [[ 8.73937442e-01 4.86026038e-01 3.46951598e-03 4.99471656e+02] [-4.86022151e-01 8.73944329e-01 -1.94394371e-03 -1.17475468e+02] [-3.97697108e-03 1.26235707e-05 9.99992092e-01 -3.81369613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.566559995 meters 0.052335400787583856 Centerline is valid? [True, True] Translation: X:499.53, Y:-117.50, Z:-3.81 [[ 8.67494972e-01 4.97427706e-01 4.26050266e-03 4.99530021e+02] [-4.97421980e-01 8.67505432e-01 -2.38719588e-03 -1.17498619e+02] [-4.88346657e-03 -4.83872429e-05 9.99988075e-01 -3.81326714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.626559995 meters 0.052484006199791204 Centerline is valid? [True, True] Translation: X:499.59, Y:-117.52, Z:-3.81 [[ 8.63438208e-01 5.04439752e-01 3.87277526e-03 4.99586425e+02] [-5.04435091e-01 8.63446889e-01 -2.16993030e-03 -1.17520383e+02] [-4.43853485e-03 -7.99630103e-05 9.99990146e-01 -3.81352623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.686559995 meters 0.051994324061351925 Centerline is valid? [True, True] Translation: X:499.64, Y:-117.55, Z:-3.81 [[ 8.60153465e-01 5.10026369e-01 3.01973023e-03 4.99640917e+02] [-5.10023568e-01 8.60158762e-01 -1.69240426e-03 -1.17549261e+02] [-3.46061822e-03 -8.44061934e-05 9.99994008e-01 -3.81332578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.746559995 meters 0.052710686565735514 Centerline is valid? [True, True] Translation: X:499.70, Y:-117.57, Z:-3.82 [[ 8.57062865e-01 5.15205439e-01 2.56925624e-03 4.99697923e+02] [-5.15203435e-01 8.57066711e-01 -1.43992012e-03 -1.17570630e+02] [-2.94387867e-03 -8.95875771e-05 9.99995663e-01 -3.81544147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.80655999499993 meters 0.05394628248102368 Centerline is valid? [True, True] Translation: X:499.76, Y:-117.59, Z:-3.82 [[ 8.56181157e-01 5.16665859e-01 3.19638788e-03 4.99755110e+02] [-5.16662768e-01 8.56187115e-01 -1.79122811e-03 -1.17593462e+02] [-3.66217253e-03 -1.17838849e-04 9.99993287e-01 -3.81530310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.86655999499993 meters 0.053614487931237166 Centerline is valid? [True, True] Translation: X:499.81, Y:-117.63, Z:-3.82 [[ 8.56401068e-01 5.16300975e-01 3.24261665e-03 4.99808561e+02] [-5.16297789e-01 8.56407198e-01 -1.81753794e-03 -1.17625650e+02] [-3.71539685e-03 -1.17614377e-04 9.99993091e-01 -3.81564573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.92655999499993 meters 0.05347766716813404 Centerline is valid? [True, True] Translation: X:499.86, Y:-117.66, Z:-3.82 [[ 8.56883409e-01 5.15502867e-01 2.75986608e-03 4.99861247e+02] [-5.15500554e-01 8.56887848e-01 -1.54718012e-03 -1.17658981e+02] [-3.16247149e-03 -9.69595199e-05 9.99994995e-01 -3.81610487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.98655999499994 meters 0.05359463932966211 Centerline is valid? [True, True] Translation: X:499.92, Y:-117.69, Z:-3.82 [[ 8.56894920e-01 5.15487248e-01 1.99829929e-03 4.99916989e+02] [-5.15486036e-01 8.56897247e-01 -1.12023334e-03 -1.17686566e+02] [-2.28980316e-03 -7.01731207e-05 9.99997376e-01 -3.81689048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04655999499994 meters 0.05265921888803792 Centerline is valid? [True, True] Translation: X:499.97, Y:-117.72, Z:-3.82 [[ 8.57956502e-01 5.13718931e-01 1.87101910e-03 4.99967264e+02] [-5.13717862e-01 8.57958540e-01 -1.04969104e-03 -1.17722179e+02] [-2.14450297e-03 -6.05866757e-05 9.99997699e-01 -3.81575710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10655999499994 meters 0.05285735329318251 Centerline is valid? [True, True] Translation: X:500.02, Y:-117.75, Z:-3.82 [[ 8.58121003e-01 5.13445678e-01 1.37094547e-03 5.00021419e+02] [-5.13445104e-01 8.58122097e-01 -7.68501938e-04 -1.17752877e+02] [-1.57102260e-03 -4.44375875e-05 9.99998765e-01 -3.81591944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16655999499994 meters 0.05303407088456224 Centerline is valid? [True, True] Translation: X:500.08, Y:-117.78, Z:-3.82 [[ 8.58212325e-01 5.13293382e-01 1.22854382e-03 5.00076274e+02] [-5.13292921e-01 8.58213204e-01 -6.89087688e-04 -1.17781034e+02] [-1.40805668e-03 -3.92192982e-05 9.99999008e-01 -3.81717533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22655999499995 meters 0.05241487894569626 Centerline is valid? [True, True] Translation: X:500.13, Y:-117.82, Z:-3.82 [[ 8.58276195e-01 5.13187082e-01 9.95954302e-04 5.00127825e+02] [-5.13186780e-01 8.58276772e-01 -5.58268324e-04 -1.17816116e+02] [-1.14130054e-03 -3.19621687e-05 9.99999348e-01 -3.81628615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28655999499995 meters 0.05400506700985593 Centerline is valid? [True, True] Translation: X:500.19, Y:-117.84, Z:-3.82 [[ 8.58161673e-01 5.13378609e-01 9.73145910e-04 5.00186377e+02] [-5.13378320e-01 8.58162224e-01 -5.45570612e-04 -1.17838833e+02] [-1.11520134e-03 -3.14042227e-05 9.99999378e-01 -3.81819148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34655999499995 meters 0.053366311260322576 Centerline is valid? [True, True] Translation: X:500.24, Y:-117.87, Z:-3.82 [[ 8.58288540e-01 5.13164434e-01 1.74543463e-03 5.00241020e+02] [-5.13163501e-01 8.58290313e-01 -9.79863817e-04 -1.17869481e+02] [-2.00092089e-03 -5.46874599e-05 9.99997997e-01 -3.81767710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40655999499995 meters 0.05268723346360047 Centerline is valid? [True, True] Translation: X:500.29, Y:-117.90, Z:-3.82 [[ 8.57864771e-01 5.13870280e-01 2.31741495e-03 5.00292249e+02] [-5.13868638e-01 8.57867898e-01 -1.30110297e-03 -1.17904848e+02] [-2.65663404e-03 -7.46764563e-05 9.99996468e-01 -3.81625895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46655999499995 meters 0.05287884813129173 Centerline is valid? [True, True] Translation: X:500.35, Y:-117.93, Z:-3.82 [[ 8.57301698e-01 5.14810700e-01 1.93458905e-03 5.00347464e+02] [-5.14809556e-01 8.57303878e-01 -1.08685871e-03 -1.17930186e+02] [-2.21805718e-03 -6.41791136e-05 9.99997538e-01 -3.81680584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52655999499996 meters 0.052868990969189046 Centerline is valid? [True, True] Translation: X:500.40, Y:-117.96, Z:-3.82 [[ 8.56668218e-01 5.15865701e-01 1.46357187e-03 5.00401247e+02] [-5.15865049e-01 8.56669467e-01 -8.22133956e-04 -1.17961797e+02] [-1.67790804e-03 -5.07095410e-05 9.99998591e-01 -3.81651595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58655999499996 meters 0.05462113527262574 Centerline is valid? [True, True] Translation: X:500.46, Y:-117.98, Z:-3.82 [[ 8.56195328e-01 5.16649448e-01 1.70542906e-03 5.00459470e+02] [-5.16648564e-01 8.56197024e-01 -9.57671996e-04 -1.17982529e+02] [-1.95496400e-03 -6.11531885e-05 9.99998087e-01 -3.81800955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64655999499996 meters 0.05290242553718402 Centerline is valid? [True, True] Translation: X:500.51, Y:-118.02, Z:-3.82 [[ 8.56155739e-01 5.16715194e-01 1.66116732e-03 5.00510184e+02] [-5.16714355e-01 8.56157348e-01 -9.32867194e-04 -1.18020135e+02] [-1.90424726e-03 -5.96693997e-05 9.99998185e-01 -3.81640259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70655999499996 meters 0.05422707521362011 Centerline is valid? [True, True] Translation: X:500.57, Y:-118.04, Z:-3.82 [[ 8.56123345e-01 5.16770282e-01 1.13732326e-03 5.00568102e+02] [-5.16769889e-01 8.56124099e-01 -6.38600344e-04 -1.18043619e+02] [-1.30369953e-03 -4.10137506e-05 9.99999149e-01 -3.81812742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76655999499997 meters 0.05402598620521288 Centerline is valid? [True, True] Translation: X:500.62, Y:-118.08, Z:-3.82 [[ 8.56344479e-01 5.16404880e-01 3.66248143e-04 5.00620739e+02] [-5.16404839e-01 8.56344557e-01 -2.05106240e-04 -1.18076185e+02] [-4.19552467e-04 -1.34907170e-05 9.99999912e-01 -3.81839643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.82655999499997 meters 0.05350372427926681 Centerline is valid? [True, True] Translation: X:500.67, Y:-118.11, Z:-3.82 [[ 8.57465393e-01 5.14541573e-01 -2.63886774e-04 5.00673213e+02] [-5.14541552e-01 8.57465433e-01 1.48577586e-04 -1.18108154e+02] [ 3.02723132e-04 8.38057249e-06 9.99999954e-01 -3.81867716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.88655999499997 meters 0.05333740244417348 Centerline is valid? [True, True] Translation: X:500.73, Y:-118.14, Z:-3.82 [[ 8.58326311e-01 5.13103942e-01 -5.36429391e-04 5.00725328e+02] [-5.13103854e-01 8.58326479e-01 3.01981557e-04 -1.18141663e+02] [ 6.15379478e-04 1.60452721e-05 9.99999811e-01 -3.81817695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.946559995 meters 0.05388867153147865 Centerline is valid? [True, True] Translation: X:500.78, Y:-118.17, Z:-3.82 [[ 8.60052390e-01 5.10205254e-01 -6.96850923e-04 5.00778020e+02] [-5.10205104e-01 8.60052672e-01 3.92115929e-04 -1.18172651e+02] [ 7.99388105e-04 1.82966562e-05 9.99999680e-01 -3.81822934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.006559995 meters 0.05423069694175607 Centerline is valid? [True, True] Translation: X:500.83, Y:-118.20, Z:-3.82 [[ 8.60833048e-01 5.08886721e-01 -8.77272664e-04 5.00832134e+02] [-5.08886481e-01 8.60833494e-01 4.94617535e-04 -1.18201946e+02] [ 1.00688999e-03 2.06490789e-05 9.99999493e-01 -3.81908078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.066559995 meters 0.05311200049317734 Centerline is valid? [True, True] Translation: X:500.88, Y:-118.24, Z:-3.82 [[ 8.62235513e-01 5.06505630e-01 -1.40239909e-03 5.00883808e+02] [-5.06505015e-01 8.62236653e-01 7.89416701e-04 -1.18235219e+02] [ 1.60904390e-03 2.96590587e-05 9.99998705e-01 -3.81898928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.126559995 meters 0.05333828587130269 Centerline is valid? [True, True] Translation: X:500.94, Y:-118.27, Z:-3.82 [[ 8.63178619e-01 5.04895800e-01 -1.70391890e-03 5.00936847e+02] [-5.04894888e-01 8.63180300e-01 9.60122832e-04 -1.18268347e+02] [ 1.95555121e-03 3.15424425e-05 9.99998087e-01 -3.81920063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.186559995 meters 0.05411226881284758 Centerline is valid? [True, True] Translation: X:500.99, Y:-118.30, Z:-3.82 [[ 8.63717081e-01 5.03976108e-01 -9.41054605e-04 5.00990141e+02] [-5.03975829e-01 8.63717594e-01 5.30752498e-04 -1.18298605e+02] [ 1.08029200e-03 1.58487763e-05 9.99999416e-01 -3.81996625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.246559995 meters 0.05362891548202185 Centerline is valid? [True, True] Translation: X:501.04, Y:-118.33, Z:-3.82 [[ 8.63930575e-01 5.03610294e-01 -7.95683873e-04 5.01042386e+02] [-5.03610094e-01 8.63930942e-01 4.49101265e-04 -1.18333331e+02] [ 9.13587938e-04 1.27221151e-05 9.99999583e-01 -3.81868005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.30655999499993 meters 0.05303308068493555 Centerline is valid? [True, True] Translation: X:501.09, Y:-118.37, Z:-3.82 [[ 8.63819870e-01 5.03800139e-01 -8.07783866e-04 5.01094208e+02] [-5.03799933e-01 8.63820247e-01 4.56103321e-04 -1.18367690e+02] [ 9.27564975e-04 1.29703464e-05 9.99999570e-01 -3.81720739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.36655999499993 meters 0.053590277491261884 Centerline is valid? [True, True] Translation: X:501.15, Y:-118.40, Z:-3.82 [[ 8.63110186e-01 5.05015168e-01 -6.97540829e-04 5.01148839e+02] [-5.05015014e-01 8.63110468e-01 3.93986738e-04 -1.18396159e+02] [ 8.01024070e-04 1.22146255e-05 9.99999679e-01 -3.81936001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.42655999499993 meters 0.05359925209556048 Centerline is valid? [True, True] Translation: X:501.20, Y:-118.43, Z:-3.82 [[ 8.62343523e-01 5.06323394e-01 -5.17766072e-04 5.01202585e+02] [-5.06323310e-01 8.62343679e-01 2.92123230e-04 -1.18426606e+02] [ 5.94401125e-04 1.02464560e-05 9.99999823e-01 -3.82019705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.48655999499994 meters 0.0538922514241471 Centerline is valid? [True, True] Translation: X:501.25, Y:-118.46, Z:-3.82 [[ 8.61004201e-01 5.08596880e-01 -9.89544754e-04 5.01254649e+02] [-5.08596574e-01 8.61004770e-01 5.57945465e-04 -1.18460021e+02] [ 1.13577208e-03 2.28856821e-05 9.99999355e-01 -3.81947421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54655999499994 meters 0.05308071766500476 Centerline is valid? [True, True] Translation: X:501.31, Y:-118.49, Z:-3.82 [[ 8.60202355e-01 5.09952007e-01 -9.26824795e-04 5.01307958e+02] [-5.09951739e-01 8.60202854e-01 5.23451724e-04 -1.18491472e+02] [ 1.06419259e-03 2.23615097e-05 9.99999433e-01 -3.81955639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60655999499994 meters 0.053556210382505534 Centerline is valid? [True, True] Translation: X:501.36, Y:-118.52, Z:-3.82 [[ 8.59414253e-01 5.11279870e-01 -1.91594838e-04 5.01362152e+02] [-5.11279858e-01 8.59414274e-01 1.08923917e-04 -1.18519803e+02] [ 2.20349945e-04 4.34781496e-06 9.99999976e-01 -3.82081743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66655999499994 meters 0.0529310143081369 Centerline is valid? [True, True] Translation: X:501.41, Y:-118.55, Z:-3.82 [[ 8.58482474e-01 5.12842830e-01 2.69833534e-04 5.01413836e+02] [-5.12842808e-01 8.58482517e-01 -1.51897225e-04 -1.18554605e+02] [-3.09546774e-04 -7.98108212e-06 9.99999952e-01 -3.81960544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72655999499995 meters 0.05315747429291911 Centerline is valid? [True, True] Translation: X:501.47, Y:-118.58, Z:-3.82 [[ 8.57542198e-01 5.14413539e-01 2.98613433e-04 5.01467139e+02] [-5.14413512e-01 8.57542250e-01 -1.68268027e-04 -1.18583385e+02] [-3.42632987e-04 -9.31385068e-06 9.99999941e-01 -3.82037895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78655999499995 meters 0.05279222753996241 Centerline is valid? [True, True] Translation: X:501.52, Y:-118.61, Z:-3.82 [[ 8.55811863e-01 5.17287141e-01 -2.63187136e-04 5.01520224e+02] [-5.17287119e-01 8.55811904e-01 1.48518238e-04 -1.18614256e+02] [ 3.02065258e-04 9.03964540e-06 9.99999954e-01 -3.82117398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84655999499995 meters 0.05405467940888182 Centerline is valid? [True, True] Translation: X:501.57, Y:-118.64, Z:-3.82 [[ 8.55030524e-01 5.18577101e-01 -7.70149751e-04 5.01574483e+02] [-5.18576919e-01 8.55030871e-01 4.35263727e-04 -1.18642101e+02] [ 8.84219614e-04 2.72181128e-05 9.99999609e-01 -3.82251679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90655999499995 meters 0.052932886402690116 Centerline is valid? [True, True] Translation: X:501.63, Y:-118.68, Z:-3.82 [[ 8.53787234e-01 5.20621547e-01 -7.50806405e-04 5.01625261e+02] [-5.20621375e-01 8.53787564e-01 4.23671633e-04 -1.18677185e+02] [ 8.61601753e-04 2.91604308e-05 9.99999628e-01 -3.82164608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96655999499995 meters 0.05445270725324983 Centerline is valid? [True, True] Translation: X:501.68, Y:-118.70, Z:-3.82 [[ 8.52854334e-01 5.22148906e-01 7.81669311e-05 5.01680750e+02] [-5.22148904e-01 8.52854337e-01 -4.37759367e-05 -1.18700757e+02] [-8.95225638e-05 -3.48028007e-06 9.99999996e-01 -3.82277173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02655999499996 meters 0.05346636456275863 Centerline is valid? [True, True] Translation: X:501.73, Y:-118.73, Z:-3.82 [[ 8.52728533e-01 5.22354333e-01 2.72849704e-05 5.01734223e+02] [-5.22354333e-01 8.52728533e-01 -1.43971486e-05 -1.18734539e+02] [-3.07870859e-05 -1.97556314e-06 1.00000000e+00 -3.82220321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08655999499996 meters 0.05316946166788543 Centerline is valid? [True, True] Translation: X:501.78, Y:-118.77, Z:-3.82 [[ 8.52909867e-01 5.22057611e-01 -7.80868422e-04 5.01784640e+02] [-5.22057425e-01 8.52910224e-01 4.41687526e-04 -1.18771531e+02] [ 8.96596995e-04 3.09385086e-05 9.99999598e-01 -3.82160890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14655999499996 meters 0.05385399962111338 Centerline is valid? [True, True] Translation: X:501.84, Y:-118.80, Z:-3.82 [[ 8.53440875e-01 5.21185368e-01 -2.11794586e-03 5.01840452e+02] [-5.21184002e-01 8.53443499e-01 1.19619039e-03 -1.18796841e+02] [ 2.43098405e-03 8.29617241e-05 9.99997042e-01 -3.82498728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20655999499996 meters 0.05280451606760429 Centerline is valid? [True, True] Translation: X:501.89, Y:-118.84, Z:-3.82 [[ 8.53985948e-01 5.20285589e-01 -3.30238270e-03 5.01889137e+02] [-5.20282259e-01 8.53992324e-01 1.86574652e-03 -1.18836865e+02] [ 3.79093051e-03 1.24849816e-04 9.99992807e-01 -3.82246796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26655999499997 meters 0.05238868308423966 Centerline is valid? [True, True] Translation: X:501.94, Y:-118.87, Z:-3.82 [[ 8.54822617e-01 5.18911429e-01 -3.03682969e-03 5.01942263e+02] [-5.18908606e-01 8.54828004e-01 1.71528172e-03 -1.18868775e+02] [ 3.48604635e-03 1.09575447e-04 9.99993918e-01 -3.82274711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.32655999499997 meters 0.05327061114788917 Centerline is valid? [True, True] Translation: X:502.00, Y:-118.90, Z:-3.82 [[ 8.56263905e-01 5.16532541e-01 -2.50166162e-03 5.01996873e+02] [-5.16530616e-01 8.56267556e-01 1.41287467e-03 -1.18895634e+02] [ 2.87188743e-03 8.23912388e-05 9.99995873e-01 -3.82484026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.38655999499997 meters 0.052522449210689125 Centerline is valid? [True, True] Translation: X:502.05, Y:-118.93, Z:-3.82 [[ 8.57631439e-01 5.14260920e-01 -2.00513449e-03 5.02048319e+02] [-5.14259676e-01 8.57633781e-01 1.13259766e-03 -1.18929812e+02] [ 2.30212179e-03 5.98084544e-05 9.99997348e-01 -3.82427768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.446559995 meters 0.052621205807783275 Centerline is valid? [True, True] Translation: X:502.10, Y:-118.96, Z:-3.82 [[ 8.57885526e-01 5.13837327e-01 -1.90413756e-03 5.02101154e+02] [-5.13836202e-01 8.57887637e-01 1.07662512e-03 -1.18963086e+02] [ 2.18674624e-03 5.47937076e-05 9.99997608e-01 -3.82336779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.506559995 meters 0.053018715179543555 Centerline is valid? [True, True] Translation: X:502.16, Y:-118.99, Z:-3.83 [[ 8.57783921e-01 5.14008753e-01 -1.32197655e-03 5.02156485e+02] [-5.14008211e-01 8.57784938e-01 7.47441829e-04 -1.18989739e+02] [ 1.51816322e-03 3.83632196e-05 9.99998847e-01 -3.82531719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.566559995 meters 0.052307302373509425 Centerline is valid? [True, True] Translation: X:502.21, Y:-119.03, Z:-3.82 [[ 8.57518936e-01 5.14450842e-01 -1.26667693e-03 5.02208263e+02] [-5.14450344e-01 8.57519871e-01 7.16800890e-04 -1.19025017e+02] [ 1.45495946e-03 3.69720450e-05 9.99998941e-01 -3.82394921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.626559995 meters 0.052837489203958296 Centerline is valid? [True, True] Translation: X:502.26, Y:-119.05, Z:-3.83 [[ 8.56911846e-01 5.15459865e-01 -1.79336051e-03 5.02262987e+02] [-5.15458869e-01 8.56913721e-01 1.01462421e-03 -1.19052782e+02] [ 2.05975328e-03 5.49600740e-05 9.99997877e-01 -3.82554125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.686559995 meters 0.0526722092134363 Centerline is valid? [True, True] Translation: X:502.32, Y:-119.09, Z:-3.83 [[ 8.56529560e-01 5.16091521e-01 -2.57945587e-03 5.02315288e+02] [-5.16089464e-01 8.56533441e-01 1.45945684e-03 -1.19086543e+02] [ 2.96260351e-03 8.11620670e-05 9.99995608e-01 -3.82573280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.746559995 meters 0.05344210065202318 Centerline is valid? [True, True] Translation: X:502.37, Y:-119.11, Z:-3.83 [[ 8.56491498e-01 5.16153083e-01 -2.88232723e-03 5.02373169e+02] [-5.16150514e-01 8.56496343e-01 1.63123336e-03 -1.19110164e+02] [ 3.31066886e-03 9.05771755e-05 9.99994516e-01 -3.82968856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.80655999499993 meters 0.05301505783970626 Centerline is valid? [True, True] Translation: X:502.43, Y:-119.14, Z:-3.83 [[ 8.56428418e-01 5.16259697e-01 -2.50803848e-03 5.02425460e+02] [-5.16257751e-01 8.56432086e-01 1.41976744e-03 -1.19144662e+02] [ 2.88093333e-03 7.88651218e-05 9.99995847e-01 -3.82727790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.86655999499993 meters 0.05384625208543736 Centerline is valid? [True, True] Translation: X:502.48, Y:-119.17, Z:-3.83 [[ 8.56334343e-01 5.16420571e-01 -1.13457952e-03 5.02480969e+02] [-5.16420172e-01 8.56335093e-01 6.42838344e-04 -1.19170344e+02] [ 1.30355520e-03 3.54351990e-05 9.99999150e-01 -3.82806574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.92655999499993 meters 0.05261590133088765 Centerline is valid? [True, True] Translation: X:502.53, Y:-119.21, Z:-3.83 [[ 8.55979619e-01 5.17009227e-01 -5.92418224e-04 5.02531311e+02] [-5.17009118e-01 8.55979824e-01 3.36232046e-04 -1.19208188e+02] [ 6.80933117e-04 1.84778443e-05 9.99999768e-01 -3.82570248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.98655999499994 meters 0.05215959902166952 Centerline is valid? [True, True] Translation: X:502.58, Y:-119.24, Z:-3.83 [[ 8.55325454e-01 5.18090352e-01 -8.68943844e-04 5.02584676e+02] [-5.18090119e-01 8.55325895e-01 4.92126724e-04 -1.19240696e+02] [ 9.98196278e-04 2.92627058e-05 9.99999501e-01 -3.82582402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0465599949999 meters 0.05224697052602999 Centerline is valid? [True, True] Translation: X:502.64, Y:-119.27, Z:-3.83 [[ 8.54428746e-01 5.19563219e-01 -2.36222183e-03 5.02637730e+02] [-5.19561504e-01 8.54432007e-01 1.33753488e-03 -1.19271366e+02] [ 2.71329187e-03 8.44912737e-05 9.99996315e-01 -3.82621076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.106559995 meters 0.0527952139744884 Centerline is valid? [True, True] Translation: X:502.69, Y:-119.30, Z:-3.83 [[ 8.53919951e-01 5.20390776e-01 -3.76268206e-03 5.02694641e+02] [-5.20386430e-01 8.53928229e-01 2.13139224e-03 -1.19295253e+02] [ 4.32221729e-03 1.38010328e-04 9.99990650e-01 -3.82961492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.166559995 meters 0.05275865043977146 Centerline is valid? [True, True] Translation: X:502.75, Y:-119.33, Z:-3.83 [[ 8.54278017e-01 5.19795840e-01 -4.62099516e-03 5.02748474e+02] [-5.19789273e-01 8.54290499e-01 2.61805281e-03 -1.19325825e+02] [ 5.30852522e-03 1.65398753e-04 9.99985896e-01 -3.82986747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.226559995 meters 0.05259216000708661 Centerline is valid? [True, True] Translation: X:502.80, Y:-119.36, Z:-3.83 [[ 8.55323646e-01 5.18078168e-01 -4.05864139e-03 5.02800666e+02] [-5.18073085e-01 8.55333264e-01 2.29898313e-03 -1.19359157e+02] [ 4.66254396e-03 1.36298231e-04 9.99989121e-01 -3.82843988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.286559995 meters 0.05245948400831133 Centerline is valid? [True, True] Translation: X:502.85, Y:-119.39, Z:-3.83 [[ 8.56719245e-01 5.15772549e-01 -3.28832508e-03 5.02852152e+02] [-5.15769194e-01 8.56725550e-01 1.86287267e-03 -1.19393202e+02] [ 3.77801069e-03 1.00057911e-04 9.99992858e-01 -3.82644734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.346559995 meters 0.053076665107303606 Centerline is valid? [True, True] Translation: X:502.91, Y:-119.42, Z:-3.83 [[ 8.58346784e-01 5.13064098e-01 -2.45540478e-03 5.02906740e+02] [-5.13062216e-01 8.58350294e-01 1.39112298e-03 -1.19419187e+02] [ 2.82133267e-03 6.57094849e-05 9.99996018e-01 -3.82893497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.406559995 meters 0.0521359670236529 Centerline is valid? [True, True] Translation: X:502.96, Y:-119.45, Z:-3.83 [[ 8.59083818e-01 5.11830447e-01 -2.14200845e-03 5.02958035e+02] [-5.11829008e-01 8.59086486e-01 1.21464452e-03 -1.19454300e+02] [ 2.46186257e-03 5.28606065e-05 9.99996968e-01 -3.82723931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.466559995 meters 0.05235775971687778 Centerline is valid? [True, True] Translation: X:503.01, Y:-119.49, Z:-3.83 [[ 8.59646978e-01 5.10882732e-01 -2.43043068e-03 5.03012387e+02] [-5.10880875e-01 8.59650412e-01 1.37843257e-03 -1.19485189e+02] [ 2.79353814e-03 5.66951596e-05 9.99996096e-01 -3.82738707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.526559995 meters 0.05222801501138806 Centerline is valid? [True, True] Translation: X:503.07, Y:-119.52, Z:-3.83 [[ 8.60687845e-01 5.09125531e-01 -2.76172692e-03 5.03066633e+02] [-5.09123124e-01 8.60692274e-01 1.56660621e-03 -1.19515576e+02] [ 3.17459624e-03 5.77001132e-05 9.99994959e-01 -3.82836905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5865599949999 meters 0.05303674459383005 Centerline is valid? [True, True] Translation: X:503.12, Y:-119.55, Z:-3.83 [[ 8.62253342e-01 5.06474071e-01 -1.78620335e-03 5.03119284e+02] [-5.06473059e-01 8.62255191e-01 1.01279381e-03 -1.19547029e+02] [ 2.05311691e-03 3.13790243e-05 9.99997892e-01 -3.82832067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.646559995 meters 0.05313348056092392 Centerline is valid? [True, True] Translation: X:503.17, Y:-119.58, Z:-3.83 [[ 8.62943155e-01 5.05297571e-01 -1.86421764e-03 5.03172913e+02] [-5.05296464e-01 8.62945169e-01 1.05801651e-03 -1.19575946e+02] [ 2.14333078e-03 2.89744791e-05 9.99997703e-01 -3.83071434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7065599949999 meters 0.05252228600631144 Centerline is valid? [True, True] Translation: X:503.22, Y:-119.61, Z:-3.83 [[ 8.64129474e-01 5.03269139e-01 -6.52311000e-04 5.03223942e+02] [-5.03269003e-01 8.64129720e-01 3.70136317e-04 -1.19609665e+02] [ 7.49959508e-04 8.44220514e-06 9.99999719e-01 -3.82956395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.766559995 meters 0.05262449009523827 Centerline is valid? [True, True] Translation: X:503.28, Y:-119.64, Z:-3.83 [[ 8.63939982e-01 5.03594289e-01 -7.07339057e-04 5.03278988e+02] [-5.03594128e-01 8.63940271e-01 4.02294172e-04 -1.19638302e+02] [ 8.13691744e-04 8.65377671e-06 9.99999669e-01 -3.83126646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8265599949999 meters 0.05302242842247173 Centerline is valid? [True, True] Translation: X:503.33, Y:-119.67, Z:-3.83 [[ 8.62940629e-01 5.05303851e-01 -1.22004305e-03 5.03333357e+02] [-5.05303376e-01 8.62941491e-01 6.93247035e-04 -1.19668777e+02] [ 1.40312617e-03 1.82608407e-05 9.99999015e-01 -3.83140086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.886559995 meters 0.05302853004251111 Centerline is valid? [True, True] Translation: X:503.39, Y:-119.70, Z:-3.83 [[ 8.62356315e-01 5.06300668e-01 -1.10436398e-03 5.03386652e+02] [-5.06300279e-01 8.62357022e-01 6.27724056e-04 -1.19699878e+02] [ 1.27017314e-03 1.78179860e-05 9.99999193e-01 -3.83123456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9465599949999 meters 0.052989429934475744 Centerline is valid? [True, True] Translation: X:503.44, Y:-119.73, Z:-3.83 [[ 8.62123510e-01 5.06697027e-01 -1.08439596e-03 5.03442007e+02] [-5.06696652e-01 8.62124192e-01 6.16705564e-04 -1.19727746e+02] [ 1.24736686e-03 1.77834352e-05 9.99999222e-01 -3.83243827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.006559995 meters 0.05293867501827768 Centerline is valid? [True, True] Translation: X:503.50, Y:-119.76, Z:-3.83 [[ 8.63062948e-01 5.05095872e-01 -7.11871392e-04 5.03495404e+02] [-5.05095710e-01 8.63063242e-01 4.05238302e-04 -1.19759029e+02] [ 8.19074225e-04 9.81702259e-06 9.99999665e-01 -3.83197250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0665599949999 meters 0.05331612677403233 Centerline is valid? [True, True] Translation: X:503.55, Y:-119.79, Z:-3.83 [[ 8.63948299e-01 5.03580513e-01 5.42377940e-05 5.03549168e+02] [-5.03580512e-01 8.63948301e-01 -2.98201238e-05 -1.19789468e+02] [-6.18754834e-05 -1.55005080e-06 9.99999998e-01 -3.83181350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.126559995 meters 0.05328221995176044 Centerline is valid? [True, True] Translation: X:503.60, Y:-119.82, Z:-3.83 [[ 8.64323096e-01 5.02936760e-01 4.48464478e-04 5.03602850e+02] [-5.02936696e-01 8.64323212e-01 -2.53820785e-04 -1.19819981e+02] [-5.15274062e-04 -6.16607585e-06 9.99999867e-01 -3.83165666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1865599949999 meters 0.053161698572909914 Centerline is valid? [True, True] Translation: X:503.66, Y:-119.85, Z:-3.84 [[ 8.65057216e-01 5.01673200e-01 -1.19012088e-04 5.03658583e+02] [-5.01673195e-01 8.65057224e-01 6.85527181e-05 -1.19846479e+02] [ 1.37343328e-04 4.03151134e-07 9.99999991e-01 -3.83606305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.246559995 meters 0.05338907060834579 Centerline is valid? [True, True] Translation: X:503.71, Y:-119.88, Z:-3.83 [[ 8.65302961e-01 5.01249140e-01 2.91432230e-04 5.03711521e+02] [-5.01249113e-01 8.65303010e-01 -1.64724584e-04 -1.19879322e+02] [-3.34745243e-04 -3.54347660e-06 9.99999944e-01 -3.83429172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3065599949999 meters 0.05308850249272705 Centerline is valid? [True, True] Translation: X:503.77, Y:-119.91, Z:-3.84 [[ 8.65246274e-01 5.01347067e-01 5.99956363e-05 5.03766480e+02] [-5.01347065e-01 8.65246276e-01 -3.31056469e-05 -1.19907709e+02] [-6.85084200e-05 -1.43409854e-06 9.99999998e-01 -3.83596653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.366559995 meters 0.05363897072798684 Centerline is valid? [True, True] Translation: X:503.82, Y:-119.94, Z:-3.83 [[ 8.64924935e-01 5.01901170e-01 2.70824971e-04 5.03821013e+02] [-5.01901146e-01 8.64924977e-01 -1.52934783e-04 -1.19939871e+02] [-3.11001429e-04 -3.65025651e-06 9.99999952e-01 -3.83446239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4265599949999 meters 0.053219571778528395 Centerline is valid? [True, True] Translation: X:503.88, Y:-119.97, Z:-3.83 [[ 8.64647201e-01 5.02378198e-01 1.16805779e-03 5.03876499e+02] [-5.02377760e-01 8.64647990e-01 -6.63489536e-04 -1.19969572e+02] [-1.34328150e-03 -1.31218859e-05 9.99999098e-01 -3.83450022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.486559995 meters 0.05326382086866941 Centerline is valid? [True, True] Translation: X:503.93, Y:-120.00, Z:-3.84 [[ 8.64179979e-01 5.03179960e-01 1.70047427e-03 5.03932434e+02] [-5.03179032e-01 8.64181652e-01 -9.66784345e-04 -1.19996660e+02] [-1.95598517e-03 -2.01673236e-05 9.99998087e-01 -3.83567150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5465599949999 meters 0.05366617559321141 Centerline is valid? [True, True] Translation: X:503.99, Y:-120.02, Z:-3.84 [[ 8.64093194e-01 5.03329855e-01 1.41707961e-03 5.03987503e+02] [-5.03329210e-01 8.64094356e-01 -8.06017627e-04 -1.20024293e+02] [-1.63018323e-03 -1.67832169e-05 9.99998671e-01 -3.83681509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.606559995 meters 0.052624378822663145 Centerline is valid? [True, True] Translation: X:504.04, Y:-120.06, Z:-3.83 [[ 8.64317969e-01 5.02941006e-01 2.18932902e-03 5.04040375e+02] [-5.02939464e-01 8.64320741e-01 -1.24562975e-03 -1.20056697e+02] [-2.51876076e-03 -2.44797947e-05 9.99996828e-01 -3.83440098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.666559995 meters 0.05292936004394139 Centerline is valid? [True, True] Translation: X:504.10, Y:-120.08, Z:-3.83 [[ 8.64167877e-01 5.03196646e-01 2.64876488e-03 5.04095969e+02] [-5.03194388e-01 8.64171936e-01 -1.50760656e-03 -1.20084987e+02] [-3.04761083e-03 -3.00184653e-05 9.99995356e-01 -3.83491776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.726559995 meters 0.0534731722709315 Centerline is valid? [True, True] Translation: X:504.15, Y:-120.11, Z:-3.84 [[ 8.63788117e-01 5.03847706e-01 2.75305293e-03 5.04150192e+02] [-5.03845267e-01 8.63792503e-01 -1.56786958e-03 -1.20114867e+02] [-3.16803397e-03 -3.28055791e-05 9.99994981e-01 -3.83500061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.786559995 meters 0.05327488404290588 Centerline is valid? [True, True] Translation: X:504.21, Y:-120.14, Z:-3.84 [[ 8.62718585e-01 5.05678382e-01 2.45290929e-03 5.04206191e+02] [-5.05676455e-01 8.62722071e-01 -1.39668817e-03 -1.20139973e+02] [-2.82245400e-03 -3.54296288e-05 9.99996016e-01 -3.83679167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.846559995 meters 0.05361610492814716 Centerline is valid? [True, True] Translation: X:504.26, Y:-120.17, Z:-3.84 [[ 8.61629264e-01 5.07530688e-01 2.75907185e-03 5.04260968e+02] [-5.07528257e-01 8.61633680e-01 -1.57155747e-03 -1.20168462e+02] [-3.17492287e-03 -4.62070235e-05 9.99994959e-01 -3.83710859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.906559995 meters 0.05312253009210245 Centerline is valid? [True, True] Translation: X:504.31, Y:-120.20, Z:-3.84 [[ 8.59512222e-01 5.11105747e-01 3.10730958e-03 5.04314552e+02] [-5.11102683e-01 8.59517837e-01 -1.77079547e-03 -1.20198435e+02] [-3.57585175e-03 -6.61339143e-05 9.99993604e-01 -3.83649747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.966559995 meters 0.05334140969455271 Centerline is valid? [True, True] Translation: X:504.37, Y:-120.23, Z:-3.84 [[ 8.57396753e-01 5.14648270e-01 2.82239959e-03 5.04368618e+02] [-5.14645762e-01 8.57401395e-01 -1.60833583e-03 -1.20227216e+02] [-3.24765660e-03 -7.35540698e-05 9.99994724e-01 -3.83662438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.026559995 meters 0.05317612768146011 Centerline is valid? [True, True] Translation: X:504.42, Y:-120.25, Z:-3.84 [[ 8.56506000e-01 5.16130784e-01 2.54662787e-03 5.04423259e+02] [-5.16128748e-01 8.56509783e-01 -1.45144326e-03 -1.20253770e+02] [-2.93034623e-03 -7.12179898e-05 9.99995704e-01 -3.83752628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0865599949999 meters 0.05353494621486428 Centerline is valid? [True, True] Translation: X:504.48, Y:-120.29, Z:-3.84 [[ 8.56171928e-01 5.16683736e-01 2.74716040e-03 5.04477063e+02] [-5.16681371e-01 8.56176331e-01 -1.56538512e-03 -1.20285084e+02] [-3.16086274e-03 -7.91678037e-05 9.99995001e-01 -3.83763633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.146559995 meters 0.05318541180927787 Centerline is valid? [True, True] Translation: X:504.53, Y:-120.32, Z:-3.84 [[ 8.56626662e-01 5.15928319e-01 2.95506612e-03 5.04530794e+02] [-5.15925576e-01 8.56631755e-01 -1.68435337e-03 -1.20316593e+02] [-3.40040908e-03 -8.17321886e-05 9.99994215e-01 -3.83806157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2065599949999 meters 0.05270453790862464 Centerline is valid? [True, True] Translation: X:504.58, Y:-120.35, Z:-3.84 [[ 8.56967240e-01 5.15359701e-01 3.39517838e-03 5.04581255e+02] [-5.15356073e-01 8.56973961e-01 -1.93580145e-03 -1.20352812e+02] [-3.90721352e-03 -9.08073706e-05 9.99992363e-01 -3.83836653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.266559995 meters 0.05316601829704595 Centerline is valid? [True, True] Translation: X:504.63, Y:-120.38, Z:-3.84 [[ 8.58598770e-01 5.12643804e-01 2.11707547e-03 5.04634505e+02] [-5.12642384e-01 8.58601379e-01 -1.20759437e-03 -1.20381920e+02] [-2.43678969e-03 -4.84635756e-05 9.99997030e-01 -3.84025185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3265599949999 meters 0.05296761838541048 Centerline is valid? [True, True] Translation: X:504.69, Y:-120.42, Z:-3.84 [[ 8.59937581e-01 5.10393889e-01 2.33122470e-03 5.04686111e+02] [-5.10392158e-01 8.59940740e-01 -1.32981533e-03 -1.20415723e+02] [-2.68344471e-03 -4.62806287e-05 9.99996398e-01 -3.84090976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.386559995 meters 0.05270309053076344 Centerline is valid? [True, True] Translation: X:504.74, Y:-120.45, Z:-3.84 [[ 8.60596137e-01 5.09283780e-01 2.07854110e-03 5.04739761e+02] [-5.09282403e-01 8.60598646e-01 -1.18517087e-03 -1.20445974e+02] [-2.39237796e-03 -3.86109304e-05 9.99997138e-01 -3.84183662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4465599949999 meters 0.052505896749688696 Centerline is valid? [True, True] Translation: X:504.79, Y:-120.48, Z:-3.84 [[ 8.62857609e-01 5.05442032e-01 2.25812366e-03 5.04790687e+02] [-5.05440391e-01 8.62860563e-01 -1.28840068e-03 -1.20481861e+02] [-2.59965771e-03 -2.96405741e-05 9.99996620e-01 -3.84273783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.506559995 meters 0.05289244152995291 Centerline is valid? [True, True] Translation: X:504.84, Y:-120.52, Z:-3.84 [[ 8.64120278e-01 5.03277142e-01 2.87459258e-03 5.04842682e+02] [-5.03274470e-01 8.64125059e-01 -1.64028757e-03 -1.20516391e+02] [-3.30952673e-03 -2.93033086e-05 9.99994523e-01 -3.84289312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5665599949999 meters 0.052968853792357426 Centerline is valid? [True, True] Translation: X:504.89, Y:-120.55, Z:-3.84 [[ 8.64352051e-01 5.02876605e-01 3.26372064e-03 5.04894582e+02] [-5.02873158e-01 8.64358212e-01 -1.86222610e-03 -1.20550314e+02] [-3.75749368e-03 -3.16185552e-05 9.99992940e-01 -3.84198899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.626559995 meters 0.05294602732025779 Centerline is valid? [True, True] Translation: X:504.95, Y:-120.58, Z:-3.84 [[ 8.64070552e-01 5.03362928e-01 2.80066659e-03 5.04947061e+02] [-5.03360391e-01 8.64075091e-01 -1.59835916e-03 -1.20580827e+02] [-3.22454099e-03 -2.86495515e-05 9.99994801e-01 -3.84352684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6865599949999 meters 0.052924822420140856 Centerline is valid? [True, True] Translation: X:505.00, Y:-120.61, Z:-3.84 [[ 8.63311514e-01 5.04664238e-01 2.69002503e-03 5.05000189e+02] [-5.04661903e-01 8.63315705e-01 -1.53552800e-03 -1.20613359e+02] [-3.09726693e-03 -3.19141480e-05 9.99995203e-01 -3.84394508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.746559995 meters 0.05311948128548159 Centerline is valid? [True, True] Translation: X:505.05, Y:-120.65, Z:-3.84 [[ 8.61554061e-01 5.07659271e-01 2.58165475e-03 5.05052878e+02] [-5.07657132e-01 8.61557928e-01 -1.47406854e-03 -1.20645592e+02] [-2.97256968e-03 -4.06057065e-05 9.99995581e-01 -3.84435120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8065599949999 meters 0.05284238405367654 Centerline is valid? [True, True] Translation: X:505.11, Y:-120.67, Z:-3.85 [[ 8.59311499e-01 5.11449489e-01 1.78000985e-03 5.05107117e+02] [-5.11448480e-01 8.59313342e-01 -1.01669862e-03 -1.20671468e+02] [-2.04957620e-03 -3.67225199e-05 9.99997899e-01 -3.84628629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.866559995 meters 0.05277448097765288 Centerline is valid? [True, True] Translation: X:505.16, Y:-120.70, Z:-3.85 [[ 8.57746611e-01 5.14069215e-01 1.89563410e-03 5.05159679e+02] [-5.14068077e-01 8.57748705e-01 -1.08275440e-03 -1.20702359e+02] [-2.18258840e-03 -4.57560556e-05 9.99997617e-01 -3.84676304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9265599949999 meters 0.052163326646476944 Centerline is valid? [True, True] Translation: X:505.21, Y:-120.74, Z:-3.85 [[ 8.56034039e-01 5.16914686e-01 2.22085595e-03 5.05209177e+02] [-5.16913133e-01 8.56036917e-01 -1.26866158e-03 -1.20738799e+02] [-2.55692449e-03 -6.19721141e-05 9.99996729e-01 -3.84571534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.986559995 meters 0.05312948887654473 Centerline is valid? [True, True] Translation: X:505.26, Y:-120.77, Z:-3.85 [[ 8.55338570e-01 5.18065321e-01 2.06230625e-03 5.05264294e+02] [-5.18063985e-01 8.55341055e-01 -1.17822681e-03 -1.20766274e+02] [-2.37437365e-03 -6.06237591e-05 9.99997179e-01 -3.84765223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0465599949999 meters 0.05307166177574032 Centerline is valid? [True, True] Translation: X:505.31, Y:-120.80, Z:-3.85 [[ 8.54959000e-01 5.18691069e-01 2.16389509e-03 5.05314912e+02] [-5.18689599e-01 8.54961736e-01 -1.23654919e-03 -1.20803504e+02] [-2.49143452e-03 -6.51910196e-05 9.99996894e-01 -3.84735608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.106559995 meters 0.051757148901830446 Centerline is valid? [True, True] Translation: X:505.37, Y:-120.84, Z:-3.85 [[ 8.54722716e-01 5.19077944e-01 2.67696681e-03 5.05366824e+02] [-5.19075695e-01 8.54726904e-01 -1.53034956e-03 -1.20837808e+02] [-3.08244626e-03 -8.15238751e-05 9.99995246e-01 -3.84755385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.166559995 meters 0.05174676347803951 Centerline is valid? [True, True] Translation: X:505.42, Y:-120.87, Z:-3.85 [[ 8.54497608e-01 5.19446222e-01 3.07590437e-03 5.05420460e+02] [-5.19443251e-01 8.54503139e-01 -1.75922272e-03 -1.20868112e+02] [-3.54219154e-03 -9.45061651e-05 9.99993722e-01 -3.84826828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.226559995 meters 0.051835140036702546 Centerline is valid? [True, True] Translation: X:505.47, Y:-120.90, Z:-3.85 [[ 8.54517633e-01 5.19414655e-01 2.83392549e-03 5.05472887e+02] [-5.19412134e-01 8.54522328e-01 -1.62071480e-03 -1.20902609e+02] [-3.26347562e-03 -8.70459064e-05 9.99994671e-01 -3.84918780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.286559995 meters 0.05189636881776282 Centerline is valid? [True, True] Translation: X:505.52, Y:-120.93, Z:-3.85 [[ 8.55328871e-01 5.18080485e-01 2.26576094e-03 5.05523982e+02] [-5.18078867e-01 8.55331870e-01 -1.29634834e-03 -1.20934250e+02] [-2.60959031e-03 -6.50386959e-05 9.99996593e-01 -3.85111526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.346559995 meters 0.05191657567527865 Centerline is valid? [True, True] Translation: X:505.58, Y:-120.97, Z:-3.85 [[ 8.55721102e-01 5.17431148e-01 2.53042483e-03 5.05576375e+02] [-5.17429127e-01 8.55724840e-01 -1.44793510e-03 -1.20968893e+02] [-2.91455411e-03 -7.02868907e-05 9.99995750e-01 -3.85087214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.406559995 meters 0.05209088912612898 Centerline is valid? [True, True] Translation: X:505.63, Y:-121.00, Z:-3.85 [[ 8.57564585e-01 5.14372708e-01 1.92365677e-03 5.05627150e+02] [-5.14371532e-01 8.57566741e-01 -1.10108336e-03 -1.21000842e+02] [-2.21603129e-03 -4.52241841e-05 9.99997544e-01 -3.85261117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.466559995 meters 0.05198226801767191 Centerline is valid? [True, True] Translation: X:505.68, Y:-121.03, Z:-3.85 [[ 8.58610792e-01 5.12622850e-01 2.30696191e-03 5.05679586e+02] [-5.12621152e-01 8.58613889e-01 -1.32044124e-03 -1.21032097e+02] [-2.65767789e-03 -4.88523727e-05 9.99996467e-01 -3.85345442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.526559995 meters 0.05149932422366466 Centerline is valid? [True, True] Translation: X:505.73, Y:-121.07, Z:-3.85 [[ 8.59427630e-01 5.11245968e-01 3.42180419e-03 5.05731426e+02] [-5.11242221e-01 8.59434440e-01 -1.95858205e-03 -1.21066584e+02] [-3.94213354e-03 -6.61112455e-05 9.99992228e-01 -3.85270458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5865599949999 meters 0.051442370732737185 Centerline is valid? [True, True] Translation: X:505.79, Y:-121.10, Z:-3.85 [[ 8.59471730e-01 5.11170025e-01 3.68103354e-03 5.05786661e+02] [-5.11165688e-01 8.59479610e-01 -2.10692044e-03 -1.21095715e+02] [-4.24076784e-03 -7.07794813e-05 9.99991005e-01 -3.85349876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.646559995 meters 0.05073176439321782 Centerline is valid? [True, True] Translation: X:505.84, Y:-121.13, Z:-3.85 [[ 8.59805080e-01 5.10612718e-01 3.14262031e-03 5.05839009e+02] [-5.10609552e-01 8.59810822e-01 -1.79904103e-03 -1.21128905e+02] [-3.62067218e-03 -5.78273274e-05 9.99993444e-01 -3.85367332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7065599949999 meters 0.051353935416973695 Centerline is valid? [True, True] Translation: X:505.89, Y:-121.16, Z:-3.85 [[ 8.60802138e-01 5.08933650e-01 2.49395087e-03 5.05892921e+02] [-5.08931649e-01 8.60805749e-01 -1.42787818e-03 -1.21159807e+02] [-2.87350250e-03 -4.01299324e-05 9.99995871e-01 -3.85452083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.766559995 meters 0.05126999024260132 Centerline is valid? [True, True] Translation: X:505.95, Y:-121.19, Z:-3.86 [[ 8.61334747e-01 5.08032802e-01 2.26422603e-03 5.05947168e+02] [-5.08031148e-01 8.61337722e-01 -1.29660568e-03 -1.21189036e+02] [-2.60898151e-03 -3.34858191e-05 9.99996596e-01 -3.85574356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8265599949999 meters 0.05114744003980196 Centerline is valid? [True, True] Translation: X:506.00, Y:-121.22, Z:-3.86 [[ 8.62405033e-01 5.06214615e-01 2.07895691e-03 5.06000972e+02] [-5.06213215e-01 8.62407539e-01 -1.19102890e-03 -1.21217714e+02] [-2.39582435e-03 -2.52461488e-05 9.99997130e-01 -3.85665492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.886559995 meters 0.05163225263901805 Centerline is valid? [True, True] Translation: X:506.05, Y:-121.25, Z:-3.86 [[ 8.63463279e-01 5.04407165e-01 2.13963686e-03 5.06054036e+02] [-5.04405676e-01 8.63465930e-01 -1.22577899e-03 -1.21247316e+02] [-2.46579524e-03 -2.08298274e-05 9.99996960e-01 -3.85748045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9465599949999 meters 0.05185652270353965 Centerline is valid? [True, True] Translation: X:506.11, Y:-121.28, Z:-3.86 [[ 8.65445743e-01 5.00992578e-01 3.17837628e-03 5.06107629e+02] [-5.00989266e-01 8.65451580e-01 -1.82167113e-03 -1.21278558e+02] [-3.66337449e-03 -1.57748775e-05 9.99993290e-01 -3.85793025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.006559995 meters 0.05241462000598764 Centerline is valid? [True, True] Translation: X:506.16, Y:-121.31, Z:-3.86 [[ 8.66740659e-01 4.98741702e-01 4.16477942e-03 5.06160300e+02] [-4.98735985e-01 8.66750665e-01 -2.38785620e-03 -1.21311937e+02] [-4.80074880e-03 -7.47331694e-06 9.99988476e-01 -3.85568620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0665599949999 meters 0.05190819221594722 Centerline is valid? [True, True] Translation: X:506.21, Y:-121.34, Z:-3.86 [[ 8.68245061e-01 4.96116059e-01 4.40111661e-03 5.06214347e+02] [-4.96109638e-01 8.68256216e-01 -2.52406267e-03 -1.21342457e+02] [-5.07352488e-03 8.06858458e-06 9.99987130e-01 -3.85656144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.126559995 meters 0.05204857408108341 Centerline is valid? [True, True] Translation: X:506.27, Y:-121.37, Z:-3.86 [[ 8.69634417e-01 4.93675551e-01 4.52005502e-03 5.06267352e+02] [-4.93668742e-01 8.69646163e-01 -2.59309045e-03 -1.21372761e+02] [-5.21099387e-03 2.36308260e-05 9.99986422e-01 -3.85793693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1865599949999 meters 0.05234818670747819 Centerline is valid? [True, True] Translation: X:506.32, Y:-121.40, Z:-3.86 [[ 8.70578937e-01 4.92006172e-01 4.71601304e-03 5.06322245e+02] [-4.91998731e-01 8.70591710e-01 -2.70616222e-03 -1.21402596e+02] [-5.43717037e-03 3.56554057e-05 9.99985218e-01 -3.85809405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.246559995 meters 0.05264187242948172 Centerline is valid? [True, True] Translation: X:506.38, Y:-121.43, Z:-3.86 [[ 8.70772334e-01 4.91664537e-01 4.63950807e-03 5.06377131e+02] [-4.91657327e-01 8.70784693e-01 -2.66292869e-03 -1.21431951e+02] [-5.34928021e-03 3.77564939e-05 9.99985692e-01 -3.85978216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3065599949999 meters 0.052295514904738584 Centerline is valid? [True, True] Translation: X:506.43, Y:-121.46, Z:-3.86 [[ 8.69542502e-01 4.93845013e-01 3.59731017e-03 5.06434471e+02] [-4.93840695e-01 8.69549943e-01 -2.06511697e-03 -1.21457644e+02] [-4.14788857e-03 1.92088228e-05 9.99991397e-01 -3.86097537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.366559995 meters 0.052609940005952226 Centerline is valid? [True, True] Translation: X:506.49, Y:-121.48, Z:-3.86 [[ 8.68124762e-01 4.96336646e-01 3.05480866e-03 5.06489691e+02] [-4.96333546e-01 8.68130137e-01 -1.75421555e-03 -1.21484935e+02] [-3.52265292e-03 6.67394349e-06 9.99993795e-01 -3.86255608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4265599949999 meters 0.0524425016568495 Centerline is valid? [True, True] Translation: X:506.55, Y:-121.51, Z:-3.86 [[ 8.66396566e-01 4.99348438e-01 2.85106652e-03 5.06545896e+02] [-4.99345754e-01 8.66401257e-01 -1.63717332e-03 -1.21511616e+02] [-3.28768755e-03 -5.22661660e-06 9.99994596e-01 -3.86365948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.486559995 meters 0.05205591257009997 Centerline is valid? [True, True] Translation: X:506.60, Y:-121.54, Z:-3.86 [[ 8.64006571e-01 5.03467402e-01 3.63589911e-03 5.06602555e+02] [-5.03463070e-01 8.64014221e-01 -2.08875233e-03 -1.21536794e+02] [-4.19308725e-03 -2.58451917e-05 9.99991209e-01 -3.86377999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5465599949999 meters 0.05291814646122787 Centerline is valid? [True, True] Translation: X:506.66, Y:-121.56, Z:-3.86 [[ 8.61931631e-01 5.07010481e-01 3.77301925e-03 5.06659007e+02] [-5.07005848e-01 8.61939888e-01 -2.16805051e-03 -1.21563546e+02] [-4.35134012e-03 -4.42315128e-05 9.99990532e-01 -3.86424500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.606559995 meters 0.05221485573103731 Centerline is valid? [True, True] Translation: X:506.71, Y:-121.59, Z:-3.86 [[ 8.60811418e-01 5.08909197e-01 3.89003190e-03 5.06713994e+02] [-5.08904288e-01 8.60820206e-01 -2.23591335e-03 -1.21591639e+02] [-4.48649493e-03 -5.49541772e-05 9.99989934e-01 -3.86464343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.666559995 meters 0.05202190025721237 Centerline is valid? [True, True] Translation: X:506.77, Y:-121.62, Z:-3.87 [[ 8.59851501e-01 5.10523198e-01 4.63251728e-03 5.06770170e+02] [-5.10516256e-01 8.59863977e-01 -2.66345053e-03 -1.21618860e+02] [-5.34308801e-03 -7.48034433e-05 9.99985723e-01 -3.86542953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.726559995 meters 0.0520993230667867 Centerline is valid? [True, True] Translation: X:506.82, Y:-121.65, Z:-3.87 [[ 8.60213354e-01 5.09913741e-01 4.57840030e-03 5.06824951e+02] [-5.09906948e-01 8.60225535e-01 -2.63301339e-03 -1.21646004e+02] [-5.28106656e-03 -6.96048491e-05 9.99986053e-01 -3.86702514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.786559995 meters 0.05273034077885834 Centerline is valid? [True, True] Translation: X:506.88, Y:-121.68, Z:-3.87 [[ 8.61231172e-01 5.08195226e-01 4.29888177e-03 5.06877560e+02] [-5.08189213e-01 8.61241899e-01 -2.47274582e-03 -1.21679684e+02] [-4.95901472e-03 -5.50395646e-05 9.99987702e-01 -3.86825033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.846559995 meters 0.05281259243985519 Centerline is valid? [True, True] Translation: X:506.93, Y:-121.71, Z:-3.87 [[ 8.63215453e-01 5.04823968e-01 3.44142217e-03 5.06931188e+02] [-5.04820086e-01 8.63222312e-01 -1.97986042e-03 -1.21710457e+02] [-3.97019340e-03 -2.82529324e-05 9.99992118e-01 -3.87037955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.906559995 meters 0.052664723399719705 Centerline is valid? [True, True] Translation: X:506.98, Y:-121.74, Z:-3.87 [[ 8.64504752e-01 5.02614493e-01 3.19464997e-03 5.06984302e+02] [-5.02611132e-01 8.64510654e-01 -1.83835053e-03 -1.21740702e+02] [-3.68579055e-03 -1.64038701e-05 9.99993207e-01 -3.87162990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.966559995 meters 0.0528114671862561 Centerline is valid? [True, True] Translation: X:507.04, Y:-121.77, Z:-3.87 [[ 8.65630084e-01 5.00675141e-01 2.99353862e-03 5.07038145e+02] [-5.00672177e-01 8.65635260e-01 -1.72293547e-03 -1.21772018e+02] [-3.45394354e-03 -7.35671911e-06 9.99994035e-01 -3.87215281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.026559995 meters 0.05239829623205028 Centerline is valid? [True, True] Translation: X:507.09, Y:-121.80, Z:-3.87 [[ 8.65592005e-01 5.00742639e-01 2.69992588e-03 5.07092468e+02] [-5.00740227e-01 8.65596216e-01 -1.55423163e-03 -1.21802520e+02] [-3.11531567e-03 -6.63102696e-06 9.99995147e-01 -3.87311147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0865599949999 meters 0.052555711574312436 Centerline is valid? [True, True] Translation: X:507.15, Y:-121.83, Z:-3.87 [[ 8.64904587e-01 5.01930816e-01 2.34765989e-03 5.07146446e+02] [-5.01928996e-01 8.64907773e-01 -1.35171640e-03 -1.21832126e+02] [-2.70897740e-03 -9.25285419e-06 9.99996331e-01 -3.87415393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.146559995 meters 0.05264477398347071 Centerline is valid? [True, True] Translation: X:507.20, Y:-121.86, Z:-3.88 [[ 8.64238474e-01 5.03080743e-01 1.27562539e-03 5.07200226e+02] [-5.03080207e-01 8.64239415e-01 -7.34319027e-04 -1.21861307e+02] [-1.47186750e-03 -7.11512850e-06 9.99998917e-01 -3.87600640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2065599949999 meters 0.052314783077885896 Centerline is valid? [True, True] Translation: X:507.25, Y:-121.89, Z:-3.87 [[ 8.63451256e-01 5.04426723e-01 2.36826423e-03 5.07254632e+02] [-5.04424879e-01 8.63454504e-01 -1.36426491e-03 -1.21893035e+02] [-2.73306009e-03 -1.66351503e-05 9.99996265e-01 -3.87437887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.266559995 meters 0.052398068224283 Centerline is valid? [True, True] Translation: X:507.31, Y:-121.92, Z:-3.87 [[ 8.63125759e-01 5.04980228e-01 2.98232696e-03 5.07309520e+02] [-5.04977303e-01 8.63130911e-01 -1.71881898e-03 -1.21924128e+02] [-3.44210818e-03 -2.24504847e-05 9.99994076e-01 -3.87460854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3265599949999 meters 0.05223148965314002 Centerline is valid? [True, True] Translation: X:507.36, Y:-121.95, Z:-3.87 [[ 8.62524951e-01 5.05998768e-01 3.99450473e-03 5.07364296e+02] [-5.05993527e-01 8.62534200e-01 -2.30325982e-03 -1.21954774e+02] [-4.61084357e-03 -3.45744775e-05 9.99989369e-01 -3.87430946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.386559995 meters 0.05230713974876966 Centerline is valid? [True, True] Translation: X:507.42, Y:-121.99, Z:-3.87 [[ 8.62436220e-01 5.06146778e-01 4.38238811e-03 5.07418177e+02] [-5.06140467e-01 8.62447353e-01 -2.52782529e-03 -1.21985177e+02] [-5.05902966e-03 -3.80158784e-05 9.99987202e-01 -3.87484362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4465599949999 meters 0.052264576968415945 Centerline is valid? [True, True] Translation: X:507.47, Y:-122.02, Z:-3.87 [[ 8.62520265e-01 5.06001635e-01 4.59763245e-03 5.07470019e+02] [-5.05994683e-01 8.62532517e-01 -2.65279493e-03 -1.22018403e+02] [-5.30792606e-03 -3.82881929e-05 9.99985912e-01 -3.87443754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.506559995 meters 0.051896919141933485 Centerline is valid? [True, True] Translation: X:507.52, Y:-122.05, Z:-3.88 [[ 8.62503574e-01 5.06037461e-01 3.69758561e-03 5.07524613e+02] [-5.06032963e-01 8.62511500e-01 -2.13386891e-03 -1.22050116e+02] [-4.26902771e-03 -3.06306391e-05 9.99990887e-01 -3.87563402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5665599949999 meters 0.052394598388966714 Centerline is valid? [True, True] Translation: X:507.58, Y:-122.08, Z:-3.88 [[ 8.62511310e-01 5.06034760e-01 1.74972550e-03 5.07579756e+02] [-5.06033752e-01 8.62513085e-01 -1.00984819e-03 -1.22079096e+02] [-2.02017943e-03 -1.44146743e-05 9.99997959e-01 -3.87897722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.626559995 meters 0.05239923675949589 Centerline is valid? [True, True] Translation: X:507.63, Y:-122.11, Z:-3.88 [[ 8.62257573e-01 5.06468651e-01 1.17609804e-03 5.07631929e+02] [-5.06468196e-01 8.62258375e-01 -6.78313211e-04 -1.22112203e+02] [-1.35764476e-03 -1.07755499e-05 9.99999078e-01 -3.87798147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6865599949999 meters 0.05283038957758043 Centerline is valid? [True, True] Translation: X:507.69, Y:-122.14, Z:-3.88 [[ 8.62084324e-01 5.06763178e-01 1.30366387e-03 5.07686277e+02] [-5.06762620e-01 8.62085310e-01 -7.52085618e-04 -1.22143632e+02] [-1.50499877e-03 -1.22868965e-05 9.99998867e-01 -3.87875542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.746559995 meters 0.05234567168494018 Centerline is valid? [True, True] Translation: X:507.74, Y:-122.17, Z:-3.88 [[ 8.61875228e-01 5.07117335e-01 1.76053585e-03 5.07740499e+02] [-5.07116316e-01 8.61877026e-01 -1.01666229e-03 -1.22173432e+02] [-2.03293248e-03 -1.65604140e-05 9.99997933e-01 -3.88098754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8065599949999 meters 0.05263094264027486 Centerline is valid? [True, True] Translation: X:507.79, Y:-122.21, Z:-3.88 [[ 8.61545230e-01 5.07675066e-01 2.41726564e-03 5.07792729e+02] [-5.07673147e-01 8.61548621e-01 -1.39615716e-03 -1.22208041e+02] [-2.79138606e-03 -2.43283178e-05 9.99996104e-01 -3.87934061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.866559995 meters 0.05199137599057829 Centerline is valid? [True, True] Translation: X:507.85, Y:-122.24, Z:-3.88 [[ 8.60394051e-01 5.09626109e-01 1.81822490e-03 5.07845204e+02] [-5.09625027e-01 8.60395972e-01 -1.05036160e-03 -1.22238788e+02] [-2.09968508e-03 -2.28880383e-05 9.99997795e-01 -3.87990646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9265599949999 meters 0.05204176398020555 Centerline is valid? [True, True] Translation: X:507.90, Y:-122.27, Z:-3.88 [[ 8.58946385e-01 5.12061963e-01 1.91136078e-03 5.07898745e+02] [-5.12060773e-01 8.58948512e-01 -1.10443243e-03 -1.22270546e+02] [-2.20729834e-03 -3.00846351e-05 9.99997563e-01 -3.88007254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.986559995 meters 0.051815947833489986 Centerline is valid? [True, True] Translation: X:507.95, Y:-122.30, Z:-3.88 [[ 8.56035405e-01 5.16913120e-01 2.05227657e-03 5.07951063e+02] [-5.16911760e-01 8.56037864e-01 -1.18665509e-03 -1.22300128e+02] [-2.37022404e-03 -4.50271284e-05 9.99997190e-01 -3.88090917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0465599949999 meters 0.05214669882341436 Centerline is valid? [True, True] Translation: X:508.00, Y:-122.33, Z:-3.88 [[ 8.53434135e-01 5.21197345e-01 1.87208853e-03 5.08004185e+02] [-5.21196223e-01 8.53436187e-01 -1.08278685e-03 -1.22328994e+02] [-2.16205373e-03 -5.16382132e-05 9.99997661e-01 -3.88172077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.106559995 meters 0.05168027673466785 Centerline is valid? [True, True] Translation: X:508.05, Y:-122.37, Z:-3.88 [[ 8.51131213e-01 5.24949785e-01 1.83912666e-03 5.08054611e+02] [-5.24948712e-01 8.51133197e-01 -1.06316999e-03 -1.22365159e+02] [-2.12345261e-03 -6.05500076e-05 9.99997744e-01 -3.88125052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.166559995 meters 0.051357080565332204 Centerline is valid? [True, True] Translation: X:508.11, Y:-122.40, Z:-3.88 [[ 8.50576819e-01 5.25846656e-01 2.09029792e-03 5.08108170e+02] [-5.25845272e-01 8.50579384e-01 -1.20868068e-03 -1.22396606e+02] [-2.41354501e-03 -7.10975098e-05 9.99997085e-01 -3.88208148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.226559995 meters 0.05133476960786355 Centerline is valid? [True, True] Translation: X:508.16, Y:-122.43, Z:-3.88 [[ 8.49255576e-01 5.27978025e-01 2.04264849e-03 5.08160629e+02] [-5.27976708e-01 8.49258029e-01 -1.18149843e-03 -1.22427604e+02] [-2.35854084e-03 -7.50766992e-05 9.99997216e-01 -3.88276706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.286559995 meters 0.05071373212425322 Centerline is valid? [True, True] Translation: X:508.21, Y:-122.46, Z:-3.88 [[ 8.48515735e-01 5.29168417e-01 1.35461494e-03 5.08212141e+02] [-5.29167839e-01 8.48516814e-01 -7.83877035e-04 -1.22462185e+02] [-1.56421652e-03 -5.16866601e-05 9.99998775e-01 -3.88422471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.346559995 meters 0.052181249352931315 Centerline is valid? [True, True] Translation: X:508.27, Y:-122.49, Z:-3.89 [[ 8.48462626e-01 5.29254611e-01 8.54099684e-04 5.08268897e+02] [-5.29254382e-01 8.48463055e-01 -4.93527704e-04 -1.22487990e+02] [-9.85873840e-04 -3.32961889e-05 9.99999513e-01 -3.88669172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.406559995 meters 0.050715941212514035 Centerline is valid? [True, True] Translation: X:508.32, Y:-122.53, Z:-3.88 [[ 8.48972349e-01 5.28430767e-01 2.62205245e-03 5.08318184e+02] [-5.28428595e-01 8.48976393e-01 -1.51810722e-03 -1.22526548e+02] [-3.02827519e-03 -9.67364425e-05 9.99995410e-01 -3.88456140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.466559995 meters 0.050921625528325846 Centerline is valid? [True, True] Translation: X:508.37, Y:-122.56, Z:-3.89 [[ 8.49468511e-01 5.27634417e-01 2.27395025e-03 5.08370774e+02] [-5.27632781e-01 8.49471550e-01 -1.31658105e-03 -1.22560477e+02] [-2.62632952e-03 -8.14165564e-05 9.99996548e-01 -3.88534212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.526559995 meters 0.0511909222780558 Centerline is valid? [True, True] Translation: X:508.42, Y:-122.59, Z:-3.89 [[ 8.50198352e-01 5.26453251e-01 3.12047908e-03 5.08422337e+02] [-5.26450160e-01 8.50204071e-01 -1.80705660e-03 -1.22594772e+02] [-3.60437484e-03 -1.06420166e-04 9.99993499e-01 -3.88620217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5865599949999 meters 0.05207100753121274 Centerline is valid? [True, True] Translation: X:508.48, Y:-122.62, Z:-3.89 [[ 8.50207757e-01 5.26432083e-01 4.00389387e-03 5.08479661e+02] [-5.26426995e-01 8.50217174e-01 -2.31857356e-03 -1.22617470e+02] [-4.62475084e-03 -1.36488599e-04 9.99989296e-01 -3.88786193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.646559995 meters 0.050891630632884426 Centerline is valid? [True, True] Translation: X:508.53, Y:-122.65, Z:-3.89 [[ 8.49210879e-01 5.28035734e-01 4.37570874e-03 5.08531508e+02] [-5.28029674e-01 8.49222138e-01 -2.53456858e-03 -1.22651449e+02] [-5.05429151e-03 -1.58120846e-04 9.99987214e-01 -3.88836255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7065599949999 meters 0.05128399784048802 Centerline is valid? [True, True] Translation: X:508.59, Y:-122.68, Z:-3.89 [[ 8.47311908e-01 5.31077946e-01 4.32957734e-03 5.08586643e+02] [-5.31072050e-01 8.47322952e-01 -2.50860643e-03 -1.22677594e+02] [-5.00081581e-03 -1.73745411e-04 9.99987481e-01 -3.88981243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.766559995 meters 0.05079868523167039 Centerline is valid? [True, True] Translation: X:508.64, Y:-122.71, Z:-3.89 [[ 8.46428713e-01 5.32480865e-01 4.74992507e-03 5.08638694e+02] [-5.32473788e-01 8.46442017e-01 -2.75248171e-03 -1.22711372e+02] [-5.48618000e-03 -1.99431047e-04 9.99984931e-01 -3.89037469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8265599949999 meters 0.053248619440166414 Centerline is valid? [True, True] Translation: X:508.70, Y:-122.73, Z:-3.89 [[ 8.45720941e-01 5.33607256e-01 4.40301094e-03 5.08700934e+02] [-5.33601191e-01 8.45732381e-01 -2.55140796e-03 -1.22726537e+02] [-5.08521873e-03 -1.91672743e-04 9.99987052e-01 -3.89195454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.886559995 meters 0.05327933895107868 Centerline is valid? [True, True] Translation: X:508.76, Y:-122.76, Z:-3.89 [[ 8.45874634e-01 5.33361011e-01 4.70491979e-03 5.08755842e+02] [-5.33354077e-01 8.45887694e-01 -2.72705768e-03 -1.22756469e+02] [-5.43434000e-03 -2.02639240e-04 9.99985213e-01 -3.89276757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9465599949999 meters 0.05423209195268833 Centerline is valid? [True, True] Translation: X:508.81, Y:-122.78, Z:-3.89 [[ 8.46719551e-01 5.32007727e-01 5.81198038e-03 5.08811972e+02] [-5.31997109e-01 8.46739465e-01 -3.36978594e-03 -1.22782595e+02] [-6.71398532e-03 -2.38693118e-04 9.99977432e-01 -3.89280815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.006559995 meters 0.05283599696383279 Centerline is valid? [True, True] Translation: X:508.86, Y:-122.82, Z:-3.89 [[ 8.48286432e-01 5.29504191e-01 5.95324534e-03 5.08862713e+02] [-5.29492987e-01 8.48307292e-01 -3.45187547e-03 -1.22817863e+02] [-6.87796396e-03 -2.24022531e-04 9.99976321e-01 -3.89387568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0665599949999 meters 0.052356480633118575 Centerline is valid? [True, True] Translation: X:508.91, Y:-122.86, Z:-3.90 [[ 8.52025219e-01 5.23475006e-01 5.19073924e-03 5.08911516e+02] [-5.23466375e-01 8.52041017e-01 -3.00980414e-03 -1.22855008e+02] [-5.99827998e-03 -1.52748417e-04 9.99981998e-01 -3.89576288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.126559995 meters 0.051722617812914554 Centerline is valid? [True, True] Translation: X:508.96, Y:-122.89, Z:-3.90 [[ 8.55078678e-01 5.18471221e-01 5.29594849e-03 5.08963277e+02] [-5.18462140e-01 8.55095070e-01 -3.07099282e-03 -1.22888570e+02] [-6.12076084e-03 -1.19808306e-04 9.99981261e-01 -3.89622817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1865599949999 meters 0.051469915991167264 Centerline is valid? [True, True] Translation: X:509.01, Y:-122.92, Z:-3.90 [[ 8.58143256e-01 5.13377259e-01 5.82595567e-03 5.09014800e+02] [-5.13366151e-01 8.58163027e-01 -3.37850857e-03 -1.22921910e+02] [-6.73406922e-03 -9.16040911e-05 9.99977322e-01 -3.89616909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.246559995 meters 0.050981138483645994 Centerline is valid? [True, True] Translation: X:509.07, Y:-122.96, Z:-3.90 [[ 8.62191307e-01 5.06537604e-01 6.76802840e-03 5.09065438e+02] [-5.06522398e-01 8.62217869e-01 -3.92507976e-03 -1.22955789e+02] [-7.82371552e-03 -4.39883325e-05 9.99969393e-01 -3.89558010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3065599949999 meters 0.051331390725243904 Centerline is valid? [True, True] Translation: X:509.12, Y:-122.99, Z:-3.90 [[ 8.64797173e-01 5.02083055e-01 6.20129776e-03 5.09117891e+02] [-5.02070173e-01 8.64819407e-01 -3.59651999e-03 -1.22987598e+02] [-7.16875440e-03 -3.22632079e-06 9.99974304e-01 -3.89643412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.366559995 meters 0.05215923576634807 Centerline is valid? [True, True] Translation: X:509.17, Y:-123.02, Z:-3.90 [[ 8.64501994e-01 5.02610585e-01 4.34765977e-03 5.09173615e+02] [-5.02604258e-01 8.64512927e-01 -2.52176559e-03 -1.23017130e+02] [-5.02607415e-03 -5.08093417e-06 9.99987369e-01 -3.89814152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4265599949999 meters 0.05215923576634807 Centerline is valid? [True, True] Translation: X:509.23, Y:-123.05, Z:-3.90 [[ 8.64435686e-01 5.02724621e-01 4.34732610e-03 5.09227661e+02] [-5.02718294e-01 8.64446618e-01 -2.52234064e-03 -1.23048457e+02] [-5.02607409e-03 -5.07909366e-06 9.99987369e-01 -3.89860220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.486559995 meters 0.0521750212124692 Centerline is valid? [True, True] Translation: X:509.28, Y:-123.08, Z:-3.90 [[ 8.63999488e-01 5.03481091e-01 3.41694083e-03 5.09281425e+02] [-5.03477187e-01 8.64006245e-01 -1.98292454e-03 -1.23078680e+02] [-3.95062323e-03 -7.10596871e-06 9.99992196e-01 -3.89903066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5465599949999 meters 0.052028194067095516 Centerline is valid? [True, True] Translation: X:509.34, Y:-123.11, Z:-3.90 [[ 8.61547462e-01 5.07673730e-01 1.83167656e-03 5.09337283e+02] [-5.07672618e-01 8.61549409e-01 -1.06292934e-03 -1.23106523e+02] [-2.11770116e-03 -1.41279596e-05 9.99997758e-01 -3.90084876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.606559995 meters 0.05194204633038432 Centerline is valid? [True, True] Translation: X:509.39, Y:-123.13, Z:-3.90 [[ 8.58531267e-01 5.12758148e-01 1.77371737e-03 5.09392927e+02] [-5.12757114e-01 8.58533099e-01 -1.02984757e-03 -1.23134579e+02] [-2.05085780e-03 -2.53298627e-05 9.99997897e-01 -3.90121106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.666559995 meters 0.05252765651983554 Centerline is valid? [True, True] Translation: X:509.45, Y:-123.16, Z:-3.90 [[ 8.56928630e-01 5.15431037e-01 2.04173502e-03 5.09446694e+02] [-5.15429674e-01 8.56931062e-01 -1.18561592e-03 -1.23162695e+02] [-2.36072940e-03 -3.63825925e-05 9.99997213e-01 -3.90101449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.726559995 meters 0.05247226645916374 Centerline is valid? [True, True] Translation: X:509.50, Y:-123.19, Z:-3.90 [[ 8.55871485e-01 5.17182703e-01 2.46020662e-03 5.09502719e+02] [-5.17180733e-01 8.55875019e-01 -1.42851118e-03 -1.23187902e+02] [-2.84443066e-03 -4.97494773e-05 9.99995953e-01 -3.90148108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.786559995 meters 0.052150664140496975 Centerline is valid? [True, True] Translation: X:509.56, Y:-123.22, Z:-3.90 [[ 8.55274454e-01 5.18156888e-01 4.36437455e-03 5.09557564e+02] [-5.18150693e-01 8.55285584e-01 -2.53547104e-03 -1.23217789e+02] [-5.04655842e-03 -9.28800843e-05 9.99987262e-01 -3.89978676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.846559995 meters 0.05263812140738808 Centerline is valid? [True, True] Translation: X:509.61, Y:-123.25, Z:-3.90 [[ 8.54611723e-01 5.19248116e-01 4.49413869e-03 5.09611560e+02] [-5.19241559e-01 8.54623533e-01 -2.61152124e-03 -1.23248380e+02] [-5.19682417e-03 -1.01706911e-04 9.99986491e-01 -3.89963297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.906559995 meters 0.05286800187157986 Centerline is valid? [True, True] Translation: X:509.67, Y:-123.27, Z:-3.90 [[ 8.54220990e-01 5.19900511e-01 3.15574018e-03 5.09666372e+02] [-5.19897281e-01 8.54226816e-01 -1.83435900e-03 -1.23274952e+02] [-3.64940207e-03 -7.37127820e-05 9.99993338e-01 -3.90130575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.966559995 meters 0.05180663062545575 Centerline is valid? [True, True] Translation: X:509.72, Y:-123.31, Z:-3.90 [[ 8.53296317e-01 5.21425128e-01 1.10984243e-03 5.09718327e+02] [-5.21424730e-01 8.53297038e-01 -6.44949935e-04 -1.23308977e+02] [-1.28331836e-03 -2.83658865e-05 9.99999176e-01 -3.90197647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.026559995 meters 0.05203504799858232 Centerline is valid? [True, True] Translation: X:509.77, Y:-123.34, Z:-3.90 [[ 8.52610907e-01 5.22546287e-01 1.38877696e-04 5.09772913e+02] [-5.22546281e-01 8.52610918e-01 -8.04688634e-05 -1.23338689e+02] [-1.60457346e-04 -3.96139315e-06 9.99999987e-01 -3.90366331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0865599949999 meters 0.051851993108923494 Centerline is valid? [True, True] Translation: X:509.83, Y:-123.37, Z:-3.90 [[ 8.52713179e-01 5.22379067e-01 -5.87609871e-04 5.09827629e+02] [-5.22378955e-01 8.52713381e-01 3.42843864e-04 -1.23370117e+02] [ 6.80157257e-04 1.46075490e-05 9.99999769e-01 -3.90350849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.146559995 meters 0.05255832758579835 Centerline is valid? [True, True] Translation: X:509.88, Y:-123.40, Z:-3.91 [[ 8.53910420e-01 5.20419978e-01 2.02358197e-04 5.09882081e+02] [-5.20419965e-01 8.53910444e-01 -1.17489970e-04 -1.23397696e+02] [-2.33939905e-04 -4.98533633e-06 9.99999973e-01 -3.90501704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2065599949999 meters 0.052146495438257334 Centerline is valid? [True, True] Translation: X:509.93, Y:-123.43, Z:-3.90 [[ 8.55068294e-01 5.18514287e-01 1.07067148e-03 5.09932249e+02] [-5.18513914e-01 8.55068964e-01 -6.22603465e-04 -1.23433289e+02] [-1.23832675e-03 -2.27895764e-05 9.99999233e-01 -3.90334954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.266559995 meters 0.051533584714955304 Centerline is valid? [True, True] Translation: X:509.98, Y:-123.46, Z:-3.90 [[ 8.56579623e-01 5.16009589e-01 2.33509130e-03 5.09984912e+02] [-5.16007804e-01 8.56582805e-01 -1.35813501e-03 -1.23462845e+02] [-2.70100974e-03 -4.15745579e-05 9.99996351e-01 -3.90264138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3265599949999 meters 0.05186161334293173 Centerline is valid? [True, True] Translation: X:510.04, Y:-123.49, Z:-3.90 [[ 8.57335714e-01 5.14752071e-01 2.40407333e-03 5.10039497e+02] [-5.14750174e-01 8.57339083e-01 -1.39808078e-03 -1.23493429e+02] [-2.78077100e-03 -3.88725822e-05 9.99996133e-01 -3.90297942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.386559995 meters 0.05151958328322393 Centerline is valid? [True, True] Translation: X:510.09, Y:-123.53, Z:-3.90 [[ 8.57390623e-01 5.14662137e-01 2.05062438e-03 5.10092405e+02] [-5.14660758e-01 8.57393074e-01 -1.19208673e-03 -1.23527795e+02] [-2.37171304e-03 -3.32919105e-05 9.99997187e-01 -3.90271757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4465599949999 meters 0.05185503917275795 Centerline is valid? [True, True] Translation: X:510.15, Y:-123.56, Z:-3.90 [[ 8.56764919e-01 5.15705487e-01 1.31283657e-03 5.10146890e+02] [-5.15704923e-01 8.56765925e-01 -7.63187427e-04 -1.23555816e+02] [-1.51837359e-03 -2.31640704e-05 9.99998847e-01 -3.90480307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.506559995 meters 0.052107256223357726 Centerline is valid? [True, True] Translation: X:510.20, Y:-123.58, Z:-3.91 [[ 8.55896544e-01 5.17146956e-01 -3.62513040e-04 5.10200860e+02] [-5.17146912e-01 8.55896621e-01 2.11948784e-04 -1.23584012e+02] [ 4.19882354e-04 6.06626738e-06 9.99999912e-01 -3.90701909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5665599949999 meters 0.05205534661602331 Centerline is valid? [True, True] Translation: X:510.25, Y:-123.62, Z:-3.91 [[ 8.55733595e-01 5.17416503e-01 -4.20833031e-04 5.10252335e+02] [-5.17416445e-01 8.55733698e-01 2.45368036e-04 -1.23619272e+02] [ 4.87078477e-04 7.77625961e-06 9.99999881e-01 -3.90636215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.626559995 meters 0.05208544496171208 Centerline is valid? [True, True] Translation: X:510.30, Y:-123.65, Z:-3.91 [[ 8.56167843e-01 5.16697762e-01 2.17450229e-04 5.10304259e+02] [-5.16697746e-01 8.56167871e-01 -1.25745303e-04 -1.23651101e+02] [-2.51146216e-04 -4.69695890e-06 9.99999968e-01 -3.90597832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6865599949999 meters 0.05191727186707396 Centerline is valid? [True, True] Translation: X:510.36, Y:-123.68, Z:-3.91 [[ 8.56105774e-01 5.16799874e-01 8.90488647e-04 5.10357349e+02] [-5.16799615e-01 8.56106237e-01 -5.17772706e-04 -1.23682863e+02] [-1.02993775e-03 -1.69359870e-05 9.99999469e-01 -3.90604593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.746559995 meters 0.05194144626599535 Centerline is valid? [True, True] Translation: X:510.41, Y:-123.72, Z:-3.91 [[ 8.55621223e-01 5.17600059e-01 1.58164024e-03 5.10409785e+02] [-5.17599241e-01 8.55622684e-01 -9.20603750e-04 -1.23716157e+02] [-1.82979183e-03 -3.09676823e-05 9.99998325e-01 -3.90518676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8065599949999 meters 0.05139325322511186 Centerline is valid? [True, True] Translation: X:510.46, Y:-123.75, Z:-3.91 [[ 8.53623520e-01 5.20885302e-01 2.32131583e-03 5.10462539e+02] [-5.20883550e-01 8.53626674e-01 -1.35208559e-03 -1.23746462e+02] [-2.68581862e-03 -5.49631696e-05 9.99996392e-01 -3.90579736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.866559995 meters 0.051326804267197226 Centerline is valid? [True, True] Translation: X:510.52, Y:-123.78, Z:-3.91 [[ 8.51896910e-01 5.23706744e-01 1.70320701e-03 5.10515455e+02] [-5.23705807e-01 8.51898611e-01 -9.92053933e-04 -1.23777274e+02] [-1.97050502e-03 -4.68517214e-05 9.99998057e-01 -3.90674018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9265599949999 meters 0.050520729755317365 Centerline is valid? [True, True] Translation: X:510.57, Y:-123.81, Z:-3.91 [[ 8.49158959e-01 5.28135937e-01 1.22201968e-03 5.10566763e+02] [-5.28135459e-01 8.49159838e-01 -7.12180942e-04 -1.23810392e+02] [-1.41381838e-03 -4.06370956e-05 9.99999000e-01 -3.90714532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.986559995 meters 0.051662972168012675 Centerline is valid? [True, True] Translation: X:510.62, Y:-123.83, Z:-3.91 [[ 8.46995995e-01 5.31599175e-01 3.18339070e-04 5.10622036e+02] [-5.31599143e-01 8.46996055e-01 -1.85283543e-04 -1.23834724e+02] [-3.68128515e-04 -1.22943578e-05 9.99999932e-01 -3.91016149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0465599949999 meters 0.05217778996001963 Centerline is valid? [True, True] Translation: X:510.68, Y:-123.87, Z:-3.91 [[ 8.46443362e-01 5.32478737e-01 1.72244963e-04 5.10675947e+02] [-5.32478727e-01 8.46443380e-01 -1.00171012e-04 -1.23866183e+02] [-1.99134542e-04 -6.92769061e-06 9.99999980e-01 -3.91121257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.106559995 meters 0.051421310269314985 Centerline is valid? [True, True] Translation: X:510.73, Y:-123.90, Z:-3.91 [[ 8.45964414e-01 5.33239100e-01 -5.21781906e-04 5.10727368e+02] [-5.33239013e-01 8.45964575e-01 3.04516519e-04 -1.23901944e+02] [ 6.03789122e-04 2.06243302e-05 9.99999818e-01 -3.91141197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.166559995 meters 0.05029368777819787 Centerline is valid? [True, True] Translation: X:510.78, Y:-123.94, Z:-3.91 [[ 8.46907314e-01 5.31740494e-01 -2.22383035e-04 5.10775494e+02] [-5.31740478e-01 8.46907343e-01 1.29885780e-04 -1.23942341e+02] [ 2.57403354e-04 8.24884390e-06 9.99999967e-01 -3.91051379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.226559995 meters 0.05029545021309906 Centerline is valid? [True, True] Translation: X:510.82, Y:-123.98, Z:-3.91 [[ 8.49595531e-01 5.27432541e-01 1.53256141e-03 5.10824922e+02] [-5.27431786e-01 8.49596912e-01 -8.93456214e-04 -1.23979107e+02] [-1.77329732e-03 -4.92451937e-05 9.99998426e-01 -3.90989530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.286559995 meters 0.050269604255733076 Centerline is valid? [True, True] Translation: X:510.88, Y:-124.01, Z:-3.91 [[ 8.52913988e-01 5.22046285e-01 2.32469646e-03 5.10876249e+02] [-5.22044530e-01 8.52917155e-01 -1.35518418e-03 -1.24010806e+02] [-2.69024235e-03 -5.77395252e-05 9.99996380e-01 -3.91016898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.346559995 meters 0.0503807800078325 Centerline is valid? [True, True] Translation: X:510.93, Y:-124.04, Z:-3.91 [[ 8.55032415e-01 5.18569902e-01 2.19686060e-03 5.10927928e+02] [-5.18568321e-01 8.55035236e-01 -1.28128000e-03 -1.24043729e+02] [-2.54282647e-03 -4.36863822e-05 9.99996766e-01 -3.91062178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.406559995 meters 0.050413829363089455 Centerline is valid? [True, True] Translation: X:510.98, Y:-124.07, Z:-3.91 [[ 8.56811926e-01 5.15626905e-01 1.48947528e-03 5.10980295e+02] [-5.15626174e-01 8.56813220e-01 -8.68578622e-04 -1.24073564e+02] [-1.72406462e-03 -2.38039200e-05 9.99998514e-01 -3.91312273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.466559995 meters 0.05034552335512772 Centerline is valid? [True, True] Translation: X:511.03, Y:-124.11, Z:-3.91 [[ 8.59983828e-01 5.10321134e-01 -3.94946402e-04 5.11030403e+02] [-5.10321082e-01 8.59983918e-01 2.30642758e-04 -1.24110591e+02] [ 4.57349428e-04 3.20043356e-06 9.99999895e-01 -3.91403956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.526559995 meters 0.05121820033868902 Centerline is valid? [True, True] Translation: X:511.08, Y:-124.15, Z:-3.92 [[ 8.62609762e-01 5.05869795e-01 -3.85431770e-04 5.11081323e+02] [-5.05869745e-01 8.62609849e-01 2.25250610e-04 -1.24145928e+02] [ 4.46424720e-04 6.74896204e-07 9.99999900e-01 -3.91513689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5865599949999 meters 0.05186364993465691 Centerline is valid? [True, True] Translation: X:511.13, Y:-124.18, Z:-3.91 [[ 8.63829120e-01 5.03784620e-01 5.55849312e-04 5.11133721e+02] [-5.03784516e-01 8.63829298e-01 -3.23432842e-04 -1.24179313e+02] [-6.43099413e-04 -6.37568913e-07 9.99999793e-01 -3.91105365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.646559995 meters 0.05099116032851891 Centerline is valid? [True, True] Translation: X:511.19, Y:-124.21, Z:-3.91 [[ 8.63757364e-01 5.03905798e-01 1.47083865e-03 5.11186206e+02] [-5.03905068e-01 8.63758616e-01 -8.57725701e-04 -1.24211124e+02] [-1.70266251e-03 -2.96157170e-07 9.99998550e-01 -3.91397429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7065599949999 meters 0.05069583300764582 Centerline is valid? [True, True] Translation: X:511.24, Y:-124.24, Z:-3.91 [[ 8.62897244e-01 5.05375959e-01 1.86731327e-03 5.11240748e+02] [-5.05374784e-01 8.62899264e-01 -1.08938875e-03 -1.24242609e+02] [-2.16185413e-03 -3.66249443e-06 9.99997663e-01 -3.91442254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.766559995 meters 0.05056212857291333 Centerline is valid? [True, True] Translation: X:511.30, Y:-124.27, Z:-3.91 [[ 8.61828960e-01 5.07195110e-01 1.99101045e-03 5.11295449e+02] [-5.07193779e-01 8.61831260e-01 -1.16198739e-03 -1.24273458e+02] [-2.30526936e-03 -8.39373208e-06 9.99997343e-01 -3.91453802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8265599949999 meters 0.0509309296230377 Centerline is valid? [True, True] Translation: X:511.35, Y:-124.30, Z:-3.92 [[ 8.59908820e-01 5.10441206e-01 2.56840809e-03 5.11349684e+02] [-5.10439003e-01 8.59912655e-01 -1.49988144e-03 -1.24301044e+02] [-2.97420792e-03 -2.12543838e-05 9.99995577e-01 -3.91552860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.886559995 meters 0.05107790713533225 Centerline is valid? [True, True] Translation: X:511.40, Y:-124.33, Z:-3.92 [[ 8.58362874e-01 5.13036402e-01 2.61294904e-03 5.11404497e+02] [-5.13034132e-01 8.58366850e-01 -1.52625019e-03 -1.24330414e+02] [-3.02589075e-03 -3.04555433e-05 9.99995422e-01 -3.91575098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9465599949999 meters 0.05086447010100968 Centerline is valid? [True, True] Translation: X:511.46, Y:-124.36, Z:-3.92 [[ 8.56363545e-01 5.16364660e-01 3.00297609e-03 5.11460004e+02] [-5.16361679e-01 8.56368808e-01 -1.75502296e-03 -1.24359298e+02] [-3.47788689e-03 -4.76840943e-05 9.99993951e-01 -3.91604349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.006559995 meters 0.05049446191514973 Centerline is valid? [True, True] Translation: X:511.51, Y:-124.39, Z:-3.92 [[ 8.55351288e-01 5.18039029e-01 3.12068248e-03 5.11514988e+02] [-5.18035822e-01 8.55356979e-01 -1.82365188e-03 -1.24387126e+02] [-3.61402039e-03 -5.67623325e-05 9.99993468e-01 -3.91698701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0665599949999 meters 0.05077966789403064 Centerline is valid? [True, True] Translation: X:511.57, Y:-124.42, Z:-3.92 [[ 8.54673226e-01 5.19155418e-01 3.36580905e-03 5.11568838e+02] [-5.19151694e-01 8.54679851e-01 -1.96739680e-03 -1.24418326e+02] [-3.89807388e-03 -6.58841015e-05 9.99992400e-01 -3.91752700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.126559995 meters 0.050391785596914936 Centerline is valid? [True, True] Translation: X:511.62, Y:-124.45, Z:-3.92 [[ 8.54397814e-01 5.19609719e-01 3.18049129e-03 5.11621867e+02] [-5.19606396e-01 8.54403731e-01 -1.85948788e-03 -1.24450114e+02] [-3.68363160e-03 -6.38612352e-05 9.99993213e-01 -3.91789503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1865599949999 meters 0.05111880503889517 Centerline is valid? [True, True] Translation: X:511.68, Y:-124.48, Z:-3.92 [[ 8.54741059e-01 5.19051951e-01 1.67143863e-03 5.11677223e+02] [-5.19051032e-01 8.54742693e-01 -9.77064858e-04 -1.24476718e+02] [-1.93579738e-03 -3.24244950e-05 9.99998126e-01 -3.92121536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.246559995 meters 0.0511650873409303 Centerline is valid? [True, True] Translation: X:511.73, Y:-124.51, Z:-3.92 [[ 8.55904694e-01 5.17132823e-01 8.93154249e-04 5.11727451e+02] [-5.17132560e-01 8.55905160e-01 -5.21747264e-04 -1.24514001e+02] [-1.03426797e-03 -1.53132111e-05 9.99999465e-01 -3.92076588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3065599949999 meters 0.05109205099627713 Centerline is valid? [True, True] Translation: X:511.78, Y:-124.55, Z:-3.92 [[ 8.56989815e-01 5.15333121e-01 4.81891251e-04 5.11779902e+02] [-5.15333044e-01 8.56989950e-01 -2.81130072e-04 -1.24546626e+02] [-5.57851597e-04 -7.40887711e-06 9.99999844e-01 -3.92118116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.366559995 meters 0.051236035954936324 Centerline is valid? [True, True] Translation: X:511.83, Y:-124.58, Z:-3.92 [[ 8.58550086e-01 5.12729454e-01 5.06611165e-04 5.11831362e+02] [-5.12729368e-01 8.58550236e-01 -2.96062909e-04 -1.24579142e+02] [-5.86751309e-04 -5.56958642e-06 9.99999828e-01 -3.92239175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4265599949999 meters 0.0510402846263102 Centerline is valid? [True, True] Translation: X:511.88, Y:-124.61, Z:-3.92 [[ 8.59352652e-01 5.11383356e-01 2.85603724e-04 5.11883991e+02] [-5.11383329e-01 8.59352700e-01 -1.66299784e-04 -1.24611961e+02] [-3.30477274e-04 -3.14282277e-06 9.99999945e-01 -3.92235739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.486559995 meters 0.05148150768419774 Centerline is valid? [True, True] Translation: X:511.94, Y:-124.65, Z:-3.92 [[ 8.60509977e-01 5.09431302e-01 1.52566613e-03 5.11936292e+02] [-5.09430519e-01 8.60511330e-01 -8.92765425e-04 -1.24645489e+02] [-1.76765564e-03 -8.98733269e-06 9.99998438e-01 -3.92126324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5465599949999 meters 0.050879563703112134 Centerline is valid? [True, True] Translation: X:511.99, Y:-124.68, Z:-3.92 [[ 8.60561467e-01 5.09340890e-01 2.41220445e-03 5.11989866e+02] [-5.09338932e-01 8.60564848e-01 -1.41243594e-03 -1.24677766e+02] [-2.79526973e-03 -1.31416920e-05 9.99996093e-01 -3.92051231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.606559995 meters 0.05105416613489645 Centerline is valid? [True, True] Translation: X:512.04, Y:-124.71, Z:-3.92 [[ 8.60476748e-01 5.09487234e-01 1.58866793e-03 5.12044354e+02] [-5.09486385e-01 8.60478215e-01 -9.30085980e-04 -1.24708079e+02] [-1.84088108e-03 -9.08732025e-06 9.99998306e-01 -3.92243215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.666559995 meters 0.05126414951113703 Centerline is valid? [True, True] Translation: X:512.10, Y:-124.74, Z:-3.92 [[ 8.60584313e-01 5.09306855e-01 1.08110429e-03 5.12098792e+02] [-5.09306462e-01 8.60584992e-01 -6.32754201e-04 -1.24739548e+02] [-1.25264818e-03 -6.07506072e-06 9.99999215e-01 -3.92332270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.726559995 meters 0.0514812234481896 Centerline is valid? [True, True] Translation: X:512.15, Y:-124.77, Z:-3.92 [[ 8.60648746e-01 5.09197156e-01 1.41158425e-03 5.12153178e+02] [-5.09196485e-01 8.60649903e-01 -8.26708847e-04 -1.24771798e+02] [-1.63583765e-03 -7.26780922e-06 9.99998662e-01 -3.92255205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.786559995 meters 0.051347794881118125 Centerline is valid? [True, True] Translation: X:512.21, Y:-124.80, Z:-3.93 [[ 8.60645302e-01 5.09204439e-01 7.09764954e-04 5.12207788e+02] [-5.09204270e-01 8.60645594e-01 -4.15308424e-04 -1.24800827e+02] [-8.22332974e-04 -3.98210108e-06 9.99999662e-01 -3.92503242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.846559995 meters 0.05120227568028421 Centerline is valid? [True, True] Translation: X:512.26, Y:-124.83, Z:-3.93 [[ 8.60457480e-01 5.09521893e-01 6.04266946e-04 5.12262321e+02] [-5.09521770e-01 8.60457693e-01 -3.53523753e-04 -1.24831842e+02] [-7.00074234e-04 -3.69500589e-06 9.99999755e-01 -3.92547876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.906559995 meters 0.051569448727209456 Centerline is valid? [True, True] Translation: X:512.32, Y:-124.86, Z:-3.93 [[ 8.60007096e-01 5.10280949e-01 1.07142447e-03 5.12317584e+02] [-5.10280563e-01 8.60007763e-01 -6.27896766e-04 -1.24860591e+02] [-1.24183712e-03 -6.73140761e-06 9.99999229e-01 -3.92722788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.966559995 meters 0.05205021298649739 Centerline is valid? [True, True] Translation: X:512.37, Y:-124.89, Z:-3.93 [[ 8.60105128e-01 5.10113056e-01 1.95918191e-03 5.12371394e+02] [-5.10111761e-01 8.60107359e-01 -1.14958433e-03 -1.24892730e+02] [-2.27152475e-03 -1.06383562e-05 9.99997420e-01 -3.92528618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.026559995 meters 0.05160094688887162 Centerline is valid? [True, True] Translation: X:512.43, Y:-124.92, Z:-3.93 [[ 8.60227230e-01 5.09905299e-01 2.38724488e-03 5.12425790e+02] [-5.09903375e-01 8.60230542e-01 -1.40069258e-03 -1.24923860e+02] [-2.76780152e-03 -1.23503181e-05 9.99996170e-01 -3.92537611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0865599949999 meters 0.051015767465459536 Centerline is valid? [True, True] Translation: X:512.48, Y:-124.95, Z:-3.93 [[ 8.60659684e-01 5.09171968e-01 2.96901067e-03 5.12478968e+02] [-5.09168984e-01 8.60664805e-01 -1.74316902e-03 -1.24954138e+02] [-3.44289579e-03 -1.14528501e-05 9.99994073e-01 -3.92577884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.146559995 meters 0.05150461683888366 Centerline is valid? [True, True] Translation: X:512.53, Y:-124.98, Z:-3.93 [[ 8.60257983e-01 5.09848661e-01 3.24752696e-03 5.12533118e+02] [-5.09845095e-01 8.60264112e-01 -1.90679593e-03 -1.24984442e+02] [-3.76590825e-03 -1.53992732e-05 9.99992909e-01 -3.92629513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2065599949999 meters 0.05183119431216089 Centerline is valid? [True, True] Translation: X:512.59, Y:-125.01, Z:-3.93 [[ 8.59670951e-01 5.10838835e-01 3.08891727e-03 5.12588884e+02] [-5.10835612e-01 8.59676500e-01 -1.81449505e-03 -1.25012707e+02] [-3.58238412e-03 -1.80602624e-05 9.99993583e-01 -3.92892212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.266559995 meters 0.051626241717850595 Centerline is valid? [True, True] Translation: X:512.64, Y:-125.04, Z:-3.93 [[ 8.58813494e-01 5.12285111e-01 1.82954111e-03 5.12642699e+02] [-5.12283985e-01 8.58815443e-01 -1.07420934e-03 -1.25042952e+02] [-2.12153961e-03 -1.46991325e-05 9.99997749e-01 -3.93008577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3265599949999 meters 0.05170404289757652 Centerline is valid? [True, True] Translation: X:512.70, Y:-125.07, Z:-3.93 [[ 8.58519580e-01 5.12779214e-01 1.26824850e-03 5.12695643e+02] [-5.12778674e-01 8.58520517e-01 -7.44604449e-04 -1.25072928e+02] [-1.47063505e-03 -1.10732874e-05 9.99998919e-01 -3.93158961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.386559995 meters 0.05190143349101915 Centerline is valid? [True, True] Translation: X:512.75, Y:-125.11, Z:-3.93 [[ 8.58655618e-01 5.12552008e-01 9.84155183e-04 5.12749544e+02] [-5.12551683e-01 8.58656182e-01 -5.77546714e-04 -1.25105864e+02] [-1.14107366e-03 -8.51666468e-06 9.99999349e-01 -3.93148222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4465599949999 meters 0.05203195022079174 Centerline is valid? [True, True] Translation: X:512.80, Y:-125.14, Z:-3.93 [[ 8.58724914e-01 5.12435169e-01 1.31098148e-03 5.12802457e+02] [-5.12434591e-01 8.58725915e-01 -7.70133582e-04 -1.25135669e+02] [-1.52041730e-03 -1.04593643e-05 9.99998844e-01 -3.93247539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.506559995 meters 0.051223328239196765 Centerline is valid? [True, True] Translation: X:512.86, Y:-125.17, Z:-3.93 [[ 8.57990363e-01 5.13659149e-01 2.61082052e-03 5.12856551e+02] [-5.13656856e-01 8.57994335e-01 -1.53495107e-03 -1.25166681e+02] [-3.02851087e-03 -2.40926326e-05 9.99995414e-01 -3.93166947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5665599949999 meters 0.05136228159378637 Centerline is valid? [True, True] Translation: X:512.91, Y:-125.20, Z:-3.93 [[ 8.56711319e-01 5.15786500e-01 3.16283306e-03 5.12909118e+02] [-5.15783146e-01 8.56717156e-01 -1.86029199e-03 -1.25198472e+02] [-3.66916684e-03 -3.76027779e-05 9.99993268e-01 -3.93048824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.626559995 meters 0.051710745886021085 Centerline is valid? [True, True] Translation: X:512.96, Y:-125.23, Z:-3.93 [[ 8.54433209e-01 5.19553187e-01 2.89449499e-03 5.12963734e+02] [-5.19550398e-01 8.54438110e-01 -1.70310907e-03 -1.25227224e+02] [-3.35802258e-03 -4.86430758e-05 9.99994361e-01 -3.93160093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6865599949999 meters 0.05122008349313957 Centerline is valid? [True, True] Translation: X:513.02, Y:-125.26, Z:-3.93 [[ 8.52694638e-01 5.22405227e-01 2.15227059e-03 5.13017390e+02] [-5.22403694e-01 8.52697353e-01 -1.26641471e-03 -1.25258603e+02] [-2.49681710e-03 -4.44890742e-05 9.99996882e-01 -3.93243062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.746559995 meters 0.05160858106321981 Centerline is valid? [True, True] Translation: X:513.07, Y:-125.29, Z:-3.93 [[ 8.50568019e-01 5.25863341e-01 1.33860038e-03 5.13070057e+02] [-5.25862752e-01 8.50569072e-01 -7.87749110e-04 -1.25288102e+02] [-1.55282046e-03 -3.38858779e-05 9.99998794e-01 -3.93341197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8065599949999 meters 0.05141446201782289 Centerline is valid? [True, True] Translation: X:513.12, Y:-125.32, Z:-3.93 [[ 8.49537850e-01 5.27526044e-01 1.30921891e-03 5.13124029e+02] [-5.27525483e-01 8.49538858e-01 -7.70296758e-04 -1.25319254e+02] [-1.51858394e-03 -3.62500879e-05 9.99998846e-01 -3.93379788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.866559995 meters 0.051656384493123035 Centerline is valid? [True, True] Translation: X:513.18, Y:-125.35, Z:-3.93 [[ 8.49184541e-01 5.28093981e-01 1.53705727e-03 5.13178522e+02] [-5.28093209e-01 8.49185931e-01 -9.04004018e-04 -1.25347661e+02] [-1.78264649e-03 -4.40432697e-05 9.99998410e-01 -3.93430238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9265599949999 meters 0.05207597389791721 Centerline is valid? [True, True] Translation: X:513.23, Y:-125.38, Z:-3.93 [[ 8.48692187e-01 5.28881382e-01 2.46091163e-03 5.13232938e+02] [-5.28879404e-01 8.48695752e-01 -1.44824420e-03 -1.25375356e+02] [-2.85451463e-03 -7.24119390e-05 9.99995923e-01 -3.93389486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.986559995 meters 0.05138790039046188 Centerline is valid? [True, True] Translation: X:513.29, Y:-125.41, Z:-3.93 [[ 8.48254839e-01 5.29583548e-01 2.23457151e-03 5.13285906e+02] [-5.29581919e-01 8.48257780e-01 -1.31523417e-03 -1.25408562e+02] [-2.59201905e-03 -6.77349186e-05 9.99996638e-01 -3.93399720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0465599949999 meters 0.051001144217869346 Centerline is valid? [True, True] Translation: X:513.34, Y:-125.44, Z:-3.93 [[ 8.47873926e-01 5.30197041e-01 9.50406887e-04 5.13337447e+02] [-5.30196748e-01 8.47874458e-01 -5.58958658e-04 -1.25443824e+02] [-1.10218395e-03 -2.99761694e-05 9.99999392e-01 -3.93388926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.106559995 meters 0.051523122271991253 Centerline is valid? [True, True] Translation: X:513.39, Y:-125.47, Z:-3.94 [[ 8.47033303e-01 5.31539668e-01 -4.05665059e-04 5.13394713e+02] [-5.31539614e-01 8.47033400e-01 2.39949844e-04 -1.25467144e+02] [ 4.71154715e-04 1.23815393e-05 9.99999889e-01 -3.93656067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.166559995 meters 0.051493360537473026 Centerline is valid? [True, True] Translation: X:513.45, Y:-125.50, Z:-3.94 [[ 8.46792113e-01 5.31922294e-01 -1.33801511e-03 5.13447135e+02] [-5.31921710e-01 8.46793169e-01 7.89588762e-04 -1.25499848e+02] [ 1.55302192e-03 4.31017489e-05 9.99998793e-01 -3.93621799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.226559995 meters 0.05175181069259128 Centerline is valid? [True, True] Translation: X:513.50, Y:-125.53, Z:-3.94 [[ 8.47318266e-01 5.31081468e-01 -2.05686941e-03 5.13499590e+02] [-5.31080085e-01 8.47320760e-01 1.21363667e-03 -1.25532707e+02] [ 2.38736809e-03 6.40258637e-05 9.99997148e-01 -3.93565104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.286559995 meters 0.05176786276857678 Centerline is valid? [True, True] Translation: X:513.55, Y:-125.56, Z:-3.94 [[ 8.48217498e-01 5.29645366e-01 -1.69171997e-03 5.13552869e+02] [-5.29644428e-01 8.48219184e-01 9.97773224e-04 -1.25564228e+02] [ 1.96341529e-03 4.96813467e-05 9.99998071e-01 -3.93528866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.346559995 meters 0.05177386714775257 Centerline is valid? [True, True] Translation: X:513.61, Y:-125.60, Z:-3.93 [[ 8.50213633e-01 5.26437817e-01 5.14047918e-05 5.13605810e+02] [-5.26437816e-01 8.50213635e-01 -3.00407696e-05 -1.25595302e+02] [-5.95196522e-05 -1.52035452e-06 9.99999998e-01 -3.93390240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.406559995 meters 0.0526247670088829 Centerline is valid? [True, True] Translation: X:513.66, Y:-125.62, Z:-3.93 [[ 8.52229107e-01 5.23167641e-01 1.08142545e-03 5.13660962e+02] [-5.23167253e-01 8.52229793e-01 -6.37603047e-04 -1.25621441e+02] [-1.25519627e-03 -2.23825075e-05 9.99999212e-01 -3.93467294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.466559995 meters 0.05154097447157926 Centerline is valid? [True, True] Translation: X:513.71, Y:-125.66, Z:-3.93 [[ 8.53649976e-01 5.20846508e-01 7.96107151e-04 5.13711792e+02] [-5.20846297e-01 8.53650347e-01 -4.69268684e-04 -1.25656390e+02] [-9.24014101e-04 -1.40582609e-05 9.99999573e-01 -3.93338904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.526559995 meters 0.05241030504543353 Centerline is valid? [True, True] Translation: X:513.77, Y:-125.69, Z:-3.93 [[ 8.54916104e-01 5.18766281e-01 1.26034334e-05 5.13765285e+02] [-5.18766281e-01 8.54916104e-01 -6.43595548e-06 -1.25688037e+02] [-1.41136351e-05 -1.03603429e-06 1.00000000e+00 -3.93446823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5865599949999 meters 0.052671151010310904 Centerline is valid? [True, True] Translation: X:513.82, Y:-125.72, Z:-3.94 [[ 8.56537919e-01 5.16079988e-01 -2.05920447e-03 5.13819689e+02] [-5.16078556e-01 8.56540394e-01 1.21598257e-03 -1.25717666e+02] [ 2.39133608e-03 2.11760889e-05 9.99997141e-01 -3.93582536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.646559995 meters 0.05284644925786582 Centerline is valid? [True, True] Translation: X:513.87, Y:-125.75, Z:-3.94 [[ 8.58526335e-01 5.12761746e-01 -2.81496386e-03 5.13873736e+02] [-5.12759051e-01 8.58530950e-01 1.66234809e-03 -1.25748632e+02] [ 3.26912210e-03 1.62285796e-05 9.99994656e-01 -3.93638964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7065599949999 meters 0.053052994216726684 Centerline is valid? [True, True] Translation: X:513.93, Y:-125.78, Z:-3.93 [[ 8.59703781e-01 5.10784573e-01 -2.92031989e-03 5.13927283e+02] [-5.10781663e-01 8.59708741e-01 1.72431828e-03 -1.25781248e+02] [ 3.39137971e-03 9.24289922e-06 9.99994249e-01 -3.93261951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.766559995 meters 0.05254507757654408 Centerline is valid? [True, True] Translation: X:513.98, Y:-125.81, Z:-3.94 [[ 8.60589749e-01 5.09290064e-01 -2.98577808e-03 5.13981867e+02] [-5.09287008e-01 8.60594929e-01 1.76409114e-03 -1.25810345e+02] [ 3.46797956e-03 2.45923268e-06 9.99993987e-01 -3.93964920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8265599949999 meters 0.05295212549544975 Centerline is valid? [True, True] Translation: X:514.04, Y:-125.84, Z:-3.94 [[ 8.59947449e-01 5.10374668e-01 -2.84304487e-03 5.14037497e+02] [-5.10371902e-01 8.59952149e-01 1.68035108e-03 -1.25839773e+02] [ 3.30249117e-03 5.99658925e-06 9.99994547e-01 -3.93734822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.886559995 meters 0.052626364051310194 Centerline is valid? [True, True] Translation: X:514.09, Y:-125.87, Z:-3.94 [[ 8.59227238e-01 5.11588284e-01 -2.44556483e-03 5.14091957e+02] [-5.11586240e-01 8.59230719e-01 1.44604464e-03 -1.25870478e+02] [ 2.84108392e-03 8.63637306e-06 9.99995964e-01 -3.93724138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9465599949999 meters 0.05290577638359311 Centerline is valid? [True, True] Translation: X:514.15, Y:-125.90, Z:-3.94 [[ 8.56473511e-01 5.16187321e-01 -1.94266290e-03 5.14147522e+02] [-5.16186043e-01 8.56475714e-01 1.14898566e-03 -1.25896817e+02] [ 2.25693542e-03 1.86996942e-05 9.99997453e-01 -3.93768776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.006559995 meters 0.05265920917879674 Centerline is valid? [True, True] Translation: X:514.20, Y:-125.93, Z:-3.94 [[ 8.54657053e-01 5.19187920e-01 -2.28588472e-03 5.14202720e+02] [-5.19186162e-01 8.54660110e-01 1.35126501e-03 -1.25925537e+02] [ 2.65521496e-03 3.19315414e-05 9.99996474e-01 -3.93872942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0665599949999 meters 0.05320293969535669 Centerline is valid? [True, True] Translation: X:514.26, Y:-125.95, Z:-3.94 [[ 8.51894762e-01 5.23708976e-01 -2.05477347e-03 5.14259573e+02] [-5.23707568e-01 8.51897240e-01 1.21510406e-03 -1.25948393e+02] [ 2.38681675e-03 4.09596321e-05 9.99997151e-01 -3.94135215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.126559995 meters 0.05287757539931338 Centerline is valid? [True, True] Translation: X:514.31, Y:-125.98, Z:-3.94 [[ 8.50735383e-01 5.25591061e-01 -1.82898850e-03 5.14313372e+02] [-5.25589950e-01 8.50737348e-01 1.08144341e-03 -1.25978398e+02] [ 2.12438582e-03 4.12758057e-05 9.99997743e-01 -3.94064732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1865599949999 meters 0.05288601599481271 Centerline is valid? [True, True] Translation: X:514.37, Y:-126.01, Z:-3.94 [[ 8.50179043e-01 5.26491955e-01 -1.34758123e-03 5.14366078e+02] [-5.26491351e-01 8.50180111e-01 7.97774738e-04 -1.26011483e+02] [ 1.56570874e-03 3.12384994e-05 9.99998774e-01 -3.93919277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.246559995 meters 0.05311926953856409 Centerline is valid? [True, True] Translation: X:514.42, Y:-126.04, Z:-3.94 [[ 8.50122377e-01 5.26584132e-01 -1.04726778e-03 5.14421047e+02] [-5.26583767e-01 8.50123021e-01 6.20439032e-04 -1.26040265e+02] [ 1.21701980e-03 2.40251095e-05 9.99999259e-01 -3.94029643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3065599949999 meters 0.05287286658066802 Centerline is valid? [True, True] Translation: X:514.47, Y:-126.07, Z:-3.94 [[ 8.50259492e-01 5.26359163e-01 -2.19708598e-03 5.14473687e+02] [-5.26357558e-01 8.50262330e-01 1.30099165e-03 -1.26074279e+02] [ 2.55288832e-03 5.02723041e-05 9.99996740e-01 -3.93961072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.366559995 meters 0.05297286536464367 Centerline is valid? [True, True] Translation: X:514.53, Y:-126.10, Z:-3.94 [[ 8.50121130e-01 5.26577503e-01 -3.19341010e-03 5.14528562e+02] [-5.26574117e-01 8.50127124e-01 1.89011058e-03 -1.26102297e+02] [ 3.71009426e-03 7.47441632e-05 9.99993115e-01 -3.94207348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4265599949999 meters 0.053427655188648455 Centerline is valid? [True, True] Translation: X:514.58, Y:-126.13, Z:-3.94 [[ 8.49951041e-01 5.26848138e-01 -3.77724239e-03 5.14582622e+02] [-5.26843398e-01 8.49959429e-01 2.23654689e-03 -1.26133164e+02] [ 4.38882335e-03 8.90598605e-05 9.99990365e-01 -3.94325096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.486559995 meters 0.05276340204879724 Centerline is valid? [True, True] Translation: X:514.64, Y:-126.17, Z:-3.94 [[ 8.49890169e-01 5.26944019e-01 -4.08664865e-03 5.14635830e+02] [-5.26938469e-01 8.49899989e-01 2.42055560e-03 -1.26167258e+02] [ 4.74873994e-03 9.62059710e-05 9.99988720e-01 -3.94201397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5465599949999 meters 0.05347801504091106 Centerline is valid? [True, True] Translation: X:514.69, Y:-126.20, Z:-3.94 [[ 8.49983511e-01 5.26796972e-01 -3.60302576e-03 5.14688872e+02] [-5.26792656e-01 8.49991143e-01 2.13398689e-03 -1.26197637e+02] [ 4.18671782e-03 8.41938402e-05 9.99991232e-01 -3.94218600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.606559995 meters 0.05333909554023404 Centerline is valid? [True, True] Translation: X:514.74, Y:-126.23, Z:-3.94 [[ 8.50052453e-01 5.26689208e-01 -3.05053917e-03 5.14740119e+02] [-5.26686110e-01 8.50057923e-01 1.80777512e-03 -1.26233691e+02] [ 3.54527064e-03 6.99729372e-05 9.99993713e-01 -3.93945387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.666559995 meters 0.05321520086213821 Centerline is valid? [True, True] Translation: X:514.80, Y:-126.26, Z:-3.94 [[ 8.49824187e-01 5.27058413e-01 -2.87767810e-03 5.14795729e+02] [-5.27055656e-01 8.49829056e-01 1.70594276e-03 -1.26260863e+02] [ 3.34466595e-03 6.69451073e-05 9.99994404e-01 -3.94260978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.726559995 meters 0.05265951272525353 Centerline is valid? [True, True] Translation: X:514.85, Y:-126.30, Z:-3.94 [[ 8.49773238e-01 5.27139886e-01 -2.99748322e-03 5.14847491e+02] [-5.27136894e-01 8.49778522e-01 1.77748710e-03 -1.26297413e+02] [ 3.48418120e-03 6.96230223e-05 9.99993928e-01 -3.94103370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.786559995 meters 0.052916167300692124 Centerline is valid? [True, True] Translation: X:514.90, Y:-126.33, Z:-3.94 [[ 8.50051836e-01 5.26689425e-01 -3.18210900e-03 5.14899737e+02] [-5.26686049e-01 8.50057789e-01 1.88725594e-03 -1.26330833e+02] [ 3.69897429e-03 7.17070358e-05 9.99993156e-01 -3.94100698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.846559995 meters 0.052447991403697936 Centerline is valid? [True, True] Translation: X:514.95, Y:-126.36, Z:-3.94 [[ 8.51086062e-01 5.25020547e-01 -2.43706583e-03 5.14951755e+02] [-5.25018562e-01 8.51089550e-01 1.44473259e-03 -1.26361076e+02] [ 2.83267555e-03 4.99130250e-05 9.99995987e-01 -3.94345857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.906559995 meters 0.05290352889432676 Centerline is valid? [True, True] Translation: X:515.00, Y:-126.40, Z:-3.94 [[ 8.52569641e-01 5.22609844e-01 -1.98962316e-03 5.15002209e+02] [-5.22608514e-01 8.52571961e-01 1.17959969e-03 -1.26395638e+02] [ 2.31276733e-03 3.41031214e-05 9.99997325e-01 -3.94306647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.966559995 meters 0.0526495999079285 Centerline is valid? [True, True] Translation: X:515.05, Y:-126.43, Z:-3.94 [[ 8.53841878e-01 5.20527127e-01 -2.35760589e-03 5.15052965e+02] [-5.20525248e-01 8.53845132e-01 1.39895435e-03 -1.26432316e+02] [ 2.74122400e-03 3.27075809e-05 9.99996242e-01 -3.94181090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.026559995 meters 0.0530947389304458 Centerline is valid? [True, True] Translation: X:515.10, Y:-126.47, Z:-3.94 [[ 8.56496591e-01 5.16143940e-01 -3.00369307e-03 5.15102708e+02] [-5.16140867e-01 8.56501858e-01 1.78118406e-03 -1.26466567e+02] [ 3.49201605e-03 2.47506714e-05 9.99993903e-01 -3.94324195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0865599949999 meters 0.05286066932753232 Centerline is valid? [True, True] Translation: X:515.15, Y:-126.50, Z:-3.94 [[ 8.57965177e-01 5.13696802e-01 -3.36912741e-03 5.15154337e+02] [-5.13692912e-01 8.57971792e-01 1.99917912e-03 -1.26500018e+02] [ 3.91758820e-03 1.54708050e-05 9.99992326e-01 -3.94451153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.146559995 meters 0.05305155643823029 Centerline is valid? [True, True] Translation: X:515.21, Y:-126.53, Z:-3.95 [[ 8.59839610e-01 5.10552203e-01 -3.50615909e-03 5.15205164e+02] [-5.10547962e-01 8.59846759e-01 2.08093348e-03 -1.26534439e+02] [ 4.07718470e-03 7.93339093e-07 9.99991688e-01 -3.94557575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2065599949999 meters 0.05319142654021878 Centerline is valid? [True, True] Translation: X:515.26, Y:-126.57, Z:-3.94 [[ 8.60604352e-01 5.09265052e-01 -3.04230921e-03 5.15257654e+02] [-5.09261849e-01 8.60609729e-01 1.80636151e-03 -1.26567521e+02] [ 3.53815769e-03 -5.23056036e-06 9.99993741e-01 -3.94180164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.266559995 meters 0.05243834300721542 Centerline is valid? [True, True] Translation: X:515.31, Y:-126.60, Z:-3.94 [[ 8.60627622e-01 5.09230127e-01 -2.18492845e-03 5.15309235e+02] [-5.09228473e-01 8.60630396e-01 1.29782323e-03 -1.26600036e+02] [ 2.54130653e-03 -4.31473982e-06 9.99996771e-01 -3.94450211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3265599949999 meters 0.0528489385837585 Centerline is valid? [True, True] Translation: X:515.36, Y:-126.63, Z:-3.94 [[ 8.59538587e-01 5.11064441e-01 -2.56007911e-03 5.15363398e+02] [-5.11062179e-01 8.59542400e-01 1.52065536e-03 -1.26631414e+02] [ 2.97764942e-03 1.29764910e-06 9.99995567e-01 -3.94323953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.386559995 meters 0.052978905645550405 Centerline is valid? [True, True] Translation: X:515.42, Y:-126.66, Z:-3.94 [[ 8.58225525e-01 5.13266844e-01 -2.46909276e-03 5.15417673e+02] [-5.13264746e-01 8.58229076e-01 1.46747326e-03 -1.26663443e+02] [ 2.87225256e-03 7.87525956e-06 9.99995875e-01 -3.94330181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4465599949999 meters 0.05269382947586201 Centerline is valid? [True, True] Translation: X:515.47, Y:-126.69, Z:-3.94 [[ 8.54717523e-01 5.19087981e-01 -2.37162467e-03 5.15471162e+02] [-5.19086067e-01 8.54720813e-01 1.40971347e-03 -1.26692571e+02] [ 2.75884229e-03 2.61705164e-05 9.99996194e-01 -3.94496437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.506559995 meters 0.051942438458164104 Centerline is valid? [True, True] Translation: X:515.52, Y:-126.72, Z:-3.95 [[ 8.51931650e-01 5.23648722e-01 -2.11656579e-03 5.15524754e+02] [-5.23647213e-01 8.51934278e-01 1.25796098e-03 -1.26720913e+02] [ 2.46190461e-03 3.66370063e-05 9.99996969e-01 -3.94610512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5665599949999 meters 0.05218498571509597 Centerline is valid? [True, True] Translation: X:515.58, Y:-126.75, Z:-3.95 [[ 8.47435950e-01 5.30896603e-01 -1.05195789e-03 5.15578532e+02] [-5.30896236e-01 8.47436603e-01 6.25109876e-04 -1.26750788e+02] [ 1.22333633e-03 2.87399031e-05 9.99999251e-01 -3.94511436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.626559995 meters 0.05198405595385708 Centerline is valid? [True, True] Translation: X:515.63, Y:-126.78, Z:-3.94 [[ 8.43790586e-01 5.36672535e-01 -1.92041016e-04 5.15630148e+02] [-5.36672523e-01 8.43790608e-01 1.14573940e-04 -1.26783653e+02] [ 2.23531092e-04 6.38672395e-06 9.99999975e-01 -3.94420741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6865599949999 meters 0.05397595817289746 Centerline is valid? [True, True] Translation: X:515.69, Y:-126.80, Z:-3.95 [[ 8.41968121e-01 5.39526990e-01 -5.56897498e-04 5.15688813e+02] [-5.39526889e-01 8.41968305e-01 3.30960402e-04 -1.26803425e+02] [ 6.47452112e-04 2.18030672e-05 9.99999790e-01 -3.94809941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.746559995 meters 0.05448199589869975 Centerline is valid? [True, True] Translation: X:515.74, Y:-126.83, Z:-3.95 [[ 8.40483001e-01 5.41836960e-01 -1.01688681e-03 5.15741074e+02] [-5.41836625e-01 8.40483615e-01 6.04312095e-04 -1.26834029e+02] [ 1.18211533e-03 4.30724751e-05 9.99999300e-01 -3.94871388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8065599949999 meters 0.051794731036627434 Centerline is valid? [True, True] Translation: X:515.79, Y:-126.88, Z:-3.95 [[ 8.40119628e-01 5.42400056e-01 -1.09067524e-03 5.15789001e+02] [-5.42399670e-01 8.40120335e-01 6.49175908e-04 -1.26875098e+02] [ 1.26841150e-03 4.61964676e-05 9.99999194e-01 -3.94700938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.866559995 meters 0.05110753837878262 Centerline is valid? [True, True] Translation: X:515.84, Y:-126.91, Z:-3.95 [[ 8.39379342e-01 5.43541042e-01 -2.33575063e-03 5.15838077e+02] [-5.43539275e-01 8.39382586e-01 1.38944491e-03 -1.26912524e+02] [ 2.71580874e-03 1.03300854e-04 9.99996307e-01 -3.94713540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9265599949999 meters 0.05153286381072645 Centerline is valid? [True, True] Translation: X:515.89, Y:-126.94, Z:-3.95 [[ 8.39160865e-01 5.43873864e-01 -3.20368048e-03 5.15892357e+02] [-5.43870543e-01 8.39166968e-01 1.90590137e-03 -1.26941065e+02] [ 3.72499277e-03 1.43029601e-04 9.99993052e-01 -3.94904339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.986559995 meters 0.0515304508483264 Centerline is valid? [True, True] Translation: X:515.94, Y:-126.98, Z:-3.95 [[ 8.39381058e-01 5.43536759e-01 -2.68899656e-03 5.15943183e+02] [-5.43534416e-01 8.39385357e-01 1.60034115e-03 -1.26977914e+02] [ 3.12694857e-03 1.18266128e-04 9.99995104e-01 -3.94816753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0465599949999 meters 0.05099383043899221 Centerline is valid? [True, True] Translation: X:516.00, Y:-127.01, Z:-3.95 [[ 8.39976313e-01 5.42618767e-01 -2.16030967e-03 5.15995733e+02] [-5.42617253e-01 8.39979086e-01 1.28513636e-03 -1.27007945e+02] [ 2.51195405e-03 9.27371955e-05 9.99996841e-01 -3.94880053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.106559995 meters 0.05151245153261515 Centerline is valid? [True, True] Translation: X:516.05, Y:-127.04, Z:-3.95 [[ 8.41001830e-01 5.41031987e-01 -5.58309381e-04 5.16047304e+02] [-5.41031885e-01 8.41002015e-01 3.32275018e-04 -1.27041740e+02] [ 6.49310727e-04 2.26192788e-05 9.99999789e-01 -3.94852433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.166559995 meters 0.05132909223785504 Centerline is valid? [True, True] Translation: X:516.10, Y:-127.07, Z:-3.95 [[ 8.41247149e-01 5.40650695e-01 -2.45459241e-04 5.16100962e+02] [-5.40650675e-01 8.41247185e-01 1.46991183e-04 -1.27073094e+02] [ 2.85962780e-04 9.05179078e-06 9.99999959e-01 -3.94983577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.226559995 meters 0.05191080258412944 Centerline is valid? [True, True] Translation: X:516.16, Y:-127.10, Z:-3.95 [[ 8.41190923e-01 5.40737625e-01 -8.08043047e-04 5.16155653e+02] [-5.40737411e-01 8.41191310e-01 4.81917739e-04 -1.27102457e+02] [ 9.40309843e-04 3.15542776e-05 9.99999557e-01 -3.95124778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.286559995 meters 0.05166090898749069 Centerline is valid? [True, True] Translation: X:516.21, Y:-127.13, Z:-3.95 [[ 8.41547167e-01 5.40183596e-01 -2.20888380e-04 5.16209045e+02] [-5.40183580e-01 8.41547196e-01 1.32419087e-04 -1.27134521e+02] [ 2.57418615e-04 7.88336788e-06 9.99999967e-01 -3.95275439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.346559995 meters 0.05179993465862 Centerline is valid? [True, True] Translation: X:516.26, Y:-127.17, Z:-3.95 [[ 8.41796260e-01 5.39795383e-01 -2.17124237e-05 5.16262181e+02] [-5.39795383e-01 8.41796260e-01 1.34550545e-05 -1.27165026e+02] [ 2.55404132e-05 3.93851503e-07 1.00000000e+00 -3.95340927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.406559995 meters 0.05216767752305123 Centerline is valid? [True, True] Translation: X:516.32, Y:-127.20, Z:-3.95 [[ 8.41705086e-01 5.39937536e-01 -7.09497126e-05 5.16316200e+02] [-5.39937534e-01 8.41705089e-01 4.32217856e-05 -1.27196415e+02] [ 8.30557984e-05 1.92841614e-06 9.99999997e-01 -3.95419518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.466559995 meters 0.05148085983447041 Centerline is valid? [True, True] Translation: X:516.37, Y:-127.23, Z:-3.95 [[ 8.41404325e-01 5.40406077e-01 1.83226188e-04 5.16367532e+02] [-5.40406066e-01 8.41404345e-01 -1.08211227e-04 -1.27231940e+02] [-2.12645316e-04 -7.96714876e-06 9.99999977e-01 -3.95459391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.526559995 meters 0.052559905617626815 Centerline is valid? [True, True] Translation: X:516.42, Y:-127.26, Z:-3.96 [[ 8.41289948e-01 5.40584094e-01 -2.48902750e-04 5.16424656e+02] [-5.40584073e-01 8.41289984e-01 1.48792553e-04 -1.27255943e+02] [ 2.89834278e-04 9.37518308e-06 9.99999958e-01 -3.95725487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5865599949999 meters 0.053405068565601656 Centerline is valid? [True, True] Translation: X:516.48, Y:-127.29, Z:-3.96 [[ 8.41319941e-01 5.40537131e-01 6.04893508e-04 5.16479632e+02] [-5.40537012e-01 8.41320158e-01 -3.59571154e-04 -1.27285408e+02] [-7.03270662e-04 -2.44529475e-05 9.99999752e-01 -3.95796413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.646559995 meters 0.05157053456672456 Centerline is valid? [True, True] Translation: X:516.53, Y:-127.33, Z:-3.96 [[ 8.41703344e-01 5.39937408e-01 1.75405199e-03 5.16528329e+02] [-5.39936401e-01 8.41705169e-01 -1.04499251e-03 -1.27325054e+02] [-2.04062518e-03 -6.75028291e-05 9.99997916e-01 -3.95576937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7065599949999 meters 0.05220683799839207 Centerline is valid? [True, True] Translation: X:516.58, Y:-127.35, Z:-3.96 [[ 8.41710969e-01 5.39924969e-01 1.91610382e-03 5.16582292e+02] [-5.39923768e-01 8.41713147e-01 -1.14129696e-03 -1.27354437e+02] [-2.22902450e-03 -7.39078241e-05 9.99997513e-01 -3.95649104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.766559995 meters 0.051723417854136575 Centerline is valid? [True, True] Translation: X:516.64, Y:-127.39, Z:-3.96 [[ 8.42165638e-01 5.39216866e-01 1.48611863e-03 5.16636049e+02] [-5.39216143e-01 8.42166948e-01 -8.85157432e-04 -1.27386280e+02] [-1.72885180e-03 -5.58899800e-05 9.99998504e-01 -3.95668784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8265599949999 meters 0.05228964108417388 Centerline is valid? [True, True] Translation: X:516.69, Y:-127.42, Z:-3.96 [[ 8.43731908e-01 5.36764791e-01 1.62972852e-04 5.16688865e+02] [-5.36764783e-01 8.43731923e-01 -9.71011676e-05 -1.27415324e+02] [-1.89625886e-04 -5.55073394e-06 9.99999982e-01 -3.95822215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.886559995 meters 0.05159577142695579 Centerline is valid? [True, True] Translation: X:516.74, Y:-127.45, Z:-3.96 [[ 8.46437067e-01 5.32487283e-01 -1.25934945e-03 5.16738256e+02] [-5.32486754e-01 8.46438003e-01 7.51152333e-04 -1.27452557e+02] [ 1.46594030e-03 3.47837227e-05 9.99998925e-01 -3.95741018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9465599949999 meters 0.0519160344235188 Centerline is valid? [True, True] Translation: X:516.79, Y:-127.49, Z:-3.96 [[ 8.48652171e-01 5.28949465e-01 -1.39860006e-03 5.16789184e+02] [-5.28948808e-01 8.48653323e-01 8.34263368e-04 -1.27486690e+02] [ 1.62820975e-03 3.17884164e-05 9.99998674e-01 -3.95758203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.006559995 meters 0.05208058793205688 Centerline is valid? [True, True] Translation: X:516.84, Y:-127.52, Z:-3.96 [[ 8.53010141e-01 5.21892142e-01 -1.51378874e-03 5.16840052e+02] [-5.21891360e-01 8.53011484e-01 9.03686890e-04 -1.27519792e+02] [ 1.76290627e-03 1.91791828e-05 9.99998446e-01 -3.95779724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0665599949999 meters 0.05219484235714817 Centerline is valid? [True, True] Translation: X:516.89, Y:-127.55, Z:-3.96 [[ 8.56275762e-01 5.16517251e-01 -1.32264080e-03 5.16890530e+02] [-5.16516648e-01 8.56276783e-01 7.88962440e-04 -1.27552399e+02] [ 1.54005932e-03 7.59657836e-06 9.99998814e-01 -3.95982295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.126559995 meters 0.05237322116362908 Centerline is valid? [True, True] Translation: X:516.94, Y:-127.59, Z:-3.96 [[ 8.60963488e-01 5.08666757e-01 -5.82981624e-05 5.16940638e+02] [-5.08666756e-01 8.60963490e-01 3.51378030e-05 -1.27589107e+02] [ 6.80660215e-05 -5.98028213e-07 9.99999998e-01 -3.95607787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1865599949999 meters 0.05233596422793145 Centerline is valid? [True, True] Translation: X:516.99, Y:-127.62, Z:-3.96 [[ 8.64821733e-01 5.02078698e-01 5.92113301e-04 5.16990207e+02] [-5.02078574e-01 8.64821936e-01 -3.52916214e-04 -1.27624175e+02] [-6.89264285e-04 7.92221045e-06 9.99999762e-01 -3.95726276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.246559995 meters 0.05280750052522578 Centerline is valid? [True, True] Translation: X:517.04, Y:-127.65, Z:-3.96 [[ 8.67297268e-01 4.97790017e-01 7.39894531e-04 5.17043190e+02] [-4.97789822e-01 8.67297584e-01 -4.41334685e-04 -1.27652351e+02] [-8.61400740e-04 1.44563998e-05 9.99999629e-01 -3.95555888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3065599949999 meters 0.053096964156301184 Centerline is valid? [True, True] Translation: X:517.09, Y:-127.69, Z:-3.96 [[ 8.68010972e-01 4.96542909e-01 1.44652931e-03 5.17094345e+02] [-4.96542161e-01 8.68012176e-01 -8.62687662e-04 -1.27687985e+02] [-1.68396650e-03 3.05595648e-05 9.99998582e-01 -3.95845783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.366559995 meters 0.05341370281212325 Centerline is valid? [True, True] Translation: X:517.15, Y:-127.71, Z:-3.96 [[ 8.68444790e-01 4.95782251e-01 1.89911525e-03 5.17153285e+02] [-4.95780960e-01 8.68446865e-01 -1.13235209e-03 -1.27710871e+02] [-2.21068075e-03 4.18400878e-05 9.99997556e-01 -3.95685672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4265599949999 meters 0.05331185565954242 Centerline is valid? [True, True] Translation: X:517.21, Y:-127.74, Z:-3.96 [[ 8.68436216e-01 4.95796429e-01 2.10705763e-03 5.17206607e+02] [-4.95794838e-01 8.68438771e-01 -1.25680261e-03 -1.27743268e+02] [-2.45296879e-03 4.67846017e-05 9.99996990e-01 -3.95826672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.486559995 meters 0.053118103287352614 Centerline is valid? [True, True] Translation: X:517.26, Y:-127.78, Z:-3.96 [[ 8.67138146e-01 4.98062821e-01 2.20482747e-03 5.17257650e+02] [-4.98061085e-01 8.67140948e-01 -1.31596979e-03 -1.27778481e+02] [-2.56733181e-03 4.29888420e-05 9.99996703e-01 -3.96052711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5465599949999 meters 0.052513045431479964 Centerline is valid? [True, True] Translation: X:517.32, Y:-127.80, Z:-3.96 [[ 8.63801161e-01 5.03824435e-01 2.91428771e-03 5.17315040e+02] [-5.03821433e-01 8.63806076e-01 -1.73970795e-03 -1.27802907e+02] [-3.39388681e-03 3.44811355e-05 9.99994240e-01 -3.96091814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.606559995 meters 0.05250801909108069 Centerline is valid? [True, True] Translation: X:517.37, Y:-127.83, Z:-3.96 [[ 8.59013956e-01 5.11939355e-01 3.62220339e-03 5.17371320e+02] [-5.11934788e-01 8.59021593e-01 -2.16248231e-03 -1.27826652e+02] [-4.21861072e-03 3.27055749e-06 9.99991102e-01 -3.96134462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.666559995 meters 0.052137386076397264 Centerline is valid? [True, True] Translation: X:517.43, Y:-127.86, Z:-3.96 [[ 8.57248036e-01 5.14890838e-01 3.63713969e-03 5.17426597e+02] [-5.14886262e-01 8.57255752e-01 -2.17101909e-03 -1.27855273e+02] [-4.23579676e-03 -1.16114062e-05 9.99991029e-01 -3.96248743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.726559995 meters 0.05270377244316603 Centerline is valid? [True, True] Translation: X:517.48, Y:-127.88, Z:-3.96 [[ 8.53958831e-01 5.20323262e-01 4.24484951e-03 5.17481991e+02] [-5.20317090e-01 8.53969380e-01 -2.53471154e-03 -1.27882581e+02] [-4.94384088e-03 -4.41284368e-05 9.99987778e-01 -3.96156425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.786559995 meters 0.052955017729895464 Centerline is valid? [True, True] Translation: X:517.54, Y:-127.91, Z:-3.96 [[ 8.49522816e-01 5.27543201e-01 3.02597931e-03 5.17538644e+02] [-5.27540108e-01 8.49528203e-01 -1.80748505e-03 -1.27907240e+02] [-3.52418122e-03 -6.08256621e-05 9.99993788e-01 -3.96323013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.846559995 meters 0.05235426247734439 Centerline is valid? [True, True] Translation: X:517.59, Y:-127.94, Z:-3.96 [[ 8.46945303e-01 5.31668756e-01 3.46230388e-03 5.17593091e+02] [-5.31664741e-01 8.46952375e-01 -2.06818692e-03 -1.27935786e+02] [-4.03199686e-03 -8.91436944e-05 9.99991867e-01 -3.96385879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.906559995 meters 0.05372629184271024 Centerline is valid? [True, True] Translation: X:517.65, Y:-127.96, Z:-3.97 [[ 8.44061983e-01 5.36238684e-01 2.72794394e-03 5.17651465e+02] [-5.36236216e-01 8.44066387e-01 -1.62946026e-03 -1.27955936e+02] [-3.17634541e-03 -8.74568707e-05 9.99994952e-01 -3.96504249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.966559995 meters 0.053635734995613034 Centerline is valid? [True, True] Translation: X:517.70, Y:-127.99, Z:-3.97 [[ 8.43005682e-01 5.37900233e-01 2.18134923e-03 5.17703546e+02] [-5.37898660e-01 8.43008501e-01 -1.30311377e-03 -1.27987246e+02] [-2.53984115e-03 -7.48125196e-05 9.99996772e-01 -3.96617413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.026559995 meters 0.054610825152506454 Centerline is valid? [True, True] Translation: X:517.76, Y:-128.01, Z:-3.97 [[ 8.42211938e-01 5.39144076e-01 1.64815459e-03 5.17759370e+02] [-5.39143182e-01 8.42213549e-01 -9.84026822e-04 -1.28014313e+02] [-1.91863036e-03 -5.98321716e-05 9.99998158e-01 -3.96841758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0865599949999 meters 0.0534805268392778 Centerline is valid? [True, True] Translation: X:517.81, Y:-128.05, Z:-3.97 [[ 8.42400023e-01 5.38849794e-01 1.76067601e-03 5.17811050e+02] [-5.38848772e-01 8.42401861e-01 -1.05144807e-03 -1.28048578e+02] [-2.04976932e-03 -6.29982318e-05 9.99997897e-01 -3.96786992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.146559995 meters 0.05293220963483145 Centerline is valid? [True, True] Translation: X:517.86, Y:-128.09, Z:-3.97 [[ 8.43219812e-01 5.37564515e-01 2.17750872e-03 5.17860093e+02] [-5.37562945e-01 8.43222620e-01 -1.30138595e-03 -1.28085838e+02] [-2.53570352e-03 -7.31935849e-05 9.99996782e-01 -3.96654403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2065599949999 meters 0.05338159303712438 Centerline is valid? [True, True] Translation: X:517.91, Y:-128.11, Z:-3.97 [[ 8.43809622e-01 5.36638256e-01 2.16899666e-03 5.17914643e+02] [-5.36636696e-01 8.43812406e-01 -1.29586195e-03 -1.28113062e+02] [-2.52563538e-03 -7.05024206e-05 9.99996808e-01 -3.96734747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.266559995 meters 0.05307841883363438 Centerline is valid? [True, True] Translation: X:517.97, Y:-128.15, Z:-3.97 [[ 8.43810617e-01 5.36635524e-01 2.44065938e-03 5.17966977e+02] [-5.36633547e-01 8.43814143e-01 -1.45894199e-03 -1.28147230e+02] [-2.84238300e-03 -7.86689552e-05 9.99995957e-01 -3.96706829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3265599949999 meters 0.053808422904873414 Centerline is valid? [True, True] Translation: X:518.02, Y:-128.17, Z:-3.97 [[ 8.43733399e-01 5.36759422e-01 1.80937376e-03 5.18022238e+02] [-5.36758336e-01 8.43735337e-01 -1.08121727e-03 -1.28173890e+02] [-2.10698614e-03 -5.89373325e-05 9.99997779e-01 -3.96880660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.386559995 meters 0.053289790738372304 Centerline is valid? [True, True] Translation: X:518.07, Y:-128.21, Z:-3.97 [[ 8.44336755e-01 5.35808586e-01 2.14540339e-03 5.18073148e+02] [-5.35807055e-01 8.44339478e-01 -1.28276346e-03 -1.28210943e+02] [-2.49876446e-03 -6.64379374e-05 9.99996876e-01 -3.96775126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4465599949999 meters 0.0545406611816661 Centerline is valid? [True, True] Translation: X:518.13, Y:-128.24, Z:-3.97 [[ 8.44646357e-01 5.35321330e-01 1.89863983e-03 5.18129329e+02] [-5.35320130e-01 8.44648489e-01 -1.13497224e-03 -1.28235746e+02] [-2.21125811e-03 -5.77299518e-05 9.99997554e-01 -3.96910525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.506559995 meters 0.05242647397045435 Centerline is valid? [True, True] Translation: X:518.18, Y:-128.28, Z:-3.97 [[ 8.44903700e-01 5.34914827e-01 1.96593772e-03 5.18177276e+02] [-5.34913538e-01 8.44905985e-01 -1.17573468e-03 -1.28276502e+02] [-2.28995047e-03 -5.82241205e-05 9.99997376e-01 -3.96660471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5665599949999 meters 0.053373540390093434 Centerline is valid? [True, True] Translation: X:518.23, Y:-128.30, Z:-3.97 [[ 8.43829381e-01 5.36609992e-01 1.30103589e-03 5.18231789e+02] [-5.36609430e-01 8.43830383e-01 -7.78240519e-04 -1.28303376e+02] [-1.51546525e-03 -4.14459097e-05 9.99998851e-01 -3.96757350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.626559995 meters 0.053088201353087075 Centerline is valid? [True, True] Translation: X:518.28, Y:-128.34, Z:-3.97 [[ 8.42148150e-01 5.39246207e-01 1.48188121e-04 5.18283006e+02] [-5.39246200e-01 8.42148163e-01 -8.85759461e-05 -1.28335946e+02] [-1.72560597e-04 -5.31581180e-06 9.99999985e-01 -3.96791277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6865599949999 meters 0.052882749995279185 Centerline is valid? [True, True] Translation: X:518.34, Y:-128.37, Z:-3.97 [[ 8.41210870e-01 5.40706758e-01 -6.89152006e-04 5.18336251e+02] [-5.40706601e-01 8.41211152e-01 4.12511357e-04 -1.28366855e+02] [ 8.02770031e-04 2.56200011e-05 9.99999677e-01 -3.96840444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.746559995 meters 0.053106037594219606 Centerline is valid? [True, True] Translation: X:518.39, Y:-128.40, Z:-3.97 [[ 8.41251911e-01 5.40643162e-01 -4.40240118e-04 5.18389337e+02] [-5.40643098e-01 8.41252026e-01 2.64439421e-04 -1.28399962e+02] [ 5.13320256e-04 1.55526127e-05 9.99999868e-01 -3.96821838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8065599949999 meters 0.053536476281766214 Centerline is valid? [True, True] Translation: X:518.44, Y:-128.43, Z:-3.97 [[ 8.41459287e-01 5.40320523e-01 -3.06863943e-05 5.18444099e+02] [-5.40320523e-01 8.41459288e-01 1.92396450e-05 -1.28426961e+02] [ 3.62169263e-05 3.91110674e-07 9.99999999e-01 -3.96916871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.866559995 meters 0.05324236514615641 Centerline is valid? [True, True] Translation: X:518.50, Y:-128.46, Z:-3.97 [[ 8.41921862e-01 5.39598623e-01 9.50817453e-04 5.18495827e+02] [-5.39598324e-01 8.41922398e-01 -5.68948401e-04 -1.28462028e+02] [-1.10751828e-03 -3.40494068e-05 9.99999386e-01 -3.96848390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9265599949999 meters 0.053629990665925255 Centerline is valid? [True, True] Translation: X:518.55, Y:-128.49, Z:-3.97 [[ 8.43245307e-01 5.37523755e-01 2.35886376e-03 5.18548573e+02] [-5.37521905e-01 8.43248603e-01 -1.41231910e-03 -1.28490017e+02] [-2.74826364e-03 -7.70094883e-05 9.99996221e-01 -3.96950430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.986559995 meters 0.05300915423073491 Centerline is valid? [True, True] Translation: X:518.60, Y:-128.53, Z:-3.97 [[ 8.43635880e-01 5.36909192e-01 2.64982498e-03 5.18599733e+02] [-5.36906857e-01 8.43640037e-01 -1.58596901e-03 -1.28525469e+02] [-3.08701979e-03 -8.47288423e-05 9.99995232e-01 -3.96957277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0465599949999 meters 0.05388127673714531 Centerline is valid? [True, True] Translation: X:518.65, Y:-128.55, Z:-3.97 [[ 8.42899958e-01 5.38070244e-01 2.69470052e-04 5.18653073e+02] [-5.38070220e-01 8.42900001e-01 -1.61374839e-04 -1.28553179e+02] [-3.13967307e-04 -8.97096529e-06 9.99999951e-01 -3.97275467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.106559995 meters 0.05367803419250757 Centerline is valid? [True, True] Translation: X:518.70, Y:-128.59, Z:-3.97 [[ 8.41389765e-01 5.40427735e-01 -1.06119345e-03 5.18704126e+02] [-5.40427362e-01 8.41390434e-01 6.35647341e-04 -1.28585826e+02] [ 1.23639947e-03 3.86708105e-05 9.99999235e-01 -3.97424333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.166559995 meters 0.05427196850938016 Centerline is valid? [True, True] Translation: X:518.76, Y:-128.62, Z:-3.97 [[ 8.40527641e-01 5.41765765e-01 -1.77249122e-03 5.18756870e+02] [-5.41764729e-01 8.40529507e-01 1.06167130e-03 -1.28617480e+02] [ 2.06500833e-03 6.79091539e-05 9.99997866e-01 -3.97456682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.226559995 meters 0.05205845045127044 Centerline is valid? [True, True] Translation: X:518.80, Y:-128.66, Z:-3.97 [[ 8.39912031e-01 5.42721885e-01 -8.57280398e-04 5.18804170e+02] [-5.42721642e-01 8.39912468e-01 5.14515829e-04 -1.28659220e+02] [ 9.99279496e-04 3.31165906e-05 9.99999500e-01 -3.97150371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.286559995 meters 0.052859268320334676 Centerline is valid? [True, True] Translation: X:518.86, Y:-128.69, Z:-3.97 [[ 8.39895138e-01 5.42748677e-01 1.75997690e-04 5.18859073e+02] [-5.42748667e-01 8.39895157e-01 -1.04569578e-04 -1.28687087e+02] [-2.04574608e-04 -7.69503130e-06 9.99999979e-01 -3.97226327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.346559995 meters 0.05561602926121376 Centerline is valid? [True, True] Translation: X:518.92, Y:-128.71, Z:-3.97 [[ 8.39757010e-01 5.42961148e-01 1.16429015e-03 5.18917065e+02] [-5.42960703e-01 8.39757816e-01 -6.96839974e-04 -1.28710895e+02] [-1.35607879e-03 -4.69875450e-05 9.99999079e-01 -3.97347933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.406559995 meters 0.0536653908328411 Centerline is valid? [True, True] Translation: X:518.97, Y:-128.75, Z:-3.97 [[ 8.39334687e-01 5.43614232e-01 9.22514390e-04 5.18967484e+02] [-5.43613953e-01 8.39335193e-01 -5.52148864e-04 -1.28747464e+02] [-1.07445477e-03 -3.80540000e-05 9.99999422e-01 -3.97305478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.466559995 meters 0.05600962359308799 Centerline is valid? [True, True] Translation: X:519.02, Y:-128.78, Z:-3.98 [[ 8.39147607e-01 5.43903292e-01 7.08361984e-04 5.19022588e+02] [-5.43903128e-01 8.39147906e-01 -4.23866558e-04 -1.28775591e+02] [-8.24962892e-04 -2.95936906e-05 9.99999659e-01 -3.97528652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.526559995 meters 0.05528911550819167 Centerline is valid? [True, True] Translation: X:519.08, Y:-128.81, Z:-3.98 [[ 8.39427649e-01 5.43471449e-01 -8.05741384e-05 5.19075244e+02] [-5.43471447e-01 8.39427653e-01 4.92088536e-05 -1.28808597e+02] [ 9.43797666e-05 2.48247125e-06 9.99999996e-01 -3.97646647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5865599949999 meters 0.05192285491692532 Centerline is valid? [True, True] Translation: X:519.12, Y:-128.85, Z:-3.97 [[ 8.40395159e-01 5.41974098e-01 2.31436773e-04 5.19119818e+02] [-5.41974080e-01 8.40395191e-01 -1.38615246e-04 -1.28854396e+02] [-2.69624224e-04 -8.94115006e-06 9.99999964e-01 -3.97350429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.646559995 meters 0.05319451060064929 Centerline is valid? [True, True] Translation: X:519.17, Y:-128.88, Z:-3.98 [[ 8.41242760e-01 5.40657577e-01 5.13298964e-05 5.19174542e+02] [-5.40657576e-01 8.41242762e-01 -3.06557348e-05 -1.28881319e+02] [-5.97551593e-05 -1.96298240e-06 9.99999998e-01 -3.97503947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7065599949999 meters 0.05201458598179884 Centerline is valid? [True, True] Translation: X:519.22, Y:-128.92, Z:-3.97 [[ 8.43816785e-01 5.36631193e-01 4.42195929e-04 5.19222049e+02] [-5.36631128e-01 8.43816901e-01 -2.65070076e-04 -1.28920711e+02] [-5.15377270e-04 -1.36255207e-05 9.99999867e-01 -3.97383992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.766559995 meters 0.052029463061763495 Centerline is valid? [True, True] Translation: X:519.27, Y:-128.96, Z:-3.97 [[ 8.46037283e-01 5.33122173e-01 1.29025582e-03 5.19272770e+02] [-5.33121612e-01 8.46038266e-01 -7.73847537e-04 -1.28955538e+02] [-1.50416108e-03 -3.31593974e-05 9.99998868e-01 -3.97387781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8265599949999 meters 0.05293408572440156 Centerline is valid? [True, True] Translation: X:519.33, Y:-128.98, Z:-3.98 [[ 8.47587718e-01 5.30654235e-01 1.06934973e-03 5.19326777e+02] [-5.30653847e-01 8.47588392e-01 -6.41356215e-04 -1.28983524e+02] [-1.24670681e-03 -2.38488969e-05 9.99999223e-01 -3.97618065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.886559995 meters 0.052859650064532214 Centerline is valid? [True, True] Translation: X:519.38, Y:-129.02, Z:-3.98 [[ 8.48759991e-01 5.28777179e-01 1.08317376e-03 5.19377612e+02] [-5.28776780e-01 8.48760682e-01 -6.49676404e-04 -1.29018016e+02] [-1.26288936e-03 -2.13377939e-05 9.99999202e-01 -3.97644044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9465599949999 meters 0.0522536874100471 Centerline is valid? [True, True] Translation: X:519.43, Y:-129.06, Z:-3.98 [[ 8.51446356e-01 5.24441705e-01 3.61950414e-05 5.19426588e+02] [-5.24441704e-01 8.51446357e-01 -2.14123006e-05 -1.29056816e+02] [-4.20476398e-05 -7.50763931e-07 9.99999999e-01 -3.97526473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.006559995 meters 0.05278448170472857 Centerline is valid? [True, True] Translation: X:519.48, Y:-129.09, Z:-3.98 [[ 8.53176084e-01 5.21622816e-01 -4.56716302e-04 5.19479142e+02] [-5.21622743e-01 8.53176206e-01 2.74984762e-04 -1.29087530e+02] [ 5.33097808e-04 3.62318779e-06 9.99999858e-01 -3.97859428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0665599949999 meters 0.052586756289026544 Centerline is valid? [True, True] Translation: X:519.53, Y:-129.12, Z:-3.98 [[ 8.55165029e-01 5.18355836e-01 -5.38221883e-06 5.19530036e+02] [-5.18355836e-01 8.55165029e-01 4.20400389e-06 -1.29123313e+02] [ 6.78185508e-06 -8.05212573e-07 1.00000000e+00 -3.97777477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.126559995 meters 0.052902598311006875 Centerline is valid? [True, True] Translation: X:519.58, Y:-129.16, Z:-3.97 [[ 8.58081421e-01 5.13513037e-01 7.97090249e-04 5.19580635e+02] [-5.13512815e-01 8.58081792e-01 -4.77608996e-04 -1.29158864e+02] [-9.29227075e-04 5.11349281e-07 9.99999568e-01 -3.97491945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1865599949999 meters 0.05272653136690952 Centerline is valid? [True, True] Translation: X:519.63, Y:-129.19, Z:-3.98 [[ 8.59490673e-01 5.11149170e-01 1.51974858e-03 5.19632687e+02] [-5.11148356e-01 8.59492016e-01 -9.12205850e-04 -1.29193832e+02] [-1.77248504e-03 7.21542979e-06 9.99998429e-01 -3.97734029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.246559995 meters 0.05305965367754871 Centerline is valid? [True, True] Translation: X:519.69, Y:-129.23, Z:-3.98 [[ 8.59697158e-01 5.10801492e-01 1.62225663e-03 5.19686297e+02] [-5.10800565e-01 8.59698689e-01 -9.73274666e-04 -1.29227448e+02] [-1.89180205e-03 8.07186378e-06 9.99998211e-01 -3.97826869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3065599949999 meters 0.052646873379144574 Centerline is valid? [True, True] Translation: X:519.74, Y:-129.26, Z:-3.98 [[ 8.58751904e-01 5.12389006e-01 1.63508741e-03 5.19738656e+02] [-5.12388066e-01 8.58753461e-01 -9.81430316e-04 -1.29258303e+02] [-1.90701107e-03 5.00587849e-06 9.99998182e-01 -3.97912389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.366559995 meters 0.052940008915661745 Centerline is valid? [True, True] Translation: X:519.79, Y:-129.29, Z:-3.98 [[ 8.56292690e-01 5.16488236e-01 1.65246777e-03 5.19793339e+02] [-5.16487282e-01 8.56294285e-01 -9.92516627e-04 -1.29288830e+02] [-1.92762187e-03 -3.59385324e-06 9.99998142e-01 -3.97979921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4265599949999 meters 0.05283817661256399 Centerline is valid? [True, True] Translation: X:519.85, Y:-129.32, Z:-3.98 [[ 8.54283109e-01 5.19805664e-01 1.56235944e-03 5.19846717e+02] [-5.19804818e-01 8.54284538e-01 -9.38037316e-04 -1.29318756e+02] [-1.82229663e-03 -1.07725320e-05 9.99998340e-01 -3.98074611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.486559995 meters 0.053125694064086015 Centerline is valid? [True, True] Translation: X:519.90, Y:-129.35, Z:-3.98 [[ 8.51820654e-01 5.23832119e-01 1.21817649e-03 5.19900038e+02] [-5.23831608e-01 8.51821525e-01 -7.31990914e-04 -1.29347806e+02] [-1.42110931e-03 -1.45943725e-05 9.99998990e-01 -3.98262490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5465599949999 meters 0.053002358519105605 Centerline is valid? [True, True] Translation: X:519.95, Y:-129.38, Z:-3.98 [[ 8.50212060e-01 5.26438606e-01 1.35914826e-03 5.19952715e+02] [-5.26437973e-01 8.50213146e-01 -8.16645493e-04 -1.29380239e+02] [-1.58547943e-03 -2.11854055e-05 9.99998743e-01 -3.98209803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.606559995 meters 0.05241325481609769 Centerline is valid? [True, True] Translation: X:520.01, Y:-129.41, Z:-3.98 [[ 8.49387374e-01 5.27768113e-01 1.38118100e-03 5.20005129e+02] [-5.27767462e-01 8.49388497e-01 -8.29405666e-04 -1.29413367e+02] [-1.61089312e-03 -2.44556906e-05 9.99998702e-01 -3.98260629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.666559995 meters 0.052160477582261125 Centerline is valid? [True, True] Translation: X:520.06, Y:-129.44, Z:-3.98 [[ 8.49201866e-01 5.28065648e-01 1.69191717e-03 5.20059811e+02] [-5.28064670e-01 8.49203551e-01 -1.01644047e-03 -1.29443311e+02] [-1.97352936e-03 -3.02785423e-05 9.99998052e-01 -3.98481728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.726559995 meters 0.052508410838631815 Centerline is valid? [True, True] Translation: X:520.11, Y:-129.48, Z:-3.99 [[ 8.49082919e-01 5.28256627e-01 1.76983175e-03 5.20112887e+02] [-5.28255557e-01 8.49084763e-01 -1.06357197e-03 -1.29477966e+02] [-2.06457611e-03 -3.18626598e-05 9.99997868e-01 -3.98511380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.786559995 meters 0.052539882920769256 Centerline is valid? [True, True] Translation: X:520.17, Y:-129.51, Z:-3.99 [[ 8.48302476e-01 5.29510542e-01 1.22257093e-03 5.20166334e+02] [-5.29510033e-01 8.48303357e-01 -7.34688698e-04 -1.29510071e+02] [-1.42613643e-03 -2.41253318e-05 9.99998983e-01 -3.98627658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.846559995 meters 0.051527275356883305 Centerline is valid? [True, True] Translation: X:520.22, Y:-129.55, Z:-3.98 [[ 8.47363306e-01 5.31012816e-01 9.04326534e-04 5.20215087e+02] [-5.31012538e-01 8.47363788e-01 -5.43324912e-04 -1.29548602e+02] [-1.05480605e-03 -1.98151350e-05 9.99999443e-01 -3.98454410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.906559995 meters 0.052098000411035496 Centerline is valid? [True, True] Translation: X:520.27, Y:-129.58, Z:-3.99 [[ 8.45539042e-01 5.33913471e-01 3.66952566e-04 5.20268431e+02] [-5.33913426e-01 8.45539121e-01 -2.20443404e-04 -1.29577517e+02] [-4.27970453e-04 -9.52739715e-06 9.99999908e-01 -3.98661714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.966559995 meters 0.051748098088569734 Centerline is valid? [True, True] Translation: X:520.32, Y:-129.61, Z:-3.99 [[ 8.44058647e-01 5.36250830e-01 -2.19188878e-04 5.20319138e+02] [-5.36250813e-01 8.44058676e-01 1.32165334e-04 -1.29613620e+02] [ 2.55882044e-04 5.98492097e-06 9.99999967e-01 -3.98589885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.026559995 meters 0.051634782786795085 Centerline is valid? [True, True] Translation: X:520.37, Y:-129.64, Z:-3.99 [[ 8.43413243e-01 5.37265378e-01 -1.20416539e-04 5.20372468e+02] [-5.37265373e-01 8.43413252e-01 7.34007866e-05 -1.29643180e+02] [ 1.40996606e-04 2.78844111e-06 9.99999990e-01 -3.98686878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0865599949999 meters 0.05120339311591418 Centerline is valid? [True, True] Translation: X:520.42, Y:-129.68, Z:-3.99 [[ 8.42649766e-01 5.38461849e-01 4.58323604e-04 5.20423002e+02] [-5.38461779e-01 8.42649890e-01 -2.75051950e-04 -1.29679087e+02] [-5.34311316e-04 -1.50172818e-05 9.99999857e-01 -3.98586865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.146559995 meters 0.05221100604236957 Centerline is valid? [True, True] Translation: X:520.48, Y:-129.71, Z:-3.99 [[ 8.41923763e-01 5.39596444e-01 -2.33358867e-04 5.20477916e+02] [-5.39596425e-01 8.41923796e-01 1.41454807e-04 -1.29706081e+02] [ 2.72798894e-04 6.82544686e-06 9.99999963e-01 -3.98767173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2065599949999 meters 0.05163388729712146 Centerline is valid? [True, True] Translation: X:520.53, Y:-129.74, Z:-3.99 [[ 8.41256277e-01 5.40636457e-01 -3.13287876e-04 5.20530826e+02] [-5.40636424e-01 8.41256335e-01 1.88988147e-04 -1.29739170e+02] [ 3.65729293e-04 1.03873722e-05 9.99999933e-01 -3.98837428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.266559995 meters 0.05260868624692976 Centerline is valid? [True, True] Translation: X:520.59, Y:-129.77, Z:-3.99 [[ 8.40666414e-01 5.41553287e-01 -1.30846836e-04 5.20586079e+02] [-5.41553281e-01 8.40666424e-01 7.96773889e-05 -1.29765381e+02] [ 1.53148094e-04 3.87842866e-06 9.99999988e-01 -3.98962458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3265599949999 meters 0.05168161084458448 Centerline is valid? [True, True] Translation: X:520.64, Y:-129.80, Z:-3.99 [[ 8.40301271e-01 5.42119220e-01 7.24771845e-04 5.20636052e+02] [-5.42119045e-01 8.40301583e-01 -4.35896789e-04 -1.29803059e+02] [-8.45334957e-04 -2.66279946e-05 9.99999642e-01 -3.98754440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.386559995 meters 0.05129259052444169 Centerline is valid? [True, True] Translation: X:520.69, Y:-129.84, Z:-3.99 [[ 8.40855570e-01 5.41259559e-01 1.91226224e-06 5.20689364e+02] [-5.41259559e-01 8.40855570e-01 -2.47712380e-07 -1.29835074e+02] [-1.74201324e-06 -8.26739883e-07 1.00000000e+00 -3.98848762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4465599949999 meters 0.051044264753624405 Centerline is valid? [True, True] Translation: X:520.74, Y:-129.87, Z:-3.99 [[ 8.42263519e-01 5.39065353e-01 -8.42555694e-04 5.20739830e+02] [-5.39065114e-01 8.42263940e-01 5.08145640e-04 -1.29871543e+02] [ 9.83577987e-04 2.61998464e-05 9.99999516e-01 -3.98866995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.506559995 meters 0.051777636403025205 Centerline is valid? [True, True] Translation: X:520.79, Y:-129.90, Z:-3.99 [[ 8.42522986e-01 5.38659515e-01 -9.72390142e-04 5.20793557e+02] [-5.38659195e-01 8.42523546e-01 5.87234544e-04 -1.29900241e+02] [ 1.13558107e-03 2.90282899e-05 9.99999355e-01 -3.99006791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5665599949999 meters 0.05156461396902075 Centerline is valid? [True, True] Translation: X:520.85, Y:-129.93, Z:-3.99 [[ 8.43840483e-01 5.36593740e-01 -6.31293903e-04 5.20846257e+02] [-5.36593605e-01 8.43840718e-01 3.80816439e-04 -1.29930469e+02] [ 7.37055217e-04 1.73999430e-05 9.99999728e-01 -3.99059415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.626559995 meters 0.05104291228182118 Centerline is valid? [True, True] Translation: X:520.90, Y:-129.97, Z:-3.99 [[ 8.45114666e-01 5.34585057e-01 -1.34625981e-04 5.20895395e+02] [-5.34585051e-01 8.45114677e-01 8.13953885e-05 -1.29968831e+02] [ 1.57287151e-04 3.18060050e-06 9.99999988e-01 -3.98832666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6865599949999 meters 0.05203530216360356 Centerline is valid? [True, True] Translation: X:520.95, Y:-130.00, Z:-3.99 [[ 8.46197559e-01 5.32868973e-01 -5.90423208e-04 5.20949687e+02] [-5.32868853e-01 8.46197765e-01 3.57116600e-04 -1.29997801e+02] [ 6.89911154e-04 1.24269426e-05 9.99999762e-01 -3.98984254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.746559995 meters 0.052060784408167436 Centerline is valid? [True, True] Translation: X:521.00, Y:-130.03, Z:-3.99 [[ 8.46912819e-01 5.31729840e-01 -1.43303359e-03 5.21003072e+02] [-5.31729137e-01 8.46914031e-01 8.65482235e-04 -1.30028193e+02] [ 1.67385899e-03 2.89977150e-05 9.99998599e-01 -3.99190750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8065599949999 meters 0.05203033088230752 Centerline is valid? [True, True] Translation: X:521.05, Y:-130.06, Z:-3.99 [[ 8.47684291e-01 5.30497803e-01 -1.85007485e-03 5.21053168e+02] [-5.30496627e-01 8.47686310e-01 1.11750000e-03 -1.30064873e+02] [ 2.16111442e-03 3.41712744e-05 9.99997664e-01 -3.99021032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.866559995 meters 0.05236012532395836 Centerline is valid? [True, True] Translation: X:521.11, Y:-130.09, Z:-3.99 [[ 8.47914835e-01 5.30130236e-01 -1.53829747e-03 5.21108599e+02] [-5.30129422e-01 8.47916230e-01 9.29057109e-04 -1.30091957e+02] [ 1.79686866e-03 2.77354464e-05 9.99998385e-01 -3.99393479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9265599949999 meters 0.051820495200288356 Centerline is valid? [True, True] Translation: X:521.16, Y:-130.13, Z:-3.99 [[ 8.48936907e-01 5.28494207e-01 -4.31926110e-05 5.21159229e+02] [-5.28494206e-01 8.48936908e-01 2.62032417e-05 -1.30126748e+02] [ 5.05160628e-05 5.82145717e-07 9.99999999e-01 -3.99205233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.986559995 meters 0.05167058513968516 Centerline is valid? [True, True] Translation: X:521.21, Y:-130.16, Z:-3.99 [[ 8.49573241e-01 5.27469657e-01 1.03394394e-03 5.21211260e+02] [-5.27469289e-01 8.49573870e-01 -6.23304226e-04 -1.30160834e+02] [-1.20718582e-03 -1.58310804e-05 9.99999271e-01 -3.99053013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0465599949999 meters 0.05209740860919719 Centerline is valid? [True, True] Translation: X:521.26, Y:-130.19, Z:-3.99 [[ 8.49216469e-01 5.28042959e-01 1.42206056e-03 5.21264239e+02] [-5.28042263e-01 8.49217659e-01 -8.57768684e-04 -1.30193961e+02] [-1.66057765e-03 -2.24767810e-05 9.99998621e-01 -3.98955494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.106559995 meters 0.051824527078587486 Centerline is valid? [True, True] Translation: X:521.32, Y:-130.22, Z:-3.99 [[ 8.49204199e-01 5.28063262e-01 1.19167921e-03 5.21318701e+02] [-5.28062773e-01 8.49205035e-01 -7.18843161e-04 -1.30224098e+02] [-1.39157465e-03 -1.88367979e-05 9.99999032e-01 -3.99155172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.166559995 meters 0.05219371250913511 Centerline is valid? [True, True] Translation: X:521.37, Y:-130.25, Z:-3.99 [[ 8.49907503e-01 5.26931353e-01 7.65800215e-04 5.21373282e+02] [-5.26931151e-01 8.49907848e-01 -4.61779331e-04 -1.30252861e+02] [-8.94185620e-04 -1.10542709e-05 9.99999600e-01 -3.99478855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.226559995 meters 0.05176111863032229 Centerline is valid? [True, True] Translation: X:521.42, Y:-130.29, Z:-3.99 [[ 8.51337370e-01 5.24615667e-01 1.75605887e-03 5.21424147e+02] [-5.24614596e-01 8.51339181e-01 -1.06040996e-03 -1.30288284e+02] [-2.05130940e-03 -1.84874870e-05 9.99997896e-01 -3.99334633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.286559995 meters 0.051581552728933305 Centerline is valid? [True, True] Translation: X:521.48, Y:-130.32, Z:-3.99 [[ 8.52107089e-01 5.23363745e-01 1.97457781e-03 5.21477422e+02] [-5.23362386e-01 8.52109377e-01 -1.19277476e-03 -1.30319284e+02] [-2.30681133e-03 -1.70479257e-05 9.99997339e-01 -3.99425463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.346559995 meters 0.05171993342495684 Centerline is valid? [True, True] Translation: X:521.53, Y:-130.35, Z:-3.99 [[ 8.52566188e-01 5.22613110e-01 2.53615680e-03 5.21530596e+02] [-5.22610863e-01 8.52569960e-01 -1.53263864e-03 -1.30352273e+02] [-2.96322815e-03 -1.87472090e-05 9.99995609e-01 -3.99371818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.406559995 meters 0.0524717912873724 Centerline is valid? [True, True] Translation: X:521.58, Y:-130.38, Z:-3.99 [[ 8.52042441e-01 5.23468872e-01 2.00457018e-03 5.21584317e+02] [-5.23467471e-01 8.52044799e-01 -1.21147461e-03 -1.30383312e+02] [-2.34215284e-03 -1.70994958e-05 9.99997257e-01 -3.99398042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.466559995 meters 0.05267485846431104 Centerline is valid? [True, True] Translation: X:521.64, Y:-130.41, Z:-4.00 [[ 8.50802010e-01 5.25485167e-01 1.13135749e-03 5.21638016e+02] [-5.25484722e-01 8.50802762e-01 -6.84044450e-04 -1.30411837e+02] [-1.32201729e-03 -1.25246856e-05 9.99999126e-01 -3.99506902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.526559995 meters 0.05320201747908355 Centerline is valid? [True, True] Translation: X:521.69, Y:-130.44, Z:-4.00 [[ 8.49813520e-01 5.27082697e-01 9.01064555e-04 5.21692043e+02] [-5.27082416e-01 8.49813998e-01 -5.44621031e-04 -1.30441235e+02] [-1.05279759e-03 -1.21089669e-05 9.99999446e-01 -3.99623698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5865599949999 meters 0.05188479119109218 Centerline is valid? [True, True] Translation: X:521.74, Y:-130.47, Z:-3.99 [[ 8.48513711e-01 5.29172162e-01 1.14254124e-03 5.21744476e+02] [-5.29171711e-01 8.48514480e-01 -6.90774953e-04 -1.30474822e+02] [-1.33500166e-03 -1.84684839e-05 9.99999109e-01 -3.99424629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.646559995 meters 0.05205404021937666 Centerline is valid? [True, True] Translation: X:521.80, Y:-130.51, Z:-3.99 [[ 8.47793348e-01 5.30321618e-01 2.32817261e-03 5.21797627e+02] [-5.30319750e-01 8.47796544e-01 -1.40802417e-03 -1.30506465e+02] [-2.72052235e-03 -4.09623868e-05 9.99996299e-01 -3.99440508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7065599949999 meters 0.05210515598586562 Centerline is valid? [True, True] Translation: X:521.85, Y:-130.53, Z:-3.99 [[ 8.46190696e-01 5.32862708e-01 4.31754438e-03 5.21852154e+02] [-5.32856310e-01 8.46201706e-01 -2.61268391e-03 -1.30534218e+02] [-5.04571524e-03 -8.98019486e-05 9.99987266e-01 -3.99439357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.766559995 meters 0.05312769805782877 Centerline is valid? [True, True] Translation: X:521.91, Y:-130.56, Z:-3.99 [[ 8.44624766e-01 5.35335168e-01 5.02614342e-03 5.21906329e+02] [-5.35326536e-01 8.44639712e-01 -3.04245736e-03 -1.30560660e+02] [-5.87401475e-03 -1.20893111e-04 9.99982741e-01 -3.99465592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8265599949999 meters 0.05293717768583968 Centerline is valid? [True, True] Translation: X:521.96, Y:-130.59, Z:-4.00 [[ 8.42319429e-01 5.38964019e-01 3.97060015e-03 5.21960692e+02] [-5.38958671e-01 8.42328780e-01 -2.40372990e-03 -1.30589170e+02] [-4.64007470e-03 -1.15280985e-04 9.99989228e-01 -3.99628662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.886559995 meters 0.05245251440795338 Centerline is valid? [True, True] Translation: X:522.01, Y:-130.62, Z:-4.00 [[ 8.41282952e-01 5.40588874e-01 2.58132070e-03 5.22012344e+02] [-5.40586621e-01 8.41286909e-01 -1.56271464e-03 -1.30622097e+02] [-3.01641746e-03 -8.07422530e-05 9.99995447e-01 -3.99808074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9465599949999 meters 0.052585824454119225 Centerline is valid? [True, True] Translation: X:522.06, Y:-130.66, Z:-4.00 [[ 8.40963986e-01 5.41086104e-01 2.32438282e-03 5.22063767e+02] [-5.41084281e-01 8.40967195e-01 -1.40670558e-03 -1.30656348e+02] [-2.71587853e-03 -7.46982764e-05 9.99996309e-01 -3.99919143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.006559995 meters 0.052618967168048605 Centerline is valid? [True, True] Translation: X:522.12, Y:-130.69, Z:-4.00 [[ 8.41021700e-01 5.40994547e-01 2.72012654e-03 5.22116506e+02] [-5.40992048e-01 8.41026095e-01 -1.64675692e-03 -1.30688519e+02] [-3.17858392e-03 -8.66085216e-05 9.99994945e-01 -3.99958815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0665599949999 meters 0.05276433484417797 Centerline is valid? [True, True] Translation: X:522.17, Y:-130.72, Z:-4.00 [[ 8.41390118e-01 5.40412401e-01 4.13599607e-03 5.22169248e+02] [-5.40406610e-01 8.41400274e-01 -2.50499445e-03 -1.30720862e+02] [-4.83375829e-03 -1.27442037e-04 9.99988309e-01 -3.99913926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.126559995 meters 0.05311474284817285 Centerline is valid? [True, True] Translation: X:522.22, Y:-130.75, Z:-4.00 [[ 8.41352175e-01 5.40469148e-01 4.42924353e-03 5.22223841e+02] [-5.40462504e-01 8.41363822e-01 -2.68338726e-03 -1.30751082e+02] [-5.17689329e-03 -1.36166337e-04 9.99986591e-01 -3.99940393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1865599949999 meters 0.05260084623422602 Centerline is valid? [True, True] Translation: X:522.28, Y:-130.78, Z:-4.00 [[ 8.41068720e-01 5.40914399e-01 3.87576330e-03 5.22277280e+02] [-5.40909315e-01 8.41077641e-01 -2.34829450e-03 -1.30782875e+02] [-4.53004417e-03 -1.21359424e-04 9.99989732e-01 -4.00022159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.246559995 meters 0.052749269645553806 Centerline is valid? [True, True] Translation: X:522.33, Y:-130.81, Z:-4.00 [[ 8.40943448e-01 5.41104426e-01 4.48524400e-03 5.22331461e+02] [-5.41097616e-01 8.40955397e-01 -2.71831450e-03 -1.30814904e+02] [-5.24278216e-03 -1.41006070e-04 9.99986247e-01 -4.00104224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3065599949999 meters 0.05236219513741659 Centerline is valid? [True, True] Translation: X:522.38, Y:-130.85, Z:-4.00 [[ 8.41170990e-01 5.40752708e-01 4.22779810e-03 5.22380890e+02] [-5.40746650e-01 8.41181605e-01 -2.56293400e-03 -1.30853049e+02] [-4.94225949e-03 -1.30301926e-04 9.99987778e-01 -4.00140235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.366559995 meters 0.051939239824000547 Centerline is valid? [True, True] Translation: X:522.43, Y:-130.88, Z:-4.00 [[ 8.41379096e-01 5.40431866e-01 3.82284160e-03 5.22434423e+02] [-5.40426908e-01 8.41387773e-01 -2.31796800e-03 -1.30882129e+02] [-4.46919595e-03 -1.15676642e-04 9.99990006e-01 -4.00215577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4265599949999 meters 0.0520545919462487 Centerline is valid? [True, True] Translation: X:522.49, Y:-130.92, Z:-4.00 [[ 8.41248611e-01 5.40633545e-01 4.01812646e-03 5.22487257e+02] [-5.40628066e-01 8.41258198e-01 -2.43691501e-03 -1.30915972e+02] [-4.69775983e-03 -1.22260571e-04 9.99988958e-01 -4.00241653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.486559995 meters 0.05353300804269724 Centerline is valid? [True, True] Translation: X:522.55, Y:-130.94, Z:-4.00 [[ 8.40767221e-01 5.41382982e-01 3.86616416e-03 5.22545566e+02] [-5.41377914e-01 8.40776101e-01 -2.34561945e-03 -1.30937532e+02] [-4.52045688e-03 -1.20935941e-04 9.99989775e-01 -4.00390962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5465599949999 meters 0.052693772687633374 Centerline is valid? [True, True] Translation: X:522.60, Y:-130.97, Z:-4.00 [[ 8.40046945e-01 5.42495683e-01 4.42306575e-03 5.22598731e+02] [-5.42489063e-01 8.40058577e-01 -2.68399349e-03 -1.30969380e+02] [-5.17168920e-03 -1.44784257e-04 9.99986616e-01 -4.00428427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.606559995 meters 0.05298258605060171 Centerline is valid? [True, True] Translation: X:522.65, Y:-131.00, Z:-4.00 [[ 8.39047167e-01 5.44038983e-01 4.62983561e-03 5.22651668e+02] [-5.44031752e-01 8.39059925e-01 -2.80967259e-03 -1.31001403e+02] [-5.41328094e-03 -1.61329751e-04 9.99985335e-01 -4.00470020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.666559995 meters 0.051678503124256314 Centerline is valid? [True, True] Translation: X:522.70, Y:-131.04, Z:-4.01 [[ 8.37909490e-01 5.45788393e-01 4.76625706e-03 5.22702593e+02] [-5.45780757e-01 8.37923027e-01 -2.89249053e-03 -1.31036233e+02] [-5.57244430e-03 -1.77686126e-04 9.99984458e-01 -4.00554940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.726559995 meters 0.052606986088328096 Centerline is valid? [True, True] Translation: X:522.76, Y:-131.06, Z:-4.01 [[ 8.35927203e-01 5.48820045e-01 4.71912829e-03 5.22758705e+02] [-5.48812603e-01 8.35940500e-01 -2.86465861e-03 -1.31059160e+02] [-5.51709253e-03 -1.95271024e-04 9.99984762e-01 -4.00697866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.786559995 meters 0.05122273751673652 Centerline is valid? [True, True] Translation: X:522.81, Y:-131.10, Z:-4.01 [[ 8.34590518e-01 5.50851193e-01 4.65079328e-03 5.22807706e+02] [-5.50843997e-01 8.34603451e-01 -2.82325080e-03 -1.31096248e+02] [-5.43675919e-03 -2.05603211e-04 9.99985200e-01 -4.00685891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.846559995 meters 0.052988595897202104 Centerline is valid? [True, True] Translation: X:522.87, Y:-131.12, Z:-4.01 [[ 8.34281378e-01 5.51321860e-01 4.33454319e-03 5.22866258e+02] [-5.51315612e-01 8.34292616e-01 -2.63192152e-03 -1.31116754e+02] [-5.06731325e-03 -1.93938221e-04 9.99987142e-01 -4.00798630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.906559995 meters 0.053608219083305236 Centerline is valid? [True, True] Translation: X:522.92, Y:-131.14, Z:-4.01 [[ 8.34376376e-01 5.51177985e-01 4.34659280e-03 5.22921290e+02] [-5.51171699e-01 8.34387675e-01 -2.63944140e-03 -1.31143173e+02] [-5.08154545e-03 -1.93431385e-04 9.99987070e-01 -4.00841119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.966559995 meters 0.054776282372400044 Centerline is valid? [True, True] Translation: X:522.98, Y:-131.17, Z:-4.01 [[ 8.34598621e-01 5.50840409e-01 4.47062112e-03 5.22976821e+02] [-5.50833751e-01 8.34610571e-01 -2.71547916e-03 -1.31170178e+02] [-5.22702329e-03 -1.96233839e-04 9.99986320e-01 -4.00895919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.026559995 meters 0.05225106373957497 Centerline is valid? [True, True] Translation: X:523.02, Y:-131.21, Z:-4.01 [[ 8.35281246e-01 5.49802771e-01 4.70665736e-03 5.23024481e+02] [-5.49795372e-01 8.35294483e-01 -2.85934921e-03 -1.31210097e+02] [-5.50352304e-03 -1.99337656e-04 9.99984836e-01 -4.00852532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0865599949999 meters 0.05362446392805501 Centerline is valid? [True, True] Translation: X:523.08, Y:-131.23, Z:-4.01 [[ 8.35005577e-01 5.50220426e-01 4.81357662e-03 5.23081655e+02] [-5.50212693e-01 8.35019425e-01 -2.92436402e-03 -1.31232709e+02] [-5.62847480e-03 -2.06630689e-04 9.99984139e-01 -4.00974600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.146559995 meters 0.05422997326759836 Centerline is valid? [True, True] Translation: X:523.14, Y:-131.26, Z:-4.01 [[ 8.34572984e-01 5.50881743e-01 4.15201927e-03 5.23137285e+02] [-5.50875998e-01 8.34583292e-01 -2.52245540e-03 -1.31259887e+02] [-4.85478054e-03 -1.82074625e-04 9.99988199e-01 -4.01093173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2065599949999 meters 0.05348785352725012 Centerline is valid? [True, True] Translation: X:523.19, Y:-131.29, Z:-4.01 [[ 8.33264314e-01 5.52865234e-01 3.25839182e-03 5.23188666e+02] [-5.52861708e-01 8.33270671e-01 -1.98012785e-03 -1.31293825e+02] [-3.80986618e-03 -1.51470190e-04 9.99992731e-01 -4.01204169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.266559995 meters 0.05358328883078888 Centerline is valid? [True, True] Translation: X:523.24, Y:-131.32, Z:-4.01 [[ 8.32093332e-01 5.54629607e-01 2.58553226e-03 5.23242310e+02] [-5.54627396e-01 8.32097340e-01 -1.57129614e-03 -1.31322685e+02] [-3.02290188e-03 -1.26541982e-04 9.99995423e-01 -4.01249529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3265599949999 meters 0.05303337027135282 Centerline is valid? [True, True] Translation: X:523.30, Y:-131.35, Z:-4.01 [[ 8.30710528e-01 5.56699212e-01 2.45080006e-03 5.23295128e+02] [-5.56697235e-01 8.30714133e-01 -1.48908014e-03 -1.31353601e+02] [-2.86488399e-03 -1.27359066e-04 9.99995888e-01 -4.01213745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.386559995 meters 0.053952138677365556 Centerline is valid? [True, True] Translation: X:523.35, Y:-131.38, Z:-4.01 [[ 8.30280015e-01 5.57340922e-01 2.48866425e-03 5.23350487e+02] [-5.57338886e-01 8.30283734e-01 -1.51226263e-03 -1.31380301e+02] [-2.90914329e-03 -1.31427919e-04 9.99995760e-01 -4.01292425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4465599949999 meters 0.05210089371873063 Centerline is valid? [True, True] Translation: X:523.40, Y:-131.42, Z:-4.01 [[ 8.31048769e-01 5.56190174e-01 3.23021717e-03 5.23398144e+02] [-5.56186731e-01 8.31055030e-01 -1.96382540e-03 -1.31419793e+02] [-3.77674862e-03 -1.64569246e-04 9.99992855e-01 -4.01172025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.506559995 meters 0.05578483559961908 Centerline is valid? [True, True] Translation: X:523.46, Y:-131.43, Z:-4.01 [[ 8.32075808e-01 5.54648356e-01 3.87971212e-03 5.23460205e+02] [-5.54643371e-01 8.32084831e-01 -2.35908693e-03 -1.31433526e+02] [-4.53671329e-03 -1.88917443e-04 9.99989691e-01 -4.01343206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5665599949999 meters 0.05825101425222423 Centerline is valid? [True, True] Translation: X:523.52, Y:-131.46, Z:-4.01 [[ 8.34043326e-01 5.51685168e-01 3.89938909e-03 5.23517064e+02] [-5.51680100e-01 8.34052424e-01 -2.37105857e-03 -1.31456577e+02] [-4.56037276e-03 -1.73649781e-04 9.99989586e-01 -4.01459168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.626559995 meters 0.05370728193963949 Centerline is valid? [True, True] Translation: X:523.56, Y:-131.50, Z:-4.01 [[ 8.35805392e-01 5.49016208e-01 3.24797962e-03 5.23560739e+02] [-5.49012672e-01 8.35811693e-01 -1.97494277e-03 -1.31503194e+02] [-3.79897493e-03 -1.32514154e-04 9.99992775e-01 -4.01421976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6865599949999 meters 0.053808034809189643 Centerline is valid? [True, True] Translation: X:523.61, Y:-131.53, Z:-4.02 [[ 8.39815219e-01 5.42868066e-01 2.15907404e-03 5.23612813e+02] [-5.42866483e-01 8.39817991e-01 -1.31291747e-03 -1.31534024e+02] [-2.52597019e-03 -6.94808559e-05 9.99996807e-01 -4.01565823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.746559995 meters 0.05311729440911864 Centerline is valid? [True, True] Translation: X:523.66, Y:-131.57, Z:-4.02 [[ 8.45812111e-01 5.33472114e-01 3.06225728e-03 5.23660601e+02] [-5.33468867e-01 8.45817652e-01 -1.86208111e-03 -1.31573530e+02] [-3.58347961e-03 -5.86481713e-05 9.99993578e-01 -4.01510278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8065599949999 meters 0.05310320742623148 Centerline is valid? [True, True] Translation: X:523.71, Y:-131.61, Z:-4.02 [[ 8.50098969e-01 5.26613700e-01 3.12300638e-03 5.23711381e+02] [-5.26610276e-01 8.50104705e-01 -1.89915087e-03 -1.31606620e+02] [-3.65500129e-03 -3.01410520e-05 9.99993320e-01 -4.01605745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.866559995 meters 0.053404802734288256 Centerline is valid? [True, True] Translation: X:523.76, Y:-131.64, Z:-4.02 [[ 8.56931147e-01 5.15420451e-01 3.28150616e-03 5.23760863e+02] [-5.15416589e-01 8.56937429e-01 -1.99550064e-03 -1.31644460e+02] [-3.84056730e-03 1.86639372e-05 9.99992625e-01 -4.01691548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9265599949999 meters 0.05418711029684179 Centerline is valid? [True, True] Translation: X:523.81, Y:-131.68, Z:-4.02 [[ 8.60574748e-01 5.09312916e-01 3.38479370e-03 5.23810665e+02] [-5.09308759e-01 8.60581403e-01 -2.05832124e-03 -1.31679442e+02] [-3.96122011e-03 4.74342070e-05 9.99992153e-01 -4.01814797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.986559995 meters 0.0547208248362402 Centerline is valid? [True, True] Translation: X:523.86, Y:-131.71, Z:-4.02 [[ 8.63699852e-01 5.03997808e-01 2.96234942e-03 5.23861998e+02] [-5.03994590e-01 8.63704930e-01 -1.80204006e-03 -1.31711927e+02] [-3.46682004e-03 6.34136511e-05 9.99993989e-01 -4.01907485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0465599949999 meters 0.054602322248410474 Centerline is valid? [True, True] Translation: X:523.92, Y:-131.74, Z:-4.02 [[ 8.64612244e-01 5.02427681e-01 3.47759098e-03 5.23918339e+02] [-5.02423235e-01 8.64619233e-01 -2.11520092e-03 -1.31737813e+02] [-4.06952754e-03 8.16061047e-05 9.99991716e-01 -4.01876978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.106559995 meters 0.054436232445995096 Centerline is valid? [True, True] Translation: X:523.97, Y:-131.77, Z:-4.02 [[ 8.64197644e-01 5.03138889e-01 3.70002867e-03 5.23972063e+02] [-5.03133859e-01 8.64205561e-01 -2.25132187e-03 -1.31766711e+02] [-4.33031294e-03 8.39773576e-05 9.99990621e-01 -4.01895405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.166559995 meters 0.054435348175262674 Centerline is valid? [True, True] Translation: X:524.03, Y:-131.80, Z:-4.02 [[ 8.63039952e-01 5.05122135e-01 3.69743392e-03 5.24026248e+02] [-5.05117128e-01 8.63047869e-01 -2.25016875e-03 -1.31798042e+02] [-4.32767251e-03 7.43483201e-05 9.99990633e-01 -4.02083990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.226559995 meters 0.05471432199846642 Centerline is valid? [True, True] Translation: X:524.08, Y:-131.83, Z:-4.02 [[ 8.61115588e-01 5.08401007e-01 2.89132142e-03 5.24079471e+02] [-5.08397963e-01 8.61120441e-01 -1.75990517e-03 -1.31826263e+02] [-3.38451354e-03 4.55398555e-05 9.99994271e-01 -4.02268975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.286559995 meters 0.05440283770705918 Centerline is valid? [True, True] Translation: X:524.14, Y:-131.86, Z:-4.02 [[ 8.60273631e-01 5.09822467e-01 3.21432651e-03 5.24135123e+02] [-5.09818715e-01 8.60279635e-01 -1.95642046e-03 -1.31855058e+02] [-3.76264674e-03 4.43331200e-05 9.99992920e-01 -4.02225203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.346559995 meters 0.054132739233716996 Centerline is valid? [True, True] Translation: X:524.19, Y:-131.88, Z:-4.02 [[ 8.57460174e-01 5.14536187e-01 3.81602075e-03 5.24189378e+02] [-5.14530943e-01 8.57468665e-01 -2.32305120e-03 -1.31882430e+02] [-4.46741212e-03 2.84631359e-05 9.99990021e-01 -4.02304098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.406559995 meters 0.053733267552144574 Centerline is valid? [True, True] Translation: X:524.25, Y:-131.91, Z:-4.02 [[ 8.55968706e-01 5.17014365e-01 3.70414178e-03 5.24245322e+02] [-5.17009448e-01 8.55976720e-01 -2.25488184e-03 -1.31910642e+02] [-4.33646544e-03 1.50319921e-05 9.99990597e-01 -4.02314860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.466559995 meters 0.05358640817527376 Centerline is valid? [True, True] Translation: X:524.30, Y:-131.94, Z:-4.03 [[ 8.54579310e-01 5.19310091e-01 3.35140904e-03 5.24298549e+02] [-5.19306085e-01 8.54585882e-01 -2.04001039e-03 -1.31940776e+02] [-3.92346484e-03 2.94356434e-06 9.99992303e-01 -4.02526843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.526559995 meters 0.053472398931166856 Centerline is valid? [True, True] Translation: X:524.35, Y:-131.97, Z:-4.03 [[ 8.52637352e-01 5.22490652e-01 3.61456552e-03 5.24354645e+02] [-5.22486016e-01 8.52645013e-01 -2.20098936e-03 -1.31970152e+02] [-4.23193763e-03 -1.19141964e-05 9.99991045e-01 -4.02563493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5865599949999 meters 0.05384183620282286 Centerline is valid? [True, True] Translation: X:524.41, Y:-132.00, Z:-4.03 [[ 8.50915886e-01 5.25285043e-01 4.21648791e-03 5.24408372e+02] [-5.25278768e-01 8.50926332e-01 -2.56779852e-03 -1.31999495e+02] [-4.93674675e-03 -2.98510169e-05 9.99987814e-01 -4.02605130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.646559995 meters 0.05312643251182115 Centerline is valid? [True, True] Translation: X:524.46, Y:-132.03, Z:-4.03 [[ 8.50003330e-01 5.26763652e-01 3.79395392e-03 5.24461574e+02] [-5.26758584e-01 8.50011796e-01 -2.31093431e-03 -1.32031259e+02] [-4.44222178e-03 -3.41959368e-05 9.99990133e-01 -4.02642479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7065599949999 meters 0.0538237022301208 Centerline is valid? [True, True] Translation: X:524.51, Y:-132.06, Z:-4.03 [[ 8.48611921e-01 5.29002916e-01 3.70432868e-03 5.24514996e+02] [-5.28998103e-01 8.48620005e-01 -2.25718556e-03 -1.32062343e+02] [-4.33762516e-03 -4.41082708e-05 9.99990591e-01 -4.02680883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.766559995 meters 0.054023580354786806 Centerline is valid? [True, True] Translation: X:524.57, Y:-132.10, Z:-4.03 [[ 8.46889290e-01 5.31764174e-01 2.32245984e-03 5.24567503e+02] [-5.31762293e-01 8.46892473e-01 -1.41507458e-03 -1.32095007e+02] [-2.71935972e-03 -3.65850640e-05 9.99996302e-01 -4.02855550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8265599949999 meters 0.053990029159052634 Centerline is valid? [True, True] Translation: X:524.62, Y:-132.13, Z:-4.03 [[ 8.45629145e-01 5.33765198e-01 2.46201038e-03 5.24619517e+02] [-5.33763093e-01 8.45632728e-01 -1.50005487e-03 -1.32127059e+02] [-2.88263364e-03 -4.56401613e-05 9.99995844e-01 -4.02915396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.886559995 meters 0.053638405557788676 Centerline is valid? [True, True] Translation: X:524.67, Y:-132.16, Z:-4.03 [[ 8.44381182e-01 5.35736715e-01 2.56754192e-03 5.24671823e+02] [-5.35734432e-01 8.44385084e-01 -1.56478108e-03 -1.32159111e+02] [-3.00630477e-03 -5.42489160e-05 9.99995480e-01 -4.02913733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9465599949999 meters 0.053736032455898024 Centerline is valid? [True, True] Translation: X:524.72, Y:-132.19, Z:-4.03 [[ 8.44480667e-01 5.35578803e-01 2.78391004e-03 5.24724128e+02] [-5.35576117e-01 8.44485253e-01 -1.69712722e-03 -1.32193119e+02] [-3.25991634e-03 -5.78046039e-05 9.99994685e-01 -4.02917800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.006559995 meters 0.052898071059089696 Centerline is valid? [True, True] Translation: X:524.77, Y:-132.23, Z:-4.03 [[ 8.45466321e-01 5.34014754e-01 3.86567661e-03 5.24773425e+02] [-5.34009554e-01 8.45475155e-01 -2.35772183e-03 -1.32232753e+02] [-4.52739177e-03 -7.09338422e-05 9.99989749e-01 -4.02818330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0665599949999 meters 0.052855256536676026 Centerline is valid? [True, True] Translation: X:524.82, Y:-132.27, Z:-4.03 [[ 8.47692207e-01 5.30477135e-01 3.45417337e-03 5.24823432e+02] [-5.30472953e-01 8.47699243e-01 -2.10706337e-03 -1.32267117e+02] [-4.04584909e-03 -4.62043494e-05 9.99991814e-01 -4.02927386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.126559995 meters 0.0532102054766723 Centerline is valid? [True, True] Translation: X:524.87, Y:-132.30, Z:-4.03 [[ 8.50092395e-01 5.26627029e-01 2.62552708e-03 5.24874126e+02] [-5.26624594e-01 8.50096449e-01 -1.60148780e-03 -1.32303736e+02] [-3.07533801e-03 -2.12545376e-05 9.99995271e-01 -4.03068154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1865599949999 meters 0.05375903480936103 Centerline is valid? [True, True] Translation: X:524.92, Y:-132.34, Z:-4.03 [[ 8.53058946e-01 5.21811534e-01 1.77686837e-03 5.24924140e+02] [-5.21810408e-01 8.53060797e-01 -1.08380714e-03 -1.32341403e+02] [-2.08131982e-03 -2.63703146e-06 9.99997834e-01 -4.03048067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.246559995 meters 0.05407773897478929 Centerline is valid? [True, True] Translation: X:524.97, Y:-132.38, Z:-4.03 [[ 8.57723480e-01 5.14107530e-01 1.96969157e-03 5.24972703e+02] [-5.14106126e-01 8.57725741e-01 -1.20147493e-03 -1.32378505e+02] [-2.30714247e-03 1.79027596e-05 9.99997338e-01 -4.02849135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3065599949999 meters 0.053761167858717714 Centerline is valid? [True, True] Translation: X:525.02, Y:-132.42, Z:-4.03 [[ 8.61543394e-01 5.07676828e-01 2.68679173e-03 5.25019350e+02] [-5.07674183e-01 8.61547582e-01 -1.63947709e-03 -1.32419865e+02] [-3.14712345e-03 4.84658647e-05 9.99995047e-01 -4.03001082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.366559995 meters 0.05392899636190715 Centerline is valid? [True, True] Translation: X:525.07, Y:-132.45, Z:-4.03 [[ 8.62951644e-01 5.05279698e-01 2.62436616e-03 5.25071393e+02] [-5.05277163e-01 8.62955633e-01 -1.60137549e-03 -1.32454484e+02] [-3.07385408e-03 5.58773204e-05 9.99995274e-01 -4.03014608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4265599949999 meters 0.05407617792000934 Centerline is valid? [True, True] Translation: X:525.12, Y:-132.49, Z:-4.03 [[ 8.63219435e-01 5.04823834e-01 2.25912713e-03 5.25121828e+02] [-5.04821955e-01 8.63222390e-01 -1.37820043e-03 -1.32489440e+02] [-2.64587755e-03 4.92324200e-05 9.99996498e-01 -4.03033378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.486559995 meters 0.05415104098640457 Centerline is valid? [True, True] Translation: X:525.18, Y:-132.52, Z:-4.03 [[ 8.62226397e-01 5.06516402e-01 2.60281144e-03 5.25177557e+02] [-5.06513914e-01 8.62230324e-01 -1.58842306e-03 -1.32517098e+02] [-3.04878528e-03 5.12200865e-05 9.99995351e-01 -4.02894375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5465599949999 meters 0.05429831347565056 Centerline is valid? [True, True] Translation: X:525.23, Y:-132.55, Z:-4.03 [[ 8.59248986e-01 5.11550352e-01 2.72349484e-03 5.25228917e+02] [-5.11547650e-01 8.59253302e-01 -1.66290342e-03 -1.32549337e+02] [-3.19083076e-03 3.56506858e-05 9.99994909e-01 -4.02883997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.606559995 meters 0.05305350490822533 Centerline is valid? [True, True] Translation: X:525.28, Y:-132.58, Z:-4.03 [[ 8.54116710e-01 5.20071677e-01 3.17758974e-03 5.25282035e+02] [-5.20068057e-01 8.54122620e-01 -1.94045825e-03 -1.32580616e+02] [-3.72322866e-03 4.81489090e-06 9.99993069e-01 -4.03005796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.666559995 meters 0.053292220194405535 Centerline is valid? [True, True] Translation: X:525.34, Y:-132.61, Z:-4.03 [[ 8.49753969e-01 5.27171987e-01 2.80878822e-03 5.25337420e+02] [-5.27169198e-01 8.49758610e-01 -1.71502651e-03 -1.32607710e+02] [-3.29090590e-03 -2.33560467e-05 9.99994585e-01 -4.03218659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.726559995 meters 0.05335571522911098 Centerline is valid? [True, True] Translation: X:525.39, Y:-132.64, Z:-4.03 [[ 8.48308284e-01 5.29496684e-01 2.51318549e-03 5.25390060e+02] [-5.29494461e-01 8.48312007e-01 -1.53476043e-03 -1.32641423e+02] [-2.94461599e-03 -2.87678092e-05 9.99995664e-01 -4.03155575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.786559995 meters 0.053134740605767436 Centerline is valid? [True, True] Translation: X:525.44, Y:-132.67, Z:-4.03 [[ 8.45267967e-01 5.34341166e-01 1.25764104e-03 5.25442596e+02] [-5.34340614e-01 8.45268903e-01 -7.68520733e-04 -1.32670643e+02] [-1.47369713e-03 -2.24027278e-05 9.99998914e-01 -4.03267151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.846559995 meters 0.053243712254452624 Centerline is valid? [True, True] Translation: X:525.50, Y:-132.70, Z:-4.03 [[ 8.40943181e-01 5.41123421e-01 9.93262012e-05 5.25495646e+02] [-5.41123418e-01 8.40943186e-01 -6.05443311e-05 -1.32700797e+02] [-1.16289648e-04 -2.83339116e-06 9.99999993e-01 -4.03305856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.906559995 meters 0.054203420645765 Centerline is valid? [True, True] Translation: X:525.55, Y:-132.73, Z:-4.03 [[ 8.38684723e-01 5.44617227e-01 1.06369165e-04 5.25549267e+02] [-5.44617223e-01 8.38684730e-01 -6.50036670e-05 -1.32727121e+02] [-1.24612312e-04 -3.41289702e-06 9.99999992e-01 -4.03422541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.966559995 meters 0.05278205632613961 Centerline is valid? [True, True] Translation: X:525.60, Y:-132.77, Z:-4.03 [[ 8.37673959e-01 5.46170598e-01 1.22644995e-04 5.25598258e+02] [-5.46170593e-01 8.37673968e-01 -7.46840830e-05 -1.32766044e+02] [-1.43526770e-04 -4.42417817e-06 9.99999990e-01 -4.03221331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.026559995 meters 0.05363082354483462 Centerline is valid? [True, True] Translation: X:525.65, Y:-132.80, Z:-4.03 [[ 8.38456373e-01 5.44968722e-01 4.78460455e-05 5.25649649e+02] [-5.44968721e-01 8.38456375e-01 -2.91739157e-05 -1.32797015e+02] [-5.60156937e-05 -1.61354266e-06 9.99999998e-01 -4.03298313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0865599949999 meters 0.053015848014651916 Centerline is valid? [True, True] Translation: X:525.70, Y:-132.83, Z:-4.03 [[ 8.40401904e-01 5.41962950e-01 -8.95424180e-04 5.25699735e+02] [-5.41962674e-01 8.40402380e-01 5.47395577e-04 -1.32833207e+02] [ 1.04918473e-03 2.52541980e-05 9.99999449e-01 -4.03324819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.146559995 meters 0.05299387254472926 Centerline is valid? [True, True] Translation: X:525.75, Y:-132.87, Z:-4.03 [[ 8.42511745e-01 5.38675260e-01 -1.70964470e-03 5.25748407e+02] [-5.38674248e-01 8.42513479e-01 1.04501534e-03 -1.32870696e+02] [ 2.00332262e-03 4.05038771e-05 9.99997993e-01 -4.03322676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2065599949999 meters 0.052690132929153054 Centerline is valid? [True, True] Translation: X:525.80, Y:-132.91, Z:-4.03 [[ 8.43231826e-01 5.37546035e-01 -2.08507276e-03 5.25799050e+02] [-5.37544525e-01 8.43234403e-01 1.27486118e-03 -1.32908037e+02] [ 2.44350165e-03 4.58159275e-05 9.99997014e-01 -4.03202315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.266559995 meters 0.05312105334787866 Centerline is valid? [True, True] Translation: X:525.85, Y:-132.94, Z:-4.03 [[ 8.44676934e-01 5.35271132e-01 -2.38574966e-03 5.25848945e+02] [-5.35269147e-01 8.44680302e-01 1.45859772e-03 -1.32943466e+02] [ 2.79594100e-03 4.49743375e-05 9.99996090e-01 -4.03263402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3265599949999 meters 0.05325615092789879 Centerline is valid? [True, True] Translation: X:525.90, Y:-132.98, Z:-4.03 [[ 8.46265488e-01 5.32756834e-01 -2.20888009e-03 5.25897797e+02] [-5.32755124e-01 8.46268370e-01 1.35045824e-03 -1.32980376e+02] [ 2.58877121e-03 3.39459841e-05 9.99996649e-01 -4.03342271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.386559995 meters 0.05260189395252772 Centerline is valid? [True, True] Translation: X:525.95, Y:-133.02, Z:-4.03 [[ 8.46099989e-01 5.33023008e-01 -1.13253947e-03 5.25947994e+02] [-5.33022557e-01 8.46100746e-01 6.93508767e-04 -1.33017754e+02] [ 1.32789862e-03 1.68913220e-05 9.99999118e-01 -4.03176004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4465599949999 meters 0.05302555846407776 Centerline is valid? [True, True] Translation: X:526.00, Y:-133.05, Z:-4.03 [[ 8.44875454e-01 5.34962939e-01 -3.47432231e-04 5.26001671e+02] [-5.34962897e-01 8.44875525e-01 2.13411977e-04 -1.33047770e+02] [ 4.07704487e-04 5.55681154e-06 9.99999917e-01 -4.03365899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.506559995 meters 0.0521494504459126 Centerline is valid? [True, True] Translation: X:526.05, Y:-133.08, Z:-4.03 [[ 8.41924966e-01 5.39594113e-01 -7.38248745e-04 5.26050765e+02] [-5.39593924e-01 8.41925289e-01 4.52371956e-04 -1.33084751e+02] [ 8.65647533e-04 1.74912938e-05 9.99999625e-01 -4.03148472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5665599949999 meters 0.05233210201218843 Centerline is valid? [True, True] Translation: X:526.10, Y:-133.12, Z:-4.03 [[ 8.39534768e-01 5.43305181e-01 -9.24464964e-04 5.26103274e+02] [-5.43304886e-01 8.39535276e-01 5.65958471e-04 -1.33115031e+02] [ 1.08360912e-03 2.71245189e-05 9.99999413e-01 -4.03283574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.626559995 meters 0.053649352589966226 Centerline is valid? [True, True] Translation: X:526.16, Y:-133.14, Z:-4.04 [[ 8.36576043e-01 5.47848897e-01 -1.45309194e-03 5.26159427e+02] [-5.47848177e-01 8.36577303e-01 8.89416937e-04 -1.33137806e+02] [ 1.70288983e-03 5.20088720e-05 9.99998549e-01 -4.03641567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6865599949999 meters 0.053006379658328766 Centerline is valid? [True, True] Translation: X:526.21, Y:-133.17, Z:-4.04 [[ 8.35625218e-01 5.49298251e-01 -1.38779029e-03 5.26209795e+02] [-5.49297597e-01 8.35626369e-01 8.49286979e-04 -1.33173527e+02] [ 1.62618601e-03 5.26242536e-05 9.99998676e-01 -4.03531627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.746559995 meters 0.05256386281728306 Centerline is valid? [True, True] Translation: X:526.26, Y:-133.21, Z:-4.04 [[ 8.35142062e-01 5.50032990e-01 -1.20252060e-03 5.26261233e+02] [-5.50032498e-01 8.35142927e-01 7.36776099e-04 -1.33207709e+02] [ 1.40952774e-03 4.61127014e-05 9.99999006e-01 -4.03518739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8065599949999 meters 0.05195190954198549 Centerline is valid? [True, True] Translation: X:526.31, Y:-133.25, Z:-4.03 [[ 8.35854619e-01 5.48949933e-01 -1.01363315e-03 5.26309581e+02] [-5.48949583e-01 8.35855233e-01 6.20581796e-04 -1.33245605e+02] [ 1.18791891e-03 3.77173343e-05 9.99999294e-01 -4.03467765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.866559995 meters 0.053195673097156705 Centerline is valid? [True, True] Translation: X:526.37, Y:-133.27, Z:-4.04 [[ 8.35044226e-01 5.50181679e-01 -1.12269793e-03 5.26365277e+02] [-5.50181251e-01 8.35044980e-01 6.87685580e-04 -1.33270880e+02] [ 1.31585527e-03 4.34394768e-05 9.99999133e-01 -4.03689917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9265599949999 meters 0.05178845265209952 Centerline is valid? [True, True] Translation: X:526.41, Y:-133.31, Z:-4.03 [[ 8.34481498e-01 5.51033851e-01 -1.52477657e-03 5.26412926e+02] [-5.51033063e-01 8.34482889e-01 9.33662725e-04 -1.33312527e+02] [ 1.78687972e-03 6.10780345e-05 9.99998402e-01 -4.03490742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.986559995 meters 0.051493035889880814 Centerline is valid? [True, True] Translation: X:526.47, Y:-133.34, Z:-4.04 [[ 8.34036374e-01 5.51707873e-01 -1.32276715e-03 5.26465736e+02] [-5.51707280e-01 8.34037421e-01 8.10857256e-04 -1.33344694e+02] [ 1.55059364e-03 5.34958238e-05 9.99998796e-01 -4.03528113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0465599949999 meters 0.05292253902839673 Centerline is valid? [True, True] Translation: X:526.52, Y:-133.37, Z:-4.04 [[ 8.34228607e-01 5.51418030e-01 -8.87545232e-04 5.26521356e+02] [-5.51417762e-01 8.34229078e-01 5.44420277e-04 -1.33371347e+02] [ 1.04061920e-03 3.52372358e-05 9.99999458e-01 -4.03698540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.106559995 meters 0.053154292451660465 Centerline is valid? [True, True] Translation: X:526.57, Y:-133.40, Z:-4.04 [[ 8.34930441e-01 5.50355205e-01 -5.53837666e-04 5.26573916e+02] [-5.50355101e-01 8.34930624e-01 3.39397200e-04 -1.33403993e+02] [ 6.49205043e-04 2.14343306e-05 9.99999789e-01 -4.03759973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.166559995 meters 0.05220026919899301 Centerline is valid? [True, True] Translation: X:526.62, Y:-133.44, Z:-4.04 [[ 8.35443310e-01 5.49576633e-01 1.70856773e-05 5.26622970e+02] [-5.49576633e-01 8.35443310e-01 -9.67575750e-06 -1.33441127e+02] [-1.95916853e-05 -1.30634215e-06 1.00000000e+00 -4.03563520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.226559995 meters 0.05229868039279432 Centerline is valid? [True, True] Translation: X:526.68, Y:-133.47, Z:-4.04 [[ 8.36143321e-01 5.48510978e-01 -2.31378350e-04 5.26676602e+02] [-5.48510960e-01 8.36143353e-01 1.42445343e-04 -1.33469973e+02] [ 2.71598303e-04 7.80883890e-06 9.99999963e-01 -4.03672667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.286559995 meters 0.05153139924007245 Centerline is valid? [True, True] Translation: X:526.73, Y:-133.51, Z:-4.04 [[ 8.36201570e-01 5.48421209e-01 -1.05384338e-03 5.26727747e+02] [-5.48420829e-01 8.36202234e-01 6.46966381e-04 -1.33507336e+02] [ 1.23603627e-03 3.69553537e-05 9.99999235e-01 -4.03641645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.346559995 meters 0.05218965480791586 Centerline is valid? [True, True] Translation: X:526.78, Y:-133.54, Z:-4.04 [[ 8.35480688e-01 5.49514850e-01 -2.33433528e-03 5.26781708e+02] [-5.49512993e-01 8.35483945e-01 1.43130506e-03 -1.33535199e+02] [ 2.73682303e-03 8.69198268e-05 9.99996251e-01 -4.03809122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.406559995 meters 0.052309255974434365 Centerline is valid? [True, True] Translation: X:526.83, Y:-133.57, Z:-4.04 [[ 8.34945660e-01 5.50328273e-01 -2.12978692e-03 5.26833011e+02] [-5.50326728e-01 8.34948373e-01 1.30665158e-03 -1.33569690e+02] [ 2.49734943e-03 8.10956026e-05 9.99996878e-01 -4.03752640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.466559995 meters 0.05382868071449961 Centerline is valid? [True, True] Translation: X:526.89, Y:-133.59, Z:-4.04 [[ 8.34234435e-01 5.51407903e-01 -1.49376215e-03 5.26891986e+02] [-5.51407144e-01 8.34235771e-01 9.16910217e-04 -1.33590261e+02] [ 1.75174136e-03 5.87530421e-05 9.99998464e-01 -4.04057456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.526559995 meters 0.0525941679468509 Centerline is valid? [True, True] Translation: X:526.94, Y:-133.63, Z:-4.04 [[ 8.34005559e-01 5.51755991e-01 -2.30654591e-04 5.26942376e+02] [-5.51755973e-01 8.34005591e-01 1.42520941e-04 -1.33627998e+02] [ 2.71004001e-04 8.40179108e-06 9.99999963e-01 -4.03849846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5865599949999 meters 0.05358806542720613 Centerline is valid? [True, True] Translation: X:527.00, Y:-133.65, Z:-4.04 [[ 8.34348414e-01 5.51236680e-01 9.20332578e-04 5.26998012e+02] [-5.51236393e-01 8.34348921e-01 -5.63815634e-04 -1.33653634e+02] [-1.07867435e-03 -3.69021307e-05 9.99999418e-01 -4.03928516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.646559995 meters 0.05327931298600059 Centerline is valid? [True, True] Translation: X:527.05, Y:-133.68, Z:-4.04 [[ 8.34919351e-01 5.50369882e-01 1.63392329e-03 5.27050861e+02] [-5.50368973e-01 8.34920948e-01 -1.00237105e-03 -1.33684348e+02] [-1.91587162e-03 -6.23616954e-05 9.99998163e-01 -4.03920835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7065599949999 meters 0.05358965690754601 Centerline is valid? [True, True] Translation: X:527.10, Y:-133.71, Z:-4.04 [[ 8.36418560e-01 5.48088209e-01 1.81888043e-03 5.27103932e+02] [-5.48087077e-01 8.36420535e-01 -1.11589665e-03 -1.33714563e+02] [-2.13295874e-03 -6.35481914e-05 9.99997723e-01 -4.04080186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.766559995 meters 0.05313234704829984 Centerline is valid? [True, True] Translation: X:527.15, Y:-133.75, Z:-4.04 [[ 8.39864094e-01 5.42796696e-01 2.24434238e-04 5.27153699e+02] [-5.42796679e-01 8.39864124e-01 -1.37545039e-04 -1.33750847e+02] [-2.63153258e-04 -6.30301895e-06 9.99999965e-01 -4.04240139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8265599949999 meters 0.052689722824584444 Centerline is valid? [True, True] Translation: X:527.20, Y:-133.79, Z:-4.04 [[ 8.45098813e-01 5.34610053e-01 -2.96397670e-04 5.27202652e+02] [-5.34610022e-01 8.45098865e-01 1.82147814e-04 -1.33788359e+02] [ 3.47863387e-04 4.52426391e-06 9.99999939e-01 -4.04208299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.886559995 meters 0.05281723727490944 Centerline is valid? [True, True] Translation: X:527.26, Y:-133.82, Z:-4.05 [[ 8.46928247e-01 5.31706773e-01 -6.72386123e-04 5.27256682e+02] [-5.31706612e-01 8.46928514e-01 4.13678371e-04 -1.33818072e+02] [ 7.89418571e-04 7.15625047e-06 9.99999688e-01 -4.04513720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9465599949999 meters 0.053401566347353005 Centerline is valid? [True, True] Translation: X:527.31, Y:-133.85, Z:-4.04 [[ 8.52023565e-01 5.23503378e-01 2.39423927e-04 5.27305993e+02] [-5.23503358e-01 8.52023599e-01 -1.46745000e-04 -1.33854986e+02] [-2.80816340e-04 -3.09031505e-07 9.99999961e-01 -4.04137323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.006559995 meters 0.05402996442266012 Centerline is valid? [True, True] Translation: X:527.36, Y:-133.89, Z:-4.04 [[ 8.55322157e-01 5.18094753e-01 1.35469120e-03 5.27358056e+02] [-5.18094087e-01 8.55323230e-01 -8.30738027e-04 -1.33886738e+02] [-1.58909986e-03 8.69114351e-06 9.99998737e-01 -4.04258924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0665599949999 meters 0.053787275966329734 Centerline is valid? [True, True] Translation: X:527.41, Y:-133.92, Z:-4.04 [[ 8.56241845e-01 5.16572371e-01 1.69958848e-03 5.27411227e+02] [-5.16571318e-01 8.56243532e-01 -1.04278336e-03 -1.33918131e+02] [-1.99393471e-03 1.49160847e-05 9.99998012e-01 -4.04272251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.126559995 meters 0.053587973442152145 Centerline is valid? [True, True] Translation: X:527.47, Y:-133.95, Z:-4.04 [[ 8.56367720e-01 5.16364453e-01 1.44238163e-03 5.27465066e+02] [-5.16363694e-01 8.56368934e-01 -8.84941556e-04 -1.33950318e+02] [-1.69216318e-03 1.30418755e-05 9.99998568e-01 -4.04311407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1865599949999 meters 0.05396436792828232 Centerline is valid? [True, True] Translation: X:527.52, Y:-133.98, Z:-4.04 [[ 8.55668301e-01 5.17523053e-01 1.28397338e-03 5.27520560e+02] [-5.17522453e-01 8.55669264e-01 -7.88045202e-04 -1.33976391e+02] [-1.50648812e-03 9.82024332e-06 9.99998865e-01 -4.04109737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.246559995 meters 0.05364784504987692 Centerline is valid? [True, True] Translation: X:527.57, Y:-134.01, Z:-4.04 [[ 8.54450702e-01 5.19529788e-01 1.67219701e-03 5.27574406e+02] [-5.19528773e-01 8.54452339e-01 -1.02728898e-03 -1.34008142e+02] [-1.96251988e-03 9.01332599e-06 9.99998074e-01 -4.04333318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3065599949999 meters 0.05338308605791304 Centerline is valid? [True, True] Translation: X:527.63, Y:-134.04, Z:-4.05 [[ 8.51570381e-01 5.24236383e-01 2.02494591e-03 5.27629007e+02] [-5.24234908e-01 8.51572789e-01 -1.24378951e-03 -1.34035370e+02] [-2.37642855e-03 -2.37303153e-06 9.99997176e-01 -4.04599205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.366559995 meters 0.053838563619781794 Centerline is valid? [True, True] Translation: X:527.68, Y:-134.06, Z:-4.05 [[ 8.48216247e-01 5.29647496e-01 1.65199970e-03 5.27684820e+02] [-5.29646524e-01 8.48217855e-01 -1.01476865e-03 -1.34062830e+02] [-1.93872532e-03 -1.42326424e-05 9.99998121e-01 -4.04649632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4265599949999 meters 0.05353522472254774 Centerline is valid? [True, True] Translation: X:527.74, Y:-134.09, Z:-4.05 [[ 8.46022356e-01 5.33146332e-01 1.07735260e-03 5.27739485e+02] [-5.33145921e-01 8.46023042e-01 -6.62198367e-04 -1.34093070e+02] [-1.26451375e-03 -1.41515211e-05 9.99999200e-01 -4.04832152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.486559995 meters 0.05349297397861024 Centerline is valid? [True, True] Translation: X:527.79, Y:-134.12, Z:-4.05 [[ 8.42898449e-01 5.38072662e-01 -1.19527659e-04 5.27792647e+02] [-5.38072657e-01 8.42898458e-01 7.35178317e-05 -1.34121550e+02] [ 1.40307615e-04 2.34649877e-06 9.99999990e-01 -4.04940834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5465599949999 meters 0.05333518706285036 Centerline is valid? [True, True] Translation: X:527.85, Y:-134.15, Z:-4.05 [[ 8.40703544e-01 5.41495534e-01 3.70795284e-04 5.27845797e+02] [-5.41495487e-01 8.40703626e-01 -2.27249542e-04 -1.34152425e+02] [-4.34783552e-04 -9.73447738e-06 9.99999905e-01 -4.04994851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.606559995 meters 0.05312389940994058 Centerline is valid? [True, True] Translation: X:527.90, Y:-134.18, Z:-4.05 [[ 8.37917688e-01 5.45796248e-01 6.36107665e-04 5.27898198e+02] [-5.45796108e-01 8.37917929e-01 -3.90705852e-04 -1.34183581e+02] [-7.46251805e-04 -1.98057440e-05 9.99999721e-01 -4.04991601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.666559995 meters 0.05283454064045407 Centerline is valid? [True, True] Translation: X:527.95, Y:-134.22, Z:-4.05 [[ 8.36705461e-01 5.47652468e-01 8.63458935e-04 5.27949291e+02] [-5.47652212e-01 8.36705906e-01 -5.30950875e-04 -1.34218508e+02] [-1.01323775e-03 -2.86256994e-05 9.99999486e-01 -4.04995428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.726559995 meters 0.052545094762139734 Centerline is valid? [True, True] Translation: X:528.00, Y:-134.25, Z:-4.05 [[ 8.35819487e-01 5.49002925e-01 1.25466607e-03 5.28001126e+02] [-5.49002385e-01 8.35820427e-01 -7.71116925e-04 -1.34251700e+02] [-1.47202097e-03 -4.43001110e-05 9.99998916e-01 -4.05076545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.786559995 meters 0.05287869730272621 Centerline is valid? [True, True] Translation: X:528.05, Y:-134.28, Z:-4.05 [[ 8.34535344e-01 5.50953848e-01 7.85529671e-04 5.28054935e+02] [-5.50953638e-01 8.34535713e-01 -4.82650389e-04 -1.34280245e+02] [-9.21470654e-04 -3.00016213e-05 9.99999575e-01 -4.05239687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.846559995 meters 0.05321789078537676 Centerline is valid? [True, True] Translation: X:528.11, Y:-134.31, Z:-4.05 [[ 8.33489191e-01 5.52535686e-01 2.92156429e-04 5.28106472e+02] [-5.52535657e-01 8.33489242e-01 -1.79094212e-04 -1.34313334e+02] [-3.42465184e-04 -1.21537543e-05 9.99999941e-01 -4.05298622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.906559995 meters 0.052076255558594985 Centerline is valid? [True, True] Translation: X:528.15, Y:-134.35, Z:-4.05 [[ 8.31720739e-01 5.55193933e-01 5.56002346e-04 5.28154816e+02] [-5.55193829e-01 8.31720924e-01 -3.41487188e-04 -1.34351533e+02] [-6.52030401e-04 -2.46670951e-05 9.99999787e-01 -4.05214928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.966559995 meters 0.05241295296491653 Centerline is valid? [True, True] Translation: X:528.21, Y:-134.38, Z:-4.05 [[ 8.30916566e-01 5.56395819e-01 1.16370411e-03 5.28208675e+02] [-5.56395361e-01 8.30917379e-01 -7.15772157e-04 -1.34380515e+02] [-1.36519461e-03 -5.27326272e-05 9.99999067e-01 -4.05236568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.026559995 meters 0.05213548284785345 Centerline is valid? [True, True] Translation: X:528.26, Y:-134.42, Z:-4.05 [[ 8.30346795e-01 5.57242648e-01 2.19796803e-03 5.28259580e+02] [-5.57241014e-01 8.30349698e-01 -1.35340597e-03 -1.34416417e+02] [-2.57925762e-03 -1.01001627e-04 9.99996669e-01 -4.05264050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0865599949999 meters 0.051611311515738695 Centerline is valid? [True, True] Translation: X:528.31, Y:-134.45, Z:-4.05 [[ 8.31144423e-01 5.56051211e-01 2.44947138e-03 5.28311321e+02] [-5.56049175e-01 8.31148025e-01 -1.50852440e-03 -1.34450606e+02] [-2.87469012e-03 -1.08224894e-04 9.99995862e-01 -4.05351362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.146559995 meters 0.051674858162406974 Centerline is valid? [True, True] Translation: X:528.36, Y:-134.48, Z:-4.05 [[ 8.31822579e-01 5.55037847e-01 2.04590988e-03 5.28363471e+02] [-5.55036424e-01 8.31825090e-01 -1.26002112e-03 -1.34483693e+02] [-2.40119858e-03 -8.74404899e-05 9.99997113e-01 -4.05431374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2065599949999 meters 0.051949547034946544 Centerline is valid? [True, True] Translation: X:528.41, Y:-134.52, Z:-4.05 [[ 8.32472411e-01 5.54063243e-01 1.89958645e-03 5.28412816e+02] [-5.54062013e-01 8.32474574e-01 -1.16994899e-03 -1.34521182e+02] [-2.22958315e-03 -7.85384337e-05 9.99997511e-01 -4.05368995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.266559995 meters 0.05452511891551316 Centerline is valid? [True, True] Translation: X:528.47, Y:-134.54, Z:-4.06 [[ 8.32993562e-01 5.53279290e-01 1.93705510e-03 5.28473044e+02] [-5.53278011e-01 8.32995811e-01 -1.19262144e-03 -1.34540528e+02] [-2.27341152e-03 -7.82840143e-05 9.99997413e-01 -4.05591993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3265599949999 meters 0.052976982265695735 Centerline is valid? [True, True] Translation: X:528.52, Y:-134.58, Z:-4.06 [[ 8.33084107e-01 5.53142344e-01 2.10189031e-03 5.28523431e+02] [-5.53140835e-01 8.33086754e-01 -1.29448893e-03 -1.34576496e+02] [-2.46709361e-03 -8.42232054e-05 9.99996953e-01 -4.05585414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.386559995 meters 0.053266226727087626 Centerline is valid? [True, True] Translation: X:528.57, Y:-134.61, Z:-4.06 [[ 8.32731763e-01 5.53669873e-01 2.73524675e-03 5.28574489e+02] [-5.53667320e-01 8.32736248e-01 -1.68520032e-03 -1.34611632e+02] [-3.21078376e-03 -1.11096899e-04 9.99994839e-01 -4.05588128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4465599949999 meters 0.05187573550026744 Centerline is valid? [True, True] Translation: X:528.62, Y:-134.65, Z:-4.06 [[ 8.31637135e-01 5.55311105e-01 3.04173914e-03 5.28624232e+02] [-5.55307956e-01 8.31642687e-01 -1.87461165e-03 -1.34647823e+02] [-3.57063278e-03 -1.30105285e-04 9.99993617e-01 -4.05519910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.506559995 meters 0.05607443937186837 Centerline is valid? [True, True] Translation: X:528.69, Y:-134.66, Z:-4.06 [[ 8.30536108e-01 5.56959176e-01 2.49986539e-03 5.28685878e+02] [-5.56957055e-01 8.30539863e-01 -1.54119761e-03 -1.34663138e+02] [-2.93462201e-03 -1.12297394e-04 9.99995688e-01 -4.05719188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5665599949999 meters 0.05236313402104203 Centerline is valid? [True, True] Translation: X:528.73, Y:-134.71, Z:-4.06 [[ 8.29309222e-01 5.58784107e-01 2.55647443e-03 5.28730116e+02] [-5.58781898e-01 8.29313153e-01 -1.57590724e-03 -1.34708014e+02] [-3.00070979e-03 -1.21597231e-04 9.99995490e-01 -4.05604657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.626559995 meters 0.051668948260704804 Centerline is valid? [True, True] Translation: X:528.78, Y:-134.74, Z:-4.06 [[ 8.29431433e-01 5.58601055e-01 2.89115886e-03 5.28780696e+02] [-5.58598228e-01 8.29436461e-01 -1.78255954e-03 -1.34744481e+02] [-3.39377221e-03 -1.36485303e-04 9.99994232e-01 -4.05630984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6865599949999 meters 0.05196831048056464 Centerline is valid? [True, True] Translation: X:528.83, Y:-134.78, Z:-4.06 [[ 8.31055481e-01 5.56177778e-01 3.61487163e-03 5.28834209e+02] [-5.56173330e-01 8.31063328e-01 -2.22987124e-03 -1.34775633e+02] [-4.24439208e-03 -1.57348478e-04 9.99990980e-01 -4.05623198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.746559995 meters 0.0526067288491365 Centerline is valid? [True, True] Translation: X:528.89, Y:-134.80, Z:-4.06 [[ 8.31926958e-01 5.54868091e-01 4.35185969e-03 5.28887919e+02] [-5.54861626e-01 8.31938320e-01 -2.68466778e-03 -1.34804766e+02] [-5.11011532e-03 -1.81232447e-04 9.99986927e-01 -4.05562774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8065599949999 meters 0.05173737436723798 Centerline is valid? [True, True] Translation: X:528.94, Y:-134.84, Z:-4.06 [[ 8.32316756e-01 5.54284072e-01 4.24080787e-03 5.28939251e+02] [-5.54277925e-01 8.32327542e-01 -2.61612970e-03 -1.34839631e+02] [-4.97982021e-03 -1.73137602e-04 9.99987586e-01 -4.05612099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.866559995 meters 0.05317218513905576 Centerline is valid? [True, True] Translation: X:529.00, Y:-134.86, Z:-4.06 [[ 8.32254653e-01 5.54389647e-01 2.07637221e-03 5.28996035e+02] [-5.54388174e-01 8.32257239e-01 -1.28077906e-03 -1.34864550e+02] [-2.43812645e-03 -8.51818686e-05 9.99997024e-01 -4.05864634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9265599949999 meters 0.052692015735553675 Centerline is valid? [True, True] Translation: X:529.05, Y:-134.90, Z:-4.06 [[ 8.32061028e-01 5.54684084e-01 1.12812805e-04 5.29046190e+02] [-5.54684080e-01 8.32061035e-01 -6.86947479e-05 -1.34902049e+02] [-1.31971023e-04 -5.41724466e-06 9.99999991e-01 -4.05866735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.986559995 meters 0.052293315444406886 Centerline is valid? [True, True] Translation: X:529.10, Y:-134.93, Z:-4.06 [[ 8.31965500e-01 5.54827306e-01 -2.60378513e-04 5.29100266e+02] [-5.54827282e-01 8.31965541e-01 1.61757310e-04 -1.34933579e+02] [ 3.06373323e-04 9.88860154e-06 9.99999953e-01 -4.05929993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0465599949999 meters 0.05333757518154082 Centerline is valid? [True, True] Translation: X:529.16, Y:-134.96, Z:-4.06 [[ 8.31874599e-01 5.54963624e-01 -1.67228252e-04 5.29155977e+02] [-5.54963614e-01 8.31874616e-01 1.04319702e-04 -1.34961133e+02] [ 1.97006578e-04 6.02468486e-06 9.99999981e-01 -4.06034264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.106559995 meters 0.052384874912254964 Centerline is valid? [True, True] Translation: X:529.21, Y:-135.00, Z:-4.06 [[ 8.31716793e-01 5.55199960e-01 4.24076695e-04 5.29207407e+02] [-5.55199899e-01 8.31716901e-01 -2.60969550e-04 -1.34996872e+02] [-4.97602039e-04 -1.83945810e-05 9.99999876e-01 -4.05910097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.166559995 meters 0.052767736148040145 Centerline is valid? [True, True] Translation: X:529.26, Y:-135.03, Z:-4.06 [[ 8.31918217e-01 5.54895070e-01 1.88181149e-03 5.29258414e+02] [-5.54893859e-01 8.31920342e-01 -1.16209959e-03 -1.35031882e+02] [-2.21036060e-03 -7.74338188e-05 9.99997554e-01 -4.05788443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.226559995 meters 0.05206698982484423 Centerline is valid? [True, True] Translation: X:529.31, Y:-135.06, Z:-4.06 [[ 8.31730568e-01 5.55175275e-01 2.16259342e-03 5.29313036e+02] [-5.55173674e-01 8.31733375e-01 -1.33601731e-03 -1.35059557e+02] [-2.54042490e-03 -8.94085058e-05 9.99996769e-01 -4.05890727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.286559995 meters 0.052252026263161874 Centerline is valid? [True, True] Translation: X:529.36, Y:-135.10, Z:-4.06 [[ 8.31554289e-01 5.55440634e-01 1.77941159e-03 5.29362783e+02] [-5.55439551e-01 8.31556190e-01 -1.09931863e-03 -1.35096506e+02] [-2.09028696e-03 -7.42124589e-05 9.99997813e-01 -4.05850191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.346559995 meters 0.0525639550070327 Centerline is valid? [True, True] Translation: X:529.42, Y:-135.13, Z:-4.06 [[ 8.31400911e-01 5.55671510e-01 1.30317534e-03 5.29416397e+02] [-5.55670929e-01 8.31401931e-01 -8.05046332e-04 -1.35128256e+02] [-1.53080380e-03 -5.48203980e-05 9.99998827e-01 -4.05877677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.406559995 meters 0.05228053937885315 Centerline is valid? [True, True] Translation: X:529.47, Y:-135.16, Z:-4.06 [[ 8.31796310e-01 5.55080970e-01 1.26300059e-04 5.29469569e+02] [-5.55080964e-01 8.31796319e-01 -7.71584060e-05 -1.35159894e+02] [-1.47885087e-04 -5.92668122e-06 9.99999989e-01 -4.05869162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.466559995 meters 0.05262985839339693 Centerline is valid? [True, True] Translation: X:529.52, Y:-135.19, Z:-4.06 [[ 8.32714788e-01 5.53702159e-01 2.57827186e-05 5.29522860e+02] [-5.53702159e-01 8.32714788e-01 -1.57273857e-05 -1.35189192e+02] [-3.01779387e-05 -1.17952028e-06 1.00000000e+00 -4.05984317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.526559995 meters 0.05287809664080305 Centerline is valid? [True, True] Translation: X:529.57, Y:-135.22, Z:-4.06 [[ 8.35337252e-01 5.49735771e-01 1.50261302e-03 5.29573701e+02] [-5.49734988e-01 8.35338602e-01 -9.29071405e-04 -1.35222832e+02] [-1.76593444e-03 -4.99509970e-05 9.99998439e-01 -4.05946305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5865599949999 meters 0.053264805394629376 Centerline is valid? [True, True] Translation: X:529.63, Y:-135.25, Z:-4.06 [[ 8.38975778e-01 5.44161179e-01 2.87319626e-03 5.29626792e+02] [-5.44158280e-01 8.38980694e-01 -1.77791349e-03 -1.35252033e+02] [-3.37802769e-03 -7.18471856e-05 9.99994292e-01 -4.06005348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.646559995 meters 0.05413127521798231 Centerline is valid? [True, True] Translation: X:529.68, Y:-135.28, Z:-4.06 [[ 8.41126437e-01 5.40832254e-01 2.60580036e-03 5.29679971e+02] [-5.40829853e-01 8.41130471e-01 -1.61255714e-03 -1.35281688e+02] [-3.06394100e-03 -5.29301847e-05 9.99995305e-01 -4.06165883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7065599949999 meters 0.053472317584183755 Centerline is valid? [True, True] Translation: X:529.73, Y:-135.32, Z:-4.06 [[ 8.43480447e-01 5.37155274e-01 2.22420597e-03 5.29730088e+02] [-5.37153512e-01 8.43483379e-01 -1.37637971e-03 -1.35317537e+02] [-2.61541038e-03 -3.37906711e-05 9.99996579e-01 -4.06186504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.766559995 meters 0.05350080718958326 Centerline is valid? [True, True] Translation: X:529.78, Y:-135.35, Z:-4.06 [[ 8.45003045e-01 5.34756601e-01 2.28717719e-03 5.29781233e+02] [-5.34754729e-01 8.45006140e-01 -1.41532433e-03 -1.35352468e+02] [-2.68953279e-03 -2.71254475e-05 9.99996383e-01 -4.06136601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8265599949999 meters 0.05357000410888345 Centerline is valid? [True, True] Translation: X:529.83, Y:-135.39, Z:-4.06 [[ 8.45818649e-01 5.33464067e-01 2.62735209e-03 5.29833903e+02] [-5.33461591e-01 8.45822729e-01 -1.62564978e-03 -1.35385241e+02] [-3.08949986e-03 -2.65865272e-05 9.99995227e-01 -4.06111568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.886559995 meters 0.05412120838077727 Centerline is valid? [True, True] Translation: X:529.89, Y:-135.42, Z:-4.06 [[ 8.46550072e-01 5.32297698e-01 3.48378565e-03 5.29886044e+02] [-5.32293330e-01 8.46557240e-01 -2.15650054e-03 -1.35416350e+02] [-4.09712424e-03 -2.88101792e-05 9.99991606e-01 -4.06209309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9465599949999 meters 0.05373451089384256 Centerline is valid? [True, True] Translation: X:529.94, Y:-135.45, Z:-4.06 [[ 8.46777989e-01 5.31930929e-01 4.06504978e-03 5.29939103e+02] [-5.31924975e-01 8.46787745e-01 -2.51705361e-03 -1.35448491e+02] [-4.78113300e-03 -3.09159092e-05 9.99988570e-01 -4.06308134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.006559995 meters 0.05323756144800425 Centerline is valid? [True, True] Translation: X:529.99, Y:-135.48, Z:-4.06 [[ 8.45634925e-01 5.33740523e-01 4.75691331e-03 5.29991623e+02] [-5.33732392e-01 8.45648303e-01 -2.94641054e-03 -1.35479184e+02] [-5.59529437e-03 -4.73310626e-05 9.99984345e-01 -4.06321967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0665599949999 meters 0.053592141698593755 Centerline is valid? [True, True] Translation: X:530.05, Y:-135.51, Z:-4.06 [[ 8.44022088e-01 5.36283051e-01 5.21581667e-03 5.30045816e+02] [-5.36273319e-01 8.44038201e-01 -3.23158882e-03 -1.35507523e+02] [-6.13539484e-03 -6.95709738e-05 9.99981176e-01 -4.06432776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.126559995 meters 0.05296106789227573 Centerline is valid? [True, True] Translation: X:530.10, Y:-135.54, Z:-4.07 [[ 8.40577503e-01 5.41661444e-01 5.68690134e-03 5.30097612e+02] [-5.41649993e-01 8.40596732e-01 -3.52399031e-03 -1.35540811e+02] [-6.68920037e-03 -1.18123098e-04 9.99977620e-01 -4.06575433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1865599949999 meters 0.052515146617622376 Centerline is valid? [True, True] Translation: X:530.15, Y:-135.57, Z:-4.07 [[ 8.38457789e-01 5.44942065e-01 5.16543365e-03 5.30148064e+02] [-5.44932679e-01 8.38473690e-01 -3.20102181e-03 -1.35573759e+02] [-6.07545165e-03 -1.30891924e-04 9.99981536e-01 -4.06657780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.246559995 meters 0.054419858173974454 Centerline is valid? [True, True] Translation: X:530.21, Y:-135.59, Z:-4.07 [[ 8.35137835e-01 5.50014222e-01 5.39922722e-03 5.30208092e+02] [-5.50004072e-01 8.35155270e-01 -3.34595130e-03 -1.35592027e+02] [-6.34951387e-03 -1.75266434e-04 9.99979826e-01 -4.06742029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3065599949999 meters 0.052771873774978 Centerline is valid? [True, True] Translation: X:530.25, Y:-135.63, Z:-4.07 [[ 8.30768008e-01 5.56614053e-01 2.30486913e-03 5.30254614e+02] [-5.56612229e-01 8.30771200e-01 -1.42831117e-03 -1.35633460e+02] [-2.70983696e-03 -9.63231169e-05 9.99996324e-01 -4.06883583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.366559995 meters 0.05274259482632957 Centerline is valid? [True, True] Translation: X:530.31, Y:-135.67, Z:-4.07 [[ 8.27791806e-01 5.61035400e-01 -6.91576526e-05 5.30306283e+02] [-5.61035399e-01 8.27791809e-01 4.35060712e-05 -1.35665633e+02] [ 8.16565843e-05 2.78592191e-06 9.99999997e-01 -4.07020638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4265599949999 meters 0.051114855516482295 Centerline is valid? [True, True] Translation: X:530.36, Y:-135.70, Z:-4.07 [[ 8.23735196e-01 5.66974674e-01 2.13260222e-04 5.30355257e+02] [-5.66974659e-01 8.23735224e-01 -1.32007816e-04 -1.35703955e+02] [-2.50515045e-04 -1.21736570e-05 9.99999969e-01 -4.06864149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.486559995 meters 0.0528636886838821 Centerline is valid? [True, True] Translation: X:530.41, Y:-135.73, Z:-4.07 [[ 8.21814794e-01 5.69754002e-01 9.06124490e-04 5.30411841e+02] [-5.69753728e-01 8.21815292e-01 -5.61447129e-04 -1.35726369e+02] [-1.06455371e-03 -5.48622491e-05 9.99999432e-01 -4.06978766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5465599949999 meters 0.05164486382688244 Centerline is valid? [True, True] Translation: X:530.46, Y:-135.77, Z:-4.07 [[ 8.19823273e-01 5.72613641e-01 1.84891691e-03 5.30458727e+02] [-5.72612506e-01 8.19825350e-01 -1.14605980e-03 -1.35767813e+02] [-2.17203843e-03 -1.19146452e-04 9.99997634e-01 -4.06779754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.606559995 meters 0.05213171335396373 Centerline is valid? [True, True] Translation: X:530.52, Y:-135.79, Z:-4.07 [[ 8.20142545e-01 5.72146393e-01 3.83548911e-03 5.30516146e+02] [-5.72141504e-01 8.20151477e-01 -2.37773613e-03 -1.35789851e+02] [-4.50609520e-03 -2.44359946e-04 9.99989818e-01 -4.06786480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.666559995 meters 0.05471666357853924 Centerline is valid? [True, True] Translation: X:530.57, Y:-135.81, Z:-4.07 [[ 8.22297427e-01 5.69034006e-01 5.21943997e-03 5.30572205e+02] [-5.69024888e-01 8.22313933e-01 -3.23603150e-03 -1.35813481e+02] [-6.13343018e-03 -3.09010876e-04 9.99981143e-01 -4.06757542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.726559995 meters 0.05289928158466311 Centerline is valid? [True, True] Translation: X:530.62, Y:-135.85, Z:-4.07 [[ 8.27610133e-01 5.61265230e-01 6.54287026e-03 5.30619341e+02] [-5.61250657e-01 8.27635936e-01 -4.05677037e-03 -1.35853494e+02] [-7.69203870e-03 -3.14765964e-04 9.99970366e-01 -4.06750952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.786559995 meters 0.05298154899274784 Centerline is valid? [True, True] Translation: X:530.67, Y:-135.89, Z:-4.07 [[ 8.34095511e-01 5.51586633e-01 6.07162293e-03 5.30670223e+02] [-5.51573825e-01 8.34117583e-01 -3.76479232e-03 -1.35887472e+02] [-7.14105657e-03 -2.08751914e-04 9.99974481e-01 -4.07030341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.846559995 meters 0.052848566551692094 Centerline is valid? [True, True] Translation: X:530.72, Y:-135.93, Z:-4.07 [[ 8.41126005e-01 5.40825857e-01 3.79954310e-03 5.30718704e+02] [-5.40820730e-01 8.41134583e-01 -2.35596542e-03 -1.35925796e+02] [-4.47009412e-03 -7.32078929e-05 9.99990006e-01 -4.07368412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.906559995 meters 0.05257151399379398 Centerline is valid? [True, True] Translation: X:530.77, Y:-135.96, Z:-4.07 [[ 8.48111080e-01 5.29805742e-01 3.67044951e-03 5.30765332e+02] [-5.29800853e-01 8.48119022e-01 -2.27611709e-03 -1.35964061e+02] [-4.31887795e-03 -1.42071592e-05 9.99990674e-01 -4.07439872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.966559995 meters 0.05238204570948648 Centerline is valid? [True, True] Translation: X:530.82, Y:-136.00, Z:-4.08 [[ 8.51085270e-01 5.25017107e-01 3.30165267e-03 5.30815842e+02] [-5.25013116e-01 8.51091674e-01 -2.04723484e-03 -1.36002235e+02] [-3.88484241e-03 8.96045892e-06 9.99992454e-01 -4.07951645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.026559995 meters 0.05238204570948648 Centerline is valid? [True, True] Translation: X:530.87, Y:-136.04, Z:-4.08 [[ 8.51016663e-01 5.25128306e-01 3.30167192e-03 5.30868952e+02] [-5.25124316e-01 8.51023068e-01 -2.04720385e-03 -1.36035128e+02] [-3.88484366e-03 8.41638143e-06 9.99992454e-01 -4.07997695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0865599949999 meters 0.05251270849272372 Centerline is valid? [True, True] Translation: X:530.92, Y:-136.07, Z:-4.08 [[ 8.49870522e-01 5.26982367e-01 3.11140890e-03 5.30922235e+02] [-5.26978834e-01 8.49876217e-01 -1.92972711e-03 -1.36067881e+02] [-3.66124458e-03 3.71549250e-07 9.99993298e-01 -4.08043104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.146559995 meters 0.05251270849272372 Centerline is valid? [True, True] Translation: X:530.98, Y:-136.10, Z:-4.08 [[ 8.49801114e-01 5.27094287e-01 3.11115716e-03 5.30975335e+02] [-5.27090753e-01 8.49806809e-01 -1.93013282e-03 -1.36100789e+02] [-3.66124452e-03 3.66852724e-07 9.99993298e-01 -4.08089173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2065599949999 meters 0.052299470573049456 Centerline is valid? [True, True] Translation: X:531.03, Y:-136.13, Z:-4.08 [[ 8.48785424e-01 5.28730631e-01 2.68769759e-03 5.31028516e+02] [-5.28728000e-01 8.48789679e-01 -1.66800443e-03 -1.36133333e+02] [-3.16321501e-03 -5.28312275e-06 9.99994997e-01 -4.08208211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.266559995 meters 0.052299470573049456 Centerline is valid? [True, True] Translation: X:531.08, Y:-136.17, Z:-4.08 [[ 8.48719578e-01 5.28836322e-01 2.68765601e-03 5.31081600e+02] [-5.28833691e-01 8.48723833e-01 -1.66807145e-03 -1.36166273e+02] [-3.16321448e-03 -5.59815486e-06 9.99994997e-01 -4.08254269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3265599949999 meters 0.052299470573049456 Centerline is valid? [True, True] Translation: X:531.13, Y:-136.20, Z:-4.08 [[ 8.48653717e-01 5.28942006e-01 2.68744823e-03 5.31134680e+02] [-5.28939375e-01 8.48657972e-01 -1.66840609e-03 -1.36199220e+02] [-3.16321443e-03 -5.59815512e-06 9.99994997e-01 -4.08300338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.386559995 meters 0.05232534583463832 Centerline is valid? [True, True] Translation: X:531.19, Y:-136.23, Z:-4.08 [[ 8.47814395e-01 5.30286658e-01 2.60975883e-03 5.31188417e+02] [-5.30284182e-01 8.47818412e-01 -1.62059484e-03 -1.36231941e+02] [-3.07198141e-03 -9.95019525e-06 9.99995281e-01 -4.08384517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4465599949999 meters 0.05238709463838354 Centerline is valid? [True, True] Translation: X:531.24, Y:-136.26, Z:-4.08 [[ 8.46436434e-01 5.32480334e-01 3.17131804e-03 5.31241236e+02] [-5.32476690e-01 8.46442374e-01 -1.97012628e-03 -1.36264603e+02] [-3.73339147e-03 -2.10662684e-05 9.99993031e-01 -4.08381305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.506559995 meters 0.0524058407431977 Centerline is valid? [True, True] Translation: X:531.29, Y:-136.30, Z:-4.08 [[ 8.45916257e-01 5.33300081e-01 4.08775572e-03 5.31292904e+02] [-5.33294031e-01 8.45926133e-01 -2.54036725e-03 -1.36298551e+02] [-4.81271745e-03 -3.10377687e-05 9.99988418e-01 -4.08410292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5665599949999 meters 0.051678984184515366 Centerline is valid? [True, True] Translation: X:531.35, Y:-136.33, Z:-4.08 [[ 8.45270636e-01 5.34322061e-01 4.18171767e-03 5.31345336e+02] [-5.34315738e-01 8.45280979e-01 -2.59952780e-03 -1.36332664e+02] [-4.92371146e-03 -3.70530403e-05 9.99987878e-01 -4.08387294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.626559995 meters 0.051478902234525066 Centerline is valid? [True, True] Translation: X:531.40, Y:-136.36, Z:-4.08 [[ 8.43905124e-01 5.36477318e-01 4.02858607e-03 5.31398226e+02] [-5.36471472e-01 8.43914738e-01 -2.50494566e-03 -1.36364588e+02] [-4.74362969e-03 -4.72850229e-05 9.99988748e-01 -4.08475699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6865599949999 meters 0.05176112185178597 Centerline is valid? [True, True] Translation: X:531.45, Y:-136.40, Z:-4.09 [[ 8.41248007e-01 5.40639903e-01 3.20712439e-03 5.31450578e+02] [-5.40636226e-01 8.41254119e-01 -1.99456389e-03 -1.36395907e+02] [-3.77634743e-03 -5.59647307e-05 9.99992868e-01 -4.08683512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.746559995 meters 0.051747984784334046 Centerline is valid? [True, True] Translation: X:531.50, Y:-136.43, Z:-4.09 [[ 8.39513396e-01 5.43337033e-01 1.45821161e-03 5.31502230e+02] [-5.43336277e-01 8.39514662e-01 -9.06612297e-04 -1.36428344e+02] [-1.71678607e-03 -3.11861014e-05 9.99998526e-01 -4.08804892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8065599949999 meters 0.05188169772177448 Centerline is valid? [True, True] Translation: X:531.55, Y:-136.47, Z:-4.09 [[ 8.39391635e-01 5.43526287e-01 9.26368463e-04 5.31553032e+02] [-5.43525983e-01 8.39392146e-01 -5.75650588e-04 -1.36465003e+02] [-1.09046764e-03 -2.03090415e-05 9.99999405e-01 -4.08782135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.866559995 meters 0.051856738991630784 Centerline is valid? [True, True] Translation: X:531.60, Y:-136.50, Z:-4.09 [[ 8.39865884e-01 5.42791800e-01 1.53578724e-03 5.31604491e+02] [-5.42790960e-01 8.39867288e-01 -9.55711446e-04 -1.36500996e+02] [-1.80860980e-03 -3.09419926e-05 9.99998364e-01 -4.08846162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9265599949999 meters 0.05148063329343432 Centerline is valid? [True, True] Translation: X:531.66, Y:-136.53, Z:-4.09 [[ 8.40118819e-01 5.42397724e-01 2.25368971e-03 5.31655829e+02] [-5.42395913e-01 8.40121840e-01 -1.40239107e-03 -1.36534907e+02] [-2.65402767e-03 -4.42169566e-05 9.99996477e-01 -4.08880725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.986559995 meters 0.05155511071086033 Centerline is valid? [True, True] Translation: X:531.71, Y:-136.57, Z:-4.09 [[ 8.40272987e-01 5.42156842e-01 2.69550529e-03 5.31705122e+02] [-5.42154248e-01 8.40277309e-01 -1.67784281e-03 -1.36573060e+02] [-3.17462589e-03 -5.15336548e-05 9.99994960e-01 -4.08818830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0465599949999 meters 0.05136421905978229 Centerline is valid? [True, True] Translation: X:531.76, Y:-136.61, Z:-4.09 [[ 8.40111873e-01 5.42408440e-01 2.26389543e-03 5.31756982e+02] [-5.42406611e-01 8.40114922e-01 -1.40943190e-03 -1.36606184e+02] [-2.66642009e-03 -4.38713694e-05 9.99996444e-01 -4.08955454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.106559995 meters 0.050812642697532266 Centerline is valid? [True, True] Translation: X:531.81, Y:-136.64, Z:-4.09 [[ 8.39072917e-01 5.44013568e-01 2.42440401e-03 5.31806943e+02] [-5.44011475e-01 8.39076418e-01 -1.50973033e-03 -1.36644174e+02] [-2.85557402e-03 -5.21297694e-05 9.99995921e-01 -4.08977656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.166559995 meters 0.05183135779554984 Centerline is valid? [True, True] Translation: X:531.86, Y:-136.68, Z:-4.09 [[ 8.37366265e-01 5.46635240e-01 2.76629596e-03 5.31858201e+02] [-5.46632527e-01 8.37370832e-01 -1.72350492e-03 -1.36675937e+02] [-3.25854408e-03 -6.89424745e-05 9.99994689e-01 -4.09056100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.226559995 meters 0.051236069849292756 Centerline is valid? [True, True] Translation: X:531.91, Y:-136.71, Z:-4.09 [[ 8.36183990e-01 5.48441477e-01 2.87787861e-03 5.31907817e+02] [-5.48438550e-01 8.36188938e-01 -1.79333856e-03 -1.36714061e+02] [-3.38999151e-03 -7.87785861e-05 9.99994251e-01 -4.09012049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.286559995 meters 0.05093466299077815 Centerline is valid? [True, True] Translation: X:531.96, Y:-136.75, Z:-4.09 [[ 8.34634334e-01 5.50797959e-01 2.67137854e-03 5.31959461e+02] [-5.50795450e-01 8.34638605e-01 -1.66442987e-03 -1.36746351e+02] [-3.14640023e-03 -8.21928326e-05 9.99995047e-01 -4.09095403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.346559995 meters 0.050375784124329685 Centerline is valid? [True, True] Translation: X:532.01, Y:-136.78, Z:-4.09 [[ 8.33975281e-01 5.51796001e-01 2.53068754e-03 5.32011333e+02] [-5.51793754e-01 8.33979116e-01 -1.57701675e-03 -1.36780258e+02] [-2.98073209e-03 -8.12245872e-05 9.99995554e-01 -4.09141713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.406559995 meters 0.051569473426741466 Centerline is valid? [True, True] Translation: X:532.07, Y:-136.81, Z:-4.09 [[ 8.33734706e-01 5.52163062e-01 1.54717189e-03 5.32065435e+02] [-5.52162223e-01 8.33736140e-01 -9.64055405e-04 -1.36809348e+02] [-1.82224891e-03 -5.05234234e-05 9.99998338e-01 -4.09283426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.466559995 meters 0.05132542407732667 Centerline is valid? [True, True] Translation: X:532.12, Y:-136.85, Z:-4.09 [[ 8.33853022e-01 5.51983829e-01 1.72923577e-03 5.32115748e+02] [-5.51982779e-01 8.33854813e-01 -1.07780417e-03 -1.36845849e+02] [-2.03686204e-03 -5.57780982e-05 9.99997924e-01 -4.09205306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.526559995 meters 0.05050049536597558 Centerline is valid? [True, True] Translation: X:532.17, Y:-136.88, Z:-4.09 [[ 8.33744636e-01 5.52147127e-01 1.85261638e-03 5.32168106e+02] [-5.52145923e-01 8.33746692e-01 -1.15493389e-03 -1.36881718e+02] [-2.18230621e-03 -5.99946402e-05 9.99997617e-01 -4.09176600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5865599949999 meters 0.05041535998790882 Centerline is valid? [True, True] Translation: X:532.22, Y:-136.92, Z:-4.09 [[ 8.33065590e-01 5.53173412e-01 9.48284842e-04 5.32220956e+02] [-5.53173097e-01 8.33066129e-01 -5.91485166e-04 -1.36915026e+02] [-1.11717785e-03 -3.18197247e-05 9.99999375e-01 -4.09218615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.646559995 meters 0.051272114221195625 Centerline is valid? [True, True] Translation: X:532.28, Y:-136.94, Z:-4.09 [[ 8.33145550e-01 5.53053786e-01 4.34949696e-05 5.32276647e+02] [-5.53053786e-01 8.33145551e-01 -2.61300621e-05 -1.36942975e+02] [-5.06889704e-05 -2.28491264e-06 9.99999999e-01 -4.09445383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7065599949999 meters 0.05070899680829575 Centerline is valid? [True, True] Translation: X:532.33, Y:-136.98, Z:-4.09 [[ 8.32880080e-01 5.53453495e-01 3.18340779e-05 5.32328262e+02] [-5.53453495e-01 8.32880081e-01 -1.89356573e-05 -1.36978477e+02] [-3.69939753e-05 -1.84754989e-06 9.99999999e-01 -4.09367905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.766559995 meters 0.05153849320759161 Centerline is valid? [True, True] Translation: X:532.38, Y:-137.00, Z:-4.10 [[ 8.32442030e-01 5.54112096e-01 2.30032740e-04 5.32384592e+02] [-5.54112077e-01 8.32442061e-01 -1.42785158e-04 -1.37003698e+02] [-2.70607912e-04 -8.60355221e-06 9.99999963e-01 -4.09500673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8265599949999 meters 0.051308191433182736 Centerline is valid? [True, True] Translation: X:532.43, Y:-137.04, Z:-4.09 [[ 8.32639364e-01 5.53815491e-01 3.00770444e-04 5.32434974e+02] [-5.53815460e-01 8.32639419e-01 -1.86958423e-04 -1.37040918e+02] [-3.53973799e-04 -1.09023792e-05 9.99999937e-01 -4.09428154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.886559995 meters 0.05112345681622015 Centerline is valid? [True, True] Translation: X:532.49, Y:-137.08, Z:-4.09 [[ 8.32907937e-01 5.53410179e-01 1.24142005e-03 5.32486962e+02] [-5.53409639e-01 8.32908862e-01 -7.74675227e-04 -1.37075042e+02] [-1.46270292e-03 -4.17806778e-05 9.99998929e-01 -4.09404454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9465599949999 meters 0.050913470425488494 Centerline is valid? [True, True] Translation: X:532.54, Y:-137.11, Z:-4.09 [[ 8.32751663e-01 5.53645286e-01 1.25132593e-03 5.32540784e+02] [-5.53644736e-01 8.32752602e-01 -7.80942262e-04 -1.37107150e+02] [-1.47440993e-03 -4.24590469e-05 9.99998912e-01 -4.09423719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.006559995 meters 0.050725068487504126 Centerline is valid? [True, True] Translation: X:532.59, Y:-137.14, Z:-4.09 [[ 8.31810004e-01 5.55059776e-01 8.73194304e-04 5.32593918e+02] [-5.55059509e-01 8.31810462e-01 -5.45326876e-04 -1.37138266e+02] [-1.02902117e-03 -3.10664511e-05 9.99999470e-01 -4.09457120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0665599949999 meters 0.0508411984952756 Centerline is valid? [True, True] Translation: X:532.65, Y:-137.17, Z:-4.10 [[ 8.31109549e-01 5.56108156e-01 7.98299002e-04 5.32647326e+02] [-5.56107933e-01 8.31109931e-01 -4.98541960e-04 -1.37167481e+02] [-9.40717479e-04 -2.95974244e-05 9.99999557e-01 -4.09553568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.126559995 meters 0.05080698922425223 Centerline is valid? [True, True] Translation: X:532.70, Y:-137.20, Z:-4.10 [[ 8.30023342e-01 5.57728445e-01 4.83173614e-04 5.32700167e+02] [-5.57728364e-01 8.30023482e-01 -3.01814555e-04 -1.37198338e+02] [-5.69376009e-04 -1.89665037e-05 9.99999838e-01 -4.09595235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1865599949999 meters 0.052019705910932516 Centerline is valid? [True, True] Translation: X:532.75, Y:-137.22, Z:-4.10 [[ 8.29193393e-01 5.58961745e-01 -2.90518631e-04 5.32754895e+02] [-5.58961716e-01 8.29193444e-01 1.81738819e-04 -1.37224530e+02] [ 3.42481192e-04 1.16921649e-05 9.99999941e-01 -4.09841316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.246559995 meters 0.05086179585108424 Centerline is valid? [True, True] Translation: X:532.80, Y:-137.26, Z:-4.10 [[ 8.28854702e-01 5.59462955e-01 -1.04125523e-03 5.32804458e+02] [-5.59462577e-01 8.28855355e-01 6.52035802e-04 -1.37263269e+02] [ 1.22783985e-03 4.21003916e-05 9.99999245e-01 -4.09753911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3065599949999 meters 0.05198722630486566 Centerline is valid? [True, True] Translation: X:532.86, Y:-137.29, Z:-4.10 [[ 8.28933210e-01 5.59346336e-01 -1.18729469e-03 5.32860889e+02] [-5.59345844e-01 8.28934059e-01 7.43440322e-04 -1.37288932e+02] [ 1.40002963e-03 4.78459810e-05 9.99999019e-01 -4.09964425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.366559995 meters 0.0508010105145799 Centerline is valid? [True, True] Translation: X:532.91, Y:-137.33, Z:-4.10 [[ 8.30014574e-01 5.57741696e-01 8.79867346e-05 5.32910368e+02] [-5.57741693e-01 8.30014579e-01 -5.48767836e-05 -1.37326163e+02] [-1.03637343e-04 -3.52534013e-06 9.99999995e-01 -4.09769614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4265599949999 meters 0.051905612439071186 Centerline is valid? [True, True] Translation: X:532.96, Y:-137.36, Z:-4.10 [[ 8.32318070e-01 5.54295895e-01 1.64076509e-03 5.32963748e+02] [-5.54294948e-01 8.32319685e-01 -1.02577194e-03 -1.37355395e+02] [-1.93422225e-03 -5.56992823e-05 9.99998128e-01 -4.09798915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.486559995 meters 0.05135828964012181 Centerline is valid? [True, True] Translation: X:533.01, Y:-137.39, Z:-4.10 [[ 8.33602164e-01 5.52363224e-01 1.51697283e-03 5.33014044e+02] [-5.52362411e-01 8.33603543e-01 -9.48868876e-04 -1.37390158e+02] [-1.78867420e-03 -4.69396209e-05 9.99998399e-01 -4.09777071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5465599949999 meters 0.05193501128089943 Centerline is valid? [True, True] Translation: X:533.07, Y:-137.42, Z:-4.10 [[ 8.36002942e-01 5.48723905e-01 1.07544012e-03 5.33065974e+02] [-5.48723494e-01 8.36003633e-01 -6.72682797e-04 -1.37421269e+02] [-1.26818898e-03 -2.77544612e-05 9.99999195e-01 -4.09966215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.606559995 meters 0.0511864098764634 Centerline is valid? [True, True] Translation: X:533.11, Y:-137.46, Z:-4.10 [[ 8.37265401e-01 5.46796678e-01 2.04919056e-04 5.33114147e+02] [-5.46796663e-01 8.37265426e-01 -1.27998085e-04 -1.37460730e+02] [-2.41560568e-04 -4.88068798e-06 9.99999971e-01 -4.09850398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.666559995 meters 0.05147003220602746 Centerline is valid? [True, True] Translation: X:533.17, Y:-137.49, Z:-4.10 [[ 8.39084916e-01 5.44000191e-01 -5.44171737e-04 5.33166598e+02] [-5.44000084e-01 8.39085093e-01 3.40812830e-04 -1.37493472e+02] [ 6.42008637e-04 1.00585662e-05 9.99999794e-01 -4.09854915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.726559995 meters 0.05205741424945928 Centerline is valid? [True, True] Translation: X:533.22, Y:-137.53, Z:-4.10 [[ 8.40796279e-01 5.41349237e-01 -1.61863681e-03 5.33219899e+02] [-5.41348288e-01 8.40797837e-01 1.01401689e-03 -1.37526051e+02] [ 1.90988360e-03 2.36646405e-05 9.99998176e-01 -4.09903120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.786559995 meters 0.051959278247895764 Centerline is valid? [True, True] Translation: X:533.27, Y:-137.56, Z:-4.10 [[ 8.42312962e-01 5.38984473e-01 -2.14737439e-03 5.33272447e+02] [-5.38982795e-01 8.42315699e-01 1.34528067e-03 -1.37558984e+02] [ 2.53385256e-03 2.42505033e-05 9.99996789e-01 -4.09883931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.846559995 meters 0.05225267264594531 Centerline is valid? [True, True] Translation: X:533.33, Y:-137.59, Z:-4.10 [[ 8.43711633e-01 5.36792593e-01 -2.09561839e-03 5.33326365e+02] [-5.36790989e-01 8.43714236e-01 1.31236385e-03 -1.37591088e+02] [ 2.47257026e-03 1.76524242e-05 9.99996943e-01 -4.09799481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.906559995 meters 0.052732819592899174 Centerline is valid? [True, True] Translation: X:533.38, Y:-137.62, Z:-4.09 [[ 8.44760371e-01 5.35142271e-01 -1.63254760e-03 5.33377683e+02] [-5.35141292e-01 8.44761949e-01 1.02326681e-03 -1.37623691e+02] [ 1.92670742e-03 9.22838677e-06 9.99998144e-01 -4.09421016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.966559995 meters 0.052359912544037074 Centerline is valid? [True, True] Translation: X:533.43, Y:-137.65, Z:-4.10 [[ 8.46130992e-01 5.32974375e-01 -8.12263113e-04 5.33431825e+02] [-5.32974131e-01 8.46131382e-01 5.09765169e-04 -1.37652082e+02] [ 9.58973083e-04 1.58711806e-06 9.99999540e-01 -4.09877422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.026559995 meters 0.05259385867413059 Centerline is valid? [True, True] Translation: X:533.49, Y:-137.68, Z:-4.10 [[ 8.46417502e-01 5.32519851e-01 -1.45729726e-04 5.33485979e+02] [-5.32519843e-01 8.46417514e-01 9.23254539e-05 -1.37682636e+02] [ 1.72513329e-04 -5.41909218e-07 9.99999985e-01 -4.09641034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0865599949999 meters 0.05244265923752824 Centerline is valid? [True, True] Translation: X:533.54, Y:-137.71, Z:-4.10 [[ 8.45395196e-01 5.34140597e-01 -8.86231478e-04 5.33541596e+02] [-5.34140308e-01 8.45395660e-01 5.55891103e-04 -1.37708905e+02] [ 1.04614025e-03 3.42428719e-06 9.99999453e-01 -4.10053507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.146559995 meters 0.05309305902496031 Centerline is valid? [True, True] Translation: X:533.60, Y:-137.74, Z:-4.10 [[ 8.44165182e-01 5.36082380e-01 -9.09656106e-04 5.33596970e+02] [-5.36082076e-01 8.44165672e-01 5.71082588e-04 -1.37737882e+02] [ 1.07404777e-03 5.56229722e-06 9.99999423e-01 -4.10172338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2065599949999 meters 0.05291968899034705 Centerline is valid? [True, True] Translation: X:533.65, Y:-137.77, Z:-4.10 [[ 8.41739038e-01 5.39882855e-01 -1.37620413e-03 5.33651872e+02] [-5.39882165e-01 8.41740163e-01 8.63684362e-04 -1.37766517e+02] [ 1.62469467e-03 1.59912214e-05 9.99998680e-01 -4.10007401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.266559995 meters 0.052920178903005516 Centerline is valid? [True, True] Translation: X:533.71, Y:-137.80, Z:-4.10 [[ 8.40125093e-01 5.42391320e-01 -1.21821706e-03 5.33706489e+02] [-5.42390781e-01 8.40125976e-01 7.64894957e-04 -1.37796288e+02] [ 1.43832818e-03 1.81422545e-05 9.99998965e-01 -4.09984153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3265599949999 meters 0.053015443223371095 Centerline is valid? [True, True] Translation: X:533.76, Y:-137.82, Z:-4.10 [[ 8.37980515e-01 5.45698351e-01 -1.40183342e-03 5.33761183e+02] [-5.45697644e-01 8.37981688e-01 8.79302785e-04 -1.37824827e+02] [ 1.65454481e-03 2.81385922e-05 9.99998631e-01 -4.09977204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.386559995 meters 0.0532362892619113 Centerline is valid? [True, True] Translation: X:533.82, Y:-137.85, Z:-4.10 [[ 8.35794350e-01 5.49039077e-01 -1.97390072e-03 5.33817187e+02] [-5.49037683e-01 8.35796680e-01 1.23829847e-03 -1.37848435e+02] [ 2.32965391e-03 4.87830088e-05 9.99997285e-01 -4.10308188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4465599949999 meters 0.05395151106189705 Centerline is valid? [True, True] Translation: X:533.87, Y:-137.88, Z:-4.10 [[ 8.34783875e-01 5.50572311e-01 -2.45197699e-03 5.33871578e+02] [-5.50570163e-01 8.34787474e-01 1.53899982e-03 -1.37876422e+02] [ 2.89421036e-03 6.52531340e-05 9.99995810e-01 -4.10484394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.506559995 meters 0.05395711152795274 Centerline is valid? [True, True] Translation: X:533.92, Y:-137.91, Z:-4.10 [[ 8.34221861e-01 5.51424888e-01 -2.11627242e-03 5.33922884e+02] [-5.51423292e-01 8.34224543e-01 1.32800266e-03 -1.37911473e+02] [ 2.49774012e-03 5.91130557e-05 9.99996879e-01 -4.10212572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5665599949999 meters 0.053321790086750386 Centerline is valid? [True, True] Translation: X:533.98, Y:-137.94, Z:-4.10 [[ 8.34416313e-01 5.51134016e-01 -8.45044440e-04 5.33975075e+02] [-5.51133761e-01 8.34416740e-01 5.30547002e-04 -1.37944665e+02] [ 9.97521726e-04 2.30354470e-05 9.99999502e-01 -4.10014920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.626559995 meters 0.0525642286792144 Centerline is valid? [True, True] Translation: X:534.03, Y:-137.98, Z:-4.10 [[ 8.34972772e-01 5.50291220e-01 -2.09499240e-04 5.34027586e+02] [-5.50291204e-01 8.34972798e-01 1.32475714e-04 -1.37978252e+02] [ 2.47826389e-04 4.67197540e-06 9.99999969e-01 -4.09982197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6865599949999 meters 0.05372243652766592 Centerline is valid? [True, True] Translation: X:534.08, Y:-138.00, Z:-4.10 [[ 8.36773753e-01 5.47548753e-01 -2.21644020e-04 5.34082768e+02] [-5.47548735e-01 8.36773783e-01 1.39244059e-04 -1.38004781e+02] [ 2.61708816e-04 4.84512895e-06 9.99999966e-01 -4.10384608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.746559995 meters 0.053614635831848924 Centerline is valid? [True, True] Translation: X:534.13, Y:-138.04, Z:-4.10 [[ 8.37716013e-01 5.46105732e-01 -6.40732365e-04 5.34133943e+02] [-5.46105584e-01 8.37716258e-01 4.02483559e-04 -1.38040165e+02] [ 7.56550498e-04 1.27405992e-05 9.99999714e-01 -4.10404448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8065599949999 meters 0.05348197555883109 Centerline is valid? [True, True] Translation: X:534.18, Y:-138.08, Z:-4.10 [[ 8.41107656e-01 5.40865667e-01 -1.49719459e-03 5.34181661e+02] [-5.40864851e-01 8.41108988e-01 9.39950872e-04 -1.38079416e+02] [ 1.76769099e-03 1.91800558e-05 9.99998437e-01 -4.10266928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.866559995 meters 0.05332395309970375 Centerline is valid? [True, True] Translation: X:534.23, Y:-138.11, Z:-4.10 [[ 8.43533403e-01 5.37074859e-01 -1.41231365e-03 5.34232176e+02] [-5.37074125e-01 8.43534585e-01 8.87629927e-04 -1.38113517e+02] [ 1.66805913e-03 9.77162599e-06 9.99998609e-01 -4.10319961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9265599949999 meters 0.05335959847550081 Centerline is valid? [True, True] Translation: X:534.28, Y:-138.15, Z:-4.11 [[ 8.47268294e-01 5.31162916e-01 -1.54736804e-03 5.34281806e+02] [-5.31162026e-01 8.47269707e-01 9.72646069e-04 -1.38149819e+02] [ 1.82767159e-03 -2.18903187e-06 9.99998330e-01 -4.10549782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.986559995 meters 0.05364661259354463 Centerline is valid? [True, True] Translation: X:534.33, Y:-138.19, Z:-4.10 [[ 8.49771329e-01 5.27150454e-01 -1.04312640e-03 5.34332952e+02] [-5.27150046e-01 8.49771969e-01 6.55494704e-04 -1.38185074e+02] [ 1.23196391e-03 -7.13647503e-06 9.99999241e-01 -4.10369342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0465599949999 meters 0.05391130898650601 Centerline is valid? [True, True] Translation: X:534.39, Y:-138.22, Z:-4.10 [[ 8.52945291e-01 5.22000275e-01 -2.10856788e-04 5.34386427e+02] [-5.22000258e-01 8.52945317e-01 1.32735038e-04 -1.38216891e+02] [ 2.49137036e-04 -3.14842794e-06 9.99999969e-01 -4.10140270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.106559995 meters 0.054119341650216035 Centerline is valid? [True, True] Translation: X:534.43, Y:-138.26, Z:-4.11 [[ 8.54569704e-01 5.19336505e-01 4.63872480e-04 5.34433630e+02] [-5.19336424e-01 8.54569830e-01 -2.91082438e-04 -1.38256639e+02] [-5.47581162e-04 7.84435805e-06 9.99999850e-01 -4.10653975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.166559995 meters 0.053684296679265386 Centerline is valid? [True, True] Translation: X:534.49, Y:-138.29, Z:-4.11 [[ 8.54400862e-01 5.19613764e-01 8.39102815e-04 5.34487617e+02] [-5.19613497e-01 8.54401274e-01 -5.26735895e-04 -1.38288218e+02] [-9.90629735e-04 1.40344548e-05 9.99999509e-01 -4.10588719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.226559995 meters 0.053637089000871045 Centerline is valid? [True, True] Translation: X:534.54, Y:-138.32, Z:-4.11 [[ 8.53383045e-01 5.21284273e-01 2.91476239e-04 5.34539650e+02] [-5.21284241e-01 8.53383095e-01 -1.82151275e-04 -1.38320620e+02] [-3.43693490e-04 3.50284004e-06 9.99999941e-01 -4.10647982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.286559995 meters 0.053452905545011996 Centerline is valid? [True, True] Translation: X:534.59, Y:-138.35, Z:-4.11 [[ 8.51851456e-01 5.23782170e-01 1.15555863e-03 5.34592938e+02] [-5.23781668e-01 8.51852239e-01 -7.25747244e-04 -1.38353624e+02] [-1.36449867e-03 1.29684210e-05 9.99999069e-01 -4.10721700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.346559995 meters 0.05354635355644371 Centerline is valid? [True, True] Translation: X:534.65, Y:-138.39, Z:-4.11 [[ 8.51207779e-01 5.24826994e-01 1.39377143e-03 5.34645806e+02] [-5.24826265e-01 8.51208920e-01 -8.75081439e-04 -1.38386115e+02] [-1.64565704e-03 1.33882753e-05 9.99998646e-01 -4.10764263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.406559995 meters 0.052811171531050714 Centerline is valid? [True, True] Translation: X:534.70, Y:-138.42, Z:-4.11 [[ 8.50881611e-01 5.25355035e-01 1.60335597e-03 5.34697629e+02] [-5.25354070e-01 8.50883122e-01 -1.00714876e-03 -1.38418945e+02] [-1.89337921e-03 1.46347778e-05 9.99998207e-01 -4.10845416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.466559995 meters 0.0528396709189541 Centerline is valid? [True, True] Translation: X:534.75, Y:-138.45, Z:-4.11 [[ 8.50792048e-01 5.25498600e-01 2.02792120e-03 5.34752776e+02] [-5.25497055e-01 8.50794465e-01 -1.27431446e-03 -1.38450405e+02] [-2.39499460e-03 1.85099907e-05 9.99997132e-01 -4.10752073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.526559995 meters 0.0527495116930939 Centerline is valid? [True, True] Translation: X:534.81, Y:-138.48, Z:-4.11 [[ 8.50334045e-01 5.26238004e-01 2.36124116e-03 5.34805038e+02] [-5.26235911e-01 8.50337323e-01 -1.48451200e-03 -1.38482690e+02] [-2.78905812e-03 1.97611990e-05 9.99996110e-01 -4.10849926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5865599949999 meters 0.05244904466225394 Centerline is valid? [True, True] Translation: X:534.86, Y:-138.51, Z:-4.11 [[ 8.48811769e-01 5.28691420e-01 1.99060857e-03 5.34858850e+02] [-5.28689938e-01 8.48814103e-01 -1.25182852e-03 -1.38514174e+02] [-2.35148763e-03 1.01520585e-05 9.99997235e-01 -4.11127930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.646559995 meters 0.052363570318158865 Centerline is valid? [True, True] Translation: X:534.91, Y:-138.55, Z:-4.11 [[ 8.47585003e-01 5.30658440e-01 1.13210625e-03 5.34913155e+02] [-5.30657963e-01 8.47585759e-01 -7.11672607e-04 -1.38545082e+02] [-1.33721221e-03 2.44183218e-06 9.99999106e-01 -4.11288290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7065599949999 meters 0.05381226983186936 Centerline is valid? [True, True] Translation: X:534.97, Y:-138.58, Z:-4.11 [[ 8.45529363e-01 5.33928907e-01 -1.36339206e-04 5.34967431e+02] [-5.33928900e-01 8.45529374e-01 8.68235059e-05 -1.38575590e+02] [ 1.61636383e-04 -6.16381453e-07 9.99999987e-01 -4.10955599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.766559995 meters 0.0533580436728325 Centerline is valid? [True, True] Translation: X:535.02, Y:-138.61, Z:-4.11 [[ 8.43379080e-01 5.37317750e-01 -1.16737975e-03 5.35021175e+02] [-5.37317247e-01 8.43379888e-01 7.35172273e-04 -1.38606476e+02] [ 1.37956571e-03 7.22435913e-06 9.99999048e-01 -4.11140239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8265599949999 meters 0.05344041274386497 Centerline is valid? [True, True] Translation: X:535.07, Y:-138.64, Z:-4.11 [[ 8.41631253e-01 5.40052065e-01 -7.75043020e-04 5.35074899e+02] [-5.40051845e-01 8.41631610e-01 4.88268607e-04 -1.38637530e+02] [ 9.15991174e-04 7.62129330e-06 9.99999580e-01 -4.11193635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.886559995 meters 0.053000129151466 Centerline is valid? [True, True] Translation: X:535.13, Y:-138.67, Z:-4.11 [[ 8.38302764e-01 5.45204900e-01 -3.06364857e-04 5.35126741e+02] [-5.45204865e-01 8.38302820e-01 1.93288188e-04 -1.38668783e+02] [ 3.62208190e-04 4.99758877e-06 9.99999934e-01 -4.11045075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9465599949999 meters 0.05382939462236977 Centerline is valid? [True, True] Translation: X:535.18, Y:-138.69, Z:-4.11 [[ 8.34554977e-01 5.50924449e-01 -4.90538540e-04 5.35182269e+02] [-5.50924363e-01 8.34555122e-01 3.08967431e-04 -1.38694141e+02] [ 5.79599162e-04 1.23993248e-05 9.99999832e-01 -4.11276750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.006559995 meters 0.05298302181337999 Centerline is valid? [True, True] Translation: X:535.23, Y:-138.73, Z:-4.11 [[ 8.32053926e-01 5.54694718e-01 -1.85039564e-04 5.35233152e+02] [-5.54694706e-01 8.32053946e-01 1.16697934e-04 -1.38727779e+02] [ 2.18694627e-04 5.54149259e-06 9.99999976e-01 -4.11219119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0665599949999 meters 0.05250367817125975 Centerline is valid? [True, True] Translation: X:535.28, Y:-138.76, Z:-4.11 [[ 8.28273156e-01 5.60324516e-01 -1.26553747e-04 5.35284385e+02] [-5.60324511e-01 8.28273165e-01 7.98519588e-05 -1.38761846e+02] [ 1.49564083e-04 4.77193252e-06 9.99999989e-01 -4.11138150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.126559995 meters 0.05438644786009464 Centerline is valid? [True, True] Translation: X:535.34, Y:-138.78, Z:-4.11 [[ 8.25836415e-01 5.63909679e-01 2.99908943e-04 5.35342500e+02] [-5.63909647e-01 8.25836469e-01 -1.88575903e-04 -1.38783322e+02] [-3.54015520e-04 -1.33886988e-05 9.99999937e-01 -4.11382423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1865599949999 meters 0.05309840281083759 Centerline is valid? [True, True] Translation: X:535.39, Y:-138.82, Z:-4.11 [[ 8.25080740e-01 5.65014826e-01 1.35433066e-04 5.35390720e+02] [-5.65014820e-01 8.25080751e-01 -8.50179504e-05 -1.38823545e+02] [-1.59779619e-04 -6.37501601e-06 9.99999987e-01 -4.11337727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.246559995 meters 0.052317451074438845 Centerline is valid? [True, True] Translation: X:535.44, Y:-138.86, Z:-4.11 [[ 8.24992389e-01 5.65142635e-01 -1.16642882e-03 5.35440241e+02] [-5.65142159e-01 8.24993212e-01 7.35703143e-04 -1.38861004e+02] [ 1.37807307e-03 5.22486102e-05 9.99999049e-01 -4.11423963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3065599949999 meters 0.052238757886545265 Centerline is valid? [True, True] Translation: X:535.49, Y:-138.90, Z:-4.11 [[ 8.26386317e-01 5.63098904e-01 -2.29746911e-03 5.35488783e+02] [-5.63097052e-01 8.26389505e-01 1.44774952e-03 -1.38898821e+02] [ 2.71383053e-03 9.72976901e-05 9.99996313e-01 -4.11383788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.366559995 meters 0.052542681225037795 Centerline is valid? [True, True] Translation: X:535.54, Y:-138.93, Z:-4.11 [[ 8.27232089e-01 5.61857207e-01 -1.88403236e-03 5.35539749e+02] [-5.61855958e-01 8.27234231e-01 1.18715977e-03 -1.38934273e+02] [ 2.22555033e-03 7.64981476e-05 9.99997521e-01 -4.11390285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4265599949999 meters 0.05289709207168696 Centerline is valid? [True, True] Translation: X:535.59, Y:-138.97, Z:-4.11 [[ 8.28373922e-01 5.60174366e-01 -1.15127375e-03 5.35591709e+02] [-5.60173897e-01 8.28374721e-01 7.25787583e-04 -1.38966150e+02] [ 1.36025367e-03 4.36899991e-05 9.99999074e-01 -4.11489939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.486559995 meters 0.05328009036606784 Centerline is valid? [True, True] Translation: X:535.64, Y:-139.00, Z:-4.12 [[ 8.29677715e-01 5.58242675e-01 6.23332823e-05 5.35643566e+02] [-5.58242674e-01 8.29677718e-01 -3.91887131e-05 -1.38997449e+02] [-7.35933476e-05 -2.28309620e-06 9.99999997e-01 -4.11595263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5465599949999 meters 0.05299584773352667 Centerline is valid? [True, True] Translation: X:535.69, Y:-139.03, Z:-4.12 [[ 8.31322724e-01 5.55789619e-01 6.54389885e-04 5.35692210e+02] [-5.55789467e-01 8.31322981e-01 -4.12221233e-04 -1.39034536e+02] [-7.73117632e-04 -2.10141271e-05 9.99999701e-01 -4.11636272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.606559995 meters 0.05286154390645783 Centerline is valid? [True, True] Translation: X:535.74, Y:-139.07, Z:-4.12 [[ 8.32420165e-01 5.54144816e-01 4.37273039e-04 5.35740877e+02] [-5.54144748e-01 8.32420280e-01 -2.75401504e-04 -1.39072253e+02] [-5.16607262e-04 -1.30627920e-05 9.99999866e-01 -4.11604641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.666559995 meters 0.05272288305739296 Centerline is valid? [True, True] Translation: X:535.79, Y:-139.10, Z:-4.12 [[ 8.32748122e-01 5.53652016e-01 1.01341314e-04 5.35793586e+02] [-5.53652013e-01 8.32748128e-01 -6.33332184e-05 -1.39103789e+02] [-1.19456354e-04 -3.36720379e-06 9.99999993e-01 -4.11774806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.726559995 meters 0.052187192544165664 Centerline is valid? [True, True] Translation: X:535.84, Y:-139.15, Z:-4.12 [[ 8.32973584e-01 5.53312728e-01 -1.83780851e-04 5.35839812e+02] [-5.53312715e-01 8.32973604e-01 1.16849007e-04 -1.39147726e+02] [ 2.17738640e-04 4.35614589e-06 9.99999976e-01 -4.11597314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.786559995 meters 0.051965214707038125 Centerline is valid? [True, True] Translation: X:535.89, Y:-139.18, Z:-4.12 [[ 8.32661573e-01 5.53782182e-01 -2.26923867e-05 5.35892076e+02] [-5.53782182e-01 8.32661573e-01 1.53036209e-05 -1.39181972e+02] [ 2.73699508e-05 -1.76097655e-07 1.00000000e+00 -4.11688765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.846559995 meters 0.05392755752267378 Centerline is valid? [True, True] Translation: X:535.95, Y:-139.21, Z:-4.12 [[ 8.32678913e-01 5.53756049e-01 2.55692393e-04 5.35949010e+02] [-5.53756026e-01 8.32678952e-01 -1.60336212e-04 -1.39206556e+02] [-3.01696822e-04 -8.08262078e-06 9.99999954e-01 -4.12122182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.906559995 meters 0.05198378968496436 Centerline is valid? [True, True] Translation: X:536.00, Y:-139.25, Z:-4.12 [[ 8.32864222e-01 5.53477359e-01 -9.43274483e-07 5.35995271e+02] [-5.53477359e-01 8.32864222e-01 1.57305496e-06 -1.39249871e+02] [ 1.65626968e-06 -7.88060126e-07 1.00000000e+00 -4.11919840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.966559995 meters 0.052239589193331014 Centerline is valid? [True, True] Translation: X:536.05, Y:-139.28, Z:-4.12 [[ 8.32796580e-01 5.53579114e-01 -1.42844229e-04 5.36049681e+02] [-5.53579106e-01 8.32796593e-01 9.11751665e-05 -1.39280474e+02] [ 1.69432855e-04 3.14521380e-06 9.99999986e-01 -4.12117765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.026559995 meters 0.05232593302806121 Centerline is valid? [True, True] Translation: X:536.10, Y:-139.32, Z:-4.12 [[ 8.32552503e-01 5.53946133e-01 1.12109000e-04 5.36099838e+02] [-5.53946128e-01 8.32552510e-01 -7.02274718e-05 -1.39316504e+02] [-1.32238866e-04 -3.63428914e-06 9.99999991e-01 -4.12100041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0865599949999 meters 0.052542061701218244 Centerline is valid? [True, True] Translation: X:536.15, Y:-139.34, Z:-4.12 [[ 8.31977048e-01 5.54809374e-01 8.65726036e-04 5.36154360e+02] [-5.54809106e-01 8.31977498e-01 -5.45588852e-04 -1.39344811e+02] [-1.02296239e-03 -2.63952858e-05 9.99999476e-01 -4.12305132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.146559995 meters 0.05198713839285732 Centerline is valid? [True, True] Translation: X:536.20, Y:-139.38, Z:-4.12 [[ 8.31685385e-01 5.55246320e-01 9.71315458e-04 5.36204862e+02] [-5.55245984e-01 8.31685952e-01 -6.12336664e-04 -1.39381187e+02] [-1.14782710e-03 -3.00475525e-05 9.99999341e-01 -4.12378969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2065599949999 meters 0.051723966127033366 Centerline is valid? [True, True] Translation: X:536.25, Y:-139.42, Z:-4.12 [[ 8.31779205e-01 5.55106159e-01 7.11769608e-04 5.36254451e+02] [-5.55105978e-01 8.31779509e-01 -4.49081719e-04 -1.39419940e+02] [-8.41323403e-04 -2.15707293e-05 9.99999646e-01 -4.12401460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.266559995 meters 0.0513421893381987 Centerline is valid? [True, True] Translation: X:536.30, Y:-139.46, Z:-4.12 [[ 8.31669104e-01 5.55271548e-01 1.01386564e-04 5.36304914e+02] [-5.55271544e-01 8.31669110e-01 -6.30496073e-05 -1.39456464e+02] [-1.19329727e-04 -3.86066349e-06 9.99999993e-01 -4.12436571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3265599949999 meters 0.051808921622677404 Centerline is valid? [True, True] Translation: X:536.36, Y:-139.49, Z:-4.13 [[ 8.31357713e-01 5.55737655e-01 -1.05848973e-04 5.36357201e+02] [-5.55737651e-01 8.31357720e-01 6.77654905e-05 -1.39488539e+02] [ 1.25658195e-04 2.48689627e-06 9.99999992e-01 -4.12557016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.386559995 meters 0.0512268657905417 Centerline is valid? [True, True] Translation: X:536.41, Y:-139.53, Z:-4.13 [[ 8.30621036e-01 5.56837803e-01 5.96542351e-04 5.36406962e+02] [-5.56837677e-01 8.30621250e-01 -3.75960847e-04 -1.39526832e+02] [-7.04849966e-04 -1.98962683e-05 9.99999751e-01 -4.12537080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4465599949999 meters 0.05075764029713873 Centerline is valid? [True, True] Translation: X:536.46, Y:-139.56, Z:-4.13 [[ 8.29823434e-01 5.58025000e-01 1.08058120e-03 5.36457854e+02] [-5.58024584e-01 8.29824137e-01 -6.82399694e-04 -1.39559936e+02] [-1.27748845e-03 -3.67196151e-05 9.99999183e-01 -4.12677512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.506559995 meters 0.05062242114217569 Centerline is valid? [True, True] Translation: X:536.51, Y:-139.60, Z:-4.13 [[ 8.29702574e-01 5.58205076e-01 8.55587598e-04 5.36510479e+02] [-5.58204816e-01 8.29703015e-01 -5.39751243e-04 -1.39595177e+02] [-1.01117549e-03 -2.97601219e-05 9.99999488e-01 -4.12765535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5665599949999 meters 0.05134297842684155 Centerline is valid? [True, True] Translation: X:536.56, Y:-139.63, Z:-4.13 [[ 8.30321662e-01 5.57284422e-01 -1.01399651e-04 5.36561358e+02] [-5.57284419e-01 8.30321668e-01 6.44521964e-05 -1.39631784e+02] [ 1.20112532e-04 2.99239061e-06 9.99999993e-01 -4.12830425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.626559995 meters 0.0508591728192727 Centerline is valid? [True, True] Translation: X:536.61, Y:-139.67, Z:-4.13 [[ 8.31341840e-01 5.55760834e-01 -8.00732174e-04 5.36612938e+02] [-5.55760604e-01 8.31342225e-01 5.06458029e-04 -1.39665641e+02] [ 9.47152003e-04 2.39756474e-05 9.99999551e-01 -4.12852220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6865599949999 meters 0.05104269458779037 Centerline is valid? [True, True] Translation: X:536.66, Y:-139.70, Z:-4.13 [[ 8.32193526e-01 5.54485240e-01 -2.32958777e-04 5.36663839e+02] [-5.54485220e-01 8.32193559e-01 1.47504320e-04 -1.39700469e+02] [ 2.75655762e-04 6.42005810e-06 9.99999962e-01 -4.12796463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.746559995 meters 0.05116066509814989 Centerline is valid? [True, True] Translation: X:536.72, Y:-139.73, Z:-4.13 [[ 8.32973311e-01 5.53312480e-01 8.73286494e-04 5.36716526e+02] [-5.53312206e-01 8.32973768e-01 -5.51652061e-04 -1.39730357e+02] [-1.03266071e-03 -2.36886324e-05 9.99999467e-01 -4.12886209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8065599949999 meters 0.05187699627978049 Centerline is valid? [True, True] Translation: X:536.77, Y:-139.76, Z:-4.13 [[ 8.33328999e-01 5.52775684e-01 1.35040338e-03 5.36770818e+02] [-5.52775026e-01 8.33330092e-01 -8.53244749e-04 -1.39758932e+02] [-1.59698472e-03 -3.54356693e-05 9.99998724e-01 -4.13003655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.866559995 meters 0.05191549232018889 Centerline is valid? [True, True] Translation: X:536.82, Y:-139.79, Z:-4.13 [[ 8.33781476e-01 5.52094278e-01 5.99428025e-04 5.36823425e+02] [-5.52094148e-01 8.33781691e-01 -3.78700100e-04 -1.39793027e+02] [-7.08870270e-04 -1.51875765e-05 9.99999749e-01 -4.13073911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9265599949999 meters 0.05242511413627083 Centerline is valid? [True, True] Translation: X:536.88, Y:-139.82, Z:-4.13 [[ 8.33631439e-01 5.52321124e-01 -4.55490718e-06 5.36877872e+02] [-5.52321124e-01 8.33631439e-01 3.78798215e-06 -1.39823779e+02] [ 5.88929619e-06 -6.42009558e-07 1.00000000e+00 -4.13225177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.986559995 meters 0.051664674119658464 Centerline is valid? [True, True] Translation: X:536.92, Y:-139.86, Z:-4.13 [[ 8.32932122e-01 5.53375060e-01 3.51089265e-04 5.36924974e+02] [-5.53375016e-01 8.32932196e-01 -2.21190413e-04 -1.39864936e+02] [-4.14834811e-04 -1.00474278e-05 9.99999914e-01 -4.12890015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0465599949999 meters 0.051848852842772526 Centerline is valid? [True, True] Translation: X:536.98, Y:-139.89, Z:-4.13 [[ 8.31698759e-01 5.55227092e-01 -2.25022073e-04 5.36980945e+02] [-5.55227074e-01 8.31698789e-01 1.42930490e-04 -1.39890201e+02] [ 2.66509465e-04 6.06323610e-06 9.99999964e-01 -4.13069463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.106559995 meters 0.05301876135860224 Centerline is valid? [True, True] Translation: X:537.04, Y:-139.92, Z:-4.13 [[ 8.31290875e-01 5.55837283e-01 -6.29370280e-04 5.37035894e+02] [-5.55837140e-01 8.31291113e-01 3.99329298e-04 -1.39917603e+02] [ 7.45152033e-04 1.78685746e-05 9.99999722e-01 -4.13228243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.166559995 meters 0.05228855149568447 Centerline is valid? [True, True] Translation: X:537.09, Y:-139.95, Z:-4.13 [[ 8.31662445e-01 5.55281529e-01 1.28946514e-05 5.37087963e+02] [-5.55281529e-01 8.31662446e-01 -7.23801311e-06 -1.39951736e+02] [-1.47431325e-05 -1.14057805e-06 1.00000000e+00 -4.13196978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.226559995 meters 0.05171269504473105 Centerline is valid? [True, True] Translation: X:537.14, Y:-139.99, Z:-4.13 [[ 8.33288960e-01 5.52836792e-01 9.94820630e-04 5.37137210e+02] [-5.52836434e-01 8.33289554e-01 -6.29691373e-04 -1.39989541e+02] [-1.17709020e-03 -2.52582200e-05 9.99999307e-01 -4.13027570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.286559995 meters 0.05211472815933264 Centerline is valid? [True, True] Translation: X:537.19, Y:-140.02, Z:-4.13 [[ 8.34700405e-01 5.50701948e-01 1.61218294e-03 5.37190615e+02] [-5.50701003e-01 8.34701961e-01 -1.02086072e-03 -1.40019078e+02] [-1.90788225e-03 -3.57179065e-05 9.99998179e-01 -4.13153613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.346559995 meters 0.05203758378500158 Centerline is valid? [True, True] Translation: X:537.24, Y:-140.05, Z:-4.13 [[ 8.37246041e-01 5.46823395e-01 1.80045627e-03 5.37240787e+02] [-5.46822208e-01 8.37247976e-01 -1.14002783e-03 -1.40054100e+02] [-2.13082225e-03 -3.00456842e-05 9.99997729e-01 -4.13114614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.406559995 meters 0.051761436690651794 Centerline is valid? [True, True] Translation: X:537.29, Y:-140.09, Z:-4.13 [[ 8.40944882e-01 5.41117692e-01 1.83015627e-03 5.37292016e+02] [-5.41116451e-01 8.40946873e-01 -1.15902525e-03 -1.40087422e+02] [-2.16623327e-03 -1.56513106e-05 9.99997654e-01 -4.13202263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.466559995 meters 0.05230923986272492 Centerline is valid? [True, True] Translation: X:537.34, Y:-140.12, Z:-4.13 [[ 8.44596519e-01 5.35400379e-01 1.77597299e-03 5.37342765e+02] [-5.35399197e-01 8.44598386e-01 -1.12475969e-03 -1.40122404e+02] [-2.10218069e-03 -8.86391059e-07 9.99997790e-01 -4.13312521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.526559995 meters 0.052522427350262066 Centerline is valid? [True, True] Translation: X:537.40, Y:-140.16, Z:-4.13 [[ 8.45596677e-01 5.33819110e-01 1.84886411e-03 5.37395395e+02] [-5.33817827e-01 8.45598698e-01 -1.17048962e-03 -1.40156676e+02] [-2.18822681e-03 2.80550758e-06 9.99997606e-01 -4.13237841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5865599949999 meters 0.05235560306881719 Centerline is valid? [True, True] Translation: X:537.45, Y:-140.19, Z:-4.13 [[ 8.47253648e-01 5.31186003e-01 1.63925285e-03 5.37447543e+02] [-5.31184987e-01 8.47255233e-01 -1.03854022e-03 -1.40190559e+02] [-1.94052358e-03 9.16048927e-06 9.99998117e-01 -4.13292617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.646559995 meters 0.05309920494304663 Centerline is valid? [True, True] Translation: X:537.50, Y:-140.22, Z:-4.13 [[ 8.47966811e-01 5.30046473e-01 1.73860624e-03 5.37500926e+02] [-5.30045330e-01 8.47968594e-01 -1.10112043e-03 -1.40223094e+02] [-2.05792849e-03 1.21734564e-05 9.99997882e-01 -4.13333539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7065599949999 meters 0.05223797272515246 Centerline is valid? [True, True] Translation: X:537.55, Y:-140.25, Z:-4.13 [[ 8.45969456e-01 5.33227621e-01 1.99582046e-03 5.37553613e+02] [-5.33226122e-01 8.45971810e-01 -1.26456851e-03 -1.40254778e+02] [-2.36271070e-03 5.56272968e-06 9.99997209e-01 -4.13360122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.766559995 meters 0.052295302931797766 Centerline is valid? [True, True] Translation: X:537.61, Y:-140.28, Z:-4.14 [[ 8.42799649e-01 5.38226574e-01 9.52637775e-04 5.37607555e+02] [-5.38226236e-01 8.42800187e-01 -6.03268433e-04 -1.40284302e+02] [-1.12757840e-03 -4.30022073e-06 9.99999364e-01 -4.13590235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8265599949999 meters 0.05250868954613959 Centerline is valid? [True, True] Translation: X:537.66, Y:-140.31, Z:-4.14 [[ 8.40243533e-01 5.42209085e-01 3.35887645e-04 5.37661661e+02] [-5.42209044e-01 8.40243600e-01 -2.12206584e-04 -1.40313245e+02] [-3.97287782e-04 -3.81610896e-06 9.99999921e-01 -4.13753549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.886559995 meters 0.05165215857999828 Centerline is valid? [True, True] Translation: X:537.71, Y:-140.34, Z:-4.14 [[ 8.36482528e-01 5.47993593e-01 4.11769757e-05 5.37714657e+02] [-5.47993593e-01 8.36482529e-01 -2.59263933e-05 -1.40344717e+02] [-4.86513184e-05 -8.77743865e-07 9.99999999e-01 -4.13645165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9465599949999 meters 0.05221361828722249 Centerline is valid? [True, True] Translation: X:537.77, Y:-140.38, Z:-4.14 [[ 8.33428535e-01 5.52627035e-01 4.88372525e-04 5.37767368e+02] [-5.52626948e-01 8.33428678e-01 -3.09651869e-04 -1.40376558e+02] [-5.78145662e-04 -1.18151141e-05 9.99999833e-01 -4.13634472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.006559995 meters 0.052109305410110364 Centerline is valid? [True, True] Translation: X:537.82, Y:-140.40, Z:-4.14 [[ 8.30863269e-01 5.56473327e-01 1.91425342e-03 5.37821523e+02] [-5.56472006e-01 8.30865473e-01 -1.21395042e-03 -1.40404642e+02] [-2.26601810e-03 -5.66016251e-05 9.99997431e-01 -4.13668499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0665599949999 meters 0.05190948142659765 Centerline is valid? [True, True] Translation: X:537.87, Y:-140.44, Z:-4.14 [[ 8.29009596e-01 5.59231708e-01 1.72829142e-03 5.37872664e+02] [-5.59230636e-01 8.29011395e-01 -1.09658963e-03 -1.40439063e+02] [-2.04602098e-03 -5.74301829e-05 9.99997905e-01 -4.13682223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.126559995 meters 0.05254649037034774 Centerline is valid? [True, True] Translation: X:537.93, Y:-140.47, Z:-4.14 [[ 8.28169868e-01 5.60476160e-01 1.06935708e-03 5.37925384e+02] [-5.60475751e-01 8.28170558e-01 -6.77887655e-04 -1.40469839e+02] [-1.26554992e-03 -3.79425841e-05 9.99999198e-01 -4.13795158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1865599949999 meters 0.05141362663881307 Centerline is valid? [True, True] Translation: X:537.97, Y:-140.51, Z:-4.14 [[ 8.27495539e-01 5.61472236e-01 -2.46943167e-04 5.37974074e+02] [-5.61472214e-01 8.27495576e-01 1.57037885e-04 -1.40509635e+02] [ 2.92516790e-04 8.70357772e-06 9.99999957e-01 -4.13752599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.246559995 meters 0.051787560439493084 Centerline is valid? [True, True] Translation: X:538.03, Y:-140.54, Z:-4.14 [[ 8.27625873e-01 5.61277693e-01 -1.66293204e-03 5.38027263e+02] [-5.61276701e-01 8.27627542e-01 1.05693714e-03 -1.40541583e+02] [ 1.96952359e-03 5.86164856e-05 9.99998059e-01 -4.13932829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3065599949999 meters 0.05186746916333359 Centerline is valid? [True, True] Translation: X:538.08, Y:-140.58, Z:-4.14 [[ 8.28362780e-01 5.60188583e-01 -1.96368881e-03 5.38078344e+02] [-5.60187196e-01 8.28365105e-01 1.24813215e-03 -1.40577430e+02] [ 2.32584067e-03 6.61271052e-05 9.99997293e-01 -4.13972454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.366559995 meters 0.05257190927386713 Centerline is valid? [True, True] Translation: X:538.13, Y:-140.61, Z:-4.14 [[ 8.29828616e-01 5.58016989e-01 -1.22776587e-03 5.38127654e+02] [-5.58016445e-01 8.29829524e-01 7.80258499e-04 -1.40613655e+02] [ 1.45423387e-03 3.76327177e-05 9.99998942e-01 -4.13893741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4265599949999 meters 0.051961150236292566 Centerline is valid? [True, True] Translation: X:538.18, Y:-140.65, Z:-4.14 [[ 8.31075426e-01 5.56159148e-01 -7.99204143e-04 5.38178301e+02] [-5.56158917e-01 8.31075810e-01 5.07975102e-04 -1.40648841e+02] [ 9.46714230e-04 2.23188869e-05 9.99999552e-01 -4.13851751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.486559995 meters 0.05198311892226256 Centerline is valid? [True, True] Translation: X:538.23, Y:-140.69, Z:-4.14 [[ 8.32869338e-01 5.53469649e-01 1.15071155e-04 5.38227383e+02] [-5.53469644e-01 8.32869346e-01 -7.27588476e-05 -1.40686117e+02] [-1.36109051e-04 -3.08977764e-06 9.99999991e-01 -4.13778272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5465599949999 meters 0.05230344760190697 Centerline is valid? [True, True] Translation: X:538.28, Y:-140.72, Z:-4.14 [[ 8.34228172e-01 5.51418625e-01 9.26136779e-04 5.38278571e+02] [-5.51418311e-01 8.34228686e-01 -5.88188250e-04 -1.40718816e+02] [-1.09694782e-03 -2.00055704e-05 9.99999398e-01 -4.13856312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.606559995 meters 0.05294210103929642 Centerline is valid? [True, True] Translation: X:538.33, Y:-140.75, Z:-4.14 [[ 8.35456870e-01 5.49555702e-01 5.90388681e-04 5.38331390e+02] [-5.49555575e-01 8.35457078e-01 -3.74211768e-04 -1.40750522e+02] [-6.98894614e-04 -1.18135986e-05 9.99999756e-01 -4.14019613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.666559995 meters 0.051881794898195 Centerline is valid? [True, True] Translation: X:538.38, Y:-140.79, Z:-4.14 [[ 8.37369476e-01 5.46636975e-01 -6.15168052e-04 5.38380170e+02] [-5.46636834e-01 8.37369702e-01 3.91996995e-04 -1.40788962e+02] [ 7.29403139e-04 8.02719836e-06 9.99999734e-01 -4.13938902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.726559995 meters 0.052236704504068324 Centerline is valid? [True, True] Translation: X:538.43, Y:-140.82, Z:-4.14 [[ 8.39584764e-01 5.43227644e-01 -1.07292194e-03 5.38431733e+02] [-5.43227216e-01 8.39585449e-01 6.82391510e-04 -1.40823751e+02] [ 1.27150358e-03 9.91488216e-06 9.99999192e-01 -4.13922103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.786559995 meters 0.05241877170872745 Centerline is valid? [True, True] Translation: X:538.48, Y:-140.86, Z:-4.14 [[ 8.42103483e-01 5.39315936e-01 2.10142307e-04 5.38483397e+02] [-5.39315920e-01 8.42103510e-01 -1.32625346e-04 -1.40857573e+02] [-2.48488537e-04 -1.64882590e-06 9.99999969e-01 -4.13857602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.846559995 meters 0.05314252630431989 Centerline is valid? [True, True] Translation: X:538.53, Y:-140.89, Z:-4.14 [[ 8.44296298e-01 5.35876095e-01 7.56890066e-04 5.38534842e+02] [-5.35875880e-01 8.44296637e-01 -4.80410792e-04 -1.40891545e+02] [-8.96480397e-04 9.92313816e-09 9.99999598e-01 -4.13612911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.906559995 meters 0.05281470805194778 Centerline is valid? [True, True] Translation: X:538.59, Y:-140.92, Z:-4.14 [[ 8.45304515e-01 5.34284534e-01 5.60640055e-04 5.38587051e+02] [-5.34284415e-01 8.45304701e-01 -3.56221375e-04 -1.40924599e+02] [-6.64235245e-04 1.57429196e-06 9.99999779e-01 -4.13695992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.966559995 meters 0.05261265492381166 Centerline is valid? [True, True] Translation: X:538.64, Y:-140.96, Z:-4.14 [[ 8.45581647e-01 5.33846117e-01 -2.96976472e-05 5.38638381e+02] [-5.33846117e-01 8.45581648e-01 1.97282685e-05 -1.40956835e+02] [ 3.56436448e-05 -8.27888178e-07 9.99999999e-01 -4.13939207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.026559995 meters 0.05307056766098788 Centerline is valid? [True, True] Translation: X:538.69, Y:-140.99, Z:-4.14 [[ 8.43849304e-01 5.36580229e-01 -9.61729144e-05 5.38692923e+02] [-5.36580226e-01 8.43849310e-01 6.22226222e-05 -1.40986264e+02] [ 1.14542876e-04 -9.02032292e-07 9.99999993e-01 -4.13961682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0865599949999 meters 0.05323560629100733 Centerline is valid? [True, True] Translation: X:538.75, Y:-141.02, Z:-4.14 [[ 8.41882703e-01 5.39660547e-01 -8.89851614e-05 5.38747951e+02] [-5.39660544e-01 8.41882708e-01 5.78224748e-05 -1.41017525e+02] [ 1.06119577e-04 -6.57960761e-07 9.99999994e-01 -4.14003051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.146559995 meters 0.052956581149862576 Centerline is valid? [True, True] Translation: X:538.80, Y:-141.05, Z:-4.14 [[ 8.38822191e-01 5.44404704e-01 9.22008994e-04 5.38802868e+02] [-5.44404389e-01 8.38822698e-01 -5.86040577e-04 -1.41046858e+02] [-1.09244532e-03 -1.03619023e-05 9.99999403e-01 -4.14080552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2065599949999 meters 0.0523690399043866 Centerline is valid? [True, True] Translation: X:538.86, Y:-141.08, Z:-4.14 [[ 8.36692209e-01 5.47665829e-01 2.87887362e-03 5.38856875e+02] [-5.47662765e-01 8.36697160e-01 -1.83246775e-03 -1.41078050e+02] [-3.41232535e-03 -4.34404007e-05 9.99994177e-01 -4.13919105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.266559995 meters 0.05246760934470148 Centerline is valid? [True, True] Translation: X:538.91, Y:-141.11, Z:-4.14 [[ 8.36115624e-01 5.48552784e-01 7.11279236e-04 5.38910284e+02] [-5.48552598e-01 8.36115927e-01 -4.52114778e-04 -1.41109658e+02] [-8.42720718e-04 -1.21538427e-05 9.99999645e-01 -4.14090801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3265599949999 meters 0.052625343918167665 Centerline is valid? [True, True] Translation: X:538.96, Y:-141.14, Z:-4.14 [[ 8.35906295e-01 5.48871310e-01 -9.74913244e-04 5.38963729e+02] [-5.48870957e-01 8.35906864e-01 6.22193006e-04 -1.41141598e+02] [ 1.15644056e-03 1.50065153e-05 9.99999331e-01 -4.14291140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.386559995 meters 0.0528885081687006 Centerline is valid? [True, True] Translation: X:539.02, Y:-141.17, Z:-4.15 [[ 8.36819622e-01 5.47475790e-01 -1.78323480e-03 5.39017498e+02] [-5.47474609e-01 8.36821521e-01 1.13743252e-03 -1.41171241e+02] [ 2.11496603e-03 2.44499233e-05 9.99997763e-01 -4.14592214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4465599949999 meters 0.05268390858856422 Centerline is valid? [True, True] Translation: X:539.07, Y:-141.21, Z:-4.14 [[ 8.38407628e-01 5.45039660e-01 -2.10200222e-03 5.39068608e+02] [-5.45038011e-01 8.38410263e-01 1.34103704e-03 -1.41207341e+02] [ 2.49325860e-03 2.13354254e-05 9.99996892e-01 -4.14325384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.506559995 meters 0.05377876292776609 Centerline is valid? [True, True] Translation: X:539.12, Y:-141.24, Z:-4.15 [[ 8.40448681e-01 5.41884241e-01 -2.73565735e-03 5.39120668e+02] [-5.41881430e-01 8.40453133e-01 1.74542955e-03 -1.41238942e+02] [ 3.24501256e-03 1.54579564e-05 9.99994735e-01 -4.14510598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5665599949999 meters 0.05379373974717818 Centerline is valid? [True, True] Translation: X:539.17, Y:-141.27, Z:-4.14 [[ 8.43817378e-01 5.36628630e-01 -1.39530046e-03 5.39172715e+02] [-5.36627891e-01 8.43818531e-01 8.90399766e-04 -1.41273878e+02] [ 1.65519439e-03 -2.57765325e-06 9.99998630e-01 -4.14313961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.626559995 meters 0.05427167098007214 Centerline is valid? [True, True] Translation: X:539.23, Y:-141.31, Z:-4.14 [[ 8.46625785e-01 5.32188464e-01 4.68270010e-04 5.39225514e+02] [-5.32188381e-01 8.46625914e-01 -2.97546959e-04 -1.41307958e+02] [-5.54800585e-04 2.70306871e-06 9.99999846e-01 -4.14050184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6865599949999 meters 0.054032364825133496 Centerline is valid? [True, True] Translation: X:539.28, Y:-141.34, Z:-4.14 [[ 8.47639525e-01 5.30571461e-01 1.07772823e-03 5.39276745e+02] [-5.30571016e-01 8.47640210e-01 -6.86736529e-04 -1.41340638e+02] [-1.27788858e-03 1.02936651e-05 9.99999183e-01 -4.14107207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.746559995 meters 0.05434204962935747 Centerline is valid? [True, True] Translation: X:539.33, Y:-141.37, Z:-4.14 [[ 8.46721240e-01 5.32033653e-01 1.82606762e-03 5.39331666e+02] [-5.32032379e-01 8.46723209e-01 -1.16446569e-03 -1.41370481e+02] [-2.16570877e-03 1.44507370e-05 9.99997655e-01 -4.14153451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8065599949999 meters 0.054391955728684535 Centerline is valid? [True, True] Translation: X:539.39, Y:-141.40, Z:-4.14 [[ 8.43673747e-01 5.36854005e-01 1.54472291e-03 5.39387214e+02] [-5.36853101e-01 8.43675161e-01 -9.85147674e-04 -1.41398311e+02] [-1.83212482e-03 1.85394540e-06 9.99998322e-01 -4.14343803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.866559995 meters 0.054152942991317295 Centerline is valid? [True, True] Translation: X:539.44, Y:-141.42, Z:-4.15 [[ 8.38891363e-01 5.44297460e-01 1.24747847e-03 5.39443674e+02] [-5.44296879e-01 8.38892290e-01 -7.95661698e-04 -1.41422752e+02] [-1.47957672e-03 -1.15249144e-05 9.99998905e-01 -4.14747240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9265599949999 meters 0.054152312180318705 Centerline is valid? [True, True] Translation: X:539.50, Y:-141.45, Z:-4.15 [[ 8.32335434e-01 5.54270607e-01 1.34906105e-03 5.39497841e+02] [-5.54269938e-01 8.32336527e-01 -8.61359435e-04 -1.41451162e+02] [-1.60029901e-03 -3.08040079e-05 9.99998719e-01 -4.14601998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.986559995 meters 0.053938694696843904 Centerline is valid? [True, True] Translation: X:539.55, Y:-141.48, Z:-4.15 [[ 8.27294373e-01 5.61767061e-01 1.33772690e-03 5.39551634e+02] [-5.61766413e-01 8.27295453e-01 -8.54104793e-04 -1.41480087e+02] [-1.58650332e-03 -4.48939539e-05 9.99998740e-01 -4.14708368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0465599949999 meters 0.05367012121956045 Centerline is valid? [True, True] Translation: X:539.60, Y:-141.51, Z:-4.15 [[ 8.26918823e-01 5.62320951e-01 6.38878722e-04 5.39604913e+02] [-5.62320804e-01 8.26919070e-01 -4.07140822e-04 -1.41512486e+02] [-7.57244813e-04 -2.25823875e-05 9.99999713e-01 -4.14810358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.106559995 meters 0.05428749469632401 Centerline is valid? [True, True] Translation: X:539.66, Y:-141.54, Z:-4.15 [[ 8.26730491e-01 5.62598136e-01 -1.79873119e-04 5.39660000e+02] [-5.62598124e-01 8.26730511e-01 1.15835675e-04 -1.41539976e+02] [ 2.13875530e-04 5.43139423e-06 9.99999977e-01 -4.15084928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.166559995 meters 0.05428749469632401 Centerline is valid? [True, True] Translation: X:539.71, Y:-141.57, Z:-4.15 [[ 8.26661439e-01 5.62699594e-01 -1.79782852e-04 5.39712682e+02] [-5.62699582e-01 8.26661458e-01 1.15976842e-04 -1.41573613e+02] [ 2.13879677e-04 5.29015269e-06 9.99999977e-01 -4.15131012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.226559995 meters 0.054070891635025445 Centerline is valid? [True, True] Translation: X:539.76, Y:-141.61, Z:-4.15 [[ 8.26517588e-01 5.62910645e-01 -5.30995754e-04 5.39762496e+02] [-5.62910543e-01 8.26517758e-01 3.40417152e-04 -1.41610320e+02] [ 6.30501859e-04 1.75423451e-05 9.99999801e-01 -4.15125217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.286559995 meters 0.053918666924917695 Centerline is valid? [True, True] Translation: X:539.81, Y:-141.65, Z:-4.15 [[ 8.27052477e-01 5.62123673e-01 -1.08440552e-03 5.39812232e+02] [-5.62123245e-01 8.27053187e-01 6.94384578e-04 -1.41647158e+02] [ 1.28719105e-03 3.52770634e-05 9.99999171e-01 -4.15153436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.346559995 meters 0.0537492141501901 Centerline is valid? [True, True] Translation: X:539.86, Y:-141.68, Z:-4.15 [[ 8.28797806e-01 5.59547514e-01 -8.80607184e-04 5.39861906e+02] [-5.59547231e-01 8.28798274e-01 5.63384541e-04 -1.41683985e+02] [ 1.04508613e-03 2.58094401e-05 9.99999454e-01 -4.15156090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.406559995 meters 0.053793387263652154 Centerline is valid? [True, True] Translation: X:539.91, Y:-141.72, Z:-4.15 [[ 8.33720662e-01 5.52186199e-01 5.08945111e-04 5.39909628e+02] [-5.52186103e-01 8.33720817e-01 -3.25247511e-04 -1.41721325e+02] [-6.03915321e-04 -9.86684791e-06 9.99999818e-01 -4.15089346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4665599949999 meters 0.05438594383767108 Centerline is valid? [True, True] Translation: X:539.96, Y:-141.76, Z:-4.15 [[ 8.36115662e-01 5.48553121e-01 -2.69632888e-04 5.39958912e+02] [-5.48553094e-01 8.36115706e-01 1.72507614e-04 -1.41756102e+02] [ 3.20073882e-04 3.67163706e-06 9.99999949e-01 -4.15295944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.526559995 meters 0.05418476564313583 Centerline is valid? [True, True] Translation: X:540.01, Y:-141.79, Z:-4.15 [[ 8.37961215e-01 5.45729646e-01 3.95795071e-04 5.40008296e+02] [-5.45729587e-01 8.37961308e-01 -2.52194013e-04 -1.41793612e+02] [-4.69290705e-04 -4.66827893e-06 9.99999890e-01 -4.15126525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5865599949999 meters 0.05363220211170356 Centerline is valid? [True, True] Translation: X:540.06, Y:-141.83, Z:-4.15 [[ 8.39978028e-01 5.42618234e-01 1.53762562e-03 5.40060038e+02] [-5.42617343e-01 8.39979435e-01 -9.83276728e-04 -1.41828990e+02] [-1.82511779e-03 -8.41148379e-06 9.99998334e-01 -4.15138759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.646559995 meters 0.05451290334383335 Centerline is valid? [True, True] Translation: X:540.11, Y:-141.86, Z:-4.15 [[ 8.41275853e-01 5.40603972e-01 1.51181818e-03 5.40112429e+02] [-5.40603108e-01 8.41277211e-01 -9.66424398e-04 -1.41863008e+02] [-1.79431105e-03 -4.26409622e-06 9.99998390e-01 -4.15194663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7065599949999 meters 0.05464910333004798 Centerline is valid? [True, True] Translation: X:540.16, Y:-141.90, Z:-4.15 [[ 8.41725019e-01 5.39905047e-01 1.23801247e-03 5.40164630e+02] [-5.39904467e-01 8.41725930e-01 -7.91360270e-04 -1.41896422e+02] [-1.46932660e-03 -2.30072098e-06 9.99998921e-01 -4.15240063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.766559995 meters 0.05460493419601465 Centerline is valid? [True, True] Translation: X:540.22, Y:-141.93, Z:-4.15 [[ 8.41392646e-01 5.40423967e-01 5.92595817e-04 5.40217339e+02] [-5.40423835e-01 8.41392854e-01 -3.78490862e-04 -1.41927116e+02] [-7.03151419e-04 -1.79347610e-06 9.99999753e-01 -4.15292284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8265599949999 meters 0.054854932075710454 Centerline is valid? [True, True] Translation: X:540.27, Y:-141.96, Z:-4.15 [[ 8.41030090e-01 5.40986461e-01 1.42723890e-03 5.40270738e+02] [-5.40985690e-01 8.41031301e-01 -9.13489093e-04 -1.41959755e+02] [-1.69453782e-03 -3.84400800e-06 9.99998564e-01 -4.15148915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.886559995 meters 0.05443635540875904 Centerline is valid? [True, True] Translation: X:540.32, Y:-141.99, Z:-4.15 [[ 8.40441421e-01 5.41898899e-01 1.94969783e-03 5.40323652e+02] [-5.41897463e-01 8.40443682e-01 -1.24762738e-03 -1.41991989e+02] [-2.31469913e-03 -7.97858248e-06 9.99997321e-01 -4.15248204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9465599949999 meters 0.05438636682703191 Centerline is valid? [True, True] Translation: X:540.38, Y:-142.02, Z:-4.15 [[ 8.38971817e-01 5.44169673e-01 2.37844812e-03 5.40376247e+02] [-5.44167543e-01 8.38975188e-01 -1.52279393e-03 -1.42023391e+02] [-2.82411723e-03 -1.66930783e-05 9.99996012e-01 -4.15167228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.006559995 meters 0.054588327040755266 Centerline is valid? [True, True] Translation: X:540.43, Y:-142.05, Z:-4.15 [[ 8.36076504e-01 5.48605999e-01 2.74533970e-03 5.40431746e+02] [-5.48603182e-01 8.36081010e-01 -1.75852769e-03 -1.42051912e+02] [-3.26006523e-03 -3.58384129e-05 9.99994685e-01 -4.15351908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0665599949999 meters 0.054700958822147976 Centerline is valid? [True, True] Translation: X:540.48, Y:-142.08, Z:-4.15 [[ 8.31876930e-01 5.54949523e-01 3.43512655e-03 5.40484643e+02] [-5.54945165e-01 8.31884019e-01 -2.20076314e-03 -1.42082150e+02] [-4.07893933e-03 -7.55427842e-05 9.99991678e-01 -4.15265012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.126559995 meters 0.05565814566343706 Centerline is valid? [True, True] Translation: X:540.54, Y:-142.11, Z:-4.15 [[ 8.27642691e-01 5.61247748e-01 2.92262656e-03 5.40539231e+02] [-5.61244633e-01 8.27647846e-01 -1.87232780e-03 -1.42107966e+02] [-3.46974534e-03 -9.06900522e-05 9.99993976e-01 -4.15397341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1865599949999 meters 0.05521955574567173 Centerline is valid? [True, True] Translation: X:540.59, Y:-142.14, Z:-4.16 [[ 8.22955977e-01 5.68105110e-01 2.08215613e-04 5.40591325e+02] [-5.68105094e-01 8.22956004e-01 -1.33110523e-04 -1.42137278e+02] [-2.46973057e-04 -8.74424990e-06 9.99999969e-01 -4.15801299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.246559995 meters 0.05428598649136141 Centerline is valid? [True, True] Translation: X:540.64, Y:-142.18, Z:-4.16 [[ 8.22422999e-01 5.68876158e-01 -5.72137899e-04 5.40639084e+02] [-5.68876039e-01 8.22423198e-01 3.67615510e-04 -1.42177117e+02] [ 6.79667179e-04 2.31400921e-05 9.99999769e-01 -4.15827913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3065599949999 meters 0.05467609216621028 Centerline is valid? [True, True] Translation: X:540.69, Y:-142.21, Z:-4.16 [[ 8.22655481e-01 5.68539858e-01 -6.23683134e-04 5.40690634e+02] [-5.68539717e-01 8.22655717e-01 4.00823553e-04 -1.42211131e+02] [ 7.40960662e-04 2.48489398e-05 9.99999725e-01 -4.15916764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.366559995 meters 0.05467609216621028 Centerline is valid? [True, True] Translation: X:540.74, Y:-142.24, Z:-4.16 [[ 8.22582775e-01 5.68645047e-01 -6.23567769e-04 5.40743286e+02] [-5.68644906e-01 8.22583011e-01 4.01003378e-04 -1.42244829e+02] [ 7.40964837e-04 2.47301640e-05 9.99999725e-01 -4.15962858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4265599949999 meters 0.05429489615641783 Centerline is valid? [True, True] Translation: X:540.79, Y:-142.28, Z:-4.16 [[ 8.24259385e-01 5.66212009e-01 6.53427249e-04 5.40792306e+02] [-5.66211855e-01 8.24259644e-01 -4.18486274e-04 -1.42282455e+02] [-7.75545666e-04 -2.50370160e-05 9.99999699e-01 -4.15858744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.486559995 meters 0.05430244822540708 Centerline is valid? [True, True] Translation: X:540.84, Y:-142.32, Z:-4.16 [[ 8.26491407e-01 5.62948857e-01 7.33996264e-04 5.40841483e+02] [-5.62948661e-01 8.26491733e-01 -4.70554943e-04 -1.42319633e+02] [-8.71540211e-04 -2.42925967e-05 9.99999620e-01 -4.15903055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5465599949999 meters 0.0542209948210369 Centerline is valid? [True, True] Translation: X:540.89, Y:-142.36, Z:-4.16 [[ 8.29581545e-01 5.58384928e-01 8.55610588e-04 5.40890036e+02] [-5.58384659e-01 8.29581986e-01 -5.48616399e-04 -1.42357144e+02] [-1.01613826e-03 -2.26377866e-05 9.99999483e-01 -4.15944541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.606559995 meters 0.05403010395072245 Centerline is valid? [True, True] Translation: X:540.94, Y:-142.40, Z:-4.16 [[ 8.36956006e-01 5.47269844e-01 6.01923746e-04 5.40935846e+02] [-5.47269708e-01 8.36956222e-01 -3.85538873e-04 -1.42397347e+02] [-7.14777624e-04 -6.73555783e-06 9.99999745e-01 -4.16091706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.666559995 meters 0.054592042380846695 Centerline is valid? [True, True] Translation: X:540.98, Y:-142.44, Z:-4.16 [[ 8.40561110e-01 5.41716674e-01 2.54574329e-04 5.40984683e+02] [-5.41716649e-01 8.40561149e-01 -1.62800249e-04 -1.42437151e+02] [-3.02176900e-04 -1.06359497e-06 9.99999954e-01 -4.16062534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.726559995 meters 0.05453717272268345 Centerline is valid? [True, True] Translation: X:541.03, Y:-142.48, Z:-4.16 [[ 8.45494265e-01 5.33984463e-01 2.03849936e-04 5.41031182e+02] [-5.33984448e-01 8.45494289e-01 -1.29902508e-04 -1.42478126e+02] [-2.41719878e-04 9.79130110e-07 9.99999971e-01 -4.16126584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.786559995 meters 0.054720320532934213 Centerline is valid? [True, True] Translation: X:541.08, Y:-142.52, Z:-4.16 [[ 8.49022433e-01 5.28352842e-01 2.04512653e-03 5.41079742e+02] [-5.28351213e-01 8.49024896e-01 -1.31236703e-03 -1.42516210e+02] [-2.42975619e-03 3.36839723e-05 9.99997048e-01 -4.15945755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.846559995 meters 0.05503254814744103 Centerline is valid? [True, True] Translation: X:541.13, Y:-142.55, Z:-4.16 [[ 8.50217634e-01 5.26423603e-01 2.85747514e-03 5.41129947e+02] [-5.26420413e-01 8.50222434e-01 -1.83352978e-03 -1.42551226e+02] [-3.39470282e-03 5.46661122e-05 9.99994236e-01 -4.15931914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.906559995 meters 0.05499807701403177 Centerline is valid? [True, True] Translation: X:541.18, Y:-142.59, Z:-4.16 [[ 8.50048743e-01 5.26695970e-01 2.91382124e-03 5.41180418e+02] [-5.26692652e-01 8.50053735e-01 -1.87036900e-03 -1.42586311e+02] [-3.46202044e-03 5.52165825e-05 9.99994006e-01 -4.16010285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9665599949999 meters 0.054786057988864 Centerline is valid? [True, True] Translation: X:541.23, Y:-142.62, Z:-4.16 [[ 8.47486313e-01 5.30809099e-01 2.94092188e-03 5.41234406e+02] [-5.30805742e-01 8.47491415e-01 -1.88818253e-03 -1.42616390e+02] [-3.49467052e-03 3.91506271e-05 9.99993893e-01 -4.16079133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.026559995 meters 0.05397148212678323 Centerline is valid? [True, True] Translation: X:541.29, Y:-142.65, Z:-4.16 [[ 8.45096725e-01 5.34607670e-01 2.48262119e-03 5.41286863e+02] [-5.34605296e-01 8.45100372e-01 -1.59356345e-03 -1.42648705e+02] [-2.94999533e-03 1.94928135e-05 9.99995649e-01 -4.16215550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0865599949999 meters 0.05357461310042334 Centerline is valid? [True, True] Translation: X:541.34, Y:-142.68, Z:-4.16 [[ 8.41900002e-01 5.39626164e-01 2.82656605e-03 5.41340679e+02] [-5.39623111e-01 8.41904747e-01 -1.81521480e-03 -1.42678414e+02] [-3.35923677e-03 2.94898390e-06 9.99994358e-01 -4.16357780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.146559995 meters 0.05300483351745503 Centerline is valid? [True, True] Translation: X:541.39, Y:-142.71, Z:-4.16 [[ 8.39570374e-01 5.43236578e-01 3.95057122e-03 5.41394671e+02] [-5.43230652e-01 8.39579669e-01 -2.53741683e-03 -1.42710796e+02] [-4.69523691e-03 -1.57313809e-05 9.99988977e-01 -4.16312916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2065599949999 meters 0.052966959004167584 Centerline is valid? [True, True] Translation: X:541.45, Y:-142.74, Z:-4.16 [[ 8.38392411e-01 5.45047706e-01 4.60045054e-03 5.41446020e+02] [-5.45039691e-01 8.38405032e-01 -2.95594342e-03 -1.42744367e+02] [-5.46817106e-03 -2.91876127e-05 9.99985049e-01 -4.16376558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.266559995 meters 0.05225779246136586 Centerline is valid? [True, True] Translation: X:541.50, Y:-142.78, Z:-4.17 [[ 8.38043913e-01 5.45572461e-01 5.75238344e-03 5.41499766e+02] [-5.45559934e-01 8.38063654e-01 -3.69722874e-03 -1.42776715e+02] [-6.83796967e-03 -3.98298912e-05 9.99976620e-01 -4.16550961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3265599949999 meters 0.05279914597631896 Centerline is valid? [True, True] Translation: X:541.55, Y:-142.81, Z:-4.17 [[ 8.38294422e-01 5.45189455e-01 5.56067580e-03 5.41551364e+02] [-5.45177738e-01 8.38312864e-01 -3.57441698e-03 -1.42810602e+02] [-6.61032050e-03 -3.51428443e-05 9.99978151e-01 -4.16773705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.386559995 meters 0.05286700765406624 Centerline is valid? [True, True] Translation: X:541.60, Y:-142.85, Z:-4.17 [[ 8.40246959e-01 5.42191182e-01 3.71072215e-03 5.41601896e+02] [-5.42185935e-01 8.40255153e-01 -2.38544528e-03 -1.42846235e+02] [-4.41132080e-03 -7.53821076e-06 9.99990270e-01 -4.17071651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4465599949999 meters 0.052835046383317395 Centerline is valid? [True, True] Translation: X:541.65, Y:-142.88, Z:-4.17 [[ 8.42862169e-01 5.38117588e-01 3.58136714e-03 5.41653064e+02] [-5.38112664e-01 8.42869777e-01 -2.30215063e-03 -1.42883332e+02] [-4.25745387e-03 1.32166602e-05 9.99990937e-01 -4.17202793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.506559995 meters 0.05296887969344789 Centerline is valid? [True, True] Translation: X:541.70, Y:-142.92, Z:-4.17 [[ 8.45949958e-01 5.33249970e-01 3.62469694e-03 5.41702642e+02] [-5.33244877e-01 8.45957722e-01 -2.33102338e-03 -1.42920173e+02] [-4.30935852e-03 3.90780570e-05 9.99990714e-01 -4.17200725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5665599949999 meters 0.053791394733998195 Centerline is valid? [True, True] Translation: X:541.75, Y:-142.96, Z:-4.17 [[ 8.49479661e-01 5.27598891e-01 4.86992202e-03 5.41752875e+02] [-5.27589603e-01 8.49493615e-01 -3.13202921e-03 -1.42955719e+02] [-5.78942280e-03 9.12748892e-05 9.99983237e-01 -4.17205730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.626559995 meters 0.0537363380832474 Centerline is valid? [True, True] Translation: X:541.80, Y:-142.99, Z:-4.17 [[ 8.51701431e-01 5.24006420e-01 4.68450188e-03 5.41804301e+02] [-5.23997767e-01 8.51714306e-01 -3.01352775e-03 -1.42989384e+02] [-5.56896516e-03 1.11957376e-04 9.99984487e-01 -4.17228059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6865599949999 meters 0.0532230685945144 Centerline is valid? [True, True] Translation: X:541.86, Y:-143.02, Z:-4.17 [[ 8.52603681e-01 5.22541710e-01 4.13819354e-03 5.41856643e+02] [-5.22534941e-01 8.52613717e-01 -2.66198371e-03 -1.43021659e+02] [-4.91927809e-03 1.07266389e-04 9.99987895e-01 -4.17255536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.746559995 meters 0.05411919339707784 Centerline is valid? [True, True] Translation: X:541.91, Y:-143.06, Z:-4.17 [[ 8.52984853e-01 5.21920994e-01 3.91365942e-03 5.41908390e+02] [-5.21914929e-01 8.52993824e-01 -2.51833066e-03 -1.43056029e+02] [-4.65269696e-03 1.05500626e-04 9.99989171e-01 -4.17406737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8065599949999 meters 0.053393199037408544 Centerline is valid? [True, True] Translation: X:541.96, Y:-143.08, Z:-4.17 [[ 8.52553713e-01 5.22633299e-01 2.56921745e-03 5.41964678e+02] [-5.22630690e-01 8.52557582e-01 -1.65289747e-03 -1.43082032e+02] [-3.05426508e-03 6.64319864e-05 9.99995334e-01 -4.17363148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.866559995 meters 0.053991661537875345 Centerline is valid? [True, True] Translation: X:542.02, Y:-143.11, Z:-4.17 [[ 8.51651916e-01 5.24094751e-01 3.70218530e-03 5.42018166e+02] [-5.24089341e-01 8.51659958e-01 -2.38291236e-03 -1.43114733e+02] [-4.40187483e-03 8.91360224e-05 9.99990308e-01 -4.17427571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9265599949999 meters 0.0530747662337054 Centerline is valid? [True, True] Translation: X:542.07, Y:-143.14, Z:-4.17 [[ 8.50813294e-01 5.25457209e-01 3.38524965e-03 5.42071993e+02] [-5.25452696e-01 8.50820025e-01 -2.17908378e-03 -1.43143576e+02] [-4.02525348e-03 7.52048920e-05 9.99991896e-01 -4.17365164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.986559995 meters 0.05340404751936377 Centerline is valid? [True, True] Translation: X:542.13, Y:-143.18, Z:-4.17 [[ 8.50366883e-01 5.26164793e-01 5.17447221e-03 5.42125120e+02] [-5.26154253e-01 8.50382619e-01 -3.33221468e-03 -1.43176730e+02] [-6.15357528e-03 1.11034453e-04 9.99981060e-01 -4.17477146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0465599949999 meters 0.05326313644012812 Centerline is valid? [True, True] Translation: X:542.18, Y:-143.20, Z:-4.17 [[ 8.50854746e-01 5.25369328e-01 5.76803675e-03 5.42182042e+02] [-5.25356209e-01 8.50874287e-01 -3.71512005e-03 -1.43201790e+02] [-6.85968428e-03 1.30753610e-04 9.99976464e-01 -4.17436581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.106559995 meters 0.053515491012934416 Centerline is valid? [True, True] Translation: X:542.23, Y:-143.24, Z:-4.17 [[ 8.51292412e-01 5.24657704e-01 5.96015113e-03 5.42232049e+02] [-5.24643671e-01 8.51313264e-01 -3.83984225e-03 -1.43238473e+02] [-7.08855853e-03 1.41872998e-04 9.99974866e-01 -4.17498178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.166559995 meters 0.053377512351961955 Centerline is valid? [True, True] Translation: X:542.29, Y:-143.27, Z:-4.18 [[ 8.51343028e-01 5.24579851e-01 5.57032032e-03 5.42286061e+02] [-5.24567590e-01 8.51361241e-01 -3.58907080e-03 -1.43270003e+02] [-6.62510905e-03 1.33520894e-04 9.99978045e-01 -4.17626283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.226559995 meters 0.05359630087066497 Centerline is valid? [True, True] Translation: X:542.34, Y:-143.30, Z:-4.18 [[ 8.50919336e-01 5.25270766e-01 5.18704916e-03 5.42342422e+02] [-5.25260141e-01 8.50935137e-01 -3.34317446e-03 -1.43298160e+02] [-6.16991420e-03 1.20221623e-04 9.99980959e-01 -4.17777629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.286559995 meters 0.053641040277432 Centerline is valid? [True, True] Translation: X:542.40, Y:-143.33, Z:-4.18 [[ 8.50557195e-01 5.25864408e-01 4.36846128e-03 5.42395359e+02] [-5.25856879e-01 8.50568407e-01 -2.81561200e-03 -1.43329645e+02] [-5.19630529e-03 9.76536245e-05 9.99986494e-01 -4.17835763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.346559995 meters 0.053212730678742 Centerline is valid? [True, True] Translation: X:542.45, Y:-143.36, Z:-4.18 [[ 8.49225085e-01 5.28008545e-01 4.87146362e-03 5.42450350e+02] [-5.27999212e-01 8.49239052e-01 -3.14078142e-03 -1.43357396e+02] [-5.79539657e-03 9.51014222e-05 9.99983202e-01 -4.17850806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.406559995 meters 0.05317927046636525 Centerline is valid? [True, True] Translation: X:542.50, Y:-143.39, Z:-4.18 [[ 8.47230793e-01 5.31205058e-01 4.60098997e-03 5.42501394e+02] [-5.31196777e-01 8.47243284e-01 -2.96687980e-03 -1.43389767e+02] [-5.47417941e-03 6.96008853e-05 9.99985014e-01 -4.17939343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4665599949999 meters 0.053385245293374524 Centerline is valid? [True, True] Translation: X:542.56, Y:-143.42, Z:-4.18 [[ 8.45459938e-01 5.34009981e-01 5.55272537e-03 5.42555378e+02] [-5.33997977e-01 8.45478170e-01 -3.58104290e-03 -1.43420537e+02] [-6.60702073e-03 6.24841935e-05 9.99978171e-01 -4.17972715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.526559995 meters 0.05337734098543644 Centerline is valid? [True, True] Translation: X:542.61, Y:-143.45, Z:-4.18 [[ 8.41786297e-01 5.39772188e-01 6.46652459e-03 5.42611469e+02] [-5.39756074e-01 8.41811134e-01 -4.17084333e-03 -1.43448714e+02] [-7.69489763e-03 2.06128334e-05 9.99970394e-01 -4.17902358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5865599949999 meters 0.053354053636277446 Centerline is valid? [True, True] Translation: X:542.67, Y:-143.48, Z:-4.18 [[ 8.38079769e-01 5.45505501e-01 6.78593267e-03 5.42666204e+02] [-5.45487933e-01 8.38107241e-01 -4.37805491e-03 -1.43477940e+02] [-8.07559234e-03 -3.24851380e-05 9.99967391e-01 -4.17887671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.646559995 meters 0.0536195306187 Centerline is valid? [True, True] Translation: X:542.72, Y:-143.51, Z:-4.18 [[ 8.35823898e-01 5.48951435e-01 7.12276015e-03 5.42721864e+02] [-5.48932194e-01 8.35854244e-01 -4.59666821e-03 -1.43505559e+02] [-8.47693691e-03 -6.79072166e-05 9.99964068e-01 -4.17906586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7065599949999 meters 0.0529055585888223 Centerline is valid? [True, True] Translation: X:542.78, Y:-143.53, Z:-4.18 [[ 8.32863076e-01 5.53440921e-01 6.49944102e-03 5.42776573e+02] [-5.53425029e-01 8.32888430e-01 -4.19533398e-03 -1.43534339e+02] [-7.73517872e-03 -1.02814574e-04 9.99970078e-01 -4.18000990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.766559995 meters 0.05362500416519956 Centerline is valid? [True, True] Translation: X:542.83, Y:-143.57, Z:-4.18 [[ 8.31205923e-01 5.55939270e-01 5.31432328e-03 5.42829436e+02] [-5.55928693e-01 8.31222905e-01 -3.43095583e-03 -1.43565916e+02] [-6.32479031e-03 -1.02553989e-04 9.99979993e-01 -4.18152355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8265599949999 meters 0.05342164333497829 Centerline is valid? [True, True] Translation: X:542.88, Y:-143.60, Z:-4.18 [[ 8.30992931e-01 5.56264644e-01 4.51604814e-03 5.42880476e+02] [-5.56257007e-01 8.31005198e-01 -2.91608792e-03 -1.43600741e+02] [-5.37497608e-03 -8.88349732e-05 9.99985551e-01 -4.18187965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.886559995 meters 0.053636928062375126 Centerline is valid? [True, True] Translation: X:542.93, Y:-143.63, Z:-4.18 [[ 8.32165596e-01 5.54512329e-01 4.06178484e-03 5.42932433e+02] [-5.54506127e-01 8.32175506e-01 -2.62336107e-03 -1.43632923e+02] [-4.83480391e-03 -6.92137525e-05 9.99988310e-01 -4.18266418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9465599949999 meters 0.053715975678850114 Centerline is valid? [True, True] Translation: X:542.98, Y:-143.67, Z:-4.18 [[ 8.34045585e-01 5.51679931e-01 4.14916948e-03 5.42982343e+02] [-5.51673420e-01 8.34055904e-01 -2.68074520e-03 -1.43666285e+02] [-4.93955263e-03 -5.31228193e-05 9.99987799e-01 -4.18277824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.006559995 meters 0.05341495972575869 Centerline is valid? [True, True] Translation: X:543.03, Y:-143.70, Z:-4.18 [[ 8.35733126e-01 5.49121158e-01 4.01198036e-03 5.43032950e+02] [-5.49115042e-01 8.35742755e-01 -2.59198096e-03 -1.43702227e+02] [-4.77629510e-03 -3.68344158e-05 9.99988593e-01 -4.18285496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0665599949999 meters 0.05331732972383008 Centerline is valid? [True, True] Translation: X:543.08, Y:-143.74, Z:-4.18 [[ 8.37198606e-01 5.46885199e-01 3.88239087e-03 5.43084623e+02] [-5.46879446e-01 8.37207608e-01 -2.50857932e-03 -1.43735518e+02] [-4.62227208e-03 -2.30206512e-05 9.99989317e-01 -4.18412394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.126559995 meters 0.053267543413288876 Centerline is valid? [True, True] Translation: X:543.13, Y:-143.77, Z:-4.18 [[ 8.39271471e-01 5.43699363e-01 3.79477187e-03 5.43134829e+02] [-5.43693833e-01 8.39280050e-01 -2.45216881e-03 -1.43772609e+02] [-4.51811895e-03 -5.15874125e-06 9.99989793e-01 -4.18390965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1865599949999 meters 0.05416382243805078 Centerline is valid? [True, True] Translation: X:543.19, Y:-143.81, Z:-4.18 [[ 8.40687906e-01 5.41510162e-01 3.25412375e-03 5.43185953e+02] [-5.41506077e-01 8.40694204e-01 -2.10328459e-03 -1.43808628e+02] [-3.87467296e-03 6.07812757e-06 9.99992493e-01 -4.18316290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.246559995 meters 0.05355295256895962 Centerline is valid? [True, True] Translation: X:543.24, Y:-143.84, Z:-4.18 [[ 8.42766101e-01 5.38273586e-01 2.61647433e-03 5.43236016e+02] [-5.38270929e-01 8.42770162e-01 -1.69142204e-03 -1.43844500e+02] [-3.11553430e-03 1.71010887e-05 9.99995147e-01 -4.18388140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3065599949999 meters 0.05429165052442903 Centerline is valid? [True, True] Translation: X:543.29, Y:-143.88, Z:-4.18 [[ 8.45159591e-01 5.34506315e-01 2.87468989e-03 5.43286568e+02] [-5.34503086e-01 8.45164480e-01 -1.85844468e-03 -1.43878486e+02] [-3.42293620e-03 3.41517296e-05 9.99994141e-01 -4.18403558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.366559995 meters 0.05399619623918416 Centerline is valid? [True, True] Translation: X:543.34, Y:-143.91, Z:-4.18 [[ 8.47390753e-01 5.30964567e-01 2.35388863e-03 5.43336600e+02] [-5.30962386e-01 8.47394021e-01 -1.52236158e-03 -1.43914871e+02] [-2.80299121e-03 4.02088028e-05 9.99996071e-01 -4.18417769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4265599949999 meters 0.05535104174786419 Centerline is valid? [True, True] Translation: X:543.39, Y:-143.95, Z:-4.18 [[ 8.50626962e-01 5.25764975e-01 2.22769735e-03 5.43385035e+02] [-5.25763004e-01 8.50629877e-01 -1.44089632e-03 -1.43952999e+02] [-2.65251874e-03 5.44244046e-05 9.99996481e-01 -4.18475863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.486559995 meters 0.0550073976678658 Centerline is valid? [True, True] Translation: X:543.44, Y:-143.99, Z:-4.18 [[ 8.52005741e-01 5.23528167e-01 2.11534020e-03 5.43437289e+02] [-5.23526384e-01 8.52008365e-01 -1.36776728e-03 -1.43985299e+02] [-2.51835225e-03 5.79091724e-05 9.99996827e-01 -4.18404742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5465599949999 meters 0.055735472748882714 Centerline is valid? [True, True] Translation: X:543.49, Y:-144.02, Z:-4.18 [[ 8.52728906e-01 5.22350576e-01 1.81362268e-03 5.43488220e+02] [-5.22349261e-01 8.52730833e-01 -1.17333038e-03 -1.44020306e+02] [-2.15942178e-03 5.31882616e-05 9.99997667e-01 -4.18456975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.606559995 meters 0.055226198951853024 Centerline is valid? [True, True] Translation: X:543.55, Y:-144.04, Z:-4.18 [[ 8.51762191e-01 5.23926346e-01 1.53440803e-03 5.43547310e+02] [-5.23925407e-01 8.51763572e-01 -9.92762379e-04 -1.44042812e+02] [-1.82708723e-03 4.16821082e-05 9.99998330e-01 -4.18226512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.666559995 meters 0.05523268423945251 Centerline is valid? [True, True] Translation: X:543.60, Y:-144.08, Z:-4.18 [[ 8.49606754e-01 5.27416203e-01 7.15659072e-04 5.43597730e+02] [-5.27416000e-01 8.49607055e-01 -4.62973408e-04 -1.44076890e+02] [-8.52208674e-04 1.58952890e-05 9.99999637e-01 -4.18466425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.726559995 meters 0.054474881438489296 Centerline is valid? [True, True] Translation: X:543.65, Y:-144.11, Z:-4.19 [[ 8.47540117e-01 5.30731197e-01 3.82495716e-04 5.43648042e+02] [-5.30731139e-01 8.47540204e-01 -2.47332426e-04 -1.44111820e+02] [-4.55447532e-04 6.62176644e-06 9.99999896e-01 -4.18650899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.786559995 meters 0.05409897710939503 Centerline is valid? [True, True] Translation: X:543.70, Y:-144.14, Z:-4.19 [[ 8.43716116e-01 5.36789273e-01 6.26969830e-04 5.43699780e+02] [-5.36789119e-01 8.43716349e-01 -4.05691324e-04 -1.44142886e+02] [-7.46755446e-04 5.73772500e-06 9.99999721e-01 -4.18720763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.846559995 meters 0.054523940821171714 Centerline is valid? [True, True] Translation: X:543.76, Y:-144.17, Z:-4.19 [[ 8.39889874e-01 5.42756536e-01 5.85129579e-04 5.43755248e+02] [-5.42756405e-01 8.39890077e-01 -3.77797436e-04 -1.44171647e+02] [-6.96496556e-04 -2.74586436e-07 9.99999757e-01 -4.18611577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.906559995 meters 0.05453323175188102 Centerline is valid? [True, True] Translation: X:543.81, Y:-144.20, Z:-4.19 [[ 8.37521946e-01 5.46402641e-01 1.06924566e-03 5.43809000e+02] [-5.46402203e-01 8.37522629e-01 -6.91795991e-04 -1.44203788e+02] [-1.27351659e-03 -4.84385910e-06 9.99999189e-01 -4.18730619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9665599949999 meters 0.054078815646849986 Centerline is valid? [True, True] Translation: X:543.86, Y:-144.24, Z:-4.19 [[ 8.35343955e-01 5.49725722e-01 1.45190371e-03 5.43862162e+02] [-5.49724920e-01 8.35345216e-01 -9.39282343e-04 -1.44235486e+02] [-1.72918848e-03 -1.35238215e-05 9.99998505e-01 -4.18717269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.026559995 meters 0.053571082567207495 Centerline is valid? [True, True] Translation: X:543.91, Y:-144.27, Z:-4.19 [[ 8.32521441e-01 5.53988839e-01 2.10157240e-03 5.43913738e+02] [-5.53987169e-01 8.32524093e-01 -1.36042944e-03 -1.44268078e+02] [-2.50327238e-03 -3.16574667e-05 9.99996866e-01 -4.18695738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0865599949999 meters 0.05362057103294077 Centerline is valid? [True, True] Translation: X:543.97, Y:-144.30, Z:-4.19 [[ 8.30311884e-01 5.57293122e-01 2.55965200e-03 5.43967341e+02] [-5.57290658e-01 8.30315828e-01 -1.65796192e-03 -1.44298498e+02] [-3.04929035e-03 -4.98446635e-05 9.99995350e-01 -4.18691190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.146559995 meters 0.054234649840934 Centerline is valid? [True, True] Translation: X:544.02, Y:-144.33, Z:-4.19 [[ 8.29667785e-01 5.58252582e-01 2.32840175e-03 5.44020648e+02] [-5.58250548e-01 8.29671050e-01 -1.50782778e-03 -1.44329455e+02] [-2.77355627e-03 -4.88354192e-05 9.99996152e-01 -4.18836812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2065599949999 meters 0.05411438044471851 Centerline is valid? [True, True] Translation: X:544.07, Y:-144.37, Z:-4.19 [[ 8.29093316e-01 5.59110249e-01 5.12151529e-05 5.44071140e+02] [-5.59110248e-01 8.29093318e-01 -3.22322812e-05 -1.44365209e+02] [-6.04835400e-05 -1.91134795e-06 9.99999998e-01 -4.19046699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.266559995 meters 0.053748619121413516 Centerline is valid? [True, True] Translation: X:544.12, Y:-144.40, Z:-4.19 [[ 8.29267677e-01 5.58851005e-01 -8.20725475e-04 5.44123706e+02] [-5.58850751e-01 8.29268083e-01 5.33188739e-04 -1.44400555e+02] [ 9.78574504e-04 1.65068607e-05 9.99999521e-01 -4.19164916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3265599949999 meters 0.053853056479113086 Centerline is valid? [True, True] Translation: X:544.17, Y:-144.44, Z:-4.19 [[ 8.31168306e-01 5.56017944e-01 -1.81478239e-03 5.44172641e+02] [-5.56016700e-01 8.31170286e-01 1.17670983e-03 -1.44436862e+02] [ 2.16266498e-03 3.10053951e-05 9.99997661e-01 -4.19356735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.386559995 meters 0.05442696821170734 Centerline is valid? [True, True] Translation: X:544.22, Y:-144.48, Z:-4.19 [[ 8.33749072e-01 5.52138547e-01 -2.34754767e-03 5.44220641e+02] [-5.52136449e-01 8.33752376e-01 1.52227143e-03 -1.44475738e+02] [ 2.79777818e-03 2.69742477e-05 9.99996086e-01 -4.19257108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4465599949999 meters 0.053797850404454055 Centerline is valid? [True, True] Translation: X:544.27, Y:-144.52, Z:-4.19 [[ 8.38232696e-01 5.45312182e-01 -7.55976892e-04 5.44266662e+02] [-5.45311961e-01 8.38233037e-01 4.90226004e-04 -1.44515903e+02] [ 9.01011018e-04 1.31977743e-06 9.99999594e-01 -4.19225724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.506559995 meters 0.05419762740052225 Centerline is valid? [True, True] Translation: X:544.32, Y:-144.55, Z:-4.19 [[ 8.42254275e-01 5.39080226e-01 4.95517570e-04 5.44315365e+02] [-5.39080131e-01 8.42254421e-01 -3.20406420e-04 -1.44554227e+02] [-5.90076630e-04 2.74000021e-06 9.99999826e-01 -4.18816647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5665599949999 meters 0.05453472348326247 Centerline is valid? [True, True] Translation: X:544.36, Y:-144.59, Z:-4.19 [[ 8.44421203e-01 5.35679485e-01 5.65974175e-04 5.44363913e+02] [-5.35679360e-01 8.44421393e-01 -3.66723754e-04 -1.44593400e+02] [-6.74367093e-04 6.48862956e-06 9.99999773e-01 -4.19059992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.626559995 meters 0.0546568220919652 Centerline is valid? [True, True] Translation: X:544.41, Y:-144.63, Z:-4.19 [[ 8.47813292e-01 5.30294811e-01 1.86261773e-04 5.44410711e+02] [-5.30294797e-01 8.47813313e-01 -1.20478396e-04 -1.44631222e+02] [-2.21804279e-04 3.36953612e-06 9.99999975e-01 -4.19044188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6865599949999 meters 0.05504767527949555 Centerline is valid? [True, True] Translation: X:544.46, Y:-144.67, Z:-4.19 [[ 8.50129173e-01 5.26573887e-01 -5.74882462e-04 5.44458348e+02] [-5.26573755e-01 8.50129367e-01 3.73020441e-04 -1.44670630e+02] [ 6.85147287e-04 -1.43975425e-05 9.99999765e-01 -4.19203144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.746559995 meters 0.05668458121163545 Centerline is valid? [True, True] Translation: X:544.51, Y:-144.71, Z:-4.19 [[ 8.52985893e-01 5.21931180e-01 -1.70592432e-03 5.44506644e+02] [-5.21930009e-01 8.52987597e-01 1.10669815e-03 -1.44708855e+02] [ 2.03275256e-03 -5.36248134e-05 9.99997933e-01 -4.19397134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8065599949999 meters 0.05607727556570706 Centerline is valid? [True, True] Translation: X:544.56, Y:-144.74, Z:-4.19 [[ 8.53946347e-01 5.20358322e-01 -1.68921806e-03 5.44559479e+02] [-5.20357171e-01 8.53948016e-01 1.09612279e-03 -1.44741302e+02] [ 2.01288102e-03 -5.70333220e-05 9.99997973e-01 -4.19326815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.866559995 meters 0.05573509643589854 Centerline is valid? [True, True] Translation: X:544.61, Y:-144.77, Z:-4.19 [[ 8.53727915e-01 5.20718692e-01 -8.31797804e-04 5.44613607e+02] [-5.20718412e-01 8.53728319e-01 5.40643064e-04 -1.44770224e+02] [ 9.91652290e-04 -2.84296447e-05 9.99999508e-01 -4.19081680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9265599949999 meters 0.055821940645434276 Centerline is valid? [True, True] Translation: X:544.66, Y:-144.80, Z:-4.19 [[ 8.52162563e-01 5.23276709e-01 -6.72116533e-04 5.44664672e+02] [-5.23276527e-01 8.52162828e-01 4.36367492e-04 -1.44804522e+02] [ 8.01093670e-04 -2.01532348e-05 9.99999679e-01 -4.19218963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.986559995 meters 0.055102798012322145 Centerline is valid? [True, True] Translation: X:544.72, Y:-144.83, Z:-4.19 [[ 8.48912209e-01 5.28533494e-01 -6.37494586e-04 5.44719529e+02] [-5.28533332e-01 8.48912449e-01 4.13899151e-04 -1.44832449e+02] [ 7.59936654e-04 -1.44269046e-05 9.99999711e-01 -4.19115496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0465599949999 meters 0.054283229868788405 Centerline is valid? [True, True] Translation: X:544.77, Y:-144.86, Z:-4.19 [[ 8.43887273e-01 5.36520278e-01 -5.11975259e-04 5.44772493e+02] [-5.36520175e-01 8.43887428e-01 3.32291028e-04 -1.44860632e+02] [ 6.10330359e-04 -5.73111379e-06 9.99999814e-01 -4.19174654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.106559995 meters 0.05411384603673421 Centerline is valid? [True, True] Translation: X:544.83, Y:-144.89, Z:-4.19 [[ 8.37952573e-01 5.45741881e-01 -1.13353437e-03 5.44827492e+02] [-5.45741385e-01 8.37953339e-01 7.35974476e-04 -1.44888052e+02] [ 1.35150101e-03 1.90491178e-06 9.99999087e-01 -4.19240751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.166559995 meters 0.054475185860518895 Centerline is valid? [True, True] Translation: X:544.88, Y:-144.92, Z:-4.20 [[ 8.35835720e-01 5.48977850e-01 -1.40332767e-03 5.44881087e+02] [-5.48977094e-01 8.35836898e-01 9.11177353e-04 -1.44919275e+02] [ 1.67316923e-03 8.80016624e-06 9.99998600e-01 -4.19541957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.226559995 meters 0.054061501324058715 Centerline is valid? [True, True] Translation: X:544.94, Y:-144.95, Z:-4.20 [[ 8.30144885e-01 5.57545661e-01 -1.51830718e-03 5.44935788e+02] [-5.57544791e-01 8.30146273e-01 9.85547898e-04 -1.44947215e+02] [ 1.80990500e-03 2.83767128e-05 9.99998362e-01 -4.19592341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.286559995 meters 0.055712839815705115 Centerline is valid? [True, True] Translation: X:544.99, Y:-144.97, Z:-4.20 [[ 8.26698190e-01 5.62643864e-01 -1.40913867e-03 5.44992537e+02] [-5.62643121e-01 8.26699390e-01 9.14623784e-04 -1.44969028e+02] [ 1.67954154e-03 3.67243536e-05 9.99998589e-01 -4.19984197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.346559995 meters 0.05390172420919854 Centerline is valid? [True, True] Translation: X:545.04, Y:-145.01, Z:-4.20 [[ 8.22841092e-01 5.68270355e-01 -1.15811775e-03 5.45039623e+02] [-5.68269859e-01 8.22841906e-01 7.51751492e-04 -1.45007811e+02] [ 1.38014591e-03 3.95513927e-05 9.99999047e-01 -4.19571935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.406559995 meters 0.05510581710343247 Centerline is valid? [True, True] Translation: X:545.09, Y:-145.04, Z:-4.20 [[ 8.20733598e-01 5.71310503e-01 -8.18141350e-04 5.45091815e+02] [-5.71310257e-01 8.20734006e-01 5.31042568e-04 -1.45037757e+02] [ 9.74866624e-04 3.15680673e-05 9.99999524e-01 -4.19751404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4665599949999 meters 0.05423740316789689 Centerline is valid? [True, True] Translation: X:545.14, Y:-145.07, Z:-4.20 [[ 8.20225616e-01 5.72038717e-01 -1.28237894e-03 5.45142647e+02] [-5.72038112e-01 8.20226617e-01 8.33441462e-04 -1.45074121e+02] [ 1.52860212e-03 4.99595922e-05 9.99998830e-01 -4.19827802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.526559995 meters 0.05441945272982044 Centerline is valid? [True, True] Translation: X:545.19, Y:-145.11, Z:-4.20 [[ 8.20614070e-01 5.71479356e-01 -1.97358042e-03 5.45194058e+02] [-5.71477921e-01 8.20616439e-01 1.28248370e-03 -1.45109512e+02] [ 2.35246549e-03 7.54334659e-05 9.99997230e-01 -4.20016091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5865599949999 meters 0.052854989297799686 Centerline is valid? [True, True] Translation: X:545.23, Y:-145.16, Z:-4.20 [[ 8.22712508e-01 5.68448639e-01 -3.20526070e-03 5.45233712e+02] [-5.68444835e-01 8.22718745e-01 2.08235421e-03 -1.45161762e+02] [ 3.82073948e-03 1.08835034e-04 9.99992695e-01 -4.19598380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.646559995 meters 0.053555312960182504 Centerline is valid? [True, True] Translation: X:545.29, Y:-145.19, Z:-4.20 [[ 8.25087421e-01 5.64996867e-01 -3.04757315e-03 5.45289841e+02] [-5.64993402e-01 8.25093045e-01 1.98064031e-03 -1.45185487e+02] [ 3.63358698e-03 8.76573175e-05 9.99993395e-01 -4.20281724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7065599949999 meters 0.052660432324856156 Centerline is valid? [True, True] Translation: X:545.33, Y:-145.23, Z:-4.20 [[ 8.30369621e-01 5.57210783e-01 -1.56087605e-03 5.45332108e+02] [-5.57209860e-01 8.30371088e-01 1.01417048e-03 -1.45232574e+02] [ 1.86121307e-03 2.75991648e-05 9.99998268e-01 -4.19958188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.766559995 meters 0.05251335737345078 Centerline is valid? [True, True] Translation: X:545.38, Y:-145.27, Z:-4.20 [[ 8.34430927e-01 5.51112272e-01 -5.40654649e-04 5.45378620e+02] [-5.51112160e-01 8.34431102e-01 3.51464175e-04 -1.45273612e+02] [ 6.44835275e-04 4.68877375e-06 9.99999792e-01 -4.19894987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8265599949999 meters 0.0526415224890999 Centerline is valid? [True, True] Translation: X:545.42, Y:-145.32, Z:-4.20 [[ 8.40778337e-01 5.41379442e-01 2.95984582e-04 5.45422611e+02] [-5.41379408e-01 8.40778389e-01 -1.91428622e-04 -1.45317778e+02] [-3.52492961e-04 7.09080910e-07 9.99999938e-01 -4.20083453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.886559995 meters 0.05364724413568362 Centerline is valid? [True, True] Translation: X:545.47, Y:-145.36, Z:-4.20 [[ 8.46663934e-01 5.32127976e-01 -1.83508658e-05 5.45470056e+02] [-5.32127976e-01 8.46663934e-01 1.21599480e-05 -1.45358186e+02] [ 2.20076646e-05 -5.30380365e-07 1.00000000e+00 -4.19990010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9465599949999 meters 0.053955760504357936 Centerline is valid? [True, True] Translation: X:545.52, Y:-145.39, Z:-4.20 [[ 8.49042044e-01 5.28325284e-01 -3.19426383e-05 5.45518612e+02] [-5.28325284e-01 8.49042045e-01 2.12113800e-05 -1.45394136e+02] [ 3.83271511e-05 -1.13325001e-06 9.99999999e-01 -4.20057560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.006559995 meters 0.05375996361440384 Centerline is valid? [True, True] Translation: X:545.57, Y:-145.43, Z:-4.20 [[ 8.49600009e-01 5.27427548e-01 7.76685301e-05 5.45570699e+02] [-5.27427546e-01 8.49600013e-01 -4.96751906e-05 -1.45427262e+02] [-9.21872483e-05 1.23952023e-06 9.99999996e-01 -4.20082644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0665599949999 meters 0.05400714508161236 Centerline is valid? [True, True] Translation: X:545.62, Y:-145.46, Z:-4.20 [[ 8.49876193e-01 5.26982342e-01 -2.61499726e-04 5.45622330e+02] [-5.26982314e-01 8.49876233e-01 1.70551552e-04 -1.45462538e+02] [ 3.12120058e-04 -7.14197251e-06 9.99999951e-01 -4.20197817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.126559995 meters 0.0540961425812437 Centerline is valid? [True, True] Translation: X:545.67, Y:-145.50, Z:-4.20 [[ 8.50524549e-01 5.25934583e-01 -8.98012047e-04 5.45671518e+02] [-5.25934259e-01 8.50525022e-01 5.84422985e-04 -1.45498319e+02] [ 1.07114998e-03 -2.47707954e-05 9.99999426e-01 -4.20331911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1865599949999 meters 0.054769366023342037 Centerline is valid? [True, True] Translation: X:545.73, Y:-145.53, Z:-4.20 [[ 8.50457277e-01 5.26044030e-01 -3.13253736e-04 5.45725623e+02] [-5.26043990e-01 8.50457335e-01 2.04740055e-04 -1.45529964e+02] [ 3.74111221e-04 -9.33742422e-06 9.99999930e-01 -4.20336500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.246559995 meters 0.05402904728179869 Centerline is valid? [True, True] Translation: X:545.78, Y:-145.56, Z:-4.20 [[ 8.48971587e-01 5.28437591e-01 9.78210829e-04 5.45782112e+02] [-5.28437209e-01 8.48972150e-01 -6.36039360e-04 -1.45556589e+02] [-1.16658086e-03 2.30563450e-05 9.99999319e-01 -4.20211847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3065599949999 meters 0.0541742793050302 Centerline is valid? [True, True] Translation: X:545.83, Y:-145.59, Z:-4.20 [[ 8.47337943e-01 5.31052623e-01 1.23363197e-03 5.45832014e+02] [-5.31052018e-01 8.47338840e-01 -8.02189413e-04 -1.45590453e+02] [-1.47130908e-03 2.46027785e-05 9.99998917e-01 -4.20301440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.366559995 meters 0.05369441619738887 Centerline is valid? [True, True] Translation: X:545.89, Y:-145.62, Z:-4.20 [[ 8.43485786e-01 5.37149159e-01 1.58455344e-03 5.45885614e+02] [-5.37148170e-01 8.43487274e-01 -1.03062121e-03 -1.45617750e+02] [-1.89014798e-03 1.81743608e-05 9.99998214e-01 -4.20444875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4265599949999 meters 0.05382869171782079 Centerline is valid? [True, True] Translation: X:545.94, Y:-145.64, Z:-4.20 [[ 8.40349919e-01 5.42042777e-01 1.28112538e-03 5.45943299e+02] [-5.42042137e-01 8.40350896e-01 -8.32512428e-04 -1.45643474e+02] [-1.52785221e-03 5.17781333e-06 9.99998833e-01 -4.20341344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.486559995 meters 0.0535083571394118 Centerline is valid? [True, True] Translation: X:546.00, Y:-145.67, Z:-4.21 [[ 8.35244690e-01 5.49878351e-01 -3.27659713e-04 5.45998355e+02] [-5.49878309e-01 8.35244754e-01 2.14213058e-04 -1.45671369e+02] [ 3.91467179e-04 1.25264937e-06 9.99999923e-01 -4.20597856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5465599949999 meters 0.053340725075108175 Centerline is valid? [True, True] Translation: X:546.05, Y:-145.70, Z:-4.21 [[ 8.30407260e-01 5.57154790e-01 -1.52412762e-03 5.46052187e+02] [-5.57153905e-01 8.30408658e-01 9.92928878e-04 -1.45700231e+02] [ 1.81886385e-03 2.46383082e-05 9.99998346e-01 -4.20670231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.606559995 meters 0.05340954995821101 Centerline is valid? [True, True] Translation: X:546.10, Y:-145.73, Z:-4.21 [[ 8.27554953e-01 5.61381945e-01 -1.76410558e-03 5.46103795e+02] [-5.61380770e-01 8.27556832e-01 1.14950033e-03 -1.45733151e+02] [ 2.10520635e-03 3.90602596e-05 9.99997783e-01 -4.20596165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.666559995 meters 0.053238408217325214 Centerline is valid? [True, True] Translation: X:546.16, Y:-145.76, Z:-4.21 [[ 8.24318286e-01 5.66124073e-01 -1.70226253e-03 5.46156585e+02] [-5.66122989e-01 8.24320042e-01 1.10878635e-03 -1.45763429e+02] [ 2.03091977e-03 4.96970883e-05 9.99997936e-01 -4.20713441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.726559995 meters 0.05248524206309595 Centerline is valid? [True, True] Translation: X:546.21, Y:-145.80, Z:-4.21 [[ 8.22997856e-01 5.68041130e-01 -1.95016759e-03 5.46207807e+02] [-5.68039712e-01 8.23000164e-01 1.27100863e-03 -1.45796999e+02] [ 2.32697342e-03 6.17352583e-05 9.99997291e-01 -4.20691259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.786559995 meters 0.053154228860050654 Centerline is valid? [True, True] Translation: X:546.26, Y:-145.83, Z:-4.21 [[ 8.22252950e-01 5.69116200e-01 -2.61494598e-03 5.46259515e+02] [-5.69113657e-01 8.22257103e-01 1.70363907e-03 -1.45828513e+02] [ 3.11972650e-03 8.73792158e-05 9.99995130e-01 -4.20886132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.846559995 meters 0.053096260905306975 Centerline is valid? [True, True] Translation: X:546.31, Y:-145.87, Z:-4.21 [[ 8.22669176e-01 5.68512106e-01 -3.06798282e-03 5.46307555e+02] [-5.68508597e-01 8.22674891e-01 1.99983418e-03 -1.45868467e+02] [ 3.66088237e-03 9.89726710e-05 9.99993294e-01 -4.20780692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.906559995 meters 0.052939038514688896 Centerline is valid? [True, True] Translation: X:546.36, Y:-145.90, Z:-4.21 [[ 8.23521696e-01 5.67275312e-01 -3.27675678e-03 5.46358195e+02] [-5.67271297e-01 8.23528209e-01 2.13637656e-03 -1.45904707e+02] [ 3.91041532e-03 9.94576222e-05 9.99992349e-01 -4.20769604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9665599949999 meters 0.052836727095690136 Centerline is valid? [True, True] Translation: X:546.41, Y:-145.94, Z:-4.21 [[ 8.24967806e-01 5.65170154e-01 -3.28881343e-03 5.46407795e+02] [-5.65166096e-01 8.24974356e-01 2.14356999e-03 -1.45941834e+02] [ 3.92466852e-03 9.03496099e-05 9.99992294e-01 -4.20725958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.026559995 meters 0.05260751426890985 Centerline is valid? [True, True] Translation: X:546.46, Y:-145.98, Z:-4.21 [[ 8.27172741e-01 5.61941645e-01 -2.61619239e-03 5.46457221e+02] [-5.61939059e-01 8.27176876e-01 1.70563122e-03 -1.45977449e+02] [ 3.12251906e-03 5.92890362e-05 9.99995123e-01 -4.20773264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0865599949999 meters 0.05273824625439511 Centerline is valid? [True, True] Translation: X:546.51, Y:-146.02, Z:-4.21 [[ 8.29239783e-01 5.58889050e-01 -2.10058627e-03 5.46506397e+02] [-5.58887373e-01 8.29242443e-01 1.36951070e-03 -1.46015277e+02] [ 2.50729982e-03 3.83383850e-05 9.99996856e-01 -4.20762532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.146559995 meters 0.052778880624520234 Centerline is valid? [True, True] Translation: X:546.55, Y:-146.05, Z:-4.21 [[ 8.32713319e-01 5.53701824e-01 -1.67902421e-03 5.46554642e+02] [-5.53700741e-01 8.32715011e-01 1.09496877e-03 -1.46052132e+02] [ 2.00443486e-03 1.78818737e-05 9.99997991e-01 -4.20780143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2065599949999 meters 0.0530149346304595 Centerline is valid? [True, True] Translation: X:546.61, Y:-146.09, Z:-4.21 [[ 8.34775310e-01 5.50588446e-01 -1.59545427e-03 5.46605343e+02] [-5.50587461e-01 8.34776835e-01 1.04131314e-03 -1.46087083e+02] [ 1.90518325e-03 9.17461617e-06 9.99998185e-01 -4.21051339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.266559995 meters 0.05346191753672727 Centerline is valid? [True, True] Translation: X:546.65, Y:-146.13, Z:-4.21 [[ 8.38350768e-01 5.45129779e-01 -1.23038682e-03 5.46654403e+02] [-5.45129188e-01 8.38351671e-01 8.02912831e-04 -1.46125374e+02] [ 1.46918854e-03 -2.40281916e-06 9.99998921e-01 -4.21006876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3265599949999 meters 0.05386499132264879 Centerline is valid? [True, True] Translation: X:546.70, Y:-146.16, Z:-4.21 [[ 8.42840942e-01 5.38162730e-01 -1.46698072e-04 5.46704506e+02] [-5.38162722e-01 8.42840955e-01 9.62037007e-05 -1.46162132e+02] [ 1.75416389e-04 -2.13698382e-06 9.99999985e-01 -4.20930537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.386559995 meters 0.05334513079818484 Centerline is valid? [True, True] Translation: X:546.75, Y:-146.20, Z:-4.21 [[ 8.46516005e-01 5.32363266e-01 8.26508385e-05 5.46753212e+02] [-5.32363263e-01 8.46516009e-01 -5.34646630e-05 -1.46197445e+02] [-9.84278808e-05 1.25842283e-06 9.99999995e-01 -4.20852831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4465599949999 meters 0.05479577372887577 Centerline is valid? [True, True] Translation: X:546.80, Y:-146.23, Z:-4.21 [[ 8.52573102e-01 5.22607983e-01 -4.58020445e-05 5.46800430e+02] [-5.22607982e-01 8.52573103e-01 3.02416798e-05 -1.46234868e+02] [ 5.48541343e-05 -1.84672870e-06 9.99999998e-01 -4.20898000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.506559995 meters 0.05523950487913412 Centerline is valid? [True, True] Translation: X:546.85, Y:-146.26, Z:-4.21 [[ 8.56351169e-01 5.16392834e-01 1.05634290e-03 5.46854624e+02] [-5.16392376e-01 8.56351820e-01 -6.88863062e-04 -1.46264906e+02] [-1.26032512e-03 4.44212675e-05 9.99999205e-01 -4.20869547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5665599949999 meters 0.05591902083845066 Centerline is valid? [True, True] Translation: X:546.91, Y:-146.30, Z:-4.21 [[ 8.59575837e-01 5.11008099e-01 3.19800630e-04 5.46905858e+02] [-5.11008057e-01 8.59575897e-01 -2.08249174e-04 -1.46296249e+02] [-3.81309928e-04 1.55852591e-05 9.99999927e-01 -4.20910589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.626559995 meters 0.05626869004332423 Centerline is valid? [True, True] Translation: X:546.96, Y:-146.33, Z:-4.21 [[ 8.60158596e-01 5.10026521e-01 3.70460039e-04 5.46960583e+02] [-5.10026464e-01 8.60158676e-01 -2.41508183e-04 -1.46325856e+02] [-4.41829995e-04 1.87909158e-05 9.99999902e-01 -4.20980943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6865599949999 meters 0.05525545971473234 Centerline is valid? [True, True] Translation: X:547.02, Y:-146.35, Z:-4.21 [[ 8.59457028e-01 5.11204814e-01 1.80434738e-03 5.47017335e+02] [-5.11203466e-01 8.59458917e-01 -1.17721600e-03 -1.46350965e+02] [-2.15256094e-03 8.93779286e-05 9.99997679e-01 -4.20920802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.746559995 meters 0.05651646755457357 Centerline is valid? [True, True] Translation: X:547.07, Y:-146.39, Z:-4.21 [[ 8.57907705e-01 5.13798344e-01 2.37316671e-03 5.47066937e+02] [-5.13796022e-01 8.57910980e-01 -1.54844981e-03 -1.46387534e+02] [-2.83155672e-03 1.09103404e-04 9.99995985e-01 -4.20982198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8065599949999 meters 0.0562633132756066 Centerline is valid? [True, True] Translation: X:547.12, Y:-146.41, Z:-4.21 [[ 8.54187448e-01 5.19954978e-01 3.25952102e-03 5.47123061e+02] [-5.19950642e-01 8.54193659e-01 -2.12698376e-03 -1.46412741e+02] [-3.89019798e-03 1.22052783e-04 9.99992426e-01 -4.21014822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.866559995 meters 0.05511492385585469 Centerline is valid? [True, True] Translation: X:547.18, Y:-146.43, Z:-4.21 [[ 8.49504824e-01 5.27570753e-01 3.26401460e-03 5.47182133e+02] [-5.27566460e-01 8.49511090e-01 -2.13011729e-03 -1.46431962e+02] [-3.89660419e-03 8.75602848e-05 9.99992404e-01 -4.21029109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9265599949999 meters 0.05539536381355769 Centerline is valid? [True, True] Translation: X:547.24, Y:-146.46, Z:-4.21 [[ 8.46356318e-01 5.32608540e-01 3.02090798e-03 5.47237043e+02] [-5.32604894e-01 8.46361708e-01 -1.97141589e-03 -1.46458946e+02] [-3.60677378e-03 5.95699127e-05 9.99993494e-01 -4.21140781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.986559995 meters 0.05494171787750343 Centerline is valid? [True, True] Translation: X:547.29, Y:-146.49, Z:-4.21 [[ 8.44867019e-01 5.34970050e-01 2.60100170e-03 5.47290542e+02] [-5.34967359e-01 8.44871022e-01 -1.69735741e-03 -1.46490224e+02] [-3.10554635e-03 4.25902870e-05 9.99995177e-01 -4.21219561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0465599949999 meters 0.05562164346535783 Centerline is valid? [True, True] Translation: X:547.35, Y:-146.51, Z:-4.21 [[ 8.41149767e-01 5.40800191e-01 1.49094588e-03 5.47349748e+02] [-5.40799316e-01 8.41151088e-01 -9.72993376e-04 -1.46512897e+02] [-1.78030575e-03 1.21306393e-05 9.99998415e-01 -4.21201980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.106559995 meters 0.05510984511652718 Centerline is valid? [True, True] Translation: X:547.41, Y:-146.54, Z:-4.21 [[ 8.39087972e-01 5.43994730e-01 1.05338612e-03 5.47405148e+02] [-5.43994296e-01 8.39088633e-01 -6.86785928e-04 -1.46540324e+02] [-1.25749224e-03 3.23777299e-06 9.99999209e-01 -4.21444212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.166559995 meters 0.054960499155252654 Centerline is valid? [True, True] Translation: X:547.46, Y:-146.57, Z:-4.21 [[ 8.38793163e-01 5.44449387e-01 9.45712972e-04 5.47461040e+02] [-5.44449038e-01 8.38793696e-01 -6.17027576e-04 -1.46569810e+02] [-1.12919837e-03 2.66599470e-06 9.99999362e-01 -4.21288936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.226559995 meters 0.05586096990042213 Centerline is valid? [True, True] Translation: X:547.52, Y:-146.60, Z:-4.22 [[ 8.39225825e-01 5.43783049e-01 -9.90946406e-05 5.47515058e+02] [-5.43783045e-01 8.39225831e-01 6.57022651e-05 -1.46598511e+02] [ 1.18890560e-04 -1.25305226e-06 9.99999993e-01 -4.21504708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.286559995 meters 0.055554844133947144 Centerline is valid? [True, True] Translation: X:547.57, Y:-146.63, Z:-4.21 [[ 8.39906081e-01 5.42731219e-01 -7.74311155e-04 5.47568790e+02] [-5.42730982e-01 8.39906438e-01 5.06925579e-04 -1.46629249e+02] [ 9.25473261e-04 -5.52722286e-06 9.99999572e-01 -4.21388116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.346559995 meters 0.056253880995883826 Centerline is valid? [True, True] Translation: X:547.62, Y:-146.66, Z:-4.21 [[ 8.40778470e-01 5.41379255e-01 -2.57412684e-04 5.47622788e+02] [-5.41379228e-01 8.40778510e-01 1.69323274e-04 -1.46660256e+02] [ 3.08095160e-04 -3.00548306e-06 9.99999953e-01 -4.21363545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.406559995 meters 0.0561078163562325 Centerline is valid? [True, True] Translation: X:547.68, Y:-146.69, Z:-4.21 [[ 8.41104299e-01 5.40872607e-01 6.17673857e-04 5.47676354e+02] [-5.40872457e-01 8.41104525e-01 -4.03335361e-04 -1.46692421e+02] [-7.37681325e-04 5.16432871e-06 9.99999728e-01 -4.21324414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4665599949999 meters 0.0559377944914507 Centerline is valid? [True, True] Translation: X:547.73, Y:-146.72, Z:-4.21 [[ 8.41286609e-01 5.40588979e-01 6.29887756e-04 5.47729797e+02] [-5.40588822e-01 8.41286845e-01 -4.11345014e-04 -1.46724674e+02] [-7.52284865e-04 5.54877201e-06 9.99999717e-01 -4.21422491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.526559995 meters 0.0561353340124271 Centerline is valid? [True, True] Translation: X:547.78, Y:-146.75, Z:-4.21 [[ 8.41323541e-01 5.40531847e-01 -1.47493670e-04 5.47784684e+02] [-5.40531838e-01 8.41323554e-01 9.74686791e-05 -1.46754491e+02] [ 1.76774824e-04 -2.27766968e-06 9.99999984e-01 -4.21226929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5865599949999 meters 0.055289269001785366 Centerline is valid? [True, True] Translation: X:547.83, Y:-146.79, Z:-4.22 [[ 8.41123925e-01 5.40842372e-01 2.67084855e-04 5.47834330e+02] [-5.40842344e-01 8.41123967e-01 -1.73646334e-04 -1.46789768e+02] [-3.18566768e-04 1.60728732e-06 9.99999949e-01 -4.21694621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.646559995 meters 0.05638491049318142 Centerline is valid? [True, True] Translation: X:547.89, Y:-146.82, Z:-4.22 [[ 8.39920346e-01 5.42708768e-01 1.00290211e-03 5.47888522e+02] [-5.42708372e-01 8.39920944e-01 -6.55545573e-04 -1.46821363e+02] [-1.19812882e-03 6.32269422e-06 9.99999282e-01 -4.21673613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7065599949999 meters 0.05622992390110692 Centerline is valid? [True, True] Translation: X:547.94, Y:-146.85, Z:-4.22 [[ 8.37214942e-01 5.46871359e-01 1.69049637e-03 5.47941387e+02] [-5.46870242e-01 8.37216649e-01 -1.10518641e-03 -1.46852310e+02] [-2.01970650e-03 7.96417006e-07 9.99997960e-01 -4.21540632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.766559995 meters 0.055366692372981335 Centerline is valid? [True, True] Translation: X:547.99, Y:-146.88, Z:-4.22 [[ 8.34704579e-01 5.50694918e-01 1.83659074e-03 5.47994304e+02] [-5.50693609e-01 8.34706599e-01 -1.20095777e-03 -1.46884440e+02] [-2.19437575e-03 -8.95383331e-06 9.99997592e-01 -4.21780430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8265599949999 meters 0.05549802918459232 Centerline is valid? [True, True] Translation: X:548.05, Y:-146.91, Z:-4.22 [[ 8.30188675e-01 5.57479137e-01 1.94345045e-03 5.48048438e+02] [-5.57477688e-01 8.30190949e-01 -1.27117386e-03 -1.46911392e+02] [-2.32208788e-03 -2.81161183e-05 9.99997304e-01 -4.21979001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.886559995 meters 0.05567430707610713 Centerline is valid? [True, True] Translation: X:548.10, Y:-146.94, Z:-4.22 [[ 8.25345941e-01 5.64624862e-01 1.68588853e-03 5.48102433e+02] [-5.64623786e-01 8.25347662e-01 -1.10301611e-03 -1.46939129e+02] [-2.01423448e-03 -4.15228949e-05 9.99997971e-01 -4.22033165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9465599949999 meters 0.055216809775254845 Centerline is valid? [True, True] Translation: X:548.15, Y:-146.98, Z:-4.22 [[ 8.22641779e-01 5.68555501e-01 2.26837738e-03 5.48150934e+02] [-5.68553568e-01 8.22644904e-01 -1.48408651e-03 -1.46976633e+02] [-2.70985464e-03 -6.88224877e-05 9.99996326e-01 -4.21901627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.006559995 meters 0.05602907318994725 Centerline is valid? [True, True] Translation: X:548.20, Y:-147.00, Z:-4.22 [[ 8.19523610e-01 5.73039750e-01 2.54887264e-03 5.48204388e+02] [-5.73037332e-01 8.19527569e-01 -1.66748849e-03 -1.47004032e+02] [-3.04440858e-03 -9.40529848e-05 9.99995361e-01 -4.22056177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0665599949999 meters 0.057177010278360765 Centerline is valid? [True, True] Translation: X:548.26, Y:-147.03, Z:-4.22 [[ 8.18296209e-01 5.74789868e-01 2.81461590e-03 5.48257881e+02] [-5.74786929e-01 8.18301042e-01 -1.84160686e-03 -1.47032805e+02] [-3.36174008e-03 -1.10824518e-04 9.99994343e-01 -4.22171325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.126559995 meters 0.05495722877246488 Centerline is valid? [True, True] Translation: X:548.30, Y:-147.08, Z:-4.22 [[ 8.17460757e-01 5.75975883e-01 3.11355311e-03 5.48303811e+02] [-5.75972295e-01 8.17466676e-01 -2.03695586e-03 -1.47075317e+02] [-3.71846336e-03 -1.28188854e-04 9.99993078e-01 -4.22136598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1865599949999 meters 0.056292101689355355 Centerline is valid? [True, True] Translation: X:548.36, Y:-147.11, Z:-4.22 [[ 8.17302857e-01 5.76202768e-01 2.53177852e-03 5.48356153e+02] [-5.76200396e-01 8.17306772e-01 -1.65663170e-03 -1.47106147e+02] [-3.02379550e-03 -1.04841966e-04 9.99995423e-01 -4.22363337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.246559995 meters 0.05425089543791496 Centerline is valid? [True, True] Translation: X:548.40, Y:-147.15, Z:-4.22 [[ 8.17472161e-01 5.75962719e-01 2.49264049e-03 5.48401207e+02] [-5.75960417e-01 8.17475955e-01 -1.63155352e-03 -1.47151619e+02] [-2.97738767e-03 -1.01912675e-04 9.99995562e-01 -4.22355376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3065599949999 meters 0.054690996567725234 Centerline is valid? [True, True] Translation: X:548.45, Y:-147.19, Z:-4.23 [[ 8.17697990e-01 5.75644293e-01 1.90920807e-03 5.48452671e+02] [-5.75642942e-01 8.17700215e-01 -1.24926646e-03 -1.47185424e+02] [-2.28029296e-03 -7.74994759e-05 9.99997397e-01 -4.22553605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.366559995 meters 0.05437682867814008 Centerline is valid? [True, True] Translation: X:548.50, Y:-147.23, Z:-4.23 [[ 8.18161892e-01 5.74985875e-01 1.53701835e-03 5.48499661e+02] [-5.74984999e-01 8.18163333e-01 -1.00577768e-03 -1.47226860e+02] [-1.83584002e-03 -6.08735205e-05 9.99998313e-01 -4.22609013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4265599949999 meters 0.054079792706366495 Centerline is valid? [True, True] Translation: X:548.55, Y:-147.26, Z:-4.23 [[ 8.18856048e-01 5.73997395e-01 1.32773002e-03 5.48548962e+02] [-5.73996739e-01 8.18857123e-01 -8.69347465e-04 -1.47262009e+02] [-1.58622436e-03 -5.02422709e-05 9.99998741e-01 -4.22761982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.486559995 meters 0.05348629356946497 Centerline is valid? [True, True] Translation: X:548.60, Y:-147.30, Z:-4.23 [[ 8.19940177e-01 5.72445288e-01 2.12122779e-03 5.48595468e+02] [-5.72443606e-01 8.19942917e-01 -1.38945331e-03 -1.47302505e+02] [-2.53467170e-03 -7.50146920e-05 9.99996785e-01 -4.22676762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5465599949999 meters 0.053196765917548156 Centerline is valid? [True, True] Translation: X:548.64, Y:-147.35, Z:-4.23 [[ 8.22256840e-01 5.69106546e-01 3.38064007e-03 5.48639457e+02] [-5.69102247e-01 8.22263783e-01 -2.21444064e-03 -1.47347128e+02] [-4.04003056e-03 -1.03090895e-04 9.99991834e-01 -4.22536074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.606559995 meters 0.05240702302593953 Centerline is valid? [True, True] Translation: X:548.68, Y:-147.39, Z:-4.23 [[ 8.24065050e-01 5.66486183e-01 3.19322725e-03 5.48684414e+02] [-5.66482327e-01 8.24071233e-01 -2.09202809e-03 -1.47388406e+02] [-3.81655172e-03 -8.49395711e-05 9.99992713e-01 -4.22536075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.666559995 meters 0.05275317345901191 Centerline is valid? [True, True] Translation: X:548.73, Y:-147.43, Z:-4.23 [[ 8.26880657e-01 5.62367044e-01 3.41861527e-03 5.48732368e+02] [-5.62362589e-01 8.26887721e-01 -2.23967663e-03 -1.47426253e+02] [-4.08633131e-03 -7.05560518e-05 9.99991648e-01 -4.22752610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.726559995 meters 0.052084918869470136 Centerline is valid? [True, True] Translation: X:548.78, Y:-147.47, Z:-4.23 [[ 8.29022345e-01 5.59202795e-01 3.76639531e-03 5.48778344e+02] [-5.59197354e-01 8.29030898e-01 -2.46761627e-03 -1.47469114e+02] [-4.50235600e-03 -6.04492661e-05 9.99989863e-01 -4.22773691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.786559995 meters 0.05237600520743353 Centerline is valid? [True, True] Translation: X:548.83, Y:-147.50, Z:-4.23 [[ 8.30280643e-01 5.57337953e-01 2.90844588e-03 5.48828942e+02] [-5.57334698e-01 8.30285737e-01 -1.90520370e-03 -1.47503750e+02] [-3.47668346e-03 -3.91240537e-05 9.99993956e-01 -4.22976334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.846559995 meters 0.052273952625202715 Centerline is valid? [True, True] Translation: X:548.88, Y:-147.55, Z:-4.23 [[ 8.31614006e-01 5.55348344e-01 2.52216032e-03 5.48875593e+02] [-5.55345886e-01 8.31617831e-01 -1.65264057e-03 -1.47545581e+02] [-3.01526470e-03 -2.63123122e-05 9.99995454e-01 -4.22929485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.906559995 meters 0.05206823755657481 Centerline is valid? [True, True] Translation: X:548.92, Y:-147.58, Z:-4.23 [[ 8.32920084e-01 5.53388333e-01 2.34226585e-03 5.48923969e+02] [-5.53386206e-01 8.32923377e-01 -1.53464801e-03 -1.47584188e+02] [-2.80018428e-03 -1.79384594e-05 9.99996079e-01 -4.23073325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9665599949999 meters 0.05251882134952387 Centerline is valid? [True, True] Translation: X:548.97, Y:-147.62, Z:-4.23 [[ 8.34086377e-01 5.51626763e-01 2.79812846e-03 5.48971594e+02] [-5.51623715e-01 8.34091070e-01 -1.83398927e-03 -1.47624921e+02] [-3.34557153e-03 -1.38085517e-05 9.99994403e-01 -4.22954518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.026559995 meters 0.051800844088297944 Centerline is valid? [True, True] Translation: X:549.02, Y:-147.66, Z:-4.23 [[ 8.34753187e-01 5.50611169e-01 3.80225924e-03 5.49019283e+02] [-5.50605525e-01 8.34761847e-01 -2.49307710e-03 -1.47664918e+02] [-4.54669704e-03 -1.24408924e-05 9.99989664e-01 -4.23024142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0865599949999 meters 0.05143300358344745 Centerline is valid? [True, True] Translation: X:549.07, Y:-147.70, Z:-4.23 [[ 8.34064994e-01 5.51653189e-01 3.78737003e-03 5.49068591e+02] [-5.51647598e-01 8.34073593e-01 -2.48375551e-03 -1.47702002e+02] [-4.52911698e-03 -1.76800483e-05 9.99989743e-01 -4.23231756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.146559995 meters 0.05137117026994004 Centerline is valid? [True, True] Translation: X:549.12, Y:-147.74, Z:-4.23 [[ 8.32834035e-01 5.53509317e-01 3.86090192e-03 5.49118665e+02] [-5.53503523e-01 8.32842984e-01 -2.53268960e-03 -1.47738979e+02] [-4.61739236e-03 -2.77127137e-05 9.99989339e-01 -4.23169469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2065599949999 meters 0.050992047495891125 Centerline is valid? [True, True] Translation: X:549.17, Y:-147.77, Z:-4.23 [[ 8.30668093e-01 5.56756025e-01 3.63982366e-03 5.49169354e+02] [-5.56750904e-01 8.30676066e-01 -2.38819520e-03 -1.47774437e+02] [-4.35315647e-03 -4.26775599e-05 9.99990524e-01 -4.23248593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.266559995 meters 0.05097793233737025 Centerline is valid? [True, True] Translation: X:549.22, Y:-147.81, Z:-4.23 [[ 8.29456644e-01 5.58556425e-01 4.04929695e-03 5.49220179e+02] [-5.58550105e-01 8.29466526e-01 -2.65760890e-03 -1.47810068e+02] [-4.84318080e-03 -5.73638772e-05 9.99988270e-01 -4.23274538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3265599949999 meters 0.05114354751053459 Centerline is valid? [True, True] Translation: X:549.27, Y:-147.84, Z:-4.23 [[ 8.28792533e-01 5.59540143e-01 4.21487217e-03 5.49271268e+02] [-5.59533305e-01 8.28803248e-01 -2.76703467e-03 -1.47844139e+02] [-5.04156672e-03 -6.50636848e-05 9.99987289e-01 -4.23326915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.386559995 meters 0.051075151480541585 Centerline is valid? [True, True] Translation: X:549.33, Y:-147.88, Z:-4.23 [[ 8.28879863e-01 5.59412561e-01 3.96983054e-03 5.49325617e+02] [-5.59406490e-01 8.28889367e-01 -2.60691442e-03 -1.47875104e+02] [-4.74889100e-03 -5.99300995e-05 9.99988722e-01 -4.23493480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4465599949999 meters 0.05170269836310754 Centerline is valid? [True, True] Translation: X:549.38, Y:-147.91, Z:-4.24 [[ 8.29428718e-01 5.58605461e-01 2.81787005e-03 5.49379373e+02] [-5.58602399e-01 8.29433504e-01 -1.85015417e-03 -1.47906226e+02] [-3.37074205e-03 -3.94979692e-05 9.99994318e-01 -4.23641315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.506559995 meters 0.051551832877541566 Centerline is valid? [True, True] Translation: X:549.43, Y:-147.94, Z:-4.24 [[ 8.29605657e-01 5.58338931e-01 3.47754404e-03 5.49431339e+02] [-5.58334261e-01 8.29612944e-01 -2.28407762e-03 -1.47940400e+02] [-4.16030500e-03 -4.67482626e-05 9.99991345e-01 -4.23588374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5665599949999 meters 0.05132740453611989 Centerline is valid? [True, True] Translation: X:549.48, Y:-147.97, Z:-4.24 [[ 8.30338640e-01 5.57250953e-01 3.01973672e-03 5.49483113e+02] [-5.57247423e-01 8.30344130e-01 -1.98378325e-03 -1.47972517e+02] [-3.61288577e-03 -3.55286192e-05 9.99993473e-01 -4.23713094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.626559995 meters 0.051268796991249775 Centerline is valid? [True, True] Translation: X:549.54, Y:-148.01, Z:-4.24 [[ 8.31391615e-01 5.55682943e-01 2.10922733e-03 5.49535140e+02] [-5.55681216e-01 8.31394290e-01 -1.38562317e-03 -1.48006810e+02] [-2.52356672e-03 -2.00625246e-05 9.99996816e-01 -4.23898066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6865599949999 meters 0.051816944380613406 Centerline is valid? [True, True] Translation: X:549.59, Y:-148.04, Z:-4.24 [[ 8.33586694e-01 5.52387343e-01 1.20261107e-03 5.49585844e+02] [-5.52386779e-01 8.33587562e-01 -7.89797507e-04 -1.48042346e+02] [-1.43875577e-03 -5.94175968e-06 9.99998965e-01 -4.23977129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.746559995 meters 0.051698689022352154 Centerline is valid? [True, True] Translation: X:549.64, Y:-148.08, Z:-4.24 [[ 8.35010184e-01 5.50233801e-01 8.70253376e-04 5.49636003e+02] [-5.50233505e-01 8.35010637e-01 -5.71332886e-04 -1.48078008e+02] [-1.04103749e-03 -1.77378679e-06 9.99999458e-01 -4.24051805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8065599949999 meters 0.0523061905680508 Centerline is valid? [True, True] Translation: X:549.69, Y:-148.11, Z:-4.24 [[ 8.37121899e-01 5.47011966e-01 2.19890822e-03 5.49687044e+02] [-5.47010056e-01 8.37124787e-01 -1.44565968e-03 -1.48113604e+02] [-2.63155372e-03 7.36846701e-06 9.99996537e-01 -4.23882728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.866559995 meters 0.05245249533622469 Centerline is valid? [True, True] Translation: X:549.74, Y:-148.15, Z:-4.24 [[ 8.38477855e-01 5.44928824e-01 2.73202164e-03 5.49737525e+02] [-5.44925861e-01 8.38482306e-01 -1.79691976e-03 -1.48148593e+02] [-3.26994518e-03 1.79281801e-05 9.99994654e-01 -4.23979130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9265599949999 meters 0.05216245674893212 Centerline is valid? [True, True] Translation: X:549.79, Y:-148.18, Z:-4.24 [[ 8.40456773e-01 5.41865236e-01 3.80512320e-03 5.49787775e+02] [-5.41859452e-01 8.40465386e-01 -2.50387015e-03 -1.48185000e+02] [-4.55483453e-03 4.25526583e-05 9.99989626e-01 -4.24057779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.986559995 meters 0.05245100839248953 Centerline is valid? [True, True] Translation: X:549.84, Y:-148.22, Z:-4.24 [[ 8.41236826e-01 5.40646846e-01 4.64646284e-03 5.49837352e+02] [-5.40638203e-01 8.41249656e-01 -3.05768116e-03 -1.48220433e+02] [-5.56196095e-03 6.01786757e-05 9.99984530e-01 -4.24146885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0465599949999 meters 0.052695209235231036 Centerline is valid? [True, True] Translation: X:549.89, Y:-148.25, Z:-4.24 [[ 8.41625355e-01 5.40040796e-01 4.76451397e-03 5.49890917e+02] [-5.40031694e-01 8.41638838e-01 -3.13615680e-03 -1.48252601e+02] [-5.70365261e-03 6.64805279e-05 9.99983732e-01 -4.24204138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.106559995 meters 0.05260498878182201 Centerline is valid? [True, True] Translation: X:549.94, Y:-148.29, Z:-4.24 [[ 8.41786743e-01 5.39800146e-01 3.29874311e-03 5.49943178e+02] [-5.39795780e-01 8.41793205e-01 -2.17156898e-03 -1.48285596e+02] [-3.94907278e-03 4.73503674e-05 9.99992201e-01 -4.24375733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.166559995 meters 0.0521174512547719 Centerline is valid? [True, True] Translation: X:550.00, Y:-148.32, Z:-4.25 [[ 8.41322175e-01 5.40531625e-01 1.60033706e-03 5.49996898e+02] [-5.40530599e-01 8.41323696e-01 -1.05314482e-03 -1.48317880e+02] [-1.91565957e-03 2.10029397e-05 9.99998165e-01 -4.24572284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.226559995 meters 0.05231555503335975 Centerline is valid? [True, True] Translation: X:550.05, Y:-148.35, Z:-4.25 [[ 8.40126830e-01 5.42388961e-01 1.05996142e-03 5.50050095e+02] [-5.42388513e-01 8.40127499e-01 -6.97534256e-04 -1.48348446e+02] [-1.26883762e-03 1.11063441e-05 9.99999195e-01 -4.24741002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.286559995 meters 0.05287484768257502 Centerline is valid? [True, True] Translation: X:550.10, Y:-148.38, Z:-4.25 [[ 8.39490684e-01 5.43367602e-01 2.65351786e-03 5.50104069e+02] [-5.43364790e-01 8.39494877e-01 -1.74831020e-03 -1.48379873e+02] [-3.17758977e-03 2.58619472e-05 9.99994951e-01 -4.24597789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.346559995 meters 0.05208187341583433 Centerline is valid? [True, True] Translation: X:550.16, Y:-148.41, Z:-4.25 [[ 8.39150032e-01 5.43888181e-01 3.58758584e-03 5.50155551e+02] [-5.43883046e-01 8.39157700e-01 -2.36383513e-03 -1.48413630e+02] [-4.29621227e-03 3.23852100e-05 9.99990771e-01 -4.24614211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.406559995 meters 0.052527661150841225 Centerline is valid? [True, True] Translation: X:550.21, Y:-148.44, Z:-4.25 [[ 8.38125379e-01 5.45462615e-01 4.04789417e-03 5.50210469e+02] [-5.45456091e-01 8.38135153e-01 -2.66786471e-03 -1.48444002e+02] [-4.84790286e-03 2.80565935e-05 9.99988248e-01 -4.24653846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4665599949999 meters 0.05262691052336027 Centerline is valid? [True, True] Translation: X:550.26, Y:-148.47, Z:-4.25 [[ 8.35868032e-01 5.48916435e-01 3.92188256e-03 5.50264993e+02] [-5.48910346e-01 8.35877232e-01 -2.58544675e-03 -1.48474754e+02] [-4.69740656e-03 8.33037241e-06 9.99988967e-01 -4.24648122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.526559995 meters 0.05229019555965213 Centerline is valid? [True, True] Translation: X:550.32, Y:-148.51, Z:-4.25 [[ 8.33942685e-01 5.51839078e-01 3.63729964e-03 5.50318656e+02] [-5.51833867e-01 8.33950617e-01 -2.39836041e-03 -1.48506365e+02] [-4.35683728e-03 -7.09000289e-06 9.99990509e-01 -4.24717608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5865599949999 meters 0.05244953339346202 Centerline is valid? [True, True] Translation: X:550.37, Y:-148.53, Z:-4.25 [[ 8.30475348e-01 5.57047132e-01 3.03127618e-03 5.50372569e+02] [-5.57043544e-01 8.30480880e-01 -1.99955153e-03 -1.48534660e+02] [-3.63126136e-03 -2.79745770e-05 9.99993407e-01 -4.24860941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.646559995 meters 0.05191535987469594 Centerline is valid? [True, True] Translation: X:550.43, Y:-148.57, Z:-4.25 [[ 8.28206710e-01 5.60417061e-01 2.52247486e-03 5.50425050e+02] [-5.60414592e-01 8.28210551e-01 -1.66385818e-03 -1.48567027e+02] [-3.02159480e-03 -3.56132120e-05 9.99995434e-01 -4.24931580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7065599949999 meters 0.05173174086876284 Centerline is valid? [True, True] Translation: X:550.48, Y:-148.59, Z:-4.25 [[ 8.24965256e-01 5.65181579e-01 1.45206969e-03 5.50479673e+02] [-5.65180768e-01 8.24966534e-01 -9.57897067e-04 -1.48594163e+02] [-1.73929468e-03 -3.04500653e-05 9.99998487e-01 -4.25142701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.766559995 meters 0.05209777937515215 Centerline is valid? [True, True] Translation: X:550.53, Y:-148.63, Z:-4.25 [[ 8.24033073e-01 5.66539999e-01 1.38717022e-03 5.50529537e+02] [-5.66539261e-01 8.24034240e-01 -9.14614757e-04 -1.48630573e+02] [-1.66124160e-03 -3.22135852e-05 9.99998620e-01 -4.25079912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8265599949999 meters 0.05185605493357727 Centerline is valid? [True, True] Translation: X:550.58, Y:-148.66, Z:-4.25 [[ 8.22337905e-01 5.68997503e-01 1.48681348e-03 5.50582379e+02] [-5.68996659e-01 8.22339249e-01 -9.81109689e-04 -1.48662450e+02] [-1.78091404e-03 -3.91882127e-05 9.99998413e-01 -4.25110857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.886559995 meters 0.051656999318322155 Centerline is valid? [True, True] Translation: X:550.63, Y:-148.69, Z:-4.25 [[ 8.21818915e-01 5.69745083e-01 2.05226995e-03 5.50634204e+02] [-5.69743477e-01 8.21821475e-01 -1.35398337e-03 -1.48694619e+02] [-2.45802488e-03 -5.65382725e-05 9.99996977e-01 -4.25171061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9465599949999 meters 0.05190883549722814 Centerline is valid? [True, True] Translation: X:550.69, Y:-148.73, Z:-4.25 [[ 8.22078368e-01 5.69372209e-01 1.56337697e-03 5.50685215e+02] [-5.69371276e-01 8.22079854e-01 -1.03141583e-03 -1.48729391e+02] [-1.87248022e-03 -4.22372983e-05 9.99998246e-01 -4.25223281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.006559995 meters 0.051770796923781615 Centerline is valid? [True, True] Translation: X:550.73, Y:-148.77, Z:-4.25 [[ 8.23990269e-01 5.66603687e-01 5.46354794e-04 5.50734689e+02] [-5.66603572e-01 8.23990450e-01 -3.60599518e-04 -1.48766854e+02] [-6.54508149e-04 -1.24360838e-05 9.99999786e-01 -4.25333873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0665599949999 meters 0.05197098621902258 Centerline is valid? [True, True] Translation: X:550.78, Y:-148.80, Z:-4.25 [[ 8.25936494e-01 5.63763103e-01 2.66460436e-04 5.50783802e+02] [-5.63763076e-01 8.25936537e-01 -1.75740865e-04 -1.48804081e+02] [-3.19155625e-04 -5.06976081e-06 9.99999949e-01 -4.25297880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.126559995 meters 0.05228574965296477 Centerline is valid? [True, True] Translation: X:550.83, Y:-148.84, Z:-4.25 [[ 8.30784498e-01 5.56594076e-01 3.90478406e-04 5.50831331e+02] [-5.56594016e-01 8.30784590e-01 -2.57712568e-04 -1.48842977e+02] [-4.67844731e-04 -3.23433823e-06 9.99999891e-01 -4.25213622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1865599949999 meters 0.05201280554437732 Centerline is valid? [True, True] Translation: X:550.88, Y:-148.88, Z:-4.25 [[ 8.37322615e-01 5.46708373e-01 8.90596015e-04 5.50877415e+02] [-5.46708057e-01 8.37323089e-01 -5.87323232e-04 -1.48883724e+02] [-1.06681113e-03 4.88300738e-06 9.99999431e-01 -4.25208314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.246559995 meters 0.05236100661626419 Centerline is valid? [True, True] Translation: X:550.92, Y:-148.92, Z:-4.25 [[ 8.42306298e-01 5.38997628e-01 1.28729746e-03 5.50923228e+02] [-5.38996958e-01 8.42307281e-01 -8.50091408e-04 -1.48923601e+02] [-1.54249728e-03 2.21879314e-05 9.99998810e-01 -4.25271323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3065599949999 meters 0.05375249539615569 Centerline is valid? [True, True] Translation: X:550.97, Y:-148.96, Z:-4.25 [[ 8.50096141e-01 5.26626320e-01 1.12692397e-03 5.50971501e+02] [-5.26625795e-01 8.50096887e-01 -7.44337715e-04 -1.48961298e+02] [-1.34998239e-03 3.92913894e-05 9.99999088e-01 -4.25164657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.366559995 meters 0.054174466740303004 Centerline is valid? [True, True] Translation: X:551.02, Y:-148.99, Z:-4.25 [[ 8.56222204e-01 5.16605936e-01 1.35757651e-03 5.51024641e+02] [-5.16605162e-01 8.56223278e-01 -8.96812355e-04 -1.48992413e+02] [-1.62568720e-03 6.65396178e-05 9.99998676e-01 -4.25011350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4265599949999 meters 0.05377363344962034 Centerline is valid? [True, True] Translation: X:551.08, Y:-149.02, Z:-4.25 [[ 8.58508409e-01 5.12797041e-01 1.58323633e-03 5.51079695e+02] [-5.12795981e-01 8.58509865e-01 -1.04590795e-03 -1.49020718e+02] [-1.89556251e-03 8.60435452e-05 9.99998200e-01 -4.24922063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.486559995 meters 0.05435298098772489 Centerline is valid? [True, True] Translation: X:551.13, Y:-149.05, Z:-4.25 [[ 8.59097708e-01 5.11810873e-01 8.70743057e-04 5.51133841e+02] [-5.11810553e-01 8.59098148e-01 -5.74628681e-04 -1.49050768e+02] [-1.04215495e-03 4.80066980e-05 9.99999456e-01 -4.25023561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5465599949999 meters 0.05516037973405854 Centerline is valid? [True, True] Translation: X:551.18, Y:-149.10, Z:-4.25 [[ 8.58115959e-01 5.13455888e-01 2.26384960e-04 5.51176574e+02] [-5.13455866e-01 8.58115989e-01 -1.49207060e-04 -1.49095170e+02] [-2.70875798e-04 1.17982733e-05 9.99999963e-01 -4.25360308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.606559995 meters 0.05455580046258957 Centerline is valid? [True, True] Translation: X:551.23, Y:-149.12, Z:-4.25 [[ 8.55798857e-01 5.17308184e-01 7.47840443e-04 5.51234557e+02] [-5.17307949e-01 8.55799183e-01 -4.93729273e-04 -1.49118381e+02] [-8.95411434e-04 3.56691416e-05 9.99999598e-01 -4.25260582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.666559995 meters 0.05413480753682213 Centerline is valid? [True, True] Translation: X:551.29, Y:-149.15, Z:-4.25 [[ 8.52627018e-01 5.22516394e-01 1.94577119e-03 5.51287325e+02] [-5.22514817e-01 8.52629234e-01 -1.28632336e-03 -1.49150137e+02] [-2.33114644e-03 8.00597737e-05 9.99997280e-01 -4.25316004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.726559995 meters 0.05427090788101442 Centerline is valid? [True, True] Translation: X:551.34, Y:-149.18, Z:-4.25 [[ 8.49763358e-01 5.27157697e-01 2.64526714e-03 5.51339089e+02] [-5.27154804e-01 8.49767471e-01 -1.74873855e-03 -1.49180490e+02] [-3.16972296e-03 9.15486656e-05 9.99994972e-01 -4.25355343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.786559995 meters 0.053786067019335325 Centerline is valid? [True, True] Translation: X:551.40, Y:-149.20, Z:-4.25 [[ 8.44146989e-01 5.36103728e-01 2.94171619e-03 5.51398731e+02] [-5.36100202e-01 8.44152112e-01 -1.94537895e-03 -1.49200795e+02] [-3.52618085e-03 6.51311409e-05 9.99993781e-01 -4.25401887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.846559995 meters 0.053113071457589124 Centerline is valid? [True, True] Translation: X:551.45, Y:-149.23, Z:-4.26 [[ 8.39776989e-01 5.42924013e-01 2.85025188e-03 5.51449557e+02] [-5.42920742e-01 8.39781825e-01 -1.88504965e-03 -1.49233194e+02] [-3.41702845e-03 3.55604556e-05 9.99994161e-01 -4.25733671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.906559995 meters 0.05289099840218807 Centerline is valid? [True, True] Translation: X:551.51, Y:-149.26, Z:-4.26 [[ 8.32822455e-01 5.53533814e-01 2.65991551e-03 5.51507603e+02] [-5.53531018e-01 8.32826703e-01 -1.75921841e-03 -1.49256950e+02] [-3.18903554e-03 -7.22914657e-06 9.99994915e-01 -4.25907415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9665599949999 meters 0.0527129458947289 Centerline is valid? [True, True] Translation: X:551.56, Y:-149.28, Z:-4.26 [[ 8.26351012e-01 5.63152478e-01 1.81406536e-03 5.51561107e+02] [-5.63151201e-01 8.26353003e-01 -1.19987666e-03 -1.49284456e+02] [-2.17477187e-03 -3.00737934e-05 9.99997635e-01 -4.25957806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.026559995 meters 0.05388952106271553 Centerline is valid? [True, True] Translation: X:551.62, Y:-149.31, Z:-4.26 [[ 8.22802209e-01 5.68325611e-01 1.58857008e-03 5.51617192e+02] [-5.68324642e-01 8.22803742e-01 -1.05067112e-03 -1.49308639e+02] [-1.90420471e-03 -3.83290006e-05 9.99998186e-01 -4.26257660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0865599949999 meters 0.05244148247578268 Centerline is valid? [True, True] Translation: X:551.67, Y:-149.35, Z:-4.26 [[ 8.19688614e-01 5.72806741e-01 1.73578613e-03 5.51665804e+02] [-5.72805594e-01 8.19690450e-01 -1.14752773e-03 -1.49346613e+02] [-2.08011893e-03 -5.36525885e-05 9.99997835e-01 -4.26124041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.146559995 meters 0.052950164427417803 Centerline is valid? [True, True] Translation: X:551.72, Y:-149.38, Z:-4.26 [[ 8.18999527e-01 5.73792166e-01 1.52447309e-03 5.51717936e+02] [-5.73791283e-01 8.19000945e-01 -1.00788935e-03 -1.49378834e+02] [-1.82686392e-03 -4.92684724e-05 9.99998330e-01 -4.26219191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2065599949999 meters 0.05321989376386776 Centerline is valid? [True, True] Translation: X:551.77, Y:-149.41, Z:-4.26 [[ 8.19207860e-01 5.73494965e-01 1.41697603e-03 5.51771634e+02] [-5.73494201e-01 8.19209084e-01 -9.36985000e-04 -1.49408650e+02] [-1.69815582e-03 -4.50420629e-05 9.99998557e-01 -4.26385555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.266559995 meters 0.05251690445325806 Centerline is valid? [True, True] Translation: X:551.82, Y:-149.45, Z:-4.26 [[ 8.19850779e-01 5.72577226e-01 1.42774280e-04 5.51817185e+02] [-5.72577219e-01 8.19850791e-01 -9.35217312e-05 -1.49451955e+02] [-1.70602020e-04 -5.07543584e-06 9.99999985e-01 -4.26313688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3265599949999 meters 0.05199886880869475 Centerline is valid? [True, True] Translation: X:551.87, Y:-149.49, Z:-4.26 [[ 8.20534771e-01 5.71596607e-01 -9.51585643e-05 5.51867133e+02] [-5.71596603e-01 8.20534776e-01 6.40319013e-05 -1.49488760e+02] [ 1.14681329e-04 1.85191064e-06 9.99999993e-01 -4.26319185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.386559995 meters 0.053028519178989125 Centerline is valid? [True, True] Translation: X:551.92, Y:-149.52, Z:-4.26 [[ 8.22255451e-01 5.69117756e-01 9.76297721e-04 5.51918209e+02] [-5.69117390e-01 8.22256030e-01 -6.46184785e-04 -1.49521636e+02] [-1.17052192e-03 -2.42990489e-05 9.99999315e-01 -4.26470439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4465599949999 meters 0.052333047256841285 Centerline is valid? [True, True] Translation: X:551.97, Y:-149.56, Z:-4.26 [[ 8.24172518e-01 5.66336332e-01 1.67904764e-03 5.51966935e+02] [-5.66335242e-01 8.24174228e-01 -1.11187241e-03 -1.49560080e+02] [-2.01352154e-03 -3.45291676e-05 9.99997972e-01 -4.26442365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.506559995 meters 0.05216388134851252 Centerline is valid? [True, True] Translation: X:552.01, Y:-149.60, Z:-4.26 [[ 8.27591675e-01 5.61325856e-01 2.30293137e-03 5.52013569e+02] [-5.61323784e-01 8.27594879e-01 -1.52515378e-03 -1.49601406e+02] [-2.76200246e-03 -3.04855808e-05 9.99996185e-01 -4.26418746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5665599949999 meters 0.05266085876624281 Centerline is valid? [True, True] Translation: X:552.06, Y:-149.64, Z:-4.27 [[ 8.31652198e-01 5.55293639e-01 1.89647691e-03 5.52059663e+02] [-5.55292219e-01 8.31654360e-01 -1.25610518e-03 -1.49641216e+02] [-2.27472051e-03 -8.45623547e-06 9.99997413e-01 -4.26525352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.626559995 meters 0.05245220112180584 Centerline is valid? [True, True] Translation: X:552.11, Y:-149.68, Z:-4.27 [[ 8.34735774e-01 5.50648712e-01 1.47793102e-03 5.52107925e+02] [-5.50647843e-01 8.34737082e-01 -9.78157120e-04 -1.49680503e+02] [-1.77230478e-03 2.68321327e-06 9.99998429e-01 -4.26696365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6865599949999 meters 0.05244975266489545 Centerline is valid? [True, True] Translation: X:552.16, Y:-149.72, Z:-4.27 [[ 8.36405234e-01 5.48109856e-01 1.36798930e-03 5.52158914e+02] [-5.48109108e-01 8.36406352e-01 -9.05551980e-04 -1.49716530e+02] [-1.64053691e-03 7.60102074e-06 9.99998654e-01 -4.26615139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.746559995 meters 0.05316404574749107 Centerline is valid? [True, True] Translation: X:552.21, Y:-149.75, Z:-4.27 [[ 8.41824239e-01 5.39750009e-01 1.37065970e-03 5.52207979e+02] [-5.39749246e-01 8.41825355e-01 -9.07725431e-04 -1.49753696e+02] [-1.64380090e-03 2.43327312e-05 9.99998649e-01 -4.26520691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8065599949999 meters 0.05383555186423823 Centerline is valid? [True, True] Translation: X:552.25, Y:-149.80, Z:-4.27 [[ 8.45048186e-01 5.34686937e-01 1.85529658e-03 5.52252572e+02] [-5.34685527e-01 8.45050222e-01 -1.22918389e-03 -1.49795244e+02] [-2.22504736e-03 4.67193859e-05 9.99997523e-01 -4.26747808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.866559995 meters 0.05362401277894106 Centerline is valid? [True, True] Translation: X:552.31, Y:-149.83, Z:-4.27 [[ 8.48192674e-01 5.29682154e-01 2.45013230e-03 5.52305962e+02] [-5.29679671e-01 8.48196210e-01 -1.62380339e-03 -1.49826764e+02] [-2.93829261e-03 7.95128739e-05 9.99995680e-01 -4.26571670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9265599949999 meters 0.054080006009894044 Centerline is valid? [True, True] Translation: X:552.36, Y:-149.86, Z:-4.27 [[ 8.48838996e-01 5.28639517e-01 3.55242218e-03 5.52356774e+02] [-5.28634284e-01 8.48846421e-01 -2.35529249e-03 -1.49860489e+02] [-4.26056154e-03 1.21331955e-04 9.99990916e-01 -4.26568036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.986559995 meters 0.054191582425483206 Centerline is valid? [True, True] Translation: X:552.41, Y:-149.90, Z:-4.27 [[ 8.46966086e-01 5.31630660e-01 4.15824840e-03 5.52405675e+02] [-5.31623520e-01 8.46976284e-01 -2.75805402e-03 -1.49897250e+02] [-4.98820385e-03 1.25355566e-04 9.99987551e-01 -4.26702221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0465599949999 meters 0.05430004887092041 Centerline is valid? [True, True] Translation: X:552.46, Y:-149.92, Z:-4.27 [[ 8.42631547e-01 5.38479670e-01 3.42370371e-03 5.52463670e+02] [-5.38474885e-01 8.42638499e-01 -2.27099011e-03 -1.49919311e+02] [-4.10782656e-03 7.00294512e-05 9.99991560e-01 -4.26753539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.106559995 meters 0.053552241197507594 Centerline is valid? [True, True] Translation: X:552.52, Y:-149.95, Z:-4.27 [[ 8.38926740e-01 5.44235731e-01 3.06497677e-03 5.52517036e+02] [-5.44231935e-01 8.38932338e-01 -2.03299831e-03 -1.49949997e+02] [-3.67773845e-03 3.74784018e-05 9.99993236e-01 -4.26903105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.166559995 meters 0.05253538207600828 Centerline is valid? [True, True] Translation: X:552.57, Y:-149.98, Z:-4.27 [[ 8.32558540e-01 5.53931800e-01 2.41617666e-03 5.52569001e+02] [-5.53929481e-01 8.32562046e-01 -1.60278870e-03 -1.49980166e+02] [-2.89945261e-03 -3.97606579e-06 9.99995797e-01 -4.27270879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.226559995 meters 0.05246104487830754 Centerline is valid? [True, True] Translation: X:552.62, Y:-150.01, Z:-4.27 [[ 8.28029559e-01 5.60679581e-01 2.33580459e-03 5.52621411e+02] [-5.60677442e-01 8.28032853e-01 -1.54930713e-03 -1.50011115e+02] [-2.80278781e-03 -2.67608452e-05 9.99996072e-01 -4.27194897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.286559995 meters 0.05233770431474502 Centerline is valid? [True, True] Translation: X:552.68, Y:-150.04, Z:-4.27 [[ 8.23626986e-01 5.67125458e-01 2.70216241e-03 5.52676734e+02] [-5.67122627e-01 8.23631417e-01 -1.79277516e-03 -1.50038667e+02] [-3.24231429e-03 -5.58794457e-05 9.99994742e-01 -4.27331417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.346559995 meters 0.05247842160854021 Centerline is valid? [True, True] Translation: X:552.73, Y:-150.07, Z:-4.27 [[ 8.18234974e-01 5.74877278e-01 2.76460917e-03 5.52730641e+02] [-5.74874358e-01 8.18239639e-01 -1.83435076e-03 -1.50066746e+02] [-3.31663939e-03 -8.83729758e-05 9.99994496e-01 -4.27341683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.406559995 meters 0.05316349711375604 Centerline is valid? [True, True] Translation: X:552.79, Y:-150.09, Z:-4.27 [[ 8.15100554e-01 5.79313046e-01 2.73531985e-03 5.52785154e+02] [-5.79310212e-01 8.15105137e-01 -1.81496693e-03 -1.50092548e+02] [-3.28100728e-03 -1.05218176e-04 9.99994612e-01 -4.27389796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4665599949999 meters 0.051685746525801976 Centerline is valid? [True, True] Translation: X:552.83, Y:-150.13, Z:-4.27 [[ 8.13954581e-01 5.80924498e-01 2.16056157e-03 5.52831577e+02] [-5.80922736e-01 8.13957443e-01 -1.43344290e-03 -1.50133142e+02] [-2.59132727e-03 -8.83619192e-05 9.99996639e-01 -4.27387976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.526559995 meters 0.05401202980335199 Centerline is valid? [True, True] Translation: X:552.89, Y:-150.16, Z:-4.28 [[ 8.13398142e-01 5.81706729e-01 -8.62994534e-04 5.52888637e+02] [-5.81706448e-01 8.13398599e-01 5.73178255e-04 -1.50156364e+02] [ 1.03538019e-03 3.57873574e-05 9.99999463e-01 -4.27836892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5865599949999 meters 0.05257065670479941 Centerline is valid? [True, True] Translation: X:552.93, Y:-150.20, Z:-4.28 [[ 8.13744157e-01 5.81218444e-01 -2.35947712e-03 5.52934121e+02] [-5.81216339e-01 8.13747572e-01 1.56727585e-03 -1.50199942e+02] [ 2.83094841e-03 9.60050873e-05 9.99995988e-01 -4.27685003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.646559995 meters 0.05293497239540649 Centerline is valid? [True, True] Translation: X:552.98, Y:-150.24, Z:-4.28 [[ 8.15245044e-01 5.79110509e-01 -2.55679586e-03 5.52983807e+02] [-5.79108029e-01 8.15249048e-01 1.69754240e-03 -1.50236186e+02] [ 3.06749004e-03 9.67479808e-05 9.99995291e-01 -4.27634249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7065599949999 meters 0.0521569442587082 Centerline is valid? [True, True] Translation: X:553.03, Y:-150.27, Z:-4.27 [[ 8.16917359e-01 5.76753505e-01 -1.19308345e-03 5.53032169e+02] [-5.76752963e-01 8.16918229e-01 7.92349126e-04 -1.50274399e+02] [ 1.43164175e-03 4.08306571e-05 9.99998974e-01 -4.27426901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.766559995 meters 0.0523467217880988 Centerline is valid? [True, True] Translation: X:553.08, Y:-150.31, Z:-4.27 [[ 8.18800991e-01 5.74077047e-01 6.94429671e-04 5.53081369e+02] [-5.74076862e-01 8.18801285e-01 -4.60823959e-04 -1.50308715e+02] [-8.33148364e-04 -2.13328924e-05 9.99999653e-01 -4.27357525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8265599949999 meters 0.052359852584029656 Centerline is valid? [True, True] Translation: X:553.13, Y:-150.35, Z:-4.27 [[ 8.19778220e-01 5.72680030e-01 1.11969164e-03 5.53130201e+02] [-5.72679549e-01 8.19778984e-01 -7.42975601e-04 -1.50345702e+02] [-1.34338696e-03 -3.21492867e-05 9.99999097e-01 -4.27340690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.886559995 meters 0.05232527208014313 Centerline is valid? [True, True] Translation: X:553.18, Y:-150.38, Z:-4.28 [[ 8.20417750e-01 5.71764563e-01 9.03246960e-06 5.53182054e+02] [-5.71764563e-01 8.20417750e-01 -5.43654564e-06 -1.50378532e+02] [-1.05188227e-05 -7.04207492e-07 1.00000000e+00 -4.27501967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9465599949999 meters 0.052210467770653544 Centerline is valid? [True, True] Translation: X:553.23, Y:-150.41, Z:-4.28 [[ 8.20271252e-01 5.71974684e-01 -1.84100320e-04 5.53233187e+02] [-5.71974671e-01 8.20271273e-01 1.23180725e-04 -1.50411335e+02] [ 2.21468460e-04 4.25911214e-06 9.99999975e-01 -4.27574075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.006559995 meters 0.05148228679966667 Centerline is valid? [True, True] Translation: X:553.28, Y:-150.45, Z:-4.27 [[ 8.19675853e-01 5.72827374e-01 -5.43329637e-04 5.53279186e+02] [-5.72827260e-01 8.19676033e-01 3.61863427e-04 -1.50452366e+02] [ 6.52639558e-04 1.46233148e-05 9.99999787e-01 -4.27290610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0665599949999 meters 0.0520398233554482 Centerline is valid? [True, True] Translation: X:553.33, Y:-150.48, Z:-4.28 [[ 8.19922112e-01 5.72473639e-01 -1.28971870e-03 5.53333917e+02] [-5.72472998e-01 8.19923126e-01 8.57323612e-04 -1.50482240e+02] [ 1.54826535e-03 3.53905415e-05 9.99998801e-01 -4.27563965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.126559995 meters 0.05151616535187489 Centerline is valid? [True, True] Translation: X:553.39, Y:-150.52, Z:-4.28 [[ 8.20425061e-01 5.71750514e-01 -2.01715004e-03 5.53385325e+02] [-5.71748942e-01 8.20427539e-01 1.34162635e-03 -1.50516224e+02] [ 2.42200099e-03 5.25995191e-05 9.99997066e-01 -4.27617858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1865599949999 meters 0.05173625859765183 Centerline is valid? [True, True] Translation: X:553.44, Y:-150.55, Z:-4.28 [[ 8.21620086e-01 5.70033786e-01 -1.38438964e-03 5.53435618e+02] [-5.70033044e-01 8.21621252e-01 9.20185573e-04 -1.50549440e+02] [ 1.66198081e-03 3.31048897e-05 9.99998618e-01 -4.27657258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.246559995 meters 0.05228435668786343 Centerline is valid? [True, True] Translation: X:553.49, Y:-150.58, Z:-4.28 [[ 8.22161807e-01 5.69253744e-01 -3.72287856e-04 5.53487632e+02] [-5.69253690e-01 8.22161891e-01 2.48468374e-04 -1.50583750e+02] [ 4.47522439e-04 7.64502786e-06 9.99999900e-01 -4.27690348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3065599949999 meters 0.052497456053304636 Centerline is valid? [True, True] Translation: X:553.54, Y:-150.61, Z:-4.28 [[ 8.22605939e-01 5.68611404e-01 7.35656403e-04 5.53541834e+02] [-5.68611194e-01 8.22606268e-01 -4.88208567e-04 -1.50613416e+02] [-8.82756527e-04 -1.66991994e-05 9.99999610e-01 -4.27798485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.366559995 meters 0.05167628960609733 Centerline is valid? [True, True] Translation: X:553.59, Y:-150.65, Z:-4.28 [[ 8.22716467e-01 5.68451083e-01 9.90255832e-04 5.53591492e+02] [-5.68450703e-01 8.22717063e-01 -6.57638659e-04 -1.50651735e+02] [-1.18853578e-03 -2.18614691e-05 9.99999293e-01 -4.27663339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4265599949999 meters 0.052325919298942064 Centerline is valid? [True, True] Translation: X:553.65, Y:-150.68, Z:-4.28 [[ 8.22793070e-01 5.68340795e-01 5.51803153e-04 5.53645580e+02] [-5.68340678e-01 8.22793255e-01 -3.66048490e-04 -1.50681788e+02] [-6.62060203e-04 -1.24300169e-05 9.99999781e-01 -4.27904152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.486559995 meters 0.05237460726469008 Centerline is valid? [True, True] Translation: X:553.70, Y:-150.72, Z:-4.28 [[ 8.23136417e-01 5.67843627e-01 -2.31175055e-04 5.53696581e+02] [-5.67843606e-01 8.23136450e-01 1.54831941e-04 -1.50716687e+02] [ 2.78208945e-04 3.82346820e-06 9.99999961e-01 -4.27931978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5465599949999 meters 0.05222086012427422 Centerline is valid? [True, True] Translation: X:553.75, Y:-150.75, Z:-4.28 [[ 8.24156865e-01 5.66359581e-01 -1.51261872e-03 5.53748033e+02] [-5.66358686e-01 8.24158252e-01 1.00725719e-03 -1.50752565e+02] [ 1.81710696e-03 2.65468235e-05 9.99998349e-01 -4.27863257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.606559995 meters 0.0526198350884073 Centerline is valid? [True, True] Translation: X:553.80, Y:-150.79, Z:-4.28 [[ 8.24609401e-01 5.65700277e-01 -1.59132861e-03 5.53799848e+02] [-5.65699284e-01 8.24610936e-01 1.06038892e-03 -1.50787538e+02] [ 1.91208928e-03 2.58067784e-05 9.99998172e-01 -4.27860652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.666559995 meters 0.053313074267676806 Centerline is valid? [True, True] Translation: X:553.85, Y:-150.82, Z:-4.28 [[ 8.25524758e-01 5.64364273e-01 -1.35671258e-03 5.53851997e+02] [-5.64363550e-01 8.25525873e-01 9.03621154e-04 -1.50822352e+02] [ 1.62997283e-03 1.97174936e-05 9.99998671e-01 -4.27867464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.726559995 meters 0.05248605653398523 Centerline is valid? [True, True] Translation: X:553.90, Y:-150.85, Z:-4.28 [[ 8.26544402e-01 5.62870270e-01 -1.18768819e-03 5.53904975e+02] [-5.62869713e-01 8.26545255e-01 7.91857366e-04 -1.50853496e+02] [ 1.42739101e-03 1.40084369e-05 9.99998981e-01 -4.28124478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.786559995 meters 0.053313984926760226 Centerline is valid? [True, True] Translation: X:553.95, Y:-150.89, Z:-4.28 [[ 8.28190652e-01 5.60441354e-01 -2.39443951e-03 5.53953393e+02] [-5.60439082e-01 8.28194113e-01 1.59597423e-03 -1.50892498e+02] [ 2.87751067e-03 2.01665405e-05 9.99995860e-01 -4.27696361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.846559995 meters 0.05294828863122858 Centerline is valid? [True, True] Translation: X:554.00, Y:-150.93, Z:-4.28 [[ 8.29917961e-01 5.57879004e-01 -2.68241050e-03 5.54004072e+02] [-5.57876140e-01 8.29922295e-01 1.78760366e-03 -1.50926079e+02] [ 3.22345882e-03 1.28884342e-05 9.99994805e-01 -4.28159886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.906559995 meters 0.05297567569412085 Centerline is valid? [True, True] Translation: X:554.05, Y:-150.96, Z:-4.28 [[ 8.32448747e-01 5.54094721e-01 -2.85030601e-03 5.54053552e+02] [-5.54091462e-01 8.32453627e-01 1.90036473e-03 -1.50964177e+02] [ 3.42572964e-03 -2.62601472e-06 9.99994132e-01 -4.27794179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9665599949999 meters 0.05346666354699412 Centerline is valid? [True, True] Translation: X:554.10, Y:-151.00, Z:-4.28 [[ 8.34924010e-01 5.50355887e-01 -3.20854115e-03 5.54103822e+02] [-5.50351728e-01 8.34930175e-01 2.13964588e-03 -1.51000832e+02] [ 3.85647453e-03 -2.06155564e-05 9.99992564e-01 -4.27780738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.026559995 meters 0.053339862732065424 Centerline is valid? [True, True] Translation: X:554.15, Y:-151.04, Z:-4.28 [[ 8.36767320e-01 5.47548938e-01 -3.25756347e-03 5.54153018e+02] [-5.47544628e-01 8.36773661e-01 2.17276303e-03 -1.51036678e+02] [ 3.91553740e-03 -3.44357161e-05 9.99992334e-01 -4.27905529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0865599949999 meters 0.054117828288350794 Centerline is valid? [True, True] Translation: X:554.20, Y:-151.08, Z:-4.28 [[ 8.40301352e-01 5.42109658e-01 -3.27960300e-03 5.54199913e+02] [-5.42105252e-01 8.40307750e-01 2.18657608e-03 -1.51075068e+02] [ 3.94123983e-03 -5.94928275e-05 9.99992232e-01 -4.28023075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.146559995 meters 0.053821850695483606 Centerline is valid? [True, True] Translation: X:554.25, Y:-151.11, Z:-4.28 [[ 8.44225099e-01 5.35978826e-01 -3.26795364e-03 5.54250928e+02] [-5.35974404e-01 8.44231420e-01 2.17912109e-03 -1.51108433e+02] [ 3.92687191e-03 -8.81292093e-05 9.99992286e-01 -4.27644989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2065599949999 meters 0.054611508588156804 Centerline is valid? [True, True] Translation: X:554.30, Y:-151.15, Z:-4.28 [[ 8.46525714e-01 5.32337845e-01 -3.26110821e-03 5.54297273e+02] [-5.32333410e-01 8.46531988e-01 2.17554436e-03 -1.51147486e+02] [ 3.91875701e-03 -1.05657390e-04 9.99992316e-01 -4.27865416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.266559995 meters 0.05457347062217344 Centerline is valid? [True, True] Translation: X:554.35, Y:-151.18, Z:-4.28 [[ 8.48388782e-01 5.29367688e-01 -2.51527745e-03 5.54351128e+02] [-5.29365037e-01 8.48392505e-01 1.67766054e-03 -1.51178153e+02] [ 3.02204182e-03 -9.18084464e-05 9.99995429e-01 -4.27749836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3265599949999 meters 0.05500050308261078 Centerline is valid? [True, True] Translation: X:554.40, Y:-151.21, Z:-4.28 [[ 8.48628772e-01 5.28982847e-01 -2.52084471e-03 5.54403574e+02] [-5.28980180e-01 8.48632511e-01 1.68260383e-03 -1.51212032e+02] [ 3.02933934e-03 -9.44291379e-05 9.99995407e-01 -4.27817815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.386559995 meters 0.055150770310604134 Centerline is valid? [True, True] Translation: X:554.45, Y:-151.25, Z:-4.28 [[ 8.48549250e-01 5.29113863e-01 -1.64029868e-03 5.54453154e+02] [-5.29112733e-01 8.48550833e-01 1.09539304e-03 -1.51247788e+02] [ 1.97146445e-03 -6.15920227e-05 9.99998055e-01 -4.27965607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4465599949999 meters 0.05497290446614879 Centerline is valid? [True, True] Translation: X:554.51, Y:-151.27, Z:-4.28 [[ 8.47574764e-01 5.30672474e-01 -1.93506948e-03 5.54510440e+02] [-5.30670907e-01 8.47576970e-01 1.29139608e-03 -1.51272804e+02] [ 2.32542868e-03 -6.76696499e-05 9.99997294e-01 -4.27866470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.506559995 meters 0.05513444238466784 Centerline is valid? [True, True] Translation: X:554.56, Y:-151.31, Z:-4.28 [[ 8.46432222e-01 5.32494843e-01 -1.31740953e-03 5.54558426e+02] [-5.32494119e-01 8.46433246e-01 8.79325268e-04 -1.51311165e+02] [ 1.58333539e-03 -4.27764150e-05 9.99998746e-01 -4.28168506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5665599949999 meters 0.054852283164029104 Centerline is valid? [True, True] Translation: X:554.62, Y:-151.34, Z:-4.28 [[ 8.44072917e-01 5.36227816e-01 -7.99961731e-04 5.54615399e+02] [-5.36227550e-01 8.44073296e-01 5.33971647e-04 -1.51336524e+02] [ 9.61556785e-04 -2.17494872e-05 9.99999537e-01 -4.28052925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.626559995 meters 0.05457342182477074 Centerline is valid? [True, True] Translation: X:554.66, Y:-151.37, Z:-4.29 [[ 8.42337373e-01 5.38950205e-01 -6.52818163e-04 5.54663120e+02] [-5.38950029e-01 8.42337626e-01 4.35882629e-04 -1.51374271e+02] [ 7.84812334e-04 -1.53238609e-05 9.99999692e-01 -4.28517747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6865599949999 meters 0.0546770190204778 Centerline is valid? [True, True] Translation: X:554.72, Y:-151.40, Z:-4.28 [[ 8.39412306e-01 5.43494223e-01 1.00476323e-03 5.54718143e+02] [-5.43493810e-01 8.39412907e-01 -6.70415418e-04 -1.51401670e+02] [-1.20777813e-03 1.66723548e-05 9.99999270e-01 -4.28429764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.746559995 meters 0.05401679415032094 Centerline is valid? [True, True] Translation: X:554.77, Y:-151.43, Z:-4.28 [[ 8.37339299e-01 5.46681877e-01 1.35039659e-03 5.54770908e+02] [-5.46681134e-01 8.37340388e-01 -9.01167529e-04 -1.51430876e+02] [-1.62339356e-03 1.63466461e-05 9.99998682e-01 -4.28387004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8065599949999 meters 0.05360312467212198 Centerline is valid? [True, True] Translation: X:554.83, Y:-151.46, Z:-4.28 [[ 8.33248418e-01 5.52896786e-01 1.48945795e-03 5.54825537e+02] [-5.52895893e-01 8.33249749e-01 -9.93898571e-04 -1.51460096e+02] [-1.79061379e-03 4.64923030e-06 9.99998397e-01 -4.28324804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.866559995 meters 0.05348536300907663 Centerline is valid? [True, True] Translation: X:554.88, Y:-151.49, Z:-4.29 [[ 8.28138996e-01 5.60519129e-01 2.02714883e-03 5.54880734e+02] [-5.60517497e-01 8.28141477e-01 -1.35259453e-03 -1.51489713e+02] [-2.43692113e-03 -1.61161123e-05 9.99997031e-01 -4.28572036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9265599949999 meters 0.0534170444961365 Centerline is valid? [True, True] Translation: X:554.94, Y:-151.52, Z:-4.29 [[ 8.24575598e-01 5.65750632e-01 1.14294155e-03 5.54935345e+02] [-5.65750118e-01 8.24576390e-01 -7.62744383e-04 -1.51516946e+02] [-1.37396573e-03 -1.76789083e-05 9.99999056e-01 -4.28849219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.986559995 meters 0.05328488796376122 Centerline is valid? [True, True] Translation: X:554.99, Y:-151.55, Z:-4.29 [[ 8.19864123e-01 5.72555650e-01 1.68727374e-03 5.54986793e+02] [-5.72554544e-01 8.19865858e-01 -1.12613777e-03 -1.51549253e+02] [-2.02811468e-03 -4.27762908e-05 9.99997942e-01 -4.28826490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0465599949999 meters 0.05406956957045126 Centerline is valid? [True, True] Translation: X:555.04, Y:-151.57, Z:-4.29 [[ 8.16961003e-01 5.76686499e-01 2.72055795e-03 5.55042781e+02] [-5.76683645e-01 8.16965529e-01 -1.81621293e-03 -1.51573595e+02] [-3.26998754e-03 -8.51261430e-05 9.99994650e-01 -4.28817033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.106559995 meters 0.05340865102160591 Centerline is valid? [True, True] Translation: X:555.09, Y:-151.61, Z:-4.29 [[ 8.15190905e-01 5.79181205e-01 3.59431822e-03 5.55091466e+02] [-5.79176249e-01 8.15198820e-01 -2.39949715e-03 -1.51610164e+02] [-4.31982762e-03 -1.25695492e-04 9.99990662e-01 -4.28752679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.166559995 meters 0.05431986494161631 Centerline is valid? [True, True] Translation: X:555.14, Y:-151.64, Z:-4.29 [[ 8.12785469e-01 5.82550015e-01 3.90648054e-03 5.55143738e+02] [-5.82544198e-01 8.12794842e-01 -2.60803098e-03 -1.51641915e+02] [-4.69447572e-03 -1.55927891e-04 9.99988969e-01 -4.28876089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.226559995 meters 0.05286765955679727 Centerline is valid? [True, True] Translation: X:555.19, Y:-151.68, Z:-4.29 [[ 8.11592030e-01 5.84214347e-01 3.46034062e-03 5.55190136e+02] [-5.84209799e-01 8.11599393e-01 -2.30991331e-03 -1.51682733e+02] [-4.15789484e-03 -1.46857671e-04 9.99991345e-01 -4.28929565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.286559995 meters 0.05456509700963307 Centerline is valid? [True, True] Translation: X:555.25, Y:-151.71, Z:-4.29 [[ 8.13478183e-01 5.81590194e-01 2.46806700e-03 5.55245661e+02] [-5.81587867e-01 8.13481922e-01 -1.64806931e-03 -1.51708944e+02] [-2.96622884e-03 -9.47293968e-05 9.99995596e-01 -4.29149918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.346559995 meters 0.05348449056907283 Centerline is valid? [True, True] Translation: X:555.29, Y:-151.75, Z:-4.29 [[ 8.17816145e-01 5.75461309e-01 4.58636838e-03 5.55290541e+02] [-5.75453175e-01 8.17828994e-01 -3.06268312e-03 -1.51751271e+02] [-5.51332068e-03 -1.34528543e-04 9.99984792e-01 -4.28937398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.406559995 meters 0.05335043617120804 Centerline is valid? [True, True] Translation: X:555.34, Y:-151.79, Z:-4.29 [[ 8.21560777e-01 5.70095991e-01 5.33387829e-03 5.55337103e+02] [-5.70084874e-01 8.21578084e-01 -3.56201044e-03 -1.51790984e+02] [-6.41288538e-03 -1.14355265e-04 9.99979431e-01 -4.28888720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4665599949999 meters 0.05251502242175449 Centerline is valid? [True, True] Translation: X:555.38, Y:-151.83, Z:-4.29 [[ 8.25450306e-01 5.64446374e-01 5.66422822e-03 5.55382223e+02] [-5.64433703e-01 8.25469736e-01 -3.78278213e-03 -1.51833433e+02] [-6.81082663e-03 -7.45826451e-05 9.99976803e-01 -4.28982729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.526559995 meters 0.053131712451495165 Centerline is valid? [True, True] Translation: X:555.43, Y:-151.87, Z:-4.29 [[ 8.29641165e-01 5.58277767e-01 4.63373956e-03 5.55428620e+02] [-5.58269190e-01 8.29654105e-01 -3.09468581e-03 -1.51873013e+02] [-5.57209533e-03 -1.93952971e-05 9.99984476e-01 -4.29158691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5865599949999 meters 0.05312598846274644 Centerline is valid? [True, True] Translation: X:555.48, Y:-151.91, Z:-4.29 [[ 8.33709820e-01 5.52183747e-01 4.58756251e-03 5.55477714e+02] [-5.52175248e-01 8.33722441e-01 -3.06380298e-03 -1.51912609e+02] [-5.51653603e-03 2.11841674e-05 9.99984784e-01 -4.29274171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.646559995 meters 0.05362269681345061 Centerline is valid? [True, True] Translation: X:555.52, Y:-151.95, Z:-4.29 [[ 8.38951769e-01 5.44183198e-01 4.95746179e-03 5.55523040e+02] [-5.44173130e-01 8.38966412e-01 -3.31125845e-03 -1.51953334e+02] [-5.96107514e-03 8.02686375e-05 9.99982229e-01 -4.29234561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7065599949999 meters 0.05353727429679207 Centerline is valid? [True, True] Translation: X:555.57, Y:-151.99, Z:-4.29 [[ 8.41929852e-01 5.39564663e-01 4.90897378e-03 5.55571719e+02] [-5.39554710e-01 8.41944156e-01 -3.27920307e-03 -1.51991543e+02] [-5.90242389e-03 1.12199033e-04 9.99982574e-01 -4.29214967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.766559995 meters 0.05323319670710453 Centerline is valid? [True, True] Translation: X:555.63, Y:-152.02, Z:-4.29 [[ 8.42442296e-01 5.38752046e-01 6.10011053e-03 5.55625478e+02] [-5.38736654e-01 8.42464368e-01 -4.07509660e-03 -1.52022326e+02] [-7.33459240e-03 1.46680597e-04 9.99973091e-01 -4.29369824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8265599949999 meters 0.053695092156572206 Centerline is valid? [True, True] Translation: X:555.67, Y:-152.06, Z:-4.29 [[ 8.41749624e-01 5.39848213e-01 4.63447704e-03 5.55672385e+02] [-5.39839345e-01 8.41762375e-01 -3.09604413e-03 -1.52062856e+02] [-5.57252229e-03 1.04220937e-04 9.99984468e-01 -4.29437576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.886559995 meters 0.05259764118121508 Centerline is valid? [True, True] Translation: X:555.73, Y:-152.09, Z:-4.30 [[ 8.38660657e-01 5.44635270e-01 4.55242930e-03 5.55725333e+02] [-5.44626779e-01 8.38673010e-01 -3.04206226e-03 -1.52094156e+02] [-5.47481398e-03 7.18830297e-05 9.99985011e-01 -4.29569973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9465599949999 meters 0.05286576367725402 Centerline is valid? [True, True] Translation: X:555.78, Y:-152.13, Z:-4.30 [[ 8.33869287e-01 5.51949380e-01 3.72739713e-03 5.55776109e+02] [-5.51943760e-01 8.33877618e-01 -2.49088870e-03 -1.52126281e+02] [-4.48303751e-03 1.97619982e-05 9.99989951e-01 -4.29575863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.006559995 meters 0.052271503419898176 Centerline is valid? [True, True] Translation: X:555.83, Y:-152.16, Z:-4.30 [[ 8.28524305e-01 5.59938763e-01 4.00711067e-03 5.55830938e+02] [-5.59932361e-01 8.28533995e-01 -2.67772188e-03 -1.52158092e+02] [-4.81938769e-03 -2.51532738e-05 9.99988386e-01 -4.29561282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0665599949999 meters 0.052851919783332625 Centerline is valid? [True, True] Translation: X:555.89, Y:-152.19, Z:-4.30 [[ 8.23746215e-01 5.66936147e-01 5.05746960e-03 5.55885051e+02] [-5.66926074e-01 8.23761737e-01 -3.38050652e-03 -1.52185306e+02] [-6.08268128e-03 -8.25319312e-05 9.99981497e-01 -4.29552205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.126559995 meters 0.05241145984685653 Centerline is valid? [True, True] Translation: X:555.94, Y:-152.22, Z:-4.30 [[ 8.22208204e-01 5.69161718e-01 5.34867041e-03 5.55937078e+02] [-5.69150497e-01 8.22225594e-01 -3.57546364e-03 -1.52218847e+02] [-6.43283073e-03 -1.04422881e-04 9.99979304e-01 -4.29549934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1865599949999 meters 0.053240521444994644 Centerline is valid? [True, True] Translation: X:555.99, Y:-152.25, Z:-4.30 [[ 8.18270630e-01 5.74811344e-01 5.00951603e-03 5.55989900e+02] [-5.74801605e-01 8.18285952e-01 -3.34897806e-03 -1.52249479e+02] [-6.02424717e-03 -1.39107466e-04 9.99981844e-01 -4.29701513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.246559995 meters 0.05158001255785189 Centerline is valid? [True, True] Translation: X:556.04, Y:-152.29, Z:-4.30 [[ 8.14806543e-01 5.79722313e-01 3.51245733e-03 5.56036846e+02] [-5.79717570e-01 8.14814105e-01 -2.34814307e-03 -1.52289372e+02] [-4.22327070e-03 -1.22950889e-04 9.99991074e-01 -4.29800461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3065599949999 meters 0.05174513469117066 Centerline is valid? [True, True] Translation: X:556.09, Y:-152.33, Z:-4.30 [[ 8.12739683e-01 5.82619929e-01 2.86799973e-03 5.56085831e+02] [-5.82616786e-01 8.12744736e-01 -1.91702699e-03 -1.52325968e+02] [-3.44784981e-03 -1.12900875e-04 9.99994050e-01 -4.29891098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.366559995 meters 0.0511554059818806 Centerline is valid? [True, True] Translation: X:556.14, Y:-152.36, Z:-4.30 [[ 8.11264818e-01 5.84675982e-01 1.84154626e-03 5.56136823e+02] [-5.84674690e-01 8.11266904e-01 -1.23132029e-03 -1.52360924e+02] [-2.21390893e-03 -7.77786623e-05 9.99997546e-01 -4.30042954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4265599949999 meters 0.053034154793365096 Centerline is valid? [True, True] Translation: X:556.19, Y:-152.39, Z:-4.30 [[ 8.11468615e-01 5.84394442e-01 1.35027701e-03 5.56191894e+02] [-5.84393749e-01 8.11469736e-01 -9.02294619e-04 -1.52388713e+02] [-1.62300489e-03 -5.69096814e-05 9.99998681e-01 -4.30285233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.486559995 meters 0.05152995883254163 Centerline is valid? [True, True] Translation: X:556.23, Y:-152.44, Z:-4.30 [[ 8.13639097e-01 5.81369679e-01 8.46173047e-04 5.56232809e+02] [-5.81369406e-01 8.13639536e-01 -5.65230535e-04 -1.52438566e+02] [-1.01708774e-03 -3.20454589e-05 9.99999482e-01 -4.30125737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5465599949999 meters 0.051645506518991774 Centerline is valid? [True, True] Translation: X:556.28, Y:-152.47, Z:-4.30 [[ 8.16532645e-01 5.77299086e-01 4.52520832e-04 5.56282922e+02] [-5.77299007e-01 8.16532771e-01 -3.02167624e-04 -1.52472160e+02] [-5.43939182e-04 -1.45100971e-05 9.99999852e-01 -4.30323251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.606559995 meters 0.050947203688616056 Centerline is valid? [True, True] Translation: X:556.33, Y:-152.51, Z:-4.30 [[ 8.18259726e-01 5.74847790e-01 1.01931809e-03 5.56328871e+02] [-5.74847386e-01 8.18260360e-01 -6.81913477e-04 -1.52514663e+02] [-1.22606404e-03 -2.79700032e-05 9.99999248e-01 -4.30151076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.666559995 meters 0.05170716368511298 Centerline is valid? [True, True] Translation: X:556.38, Y:-152.55, Z:-4.30 [[ 8.19799239e-01 5.72649690e-01 1.24094475e-03 5.56378116e+02] [-5.72649090e-01 8.19800178e-01 -8.29837402e-04 -1.52550093e+02] [-1.49253286e-03 -3.03258124e-05 9.99998886e-01 -4.30139684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.726559995 meters 0.051910087560586585 Centerline is valid? [True, True] Translation: X:556.43, Y:-152.59, Z:-4.30 [[ 8.20730073e-01 5.71315163e-01 1.06396290e-03 5.56426885e+02] [-5.71314720e-01 8.20730762e-01 -7.11825302e-04 -1.52589988e+02] [-1.27990367e-03 -2.36412320e-05 9.99999181e-01 -4.30041761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.786559995 meters 0.051735586577933194 Centerline is valid? [True, True] Translation: X:556.48, Y:-152.62, Z:-4.30 [[ 8.20406614e-01 5.71780014e-01 7.76503300e-04 5.56482195e+02] [-5.71779779e-01 8.20406981e-01 -5.18957713e-04 -1.52616998e+02] [-9.33778377e-04 -1.82325450e-05 9.99999564e-01 -4.30273257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.846559995 meters 0.05160941117709484 Centerline is valid? [True, True] Translation: X:556.53, Y:-152.65, Z:-4.30 [[ 8.19589750e-01 5.72949356e-01 1.29520721e-03 5.56532753e+02] [-5.72948702e-01 8.19590773e-01 -8.66404098e-04 -1.52653145e+02] [-1.55794555e-03 -3.19913691e-05 9.99998786e-01 -4.30071748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.906559995 meters 0.052749093648395466 Centerline is valid? [True, True] Translation: X:556.59, Y:-152.68, Z:-4.30 [[ 8.17962377e-01 5.75271230e-01 7.49169214e-04 5.56586947e+02] [-5.75271012e-01 8.17962720e-01 -5.01334690e-04 -1.52680947e+02] [-9.01195912e-04 -2.09024171e-05 9.99999594e-01 -4.30296044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9665599949999 meters 0.05281583236173591 Centerline is valid? [True, True] Translation: X:556.64, Y:-152.71, Z:-4.30 [[ 8.15979917e-01 5.78080248e-01 5.50836557e-05 5.56641043e+02] [-5.78080246e-01 8.15979918e-01 -3.68032879e-05 -1.52709555e+02] [-6.62224109e-05 -1.81202952e-06 9.99999998e-01 -4.30448957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.026559995 meters 0.05103699564069247 Centerline is valid? [True, True] Translation: X:556.69, Y:-152.75, Z:-4.30 [[ 8.15180822e-01 5.79206427e-01 -3.77401272e-04 5.56688819e+02] [-5.79206372e-01 8.15180909e-01 2.53717931e-04 -1.52748941e+02] [ 4.54605368e-04 1.17672300e-05 9.99999897e-01 -4.30264162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0865599949999 meters 0.05178063941425436 Centerline is valid? [True, True] Translation: X:556.74, Y:-152.78, Z:-4.30 [[ 8.15397373e-01 5.78901591e-01 2.69356890e-04 5.56741277e+02] [-5.78901563e-01 8.15397417e-01 -1.79525988e-04 -1.52781979e+02] [-3.23560792e-04 -9.54610593e-06 9.99999948e-01 -4.30237685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.146559995 meters 0.05168819134262167 Centerline is valid? [True, True] Translation: X:556.79, Y:-152.81, Z:-4.30 [[ 8.16151873e-01 5.77835464e-01 1.51569161e-03 5.56793897e+02] [-5.77834574e-01 8.16153279e-01 -1.01526522e-03 -1.52812477e+02] [-1.82369293e-03 -4.72084024e-05 9.99998336e-01 -4.30183817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2065599949999 meters 0.05212355177605021 Centerline is valid? [True, True] Translation: X:556.85, Y:-152.85, Z:-4.30 [[ 8.17749090e-01 5.75569824e-01 2.40900956e-03 5.56845117e+02] [-5.75567565e-01 8.17752636e-01 -1.61423658e-03 -1.52846449e+02] [-2.89907978e-03 -6.65072680e-05 9.99995795e-01 -4.30149095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.266559995 meters 0.051237957514617224 Centerline is valid? [True, True] Translation: X:556.89, Y:-152.88, Z:-4.30 [[ 8.19696817e-01 5.72792961e-01 2.31358424e-03 5.56894965e+02] [-5.72790865e-01 8.19700080e-01 -1.55035541e-03 -1.52883211e+02] [-2.78447785e-03 -5.43785252e-05 9.99996122e-01 -4.30212105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3265599949999 meters 0.05166344171462876 Centerline is valid? [True, True] Translation: X:556.95, Y:-152.92, Z:-4.30 [[ 8.22574286e-01 5.68656625e-01 1.08947891e-03 5.56945423e+02] [-5.68656157e-01 8.22575007e-01 -7.30006637e-04 -1.52917195e+02] [-1.31130123e-03 -1.90541999e-05 9.99999140e-01 -4.30457009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.386559995 meters 0.051671378616026574 Centerline is valid? [True, True] Translation: X:557.00, Y:-152.95, Z:-4.31 [[ 8.23773095e-01 5.66919399e-01 5.30974458e-04 5.56996400e+02] [-5.66919288e-01 8.23773267e-01 -3.55045564e-04 -1.52951659e+02] [-6.38684782e-04 -8.54267828e-06 9.99999796e-01 -4.30602275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4465599949999 meters 0.052326594830608524 Centerline is valid? [True, True] Translation: X:557.04, Y:-152.99, Z:-4.30 [[ 8.28277818e-01 5.60316987e-01 -8.54480869e-04 5.57043699e+02] [-5.60316694e-01 8.28278259e-01 5.73187891e-04 -1.52992174e+02] [ 1.02891484e-03 4.02108009e-06 9.99999471e-01 -4.30440822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.506559995 meters 0.05272415305099039 Centerline is valid? [True, True] Translation: X:557.09, Y:-153.03, Z:-4.31 [[ 8.31480196e-01 5.55554383e-01 -1.02006082e-04 5.57093311e+02] [-5.55554379e-01 8.31480203e-01 6.93438270e-05 -1.53028665e+02] [ 1.23340305e-04 -9.88093193e-07 9.99999992e-01 -4.30688776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5665599949999 meters 0.05265020456255978 Centerline is valid? [True, True] Translation: X:557.14, Y:-153.06, Z:-4.30 [[ 8.35270407e-01 5.49839276e-01 -3.42135196e-04 5.57144070e+02] [-5.49839228e-01 8.35270477e-01 2.29832727e-04 -1.53064563e+02] [ 4.12146488e-04 -3.85312326e-06 9.99999915e-01 -4.30468758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.626559995 meters 0.05261275538503936 Centerline is valid? [True, True] Translation: X:557.20, Y:-153.10, Z:-4.30 [[ 8.37346489e-01 5.46670906e-01 -1.33335760e-03 5.57195881e+02] [-5.46670173e-01 8.37347551e-01 8.95441538e-04 -1.53098167e+02] [ 1.60599556e-03 -2.08880000e-05 9.99998710e-01 -4.30473287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6865599949999 meters 0.05413994045424842 Centerline is valid? [True, True] Translation: X:557.25, Y:-153.13, Z:-4.30 [[ 8.39196193e-01 5.43826723e-01 -1.49831845e-03 5.57249478e+02] [-5.43825793e-01 8.39197530e-01 1.00633155e-03 -1.53127743e+02] [ 1.80465513e-03 -2.96853883e-05 9.99998371e-01 -4.30189637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.746559995 meters 0.05364965031587948 Centerline is valid? [True, True] Translation: X:557.30, Y:-153.16, Z:-4.30 [[ 8.39540766e-01 5.43293683e-01 -1.80997170e-03 5.57299159e+02] [-5.43292325e-01 8.39542716e-01 1.21562256e-03 -1.53162772e+02] [ 2.17998861e-03 -3.72209629e-05 9.99997623e-01 -4.30356033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8065599949999 meters 0.05396271505381326 Centerline is valid? [True, True] Translation: X:557.35, Y:-153.20, Z:-4.31 [[ 8.39312462e-01 5.43644179e-01 -2.36597498e-03 5.57351301e+02] [-5.43641859e-01 8.39315795e-01 1.58898593e-03 -1.53198517e+02] [ 2.84964312e-03 -4.74126519e-05 9.99995939e-01 -4.30666199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.866559995 meters 0.053355794050135914 Centerline is valid? [True, True] Translation: X:557.40, Y:-153.23, Z:-4.31 [[ 8.38148472e-01 5.45439462e-01 -1.71203748e-03 5.57404152e+02] [-5.45438252e-01 8.38150220e-01 1.14951840e-03 -1.53229569e+02] [ 2.06193729e-03 -2.96563613e-05 9.99997874e-01 -4.30590437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9265599949999 meters 0.05398761741057742 Centerline is valid? [True, True] Translation: X:557.46, Y:-153.26, Z:-4.30 [[ 8.35433001e-01 5.49592297e-01 -9.12753945e-05 5.57458861e+02] [-5.49592294e-01 8.35433006e-01 6.14220386e-05 -1.53257357e+02] [ 1.10011556e-04 -1.14974453e-06 9.99999994e-01 -4.30320753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.986559995 meters 0.05384166697418939 Centerline is valid? [True, True] Translation: X:557.51, Y:-153.29, Z:-4.30 [[ 8.32342634e-01 5.54261373e-01 -2.64890902e-04 5.57513441e+02] [-5.54261344e-01 8.32342676e-01 1.78104980e-04 -1.53287161e+02] [ 3.19196713e-04 -1.42558042e-06 9.99999949e-01 -4.30315545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0465599949999 meters 0.05270169133648759 Centerline is valid? [True, True] Translation: X:557.57, Y:-153.32, Z:-4.31 [[ 8.30123687e-01 5.57579236e-01 -2.45631542e-04 5.57566336e+02] [-5.57579212e-01 8.30123723e-01 1.65449220e-04 -1.53318948e+02] [ 2.96155619e-04 -3.84274847e-07 9.99999956e-01 -4.30765559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.106559995 meters 0.05274513992959835 Centerline is valid? [True, True] Translation: X:557.62, Y:-153.35, Z:-4.31 [[ 8.26554232e-01 5.62856841e-01 -5.27271827e-04 5.57622852e+02] [-5.62856729e-01 8.26554400e-01 3.55073191e-04 -1.53345619e+02] [ 6.35674223e-04 3.29124691e-06 9.99999798e-01 -4.30875894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.166559995 meters 0.05359757377037578 Centerline is valid? [True, True] Translation: X:557.68, Y:-153.38, Z:-4.31 [[ 8.23639588e-01 5.67110939e-01 -1.73530445e-03 5.57676209e+02] [-5.67109739e-01 8.23641416e-01 1.16666808e-03 -1.53377156e+02] [ 2.09089884e-03 2.31940322e-05 9.99997814e-01 -4.30636270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.226559995 meters 0.05332295018872992 Centerline is valid? [True, True] Translation: X:557.73, Y:-153.40, Z:-4.31 [[ 8.22217986e-01 5.69170406e-01 -1.62250931e-03 5.57731091e+02] [-5.69169361e-01 8.22219587e-01 1.09060125e-03 -1.53404596e+02] [ 1.95479689e-03 2.67706273e-05 9.99998089e-01 -4.31012909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.286559995 meters 0.052968476573261536 Centerline is valid? [True, True] Translation: X:557.78, Y:-153.44, Z:-4.31 [[ 8.21666979e-01 5.69964164e-01 -2.05612184e-03 5.57782655e+02] [-5.69962488e-01 8.21669551e-01 1.38268896e-03 -1.53439396e+02] [ 2.47753587e-03 3.58024528e-05 9.99996930e-01 -4.30828722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.346559995 meters 0.05367235456040077 Centerline is valid? [True, True] Translation: X:557.83, Y:-153.47, Z:-4.31 [[ 8.21989249e-01 5.69499095e-01 -2.11077604e-03 5.57834540e+02] [-5.69497326e-01 8.21991958e-01 1.41975442e-03 -1.53473394e+02] [ 2.54358978e-03 3.50584414e-05 9.99996764e-01 -4.30893044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.406559995 meters 0.053434788966798416 Centerline is valid? [True, True] Translation: X:557.88, Y:-153.51, Z:-4.31 [[ 8.22663910e-01 5.68523958e-01 -2.14482687e-03 5.57882906e+02] [-5.68522128e-01 8.22666705e-01 1.44287780e-03 -1.53511487e+02] [ 2.58478825e-03 3.23780399e-05 9.99996659e-01 -4.30554214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4665599949999 meters 0.05384196071091004 Centerline is valid? [True, True] Translation: X:557.94, Y:-153.54, Z:-4.31 [[ 8.23515829e-01 5.67285625e-01 -2.94924135e-03 5.57938260e+02] [-5.67282160e-01 8.23521110e-01 1.98330187e-03 -1.53540801e+02] [ 3.55386115e-03 3.97715214e-05 9.99993684e-01 -4.31184032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.526559995 meters 0.0539014418317522 Centerline is valid? [True, True] Translation: X:557.99, Y:-153.58, Z:-4.31 [[ 8.24653313e-01 5.65629664e-01 -3.16171617e-03 5.57988068e+02] [-5.65625664e-01 8.24659374e-01 2.12737035e-03 -1.53578102e+02] [ 3.81064265e-03 3.40048017e-05 9.99992739e-01 -4.30934982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5865599949999 meters 0.05373318026307312 Centerline is valid? [True, True] Translation: X:558.04, Y:-153.61, Z:-4.31 [[ 8.27833540e-01 5.60969465e-01 -2.21131563e-03 5.58037192e+02] [-5.60967493e-01 8.27836493e-01 1.48737732e-03 -1.53613758e+02] [ 2.66498104e-03 9.17535130e-06 9.99996449e-01 -4.30839622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.646559995 meters 0.053698898579468066 Centerline is valid? [True, True] Translation: X:558.09, Y:-153.65, Z:-4.31 [[ 8.30848270e-01 5.56496429e-01 -1.69633548e-03 5.58087675e+02] [-5.56495259e-01 8.30850001e-01 1.14132343e-03 -1.53650032e+02] [ 2.04454275e-03 -4.26394356e-06 9.99997910e-01 -4.30931978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7065599949999 meters 0.054337961348469466 Centerline is valid? [True, True] Translation: X:558.14, Y:-153.68, Z:-4.31 [[ 8.35804990e-01 5.49023929e-01 -1.65643785e-03 5.58137941e+02] [-5.49022797e-01 8.35806632e-01 1.11519117e-03 -1.53684396e+02] [ 1.99672837e-03 -2.26602033e-05 9.99998006e-01 -4.30791615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.766559995 meters 0.05504859334631373 Centerline is valid? [True, True] Translation: X:558.18, Y:-153.72, Z:-4.31 [[ 8.41299877e-01 5.40566628e-01 -1.49603159e-03 5.58184855e+02] [-5.40565692e-01 8.41301206e-01 1.00671102e-03 -1.53724971e+02] [ 1.80280756e-03 -3.82425003e-05 9.99998374e-01 -4.31260401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8265599949999 meters 0.056000499335521085 Centerline is valid? [True, True] Translation: X:558.24, Y:-153.75, Z:-4.31 [[ 8.45115183e-01 5.34583021e-01 -1.14911402e-03 5.58240359e+02] [-5.34582463e-01 8.45115964e-01 7.73291620e-04 -1.53752452e+02] [ 1.38452318e-03 -3.92242838e-05 9.99999041e-01 -4.31057901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.886559995 meters 0.05621081180182122 Centerline is valid? [True, True] Translation: X:558.29, Y:-153.78, Z:-4.31 [[ 8.50703199e-01 5.25646291e-01 -2.10387142e-04 5.58293594e+02] [-5.25646271e-01 8.50703225e-01 1.41955830e-04 -1.53781739e+02] [ 2.53595575e-04 -1.01730622e-05 9.99999968e-01 -4.31087966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9465599949999 meters 0.056128339970386056 Centerline is valid? [True, True] Translation: X:558.34, Y:-153.82, Z:-4.31 [[ 8.53658002e-01 5.20832937e-01 1.03336791e-03 5.58339378e+02] [-5.20832476e-01 8.53658625e-01 -6.95149558e-04 -1.53822837e+02] [-1.24420022e-03 5.52084143e-05 9.99999224e-01 -4.31286933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.006559995 meters 0.05577970077057762 Centerline is valid? [True, True] Translation: X:558.39, Y:-153.85, Z:-4.31 [[ 8.55655138e-01 5.17539576e-01 2.65927043e-03 5.58391330e+02] [-5.17536506e-01 8.55659257e-01 -1.78934731e-03 -1.53854868e+02] [-3.20148741e-03 1.54794690e-04 9.99994863e-01 -4.31418731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0665599949999 meters 0.056646296403310065 Centerline is valid? [True, True] Translation: X:558.44, Y:-153.89, Z:-4.31 [[ 8.54665868e-01 5.19175227e-01 1.82682002e-03 5.58441904e+02] [-5.19173782e-01 8.54667814e-01 -1.22925826e-03 -1.53887608e+02] [-2.19952471e-03 1.02168021e-04 9.99997576e-01 -4.31477712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.126559995 meters 0.056183514880486965 Centerline is valid? [True, True] Translation: X:558.50, Y:-153.91, Z:-4.32 [[ 8.50002172e-01 5.26768715e-01 3.32082994e-03 5.58499389e+02] [-5.26763997e-01 8.50008646e-01 -2.23464478e-03 -1.53911488e+02] [-3.99987512e-03 1.50159263e-04 9.99991989e-01 -4.31699204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1865599949999 meters 0.05578412935418247 Centerline is valid? [True, True] Translation: X:558.55, Y:-153.94, Z:-4.32 [[ 8.42179769e-01 5.39190392e-01 2.63769774e-03 5.58553383e+02] [-5.39187475e-01 8.42183897e-01 -1.77503635e-03 -1.53938774e+02] [-3.17850910e-03 7.26861201e-05 9.99994946e-01 -4.31850709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.246559995 meters 0.05504411434027764 Centerline is valid? [True, True] Translation: X:558.61, Y:-153.96, Z:-4.32 [[ 8.36198015e-01 5.48420877e-01 2.72420507e-03 5.58612113e+02] [-5.48417814e-01 8.36202452e-01 -1.83329923e-03 -1.53961305e+02] [-3.28340653e-03 3.89985847e-05 9.99994609e-01 -4.31980068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3065599949999 meters 0.05517440221458056 Centerline is valid? [True, True] Translation: X:558.66, Y:-153.99, Z:-4.32 [[ 8.33058706e-01 5.53180804e-01 2.04706634e-03 5.58663762e+02] [-5.53179089e-01 8.33061221e-01 -1.37763185e-03 -1.53993208e+02] [-2.46741108e-03 1.52539157e-05 9.99996956e-01 -4.32236101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.366559995 meters 0.05405145767995976 Centerline is valid? [True, True] Translation: X:558.72, Y:-154.01, Z:-4.32 [[ 8.23893195e-01 5.66737451e-01 2.94354755e-03 5.58724856e+02] [-5.66733991e-01 8.23898452e-01 -1.98072010e-03 -1.54013976e+02] [-3.54773253e-03 -3.63066422e-05 9.99993706e-01 -4.32157747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4265599949999 meters 0.055164105082728086 Centerline is valid? [True, True] Translation: X:558.78, Y:-154.03, Z:-4.32 [[ 8.16298005e-01 5.77622631e-01 3.10859830e-03 5.58784657e+02] [-5.77618846e-01 8.16303919e-01 -2.09289168e-03 -1.54032020e+02] [-3.74646257e-03 -8.71616611e-05 9.99992978e-01 -4.32279449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.486559995 meters 0.05576834633428675 Centerline is valid? [True, True] Translation: X:558.84, Y:-154.06, Z:-4.32 [[ 8.10922795e-01 5.85140254e-01 3.88630952e-03 5.58839452e+02] [-5.85134424e-01 8.10932094e-01 -2.61645349e-03 -1.54059933e+02] [-4.68252538e-03 -1.52271705e-04 9.99989025e-01 -4.32284627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5465599949999 meters 0.05845354652697738 Centerline is valid? [True, True] Translation: X:558.90, Y:-154.08, Z:-4.32 [[ 8.08638619e-01 5.88296913e-01 3.21331850e-03 5.58896008e+02] [-5.88292952e-01 8.08644991e-01 -2.16341961e-03 -1.54084084e+02] [-3.87116699e-03 -1.40947981e-04 9.99992497e-01 -4.32430127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.606559995 meters 0.05412419014820513 Centerline is valid? [True, True] Translation: X:558.94, Y:-154.13, Z:-4.32 [[ 8.07237017e-01 5.90221823e-01 2.56865486e-03 5.58937269e+02] [-5.90219302e-01 8.07241095e-01 -1.72927984e-03 -1.54131921e+02] [-3.09418246e-03 -1.20130979e-04 9.99995206e-01 -4.32463867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.666559995 meters 0.05384665083062952 Centerline is valid? [True, True] Translation: X:558.99, Y:-154.17, Z:-4.33 [[ 8.07491989e-01 5.89877274e-01 1.22053703e-03 5.58988546e+02] [-5.89876705e-01 8.07492909e-01 -8.20985075e-04 -1.54167527e+02] [-1.46985543e-03 -5.70274883e-05 9.99998918e-01 -4.32657011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.726559995 meters 0.05341474511223652 Centerline is valid? [True, True] Translation: X:559.04, Y:-154.21, Z:-4.33 [[ 8.09206877e-01 5.87523615e-01 4.81808648e-04 5.59036661e+02] [-5.87523526e-01 8.09207020e-01 -3.24301620e-04 -1.54205986e+02] [-5.80417801e-04 -2.06468151e-05 9.99999831e-01 -4.32770800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.786559995 meters 0.05444244017294599 Centerline is valid? [True, True] Translation: X:559.09, Y:-154.24, Z:-4.33 [[ 8.12247657e-01 5.83312368e-01 6.52282003e-04 5.59085152e+02] [-5.83312203e-01 8.12247918e-01 -4.39284016e-04 -1.54241868e+02] [-7.86054499e-04 -2.36766399e-05 9.99999691e-01 -4.32904167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.846559995 meters 0.05398175232788316 Centerline is valid? [True, True] Translation: X:559.13, Y:-154.28, Z:-4.33 [[ 8.14645588e-01 5.79957593e-01 1.32546707e-03 5.59134442e+02] [-5.79956907e-01 8.14646665e-01 -8.92684213e-04 -1.54276837e+02] [-1.59750632e-03 -4.14925285e-05 9.99998723e-01 -4.32928543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.906559995 meters 0.05426142778175406 Centerline is valid? [True, True] Translation: X:559.18, Y:-154.32, Z:-4.33 [[ 8.18150865e-01 5.74994747e-01 3.19425482e-03 5.59179889e+02] [-5.74990728e-01 8.18157097e-01 -2.15130639e-03 -1.54316544e+02] [-3.85039213e-03 -7.65737195e-05 9.99992584e-01 -4.32850330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9665599949999 meters 0.0536702068325343 Centerline is valid? [True, True] Translation: X:559.22, Y:-154.36, Z:-4.33 [[ 8.20919283e-01 5.71025307e-01 4.65081030e-03 5.59224205e+02] [-5.71016722e-01 8.20932453e-01 -3.13235986e-03 -1.54360037e+02] [-5.60665786e-03 -8.42758405e-05 9.99984279e-01 -4.32732200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.026559995 meters 0.05378817942486403 Centerline is valid? [True, True] Translation: X:559.27, Y:-154.40, Z:-4.33 [[ 8.22046329e-01 5.69402439e-01 4.54932194e-03 5.59274043e+02] [-5.69394200e-01 8.22058914e-01 -3.06398686e-03 -1.54397917e+02] [-5.48445224e-03 -7.16183808e-05 9.99984958e-01 -4.32862521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0865599949999 meters 0.05326023032448608 Centerline is valid? [True, True] Translation: X:559.32, Y:-154.44, Z:-4.33 [[ 8.22427415e-01 5.68857412e-01 3.79364909e-03 5.59320441e+02] [-5.68851677e-01 8.22436163e-01 -2.55494825e-03 -1.54439878e+02] [-4.57343545e-03 -5.67641609e-05 9.99989540e-01 -4.32959981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.146559995 meters 0.05283472232537271 Centerline is valid? [True, True] Translation: X:559.37, Y:-154.48, Z:-4.33 [[ 8.22261319e-01 5.69099161e-01 3.53107923e-03 5.59367994e+02] [-5.69094193e-01 8.22268899e-01 -2.37851664e-03 -1.54482136e+02] [-4.25710845e-03 -5.37544532e-05 9.99990937e-01 -4.33030132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2065599949999 meters 0.05307644406791653 Centerline is valid? [True, True] Translation: X:559.42, Y:-154.52, Z:-4.33 [[ 8.22700006e-01 5.68468178e-01 2.93783353e-03 5.59417604e+02] [-5.68464733e-01 8.22705251e-01 -1.97940401e-03 -1.54518186e+02] [-3.54219926e-03 -4.15990575e-05 9.99993726e-01 -4.33167285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.266559995 meters 0.053318911203124215 Centerline is valid? [True, True] Translation: X:559.47, Y:-154.56, Z:-4.33 [[ 8.23398380e-01 5.67447149e-01 4.34059163e-03 5.59465975e+02] [-5.67439608e-01 8.23409819e-01 -2.92579634e-03 -1.54558378e+02] [-5.23432056e-03 -5.39276498e-05 9.99986299e-01 -4.33071853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3265599949999 meters 0.052905515206584354 Centerline is valid? [True, True] Translation: X:559.52, Y:-154.59, Z:-4.33 [[ 8.23834246e-01 5.66812077e-01 4.60487216e-03 5.59516473e+02] [-5.66803579e-01 8.23847113e-01 -3.10428681e-03 -1.54593625e+02] [-5.55325790e-03 -5.26402394e-05 9.99984579e-01 -4.32997273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.386559995 meters 0.05323753150298991 Centerline is valid? [True, True] Translation: X:559.57, Y:-154.63, Z:-4.33 [[ 8.23802970e-01 5.66850125e-01 5.44083562e-03 5.59566845e+02] [-5.66838255e-01 8.23820935e-01 -3.66883279e-03 -1.54631951e+02] [-6.56195261e-03 -6.16784212e-05 9.99978468e-01 -4.32982027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4465599949999 meters 0.053125210726526484 Centerline is valid? [True, True] Translation: X:559.62, Y:-154.67, Z:-4.33 [[ 8.22915074e-01 5.68136604e-01 5.61955336e-03 5.59616964e+02] [-5.68123965e-01 8.22934258e-01 -3.79042501e-03 -1.54668120e+02] [-6.77800217e-03 -7.34050608e-05 9.99977026e-01 -4.33046974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.506559995 meters 0.053416874662710924 Centerline is valid? [True, True] Translation: X:559.67, Y:-154.70, Z:-4.33 [[ 8.20324649e-01 5.71880109e-01 4.54000714e-03 5.59667563e+02] [-5.71871912e-01 8.20337208e-01 -3.06303810e-03 -1.54702507e+02] [-5.47602734e-03 -8.36169127e-05 9.99985003e-01 -4.33078831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5665599949999 meters 0.053545015957962294 Centerline is valid? [True, True] Translation: X:559.72, Y:-154.73, Z:-4.33 [[ 8.16850554e-01 5.76841424e-01 3.02384450e-03 5.59720171e+02] [-5.76837822e-01 8.16856147e-01 -2.04007371e-03 -1.54732020e+02] [-3.64684499e-03 -7.78325335e-05 9.99993347e-01 -4.33233584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.626559995 meters 0.05381445072809035 Centerline is valid? [True, True] Translation: X:559.77, Y:-154.76, Z:-4.33 [[ 8.14691518e-01 5.79887758e-01 2.81395756e-03 5.59772432e+02] [-5.79884656e-01 8.14696373e-01 -1.89869276e-03 -1.54763682e+02] [-3.39354971e-03 -8.49219243e-05 9.99994238e-01 -4.33313798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6865599949999 meters 0.05261620713801521 Centerline is valid? [True, True] Translation: X:559.82, Y:-154.80, Z:-4.33 [[ 8.12826589e-01 5.82499511e-01 2.69371080e-03 5.59819437e+02] [-5.82496683e-01 8.12831047e-01 -1.81745526e-03 -1.54803002e+02] [-3.24819857e-03 -9.18016517e-05 9.99994720e-01 -4.33242702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.746559995 meters 0.05272492257716517 Centerline is valid? [True, True] Translation: X:559.87, Y:-154.84, Z:-4.33 [[ 8.12291481e-01 5.83242430e-01 3.28887484e-03 5.59870280e+02] [-5.83238221e-01 8.12298131e-01 -2.21893526e-03 -1.54839421e+02] [-3.96572409e-03 -1.15775300e-04 9.99992130e-01 -4.33220406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8065599949999 meters 0.05265217058478984 Centerline is valid? [True, True] Translation: X:559.92, Y:-154.88, Z:-4.33 [[ 8.12534628e-01 5.82901674e-01 3.62163836e-03 5.59917985e+02] [-5.82896563e-01 8.12542690e-01 -2.44409840e-03 -1.54879066e+02] [-4.36740482e-03 -1.25125965e-04 9.99990455e-01 -4.33109824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.866559995 meters 0.05226840494532467 Centerline is valid? [True, True] Translation: X:559.97, Y:-154.91, Z:-4.33 [[ 8.13595662e-01 5.81424229e-01 2.82233687e-03 5.59968038e+02] [-5.81421114e-01 8.13600552e-01 -1.90540865e-03 -1.54912863e+02] [-3.40410559e-03 -9.07340331e-05 9.99994202e-01 -4.33215864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9265599949999 meters 0.05339174089172546 Centerline is valid? [True, True] Translation: X:560.02, Y:-154.95, Z:-4.33 [[ 8.14650910e-01 5.79948863e-01 1.79224046e-03 5.60019247e+02] [-5.79947603e-01 8.14652879e-01 -1.20992193e-03 -1.54945458e+02] [-2.16174670e-03 -5.37415640e-05 9.99997662e-01 -4.33436038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.986559995 meters 0.0526990629167397 Centerline is valid? [True, True] Translation: X:560.07, Y:-154.99, Z:-4.34 [[ 8.16872977e-01 5.76817596e-01 -2.00367519e-06 5.60066469e+02] [-5.76817596e-01 8.16872977e-01 1.55562968e-06 -1.54985526e+02] [ 2.53406248e-06 -1.14996744e-07 1.00000000e+00 -4.33614825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0465599949999 meters 0.05235749735723156 Centerline is valid? [True, True] Translation: X:560.11, Y:-155.03, Z:-4.33 [[ 8.19641690e-01 5.72874692e-01 -1.44463367e-03 5.60110092e+02] [-5.72873861e-01 8.19642963e-01 9.75928497e-04 -1.55030377e+02] [ 1.74316856e-03 2.76811865e-05 9.99998480e-01 -4.33423636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.106559995 meters 0.052641467438874934 Centerline is valid? [True, True] Translation: X:560.16, Y:-155.07, Z:-4.34 [[ 8.24058002e-01 5.66502599e-01 -1.79274313e-03 5.60157452e+02] [-5.66501305e-01 8.24059952e-01 1.21114820e-03 -1.55068804e+02] [ 2.16344642e-03 1.75349534e-05 9.99997660e-01 -4.33615605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.166559995 meters 0.052568588217405676 Centerline is valid? [True, True] Translation: X:560.21, Y:-155.11, Z:-4.34 [[ 8.28012244e-01 5.60706330e-01 -2.03356261e-03 5.60205181e+02] [-5.60704647e-01 8.28014741e-01 1.37382400e-03 -1.55109760e+02] [ 2.45413163e-03 2.68491553e-06 9.99996989e-01 -4.33512968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.226559995 meters 0.052479893263268046 Centerline is valid? [True, True] Translation: X:560.26, Y:-155.15, Z:-4.33 [[ 8.30055532e-01 5.57677731e-01 -1.83376915e-03 5.60255692e+02] [-5.57676352e-01 8.30057557e-01 1.24006384e-03 -1.55147638e+02] [ 2.21368993e-03 -6.67216122e-06 9.99997550e-01 -4.33461827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.286559995 meters 0.05223423874469966 Centerline is valid? [True, True] Translation: X:560.30, Y:-155.19, Z:-4.33 [[ 8.34832278e-01 5.50503702e-01 -8.60889238e-04 5.60302953e+02] [-5.50503395e-01 8.34832722e-01 5.82035847e-04 -1.55188841e+02] [ 1.03911139e-03 -1.19798643e-05 9.99999460e-01 -4.33498354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.346559995 meters 0.05240377004062395 Centerline is valid? [True, True] Translation: X:560.35, Y:-155.23, Z:-4.33 [[ 8.37739029e-01 5.46070099e-01 8.75146824e-04 5.60349879e+02] [-5.46069780e-01 8.37739486e-01 -5.90485455e-04 -1.55228271e+02] [-1.05559150e-03 1.67814783e-05 9.99999443e-01 -4.33494169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.406559995 meters 0.05325038128807772 Centerline is valid? [True, True] Translation: X:560.40, Y:-155.27, Z:-4.34 [[ 8.39225972e-01 5.43781431e-01 1.23377151e-03 5.60399432e+02] [-5.43780794e-01 8.39226879e-01 -8.33393153e-04 -1.55265872e+02] [-1.48859794e-03 2.85039272e-05 9.99998892e-01 -4.33545820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4665599949999 meters 0.053581455051333333 Centerline is valid? [True, True] Translation: X:560.45, Y:-155.30, Z:-4.33 [[ 8.40976330e-01 5.41071364e-01 7.69533517e-04 5.60451963e+02] [-5.41071115e-01 8.40976681e-01 -5.19906029e-04 -1.55298926e+02] [-9.28466007e-04 2.08563060e-05 9.99999569e-01 -4.33459279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.526559995 meters 0.05332483789921261 Centerline is valid? [True, True] Translation: X:560.51, Y:-155.33, Z:-4.33 [[ 8.41913094e-01 5.39613141e-01 -2.40513956e-05 5.60505977e+02] [-5.39613141e-01 8.41913094e-01 1.68319344e-05 -1.55327333e+02] [ 2.93319176e-05 -1.19257687e-06 1.00000000e+00 -4.33352156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5865599949999 meters 0.054182157046669004 Centerline is valid? [True, True] Translation: X:560.55, Y:-155.37, Z:-4.34 [[ 8.42170149e-01 5.39211855e-01 -1.21971082e-04 5.60553095e+02] [-5.39211849e-01 8.42170158e-01 8.30185572e-05 -1.55367973e+02] [ 1.47484995e-04 -4.14749804e-06 9.99999989e-01 -4.33651995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.646559995 meters 0.053201393834370704 Centerline is valid? [True, True] Translation: X:560.61, Y:-155.39, Z:-4.33 [[ 8.41549230e-01 5.40180321e-01 3.38228356e-04 5.60611211e+02] [-5.40180273e-01 8.41549298e-01 -2.27691616e-04 -1.55393573e+02] [-4.07630366e-04 8.90941842e-06 9.99999917e-01 -4.33443953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7065599949999 meters 0.05356121413678584 Centerline is valid? [True, True] Translation: X:560.66, Y:-155.43, Z:-4.34 [[ 8.40602437e-01 5.41651294e-01 1.19074795e-03 5.60661295e+02] [-5.41650697e-01 8.40603280e-01 -8.04901634e-04 -1.55427152e+02] [-1.43692264e-03 3.16328192e-05 9.99998967e-01 -4.33518125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.766559995 meters 0.05249847952575389 Centerline is valid? [True, True] Translation: X:560.72, Y:-155.45, Z:-4.33 [[ 8.38321283e-01 5.45174017e-01 1.64815325e-03 5.60716494e+02] [-5.45172879e-01 8.38322903e-01 -1.11452083e-03 -1.55454896e+02] [-1.98929242e-03 3.57980776e-05 9.99998021e-01 -4.33452035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8265599949999 meters 0.05260290405240751 Centerline is valid? [True, True] Translation: X:560.77, Y:-155.49, Z:-4.34 [[ 8.34650190e-01 5.50779705e-01 8.81651636e-04 5.60766974e+02] [-5.50779382e-01 8.34650656e-01 -5.96227305e-04 -1.55487997e+02] [-1.06426101e-03 1.20456905e-05 9.99999434e-01 -4.33874017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.886559995 meters 0.05260312170448725 Centerline is valid? [True, True] Translation: X:560.82, Y:-155.52, Z:-4.34 [[ 8.31955796e-01 5.54841836e-01 -3.00415226e-04 5.60822887e+02] [-5.54841799e-01 8.31955850e-01 2.03609150e-04 -1.55516457e+02] [ 3.62903079e-04 -2.71088798e-06 9.99999934e-01 -4.33893513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9465599949999 meters 0.05234935240025306 Centerline is valid? [True, True] Translation: X:560.88, Y:-155.55, Z:-4.34 [[ 8.28293072e-01 5.60294335e-01 -9.19003571e-04 5.60877203e+02] [-5.60293989e-01 8.28293582e-01 6.22836870e-04 -1.55545268e+02] [ 1.11017673e-03 -9.79287699e-07 9.99999384e-01 -4.34063424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.006559995 meters 0.0524740176876481 Centerline is valid? [True, True] Translation: X:560.93, Y:-155.58, Z:-4.34 [[ 8.26438984e-01 5.63025241e-01 -1.08773595e-03 5.60931178e+02] [-5.63024759e-01 8.26439700e-01 7.37269280e-04 -1.55577259e+02] [ 1.31404938e-03 3.11419348e-06 9.99999137e-01 -4.33942588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0665599949999 meters 0.052832527243235554 Centerline is valid? [True, True] Translation: X:560.98, Y:-155.61, Z:-4.34 [[ 8.24271011e-01 5.66195426e-01 2.02184253e-04 5.60984348e+02] [-5.66195410e-01 8.24271035e-01 -1.35912120e-04 -1.55608437e+02] [-2.43607445e-04 -2.44737544e-06 9.99999970e-01 -4.33856216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.126559995 meters 0.05233264176136119 Centerline is valid? [True, True] Translation: X:561.04, Y:-155.64, Z:-4.34 [[ 8.22242502e-01 5.69137300e-01 5.43054680e-05 5.61037523e+02] [-5.69137298e-01 8.22242503e-01 -3.64029948e-05 -1.55640599e+02] [-6.53705664e-05 -9.75177809e-07 9.99999998e-01 -4.33947114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1865599949999 meters 0.05191425389170721 Centerline is valid? [True, True] Translation: X:561.09, Y:-155.68, Z:-4.34 [[ 8.20907244e-01 5.71060385e-01 -1.15445285e-03 5.61089220e+02] [-5.71059850e-01 8.20908056e-01 7.81979221e-04 -1.55675475e+02] [ 1.39425700e-03 1.73292667e-05 9.99999028e-01 -4.33952033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.246559995 meters 0.05239044359336565 Centerline is valid? [True, True] Translation: X:561.14, Y:-155.71, Z:-4.34 [[ 8.19594496e-01 5.72938372e-01 -2.54629021e-03 5.61140727e+02] [-5.72935776e-01 8.19598450e-01 1.72544672e-03 -1.55708389e+02] [ 3.07551015e-03 4.46941206e-05 9.99995270e-01 -4.34155926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3065599949999 meters 0.05270426153868462 Centerline is valid? [True, True] Translation: X:561.19, Y:-155.74, Z:-4.34 [[ 8.19103111e-01 5.73642340e-01 -2.13527386e-03 5.61192151e+02] [-5.73640516e-01 8.19105893e-01 1.44738606e-03 -1.55741547e+02] [ 2.57929733e-03 3.93211774e-05 9.99996673e-01 -4.34324993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.366559995 meters 0.05251062848358399 Centerline is valid? [True, True] Translation: X:561.24, Y:-155.78, Z:-4.34 [[ 8.19109550e-01 5.73635129e-01 -1.51122835e-03 5.61240667e+02] [-5.73634216e-01 8.19110944e-01 1.02416620e-03 -1.55780082e+02] [ 1.82536139e-03 2.79879740e-05 9.99998334e-01 -4.34172674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4265599949999 meters 0.053086012022274635 Centerline is valid? [True, True] Translation: X:561.29, Y:-155.82, Z:-4.34 [[ 8.19868936e-01 5.72549728e-01 -1.31795739e-03 5.61288649e+02] [-5.72549030e-01 8.19869995e-01 8.94001391e-04 -1.55817577e+02] [ 1.59241397e-03 2.16312556e-05 9.99998732e-01 -4.34202712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.486559995 meters 0.0524755124978576 Centerline is valid? [True, True] Translation: X:561.34, Y:-155.86, Z:-4.34 [[ 8.20975741e-01 5.70962360e-01 -9.03671271e-04 5.61337954e+02] [-5.70962030e-01 8.20976238e-01 6.13489913e-04 -1.55855246e+02] [ 1.09217229e-03 1.23016481e-05 9.99999404e-01 -4.34225980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5465599949999 meters 0.05254251564086761 Centerline is valid? [True, True] Translation: X:561.39, Y:-155.90, Z:-4.34 [[ 8.23611580e-01 5.67154163e-01 -3.47826272e-04 5.61385380e+02] [-5.67154114e-01 8.23611654e-01 2.35979771e-04 -1.55895335e+02] [ 4.20310681e-04 2.91542888e-06 9.99999912e-01 -4.34211109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.606559995 meters 0.0523966598592348 Centerline is valid? [True, True] Translation: X:561.43, Y:-155.93, Z:-4.34 [[ 8.26303322e-01 5.63225262e-01 3.52126700e-04 5.61433204e+02] [-5.63225212e-01 8.26303397e-01 -2.37800142e-04 -1.55933075e+02] [-4.24898536e-04 -1.83158819e-06 9.99999910e-01 -4.34437062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.666559995 meters 0.05200442185632018 Centerline is valid? [True, True] Translation: X:561.48, Y:-155.98, Z:-4.34 [[ 8.32009841e-01 5.54760660e-01 4.84713673e-04 5.61478813e+02] [-5.54760563e-01 8.32009982e-01 -3.28288402e-04 -1.55976483e+02] [-5.85408105e-04 4.23915101e-06 9.99999829e-01 -4.34355468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.726559995 meters 0.053202120524440025 Centerline is valid? [True, True] Translation: X:561.53, Y:-156.02, Z:-4.34 [[ 8.37136182e-01 5.46994526e-01 -3.58809148e-05 5.61526427e+02] [-5.46994526e-01 8.37136183e-01 2.52453759e-05 -1.56015607e+02] [ 4.38462942e-05 -1.50715361e-06 9.99999999e-01 -4.34443377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.786559995 meters 0.053834656068827924 Centerline is valid? [True, True] Translation: X:561.57, Y:-156.05, Z:-4.35 [[ 8.39582816e-01 5.43231542e-01 -4.31922761e-04 5.61574536e+02] [-5.43231463e-01 8.39582927e-01 2.93384491e-04 -1.56052666e+02] [ 5.22010685e-04 -1.16865438e-05 9.99999864e-01 -4.34570761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.846559995 meters 0.054037299453037875 Centerline is valid? [True, True] Translation: X:561.62, Y:-156.09, Z:-4.35 [[ 8.40646842e-01 5.41583628e-01 2.46525671e-04 5.61624586e+02] [-5.41583603e-01 8.40646878e-01 -1.66846883e-04 -1.56089706e+02] [-2.97602576e-04 6.74504456e-06 9.99999956e-01 -4.34654898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.906559995 meters 0.05388810151262319 Centerline is valid? [True, True] Translation: X:561.68, Y:-156.12, Z:-4.35 [[ 8.39769234e-01 5.42943486e-01 -6.65076924e-05 5.61676516e+02] [-5.42943484e-01 8.39769237e-01 4.61745928e-05 -1.56123766e+02] [ 8.09213082e-05 -2.66608418e-06 9.99999997e-01 -4.34705468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9665599949999 meters 0.05400787369213431 Centerline is valid? [True, True] Translation: X:561.73, Y:-156.15, Z:-4.34 [[ 8.38875412e-01 5.44323429e-01 2.20380910e-04 5.61733346e+02] [-5.44323409e-01 8.38875441e-01 -1.48528949e-04 -1.56149959e+02] [-2.65719920e-04 4.63879525e-06 9.99999965e-01 -4.34467377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.026559995 meters 0.053508073290393074 Centerline is valid? [True, True] Translation: X:561.78, Y:-156.19, Z:-4.35 [[ 8.37593172e-01 5.46292746e-01 1.38345259e-03 5.61782336e+02] [-5.46291940e-01 8.37594314e-01 -9.38717011e-04 -1.56186970e+02] [-1.67158631e-03 3.04939618e-05 9.99998602e-01 -4.34798663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0865599949999 meters 0.05348938329164671 Centerline is valid? [True, True] Translation: X:561.84, Y:-156.22, Z:-4.35 [[ 8.36401988e-01 5.48114066e-01 1.63836637e-03 5.61835714e+02] [-5.48112941e-01 8.36403592e-01 -1.11124876e-03 -1.56217594e+02] [-1.97942659e-03 3.14408668e-05 9.99998040e-01 -4.34838820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.146559995 meters 0.05342707287971034 Centerline is valid? [True, True] Translation: X:561.89, Y:-156.25, Z:-4.35 [[ 8.35756553e-01 5.49095340e-01 2.30040025e-03 5.61889230e+02] [-5.49093123e-01 8.35759718e-01 -1.56104057e-03 -1.56248761e+02] [-2.77974197e-03 4.15159253e-05 9.99996136e-01 -4.34783181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2065599949999 meters 0.052871098182163956 Centerline is valid? [True, True] Translation: X:561.94, Y:-156.28, Z:-4.35 [[ 8.33943827e-01 5.51843631e-01 2.51010059e-03 5.61938370e+02] [-5.51841001e-01 8.33947603e-01 -1.70423054e-03 -1.56284774e+02] [-3.03376114e-03 3.60561178e-05 9.99995397e-01 -4.34953923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.266559995 meters 0.052944894286800465 Centerline is valid? [True, True] Translation: X:561.99, Y:-156.31, Z:-4.35 [[ 8.32576411e-01 5.53908850e-01 1.22715102e-03 5.61994572e+02] [-5.53908225e-01 8.32577315e-01 -8.32430228e-04 -1.56311878e+02] [-1.48278857e-03 1.33327290e-05 9.99998901e-01 -4.35092690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3265599949999 meters 0.05328561924882615 Centerline is valid? [True, True] Translation: X:562.05, Y:-156.34, Z:-4.35 [[ 8.32014086e-01 5.54754336e-01 4.31829593e-04 5.62047248e+02] [-5.54754259e-01 8.32014198e-01 -2.92257745e-04 -1.56344537e+02] [-5.21419604e-04 3.60325439e-06 9.99999864e-01 -4.35325167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.386559995 meters 0.05305048492071355 Centerline is valid? [True, True] Translation: X:562.10, Y:-156.38, Z:-4.35 [[ 8.31329653e-01 5.55778645e-01 1.05155389e-03 5.62099937e+02] [-5.55778187e-01 8.31330318e-01 -7.13630329e-04 -1.56375784e+02] [-1.27080913e-03 8.83133702e-06 9.99999192e-01 -4.35285353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4465599949999 meters 0.05287752505459056 Centerline is valid? [True, True] Translation: X:562.15, Y:-156.41, Z:-4.35 [[ 8.30411158e-01 5.57149169e-01 1.45321022e-03 5.62153707e+02] [-5.57148295e-01 8.30412430e-01 -9.87253774e-04 -1.56406648e+02] [-1.75681145e-03 1.01729529e-05 9.99998457e-01 -4.35262502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.506559995 meters 0.05293673991630674 Centerline is valid? [True, True] Translation: X:562.21, Y:-156.44, Z:-4.35 [[ 8.29380506e-01 5.58683084e-01 1.08939569e-03 5.62206530e+02] [-5.58682595e-01 8.29381222e-01 -7.39526988e-04 -1.56438688e+02] [-1.31668555e-03 4.72285823e-06 9.99999133e-01 -4.35390574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5665599949999 meters 0.05330696592672993 Centerline is valid? [True, True] Translation: X:562.26, Y:-156.47, Z:-4.35 [[ 8.27027833e-01 5.62160574e-01 6.72099335e-04 5.62260169e+02] [-5.62160389e-01 8.27028106e-01 -4.55956030e-04 -1.56469463e+02] [-8.12165544e-04 -7.39296707e-07 9.99999670e-01 -4.35426589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.626559995 meters 0.05278318478982121 Centerline is valid? [True, True] Translation: X:562.31, Y:-156.50, Z:-4.36 [[ 8.24705508e-01 5.65562329e-01 2.76394471e-04 5.62312660e+02] [-5.65562298e-01 8.24705555e-01 -1.87026383e-04 -1.56500893e+02] [-3.33719132e-04 -2.07660390e-06 9.99999944e-01 -4.35523690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6865599949999 meters 0.05322350583093418 Centerline is valid? [True, True] Translation: X:562.37, Y:-156.53, Z:-4.36 [[ 8.20512799e-01 5.71628125e-01 1.85839342e-04 5.62366672e+02] [-5.71628111e-01 8.20512820e-01 -1.25472432e-04 -1.56531295e+02] [-2.24207133e-04 -3.27925571e-06 9.99999975e-01 -4.35541381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.746559995 meters 0.0525723821790153 Centerline is valid? [True, True] Translation: X:562.42, Y:-156.56, Z:-4.35 [[ 8.17676587e-01 5.75677657e-01 4.84812378e-04 5.62418161e+02] [-5.75677563e-01 8.17676730e-01 -3.29030093e-04 -1.56564672e+02] [-5.85835073e-04 -1.00554050e-05 9.99999828e-01 -4.35472252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8065599949999 meters 0.05285609356742486 Centerline is valid? [True, True] Translation: X:562.47, Y:-156.60, Z:-4.36 [[ 8.14757437e-01 5.79801579e-01 6.68926124e-04 5.62470736e+02] [-5.79801401e-01 8.14757712e-01 -4.54411234e-04 -1.56595552e+02] [-8.08481069e-04 -1.76093716e-05 9.99999673e-01 -4.35533952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.866559995 meters 0.05268092856871846 Centerline is valid? [True, True] Translation: X:562.52, Y:-156.63, Z:-4.36 [[ 8.14380819e-01 5.80330177e-01 8.76065923e-04 5.62521824e+02] [-5.80329872e-01 8.14381290e-01 -5.95341464e-04 -1.56630416e+02] [-1.05894631e-03 -2.35725557e-05 9.99999439e-01 -4.35603997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9265599949999 meters 0.052100089589870904 Centerline is valid? [True, True] Translation: X:562.57, Y:-156.67, Z:-4.36 [[ 8.16646662e-01 5.77136516e-01 1.29275576e-03 5.62571035e+02] [-5.77135846e-01 8.16647685e-01 -8.79772551e-04 -1.56667563e+02] [-1.56347486e-03 -2.76323706e-05 9.99998777e-01 -4.35675162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.986559995 meters 0.05202945746743037 Centerline is valid? [True, True] Translation: X:562.62, Y:-156.71, Z:-4.36 [[ 8.19338801e-01 5.73308499e-01 1.13794931e-03 5.62618942e+02] [-5.73307976e-01 8.19339591e-01 -7.74519653e-04 -1.56705750e+02] [-1.37640562e-03 -1.78014121e-05 9.99999053e-01 -4.35688312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0465599949999 meters 0.05274309734365551 Centerline is valid? [True, True] Translation: X:562.67, Y:-156.74, Z:-4.36 [[ 8.24356324e-01 5.66070994e-01 5.29594097e-04 5.62666345e+02] [-5.66070879e-01 8.24356494e-01 -3.60324855e-04 -1.56744295e+02] [-6.40543782e-04 -2.75172269e-06 9.99999795e-01 -4.35985132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.106559995 meters 0.05326533589459698 Centerline is valid? [True, True] Translation: X:562.72, Y:-156.78, Z:-4.36 [[ 8.27784090e-01 5.61046174e-01 8.30736373e-04 5.62715066e+02] [-5.61045890e-01 8.27784507e-01 -5.64668273e-04 -1.56782638e+02] [-1.00447567e-03 1.34218446e-06 9.99999496e-01 -4.35742834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.166559995 meters 0.05268642745995721 Centerline is valid? [True, True] Translation: X:562.76, Y:-156.83, Z:-4.36 [[ 8.32619678e-01 5.53844286e-01 9.89231656e-04 5.62761298e+02] [-5.53843877e-01 8.32620265e-01 -6.73318333e-04 -1.56825285e+02] [-1.19656784e-03 1.27381977e-05 9.99999284e-01 -4.36148019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.226559995 meters 0.05369135541570975 Centerline is valid? [True, True] Translation: X:562.81, Y:-156.86, Z:-4.36 [[ 8.35769380e-01 5.49080183e-01 7.03615817e-04 5.62808130e+02] [-5.49079975e-01 8.35769676e-01 -4.78858631e-04 -1.56863010e+02] [-8.50992549e-04 1.38740260e-05 9.99999638e-01 -4.36232919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.286559995 meters 0.05307195438169469 Centerline is valid? [True, True] Translation: X:562.86, Y:-156.90, Z:-4.36 [[ 8.36740851e-01 5.47598798e-01 5.51860065e-04 5.62860517e+02] [-5.47598669e-01 8.36741033e-01 -3.75396264e-04 -1.56895282e+02] [-6.67330504e-04 1.19115522e-05 9.99999777e-01 -4.36141257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.346559995 meters 0.0536546499062935 Centerline is valid? [True, True] Translation: X:562.91, Y:-156.93, Z:-4.36 [[ 8.36410854e-01 5.48100774e-01 1.55713902e-03 5.62910949e+02] [-5.48099750e-01 8.36412303e-01 -1.05997645e-03 -1.56932350e+02] [-1.88338414e-03 3.31082981e-05 9.99998226e-01 -4.36202599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.406559995 meters 0.05340620734561445 Centerline is valid? [True, True] Translation: X:562.96, Y:-156.97, Z:-4.36 [[ 8.34944439e-01 5.50329000e-01 2.40321150e-03 5.62960479e+02] [-5.50326566e-01 8.34947897e-01 -1.63724420e-03 -1.56967784e+02] [-2.90757935e-03 4.44568119e-05 9.99995772e-01 -4.36240909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4665599949999 meters 0.05318722812236627 Centerline is valid? [True, True] Translation: X:563.01, Y:-157.00, Z:-4.36 [[ 8.30764754e-01 5.56612146e-01 3.58358398e-03 5.63010381e+02] [-5.56606792e-01 8.30772483e-01 -2.44157507e-03 -1.57002703e+02] [-4.33615330e-03 3.37273300e-05 9.99990598e-01 -4.36450213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.526559995 meters 0.051987413546500515 Centerline is valid? [True, True] Translation: X:563.06, Y:-157.03, Z:-4.37 [[ 8.24867592e-01 5.65311960e-01 3.98038986e-03 5.63064579e+02] [-5.65305456e-01 8.24877196e-01 -2.71182180e-03 -1.57031605e+02] [-4.81635812e-03 -1.32421819e-05 9.99988401e-01 -4.36516721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5865599949999 meters 0.05164454598250366 Centerline is valid? [True, True] Translation: X:563.12, Y:-157.06, Z:-4.37 [[ 8.20514644e-01 5.71614889e-01 3.48399141e-03 5.63117668e+02] [-5.71609961e-01 8.20522039e-01 -2.37405214e-03 -1.57061884e+02] [-4.21573528e-03 -4.35396477e-05 9.99991113e-01 -4.36625242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.646559995 meters 0.05179572626763762 Centerline is valid? [True, True] Translation: X:563.17, Y:-157.09, Z:-4.37 [[ 8.15019117e-01 5.79424983e-01 3.24470161e-03 5.63168932e+02] [-5.79420767e-01 8.15025572e-01 -2.21173561e-03 -1.57094381e+02] [-3.92604965e-03 -7.74406864e-05 9.99992290e-01 -4.36665358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7065599949999 meters 0.05139536476883196 Centerline is valid? [True, True] Translation: X:563.22, Y:-157.13, Z:-4.37 [[ 8.12516306e-01 5.82927066e-01 3.64525321e-03 5.63219244e+02] [-5.82921780e-01 8.12524476e-01 -2.48495172e-03 -1.57130125e+02] [-4.41040307e-03 -1.05833692e-04 9.99990269e-01 -4.36723775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.766559995 meters 0.05231823101253261 Centerline is valid? [True, True] Translation: X:563.27, Y:-157.16, Z:-4.37 [[ 8.10397513e-01 5.85867138e-01 3.94569928e-03 5.63270060e+02] [-5.85860978e-01 8.10407107e-01 -2.68983990e-03 -1.57162872e+02] [-4.77351155e-03 -1.31791675e-04 9.99988598e-01 -4.36800641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8265599949999 meters 0.05188249548436555 Centerline is valid? [True, True] Translation: X:563.32, Y:-157.20, Z:-4.37 [[ 8.10542745e-01 5.85668326e-01 3.61518740e-03 5.63318472e+02] [-5.85663153e-01 8.10550799e-01 -2.46447125e-03 -1.57202413e+02] [-4.37365579e-03 -1.19722756e-04 9.99990428e-01 -4.36878323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.886559995 meters 0.05091218729662137 Centerline is valid? [True, True] Translation: X:563.37, Y:-157.24, Z:-4.37 [[ 8.11391889e-01 5.84487398e-01 4.20529557e-03 5.63367272e+02] [-5.84480378e-01 8.11402776e-01 -2.86765561e-03 -1.57239123e+02] [-5.08829706e-03 -1.31120240e-04 9.99987046e-01 -4.36974470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9465599949999 meters 0.05118725040157103 Centerline is valid? [True, True] Translation: X:563.41, Y:-157.28, Z:-4.37 [[ 8.13598550e-01 5.81413624e-01 3.94928832e-03 5.63414507e+02] [-5.81407394e-01 8.13608128e-01 -2.69360266e-03 -1.57278225e+02] [-4.77927036e-03 -1.04634218e-04 9.99988574e-01 -4.37042472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.006559995 meters 0.05160355762347522 Centerline is valid? [True, True] Translation: X:563.46, Y:-157.31, Z:-4.37 [[ 8.14680001e-01 5.79898504e-01 3.77101358e-03 5.63464180e+02] [-5.79892806e-01 8.14688724e-01 -2.57226096e-03 -1.57312258e+02] [-4.56385253e-03 -9.12140807e-05 9.99989581e-01 -4.37130868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0665599949999 meters 0.05100758664150841 Centerline is valid? [True, True] Translation: X:563.51, Y:-157.35, Z:-4.37 [[ 8.19342184e-01 5.73296056e-01 3.16520250e-03 5.63510917e+02] [-5.73291991e-01 8.19348296e-01 -2.15925972e-03 -1.57353258e+02] [-3.83129836e-03 -4.54126665e-05 9.99992660e-01 -4.37269765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.126559995 meters 0.05193081478294774 Centerline is valid? [True, True] Translation: X:563.56, Y:-157.39, Z:-4.37 [[ 8.22413964e-01 5.68875355e-01 4.01278154e-03 5.63559891e+02] [-5.68868768e-01 8.22423753e-01 -2.73773874e-03 -1.57390724e+02] [-4.85763895e-03 -3.11915184e-05 9.99988201e-01 -4.37304608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1865599949999 meters 0.052003668033597635 Centerline is valid? [True, True] Translation: X:563.61, Y:-157.43, Z:-4.37 [[ 8.25191729e-01 5.64831870e-01 4.85485513e-03 5.63609866e+02] [-5.64822158e-01 8.25206010e-01 -3.31227798e-03 -1.57426308e+02] [-5.87713579e-03 -8.86535842e-06 9.99982729e-01 -4.37236559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.246559995 meters 0.05242800392886075 Centerline is valid? [True, True] Translation: X:563.66, Y:-157.46, Z:-4.37 [[ 8.28565263e-01 5.59872816e-01 4.69409303e-03 5.63660574e+02] [-5.59863653e-01 8.28578559e-01 -3.20326884e-03 -1.57461398e+02] [-5.68284799e-03 2.60652158e-05 9.99983852e-01 -4.37256569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3065599949999 meters 0.05259734987469406 Centerline is valid? [True, True] Translation: X:563.71, Y:-157.50, Z:-4.37 [[ 8.29800018e-01 5.58037926e-01 5.05995024e-03 5.63709948e+02] [-5.58027240e-01 8.29815444e-01 -3.45376023e-03 -1.57498215e+02] [-6.12615406e-03 4.23402381e-05 9.99981234e-01 -4.37452904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.366559995 meters 0.05270306761615404 Centerline is valid? [True, True] Translation: X:563.76, Y:-157.53, Z:-4.38 [[ 8.31290785e-01 5.55822866e-01 4.07092832e-03 5.63763344e+02] [-5.55815920e-01 8.31300751e-01 -2.77920151e-03 -1.57528530e+02] [-4.92890952e-03 4.76378375e-05 9.99987852e-01 -4.37595139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4265599949999 meters 0.052988539957129925 Centerline is valid? [True, True] Translation: X:563.81, Y:-157.56, Z:-4.38 [[ 8.31947689e-01 5.54842014e-01 3.65825768e-03 5.63814121e+02] [-5.54836392e-01 8.31955730e-01 -2.49816452e-03 -1.57564603e+02] [-4.42959507e-03 4.86077099e-05 9.99990188e-01 -4.37662087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.486559995 meters 0.05257771902167916 Centerline is valid? [True, True] Translation: X:563.87, Y:-157.60, Z:-4.38 [[ 8.32010924e-01 5.54752005e-01 2.83463983e-03 5.63865095e+02] [-5.54748630e-01 8.32015752e-01 -1.93558654e-03 -1.57597474e+02] [-3.43223551e-03 3.79165844e-05 9.99994109e-01 -4.37703847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5465599949999 meters 0.052828054345873864 Centerline is valid? [True, True] Translation: X:563.92, Y:-157.63, Z:-4.38 [[ 8.31263690e-01 5.55870853e-01 2.87602009e-03 5.63916931e+02] [-5.55867384e-01 8.31268665e-01 -1.96416308e-03 -1.57630200e+02] [-3.48256638e-03 3.40516845e-05 9.99993935e-01 -4.37780278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.606559995 meters 0.05261516787535577 Centerline is valid? [True, True] Translation: X:563.97, Y:-157.66, Z:-4.38 [[ 8.29139198e-01 5.59033792e-01 3.06747909e-03 5.63973157e+02] [-5.59029864e-01 8.29144872e-01 -2.09568700e-03 -1.57658272e+02] [-3.71494441e-03 2.28038205e-05 9.99993099e-01 -4.37633452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.666559995 meters 0.052695912634339974 Centerline is valid? [True, True] Translation: X:564.03, Y:-157.69, Z:-4.38 [[ 8.26485956e-01 5.62952808e-01 2.25839576e-03 5.64027094e+02] [-5.62950694e-01 8.26489042e-01 -1.54258891e-03 -1.57686962e+02] [-2.73494411e-03 3.56261128e-06 9.99996260e-01 -4.37581128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.726559995 meters 0.052675430084541626 Centerline is valid? [True, True] Translation: X:564.08, Y:-157.72, Z:-4.37 [[ 8.24065630e-01 5.66489086e-01 2.43974397e-03 5.64082125e+02] [-5.66486634e-01 8.24069242e-01 -1.66690218e-03 -1.57717624e+02] [-2.95479985e-03 -8.44555194e-06 9.99995635e-01 -4.37475846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.786559995 meters 0.053155882933664564 Centerline is valid? [True, True] Translation: X:564.13, Y:-157.75, Z:-4.38 [[ 8.22970737e-01 5.68076388e-01 2.89546298e-03 5.64134902e+02] [-5.68072940e-01 8.22975830e-01 -1.97921126e-03 -1.57748886e+02] [-3.50723923e-03 -1.60012206e-05 9.99993849e-01 -4.37530908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.846559995 meters 0.052827143251607186 Centerline is valid? [True, True] Translation: X:564.19, Y:-157.78, Z:-4.38 [[ 8.22190201e-01 5.69206017e-01 2.78980978e-03 5.64189210e+02] [-5.69202823e-01 8.22194934e-01 -1.90694420e-03 -1.57778652e+02] [-3.37921158e-03 -2.00967637e-05 9.99994290e-01 -4.37677669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.906559995 meters 0.051923048170647 Centerline is valid? [True, True] Translation: X:564.24, Y:-157.81, Z:-4.38 [[ 8.21922787e-01 5.69594691e-01 2.19539402e-03 5.64242555e+02] [-5.69592714e-01 8.21925719e-01 -1.50068723e-03 -1.57811779e+02] [-2.65923429e-03 -1.70314120e-05 9.99996464e-01 -4.37716205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9665599949999 meters 0.052565143452158604 Centerline is valid? [True, True] Translation: X:564.30, Y:-157.85, Z:-4.38 [[ 8.21946455e-01 5.69561818e-01 1.83304910e-03 5.64295208e+02] [-5.69560440e-01 8.21948499e-01 -1.25314926e-03 -1.57846949e+02] [-2.22041793e-03 -1.40106611e-05 9.99997535e-01 -4.37638404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.026559995 meters 0.052107963617292766 Centerline is valid? [True, True] Translation: X:564.35, Y:-157.88, Z:-4.38 [[ 8.22596972e-01 5.68623815e-01 1.08573231e-03 5.64349313e+02] [-5.68623330e-01 8.22597688e-01 -7.42510954e-04 -1.57880185e+02] [-1.31533030e-03 -6.58545854e-06 9.99999135e-01 -4.37942783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0865599949999 meters 0.052868669644764756 Centerline is valid? [True, True] Translation: X:564.40, Y:-157.92, Z:-4.38 [[ 8.24476311e-01 5.65896454e-01 1.26230162e-04 5.64400032e+02] [-5.65896448e-01 8.24476321e-01 -8.52510023e-05 -1.57917370e+02] [-1.52317019e-04 -1.14576824e-06 9.99999988e-01 -4.37919523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.146559995 meters 0.052728312845324775 Centerline is valid? [True, True] Translation: X:564.45, Y:-157.95, Z:-4.38 [[ 8.26027311e-01 5.63630066e-01 -1.73306051e-04 5.64450194e+02] [-5.63630053e-01 8.26027329e-01 1.19738120e-04 -1.57953635e+02] [ 2.10643538e-04 -1.22645861e-06 9.99999978e-01 -4.38146161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2065599949999 meters 0.05353683626677729 Centerline is valid? [True, True] Translation: X:564.50, Y:-157.99, Z:-4.38 [[ 8.27851402e-01 5.60947337e-01 3.75815508e-04 5.64501467e+02] [-5.60947278e-01 8.27851488e-01 -2.56380325e-04 -1.57988432e+02] [-4.54935288e-04 1.43212544e-06 9.99999897e-01 -4.37743222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.266559995 meters 0.053626720377485074 Centerline is valid? [True, True] Translation: X:564.55, Y:-158.02, Z:-4.38 [[ 8.29910910e-01 5.57894480e-01 1.27706713e-03 5.64550422e+02] [-5.57893796e-01 8.29911892e-01 -8.73936783e-04 -1.58024492e+02] [-1.54741770e-03 1.28218440e-05 9.99998803e-01 -4.37818149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3265599949999 meters 0.053662474170420284 Centerline is valid? [True, True] Translation: X:564.60, Y:-158.06, Z:-4.38 [[ 8.31185152e-01 5.55993380e-01 1.61357726e-03 5.64600156e+02] [-5.55992282e-01 8.31186718e-01 -1.10502500e-03 -1.58062467e+02] [-1.95557057e-03 2.13438710e-05 9.99998088e-01 -4.37916732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.386559995 meters 0.05427894450713505 Centerline is valid? [True, True] Translation: X:564.65, Y:-158.10, Z:-4.38 [[ 8.31724147e-01 5.55182541e-01 2.69990256e-03 5.64650929e+02] [-5.55179464e-01 8.31728528e-01 -1.84905286e-03 -1.58096410e+02] [-3.27214785e-03 3.89714601e-05 9.99994646e-01 -4.37855385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4465599949999 meters 0.05358980340673977 Centerline is valid? [True, True] Translation: X:564.70, Y:-158.13, Z:-4.38 [[ 8.30399438e-01 5.57165863e-01 1.72464296e-03 5.64704365e+02] [-5.57164612e-01 8.30401228e-01 -1.18108961e-03 -1.58126446e+02] [-2.09020844e-03 1.98661242e-05 9.99997815e-01 -4.37887300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.506559995 meters 0.053575624239570435 Centerline is valid? [True, True] Translation: X:564.76, Y:-158.16, Z:-4.38 [[ 8.28731880e-01 5.59644508e-01 1.22320326e-03 5.64757767e+02] [-5.59643881e-01 8.28732782e-01 -8.38006610e-04 -1.58159381e+02] [-1.48269444e-03 9.92457652e-06 9.99998901e-01 -4.38011137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5665599949999 meters 0.0532350858273256 Centerline is valid? [True, True] Translation: X:564.81, Y:-158.19, Z:-4.38 [[ 8.26326107e-01 5.63191167e-01 9.35766694e-04 5.64809969e+02] [-5.63190802e-01 8.26326636e-01 -6.40675707e-04 -1.58191304e+02] [-1.13407184e-03 2.39186725e-06 9.99999357e-01 -4.38053147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.626559995 meters 0.052942860300453164 Centerline is valid? [True, True] Translation: X:564.86, Y:-158.22, Z:-4.38 [[ 8.25379935e-01 5.64576393e-01 1.20797186e-03 5.64861731e+02] [-5.64575786e-01 8.25380819e-01 -8.27830025e-04 -1.58224977e+02] [-1.46441009e-03 1.28263016e-06 9.99998928e-01 -4.38195449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6865599949999 meters 0.05229453935848336 Centerline is valid? [True, True] Translation: X:564.91, Y:-158.26, Z:-4.38 [[ 8.24523070e-01 5.65826223e-01 1.54673347e-03 5.64914692e+02] [-5.65825231e-01 8.24524520e-01 -1.05958324e-03 -1.58258801e+02] [-1.87485966e-03 -1.53000049e-06 9.99998242e-01 -4.38149780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.746559995 meters 0.05272360905706591 Centerline is valid? [True, True] Translation: X:564.97, Y:-158.29, Z:-4.38 [[ 8.24140036e-01 5.66382541e-01 2.00446630e-03 5.64966504e+02] [-5.66380874e-01 8.24142474e-01 -1.37393237e-03 -1.58293356e+02] [-2.43013712e-03 -2.97870643e-06 9.99997047e-01 -4.38142178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8065599949999 meters 0.052626835617149655 Centerline is valid? [True, True] Translation: X:565.02, Y:-158.33, Z:-4.38 [[ 8.22632220e-01 5.68571152e-01 1.75376156e-03 5.65019426e+02] [-5.68569879e-01 8.22634090e-01 -1.20278518e-03 -1.58325556e+02] [-2.12657300e-03 -7.68615752e-06 9.99997739e-01 -4.38448951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.866559995 meters 0.052647448346411545 Centerline is valid? [True, True] Translation: X:565.07, Y:-158.36, Z:-4.38 [[ 8.20691859e-01 5.71366570e-01 2.26186175e-03 5.65071799e+02] [-5.71364464e-01 8.20694975e-01 -1.55146604e-03 -1.58359452e+02] [-2.74275441e-03 -1.90718745e-05 9.99996238e-01 -4.38434714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9265599949999 meters 0.052894172990225044 Centerline is valid? [True, True] Translation: X:565.12, Y:-158.39, Z:-4.39 [[ 8.18356196e-01 5.74705539e-01 2.58469003e-03 5.65124601e+02] [-5.74702805e-01 8.18360277e-01 -1.77322351e-03 -1.58389889e+02] [-3.13428902e-03 -3.43001671e-05 9.99995088e-01 -4.38526949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.986559995 meters 0.05245753608765936 Centerline is valid? [True, True] Translation: X:565.17, Y:-158.43, Z:-4.38 [[ 8.15932559e-01 5.78140717e-01 2.71502619e-03 5.65174862e+02] [-5.78137720e-01 8.15937074e-01 -1.86228313e-03 -1.58425293e+02] [-3.29195223e-03 -5.01616091e-05 9.99994580e-01 -4.38468447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0465599949999 meters 0.052728892955525526 Centerline is valid? [True, True] Translation: X:565.23, Y:-158.46, Z:-4.39 [[ 8.13554885e-01 5.81484817e-01 1.96381481e-03 5.65226347e+02] [-5.81483257e-01 8.13557254e-01 -1.34762868e-03 -1.58457245e+02] [-2.38130140e-03 -4.55555333e-05 9.99997164e-01 -4.38585911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.106559995 meters 0.05323001634185019 Centerline is valid? [True, True] Translation: X:565.28, Y:-158.49, Z:-4.39 [[ 8.12517826e-01 5.82932506e-01 2.11559823e-03 5.65278505e+02] [-5.82930701e-01 8.12520578e-01 -1.45168560e-03 -1.58490781e+02] [-2.56520182e-03 -5.37267352e-05 9.99996708e-01 -4.38704498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.166559995 meters 0.051859510528724916 Centerline is valid? [True, True] Translation: X:565.32, Y:-158.53, Z:-4.39 [[ 8.11563046e-01 5.84260804e-01 2.17599863e-03 5.65324525e+02] [-5.84258900e-01 8.11565961e-01 -1.49276087e-03 -1.58532930e+02] [-2.63812808e-03 -5.98770123e-05 9.99996518e-01 -4.38652616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.226559995 meters 0.05250799837694855 Centerline is valid? [True, True] Translation: X:565.38, Y:-158.57, Z:-4.39 [[ 8.11761704e-01 5.83988264e-01 8.01812088e-04 5.65376206e+02] [-5.83988006e-01 8.11762100e-01 -5.49483901e-04 -1.58567842e+02] [-9.71772814e-04 -2.21986554e-05 9.99999528e-01 -4.38927510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.286559995 meters 0.052630632835493366 Centerline is valid? [True, True] Translation: X:565.42, Y:-158.61, Z:-4.39 [[ 8.12880119e-01 5.82430544e-01 7.57416461e-04 5.65424854e+02] [-5.82430312e-01 8.12880472e-01 -5.19962985e-04 -1.58605825e+02] [-9.18531375e-04 -1.84747324e-05 9.99999578e-01 -4.38974924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.346559995 meters 0.051577140837555886 Centerline is valid? [True, True] Translation: X:565.47, Y:-158.65, Z:-4.39 [[ 8.15753220e-01 5.78395279e-01 2.36331609e-03 5.65469703e+02] [-5.78393005e-01 8.15756642e-01 -1.62269766e-03 -1.58649068e+02] [-2.86645146e-03 -4.32046536e-05 9.99995891e-01 -4.38805797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.406559995 meters 0.05156354171433251 Centerline is valid? [True, True] Translation: X:565.52, Y:-158.69, Z:-4.39 [[ 8.19416379e-01 5.73188973e-01 3.34644488e-03 5.65515225e+02] [-5.73184368e-01 8.19423212e-01 -2.29800152e-03 -1.58689976e+02] [-4.05934375e-03 -3.51098138e-05 9.99991760e-01 -4.38766985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4665599949999 meters 0.05160973237063917 Centerline is valid? [True, True] Translation: X:565.56, Y:-158.73, Z:-4.39 [[ 8.22458761e-01 5.68815391e-01 3.26151338e-03 5.65563912e+02] [-5.68810982e-01 8.22465228e-01 -2.23962147e-03 -1.58729305e+02] [-3.95641251e-03 -1.31883342e-05 9.99992173e-01 -4.38879015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.526559995 meters 0.05224532316464133 Centerline is valid? [True, True] Translation: X:565.61, Y:-158.77, Z:-4.39 [[ 8.26987301e-01 5.62214347e-01 2.65179668e-03 5.65611276e+02] [-5.62211399e-01 8.26991553e-01 -1.82069889e-03 -1.58768606e+02] [-3.21663650e-03 1.48245426e-05 9.99994827e-01 -4.38902396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5865599949999 meters 0.05185315320786182 Centerline is valid? [True, True] Translation: X:565.66, Y:-158.81, Z:-4.39 [[ 8.29562576e-01 5.58408298e-01 2.47091738e-03 5.65658764e+02] [-5.58405720e-01 8.29566255e-01 -1.69718326e-03 -1.58809410e+02] [-2.99751089e-03 2.81453188e-05 9.99995507e-01 -4.39170369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.646559995 meters 0.052505025192821936 Centerline is valid? [True, True] Translation: X:565.71, Y:-158.85, Z:-4.39 [[ 8.31813537e-01 5.55050651e-01 2.23933511e-03 5.65708741e+02] [-5.55048522e-01 8.31816550e-01 -1.53784167e-03 -1.58845210e+02] [-2.71629603e-03 3.62578767e-05 9.99996310e-01 -4.39046981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7065599949999 meters 0.05214643592761507 Centerline is valid? [True, True] Translation: X:565.75, Y:-158.89, Z:-4.39 [[ 8.32088759e-01 5.54639708e-01 1.75821162e-03 5.65754084e+02] [-5.54638394e-01 8.32090616e-01 -1.20786563e-03 -1.58886362e+02] [-2.13292163e-03 2.98797469e-05 9.99997725e-01 -4.39329689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.766559995 meters 0.05195224460421841 Centerline is valid? [True, True] Translation: X:565.81, Y:-158.92, Z:-4.39 [[ 8.30929182e-01 5.56374825e-01 1.93593944e-03 5.65806162e+02] [-5.56373235e-01 8.30931437e-01 -1.33026857e-03 -1.58919841e+02] [-2.34876089e-03 2.82540876e-05 9.99997241e-01 -4.39386810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8265599949999 meters 0.052124600000187184 Centerline is valid? [True, True] Translation: X:565.86, Y:-158.95, Z:-4.39 [[ 8.29044425e-01 5.59176197e-01 2.70585536e-03 5.65856339e+02] [-5.59173106e-01 8.29048841e-01 -1.85958668e-03 -1.58954932e+02] [-3.28312286e-03 2.86384224e-05 9.99994610e-01 -4.39431592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.886559995 meters 0.051469959205487005 Centerline is valid? [True, True] Translation: X:565.91, Y:-158.99, Z:-4.39 [[ 8.27533879e-01 5.61408845e-01 2.79047881e-03 5.65906910e+02] [-5.61405570e-01 8.27538584e-01 -1.91774153e-03 -1.58989972e+02] [-3.38586594e-03 2.04057437e-05 9.99994268e-01 -4.39448634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9465599949999 meters 0.05158227437709176 Centerline is valid? [True, True] Translation: X:565.96, Y:-159.02, Z:-4.39 [[ 8.25241812e-01 5.64766839e-01 3.79070998e-03 5.65958576e+02] [-5.64760827e-01 8.25250518e-01 -2.60578983e-03 -1.59023918e+02] [-4.59994906e-03 9.56221499e-06 9.99989420e-01 -4.39497653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.006559995 meters 0.051623244672333056 Centerline is valid? [True, True] Translation: X:566.01, Y:-159.06, Z:-4.40 [[ 8.23552402e-01 5.67224543e-01 4.21405473e-03 5.66011140e+02] [-5.67217146e-01 8.23563184e-01 -2.89684931e-03 -1.59058088e+02] [-5.11370435e-03 -4.57688971e-06 9.99986925e-01 -4.39592031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0665599949999 meters 0.05160295646249868 Centerline is valid? [True, True] Translation: X:566.06, Y:-159.09, Z:-4.40 [[ 8.20941553e-01 5.70988359e-01 5.22124387e-03 5.66063593e+02] [-5.70977070e-01 8.20958156e-01 -3.59055101e-03 -1.59090314e+02] [-6.33658557e-03 -3.35780077e-05 9.99979923e-01 -4.39620468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.126559995 meters 0.05136446797634007 Centerline is valid? [True, True] Translation: X:566.12, Y:-159.12, Z:-4.40 [[ 8.18761634e-01 5.74109635e-01 5.24533983e-03 5.66115975e+02] [-5.74098301e-01 8.18778434e-01 -3.60795367e-03 -1.59122263e+02] [-6.36613209e-03 -5.72866401e-05 9.99979734e-01 -4.39744471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1865599949999 meters 0.05116848574553354 Centerline is valid? [True, True] Translation: X:566.17, Y:-159.16, Z:-4.40 [[ 8.17705143e-01 5.75614029e-01 5.17581223e-03 5.66167597e+02] [-5.75603018e-01 8.17721520e-01 -3.56097041e-03 -1.59157235e+02] [-6.28211757e-03 -6.73893217e-05 9.99980265e-01 -4.39898235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.246559995 meters 0.051041225541528075 Centerline is valid? [True, True] Translation: X:566.22, Y:-159.19, Z:-4.40 [[ 8.15978076e-01 5.78064724e-01 4.57749601e-03 5.66216836e+02] [-5.78056149e-01 8.15990912e-01 -3.14956042e-03 -1.59194964e+02] [-5.55584492e-03 -7.60774589e-05 9.99984563e-01 -4.40036871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3065599949999 meters 0.051627098170941584 Centerline is valid? [True, True] Translation: X:566.27, Y:-159.23, Z:-4.40 [[ 8.14843798e-01 5.79672648e-01 3.03424128e-03 5.66269190e+02] [-5.79668892e-01 8.14849445e-01 -2.08743929e-03 -1.59226767e+02] [-3.68248129e-03 -5.79183199e-05 9.99993218e-01 -4.40256089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.366559995 meters 0.05108986587065087 Centerline is valid? [True, True] Translation: X:566.32, Y:-159.26, Z:-4.41 [[ 8.13425566e-01 5.81665518e-01 2.01813004e-03 5.66321036e+02] [-5.81663863e-01 8.13428069e-01 -1.38842194e-03 -1.59260206e+02] [-2.44920079e-03 -4.44954108e-05 9.99997000e-01 -4.40551686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4265599949999 meters 0.050941576133193396 Centerline is valid? [True, True] Translation: X:566.37, Y:-159.30, Z:-4.41 [[ 8.12687570e-01 5.82694941e-01 2.34931531e-03 5.66370963e+02] [-5.82692700e-01 8.12690964e-01 -1.61671378e-03 -1.59297359e+02] [-2.85131827e-03 -5.50456918e-05 9.99995933e-01 -4.40536026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.486559995 meters 0.051382909162955834 Centerline is valid? [True, True] Translation: X:566.42, Y:-159.33, Z:-4.41 [[ 8.11836496e-01 5.83878930e-01 2.62653375e-03 5.66421582e+02] [-5.83876135e-01 8.11840742e-01 -1.80803984e-03 -1.59333902e+02] [-3.18800348e-03 -6.57376443e-05 9.99994916e-01 -4.40566852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5465599949999 meters 0.050598089812995774 Centerline is valid? [True, True] Translation: X:566.47, Y:-159.37, Z:-4.41 [[ 8.11521454e-01 5.84316961e-01 2.57290754e-03 5.66471964e+02] [-5.84314279e-01 8.11525530e-01 -1.77153096e-03 -1.59370549e+02] [-3.12311574e-03 -6.57512318e-05 9.99995121e-01 -4.40584248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.606559995 meters 0.05101864792448777 Centerline is valid? [True, True] Translation: X:566.52, Y:-159.41, Z:-4.41 [[ 8.11398355e-01 5.84491548e-01 1.52975966e-03 5.66523532e+02] [-5.84490601e-01 8.11399796e-01 -1.05314217e-03 -1.59405159e+02] [-1.85679937e-03 -3.96123161e-05 9.99998275e-01 -4.40730396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.666559995 meters 0.051347355705959795 Centerline is valid? [True, True] Translation: X:566.58, Y:-159.44, Z:-4.41 [[ 8.11204639e-01 5.84761581e-01 9.63211445e-04 5.66576150e+02] [-5.84761205e-01 8.11205210e-01 -6.62961632e-04 -1.59435753e+02] [-1.16903664e-03 -2.54511345e-05 9.99999316e-01 -4.40942525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.726559995 meters 0.05161217655548667 Centerline is valid? [True, True] Translation: X:566.63, Y:-159.47, Z:-4.41 [[ 8.10578034e-01 5.85629501e-01 1.15706919e-03 5.66628423e+02] [-5.85628960e-01 8.10578859e-01 -7.96728840e-04 -1.59469478e+02] [-1.40448374e-03 -3.18023296e-05 9.99999013e-01 -4.40955512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.786559995 meters 0.051481030544719114 Centerline is valid? [True, True] Translation: X:566.68, Y:-159.50, Z:-4.41 [[ 8.10211246e-01 5.86133795e-01 2.21594678e-03 5.66681548e+02] [-5.86131809e-01 8.10214274e-01 -1.52701962e-03 -1.59501735e+02] [-2.69042951e-03 -6.16284288e-05 9.99996379e-01 -4.40928491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.846559995 meters 0.0507138901591915 Centerline is valid? [True, True] Translation: X:566.73, Y:-159.54, Z:-4.41 [[ 8.09992550e-01 5.86431741e-01 3.14350673e-03 5.66729452e+02] [-5.86427744e-01 8.09998645e-01 -2.16709645e-03 -1.59542386e+02] [-3.81709034e-03 -8.81075830e-05 9.99992711e-01 -4.40812414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.906559995 meters 0.05098362163825036 Centerline is valid? [True, True] Translation: X:566.78, Y:-159.58, Z:-4.41 [[ 8.09677291e-01 5.86864179e-01 3.62223329e-03 5.66779685e+02] [-5.86858871e-01 8.09685387e-01 -2.49802793e-03 -1.59579313e+02] [-4.39887248e-03 -1.03143253e-04 9.99990320e-01 -4.40815670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9665599949999 meters 0.05114566358354265 Centerline is valid? [True, True] Translation: X:566.83, Y:-159.61, Z:-4.41 [[ 8.09015351e-01 5.87782683e-01 2.38319126e-03 5.66833096e+02] [-5.87780389e-01 8.09018858e-01 -1.64363665e-03 -1.59609652e+02] [-2.89414783e-03 -7.10658049e-05 9.99995809e-01 -4.40994452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.026559995 meters 0.051600156561106586 Centerline is valid? [True, True] Translation: X:566.89, Y:-159.64, Z:-4.41 [[ 8.07930759e-01 5.89276626e-01 9.72816905e-04 5.66886194e+02] [-5.89276245e-01 8.07931344e-01 -6.70563037e-04 -1.59640610e+02] [-1.18111639e-03 -3.14893894e-05 9.99999302e-01 -4.41158513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0865599949999 meters 0.0518291181363743 Centerline is valid? [True, True] Translation: X:566.94, Y:-159.67, Z:-4.41 [[ 8.06950903e-01 5.90618357e-01 -4.43663391e-04 5.66937540e+02] [-5.90618278e-01 8.06951024e-01 3.07001123e-04 -1.59673736e+02] [ 5.39335126e-04 1.43008742e-05 9.99999854e-01 -4.41262962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.146559995 meters 0.050421429003985274 Centerline is valid? [True, True] Translation: X:566.99, Y:-159.72, Z:-4.41 [[ 8.06947612e-01 5.90622685e-01 -6.29153912e-04 5.66985306e+02] [-5.90622525e-01 8.06947857e-01 4.35592269e-04 -1.59715663e+02] [ 7.64965076e-04 2.00923301e-05 9.99999707e-01 -4.41058658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2065599949999 meters 0.05074882048220511 Centerline is valid? [True, True] Translation: X:567.04, Y:-159.75, Z:-4.41 [[ 8.07887858e-01 5.89336067e-01 4.57483242e-04 5.67035186e+02] [-5.89335983e-01 8.07887987e-01 -3.15709520e-04 -1.59752039e+02] [-5.55654223e-04 -1.45534476e-05 9.99999846e-01 -4.40954523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.266559995 meters 0.05128691873871173 Centerline is valid? [True, True] Translation: X:567.09, Y:-159.79, Z:-4.41 [[ 8.08754911e-01 5.88144391e-01 1.29217819e-03 5.67085165e+02] [-5.88143715e-01 8.08755942e-01 -8.92127402e-04 -1.59786146e+02] [-1.56975652e-03 -3.84740655e-05 9.99998767e-01 -4.40894469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3265599949999 meters 0.05097694220395374 Centerline is valid? [True, True] Translation: X:567.13, Y:-159.82, Z:-4.41 [[ 8.11237249e-01 5.84711251e-01 2.62275383e-03 5.67134783e+02] [-5.84708449e-01 8.11241486e-01 -1.81121201e-03 -1.59822273e+02] [-3.18672276e-03 -6.42236766e-05 9.99994920e-01 -4.40847845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.386559995 meters 0.05185411176015844 Centerline is valid? [True, True] Translation: X:567.19, Y:-159.85, Z:-4.41 [[ 8.14876722e-01 5.79630580e-01 2.07834974e-03 5.67185471e+02] [-5.79628804e-01 8.14879371e-01 -1.43529005e-03 -1.59854868e+02] [-2.52554233e-03 -3.50869277e-05 9.99996810e-01 -4.41062355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4465599949999 meters 0.05102054783689658 Centerline is valid? [True, True] Translation: X:567.23, Y:-159.90, Z:-4.41 [[ 8.21328898e-01 5.70454730e-01 -4.91427943e-04 5.67228391e+02] [-5.70454629e-01 8.21329045e-01 3.39797365e-04 -1.59901468e+02] [ 5.97463058e-04 1.25194951e-06 9.99999822e-01 -4.40921255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.506559995 meters 0.05199822938125982 Centerline is valid? [True, True] Translation: X:567.28, Y:-159.94, Z:-4.41 [[ 8.24829020e-01 5.65381247e-01 -1.06474424e-03 5.67278726e+02] [-5.65380767e-01 8.24829707e-01 7.36672388e-04 -1.59938314e+02] [ 1.29473343e-03 -5.64284831e-06 9.99999162e-01 -4.40982215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5665599949999 meters 0.05224469632109008 Centerline is valid? [True, True] Translation: X:567.33, Y:-159.97, Z:-4.41 [[ 8.27702437e-01 5.61167027e-01 -4.93355144e-04 5.67328188e+02] [-5.61166923e-01 8.27702584e-01 3.41968328e-04 -1.59974319e+02] [ 6.00252677e-04 -6.19343016e-06 9.99999820e-01 -4.41104422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.626559995 meters 0.0518174774658223 Centerline is valid? [True, True] Translation: X:567.38, Y:-160.01, Z:-4.41 [[ 8.29551087e-01 5.58430360e-01 7.26870010e-04 5.67378314e+02] [-5.58430134e-01 8.29551405e-01 -5.01979004e-04 -1.60010742e+02] [-8.83296354e-04 1.05111114e-05 9.99999610e-01 -4.41050366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6865599949999 meters 0.052134024715116474 Centerline is valid? [True, True] Translation: X:567.43, Y:-160.05, Z:-4.41 [[ 8.31244360e-01 5.55906440e-01 9.18854952e-04 5.67428733e+02] [-5.55906079e-01 8.31244867e-01 -6.34184937e-04 -1.60046165e+02] [-1.11634095e-03 1.63655985e-05 9.99999377e-01 -4.40884989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.746559995 meters 0.05171621086100026 Centerline is valid? [True, True] Translation: X:567.48, Y:-160.08, Z:-4.41 [[ 8.30899196e-01 5.56422621e-01 6.27524354e-04 5.67479330e+02] [-5.56422452e-01 8.30899433e-01 -4.32899433e-04 -1.60080264e+02] [-7.62284666e-04 1.05271508e-05 9.99999709e-01 -4.40975107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8065599949999 meters 0.051971708767195264 Centerline is valid? [True, True] Translation: X:567.53, Y:-160.11, Z:-4.41 [[ 8.27982893e-01 5.60753224e-01 -3.87135258e-04 5.67531903e+02] [-5.60753161e-01 8.27982984e-01 2.67767020e-04 -1.60110606e+02] [ 4.70692626e-04 -4.61919236e-06 9.99999889e-01 -4.41206943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.866559995 meters 0.05195145905613124 Centerline is valid? [True, True] Translation: X:567.59, Y:-160.14, Z:-4.41 [[ 8.23039067e-01 5.67984381e-01 -6.61602403e-04 5.67587261e+02] [-5.67984196e-01 8.23039333e-01 4.57729025e-04 -1.60138162e+02] [ 8.04507736e-04 -9.49160213e-07 9.99999676e-01 -4.40978364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9265599949999 meters 0.051788298117915355 Centerline is valid? [True, True] Translation: X:567.64, Y:-160.17, Z:-4.41 [[ 8.19038652e-01 5.73737940e-01 -6.80241003e-04 5.67641107e+02] [-5.73737747e-01 8.19038934e-01 4.71474747e-04 -1.60168295e+02] [ 8.27646817e-04 4.12389875e-06 9.99999657e-01 -4.41049187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.986559995 meters 0.0522651919524562 Centerline is valid? [True, True] Translation: X:567.70, Y:-160.20, Z:-4.41 [[ 8.13650099e-01 5.81354740e-01 4.27688477e-04 5.67696071e+02] [-5.81354665e-01 8.13650211e-01 -2.95512453e-04 -1.60196607e+02] [-5.19786386e-04 -8.19495472e-06 9.99999865e-01 -4.40914662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0465599949999 meters 0.051612029817045255 Centerline is valid? [True, True] Translation: X:567.75, Y:-160.23, Z:-4.41 [[ 8.10952622e-01 5.85110901e-01 1.03843267e-03 5.67748807e+02] [-5.85110460e-01 8.10953287e-01 -7.18188353e-04 -1.60228385e+02] [-1.26234022e-03 -2.51810867e-05 9.99999203e-01 -4.40817252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.106559995 meters 0.052581733254383194 Centerline is valid? [True, True] Translation: X:567.80, Y:-160.26, Z:-4.41 [[ 8.08130477e-01 5.89002053e-01 1.30912183e-03 5.67803269e+02] [-5.89001358e-01 8.08131536e-01 -9.05503610e-04 -1.60256247e+02] [-1.59128612e-03 -3.93094726e-05 9.99998733e-01 -4.40760113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.166559995 meters 0.05141101117098209 Centerline is valid? [True, True] Translation: X:567.85, Y:-160.29, Z:-4.41 [[ 8.06091890e-01 5.91788409e-01 1.53083747e-03 5.67850929e+02] [-5.91787464e-01 8.06093342e-01 -1.05892981e-03 -1.60293789e+02] [-1.86066027e-03 -5.23356937e-05 9.99998268e-01 -4.40604297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.226559995 meters 0.05333484100902401 Centerline is valid? [True, True] Translation: X:567.91, Y:-160.32, Z:-4.41 [[ 8.05309895e-01 5.92854089e-01 4.61172116e-05 5.67907986e+02] [-5.92854088e-01 8.05309896e-01 -3.16426721e-05 -1.60319776e+02] [-5.58981346e-05 -1.85862044e-06 9.99999998e-01 -4.41002747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.286559995 meters 0.051985351259984054 Centerline is valid? [True, True] Translation: X:567.95, Y:-160.36, Z:-4.41 [[ 8.05331004e-01 5.92816531e-01 -3.24585098e-03 5.67954167e+02] [-5.92812286e-01 8.05337537e-01 2.24632999e-03 -1.60361538e+02] [ 3.94566718e-03 1.15141150e-04 9.99992209e-01 -4.40936440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.346559995 meters 0.05183430376698198 Centerline is valid? [True, True] Translation: X:568.00, Y:-160.40, Z:-4.41 [[ 8.06878132e-01 5.90707850e-01 -3.45202963e-03 5.68003721e+02] [-5.90703029e-01 8.06885508e-01 2.38909020e-03 -1.60397555e+02] [ 4.19664702e-03 1.11419724e-04 9.99991188e-01 -4.40903142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.406559995 meters 0.051785747276007495 Centerline is valid? [True, True] Translation: X:568.05, Y:-160.43, Z:-4.41 [[ 8.08431775e-01 5.88585651e-01 -2.23546351e-03 5.68053865e+02] [-5.88583620e-01 8.08434863e-01 1.54745665e-03 -1.60431427e+02] [ 2.71803742e-03 6.47440743e-05 9.99996304e-01 -4.40872387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4665599949999 meters 0.052195099245228194 Centerline is valid? [True, True] Translation: X:568.10, Y:-160.47, Z:-4.41 [[ 8.10491067e-01 5.85749906e-01 -1.13082644e-03 5.68103771e+02] [-5.85749383e-01 8.10491855e-01 7.82867436e-04 -1.60467558e+02] [ 1.37509015e-03 2.78738292e-05 9.99999054e-01 -4.40829378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.526559995 meters 0.05236749744155429 Centerline is valid? [True, True] Translation: X:568.15, Y:-160.50, Z:-4.41 [[ 8.14683752e-01 5.79904939e-01 -8.03726681e-04 5.68152211e+02] [-5.79904673e-01 8.14684148e-01 5.56320626e-04 -1.60502814e+02] [ 9.77396465e-04 1.28594835e-05 9.99999522e-01 -4.40926088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5865599949999 meters 0.05163373357499481 Centerline is valid? [True, True] Translation: X:568.20, Y:-160.54, Z:-4.41 [[ 8.20411592e-01 5.71771711e-01 -1.38915349e-03 5.68197375e+02] [-5.71770903e-01 8.20412768e-01 9.61447792e-04 -1.60543225e+02] [ 1.68940791e-03 5.49463225e-06 9.99998573e-01 -4.40746483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.646559995 meters 0.05326306040805999 Centerline is valid? [True, True] Translation: X:568.25, Y:-160.58, Z:-4.41 [[ 8.24834341e-01 5.65371211e-01 -1.92446459e-03 5.68247114e+02] [-5.65369641e-01 8.24836586e-01 1.33234537e-03 -1.60580268e+02] [ 2.34063852e-03 -1.09303632e-05 9.99997261e-01 -4.40706458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7065599949999 meters 0.05362096831685739 Centerline is valid? [True, True] Translation: X:568.30, Y:-160.62, Z:-4.41 [[ 8.31133106e-01 5.56067981e-01 -2.48209825e-03 5.68297118e+02] [-5.56065326e-01 8.31136811e-01 1.71914077e-03 -1.60616747e+02] [ 3.01892236e-03 -4.86260373e-05 9.99995442e-01 -4.40707028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.766559995 meters 0.0536545548384041 Centerline is valid? [True, True] Translation: X:568.34, Y:-160.66, Z:-4.41 [[ 8.32811245e-01 5.53552678e-01 -2.20530686e-03 5.68343503e+02] [-5.53550573e-01 8.32814163e-01 1.52733997e-03 -1.60656554e+02] [ 2.68207391e-03 -5.12370231e-05 9.99996402e-01 -4.41048037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8265599949999 meters 0.0539676778136497 Centerline is valid? [True, True] Translation: X:568.40, Y:-160.69, Z:-4.41 [[ 8.35680692e-01 5.49213021e-01 -1.68487943e-03 5.68396593e+02] [-5.49211784e-01 8.35682389e-01 1.16687005e-03 -1.60688309e+02] [ 2.04888430e-03 -4.97751351e-05 9.99997900e-01 -4.40766969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.886559995 meters 0.05432738624018388 Centerline is valid? [True, True] Translation: X:568.45, Y:-160.72, Z:-4.41 [[ 8.38303588e-01 5.45198803e-01 -2.31492111e-03 5.68446910e+02] [-5.45196452e-01 8.38306781e-01 1.60307969e-03 -1.60723089e+02] [ 2.81461119e-03 -8.17806771e-05 9.99996036e-01 -4.40908091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9465599949999 meters 0.0545498396160838 Centerline is valid? [True, True] Translation: X:568.50, Y:-160.75, Z:-4.41 [[ 8.39188886e-01 5.43834217e-01 -2.52151655e-03 5.68502215e+02] [-5.43831421e-01 8.39192669e-01 1.74646790e-03 -1.60752548e+02] [ 3.06582720e-03 -9.43365261e-05 9.99995296e-01 -4.40843714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.006559995 meters 0.05434419288014812 Centerline is valid? [True, True] Translation: X:568.55, Y:-160.79, Z:-4.41 [[ 8.38184022e-01 5.45385471e-01 -1.49453283e-03 5.68552583e+02] [-5.45384491e-01 8.38185353e-01 1.03520950e-03 -1.60787012e+02] [ 1.81728374e-03 -5.26010386e-05 9.99998347e-01 -4.41003292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0665599949999 meters 0.05386516278435642 Centerline is valid? [True, True] Translation: X:568.60, Y:-160.82, Z:-4.41 [[ 8.34910281e-01 5.50386061e-01 8.81787474e-05 5.68604746e+02] [-5.50386057e-01 8.34910285e-01 -6.02895418e-05 -1.60819692e+02] [-1.06803867e-04 1.80400510e-06 9.99999994e-01 -4.41056388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.126559995 meters 0.0537456369559164 Centerline is valid? [True, True] Translation: X:568.66, Y:-160.86, Z:-4.41 [[ 8.31386850e-01 5.55692691e-01 1.24096664e-03 5.68655089e+02] [-5.55692027e-01 8.31387775e-01 -8.59358600e-04 -1.60855292e+02] [-1.50926378e-03 2.48641743e-05 9.99998861e-01 -4.41241668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1865599949999 meters 0.05327517718080691 Centerline is valid? [True, True] Translation: X:568.71, Y:-160.88, Z:-4.41 [[ 8.24366807e-01 5.66052242e-01 2.05581822e-03 5.68711047e+02] [-5.66050451e-01 8.24369371e-01 -1.42402418e-03 -1.60880798e+02] [-2.50082565e-03 1.02214376e-05 9.99996873e-01 -4.41326014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.246559995 meters 0.05233785964721105 Centerline is valid? [True, True] Translation: X:568.77, Y:-160.91, Z:-4.41 [[ 8.19643085e-01 5.72869900e-01 2.30012484e-03 5.68766798e+02] [-5.72867686e-01 8.19646312e-01 -1.59298808e-03 -1.60910962e+02] [-2.79786376e-03 -1.19855265e-05 9.99996086e-01 -4.41482481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3065599949999 meters 0.052712747603277425 Centerline is valid? [True, True] Translation: X:568.82, Y:-160.94, Z:-4.42 [[ 8.13829787e-01 5.81101339e-01 1.52071240e-03 5.68821107e+02] [-5.81100384e-01 8.13831207e-01 -1.05352605e-03 -1.60938412e+02] [-1.84980861e-03 -2.62956769e-05 9.99998289e-01 -4.41590459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.366559995 meters 0.0529817208922379 Centerline is valid? [True, True] Translation: X:568.88, Y:-160.97, Z:-4.42 [[ 8.11068613e-01 5.84950173e-01 1.00013070e-03 5.68875429e+02] [-5.84949763e-01 8.11069229e-01 -6.92762347e-04 -1.60967039e+02] [-1.21640669e-03 -2.31484205e-05 9.99999260e-01 -4.41771467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4265599949999 meters 0.05300824233578987 Centerline is valid? [True, True] Translation: X:568.93, Y:-161.00, Z:-4.42 [[ 8.08292079e-01 5.88781721e-01 6.17326374e-06 5.68925086e+02] [-5.88781721e-01 8.08292079e-01 -4.17252978e-06 -1.61002663e+02] [-7.44650967e-06 -2.62082077e-07 1.00000000e+00 -4.41791663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.486559995 meters 0.053074274172190995 Centerline is valid? [True, True] Translation: X:568.98, Y:-161.03, Z:-4.42 [[ 8.07424464e-01 5.89968965e-01 -1.53466171e-03 5.68976824e+02] [-5.89968008e-01 8.07425921e-01 1.06343159e-03 -1.61034443e+02] [ 1.86651728e-03 4.67606313e-05 9.99998257e-01 -4.42018852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5465599949999 meters 0.05297673934167344 Centerline is valid? [True, True] Translation: X:569.03, Y:-161.07, Z:-4.42 [[ 8.07737134e-01 5.89536876e-01 -2.64466378e-03 5.69028106e+02] [-5.89534029e-01 8.07741460e-01 1.83385596e-03 -1.61068716e+02] [ 3.21733029e-03 7.78457393e-05 9.99994821e-01 -4.42231547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.606559995 meters 0.05249239103530515 Centerline is valid? [True, True] Translation: X:569.07, Y:-161.11, Z:-4.42 [[ 8.09710257e-01 5.86827343e-01 -1.72322514e-03 5.69072980e+02] [-5.86826129e-01 8.09712089e-01 1.19440571e-03 -1.61111141e+02] [ 2.09622615e-03 4.41109823e-05 9.99997802e-01 -4.41919974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.666559995 meters 0.05240155069537416 Centerline is valid? [True, True] Translation: X:569.12, Y:-161.15, Z:-4.42 [[ 8.12052195e-01 5.83584049e-01 -9.43601416e-04 5.69120129e+02] [-5.83583683e-01 8.12052743e-01 6.54152861e-04 -1.61150641e+02] [ 1.14800729e-03 1.94641225e-05 9.99999341e-01 -4.41859086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.726559995 meters 0.05235653682396399 Centerline is valid? [True, True] Translation: X:569.17, Y:-161.19, Z:-4.42 [[ 8.13014266e-01 5.82243456e-01 -6.00655187e-04 5.69169267e+02] [-5.82243307e-01 8.13014488e-01 4.17416192e-04 -1.61188395e+02] [ 7.31379215e-04 1.03621431e-05 9.99999732e-01 -4.41882957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.786559995 meters 0.0521666613461142 Centerline is valid? [True, True] Translation: X:569.22, Y:-161.23, Z:-4.42 [[ 8.14046584e-01 5.80799185e-01 -6.81825004e-04 5.69217224e+02] [-5.80798992e-01 8.14046870e-01 4.73312997e-04 -1.61226068e+02] [ 8.29937313e-04 1.07044468e-05 9.99999656e-01 -4.42012748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.846559995 meters 0.05244818650764051 Centerline is valid? [True, True] Translation: X:569.27, Y:-161.26, Z:-4.42 [[ 8.14907757e-01 5.79589255e-01 -1.28187327e-03 5.69265587e+02] [-5.79588573e-01 8.14908765e-01 8.89458441e-04 -1.61263368e+02] [ 1.56013031e-03 1.81325143e-05 9.99998783e-01 -4.42076981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.906559995 meters 0.05272932717100235 Centerline is valid? [True, True] Translation: X:569.31, Y:-161.31, Z:-4.42 [[ 8.16650424e-01 5.77130499e-01 -1.57240437e-03 5.69312945e+02] [-5.77129468e-01 8.16651937e-01 1.09116350e-03 -1.61305048e+02] [ 1.91385081e-03 1.63817583e-05 9.99998168e-01 -4.42082171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9665599949999 meters 0.05200914773627817 Centerline is valid? [True, True] Translation: X:569.36, Y:-161.35, Z:-4.42 [[ 8.18641220e-01 5.74303535e-01 -1.41493250e-03 5.69360422e+02] [-5.74302695e-01 8.18642443e-01 9.82599080e-04 -1.61346269e+02] [ 1.72263392e-03 8.20343610e-06 9.99998516e-01 -4.42033990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.026559995 meters 0.05251016667915297 Centerline is valid? [True, True] Translation: X:569.41, Y:-161.39, Z:-4.42 [[ 8.19840203e-01 5.72591772e-01 -8.39163689e-04 5.69408061e+02] [-5.72591475e-01 8.19840633e-01 5.83238439e-04 -1.61385314e+02] [ 1.02193802e-03 2.33565335e-06 9.99999478e-01 -4.41808272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0865599949999 meters 0.0521605094128271 Centerline is valid? [True, True] Translation: X:569.46, Y:-161.42, Z:-4.42 [[ 8.21405525e-01 5.70344536e-01 -2.70486789e-04 5.69456455e+02] [-5.70344505e-01 8.21405570e-01 1.88075222e-04 -1.61424762e+02] [ 3.29447030e-04 -2.15372794e-07 9.99999946e-01 -4.42165880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.146559995 meters 0.05210612424999777 Centerline is valid? [True, True] Translation: X:569.51, Y:-161.46, Z:-4.42 [[ 8.21815872e-01 5.69752788e-01 -6.58771012e-04 5.69505717e+02] [-5.69752603e-01 8.21816136e-01 4.58392654e-04 -1.61463145e+02] [ 8.02559140e-04 -1.37785932e-06 9.99999678e-01 -4.42484489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2065599949999 meters 0.052504470850455155 Centerline is valid? [True, True] Translation: X:569.55, Y:-161.50, Z:-4.42 [[ 8.22788556e-01 5.68347293e-01 -5.89022646e-04 5.69554960e+02] [-5.68347145e-01 8.22788767e-01 4.10147580e-04 -1.61503447e+02] [ 7.17747483e-04 -2.69539578e-06 9.99999742e-01 -4.42461303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.266559995 meters 0.05202518179034823 Centerline is valid? [True, True] Translation: X:569.60, Y:-161.54, Z:-4.42 [[ 8.23137277e-01 5.67842405e-01 -1.64390379e-04 5.69604991e+02] [-5.67842393e-01 8.23137293e-01 1.15363803e-04 -1.61541794e+02] [ 2.00824310e-04 -1.61242056e-06 9.99999980e-01 -4.42403197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3265599949999 meters 0.05181825515109209 Centerline is valid? [True, True] Translation: X:569.65, Y:-161.58, Z:-4.42 [[ 8.23146738e-01 5.67828007e-01 8.95931088e-04 5.69654357e+02] [-5.67827667e-01 8.23147225e-01 -6.21346564e-04 -1.61580395e+02] [-1.09030117e-03 2.72493688e-06 9.99999406e-01 -4.42390292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.386559995 meters 0.05135093962295789 Centerline is valid? [True, True] Translation: X:569.71, Y:-161.62, Z:-4.43 [[ 8.21854149e-01 5.69690395e-01 2.93458980e-03 5.69705900e+02] [-5.69686749e-01 8.21859388e-01 -2.03807514e-03 -1.61615479e+02] [-3.57289201e-03 3.20358818e-06 9.99993617e-01 -4.42527897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4465599949999 meters 0.051055668695756326 Centerline is valid? [True, True] Translation: X:569.76, Y:-161.65, Z:-4.43 [[ 8.19790370e-01 5.72652928e-01 3.51753052e-03 5.69757764e+02] [-5.72647714e-01 8.19797916e-01 -2.44385665e-03 -1.61649856e+02] [-4.28314586e-03 -1.08556642e-05 9.99990827e-01 -4.42692902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.506559995 meters 0.05101981213478285 Centerline is valid? [True, True] Translation: X:569.81, Y:-161.69, Z:-4.43 [[ 8.19352735e-01 5.73279027e-01 3.50045526e-03 5.69809125e+02] [-5.73273867e-01 8.19360212e-01 -2.43223689e-03 -1.61685977e+02] [-4.26248417e-03 -1.38595758e-05 9.99990915e-01 -4.42710147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5665599949999 meters 0.05180737292204584 Centerline is valid? [True, True] Translation: X:569.86, Y:-161.72, Z:-4.43 [[ 8.18484534e-01 5.74517119e-01 3.62594905e-03 5.69860338e+02] [-5.74511592e-01 8.18492565e-01 -2.52016530e-03 -1.61723121e+02] [-4.41569045e-03 -2.04334437e-05 9.99990251e-01 -4.42849289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.626559995 meters 0.05136720678698837 Centerline is valid? [True, True] Translation: X:569.91, Y:-161.76, Z:-4.43 [[ 8.17289355e-01 5.76213420e-01 4.02545605e-03 5.69911519e+02] [-5.76206624e-01 8.17299268e-01 -2.79875740e-03 -1.61758162e+02] [-4.90268385e-03 -3.20998088e-05 9.99987981e-01 -4.42848345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6865599949999 meters 0.051362921483668715 Centerline is valid? [True, True] Translation: X:569.96, Y:-161.79, Z:-4.43 [[ 8.16009662e-01 5.78022524e-01 4.26535226e-03 5.69964171e+02] [-5.78014914e-01 8.16020808e-01 -2.96648318e-03 -1.61789671e+02] [-5.19531029e-03 -4.47582846e-05 9.99986503e-01 -4.43023642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.746559995 meters 0.05097457808065036 Centerline is valid? [True, True] Translation: X:570.02, Y:-161.83, Z:-4.43 [[ 8.14383710e-01 5.80313416e-01 3.93856741e-03 5.70015356e+02] [-5.80306953e-01 8.14393232e-01 -2.73938711e-03 -1.61825474e+02] [-4.79724574e-03 -5.46658168e-05 9.99988492e-01 -4.43133758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8065599949999 meters 0.05155131236766102 Centerline is valid? [True, True] Translation: X:570.07, Y:-161.86, Z:-4.43 [[ 8.14175317e-01 5.80607718e-01 3.63753377e-03 5.70069987e+02] [-5.80602204e-01 8.14183441e-01 -2.53075165e-03 -1.61856429e+02] [-4.43099370e-03 -5.14845987e-05 9.99990182e-01 -4.43370652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.866559995 meters 0.05097384333723558 Centerline is valid? [True, True] Translation: X:570.12, Y:-161.89, Z:-4.43 [[ 8.14837194e-01 5.79678731e-01 3.59374059e-03 5.70120282e+02] [-5.79673341e-01 8.14845118e-01 -2.50022798e-03 -1.61892288e+02] [-4.37767095e-03 -4.59168628e-05 9.99990417e-01 -4.43463931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9265599949999 meters 0.05127361078650415 Centerline is valid? [True, True] Translation: X:570.17, Y:-161.93, Z:-4.44 [[ 8.15285193e-01 5.79045622e-01 4.02754562e-03 5.70170618e+02] [-5.79038841e-01 8.15295140e-01 -2.80277913e-03 -1.61929048e+02] [-4.90657535e-03 -4.70410273e-05 9.99987962e-01 -4.43586187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.986559995 meters 0.05131177985547476 Centerline is valid? [True, True] Translation: X:570.22, Y:-161.96, Z:-4.44 [[ 8.15576182e-01 5.78638141e-01 3.65956115e-03 5.70221831e+02] [-5.78632536e-01 8.15584392e-01 -2.54721926e-03 -1.61963938e+02] [-4.45859917e-03 -4.00897910e-05 9.99990060e-01 -4.43819479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0465599949999 meters 0.051086074883496736 Centerline is valid? [True, True] Translation: X:570.27, Y:-162.00, Z:-4.44 [[ 8.15168244e-01 5.79205295e-01 4.68611091e-03 5.70272685e+02] [-5.79196108e-01 8.15181712e-01 -3.26278943e-03 -1.62001274e+02] [-5.70985683e-03 -5.44548669e-05 9.99983697e-01 -4.43945611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.106559995 meters 0.051011043707659985 Centerline is valid? [True, True] Translation: X:570.32, Y:-162.04, Z:-4.44 [[ 8.13801248e-01 5.81117985e-01 5.42364610e-03 5.70322963e+02] [-5.81105711e-01 8.13819318e-01 -3.77759284e-03 -1.62036124e+02] [-6.60909511e-03 -7.75019592e-05 9.99978157e-01 -4.44021251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.166559995 meters 0.05120619830347737 Centerline is valid? [True, True] Translation: X:570.37, Y:-162.07, Z:-4.44 [[ 8.12251524e-01 5.83279524e-01 5.69727900e-03 5.70374263e+02] [-5.83266028e-01 8.12271498e-01 -3.96913230e-03 -1.62071159e+02] [-6.94285095e-03 -9.90955332e-05 9.99975893e-01 -4.44061514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.226559995 meters 0.05023404219401954 Centerline is valid? [True, True] Translation: X:570.43, Y:-162.10, Z:-4.44 [[ 8.09634108e-01 5.86903024e-01 6.11976914e-03 5.70425853e+02] [-5.86887547e-01 8.09657224e-01 -4.26457731e-03 -1.62104422e+02] [-7.45780861e-03 -1.38869052e-04 9.99972181e-01 -4.44179367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.286559995 meters 0.05152839849249585 Centerline is valid? [True, True] Translation: X:570.48, Y:-162.13, Z:-4.44 [[ 8.07825095e-01 5.89396796e-01 5.48029416e-03 5.70482025e+02] [-5.89384436e-01 8.07843671e-01 -3.81968496e-03 -1.62130383e+02] [-6.67853103e-03 -1.44362717e-04 9.99977688e-01 -4.44284915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.346559995 meters 0.05209244217349847 Centerline is valid? [True, True] Translation: X:570.53, Y:-162.16, Z:-4.44 [[ 8.05566376e-01 5.92483554e-01 5.10422808e-03 5.70534984e+02] [-5.92472889e-01 8.05582531e-01 -3.55834944e-03 -1.62160997e+02] [-6.22014050e-03 -1.57630095e-04 9.99980642e-01 -4.44413488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.406559995 meters 0.051417404591504276 Centerline is valid? [True, True] Translation: X:570.58, Y:-162.20, Z:-4.45 [[ 8.04992154e-01 5.93271294e-01 4.09920058e-03 5.70584031e+02] [-5.93264427e-01 8.05002580e-01 -2.85746082e-03 -1.62198760e+02] [-4.99511652e-03 -1.31676344e-04 9.99987516e-01 -4.44577455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4665599949999 meters 0.050464502382551304 Centerline is valid? [True, True] Translation: X:570.63, Y:-162.24, Z:-4.45 [[ 8.05364763e-01 5.92759592e-01 4.86457487e-03 5.70630446e+02] [-5.92749907e-01 8.05379440e-01 -3.39202283e-03 -1.62240712e+02] [-5.92848266e-03 -1.51660638e-04 9.99982415e-01 -4.44578420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.526559995 meters 0.050474143750794315 Centerline is valid? [True, True] Translation: X:570.68, Y:-162.28, Z:-4.45 [[ 8.06529861e-01 5.91170975e-01 5.14406590e-03 5.70679363e+02] [-5.91160110e-01 8.06546252e-01 -3.58725641e-03 -1.62277413e+02] [-6.26960894e-03 -1.47737147e-04 9.99980335e-01 -4.44636825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5865599949999 meters 0.05005992338691583 Centerline is valid? [True, True] Translation: X:570.73, Y:-162.32, Z:-4.45 [[ 8.07377419e-01 5.90012832e-01 5.15368557e-03 5.70729399e+02] [-5.90001902e-01 8.07393856e-01 -3.59410543e-03 -1.62315364e+02] [-6.28162239e-03 -1.38884714e-04 9.99980261e-01 -4.44626415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.646559995 meters 0.05057844518306676 Centerline is valid? [True, True] Translation: X:570.78, Y:-162.35, Z:-4.45 [[ 8.09353118e-01 5.87301901e-01 4.89977028e-03 5.70781327e+02] [-5.87291969e-01 8.09367942e-01 -3.41730441e-03 -1.62346881e+02] [-5.97270636e-03 -1.11789762e-04 9.99982157e-01 -4.44699788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7065599949999 meters 0.050757778493485076 Centerline is valid? [True, True] Translation: X:570.83, Y:-162.39, Z:-4.45 [[ 8.10774842e-01 5.85328583e-01 5.88268340e-03 5.70829291e+02] [-5.85314212e-01 8.10796174e-01 -4.10327165e-03 -1.62386259e+02] [-7.17141938e-03 -1.16388777e-04 9.99974278e-01 -4.44747679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.766559995 meters 0.05076151501505004 Centerline is valid? [True, True] Translation: X:570.88, Y:-162.42, Z:-4.45 [[ 8.12052050e-01 5.83543634e-01 6.94956929e-03 5.70879046e+02] [-5.83523507e-01 8.12081778e-01 -4.84793759e-03 -1.62423845e+02] [-8.47260170e-03 -1.18459391e-04 9.99964100e-01 -4.44715053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8265599949999 meters 0.05040179869812535 Centerline is valid? [True, True] Translation: X:570.93, Y:-162.46, Z:-4.45 [[ 8.12564005e-01 5.82833141e-01 6.72813273e-03 5.70930654e+02] [-5.82814244e-01 8.12591852e-01 -4.69453586e-03 -1.62457001e+02] [-8.20335692e-03 -1.06640733e-04 9.99966346e-01 -4.44774472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.886559995 meters 0.05063927758323468 Centerline is valid? [True, True] Translation: X:570.98, Y:-162.49, Z:-4.45 [[ 8.12712002e-01 5.82633834e-01 6.08425620e-03 5.70981570e+02] [-5.82618371e-01 8.12734770e-01 -4.24581498e-03 -1.62492118e+02] [-7.41864202e-03 -9.41746435e-05 9.99972477e-01 -4.44986377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9465599949999 meters 0.050563027696376085 Centerline is valid? [True, True] Translation: X:571.03, Y:-162.53, Z:-4.45 [[ 8.12290691e-01 5.83236620e-01 4.34486668e-03 5.71033539e+02] [-5.83228741e-01 8.12302308e-01 -3.03244812e-03 -1.62527023e+02] [-5.29798002e-03 -7.08217465e-05 9.99985963e-01 -4.45146458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.006559995 meters 0.05068766118408915 Centerline is valid? [True, True] Translation: X:571.08, Y:-162.56, Z:-4.45 [[ 8.12036000e-01 5.83597474e-01 3.39456220e-03 5.71084547e+02] [-5.83592666e-01 8.12043093e-01 -2.36953467e-03 -1.62562913e+02] [-4.13938523e-03 -5.68941515e-05 9.99991431e-01 -4.45241095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0665599949999 meters 0.05073512993644099 Centerline is valid? [True, True] Translation: X:571.14, Y:-162.60, Z:-4.45 [[ 8.12041301e-01 5.83591884e-01 3.07205602e-03 5.71136256e+02] [-5.83587946e-01 8.12047111e-01 -2.14476709e-03 -1.62598201e+02] [-3.74632288e-03 -5.11754018e-05 9.99992981e-01 -4.45388576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.126559995 meters 0.051140185241215864 Centerline is valid? [True, True] Translation: X:571.19, Y:-162.63, Z:-4.45 [[ 8.12701442e-01 5.82668466e-01 3.71807574e-03 5.71186714e+02] [-5.82662681e-01 8.12709946e-01 -2.59699185e-03 -1.62632989e+02] [-4.53490239e-03 -5.58049532e-05 9.99989716e-01 -4.45390130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1865599949999 meters 0.050755798947081765 Centerline is valid? [True, True] Translation: X:571.24, Y:-162.67, Z:-4.45 [[ 8.14276874e-01 5.80460404e-01 4.34645342e-03 5.71236830e+02] [-5.80452465e-01 8.14288473e-01 -3.03630167e-03 -1.62669126e+02] [-5.30171981e-03 -5.05193649e-05 9.99985945e-01 -4.45387672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.246559995 meters 0.0506338657839408 Centerline is valid? [True, True] Translation: X:571.29, Y:-162.71, Z:-4.45 [[ 8.15405231e-01 5.78869600e-01 4.92907045e-03 5.71287080e+02] [-5.78859355e-01 8.15420127e-01 -3.44438636e-03 -1.62706664e+02] [-6.01311381e-03 -4.46678883e-05 9.99981920e-01 -4.45409793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3065599949999 meters 0.05097132670528459 Centerline is valid? [True, True] Translation: X:571.34, Y:-162.74, Z:-4.45 [[ 8.16360003e-01 5.77515932e-01 5.62970795e-03 5.71337281e+02] [-5.77502532e-01 8.16379413e-01 -3.93434694e-03 -1.62742271e+02] [-6.86812571e-03 -3.93271169e-05 9.99976413e-01 -4.45452949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.366559995 meters 0.05056088137424202 Centerline is valid? [True, True] Translation: X:571.39, Y:-162.78, Z:-4.45 [[ 8.16138602e-01 5.77827030e-01 5.80563139e-03 5.71388282e+02] [-5.77812780e-01 8.16159250e-01 -4.05824518e-03 -1.62777441e+02] [-7.08328352e-03 -4.24774683e-05 9.99974912e-01 -4.45435004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4265599949999 meters 0.05085034114181329 Centerline is valid? [True, True] Translation: X:571.44, Y:-162.81, Z:-4.46 [[ 8.14021145e-01 5.80818625e-01 4.39333195e-03 5.71440989e+02] [-5.80810504e-01 8.14032999e-01 -3.07174772e-03 -1.62810877e+02] [-5.36044547e-03 -5.12257452e-05 9.99985631e-01 -4.45606558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.486559995 meters 0.05094387557634294 Centerline is valid? [True, True] Translation: X:571.49, Y:-162.84, Z:-4.46 [[ 8.11168346e-01 5.84804571e-01 3.08676949e-03 5.71492396e+02] [-5.84800591e-01 8.11174218e-01 -2.15802312e-03 -1.62844382e+02] [-3.76592962e-03 -5.46245779e-05 9.99992907e-01 -4.45847417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5465599949999 meters 0.05042676011891321 Centerline is valid? [True, True] Translation: X:571.54, Y:-162.88, Z:-4.46 [[ 8.09974358e-01 5.86460927e-01 2.26300440e-03 5.71543999e+02] [-5.86458793e-01 8.09977518e-01 -1.58260806e-03 -1.62877170e+02] [-2.76112048e-03 -4.52868853e-05 9.99996187e-01 -4.45890364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.606559995 meters 0.051359814853717864 Centerline is valid? [True, True] Translation: X:571.60, Y:-162.91, Z:-4.46 [[ 8.07567463e-01 5.89772207e-01 1.88080655e-03 5.71596179e+02] [-5.89770741e-01 8.07569652e-01 -1.31552142e-03 -1.62907530e+02] [-2.29474027e-03 -4.68723764e-05 9.99997366e-01 -4.45914664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.666559995 meters 0.05056511209170495 Centerline is valid? [True, True] Translation: X:571.65, Y:-162.94, Z:-4.46 [[ 8.07749428e-01 5.89520743e-01 2.48095969e-03 5.71646557e+02] [-5.89518194e-01 8.07753235e-01 -1.73478159e-03 -1.62944267e+02] [-3.02669295e-03 -6.13020461e-05 9.99995418e-01 -4.45839793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.726559995 meters 0.05000617696437027 Centerline is valid? [True, True] Translation: X:571.69, Y:-162.98, Z:-4.46 [[ 8.08960935e-01 5.87852533e-01 3.40657263e-03 5.71692019e+02] [-5.87847707e-01 8.08968104e-01 -2.38326441e-03 -1.62984898e+02] [-4.15681662e-03 -7.45781010e-05 9.99991358e-01 -4.45632818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.786559995 meters 0.05079190341534627 Centerline is valid? [True, True] Translation: X:571.74, Y:-163.02, Z:-4.46 [[ 8.11772296e-01 5.83952247e-01 5.05104945e-03 5.71744558e+02] [-5.83941558e-01 8.11788006e-01 -3.53413008e-03 -1.63017197e+02] [-6.16414456e-03 -8.06087960e-05 9.99980998e-01 -4.45596876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.846559995 meters 0.05102072221439944 Centerline is valid? [True, True] Translation: X:571.79, Y:-163.05, Z:-4.46 [[ 8.14795619e-01 5.79723891e-01 5.32070002e-03 5.71794310e+02] [-5.79711938e-01 8.14812989e-01 -3.72310382e-03 -1.63052098e+02] [-6.49374772e-03 -5.09046440e-05 9.99978914e-01 -4.45651631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.906559995 meters 0.05096679670851917 Centerline is valid? [True, True] Translation: X:571.84, Y:-163.09, Z:-4.46 [[ 8.16471242e-01 5.77360652e-01 5.42114383e-03 5.71844532e+02] [-5.77348190e-01 8.16489239e-01 -3.79349370e-03 -1.63088450e+02] [-6.61651960e-03 -3.26090672e-05 9.99978110e-01 -4.45633922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9665599949999 meters 0.0508561051045315 Centerline is valid? [True, True] Translation: X:571.90, Y:-163.12, Z:-4.46 [[ 8.17494991e-01 5.75924902e-01 3.52788783e-03 5.71896219e+02] [-5.75919611e-01 8.17502604e-01 -2.46888416e-03 -1.63123434e+02] [-4.30594936e-03 -1.34793518e-05 9.99990729e-01 -4.45722898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.026559995 meters 0.051705509381788174 Centerline is valid? [True, True] Translation: X:571.95, Y:-163.16, Z:-4.46 [[ 8.18292034e-01 5.74798381e-01 2.22887772e-03 5.71947735e+02] [-5.74796264e-01 8.18295069e-01 -1.56028316e-03 -1.63157575e+02] [-2.72072788e-03 -4.38330191e-06 9.99996299e-01 -4.45893927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0865599949999 meters 0.051768403883801606 Centerline is valid? [True, True] Translation: X:572.00, Y:-163.19, Z:-4.46 [[ 8.19296055e-01 5.73365318e-01 2.48724178e-03 5.72000546e+02] [-5.73362675e-01 8.19299831e-01 -1.74086984e-03 -1.63192020e+02] [-3.03595116e-03 1.96193991e-07 9.99995391e-01 -4.45693451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.146559995 meters 0.0516052464527035 Centerline is valid? [True, True] Translation: X:572.05, Y:-163.23, Z:-4.46 [[ 8.21177257e-01 5.70667504e-01 2.55202576e-03 5.72052332e+02] [-5.70664705e-01 8.21181223e-01 -1.78720362e-03 -1.63226538e+02] [-3.11557466e-03 1.12599374e-05 9.99995147e-01 -4.45595100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2065599949999 meters 0.05269747621020664 Centerline is valid? [True, True] Translation: X:572.10, Y:-163.26, Z:-4.45 [[ 8.22242324e-01 5.69129700e-01 2.99073935e-03 5.72104079e+02] [-5.69125847e-01 8.22247763e-01 -2.09456046e-03 -1.63260649e+02] [-3.65120531e-03 2.01291964e-05 9.99993334e-01 -4.45499305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.266559995 meters 0.05184480650618394 Centerline is valid? [True, True] Translation: X:572.16, Y:-163.30, Z:-4.46 [[ 8.22044411e-01 5.69420959e-01 1.66032656e-03 5.72156076e+02] [-5.69419772e-01 8.22046088e-01 -1.16281827e-03 -1.63295074e+02] [-2.02699805e-03 1.04654880e-05 9.99997946e-01 -4.45581550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3265599949999 meters 0.052519921674279296 Centerline is valid? [True, True] Translation: X:572.21, Y:-163.33, Z:-4.46 [[ 8.20143761e-01 5.72156588e-01 1.02495933e-03 5.72209482e+02] [-5.72156138e-01 8.20144401e-01 -7.17247284e-04 -1.63325439e+02] [-1.25099241e-03 1.80911369e-06 9.99999218e-01 -4.45742804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.386559995 meters 0.05252337256745764 Centerline is valid? [True, True] Translation: X:572.26, Y:-163.36, Z:-4.46 [[ 8.19254972e-01 5.73428715e-01 8.94969841e-04 5.72261728e+02] [-5.73428372e-01 8.19255460e-01 -6.26695648e-04 -1.63359912e+02] [-1.09257421e-03 2.22426406e-07 9.99999403e-01 -4.45654665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4465599949999 meters 0.052698461104780825 Centerline is valid? [True, True] Translation: X:572.32, Y:-163.39, Z:-4.46 [[ 8.16791692e-01 5.76931491e-01 1.17777371e-03 5.72315044e+02] [-5.76930902e-01 8.16792541e-01 -8.24509895e-04 -1.63391679e+02] [-1.43768250e-03 -6.04121634e-06 9.99998967e-01 -4.45719381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.506559995 meters 0.052297797990946256 Centerline is valid? [True, True] Translation: X:572.37, Y:-163.42, Z:-4.46 [[ 8.13144722e-01 5.82060035e-01 1.33301043e-03 5.72370458e+02] [-5.82059287e-01 8.13145814e-01 -9.33761319e-04 -1.63419872e+02] [-1.62743700e-03 -1.66080146e-05 9.99998676e-01 -4.45706684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5665599949999 meters 0.053222803023452905 Centerline is valid? [True, True] Translation: X:572.43, Y:-163.45, Z:-4.46 [[ 8.09457575e-01 5.87176944e-01 1.29255538e-03 5.72425568e+02] [-5.87176245e-01 8.09458607e-01 -9.06313494e-04 -1.63445383e+02] [-1.57843646e-03 -2.53354902e-05 9.99998754e-01 -4.45870378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.626559995 meters 0.05319378868606481 Centerline is valid? [True, True] Translation: X:572.48, Y:-163.48, Z:-4.46 [[ 8.07571959e-01 5.89768580e-01 7.43830881e-04 5.72476783e+02] [-5.89768350e-01 8.07572301e-01 -5.21499160e-04 -1.63478776e+02] [-9.08261035e-04 -1.75398138e-05 9.99999587e-01 -4.45877751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6865599949999 meters 0.052811623254730995 Centerline is valid? [True, True] Translation: X:572.53, Y:-163.51, Z:-4.46 [[ 8.05194809e-01 5.93009883e-01 -7.73595251e-04 5.72527390e+02] [-5.93009636e-01 8.05195180e-01 5.42599605e-04 -1.63513710e+02] [ 9.44662095e-04 2.18510528e-05 9.99999554e-01 -4.45898658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.746559995 meters 0.052735133177519405 Centerline is valid? [True, True] Translation: X:572.58, Y:-163.55, Z:-4.46 [[ 8.04345700e-01 5.94157078e-01 -2.31543742e-03 5.72580371e+02] [-5.94154862e-01 8.04349030e-01 1.62400962e-03 -1.63545967e+02] [ 2.82733665e-03 6.94632430e-05 9.99996001e-01 -4.46086121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8065599949999 meters 0.052629797758960324 Centerline is valid? [True, True] Translation: X:572.63, Y:-163.58, Z:-4.46 [[ 8.05657590e-01 5.92375340e-01 -2.70249849e-03 5.72629390e+02] [-5.92372312e-01 8.05662120e-01 1.89536995e-03 -1.63582611e+02] [ 3.30007108e-03 7.38660885e-05 9.99994552e-01 -4.45859760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.866559995 meters 0.05262512811218165 Centerline is valid? [True, True] Translation: X:572.68, Y:-163.62, Z:-4.46 [[ 8.06521704e-01 5.91200170e-01 -2.25842115e-03 5.72680211e+02] [-5.91198047e-01 8.06524864e-01 1.58520504e-03 -1.63618475e+02] [ 2.75864630e-03 5.66719025e-05 9.99996193e-01 -4.45882257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9265599949999 meters 0.05266555182850585 Centerline is valid? [True, True] Translation: X:572.73, Y:-163.65, Z:-4.46 [[ 8.06910135e-01 5.90669961e-01 -2.24299946e-03 5.72731849e+02] [-5.90667865e-01 8.06913250e-01 1.57465677e-03 -1.63651911e+02] [ 2.74000844e-03 5.42611974e-05 9.99996245e-01 -4.46022462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.986559995 meters 0.052664576799786006 Centerline is valid? [True, True] Translation: X:572.78, Y:-163.69, Z:-4.46 [[ 8.08549764e-01 5.88423533e-01 -2.24142660e-03 5.72780295e+02] [-5.88421433e-01 8.08552870e-01 1.57291220e-03 -1.63690185e+02] [ 2.73785047e-03 4.71256628e-05 9.99996251e-01 -4.45939398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0465599949999 meters 0.053245468542586286 Centerline is valid? [True, True] Translation: X:572.83, Y:-163.73, Z:-4.46 [[ 8.09914875e-01 5.86540170e-01 -2.91946994e-03 5.72830274e+02] [-5.86536590e-01 8.09920136e-01 2.04994964e-03 -1.63726366e+02] [ 3.56691530e-03 5.20912371e-05 9.99993637e-01 -4.46157763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.106559995 meters 0.05278856188388717 Centerline is valid? [True, True] Translation: X:572.88, Y:-163.77, Z:-4.46 [[ 8.11788393e-01 5.83940775e-01 -3.57440612e-03 5.72877718e+02] [-5.83935387e-01 8.11796260e-01 2.50916429e-03 -1.63767272e+02] [ 4.36689286e-03 5.03117766e-05 9.99990464e-01 -4.46021245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.166559995 meters 0.05279497661891552 Centerline is valid? [True, True] Translation: X:572.93, Y:-163.81, Z:-4.46 [[ 8.13748903e-01 5.81208272e-01 -3.10928364e-03 5.72926187e+02] [-5.81204170e-01 8.13754842e-01 2.18389314e-03 -1.63805246e+02] [ 3.79949138e-03 2.99879742e-05 9.99992781e-01 -4.46056735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.226559995 meters 0.053126584088634576 Centerline is valid? [True, True] Translation: X:572.97, Y:-163.85, Z:-4.46 [[ 8.16971772e-01 5.76668697e-01 -3.21515638e-03 5.72973469e+02] [-5.76664277e-01 8.16978099e-01 2.25777373e-03 -1.63845468e+02] [ 3.92869978e-03 9.52842580e-06 9.99992283e-01 -4.45882082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.286559995 meters 0.05342296786272885 Centerline is valid? [True, True] Translation: X:573.02, Y:-163.89, Z:-4.46 [[ 8.23587747e-01 5.67179013e-01 -3.34521573e-03 5.73018849e+02] [-5.67174149e-01 8.23594540e-01 2.34918677e-03 -1.63888262e+02] [ 4.08751084e-03 -3.74415514e-05 9.99991645e-01 -4.45816676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.346559995 meters 0.05378845105393346 Centerline is valid? [True, True] Translation: X:573.07, Y:-163.93, Z:-4.45 [[ 8.29705203e-01 5.58196122e-01 -2.52300165e-03 5.73066809e+02] [-5.58193314e-01 8.29709036e-01 1.77164155e-03 -1.63925112e+02] [ 3.08228071e-03 -6.16175548e-05 9.99995248e-01 -4.45445951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.406559995 meters 0.054240736070522336 Centerline is valid? [True, True] Translation: X:573.11, Y:-163.96, Z:-4.46 [[ 8.32295477e-01 5.54326984e-01 -2.41560883e-03 5.73114444e+02] [-5.54324392e-01 8.32298979e-01 1.69656594e-03 -1.63964581e+02] [ 2.95096104e-03 -7.30132643e-05 9.99995643e-01 -4.45579678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4665599949999 meters 0.05552100460345868 Centerline is valid? [True, True] Translation: X:573.16, Y:-164.00, Z:-4.46 [[ 8.33607081e-01 5.52351605e-01 -2.63419572e-03 5.73162098e+02] [-5.52348510e-01 8.33611239e-01 1.85101659e-03 -1.64001668e+02] [ 3.21830714e-03 -8.80264512e-05 9.99994817e-01 -4.45719272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.526559995 meters 0.05483868414356799 Centerline is valid? [True, True] Translation: X:573.21, Y:-164.04, Z:-4.46 [[ 8.33721283e-01 5.52177727e-01 -2.92930868e-03 5.73209190e+02] [-5.52173897e-01 8.33726423e-01 2.05890771e-03 -1.64040579e+02] [ 3.57912502e-03 -9.90673895e-05 9.99993590e-01 -4.45965984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5865599949999 meters 0.05437010207021281 Centerline is valid? [True, True] Translation: X:573.26, Y:-164.07, Z:-4.46 [[ 8.32152724e-01 5.54523687e-01 -5.03240010e-03 5.73263286e+02] [-5.54512435e-01 8.32167926e-01 3.53581791e-03 -1.64069999e+02] [ 6.14849674e-03 -1.51812071e-04 9.99981086e-01 -4.45824819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.646559995 meters 0.054650521625470405 Centerline is valid? [True, True] Translation: X:573.32, Y:-164.10, Z:-4.46 [[ 8.29120902e-01 5.59050408e-01 -4.60125924e-03 5.73315583e+02] [-5.59041071e-01 8.29133662e-01 3.23278511e-03 -1.64099846e+02] [ 5.62234875e-03 -1.08076815e-04 9.99984189e-01 -4.45663117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7065599949999 meters 0.05404056423519046 Centerline is valid? [True, True] Translation: X:573.36, Y:-164.14, Z:-4.46 [[ 8.26752118e-01 5.62559019e-01 -2.87868947e-03 5.73361563e+02] [-5.62555385e-01 8.26757127e-01 2.02261412e-03 -1.64138692e+02] [ 3.51781685e-03 -5.27782484e-05 9.99993811e-01 -4.46031178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.766559995 meters 0.05325776992077381 Centerline is valid? [True, True] Translation: X:573.41, Y:-164.17, Z:-4.46 [[ 8.22943622e-01 5.68121245e-01 -1.43044631e-03 5.73414478e+02] [-5.68120356e-01 8.22944865e-01 1.00514462e-03 -1.64169026e+02] [ 1.74822246e-03 -1.45116810e-05 9.99998472e-01 -4.45838493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8265599949999 meters 0.05303235907513299 Centerline is valid? [True, True] Translation: X:573.47, Y:-164.20, Z:-4.46 [[ 8.19829622e-01 5.72606558e-01 -1.05874040e-03 5.73467523e+02] [-5.72606073e-01 8.19830305e-01 7.45010823e-04 -1.64199578e+02] [ 1.29458555e-03 -4.54075649e-06 9.99999162e-01 -4.45553301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.886559995 meters 0.052778480943662165 Centerline is valid? [True, True] Translation: X:573.52, Y:-164.23, Z:-4.46 [[ 8.15043394e-01 5.79399301e-01 -8.46059020e-04 5.73520959e+02] [-5.79398996e-01 8.15043833e-01 5.95005823e-04 -1.64230864e+02] [ 1.03432114e-03 5.25018123e-06 9.99999465e-01 -4.45685418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9465599949999 meters 0.05227050768089474 Centerline is valid? [True, True] Translation: X:573.57, Y:-164.26, Z:-4.46 [[ 8.11847613e-01 5.83868277e-01 -1.13532345e-03 5.73574315e+02] [-5.83867730e-01 8.11848407e-01 7.99086842e-04 -1.64261612e+02] [ 1.38827199e-03 1.41419803e-05 9.99999036e-01 -4.45884807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.006559995 meters 0.052965257047554296 Centerline is valid? [True, True] Translation: X:573.63, Y:-164.29, Z:-4.46 [[ 8.07046492e-01 5.90484647e-01 -1.96005856e-03 5.73628692e+02] [-5.90483041e-01 8.07048870e-01 1.37815408e-03 -1.64288737e+02] [ 2.39564187e-03 4.51469205e-05 9.99997129e-01 -4.46194850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0665599949999 meters 0.05299069220201233 Centerline is valid? [True, True] Translation: X:573.68, Y:-164.32, Z:-4.46 [[ 8.05564359e-01 5.92503364e-01 -2.41410815e-03 5.73679487e+02] [-5.92500936e-01 8.05567974e-01 1.69726163e-03 -1.64322259e+02] [ 2.95036144e-03 6.31078564e-05 9.99995646e-01 -4.46284682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.126559995 meters 0.05273513799561052 Centerline is valid? [True, True] Translation: X:573.73, Y:-164.36, Z:-4.46 [[ 8.04624354e-01 5.93776944e-01 -2.93088394e-03 5.73726049e+02] [-5.93773373e-01 8.04629687e-01 2.06093992e-03 -1.64363784e+02] [ 3.58201483e-03 8.19983931e-05 9.99993581e-01 -4.46022790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1865599949999 meters 0.052697383313205795 Centerline is valid? [True, True] Translation: X:573.78, Y:-164.40, Z:-4.46 [[ 8.03497214e-01 5.95282265e-01 -5.59038001e-03 5.73775359e+02] [-5.95269302e-01 8.03516644e-01 3.93210558e-03 -1.64399672e+02] [ 6.83267610e-03 1.68345730e-04 9.99976643e-01 -4.46265867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.246559995 meters 0.05283698498615202 Centerline is valid? [True, True] Translation: X:573.83, Y:-164.43, Z:-4.46 [[ 8.03218398e-01 5.95652137e-01 -6.22391902e-03 5.73825843e+02] [-5.95636073e-01 8.03242488e-01 4.37869961e-03 -1.64434692e+02] [ 7.60749799e-03 1.90138605e-04 9.99971044e-01 -4.46473696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3065599949999 meters 0.05231231215819317 Centerline is valid? [True, True] Translation: X:573.87, Y:-164.48, Z:-4.46 [[ 8.03728062e-01 5.94976866e-01 -4.87148050e-03 5.73871976e+02] [-5.94967015e-01 8.03742812e-01 3.42687401e-03 -1.64476699e+02] [ 5.95432820e-03 1.44095407e-04 9.99982262e-01 -4.46178045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.366559995 meters 0.053218979433225524 Centerline is valid? [True, True] Translation: X:573.92, Y:-164.51, Z:-4.46 [[ 8.04383326e-01 5.94102413e-01 -3.12845385e-03 5.73921986e+02] [-5.94098344e-01 8.04389405e-01 2.20070081e-03 -1.64510003e+02] [ 3.82393680e-03 8.84022145e-05 9.99992685e-01 -4.46412815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4265599949999 meters 0.052165156016293186 Centerline is valid? [True, True] Translation: X:573.97, Y:-164.55, Z:-4.46 [[ 8.04699661e-01 5.93677376e-01 -2.37254911e-03 5.73967355e+02] [-5.93675030e-01 8.04703156e-01 1.67032533e-03 -1.64554022e+02] [ 2.90083212e-03 6.44129390e-05 9.99995791e-01 -4.46102343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.486559995 meters 0.052990762106263994 Centerline is valid? [True, True] Translation: X:574.02, Y:-164.59, Z:-4.46 [[ 8.04038198e-01 5.94575764e-01 -1.49538754e-03 5.74019099e+02] [-5.94574833e-01 8.04039588e-01 1.05332227e-03 -1.64586645e+02] [ 1.82863068e-03 4.22084539e-05 9.99998327e-01 -4.46443439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5465599949999 meters 0.05205399242188927 Centerline is valid? [True, True] Translation: X:574.07, Y:-164.63, Z:-4.46 [[ 8.03133122e-01 5.95796353e-01 -1.97306057e-03 5.74066055e+02] [-5.95794738e-01 8.03135544e-01 1.38890611e-03 -1.64628196e+02] [ 2.41214027e-03 6.00626059e-05 9.99997089e-01 -4.46319560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.606559995 meters 0.05150793346624482 Centerline is valid? [True, True] Translation: X:574.11, Y:-164.67, Z:-4.46 [[ 8.02178492e-01 5.97079509e-01 -2.39312121e-03 5.74112365e+02] [-5.97077137e-01 8.02182058e-01 1.68467116e-03 -1.64670509e+02] [ 2.92560153e-03 7.74709896e-05 9.99995717e-01 -4.46185241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.666559995 meters 0.053222006718422366 Centerline is valid? [True, True] Translation: X:574.17, Y:-164.70, Z:-4.47 [[ 8.00828783e-01 5.98882700e-01 -3.57380951e-03 5.74166338e+02] [-5.98877430e-01 8.00836747e-01 2.51549727e-03 -1.64698139e+02] [ 4.36852577e-03 1.25791240e-04 9.99990450e-01 -4.46865927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.726559995 meters 0.051806544760543305 Centerline is valid? [True, True] Translation: X:574.21, Y:-164.75, Z:-4.46 [[ 8.00084550e-01 5.99872149e-01 -4.25651201e-03 5.74208853e+02] [-5.99864683e-01 8.00095857e-01 2.99675248e-03 -1.64745103e+02] [ 5.20328597e-03 1.55675864e-04 9.99986451e-01 -4.46487066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.786559995 meters 0.05182954099765551 Centerline is valid? [True, True] Translation: X:574.26, Y:-164.79, Z:-4.46 [[ 7.99843094e-01 6.00191988e-01 -4.53894830e-03 5.74256289e+02] [-6.00183497e-01 7.99855956e-01 3.19684055e-03 -1.64785837e+02] [ 5.54922291e-03 1.67231026e-04 9.99984589e-01 -4.46469698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.846559995 meters 0.05221796702872617 Centerline is valid? [True, True] Translation: X:574.31, Y:-164.82, Z:-4.47 [[ 8.00388211e-01 5.99462919e-01 -4.78759466e-03 5.74306406e+02] [-5.99453456e-01 8.00402511e-01 3.37255313e-03 -1.64821013e+02] [ 5.85372333e-03 1.70588403e-04 9.99982852e-01 -4.46714314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.906559995 meters 0.052205652057747236 Centerline is valid? [True, True] Translation: X:574.36, Y:-164.86, Z:-4.47 [[ 8.00262609e-01 5.99638014e-01 -3.74294192e-03 5.74356201e+02] [-5.99632231e-01 8.00271350e-01 2.63681849e-03 -1.64856486e+02] [ 4.57650578e-03 1.34241377e-04 9.99989519e-01 -4.46739226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9665599949999 meters 0.05143936838577809 Centerline is valid? [True, True] Translation: X:574.40, Y:-164.90, Z:-4.46 [[ 8.00952706e-01 5.98726444e-01 -1.18641190e-03 5.74400550e+02] [-5.98725862e-01 8.00953584e-01 8.35880793e-04 -1.64900636e+02] [ 1.45072480e-03 4.08345034e-05 9.99998947e-01 -4.46283652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.026559995 meters 0.0510092562698835 Centerline is valid? [True, True] Translation: X:574.45, Y:-164.94, Z:-4.46 [[ 8.02202891e-01 5.97050279e-01 -1.21890669e-03 5.74447441e+02] [-5.97049663e-01 8.02203816e-01 8.58822812e-04 -1.64941569e+02] [ 1.49057200e-03 3.87976875e-05 9.99998888e-01 -4.46223787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0865599949999 meters 0.05126114254912054 Centerline is valid? [True, True] Translation: X:574.50, Y:-164.98, Z:-4.46 [[ 8.03387577e-01 5.95454418e-01 -1.56105806e-03 5.74496813e+02] [-5.95453404e-01 8.03389093e-01 1.09989780e-03 -1.64978737e+02] [ 1.90907602e-03 4.58931075e-05 9.99998177e-01 -4.46284521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.146559995 meters 0.05211473485189148 Centerline is valid? [True, True] Translation: X:574.55, Y:-165.01, Z:-4.47 [[ 8.05038573e-01 5.93213900e-01 -3.18823486e-03 5.74549021e+02] [-5.93209651e-01 8.05044882e-01 2.24660438e-03 -1.65008770e+02] [ 3.89938910e-03 8.26885089e-05 9.99992394e-01 -4.46784879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2065599949999 meters 0.05192640617204454 Centerline is valid? [True, True] Translation: X:574.60, Y:-165.05, Z:-4.47 [[ 8.06010729e-01 5.91891524e-01 -3.33588740e-03 5.74595710e+02] [-5.91886860e-01 8.06017629e-01 2.35104348e-03 -1.65050687e+02] [ 4.08034676e-03 7.95016450e-05 9.99991672e-01 -4.46592942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.266559995 meters 0.0518618922922186 Centerline is valid? [True, True] Translation: X:574.65, Y:-165.09, Z:-4.47 [[ 8.07308780e-01 5.90120072e-01 -3.29150856e-03 5.74645011e+02] [-5.90115513e-01 8.07315487e-01 2.32058016e-03 -1.65087686e+02] [ 4.02670676e-03 6.89455266e-05 9.99991890e-01 -4.46532999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3265599949999 meters 0.05145591882356898 Centerline is valid? [True, True] Translation: X:574.70, Y:-165.12, Z:-4.47 [[ 8.07521828e-01 5.89833525e-01 -2.21587756e-03 5.74696622e+02] [-5.89831456e-01 8.07524867e-01 1.56294440e-03 -1.65120940e+02] [ 2.71125323e-03 4.48825633e-05 9.99996324e-01 -4.46597341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.386559995 meters 0.05211898480573853 Centerline is valid? [True, True] Translation: X:574.75, Y:-165.15, Z:-4.47 [[ 8.07150747e-01 5.90342656e-01 -1.79454248e-03 5.74749760e+02] [-5.90341301e-01 8.07152741e-01 1.26569387e-03 -1.65151438e+02] [ 2.19566296e-03 3.77867901e-05 9.99997589e-01 -4.46833713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4465599949999 meters 0.05227597043599606 Centerline is valid? [True, True] Translation: X:574.80, Y:-165.18, Z:-4.47 [[ 8.06572449e-01 5.91133063e-01 -1.60809745e-03 5.74801742e+02] [-5.91131975e-01 8.06574052e-01 1.13481424e-03 -1.65184794e+02] [ 1.96787589e-03 3.52879213e-05 9.99998063e-01 -4.46899996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.506559995 meters 0.05157702783021573 Centerline is valid? [True, True] Translation: X:574.85, Y:-165.22, Z:-4.47 [[ 8.05455972e-01 5.92653736e-01 -1.49207152e-03 5.74850931e+02] [-5.92652800e-01 8.05457354e-01 1.05335905e-03 -1.65222634e+02] [ 1.82607715e-03 3.58460278e-05 9.99998332e-01 -4.46688856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5665599949999 meters 0.052463880660001946 Centerline is valid? [True, True] Translation: X:574.90, Y:-165.25, Z:-4.47 [[ 8.03644575e-01 5.95104075e-01 -2.55662132e-03 5.74903674e+02] [-5.95101348e-01 8.03648639e-01 1.80329230e-03 -1.65252211e+02] [ 3.12777184e-03 7.22427201e-05 9.99995106e-01 -4.46878743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.626559995 meters 0.052746678610893605 Centerline is valid? [True, True] Translation: X:574.96, Y:-165.28, Z:-4.47 [[ 8.02267300e-01 5.96951878e-01 -3.95409376e-03 5.74955666e+02] [-5.96945374e-01 8.02277035e-01 2.78930855e-03 -1.65284227e+02] [ 4.83736159e-03 1.22606936e-04 9.99988292e-01 -4.47009592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6865599949999 meters 0.05231148783195616 Centerline is valid? [True, True] Translation: X:575.00, Y:-165.32, Z:-4.47 [[ 8.00876209e-01 5.98809513e-01 -4.94629045e-03 5.75004987e+02] [-5.98799363e-01 8.00891466e-01 3.49051455e-03 -1.65320502e+02] [ 6.05159513e-03 1.66365509e-04 9.99981675e-01 -4.46833930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.746559995 meters 0.05266471423388395 Centerline is valid? [True, True] Translation: X:575.06, Y:-165.35, Z:-4.47 [[ 8.01043168e-01 5.98588617e-01 -4.63791332e-03 5.75057515e+02] [-5.98579688e-01 8.01056580e-01 3.27307706e-03 -1.65352859e+02] [ 5.67445765e-03 1.54284688e-04 9.99983888e-01 -4.46774279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8065599949999 meters 0.05326765004856039 Centerline is valid? [True, True] Translation: X:575.11, Y:-165.38, Z:-4.47 [[ 8.02819468e-01 5.96216966e-01 -2.49632558e-03 5.75109293e+02] [-5.96214368e-01 8.02823346e-01 1.76150838e-03 -1.65383472e+02] [ 3.05434963e-03 7.41719622e-05 9.99995333e-01 -4.46733329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.866559995 meters 0.053167614334648734 Centerline is valid? [True, True] Translation: X:575.16, Y:-165.42, Z:-4.47 [[ 8.04726256e-01 5.93645295e-01 -9.57097652e-04 5.75159331e+02] [-5.93644911e-01 8.04726825e-01 6.75472478e-04 -1.65417832e+02] [ 1.17119321e-03 2.46057124e-05 9.99999314e-01 -4.46551487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9265599949999 meters 0.0530068208938837 Centerline is valid? [True, True] Translation: X:575.21, Y:-165.45, Z:-4.47 [[ 8.05389419e-01 5.92744773e-01 -1.23206629e-03 5.75209961e+02] [-5.92744135e-01 8.05390360e-01 8.70523039e-04 -1.65453478e+02] [ 1.50829229e-03 2.91900221e-05 9.99998862e-01 -4.46603070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.986559995 meters 0.05330679089014236 Centerline is valid? [True, True] Translation: X:575.26, Y:-165.49, Z:-4.47 [[ 8.07387408e-01 5.90016803e-01 -2.39709488e-03 5.75262075e+02] [-5.90014378e-01 8.07390965e-01 1.69212329e-03 -1.65486934e+02] [ 2.93377392e-03 4.81214103e-05 9.99995695e-01 -4.46945090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0465599949999 meters 0.052783588034414075 Centerline is valid? [True, True] Translation: X:575.31, Y:-165.53, Z:-4.47 [[ 8.09530711e-01 5.87068598e-01 -3.23856932e-03 5.75309022e+02] [-5.87064149e-01 8.09537188e-01 2.28619385e-03 -1.65526990e+02] [ 3.96389491e-03 5.05038082e-05 9.99992142e-01 -4.46649732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.106559995 meters 0.053507345327652944 Centerline is valid? [True, True] Translation: X:575.36, Y:-165.56, Z:-4.47 [[ 8.12316430e-01 5.83208622e-01 -3.11776596e-03 5.75359625e+02] [-5.83204469e-01 8.12322413e-01 2.20104180e-03 -1.65562558e+02] [ 3.81629772e-03 3.03526193e-05 9.99992717e-01 -4.46687252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.166559995 meters 0.05332810220432839 Centerline is valid? [True, True] Translation: X:575.41, Y:-165.60, Z:-4.47 [[ 8.13759004e-01 5.81198005e-01 -2.27215413e-03 5.75410327e+02] [-5.81195788e-01 8.13762176e-01 1.60535224e-03 -1.65598613e+02] [ 2.78202061e-03 1.41965716e-05 9.99996130e-01 -4.46694411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.226559995 meters 0.05292751875902822 Centerline is valid? [True, True] Translation: X:575.46, Y:-165.63, Z:-4.47 [[ 8.14768310e-01 5.79785849e-01 -9.84760873e-04 5.75461127e+02] [-5.79785431e-01 8.14768905e-01 6.96536099e-04 -1.65633977e+02] [ 1.20619431e-03 3.43446664e-06 9.99999273e-01 -4.46721238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.286559995 meters 0.05292726168444281 Centerline is valid? [True, True] Translation: X:575.51, Y:-165.67, Z:-4.47 [[ 8.14524847e-01 5.80128289e-01 -6.64865525e-04 5.75513492e+02] [-5.80128098e-01 8.14525118e-01 4.70803802e-04 -1.65666866e+02] [ 8.14676275e-04 2.22577815e-06 9.99999668e-01 -4.47112366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.346559995 meters 0.05282942087453008 Centerline is valid? [True, True] Translation: X:575.57, Y:-165.70, Z:-4.47 [[ 8.13532499e-01 5.81519449e-01 6.37949002e-05 5.75565915e+02] [-5.81519447e-01 8.13532501e-01 -4.39763763e-05 -1.65701127e+02] [-7.74723431e-05 -1.32176374e-06 9.99999997e-01 -4.47147576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.406559995 meters 0.05284728355144062 Centerline is valid? [True, True] Translation: X:575.62, Y:-165.73, Z:-4.47 [[ 8.11972617e-01 5.83695497e-01 1.89298437e-04 5.75618016e+02] [-5.83695482e-01 8.11972639e-01 -1.32825953e-04 -1.65734505e+02] [-2.31235062e-04 -2.64160606e-06 9.99999973e-01 -4.47138554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4665599949999 meters 0.053300756117874167 Centerline is valid? [True, True] Translation: X:575.67, Y:-165.76, Z:-4.47 [[ 8.09197202e-01 5.87537126e-01 -1.17213809e-04 5.75671400e+02] [-5.87537120e-01 8.09197211e-01 8.30526731e-05 -1.65764634e+02] [ 1.43645616e-04 1.66147279e-06 9.99999990e-01 -4.47276752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.526559995 meters 0.052814982567007555 Centerline is valid? [True, True] Translation: X:575.72, Y:-165.80, Z:-4.47 [[ 8.06605796e-01 5.91089190e-01 8.11755692e-04 5.75720453e+02] [-5.91088912e-01 8.06606205e-01 -5.72929583e-04 -1.65802160e+02] [-9.93419661e-04 -1.76914661e-05 9.99999506e-01 -4.46993218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5865599949999 meters 0.054150028105020113 Centerline is valid? [True, True] Translation: X:575.78, Y:-165.83, Z:-4.47 [[ 8.04355034e-01 5.94148141e-01 9.82743340e-04 5.75775969e+02] [-5.94147735e-01 8.04355634e-01 -6.94712318e-04 -1.65827770e+02] [-1.20323718e-03 -2.50993792e-05 9.99999276e-01 -4.47290889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.646559995 meters 0.05363676086883096 Centerline is valid? [True, True] Translation: X:575.83, Y:-165.86, Z:-4.47 [[ 8.03206721e-01 5.95698762e-01 1.39540538e-03 5.75826191e+02] [-5.95697948e-01 8.03207933e-01 -9.85845799e-04 -1.65863428e+02] [-1.70806779e-03 -3.94021502e-05 9.99998540e-01 -4.47282653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7065599949999 meters 0.05336743795033588 Centerline is valid? [True, True] Translation: X:575.88, Y:-165.90, Z:-4.47 [[ 8.02388606e-01 5.96799746e-01 1.60873861e-03 5.75875756e+02] [-5.96798665e-01 8.02390217e-01 -1.13686806e-03 -1.65901248e+02] [-1.96931869e-03 -4.78830720e-05 9.99998060e-01 -4.47246038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.766559995 meters 0.05260290941071071 Centerline is valid? [True, True] Translation: X:575.93, Y:-165.94, Z:-4.47 [[ 8.02324085e-01 5.96885140e-01 2.04737061e-03 5.75926116e+02] [-5.96883388e-01 8.02326695e-01 -1.44733267e-03 -1.65939413e+02] [-2.50655146e-03 -6.08116435e-05 9.99996857e-01 -4.47276647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8265599949999 meters 0.05316487055082957 Centerline is valid? [True, True] Translation: X:575.98, Y:-165.97, Z:-4.47 [[ 8.02925282e-01 5.96074762e-01 2.42285264e-03 5.75979176e+02] [-5.96072303e-01 8.02928934e-01 -1.71352004e-03 -1.65970006e+02] [-2.96676454e-03 -6.83667942e-05 9.99995597e-01 -4.47446761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.886559995 meters 0.05286322362406653 Centerline is valid? [True, True] Translation: X:576.03, Y:-166.01, Z:-4.47 [[ 8.04326396e-01 5.94177155e-01 3.54354852e-03 5.76027447e+02] [-5.94171871e-01 8.04334197e-01 -2.50746855e-03 -1.66008412e+02] [-4.34007778e-03 -8.86537068e-05 9.99990578e-01 -4.47435674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9465599949999 meters 0.05270772660977431 Centerline is valid? [True, True] Translation: X:576.07, Y:-166.05, Z:-4.48 [[ 8.08706700e-01 5.88202620e-01 3.33933317e-03 5.76074515e+02] [-5.88197875e-01 8.08713593e-01 -2.36307006e-03 -1.66047863e+02] [-4.09052813e-03 -5.31580832e-05 9.99991632e-01 -4.47527875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.006559995 meters 0.05249987288497775 Centerline is valid? [True, True] Translation: X:576.12, Y:-166.09, Z:-4.48 [[ 8.12808405e-01 5.82524022e-01 2.87412792e-03 5.76122359e+02] [-5.82520472e-01 8.12813486e-01 -2.03392801e-03 -1.66086329e+02] [-3.52094186e-03 -2.10445685e-05 9.99993801e-01 -4.47652810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0665599949999 meters 0.052902875967676705 Centerline is valid? [True, True] Translation: X:576.17, Y:-166.13, Z:-4.48 [[ 8.19165771e-01 5.73555168e-01 1.38156711e-03 5.76170640e+02] [-5.73554336e-01 8.19166936e-01 -9.76942448e-04 -1.66125799e+02] [-1.69206449e-03 7.87400730e-06 9.99998568e-01 -4.47853943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.126559995 meters 0.053783447894721115 Centerline is valid? [True, True] Translation: X:576.22, Y:-166.16, Z:-4.48 [[ 8.24846345e-01 5.65354621e-01 1.63112064e-03 5.76219390e+02] [-5.65353442e-01 8.24847957e-01 -1.15467843e-03 -1.66161883e+02] [-1.99822931e-03 3.02726166e-05 9.99998003e-01 -4.47800006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1865599949999 meters 0.05433084846529572 Centerline is valid? [True, True] Translation: X:576.27, Y:-166.19, Z:-4.48 [[ 8.28045443e-01 5.60650907e-01 3.36237167e-03 5.76270974e+02] [-5.60645861e-01 8.28052265e-01 -2.38025883e-03 -1.66194894e+02] [-4.11871374e-03 8.58627184e-05 9.99991514e-01 -4.47689531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.246559995 meters 0.05412850027103992 Centerline is valid? [True, True] Translation: X:576.32, Y:-166.24, Z:-4.48 [[ 8.28566030e-01 5.59881355e-01 3.34682140e-03 5.76316113e+02] [-5.59876350e-01 8.28572785e-01 -2.36907037e-03 -1.66237375e+02] [-4.09948346e-03 8.91250798e-05 9.99991593e-01 -4.47875589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3065599949999 meters 0.05455689398996547 Centerline is valid? [True, True] Translation: X:576.37, Y:-166.27, Z:-4.48 [[ 8.29393666e-01 5.58650641e-01 3.95072528e-03 5.76369851e+02] [-5.58643649e-01 8.29403067e-01 -2.79747125e-03 -1.66269012e+02] [-4.83955277e-03 1.13157354e-04 9.99988283e-01 -4.47916236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.366559995 meters 0.05426836031604815 Centerline is valid? [True, True] Translation: X:576.43, Y:-166.30, Z:-4.48 [[ 8.27891300e-01 5.60879673e-01 3.16037417e-03 5.76425084e+02] [-5.60875214e-01 8.27897328e-01 -2.23805726e-03 -1.66295825e+02] [-3.87174616e-03 8.02925941e-05 9.99992502e-01 -4.48056278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4265599949999 meters 0.0543006421008896 Centerline is valid? [True, True] Translation: X:576.48, Y:-166.33, Z:-4.48 [[ 8.24532863e-01 5.65805632e-01 3.08936641e-03 5.76477164e+02] [-5.65801405e-01 8.24538649e-01 -2.18781441e-03 -1.66328786e+02] [-3.78517972e-03 5.59570254e-05 9.99992835e-01 -4.48220599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.486559995 meters 0.05426928455097898 Centerline is valid? [True, True] Translation: X:576.53, Y:-166.36, Z:-4.48 [[ 8.22124514e-01 5.69296400e-01 3.59044607e-03 5.76533096e+02] [-5.69290723e-01 8.22132353e-01 -2.54285004e-03 -1.66356294e+02] [-4.39945725e-03 4.65317084e-05 9.99990321e-01 -4.48158205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5465599949999 meters 0.0540664718924059 Centerline is valid? [True, True] Translation: X:576.58, Y:-166.39, Z:-4.48 [[ 8.19128387e-01 5.73596016e-01 4.03691683e-03 5.76584412e+02] [-5.73588892e-01 8.19138334e-01 -2.85895419e-03 -1.66388881e+02] [-4.94667806e-03 2.63198853e-05 9.99987765e-01 -4.48277069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.606559995 meters 0.054042023016912515 Centerline is valid? [True, True] Translation: X:576.63, Y:-166.42, Z:-4.48 [[ 8.17915064e-01 5.75323653e-01 4.20027388e-03 5.76634999e+02] [-5.75315960e-01 8.17925849e-01 -2.97522336e-03 -1.66422531e+02] [-5.14722895e-03 1.69953979e-05 9.99986753e-01 -4.48405289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.666559995 meters 0.05326815683773851 Centerline is valid? [True, True] Translation: X:576.69, Y:-166.46, Z:-4.48 [[ 8.17203363e-01 5.76330861e-01 4.62620601e-03 5.76688527e+02] [-5.76321539e-01 8.17216458e-01 -3.27791294e-03 -1.66455348e+02] [-5.66977408e-03 1.25393080e-05 9.99983927e-01 -4.48386844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.726559995 meters 0.05434774031750552 Centerline is valid? [True, True] Translation: X:576.74, Y:-166.49, Z:-4.49 [[ 8.17426918e-01 5.76016115e-01 4.32085240e-03 5.76739897e+02] [-5.76007979e-01 8.17438337e-01 -3.06156948e-03 -1.66489909e+02] [-5.29554376e-03 1.37638487e-05 9.99985978e-01 -4.48500329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.786559995 meters 0.05388630244095484 Centerline is valid? [True, True] Translation: X:576.79, Y:-166.52, Z:-4.49 [[ 8.17850770e-01 5.75417528e-01 3.84543066e-03 5.76792537e+02] [-5.75411074e-01 8.17859810e-01 -2.72532647e-03 -1.66524487e+02] [-4.71322380e-03 1.62069663e-05 9.99988893e-01 -4.48517945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.846559995 meters 0.054014082168704985 Centerline is valid? [True, True] Translation: X:576.84, Y:-166.56, Z:-4.49 [[ 8.18323166e-01 5.74750105e-01 3.08414628e-03 5.76843201e+02] [-5.74745946e-01 8.18328978e-01 -2.18644391e-03 -1.66560403e+02] [-3.78050514e-03 1.66171332e-05 9.99992854e-01 -4.48667909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.906559995 meters 0.05383888169377829 Centerline is valid? [True, True] Translation: X:576.89, Y:-166.60, Z:-4.49 [[ 8.19319805e-01 5.73332628e-01 2.18062528e-03 5.76892098e+02] [-5.73330544e-01 8.19322707e-01 -1.54594838e-03 -1.66597206e+02] [-2.67297845e-03 1.64070466e-05 9.99996427e-01 -4.48784956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9665599949999 meters 0.054362206005526784 Centerline is valid? [True, True] Translation: X:576.94, Y:-166.63, Z:-4.49 [[ 8.19999697e-01 5.72360925e-01 1.86246549e-03 5.76942068e+02] [-5.72359403e-01 8.20001812e-01 -1.32016177e-03 -1.66634026e+02] [-2.28283408e-03 1.65326133e-05 9.99997394e-01 -4.48850816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.026559995 meters 0.05415253413358943 Centerline is valid? [True, True] Translation: X:576.99, Y:-166.67, Z:-4.49 [[ 8.19813856e-01 5.72627622e-01 1.68781536e-03 5.76994061e+02] [-5.72626372e-01 8.19815593e-01 -1.19645135e-03 -1.66670255e+02] [-2.06881844e-03 1.43798123e-05 9.99997860e-01 -4.48818012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0865599949999 meters 0.05376652246536336 Centerline is valid? [True, True] Translation: X:577.04, Y:-166.71, Z:-4.49 [[ 8.18810449e-01 5.74061213e-01 1.78102392e-03 5.77044951e+02] [-5.74059823e-01 8.18812386e-01 -1.26306553e-03 -1.66706211e+02] [-2.18340138e-03 1.17969751e-05 9.99997616e-01 -4.48794720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.146559995 meters 0.05387906764475795 Centerline is valid? [True, True] Translation: X:577.10, Y:-166.74, Z:-4.49 [[ 8.16305015e-01 5.77613835e-01 2.89482618e-03 5.77096580e+02] [-5.77610181e-01 8.16310148e-01 -2.05441353e-03 -1.66741216e+02] [-3.54973367e-03 4.94699652e-06 9.99993700e-01 -4.48708881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2065599949999 meters 0.05345561795187101 Centerline is valid? [True, True] Translation: X:577.15, Y:-166.78, Z:-4.49 [[ 8.12025177e-01 5.83612734e-01 3.35970189e-03 5.77147238e+02] [-5.83607864e-01 8.12032127e-01 -2.38433436e-03 -1.66775361e+02] [-4.11971377e-03 -2.46089181e-05 9.99991514e-01 -4.48543812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.266559995 meters 0.053932155593035595 Centerline is valid? [True, True] Translation: X:577.20, Y:-166.81, Z:-4.49 [[ 8.06224925e-01 5.91606408e-01 1.79708075e-03 5.77199353e+02] [-5.91605033e-01 8.06226927e-01 -1.27576791e-03 -1.66806652e+02] [-2.20360736e-03 -3.46061291e-05 9.99997571e-01 -4.48823242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3265599949999 meters 0.05372575480597481 Centerline is valid? [True, True] Translation: X:577.25, Y:-166.84, Z:-4.49 [[ 8.02170962e-01 5.97093421e-01 1.09268725e-03 5.77250256e+02] [-5.97092918e-01 8.02171706e-01 -7.75724960e-04 -1.66840085e+02] [-1.33970307e-03 -3.01717814e-05 9.99999102e-01 -4.48933246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.386559995 meters 0.05311429704159322 Centerline is valid? [True, True] Translation: X:577.30, Y:-166.88, Z:-4.49 [[ 7.96730602e-01 6.04334532e-01 -3.48631419e-04 5.77298378e+02] [-6.04334481e-01 7.96730678e-01 2.47668640e-04 -1.66878100e+02] [ 4.27440058e-04 1.33648028e-05 9.99999909e-01 -4.48872415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4465599949999 meters 0.05310085922443141 Centerline is valid? [True, True] Translation: X:577.35, Y:-166.92, Z:-4.49 [[ 7.96359703e-01 6.04823158e-01 -4.12582756e-04 5.77346320e+02] [-6.04823087e-01 7.96359810e-01 2.94043135e-04 -1.66917497e+02] [ 5.06408422e-04 1.53754717e-05 9.99999872e-01 -4.48809991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.506559995 meters 0.05346979951378193 Centerline is valid? [True, True] Translation: X:577.40, Y:-166.95, Z:-4.49 [[ 7.97275337e-01 6.03615799e-01 -5.99423901e-05 5.77397527e+02] [-6.03615797e-01 7.97275340e-01 4.30112502e-05 -1.66949211e+02] [ 7.37528594e-05 1.89036458e-06 9.99999997e-01 -4.48958025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5665599949999 meters 0.0534225436869619 Centerline is valid? [True, True] Translation: X:577.44, Y:-166.99, Z:-4.49 [[ 8.00223981e-01 5.99700843e-01 6.92026080e-04 5.77442477e+02] [-5.99700642e-01 8.00224280e-01 -4.91436592e-04 -1.66991918e+02] [-8.48491011e-04 -2.17491385e-05 9.99999640e-01 -4.48878589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.626559995 meters 0.053528020262582854 Centerline is valid? [True, True] Translation: X:577.49, Y:-167.03, Z:-4.49 [[ 8.02681974e-01 5.96406806e-01 7.55366281e-04 5.77490869e+02] [-5.96406565e-01 8.02682329e-01 -5.36485212e-04 -1.67028124e+02] [-9.26282597e-04 -1.98784002e-05 9.99999571e-01 -4.48970293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6865599949999 meters 0.053143054175849434 Centerline is valid? [True, True] Translation: X:577.54, Y:-167.07, Z:-4.49 [[ 8.05044685e-01 5.93214037e-01 4.02902424e-04 5.77536598e+02] [-5.93213968e-01 8.05044786e-01 -2.86036942e-04 -1.67070456e+02] [-4.94035625e-04 -8.73482538e-06 9.99999878e-01 -4.48968821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.746559995 meters 0.05282733447780016 Centerline is valid? [True, True] Translation: X:577.58, Y:-167.11, Z:-4.49 [[ 8.08735797e-01 5.88172014e-01 3.02381095e-04 5.77580938e+02] [-5.88171975e-01 8.08735854e-01 -2.14572463e-04 -1.67113909e+02] [-3.70751951e-04 -4.31965410e-06 9.99999931e-01 -4.49031307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8065599949999 meters 0.05318702668319609 Centerline is valid? [True, True] Translation: X:577.63, Y:-167.16, Z:-4.49 [[ 8.13464891e-01 5.81613050e-01 -1.06369852e-03 5.77625324e+02] [-5.81612559e-01 8.13465586e-01 7.55983903e-04 -1.67158321e+02] [ 1.30497224e-03 3.69405402e-06 9.99999149e-01 -4.49076345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.866559995 meters 0.053710083324502916 Centerline is valid? [True, True] Translation: X:577.67, Y:-167.20, Z:-4.49 [[ 8.19644737e-01 5.72870572e-01 -1.34655579e-03 5.77666952e+02] [-5.72869772e-01 8.19645843e-01 9.57220336e-04 -1.67204497e+02] [ 1.65206221e-03 -1.31795040e-05 9.99998635e-01 -4.49388611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9265599949999 meters 0.05329689287108048 Centerline is valid? [True, True] Translation: X:577.71, Y:-167.25, Z:-4.49 [[ 8.26745645e-01 5.62575524e-01 -6.46409066e-04 5.77711362e+02] [-5.62575337e-01 8.26745898e-01 4.59480262e-04 -1.67247617e+02] [ 7.92908392e-04 -1.62195082e-05 9.99999686e-01 -4.49142802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.986559995 meters 0.054045428889466465 Centerline is valid? [True, True] Translation: X:577.76, Y:-167.29, Z:-4.49 [[ 8.30858475e-01 5.56483703e-01 -2.87791744e-04 5.77755562e+02] [-5.56483665e-01 8.30858525e-01 2.04779960e-04 -1.67288622e+02] [ 3.53070934e-04 -9.99176064e-06 9.99999938e-01 -4.49188061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0465599949999 meters 0.053909794073679324 Centerline is valid? [True, True] Translation: X:577.81, Y:-167.32, Z:-4.49 [[ 8.35289455e-01 5.49810436e-01 1.05354221e-04 5.77805616e+02] [-5.49810431e-01 8.35289461e-01 -7.45940201e-05 -1.67324800e+02] [-1.29013842e-04 4.38274862e-06 9.99999992e-01 -4.48999749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.106559995 meters 0.053996131599554735 Centerline is valid? [True, True] Translation: X:577.86, Y:-167.36, Z:-4.49 [[ 8.36482863e-01 5.47992461e-01 8.26131615e-04 5.77857446e+02] [-5.47992148e-01 8.36483270e-01 -5.86787802e-04 -1.67357619e+02] [-1.01260057e-03 3.81243026e-05 9.99999487e-01 -4.48907758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.166559995 meters 0.05368513069501037 Centerline is valid? [True, True] Translation: X:577.91, Y:-167.39, Z:-4.49 [[ 8.35657384e-01 5.49250637e-01 6.88332941e-04 5.77907302e+02] [-5.49250421e-01 8.35657667e-01 -4.88924200e-04 -1.67394271e+02] [-8.43752628e-04 3.05059605e-05 9.99999644e-01 -4.49018624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.226559995 meters 0.05389998724786376 Centerline is valid? [True, True] Translation: X:577.96, Y:-167.43, Z:-4.49 [[ 8.33467959e-01 5.52567294e-01 7.39291592e-04 5.77959424e+02] [-5.52567046e-01 8.33468286e-01 -5.24619576e-04 -1.67427199e+02] [-9.06063716e-04 2.87454366e-05 9.99999589e-01 -4.49014305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.286559995 meters 0.05346569009700301 Centerline is valid? [True, True] Translation: X:578.01, Y:-167.46, Z:-4.49 [[ 8.30350726e-01 5.57240312e-01 9.52676187e-04 5.78010942e+02] [-5.57239902e-01 8.30351271e-01 -6.76792645e-04 -1.67458792e+02] [-1.16819203e-03 3.11060791e-05 9.99999317e-01 -4.48974842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.346559995 meters 0.053296290408093555 Centerline is valid? [True, True] Translation: X:578.06, Y:-167.49, Z:-4.49 [[ 8.26480916e-01 5.62964677e-01 2.60940727e-04 5.78062865e+02] [-5.62964646e-01 8.26480957e-01 -1.84703336e-04 -1.67491331e+02] [-3.19643996e-04 5.75337808e-06 9.99999949e-01 -4.49024501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.406559995 meters 0.053689732009875764 Centerline is valid? [True, True] Translation: X:578.11, Y:-167.52, Z:-4.49 [[ 8.19972663e-01 5.72402676e-01 -9.18784081e-05 5.78113543e+02] [-5.72402673e-01 8.19972668e-01 6.58786849e-05 -1.67523672e+02] [ 1.13046919e-04 -1.42727430e-06 9.99999994e-01 -4.49289944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4665599949999 meters 0.052539926892800376 Centerline is valid? [True, True] Translation: X:578.17, Y:-167.56, Z:-4.50 [[ 8.14580917e-01 5.80049843e-01 -3.30662784e-04 5.78165464e+02] [-5.80049795e-01 8.14580984e-01 2.36216850e-04 -1.67555846e+02] [ 4.06369162e-04 -6.16857999e-07 9.99999917e-01 -4.49667215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.526559995 meters 0.05284024385603114 Centerline is valid? [True, True] Translation: X:578.22, Y:-167.59, Z:-4.50 [[ 8.11518690e-01 5.84326455e-01 9.99425630e-05 5.78217953e+02] [-5.84326451e-01 8.11518696e-01 -7.00854990e-05 -1.67589256e+02] [-1.22058070e-04 -1.52339077e-06 9.99999993e-01 -4.49503000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5865599949999 meters 0.05195052831626254 Centerline is valid? [True, True] Translation: X:578.27, Y:-167.62, Z:-4.50 [[ 8.05373644e-01 5.92766100e-01 1.28226177e-03 5.78271538e+02] [-5.92765399e-01 8.05374664e-01 -9.12378778e-04 -1.67617233e+02] [-1.57352835e-03 -2.52745892e-05 9.99998762e-01 -4.49500444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.646559995 meters 0.05213214361480294 Centerline is valid? [True, True] Translation: X:578.32, Y:-167.65, Z:-4.49 [[ 8.02400700e-01 5.96784649e-01 1.09534606e-03 5.78320684e+02] [-5.96784141e-01 8.02401447e-01 -7.78748875e-04 -1.67654031e+02] [-1.34365264e-03 -2.88165138e-05 9.99999097e-01 -4.49369062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7065599949999 meters 0.0527989707813471 Centerline is valid? [True, True] Translation: X:578.37, Y:-167.68, Z:-4.50 [[ 7.99152935e-01 6.01127666e-01 -3.39631931e-04 5.78374137e+02] [-6.01127617e-01 7.99153008e-01 2.41786786e-04 -1.67683617e+02] [ 4.16762605e-04 1.09375136e-05 9.99999913e-01 -4.49640523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.766559995 meters 0.052150078781654 Centerline is valid? [True, True] Translation: X:578.42, Y:-167.72, Z:-4.50 [[ 7.98109612e-01 6.02509690e-01 -1.76647012e-03 5.78420712e+02] [-6.02508381e-01 7.98111565e-01 1.25743612e-03 -1.67724018e+02] [ 2.16745768e-03 6.07411926e-05 9.99997649e-01 -4.49586429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8265599949999 meters 0.05166442019979032 Centerline is valid? [True, True] Translation: X:578.47, Y:-167.76, Z:-4.50 [[ 7.97643228e-01 6.03125364e-01 -2.25299844e-03 5.78468551e+02] [-6.03123234e-01 7.97646406e-01 1.60482343e-03 -1.67763064e+02] [ 2.76500582e-03 7.87591611e-05 9.99996174e-01 -4.49576445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.886559995 meters 0.05242661417846079 Centerline is valid? [True, True] Translation: X:578.52, Y:-167.80, Z:-4.50 [[ 7.99134098e-01 6.01143478e-01 -3.34841949e-03 5.78515247e+02] [-6.01138760e-01 7.99141106e-01 2.38403927e-03 -1.67802867e+02] [ 4.10900931e-03 1.07697670e-04 9.99991552e-01 -4.49602055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9465599949999 meters 0.05288466160102866 Centerline is valid? [True, True] Translation: X:578.56, Y:-167.84, Z:-4.50 [[ 8.01119122e-01 5.98497787e-01 -2.92429034e-03 5.78563134e+02] [-5.98494169e-01 8.01124455e-01 2.08252644e-03 -1.67840990e+02] [ 3.58910797e-03 8.18189650e-05 9.99993556e-01 -4.49613892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.006559995 meters 0.05277248695919664 Centerline is valid? [True, True] Translation: X:578.61, Y:-167.88, Z:-4.50 [[ 8.04912436e-01 5.93391568e-01 -1.55486723e-03 5.78612111e+02] [-5.93390534e-01 8.04913937e-01 1.10814319e-03 -1.67877136e+02] [ 1.90909713e-03 3.06852586e-05 9.99998177e-01 -4.49845831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0665599949999 meters 0.05220820836989942 Centerline is valid? [True, True] Translation: X:578.66, Y:-167.92, Z:-4.50 [[ 8.07462746e-01 5.89918411e-01 -4.26295567e-04 5.78658477e+02] [-5.89918333e-01 8.07462859e-01 3.03744938e-04 -1.67917628e+02] [ 5.23402569e-04 6.21684847e-06 9.99999863e-01 -4.49760517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.126559995 meters 0.052180139654289824 Centerline is valid? [True, True] Translation: X:578.70, Y:-167.96, Z:-4.49 [[ 8.10426034e-01 5.85840971e-01 7.25244457e-06 5.78703255e+02] [-5.85840971e-01 8.10426034e-01 -4.87638931e-06 -1.67961262e+02] [-8.73435877e-06 -2.96826313e-07 1.00000000e+00 -4.49487042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1865599949999 meters 0.05193334684492477 Centerline is valid? [True, True] Translation: X:578.75, Y:-168.00, Z:-4.50 [[ 8.12788424e-01 5.82558527e-01 -7.34511010e-04 5.78750219e+02] [-5.82558292e-01 8.12788756e-01 5.24182547e-04 -1.68000718e+02] [ 9.02369303e-04 1.84597279e-06 9.99999593e-01 -4.49707636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.246559995 meters 0.05201721779552188 Centerline is valid? [True, True] Translation: X:578.80, Y:-168.04, Z:-4.50 [[ 8.14669240e-01 5.79918758e-01 -2.87457663e-03 5.78797798e+02] [-5.79915138e-01 8.14674311e-01 2.04923600e-03 -1.68040368e+02] [ 3.53023413e-03 -2.43903518e-06 9.99993769e-01 -4.49816292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3065599949999 meters 0.0528114945101549 Centerline is valid? [True, True] Translation: X:578.85, Y:-168.08, Z:-4.50 [[ 8.15390271e-01 5.78904454e-01 -2.88777682e-03 5.78846939e+02] [-5.78900792e-01 8.15395384e-01 2.05922301e-03 -1.68077347e+02] [ 3.54677326e-03 -7.33411839e-06 9.99993710e-01 -4.49969550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.366559995 meters 0.051986300428540466 Centerline is valid? [True, True] Translation: X:578.90, Y:-168.11, Z:-4.50 [[ 8.16741273e-01 5.77001356e-01 -1.76854722e-03 5.78895098e+02] [-5.76999978e-01 8.16743188e-01 1.26118767e-03 -1.68114554e+02] [ 2.17215589e-03 -9.61231801e-06 9.99997641e-01 -4.49990952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4265599949999 meters 0.05285568362988516 Centerline is valid? [True, True] Translation: X:578.94, Y:-168.15, Z:-4.50 [[ 8.19664641e-01 5.72843622e-01 2.45817932e-04 5.78943326e+02] [-5.72843596e-01 8.19664678e-01 -1.74887700e-04 -1.68153658e+02] [-3.01671580e-04 2.53403612e-06 9.99999954e-01 -4.49789357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.486559995 meters 0.053311549965848894 Centerline is valid? [True, True] Translation: X:579.00, Y:-168.19, Z:-4.50 [[ 8.22226193e-01 5.69158378e-01 1.68189042e-03 5.78995352e+02] [-5.69157117e-01 8.22227912e-01 -1.19831067e-03 -1.68185895e+02] [-2.06492581e-03 2.80225126e-05 9.99997868e-01 -4.49534596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5465599949999 meters 0.052343472931767034 Centerline is valid? [True, True] Translation: X:579.04, Y:-168.22, Z:-4.50 [[ 8.23685481e-01 5.67044422e-01 1.68881062e-03 5.79043827e+02] [-5.67043145e-01 8.23687211e-01 -1.20396598e-03 -1.68224978e+02] [-2.07375390e-03 3.40608101e-05 9.99997849e-01 -4.49735349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.606559995 meters 0.052788770485489335 Centerline is valid? [True, True] Translation: X:579.10, Y:-168.25, Z:-4.50 [[ 8.24762537e-01 5.65474612e-01 2.28509760e-03 5.79098547e+02] [-5.65472268e-01 8.24765701e-01 -1.62883512e-03 -1.68254657e+02] [-2.80573502e-03 5.12428618e-05 9.99996063e-01 -4.49699872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.666559995 meters 0.053383695210146805 Centerline is valid? [True, True] Translation: X:579.15, Y:-168.29, Z:-4.50 [[ 8.24376381e-01 5.66035482e-01 2.72317826e-03 5.79149738e+02] [-5.66032154e-01 8.24380876e-01 -1.94199026e-03 -1.68290529e+02] [-3.34417148e-03 5.95244455e-05 9.99994406e-01 -4.50066339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.726559995 meters 0.0528469834608254 Centerline is valid? [True, True] Translation: X:579.20, Y:-168.32, Z:-4.50 [[ 8.23134332e-01 5.67842869e-01 2.08489568e-03 5.79202188e+02] [-5.67840925e-01 8.23136972e-01 -1.48640274e-03 -1.68324277e+02] [-2.56019791e-03 3.96200314e-05 9.99996722e-01 -4.50234949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.786559995 meters 0.05288689822804627 Centerline is valid? [True, True] Translation: X:579.25, Y:-168.36, Z:-4.50 [[ 8.20848925e-01 5.71140418e-01 2.38024333e-03 5.79253167e+02] [-5.71137894e-01 8.20852375e-01 -1.69809603e-03 -1.68357282e+02] [-2.92367967e-03 3.44331339e-05 9.99995725e-01 -4.50344512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.846559995 meters 0.052588808152811695 Centerline is valid? [True, True] Translation: X:579.31, Y:-168.39, Z:-4.50 [[ 8.18750969e-01 5.74140737e-01 3.04391318e-03 5.79307830e+02] [-5.74136632e-01 8.18756627e-01 -2.17123507e-03 -1.68387089e+02] [-3.73881859e-03 3.00787519e-05 9.99993010e-01 -4.50316011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.906559995 meters 0.05185963856945449 Centerline is valid? [True, True] Translation: X:579.36, Y:-168.42, Z:-4.50 [[ 8.14751842e-01 5.79799545e-01 3.45315243e-03 5.79362415e+02] [-5.79794310e-01 8.14759159e-01 -2.46394387e-03 -1.68416182e+02] [-4.24208110e-03 5.38467592e-06 9.99991002e-01 -4.50424550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9665599949999 meters 0.051890083701555755 Centerline is valid? [True, True] Translation: X:579.42, Y:-168.45, Z:-4.50 [[ 8.10187879e-01 5.86156653e-01 3.99725768e-03 5.79416444e+02] [-5.86149711e-01 8.10197739e-01 -2.85300053e-03 -1.68445585e+02] [-4.91087437e-03 -3.15249843e-05 9.99987941e-01 -4.50432697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.026559995 meters 0.05206519286927041 Centerline is valid? [True, True] Translation: X:579.47, Y:-168.48, Z:-4.51 [[ 8.07401869e-01 5.89990902e-01 3.59971876e-03 5.79469532e+02] [-5.89985308e-01 8.07409892e-01 -2.56974876e-03 -1.68476987e+02] [-4.42257693e-03 -4.89612299e-05 9.99990219e-01 -4.50543607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0865599949999 meters 0.051785479935044065 Centerline is valid? [True, True] Translation: X:579.52, Y:-168.51, Z:-4.51 [[ 8.04961012e-01 5.93318283e-01 3.34435172e-03 5.79521402e+02] [-5.93313480e-01 8.04967957e-01 -2.38818308e-03 -1.68511139e+02] [-4.10904866e-03 -6.18546854e-05 9.99991556e-01 -4.50639051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.146559995 meters 0.05236340121129573 Centerline is valid? [True, True] Translation: X:579.57, Y:-168.55, Z:-4.51 [[ 8.03196804e-01 5.95703828e-01 3.44158312e-03 5.79573671e+02] [-5.95698762e-01 8.03204173e-01 -2.45777987e-03 -1.68545038e+02] [-4.22840280e-03 -7.60658695e-05 9.99991057e-01 -4.50792189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2065599949999 meters 0.053454944684264 Centerline is valid? [True, True] Translation: X:579.63, Y:-168.57, Z:-4.51 [[ 8.02107696e-01 5.97175901e-01 2.04621916e-03 5.79629073e+02] [-5.97174116e-01 8.02110305e-01 -1.46114114e-03 -1.68573132e+02] [-2.51385175e-03 -4.99565631e-05 9.99996839e-01 -4.51045677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.266559995 meters 0.052046446717613826 Centerline is valid? [True, True] Translation: X:579.68, Y:-168.61, Z:-4.51 [[ 8.02511506e-01 5.96627843e-01 3.24013041e-03 5.79676067e+02] [-5.96623361e-01 8.02518044e-01 -2.31399490e-03 -1.68613997e+02] [-3.98085690e-03 -7.61299656e-05 9.99992073e-01 -4.50879663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3265599949999 meters 0.05267549994988995 Centerline is valid? [True, True] Translation: X:579.73, Y:-168.65, Z:-4.51 [[ 8.03657068e-01 5.95082720e-01 3.44589952e-03 5.79728472e+02] [-5.95077633e-01 8.03664452e-01 -2.46159625e-03 -1.68646835e+02] [-4.23420034e-03 -7.22985068e-05 9.99991033e-01 -4.50974418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.386559995 meters 0.05193366101555173 Centerline is valid? [True, True] Translation: X:579.77, Y:-168.69, Z:-4.51 [[ 8.07125039e-01 5.90367805e-01 3.87636746e-03 5.79774484e+02] [-5.90361308e-01 8.07134346e-01 -2.77021860e-03 -1.68686986e+02] [-4.76419719e-03 -5.25445617e-05 9.99988650e-01 -4.51011241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4465599949999 meters 0.052417274564853254 Centerline is valid? [True, True] Translation: X:579.82, Y:-168.73, Z:-4.51 [[ 8.10632639e-01 5.85539456e-01 4.27440475e-03 5.79822184e+02] [-5.85531488e-01 8.10643908e-01 -3.05470941e-03 -1.68725158e+02] [-5.25367305e-03 -2.65514222e-05 9.99986199e-01 -4.51094148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.506559995 meters 0.052818650333471336 Centerline is valid? [True, True] Translation: X:579.87, Y:-168.77, Z:-4.51 [[ 8.16743381e-01 5.76981476e-01 4.75660726e-03 5.79869573e+02] [-5.76971463e-01 8.16757231e-01 -3.39936726e-03 -1.68766882e+02] [-5.84636532e-03 3.19840552e-05 9.99982909e-01 -4.51189720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5665599949999 meters 0.05336153393051791 Centerline is valid? [True, True] Translation: X:579.92, Y:-168.81, Z:-4.51 [[ 8.22609459e-01 5.68592503e-01 4.03030396e-03 5.79915605e+02] [-5.68585212e-01 8.22619328e-01 -2.88049921e-03 -1.68806968e+02] [-4.95323620e-03 7.79546670e-05 9.99987730e-01 -4.51323700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.626559995 meters 0.053567427858282606 Centerline is valid? [True, True] Translation: X:579.96, Y:-168.84, Z:-4.51 [[ 8.27306867e-01 5.61738009e-01 3.70908626e-03 5.79963242e+02] [-5.61731762e-01 8.27315174e-01 -2.65140867e-03 -1.68843850e+02] [-4.55798037e-03 1.10017040e-04 9.99989606e-01 -4.51409206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6865599949999 meters 0.0538413466616925 Centerline is valid? [True, True] Translation: X:580.01, Y:-168.88, Z:-4.52 [[ 8.30768110e-01 5.56599007e-01 4.67893469e-03 5.80011032e+02] [-5.56588982e-01 8.30781267e-01 -3.34530282e-03 -1.68882009e+02] [-5.74916352e-03 1.74927404e-04 9.99983458e-01 -4.51569169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.746559995 meters 0.05411964964055922 Centerline is valid? [True, True] Translation: X:580.06, Y:-168.92, Z:-4.52 [[ 8.32106147e-01 5.54591796e-01 5.22495526e-03 5.80060051e+02] [-5.54579253e-01 8.32122524e-01 -3.73586203e-03 -1.68919516e+02] [-6.41968140e-03 2.10981972e-04 9.99979371e-01 -4.51626924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8065599949999 meters 0.054818046341904805 Centerline is valid? [True, True] Translation: X:580.11, Y:-168.96, Z:-4.52 [[ 8.31976233e-01 5.54780957e-01 5.79981337e-03 5.80106770e+02] [-5.54765505e-01 8.31996416e-01 -4.14720058e-03 -1.68958796e+02] [-7.12621184e-03 2.32835928e-04 9.99974581e-01 -4.51667353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.866559995 meters 0.05392995556850778 Centerline is valid? [True, True] Translation: X:580.16, Y:-168.99, Z:-4.52 [[ 8.30015286e-01 5.57705869e-01 6.22809384e-03 5.80160280e+02] [-5.57688124e-01 8.30038622e-01 -4.45453517e-03 -1.68989651e+02] [-7.65387884e-03 2.23998314e-04 9.99970684e-01 -4.51757138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9265599949999 meters 0.05305527676024204 Centerline is valid? [True, True] Translation: X:580.21, Y:-169.02, Z:-4.52 [[ 8.25968201e-01 5.63679836e-01 6.44775490e-03 5.80214021e+02] [-5.63660997e-01 8.25993348e-01 -4.61181146e-03 -1.69020680e+02] [-7.92538779e-03 1.74861659e-04 9.99968578e-01 -4.51850935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.986559995 meters 0.05227456276516973 Centerline is valid? [True, True] Translation: X:580.27, Y:-169.05, Z:-4.52 [[ 8.20722141e-01 5.71284260e-01 7.03288973e-03 5.80267189e+02] [-5.71262120e-01 8.20752266e-01 -5.03067416e-03 -1.69050973e+02] [-8.64620515e-03 1.11162167e-04 9.99962615e-01 -4.51948639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0465599949999 meters 0.052512788761566426 Centerline is valid? [True, True] Translation: X:580.32, Y:-169.08, Z:-4.52 [[ 8.17192579e-01 5.76323604e-01 6.88429144e-03 5.80319825e+02] [-5.76302565e-01 8.17221574e-01 -4.92469843e-03 -1.69080985e+02] [-8.46421144e-03 5.69921926e-05 9.99964176e-01 -4.52099505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.106559995 meters 0.05210469640084955 Centerline is valid? [True, True] Translation: X:580.37, Y:-169.11, Z:-4.52 [[ 8.12883258e-01 5.82391441e-01 6.40456265e-03 5.80373125e+02] [-5.82373416e-01 8.12908488e-01 -4.58201213e-03 -1.69112170e+02] [-7.87484798e-03 -5.20608185e-06 9.99968993e-01 -4.52129451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.166559995 meters 0.05180691320791992 Centerline is valid? [True, True] Translation: X:580.43, Y:-169.14, Z:-4.52 [[ 8.08913317e-01 5.87883302e-01 7.24347651e-03 5.80425785e+02] [-5.87860455e-01 8.08945745e-01 -5.18332804e-03 -1.69144744e+02] [-8.90677151e-03 -6.52903223e-05 9.99960332e-01 -4.52259617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.226559995 meters 0.0522671459934984 Centerline is valid? [True, True] Translation: X:580.48, Y:-169.17, Z:-4.52 [[ 8.04464397e-01 5.93974078e-01 5.64164681e-03 5.80478373e+02] [-5.93960365e-01 8.04484173e-01 -4.03737461e-03 -1.69174563e+02] [-6.93671143e-03 -1.02990471e-04 9.99975935e-01 -4.52382868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.286559995 meters 0.05317357612129181 Centerline is valid? [True, True] Translation: X:580.53, Y:-169.20, Z:-4.53 [[ 8.01816740e-01 5.97551030e-01 4.76255136e-03 5.80532387e+02] [-5.97541321e-01 8.01830876e-01 -3.40824226e-03 -1.69202436e+02] [-5.85535940e-03 -1.13035530e-04 9.99982851e-01 -4.52524354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.346559995 meters 0.052334259770453063 Centerline is valid? [True, True] Translation: X:580.58, Y:-169.24, Z:-4.53 [[ 7.99716819e-01 6.00358343e-01 4.78216076e-03 5.80581741e+02] [-6.00348602e-01 7.99731106e-01 -3.42261871e-03 -1.69237774e+02] [-5.87924041e-03 -1.33837779e-04 9.99982708e-01 -4.52597698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.406559995 meters 0.05166868013760962 Centerline is valid? [True, True] Translation: X:580.63, Y:-169.28, Z:-4.53 [[ 7.97925503e-01 6.02746404e-01 3.41523538e-03 5.80625870e+02] [-6.02741458e-01 7.97932804e-01 -2.44420630e-03 -1.69281420e+02] [-4.19836490e-03 -1.08209414e-04 9.99991181e-01 -4.52651281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4665599949999 meters 0.05241415142002744 Centerline is valid? [True, True] Translation: X:580.68, Y:-169.32, Z:-4.53 [[ 7.97669792e-01 6.03087229e-01 2.94910009e-03 5.80675761e+02] [-6.03083544e-01 7.97675238e-01 -2.11060942e-03 -1.69317132e+02] [-3.62530570e-03 -9.49843536e-05 9.99993424e-01 -4.52744095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.526559995 meters 0.05131937286940162 Centerline is valid? [True, True] Translation: X:580.72, Y:-169.36, Z:-4.53 [[ 7.97972953e-01 6.02680319e-01 3.94952676e-03 5.80724228e+02] [-6.02673702e-01 7.97982717e-01 -2.82700140e-03 -1.69355886e+02] [-4.85543220e-03 -1.24405253e-04 9.99988205e-01 -4.52664942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5865599949999 meters 0.05220043071545032 Centerline is valid? [True, True] Translation: X:580.77, Y:-169.39, Z:-4.53 [[ 8.00101113e-01 5.99850790e-01 4.15201916e-03 5.80774944e+02] [-5.99843433e-01 8.00111878e-01 -2.97288014e-03 -1.69389609e+02] [-5.10536435e-03 -1.11956725e-04 9.99986961e-01 -4.52786514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.646559995 meters 0.05110358607849736 Centerline is valid? [True, True] Translation: X:580.82, Y:-169.44, Z:-4.53 [[ 8.04936501e-01 5.93336004e-01 5.44204339e-03 5.80815861e+02] [-5.93323213e-01 8.04954892e-01 -3.89709659e-03 -1.69437226e+02] [-6.69288717e-03 -9.19753727e-05 9.99977598e-01 -4.52754264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7065599949999 meters 0.051718239586606596 Centerline is valid? [True, True] Translation: X:580.86, Y:-169.48, Z:-4.53 [[ 8.11408178e-01 5.84457782e-01 5.08615985e-03 5.80861732e+02] [-5.84446432e-01 8.11424119e-01 -3.64241355e-03 -1.69478872e+02] [-6.25586972e-03 -1.71038315e-05 9.99980432e-01 -4.52800541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.766559995 meters 0.05167563629936851 Centerline is valid? [True, True] Translation: X:580.91, Y:-169.52, Z:-4.53 [[ 8.15733076e-01 5.78420936e-01 2.96143823e-03 5.80906923e+02] [-5.78417048e-01 8.15738451e-01 -2.12073428e-03 -1.69520539e+02] [-3.64243614e-03 1.70067309e-05 9.99993366e-01 -4.53076322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8265599949999 meters 0.05234366550601095 Centerline is valid? [True, True] Translation: X:580.95, Y:-169.56, Z:-4.53 [[ 8.20494737e-01 5.71647812e-01 2.67694026e-03 5.80952495e+02] [-5.71644598e-01 8.20499102e-01 -1.91738292e-03 -1.69562920e+02] [-3.29249483e-03 4.29441520e-05 9.99994579e-01 -4.53139574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.886559995 meters 0.0530677563807403 Centerline is valid? [True, True] Translation: X:581.00, Y:-169.60, Z:-4.53 [[ 8.23575786e-01 5.67204599e-01 1.36674409e-03 5.81002175e+02] [-5.67203755e-01 8.23576919e-01 -9.78995440e-04 -1.69598046e+02] [-1.68090960e-03 3.10545581e-05 9.99998587e-01 -4.53127192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9465599949999 meters 0.052994219370826774 Centerline is valid? [True, True] Translation: X:581.05, Y:-169.64, Z:-4.53 [[ 8.25240946e-01 5.64776109e-01 2.30807351e-03 5.81048482e+02] [-5.64773693e-01 8.25244171e-01 -1.65319486e-03 -1.69640325e+02] [-2.83840918e-03 6.07448885e-05 9.99995970e-01 -4.53145637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.006559995 meters 0.05233098621048454 Centerline is valid? [True, True] Translation: X:581.10, Y:-169.68, Z:-4.53 [[ 8.25141988e-01 5.64919139e-01 2.65809296e-03 5.81097656e+02] [-5.64915935e-01 8.25146267e-01 -1.90370286e-03 -1.69677865e+02] [-3.26875366e-03 6.92260941e-05 9.99994655e-01 -4.53135028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0665599949999 meters 0.05285517072384346 Centerline is valid? [True, True] Translation: X:581.14, Y:-169.72, Z:-4.53 [[ 8.24278475e-01 5.66175342e-01 3.23702797e-03 5.81144891e+02] [-5.66170597e-01 8.24284827e-01 -2.31924563e-03 -1.69716249e+02] [-3.98133273e-03 7.89941881e-05 9.99992071e-01 -4.53138058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.126559995 meters 0.052066233235820936 Centerline is valid? [True, True] Translation: X:581.20, Y:-169.75, Z:-4.53 [[ 8.21233127e-01 5.70583585e-01 3.24400983e-03 5.81195915e+02] [-5.70578851e-01 8.21239532e-01 -2.32509211e-03 -1.69749753e+02] [-3.99076851e-03 5.84792601e-05 9.99992035e-01 -4.53171918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1865599949999 meters 0.0513478616104513 Centerline is valid? [True, True] Translation: X:581.25, Y:-169.79, Z:-4.53 [[ 8.18151463e-01 5.74994411e-01 3.10025950e-03 5.81245328e+02] [-5.74990117e-01 8.18157336e-01 -2.22243209e-03 -1.69785129e+02] [-3.81438608e-03 3.56674942e-05 9.99992725e-01 -4.53279897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.246559995 meters 0.051794269717547796 Centerline is valid? [True, True] Translation: X:581.30, Y:-169.82, Z:-4.53 [[ 8.12378220e-01 5.83123017e-01 3.02885649e-03 5.81299127e+02] [-5.83118975e-01 8.12383867e-01 -2.17128123e-03 -1.69815885e+02] [-3.72671821e-03 -2.28210796e-06 9.99993056e-01 -4.53208977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3065599949999 meters 0.05130333247276344 Centerline is valid? [True, True] Translation: X:581.35, Y:-169.85, Z:-4.53 [[ 8.06561913e-01 5.91145409e-01 2.23285165e-03 5.81351816e+02] [-5.91143243e-01 8.06565003e-01 -1.60048351e-03 -1.69846476e+02] [-2.74705848e-03 -2.90461284e-05 9.99996226e-01 -4.53418673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.366559995 meters 0.051112386818237425 Centerline is valid? [True, True] Translation: X:581.40, Y:-169.88, Z:-4.53 [[ 8.02959639e-01 5.96029208e-01 2.23649118e-03 5.81403342e+02] [-5.96027053e-01 8.02962752e-01 -1.60338073e-03 -1.69877951e+02] [-2.75148086e-03 -4.55592335e-05 9.99996214e-01 -4.53449417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4265599949999 meters 0.05132711085620025 Centerline is valid? [True, True] Translation: X:581.46, Y:-169.91, Z:-4.53 [[ 7.97720642e-01 6.03020373e-01 2.86480334e-03 5.81455854e+02] [-6.03016880e-01 7.97725781e-01 -2.05426805e-03 -1.69910410e+02] [-3.52409297e-03 -8.87927493e-05 9.99993786e-01 -4.53372107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.486559995 meters 0.05075675833341947 Centerline is valid? [True, True] Translation: X:581.50, Y:-169.95, Z:-4.53 [[ 7.96642540e-01 6.04443120e-01 3.02958113e-03 5.81504701e+02] [-6.04439224e-01 7.96648294e-01 -2.17244770e-03 -1.69949162e+02] [-3.72663171e-03 -1.00533414e-04 9.99993051e-01 -4.53332212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5465599949999 meters 0.051188205740880344 Centerline is valid? [True, True] Translation: X:581.56, Y:-169.98, Z:-4.53 [[ 7.95551278e-01 6.05876364e-01 3.46335564e-03 5.81556725e+02] [-6.05871287e-01 7.95558808e-01 -2.48344014e-03 -1.69981945e+02] [-4.25996077e-03 -1.22643756e-04 9.99990919e-01 -4.53416937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.606559995 meters 0.05040218025036886 Centerline is valid? [True, True] Translation: X:581.60, Y:-170.02, Z:-4.53 [[ 7.94617650e-01 6.07104978e-01 2.51723250e-03 5.81604872e+02] [-6.07102301e-01 7.94621631e-01 -1.80551023e-03 -1.70021561e+02] [-3.09638165e-03 -9.35273465e-05 9.99995202e-01 -4.53493130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.666559995 meters 0.050199563845273215 Centerline is valid? [True, True] Translation: X:581.65, Y:-170.06, Z:-4.54 [[ 7.93356737e-01 6.08756898e-01 -3.57412106e-04 5.81654250e+02] [-6.08756844e-01 7.93356817e-01 2.57380994e-04 -1.70057855e+02] [ 4.40237786e-04 1.33821201e-05 9.99999903e-01 -4.53720952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.726559995 meters 0.05198213510208281 Centerline is valid? [True, True] Translation: X:581.71, Y:-170.09, Z:-4.54 [[ 7.94231864e-01 6.07612950e-01 -1.49984713e-03 5.81708641e+02] [-6.07611997e-01 7.94233278e-01 1.07735773e-03 -1.70087036e+02] [ 1.84584501e-03 5.56532674e-05 9.99998295e-01 -4.54070609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.786559995 meters 0.05086833203970487 Centerline is valid? [True, True] Translation: X:581.75, Y:-170.13, Z:-4.54 [[ 7.98099291e-01 6.02525881e-01 2.91057395e-04 5.81754056e+02] [-6.02525845e-01 7.98099344e-01 -2.08216156e-04 -1.70128743e+02] [-3.57748339e-04 -9.19243610e-06 9.99999936e-01 -4.53835937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.846559995 meters 0.05110587858956966 Centerline is valid? [True, True] Translation: X:581.80, Y:-170.16, Z:-4.54 [[ 8.02083663e-01 5.97209362e-01 1.66618193e-03 5.81803016e+02] [-5.97208166e-01 8.02085393e-01 -1.19585029e-03 -1.70164547e+02] [-2.05059318e-03 -3.58854794e-05 9.99997897e-01 -4.53893650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.906559995 meters 0.051005657332619414 Centerline is valid? [True, True] Translation: X:581.85, Y:-170.21, Z:-4.54 [[ 8.09464718e-01 5.87163163e-01 2.50830018e-03 5.81846176e+02] [-5.87160402e-01 8.09468604e-01 -1.80044972e-03 -1.70208747e+02] [-3.08754799e-03 -1.53740208e-05 9.99995233e-01 -4.53763252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9665599949999 meters 0.051563556641014835 Centerline is valid? [True, True] Translation: X:581.89, Y:-170.25, Z:-4.54 [[ 8.14284687e-01 5.80462939e-01 1.79603244e-03 5.81892402e+02] [-5.80461508e-01 8.14286667e-01 -1.28905061e-03 -1.70250634e+02] [-2.21073137e-03 7.12647231e-06 9.99997556e-01 -4.53691093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.026559995 meters 0.05202653385224001 Centerline is valid? [True, True] Translation: X:581.94, Y:-170.29, Z:-4.54 [[ 8.19006413e-01 5.73783644e-01 9.08273818e-04 5.81941701e+02] [-5.73783274e-01 8.19006917e-01 -6.51297278e-04 -1.70286582e+02] [-1.11758626e-03 1.22643223e-05 9.99999375e-01 -4.53530557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0865599949999 meters 0.05195998069460946 Centerline is valid? [True, True] Translation: X:581.99, Y:-170.32, Z:-4.54 [[ 8.19782896e-01 5.72673783e-01 8.61279148e-04 5.81989617e+02] [-5.72673450e-01 8.19783348e-01 -6.18042270e-04 -1.70324457e+02] [-1.05999891e-03 1.34287815e-05 9.99999438e-01 -4.53784307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.146559995 meters 0.051722737969617044 Centerline is valid? [True, True] Translation: X:582.04, Y:-170.36, Z:-4.54 [[ 8.19115489e-01 5.73628169e-01 7.34630741e-04 5.82039794e+02] [-5.73627926e-01 8.19115819e-01 -5.27095283e-04 -1.70361361e+02] [-9.04104363e-04 1.03472024e-05 9.99999591e-01 -4.53906429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2065599949999 meters 0.05198355380562925 Centerline is valid? [True, True] Translation: X:582.09, Y:-170.39, Z:-4.54 [[ 8.16801898e-01 5.76917586e-01 8.70841238e-04 5.82093106e+02] [-5.76917248e-01 8.16802362e-01 -6.24585937e-04 -1.70394143e+02] [-1.07163979e-03 7.75964836e-06 9.99999426e-01 -4.53926207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.266559995 meters 0.052375948502292005 Centerline is valid? [True, True] Translation: X:582.15, Y:-170.43, Z:-4.54 [[ 8.14006471e-01 5.80855144e-01 8.75245685e-04 5.82146084e+02] [-5.80854804e-01 8.14006942e-01 -6.28296166e-04 -1.70425597e+02] [-1.07740512e-03 3.04648348e-06 9.99999420e-01 -4.54016444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3265599949999 meters 0.051455988913467574 Centerline is valid? [True, True] Translation: X:582.20, Y:-170.46, Z:-4.54 [[ 8.12245080e-01 5.83315353e-01 1.06279414e-03 5.82198060e+02] [-5.83314854e-01 8.12245775e-01 -7.63172679e-04 -1.70458520e+02] [-1.30842039e-03 -6.03545144e-08 9.99999144e-01 -4.54251661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.386559995 meters 0.05199030388752516 Centerline is valid? [True, True] Translation: X:582.25, Y:-170.49, Z:-4.54 [[ 8.09974334e-01 5.86463238e-01 1.56489606e-03 5.82251424e+02] [-5.86462161e-01 8.09975846e-01 -1.12373070e-03 -1.70491489e+02] [-1.92655476e-03 -7.55930052e-06 9.99998144e-01 -4.54072853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4465599949999 meters 0.0513171280495974 Centerline is valid? [True, True] Translation: X:582.30, Y:-170.53, Z:-4.54 [[ 8.08639229e-01 5.88302897e-01 1.51611061e-03 5.82303702e+02] [-5.88301889e-01 8.08640650e-01 -1.08907060e-03 -1.70525341e+02] [-1.86669206e-03 -1.12655232e-05 9.99998258e-01 -4.54149218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.506559995 meters 0.05165389554932846 Centerline is valid? [True, True] Translation: X:582.35, Y:-170.56, Z:-4.54 [[ 8.09274945e-01 5.87429098e-01 1.05754070e-03 5.82354934e+02] [-5.87428607e-01 8.09275636e-01 -7.59486135e-04 -1.70559687e+02] [-1.30198618e-03 -6.59656069e-06 9.99999152e-01 -4.54355751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5665599949999 meters 0.05166261583852031 Centerline is valid? [True, True] Translation: X:582.40, Y:-170.60, Z:-4.54 [[ 8.10827481e-01 5.85284458e-01 9.48302417e-04 5.82404713e+02] [-5.85284061e-01 8.10828036e-01 -6.81122964e-04 -1.70597258e+02] [-1.16756087e-03 -2.75307251e-06 9.99999318e-01 -4.54258843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.626559995 meters 0.05128004863708062 Centerline is valid? [True, True] Translation: X:582.45, Y:-170.64, Z:-4.54 [[ 8.14789635e-01 5.79756032e-01 8.90700335e-04 5.82453643e+02] [-5.79755679e-01 8.14790122e-01 -6.40396517e-04 -1.70635758e+02] [-1.09700758e-03 5.39986663e-06 9.99999398e-01 -4.54113543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6865599949999 meters 0.052648904469040546 Centerline is valid? [True, True] Translation: X:582.50, Y:-170.67, Z:-4.54 [[ 8.19327679e-01 5.73324636e-01 1.00811091e-03 5.82502423e+02] [-5.73324178e-01 8.19328299e-01 -7.25032989e-04 -1.70672625e+02] [-1.24165307e-03 1.60652383e-05 9.99999229e-01 -4.54109552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.746559995 meters 0.05286996296510878 Centerline is valid? [True, True] Translation: X:582.55, Y:-170.71, Z:-4.54 [[ 8.23008627e-01 5.68028709e-01 -4.30380219e-04 5.82548982e+02] [-5.68028625e-01 8.23008740e-01 3.10174773e-04 -1.70711683e+02] [ 5.30394858e-04 -1.08082304e-05 9.99999859e-01 -4.54370556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8065599949999 meters 0.05346716150401608 Centerline is valid? [True, True] Translation: X:582.60, Y:-170.75, Z:-4.54 [[ 8.24465520e-01 5.65910921e-01 -1.19802125e-03 5.82599574e+02] [-5.65910264e-01 8.24466390e-01 8.63179734e-04 -1.70746239e+02] [ 1.47621109e-03 -3.36894071e-05 9.99998910e-01 -4.54417461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.866559995 meters 0.05337883436876748 Centerline is valid? [True, True] Translation: X:582.65, Y:-170.78, Z:-4.54 [[ 8.25066167e-01 5.65031838e-01 -2.20030068e-03 5.82651974e+02] [-5.65029619e-01 8.25069099e-01 1.58493073e-03 -1.70777736e+02] [ 2.71093642e-03 -6.44376698e-05 9.99996323e-01 -4.54269126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9265599949999 meters 0.05345054894387956 Centerline is valid? [True, True] Translation: X:582.71, Y:-170.81, Z:-4.54 [[ 8.24487262e-01 5.65876807e-01 -2.04820915e-03 5.82706511e+02] [-5.65874885e-01 8.24489804e-01 1.47576478e-03 -1.70808333e+02] [ 2.52382862e-03 -5.77191407e-05 9.99996813e-01 -4.54056476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.986559995 meters 0.05344032844871537 Centerline is valid? [True, True] Translation: X:582.76, Y:-170.84, Z:-4.54 [[ 8.21784421e-01 5.69797661e-01 -9.95437819e-04 5.82755212e+02] [-5.69797209e-01 8.21785024e-01 7.17619133e-04 -1.70844187e+02] [ 1.22693359e-03 -2.25305326e-05 9.99999247e-01 -4.54095657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0465599949999 meters 0.05309501884200584 Centerline is valid? [True, True] Translation: X:582.81, Y:-170.87, Z:-4.54 [[ 8.16636885e-01 5.77151253e-01 -7.93680548e-04 5.82809124e+02] [-5.77150969e-01 8.16637270e-01 5.71832732e-04 -1.70874056e+02] [ 9.78183094e-04 -8.90620350e-06 9.99999522e-01 -4.54222849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.106559995 meters 0.052584696396634066 Centerline is valid? [True, True] Translation: X:582.86, Y:-170.90, Z:-4.54 [[ 8.12050886e-01 5.83585906e-01 -9.21379837e-04 5.82862729e+02] [-5.83585527e-01 8.12051409e-01 6.64732768e-04 -1.70903825e+02] [ 1.13613647e-03 -2.09289532e-06 9.99999355e-01 -4.54244756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.166559995 meters 0.0525818953237005 Centerline is valid? [True, True] Translation: X:582.92, Y:-170.93, Z:-4.54 [[ 8.04677902e-01 5.93711356e-01 -5.47380547e-04 5.82917901e+02] [-5.93711225e-01 8.04678088e-01 3.95191306e-04 -1.70930582e+02] [ 6.75094699e-04 6.98426375e-06 9.99999772e-01 -4.54212557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.226559995 meters 0.0524700594924444 Centerline is valid? [True, True] Translation: X:582.97, Y:-170.96, Z:-4.54 [[ 8.00742585e-01 5.99008092e-01 -7.86410866e-04 5.82970585e+02] [-5.99007824e-01 8.00742971e-01 5.66721055e-04 -1.70961478e+02] [ 9.69183471e-04 1.72685790e-05 9.99999530e-01 -4.54157383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.286559995 meters 0.05216223869836407 Centerline is valid? [True, True] Translation: X:583.02, Y:-170.99, Z:-4.54 [[ 7.96698694e-01 6.04376608e-01 -3.28079560e-04 5.83022420e+02] [-6.04376561e-01 7.96698761e-01 2.36717270e-04 -1.70993567e+02] [ 4.04446959e-04 9.69125692e-06 9.99999918e-01 -4.54073139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.346559995 meters 0.05287178015781424 Centerline is valid? [True, True] Translation: X:583.07, Y:-171.02, Z:-4.54 [[ 7.95193224e-01 6.06355973e-01 -4.12056044e-04 5.83074930e+02] [-6.06355900e-01 7.95193331e-01 2.97207224e-04 -1.71023923e+02] [ 5.07877593e-04 1.35154433e-05 9.99999871e-01 -4.54218741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.406559995 meters 0.052759786073499515 Centerline is valid? [True, True] Translation: X:583.13, Y:-171.06, Z:-4.54 [[ 7.95990448e-01 6.05307142e-01 -1.57193038e-03 5.83126097e+02] [-6.05306082e-01 7.95991998e-01 1.13401389e-03 -1.71059224e+02] [ 1.93767071e-03 4.88347985e-05 9.99998122e-01 -4.54348178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4665599949999 meters 0.05340431307496197 Centerline is valid? [True, True] Translation: X:583.18, Y:-171.10, Z:-4.54 [[ 7.97175457e-01 6.03745208e-01 -1.73617427e-03 5.83175877e+02] [-6.03743913e-01 7.97177346e-01 1.25167884e-03 -1.71095440e+02] [ 2.13973390e-03 5.03969991e-05 9.99997709e-01 -4.54453796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.526559995 meters 0.05283518555102144 Centerline is valid? [True, True] Translation: X:583.22, Y:-171.13, Z:-4.54 [[ 7.98706395e-01 6.01717718e-01 -1.97031693e-03 5.83224989e+02] [-6.01716044e-01 7.98708824e-01 1.42042859e-03 -1.71132369e+02] [ 2.42840657e-03 5.10659116e-05 9.99997050e-01 -4.54499830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5865599949999 meters 0.05284998660083086 Centerline is valid? [True, True] Translation: X:583.27, Y:-171.17, Z:-4.55 [[ 7.99859299e-01 6.00179545e-01 -3.10090336e-03 5.83274591e+02] [-6.00175381e-01 7.99865307e-01 2.23678150e-03 -1.71169264e+02] [ 3.82277552e-03 7.19753712e-05 9.99992691e-01 -4.54656209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.646559995 meters 0.0531845708307735 Centerline is valid? [True, True] Translation: X:583.32, Y:-171.21, Z:-4.55 [[ 8.00205291e-01 5.99716798e-01 -3.35480244e-03 5.83324626e+02] [-5.99711918e-01 8.00212320e-01 2.42040421e-03 -1.71206370e+02] [ 4.13611130e-03 7.50947482e-05 9.99991443e-01 -4.54819202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7065599949999 meters 0.0527591653827202 Centerline is valid? [True, True] Translation: X:583.37, Y:-171.25, Z:-4.55 [[ 8.00669355e-01 5.99099370e-01 -2.92021777e-03 5.83372676e+02] [-5.99095667e-01 8.00674678e-01 2.10752218e-03 -1.71246169e+02] [ 3.60075964e-03 6.20613906e-05 9.99993515e-01 -4.54702289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.766559995 meters 0.05264083697051864 Centerline is valid? [True, True] Translation: X:583.42, Y:-171.29, Z:-4.55 [[ 7.99577528e-01 6.00558000e-01 -2.42181460e-03 5.83421170e+02] [-6.00555458e-01 7.99581193e-01 1.74841852e-03 -1.71285393e+02] [ 2.98646414e-03 5.64378143e-05 9.99995539e-01 -4.54509644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8265599949999 meters 0.052682011467297056 Centerline is valid? [True, True] Translation: X:583.47, Y:-171.32, Z:-4.55 [[ 7.97988551e-01 6.02669989e-01 -1.77655736e-03 5.83471457e+02] [-6.02668627e-01 7.97990528e-01 1.28220333e-03 -1.71321742e+02] [ 2.19042142e-03 4.74918065e-05 9.99997600e-01 -4.54519628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.886559995 meters 0.05262908209187037 Centerline is valid? [True, True] Translation: X:583.52, Y:-171.36, Z:-4.55 [[ 7.94590487e-01 6.07145307e-01 -7.30652735e-04 5.83521772e+02] [-6.07145079e-01 7.94590823e-01 5.27287034e-04 -1.71355063e+02] [ 9.00709806e-04 2.46349506e-05 9.99999594e-01 -4.54513430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9465599949999 meters 0.053149449880412813 Centerline is valid? [True, True] Translation: X:583.57, Y:-171.39, Z:-4.55 [[ 7.90866045e-01 6.11988500e-01 -9.87748136e-04 5.83572870e+02] [-6.11988085e-01 7.90866660e-01 7.13146245e-04 -1.71386689e+02] [ 1.21761437e-03 4.04869403e-05 9.99999258e-01 -4.54655429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.006559995 meters 0.05257489718643344 Centerline is valid? [True, True] Translation: X:583.62, Y:-171.43, Z:-4.55 [[ 7.89349764e-01 6.13942884e-01 -1.04166929e-03 5.83620346e+02] [-6.13942425e-01 7.89350450e-01 7.52650064e-04 -1.71425007e+02] [ 1.28432627e-03 4.54208182e-05 9.99999174e-01 -4.54639071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0665599949999 meters 0.05200525509982336 Centerline is valid? [True, True] Translation: X:583.67, Y:-171.46, Z:-4.55 [[ 7.88402450e-01 6.15159601e-01 -4.92219805e-04 5.83669365e+02] [-6.15159499e-01 7.88402603e-01 3.55575703e-04 -1.71463636e+02] [ 6.06803183e-04 2.24569330e-05 9.99999816e-01 -4.54615738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.126559995 meters 0.05380502474150526 Centerline is valid? [True, True] Translation: X:583.72, Y:-171.49, Z:-4.55 [[ 7.89850383e-01 6.13299556e-01 1.65987764e-04 5.83721513e+02] [-6.13299544e-01 7.89850400e-01 -1.19804259e-04 -1.71493836e+02] [-2.04581401e-04 -7.17278066e-06 9.99999979e-01 -4.54763102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1865599949999 meters 0.05213563914129715 Centerline is valid? [True, True] Translation: X:583.77, Y:-171.54, Z:-4.55 [[ 7.92007665e-01 6.10507665e-01 2.06160386e-03 5.83767053e+02] [-6.10505857e-01 7.92010344e-01 -1.48796752e-03 -1.71536171e+02] [-2.54122716e-03 -8.01395503e-05 9.99996768e-01 -4.54594839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.246559995 meters 0.05254170625619151 Centerline is valid? [True, True] Translation: X:583.82, Y:-171.57, Z:-4.55 [[ 7.94246749e-01 6.07591937e-01 2.03453687e-03 5.83816260e+02] [-6.07590166e-01 7.94249352e-01 -1.46856143e-03 -1.71572860e+02] [-2.50821568e-03 -6.97644515e-05 9.99996852e-01 -4.54685526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3065599949999 meters 0.052565897971159334 Centerline is valid? [True, True] Translation: X:583.86, Y:-171.62, Z:-4.55 [[ 8.00216391e-01 5.99708598e-01 1.82328410e-03 5.83859054e+02] [-5.99707156e-01 8.00218468e-01 -1.31594355e-03 -1.71618370e+02] [-2.24820827e-03 -4.03969175e-05 9.99997472e-01 -4.54827079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.366559995 meters 0.05245961893011263 Centerline is valid? [True, True] Translation: X:583.91, Y:-171.65, Z:-4.55 [[ 8.02675280e-01 5.96414569e-01 1.43399910e-03 5.83909207e+02] [-5.96413671e-01 8.02676561e-01 -1.03516784e-03 -1.71652007e+02] [-1.76842665e-03 -2.43530315e-05 9.99998436e-01 -4.55057894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4265599949999 meters 0.0527121582709319 Centerline is valid? [True, True] Translation: X:583.96, Y:-171.69, Z:-4.55 [[ 8.04363168e-01 5.94134577e-01 1.99965232e-03 5.83955859e+02] [-5.94132824e-01 8.04365653e-01 -1.44350634e-03 -1.71692100e+02] [-2.46608868e-03 -2.69557463e-05 9.99996959e-01 -4.55004779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.486559995 meters 0.052237604342400615 Centerline is valid? [True, True] Translation: X:584.00, Y:-171.73, Z:-4.55 [[ 8.06046957e-01 5.91846313e-01 2.49913101e-03 5.84004823e+02] [-5.91843565e-01 8.06050831e-01 -1.80376184e-03 -1.71730411e+02] [-3.08197642e-03 -2.51778635e-05 9.99995250e-01 -4.55095597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5465599949999 meters 0.05243253970329442 Centerline is valid? [True, True] Translation: X:584.05, Y:-171.77, Z:-4.55 [[ 8.06747517e-01 5.90892698e-01 2.06470940e-03 5.84053764e+02] [-5.90890819e-01 8.06750159e-01 -1.49038155e-03 -1.71768485e+02] [-2.54636021e-03 -1.76562111e-05 9.99996758e-01 -4.55208952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.606559995 meters 0.05253609439048697 Centerline is valid? [True, True] Translation: X:584.10, Y:-171.81, Z:-4.55 [[ 8.06577909e-01 5.91126716e-01 1.13228073e-03 5.84101628e+02] [-5.91126151e-01 8.06578704e-01 -8.17434307e-04 -1.71806147e+02] [-1.39648078e-03 -9.99629637e-06 9.99999025e-01 -4.55217967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.666559995 meters 0.0522119024609104 Centerline is valid? [True, True] Translation: X:584.15, Y:-171.84, Z:-4.55 [[ 8.05154295e-01 5.93065139e-01 5.50571530e-04 5.84153163e+02] [-5.93065005e-01 8.05154483e-01 -3.97444114e-04 -1.71840348e+02] [-6.79005384e-04 -6.52087246e-06 9.99999769e-01 -4.55439063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.726559995 meters 0.05219787812710645 Centerline is valid? [True, True] Translation: X:584.20, Y:-171.88, Z:-4.55 [[ 8.03452929e-01 5.95368029e-01 5.48313739e-04 5.84202386e+02] [-5.95367898e-01 8.03453116e-01 -3.95217979e-04 -1.71878977e+02] [-6.75844531e-04 -8.90935508e-06 9.99999772e-01 -4.55217740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.786559995 meters 0.05253927153242072 Centerline is valid? [True, True] Translation: X:584.25, Y:-171.91, Z:-4.55 [[ 8.02471331e-01 5.96690585e-01 3.28137136e-04 5.84253071e+02] [-5.96690539e-01 8.02471398e-01 -2.36629415e-04 -1.71913319e+02] [-4.04515211e-04 -5.90800252e-06 9.99999918e-01 -4.55333916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.846559995 meters 0.05243940575770628 Centerline is valid? [True, True] Translation: X:584.30, Y:-171.95, Z:-4.55 [[ 7.99568114e-01 6.00575304e-01 -3.69276913e-04 5.84303107e+02] [-6.00575244e-01 7.99568199e-01 2.67187959e-04 -1.71948748e+02] [ 4.55728566e-04 8.14359960e-06 9.99999896e-01 -4.55346916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.906559995 meters 0.05198648398495316 Centerline is valid? [True, True] Translation: X:584.35, Y:-171.98, Z:-4.55 [[ 7.97428885e-01 6.03408573e-01 -2.29513381e-03 5.84352981e+02] [-6.03406292e-01 7.97432185e-01 1.66020998e-03 -1.71984197e+02] [ 2.83199851e-03 6.09987858e-05 9.99995988e-01 -4.55484629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9665599949999 meters 0.051392636952625616 Centerline is valid? [True, True] Translation: X:584.40, Y:-172.02, Z:-4.55 [[ 7.96508746e-01 6.04622215e-01 -2.40713705e-03 5.84401419e+02] [-6.04619711e-01 7.96512380e-01 1.74163802e-03 -1.72022451e+02] [ 2.97034750e-03 6.81725922e-05 9.99995586e-01 -4.55261684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.026559995 meters 0.051980627813272375 Centerline is valid? [True, True] Translation: X:584.45, Y:-172.06, Z:-4.55 [[ 7.96280298e-01 6.04923235e-01 -2.35942066e-03 5.84451889e+02] [-6.04920829e-01 7.96283791e-01 1.70750410e-03 -1.72057580e+02] [ 2.91167733e-03 6.76108282e-05 9.99995759e-01 -4.55307823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0865599949999 meters 0.05148190841138516 Centerline is valid? [True, True] Translation: X:584.50, Y:-172.09, Z:-4.55 [[ 7.96150608e-01 6.05086721e-01 -3.77740957e-03 5.84501995e+02] [-6.05080555e-01 7.96159562e-01 2.73380618e-03 -1.72093630e+02] [ 4.66161057e-03 1.09115627e-04 9.99989129e-01 -4.55428979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.146559995 meters 0.05254450551056761 Centerline is valid? [True, True] Translation: X:584.55, Y:-172.13, Z:-4.55 [[ 7.96554464e-01 6.04544999e-01 -5.13130593e-03 5.84552264e+02] [-6.04533605e-01 7.96570978e-01 3.71444114e-03 -1.72131262e+02] [ 6.33299620e-03 1.43292202e-04 9.99979936e-01 -4.55495834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2065599949999 meters 0.052598889012535954 Centerline is valid? [True, True] Translation: X:584.60, Y:-172.17, Z:-4.56 [[ 7.97464389e-01 6.03341198e-01 -5.47239931e-03 5.84601410e+02] [-6.03328205e-01 7.97483153e-01 3.96205211e-03 -1.72168847e+02] [ 6.75461551e-03 1.42057390e-04 9.99977177e-01 -4.55511762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.266559995 meters 0.0525459465499431 Centerline is valid? [True, True] Translation: X:584.65, Y:-172.21, Z:-4.56 [[ 7.99542437e-01 6.00587112e-01 -5.19726188e-03 5.84649249e+02] [-6.00575340e-01 7.99559321e-01 3.76216939e-03 -1.72205309e+02] [ 6.41502963e-03 1.13333241e-04 9.99979417e-01 -4.55576517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3265599949999 meters 0.052267589876576454 Centerline is valid? [True, True] Translation: X:584.70, Y:-172.25, Z:-4.55 [[ 8.01828620e-01 5.97540616e-01 -4.00962328e-03 5.84695279e+02] [-5.97533568e-01 8.01838642e-01 2.90295156e-03 -1.72247544e+02] [ 4.94970235e-03 6.82148600e-05 9.99987748e-01 -4.55237095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.386559995 meters 0.05234603587512149 Centerline is valid? [True, True] Translation: X:584.75, Y:-172.28, Z:-4.56 [[ 8.02311180e-01 5.96896362e-01 -3.39168270e-03 5.84745584e+02] [-5.96891311e-01 8.02318347e-01 2.45619466e-03 -1.72282096e+02] [ 4.18730291e-03 5.38334947e-05 9.99991232e-01 -4.55587092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4465599949999 meters 0.052429959436721074 Centerline is valid? [True, True] Translation: X:584.79, Y:-172.32, Z:-4.55 [[ 8.01847932e-01 5.97520165e-01 -3.08982372e-03 5.84793616e+02] [-5.97515972e-01 8.01853883e-01 2.23887773e-03 -1.72322601e+02] [ 3.81536174e-03 5.09795419e-05 9.99992720e-01 -4.55333574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.506559995 meters 0.052855658258277795 Centerline is valid? [True, True] Translation: X:584.84, Y:-172.36, Z:-4.56 [[ 8.01122274e-01 5.98493315e-01 -2.97544186e-03 5.84844040e+02] [-5.98489433e-01 8.01127798e-01 2.15628896e-03 -1.72356492e+02] [ 3.67423371e-03 5.33193954e-05 9.99993249e-01 -4.55557606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5665599949999 meters 0.051915571776804406 Centerline is valid? [True, True] Translation: X:584.89, Y:-172.39, Z:-4.56 [[ 7.99774767e-01 6.00295188e-01 -2.45124731e-03 5.84894109e+02] [-6.00292560e-01 7.99778522e-01 1.77697338e-03 -1.72392406e+02] [ 3.02716352e-03 5.02870534e-05 9.99995417e-01 -4.55593033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.626559995 meters 0.05207655901555635 Centerline is valid? [True, True] Translation: X:584.94, Y:-172.43, Z:-4.56 [[ 7.97495309e-01 6.03316631e-01 -3.20543379e-03 5.84943211e+02] [-6.03312161e-01 7.97501747e-01 2.32371175e-03 -1.72429401e+02] [ 3.95827300e-03 8.07279680e-05 9.99992163e-01 -4.55635036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6865599949999 meters 0.05225252744091043 Centerline is valid? [True, True] Translation: X:584.99, Y:-172.47, Z:-4.56 [[ 7.95736738e-01 6.05636889e-01 -2.64621880e-03 5.84993392e+02] [-6.05633856e-01 7.95741135e-01 1.91800313e-03 -1.72465934e+02] [ 3.26731860e-03 7.64141391e-05 9.99994659e-01 -4.55674401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.746559995 meters 0.051469940110024016 Centerline is valid? [True, True] Translation: X:585.04, Y:-172.51, Z:-4.56 [[ 7.95926065e-01 6.05390121e-01 -2.12131051e-03 5.85041390e+02] [-6.05388168e-01 7.95928890e-01 1.53872138e-03 -1.72505624e+02] [ 2.61993904e-03 5.95078307e-05 9.99996566e-01 -4.55502353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8065599949999 meters 0.05187349798800144 Centerline is valid? [True, True] Translation: X:585.09, Y:-172.54, Z:-4.56 [[ 7.95989729e-01 6.05307942e-01 -1.62681774e-03 5.85092021e+02] [-6.05306792e-01 7.95991391e-01 1.18044676e-03 -1.72539258e+02] [ 2.00946671e-03 4.51003271e-05 9.99997980e-01 -4.55634726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.866559995 meters 0.05131624088554345 Centerline is valid? [True, True] Translation: X:585.14, Y:-172.58, Z:-4.55 [[ 7.95471147e-01 6.05991204e-01 -5.60910082e-04 5.85140874e+02] [-6.05991067e-01 7.95471345e-01 4.07960261e-04 -1.72578777e+02] [ 6.93408227e-04 1.53858824e-05 9.99999759e-01 -4.55495835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9265599949999 meters 0.05144311381753144 Centerline is valid? [True, True] Translation: X:585.19, Y:-172.61, Z:-4.56 [[ 7.94685742e-01 6.07019622e-01 -1.32241089e-03 5.85192273e+02] [-6.07018864e-01 7.94686842e-01 9.60217779e-04 -1.72612004e+02] [ 1.63377357e-03 3.96569792e-05 9.99998665e-01 -4.55664932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.986559995 meters 0.05127458971790931 Centerline is valid? [True, True] Translation: X:585.24, Y:-172.65, Z:-4.56 [[ 7.93306039e-01 6.08819493e-01 -2.08635283e-03 5.85242655e+02] [-6.08817615e-01 7.93308780e-01 1.51374577e-03 -1.72647863e+02] [ 2.57671995e-03 6.93446909e-05 9.99996678e-01 -4.55868944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0465599949999 meters 0.05101416996882196 Centerline is valid? [True, True] Translation: X:585.29, Y:-172.69, Z:-4.56 [[ 7.92797555e-01 6.09480655e-01 -2.31694611e-03 5.85292115e+02] [-6.09478339e-01 7.92800937e-01 1.68218274e-03 -1.72685034e+02] [ 2.86213489e-03 7.84981056e-05 9.99995901e-01 -4.55917723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.106559995 meters 0.05177755072046145 Centerline is valid? [True, True] Translation: X:585.34, Y:-172.72, Z:-4.56 [[ 7.93189317e-01 6.08970954e-01 -2.25490913e-03 5.85343084e+02] [-6.08968757e-01 7.93192519e-01 1.63753841e-03 -1.72719803e+02] [ 2.78579038e-03 7.42912386e-05 9.99996117e-01 -4.56125734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.166559995 meters 0.051495818866878734 Centerline is valid? [True, True] Translation: X:585.39, Y:-172.76, Z:-4.56 [[ 7.93453560e-01 6.08628301e-01 -1.74341590e-03 5.85392953e+02] [-6.08626986e-01 7.93455473e-01 1.26660052e-03 -1.72756562e+02] [ 2.15421181e-03 5.61012754e-05 9.99997678e-01 -4.56084374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.226559995 meters 0.05188922066776898 Centerline is valid? [True, True] Translation: X:585.45, Y:-172.79, Z:-4.56 [[ 7.93484094e-01 6.08590939e-01 -2.49596195e-04 5.85445712e+02] [-6.08590912e-01 7.93484133e-01 1.82141869e-04 -1.72787937e+02] [ 3.08900511e-04 7.37529998e-06 9.99999952e-01 -4.56178655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.286559995 meters 0.05117894311429538 Centerline is valid? [True, True] Translation: X:585.49, Y:-172.83, Z:-4.56 [[ 7.93639163e-01 6.08388619e-01 4.08016119e-04 5.85494384e+02] [-6.08388548e-01 7.93639268e-01 -2.95352020e-04 -1.72826141e+02] [-5.03506422e-04 -1.38294048e-05 9.99999873e-01 -4.56133352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.346559995 meters 0.05144540908268433 Centerline is valid? [True, True] Translation: X:585.54, Y:-172.86, Z:-4.56 [[ 7.94210647e-01 6.07642399e-01 4.03737395e-04 5.85544772e+02] [-6.07642329e-01 7.94210750e-01 -2.92308115e-04 -1.72863115e+02] [-4.98271384e-04 -1.31737135e-05 9.99999876e-01 -4.56263520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.406559995 meters 0.05083318564701326 Centerline is valid? [True, True] Translation: X:585.59, Y:-172.90, Z:-4.56 [[ 7.92923427e-01 6.09318263e-01 -1.92167842e-03 5.85593284e+02] [-6.09316666e-01 7.92925754e-01 1.39624655e-03 -1.72901823e+02] [ 2.37450683e-03 6.37940864e-05 9.99997179e-01 -4.56324301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4665599949999 meters 0.05151376622125288 Centerline is valid? [True, True] Translation: X:585.64, Y:-172.94, Z:-4.56 [[ 7.93004581e-01 6.09208990e-01 -2.85339540e-03 5.85644185e+02] [-6.09205465e-01 7.93009709e-01 2.07459200e-03 -1.72939634e+02] [ 3.52663035e-03 9.31431115e-05 9.99993777e-01 -4.56358994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.526559995 meters 0.05093542257199733 Centerline is valid? [True, True] Translation: X:585.69, Y:-172.97, Z:-4.56 [[ 7.92899631e-01 6.09348062e-01 -2.26178102e-03 5.85694569e+02] [-6.09345846e-01 7.92902853e-01 1.64483025e-03 -1.72974858e+02] [ 2.79564675e-03 7.40215689e-05 9.99996089e-01 -4.56344016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5865599949999 meters 0.05205946838271917 Centerline is valid? [True, True] Translation: X:585.75, Y:-173.01, Z:-4.56 [[ 7.93336560e-01 6.08782085e-01 -1.21497827e-03 5.85747134e+02] [-6.08781444e-01 7.93337489e-01 8.84176152e-04 -1.73006228e+02] [ 1.50215841e-03 3.82069587e-05 9.99998871e-01 -4.56460780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.646559995 meters 0.051531614515686684 Centerline is valid? [True, True] Translation: X:585.80, Y:-173.04, Z:-4.56 [[ 7.94991027e-01 6.06620836e-01 -6.54032621e-04 5.85795568e+02] [-6.06620650e-01 7.94991296e-01 4.75680279e-04 -1.73044188e+02] [ 8.08507809e-04 1.85881400e-05 9.99999673e-01 -4.56457481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7065599949999 meters 0.05174289558368149 Centerline is valid? [True, True] Translation: X:585.85, Y:-173.08, Z:-4.56 [[ 7.95532293e-01 6.05911159e-01 -1.96811256e-04 5.85845046e+02] [-6.05911142e-01 7.95532317e-01 1.43456638e-04 -1.73082525e+02] [ 2.43491692e-04 5.12574492e-06 9.99999970e-01 -4.56440314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.766559995 meters 0.051892584036942836 Centerline is valid? [True, True] Translation: X:585.90, Y:-173.11, Z:-4.57 [[ 7.97084361e-01 6.03867966e-01 -4.11083566e-06 5.85896384e+02] [-6.03867966e-01 7.97084361e-01 3.10606193e-06 -1.73114499e+02] [ 5.15233389e-06 6.60858395e-09 1.00000000e+00 -4.56533689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8265599949999 meters 0.05173240991849818 Centerline is valid? [True, True] Translation: X:585.94, Y:-173.15, Z:-4.57 [[ 7.98500985e-01 6.01993444e-01 -2.65471638e-04 5.85944051e+02] [-6.01993413e-01 7.98501029e-01 1.93948192e-04 -1.73153246e+02] [ 3.28734916e-04 4.94435547e-06 9.99999946e-01 -4.56517340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.886559995 meters 0.05208578095933884 Centerline is valid? [True, True] Translation: X:585.99, Y:-173.19, Z:-4.57 [[ 7.99676939e-01 6.00430216e-01 -5.90486411e-04 5.85994555e+02] [-6.00430062e-01 7.99677157e-01 4.30564294e-04 -1.73189649e+02] [ 7.30722306e-04 1.02334550e-05 9.99999733e-01 -4.56632717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9465599949999 meters 0.051911724228645414 Centerline is valid? [True, True] Translation: X:586.05, Y:-173.22, Z:-4.57 [[ 8.01716195e-01 5.97704721e-01 -4.57426482e-04 5.86045167e+02] [-5.97704628e-01 8.01716326e-01 3.32973912e-04 -1.73223056e+02] [ 5.65746357e-04 6.45534692e-06 9.99999840e-01 -4.56811929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.006559995 meters 0.052656839895570295 Centerline is valid? [True, True] Translation: X:586.09, Y:-173.26, Z:-4.57 [[ 8.03268570e-01 5.95616987e-01 -9.05082307e-05 5.86093687e+02] [-5.95616984e-01 8.03268575e-01 6.68883845e-05 -1.73262383e+02] [ 1.12542275e-04 1.78902353e-07 9.99999994e-01 -4.56616500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0665599949999 meters 0.052818926810061055 Centerline is valid? [True, True] Translation: X:586.14, Y:-173.30, Z:-4.57 [[ 8.05620590e-01 5.92431293e-01 7.92976117e-04 5.86143464e+02] [-5.92431013e-01 8.05620980e-01 -5.76085841e-04 -1.73298706e+02] [-9.80129476e-04 -5.67702880e-06 9.99999520e-01 -4.56657068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.126559995 meters 0.0525667795606199 Centerline is valid? [True, True] Translation: X:586.19, Y:-173.33, Z:-4.57 [[ 8.06930760e-01 5.90645802e-01 -5.33550337e-04 5.86193452e+02] [-5.90645674e-01 8.06930937e-01 3.89496337e-04 -1.73334951e+02] [ 6.60592649e-04 8.42623037e-07 9.99999782e-01 -4.56998513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1865599949999 meters 0.052875932229762786 Centerline is valid? [True, True] Translation: X:586.25, Y:-173.37, Z:-4.57 [[ 8.06605876e-01 5.91089476e-01 -4.38705399e-04 5.86245531e+02] [-5.91089389e-01 8.06605995e-01 3.20646209e-04 -1.73371275e+02] [ 5.43393004e-04 6.78990020e-07 9.99999852e-01 -4.56761722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.246559995 meters 0.05232012429186977 Centerline is valid? [True, True] Translation: X:586.30, Y:-173.41, Z:-4.57 [[ 8.06371574e-01 5.91408444e-01 -9.67516401e-04 5.86298000e+02] [-5.91408023e-01 8.06372155e-01 7.05751064e-04 -1.73405571e+02] [ 1.19756542e-03 3.09936537e-06 9.99999283e-01 -4.56790822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3065599949999 meters 0.05293721489163233 Centerline is valid? [True, True] Translation: X:586.35, Y:-173.44, Z:-4.57 [[ 8.05771521e-01 5.92222070e-01 -2.29690868e-03 5.86350300e+02] [-5.92219703e-01 8.05774794e-01 1.67441872e-03 -1.73439186e+02] [ 2.84241885e-03 1.10756572e-05 9.99995960e-01 -4.56845933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.366559995 meters 0.05325589759855402 Centerline is valid? [True, True] Translation: X:586.40, Y:-173.48, Z:-4.57 [[ 8.05639103e-01 5.92401902e-01 -2.37114284e-03 5.86401756e+02] [-5.92399378e-01 8.05642593e-01 1.72912638e-03 -1.73475222e+02] [ 2.93463142e-03 1.16117199e-05 9.99995694e-01 -4.56844068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4265599949999 meters 0.05355066472374213 Centerline is valid? [True, True] Translation: X:586.45, Y:-173.51, Z:-4.57 [[ 8.05692063e-01 5.92329706e-01 -2.41236883e-03 5.86453941e+02] [-5.92327092e-01 8.05695674e-01 1.75967411e-03 -1.73510629e+02] [ 2.98594238e-03 1.11559527e-05 9.99995542e-01 -4.56801481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.486559995 meters 0.053205567920129856 Centerline is valid? [True, True] Translation: X:586.51, Y:-173.54, Z:-4.57 [[ 8.06119178e-01 5.91749461e-01 -2.10873684e-03 5.86505983e+02] [-5.91747461e-01 8.06121936e-01 1.53856569e-03 -1.73544120e+02] [ 2.61034444e-03 7.57236322e-06 9.99996593e-01 -4.56719296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5465599949999 meters 0.05271167955598418 Centerline is valid? [True, True] Translation: X:586.56, Y:-173.58, Z:-4.57 [[ 8.06128368e-01 5.91739269e-01 -1.30072883e-03 5.86557253e+02] [-5.91738507e-01 8.06129418e-01 9.49112786e-04 -1.73577589e+02] [ 1.61018308e-03 4.58459748e-06 9.99998704e-01 -4.56873528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.606559995 meters 0.053926135941720334 Centerline is valid? [True, True] Translation: X:586.61, Y:-173.61, Z:-4.57 [[ 8.05183517e-01 5.93022745e-01 -1.87810340e-03 5.86609508e+02] [-5.93021161e-01 8.05185707e-01 1.37088126e-03 -1.73611330e+02] [ 2.32518578e-03 9.94406487e-06 9.99997297e-01 -4.56649796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.666559995 meters 0.05378243082363891 Centerline is valid? [True, True] Translation: X:586.66, Y:-173.64, Z:-4.57 [[ 8.04474614e-01 5.93983550e-01 -2.03413565e-03 5.86661867e+02] [-5.93981694e-01 8.04477185e-01 1.48501536e-03 -1.73643428e+02] [ 2.51849042e-03 1.35821777e-05 9.99996829e-01 -4.57040462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.726559995 meters 0.05420286668614872 Centerline is valid? [True, True] Translation: X:586.71, Y:-173.68, Z:-4.57 [[ 8.04373481e-01 5.94120412e-01 -2.05884327e-03 5.86713522e+02] [-5.94118510e-01 8.04376116e-01 1.50368764e-03 -1.73680097e+02] [ 2.54945587e-03 1.36704351e-05 9.99996750e-01 -4.56735050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.786559995 meters 0.05348204796321289 Centerline is valid? [True, True] Translation: X:586.76, Y:-173.71, Z:-4.57 [[ 8.04670163e-01 5.93719961e-01 -1.59270669e-03 5.86764652e+02] [-5.93718821e-01 8.04671739e-01 1.16355095e-03 -1.73713694e+02] [ 1.97242948e-03 9.34520668e-06 9.99998055e-01 -4.57033981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.846559995 meters 0.05400126909448089 Centerline is valid? [True, True] Translation: X:586.81, Y:-173.75, Z:-4.57 [[ 8.04903851e-01 5.93403545e-01 -1.42261434e-03 5.86814115e+02] [-5.93402634e-01 8.04905108e-01 1.03970985e-03 -1.73751859e+02] [ 1.76203706e-03 7.31663683e-06 9.99998448e-01 -4.56551156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.906559995 meters 0.053385365791229614 Centerline is valid? [True, True] Translation: X:586.87, Y:-173.78, Z:-4.57 [[ 8.05121517e-01 5.93107177e-01 -1.79404722e-03 5.86866417e+02] [-5.93105728e-01 8.05123516e-01 1.31138820e-03 -1.73784866e+02] [ 2.22222336e-03 8.23282160e-06 9.99997531e-01 -4.57206323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9665599949999 meters 0.053856347795351124 Centerline is valid? [True, True] Translation: X:586.92, Y:-173.82, Z:-4.57 [[ 8.04681427e-01 5.93701283e-01 -2.56667087e-03 5.86916276e+02] [-5.93698320e-01 8.04685520e-01 1.87583541e-03 -1.73821058e+02] [ 3.17904877e-03 1.43782690e-05 9.99994947e-01 -4.57238474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.026559995 meters 0.05333908252644045 Centerline is valid? [True, True] Translation: X:586.97, Y:-173.86, Z:-4.57 [[ 8.04218378e-01 5.94324668e-01 -3.31493321e-03 5.86966550e+02] [-5.94319729e-01 8.04225210e-01 2.42307404e-03 -1.73856842e+02] [ 4.10604553e-03 2.14495360e-05 9.99991570e-01 -4.57350832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0865599949999 meters 0.05388611086611763 Centerline is valid? [True, True] Translation: X:587.02, Y:-173.89, Z:-4.57 [[ 8.02479639e-01 5.96670368e-01 -3.30179673e-03 5.87017690e+02] [-5.96665485e-01 8.02486431e-01 2.41406651e-03 -1.73891570e+02] [ 4.09004903e-03 3.28289332e-05 9.99991635e-01 -4.57426496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.146559995 meters 0.05380469335925863 Centerline is valid? [True, True] Translation: X:587.07, Y:-173.93, Z:-4.57 [[ 8.01372390e-01 5.98159635e-01 -2.70986539e-03 5.87068049e+02] [-5.98156352e-01 8.01376972e-01 1.98193796e-03 -1.73927356e+02] [ 3.35713900e-03 3.26528387e-05 9.99994364e-01 -4.57462113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2065599949999 meters 0.05261882028652466 Centerline is valid? [True, True] Translation: X:587.12, Y:-173.97, Z:-4.57 [[ 8.00571678e-01 5.99235503e-01 -1.34155412e-03 5.87118376e+02] [-5.99234698e-01 8.00572802e-01 9.82132242e-04 -1.73965092e+02] [ 1.66254025e-03 1.76385191e-05 9.99998618e-01 -4.57312605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.266559995 meters 0.053177592332483495 Centerline is valid? [True, True] Translation: X:587.17, Y:-174.00, Z:-4.57 [[ 7.99638718e-01 6.00480824e-01 -8.37059503e-04 5.87168057e+02] [-6.00480511e-01 7.99639156e-01 6.13146545e-04 -1.74000049e+02] [ 1.03752830e-03 1.23421998e-05 9.99999462e-01 -4.57383292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3265599949999 meters 0.05304468678151512 Centerline is valid? [True, True] Translation: X:587.22, Y:-174.04, Z:-4.57 [[ 7.98367006e-01 6.02171171e-01 6.47089120e-05 5.87218694e+02] [-6.02171169e-01 7.98367009e-01 -4.63133851e-05 -1.74036307e+02] [-7.95500461e-05 -1.99076262e-06 9.99999997e-01 -4.57380697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.386559995 meters 0.0530789523258005 Centerline is valid? [True, True] Translation: X:587.27, Y:-174.07, Z:-4.57 [[ 7.97076450e-01 6.03878403e-01 8.65719922e-05 5.87268100e+02] [-6.03878400e-01 7.97076455e-01 -6.22854562e-05 -1.74074537e+02] [-1.06617339e-04 -2.63268579e-06 9.99999994e-01 -4.57372289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4465599949999 meters 0.05342274338513421 Centerline is valid? [True, True] Translation: X:587.32, Y:-174.11, Z:-4.58 [[ 7.95546800e-01 6.05891773e-01 -6.70013846e-04 5.87318896e+02] [-6.05891574e-01 7.95547082e-01 4.91338214e-04 -1.74108987e+02] [ 8.30725342e-04 1.50731997e-05 9.99999655e-01 -4.57645316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.506559995 meters 0.05290733610381069 Centerline is valid? [True, True] Translation: X:587.37, Y:-174.15, Z:-4.58 [[ 7.94795966e-01 6.06876730e-01 8.08077794e-05 5.87367999e+02] [-6.06876727e-01 7.94795971e-01 -5.81505346e-05 -1.74147745e+02] [-9.95159039e-05 -2.82255031e-06 9.99999995e-01 -4.57574348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5665599949999 meters 0.05301646086441044 Centerline is valid? [True, True] Translation: X:587.42, Y:-174.19, Z:-4.57 [[ 7.94489507e-01 6.07276884e-01 1.09955548e-03 5.87416703e+02] [-6.07276352e-01 7.94490268e-01 -8.03976991e-04 -1.74187795e+02] [-1.36182277e-03 -2.89827579e-05 9.99999072e-01 -4.57484205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.626559995 meters 0.05250033808252931 Centerline is valid? [True, True] Translation: X:587.47, Y:-174.23, Z:-4.57 [[ 7.94287294e-01 6.07539852e-01 1.73869855e-03 5.87466923e+02] [-6.07538521e-01 7.94289195e-01 -1.27276866e-03 -1.74226430e+02] [-2.15428715e-03 -4.53823724e-05 9.99997678e-01 -4.57449430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6865599949999 meters 0.0525104127991795 Centerline is valid? [True, True] Translation: X:587.52, Y:-174.26, Z:-4.58 [[ 7.93173569e-01 6.08993508e-01 1.61132927e-03 5.87516649e+02] [-6.08992368e-01 7.93175204e-01 -1.17931319e-03 -1.74261571e+02] [-1.99626050e-03 -4.58871814e-05 9.99998006e-01 -4.57653056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.746559995 meters 0.05334418359250534 Centerline is valid? [True, True] Translation: X:587.57, Y:-174.30, Z:-4.58 [[ 7.91105054e-01 6.11679379e-01 1.06318445e-03 5.87566156e+02] [-6.11678885e-01 7.91105768e-01 -7.78492851e-04 -1.74295848e+02] [-1.31727937e-03 -3.44578491e-05 9.99999132e-01 -4.57807470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8065599949999 meters 0.05304922129314806 Centerline is valid? [True, True] Translation: X:587.62, Y:-174.33, Z:-4.58 [[ 7.88985988e-01 6.14411162e-01 1.83307170e-04 5.87615376e+02] [-6.14411148e-01 7.88986010e-01 -1.34205701e-04 -1.74331467e+02] [-2.27084273e-04 -6.73955143e-06 9.99999974e-01 -4.57897072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.866559995 meters 0.05141869504243808 Centerline is valid? [True, True] Translation: X:587.66, Y:-174.38, Z:-4.58 [[ 7.87026043e-01 6.16919473e-01 -6.09851089e-04 5.87657153e+02] [-6.16919311e-01 7.87026279e-01 4.47777766e-04 -1.74378840e+02] [ 7.56211656e-04 2.38161509e-05 9.99999714e-01 -4.57608110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9265599949999 meters 0.052157743812890976 Centerline is valid? [True, True] Translation: X:587.71, Y:-174.41, Z:-4.58 [[ 7.86276352e-01 6.17873923e-01 -1.14575567e-03 5.87707352e+02] [-6.17873353e-01 7.86277186e-01 8.40642225e-04 -1.74414036e+02] [ 1.42029245e-03 4.69547928e-05 9.99998990e-01 -4.57776501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.986559995 meters 0.05281401932457076 Centerline is valid? [True, True] Translation: X:587.76, Y:-174.45, Z:-4.58 [[ 7.86026504e-01 6.18192077e-01 -9.43945602e-04 5.87758030e+02] [-6.18191690e-01 7.86027070e-01 6.92421050e-04 -1.74447612e+02] [ 1.17001600e-03 3.92780296e-05 9.99999315e-01 -4.57886046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0465599949999 meters 0.052083387318063286 Centerline is valid? [True, True] Translation: X:587.80, Y:-174.49, Z:-4.58 [[ 7.85961394e-01 6.18275479e-01 -3.44240857e-04 5.87802982e+02] [-6.18275427e-01 7.85961470e-01 2.53380155e-04 -1.74491987e+02] [ 4.27218786e-04 1.36886426e-05 9.99999909e-01 -4.57632494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.106559995 meters 0.05198067667041686 Centerline is valid? [True, True] Translation: X:587.85, Y:-174.53, Z:-4.58 [[ 7.86087265e-01 6.18115393e-01 4.15980481e-04 5.87851747e+02] [-6.18115318e-01 7.86087375e-01 -3.04027365e-04 -1.74530878e+02] [-5.14920998e-04 -1.81318674e-05 9.99999867e-01 -4.57577520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.166559995 meters 0.05424133352257993 Centerline is valid? [True, True] Translation: X:587.91, Y:-174.56, Z:-4.58 [[ 7.86117767e-01 6.18076099e-01 8.90505279e-04 5.87908286e+02] [-6.18075756e-01 7.86118270e-01 -6.52214548e-04 -1.74557392e+02] [-1.10316069e-03 -3.76822800e-05 9.99999391e-01 -4.57900426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.226559995 meters 0.057017329018629506 Centerline is valid? [True, True] Translation: X:587.96, Y:-174.59, Z:-4.58 [[ 7.85414282e-01 6.18970435e-01 7.33854589e-05 5.87964140e+02] [-6.18970433e-01 7.85414286e-01 -5.35599888e-05 -1.74586415e+02] [-9.07900376e-05 -3.35664905e-06 9.99999996e-01 -4.58220342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.286559995 meters 0.05200230657118069 Centerline is valid? [True, True] Translation: X:588.00, Y:-174.64, Z:-4.58 [[ 7.85081226e-01 6.19392535e-01 -5.97069632e-04 5.88000179e+02] [-6.19392380e-01 7.85081452e-01 4.39057959e-04 -1.74641992e+02] [ 7.40697516e-04 2.51242202e-05 9.99999725e-01 -4.57867095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.346559995 meters 0.054464683112142066 Centerline is valid? [True, True] Translation: X:588.06, Y:-174.67, Z:-4.58 [[ 7.84811696e-01 6.19734292e-01 -9.78394840e-05 5.88059382e+02] [-6.19734288e-01 7.84811702e-01 7.23364995e-05 -1.74665007e+02] [ 1.21614981e-04 3.86395205e-06 9.99999993e-01 -4.58200535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.406559995 meters 0.05378433238777324 Centerline is valid? [True, True] Translation: X:588.11, Y:-174.71, Z:-4.58 [[ 7.84342041e-01 6.20328266e-01 6.37089146e-04 5.88106683e+02] [-6.20328091e-01 7.84342299e-01 -4.66628964e-04 -1.74705576e+02] [-7.89159101e-04 -2.92075804e-05 9.99999688e-01 -4.58132846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4665599949999 meters 0.05492226724815011 Centerline is valid? [True, True] Translation: X:588.16, Y:-174.74, Z:-4.58 [[ 7.85174915e-01 6.19273999e-01 2.56981599e-04 5.88159113e+02] [-6.19273971e-01 7.85174957e-01 -1.88331091e-04 -1.74738860e+02] [-3.18404064e-04 -1.12691672e-05 9.99999949e-01 -4.58431391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.526559995 meters 0.052866145314638645 Centerline is valid? [True, True] Translation: X:588.20, Y:-174.78, Z:-4.58 [[ 7.85469069e-01 6.18900692e-01 5.24354986e-04 5.88203525e+02] [-6.18900573e-01 7.85469244e-01 -3.83966391e-04 -1.74783102e+02] [-6.49501779e-04 -2.29298782e-05 9.99999789e-01 -4.58372273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5865599949999 meters 0.05280531741717096 Centerline is valid? [True, True] Translation: X:588.25, Y:-174.82, Z:-4.58 [[ 7.86359856e-01 6.17768003e-01 9.33518271e-04 5.88250051e+02] [-6.17767625e-01 7.86360409e-01 -6.84679972e-04 -1.74823538e+02] [-1.15705519e-03 -3.82925212e-05 9.99999330e-01 -4.58445743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.646559995 meters 0.0531714584776285 Centerline is valid? [True, True] Translation: X:588.30, Y:-174.86, Z:-4.59 [[ 7.87462116e-01 6.16362150e-01 1.05632491e-03 5.88299829e+02] [-6.16361664e-01 7.87462823e-01 -7.74987335e-04 -1.74858743e+02] [-1.30948946e-03 -4.08050124e-05 9.99999142e-01 -4.58554714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7065599949999 meters 0.05347397611309917 Centerline is valid? [True, True] Translation: X:588.35, Y:-174.89, Z:-4.59 [[ 7.90518093e-01 6.12430688e-01 3.12992208e-03 5.88349517e+02] [-6.12426385e-01 7.90524283e-01 -2.29817678e-03 -1.74893991e+02] [-3.88175340e-03 -1.00096541e-04 9.99992461e-01 -4.58610070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.766559995 meters 0.0530762476173976 Centerline is valid? [True, True] Translation: X:588.40, Y:-174.93, Z:-4.59 [[ 7.93191653e-01 6.08952758e-01 4.85189854e-03 5.88400642e+02] [-6.08942342e-01 7.93206482e-01 -3.56384805e-03 -1.74926722e+02] [-6.01877246e-03 -1.27711938e-04 9.99981879e-01 -4.58644541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8265599949999 meters 0.05259218358470986 Centerline is valid? [True, True] Translation: X:588.45, Y:-174.96, Z:-4.59 [[ 7.95913820e-01 6.05381667e-01 5.85058113e-03 5.88449638e+02] [-6.05366424e-01 7.95935313e-01 -4.29770838e-03 -1.74963351e+02] [-7.25843799e-03 -1.21139883e-04 9.99973650e-01 -4.58708713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.886559995 meters 0.05245370346807888 Centerline is valid? [True, True] Translation: X:588.50, Y:-175.00, Z:-4.59 [[ 7.96560872e-01 6.04530630e-01 5.78744829e-03 5.88499790e+02] [-6.04515690e-01 7.96581889e-01 -4.25149255e-03 -1.75000086e+02] [-7.18033395e-03 -1.12030686e-04 9.99974215e-01 -4.58765395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9465599949999 meters 0.0528140569418441 Centerline is valid? [True, True] Translation: X:588.55, Y:-175.03, Z:-4.59 [[ 7.98687015e-01 6.01727646e-01 4.78447464e-03 5.88549270e+02] [-6.01717381e-01 7.98701343e-01 -3.51547403e-03 -1.75034433e+02] [-5.93672423e-03 -7.11380831e-05 9.99982375e-01 -4.58968161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.006559995 meters 0.0527184126692368 Centerline is valid? [True, True] Translation: X:588.60, Y:-175.07, Z:-4.59 [[ 8.00019871e-01 5.99960411e-01 3.96369001e-03 5.88597632e+02] [-5.99953346e-01 8.00029689e-01 -2.91214966e-03 -1.75074177e+02] [-4.91824419e-03 -4.82514905e-05 9.99987904e-01 -4.59092854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0665599949999 meters 0.053134999570147945 Centerline is valid? [True, True] Translation: X:588.65, Y:-175.11, Z:-4.59 [[ 8.01539398e-01 5.97934998e-01 2.88638923e-03 5.88647887e+02] [-5.97931237e-01 8.01544595e-01 -2.12091961e-03 -1.75108590e+02] [-3.58174175e-03 -2.58616515e-05 9.99993585e-01 -4.59310561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.126559995 meters 0.052445689987561196 Centerline is valid? [True, True] Translation: X:588.70, Y:-175.15, Z:-4.59 [[ 8.03178570e-01 5.95730892e-01 2.98150332e-03 5.88697147e+02] [-5.95726862e-01 8.03184104e-01 -2.19130055e-03 -1.75146407e+02] [-3.70012150e-03 -1.61559745e-05 9.99993154e-01 -4.59277269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1865599949999 meters 0.0531004021010774 Centerline is valid? [True, True] Translation: X:588.75, Y:-175.18, Z:-4.59 [[ 8.05000497e-01 5.93263664e-01 3.52486602e-03 5.88748256e+02] [-5.93258003e-01 8.05008214e-01 -2.59173827e-03 -1.75182528e+02] [-4.37513024e-03 -4.80437637e-06 9.99990429e-01 -4.59388513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.246559995 meters 0.05258138247339997 Centerline is valid? [True, True] Translation: X:588.80, Y:-175.22, Z:-4.59 [[ 8.06200762e-01 5.91626946e-01 4.22947312e-03 5.88798518e+02] [-5.91618771e-01 8.06211856e-01 -3.11015486e-03 -1.75218607e+02] [-5.24990279e-03 5.17352998e-06 9.99986219e-01 -4.59481293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3065599949999 meters 0.052849910511039426 Centerline is valid? [True, True] Translation: X:588.85, Y:-175.25, Z:-4.59 [[ 8.05919467e-01 5.92007275e-01 4.60430968e-03 5.88849710e+02] [-5.91997592e-01 8.05932619e-01 -3.38593303e-03 -1.75254873e+02] [-5.71526034e-03 3.04909546e-06 9.99983668e-01 -4.59417289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.366559995 meters 0.05304849980849054 Centerline is valid? [True, True] Translation: X:588.90, Y:-175.29, Z:-4.59 [[ 8.03571789e-01 5.95187898e-01 4.87291540e-03 5.88902387e+02] [-5.95177104e-01 8.03586564e-01 -3.58470992e-03 -1.75288883e+02] [-6.04938531e-03 -1.96759075e-05 9.99981702e-01 -4.59483306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4265599949999 meters 0.05295534119806282 Centerline is valid? [True, True] Translation: X:588.95, Y:-175.32, Z:-4.60 [[ 8.01605273e-01 5.97833985e-01 4.84897255e-03 5.88953604e+02] [-5.97823343e-01 8.01619938e-01 -3.56737890e-03 -1.75321642e+02] [-6.01973342e-03 -3.91992413e-05 9.99981880e-01 -4.59626228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.486559995 meters 0.05277166255738317 Centerline is valid? [True, True] Translation: X:589.01, Y:-175.35, Z:-4.60 [[ 7.99521512e-01 6.00617264e-01 4.92474684e-03 5.89005533e+02] [-6.00606337e-01 7.99536677e-01 -3.62357986e-03 -1.75353540e+02] [-6.11390034e-03 -6.07041111e-05 9.99981308e-01 -4.59676391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5465599949999 meters 0.053358993773667755 Centerline is valid? [True, True] Translation: X:589.06, Y:-175.39, Z:-4.60 [[ 7.97545622e-01 6.03237287e-01 5.07502392e-03 5.89057099e+02] [-6.03225732e-01 7.97561765e-01 -3.73465139e-03 -1.75387887e+02] [-6.30052600e-03 -8.28301552e-05 9.99980148e-01 -4.59697399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.606559995 meters 0.05346511689277278 Centerline is valid? [True, True] Translation: X:589.11, Y:-175.42, Z:-4.60 [[ 7.95462650e-01 6.05980912e-01 5.12912551e-03 5.89107139e+02] [-6.05969165e-01 7.95479179e-01 -3.77462241e-03 -1.75423834e+02] [-6.36746168e-03 -1.05520762e-04 9.99979722e-01 -4.59772377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.666559995 meters 0.05274533139697633 Centerline is valid? [True, True] Translation: X:589.16, Y:-175.46, Z:-4.60 [[ 7.93165533e-01 6.08993683e-01 3.88987654e-03 5.89158127e+02] [-6.08986960e-01 7.93175066e-01 -2.86322798e-03 -1.75456298e+02] [-4.82904083e-03 -9.78703412e-05 9.99988335e-01 -4.59906234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.726559995 meters 0.05263116749573229 Centerline is valid? [True, True] Translation: X:589.21, Y:-175.49, Z:-4.60 [[ 7.92203166e-01 6.10236921e-01 5.00434241e-03 5.89209789e+02] [-6.10225816e-01 7.92218961e-01 -3.68391601e-03 -1.75491434e+02] [-6.21259651e-03 -1.35369006e-04 9.99980692e-01 -4.59839385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.786559995 meters 0.05338037287125369 Centerline is valid? [True, True] Translation: X:589.26, Y:-175.53, Z:-4.60 [[ 7.92212943e-01 6.10226024e-01 4.78045651e-03 5.89260899e+02] [-6.10215886e-01 7.92227356e-01 -3.51986778e-03 -1.75526769e+02] [-5.93512334e-03 -1.28625688e-04 9.99982379e-01 -4.59887034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.846559995 meters 0.0528934066494025 Centerline is valid? [True, True] Translation: X:589.31, Y:-175.57, Z:-4.60 [[ 7.92849128e-01 6.09398251e-01 4.90233642e-03 5.89308479e+02] [-6.09387568e-01 7.92864274e-01 -3.61054484e-03 -1.75566476e+02] [-6.08714712e-03 -1.24805539e-04 9.99981465e-01 -4.59956499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.906559995 meters 0.05329457890893599 Centerline is valid? [True, True] Translation: X:589.36, Y:-175.60, Z:-4.60 [[ 7.93173799e-01 6.08968838e-01 5.68155123e-03 5.89359315e+02] [-6.08954469e-01 7.93194135e-01 -4.18559322e-03 -1.75599995e+02] [-7.05546895e-03 -1.39903135e-04 9.99975100e-01 -4.59992987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9665599949999 meters 0.052920970581373745 Centerline is valid? [True, True] Translation: X:589.41, Y:-175.64, Z:-4.60 [[ 7.92797608e-01 6.09457690e-01 5.76870344e-03 5.89408970e+02] [-6.09442883e-01 7.92818582e-01 -4.25074716e-03 -1.75637976e+02] [-7.16418582e-03 -1.45713075e-04 9.99974326e-01 -4.60026913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.026559995 meters 0.05249920630984642 Centerline is valid? [True, True] Translation: X:589.46, Y:-175.68, Z:-4.60 [[ 7.91769560e-01 6.10794359e-01 5.58703389e-03 5.89457096e+02] [-6.10780497e-01 7.91789257e-01 -4.11781039e-03 -1.75676473e+02] [-6.93888878e-03 -1.52094414e-04 9.99975914e-01 -4.60200646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0865599949999 meters 0.05212745178749572 Centerline is valid? [True, True] Translation: X:589.51, Y:-175.71, Z:-4.60 [[ 7.90440004e-01 6.12518375e-01 5.08337962e-03 5.89507600e+02] [-6.12506931e-01 7.90456335e-01 -3.74736330e-03 -1.75710873e+02] [-6.31351850e-03 -1.51539388e-04 9.99980058e-01 -4.60240232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.146559995 meters 0.05230482288383346 Centerline is valid? [True, True] Translation: X:589.56, Y:-175.75, Z:-4.60 [[ 7.87823571e-01 6.15881697e-01 4.87405083e-03 5.89557643e+02] [-6.15871235e-01 7.87838630e-01 -3.59382796e-03 -1.75746407e+02] [-6.05333839e-03 -1.70485325e-04 9.99981664e-01 -4.60316722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2065599949999 meters 0.053180237414273655 Centerline is valid? [True, True] Translation: X:589.61, Y:-175.78, Z:-4.60 [[ 7.85824797e-01 6.18434206e-01 4.30368973e-03 5.89611508e+02] [-6.18426084e-01 7.85836564e-01 -3.17398010e-03 -1.75775038e+02] [-5.34489461e-03 -1.67321722e-04 9.99985702e-01 -4.60450732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.266559995 meters 0.053898943235752436 Centerline is valid? [True, True] Translation: X:589.66, Y:-175.81, Z:-4.60 [[ 7.83421970e-01 6.21476503e-01 4.11996955e-03 5.89662089e+02] [-6.21469099e-01 7.83432782e-01 -3.03877986e-03 -1.75806899e+02] [-5.11624949e-03 -1.79786857e-04 9.99986896e-01 -4.60498150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3265599949999 meters 0.05196071828724475 Centerline is valid? [True, True] Translation: X:589.71, Y:-175.85, Z:-4.61 [[ 7.81762064e-01 6.23563694e-01 4.04911216e-03 5.89705854e+02] [-6.23556571e-01 7.81772527e-01 -2.98653996e-03 -1.75850575e+02] [-5.02778254e-03 -1.90086849e-04 9.99987343e-01 -4.60537589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.386559995 meters 0.053959480146227756 Centerline is valid? [True, True] Translation: X:589.76, Y:-175.88, Z:-4.61 [[ 7.81793328e-01 6.23521368e-01 4.50511431e-03 5.89760457e+02] [-6.23512545e-01 7.81806280e-01 -3.32364153e-03 -1.75879870e+02] [-5.59448818e-03 -2.10594514e-04 9.99984329e-01 -4.60542122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4465599949999 meters 0.05337733489799729 Centerline is valid? [True, True] Translation: X:589.81, Y:-175.92, Z:-4.60 [[ 7.82352441e-01 6.22810598e-01 5.62286717e-03 5.89806886e+02] [-6.22796828e-01 7.82372605e-01 -4.14943111e-03 -1.75921072e+02] [-6.98348691e-03 -2.55586281e-04 9.99975582e-01 -4.60440191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.506559995 meters 0.05531146249930105 Centerline is valid? [True, True] Translation: X:589.86, Y:-175.95, Z:-4.60 [[ 7.84568149e-01 6.20011284e-01 6.23113253e-03 5.89859197e+02] [-6.19994283e-01 7.84592852e-01 -4.59853766e-03 -1.75951514e+02] [-7.74004728e-03 -2.55400360e-04 9.99970013e-01 -4.60406323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5665599949999 meters 0.05277390541112194 Centerline is valid? [True, True] Translation: X:589.90, Y:-176.00, Z:-4.61 [[ 7.86753697e-01 6.17241481e-01 5.61914016e-03 5.89899492e+02] [-6.17227584e-01 7.86773736e-01 -4.14691510e-03 -1.75999817e+02] [-6.98063991e-03 -2.05687517e-04 9.99975614e-01 -4.60617714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.626559995 meters 0.05289419324886539 Centerline is valid? [True, True] Translation: X:589.95, Y:-176.04, Z:-4.61 [[ 7.87872615e-01 6.15824151e-01 4.16620632e-03 5.89948129e+02] [-6.15816492e-01 7.87883618e-01 -3.07465156e-03 -1.76038034e+02] [-5.17593039e-03 -1.43184789e-04 9.99986595e-01 -4.60725225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6865599949999 meters 0.05258619755300137 Centerline is valid? [True, True] Translation: X:589.99, Y:-176.08, Z:-4.61 [[ 7.88843478e-01 6.14584073e-01 3.51919044e-03 5.89994179e+02] [-6.14578595e-01 7.88851320e-01 -2.59737187e-03 -1.76078601e+02] [-4.37242140e-03 -1.13899256e-04 9.99990434e-01 -4.60757140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.746559995 meters 0.05183579137534539 Centerline is valid? [True, True] Translation: X:590.04, Y:-176.12, Z:-4.61 [[ 7.88833041e-01 6.14598253e-01 3.37930231e-03 5.90041559e+02] [-6.14593204e-01 7.88840272e-01 -2.49375232e-03 -1.76121006e+02] [-4.19838557e-03 -1.09742003e-04 9.99991181e-01 -4.60767331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8065599949999 meters 0.05226995339467994 Centerline is valid? [True, True] Translation: X:590.09, Y:-176.16, Z:-4.61 [[ 7.88743651e-01 6.14716525e-01 2.65449513e-03 5.90091162e+02] [-6.14713409e-01 7.88748113e-01 -1.95916430e-03 -1.76160241e+02] [-3.29805870e-03 -8.64753467e-05 9.99994558e-01 -4.60796574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.866559995 meters 0.05164293389675187 Centerline is valid? [True, True] Translation: X:590.14, Y:-176.20, Z:-4.61 [[ 7.88499707e-01 6.15030690e-01 2.33728665e-03 5.90138743e+02] [-6.15028274e-01 7.88503167e-01 -1.72545494e-03 -1.76200090e+02] [-2.90416567e-03 -7.69766657e-05 9.99995780e-01 -4.60881826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9265599949999 meters 0.05214035508724446 Centerline is valid? [True, True] Translation: X:590.19, Y:-176.24, Z:-4.61 [[ 7.88127316e-01 6.15509908e-01 1.69906816e-03 5.90187512e+02] [-6.15508632e-01 7.88129145e-01 -1.25437654e-03 -1.76236439e+02] [-2.11116633e-03 -5.71827055e-05 9.99997770e-01 -4.60950013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.986559995 meters 0.0518065676032312 Centerline is valid? [True, True] Translation: X:590.24, Y:-176.28, Z:-4.61 [[ 7.87276361e-01 6.16595762e-01 2.36581910e-03 5.90235534e+02] [-6.16593292e-01 7.87279911e-01 -1.74738726e-03 -1.76275040e+02] [-2.93999343e-03 -8.30715050e-05 9.99995675e-01 -4.60852834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0465599949999 meters 0.053812104356885236 Centerline is valid? [True, True] Translation: X:590.29, Y:-176.30, Z:-4.61 [[ 7.86373671e-01 6.17744494e-01 2.86185734e-03 5.90290633e+02] [-6.17740883e-01 7.86378871e-01 -2.11465530e-03 -1.76302411e+02] [-3.55682082e-03 -1.04977029e-04 9.99993669e-01 -4.60949496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.106559995 meters 0.053086603171074304 Centerline is valid? [True, True] Translation: X:590.34, Y:-176.34, Z:-4.61 [[ 7.85437648e-01 6.18932172e-01 3.26604296e-03 5.90338468e+02] [-6.18927479e-01 7.85444429e-01 -2.41349598e-03 -1.76341495e+02] [-4.05908556e-03 -1.25793135e-04 9.99991754e-01 -4.60917772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.166559995 meters 0.05403913093985858 Centerline is valid? [True, True] Translation: X:590.39, Y:-176.38, Z:-4.61 [[ 7.84442412e-01 6.20193844e-01 3.11419690e-03 5.90389697e+02] [-6.20189585e-01 7.84448583e-01 -2.30206704e-03 -1.76375769e+02] [-3.87065515e-03 -1.25553461e-04 9.99992501e-01 -4.60961392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.226559995 meters 0.052571733630085646 Centerline is valid? [True, True] Translation: X:590.44, Y:-176.42, Z:-4.61 [[ 7.83706601e-01 6.21123890e-01 3.01283352e-03 5.90436889e+02] [-6.21119911e-01 7.83712382e-01 -2.22683198e-03 -1.76415828e+02] [-3.74433347e-03 -1.26147962e-04 9.99992982e-01 -4.60983337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.286559995 meters 0.052247324815090326 Centerline is valid? [True, True] Translation: X:590.49, Y:-176.46, Z:-4.61 [[ 7.83373254e-01 6.21542312e-01 3.39109124e-03 5.90485435e+02] [-6.21537273e-01 7.83380580e-01 -2.50699150e-03 -1.76455461e+02] [-4.21471632e-03 -1.43779510e-04 9.99991108e-01 -4.60998238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.346559995 meters 0.05160651354048684 Centerline is valid? [True, True] Translation: X:590.53, Y:-176.50, Z:-4.61 [[ 7.83127652e-01 6.21853182e-01 3.11479188e-03 5.90532637e+02] [-6.21848931e-01 7.83133834e-01 -2.30314739e-03 -1.76495695e+02] [-3.87151844e-03 -1.33271595e-04 9.99992497e-01 -4.61075723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.406559995 meters 0.053388461946000915 Centerline is valid? [True, True] Translation: X:590.59, Y:-176.52, Z:-4.61 [[ 7.83203825e-01 6.21759906e-01 2.52744950e-03 5.90587940e+02] [-6.21757105e-01 7.83207896e-01 -1.86913518e-03 -1.76524350e+02] [-3.14167172e-03 -1.07545865e-04 9.99995059e-01 -4.61267058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4665599949999 meters 0.05269829742771352 Centerline is valid? [True, True] Translation: X:590.63, Y:-176.57, Z:-4.61 [[ 7.83275181e-01 6.21672283e-01 1.88767975e-03 5.90634619e+02] [-6.21670720e-01 7.83277452e-01 -1.39604483e-03 -1.76565168e+02] [-2.34645936e-03 -8.00279641e-05 9.99997244e-01 -4.61332666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.526559995 meters 0.052168772422351066 Centerline is valid? [True, True] Translation: X:590.68, Y:-176.60, Z:-4.61 [[ 7.83647605e-01 6.21202778e-01 1.88150710e-03 5.90684118e+02] [-6.21201224e-01 7.83649860e-01 -1.39177917e-03 -1.76603207e+02] [-2.33901987e-03 -7.81301020e-05 9.99997261e-01 -4.61393437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5865599949999 meters 0.052398116686570524 Centerline is valid? [True, True] Translation: X:590.73, Y:-176.64, Z:-4.61 [[ 7.84615297e-01 6.19979125e-01 2.17260745e-03 5.90732812e+02] [-6.19977045e-01 7.84618300e-01 -1.60807923e-03 -1.76641255e+02] [-2.70164312e-03 -8.52431873e-05 9.99996347e-01 -4.61469786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.646559995 meters 0.05119538255310139 Centerline is valid? [True, True] Translation: X:590.78, Y:-176.69, Z:-4.61 [[ 7.86730019e-01 6.17294165e-01 1.94685704e-03 5.90776630e+02] [-6.17292488e-01 7.86732425e-01 -1.44073439e-03 -1.76685921e+02] [-2.42101250e-03 -6.83112279e-05 9.99997067e-01 -4.61379501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7065599949999 meters 0.05145096819401677 Centerline is valid? [True, True] Translation: X:590.82, Y:-176.72, Z:-4.62 [[ 7.88809965e-01 6.14635033e-01 1.61719380e-03 5.90824562e+02] [-6.14633869e-01 7.88811621e-01 -1.19711649e-03 -1.76724931e+02] [-2.01145099e-03 -4.96846632e-05 9.99997976e-01 -4.61515506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.766559995 meters 0.05135719751551072 Centerline is valid? [True, True] Translation: X:590.87, Y:-176.76, Z:-4.62 [[ 7.90217877e-01 6.12824659e-01 1.28249752e-03 5.90872371e+02] [-6.12823924e-01 7.90218917e-01 -9.49427242e-04 -1.76763308e+02] [-1.59528623e-03 -3.56907848e-05 9.99998727e-01 -4.61592390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8265599949999 meters 0.05200405240835391 Centerline is valid? [True, True] Translation: X:590.92, Y:-176.80, Z:-4.62 [[ 7.91437079e-01 6.11249552e-01 1.15494213e-03 5.90919118e+02] [-6.11248956e-01 7.91437922e-01 -8.54458098e-04 -1.76802935e+02] [-1.43635213e-03 -2.97073472e-05 9.99998968e-01 -4.61571424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.886559995 meters 0.05173560160067717 Centerline is valid? [True, True] Translation: X:590.97, Y:-176.84, Z:-4.62 [[ 7.92876202e-01 6.09381290e-01 1.33121026e-03 5.90967893e+02] [-6.09380493e-01 7.92877319e-01 -9.85713948e-04 -1.76838730e+02] [-1.65616206e-03 -2.96644337e-05 9.99998628e-01 -4.61697813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9465599949999 meters 0.05204093746133526 Centerline is valid? [True, True] Translation: X:591.02, Y:-176.88, Z:-4.62 [[ 7.93575750e-01 6.08470146e-01 1.26888859e-03 5.91017055e+02] [-6.08469422e-01 7.93576764e-01 -9.39057088e-04 -1.76875021e+02] [-1.57834870e-03 -2.68669739e-05 9.99998754e-01 -4.61754152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.006559995 meters 0.05183625655573342 Centerline is valid? [True, True] Translation: X:591.07, Y:-176.92, Z:-4.62 [[ 7.93668584e-01 6.08349717e-01 8.94628540e-04 5.91065155e+02] [-6.08349357e-01 7.93669088e-01 -6.61739729e-04 -1.76916109e+02] [-1.11260819e-03 -1.90446636e-05 9.99999381e-01 -4.61652022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0665599949999 meters 0.052271164720484486 Centerline is valid? [True, True] Translation: X:591.11, Y:-176.95, Z:-4.62 [[ 7.93782179e-01 6.08201286e-01 1.02401695e-03 5.91114378e+02] [-6.08200814e-01 7.93782839e-01 -7.57998277e-04 -1.76951662e+02] [-1.27386261e-03 -2.11224200e-05 9.99999188e-01 -4.61772799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.126559995 meters 0.051957327883945026 Centerline is valid? [True, True] Translation: X:591.16, Y:-176.99, Z:-4.62 [[ 7.93540515e-01 6.08516773e-01 8.87367017e-04 5.91162995e+02] [-6.08516419e-01 7.93541011e-01 -6.56653361e-04 -1.76991277e+02] [-1.10374670e-03 -1.88963532e-05 9.99999391e-01 -4.61736438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1865599949999 meters 0.05177054033091918 Centerline is valid? [True, True] Translation: X:591.21, Y:-177.03, Z:-4.62 [[ 7.93316001e-01 6.08809877e-01 5.06903331e-04 5.91213872e+02] [-6.08809761e-01 7.93316163e-01 -3.74913218e-04 -1.77025002e+02] [-6.30385475e-04 -1.11830409e-05 9.99999801e-01 -4.61907069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.246559995 meters 0.051503879335576555 Centerline is valid? [True, True] Translation: X:591.26, Y:-177.06, Z:-4.62 [[ 7.93735845e-01 6.08262608e-01 -8.49753476e-05 5.91263397e+02] [-6.08262605e-01 7.93735850e-01 6.40360641e-05 -1.77063265e+02] [ 1.06398723e-04 8.59606819e-07 9.99999994e-01 -4.61902138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3065599949999 meters 0.051700887874960764 Centerline is valid? [True, True] Translation: X:591.31, Y:-177.10, Z:-4.62 [[ 7.94493036e-01 6.07273250e-01 -1.25402949e-04 5.91312587e+02] [-6.07273243e-01 7.94493046e-01 9.40643626e-05 -1.77101823e+02] [ 1.56754542e-04 1.42037464e-06 9.99999988e-01 -4.61847632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.366559995 meters 0.05244940875289325 Centerline is valid? [True, True] Translation: X:591.36, Y:-177.14, Z:-4.62 [[ 7.95636970e-01 6.05773682e-01 -2.43081701e-04 5.91362295e+02] [-6.05773655e-01 7.95637007e-01 1.81407037e-04 -1.77139179e+02] [ 3.03296406e-04 2.91834520e-06 9.99999954e-01 -4.61884901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4265599949999 meters 0.05197774524124286 Centerline is valid? [True, True] Translation: X:591.41, Y:-177.18, Z:-4.62 [[ 7.97884761e-01 6.02809682e-01 -6.28846343e-04 5.91411699e+02] [-6.02809501e-01 7.97885009e-01 4.67025664e-04 -1.77176321e+02] [ 7.83274662e-04 6.44189042e-06 9.99999693e-01 -4.61913529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.486559995 meters 0.05197032309828778 Centerline is valid? [True, True] Translation: X:591.46, Y:-177.21, Z:-4.62 [[ 8.00077564e-01 5.99895766e-01 -9.81159478e-04 5.91460270e+02] [-5.99895322e-01 8.00078165e-01 7.29226096e-04 -1.77213222e+02] [ 1.22246392e-03 5.15554338e-06 9.99999253e-01 -4.61962400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5465599949999 meters 0.0523020447420845 Centerline is valid? [True, True] Translation: X:591.51, Y:-177.25, Z:-4.62 [[ 8.01509828e-01 5.97980827e-01 -9.62746058e-04 5.91508742e+02] [-5.97980399e-01 8.01510406e-01 7.15228919e-04 -1.77250275e+02] [ 1.19934416e-03 2.44026492e-06 9.99999281e-01 -4.62046016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.606559995 meters 0.052514045916415474 Centerline is valid? [True, True] Translation: X:591.56, Y:-177.29, Z:-4.62 [[ 8.02821299e-01 5.96218055e-01 -1.41169516e-03 5.91558575e+02] [-5.96217132e-01 8.02822540e-01 1.04895129e-03 -1.77288035e+02] [ 1.75874439e-03 -4.43597563e-07 9.99998453e-01 -4.61900969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.666559995 meters 0.05240214991634663 Centerline is valid? [True, True] Translation: X:591.61, Y:-177.32, Z:-4.62 [[ 8.03186270e-01 5.95724336e-01 -2.08127871e-03 5.91609151e+02] [-5.95722328e-01 8.03188966e-01 1.54672362e-03 -1.77324205e+02] [ 2.59308100e-03 -2.44297472e-06 9.99996638e-01 -4.61883210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.726559995 meters 0.05255121463963202 Centerline is valid? [True, True] Translation: X:591.66, Y:-177.36, Z:-4.62 [[ 8.02634678e-01 5.96466468e-01 -2.30783785e-03 5.91659573e+02] [-5.96464001e-01 8.02637996e-01 1.71548798e-03 -1.77360936e+02] [ 2.87558940e-03 -3.67947674e-07 9.99995865e-01 -4.61956515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.786559995 meters 0.052688676803083215 Centerline is valid? [True, True] Translation: X:591.71, Y:-177.40, Z:-4.62 [[ 8.01540555e-01 5.97937811e-01 -1.76429367e-03 5.91710623e+02] [-5.97936372e-01 8.01542497e-01 1.31190407e-03 -1.77396514e+02] [ 2.19859340e-03 3.39104333e-06 9.99997583e-01 -4.61936422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.846559995 meters 0.05270452545052878 Centerline is valid? [True, True] Translation: X:591.76, Y:-177.43, Z:-4.62 [[ 8.00736782e-01 5.99015522e-01 -1.00516715e-03 5.91761129e+02] [-5.99015055e-01 8.00737413e-01 7.48062508e-04 -1.77432518e+02] [ 1.25297600e-03 3.10908937e-06 9.99999215e-01 -4.61861196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.906559995 meters 0.05190352614292477 Centerline is valid? [True, True] Translation: X:591.81, Y:-177.47, Z:-4.62 [[ 7.99186285e-01 6.01083137e-01 -5.86278732e-04 5.91811784e+02] [-6.01082979e-01 7.99186500e-01 4.36337944e-04 -1.77467186e+02] [ 7.30821428e-04 3.68686625e-06 9.99999733e-01 -4.61906441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9665599949999 meters 0.05212859364735164 Centerline is valid? [True, True] Translation: X:591.86, Y:-177.51, Z:-4.62 [[ 7.97823216e-01 6.02891350e-01 -3.69848877e-04 5.91860545e+02] [-6.02891286e-01 7.97823302e-01 2.75970617e-04 -1.77505856e+02] [ 4.61454350e-04 2.80290031e-06 9.99999894e-01 -4.61610968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.026559995 meters 0.05162204287815253 Centerline is valid? [True, True] Translation: X:591.91, Y:-177.54, Z:-4.62 [[ 7.95564476e-01 6.05868835e-01 -3.44546785e-04 5.91913808e+02] [-6.05868781e-01 7.95564551e-01 2.56530531e-04 -1.77537886e+02] [ 4.29533062e-04 4.66356290e-06 9.99999908e-01 -4.61986103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0865599949999 meters 0.0518989984534655 Centerline is valid? [True, True] Translation: X:591.96, Y:-177.57, Z:-4.62 [[ 7.93874996e-01 6.08080956e-01 -2.04173273e-04 5.91963114e+02] [-6.08080937e-01 7.93875022e-01 1.52800616e-04 -1.77574749e+02] [ 2.55003206e-04 2.84928714e-06 9.99999967e-01 -4.61909125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.146559995 meters 0.052767354910935066 Centerline is valid? [True, True] Translation: X:592.02, Y:-177.61, Z:-4.62 [[ 7.91106014e-01 6.11678864e-01 -4.91422647e-04 5.92015754e+02] [-6.11678755e-01 7.91106167e-01 3.66378187e-04 -1.77605845e+02] [ 6.12873279e-04 1.07488056e-05 9.99999812e-01 -4.62240128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2065599949999 meters 0.05272105415769011 Centerline is valid? [True, True] Translation: X:592.06, Y:-177.64, Z:-4.62 [[ 7.89429789e-01 6.13839893e-01 -1.09258360e-03 5.92064776e+02] [-6.13839354e-01 7.89430545e-01 8.13634824e-04 -1.77642354e+02] [ 1.36196038e-03 2.83632447e-05 9.99999072e-01 -4.62278340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.266559995 meters 0.05203422979338706 Centerline is valid? [True, True] Translation: X:592.11, Y:-177.68, Z:-4.62 [[ 7.88240740e-01 6.15365335e-01 -1.42866925e-03 5.92111172e+02] [-6.15364417e-01 7.88242033e-01 1.06348479e-03 -1.77683528e+02] [ 1.78056882e-03 4.08701826e-05 9.99998414e-01 -4.62043598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3265599949999 meters 0.05188690170860536 Centerline is valid? [True, True] Translation: X:592.16, Y:-177.72, Z:-4.62 [[ 7.88045719e-01 6.15615531e-01 -1.20929936e-03 5.92162347e+02] [-6.15614873e-01 7.88046646e-01 9.01100497e-04 -1.77718291e+02] [ 1.50771577e-03 3.43542817e-05 9.99998863e-01 -4.62195436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.386559995 meters 0.0519817762017271 Centerline is valid? [True, True] Translation: X:592.21, Y:-177.75, Z:-4.62 [[ 7.88601420e-01 6.14904704e-01 7.54790362e-05 5.92212183e+02] [-6.14904701e-01 7.88601424e-01 -5.52590891e-05 -1.77753260e+02] [-9.35019495e-05 -2.83501809e-06 9.99999996e-01 -4.62306357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4465599949999 meters 0.05159933051797241 Centerline is valid? [True, True] Translation: X:592.26, Y:-177.79, Z:-4.62 [[ 7.89036228e-01 6.14346433e-01 5.39201456e-04 5.92259518e+02] [-6.14346302e-01 7.89036413e-01 -4.00447171e-04 -1.77793998e+02] [-6.71462874e-04 -1.52890956e-05 9.99999774e-01 -4.62258502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.506559995 meters 0.05243943748684979 Centerline is valid? [True, True] Translation: X:592.31, Y:-177.83, Z:-4.62 [[ 7.88356910e-01 6.15217770e-01 -6.91385670e-04 5.92306812e+02] [-6.15217555e-01 7.88357213e-01 5.15111067e-04 -1.77834634e+02] [ 8.61964361e-04 1.92612322e-05 9.99999628e-01 -4.62235254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5665599949999 meters 0.052799593279351346 Centerline is valid? [True, True] Translation: X:592.36, Y:-177.86, Z:-4.63 [[ 7.87068280e-01 6.16865050e-01 -1.01623213e-03 5.92361824e+02] [-6.16864585e-01 7.87068936e-01 7.57824712e-04 -1.77863284e+02] [ 1.26732032e-03 3.04178199e-05 9.99999196e-01 -4.62690566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.626559995 meters 0.05215665962335676 Centerline is valid? [True, True] Translation: X:592.41, Y:-177.90, Z:-4.63 [[ 7.86928877e-01 6.17043287e-01 -7.24101809e-04 5.92413459e+02] [-6.17043050e-01 7.86929210e-01 5.40511479e-04 -1.77899009e+02] [ 9.03335844e-04 2.14578973e-05 9.99999592e-01 -4.62824238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6865599949999 meters 0.05210475472495021 Centerline is valid? [True, True] Translation: X:592.46, Y:-177.94, Z:-4.63 [[ 7.88591564e-01 6.14917085e-01 5.68481984e-04 5.92459155e+02] [-6.14916939e-01 7.88591769e-01 -4.23360937e-04 -1.77940896e+02] [-7.08632087e-04 -1.57103378e-05 9.99999749e-01 -4.62596189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.746559995 meters 0.051579015325122504 Centerline is valid? [True, True] Translation: X:592.51, Y:-177.98, Z:-4.62 [[ 7.90700245e-01 6.12201659e-01 1.50033302e-03 5.92505657e+02] [-6.12200640e-01 7.90701668e-01 -1.11752340e-03 -1.77981874e+02] [-1.87046550e-03 -3.48788064e-05 9.99998250e-01 -4.62488612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8065599949999 meters 0.0522440408786959 Centerline is valid? [True, True] Translation: X:592.56, Y:-178.02, Z:-4.63 [[ 7.91807593e-01 6.10769263e-01 1.28165744e-03 5.92556589e+02] [-6.10768519e-01 7.91808630e-01 -9.54091878e-04 -1.78016403e+02] [-1.59755742e-03 -2.73388254e-05 9.99998724e-01 -4.62689386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.866559995 meters 0.051521598691343255 Centerline is valid? [True, True] Translation: X:592.60, Y:-178.06, Z:-4.63 [[ 7.93182963e-01 6.08982696e-01 9.29182123e-04 5.92603675e+02] [-6.08982304e-01 7.93183507e-01 -6.91581997e-04 -1.78056693e+02] [-1.15817340e-03 -1.73044123e-05 9.99999329e-01 -4.62699779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9265599949999 meters 0.05175925404538189 Centerline is valid? [True, True] Translation: X:592.65, Y:-178.09, Z:-4.63 [[ 7.94008278e-01 6.07906387e-01 8.24261499e-04 5.92653320e+02] [-6.07906078e-01 7.94008705e-01 -6.13584967e-04 -1.78092019e+02] [-1.02747303e-03 -1.38820312e-05 9.99999472e-01 -4.62888896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.986559995 meters 0.05149946518729554 Centerline is valid? [True, True] Translation: X:592.70, Y:-178.13, Z:-4.63 [[ 7.94000297e-01 6.07916869e-01 7.79740023e-04 5.92702052e+02] [-6.07916593e-01 7.94000680e-01 -5.80298413e-04 -1.78131863e+02] [-9.71887303e-04 -1.32597854e-05 9.99999528e-01 -4.62742872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0465599949999 meters 0.05188295218419341 Centerline is valid? [True, True] Translation: X:592.75, Y:-178.17, Z:-4.63 [[ 7.93883075e-01 6.08070324e-01 -3.80044392e-04 5.92751813e+02] [-6.08070257e-01 7.93883166e-01 2.84533715e-04 -1.78168998e+02] [ 4.74727352e-04 5.20719064e-06 9.99999887e-01 -4.62818274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.106559995 meters 0.05179083271095778 Centerline is valid? [True, True] Translation: X:592.80, Y:-178.20, Z:-4.63 [[ 7.93552374e-01 6.08501691e-01 -5.67256754e-04 5.92804281e+02] [-6.08501543e-01 7.93552577e-01 4.23748388e-04 -1.78201496e+02] [ 7.07999669e-04 8.91007103e-06 9.99999749e-01 -4.63161258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.166559995 meters 0.05196808791306373 Centerline is valid? [True, True] Translation: X:592.85, Y:-178.24, Z:-4.63 [[ 7.94049764e-01 6.07852635e-01 3.81798498e-04 5.92851615e+02] [-6.07852569e-01 7.94049856e-01 -2.83854151e-04 -1.78241468e+02] [-4.75708536e-04 -6.68287625e-06 9.99999887e-01 -4.62877567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.226559995 meters 0.05183325748147549 Centerline is valid? [True, True] Translation: X:592.90, Y:-178.28, Z:-4.63 [[ 7.95470090e-01 6.05990809e-01 1.57351696e-03 5.92900979e+02] [-6.05989673e-01 7.95471646e-01 -1.17334599e-03 -1.78278199e+02] [-1.96272501e-03 -2.01733889e-05 9.99998074e-01 -4.62927082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.286559995 meters 0.05179337091446134 Centerline is valid? [True, True] Translation: X:592.95, Y:-178.32, Z:-4.63 [[ 7.98525484e-01 6.01954582e-01 2.78056498e-03 5.92948156e+02] [-6.01951006e-01 7.98530325e-01 -2.07499953e-03 -1.78315484e+02] [-3.46942094e-03 -1.68238832e-05 9.99993981e-01 -4.63016465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.346559995 meters 0.05155705937711771 Centerline is valid? [True, True] Translation: X:593.00, Y:-178.36, Z:-4.63 [[ 8.01525857e-01 5.97952514e-01 3.01523280e-03 5.92996416e+02] [-5.97948279e-01 8.01531529e-01 -2.25041676e-03 -1.78355643e+02] [-3.76244651e-03 8.13957701e-07 9.99992922e-01 -4.62970208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.406559995 meters 0.05185730401096085 Centerline is valid? [True, True] Translation: X:593.05, Y:-178.39, Z:-4.63 [[ 8.02914116e-01 5.96088980e-01 2.61737931e-03 5.93046294e+02] [-5.96085780e-01 8.02918382e-01 -1.95320765e-03 -1.78392607e+02] [-3.26582751e-03 8.07540703e-06 9.99994667e-01 -4.63081714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4665599949999 meters 0.052006141500429974 Centerline is valid? [True, True] Translation: X:593.10, Y:-178.43, Z:-4.63 [[ 8.04601623e-01 5.93812134e-01 1.83763953e-03 5.93095192e+02] [-5.93810551e-01 8.04603722e-01 -1.37139699e-03 -1.78429063e+02] [-2.29292378e-03 1.22185026e-05 9.99997371e-01 -4.63308861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.526559995 meters 0.05198415583534871 Centerline is valid? [True, True] Translation: X:593.14, Y:-178.46, Z:-4.63 [[ 8.05736911e-01 5.92270336e-01 1.96950849e-03 5.93144963e+02] [-5.92268511e-01 8.05739318e-01 -1.47048727e-03 -1.78463964e+02] [-2.45783642e-03 1.83480143e-05 9.99996979e-01 -4.63115443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5865599949999 meters 0.05269312595290965 Centerline is valid? [True, True] Translation: X:593.20, Y:-178.50, Z:-4.63 [[ 8.06988310e-01 5.90563553e-01 2.13479336e-03 5.93195869e+02] [-5.90561403e-01 8.06991133e-01 -1.59388746e-03 -1.78498800e+02] [-2.66405116e-03 2.55219804e-05 9.99996451e-01 -4.63042904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.646559995 meters 0.0527233847751734 Centerline is valid? [True, True] Translation: X:593.25, Y:-178.53, Z:-4.63 [[ 8.07270572e-01 5.90180473e-01 1.11064292e-03 5.93245956e+02] [-5.90179891e-01 8.07271336e-01 -8.28958027e-04 -1.78533225e+02] [-1.38582504e-03 1.37143016e-05 9.99999040e-01 -4.63166478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7065599949999 meters 0.05269420829166305 Centerline is valid? [True, True] Translation: X:593.30, Y:-178.57, Z:-4.63 [[ 8.06152345e-01 5.91707950e-01 3.13569078e-04 5.93296877e+02] [-5.91707904e-01 8.06152406e-01 -2.33733149e-04 -1.78569681e+02] [-3.91086229e-04 2.88322434e-06 9.99999924e-01 -4.63347103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.766559995 meters 0.0523009989415096 Centerline is valid? [True, True] Translation: X:593.35, Y:-178.61, Z:-4.63 [[ 8.04523159e-01 5.93921140e-01 4.07717543e-04 5.93348032e+02] [-5.93921062e-01 8.04523262e-01 -3.04174487e-04 -1.78605557e+02] [-5.08673906e-04 2.56338277e-06 9.99999871e-01 -4.63417815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8265599949999 meters 0.05284897335282125 Centerline is valid? [True, True] Translation: X:593.40, Y:-178.64, Z:-4.63 [[ 8.01050844e-01 5.98596249e-01 2.74493067e-04 5.93400929e+02] [-5.98596214e-01 8.01050891e-01 -2.04591679e-04 -1.78637408e+02] [-3.42350728e-04 -4.22173228e-07 9.99999941e-01 -4.63238899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.886559995 meters 0.05220508652342218 Centerline is valid? [True, True] Translation: X:593.45, Y:-178.67, Z:-4.64 [[ 7.97946677e-01 6.02728048e-01 -3.38469890e-05 5.93453944e+02] [-6.02728048e-01 7.97946677e-01 2.56612867e-05 -1.78670612e+02] [ 4.24748694e-05 -7.58088767e-08 9.99999999e-01 -4.63522840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9465599949999 meters 0.05249751240318956 Centerline is valid? [True, True] Translation: X:593.51, Y:-178.70, Z:-4.63 [[ 7.92941550e-01 6.09297699e-01 1.09211506e-04 5.93505345e+02] [-6.09297694e-01 7.92941558e-01 -8.13728733e-05 -1.78703956e+02] [-1.36178647e-04 -2.01838660e-06 9.99999991e-01 -4.63374289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.006559995 meters 0.052408780811620155 Centerline is valid? [True, True] Translation: X:593.56, Y:-178.73, Z:-4.63 [[ 7.89871210e-01 6.13272462e-01 5.98793803e-04 5.93557664e+02] [-6.13272299e-01 7.89871437e-01 -4.47620849e-04 -1.78734923e+02] [-7.47483662e-04 -1.36608300e-05 9.99999721e-01 -4.63497100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0665599949999 meters 0.053318654997378555 Centerline is valid? [True, True] Translation: X:593.61, Y:-178.76, Z:-4.64 [[ 7.86364203e-01 6.17761773e-01 1.31591200e-03 5.93610157e+02] [-6.17760992e-01 7.86365303e-01 -9.83626216e-04 -1.78764217e+02] [-1.64243421e-03 -3.94306542e-05 9.99998650e-01 -4.63558619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.126559995 meters 0.05457293726145472 Centerline is valid? [True, True] Translation: X:593.66, Y:-178.80, Z:-4.64 [[ 7.84222504e-01 6.20479144e-01 8.34170267e-04 5.93662151e+02] [-6.20478831e-01 7.84222947e-01 -6.23637485e-04 -1.78795935e+02] [-1.04112952e-03 -2.85144425e-05 9.99999458e-01 -4.63739146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1865599949999 meters 0.05260786135787928 Centerline is valid? [True, True] Translation: X:593.71, Y:-178.84, Z:-4.64 [[ 7.83144317e-01 6.21839610e-01 6.90838678e-04 5.93708727e+02] [-6.21839397e-01 7.83144622e-01 -5.15752707e-04 -1.78836615e+02] [-8.61742058e-04 -2.56819054e-05 9.99999628e-01 -4.63689216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.246559995 meters 0.052817417967359524 Centerline is valid? [True, True] Translation: X:593.76, Y:-178.87, Z:-4.64 [[ 7.82679832e-01 6.22424311e-01 5.07184676e-04 5.93758964e+02] [-6.22424196e-01 7.82679996e-01 -3.78417566e-04 -1.78873559e+02] [-6.32499594e-04 -1.95042171e-05 9.99999800e-01 -4.63758686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3065599949999 meters 0.05284508699550883 Centerline is valid? [True, True] Translation: X:593.81, Y:-178.91, Z:-4.64 [[ 7.83115607e-01 6.21876143e-01 9.40094798e-05 5.93805795e+02] [-6.21876139e-01 7.83115612e-01 -6.93533626e-05 -1.78914005e+02] [-1.16749493e-04 -4.15055179e-06 9.99999993e-01 -4.63839340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.366559995 meters 0.052618528802229274 Centerline is valid? [True, True] Translation: X:593.85, Y:-178.96, Z:-4.64 [[ 7.86982985e-01 6.16974627e-01 -3.03167638e-04 5.93849588e+02] [-6.16974585e-01 7.86983043e-01 2.27049240e-04 -1.78957752e+02] [ 3.78671410e-04 8.36283895e-06 9.99999928e-01 -4.63799240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4265599949999 meters 0.05271716677370135 Centerline is valid? [True, True] Translation: X:593.90, Y:-179.00, Z:-4.64 [[ 7.91008873e-01 6.11804646e-01 -1.95260021e-04 5.93896259e+02] [-6.11804628e-01 7.91008897e-01 1.47010016e-04 -1.78995514e+02] [ 2.44393825e-04 3.17475785e-06 9.99999970e-01 -4.63862416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.486559995 meters 0.05243097085685989 Centerline is valid? [True, True] Translation: X:593.94, Y:-179.04, Z:-4.64 [[ 7.98476527e-01 6.02024967e-01 1.08389007e-03 5.93940229e+02] [-6.02024421e-01 7.98477262e-01 -8.10935275e-04 -1.79039547e+02] [-1.35366486e-03 -5.01551131e-06 9.99999084e-01 -4.63729567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5465599949999 meters 0.05256147921732528 Centerline is valid? [True, True] Translation: X:593.99, Y:-179.08, Z:-4.64 [[ 8.03753470e-01 5.94959569e-01 1.86310350e-03 5.93986157e+02] [-5.94957937e-01 8.03755629e-01 -1.39356568e-03 -1.79080777e+02] [-2.32659516e-03 1.16150329e-05 9.99997293e-01 -4.63830239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.606559995 meters 0.053002992222034494 Centerline is valid? [True, True] Translation: X:594.03, Y:-179.13, Z:-4.64 [[ 8.11373392e-01 5.84519701e-01 3.15249876e-03 5.94029465e+02] [-5.84514942e-01 8.11379513e-01 -2.35986311e-03 -1.79125118e+02] [-3.93725939e-03 7.20475081e-05 9.99992246e-01 -4.63806600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.666559995 meters 0.05354628091977466 Centerline is valid? [True, True] Translation: X:594.08, Y:-179.16, Z:-4.64 [[ 8.15655374e-01 5.78532139e-01 2.62211232e-03 5.94078742e+02] [-5.78528815e-01 8.15659584e-01 -1.96297847e-03 -1.79159518e+02] [-3.27439717e-03 8.41464040e-05 9.99994636e-01 -4.63829712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.726559995 meters 0.05437465485280459 Centerline is valid? [True, True] Translation: X:594.13, Y:-179.20, Z:-4.64 [[ 8.21321608e-01 5.70460789e-01 2.30328599e-03 5.94127790e+02] [-5.70458192e-01 8.21324831e-01 -1.72418384e-03 -1.79197012e+02] [-2.87532525e-03 1.02181084e-04 9.99995861e-01 -4.63937025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.786559995 meters 0.05471686979388981 Centerline is valid? [True, True] Translation: X:594.18, Y:-179.23, Z:-4.64 [[ 8.24181611e-01 5.66320600e-01 2.37720541e-03 5.94178106e+02] [-5.66317816e-01 8.24185030e-01 -1.77962028e-03 -1.79231826e+02] [-2.96709273e-03 1.20476531e-04 9.99995591e-01 -4.63906866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.846559995 meters 0.05426294449339592 Centerline is valid? [True, True] Translation: X:594.23, Y:-179.26, Z:-4.64 [[ 8.27509303e-01 5.61440478e-01 3.59768653e-03 5.94232127e+02] [-5.61434056e-01 8.27517097e-01 -2.69343132e-03 -1.79263086e+02] [-4.48934848e-03 2.08975731e-04 9.99989901e-01 -4.63845462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.906559995 meters 0.05498543673132815 Centerline is valid? [True, True] Translation: X:594.28, Y:-179.30, Z:-4.64 [[ 8.28688481e-01 5.59693344e-01 4.33161965e-03 5.94284219e+02] [-5.59684005e-01 8.28699760e-01 -3.24394977e-03 -1.79295641e+02] [-5.40522926e-03 2.63885572e-04 9.99985357e-01 -4.64039425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9665599949999 meters 0.05562415867464765 Centerline is valid? [True, True] Translation: X:594.33, Y:-179.34, Z:-4.64 [[ 8.27628949e-01 5.61261996e-01 3.91086618e-03 5.94328528e+02] [-5.61254401e-01 8.27638157e-01 -2.92882309e-03 -1.79337514e+02] [-4.88061917e-03 2.28987926e-04 9.99988063e-01 -4.64168486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.026559995 meters 0.05537257691195536 Centerline is valid? [True, True] Translation: X:594.38, Y:-179.37, Z:-4.64 [[ 8.23121103e-01 5.67845118e-01 4.85514445e-03 5.94384005e+02] [-5.67833520e-01 8.23135388e-01 -3.63696338e-03 -1.79365724e+02] [-6.06167311e-03 2.36747548e-04 9.99981600e-01 -4.64200219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0865599949999 meters 0.05478051877917409 Centerline is valid? [True, True] Translation: X:594.44, Y:-179.39, Z:-4.64 [[ 8.15620239e-01 5.78568310e-01 4.72614330e-03 5.94439038e+02] [-5.78557498e-01 8.15633917e-01 -3.54047542e-03 -1.79393541e+02] [-5.90320965e-03 1.53337769e-04 9.99982564e-01 -4.64300022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.146559995 meters 0.05414068829351016 Centerline is valid? [True, True] Translation: X:594.50, Y:-179.42, Z:-4.64 [[ 8.09966563e-01 5.86461971e-01 4.06500181e-03 5.94495571e+02] [-5.86454067e-01 8.09976759e-01 -3.04580771e-03 -1.79420317e+02] [-5.07880738e-03 8.30655578e-05 9.99987099e-01 -4.64427509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2065599949999 meters 0.054302817689920624 Centerline is valid? [True, True] Translation: X:594.55, Y:-179.45, Z:-4.65 [[ 8.02696862e-01 5.96376421e-01 3.59352164e-03 5.94552547e+02] [-5.96370342e-01 8.02704905e-01 -2.69268940e-03 -1.79445026e+02] [-4.49039392e-03 1.83435991e-05 9.99989918e-01 -4.64526373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.266559995 meters 0.053390936329339965 Centerline is valid? [True, True] Translation: X:594.61, Y:-179.47, Z:-4.65 [[ 7.98429438e-01 6.02069399e-01 4.78241960e-03 5.94608820e+02] [-6.02058734e-01 7.98443761e-01 -3.58354727e-03 -1.79473636e+02] [-5.97603724e-03 -1.80878528e-05 9.99982143e-01 -4.64593607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3265599949999 meters 0.05339496132348499 Centerline is valid? [True, True] Translation: X:594.66, Y:-179.51, Z:-4.65 [[ 7.97162171e-01 6.03749805e-01 4.31824772e-03 5.94659887e+02] [-6.03741134e-01 7.97173866e-01 -3.23581557e-03 -1.79506741e+02] [-5.39601725e-03 -2.76340159e-05 9.99985441e-01 -4.64647998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.386559995 meters 0.053736884877215466 Centerline is valid? [True, True] Translation: X:594.71, Y:-179.54, Z:-4.65 [[ 7.97360676e-01 6.03495690e-01 2.98418576e-03 5.94714337e+02] [-6.03491546e-01 7.97366260e-01 -2.23644750e-03 -1.79539501e+02] [-3.72917547e-03 -1.76755856e-05 9.99993046e-01 -4.64886270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4465599949999 meters 0.05325574502735903 Centerline is valid? [True, True] Translation: X:594.76, Y:-179.57, Z:-4.65 [[ 7.98832263e-01 6.01550531e-01 1.99360496e-03 5.94764687e+02] [-6.01548675e-01 7.98834750e-01 -1.49423205e-03 -1.79573924e+02] [-2.49141701e-03 -5.60965446e-06 9.99996896e-01 -4.65137420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.506559995 meters 0.05439086480400341 Centerline is valid? [True, True] Translation: X:594.81, Y:-179.61, Z:-4.65 [[ 8.03013167e-01 5.95959317e-01 1.53153727e-03 5.94814258e+02] [-5.95958211e-01 8.03014628e-01 -1.14807171e-03 -1.79611153e+02] [-1.91405086e-03 9.18449092e-06 9.99998168e-01 -4.65135623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5665599949999 meters 0.05441027208647679 Centerline is valid? [True, True] Translation: X:594.86, Y:-179.65, Z:-4.65 [[ 8.09407613e-01 5.87244185e-01 1.89328276e-03 5.94862771e+02] [-5.87242470e-01 8.09409826e-01 -1.41966111e-03 -1.79648460e+02] [-2.36612940e-03 3.72684701e-05 9.99997200e-01 -4.65095427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.626559995 meters 0.0545333628599892 Centerline is valid? [True, True] Translation: X:594.91, Y:-179.69, Z:-4.65 [[ 8.13624169e-01 5.81387744e-01 2.00052205e-03 5.94911687e+02] [-5.81385812e-01 8.13626626e-01 -1.50006909e-03 -1.79685018e+02] [-2.49979979e-03 5.74173280e-05 9.99996874e-01 -4.65107485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6865599949999 meters 0.05472349721802193 Centerline is valid? [True, True] Translation: X:594.96, Y:-179.72, Z:-4.65 [[ 8.17104263e-01 5.76485302e-01 2.30627459e-03 5.94960281e+02] [-5.76482715e-01 8.17107514e-01 -1.72935731e-03 -1.79722641e+02] [-2.88142337e-03 8.35377961e-05 9.99995845e-01 -4.65154267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.746559995 meters 0.05566937715084071 Centerline is valid? [True, True] Translation: X:595.01, Y:-179.76, Z:-4.65 [[ 8.19147737e-01 5.73577379e-01 2.44443707e-03 5.95006529e+02] [-5.73574458e-01 8.19151378e-01 -1.83316818e-03 -1.79760651e+02] [-3.05382779e-03 9.95689010e-05 9.99995332e-01 -4.65314506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8065599949999 meters 0.05599526460356591 Centerline is valid? [True, True] Translation: X:595.06, Y:-179.79, Z:-4.65 [[ 8.17335317e-01 5.76157208e-01 2.41890296e-03 5.95062223e+02] [-5.76154359e-01 8.17338892e-01 -1.81391262e-03 -1.79788254e+02] [-3.02216229e-03 8.89133603e-05 9.99995429e-01 -4.65304245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.866559995 meters 0.055239148290044275 Centerline is valid? [True, True] Translation: X:595.11, Y:-179.82, Z:-4.65 [[ 8.14558019e-01 5.80076451e-01 2.55824109e-03 5.95114024e+02] [-5.80073284e-01 8.14562032e-01 -1.91853416e-03 -1.79821539e+02] [-3.19674255e-03 7.87900731e-05 9.99994887e-01 -4.65334143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9265599949999 meters 0.054584190099915296 Centerline is valid? [True, True] Translation: X:595.17, Y:-179.85, Z:-4.65 [[ 8.08580592e-01 5.88380127e-01 2.50040704e-03 5.95168443e+02] [-5.88377141e-01 8.08584457e-01 -1.87522322e-03 -1.79851781e+02] [-3.12513435e-03 4.50867541e-05 9.99995116e-01 -4.65332564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.986559995 meters 0.05510341402065269 Centerline is valid? [True, True] Translation: X:595.22, Y:-179.89, Z:-4.65 [[ 8.03997842e-01 5.94627520e-01 2.36283848e-03 5.95218675e+02] [-5.94624879e-01 8.04001314e-01 -1.77219770e-03 -1.79885532e+02] [-2.95352276e-03 1.98405814e-05 9.99995638e-01 -4.65449204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0465599949999 meters 0.05515213801223684 Centerline is valid? [True, True] Translation: X:595.27, Y:-179.92, Z:-4.65 [[ 7.98036412e-01 6.02601202e-01 3.11077465e-03 5.95271733e+02] [-6.02596685e-01 7.98042475e-01 -2.33315382e-03 -1.79918321e+02] [-3.88849159e-03 -1.26007890e-05 9.99992440e-01 -4.65491599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.106559995 meters 0.054584809526747956 Centerline is valid? [True, True] Translation: X:595.32, Y:-179.95, Z:-4.66 [[ 7.96316386e-01 6.04872454e-01 3.08660448e-03 5.95322979e+02] [-6.04868024e-01 7.96322368e-01 -2.31517546e-03 -1.79953243e+02] [-3.85831805e-03 -2.33762002e-05 9.99992556e-01 -4.65643284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.166559995 meters 0.05440995658533592 Centerline is valid? [True, True] Translation: X:595.37, Y:-179.99, Z:-4.66 [[ 7.92170814e-01 6.10294000e-01 2.57585417e-03 5.95373150e+02] [-6.10290942e-01 7.92175001e-01 -1.93240591e-03 -1.79986557e+02] [-3.21986301e-03 -4.12249044e-05 9.99994815e-01 -4.65699012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.226559995 meters 0.054584707090852516 Centerline is valid? [True, True] Translation: X:595.42, Y:-180.02, Z:-4.66 [[ 7.89999191e-01 6.13103223e-01 2.39080038e-03 5.95424485e+02] [-6.13100602e-01 7.90002807e-01 -1.79335129e-03 -1.80021544e+02] [-2.98824846e-03 -4.90550821e-05 9.99995534e-01 -4.65805882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.286559995 meters 0.05480592028287979 Centerline is valid? [True, True] Translation: X:595.47, Y:-180.06, Z:-4.66 [[ 7.87319324e-01 6.16540824e-01 2.38642339e-03 5.95474209e+02] [-6.16538227e-01 7.87322938e-01 -1.79040425e-03 -1.80055785e+02] [-2.98274319e-03 -6.17013830e-05 9.99995550e-01 -4.65948929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.346559995 meters 0.05445339826810276 Centerline is valid? [True, True] Translation: X:595.52, Y:-180.09, Z:-4.66 [[ 7.85253550e-01 6.19168913e-01 2.59209894e-03 5.95522025e+02] [-6.19165864e-01 7.85257824e-01 -1.94467133e-03 -1.80094117e+02] [-3.23954601e-03 -7.78791106e-05 9.99994750e-01 -4.65996348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.406559995 meters 0.05450808956309552 Centerline is valid? [True, True] Translation: X:595.57, Y:-180.13, Z:-4.66 [[ 7.83998639e-01 6.20757870e-01 2.40861959e-03 5.95570032e+02] [-6.20755244e-01 7.84002335e-01 -1.80704592e-03 -1.80133460e+02] [-3.01010136e-03 -7.84417026e-05 9.99995467e-01 -4.66092844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4665599949999 meters 0.054282567767215135 Centerline is valid? [True, True] Translation: X:595.62, Y:-180.17, Z:-4.66 [[ 7.82480894e-01 6.22673110e-01 1.35986906e-03 5.95616461e+02] [-6.22672276e-01 7.82482074e-01 -1.02013219e-03 -1.80171614e+02] [-1.69928205e-03 -4.85188135e-05 9.99998555e-01 -4.66226850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.526559995 meters 0.054150766781545796 Centerline is valid? [True, True] Translation: X:595.66, Y:-180.21, Z:-4.66 [[ 7.82076463e-01 6.23181195e-01 1.26628446e-03 5.95663300e+02] [-6.23180472e-01 7.82077487e-01 -9.50135434e-04 -1.80210370e+02] [-1.58243910e-03 -4.60451872e-05 9.99998747e-01 -4.66249410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5865599949999 meters 0.053864754517266564 Centerline is valid? [True, True] Translation: X:595.71, Y:-180.25, Z:-4.66 [[ 7.82511983e-01 6.22631591e-01 2.21330022e-03 5.95708588e+02] [-6.22629382e-01 7.82515109e-01 -1.66032861e-03 -1.80253791e+02] [-2.76571391e-03 -7.88387142e-05 9.99996172e-01 -4.66108562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.646559995 meters 0.05473455546070184 Centerline is valid? [True, True] Translation: X:595.75, Y:-180.29, Z:-4.66 [[ 7.83513141e-01 6.21368704e-01 2.84448819e-03 5.95753919e+02] [-6.21365043e-01 7.83518299e-01 -2.13506867e-03 -1.80294666e+02] [-3.55537340e-03 -9.46111687e-05 9.99993675e-01 -4.66114503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7065599949999 meters 0.05428862661026837 Centerline is valid? [True, True] Translation: X:595.80, Y:-180.33, Z:-4.66 [[ 7.84485654e-01 6.20138979e-01 3.14742131e-03 5.95799785e+02] [-6.20134486e-01 7.84491961e-01 -2.36257865e-03 -1.80333517e+02] [-3.93425383e-03 -9.84154412e-05 9.99992256e-01 -4.66187369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.766559995 meters 0.05372810860901195 Centerline is valid? [True, True] Translation: X:595.84, Y:-180.38, Z:-4.66 [[ 7.85999308e-01 6.18218646e-01 3.28542894e-03 5.95840105e+02] [-6.18213734e-01 7.86006168e-01 -2.46618010e-03 -1.80381951e+02] [-4.10700593e-03 -9.26814461e-05 9.99991562e-01 -4.66119912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8265599949999 meters 0.05333249201851812 Centerline is valid? [True, True] Translation: X:595.89, Y:-180.42, Z:-4.66 [[ 7.87132325e-01 6.16774298e-01 3.48832002e-03 5.95885547e+02] [-6.16768746e-01 7.87140049e-01 -2.61857713e-03 -1.80422624e+02] [-4.36086746e-03 -9.03200637e-05 9.99990487e-01 -4.66119748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.886559995 meters 0.05386177187353048 Centerline is valid? [True, True] Translation: X:595.94, Y:-180.46, Z:-4.66 [[ 7.87965169e-01 6.15711772e-01 3.14738050e-03 5.95935117e+02] [-6.15707245e-01 7.87971451e-01 -2.36233455e-03 -1.80458628e+02] [-3.93456317e-03 -7.64276314e-05 9.99992257e-01 -4.66267942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9465599949999 meters 0.053159905082355484 Centerline is valid? [True, True] Translation: X:595.98, Y:-180.51, Z:-4.66 [[ 7.91298450e-01 6.11422807e-01 2.98581463e-03 5.95976410e+02] [-6.11418698e-01 7.91304081e-01 -2.24193959e-03 -1.80505126e+02] [-3.73346030e-03 -5.15395754e-05 9.99993029e-01 -4.66265445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.006559995 meters 0.053541242138716715 Centerline is valid? [True, True] Translation: X:596.02, Y:-180.55, Z:-4.66 [[ 7.97117970e-01 6.03813349e-01 3.51891152e-03 5.96016690e+02] [-6.03807568e-01 7.97125736e-01 -2.64223649e-03 -1.80553027e+02] [-4.40043260e-03 -1.85712180e-05 9.99990318e-01 -4.66218894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0665599949999 meters 0.053298326926165845 Centerline is valid? [True, True] Translation: X:596.06, Y:-180.60, Z:-4.66 [[ 8.01390274e-01 5.98131096e-01 3.58065366e-03 5.96060515e+02] [-5.98125054e-01 8.01398273e-01 -2.68862728e-03 -1.80597557e+02] [-4.47768124e-03 1.29610862e-05 9.99989975e-01 -4.66284439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.126559995 meters 0.053015099066367 Centerline is valid? [True, True] Translation: X:596.11, Y:-180.64, Z:-4.66 [[ 8.06232957e-01 5.91585810e-01 3.82720489e-03 5.96105199e+02] [-5.91578831e-01 8.06242040e-01 -2.87409463e-03 -1.80640401e+02] [-4.78592708e-03 5.30964147e-05 9.99988546e-01 -4.66256314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1865599949999 meters 0.05302526166972761 Centerline is valid? [True, True] Translation: X:596.15, Y:-180.68, Z:-4.66 [[ 8.08277107e-01 5.88793350e-01 3.24188026e-03 5.96149193e+02] [-5.88788319e-01 8.08283606e-01 -2.43451861e-03 -1.80684436e+02] [-4.05378704e-03 5.89844280e-05 9.99991782e-01 -4.66337658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.246559995 meters 0.052694262598569755 Centerline is valid? [True, True] Translation: X:596.20, Y:-180.72, Z:-4.66 [[ 8.07868193e-01 5.89356919e-01 2.72101892e-03 5.96196970e+02] [-5.89353380e-01 8.07872774e-01 -2.04304176e-03 -1.80723624e+02] [-3.40231790e-03 4.68667530e-05 9.99994211e-01 -4.66433038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3065599949999 meters 0.05297725342118504 Centerline is valid? [True, True] Translation: X:596.25, Y:-180.76, Z:-4.66 [[ 8.05793406e-01 5.92190397e-01 2.74242324e-03 5.96245537e+02] [-5.92186817e-01 8.05798072e-01 -2.05963723e-03 -1.80762109e+02] [-3.42953675e-03 3.56152125e-05 9.99994118e-01 -4.66457824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.366559995 meters 0.05302832568438324 Centerline is valid? [True, True] Translation: X:596.29, Y:-180.80, Z:-4.67 [[ 8.03877261e-01 5.94789433e-01 2.62286157e-03 5.96293795e+02] [-5.94786170e-01 8.03881540e-01 -1.97033817e-03 -1.80799432e+02] [-3.28040633e-03 2.38682657e-05 9.99994619e-01 -4.66516548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4265599949999 meters 0.05289888616601318 Centerline is valid? [True, True] Translation: X:596.34, Y:-180.84, Z:-4.67 [[ 8.01003988e-01 5.98655556e-01 2.03394692e-03 5.96341644e+02] [-5.98653605e-01 8.01006570e-01 -1.52832572e-03 -1.80837042e+02] [-2.54414553e-03 6.56533668e-06 9.99996764e-01 -4.66650822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.486559995 meters 0.05269480244824723 Centerline is valid? [True, True] Translation: X:596.39, Y:-180.87, Z:-4.67 [[ 7.99295291e-01 6.00934144e-01 2.27865879e-03 5.96391731e+02] [-6.00931704e-01 7.99298539e-01 -1.71255107e-03 -1.80874068e+02] [-2.85045905e-03 -4.84304578e-07 9.99995937e-01 -4.66634113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5465599949999 meters 0.05244127049384516 Centerline is valid? [True, True] Translation: X:596.44, Y:-180.91, Z:-4.67 [[ 7.97697667e-01 6.03054069e-01 2.05495693e-03 5.96441868e+02] [-6.03052092e-01 7.97700314e-01 -1.54413109e-03 -1.80912437e+02] [-2.57043433e-03 -7.49630746e-06 9.99996696e-01 -4.66598534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.606559995 meters 0.052585822950813654 Centerline is valid? [True, True] Translation: X:596.49, Y:-180.95, Z:-4.67 [[ 7.98108163e-01 6.02510405e-01 2.13813939e-03 5.96489695e+02] [-6.02508261e-01 7.98111027e-01 -1.60742462e-03 -1.80951598e+02] [-2.67496269e-03 -5.34793601e-06 9.99996422e-01 -4.66552945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.666559995 meters 0.05254902566866806 Centerline is valid? [True, True] Translation: X:596.54, Y:-180.99, Z:-4.67 [[ 7.99687290e-01 6.00413636e-01 1.92464763e-03 5.96538862e+02] [-6.00411892e-01 7.99689606e-01 -1.44728148e-03 -1.80991507e+02] [-2.40808824e-03 1.79127639e-06 9.99997101e-01 -4.66743893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.726559995 meters 0.052982689077980726 Centerline is valid? [True, True] Translation: X:596.59, Y:-181.03, Z:-4.67 [[ 8.03727870e-01 5.94994988e-01 1.57339263e-03 5.96586185e+02] [-5.94993811e-01 8.03729410e-01 -1.18326400e-03 -1.81032016e+02] [-1.96861807e-03 1.48633760e-05 9.99998062e-01 -4.66784635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.786559995 meters 0.052802630658241055 Centerline is valid? [True, True] Translation: X:596.63, Y:-181.07, Z:-4.67 [[ 8.06973718e-01 5.90586239e-01 1.14564635e-03 5.96631119e+02] [-5.90585611e-01 8.06974532e-01 -8.61129441e-04 -1.81073080e+02] [-1.43307862e-03 1.83065778e-05 9.99998973e-01 -4.66951404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.846559995 meters 0.05333053449287381 Centerline is valid? [True, True] Translation: X:596.68, Y:-181.11, Z:-4.67 [[ 8.11944461e-01 5.83734584e-01 3.56429163e-04 5.96678830e+02] [-5.83734523e-01 8.11944539e-01 -2.68028840e-04 -1.81111554e+02] [-4.45858416e-04 9.56452428e-06 9.99999901e-01 -4.66900529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.906559995 meters 0.05393992709138349 Centerline is valid? [True, True] Translation: X:596.73, Y:-181.15, Z:-4.67 [[ 8.15300140e-01 5.79038584e-01 -1.75234246e-05 5.96727313e+02] [-5.79038584e-01 8.15300140e-01 1.39146340e-05 -1.81148575e+02] [ 2.23439603e-05 -1.19786407e-06 1.00000000e+00 -4.66952421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9665599949999 meters 0.0538170309853348 Centerline is valid? [True, True] Translation: X:596.78, Y:-181.18, Z:-4.67 [[ 8.15874772e-01 5.78228631e-01 -7.48013667e-05 5.96783086e+02] [-5.78228629e-01 8.15874776e-01 5.74294999e-05 -1.81178467e+02] [ 9.42359292e-05 -3.60298850e-06 9.99999996e-01 -4.66711249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.026559995 meters 0.054159776864742264 Centerline is valid? [True, True] Translation: X:596.82, Y:-181.23, Z:-4.67 [[ 8.15449017e-01 5.78828901e-01 6.52039262e-05 5.96824254e+02] [-5.78828899e-01 8.15449019e-01 -4.80028764e-05 -1.81225648e+02] [-8.09559301e-05 1.40198147e-06 9.99999997e-01 -4.67093576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0865599949999 meters 0.05369081345503821 Centerline is valid? [True, True] Translation: X:596.87, Y:-181.26, Z:-4.67 [[ 8.12596971e-01 5.82826007e-01 -9.05485246e-05 5.96874649e+02] [-5.82826003e-01 8.12596976e-01 6.82464856e-05 -1.81258859e+02] [ 1.13355284e-04 -2.68285284e-06 9.99999994e-01 -4.67167804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.146559995 meters 0.05335903373076466 Centerline is valid? [True, True] Translation: X:596.93, Y:-181.29, Z:-4.67 [[ 8.09440228e-01 5.87202277e-01 5.42819176e-05 5.96926090e+02] [-5.87202276e-01 8.09440230e-01 -4.06187072e-05 -1.81292470e+02] [-6.77893655e-05 1.00395005e-06 9.99999998e-01 -4.67228737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2065599949999 meters 0.052759197395096685 Centerline is valid? [True, True] Translation: X:596.98, Y:-181.32, Z:-4.67 [[ 8.02662937e-01 5.96431822e-01 1.13634853e-03 5.96978264e+02] [-5.96431208e-01 8.02663741e-01 -8.55650069e-04 -1.81323956e+02] [-1.42244269e-03 9.04487348e-06 9.99998988e-01 -4.67221348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.266559995 meters 0.05207936707358692 Centerline is valid? [True, True] Translation: X:597.03, Y:-181.35, Z:-4.67 [[ 7.94948700e-01 6.06673956e-01 1.80965289e-03 5.97031870e+02] [-6.06672427e-01 7.94950760e-01 -1.36231180e-03 -1.81353885e+02] [-2.26506403e-03 -1.48985122e-05 9.99997435e-01 -4.67272772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3265599949999 meters 0.0521794682148496 Centerline is valid? [True, True] Translation: X:597.08, Y:-181.39, Z:-4.67 [[ 7.87828038e-01 6.15892058e-01 1.98877883e-03 5.97082660e+02] [-6.15890239e-01 7.87830547e-01 -1.49773043e-03 -1.81388283e+02] [-2.48926099e-03 -4.49154427e-05 9.99996901e-01 -4.67173339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.386559995 meters 0.051913442381817686 Centerline is valid? [True, True] Translation: X:597.13, Y:-181.43, Z:-4.67 [[ 7.84003334e-01 6.20753356e-01 2.01083068e-03 5.97128596e+02] [-6.20751513e-01 7.84005910e-01 -1.51390270e-03 -1.81429571e+02] [-2.51626332e-03 -6.13214187e-05 9.99996832e-01 -4.67050619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4465599949999 meters 0.0524405988934761 Centerline is valid? [True, True] Translation: X:597.19, Y:-181.45, Z:-4.67 [[ 7.80916254e-01 6.24633725e-01 1.58578728e-03 5.97186903e+02] [-6.24632585e-01 7.80917862e-01 -1.19448362e-03 -1.81452610e+02] [-1.98448436e-03 -5.77427328e-05 9.99998029e-01 -4.67398573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.506559995 meters 0.0516476152678741 Centerline is valid? [True, True] Translation: X:597.23, Y:-181.50, Z:-4.67 [[ 7.80531439e-01 6.25115839e-01 9.27704363e-04 5.97229568e+02] [-6.25115450e-01 7.80531990e-01 -6.98060713e-04 -1.81499694e+02] [-1.16047174e-03 -3.50639980e-05 9.99999326e-01 -4.67292171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5665599949999 meters 0.05155709562534815 Centerline is valid? [True, True] Translation: X:597.27, Y:-181.55, Z:-4.67 [[ 7.82280368e-01 6.22926367e-01 -4.08534636e-04 5.97272609e+02] [-6.22926291e-01 7.82280475e-01 3.08097634e-04 -1.81545134e+02] [ 5.11510809e-04 1.34682350e-05 9.99999869e-01 -4.67216774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.626559995 meters 0.051898232620651366 Centerline is valid? [True, True] Translation: X:597.32, Y:-181.58, Z:-4.67 [[ 7.84163168e-01 6.20553900e-01 -9.91254395e-04 5.97322108e+02] [-6.20553451e-01 7.84163794e-01 7.47284309e-04 -1.81581849e+02] [ 1.24103600e-03 2.91335043e-05 9.99999229e-01 -4.67384580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6865599949999 meters 0.05145727526903442 Centerline is valid? [True, True] Translation: X:597.37, Y:-181.62, Z:-4.67 [[ 7.87733594e-01 6.16016058e-01 -4.91545173e-05 5.97366461e+02] [-6.16016057e-01 7.87733595e-01 3.74275405e-05 -1.81624588e+02] [ 6.17766303e-05 7.97040962e-07 9.99999998e-01 -4.67366165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.746559995 meters 0.05215447621166761 Centerline is valid? [True, True] Translation: X:597.41, Y:-181.67, Z:-4.67 [[ 7.92356898e-01 6.10056063e-01 1.46493138e-03 5.97410198e+02] [-6.10055065e-01 7.92358252e-01 -1.10346450e-03 -1.81667099e+02] [-1.83392568e-03 -1.93511011e-05 9.99998318e-01 -4.67307716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8065599949999 meters 0.0514894888393513 Centerline is valid? [True, True] Translation: X:597.45, Y:-181.71, Z:-4.67 [[ 7.96969738e-01 6.04013357e-01 2.66464205e-03 5.97452095e+02] [-6.04010018e-01 7.96974193e-01 -2.00852134e-03 -1.81711831e+02] [-3.33682467e-03 -8.73976962e-06 9.99994433e-01 -4.67296592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.866559995 meters 0.05172405670668765 Centerline is valid? [True, True] Translation: X:597.50, Y:-181.75, Z:-4.67 [[ 7.99195358e-01 6.01065453e-01 2.66477001e-03 5.97498943e+02] [-6.01062098e-01 7.99199801e-01 -2.00811011e-03 -1.81754309e+02] [-3.33668927e-03 3.18002416e-06 9.99994433e-01 -4.67259763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9265599949999 meters 0.051914111169457725 Centerline is valid? [True, True] Translation: X:597.55, Y:-181.79, Z:-4.67 [[ 7.98773666e-01 6.01624233e-01 2.98558384e-03 5.97548455e+02] [-6.01620022e-01 7.98779245e-01 -2.25095218e-03 -1.81792334e+02] [-3.73904978e-03 1.81430857e-06 9.99993010e-01 -4.67331659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.986559995 meters 0.051746351097849884 Centerline is valid? [True, True] Translation: X:597.60, Y:-181.83, Z:-4.67 [[ 7.95575953e-01 6.05850732e-01 1.94802586e-03 5.97599044e+02] [-6.05848953e-01 7.95578337e-01 -1.46823401e-03 -1.81829137e+02] [-2.43933782e-03 -1.21177569e-05 9.99997025e-01 -4.67297470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0465599949999 meters 0.05207890389830369 Centerline is valid? [True, True] Translation: X:597.65, Y:-181.87, Z:-4.67 [[ 7.94207670e-01 6.07644453e-01 1.54771248e-03 5.97648316e+02] [-6.07643334e-01 7.94209178e-01 -1.16661498e-03 -1.81865256e+02] [-1.93809458e-03 -1.39226026e-05 9.99998122e-01 -4.67378891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.106559995 meters 0.051278434894963594 Centerline is valid? [True, True] Translation: X:597.70, Y:-181.90, Z:-4.67 [[ 7.93871050e-01 6.08083136e-01 1.91170574e-03 5.97697584e+02] [-6.08081427e-01 7.93873352e-01 -1.44173382e-03 -1.81903324e+02] [-2.39434627e-03 -1.79220121e-05 9.99997133e-01 -4.67394374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.166559995 meters 0.05189344847188165 Centerline is valid? [True, True] Translation: X:597.75, Y:-181.94, Z:-4.68 [[ 7.94251419e-01 6.07585428e-01 2.15210227e-03 5.97747527e+02] [-6.07583260e-01 7.94254334e-01 -1.62328303e-03 -1.81938910e+02] [-2.69559967e-03 -1.82864653e-05 9.99996367e-01 -4.67511819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.226559995 meters 0.05154536824736468 Centerline is valid? [True, True] Translation: X:597.80, Y:-181.98, Z:-4.67 [[ 7.94160146e-01 6.07703652e-01 2.43579784e-03 5.97797073e+02] [-6.07700874e-01 7.94163881e-01 -1.83760868e-03 -1.81977380e+02] [-3.05114418e-03 -2.08808958e-05 9.99995345e-01 -4.67483584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.286559995 meters 0.051760767724262795 Centerline is valid? [True, True] Translation: X:597.85, Y:-182.02, Z:-4.67 [[ 7.93457837e-01 6.08618883e-01 2.77767594e-03 5.97845993e+02] [-6.08615274e-01 7.93462699e-01 -2.09621776e-03 -1.82015082e+02] [-3.47977996e-03 -2.72755944e-05 9.99993945e-01 -4.67423369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.346559995 meters 0.05151969604996171 Centerline is valid? [True, True] Translation: X:597.90, Y:-182.05, Z:-4.67 [[ 7.92008578e-01 6.10500035e-01 3.48145511e-03 5.97895886e+02] [-6.10494379e-01 7.92016228e-01 -2.62836599e-03 -1.82052310e+02] [-4.36198647e-03 -4.37203613e-05 9.99990486e-01 -4.67445073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.406559995 meters 0.0513510760085602 Centerline is valid? [True, True] Translation: X:597.95, Y:-182.09, Z:-4.68 [[ 7.90993400e-01 6.11813439e-01 3.70899886e-03 5.97946694e+02] [-6.11807033e-01 7.91002094e-01 -2.80018824e-03 -1.82086011e+02] [-4.64701866e-03 -5.42611747e-05 9.99989201e-01 -4.67571620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4665599949999 meters 0.05119633568779351 Centerline is valid? [True, True] Translation: X:598.00, Y:-182.12, Z:-4.68 [[ 7.89576710e-01 6.13640326e-01 3.76422642e-03 5.97996390e+02] [-6.13633746e-01 7.89585680e-01 -2.84244445e-03 -1.82122888e+02] [-4.71641781e-03 -6.55284259e-05 9.99988875e-01 -4.67590541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.526559995 meters 0.05125165776812254 Centerline is valid? [True, True] Translation: X:598.05, Y:-182.16, Z:-4.68 [[ 7.89058066e-01 6.14310040e-01 3.24711047e-03 5.98046031e+02] [-6.14305148e-01 7.89064744e-01 -2.45233165e-03 -1.82160048e+02] [-4.06867235e-03 -5.96846167e-05 9.99991721e-01 -4.67626025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5865599949999 meters 0.051989250642209196 Centerline is valid? [True, True] Translation: X:598.09, Y:-182.20, Z:-4.68 [[ 7.90178826e-01 6.12871251e-01 2.50069880e-03 5.98093398e+02] [-6.12868341e-01 7.90182782e-01 -1.88879007e-03 -1.82200119e+02] [-3.13359427e-03 -4.01172049e-05 9.99995089e-01 -4.67615779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.646559995 meters 0.05110242383055916 Centerline is valid? [True, True] Translation: X:598.14, Y:-182.24, Z:-4.68 [[ 7.91947101e-01 6.10586531e-01 1.96881593e-03 5.98144250e+02] [-6.10584720e-01 7.91949548e-01 -1.48753465e-03 -1.82236312e+02] [-2.46747152e-03 -2.40801670e-05 9.99996955e-01 -4.67839452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7065599949999 meters 0.05124877680930015 Centerline is valid? [True, True] Translation: X:598.19, Y:-182.28, Z:-4.68 [[ 7.95529120e-01 6.05912690e-01 1.79733246e-03 5.98188175e+02] [-6.05911168e-01 7.95531151e-01 -1.35823919e-03 -1.82278382e+02] [-2.25280832e-03 -8.50498431e-06 9.99997462e-01 -4.67723967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.766559995 meters 0.051201450933620905 Centerline is valid? [True, True] Translation: X:598.24, Y:-182.32, Z:-4.68 [[ 7.97676356e-01 6.03076469e-01 3.34707666e-03 5.98237759e+02] [-6.03071166e-01 7.97683379e-01 -2.52912607e-03 -1.82316402e+02] [-4.19516384e-03 -1.10135806e-06 9.99991200e-01 -4.67616524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8265599949999 meters 0.05169869862112828 Centerline is valid? [True, True] Translation: X:598.29, Y:-182.35, Z:-4.68 [[ 7.98640797e-01 6.01794627e-01 4.01302654e-03 5.98287398e+02] [-6.01786983e-01 7.98650879e-01 -3.03323476e-03 -1.82354677e+02] [-5.03039156e-03 7.47788979e-06 9.99987347e-01 -4.67748018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.886559995 meters 0.051427091922891334 Centerline is valid? [True, True] Translation: X:598.34, Y:-182.39, Z:-4.68 [[ 7.98532905e-01 6.01941361e-01 3.43469031e-03 5.98337532e+02] [-6.01935763e-01 7.98540292e-01 -2.59605164e-03 -1.82392017e+02] [-4.30540946e-03 5.56972182e-06 9.99990732e-01 -4.67738985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9465599949999 meters 0.05211278200920599 Centerline is valid? [True, True] Translation: X:598.39, Y:-182.43, Z:-4.68 [[ 7.98292966e-01 6.02262717e-01 2.82149210e-03 5.98386958e+02] [-6.02258940e-01 7.98297952e-01 -2.13297406e-03 -1.82428730e+02] [-3.53700212e-03 3.46934792e-06 9.99993745e-01 -4.67717449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.006559995 meters 0.051885799539745696 Centerline is valid? [True, True] Translation: X:598.44, Y:-182.47, Z:-4.68 [[ 7.98157398e-01 6.02446082e-01 1.86708071e-03 5.98436883e+02] [-6.02444428e-01 7.98159582e-01 -1.41191431e-03 -1.82465832e+02] [-2.34083060e-03 2.11748056e-06 9.99997260e-01 -4.67979391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0665599949999 meters 0.05143002086731022 Centerline is valid? [True, True] Translation: X:598.49, Y:-182.50, Z:-4.68 [[ 7.96814751e-01 6.04221427e-01 1.64912360e-03 5.98487039e+02] [-6.04220141e-01 7.96816458e-01 -1.24665208e-03 -1.82501543e+02] [-2.06730272e-03 -3.08293001e-06 9.99997863e-01 -4.68108736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.126559995 meters 0.05135753760299258 Centerline is valid? [True, True] Translation: X:598.54, Y:-182.54, Z:-4.68 [[ 7.95289180e-01 6.06224307e-01 2.68511701e-03 5.98538448e+02] [-6.06220905e-01 7.95293713e-01 -2.03089125e-03 -1.82538480e+02] [-3.36663232e-03 -1.26282281e-05 9.99994333e-01 -4.67962988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1865599949999 meters 0.05114814154450231 Centerline is valid? [True, True] Translation: X:598.59, Y:-182.58, Z:-4.68 [[ 7.95704593e-01 6.05671282e-01 4.06187853e-03 5.98587206e+02] [-6.05663483e-01 7.95714960e-01 -3.07371444e-03 -1.82577283e+02] [-5.09375808e-03 -1.43627955e-05 9.99987027e-01 -4.67834567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.246559995 meters 0.050834237388352015 Centerline is valid? [True, True] Translation: X:598.63, Y:-182.62, Z:-4.68 [[ 7.98249055e-01 6.02291732e-01 6.56631289e-03 5.98634250e+02] [-6.02271227e-01 7.98276061e-01 -4.96984523e-03 -1.82617110e+02] [-8.23502708e-03 1.24729384e-05 9.99966092e-01 -4.67744075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3065599949999 meters 0.050958389902151895 Centerline is valid? [True, True] Translation: X:598.68, Y:-182.66, Z:-4.68 [[ 8.00152765e-01 5.99742989e-01 7.99376904e-03 5.98682523e+02] [-5.99712462e-01 8.00192692e-01 -6.05129934e-03 -1.82655065e+02] [-1.00257799e-02 4.80009931e-05 9.99949739e-01 -4.67738016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.366559995 meters 0.051442946494405214 Centerline is valid? [True, True] Translation: X:598.73, Y:-182.69, Z:-4.68 [[ 8.01653236e-01 5.97716602e-01 9.32490588e-03 5.98731370e+02] [-5.97674904e-01 8.01707463e-01 -7.06061294e-03 -1.82692755e+02] [-1.16960922e-02 8.69009789e-05 9.99931595e-01 -4.67646616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4265599949999 meters 0.05155377342700141 Centerline is valid? [True, True] Translation: X:598.78, Y:-182.73, Z:-4.68 [[ 8.02325006e-01 5.96811368e-01 9.52758301e-03 5.98779439e+02] [-5.96767761e-01 8.02381568e-01 -7.21523333e-03 -1.82732334e+02] [-1.19508903e-02 1.03207749e-04 9.99928580e-01 -4.67577811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.486559995 meters 0.05197085688373947 Centerline is valid? [True, True] Translation: X:598.83, Y:-182.77, Z:-4.68 [[ 8.02402549e-01 5.96695048e-01 1.02552197e-02 5.98827110e+02] [-5.96644502e-01 8.02468072e-01 -7.76736802e-03 -1.82770065e+02] [-1.28642364e-02 1.13835443e-04 9.99917246e-01 -4.67529660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5465599949999 meters 0.0520995304807387 Centerline is valid? [True, True] Translation: X:598.88, Y:-182.80, Z:-4.68 [[ 8.00877246e-01 5.98730587e-01 1.08314750e-02 5.98878270e+02] [-5.98674361e-01 8.00950483e-01 -8.20566679e-03 -1.82804777e+02] [-1.35884589e-02 8.72054318e-05 9.99907669e-01 -4.67675667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.606559995 meters 0.05142760449455166 Centerline is valid? [True, True] Translation: X:598.93, Y:-182.84, Z:-4.68 [[ 7.99375797e-01 6.00710556e-01 1.20483701e-02 5.98930865e+02] [-6.00641175e-01 7.99466587e-01 -9.12989307e-03 -1.82839918e+02] [-1.51166925e-02 6.14683715e-05 9.99885734e-01 -4.68079843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.666559995 meters 0.05151889553151231 Centerline is valid? [True, True] Translation: X:598.98, Y:-182.88, Z:-4.68 [[ 7.98516201e-01 6.01818196e-01 1.36650910e-02 5.98978893e+02] [-6.01729061e-01 7.98633117e-01 -1.03576513e-02 -1.82877674e+02] [-1.71468173e-02 4.80699742e-05 9.99852981e-01 -4.67628905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.726559995 meters 0.05133461226234132 Centerline is valid? [True, True] Translation: X:599.03, Y:-182.92, Z:-4.68 [[ 7.99732127e-01 6.00148160e-01 1.58338769e-02 5.99028678e+02] [-6.00028122e-01 7.99888853e-01 -1.20031800e-02 -1.82915128e+02] [-1.98690280e-02 9.85572288e-05 9.99802587e-01 -4.67728152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.786559995 meters 0.05212424387091846 Centerline is valid? [True, True] Translation: X:599.08, Y:-182.95, Z:-4.68 [[ 8.01561565e-01 5.97572458e-01 2.01547700e-02 5.99077844e+02] [-5.97377073e-01 8.01814888e-01 -1.52813273e-02 -1.82951543e+02] [-2.52920949e-02 2.08927172e-04 9.99680082e-01 -4.67660664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.846559995 meters 0.05150331717975301 Centerline is valid? [True, True] Translation: X:599.13, Y:-182.99, Z:-4.68 [[ 8.02764319e-01 5.95794802e-01 2.44540859e-02 5.99128984e+02] [-5.95506189e-01 8.03136631e-01 -1.85453635e-02 -1.82986287e+02] [-3.06892033e-02 3.24996602e-04 9.99528923e-01 -4.67932992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.906559995 meters 0.05227554890038455 Centerline is valid? [True, True] Translation: X:599.18, Y:-183.02, Z:-4.68 [[ 8.03531480e-01 5.94641466e-01 2.71788016e-02 5.99178632e+02] [-5.94284188e-01 8.03990893e-01 -2.06142393e-02 -1.83023305e+02] [-3.41095904e-02 4.12258178e-04 9.99418014e-01 -4.67958239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9665599949999 meters 0.05257080670413517 Centerline is valid? [True, True] Translation: X:599.23, Y:-183.06, Z:-4.68 [[ 8.04474569e-01 5.93229600e-01 2.99884769e-02 5.99226465e+02] [-5.92793485e-01 8.05033147e-01 -2.27490104e-02 -1.83060243e+02] [-3.76371042e-02 5.24026583e-04 9.99291336e-01 -4.67723573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.026559995 meters 0.051933731987066904 Centerline is valid? [True, True] Translation: X:599.28, Y:-183.10, Z:-4.68 [[ 8.05721680e-01 5.91508932e-01 3.04919412e-02 5.99276622e+02] [-5.91056614e-01 8.06298208e-01 -2.31360691e-02 -1.83095644e+02] [-3.82707891e-02 6.18768932e-04 9.99267213e-01 -4.68287433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0865599949999 meters 0.05341904783351007 Centerline is valid? [True, True] Translation: X:599.32, Y:-183.14, Z:-4.68 [[ 8.07123044e-01 5.89628708e-01 2.98392183e-02 5.99322795e+02] [-5.89194173e-01 8.07674133e-01 -2.26433692e-02 -1.83138286e+02] [-3.74515452e-02 6.94891545e-04 9.99298203e-01 -4.67622891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.146559995 meters 0.05434314823099732 Centerline is valid? [True, True] Translation: X:599.37, Y:-183.18, Z:-4.68 [[ 8.09476052e-01 5.86417157e-01 2.93843258e-02 5.99371338e+02] [-5.85993503e-01 8.10008779e-01 -2.23023069e-02 -1.83175949e+02] [-3.68800173e-02 8.34159365e-04 9.99319353e-01 -4.67826018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2065599949999 meters 0.053005224096765814 Centerline is valid? [True, True] Translation: X:599.42, Y:-183.21, Z:-4.69 [[ 8.11552532e-01 5.83568845e-01 2.88078083e-02 5.99423702e+02] [-5.83159785e-01 8.12063117e-01 -2.18668436e-02 -1.83209934e+02] [-3.61545673e-02 9.46537021e-04 9.99345762e-01 -4.68636392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.266559995 meters 0.05418794811603322 Centerline is valid? [True, True] Translation: X:599.47, Y:-183.25, Z:-4.69 [[ 8.15589885e-01 5.77933832e-01 2.83835437e-02 5.99471421e+02] [-5.77533257e-01 8.16082773e-01 -2.15463329e-02 -1.83248606e+02] [-3.56156758e-02 1.18053075e-03 9.99364863e-01 -4.68764539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3265599949999 meters 0.05306023044954335 Centerline is valid? [True, True] Translation: X:599.53, Y:-183.28, Z:-4.70 [[ 8.18522811e-01 5.73850971e-01 2.67482936e-02 5.99525797e+02] [-5.73492984e-01 8.18958741e-01 -2.03070661e-02 -1.83276266e+02] [-3.35589784e-02 1.28183815e-03 9.99435917e-01 -4.69807846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.386559995 meters 0.055808768605522405 Centerline is valid? [True, True] Translation: X:599.57, Y:-183.32, Z:-4.69 [[ 8.20096591e-01 5.71719359e-01 2.40531792e-02 5.99567830e+02] [-5.71428860e-01 8.20448323e-01 -1.82649272e-02 -1.83321975e+02] [-3.01768030e-02 1.23432377e-03 9.99543814e-01 -4.69348879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4465599949999 meters 0.05387153024203541 Centerline is valid? [True, True] Translation: X:599.63, Y:-183.35, Z:-4.71 [[ 8.22437372e-01 5.68582978e-01 1.76115610e-02 5.99625471e+02] [-5.68426493e-01 8.22625321e-01 -1.33755059e-02 -1.83346525e+02] [-2.20928010e-02 9.89638059e-04 9.99755434e-01 -4.70568734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.506559995 meters 0.05556429985784068 Centerline is valid? [True, True] Translation: X:599.67, Y:-183.38, Z:-4.71 [[ 8.24262183e-01 5.66094250e-01 1.13645797e-02 5.99674726e+02] [-5.66028841e-01 8.24340241e-01 -8.63233007e-03 -1.83382766e+02] [-1.42549928e-02 6.82623366e-04 9.99898159e-01 -4.71135351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5665599949999 meters 0.05587386322088965 Centerline is valid? [True, True] Translation: X:599.73, Y:-183.41, Z:-4.71 [[ 8.24136718e-01 5.66331127e-01 8.22949498e-03 5.99728631e+02] [-5.66296830e-01 8.24177659e-01 -6.25199160e-03 -1.83414688e+02] [-1.03232634e-02 4.92158917e-04 9.99946593e-01 -4.71498908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.626559995 meters 0.054496711814421166 Centerline is valid? [True, True] Translation: X:599.79, Y:-183.44, Z:-4.72 [[ 8.21934420e-01 5.69568062e-01 4.00393979e-03 5.99787995e+02] [-5.69559980e-01 8.21944143e-01 -3.04215808e-03 -1.83438459e+02] [-5.02373094e-03 2.19970565e-04 9.99987357e-01 -4.71959327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6865599949999 meters 0.053960903783939175 Centerline is valid? [True, True] Translation: X:599.85, Y:-183.46, Z:-4.72 [[ 8.17920986e-01 5.75330482e-01 3.10600722e-04 5.99845386e+02] [-5.75330434e-01 8.17921045e-01 -2.35719121e-04 -1.83464324e+02] [-3.89663263e-04 1.41015670e-05 9.99999924e-01 -4.72257857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.746559995 meters 0.055128662959257516 Centerline is valid? [True, True] Translation: X:599.90, Y:-183.50, Z:-4.73 [[ 8.14109504e-01 5.80706088e-01 -2.48110566e-03 5.99899412e+02] [-5.80703033e-01 8.14113279e-01 1.88587700e-03 -1.83495421e+02] [ 3.11504132e-03 -9.45248057e-05 9.99995144e-01 -4.72697533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8065599949999 meters 0.054967131250242926 Centerline is valid? [True, True] Translation: X:599.95, Y:-183.52, Z:-4.73 [[ 8.09481390e-01 5.87114547e-01 -6.03219836e-03 5.99954676e+02] [-5.87096673e-01 8.09503848e-01 4.58440000e-03 -1.83521707e+02] [ 7.57465571e-03 -1.69502902e-04 9.99971298e-01 -4.72996649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.866559995 meters 0.054553029086089645 Centerline is valid? [True, True] Translation: X:600.01, Y:-183.55, Z:-4.73 [[ 8.05102073e-01 5.93073175e-01 -8.65223951e-03 6.00009938e+02] [-5.93036742e-01 8.05148547e-01 6.57577994e-03 -1.83549321e+02] [ 1.08662568e-02 -1.63078137e-04 9.99940947e-01 -4.73252335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9265599949999 meters 0.054157782202290145 Centerline is valid? [True, True] Translation: X:600.07, Y:-183.58, Z:-4.73 [[ 8.01269894e-01 5.98210852e-01 -1.05039527e-02 6.00066761e+02] [-5.98157561e-01 8.01338732e-01 7.98559787e-03 -1.83577808e+02] [ 1.31942955e-02 -1.15600424e-04 9.99912945e-01 -4.73445112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.986559995 meters 0.05437134737656676 Centerline is valid? [True, True] Translation: X:600.13, Y:-183.60, Z:-4.73 [[ 7.97479842e-01 6.03200634e-01 -1.32248678e-02 6.00126790e+02] [-6.03116809e-01 7.97589489e-01 1.00559331e-02 -1.83600914e+02] [ 1.66137607e-02 -4.32638553e-05 9.99861981e-01 -4.73120502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0465599949999 meters 0.05462196357726945 Centerline is valid? [True, True] Translation: X:600.18, Y:-183.63, Z:-4.74 [[ 7.96576136e-01 6.04387771e-01 -1.34863219e-02 6.00184242e+02] [-6.04300754e-01 7.96690292e-01 1.02555793e-02 -1.83626618e+02] [ 1.69427685e-02 -1.95551862e-05 9.99856461e-01 -4.73582148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.106559995 meters 0.05417495376563203 Centerline is valid? [True, True] Translation: X:600.24, Y:-183.66, Z:-4.74 [[ 7.97037154e-01 6.03779915e-01 -1.34754972e-02 6.00239151e+02] [-6.03692900e-01 7.97151060e-01 1.02503211e-02 -1.83658416e+02] [ 1.69309449e-02 -3.48248070e-05 9.99856661e-01 -4.73611226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.166559995 meters 0.05385030471324367 Centerline is valid? [True, True] Translation: X:600.29, Y:-183.69, Z:-4.74 [[ 7.98571085e-01 6.01743673e-01 -1.37394679e-02 6.00291807e+02] [-6.01652883e-01 7.98689267e-01 1.04529185e-02 -1.83691037e+02] [ 1.72635431e-02 -8.10079706e-05 9.99850971e-01 -4.73619988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.226559995 meters 0.05379435162517759 Centerline is valid? [True, True] Translation: X:600.34, Y:-183.73, Z:-4.74 [[ 7.99400336e-01 6.00621705e-01 -1.45832486e-02 6.00342305e+02] [-6.00519233e-01 7.99533336e-01 1.10948638e-02 -1.83726345e+02] [ 1.83236094e-02 -1.11716591e-04 9.99832102e-01 -4.73812813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.286559995 meters 0.054625416342919425 Centerline is valid? [True, True] Translation: X:600.39, Y:-183.76, Z:-4.73 [[ 7.97875685e-01 6.02604986e-01 -1.61747513e-02 6.00394900e+02] [-6.02479315e-01 7.98039614e-01 1.23064516e-02 -1.83759240e+02] [ 2.03240213e-02 -7.40654250e-05 9.99793443e-01 -4.72996593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.346559995 meters 0.05528057671082711 Centerline is valid? [True, True] Translation: X:600.44, Y:-183.79, Z:-4.73 [[ 7.93001303e-01 6.09045281e-01 -1.45869347e-02 6.00444988e+02] [-6.08944154e-01 7.93135448e-01 1.10986131e-02 -1.83793843e+02] [ 1.83289729e-02 8.14139780e-05 9.99832007e-01 -4.73278838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.406559995 meters 0.05463422044302171 Centerline is valid? [True, True] Translation: X:600.50, Y:-183.83, Z:-4.74 [[ 7.89666262e-01 6.13401114e-01 -1.28944933e-02 6.00495216e+02] [-6.13322627e-01 7.89771517e-01 9.81361106e-03 -1.83828594e+02] [ 1.62033835e-02 1.59006940e-04 9.99868704e-01 -4.73526167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4665599949999 meters 0.054426261322451576 Centerline is valid? [True, True] Translation: X:600.54, Y:-183.87, Z:-4.73 [[ 7.87973141e-01 6.15610061e-01 -1.10716504e-02 6.00542665e+02] [-6.15552411e-01 7.88050901e-01 8.42659299e-03 -1.83869211e+02] [ 1.39125195e-02 1.75252134e-04 9.99903201e-01 -4.73025633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.526559995 meters 0.055048690141849925 Centerline is valid? [True, True] Translation: X:600.59, Y:-183.91, Z:-4.73 [[ 7.88428657e-01 6.15043671e-01 -1.00764619e-02 6.00589656e+02] [-6.14995854e-01 7.88493031e-01 7.67063227e-03 -1.83910788e+02] [ 1.26629938e-02 1.49236005e-04 9.99919810e-01 -4.73158409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5865599949999 meters 0.054660194315988085 Centerline is valid? [True, True] Translation: X:600.63, Y:-183.95, Z:-4.73 [[ 7.91178080e-01 6.11530585e-01 -8.22130207e-03 6.00631894e+02] [-6.11498570e-01 7.91220789e-01 6.25786367e-03 -1.83954470e+02] [ 1.03317401e-02 7.62299001e-05 9.99946623e-01 -4.73167311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.646559995 meters 0.054889431488023686 Centerline is valid? [True, True] Translation: X:600.67, Y:-184.00, Z:-4.72 [[ 7.93538083e-01 6.08482789e-01 -6.78278424e-03 6.00674572e+02] [-6.08460885e-01 7.93567070e-01 5.16305424e-03 -1.83998115e+02] [ 8.52422387e-03 2.99787352e-05 9.99963668e-01 -4.72454882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7065599949999 meters 0.05392818158436531 Centerline is valid? [True, True] Translation: X:600.72, Y:-184.04, Z:-4.73 [[ 7.95982970e-01 6.05303031e-01 -4.39917287e-03 6.00718150e+02] [-6.05293766e-01 7.95995126e-01 3.34912933e-03 -1.84042795e+02] [ 5.52895830e-03 -3.05799620e-06 9.99984715e-01 -4.72516691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.766559995 meters 0.05439660452428907 Centerline is valid? [True, True] Translation: X:600.76, Y:-184.08, Z:-4.73 [[ 7.96355595e-01 6.04819373e-01 -3.36030522e-03 6.00763059e+02] [-6.04813958e-01 7.96362685e-01 2.55953779e-03 -1.84084093e+02] [ 4.22407973e-03 -5.94273924e-06 9.99991079e-01 -4.72595282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8265599949999 meters 0.054462341948788746 Centerline is valid? [True, True] Translation: X:600.81, Y:-184.13, Z:-4.72 [[ 7.96284803e-01 6.04915707e-01 -2.73877671e-03 6.00808051e+02] [-6.04912107e-01 7.96289513e-01 2.08691864e-03 -1.84128166e+02] [ 3.44326904e-03 -5.06240844e-06 9.99994072e-01 -4.72400440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.886559995 meters 0.054661911322768764 Centerline is valid? [True, True] Translation: X:600.85, Y:-184.17, Z:-4.72 [[ 7.95634091e-01 6.05772952e-01 -2.35034735e-03 6.00853669e+02] [-6.05770303e-01 7.95637562e-01 1.79141925e-03 -1.84168570e+02] [ 2.95521797e-03 -1.54359548e-06 9.99995633e-01 -4.72178222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9465599949999 meters 0.05389867632948891 Centerline is valid? [True, True] Translation: X:600.90, Y:-184.21, Z:-4.72 [[ 7.94378911e-01 6.07422165e-01 -6.77600897e-04 6.00897814e+02] [-6.07421945e-01 7.94379200e-01 5.16815109e-04 -1.84213005e+02] [ 8.52197011e-04 1.04263234e-06 9.99999637e-01 -4.72345043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.006559995 meters 0.05346234000367116 Centerline is valid? [True, True] Translation: X:600.94, Y:-184.26, Z:-4.72 [[ 7.93308486e-01 6.08819403e-01 -7.61760499e-04 6.00943244e+02] [-6.08819125e-01 7.93308852e-01 5.81691202e-04 -1.84256525e+02] [ 9.58456237e-04 2.31379342e-06 9.99999541e-01 -4.71917583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0665599949999 meters 0.05274396889031459 Centerline is valid? [True, True] Translation: X:600.99, Y:-184.30, Z:-4.72 [[ 7.91862828e-01 6.10698901e-01 -3.36620394e-04 6.00988680e+02] [-6.10698847e-01 7.91862900e-01 2.56941823e-04 -1.84299170e+02] [ 4.23471290e-04 2.11100799e-06 9.99999910e-01 -4.72179812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.126559995 meters 0.05243425988035256 Centerline is valid? [True, True] Translation: X:601.04, Y:-184.34, Z:-4.72 [[ 7.90760669e-01 6.12124740e-01 9.30992926e-04 6.01035572e+02] [-6.12124330e-01 7.90761217e-01 -7.08480052e-04 -1.84341398e+02] [-1.16987127e-03 -9.64526091e-06 9.99999316e-01 -4.72082773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1865599949999 meters 0.053524568950659705 Centerline is valid? [True, True] Translation: X:601.08, Y:-184.38, Z:-4.72 [[ 7.90223334e-01 6.12817131e-01 1.49882154e-03 6.01080215e+02] [-6.12816068e-01 7.90224755e-01 -1.14177310e-03 -1.84384670e+02] [-1.88410400e-03 -1.62461821e-05 9.99998225e-01 -4.72200049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.246559995 meters 0.05347959529720238 Centerline is valid? [True, True] Translation: X:601.13, Y:-184.43, Z:-4.72 [[ 7.91307561e-01 6.11416448e-01 1.50713782e-03 6.01125210e+02] [-6.11415370e-01 7.91308996e-01 -1.14845247e-03 -1.84428517e+02] [-1.89479444e-03 -1.27081062e-05 9.99998205e-01 -4.72115367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3065599949999 meters 0.05355655290079334 Centerline is valid? [True, True] Translation: X:601.17, Y:-184.47, Z:-4.72 [[ 7.94340639e-01 6.07469322e-01 1.99291785e-03 6.01169793e+02] [-6.07467421e-01 7.94343139e-01 -1.51979091e-03 -1.84472748e+02] [-2.50628698e-03 -3.40098555e-06 9.99996859e-01 -4.72211628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.366559995 meters 0.05307513958777456 Centerline is valid? [True, True] Translation: X:601.22, Y:-184.51, Z:-4.72 [[ 7.96375532e-01 6.04800212e-01 1.64795186e-03 6.01216097e+02] [-6.04798907e-01 7.96377237e-01 -1.25675583e-03 -1.84514659e+02] [-2.07247754e-03 4.17010544e-06 9.99997852e-01 -4.72207987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4265599949999 meters 0.05374488040289941 Centerline is valid? [True, True] Translation: X:601.26, Y:-184.56, Z:-4.73 [[ 7.99072570e-01 6.01234534e-01 2.52057177e-04 6.01260363e+02] [-6.01234504e-01 7.99072609e-01 -1.91749747e-04 -1.84556645e+02] [-3.16698557e-04 1.67649152e-06 9.99999950e-01 -4.72581611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.486559995 meters 0.053687242842405274 Centerline is valid? [True, True] Translation: X:601.31, Y:-184.60, Z:-4.73 [[ 8.00248391e-01 5.99667801e-01 -1.02000784e-03 6.01307315e+02] [-5.99667295e-01 8.00249041e-01 7.79382129e-04 -1.84596454e+02] [ 1.28363067e-03 -1.20339510e-05 9.99999176e-01 -4.72995228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5465599949999 meters 0.053015585100576426 Centerline is valid? [True, True] Translation: X:601.35, Y:-184.64, Z:-4.73 [[ 8.01440108e-01 5.98070235e-01 -2.39745593e-03 6.01353697e+02] [-5.98067436e-01 8.01443693e-01 1.82998587e-03 -1.84638654e+02] [ 3.01588602e-03 -3.27837516e-05 9.99995452e-01 -4.73021609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.606559995 meters 0.05326471830929307 Centerline is valid? [True, True] Translation: X:601.40, Y:-184.68, Z:-4.73 [[ 8.02364916e-01 5.96827542e-01 -2.72520443e-03 6.01400239e+02] [-5.96823915e-01 8.02369543e-01 2.08127367e-03 -1.84679227e+02] [ 3.42878248e-03 -4.34737928e-05 9.99994121e-01 -4.72816743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.666559995 meters 0.05307524278533123 Centerline is valid? [True, True] Translation: X:601.45, Y:-184.72, Z:-4.73 [[ 8.02281266e-01 5.96936446e-01 -3.41333878e-03 6.01447375e+02] [-5.96930759e-01 8.02288525e-01 2.60617331e-03 -1.84719920e+02] [ 4.29420237e-03 -5.33571167e-05 9.99990778e-01 -4.72931614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.726559995 meters 0.05233692877690995 Centerline is valid? [True, True] Translation: X:601.49, Y:-184.76, Z:-4.73 [[ 8.01570114e-01 5.97882046e-01 -4.73400287e-03 6.01494322e+02] [-5.97871116e-01 8.01584090e-01 3.61582074e-03 -1.84758808e+02] [ 5.95653569e-03 -6.80102643e-05 9.99982257e-01 -4.73101806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.786559995 meters 0.05238718523037507 Centerline is valid? [True, True] Translation: X:601.54, Y:-184.79, Z:-4.73 [[ 7.99718817e-01 6.00361690e-01 -3.95657147e-03 6.01544470e+02] [-6.00354083e-01 7.99728604e-01 3.02244015e-03 -1.84794625e+02] [ 4.97874065e-03 -4.17584235e-05 9.99987605e-01 -4.73024589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.846559995 meters 0.052932160100653096 Centerline is valid? [True, True] Translation: X:601.59, Y:-184.83, Z:-4.73 [[ 7.98412160e-01 6.02104562e-01 -2.84941715e-03 6.01594387e+02] [-6.02100624e-01 7.98417244e-01 2.17767864e-03 -1.84831462e+02] [ 3.58621403e-03 -2.30492640e-05 9.99993569e-01 -4.72561087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.906559995 meters 0.05360383095312087 Centerline is valid? [True, True] Translation: X:601.64, Y:-184.87, Z:-4.73 [[ 7.98957189e-01 6.01383275e-01 -2.35941784e-03 6.01643016e+02] [-6.01380570e-01 7.98960673e-01 1.80376948e-03 -1.84870094e+02] [ 2.96983886e-03 -2.22265481e-05 9.99995590e-01 -4.72686328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9665599949999 meters 0.0533677354749869 Centerline is valid? [True, True] Translation: X:601.69, Y:-184.91, Z:-4.73 [[ 8.01094523e-01 5.98535641e-01 -1.62838462e-03 6.01689371e+02] [-5.98534348e-01 8.01096177e-01 1.24465400e-03 -1.84911173e+02] [ 2.04946248e-03 -2.24413747e-05 9.99997900e-01 -4.72948860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.026559995 meters 0.05344930046715556 Centerline is valid? [True, True] Translation: X:601.74, Y:-184.95, Z:-4.73 [[ 8.02904899e-01 5.96105164e-01 -1.53506334e-03 6.01739478e+02] [-5.96104010e-01 8.02906366e-01 1.17345720e-03 -1.84948457e+02] [ 1.93201602e-03 -2.71171192e-05 9.99998133e-01 -4.73088119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0865599949999 meters 0.05343526820130672 Centerline is valid? [True, True] Translation: X:601.79, Y:-184.99, Z:-4.73 [[ 8.04879812e-01 5.93435417e-01 -1.70105548e-03 6.01787287e+02] [-5.93433994e-01 8.04881609e-01 1.30042229e-03 -1.84988466e+02] [ 2.14086492e-03 -3.72195008e-05 9.99997708e-01 -4.73307111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.146559995 meters 0.05341235137278764 Centerline is valid? [True, True] Translation: X:601.84, Y:-185.02, Z:-4.73 [[ 8.05753909e-01 5.92248920e-01 -1.36149350e-03 6.01839143e+02] [-5.92248005e-01 8.05755059e-01 1.04189549e-03 -1.85023131e+02] [ 1.71409175e-03 -3.31695527e-05 9.99998530e-01 -4.73261045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2065599949999 meters 0.05338444700761969 Centerline is valid? [True, True] Translation: X:601.89, Y:-185.06, Z:-4.73 [[ 8.06026591e-01 5.91878449e-01 -1.01739366e-03 6.01890398e+02] [-5.91877937e-01 8.06027233e-01 7.78925058e-04 -1.85056740e+02] [ 1.28107595e-03 -2.56614497e-05 9.99999179e-01 -4.73105658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.266559995 meters 0.053080472082426465 Centerline is valid? [True, True] Translation: X:601.94, Y:-185.09, Z:-4.73 [[ 8.05178662e-01 5.93029299e-01 -1.89033247e-03 6.01939482e+02] [-5.93027536e-01 8.05180879e-01 1.44665105e-03 -1.85094066e+02] [ 2.37996601e-03 -4.37933481e-05 9.99997167e-01 -4.73064550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3265599949999 meters 0.05344616085299384 Centerline is valid? [True, True] Translation: X:601.99, Y:-185.13, Z:-4.73 [[ 8.03554309e-01 5.95229017e-01 -1.69998575e-03 6.01991566e+02] [-5.95227598e-01 8.03556106e-01 1.30038392e-03 -1.85127990e+02] [ 2.14006017e-03 -3.30506638e-05 9.99997710e-01 -4.72938808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.386559995 meters 0.05333429679236146 Centerline is valid? [True, True] Translation: X:602.04, Y:-185.16, Z:-4.73 [[ 7.99952694e-01 6.00062180e-01 -1.03327967e-03 6.02040333e+02] [-6.00061659e-01 7.99953361e-01 7.90512536e-04 -1.85164961e+02] [ 1.30093222e-03 -1.23411209e-05 9.99999154e-01 -4.73250752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4465599949999 meters 0.05207427699494768 Centerline is valid? [True, True] Translation: X:602.09, Y:-185.20, Z:-4.73 [[ 7.96954041e-01 6.04039876e-01 -2.90234814e-04 6.02089265e+02] [-6.04039835e-01 7.96954094e-01 2.22478002e-04 -1.85200719e+02] [ 3.65689408e-04 -1.99135342e-06 9.99999933e-01 -4.73359777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.506559995 meters 0.052725123248076065 Centerline is valid? [True, True] Translation: X:602.14, Y:-185.24, Z:-4.73 [[ 7.92494255e-01 6.09879249e-01 3.97027305e-04 6.02140856e+02] [-6.09879173e-01 7.92494355e-01 -3.03339796e-04 -1.85235803e+02] [-4.99642545e-04 -1.74363820e-06 9.99999875e-01 -4.73278103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5665599949999 meters 0.05234255102916522 Centerline is valid? [True, True] Translation: X:602.19, Y:-185.27, Z:-4.73 [[ 7.89605579e-01 6.13614711e-01 1.27077406e-04 6.02190893e+02] [-6.13614703e-01 7.89605589e-01 -9.62347680e-05 -1.85271482e+02] [-1.59392100e-04 -1.98905523e-06 9.99999987e-01 -4.73381212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.626559995 meters 0.05192735563830769 Centerline is valid? [True, True] Translation: X:602.24, Y:-185.31, Z:-4.73 [[ 7.85799558e-01 6.18481212e-01 2.11356465e-04 6.02240186e+02] [-6.18481191e-01 7.85799587e-01 -1.60805699e-04 -1.85307894e+02] [-2.65539127e-04 -4.35895076e-06 9.99999965e-01 -4.73358441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6865599949999 meters 0.0516959646602679 Centerline is valid? [True, True] Translation: X:602.29, Y:-185.35, Z:-4.73 [[ 7.83309238e-01 6.21631257e-01 1.10415733e-03 6.02289418e+02] [-6.21630683e-01 7.83310015e-01 -8.44800031e-04 -1.85346289e+02] [-1.39005160e-03 -2.46384081e-05 9.99999034e-01 -4.73245084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.746559995 meters 0.051599425739605735 Centerline is valid? [True, True] Translation: X:602.34, Y:-185.38, Z:-4.73 [[ 7.82112035e-01 6.23134075e-01 2.16531419e-03 6.02339256e+02] [-6.23131875e-01 7.82115031e-01 -1.65667857e-03 -1.85382216e+02] [-2.72585764e-03 -5.35680430e-05 9.99996283e-01 -4.73215941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8065599949999 meters 0.05107573068980142 Centerline is valid? [True, True] Translation: X:602.39, Y:-185.42, Z:-4.73 [[ 7.80773049e-01 6.24814449e-01 5.91936998e-04 6.02386203e+02] [-6.24814286e-01 7.80773273e-01 -4.52276249e-04 -1.85422625e+02] [-7.44757323e-04 -1.67255870e-05 9.99999723e-01 -4.73172766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.866559995 meters 0.05142836411407125 Centerline is valid? [True, True] Translation: X:602.44, Y:-185.46, Z:-4.73 [[ 7.80936224e-01 6.24610639e-01 -4.03815829e-04 6.02435599e+02] [-6.24610562e-01 7.80936329e-01 3.10497253e-04 -1.85462144e+02] [ 5.09294339e-04 9.74907947e-06 9.99999870e-01 -4.73292156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9265599949999 meters 0.05267159679191036 Centerline is valid? [True, True] Translation: X:602.48, Y:-185.50, Z:-4.73 [[ 7.84608146e-01 6.19991445e-01 -8.15906706e-04 6.02481269e+02] [-6.19991129e-01 7.84608570e-01 6.25749906e-04 -1.85502610e+02] [ 1.02812698e-03 1.48864461e-05 9.99999471e-01 -4.73306827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.986559995 meters 0.05268229888171558 Centerline is valid? [True, True] Translation: X:602.53, Y:-185.54, Z:-4.73 [[ 7.88158161e-01 6.15471489e-01 -1.24890254e-03 6.02526866e+02] [-6.15470745e-01 7.88159150e-01 9.56992854e-04 -1.85544987e+02] [ 1.57333578e-03 1.44012509e-05 9.99998762e-01 -4.73241505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0465599949999 meters 0.05257386728474287 Centerline is valid? [True, True] Translation: X:602.57, Y:-185.59, Z:-4.73 [[ 7.93574830e-01 6.08471457e-01 -1.21468358e-03 6.02571782e+02] [-6.08470745e-01 7.93575759e-01 9.31309836e-04 -1.85585294e+02] [ 1.53061889e-03 3.53754641e-08 9.99998829e-01 -4.73160320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.106559995 meters 0.05335665799947349 Centerline is valid? [True, True] Translation: X:602.62, Y:-185.62, Z:-4.73 [[ 7.96213590e-01 6.05015504e-01 -3.98991942e-04 6.02621090e+02] [-6.05015426e-01 7.96213690e-01 3.06980325e-04 -1.85623405e+02] [ 5.03410703e-04 -3.02562668e-06 9.99999873e-01 -4.73257472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.166559995 meters 0.053007137412660256 Centerline is valid? [True, True] Translation: X:602.67, Y:-185.66, Z:-4.73 [[ 7.99028234e-01 6.01290410e-01 -1.92969584e-03 6.02670303e+02] [-6.01288591e-01 7.99030564e-01 1.47931489e-03 -1.85660750e+02] [ 2.43138381e-03 -2.17102753e-05 9.99997044e-01 -4.73287717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.226559995 meters 0.05446638389757538 Centerline is valid? [True, True] Translation: X:602.72, Y:-185.70, Z:-4.73 [[ 8.01557102e-01 5.97908205e-01 -3.46286589e-03 6.02715549e+02] [-5.97902314e-01 8.01564580e-01 2.65483498e-03 -1.85700989e+02] [ 4.36305825e-03 -5.75463063e-05 9.99990480e-01 -4.73449574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.286559995 meters 0.053803154592681465 Centerline is valid? [True, True] Translation: X:602.77, Y:-185.74, Z:-4.73 [[ 8.02966656e-01 5.96015741e-01 -3.12815706e-03 6.02765909e+02] [-5.96010918e-01 8.02972747e-01 2.39858719e-03 -1.85735093e+02] [ 3.94142059e-03 -6.15697694e-05 9.99992231e-01 -4.73289266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.346559995 meters 0.05332344149923971 Centerline is valid? [True, True] Translation: X:602.82, Y:-185.77, Z:-4.73 [[ 8.06264151e-01 5.91546001e-01 -3.38349815e-03 6.02815515e+02] [-5.91540319e-01 8.06271245e-01 2.59416254e-03 -1.85770891e+02] [ 4.26258374e-03 -9.01046780e-05 9.99990911e-01 -4.73276303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.406559995 meters 0.053644880367490606 Centerline is valid? [True, True] Translation: X:602.87, Y:-185.80, Z:-4.73 [[ 8.08704161e-01 5.88205272e-01 -3.48389557e-03 6.02869199e+02] [-5.88199213e-01 8.08711658e-01 2.67227100e-03 -1.85801739e+02] [ 4.38931085e-03 -1.11852045e-04 9.99990361e-01 -4.72880233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4665599949999 meters 0.05443150887055764 Centerline is valid? [True, True] Translation: X:602.92, Y:-185.84, Z:-4.73 [[ 8.11208073e-01 5.84741452e-01 -4.34700416e-03 6.02915410e+02] [-5.84731972e-01 8.11219704e-01 3.33365569e-03 -1.85842495e+02] [ 5.47570209e-03 -1.62456098e-04 9.99984995e-01 -4.73341681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.526559995 meters 0.05475358918731949 Centerline is valid? [True, True] Translation: X:602.97, Y:-185.87, Z:-4.73 [[ 8.11999501e-01 5.83645446e-01 -3.84748408e-03 6.02971569e+02] [-5.83638000e-01 8.12008602e-01 2.95204948e-03 -1.85870111e+02] [ 4.84714040e-03 -1.51524785e-04 9.99988241e-01 -4.73117926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5865599949999 meters 0.05555834891612105 Centerline is valid? [True, True] Translation: X:603.02, Y:-185.90, Z:-4.73 [[ 8.13270539e-01 5.81874322e-01 -3.64741211e-03 6.03023392e+02] [-5.81867614e-01 8.13278704e-01 2.79815927e-03 -1.85903789e+02] [ 4.59453963e-03 -1.53349515e-04 9.99989433e-01 -4.73261882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.646559995 meters 0.05490109684777753 Centerline is valid? [True, True] Translation: X:603.07, Y:-185.94, Z:-4.73 [[ 8.13923599e-01 5.80957493e-01 -4.09462412e-03 6.03072431e+02] [-5.80949026e-01 8.13933879e-01 3.14166478e-03 -1.85940885e+02] [ 5.15792699e-03 -1.78307216e-04 9.99986682e-01 -4.73325818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7065599949999 meters 0.05505476758387024 Centerline is valid? [True, True] Translation: X:603.12, Y:-185.97, Z:-4.73 [[ 8.15540896e-01 5.78688135e-01 -3.61786975e-03 6.03124886e+02] [-5.78681501e-01 8.15548903e-01 2.77609515e-03 -1.85972040e+02] [ 4.55704303e-03 -1.70424835e-04 9.99989602e-01 -4.73328607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.766559995 meters 0.05408489020021097 Centerline is valid? [True, True] Translation: X:603.17, Y:-186.01, Z:-4.73 [[ 8.16177183e-01 5.77800264e-01 -1.28873977e-03 6.03173377e+02] [-5.77799421e-01 8.16178198e-01 9.89377435e-04 -1.86009385e+02] [ 1.62350384e-03 -6.28741959e-05 9.99998680e-01 -4.73427106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8265599949999 meters 0.05563344724181981 Centerline is valid? [True, True] Translation: X:603.22, Y:-186.05, Z:-4.74 [[ 8.16365998e-01 5.77533531e-01 1.25617271e-03 6.03220178e+02] [-5.77532731e-01 8.16366962e-01 -9.63480156e-04 -1.86050030e+02] [-1.58194000e-03 6.10715821e-05 9.99998747e-01 -4.73606025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.886559995 meters 0.0540831061745775 Centerline is valid? [True, True] Translation: X:603.28, Y:-186.08, Z:-4.74 [[ 8.15067291e-01 5.79366290e-01 -1.15649733e-04 6.03277573e+02] [-5.79366283e-01 8.15067299e-01 8.89606375e-05 -1.86076662e+02] [ 1.45803110e-04 -5.50534974e-06 9.99999989e-01 -4.73609475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9465599949999 meters 0.05470100074712933 Centerline is valid? [True, True] Translation: X:603.33, Y:-186.10, Z:-4.74 [[ 8.11040164e-01 5.84986738e-01 -2.08996456e-03 6.03334150e+02] [-5.84984544e-01 8.11042853e-01 1.60415128e-03 -1.86103739e+02] [ 2.63345804e-03 -7.84341543e-05 9.99996529e-01 -4.73611454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.006559995 meters 0.05498628258108186 Centerline is valid? [True, True] Translation: X:603.39, Y:-186.13, Z:-4.74 [[ 8.04586511e-01 5.93831769e-01 -2.09213379e-03 6.03385853e+02] [-5.93829599e-01 8.04589230e-01 1.60612783e-03 -1.86134853e+02] [ 2.63707805e-03 -4.98978204e-05 9.99996522e-01 -4.73910309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0665599949999 meters 0.05397171545015393 Centerline is valid? [True, True] Translation: X:603.44, Y:-186.16, Z:-4.74 [[ 7.97350747e-01 6.03513644e-01 -1.75168411e-03 6.03440216e+02] [-6.03512146e-01 7.97352671e-01 1.34460546e-03 -1.86164802e+02] [ 2.20819774e-03 -1.49595314e-05 9.99997562e-01 -4.74024840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.126559995 meters 0.053711988638444 Centerline is valid? [True, True] Translation: X:603.49, Y:-186.20, Z:-4.74 [[ 7.93313097e-01 6.08811628e-01 -1.65246772e-03 6.03491983e+02] [-6.08810304e-01 7.93314819e-01 1.26963225e-03 -1.86198392e+02] [ 2.08389401e-03 -1.17651754e-06 9.99997829e-01 -4.74385401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1865599949999 meters 0.05358279213365709 Centerline is valid? [True, True] Translation: X:603.55, Y:-186.23, Z:-4.74 [[ 7.88304392e-01 6.15285369e-01 -3.16646392e-04 6.03545664e+02] [-6.15285321e-01 7.88304455e-01 2.43462961e-04 -1.86230672e+02] [ 3.99412959e-04 2.90495602e-06 9.99999920e-01 -4.74228309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.246559995 meters 0.053066489272350005 Centerline is valid? [True, True] Translation: X:603.60, Y:-186.27, Z:-4.74 [[ 7.83324268e-01 6.21611818e-01 1.35630861e-03 6.03596260e+02] [-6.21610946e-01 7.83325441e-01 -1.04119159e-03 -1.86265851e+02] [-1.70964804e-03 -2.75056408e-05 9.99998538e-01 -4.73980648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3065599949999 meters 0.05325669809545134 Centerline is valid? [True, True] Translation: X:603.65, Y:-186.30, Z:-4.74 [[ 7.80841764e-01 6.24725881e-01 1.92707981e-03 6.03647997e+02] [-6.24724131e-01 7.80844140e-01 -1.47936928e-03 -1.86296379e+02] [-2.42894925e-03 -4.87399401e-05 9.99997049e-01 -4.74126845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.366559995 meters 0.05308738271644046 Centerline is valid? [True, True] Translation: X:603.69, Y:-186.34, Z:-4.74 [[ 7.79412678e-01 6.26507679e-01 2.00125289e-03 6.03694709e+02] [-6.26505797e-01 7.79415246e-01 -1.53650631e-03 -1.86337890e+02] [-2.52244001e-03 -5.62240379e-05 9.99996817e-01 -4.74052969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4265599949999 meters 0.05322650523210902 Centerline is valid? [True, True] Translation: X:603.74, Y:-186.38, Z:-4.74 [[ 7.79529438e-01 6.26364934e-01 9.08148135e-04 6.03744035e+02] [-6.26364548e-01 7.79529966e-01 -6.96360982e-04 -1.86376497e+02] [-1.14410479e-03 -2.59979112e-05 9.99999345e-01 -4.74185133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.486559995 meters 0.05303067699403207 Centerline is valid? [True, True] Translation: X:603.79, Y:-186.42, Z:-4.74 [[ 7.80847782e-01 6.24720248e-01 -1.16320203e-03 6.03791292e+02] [-6.24719608e-01 7.80848648e-01 8.94786044e-04 -1.86416914e+02] [ 1.46727569e-03 2.79834160e-05 9.99998923e-01 -4.74454298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5465599949999 meters 0.05363258955837468 Centerline is valid? [True, True] Translation: X:603.84, Y:-186.46, Z:-4.75 [[ 7.82096457e-01 6.23155815e-01 -1.40088008e-03 6.03838661e+02] [-6.23154884e-01 7.82097711e-01 1.07764430e-03 -1.86456365e+02] [ 1.76716542e-03 3.01434755e-05 9.99998438e-01 -4.74539824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.606559995 meters 0.053560253360290334 Centerline is valid? [True, True] Translation: X:603.88, Y:-186.50, Z:-4.74 [[ 7.85446791e-01 6.18929161e-01 1.80598343e-04 6.03882132e+02] [-6.18929145e-01 7.85446812e-01 -1.38662583e-04 -1.86500523e+02] [-2.27672710e-04 -2.86549706e-06 9.99999974e-01 -4.74375407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.666559995 meters 0.05324390191647429 Centerline is valid? [True, True] Translation: X:603.93, Y:-186.54, Z:-4.74 [[ 7.89691622e-01 6.13501035e-01 1.90339845e-03 6.03926206e+02] [-6.13499291e-01 7.89693915e-01 -1.46264534e-03 -1.86543981e+02] [-2.40043661e-03 -1.26948346e-05 9.99997119e-01 -4.74275048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.726559995 meters 0.05339599697576277 Centerline is valid? [True, True] Translation: X:603.97, Y:-186.59, Z:-4.74 [[ 7.92629206e-01 6.09701210e-01 1.83744091e-03 6.03970773e+02] [-6.09699576e-01 7.92631336e-01 -1.41148931e-03 -1.86585814e+02] [-2.31699999e-03 -1.49929615e-06 9.99997316e-01 -4.74420891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.786559995 meters 0.05389004848709878 Centerline is valid? [True, True] Translation: X:604.02, Y:-186.63, Z:-4.74 [[ 7.96985068e-01 6.03993937e-01 2.47486731e-03 6.04015691e+02] [-6.03990943e-01 7.96988911e-01 -1.90194112e-03 -1.86628500e+02] [-3.12120271e-03 2.10212345e-05 9.99995129e-01 -4.74104484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.846559995 meters 0.05472722158895369 Centerline is valid? [True, True] Translation: X:604.06, Y:-186.67, Z:-4.74 [[ 7.99953978e-01 6.00056490e-01 2.41686010e-03 6.04063959e+02] [-6.00053614e-01 7.99957628e-01 -1.85817941e-03 -1.86667723e+02] [-3.04839829e-03 3.62123718e-05 9.99995353e-01 -4.74231779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.906559995 meters 0.0541931989811951 Centerline is valid? [True, True] Translation: X:604.11, Y:-186.71, Z:-4.75 [[ 8.03961276e-01 5.94680540e-01 1.14952291e-03 6.04105645e+02] [-5.94679885e-01 8.03962098e-01 -8.83355284e-04 -1.86712504e+02] [-1.44948705e-03 2.65852885e-05 9.99998949e-01 -4.74541839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9665599949999 meters 0.05433753235529275 Centerline is valid? [True, True] Translation: X:604.15, Y:-186.75, Z:-4.75 [[ 8.07526222e-01 5.89831397e-01 5.69263472e-04 6.04152454e+02] [-5.89831235e-01 8.07526422e-01 -4.37460170e-04 -1.86751605e+02] [-7.17723038e-04 1.74911809e-05 9.99999742e-01 -4.74509101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.026559995 meters 0.054755842456633785 Centerline is valid? [True, True] Translation: X:604.20, Y:-186.79, Z:-4.75 [[ 8.09255188e-01 5.87455153e-01 1.57613303e-03 6.04200086e+02] [-5.87453905e-01 8.09256721e-01 -1.21209663e-03 -1.86790558e+02] [-1.98754866e-03 5.49899816e-05 9.99998023e-01 -4.74589055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0865599949999 meters 0.05418865939019147 Centerline is valid? [True, True] Translation: X:604.25, Y:-186.83, Z:-4.75 [[ 8.09408884e-01 5.87240197e-01 2.49209024e-03 6.04247502e+02] [-5.87237077e-01 8.09412715e-01 -1.91623218e-03 -1.86830000e+02] [-3.14241809e-03 8.75675642e-05 9.99995059e-01 -4.74646763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.146559995 meters 0.053928170075213104 Centerline is valid? [True, True] Translation: X:604.29, Y:-186.87, Z:-4.75 [[ 8.06346224e-01 5.91440508e-01 1.97291397e-03 6.04293277e+02] [-5.91438563e-01 8.06348636e-01 -1.51776888e-03 -1.86870622e+02] [-2.48852649e-03 5.69898050e-05 9.99996902e-01 -4.74807362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2065599949999 meters 0.05386990123818709 Centerline is valid? [True, True] Translation: X:604.34, Y:-186.91, Z:-4.75 [[ 8.02919906e-01 5.96079933e-01 2.88740744e-03 6.04342993e+02] [-5.96075797e-01 8.02925096e-01 -2.22155100e-03 -1.86906993e+02] [-3.64259386e-03 6.26138295e-05 9.99993364e-01 -4.74867478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.266559995 meters 0.052702381388159365 Centerline is valid? [True, True] Translation: X:604.40, Y:-186.94, Z:-4.75 [[ 7.96049848e-01 6.05225288e-01 2.64384979e-03 6.04395178e+02] [-6.05221869e-01 7.96054239e-01 -2.03437437e-03 -1.86937866e+02] [-3.33590264e-03 1.93476945e-05 9.99994436e-01 -4.74883610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3265599949999 meters 0.051898679045112625 Centerline is valid? [True, True] Translation: X:604.45, Y:-186.97, Z:-4.75 [[ 7.90693345e-01 6.12210820e-01 1.39477842e-03 6.04446560e+02] [-6.12209880e-01 7.90694575e-01 -1.07297971e-03 -1.86973078e+02] [-1.75973352e-03 -5.49921761e-06 9.99998452e-01 -4.75152770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.386559995 meters 0.05269297033580066 Centerline is valid? [True, True] Translation: X:604.49, Y:-187.01, Z:-4.75 [[ 7.83896007e-01 6.20891974e-01 4.54516655e-04 6.04494333e+02] [-6.20891875e-01 7.83896139e-01 -3.49617938e-04 -1.87011808e+02] [-5.73368823e-04 -8.14159233e-06 9.99999836e-01 -4.75104784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4465599949999 meters 0.052342958293594165 Centerline is valid? [True, True] Translation: X:604.55, Y:-187.05, Z:-4.75 [[ 7.80071487e-01 6.25689961e-01 -7.40678062e-04 6.04545417e+02] [-6.25689701e-01 7.80071838e-01 5.70278484e-04 -1.87045570e+02] [ 9.34599620e-04 1.85766507e-05 9.99999563e-01 -4.75471316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.506559995 meters 0.05183476057701723 Centerline is valid? [True, True] Translation: X:604.59, Y:-187.08, Z:-4.76 [[ 7.78401196e-01 6.27766960e-01 -4.70876015e-04 6.04593594e+02] [-6.27766855e-01 7.78401338e-01 3.63458493e-04 -1.87083320e+02] [ 5.94697753e-04 1.26838294e-05 9.99999823e-01 -4.75538415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5665599949999 meters 0.051673053669022556 Centerline is valid? [True, True] Translation: X:604.64, Y:-187.12, Z:-4.75 [[ 7.76343267e-01 6.30310145e-01 5.03364360e-04 6.04640851e+02] [-6.30310027e-01 7.76343430e-01 -3.86640514e-04 -1.87122678e+02] [-6.34487052e-04 -1.71098441e-05 9.99999799e-01 -4.75455233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.626559995 meters 0.05195667993981566 Centerline is valid? [True, True] Translation: X:604.69, Y:-187.16, Z:-4.75 [[ 7.74082319e-01 6.33082527e-01 1.75454474e-03 6.04689330e+02] [-6.33081089e-01 7.74084304e-01 -1.35074887e-03 -1.87161110e+02] [-2.21330105e-03 -6.51782815e-05 9.99997549e-01 -4.75488563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6865599949999 meters 0.05210220100287526 Centerline is valid? [True, True] Translation: X:604.74, Y:-187.20, Z:-4.76 [[ 7.74045507e-01 6.33129204e-01 9.82116422e-04 6.04737889e+02] [-6.33128754e-01 7.74046129e-01 -7.55298912e-04 -1.87199700e+02] [-1.23840521e-03 -3.71704170e-05 9.99999232e-01 -4.75606549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.746559995 meters 0.052265619508300706 Centerline is valid? [True, True] Translation: X:604.78, Y:-187.24, Z:-4.76 [[ 7.74141386e-01 6.33012462e-01 -5.79978176e-04 6.04784767e+02] [-6.33012304e-01 7.74141603e-01 4.47714684e-04 -1.87238378e+02] [ 7.32394209e-04 2.05388553e-05 9.99999732e-01 -4.75739757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8065599949999 meters 0.051957333737281085 Centerline is valid? [True, True] Translation: X:604.83, Y:-187.28, Z:-4.76 [[ 7.74536340e-01 6.32525008e-01 -2.36063568e-03 6.04830660e+02] [-6.32522394e-01 7.74539933e-01 1.82011002e-03 -1.87281849e+02] [ 2.97967171e-03 8.34135768e-05 9.99995557e-01 -4.75934796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.866559995 meters 0.05328886499906982 Centerline is valid? [True, True] Translation: X:604.88, Y:-187.31, Z:-4.77 [[ 7.74996986e-01 6.31947142e-01 -4.74137480e-03 6.04882733e+02] [-6.31936597e-01 7.75011472e-01 3.65439514e-03 -1.87314206e+02] [ 5.98400444e-03 1.64103036e-04 9.99982082e-01 -4.76643977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9265599949999 meters 0.05188840991139696 Centerline is valid? [True, True] Translation: X:604.92, Y:-187.37, Z:-4.76 [[ 7.76658083e-01 6.29909289e-01 -4.06309269e-03 6.04920958e+02] [-6.29901519e-01 7.76668701e-01 3.13138047e-03 -1.87365442e+02] [ 5.12816257e-03 1.27336299e-04 9.99986843e-01 -4.76210167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.986559995 meters 0.05107600762521536 Centerline is valid? [True, True] Translation: X:604.96, Y:-187.41, Z:-4.76 [[ 7.81797297e-01 6.23531990e-01 -9.18524086e-04 6.04962998e+02] [-6.23531589e-01 7.81797836e-01 7.07934975e-04 -1.87409268e+02] [ 1.15952025e-03 1.92671327e-05 9.99999328e-01 -4.76157924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0465599949999 meters 0.05040589931908315 Centerline is valid? [True, True] Translation: X:605.01, Y:-187.45, Z:-4.76 [[ 7.84328667e-01 6.20338011e-01 3.04878085e-03 6.05005217e+02] [-6.20333563e-01 7.84334591e-01 -2.34948809e-03 -1.87454893e+02] [-3.84874105e-03 -4.84902252e-05 9.99992592e-01 -4.75619092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.106559995 meters 0.05086133826155341 Centerline is valid? [True, True] Translation: X:605.05, Y:-187.49, Z:-4.76 [[ 7.84233196e-01 6.20450770e-01 4.37443610e-03 6.05054521e+02] [-6.20441615e-01 7.84245393e-01 -3.37115970e-03 -1.87490830e+02] [-5.52226999e-03 -7.03068560e-05 9.99984750e-01 -4.75560909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.166559995 meters 0.05091704530233332 Centerline is valid? [True, True] Translation: X:605.10, Y:-187.53, Z:-4.76 [[ 7.84321528e-01 6.20347404e-01 2.97298142e-03 6.05101892e+02] [-6.20343175e-01 7.84327161e-01 -2.29115480e-03 -1.87532568e+02] [-3.75310201e-03 -4.72667037e-05 9.99992956e-01 -4.75715464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.226559995 meters 0.05132175900004583 Centerline is valid? [True, True] Translation: X:605.15, Y:-187.57, Z:-4.76 [[ 7.85202668e-01 6.19236870e-01 1.57134231e-03 6.05153536e+02] [-6.19235686e-01 7.85204240e-01 -1.21089095e-03 -1.87565726e+02] [-1.98365297e-03 -2.22364243e-05 9.99998032e-01 -4.76176289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.286559995 meters 0.050855309494880784 Centerline is valid? [True, True] Translation: X:605.20, Y:-187.61, Z:-4.76 [[ 7.87303948e-01 6.16558425e-01 2.86402062e-03 6.05200557e+02] [-6.16554469e-01 7.87309157e-01 -2.20869570e-03 -1.87605766e+02] [-3.61665961e-03 -2.69098704e-05 9.99993460e-01 -4.75972089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.346559995 meters 0.05115701142167591 Centerline is valid? [True, True] Translation: X:605.25, Y:-187.64, Z:-4.76 [[ 7.88968987e-01 6.14426873e-01 2.74869589e-03 6.05250355e+02] [-6.14423217e-01 7.88973775e-01 -2.11974494e-03 -1.87642776e+02] [-3.47107723e-03 -1.64495534e-05 9.99993976e-01 -4.76083838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.406559995 meters 0.05193800475976459 Centerline is valid? [True, True] Translation: X:605.30, Y:-187.68, Z:-4.76 [[ 7.91814260e-01 6.10761934e-01 1.94722331e-04 6.05299967e+02] [-6.10761916e-01 7.91814284e-01 -1.49642495e-04 -1.87679095e+02] [-2.45579863e-04 -4.39922443e-07 9.99999970e-01 -4.76321272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4665599949999 meters 0.051781576982263065 Centerline is valid? [True, True] Translation: X:605.35, Y:-187.72, Z:-4.76 [[ 7.94808277e-01 6.06859581e-01 1.11877550e-03 6.05350698e+02] [-6.06858969e-01 7.94809064e-01 -8.62105041e-04 -1.87716361e+02] [-1.41238961e-03 6.26927602e-06 9.99999003e-01 -4.76112792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.526559995 meters 0.05131246701971467 Centerline is valid? [True, True] Translation: X:605.40, Y:-187.75, Z:-4.76 [[ 7.94860178e-01 6.06791281e-01 1.27978818e-03 6.05399728e+02] [-6.06790479e-01 7.94861209e-01 -9.86644314e-04 -1.87754015e+02] [-1.61594115e-03 7.68099035e-06 9.99998694e-01 -4.76311070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5865599949999 meters 0.051021400411777926 Centerline is valid? [True, True] Translation: X:605.45, Y:-187.79, Z:-4.76 [[ 7.91916571e-01 6.10628442e-01 1.02458171e-03 6.05450386e+02] [-6.10627931e-01 7.91917234e-01 -7.90392353e-04 -1.87787934e+02] [-1.29401997e-03 2.86592869e-07 9.99999163e-01 -4.76134522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.646559995 meters 0.05114554324933185 Centerline is valid? [True, True] Translation: X:605.50, Y:-187.82, Z:-4.76 [[ 7.88793437e-01 6.14655548e-01 1.86325122e-03 6.05502532e+02] [-6.14653865e-01 7.88795637e-01 -1.43822394e-03 -1.87821943e+02] [-2.35373676e-03 -1.07929629e-05 9.99997230e-01 -4.76402495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7065599949999 meters 0.0511298317527968 Centerline is valid? [True, True] Translation: X:605.55, Y:-187.86, Z:-4.76 [[ 7.83989471e-01 6.20772427e-01 1.45016260e-03 6.05553002e+02] [-6.20771418e-01 7.83990812e-01 -1.11946504e-03 -1.87858149e+02] [-1.83184718e-03 -2.25706927e-05 9.99998322e-01 -4.76364123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.766559995 meters 0.051506578168442355 Centerline is valid? [True, True] Translation: X:605.61, Y:-187.89, Z:-4.77 [[ 7.79728893e-01 6.26112780e-01 2.37485976e-03 6.05606843e+02] [-6.26110098e-01 7.79732507e-01 -1.83345434e-03 -1.87887605e+02] [-2.99970455e-03 -5.73263568e-05 9.99995499e-01 -4.76546424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8265599949999 meters 0.05147924224640777 Centerline is valid? [True, True] Translation: X:605.66, Y:-187.92, Z:-4.77 [[ 7.76752980e-01 6.29802284e-01 1.97256096e-03 6.05657249e+02] [-6.29800445e-01 7.76755483e-01 -1.52310755e-03 -1.87922941e+02] [-2.49145416e-03 -5.92414408e-05 9.99996895e-01 -4.76747829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.886559995 meters 0.05062667032468094 Centerline is valid? [True, True] Translation: X:605.70, Y:-187.96, Z:-4.77 [[ 7.76233786e-01 6.30443833e-01 1.29741478e-03 6.05703837e+02] [-6.30443039e-01 7.76234869e-01 -1.00147881e-03 -1.87964673e+02] [-1.63847473e-03 -4.05644257e-05 9.99998657e-01 -4.76735125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9465599949999 meters 0.05083003289188756 Centerline is valid? [True, True] Translation: X:605.75, Y:-188.01, Z:-4.77 [[ 7.77144116e-01 6.29320912e-01 1.48720132e-03 6.05750646e+02] [-6.29319867e-01 7.77145538e-01 -1.14781838e-03 -1.88005946e+02] [-1.87811798e-03 -4.39050377e-05 9.99998235e-01 -4.76651182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.006559995 meters 0.050811111038537984 Centerline is valid? [True, True] Translation: X:605.80, Y:-188.04, Z:-4.77 [[ 7.80170199e-01 6.25566087e-01 1.23772109e-03 6.05797969e+02] [-6.25565357e-01 7.80171180e-01 -9.55996276e-04 -1.88043993e+02] [-1.56367318e-03 -2.84356340e-05 9.99998777e-01 -4.76926642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0665599949999 meters 0.05127048383698705 Centerline is valid? [True, True] Translation: X:605.84, Y:-188.08, Z:-4.77 [[ 7.82686823e-01 6.22413841e-01 1.53227660e-03 6.05844792e+02] [-6.22412717e-01 7.82688322e-01 -1.18347935e-03 -1.88084614e+02] [-1.93590893e-03 -2.74147498e-05 9.99998126e-01 -4.76997067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.126559995 meters 0.05075268516993516 Centerline is valid? [True, True] Translation: X:605.89, Y:-188.13, Z:-4.77 [[ 7.87139906e-01 6.16773912e-01 8.42343619e-04 6.05888940e+02] [-6.16773569e-01 7.87140357e-01 -6.50601913e-04 -1.88128784e+02] [-1.06431694e-03 -7.42055213e-06 9.99999434e-01 -4.77035571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1865599949999 meters 0.051303297495655424 Centerline is valid? [True, True] Translation: X:605.93, Y:-188.17, Z:-4.77 [[ 7.91182536e-01 6.11579531e-01 -8.20061246e-04 6.05932918e+02] [-6.11579202e-01 7.91182961e-01 6.34730017e-04 -1.88171125e+02] [ 1.03700637e-03 -6.54901880e-07 9.99999462e-01 -4.77258675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.246559995 meters 0.05165719333192388 Centerline is valid? [True, True] Translation: X:605.98, Y:-188.21, Z:-4.77 [[ 7.91657691e-01 6.10964664e-01 -5.28859993e-04 6.05982588e+02] [-6.10964527e-01 7.91657867e-01 4.10030792e-04 -1.88209803e+02] [ 6.69190499e-04 -1.48933455e-06 9.99999776e-01 -4.76887343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3065599949999 meters 0.05102811971119942 Centerline is valid? [True, True] Translation: X:606.03, Y:-188.25, Z:-4.77 [[ 7.90513309e-01 6.12444829e-01 -1.99164420e-04 6.06032270e+02] [-6.12444810e-01 7.90513334e-01 1.54355679e-04 -1.88247332e+02] [ 2.51976467e-04 -4.30035173e-08 9.99999968e-01 -4.77092370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.366559995 meters 0.05133909626192092 Centerline is valid? [True, True] Translation: X:606.08, Y:-188.28, Z:-4.77 [[ 7.89942830e-01 6.13180277e-01 5.23095631e-04 6.06081736e+02] [-6.13180144e-01 7.89943003e-01 -4.03485237e-04 -1.88282530e+02] [-6.60624923e-04 -2.02158483e-06 9.99999782e-01 -4.77208272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4265599949999 meters 0.051716107421296995 Centerline is valid? [True, True] Translation: X:606.13, Y:-188.32, Z:-4.77 [[ 7.91061731e-01 6.11735814e-01 7.94933738e-04 6.06131736e+02] [-6.11735506e-01 7.91062130e-01 -6.13765017e-04 -1.88319032e+02] [-1.00430402e-03 -7.63176145e-07 9.99999496e-01 -4.77300794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.486559995 meters 0.05195596852169858 Centerline is valid? [True, True] Translation: X:606.18, Y:-188.36, Z:-4.77 [[ 7.91755304e-01 6.10838211e-01 4.67379578e-04 6.06181300e+02] [-6.10838105e-01 7.91755442e-01 -3.60374166e-04 -1.88357510e+02] [-5.90180635e-04 -1.65097872e-07 9.99999826e-01 -4.77349164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5465599949999 meters 0.052164894873162615 Centerline is valid? [True, True] Translation: X:606.23, Y:-188.40, Z:-4.77 [[ 7.93685684e-01 6.08327450e-01 -8.65341441e-04 6.06230852e+02] [-6.08327080e-01 7.93686156e-01 6.70684880e-04 -1.88395345e+02] [ 1.09480554e-03 -5.90235489e-06 9.99999401e-01 -4.77409311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.606559995 meters 0.052581663525200224 Centerline is valid? [True, True] Translation: X:606.28, Y:-188.43, Z:-4.77 [[ 7.94753497e-01 6.06931165e-01 -1.20050745e-03 6.06280250e+02] [-6.06930453e-01 7.94754403e-01 9.29699001e-04 -1.88432328e+02] [ 1.51837188e-03 -1.02570023e-05 9.99998847e-01 -4.77417965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.666559995 meters 0.05302456262704413 Centerline is valid? [True, True] Translation: X:606.33, Y:-188.47, Z:-4.77 [[ 7.97797788e-01 6.02924988e-01 -3.85981881e-04 6.06328027e+02] [-6.02924913e-01 7.97797881e-01 2.99801828e-04 -1.88470002e+02] [ 4.88693540e-04 -6.46314276e-06 9.99999881e-01 -4.77401033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.726559995 meters 0.05313262925892074 Centerline is valid? [True, True] Translation: X:606.38, Y:-188.50, Z:-4.77 [[ 8.00290958e-01 5.99611842e-01 1.47220031e-04 6.06380800e+02] [-5.99611832e-01 8.00290971e-01 -1.13667066e-04 -1.88503813e+02] [-1.85974981e-04 2.69185267e-06 9.99999983e-01 -4.77024887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.786559995 meters 0.052961819979851735 Centerline is valid? [True, True] Translation: X:606.43, Y:-188.55, Z:-4.77 [[ 8.01824611e-01 5.97558694e-01 -9.48249932e-04 6.06427505e+02] [-5.97558243e-01 8.01825172e-01 7.34548224e-04 -1.88545250e+02] [ 1.19926634e-03 -2.23442802e-05 9.99999281e-01 -4.77051719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.846559995 meters 0.05273548262268801 Centerline is valid? [True, True] Translation: X:606.48, Y:-188.58, Z:-4.77 [[ 7.99902441e-01 6.00127865e-01 -1.62220356e-03 6.06478285e+02] [-6.00126550e-01 7.99904085e-01 1.25641465e-03 -1.88578451e+02] [ 2.05161670e-03 -3.14817231e-05 9.99997895e-01 -4.77165481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.906559995 meters 0.053194992739006346 Centerline is valid? [True, True] Translation: X:606.53, Y:-188.61, Z:-4.77 [[ 7.95440256e-01 6.06029591e-01 -1.71274423e-03 6.06530314e+02] [-6.06028140e-01 7.95442100e-01 1.32631216e-03 -1.88610421e+02] [ 2.16617328e-03 -1.70308892e-05 9.99997654e-01 -4.77322010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9665599949999 meters 0.05238411750012863 Centerline is valid? [True, True] Translation: X:606.58, Y:-188.64, Z:-4.77 [[ 7.92752214e-01 6.09542828e-01 -1.21152093e-03 6.06582873e+02] [-6.09542106e-01 7.92753140e-01 9.38552247e-04 -1.88644720e+02] [ 1.53252481e-03 -5.56635319e-06 9.99998826e-01 -4.77311636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.026559995 meters 0.0521272997853479 Centerline is valid? [True, True] Translation: X:606.63, Y:-188.68, Z:-4.77 [[ 7.89434099e-01 6.13834640e-01 -9.15236444e-04 6.06633681e+02] [-6.13834231e-01 7.89434630e-01 7.09176127e-04 -1.88681058e+02] [ 1.15783622e-03 1.95564197e-06 9.99999330e-01 -4.77177285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0865599949999 meters 0.05234789087726802 Centerline is valid? [True, True] Translation: X:606.68, Y:-188.71, Z:-4.77 [[ 7.87128277e-01 6.16787664e-01 -1.43310674e-03 6.06684382e+02] [-6.16786663e-01 7.87129581e-01 1.11109043e-03 -1.88714952e+02] [ 1.81334758e-03 9.35042664e-06 9.99998356e-01 -4.77368777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.146559995 meters 0.05230766433434458 Centerline is valid? [True, True] Translation: X:606.74, Y:-188.75, Z:-4.78 [[ 7.83173585e-01 6.21798401e-01 -2.42586332e-03 6.06735769e+02] [-6.21795562e-01 7.83177341e-01 1.87930866e-03 -1.88748820e+02] [ 3.06843230e-03 3.65661409e-05 9.99995292e-01 -4.77511648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2065599949999 meters 0.051751446639061366 Centerline is valid? [True, True] Translation: X:606.79, Y:-188.78, Z:-4.77 [[ 7.79831870e-01 6.25986988e-01 -1.59534648e-03 6.06785339e+02] [-6.25985767e-01 7.79833502e-01 1.23689459e-03 -1.88784738e+02] [ 2.01838455e-03 3.40943623e-05 9.99997962e-01 -4.77327608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.266559995 meters 0.051667779967166316 Centerline is valid? [True, True] Translation: X:606.83, Y:-188.82, Z:-4.77 [[ 7.79537205e-01 6.26355920e-01 8.47314730e-05 6.06833855e+02] [-6.26355917e-01 7.79537210e-01 -6.46823000e-05 -1.88822473e+02] [-1.06565478e-04 -2.64980011e-06 9.99999994e-01 -4.77178260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3265599949999 meters 0.052872348877078694 Centerline is valid? [True, True] Translation: X:606.88, Y:-188.86, Z:-4.77 [[ 7.82627656e-01 6.22489970e-01 4.34617850e-04 6.06879864e+02] [-6.22489879e-01 7.82627777e-01 -3.36594926e-04 -1.88863233e+02] [-5.49670968e-04 -7.11671461e-06 9.99999849e-01 -4.77084322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.386559995 meters 0.0525652776526872 Centerline is valid? [True, True] Translation: X:606.92, Y:-188.90, Z:-4.77 [[ 7.88225621e-01 6.15385290e-01 -1.14685288e-03 6.06924416e+02] [-6.15384648e-01 7.88226456e-01 8.88954180e-04 -1.88904307e+02] [ 1.45102910e-03 5.05919284e-06 9.99998947e-01 -4.77355315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4465599949999 meters 0.053149202766252235 Centerline is valid? [True, True] Translation: X:606.97, Y:-188.95, Z:-4.78 [[ 7.93683121e-01 6.08330116e-01 -1.25416064e-03 6.06968671e+02] [-6.08329339e-01 7.93684112e-01 9.72458798e-04 -1.88948384e+02] [ 1.58698335e-03 -8.88142036e-06 9.99998741e-01 -4.77520545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.506559995 meters 0.05247004319426594 Centerline is valid? [True, True] Translation: X:607.01, Y:-188.99, Z:-4.78 [[ 7.97244213e-01 6.03656323e-01 -8.42367962e-04 6.07014726e+02] [-6.03655969e-01 7.97244658e-01 6.53351816e-04 -1.88990872e+02] [ 1.06597331e-03 -1.23805057e-05 9.99999432e-01 -4.77553294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5665599949999 meters 0.05335718588106426 Centerline is valid? [True, True] Translation: X:607.06, Y:-189.03, Z:-4.77 [[ 8.01926815e-01 5.97420945e-01 -1.26399118e-03 6.07060325e+02] [-5.97420142e-01 8.01927810e-01 9.79997916e-04 -1.89030074e+02] [ 1.59910096e-03 -3.07528184e-05 9.99998721e-01 -4.77412956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.626559995 meters 0.05478367210558677 Centerline is valid? [True, True] Translation: X:607.11, Y:-189.07, Z:-4.77 [[ 8.05515229e-01 5.92568139e-01 -2.86643335e-03 6.07105654e+02] [-5.92563978e-01 8.05520324e-01 2.22243921e-03 -1.89072284e+02] [ 3.62591699e-03 -9.16634776e-05 9.99993422e-01 -4.77399267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6865599949999 meters 0.055001541413405915 Centerline is valid? [True, True] Translation: X:607.15, Y:-189.12, Z:-4.78 [[ 8.06794342e-01 5.90822558e-01 -3.40514339e-03 6.07145658e+02] [-5.90816672e-01 8.06801519e-01 2.64008972e-03 -1.89120380e+02] [ 4.30709942e-03 -1.18193961e-04 9.99990717e-01 -4.78047281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.746559995 meters 0.053365090606049034 Centerline is valid? [True, True] Translation: X:607.20, Y:-189.15, Z:-4.77 [[ 8.05798644e-01 5.92185796e-01 -2.12815323e-03 6.07197154e+02] [-5.92183501e-01 8.05801451e-01 1.64998724e-03 -1.89152083e+02] [ 2.69196797e-03 -6.93002540e-05 9.99996374e-01 -4.77448874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8065599949999 meters 0.05249285570544925 Centerline is valid? [True, True] Translation: X:607.24, Y:-189.19, Z:-4.78 [[ 8.03544185e-01 5.95244806e-01 -6.03446945e-04 6.07244023e+02] [-5.95244622e-01 8.03544411e-01 4.68200763e-04 -1.89192354e+02] [ 7.63590492e-04 -1.70214515e-05 9.99999708e-01 -4.77531384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.866559995 meters 0.052858143697329656 Centerline is valid? [True, True] Translation: X:607.29, Y:-189.23, Z:-4.78 [[ 8.00217646e-01 5.99709554e-01 4.12167723e-04 6.07294758e+02] [-5.99709469e-01 8.00217752e-01 -3.18919273e-04 -1.89226964e+02] [-5.21082864e-04 8.02394438e-06 9.99999864e-01 -4.77545890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9265599949999 meters 0.052535186164060846 Centerline is valid? [True, True] Translation: X:607.34, Y:-189.26, Z:-4.77 [[ 7.98203420e-01 6.02385216e-01 1.83094539e-03 6.07343724e+02] [-6.02383544e-01 7.98205519e-01 -1.41972018e-03 -1.89261957e+02] [-2.31668916e-03 3.02941319e-05 9.99997316e-01 -4.77445552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.986559995 meters 0.05158120344328742 Centerline is valid? [True, True] Translation: X:607.39, Y:-189.30, Z:-4.78 [[ 7.95664457e-01 6.05737550e-01 3.04570823e-04 6.07392249e+02] [-6.05737504e-01 7.95664515e-01 -2.35249578e-04 -1.89298834e+02] [-3.84835700e-04 2.68975754e-06 9.99999926e-01 -4.77804415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0465599949999 meters 0.0505436284387653 Centerline is valid? [True, True] Translation: X:607.44, Y:-189.33, Z:-4.78 [[ 7.93579327e-01 6.08466613e-01 4.82129387e-04 6.07444258e+02] [-6.08466498e-01 7.93579474e-01 -3.73538141e-04 -1.89333899e+02] [-6.09893473e-04 3.07256676e-06 9.99999814e-01 -4.77727490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.106559995 meters 0.05330338289849399 Centerline is valid? [True, True] Translation: X:607.50, Y:-189.37, Z:-4.78 [[ 7.89175125e-01 6.14168223e-01 1.29994026e-04 6.07497988e+02] [-6.14168215e-01 7.89175135e-01 -9.97733979e-05 -1.89366414e+02] [-1.63865703e-04 -1.09951492e-06 9.99999987e-01 -4.77995796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.166559995 meters 0.052781779146063336 Centerline is valid? [True, True] Translation: X:607.55, Y:-189.40, Z:-4.78 [[ 7.84211261e-01 6.20493389e-01 -8.07267191e-04 6.07549168e+02] [-6.20493073e-01 7.84211677e-01 6.26720837e-04 -1.89402355e+02] [ 1.02194449e-03 9.42216156e-06 9.99999478e-01 -4.78124762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.226559995 meters 0.05166628228389891 Centerline is valid? [True, True] Translation: X:607.60, Y:-189.44, Z:-4.78 [[ 7.82562307e-01 6.22572122e-01 4.32807347e-04 6.07598578e+02] [-6.22572032e-01 7.82562427e-01 -3.34852898e-04 -1.89440181e+02] [-5.47168848e-04 -7.41049270e-06 9.99999850e-01 -4.78054034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.286559995 meters 0.05177394706935254 Centerline is valid? [True, True] Translation: X:607.65, Y:-189.48, Z:-4.78 [[ 7.81741255e-01 6.23599783e-01 1.97984693e-03 6.07646434e+02] [-6.23597893e-01 7.81743762e-01 -1.53583923e-03 -1.89481682e+02] [-2.50548200e-03 -3.39994832e-05 9.99996861e-01 -4.77968748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.346559995 meters 0.05157891461087663 Centerline is valid? [True, True] Translation: X:607.69, Y:-189.52, Z:-4.78 [[ 7.80861808e-01 6.24695302e-01 3.25841604e-03 6.07694155e+02] [-6.24690184e-01 7.80868604e-01 -2.52945602e-03 -1.89519611e+02] [-4.12453408e-03 -6.03449158e-05 9.99991492e-01 -4.78008758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.406559995 meters 0.05126856307123421 Centerline is valid? [True, True] Translation: X:607.74, Y:-189.56, Z:-4.78 [[ 7.78551765e-01 6.27564173e-01 4.51202875e-03 6.07742080e+02] [-6.27554403e-01 7.78564833e-01 -3.50333933e-03 -1.89558003e+02] [-5.71147716e-03 -1.04012486e-04 9.99983684e-01 -4.77961905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4665599949999 meters 0.05140883338808592 Centerline is valid? [True, True] Translation: X:607.79, Y:-189.59, Z:-4.78 [[ 7.74150315e-01 6.32996574e-01 2.57441927e-03 6.07791168e+02] [-6.32993423e-01 7.74154591e-01 -1.99893898e-03 -1.89593683e+02] [-3.25832002e-03 -8.21112274e-05 9.99994688e-01 -4.78317089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.526559995 meters 0.051411472966059635 Centerline is valid? [True, True] Translation: X:607.84, Y:-189.63, Z:-4.78 [[ 7.69722706e-01 6.38378349e-01 -1.97341850e-04 6.07836723e+02] [-6.38378331e-01 7.69722732e-01 1.53556047e-04 -1.89634945e+02] [ 2.49925363e-04 7.78318460e-06 9.99999969e-01 -4.78465273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5865599949999 meters 0.05135371695465625 Centerline is valid? [True, True] Translation: X:607.89, Y:-189.67, Z:-4.79 [[ 7.68896139e-01 6.39370972e-01 -1.86726675e-03 6.07885594e+02] [-6.39369330e-01 7.68898403e-01 1.45137681e-03 -1.89671777e+02] [ 2.36370662e-03 7.79150662e-05 9.99997203e-01 -4.78685195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.646559995 meters 0.0512689489485341 Centerline is valid? [True, True] Translation: X:607.93, Y:-189.71, Z:-4.79 [[ 7.73035499e-01 6.34361906e-01 1.04424290e-03 6.07930828e+02] [-6.34361389e-01 7.73036203e-01 -8.10420161e-04 -1.89714157e+02] [-1.32133725e-03 -3.59438259e-05 9.99999126e-01 -4.78586534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7065599949999 meters 0.050411646524014454 Centerline is valid? [True, True] Translation: X:607.98, Y:-189.76, Z:-4.78 [[ 7.79658083e-01 6.26184468e-01 5.12684229e-03 6.07975104e+02] [-6.26171808e-01 7.79674933e-01 -3.98320541e-03 -1.89755570e+02] [-6.49149178e-03 -1.04745810e-04 9.99978925e-01 -4.78225285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.766559995 meters 0.051669013060322996 Centerline is valid? [True, True] Translation: X:608.02, Y:-189.80, Z:-4.78 [[ 7.83939612e-01 6.20801707e-01 6.62760379e-03 6.08021711e+02] [-6.20780354e-01 7.83967623e-01 -5.14955949e-03 -1.89795223e+02] [-8.39268211e-03 -7.73425522e-05 9.99964778e-01 -4.78125813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8265599949999 meters 0.050877551179695876 Centerline is valid? [True, True] Translation: X:608.07, Y:-189.83, Z:-4.78 [[ 7.84484640e-01 6.20121521e-01 5.75742308e-03 6.08071102e+02] [-6.20105388e-01 7.84505765e-01 -4.47358520e-03 -1.89833516e+02] [-7.29089806e-03 -6.07501997e-05 9.99973419e-01 -4.78281530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.886559995 meters 0.05134986801360188 Centerline is valid? [True, True] Translation: X:608.12, Y:-189.87, Z:-4.79 [[ 7.85138364e-01 6.19313272e-01 2.97012061e-03 6.08121649e+02] [-6.19308972e-01 7.85143981e-01 -2.30781327e-03 -1.89869725e+02] [-3.76123171e-03 -2.74696079e-05 9.99992926e-01 -4.78706652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9465599949999 meters 0.052687318567329174 Centerline is valid? [True, True] Translation: X:608.17, Y:-189.91, Z:-4.79 [[ 7.88226673e-01 6.15377657e-01 3.00832742e-03 6.08169032e+02] [-6.15373216e-01 7.88232414e-01 -2.33808687e-03 -1.89909842e+02] [-3.81006761e-03 -8.30168212e-06 9.99992742e-01 -4.78830719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.006559995 meters 0.05073542460314158 Centerline is valid? [True, True] Translation: X:608.22, Y:-189.95, Z:-4.79 [[ 7.92799633e-01 6.09476306e-01 2.71559417e-03 6.08216579e+02] [-6.09472649e-01 7.92804284e-01 -2.11129877e-03 -1.89949676e+02] [-3.43972126e-03 1.87565140e-05 9.99994084e-01 -4.78684116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0665599949999 meters 0.05172825715516259 Centerline is valid? [True, True] Translation: X:608.27, Y:-189.98, Z:-4.79 [[ 7.96468656e-01 6.04673281e-01 2.81128125e-03 6.08265946e+02] [-6.04669332e-01 7.96473616e-01 -2.18571068e-03 -1.89984761e+02] [-3.56075219e-03 4.09544945e-05 9.99993660e-01 -4.78685965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.126559995 meters 0.053340879116325964 Centerline is valid? [True, True] Translation: X:608.31, Y:-190.03, Z:-4.79 [[ 8.00739395e-01 5.99000938e-01 3.78126170e-03 6.08310528e+02] [-5.98993727e-01 8.00748317e-01 -2.94057076e-03 -1.90025519e+02] [-4.78924358e-03 8.96788132e-05 9.99988527e-01 -4.78732298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1865599949999 meters 0.05226765419759147 Centerline is valid? [True, True] Translation: X:608.36, Y:-190.06, Z:-4.79 [[ 8.04588544e-01 5.93813459e-01 4.78026077e-03 6.08364499e+02] [-5.93801837e-01 8.04602729e-01 -3.71839668e-03 -1.90057021e+02] [-6.05424486e-03 1.53251744e-04 9.99981661e-01 -4.78731882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.246559995 meters 0.052656246248209936 Centerline is valid? [True, True] Translation: X:608.41, Y:-190.10, Z:-4.79 [[ 8.04649174e-01 5.93740952e-01 3.37467560e-03 6.08411315e+02] [-5.93735158e-01 8.04656243e-01 -2.62533900e-03 -1.90096481e+02] [-4.27422507e-03 1.08813306e-04 9.99990860e-01 -4.78862809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3065599949999 meters 0.05273667782383282 Centerline is valid? [True, True] Translation: X:608.46, Y:-190.13, Z:-4.79 [[ 8.02455093e-01 5.96708951e-01 2.06183131e-03 6.08460356e+02] [-5.96706797e-01 8.02457740e-01 -1.60432455e-03 -1.90131867e+02] [-2.61184731e-03 5.70896490e-05 9.99996587e-01 -4.79139249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.366559995 meters 0.0516326118053499 Centerline is valid? [True, True] Translation: X:608.51, Y:-190.17, Z:-4.79 [[ 8.00865063e-01 5.98842837e-01 1.55162686e-03 6.08509810e+02] [-5.98841620e-01 8.00866565e-01 -1.20747014e-03 -1.90168352e+02] [-1.96573092e-03 3.78419066e-05 9.99998067e-01 -4.79221383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4265599949999 meters 0.0514500104848222 Centerline is valid? [True, True] Translation: X:608.56, Y:-190.20, Z:-4.79 [[ 7.99149844e-01 6.01129806e-01 1.57559194e-03 6.08560371e+02] [-6.01128557e-01 7.99151397e-01 -1.22618678e-03 -1.90203814e+02] [-1.99623392e-03 3.27736687e-05 9.99998007e-01 -4.79314986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.486559995 meters 0.05156062118691853 Centerline is valid? [True, True] Translation: X:608.61, Y:-190.24, Z:-4.79 [[ 7.96167752e-01 6.05072308e-01 2.10056298e-03 6.08610812e+02] [-6.05070100e-01 7.96170523e-01 -1.63495592e-03 -1.90237697e+02] [-2.66167288e-03 3.07113285e-05 9.99996457e-01 -4.79402186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5465599949999 meters 0.052358087401340576 Centerline is valid? [True, True] Translation: X:608.66, Y:-190.27, Z:-4.80 [[ 7.92962335e-01 6.09269842e-01 -9.96948350e-04 6.08664544e+02] [-6.09269346e-01 7.92962962e-01 7.77303631e-04 -1.90270363e+02] [ 1.26413078e-03 -8.96243275e-06 9.99999201e-01 -4.79689666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.606559995 meters 0.051396997521418936 Centerline is valid? [True, True] Translation: X:608.72, Y:-190.30, Z:-4.80 [[ 7.87314397e-01 6.16547013e-01 -2.41265377e-03 6.08718108e+02] [-6.16544146e-01 7.87318094e-01 1.88028016e-03 -1.90303360e+02] [ 3.05880709e-03 7.13591579e-06 9.99995322e-01 -4.79550782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.666559995 meters 0.051290458092843993 Centerline is valid? [True, True] Translation: X:608.77, Y:-190.34, Z:-4.80 [[ 7.83662066e-01 6.21182769e-01 -2.39441734e-03 6.08770481e+02] [-6.21179966e-01 7.83665724e-01 1.86637753e-03 -1.90337497e+02] [ 3.03578436e-03 2.47548115e-05 9.99995392e-01 -4.79587632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.726559995 meters 0.0526542413097152 Centerline is valid? [True, True] Translation: X:608.82, Y:-190.37, Z:-4.80 [[ 7.81315611e-01 6.24134066e-01 -1.60725623e-03 6.08819980e+02] [-6.24132808e-01 7.81317264e-01 1.25335972e-03 -1.90372956e+02] [ 2.03804154e-03 2.38718294e-05 9.99997923e-01 -4.79711931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.786559995 meters 0.05106776127996269 Centerline is valid? [True, True] Translation: X:608.87, Y:-190.41, Z:-4.80 [[ 7.78959029e-01 6.27074187e-01 -8.92202613e-04 6.08867668e+02] [-6.27073800e-01 7.78959539e-01 6.96344067e-04 -1.90411759e+02] [ 1.13164913e-03 1.70533852e-05 9.99999360e-01 -4.79513395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.846559995 meters 0.05184368513028173 Centerline is valid? [True, True] Translation: X:608.92, Y:-190.45, Z:-4.80 [[ 7.77291638e-01 6.29139562e-01 -1.05897553e-03 6.08916036e+02] [-6.29139019e-01 7.77292359e-01 8.26503792e-04 -1.90450175e+02] [ 1.34311982e-03 2.38083387e-05 9.99999098e-01 -4.79559110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.906559995 meters 0.05157317090509794 Centerline is valid? [True, True] Translation: X:608.96, Y:-190.49, Z:-4.80 [[ 7.76944780e-01 6.29563950e-01 -2.45811264e-03 6.08962888e+02] [-6.29561034e-01 7.76948666e-01 1.91687060e-03 -1.90488919e+02] [ 3.11661996e-03 5.82293302e-05 9.99995142e-01 -4.79567693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9665599949999 meters 0.0507297766171757 Centerline is valid? [True, True] Translation: X:609.01, Y:-190.53, Z:-4.80 [[ 7.76633651e-01 6.29947277e-01 -2.56913547e-03 6.09011149e+02] [-6.29944094e-01 7.76637898e-01 2.00346704e-03 -1.90528159e+02] [ 3.25736657e-03 6.24517901e-05 9.99994693e-01 -4.79735484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.026559995 meters 0.05234472524115212 Centerline is valid? [True, True] Translation: X:609.06, Y:-190.57, Z:-4.80 [[ 7.76495741e-01 6.30118150e-01 -2.34123028e-03 6.09058551e+02] [-6.30115504e-01 7.76499268e-01 1.82712258e-03 -1.90569677e+02] [ 2.96926670e-03 5.64925963e-05 9.99995590e-01 -4.79605547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0865599949999 meters 0.051518771659598214 Centerline is valid? [True, True] Translation: X:609.10, Y:-190.61, Z:-4.80 [[ 7.77918696e-01 6.28360969e-01 -2.23499100e-03 6.09103896e+02] [-6.28358550e-01 7.77921905e-01 1.74412719e-03 -1.90610398e+02] [ 2.83458990e-03 4.75865508e-05 9.99995981e-01 -4.79710817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.146559995 meters 0.051494031183414564 Centerline is valid? [True, True] Translation: X:609.15, Y:-190.65, Z:-4.80 [[ 7.80062425e-01 6.25696755e-01 -2.48687399e-03 6.09146766e+02] [-6.25693748e-01 7.80066388e-01 1.94012196e-03 -1.90654246e+02] [ 3.15385483e-03 4.26052674e-05 9.99995026e-01 -4.79647838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2065599949999 meters 0.05079581183483697 Centerline is valid? [True, True] Translation: X:609.19, Y:-190.70, Z:-4.80 [[ 7.81188855e-01 6.24290879e-01 -2.20709427e-03 6.09192086e+02] [-6.24288503e-01 7.81191972e-01 1.72245707e-03 -1.90697195e+02] [ 2.79947856e-03 3.22993114e-05 9.99996081e-01 -4.79575088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.266559995 meters 0.050625838986964114 Centerline is valid? [True, True] Translation: X:609.24, Y:-190.74, Z:-4.79 [[ 7.82110977e-01 6.23136075e-01 -1.96228416e-03 6.09238943e+02] [-6.23134192e-01 7.82113439e-01 1.53232348e-03 -1.90738037e+02] [ 2.48957485e-03 2.43193404e-05 9.99996901e-01 -4.79473948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3265599949999 meters 0.05213954192782237 Centerline is valid? [True, True] Translation: X:609.29, Y:-190.78, Z:-4.80 [[ 7.84820600e-01 6.19722477e-01 -8.22906202e-04 6.09285315e+02] [-6.19722143e-01 7.84821032e-01 6.43064024e-04 -1.90777661e+02] [ 1.04435532e-03 5.28330191e-06 9.99999455e-01 -4.79520499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.386559995 meters 0.05188363397679257 Centerline is valid? [True, True] Translation: X:609.33, Y:-190.82, Z:-4.80 [[ 7.86981222e-01 6.16976949e-01 -3.68852315e-05 6.09334746e+02] [-6.16976948e-01 7.86981222e-01 2.92470332e-05 -1.90816151e+02] [ 4.70727297e-05 -2.59528330e-07 9.99999999e-01 -4.79595405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4465599949999 meters 0.051581028098204494 Centerline is valid? [True, True] Translation: X:609.38, Y:-190.85, Z:-4.80 [[ 7.88657876e-01 6.14831417e-01 -1.04053146e-03 6.09382706e+02] [-6.14830879e-01 7.88658563e-01 8.13360682e-04 -1.90854153e+02] [ 1.32070375e-03 -1.71243699e-06 9.99999128e-01 -4.79631794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.506559995 meters 0.052436070793876896 Centerline is valid? [True, True] Translation: X:609.43, Y:-190.89, Z:-4.80 [[ 7.90427104e-01 6.12554007e-01 -1.60650815e-03 6.09431436e+02] [-6.12552721e-01 7.90428737e-01 1.25559956e-03 -1.90892630e+02] [ 2.03895275e-03 -8.38898794e-06 9.99997921e-01 -4.79674171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5665599949999 meters 0.051980863663052074 Centerline is valid? [True, True] Translation: X:609.48, Y:-190.93, Z:-4.79 [[ 7.93739504e-01 6.08252651e-01 -2.51239600e-03 6.09482542e+02] [-6.08249483e-01 7.93743480e-01 1.96334374e-03 -1.90927710e+02] [ 3.18840698e-03 -3.02199213e-05 9.99994917e-01 -4.79485979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.626559995 meters 0.05377834645037631 Centerline is valid? [True, True] Translation: X:609.53, Y:-190.97, Z:-4.80 [[ 7.99596151e-01 6.00532935e-01 -2.48797477e-03 6.09530337e+02] [-6.00529789e-01 7.99600019e-01 1.94461782e-03 -1.90965965e+02] [ 3.15719171e-03 -6.08059570e-05 9.99995014e-01 -4.79670266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6865599949999 meters 0.05335340399521985 Centerline is valid? [True, True] Translation: X:609.57, Y:-191.01, Z:-4.80 [[ 8.04497974e-01 5.93954175e-01 -1.20344771e-03 6.09574379e+02] [-5.93953432e-01 8.04498873e-01 9.40522948e-04 -1.91009984e+02] [ 1.52679986e-03 -4.18569094e-05 9.99998834e-01 -4.79660170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.746559995 meters 0.053429587895859144 Centerline is valid? [True, True] Translation: X:609.62, Y:-191.05, Z:-4.80 [[ 8.05130551e-01 5.93097487e-01 4.09096697e-04 6.09621376e+02] [-5.93097401e-01 8.05130655e-01 -3.18585744e-04 -1.91048906e+02] [-5.18328696e-04 1.38689278e-05 9.99999866e-01 -4.79626338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8065599949999 meters 0.05377700321925266 Centerline is valid? [True, True] Translation: X:609.68, Y:-191.07, Z:-4.79 [[ 8.04193210e-01 5.94365170e-01 1.82378179e-03 6.09680088e+02] [-5.94363464e-01 8.04195276e-01 -1.42503381e-03 -1.91072979e+02] [-2.31366717e-03 6.20132516e-05 9.99997322e-01 -4.79435662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.866559995 meters 0.05417572927241561 Centerline is valid? [True, True] Translation: X:609.73, Y:-191.11, Z:-4.80 [[ 8.02476915e-01 5.96682793e-01 6.68194179e-04 6.09725146e+02] [-5.96682565e-01 8.02477192e-01 -5.21830040e-04 -1.91112810e+02] [-8.47577595e-04 2.00567435e-05 9.99999641e-01 -4.79879363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9265599949999 meters 0.054058229906568625 Centerline is valid? [True, True] Translation: X:609.78, Y:-191.15, Z:-4.80 [[ 8.01580257e-01 5.97887037e-01 -4.27983279e-04 6.09778087e+02] [-5.97886943e-01 8.01580371e-01 3.34944158e-04 -1.91146413e+02] [ 5.43321766e-04 -1.25990097e-05 9.99999852e-01 -4.79796101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.986559995 meters 0.052817280920956236 Centerline is valid? [True, True] Translation: X:609.83, Y:-191.18, Z:-4.80 [[ 7.98614598e-01 6.01841457e-01 -1.25862745e-03 6.09830402e+02] [-6.01840653e-01 7.98615589e-01 9.84118656e-04 -1.91177312e+02] [ 1.59744290e-03 -2.84383612e-05 9.99998724e-01 -4.79961963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0465599949999 meters 0.0537096922572193 Centerline is valid? [True, True] Translation: X:609.88, Y:-191.21, Z:-4.80 [[ 7.94929512e-01 6.06701506e-01 -5.94321185e-04 6.09883661e+02] [-6.06701328e-01 7.94929734e-01 4.64691407e-04 -1.91208205e+02] [ 7.54372558e-04 -8.82146075e-06 9.99999715e-01 -4.80024194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.106559995 meters 0.05244182704431108 Centerline is valid? [True, True] Translation: X:609.93, Y:-191.24, Z:-4.80 [[ 7.91448371e-01 6.11235823e-01 -4.94349520e-04 6.09934093e+02] [-6.11235701e-01 7.91448525e-01 3.86958975e-04 -1.91241712e+02] [ 6.27775386e-04 -4.09397485e-06 9.99999803e-01 -4.79978916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.166559995 meters 0.0532918039296794 Centerline is valid? [True, True] Translation: X:609.99, Y:-191.27, Z:-4.80 [[ 7.86729820e-01 6.17295872e-01 -1.41334112e-03 6.09988094e+02] [-6.17294882e-01 7.86731089e-01 1.10544820e-03 -1.91272924e+02] [ 1.79430801e-03 2.75917773e-06 9.99998390e-01 -4.80154797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.226559995 meters 0.052470461509113706 Centerline is valid? [True, True] Translation: X:610.04, Y:-191.31, Z:-4.80 [[ 7.84918920e-01 6.19597791e-01 -9.30699846e-04 6.10039418e+02] [-6.19597362e-01 7.84919472e-01 7.29144120e-04 -1.91310159e+02] [ 1.18230052e-03 4.34015330e-06 9.99999301e-01 -4.80113651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.286559995 meters 0.05310535898023269 Centerline is valid? [True, True] Translation: X:610.09, Y:-191.35, Z:-4.80 [[ 7.82767378e-01 6.22313329e-01 -1.16300816e-03 6.10088987e+02] [-6.22312663e-01 7.82768242e-01 9.10885493e-04 -1.91347213e+02] [ 1.47722204e-03 1.07432580e-05 9.99998909e-01 -4.80109166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.346559995 meters 0.05237003553754317 Centerline is valid? [True, True] Translation: X:610.14, Y:-191.38, Z:-4.80 [[ 7.81695300e-01 6.23659371e-01 -1.20292794e-03 6.10137169e+02] [-6.23658660e-01 7.81696225e-01 9.42227496e-04 -1.91384593e+02] [ 1.52795324e-03 1.36816210e-05 9.99998833e-01 -4.80198836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.406559995 meters 0.052640065638015605 Centerline is valid? [True, True] Translation: X:610.18, Y:-191.42, Z:-4.80 [[ 7.83214651e-01 6.21750416e-01 1.10901812e-03 6.10184275e+02] [-6.21749811e-01 7.83215436e-01 -8.67570565e-04 -1.91424679e+02] [-1.40801247e-03 -1.00378289e-05 9.99999009e-01 -4.80080816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4665599949999 meters 0.05167301327753944 Centerline is valid? [True, True] Translation: X:610.23, Y:-191.47, Z:-4.80 [[ 7.84640293e-01 6.19949121e-01 1.64257587e-03 6.10230169e+02] [-6.19947790e-01 7.84642012e-01 -1.28454312e-03 -1.91466731e+02] [-2.08518541e-03 -1.04069925e-05 9.99997826e-01 -4.80027175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.526559995 meters 0.052900202344615704 Centerline is valid? [True, True] Translation: X:610.28, Y:-191.51, Z:-4.80 [[ 7.84957389e-01 6.19549202e-01 8.27724698e-04 6.10277046e+02] [-6.19548863e-01 7.84957825e-01 -6.47346248e-04 -1.91505800e+02] [-1.05079183e-03 -4.67667553e-06 9.99999448e-01 -4.80357913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5865599949999 meters 0.05212226064523794 Centerline is valid? [True, True] Translation: X:610.32, Y:-191.55, Z:-4.80 [[ 7.83940387e-01 6.20835977e-01 3.99091672e-04 6.10322828e+02] [-6.20835899e-01 7.83940489e-01 -3.11475361e-04 -1.91547517e+02] [-5.06239231e-04 -3.59232151e-06 9.99999872e-01 -4.80190432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.646559995 meters 0.051530204223456055 Centerline is valid? [True, True] Translation: X:610.37, Y:-191.59, Z:-4.80 [[ 7.81875121e-01 6.23434162e-01 -1.06813305e-03 6.10370075e+02] [-6.23433601e-01 7.81875850e-01 8.36735842e-04 -1.91587910e+02] [ 1.35679714e-03 1.16870936e-05 9.99999079e-01 -4.80417125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7065599949999 meters 0.05252347859940882 Centerline is valid? [True, True] Translation: X:610.42, Y:-191.63, Z:-4.81 [[ 7.78855018e-01 6.27203933e-01 -2.95752514e-04 6.10418078e+02] [-6.27203890e-01 7.78855074e-01 2.32612166e-04 -1.91625516e+02] [ 3.76243611e-04 4.32597410e-06 9.99999929e-01 -4.80612024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.766559995 meters 0.051377779962872135 Centerline is valid? [True, True] Translation: X:610.46, Y:-191.67, Z:-4.80 [[ 7.77169629e-01 6.29291080e-01 -3.22511781e-04 6.10463248e+02] [-6.29291029e-01 7.77169696e-01 2.53136973e-04 -1.91667756e+02] [ 4.09943222e-04 6.22340329e-06 9.99999916e-01 -4.80493545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8265599949999 meters 0.05164459643871604 Centerline is valid? [True, True] Translation: X:610.51, Y:-191.71, Z:-4.81 [[ 7.73855804e-01 6.33361684e-01 -4.15086042e-04 6.10507068e+02] [-6.33361600e-01 7.73855915e-01 3.25570537e-04 -1.91710285e+02] [ 5.27420692e-04 1.09549099e-05 9.99999861e-01 -4.80577273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.886559995 meters 0.051618559571027234 Centerline is valid? [True, True] Translation: X:610.55, Y:-191.75, Z:-4.81 [[ 7.73641957e-01 6.33622364e-01 9.06070108e-04 6.10553293e+02] [-6.33621968e-01 7.73642488e-01 -7.08960540e-04 -1.91749906e+02] [-1.15018759e-03 -2.56243054e-05 9.99999338e-01 -4.80540309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9465599949999 meters 0.05199443877197557 Centerline is valid? [True, True] Translation: X:610.60, Y:-191.79, Z:-4.81 [[ 7.76042385e-01 6.30680728e-01 -1.90023328e-04 6.10598927e+02] [-6.30680710e-01 7.76042408e-01 1.49030208e-04 -1.91790425e+02] [ 2.41456641e-04 4.19028908e-06 9.99999971e-01 -4.80827590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.006559995 meters 0.050849218236828364 Centerline is valid? [True, True] Translation: X:610.64, Y:-191.83, Z:-4.80 [[ 7.78133004e-01 6.28098070e-01 1.35758499e-03 6.10642820e+02] [-6.28097170e-01 7.78134187e-01 -1.06347444e-03 -1.91834669e+02] [-1.72434954e-03 -2.51707269e-05 9.99998513e-01 -4.80491408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0665599949999 meters 0.05039746178110879 Centerline is valid? [True, True] Translation: X:610.69, Y:-191.87, Z:-4.80 [[ 7.77684799e-01 6.28648913e-01 2.62633240e-03 6.10690596e+02] [-6.28645549e-01 7.77689232e-01 -2.05736303e-03 -1.91873399e+02] [-3.33582946e-03 -5.10522173e-05 9.99994435e-01 -4.80286072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.126559995 meters 0.052182205084142536 Centerline is valid? [True, True] Translation: X:610.75, Y:-191.90, Z:-4.80 [[ 7.76795383e-01 6.29735890e-01 4.65211011e-03 6.10745145e+02] [-6.29725343e-01 7.76809307e-01 -3.64595382e-03 -1.91902263e+02] [-5.90979041e-03 -9.73915433e-05 9.99982532e-01 -4.80359565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1865599949999 meters 0.05114388051121618 Centerline is valid? [True, True] Translation: X:610.79, Y:-191.94, Z:-4.80 [[ 7.77208319e-01 6.29218045e-01 5.64632052e-03 6.10793446e+02] [-6.29202486e-01 7.77228820e-01 -4.42629772e-03 -1.91941832e+02] [-7.17358944e-03 -1.12523499e-04 9.99974263e-01 -4.80371622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.246559995 meters 0.052198167073312665 Centerline is valid? [True, True] Translation: X:610.84, Y:-191.98, Z:-4.80 [[ 7.79411407e-01 6.26467487e-01 7.50641485e-03 6.10838685e+02] [-6.26439846e-01 7.79447545e-01 -5.88591897e-03 -1.91983006e+02] [-9.53819349e-03 -1.14764979e-04 9.99954504e-01 -4.80266335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3065599949999 meters 0.05028638106233283 Centerline is valid? [True, True] Translation: X:610.89, Y:-192.02, Z:-4.80 [[ 7.81528789e-01 6.23794440e-01 9.65652349e-03 6.10885565e+02] [-6.23748477e-01 7.81588438e-01 -7.57303626e-03 -1.92024111e+02] [-1.22714450e-02 -1.04695964e-04 9.99924698e-01 -4.80016648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.366559995 meters 0.05138520410422888 Centerline is valid? [True, True] Translation: X:610.93, Y:-192.06, Z:-4.80 [[ 7.82975898e-01 6.21965245e-01 1.03911649e-02 6.10933695e+02] [-6.21911837e-01 7.83044844e-01 -8.15105274e-03 -1.92062130e+02] [-1.32064196e-02 -8.03106299e-05 9.99912788e-01 -4.80053663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4265599949999 meters 0.051290789484170436 Centerline is valid? [True, True] Translation: X:610.98, Y:-192.10, Z:-4.80 [[ 7.83376365e-01 6.21462712e-01 1.02746145e-02 6.10981814e+02] [-6.21410430e-01 7.83443739e-01 -8.06131216e-03 -1.92099840e+02] [-1.30593873e-02 -6.97112124e-05 9.99914720e-01 -4.80109800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.486559995 meters 0.05166952246337263 Centerline is valid? [True, True] Translation: X:611.03, Y:-192.14, Z:-4.80 [[ 7.85170648e-01 6.19201050e-01 9.85458223e-03 6.11029017e+02] [-6.19152756e-01 7.85232487e-01 -7.73340103e-03 -1.92140693e+02] [-1.25266682e-02 -2.94522453e-05 9.99921538e-01 -4.80333041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5465599949999 meters 0.05060383645968825 Centerline is valid? [True, True] Translation: X:611.08, Y:-192.18, Z:-4.80 [[ 7.85849056e-01 6.18321176e-01 1.09628855e-02 6.11077019e+02] [-6.18261295e-01 7.85925520e-01 -8.60516678e-03 -1.92178998e+02] [-1.39367683e-02 -1.55655863e-05 9.99902878e-01 -4.80166603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.606559995 meters 0.05115724621224974 Centerline is valid? [True, True] Translation: X:611.13, Y:-192.22, Z:-4.80 [[ 7.86750940e-01 6.17120795e-01 1.35971672e-02 6.11125374e+02] [-6.17028451e-01 7.86868429e-01 -1.06755063e-02 -1.92217794e+02] [-1.72872586e-02 9.12563845e-06 9.99850564e-01 -4.80061370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.666559995 meters 0.05156563186504914 Centerline is valid? [True, True] Translation: X:611.17, Y:-192.26, Z:-4.80 [[ 7.87745371e-01 6.15856562e-01 1.33388623e-02 6.11174741e+02] [-6.15767469e-01 7.87858295e-01 -1.04752698e-02 -1.92256197e+02] [-1.69603969e-02 3.82078370e-05 9.99856161e-01 -4.80244207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.726559995 meters 0.050745452869187024 Centerline is valid? [True, True] Translation: X:611.22, Y:-192.29, Z:-4.81 [[ 7.89021022e-01 6.14265273e-01 1.11355956e-02 6.11221831e+02] [-6.14202997e-01 7.89099595e-01 -8.74687791e-03 -1.92294667e+02] [-1.41599974e-02 6.19543250e-05 9.99899740e-01 -4.80583545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.786559995 meters 0.05236733247301129 Centerline is valid? [True, True] Translation: X:611.27, Y:-192.33, Z:-4.81 [[ 7.89368115e-01 6.13811564e-01 1.15474378e-02 6.11272616e+02] [-6.13744527e-01 7.89452569e-01 -9.07173983e-03 -1.92330729e+02] [-1.46844933e-02 7.37653941e-05 9.99892174e-01 -4.80753438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.846559995 meters 0.05170202782451347 Centerline is valid? [True, True] Translation: X:611.32, Y:-192.37, Z:-4.81 [[ 7.90085609e-01 6.12914390e-01 1.00340022e-02 6.11322917e+02] [-6.12863689e-01 7.90149318e-01 -7.88380509e-03 -1.92365859e+02] [-1.27604575e-02 7.94053648e-05 9.99918579e-01 -4.81113059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.906559995 meters 0.051760611626283495 Centerline is valid? [True, True] Translation: X:611.37, Y:-192.40, Z:-4.81 [[ 7.90538132e-01 6.12363582e-01 7.76566934e-03 6.11372088e+02] [-6.12333179e-01 7.90576270e-01 -6.10242837e-03 -1.92404460e+02] [-9.87625880e-03 6.90253279e-05 9.99951226e-01 -4.81402775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9665599949999 meters 0.05176831000497774 Centerline is valid? [True, True] Translation: X:611.43, Y:-192.44, Z:-4.82 [[ 7.91024096e-01 6.11766053e-01 4.81408463e-03 6.11425571e+02] [-6.11754358e-01 7.91038744e-01 -3.78303573e-03 -1.92438933e+02] [-6.12246030e-03 4.74351748e-05 9.99981256e-01 -4.81885220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.026559995 meters 0.05362362905233067 Centerline is valid? [True, True] Translation: X:611.48, Y:-192.48, Z:-4.83 [[ 7.92204292e-01 6.10253786e-01 1.63575122e-03 6.11475423e+02] [-6.10252432e-01 7.92205981e-01 -1.28554929e-03 -1.92476020e+02] [-2.08036322e-03 2.01965075e-05 9.99997836e-01 -4.82562553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0865599949999 meters 0.0526333261541303 Centerline is valid? [True, True] Translation: X:611.52, Y:-192.51, Z:-4.83 [[ 7.93936780e-01 6.07999766e-01 -8.20905605e-04 6.11524656e+02] [-6.07999423e-01 7.93937204e-01 6.45701459e-04 -1.92514255e+02] [ 1.04433384e-03 -1.35360033e-05 9.99999455e-01 -4.82835749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.146559995 meters 0.05367734391194474 Centerline is valid? [True, True] Translation: X:611.58, Y:-192.55, Z:-4.83 [[ 7.95390076e-01 6.06078278e-01 -4.87322960e-03 6.11575223e+02] [-6.06066175e-01 7.95404999e-01 3.83134017e-03 -1.92547253e+02] [ 6.19828324e-03 -9.39103273e-05 9.99980786e-01 -4.83255435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2065599949999 meters 0.053590182267649174 Centerline is valid? [True, True] Translation: X:611.63, Y:-192.58, Z:-4.83 [[ 7.95100329e-01 6.06385558e-01 -1.05840166e-02 6.11629469e+02] [-6.06328470e-01 7.95170745e-01 8.32301216e-03 -1.92577838e+02] [ 1.34630547e-02 -2.00239116e-04 9.99909349e-01 -4.83444958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.266559995 meters 0.05510115415271536 Centerline is valid? [True, True] Translation: X:611.68, Y:-192.61, Z:-4.84 [[ 7.94734452e-01 6.06841557e-01 -1.18521939e-02 6.11680828e+02] [-6.06770013e-01 7.94822796e-01 9.32060240e-03 -1.92612588e+02] [ 1.50765227e-02 -2.15848018e-04 9.99886319e-01 -4.83607206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3265599949999 meters 0.053257019592986655 Centerline is valid? [True, True] Translation: X:611.73, Y:-192.65, Z:-4.84 [[ 7.94874798e-01 6.06664283e-01 -1.15110426e-02 6.11730708e+02] [-6.06596745e-01 7.94958113e-01 9.05471229e-03 -1.92647280e+02] [ 1.46439672e-02 -2.14801647e-04 9.99892748e-01 -4.83865657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.386559995 meters 0.05302294401944806 Centerline is valid? [True, True] Translation: X:611.78, Y:-192.68, Z:-4.84 [[ 7.95487831e-01 6.05871339e-01 -1.09100910e-02 6.11782888e+02] [-6.05810588e-01 7.95562614e-01 8.58250459e-03 -1.92683054e+02] [ 1.38795541e-02 -2.17829339e-04 9.99903651e-01 -4.83791618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4465599949999 meters 0.053270883304622325 Centerline is valid? [True, True] Translation: X:611.84, Y:-192.72, Z:-4.84 [[ 7.95158009e-01 6.06308958e-01 -1.06389695e-02 6.11835536e+02] [-6.06251219e-01 7.95229152e-01 8.36989183e-03 -1.92717362e+02] [ 1.35351591e-02 -2.05498303e-04 9.99908374e-01 -4.83587195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.506559995 meters 0.05471488539064096 Centerline is valid? [True, True] Translation: X:611.89, Y:-192.75, Z:-4.84 [[ 7.92552667e-01 6.09717678e-01 -1.02285794e-02 6.11887774e+02] [-6.09664592e-01 7.92618656e-01 8.04686815e-03 -1.92748381e+02] [ 1.30136806e-02 -1.41564148e-04 9.99915308e-01 -4.83551327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5665599949999 meters 0.05302293002268077 Centerline is valid? [True, True] Translation: X:611.94, Y:-192.78, Z:-4.83 [[ 7.90265922e-01 6.12690622e-01 -9.48550814e-03 6.11940662e+02] [-6.12645176e-01 7.90322842e-01 7.46284875e-03 -1.92780612e+02] [ 1.20690312e-02 -8.63842448e-05 9.99927163e-01 -4.83255827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.626559995 meters 0.05289869004445951 Centerline is valid? [True, True] Translation: X:611.99, Y:-192.81, Z:-4.84 [[ 7.89109198e-01 6.14208084e-01 -7.42321274e-03 6.11991659e+02] [-6.14180315e-01 7.89144111e-01 5.84063825e-03 -1.92814760e+02] [ 9.44535184e-03 -4.97102220e-05 9.99955390e-01 -4.83668410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6865599949999 meters 0.05362969932631074 Centerline is valid? [True, True] Translation: X:612.04, Y:-192.85, Z:-4.83 [[ 7.91520322e-01 6.11089216e-01 -8.09625923e-03 6.12038466e+02] [-6.11055998e-01 7.91561723e-01 6.37229250e-03 -1.92854418e+02] [ 1.03027281e-02 -9.65312432e-05 9.99946921e-01 -4.83006522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.746559995 meters 0.05369466836034585 Centerline is valid? [True, True] Translation: X:612.09, Y:-192.89, Z:-4.83 [[ 7.94352578e-01 6.07411330e-01 -7.44702921e-03 6.12086779e+02] [-6.07383066e-01 7.94387474e-01 5.86104048e-03 -1.92893818e+02] [ 9.47588912e-03 -1.32533180e-04 9.99955094e-01 -4.82735626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8065599949999 meters 0.05373419630167422 Centerline is valid? [True, True] Translation: X:612.13, Y:-192.93, Z:-4.83 [[ 7.98030583e-01 6.02578331e-01 -6.82235640e-03 6.12134836e+02] [-6.02554421e-01 7.98059725e-01 5.37076030e-03 -1.92932015e+02] [ 8.68095165e-03 -1.75189957e-04 9.99962304e-01 -4.82655662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.866559995 meters 0.05353001178965417 Centerline is valid? [True, True] Translation: X:612.18, Y:-192.97, Z:-4.83 [[ 8.01206869e-01 5.98358247e-01 -5.91279448e-03 6.12181484e+02] [-5.98340173e-01 8.01228664e-01 4.65454505e-03 -1.92972284e+02] [ 7.52258584e-03 -1.91390991e-04 9.99971687e-01 -4.82547272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9265599949999 meters 0.05522592688567126 Centerline is valid? [True, True] Translation: X:612.23, Y:-193.01, Z:-4.82 [[ 8.06810090e-01 5.90793527e-01 -4.52632147e-03 6.12225729e+02] [-5.90782814e-01 8.06822761e-01 3.56350770e-03 -1.93014650e+02] [ 5.75723646e-03 -2.01001029e-04 9.99983407e-01 -4.82337007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.986559995 meters 0.05586712421142474 Centerline is valid? [True, True] Translation: X:612.28, Y:-193.05, Z:-4.82 [[ 8.09487624e-01 5.87112929e-01 -5.30986880e-03 6.12277079e+02] [-5.87098102e-01 8.09504995e-01 4.18106168e-03 -1.93047622e+02] [ 6.75312069e-03 -2.67103793e-04 9.99977162e-01 -4.81948860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0465599949999 meters 0.054123189836264 Centerline is valid? [True, True] Translation: X:612.32, Y:-193.09, Z:-4.82 [[ 8.07782940e-01 5.89475188e-01 -2.39288729e-03 6.12323134e+02] [-5.89472187e-01 8.07786476e-01 1.88423844e-03 -1.93088524e+02] [ 3.04365380e-03 -1.11515161e-04 9.99995362e-01 -4.81986520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.106559995 meters 0.053970122789922165 Centerline is valid? [True, True] Translation: X:612.37, Y:-193.12, Z:-4.82 [[ 8.06611414e-01 5.91079438e-01 -1.76777560e-03 6.12372990e+02] [-5.91077804e-01 8.06613347e-01 1.39201877e-03 -1.93123862e+02] [ 2.24870507e-03 -7.79253049e-05 9.99997469e-01 -4.81951814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.166559995 meters 0.054791355434966306 Centerline is valid? [True, True] Translation: X:612.42, Y:-193.16, Z:-4.82 [[ 8.03076658e-01 5.95875191e-01 -7.99027873e-04 6.12418247e+02] [-5.95874859e-01 8.03077055e-01 6.29797122e-04 -1.93163903e+02] [ 1.01696143e-03 -2.96547469e-05 9.99999482e-01 -4.81977955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.226559995 meters 0.054288268299085826 Centerline is valid? [True, True] Translation: X:612.47, Y:-193.20, Z:-4.82 [[ 8.01116712e-01 5.98505960e-01 -1.62144368e-03 6.12466482e+02] [-5.98504600e-01 8.01118351e-01 1.27711945e-03 -1.93201609e+02] [ 2.06333189e-03 -5.26802323e-05 9.99997870e-01 -4.82306382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.286559995 meters 0.054844156053204605 Centerline is valid? [True, True] Translation: X:612.52, Y:-193.23, Z:-4.82 [[ 7.98642163e-01 6.01800210e-01 -2.68379707e-03 6.12520461e+02] [-6.01796502e-01 7.98646669e-01 2.11368481e-03 -1.93232031e+02] [ 3.41542155e-03 -7.29781210e-05 9.99994165e-01 -4.82204992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.346559995 meters 0.05513854348387205 Centerline is valid? [True, True] Translation: X:612.57, Y:-193.27, Z:-4.82 [[ 7.97976400e-01 6.02687221e-01 -1.33391409e-03 6.12567648e+02] [-6.02686304e-01 7.97977514e-01 1.05175623e-03 -1.93271732e+02] [ 1.69831349e-03 -3.53448961e-05 9.99998557e-01 -4.82228876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.406559995 meters 0.0533487691686681 Centerline is valid? [True, True] Translation: X:612.61, Y:-193.31, Z:-4.82 [[ 7.96872622e-01 6.04147352e-01 -4.10105974e-05 6.12611294e+02] [-6.04147351e-01 7.96872623e-01 3.27446048e-05 -1.93314155e+02] [ 5.24627884e-05 -1.31683528e-06 9.99999999e-01 -4.82177216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4665599949999 meters 0.054077092738967394 Centerline is valid? [True, True] Translation: X:612.66, Y:-193.35, Z:-4.83 [[ 7.94053088e-01 6.07848383e-01 -1.92498792e-04 6.12656741e+02] [-6.07848364e-01 7.94053111e-01 1.51841100e-04 -1.93354259e+02] [ 2.45150631e-04 -3.55981893e-06 9.99999970e-01 -4.82558720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.526559995 meters 0.05282351422715781 Centerline is valid? [True, True] Translation: X:612.71, Y:-193.39, Z:-4.82 [[ 7.90704265e-01 6.12198300e-01 -8.47178970e-05 6.12709402e+02] [-6.12198296e-01 7.90704269e-01 6.68899197e-05 -1.93386257e+02] [ 1.07936698e-04 -1.02599260e-06 9.99999994e-01 -4.82481239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5865599949999 meters 0.05356164271971927 Centerline is valid? [True, True] Translation: X:612.76, Y:-193.42, Z:-4.83 [[ 7.84128854e-01 6.20597547e-01 7.90487963e-04 6.12760762e+02] [-6.20597234e-01 7.84129253e-01 -6.22570276e-04 -1.93420214e+02] [-1.00621032e-03 -2.39932655e-06 9.99999494e-01 -4.82578163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.646559995 meters 0.05347246646435444 Centerline is valid? [True, True] Translation: X:612.81, Y:-193.45, Z:-4.83 [[ 7.78461568e-01 6.27692237e-01 2.06953477e-04 6.12811259e+02] [-6.27692215e-01 7.78461596e-01 -1.62503833e-04 -1.93453821e+02] [-2.63107729e-04 -3.40009810e-06 9.99999965e-01 -4.82783464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7065599949999 meters 0.052198171885433436 Centerline is valid? [True, True] Translation: X:612.86, Y:-193.50, Z:-4.83 [[ 7.76746966e-01 6.29812775e-01 -1.39176261e-04 6.12857102e+02] [-6.29812765e-01 7.76746979e-01 1.09991463e-04 -1.93496022e+02] [ 1.77378768e-04 2.21945014e-06 9.99999984e-01 -4.82710953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.766559995 meters 0.05399869270412674 Centerline is valid? [True, True] Translation: X:612.90, Y:-193.54, Z:-4.83 [[ 7.74719020e-01 6.32305116e-01 -8.25037365e-04 6.12903938e+02] [-6.32304782e-01 7.74719459e-01 6.50461904e-04 -1.93535453e+02] [ 1.05046289e-03 1.77498623e-05 9.99999448e-01 -4.82820092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8265599949999 meters 0.05360561569268419 Centerline is valid? [True, True] Translation: X:612.95, Y:-193.57, Z:-4.83 [[ 7.73321534e-01 6.34012099e-01 -1.56974853e-03 6.12952257e+02] [-6.34010892e-01 7.73323126e-01 1.23746515e-03 -1.93574168e+02] [ 1.99849072e-03 3.82792232e-05 9.99998002e-01 -4.82998670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.886559995 meters 0.053119038007291106 Centerline is valid? [True, True] Translation: X:613.00, Y:-193.61, Z:-4.83 [[ 7.71512687e-01 6.36211404e-01 -1.79510884e-03 6.12998764e+02] [-6.36209833e-01 7.71514774e-01 1.41497559e-03 -1.93614283e+02] [ 2.28517660e-03 5.03942808e-05 9.99997388e-01 -4.83136334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9465599949999 meters 0.05286960466444808 Centerline is valid? [True, True] Translation: X:613.04, Y:-193.66, Z:-4.83 [[ 7.71415157e-01 6.36331859e-01 -6.48939814e-04 6.13043728e+02] [-6.36331653e-01 7.71415429e-01 5.12609719e-04 -1.93656799e+02] [ 8.26792081e-04 1.75060373e-05 9.99999658e-01 -4.83002148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.006559995 meters 0.05248978738496939 Centerline is valid? [True, True] Translation: X:613.09, Y:-193.70, Z:-4.83 [[ 7.72427538e-01 6.35102498e-01 7.18073198e-04 6.13088014e+02] [-6.35102246e-01 7.72427872e-01 -5.65956206e-04 -1.93698882e+02] [-9.14099952e-04 -1.88897414e-05 9.99999582e-01 -4.82924353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0665599949999 meters 0.05129562486535497 Centerline is valid? [True, True] Translation: X:613.13, Y:-193.75, Z:-4.83 [[ 7.71589148e-01 6.36121116e-01 3.36173653e-04 6.13129858e+02] [-6.36121061e-01 7.71589221e-01 -2.64099030e-04 -1.93745242e+02] [-4.27386937e-04 -1.00711951e-05 9.99999909e-01 -4.82881851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.126559995 meters 0.0519352810767207 Centerline is valid? [True, True] Translation: X:613.18, Y:-193.78, Z:-4.83 [[ 7.70233484e-01 6.37761903e-01 3.66259113e-04 6.13176795e+02] [-6.37761838e-01 7.70233571e-01 -2.88314793e-04 -1.93784007e+02] [-4.65981256e-04 -1.15163779e-05 9.99999891e-01 -4.82899788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1865599949999 meters 0.05147435380002116 Centerline is valid? [True, True] Translation: X:613.22, Y:-193.82, Z:-4.83 [[ 7.67925623e-01 6.40538663e-01 -6.77617807e-04 6.13223867e+02] [-6.40538440e-01 7.67925921e-01 5.35273202e-04 -1.93822798e+02] [ 8.63223460e-04 2.29902459e-05 9.99999627e-01 -4.83178143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.246559995 meters 0.052095541557041145 Centerline is valid? [True, True] Translation: X:613.27, Y:-193.87, Z:-4.83 [[ 7.66047775e-01 6.42780010e-01 -2.15974773e-03 6.13265597e+02] [-6.42777755e-01 7.66050815e-01 1.70478614e-03 -1.93869309e+02] [ 2.75027896e-03 8.22901650e-05 9.99996215e-01 -4.82978701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3065599949999 meters 0.05121972855495582 Centerline is valid? [True, True] Translation: X:613.31, Y:-193.91, Z:-4.83 [[ 7.67003346e-01 6.41638225e-01 -2.50088636e-03 6.13309879e+02] [-6.41635197e-01 7.67007418e-01 1.97346692e-03 -1.93913773e+02] [ 3.18445021e-03 9.10009797e-05 9.99994925e-01 -4.83081030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.366559995 meters 0.0526228015693686 Centerline is valid? [True, True] Translation: X:613.36, Y:-193.95, Z:-4.83 [[ 7.69817759e-01 6.38259906e-01 -2.21570774e-03 6.13356249e+02] [-6.38257513e-01 7.69820945e-01 1.74929856e-03 -1.93952306e+02] [ 2.82220536e-03 6.75510123e-05 9.99996015e-01 -4.83167900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4265599949999 meters 0.050631164780554766 Centerline is valid? [True, True] Translation: X:613.40, Y:-194.00, Z:-4.83 [[ 7.76886253e-01 6.29640647e-01 -6.37074501e-04 6.13397638e+02] [-6.29640446e-01 7.76886514e-01 5.03033806e-04 -1.93999375e+02] [ 8.11665119e-04 1.03278247e-05 9.99999671e-01 -4.83055123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.486559995 meters 0.05103972034780804 Centerline is valid? [True, True] Translation: X:613.45, Y:-194.04, Z:-4.83 [[ 7.79848689e-01 6.25967862e-01 -5.07395390e-04 6.13446186e+02] [-6.25967734e-01 7.79848854e-01 4.00608171e-04 -1.94035488e+02] [ 6.46459554e-04 5.19938528e-06 9.99999791e-01 -4.83440394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5465599949999 meters 0.0521840966614162 Centerline is valid? [True, True] Translation: X:613.49, Y:-194.08, Z:-4.83 [[ 7.83655441e-01 6.21195358e-01 -6.89963684e-04 6.13492142e+02] [-6.21195119e-01 7.83655745e-01 5.44957344e-04 -1.94077474e+02] [ 8.79218977e-04 1.54328495e-06 9.99999613e-01 -4.83181490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.606559995 meters 0.05220809772587644 Centerline is valid? [True, True] Translation: X:613.54, Y:-194.12, Z:-4.83 [[ 7.89200377e-01 6.14135784e-01 -6.33647113e-05 6.13538159e+02] [-6.14135782e-01 7.89200380e-01 5.11249391e-05 -1.94118050e+02] [ 8.14051085e-05 -1.43328474e-06 9.99999997e-01 -4.83199641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.666559995 meters 0.051972364503324535 Centerline is valid? [True, True] Translation: X:613.58, Y:-194.16, Z:-4.83 [[ 7.92779510e-01 6.09508431e-01 3.47494508e-04 6.13583209e+02] [-6.09508369e-01 7.92779587e-01 -2.73393336e-04 -1.94159453e+02] [-4.42122096e-04 4.93982420e-06 9.99999902e-01 -4.83210190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.726559995 meters 0.05165016842790265 Centerline is valid? [True, True] Translation: X:613.63, Y:-194.19, Z:-4.83 [[ 7.99622465e-01 6.00503016e-01 2.00751951e-04 6.13633658e+02] [-6.00502995e-01 7.99622491e-01 -1.58290086e-04 -1.94194813e+02] [-2.55579450e-04 6.02016109e-06 9.99999967e-01 -4.83330509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.786559995 meters 0.05422989839204219 Centerline is valid? [True, True] Translation: X:613.69, Y:-194.23, Z:-4.83 [[ 8.03229624e-01 5.95669407e-01 -3.60048169e-04 6.13686979e+02] [-5.95669338e-01 8.03229704e-01 2.85016964e-04 -1.94225625e+02] [ 4.58977270e-04 -1.44644141e-05 9.99999895e-01 -4.83250813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.846559995 meters 0.053526456297260105 Centerline is valid? [True, True] Translation: X:613.73, Y:-194.27, Z:-4.83 [[ 8.08233392e-01 5.88857523e-01 -2.36665332e-03 6.13733113e+02] [-5.88854567e-01 8.08236849e-01 1.86947494e-03 -1.94266086e+02] [ 3.01367081e-03 -1.17357460e-04 9.99995452e-01 -4.83430159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.906559995 meters 0.054129907537664966 Centerline is valid? [True, True] Translation: X:613.79, Y:-194.29, Z:-4.83 [[ 8.09353382e-01 5.87314742e-01 -2.91501772e-03 6.13789986e+02] [-5.87310244e-01 8.09358617e-01 2.30377536e-03 -1.94292833e+02] [ 3.71233594e-03 -1.52548614e-04 9.99993098e-01 -4.83320150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9665599949999 meters 0.05415257439167904 Centerline is valid? [True, True] Translation: X:613.83, Y:-194.34, Z:-4.84 [[ 8.09069857e-01 5.87707931e-01 -2.31383456e-03 6.13832192e+02] [-5.87705099e-01 8.09073157e-01 1.82855704e-03 -1.94340467e+02] [ 2.94671890e-03 -1.19578015e-04 9.99995651e-01 -4.83728514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.026559995 meters 0.053619832898015626 Centerline is valid? [True, True] Translation: X:613.89, Y:-194.37, Z:-4.83 [[ 8.06934640e-01 5.90639079e-01 1.40176701e-03 6.13888249e+02] [-5.90638046e-01 8.06935855e-01 -1.10674982e-03 -1.94368187e+02] [-1.78482576e-03 6.51378424e-05 9.99998405e-01 -4.83366782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0865599949999 meters 0.0540120726604466 Centerline is valid? [True, True] Translation: X:613.94, Y:-194.40, Z:-4.83 [[ 8.04287476e-01 5.94235759e-01 2.34911600e-03 6.13941876e+02] [-5.94232869e-01 8.04290901e-01 -1.85578090e-03 -1.94399461e+02] [-2.99214399e-03 9.66593964e-05 9.99995519e-01 -4.83348588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.146559995 meters 0.05239973809620369 Centerline is valid? [True, True] Translation: X:613.99, Y:-194.44, Z:-4.84 [[ 7.98830057e-01 6.01554192e-01 1.75901007e-03 6.13986628e+02] [-6.01552589e-01 7.98831992e-01 -1.38975904e-03 -1.94440402e+02] [-2.24116889e-03 5.20442286e-05 9.99997487e-01 -4.83610167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2065599949999 meters 0.05369906429904674 Centerline is valid? [True, True] Translation: X:614.04, Y:-194.47, Z:-4.84 [[ 7.91930978e-01 6.10600988e-01 3.42928570e-03 6.14039233e+02] [-6.10594972e-01 7.91938401e-01 -2.71093418e-03 -1.94472327e+02] [-4.37108212e-03 5.29681513e-05 9.99990445e-01 -4.83683035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.266559995 meters 0.05210173306524472 Centerline is valid? [True, True] Translation: X:614.09, Y:-194.51, Z:-4.84 [[ 7.87673337e-01 6.16091303e-01 1.49009022e-03 6.14090149e+02] [-6.16090177e-01 7.87674746e-01 -1.17798915e-03 -1.94505597e+02] [-1.89945530e-03 9.84069474e-06 9.99998196e-01 -4.83879688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3265599949999 meters 0.05176763977632073 Centerline is valid? [True, True] Translation: X:614.14, Y:-194.54, Z:-4.84 [[ 7.83267998e-01 6.21683694e-01 7.91991441e-04 6.14142210e+02] [-6.21683379e-01 7.83268399e-01 -6.25814796e-04 -1.94540677e+02] [-1.00940072e-03 -2.18721291e-06 9.99999491e-01 -4.84082802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.386559995 meters 0.05283307252332151 Centerline is valid? [True, True] Translation: X:614.19, Y:-194.58, Z:-4.84 [[ 7.78840632e-01 6.27221495e-01 6.83089165e-04 6.14193455e+02] [-6.27221263e-01 7.78840931e-01 -5.39624400e-04 -1.94575329e+02] [-8.70481825e-04 -8.16664033e-06 9.99999621e-01 -4.84190598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4465599949999 meters 0.05223827879040098 Centerline is valid? [True, True] Translation: X:614.24, Y:-194.62, Z:-4.84 [[ 7.78393650e-01 6.27776452e-01 -2.29002178e-04 6.14239640e+02] [-6.27776426e-01 7.78393683e-01 1.82206611e-04 -1.94617618e+02] [ 2.92638869e-04 1.93369989e-06 9.99999957e-01 -4.84141691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.506559995 meters 0.05218310951106227 Centerline is valid? [True, True] Translation: X:614.29, Y:-194.66, Z:-4.84 [[ 7.78748511e-01 6.27336213e-01 -1.78041334e-04 6.14286162e+02] [-6.27336197e-01 7.78748532e-01 1.41930148e-04 -1.94659112e+02] [ 2.27687349e-04 1.16388200e-06 9.99999974e-01 -4.84189538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5665599949999 meters 0.051595526528662755 Centerline is valid? [True, True] Translation: X:614.33, Y:-194.70, Z:-4.84 [[ 7.80191817e-01 6.25540327e-01 1.68503524e-04 6.14332400e+02] [-6.25540313e-01 7.80191835e-01 -1.32262917e-04 -1.94700730e+02] [-2.14200862e-04 -2.21530186e-06 9.99999977e-01 -4.84310426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.626559995 meters 0.051792632363614644 Centerline is valid? [True, True] Translation: X:614.38, Y:-194.75, Z:-4.84 [[ 7.84011719e-01 6.20746021e-01 4.10221160e-05 6.14376416e+02] [-6.20746020e-01 7.84011720e-01 -3.18846719e-05 -1.94746048e+02] [-5.19541032e-05 -4.66358791e-07 9.99999999e-01 -4.84288266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6865599949999 meters 0.051909426833071814 Centerline is valid? [True, True] Translation: X:614.42, Y:-194.79, Z:-4.84 [[ 7.87439291e-01 6.16392029e-01 -4.79331663e-04 6.14419940e+02] [-6.16391912e-01 7.87439437e-01 3.79771504e-04 -1.94790973e+02] [ 6.11532782e-04 -3.59084342e-06 9.99999813e-01 -4.84288241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.746559995 meters 0.05176191226961974 Centerline is valid? [True, True] Translation: X:614.46, Y:-194.84, Z:-4.85 [[ 7.93668668e-01 6.08350182e-01 -3.17635999e-04 6.14461310e+02] [-6.08350130e-01 7.93668732e-01 2.51669356e-04 -1.94837731e+02] [ 4.05200858e-04 -6.50818113e-06 9.99999918e-01 -4.84506729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8065599949999 meters 0.05323652684144025 Centerline is valid? [True, True] Translation: X:614.50, Y:-194.88, Z:-4.85 [[ 7.96608032e-01 6.04496182e-01 1.00625774e-04 6.14504849e+02] [-6.04496177e-01 7.96608038e-01 -7.91635528e-05 -1.94880169e+02] [-1.28013366e-04 2.23442647e-06 9.99999992e-01 -4.84531705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.866559995 meters 0.052216032197070626 Centerline is valid? [True, True] Translation: X:614.56, Y:-194.92, Z:-4.84 [[ 7.95676541e-01 6.05721051e-01 9.22207125e-04 6.14555739e+02] [-6.05720612e-01 7.95677075e-01 -7.29704743e-04 -1.94916471e+02] [-1.17577659e-03 2.20090813e-05 9.99999309e-01 -4.84266677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9265599949999 meters 0.05222179685521937 Centerline is valid? [True, True] Translation: X:614.60, Y:-194.95, Z:-4.84 [[ 7.93806225e-01 6.08170032e-01 9.43025979e-04 6.14604857e+02] [-6.08169574e-01 7.93806785e-01 -7.46427067e-04 -1.94952052e+02] [-1.20253499e-03 1.89987449e-05 9.99999277e-01 -4.84196203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.986559995 meters 0.052072737342629086 Centerline is valid? [True, True] Translation: X:614.65, Y:-194.99, Z:-4.84 [[ 7.92423354e-01 6.09970894e-01 8.58407809e-04 6.14654118e+02] [-6.09970516e-01 7.92423818e-01 -6.79208305e-04 -1.94990806e+02] [-1.09452009e-03 1.46170683e-05 9.99999401e-01 -4.84415533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0465599949999 meters 0.0521714814791689 Centerline is valid? [True, True] Translation: X:614.70, Y:-195.03, Z:-4.85 [[ 7.89577713e-01 6.13650473e-01 3.63453413e-04 6.14704171e+02] [-6.13650406e-01 7.89577797e-01 -2.87632196e-04 -1.95025402e+02] [-4.63480378e-04 4.07463758e-06 9.99999893e-01 -4.84556686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.106559995 meters 0.05179400216930123 Centerline is valid? [True, True] Translation: X:614.76, Y:-195.06, Z:-4.85 [[ 7.82751300e-01 6.22334604e-01 2.07998705e-04 6.14758829e+02] [-6.22334582e-01 7.82751327e-01 -1.64325649e-04 -1.95056281e+02] [-2.65076801e-04 -8.18672441e-07 9.99999965e-01 -4.84505690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.166559995 meters 0.051135438941969355 Centerline is valid? [True, True] Translation: X:614.81, Y:-195.09, Z:-4.85 [[ 7.77200177e-01 6.29253390e-01 -2.35590571e-04 6.14808441e+02] [-6.29253362e-01 7.77200213e-01 1.87547957e-04 -1.95091696e+02] [ 3.01116230e-04 2.48385371e-06 9.99999955e-01 -4.84536340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.226559995 meters 0.05209270130212256 Centerline is valid? [True, True] Translation: X:614.86, Y:-195.13, Z:-4.85 [[ 7.75727044e-01 6.31068577e-01 -5.83517630e-05 6.14857521e+02] [-6.31068576e-01 7.75727046e-01 4.72096355e-05 -1.95127651e+02] [ 7.50575581e-05 2.02172951e-07 9.99999997e-01 -4.84650571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.286559995 meters 0.051693363789192315 Centerline is valid? [True, True] Translation: X:614.91, Y:-195.16, Z:-4.85 [[ 7.73532606e-01 6.33755444e-01 -1.15954585e-03 6.14907667e+02] [-6.33754777e-01 7.73533475e-01 9.19231333e-04 -1.95161848e+02] [ 1.47951539e-03 2.38123121e-05 9.99998905e-01 -4.84943062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.346559995 meters 0.052234363080119535 Centerline is valid? [True, True] Translation: X:614.95, Y:-195.20, Z:-4.85 [[ 7.71961650e-01 6.35668862e-01 -5.55631115e-04 6.14952988e+02] [-6.35668709e-01 7.71961850e-01 4.40565941e-04 -1.95204713e+02] [ 7.08980074e-04 1.30973033e-05 9.99999749e-01 -4.84745139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.406559995 meters 0.05109326109727255 Centerline is valid? [True, True] Translation: X:615.00, Y:-195.25, Z:-4.85 [[ 7.72942277e-01 6.34476270e-01 3.16477933e-04 6.14999046e+02] [-6.34476221e-01 7.72942341e-01 -2.49774207e-04 -1.95246156e+02] [-4.03095001e-04 -7.73667890e-06 9.99999919e-01 -4.84714305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4665599949999 meters 0.05047027353663012 Centerline is valid? [True, True] Translation: X:615.04, Y:-195.29, Z:-4.85 [[ 7.74049830e-01 6.33124640e-01 -2.25812088e-04 6.15044991e+02] [-6.33124614e-01 7.74049863e-01 1.79590496e-04 -1.95286939e+02] [ 2.88492984e-04 3.95519788e-06 9.99999958e-01 -4.84837136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.526559995 meters 0.05121352279935119 Centerline is valid? [True, True] Translation: X:615.09, Y:-195.33, Z:-4.85 [[ 7.75725832e-01 6.31069634e-01 -7.41894344e-04 6.15088205e+02] [-6.31069360e-01 7.75726187e-01 5.88499158e-04 -1.95332335e+02] [ 9.46890818e-04 1.16727895e-05 9.99999552e-01 -4.84844122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5865599949999 meters 0.050761374185163036 Centerline is valid? [True, True] Translation: X:615.14, Y:-195.37, Z:-4.85 [[ 7.73516369e-01 6.33776297e-01 1.81491003e-04 6.15140343e+02] [-6.33776281e-01 7.73516390e-01 -1.42901091e-04 -1.95365471e+02] [-2.30953590e-04 -4.48835938e-06 9.99999973e-01 -4.85108387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.646559995 meters 0.05094155211244885 Centerline is valid? [True, True] Translation: X:615.19, Y:-195.40, Z:-4.85 [[ 7.72461382e-01 6.35061723e-01 -1.45195257e-04 6.15188469e+02] [-6.35061712e-01 7.72461396e-01 1.16165442e-04 -1.95404318e+02] [ 1.85929956e-04 2.47463050e-06 9.99999983e-01 -4.85116605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7065599949999 meters 0.051044759315573375 Centerline is valid? [True, True] Translation: X:615.24, Y:-195.44, Z:-4.85 [[ 7.72888742e-01 6.34541216e-01 -6.61077597e-04 6.15235279e+02] [-6.34540999e-01 7.72889025e-01 5.25408308e-04 -1.95444954e+02] [ 8.44332846e-04 1.33986725e-05 9.99999643e-01 -4.85126520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.766559995 meters 0.050197441671097486 Centerline is valid? [True, True] Translation: X:615.28, Y:-195.48, Z:-4.85 [[ 7.72601085e-01 6.34891543e-01 5.41541693e-04 6.15283205e+02] [-6.34891398e-01 7.72601274e-01 -4.28616290e-04 -1.95484714e+02] [-6.90520660e-04 -1.26707520e-05 9.99999762e-01 -4.85008854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8265599949999 meters 0.05135424186428994 Centerline is valid? [True, True] Translation: X:615.33, Y:-195.52, Z:-4.85 [[ 7.73827901e-01 6.33395748e-01 -4.54126104e-04 6.15333093e+02] [-6.33395644e-01 7.73828035e-01 3.61453516e-04 -1.95521218e+02] [ 5.80358630e-04 7.93868026e-06 9.99999832e-01 -4.85312811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.886559995 meters 0.050836533159703975 Centerline is valid? [True, True] Translation: X:615.38, Y:-195.56, Z:-4.85 [[ 7.74134115e-01 6.33020568e-01 -1.15459729e-03 6.15382351e+02] [-6.33019903e-01 7.74134975e-01 9.17752457e-04 -1.95560733e+02] [ 1.47477032e-03 2.04195770e-05 9.99998912e-01 -4.85443155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9465599949999 meters 0.0515194498752226 Centerline is valid? [True, True] Translation: X:615.43, Y:-195.60, Z:-4.86 [[ 7.75893497e-01 6.30862268e-01 -1.44256634e-03 6.15430390e+02] [-6.30861227e-01 7.75894838e-01 1.14588987e-03 -1.95599055e+02] [ 1.84217846e-03 2.09706780e-05 9.99998303e-01 -4.85605214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.006559995 meters 0.051653216765484636 Centerline is valid? [True, True] Translation: X:615.48, Y:-195.64, Z:-4.86 [[ 7.78262143e-01 6.27939258e-01 -5.69053987e-04 6.15476807e+02] [-6.27939096e-01 7.78262351e-01 4.51949782e-04 -1.95639405e+02] [ 7.26670305e-04 5.59584036e-06 9.99999736e-01 -4.85540219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0665599949999 meters 0.051045452866076695 Centerline is valid? [True, True] Translation: X:615.52, Y:-195.68, Z:-4.85 [[ 7.80371670e-01 6.25314920e-01 1.14325917e-03 6.15524464e+02] [-6.25314263e-01 7.80372507e-01 -9.06849502e-04 -1.95679453e+02] [-1.45923455e-03 -7.21660251e-06 9.99998935e-01 -4.85364033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.126559995 meters 0.05103790208588082 Centerline is valid? [True, True] Translation: X:615.57, Y:-195.72, Z:-4.85 [[ 7.81483992e-01 6.23923209e-01 1.61224827e-03 6.15571566e+02] [-6.23921897e-01 7.81485655e-01 -1.27990680e-03 -1.95718717e+02] [-2.05851245e-03 -5.69032481e-06 9.99997881e-01 -4.85399473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1865599949999 meters 0.05092875046398636 Centerline is valid? [True, True] Translation: X:615.62, Y:-195.76, Z:-4.85 [[ 7.84014669e-01 6.20735930e-01 2.81157862e-03 6.15619445e+02] [-6.20731914e-01 7.84019710e-01 -2.23281528e-03 -1.95759219e+02] [-3.59032172e-03 5.32335132e-06 9.99993555e-01 -4.85405998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.246559995 meters 0.05098107915895756 Centerline is valid? [True, True] Translation: X:615.66, Y:-195.80, Z:-4.86 [[ 7.86505141e-01 6.17580500e-01 1.99743970e-03 6.15664088e+02] [-6.17578464e-01 7.86507677e-01 -1.58593913e-03 -1.95800861e+02] [-2.55044674e-03 1.37735375e-05 9.99996748e-01 -4.85579336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3065599949999 meters 0.05094653403238946 Centerline is valid? [True, True] Translation: X:615.71, Y:-195.84, Z:-4.85 [[ 7.88271381e-01 6.15320313e-01 3.02366701e-03 6.15712620e+02] [-6.15315626e-01 7.88277179e-01 -2.40208131e-03 -1.95839601e+02] [-3.86153713e-03 3.29823965e-05 9.99992544e-01 -4.85343891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.366559995 meters 0.05145198506676631 Centerline is valid? [True, True] Translation: X:615.76, Y:-195.88, Z:-4.85 [[ 7.90618201e-01 6.12297202e-01 3.87265507e-03 6.15760377e+02] [-6.12289475e-01 7.90627683e-01 -3.07671028e-03 -1.95877289e+02] [-4.94568940e-03 6.13172045e-05 9.99987768e-01 -4.85359153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4265599949999 meters 0.05239587498021815 Centerline is valid? [True, True] Translation: X:615.81, Y:-195.92, Z:-4.85 [[ 7.92190404e-01 6.10260617e-01 4.04255430e-03 6.15808924e+02] [-6.10252166e-01 7.92200715e-01 -3.21267882e-03 -1.95916405e+02] [-5.16308577e-03 7.80758181e-05 9.99986668e-01 -4.85375998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.486559995 meters 0.0520855139643098 Centerline is valid? [True, True] Translation: X:615.86, Y:-195.95, Z:-4.85 [[ 7.95293624e-01 6.06210745e-01 4.07230712e-03 6.15856898e+02] [-6.06202115e-01 7.95304043e-01 -3.23650659e-03 -1.95953306e+02] [-5.20072739e-03 1.05331863e-04 9.99986471e-01 -4.85459259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5465599949999 meters 0.05351786240831058 Centerline is valid? [True, True] Translation: X:615.90, Y:-195.99, Z:-4.86 [[ 7.97789974e-01 6.02924727e-01 3.59584007e-03 6.15903001e+02] [-6.02917963e-01 7.97798070e-01 -2.85811645e-03 -1.95994844e+02] [-4.59198335e-03 1.12180082e-04 9.99989450e-01 -4.85528592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.606559995 meters 0.05187896299252989 Centerline is valid? [True, True] Translation: X:615.96, Y:-196.03, Z:-4.86 [[ 7.99461417e-01 6.00714950e-01 1.72989034e-03 6.15955895e+02] [-6.00713380e-01 7.99463286e-01 -1.37444192e-03 -1.96027145e+02] [-2.20863162e-03 5.96450101e-05 9.99997559e-01 -4.85574492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.666559995 meters 0.05305860483530967 Centerline is valid? [True, True] Translation: X:616.00, Y:-196.07, Z:-4.86 [[ 7.97919692e-01 6.02763257e-01 7.87809160e-04 6.15999930e+02] [-6.02762932e-01 7.97920081e-01 -6.25812459e-04 -1.96068209e+02] [-1.00582551e-03 2.44859254e-05 9.99999494e-01 -4.85787233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.726559995 meters 0.05235363669764556 Centerline is valid? [True, True] Translation: X:616.05, Y:-196.11, Z:-4.86 [[ 7.96069658e-01 6.05203848e-01 1.18362249e-03 6.16047908e+02] [-6.05203118e-01 7.96070538e-01 -9.41035243e-04 -1.96107338e+02] [-1.51176514e-03 3.27975851e-05 9.99998857e-01 -4.85812689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.786559995 meters 0.052327129309949566 Centerline is valid? [True, True] Translation: X:616.10, Y:-196.14, Z:-4.86 [[ 7.93384758e-01 6.08719019e-01 1.33486423e-03 6.16098024e+02] [-6.08718094e-01 7.93385880e-01 -1.06130919e-03 -1.96143038e+02] [-1.70510152e-03 2.94705195e-05 9.99998546e-01 -4.85747517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.846559995 meters 0.05103727512721728 Centerline is valid? [True, True] Translation: X:616.15, Y:-196.18, Z:-4.86 [[ 7.91703750e-01 6.10902015e-01 1.97470520e-03 6.16147627e+02] [-6.10899998e-01 7.91706212e-01 -1.57028335e-03 -1.96180037e+02] [-2.52267564e-03 3.68518141e-05 9.99996817e-01 -4.85666872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.906559995 meters 0.05264465087529975 Centerline is valid? [True, True] Translation: X:616.20, Y:-196.21, Z:-4.86 [[ 7.89321965e-01 6.13977158e-01 1.69875573e-03 6.16198165e+02] [-6.13975673e-01 7.89323792e-01 -1.35054756e-03 -1.96213978e+02] [-2.17007367e-03 2.30221604e-05 9.99997645e-01 -4.85609908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9665599949999 meters 0.051187249453116944 Centerline is valid? [True, True] Translation: X:616.25, Y:-196.25, Z:-4.86 [[ 7.88241310e-01 6.15362944e-01 2.02107330e-03 6.16246466e+02] [-6.15360844e-01 7.88243901e-01 -1.60753622e-03 -1.96253340e+02] [-2.58231692e-03 2.34370866e-05 9.99996666e-01 -4.85680960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.026559995 meters 0.05177082524301429 Centerline is valid? [True, True] Translation: X:616.30, Y:-196.29, Z:-4.86 [[ 7.87813191e-01 6.15912479e-01 1.48169794e-03 6.16296916e+02] [-6.15911352e-01 7.87814584e-01 -1.17789196e-03 -1.96291691e+02] [-1.89278161e-03 1.53642407e-05 9.99998209e-01 -4.85865685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0865599949999 meters 0.05072547826208482 Centerline is valid? [True, True] Translation: X:616.34, Y:-196.33, Z:-4.86 [[ 7.87726439e-01 6.16018962e-01 2.77404981e-03 6.16344614e+02] [-6.16015009e-01 7.87731323e-01 -2.20703719e-03 -1.96329909e+02] [-3.54478269e-03 2.96852248e-05 9.99993717e-01 -4.85604190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.146559995 meters 0.05163269183062652 Centerline is valid? [True, True] Translation: X:616.39, Y:-196.37, Z:-4.86 [[ 7.88187675e-01 6.15429429e-01 2.60903958e-03 6.16392399e+02] [-6.15425926e-01 7.88191993e-01 -2.07647587e-03 -1.96369986e+02] [-3.33434846e-03 3.09820902e-05 9.99994441e-01 -4.85846924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2065599949999 meters 0.051415080259117965 Centerline is valid? [True, True] Translation: X:616.44, Y:-196.41, Z:-4.86 [[ 7.88535638e-01 6.14988102e-01 1.08706329e-03 6.16439170e+02] [-6.14987494e-01 7.88536387e-01 -8.65146321e-04 -1.96408574e+02] [-1.38924365e-03 1.36683784e-05 9.99999035e-01 -4.86049142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.266559995 meters 0.05104746536848443 Centerline is valid? [True, True] Translation: X:616.49, Y:-196.45, Z:-4.86 [[ 7.88096554e-01 6.15551609e-01 -1.94100023e-04 6.16485736e+02] [-6.15551589e-01 7.88096578e-01 1.54913639e-04 -1.96449548e+02] [ 2.48326903e-04 -2.60832712e-06 9.99999969e-01 -4.86279366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3265599949999 meters 0.050978903240155846 Centerline is valid? [True, True] Translation: X:616.54, Y:-196.49, Z:-4.86 [[ 7.87011380e-01 6.16937420e-01 -1.14314347e-03 6.16535829e+02] [-6.16936747e-01 7.87012210e-01 9.11567861e-04 -1.96488465e+02] [ 1.46204819e-03 -1.21670676e-05 9.99998931e-01 -4.86406122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.386559995 meters 0.0507176717048473 Centerline is valid? [True, True] Translation: X:616.59, Y:-196.53, Z:-4.86 [[ 7.84915838e-01 6.19600366e-01 -1.58540189e-03 6.16585698e+02] [-6.19599077e-01 7.84917439e-01 1.26391641e-03 -1.96525196e+02] [ 2.02753266e-03 -9.75445968e-06 9.99997945e-01 -4.86399670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4465599949999 meters 0.05144722726543815 Centerline is valid? [True, True] Translation: X:616.63, Y:-196.56, Z:-4.87 [[ 7.82266372e-01 6.22941817e-01 -1.67812847e-03 6.16634562e+02] [-6.22940380e-01 7.82268172e-01 1.33796924e-03 -1.96562677e+02] [ 2.14622348e-03 -1.27435565e-06 9.99997697e-01 -4.86556549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.506559995 meters 0.05067373932825935 Centerline is valid? [True, True] Translation: X:616.68, Y:-196.60, Z:-4.86 [[ 7.81955278e-01 6.23334007e-01 8.12235115e-04 6.16680169e+02] [-6.23333672e-01 7.81955700e-01 -6.46194749e-04 -1.96602983e+02] [-1.03792704e-03 -9.98102299e-07 9.99999461e-01 -4.86431767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5665599949999 meters 0.05081346584166627 Centerline is valid? [True, True] Translation: X:616.73, Y:-196.64, Z:-4.86 [[ 7.83108971e-01 6.21877418e-01 2.96917221e-03 6.16728393e+02] [-6.21872919e-01 7.83114600e-01 -2.36560310e-03 -1.96642079e+02] [-3.79631726e-03 6.07722008e-06 9.99992794e-01 -4.86323829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.626559995 meters 0.05065321431272512 Centerline is valid? [True, True] Translation: X:616.78, Y:-196.68, Z:-4.86 [[ 7.83704371e-01 6.21121849e-01 3.88696917e-03 6.16778705e+02] [-6.21114124e-01 7.83714010e-01 -3.09780288e-03 -1.96680246e+02] [-4.97038524e-03 1.35102038e-05 9.99987647e-01 -4.86234680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6865599949999 meters 0.05192687156353835 Centerline is valid? [True, True] Translation: X:616.83, Y:-196.72, Z:-4.86 [[ 7.84316602e-01 6.20352500e-01 3.20061714e-03 6.16828094e+02] [-6.20347254e-01 7.84323132e-01 -2.55134683e-03 -1.96717282e+02] [-4.09305244e-03 1.55696257e-05 9.99991623e-01 -4.86335639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.746559995 meters 0.05112084712763162 Centerline is valid? [True, True] Translation: X:616.87, Y:-196.76, Z:-4.86 [[ 7.84487886e-01 6.20141185e-01 1.91527574e-03 6.16874411e+02] [-6.20139306e-01 7.84490223e-01 -1.52672653e-03 -1.96756625e+02] [-2.44930109e-03 9.96070035e-06 9.99997000e-01 -4.86495848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8065599949999 meters 0.050121943984255526 Centerline is valid? [True, True] Translation: X:616.92, Y:-196.79, Z:-4.86 [[ 7.84679740e-01 6.19899668e-01 1.45194093e-03 6.16923929e+02] [-6.19898587e-01 7.84681083e-01 -1.15735964e-03 -1.96794912e+02] [-1.85675744e-03 8.10052566e-06 9.99998276e-01 -4.86462516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.866559995 meters 0.051947978886360144 Centerline is valid? [True, True] Translation: X:616.97, Y:-196.83, Z:-4.87 [[ 7.85526334e-01 6.18827873e-01 6.64945195e-04 6.16971316e+02] [-6.18827646e-01 7.85526616e-01 -5.29555212e-04 -1.96832831e+02] [-8.50035674e-04 4.49309446e-06 9.99999639e-01 -4.87070802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9265599949999 meters 0.051707518540833504 Centerline is valid? [True, True] Translation: X:617.02, Y:-196.87, Z:-4.87 [[ 7.86546715e-01 6.17530612e-01 4.56533723e-04 6.17020808e+02] [-6.17530504e-01 7.86546848e-01 -3.63931015e-04 -1.96871041e+02] [-5.83823703e-04 4.32524415e-06 9.99999830e-01 -4.86995675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.986559995 meters 0.05175238926066709 Centerline is valid? [True, True] Translation: X:617.07, Y:-196.91, Z:-4.87 [[ 7.87191366e-01 6.16707698e-01 1.17017267e-03 6.17068118e+02] [-6.16706992e-01 7.87192235e-01 -9.32884246e-04 -1.96911223e+02] [-1.49646774e-03 1.27047552e-05 9.99998880e-01 -4.87002677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0465599949999 meters 0.05175983691275239 Centerline is valid? [True, True] Translation: X:617.12, Y:-196.95, Z:-4.87 [[ 7.87075609e-01 6.16850533e-01 2.72136750e-03 6.17118115e+02] [-6.16846709e-01 7.87080313e-01 -2.17208112e-03 -1.96947971e+02] [-3.48178418e-03 3.09254842e-05 9.99993938e-01 -4.86934154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.106559995 meters 0.05182592858561321 Centerline is valid? [True, True] Translation: X:617.17, Y:-196.99, Z:-4.87 [[ 7.86890952e-01 6.17083035e-01 3.34034354e-03 6.17166045e+02] [-6.17077277e-01 7.86898041e-01 -2.66617246e-03 -1.96985844e+02] [-4.27375958e-03 3.67368955e-05 9.99990867e-01 -4.87045377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.166559995 meters 0.050827201208844944 Centerline is valid? [True, True] Translation: X:617.22, Y:-197.02, Z:-4.87 [[ 7.86202554e-01 6.17954032e-01 4.28468324e-03 6.17216050e+02] [-6.17944564e-01 7.86214228e-01 -3.42106224e-03 -1.97023649e+02] [-5.48273813e-03 4.19511533e-05 9.99984969e-01 -4.86900938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.226559995 meters 0.051040201942764776 Centerline is valid? [True, True] Translation: X:617.27, Y:-197.06, Z:-4.87 [[ 7.84562714e-01 6.20036270e-01 4.04625965e-03 6.17267475e+02] [-6.20027854e-01 7.84573147e-01 -3.23073838e-03 -1.97059055e+02] [-5.17776164e-03 2.59231859e-05 9.99986595e-01 -4.87089493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.286559995 meters 0.05121850050840792 Centerline is valid? [True, True] Translation: X:617.32, Y:-197.10, Z:-4.87 [[ 7.82836541e-01 6.22215644e-01 3.82647883e-03 6.17317147e+02] [-6.22208139e-01 7.82845893e-01 -3.05612262e-03 -1.97095790e+02] [-4.89711055e-03 1.15781913e-05 9.99988009e-01 -4.87178180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.346559995 meters 0.05043764925350319 Centerline is valid? [True, True] Translation: X:617.37, Y:-197.13, Z:-4.87 [[ 7.80146234e-01 6.25594030e-01 1.99061013e-03 6.17366880e+02] [-6.25592012e-01 7.80148774e-01 -1.58935658e-03 -1.97133357e+02] [-2.54726404e-03 -5.37924340e-06 9.99996756e-01 -4.87438989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.406559995 meters 0.050054256741815795 Centerline is valid? [True, True] Translation: X:617.42, Y:-197.17, Z:-4.88 [[ 7.78554453e-01 6.27575024e-01 1.59771646e-03 6.17415608e+02] [-6.27573727e-01 7.78556092e-01 -1.27623403e-03 -1.97172487e+02] [-2.04484449e-03 -9.06718627e-06 9.99997909e-01 -4.87502213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4665599949999 meters 0.05112259674521313 Centerline is valid? [True, True] Translation: X:617.46, Y:-197.21, Z:-4.88 [[ 7.76865684e-01 6.29664857e-01 1.37035952e-03 6.17462384e+02] [-6.29663906e-01 7.76866892e-01 -1.09418966e-03 -1.97211424e+02] [-1.75355972e-03 -1.28275310e-05 9.99998462e-01 -4.87600328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.526559995 meters 0.05070053720757355 Centerline is valid? [True, True] Translation: X:617.51, Y:-197.25, Z:-4.88 [[ 7.75909031e-01 6.30841186e-01 2.13869751e-03 6.17510965e+02] [-6.30838873e-01 7.75911978e-01 -1.70848567e-03 -1.97250865e+02] [-2.73722414e-03 -2.35440648e-05 9.99996254e-01 -4.87677336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5865599949999 meters 0.04974046069894264 Centerline is valid? [True, True] Translation: X:617.56, Y:-197.29, Z:-4.88 [[ 7.72023117e-01 6.35584280e-01 3.59586283e-03 6.17560092e+02] [-6.35577784e-01 7.72031488e-01 -2.87426038e-03 -1.97286670e+02] [-4.60295404e-03 -6.64550759e-05 9.99989404e-01 -4.87607044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.646559995 meters 0.05040958168957866 Centerline is valid? [True, True] Translation: X:617.61, Y:-197.32, Z:-4.88 [[ 7.70076062e-01 6.37939384e-01 4.02498278e-03 6.17609163e+02] [-6.37931273e-01 7.70086575e-01 -3.21816302e-03 -1.97324797e+02] [-5.15257814e-03 -8.94320899e-05 9.99986721e-01 -4.87692543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7065599949999 meters 0.049569737275744055 Centerline is valid? [True, True] Translation: X:617.66, Y:-197.36, Z:-4.88 [[ 7.68972279e-01 6.39275745e-01 2.85596337e-03 6.17658017e+02] [-6.39271670e-01 7.68977579e-01 -2.28353914e-03 -1.97363101e+02] [-3.65598298e-03 -6.97581769e-05 9.99993314e-01 -4.87778527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.766559995 meters 0.050913355187060444 Centerline is valid? [True, True] Translation: X:617.71, Y:-197.40, Z:-4.88 [[ 7.68231132e-01 6.40167052e-01 2.65952875e-03 6.17708545e+02] [-6.40163524e-01 7.68235732e-01 -2.12646138e-03 -1.97397476e+02] [-3.40443553e-03 -6.89194610e-05 9.99994203e-01 -4.88061764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8265599949999 meters 0.050476623271588694 Centerline is valid? [True, True] Translation: X:617.76, Y:-197.44, Z:-4.88 [[ 7.68088233e-01 6.40339058e-01 2.52126108e-03 6.17756749e+02] [-6.40335889e-01 7.68092368e-01 -2.01574259e-03 -1.97438750e+02] [-3.22732011e-03 -6.61857889e-05 9.99994790e-01 -4.88162907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.886559995 meters 0.05067574031566058 Centerline is valid? [True, True] Translation: X:617.81, Y:-197.48, Z:-4.88 [[ 7.68692791e-01 6.39612612e-01 2.66464400e-03 6.17805136e+02] [-6.39609064e-01 7.68697406e-01 -2.13133004e-03 -1.97476056e+02] [-3.41153051e-03 -6.59924152e-05 9.99994179e-01 -4.88226907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9465599949999 meters 0.04980115768221219 Centerline is valid? [True, True] Translation: X:617.85, Y:-197.52, Z:-4.88 [[ 7.68964687e-01 6.39285547e-01 2.70162703e-03 6.17851501e+02] [-6.39281898e-01 7.68969431e-01 -2.16097472e-03 -1.97517718e+02] [-3.45894850e-03 -6.53880011e-05 9.99994016e-01 -4.88183672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.006559995 meters 0.0498858402228308 Centerline is valid? [True, True] Translation: X:617.90, Y:-197.56, Z:-4.88 [[ 7.70234268e-01 6.37757854e-01 2.02281996e-03 6.17898032e+02] [-6.37755803e-01 7.70236923e-01 -1.61809943e-03 -1.97559022e+02] [-2.59000625e-03 -4.37495383e-05 9.99996645e-01 -4.88249218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0665599949999 meters 0.04997176002690821 Centerline is valid? [True, True] Translation: X:617.95, Y:-197.60, Z:-4.88 [[ 7.71506353e-01 6.36219540e-01 1.62608466e-03 6.17946459e+02] [-6.36218211e-01 7.71508066e-01 -1.30083220e-03 -1.97597600e+02] [-2.08215229e-03 -3.09443649e-05 9.99997832e-01 -4.88463883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.126559995 meters 0.05044748145929351 Centerline is valid? [True, True] Translation: X:618.00, Y:-197.63, Z:-4.89 [[ 7.72710680e-01 6.34754263e-01 2.28697008e-03 6.17995363e+02] [-6.34751624e-01 7.72714064e-01 -1.83065306e-03 -1.97633815e+02] [-2.92918878e-03 -3.70927983e-05 9.99995709e-01 -4.88564444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1865599949999 meters 0.050148983794395266 Centerline is valid? [True, True] Translation: X:618.04, Y:-197.67, Z:-4.88 [[ 7.72878889e-01 6.34543573e-01 3.56058730e-03 6.18043698e+02] [-6.34537172e-01 7.72887088e-01 -2.85070857e-03 -1.97673461e+02] [-4.56083076e-03 -5.60725218e-05 9.99989598e-01 -4.88370053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.246559995 meters 0.049197674000204084 Centerline is valid? [True, True] Translation: X:618.09, Y:-197.71, Z:-4.88 [[ 7.72348810e-01 6.35187747e-01 3.72050380e-03 6.18090389e+02] [-6.35180762e-01 7.72357769e-01 -2.97940483e-03 -1.97713835e+02] [-4.76604145e-03 -6.20526633e-05 9.99988640e-01 -4.88374735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3065599949999 meters 0.051284640851801115 Centerline is valid? [True, True] Translation: X:618.14, Y:-197.75, Z:-4.89 [[ 7.71190808e-01 6.36601338e-01 1.86390711e-03 6.18142129e+02] [-6.36599588e-01 7.71193060e-01 -1.49286247e-03 -1.97746409e+02] [-2.38779047e-03 -3.52806850e-05 9.99997149e-01 -4.88838764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.366559995 meters 0.05113622985864426 Centerline is valid? [True, True] Translation: X:618.19, Y:-197.79, Z:-4.89 [[ 7.70710407e-01 6.37185413e-01 4.66329018e-04 6.18189282e+02] [-6.37185304e-01 7.70710548e-01 -3.72662743e-04 -1.97787444e+02] [-5.96859958e-04 -9.92294254e-06 9.99999822e-01 -4.89015367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4265599949999 meters 0.050230515278639774 Centerline is valid? [True, True] Translation: X:618.24, Y:-197.83, Z:-4.89 [[ 7.70811381e-01 6.37063321e-01 -3.73861195e-04 6.18236705e+02] [-6.37063250e-01 7.70811472e-01 3.00690984e-04 -1.97826593e+02] [ 4.79735694e-04 6.39719487e-06 9.99999885e-01 -4.88987894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.486559995 meters 0.0509082332835209 Centerline is valid? [True, True] Translation: X:618.28, Y:-197.87, Z:-4.89 [[ 7.72362188e-01 6.35176851e-01 2.64929870e-03 6.18282335e+02] [-6.35173303e-01 7.72366730e-01 -2.12338209e-03 -1.97868486e+02] [-3.39495332e-03 -4.27437694e-05 9.99994236e-01 -4.88725931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5465599949999 meters 0.04938197061228363 Centerline is valid? [True, True] Translation: X:618.33, Y:-197.90, Z:-4.89 [[ 7.73057140e-01 6.34319884e-01 4.57642054e-03 6.18332869e+02] [-6.34309281e-01 7.73070683e-01 -3.66814085e-03 -1.97903681e+02] [-5.86467123e-03 -6.71835486e-05 9.99982800e-01 -4.88697505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.606559995 meters 0.05021431495136201 Centerline is valid? [True, True] Translation: X:618.38, Y:-197.94, Z:-4.89 [[ 7.73822980e-01 6.33376050e-01 5.72502028e-03 6.18380154e+02] [-6.33359422e-01 7.73844154e-01 -4.59000578e-03 -1.97944024e+02] [-7.33747321e-03 -7.41435867e-05 9.99973078e-01 -4.88651941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.666559995 meters 0.0499066768837715 Centerline is valid? [True, True] Translation: X:618.43, Y:-197.98, Z:-4.89 [[ 7.74695158e-01 6.32313158e-01 5.24228995e-03 6.18430272e+02] [-6.32299187e-01 7.74712893e-01 -4.20381350e-03 -1.97981451e+02] [-6.71939620e-03 -5.80217134e-05 9.99977423e-01 -4.89001514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.726559995 meters 0.048777483660790655 Centerline is valid? [True, True] Translation: X:618.48, Y:-198.02, Z:-4.89 [[ 7.74939582e-01 6.32014291e-01 5.15553418e-03 6.18477460e+02] [-6.32000766e-01 7.74956730e-01 -4.13511957e-03 -1.98022210e+02] [-6.60877057e-03 -5.38337164e-05 9.99978160e-01 -4.89091727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.786559995 meters 0.050073684476934506 Centerline is valid? [True, True] Translation: X:618.53, Y:-198.06, Z:-4.89 [[ 7.76532518e-01 6.30062409e-01 4.31387314e-03 6.18525915e+02] [-6.30052905e-01 7.76544500e-01 -3.46069700e-03 -1.98058879e+02] [-5.53036955e-03 -3.06245444e-05 9.99984707e-01 -4.89408587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.846559995 meters 0.04879077760428363 Centerline is valid? [True, True] Translation: X:618.57, Y:-198.10, Z:-4.89 [[ 7.78017424e-01 6.28230743e-01 3.87584091e-03 6.18572018e+02] [-6.28223046e-01 7.78027078e-01 -3.10985449e-03 -1.98100367e+02] [-4.96921537e-03 -1.53716020e-05 9.99987653e-01 -4.89473587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.906559995 meters 0.05006889620516389 Centerline is valid? [True, True] Translation: X:618.62, Y:-198.14, Z:-4.90 [[ 7.79164875e-01 6.26809336e-01 3.48634293e-03 6.18621332e+02] [-6.26803090e-01 7.79172675e-01 -2.79811498e-03 -1.98138257e+02] [-4.47034774e-03 -5.05761749e-06 9.99990008e-01 -4.89720872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9665599949999 meters 0.04895452557814425 Centerline is valid? [True, True] Translation: X:618.67, Y:-198.18, Z:-4.90 [[ 7.80834028e-01 6.24730344e-01 3.19643413e-03 6.18668936e+02] [-6.24725078e-01 7.80840571e-01 -2.56527622e-03 -1.98178214e+02] [-4.09851135e-03 6.16240922e-06 9.99991601e-01 -4.89901319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.026559995 meters 0.05093306591607843 Centerline is valid? [True, True] Translation: X:618.72, Y:-198.22, Z:-4.90 [[ 7.82252264e-01 6.22943917e-01 4.71931185e-03 6.18719093e+02] [-6.22932395e-01 7.82266499e-01 -3.78893875e-03 -1.98216113e+02] [-6.05205591e-03 2.40936798e-05 9.99981686e-01 -4.89903624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0865599949999 meters 0.04927320315679552 Centerline is valid? [True, True] Translation: X:618.77, Y:-198.25, Z:-4.90 [[ 7.84158506e-01 6.20545017e-01 4.39541468e-03 6.18766965e+02] [-6.20534978e-01 7.84170823e-01 -3.52991405e-03 -1.98253864e+02] [-5.63722652e-03 4.05035776e-05 9.99984110e-01 -4.89899746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.146559995 meters 0.050494770722423914 Centerline is valid? [True, True] Translation: X:618.81, Y:-198.29, Z:-4.90 [[ 7.84734129e-01 6.19821627e-01 3.67390686e-03 6.18814685e+02] [-6.19814604e-01 7.84742728e-01 -2.95082295e-03 -1.98293201e+02] [-4.71205557e-03 3.84703537e-05 9.99988897e-01 -4.90120724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2065599949999 meters 0.05093482601384268 Centerline is valid? [True, True] Translation: X:618.86, Y:-198.33, Z:-4.90 [[ 7.82994910e-01 6.22026111e-01 1.57740013e-03 6.18864071e+02] [-6.22024822e-01 7.82996499e-01 -1.26638577e-03 -1.98329399e+02] [-2.02282379e-03 1.03915783e-05 9.99997954e-01 -4.90474091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.266559995 meters 0.05004772917305727 Centerline is valid? [True, True] Translation: X:618.91, Y:-198.37, Z:-4.91 [[ 7.80665426e-01 6.24947616e-01 1.40374649e-03 6.18914596e+02] [-6.24946599e-01 7.80666688e-01 -1.12708813e-03 -1.98365316e+02] [-1.80022916e-03 2.61213753e-06 9.99998380e-01 -4.90556017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3265599949999 meters 0.048978995467737575 Centerline is valid? [True, True] Translation: X:618.97, Y:-198.40, Z:-4.90 [[ 7.78139101e-01 6.28089941e-01 1.60176871e-03 6.18965426e+02] [-6.28088622e-01 7.78140750e-01 -1.28685507e-03 -1.98402211e+02] [-2.05466223e-03 -4.70045998e-06 9.99997889e-01 -4.90466843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.386559995 meters 0.050743417941794086 Centerline is valid? [True, True] Translation: X:619.02, Y:-198.44, Z:-4.90 [[ 7.75573969e-01 6.31245487e-01 3.76227211e-03 6.19017641e+02] [-6.31238247e-01 7.75583093e-01 -3.02345940e-03 -1.98436583e+02] [-4.82649974e-03 -2.99736405e-05 9.99988352e-01 -4.90449847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4465599949999 meters 0.04901807967177534 Centerline is valid? [True, True] Translation: X:619.06, Y:-198.48, Z:-4.90 [[ 7.73988527e-01 6.33170534e-01 6.06922483e-03 6.19064133e+02] [-6.33151737e-01 7.74012319e-01 -4.87925996e-03 -1.98478477e+02] [-7.78705842e-03 -6.62490186e-05 9.99969678e-01 -4.90210221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.506559995 meters 0.04951752762137271 Centerline is valid? [True, True] Translation: X:619.11, Y:-198.51, Z:-4.90 [[ 7.73029585e-01 6.34330394e-01 7.08604069e-03 6.19113040e+02] [-6.34304814e-01 7.73062056e-01 -5.69741201e-03 -1.98514712e+02] [-9.09199079e-03 -9.04416769e-05 9.99958663e-01 -4.90131530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5665599949999 meters 0.04898736785917499 Centerline is valid? [True, True] Translation: X:619.16, Y:-198.55, Z:-4.90 [[ 7.72226364e-01 6.35304516e-01 7.39014834e-03 6.19159860e+02] [-6.35276724e-01 7.72261718e-01 -5.94326395e-03 -1.98554737e+02] [-9.48291108e-03 -1.05244121e-04 9.99955031e-01 -4.90316946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.626559995 meters 0.049371808877484574 Centerline is valid? [True, True] Translation: X:619.21, Y:-198.59, Z:-4.90 [[ 7.71744886e-01 6.35889793e-01 7.34860178e-03 6.19210409e+02] [-6.35862330e-01 7.71779864e-01 -5.91089955e-03 -1.98590618e+02] [-9.43018358e-03 -1.10992557e-04 9.99955529e-01 -4.90279051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6865599949999 meters 0.04930258129393618 Centerline is valid? [True, True] Translation: X:619.26, Y:-198.63, Z:-4.91 [[ 7.71646081e-01 6.36018413e-01 6.55017174e-03 6.19259598e+02] [-6.35996594e-01 7.71673874e-01 -5.26916900e-03 -1.98629127e+02] [-8.40588490e-03 -9.99533101e-05 9.99964665e-01 -4.90541199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.746559995 meters 0.04921316942937053 Centerline is valid? [True, True] Translation: X:619.31, Y:-198.67, Z:-4.91 [[ 7.73330008e-01 6.33983286e-01 5.08831949e-03 6.19305407e+02] [-6.33970070e-01 7.73346746e-01 -4.09407919e-03 -1.98671941e+02] [-6.53061310e-03 -5.97679718e-05 9.99978674e-01 -4.90674117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8065599949999 meters 0.04876758620348632 Centerline is valid? [True, True] Translation: X:619.35, Y:-198.71, Z:-4.91 [[ 7.76798586e-01 6.29731107e-01 4.76340978e-03 6.19352091e+02] [-6.29719443e-01 7.76813191e-01 -3.83283454e-03 -1.98712311e+02] [-6.11393468e-03 -2.22712994e-05 9.99981309e-01 -4.90760319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.866559995 meters 0.05035208579948611 Centerline is valid? [True, True] Translation: X:619.39, Y:-198.76, Z:-4.91 [[ 7.83389986e-01 6.21520994e-01 3.43271809e-03 6.19394110e+02] [-6.21514856e-01 7.83397506e-01 -2.76246302e-03 -1.98757276e+02] [-4.40611155e-03 3.06005752e-05 9.99990293e-01 -4.90944785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9265599949999 meters 0.050419863085083054 Centerline is valid? [True, True] Translation: X:619.44, Y:-198.79, Z:-4.91 [[ 7.87453718e-01 6.16367425e-01 2.80008853e-03 6.19443355e+02] [-6.16363305e-01 7.87458694e-01 -2.25402975e-03 -1.98793717e+02] [-3.59426458e-03 4.90722862e-05 9.99993539e-01 -4.90834619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.986559995 meters 0.050157673574203386 Centerline is valid? [True, True] Translation: X:619.49, Y:-198.83, Z:-4.91 [[ 7.91448082e-01 6.11230581e-01 2.66647168e-03 6.19490127e+02] [-6.11226816e-01 7.91452571e-01 -2.14656935e-03 -1.98831838e+02] [-3.42243469e-03 6.90791977e-05 9.99994141e-01 -4.90890372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0465599949999 meters 0.050311246871941974 Centerline is valid? [True, True] Translation: X:619.54, Y:-198.87, Z:-4.91 [[ 7.92994264e-01 6.09220843e-01 3.17191643e-03 6.19539945e+02] [-6.09215498e-01 7.93000603e-01 -2.55381119e-03 -1.98869029e+02] [-4.07116665e-03 9.27769739e-05 9.99991708e-01 -4.90845502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.106559995 meters 0.0511521365217366 Centerline is valid? [True, True] Translation: X:619.59, Y:-198.90, Z:-4.91 [[ 7.92651401e-01 6.09665567e-01 3.41353836e-03 6.19589819e+02] [-6.09659380e-01 7.92658746e-01 -2.74835518e-03 -1.98904230e+02] [-4.38134855e-03 9.73919102e-05 9.99990397e-01 -4.90770692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.166559995 meters 0.051387196386345896 Centerline is valid? [True, True] Translation: X:619.64, Y:-198.94, Z:-4.91 [[ 7.91763606e-01 6.10818487e-01 3.34180351e-03 6.19636913e+02] [-6.10812565e-01 7.91770654e-01 -2.69114629e-03 -1.98943393e+02] [-4.28974386e-03 8.95361195e-05 9.99990795e-01 -4.90805744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.226559995 meters 0.05100606184589823 Centerline is valid? [True, True] Translation: X:619.69, Y:-198.97, Z:-4.91 [[ 7.89838167e-01 6.13305784e-01 3.41821317e-03 6.19693052e+02] [-6.13299608e-01 7.89845560e-01 -2.75361531e-03 -1.98971026e+02] [-4.38866869e-03 7.85216793e-05 9.99990367e-01 -4.90903958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.286559995 meters 0.05222805019618321 Centerline is valid? [True, True] Translation: X:619.74, Y:-199.01, Z:-4.91 [[ 7.88299071e-01 6.15281745e-01 3.59863023e-03 6.19738723e+02] [-6.15274918e-01 7.88307281e-01 -2.89919951e-03 -1.99012284e+02] [-4.62065094e-03 7.12893583e-05 9.99989322e-01 -4.91030034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.346559995 meters 0.05038340542387285 Centerline is valid? [True, True] Translation: X:619.79, Y:-199.05, Z:-4.91 [[ 7.85892685e-01 6.18346180e-01 4.54853546e-03 6.19787577e+02] [-6.18335324e-01 7.85905845e-01 -3.66474177e-03 -1.99048523e+02] [-5.84079968e-03 6.75735995e-05 9.99982940e-01 -4.90972496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.406559995 meters 0.051068625062945724 Centerline is valid? [True, True] Translation: X:619.84, Y:-199.08, Z:-4.91 [[ 7.81484168e-01 6.23902635e-01 5.29125694e-03 6.19840827e+02] [-6.23888069e-01 7.81502080e-01 -4.26330522e-03 -1.99081045e+02] [-6.79501567e-03 3.05534589e-05 9.99976913e-01 -4.91124120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4665599949999 meters 0.05107705516296006 Centerline is valid? [True, True] Translation: X:619.89, Y:-199.12, Z:-4.91 [[ 7.78851939e-01 6.27180962e-01 5.80504528e-03 6.19890246e+02] [-6.27163519e-01 7.78873572e-01 -4.67764402e-03 -1.99118963e+02] [-7.45512563e-03 2.47949119e-06 9.99972210e-01 -4.91110235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.526559995 meters 0.0499813366890469 Centerline is valid? [True, True] Translation: X:619.94, Y:-199.16, Z:-4.91 [[ 7.75560300e-01 6.31251427e-01 5.27790569e-03 6.19939713e+02] [-6.31237095e-01 7.75578258e-01 -4.25382697e-03 -1.99155606e+02] [-6.77866325e-03 -3.25105398e-05 9.99977024e-01 -4.91189432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5865599949999 meters 0.04987406417907478 Centerline is valid? [True, True] Translation: X:619.99, Y:-199.20, Z:-4.91 [[ 7.74460566e-01 6.32600626e-01 5.22295978e-03 6.19988031e+02] [-6.32586615e-01 7.74478177e-01 -4.21049215e-03 -1.99195270e+02] [-6.70862834e-03 -4.31143143e-05 9.99977496e-01 -4.91242036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.646559995 meters 0.050074649614378276 Centerline is valid? [True, True] Translation: X:620.04, Y:-199.23, Z:-4.91 [[ 7.72538563e-01 6.34945465e-01 5.33145162e-03 6.20038098e+02] [-6.34930916e-01 7.72556957e-01 -4.29886851e-03 -1.99231824e+02] [-6.84839711e-03 -6.40617580e-05 9.99976547e-01 -4.91426153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7065599949999 meters 0.049815140489219485 Centerline is valid? [True, True] Translation: X:620.09, Y:-199.27, Z:-4.92 [[ 7.70621772e-01 6.37278178e-01 4.31373111e-03 6.20085859e+02] [-6.37268689e-01 7.70633842e-01 -3.47843461e-03 -1.99269055e+02] [-5.54103765e-03 -6.84483198e-05 9.99984646e-01 -4.91614415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.766559995 meters 0.0508532585494414 Centerline is valid? [True, True] Translation: X:620.13, Y:-199.31, Z:-4.92 [[ 7.69067563e-01 6.39162924e-01 2.41664629e-03 6.20133821e+02] [-6.39159956e-01 7.69071359e-01 -1.94844325e-03 -1.99307446e+02] [-3.10394613e-03 -4.61390334e-05 9.99995182e-01 -4.91921837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8265599949999 meters 0.04963671838313168 Centerline is valid? [True, True] Translation: X:620.18, Y:-199.35, Z:-4.92 [[ 7.67922378e-01 6.40542792e-01 3.90892396e-04 6.20177654e+02] [-6.40542715e-01 7.67922477e-01 -3.15025464e-04 -1.99351565e+02] [-5.01962348e-04 -8.46817276e-06 9.99999874e-01 -4.92034752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.886559995 meters 0.05015290091929775 Centerline is valid? [True, True] Translation: X:620.22, Y:-199.39, Z:-4.92 [[ 7.68509422e-01 6.39838018e-01 -7.60868168e-04 6.20223409e+02] [-6.39837723e-01 7.68509799e-01 6.14492700e-04 -1.99391968e+02] [ 9.77910434e-04 1.45887262e-05 9.99999522e-01 -4.92358708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9465599949999 meters 0.0495236919305996 Centerline is valid? [True, True] Translation: X:620.26, Y:-199.44, Z:-4.92 [[ 7.71240746e-01 6.36542854e-01 -9.51916978e-04 6.20263304e+02] [-6.36542391e-01 7.71241333e-01 7.68199436e-04 -1.99440298e+02] [ 1.22314958e-03 1.34688031e-05 9.99999252e-01 -4.92282907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.006559995 meters 0.048784409539571014 Centerline is valid? [True, True] Translation: X:620.31, Y:-199.48, Z:-4.93 [[ 7.72840704e-01 6.34597840e-01 -1.68147175e-03 6.20307417e+02] [-6.34596387e-01 7.72842533e-01 1.35795398e-03 -1.99482298e+02] [ 2.16126755e-03 1.75737921e-05 9.99997664e-01 -4.92527275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0665599949999 meters 0.049238587342027275 Centerline is valid? [True, True] Translation: X:620.35, Y:-199.53, Z:-4.92 [[ 7.72826622e-01 6.34615673e-01 1.40000596e-03 6.20352881e+02] [-6.34614669e-01 7.72827890e-01 -1.12899612e-03 -1.99525149e+02] [-1.79844229e-03 -1.59460608e-05 9.99998383e-01 -4.92134816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.126559995 meters 0.04933653745630288 Centerline is valid? [True, True] Translation: X:620.40, Y:-199.56, Z:-4.92 [[ 7.71568046e-01 6.36143750e-01 1.96960689e-03 6.20400076e+02] [-6.36141766e-01 7.71570559e-01 -1.58921009e-03 -1.99564048e+02] [-2.53065676e-03 -2.67654782e-05 9.99996798e-01 -4.92045999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1865599949999 meters 0.04956298328207377 Centerline is valid? [True, True] Translation: X:620.45, Y:-199.60, Z:-4.92 [[ 7.70298557e-01 6.37681543e-01 1.54342202e-03 6.20448286e+02] [-6.37680328e-01 7.70300103e-01 -1.24534395e-03 -1.99603134e+02] [-1.98303100e-03 -2.49232156e-05 9.99998033e-01 -4.92157638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.246559995 meters 0.04943637176540261 Centerline is valid? [True, True] Translation: X:620.50, Y:-199.64, Z:-4.93 [[ 7.69303628e-01 6.38882368e-01 1.11701704e-03 6.20499870e+02] [-6.38881733e-01 7.69304439e-01 -9.01274405e-04 -1.99636079e+02] [-1.43513449e-03 -2.02881136e-05 9.99998970e-01 -4.92502411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3065599949999 meters 0.05032632656156768 Centerline is valid? [True, True] Translation: X:620.55, Y:-199.68, Z:-4.92 [[ 7.68753213e-01 6.39544750e-01 1.00472371e-03 6.20545151e+02] [-6.39544237e-01 7.68753870e-01 -8.10696613e-04 -1.99679037e+02] [-1.29086200e-03 -1.93396313e-05 9.99999167e-01 -4.92271544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.366559995 meters 0.049607468172172486 Centerline is valid? [True, True] Translation: X:620.59, Y:-199.72, Z:-4.92 [[ 7.69546416e-01 6.38590741e-01 4.23200892e-04 6.20592911e+02] [-6.38590650e-01 7.69546532e-01 -3.41561021e-04 -1.99719676e+02] [-5.43790484e-04 -7.40507317e-06 9.99999852e-01 -4.92269714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4265599949999 meters 0.050133305875331456 Centerline is valid? [True, True] Translation: X:620.64, Y:-199.76, Z:-4.92 [[ 7.70066103e-01 6.37964102e-01 -3.69856912e-05 6.20641311e+02] [-6.37964101e-01 7.70066104e-01 3.09529614e-05 -1.99757893e+02] [ 4.82283051e-05 -2.40283057e-07 9.99999999e-01 -4.92375373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.486559995 meters 0.04980831627984256 Centerline is valid? [True, True] Translation: X:620.69, Y:-199.80, Z:-4.92 [[ 7.71111838e-01 6.36698860e-01 1.04597729e-03 6.20689802e+02] [-6.36698300e-01 7.71112548e-01 -8.44951644e-04 -1.99797648e+02] [-1.34454596e-03 -1.44197479e-05 9.99999096e-01 -4.92358135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5465599949999 meters 0.049457107794082036 Centerline is valid? [True, True] Translation: X:620.74, Y:-199.83, Z:-4.92 [[ 7.72368806e-01 6.35169294e-01 2.52894372e-03 6.20738608e+02] [-6.35166008e-01 7.72372945e-01 -2.04346770e-03 -1.99834561e+02] [-3.25123565e-03 -2.79883768e-05 9.99994714e-01 -4.92348849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.606559995 meters 0.04956121178772775 Centerline is valid? [True, True] Translation: X:620.78, Y:-199.88, Z:-4.92 [[ 7.74967490e-01 6.31990955e-01 3.58070550e-03 6.20784408e+02] [-6.31984328e-01 7.74975762e-01 -2.89437117e-03 -1.99876642e+02] [-4.60417637e-03 -1.99061934e-05 9.99989401e-01 -4.92207400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.666559995 meters 0.04959883011304886 Centerline is valid? [True, True] Translation: X:620.83, Y:-199.92, Z:-4.92 [[ 7.77053977e-01 6.29414743e-01 4.91915442e-03 6.20832243e+02] [-6.29402175e-01 7.77069547e-01 -3.97756817e-03 -1.99916719e+02] [-6.32606514e-03 -5.34132256e-06 9.99979990e-01 -4.92138398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.726559995 meters 0.04936692184969541 Centerline is valid? [True, True] Translation: X:620.88, Y:-199.96, Z:-4.92 [[ 7.78050855e-01 6.28178820e-01 5.31388613e-03 6.20880615e+02] [-6.28164121e-01 7.78069001e-01 -4.29731617e-03 -1.99955601e+02] [-6.83405307e-03 5.53791211e-06 9.99976648e-01 -4.92159072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.786559995 meters 0.05021957073007935 Centerline is valid? [True, True] Translation: X:620.93, Y:-199.99, Z:-4.93 [[ 7.77997845e-01 6.28248904e-01 4.76105193e-03 6.20932230e+02] [-6.28237103e-01 7.78012413e-01 -3.85072993e-03 -1.99992515e+02] [-6.12337436e-03 4.79012296e-06 9.99981252e-01 -4.92510352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.846559995 meters 0.050725822324838916 Centerline is valid? [True, True] Translation: X:620.98, Y:-200.03, Z:-4.93 [[ 7.76131196e-01 6.30570481e-01 -1.11133944e-03 6.20980957e+02] [-6.30569839e-01 7.76131992e-01 8.99772909e-04 -2.00030104e+02] [ 1.42991633e-03 2.43530861e-06 9.99998978e-01 -4.92980355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.906559995 meters 0.05039319025554366 Centerline is valid? [True, True] Translation: X:621.03, Y:-200.06, Z:-4.93 [[ 7.72637318e-01 6.34831693e-01 -4.50521783e-03 6.21031666e+02] [-6.34821222e-01 7.72650451e-01 3.64644429e-03 -2.00063573e+02] [ 5.79583699e-03 4.26289490e-05 9.99983203e-01 -4.93349452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9665599949999 meters 0.049917592570732826 Centerline is valid? [True, True] Translation: X:621.08, Y:-200.10, Z:-4.93 [[ 7.70817591e-01 6.37024731e-01 -6.30338095e-03 6.21079214e+02] [-6.37004299e-01 7.70843360e-01 5.10273800e-03 -2.00102313e+02] [ 8.10948965e-03 8.20005506e-05 9.99967114e-01 -4.93269358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.026559995 meters 0.04980313702560265 Centerline is valid? [True, True] Translation: X:621.13, Y:-200.14, Z:-4.93 [[ 7.70891415e-01 6.36936585e-01 -6.18174147e-03 6.21127944e+02] [-6.36916931e-01 7.70916196e-01 5.00419889e-03 -2.00140620e+02] [ 7.95296197e-03 7.95618455e-05 9.99968372e-01 -4.93333862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0865599949999 meters 0.05013964735127232 Centerline is valid? [True, True] Translation: X:621.17, Y:-200.18, Z:-4.93 [[ 7.76237019e-01 6.30431170e-01 -3.55391889e-03 6.21173181e+02] [-6.30424606e-01 7.76245154e-01 2.87697440e-03 -2.00181173e+02] [ 4.57244666e-03 7.26388539e-06 9.99989546e-01 -4.93339992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.146559995 meters 0.050210856375848094 Centerline is valid? [True, True] Translation: X:621.22, Y:-200.23, Z:-4.93 [[ 7.83696381e-01 6.21143785e-01 -6.17027793e-04 6.21217423e+02] [-6.21143584e-01 7.83696624e-01 4.99892337e-04 -2.00225985e+02] [ 7.94067616e-04 -8.50096040e-06 9.99999685e-01 -4.92716465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2065599949999 meters 0.04947899816620436 Centerline is valid? [True, True] Translation: X:621.26, Y:-200.27, Z:-4.92 [[ 7.87314527e-01 6.16548048e-01 2.08310362e-03 6.21261730e+02] [-6.16545744e-01 7.87317282e-01 -1.68620571e-03 -2.00267750e+02] [-2.67969032e-03 4.32455757e-05 9.99996409e-01 -4.92467672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.266559995 meters 0.05104110112076218 Centerline is valid? [True, True] Translation: X:621.31, Y:-200.30, Z:-4.93 [[ 7.89090840e-01 6.14272585e-01 2.19948609e-03 6.21312387e+02] [-6.14270007e-01 7.89093903e-01 -1.78048913e-03 -2.00303383e+02] [-2.82930672e-03 5.38893295e-05 9.99995996e-01 -4.92515748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3265599949999 meters 0.051128211133450605 Centerline is valid? [True, True] Translation: X:621.36, Y:-200.34, Z:-4.93 [[ 7.88198319e-01 6.15420542e-01 9.82851094e-04 6.21363781e+02] [-6.15420029e-01 7.88198931e-01 -7.94897816e-04 -2.00336490e+02] [-1.26387863e-03 2.16708730e-05 9.99999201e-01 -4.92567350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.386559995 meters 0.05098278718913053 Centerline is valid? [True, True] Translation: X:621.41, Y:-200.38, Z:-4.93 [[ 7.84780019e-01 6.19772816e-01 -1.40652815e-03 6.21407846e+02] [-6.19771768e-01 7.84781279e-01 1.13999539e-03 -2.00378974e+02] [ 1.81035512e-03 -2.29191684e-05 9.99998361e-01 -4.93185508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4465599949999 meters 0.0508179173298256 Centerline is valid? [True, True] Translation: X:621.46, Y:-200.41, Z:-4.93 [[ 7.81689016e-01 6.23668062e-01 -6.56372775e-04 6.21458758e+02] [-6.23667835e-01 7.81689292e-01 5.31865050e-04 -2.00414172e+02] [ 8.44786814e-04 -6.39448018e-06 9.99999643e-01 -4.92944104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.506559995 meters 0.05027941830396179 Centerline is valid? [True, True] Translation: X:621.51, Y:-200.45, Z:-4.93 [[ 7.80445536e-01 6.25221643e-01 1.63166767e-03 6.21507344e+02] [-6.25220248e-01 7.80447241e-01 -1.32113575e-03 -2.00453811e+02] [-2.09943319e-03 1.09228330e-05 9.99997796e-01 -4.92790419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5665599949999 meters 0.04924449455252374 Centerline is valid? [True, True] Translation: X:621.56, Y:-200.49, Z:-4.93 [[ 7.68271038e-01 6.40123611e-01 1.17284070e-03 6.21558698e+02] [-6.40122907e-01 7.68271933e-01 -9.49394389e-04 -2.00486821e+02] [-1.50879036e-03 -2.13699882e-05 9.99998862e-01 -4.93272862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.626559995 meters 0.04873085743724792 Centerline is valid? [True, True] Translation: X:621.61, Y:-200.52, Z:-4.94 [[ 7.62161331e-01 6.47380342e-01 -2.96606392e-03 6.21609254e+02] [-6.47375887e-01 7.62167098e-01 2.40343003e-03 -2.00519640e+02] [ 3.81656968e-03 8.83568289e-05 9.99992713e-01 -4.93743657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6865599949999 meters 0.04897802682317245 Centerline is valid? [True, True] Translation: X:621.66, Y:-200.55, Z:-4.94 [[ 7.61299886e-01 6.48385602e-01 -4.31215611e-03 6.21658145e+02] [-6.48376200e-01 7.61312086e-01 3.49428315e-03 -2.00554945e+02] [ 5.54853945e-03 1.35702031e-04 9.99984598e-01 -4.94065250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.746559995 meters 0.04897802682317245 Centerline is valid? [True, True] Translation: X:621.71, Y:-200.59, Z:-4.94 [[ 7.61221884e-01 6.48477183e-01 -4.31122119e-03 6.21706710e+02] [-6.48467777e-01 7.61234080e-01 3.49543678e-03 -2.00594284e+02] [ 5.54855949e-03 1.34885054e-04 9.99984598e-01 -4.94111308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8065599949999 meters 0.04985329288606311 Centerline is valid? [True, True] Translation: X:621.76, Y:-200.63, Z:-4.94 [[ 7.60688917e-01 6.49095356e-01 -5.25268074e-03 6.21755022e+02] [-6.49081413e-01 7.60707033e-01 4.25790663e-03 -2.00633521e+02] [ 6.75953860e-03 1.70475054e-04 9.99977140e-01 -4.94261449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.866559995 meters 0.04985329288606311 Centerline is valid? [True, True] Translation: X:621.80, Y:-200.67, Z:-4.94 [[ 7.60611259e-01 6.49186361e-01 -5.25175564e-03 6.21803585e+02] [-6.49172412e-01 7.60629371e-01 4.25904778e-03 -2.00672867e+02] [ 6.75955532e-03 1.69815183e-04 9.99977140e-01 -4.94307514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9265599949999 meters 0.04948364116986807 Centerline is valid? [True, True] Translation: X:621.85, Y:-200.72, Z:-4.94 [[ 7.60686276e-01 6.49087495e-01 -6.46634272e-03 6.21848667e+02] [-6.49066346e-01 7.60713731e-01 5.24379834e-03 -2.00715098e+02] [ 8.32271963e-03 2.08200010e-04 9.99965344e-01 -4.94297987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.986559995 meters 0.049013903315985985 Centerline is valid? [True, True] Translation: X:621.90, Y:-200.76, Z:-4.94 [[ 7.62472250e-01 6.47000709e-01 -5.11377103e-03 6.21895329e+02] [-6.46987437e-01 7.62489384e-01 4.14680718e-03 -2.00755566e+02] [ 6.58218331e-03 1.46720213e-04 9.99978326e-01 -4.94244743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0465599949999 meters 0.050054717738241425 Centerline is valid? [True, True] Translation: X:621.94, Y:-200.79, Z:-4.94 [[ 7.63637194e-01 6.45629123e-01 -4.61213492e-03 6.21943037e+02] [-6.45618302e-01 7.63651112e-01 3.74002127e-03 -2.00792055e+02] [ 5.93672861e-03 1.21659364e-04 9.99982370e-01 -4.94366591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.106559995 meters 0.04955991787161018 Centerline is valid? [True, True] Translation: X:621.99, Y:-200.84, Z:-4.94 [[ 7.64562173e-01 6.44536595e-01 -4.15471818e-03 6.21988410e+02] [-6.44527788e-01 7.64573455e-01 3.37086738e-03 -2.00835088e+02] [ 5.34923462e-03 1.00593626e-04 9.99985688e-01 -4.94038235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.166559995 meters 0.04908184330383726 Centerline is valid? [True, True] Translation: X:622.03, Y:-200.87, Z:-4.94 [[ 7.66759775e-01 6.41925272e-01 -3.37524414e-03 6.22034758e+02] [-6.41919437e-01 7.66767201e-01 2.73782073e-03 -2.00873747e+02] [ 4.34550282e-03 6.73840121e-05 9.99990556e-01 -4.94183115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.226559995 meters 0.04817166287926174 Centerline is valid? [True, True] Translation: X:622.08, Y:-200.91, Z:-4.94 [[ 7.67141214e-01 6.41471633e-01 -2.91584447e-03 6.22081655e+02] [-6.41467269e-01 7.67146753e-01 2.36664530e-03 -2.00914762e+02] [ 3.75501644e-03 5.48676437e-05 9.99992948e-01 -4.94174785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.286559995 meters 0.04901213092369788 Centerline is valid? [True, True] Translation: X:622.13, Y:-200.95, Z:-4.94 [[ 7.66922339e-01 6.41734690e-01 -2.59103759e-03 6.22130707e+02] [-6.41731243e-01 7.66926715e-01 2.10383502e-03 -2.00954575e+02] [ 3.33723986e-03 4.92717037e-05 9.99994430e-01 -4.94159328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.346559995 meters 0.04877770442204249 Centerline is valid? [True, True] Translation: X:622.18, Y:-200.99, Z:-4.94 [[ 7.66606330e-01 6.42108055e-01 -3.46140495e-03 6.22180166e+02] [-6.42101911e-01 7.66614141e-01 2.80977102e-03 -2.00989993e+02] [ 4.45773858e-03 6.85864887e-05 9.99990062e-01 -4.94327909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.406559995 meters 0.04964850704563331 Centerline is valid? [True, True] Translation: X:622.23, Y:-201.02, Z:-4.95 [[ 7.66140946e-01 6.42655012e-01 -4.75252315e-03 6.22230431e+02] [-6.42643439e-01 7.66155680e-01 3.85806188e-03 -2.01024302e+02] [ 6.12057541e-03 9.83586381e-05 9.99981264e-01 -4.94536320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4665599949999 meters 0.050433007043381946 Centerline is valid? [True, True] Translation: X:622.28, Y:-201.06, Z:-4.94 [[ 7.66346656e-01 6.42412678e-01 -4.33053728e-03 6.22277860e+02] [-6.42403057e-01 7.66358887e-01 3.51687092e-03 -2.01064129e+02] [ 5.57802820e-03 8.68081170e-05 9.99984439e-01 -4.94368232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.526559995 meters 0.048552308376212175 Centerline is valid? [True, True] Translation: X:622.32, Y:-201.11, Z:-4.94 [[ 7.69065851e-01 6.39155005e-01 -4.31236208e-03 6.22323268e+02] [-6.39145417e-01 7.69077938e-01 3.50146631e-03 -2.01106290e+02] [ 5.55452226e-03 6.33682984e-05 9.99984572e-01 -4.94195147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5865599949999 meters 0.04917661284826247 Centerline is valid? [True, True] Translation: X:622.37, Y:-201.15, Z:-4.94 [[ 7.70668242e-01 6.37212780e-01 -5.50767172e-03 6.22369572e+02] [-6.37197079e-01 7.70687920e-01 4.47366317e-03 -2.01145571e+02] [ 7.09537141e-03 6.17621998e-05 9.99974826e-01 -4.94381200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.646559995 meters 0.04970802057574628 Centerline is valid? [True, True] Translation: X:622.42, Y:-201.19, Z:-4.94 [[ 7.73457862e-01 6.33823389e-01 -5.55395192e-03 6.22415339e+02] [-6.33807336e-01 7.73477802e-01 4.51113230e-03 -2.01188397e+02] [ 7.15511968e-03 3.09647266e-05 9.99974401e-01 -4.94452615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7065599949999 meters 0.05048402378374753 Centerline is valid? [True, True] Translation: X:622.46, Y:-201.23, Z:-4.94 [[ 7.75562138e-01 6.31261287e-01 -3.54366942e-03 6.22461199e+02] [-6.31254721e-01 7.75570234e-01 2.87929669e-03 -2.01229362e+02] [ 4.56595306e-03 3.88455396e-06 9.99989576e-01 -4.93898257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.766559995 meters 0.05018181057874353 Centerline is valid? [True, True] Translation: X:622.51, Y:-201.27, Z:-4.94 [[ 7.75663815e-01 6.31143876e-01 -1.74766790e-03 6.22507375e+02] [-6.31142276e-01 7.75665784e-01 1.42103717e-03 -2.01269407e+02] [ 2.25248509e-03 7.79982572e-07 9.99997463e-01 -4.94321080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8265599949999 meters 0.04977659644116888 Centerline is valid? [True, True] Translation: X:622.56, Y:-201.31, Z:-4.94 [[ 7.74045659e-01 6.33129020e-01 -9.80385759e-04 6.22556438e+02] [-6.33128517e-01 7.74046280e-01 7.97845749e-04 -2.01307115e+02] [ 1.26400325e-03 3.14114359e-06 9.99999201e-01 -4.94297988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.886559995 meters 0.049811431689532434 Centerline is valid? [True, True] Translation: X:622.61, Y:-201.34, Z:-4.94 [[ 7.70695727e-01 6.37200756e-01 -1.81489830e-03 6.22605944e+02] [-6.37199046e-01 7.70697863e-01 1.47627520e-03 -2.01344047e+02] [ 2.33942192e-03 1.86924764e-05 9.99997263e-01 -4.94319029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9465599949999 meters 0.04925834033548113 Centerline is valid? [True, True] Translation: X:622.66, Y:-201.38, Z:-4.95 [[ 7.67725419e-01 6.40776430e-01 -1.80220237e-03 6.22656894e+02] [-6.40774755e-01 7.67727533e-01 1.46545967e-03 -2.01377860e+02] [ 2.32263240e-03 2.97351442e-05 9.99997302e-01 -4.94572164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.006559995 meters 0.05008327942325123 Centerline is valid? [True, True] Translation: X:622.71, Y:-201.42, Z:-4.95 [[ 7.66161019e-01 6.42647022e-01 -1.44819160e-03 6.22705654e+02] [-6.42645942e-01 7.66162388e-01 1.17864750e-03 -2.01415859e+02] [ 1.86700423e-03 2.76406853e-05 9.99998257e-01 -4.94534906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0665599949999 meters 0.04900245824285527 Centerline is valid? [True, True] Translation: X:622.75, Y:-201.45, Z:-4.95 [[ 7.65349540e-01 6.43611506e-01 -2.07620180e-03 6.22753114e+02] [-6.43609292e-01 7.65352355e-01 1.68893643e-03 -2.01453776e+02] [ 2.67604486e-03 4.36360448e-05 9.99996418e-01 -4.94520596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.126559995 meters 0.04889500402443464 Centerline is valid? [True, True] Translation: X:622.80, Y:-201.49, Z:-4.95 [[ 7.65253533e-01 6.43720921e-01 -3.22567779e-03 6.22800702e+02] [-6.43715574e-01 7.65260329e-01 2.62471666e-03 -2.01492283e+02] [ 4.15806827e-03 6.78453258e-05 9.99991353e-01 -4.94696760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1865599949999 meters 0.049411138969326834 Centerline is valid? [True, True] Translation: X:622.85, Y:-201.53, Z:-4.95 [[ 7.66682473e-01 6.42021485e-01 -2.52951003e-03 6.22846412e+02] [-6.42018186e-01 7.66686644e-01 2.05861783e-03 -2.01532961e+02] [ 3.26101844e-03 4.56852294e-05 9.99994682e-01 -4.94687341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.246559995 meters 0.04987460819796429 Centerline is valid? [True, True] Translation: X:622.89, Y:-201.58, Z:-4.95 [[ 7.69922810e-01 6.38132812e-01 -2.31987923e-03 6.22890964e+02] [-6.38130020e-01 7.69926304e-01 1.88761092e-03 -2.01575285e+02] [ 2.99068250e-03 2.70698769e-05 9.99995528e-01 -4.94803436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3065599949999 meters 0.05003561031118662 Centerline is valid? [True, True] Translation: X:622.93, Y:-201.62, Z:-4.95 [[ 7.72542965e-01 6.34955551e-01 -2.96901622e-03 6.22934649e+02] [-6.34950951e-01 7.72548670e-01 2.41702938e-03 -2.01618072e+02] [ 3.82841576e-03 1.79206235e-05 9.99992671e-01 -4.94701079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.366559995 meters 0.04867510765211494 Centerline is valid? [True, True] Translation: X:622.99, Y:-201.66, Z:-4.95 [[ 7.71569705e-01 6.36140507e-01 -2.33358358e-03 6.22985121e+02] [-6.36137669e-01 7.71573234e-01 1.90012438e-03 -2.01655426e+02] [ 3.00927672e-03 1.84020154e-05 9.99995472e-01 -4.94883431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4265599949999 meters 0.04888161915067189 Centerline is valid? [True, True] Translation: X:623.03, Y:-201.69, Z:-4.95 [[ 7.71456636e-01 6.36272307e-01 -3.49427441e-03 6.23032837e+02] [-6.36265948e-01 7.71464549e-01 2.84488110e-03 -2.01694200e+02] [ 4.50582790e-03 2.85854195e-05 9.99989848e-01 -4.95042015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.486559995 meters 0.0498326317710892 Centerline is valid? [True, True] Translation: X:623.08, Y:-201.73, Z:-4.95 [[ 7.71492053e-01 6.36221307e-01 -4.73938379e-03 6.23080607e+02] [-6.36209600e-01 7.71506609e-01 3.85976439e-03 -2.01734627e+02] [ 6.11213025e-03 3.74639120e-05 9.99981320e-01 -4.95052222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5465599949999 meters 0.049535414182324676 Centerline is valid? [True, True] Translation: X:623.13, Y:-201.77, Z:-4.95 [[ 7.71233122e-01 6.36537385e-01 -4.43051723e-03 6.23130783e+02] [-6.36527153e-01 7.71245847e-01 3.60923697e-03 -2.01771686e+02] [ 5.71443228e-03 3.65814217e-05 9.99983672e-01 -4.95188120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.606559995 meters 0.05014506349636134 Centerline is valid? [True, True] Translation: X:623.18, Y:-201.81, Z:-4.95 [[ 7.72661602e-01 6.34808508e-01 -3.49389883e-03 6.23176306e+02] [-6.34802127e-01 7.72669501e-01 2.84630640e-03 -2.01812312e+02] [ 4.50648858e-03 1.87027460e-05 9.99989846e-01 -4.94677955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.666559995 meters 0.04995049112975266 Centerline is valid? [True, True] Translation: X:623.22, Y:-201.85, Z:-4.95 [[ 7.74799022e-01 6.32196937e-01 -3.67527288e-03 6.23222661e+02] [-6.32189847e-01 7.74807739e-01 2.99408128e-03 -2.01853753e+02] [ 4.74047889e-03 3.65895682e-06 9.99988764e-01 -4.94734556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.726559995 meters 0.050930118797920344 Centerline is valid? [True, True] Translation: X:623.27, Y:-201.89, Z:-4.95 [[ 7.75948290e-01 6.30781403e-01 -4.36724372e-03 6.23270523e+02] [-6.30771362e-01 7.75960580e-01 3.55913319e-03 -2.01891814e+02] [ 5.63384399e-03 -6.97104494e-06 9.99984130e-01 -4.94501930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.786559995 meters 0.05046190560435183 Centerline is valid? [True, True] Translation: X:623.32, Y:-201.93, Z:-4.95 [[ 7.76179952e-01 6.30500951e-01 -3.63779826e-03 6.23319080e+02] [-6.30493982e-01 7.76188476e-01 2.96453444e-03 -2.01931291e+02] [ 4.69275888e-03 -7.40229179e-06 9.99988989e-01 -4.94910021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.846559995 meters 0.05055640520156109 Centerline is valid? [True, True] Translation: X:623.37, Y:-201.97, Z:-4.95 [[ 7.76843259e-01 6.29688597e-01 -2.61175286e-03 6.23365958e+02] [-6.29684999e-01 7.76847649e-01 2.12891991e-03 -2.01971880e+02] [ 3.36949067e-03 -9.25548348e-06 9.99994323e-01 -4.94641374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.906559995 meters 0.05024019856316841 Centerline is valid? [True, True] Translation: X:623.41, Y:-202.01, Z:-4.95 [[ 7.76713453e-01 6.29850135e-01 -2.24058486e-03 6.23414338e+02] [-6.29847486e-01 7.76716684e-01 1.82672546e-03 -2.02009765e+02] [ 2.89086292e-03 -7.61550370e-06 9.99995821e-01 -4.94661371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9665599949999 meters 0.050170949651415164 Centerline is valid? [True, True] Translation: X:623.46, Y:-202.05, Z:-4.94 [[ 7.75613857e-01 6.31203983e-01 -2.16270000e-03 6.23462660e+02] [-6.31201520e-01 7.75616872e-01 1.76343918e-03 -2.02047221e+02] [ 2.79051645e-03 -2.64833846e-06 9.99996106e-01 -4.94438048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.026559995 meters 0.05031319535771561 Centerline is valid? [True, True] Translation: X:623.51, Y:-202.08, Z:-4.94 [[ 7.72443972e-01 6.35080543e-01 -1.73602304e-03 6.23513528e+02] [-6.35078963e-01 7.72445923e-01 1.41667344e-03 -2.02083676e+02] [ 2.24068566e-03 8.21085170e-06 9.99997490e-01 -4.94487795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0865599949999 meters 0.05010534098054564 Centerline is valid? [True, True] Translation: X:623.56, Y:-202.12, Z:-4.94 [[ 7.69876899e-01 6.38189888e-01 -1.79648045e-03 6.23562754e+02] [-6.38188204e-01 7.69878995e-01 1.46618993e-03 -2.02121177e+02] [ 2.31878015e-03 1.77068808e-05 9.99997311e-01 -4.94326511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.146559995 meters 0.04987459226016283 Centerline is valid? [True, True] Translation: X:623.61, Y:-202.16, Z:-4.94 [[ 7.68659258e-01 6.39656648e-01 -1.52234052e-03 6.23611011e+02] [-6.39655441e-01 7.68660765e-01 1.24280530e-03 -2.02158681e+02] [ 1.96513210e-03 1.84795920e-05 9.99998069e-01 -4.94335292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2065599949999 meters 0.050964425325067675 Centerline is valid? [True, True] Translation: X:623.66, Y:-202.19, Z:-4.95 [[ 7.65853090e-01 6.43011030e-01 -2.42078638e-03 6.23659847e+02] [-6.43007996e-01 7.65856915e-01 1.97589641e-03 -2.02194995e+02] [ 3.12449917e-03 4.33386287e-05 9.99995118e-01 -4.94512445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.266559995 meters 0.050147220935538035 Centerline is valid? [True, True] Translation: X:623.71, Y:-202.23, Z:-4.95 [[ 7.64119656e-01 6.45066047e-01 -3.30858474e-03 6.23711822e+02] [-6.45060397e-01 7.64126815e-01 2.70087696e-03 -2.02228410e+02] [ 4.27042234e-03 7.04438101e-05 9.99990879e-01 -4.94977164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3265599949999 meters 0.05093257609460052 Centerline is valid? [True, True] Translation: X:623.76, Y:-202.27, Z:-4.95 [[ 7.63443179e-01 6.45859837e-01 -4.42524381e-03 6.23755206e+02] [-6.45849740e-01 7.63455998e-01 3.61289566e-03 -2.02272638e+02] [ 5.71190314e-03 9.98020157e-05 9.99983682e-01 -4.94614088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.386559995 meters 0.04999745547502029 Centerline is valid? [True, True] Translation: X:623.80, Y:-202.31, Z:-4.94 [[ 7.64336070e-01 6.44803478e-01 -4.34129407e-03 6.23801372e+02] [-6.44793738e-01 7.64348394e-01 3.54526548e-03 -2.02313965e+02] [ 5.60426066e-03 8.94649485e-05 9.99984292e-01 -4.94493210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4465599949999 meters 0.050378344542290676 Centerline is valid? [True, True] Translation: X:623.85, Y:-202.36, Z:-4.95 [[ 7.66613620e-01 6.42097653e-01 -3.76304143e-03 6.23846603e+02] [-6.42090305e-01 7.66622854e-01 3.07249949e-03 -2.02356597e+02] [ 4.85767827e-03 6.07924646e-05 9.99988200e-01 -4.94505547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.506559995 meters 0.04922406264793699 Centerline is valid? [True, True] Translation: X:623.89, Y:-202.40, Z:-4.94 [[ 7.68348539e-01 6.40023784e-01 -3.17463376e-03 6.23891320e+02] [-6.40018535e-01 7.68355097e-01 2.59223259e-03 -2.02399572e+02] [ 4.09833655e-03 4.00863264e-05 9.99991601e-01 -4.94390668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5665599949999 meters 0.05032204696798397 Centerline is valid? [True, True] Translation: X:623.94, Y:-202.44, Z:-4.94 [[ 7.69989344e-01 6.38049026e-01 -3.13849039e-03 6.23936862e+02] [-6.38043875e-01 7.69995740e-01 2.56419547e-03 -2.02441895e+02] [ 4.05270665e-03 2.80913850e-05 9.99991787e-01 -4.94341408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.626559995 meters 0.05058552795111721 Centerline is valid? [True, True] Translation: X:623.99, Y:-202.48, Z:-4.95 [[ 7.68848593e-01 6.39423198e-01 -3.13284387e-03 6.23985958e+02] [-6.39418077e-01 7.68854975e-01 2.55940669e-03 -2.02478710e+02] [ 4.04524661e-03 3.54007694e-05 9.99991817e-01 -4.94632487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6865599949999 meters 0.050318339767334436 Centerline is valid? [True, True] Translation: X:624.03, Y:-202.52, Z:-4.94 [[ 7.66446238e-01 6.42298172e-01 -3.63635544e-03 6.24034185e+02] [-6.42291304e-01 7.66454862e-01 2.97089770e-03 -2.02517153e+02] [ 4.69530447e-03 5.85661074e-05 9.99988975e-01 -4.94499036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.746559995 meters 0.050613815846458333 Centerline is valid? [True, True] Translation: X:624.08, Y:-202.55, Z:-4.95 [[ 7.63397399e-01 6.45915189e-01 -4.24024542e-03 6.24084384e+02] [-6.45905907e-01 7.63409169e-01 3.46404962e-03 -2.02553131e+02] [ 5.47452450e-03 9.43530941e-05 9.99985010e-01 -4.94584590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8065599949999 meters 0.05050728634119478 Centerline is valid? [True, True] Translation: X:624.13, Y:-202.59, Z:-4.95 [[ 7.62599706e-01 6.46858518e-01 -3.96814409e-03 6.24132422e+02] [-6.46850394e-01 7.62610024e-01 3.24336263e-03 -2.02591931e+02] [ 5.12414320e-03 9.34081794e-05 9.99986867e-01 -4.94536884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.866559995 meters 0.05049569260966807 Centerline is valid? [True, True] Translation: X:624.18, Y:-202.63, Z:-4.95 [[ 7.64534894e-01 6.44567854e-01 -4.32172746e-03 6.24180102e+02] [-6.44558181e-01 7.64547104e-01 3.53226901e-03 -2.02629478e+02] [ 5.58095127e-03 8.50618745e-05 9.99984423e-01 -4.94676033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9265599949999 meters 0.05048748507221772 Centerline is valid? [True, True] Translation: X:624.22, Y:-202.67, Z:-4.94 [[ 7.67808218e-01 6.40665411e-01 -4.28622272e-03 6.24224355e+02] [-6.40655836e-01 7.67820180e-01 3.50305229e-03 -2.02672764e+02] [ 5.53533274e-03 5.63212623e-05 9.99984678e-01 -4.94494188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.986559995 meters 0.05055370808672786 Centerline is valid? [True, True] Translation: X:624.27, Y:-202.71, Z:-4.95 [[ 7.72301625e-01 6.35246124e-01 -3.54427225e-03 6.24269908e+02] [-6.35239519e-01 7.72309757e-01 2.89695305e-03 -2.02712311e+02] [ 4.57755424e-03 1.41402572e-05 9.99989523e-01 -4.94760179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0465599949999 meters 0.050790023206594745 Centerline is valid? [True, True] Translation: X:624.32, Y:-202.75, Z:-4.95 [[ 7.75088306e-01 6.31843955e-01 -3.36680201e-03 6.24317490e+02] [-6.31837961e-01 7.75095618e-01 2.75224912e-03 -2.02752584e+02] [ 4.34858545e-03 -5.96279112e-06 9.99990545e-01 -4.94554623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.106559995 meters 0.05089351561982139 Centerline is valid? [True, True] Translation: X:624.37, Y:-202.79, Z:-4.95 [[ 7.76730873e-01 6.29826320e-01 -2.82090464e-03 6.24365312e+02] [-6.29822094e-01 7.76735995e-01 2.30744301e-03 -2.02792180e+02] [ 3.64438651e-03 -1.55941595e-05 9.99993359e-01 -4.94599316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.166559995 meters 0.05024634981108913 Centerline is valid? [True, True] Translation: X:624.41, Y:-202.83, Z:-4.95 [[ 7.76974095e-01 6.29520852e-01 -3.84084603e-03 6.24414525e+02] [-6.29513018e-01 7.76983588e-01 3.14075087e-03 -2.02829876e+02] [ 4.96144250e-03 -2.24194936e-05 9.99987692e-01 -4.94855042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.226559995 meters 0.05102990466138144 Centerline is valid? [True, True] Translation: X:624.46, Y:-202.87, Z:-4.95 [[ 7.76446007e-01 6.30167841e-01 -4.48231227e-03 6.24464704e+02] [-6.30157178e-01 7.76458944e-01 3.66592430e-03 -2.02865895e+02] [ 5.79047906e-03 -2.18310293e-05 9.99983235e-01 -4.94683411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.286559995 meters 0.05093957798317906 Centerline is valid? [True, True] Translation: X:624.51, Y:-202.90, Z:-4.94 [[ 7.75707636e-01 6.31079965e-01 -3.96750930e-03 6.24514433e+02] [-6.31071616e-01 7.75717782e-01 3.24622041e-03 -2.02903451e+02] [ 5.12629217e-03 -1.43354568e-05 9.99986860e-01 -4.94462193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.346559995 meters 0.05174382909926831 Centerline is valid? [True, True] Translation: X:624.56, Y:-202.94, Z:-4.94 [[ 7.74862075e-01 6.32118497e-01 -3.86922041e-03 6.24564978e+02] [-6.32110566e-01 7.74871735e-01 3.16656014e-03 -2.02940071e+02] [ 4.99979076e-03 -7.87225815e-06 9.99987501e-01 -4.94018460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.406559995 meters 0.051660523511812766 Centerline is valid? [True, True] Translation: X:624.61, Y:-202.98, Z:-4.95 [[ 7.73967277e-01 6.33211951e-01 -4.15675139e-03 6.24614055e+02] [-6.33202808e-01 7.73978439e-01 3.40286374e-03 -2.02977541e+02] [ 5.37196994e-03 -1.63853396e-06 9.99985571e-01 -4.94863199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4665599949999 meters 0.05181159392340571 Centerline is valid? [True, True] Translation: X:624.66, Y:-203.02, Z:-4.95 [[ 7.72962570e-01 6.34437098e-01 -4.29356972e-03 6.24662491e+02] [-6.34427358e-01 7.72974494e-01 3.51556126e-03 -2.03016423e+02] [ 5.54922237e-03 6.56083277e-06 9.99984603e-01 -4.94966406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.526559995 meters 0.05099696585812165 Centerline is valid? [True, True] Translation: X:624.71, Y:-203.05, Z:-4.95 [[ 7.71780964e-01 6.35870648e-01 -4.76054201e-03 6.24711843e+02] [-6.35858697e-01 7.71795646e-01 3.89865218e-03 -2.03054794e+02] [ 6.15320409e-03 1.81265009e-05 9.99981069e-01 -4.94762146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5865599949999 meters 0.05172179430042428 Centerline is valid? [True, True] Translation: X:624.76, Y:-203.09, Z:-4.95 [[ 7.70676471e-01 6.37209923e-01 -4.61419534e-03 6.24760862e+02] [-6.37198712e-01 7.70690284e-01 3.78004279e-03 -2.03094464e+02] [ 5.96479629e-03 2.69692828e-05 9.99982210e-01 -4.94651312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.646559995 meters 0.050963795280147335 Centerline is valid? [True, True] Translation: X:624.81, Y:-203.13, Z:-4.95 [[ 7.70034663e-01 6.37992685e-01 -3.45698347e-03 6.24807716e+02] [-6.37986397e-01 7.70042423e-01 2.83271140e-03 -2.03134178e+02] [ 4.46927308e-03 2.42224581e-05 9.99990012e-01 -4.94609213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7065599949999 meters 0.0516631978015946 Centerline is valid? [True, True] Translation: X:624.85, Y:-203.17, Z:-4.95 [[ 7.69208240e-01 6.38988471e-01 -3.52383221e-03 6.24854085e+02] [-6.38981945e-01 7.69216311e-01 2.88807265e-03 -2.03173908e+02] [ 4.55603434e-03 3.01358838e-05 9.99989621e-01 -4.94504836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.766559995 meters 0.05080864296746098 Centerline is valid? [True, True] Translation: X:624.90, Y:-203.21, Z:-4.95 [[ 7.67977578e-01 6.40466069e-01 -3.69512695e-03 6.24902467e+02] [-6.40458912e-01 7.67986467e-01 3.02804488e-03 -2.03212354e+02] [ 4.77716749e-03 4.11064124e-05 9.99988588e-01 -4.94764349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8265599949999 meters 0.05067736284047636 Centerline is valid? [True, True] Translation: X:624.95, Y:-203.25, Z:-4.95 [[ 7.67266884e-01 6.41319848e-01 -3.22206190e-03 6.24949932e+02] [-6.41314407e-01 7.67273648e-01 2.64198060e-03 -2.03253371e+02] [ 4.16655779e-03 3.92504913e-05 9.99991319e-01 -4.94785928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.886559995 meters 0.050372816554552564 Centerline is valid? [True, True] Translation: X:625.00, Y:-203.29, Z:-4.95 [[ 7.67167016e-01 6.41430833e-01 -4.61045949e-03 6.24997057e+02] [-6.41419694e-01 7.67180868e-01 3.78059930e-03 -2.03294036e+02] [ 5.96204927e-03 5.68884265e-05 9.99982225e-01 -4.94973564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9465599949999 meters 0.05044980713598584 Centerline is valid? [True, True] Translation: X:625.04, Y:-203.34, Z:-4.95 [[ 7.67005991e-01 6.41620051e-01 -5.05173062e-03 6.25043223e+02] [-6.41606677e-01 7.67022624e-01 4.14328272e-03 -2.03336360e+02] [ 6.53320495e-03 6.33014294e-05 9.99978656e-01 -4.95150459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.006559995 meters 0.051055757478256594 Centerline is valid? [True, True] Translation: X:625.09, Y:-203.38, Z:-4.95 [[ 7.67735503e-01 6.40748272e-01 -4.88362995e-03 6.25088098e+02] [-6.40735748e-01 7.67751034e-01 4.00637390e-03 -2.03379048e+02] [ 6.31648910e-03 5.32808103e-05 9.99980049e-01 -4.95173755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0665599949999 meters 0.05103220724377054 Centerline is valid? [True, True] Translation: X:625.14, Y:-203.42, Z:-4.95 [[ 7.67284648e-01 6.41290539e-01 -4.55127275e-03 6.25135972e+02] [-6.41279665e-01 7.67298144e-01 3.73495744e-03 -2.03420464e+02] [ 5.88737600e-03 5.28631582e-05 9.99982668e-01 -4.95221751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.126559995 meters 0.049818722986025694 Centerline is valid? [True, True] Translation: X:625.19, Y:-203.46, Z:-4.95 [[ 7.62697875e-01 6.46741133e-01 -4.22593912e-03 6.25185576e+02] [-6.46731843e-01 7.62709577e-01 3.46765426e-03 -2.03455311e+02] [ 5.46583888e-03 8.82768620e-05 9.99985058e-01 -4.95446275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1865599949999 meters 0.05029233517371025 Centerline is valid? [True, True] Translation: X:625.23, Y:-203.49, Z:-4.95 [[ 7.60267252e-01 6.49594987e-01 -4.47870419e-03 6.25233029e+02] [-6.49584596e-01 7.60280435e-01 3.67608491e-03 -2.03493692e+02] [ 5.79303750e-03 1.14490278e-04 9.99983214e-01 -4.95474109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.246559995 meters 0.050747390611579145 Centerline is valid? [True, True] Translation: X:625.28, Y:-203.53, Z:-4.95 [[ 7.57746079e-01 6.52538359e-01 -3.81715191e-03 6.25279839e+02] [-6.52530843e-01 7.57755684e-01 3.13391431e-03 -2.03533773e+02] [ 4.93746786e-03 1.16098073e-04 9.99987804e-01 -4.95308142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3065599949999 meters 0.04997388992813348 Centerline is valid? [True, True] Translation: X:625.33, Y:-203.57, Z:-4.95 [[ 7.56989031e-01 6.53419182e-01 -3.31361358e-03 6.25328430e+02] [-6.53413523e-01 7.56996276e-01 2.72135914e-03 -2.03572561e+02] [ 4.28658140e-03 1.05120900e-04 9.99990807e-01 -4.95338978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.366559995 meters 0.05060539800846364 Centerline is valid? [True, True] Translation: X:625.38, Y:-203.61, Z:-4.95 [[ 7.57470544e-01 6.52861413e-01 -3.21732793e-03 6.25377193e+02] [-6.52856071e-01 7.57477370e-01 2.64277247e-03 -2.03609698e+02] [ 4.16241726e-03 9.86297755e-05 9.99991332e-01 -4.95491917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4265599949999 meters 0.05057542954046812 Centerline is valid? [True, True] Translation: X:625.42, Y:-203.65, Z:-4.95 [[ 7.58372842e-01 6.51811149e-01 -3.58594115e-03 6.25423235e+02] [-6.51804504e-01 7.58381313e-01 2.94509089e-03 -2.03652159e+02] [ 4.63915383e-03 1.03855645e-04 9.99989234e-01 -4.95470104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.486559995 meters 0.05045058246439032 Centerline is valid? [True, True] Translation: X:625.47, Y:-203.69, Z:-4.96 [[ 7.58966323e-01 6.51121230e-01 -3.35629330e-03 6.25470957e+02] [-6.51115396e-01 7.58973738e-01 2.75778998e-03 -2.03691533e+02] [ 4.34299408e-03 9.22645212e-05 9.99990565e-01 -4.95612503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5465599949999 meters 0.0508902997278762 Centerline is valid? [True, True] Translation: X:625.52, Y:-203.73, Z:-4.96 [[ 7.59740204e-01 6.50222563e-01 -2.33259761e-03 6.25518219e+02] [-6.50219742e-01 7.59743782e-01 1.91650755e-03 -2.03729279e+02] [ 3.01833298e-03 6.06531798e-05 9.99995443e-01 -4.95694347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.606559995 meters 0.05012152565365821 Centerline is valid? [True, True] Translation: X:625.56, Y:-203.77, Z:-4.96 [[ 7.60888769e-01 6.48881565e-01 -9.98506415e-04 6.25564946e+02] [-6.48881046e-01 7.60889423e-01 8.20730678e-04 -2.03767502e+02] [ 1.29230998e-03 2.34271319e-05 9.99999165e-01 -4.95664418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.666559995 meters 0.05091588079568269 Centerline is valid? [True, True] Translation: X:625.61, Y:-203.81, Z:-4.96 [[ 7.61422503e-01 6.48255859e-01 -3.35911797e-04 6.25612922e+02] [-6.48255800e-01 7.61422577e-01 2.77045665e-04 -2.03807229e+02] [ 4.35367301e-04 6.80796750e-06 9.99999905e-01 -4.95762547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.726559995 meters 0.05087670285097981 Centerline is valid? [True, True] Translation: X:625.66, Y:-203.85, Z:-4.96 [[ 7.63137383e-01 6.46236264e-01 1.61779555e-04 6.25659558e+02] [-6.46236250e-01 7.63137400e-01 -1.32507089e-04 -2.03845711e+02] [-2.09090916e-04 -3.42670036e-06 9.99999978e-01 -4.95905064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.786559995 meters 0.05061426621714526 Centerline is valid? [True, True] Translation: X:625.71, Y:-203.89, Z:-4.96 [[ 7.64805683e-01 6.44261019e-01 8.15615181e-05 6.25705029e+02] [-6.44261016e-01 7.64805687e-01 -6.66499088e-05 -2.03888820e+02] [-1.05318651e-04 -1.57267743e-06 9.99999994e-01 -4.95879014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.846559995 meters 0.05063811875360633 Centerline is valid? [True, True] Translation: X:625.75, Y:-203.93, Z:-4.96 [[ 7.65475697e-01 6.43463710e-01 -1.18802760e-03 6.25753516e+02] [-6.43462968e-01 7.65476618e-01 9.77845938e-04 -2.03928344e+02] [ 1.53861573e-03 1.59344648e-05 9.99998816e-01 -4.96007925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.906559995 meters 0.05004936373019328 Centerline is valid? [True, True] Translation: X:625.80, Y:-203.97, Z:-4.96 [[ 7.64972878e-01 6.44062204e-01 -6.10966081e-04 6.25802792e+02] [-6.44062007e-01 7.64973122e-01 5.03604397e-04 -2.03967414e+02] [ 7.91725188e-04 8.25633541e-06 9.99999687e-01 -4.95927120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9665599949999 meters 0.0506594009370529 Centerline is valid? [True, True] Translation: X:625.85, Y:-204.01, Z:-4.96 [[ 7.63249809e-01 6.46103288e-01 -5.19892171e-04 6.25852291e+02] [-6.46103146e-01 7.63249986e-01 4.28660906e-04 -2.04005602e+02] [ 6.73766913e-04 8.72861192e-06 9.99999773e-01 -4.95820268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.026559995 meters 0.050815879364119625 Centerline is valid? [True, True] Translation: X:625.90, Y:-204.04, Z:-4.96 [[ 7.62554242e-01 6.46923008e-01 -1.28424676e-03 6.25901029e+02] [-6.46922144e-01 7.62555323e-01 1.05755518e-03 -2.04043821e+02] [ 1.66346598e-03 2.43644785e-05 9.99998616e-01 -4.95930675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0865599949999 meters 0.05036500152238385 Centerline is valid? [True, True] Translation: X:625.95, Y:-204.08, Z:-4.96 [[ 7.62482565e-01 6.47001199e-01 -3.12854165e-03 6.25949735e+02] [-6.46996076e-01 7.62488980e-01 2.57520886e-03 -2.04080510e+02] [ 4.05164175e-03 6.06023209e-05 9.99991790e-01 -4.96275943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.146559995 meters 0.05066306159529969 Centerline is valid? [True, True] Translation: X:625.99, Y:-204.12, Z:-4.96 [[ 7.64678152e-01 6.44408167e-01 -2.33180959e-03 6.25994904e+02] [-6.44405311e-01 7.64681707e-01 1.91912027e-03 -2.04123105e+02] [ 3.01978892e-03 3.51211383e-05 9.99995440e-01 -4.96017879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2065599949999 meters 0.05102066536505124 Centerline is valid? [True, True] Translation: X:626.04, Y:-204.16, Z:-4.96 [[ 7.65818170e-01 6.43054713e-01 -1.77940637e-03 6.26041786e+02] [-6.43053043e-01 7.65820237e-01 1.46566448e-03 -2.04163772e+02] [ 2.30520786e-03 2.18201938e-05 9.99997343e-01 -4.95950023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.266559995 meters 0.05120036946563889 Centerline is valid? [True, True] Translation: X:626.09, Y:-204.20, Z:-4.96 [[ 7.68401268e-01 6.39966574e-01 -1.50870256e-03 6.26087442e+02] [-6.39965366e-01 7.68402749e-01 1.24304185e-03 -2.04203967e+02] [ 1.95479643e-03 1.03624526e-05 9.99998089e-01 -4.95979530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3265599949999 meters 0.05142460134916734 Centerline is valid? [True, True] Translation: X:626.13, Y:-204.25, Z:-4.96 [[ 7.71943088e-01 6.35691150e-01 -7.94306535e-04 6.26132116e+02] [-6.35690813e-01 7.71943496e-01 6.55143214e-04 -2.04245627e+02] [ 1.02962851e-03 -7.99908726e-07 9.99999470e-01 -4.95818275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.386559995 meters 0.05071210518378671 Centerline is valid? [True, True] Translation: X:626.18, Y:-204.29, Z:-4.96 [[ 7.73618516e-01 6.33651421e-01 -5.17248830e-04 6.26178860e+02] [-6.33651277e-01 7.73618689e-01 4.26765309e-04 -2.04285858e+02] [ 6.70573806e-04 -2.39816328e-06 9.99999775e-01 -4.95547423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4465599949999 meters 0.050567896484070333 Centerline is valid? [True, True] Translation: X:626.23, Y:-204.32, Z:-4.96 [[ 7.73398035e-01 6.33919463e-01 -1.26249958e-03 6.26228098e+02] [-6.33918609e-01 7.73399066e-01 1.04022388e-03 -2.04324194e+02] [ 1.63583416e-03 -4.18512486e-06 9.99998662e-01 -4.95774927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.506559995 meters 0.05125880009717221 Centerline is valid? [True, True] Translation: X:626.28, Y:-204.36, Z:-4.96 [[ 7.72228714e-01 6.35340137e-01 -2.39235737e-03 6.26277170e+02] [-6.35337077e-01 7.72232420e-01 1.97198322e-03 -2.04362581e+02] [ 3.10033601e-03 -2.86872622e-06 9.99995194e-01 -4.95814808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5665599949999 meters 0.0509933438481013 Centerline is valid? [True, True] Translation: X:626.33, Y:-204.40, Z:-4.96 [[ 7.72770470e-01 6.34672382e-01 -4.09491488e-03 6.26325843e+02] [-6.34663406e-01 7.72781319e-01 3.37538664e-03 -2.04401643e+02] [ 5.30673840e-03 -9.50649518e-06 9.99985919e-01 -4.95822544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.626559995 meters 0.052139124673346554 Centerline is valid? [True, True] Translation: X:626.37, Y:-204.44, Z:-4.95 [[ 7.73748640e-01 6.33471946e-01 -5.13195230e-03 6.26374416e+02] [-6.33457824e-01 7.73765658e-01 4.22991802e-03 -2.04439215e+02] [ 6.65046284e-03 -2.20179802e-05 9.99977885e-01 -4.95482870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6865599949999 meters 0.051048158543829436 Centerline is valid? [True, True] Translation: X:626.42, Y:-204.48, Z:-4.96 [[ 7.75907923e-01 6.30815543e-01 -6.21664913e-03 6.26421018e+02] [-6.30794735e-01 7.75932824e-01 5.12388363e-03 -2.04478816e+02] [ 8.05592755e-03 -5.42323635e-05 9.99967549e-01 -4.96200828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.746559995 meters 0.05207077738583608 Centerline is valid? [True, True] Translation: X:626.47, Y:-204.52, Z:-4.96 [[ 7.77739349e-01 6.28546520e-01 -7.12584281e-03 6.26469535e+02] [-6.28519068e-01 7.77771987e-01 5.87508040e-03 -2.04517046e+02] [ 9.23504226e-03 -9.05531198e-05 9.99957352e-01 -4.95547560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8065599949999 meters 0.05265699299256824 Centerline is valid? [True, True] Translation: X:626.51, Y:-204.56, Z:-4.96 [[ 7.82071855e-01 6.23149497e-01 -6.95102726e-03 6.26513652e+02] [-6.23123166e-01 7.82102731e-01 5.73055432e-03 -2.04560152e+02] [ 9.00740944e-03 -1.50359138e-04 9.99959421e-01 -4.95854507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.866559995 meters 0.052693756816162576 Centerline is valid? [True, True] Translation: X:626.56, Y:-204.60, Z:-4.95 [[ 7.86269862e-01 6.17856716e-01 -5.72561199e-03 6.26563675e+02] [-6.17838697e-01 7.86290689e-01 4.72195630e-03 -2.04596701e+02] [ 7.41948781e-03 -1.75227274e-04 9.99972460e-01 -4.95378370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9265599949999 meters 0.053074387908817175 Centerline is valid? [True, True] Translation: X:626.61, Y:-204.64, Z:-4.95 [[ 7.88390133e-01 6.15157953e-01 -4.65740396e-03 6.26609746e+02] [-6.15145984e-01 7.88403873e-01 3.84077165e-03 -2.04637315e+02] [ 6.03459654e-03 -1.63043128e-04 9.99981778e-01 -4.95375185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.986559995 meters 0.05308938969950137 Centerline is valid? [True, True] Translation: X:626.66, Y:-204.68, Z:-4.95 [[ 7.88150377e-01 6.15467588e-01 -4.31636656e-03 6.26655528e+02] [-6.15457303e-01 7.88162182e-01 3.56122795e-03 -2.04678196e+02] [ 5.59381726e-03 -1.50243833e-04 9.99984343e-01 -4.95451479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0465599949999 meters 0.05366544609770562 Centerline is valid? [True, True] Translation: X:626.70, Y:-204.72, Z:-4.96 [[ 7.84589683e-01 6.19996500e-01 -4.83427759e-03 6.26704533e+02] [-6.19983689e-01 7.84604565e-01 3.98781546e-03 -2.04715742e+02] [ 6.26542789e-03 -1.31625613e-04 9.99980363e-01 -4.95574856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.106559995 meters 0.05299810364319332 Centerline is valid? [True, True] Translation: X:626.76, Y:-204.74, Z:-4.95 [[ 7.80671575e-01 6.24924163e-01 -4.65631709e-03 6.26758323e+02] [-6.24912366e-01 7.80685457e-01 3.84086795e-03 -2.04744766e+02] [ 6.03537023e-03 -8.86663032e-05 9.99981783e-01 -4.95226727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.166559995 meters 0.05180866335678616 Centerline is valid? [True, True] Translation: X:626.81, Y:-204.78, Z:-4.96 [[ 7.74670694e-01 6.32350941e-01 -4.19572766e-03 6.26806638e+02] [-6.32341469e-01 7.74682055e-01 3.46117659e-03 -2.04781589e+02] [ 5.43903320e-03 -2.81394758e-05 9.99985208e-01 -4.95587515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.226559995 meters 0.05248649679311458 Centerline is valid? [True, True] Translation: X:626.86, Y:-204.82, Z:-4.96 [[ 7.68638840e-01 6.39664214e-01 -4.90168243e-03 6.26858628e+02] [-6.39651431e-01 7.68654469e-01 4.04405487e-03 -2.04815719e+02] [ 6.35453729e-03 2.69505415e-05 9.99979809e-01 -4.95590570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.286559995 meters 0.051487998669063256 Centerline is valid? [True, True] Translation: X:626.91, Y:-204.85, Z:-4.96 [[ 7.63565802e-01 6.45714727e-01 -4.44491058e-03 6.26910733e+02] [-6.45704309e-01 7.63578736e-01 3.66863373e-03 -2.04848435e+02] [ 5.76293003e-03 6.88546626e-05 9.99983392e-01 -4.95721523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.346559995 meters 0.051618132078029885 Centerline is valid? [True, True] Translation: X:626.96, Y:-204.89, Z:-4.95 [[ 7.62490887e-01 6.46990536e-01 -3.30061495e-03 6.26959128e+02] [-6.46984798e-01 7.62498029e-01 2.72542958e-03 -2.04888689e+02] [ 4.28003954e-03 5.73324800e-05 9.99990839e-01 -4.95459409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.406559995 meters 0.05094879554007163 Centerline is valid? [True, True] Translation: X:627.01, Y:-204.93, Z:-4.96 [[ 7.63889320e-01 6.45341140e-01 -2.81435624e-03 6.27007667e+02] [-6.45336955e-01 7.63894503e-01 2.32435691e-03 -2.04926333e+02] [ 3.64987440e-03 4.06566663e-05 9.99993338e-01 -4.95570320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4665599949999 meters 0.05243505559379601 Centerline is valid? [True, True] Translation: X:627.05, Y:-204.97, Z:-4.96 [[ 7.67269447e-01 6.41321931e-01 -1.94332895e-03 6.27054628e+02] [-6.41319924e-01 7.67271908e-01 1.60458248e-03 -2.04966439e+02] [ 2.52011565e-03 1.51484635e-05 9.99996824e-01 -4.95594925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.526559995 meters 0.05226878148813824 Centerline is valid? [True, True] Translation: X:627.10, Y:-205.01, Z:-4.96 [[ 7.69355112e-01 6.38819574e-01 -1.50468487e-03 6.27102036e+02] [-6.38818365e-01 7.69356583e-01 1.24269720e-03 -2.05005884e+02] [ 1.95149850e-03 5.14488639e-06 9.99998096e-01 -4.95867104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5865599949999 meters 0.0513964679215235 Centerline is valid? [True, True] Translation: X:627.15, Y:-205.05, Z:-4.96 [[ 7.72313700e-01 6.35238303e-01 -1.96130520e-03 6.27148889e+02] [-6.35236238e-01 7.72316191e-01 1.61987209e-03 -2.05047253e+02] [ 2.54375256e-03 -5.15726591e-06 9.99996765e-01 -4.95549905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.646559995 meters 0.05270123631303564 Centerline is valid? [True, True] Translation: X:627.20, Y:-205.09, Z:-4.96 [[ 7.73839374e-01 6.33372420e-01 -3.46434112e-03 6.27195865e+02] [-6.33365953e-01 7.73847128e-01 2.86223295e-03 -2.05086485e+02] [ 4.49372984e-03 -2.07128366e-05 9.99989903e-01 -4.95774200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7065599949999 meters 0.05200455247946763 Centerline is valid? [True, True] Translation: X:627.24, Y:-205.13, Z:-4.96 [[ 7.74976297e-01 6.31980102e-01 -3.59021731e-03 6.27242232e+02] [-6.31973139e-01 7.74984613e-01 2.96679548e-03 -2.05126220e+02] [ 4.65731888e-03 -3.02752704e-05 9.99989154e-01 -4.96013527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.766559995 meters 0.05330238945430736 Centerline is valid? [True, True] Translation: X:627.29, Y:-205.17, Z:-4.96 [[ 7.76105607e-01 6.30598295e-01 -2.42424863e-03 6.27289084e+02] [-6.30595113e-01 7.76109393e-01 2.00344129e-03 -2.05167443e+02] [ 3.14484879e-03 -2.61626865e-05 9.99995055e-01 -4.95844079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8265599949999 meters 0.05260271538803948 Centerline is valid? [True, True] Translation: X:627.34, Y:-205.21, Z:-4.96 [[ 7.75471320e-01 6.31381902e-01 -1.06076835e-03 6.27335732e+02] [-6.31381293e-01 7.75472045e-01 8.77116267e-04 -2.05207162e+02] [ 1.37639154e-03 -1.04292167e-05 9.99999053e-01 -4.95887978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.886559995 meters 0.05195069815191084 Centerline is valid? [True, True] Translation: X:627.38, Y:-205.24, Z:-4.96 [[ 7.73867224e-01 6.33347818e-01 -2.48497606e-04 6.27384231e+02] [-6.33347784e-01 7.73867264e-01 2.06361032e-04 -2.05244677e+02] [ 3.23002472e-04 -2.31063097e-06 9.99999948e-01 -4.95643694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9465599949999 meters 0.052004462299854504 Centerline is valid? [True, True] Translation: X:627.43, Y:-205.28, Z:-4.96 [[ 7.70457250e-01 6.37491266e-01 7.15444500e-04 6.27433445e+02] [-6.37490992e-01 7.70457582e-01 -5.90962309e-04 -2.05283030e+02] [-9.27952951e-04 -7.78228956e-07 9.99999569e-01 -4.96049604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.006559995 meters 0.05199221003105115 Centerline is valid? [True, True] Translation: X:627.48, Y:-205.32, Z:-4.96 [[ 7.67567772e-01 6.40967088e-01 9.52585367e-04 6.27482448e+02] [-6.40966606e-01 7.67568363e-01 -7.86409364e-04 -2.05321036e+02] [-1.23523691e-03 -6.95292630e-06 9.99999237e-01 -4.95992210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0665599949999 meters 0.05198553330148629 Centerline is valid? [True, True] Translation: X:627.53, Y:-205.36, Z:-4.96 [[ 7.63120066e-01 6.46256061e-01 9.31983683e-04 6.27531300e+02] [-6.46255602e-01 7.63120635e-01 -7.70258262e-04 -2.05358975e+02] [-1.20900005e-03 -1.45001409e-05 9.99999269e-01 -4.96086807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.126559995 meters 0.05223447797449625 Centerline is valid? [True, True] Translation: X:627.58, Y:-205.40, Z:-4.96 [[ 7.61951584e-01 6.47633732e-01 5.76216424e-04 6.27580914e+02] [-6.47633558e-01 7.61951802e-01 -4.75470017e-04 -2.05395420e+02] [-7.46979564e-04 -1.08919600e-05 9.99999721e-01 -4.96320015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1865599949999 meters 0.05214366890327355 Centerline is valid? [True, True] Translation: X:627.63, Y:-205.43, Z:-4.97 [[ 7.59938287e-01 6.49995225e-01 8.10258893e-05 6.27629606e+02] [-6.49995222e-01 7.59938292e-01 -6.65419915e-05 -2.05432704e+02] [-1.04826653e-04 -2.09863389e-06 9.99999995e-01 -4.96584225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.246559995 meters 0.05160921451923893 Centerline is valid? [True, True] Translation: X:627.68, Y:-205.48, Z:-4.97 [[ 7.59560871e-01 6.50435281e-01 1.10801917e-03 6.27676083e+02] [-6.50434638e-01 7.59561679e-01 -9.15422931e-04 -2.05475817e+02] [-1.43703228e-03 -2.53746099e-05 9.99998967e-01 -4.96661262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3065599949999 meters 0.05154920035210809 Centerline is valid? [True, True] Translation: X:627.72, Y:-205.52, Z:-4.96 [[ 7.60035083e-01 6.49878571e-01 2.12503501e-03 6.27719274e+02] [-6.49876196e-01 7.60038053e-01 -1.75723458e-03 -2.05520597e+02] [-2.75709657e-03 -4.54497345e-05 9.99996198e-01 -4.96481052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.366559995 meters 0.05081710845875267 Centerline is valid? [True, True] Translation: X:627.76, Y:-205.56, Z:-4.97 [[ 7.61130324e-01 6.48596515e-01 1.78624428e-03 6.27764470e+02] [-6.48594834e-01 7.61132419e-01 -1.47724675e-03 -2.05563873e+02] [-2.31770552e-03 -3.41715156e-05 9.99997314e-01 -4.96559674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4265599949999 meters 0.05097067659035291 Centerline is valid? [True, True] Translation: X:627.81, Y:-205.61, Z:-4.97 [[ 7.61201086e-01 6.48513083e-01 1.92029444e-03 6.27810205e+02] [-6.48511138e-01 7.61203508e-01 -1.58856191e-03 -2.05605375e+02] [-2.49193805e-03 -3.61172814e-05 9.99996894e-01 -4.96738256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.486559995 meters 0.051358973562610606 Centerline is valid? [True, True] Translation: X:627.86, Y:-205.65, Z:-4.97 [[ 7.60864462e-01 6.48907992e-01 1.92039816e-03 6.27856059e+02] [-6.48906047e-01 7.60866885e-01 -1.58933746e-03 -2.05645346e+02] [-2.49250114e-03 -3.68875863e-05 9.99996893e-01 -4.96845265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5465599949999 meters 0.04980439540908728 Centerline is valid? [True, True] Translation: X:627.90, Y:-205.69, Z:-4.97 [[ 7.60650858e-01 6.49158149e-01 1.99263611e-03 6.27901208e+02] [-6.49156056e-01 7.60653467e-01 -1.64892030e-03 -2.05689297e+02] [-2.58611562e-03 -3.92791624e-05 9.99996655e-01 -4.96895863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.606559995 meters 0.05004134499824721 Centerline is valid? [True, True] Translation: X:627.95, Y:-205.73, Z:-4.97 [[ 7.60510386e-01 6.49323028e-01 1.88632700e-03 6.27947976e+02] [-6.49321152e-01 7.60512725e-01 -1.56129510e-03 -2.05731673e+02] [-2.44836055e-03 -3.74508761e-05 9.99997002e-01 -4.97005546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.666559995 meters 0.05053129353997842 Centerline is valid? [True, True] Translation: X:627.99, Y:-205.77, Z:-4.97 [[ 7.59955541e-01 6.49974679e-01 7.01533020e-04 6.27993714e+02] [-6.49974420e-01 7.59955865e-01 -5.80233288e-04 -2.05771692e+02] [-9.10271078e-04 -1.50270151e-05 9.99999586e-01 -4.97201705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.726559995 meters 0.05028702977792428 Centerline is valid? [True, True] Translation: X:628.04, Y:-205.81, Z:-4.97 [[ 7.59193734e-01 6.50864114e-01 -8.82775873e-04 6.28040367e+02] [-6.50863703e-01 7.59194247e-01 7.31761278e-04 -2.05812717e+02] [ 1.14647552e-03 1.90181958e-05 9.99999343e-01 -4.97331796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.786559995 meters 0.051037000361966456 Centerline is valid? [True, True] Translation: X:628.09, Y:-205.85, Z:-4.98 [[ 7.57337567e-01 6.53020093e-01 -2.13696200e-03 6.28088757e+02] [-6.53017694e-01 7.57340580e-01 1.77122021e-03 -2.05848649e+02] [ 2.77505043e-03 5.40623853e-05 9.99996148e-01 -4.97769510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.846559995 meters 0.05063508863838456 Centerline is valid? [True, True] Translation: X:628.13, Y:-205.90, Z:-4.97 [[ 7.56230857e-01 6.54303388e-01 -1.40262814e-03 6.28129519e+02] [-6.54302355e-01 7.56232156e-01 1.16367594e-03 -2.05897334e+02] [ 1.82210961e-03 3.77352453e-05 9.99998339e-01 -4.97178858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.906559995 meters 0.0509380623681514 Centerline is valid? [True, True] Translation: X:628.18, Y:-205.93, Z:-4.97 [[ 7.56870190e-01 6.53562720e-01 -1.81295640e-03 6.28179416e+02] [-6.53560991e-01 7.56872360e-01 1.50402016e-03 -2.05933213e+02] [ 2.35514810e-03 4.65295573e-05 9.99997226e-01 -4.97385139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9665599949999 meters 0.050050232576840756 Centerline is valid? [True, True] Translation: X:628.23, Y:-205.97, Z:-4.97 [[ 7.57384844e-01 6.52966041e-01 -1.88352285e-03 6.28228117e+02] [-6.52964172e-01 7.57387184e-01 1.56291253e-03 -2.05972336e+02] [ 2.44708488e-03 4.61466781e-05 9.99997005e-01 -4.97424179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.026559995 meters 0.052144980552225995 Centerline is valid? [True, True] Translation: X:628.28, Y:-206.01, Z:-4.98 [[ 7.56658249e-01 6.53810411e-01 -4.90167323e-04 6.28278413e+02] [-6.53810284e-01 7.56658408e-01 4.07683491e-04 -2.06008169e+02] [ 6.37436937e-04 1.19993604e-05 9.99999797e-01 -4.97503938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0865599949999 meters 0.05115552954336174 Centerline is valid? [True, True] Translation: X:628.33, Y:-206.05, Z:-4.97 [[ 7.55683606e-01 6.54935794e-01 1.18037434e-03 6.28325416e+02] [-6.54935064e-01 7.55684527e-01 -9.78223045e-04 -2.06049135e+02] [-1.53266391e-03 -3.38414269e-05 9.99998825e-01 -4.97367951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.146559995 meters 0.05110807507656466 Centerline is valid? [True, True] Translation: X:628.37, Y:-206.09, Z:-4.98 [[ 7.55136836e-01 6.55566330e-01 1.07047815e-03 6.28371515e+02] [-6.55565730e-01 7.55137594e-01 -8.87282909e-04 -2.06090051e+02] [-1.39003110e-03 -3.17487819e-05 9.99999033e-01 -4.97509774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2065599949999 meters 0.051027997821058865 Centerline is valid? [True, True] Translation: X:628.42, Y:-206.13, Z:-4.98 [[ 7.57291086e-01 6.53076374e-01 1.20815608e-03 6.28418324e+02] [-6.53075606e-01 7.57292050e-01 -1.00231556e-03 -2.06129577e+02] [-1.56951561e-03 -2.99726235e-05 9.99998768e-01 -4.97607365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.266559995 meters 0.05024316678370943 Centerline is valid? [True, True] Translation: X:628.47, Y:-206.17, Z:-4.98 [[ 7.58726756e-01 6.51408333e-01 9.44869909e-04 6.28465142e+02] [-6.51407862e-01 7.58727345e-01 -7.83873545e-04 -2.06170167e+02] [-1.22752040e-03 -2.07498547e-05 9.99999246e-01 -4.97643256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3265599949999 meters 0.04962130065688079 Centerline is valid? [True, True] Translation: X:628.51, Y:-206.21, Z:-4.98 [[ 7.58911526e-01 6.51191391e-01 1.75129111e-03 6.28512404e+02] [-6.51189772e-01 7.58913546e-01 -1.45256396e-03 -2.06210913e+02] [-2.27497569e-03 -3.80553300e-05 9.99997412e-01 -4.97668631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.386559995 meters 0.050594961252242436 Centerline is valid? [True, True] Translation: X:628.56, Y:-206.25, Z:-4.98 [[ 7.58261704e-01 6.51943164e-01 3.04944754e-03 6.28560022e+02] [-6.51938256e-01 7.58267832e-01 -2.53066422e-03 -2.06250397e+02] [-3.96214722e-03 -6.91457528e-05 9.99992148e-01 -4.97678148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4465599949999 meters 0.049763789943232585 Centerline is valid? [True, True] Translation: X:628.61, Y:-206.29, Z:-4.98 [[ 7.58599213e-01 6.51552262e-01 2.62372445e-03 6.28607602e+02] [-6.51548625e-01 7.58603748e-01 -2.17775881e-03 -2.06289219e+02] [-3.40929089e-03 -5.74379361e-05 9.99994187e-01 -4.97761717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.506559995 meters 0.04989505111817402 Centerline is valid? [True, True] Translation: X:628.66, Y:-206.33, Z:-4.98 [[ 7.59561849e-01 6.50429268e-01 2.75041533e-03 6.28655518e+02] [-6.50425262e-01 7.59566827e-01 -2.28345929e-03 -2.06326926e+02] [-3.57435300e-03 -5.45110499e-05 9.99993610e-01 -4.97898957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5665599949999 meters 0.050499975823290744 Centerline is valid? [True, True] Translation: X:628.70, Y:-206.37, Z:-4.98 [[ 7.59434029e-01 6.50577592e-01 2.95841573e-03 6.28700572e+02] [-6.50572955e-01 7.59439790e-01 -2.45677256e-03 -2.06370769e+02] [-3.84505980e-03 -5.89085827e-05 9.99992606e-01 -4.97796234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.626559995 meters 0.050965539097797156 Centerline is valid? [True, True] Translation: X:628.75, Y:-206.41, Z:-4.98 [[ 7.60075353e-01 6.49829742e-01 2.60077378e-03 6.28750222e+02] [-6.49826154e-01 7.60079801e-01 -2.16018927e-03 -2.06407338e+02] [-3.38055086e-03 -4.81442000e-05 9.99994285e-01 -4.98064035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6865599949999 meters 0.05020581351817838 Centerline is valid? [True, True] Translation: X:628.80, Y:-206.45, Z:-4.98 [[ 7.61668257e-01 6.47966101e-01 1.18255119e-03 6.28797156e+02] [-6.47965358e-01 7.61669174e-01 -9.81718907e-04 -2.06446639e+02] [-1.53683336e-03 -1.85080739e-05 9.99998819e-01 -4.98087289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.746559995 meters 0.05114256356142942 Centerline is valid? [True, True] Translation: X:628.84, Y:-206.49, Z:-4.98 [[ 7.63494530e-01 6.45812460e-01 1.53929164e-03 6.28844669e+02] [-6.45811195e-01 7.63496081e-01 -1.27839422e-03 -2.06487145e+02] [-2.00084605e-03 -1.80447787e-05 9.99997998e-01 -4.98062051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8065599949999 meters 0.05062254111737826 Centerline is valid? [True, True] Translation: X:628.89, Y:-206.53, Z:-4.98 [[ 7.68426900e-01 6.39930321e-01 3.04690245e-03 6.28889193e+02] [-6.39925311e-01 7.68432940e-01 -2.53225426e-03 -2.06528154e+02] [-3.96180649e-03 -3.93770614e-06 9.99992152e-01 -4.97987070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.866559995 meters 0.05075015419008868 Centerline is valid? [True, True] Translation: X:628.94, Y:-206.57, Z:-4.98 [[ 7.74413694e-01 6.32664441e-01 4.37441960e-03 6.28935079e+02] [-6.32653993e-01 7.74426047e-01 -3.63630034e-03 -2.06570391e+02] [-5.68822240e-03 4.85067549e-05 9.99983821e-01 -4.97867289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9265599949999 meters 0.05099062903966006 Centerline is valid? [True, True] Translation: X:628.98, Y:-206.61, Z:-4.98 [[ 7.78844998e-01 6.27201550e-01 4.32262766e-03 6.28980611e+02] [-6.27191258e-01 7.78856988e-01 -3.59423091e-03 -2.06611829e+02] [-5.62101596e-03 8.82344821e-05 9.99984198e-01 -4.97982915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.986559995 meters 0.05234277215867603 Centerline is valid? [True, True] Translation: X:629.03, Y:-206.65, Z:-4.98 [[ 7.80623990e-01 6.24986431e-01 4.25991454e-03 6.29031017e+02] [-6.24976402e-01 7.80635607e-01 -3.54207972e-03 -2.06647379e+02] [-5.53919274e-03 1.02686345e-04 9.99984653e-01 -4.98045431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0465599949999 meters 0.053057607143994476 Centerline is valid? [True, True] Translation: X:629.08, Y:-206.69, Z:-4.98 [[ 7.81081843e-01 6.24418863e-01 3.49820686e-03 6.29077027e+02] [-6.24412092e-01 7.81089672e-01 -2.90930460e-03 -2.06687278e+02] [-4.54903792e-03 8.80823382e-05 9.99989649e-01 -4.98216245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.106559995 meters 0.05147857457121573 Centerline is valid? [True, True] Translation: X:629.13, Y:-206.73, Z:-4.98 [[ 7.80428028e-01 6.25245225e-01 7.08666555e-04 6.29125862e+02] [-6.25244948e-01 7.80428350e-01 -5.88801338e-04 -2.06727521e+02] [-9.21208695e-04 1.64268838e-05 9.99999576e-01 -4.98415672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.166559995 meters 0.05214803355430802 Centerline is valid? [True, True] Translation: X:629.17, Y:-206.77, Z:-4.99 [[ 7.78802850e-01 6.27268627e-01 -4.35596937e-04 6.29174612e+02] [-6.27268522e-01 7.78802972e-01 3.62905403e-04 -2.06766950e+02] [ 5.66883363e-04 -9.39551525e-06 9.99999839e-01 -4.98668897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.226559995 meters 0.05229815952294996 Centerline is valid? [True, True] Translation: X:629.23, Y:-206.80, Z:-4.99 [[ 7.75310833e-01 6.31579528e-01 -6.42307547e-04 6.29226898e+02] [-6.31579302e-01 7.75311099e-01 5.34501653e-04 -2.06798461e+02] [ 8.35568472e-04 -8.73676929e-06 9.99999651e-01 -4.98738557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.286559995 meters 0.051366677887306075 Centerline is valid? [True, True] Translation: X:629.28, Y:-206.83, Z:-4.99 [[ 7.71344909e-01 6.36416618e-01 9.58523958e-04 6.29278810e+02] [-6.36416119e-01 7.71345505e-01 -7.97213546e-04 -2.06832753e+02] [-1.24671310e-03 4.90651238e-06 9.99999223e-01 -4.98763726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.346559995 meters 0.05082804375668686 Centerline is valid? [True, True] Translation: X:629.33, Y:-206.87, Z:-4.99 [[ 7.66312666e-01 6.42465324e-01 1.79031425e-03 6.29330401e+02] [-6.42463598e-01 7.66314757e-01 -1.48928680e-03 -2.06866368e+02] [-2.32875936e-03 -8.95239079e-06 9.99997288e-01 -4.98718291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.406559995 meters 0.05132989843389498 Centerline is valid? [True, True] Translation: X:629.38, Y:-206.90, Z:-4.99 [[ 7.61621737e-01 6.48019479e-01 1.75617762e-03 6.29383529e+02] [-6.48017833e-01 7.61623762e-01 -1.46081111e-03 -2.06898606e+02] [-2.28418066e-03 -2.54489219e-05 9.99997391e-01 -4.98876824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4665599949999 meters 0.050677117702753495 Centerline is valid? [True, True] Translation: X:629.43, Y:-206.94, Z:-4.99 [[ 7.57133636e-01 6.53255520e-01 2.42545541e-03 6.29432302e+02] [-6.53252405e-01 7.57137518e-01 -2.01841861e-03 -2.06935155e+02] [-3.15494639e-03 -5.62219555e-05 9.99995022e-01 -4.98759411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.526559995 meters 0.051237512059760924 Centerline is valid? [True, True] Translation: X:629.48, Y:-206.97, Z:-4.99 [[ 7.52091259e-01 6.59057315e-01 1.48131986e-03 6.29484245e+02] [-6.59056164e-01 7.52092716e-01 -1.23297622e-03 -2.06966468e+02] [-1.92669188e-03 -4.89623470e-05 9.99998143e-01 -4.99036095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5865599949999 meters 0.05083674066747017 Centerline is valid? [True, True] Translation: X:629.53, Y:-207.00, Z:-4.99 [[ 7.49009581e-01 6.62559011e-01 -4.53193332e-04 6.29532515e+02] [-6.62558903e-01 7.49009718e-01 3.77581013e-04 -2.07004885e+02] [ 5.89615912e-04 1.74554809e-05 9.99999826e-01 -4.99154095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.646559995 meters 0.05156515249155115 Centerline is valid? [True, True] Translation: X:629.58, Y:-207.04, Z:-4.99 [[ 7.48426882e-01 6.63214983e-01 -1.75744238e-03 6.29583006e+02] [-6.63213370e-01 7.48428942e-01 1.46462209e-03 -2.07039578e+02] [ 2.28668006e-03 6.93967325e-05 9.99997383e-01 -4.99484655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7065599949999 meters 0.05118703934517246 Centerline is valid? [True, True] Translation: X:629.63, Y:-207.08, Z:-4.99 [[ 7.49654364e-01 6.61827322e-01 -1.71180262e-03 6.29629760e+02] [-6.61825789e-01 7.49656315e-01 1.42592257e-03 -2.07079220e+02] [ 2.22697816e-03 6.39660384e-05 9.99997518e-01 -4.99412747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.766559995 meters 0.051316816247774726 Centerline is valid? [True, True] Translation: X:629.67, Y:-207.12, Z:-4.99 [[ 7.54042524e-01 6.56825472e-01 -4.13875145e-04 6.29671638e+02] [-6.56825382e-01 7.54042637e-01 3.45032279e-04 -2.07124169e+02] [ 5.38705495e-04 1.16746894e-05 9.99999855e-01 -4.99165445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8265599949999 meters 0.051076096631135236 Centerline is valid? [True, True] Translation: X:629.72, Y:-207.17, Z:-4.99 [[ 7.58192881e-01 6.52030271e-01 2.85123798e-04 6.29716241e+02] [-6.52030228e-01 7.58192935e-01 -2.37157473e-04 -2.07165021e+02] [-3.70812701e-04 -6.09822697e-06 9.99999931e-01 -4.99115541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.886559995 meters 0.051718155259418044 Centerline is valid? [True, True] Translation: X:629.76, Y:-207.21, Z:-4.99 [[ 7.64542923e-01 6.44572808e-01 1.15090697e-04 6.29758974e+02] [-6.44572801e-01 7.64542932e-01 -9.56037112e-05 -2.07209797e+02] [-1.49615332e-04 -1.09119219e-06 9.99999989e-01 -4.99115634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9465599949999 meters 0.051662544139742264 Centerline is valid? [True, True] Translation: X:629.80, Y:-207.25, Z:-4.99 [[ 7.68429585e-01 6.39934173e-01 -4.76763526e-04 6.29802776e+02] [-6.39934049e-01 7.68429733e-01 3.98281448e-04 -2.07252040e+02] [ 6.21233177e-04 -9.54034154e-07 9.99999807e-01 -4.99164440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.006559995 meters 0.05202363446309277 Centerline is valid? [True, True] Translation: X:629.85, Y:-207.29, Z:-4.99 [[ 7.72838140e-01 6.34599345e-01 -2.20928348e-03 6.29847518e+02] [-6.34596671e-01 7.72841297e-01 1.84218358e-03 -2.07294818e+02] [ 2.87647400e-03 -2.17057930e-05 9.99995863e-01 -4.99429177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0665599949999 meters 0.0517425676724594 Centerline is valid? [True, True] Translation: X:629.89, Y:-207.34, Z:-5.00 [[ 7.75340944e-01 6.31525743e-01 -4.65366350e-03 6.29890904e+02] [-6.31513834e-01 7.75354906e-01 3.87894501e-03 -2.07338851e+02] [ 6.05789446e-03 -6.86520045e-05 9.99981648e-01 -4.99506640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.126559995 meters 0.05229969349294263 Centerline is valid? [True, True] Translation: X:629.93, Y:-207.38, Z:-5.00 [[ 7.76419109e-01 6.30205899e-01 -3.72726917e-03 6.29934571e+02] [-6.30198237e-01 7.76428052e-01 3.10830211e-03 -2.07381852e+02] [ 4.85282667e-03 -6.44266956e-05 9.99988223e-01 -4.99640476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1865599949999 meters 0.0515145739776596 Centerline is valid? [True, True] Translation: X:629.98, Y:-207.42, Z:-4.99 [[ 7.76335220e-01 6.30316776e-01 -2.09496919e-03 6.29981900e+02] [-6.30314353e-01 7.76338046e-01 1.74798676e-03 -2.07422281e+02] [ 2.72818967e-03 -3.65345404e-05 9.99996278e-01 -4.99471807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.246559995 meters 0.051154763770437026 Centerline is valid? [True, True] Translation: X:630.03, Y:-207.46, Z:-4.99 [[ 7.74832952e-01 6.32166004e-01 -2.00161510e-04 6.30026917e+02] [-6.32165982e-01 7.74832978e-01 1.67153285e-04 -2.07463590e+02] [ 2.60760362e-04 -2.98057573e-06 9.99999966e-01 -4.99448189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3065599949999 meters 0.05170759577807795 Centerline is valid? [True, True] Translation: X:630.07, Y:-207.50, Z:-4.99 [[ 7.71555187e-01 6.36161852e-01 8.31173075e-04 6.30073937e+02] [-6.36161475e-01 7.71555635e-01 -6.92962990e-04 -2.07502452e+02] [-1.08213289e-03 5.89890011e-06 9.99999414e-01 -4.99349154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.366559995 meters 0.05096752054300277 Centerline is valid? [True, True] Translation: X:630.12, Y:-207.54, Z:-4.99 [[ 7.66075545e-01 6.42750001e-01 8.34236206e-04 6.30123716e+02] [-6.42749625e-01 7.66075999e-01 -6.94738406e-04 -2.07540381e+02] [-1.08563145e-03 -3.98290647e-06 9.99999411e-01 -4.99248216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4265599949999 meters 0.05103059997880432 Centerline is valid? [True, True] Translation: X:630.17, Y:-207.58, Z:-4.99 [[ 7.59157755e-01 6.50906057e-01 8.98523352e-04 6.30173788e+02] [-6.50905627e-01 7.59158287e-01 -7.48709530e-04 -2.07575678e+02] [-1.16946102e-03 -1.64652600e-05 9.99999316e-01 -4.99329023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.486559995 meters 0.050999850193737435 Centerline is valid? [True, True] Translation: X:630.22, Y:-207.61, Z:-4.99 [[ 7.54059137e-01 6.56804391e-01 1.67665020e-03 6.30222517e+02] [-6.56802903e-01 7.54060999e-01 -1.39859372e-03 -2.07612653e+02] [-2.18289902e-03 -4.66063439e-05 9.99997616e-01 -4.99369119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5465599949999 meters 0.05082421832796232 Centerline is valid? [True, True] Translation: X:630.27, Y:-207.65, Z:-4.99 [[ 7.52515771e-01 6.58571813e-01 1.78394838e-03 6.30269657e+02] [-6.58570134e-01 7.52517883e-01 -1.48815205e-03 -2.07653002e+02] [-2.32250805e-03 -5.49972317e-05 9.99997301e-01 -4.99423054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.606559995 meters 0.05074541522139942 Centerline is valid? [True, True] Translation: X:630.31, Y:-207.70, Z:-4.99 [[ 7.52136646e-01 6.59004633e-01 1.83294673e-03 6.30314688e+02] [-6.59002863e-01 7.52138877e-01 -1.52860557e-03 -2.07696025e+02] [-2.38598865e-03 -5.81968740e-05 9.99997152e-01 -4.99324004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.666559995 meters 0.05071579552617563 Centerline is valid? [True, True] Translation: X:630.36, Y:-207.73, Z:-4.99 [[ 7.52130772e-01 6.59012569e-01 1.31760774e-03 6.30364692e+02] [-6.59011654e-01 7.52131925e-01 -1.09872939e-03 -2.07733256e+02] [-1.71509133e-03 -4.19306720e-05 9.99998528e-01 -4.99412066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.726559995 meters 0.05141161772408185 Centerline is valid? [True, True] Translation: X:630.41, Y:-207.77, Z:-5.00 [[ 7.51641309e-01 6.59571991e-01 -3.62312089e-04 6.30412899e+02] [-6.59571922e-01 7.51641396e-01 3.03001979e-04 -2.07770619e+02] [ 4.72180383e-04 1.12220767e-05 9.99999888e-01 -4.99664216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.786559995 meters 0.05095265942609795 Centerline is valid? [True, True] Translation: X:630.46, Y:-207.81, Z:-5.00 [[ 7.51284662e-01 6.59976874e-01 -1.37170450e-03 6.30459839e+02] [-6.59975880e-01 7.51285913e-01 1.14633551e-03 -2.07810542e+02] [ 1.78709719e-03 4.40676037e-05 9.99998402e-01 -4.99833747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.846559995 meters 0.0509449187737587 Centerline is valid? [True, True] Translation: X:630.50, Y:-207.85, Z:-5.00 [[ 7.50927979e-01 6.60377052e-01 -3.05291555e-03 6.30504844e+02] [-6.60372137e-01 7.50934178e-01 2.54969662e-03 -2.07853114e+02] [ 3.97629977e-03 1.01421838e-04 9.99992089e-01 -4.99943315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.906559995 meters 0.050202098094768506 Centerline is valid? [True, True] Translation: X:630.55, Y:-207.90, Z:-5.00 [[ 7.51462869e-01 6.59761592e-01 -4.26593664e-03 6.30549094e+02] [-6.59751979e-01 7.51474965e-01 3.56420932e-03 -2.07897775e+02] [ 5.55727301e-03 1.36089181e-04 9.99984549e-01 -4.99887701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9665599949999 meters 0.05095508714810368 Centerline is valid? [True, True] Translation: X:630.59, Y:-207.94, Z:-5.00 [[ 7.53238151e-01 6.57734892e-01 -4.13518611e-03 6.30594531e+02] [-6.57725832e-01 7.53249493e-01 3.45417095e-03 -2.07937128e+02] [ 5.38675559e-03 1.18005390e-04 9.99985484e-01 -4.99952555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.026559995 meters 0.051009549126976264 Centerline is valid? [True, True] Translation: X:630.64, Y:-207.98, Z:-5.00 [[ 7.55783387e-01 6.54812742e-01 -3.42699247e-03 6.30637322e+02] [-6.54806489e-01 7.55791152e-01 2.86280253e-03 -2.07982276e+02] [ 4.46469016e-03 8.03583137e-05 9.99990030e-01 -4.99743551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0865599949999 meters 0.050698293055421895 Centerline is valid? [True, True] Translation: X:630.68, Y:-208.02, Z:-4.99 [[ 7.57568866e-01 6.52753975e-01 -1.28903616e-03 6.30682802e+02] [-6.52753087e-01 7.57569963e-01 1.07702511e-03 -2.08024080e+02] [ 1.67956749e-03 2.55016412e-05 9.99998589e-01 -4.99475404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.146559995 meters 0.05107401229455961 Centerline is valid? [True, True] Translation: X:630.73, Y:-208.06, Z:-4.99 [[ 7.58235180e-01 6.51980700e-01 -7.60804935e-04 6.30730276e+02] [-6.51980390e-01 7.58235561e-01 6.36761283e-04 -2.08064272e+02] [ 9.92025424e-04 1.32150923e-05 9.99999508e-01 -4.99466007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2065599949999 meters 0.05060162095744017 Centerline is valid? [True, True] Translation: X:630.78, Y:-208.10, Z:-5.00 [[ 7.59326003e-01 6.50709645e-01 -9.89277758e-04 6.30777805e+02] [-6.50709119e-01 7.59326647e-01 8.27755361e-04 -2.08102567e+02] [ 1.28981336e-03 1.51958879e-05 9.99999168e-01 -4.99573238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.266559995 meters 0.050562420853445304 Centerline is valid? [True, True] Translation: X:630.83, Y:-208.14, Z:-5.00 [[ 7.59775551e-01 6.50180046e-01 -2.64969653e-03 6.30825442e+02] [-6.50176271e-01 7.59780170e-01 2.21598651e-03 -2.08142743e+02] [ 3.45397709e-03 3.91174322e-05 9.99994034e-01 -4.99678346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3265599949999 meters 0.05179695438788053 Centerline is valid? [True, True] Translation: X:630.87, Y:-208.18, Z:-5.00 [[ 7.59539506e-01 6.50455918e-01 -2.61478583e-03 6.30874306e+02] [-6.50452241e-01 7.59544006e-01 2.18753475e-03 -2.08183102e+02] [ 3.40893983e-03 3.92742352e-05 9.99994189e-01 -4.99614449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.386559995 meters 0.050721117366749585 Centerline is valid? [True, True] Translation: X:630.92, Y:-208.22, Z:-5.00 [[ 7.58968407e-01 6.51124097e-01 -2.08983887e-03 6.30923830e+02] [-6.51121749e-01 7.58971283e-01 1.74907772e-03 -2.08222045e+02] [ 2.72499434e-03 3.32448099e-05 9.99996287e-01 -4.99608032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4465599949999 meters 0.051279635409958876 Centerline is valid? [True, True] Translation: X:630.97, Y:-208.26, Z:-5.00 [[ 7.59891057e-01 6.50047328e-01 -2.01338611e-03 6.30971999e+02] [-6.50045143e-01 7.59893723e-01 1.68539172e-03 -2.08260733e+02] [ 2.62554385e-03 2.80777697e-05 9.99996553e-01 -4.99681401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.506559995 meters 0.050888465656481315 Centerline is valid? [True, True] Translation: X:631.02, Y:-208.30, Z:-5.00 [[ 7.60920535e-01 6.48841185e-01 -2.24843706e-03 6.31019061e+02] [-6.48838455e-01 7.60923857e-01 1.88233856e-03 -2.08299804e+02] [ 2.93222819e-03 2.65623657e-05 9.99995701e-01 -4.99879802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5665599949999 meters 0.05188344932848516 Centerline is valid? [True, True] Translation: X:631.06, Y:-208.34, Z:-5.00 [[ 7.63939311e-01 6.45287688e-01 -7.27971353e-04 6.31063756e+02] [-6.45287400e-01 7.63939657e-01 6.09524780e-04 -2.08342428e+02] [ 9.49445022e-04 4.11080130e-06 9.99999549e-01 -4.99740227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.626559995 meters 0.05102485406634381 Centerline is valid? [True, True] Translation: X:631.11, Y:-208.38, Z:-5.00 [[ 7.65608124e-01 6.43306907e-01 -6.51664520e-04 6.31110751e+02] [-6.43306674e-01 7.65608401e-01 5.46446815e-04 -2.08381772e+02] [ 8.50452842e-04 8.56014399e-07 9.99999638e-01 -4.99998205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6865599949999 meters 0.05071397963512893 Centerline is valid? [True, True] Translation: X:631.16, Y:-208.42, Z:-5.00 [[ 7.66480149e-01 6.42267671e-01 6.48127636e-04 6.31158896e+02] [-6.42267442e-01 7.66480423e-01 -5.41951852e-04 -2.08421906e+02] [-8.44855298e-04 -8.75942043e-07 9.99999643e-01 -4.99702344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.746559995 meters 0.0510644238270637 Centerline is valid? [True, True] Translation: X:631.21, Y:-208.46, Z:-5.00 [[ 7.66786111e-01 6.41899187e-01 2.11989011e-03 6.31205593e+02] [-6.41896736e-01 7.66789041e-01 -1.77385082e-03 -2.08461017e+02] [-2.76414190e-03 -5.86369468e-07 9.99996180e-01 -5.00106887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8065599949999 meters 0.05199644718095263 Centerline is valid? [True, True] Translation: X:631.25, Y:-208.50, Z:-5.00 [[ 7.67318800e-01 6.41264143e-01 1.46908411e-03 6.31252379e+02] [-6.41262964e-01 7.67320206e-01 -1.22972721e-03 -2.08501599e+02] [-1.91583789e-03 1.52357459e-06 9.99998165e-01 -5.00132943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.866559995 meters 0.05109224728523157 Centerline is valid? [True, True] Translation: X:631.30, Y:-208.54, Z:-5.00 [[ 7.67868088e-01 6.40607611e-01 6.98781696e-04 6.31301729e+02] [-6.40607344e-01 7.67868406e-01 -5.84195969e-04 -2.08539146e+02] [-9.10812771e-04 9.40754938e-07 9.99999585e-01 -5.00433440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9265599949999 meters 0.05198737646761791 Centerline is valid? [True, True] Translation: X:631.35, Y:-208.58, Z:-5.00 [[ 7.68823751e-01 6.39455413e-01 2.61056339e-03 6.31349095e+02] [-6.39451677e-01 7.68828183e-01 -2.18603783e-03 -2.08579834e+02] [-3.40494843e-03 1.13486621e-05 9.99994203e-01 -5.00179858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.986559995 meters 0.050606219048436187 Centerline is valid? [True, True] Translation: X:631.40, Y:-208.62, Z:-5.00 [[ 7.69840158e-01 6.38234201e-01 1.79903684e-03 6.31397055e+02] [-6.38232424e-01 7.69842260e-01 -1.50612235e-03 -2.08619192e+02] [-2.34623338e-03 1.12698267e-05 9.99997248e-01 -5.00303978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0465599949999 meters 0.05156343646809254 Centerline is valid? [True, True] Translation: X:631.44, Y:-208.66, Z:-5.01 [[ 7.70516667e-01 6.37417675e-01 1.66532811e-03 6.31444995e+02] [-6.37416150e-01 7.70518467e-01 -1.39449247e-03 -2.08657633e+02] [-2.17204021e-03 1.29726545e-05 9.99997641e-01 -5.00564581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.106559995 meters 0.05051568026026459 Centerline is valid? [True, True] Translation: X:631.49, Y:-208.70, Z:-5.01 [[ 7.71035122e-01 6.36789628e-01 1.95205118e-03 6.31494323e+02] [-6.36787527e-01 7.71037593e-01 -1.63555852e-03 -2.08695560e+02] [-2.54661154e-03 1.80312163e-05 9.99996757e-01 -5.00634642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.166559995 meters 0.05160133212324608 Centerline is valid? [True, True] Translation: X:631.54, Y:-208.74, Z:-5.01 [[ 7.70772995e-01 6.37109327e-01 8.34526504e-04 6.31541437e+02] [-6.37108944e-01 7.70773446e-01 -6.98510503e-04 -2.08735131e+02] [-1.08825843e-03 6.70873237e-06 9.99999408e-01 -5.00845015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.226559995 meters 0.05110645705937351 Centerline is valid? [True, True] Translation: X:631.59, Y:-208.77, Z:-5.01 [[ 7.69395207e-01 6.38772783e-01 5.89242667e-04 6.31591377e+02] [-6.38772592e-01 7.69395433e-01 -4.92937779e-04 -2.08771646e+02] [-7.68235854e-04 2.87189846e-06 9.99999705e-01 -5.00777446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.286559995 meters 0.05177753782698707 Centerline is valid? [True, True] Translation: X:631.64, Y:-208.81, Z:-5.01 [[ 7.67680723e-01 6.40831756e-01 9.84178413e-04 6.31640781e+02] [-6.40831226e-01 7.67681354e-01 -8.24238496e-04 -2.08809064e+02] [-1.28373362e-03 2.05974480e-06 9.99999176e-01 -5.00801154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.346559995 meters 0.050641628487042505 Centerline is valid? [True, True] Translation: X:631.69, Y:-208.85, Z:-5.01 [[ 7.63488489e-01 6.45819491e-01 1.58526562e-03 6.31691953e+02] [-6.45818124e-01 7.63490134e-01 -1.32861295e-03 -2.08845029e+02] [-2.06837880e-03 -9.41257416e-06 9.99997861e-01 -5.00918988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.406559995 meters 0.05101587681475984 Centerline is valid? [True, True] Translation: X:631.74, Y:-208.88, Z:-5.01 [[ 7.60989293e-01 6.48754889e-01 3.51997343e-03 6.31742283e+02] [-6.48748172e-01 7.60997433e-01 -2.95239524e-03 -2.08882240e+02] [-4.59407159e-03 -3.68351601e-05 9.99989447e-01 -5.00851719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4665599949999 meters 0.05107050418610575 Centerline is valid? [True, True] Translation: X:631.79, Y:-208.92, Z:-5.01 [[ 7.59103367e-01 6.50955730e-01 4.32614881e-03 6.31790700e+02] [-6.50945613e-01 7.59115692e-01 -3.62976619e-03 -2.08919097e+02] [-5.64686455e-03 -6.07198481e-05 9.99984054e-01 -5.00786824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.526559995 meters 0.05063003171051429 Centerline is valid? [True, True] Translation: X:631.84, Y:-208.96, Z:-5.01 [[ 7.56984698e-01 6.53419777e-01 4.09401290e-03 6.31839335e+02] [-6.53410751e-01 7.56995765e-01 -3.43543712e-03 -2.08958278e+02] [-5.34393299e-03 -7.44987100e-05 9.99985718e-01 -5.00862565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5865599949999 meters 0.05128351352223583 Centerline is valid? [True, True] Translation: X:631.89, Y:-209.00, Z:-5.01 [[ 7.55855298e-01 6.54731348e-01 3.10311947e-03 6.31888554e+02] [-6.54726174e-01 7.55861666e-01 -2.60368775e-03 -2.08996115e+02] [-4.05024504e-03 -6.36823577e-05 9.99991796e-01 -5.01049216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.646559995 meters 0.05079505271761734 Centerline is valid? [True, True] Translation: X:631.94, Y:-209.03, Z:-5.01 [[ 7.55906975e-01 6.54678959e-01 3.26347333e-04 6.31937292e+02] [-6.54678902e-01 7.55907045e-01 -2.72984805e-04 -2.09033020e+02] [-4.25405656e-04 -7.30159523e-06 9.99999909e-01 -5.01401201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7065599949999 meters 0.05123905020459212 Centerline is valid? [True, True] Translation: X:631.98, Y:-209.08, Z:-5.01 [[ 7.57398798e-01 6.52952424e-01 4.38998502e-04 6.31983222e+02] [-6.52952321e-01 7.57398925e-01 -3.67564112e-04 -2.09075201e+02] [-5.72498871e-04 -8.25247445e-06 9.99999836e-01 -5.01441083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.766559995 meters 0.0519494765186502 Centerline is valid? [True, True] Translation: X:632.03, Y:-209.11, Z:-5.02 [[ 7.58552959e-01 6.51611372e-01 1.68429153e-04 6.32030701e+02] [-6.51611357e-01 7.58552977e-01 -1.40456249e-04 -2.09113590e+02] [-2.19285325e-04 -3.20684580e-06 9.99999976e-01 -5.01621032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8265599949999 meters 0.05201190548050951 Centerline is valid? [True, True] Translation: X:632.08, Y:-209.15, Z:-5.02 [[ 7.59765664e-01 6.50196684e-01 6.39185831e-04 6.32077170e+02] [-6.50196463e-01 7.59765933e-01 -5.35949058e-04 -2.09154625e+02] [-8.34103919e-04 -8.40067496e-06 9.99999652e-01 -5.01638374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.886559995 meters 0.051123697970888435 Centerline is valid? [True, True] Translation: X:632.12, Y:-209.20, Z:-5.02 [[ 7.64729612e-01 6.44349389e-01 1.57644853e-03 6.32119952e+02] [-6.44348028e-01 7.64731237e-01 -1.32428785e-03 -2.09199546e+02] [-2.05886351e-03 -3.05936722e-06 9.99997881e-01 -5.01546949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9465599949999 meters 0.05177995099597299 Centerline is valid? [True, True] Translation: X:632.17, Y:-209.24, Z:-5.02 [[ 7.67550214e-01 6.40986913e-01 1.56393130e-03 6.32166225e+02] [-6.40985567e-01 7.67551807e-01 -1.31371109e-03 -2.09241072e+02] [-2.04246991e-03 5.88183940e-06 9.99997914e-01 -5.01596676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.006559995 meters 0.051495312935108 Centerline is valid? [True, True] Translation: X:632.21, Y:-209.28, Z:-5.02 [[ 7.70051832e-01 6.37979998e-01 1.30285470e-03 6.32211816e+02] [-6.37979060e-01 7.70052935e-01 -1.09393605e-03 -2.09281319e+02] [-1.70117640e-03 1.11934388e-05 9.99998553e-01 -5.01582233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0665599949999 meters 0.052284738047157046 Centerline is valid? [True, True] Translation: X:632.26, Y:-209.32, Z:-5.02 [[ 7.73155953e-01 6.34214513e-01 1.35067095e-03 6.32256230e+02] [-6.34213497e-01 7.73157133e-01 -1.13491891e-03 -2.09324276e+02] [-1.76406292e-03 2.08555597e-05 9.99998444e-01 -5.01681906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.126559995 meters 0.05195497299191487 Centerline is valid? [True, True] Translation: X:632.30, Y:-209.36, Z:-5.02 [[ 7.73441255e-01 6.33866934e-01 1.15501951e-03 6.32304043e+02] [-6.33866193e-01 7.73442117e-01 -9.69870280e-04 -2.09364096e+02] [-1.50810944e-03 1.80098690e-05 9.99998863e-01 -5.01589960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1865599949999 meters 0.05206667672548941 Centerline is valid? [True, True] Translation: X:632.35, Y:-209.40, Z:-5.02 [[ 7.72264407e-01 6.35300192e-01 1.16243274e-03 6.32350759e+02] [-6.35299442e-01 7.72265282e-01 -9.76439185e-04 -2.09403280e+02] [-1.51803845e-03 1.55763558e-05 9.99998848e-01 -5.01678340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.246559995 meters 0.05166849183695545 Centerline is valid? [True, True] Translation: X:632.40, Y:-209.44, Z:-5.02 [[ 7.68681224e-01 6.39630404e-01 1.45700156e-03 6.32399894e+02] [-6.39629231e-01 7.68682605e-01 -1.22458017e-03 -2.09439323e+02] [-1.90325046e-03 9.37099335e-06 9.99998189e-01 -5.01572789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3065599949999 meters 0.05181220837195715 Centerline is valid? [True, True] Translation: X:632.45, Y:-209.48, Z:-5.02 [[ 7.64250722e-01 6.44917994e-01 1.27092975e-03 6.32447301e+02] [-6.44917108e-01 7.64251779e-01 -1.06860056e-03 -2.09478798e+02] [-1.66047005e-03 -2.96558646e-06 9.99998621e-01 -5.01714263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.366559995 meters 0.05183576411458159 Centerline is valid? [True, True] Translation: X:632.50, Y:-209.52, Z:-5.02 [[ 7.60304967e-01 6.49565514e-01 1.00033057e-03 6.32496934e+02] [-6.49564970e-01 7.60305625e-01 -8.40459722e-04 -2.09516660e+02] [-1.30649061e-03 -1.07739951e-05 9.99999146e-01 -5.01721308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4265599949999 meters 0.051492144542050755 Centerline is valid? [True, True] Translation: X:632.55, Y:-209.55, Z:-5.02 [[ 7.57651754e-01 6.52657411e-01 1.45753006e-03 6.32545263e+02] [-6.52656260e-01 7.57653155e-01 -1.22548283e-03 -2.09554221e+02] [-1.90412270e-03 -2.27768993e-05 9.99998187e-01 -5.01703666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.486559995 meters 0.05066129657645583 Centerline is valid? [True, True] Translation: X:632.59, Y:-209.59, Z:-5.02 [[ 7.54728655e-01 6.56032237e-01 2.52226748e-03 6.32593286e+02] [-6.56028806e-01 7.54732867e-01 -2.12233795e-03 -2.09593635e+02] [-3.29596028e-03 -5.28908621e-05 9.99994567e-01 -5.01565295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5465599949999 meters 0.0511811245736377 Centerline is valid? [True, True] Translation: X:632.64, Y:-209.63, Z:-5.02 [[ 7.53291114e-01 6.57682567e-01 2.47760633e-03 6.32641170e+02] [-6.57679265e-01 7.53295186e-01 -2.08487298e-03 -2.09632773e+02] [-3.23755353e-03 -5.89540202e-05 9.99994757e-01 -5.01694911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.606559995 meters 0.050451912294544946 Centerline is valid? [True, True] Translation: X:632.69, Y:-209.67, Z:-5.02 [[ 7.52666986e-01 6.58400125e-01 1.29756550e-03 6.32689582e+02] [-6.58399221e-01 7.52668104e-01 -1.09126004e-03 -2.09670287e+02] [-1.69512191e-03 -3.29607070e-05 9.99998563e-01 -5.01828999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.666559995 meters 0.05099130319750782 Centerline is valid? [True, True] Translation: X:632.74, Y:-209.71, Z:-5.02 [[ 7.53094605e-01 6.57910156e-01 1.65607692e-03 6.32735555e+02] [-6.57908682e-01 7.53096425e-01 -1.39330903e-03 -2.09712790e+02] [-2.16385777e-03 -4.02538654e-05 9.99997658e-01 -5.01887366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.726559995 meters 0.05131594449466745 Centerline is valid? [True, True] Translation: X:632.78, Y:-209.75, Z:-5.02 [[ 7.53278295e-01 6.57701451e-01 7.82226300e-04 6.32782487e+02] [-6.57701123e-01 7.53278701e-01 -6.57626606e-04 -2.09753223e+02] [-1.02175638e-03 -1.90952672e-05 9.99999478e-01 -5.02051683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.786559995 meters 0.050160084962379614 Centerline is valid? [True, True] Translation: X:632.83, Y:-209.80, Z:-5.02 [[ 7.52306689e-01 6.58812306e-01 -9.95186284e-04 6.32828527e+02] [-6.58811773e-01 7.52307347e-01 8.38517078e-04 -2.09795466e+02] [ 1.30111132e-03 2.48184338e-05 9.99999153e-01 -5.02180306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.846559995 meters 0.05157534284684026 Centerline is valid? [True, True] Translation: X:632.88, Y:-209.83, Z:-5.03 [[ 7.51629693e-01 6.59580947e-01 -2.40391596e-03 6.32876743e+02] [-6.59577838e-01 7.51633535e-01 2.02615688e-03 -2.09833487e+02] [ 3.14327832e-03 6.26500138e-05 9.99995058e-01 -5.02543641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.906559995 meters 0.05129919851083949 Centerline is valid? [True, True] Translation: X:632.92, Y:-209.88, Z:-5.02 [[ 7.52328040e-01 6.58785994e-01 -1.88004081e-03 6.32920790e+02] [-6.58784088e-01 7.52330388e-01 1.58525263e-03 -2.09877266e+02] [ 2.45875406e-03 4.59109683e-05 9.99996976e-01 -5.02476847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9665599949999 meters 0.05087390418332778 Centerline is valid? [True, True] Translation: X:632.97, Y:-209.92, Z:-5.02 [[ 7.54755184e-01 6.56006296e-01 -5.92968877e-04 6.32965038e+02] [-6.56006106e-01 7.54755417e-01 4.99886281e-04 -2.09920538e+02] [ 7.75475019e-04 1.16994421e-05 9.99999699e-01 -5.02365591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.026559995 meters 0.050410879301482685 Centerline is valid? [True, True] Translation: X:633.01, Y:-209.96, Z:-5.02 [[ 7.56471140e-01 6.54026990e-01 3.32406667e-04 6.33009310e+02] [-6.54026930e-01 7.56471213e-01 -2.79882958e-04 -2.09963455e+02] [-4.34507084e-04 -5.67953170e-06 9.99999906e-01 -5.02268357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0865599949999 meters 0.05028298419836903 Centerline is valid? [True, True] Translation: X:633.05, Y:-210.01, Z:-5.02 [[ 7.58538813e-01 6.51627569e-01 6.17166495e-04 6.33054252e+02] [-6.51627362e-01 7.58539064e-01 -5.19097227e-04 -2.10006352e+02] [-8.06402960e-04 -8.40718120e-06 9.99999675e-01 -5.02322006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.146559995 meters 0.05090444974418016 Centerline is valid? [True, True] Translation: X:633.10, Y:-210.05, Z:-5.02 [[ 7.57297664e-01 6.53069358e-01 8.13125737e-04 6.33101957e+02] [-6.53068999e-01 7.57298101e-01 -6.84426680e-04 -2.10046798e+02] [-1.06275667e-03 -1.27124850e-05 9.99999435e-01 -5.02383921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2065599949999 meters 0.05091930155493042 Centerline is valid? [True, True] Translation: X:633.15, Y:-210.08, Z:-5.03 [[ 7.54654850e-01 6.56121978e-01 -8.34589803e-05 6.33153502e+02] [-6.56121974e-01 7.54654855e-01 7.07725916e-05 -2.10079759e+02] [ 1.09418177e-04 1.35039143e-06 9.99999994e-01 -5.02734074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.266559995 meters 0.05013163024589616 Centerline is valid? [True, True] Translation: X:633.20, Y:-210.12, Z:-5.03 [[ 7.51212642e-01 6.60059335e-01 -1.11390357e-03 6.33201748e+02] [-6.60058666e-01 7.51213467e-01 9.40177801e-04 -2.10117730e+02] [ 1.45735250e-03 2.89682539e-05 9.99998938e-01 -5.02789890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3265599949999 meters 0.05104574610890711 Centerline is valid? [True, True] Translation: X:633.25, Y:-210.16, Z:-5.03 [[ 7.48883320e-01 6.62700775e-01 -1.20656585e-03 6.33249438e+02] [-6.62699993e-01 7.48884291e-01 1.01866114e-03 -2.10156419e+02] [ 1.57864574e-03 3.67328431e-05 9.99998753e-01 -5.02817525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.386559995 meters 0.05103879387727678 Centerline is valid? [True, True] Translation: X:633.30, Y:-210.20, Z:-5.03 [[ 7.47942955e-01 6.63761911e-01 -1.20885575e-03 6.33297943e+02] [-6.63761127e-01 7.47943931e-01 1.02093545e-03 -2.10195531e+02] [ 1.58181439e-03 3.87899804e-05 9.99998748e-01 -5.02855710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4465599949999 meters 0.052185226775164004 Centerline is valid? [True, True] Translation: X:633.35, Y:-210.23, Z:-5.03 [[ 7.48455508e-01 6.63184435e-01 -8.70990806e-04 6.33345497e+02] [-6.63184027e-01 7.48456014e-01 7.35948303e-04 -2.10233372e+02] [ 1.13996777e-03 2.68026292e-05 9.99999350e-01 -5.02933270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.506559995 meters 0.05046564354918855 Centerline is valid? [True, True] Translation: X:633.39, Y:-210.27, Z:-5.03 [[ 7.50353085e-01 6.61037244e-01 -9.54238793e-05 6.33391600e+02] [-6.61037239e-01 7.50353091e-01 8.06519679e-05 -2.10272459e+02] [ 1.24915557e-04 2.56128479e-06 9.99999992e-01 -5.02903333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5665599949999 meters 0.05032518242901502 Centerline is valid? [True, True] Translation: X:633.43, Y:-210.32, Z:-5.03 [[ 7.54615621e-01 6.56165107e-01 1.61758169e-03 6.33432433e+02] [-6.56163688e-01 7.54617354e-01 -1.36476881e-03 -2.10318758e+02] [-2.11616889e-03 -3.15225068e-05 9.99997760e-01 -5.02673830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.626559995 meters 0.050313804085045696 Centerline is valid? [True, True] Translation: X:633.48, Y:-210.36, Z:-5.03 [[ 7.58454457e-01 6.51723554e-01 1.80175172e-03 6.33477949e+02] [-6.51721781e-01 7.58456596e-01 -1.52039364e-03 -2.10359149e+02] [-2.35742682e-03 -2.10915100e-05 9.99997221e-01 -5.02930309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6865599949999 meters 0.050041611927879794 Centerline is valid? [True, True] Translation: X:633.52, Y:-210.40, Z:-5.03 [[ 7.59253605e-01 6.50793678e-01 1.24549245e-03 6.33524026e+02] [-6.50792831e-01 7.59254627e-01 -1.05027352e-03 -2.10401278e+02] [-1.62915728e-03 -1.31335995e-05 9.99998673e-01 -5.02924257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.746559995 meters 0.05035538586369445 Centerline is valid? [True, True] Translation: X:633.57, Y:-210.44, Z:-5.03 [[ 7.59196774e-01 6.50861017e-01 4.41374241e-04 6.33571355e+02] [-6.50860911e-01 7.59196903e-01 -3.71630452e-04 -2.10439949e+02] [-5.76969730e-04 -5.13260012e-06 9.99999834e-01 -5.03052296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8065599949999 meters 0.051559600256680216 Centerline is valid? [True, True] Translation: X:633.62, Y:-210.48, Z:-5.03 [[ 7.59442902e-01 6.50573952e-01 1.06708183e-04 6.33619603e+02] [-6.50573946e-01 7.59442909e-01 -8.88173276e-05 -2.10480226e+02] [-1.38821013e-04 -1.96987452e-06 9.99999990e-01 -5.03085138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.866559995 meters 0.05101375586364414 Centerline is valid? [True, True] Translation: X:633.67, Y:-210.52, Z:-5.03 [[ 7.60039515e-01 6.49876806e-01 -2.70505605e-04 6.33666527e+02] [-6.49876765e-01 7.60039563e-01 2.29133118e-04 -2.10518825e+02] [ 3.54503260e-04 1.64508307e-06 9.99999937e-01 -5.03211852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9265599949999 meters 0.05007041156153754 Centerline is valid? [True, True] Translation: X:633.71, Y:-210.56, Z:-5.03 [[ 7.60271656e-01 6.49605123e-01 4.39390082e-04 6.33714524e+02] [-6.49605017e-01 7.60271783e-01 -3.70793585e-04 -2.10558640e+02] [-5.74925294e-04 -3.52614880e-06 9.99999835e-01 -5.03186384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.986559995 meters 0.050990615330459066 Centerline is valid? [True, True] Translation: X:633.76, Y:-210.60, Z:-5.03 [[ 7.60163022e-01 6.49732250e-01 4.27634771e-04 6.33762802e+02] [-6.49732150e-01 7.60163143e-01 -3.60084836e-04 -2.10599398e+02] [-5.59030922e-04 -4.12488190e-06 9.99999844e-01 -5.03138957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0465599949999 meters 0.051470259650116326 Centerline is valid? [True, True] Translation: X:633.81, Y:-210.64, Z:-5.03 [[ 7.59451387e-01 6.50564028e-01 -1.87476046e-04 6.33811654e+02] [-6.50564009e-01 7.59451411e-01 1.59575737e-04 -2.10637582e+02] [ 2.46193181e-04 7.75153161e-07 9.99999970e-01 -5.03202698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.106559995 meters 0.05047241787873131 Centerline is valid? [True, True] Translation: X:633.86, Y:-210.68, Z:-5.03 [[ 7.57278842e-01 6.53090497e-01 -1.24850125e-03 6.33859854e+02] [-6.53089644e-01 7.57279871e-01 1.05562301e-03 -2.10676559e+02] [ 1.63488222e-03 1.59822614e-05 9.99998663e-01 -5.03255598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.166559995 meters 0.0504641483768741 Centerline is valid? [True, True] Translation: X:633.91, Y:-210.72, Z:-5.03 [[ 7.55950277e-01 6.54628766e-01 -5.97968916e-04 6.33907442e+02] [-6.54628570e-01 7.55950514e-01 5.06575764e-04 -2.10715059e+02] [ 7.83653976e-04 8.50144699e-06 9.99999693e-01 -5.03206741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.226559995 meters 0.05137080636673028 Centerline is valid? [True, True] Translation: X:633.96, Y:-210.75, Z:-5.03 [[ 7.54315243e-01 6.56512384e-01 6.38405275e-05 6.33955744e+02] [-6.56512382e-01 7.54315246e-01 -5.29669496e-05 -2.10753300e+02] [-8.29293418e-05 -1.95831933e-06 9.99999997e-01 -5.03273444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.286559995 meters 0.05141895393327101 Centerline is valid? [True, True] Translation: X:634.00, Y:-210.79, Z:-5.03 [[ 7.53161405e-01 6.57835548e-01 -5.38654818e-04 6.34003812e+02] [-6.57835389e-01 7.53161598e-01 4.56692662e-04 -2.10793080e+02] [ 7.06122790e-04 1.03829145e-05 9.99999751e-01 -5.03415310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.346559995 meters 0.05082801743493782 Centerline is valid? [True, True] Translation: X:634.05, Y:-210.83, Z:-5.03 [[ 7.51230527e-01 6.60039081e-01 -1.05209350e-03 6.34051027e+02] [-6.60038480e-01 7.51231263e-01 8.91072062e-04 -2.10832477e+02] [ 1.37850792e-03 2.50216639e-05 9.99999050e-01 -5.03496469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.406559995 meters 0.05079251689097336 Centerline is valid? [True, True] Translation: X:634.10, Y:-210.87, Z:-5.03 [[ 7.49680329e-01 6.61799666e-01 -7.77995387e-04 6.34099089e+02] [-6.61799339e-01 7.49680733e-01 6.58530574e-04 -2.10872457e+02] [ 1.01906347e-03 2.11894149e-05 9.99999481e-01 -5.03442460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4665599949999 meters 0.050898189339877026 Centerline is valid? [True, True] Translation: X:634.15, Y:-210.91, Z:-5.03 [[ 7.47733903e-01 6.63998076e-01 -7.52134158e-04 6.34147495e+02] [-6.63997770e-01 7.47734281e-01 6.37413748e-04 -2.10910589e+02] [ 9.85637996e-04 2.27995345e-05 9.99999514e-01 -5.03486514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.526559995 meters 0.050972121532091116 Centerline is valid? [True, True] Translation: X:634.20, Y:-210.95, Z:-5.04 [[ 7.46845915e-01 6.64993025e-01 -2.33584351e-03 6.34195762e+02] [-6.64990087e-01 7.46849564e-01 1.97802904e-03 -2.10948952e+02] [ 3.05989922e-03 7.60298690e-05 9.99995316e-01 -5.03689005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5865599949999 meters 0.051707924656882745 Centerline is valid? [True, True] Translation: X:634.25, Y:-210.98, Z:-5.04 [[ 7.47039752e-01 6.64772667e-01 -2.98495246e-03 6.34246712e+02] [-6.64767867e-01 7.47045709e-01 2.52817263e-03 -2.10983986e+02] [ 3.91055599e-03 9.56550255e-05 9.99992349e-01 -5.04110782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.646559995 meters 0.051367822069968795 Centerline is valid? [True, True] Translation: X:634.29, Y:-211.03, Z:-5.04 [[ 7.48592843e-01 6.63025904e-01 -2.32531978e-03 6.34287561e+02] [-6.63022983e-01 7.48596451e-01 1.96906849e-03 -2.11031319e+02] [ 3.04626954e-03 6.77098789e-05 9.99995358e-01 -5.03736297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7065599949999 meters 0.05043415722667199 Centerline is valid? [True, True] Translation: X:634.33, Y:-211.07, Z:-5.04 [[ 7.50155773e-01 6.61260092e-01 -1.18649233e-03 6.34332948e+02] [-6.61259329e-01 7.50156710e-01 1.00500138e-03 -2.11071368e+02] [ 1.55462249e-03 3.06715325e-05 9.99998791e-01 -5.03742286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.766559995 meters 0.05032590071703572 Centerline is valid? [True, True] Translation: X:634.38, Y:-211.11, Z:-5.04 [[ 7.52280202e-01 6.58842757e-01 -8.48035667e-04 6.34377594e+02] [-6.58842365e-01 7.52280680e-01 7.18313895e-04 -2.11113311e+02] [ 1.11121675e-03 1.83485025e-05 9.99999382e-01 -5.03746143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8265599949999 meters 0.051352023614635534 Centerline is valid? [True, True] Translation: X:634.43, Y:-211.15, Z:-5.04 [[ 7.52593794e-01 6.58481743e-01 -2.09170915e-03 6.34426234e+02] [-6.58479358e-01 7.52596699e-01 1.77287353e-03 -2.11152753e+02] [ 2.74161826e-03 4.30936841e-05 9.99996241e-01 -5.03986301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.886559995 meters 0.05093146909443488 Centerline is valid? [True, True] Translation: X:634.47, Y:-211.19, Z:-5.04 [[ 7.51803067e-01 6.59383293e-01 -2.41257788e-03 6.34473557e+02] [-6.59380127e-01 7.51806937e-01 2.04421349e-03 -2.11192267e+02] [ 3.16171301e-03 5.39599366e-05 9.99995000e-01 -5.04008584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9465599949999 meters 0.05104763605661578 Centerline is valid? [True, True] Translation: X:634.52, Y:-211.23, Z:-5.04 [[ 7.50500097e-01 6.60869128e-01 -1.26471819e-03 6.34524072e+02] [-6.60868259e-01 7.50501162e-01 1.07201027e-03 -2.11226692e+02] [ 1.65763097e-03 3.12682991e-05 9.99998626e-01 -5.04085092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.006559995 meters 0.051175922120678306 Centerline is valid? [True, True] Translation: X:634.57, Y:-211.27, Z:-5.04 [[ 7.49453054e-01 6.62055501e-01 -1.62312258e-03 6.34572982e+02] [-6.62054071e-01 7.49454810e-01 1.37643053e-03 -2.11265215e+02] [ 2.12773043e-03 4.30248458e-05 9.99997735e-01 -5.04087930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0665599949999 meters 0.05210820176927065 Centerline is valid? [True, True] Translation: X:634.62, Y:-211.30, Z:-5.04 [[ 7.50104746e-01 6.61314838e-01 -2.35690037e-03 6.34621320e+02] [-6.61311821e-01 7.50108446e-01 1.99868369e-03 -2.11304673e+02] [ 3.08969006e-03 5.94239552e-05 9.99995225e-01 -5.04153983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.126559995 meters 0.050247461224181625 Centerline is valid? [True, True] Translation: X:634.67, Y:-211.35, Z:-5.04 [[ 7.53754396e-01 6.57148439e-01 -3.20012573e-03 6.34666172e+02] [-6.57142842e-01 7.53761186e-01 2.71262180e-03 -2.11346781e+02] [ 4.19472575e-03 5.82891124e-05 9.99991200e-01 -5.04161772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1865599949999 meters 0.05222390627363933 Centerline is valid? [True, True] Translation: X:634.71, Y:-211.39, Z:-5.04 [[ 7.60659944e-01 6.49148134e-01 -1.77483099e-03 6.34710052e+02] [-6.49146389e-01 7.60662014e-01 1.50522357e-03 -2.11389042e+02] [ 2.32715959e-03 7.16185414e-06 9.99997292e-01 -5.04329262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.246559995 meters 0.05160934420942774 Centerline is valid? [True, True] Translation: X:634.75, Y:-211.43, Z:-5.04 [[ 7.66121839e-01 6.42695127e-01 -5.49479443e-04 6.34753597e+02] [-6.42694958e-01 7.66122036e-01 4.66236826e-04 -2.11433654e+02] [ 7.20616445e-04 -4.04654704e-06 9.99999740e-01 -5.04175353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3065599949999 meters 0.05227765800205481 Centerline is valid? [True, True] Translation: X:634.79, Y:-211.48, Z:-5.04 [[ 7.72417668e-01 6.35114743e-01 -4.57950945e-04 6.34793766e+02] [-6.35114624e-01 7.72417803e-01 3.88480105e-04 -2.11480724e+02] [ 6.00458905e-04 -9.21755409e-06 9.99999820e-01 -5.04071706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.366559995 meters 0.05217355468943017 Centerline is valid? [True, True] Translation: X:634.84, Y:-211.52, Z:-5.04 [[ 7.74147642e-01 6.33004521e-01 8.39635255e-04 6.34841063e+02] [-6.33004122e-01 7.74148097e-01 -7.10966036e-04 -2.11520252e+02] [-1.10004675e-03 1.89001037e-05 9.99999395e-01 -5.04109166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4265599949999 meters 0.05209093328297829 Centerline is valid? [True, True] Translation: X:634.89, Y:-211.56, Z:-5.04 [[ 7.73533387e-01 6.33755018e-01 8.21888194e-04 6.34889295e+02] [-6.33754636e-01 7.73533824e-01 -6.96627369e-04 -2.11560226e+02] [-1.07724941e-03 1.79890749e-05 9.99999420e-01 -5.04137901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.486559995 meters 0.052140332614270604 Centerline is valid? [True, True] Translation: X:634.94, Y:-211.60, Z:-5.04 [[ 7.70983856e-01 6.36853813e-01 1.05551270e-03 6.34936988e+02] [-6.36853185e-01 7.70984579e-01 -8.94905920e-04 -2.11598427e+02] [-1.38370826e-03 1.77513924e-05 9.99999043e-01 -5.04056465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5465599949999 meters 0.05129995835481285 Centerline is valid? [True, True] Translation: X:634.99, Y:-211.63, Z:-5.04 [[ 7.67655648e-01 6.40861752e-01 1.01030131e-03 6.34986364e+02] [-6.40861180e-01 7.67656313e-01 -8.56675112e-04 -2.11634638e+02] [-1.32457449e-03 1.01685984e-05 9.99999123e-01 -5.04133149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.606559995 meters 0.051953019327452644 Centerline is valid? [True, True] Translation: X:635.04, Y:-211.67, Z:-5.04 [[ 7.60925612e-01 6.48839062e-01 -2.89083635e-04 6.35036478e+02] [-6.48839016e-01 7.60925667e-01 2.46317174e-04 -2.11669539e+02] [ 3.79791362e-04 1.39694665e-07 9.99999928e-01 -5.03929663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.666559995 meters 0.05126295519932306 Centerline is valid? [True, True] Translation: X:635.09, Y:-211.71, Z:-5.04 [[ 7.58544269e-01 6.51621334e-01 -4.78013628e-04 6.35085091e+02] [-6.51621207e-01 7.58544420e-01 4.06718664e-04 -2.11706621e+02] [ 6.27621128e-04 2.96970574e-06 9.99999803e-01 -5.04339485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.726559995 meters 0.05141194745798009 Centerline is valid? [True, True] Translation: X:635.14, Y:-211.74, Z:-5.04 [[ 7.51666971e-01 6.59540157e-01 -1.88318205e-03 6.35136286e+02] [-6.59538222e-01 7.51669328e-01 1.59826469e-03 -2.11741195e+02] [ 2.46964994e-03 4.06677601e-05 9.99996950e-01 -5.04481286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.786559995 meters 0.051264389170526 Centerline is valid? [True, True] Translation: X:635.18, Y:-211.78, Z:-5.04 [[ 7.46838910e-01 6.65004860e-01 -4.22717463e-04 6.35184094e+02] [-6.65004763e-01 7.46839030e-01 3.59418305e-04 -2.11780354e+02] [ 5.54716819e-04 1.26815511e-05 9.99999846e-01 -5.04270866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.846559995 meters 0.052661075854112185 Centerline is valid? [True, True] Translation: X:635.24, Y:-211.81, Z:-5.04 [[ 7.45031663e-01 6.67029072e-01 1.93510433e-04 6.35236202e+02] [-6.67029052e-01 7.45031689e-01 -1.63364214e-04 -2.11813160e+02] [-2.53140085e-04 -7.36556879e-06 9.99999968e-01 -5.04456544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.906559995 meters 0.05226409515879172 Centerline is valid? [True, True] Translation: X:635.28, Y:-211.86, Z:-5.04 [[ 7.44487911e-01 6.67635746e-01 -5.11466017e-04 6.35280437e+02] [-6.67635604e-01 7.44488086e-01 4.35301889e-04 -2.11857688e+02] [ 6.71403458e-04 1.73959295e-05 9.99999774e-01 -5.04295276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9665599949999 meters 0.05194239704815354 Centerline is valid? [True, True] Translation: X:635.33, Y:-211.90, Z:-5.04 [[ 7.44070962e-01 6.68100591e-01 6.66034092e-05 6.35327859e+02] [-6.68100588e-01 7.44070965e-01 -5.55315222e-05 -2.11897517e+02] [-8.66583060e-05 -3.17838376e-06 9.99999996e-01 -5.04293013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.026559995 meters 0.05077268218556974 Centerline is valid? [True, True] Translation: X:635.37, Y:-211.94, Z:-5.04 [[ 7.43299475e-01 6.68958786e-01 -1.81545646e-04 6.35373076e+02] [-6.68958768e-01 7.43299497e-01 1.54727213e-04 -2.11939398e+02] [ 2.38448916e-04 6.43789533e-06 9.99999972e-01 -5.04298784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0865599949999 meters 0.052359486387988464 Centerline is valid? [True, True] Translation: X:635.42, Y:-211.97, Z:-5.05 [[ 7.42119730e-01 6.70263569e-01 -2.24832458e-03 6.35421919e+02] [-6.70260855e-01 7.42123130e-01 1.90968365e-03 -2.11974877e+02] [ 2.94852505e-03 8.97500394e-05 9.99995649e-01 -5.04661637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.146559995 meters 0.05255232621534978 Centerline is valid? [True, True] Translation: X:635.46, Y:-212.02, Z:-5.05 [[ 7.43671667e-01 6.68533519e-01 -3.92238786e-03 6.35464208e+02] [-6.68525232e-01 7.43681997e-01 3.33187018e-03 -2.12020692e+02] [ 5.14447613e-03 1.44397803e-04 9.99986757e-01 -5.04744946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2065599949999 meters 0.050835002562221926 Centerline is valid? [True, True] Translation: X:635.51, Y:-212.06, Z:-5.05 [[ 7.45794326e-01 6.66165944e-01 -3.70915118e-03 6.35508354e+02] [-6.66158504e-01 7.45803540e-01 3.15079266e-03 -2.12063475e+02] [ 4.86524885e-03 1.21039317e-04 9.99988157e-01 -5.04680778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.266559995 meters 0.05115375973008827 Centerline is valid? [True, True] Translation: X:635.55, Y:-212.11, Z:-5.04 [[ 7.48569640e-01 6.63050833e-01 -2.66232641e-03 6.35550550e+02] [-6.63046975e-01 7.48574371e-01 2.26285207e-03 -2.12109466e+02] [ 3.49333527e-03 7.13451140e-05 9.99993896e-01 -5.04462404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3265599949999 meters 0.0503802089498616 Centerline is valid? [True, True] Translation: X:635.59, Y:-212.15, Z:-5.04 [[ 7.51042130e-01 6.60253303e-01 -1.13793532e-03 6.35593408e+02] [-6.60252594e-01 7.51042992e-01 9.67781754e-04 -2.12153306e+02] [ 1.49361945e-03 2.44798796e-05 9.99998884e-01 -5.04306187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.386559995 meters 0.05128491495471825 Centerline is valid? [True, True] Translation: X:635.64, Y:-212.20, Z:-5.04 [[ 7.54721027e-01 6.56045464e-01 -7.21706550e-04 6.35638078e+02] [-6.56045177e-01 7.54721372e-01 6.13609390e-04 -2.12196371e+02] [ 9.47243014e-04 1.03681932e-05 9.99999551e-01 -5.04360368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4465599949999 meters 0.051597269387156725 Centerline is valid? [True, True] Translation: X:635.69, Y:-212.24, Z:-5.05 [[ 7.54848041e-01 6.55898786e-01 -1.10343925e-03 6.35685853e+02] [-6.55898114e-01 7.54848847e-01 9.39126805e-04 -2.12235417e+02] [ 1.44890198e-03 1.48456945e-05 9.99998950e-01 -5.04527312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.506559995 meters 0.05085019863472129 Centerline is valid? [True, True] Translation: X:635.73, Y:-212.27, Z:-5.05 [[ 7.53747612e-01 6.57160836e-01 -2.04303022e-03 6.35733522e+02] [-6.57158540e-01 7.53750380e-01 1.73726180e-03 -2.12272852e+02] [ 2.68159522e-03 3.31378244e-05 9.99996404e-01 -5.04607332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5665599949999 meters 0.05194419639788041 Centerline is valid? [True, True] Translation: X:635.78, Y:-212.31, Z:-5.05 [[ 7.54215542e-01 6.56624595e-01 -1.74856283e-03 6.35780579e+02] [-6.56622910e-01 7.54217568e-01 1.48788205e-03 -2.12313271e+02] [ 2.29577675e-03 2.59626434e-05 9.99997364e-01 -5.04522264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.626559995 meters 0.051072341166191734 Centerline is valid? [True, True] Translation: X:635.83, Y:-212.35, Z:-5.05 [[ 7.55021960e-01 6.55695099e-01 -2.40360972e-03 6.35829806e+02] [-6.55691910e-01 7.55025785e-01 2.04520492e-03 -2.12350135e+02] [ 3.15581815e-03 3.18528251e-05 9.99995020e-01 -5.04911830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6865599949999 meters 0.051941680481932415 Centerline is valid? [True, True] Translation: X:635.88, Y:-212.39, Z:-5.05 [[ 7.56557591e-01 6.53924586e-01 -1.80195447e-03 6.35876019e+02] [-6.53922787e-01 7.56559737e-01 1.53398548e-03 -2.12391584e+02] [ 2.36639702e-03 1.77907321e-05 9.99997200e-01 -5.04790027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.746559995 meters 0.05092981085691739 Centerline is valid? [True, True] Translation: X:635.92, Y:-212.43, Z:-5.05 [[ 7.59956921e-01 6.49972023e-01 -1.35933942e-03 6.35921344e+02] [-6.49970993e-01 7.59958137e-01 1.15684113e-03 -2.12433301e+02] [ 1.78495542e-03 4.38176315e-06 9.99998407e-01 -5.04882842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8065599949999 meters 0.05106633024366058 Centerline is valid? [True, True] Translation: X:635.97, Y:-212.48, Z:-5.05 [[ 7.63363795e-01 6.45967621e-01 -1.24436714e-03 6.35967916e+02] [-6.45966751e-01 7.63364810e-01 1.06020829e-03 -2.12475947e+02] [ 1.63476631e-03 -5.50482243e-06 9.99998664e-01 -5.04884640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.866559995 meters 0.051738019839028246 Centerline is valid? [True, True] Translation: X:636.01, Y:-212.52, Z:-5.05 [[ 7.68126435e-01 6.40298190e-01 -8.48245521e-05 6.36013809e+02] [-6.40298186e-01 7.68126440e-01 7.25104063e-05 -2.12518377e+02] [ 1.11584263e-04 -1.38415300e-06 9.99999994e-01 -5.04913873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9265599949999 meters 0.051969728128197924 Centerline is valid? [True, True] Translation: X:636.06, Y:-212.56, Z:-5.05 [[ 7.70835750e-01 6.37033219e-01 9.61832093e-04 6.36061131e+02] [-6.37032694e-01 7.70836350e-01 -8.18048669e-04 -2.12558353e+02] [-1.26253932e-03 1.78626705e-05 9.99999203e-01 -5.04784941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.986559995 meters 0.053084874590017025 Centerline is valid? [True, True] Translation: X:636.10, Y:-212.60, Z:-5.05 [[ 7.74468934e-01 6.32610559e-01 1.32332227e-03 6.36104981e+02] [-6.32609558e-01 7.74470064e-01 -1.12589399e-03 -2.12599992e+02] [-1.73712591e-03 3.48236009e-05 9.99998491e-01 -5.04961799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0465599949999 meters 0.05234588346834109 Centerline is valid? [True, True] Translation: X:636.15, Y:-212.64, Z:-5.05 [[ 7.77871399e-01 6.28421033e-01 1.75803549e-03 6.36153500e+02] [-6.28419255e-01 7.77873384e-01 -1.49623139e-03 -2.12636728e+02] [-2.30779229e-03 5.90922527e-05 9.99997335e-01 -5.05020605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.106559995 meters 0.05274675267714925 Centerline is valid? [True, True] Translation: X:636.20, Y:-212.68, Z:-5.05 [[ 7.80068419e-01 6.25687915e-01 2.80978846e-03 6.36199587e+02] [-6.25683352e-01 7.80073472e-01 -2.39183696e-03 -2.12677375e+02] [-3.68838492e-03 1.07758616e-04 9.99993192e-01 -5.05014912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.166559995 meters 0.05270964644763581 Centerline is valid? [True, True] Translation: X:636.25, Y:-212.71, Z:-5.05 [[ 7.82305489e-01 6.22889812e-01 2.53055411e-03 6.36254653e+02] [-6.22886098e-01 7.82309574e-01 -2.15385444e-03 -2.12706823e+02] [-3.32129069e-03 1.08725173e-04 9.99994479e-01 -5.04932020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.226559995 meters 0.05342380399187953 Centerline is valid? [True, True] Translation: X:636.30, Y:-212.75, Z:-5.05 [[ 7.82027565e-01 6.23242359e-01 1.36025899e-03 6.36298322e+02] [-6.23241287e-01 7.82028745e-01 -1.15756817e-03 -2.12749479e+02] [-1.78520715e-03 5.74806553e-05 9.99998405e-01 -5.05117805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.286559995 meters 0.05284393341192722 Centerline is valid? [True, True] Translation: X:636.35, Y:-212.78, Z:-5.05 [[ 7.79192718e-01 6.26784046e-01 6.83575497e-04 6.36351009e+02] [-6.26783777e-01 7.79193018e-01 -5.81400969e-04 -2.12782623e+02] [-8.97050106e-04 2.45693699e-05 9.99999597e-01 -5.05181651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.346559995 meters 0.053741468064809915 Centerline is valid? [True, True] Translation: X:636.40, Y:-212.82, Z:-5.05 [[ 7.75482963e-01 6.31368376e-01 3.85013496e-04 6.36397894e+02] [-6.31368291e-01 7.75483058e-01 -3.27711591e-04 -2.12822065e+02] [-5.05478178e-04 1.10494423e-05 9.99999872e-01 -5.05374842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.406559995 meters 0.05194601123347742 Centerline is valid? [True, True] Translation: X:636.45, Y:-212.86, Z:-5.05 [[ 7.73075505e-01 6.34313382e-01 8.92621624e-04 6.36450154e+02] [-6.34312927e-01 7.73076020e-01 -7.60256647e-04 -2.12855977e+02] [-1.17230534e-03 2.15343561e-05 9.99999313e-01 -5.05309465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4665599949999 meters 0.05266384652056787 Centerline is valid? [True, True] Translation: X:636.50, Y:-212.89, Z:-5.05 [[ 7.69517186e-01 6.38625276e-01 1.02827275e-03 6.36504474e+02] [-6.38624676e-01 7.69517872e-01 -8.75961325e-04 -2.12885743e+02] [-1.35068530e-03 1.73869425e-05 9.99999088e-01 -5.05142932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.526559995 meters 0.05267964135532124 Centerline is valid? [True, True] Translation: X:636.55, Y:-212.92, Z:-5.05 [[ 7.68358395e-01 6.40018125e-01 1.47523182e-03 6.36551412e+02] [-6.40016892e-01 7.68359811e-01 -1.25616814e-03 -2.12924787e+02] [-1.93747922e-03 2.10140494e-05 9.99998123e-01 -5.05229300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5865599949999 meters 0.05267964135532124 Centerline is valid? [True, True] Translation: X:636.60, Y:-212.97, Z:-5.05 [[ 7.68280821e-01 6.40111243e-01 1.47518533e-03 6.36599003e+02] [-6.40110011e-01 7.68282237e-01 -1.25622276e-03 -2.12965270e+02] [-1.93748100e-03 2.08509577e-05 9.99998123e-01 -5.05275366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.646559995 meters 0.05232957035008077 Centerline is valid? [True, True] Translation: X:636.65, Y:-213.00, Z:-5.05 [[ 7.64849057e-01 6.44206915e-01 1.83621366e-03 6.36649131e+02] [-6.44205014e-01 7.64851261e-01 -1.56490065e-03 -2.13000921e+02] [-2.41255016e-03 1.40147406e-05 9.99997090e-01 -5.05466321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7065599949999 meters 0.05238172870690136 Centerline is valid? [True, True] Translation: X:636.70, Y:-213.04, Z:-5.06 [[ 7.61612931e-01 6.48031942e-01 5.87881089e-04 6.36699170e+02] [-6.48031749e-01 7.61613158e-01 -5.00535214e-04 -2.13036929e+02] [-7.72100780e-04 2.48480781e-07 9.99999702e-01 -5.05643601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.766559995 meters 0.05222297821696224 Centerline is valid? [True, True] Translation: X:636.75, Y:-213.08, Z:-5.06 [[ 7.59991326e-01 6.49932960e-01 5.75474719e-04 6.36747636e+02] [-6.49932776e-01 7.59991544e-01 -4.89808002e-04 -2.13076733e+02] [-7.55698285e-04 -1.77004818e-06 9.99999714e-01 -5.05620067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8265599949999 meters 0.052593881633534505 Centerline is valid? [True, True] Translation: X:636.80, Y:-213.11, Z:-5.06 [[ 7.58066783e-01 6.52176905e-01 1.95345503e-04 6.36796561e+02] [-6.52176883e-01 7.58066808e-01 -1.65969823e-04 -2.13114202e+02] [-2.56326627e-04 -1.58361195e-06 9.99999967e-01 -5.05804685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.886559995 meters 0.051982570226719524 Centerline is valid? [True, True] Translation: X:636.84, Y:-213.16, Z:-5.06 [[ 7.57851549e-01 6.52426995e-01 -2.15761603e-04 6.36844034e+02] [-6.52426968e-01 7.57851580e-01 1.85334192e-04 -2.13155258e+02] [ 2.84432302e-04 3.12883961e-07 9.99999960e-01 -5.05901253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9465599949999 meters 0.052188700569906384 Centerline is valid? [True, True] Translation: X:636.89, Y:-213.20, Z:-5.06 [[ 7.57696722e-01 6.52606747e-01 -3.32840323e-04 6.36890588e+02] [-6.52606685e-01 7.57696795e-01 2.85320522e-04 -2.13197050e+02] [ 4.38394143e-04 1.02739550e-06 9.99999904e-01 -5.05898256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.006559995 meters 0.05174108798375383 Centerline is valid? [True, True] Translation: X:636.94, Y:-213.24, Z:-5.06 [[ 7.56479637e-01 6.54017117e-01 4.12883351e-04 6.36938151e+02] [-6.54017022e-01 7.56479749e-01 -3.51167949e-04 -2.13236968e+02] [-5.42007744e-04 -4.38133664e-06 9.99999853e-01 -5.06008092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0665599949999 meters 0.05190545563602458 Centerline is valid? [True, True] Translation: X:636.99, Y:-213.28, Z:-5.06 [[ 7.55110109e-01 6.55597944e-01 2.44535805e-04 6.36985054e+02] [-6.55597911e-01 7.55110148e-01 -2.07617414e-04 -2.13278284e+02] [-3.20765018e-04 -3.54315488e-06 9.99999949e-01 -5.05903852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.126559995 meters 0.0521326248799483 Centerline is valid? [True, True] Translation: X:637.03, Y:-213.32, Z:-5.06 [[ 7.52436826e-01 6.58664343e-01 3.25402649e-04 6.37029852e+02] [-6.58664284e-01 7.52436897e-01 -2.77488124e-04 -2.13321120e+02] [-4.27616493e-04 -5.53881960e-06 9.99999909e-01 -5.05823223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1865599949999 meters 0.051230277310567084 Centerline is valid? [True, True] Translation: X:637.08, Y:-213.36, Z:-5.06 [[ 7.49585042e-01 6.61908021e-01 1.94127814e-04 6.37078911e+02] [-6.61908000e-01 7.49585067e-01 -1.64830439e-04 -2.13357189e+02] [-2.54617900e-04 -4.94032206e-06 9.99999968e-01 -5.06169247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.246559995 meters 0.052542585938341504 Centerline is valid? [True, True] Translation: X:637.12, Y:-213.40, Z:-5.06 [[ 7.48247485e-01 6.63417868e-01 1.56002698e-03 6.37122723e+02] [-6.63416533e-01 7.48249110e-01 -1.33134791e-03 -2.13402241e+02] [-2.05052879e-03 -3.87699690e-05 9.99997897e-01 -5.06033794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3065599949999 meters 0.05146605722329989 Centerline is valid? [True, True] Translation: X:637.17, Y:-213.45, Z:-5.06 [[ 7.46346171e-01 6.65555605e-01 1.76909552e-03 6.37167128e+02] [-6.65553893e-01 7.46348266e-01 -1.51032193e-03 -2.13445048e+02] [-2.32556460e-03 -5.02054195e-05 9.99997295e-01 -5.06071654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.366559995 meters 0.0517154508147878 Centerline is valid? [True, True] Translation: X:637.21, Y:-213.48, Z:-5.06 [[ 7.44467810e-01 6.67655732e-01 1.87186263e-03 6.37213505e+02] [-6.67653821e-01 7.44470161e-01 -1.59853923e-03 -2.13484449e+02] [-2.46081976e-03 -5.96952338e-05 9.99996970e-01 -5.06169696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4265599949999 meters 0.0512739104264068 Centerline is valid? [True, True] Translation: X:637.25, Y:-213.53, Z:-5.06 [[ 7.42637350e-01 6.69690102e-01 2.22124083e-03 6.37254652e+02] [-6.69687418e-01 7.42640668e-01 -1.89739760e-03 -2.13530516e+02] [-2.92025216e-03 -7.84587145e-05 9.99995733e-01 -5.06150341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.486559995 meters 0.05147451117604385 Centerline is valid? [True, True] Translation: X:637.30, Y:-213.57, Z:-5.06 [[ 7.41430136e-01 6.71028535e-01 1.43486269e-03 6.37304842e+02] [-6.71027417e-01 7.41431522e-01 -1.22605599e-03 -2.13565001e+02] [-1.88657098e-03 -5.37973468e-05 9.99998219e-01 -5.06428965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5465599949999 meters 0.050881086355649245 Centerline is valid? [True, True] Translation: X:637.34, Y:-213.61, Z:-5.06 [[ 7.38904346e-01 6.73807447e-01 1.97260126e-03 6.37344196e+02] [-6.73805344e-01 7.38906975e-01 -1.68538058e-03 -2.13612971e+02] [-2.59319081e-03 -8.38142377e-05 9.99996634e-01 -5.06275296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.606559995 meters 0.05250425781487351 Centerline is valid? [True, True] Translation: X:637.40, Y:-213.65, Z:-5.06 [[ 7.38354446e-01 6.74411264e-01 1.46943944e-03 6.37396045e+02] [-6.74410098e-01 7.38355906e-01 -1.25544160e-03 -2.13646752e+02] [-1.93165324e-03 -6.40439042e-05 9.99998132e-01 -5.06481879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.666559995 meters 0.04992962669126895 Centerline is valid? [True, True] Translation: X:637.43, Y:-213.70, Z:-5.06 [[ 7.38513187e-01 6.74238773e-01 5.91859021e-04 6.37434097e+02] [-6.74238584e-01 7.38513423e-01 -5.05098381e-04 -2.13698282e+02] [-7.77652745e-04 -2.60323733e-05 9.99999697e-01 -5.06400616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.726559995 meters 0.05052153143961251 Centerline is valid? [True, True] Translation: X:637.48, Y:-213.74, Z:-5.07 [[ 7.40216082e-01 6.72368514e-01 -8.56631639e-04 6.37479360e+02] [-6.72368115e-01 7.40216577e-01 7.33542547e-04 -2.13738818e+02] [ 1.12730385e-03 3.29918101e-05 9.99999364e-01 -5.06634604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.786559995 meters 0.050416379167137974 Centerline is valid? [True, True] Translation: X:637.52, Y:-213.78, Z:-5.07 [[ 7.42270267e-01 6.70100576e-01 -2.62866601e-04 6.37522272e+02] [-6.70100538e-01 7.42270314e-01 2.25544820e-04 -2.13783489e+02] [ 3.46255788e-04 8.73183695e-06 9.99999940e-01 -5.06576546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.846559995 meters 0.0504328505920092 Centerline is valid? [True, True] Translation: X:637.57, Y:-213.83, Z:-5.07 [[ 7.46069860e-01 6.65867048e-01 9.15465018e-04 6.37566320e+02] [-6.65866588e-01 7.46070421e-01 -7.82964834e-04 -2.13826494e+02] [-1.20435185e-03 -2.54311043e-05 9.99999274e-01 -5.06615726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.906559995 meters 0.050239147865890094 Centerline is valid? [True, True] Translation: X:637.61, Y:-213.87, Z:-5.07 [[ 7.48563164e-01 6.63062740e-01 9.96455330e-04 6.37612274e+02] [-6.63062193e-01 7.48563827e-01 -8.52186711e-04 -2.13868218e+02] [-1.31096367e-03 -2.27962755e-05 9.99999140e-01 -5.06674935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9665599949999 meters 0.050575524956887816 Centerline is valid? [True, True] Translation: X:637.66, Y:-213.91, Z:-5.07 [[ 7.50061003e-01 6.61368319e-01 6.62909061e-04 6.37660649e+02] [-6.61368076e-01 7.50061296e-01 -5.66629865e-04 -2.13905296e+02] [-8.71973471e-04 -1.34199260e-05 9.99999620e-01 -5.06940437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.026559995 meters 0.050664268325258485 Centerline is valid? [True, True] Translation: X:637.71, Y:-213.95, Z:-5.07 [[ 7.50130038e-01 6.61290343e-01 9.42419378e-05 6.37706839e+02] [-6.61290338e-01 7.50130043e-01 -7.94139719e-05 -2.13947923e+02] [-1.23209402e-04 -2.75047724e-06 9.99999992e-01 -5.06870316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0865599949999 meters 0.05023621982187354 Centerline is valid? [True, True] Translation: X:637.76, Y:-213.99, Z:-5.07 [[ 7.48832183e-01 6.62759618e-01 2.22993326e-04 6.37756423e+02] [-6.62759591e-01 7.48832217e-01 -1.89811129e-04 -2.13985978e+02] [-2.92783738e-04 -5.65428314e-06 9.99999957e-01 -5.06902511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.146559995 meters 0.05121977760908655 Centerline is valid? [True, True] Translation: X:637.81, Y:-214.02, Z:-5.07 [[ 7.48263748e-01 6.63401145e-01 5.33140718e-04 6.37805040e+02] [-6.63400989e-01 7.48263938e-01 -4.55520937e-04 -2.14023718e+02] [-7.01123085e-04 -1.28362763e-05 9.99999754e-01 -5.06975612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2065599949999 meters 0.05016174728409746 Centerline is valid? [True, True] Translation: X:637.85, Y:-214.07, Z:-5.07 [[ 7.49228598e-01 6.62311388e-01 -3.65906826e-04 6.37851155e+02] [-6.62311313e-01 7.49228687e-01 3.14502333e-04 -2.14065699e+02] [ 4.82446367e-04 6.71008853e-06 9.99999884e-01 -5.06992193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.266559995 meters 0.05099912961044076 Centerline is valid? [True, True] Translation: X:637.90, Y:-214.11, Z:-5.07 [[ 7.49514512e-01 6.61985674e-01 -1.72162286e-03 6.37898379e+02] [-6.61984029e-01 7.49516489e-01 1.47600812e-03 -2.14106328e+02] [ 2.26748095e-03 3.33973348e-05 9.99997429e-01 -5.07179295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3265599949999 meters 0.05045973822017725 Centerline is valid? [True, True] Translation: X:637.95, Y:-214.15, Z:-5.07 [[ 7.49827745e-01 6.61626874e-01 -2.86932341e-03 6.37945099e+02] [-6.61622303e-01 7.49833233e-01 2.45980538e-03 -2.14146858e+02] [ 3.77898739e-03 5.39780482e-05 9.99992858e-01 -5.07285853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.386559995 meters 0.05094256421154579 Centerline is valid? [True, True] Translation: X:637.99, Y:-214.19, Z:-5.07 [[ 7.49911067e-01 6.61529811e-01 -3.42077226e-03 6.37992854e+02] [-6.61523310e-01 7.49918866e-01 2.93326576e-03 -2.14188632e+02] [ 4.50574440e-03 6.32321400e-05 9.99989847e-01 -5.07295605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4465599949999 meters 0.05132404575985569 Centerline is valid? [True, True] Translation: X:638.04, Y:-214.23, Z:-5.07 [[ 7.49335495e-01 6.62181416e-01 -3.47671966e-03 6.38040212e+02] [-6.62174710e-01 7.49343558e-01 2.98092347e-03 -2.14227177e+02] [ 4.57916960e-03 6.84840694e-05 9.99989513e-01 -5.07436051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.506559995 meters 0.05140279576964898 Centerline is valid? [True, True] Translation: X:638.09, Y:-214.27, Z:-5.07 [[ 7.48273272e-01 6.63382646e-01 -3.25190792e-03 6.38086706e+02] [-6.63376790e-01 7.48280335e-01 2.78823543e-03 -2.14268189e+02] [ 4.28300574e-03 7.08781861e-05 9.99990825e-01 -5.07365630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5665599949999 meters 0.0502829420441825 Centerline is valid? [True, True] Translation: X:638.13, Y:-214.31, Z:-5.07 [[ 7.46445431e-01 6.65437103e-01 -3.56104872e-03 6.38132840e+02] [-6.65430098e-01 7.46453919e-01 3.05453818e-03 -2.14309028e+02] [ 4.69076181e-03 8.95829379e-05 9.99988994e-01 -5.07316464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.626559995 meters 0.05094793408314168 Centerline is valid? [True, True] Translation: X:638.18, Y:-214.35, Z:-5.07 [[ 7.45570780e-01 6.66419015e-01 -3.14772123e-03 6.38180954e+02] [-6.66413547e-01 7.45577420e-01 2.70079197e-03 -2.14348636e+02] [ 4.14672899e-03 8.40524936e-05 9.99991399e-01 -5.07376371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6865599949999 meters 0.05140463775192313 Centerline is valid? [True, True] Translation: X:638.23, Y:-214.39, Z:-5.08 [[ 7.44669878e-01 6.67425881e-01 -3.07677327e-03 6.38228837e+02] [-6.67420666e-01 7.44676229e-01 2.63969323e-03 -2.14386117e+02] [ 4.05299949e-03 8.78020317e-05 9.99991783e-01 -5.07500600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.746559995 meters 0.050524026955137656 Centerline is valid? [True, True] Translation: X:638.28, Y:-214.43, Z:-5.07 [[ 7.44752544e-01 6.67335712e-01 -2.58758302e-03 6.38276279e+02] [-6.67332020e-01 7.44757036e-01 2.22109382e-03 -2.14426631e+02] [ 3.40933588e-03 7.26117318e-05 9.99994186e-01 -5.07447212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8065599949999 meters 0.05032640236301659 Centerline is valid? [True, True] Translation: X:638.32, Y:-214.47, Z:-5.07 [[ 7.45252126e-01 6.66778552e-01 -2.37318801e-03 6.38322483e+02] [-6.66775442e-01 7.45255901e-01 2.03763536e-03 -2.14468751e+02] [ 3.12728393e-03 6.38314048e-05 9.99995108e-01 -5.07346606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.866559995 meters 0.050528982451568207 Centerline is valid? [True, True] Translation: X:638.37, Y:-214.51, Z:-5.07 [[ 7.46468236e-01 6.65414354e-01 -2.98495739e-03 6.38368083e+02] [-6.65409421e-01 7.46474200e-01 2.56320383e-03 -2.14511380e+02] [ 3.93378630e-03 7.28685328e-05 9.99992260e-01 -5.07345708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9265599949999 meters 0.05169876558059908 Centerline is valid? [True, True] Translation: X:638.41, Y:-214.55, Z:-5.08 [[ 7.47358750e-01 6.64409873e-01 -3.79740453e-03 6.38414566e+02] [-6.64401875e-01 7.47368392e-01 3.26115999e-03 -2.14550493e+02] [ 5.00480701e-03 8.57462414e-05 9.99987472e-01 -5.07586421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.986559995 meters 0.05080659514643956 Centerline is valid? [True, True] Translation: X:638.46, Y:-214.59, Z:-5.08 [[ 7.48394911e-01 6.63230444e-01 -5.51682199e-03 6.38461777e+02] [-6.63213524e-01 7.48415236e-01 4.73874693e-03 -2.14590412e+02] [ 7.27175487e-03 1.12376868e-04 9.99973554e-01 -5.07843118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0465599949999 meters 0.050563117333416306 Centerline is valid? [True, True] Translation: X:638.51, Y:-214.63, Z:-5.08 [[ 7.50875789e-01 6.60427690e-01 -4.56242022e-03 6.38508169e+02] [-6.60416071e-01 7.50889646e-01 3.91820952e-03 -2.14629213e+02] [ 6.01356817e-03 7.10069704e-05 9.99981916e-01 -5.07980642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.106559995 meters 0.05116006909844416 Centerline is valid? [True, True] Translation: X:638.55, Y:-214.67, Z:-5.08 [[ 7.52977464e-01 6.58035020e-01 -3.85388950e-03 6.38552952e+02] [-6.58026695e-01 7.52987325e-01 3.31013265e-03 -2.14672007e+02] [ 5.08011314e-03 4.35068817e-05 9.99987095e-01 -5.07772503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.166559995 meters 0.05081752119649799 Centerline is valid? [True, True] Translation: X:638.60, Y:-214.72, Z:-5.07 [[ 7.57350498e-01 6.53001988e-01 -2.93712343e-03 6.38595360e+02] [-6.52997115e-01 7.57356193e-01 2.52283513e-03 -2.14716727e+02] [ 3.87186498e-03 7.26268196e-06 9.99992504e-01 -5.07420878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.226559995 meters 0.050899683971001974 Centerline is valid? [True, True] Translation: X:638.64, Y:-214.76, Z:-5.08 [[ 7.60026400e-01 6.49886681e-01 -2.67832248e-03 6.38641637e+02] [-6.49882604e-01 7.60031119e-01 2.30206996e-03 -2.14757815e+02] [ 3.53169304e-03 -9.03875955e-06 9.99993764e-01 -5.07578573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.286559995 meters 0.05231653598060662 Centerline is valid? [True, True] Translation: X:638.69, Y:-214.80, Z:-5.07 [[ 7.64774424e-01 6.44295174e-01 -1.95155064e-03 6.38687346e+02] [-6.44292991e-01 7.64776914e-01 1.67733676e-03 -2.14799679e+02] [ 2.57320085e-03 -2.54138563e-05 9.99996689e-01 -5.07412738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.346559995 meters 0.053103529429827885 Centerline is valid? [True, True] Translation: X:638.73, Y:-214.84, Z:-5.07 [[ 7.68832047e-01 6.39446179e-01 -2.42231489e-03 6.38734075e+02] [-6.39442792e-01 7.68835861e-01 2.08186153e-03 -2.14837257e+02] [ 3.19360096e-03 -5.16700629e-05 9.99994899e-01 -5.06935622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.406559995 meters 0.05292454459755721 Centerline is valid? [True, True] Translation: X:638.78, Y:-214.88, Z:-5.07 [[ 7.69856708e-01 6.38210343e-01 -2.86487116e-03 6.38777292e+02] [-6.38205597e-01 7.69862035e-01 2.46226554e-03 -2.14882233e+02] [ 3.77699888e-03 -6.72148301e-05 9.99992865e-01 -5.07448195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4665599949999 meters 0.052637021162671355 Centerline is valid? [True, True] Translation: X:638.83, Y:-214.92, Z:-5.07 [[ 7.68966612e-01 6.39284161e-01 -2.47217818e-03 6.38826254e+02] [-6.39280632e-01 7.68970584e-01 2.12500448e-03 -2.14920520e+02] [ 3.25951400e-03 -5.36418612e-05 9.99994686e-01 -5.07419980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.526559995 meters 0.053278008370372214 Centerline is valid? [True, True] Translation: X:638.88, Y:-214.95, Z:-5.07 [[ 7.66777306e-01 6.41911637e-01 -1.41868594e-03 6.38878142e+02] [-6.41910480e-01 7.66778618e-01 1.21943076e-03 -2.14953876e+02] [ 1.87058484e-03 -2.43624647e-05 9.99998250e-01 -5.06861135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5865599949999 meters 0.05285104727395688 Centerline is valid? [True, True] Translation: X:638.92, Y:-215.00, Z:-5.07 [[ 7.64747483e-01 6.44328652e-01 -1.36920681e-03 6.38923683e+02] [-6.44327577e-01 7.64748709e-01 1.17723925e-03 -2.14995787e+02] [ 1.80562812e-03 -1.80730467e-05 9.99998370e-01 -5.07145115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.646559995 meters 0.052212815942770156 Centerline is valid? [True, True] Translation: X:638.97, Y:-215.03, Z:-5.07 [[ 7.61148359e-01 6.48577802e-01 -9.57994070e-05 6.38973670e+02] [-6.48577797e-01 7.61148365e-01 8.25875495e-05 -2.15031712e+02] [ 1.26482013e-04 -7.28009449e-07 9.99999992e-01 -5.07141377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7065599949999 meters 0.05245283076404891 Centerline is valid? [True, True] Translation: X:639.02, Y:-215.07, Z:-5.07 [[ 7.57388091e-01 6.52964968e-01 1.73374239e-04 6.39023222e+02] [-6.52964951e-01 7.57388111e-01 -1.47925940e-04 -2.15068588e+02] [-2.27902045e-04 -1.16995626e-06 9.99999974e-01 -5.07168123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.766559995 meters 0.052660680221456 Centerline is valid? [True, True] Translation: X:639.07, Y:-215.11, Z:-5.07 [[ 7.55703364e-01 6.54914050e-01 -1.11270162e-04 6.39070097e+02] [-6.54914043e-01 7.55703372e-01 9.67025493e-05 -2.15107515e+02] [ 1.47419095e-04 -2.06049841e-07 9.99999989e-01 -5.06950088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8265599949999 meters 0.051979513160974974 Centerline is valid? [True, True] Translation: X:639.12, Y:-215.14, Z:-5.07 [[ 7.53977279e-01 6.56900483e-01 -1.38437060e-04 6.39119848e+02] [-6.56900472e-01 7.53977291e-01 1.20094183e-04 -2.15143280e+02] [ 1.83268326e-04 3.91085125e-07 9.99999983e-01 -5.07357584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.886559995 meters 0.05223839647009521 Centerline is valid? [True, True] Translation: X:639.17, Y:-215.18, Z:-5.07 [[ 7.52539417e-01 6.58544756e-01 -1.79745453e-03 6.39166537e+02] [-6.58542939e-01 7.52541563e-01 1.54680669e-03 -2.15184133e+02] [ 2.37130068e-03 1.96679836e-05 9.99997188e-01 -5.07269147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9465599949999 meters 0.05238914706958769 Centerline is valid? [True, True] Translation: X:639.21, Y:-215.23, Z:-5.07 [[ 7.52631855e-01 6.58436099e-01 -2.68223254e-03 6.39213395e+02] [-6.58432051e-01 7.52636634e-01 2.30899655e-03 -2.15225441e+02] [ 3.53907315e-03 2.82435122e-05 9.99993737e-01 -5.07349690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.006559995 meters 0.05265011772770673 Centerline is valid? [True, True] Translation: X:639.26, Y:-215.27, Z:-5.07 [[ 7.53305157e-01 6.57664563e-01 -2.94318035e-03 6.39259523e+02] [-6.57659685e-01 7.53310906e-01 2.53335517e-03 -2.15265985e+02] [ 3.88322778e-03 2.72215405e-05 9.99992460e-01 -5.07487515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0665599949999 meters 0.0520062819642252 Centerline is valid? [True, True] Translation: X:639.31, Y:-215.31, Z:-5.08 [[ 7.53972773e-01 6.56901036e-01 -2.46701661e-03 6.39305532e+02] [-6.56897603e-01 7.53976809e-01 2.12386870e-03 -2.15305602e+02] [ 3.25524486e-03 1.92381213e-05 9.99994701e-01 -5.07735093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.126559995 meters 0.05249994434993684 Centerline is valid? [True, True] Translation: X:639.35, Y:-215.35, Z:-5.08 [[ 7.54422939e-01 6.56384810e-01 -2.23848909e-03 6.39350494e+02] [-6.56381978e-01 7.54426260e-01 1.92811447e-03 -2.15348302e+02] [ 2.95436000e-03 1.46901117e-05 9.99995636e-01 -5.07549668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1865599949999 meters 0.05250208617300967 Centerline is valid? [True, True] Translation: X:639.40, Y:-215.39, Z:-5.08 [[ 7.54775628e-01 6.55977444e-01 -2.71017770e-03 6.39396038e+02] [-6.55973292e-01 7.54780493e-01 2.33396836e-03 -2.15389245e+02] [ 3.57661986e-03 1.61817524e-05 9.99993604e-01 -5.07661766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.246559995 meters 0.05111970276339733 Centerline is valid? [True, True] Translation: X:639.44, Y:-215.43, Z:-5.08 [[ 7.53692859e-01 6.57211689e-01 -4.45757657e-03 6.39443001e+02] [-6.57200481e-01 7.53706040e-01 3.83836645e-03 -2.15430144e+02] [ 5.88232169e-03 3.65720790e-05 9.99982698e-01 -5.07805775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3065599949999 meters 0.05216311104418457 Centerline is valid? [True, True] Translation: X:639.49, Y:-215.47, Z:-5.08 [[ 7.53069511e-01 6.57926706e-01 -4.33131456e-03 6.39489470e+02] [-6.57916125e-01 7.53081966e-01 3.73158822e-03 -2.15472567e+02] [ 5.71694643e-03 3.94963727e-05 9.99983657e-01 -5.07877273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.366559995 meters 0.05234988642018464 Centerline is valid? [True, True] Translation: X:639.53, Y:-215.51, Z:-5.08 [[ 7.53420464e-01 6.57530257e-01 -3.40085468e-03 6.39533491e+02] [-6.57523727e-01 7.53428139e-01 2.93061291e-03 -2.15514887e+02] [ 4.48926627e-03 2.81589119e-05 9.99989923e-01 -5.07793212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4265599949999 meters 0.051723091605392416 Centerline is valid? [True, True] Translation: X:639.58, Y:-215.56, Z:-5.08 [[ 7.53717628e-01 6.57191567e-01 -2.99693460e-03 6.39578719e+02] [-6.57186490e-01 7.53723586e-01 2.58334770e-03 -2.15558205e+02] [ 3.95661462e-03 2.24302340e-05 9.99992172e-01 -5.07838079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.486559995 meters 0.051294605223632266 Centerline is valid? [True, True] Translation: X:639.62, Y:-215.60, Z:-5.08 [[ 7.53275965e-01 6.57698812e-01 -2.75538492e-03 6.39624441e+02] [-6.57694521e-01 7.53281004e-01 2.37604533e-03 -2.15601347e+02] [ 3.63830131e-03 2.23837229e-05 9.99993381e-01 -5.07780456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5465599949999 meters 0.05136980755640083 Centerline is valid? [True, True] Translation: X:639.67, Y:-215.64, Z:-5.08 [[ 7.53006692e-01 6.58011611e-01 -1.28148938e-03 6.39668525e+02] [-6.58010683e-01 7.53007782e-01 1.10524899e-03 -2.15643988e+02] [ 1.69223814e-03 1.09738172e-05 9.99998568e-01 -5.07763884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.606559995 meters 0.0512655741191479 Centerline is valid? [True, True] Translation: X:639.72, Y:-215.68, Z:-5.08 [[ 7.52897719e-01 6.58136726e-01 -1.03677869e-03 6.39715548e+02] [-6.58136118e-01 7.52898432e-01 8.95073136e-04 -2.15684924e+02] [ 1.36966956e-03 8.44298250e-06 9.99999062e-01 -5.07867917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.666559995 meters 0.051509112144848816 Centerline is valid? [True, True] Translation: X:639.76, Y:-215.72, Z:-5.08 [[ 7.49626611e-01 6.61859418e-01 -1.43351648e-03 6.39763229e+02] [-6.61858262e-01 7.49627981e-01 1.23727365e-03 -2.15724146e+02] [ 1.89350528e-03 2.12914787e-05 9.99998207e-01 -5.07865403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.726559995 meters 0.0506713231785299 Centerline is valid? [True, True] Translation: X:639.81, Y:-215.76, Z:-5.08 [[ 7.45875218e-01 6.66081690e-01 -2.31118425e-03 6.39811644e+02] [-6.66078705e-01 7.45878797e-01 1.99448475e-03 -2.15761342e+02] [ 3.05235310e-03 5.17938686e-05 9.99995340e-01 -5.08000978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.786559995 meters 0.0513234637943061 Centerline is valid? [True, True] Translation: X:639.86, Y:-215.80, Z:-5.08 [[ 7.44782548e-01 6.67300021e-01 -3.10446605e-03 6.39859780e+02] [-6.67294651e-01 7.44789014e-01 2.67822162e-03 -2.15800463e+02] [ 4.09934955e-03 7.69008709e-05 9.99991595e-01 -5.08152154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8465599949999 meters 0.05125353964590655 Centerline is valid? [True, True] Translation: X:639.91, Y:-215.84, Z:-5.08 [[ 7.45553226e-01 6.66443193e-01 -1.96426986e-03 6.39906306e+02] [-6.66441037e-01 7.45555812e-01 1.69584375e-03 -2.15841221e+02] [ 2.59465634e-03 4.47282595e-05 9.99996633e-01 -5.08054418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.906559995 meters 0.0509281815679315 Centerline is valid? [True, True] Translation: X:639.95, Y:-215.88, Z:-5.08 [[ 7.47250210e-01 6.64542753e-01 -2.33431740e-04 6.39951933e+02] [-6.64542722e-01 7.47250246e-01 2.02263851e-04 -2.15882304e+02] [ 3.08844901e-04 3.98365909e-06 9.99999952e-01 -5.07952858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9665599949999 meters 0.05089567640635217 Centerline is valid? [True, True] Translation: X:640.00, Y:-215.92, Z:-5.08 [[ 7.50733758e-01 6.60603220e-01 1.48680043e-03 6.39997175e+02] [-6.60601975e-01 7.50735230e-01 -1.28279773e-03 -2.15922568e+02] [-1.96361377e-03 -1.91437392e-05 9.99998072e-01 -5.07910808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.026559995 meters 0.0517255265298898 Centerline is valid? [True, True] Translation: X:640.04, Y:-215.97, Z:-5.08 [[ 7.54592898e-01 6.56191059e-01 1.68904900e-03 6.40041430e+02] [-6.56189441e-01 7.54594788e-01 -1.45708248e-03 -2.15965361e+02] [-2.23067207e-03 -8.83203173e-06 9.99997512e-01 -5.08037790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0865599949999 meters 0.05163832529692677 Centerline is valid? [True, True] Translation: X:640.09, Y:-216.01, Z:-5.08 [[ 7.56743615e-01 6.53710374e-01 1.35949113e-03 6.40087267e+02] [-6.53709323e-01 7.56744836e-01 -1.17255841e-03 -2.16006819e+02] [-1.79530149e-03 -1.38593736e-06 9.99998388e-01 -5.08103622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.146559995 meters 0.051530127689333516 Centerline is valid? [True, True] Translation: X:640.14, Y:-216.04, Z:-5.08 [[ 7.55926578e-01 6.54656375e-01 -1.99317700e-04 6.40135751e+02] [-6.54656352e-01 7.55926604e-01 1.73192223e-04 -2.16044302e+02] [ 2.64050945e-04 -4.36006274e-07 9.99999965e-01 -5.08450292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2065599949999 meters 0.052221851959533216 Centerline is valid? [True, True] Translation: X:640.18, Y:-216.08, Z:-5.08 [[ 7.54858202e-01 6.55887838e-01 -4.88867477e-04 6.40183988e+02] [-6.55887702e-01 7.54858360e-01 4.23374430e-04 -2.16082867e+02] [ 6.46711841e-04 1.05450530e-06 9.99999791e-01 -5.08477703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.266559995 meters 0.052722844528613144 Centerline is valid? [True, True] Translation: X:640.23, Y:-216.12, Z:-5.08 [[ 7.54219242e-01 6.56622545e-01 -4.09468931e-04 6.40231829e+02] [-6.56622449e-01 7.54219353e-01 3.55070426e-04 -2.16123866e+02] [ 5.41976639e-04 1.06554427e-06 9.99999853e-01 -5.08462456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3265599949999 meters 0.05056765376737829 Centerline is valid? [True, True] Translation: X:640.28, Y:-216.16, Z:-5.09 [[ 7.51990084e-01 6.59174257e-01 -4.60528868e-04 6.40280711e+02] [-6.59174137e-01 7.51990225e-01 3.99104377e-04 -2.16162108e+02] [ 6.09392538e-04 3.44618472e-06 9.99999814e-01 -5.08546050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.386559995 meters 0.05193610147957224 Centerline is valid? [True, True] Translation: X:640.33, Y:-216.20, Z:-5.09 [[ 7.50235679e-01 6.61170051e-01 -7.68278679e-04 6.40329757e+02] [-6.61169716e-01 7.50236072e-01 6.65110321e-04 -2.16199325e+02] [ 1.01614140e-03 8.97310284e-06 9.99999484e-01 -5.08806727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4465599949999 meters 0.0518701552904008 Centerline is valid? [True, True] Translation: X:640.38, Y:-216.24, Z:-5.09 [[ 7.49236980e-01 6.62301918e-01 -3.44167337e-04 6.40375589e+02] [-6.62301850e-01 7.49237059e-01 2.98571872e-04 -2.16239189e+02] [ 4.55607646e-04 4.24157598e-06 9.99999896e-01 -5.08735230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.506559995 meters 0.05089184395284645 Centerline is valid? [True, True] Translation: X:640.42, Y:-216.28, Z:-5.09 [[ 7.48194555e-01 6.63479355e-01 2.31877497e-04 6.40421417e+02] [-6.63479325e-01 7.48194591e-01 -1.99485480e-04 -2.16280531e+02] [-3.05843987e-04 -4.59197576e-06 9.99999953e-01 -5.08629939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5665599949999 meters 0.05107362325809982 Centerline is valid? [True, True] Translation: X:640.47, Y:-216.32, Z:-5.09 [[ 7.46600118e-01 6.65272175e-01 1.09416049e-03 6.40468982e+02] [-6.65271504e-01 7.46600919e-01 -9.45330037e-04 -2.16319787e+02] [-1.44580300e-03 -2.21302770e-05 9.99998955e-01 -5.08703588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.626559995 meters 0.05255601806847334 Centerline is valid? [True, True] Translation: X:640.52, Y:-216.35, Z:-5.09 [[ 7.46101930e-01 6.65831236e-01 8.21693650e-04 6.40519961e+02] [-6.65830858e-01 7.46102382e-01 -7.09829025e-04 -2.16353678e+02] [-1.08569393e-03 -1.75041833e-05 9.99999410e-01 -5.09055543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6865599949999 meters 0.051171378886135446 Centerline is valid? [True, True] Translation: X:640.56, Y:-216.40, Z:-5.09 [[ 7.46326020e-01 6.65580174e-01 7.09531306e-04 6.40561827e+02] [-6.65579891e-01 7.46326358e-01 -6.13473354e-04 -2.16399694e+02] [-9.37857617e-04 -1.43986428e-05 9.99999560e-01 -5.08894336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.746559995 meters 0.05081225993518377 Centerline is valid? [True, True] Translation: X:640.61, Y:-216.44, Z:-5.09 [[ 7.46863053e-01 6.64977360e-01 8.31597973e-04 6.40607158e+02] [-6.64976972e-01 7.46863516e-01 -7.18518084e-04 -2.16441931e+02] [-1.09888844e-03 -1.63588924e-05 9.99999396e-01 -5.08867847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8065599949999 meters 0.05139520477279442 Centerline is valid? [True, True] Translation: X:640.65, Y:-216.48, Z:-5.09 [[ 7.47596688e-01 6.64152880e-01 3.79461548e-04 6.40654365e+02] [-6.64152799e-01 7.47596784e-01 -3.27415338e-04 -2.16480308e+02] [-5.01138073e-04 -7.24582680e-06 9.99999874e-01 -5.09054419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.866559995 meters 0.05071626920375385 Centerline is valid? [True, True] Translation: X:640.70, Y:-216.52, Z:-5.09 [[ 7.47011165e-01 6.64811359e-01 -4.20458271e-04 6.40699867e+02] [-6.64811258e-01 7.47011283e-01 3.65002927e-04 -2.16521957e+02] [ 5.56745164e-04 6.86413074e-06 9.99999845e-01 -5.09117716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9265599949999 meters 0.051460130380745484 Centerline is valid? [True, True] Translation: X:640.75, Y:-216.56, Z:-5.09 [[ 7.46439451e-01 6.65453316e-01 1.76119256e-04 6.40747953e+02] [-6.65453299e-01 7.46439472e-01 -1.51287573e-04 -2.16563328e+02] [-2.32137181e-04 -4.27212714e-06 9.99999973e-01 -5.09194204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.986559995 meters 0.051685030228413496 Centerline is valid? [True, True] Translation: X:640.79, Y:-216.61, Z:-5.09 [[ 7.45779745e-01 6.66192485e-01 3.81716218e-04 6.40793725e+02] [-6.66192403e-01 7.45779842e-01 -3.29522777e-04 -2.16605168e+02] [-5.04201858e-04 -8.54503186e-06 9.99999873e-01 -5.09155841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0465599949999 meters 0.05119002602411984 Centerline is valid? [True, True] Translation: X:640.84, Y:-216.64, Z:-5.09 [[ 7.45420660e-01 6.66594353e-01 -9.09133022e-05 6.40840964e+02] [-6.66594348e-01 7.45420666e-01 7.97741000e-05 -2.16643902e+02] [ 1.20945619e-04 1.13703113e-06 9.99999993e-01 -5.09297844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.106559995 meters 0.05116543295414472 Centerline is valid? [True, True] Translation: X:640.89, Y:-216.69, Z:-5.09 [[ 7.45535256e-01 6.66466183e-01 8.81175504e-05 6.40885347e+02] [-6.66466179e-01 7.45535262e-01 -7.52318973e-05 -2.16688284e+02] [-1.15834257e-04 -2.63933527e-06 9.99999993e-01 -5.09105910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.166559995 meters 0.052006587979097435 Centerline is valid? [True, True] Translation: X:640.93, Y:-216.73, Z:-5.09 [[ 7.45855582e-01 6.66107363e-01 6.57024882e-04 6.40934518e+02] [-6.66107120e-01 7.45855872e-01 -5.68354391e-04 -2.16725626e+02] [-8.68630910e-04 -1.37386568e-05 9.99999623e-01 -5.09171715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.226559995 meters 0.05130420021017315 Centerline is valid? [True, True] Translation: X:640.98, Y:-216.76, Z:-5.09 [[ 7.47180508e-01 6.64620381e-01 1.01910939e-03 6.40982230e+02] [-6.64619795e-01 7.47181202e-01 -8.82510646e-04 -2.16763911e+02] [-1.34799394e-03 -1.79255206e-05 9.99999091e-01 -5.09289081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.286559995 meters 0.05053665087770048 Centerline is valid? [True, True] Translation: X:641.03, Y:-216.81, Z:-5.09 [[ 7.47765904e-01 6.63961093e-01 1.34878577e-03 6.41028782e+02] [-6.63960065e-01 7.47767121e-01 -1.16848169e-03 -2.16805546e+02] [-1.78440403e-03 -2.17891258e-05 9.99998408e-01 -5.09285954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3465599949999 meters 0.05132022183814048 Centerline is valid? [True, True] Translation: X:641.07, Y:-216.85, Z:-5.09 [[ 7.48705240e-01 6.62901239e-01 1.55269299e-03 6.41071462e+02] [-6.62899873e-01 7.48706850e-01 -1.34563757e-03 -2.16849319e+02] [-2.05453669e-03 -2.17940884e-05 9.99997889e-01 -5.09061958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.406559995 meters 0.05145654557790234 Centerline is valid? [True, True] Translation: X:641.12, Y:-216.89, Z:-5.09 [[ 7.50047080e-01 6.61382161e-01 1.73633123e-03 6.41119298e+02] [-6.61380447e-01 7.50049090e-01 -1.50560273e-03 -2.16889149e+02] [-2.29811244e-03 -1.91025889e-05 9.99997359e-01 -5.09147797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4665599949999 meters 0.05165422920481152 Centerline is valid? [True, True] Translation: X:641.17, Y:-216.93, Z:-5.10 [[ 7.50090817e-01 6.61334438e-01 7.26162692e-04 6.41168948e+02] [-6.61334139e-01 7.50091169e-01 -6.28931382e-04 -2.16925643e+02] [-9.60622205e-04 -8.48052421e-06 9.99999539e-01 -5.09597262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.526559995 meters 0.05183576300457823 Centerline is valid? [True, True] Translation: X:641.22, Y:-216.97, Z:-5.09 [[ 7.50117252e-01 6.61304229e-01 9.08293481e-04 6.41215242e+02] [-6.61303761e-01 7.50117802e-01 -7.86898542e-04 -2.16968163e+02] [-1.20170644e-03 -1.03917232e-05 9.99999278e-01 -5.09471000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5865599949999 meters 0.05190703199154313 Centerline is valid? [True, True] Translation: X:641.26, Y:-217.01, Z:-5.10 [[ 7.50363353e-01 6.61024788e-01 1.03356675e-03 6.41262394e+02] [-6.61024180e-01 7.50364065e-01 -8.95978451e-04 -2.17009252e+02] [-1.36781531e-03 -1.09032198e-05 9.99999064e-01 -5.09574008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.646559995 meters 0.05148784449517005 Centerline is valid? [True, True] Translation: X:641.31, Y:-217.05, Z:-5.10 [[ 7.50433048e-01 6.60945204e-01 1.29546194e-03 6.41310310e+02] [-6.60944249e-01 7.50434166e-01 -1.12342404e-03 -2.17049463e+02] [-1.71468063e-03 -1.31735905e-05 9.99998530e-01 -5.09648707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7065599949999 meters 0.05198332656257013 Centerline is valid? [True, True] Translation: X:641.36, Y:-217.09, Z:-5.10 [[ 7.51040898e-01 6.60251181e-01 2.43888625e-03 6.41356790e+02] [-6.60247787e-01 7.51044857e-01 -2.11708066e-03 -2.17089303e+02] [-3.22951798e-03 -2.02550897e-05 9.99994785e-01 -5.09702942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.766559995 meters 0.050967830499271075 Centerline is valid? [True, True] Translation: X:641.40, Y:-217.13, Z:-5.10 [[ 7.52037412e-01 6.59113916e-01 2.92862754e-03 6.41403319e+02] [-6.59109013e-01 7.52043114e-01 -2.54244969e-03 -2.17129732e+02] [-3.87821815e-03 -1.82675245e-05 9.99992480e-01 -5.09770974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8265599949999 meters 0.05168940094366322 Centerline is valid? [True, True] Translation: X:641.45, Y:-217.17, Z:-5.10 [[ 7.52334997e-01 6.58772149e-01 3.36277511e-03 6.41450155e+02] [-6.58765677e-01 7.52342512e-01 -2.92019722e-03 -2.17170760e+02] [-4.45370327e-03 -1.83142528e-05 9.99990082e-01 -5.09738380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.886559995 meters 0.051397716053633025 Centerline is valid? [True, True] Translation: X:641.50, Y:-217.21, Z:-5.10 [[ 7.51842469e-01 6.59338681e-01 2.32509040e-03 6.41498549e+02] [-6.59335588e-01 7.51846064e-01 -2.01951913e-03 -2.17207525e+02] [-3.07965714e-03 -1.46545995e-05 9.99995258e-01 -5.10127304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9465599949999 meters 0.05218406233047722 Centerline is valid? [True, True] Translation: X:641.55, Y:-217.25, Z:-5.10 [[ 7.52232552e-01 6.58895970e-01 1.51262566e-03 6.41545585e+02] [-6.58894660e-01 7.52234073e-01 -1.31380868e-03 -2.17249637e+02] [-2.00351181e-03 -8.37131300e-06 9.99997993e-01 -5.10230842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.006559995 meters 0.05119630125066245 Centerline is valid? [True, True] Translation: X:641.59, Y:-217.29, Z:-5.10 [[ 7.53253301e-01 6.57730163e-01 7.04621874e-04 6.41592049e+02] [-6.57729879e-01 7.53253631e-01 -6.11751667e-04 -2.17291578e+02] [-9.33126509e-04 -2.64689696e-06 9.99999565e-01 -5.10310564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0665599949999 meters 0.05171617011976525 Centerline is valid? [True, True] Translation: X:641.64, Y:-217.33, Z:-5.10 [[ 7.54058652e-01 6.56806972e-01 3.87492778e-04 6.41639067e+02] [-6.56806887e-01 7.54058752e-01 -3.35514464e-04 -2.17333588e+02] [-5.12560560e-04 -1.51034075e-06 9.99999869e-01 -5.10393245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.126559995 meters 0.05237963447677584 Centerline is valid? [True, True] Translation: X:641.69, Y:-217.38, Z:-5.10 [[ 7.54461487e-01 6.56344153e-01 4.66512410e-04 6.41686038e+02] [-6.56344028e-01 7.54461631e-01 -4.04319560e-04 -2.17375371e+02] [-6.17338493e-04 -1.14909821e-06 9.99999809e-01 -5.10491382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1865599949999 meters 0.05142975495646782 Centerline is valid? [True, True] Translation: X:641.73, Y:-217.42, Z:-5.11 [[ 7.53519442e-01 6.57425269e-01 6.82731497e-04 6.41732829e+02] [-6.57425002e-01 7.53519751e-01 -5.92554241e-04 -2.17415795e+02] [-9.04011799e-04 -2.34361487e-06 9.99999591e-01 -5.10558838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.246559995 meters 0.05123683719182 Centerline is valid? [True, True] Translation: X:641.78, Y:-217.45, Z:-5.11 [[ 7.50738731e-01 6.60598433e-01 1.03319309e-03 6.41780605e+02] [-6.60597823e-01 7.50739442e-01 -8.97652969e-04 -2.17454971e+02] [-1.36864695e-03 -8.62225507e-06 9.99999063e-01 -5.10514673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3065599949999 meters 0.05135486185256907 Centerline is valid? [True, True] Translation: X:641.83, Y:-217.49, Z:-5.11 [[ 7.47883396e-01 6.63829919e-01 5.15153564e-04 6.41828012e+02] [-6.63829768e-01 7.47883573e-01 -4.47626042e-04 -2.17494565e+02] [-6.82422447e-04 -7.20218660e-06 9.99999767e-01 -5.10586722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.366559995 meters 0.05159311306456013 Centerline is valid? [True, True] Translation: X:641.88, Y:-217.53, Z:-5.11 [[ 7.46111268e-01 6.65821145e-01 4.23039426e-04 6.41878265e+02] [-6.65821044e-01 7.46111388e-01 -3.67093666e-04 -2.17529935e+02] [-5.60053258e-04 -7.77583191e-06 9.99999843e-01 -5.10916934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4265599949999 meters 0.051343693441952845 Centerline is valid? [True, True] Translation: X:641.92, Y:-217.57, Z:-5.11 [[ 7.44941977e-01 6.67129092e-01 4.74653566e-04 6.41922445e+02] [-6.67128965e-01 7.44942128e-01 -4.12024861e-04 -2.17573627e+02] [-6.28463209e-04 -9.72052796e-06 9.99999802e-01 -5.10662759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.486559995 meters 0.05173274201770618 Centerline is valid? [True, True] Translation: X:641.97, Y:-217.61, Z:-5.11 [[ 7.47654140e-01 6.64087032e-01 1.30409699e-03 6.41966810e+02] [-6.64086062e-01 7.47655277e-01 -1.13495818e-03 -2.17614110e+02] [-1.72872600e-03 -1.74764569e-05 9.99998506e-01 -5.10683333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5465599949999 meters 0.05088930030761129 Centerline is valid? [True, True] Translation: X:642.01, Y:-217.66, Z:-5.11 [[ 7.52753979e-01 6.58301260e-01 9.47704186e-04 6.42008566e+02] [-6.58300745e-01 7.52754575e-01 -8.24236394e-04 -2.17658160e+02] [-1.25598452e-03 -3.42714636e-06 9.99999211e-01 -5.10738107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.606559995 meters 0.05166122074713834 Centerline is valid? [True, True] Translation: X:642.05, Y:-217.70, Z:-5.11 [[ 7.58788223e-01 6.51336943e-01 7.87429431e-04 6.42051228e+02] [-6.51336582e-01 7.58788631e-01 -6.85155321e-04 -2.17704131e+02] [-1.04375947e-03 7.00619339e-06 9.99999455e-01 -5.10893894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.666559995 meters 0.05213527132915439 Centerline is valid? [True, True] Translation: X:642.10, Y:-217.75, Z:-5.11 [[ 7.61420841e-01 6.48257239e-01 9.24788706e-04 6.42097268e+02] [-6.48256740e-01 7.61421402e-01 -8.04865150e-04 -2.17745627e+02] [-1.22591357e-03 1.33405877e-05 9.99999248e-01 -5.10868672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.726559995 meters 0.052678400802166 Centerline is valid? [True, True] Translation: X:642.15, Y:-217.78, Z:-5.11 [[ 7.62859673e-01 6.46562826e-01 1.27699294e-03 6.42145088e+02] [-6.46561872e-01 7.62860742e-01 -1.11100948e-03 -2.17784572e+02] [-1.69250521e-03 2.18893814e-05 9.99998567e-01 -5.10926997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.786559995 meters 0.05230674065536463 Centerline is valid? [True, True] Translation: X:642.19, Y:-217.83, Z:-5.11 [[ 7.63722380e-01 6.45544753e-01 3.13999560e-04 6.42190725e+02] [-6.45544695e-01 7.63722444e-01 -2.72444906e-04 -2.17825492e+02] [-4.15683891e-04 5.37152141e-06 9.99999914e-01 -5.11100153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8465599949999 meters 0.051873121554735294 Centerline is valid? [True, True] Translation: X:642.24, Y:-217.86, Z:-5.11 [[ 7.63438804e-01 6.45880004e-01 -4.61299192e-04 6.42241353e+02] [-6.45879879e-01 7.63438943e-01 4.03182957e-04 -2.17862888e+02] [ 6.12581578e-04 -9.86164827e-06 9.99999812e-01 -5.11004995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.906559995 meters 0.05248946746854532 Centerline is valid? [True, True] Translation: X:642.29, Y:-217.90, Z:-5.11 [[ 7.62753942e-01 6.46688814e-01 -3.64556933e-05 6.42290017e+02] [-6.46688814e-01 7.62753943e-01 3.21600484e-05 -2.17901259e+02] [ 4.86042671e-05 -9.54714602e-07 9.99999999e-01 -5.11167387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9665599949999 meters 0.05292314808692418 Centerline is valid? [True, True] Translation: X:642.34, Y:-217.94, Z:-5.11 [[ 7.61972128e-01 6.47608214e-01 1.44131065e-03 6.42337415e+02] [-6.47606998e-01 7.61973491e-01 -1.25512108e-03 -2.17940473e+02] [-1.91106723e-03 2.29644129e-05 9.99998174e-01 -5.10977091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.026559995 meters 0.052689769640773904 Centerline is valid? [True, True] Translation: X:642.39, Y:-217.98, Z:-5.11 [[ 7.61097891e-01 6.48632496e-01 2.42604528e-03 6.42385587e+02] [-6.48629051e-01 7.61101757e-01 -2.11414915e-03 -2.17979828e+02] [-3.21777317e-03 3.54710116e-05 9.99994822e-01 -5.10889953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0865599949999 meters 0.05185580871616386 Centerline is valid? [True, True] Translation: X:642.44, Y:-218.02, Z:-5.11 [[ 7.58823555e-01 6.51289941e-01 2.86792202e-03 6.42435548e+02] [-6.51285146e-01 7.58828974e-01 -2.49918792e-03 -2.18015829e+02] [-3.80395828e-03 2.86076544e-05 9.99992765e-01 -5.10904518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.146559995 meters 0.05239625384601003 Centerline is valid? [True, True] Translation: X:642.49, Y:-218.05, Z:-5.11 [[ 7.56116322e-01 6.54428077e-01 3.46406480e-03 6.42486995e+02] [-6.54421110e-01 7.56124257e-01 -3.01974794e-03 -2.18052140e+02] [-4.59547126e-03 1.63235745e-05 9.99989441e-01 -5.10861857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2065599949999 meters 0.05236204370397472 Centerline is valid? [True, True] Translation: X:642.53, Y:-218.09, Z:-5.11 [[ 7.55135888e-01 6.55559366e-01 3.42162795e-03 6.42534466e+02] [-6.55552580e-01 7.55143640e-01 -2.98282900e-03 -2.18091392e+02] [-4.53924208e-03 9.38419226e-06 9.99989698e-01 -5.10892460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.266559995 meters 0.052236495871095634 Centerline is valid? [True, True] Translation: X:642.58, Y:-218.13, Z:-5.11 [[ 7.53597479e-01 6.57326004e-01 3.65577796e-03 6.42584244e+02] [-6.57318275e-01 7.53606346e-01 -3.18766471e-03 -2.18128917e+02] [-4.85035238e-03 -7.93570540e-07 9.99988237e-01 -5.10889239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3265599949999 meters 0.051946831918631364 Centerline is valid? [True, True] Translation: X:642.63, Y:-218.17, Z:-5.11 [[ 7.51207660e-01 6.60058032e-01 3.23195683e-03 6.42633803e+02] [-6.60052014e-01 7.51214612e-01 -2.81865196e-03 -2.18165858e+02] [-4.28836707e-03 -1.58666733e-05 9.99990805e-01 -5.10883358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.386559995 meters 0.05220714026595873 Centerline is valid? [True, True] Translation: X:642.68, Y:-218.20, Z:-5.11 [[ 7.49546503e-01 6.61945823e-01 2.78703088e-03 6.42683408e+02] [-6.61941359e-01 7.49551684e-01 -2.43108474e-03 -2.18201731e+02] [-3.69827008e-03 -2.26399458e-05 9.99993161e-01 -5.11071165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4465599949999 meters 0.05266934825922992 Centerline is valid? [True, True] Translation: X:642.73, Y:-218.24, Z:-5.11 [[ 7.47994767e-01 6.63700058e-01 2.46200580e-03 6.42733766e+02] [-6.63696581e-01 7.47998819e-01 -2.14843310e-03 -2.18236261e+02] [-3.26749260e-03 -2.70081145e-05 9.99994661e-01 -5.11194123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.506559995 meters 0.05315996344920623 Centerline is valid? [True, True] Translation: X:642.78, Y:-218.28, Z:-5.11 [[ 7.47890954e-01 6.63819537e-01 1.65621829e-03 6.42780128e+02] [-6.63817966e-01 7.47892788e-01 -1.44446014e-03 -2.18278150e+02] [-2.19753457e-03 -1.91287836e-05 9.99997585e-01 -5.11092395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5665599949999 meters 0.053254599650080864 Centerline is valid? [True, True] Translation: X:642.83, Y:-218.32, Z:-5.11 [[ 7.48161974e-01 6.63514645e-01 1.40610126e-03 6.42828587e+02] [-6.63513511e-01 7.48163295e-01 -1.22651626e-03 -2.18317563e+02] [-1.86580486e-03 -1.53343574e-05 9.99998259e-01 -5.11153016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.626559995 meters 0.0530909978120733 Centerline is valid? [True, True] Translation: X:642.88, Y:-218.36, Z:-5.11 [[ 7.48222794e-01 6.63446113e-01 1.38029774e-03 6.42876702e+02] [-6.63445021e-01 7.48224067e-01 -1.20422345e-03 -2.18358653e+02] [-1.83170935e-03 -1.47242284e-05 9.99998322e-01 -5.11168663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6865599949999 meters 0.0532073234278323 Centerline is valid? [True, True] Translation: X:642.92, Y:-218.40, Z:-5.11 [[ 7.49197555e-01 6.62344502e-01 1.66851093e-03 6.42923885e+02] [-6.62342900e-01 7.49199413e-01 -1.45680041e-03 -2.18397815e+02] [-2.21495115e-03 -1.36950690e-05 9.99997547e-01 -5.11269606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.746559995 meters 0.05306518378486238 Centerline is valid? [True, True] Translation: X:642.97, Y:-218.44, Z:-5.11 [[ 7.51046197e-01 6.60246232e-01 2.12663078e-03 6.42968811e+02] [-6.60243620e-01 7.51049208e-01 -1.85737998e-03 -2.18441271e+02] [-2.82353250e-03 -9.11623502e-06 9.99996014e-01 -5.11123189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8065599949999 meters 0.053026212624899496 Centerline is valid? [True, True] Translation: X:643.02, Y:-218.48, Z:-5.11 [[ 7.52236018e-01 6.58891778e-01 1.61165028e-03 6.43016369e+02] [-6.58890276e-01 7.52237745e-01 -1.40699016e-03 -2.18482315e+02] [-2.13939842e-03 -3.51201803e-06 9.99997711e-01 -5.11285432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.866559995 meters 0.05355690520012011 Centerline is valid? [True, True] Translation: X:643.06, Y:-218.52, Z:-5.11 [[ 7.53949208e-01 6.56932334e-01 7.07116629e-04 6.43060982e+02] [-6.56932044e-01 7.53949540e-01 -6.17119824e-04 -2.18523393e+02] [-9.38536224e-04 7.49430220e-07 9.99999560e-01 -5.11481837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9265599949999 meters 0.053322428142689754 Centerline is valid? [True, True] Translation: X:643.11, Y:-218.56, Z:-5.11 [[ 7.54817881e-01 6.55934359e-01 2.86861958e-04 6.43107205e+02] [-6.55934311e-01 7.54817936e-01 -2.50324046e-04 -2.18564622e+02] [-3.80724694e-04 7.86465651e-07 9.99999928e-01 -5.11400811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.986559995 meters 0.052643353711048446 Centerline is valid? [True, True] Translation: X:643.15, Y:-218.61, Z:-5.11 [[ 7.55173216e-01 6.55525156e-01 4.29978879e-04 6.43154329e+02] [-6.55525049e-01 7.55173338e-01 -3.74696972e-04 -2.18605435e+02] [-5.70331877e-04 1.09919175e-06 9.99999837e-01 -5.11457420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0465599949999 meters 0.05412910050032081 Centerline is valid? [True, True] Translation: X:643.20, Y:-218.65, Z:-5.11 [[ 7.55112385e-01 6.55594277e-01 1.19613731e-03 6.43199459e+02] [-6.55593444e-01 7.55113332e-01 -1.04487363e-03 -2.18646391e+02] [-1.58823240e-03 4.81723734e-06 9.99998739e-01 -5.11485204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.106559995 meters 0.05225995541619286 Centerline is valid? [True, True] Translation: X:643.25, Y:-218.69, Z:-5.12 [[ 7.54053183e-01 6.56813244e-01 3.99739058e-04 6.43247457e+02] [-6.56813152e-01 7.54053289e-01 -3.48398952e-04 -2.18687763e+02] [-5.30257598e-04 1.57468760e-07 9.99999859e-01 -5.11548538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.166559995 meters 0.05285309739406255 Centerline is valid? [True, True] Translation: X:643.29, Y:-218.73, Z:-5.11 [[ 7.53339273e-01 6.57631587e-01 7.97252070e-04 6.43294879e+02] [-6.57631218e-01 7.53339695e-01 -6.96380952e-04 -2.18727217e+02] [-1.05856374e-03 3.13270056e-07 9.99999440e-01 -5.11492871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.226559995 meters 0.05320234396770899 Centerline is valid? [True, True] Translation: X:643.34, Y:-218.77, Z:-5.11 [[ 7.52752229e-01 6.58298290e-01 2.72803616e-03 6.43340844e+02] [-6.58293966e-01 7.52757173e-01 -2.38613686e-03 -2.18768516e+02] [-3.62433861e-03 3.20096351e-07 9.99993432e-01 -5.11329096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.286559995 meters 0.05256948435314455 Centerline is valid? [True, True] Translation: X:643.39, Y:-218.81, Z:-5.12 [[ 7.52518363e-01 6.58566310e-01 2.55531953e-03 6.43386945e+02] [-6.58562515e-01 7.52522701e-01 -2.23548876e-03 -2.18809288e+02] [-3.39515354e-03 -5.91315063e-07 9.99994236e-01 -5.11504426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3465599949999 meters 0.052580702738618146 Centerline is valid? [True, True] Translation: X:643.43, Y:-218.85, Z:-5.12 [[ 7.50736596e-01 6.60593770e-01 3.23019316e-03 6.43434885e+02] [-6.60587721e-01 7.50743545e-01 -2.82693756e-03 -2.18850004e+02] [-4.29250400e-03 -1.15404540e-05 9.99990787e-01 -5.11577425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.406559995 meters 0.052475107080114845 Centerline is valid? [True, True] Translation: X:643.48, Y:-218.89, Z:-5.12 [[ 7.49220955e-01 6.62308730e-01 3.88669204e-03 6.43482658e+02] [-6.62299990e-01 7.49231036e-01 -3.40261635e-03 -2.18891432e+02] [-5.16561282e-03 -2.48446263e-05 9.99986658e-01 -5.11608565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4665599949999 meters 0.05193943090255249 Centerline is valid? [True, True] Translation: X:643.53, Y:-218.93, Z:-5.12 [[ 7.47976597e-01 6.63717321e-01 3.21380034e-03 6.43530101e+02] [-6.63711355e-01 7.47983501e-01 -2.81419873e-03 -2.18930243e+02] [-4.27170207e-03 -2.80809882e-05 9.99990876e-01 -5.11928336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.526559995 meters 0.05253381842740003 Centerline is valid? [True, True] Translation: X:643.58, Y:-218.97, Z:-5.12 [[ 7.46181850e-01 6.65738189e-01 2.30439825e-03 6.43575161e+02] [-6.65735130e-01 7.46185408e-01 -2.01834333e-03 -2.18970786e+02] [-3.06319658e-03 -2.80677083e-05 9.99995308e-01 -5.12045137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5865599949999 meters 0.05230673627388629 Centerline is valid? [True, True] Translation: X:643.62, Y:-219.01, Z:-5.12 [[ 7.44287456e-01 6.67854558e-01 2.54404019e-03 6.43620755e+02] [-6.67850842e-01 7.44291803e-01 -2.22822282e-03 -2.19013424e+02] [-3.38163702e-03 -4.06010891e-05 9.99994281e-01 -5.12084518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.646559995 meters 0.05190970240515077 Centerline is valid? [True, True] Translation: X:643.67, Y:-219.06, Z:-5.12 [[ 7.42549305e-01 6.69788629e-01 1.92927696e-03 6.43666205e+02] [-6.69786497e-01 7.42551810e-01 -1.69042038e-03 -2.19056371e+02] [-2.56481245e-03 -3.69831815e-05 9.99996710e-01 -5.12163480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7065599949999 meters 0.052256012617175954 Centerline is valid? [True, True] Translation: X:643.71, Y:-219.09, Z:-5.12 [[ 7.41697385e-01 6.70733378e-01 1.31309392e-03 6.43713891e+02] [-6.70732393e-01 7.41698547e-01 -1.14995520e-03 -2.19094951e+02] [-1.74523319e-03 -2.78158580e-05 9.99998477e-01 -5.12431262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.766559995 meters 0.05167632725043683 Centerline is valid? [True, True] Translation: X:643.76, Y:-219.14, Z:-5.12 [[ 7.41047083e-01 6.71452048e-01 1.16997927e-03 6.43755919e+02] [-6.71451267e-01 7.41048006e-01 -1.02466204e-03 -2.19141187e+02] [-1.55502223e-03 -2.62612436e-05 9.99998791e-01 -5.12269242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8265599949999 meters 0.051642701721413 Centerline is valid? [True, True] Translation: X:643.80, Y:-219.18, Z:-5.12 [[ 7.40488060e-01 6.72067020e-01 1.83127535e-03 6.43800694e+02] [-6.72065105e-01 7.40490323e-01 -1.60482933e-03 -2.19184310e+02] [-2.43459455e-03 -4.23793032e-05 9.99997035e-01 -5.12196960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.886559995 meters 0.05101491627160321 Centerline is valid? [True, True] Translation: X:643.85, Y:-219.23, Z:-5.12 [[ 7.40528767e-01 6.72019631e-01 2.60007854e-03 6.43845732e+02] [-6.72015767e-01 7.40533329e-01 -2.27959315e-03 -2.19225793e+02] [-3.45737616e-03 -5.91894727e-05 9.99994022e-01 -5.12166087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9465599949999 meters 0.052172601613204486 Centerline is valid? [True, True] Translation: X:643.89, Y:-219.27, Z:-5.12 [[ 7.40999767e-01 6.71501208e-01 2.33949424e-03 6.43892661e+02] [-6.71498076e-01 7.41003458e-01 -2.05146857e-03 -2.19265160e+02] [-3.11113695e-03 -5.08281536e-05 9.99995159e-01 -5.12345273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.006559995 meters 0.05150106431322486 Centerline is valid? [True, True] Translation: X:643.93, Y:-219.32, Z:-5.12 [[ 7.42056041e-01 6.70336396e-01 1.39586986e-03 6.43931023e+02] [-6.70335279e-01 7.42057353e-01 -1.22377955e-03 -2.19315560e+02] [-1.85615946e-03 -2.75878025e-05 9.99998277e-01 -5.12258438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0665599949999 meters 0.050996713832406525 Centerline is valid? [True, True] Translation: X:643.97, Y:-219.36, Z:-5.12 [[ 7.43067228e-01 6.69216668e-01 3.82185778e-04 6.43974764e+02] [-6.69216584e-01 7.43067326e-01 -3.34332131e-04 -2.19360517e+02] [-5.07730399e-04 -7.33381133e-06 9.99999871e-01 -5.12218190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.126559995 meters 0.05136039793968223 Centerline is valid? [True, True] Translation: X:644.02, Y:-219.40, Z:-5.12 [[ 7.43790218e-01 6.68413047e-01 -3.32704575e-04 6.44018902e+02] [-6.68412983e-01 7.43790292e-01 2.93207295e-04 -2.19404521e+02] [ 4.43446014e-04 4.29933950e-06 9.99999902e-01 -5.12182536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1865599949999 meters 0.05055280033171371 Centerline is valid? [True, True] Translation: X:644.07, Y:-219.44, Z:-5.13 [[ 7.43532285e-01 6.68699830e-01 -5.27659163e-04 6.44066773e+02] [-6.68699669e-01 7.43532472e-01 4.64372837e-04 -2.19443046e+02] [ 7.02857759e-04 7.56931118e-06 9.99999753e-01 -5.12596767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.246559995 meters 0.05175636934918888 Centerline is valid? [True, True] Translation: X:644.11, Y:-219.49, Z:-5.12 [[ 7.42644181e-01 6.69685561e-01 -9.32492596e-04 6.44109890e+02] [-6.69685059e-01 7.42644767e-01 8.20065741e-04 -2.19488114e+02] [ 1.24169693e-03 1.54593075e-05 9.99999229e-01 -5.12396519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3065599949999 meters 0.05093721667025624 Centerline is valid? [True, True] Translation: X:644.16, Y:-219.53, Z:-5.13 [[ 7.41195901e-01 6.71285829e-01 -1.99277494e-03 6.44156399e+02] [-6.71283545e-01 7.41198579e-01 1.75158117e-03 -2.19527894e+02] [ 2.65285357e-03 3.94522410e-05 9.99996480e-01 -5.12666766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.366559995 meters 0.051480138031185244 Centerline is valid? [True, True] Translation: X:644.20, Y:-219.57, Z:-5.12 [[ 7.39912610e-01 6.72700165e-01 -1.95397150e-03 6.44198614e+02] [-6.72697972e-01 7.39915189e-01 1.71798674e-03 -2.19574503e+02] [ 2.60146315e-03 4.32726077e-05 9.99996615e-01 -5.12300928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4265599949999 meters 0.05105418478872782 Centerline is valid? [True, True] Translation: X:644.24, Y:-219.62, Z:-5.12 [[ 7.39457918e-01 6.73202181e-01 -9.00072183e-04 6.44244452e+02] [-6.73201715e-01 7.39458466e-01 7.92305270e-04 -2.19617110e+02] [ 1.19894763e-03 2.00537322e-05 9.99999281e-01 -5.12196708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.486559995 meters 0.05113811524222761 Centerline is valid? [True, True] Translation: X:644.29, Y:-219.66, Z:-5.12 [[ 7.39613962e-01 6.73031313e-01 1.98176519e-04 6.44290539e+02] [-6.73031291e-01 7.39613988e-01 -1.73217042e-04 -2.19657550e+02] [-2.63154619e-04 -5.26525605e-06 9.99999965e-01 -5.12272244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5465599949999 meters 0.05084592958968735 Centerline is valid? [True, True] Translation: X:644.33, Y:-219.70, Z:-5.12 [[ 7.40111200e-01 6.72484506e-01 -3.74773192e-06 6.44333644e+02] [-6.72484506e-01 7.40111200e-01 4.37068881e-06 -2.19702979e+02] [ 5.71295861e-06 -7.14504094e-07 1.00000000e+00 -5.12204166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.606559995 meters 0.051672231150203085 Centerline is valid? [True, True] Translation: X:644.38, Y:-219.74, Z:-5.12 [[ 7.41352929e-01 6.71114516e-01 -1.06856792e-03 6.44379908e+02] [-6.71113858e-01 7.41353699e-01 9.40033644e-04 -2.19744576e+02] [ 1.42305700e-03 2.02340442e-05 9.99998987e-01 -5.12389843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.666559995 meters 0.05180562725560837 Centerline is valid? [True, True] Translation: X:644.42, Y:-219.79, Z:-5.12 [[ 7.42679640e-01 6.69642879e-01 -2.31646090e-03 6.44424629e+02] [-6.69639778e-01 7.42683252e-01 2.03842522e-03 -2.19786141e+02] [ 3.08541365e-03 3.72974528e-05 9.99995239e-01 -5.12309439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.726559995 meters 0.051494939001580746 Centerline is valid? [True, True] Translation: X:644.47, Y:-219.83, Z:-5.13 [[ 7.42258297e-01 6.70111338e-01 -1.84784988e-03 6.44474388e+02] [-6.70109366e-01 7.42260597e-01 1.62597467e-03 -2.19825375e+02] [ 2.46117022e-03 3.13683175e-05 9.99996971e-01 -5.12500351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.786559995 meters 0.05132555589440921 Centerline is valid? [True, True] Translation: X:644.52, Y:-219.86, Z:-5.13 [[ 7.40935134e-01 6.71575049e-01 -1.44242017e-03 6.44522540e+02] [-6.71573849e-01 7.40936537e-01 1.27008733e-03 -2.19863814e+02] [ 1.92170077e-03 2.76393428e-05 9.99998153e-01 -5.12610083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8465599949999 meters 0.051052944710856335 Centerline is valid? [True, True] Translation: X:644.57, Y:-219.90, Z:-5.13 [[ 7.39013972e-01 6.73689470e-01 -9.20477795e-04 6.44570634e+02] [-6.73688984e-01 7.39014545e-01 8.10211140e-04 -2.19902765e+02] [ 1.22607719e-03 2.13583979e-05 9.99999248e-01 -5.12636243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.906559995 meters 0.05124109763070705 Centerline is valid? [True, True] Translation: X:644.62, Y:-219.95, Z:-5.13 [[ 7.38234610e-01 6.74542919e-01 -1.22961544e-03 6.44616713e+02] [-6.74542049e-01 7.38235633e-01 1.08326975e-03 -2.19945017e+02] [ 1.63845787e-03 2.97200963e-05 9.99998657e-01 -5.12610463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9665599949999 meters 0.050737338555870704 Centerline is valid? [True, True] Translation: X:644.66, Y:-219.98, Z:-5.13 [[ 7.38170659e-01 6.74612499e-01 -1.43309312e-03 6.44664157e+02] [-6.74611318e-01 7.38172050e-01 1.26271018e-03 -2.19984207e+02] [ 1.90970935e-03 3.46852368e-05 9.99998176e-01 -5.12714021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.026559995 meters 0.05198796862044958 Centerline is valid? [True, True] Translation: X:644.71, Y:-220.02, Z:-5.13 [[ 7.38890157e-01 6.73824776e-01 -1.22809223e-03 6.44713885e+02] [-6.73823907e-01 7.38891177e-01 1.08228215e-03 -2.20020548e+02] [ 1.63669504e-03 2.78302808e-05 9.99998660e-01 -5.12954543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0865599949999 meters 0.05133582871678705 Centerline is valid? [True, True] Translation: X:644.76, Y:-220.07, Z:-5.12 [[ 7.39372590e-01 6.73294228e-01 -1.74839211e-03 6.44755276e+02] [-6.73292465e-01 7.39374656e-01 1.54087715e-03 -2.20068172e+02] [ 2.33018051e-03 3.78969094e-05 9.99997284e-01 -5.12496008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.146559995 meters 0.05119434607114722 Centerline is valid? [True, True] Translation: X:644.80, Y:-220.11, Z:-5.13 [[ 7.39944981e-01 6.72665318e-01 -1.67183567e-03 6.44803013e+02] [-6.72663704e-01 7.39946869e-01 1.47368568e-03 -2.20107032e+02] [ 2.22836681e-03 3.41368572e-05 9.99997517e-01 -5.12688086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2065599949999 meters 0.051355945617495916 Centerline is valid? [True, True] Translation: X:644.85, Y:-220.14, Z:-5.13 [[ 7.40496483e-01 6.72056848e-01 -2.13360653e-03 6.44850852e+02] [-6.72054217e-01 7.40499555e-01 1.88082336e-03 -2.20144781e+02] [ 2.84395490e-03 4.11561799e-05 9.99995955e-01 -5.12981846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.266559995 meters 0.05131072939899989 Centerline is valid? [True, True] Translation: X:644.90, Y:-220.19, Z:-5.13 [[ 7.41648911e-01 6.70782059e-01 -2.88487199e-03 6.44896650e+02] [-6.70777239e-01 7.41654520e-01 2.54326317e-03 -2.20186631e+02] [ 3.84555366e-03 4.88981085e-05 9.99992605e-01 -5.13028690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3265599949999 meters 0.05184220969405629 Centerline is valid? [True, True] Translation: X:644.94, Y:-220.23, Z:-5.13 [[ 7.42205572e-01 6.70162851e-01 -3.55557464e-03 6.44940687e+02] [-6.70155522e-01 7.42214086e-01 3.13472932e-03 -2.20232037e+02] [ 4.73977672e-03 5.61744067e-05 9.99988766e-01 -5.12713544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.386559995 meters 0.051201957052285536 Centerline is valid? [True, True] Translation: X:644.99, Y:-220.27, Z:-5.13 [[ 7.42504357e-01 6.69833372e-01 -3.24558119e-03 6.44986303e+02] [-6.69827261e-01 7.42511449e-01 2.86164097e-03 -2.20272135e+02] [ 4.32670381e-03 4.91978739e-05 9.99990639e-01 -5.12722832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4465599949999 meters 0.05099787834854704 Centerline is valid? [True, True] Translation: X:645.03, Y:-220.31, Z:-5.13 [[ 7.42394851e-01 6.69948238e-01 -4.38677862e-03 6.45033241e+02] [-6.69937069e-01 7.42407809e-01 3.86894602e-03 -2.20313273e+02] [ 5.84877227e-03 6.65800068e-05 9.99982894e-01 -5.12836799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.506559995 meters 0.05252183377962621 Centerline is valid? [True, True] Translation: X:645.08, Y:-220.36, Z:-5.13 [[ 7.42943548e-01 6.69329097e-01 -5.78302187e-03 6.45079553e+02] [-6.69309663e-01 7.42966051e-01 5.10116810e-03 -2.20355245e+02] [ 7.71094916e-03 8.07524921e-05 9.99970267e-01 -5.12977990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5665599949999 meters 0.051566542984307205 Centerline is valid? [True, True] Translation: X:645.12, Y:-220.40, Z:-5.13 [[ 7.44051013e-01 6.68096364e-01 -5.94466132e-03 6.45124620e+02] [-6.68075780e-01 7.44074757e-01 5.24489233e-03 -2.20397442e+02] [ 7.92736592e-03 6.90167925e-05 9.99968576e-01 -5.12929734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.626559995 meters 0.05102084710968283 Centerline is valid? [True, True] Translation: X:645.17, Y:-220.44, Z:-5.13 [[ 7.45823843e-01 6.66128769e-01 -4.38846353e-03 6.45168985e+02] [-6.66117520e-01 7.45836753e-01 3.87136104e-03 -2.20438077e+02] [ 5.85190235e-03 3.58790732e-05 9.99982877e-01 -5.12898755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6865599949999 meters 0.05142721050615299 Centerline is valid? [True, True] Translation: X:645.21, Y:-220.48, Z:-5.13 [[ 7.46870564e-01 6.64963632e-01 -2.78007913e-03 6.45214544e+02] [-6.64959105e-01 7.46875738e-01 2.45388864e-03 -2.20478993e+02] [ 3.70812036e-03 1.59017363e-05 9.99993125e-01 -5.12822362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.746559995 meters 0.05188690192633299 Centerline is valid? [True, True] Translation: X:645.26, Y:-220.52, Z:-5.13 [[ 7.48764187e-01 6.62835990e-01 -8.00902816e-04 6.45260961e+02] [-6.62835612e-01 7.48764616e-01 7.07900655e-04 -2.20520599e+02] [ 1.06890972e-03 8.16250010e-07 9.99999429e-01 -5.12638752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8065599949999 meters 0.05144835242841445 Centerline is valid? [True, True] Translation: X:645.31, Y:-220.56, Z:-5.13 [[ 7.50228851e-01 6.61172773e-01 -2.68988876e-03 6.45307332e+02] [-6.61168505e-01 7.50233673e-01 2.37556048e-03 -2.20561544e+02] [ 3.58870104e-03 -3.74428310e-06 9.99993561e-01 -5.12695329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.866559995 meters 0.052100432251680755 Centerline is valid? [True, True] Translation: X:645.35, Y:-220.60, Z:-5.13 [[ 7.52010593e-01 6.59143647e-01 -3.11770882e-03 6.45353678e+02] [-6.59137895e-01 7.52017056e-01 2.75372373e-03 -2.20601630e+02] [ 4.15966970e-03 -1.58293879e-05 9.99991348e-01 -5.12868913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9265599949999 meters 0.052720080600561416 Centerline is valid? [True, True] Translation: X:645.40, Y:-220.64, Z:-5.12 [[ 7.53602603e-01 6.57315534e-01 -4.40518744e-03 6.45402777e+02] [-6.57304016e-01 7.53615477e-01 3.89139593e-03 -2.20639805e+02] [ 5.87769243e-03 -3.70187084e-05 9.99982726e-01 -5.12388323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.986559995 meters 0.05257222893750653 Centerline is valid? [True, True] Translation: X:645.45, Y:-220.68, Z:-5.13 [[ 7.53983137e-01 6.56875294e-01 -4.92717698e-03 6.45447849e+02] [-6.56860872e-01 7.53999235e-01 4.35302886e-03 -2.20681643e+02] [ 6.57448478e-03 -4.56405919e-05 9.99978387e-01 -5.12862146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0465599949999 meters 0.052238353568922515 Centerline is valid? [True, True] Translation: X:645.50, Y:-220.72, Z:-5.13 [[ 7.54693704e-01 6.56056457e-01 -5.22864440e-03 6.45495539e+02] [-6.56040191e-01 7.54711814e-01 4.62023639e-03 -2.20721100e+02] [ 6.97725562e-03 -5.66624474e-05 9.99975657e-01 -5.12972229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.106559995 meters 0.052926256505961555 Centerline is valid? [True, True] Translation: X:645.54, Y:-220.76, Z:-5.13 [[ 7.54590859e-01 6.56182603e-01 -4.12638893e-03 6.45542602e+02] [-6.56172475e-01 7.54602140e-01 3.64618791e-03 -2.20762265e+02] [ 5.50634699e-03 -4.37572303e-05 9.99984839e-01 -5.13211078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.166559995 meters 0.05234230584793893 Centerline is valid? [True, True] Translation: X:645.59, Y:-220.80, Z:-5.13 [[ 7.53692467e-01 6.57221569e-01 -2.73389199e-03 6.45592461e+02] [-6.57217125e-01 7.53697425e-01 2.41715848e-03 -2.20798859e+02] [ 3.64913604e-03 -2.50335094e-05 9.99993342e-01 -5.12772798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.226559995 meters 0.05196080346407213 Centerline is valid? [True, True] Translation: X:645.64, Y:-220.84, Z:-5.13 [[ 7.50723695e-01 6.60612327e-01 -2.29965356e-03 6.45641456e+02] [-6.60609196e-01 7.50727217e-01 2.03370064e-03 -2.20836961e+02] [ 3.06990023e-03 -7.57496814e-06 9.99995288e-01 -5.12845007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.286559995 meters 0.05241379571023699 Centerline is valid? [True, True] Translation: X:645.69, Y:-220.88, Z:-5.13 [[ 7.48018350e-01 6.63676280e-01 -1.53097660e-03 6.45689331e+02] [-6.63674899e-01 7.48019916e-01 1.35377471e-03 -2.20876113e+02] [ 2.04366916e-03 3.42241709e-06 9.99997912e-01 -5.13096135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3465599949999 meters 0.051375635162480386 Centerline is valid? [True, True] Translation: X:645.74, Y:-220.91, Z:-5.13 [[ 7.43367120e-01 6.68883508e-01 -4.22106126e-04 6.45738734e+02] [-6.68883403e-01 7.43367240e-01 3.74291725e-04 -2.20913204e+02] [ 5.64137427e-04 4.10362057e-06 9.99999841e-01 -5.13109248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.406559995 meters 0.05269991766847518 Centerline is valid? [True, True] Translation: X:645.79, Y:-220.95, Z:-5.13 [[ 7.38152393e-01 6.74633765e-01 -5.72054629e-04 6.45788021e+02] [-6.74633576e-01 7.38152615e-01 5.06310791e-04 -2.20948096e+02] [ 7.63837976e-04 1.21927378e-05 9.99999708e-01 -5.13298494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4665599949999 meters 0.05186465973135111 Centerline is valid? [True, True] Translation: X:645.83, Y:-220.99, Z:-5.13 [[ 7.35313985e-01 6.77721476e-01 -2.63514850e-03 6.45834315e+02] [-6.77717470e-01 7.35318703e-01 2.33144233e-03 -2.20987906e+02] [ 3.51774252e-03 7.15440199e-05 9.99993810e-01 -5.13491250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.526559995 meters 0.051952007599789 Centerline is valid? [True, True] Translation: X:645.88, Y:-221.03, Z:-5.14 [[ 7.32343961e-01 6.80928181e-01 -3.02245256e-03 6.45881580e+02] [-6.80922941e-01 7.32350191e-01 2.67321922e-03 -2.21025566e+02] [ 4.03376401e-03 1.00341333e-04 9.99991859e-01 -5.13686818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5865599949999 meters 0.05175225306177841 Centerline is valid? [True, True] Translation: X:645.93, Y:-221.07, Z:-5.14 [[ 7.33462359e-01 6.79727151e-01 -1.99216277e-03 6.45927607e+02] [-6.79724869e-01 7.33465062e-01 1.76225472e-03 -2.21067009e+02] [ 2.65903417e-03 6.15750769e-05 9.99996463e-01 -5.13722311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.646559995 meters 0.051444536883791116 Centerline is valid? [True, True] Translation: X:645.97, Y:-221.11, Z:-5.13 [[ 7.37381238e-01 6.75476780e-01 1.70498007e-04 6.45970453e+02] [-6.75476763e-01 7.37381258e-01 -1.49847242e-04 -2.21111215e+02] [-2.26940368e-04 -4.67289713e-06 9.99999974e-01 -5.13483174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7065599949999 meters 0.05198818815765624 Centerline is valid? [True, True] Translation: X:646.02, Y:-221.15, Z:-5.14 [[ 7.38166038e-01 6.74619015e-01 -2.93644217e-04 6.46017427e+02] [-6.74618964e-01 7.38166096e-01 2.60966480e-04 -2.21151899e+02] [ 3.92811154e-04 5.46136495e-06 9.99999923e-01 -5.13597997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.766559995 meters 0.05175177268302899 Centerline is valid? [True, True] Translation: X:646.06, Y:-221.19, Z:-5.14 [[ 7.38476661e-01 6.74278978e-01 -2.82817069e-04 6.46064704e+02] [-6.74278932e-01 7.38476715e-01 2.51440660e-04 -2.21190957e+02] [ 3.78394971e-04 5.01453192e-06 9.99999928e-01 -5.13762628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8265599949999 meters 0.05174498496886493 Centerline is valid? [True, True] Translation: X:646.11, Y:-221.23, Z:-5.14 [[ 7.38844449e-01 6.73875875e-01 -4.29437465e-04 6.46111237e+02] [-6.73875767e-01 7.38844574e-01 3.81289439e-04 -2.21232324e+02] [ 5.74229296e-04 7.67391560e-06 9.99999835e-01 -5.13794404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.886559995 meters 0.051212536803375716 Centerline is valid? [True, True] Translation: X:646.16, Y:-221.27, Z:-5.14 [[ 7.38528507e-01 6.74221469e-01 1.02743892e-03 6.46157323e+02] [-6.74220857e-01 7.38529221e-01 -9.08631168e-04 -2.21273984e+02] [-1.37141231e-03 -2.16707310e-05 9.99999059e-01 -5.13658078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9465599949999 meters 0.05213242181146694 Centerline is valid? [True, True] Translation: X:646.20, Y:-221.32, Z:-5.14 [[ 7.39710308e-01 6.72920784e-01 2.50555673e-03 6.46203021e+02] [-6.72917131e-01 7.39714550e-01 -2.21798238e-03 -2.21315534e+02] [-3.34592322e-03 -4.53676147e-05 9.99994401e-01 -5.13816352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.006559995 meters 0.051009723776198085 Centerline is valid? [True, True] Translation: X:646.25, Y:-221.36, Z:-5.14 [[ 7.41614400e-01 6.70808879e-01 4.85076845e-03 6.46247187e+02] [-6.70795125e-01 7.41630261e-01 -4.29620501e-03 -2.21357262e+02] [-6.47940913e-03 -6.77443269e-05 9.99979006e-01 -5.13732570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0665599949999 meters 0.05191661694234541 Centerline is valid? [True, True] Translation: X:646.30, Y:-221.39, Z:-5.14 [[ 7.39455613e-01 6.73171462e-01 6.75120110e-03 6.46296948e+02] [-6.73144914e-01 7.39486421e-01 -5.97977481e-03 -2.21393708e+02] [-9.01783530e-03 -1.22758635e-04 9.99959331e-01 -5.13848239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.126559995 meters 0.0521993778291574 Centerline is valid? [True, True] Translation: X:646.35, Y:-221.42, Z:-5.14 [[ 7.30702689e-01 6.82685526e-01 3.74865768e-03 6.46353248e+02] [-6.82677464e-01 7.30712293e-01 -3.32045008e-03 -2.21421965e+02] [-5.00601345e-03 -1.32862315e-04 9.99987461e-01 -5.14448667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1865599949999 meters 0.0521993778291574 Centerline is valid? [True, True] Translation: X:646.40, Y:-221.46, Z:-5.14 [[ 7.30616805e-01 6.82777438e-01 3.74878689e-03 6.46400053e+02] [-6.82769378e-01 7.30626411e-01 -3.32030423e-03 -2.21463380e+02] [-5.00599153e-03 -1.33686823e-04 9.99987461e-01 -5.14494724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.246559995 meters 0.05165608689796648 Centerline is valid? [True, True] Translation: X:646.45, Y:-221.51, Z:-5.15 [[ 7.30510622e-01 6.82889429e-01 4.03217837e-03 6.46446533e+02] [-6.82880101e-01 7.30521736e-01 -3.57229611e-03 -2.21505970e+02] [-5.38507720e-03 -1.43894118e-04 9.99985490e-01 -5.14506523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3065599949999 meters 0.05165608689796648 Centerline is valid? [True, True] Translation: X:646.49, Y:-221.55, Z:-5.15 [[ 7.30422468e-01 6.82983722e-01 4.03171981e-03 6.46493332e+02] [-6.82974392e-01 7.30433580e-01 -3.57281355e-03 -2.21547389e+02] [-5.38507703e-03 -1.43898095e-04 9.99985490e-01 -5.14552607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.366559995 meters 0.05140986409235982 Centerline is valid? [True, True] Translation: X:646.54, Y:-221.59, Z:-5.15 [[ 7.30305479e-01 6.83109325e-01 3.94442696e-03 6.46541451e+02] [-6.83100392e-01 7.30316117e-01 -3.49636345e-03 -2.21586388e+02] [-5.26907706e-03 -1.41026212e-04 9.99986108e-01 -5.14603833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4265599949999 meters 0.052723417136586896 Centerline is valid? [True, True] Translation: X:646.59, Y:-221.62, Z:-5.15 [[ 7.30059894e-01 6.83366599e-01 4.75838338e-03 6.46592777e+02] [-6.83353596e-01 7.30075381e-01 -4.21912923e-03 -2.21622102e+02] [-6.35719055e-03 -1.71441361e-04 9.99979778e-01 -5.14568134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.486559995 meters 0.052592522389562815 Centerline is valid? [True, True] Translation: X:646.64, Y:-221.66, Z:-5.15 [[ 7.30842513e-01 6.82529748e-01 4.72911592e-03 6.46641711e+02] [-6.82516880e-01 7.30857795e-01 -4.19417553e-03 -2.21660668e+02] [-6.31896080e-03 -1.62419656e-04 9.99980022e-01 -5.14671877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5465599949999 meters 0.052972339941046165 Centerline is valid? [True, True] Translation: X:646.68, Y:-221.71, Z:-5.15 [[ 7.31999782e-01 6.81276097e-01 6.26099619e-03 6.46683016e+02] [-6.81253485e-01 7.32026530e-01 -5.55417517e-03 -2.21706515e+02] [-8.36714210e-03 -1.99670460e-04 9.99964975e-01 -5.14686466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.606559995 meters 0.052972339941046165 Centerline is valid? [True, True] Translation: X:646.73, Y:-221.75, Z:-5.15 [[ 7.31913128e-01 6.81369191e-01 6.26079581e-03 6.46729785e+02] [-6.81346581e-01 7.31939878e-01 -5.55440103e-03 -2.21747964e+02] [-8.36712386e-03 -2.00432783e-04 9.99964975e-01 -5.14732522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.666559995 meters 0.05227302138577164 Centerline is valid? [True, True] Translation: X:646.78, Y:-221.79, Z:-5.15 [[ 7.31737030e-01 6.81555386e-01 6.57077976e-03 6.46777680e+02] [-6.81530475e-01 7.31766500e-01 -5.83096569e-03 -2.21789420e+02] [-8.78240258e-03 -2.11453142e-04 9.99961412e-01 -5.14874799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.726559995 meters 0.05202913922431005 Centerline is valid? [True, True] Translation: X:646.82, Y:-221.83, Z:-5.15 [[ 7.30681822e-01 6.82693168e-01 5.84069211e-03 6.46823925e+02] [-6.82673513e-01 7.30705138e-01 -5.18421168e-03 -2.21830996e+02] [-7.80704963e-03 -1.99276569e-04 9.99969505e-01 -5.15053148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.786559995 meters 0.05156836953044643 Centerline is valid? [True, True] Translation: X:646.87, Y:-221.87, Z:-5.15 [[ 7.29602808e-01 6.83840336e-01 6.49128812e-03 6.46870192e+02] [-6.83816100e-01 7.29631646e-01 -5.76209143e-03 -2.21872186e+02] [-8.67659978e-03 -2.34809238e-04 9.99962330e-01 -5.15115458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8465599949999 meters 0.05292294877500431 Centerline is valid? [True, True] Translation: X:646.92, Y:-221.91, Z:-5.15 [[ 7.27314763e-01 6.86268823e-01 6.95259683e-03 6.46921056e+02] [-6.86241126e-01 7.27347938e-01 -6.17202805e-03 -2.21905671e+02] [-9.29262740e-03 -2.82150760e-04 9.99956783e-01 -5.15173593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.906559995 meters 0.05162889602320727 Centerline is valid? [True, True] Translation: X:646.96, Y:-221.95, Z:-5.15 [[ 7.26222990e-01 6.87426998e-01 6.65520514e-03 6.46963846e+02] [-6.87401663e-01 7.26253428e-01 -5.90863236e-03 -2.21950619e+02] [-8.89511895e-03 -2.83814424e-04 9.99960397e-01 -5.15304078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9665599949999 meters 0.052841158238554425 Centerline is valid? [True, True] Translation: X:647.01, Y:-221.98, Z:-5.15 [[ 7.23770779e-01 6.90025452e-01 4.55356921e-03 6.47014091e+02] [-6.90013638e-01 7.23785071e-01 -4.04343009e-03 -2.21984549e+02] [-6.08587509e-03 -2.15508310e-04 9.99981458e-01 -5.15437103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.026559995 meters 0.053137083968856934 Centerline is valid? [True, True] Translation: X:647.06, Y:-222.02, Z:-5.16 [[ 7.22118215e-01 6.91760665e-01 3.53070724e-03 6.47060597e+02] [-6.91753583e-01 7.22126825e-01 -3.13524579e-03 -2.22023576e+02] [-4.71845812e-03 -1.78361290e-04 9.99988852e-01 -5.15713135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0865599949999 meters 0.05319695910137129 Centerline is valid? [True, True] Translation: X:647.11, Y:-222.06, Z:-5.16 [[ 7.21654791e-01 6.92244715e-01 3.40830218e-03 6.47106786e+02] [-6.92238123e-01 7.21662818e-01 -3.02625759e-03 -2.22064358e+02] [-4.55455578e-03 -1.75443414e-04 9.99989613e-01 -5.15811309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.146559995 meters 0.05298318265806188 Centerline is valid? [True, True] Translation: X:647.15, Y:-222.11, Z:-5.16 [[ 7.21923379e-01 6.91960320e-01 4.18930375e-03 6.47151837e+02] [-6.91950350e-01 7.21935503e-01 -3.72064483e-03 -2.22107728e+02] [-5.59894570e-03 -2.12769703e-04 9.99984303e-01 -5.15740303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2065599949999 meters 0.052902928285245863 Centerline is valid? [True, True] Translation: X:647.20, Y:-222.15, Z:-5.16 [[ 7.23642193e-01 6.90156967e-01 5.03359929e-03 6.47196937e+02] [-6.90142521e-01 7.23659660e-01 -4.47173195e-03 -2.22146613e+02] [-6.72880971e-03 -2.37966990e-04 9.99977333e-01 -5.15706920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.266559995 meters 0.05356574124661886 Centerline is valid? [True, True] Translation: X:647.24, Y:-222.19, Z:-5.16 [[ 7.26457869e-01 6.87176564e-01 6.87995014e-03 6.47241923e+02] [-6.87149443e-01 7.26490390e-01 -6.11195841e-03 -2.22188062e+02] [-9.19821225e-03 -2.87473621e-04 9.99957654e-01 -5.15589781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3265599949999 meters 0.05049416451446817 Centerline is valid? [True, True] Translation: X:647.28, Y:-222.24, Z:-5.16 [[ 7.28795722e-01 6.84695318e-01 7.00838032e-03 6.47276985e+02] [-6.84667058e-01 7.28829372e-01 -6.22628190e-03 -2.22241722e+02] [-9.37101949e-03 -2.60719517e-04 9.99956057e-01 -5.15773157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.386559995 meters 0.051483902931609656 Centerline is valid? [True, True] Translation: X:647.32, Y:-222.28, Z:-5.16 [[ 7.29604649e-01 6.83843755e-01 5.89694648e-03 6.47324737e+02] [-6.83823717e-01 7.29628450e-01 -5.23919957e-03 -2.22280006e+02] [-7.88537383e-03 -2.09927496e-04 9.99968888e-01 -5.15903791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4465599949999 meters 0.0518265076785302 Centerline is valid? [True, True] Translation: X:647.37, Y:-222.32, Z:-5.16 [[ 7.30265187e-01 6.83144648e-01 5.11330319e-03 6.47369407e+02] [-6.83129559e-01 7.30283068e-01 -4.54379169e-03 -2.22323086e+02] [-6.83822572e-03 -1.74875670e-04 9.99976604e-01 -5.16051185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.506559995 meters 0.05093092034343381 Centerline is valid? [True, True] Translation: X:647.41, Y:-222.37, Z:-5.16 [[ 7.32846697e-01 6.80373467e-01 5.25955555e-03 6.47410702e+02] [-6.80357424e-01 7.32865555e-01 -4.67485989e-03 -2.22369375e+02] [-7.03519773e-03 -1.52422030e-04 9.99975241e-01 -5.16148476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5665599949999 meters 0.05128484541398349 Centerline is valid? [True, True] Translation: X:647.45, Y:-222.42, Z:-5.16 [[ 7.37336919e-01 6.75506058e-01 5.08269933e-03 6.47451472e+02] [-6.75490958e-01 7.37354430e-01 -4.51783428e-03 -2.22416439e+02] [-6.79957529e-03 -1.02151433e-04 9.99976877e-01 -5.16170196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.626559995 meters 0.05176154331676076 Centerline is valid? [True, True] Translation: X:647.49, Y:-222.46, Z:-5.16 [[ 7.41274252e-01 6.71181756e-01 5.24729818e-03 6.47494133e+02] [-6.71165551e-01 7.41292821e-01 -4.66441281e-03 -2.22459896e+02] [-7.02045325e-03 -6.41966527e-05 9.99975354e-01 -5.16224880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6865599949999 meters 0.05125373994609365 Centerline is valid? [True, True] Translation: X:647.54, Y:-222.51, Z:-5.16 [[ 7.47076604e-01 6.64716558e-01 5.33330700e-03 6.47535501e+02] [-6.64699649e-01 7.47095641e-01 -4.74129377e-03 -2.22506416e+02] [-7.13610689e-03 -2.93763822e-06 9.99974538e-01 -5.16286073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.746559995 meters 0.051721792718705285 Centerline is valid? [True, True] Translation: X:647.58, Y:-222.55, Z:-5.16 [[ 7.53178305e-01 6.57798997e-01 4.78764553e-03 6.47576537e+02] [-6.57785229e-01 7.53193519e-01 -4.25629671e-03 -2.22552381e+02] [-6.40581129e-03 5.65078281e-05 9.99979481e-01 -5.16342124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8065599949999 meters 0.05226992191707411 Centerline is valid? [True, True] Translation: X:647.62, Y:-222.60, Z:-5.16 [[ 7.58881666e-01 6.51216054e-01 4.03327162e-03 6.47618723e+02] [-6.51206186e-01 7.58892378e-01 -3.58636865e-03 -2.22597421e+02] [-5.39631993e-03 9.51379888e-05 9.99985435e-01 -5.16399309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.866559995 meters 0.05216023359370587 Centerline is valid? [True, True] Translation: X:647.66, Y:-222.64, Z:-5.17 [[ 7.61580042e-01 6.48060703e-01 3.62839824e-03 6.47659028e+02] [-6.48052681e-01 7.61588678e-01 -3.22629034e-03 -2.22644177e+02] [-4.85417900e-03 1.05685128e-04 9.99988213e-01 -5.16526546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9265599949999 meters 0.052697719842876495 Centerline is valid? [True, True] Translation: X:647.71, Y:-222.68, Z:-5.16 [[ 7.62918608e-01 6.46482177e-01 3.99894974e-03 6.47712678e+02] [-6.46472405e-01 7.62929078e-01 -3.55686809e-03 -2.22677219e+02] [-5.35036686e-03 1.28390203e-04 9.99985678e-01 -5.16393687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.986559995 meters 0.052761901759358576 Centerline is valid? [True, True] Translation: X:647.75, Y:-222.73, Z:-5.16 [[ 7.63144338e-01 6.46213276e-01 4.37288137e-03 6.47750186e+02] [-6.46201586e-01 7.63156853e-01 -3.88958990e-03 -2.22727251e+02] [-5.85069901e-03 1.42555639e-04 9.99982874e-01 -5.16443569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0465599949999 meters 0.05239436048683729 Centerline is valid? [True, True] Translation: X:647.80, Y:-222.77, Z:-5.16 [[ 7.61092619e-01 6.48629599e-01 4.20351251e-03 6.47797113e+02] [-6.48618827e-01 7.61104217e-01 -3.73999683e-03 -2.22765866e+02] [-5.62518374e-03 1.20006629e-04 9.99984171e-01 -5.16417544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.106559995 meters 0.05264748172992941 Centerline is valid? [True, True] Translation: X:647.85, Y:-222.80, Z:-5.16 [[ 7.55463414e-01 6.55177511e-01 4.17837706e-03 6.47846575e+02] [-6.55166965e-01 7.55474966e-01 -3.71796420e-03 -2.22802693e+02] [-5.59258580e-03 7.12513100e-05 9.99984359e-01 -5.16403799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.166559995 meters 0.05134864645456188 Centerline is valid? [True, True] Translation: X:647.89, Y:-222.84, Z:-5.17 [[ 7.46714987e-01 6.65131470e-01 4.10564530e-03 6.47893026e+02] [-6.65121436e-01 7.46726274e-01 -3.65349620e-03 -2.22840993e+02] [-5.49584851e-03 -2.63232570e-06 9.99984898e-01 -5.16562823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.226559995 meters 0.05142889896334143 Centerline is valid? [True, True] Translation: X:647.94, Y:-222.88, Z:-5.17 [[ 7.40179263e-01 6.72400842e-01 3.43020650e-03 6.47942426e+02] [-6.72393914e-01 7.40187210e-01 -3.05273576e-03 -2.22878638e+02] [-4.59165708e-03 -4.68782723e-05 9.99989457e-01 -5.16579517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.286559995 meters 0.05212892023186107 Centerline is valid? [True, True] Translation: X:647.99, Y:-222.91, Z:-5.17 [[ 7.31236833e-01 6.82120444e-01 2.09610006e-03 6.47993686e+02] [-6.82117896e-01 7.31239835e-01 -1.86539950e-03 -2.22911851e+02] [-2.80517900e-03 -6.57385391e-05 9.99996063e-01 -5.16762726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3465599949999 meters 0.05127384912634264 Centerline is valid? [True, True] Translation: X:648.04, Y:-222.95, Z:-5.17 [[ 7.25162960e-01 6.88576608e-01 9.67979674e-04 6.48041830e+02] [-6.88576070e-01 7.25163605e-01 -8.61380040e-04 -2.22949177e+02] [-1.29506978e-03 -4.18867401e-05 9.99999161e-01 -5.16814664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.406559995 meters 0.04999505382070127 Centerline is valid? [True, True] Translation: X:648.08, Y:-222.99, Z:-5.17 [[ 7.23199531e-01 6.90639051e-01 3.74145984e-04 6.48083446e+02] [-6.90638971e-01 7.23199628e-01 -3.32130319e-04 -2.22994767e+02] [-4.99964405e-04 -1.82033061e-05 9.99999875e-01 -5.16710574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4665599949999 meters 0.05131567446571526 Centerline is valid? [True, True] Translation: X:648.13, Y:-223.03, Z:-5.17 [[ 7.23540373e-01 6.90281912e-01 4.58735091e-04 6.48130315e+02] [-6.90281792e-01 7.23540518e-01 -4.07431517e-04 -2.23034675e+02] [-6.13156032e-04 -2.18633292e-05 9.99999812e-01 -5.16687554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.526559995 meters 0.05067506753426521 Centerline is valid? [True, True] Translation: X:648.17, Y:-223.08, Z:-5.17 [[ 7.25287548e-01 6.88445864e-01 -5.14636054e-04 6.48173398e+02] [-6.88445711e-01 7.25287731e-01 4.59189444e-04 -2.23078499e+02] [ 6.89386289e-04 2.12545981e-05 9.99999762e-01 -5.16683042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5865599949999 meters 0.05195924497830131 Centerline is valid? [True, True] Translation: X:648.22, Y:-223.11, Z:-5.17 [[ 7.27310442e-01 6.86306665e-01 -1.63786120e-03 6.48222217e+02] [-6.86305117e-01 7.27312283e-01 1.45937896e-03 -2.23114097e+02] [ 2.19281808e-03 6.26509623e-05 9.99997594e-01 -5.17145556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.646559995 meters 0.05127486975900009 Centerline is valid? [True, True] Translation: X:648.26, Y:-223.16, Z:-5.17 [[ 7.29427268e-01 6.84053659e-01 -2.54030771e-03 6.48260025e+02] [-6.84049920e-01 7.29431686e-01 2.26311004e-03 -2.23164124e+02] [ 3.40106963e-03 8.69231149e-05 9.99994213e-01 -5.16906899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7065599949999 meters 0.05156965554932212 Centerline is valid? [True, True] Translation: X:648.30, Y:-223.21, Z:-5.17 [[ 7.33128973e-01 6.80080647e-01 -3.49610730e-03 6.48303059e+02] [-6.80073517e-01 7.33137303e-01 3.11549531e-03 -2.23206608e+02] [ 4.68191475e-03 9.35501094e-05 9.99989035e-01 -5.17088126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.766559995 meters 0.0510849214250562 Centerline is valid? [True, True] Translation: X:648.34, Y:-223.25, Z:-5.17 [[ 7.34482570e-01 6.78619782e-01 -3.24738174e-03 6.48344533e+02] [-6.78613613e-01 7.34489745e-01 2.89465779e-03 -2.23252339e+02] [ 4.34954062e-03 7.76417627e-05 9.99990538e-01 -5.16824187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8265599949999 meters 0.05039917360751299 Centerline is valid? [True, True] Translation: X:648.39, Y:-223.30, Z:-5.16 [[ 7.34074728e-01 6.79064105e-01 -2.49686494e-03 6.48387075e+02] [-6.79060457e-01 7.34078972e-01 2.22677708e-03 -2.23299158e+02] [ 3.34502043e-03 6.09014698e-05 9.99994404e-01 -5.16372134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.886559995 meters 0.051362216342874814 Centerline is valid? [True, True] Translation: X:648.44, Y:-223.34, Z:-5.16 [[ 7.32860536e-01 6.80377137e-01 -1.54486429e-03 6.48435497e+02] [-6.80375744e-01 7.32862163e-01 1.37744672e-03 -2.23338086e+02] [ 2.06935584e-03 4.16118518e-05 9.99997858e-01 -5.16407911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9465599949999 meters 0.05146870051580281 Centerline is valid? [True, True] Translation: X:648.49, Y:-223.38, Z:-5.17 [[ 7.32637970e-01 6.80616977e-01 -1.46131033e-03 6.48485154e+02] [-6.80615729e-01 7.32639426e-01 1.30409562e-03 -2.23375052e+02] [ 1.95820318e-03 3.91608273e-05 9.99998082e-01 -5.16573887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.006559995 meters 0.051111856003142615 Centerline is valid? [True, True] Translation: X:648.53, Y:-223.42, Z:-5.17 [[ 7.33355552e-01 6.79843536e-01 -1.54932161e-03 6.48531363e+02] [-6.79842131e-01 7.33357188e-01 1.38268587e-03 -2.23416973e+02] [ 2.07621619e-03 3.92937420e-05 9.99997844e-01 -5.16592288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0665599949999 meters 0.05019576245535535 Centerline is valid? [True, True] Translation: X:648.58, Y:-223.46, Z:-5.17 [[ 7.35141371e-01 6.77912547e-01 -1.32073065e-03 6.48577391e+02] [-6.77911522e-01 7.35142557e-01 1.17889080e-03 -2.23457617e+02] [ 1.77011017e-03 2.86871235e-05 9.99998433e-01 -5.16646929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.126559995 meters 0.05171132332843152 Centerline is valid? [True, True] Translation: X:648.62, Y:-223.50, Z:-5.17 [[ 7.37965527e-01 6.74837883e-01 -8.44211609e-04 6.48624054e+02] [-6.74837462e-01 7.37966010e-01 7.53993846e-04 -2.23496109e+02] [ 1.13182308e-03 1.32841536e-05 9.99999359e-01 -5.16780091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1865599949999 meters 0.05148820169191911 Centerline is valid? [True, True] Translation: X:648.67, Y:-223.54, Z:-5.17 [[ 7.42144869e-01 6.70239419e-01 -3.38823708e-04 6.48669330e+02] [-6.70239351e-01 7.42144946e-01 3.02495907e-04 -2.23536632e+02] [ 4.54200983e-04 2.59719735e-06 9.99999897e-01 -5.16848331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.246559995 meters 0.05191422424794237 Centerline is valid? [True, True] Translation: X:648.71, Y:-223.58, Z:-5.17 [[ 7.45547734e-01 6.66452031e-01 -5.17030672e-04 6.48714092e+02] [-6.66451871e-01 7.45547913e-01 4.61904974e-04 -2.23580516e+02] [ 6.93308646e-04 2.03851410e-07 9.99999760e-01 -5.16504879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3065599949999 meters 0.05217160958781872 Centerline is valid? [True, True] Translation: X:648.76, Y:-223.62, Z:-5.17 [[ 7.49400636e-01 6.62116632e-01 -5.01136723e-04 6.48758974e+02] [-6.62116481e-01 7.49400804e-01 4.47975192e-04 -2.23621320e+02] [ 6.72164088e-04 -3.90201025e-06 9.99999774e-01 -5.16801202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.366559995 meters 0.05229615950309756 Centerline is valid? [True, True] Translation: X:648.81, Y:-223.66, Z:-5.17 [[ 7.51248322e-01 6.60017158e-01 -1.81937039e-03 6.48807866e+02] [-6.60015160e-01 7.51250525e-01 1.62429708e-03 -2.23659809e+02] [ 2.43886690e-03 -1.94384208e-05 9.99997026e-01 -5.16520273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4265599949999 meters 0.05290549111811815 Centerline is valid? [True, True] Translation: X:648.85, Y:-223.70, Z:-5.17 [[ 7.50280691e-01 6.61113466e-01 -2.80546969e-03 6.48854134e+02] [-6.61108721e-01 7.50285936e-01 2.50467465e-03 -2.23699941e+02] [ 3.76077859e-03 -2.44885495e-05 9.99992928e-01 -5.16973378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.486559995 meters 0.05232492881382517 Centerline is valid? [True, True] Translation: X:648.90, Y:-223.74, Z:-5.17 [[ 7.48272058e-01 6.63386004e-01 -2.81738061e-03 6.48901760e+02] [-6.63381231e-01 7.48277361e-01 2.51642792e-03 -2.23739902e+02] [ 3.77754519e-03 -1.39752811e-05 9.99992865e-01 -5.16832440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5465599949999 meters 0.0519269083770211 Centerline is valid? [True, True] Translation: X:648.95, Y:-223.78, Z:-5.17 [[ 7.43798851e-01 6.68400997e-01 -1.83769635e-03 6.48950408e+02] [-6.68398980e-01 7.43801121e-01 1.64214980e-03 -2.23777810e+02] [ 2.46449517e-03 6.88523476e-06 9.99996963e-01 -5.16930959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.606559995 meters 0.051887169157877944 Centerline is valid? [True, True] Translation: X:649.00, Y:-223.81, Z:-5.17 [[ 7.38816540e-01 6.73905390e-01 -1.28267524e-03 6.49001235e+02] [-6.73904415e-01 7.38817653e-01 1.14668139e-03 -2.23812342e+02] [ 1.72041788e-03 1.72133259e-05 9.99998520e-01 -5.17337632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.666559995 meters 0.052153814316941736 Centerline is valid? [True, True] Translation: X:649.05, Y:-223.85, Z:-5.17 [[ 7.35730568e-01 6.77273232e-01 -1.22507379e-03 6.49047449e+02] [-6.77272348e-01 7.35731587e-01 1.09473619e-03 -2.23853397e+02] [ 1.64276100e-03 2.42777266e-05 9.99998650e-01 -5.17161167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.726559995 meters 0.051746818114742556 Centerline is valid? [True, True] Translation: X:649.10, Y:-223.89, Z:-5.17 [[ 7.31863331e-01 6.81450804e-01 -9.30795413e-04 6.49097805e+02] [-6.81450296e-01 7.31863923e-01 8.31746535e-04 -2.23888049e+02] [ 1.24800993e-03 2.55660200e-05 9.99999221e-01 -5.17360729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.786559995 meters 0.05238066107646614 Centerline is valid? [True, True] Translation: X:649.14, Y:-223.93, Z:-5.17 [[ 7.29556469e-01 6.83916346e-01 -2.40628808e-03 6.49140753e+02] [-6.83912971e-01 7.29560433e-01 2.14999936e-03 -2.23932380e+02] [ 3.22595228e-03 7.71456868e-05 9.99994794e-01 -5.17263430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8465599949999 meters 0.05198904884413484 Centerline is valid? [True, True] Translation: X:649.19, Y:-223.97, Z:-5.17 [[ 7.29059105e-01 6.84446296e-01 -2.46782055e-03 6.49187441e+02] [-6.84442745e-01 7.29063277e-01 2.20609499e-03 -2.23971548e+02] [ 3.30915088e-03 8.07082333e-05 9.99994521e-01 -5.17457632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.906559995 meters 0.05173357342520087 Centerline is valid? [True, True] Translation: X:649.23, Y:-224.02, Z:-5.17 [[ 7.30371980e-01 6.83045383e-01 -2.40327631e-03 6.49229309e+02] [-6.83042010e-01 7.30375930e-01 2.14776914e-03 -2.24017347e+02] [ 3.22231896e-03 7.28682845e-05 9.99994806e-01 -5.17305897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9665599949999 meters 0.051891660730885046 Centerline is valid? [True, True] Translation: X:649.27, Y:-224.06, Z:-5.17 [[ 7.34102311e-01 6.79036856e-01 -1.65690341e-03 6.49271782e+02] [-6.79035240e-01 7.34104180e-01 1.48187681e-03 -2.24060309e+02] [ 2.22258869e-03 3.72466123e-05 9.99997529e-01 -5.17319956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.026559995 meters 0.05160049707196115 Centerline is valid? [True, True] Translation: X:649.31, Y:-224.11, Z:-5.17 [[ 7.38693000e-01 6.74039417e-01 -1.87523316e-03 6.49312289e+02] [-6.74037332e-01 7.38695380e-01 1.67642959e-03 -2.24107062e+02] [ 2.51520570e-03 2.56103543e-05 9.99996837e-01 -5.17312779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0865599949999 meters 0.05221722008725297 Centerline is valid? [True, True] Translation: X:649.36, Y:-224.15, Z:-5.17 [[ 7.43069937e-01 6.69208463e-01 -2.66507136e-03 6.49355049e+02] [-6.69204221e-01 7.43074716e-01 2.38270410e-03 -2.24153259e+02] [ 3.57487289e-03 1.29612160e-05 9.99993610e-01 -5.17492839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.146559995 meters 0.05156296680624564 Centerline is valid? [True, True] Translation: X:649.40, Y:-224.20, Z:-5.18 [[ 7.45138724e-01 6.66902222e-01 -3.11573144e-03 6.49399978e+02] [-6.66896398e-01 7.45145238e-01 2.78705233e-03 -2.24196509e+02] [ 4.18036384e-03 1.12945652e-06 9.99991262e-01 -5.17606521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2065599949999 meters 0.0519236618306357 Centerline is valid? [True, True] Translation: X:649.45, Y:-224.24, Z:-5.17 [[ 7.46689588e-01 6.65165901e-01 -2.99728308e-03 6.49446198e+02] [-6.65160494e-01 7.46695603e-01 2.68195038e-03 -2.24239098e+02] [ 4.02200004e-03 -8.91012534e-06 9.99991912e-01 -5.17492953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.266559995 meters 0.051554376856287575 Centerline is valid? [True, True] Translation: X:649.49, Y:-224.28, Z:-5.18 [[ 7.49655562e-01 6.61824682e-01 -2.15127752e-03 6.49489988e+02] [-6.61821881e-01 7.49658649e-01 1.92559795e-03 -2.24282182e+02] [ 2.88713205e-03 -1.97726770e-05 9.99995832e-01 -5.17689940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3265599949999 meters 0.0523712838687191 Centerline is valid? [True, True] Translation: X:649.53, Y:-224.32, Z:-5.18 [[ 7.52526914e-01 6.58558976e-01 -1.82173632e-03 6.49534491e+02] [-6.58556957e-01 7.52529118e-01 1.63101454e-03 -2.24324545e+02] [ 2.44502890e-03 -2.76652125e-05 9.99997011e-01 -5.17740666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.386559995 meters 0.05256399698429954 Centerline is valid? [True, True] Translation: X:649.58, Y:-224.36, Z:-5.18 [[ 7.54164332e-01 6.56684687e-01 -1.17562638e-03 6.49584567e+02] [-6.56683842e-01 7.54165248e-01 1.05330712e-03 -2.24361209e+02] [ 1.57830722e-03 -2.23518073e-05 9.99998754e-01 -5.17527673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4465599949999 meters 0.053088938573264306 Centerline is valid? [True, True] Translation: X:649.63, Y:-224.40, Z:-5.18 [[ 7.55265056e-01 6.55418622e-01 -1.06019170e-03 6.49628745e+02] [-6.55417934e-01 7.55265800e-01 9.50243719e-04 -2.24403689e+02] [ 1.42353397e-03 -2.28172194e-05 9.99998987e-01 -5.17741932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.506559995 meters 0.05245552730927029 Centerline is valid? [True, True] Translation: X:649.68, Y:-224.44, Z:-5.18 [[ 7.54657000e-01 6.56119474e-01 -2.17787762e-04 6.49677739e+02] [-6.56119445e-01 7.54657032e-01 1.95381530e-04 -2.24442889e+02] [ 2.92548693e-04 -4.55125404e-06 9.99999957e-01 -5.17750337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5665599949999 meters 0.052465332737983525 Centerline is valid? [True, True] Translation: X:649.73, Y:-224.48, Z:-5.18 [[ 7.51974227e-01 6.59192268e-01 5.62507624e-04 6.49728844e+02] [-6.59192076e-01 7.51974437e-01 -5.03266198e-04 -2.24478138e+02] [-7.54740541e-04 7.64264109e-06 9.99999715e-01 -5.17694419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.626559995 meters 0.0517816356212347 Centerline is valid? [True, True] Translation: X:649.78, Y:-224.51, Z:-5.18 [[ 7.48333770e-01 6.63317517e-01 2.53792608e-03 6.49779429e+02] [-6.63313626e-01 7.48338073e-01 -2.27207121e-03 -2.24514013e+02] [-3.40633135e-03 1.68266585e-05 9.99994198e-01 -5.17789343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6865599949999 meters 0.05167242133361606 Centerline is valid? [True, True] Translation: X:649.83, Y:-224.55, Z:-5.18 [[ 7.46796025e-01 6.65046588e-01 2.95493421e-03 6.49827319e+02] [-6.65041328e-01 7.46801871e-01 -2.64528696e-03 -2.24552661e+02] [-3.96598946e-03 1.03364181e-05 9.99992135e-01 -5.17696438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.746559995 meters 0.05147919458698896 Centerline is valid? [True, True] Translation: X:649.88, Y:-224.59, Z:-5.18 [[ 7.43406670e-01 6.68828018e-01 3.95038508e-03 6.49875529e+02] [-6.68818662e-01 7.43417166e-01 -3.53754410e-03 -2.24590157e+02] [-5.30279270e-03 -1.22573839e-05 9.99985940e-01 -5.17788224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8065599949999 meters 0.05185417424399588 Centerline is valid? [True, True] Translation: X:649.93, Y:-224.62, Z:-5.18 [[ 7.36096535e-01 6.76861468e-01 4.52145070e-03 6.49930375e+02] [-6.76849356e-01 7.36110417e-01 -4.05014428e-03 -2.24620206e+02] [-6.06967356e-03 -7.90438227e-05 9.99981576e-01 -5.17907278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.866559995 meters 0.05142369764695561 Centerline is valid? [True, True] Translation: X:649.97, Y:-224.66, Z:-5.18 [[ 7.32995373e-01 6.80221835e-01 4.00476945e-03 6.49974105e+02] [-6.80212382e-01 7.33006307e-01 -3.58734737e-03 -2.24663284e+02] [-5.37571328e-03 -9.45847517e-05 9.99985546e-01 -5.17993120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9265599949999 meters 0.05171656733512758 Centerline is valid? [True, True] Translation: X:650.03, Y:-224.70, Z:-5.18 [[ 7.30698218e-01 6.82687731e-01 4.19239310e-03 6.50027100e+02] [-6.82677411e-01 7.30710235e-01 -3.75551853e-03 -2.24695920e+02] [-5.62727097e-03 -1.17901368e-04 9.99984160e-01 -5.18225247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.986559995 meters 0.05178288588361771 Centerline is valid? [True, True] Translation: X:650.07, Y:-224.74, Z:-5.18 [[ 7.30729354e-01 6.82656605e-01 3.81722776e-03 6.50072992e+02] [-6.82648050e-01 7.30739316e-01 -3.41928198e-03 -2.24738907e+02] [-5.12359383e-03 -1.07253377e-04 9.99986869e-01 -5.18255759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0465599949999 meters 0.051852792211611966 Centerline is valid? [True, True] Translation: X:650.12, Y:-224.78, Z:-5.18 [[ 7.31527707e-01 6.81801847e-01 3.66811958e-03 6.50120124e+02] [-6.81793931e-01 7.31536897e-01 -3.28677905e-03 -2.24779711e+02] [-4.92429684e-03 -9.65317247e-05 9.99987871e-01 -5.18383522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.106559995 meters 0.051560308635305814 Centerline is valid? [True, True] Translation: X:650.16, Y:-224.82, Z:-5.18 [[ 7.33960479e-01 6.79182245e-01 3.67317597e-03 6.50164234e+02] [-6.79174273e-01 7.33969667e-01 -3.29164021e-03 -2.24822575e+02] [-4.93162333e-03 -7.87927972e-05 9.99987836e-01 -5.18488291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.166559995 meters 0.05103411735310743 Centerline is valid? [True, True] Translation: X:650.21, Y:-224.87, Z:-5.19 [[ 7.35496762e-01 6.77516822e-01 3.93317824e-03 6.50206585e+02] [-6.77507658e-01 7.35507275e-01 -3.52447316e-03 -2.24868068e+02] [-5.28077107e-03 -7.25197843e-05 9.99986054e-01 -5.18579399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.226559995 meters 0.051625718811563255 Centerline is valid? [True, True] Translation: X:650.25, Y:-224.91, Z:-5.19 [[ 7.38361024e-01 6.74399700e-01 2.83592662e-03 6.50250903e+02] [-6.74394912e-01 7.38366469e-01 -2.54166267e-03 -2.24909593e+02] [-3.80804967e-03 -3.58698303e-05 9.99992749e-01 -5.18821625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.286559995 meters 0.05142760794138513 Centerline is valid? [True, True] Translation: X:650.29, Y:-224.96, Z:-5.19 [[ 7.41855461e-01 6.70551708e-01 3.29861181e-03 6.50292697e+02] [-6.70545189e-01 7.41862795e-01 -2.95687400e-03 -2.24956359e+02] [-4.42985429e-03 -1.82951551e-05 9.99990188e-01 -5.18822177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3465599949999 meters 0.050971796172943604 Centerline is valid? [True, True] Translation: X:650.33, Y:-225.00, Z:-5.19 [[ 7.45402384e-01 6.66605393e-01 3.54055711e-03 6.50334152e+02] [-6.66597834e-01 7.45410793e-01 -3.17458949e-03 -2.25002120e+02] [-4.75536795e-03 6.21887788e-06 9.99988693e-01 -5.18703200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.406559995 meters 0.05093380288639266 Centerline is valid? [True, True] Translation: X:650.38, Y:-225.05, Z:-5.19 [[ 7.48867652e-01 6.62716258e-01 2.09786138e-03 6.50375218e+02] [-6.62713589e-01 7.48870590e-01 -1.88126090e-03 -2.25049954e+02] [-2.81776887e-03 1.85341919e-05 9.99996030e-01 -5.19040436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4665599949999 meters 0.05201479047474194 Centerline is valid? [True, True] Translation: X:650.42, Y:-225.09, Z:-5.19 [[ 7.51911867e-01 6.59258969e-01 2.48102315e-03 6.50418696e+02] [-6.59255214e-01 7.51915960e-01 -2.22539003e-03 -2.25094920e+02] [-3.33262924e-03 3.76697230e-05 9.99994446e-01 -5.19080835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.526559995 meters 0.052202226823196314 Centerline is valid? [True, True] Translation: X:650.46, Y:-225.14, Z:-5.19 [[ 7.56807590e-01 6.53631449e-01 2.86370140e-03 6.50460954e+02] [-6.53626405e-01 7.56813005e-01 -2.56879175e-03 -2.25138977e+02] [-3.84632953e-03 7.22902391e-05 9.99992600e-01 -5.19051387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5865599949999 meters 0.05226467033290925 Centerline is valid? [True, True] Translation: X:650.50, Y:-225.19, Z:-5.19 [[ 7.60423251e-01 6.49418456e-01 3.48544318e-03 6.50500857e+02] [-6.49410938e-01 7.60431230e-01 -3.12700582e-03 -2.25187167e+02] [-4.68117513e-03 1.14363004e-04 9.99989037e-01 -5.19154549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.646559995 meters 0.05187785538721539 Centerline is valid? [True, True] Translation: X:650.55, Y:-225.23, Z:-5.19 [[ 7.63989979e-01 6.45213878e-01 4.28536518e-03 6.50546174e+02] [-6.45202445e-01 7.64001978e-01 -3.84474350e-03 -2.25229184e+02] [-5.75470934e-03 1.72417411e-04 9.99983427e-01 -5.18968075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7065599949999 meters 0.051781281218167344 Centerline is valid? [True, True] Translation: X:650.59, Y:-225.27, Z:-5.19 [[ 7.64556552e-01 6.44543348e-01 4.14149723e-03 6.50591793e+02] [-6.44532655e-01 7.64567749e-01 -3.71661895e-03 -2.25269074e+02] [-5.56197723e-03 1.72235162e-04 9.99984517e-01 -5.18937149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.766559995 meters 0.05219980431108505 Centerline is valid? [True, True] Translation: X:650.64, Y:-225.30, Z:-5.19 [[ 7.62791470e-01 6.46631019e-01 4.18319527e-03 6.50642116e+02] [-6.46620139e-01 7.62802924e-01 -3.75446501e-03 -2.25303418e+02] [-5.61870712e-03 1.58935580e-04 9.99984202e-01 -5.19023399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8265599949999 meters 0.05245188027018278 Centerline is valid? [True, True] Translation: X:650.68, Y:-225.35, Z:-5.19 [[ 7.57451552e-01 6.52874245e-01 4.72938196e-03 6.50684331e+02] [-6.52860453e-01 7.57466306e-01 -4.24552394e-03 -2.25348985e+02] [-6.35414072e-03 1.28152248e-04 9.99979804e-01 -5.19092748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.886559995 meters 0.05103018360027107 Centerline is valid? [True, True] Translation: X:650.73, Y:-225.39, Z:-5.19 [[ 7.50697476e-01 6.60630105e-01 4.60053459e-03 6.50730012e+02] [-6.60617197e-01 7.50711570e-01 -4.13017433e-03 -2.25388114e+02] [-6.18219205e-03 6.13191789e-05 9.99980888e-01 -5.19143963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9465599949999 meters 0.051703649912549894 Centerline is valid? [True, True] Translation: X:650.78, Y:-225.42, Z:-5.19 [[ 7.43307301e-01 6.68935566e-01 4.41185730e-03 6.50782045e+02] [-6.68923839e-01 7.43320394e-01 -3.96096456e-03 -2.25421887e+02] [-5.92905358e-03 -6.98265236e-06 9.99982423e-01 -5.19230574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.006559995 meters 0.0516462974006096 Centerline is valid? [True, True] Translation: X:650.83, Y:-225.46, Z:-5.19 [[ 7.35237282e-01 6.77795078e-01 4.46900748e-03 6.50833834e+02] [-6.77783206e-01 7.35250859e-01 -4.01239977e-03 -2.25456029e+02] [-6.00542640e-03 -7.89523204e-05 9.99981964e-01 -5.19319663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0665599949999 meters 0.05184220601651449 Centerline is valid? [True, True] Translation: X:650.89, Y:-225.49, Z:-5.19 [[ 7.28008400e-01 6.85549847e-01 5.01755522e-03 6.50885046e+02] [-6.85535064e-01 7.28025673e-01 -4.50505418e-03 -2.25490889e+02] [-6.74134822e-03 -1.59992751e-04 9.99977264e-01 -5.19441507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.126559995 meters 0.05099896383390934 Centerline is valid? [True, True] Translation: X:650.93, Y:-225.53, Z:-5.19 [[ 7.26508703e-01 6.87144539e-01 4.18172364e-03 6.50928630e+02] [-6.87134297e-01 7.26520723e-01 -3.75466117e-03 -2.25534621e+02] [-5.61810380e-03 -1.45611720e-04 9.99984208e-01 -5.19473862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1865599949999 meters 0.05074523044150165 Centerline is valid? [True, True] Translation: X:650.97, Y:-225.58, Z:-5.20 [[ 7.27561771e-01 6.86041245e-01 1.13126585e-03 6.50970725e+02] [-6.86040495e-01 7.27562649e-01 -1.01492275e-03 -2.25581135e+02] [-1.51934564e-03 -3.76751916e-05 9.99998845e-01 -5.19890240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.246559995 meters 0.05074523044150165 Centerline is valid? [True, True] Translation: X:651.02, Y:-225.62, Z:-5.20 [[ 7.27474413e-01 6.86133878e-01 1.13121570e-03 6.51017252e+02] [-6.86133128e-01 7.27475292e-01 -1.01497865e-03 -2.25622852e+02] [-1.51934271e-03 -3.77935751e-05 9.99998845e-01 -5.19936318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3065599949999 meters 0.05099360589061357 Centerline is valid? [True, True] Translation: X:651.06, Y:-225.67, Z:-5.20 [[ 7.28001707e-01 6.85575144e-01 4.86332861e-04 6.51062501e+02] [-6.85575006e-01 7.28001869e-01 -4.35885476e-04 -2.25665416e+02] [-6.52883481e-04 -1.60922834e-05 9.99999787e-01 -5.20032442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.366559995 meters 0.051065434430699566 Centerline is valid? [True, True] Translation: X:651.11, Y:-225.71, Z:-5.20 [[ 7.28761699e-01 6.84767396e-01 -2.08684086e-05 6.51108398e+02] [-6.84767395e-01 7.28761699e-01 1.93921208e-05 -2.25705847e+02] [ 2.84871888e-05 1.57770919e-07 1.00000000e+00 -5.20176371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4265599949999 meters 0.051112458834261625 Centerline is valid? [True, True] Translation: X:651.15, Y:-225.75, Z:-5.20 [[ 7.31939797e-01 6.81369181e-01 -4.16092811e-04 6.51150211e+02] [-6.81369078e-01 7.31939915e-01 3.74767655e-04 -2.25749648e+02] [ 5.59910067e-04 9.20541393e-06 9.99999843e-01 -5.20353584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.486559995 meters 0.05059805983711854 Centerline is valid? [True, True] Translation: X:651.19, Y:-225.80, Z:-5.20 [[ 7.35016690e-01 6.78048007e-01 1.16825890e-03 6.51190630e+02] [-6.78047195e-01 7.35017618e-01 -1.04980444e-03 -2.25796871e+02] [-1.57050868e-03 -2.05108832e-05 9.99998767e-01 -5.20113409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5465599949999 meters 0.05028153324758249 Centerline is valid? [True, True] Translation: X:651.24, Y:-225.84, Z:-5.20 [[ 7.34964377e-01 6.78099774e-01 2.83917559e-03 6.51238246e+02] [-6.78094974e-01 7.34969860e-01 -2.55178011e-03 -2.25836025e+02] [-3.81706999e-03 -4.97632180e-05 9.99992714e-01 -5.20035578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.606559995 meters 0.05112533035412725 Centerline is valid? [True, True] Translation: X:651.29, Y:-225.88, Z:-5.20 [[ 7.34727378e-01 6.78356760e-01 2.79046426e-03 6.51285543e+02] [-6.78352125e-01 7.34732675e-01 -2.50802257e-03 -2.25877792e+02] [-3.75157933e-03 -5.02045121e-05 9.99992962e-01 -5.20077150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.666559995 meters 0.05037195642986712 Centerline is valid? [True, True] Translation: X:651.33, Y:-225.92, Z:-5.20 [[ 7.34501342e-01 6.78603425e-01 2.27384825e-03 6.51331267e+02] [-6.78600348e-01 7.34504861e-01 -2.04404640e-03 -2.25920154e+02] [-3.05724948e-03 -4.16793842e-05 9.99995326e-01 -5.20068092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.726559995 meters 0.05066230700543475 Centerline is valid? [True, True] Translation: X:651.38, Y:-225.96, Z:-5.20 [[ 7.33477298e-01 6.79712099e-01 1.58603961e-03 6.51378548e+02] [-6.79710605e-01 7.33479012e-01 -1.42572205e-03 -2.25959882e+02] [-2.13240730e-03 -3.23131823e-05 9.99997726e-01 -5.20134374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.786559995 meters 0.05101653169327385 Centerline is valid? [True, True] Translation: X:651.43, Y:-226.00, Z:-5.20 [[ 7.33210622e-01 6.80000758e-01 1.07358191e-03 6.51426143e+02] [-6.80000074e-01 7.33211408e-01 -9.64918922e-04 -2.25999669e+02] [-1.44330810e-03 -2.25469765e-05 9.99998958e-01 -5.20223681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8465599949999 meters 0.05059179058317285 Centerline is valid? [True, True] Translation: X:651.47, Y:-226.04, Z:-5.20 [[ 7.33587792e-01 6.79594491e-01 5.28063540e-04 6.51471300e+02] [-6.79594325e-01 7.33587982e-01 -4.74162318e-04 -2.26041962e+02] [-7.09619166e-04 -1.10292972e-05 9.99999748e-01 -5.20167953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.906559995 meters 0.05106111440915631 Centerline is valid? [True, True] Translation: X:651.52, Y:-226.08, Z:-5.20 [[ 7.35936140e-01 6.77050840e-01 3.96501711e-04 6.51517614e+02] [-6.77050746e-01 7.35936247e-01 -3.56493426e-04 -2.26082619e+02] [-5.33164155e-04 -6.09538338e-06 9.99999858e-01 -5.20294542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9665599949999 meters 0.05084869711097891 Centerline is valid? [True, True] Translation: X:651.56, Y:-226.13, Z:-5.20 [[ 7.38855124e-01 6.73862744e-01 1.45183763e-03 6.51561486e+02] [-6.73861479e-01 7.38856550e-01 -1.30608228e-03 -2.26125394e+02] [-1.95281994e-03 -1.33318670e-05 9.99998093e-01 -5.20217704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.026559995 meters 0.05100977563266595 Centerline is valid? [True, True] Translation: X:651.61, Y:-226.17, Z:-5.20 [[ 7.40155290e-01 6.72431280e-01 2.51383331e-03 6.51606903e+02] [-6.72427474e-01 7.40159559e-01 -2.26251737e-03 -2.26166806e+02] [-3.38202521e-03 -1.57563817e-05 9.99994281e-01 -5.20226547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0865599949999 meters 0.05097644288651298 Centerline is valid? [True, True] Translation: X:651.65, Y:-226.21, Z:-5.20 [[ 7.40684983e-01 6.71843460e-01 3.48153759e-03 6.51652288e+02] [-6.71836148e-01 7.40693165e-01 -3.13455558e-03 -2.26207201e+02] [-4.68468177e-03 -1.73045584e-05 9.99989027e-01 -5.20286180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.146559995 meters 0.050536572915414225 Centerline is valid? [True, True] Translation: X:651.70, Y:-226.25, Z:-5.20 [[ 7.40562800e-01 6.71978603e-01 3.39053436e-03 6.51698389e+02] [-6.71971667e-01 7.40570562e-01 -3.05314707e-03 -2.26249777e+02] [-4.56257944e-03 -1.72958871e-05 9.99989591e-01 -5.20421846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2065599949999 meters 0.050806480691293045 Centerline is valid? [True, True] Translation: X:651.75, Y:-226.29, Z:-5.20 [[ 7.39850837e-01 6.72758639e-01 4.06856881e-03 6.51745145e+02] [-6.72748657e-01 7.39862023e-01 -3.66487861e-03 -2.26292081e+02] [-5.47575829e-03 -2.56607020e-05 9.99985008e-01 -5.20452361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.266559995 meters 0.05045298204673711 Centerline is valid? [True, True] Translation: X:651.79, Y:-226.33, Z:-5.21 [[ 7.38666613e-01 6.74054899e-01 4.65058636e-03 6.51791472e+02] [-6.74041875e-01 7.38681252e-01 -4.19041062e-03 -2.26332742e+02] [-6.25986776e-03 -3.93735340e-05 9.99980406e-01 -5.20542468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3265599949999 meters 0.05061091623187109 Centerline is valid? [True, True] Translation: X:651.84, Y:-226.37, Z:-5.21 [[ 7.37484433e-01 6.75350470e-01 4.29582951e-03 6.51838351e+02] [-6.75339375e-01 7.37496943e-01 -3.87148656e-03 -2.26372934e+02] [-5.78277139e-03 -4.59817470e-05 9.99983279e-01 -5.20686489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.386559995 meters 0.05060405581519965 Centerline is valid? [True, True] Translation: X:651.89, Y:-226.41, Z:-5.21 [[ 7.35438589e-01 6.77581421e-01 3.67430786e-03 6.51886157e+02] [-6.77573328e-01 7.35447765e-01 -3.31216867e-03 -2.26410452e+02] [-4.94652546e-03 -5.37163509e-05 9.99987764e-01 -5.20868824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4465599949999 meters 0.050498359064664905 Centerline is valid? [True, True] Translation: X:651.93, Y:-226.45, Z:-5.21 [[ 7.33160806e-01 6.80047520e-01 3.25624956e-03 6.51933185e+02] [-6.80041188e-01 7.33168034e-01 -2.93536433e-03 -2.26450569e+02] [-4.38356532e-03 -6.22897451e-05 9.99990390e-01 -5.20953734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.506559995 meters 0.051720146595302934 Centerline is valid? [True, True] Translation: X:651.98, Y:-226.49, Z:-5.21 [[ 7.32271246e-01 6.81005630e-01 3.18670619e-03 6.51980416e+02] [-6.80999571e-01 7.32278177e-01 -2.87324152e-03 -2.26490024e+02] [-4.29024905e-03 -6.61533998e-05 9.99990795e-01 -5.21070707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5665599949999 meters 0.050401080787012734 Centerline is valid? [True, True] Translation: X:652.03, Y:-226.53, Z:-5.21 [[ 7.32245068e-01 6.81033310e-01 3.28484476e-03 6.52026443e+02] [-6.81026871e-01 7.32252433e-01 -2.96227045e-03 -2.26533490e+02] [-4.42274042e-03 -6.79596167e-05 9.99990217e-01 -5.21100813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.626559995 meters 0.05006223588945041 Centerline is valid? [True, True] Translation: X:652.07, Y:-226.58, Z:-5.21 [[ 7.33183410e-01 6.80027271e-01 2.23566036e-03 6.52066973e+02] [-6.80024283e-01 7.33186817e-01 -2.01631173e-03 -2.26580939e+02] [-3.01030367e-03 -4.19770252e-05 9.99995468e-01 -5.21050669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6865599949999 meters 0.051344492065821826 Centerline is valid? [True, True] Translation: X:652.11, Y:-226.62, Z:-5.21 [[ 7.38335430e-01 6.74432725e-01 1.13662507e-03 6.52112033e+02] [-6.74431946e-01 7.38336305e-01 -1.02544769e-03 -2.26622328e+02] [-1.53080703e-03 -9.45189661e-06 9.99998828e-01 -5.21272242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.746559995 meters 0.051087172197097075 Centerline is valid? [True, True] Translation: X:652.16, Y:-226.67, Z:-5.21 [[ 7.42146085e-01 6.70237017e-01 1.23634865e-03 6.52155283e+02] [-6.70236090e-01 7.42147115e-01 -1.11485983e-03 -2.26665653e+02] [-1.66477291e-03 -1.25662823e-06 9.99998614e-01 -5.21323839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8065599949999 meters 0.05094090259558332 Centerline is valid? [True, True] Translation: X:652.20, Y:-226.71, Z:-5.21 [[ 7.46039132e-01 6.65899901e-01 1.71356933e-03 6.52200771e+02] [-6.65898106e-01 7.46041100e-01 -1.54624307e-03 -2.26706833e+02] [-2.30803626e-03 1.24952641e-05 9.99997336e-01 -5.21224240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.866559995 meters 0.05115695998170014 Centerline is valid? [True, True] Translation: X:652.24, Y:-226.75, Z:-5.21 [[ 7.50546309e-01 6.60811848e-01 2.81760760e-03 6.52243212e+02] [-6.60806956e-01 7.50551597e-01 -2.54324194e-03 -2.26750548e+02] [-3.79536429e-03 4.69261531e-05 9.99992796e-01 -5.21321598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9265599949999 meters 0.05186716184686567 Centerline is valid? [True, True] Translation: X:652.29, Y:-226.79, Z:-5.21 [[ 7.53472035e-01 6.57472663e-01 3.09667097e-03 6.52290693e+02] [-6.57466724e-01 7.53478395e-01 -2.79549222e-03 -2.26790284e+02] [-4.17123439e-03 7.03670968e-05 9.99991298e-01 -5.21240336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.986559995 meters 0.0516948733188151 Centerline is valid? [True, True] Translation: X:652.34, Y:-226.83, Z:-5.21 [[ 7.57051943e-01 6.53347700e-01 3.02292538e-03 6.52338436e+02] [-6.53342008e-01 7.57057973e-01 -2.72890708e-03 -2.26829677e+02] [-4.07145493e-03 9.09202722e-05 9.99991707e-01 -5.21252318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0465599949999 meters 0.052454399192633255 Centerline is valid? [True, True] Translation: X:652.39, Y:-226.87, Z:-5.21 [[ 7.57229534e-01 6.53145552e-01 2.07863967e-03 6.52388628e+02] [-6.53142858e-01 7.57232385e-01 -1.87689226e-03 -2.26866885e+02] [-2.79989710e-03 6.35895961e-05 9.99996078e-01 -5.21478601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.106559995 meters 0.05251955231471815 Centerline is valid? [True, True] Translation: X:652.44, Y:-226.91, Z:-5.22 [[ 7.55535171e-01 6.55104076e-01 2.29250529e-03 6.52436882e+02] [-6.55100809e-01 7.55538646e-01 -2.06988303e-03 -2.26905025e+02] [-3.08806516e-03 6.20473586e-05 9.99995230e-01 -5.21526798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.166559995 meters 0.05258510608606874 Centerline is valid? [True, True] Translation: X:652.49, Y:-226.94, Z:-5.22 [[ 7.51135922e-01 6.60146661e-01 1.10127546e-03 6.52485444e+02] [-6.60145913e-01 7.51136729e-01 -9.94066943e-04 -2.26941279e+02] [-1.48343842e-03 1.96768988e-05 9.99998900e-01 -5.21610072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.226559995 meters 0.05241951065921788 Centerline is valid? [True, True] Translation: X:652.53, Y:-226.98, Z:-5.22 [[ 7.46874134e-01 6.64964998e-01 7.61199330e-04 6.52532245e+02] [-6.64964643e-01 7.46874522e-01 -6.87499280e-04 -2.26981182e+02] [-1.02568334e-03 7.30478888e-06 9.99999474e-01 -5.21978676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.286559995 meters 0.05154061660145348 Centerline is valid? [True, True] Translation: X:652.59, Y:-227.02, Z:-5.22 [[ 7.40025962e-01 6.72575798e-01 1.83608254e-03 6.52585086e+02] [-6.72573755e-01 7.40028240e-01 -1.65813535e-03 -2.27015350e+02] [-2.47397464e-03 -7.83771987e-06 9.99996940e-01 -5.21881706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3465599949999 meters 0.0513693221118613 Centerline is valid? [True, True] Translation: X:652.64, Y:-227.05, Z:-5.22 [[ 7.33205881e-01 6.79994782e-01 4.02906569e-03 6.52637064e+02] [-6.79985037e-01 7.33216948e-01 -3.64106772e-03 -2.27049686e+02] [-5.43008629e-03 -7.00521163e-05 9.99985255e-01 -5.21760076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.406559995 meters 0.051590826850011796 Centerline is valid? [True, True] Translation: X:652.69, Y:-227.08, Z:-5.22 [[ 7.29124364e-01 6.84363968e-01 4.86014473e-03 6.52686700e+02] [-6.84349884e-01 7.29140552e-01 -4.39230686e-03 -2.27084097e+02] [-6.54966516e-03 -1.23501536e-04 9.99978543e-01 -5.21736801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4665599949999 meters 0.05185903161454706 Centerline is valid? [True, True] Translation: X:652.73, Y:-227.12, Z:-5.22 [[ 7.27344864e-01 6.86247832e-01 5.77591124e-03 6.52734550e+02] [-6.86227999e-01 7.27367778e-01 -5.21996200e-03 -2.27123698e+02] [-7.78339933e-03 -1.66879466e-04 9.99969695e-01 -5.21699789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.526559995 meters 0.05166360820411025 Centerline is valid? [True, True] Translation: X:652.78, Y:-227.16, Z:-5.22 [[ 7.26809952e-01 6.86813859e-01 5.83239133e-03 6.52781348e+02] [-6.86793652e-01 7.26833332e-01 -5.27132537e-03 -2.27163868e+02] [-7.85959574e-03 -1.74397600e-04 9.99969098e-01 -5.21750819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5865599949999 meters 0.050765996818649656 Centerline is valid? [True, True] Translation: X:652.83, Y:-227.21, Z:-5.22 [[ 7.26649660e-01 6.86997500e-01 3.83485432e-03 6.52827474e+02] [-6.86988766e-01 7.26659770e-01 -3.46621937e-03 -2.27207356e+02] [-5.16791840e-03 -1.15774709e-04 9.99986640e-01 -5.22085546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.646559995 meters 0.05179133338045201 Centerline is valid? [True, True] Translation: X:652.87, Y:-227.25, Z:-5.22 [[ 7.26974218e-01 6.86659332e-01 2.72933069e-03 6.52873696e+02] [-6.86654903e-01 7.26979337e-01 -2.46732009e-03 -2.27248403e+02] [-3.67837538e-03 -8.04302118e-05 9.99993232e-01 -5.22262336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7065599949999 meters 0.05187046610327405 Centerline is valid? [True, True] Translation: X:652.92, Y:-227.29, Z:-5.23 [[ 7.28623797e-01 6.84914001e-01 4.17671705e-04 6.52917294e+02] [-6.84913897e-01 7.28623916e-01 -3.76782976e-04 -2.27291291e+02] [-5.62389529e-04 -1.15361124e-05 9.99999842e-01 -5.22522246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.766559995 meters 0.05130800820415669 Centerline is valid? [True, True] Translation: X:652.96, Y:-227.34, Z:-5.23 [[ 7.32475307e-01 6.80793486e-01 -3.93933226e-04 6.52959514e+02] [-6.80793392e-01 7.32475413e-01 3.56474994e-04 -2.27335687e+02] [ 5.31232256e-04 7.07800732e-06 9.99999859e-01 -5.22646039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8265599949999 meters 0.0511148728137904 Centerline is valid? [True, True] Translation: X:653.00, Y:-227.38, Z:-5.23 [[ 7.38383902e-01 6.74380280e-01 6.72191474e-04 6.52999607e+02] [-6.74380006e-01 7.38384208e-01 -6.07997594e-04 -2.27380668e+02] [-9.06357157e-04 -4.37685406e-06 9.99999589e-01 -5.22805843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.886559995 meters 0.05108587521962251 Centerline is valid? [True, True] Translation: X:653.04, Y:-227.43, Z:-5.22 [[ 7.45595611e-01 6.66389346e-01 3.52493412e-03 6.53039766e+02] [-6.66381718e-01 7.45603942e-01 -3.18855379e-03 -2.27429683e+02] [-4.75302305e-03 2.84200580e-05 9.99988704e-01 -5.22482501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9465599949999 meters 0.05146811129410417 Centerline is valid? [True, True] Translation: X:653.08, Y:-227.48, Z:-5.23 [[ 7.50975684e-01 6.60319043e-01 3.77937165e-03 6.53080246e+02] [-6.60310194e-01 7.50985191e-01 -3.41918267e-03 -2.27475825e+02] [-5.09600357e-03 7.21654152e-05 9.99987013e-01 -5.22602986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.006559995 meters 0.05181833834894464 Centerline is valid? [True, True] Translation: X:653.12, Y:-227.52, Z:-5.23 [[ 7.53324168e-01 6.57644654e-01 2.49153945e-03 6.53123248e+02] [-6.57640791e-01 7.53328285e-01 -2.25476693e-03 -2.27517177e+02] [-3.35978256e-03 6.00324439e-05 9.99994354e-01 -5.22680663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0665599949999 meters 0.05167840680213013 Centerline is valid? [True, True] Translation: X:653.17, Y:-227.56, Z:-5.23 [[ 7.54472705e-01 6.56328234e-01 2.04605365e-03 6.53168556e+02] [-6.56325625e-01 7.54475478e-01 -1.85135487e-03 -2.27559269e+02] [-2.75879378e-03 5.39192813e-05 9.99996193e-01 -5.22713930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.126559995 meters 0.051573290196030984 Centerline is valid? [True, True] Translation: X:653.22, Y:-227.60, Z:-5.23 [[ 7.54438531e-01 6.56369132e-01 1.43737459e-03 6.53215573e+02] [-6.56367846e-01 7.54439899e-01 -1.29987994e-03 -2.27600883e+02] [-1.93761381e-03 3.72330461e-05 9.99998122e-01 -5.22789447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1865599949999 meters 0.05219684718930478 Centerline is valid? [True, True] Translation: X:653.26, Y:-227.64, Z:-5.23 [[ 7.53472724e-01 6.57476080e-01 2.01459469e-03 6.53263432e+02] [-6.57473554e-01 7.53475416e-01 -1.82310440e-03 -2.27639367e+02] [-2.71659511e-03 4.91167062e-05 9.99996309e-01 -5.22719044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.246559995 meters 0.0516452114331582 Centerline is valid? [True, True] Translation: X:653.31, Y:-227.68, Z:-5.23 [[ 7.51892350e-01 6.59281666e-01 2.36203493e-03 6.53309406e+02] [-6.59278200e-01 7.51896058e-01 -2.13830171e-03 -2.27680230e+02] [-3.18574787e-03 5.05345561e-05 9.99994924e-01 -5.22727270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3065599949999 meters 0.05150528251236666 Centerline is valid? [True, True] Translation: X:653.35, Y:-227.72, Z:-5.23 [[ 7.50375931e-01 6.61005025e-01 2.88437030e-03 6.53353195e+02] [-6.60999867e-01 7.50381472e-01 -2.61178118e-03 -2.27723733e+02] [-3.89077851e-03 5.32493474e-05 9.99992429e-01 -5.22771590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.366559995 meters 0.0511810834386993 Centerline is valid? [True, True] Translation: X:653.40, Y:-227.76, Z:-5.23 [[ 7.47741451e-01 6.63976352e-01 4.25754172e-03 6.53399739e+02] [-6.63965154e-01 7.47753569e-01 -3.85669544e-03 -2.27763422e+02] [-5.74434659e-03 5.69517041e-05 9.99983499e-01 -5.22770032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4265599949999 meters 0.05111118347472021 Centerline is valid? [True, True] Translation: X:653.45, Y:-227.80, Z:-5.23 [[ 7.44324430e-01 6.67801527e-01 4.71832225e-03 6.53448108e+02] [-6.67787849e-01 7.44339384e-01 -4.27425186e-03 -2.27803484e+02] [-6.36638500e-03 3.05918152e-05 9.99979734e-01 -5.22809007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.486559995 meters 0.050774071930578805 Centerline is valid? [True, True] Translation: X:653.50, Y:-227.84, Z:-5.23 [[ 7.39981840e-01 6.72609360e-01 4.85024167e-03 6.53497139e+02] [-6.72595005e-01 7.39997735e-01 -4.39437966e-03 -2.27841156e+02] [-6.54486875e-03 -1.04871749e-05 9.99978582e-01 -5.22850718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5465599949999 meters 0.05054418972422749 Centerline is valid? [True, True] Translation: X:653.55, Y:-227.88, Z:-5.23 [[ 7.37554831e-01 6.75270157e-01 4.80479190e-03 6.53546209e+02] [-6.75256119e-01 7.37570480e-01 -4.35430425e-03 -2.27879786e+02] [-6.48420438e-03 -3.29269958e-05 9.99978977e-01 -5.23022048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.606559995 meters 0.05081973883004409 Centerline is valid? [True, True] Translation: X:653.59, Y:-227.92, Z:-5.23 [[ 7.35407657e-01 6.77612630e-01 4.08676363e-03 6.53593713e+02] [-6.77602509e-01 7.35419011e-01 -3.70367335e-03 -2.27919179e+02] [-5.51513950e-03 -4.54915503e-05 9.99984790e-01 -5.23143998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.666559995 meters 0.050808459133928015 Centerline is valid? [True, True] Translation: X:653.64, Y:-227.96, Z:-5.23 [[ 7.32902202e-01 6.80320060e-01 4.35651914e-03 6.53639420e+02] [-6.80308601e-01 7.32915146e-01 -3.94915346e-03 -2.27959205e+02] [-5.87964719e-03 -6.94341754e-05 9.99982712e-01 -5.23163512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.726559995 meters 0.050319787199744455 Centerline is valid? [True, True] Translation: X:653.68, Y:-228.00, Z:-5.23 [[ 7.31453438e-01 6.81876100e-01 4.56628952e-03 6.53684772e+02] [-6.81863539e-01 7.31467686e-01 -4.13982928e-03 -2.28001497e+02] [-6.16294388e-03 -8.54939657e-05 9.99981005e-01 -5.23194861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.786559995 meters 0.05059000929446467 Centerline is valid? [True, True] Translation: X:653.73, Y:-228.04, Z:-5.23 [[ 7.29001257e-01 6.84504178e-01 3.34629107e-03 6.53732887e+02] [-6.84497460e-01 7.29008933e-01 -3.03366164e-03 -2.28039419e+02] [-4.51603015e-03 -7.89845932e-05 9.99989800e-01 -5.23459448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8465599949999 meters 0.050673585971657734 Centerline is valid? [True, True] Translation: X:653.78, Y:-228.08, Z:-5.24 [[ 7.27891035e-01 6.85686948e-01 2.83724744e-03 6.53778027e+02] [-6.85682126e-01 7.27896561e-01 -2.57258254e-03 -2.28081569e+02] [-3.82920892e-03 -7.28900877e-05 9.99992666e-01 -5.23550108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.906559995 meters 0.049651799726115456 Centerline is valid? [True, True] Translation: X:653.82, Y:-228.13, Z:-5.24 [[ 7.26922603e-01 6.86714393e-01 2.62156726e-03 6.53820085e+02] [-6.86710281e-01 7.26927326e-01 -2.37736142e-03 -2.28127687e+02] [-3.53825718e-03 -7.20994363e-05 9.99993738e-01 -5.23574106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9665599949999 meters 0.049919476093060425 Centerline is valid? [True, True] Translation: X:653.87, Y:-228.17, Z:-5.24 [[ 7.27342441e-01 6.86271243e-01 2.18045969e-03 6.53866123e+02] [-6.86268396e-01 7.27345707e-01 -1.97766973e-03 -2.28168321e+02] [-2.94316586e-03 -5.79374477e-05 9.99995667e-01 -5.23721888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.026559995 meters 0.049655449353962225 Centerline is valid? [True, True] Translation: X:653.91, Y:-228.21, Z:-5.24 [[ 7.30990646e-01 6.82380162e-01 3.16061579e-03 6.53906517e+02] [-6.82374137e-01 7.30997477e-01 -2.86806547e-03 -2.28214656e+02] [-4.26751315e-03 -6.01934404e-05 9.99990892e-01 -5.23577042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0865599949999 meters 0.04949734857359419 Centerline is valid? [True, True] Translation: X:653.95, Y:-228.26, Z:-5.24 [[ 7.34797795e-01 6.78278518e-01 3.23283805e-03 6.53948894e+02] [-6.78272175e-01 7.34804906e-01 -2.93375752e-03 -2.28257431e+02] [-4.36540996e-03 -3.70255350e-05 9.99990471e-01 -5.23648981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.146559995 meters 0.04934855423350663 Centerline is valid? [True, True] Translation: X:653.99, Y:-228.30, Z:-5.24 [[ 7.40779058e-01 6.71743660e-01 2.61582697e-03 6.53990403e+02] [-6.71739467e-01 7.40783676e-01 -2.37336786e-03 -2.28303888e+02] [-3.53205674e-03 9.86991812e-07 9.99993762e-01 -5.23841747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2065599949999 meters 0.050168557450313775 Centerline is valid? [True, True] Translation: X:654.03, Y:-228.35, Z:-5.24 [[ 7.44416594e-01 6.67714383e-01 1.19911797e-03 6.54033910e+02] [-6.67713497e-01 7.44417559e-01 -1.08759950e-03 -2.28348118e+02] [-1.61885030e-03 8.95986594e-06 9.99998690e-01 -5.23997109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.266559995 meters 0.05071438170735362 Centerline is valid? [True, True] Translation: X:654.08, Y:-228.39, Z:-5.24 [[ 7.49154628e-01 6.62394559e-01 -8.90063999e-04 6.54076502e+02] [-6.62394065e-01 7.49155156e-01 8.09337813e-04 -2.28392672e+02] [ 1.20289700e-03 -1.67460574e-05 9.99999276e-01 -5.24051707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3265599949999 meters 0.05131414594440841 Centerline is valid? [True, True] Translation: X:654.12, Y:-228.43, Z:-5.24 [[ 7.52668423e-01 6.58397549e-01 -1.70690460e-03 6.54120702e+02] [-6.58395723e-01 7.52670357e-01 1.55109361e-03 -2.28433639e+02] [ 2.30597273e-03 -4.36404875e-05 9.99997340e-01 -5.23966544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.386559995 meters 0.0508727749943692 Centerline is valid? [True, True] Translation: X:654.17, Y:-228.48, Z:-5.24 [[ 7.53523230e-01 6.57420132e-01 -1.23012715e-03 6.54166549e+02] [-6.57419181e-01 7.53524233e-01 1.11860111e-03 -2.28475931e+02] [ 1.66232151e-03 -3.41827327e-05 9.99998618e-01 -5.24010933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4465599949999 meters 0.05095814492140306 Centerline is valid? [True, True] Translation: X:654.21, Y:-228.52, Z:-5.24 [[ 7.53207551e-01 6.57782602e-01 -6.59011012e-04 6.54210554e+02] [-6.57782329e-01 7.53207839e-01 5.99803322e-04 -2.28517828e+02] [ 8.90912450e-04 -1.82905925e-05 9.99999603e-01 -5.24127360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.506559995 meters 0.051576430504493016 Centerline is valid? [True, True] Translation: X:654.26, Y:-228.56, Z:-5.24 [[ 7.51520172e-01 6.59710096e-01 -1.41138063e-04 6.54256259e+02] [-6.59710084e-01 7.51520185e-01 1.28718151e-04 -2.28557541e+02] [ 1.90984767e-04 -3.62408389e-06 9.99999982e-01 -5.24224017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5665599949999 meters 0.05079258320459381 Centerline is valid? [True, True] Translation: X:654.30, Y:-228.60, Z:-5.25 [[ 7.46686341e-01 6.65176255e-01 -2.39304815e-04 6.54301950e+02] [-6.65176220e-01 7.46686379e-01 2.17678955e-04 -2.28598295e+02] [ 3.23480518e-04 -3.35803024e-06 9.99999948e-01 -5.24565428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.626559995 meters 0.05050082939936018 Centerline is valid? [True, True] Translation: X:654.35, Y:-228.63, Z:-5.24 [[ 7.42997126e-01 6.69294500e-01 3.76657550e-04 6.54351257e+02] [-6.69294413e-01 7.42997222e-01 -3.41486589e-04 -2.28634747e+02] [-5.08410610e-04 1.62876105e-06 9.99999871e-01 -5.24391553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6865599949999 meters 0.050439238983945346 Centerline is valid? [True, True] Translation: X:654.40, Y:-228.67, Z:-5.24 [[ 7.37615000e-01 6.75220917e-01 9.08120971e-04 6.54402210e+02] [-6.75220414e-01 7.37615559e-01 -8.24512938e-04 -2.28669370e+02] [-1.22657254e-03 -5.00870625e-06 9.99999248e-01 -5.24438562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.746559995 meters 0.04998053310862189 Centerline is valid? [True, True] Translation: X:654.45, Y:-228.71, Z:-5.24 [[ 7.33642788e-01 6.79534603e-01 9.91964819e-04 6.54452329e+02] [-6.79534006e-01 7.33643458e-01 -9.00899736e-04 -2.28707024e+02] [-1.33994104e-03 -1.31352329e-05 9.99999102e-01 -5.24409201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8065599949999 meters 0.05048353253263298 Centerline is valid? [True, True] Translation: X:654.50, Y:-228.75, Z:-5.24 [[ 7.32522909e-01 6.80741781e-01 9.02385480e-04 6.54499970e+02] [-6.80741288e-01 7.32523465e-01 -8.19595102e-04 -2.28746744e+02] [-1.21895117e-03 -1.39188650e-05 9.99999257e-01 -5.24470656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.866559995 meters 0.05053390213325799 Centerline is valid? [True, True] Translation: X:654.55, Y:-228.79, Z:-5.24 [[ 7.33798728e-01 6.79365966e-01 1.14459305e-03 6.54546225e+02] [-6.79365170e-01 7.33799621e-01 -1.04014789e-03 -2.28787419e+02] [-1.54654302e-03 -1.43374517e-05 9.99998804e-01 -5.24457519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9265599949999 meters 0.05052755503254346 Centerline is valid? [True, True] Translation: X:654.59, Y:-228.83, Z:-5.25 [[ 7.36752827e-01 6.76161161e-01 1.16458861e-03 6.54593867e+02] [-6.76160332e-01 7.36753747e-01 -1.05912543e-03 -2.28828110e+02] [-1.57415450e-03 -7.13496144e-06 9.99998761e-01 -5.24765838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.986559995 meters 0.05094775304470627 Centerline is valid? [True, True] Translation: X:654.64, Y:-228.87, Z:-5.25 [[ 7.38486974e-01 6.74266456e-01 1.31715966e-03 6.54638907e+02] [-6.74265393e-01 7.38488149e-01 -1.19755564e-03 -2.28871611e+02] [-1.78017840e-03 -3.73593942e-06 9.99998415e-01 -5.24708885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0465599949999 meters 0.051086792944255395 Centerline is valid? [True, True] Translation: X:654.69, Y:-228.91, Z:-5.25 [[ 7.39547921e-01 6.73102856e-01 1.19067473e-03 6.54685248e+02] [-6.73101984e-01 7.39548880e-01 -1.08310900e-03 -2.28914287e+02] [-1.60960593e-03 -4.34513506e-07 9.99998705e-01 -5.24699241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.106559995 meters 0.05082765693842881 Centerline is valid? [True, True] Translation: X:654.73, Y:-228.96, Z:-5.25 [[ 7.38509618e-01 6.74242604e-01 6.75052746e-04 6.54730913e+02] [-6.74242325e-01 7.38509927e-01 -6.13298485e-04 -2.28956118e+02] [-9.12045121e-04 -2.22230259e-06 9.99999584e-01 -5.24593913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.166559995 meters 0.05042577158154546 Centerline is valid? [True, True] Translation: X:654.78, Y:-229.00, Z:-5.25 [[ 7.35669953e-01 6.77340090e-01 -3.51018723e-04 6.54778093e+02] [-6.77340014e-01 7.35670037e-01 3.19993666e-04 -2.28996221e+02] [ 4.74978495e-04 2.34930118e-06 9.99999887e-01 -5.24952489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.226559995 meters 0.05034061875566963 Centerline is valid? [True, True] Translation: X:654.83, Y:-229.04, Z:-5.25 [[ 7.31876139e-01 6.81437594e-01 -3.50592448e-04 6.54825293e+02] [-6.81437519e-01 7.31876223e-01 3.19548128e-04 -2.29036975e+02] [ 4.74342384e-04 5.03719786e-06 9.99999887e-01 -5.24991905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.286559995 meters 0.05060480268622339 Centerline is valid? [True, True] Translation: X:654.87, Y:-229.08, Z:-5.25 [[ 7.29383399e-01 6.84104728e-01 -7.61228171e-04 6.54871958e+02] [-6.84104375e-01 7.29383796e-01 6.94305087e-04 -2.29076440e+02] [ 1.03020488e-03 1.43449191e-05 9.99999469e-01 -5.25088550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3465599949999 meters 0.0504747379732993 Centerline is valid? [True, True] Translation: X:654.92, Y:-229.12, Z:-5.25 [[ 7.27226456e-01 6.86397010e-01 -9.09161072e-04 6.54917430e+02] [-6.86396511e-01 7.27227024e-01 8.28358177e-04 -2.29118558e+02] [ 1.22974908e-03 2.16410062e-05 9.99999244e-01 -5.25138439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.406559995 meters 0.050437611575506594 Centerline is valid? [True, True] Translation: X:654.96, Y:-229.16, Z:-5.25 [[ 7.24921074e-01 6.88829406e-01 -1.86704805e-03 6.54961102e+02] [-6.88827308e-01 7.24923477e-01 1.70084747e-03 -2.29161043e+02] [ 2.52506071e-03 5.30935098e-05 9.99996811e-01 -5.25135755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4665599949999 meters 0.050973725333869936 Centerline is valid? [True, True] Translation: X:655.01, Y:-229.20, Z:-5.25 [[ 7.24154183e-01 6.89636254e-01 -1.59879567e-03 6.55005697e+02] [-6.89634717e-01 7.24155947e-01 1.45693656e-03 -2.29202218e+02] [ 2.16253367e-03 4.75382942e-05 9.99997661e-01 -5.25228874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.526559995 meters 0.050212673593692365 Centerline is valid? [True, True] Translation: X:655.05, Y:-229.25, Z:-5.25 [[ 7.24770234e-01 6.88990092e-01 -8.72324236e-04 6.55049181e+02] [-6.88989634e-01 7.24770758e-01 7.95320771e-04 -2.29247487e+02] [ 1.18020323e-03 2.45975349e-05 9.99999303e-01 -5.25103495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5865599949999 meters 0.0501831398309123 Centerline is valid? [True, True] Translation: X:655.09, Y:-229.29, Z:-5.25 [[ 7.26038308e-01 6.87654225e-01 -2.05646672e-04 6.55091958e+02] [-6.87654200e-01 7.26038337e-01 1.87603372e-04 -2.29292373e+02] [ 2.78313619e-04 5.20656294e-06 9.99999961e-01 -5.25005869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.646559995 meters 0.05097462641581856 Centerline is valid? [True, True] Translation: X:655.13, Y:-229.34, Z:-5.25 [[ 7.28316659e-01 6.85240712e-01 1.00902762e-04 6.55133900e+02] [-6.85240706e-01 7.28316666e-01 -9.16900815e-05 -2.29337825e+02] [-1.36318940e-04 -2.36326585e-06 9.99999991e-01 -5.24930256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7065599949999 meters 0.05058870774915849 Centerline is valid? [True, True] Translation: X:655.18, Y:-229.38, Z:-5.25 [[ 7.30519127e-01 6.82892182e-01 -2.69611617e-04 6.55176663e+02] [-6.82892138e-01 7.30519177e-01 2.46670667e-04 -2.29380276e+02] [ 3.65405926e-04 3.91801350e-06 9.99999933e-01 -5.25104123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.766559995 meters 0.050601596352334056 Centerline is valid? [True, True] Translation: X:655.22, Y:-229.42, Z:-5.25 [[ 7.31443708e-01 6.81901407e-01 -7.57255427e-04 6.55220522e+02] [-6.81901057e-01 7.31444100e-01 6.91381547e-04 -2.29424010e+02] [ 1.02534406e-03 1.06665938e-05 9.99999474e-01 -5.25116701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8265599949999 meters 0.0509341243692933 Centerline is valid? [True, True] Translation: X:655.26, Y:-229.47, Z:-5.25 [[ 7.32369420e-01 6.80906591e-01 -1.11670303e-03 6.55263480e+02] [-6.80905828e-01 7.32370271e-01 1.01924564e-03 -2.29468323e+02] [ 1.51185118e-03 1.39052666e-05 9.99998857e-01 -5.25153812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.886559995 meters 0.05067186806772946 Centerline is valid? [True, True] Translation: X:655.31, Y:-229.51, Z:-5.25 [[ 7.32834264e-01 6.80404131e-01 -2.03980667e-03 6.55308877e+02] [-6.80401585e-01 7.32837102e-01 1.86149721e-03 -2.29511986e+02] [ 2.76141640e-03 2.37187541e-05 9.99996187e-01 -5.25268636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9465599949999 meters 0.05064280703471159 Centerline is valid? [True, True] Translation: X:655.35, Y:-229.55, Z:-5.26 [[ 7.33052057e-01 6.80168486e-01 -2.34807023e-03 6.55354741e+02] [-6.80165112e-01 7.33055817e-01 2.14248153e-03 -2.29554217e+02] [ 3.17851496e-03 2.65249555e-05 9.99994948e-01 -5.25542008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.006559995 meters 0.05076818397837143 Centerline is valid? [True, True] Translation: X:655.40, Y:-229.60, Z:-5.25 [[ 7.32458457e-01 6.80807915e-01 -2.27833725e-03 6.55399885e+02] [-6.80804740e-01 7.32462000e-01 2.07964179e-03 -2.29597216e+02] [ 3.08463205e-03 2.78515771e-05 9.99995242e-01 -5.25292123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0665599949999 meters 0.05060547542281668 Centerline is valid? [True, True] Translation: X:655.45, Y:-229.64, Z:-5.25 [[ 7.32247381e-01 6.81036881e-01 -1.59355986e-03 6.55445776e+02] [-6.81035327e-01 7.32249115e-01 1.45512858e-03 -2.29637773e+02] [ 2.15787903e-03 1.97564643e-05 9.99997672e-01 -5.25217280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.126559995 meters 0.051193930323054734 Centerline is valid? [True, True] Translation: X:655.49, Y:-229.68, Z:-5.25 [[ 7.32728969e-01 6.80520223e-01 -6.96680094e-04 6.55491187e+02] [-6.80519924e-01 7.32729300e-01 6.36952371e-04 -2.29679958e+02] [ 9.43936886e-04 7.39123167e-06 9.99999554e-01 -5.25111152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1865599949999 meters 0.050701957269650606 Centerline is valid? [True, True] Translation: X:655.54, Y:-229.72, Z:-5.25 [[ 7.33222348e-01 6.79988794e-01 -4.78693327e-04 6.55538115e+02] [-6.79988653e-01 7.33222504e-01 4.38092897e-04 -2.29720937e+02] [ 6.48886980e-04 4.28652838e-06 9.99999789e-01 -5.25157216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.246559995 meters 0.05143149982730273 Centerline is valid? [True, True] Translation: X:655.59, Y:-229.76, Z:-5.25 [[ 7.33042075e-01 6.80181604e-01 -1.51700843e-03 6.55585486e+02] [-6.80180192e-01 7.33043645e-01 1.38616080e-03 -2.29760320e+02] [ 2.05487447e-03 1.57248954e-05 9.99997889e-01 -5.25300834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3065599949999 meters 0.05092986790697505 Centerline is valid? [True, True] Translation: X:655.63, Y:-229.80, Z:-5.25 [[ 7.32580961e-01 6.80676517e-01 -2.14830306e-03 6.55632005e+02] [-6.80673687e-01 7.32584111e-01 1.96297130e-03 -2.29800818e+02] [ 2.90996115e-03 2.42579639e-05 9.99995766e-01 -5.25411298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.366559995 meters 0.051131717591685735 Centerline is valid? [True, True] Translation: X:655.68, Y:-229.84, Z:-5.26 [[ 7.32325803e-01 6.80947934e-01 -2.97149916e-03 6.55679129e+02] [-6.80942521e-01 7.32331831e-01 2.71543354e-03 -2.29841112e+02] [ 4.02519228e-03 3.48380842e-05 9.99991898e-01 -5.25511451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4265599949999 meters 0.051654497970804104 Centerline is valid? [True, True] Translation: X:655.73, Y:-229.88, Z:-5.26 [[ 7.32491234e-01 6.80768394e-01 -3.31448429e-03 6.55725661e+02] [-6.80761654e-01 7.32498732e-01 3.02951018e-03 -2.29881364e+02] [ 4.49025032e-03 3.72841562e-05 9.99989918e-01 -5.25513342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.486559995 meters 0.050809586708161165 Centerline is valid? [True, True] Translation: X:655.77, Y:-229.92, Z:-5.25 [[ 7.32645525e-01 6.80605203e-01 -2.66308351e-03 6.55772616e+02] [-6.80600849e-01 7.32650365e-01 2.43477484e-03 -2.29922206e+02] [ 3.60822953e-03 2.86700023e-05 9.99993490e-01 -5.25471879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5465599949999 meters 0.050998668905135824 Centerline is valid? [True, True] Translation: X:655.82, Y:-229.96, Z:-5.25 [[ 7.32326218e-01 6.80951368e-01 -1.88291771e-03 6.55820375e+02] [-6.80949191e-01 7.32328638e-01 1.72216796e-03 -2.29962407e+02] [ 2.55162719e-03 2.09825389e-05 9.99996744e-01 -5.25395447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.606559995 meters 0.05126651453663413 Centerline is valid? [True, True] Translation: X:655.87, Y:-230.00, Z:-5.26 [[ 7.31533278e-01 6.81798500e-01 -3.14142233e-03 6.55868556e+02] [-6.81792447e-01 7.31540022e-01 2.87314177e-03 -2.30001871e+02] [ 4.25697991e-03 3.99992007e-05 9.99990938e-01 -5.25518262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.666559995 meters 0.05153671473339293 Centerline is valid? [True, True] Translation: X:655.91, Y:-230.04, Z:-5.26 [[ 7.31512610e-01 6.81818018e-01 -3.67311813e-03 6.55914791e+02] [-6.81809741e-01 7.31521830e-01 3.35996244e-03 -2.30043099e+02] [ 4.97784903e-03 4.65128266e-05 9.99987609e-01 -5.25596701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.726559995 meters 0.05155021737066873 Centerline is valid? [True, True] Translation: X:655.96, Y:-230.08, Z:-5.26 [[ 7.32828206e-01 6.80407035e-01 -3.01429464e-03 6.55961079e+02] [-6.80401446e-01 7.32834405e-01 2.75808414e-03 -2.30084389e+02] [ 4.08559867e-03 2.97285825e-05 9.99991653e-01 -5.25549537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.786559995 meters 0.05139638977023339 Centerline is valid? [True, True] Translation: X:656.01, Y:-230.13, Z:-5.25 [[ 7.33733543e-01 6.79432859e-01 -2.46523725e-03 6.56005857e+02] [-6.79429113e-01 7.33737684e-01 2.25637070e-03 -2.30126916e+02] [ 3.34188987e-03 1.93790941e-05 9.99994416e-01 -5.25270558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8465599949999 meters 0.05191084634051529 Centerline is valid? [True, True] Translation: X:656.05, Y:-230.17, Z:-5.25 [[ 7.35793927e-01 6.77201683e-01 -2.27549903e-03 6.56051048e+02] [-6.77198482e-01 7.35797445e-01 2.08229907e-03 -2.30169002e+02] [ 3.08444280e-03 8.82148027e-06 9.99995243e-01 -5.25077682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.906559995 meters 0.05149565080902102 Centerline is valid? [True, True] Translation: X:656.10, Y:-230.21, Z:-5.25 [[ 7.38520829e-01 6.74228044e-01 -1.87893665e-03 6.56097087e+02] [-6.74225849e-01 7.38523219e-01 1.72058717e-03 -2.30209987e+02] [ 2.54770646e-03 -3.86179918e-06 9.99996755e-01 -5.25053507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9665599949999 meters 0.05210231662415989 Centerline is valid? [True, True] Translation: X:656.14, Y:-230.25, Z:-5.25 [[ 7.40459701e-01 6.72097419e-01 -2.11904246e-03 6.56144767e+02] [-6.72094617e-01 7.40462733e-01 1.94063778e-03 -2.30249356e+02] [ 2.87336962e-03 -1.27670370e-05 9.99995872e-01 -5.24587053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.026559995 meters 0.051742398224394796 Centerline is valid? [True, True] Translation: X:656.19, Y:-230.29, Z:-5.25 [[ 7.42727175e-01 6.69592442e-01 -1.51835635e-03 6.56187647e+02] [-6.69590997e-01 7.42728727e-01 1.39115632e-03 -2.30292936e+02] [ 2.05923464e-03 -1.65718638e-05 9.99997880e-01 -5.25243154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0865599949999 meters 0.05292257225516047 Centerline is valid? [True, True] Translation: X:656.24, Y:-230.33, Z:-5.25 [[ 7.43831753e-01 6.68360227e-01 -2.98820816e-03 6.56240204e+02] [-6.68354626e-01 7.43837754e-01 2.73659041e-03 -2.30326731e+02] [ 4.05177023e-03 -3.83800945e-05 9.99991791e-01 -5.24681550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.146559995 meters 0.05253505764970514 Centerline is valid? [True, True] Translation: X:656.28, Y:-230.37, Z:-5.26 [[ 7.43886672e-01 6.68293034e-01 -4.12795693e-03 6.56283270e+02] [-6.68282342e-01 7.43898123e-01 3.78059448e-03 -2.30370076e+02] [ 5.59732437e-03 -5.36931148e-05 9.99984333e-01 -5.25562772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2065599949999 meters 0.053626327367356494 Centerline is valid? [True, True] Translation: X:656.34, Y:-230.41, Z:-5.25 [[ 7.44282054e-01 6.67847964e-01 -4.82928984e-03 6.56335828e+02] [-6.67833312e-01 7.44297718e-01 4.42426368e-03 -2.30405084e+02] [ 6.54916490e-03 -6.77394283e-05 9.99978552e-01 -5.24729066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.266559995 meters 0.05317155339052722 Centerline is valid? [True, True] Translation: X:656.38, Y:-230.45, Z:-5.25 [[ 7.44481825e-01 6.67628506e-01 -4.35778707e-03 6.56382687e+02] [-6.67616568e-01 7.44494576e-01 3.99312128e-03 -2.30445053e+02] [ 5.91027043e-03 -6.34753666e-05 9.99982532e-01 -5.24788314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3265599949999 meters 0.053349270332240115 Centerline is valid? [True, True] Translation: X:656.43, Y:-230.48, Z:-5.25 [[ 7.44160790e-01 6.67989479e-01 -3.84362596e-03 6.56430026e+02] [-6.67980198e-01 7.44170715e-01 3.52180131e-03 -2.30484942e+02] [ 5.21284010e-03 -5.33204182e-05 9.99986412e-01 -5.25198116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.386559995 meters 0.053452409436113214 Centerline is valid? [True, True] Translation: X:656.48, Y:-230.52, Z:-5.25 [[ 7.43046501e-01 6.69228336e-01 -3.91557979e-03 6.56480136e+02] [-6.69218719e-01 7.43056816e-01 3.58802987e-03 -2.30522968e+02] [ 5.31070951e-03 -4.56937486e-05 9.99985897e-01 -5.24962171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4465599949999 meters 0.05384153605839514 Centerline is valid? [True, True] Translation: X:656.53, Y:-230.56, Z:-5.25 [[ 7.39114399e-01 6.73567352e-01 -4.11425669e-03 6.56531392e+02] [-6.73556793e-01 7.39125850e-01 3.77165014e-03 -2.30558579e+02] [ 5.58141387e-03 -1.64953927e-05 9.99984424e-01 -5.24625867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.506559995 meters 0.05360634291931202 Centerline is valid? [True, True] Translation: X:656.58, Y:-230.59, Z:-5.25 [[ 7.32770648e-01 6.80460680e-01 -4.52099430e-03 6.56583201e+02] [-6.80448055e-01 7.32784594e-01 4.14524684e-03 -2.30591830e+02] [ 6.13359246e-03 3.87865613e-05 9.99981189e-01 -5.25326746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5665599949999 meters 0.05350993303824353 Centerline is valid? [True, True] Translation: X:656.63, Y:-230.63, Z:-5.25 [[ 7.28364449e-01 6.85172860e-01 -4.83543308e-03 6.56632623e+02] [-6.85158526e-01 7.28380495e-01 4.43271726e-03 -2.30629037e+02] [ 6.55921270e-03 8.44045391e-05 9.99978485e-01 -5.25203426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.626559995 meters 0.05330845941765377 Centerline is valid? [True, True] Translation: X:656.68, Y:-230.66, Z:-5.25 [[ 7.23560734e-01 6.90239909e-01 -5.36018173e-03 6.56682289e+02] [-6.90222435e-01 7.23580574e-01 4.91361872e-03 -2.30663335e+02] [ 7.27009911e-03 1.44416112e-04 9.99973562e-01 -5.25264082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6865599949999 meters 0.053154955760038564 Centerline is valid? [True, True] Translation: X:656.73, Y:-230.70, Z:-5.25 [[ 7.21428240e-01 6.92464525e-01 -5.84602418e-03 6.56730627e+02] [-6.92443811e-01 7.21451903e-01 5.35913011e-03 -2.30700585e+02] [ 7.92863276e-03 1.81815461e-04 9.99968551e-01 -5.25303404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.746559995 meters 0.05397240677121083 Centerline is valid? [True, True] Translation: X:656.78, Y:-230.74, Z:-5.25 [[ 7.20978299e-01 6.92931649e-01 -6.00188607e-03 6.56778724e+02] [-6.92909814e-01 7.21003255e-01 5.50413263e-03 -2.30738210e+02] [ 8.14136709e-03 1.90405580e-04 9.99966840e-01 -5.25491425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8065599949999 meters 0.05434572271228841 Centerline is valid? [True, True] Translation: X:656.83, Y:-230.78, Z:-5.26 [[ 7.20820592e-01 6.93090007e-01 -6.62694325e-03 6.56826126e+02] [-6.93063383e-01 7.20851023e-01 6.07864773e-03 -2.30778703e+02] [ 8.99008882e-03 2.11277253e-04 9.99959566e-01 -5.25596217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.866559995 meters 0.054429034486252845 Centerline is valid? [True, True] Translation: X:656.87, Y:-230.82, Z:-5.26 [[ 7.20994513e-01 6.92904577e-01 -7.08235568e-03 6.56873121e+02] [-6.92874144e-01 7.21029263e-01 6.49791445e-03 -2.30819063e+02] [ 9.60902036e-03 2.22220465e-04 9.99953808e-01 -5.25771699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9265599949999 meters 0.054571339791821646 Centerline is valid? [True, True] Translation: X:656.92, Y:-230.86, Z:-5.26 [[ 7.21634523e-01 6.92242510e-01 -6.62742947e-03 6.56916552e+02] [-6.92215821e-01 7.21664928e-01 6.08187198e-03 -2.30863174e+02] [ 8.99291373e-03 1.98722744e-04 9.99959543e-01 -5.25565778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.986559995 meters 0.05345922085495812 Centerline is valid? [True, True] Translation: X:656.96, Y:-230.91, Z:-5.25 [[ 7.22386496e-01 6.91465669e-01 -5.74275645e-03 6.56958638e+02] [-6.91445609e-01 7.22409303e-01 5.26957400e-03 -2.30908919e+02] [ 7.79235019e-03 1.64134632e-04 9.99969626e-01 -5.25150875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0465599949999 meters 0.05359826183380163 Centerline is valid? [True, True] Translation: X:657.00, Y:-230.95, Z:-5.25 [[ 7.22639863e-01 6.91203511e-01 -5.41625091e-03 6.57004227e+02] [-6.91185651e-01 7.22660144e-01 4.97103715e-03 -2.30949168e+02] [ 7.35010700e-03 1.51365311e-04 9.99972976e-01 -5.25347421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.106559995 meters 0.053272481300037144 Centerline is valid? [True, True] Translation: X:657.05, Y:-231.00, Z:-5.25 [[ 7.23649573e-01 6.90144158e-01 -5.68652828e-03 6.57045985e+02] [-6.90124427e-01 7.23671900e-01 5.22076060e-03 -2.30995184e+02] [ 7.71825816e-03 1.46410896e-04 9.99970203e-01 -5.25207344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.166559995 meters 0.05396842606801276 Centerline is valid? [True, True] Translation: X:657.09, Y:-231.04, Z:-5.25 [[ 7.24657006e-01 6.89082897e-01 -6.08147332e-03 6.57089684e+02] [-6.89060282e-01 7.24682510e-01 5.58455408e-03 -2.31039241e+02] [ 8.25535806e-03 1.43615478e-04 9.99965914e-01 -5.25225962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.226559995 meters 0.05336463586276437 Centerline is valid? [True, True] Translation: X:657.13, Y:-231.08, Z:-5.25 [[ 7.25754385e-01 6.87922712e-01 -6.55103774e-03 6.57133226e+02] [-6.87896411e-01 7.25783937e-01 6.01706472e-03 -2.31083437e+02] [ 8.89391345e-03 1.39524247e-04 9.99960439e-01 -5.25155584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.286559995 meters 0.05374384315962017 Centerline is valid? [True, True] Translation: X:657.18, Y:-231.13, Z:-5.25 [[ 7.26696436e-01 6.86924521e-01 -6.85506933e-03 6.57175124e+02] [-6.86895666e-01 7.26728756e-01 6.29752917e-03 -2.31128247e+02] [ 9.30770322e-03 1.32325407e-04 9.99956674e-01 -5.25011301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3465599949999 meters 0.05400688040852005 Centerline is valid? [True, True] Translation: X:657.22, Y:-231.17, Z:-5.25 [[ 7.26208321e-01 6.87443730e-01 -6.52631354e-03 6.57221147e+02] [-6.87417591e-01 7.26237634e-01 5.99622533e-03 -2.31169094e+02] [ 8.86172201e-03 1.31794008e-04 9.99960725e-01 -5.25487679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.406559995 meters 0.054032340378834774 Centerline is valid? [True, True] Translation: X:657.26, Y:-231.21, Z:-5.25 [[ 7.25012850e-01 6.88700967e-01 -6.88074262e-03 6.57263900e+02] [-6.88671969e-01 7.25045484e-01 6.32177462e-03 -2.31213620e+02] [ 9.34266366e-03 1.55206738e-04 9.99956344e-01 -5.25139305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4665599949999 meters 0.053815845062241775 Centerline is valid? [True, True] Translation: X:657.31, Y:-231.25, Z:-5.25 [[ 7.22410748e-01 6.91419984e-01 -7.81774460e-03 6.57307011e+02] [-6.91382713e-01 7.22453015e-01 7.18228858e-03 -2.31254943e+02] [ 1.06139310e-02 2.16490999e-04 9.99943647e-01 -5.25272123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.526559995 meters 0.053896715970504855 Centerline is valid? [True, True] Translation: X:657.35, Y:-231.30, Z:-5.25 [[ 7.22126691e-01 6.91718296e-01 -7.67084264e-03 6.57348966e+02] [-6.91682396e-01 7.22167400e-01 7.05044827e-03 -2.31302336e+02] [ 1.04165565e-02 2.14469944e-04 9.99945723e-01 -5.25044681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5865599949999 meters 0.0537452644756001 Centerline is valid? [True, True] Translation: X:657.39, Y:-231.35, Z:-5.25 [[ 7.23624882e-01 6.90155212e-01 -7.26722489e-03 6.57390415e+02] [-6.90122921e-01 7.23661350e-01 6.67863055e-03 -2.31348091e+02] [ 9.86830146e-03 1.82455218e-04 9.99951290e-01 -5.24897511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.646559995 meters 0.05383601955871561 Centerline is valid? [True, True] Translation: X:657.43, Y:-231.39, Z:-5.25 [[ 7.26059843e-01 6.87602721e-01 -6.29300943e-03 6.57431030e+02] [-6.87578410e-01 7.26087103e-01 5.78356057e-03 -2.31394598e+02] [ 8.54606497e-03 1.27726337e-04 9.99963474e-01 -5.24770900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7065599949999 meters 0.05294522761626641 Centerline is valid? [True, True] Translation: X:657.47, Y:-231.44, Z:-5.25 [[ 7.27674634e-01 6.85905069e-01 -4.88495147e-03 6.57472073e+02] [-6.85890379e-01 7.27691026e-01 4.48982879e-03 -2.31441529e+02] [ 6.63433168e-03 8.34066973e-05 9.99977989e-01 -5.24583549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.766559995 meters 0.05273422198905287 Centerline is valid? [True, True] Translation: X:657.51, Y:-231.49, Z:-5.25 [[ 7.29130837e-01 6.84357978e-01 -4.73075634e-03 6.57514928e+02] [-6.84344157e-01 7.29146181e-01 4.34987242e-03 -2.31485392e+02] [ 6.42628282e-03 6.58393388e-05 9.99979349e-01 -5.24796431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8265599949999 meters 0.053535663236186526 Centerline is valid? [True, True] Translation: X:657.55, Y:-231.53, Z:-5.24 [[ 7.31203540e-01 6.82137714e-01 -5.43339304e-03 6.57552876e+02] [-6.82119414e-01 7.31223725e-01 4.99682042e-03 -2.31534353e+02] [ 7.38154556e-03 5.25300985e-05 9.99972755e-01 -5.24241980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.886559995 meters 0.05276027363815373 Centerline is valid? [True, True] Translation: X:657.60, Y:-231.58, Z:-5.25 [[ 7.31130287e-01 6.82214831e-01 -5.60597665e-03 6.57597684e+02] [-6.82195355e-01 7.31151777e-01 5.15528814e-03 -2.31576714e+02] [ 7.61583382e-03 5.51839348e-05 9.99970998e-01 -5.24718031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9465599949999 meters 0.05316315349170899 Centerline is valid? [True, True] Translation: X:657.64, Y:-231.62, Z:-5.25 [[ 7.29885131e-01 6.83545994e-01 -5.70687358e-03 6.57642791e+02] [-6.83525836e-01 7.29907438e-01 5.25004643e-03 -2.31619411e+02] [ 7.75413768e-03 6.88647052e-05 9.99969934e-01 -5.24735431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.006559995 meters 0.05311846220001758 Centerline is valid? [True, True] Translation: X:657.69, Y:-231.66, Z:-5.25 [[ 7.28170373e-01 6.85375988e-01 -5.25955336e-03 6.57688107e+02] [-6.85358912e-01 7.28189363e-01 4.83868912e-03 -2.31660739e+02] [ 7.14627214e-03 8.12917085e-05 9.99974462e-01 -5.24958662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0665599949999 meters 0.05314759221325801 Centerline is valid? [True, True] Translation: X:657.73, Y:-231.70, Z:-5.25 [[ 7.26713194e-01 6.86918915e-01 -5.50792967e-03 6.57733287e+02] [-6.86900221e-01 7.26734060e-01 5.06872652e-03 -2.31703359e+02] [ 7.48460421e-03 9.98876651e-05 9.99971985e-01 -5.24957746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.126559995 meters 0.05299147946368182 Centerline is valid? [True, True] Translation: X:657.78, Y:-231.75, Z:-5.25 [[ 7.25792686e-01 6.87885122e-01 -6.24785873e-03 6.57778810e+02] [-6.87861108e-01 7.25819567e-01 5.74908503e-03 -2.31746136e+02] [ 8.48952817e-03 1.25015161e-04 9.99963955e-01 -5.25011529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1865599949999 meters 0.05285407082643833 Centerline is valid? [True, True] Translation: X:657.82, Y:-231.79, Z:-5.25 [[ 7.24767150e-01 6.88967402e-01 -6.04129397e-03 6.57821291e+02] [-6.88944970e-01 7.24792317e-01 5.56111081e-03 -2.31792038e+02] [ 8.21010752e-03 1.31608658e-04 9.99966288e-01 -5.24582033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.246559995 meters 0.05326915273547273 Centerline is valid? [True, True] Translation: X:657.87, Y:-231.84, Z:-5.24 [[ 7.24093508e-01 6.89673771e-01 -6.21938282e-03 6.57866156e+02] [-6.89650013e-01 7.24120203e-01 5.72635547e-03 -2.31835436e+02] [ 8.45289793e-03 1.42780616e-04 9.99964263e-01 -5.24451621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3065599949999 meters 0.053668159638449536 Centerline is valid? [True, True] Translation: X:657.91, Y:-231.88, Z:-5.24 [[ 7.23903247e-01 6.89873131e-01 -6.25713829e-03 6.57906354e+02] [-6.89849078e-01 7.23930274e-01 5.76260891e-03 -2.31883526e+02] [ 8.50520089e-03 1.44909783e-04 9.99963820e-01 -5.23699750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.366559995 meters 0.05341430384648627 Centerline is valid? [True, True] Translation: X:657.95, Y:-231.92, Z:-5.24 [[ 7.25440349e-01 6.88264609e-01 -5.30367368e-03 6.57951450e+02] [-6.88247279e-01 7.25459728e-01 4.88525384e-03 -2.31923753e+02] [ 7.20994899e-03 1.06278734e-04 9.99974002e-01 -5.23765027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4265599949999 meters 0.053554414758337394 Centerline is valid? [True, True] Translation: X:658.00, Y:-231.96, Z:-5.25 [[ 7.27407520e-01 6.86179639e-01 -5.98365249e-03 6.58002496e+02] [-6.86157511e-01 7.27432123e-01 5.51139239e-03 -2.31959078e+02] [ 8.13450628e-03 9.66998349e-05 9.99966910e-01 -5.24918997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.486559995 meters 0.05371837806535912 Centerline is valid? [True, True] Translation: X:658.04, Y:-232.01, Z:-5.25 [[ 7.29924363e-01 6.83494110e-01 -6.79888802e-03 6.58044350e+02] [-6.83465406e-01 7.29956023e-01 6.26441142e-03 -2.32005501e+02] [ 9.24457757e-03 7.42582426e-05 9.99957265e-01 -5.24540854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5465599949999 meters 0.053549395201684724 Centerline is valid? [True, True] Translation: X:658.09, Y:-232.05, Z:-5.24 [[ 7.32417768e-01 6.80809171e-01 -7.94261535e-03 6.58088284e+02] [-6.80769842e-01 7.32460832e-01 7.31791912e-03 -2.32049005e+02] [ 1.07997611e-02 4.73190070e-05 9.99941680e-01 -5.24444843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.606559995 meters 0.05401568403770431 Centerline is valid? [True, True] Translation: X:658.13, Y:-232.09, Z:-5.25 [[ 7.34373012e-01 6.78694217e-01 -8.39278945e-03 6.58133399e+02] [-6.78650131e-01 7.34420969e-01 7.73565449e-03 -2.32092423e+02] [ 1.14139845e-02 1.49117661e-05 9.99934858e-01 -5.24501462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.666559995 meters 0.05368877161100931 Centerline is valid? [True, True] Translation: X:658.18, Y:-232.14, Z:-5.24 [[ 7.36407121e-01 6.76500773e-01 -7.15930115e-03 6.58176781e+02] [-6.76468577e-01 7.36441921e-01 6.60011293e-03 -2.32135412e+02] [ 9.73739100e-03 -1.73279002e-05 9.99952590e-01 -5.24486460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.726559995 meters 0.05362680665179867 Centerline is valid? [True, True] Translation: X:658.22, Y:-232.18, Z:-5.24 [[ 7.36631889e-01 6.76270373e-01 -5.64290994e-03 6.58223118e+02] [-6.76250353e-01 7.36653502e-01 5.20368032e-03 -2.32176805e+02] [ 7.67596420e-03 -1.71770262e-05 9.99970539e-01 -5.24416815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.786559995 meters 0.054483917979737735 Centerline is valid? [True, True] Translation: X:658.27, Y:-232.22, Z:-5.24 [[ 7.36124760e-01 6.76821259e-01 -5.77248977e-03 6.58270368e+02] [-6.76800313e-01 7.36147392e-01 5.32477186e-03 -2.32218832e+02] [ 7.85332208e-03 -1.28735265e-05 9.99969162e-01 -5.24324369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8465599949999 meters 0.05338889557436956 Centerline is valid? [True, True] Translation: X:658.32, Y:-232.26, Z:-5.25 [[ 7.33819668e-01 6.79313504e-01 -6.46977746e-03 6.58317037e+02] [-6.79287280e-01 7.33848188e-01 5.96884334e-03 -2.32257940e+02] [ 8.80255035e-03 1.47828938e-05 9.99961257e-01 -5.24585870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.906559995 meters 0.05410371257730456 Centerline is valid? [True, True] Translation: X:658.37, Y:-232.30, Z:-5.25 [[ 7.30633252e-01 6.82748365e-01 -5.45165446e-03 6.58367117e+02] [-6.82729830e-01 7.30653590e-01 5.03107812e-03 -2.32295421e+02] [ 7.41823126e-03 4.61341535e-05 9.99972483e-01 -5.24794781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9665599949999 meters 0.05352737242375876 Centerline is valid? [True, True] Translation: X:658.41, Y:-232.34, Z:-5.24 [[ 7.28910545e-01 6.84592951e-01 -4.68069045e-03 6.58414133e+02] [-6.84579316e-01 7.28925572e-01 4.32100147e-03 -2.32337389e+02] [ 6.37000210e-03 5.46803330e-05 9.99979710e-01 -5.24426019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.026559995 meters 0.05381767487629054 Centerline is valid? [True, True] Translation: X:658.46, Y:-232.37, Z:-5.25 [[ 7.27722045e-01 6.85858119e-01 -4.38916352e-03 6.58462860e+02] [-6.85846149e-01 7.27735279e-01 4.05256173e-03 -2.32374657e+02] [ 5.97363151e-03 6.11523904e-05 9.99982156e-01 -5.24849669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0865599949999 meters 0.05351296025039504 Centerline is valid? [True, True] Translation: X:658.51, Y:-232.42, Z:-5.24 [[ 7.28055724e-01 6.85500548e-01 -4.88479198e-03 6.58507121e+02] [-6.85485716e-01 7.28072108e-01 4.50979562e-03 -2.32418029e+02] [ 6.64794816e-03 6.50726170e-05 9.99977900e-01 -5.24484135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.146559995 meters 0.05367232051895766 Centerline is valid? [True, True] Translation: X:658.55, Y:-232.46, Z:-5.24 [[ 7.28344055e-01 6.85194207e-01 -4.88225073e-03 6.58550771e+02] [-6.85179373e-01 7.28360415e-01 4.50909599e-03 -2.32460633e+02] [ 6.64564462e-03 6.10442411e-05 9.99977916e-01 -5.24228948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2065599949999 meters 0.05305426387597725 Centerline is valid? [True, True] Translation: X:658.60, Y:-232.50, Z:-5.25 [[ 7.28959662e-01 6.84537046e-01 -5.18119358e-03 6.58599993e+02] [-6.84520314e-01 7.28978072e-01 4.78639720e-03 -2.32499002e+02] [ 7.05344271e-03 5.75417803e-05 9.99975123e-01 -5.25108992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.266559995 meters 0.05337307972052685 Centerline is valid? [True, True] Translation: X:658.64, Y:-232.54, Z:-5.25 [[ 7.30728311e-01 6.82646217e-01 -5.50247935e-03 6.58643537e+02] [-6.82627297e-01 7.30749027e-01 5.08269475e-03 -2.32543071e+02] [ 7.49061378e-03 4.20736538e-05 9.99971944e-01 -5.24944124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3265599949999 meters 0.05399131574418126 Centerline is valid? [True, True] Translation: X:658.69, Y:-232.59, Z:-5.25 [[ 7.32211505e-01 6.81061305e-01 -4.67028966e-03 6.58688070e+02] [-6.81047639e-01 7.32226399e-01 4.31444435e-03 -2.32586141e+02] [ 6.35811047e-03 2.16039598e-05 9.99979787e-01 -5.24646372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.386559995 meters 0.053666371308582476 Centerline is valid? [True, True] Translation: X:658.73, Y:-232.63, Z:-5.25 [[ 7.32343894e-01 6.80918504e-01 -4.73415527e-03 6.58734554e+02] [-6.80904447e-01 7.32359195e-01 4.37536679e-03 -2.32627384e+02] [ 6.44637035e-03 1.92342196e-05 9.99979222e-01 -5.25060464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4465599949999 meters 0.053784732166534045 Centerline is valid? [True, True] Translation: X:658.78, Y:-232.67, Z:-5.24 [[ 7.31307245e-01 6.82031001e-01 -4.84005243e-03 6.58778570e+02] [-6.82016328e-01 7.31323261e-01 4.47387433e-03 -2.32670342e+02] [ 6.59096391e-03 2.92180767e-05 9.99978279e-01 -5.24396444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.506559995 meters 0.05367417791456889 Centerline is valid? [True, True] Translation: X:658.83, Y:-232.71, Z:-5.25 [[ 7.29647062e-01 6.83807182e-01 -4.78558766e-03 6.58826825e+02] [-6.83792875e-01 7.29662754e-01 4.42364786e-03 -2.32709925e+02] [ 6.51678725e-03 4.46490771e-05 9.99978765e-01 -5.24854787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5665599949999 meters 0.054357557284481495 Centerline is valid? [True, True] Translation: X:658.87, Y:-232.75, Z:-5.25 [[ 7.26373421e-01 6.87286424e-01 -4.36173182e-03 6.58873320e+02] [-6.87274593e-01 7.26386513e-01 4.03323659e-03 -2.32750468e+02] [ 5.94029192e-03 6.80716061e-05 9.99982354e-01 -5.24701839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.626559995 meters 0.05393734842026825 Centerline is valid? [True, True] Translation: X:658.92, Y:-232.79, Z:-5.25 [[ 7.23732723e-01 6.90069627e-01 -3.85415922e-03 6.58921609e+02] [-6.90060425e-01 7.23742981e-01 3.56475605e-03 -2.32788800e+02] [ 5.24935056e-03 7.96721491e-05 9.99986219e-01 -5.24840743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6865599949999 meters 0.05380860301750639 Centerline is valid? [True, True] Translation: X:658.97, Y:-232.83, Z:-5.25 [[ 7.21332808e-01 6.92577946e-01 -3.84304139e-03 6.58968017e+02] [-6.92568837e-01 7.21343038e-01 3.55355285e-03 -2.32828137e+02] [ 5.23326349e-03 9.82764512e-05 9.99986302e-01 -5.24891904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.746559995 meters 0.05339723676164247 Centerline is valid? [True, True] Translation: X:659.01, Y:-232.87, Z:-5.25 [[ 7.19483869e-01 6.94498109e-01 -3.91660090e-03 6.59013094e+02] [-6.94488666e-01 7.19494520e-01 3.62326791e-03 -2.32870153e+02] [ 5.33432559e-03 1.13152122e-04 9.99985766e-01 -5.24835750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8065599949999 meters 0.053363664499338985 Centerline is valid? [True, True] Translation: X:659.06, Y:-232.91, Z:-5.25 [[ 7.17409433e-01 6.96634535e-01 -4.90202006e-03 6.59056733e+02] [-6.96619790e-01 7.17426162e-01 4.53535853e-03 -2.32913521e+02] [ 6.67632482e-03 1.61135192e-04 9.99977700e-01 -5.24742247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.866559995 meters 0.05356400409860469 Centerline is valid? [True, True] Translation: X:659.10, Y:-232.96, Z:-5.25 [[ 7.16726628e-01 6.97332602e-01 -5.49385953e-03 6.59101540e+02] [-6.97314093e-01 7.16747659e-01 5.08413941e-03 -2.32956615e+02] [ 7.48304712e-03 1.87007578e-04 9.99971984e-01 -5.24695034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9265599949999 meters 0.05347677586507417 Centerline is valid? [True, True] Translation: X:659.15, Y:-233.00, Z:-5.25 [[ 7.15475046e-01 6.98621302e-01 -4.87191944e-03 6.59148088e+02] [-6.98606775e-01 7.15491611e-01 4.50866267e-03 -2.32996244e+02] [ 6.63566527e-03 1.77720296e-04 9.99977968e-01 -5.24790096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.986559995 meters 0.05347147300871248 Centerline is valid? [True, True] Translation: X:659.19, Y:-233.04, Z:-5.25 [[ 7.14046187e-01 7.00080734e-01 -5.00084996e-03 6.59192699e+02] [-7.00065466e-01 7.14063671e-01 4.62780949e-03 -2.33038510e+02] [ 6.81076555e-03 1.96452637e-04 9.99976787e-01 -5.24877661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0465599949999 meters 0.05398953264680877 Centerline is valid? [True, True] Translation: X:659.24, Y:-233.08, Z:-5.25 [[ 7.13392195e-01 7.00744374e-01 -5.37570493e-03 6.59236999e+02] [-7.00726736e-01 7.13412416e-01 4.97662283e-03 -2.33082425e+02] [ 7.32243509e-03 2.16616289e-04 9.99973167e-01 -5.24879974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.106559995 meters 0.05363763082253267 Centerline is valid? [True, True] Translation: X:659.28, Y:-233.12, Z:-5.25 [[ 7.12946023e-01 7.01201150e-01 -4.99158552e-03 6.59281314e+02] [-7.01185947e-01 7.12963467e-01 4.62194578e-03 -2.33124047e+02] [ 6.79973181e-03 2.04831758e-04 9.99976861e-01 -5.24905724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.166559995 meters 0.054627872104218246 Centerline is valid? [True, True] Translation: X:659.33, Y:-233.17, Z:-5.25 [[ 7.13818949e-01 7.00321686e-01 -3.47051895e-03 6.59325128e+02] [-7.00314329e-01 7.13827372e-01 3.21306800e-03 -2.33166271e+02] [ 4.72753262e-03 1.36905332e-04 9.99988816e-01 -5.24914000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.226559995 meters 0.05327675845354904 Centerline is valid? [True, True] Translation: X:659.36, Y:-233.21, Z:-5.25 [[ 7.15497778e-01 6.98610107e-01 -2.61680598e-03 6.59364933e+02] [-6.98605912e-01 7.15502557e-01 2.42283450e-03 -2.33213740e+02] [ 3.56494804e-03 9.45834254e-05 9.99993641e-01 -5.24677087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.286559995 meters 0.05355294136209518 Centerline is valid? [True, True] Translation: X:659.40, Y:-233.26, Z:-5.25 [[ 7.19516395e-01 6.94472755e-01 -1.93617974e-03 6.59404754e+02] [-6.94470443e-01 7.19518998e-01 1.79283738e-03 -2.33260386e+02] [ 2.63819482e-03 5.46437137e-05 9.99996518e-01 -5.24723505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3465599949999 meters 0.05315406053373022 Centerline is valid? [True, True] Translation: X:659.44, Y:-233.31, Z:-5.25 [[ 7.24656476e-01 6.89107042e-01 -2.11584593e-03 6.59444733e+02] [-6.89104255e-01 7.24659564e-01 1.96029159e-03 -2.33307558e+02] [ 2.88411873e-03 3.75004353e-05 9.99995840e-01 -5.24761041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.406559995 meters 0.05361801619349581 Centerline is valid? [True, True] Translation: X:659.49, Y:-233.35, Z:-5.25 [[ 7.28462289e-01 6.85084064e-01 -1.58713767e-03 6.59485945e+02] [-6.85082486e-01 7.28464018e-01 1.47023514e-03 -2.33353990e+02] [ 2.16340735e-03 1.63093618e-05 9.99997660e-01 -5.24725940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4665599949999 meters 0.05321683796384384 Centerline is valid? [True, True] Translation: X:659.53, Y:-233.40, Z:-5.25 [[ 7.32848779e-01 6.80388097e-01 -2.16881162e-03 6.59528545e+02] [-6.80385130e-01 7.32851989e-01 2.00922494e-03 -2.33400246e+02] [ 2.95647064e-03 3.16912638e-06 9.99995630e-01 -5.24872330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.526559995 meters 0.05381720851102984 Centerline is valid? [True, True] Translation: X:659.57, Y:-233.44, Z:-5.25 [[ 7.35471877e-01 6.77551771e-01 -2.17164756e-03 6.59572130e+02] [-6.77548780e-01 7.35475083e-01 2.01308777e-03 -2.33444546e+02] [ 2.96116385e-03 -9.17228361e-06 9.99995616e-01 -5.24656384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5865599949999 meters 0.054155539435116806 Centerline is valid? [True, True] Translation: X:659.62, Y:-233.49, Z:-5.25 [[ 7.37712706e-01 6.75112171e-01 -1.87587270e-03 6.59615858e+02] [-6.75109934e-01 7.37715091e-01 1.73832329e-03 -2.33489379e+02] [ 2.55742281e-03 -1.59628832e-05 9.99996730e-01 -5.24725690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.646559995 meters 0.053019457689209404 Centerline is valid? [True, True] Translation: X:659.66, Y:-233.54, Z:-5.25 [[ 7.38487421e-01 6.74265418e-01 -1.57315552e-03 6.59657781e+02] [-6.74263841e-01 7.38489097e-01 1.45827335e-03 -2.33535094e+02] [ 2.14502149e-03 -1.61946395e-05 9.99997699e-01 -5.25080536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7065599949999 meters 0.05368014994134474 Centerline is valid? [True, True] Translation: X:659.70, Y:-233.58, Z:-5.25 [[ 7.38153190e-01 6.74631757e-01 -1.36426414e-03 6.59704069e+02] [-6.74630570e-01 7.38154450e-01 1.26553868e-03 -2.33577121e+02] [ 1.86081023e-03 -1.37871197e-05 9.99998269e-01 -5.25115308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.766559995 meters 0.05378897690430518 Centerline is valid? [True, True] Translation: X:659.75, Y:-233.62, Z:-5.25 [[ 7.36975659e-01 6.75918412e-01 -1.08552541e-03 6.59750354e+02] [-6.75917661e-01 7.36976459e-01 1.00747324e-03 -2.33618405e+02] [ 1.48097639e-03 -8.75745697e-06 9.99998903e-01 -5.25092944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8265599949999 meters 0.052907459688833064 Centerline is valid? [True, True] Translation: X:659.80, Y:-233.66, Z:-5.25 [[ 7.34319783e-01 6.78803192e-01 -8.26330598e-04 6.59796148e+02] [-6.78802758e-01 7.34320248e-01 7.67263246e-04 -2.33658861e+02] [ 1.12761203e-03 -2.50109187e-06 9.99999364e-01 -5.25095821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.886559995 meters 0.05352736785026461 Centerline is valid? [True, True] Translation: X:659.84, Y:-233.70, Z:-5.25 [[ 7.30628761e-01 6.82774925e-01 -1.21904951e-04 6.59844249e+02] [-6.82774915e-01 7.30628772e-01 1.14391660e-04 -2.33699430e+02] [ 1.67171021e-04 -3.44193635e-07 9.99999986e-01 -5.25038477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9465599949999 meters 0.05335880193118684 Centerline is valid? [True, True] Translation: X:659.89, Y:-233.74, Z:-5.25 [[ 7.27411595e-01 6.86201236e-01 -4.85500583e-04 6.59892181e+02] [-6.86201088e-01 7.27411757e-01 4.51447490e-04 -2.33737138e+02] [ 6.62942658e-04 4.76288969e-06 9.99999780e-01 -5.25382199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.006559995 meters 0.05302213524952433 Centerline is valid? [True, True] Translation: X:659.94, Y:-233.78, Z:-5.25 [[ 7.21316600e-01 6.92604760e-01 -1.00433781e-03 6.59938329e+02] [-6.92604132e-01 7.21317299e-01 9.32823917e-04 -2.33777920e+02] [ 1.37052452e-03 2.27471449e-05 9.99999061e-01 -5.25343604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0665599949999 meters 0.05326877196799786 Centerline is valid? [True, True] Translation: X:659.99, Y:-233.82, Z:-5.26 [[ 7.19242198e-01 6.94758185e-01 -1.31337323e-03 6.59986334e+02] [-6.94757117e-01 7.19243396e-01 1.21877699e-03 -2.33815035e+02] [ 1.79139031e-03 3.58795558e-05 9.99998395e-01 -5.25592794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.126559995 meters 0.05326763081396059 Centerline is valid? [True, True] Translation: X:660.03, Y:-233.86, Z:-5.25 [[ 7.13642291e-01 7.00509472e-01 -1.07718072e-03 6.60030934e+02] [-7.00508759e-01 7.13643103e-01 9.99862397e-04 -2.33856932e+02] [ 1.46913567e-03 4.10304377e-05 9.99998920e-01 -5.25484132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1865599949999 meters 0.05187234230413382 Centerline is valid? [True, True] Translation: X:660.08, Y:-233.90, Z:-5.26 [[ 7.10083145e-01 7.04116630e-01 -1.30304094e-03 6.60076146e+02] [-7.04115594e-01 7.10084338e-01 1.20948301e-03 -2.33898677e+02] [ 1.77688606e-03 5.86579467e-05 9.99998420e-01 -5.25538133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.246559995 meters 0.052771744421734726 Centerline is valid? [True, True] Translation: X:660.12, Y:-233.94, Z:-5.26 [[ 7.09361645e-01 7.04843366e-01 -1.37353928e-03 6.60122585e+02] [-7.04842216e-01 7.09362971e-01 1.27500367e-03 -2.33940323e+02] [ 1.87301578e-03 6.36897720e-05 9.99998244e-01 -5.25727099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3065599949999 meters 0.053833348309282984 Centerline is valid? [True, True] Translation: X:660.17, Y:-233.98, Z:-5.26 [[ 7.09991007e-01 7.04209035e-01 -1.55095511e-03 6.60169521e+02] [-7.04207564e-01 7.09992698e-01 1.44073418e-03 -2.33980162e+02] [ 2.11574483e-03 6.92860075e-05 9.99997759e-01 -5.25929436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.366559995 meters 0.053148561893698085 Centerline is valid? [True, True] Translation: X:660.21, Y:-234.03, Z:-5.26 [[ 7.11051950e-01 7.03138920e-01 -8.84789837e-04 6.60211696e+02] [-7.03138441e-01 7.11052500e-01 8.21556170e-04 -2.34025879e+02] [ 1.20680014e-03 3.79606298e-05 9.99999271e-01 -5.25853419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4265599949999 meters 0.052763772390106434 Centerline is valid? [True, True] Translation: X:660.25, Y:-234.07, Z:-5.26 [[ 7.13816721e-01 7.00332512e-01 -2.49818832e-04 6.60254998e+02] [-7.00332473e-01 7.13816764e-01 2.32153055e-04 -2.34067244e+02] [ 3.40909202e-04 9.24150792e-06 9.99999942e-01 -5.25929853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.486559995 meters 0.05275855879335349 Centerline is valid? [True, True] Translation: X:660.29, Y:-234.12, Z:-5.26 [[ 7.16453764e-01 6.97634011e-01 8.89429746e-04 6.60292484e+02] [-6.97633523e-01 7.16454316e-01 -8.24986129e-04 -2.34116707e+02] [-1.21277416e-03 -2.94315901e-05 9.99999264e-01 -5.25716157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5465599949999 meters 0.05243441576720767 Centerline is valid? [True, True] Translation: X:660.34, Y:-234.16, Z:-5.26 [[ 7.17370036e-01 6.96691589e-01 1.03000877e-03 6.60337647e+02] [-6.96690935e-01 7.17370775e-01 -9.55522075e-04 -2.34158180e+02] [-1.40460238e-03 -3.21348665e-05 9.99999013e-01 -5.25836947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.606559995 meters 0.052696176422205025 Centerline is valid? [True, True] Translation: X:660.38, Y:-234.20, Z:-5.26 [[ 7.18162605e-01 6.95874646e-01 9.75018204e-04 6.60380236e+02] [-6.95874057e-01 7.18163266e-01 -9.05137591e-04 -2.34204268e+02] [-1.33008456e-03 -2.84539032e-05 9.99999115e-01 -5.25910567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.666559995 meters 0.05372557672340019 Centerline is valid? [True, True] Translation: X:660.43, Y:-234.24, Z:-5.26 [[ 7.18281129e-01 6.95752973e-01 1.42354721e-04 6.60432485e+02] [-6.95752961e-01 7.18281143e-01 -1.31436818e-04 -2.34238363e+02] [-1.93698269e-04 -4.63513217e-06 9.99999981e-01 -5.26300002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.726559995 meters 0.05205896398936084 Centerline is valid? [True, True] Translation: X:660.47, Y:-234.29, Z:-5.26 [[ 7.18501069e-01 6.95524503e-01 1.37107087e-03 6.60472163e+02] [-6.95523339e-01 7.18502376e-01 -1.27275104e-03 -2.34286970e+02] [-1.87034721e-03 -3.91388115e-05 9.99998250e-01 -5.26007114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.786559995 meters 0.05258956070715446 Centerline is valid? [True, True] Translation: X:660.52, Y:-234.32, Z:-5.26 [[ 7.19112403e-01 6.94890249e-01 2.21216360e-03 6.60522000e+02] [-6.94887214e-01 7.19115803e-01 -2.05469136e-03 -2.34323415e+02] [-3.01858680e-03 -5.96501603e-05 9.99995442e-01 -5.26137555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8465599949999 meters 0.0522968121849544 Centerline is valid? [True, True] Translation: X:660.57, Y:-234.37, Z:-5.26 [[ 7.19289431e-01 6.94702580e-01 3.32265110e-03 6.60565186e+02] [-6.94695725e-01 7.19297099e-01 -3.08750218e-03 -2.34368956e+02] [-4.53486903e-03 -8.74238321e-05 9.99989714e-01 -5.25984257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.906559995 meters 0.05256399414116175 Centerline is valid? [True, True] Translation: X:660.61, Y:-234.41, Z:-5.26 [[ 7.19842438e-01 6.94128117e-01 3.60858875e-03 6.60611022e+02] [-6.94120023e-01 7.19851477e-01 -3.35325672e-03 -2.34410480e+02] [-4.92523771e-03 -9.09772103e-05 9.99987867e-01 -5.26087209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9665599949999 meters 0.052797346407997006 Centerline is valid? [True, True] Translation: X:660.66, Y:-234.45, Z:-5.26 [[ 7.21098329e-01 6.92830086e-01 1.91602010e-03 6.60658428e+02] [-6.92827800e-01 7.21100873e-01 -1.78037436e-03 -2.34448667e+02] [-2.61514069e-03 -4.36470206e-05 9.99996580e-01 -5.26368271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.026559995 meters 0.05337451298519839 Centerline is valid? [True, True] Translation: X:660.70, Y:-234.49, Z:-5.27 [[ 7.22161276e-01 6.91723210e-01 1.44632527e-03 6.60704790e+02] [-6.91721905e-01 7.22162724e-01 -1.34442878e-03 -2.34490710e+02] [-1.97445479e-03 -2.95604652e-05 9.99998050e-01 -5.26584091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0865599949999 meters 0.0528541744528449 Centerline is valid? [True, True] Translation: X:660.75, Y:-234.53, Z:-5.27 [[ 7.24991510e-01 6.88755186e-01 1.89855185e-03 6.60748180e+02] [-6.88752925e-01 7.24993995e-01 -1.76504136e-03 -2.34534956e+02] [-2.59212008e-03 -2.79931413e-05 9.99996640e-01 -5.26536997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.146559995 meters 0.052656113535013205 Centerline is valid? [True, True] Translation: X:660.79, Y:-234.58, Z:-5.27 [[ 7.28977604e-01 6.84526825e-01 3.83131801e-03 6.60793307e+02] [-6.84517555e-01 7.28987672e-01 -3.56258435e-03 -2.34577281e+02] [-5.23166815e-03 -2.55602286e-05 9.99986314e-01 -5.26522955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2065599949999 meters 0.05304507388935282 Centerline is valid? [True, True] Translation: X:660.84, Y:-234.62, Z:-5.27 [[ 7.32140014e-01 6.81138007e-01 4.69211338e-03 6.60838468e+02] [-6.81124032e-01 7.32155049e-01 -4.36315046e-03 -2.34620408e+02] [-6.40726211e-03 -1.47414734e-06 9.99979473e-01 -5.26580381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.266559995 meters 0.053148221243852455 Centerline is valid? [True, True] Translation: X:660.88, Y:-234.66, Z:-5.27 [[ 7.35491159e-01 6.77514604e-01 5.16878783e-03 6.60882549e+02] [-6.77497547e-01 7.35509320e-01 -4.80765614e-03 -2.34662241e+02] [-7.05894887e-03 3.41475065e-05 9.99975085e-01 -5.26704115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3265599949999 meters 0.053032425762777904 Centerline is valid? [True, True] Translation: X:660.93, Y:-234.70, Z:-5.27 [[ 7.36268173e-01 6.76669195e-01 5.28945444e-03 6.60931597e+02] [-6.76651303e-01 7.36287171e-01 -4.92098752e-03 -2.34700451e+02] [-7.22443811e-03 4.40502481e-05 9.99973902e-01 -5.26907423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.386559995 meters 0.05288588721887441 Centerline is valid? [True, True] Translation: X:660.98, Y:-234.74, Z:-5.27 [[ 7.35741877e-01 6.77246388e-01 4.60641136e-03 6.60975401e+02] [-6.77232825e-01 7.35756297e-01 -4.28632552e-03 -2.34743034e+02] [-6.29209464e-03 3.40162139e-05 9.99980204e-01 -5.27171220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4465599949999 meters 0.05331543596345216 Centerline is valid? [True, True] Translation: X:661.02, Y:-234.78, Z:-5.27 [[ 7.34501089e-01 6.78597358e-01 3.71165018e-03 6.61023151e+02] [-6.78588566e-01 7.34510467e-01 -3.45423727e-03 -2.34782841e+02] [-5.07028219e-03 1.84576632e-05 9.99987146e-01 -5.27288254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.506559995 meters 0.05295602588064839 Centerline is valid? [True, True] Translation: X:661.07, Y:-234.82, Z:-5.27 [[ 7.31715476e-01 6.81590508e-01 5.18086824e-03 6.61071716e+02] [-6.81573445e-01 7.31733817e-01 -4.82292697e-03 -2.34821435e+02] [-7.07827774e-03 -2.13191419e-06 9.99974949e-01 -5.27359632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5665599949999 meters 0.05408009198997837 Centerline is valid? [True, True] Translation: X:661.12, Y:-234.86, Z:-5.27 [[ 7.28964659e-01 6.84518281e-01 6.72683512e-03 6.61119342e+02] [-6.84489631e-01 7.28995694e-01 -6.26287607e-03 -2.34860259e+02] [-9.19088699e-03 -3.90335696e-05 9.99957762e-01 -5.27348058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.626559995 meters 0.053505750602243045 Centerline is valid? [True, True] Translation: X:661.17, Y:-234.90, Z:-5.27 [[ 7.27422172e-01 6.86146699e-01 7.72602425e-03 6.61166822e+02] [-6.86108982e-01 7.27463197e-01 -7.19454537e-03 -2.34900283e+02] [-1.05569119e-02 -6.74228150e-05 9.99944272e-01 -5.27215158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6865599949999 meters 0.052526398456362734 Centerline is valid? [True, True] Translation: X:661.21, Y:-234.94, Z:-5.27 [[ 7.25532048e-01 6.88149785e-01 7.28835615e-03 6.61213551e+02] [-6.88116314e-01 7.25568650e-01 -6.78775004e-03 -2.34939210e+02] [-9.95919146e-03 -9.05065785e-05 9.99950402e-01 -5.27330573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.746559995 meters 0.05386123357005427 Centerline is valid? [True, True] Translation: X:661.26, Y:-234.98, Z:-5.27 [[ 7.23493933e-01 6.90288985e-01 7.59248820e-03 6.61263691e+02] [-6.90252767e-01 7.23533760e-01 -7.07227627e-03 -2.34976275e+02] [-1.03753359e-02 -1.23987012e-04 9.99946167e-01 -5.27488113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8065599949999 meters 0.053086956777714404 Centerline is valid? [True, True] Translation: X:661.31, Y:-235.01, Z:-5.27 [[ 7.22304780e-01 6.91535055e-01 7.42107320e-03 6.61311350e+02] [-6.91500511e-01 7.22342889e-01 -6.91341202e-03 -2.35014490e+02] [-1.01414262e-02 -1.38085359e-04 9.99948565e-01 -5.27490021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.866559995 meters 0.0531945731004842 Centerline is valid? [True, True] Translation: X:661.36, Y:-235.05, Z:-5.28 [[ 7.21689226e-01 6.92181043e-01 7.07566530e-03 6.61358595e+02] [-6.92149657e-01 7.21723898e-01 -6.59298073e-03 -2.35053375e+02] [-9.67021302e-03 -1.39336154e-04 9.99953233e-01 -5.27533651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9265599949999 meters 0.05403025556876205 Centerline is valid? [True, True] Translation: X:661.41, Y:-235.10, Z:-5.28 [[ 7.21361090e-01 6.92523868e-01 6.99072620e-03 6.61405221e+02] [-6.92493234e-01 7.21394949e-01 -6.51524220e-03 -2.35095964e+02] [-9.55503530e-03 -1.41188372e-04 9.99954340e-01 -5.27588014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.986559995 meters 0.053240666617576066 Centerline is valid? [True, True] Translation: X:661.45, Y:-235.14, Z:-5.28 [[ 7.20359403e-01 6.93560408e-01 7.50273801e-03 6.61451333e+02] [-6.93525160e-01 7.20398455e-01 -6.99422654e-03 -2.35138007e+02] [-1.02558795e-02 -1.64980721e-04 9.99947393e-01 -5.27837646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0465599949999 meters 0.0530913770786247 Centerline is valid? [True, True] Translation: X:661.50, Y:-235.18, Z:-5.28 [[ 7.19515864e-01 6.94435985e-01 7.45547857e-03 6.61497438e+02] [-6.94401211e-01 7.19554468e-01 -6.95172165e-03 -2.35178945e+02] [-1.01921486e-02 -1.75219337e-04 9.99948043e-01 -5.27863072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.106559995 meters 0.05290223678025105 Centerline is valid? [True, True] Translation: X:661.54, Y:-235.22, Z:-5.28 [[ 7.19537493e-01 6.94416405e-01 7.18697383e-03 6.61541558e+02] [-6.94384075e-01 7.19573366e-01 -6.70280173e-03 -2.35222994e+02] [-9.82609043e-03 -1.67603016e-04 9.99951709e-01 -5.27927029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.166559995 meters 0.053680071929264384 Centerline is valid? [True, True] Translation: X:661.59, Y:-235.26, Z:-5.28 [[ 7.20206701e-01 6.93714594e-01 7.89751104e-03 6.61591452e+02] [-6.93675497e-01 7.20249979e-01 -7.36699913e-03 -2.35260129e+02] [-1.07987770e-02 -1.72547752e-04 9.99941677e-01 -5.27789067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.226559995 meters 0.05375440973860594 Centerline is valid? [True, True] Translation: X:661.64, Y:-235.30, Z:-5.28 [[ 7.20499295e-01 6.93416038e-01 7.41371622e-03 6.61637273e+02] [-6.93381561e-01 7.20537420e-01 -6.91645292e-03 -2.35300327e+02] [-1.01378393e-02 -1.57234678e-04 9.99948598e-01 -5.27874067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.286559995 meters 0.05358267771861576 Centerline is valid? [True, True] Translation: X:661.68, Y:-235.35, Z:-5.28 [[ 7.21239813e-01 6.92653186e-01 6.68553207e-03 6.61679724e+02] [-6.92625106e-01 7.21270786e-01 -6.23830821e-03 -2.35345872e+02] [-9.14306303e-03 -1.31251115e-04 9.99958193e-01 -5.28192277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3465599949999 meters 0.05408719214347756 Centerline is valid? [True, True] Translation: X:661.72, Y:-235.39, Z:-5.28 [[ 7.23360719e-01 6.90439376e-01 6.53743106e-03 6.61724973e+02] [-6.90412423e-01 7.23390253e-01 -6.10149912e-03 -2.35387792e+02] [-8.94182916e-03 -9.99388230e-05 9.99960016e-01 -5.28188464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.406559995 meters 0.0534870604604155 Centerline is valid? [True, True] Translation: X:661.77, Y:-235.43, Z:-5.28 [[ 7.25331458e-01 6.88362099e-01 7.20398868e-03 6.61767912e+02] [-6.88329252e-01 7.25367227e-01 -6.72502438e-03 -2.35433495e+02] [-9.85478920e-03 -8.08444048e-05 9.99951437e-01 -5.28247722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4665599949999 meters 0.05321759515461552 Centerline is valid? [True, True] Translation: X:661.81, Y:-235.48, Z:-5.28 [[ 7.27546204e-01 6.86023112e-01 6.98647563e-03 6.61811890e+02] [-6.85992105e-01 7.27579747e-01 -6.52256864e-03 -2.35476214e+02] [-9.55785100e-03 -4.71970683e-05 9.99954322e-01 -5.28248672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.526559995 meters 0.05355658223230902 Centerline is valid? [True, True] Translation: X:661.85, Y:-235.52, Z:-5.28 [[ 7.30795189e-01 6.82558041e-01 7.27409683e-03 6.61854317e+02] [-6.82524248e-01 7.30831390e-01 -6.79191652e-03 -2.35522209e+02] [-9.95201553e-03 -1.24754998e-06 9.99950477e-01 -5.28253674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5865599949999 meters 0.054056012229866744 Centerline is valid? [True, True] Translation: X:661.90, Y:-235.57, Z:-5.28 [[ 7.33862406e-01 6.79262240e-01 6.98422023e-03 6.61896412e+02] [-6.79230931e-01 7.33895638e-01 -6.52181877e-03 -2.35568275e+02] [-9.55571399e-03 4.22191947e-05 9.99954342e-01 -5.28350228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.646559995 meters 0.05395499345059034 Centerline is valid? [True, True] Translation: X:661.94, Y:-235.61, Z:-5.28 [[ 7.37133573e-01 6.75717448e-01 6.32665794e-03 6.61941297e+02] [-6.75691619e-01 7.37160718e-01 -5.90855052e-03 -2.35611456e+02] [-8.65627439e-03 8.05212091e-05 9.99962531e-01 -5.28484664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7065599949999 meters 0.05347107820840489 Centerline is valid? [True, True] Translation: X:661.98, Y:-235.66, Z:-5.29 [[ 7.39023184e-01 6.73653608e-01 5.96236195e-03 6.61983373e+02] [-6.73630592e-01 7.39047229e-01 -5.56952398e-03 -2.35655581e+02] [-8.15839700e-03 9.95779352e-05 9.99966715e-01 -5.28520572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.766559995 meters 0.05451906265901424 Centerline is valid? [True, True] Translation: X:662.03, Y:-235.70, Z:-5.29 [[ 7.40644011e-01 6.71867365e-01 6.37903839e-03 6.62027196e+02] [-6.71840943e-01 7.40671470e-01 -5.95986543e-03 -2.35700190e+02] [-8.72901083e-03 1.28439470e-04 9.99961893e-01 -5.28560446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8265599949999 meters 0.053813768810502864 Centerline is valid? [True, True] Translation: X:662.07, Y:-235.74, Z:-5.29 [[ 7.39722541e-01 6.72883501e-01 6.19322041e-03 6.62069462e+02] [-6.72858627e-01 7.39748458e-01 -5.78682355e-03 -2.35744324e+02] [-8.47528333e-03 1.13482039e-04 9.99964078e-01 -5.28601203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.886559995 meters 0.05358125357479334 Centerline is valid? [True, True] Translation: X:662.12, Y:-235.79, Z:-5.29 [[ 7.37407935e-01 6.75413335e-01 6.80908803e-03 6.62116786e+02] [-6.75383362e-01 7.37439365e-01 -6.36367039e-03 -2.35785441e+02] [-9.31939740e-03 9.38762753e-05 9.99956569e-01 -5.28626711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9465599949999 meters 0.0534881850482189 Centerline is valid? [True, True] Translation: X:662.16, Y:-235.82, Z:-5.29 [[ 7.33148741e-01 6.80026536e-01 7.53878621e-03 6.62163802e+02] [-6.79990027e-01 7.33187499e-01 -7.04662100e-03 -2.35824550e+02] [-1.03192331e-02 3.99218815e-05 9.99946755e-01 -5.28641268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.006559995 meters 0.05297958996163883 Centerline is valid? [True, True] Translation: X:662.21, Y:-235.86, Z:-5.29 [[ 7.30562715e-01 6.82801668e-01 7.74613582e-03 6.62210909e+02] [-6.82763261e-01 7.30603779e-01 -7.24206377e-03 -2.35864522e+02] [-1.06042493e-02 2.00481762e-06 9.99943773e-01 -5.28780874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0665599949999 meters 0.05273487456461483 Centerline is valid? [True, True] Translation: X:662.26, Y:-235.91, Z:-5.29 [[ 7.27315650e-01 6.86267626e-01 6.97790708e-03 6.62256597e+02] [-6.86236605e-01 7.27349121e-01 -6.52521056e-03 -2.35905293e+02] [-9.55341534e-03 -4.26075097e-05 9.99954364e-01 -5.28981386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.126559995 meters 0.05285831209644024 Centerline is valid? [True, True] Translation: X:662.31, Y:-235.94, Z:-5.29 [[ 7.25238772e-01 6.88466717e-01 6.50413320e-03 6.62305274e+02] [-6.88439843e-01 7.25267933e-01 -6.08341318e-03 -2.35942412e+02] [-8.90546675e-03 -6.57773321e-05 9.99960343e-01 -5.28986157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1865599949999 meters 0.052360916326904004 Centerline is valid? [True, True] Translation: X:662.35, Y:-235.99, Z:-5.29 [[ 7.25290201e-01 6.88413985e-01 6.34897488e-03 6.62349512e+02] [-6.88388364e-01 7.25317987e-01 -5.93959602e-03 -2.35987401e+02] [-8.69392665e-03 -6.26296355e-05 9.99962205e-01 -5.29105299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.246559995 meters 0.05287216814679353 Centerline is valid? [True, True] Translation: X:662.39, Y:-236.03, Z:-5.29 [[ 7.26825522e-01 6.86792621e-01 6.36834588e-03 6.62393982e+02] [-6.86766769e-01 7.26853420e-01 -5.95905154e-03 -2.36030286e+02] [-8.72148661e-03 -4.23775795e-05 9.99961966e-01 -5.29171616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3065599949999 meters 0.05255188534638231 Centerline is valid? [True, True] Translation: X:662.44, Y:-236.08, Z:-5.29 [[ 7.29975897e-01 6.83448492e-01 5.77492489e-03 6.62436865e+02] [-6.83427124e-01 7.29998739e-01 -5.40429749e-03 -2.36075077e+02] [-7.90924686e-03 -1.73340281e-06 9.99968721e-01 -5.29227618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.366559995 meters 0.052299962895459975 Centerline is valid? [True, True] Translation: X:662.48, Y:-236.12, Z:-5.29 [[ 7.30924131e-01 6.82439464e-01 5.12767830e-03 6.62482145e+02] [-6.82422591e-01 7.30942117e-01 -4.79886907e-03 -2.36118530e+02] [-7.02297367e-03 8.36569039e-06 9.99975339e-01 -5.29268866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4265599949999 meters 0.05338363709521763 Centerline is valid? [True, True] Translation: X:662.53, Y:-236.16, Z:-5.29 [[ 7.31195281e-01 6.82150850e-01 4.86605057e-03 6.62527484e+02] [-6.82135642e-01 7.31211472e-01 -4.55505568e-03 -2.36161343e+02] [-6.66534710e-03 1.13286892e-05 9.99977786e-01 -5.29404607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.486559995 meters 0.05285138334645238 Centerline is valid? [True, True] Translation: X:662.57, Y:-236.20, Z:-5.29 [[ 7.30403845e-01 6.83001800e-01 4.33177833e-03 6.62573780e+02] [-6.82989758e-01 7.30416691e-01 -4.05577199e-03 -2.36204401e+02] [-5.93410276e-03 3.79122394e-06 9.99982393e-01 -5.29379682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5465599949999 meters 0.05296613304566772 Centerline is valid? [True, True] Translation: X:662.62, Y:-236.25, Z:-5.29 [[ 7.28197610e-01 6.85353447e-01 4.34673035e-03 6.62619724e+02] [-6.85341356e-01 7.28210583e-01 -4.07089385e-03 -2.36247732e+02] [-5.95533618e-03 -1.45789025e-05 9.99982267e-01 -5.29405032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.606559995 meters 0.05331564501040264 Centerline is valid? [True, True] Translation: X:662.67, Y:-236.29, Z:-5.29 [[ 7.26176424e-01 6.87493677e-01 4.49936533e-03 6.62666539e+02] [-6.87480762e-01 7.26190362e-01 -4.21425575e-03 -2.36287761e+02] [-6.16466993e-03 -3.29339288e-05 9.99980998e-01 -5.29483447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.666559995 meters 0.0528591938030569 Centerline is valid? [True, True] Translation: X:662.71, Y:-236.33, Z:-5.29 [[ 7.22227064e-01 6.91641862e-01 4.42746447e-03 6.62714010e+02] [-6.91629428e-01 7.22240632e-01 -4.14776336e-03 -2.36327529e+02] [-6.06646152e-03 -6.65377649e-05 9.99981597e-01 -5.29479948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.726559995 meters 0.05277175962218881 Centerline is valid? [True, True] Translation: X:662.76, Y:-236.37, Z:-5.30 [[ 7.17701219e-01 6.96336596e-01 4.50614635e-03 6.62758974e+02] [-6.96323802e-01 7.17715357e-01 -4.22247523e-03 -2.36369135e+02] [-6.17439447e-03 -1.07261344e-04 9.99980932e-01 -5.29522251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.786559995 meters 0.05272544449357146 Centerline is valid? [True, True] Translation: X:662.80, Y:-236.41, Z:-5.30 [[ 7.15392486e-01 6.98707290e-01 4.65986193e-03 6.62802568e+02] [-6.98693659e-01 7.15407650e-01 -4.36646327e-03 -2.36412395e+02] [-6.38458060e-03 -1.32080967e-04 9.99979610e-01 -5.29574707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8465599949999 meters 0.05382887466578287 Centerline is valid? [True, True] Translation: X:662.85, Y:-236.45, Z:-5.30 [[ 7.15200694e-01 6.98902803e-01 4.77898842e-03 6.62852103e+02] [-6.98888464e-01 7.15216648e-01 -4.47897990e-03 -2.36449528e+02] [-6.54838369e-03 -1.36610345e-04 9.99978550e-01 -5.29638399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.906559995 meters 0.052600875786716635 Centerline is valid? [True, True] Translation: X:662.89, Y:-236.50, Z:-5.30 [[ 7.16024758e-01 6.98060084e-01 4.54584225e-03 6.62890054e+02] [-6.98047087e-01 7.16039178e-01 -4.26151076e-03 -2.36499887e+02] [-6.22979170e-03 -1.21864725e-04 9.99980587e-01 -5.29623345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9665599949999 meters 0.052415132684040425 Centerline is valid? [True, True] Translation: X:662.94, Y:-236.54, Z:-5.30 [[ 7.16920245e-01 6.97139185e-01 4.72435766e-03 6.62935472e+02] [-6.97125123e-01 7.16935801e-01 -4.42941417e-03 -2.36541340e+02] [-6.47497933e-03 -1.17931720e-04 9.99979030e-01 -5.29730646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.026559995 meters 0.05283832168127229 Centerline is valid? [True, True] Translation: X:662.98, Y:-236.59, Z:-5.30 [[ 7.18366425e-01 6.95652415e-01 4.17089773e-03 6.62978226e+02] [-6.95641427e-01 7.18378528e-01 -3.91097070e-03 -2.36587435e+02] [-5.71695958e-03 -9.19392041e-05 9.99983654e-01 -5.29890431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0865599949999 meters 0.052167499748605795 Centerline is valid? [True, True] Translation: X:663.02, Y:-236.63, Z:-5.30 [[ 7.18840872e-01 6.95165525e-01 3.56271401e-03 6.63021473e+02] [-6.95157502e-01 7.18849697e-01 -3.34072045e-03 -2.36632027e+02] [-4.88340957e-03 -7.52009698e-05 9.99988073e-01 -5.30022913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.146559995 meters 0.051877654668321296 Centerline is valid? [True, True] Translation: X:663.06, Y:-236.68, Z:-5.30 [[ 7.18333331e-01 6.95692249e-01 3.08562315e-03 6.63064017e+02] [-6.95686233e-01 7.18339954e-01 -2.89405866e-03 -2.36676556e+02] [-4.22990057e-03 -6.77267483e-05 9.99991052e-01 -5.30110417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2065599949999 meters 0.05175076643717327 Centerline is valid? [True, True] Translation: X:663.11, Y:-236.72, Z:-5.30 [[ 7.16290540e-01 6.97796080e-01 2.91436245e-03 6.63105241e+02] [-6.97790730e-01 7.16296464e-01 -2.73350942e-03 -2.36722658e+02] [-3.99497968e-03 -7.56281590e-05 9.99992017e-01 -5.30154132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.266559995 meters 0.05152456978971244 Centerline is valid? [True, True] Translation: X:663.15, Y:-236.77, Z:-5.30 [[ 7.13716870e-01 7.00428127e-01 2.94427804e-03 6.63147279e+02] [-7.00422686e-01 7.13722937e-01 -2.76240607e-03 -2.36765808e+02] [-4.03626568e-03 -9.06633177e-05 9.99991850e-01 -5.30220513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3265599949999 meters 0.051830579476916626 Centerline is valid? [True, True] Translation: X:663.19, Y:-236.81, Z:-5.30 [[ 7.12620002e-01 7.01541796e-01 3.44093400e-03 6.63191356e+02] [-7.01534376e-01 7.12628301e-01 -3.22858860e-03 -2.36808628e+02] [-4.71709679e-03 -1.13176673e-04 9.99988868e-01 -5.30197323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.386559995 meters 0.054719970635909 Centerline is valid? [True, True] Translation: X:663.24, Y:-236.84, Z:-5.30 [[ 7.11904280e-01 7.02261739e-01 4.55484966e-03 6.63243243e+02] [-7.02248744e-01 7.11918834e-01 -4.27496959e-03 -2.36843282e+02] [-6.24483084e-03 -1.55268303e-04 9.99980489e-01 -5.30226849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4465599949999 meters 0.051943067964952835 Centerline is valid? [True, True] Translation: X:663.28, Y:-236.89, Z:-5.30 [[ 7.12616154e-01 7.01541765e-01 4.16770801e-03 6.63279661e+02] [-7.01530869e-01 7.12628328e-01 -3.91230435e-03 -2.36894831e+02] [-5.71467169e-03 -1.35804538e-04 9.99983662e-01 -5.30221425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.506559995 meters 0.051524552243751034 Centerline is valid? [True, True] Translation: X:663.32, Y:-236.94, Z:-5.30 [[ 7.14542782e-01 6.99581646e-01 3.75950907e-03 6.63320448e+02] [-6.99572748e-01 7.14552664e-01 -3.52996031e-03 -2.36941000e+02] [-5.15586267e-03 -1.07742436e-04 9.99986703e-01 -5.30348177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5665599949999 meters 0.05121387974957223 Centerline is valid? [True, True] Translation: X:663.36, Y:-236.98, Z:-5.30 [[ 7.18570071e-01 6.95446646e-01 3.31900240e-03 6.63361913e+02] [-6.95439666e-01 7.18577732e-01 -3.11663597e-03 -2.36984453e+02] [-4.55241525e-03 -6.86445955e-05 9.99989635e-01 -5.30475708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.626559995 meters 0.05178154487367157 Centerline is valid? [True, True] Translation: X:663.41, Y:-237.03, Z:-5.31 [[ 7.20010673e-01 6.93953813e-01 3.56875465e-03 6.63407591e+02] [-6.93945725e-01 7.20019515e-01 -3.35091742e-03 -2.37025189e+02] [-4.89495491e-03 -6.38257306e-05 9.99988018e-01 -5.30550125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6865599949999 meters 0.05158155737048399 Centerline is valid? [True, True] Translation: X:663.45, Y:-237.07, Z:-5.31 [[ 7.21277412e-01 6.92639387e-01 3.09414429e-03 6.63452633e+02] [-6.92633294e-01 7.21284047e-01 -2.90567107e-03 -2.37068071e+02] [-4.24433915e-03 -4.73124389e-05 9.99990992e-01 -5.30617368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.746559995 meters 0.05157580684265842 Centerline is valid? [True, True] Translation: X:663.49, Y:-237.11, Z:-5.31 [[ 7.24792254e-01 6.88962143e-01 2.71175564e-03 6.63494521e+02] [-6.88957434e-01 7.24797327e-01 -2.54740452e-03 -2.37113231e+02] [-3.72053852e-03 -2.19451419e-05 9.99993079e-01 -5.30625089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8065599949999 meters 0.051982892331445714 Centerline is valid? [True, True] Translation: X:663.54, Y:-237.16, Z:-5.31 [[ 7.27580067e-01 6.86015989e-01 3.05102320e-03 6.63537668e+02] [-6.86010003e-01 7.27586464e-01 -2.86587410e-03 -2.37158629e+02] [-4.18591863e-03 -7.87956296e-06 9.99991239e-01 -5.30590664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.866559995 meters 0.051154462544847304 Centerline is valid? [True, True] Translation: X:663.58, Y:-237.20, Z:-5.31 [[ 7.31064708e-01 6.82300593e-01 3.20838381e-03 6.63581908e+02] [-6.82293933e-01 7.31071748e-01 -3.01472712e-03 -2.37201661e+02] [-4.40250887e-03 1.48997916e-05 9.99990309e-01 -5.30680962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9265599949999 meters 0.05250783120930406 Centerline is valid? [True, True] Translation: X:663.63, Y:-237.24, Z:-5.31 [[ 7.32217343e-01 6.81067386e-01 2.23130231e-03 6.63625721e+02] [-6.81064160e-01 7.32220742e-01 -2.09627949e-03 -2.37244161e+02] [-3.06151343e-03 1.52721612e-05 9.99995313e-01 -5.30947328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.986559995 meters 0.05168277875585442 Centerline is valid? [True, True] Translation: X:663.67, Y:-237.29, Z:-5.31 [[ 7.31815833e-01 6.81500867e-01 1.46784381e-03 6.63673085e+02] [-6.81499472e-01 7.31817305e-01 -1.37931497e-03 -2.37285965e+02] [-2.01419785e-03 9.06975851e-06 9.99997971e-01 -5.30882063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0465599949999 meters 0.05217524119449357 Centerline is valid? [True, True] Translation: X:663.72, Y:-237.33, Z:-5.31 [[ 7.28931772e-01 6.84586065e-01 6.26214613e-04 6.63720103e+02] [-6.84585812e-01 7.28932041e-01 -5.87753293e-04 -2.37325260e+02] [-8.58835610e-04 -2.65590219e-07 9.99999631e-01 -5.31091482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.106559995 meters 0.05195962193218412 Centerline is valid? [True, True] Translation: X:663.77, Y:-237.37, Z:-5.31 [[ 7.26114843e-01 6.87573403e-01 2.23108696e-04 6.63767571e+02] [-6.87573372e-01 7.26114877e-01 -2.08685551e-04 -2.37365863e+02] [-3.05489178e-04 -1.87392279e-06 9.99999953e-01 -5.31051791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.166559995 meters 0.051931400808176015 Centerline is valid? [True, True] Translation: X:663.81, Y:-237.41, Z:-5.31 [[ 7.21436301e-01 6.92480714e-01 -3.51847194e-04 6.63813666e+02] [-6.92480635e-01 7.21436387e-01 3.32031129e-04 -2.37405963e+02] [ 4.83760522e-04 4.10805899e-06 9.99999883e-01 -5.31005055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.226559995 meters 0.05137296227812315 Centerline is valid? [True, True] Translation: X:663.86, Y:-237.45, Z:-5.31 [[ 7.17334755e-01 6.96728673e-01 7.45295659e-05 6.63858685e+02] [-6.96728669e-01 7.17334759e-01 -6.97933212e-05 -2.37447809e+02] [-1.02089656e-04 -1.86171028e-06 9.99999995e-01 -5.30718647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.286559995 meters 0.05275344200556022 Centerline is valid? [True, True] Translation: X:663.91, Y:-237.48, Z:-5.31 [[ 7.14332247e-01 6.99806628e-01 3.52634678e-04 6.63909836e+02] [-6.99806550e-01 7.14332334e-01 -3.31045163e-04 -2.37481856e+02] [-4.83565952e-04 -1.02998226e-05 9.99999883e-01 -5.31020577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3465599949999 meters 0.051386122167126756 Centerline is valid? [True, True] Translation: X:663.95, Y:-237.53, Z:-5.31 [[ 7.11703496e-01 7.02479936e-01 -2.71252884e-04 6.63951914e+02] [-7.02479890e-01 7.11703547e-01 2.55521912e-04 -2.37526918e+02] [ 3.72550655e-04 8.69385820e-06 9.99999931e-01 -5.30764956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.406559995 meters 0.05200958541947318 Centerline is valid? [True, True] Translation: X:664.00, Y:-237.57, Z:-5.31 [[ 7.11079028e-01 7.03111044e-01 -1.21499735e-03 6.63996887e+02] [-7.03110114e-01 7.11080064e-01 1.14451649e-03 -2.37569248e+02] [ 1.66868257e-03 4.04352503e-05 9.99998607e-01 -5.30782296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4665599949999 meters 0.05230883873099308 Centerline is valid? [True, True] Translation: X:664.04, Y:-237.61, Z:-5.31 [[ 7.12289364e-01 7.01882087e-01 -2.32333018e-03 6.64042239e+02] [-7.01878682e-01 7.12293149e-01 2.18746214e-03 -2.37610438e+02] [ 3.19023266e-03 7.25899077e-05 9.99994909e-01 -5.30873020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.526559995 meters 0.05233854917767843 Centerline is valid? [True, True] Translation: X:664.08, Y:-237.65, Z:-5.31 [[ 7.15681512e-01 6.98421101e-01 -2.81748270e-03 6.64084899e+02] [-6.98416067e-01 7.15687055e-01 2.65278145e-03 -2.37654054e+02] [ 3.86919443e-03 6.92285457e-05 9.99992512e-01 -5.30924392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5865599949999 meters 0.05253347612854081 Centerline is valid? [True, True] Translation: X:664.13, Y:-237.70, Z:-5.31 [[ 7.19520992e-01 6.94463806e-01 -3.09269575e-03 6.64127064e+02] [-6.94457704e-01 7.19527637e-01 2.91163644e-03 -2.37698816e+02] [ 4.24730619e-03 5.27628529e-05 9.99990979e-01 -5.30919777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.646559995 meters 0.05242602836982633 Centerline is valid? [True, True] Translation: X:664.17, Y:-237.74, Z:-5.31 [[ 7.26346444e-01 6.87319042e-01 -3.65764613e-03 6.64167119e+02] [-6.87310414e-01 7.26355653e-01 3.44393657e-03 -2.37744200e+02] [ 5.02383513e-03 1.24471949e-05 9.99987380e-01 -5.31019183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7065599949999 meters 0.052535456484011735 Centerline is valid? [True, True] Translation: X:664.21, Y:-237.79, Z:-5.31 [[ 7.30122943e-01 6.83304133e-01 -3.99359116e-03 6.64210677e+02] [-6.83293779e-01 7.30133865e-01 3.76173208e-03 -2.37787840e+02] [ 5.48626323e-03 -1.77309015e-05 9.99984950e-01 -5.31060627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.766559995 meters 0.053285370286216924 Centerline is valid? [True, True] Translation: X:664.26, Y:-237.83, Z:-5.31 [[ 7.33812696e-01 6.79338724e-01 -4.22195559e-03 6.64255735e+02] [-6.79327082e-01 7.33824840e-01 3.97749935e-03 -2.37829138e+02] [ 5.80024522e-03 -5.06507583e-05 9.99983177e-01 -5.30582250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8265599949999 meters 0.05407569963894746 Centerline is valid? [True, True] Translation: X:664.30, Y:-237.87, Z:-5.31 [[ 7.38164662e-01 6.74604586e-01 -4.64587002e-03 6.64300109e+02] [-6.74590399e-01 7.38179275e-01 4.37623025e-03 -2.37871999e+02] [ 6.38170996e-03 -9.63192127e-05 9.99979632e-01 -5.30578109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.886559995 meters 0.054333146849198474 Centerline is valid? [True, True] Translation: X:664.34, Y:-237.92, Z:-5.31 [[ 7.45451348e-01 6.66544952e-01 -4.48491768e-03 6.64344606e+02] [-6.66531581e-01 7.45464822e-01 4.22491400e-03 -2.37915227e+02] [ 6.15944346e-03 -1.60128566e-04 9.99981018e-01 -5.30549237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9465599949999 meters 0.05457044089190427 Centerline is valid? [True, True] Translation: X:664.39, Y:-237.95, Z:-5.30 [[ 7.51080752e-01 6.60196463e-01 -4.28194685e-03 6.64393941e+02] [-6.60184162e-01 7.51092930e-01 4.03524656e-03 -2.37952279e+02] [ 5.88019550e-03 -2.03922524e-04 9.99982691e-01 -5.30273372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.006559995 meters 0.05521363459328723 Centerline is valid? [True, True] Translation: X:664.44, Y:-237.99, Z:-5.30 [[ 7.52574604e-01 6.58493422e-01 -4.22830393e-03 6.64438041e+02] [-6.58481396e-01 7.52586452e-01 3.98542997e-03 -2.37994111e+02] [ 5.80654367e-03 -2.15073908e-04 9.99983119e-01 -5.30394828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0665599949999 meters 0.05546876014787975 Centerline is valid? [True, True] Translation: X:664.49, Y:-238.03, Z:-5.30 [[ 7.52208812e-01 6.58919428e-01 -2.66284518e-03 6.64486779e+02] [-6.58914662e-01 7.52213513e-01 2.50980023e-03 -2.38032111e+02] [ 3.65678425e-03 -1.33306117e-04 9.99993305e-01 -5.30346008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.126559995 meters 0.05543915580418755 Centerline is valid? [True, True] Translation: X:664.54, Y:-238.07, Z:-5.30 [[ 7.48945821e-01 6.62630326e-01 -1.09928642e-03 6.64535660e+02] [-6.62629517e-01 7.48946626e-01 1.03677512e-03 -2.38068286e+02] [ 1.51030549e-03 -4.80687584e-05 9.99998858e-01 -5.30318219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1865599949999 meters 0.05528381808671234 Centerline is valid? [True, True] Translation: X:664.59, Y:-238.11, Z:-5.30 [[ 7.45298775e-01 6.66729981e-01 -9.32068840e-04 6.64585128e+02] [-6.66729403e-01 7.45299357e-01 8.78810823e-04 -2.38105844e+02] [ 1.28059983e-03 -3.35389289e-05 9.99999179e-01 -5.30489014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.246559995 meters 0.054914647248948636 Centerline is valid? [True, True] Translation: X:664.64, Y:-238.14, Z:-5.31 [[ 7.39158562e-01 6.73531455e-01 -6.16747042e-06 6.64639821e+02] [-6.73531455e-01 7.39158562e-01 5.95312570e-06 -2.38137519e+02] [ 8.56835570e-06 -2.46318508e-07 1.00000000e+00 -5.30540619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3065599949999 meters 0.0544785043780331 Centerline is valid? [True, True] Translation: X:664.68, Y:-238.18, Z:-5.31 [[ 7.35256602e-01 6.77788322e-01 8.48474518e-04 6.64684998e+02] [-6.77787850e-01 7.35257092e-01 -7.99702824e-04 -2.38177320e+02] [-1.16587614e-03 1.29010619e-05 9.99999320e-01 -5.30774374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.366559995 meters 0.0540420407823578 Centerline is valid? [True, True] Translation: X:664.74, Y:-238.21, Z:-5.31 [[ 7.29291439e-01 6.84201352e-01 1.58325364e-03 6.64740429e+02] [-6.84199725e-01 7.29293158e-01 -1.49222582e-03 -2.38208686e+02] [-2.17563897e-03 5.00580469e-06 9.99997633e-01 -5.30854037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4265599949999 meters 0.05431329905579725 Centerline is valid? [True, True] Translation: X:664.80, Y:-238.24, Z:-5.31 [[ 7.22927787e-01 6.90921127e-01 1.84706385e-03 6.64795408e+02] [-6.90918935e-01 7.22930146e-01 -1.74042397e-03 -2.38241389e+02] [-2.53779383e-03 -1.79705410e-05 9.99996780e-01 -5.30908960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.486559995 meters 0.05415452787599565 Centerline is valid? [True, True] Translation: X:664.85, Y:-238.28, Z:-5.31 [[ 7.18608381e-01 6.95412719e-01 1.77338480e-03 6.64847148e+02] [-6.95410710e-01 7.18610568e-01 -1.67194767e-03 -2.38276132e+02] [-2.43706674e-03 -3.17551780e-05 9.99997030e-01 -5.31095887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5465599949999 meters 0.05411292632606766 Centerline is valid? [True, True] Translation: X:664.89, Y:-238.31, Z:-5.31 [[ 7.14233524e-01 6.99904755e-01 1.95090641e-03 6.64893891e+02] [-6.99902340e-01 7.14236187e-01 -1.83939750e-03 -2.38314952e+02] [-2.68081101e-03 -5.16845973e-05 9.99996405e-01 -5.31050379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.606559995 meters 0.055565802115737334 Centerline is valid? [True, True] Translation: X:664.95, Y:-238.35, Z:-5.31 [[ 7.12540120e-01 7.01629385e-01 1.66841726e-03 6.64945589e+02] [-7.01627624e-01 7.12542072e-01 -1.57248433e-03 -2.38349165e+02] [-2.29211871e-03 -5.01494634e-05 9.99997372e-01 -5.31375795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.666559995 meters 0.05504480642683198 Centerline is valid? [True, True] Translation: X:664.99, Y:-238.39, Z:-5.31 [[ 7.14285385e-01 6.99852470e-01 1.70573081e-03 6.64988624e+02] [-6.99850623e-01 7.14287420e-01 -1.60859225e-03 -2.38392654e+02] [-2.34415932e-03 -4.47628313e-05 9.99997251e-01 -5.31323580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.726559995 meters 0.054913292737475895 Centerline is valid? [True, True] Translation: X:665.03, Y:-238.44, Z:-5.31 [[ 7.18873696e-01 6.95137157e-01 2.22291929e-03 6.65029479e+02] [-6.95133997e-01 7.18877132e-01 -2.09648231e-03 -2.38438601e+02] [-3.05534860e-03 -3.81207837e-05 9.99995332e-01 -5.31326200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.786559995 meters 0.053937554622975115 Centerline is valid? [True, True] Translation: X:665.07, Y:-238.49, Z:-5.31 [[ 7.22600124e-01 6.91260875e-01 2.73207446e-03 6.65070217e+02] [-6.91256073e-01 7.22605288e-01 -2.57666061e-03 -2.38485462e+02] [-3.75535612e-03 -2.66677860e-05 9.99992948e-01 -5.31317765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8465599949999 meters 0.05379684544768312 Centerline is valid? [True, True] Translation: X:665.11, Y:-238.54, Z:-5.31 [[ 7.28143067e-01 6.85420482e-01 2.53693135e-03 6.65108458e+02] [-6.85416307e-01 7.28147487e-01 -2.39244859e-03 -2.38536153e+02] [-3.48709345e-03 3.19073474e-06 9.99993920e-01 -5.31231456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.906559995 meters 0.054628782229883315 Centerline is valid? [True, True] Translation: X:665.15, Y:-238.58, Z:-5.31 [[ 7.31481914e-01 6.81856026e-01 2.56323978e-03 6.65151741e+02] [-6.81851741e-01 7.31486405e-01 -2.41736003e-03 -2.38581434e+02] [-3.52326655e-03 2.05056351e-05 9.99993793e-01 -5.31179498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9665599949999 meters 0.05513072970261894 Centerline is valid? [True, True] Translation: X:665.19, Y:-238.63, Z:-5.31 [[ 7.36040435e-01 6.76931833e-01 2.78795374e-03 6.65191534e+02] [-6.76926725e-01 7.36045713e-01 -2.63010082e-03 -2.38627446e+02] [-3.83246037e-03 4.86201608e-05 9.99992655e-01 -5.31280419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.026559995 meters 0.05480276040061947 Centerline is valid? [True, True] Translation: X:665.23, Y:-238.67, Z:-5.31 [[ 7.40512461e-01 6.72034307e-01 3.34432937e-03 6.65233739e+02] [-6.72026902e-01 7.40520008e-01 -3.15616902e-03 -2.38671724e+02] [-4.59759667e-03 8.97031802e-05 9.99989427e-01 -5.31213074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0865599949999 meters 0.05485918419464927 Centerline is valid? [True, True] Translation: X:665.28, Y:-238.71, Z:-5.31 [[ 7.43145742e-01 6.69121109e-01 3.36864827e-03 6.65279790e+02] [-6.69113566e-01 7.43153369e-01 -3.17898323e-03 -2.38711483e+02] [-4.63054709e-03 1.08439600e-04 9.99989273e-01 -5.31195727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.146559995 meters 0.0558198302044805 Centerline is valid? [True, True] Translation: X:665.32, Y:-238.76, Z:-5.31 [[ 7.45448259e-01 6.66555072e-01 3.35099797e-03 6.65316996e+02] [-6.66547578e-01 7.45455781e-01 -3.16314011e-03 -2.38760051e+02] [-4.60642790e-03 1.24357707e-04 9.99989383e-01 -5.31381850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2065599949999 meters 0.05519698198827767 Centerline is valid? [True, True] Translation: X:665.37, Y:-238.80, Z:-5.31 [[ 7.44769965e-01 6.67307917e-01 4.22411216e-03 6.65365012e+02] [-6.67296019e-01 7.44781928e-01 -3.98775182e-03 -2.38799513e+02] [-5.80710076e-03 1.51224555e-04 9.99983127e-01 -5.31476281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.266559995 meters 0.05512102016101274 Centerline is valid? [True, True] Translation: X:665.41, Y:-238.84, Z:-5.32 [[ 7.41425873e-01 6.71016862e-01 4.90363240e-03 6.65412433e+02] [-6.71000901e-01 7.41442075e-01 -4.63045111e-03 -2.38838466e+02] [-6.74287016e-03 1.42794492e-04 9.99977256e-01 -5.31600586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3265599949999 meters 0.054894218057879626 Centerline is valid? [True, True] Translation: X:665.46, Y:-238.88, Z:-5.32 [[ 7.38739893e-01 6.73973536e-01 4.80037862e-03 6.65457273e+02] [-6.73958300e-01 7.38755481e-01 -4.53320374e-03 -2.38878315e+02] [-6.60156537e-03 1.13603434e-04 9.99978203e-01 -5.31722071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.386559995 meters 0.05372717070203477 Centerline is valid? [True, True] Translation: X:665.51, Y:-238.91, Z:-5.32 [[ 7.34958818e-01 6.78090131e-01 5.41375397e-03 6.65509059e+02] [-6.78070864e-01 7.34978752e-01 -5.11249677e-03 -2.38912739e+02] [-7.44572774e-03 8.65657570e-05 9.99972276e-01 -5.31843185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4465599949999 meters 0.054164296178724855 Centerline is valid? [True, True] Translation: X:665.55, Y:-238.95, Z:-5.32 [[ 7.32508400e-01 6.80734972e-01 5.59833040e-03 6.65553809e+02] [-6.80714438e-01 7.32529790e-01 -5.28772245e-03 -2.38954472e+02] [-7.70048139e-03 6.24367784e-05 9.99970349e-01 -5.31878825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.506559995 meters 0.05393032078942491 Centerline is valid? [True, True] Translation: X:665.60, Y:-238.99, Z:-5.32 [[ 7.29435246e-01 6.84019859e-01 6.40739076e-03 6.65599884e+02] [-6.83993075e-01 7.29463386e-01 -6.05325821e-03 -2.38994396e+02] [-8.81450578e-03 3.28489797e-05 9.99961151e-01 -5.32063400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5665599949999 meters 0.053020531359701466 Centerline is valid? [True, True] Translation: X:665.65, Y:-239.04, Z:-5.32 [[ 7.26652398e-01 6.86966680e-01 7.28506949e-03 6.65645340e+02] [-6.86932189e-01 7.26688916e-01 -6.88387633e-03 -2.39035429e+02] [-1.00229729e-02 -2.16348382e-06 9.99949769e-01 -5.32152961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.626559995 meters 0.05299488639413403 Centerline is valid? [True, True] Translation: X:665.69, Y:-239.08, Z:-5.32 [[ 7.24557653e-01 6.89165784e-01 8.16879209e-03 6.65691622e+02] [-6.89122542e-01 7.24603699e-01 -7.72020307e-03 -2.39077564e+02] [-1.12396368e-02 -3.55665516e-05 9.99936833e-01 -5.32266161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6865599949999 meters 0.05283591029905811 Centerline is valid? [True, True] Translation: X:665.74, Y:-239.12, Z:-5.32 [[ 7.23848082e-01 6.89911505e-01 8.12826133e-03 6.65737125e+02] [-6.89868732e-01 7.23893716e-01 -7.68248815e-03 -2.39119586e+02] [-1.11842343e-02 -4.64790251e-05 9.99937453e-01 -5.32367410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.746559995 meters 0.05343973317685989 Centerline is valid? [True, True] Translation: X:665.78, Y:-239.16, Z:-5.33 [[ 7.21782944e-01 6.92080374e-01 7.35788697e-03 6.65782817e+02] [-6.92045428e-01 7.21820443e-01 -6.95512511e-03 -2.39160809e+02] [-1.01245788e-02 -7.19013623e-05 9.99948743e-01 -5.32553626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8065599949999 meters 0.053316984041975955 Centerline is valid? [True, True] Translation: X:665.83, Y:-239.20, Z:-5.33 [[ 7.18026700e-01 6.95980900e-01 6.94594796e-03 6.65828497e+02] [-6.95949929e-01 7.18060285e-01 -6.56682665e-03 -2.39202972e+02] [-9.55799529e-03 -1.18875126e-04 9.99954314e-01 -5.32801932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.866559995 meters 0.0528286081101606 Centerline is valid? [True, True] Translation: X:665.87, Y:-239.25, Z:-5.33 [[ 7.15786171e-01 6.98282565e-01 7.18445571e-03 6.65873215e+02] [-6.98249542e-01 7.15822209e-01 -6.79275921e-03 -2.39246252e+02] [-9.88605828e-03 -1.54379805e-04 9.99951120e-01 -5.33016467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9265599949999 meters 0.053019576718195065 Centerline is valid? [True, True] Translation: X:665.92, Y:-239.29, Z:-5.33 [[ 7.15521568e-01 6.98556747e-01 6.88160298e-03 6.65917913e+02] [-6.98526456e-01 7.15554644e-01 -6.50707030e-03 -2.39288554e+02] [-9.46972083e-03 -1.51032593e-04 9.99955150e-01 -5.33125680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.986559995 meters 0.05248829659802926 Centerline is valid? [True, True] Translation: X:665.96, Y:-239.34, Z:-5.33 [[ 7.16622903e-01 6.97422740e-01 7.28955962e-03 6.65957600e+02] [-6.97388678e-01 7.16659963e-01 -6.89423507e-03 -2.39337684e+02] [-1.00323318e-02 -1.43089596e-04 9.99949665e-01 -5.33187723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0465599949999 meters 0.05178787206652557 Centerline is valid? [True, True] Translation: X:666.00, Y:-239.39, Z:-5.33 [[ 7.18028394e-01 6.95970741e-01 7.74292916e-03 6.65997286e+02] [-6.95932216e-01 7.18070129e-01 -7.32394637e-03 -2.39386557e+02] [-1.06572185e-02 -1.29752400e-04 9.99943202e-01 -5.33483723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.106559995 meters 0.05173224547497691 Centerline is valid? [True, True] Translation: X:666.04, Y:-239.43, Z:-5.34 [[ 7.18052806e-01 6.95950051e-01 7.32765180e-03 6.66039830e+02] [-6.95915531e-01 7.18090184e-01 -6.93268160e-03 -2.39431990e+02] [-1.00867149e-02 -1.21395222e-04 9.99949120e-01 -5.33525786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.166559995 meters 0.0516471207706736 Centerline is valid? [True, True] Translation: X:666.08, Y:-239.48, Z:-5.34 [[ 7.17911440e-01 6.96093641e-01 7.53700968e-03 6.66081975e+02] [-6.96057112e-01 7.17950992e-01 -7.13234003e-03 -2.39478001e+02] [-1.03759801e-02 -1.25800679e-04 9.99946160e-01 -5.33580654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.226559995 meters 0.051516117791539695 Centerline is valid? [True, True] Translation: X:666.12, Y:-239.53, Z:-5.34 [[ 7.18140488e-01 6.95861096e-01 7.18158212e-03 6.66120734e+02] [-6.95827910e-01 7.18176386e-01 -6.79696397e-03 -2.39526110e+02] [-9.88738549e-03 -1.15970255e-04 9.99951112e-01 -5.33788101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.286559995 meters 0.0513195840369653 Centerline is valid? [True, True] Translation: X:666.16, Y:-239.57, Z:-5.34 [[ 7.20260959e-01 6.93666867e-01 7.10130805e-03 6.66162843e+02] [-6.93634304e-01 7.20295960e-01 -6.72178461e-03 -2.39572447e+02] [-9.77772277e-03 -8.42718353e-05 9.99952193e-01 -5.33831708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3465599949999 meters 0.051025178870289976 Centerline is valid? [True, True] Translation: X:666.20, Y:-239.62, Z:-5.34 [[ 7.23221247e-01 6.90571734e-01 7.85541593e-03 6.66203148e+02] [-6.90531692e-01 7.23263906e-01 -7.43672864e-03 -2.39620489e+02] [-1.08171334e-02 -4.60134928e-05 9.99941492e-01 -5.33811831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.406559995 meters 0.050881748159727624 Centerline is valid? [True, True] Translation: X:666.24, Y:-239.67, Z:-5.34 [[ 7.28515464e-01 6.84977237e-01 8.45001053e-03 6.66241920e+02] [-6.84930503e-01 7.28564467e-01 -8.00151509e-03 -2.39670678e+02] [-1.16372331e-02 4.15575218e-05 9.99932284e-01 -5.33920277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4665599949999 meters 0.051126270014067034 Centerline is valid? [True, True] Translation: X:666.28, Y:-239.72, Z:-5.34 [[ 7.32337301e-01 6.80883497e-01 8.92977638e-03 6.66279189e+02] [-6.80830977e-01 7.32391733e-01 -8.45755326e-03 -2.39719828e+02] [-1.22987028e-02 1.14113347e-04 9.99924362e-01 -5.33836207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.526559995 meters 0.05114110542871083 Centerline is valid? [True, True] Translation: X:666.32, Y:-239.76, Z:-5.34 [[ 7.34081363e-01 6.79004158e-01 8.82650509e-03 6.66322364e+02] [-6.78952694e-01 7.34134411e-01 -8.36102833e-03 -2.39764606e+02] [-1.21570141e-02 1.44895659e-04 9.99926090e-01 -5.34031142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5865599949999 meters 0.051376903601698595 Centerline is valid? [True, True] Translation: X:666.37, Y:-239.81, Z:-5.34 [[ 7.36692498e-01 6.76175984e-01 8.37862212e-03 6.66365845e+02] [-6.76129412e-01 7.36740120e-01 -7.93814414e-03 -2.39808923e+02] [-1.15404495e-02 1.82938388e-04 9.99933390e-01 -5.34368941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.646559995 meters 0.05060886330772364 Centerline is valid? [True, True] Translation: X:666.40, Y:-239.86, Z:-5.34 [[ 7.38036884e-01 6.74708060e-01 8.40188852e-03 6.66404520e+02] [-6.74661122e-01 7.38084677e-01 -7.96109323e-03 -2.39858608e+02] [-1.15727189e-02 2.07152898e-04 9.99933012e-01 -5.34379644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7065599949999 meters 0.050832325433214864 Centerline is valid? [True, True] Translation: X:666.45, Y:-239.90, Z:-5.34 [[ 7.37042774e-01 6.75789326e-01 8.75986858e-03 6.66452296e+02] [-6.75738366e-01 7.37094802e-01 -8.30144496e-03 -2.39897348e+02] [-1.20668815e-02 1.99140744e-04 9.99927173e-01 -5.34462206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.766559995 meters 0.05111826467103505 Centerline is valid? [True, True] Translation: X:666.49, Y:-239.94, Z:-5.34 [[ 7.36157420e-01 6.76752482e-01 8.85051938e-03 6.66491948e+02] [-6.76700508e-01 7.36210597e-01 -8.38920101e-03 -2.39944868e+02] [-1.21932588e-02 1.86621611e-04 9.99925642e-01 -5.34274669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8265599949999 meters 0.050943073308449736 Centerline is valid? [True, True] Translation: X:666.54, Y:-239.99, Z:-5.34 [[ 7.35519651e-01 6.77443098e-01 9.03834347e-03 6.66539326e+02] [-6.77388924e-01 7.35575160e-01 -8.56913394e-03 -2.39985399e+02] [-1.24534816e-02 1.80292656e-04 9.99922436e-01 -5.34448643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.886559995 meters 0.05116238399007151 Centerline is valid? [True, True] Translation: X:666.59, Y:-240.02, Z:-5.35 [[ 7.34561487e-01 6.78483196e-01 8.94287056e-03 6.66589451e+02] [-6.78430214e-01 7.34615904e-01 -8.48044719e-03 -2.40021994e+02] [-1.23234159e-02 1.62296313e-04 9.99924051e-01 -5.34740694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9465599949999 meters 0.051189548166125316 Centerline is valid? [True, True] Translation: X:666.63, Y:-240.07, Z:-5.35 [[ 7.33735030e-01 6.79372254e-01 9.28692260e-03 6.66634523e+02] [-6.79315168e-01 7.33793784e-01 -8.80829596e-03 -2.40065094e+02] [-1.27987980e-02 1.54207915e-04 9.99918080e-01 -5.34677687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.006559995 meters 0.050733951539587034 Centerline is valid? [True, True] Translation: X:666.68, Y:-240.10, Z:-5.35 [[ 7.31240230e-01 6.82064727e-01 8.68529978e-03 6.66683102e+02] [-6.82014978e-01 7.31291801e-01 -8.23840489e-03 -2.40103866e+02] [-1.19706139e-02 1.00748548e-04 9.99928345e-01 -5.34819053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0665599949999 meters 0.05064932379140688 Centerline is valid? [True, True] Translation: X:666.73, Y:-240.14, Z:-5.35 [[ 7.28050888e-01 6.85475676e-01 8.06243758e-03 6.66730737e+02] [-6.85433006e-01 7.28095527e-01 -7.64838643e-03 -2.40142396e+02] [-1.11130076e-02 4.21537003e-05 9.99938248e-01 -5.34941922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.126559995 meters 0.05026167421289922 Centerline is valid? [True, True] Translation: X:666.78, Y:-240.18, Z:-5.35 [[ 7.25061700e-01 6.88642207e-01 7.57911162e-03 6.66779378e+02] [-6.88604656e-01 7.25101311e-01 -7.19139008e-03 -2.40181006e+02] [-1.04479185e-02 -4.81003591e-06 9.99945419e-01 -5.35153685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1865599949999 meters 0.05103606584845038 Centerline is valid? [True, True] Translation: X:666.83, Y:-240.22, Z:-5.35 [[ 7.20418467e-01 6.93497315e-01 7.66206581e-03 6.66829023e+02] [-6.93459195e-01 7.20459207e-01 -7.27165046e-03 -2.40218404e+02] [-1.05630759e-02 -7.46987099e-05 9.99944206e-01 -5.35308615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.246559995 meters 0.04986955495893026 Centerline is valid? [True, True] Translation: X:666.87, Y:-240.26, Z:-5.36 [[ 7.17487077e-01 6.96535926e-01 7.07101373e-03 6.66874028e+02] [-6.96503597e-01 7.17521911e-01 -6.71175508e-03 -2.40261326e+02] [-9.74858582e-03 -1.09388960e-04 9.99952475e-01 -5.35521922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3065599949999 meters 0.0504678863954363 Centerline is valid? [True, True] Translation: X:666.92, Y:-240.30, Z:-5.36 [[ 7.16615874e-01 6.97433550e-01 6.93781762e-03 6.66919369e+02] [-6.97402463e-01 7.16649447e-01 -6.58597532e-03 -2.40301825e+02] [-9.56526330e-03 -1.18836630e-04 9.99954245e-01 -5.35642623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.366559995 meters 0.05000962540387362 Centerline is valid? [True, True] Translation: X:666.96, Y:-240.35, Z:-5.36 [[ 7.16508874e-01 6.97540157e-01 7.26385763e-03 6.66963941e+02] [-6.97506069e-01 7.16545682e-01 -6.89707961e-03 -2.40346948e+02] [-1.00158758e-02 -1.24766037e-04 9.99949832e-01 -5.35757689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4265599949999 meters 0.04990755881798498 Centerline is valid? [True, True] Translation: X:667.01, Y:-240.39, Z:-5.36 [[ 7.17328729e-01 6.96703491e-01 6.61372323e-03 6.67007511e+02] [-6.96675183e-01 7.17359210e-01 -6.28125373e-03 -2.40391207e+02] [-9.12058667e-03 -1.01893083e-04 9.99958401e-01 -5.35884047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.486559995 meters 0.04989874344852769 Centerline is valid? [True, True] Translation: X:667.05, Y:-240.44, Z:-5.36 [[ 7.19852101e-01 6.94107463e-01 5.27095543e-03 6.67049197e+02] [-6.94089406e-01 7.19871396e-01 -5.00690521e-03 -2.40437268e+02] [-7.26974032e-03 -5.42830891e-05 9.99973574e-01 -5.36114543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5465599949999 meters 0.0501432063422879 Centerline is valid? [True, True] Translation: X:667.09, Y:-240.48, Z:-5.36 [[ 7.20993521e-01 6.92923444e-01 5.04410257e-03 6.67093212e+02] [-6.92906877e-01 7.21011164e-01 -4.79175325e-03 -2.40480450e+02] [-6.95717243e-03 -4.02703103e-05 9.99975798e-01 -5.36160787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.606559995 meters 0.050182232481276956 Centerline is valid? [True, True] Translation: X:667.13, Y:-240.53, Z:-5.36 [[ 7.24447878e-01 6.89303154e-01 6.03609878e-03 6.67134901e+02] [-6.89279291e-01 7.24473023e-01 -5.73567603e-03 -2.40526492e+02] [-8.32661031e-03 -5.35955994e-06 9.99965333e-01 -5.36258195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.666559995 meters 0.050027448336331555 Centerline is valid? [True, True] Translation: X:667.18, Y:-240.57, Z:-5.36 [[ 7.26191551e-01 6.87461074e-01 6.56529696e-03 6.67180267e+02] [-6.87432753e-01 7.26221228e-01 -6.24006589e-03 -2.40570127e+02] [-9.05766042e-03 1.82829641e-05 9.99958978e-01 -5.36250750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.726559995 meters 0.05004713326843555 Centerline is valid? [True, True] Translation: X:667.22, Y:-240.61, Z:-5.36 [[ 7.30446232e-01 6.82928952e-01 7.50662638e-03 6.67224381e+02] [-6.82891667e-01 7.30484798e-01 -7.13665719e-03 -2.40612339e+02] [-1.03573063e-02 8.67317505e-05 9.99946358e-01 -5.36351506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.786559995 meters 0.05085639679260673 Centerline is valid? [True, True] Translation: X:667.27, Y:-240.66, Z:-5.36 [[ 7.33593376e-01 6.79546271e-01 7.59106010e-03 6.67266711e+02] [-6.79507949e-01 7.33632637e-01 -7.21808978e-03 -2.40657136e+02] [-1.04740754e-02 1.36957170e-04 9.99945136e-01 -5.36396805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8465599949999 meters 0.05081264131129621 Centerline is valid? [True, True] Translation: X:667.31, Y:-240.70, Z:-5.37 [[ 7.38553158e-01 6.74163611e-01 6.53127725e-03 6.67312164e+02] [-6.74135027e-01 7.38582014e-01 -6.21076110e-03 -2.40696531e+02] [-9.01095303e-03 1.84014461e-04 9.99959384e-01 -5.36672118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.906559995 meters 0.05139950098157167 Centerline is valid? [True, True] Translation: X:667.36, Y:-240.74, Z:-5.37 [[ 7.42681287e-01 6.69626039e-01 5.04720933e-03 6.67359771e+02] [-6.69608862e-01 7.42698414e-01 -4.79978675e-03 -2.40735590e+02] [-6.96261655e-03 1.85055709e-04 9.99975744e-01 -5.36862085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9665599949999 meters 0.05225958284505316 Centerline is valid? [True, True] Translation: X:667.41, Y:-240.78, Z:-5.37 [[ 7.44673618e-01 6.67412778e-01 4.62455598e-03 6.67405584e+02] [-6.67398309e-01 7.44687953e-01 -4.39871666e-03 -2.40777042e+02] [-6.37961084e-03 1.89187408e-04 9.99979632e-01 -5.36888877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.026559995 meters 0.05158268676424045 Centerline is valid? [True, True] Translation: X:667.45, Y:-240.82, Z:-5.37 [[ 7.44488128e-01 6.67611057e-01 5.73625793e-03 6.67451397e+02] [-6.67588798e-01 7.44510190e-01 -5.45655750e-03 -2.40818220e+02] [-7.91356060e-03 2.32880742e-04 9.99968660e-01 -5.36781438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0865599949999 meters 0.051555966757343544 Centerline is valid? [True, True] Translation: X:667.50, Y:-240.86, Z:-5.37 [[ 7.41125722e-01 6.71329233e-01 7.05159933e-03 6.67499043e+02] [-6.71295750e-01 7.41159230e-01 -6.70910226e-03 -2.40856664e+02] [-9.73037440e-03 2.38579598e-04 9.99952630e-01 -5.36800319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.146559995 meters 0.051368353277891486 Centerline is valid? [True, True] Translation: X:667.55, Y:-240.89, Z:-5.37 [[ 7.37178982e-01 6.75660125e-01 7.10944194e-03 6.67546779e+02] [-6.75626286e-01 7.37213240e-01 -6.76458613e-03 -2.40893454e+02] [-9.81173584e-03 1.83384856e-04 9.99951847e-01 -5.36932910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2065599949999 meters 0.05094467769685487 Centerline is valid? [True, True] Translation: X:667.60, Y:-240.93, Z:-5.37 [[ 7.28949131e-01 6.84530216e-01 7.17963887e-03 6.67595436e+02] [-6.84496125e-01 7.28984484e-01 -6.83200115e-03 -2.40931465e+02] [-9.91055656e-03 6.57463172e-05 9.99950887e-01 -5.36953797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.266559995 meters 0.050553025771944676 Centerline is valid? [True, True] Translation: X:667.64, Y:-240.97, Z:-5.37 [[ 7.22579723e-01 6.91252871e-01 6.92903193e-03 6.67643924e+02] [-6.91221419e-01 7.22612944e-01 -6.59410265e-03 -2.40968607e+02] [-9.56520055e-03 -2.47304143e-05 9.99954252e-01 -5.36965565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3265599949999 meters 0.050302931469887666 Centerline is valid? [True, True] Translation: X:667.69, Y:-241.00, Z:-5.37 [[ 7.13939814e-01 7.00179606e-01 6.20171138e-03 6.67693890e+02] [-7.00154735e-01 7.13966738e-01 -5.90291642e-03 -2.41002577e+02] [-8.56091734e-03 -1.27830531e-04 9.99963347e-01 -5.37129260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.386559995 meters 0.04993427139180849 Centerline is valid? [True, True] Translation: X:667.74, Y:-241.04, Z:-5.37 [[ 7.10295692e-01 7.03874624e-01 6.36738704e-03 6.67739429e+02] [-7.03848553e-01 7.10324210e-01 -6.06064005e-03 -2.41043656e+02] [-8.78883990e-03 -1.76829635e-04 9.99961362e-01 -5.37160397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4465599949999 meters 0.04978014763512368 Centerline is valid? [True, True] Translation: X:667.78, Y:-241.09, Z:-5.37 [[ 7.08031295e-01 7.06152812e-01 6.31593749e-03 6.67784309e+02] [-7.06127249e-01 7.08059436e-01 -6.01189200e-03 -2.41085775e+02] [-8.71737358e-03 -2.03247892e-04 9.99961982e-01 -5.37199321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.506559995 meters 0.050810024832164624 Centerline is valid? [True, True] Translation: X:667.83, Y:-241.13, Z:-5.37 [[ 7.08876629e-01 7.05314561e-01 5.02943100e-03 6.67830583e+02] [-7.05298330e-01 7.08894454e-01 -4.78745591e-03 -2.41125493e+02] [-6.94199810e-03 -1.53533679e-04 9.99975892e-01 -5.37437773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5665599949999 meters 0.050011163131696956 Centerline is valid? [True, True] Translation: X:667.87, Y:-241.17, Z:-5.38 [[ 7.10878766e-01 7.03303533e-01 3.93948785e-03 6.67868008e+02] [-7.03293541e-01 7.10889674e-01 -3.75038429e-03 -2.41174774e+02] [-5.43819976e-03 -1.04547803e-04 9.99985207e-01 -5.37574693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.626559995 meters 0.049724295352176186 Centerline is valid? [True, True] Translation: X:667.91, Y:-241.22, Z:-5.38 [[ 7.16173748e-01 6.97920317e-01 1.54703653e-03 6.67908233e+02] [-6.97918764e-01 7.16175419e-01 -1.47248406e-03 -2.41219944e+02] [-2.13562607e-03 -2.51513961e-05 9.99997719e-01 -5.37863233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6865599949999 meters 0.05005030159126999 Centerline is valid? [True, True] Translation: X:667.94, Y:-241.27, Z:-5.38 [[ 7.24558675e-01 6.89212753e-01 -7.12618273e-04 6.67944346e+02] [-6.89212419e-01 7.24559025e-01 6.78630147e-04 -2.41269315e+02] [ 9.84054553e-04 -5.61995503e-07 9.99999516e-01 -5.38081550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.746559995 meters 0.050883340714648735 Centerline is valid? [True, True] Translation: X:667.98, Y:-241.32, Z:-5.38 [[ 7.31728952e-01 6.81595577e-01 -4.58524394e-04 6.67982832e+02] [-6.81595437e-01 7.31729096e-01 4.36906150e-04 -2.41318031e+02] [ 6.33308939e-04 -7.16874465e-06 9.99999799e-01 -5.38114385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8065599949999 meters 0.051986238697900894 Centerline is valid? [True, True] Translation: X:668.02, Y:-241.37, Z:-5.38 [[ 7.40194917e-01 6.72389864e-01 1.83184380e-03 6.68017072e+02] [-6.72387604e-01 7.40197182e-01 -1.74417559e-03 -2.41369509e+02] [-2.52869160e-03 5.93208436e-05 9.99996801e-01 -5.38069457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.866559995 meters 0.051901560267634754 Centerline is valid? [True, True] Translation: X:668.06, Y:-241.41, Z:-5.38 [[ 7.44797243e-01 6.67286630e-01 2.37062286e-03 6.68064831e+02] [-6.67282819e-01 7.44801009e-01 -2.25736206e-03 -2.41409016e+02] [-3.27194982e-03 9.94011310e-05 9.99994642e-01 -5.37798894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9265599949999 meters 0.05296225647591982 Centerline is valid? [True, True] Translation: X:668.11, Y:-241.45, Z:-5.38 [[ 7.49558255e-01 6.61931624e-01 2.99124090e-03 6.68106160e+02] [-6.61925513e-01 7.49564207e-01 -2.84852346e-03 -2.41452488e+02] [-4.12765487e-03 1.55155600e-04 9.99991469e-01 -5.37736887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.986559995 meters 0.05246674720175224 Centerline is valid? [True, True] Translation: X:668.16, Y:-241.49, Z:-5.38 [[ 7.52302281e-01 6.58809958e-01 3.27360826e-03 6.68156080e+02] [-6.58802608e-01 7.52309380e-01 -3.11780243e-03 -2.41489668e+02] [-4.51680549e-03 1.88868219e-04 9.99989781e-01 -5.37789635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0465599949999 meters 0.0525008765737085 Centerline is valid? [True, True] Translation: X:668.21, Y:-241.52, Z:-5.38 [[ 7.55085523e-01 6.55616581e-01 3.57103445e-03 6.68210686e+02] [-6.55607797e-01 7.55093933e-01 -3.40128494e-03 -2.41521265e+02] [-4.92640525e-03 2.27062991e-04 9.99987839e-01 -5.37853036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.106559995 meters 0.05310859106040967 Centerline is valid? [True, True] Translation: X:668.26, Y:-241.56, Z:-5.38 [[ 7.54923659e-01 6.55797230e-01 4.50136832e-03 6.68255993e+02] [-6.55783274e-01 7.54937025e-01 -4.28783217e-03 -2.41564327e+02] [-6.21019807e-03 2.85063893e-04 9.99980676e-01 -5.37941711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.166559995 meters 0.05254323444320355 Centerline is valid? [True, True] Translation: X:668.30, Y:-241.60, Z:-5.38 [[ 7.51525592e-01 6.59679376e-01 5.69265963e-03 6.68302378e+02] [-6.59657161e-01 7.51547083e-01 -5.42318861e-03 -2.41603543e+02] [-7.85586742e-03 3.20461337e-04 9.99969091e-01 -5.37913819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.226559995 meters 0.05245535010907028 Centerline is valid? [True, True] Translation: X:668.35, Y:-241.64, Z:-5.38 [[ 7.44489749e-01 6.67610694e-01 5.56554585e-03 6.68352766e+02] [-6.67589673e-01 7.44510515e-01 -5.30288165e-03 -2.41639206e+02] [-7.68386791e-03 2.32440096e-04 9.99970452e-01 -5.37969000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.286559995 meters 0.052201194168924596 Centerline is valid? [True, True] Translation: X:668.41, Y:-241.67, Z:-5.38 [[ 7.38717783e-01 6.73997964e-01 4.77311123e-03 6.68407063e+02] [-6.73982633e-01 7.38733189e-01 -4.54808849e-03 -2.41669083e+02] [-6.59145806e-03 1.42759771e-04 9.99978266e-01 -5.38179704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3465599949999 meters 0.051846421716112846 Centerline is valid? [True, True] Translation: X:668.46, Y:-241.70, Z:-5.38 [[ 7.30640200e-01 6.82748969e-01 4.32941614e-03 6.68458619e+02] [-6.82736509e-01 7.30653024e-01 -4.12518713e-03 -2.41702993e+02] [-5.97976825e-03 5.81770808e-05 9.99982119e-01 -5.38392270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.406559995 meters 0.05224178620960543 Centerline is valid? [True, True] Translation: X:668.51, Y:-241.74, Z:-5.38 [[ 7.26054068e-01 6.87617700e-01 5.23353711e-03 6.68507729e+02] [-6.87599613e-01 7.26072929e-01 -4.98736387e-03 -2.41740003e+02] [-7.22932929e-03 2.25177360e-05 9.99973868e-01 -5.38218564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4665599949999 meters 0.051776246802700106 Centerline is valid? [True, True] Translation: X:668.55, Y:-241.78, Z:-5.38 [[ 7.25300758e-01 6.88405542e-01 6.05140130e-03 6.68553584e+02] [-6.88381382e-01 7.25326002e-01 -5.76744687e-03 -2.41782457e+02] [-8.35958110e-03 1.74615989e-05 9.99965058e-01 -5.38199152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.526559995 meters 0.051141084832476716 Centerline is valid? [True, True] Translation: X:668.60, Y:-241.82, Z:-5.38 [[ 7.25367206e-01 6.88330386e-01 6.61021759e-03 6.68601111e+02] [-6.88301548e-01 7.25397325e-01 -6.30080293e-03 -2.41822839e+02] [-9.13206827e-03 2.05728153e-05 9.99958302e-01 -5.38214473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5865599949999 meters 0.05172631855296657 Centerline is valid? [True, True] Translation: X:668.65, Y:-241.86, Z:-5.38 [[ 7.28386310e-01 6.85129593e-01 7.12910172e-03 6.68648592e+02] [-6.85095880e-01 7.28421195e-01 -6.79694620e-03 -2.41862513e+02] [-9.84977778e-03 6.66843452e-05 9.99951488e-01 -5.38377265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.646559995 meters 0.05244379171174795 Centerline is valid? [True, True] Translation: X:668.69, Y:-241.90, Z:-5.38 [[ 7.34003157e-01 6.79120660e-01 5.87316142e-03 6.68691221e+02] [-6.79097582e-01 7.34026644e-01 -5.60001754e-03 -2.41904939e+02] [-8.11414458e-03 1.21980832e-04 9.99967072e-01 -5.38489368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7065599949999 meters 0.052358959200796175 Centerline is valid? [True, True] Translation: X:668.74, Y:-241.95, Z:-5.39 [[ 7.37872442e-01 6.74924248e-01 4.63891245e-03 6.68737945e+02] [-6.74909765e-01 7.37887012e-01 -4.42345476e-03 -2.41945146e+02] [-6.40849012e-03 1.33098059e-04 9.99979457e-01 -5.38677772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.766559995 meters 0.053107471952726644 Centerline is valid? [True, True] Translation: X:668.78, Y:-241.99, Z:-5.39 [[ 7.42130781e-01 6.70250877e-01 2.38009099e-03 6.68782205e+02] [-6.70247041e-01 7.42134593e-01 -2.26953856e-03 -2.41987182e+02] [-3.28750807e-03 8.90454863e-05 9.99994592e-01 -5.38886503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8265599949999 meters 0.05393548609940914 Centerline is valid? [True, True] Translation: X:668.82, Y:-242.03, Z:-5.39 [[ 7.42998974e-01 6.69292013e-01 8.51424290e-04 6.68822304e+02] [-6.69291522e-01 7.42999461e-01 -8.11629707e-04 -2.42033287e+02] [-1.17582507e-03 3.31889809e-05 9.99999308e-01 -5.39112986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.886559995 meters 0.053528291942696746 Centerline is valid? [True, True] Translation: X:668.87, Y:-242.07, Z:-5.39 [[ 7.41573767e-01 6.70871269e-01 2.97005115e-04 6.68869533e+02] [-6.70871209e-01 7.41573827e-01 -2.83117842e-04 -2.42072894e+02] [-4.10186846e-04 1.07005838e-05 9.99999916e-01 -5.39159943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9465599949999 meters 0.05385745796411648 Centerline is valid? [True, True] Translation: X:668.91, Y:-242.11, Z:-5.39 [[ 7.38066384e-01 6.74728020e-01 3.35984610e-04 6.68914469e+02] [-6.74727944e-01 7.38066460e-01 -3.20305497e-04 -2.42112605e+02] [-4.64098066e-04 9.70851481e-06 9.99999892e-01 -5.39211034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.006559995 meters 0.052607862936414264 Centerline is valid? [True, True] Translation: X:668.96, Y:-242.15, Z:-5.39 [[ 7.33391954e-01 6.79805209e-01 1.05817612e-03 6.68961215e+02] [-6.79804461e-01 7.33392717e-01 -1.00922638e-03 -2.42151357e+02] [-1.46213601e-03 2.08056616e-05 9.99998931e-01 -5.39123007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0665599949999 meters 0.05246748262487813 Centerline is valid? [True, True] Translation: X:669.01, Y:-242.19, Z:-5.39 [[ 7.29465547e-01 6.84014876e-01 1.91419540e-03 6.69008617e+02] [-6.84012441e-01 7.29468059e-01 -1.82550197e-03 -2.42191476e+02] [-2.64501491e-03 2.23073228e-05 9.99996502e-01 -5.38990138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.126559995 meters 0.05293252323101373 Centerline is valid? [True, True] Translation: X:669.06, Y:-242.23, Z:-5.39 [[ 7.24811938e-01 6.88941801e-01 2.61729355e-03 6.69055736e+02] [-6.88937279e-01 7.24816663e-01 -2.49596884e-03 -2.42232322e+02] [-3.61663525e-03 5.95691138e-06 9.99993460e-01 -5.38945118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1865599949999 meters 0.05235955145033736 Centerline is valid? [True, True] Translation: X:669.10, Y:-242.27, Z:-5.39 [[ 7.17147627e-01 6.96911370e-01 3.71794423e-03 6.69102346e+02] [-6.96902344e-01 7.17157263e-01 -3.54712715e-03 -2.42271759e+02] [-5.13838395e-03 -4.72302343e-05 9.99986797e-01 -5.39067662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.246559995 meters 0.051914406363013185 Centerline is valid? [True, True] Translation: X:669.15, Y:-242.31, Z:-5.39 [[ 7.12780885e-01 7.01374195e-01 4.20102993e-03 6.69146534e+02] [-7.01362746e-01 7.12793260e-01 -4.00835372e-03 -2.42313572e+02] [-5.80582168e-03 -8.93679742e-05 9.99983142e-01 -5.38963834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3065599949999 meters 0.0525759534638182 Centerline is valid? [True, True] Translation: X:669.19, Y:-242.35, Z:-5.39 [[ 7.08855177e-01 7.05341452e-01 4.21597009e-03 6.69191468e+02] [-7.05329991e-01 7.08867704e-01 -4.02277132e-03 -2.42353545e+02] [-5.82599240e-03 -1.22087867e-04 9.99983021e-01 -5.39050680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.366559995 meters 0.05183810439379407 Centerline is valid? [True, True] Translation: X:669.23, Y:-242.40, Z:-5.39 [[ 7.07512563e-01 7.06693989e-01 3.09502354e-03 6.69230230e+02] [-7.06687826e-01 7.07519325e-01 -2.95305343e-03 -2.42402572e+02] [-4.27669408e-03 -9.78930565e-05 9.99990850e-01 -5.39216592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4265599949999 meters 0.051606896853882665 Centerline is valid? [True, True] Translation: X:669.27, Y:-242.45, Z:-5.39 [[ 7.06991779e-01 7.07217738e-01 2.38662280e-03 6.69271039e+02] [-7.07214077e-01 7.06995803e-01 -2.27675695e-03 -2.42450366e+02] [-3.29749520e-03 -7.82047993e-05 9.99994560e-01 -5.39317449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.486559995 meters 0.05109495278947499 Centerline is valid? [True, True] Translation: X:669.31, Y:-242.50, Z:-5.39 [[ 7.06690930e-01 7.07521834e-01 8.85281520e-04 6.69310406e+02] [-7.07521331e-01 7.06691484e-01 -8.43977109e-04 -2.42498642e+02] [-1.22275314e-03 -2.99245905e-05 9.99999252e-01 -5.39404250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5465599949999 meters 0.05142772112106719 Centerline is valid? [True, True] Translation: X:669.35, Y:-242.54, Z:-5.40 [[ 7.09076583e-01 7.05131101e-01 7.28376047e-04 6.69351044e+02] [-7.05130758e-01 7.09076957e-01 -6.95217870e-04 -2.42544372e+02] [-1.00669441e-03 -2.06376425e-05 9.99999493e-01 -5.39553331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.606559995 meters 0.05117073418013465 Centerline is valid? [True, True] Translation: X:669.39, Y:-242.59, Z:-5.39 [[ 7.13325731e-01 7.00831968e-01 9.77244918e-04 6.69388379e+02] [-7.00831347e-01 7.13326400e-01 -9.32827836e-04 -2.42594644e+02] [-1.35085017e-03 -1.94737747e-05 9.99999087e-01 -5.39482053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.666559995 meters 0.050592328872472545 Centerline is valid? [True, True] Translation: X:669.42, Y:-242.65, Z:-5.39 [[ 7.22050841e-01 6.91838857e-01 1.25643736e-03 6.69422916e+02] [-6.91837818e-01 7.22051934e-01 -1.19934957e-03 -2.42647158e+02] [-1.73696966e-03 -3.25951137e-06 9.99998491e-01 -5.39436705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.726559995 meters 0.05089674710122044 Centerline is valid? [True, True] Translation: X:669.46, Y:-242.70, Z:-5.39 [[ 7.28937484e-01 6.84578436e-01 1.58419350e-03 6.69460898e+02] [-6.84576767e-01 7.28939205e-01 -1.51173635e-03 -2.42697661e+02] [-2.18968286e-03 1.74592263e-05 9.99997602e-01 -5.39456588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.786559995 meters 0.05143623995059804 Centerline is valid? [True, True] Translation: X:669.50, Y:-242.75, Z:-5.39 [[ 7.38756864e-01 6.73970608e-01 1.38426098e-03 6.69497565e+02] [-6.73969313e-01 7.38758159e-01 -1.32167406e-03 -2.42746024e+02] [-1.91340356e-03 4.34463645e-05 9.99998168e-01 -5.39371643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8465599949999 meters 0.05208967035787371 Centerline is valid? [True, True] Translation: X:669.54, Y:-242.79, Z:-5.39 [[ 7.44983391e-01 6.67083010e-01 7.72670960e-05 6.69540453e+02] [-6.67083006e-01 7.44983395e-01 -7.34339274e-05 -2.42791360e+02] [-1.06549229e-04 3.16348957e-06 9.99999994e-01 -5.39198104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.906559995 meters 0.0519287195637505 Centerline is valid? [True, True] Translation: X:669.58, Y:-242.84, Z:-5.39 [[ 7.46816045e-01 6.65030453e-01 -5.39861258e-04 6.69579350e+02] [-6.65030253e-01 7.46816239e-01 5.16798517e-04 -2.42839163e+02] [ 7.46863906e-04 -2.69293559e-05 9.99999721e-01 -5.39330922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9665599949999 meters 0.05208646218356629 Centerline is valid? [True, True] Translation: X:669.62, Y:-242.89, Z:-5.39 [[ 7.44829978e-01 6.67254293e-01 1.08736996e-04 6.69619400e+02] [-6.67254285e-01 7.44829986e-01 -1.02994682e-04 -2.42885286e+02] [-1.49714219e-04 4.15829985e-06 9.99999989e-01 -5.39399839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.026559995 meters 0.05194365486772853 Centerline is valid? [True, True] Translation: X:669.66, Y:-242.93, Z:-5.39 [[ 7.40612192e-01 6.71932001e-01 9.83604806e-04 6.69660274e+02] [-6.71931345e-01 7.40612844e-01 -9.39679624e-04 -2.42930898e+02] [-1.35987116e-03 3.50232860e-05 9.99999075e-01 -5.39475671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0865599949999 meters 0.051135775626137844 Centerline is valid? [True, True] Translation: X:669.71, Y:-242.97, Z:-5.39 [[ 7.32838398e-01 6.80400814e-01 1.61708065e-03 6.69706511e+02] [-6.80399061e-01 7.32840181e-01 -1.54509111e-03 -2.42969619e+02] [-2.23634292e-03 3.20419403e-05 9.99997499e-01 -5.39348890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.146559995 meters 0.050270125234445046 Centerline is valid? [True, True] Translation: X:669.75, Y:-243.01, Z:-5.39 [[ 7.24785973e-01 6.88973412e-01 9.64983083e-04 6.69754184e+02] [-6.88972795e-01 7.24786615e-01 -9.21987819e-04 -2.43008103e+02] [-1.33463192e-03 3.39674608e-06 9.99999109e-01 -5.39457550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2065599949999 meters 0.05019482477397595 Centerline is valid? [True, True] Translation: X:669.80, Y:-243.05, Z:-5.40 [[ 7.19478987e-01 6.94514079e-01 4.25591654e-04 6.69802709e+02] [-6.94513960e-01 7.19479113e-01 -4.05615954e-04 -2.43046912e+02] [-5.87910297e-04 -3.74718888e-06 9.99999827e-01 -5.39637916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.266559995 meters 0.0506256392797698 Centerline is valid? [True, True] Translation: X:669.85, Y:-243.08, Z:-5.40 [[ 7.12825314e-01 7.01341622e-01 5.43179957e-06 6.69850425e+02] [-7.01341622e-01 7.12825314e-01 -4.90249409e-06 -2.43084719e+02] [-7.31024768e-06 -3.14925235e-07 1.00000000e+00 -5.39791908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3265599949999 meters 0.05051725543440852 Centerline is valid? [True, True] Translation: X:669.90, Y:-243.12, Z:-5.40 [[ 7.09674370e-01 7.04529809e-01 -1.92879495e-04 6.69897844e+02] [-7.04529785e-01 7.09674396e-01 1.84858390e-04 -2.43122489e+02] [ 2.67119885e-04 4.70008723e-06 9.99999964e-01 -5.39992204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.386559995 meters 0.05086781410456309 Centerline is valid? [True, True] Translation: X:669.94, Y:-243.16, Z:-5.40 [[ 7.08704137e-01 7.05505666e-01 -4.49289858e-04 6.69942970e+02] [-7.05505535e-01 7.08704279e-01 4.30629324e-04 -2.43164554e+02] [ 6.22225073e-04 1.17876985e-05 9.99999806e-01 -5.40043661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4465599949999 meters 0.05026349823202482 Centerline is valid? [True, True] Translation: X:669.98, Y:-243.21, Z:-5.40 [[ 7.08344786e-01 7.05866161e-01 -7.92140804e-04 6.69983889e+02] [-7.05865754e-01 7.08345228e-01 7.58779477e-04 -2.43211377e+02] [ 1.09670591e-03 2.16675798e-05 9.99999398e-01 -5.39927933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.506559995 meters 0.050152060659687366 Centerline is valid? [True, True] Translation: X:670.03, Y:-243.25, Z:-5.40 [[ 7.10604470e-01 7.03591396e-01 -6.59141631e-04 6.70026269e+02] [-7.03591114e-01 7.10604775e-01 6.30979304e-04 -2.43254461e+02] [ 9.12340800e-04 1.53894802e-05 9.99999584e-01 -5.40040305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5665599949999 meters 0.05056999942599751 Centerline is valid? [True, True] Translation: X:670.07, Y:-243.30, Z:-5.40 [[ 7.12281927e-01 7.01893283e-01 -5.25527695e-04 6.70068443e+02] [-7.01893103e-01 7.12282121e-01 5.02953073e-04 -2.43299791e+02] [ 7.27343364e-04 1.06198797e-05 9.99999735e-01 -5.40012726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.626559995 meters 0.04958928844375514 Centerline is valid? [True, True] Translation: X:670.11, Y:-243.34, Z:-5.40 [[ 7.13435832e-01 7.00719061e-01 -1.45295951e-03 6.70112256e+02] [-7.00717682e-01 7.13437311e-01 1.39039121e-03 -2.43344587e+02] [ 2.01086914e-03 2.61595081e-05 9.99997978e-01 -5.40137306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6865599949999 meters 0.050535356486085245 Centerline is valid? [True, True] Translation: X:670.16, Y:-243.39, Z:-5.40 [[ 7.12939082e-01 7.01219071e-01 -3.11136887e-03 6.70156876e+02] [-7.01212749e-01 7.12945869e-01 2.97821213e-03 -2.43386973e+02] [ 4.30661672e-03 5.84476963e-05 9.99990725e-01 -5.40296322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.746559995 meters 0.05072444946815066 Centerline is valid? [True, True] Translation: X:670.20, Y:-243.43, Z:-5.41 [[ 7.11121113e-01 7.03049631e-01 -5.28960476e-03 6.70203015e+02] [-7.03031415e-01 7.11140775e-01 5.06238199e-03 -2.43426315e+02] [ 7.32075942e-03 1.18791607e-04 9.99973196e-01 -5.40712491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8065599949999 meters 0.050452105708784833 Centerline is valid? [True, True] Translation: X:670.25, Y:-243.47, Z:-5.41 [[ 7.10322403e-01 7.03853184e-01 -5.72531835e-03 6.70246732e+02] [-7.03831868e-01 7.10345463e-01 5.47950091e-03 -2.43468247e+02] [ 7.92371808e-03 1.37449257e-04 9.99968597e-01 -5.40724016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.866559995 meters 0.050077872437236895 Centerline is valid? [True, True] Translation: X:670.29, Y:-243.51, Z:-5.41 [[ 7.10899747e-01 7.03282322e-01 -3.94025356e-03 6.70290699e+02] [-7.03272216e-01 7.10910661e-01 3.77127698e-03 -2.43510890e+02] [ 5.45344069e-03 9.00710047e-05 9.99985126e-01 -5.40547826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9265599949999 meters 0.0494683216868263 Centerline is valid? [True, True] Translation: X:670.33, Y:-243.56, Z:-5.40 [[ 7.13438653e-01 7.00715700e-01 -1.67213558e-03 6.70332709e+02] [-7.00713873e-01 7.13440612e-01 1.60062931e-03 -2.43556174e+02] [ 2.31455552e-03 2.97377809e-05 9.99997321e-01 -5.40244438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.986559995 meters 0.050306623735815154 Centerline is valid? [True, True] Translation: X:670.38, Y:-243.60, Z:-5.40 [[ 7.15999585e-01 6.98099836e-01 -1.10103273e-03 6.70375790e+02] [-6.98099040e-01 7.16000432e-01 1.05436779e-03 -2.43597973e+02] [ 1.52439389e-03 1.37029855e-05 9.99998838e-01 -5.40342588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0465599949999 meters 0.049965046064223036 Centerline is valid? [True, True] Translation: X:670.42, Y:-243.64, Z:-5.40 [[ 7.19501586e-01 6.94489507e-01 -1.33860526e-03 6.70418017e+02] [-6.94488322e-01 7.19502832e-01 1.28276876e-03 -2.43643651e+02] [ 1.85399972e-03 6.69156236e-06 9.99998281e-01 -5.40404596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.106559995 meters 0.05085467313544124 Centerline is valid? [True, True] Translation: X:670.46, Y:-243.69, Z:-5.40 [[ 7.19940173e-01 6.94035606e-01 -8.50865793e-04 6.70463211e+02] [-6.94035127e-01 7.19940676e-01 8.16002148e-04 -2.43685797e+02] [ 1.17890744e-03 3.05802050e-06 9.99999305e-01 -5.40384158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.166559995 meters 0.05059124446234944 Centerline is valid? [True, True] Translation: X:670.51, Y:-243.73, Z:-5.41 [[ 7.19587307e-01 6.94400563e-01 -1.40192291e-03 6.70508282e+02] [-6.94399263e-01 7.19588673e-01 1.34400735e-03 -2.43726925e+02] [ 1.94208731e-03 6.36360640e-06 9.99998114e-01 -5.40623529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.226559995 meters 0.05015255721421936 Centerline is valid? [True, True] Translation: X:670.55, Y:-243.77, Z:-5.41 [[ 7.18957468e-01 6.95051749e-01 -1.79606168e-03 6.70553685e+02] [-6.95049616e-01 7.18959711e-01 1.72197839e-03 -2.43769862e+02] [ 2.48816008e-03 1.03227580e-05 9.99996904e-01 -5.40505091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.286559995 meters 0.05035049121630213 Centerline is valid? [True, True] Translation: X:670.60, Y:-243.81, Z:-5.41 [[ 7.19044877e-01 6.94960239e-01 -2.17522890e-03 6.70599520e+02] [-6.94957108e-01 7.19048167e-01 2.08594745e-03 -2.43812595e+02] [ 3.01374489e-03 1.18009527e-05 9.99995459e-01 -5.40527549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3465599949999 meters 0.05045497799372618 Centerline is valid? [True, True] Translation: X:670.64, Y:-243.86, Z:-5.41 [[ 7.20359866e-01 6.93599387e-01 -1.24630593e-03 6.70644263e+02] [-6.93598358e-01 7.20360945e-01 1.19489850e-03 -2.43855292e+02] [ 1.72657098e-03 3.67881770e-06 9.99998509e-01 -5.40596281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.406559995 meters 0.05050163234689403 Centerline is valid? [True, True] Translation: X:670.69, Y:-243.90, Z:-5.41 [[ 7.21526639e-01 6.92386577e-01 -3.70205186e-04 6.70688097e+02] [-6.92386486e-01 7.21526734e-01 3.55496551e-04 -2.43899866e+02] [ 5.13253978e-04 -1.75163978e-07 9.99999868e-01 -5.40538569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4665599949999 meters 0.05055844337749166 Centerline is valid? [True, True] Translation: X:670.73, Y:-243.94, Z:-5.41 [[ 7.22400462e-01 6.91474881e-01 -2.47607111e-04 6.70732896e+02] [-6.91474840e-01 7.22400504e-01 2.38235098e-04 -2.43943108e+02] [ 3.43605088e-04 -8.87057202e-07 9.99999941e-01 -5.40500197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.526559995 meters 0.05065567841633982 Centerline is valid? [True, True] Translation: X:670.78, Y:-243.99, Z:-5.41 [[ 7.23963349e-01 6.89838277e-01 -4.70814362e-04 6.70777445e+02] [-6.89838129e-01 7.23963502e-01 4.51809682e-04 -2.43987028e+02] [ 6.52528027e-04 -2.30795201e-06 9.99999787e-01 -5.40559565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5865599949999 meters 0.05058967970728737 Centerline is valid? [True, True] Translation: X:670.82, Y:-244.03, Z:-5.41 [[ 7.25038062e-01 6.88708410e-01 -7.31522435e-04 6.70819619e+02] [-6.88708051e-01 7.25038431e-01 7.02700144e-04 -2.44031361e+02] [ 1.01433738e-03 -5.67896000e-06 9.99999486e-01 -5.40868808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.646559995 meters 0.05087831654967456 Centerline is valid? [True, True] Translation: X:670.86, Y:-244.08, Z:-5.41 [[ 7.25785291e-01 6.87920877e-01 -7.60857750e-04 6.70862423e+02] [-6.87920488e-01 7.25785690e-01 7.30870026e-04 -2.44075149e+02] [ 1.05500042e-03 -7.04507900e-06 9.99999443e-01 -5.40928453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7065599949999 meters 0.050298991632300484 Centerline is valid? [True, True] Translation: X:670.91, Y:-244.12, Z:-5.41 [[ 7.24927942e-01 6.88824264e-01 -7.82247609e-04 6.70908368e+02] [-6.88823854e-01 7.24928364e-01 7.51679165e-04 -2.44116455e+02] [ 1.08484833e-03 -6.08241720e-06 9.99999412e-01 -5.40886845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.766559995 meters 0.050567053212970225 Centerline is valid? [True, True] Translation: X:670.95, Y:-244.16, Z:-5.41 [[ 7.23829245e-01 6.89978916e-01 -5.65693454e-04 6.70953926e+02] [-6.89978702e-01 7.23829466e-01 5.44041973e-04 -2.44158434e+02] [ 7.84843081e-04 -3.47705506e-06 9.99999692e-01 -5.40876553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8265599949999 meters 0.05131856645881796 Centerline is valid? [True, True] Translation: X:671.00, Y:-244.20, Z:-5.41 [[ 7.21958559e-01 6.91935316e-01 -1.16560120e-03 6.70999760e+02] [-6.91934409e-01 7.21959500e-01 1.12016275e-03 -2.44201147e+02] [ 1.61659702e-03 -2.19151018e-06 9.99998693e-01 -5.40999574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.886559995 meters 0.05082325149047033 Centerline is valid? [True, True] Translation: X:671.05, Y:-244.24, Z:-5.41 [[ 7.21034123e-01 6.92897551e-01 -1.66678385e-03 6.71045587e+02] [-6.92895700e-01 7.21036049e-01 1.60148519e-03 -2.44242519e+02] [ 2.31147640e-03 1.81893920e-07 9.99997329e-01 -5.40960341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9465599949999 meters 0.0509911164490131 Centerline is valid? [True, True] Translation: X:671.09, Y:-244.28, Z:-5.41 [[ 7.20171807e-01 6.93792933e-01 -1.98357339e-03 6.71091744e+02] [-6.93790318e-01 7.20174538e-01 1.90502919e-03 -2.44283709e+02] [ 2.75021484e-03 4.23569474e-06 9.99996218e-01 -5.41129932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.006559995 meters 0.050729742344295975 Centerline is valid? [True, True] Translation: X:671.14, Y:-244.32, Z:-5.41 [[ 7.19166427e-01 6.94833489e-01 -2.46441038e-03 6.71136584e+02] [-6.94829454e-01 7.19170650e-01 2.36791458e-03 -2.44324952e+02] [ 3.41763796e-03 9.42024567e-06 9.99994160e-01 -5.41146793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0665599949999 meters 0.0506882796936877 Centerline is valid? [True, True] Translation: X:671.18, Y:-244.37, Z:-5.41 [[ 7.18698358e-01 6.95317980e-01 -2.36174183e-03 6.71183041e+02] [-6.95314278e-01 7.18702238e-01 2.26905622e-03 -2.44367522e+02] [ 3.27510472e-03 1.13858353e-05 9.99994637e-01 -5.41282435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.126559995 meters 0.0506175927210573 Centerline is valid? [True, True] Translation: X:671.23, Y:-244.41, Z:-5.41 [[ 7.19487065e-01 6.94502973e-01 -1.99585236e-03 6.71227271e+02] [-6.94500323e-01 7.19489834e-01 1.91852696e-03 -2.44410210e+02] [ 2.76841815e-03 5.76477847e-06 9.99996168e-01 -5.41307318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1865599949999 meters 0.05096228730977384 Centerline is valid? [True, True] Translation: X:671.27, Y:-244.45, Z:-5.41 [[ 7.20932967e-01 6.93002541e-01 -1.77033048e-03 6.71271150e+02] [-6.93000450e-01 7.20935141e-01 1.70237718e-03 -2.44454788e+02] [ 2.45604517e-03 -4.60009259e-07 9.99996984e-01 -5.41160132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.246559995 meters 0.051058605121145836 Centerline is valid? [True, True] Translation: X:671.31, Y:-244.50, Z:-5.41 [[ 7.22932704e-01 6.90916225e-01 -1.75365074e-03 6.71313761e+02] [-6.90914166e-01 7.22934831e-01 1.68685084e-03 -2.44499872e+02] [ 2.43324782e-03 -7.85750109e-06 9.99997040e-01 -5.41151495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3065599949999 meters 0.05138759498936413 Centerline is valid? [True, True] Translation: X:671.36, Y:-244.54, Z:-5.41 [[ 7.23406023e-01 6.90421450e-01 -1.39569446e-03 6.71359509e+02] [-6.90420146e-01 7.23407369e-01 1.34198788e-03 -2.44541868e+02] [ 1.93619288e-03 -7.18654148e-06 9.99998126e-01 -5.40792535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.366559995 meters 0.05100297073884786 Centerline is valid? [True, True] Translation: X:671.40, Y:-244.58, Z:-5.41 [[ 7.22650702e-01 6.91212586e-01 -1.06052580e-03 6.71403829e+02] [-6.91211833e-01 7.22651480e-01 1.01993460e-03 -2.44584969e+02] [ 1.47138217e-03 -4.00846761e-06 9.99998918e-01 -5.41292470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4265599949999 meters 0.05159740878739228 Centerline is valid? [True, True] Translation: X:671.45, Y:-244.63, Z:-5.41 [[ 7.20658798e-01 6.93288469e-01 -1.41249540e-03 6.71449312e+02] [-6.93287136e-01 7.20660183e-01 1.35947083e-03 -2.44627168e+02] [ 1.96043464e-03 -4.49728442e-07 9.99998078e-01 -5.41023556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.486559995 meters 0.051109472779571036 Centerline is valid? [True, True] Translation: X:671.50, Y:-244.67, Z:-5.41 [[ 7.16514432e-01 6.97570020e-01 -1.77101218e-03 6.71495487e+02] [-6.97567937e-01 7.16516621e-01 1.70444895e-03 -2.44668070e+02] [ 2.45793215e-03 1.41390430e-05 9.99996979e-01 -5.41200241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5465599949999 meters 0.05039547745954121 Centerline is valid? [True, True] Translation: X:671.54, Y:-244.71, Z:-5.41 [[ 7.12230769e-01 7.01941584e-01 -2.31180860e-03 6.71542595e+02] [-7.01938063e-01 7.12234519e-01 2.22374916e-03 -2.44707245e+02] [ 3.20749190e-03 3.89238725e-05 9.99994855e-01 -5.41435789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.606559995 meters 0.05062029559103512 Centerline is valid? [True, True] Translation: X:671.59, Y:-244.75, Z:-5.41 [[ 7.10433989e-01 7.03759263e-01 -2.53915941e-03 6.71587521e+02] [-7.03755026e-01 7.10438524e-01 2.44269951e-03 -2.44750581e+02] [ 3.52298907e-03 5.15694412e-05 9.99993793e-01 -5.41417069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.666559995 meters 0.050508060548192076 Centerline is valid? [True, True] Translation: X:671.63, Y:-244.80, Z:-5.41 [[ 7.09062554e-01 7.05143458e-01 -1.73165720e-03 6.71629948e+02] [-7.05141488e-01 7.09064667e-01 1.66720602e-03 -2.44796704e+02] [ 2.40347635e-03 3.89099719e-05 9.99997111e-01 -5.41192520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.726559995 meters 0.0504837762635066 Centerline is valid? [True, True] Translation: X:671.67, Y:-244.84, Z:-5.41 [[ 7.09174746e-01 7.05032154e-01 -9.17042019e-04 6.71674435e+02] [-7.05031601e-01 7.09175339e-01 8.83554195e-04 -2.44839216e+02] [ 1.27327770e-03 1.99492806e-05 9.99999189e-01 -5.41243808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.786559995 meters 0.05041478728756752 Centerline is valid? [True, True] Translation: X:671.72, Y:-244.88, Z:-5.41 [[ 7.09843702e-01 7.04359155e-01 3.15800013e-04 6.71717447e+02] [-7.04359090e-01 7.09843772e-01 -3.02792087e-04 -2.44883668e+02] [-4.37443051e-04 -7.50155378e-06 9.99999904e-01 -5.41198011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8465599949999 meters 0.05026346945120822 Centerline is valid? [True, True] Translation: X:671.76, Y:-244.92, Z:-5.41 [[ 7.10119704e-01 7.04080463e-01 8.40674245e-04 6.71763072e+02] [-7.04080000e-01 7.10120202e-01 -8.08255072e-04 -2.44924675e+02] [-1.16605637e-03 -1.79440689e-05 9.99999320e-01 -5.41375807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.906559995 meters 0.050073129393955015 Centerline is valid? [True, True] Translation: X:671.80, Y:-244.97, Z:-5.41 [[ 7.09748378e-01 7.04455094e-01 5.10831586e-04 6.71804920e+02] [-7.04454923e-01 7.09748561e-01 -4.90746859e-04 -2.44970975e+02] [-7.08271108e-04 -1.15510386e-05 9.99999749e-01 -5.41295759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9665599949999 meters 0.05070268915609707 Centerline is valid? [True, True] Translation: X:671.85, Y:-245.01, Z:-5.42 [[ 7.08247198e-01 7.05964287e-01 -5.76331325e-04 6.71850152e+02] [-7.05964068e-01 7.08247432e-01 5.56173119e-04 -2.45013025e+02] [ 8.00823540e-04 1.29611536e-05 9.99999679e-01 -5.41633553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.026559995 meters 0.05031190052408141 Centerline is valid? [True, True] Translation: X:671.89, Y:-245.06, Z:-5.42 [[ 7.07030950e-01 7.07181557e-01 -1.21705940e-03 6.71892841e+02] [-7.07180586e-01 7.07031997e-01 1.17262738e-03 -2.45058045e+02] [ 1.68976040e-03 3.15969279e-05 9.99998572e-01 -5.41628871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0865599949999 meters 0.05013876621241623 Centerline is valid? [True, True] Translation: X:671.94, Y:-245.10, Z:-5.42 [[ 7.07679767e-01 7.06533291e-01 -2.35525037e-04 6.71936665e+02] [-7.06533254e-01 7.07679807e-01 2.27980289e-04 -2.45100248e+02] [ 3.27751976e-04 5.06923301e-06 9.99999946e-01 -5.41613982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.146559995 meters 0.050478080102794635 Centerline is valid? [True, True] Translation: X:671.98, Y:-245.14, Z:-5.42 [[ 7.08944392e-01 7.05264354e-01 -1.99437640e-04 6.71982582e+02] [-7.05264328e-01 7.08944420e-01 1.93321616e-04 -2.45141443e+02] [ 2.77733047e-04 3.60197764e-06 9.99999961e-01 -5.41773447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2065599949999 meters 0.0497836236448749 Centerline is valid? [True, True] Translation: X:672.02, Y:-245.19, Z:-5.42 [[ 7.11950263e-01 7.02229335e-01 8.85260831e-04 6.72022721e+02] [-7.02228817e-01 7.11950814e-01 -8.52735760e-04 -2.45188748e+02] [-1.22907823e-03 -1.45502178e-05 9.99999245e-01 -5.41587135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.266559995 meters 0.05002795475883433 Centerline is valid? [True, True] Translation: X:672.07, Y:-245.23, Z:-5.42 [[ 7.14246027e-01 6.99893435e-01 1.33905655e-03 6.72065860e+02] [-6.99892247e-01 7.14247282e-01 -1.28958472e-03 -2.45233075e+02] [-1.85898938e-03 -1.61145358e-05 9.99998272e-01 -5.41593875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3265599949999 meters 0.05019019070989513 Centerline is valid? [True, True] Translation: X:672.11, Y:-245.27, Z:-5.42 [[ 7.15434639e-01 6.98678151e-01 1.45536924e-03 6.72111027e+02] [-6.98676744e-01 7.15436120e-01 -1.40208555e-03 -2.45274184e+02] [-2.02083026e-03 -1.37320745e-05 9.99997958e-01 -5.41829261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.386559995 meters 0.049834939601916275 Centerline is valid? [True, True] Translation: X:672.16, Y:-245.32, Z:-5.42 [[ 7.16718822e-01 6.97361651e-01 9.26815437e-04 6.72155107e+02] [-6.97361079e-01 7.16719421e-01 -8.92617499e-04 -2.45317483e+02] [-1.28674384e-03 -6.56925111e-06 9.99999172e-01 -5.41857671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4465599949999 meters 0.050072421088534005 Centerline is valid? [True, True] Translation: X:672.20, Y:-245.36, Z:-5.42 [[ 7.17008927e-01 6.97063973e-01 1.31444953e-04 6.72200718e+02] [-6.97063961e-01 7.17008939e-01 -1.25555475e-04 -2.45359650e+02] [-1.81767405e-04 -1.60114264e-06 9.99999983e-01 -5.42062169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.506559995 meters 0.05031765610571355 Centerline is valid? [True, True] Translation: X:672.25, Y:-245.40, Z:-5.42 [[ 7.17001432e-01 6.97071640e-01 -2.73923264e-04 6.72246723e+02] [-6.97071589e-01 7.17001485e-01 2.65623760e-04 -2.45402218e+02] [ 3.81562177e-04 4.91508658e-07 9.99999927e-01 -5.42129695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5665599949999 meters 0.05036405226570929 Centerline is valid? [True, True] Translation: X:672.29, Y:-245.44, Z:-5.42 [[ 7.17341640e-01 6.96721519e-01 -3.09282954e-04 6.72292937e+02] [-6.96721455e-01 7.17341707e-01 2.99817023e-04 -2.45444336e+02] [ 4.30750534e-04 4.12834382e-07 9.99999907e-01 -5.42174688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.626559995 meters 0.04999181858114341 Centerline is valid? [True, True] Translation: X:672.34, Y:-245.49, Z:-5.42 [[ 7.17023904e-01 6.97048568e-01 1.20797516e-04 6.72338724e+02] [-6.97048559e-01 7.17023914e-01 -1.15240385e-04 -2.45487740e+02] [-1.66942853e-04 -1.57162371e-06 9.99999986e-01 -5.42159888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6865599949999 meters 0.05035259574344954 Centerline is valid? [True, True] Translation: X:672.39, Y:-245.53, Z:-5.42 [[ 7.15757037e-01 6.98349194e-01 5.17199889e-04 6.72385423e+02] [-6.98349016e-01 7.15757224e-01 -4.98124289e-04 -2.45528630e+02] [-7.18054253e-04 -4.65006816e-06 9.99999742e-01 -5.42298952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.746559995 meters 0.05048261713500411 Centerline is valid? [True, True] Translation: X:672.43, Y:-245.57, Z:-5.42 [[ 7.13516549e-01 7.00638204e-01 4.91917812e-04 6.72432652e+02] [-7.00638043e-01 7.13516718e-01 -4.73954356e-04 -2.45569203e+02] [-6.83062111e-04 -6.48205680e-06 9.99999767e-01 -5.42411702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8065599949999 meters 0.050828922991228084 Centerline is valid? [True, True] Translation: X:672.48, Y:-245.61, Z:-5.42 [[ 7.12263145e-01 7.01912371e-01 4.86264884e-04 6.72477454e+02] [-7.01912214e-01 7.12263311e-01 -4.68570320e-04 -2.45612213e+02] [-6.75243941e-04 -7.56989161e-06 9.99999772e-01 -5.42401708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.866559995 meters 0.050229905644216956 Centerline is valid? [True, True] Translation: X:672.52, Y:-245.65, Z:-5.42 [[ 7.10898650e-01 7.03293773e-01 9.88981599e-04 6.72522974e+02] [-7.03293125e-01 7.10899338e-01 -9.54429823e-04 -2.45654113e+02] [-1.37431092e-03 -1.70410866e-05 9.99999055e-01 -5.42463388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9265599949999 meters 0.0503271119000353 Centerline is valid? [True, True] Translation: X:672.57, Y:-245.69, Z:-5.43 [[ 7.10550903e-01 7.03644004e-01 1.59067717e-03 6.72570138e+02] [-7.03642327e-01 7.10552683e-01 -1.53639289e-03 -2.45694803e+02] [-2.21133357e-03 -2.75824336e-05 9.99997555e-01 -5.42690916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.986559995 meters 0.05036248227627786 Centerline is valid? [True, True] Translation: X:672.62, Y:-245.74, Z:-5.43 [[ 7.10296181e-01 7.03901168e-01 1.57519437e-03 6.72615565e+02] [-7.03899524e-01 7.10297927e-01 -1.52137093e-03 -2.45738075e+02] [-2.18975207e-03 -2.81546071e-05 9.99997602e-01 -5.42753532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0465599949999 meters 0.050409122586893014 Centerline is valid? [True, True] Translation: X:672.66, Y:-245.78, Z:-5.43 [[ 7.09437162e-01 7.04767028e-01 1.53253563e-03 6.72660878e+02] [-7.04765474e-01 7.09438817e-01 -1.48061263e-03 -2.45780757e+02] [-2.13072723e-03 -2.96765826e-05 9.99997730e-01 -5.42891713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.106559995 meters 0.05007442711764559 Centerline is valid? [True, True] Translation: X:672.70, Y:-245.83, Z:-5.43 [[ 7.08481497e-01 7.05728257e-01 1.26359768e-03 6.72703560e+02] [-7.05727201e-01 7.08482623e-01 -1.22123078e-03 -2.45825444e+02] [-1.75709406e-03 -2.65358441e-05 9.99998456e-01 -5.42954908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.166559995 meters 0.04956596945438018 Centerline is valid? [True, True] Translation: X:672.75, Y:-245.87, Z:-5.43 [[ 7.07970163e-01 7.06242090e-01 5.98925233e-04 6.72746902e+02] [-7.06241854e-01 7.07970416e-01 -5.78067901e-04 -2.45869844e+02] [-8.32277230e-04 -1.37312412e-05 9.99999654e-01 -5.42931258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.226559995 meters 0.05088558425959251 Centerline is valid? [True, True] Translation: X:672.80, Y:-245.91, Z:-5.44 [[ 7.07528880e-01 7.06683363e-01 -1.22820793e-03 6.72796307e+02] [-7.06682364e-01 7.07529946e-01 1.18864115e-03 -2.45905845e+02] [ 1.70898682e-03 2.69549401e-05 9.99998539e-01 -5.43752438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.286559995 meters 0.05038267086779701 Centerline is valid? [True, True] Translation: X:672.84, Y:-245.95, Z:-5.44 [[ 7.08217237e-01 7.05992924e-01 -1.52830112e-03 6.72835943e+02] [-7.05991374e-01 7.08218886e-01 1.47975979e-03 -2.45954577e+02] [ 2.12707166e-03 3.09760193e-05 9.99997737e-01 -5.43601275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3465599949999 meters 0.049995173299979406 Centerline is valid? [True, True] Translation: X:672.88, Y:-246.00, Z:-5.43 [[ 7.10125241e-01 7.04074312e-01 -1.22688740e-03 6.72875562e+02] [-7.04073310e-01 7.10126301e-01 1.18805752e-03 -2.46001654e+02] [ 1.70772579e-03 2.01490359e-05 9.99998542e-01 -5.43470239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.406559995 meters 0.050440567459280466 Centerline is valid? [True, True] Translation: X:672.92, Y:-246.05, Z:-5.43 [[ 7.11763526e-01 7.02419101e-01 -2.99919351e-04 6.72916870e+02] [-7.02419040e-01 7.11763589e-01 2.91490212e-04 -2.46047840e+02] [ 4.18219966e-04 3.19696224e-06 9.99999913e-01 -5.43316936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4665599949999 meters 0.0500359760113371 Centerline is valid? [True, True] Translation: X:672.96, Y:-246.09, Z:-5.43 [[ 7.14684789e-01 6.99446066e-01 9.22960315e-04 6.72959439e+02] [-6.99445497e-01 7.14685385e-01 -8.92715059e-04 -2.46090632e+02] [-1.28403228e-03 -7.55056212e-06 9.99999176e-01 -5.43459190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.526559995 meters 0.04989511562950103 Centerline is valid? [True, True] Translation: X:673.00, Y:-246.14, Z:-5.43 [[ 7.16208259e-01 6.97882854e-01 2.29174318e-03 6.73002240e+02] [-6.97879329e-01 7.16211926e-01 -2.21824025e-03 -2.46135783e+02] [-3.18944563e-03 -1.06382050e-05 9.99994914e-01 -5.43274960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5865599949999 meters 0.04990075526525917 Centerline is valid? [True, True] Translation: X:673.05, Y:-246.18, Z:-5.43 [[ 7.16121339e-01 6.97971280e-01 2.51391314e-03 6.73046946e+02] [-6.97967039e-01 7.16125752e-01 -2.43308014e-03 -2.46178351e+02] [-3.49849800e-03 -1.22479069e-05 9.99993880e-01 -5.43394322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.646559995 meters 0.04984572944304784 Centerline is valid? [True, True] Translation: X:673.09, Y:-246.22, Z:-5.44 [[ 7.15278938e-01 6.98836764e-01 1.79406715e-03 6.73092472e+02] [-6.98834606e-01 7.15281188e-01 -1.73659227e-03 -2.46219152e+02] [-2.49685700e-03 -1.16083372e-05 9.99996883e-01 -5.43568994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7065599949999 meters 0.04955354407224862 Centerline is valid? [True, True] Translation: X:673.14, Y:-246.26, Z:-5.44 [[ 7.14803460e-01 6.99323486e-01 1.63575583e-03 6.73138239e+02] [-6.99321693e-01 7.14805332e-01 -1.58344103e-03 -2.46262282e+02] [-2.27658449e-03 -1.20704117e-05 9.99997409e-01 -5.43614353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.766559995 meters 0.050298106134744475 Centerline is valid? [True, True] Translation: X:673.18, Y:-246.30, Z:-5.44 [[ 7.14422000e-01 6.99714172e-01 1.13315658e-03 6.73184747e+02] [-6.99713312e-01 7.14422898e-01 -1.09690319e-03 -2.46303992e+02] [-1.57707172e-03 -9.23297416e-06 9.99998756e-01 -5.43660389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8265599949999 meters 0.0504170689607549 Centerline is valid? [True, True] Translation: X:673.23, Y:-246.35, Z:-5.44 [[ 7.14732577e-01 6.99397350e-01 8.30316132e-04 6.73230677e+02] [-6.99396888e-01 7.14733060e-01 -8.04093999e-04 -2.46347335e+02] [-1.15583560e-03 -6.00834261e-06 9.99999332e-01 -5.43657748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.886559995 meters 0.05029550144458192 Centerline is valid? [True, True] Translation: X:673.28, Y:-246.39, Z:-5.44 [[ 7.17059443e-01 6.97010957e-01 1.21667924e-03 6.73275098e+02] [-6.97009961e-01 7.17060475e-01 -1.17827743e-03 -2.46389549e+02] [-1.69370488e-03 -3.14258776e-06 9.99998566e-01 -5.43791470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9465599949999 meters 0.050511305253203104 Centerline is valid? [True, True] Translation: X:673.32, Y:-246.43, Z:-5.44 [[ 7.18850782e-01 6.95162726e-01 1.52908271e-03 6.73319559e+02] [-6.95161147e-01 7.18852408e-01 -1.48187417e-03 -2.46432754e+02] [-2.12932848e-03 2.28751601e-06 9.99997733e-01 -5.43567542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.006559995 meters 0.0500348191136422 Centerline is valid? [True, True] Translation: X:673.36, Y:-246.48, Z:-5.44 [[ 7.21074993e-01 6.92854552e-01 1.85043571e-03 6.73364687e+02] [-6.92852232e-01 7.21077367e-01 -1.79303771e-03 -2.46475815e+02] [-2.57662165e-03 1.08361385e-05 9.99996680e-01 -5.43577333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0665599949999 meters 0.050744695129248264 Centerline is valid? [True, True] Translation: X:673.41, Y:-246.52, Z:-5.44 [[ 7.21959530e-01 6.91933774e-01 1.44571293e-03 6.73408174e+02] [-6.91932356e-01 7.21960977e-01 -1.40100262e-03 -2.46518195e+02] [-2.01314935e-03 1.11316362e-05 9.99997974e-01 -5.43720183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.126559995 meters 0.05053905667505402 Centerline is valid? [True, True] Translation: X:673.46, Y:-246.56, Z:-5.44 [[ 7.21967326e-01 6.91925535e-01 1.49458062e-03 6.73455917e+02] [-6.91924019e-01 7.21968873e-01 -1.44864201e-03 -2.46558325e+02] [-2.08139309e-03 1.17359656e-05 9.99997834e-01 -5.43555101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1865599949999 meters 0.05125647033966299 Centerline is valid? [True, True] Translation: X:673.50, Y:-246.60, Z:-5.44 [[ 7.21237683e-01 6.92684931e-01 1.94680829e-03 6.73501714e+02] [-6.92682359e-01 7.21240311e-01 -1.88791134e-03 -2.46599891e+02] [-2.71184435e-03 1.31130418e-05 9.99996323e-01 -5.43575181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.246559995 meters 0.050667297952260354 Centerline is valid? [True, True] Translation: X:673.55, Y:-246.64, Z:-5.44 [[ 7.19243813e-01 6.94756141e-01 1.49715872e-03 6.73548517e+02] [-6.94754623e-01 7.19245371e-01 -1.45234070e-03 -2.46641169e+02] [-2.08584710e-03 4.42912509e-06 9.99997825e-01 -5.43729131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3065599949999 meters 0.050784881331184015 Centerline is valid? [True, True] Translation: X:673.60, Y:-246.68, Z:-5.44 [[ 7.15865973e-01 6.98237378e-01 6.86747084e-04 6.73595605e+02] [-6.98237061e-01 7.15866303e-01 -6.65397766e-04 -2.46680579e+02] [-9.56224688e-04 -3.17664640e-06 9.99999543e-01 -5.43915545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.366559995 meters 0.05076917826874564 Centerline is valid? [True, True] Translation: X:673.64, Y:-246.72, Z:-5.44 [[ 7.13779492e-01 7.00370458e-01 2.42774012e-04 6.73642251e+02] [-7.00370419e-01 7.13779533e-01 -2.34572950e-04 -2.46720227e+02] [-3.37575086e-04 -2.59837548e-06 9.99999943e-01 -5.44209635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4265599949999 meters 0.05069301306768995 Centerline is valid? [True, True] Translation: X:673.69, Y:-246.76, Z:-5.44 [[ 7.11977060e-01 7.02202710e-01 -1.38511771e-04 6.73688239e+02] [-7.02202697e-01 7.11977074e-01 1.35675101e-04 -2.46762699e+02] [ 1.93888628e-04 6.65779862e-07 9.99999981e-01 -5.44089505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.486559995 meters 0.05014000903458077 Centerline is valid? [True, True] Translation: X:673.73, Y:-246.81, Z:-5.44 [[ 7.11027752e-01 7.03163626e-01 -6.71524538e-04 6.73734093e+02] [-7.03163322e-01 7.11028069e-01 6.53385239e-04 -2.46805266e+02] [ 9.36909529e-04 7.61638746e-06 9.99999561e-01 -5.44102497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5465599949999 meters 0.050091922603388454 Centerline is valid? [True, True] Translation: X:673.78, Y:-246.85, Z:-5.44 [[ 7.10826078e-01 7.03367227e-01 -9.11245589e-04 6.73780081e+02] [-7.03366669e-01 7.10826662e-01 8.86613020e-04 -2.46848818e+02] [ 1.27135220e-03 1.07121187e-05 9.99999192e-01 -5.44186710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.606559995 meters 0.049920763045290764 Centerline is valid? [True, True] Translation: X:673.83, Y:-246.89, Z:-5.44 [[ 7.11548683e-01 7.02636401e-01 -7.48099825e-04 6.73825043e+02] [-7.02636024e-01 7.11549076e-01 7.28109833e-04 -2.46892212e+02] [ 1.04390621e-03 7.55629381e-06 9.99999455e-01 -5.44220323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.666559995 meters 0.050478352232945486 Centerline is valid? [True, True] Translation: X:673.87, Y:-246.94, Z:-5.44 [[ 7.13615826e-01 7.00537247e-01 1.37834308e-04 6.73868071e+02] [-7.00537234e-01 7.13615839e-01 -1.32782539e-04 -2.46937608e+02] [-1.91379859e-04 -1.80234366e-06 9.99999982e-01 -5.44110095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.726559995 meters 0.0508077671630981 Centerline is valid? [True, True] Translation: X:673.91, Y:-246.98, Z:-5.44 [[ 7.14995009e-01 6.99129402e-01 4.65931525e-04 6.73911198e+02] [-6.99129256e-01 7.14995160e-01 -4.51747394e-04 -2.46982117e+02] [-6.48968671e-04 -2.74922918e-06 9.99999789e-01 -5.44068009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.786559995 meters 0.050934494339115795 Centerline is valid? [True, True] Translation: X:673.95, Y:-247.03, Z:-5.44 [[ 7.16699145e-01 6.97382252e-01 -5.75190006e-04 6.73953700e+02] [-6.97382027e-01 7.16699376e-01 5.60422381e-04 -2.47026679e+02] [ 8.03066940e-04 -5.27069524e-07 9.99999678e-01 -5.44071484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8465599949999 meters 0.0510507375975461 Centerline is valid? [True, True] Translation: X:674.00, Y:-247.07, Z:-5.44 [[ 7.17380153e-01 6.96679587e-01 -1.80801810e-03 6.73997390e+02] [-6.96677367e-01 7.17382432e-01 1.75854610e-03 -2.47070808e+02] [ 2.52218360e-03 -1.94078007e-06 9.99996819e-01 -5.44410507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.906559995 meters 0.050814467759316084 Centerline is valid? [True, True] Translation: X:674.04, Y:-247.12, Z:-5.44 [[ 7.18025336e-01 6.96013224e-01 -2.28234820e-03 6.74040438e+02] [-6.96009684e-01 7.18028963e-01 2.21996669e-03 -2.47115070e+02] [ 3.18391829e-03 -5.45587944e-06 9.99994931e-01 -5.44328174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9665599949999 meters 0.0507592265163026 Centerline is valid? [True, True] Translation: X:674.08, Y:-247.16, Z:-5.44 [[ 7.18047943e-01 6.95991384e-01 -1.77337507e-03 6.74084416e+02] [-6.95989244e-01 7.18050133e-01 1.72605126e-03 -2.47159380e+02] [ 2.47468901e-03 -5.13758621e-06 9.99996938e-01 -5.44051742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.026559995 meters 0.05074074311833837 Centerline is valid? [True, True] Translation: X:674.13, Y:-247.20, Z:-5.45 [[ 7.17330300e-01 6.96731256e-01 -1.67242824e-03 6.74128133e+02] [-6.96729353e-01 7.17332250e-01 1.62850490e-03 -2.47203729e+02] [ 2.33431697e-03 -2.94605870e-06 9.99997275e-01 -5.44732827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0865599949999 meters 0.05120340833215114 Centerline is valid? [True, True] Translation: X:674.17, Y:-247.25, Z:-5.44 [[ 7.16585625e-01 6.97497487e-01 -1.51588398e-03 6.74172954e+02] [-6.97495924e-01 7.16587228e-01 1.47654844e-03 -2.47247614e+02] [ 2.11615193e-03 -7.50492240e-07 9.99997761e-01 -5.44248143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.146559995 meters 0.05014703100750452 Centerline is valid? [True, True] Translation: X:674.22, Y:-247.29, Z:-5.45 [[ 7.14611424e-01 6.99520220e-01 -1.40511545e-03 6.74217225e+02] [-6.99518882e-01 7.14612806e-01 1.36797764e-03 -2.47291144e+02] [ 1.96104152e-03 5.33233996e-06 9.99998077e-01 -5.44619348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2065599949999 meters 0.04986426887330735 Centerline is valid? [True, True] Translation: X:674.26, Y:-247.34, Z:-5.45 [[ 7.12238205e-01 7.01936293e-01 -1.47644523e-03 6.74261283e+02] [-7.01934819e-01 7.12239735e-01 1.43849728e-03 -2.47335462e+02] [ 2.06131641e-03 1.18155983e-05 9.99997875e-01 -5.44552672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.266559995 meters 0.04973478322375481 Centerline is valid? [True, True] Translation: X:674.30, Y:-247.38, Z:-5.44 [[ 7.10438019e-01 7.03758687e-01 -1.23758155e-03 6.74304732e+02] [-7.03757655e-01 7.10439096e-01 1.20557365e-03 -2.47379232e+02] [ 1.72765925e-03 1.44721328e-05 9.99998507e-01 -5.44486895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3265599949999 meters 0.0501589817076428 Centerline is valid? [True, True] Translation: X:674.35, Y:-247.42, Z:-5.45 [[ 7.07808730e-01 7.06402529e-01 -1.50627681e-03 6.74350006e+02] [-7.06401006e-01 7.07810332e-01 1.46696825e-03 -2.47420178e+02] [ 2.10242837e-03 2.57025216e-05 9.99997790e-01 -5.44850065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.386559995 meters 0.05021384401933824 Centerline is valid? [True, True] Translation: X:674.39, Y:-247.47, Z:-5.45 [[ 7.06162114e-01 7.08048464e-01 -1.56230691e-03 6.74391673e+02] [-7.08046828e-01 7.06163842e-01 1.52270442e-03 -2.47466527e+02] [ 2.18139317e-03 3.09102823e-05 9.99997620e-01 -5.44642617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4465599949999 meters 0.050373623165505116 Centerline is valid? [True, True] Translation: X:674.43, Y:-247.51, Z:-5.45 [[ 7.04579017e-01 7.09623927e-01 -1.51360843e-03 6.74434510e+02] [-7.09622394e-01 7.04580642e-01 1.47549961e-03 -2.47510984e+02] [ 2.11350903e-03 3.44843663e-05 9.99997766e-01 -5.44610372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.506559995 meters 0.05004194128955988 Centerline is valid? [True, True] Translation: X:674.48, Y:-247.56, Z:-5.45 [[ 7.03712947e-01 7.10484287e-01 -4.09150956e-04 6.74477753e+02] [-7.10484174e-01 7.03713065e-01 3.99802861e-04 -2.47556128e+02] [ 5.71978524e-04 9.34882993e-06 9.99999836e-01 -5.44559432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5665599949999 meters 0.05031435436266104 Centerline is valid? [True, True] Translation: X:674.52, Y:-247.60, Z:-5.45 [[ 7.03376875e-01 7.10816832e-01 -6.34290339e-04 6.74524471e+02] [-7.10816563e-01 7.03377161e-01 6.18707370e-04 -2.47596267e+02] [ 8.85932951e-04 1.56796220e-05 9.99999607e-01 -5.44848989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.626559995 meters 0.05035467032343627 Centerline is valid? [True, True] Translation: X:674.57, Y:-247.64, Z:-5.45 [[ 7.03093440e-01 7.11094796e-01 -1.95063838e-03 6.74565802e+02] [-7.11092254e-01 7.03096144e-01 1.90228808e-03 -2.47642760e+02] [ 2.72419348e-03 4.95975770e-05 9.99996288e-01 -5.44930866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6865599949999 meters 0.0498388100844433 Centerline is valid? [True, True] Translation: X:674.61, Y:-247.69, Z:-5.45 [[ 7.02992015e-01 7.11189921e-01 -3.33507346e-03 6.74608850e+02] [-7.11182490e-01 7.02999921e-01 3.25235806e-03 -2.47687994e+02] [ 4.65760065e-03 8.54641002e-05 9.99989150e-01 -5.45054809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.746559995 meters 0.0503020077476582 Centerline is valid? [True, True] Translation: X:674.65, Y:-247.73, Z:-5.45 [[ 7.03345234e-01 7.10841306e-01 -3.18113547e-03 6.74652567e+02] [-7.10834538e-01 7.03352423e-01 3.10300831e-03 -2.47732098e+02] [ 4.44320582e-03 7.87748537e-05 9.99990126e-01 -5.45008466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8065599949999 meters 0.05024747450705962 Centerline is valid? [True, True] Translation: X:674.70, Y:-247.77, Z:-5.45 [[ 7.05138561e-01 7.09065970e-01 -2.24939459e-03 6.74696725e+02] [-7.09062578e-01 7.05142148e-01 2.19375036e-03 -2.47774567e+02] [ 3.14165666e-03 4.80635562e-05 9.99995064e-01 -5.44860658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.866559995 meters 0.05078674600135556 Centerline is valid? [True, True] Translation: X:674.74, Y:-247.81, Z:-5.45 [[ 7.08035134e-01 7.06176414e-01 -1.05915539e-03 6.74741803e+02] [-7.06175658e-01 7.08035926e-01 1.03336830e-03 -2.47814535e+02] [ 1.47966039e-03 1.62886866e-05 9.99998905e-01 -5.45114111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9265599949999 meters 0.05033027174839622 Centerline is valid? [True, True] Translation: X:674.78, Y:-247.86, Z:-5.45 [[ 7.14410190e-01 6.99725653e-01 -1.44619994e-03 6.74780213e+02] [-6.99724231e-01 7.14411654e-01 1.41077947e-03 -2.47863672e+02] [ 2.02034067e-03 4.06591028e-06 9.99997959e-01 -5.44934322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.986559995 meters 0.050605818164293014 Centerline is valid? [True, True] Translation: X:674.82, Y:-247.91, Z:-5.45 [[ 7.17245842e-01 6.96819224e-01 -1.17133884e-03 6.74823338e+02] [-6.96818285e-01 7.17246798e-01 1.14397511e-03 -2.47907949e+02] [ 1.63728288e-03 -4.30106573e-06 9.99998660e-01 -5.45026340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0465599949999 meters 0.050914141705485326 Centerline is valid? [True, True] Translation: X:674.87, Y:-247.95, Z:-5.45 [[ 7.20527889e-01 6.93424858e-01 -1.23619017e-03 6.74867338e+02] [-6.93423807e-01 7.20528949e-01 1.20736750e-03 -2.47952004e+02] [ 1.72792944e-03 -1.27382577e-05 9.99998507e-01 -5.45040565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.106559995 meters 0.05127821989142176 Centerline is valid? [True, True] Translation: X:674.91, Y:-247.99, Z:-5.45 [[ 7.23752848e-01 6.90058001e-01 -1.33060290e-03 6.74913162e+02] [-6.90056779e-01 7.23754071e-01 1.29875898e-03 -2.47993969e+02] [ 1.85924829e-03 -2.17889568e-05 9.99998271e-01 -5.44965289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.166559995 meters 0.05102161370495766 Centerline is valid? [True, True] Translation: X:674.96, Y:-248.04, Z:-5.45 [[ 7.25054091e-01 6.88689207e-01 -1.93423927e-03 6.74958712e+02] [-6.88686619e-01 7.25056671e-01 1.88803991e-03 -2.48036787e+02] [ 2.70270579e-03 -3.68463588e-05 9.99996347e-01 -5.45082897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.226559995 meters 0.05088312593264047 Centerline is valid? [True, True] Translation: X:675.00, Y:-248.08, Z:-5.45 [[ 7.24457025e-01 6.89317815e-01 -1.72297440e-03 6.75003424e+02] [-6.89315761e-01 7.24459073e-01 1.68291263e-03 -2.48078101e+02] [ 2.40828609e-03 -3.15244661e-05 9.99997100e-01 -5.45179169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.286559995 meters 0.05134115176798837 Centerline is valid? [True, True] Translation: X:675.05, Y:-248.12, Z:-5.45 [[ 7.20883037e-01 6.93054952e-01 -1.57496622e-03 6.75050833e+02] [-6.93053247e-01 7.20884757e-01 1.53754746e-03 -2.48116726e+02] [ 2.20097402e-03 -1.68564357e-05 9.99997578e-01 -5.45279685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3465599949999 meters 0.050514778348615695 Centerline is valid? [True, True] Translation: X:675.10, Y:-248.15, Z:-5.45 [[ 7.15190999e-01 6.98927438e-01 -1.50704959e-03 6.75100638e+02] [-6.98925887e-01 7.15192587e-01 1.47259869e-03 -2.48154186e+02] [ 2.10707032e-03 1.26644080e-07 9.99997780e-01 -5.45247061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.406559995 meters 0.05090512085814764 Centerline is valid? [True, True] Translation: X:675.15, Y:-248.19, Z:-5.45 [[ 7.10814432e-01 7.03377652e-01 -1.64958951e-03 6.75148468e+02] [-7.03375805e-01 7.10816346e-01 1.61214856e-03 -2.48194457e+02] [ 2.30650446e-03 1.43428823e-05 9.99997340e-01 -5.45241556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4665599949999 meters 0.050999079714049655 Centerline is valid? [True, True] Translation: X:675.20, Y:-248.23, Z:-5.45 [[ 7.05556497e-01 7.08653157e-01 -8.55740427e-04 6.75195434e+02] [-7.08652665e-01 7.05557016e-01 8.35702554e-04 -2.48231882e+02] [ 1.19599691e-03 1.67873679e-05 9.99999285e-01 -5.45235553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.526559995 meters 0.05042407584182197 Centerline is valid? [True, True] Translation: X:675.24, Y:-248.28, Z:-5.45 [[ 7.03203243e-01 7.10988835e-01 2.75177419e-04 6.75240056e+02] [-7.10988784e-01 7.03203297e-01 -2.68411067e-04 -2.48275575e+02] [-3.84342941e-04 -6.90052526e-06 9.99999926e-01 -5.44975406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5865599949999 meters 0.050408059036871004 Centerline is valid? [True, True] Translation: X:675.28, Y:-248.32, Z:-5.45 [[ 7.03215290e-01 7.10976511e-01 8.11061281e-04 6.75284948e+02] [-7.10976071e-01 7.03215757e-01 -7.91191295e-04 -2.48317715e+02] [-1.13286950e-03 -2.02673464e-05 9.99999358e-01 -5.44988014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.646559995 meters 0.05106404994689307 Centerline is valid? [True, True] Translation: X:675.33, Y:-248.36, Z:-5.45 [[ 7.03829049e-01 7.10369075e-01 6.68034440e-04 6.75333191e+02] [-7.10368777e-01 7.03829366e-01 -6.51555881e-04 -2.48356482e+02] [-9.33027406e-04 -1.59668515e-05 9.99999565e-01 -5.45278197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7065599949999 meters 0.050170254302113367 Centerline is valid? [True, True] Translation: X:675.37, Y:-248.40, Z:-5.45 [[ 7.03543176e-01 7.10652446e-01 3.17978476e-04 6.75374499e+02] [-7.10652378e-01 7.03543248e-01 -3.09567429e-04 -2.48403493e+02] [-4.43706460e-04 -8.17810820e-06 9.99999902e-01 -5.45130641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.766559995 meters 0.0506574976616735 Centerline is valid? [True, True] Translation: X:675.42, Y:-248.45, Z:-5.45 [[ 7.02942134e-01 7.11246500e-01 -8.79135540e-04 6.75416434e+02] [-7.11245980e-01 7.02942683e-01 8.60472725e-04 -2.48448646e+02] [ 1.22999011e-03 2.04190857e-05 9.99999243e-01 -5.45057750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8265599949999 meters 0.05087711716817865 Centerline is valid? [True, True] Translation: X:675.46, Y:-248.49, Z:-5.46 [[ 7.03440155e-01 7.10748644e-01 -2.88314999e-03 6.75463861e+02] [-7.10743057e-01 7.03446061e-01 2.81896025e-03 -2.48488578e+02] [ 4.03171268e-03 6.62089991e-05 9.99991870e-01 -5.45507975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.886559995 meters 0.050587777654850154 Centerline is valid? [True, True] Translation: X:675.51, Y:-248.53, Z:-5.46 [[ 7.04658126e-01 7.09539448e-01 -3.27068812e-03 6.75507201e+02] [-7.09532238e-01 7.04665714e-01 3.19927487e-03 -2.48533369e+02] [ 4.57475351e-03 6.62636264e-05 9.99989534e-01 -5.45647351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9465599949999 meters 0.051354695865107214 Centerline is valid? [True, True] Translation: X:675.55, Y:-248.58, Z:-5.46 [[ 7.08629977e-01 7.05576450e-01 -2.33004776e-03 6.75547090e+02] [-7.05572771e-01 7.08633807e-01 2.27880283e-03 -2.48580945e+02] [ 3.25902022e-03 2.91902568e-05 9.99994689e-01 -5.45525584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.006559995 meters 0.050973028203311746 Centerline is valid? [True, True] Translation: X:675.59, Y:-248.63, Z:-5.45 [[ 7.10055499e-01 7.04143176e-01 -1.89130464e-03 6.75588636e+02] [-7.04140743e-01 7.10058017e-01 1.85095056e-03 -2.48625713e+02] [ 2.64627023e-03 1.74670330e-05 9.99996498e-01 -5.45355850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0665599949999 meters 0.050731711670249834 Centerline is valid? [True, True] Translation: X:675.63, Y:-248.67, Z:-5.45 [[ 7.14350794e-01 6.99787518e-01 -6.10043822e-04 6.75629784e+02] [-6.99787264e-01 7.14351055e-01 5.97090357e-04 -2.48671416e+02] [ 8.53621827e-04 3.68926206e-07 9.99999636e-01 -5.45499264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.126559995 meters 0.05030543981633084 Centerline is valid? [True, True] Translation: X:675.67, Y:-248.72, Z:-5.45 [[ 7.16440348e-01 6.97648232e-01 -4.13719292e-04 6.75672464e+02] [-6.97648114e-01 7.16440468e-01 4.06191882e-04 -2.48717163e+02] [ 5.79784291e-04 -2.38176965e-06 9.99999832e-01 -5.45410417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1865599949999 meters 0.051355462150511226 Centerline is valid? [True, True] Translation: X:675.71, Y:-248.76, Z:-5.45 [[ 7.18508852e-01 6.95517807e-01 9.86323824e-05 6.75714288e+02] [-6.95517800e-01 7.18508859e-01 -9.60680337e-05 -2.48762832e+02] [-1.37685269e-04 4.25155039e-07 9.99999991e-01 -5.45432184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.246559995 meters 0.05073803206403314 Centerline is valid? [True, True] Translation: X:675.76, Y:-248.81, Z:-5.46 [[ 7.18673911e-01 6.95347251e-01 9.54251935e-05 6.75757564e+02] [-6.95347245e-01 7.18673918e-01 -9.20655088e-05 -2.48807060e+02] [-1.32597096e-04 -1.88566106e-07 9.99999991e-01 -5.45643213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3065599949999 meters 0.05109762614101497 Centerline is valid? [True, True] Translation: X:675.80, Y:-248.85, Z:-5.46 [[ 7.17547923e-01 6.96509133e-01 -7.97767249e-05 6.75802110e+02] [-6.96509128e-01 7.17547927e-01 7.92955452e-05 -2.48850262e+02] [ 1.12473695e-04 -1.33313665e-06 9.99999994e-01 -5.45705364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.366559995 meters 0.050729838209389325 Centerline is valid? [True, True] Translation: X:675.85, Y:-248.89, Z:-5.46 [[ 7.15469436e-01 6.98644030e-01 -7.15396100e-05 6.75847726e+02] [-6.98644026e-01 7.15469440e-01 7.12753805e-05 -2.48892884e+02] [ 1.00980524e-04 -1.01463514e-06 9.99999995e-01 -5.45655065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4265599949999 meters 0.0507883601031216 Centerline is valid? [True, True] Translation: X:675.89, Y:-248.94, Z:-5.46 [[ 7.14351948e-01 6.99786234e-01 -7.22127239e-04 6.75892035e+02] [-6.99785875e-01 7.14352313e-01 7.08388577e-04 -2.48935503e+02] [ 1.01157384e-03 -7.04318252e-07 9.99999488e-01 -5.45836439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.486559995 meters 0.050279943384487324 Centerline is valid? [True, True] Translation: X:675.94, Y:-248.98, Z:-5.46 [[ 7.14318445e-01 6.99820420e-01 -7.34445338e-04 6.75937274e+02] [-6.99820049e-01 7.14318822e-01 7.20909418e-04 -2.48979935e+02] [ 1.02913526e-03 -9.79321526e-07 9.99999470e-01 -5.45782517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5465599949999 meters 0.0503406117830994 Centerline is valid? [True, True] Translation: X:675.98, Y:-249.02, Z:-5.46 [[ 7.15119962e-01 6.99001655e-01 3.55913296e-04 6.75979895e+02] [-6.99001568e-01 7.15120051e-01 -3.47648066e-04 -2.49023409e+02] [-4.97527308e-04 -1.73880082e-07 9.99999876e-01 -5.45790769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.606559995 meters 0.05117064056958715 Centerline is valid? [True, True] Translation: X:676.02, Y:-249.07, Z:-5.46 [[ 7.15842994e-01 6.98259959e-01 1.35550212e-03 6.76023871e+02] [-6.98258697e-01 7.15844277e-01 -1.32777915e-03 -2.49067032e+02] [-1.89746345e-03 3.99025864e-06 9.99998200e-01 -5.45724001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.666559995 meters 0.05033557306168518 Centerline is valid? [True, True] Translation: X:676.07, Y:-249.11, Z:-5.46 [[ 7.15705550e-01 6.98400432e-01 1.54983760e-03 6.76069863e+02] [-6.98398782e-01 7.15707228e-01 -1.51790746e-03 -2.49110213e+02] [-2.16933720e-03 3.97010786e-06 9.99997647e-01 -5.45789681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.726559995 meters 0.05082857845015138 Centerline is valid? [True, True] Translation: X:676.12, Y:-249.15, Z:-5.46 [[ 7.14152547e-01 6.99989501e-01 9.15444736e-04 6.76115966e+02] [-6.99988927e-01 7.14153134e-01 -8.96348594e-04 -2.49151080e+02] [-1.28120233e-03 -6.71547515e-07 9.99999179e-01 -5.45780116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.786559995 meters 0.050779964499905 Centerline is valid? [True, True] Translation: X:676.16, Y:-249.19, Z:-5.46 [[ 7.12033787e-01 7.02145174e-01 -2.04087858e-04 6.76162941e+02] [-7.02145145e-01 7.12033816e-01 2.01149027e-04 -2.49192038e+02] [ 2.86553274e-04 7.43955722e-08 9.99999959e-01 -5.45936797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8465599949999 meters 0.05139454657948926 Centerline is valid? [True, True] Translation: X:676.21, Y:-249.23, Z:-5.46 [[ 7.10533752e-01 7.03662569e-01 -8.81217927e-04 6.76208835e+02] [-7.03662037e-01 7.10534298e-01 8.64966056e-04 -2.49233782e+02] [ 1.23477980e-03 5.49202462e-06 9.99999238e-01 -5.46076369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.906559995 meters 0.05061839438120214 Centerline is valid? [True, True] Translation: X:676.26, Y:-249.27, Z:-5.46 [[ 7.07990021e-01 7.06220605e-01 -1.60864658e-03 6.76255838e+02] [-7.06218841e-01 7.07991848e-01 1.57860999e-03 -2.49273141e+02] [ 2.25375557e-03 1.84164082e-05 9.99997460e-01 -5.46311749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9665599949999 meters 0.0515344795722807 Centerline is valid? [True, True] Translation: X:676.30, Y:-249.31, Z:-5.46 [[ 7.06239573e-01 7.07969559e-01 -2.18379071e-03 6.76301359e+02] [-7.07966314e-01 7.06242949e-01 2.14373661e-03 -2.49314929e+02] [ 3.05998705e-03 3.20586289e-05 9.99995318e-01 -5.46335824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.026559995 meters 0.051157343511080755 Centerline is valid? [True, True] Translation: X:676.35, Y:-249.36, Z:-5.46 [[ 7.04853314e-01 7.09347321e-01 -2.86052619e-03 6.76346847e+02] [-7.09341764e-01 7.04859117e-01 2.80844222e-03 -2.49356941e+02] [ 4.00842893e-03 4.95508819e-05 9.99991965e-01 -5.46494769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0865599949999 meters 0.05044587810114211 Centerline is valid? [True, True] Translation: X:676.39, Y:-249.40, Z:-5.46 [[ 7.05686748e-01 7.08520541e-01 -2.20374170e-03 6.76388999e+02] [-7.08517238e-01 7.05690188e-01 2.16365535e-03 -2.49401239e+02] [ 3.08815316e-03 3.45260732e-05 9.99995231e-01 -5.46382488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.146559995 meters 0.05105407069748495 Centerline is valid? [True, True] Translation: X:676.43, Y:-249.45, Z:-5.46 [[ 7.06860986e-01 7.07352186e-01 -6.57320917e-04 6.76432075e+02] [-7.07351891e-01 7.06861291e-01 6.45996130e-04 -2.49446760e+02] [ 9.21581486e-04 8.32773266e-06 9.99999575e-01 -5.46240350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2065599949999 meters 0.05077548258665702 Centerline is valid? [True, True] Translation: X:676.47, Y:-249.49, Z:-5.46 [[ 7.06958463e-01 7.07254932e-01 -4.37973031e-04 6.76473126e+02] [-7.07254801e-01 7.06958599e-01 4.31113315e-04 -2.49492110e+02] [ 6.14535819e-04 4.97932154e-06 9.99999811e-01 -5.46040331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.266559995 meters 0.05068874389455046 Centerline is valid? [True, True] Translation: X:676.52, Y:-249.54, Z:-5.46 [[ 7.07401676e-01 7.06811609e-01 -4.67807337e-04 6.76517943e+02] [-7.06811459e-01 7.07401831e-01 4.59771366e-04 -2.49535506e+02] [ 6.55899505e-04 5.40855158e-06 9.99999785e-01 -5.46347192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3265599949999 meters 0.050662618067669946 Centerline is valid? [True, True] Translation: X:676.56, Y:-249.58, Z:-5.46 [[ 7.07801557e-01 7.06410584e-01 -1.02093478e-03 6.76561671e+02] [-7.06409871e-01 7.07802293e-01 1.00409375e-03 -2.49581297e+02] [ 1.43192243e-03 1.04992895e-05 9.99998975e-01 -5.46469820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.386559995 meters 0.051139722509655115 Centerline is valid? [True, True] Translation: X:676.61, Y:-249.63, Z:-5.47 [[ 7.07868932e-01 7.06343164e-01 -9.54138539e-04 6.76605494e+02] [-7.06342541e-01 7.07869574e-01 9.38134784e-04 -2.49625608e+02] [ 1.33805073e-03 9.87217274e-06 9.99999105e-01 -5.46578728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4465599949999 meters 0.050531311248900965 Centerline is valid? [True, True] Translation: X:676.65, Y:-249.67, Z:-5.47 [[ 7.07377490e-01 7.06835176e-01 -1.05884562e-03 6.76647914e+02] [-7.06834409e-01 7.07378282e-01 1.04156706e-03 -2.49670927e+02] [ 1.48522064e-03 1.16474243e-05 9.99998897e-01 -5.46569872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.506559995 meters 0.050815267899358016 Centerline is valid? [True, True] Translation: X:676.69, Y:-249.72, Z:-5.47 [[ 7.05921275e-01 7.08289466e-01 -1.08855427e-03 6.76690547e+02] [-7.08288657e-01 7.05922115e-01 1.07103288e-03 -2.49715762e+02] [ 1.52703584e-03 1.49457464e-05 9.99998834e-01 -5.46608701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5665599949999 meters 0.0503605828762379 Centerline is valid? [True, True] Translation: X:676.74, Y:-249.76, Z:-5.47 [[ 7.04322207e-01 7.09878858e-01 -1.49518341e-03 6.76735412e+02] [-7.09877335e-01 7.04323793e-01 1.47088206e-03 -2.49757356e+02] [ 2.09724133e-03 2.54219148e-05 9.99997800e-01 -5.46941783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.626559995 meters 0.05052720910957964 Centerline is valid? [True, True] Translation: X:676.78, Y:-249.80, Z:-5.47 [[ 7.01796924e-01 7.12374770e-01 -1.80702324e-03 6.76778580e+02] [-7.12372556e-01 7.01799249e-01 1.77632261e-03 -2.49798565e+02] [ 2.53357496e-03 4.06560152e-05 9.99996790e-01 -5.47110106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6865599949999 meters 0.05007642375799815 Centerline is valid? [True, True] Translation: X:676.82, Y:-249.85, Z:-5.47 [[ 7.00573814e-01 7.13577857e-01 -1.72440262e-03 6.76819263e+02] [-7.13575842e-01 7.00575935e-01 1.69654768e-03 -2.49845113e+02] [ 2.41869383e-03 4.19351681e-05 9.99997074e-01 -5.46917039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.746559995 meters 0.050240335742067516 Centerline is valid? [True, True] Translation: X:676.86, Y:-249.89, Z:-5.47 [[ 6.99556190e-01 7.14576939e-01 -9.67553747e-04 6.76860551e+02] [-7.14576304e-01 6.99556858e-01 9.52688502e-04 -2.49891341e+02] [ 1.35762809e-03 2.49318420e-05 9.99999078e-01 -5.46842042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8065599949999 meters 0.049688103744814936 Centerline is valid? [True, True] Translation: X:676.91, Y:-249.93, Z:-5.47 [[ 6.99964779e-01 7.14176545e-01 -1.08240970e-03 6.76905810e+02] [-7.14175750e-01 6.99965615e-01 1.06576540e-03 -2.49932443e+02] [ 1.51879422e-03 2.70325187e-05 9.99998846e-01 -5.47094825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.866559995 meters 0.050041850892332554 Centerline is valid? [True, True] Translation: X:676.95, Y:-249.98, Z:-5.47 [[ 7.00733771e-01 7.13422161e-01 -1.00127107e-03 6.76946195e+02] [-7.13421480e-01 7.00734486e-01 9.86263881e-04 -2.49979900e+02] [ 1.40524768e-03 2.32198810e-05 9.99999012e-01 -5.46924446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9265599949999 meters 0.05005696197824114 Centerline is valid? [True, True] Translation: X:676.99, Y:-250.02, Z:-5.47 [[ 7.01624900e-01 7.12546027e-01 -8.11797353e-04 6.76990510e+02] [-7.12545579e-01 7.01625369e-01 7.99175065e-04 -2.50022900e+02] [ 1.13902663e-03 1.77214901e-05 9.99999351e-01 -5.46997259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.986559995 meters 0.05030673480188112 Centerline is valid? [True, True] Translation: X:677.04, Y:-250.07, Z:-5.47 [[ 7.01608647e-01 7.12562298e-01 -5.27910631e-04 6.77035222e+02] [-7.12562107e-01 7.01608845e-01 5.20744983e-04 -2.50065990e+02] [ 7.41450010e-04 1.08099288e-05 9.99999725e-01 -5.46925036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0465599949999 meters 0.05008182414544126 Centerline is valid? [True, True] Translation: X:677.08, Y:-250.11, Z:-5.47 [[ 7.00793239e-01 7.13364442e-01 9.58711902e-05 6.77080973e+02] [-7.13364436e-01 7.00793245e-01 -9.32767873e-05 -2.50107124e+02] [-1.33726226e-04 -3.02335574e-06 9.99999991e-01 -5.47010552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.106559995 meters 0.05039967146506294 Centerline is valid? [True, True] Translation: X:677.13, Y:-250.15, Z:-5.47 [[ 6.99489108e-01 7.14643172e-01 -3.52333930e-04 6.77126671e+02] [-7.14643088e-01 6.99489197e-01 3.47183479e-04 -2.50149751e+02] [ 4.94566080e-04 8.94194590e-06 9.99999878e-01 -5.47149842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.166559995 meters 0.05012367897420841 Centerline is valid? [True, True] Translation: X:677.17, Y:-250.19, Z:-5.47 [[ 6.99039375e-01 7.15080718e-01 -1.87596600e-03 6.77170625e+02] [-7.15078330e-01 6.99041891e-01 1.84833704e-03 -2.50193472e+02] [ 2.63308900e-03 4.94022666e-05 9.99996532e-01 -5.47327995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.226559995 meters 0.04999032419200374 Centerline is valid? [True, True] Translation: X:677.21, Y:-250.24, Z:-5.47 [[ 7.00469730e-01 7.13679367e-01 -1.97947812e-03 6.77213621e+02] [-7.13676705e-01 7.00472526e-01 1.94968557e-03 -2.50239044e+02] [ 2.77802040e-03 4.70116998e-05 9.99996140e-01 -5.47257615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.286559995 meters 0.05043896688438509 Centerline is valid? [True, True] Translation: X:677.26, Y:-250.28, Z:-5.47 [[ 7.02391236e-01 7.11789396e-01 -1.55127860e-03 6.77257221e+02] [-7.11787755e-01 7.02392949e-01 1.52876997e-03 -2.50280731e+02] [ 2.17776940e-03 3.03864838e-05 9.99997628e-01 -5.47338704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3465599949999 meters 0.050451629820765585 Centerline is valid? [True, True] Translation: X:677.30, Y:-250.33, Z:-5.47 [[ 7.06473579e-01 7.07739141e-01 -6.25461881e-04 6.77298897e+02] [-7.07738872e-01 7.06473856e-01 6.17038367e-04 -2.50325915e+02] [ 8.78574670e-04 6.74238279e-06 9.99999614e-01 -5.47258262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.406559995 meters 0.050257307274135576 Centerline is valid? [True, True] Translation: X:677.34, Y:-250.37, Z:-5.47 [[ 7.10946775e-01 7.03245766e-01 -2.74450268e-04 6.77340567e+02] [-7.03245714e-01 7.10946828e-01 2.71605128e-04 -2.50370691e+02] [ 3.86124704e-04 -9.08148111e-08 9.99999925e-01 -5.47365594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4665599949999 meters 0.05124864817298357 Centerline is valid? [True, True] Translation: X:677.39, Y:-250.41, Z:-5.47 [[ 7.12429945e-01 7.01743194e-01 2.49463530e-04 6.77385005e+02] [-7.01743152e-01 7.12429989e-01 -2.44656736e-04 -2.50414778e+02] [-3.49411500e-04 -7.58539086e-07 9.99999939e-01 -5.47265587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.526559995 meters 0.05060340066211897 Centerline is valid? [True, True] Translation: X:677.43, Y:-250.46, Z:-5.47 [[ 7.12499753e-01 7.01671931e-01 -7.76782626e-04 6.77430573e+02] [-7.01671512e-01 7.12500176e-01 7.66934579e-04 -2.50456710e+02] [ 1.09159422e-03 -1.39445847e-06 9.99999404e-01 -5.47384513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5865599949999 meters 0.05040245500501868 Centerline is valid? [True, True] Translation: X:677.48, Y:-250.50, Z:-5.47 [[ 7.11723936e-01 7.02458692e-01 -9.08608476e-04 6.77476736e+02] [-7.02458119e-01 7.11724516e-01 8.97285347e-04 -2.50499487e+02] [ 1.27698482e-03 -3.60057877e-07 9.99999185e-01 -5.47410330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.646559995 meters 0.05055798294141869 Centerline is valid? [True, True] Translation: X:677.52, Y:-250.54, Z:-5.47 [[ 7.11149547e-01 7.03040186e-01 -9.04100350e-04 6.77522262e+02] [-7.03039620e-01 7.11150122e-01 8.92464220e-04 -2.50541882e+02] [ 1.27038929e-03 9.42840073e-07 9.99999193e-01 -5.47496710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7065599949999 meters 0.051003565009216656 Centerline is valid? [True, True] Translation: X:677.57, Y:-250.58, Z:-5.48 [[ 7.10067298e-01 7.04132730e-01 -1.23719855e-03 6.77568251e+02] [-7.04131671e-01 7.10068376e-01 1.22145113e-03 -2.50581705e+02] [ 1.73855929e-03 3.83817918e-06 9.99998489e-01 -5.47658778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.766559995 meters 0.0509074426357536 Centerline is valid? [True, True] Translation: X:677.61, Y:-250.63, Z:-5.47 [[ 7.08960385e-01 7.05247177e-01 -1.26204556e-03 6.77614123e+02] [-7.05246075e-01 7.08961508e-01 1.24659636e-03 -2.50625467e+02] [ 1.77390029e-03 6.26524602e-06 9.99998427e-01 -5.47456355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8265599949999 meters 0.05127997266077692 Centerline is valid? [True, True] Translation: X:677.66, Y:-250.67, Z:-5.48 [[ 7.09343381e-01 7.04862075e-01 -1.19276285e-03 6.77660062e+02] [-7.04861090e-01 7.09344384e-01 1.17855080e-03 -2.50669188e+02] [ 1.67679539e-03 4.73490947e-06 9.99998594e-01 -5.47541573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.886559995 meters 0.05161675222959444 Centerline is valid? [True, True] Translation: X:677.71, Y:-250.71, Z:-5.48 [[ 7.09627236e-01 7.04575794e-01 -1.46145807e-03 6.77705044e+02] [-7.04574315e-01 7.09628741e-01 1.44400195e-03 -2.50712034e+02] [ 2.05450147e-03 5.00270816e-06 9.99997889e-01 -5.47778120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9465599949999 meters 0.051246230141535135 Centerline is valid? [True, True] Translation: X:677.75, Y:-250.76, Z:-5.47 [[ 7.10001431e-01 7.04199231e-01 -1.18758997e-03 6.77748125e+02] [-7.04198253e-01 7.10002424e-01 1.17387146e-03 -2.50756966e+02] [ 1.66983114e-03 2.84836948e-06 9.99998606e-01 -5.47461117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.006559995 meters 0.051040580532780315 Centerline is valid? [True, True] Translation: X:677.79, Y:-250.80, Z:-5.47 [[ 7.09692360e-01 7.04510186e-01 -1.46695632e-03 6.77792576e+02] [-7.04508694e-01 7.09693876e-01 1.45017922e-03 -2.50799876e+02] [ 2.06275595e-03 4.30237132e-06 9.99997873e-01 -5.47465428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0665599949999 meters 0.05106264616063275 Centerline is valid? [True, True] Translation: X:677.84, Y:-250.84, Z:-5.47 [[ 7.08997462e-01 7.05210113e-01 -1.13838836e-03 6.77838925e+02] [-7.05209214e-01 7.08998376e-01 1.12603449e-03 -2.50842955e+02] [ 1.60120641e-03 4.44636536e-06 9.99998718e-01 -5.47437280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.126559995 meters 0.050873212558745974 Centerline is valid? [True, True] Translation: X:677.88, Y:-250.88, Z:-5.47 [[ 7.07210303e-01 7.07002649e-01 -9.17625276e-04 6.77884059e+02] [-7.07002066e-01 7.07210898e-01 9.07860879e-04 -2.50883930e+02] [ 1.29081464e-03 6.71439868e-06 9.99999167e-01 -5.47481034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1865599949999 meters 0.05115269840568571 Centerline is valid? [True, True] Translation: X:677.93, Y:-250.93, Z:-5.47 [[ 7.05413101e-01 7.08795951e-01 -8.10727745e-04 6.77929188e+02] [-7.08795497e-01 7.05413567e-01 8.01851079e-04 -2.50925980e+02] [ 1.14024715e-03 9.00391872e-06 9.99999350e-01 -5.47423618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.246559995 meters 0.051492117255848645 Centerline is valid? [True, True] Translation: X:677.98, Y:-250.97, Z:-5.47 [[ 7.02654938e-01 7.11529344e-01 -1.42546290e-03 6.77975077e+02] [-7.11527949e-01 7.02656383e-01 1.40916927e-03 -2.50967966e+02] [ 2.00427589e-03 2.40969469e-05 9.99997991e-01 -5.47395424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3065599949999 meters 0.050984557542558526 Centerline is valid? [True, True] Translation: X:678.02, Y:-251.01, Z:-5.47 [[ 7.00420456e-01 7.13723199e-01 -3.22184678e-03 6.78019152e+02] [-7.13716096e-01 7.00427863e-01 3.18475181e-03 -2.51011488e+02] [ 4.52970250e-03 6.88185897e-05 9.99989738e-01 -5.47432880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.366559995 meters 0.05105669009645104 Centerline is valid? [True, True] Translation: X:678.06, Y:-251.05, Z:-5.48 [[ 6.99530346e-01 7.14584431e-01 -5.13668058e-03 6.78063840e+02] [-7.14566389e-01 6.99549195e-01 5.07924814e-03 -2.51053112e+02] [ 7.22291241e-03 1.17411087e-04 9.99973908e-01 -5.47823095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4265599949999 meters 0.05138675535314844 Centerline is valid? [True, True] Translation: X:678.11, Y:-251.10, Z:-5.48 [[ 7.00112779e-01 7.14013493e-01 -5.17969244e-03 6.78107267e+02] [-7.13995134e-01 7.00131930e-01 5.12147476e-03 -2.51098364e+02] [ 7.28327015e-03 1.12665271e-04 9.99973470e-01 -5.47833506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.486559995 meters 0.05108268124386226 Centerline is valid? [True, True] Translation: X:678.15, Y:-251.15, Z:-5.48 [[ 7.02271355e-01 7.11902251e-01 -3.18250675e-03 6.78147943e+02] [-7.11895297e-01 7.02278564e-01 3.14714045e-03 -2.51145054e+02] [ 4.47546264e-03 5.54650044e-05 9.99989984e-01 -5.47630815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5465599949999 meters 0.05071363786994841 Centerline is valid? [True, True] Translation: X:678.19, Y:-251.19, Z:-5.48 [[ 7.04434316e-01 7.09768563e-01 -9.38708408e-04 6.78189175e+02] [-7.09767956e-01 7.04434941e-01 9.28628632e-04 -2.51189627e+02] [ 1.32037041e-03 1.21072727e-05 9.99999128e-01 -5.47587283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.606559995 meters 0.05075674979569429 Centerline is valid? [True, True] Translation: X:678.23, Y:-251.24, Z:-5.48 [[ 7.04658353e-01 7.09546147e-01 -9.32881497e-04 6.78231676e+02] [-7.09545546e-01 7.04658971e-01 9.23879626e-04 -2.51235604e+02] [ 1.31289854e-03 1.09024156e-05 9.99999138e-01 -5.47525881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.666559995 meters 0.05105936476323925 Centerline is valid? [True, True] Translation: X:678.28, Y:-251.28, Z:-5.48 [[ 7.02875865e-01 7.11310051e-01 -1.87883340e-03 6.78276467e+02] [-7.11307623e-01 7.02878376e-01 1.85875381e-03 -2.51278939e+02] [ 2.64274164e-03 2.99553303e-05 9.99996508e-01 -5.47802400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.726559995 meters 0.05061320765181181 Centerline is valid? [True, True] Translation: X:678.32, Y:-251.32, Z:-5.48 [[ 6.99029530e-01 7.15089119e-01 -2.29511921e-03 6.78320010e+02] [-7.15085517e-01 6.99033296e-01 2.27057577e-03 -2.51323027e+02] [ 3.22802877e-03 5.40069929e-05 9.99994788e-01 -5.47779519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.786559995 meters 0.051044911471851535 Centerline is valid? [True, True] Translation: X:678.36, Y:-251.37, Z:-5.48 [[ 6.97642034e-01 7.16441179e-01 -2.76229291e-03 6.78364048e+02] [-7.16435965e-01 6.97647499e-01 2.73409797e-03 -2.51366018e+02] [ 3.88592711e-03 7.15843185e-05 9.99992447e-01 -5.47854607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8465599949999 meters 0.05064369159327864 Centerline is valid? [True, True] Translation: X:678.41, Y:-251.41, Z:-5.48 [[ 6.93912972e-01 7.20044809e-01 -4.50118143e-03 6.78409397e+02] [-7.20031044e-01 6.93927554e-01 4.45484209e-03 -2.51406785e+02] [ 6.33117975e-03 1.49717649e-04 9.99979947e-01 -5.48128816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.906559995 meters 0.051188311101080713 Centerline is valid? [True, True] Translation: X:678.45, Y:-251.45, Z:-5.48 [[ 6.92902978e-01 7.21014070e-01 -4.91683018e-03 6.78454193e+02] [-7.20997660e-01 6.92920401e-01 4.86742908e-03 -2.51448015e+02] [ 6.91645679e-03 1.72366952e-04 9.99976066e-01 -5.48374534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9665599949999 meters 0.05118873791862587 Centerline is valid? [True, True] Translation: X:678.49, Y:-251.50, Z:-5.48 [[ 6.94450315e-01 7.19533484e-01 -3.21314939e-03 6.78492047e+02] [-7.19526458e-01 6.94457741e-01 3.18160261e-03 -2.51496953e+02] [ 4.52066608e-03 1.02481067e-04 9.99989776e-01 -5.47984770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.026559995 meters 0.05132864728955254 Centerline is valid? [True, True] Translation: X:678.54, Y:-251.54, Z:-5.48 [[ 6.98782903e-01 7.15333659e-01 -4.58769990e-04 6.78535114e+02] [-7.15333514e-01 6.98783054e-01 4.55238794e-04 -2.51539081e+02] [ 6.46228327e-04 1.00604634e-05 9.99999791e-01 -5.47980117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0865599949999 meters 0.05058889000892313 Centerline is valid? [True, True] Translation: X:678.58, Y:-251.59, Z:-5.48 [[ 7.01566041e-01 7.12604125e-01 6.72193254e-04 6.78575133e+02] [-7.12603815e-01 7.01566363e-01 -6.65154089e-04 -2.51585489e+02] [-9.45579724e-04 -1.23579559e-05 9.99999553e-01 -5.47845876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.146559995 meters 0.05055398720672977 Centerline is valid? [True, True] Translation: X:678.62, Y:-251.63, Z:-5.48 [[ 7.02837209e-01 7.11350521e-01 5.42018048e-04 6.78618067e+02] [-7.11350319e-01 7.02837418e-01 -5.36123215e-04 -2.51630798e+02] [-7.62322094e-04 -8.75736766e-06 9.99999709e-01 -5.47968029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2065599949999 meters 0.05106777087867318 Centerline is valid? [True, True] Translation: X:678.66, Y:-251.67, Z:-5.48 [[ 7.00487781e-01 7.13664008e-01 -7.43483323e-04 6.78663852e+02] [-7.13663628e-01 7.00488175e-01 7.36909715e-04 -2.51672171e+02] [ 1.04670722e-03 1.44007548e-05 9.99999452e-01 -5.48154567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.266559995 meters 0.05051618385683519 Centerline is valid? [True, True] Translation: X:678.71, Y:-251.71, Z:-5.48 [[ 6.98375686e-01 7.15727205e-01 -2.44298969e-03 6.78709898e+02] [-7.15723113e-01 6.98379957e-01 2.42109910e-03 -2.51713096e+02] [ 3.43898153e-03 5.76674394e-05 9.99994085e-01 -5.48341272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3265599949999 meters 0.051193199452040525 Centerline is valid? [True, True] Translation: X:678.75, Y:-251.76, Z:-5.48 [[ 6.97103762e-01 7.16963946e-01 -3.00733409e-03 6.78754950e+02] [-7.16957758e-01 6.97110245e-01 2.97999511e-03 -2.51755326e+02] [ 4.23299246e-03 7.87657012e-05 9.99991038e-01 -5.48450783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.386559995 meters 0.050618950775858346 Centerline is valid? [True, True] Translation: X:678.80, Y:-251.80, Z:-5.49 [[ 6.96827863e-01 7.17232722e-01 -2.85519294e-03 6.78800718e+02] [-7.17227140e-01 6.96833708e-01 2.83062567e-03 -2.51797470e+02] [ 4.01981204e-03 7.53630366e-05 9.99991918e-01 -5.48563269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4465599949999 meters 0.050650974516049725 Centerline is valid? [True, True] Translation: X:678.84, Y:-251.84, Z:-5.48 [[ 6.97877128e-01 7.16216384e-01 -1.26701293e-03 6.78841693e+02] [-7.16215282e-01 6.97878278e-01 1.25666707e-03 -2.51843458e+02] [ 1.78426635e-03 3.04548151e-05 9.99998408e-01 -5.48374263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.506559995 meters 0.05009157120942641 Centerline is valid? [True, True] Translation: X:678.88, Y:-251.89, Z:-5.48 [[ 6.99942588e-01 7.14198589e-01 8.65889816e-04 6.78883231e+02] [-7.14198074e-01 6.99943123e-01 -8.57994729e-04 -2.51889108e+02] [-1.21885225e-03 -1.78697876e-05 9.99999257e-01 -5.48270583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5665599949999 meters 0.050314757848875055 Centerline is valid? [True, True] Translation: X:678.93, Y:-251.93, Z:-5.48 [[ 6.99695354e-01 7.14440750e-01 9.09173648e-04 6.78928384e+02] [-7.14440183e-01 6.99695944e-01 -9.00612331e-04 -2.51930207e+02] [-1.27957926e-03 -1.93959236e-05 9.99999181e-01 -5.48408785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.626559995 meters 0.05052798565503648 Centerline is valid? [True, True] Translation: X:678.97, Y:-251.98, Z:-5.48 [[ 6.98199876e-01 7.15901829e-01 1.22622396e-03 6.78971710e+02] [-7.15900800e-01 6.98200952e-01 -1.21464631e-03 -2.51975285e+02] [-1.72571825e-03 -2.97888082e-05 9.99998511e-01 -5.48352077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6865599949999 meters 0.050698498492169335 Centerline is valid? [True, True] Translation: X:679.02, Y:-252.02, Z:-5.49 [[ 6.95972117e-01 7.18068688e-01 4.15159158e-04 6.79016380e+02] [-7.18068570e-01 6.95972240e-01 -4.11164459e-04 -2.52016205e+02] [-5.84183573e-04 -1.19537437e-05 9.99999829e-01 -5.48551659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.746559995 meters 0.05044947731215952 Centerline is valid? [True, True] Translation: X:679.06, Y:-252.06, Z:-5.49 [[ 6.94840481e-01 7.19163863e-01 -2.10758461e-04 6.79062433e+02] [-7.19163833e-01 6.94840512e-01 2.09583356e-04 -2.52056681e+02] [ 2.97168293e-04 5.94286282e-06 9.99999956e-01 -5.48728266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8065599949999 meters 0.05090259932202427 Centerline is valid? [True, True] Translation: X:679.11, Y:-252.10, Z:-5.49 [[ 6.93991480e-01 7.19983196e-01 -1.55059333e-04 6.79105059e+02] [-7.19983179e-01 6.93991497e-01 1.54888208e-04 -2.52101271e+02] [ 2.19126765e-04 4.14901487e-06 9.99999976e-01 -5.48789787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.866559995 meters 0.050478264278698066 Centerline is valid? [True, True] Translation: X:679.15, Y:-252.15, Z:-5.49 [[ 6.93898800e-01 7.20072535e-01 1.47773785e-05 6.79150020e+02] [-7.20072535e-01 6.93898800e-01 -1.33433109e-05 -2.52145934e+02] [-1.98621572e-05 -1.38187699e-06 1.00000000e+00 -5.48851035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9265599949999 meters 0.051367719138739616 Centerline is valid? [True, True] Translation: X:679.19, Y:-252.19, Z:-5.49 [[ 6.94405544e-01 7.19583674e-01 5.26239602e-04 6.79192794e+02] [-7.19583486e-01 6.94405743e-01 -5.21090760e-04 -2.52191274e+02] [-7.40392206e-04 -1.68250146e-05 9.99999726e-01 -5.48840970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.986559995 meters 0.05094000324421628 Centerline is valid? [True, True] Translation: X:679.24, Y:-252.23, Z:-5.49 [[ 6.95110051e-01 7.18902202e-01 1.28141835e-03 6.79237800e+02] [-7.18901079e-01 6.95111231e-01 -1.27089864e-03 -2.52232543e+02] [-1.80438012e-03 -3.77986175e-05 9.99998371e-01 -5.48820804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0465599949999 meters 0.050407262359291424 Centerline is valid? [True, True] Translation: X:679.28, Y:-252.28, Z:-5.49 [[ 6.95339846e-01 7.18680982e-01 3.79500616e-04 6.79282533e+02] [-7.18680884e-01 6.95339950e-01 -3.75499107e-04 -2.52276984e+02] [-5.33746007e-04 -1.16403473e-05 9.99999857e-01 -5.49043762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.106559995 meters 0.050440374820547085 Centerline is valid? [True, True] Translation: X:679.33, Y:-252.32, Z:-5.49 [[ 6.95437645e-01 7.18586303e-01 4.55582829e-04 6.79326129e+02] [-7.18586161e-01 6.95437794e-01 -4.51297193e-04 -2.52320659e+02] [-6.41125500e-04 -1.35264592e-05 9.99999794e-01 -5.49056289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.166559995 meters 0.05054507761218872 Centerline is valid? [True, True] Translation: X:679.37, Y:-252.37, Z:-5.49 [[ 6.97922140e-01 7.16171643e-01 1.69260040e-03 6.79367304e+02] [-7.16169672e-01 6.97924191e-01 -1.68073105e-03 -2.52365998e+02] [-2.38499868e-03 -3.91696647e-05 9.99997155e-01 -5.48915247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.226559995 meters 0.050798126818002325 Centerline is valid? [True, True] Translation: X:679.41, Y:-252.41, Z:-5.49 [[ 7.02188240e-01 7.11988079e-01 2.15666830e-03 6.79409331e+02] [-7.11984859e-01 7.02191551e-01 -2.14133396e-03 -2.52410753e+02] [-3.03899851e-03 -3.18956552e-05 9.99995382e-01 -5.48955472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.286559995 meters 0.05140628060115719 Centerline is valid? [True, True] Translation: X:679.45, Y:-252.46, Z:-5.49 [[ 7.05520431e-01 7.08685693e-01 2.34723489e-03 6.79451360e+02] [-7.08681860e-01 7.05524335e-01 -2.33091881e-03 -2.52455333e+02] [-3.30792015e-03 -1.89319437e-05 9.99994529e-01 -5.48966259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3465599949999 meters 0.05094029505140551 Centerline is valid? [True, True] Translation: X:679.49, Y:-252.50, Z:-5.49 [[ 7.09857499e-01 7.04342045e-01 2.14822231e-03 6.79492982e+02] [-7.04338813e-01 7.09860750e-01 -2.13360480e-03 -2.52499714e+02] [-3.02772627e-03 1.47901457e-06 9.99995416e-01 -5.49040393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.406559995 meters 0.051975520421570394 Centerline is valid? [True, True] Translation: X:679.54, Y:-252.54, Z:-5.49 [[ 7.12084402e-01 7.02091921e-01 1.65538961e-03 6.79536191e+02] [-7.02089995e-01 7.12086326e-01 -1.64429083e-03 -2.52543511e+02] [-2.33322361e-03 8.64137180e-06 9.99997278e-01 -5.49142257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4665599949999 meters 0.05177585082243819 Centerline is valid? [True, True] Translation: X:679.58, Y:-252.59, Z:-5.49 [[ 7.12186914e-01 7.01987864e-01 1.68475468e-03 6.79581575e+02] [-7.01985868e-01 7.12188906e-01 -1.67416913e-03 -2.52586568e+02] [-2.37511001e-03 9.64736939e-06 9.99997179e-01 -5.49186691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.526559995 meters 0.05227064990737329 Centerline is valid? [True, True] Translation: X:679.63, Y:-252.63, Z:-5.49 [[ 7.10834388e-01 7.03358050e-01 1.38787055e-03 6.79626928e+02] [-7.03356699e-01 7.10835743e-01 -1.37882471e-03 -2.52628322e+02] [-1.95635546e-03 3.94796750e-06 9.99998086e-01 -5.49209075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5865599949999 meters 0.05201294736104769 Centerline is valid? [True, True] Translation: X:679.67, Y:-252.67, Z:-5.49 [[ 7.08742219e-01 7.05465670e-01 1.62964778e-03 6.79672792e+02] [-7.05463810e-01 7.08744092e-01 -1.62004628e-03 -2.52669888e+02] [-2.29789027e-03 -1.46233793e-06 9.99997360e-01 -5.49175145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.646559995 meters 0.05168317608571772 Centerline is valid? [True, True] Translation: X:679.72, Y:-252.71, Z:-5.49 [[ 7.05855935e-01 7.08352559e-01 2.01266056e-03 6.79719275e+02] [-7.08349734e-01 7.05858804e-01 -2.00064523e-03 -2.52709553e+02] [-2.83781634e-03 -1.35002667e-05 9.99995973e-01 -5.49159209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7065599949999 meters 0.052003704290283725 Centerline is valid? [True, True] Translation: X:679.77, Y:-252.75, Z:-5.49 [[ 7.04434002e-01 7.09765534e-01 2.37156825e-03 6.79765059e+02] [-7.09761617e-01 7.04437993e-01 -2.35807322e-03 -2.52751184e+02] [-3.34430188e-03 -2.21411668e-05 9.99994408e-01 -5.49215567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.766559995 meters 0.05142049924067399 Centerline is valid? [True, True] Translation: X:679.81, Y:-252.79, Z:-5.49 [[ 7.01638021e-01 7.12530554e-01 2.07269838e-03 6.79812477e+02] [-7.12527573e-01 7.01641082e-01 -2.06128862e-03 -2.52789850e+02] [-2.92302146e-03 -3.05762770e-05 9.99995727e-01 -5.49386963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8265599949999 meters 0.05174077571049709 Centerline is valid? [True, True] Translation: X:679.86, Y:-252.83, Z:-5.50 [[ 6.97888323e-01 7.16204905e-01 1.55669145e-03 6.79860358e+02] [-7.16203231e-01 6.97890058e-01 -1.54880570e-03 -2.52829381e+02] [-2.19566173e-03 -3.40140286e-05 9.99997589e-01 -5.49556578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.886559995 meters 0.0514374988571017 Centerline is valid? [True, True] Translation: X:679.90, Y:-252.87, Z:-5.50 [[ 6.96985646e-01 7.17083704e-01 1.40342045e-03 6.79904830e+02] [-7.17082347e-01 6.96987059e-01 -1.39571805e-03 -2.52872057e+02] [-1.97901256e-03 -3.35725873e-05 9.99998041e-01 -5.49615833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9465599949999 meters 0.05126953798006278 Centerline is valid? [True, True] Translation: X:679.95, Y:-252.91, Z:-5.50 [[ 6.96120164e-01 7.17924491e-01 1.06879123e-03 6.79949197e+02] [-7.17923705e-01 6.96120984e-01 -1.06289406e-03 -2.52914245e+02] [-1.50708568e-03 -2.74085728e-05 9.99998864e-01 -5.49717506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.006559995 meters 0.05120440710533559 Centerline is valid? [True, True] Translation: X:679.99, Y:-252.96, Z:-5.50 [[ 6.95208606e-01 7.18807845e-01 5.25442746e-04 6.79993017e+02] [-7.18807655e-01 6.95208805e-01 -5.22023521e-04 -2.52957929e+02] [-7.40527026e-04 -1.47770238e-05 9.99999726e-01 -5.49799473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0665599949999 meters 0.05121584708442277 Centerline is valid? [True, True] Translation: X:680.04, Y:-253.00, Z:-5.50 [[ 6.95742783e-01 7.18290947e-01 -3.09149903e-04 6.80036251e+02] [-7.18290881e-01 6.95742851e-01 3.08972652e-04 -2.53000647e+02] [ 4.37021094e-04 7.09406296e-06 9.99999904e-01 -5.49962476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.126559995 meters 0.05134698319431734 Centerline is valid? [True, True] Translation: X:680.08, Y:-253.05, Z:-5.50 [[ 6.98867861e-01 7.15250750e-01 -2.76254839e-04 6.80075661e+02] [-7.15250697e-01 6.98867916e-01 2.75395824e-04 -2.53048138e+02] [ 3.90042714e-04 5.12617574e-06 9.99999924e-01 -5.49896453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1865599949999 meters 0.0512045259605661 Centerline is valid? [True, True] Translation: X:680.12, Y:-253.09, Z:-5.50 [[ 7.01545168e-01 7.12624842e-01 4.60742575e-04 6.80115925e+02] [-7.12624695e-01 7.01545319e-01 -4.58654833e-04 -2.53094492e+02] [-6.50080625e-04 -6.56945493e-06 9.99999789e-01 -5.49860854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.246559995 meters 0.050795399548451504 Centerline is valid? [True, True] Translation: X:680.15, Y:-253.14, Z:-5.50 [[ 7.05224782e-01 7.08981926e-01 1.62340134e-03 6.80154931e+02] [-7.08980083e-01 7.05226650e-01 -1.61675665e-03 -2.53140512e+02] [-2.29111714e-03 -1.07823646e-05 9.99997375e-01 -5.49754464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3065599949999 meters 0.05116707055608082 Centerline is valid? [True, True] Translation: X:680.20, Y:-253.19, Z:-5.50 [[ 7.08129195e-01 7.06081580e-01 1.35813117e-03 6.80195969e+02] [-7.06080286e-01 7.08130498e-01 -1.35193300e-03 -2.53187709e+02] [-1.91630909e-03 -1.60641941e-06 9.99998164e-01 -5.49741163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.366559995 meters 0.05111624501926429 Centerline is valid? [True, True] Translation: X:680.24, Y:-253.23, Z:-5.50 [[ 7.09273701e-01 7.04932783e-01 7.67572499e-04 6.80237615e+02] [-7.04932369e-01 7.09274116e-01 -7.63946900e-04 -2.53231815e+02] [-1.08295052e-03 7.60745186e-07 9.99999414e-01 -5.49718759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4265599949999 meters 0.05145406156815919 Centerline is valid? [True, True] Translation: X:680.28, Y:-253.28, Z:-5.50 [[ 7.09283487e-01 7.04921250e-01 1.72216689e-03 6.80279995e+02] [-7.04919162e-01 7.09285578e-01 -1.71583834e-03 -2.53276903e+02] [-2.43103905e-03 3.02735964e-06 9.99997045e-01 -5.49890806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.486559995 meters 0.051439808192773835 Centerline is valid? [True, True] Translation: X:680.32, Y:-253.32, Z:-5.50 [[ 7.08503421e-01 7.05705563e-01 1.60019240e-03 6.80323578e+02] [-7.05703763e-01 7.08505228e-01 -1.59381217e-03 -2.53321403e+02] [-2.25850679e-03 -4.04231010e-08 9.99997450e-01 -5.49967263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5465599949999 meters 0.05104836527821405 Centerline is valid? [True, True] Translation: X:680.37, Y:-253.37, Z:-5.50 [[ 7.06583380e-01 7.07628122e-01 1.53894541e-03 6.80367567e+02] [-7.07626461e-01 7.06585056e-01 -1.53307672e-03 -2.53365860e+02] [-2.17224403e-03 -5.75196467e-06 9.99997641e-01 -5.50001266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.606559995 meters 0.05033347761192616 Centerline is valid? [True, True] Translation: X:680.41, Y:-253.41, Z:-5.50 [[ 7.04028948e-01 7.10170149e-01 1.26497051e-03 6.80411933e+02] [-7.10169031e-01 7.04030084e-01 -1.26037585e-03 -2.53409988e+02] [-1.78565860e-03 -1.10018033e-05 9.99998406e-01 -5.50056128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.666559995 meters 0.05072307705983614 Centerline is valid? [True, True] Translation: X:680.46, Y:-253.45, Z:-5.50 [[ 7.01840596e-01 7.12330852e-01 2.12978289e-03 6.80456174e+02] [-7.12327687e-01 7.01843826e-01 -2.12370720e-03 -2.53452555e+02] [-3.00755713e-03 -2.65993950e-05 9.99995477e-01 -5.49985946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.726559995 meters 0.05090248394528929 Centerline is valid? [True, True] Translation: X:680.50, Y:-253.50, Z:-5.50 [[ 6.99976461e-01 7.14160820e-01 2.69755329e-03 6.80501283e+02] [-7.14155755e-01 6.99981658e-01 -2.69010658e-03 -2.53495744e+02] [-3.80940655e-03 -4.34619242e-05 9.99992743e-01 -5.50025573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.786559995 meters 0.05042062103037121 Centerline is valid? [True, True] Translation: X:680.55, Y:-253.54, Z:-5.50 [[ 6.98649181e-01 7.15460474e-01 2.37321026e-03 6.80546489e+02] [-7.15456560e-01 6.98653210e-01 -2.36710808e-03 -2.53536567e+02] [-3.35162323e-03 -4.41507312e-05 9.99994382e-01 -5.50171690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8465599949999 meters 0.05056920759539034 Centerline is valid? [True, True] Translation: X:680.59, Y:-253.58, Z:-5.50 [[ 6.96610118e-01 7.17447109e-01 1.99742722e-03 6.80591441e+02] [-7.17444343e-01 6.96612980e-01 -1.99287340e-03 -2.53578631e+02] [-2.82121498e-03 -4.47870811e-05 9.99996019e-01 -5.50199769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.906559995 meters 0.050685990364989116 Centerline is valid? [True, True] Translation: X:680.64, Y:-253.62, Z:-5.50 [[ 6.94619323e-01 7.19375796e-01 1.56819728e-03 6.80636283e+02] [-7.19374096e-01 6.94621092e-01 -1.56481721e-03 -2.53621714e+02] [-2.21499453e-03 -4.11682330e-05 9.99997546e-01 -5.50246273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9665599949999 meters 0.05020529710152279 Centerline is valid? [True, True] Translation: X:680.68, Y:-253.67, Z:-5.50 [[ 6.93913227e-01 7.20057438e-01 1.31100502e-03 6.80679565e+02] [-7.20056252e-01 6.93914464e-01 -1.30756951e-03 -2.53666784e+02] [-1.85125050e-03 -3.66575777e-05 9.99998286e-01 -5.50252598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.026559995 meters 0.05047011049151688 Centerline is valid? [True, True] Translation: X:680.72, Y:-253.71, Z:-5.50 [[ 6.94677600e-01 7.19320933e-01 6.54185821e-04 6.80724538e+02] [-7.19320637e-01 6.94677908e-01 -6.52109448e-04 -2.53707928e+02] [-9.23524414e-04 -1.75635351e-05 9.99999573e-01 -5.50414296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0865599949999 meters 0.050655449693993264 Centerline is valid? [True, True] Translation: X:680.77, Y:-253.75, Z:-5.51 [[ 6.97274662e-01 7.16803960e-01 -3.59071359e-04 6.80765086e+02] [-7.16803871e-01 6.97274754e-01 3.58790759e-04 -2.53753928e+02] [ 5.07554030e-04 7.20803503e-06 9.99999871e-01 -5.50536180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.146559995 meters 0.0502531995970545 Centerline is valid? [True, True] Translation: X:680.81, Y:-253.80, Z:-5.50 [[ 6.98967206e-01 7.15152935e-01 -1.06042798e-03 6.80806404e+02] [-7.15152149e-01 6.98968010e-01 1.06031542e-03 -2.53801039e+02] [ 1.49949292e-03 1.72416449e-05 9.99998876e-01 -5.50458460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2065599949999 meters 0.05025689551088648 Centerline is valid? [True, True] Translation: X:680.85, Y:-253.85, Z:-5.51 [[ 7.01423163e-01 7.12744102e-01 -1.17951387e-03 6.80849157e+02] [-7.12743126e-01 7.01424155e-01 1.17951769e-03 -2.53845437e+02] [ 1.66803380e-03 1.33493725e-05 9.99998609e-01 -5.50611218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.266559995 meters 0.050534360584591834 Centerline is valid? [True, True] Translation: X:680.89, Y:-253.89, Z:-5.50 [[ 7.03657356e-01 7.10539437e-01 1.85075562e-04 6.80891735e+02] [-7.10539413e-01 7.03657380e-01 -1.84485452e-04 -2.53890871e+02] [-2.61313975e-04 -1.68893567e-06 9.99999966e-01 -5.50466075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3265599949999 meters 0.05054074042664168 Centerline is valid? [True, True] Translation: X:680.93, Y:-253.93, Z:-5.51 [[ 7.04616420e-01 7.09588160e-01 5.86478739e-04 6.80934682e+02] [-7.09587918e-01 7.04616665e-01 -5.84963912e-04 -2.53933841e+02] [-8.28326159e-04 -3.98305022e-06 9.99999657e-01 -5.50531122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.386559995 meters 0.05053199859695248 Centerline is valid? [True, True] Translation: X:680.98, Y:-253.98, Z:-5.51 [[ 7.04765721e-01 7.09440047e-01 3.13754668e-04 6.80978945e+02] [-7.09439978e-01 7.04765791e-01 -3.12294682e-04 -2.53976571e+02] [-4.42677910e-04 -2.49551852e-06 9.99999902e-01 -5.50714041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4465599949999 meters 0.05063292476721376 Centerline is valid? [True, True] Translation: X:681.02, Y:-254.02, Z:-5.51 [[ 7.04174753e-01 7.10026620e-01 -3.40832891e-04 6.81023853e+02] [-7.10026537e-01 7.04174836e-01 3.41915469e-04 -2.54020121e+02] [ 4.82775030e-04 1.23215642e-06 9.99999883e-01 -5.50711417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.506559995 meters 0.05116471428579426 Centerline is valid? [True, True] Translation: X:681.07, Y:-254.06, Z:-5.51 [[ 7.03713264e-01 7.10482782e-01 -1.36316197e-03 6.81069502e+02] [-7.10481472e-01 7.03714585e-01 1.36430623e-03 -2.54062906e+02] [ 1.92859304e-03 8.42092878e-06 9.99998140e-01 -5.50851261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5665599949999 meters 0.05142697950728468 Centerline is valid? [True, True] Translation: X:681.11, Y:-254.10, Z:-5.51 [[ 7.04352385e-01 7.09849145e-01 -1.38171983e-03 6.81113273e+02] [-7.09847797e-01 7.04353741e-01 1.38306248e-03 -2.54104982e+02] [ 1.95498525e-03 6.64742449e-06 9.99998089e-01 -5.51005613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.626559995 meters 0.05154320886569262 Centerline is valid? [True, True] Translation: X:681.73, Y:-253.80, Z:-4.50 [[ 7.59017682e-01 -6.50955443e-01 -1.22134928e-02 6.81729802e+02] [-6.50858415e-01 -7.59115709e-01 1.12545105e-02 -2.53797787e+02] [-1.65976392e-02 -5.93117915e-04 -9.99862074e-01 -4.50279633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6865599949999 meters 0.05130698258105171 Centerline is valid? [True, True] Translation: X:681.71, Y:-253.88, Z:-4.50 [[ 8.06667987e-01 -5.90868792e-01 -1.26818703e-02 6.81708623e+02] [-5.90783930e-01 -8.06767445e-01 1.00318463e-02 -2.53878407e+02] [-1.61588250e-02 -6.00124078e-04 -9.99869258e-01 -4.50417216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.746559995 meters 0.051487825031626556 Centerline is valid? [True, True] Translation: X:681.69, Y:-253.96, Z:-4.51 [[ 8.49635669e-01 -5.27222679e-01 -1.24689955e-02 6.81694812e+02] [-5.27155859e-01 -8.49726965e-01 8.41337871e-03 -2.53956911e+02] [-1.50309657e-02 -5.75202639e-04 -9.99886863e-01 -4.50768470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8065599949999 meters 0.05067902083838494 Centerline is valid? [True, True] Translation: X:681.68, Y:-254.05, Z:-4.51 [[ 8.88834368e-01 -4.58080616e-01 -1.16454013e-02 6.81679675e+02] [-4.58032508e-01 -8.88910457e-01 6.66487900e-03 -2.54052341e+02] [-1.34047709e-02 -5.90001153e-04 -9.99909978e-01 -4.50653797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.866559995 meters 0.05156172717826571 Centerline is valid? [True, True] Translation: X:681.67, Y:-254.14, Z:-4.51 [[ 9.22727421e-01 -3.85274390e-01 -1.17367665e-02 6.81672998e+02] [-3.85234669e-01 -9.22801857e-01 5.56619236e-03 -2.54143159e+02] [-1.29752213e-02 -6.14668958e-04 -9.99915629e-01 -4.50704906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9265599949999 meters 0.051122328301751445 Centerline is valid? [True, True] Translation: X:681.68, Y:-254.22, Z:-4.51 [[ 9.51095203e-01 -3.08663478e-01 -1.20321637e-02 6.81678982e+02] [-3.08629967e-01 -9.51171081e-01 4.59542626e-03 -2.54224099e+02] [-1.28630864e-02 -6.57201595e-04 -9.99917051e-01 -4.50525757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.986559995 meters 0.05149197574633417 Centerline is valid? [True, True] Translation: X:681.69, Y:-254.30, Z:-4.51 [[ 9.72947233e-01 -2.30705559e-01 -1.21912448e-02 6.81693954e+02] [-2.30678519e-01 -9.73023366e-01 3.59872365e-03 -2.54296784e+02] [-1.26926116e-02 -6.89109912e-04 -9.99919208e-01 -4.50677124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0465599949999 meters 0.051099229100230174 Centerline is valid? [True, True] Translation: X:681.71, Y:-254.37, Z:-4.51 [[ 9.88208797e-01 -1.52632510e-01 -1.21115438e-02 6.81713670e+02] [-1.52612321e-01 -9.88282766e-01 2.57942570e-03 -2.54373109e+02] [-1.23633342e-02 -7.00640357e-04 -9.99923326e-01 -4.50730357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.106559995 meters 0.05118964562548811 Centerline is valid? [True, True] Translation: X:681.74, Y:-254.45, Z:-4.51 [[ 9.97250921e-01 -7.29885929e-02 -1.27775368e-02 6.81739477e+02] [-7.29732129e-02 -9.97332509e-01 1.66641480e-03 -2.54445662e+02] [-1.28650821e-02 -7.29415782e-04 -9.99916975e-01 -4.50680201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.166559995 meters 0.05158714268869686 Centerline is valid? [True, True] Translation: X:681.77, Y:-254.52, Z:-4.51 [[ 9.99880912e-01 6.14204767e-03 -1.41575893e-02 6.81771262e+02] [ 6.15216177e-03 -9.99980850e-01 6.70952342e-04 -2.54518187e+02] [-1.41531972e-02 -7.57972219e-04 -9.99899551e-01 -4.50668232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.226559995 meters 0.05035051898621671 Centerline is valid? [True, True] Translation: X:681.80, Y:-254.59, Z:-4.51 [[ 9.96328115e-01 8.42026239e-02 -1.54985420e-02 6.81803356e+02] [ 8.42044794e-02 -9.96448353e-01 -5.33963627e-04 -2.54590196e+02] [-1.54884578e-02 -7.73043686e-04 -9.99879748e-01 -4.50625453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.286559995 meters 0.05050921409565516 Centerline is valid? [True, True] Translation: X:681.84, Y:-254.66, Z:-4.51 [[ 9.87248599e-01 1.58486240e-01 -1.49102462e-02 6.81840850e+02] [ 1.58479024e-01 -9.87360929e-01 -1.67177818e-03 -2.54655920e+02] [-1.49867484e-02 -7.12500600e-04 -9.99887439e-01 -4.50637688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3465599949999 meters 0.05093963021959822 Centerline is valid? [True, True] Translation: X:681.88, Y:-254.72, Z:-4.51 [[ 9.72866568e-01 2.30975820e-01 -1.34466539e-02 6.81881302e+02] [ 2.30962759e-01 -9.72959282e-01 -2.53748079e-03 -2.54715001e+02] [-1.36691435e-02 -6.37046068e-04 -9.99906370e-01 -4.50643283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.406559995 meters 0.050862637817773115 Centerline is valid? [True, True] Translation: X:681.93, Y:-254.77, Z:-4.51 [[ 9.54173222e-01 2.99019342e-01 -1.18699360e-02 6.81927911e+02] [ 2.99003097e-01 -9.54246902e-01 -3.16195220e-03 -2.54772795e+02] [-1.22723346e-02 -5.32097515e-04 -9.99924550e-01 -4.50882766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4665599949999 meters 0.05162062845947207 Centerline is valid? [True, True] Translation: X:681.98, Y:-254.83, Z:-4.51 [[ 9.29451511e-01 3.68761829e-01 -1.16018107e-02 6.81976320e+02] [ 3.68739465e-01 -9.29523795e-01 -4.08915873e-03 -2.54826804e+02] [-1.22920847e-02 -4.77370702e-04 -9.99924336e-01 -4.50919694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.526559995 meters 0.05166913322637136 Centerline is valid? [True, True] Translation: X:682.04, Y:-254.90, Z:-4.51 [[ 8.99658360e-01 4.36417395e-01 -1.24374993e-02 6.82041836e+02] [ 4.36381916e-01 -8.99744236e-01 -5.57968732e-03 -2.54904181e+02] [-1.36256409e-02 -4.07687430e-04 -9.99907084e-01 -4.50825207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5865599949999 meters 0.05130265251907669 Centerline is valid? [True, True] Translation: X:682.11, Y:-254.98, Z:-4.51 [[ 8.63265346e-01 5.04565273e-01 -1.36684960e-02 6.82114146e+02] [ 5.04508753e-01 -8.63373470e-01 -7.56098593e-03 -2.54977688e+02] [-1.56160277e-02 -3.68738729e-04 -9.99877994e-01 -4.50804643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.646559995 meters 0.05147928624744745 Centerline is valid? [True, True] Translation: X:682.20, Y:-255.05, Z:-4.51 [[ 8.20663067e-01 5.71256697e-01 -1.33385299e-02 6.82195561e+02] [ 5.71188646e-01 -8.20771372e-01 -8.82533859e-03 -2.55051675e+02] [-1.59894173e-02 -3.76187404e-04 -9.99872090e-01 -4.50722419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7065599949999 meters 0.051894153675587376 Centerline is valid? [True, True] Translation: X:682.29, Y:-255.13, Z:-4.51 [[ 7.71701475e-01 6.35870479e-01 -1.20650858e-02 6.82290724e+02] [ 6.35801284e-01 -7.71795668e-01 -9.39011855e-03 -2.55128737e+02] [-1.52826802e-02 -4.24628722e-04 -9.99883123e-01 -4.51004297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.766559995 meters 0.05156097037856002 Centerline is valid? [True, True] Translation: X:682.36, Y:-255.16, Z:-4.51 [[ 7.17399171e-01 6.96570722e-01 -1.12986259e-02 6.82360317e+02] [ 6.96494540e-01 -7.17487984e-01 -1.03125192e-02 -2.55162838e+02] [-1.52900273e-02 -4.71238533e-04 -9.99882990e-01 -4.50675552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8265599949999 meters 0.05104014623176959 Centerline is valid? [True, True] Translation: X:682.43, Y:-255.19, Z:-4.51 [[ 6.56103016e-01 7.54602801e-01 -1.01708025e-02 6.82432407e+02] [ 7.54525164e-01 -6.56181604e-01 -1.08388227e-02 -2.55192441e+02] [-1.48528995e-02 -5.62742169e-04 -9.99889531e-01 -4.50798403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.886559995 meters 0.05047557584750986 Centerline is valid? [True, True] Translation: X:682.52, Y:-255.22, Z:-4.51 [[ 5.89889037e-01 8.07435068e-01 -8.91824272e-03 6.82515282e+02] [ 8.07359013e-01 -5.89956088e-01 -1.11012306e-02 -2.55223313e+02] [-1.42248945e-02 -6.51729395e-04 -9.99898609e-01 -4.50770692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9465599949999 meters 0.05021116547114811 Centerline is valid? [True, True] Translation: X:682.60, Y:-255.24, Z:-4.51 [[ 5.21658483e-01 8.53119488e-01 -7.71795867e-03 6.82595941e+02] [ 8.53045157e-01 -5.21715107e-01 -1.12830722e-02 -2.55244260e+02] [-1.36523844e-02 -6.97856938e-04 -9.99906558e-01 -4.50811261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.006559995 meters 0.05082958893803683 Centerline is valid? [True, True] Translation: X:682.68, Y:-255.26, Z:-4.51 [[ 4.49974461e-01 8.93015544e-01 -6.79876824e-03 6.82678132e+02] [ 8.92937474e-01 -4.50025200e-01 -1.18315742e-02 -2.55259025e+02] [-1.36253967e-02 -7.46968703e-04 -9.99906891e-01 -4.50742137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0665599949999 meters 0.05077120468369818 Centerline is valid? [True, True] Translation: X:682.76, Y:-255.27, Z:-4.51 [[ 3.75120378e-01 9.26955898e-01 -6.12091823e-03 6.82763720e+02] [ 9.26865650e-01 -3.75169435e-01 -1.29600078e-02 -2.55267309e+02] [-1.43097371e-02 -8.11705823e-04 -9.99897281e-01 -4.50847824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.126559995 meters 0.05033279982592432 Centerline is valid? [True, True] Translation: X:682.86, Y:-255.27, Z:-4.51 [[ 3.01237077e-01 9.53534020e-01 -5.39404831e-03 6.82855032e+02] [ 9.53426993e-01 -3.01284218e-01 -1.43104840e-02 -2.55271373e+02] [-1.52706749e-02 -8.31982909e-04 -9.99883050e-01 -4.50880412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1865599949999 meters 0.050138367064313245 Centerline is valid? [True, True] Translation: X:682.94, Y:-255.27, Z:-4.51 [[ 2.26760609e-01 9.73941656e-01 -4.15664272e-03 6.82944056e+02] [ 9.73837092e-01 -2.26797268e-01 -1.42939778e-02 -2.55267843e+02] [-1.48642156e-02 -8.06581742e-04 -9.99889196e-01 -4.50856625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.246559995 meters 0.050475402202994436 Centerline is valid? [True, True] Translation: X:683.03, Y:-255.26, Z:-4.51 [[ 1.51568414e-01 9.88442485e-01 -2.91031824e-03 6.83030831e+02] [ 9.88344931e-01 -1.51594405e-01 -1.39080168e-02 -2.55257444e+02] [-1.41884627e-02 -7.68382221e-04 -9.99899043e-01 -4.50815704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3065599949999 meters 0.05024965993457078 Centerline is valid? [True, True] Translation: X:683.12, Y:-255.24, Z:-4.51 [[ 7.58452070e-02 9.97117811e-01 -1.89096276e-03 6.83116115e+02] [ 9.97005772e-01 -7.58650668e-02 -1.49660289e-02 -2.55239252e+02] [-1.50663520e-02 -7.50199225e-04 -9.99886215e-01 -4.50805510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.366559995 meters 0.05000713690619763 Centerline is valid? [True, True] Translation: X:683.20, Y:-255.22, Z:-4.51 [[-1.36218336e-03 9.99998809e-01 -7.25183196e-04 6.83198186e+02] [ 9.99869644e-01 1.35033959e-03 -1.60894639e-02 -2.55215937e+02] [-1.60884655e-02 -7.47005464e-04 -9.99870293e-01 -4.50754817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4265599949999 meters 0.05013108984517504 Centerline is valid? [True, True] Translation: X:683.28, Y:-255.19, Z:-4.51 [[-8.01669507e-02 9.96781339e-01 4.71605872e-04 6.83279452e+02] [ 9.96667196e-01 8.01649161e-02 -1.51025455e-02 -2.55185189e+02] [-1.50917418e-02 -7.40690923e-04 -9.99885839e-01 -4.51024535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.486559995 meters 0.05000685356935491 Centerline is valid? [True, True] Translation: X:683.36, Y:-255.15, Z:-4.51 [[-1.60406704e-01 9.87050013e-01 1.40080027e-03 6.83360632e+02] [ 9.86960929e-01 1.60411076e-01 -1.32819609e-02 -2.55149206e+02] [-1.33346635e-02 -7.47980429e-04 -9.99910810e-01 -4.51220453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5465599949999 meters 0.05071035302371577 Centerline is valid? [True, True] Translation: X:683.44, Y:-255.11, Z:-4.51 [[-2.37898708e-01 9.71287264e-01 2.29258978e-03 6.83436912e+02] [ 9.71207208e-01 2.37908587e-01 -1.24924914e-02 -2.55107237e+02] [-1.26792246e-02 -7.45367853e-04 -9.99919338e-01 -4.51196264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.606559995 meters 0.05068382100416962 Centerline is valid? [True, True] Translation: X:683.50, Y:-255.06, Z:-4.51 [[-3.14839386e-01 9.49139783e-01 3.13583823e-03 6.83502646e+02] [ 9.49065986e-01 3.14854090e-01 -1.18598839e-02 -2.55060827e+02] [-1.22440192e-02 -7.57841176e-04 -9.99924752e-01 -4.51332948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.666559995 meters 0.05199406825607471 Centerline is valid? [True, True] Translation: X:683.57, Y:-255.01, Z:-4.51 [[-3.89883949e-01 9.20854526e-01 4.17721224e-03 6.83573747e+02] [ 9.20778191e-01 3.89905532e-01 -1.18827315e-02 -2.55006979e+02] [-1.25709852e-02 -7.86600335e-04 -9.99920673e-01 -4.51229738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.726559995 meters 0.05082423920436089 Centerline is valid? [True, True] Translation: X:683.63, Y:-254.95, Z:-4.51 [[-4.61928306e-01 8.86902264e-01 5.15880979e-03 6.83630745e+02] [ 8.86826147e-01 4.61956410e-01 -1.16473530e-02 -2.54949925e+02] [-1.27132090e-02 -8.05274637e-04 -9.99918860e-01 -4.51496846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.786559995 meters 0.051932646248044376 Centerline is valid? [True, True] Translation: X:683.70, Y:-254.88, Z:-4.51 [[-5.30719374e-01 8.47523335e-01 6.41427722e-03 6.83695185e+02] [ 8.47441440e-01 5.30757480e-01 -1.18111604e-02 -2.54883343e+02] [-1.34146597e-02 -8.32687354e-04 -9.99909673e-01 -4.51435478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8465599949999 meters 0.050680555300820725 Centerline is valid? [True, True] Translation: X:683.74, Y:-254.82, Z:-4.52 [[-5.95298039e-01 8.03468184e-01 7.68910480e-03 6.83744053e+02] [ 8.03382039e-01 5.95347096e-01 -1.17955144e-02 -2.54817628e+02] [-1.40550068e-02 -8.44557924e-04 -9.99900867e-01 -4.51505481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.906559995 meters 0.05195459307254183 Centerline is valid? [True, True] Translation: X:683.79, Y:-254.75, Z:-4.52 [[-6.55921707e-01 7.54787007e-01 7.95539628e-03 6.83787322e+02] [ 7.54715899e-01 6.55969446e-01 -1.03922339e-02 -2.54748068e+02] [-1.30624200e-02 -8.12427719e-04 -9.99914353e-01 -4.51664926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9665599949999 meters 0.050683312402629126 Centerline is valid? [True, True] Translation: X:683.83, Y:-254.67, Z:-4.52 [[-7.11807134e-01 7.02334349e-01 7.55423077e-03 6.83828041e+02] [ 7.02283182e-01 7.11846820e-01 -8.51099899e-03 -2.54672031e+02] [-1.13550221e-02 -7.52980573e-04 -9.99935246e-01 -4.52022622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.026559995 meters 0.05096984311807458 Centerline is valid? [True, True] Translation: X:683.87, Y:-254.59, Z:-4.52 [[-7.63859376e-01 6.45333534e-01 7.96763988e-03 6.83866839e+02] [ 6.45288127e-01 7.63900578e-01 -7.69029370e-03 -2.54589580e+02] [-1.10492891e-02 -7.32879538e-04 -9.99938686e-01 -4.52158054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0865599949999 meters 0.051046057202242805 Centerline is valid? [True, True] Translation: X:683.84, Y:-254.47, Z:-4.52 [[-8.06346961e-01 5.91374541e-01 8.98498832e-03 6.83844223e+02] [ 5.91328382e-01 8.06396741e-01 -7.41894999e-03 -2.54465991e+02] [-1.16328435e-02 -6.69169178e-04 -9.99932112e-01 -4.52240340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.146559995 meters 0.05128983435180655 Centerline is valid? [True, True] Translation: X:683.88, Y:-254.39, Z:-4.52 [[-8.44957137e-01 5.34744882e-01 9.76461705e-03 6.83875420e+02] [ 5.34700202e-01 8.45013310e-01 -6.94258660e-03 -2.54392002e+02] [-1.19637440e-02 -6.45045383e-04 -9.99928224e-01 -4.52213836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2065599949999 meters 0.05136761067487893 Centerline is valid? [True, True] Translation: X:683.80, Y:-254.26, Z:-4.52 [[-8.78624529e-01 4.77386080e-01 1.10211835e-02 6.83801845e+02] [ 4.77339840e-01 8.78693444e-01 -6.67142610e-03 -2.54258312e+02] [-1.28690877e-02 -6.00828633e-04 -9.99917009e-01 -4.52349304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.266559995 meters 0.05195216536245814 Centerline is valid? [True, True] Translation: X:683.77, Y:-254.16, Z:-4.53 [[-9.08546258e-01 4.17638246e-01 1.10449830e-02 6.83773797e+02] [ 4.17600046e-01 9.08613229e-01 -5.67462565e-03 -2.54159540e+02] [-1.24055584e-02 -5.43274489e-04 -9.99922901e-01 -4.52527112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3265599949999 meters 0.051397137157625394 Centerline is valid? [True, True] Translation: X:683.65, Y:-254.02, Z:-4.53 [[-9.33492877e-01 3.58431321e-01 1.08644803e-02 6.83645880e+02] [ 3.58401287e-01 9.33555985e-01 -4.66257738e-03 -2.54024518e+02] [-1.18138144e-02 -4.58639037e-04 -9.99930109e-01 -4.52741125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.386559995 meters 0.05171651156739024 Centerline is valid? [True, True] Translation: X:683.84, Y:-253.45, Z:-5.53 [[-9.08675259e-01 -4.17501523e-01 -1.32390705e-03 6.83837768e+02] [ 4.17501600e-01 -9.08676158e-01 2.31141162e-04 -2.53446716e+02] [-1.29950456e-03 -3.42701054e-04 9.99999097e-01 -5.52648989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4465599949999 meters 0.05225394271675266 Centerline is valid? [True, True] Translation: X:683.69, Y:-254.05, Z:-4.53 [[-9.31634816e-01 3.63220435e-01 1.12909440e-02 6.83685511e+02] [ 3.63189219e-01 9.31703169e-01 -4.77452749e-03 -2.54045175e+02] [-1.22540143e-02 -3.47366895e-04 -9.99924856e-01 -4.52835291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.506559995 meters 0.05325219891865977 Centerline is valid? [True, True] Translation: X:683.95, Y:-254.04, Z:-4.53 [[-9.54556409e-01 2.97764039e-01 1.25952125e-02 6.83949910e+02] [ 2.97734046e-01 9.54639456e-01 -4.23644160e-03 -2.54038183e+02] [-1.32853468e-02 -2.93898888e-04 -9.99911703e-01 -4.52911250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5665599949999 meters 0.05313706338026993 Centerline is valid? [True, True] Translation: X:683.97, Y:-253.95, Z:-4.53 [[-9.72718119e-01 2.31565995e-01 1.40232324e-02 6.83969491e+02] [ 2.31538600e-01 9.72819171e-01 -3.56891868e-03 -2.53953227e+02] [-1.44685095e-02 -2.24632259e-04 -9.99895300e-01 -4.52670652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.626559995 meters 0.05343616742401943 Centerline is valid? [True, True] Translation: X:683.86, Y:-253.84, Z:-4.53 [[-9.86648071e-01 1.62176059e-01 1.49836524e-02 6.83861601e+02] [ 1.62154172e-01 9.86761817e-01 -2.67231386e-03 -2.53837922e+02] [-1.52186814e-02 -2.06971570e-04 -9.99884168e-01 -4.52991174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6865599949999 meters 0.053499711952084895 Centerline is valid? [True, True] Translation: X:683.79, Y:-253.74, Z:-4.53 [[-9.95929715e-01 8.89270253e-02 1.46964666e-02 6.83788442e+02] [ 8.89135792e-02 9.96038112e-01 -1.56709166e-03 -2.53735878e+02] [-1.47775977e-02 -2.53997707e-04 -9.99890773e-01 -4.52975505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.746559995 meters 0.05312614584509262 Centerline is valid? [True, True] Translation: X:683.14, Y:-253.62, Z:-4.53 [[-9.99820568e-01 1.19057227e-02 1.47338382e-02 6.83143179e+02] [ 1.18993451e-02 9.99929065e-01 -5.20447428e-04 -2.53624764e+02] [-1.47389893e-02 -3.45031018e-04 -9.99891316e-01 -4.53119801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8065599949999 meters 0.05291933608147435 Centerline is valid? [True, True] Translation: X:683.03, Y:-253.55, Z:-4.53 [[-9.97827614e-01 -6.44370491e-02 1.37083370e-02 6.83033040e+02] [-6.44368179e-02 9.97921683e-01 4.59001209e-04 -2.53548416e+02] [-1.37094234e-02 -4.25317533e-04 -9.99905931e-01 -4.53325310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.866559995 meters 0.0528060053120455 Centerline is valid? [True, True] Translation: X:683.41, Y:-253.42, Z:-4.53 [[-9.89014045e-01 -1.47311827e-01 1.22656053e-02 6.83406800e+02] [-1.47307348e-01 9.89089948e-01 1.27273213e-03 -2.53419880e+02] [-1.23192754e-02 -5.48063833e-04 -9.99923965e-01 -4.53225224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9265599949999 meters 0.0530941667395559 Centerline is valid? [True, True] Translation: X:682.58, Y:-253.00, Z:-5.53 [[-9.97902766e-01 6.47306939e-02 7.75034321e-05 6.82581995e+02] [-6.47307145e-02 -9.97902723e-01 -3.01224453e-04 -2.53004670e+02] [ 5.78424178e-05 -3.05609567e-04 9.99999952e-01 -5.53461376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.986559995 meters 0.052986025340925384 Centerline is valid? [True, True] Translation: X:682.61, Y:-253.51, Z:-4.54 [[-9.86624488e-01 -1.62396270e-01 1.41269451e-02 6.82612028e+02] [-1.62389471e-01 9.86725386e-01 1.63471049e-03 -2.53505681e+02] [-1.42048862e-02 -6.81221725e-04 -9.99898873e-01 -4.53573623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0465599949999 meters 0.052561702106353136 Centerline is valid? [True, True] Translation: X:682.91, Y:-253.36, Z:-4.54 [[-9.70572540e-01 -2.40334799e-01 1.51039295e-02 6.82914140e+02] [-2.40318153e-01 9.70689741e-01 2.93459855e-03 -2.53361251e+02] [-1.53665156e-02 -7.81507676e-04 -9.99881623e-01 -4.53516218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.106559995 meters 0.05268737889687498 Centerline is valid? [True, True] Translation: X:682.11, Y:-253.03, Z:-5.54 [[-9.90903311e-01 1.34534241e-01 3.34148146e-03 6.82111920e+02] [-1.34534109e-01 -9.90908928e-01 2.65335379e-04 -2.53032987e+02] [ 3.34680051e-03 -1.86621525e-04 9.99994382e-01 -5.53895473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.166559995 meters 0.0533481623598255 Centerline is valid? [True, True] Translation: X:682.10, Y:-253.53, Z:-4.54 [[-9.70141112e-01 -2.42047428e-01 1.54682287e-02 6.82098578e+02] [-2.42028521e-01 9.70264148e-01 3.11108656e-03 -2.53526138e+02] [-1.57612983e-02 -7.25559558e-04 -9.99875520e-01 -4.53870415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.226559995 meters 0.05349343892379774 Centerline is valid? [True, True] Translation: X:682.31, Y:-253.39, Z:-4.54 [[-9.50641130e-01 -3.09917231e-01 1.52562196e-02 6.82306781e+02] [-3.09888663e-01 9.50763300e-01 4.26190499e-03 -2.53394445e+02] [-1.58258914e-02 -6.76187301e-04 -9.99874534e-01 -4.54132426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.286559995 meters 0.05292857082353753 Centerline is valid? [True, True] Translation: X:681.26, Y:-253.19, Z:-5.55 [[-9.74759334e-01 2.23230019e-01 3.54968321e-03 6.81255535e+02] [-2.23229111e-01 -9.74765785e-01 6.54939533e-04 -2.53186329e+02] [ 3.60631190e-03 -1.53984206e-04 9.99993485e-01 -5.54636786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3465599949999 meters 0.05353571412492362 Centerline is valid? [True, True] Translation: X:681.77, Y:-253.55, Z:-4.54 [[-9.50340603e-01 -3.10856413e-01 1.48670289e-02 6.81770417e+02] [-3.10827382e-01 9.50456726e-01 4.28374894e-03 -2.53549728e+02] [-1.54620985e-02 -5.50059129e-04 -9.99880303e-01 -4.54335503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.406559995 meters 0.05359530710318752 Centerline is valid? [True, True] Translation: X:680.95, Y:-253.76, Z:-4.55 [[-9.26438502e-01 -3.76173423e-01 1.43268010e-02 6.80948645e+02] [-3.76136643e-01 9.26549142e-01 5.28338619e-03 -2.53761288e+02] [-1.52619547e-02 -4.94102455e-04 -9.99883408e-01 -4.54581851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4665599949999 meters 0.05360426498520739 Centerline is valid? [True, True] Translation: X:680.83, Y:-253.74, Z:-4.55 [[-8.98264510e-01 -4.39213946e-01 1.45595473e-02 6.80825441e+02] [-4.39164545e-01 8.98382377e-01 6.60347862e-03 -2.53741847e+02] [-1.59803806e-02 -4.62366490e-04 -9.99872199e-01 -4.54636743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.526559995 meters 0.0534207819468667 Centerline is valid? [True, True] Translation: X:681.11, Y:-253.50, Z:-4.55 [[-8.61964719e-01 -5.06777428e-01 1.39090706e-02 6.81113396e+02] [-5.06720693e-01 8.62076789e-01 7.59923364e-03 -2.53501073e+02] [-1.58418070e-02 -4.97742631e-04 -9.99874387e-01 -4.54574535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5865599949999 meters 0.05303172295864899 Centerline is valid? [True, True] Translation: X:680.33, Y:-253.90, Z:-4.55 [[-8.22587371e-01 -5.68488828e-01 1.30564024e-02 6.80330420e+02] [-5.68426768e-01 8.22690830e-01 8.41470642e-03 -2.53903854e+02] [-1.55250491e-02 -4.99777392e-04 -9.99879354e-01 -4.55027472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.646559995 meters 0.053010486697061605 Centerline is valid? [True, True] Translation: X:680.30, Y:-253.83, Z:-4.55 [[-7.74882898e-01 -6.31983860e-01 1.23650593e-02 6.80302519e+02] [-6.31915556e-01 7.74981317e-01 9.31068004e-03 -2.53832338e+02] [-1.54668895e-02 -5.98986583e-04 -9.99880201e-01 -4.55124139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7065599949999 meters 0.05308994758017326 Centerline is valid? [True, True] Translation: X:680.09, Y:-253.92, Z:-4.55 [[-7.24871921e-01 -6.88775764e-01 1.21920178e-02 6.80090298e+02] [-6.88693315e-01 7.24974148e-01 1.06771854e-02 -2.53915340e+02] [-1.61930843e-02 -6.56969253e-04 -9.99868668e-01 -4.55175202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.766559995 meters 0.053114832681475606 Centerline is valid? [True, True] Translation: X:679.97, Y:-253.93, Z:-4.55 [[-6.67523009e-01 -7.44502184e-01 1.13811998e-02 6.79967863e+02] [-7.44413300e-01 6.67619575e-01 1.15300173e-02 -2.53927434e+02] [-1.61824348e-02 -7.75764684e-04 -9.99868755e-01 -4.55080940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8265599949999 meters 0.05326862132966014 Centerline is valid? [True, True] Translation: X:679.82, Y:-253.98, Z:-4.55 [[-6.07407348e-01 -7.94337623e-01 9.16817570e-03 6.79823271e+02] [-7.94266328e-01 6.07476010e-01 1.06722822e-02 -2.53981761e+02] [-1.40468420e-02 -7.99550639e-04 -9.99901019e-01 -4.55437114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.886559995 meters 0.05309946214678415 Centerline is valid? [True, True] Translation: X:679.70, Y:-254.02, Z:-4.56 [[-5.44271716e-01 -8.38877915e-01 7.22105037e-03 6.79701548e+02] [-8.38822576e-01 5.44319035e-01 9.66813487e-03 -2.54023354e+02] [-1.20409400e-02 -7.95087718e-04 -9.99927189e-01 -4.55741404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9465599949999 meters 0.053128013024842255 Centerline is valid? [True, True] Translation: X:679.54, Y:-254.13, Z:-4.56 [[-4.79602968e-01 -8.77464280e-01 6.11800669e-03 6.79542293e+02] [-8.77412824e-01 4.79641330e-01 9.53576517e-03 -2.54131224e+02] [-1.13017422e-02 -7.94636255e-04 -9.99935818e-01 -4.55883455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.006559995 meters 0.05326994692632482 Centerline is valid? [True, True] Translation: X:679.41, Y:-254.21, Z:-4.56 [[-4.11611564e-01 -9.11343881e-01 5.31509713e-03 6.79409467e+02] [-9.11291721e-01 4.11645070e-01 9.78442708e-03 -2.54211518e+02] [-1.11049113e-02 -8.16220683e-04 -9.99938005e-01 -4.55865530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0665599949999 meters 0.05429847455975535 Centerline is valid? [True, True] Translation: X:679.26, Y:-254.35, Z:-4.56 [[-3.41752110e-01 -9.39776961e-01 4.97578547e-03 6.79259908e+02] [-9.39711533e-01 3.41787213e-01 1.11237031e-02 -2.54345820e+02] [-1.21544597e-02 -8.74253978e-04 -9.99925750e-01 -4.55765795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.126559995 meters 0.05141278126189158 Centerline is valid? [True, True] Translation: X:679.14, Y:-254.49, Z:-4.56 [[-2.70381972e-01 -9.62742058e-01 4.61724961e-03 6.79137481e+02] [-9.62655712e-01 2.70419728e-01 1.29287128e-02 -2.54491948e+02] [-1.36956110e-02 -9.49130830e-04 -9.99905760e-01 -4.56002554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1865599949999 meters 0.051606552799052005 Centerline is valid? [True, True] Translation: X:679.01, Y:-254.67, Z:-4.56 [[-2.00444105e-01 -9.79696580e-01 4.09536615e-03 6.79011263e+02] [-9.79581330e-01 2.00483478e-01 1.50596479e-02 -2.54671683e+02] [-1.55749388e-02 -9.93126577e-04 -9.99878210e-01 -4.55954407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.246559995 meters 0.05207405661179026 Centerline is valid? [True, True] Translation: X:678.89, Y:-254.89, Z:-4.56 [[-1.31128878e-01 -9.91360377e-01 3.13372952e-03 6.78885922e+02] [-9.91227368e-01 1.31162708e-01 1.62680099e-02 -2.54890969e+02] [-1.65384889e-02 -9.73032585e-04 -9.99862756e-01 -4.55986148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3065599949999 meters 0.05097524481099279 Centerline is valid? [True, True] Translation: X:678.78, Y:-255.13, Z:-4.56 [[-6.19315631e-02 -9.98078571e-01 1.90989676e-03 6.78784590e+02] [-9.97946591e-01 6.19544799e-02 1.62555737e-02 -2.55132461e+02] [-1.63426664e-02 -8.99241871e-04 -9.99866045e-01 -4.56366689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.366559995 meters 0.05109378049413163 Centerline is valid? [True, True] Translation: X:678.70, Y:-255.43, Z:-4.57 [[ 4.65085419e-03 -9.99988956e-01 6.76447900e-04 6.78696109e+02] [-9.99885388e-01 -4.64062416e-03 1.44109272e-02 -2.55430138e+02] [-1.44076289e-02 -7.43393493e-04 -9.99895928e-01 -4.56625605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4265599949999 meters 0.051510485861353865 Centerline is valid? [True, True] Translation: X:678.63, Y:-255.67, Z:-4.57 [[ 7.03215770e-02 -9.97524315e-01 -3.41216936e-04 6.78630397e+02] [-9.97431979e-01 -7.03197150e-02 1.35862029e-02 -2.55674931e+02] [-1.35765620e-02 -6.15062532e-04 -9.99907645e-01 -4.56783447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.486559995 meters 0.05103937187473549 Centerline is valid? [True, True] Translation: X:678.58, Y:-255.86, Z:-4.57 [[ 1.35787940e-01 -9.90737018e-01 -1.34034894e-03 6.78581006e+02] [-9.90645726e-01 -1.35793636e-01 1.34586098e-02 -2.55859216e+02] [-1.35159538e-02 -4.99705966e-04 -9.99908530e-01 -4.57036132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5465599949999 meters 0.051000813884891236 Centerline is valid? [True, True] Translation: X:678.54, Y:-256.08, Z:-4.57 [[ 2.03812351e-01 -9.79007035e-01 -2.39834822e-03 6.78543651e+02] [-9.78912455e-01 -2.03826014e-01 1.36147247e-02 -2.56079153e+02] [-1.38177570e-02 -4.27076107e-04 -9.99904439e-01 -4.57211808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.606559995 meters 0.05146783157543098 Centerline is valid? [True, True] Translation: X:678.42, Y:-255.90, Z:-4.57 [[ 2.70692368e-01 -9.62660899e-01 -3.10423771e-03 6.78415709e+02] [-9.62581898e-01 -2.70709938e-01 1.23376747e-02 -2.55898588e+02] [-1.27173450e-02 -3.51631341e-04 -9.99919069e-01 -4.57283346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.666559995 meters 0.05193283584413069 Centerline is valid? [True, True] Translation: X:678.58, Y:-256.65, Z:-4.58 [[ 3.35318626e-01 -9.42098513e-01 -3.43669065e-03 6.78580991e+02] [-9.42039604e-01 -3.35336106e-01 1.05394433e-02 -2.56650897e+02] [-1.10816403e-02 -2.96572959e-04 -9.99938553e-01 -4.57698156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.726559995 meters 0.05111417256990996 Centerline is valid? [True, True] Translation: X:678.34, Y:-256.29, Z:-4.58 [[ 4.05024433e-01 -9.14297160e-01 -3.98890698e-03 6.78337017e+02] [-9.14244827e-01 -4.05043951e-01 9.78749083e-03 -2.56291595e+02] [-1.05643577e-02 -3.17335354e-04 -9.99944145e-01 -4.57670465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.786559995 meters 0.05092851152001754 Centerline is valid? [True, True] Translation: X:678.71, Y:-257.21, Z:-4.58 [[ 4.71388066e-01 -8.81910919e-01 -5.14033793e-03 6.78709216e+02] [-8.81851124e-01 -4.71415990e-01 1.02742026e-02 -2.57212222e+02] [-1.14841689e-02 -3.10123701e-04 -9.99934007e-01 -4.57925847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8465599949999 meters 0.05200458860897314 Centerline is valid? [True, True] Translation: X:678.75, Y:-257.44, Z:-4.58 [[ 5.39763411e-01 -8.41791739e-01 -6.49062325e-03 6.78751056e+02] [-8.41722232e-01 -5.39802301e-01 1.08240684e-02 -2.57436959e+02] [-1.26152647e-02 -3.79134178e-04 -9.99920353e-01 -4.57766852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.906559995 meters 0.05153361802299602 Centerline is valid? [True, True] Translation: X:678.71, Y:-257.52, Z:-4.58 [[ 6.03150725e-01 -7.97587859e-01 -7.92530042e-03 6.78713593e+02] [-7.97509748e-01 -6.03202647e-01 1.11699650e-02 -2.57521709e+02] [-1.36895907e-02 -4.16668146e-04 -9.99906206e-01 -4.57842847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9665599949999 meters 0.05165851650321892 Centerline is valid? [True, True] Translation: X:678.79, Y:-257.74, Z:-4.58 [[ 6.61497787e-01 -7.49898192e-01 -8.56611464e-03 6.78791955e+02] [-7.49826643e-01 -6.61553106e-01 1.03678938e-02 -2.57742739e+02] [-1.34418046e-02 -4.35237851e-04 -9.99909560e-01 -4.58008084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.026559995 meters 0.05067875874541756 Centerline is valid? [True, True] Translation: X:678.96, Y:-258.03, Z:-4.58 [[ 7.13867575e-01 -7.00236685e-01 -7.85304665e-03 6.78959838e+02] [-7.00187782e-01 -7.13910646e-01 8.28608184e-03 -2.58030509e+02] [-1.14085921e-02 -4.16557830e-04 -9.99934833e-01 -4.58334846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0865599949999 meters 0.05132311816996333 Centerline is valid? [True, True] Translation: X:678.93, Y:-258.11, Z:-4.59 [[ 7.64406550e-01 -6.44696334e-01 -7.01876506e-03 6.78929535e+02] [-6.44664095e-01 -7.64438660e-01 6.46056633e-03 -2.58113249e+02] [-9.53051879e-03 -4.13753388e-04 -9.99954498e-01 -4.58541755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.146559995 meters 0.05168240979854478 Centerline is valid? [True, True] Translation: X:678.91, Y:-258.19, Z:-4.58 [[ 8.10174746e-01 -5.86138455e-01 -7.65455771e-03 6.78908143e+02] [-5.86107874e-01 -8.10210820e-01 5.99895571e-03 -2.58193299e+02] [-9.71802411e-03 -3.73805867e-04 -9.99952709e-01 -4.58421741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2065599949999 meters 0.051468249808614565 Centerline is valid? [True, True] Translation: X:678.90, Y:-258.27, Z:-4.59 [[ 8.48740609e-01 -5.28731526e-01 -9.07476197e-03 6.78895827e+02] [-5.28697935e-01 -8.48789080e-01 5.96579442e-03 -2.58272616e+02] [-1.08568625e-02 -2.65604083e-04 -9.99941027e-01 -4.58582807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.266559995 meters 0.05209115924965358 Centerline is valid? [True, True] Translation: X:678.89, Y:-258.35, Z:-4.58 [[ 8.83959769e-01 -4.67441798e-01 -1.06439094e-02 6.78890049e+02] [-4.67405837e-01 -8.84023836e-01 5.80006951e-03 -2.58352816e+02] [-1.21206645e-02 -1.52002717e-04 -9.99926530e-01 -4.58412181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3265599949999 meters 0.05276954830806318 Centerline is valid? [True, True] Translation: X:678.89, Y:-258.44, Z:-4.59 [[ 9.15021037e-01 -4.03207552e-01 -1.26559310e-02 6.78885989e+02] [-4.03168774e-01 -9.15108556e-01 5.59190790e-03 -2.58443946e+02] [-1.38362502e-02 -1.42371787e-05 -9.99904274e-01 -4.58572719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.386559995 meters 0.05379255024927367 Centerline is valid? [True, True] Translation: X:678.88, Y:-258.55, Z:-4.58 [[ 9.41868215e-01 -3.35695325e-01 -1.38893517e-02 6.78883954e+02] [-3.35660332e-01 -9.41970615e-01 4.84785732e-03 -2.58547138e+02] [-1.47107642e-02 9.60616811e-05 -9.99891786e-01 -4.58495462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4465599949999 meters 0.053544599601606596 Centerline is valid? [True, True] Translation: X:678.89, Y:-258.64, Z:-4.58 [[ 9.63953994e-01 -2.65631116e-01 -1.52580092e-02 6.78892654e+02] [-2.65601306e-01 -9.64074720e-01 3.98508807e-03 -2.58640022e+02] [-1.57684244e-02 2.11105621e-04 -9.99875648e-01 -4.58420452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.506559995 meters 0.053319383732755264 Centerline is valid? [True, True] Translation: X:678.91, Y:-258.75, Z:-4.59 [[ 9.82056945e-01 -1.88034534e-01 -1.43934447e-02 6.78905920e+02] [-1.88016488e-01 -9.82162407e-01 2.60902193e-03 -2.58751342e+02] [-1.46272865e-02 1.43996813e-04 -9.99893005e-01 -4.58872525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5665599949999 meters 0.053147209247879634 Centerline is valid? [True, True] Translation: X:678.93, Y:-258.86, Z:-4.59 [[ 9.94757570e-01 -1.01532250e-01 -1.21893207e-02 6.78928331e+02] [-1.01523865e-01 -9.94832246e-01 1.30630362e-03 -2.58855038e+02] [-1.22589612e-02 -6.19484692e-05 -9.99924854e-01 -4.58798562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.626559995 meters 0.05297621511958139 Centerline is valid? [True, True] Translation: X:678.95, Y:-258.96, Z:-4.59 [[ 9.99839964e-01 -1.33634384e-02 -1.18938776e-02 6.78953194e+02] [-1.33602168e-02 -9.99910687e-01 3.50281636e-04 -2.58955046e+02] [-1.18974963e-02 -1.91320794e-04 -9.99929204e-01 -4.58800232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6865599949999 meters 0.05218871775433242 Centerline is valid? [True, True] Translation: X:678.99, Y:-259.06, Z:-4.59 [[ 9.97052552e-01 7.57437991e-02 -1.22100211e-02 6.78985228e+02] [ 7.57419979e-02 -9.97127262e-01 -6.10538812e-04 -2.59058210e+02] [-1.22211895e-02 -3.16072115e-04 -9.99925269e-01 -4.58700391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.746559995 meters 0.05166566600887907 Centerline is valid? [True, True] Translation: X:679.03, Y:-259.15, Z:-4.59 [[ 9.85506032e-01 1.69150096e-01 -1.28882374e-02 6.79025882e+02] [ 1.69142415e-01 -9.85590169e-01 -1.69161762e-03 -2.59145788e+02] [-1.29886573e-02 -5.12848226e-04 -9.99915512e-01 -4.58570611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8065599949999 meters 0.05137193314144586 Centerline is valid? [True, True] Translation: X:679.07, Y:-259.22, Z:-4.59 [[ 9.66563803e-01 2.56104143e-01 -1.28484408e-02 6.79072349e+02] [ 2.56090436e-01 -9.66648976e-01 -2.72886694e-03 -2.59222802e+02] [-1.31188062e-02 -6.52738785e-04 -9.99913732e-01 -4.58610032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.866559995 meters 0.05126384592928001 Centerline is valid? [True, True] Translation: X:679.12, Y:-259.30, Z:-4.59 [[ 9.42391260e-01 3.34306896e-01 -1.17307932e-02 6.79124659e+02] [ 3.34289886e-01 -9.42464025e-01 -3.44010099e-03 -2.59295653e+02] [-1.22059000e-02 -6.79564404e-04 -9.99925274e-01 -4.58719808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9265599949999 meters 0.05203341247236604 Centerline is valid? [True, True] Translation: X:679.18, Y:-259.37, Z:-4.59 [[ 9.12862073e-01 4.08125817e-01 -1.07773979e-02 6.79182865e+02] [ 4.08106029e-01 -9.12925439e-01 -4.07567039e-03 -2.59366840e+02] [-1.15023470e-02 -6.77796128e-04 -9.99933616e-01 -4.58620883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.986559995 meters 0.05142970890375598 Centerline is valid? [True, True] Translation: X:679.24, Y:-259.42, Z:-4.59 [[ 8.78758585e-01 4.77153488e-01 -1.03873918e-02 6.79240962e+02] [ 4.77128908e-01 -8.78819727e-01 -4.88807034e-03 -2.59419324e+02] [-1.14610046e-02 -6.60691135e-04 -9.99934102e-01 -4.58698102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0465599949999 meters 0.0513409142561278 Centerline is valid? [True, True] Translation: X:679.30, Y:-259.47, Z:-4.59 [[ 8.39768289e-01 5.42838262e-01 -1.07630200e-02 6.79304544e+02] [ 5.42803505e-01 -8.39837004e-01 -6.17758068e-03 -2.59473385e+02] [-1.23926096e-02 -6.54468619e-04 -9.99922994e-01 -4.58652063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.106559995 meters 0.050941887966621816 Centerline is valid? [True, True] Translation: X:679.37, Y:-259.52, Z:-4.59 [[ 7.95881894e-01 6.05354200e-01 -1.08767288e-02 6.79373449e+02] [ 6.05308507e-01 -7.95955953e-01 -7.46538243e-03 -2.59524054e+02] [-1.31765976e-02 -6.42213733e-04 -9.99912979e-01 -4.58588715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.166559995 meters 0.05110555970438703 Centerline is valid? [True, True] Translation: X:679.44, Y:-259.56, Z:-4.59 [[ 7.49506294e-01 6.61916119e-01 -1.03617620e-02 6.79441344e+02] [ 6.61863278e-01 -7.49577695e-01 -8.38331946e-03 -2.59563465e+02] [-1.33160000e-02 -5.74719093e-04 -9.99911173e-01 -4.58635336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.226559995 meters 0.05076430967433109 Centerline is valid? [True, True] Translation: X:679.51, Y:-259.60, Z:-4.59 [[ 7.01488244e-01 7.12622210e-01 -9.15583842e-03 6.79507633e+02] [ 7.12569902e-01 -7.01547843e-01 -8.64637274e-03 -2.59595037e+02] [-1.25848559e-02 -4.58846053e-04 -9.99920702e-01 -4.58650356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.286559995 meters 0.05166305252539751 Centerline is valid? [True, True] Translation: X:679.57, Y:-259.62, Z:-4.59 [[ 6.48219533e-01 7.61409621e-01 -8.17468559e-03 6.79574425e+02] [ 7.61356395e-01 -6.48270964e-01 -9.01101000e-03 -2.59619173e+02] [-1.21604810e-02 -3.82736454e-04 -9.99925985e-01 -4.58757342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3465599949999 meters 0.051814595821596796 Centerline is valid? [True, True] Translation: X:679.65, Y:-259.64, Z:-4.59 [[ 5.88532262e-01 8.08453486e-01 -5.72170656e-03 6.79648173e+02] [ 8.08421233e-01 -5.88559958e-01 -7.23096173e-03 -2.59643270e+02] [-9.21346359e-03 -3.69894815e-04 -9.99957487e-01 -4.59034631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.406559995 meters 0.051054644053865214 Centerline is valid? [True, True] Translation: X:679.72, Y:-259.66, Z:-4.59 [[ 5.25454198e-01 8.50805097e-01 -5.34542062e-03 6.79717831e+02] [ 8.50767552e-01 -5.25481274e-01 -8.00018763e-03 -2.59658273e+02] [-9.61551885e-03 -3.43978241e-04 -9.99953711e-01 -4.59203344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4665599949999 meters 0.050970915062925094 Centerline is valid? [True, True] Translation: X:679.80, Y:-259.68, Z:-4.59 [[ 4.59054820e-01 8.88394690e-01 -4.85245333e-03 6.79802919e+02] [ 8.88352217e-01 -4.59080355e-01 -8.69286913e-03 -2.59675122e+02] [-9.95036477e-03 -3.20184198e-04 -9.99950443e-01 -4.59250814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.526559995 meters 0.05168337540215731 Centerline is valid? [True, True] Translation: X:679.89, Y:-259.69, Z:-4.59 [[ 3.89605063e-01 9.20974664e-01 -3.68291595e-03 6.79890891e+02] [ 9.20940914e-01 -3.89622340e-01 -7.89078046e-03 -2.59686145e+02] [-8.70215522e-03 -3.17459967e-04 -9.99962085e-01 -4.59283861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5865599949999 meters 0.05188054945449793 Centerline is valid? [True, True] Translation: X:679.97, Y:-259.69, Z:-4.59 [[ 3.16685580e-01 9.48526485e-01 -2.78413666e-03 6.79972342e+02] [ 9.48498316e-01 -3.16697653e-01 -7.31711863e-03 -2.59689010e+02] [-7.82221035e-03 -3.23522978e-04 -9.99969354e-01 -4.59490811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.646559995 meters 0.05144218913944627 Centerline is valid? [True, True] Translation: X:680.06, Y:-259.69, Z:-4.60 [[ 2.39951102e-01 9.70782517e-01 -2.18467445e-03 6.80058053e+02] [ 9.70754061e-01 -2.39960813e-01 -7.44057242e-03 -2.59685307e+02] [-7.74741388e-03 -3.35408040e-04 -9.99969932e-01 -4.59572037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7065599949999 meters 0.051738274047998606 Centerline is valid? [True, True] Translation: X:680.14, Y:-259.67, Z:-4.60 [[ 1.61949876e-01 9.86797544e-01 -1.68681359e-03 6.80136689e+02] [ 9.86763660e-01 -1.61958306e-01 -8.18453819e-03 -2.59673884e+02] [-8.34967565e-03 -3.39001403e-04 -9.99965083e-01 -4.59583117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.766559995 meters 0.05210508108817002 Centerline is valid? [True, True] Translation: X:680.21, Y:-259.66, Z:-4.60 [[ 8.17756928e-02 9.96650121e-01 -1.12803969e-03 6.80214619e+02] [ 9.96605321e-01 -8.17827198e-02 -9.45622524e-03 -2.59655854e+02] [-9.51680219e-03 -3.50920991e-04 -9.99954653e-01 -4.59549292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8265599949999 meters 0.051455138645398614 Centerline is valid? [True, True] Translation: X:680.29, Y:-259.63, Z:-4.60 [[ 1.49769427e-03 9.99998806e-01 -3.81660568e-04 6.80288540e+02] [ 9.99947116e-01 -1.50149987e-03 -1.01739917e-02 -2.59632041e+02] [-1.01745527e-02 -3.66402855e-04 -9.99948171e-01 -4.59535884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.886559995 meters 0.05158017585861853 Centerline is valid? [True, True] Translation: X:680.36, Y:-259.60, Z:-4.60 [[-8.14404460e-02 9.96678158e-01 3.21275910e-04 6.80359571e+02] [ 9.96637615e-01 8.14400339e-02 -8.99921616e-03 -2.59603327e+02] [-8.99548690e-03 -4.12704521e-04 -9.99959455e-01 -4.59626820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9465599949999 meters 0.05131674913194042 Centerline is valid? [True, True] Translation: X:680.43, Y:-259.57, Z:-4.60 [[-1.62974209e-01 9.86629971e-01 8.40847343e-04 6.80426972e+02] [ 9.86599259e-01 1.62975781e-01 -7.79719319e-03 -2.59568205e+02] [-7.82998225e-03 -4.41162029e-04 -9.99969248e-01 -4.59757703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.006559995 meters 0.05110388052878654 Centerline is valid? [True, True] Translation: X:680.49, Y:-259.53, Z:-4.60 [[-2.43534648e-01 9.69891262e-01 1.34703913e-03 6.80491998e+02] [ 9.69864021e-01 2.43537925e-01 -7.28430109e-03 -2.59527047e+02] [-7.39303509e-03 -4.67534910e-04 -9.99972562e-01 -4.59867952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0665599949999 meters 0.05106510006271089 Centerline is valid? [True, True] Translation: X:680.56, Y:-259.48, Z:-4.60 [[-3.21927690e-01 9.46761688e-01 2.20665047e-03 6.80558755e+02] [ 9.46727590e-01 3.21934860e-01 -8.05088039e-03 -2.59478872e+02] [-8.33266281e-03 -5.02704443e-04 -9.99965156e-01 -4.59822535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.126559995 meters 0.05117124312357757 Centerline is valid? [True, True] Translation: X:680.63, Y:-259.42, Z:-4.60 [[-3.98765495e-01 9.17046253e-01 3.49999516e-03 6.80628742e+02] [ 9.16997627e-01 3.98780458e-01 -9.46040240e-03 -2.59422324e+02] [-1.00713562e-02 -5.62994791e-04 -9.99949124e-01 -4.59659519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1865599949999 meters 0.0510873071374805 Centerline is valid? [True, True] Translation: X:680.69, Y:-259.36, Z:-4.60 [[-4.71213383e-01 8.82002747e-01 5.39465345e-03 6.80693477e+02] [ 8.81928867e-01 4.71243842e-01 -1.14330514e-02 -2.59361053e+02] [-1.26261800e-02 -6.29706233e-04 -9.99920088e-01 -4.59671258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.246559995 meters 0.051417599770452314 Centerline is valid? [True, True] Translation: X:680.76, Y:-259.29, Z:-4.60 [[-5.38531202e-01 8.42578745e-01 6.72328549e-03 6.80757257e+02] [ 8.42497660e-01 5.38572789e-01 -1.17066033e-02 -2.59293070e+02] [-1.34847138e-02 -6.40018879e-04 -9.99908872e-01 -4.59601068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3065599949999 meters 0.05175462987746235 Centerline is valid? [True, True] Translation: X:680.81, Y:-259.22, Z:-4.60 [[-6.00877421e-01 7.99300462e-01 8.06822931e-03 6.80809056e+02] [ 7.99214184e-01 6.00931268e-01 -1.17600337e-02 -2.59224182e+02] [-1.42482516e-02 -6.18095384e-04 -9.99898297e-01 -4.59645127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.366559995 meters 0.05086890139242996 Centerline is valid? [True, True] Translation: X:680.85, Y:-259.15, Z:-4.60 [[-6.56135267e-01 7.54601555e-01 7.93750431e-03 6.80854954e+02] [ 7.54536888e-01 6.56183086e-01 -9.89153451e-03 -2.59152184e+02] [-1.26726234e-02 -5.01044833e-04 -9.99919574e-01 -4.59924186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4265599949999 meters 0.05120313245943227 Centerline is valid? [True, True] Translation: X:680.89, Y:-259.08, Z:-4.60 [[-7.08146601e-01 7.06033501e-01 6.71469579e-03 6.80893054e+02] [ 7.05996202e-01 7.08178318e-01 -7.26867152e-03 -2.59080534e+02] [-9.88712757e-03 -4.06735305e-04 -9.99951038e-01 -4.60014822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.486559995 meters 0.05101881231149335 Centerline is valid? [True, True] Translation: X:680.91, Y:-259.00, Z:-4.60 [[-7.53958528e-01 6.56885596e-01 6.91745209e-03 6.80907016e+02] [ 6.56853840e-01 7.53990187e-01 -6.46757592e-03 -2.58997837e+02] [-9.46414846e-03 -3.32529045e-04 -9.99955159e-01 -4.60018974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5465599949999 meters 0.05156708281357363 Centerline is valid? [True, True] Translation: X:680.92, Y:-258.91, Z:-4.60 [[-7.98642850e-01 6.01749131e-01 8.22077236e-03 6.80918900e+02] [ 6.01712962e-01 7.98685091e-01 -6.60578982e-03 -2.58912528e+02] [-1.05408366e-02 -3.29121522e-04 -9.99944390e-01 -4.60072428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.606559995 meters 0.051058005303346504 Centerline is valid? [True, True] Translation: X:681.29, Y:-258.33, Z:-5.59 [[-7.57965268e-01 -6.52291927e-01 1.97378772e-03 6.81289626e+02] [ 6.52289126e-01 -7.57967819e-01 -1.91863056e-03 -2.58332427e+02] [ 2.74757480e-03 -1.66775053e-04 9.99996212e-01 -5.59349840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.666559995 meters 0.05155922934302896 Centerline is valid? [True, True] Translation: X:680.84, Y:-258.86, Z:-4.60 [[-8.04651728e-01 5.93658887e-01 1.02334226e-02 6.80837240e+02] [ 5.93604405e-01 8.04716696e-01 -8.05288467e-03 -2.58855112e+02] [-1.30156726e-02 -4.05162839e-04 -9.99915210e-01 -4.59968251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.726559995 meters 0.0511553417634931 Centerline is valid? [True, True] Translation: X:680.91, Y:-258.81, Z:-4.60 [[-8.47978607e-01 5.29933418e-01 1.01417159e-02 6.80913478e+02] [ 5.29888730e-01 8.48039118e-01 -6.89837798e-03 -2.58811448e+02] [-1.22562529e-02 -4.75695981e-04 -9.99924776e-01 -4.59933491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.786559995 meters 0.05114042171770145 Centerline is valid? [True, True] Translation: X:680.89, Y:-258.71, Z:-4.60 [[-8.85250815e-01 4.64979787e-01 1.11710934e-02 6.80890303e+02] [ 4.64935110e-01 8.85321137e-01 -6.46748336e-03 -2.58707425e+02] [-1.28972542e-02 -5.31511375e-04 -9.99916686e-01 -4.59982251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8465599949999 meters 0.0511435125779367 Centerline is valid? [True, True] Translation: X:681.19, Y:-258.10, Z:-5.59 [[-8.36988789e-01 -5.47215443e-01 2.24167006e-03 6.81191391e+02] [ 5.47212628e-01 -8.36991752e-01 -1.77408546e-03 -2.58097494e+02] [ 2.84706631e-03 -2.58219472e-04 9.99995914e-01 -5.59449445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.906559995 meters 0.050920138261544505 Centerline is valid? [True, True] Translation: X:680.82, Y:-258.67, Z:-4.60 [[-8.87177353e-01 4.61339805e-01 9.05148762e-03 6.80815973e+02] [ 4.61309955e-01 8.87223384e-01 -5.27184339e-03 -2.58672950e+02] [-1.04628027e-02 -5.01518718e-04 -9.99945138e-01 -4.60259391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9665599949999 meters 0.050763248936638826 Centerline is valid? [True, True] Translation: X:681.08, Y:-258.04, Z:-5.59 [[-8.41736257e-01 -5.39884613e-01 -2.16284557e-03 6.81075649e+02] [ 5.39884077e-01 -8.41738925e-01 8.74567793e-04 -2.58041099e+02] [-2.29271700e-03 -4.31530465e-04 9.99997279e-01 -5.59298657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.026559995 meters 0.05042598176925975 Centerline is valid? [True, True] Translation: X:680.60, Y:-258.55, Z:-4.60 [[-8.84785775e-01 4.65949045e-01 6.75424250e-03 6.80596277e+02] [ 4.65932032e-01 8.84811468e-01 -4.00095506e-03 -2.58552804e+02] [-7.84047240e-03 -3.92970191e-04 -9.99969186e-01 -4.60418440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0865599949999 meters 0.05054880676890495 Centerline is valid? [True, True] Translation: X:680.90, Y:-257.94, Z:-5.59 [[-8.46737075e-01 -5.32009571e-01 -1.46344808e-03 6.80900762e+02] [ 5.32009256e-01 -8.46738304e-01 6.29006380e-04 -2.57942012e+02] [-1.57379496e-03 -2.45964900e-04 9.99998731e-01 -5.59388017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.146559995 meters 0.05059557556093911 Centerline is valid? [True, True] Translation: X:680.48, Y:-258.49, Z:-4.60 [[-8.83928621e-01 4.67539445e-01 8.77845030e-03 6.80478313e+02] [ 4.67512438e-01 8.83972141e-01 -5.03728423e-03 -2.58494114e+02] [-1.01150346e-02 -3.48564997e-04 -9.99948781e-01 -4.60307123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2065599949999 meters 0.05141896238411464 Centerline is valid? [True, True] Translation: X:680.71, Y:-257.84, Z:-5.60 [[-8.52882232e-01 -5.22101431e-01 1.41230483e-03 6.80709265e+02] [ 5.22100426e-01 -8.52883389e-01 -1.03461432e-03 -2.57835885e+02] [ 1.74470495e-03 -1.45039219e-04 9.99998467e-01 -5.60128556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.266559995 meters 0.0511231741629551 Centerline is valid? [True, True] Translation: X:680.26, Y:-258.38, Z:-4.60 [[-8.82740572e-01 4.69749356e-01 1.02286755e-02 6.80259286e+02] [ 4.69714184e-01 8.82799789e-01 -5.75485399e-03 -2.58378353e+02] [-1.17332115e-02 -2.75489154e-04 -9.99931126e-01 -4.60344215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3265599949999 meters 0.051307952206062074 Centerline is valid? [True, True] Translation: X:680.43, Y:-258.38, Z:-4.60 [[-9.13634084e-01 4.06378617e-01 1.13657223e-02 6.80428737e+02] [ 4.06343597e-01 9.13704739e-01 -5.34134154e-03 -2.58376083e+02] [-1.25555213e-02 -2.61643214e-04 -9.99921142e-01 -4.60195406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.386559995 meters 0.05117977576981164 Centerline is valid? [True, True] Translation: X:680.41, Y:-258.28, Z:-4.60 [[-9.40496750e-01 3.39605007e-01 1.15889210e-02 6.80411640e+02] [ 3.39575644e-01 9.40568107e-01 -4.47411639e-03 -2.58284234e+02] [-1.24196019e-02 -2.72576598e-04 -9.99922837e-01 -4.60006340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4465599949999 meters 0.05107352462726306 Centerline is valid? [True, True] Translation: X:680.88, Y:-258.34, Z:-4.60 [[-9.63681611e-01 2.66818599e-01 1.12066194e-02 6.80878337e+02] [ 2.66796811e-01 9.63746720e-01 -3.42376658e-03 -2.58336728e+02] [-1.17138673e-02 -3.09530575e-04 -9.99931342e-01 -4.59995621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.506559995 meters 0.05103504609225316 Centerline is valid? [True, True] Translation: X:680.38, Y:-257.49, Z:-5.60 [[-9.46359660e-01 -3.23114011e-01 -8.54571890e-04 6.80379005e+02] [ 3.23114219e-01 -9.46359968e-01 -1.13847575e-04 -2.57487028e+02] [-7.71946880e-04 -3.83865081e-04 9.99999628e-01 -5.59885387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5665599949999 meters 0.05044282967969095 Centerline is valid? [True, True] Translation: X:680.03, Y:-258.09, Z:-4.61 [[-9.65932737e-01 2.58677075e-01 7.75355856e-03 6.80027686e+02] [ 2.58665877e-01 9.65963795e-01 -2.43116352e-03 -2.58085149e+02] [-8.11854312e-03 -3.42759411e-04 -9.99966985e-01 -4.60644664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.626559995 meters 0.050816149691456 Centerline is valid? [True, True] Translation: X:680.02, Y:-258.00, Z:-4.61 [[-9.82237957e-01 1.87463142e-01 8.13420704e-03 6.80021597e+02] [ 1.87453678e-01 9.82271572e-01 -1.91754688e-03 -2.58004896e+02] [-8.34946971e-03 -3.58700305e-04 -9.99965078e-01 -4.60646737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6865599949999 meters 0.05098260219245324 Centerline is valid? [True, True] Translation: X:680.14, Y:-257.36, Z:-5.60 [[-9.66178433e-01 -2.57873024e-01 -8.59810684e-04 6.80135816e+02] [ 2.57873161e-01 -9.66178778e-01 -5.14347838e-05 -2.57356542e+02] [-8.17467193e-04 -2.71417278e-04 9.99999629e-01 -5.60236751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.746559995 meters 0.05089134750620224 Centerline is valid? [True, True] Translation: X:679.94, Y:-257.99, Z:-4.60 [[-9.83364191e-01 1.81390572e-01 9.60876650e-03 6.79938451e+02] [ 1.81378088e-01 9.83411060e-01 -2.16237033e-03 -2.57987661e+02] [-9.84160084e-03 -3.83577849e-04 -9.99951497e-01 -4.60391044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8065599949999 meters 0.05112360856078414 Centerline is valid? [True, True] Translation: X:679.98, Y:-257.92, Z:-4.60 [[-9.93809790e-01 1.10587073e-01 1.06113587e-02 6.79976723e+02] [ 1.10576567e-01 9.93866363e-01 -1.57354775e-03 -2.57915279e+02] [-1.07202865e-02 -3.90439544e-04 -9.99942460e-01 -4.60231993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.866559995 meters 0.05130542607446083 Centerline is valid? [True, True] Translation: X:679.80, Y:-257.82, Z:-4.60 [[-9.99177685e-01 3.90393854e-02 1.09490106e-02 6.79800765e+02] [ 3.90326744e-02 9.99237593e-01 -8.26039177e-04 -2.57824483e+02] [-1.09729110e-02 -3.97990747e-04 -9.99939717e-01 -4.60395880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9265599949999 meters 0.05057322039329143 Centerline is valid? [True, True] Translation: X:679.80, Y:-257.75, Z:-4.60 [[-9.99344760e-01 -3.44738941e-02 1.10273370e-02 6.79800080e+02] [-3.44764689e-02 9.99405509e-01 -4.34256314e-05 -2.57747276e+02] [-1.10192843e-02 -4.23580819e-04 -9.99939196e-01 -4.60322196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.986559995 meters 0.05080397986828681 Centerline is valid? [True, True] Translation: X:679.75, Y:-257.67, Z:-4.60 [[-9.94216962e-01 -1.06812834e-01 1.11198140e-02 6.79749626e+02] [-1.06811069e-01 9.94279049e-01 7.54183173e-04 -2.57674415e+02] [-1.11367546e-02 -4.37897516e-04 -9.99937889e-01 -4.60399232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0465599949999 meters 0.0505800446816167 Centerline is valid? [True, True] Translation: X:679.71, Y:-257.60, Z:-4.60 [[-9.83873027e-01 -1.78566200e-01 1.03912461e-02 6.79707991e+02] [-1.78560991e-01 9.83927800e-01 1.43446371e-03 -2.57602855e+02] [-1.04803827e-02 -4.44141055e-04 -9.99944981e-01 -4.60444428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.106559995 meters 0.050887704353262286 Centerline is valid? [True, True] Translation: X:679.54, Y:-256.98, Z:-5.61 [[-9.95724717e-01 9.23696680e-02 3.62617056e-04 6.79538339e+02] [-9.23697773e-02 -9.95724729e-01 -2.97198338e-04 -2.56975309e+02] [ 3.33614657e-04 -3.29422588e-04 9.99999890e-01 -5.60799782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.166559995 meters 0.05066228812331651 Centerline is valid? [True, True] Translation: X:679.52, Y:-257.64, Z:-4.61 [[-9.83285863e-01 -1.81817990e-01 9.54624520e-03 6.79522517e+02] [-1.81813630e-01 9.83332108e-01 1.32992633e-03 -2.57635254e+02] [-9.62893395e-03 -4.27939735e-04 -9.99953549e-01 -4.60518110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.226559995 meters 0.05055159946827572 Centerline is valid? [True, True] Translation: X:679.45, Y:-257.58, Z:-4.61 [[-9.68223650e-01 -2.49906079e-01 9.48238143e-03 6.79452399e+02] [-2.49898239e-01 9.68269994e-01 2.02191109e-03 -2.57575632e+02] [-9.68679328e-03 -4.11968282e-04 -9.99952997e-01 -4.60652216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.286559995 meters 0.05083395672213213 Centerline is valid? [True, True] Translation: X:679.35, Y:-257.53, Z:-4.60 [[-9.48970055e-01 -3.15223315e-01 9.49188926e-03 6.79354267e+02] [-3.15211530e-01 9.49017448e-01 2.75209782e-03 -2.57526383e+02] [-9.87549393e-03 -3.80294523e-04 -9.99951164e-01 -4.60492974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3465599949999 meters 0.050908558849134165 Centerline is valid? [True, True] Translation: X:679.21, Y:-257.50, Z:-4.61 [[-9.25636270e-01 -3.78308814e-01 8.94071585e-03 6.79212448e+02] [-3.78294681e-01 9.25679386e-01 3.28755358e-03 -2.57503272e+02] [-9.51994686e-03 -3.39146412e-04 -9.99954627e-01 -4.60704327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.406559995 meters 0.050848408328635 Centerline is valid? [True, True] Translation: X:679.09, Y:-257.48, Z:-4.61 [[-8.97033839e-01 -4.41877168e-01 8.65214419e-03 6.79091828e+02] [-4.41860034e-01 8.97075507e-01 3.90446214e-03 -2.57478220e+02] [-9.48691932e-03 -3.20602067e-04 -9.99954947e-01 -4.60678566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4665599949999 meters 0.050926285949628 Centerline is valid? [True, True] Translation: X:678.96, Y:-257.47, Z:-4.60 [[-8.62427263e-01 -5.06099042e-01 9.10912426e-03 6.78956886e+02] [-5.06074780e-01 8.62475305e-01 4.96629832e-03 -2.57466639e+02] [-1.03698335e-02 -3.26826997e-04 -9.99946178e-01 -4.60433451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.526559995 meters 0.05079901382856791 Centerline is valid? [True, True] Translation: X:678.79, Y:-257.48, Z:-4.61 [[-8.22595625e-01 -5.68554904e-01 9.04209497e-03 6.78794850e+02] [-5.68525121e-01 8.22645247e-01 5.82961833e-03 -2.57479589e+02] [-1.07528945e-02 -3.45239606e-04 -9.99942126e-01 -4.60725681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5865599949999 meters 0.050419256481606306 Centerline is valid? [True, True] Translation: X:678.66, Y:-257.48, Z:-4.61 [[-7.76158299e-01 -6.30469950e-01 9.27023723e-03 6.78660611e+02] [-6.30431021e-01 7.76213556e-01 7.01737364e-03 -2.57482375e+02] [-1.16199270e-02 -3.97652337e-04 -9.99932407e-01 -4.60782251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.646559995 meters 0.05029304399130749 Centerline is valid? [True, True] Translation: X:678.51, Y:-257.51, Z:-4.61 [[-7.25921188e-01 -6.87728415e-01 8.24964245e-03 6.78507715e+02] [-6.87690544e-01 7.25967938e-01 7.22976784e-03 -2.57509496e+02] [-1.09610927e-02 -4.24959451e-04 -9.99939835e-01 -4.60781072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7065599949999 meters 0.05039913140274778 Centerline is valid? [True, True] Translation: X:678.33, Y:-257.58, Z:-4.61 [[-6.73772169e-01 -7.38909968e-01 6.56691849e-03 6.78328155e+02] [-7.38880670e-01 6.73804045e-01 6.59274219e-03 -2.57579324e+02] [-9.29625916e-03 -4.10162930e-04 -9.99956705e-01 -4.60954493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.766559995 meters 0.050675090348223095 Centerline is valid? [True, True] Translation: X:678.14, Y:-257.68, Z:-4.61 [[-6.20158362e-01 -7.84459046e-01 5.25469665e-03 6.78138288e+02] [-7.84435898e-01 6.20180509e-01 6.03812372e-03 -2.57683114e+02] [-7.99552122e-03 -3.77379767e-04 -9.99967964e-01 -4.61163938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8265599949999 meters 0.050281799938150865 Centerline is valid? [True, True] Translation: X:677.95, Y:-257.81, Z:-4.61 [[-5.62816358e-01 -8.26569469e-01 4.54536478e-03 6.77950896e+02] [-8.26547496e-01 5.62834597e-01 6.03769143e-03 -2.57809741e+02] [-7.54885995e-03 -3.58848373e-04 -9.99971443e-01 -4.61300113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.886559995 meters 0.05067342711860548 Centerline is valid? [True, True] Translation: X:677.78, Y:-257.94, Z:-4.61 [[-5.02612992e-01 -8.64501274e-01 4.21038035e-03 6.77780176e+02] [-8.64476424e-01 5.02630511e-01 6.56362651e-03 -2.57940127e+02] [-7.79052911e-03 -3.40810592e-04 -9.99969595e-01 -4.61437435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9465599949999 meters 0.05102845608331435 Centerline is valid? [True, True] Translation: X:677.90, Y:-257.54, Z:-4.61 [[-4.36034173e-01 -8.99920317e-01 4.19805464e-03 6.77897893e+02] [-8.99885920e-01 4.36054246e-01 7.87564041e-03 -2.57539006e+02] [-8.91802836e-03 -3.43721912e-04 -9.99960175e-01 -4.61220366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.006559995 meters 0.05131046135936413 Centerline is valid? [True, True] Translation: X:677.72, Y:-257.71, Z:-4.61 [[-3.69601117e-01 -9.29180151e-01 4.38879479e-03 6.77720369e+02] [-9.29124490e-01 3.69627037e-01 1.01752121e-02 -2.57709538e+02] [-1.10768223e-02 -3.16966960e-04 -9.99938600e-01 -4.61133969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0665599949999 meters 0.0513299548986793 Centerline is valid? [True, True] Translation: X:676.89, Y:-257.99, Z:-5.62 [[-4.27300296e-01 9.04108859e-01 1.27592309e-03 6.76886504e+02] [-9.04106279e-01 -4.27302142e-01 2.17171098e-03 -2.57991067e+02] [ 2.50866781e-03 -2.25597332e-04 9.99996828e-01 -5.62135908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.126559995 meters 0.05126767543884239 Centerline is valid? [True, True] Translation: X:677.39, Y:-258.49, Z:-4.62 [[-3.64558842e-01 -9.31168770e-01 4.64450608e-03 6.77393189e+02] [-9.31103426e-01 3.64588302e-01 1.10353894e-02 -2.58488927e+02] [-1.19691426e-02 -3.01466743e-04 -9.99928322e-01 -4.61542071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1865599949999 meters 0.05160019011557251 Centerline is valid? [True, True] Translation: X:677.45, Y:-258.08, Z:-4.61 [[-2.91883070e-01 -9.56444774e-01 4.20338196e-03 6.77445466e+02] [-9.56360535e-01 2.91913166e-01 1.26976350e-02 -2.58076979e+02] [-1.33716091e-02 -3.13723951e-04 -9.99910547e-01 -4.61400993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.246559995 meters 0.05136627942403798 Centerline is valid? [True, True] Translation: X:677.15, Y:-258.88, Z:-4.62 [[-2.21402230e-01 -9.75177153e-01 3.25159759e-03 6.77146559e+02] [-9.75091828e-01 2.21425883e-01 1.29037084e-02 -2.58875633e+02] [-1.33033894e-02 -3.13696435e-04 -9.99911457e-01 -4.61629894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3065599949999 meters 0.05162472387933575 Centerline is valid? [True, True] Translation: X:677.02, Y:-259.15, Z:-4.62 [[-1.46929651e-01 -9.89144680e-01 2.11647292e-03 6.77017415e+02] [-9.89073687e-01 1.46944474e-01 1.18559089e-02 -2.59148487e+02] [-1.20382132e-02 -3.51363110e-04 -9.99927476e-01 -4.62016791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.366559995 meters 0.05144251800584036 Centerline is valid? [True, True] Translation: X:676.92, Y:-259.32, Z:-4.62 [[-6.86778692e-02 -9.97638182e-01 1.18692559e-03 6.76917943e+02] [-9.97573429e-01 6.86869431e-02 1.13735722e-02 -2.59318429e+02] [-1.14282362e-02 -4.02932725e-04 -9.99934614e-01 -4.61944928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4265599949999 meters 0.05094127334417407 Centerline is valid? [True, True] Translation: X:676.84, Y:-259.34, Z:-4.62 [[ 8.63238002e-03 -9.99962685e-01 3.33847296e-04 6.76837611e+02] [-9.99895615e-01 -8.62793176e-03 1.15895209e-02 -2.59344030e+02] [-1.15862081e-02 -4.33857596e-04 -9.99932784e-01 -4.62039627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.486559995 meters 0.051056861403277934 Centerline is valid? [True, True] Translation: X:676.77, Y:-259.63, Z:-4.62 [[ 8.42788681e-02 -9.96442054e-01 -5.52897819e-04 6.76768402e+02] [-9.96370828e-01 -8.42794593e-02 1.19224777e-02 -2.59629648e+02] [-1.19266561e-02 -4.53921670e-04 -9.99928772e-01 -4.62358938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5465599949999 meters 0.05098125825394214 Centerline is valid? [True, True] Translation: X:676.72, Y:-259.94, Z:-4.62 [[ 1.56758784e-01 -9.87635863e-01 -1.44403999e-03 6.76721272e+02] [-9.87563848e-01 -1.56764803e-01 1.19349180e-02 -2.59936317e+02] [-1.20137277e-02 -4.44821535e-04 -9.99927734e-01 -4.62358240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.606559995 meters 0.05131566206435549 Centerline is valid? [True, True] Translation: X:676.70, Y:-260.23, Z:-4.62 [[ 2.28750167e-01 -9.73482284e-01 -2.36723776e-03 6.76696354e+02] [-9.73408465e-01 -2.28761992e-01 1.19963003e-02 -2.60226180e+02] [-1.22197198e-02 -4.39866419e-04 -9.99925240e-01 -4.62394785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.666559995 meters 0.05101997257737371 Centerline is valid? [True, True] Translation: X:676.68, Y:-260.46, Z:-4.63 [[ 2.99611601e-01 -9.54055385e-01 -3.34811776e-03 6.76682298e+02] [-9.53978576e-01 -2.99629992e-01 1.21138016e-02 -2.60460992e+02] [-1.25604342e-02 -4.35402891e-04 -9.99921020e-01 -4.62654168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.726559995 meters 0.051088080386893935 Centerline is valid? [True, True] Translation: X:676.68, Y:-260.70, Z:-4.63 [[ 3.69417774e-01 -9.29252773e-01 -4.44876666e-03 6.76683821e+02] [-9.29170419e-01 -3.69444299e-01 1.23791407e-02 -2.60697059e+02] [-1.31469223e-02 -4.39412225e-04 -9.99913479e-01 -4.62782129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.786559995 meters 0.05099935467800124 Centerline is valid? [True, True] Translation: X:676.65, Y:-260.82, Z:-4.63 [[ 4.37609880e-01 -8.99148769e-01 -5.39303635e-03 6.76651634e+02] [-8.99067563e-01 -4.37642886e-01 1.20921942e-02 -2.60819054e+02] [-1.32329055e-02 -4.42959586e-04 -9.99912343e-01 -4.62767007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8465599949999 meters 0.051198552646570514 Centerline is valid? [True, True] Translation: X:676.76, Y:-261.19, Z:-4.63 [[ 5.02107123e-01 -8.64783411e-01 -6.17160475e-03 6.76758210e+02] [-8.64707233e-01 -5.02144866e-01 1.14862419e-02 -2.61186573e+02] [-1.30321511e-02 -4.30692597e-04 -9.99914985e-01 -4.63006526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.906559995 meters 0.05140059414736572 Centerline is valid? [True, True] Translation: X:676.80, Y:-261.40, Z:-4.63 [[ 5.62837781e-01 -8.26535857e-01 -7.21864724e-03 6.76800716e+02] [-8.26458439e-01 -5.62883924e-01 1.13197346e-02 -2.61397128e+02] [-1.34194271e-02 -4.05262397e-04 -9.99909873e-01 -4.62940209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9665599949999 meters 0.05117043334329322 Centerline is valid? [True, True] Translation: X:676.91, Y:-261.67, Z:-4.63 [[ 6.18548189e-01 -7.85709454e-01 -7.66758424e-03 6.76911300e+02] [-7.85642166e-01 -6.18595618e-01 1.02882824e-02 -2.61669695e+02] [-1.28267348e-02 -3.39820961e-04 -9.99917676e-01 -4.63224236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.026559995 meters 0.051428671694031314 Centerline is valid? [True, True] Translation: X:676.98, Y:-261.87, Z:-4.63 [[ 6.73080900e-01 -7.39524992e-01 -8.05534353e-03 6.76981872e+02] [-7.39466453e-01 -6.73129030e-01 9.30994493e-03 -2.61865694e+02] [-1.23072225e-02 -3.09689809e-04 -9.99924215e-01 -4.63205699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0865599949999 meters 0.05215448504454365 Centerline is valid? [True, True] Translation: X:677.14, Y:-262.13, Z:-4.64 [[ 7.19838760e-01 -6.94090559e-01 -8.39383450e-03 6.77144280e+02] [-6.94039965e-01 -7.19887667e-01 8.38300388e-03 -2.62126638e+02] [-1.18611818e-02 -2.08754519e-04 -9.99929632e-01 -4.63602361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.146559995 meters 0.052091618429130446 Centerline is valid? [True, True] Translation: X:677.12, Y:-262.20, Z:-4.64 [[ 7.67163721e-01 -6.41396549e-01 -8.38402927e-03 6.77121113e+02] [-6.41356046e-01 -7.67209517e-01 7.20967482e-03 -2.62201068e+02] [-1.10565676e-02 -1.53853103e-04 -9.99938862e-01 -4.63566257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2065599949999 meters 0.05215143486270406 Centerline is valid? [True, True] Translation: X:677.10, Y:-262.28, Z:-4.64 [[ 8.13677222e-01 -5.81251129e-01 -8.74659732e-03 6.77102519e+02] [-5.81215790e-01 -8.13724221e-01 6.41078076e-03 -2.62277281e+02] [-1.08435916e-02 -1.32645808e-04 -9.99941198e-01 -4.63597629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.266559995 meters 0.05287334546498639 Centerline is valid? [True, True] Translation: X:677.07, Y:-262.40, Z:-4.64 [[ 8.55464755e-01 -5.17780664e-01 -9.12346415e-03 6.77066696e+02] [-5.17749847e-01 -8.55513397e-01 5.65017059e-03 -2.62395214e+02] [-1.07307949e-02 -1.09849632e-04 -9.99942417e-01 -4.63956819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3265599949999 meters 0.05250715194243104 Centerline is valid? [True, True] Translation: X:677.07, Y:-262.47, Z:-4.64 [[ 8.93038440e-01 -4.49878257e-01 -9.58635270e-03 6.77065758e+02] [-4.49851121e-01 -8.93089885e-01 4.94222087e-03 -2.62465612e+02] [-1.07848723e-02 -1.01161706e-04 -9.99941836e-01 -4.63711311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.386559995 meters 0.05263383836820257 Centerline is valid? [True, True] Translation: X:677.06, Y:-262.55, Z:-4.64 [[ 9.26588216e-01 -3.75947119e-01 -9.90158194e-03 6.77063925e+02] [-3.75924116e-01 -9.26641110e-01 4.16089156e-03 -2.62549419e+02] [-1.07394881e-02 -1.33189656e-04 -9.99942321e-01 -4.63858300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4465599949999 meters 0.05227365366475954 Centerline is valid? [True, True] Translation: X:677.07, Y:-262.63, Z:-4.64 [[ 9.55325569e-01 -2.95390099e-01 -9.88664231e-03 6.77069576e+02] [-2.95371951e-01 -9.55376702e-01 3.28133218e-03 -2.62633676e+02] [-1.04147408e-02 -2.14503706e-04 -9.99945742e-01 -4.63677747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.506559995 meters 0.05137940962869251 Centerline is valid? [True, True] Translation: X:677.08, Y:-262.73, Z:-4.64 [[ 9.76820347e-01 -2.13796980e-01 -1.06235984e-02 6.77080584e+02] [-2.13781269e-01 -9.76878076e-01 2.60637744e-03 -2.62726908e+02] [-1.09351960e-02 -2.74836169e-04 -9.99940171e-01 -4.63907476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5665599949999 meters 0.052325523463411294 Centerline is valid? [True, True] Translation: X:677.10, Y:-262.82, Z:-4.64 [[ 9.91873281e-01 -1.26763547e-01 -1.08810681e-02 6.77098304e+02] [-1.26751652e-01 -9.91932888e-01 1.77863401e-03 -2.62819757e+02] [-1.10187553e-02 -3.84986192e-04 -9.99939218e-01 -4.63756281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.626559995 meters 0.05138273195312922 Centerline is valid? [True, True] Translation: X:677.13, Y:-262.91, Z:-4.64 [[ 9.99158650e-01 -3.98390755e-02 -9.73857275e-03 6.77125338e+02] [-3.98326302e-02 -9.99206000e-01 8.54975067e-04 -2.62909708e+02] [-9.76490174e-03 -4.66342766e-04 -9.99952213e-01 -4.63934230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6865599949999 meters 0.051691430140782355 Centerline is valid? [True, True] Translation: X:677.16, Y:-262.99, Z:-4.64 [[ 9.99027109e-01 4.32490399e-02 -8.62302497e-03 6.77157319e+02] [ 4.32516682e-02 -9.99064202e-01 1.18457545e-04 -2.62989640e+02] [-8.60983238e-03 -4.91302513e-04 -9.99962814e-01 -4.64116658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.746559995 meters 0.05278042984174808 Centerline is valid? [True, True] Translation: X:677.19, Y:-263.07, Z:-4.64 [[ 9.91934486e-01 1.26506353e-01 -7.88147621e-03 6.77192914e+02] [ 1.26506495e-01 -9.91965662e-01 -4.82559785e-04 -2.63067448e+02] [-7.87920064e-03 -5.18390235e-04 -9.99968824e-01 -4.64257701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8065599949999 meters 0.052832316038698306 Centerline is valid? [True, True] Translation: X:677.23, Y:-263.14, Z:-4.64 [[ 9.78359117e-01 2.06785284e-01 -7.29966075e-03 6.77233732e+02] [ 2.06783523e-01 -9.78386206e-01 -1.00340598e-03 -2.63143637e+02] [-7.34937697e-03 -5.27758181e-04 -9.99972854e-01 -4.64231076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.866559995 meters 0.053281568751243444 Centerline is valid? [True, True] Translation: X:677.28, Y:-263.21, Z:-4.64 [[ 9.58960396e-01 2.83420109e-01 -8.24627866e-03 6.77279920e+02] [ 2.83414624e-01 -9.58995686e-01 -1.85081854e-03 -2.63210575e+02] [-8.43270485e-03 -5.62254289e-04 -9.99964286e-01 -4.64123439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9265599949999 meters 0.051850677201373256 Centerline is valid? [True, True] Translation: X:677.33, Y:-263.28, Z:-4.64 [[ 9.34220419e-01 3.56537904e-01 -1.06269345e-02 6.77333728e+02] [ 3.56522351e-01 -9.34280651e-01 -3.38805428e-03 -2.63279431e+02] [-1.11365091e-02 -6.23550195e-04 -9.99937793e-01 -4.64197719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.986559995 meters 0.05234087255539597 Centerline is valid? [True, True] Translation: X:677.39, Y:-263.35, Z:-4.64 [[ 9.05337499e-01 4.24553160e-01 -1.08916284e-02 6.77393520e+02] [ 4.24530150e-01 -9.05402822e-01 -4.45893377e-03 -2.63350432e+02] [-1.17543655e-02 -5.86984683e-04 -9.99930743e-01 -4.64027197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0465599949999 meters 0.05268057315294347 Centerline is valid? [True, True] Translation: X:677.45, Y:-263.40, Z:-4.64 [[ 8.71632719e-01 4.90047671e-01 -1.04729544e-02 6.77452567e+02] [ 4.90019524e-01 -8.71695473e-01 -5.27900278e-03 -2.63404953e+02] [-1.17161900e-02 -5.30600579e-04 -9.99931222e-01 -4.63866832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.106559995 meters 0.05190129480955982 Centerline is valid? [True, True] Translation: X:677.51, Y:-263.44, Z:-4.64 [[ 8.36026143e-01 5.48596537e-01 -1.01058813e-02 6.77508682e+02] [ 5.48562403e-01 -8.36087117e-01 -6.13374812e-03 -2.63442418e+02] [-1.18143501e-02 -4.15732732e-04 -9.99930122e-01 -4.64415127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.166559995 meters 0.05221969783359897 Centerline is valid? [True, True] Translation: X:677.60, Y:-263.52, Z:-4.64 [[ 7.94973490e-01 6.06575630e-01 -9.11893835e-03 6.77595843e+02] [ 6.06540420e-01 -7.95025721e-01 -6.54387780e-03 -2.63518369e+02] [-1.12191473e-02 -3.28795318e-04 -9.99937009e-01 -4.64292668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.226559995 meters 0.05209685998621977 Centerline is valid? [True, True] Translation: X:677.67, Y:-263.57, Z:-4.64 [[ 7.51419272e-01 6.59768141e-01 -8.66476586e-03 6.77674109e+02] [ 6.59727621e-01 -7.51469196e-01 -7.31533856e-03 -2.63567714e+02] [-1.13377320e-02 -2.19498984e-04 -9.99935702e-01 -4.64418929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.286559995 meters 0.052677425946819935 Centerline is valid? [True, True] Translation: X:677.75, Y:-263.61, Z:-4.64 [[ 7.00695452e-01 7.13413006e-01 -8.23200087e-03 6.77751729e+02] [ 7.13366516e-01 -7.00743788e-01 -8.14601745e-03 -2.63608752e+02] [-1.15799983e-02 -1.64556401e-04 -9.99932936e-01 -4.64437354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3465599949999 meters 0.05283932878775388 Centerline is valid? [True, True] Translation: X:677.82, Y:-263.64, Z:-4.64 [[ 6.43033228e-01 7.65796571e-01 -7.99241294e-03 6.77824254e+02] [ 7.65740298e-01 -6.43082879e-01 -9.28477742e-03 -2.63635664e+02] [-1.22500346e-02 -1.49692269e-04 -9.99924954e-01 -4.64336743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.406559995 meters 0.052404981255147746 Centerline is valid? [True, True] Translation: X:677.90, Y:-263.66, Z:-4.65 [[ 5.79007718e-01 8.15286010e-01 -7.66708728e-03 6.77900508e+02] [ 8.15218450e-01 -5.79058453e-01 -1.04969866e-02 -2.63657799e+02] [-1.29977380e-02 -1.72514759e-04 -9.99915511e-01 -4.64519028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4665599949999 meters 0.05209773084088469 Centerline is valid? [True, True] Translation: X:677.98, Y:-263.68, Z:-4.64 [[ 5.10424180e-01 8.59895676e-01 -6.82521776e-03 6.77983136e+02] [ 8.59824428e-01 -5.10469764e-01 -1.10712877e-02 -2.63678543e+02] [-1.30042197e-02 -2.17436020e-04 -9.99915418e-01 -4.64299384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.526559995 meters 0.05236251478973081 Centerline is valid? [True, True] Translation: X:678.06, Y:-263.69, Z:-4.64 [[ 4.39381730e-01 8.98281319e-01 -5.86242083e-03 6.78059493e+02] [ 8.98208804e-01 -4.39420767e-01 -1.14164412e-02 -2.63689481e+02] [-1.28312453e-02 -2.49502315e-04 -9.99917645e-01 -4.64305297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5865599949999 meters 0.052047228099962074 Centerline is valid? [True, True] Translation: X:678.14, Y:-263.69, Z:-4.64 [[ 3.63938063e-01 9.31412375e-01 -4.48047689e-03 6.78139894e+02] [ 9.31351720e-01 -3.63965516e-01 -1.06337674e-02 -2.63694662e+02] [-1.15351616e-02 -3.02867143e-04 -9.99933422e-01 -4.64460821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.646559995 meters 0.05093455240105805 Centerline is valid? [True, True] Translation: X:678.22, Y:-263.69, Z:-4.64 [[ 2.87764618e-01 9.57695634e-01 -3.25537668e-03 6.78216446e+02] [ 9.57646587e-01 -2.87782846e-01 -9.69780662e-03 -2.63693451e+02] [-1.02243886e-02 -3.26814749e-04 -9.99947676e-01 -4.64421831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7065599949999 meters 0.051623661691920154 Centerline is valid? [True, True] Translation: X:678.29, Y:-263.68, Z:-4.65 [[ 2.09895337e-01 9.77721466e-01 -2.16392889e-03 6.78285586e+02] [ 9.77685036e-01 -2.09906211e-01 -8.44708818e-03 -2.63683405e+02] [-8.71312155e-03 -3.42636481e-04 -9.99961981e-01 -4.64702552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.766559995 meters 0.05154156048676865 Centerline is valid? [True, True] Translation: X:678.36, Y:-263.67, Z:-4.65 [[ 1.32415849e-01 9.91193350e-01 -1.33641881e-03 6.78360323e+02] [ 9.91165555e-01 -1.32422154e-01 -7.43076540e-03 -2.63669472e+02] [-7.54229671e-03 -3.40661187e-04 -9.99971498e-01 -4.64714520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8265599949999 meters 0.05064899573691406 Centerline is valid? [True, True] Translation: X:678.43, Y:-263.65, Z:-4.65 [[ 5.37571214e-02 9.98553728e-01 -7.89540877e-04 6.78432985e+02] [ 9.98520178e-01 -5.37617932e-02 -8.19290211e-03 -2.63649580e+02] [-8.22350008e-03 -3.47945664e-04 -9.99966126e-01 -4.64713723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.886559995 meters 0.051019397541809314 Centerline is valid? [True, True] Translation: X:678.50, Y:-263.63, Z:-4.64 [[-2.55376204e-02 9.99673856e-01 -1.03999135e-04 6.78504608e+02] [ 9.99621311e-01 2.55352111e-02 -1.02560841e-02 -2.63625276e+02] [-1.02500835e-02 -3.65875735e-04 -9.99947400e-01 -4.64424428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9465599949999 meters 0.050951792359923254 Centerline is valid? [True, True] Translation: X:678.59, Y:-263.59, Z:-4.65 [[-1.03957821e-01 9.94581434e-01 7.36101251e-04 6.78585703e+02] [ 9.94524992e-01 1.03959768e-01 -1.06022626e-02 -2.63592453e+02] [-1.06213384e-02 -3.70117019e-04 -9.99943523e-01 -4.64671750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.006559995 meters 0.05128423736816182 Centerline is valid? [True, True] Translation: X:678.67, Y:-263.55, Z:-4.65 [[-1.83849631e-01 9.82952816e-01 1.75356088e-03 6.78667074e+02] [ 9.82884792e-01 1.83857550e-01 -1.15709139e-02 -2.63554368e+02] [-1.16960678e-02 -4.03759924e-04 -9.99931517e-01 -4.64524505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0665599949999 meters 0.05167246675902381 Centerline is valid? [True, True] Translation: X:678.74, Y:-263.51, Z:-4.64 [[-2.60817639e-01 9.65383581e-01 2.94957272e-03 6.78737352e+02] [ 9.65302369e-01 2.60833978e-01 -1.25288617e-02 -2.63511873e+02] [-1.28645062e-02 -4.20518604e-04 -9.99917160e-01 -4.64431287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.126559995 meters 0.05170475172510228 Centerline is valid? [True, True] Translation: X:678.80, Y:-263.47, Z:-4.64 [[-3.36000836e-01 9.41852571e-01 4.14403937e-03 6.78797389e+02] [ 9.41764310e-01 3.36026112e-01 -1.29010226e-02 -2.63466545e+02] [-1.35433668e-02 -4.32045996e-04 -9.99908191e-01 -4.64389155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1865599949999 meters 0.05166776440384624 Centerline is valid? [True, True] Translation: X:678.87, Y:-263.41, Z:-4.65 [[-4.10041849e-01 9.12053232e-01 4.95819188e-03 6.78867358e+02] [ 9.11972845e-01 4.10071582e-01 -1.21172186e-02 -2.63409997e+02] [-1.30847619e-02 -4.46830352e-04 -9.99914291e-01 -4.64819594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.246559995 meters 0.05149339951193473 Centerline is valid? [True, True] Translation: X:678.94, Y:-263.35, Z:-4.65 [[-4.81259032e-01 8.76560486e-01 5.60873259e-03 6.78936937e+02] [ 8.76489542e-01 4.81291498e-01 -1.11613793e-02 -2.63346725e+02] [-1.24830594e-02 -4.55519136e-04 -9.99921980e-01 -4.64811991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3065599949999 meters 0.051107671261929305 Centerline is valid? [True, True] Translation: X:679.00, Y:-263.28, Z:-4.65 [[-5.49488499e-01 8.35482677e-01 5.57552949e-03 6.78999298e+02] [ 8.35431095e-01 5.49516601e-01 -9.29466616e-03 -2.63277714e+02] [-1.08293786e-02 -4.49341449e-04 -9.99941260e-01 -4.64957807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.366559995 meters 0.051844531515915955 Centerline is valid? [True, True] Translation: X:679.06, Y:-263.21, Z:-4.65 [[-6.14168918e-01 7.89150981e-01 6.10495452e-03 6.79055495e+02] [ 7.89104371e-01 6.14199089e-01 -8.58901776e-03 -2.63206399e+02] [-1.05276893e-02 -4.57661441e-04 -9.99944478e-01 -4.64887999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4265599949999 meters 0.051203757725225965 Centerline is valid? [True, True] Translation: X:679.10, Y:-263.14, Z:-4.65 [[-6.75472086e-01 7.37349747e-01 7.26719621e-03 6.79096977e+02] [ 7.37299080e-01 6.75511000e-01 -8.65774094e-03 -2.63137582e+02] [-1.12928541e-02 -4.89965251e-04 -9.99936114e-01 -4.64865073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.486559995 meters 0.05132273964045038 Centerline is valid? [True, True] Translation: X:679.14, Y:-263.06, Z:-4.65 [[-7.32282839e-01 6.80941970e-01 8.93742913e-03 6.79136283e+02] [ 6.80882166e-01 7.32337181e-01 -9.04039306e-03 -2.63061463e+02] [-1.27011947e-02 -5.34788587e-04 -9.99919194e-01 -4.64903147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5465599949999 meters 0.0517334583403971 Centerline is valid? [True, True] Translation: X:679.55, Y:-262.56, Z:-5.65 [[-6.57268162e-01 -7.53646370e-01 3.96395874e-03 6.79549267e+02] [ 7.53632546e-01 -6.57280115e-01 -4.56468068e-03 -2.62562850e+02] [ 6.04558628e-03 -1.28509599e-05 9.99981725e-01 -5.64703064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.606559995 meters 0.051745241800571835 Centerline is valid? [True, True] Translation: X:679.51, Y:-262.52, Z:-5.65 [[-6.57048153e-01 -7.53836619e-01 4.25151187e-03 6.79508994e+02] [ 7.53822038e-01 -6.57061897e-01 -4.69035815e-03 -2.62522750e+02] [ 6.32927018e-03 1.23092184e-04 9.99979962e-01 -5.64920314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.666559995 meters 0.05164021826352129 Centerline is valid? [True, True] Translation: X:679.47, Y:-262.48, Z:-5.65 [[-6.58841303e-01 -7.52269554e-01 4.31918344e-03 6.79472788e+02] [ 7.52254479e-01 -6.58855451e-01 -4.76381397e-03 -2.62477708e+02] [ 6.42938977e-03 1.10527681e-04 9.99979325e-01 -5.64887708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.726559995 meters 0.050708875475360266 Centerline is valid? [True, True] Translation: X:679.44, Y:-262.43, Z:-5.65 [[-6.62965698e-01 -7.48636932e-01 4.38489151e-03 6.79435506e+02] [ 7.48621324e-01 -6.62980194e-01 -4.83480405e-03 -2.62434849e+02] [ 6.52660909e-03 7.73140534e-05 9.99978698e-01 -5.65190141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.786559995 meters 0.05117703441225868 Centerline is valid? [True, True] Translation: X:679.40, Y:-262.39, Z:-5.65 [[-6.66503417e-01 -7.45493092e-01 3.63932530e-03 6.79402150e+02] [ 7.45482296e-01 -6.66513352e-01 -4.01230726e-03 -2.62385956e+02] [ 5.41680625e-03 3.88360819e-05 9.99985328e-01 -5.64745322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8465599949999 meters 0.050728655872963484 Centerline is valid? [True, True] Translation: X:679.37, Y:-262.34, Z:-5.65 [[-6.72116748e-01 -7.40443129e-01 1.74641781e-03 6.79366526e+02] [ 7.40440628e-01 -6.72119017e-01 -1.92432822e-03 -2.62340779e+02] [ 2.59865623e-03 -2.54525513e-07 9.99996623e-01 -5.64631760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.906559995 meters 0.05105618835383377 Centerline is valid? [True, True] Translation: X:679.33, Y:-262.30, Z:-5.65 [[-6.75181482e-01 -7.37650471e-01 1.32226042e-03 6.79328949e+02] [ 7.37649034e-01 -6.75182777e-01 -1.45633348e-03 -2.62297774e+02] [ 1.96703254e-03 -7.92527344e-06 9.99998065e-01 -5.64715510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9665599949999 meters 0.051395273715312 Centerline is valid? [True, True] Translation: X:679.29, Y:-262.26, Z:-5.65 [[-6.79183221e-01 -7.33965643e-01 2.14184318e-03 6.79293150e+02] [ 7.33961853e-01 -6.79186598e-01 -2.35868087e-03 -2.62255112e+02] [ 3.18590190e-03 -2.99452852e-05 9.99994925e-01 -5.64930106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.026559995 meters 0.052035496179711455 Centerline is valid? [True, True] Translation: X:679.25, Y:-262.21, Z:-5.65 [[-6.83173858e-01 -7.30251326e-01 2.54567114e-03 6.79254027e+02] [ 7.30245949e-01 -6.83178599e-01 -2.80290110e-03 -2.62212787e+02] [ 3.78597028e-03 -5.59027220e-05 9.99992832e-01 -5.64912433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0865599949999 meters 0.0524147570589606 Centerline is valid? [True, True] Translation: X:679.22, Y:-262.17, Z:-5.65 [[-6.86448967e-01 -7.27171603e-01 3.04554765e-03 6.79215125e+02] [ 7.27163881e-01 -6.86455718e-01 -3.35232665e-03 -2.62170590e+02] [ 4.52835034e-03 -8.65889224e-05 9.99989743e-01 -5.64841147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.146559995 meters 0.05274060184782989 Centerline is valid? [True, True] Translation: X:679.18, Y:-262.13, Z:-5.65 [[-6.91886132e-01 -7.22001807e-01 2.64046713e-03 6.79176014e+02] [ 7.21995968e-01 -6.91891162e-01 -2.90553262e-03 -2.62128312e+02] [ 3.92471567e-03 -1.03891099e-04 9.99992293e-01 -5.64829467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2065599949999 meters 0.05300061222826467 Centerline is valid? [True, True] Translation: X:679.13, Y:-262.09, Z:-5.65 [[-6.95249773e-01 -7.18766713e-01 1.47164825e-03 6.79133795e+02] [ 7.18764893e-01 -6.95251328e-01 -1.61862064e-03 -2.62088225e+02] [ 2.18657604e-03 -6.75765346e-05 9.99997607e-01 -5.64756947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.266559995 meters 0.05277393644297671 Centerline is valid? [True, True] Translation: X:679.09, Y:-262.05, Z:-5.65 [[-6.95381471e-01 -7.18640430e-01 7.36616223e-04 6.79089224e+02] [ 7.18639975e-01 -6.95381860e-01 -8.09387931e-04 -2.62052612e+02] [ 1.09388845e-03 -3.34715064e-05 9.99999401e-01 -5.64668094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3265599949999 meters 0.05279680638452073 Centerline is valid? [True, True] Translation: X:679.04, Y:-262.01, Z:-5.65 [[-6.93650542e-01 -7.20311433e-01 6.03592879e-04 6.79044565e+02] [ 7.20311129e-01 -6.93650804e-01 -6.63197108e-04 -2.62014635e+02] [ 8.96391145e-04 -2.52523653e-05 9.99999598e-01 -5.64783213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.386559995 meters 0.052617798725523725 Centerline is valid? [True, True] Translation: X:679.01, Y:-261.97, Z:-5.65 [[-6.90018169e-01 -7.23791465e-01 9.17750726e-04 6.79005700e+02] [ 7.23790763e-01 -6.90018778e-01 -1.00841933e-03 -2.61971909e+02] [ 1.36315054e-03 -3.15681629e-05 9.99999070e-01 -5.64972577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4465599949999 meters 0.05273151457189257 Centerline is valid? [True, True] Translation: X:678.95, Y:-261.94, Z:-5.65 [[-6.79616495e-01 -7.33567287e-01 6.74127349e-04 6.78953358e+02] [ 7.33566914e-01 -6.79616829e-01 -7.40380366e-04 -2.61940259e+02] [ 1.00126711e-03 -8.65719004e-06 9.99999499e-01 -5.64974432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.506559995 meters 0.052035030195002566 Centerline is valid? [True, True] Translation: X:678.91, Y:-261.90, Z:-5.65 [[-6.74790341e-01 -7.38009156e-01 6.93878291e-04 6.78910985e+02] [ 7.38008763e-01 -6.74790697e-01 -7.61787238e-04 -2.61901249e+02] [ 1.03042857e-03 -1.95841057e-06 9.99999469e-01 -5.65098841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5665599949999 meters 0.05143186749904142 Centerline is valid? [True, True] Translation: X:678.87, Y:-261.87, Z:-5.65 [[-6.70122375e-01 -7.42250564e-01 -3.21871095e-04 6.78866803e+02] [ 7.42250479e-01 -6.70122452e-01 3.54607861e-04 -2.61866447e+02] [-4.78900932e-04 -1.27831287e-06 9.99999885e-01 -5.65105821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.626559995 meters 0.051929486964668835 Centerline is valid? [True, True] Translation: X:678.83, Y:-261.83, Z:-5.65 [[-6.68760269e-01 -7.43477952e-01 -4.88091822e-04 6.78825492e+02] [ 7.43477758e-01 -6.68760447e-01 5.36789131e-04 -2.61829536e+02] [-7.25507389e-04 -3.90217037e-06 9.99999737e-01 -5.65189276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6865599949999 meters 0.05214301035903038 Centerline is valid? [True, True] Translation: X:678.79, Y:-261.79, Z:-5.65 [[-6.68172631e-01 -7.44006206e-01 -3.18668440e-04 6.78785609e+02] [ 7.44006123e-01 -6.68172707e-01 3.50838738e-04 -2.61791403e+02] [-4.73951753e-04 -2.67042815e-06 9.99999888e-01 -5.65210266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.746559995 meters 0.051868335590727996 Centerline is valid? [True, True] Translation: X:678.75, Y:-261.75, Z:-5.65 [[-6.66880213e-01 -7.45164852e-01 -3.53688953e-04 6.78747082e+02] [ 7.45164751e-01 -6.66880307e-01 3.89086108e-04 -2.61750488e+02] [-5.25801490e-04 -4.08271444e-06 9.99999862e-01 -5.65097080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8065599949999 meters 0.051480729412651305 Centerline is valid? [True, True] Translation: X:678.71, Y:-261.71, Z:-5.65 [[-6.65984817e-01 -7.45965172e-01 4.32055415e-04 6.78706125e+02] [ 7.45965021e-01 -6.65984957e-01 -4.73534007e-04 -2.61708225e+02] [ 6.40982283e-04 6.93176855e-06 9.99999795e-01 -5.65146806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.866559995 meters 0.05267792719782374 Centerline is valid? [True, True] Translation: X:678.67, Y:-261.67, Z:-5.65 [[-6.65920700e-01 -7.46021935e-01 9.45563414e-04 6.78665784e+02] [ 7.46021215e-01 -6.65921371e-01 -1.03655740e-03 -2.61668215e+02] [ 1.40296544e-03 1.51453348e-05 9.99999016e-01 -5.65348116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9265599949999 meters 0.05191261966544286 Centerline is valid? [True, True] Translation: X:678.63, Y:-261.63, Z:-5.66 [[-6.67467150e-01 -7.44633875e-01 2.82762373e-03 6.78627192e+02] [ 7.44627422e-01 -6.67473139e-01 -3.10032437e-03 -2.61625545e+02] [ 4.19596943e-03 3.61614968e-05 9.99991196e-01 -5.65631943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.986559995 meters 0.052314009975997736 Centerline is valid? [True, True] Translation: X:678.59, Y:-261.58, Z:-5.66 [[-6.72283084e-01 -7.40285886e-01 3.50163476e-03 6.78591899e+02] [ 7.40275932e-01 -6.72292203e-01 -3.83908318e-03 -2.61581117e+02] [ 5.19614084e-03 1.12252546e-05 9.99986500e-01 -5.65810626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0465599949999 meters 0.05355926165200246 Centerline is valid? [True, True] Translation: X:678.56, Y:-261.54, Z:-5.65 [[-6.78674217e-01 -7.34435594e-01 2.38040563e-03 6.78556139e+02] [ 7.34430962e-01 -6.78678391e-01 -2.60855406e-03 -2.61536694e+02] [ 3.53134481e-03 -2.21147835e-05 9.99993765e-01 -5.65341372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.106559995 meters 0.0528129656825773 Centerline is valid? [True, True] Translation: X:678.52, Y:-261.49, Z:-5.65 [[-6.82652441e-01 -7.30741515e-01 1.57587152e-03 6.78520958e+02] [ 7.30739475e-01 -6.82654259e-01 -1.72707083e-03 -2.61490950e+02] [ 2.33781775e-03 -2.74375898e-05 9.99997267e-01 -5.65398938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.166559995 meters 0.0528561287843339 Centerline is valid? [True, True] Translation: X:678.49, Y:-261.44, Z:-5.66 [[-6.86776409e-01 -7.26868008e-01 1.03127832e-03 6.78490528e+02] [ 7.26867131e-01 -6.86777182e-01 -1.12938044e-03 -2.61442554e+02] [ 1.52916893e-03 -2.60295314e-05 9.99998830e-01 -5.65536629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.226559995 meters 0.053054498001751646 Centerline is valid? [True, True] Translation: X:678.45, Y:-261.40, Z:-5.66 [[-6.87870651e-01 -7.25829317e-01 2.40222859e-03 6.78451372e+02] [ 7.25824551e-01 -6.87874842e-01 -2.63108382e-03 -2.61400151e+02] [ 3.56215038e-03 -6.62488581e-05 9.99993653e-01 -5.65705748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.286559995 meters 0.05319262858015332 Centerline is valid? [True, True] Translation: X:678.41, Y:-261.36, Z:-5.66 [[-6.86468416e-01 -7.27155065e-01 2.57406806e-03 6.78412134e+02] [ 7.27149605e-01 -6.86473239e-01 -2.81859294e-03 -2.61358960e+02] [ 3.81658298e-03 -6.31424587e-05 9.99992715e-01 -5.65747927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3465599949999 meters 0.05266657397639333 Centerline is valid? [True, True] Translation: X:678.37, Y:-261.32, Z:-5.66 [[-6.84398354e-01 -7.29105589e-01 1.98319499e-03 6.78372497e+02] [ 7.29102359e-01 -6.84401226e-01 -2.17074531e-03 -2.61317701e+02] [ 2.94000362e-03 -3.97023767e-05 9.99995677e-01 -5.65721588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.406559995 meters 0.05288583466169571 Centerline is valid? [True, True] Translation: X:678.33, Y:-261.28, Z:-5.66 [[-6.78705854e-01 -7.34408505e-01 1.58503967e-03 6.78331829e+02] [ 7.34406456e-01 -6.78707705e-01 -1.73461819e-03 -2.61277793e+02] [ 2.34969699e-03 -1.32321509e-05 9.99997239e-01 -5.65788924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4665599949999 meters 0.05226444853097136 Centerline is valid? [True, True] Translation: X:678.29, Y:-261.24, Z:-5.66 [[-6.73582323e-01 -7.39111014e-01 1.32806982e-03 6.78291869e+02] [ 7.39109586e-01 -6.73583632e-01 -1.45274807e-03 -2.61239086e+02] [ 1.96830819e-03 3.04371908e-06 9.99998063e-01 -5.65812350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.526559995 meters 0.05131814595632201 Centerline is valid? [True, True] Translation: X:678.25, Y:-261.20, Z:-5.66 [[-6.65221724e-01 -7.46645817e-01 2.85910422e-04 6.78249787e+02] [ 7.46645752e-01 -6.65221785e-01 -3.11886785e-04 -2.61201668e+02] [ 4.23062805e-04 5.99993754e-06 9.99999910e-01 -5.65752887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5865599949999 meters 0.05249406924161035 Centerline is valid? [True, True] Translation: X:678.21, Y:-261.17, Z:-5.66 [[-6.57270142e-01 -7.53654491e-01 -9.32194698e-04 6.78205668e+02] [ 7.53653801e-01 -6.57270802e-01 1.02048515e-03 -2.61166980e+02] [-1.38179757e-03 -3.18176605e-05 9.99999045e-01 -5.65707154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.646559995 meters 0.052514839106452646 Centerline is valid? [True, True] Translation: X:678.17, Y:-261.13, Z:-5.66 [[-6.52238019e-01 -7.58013016e-01 -1.35459382e-03 6.78167914e+02] [ 7.58011570e-01 -6.52239422e-01 1.48200472e-03 -2.61125288e+02] [-2.00689836e-03 -6.01779634e-05 9.99997984e-01 -5.65641953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7065599949999 meters 0.05290781329779209 Centerline is valid? [True, True] Translation: X:678.13, Y:-261.09, Z:-5.66 [[-6.47226391e-01 -7.62296400e-01 -1.48258745e-03 6.78128533e+02] [ 7.62294680e-01 -6.47228084e-01 1.62144680e-03 -2.61085020e+02] [-2.19559529e-03 -8.07253643e-05 9.99997586e-01 -5.65754055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.766559995 meters 0.05276611725026864 Centerline is valid? [True, True] Translation: X:678.09, Y:-261.04, Z:-5.66 [[-6.46327025e-01 -7.63059301e-01 -1.37103976e-03 6.78091251e+02] [ 7.63057832e-01 -6.46328475e-01 1.49906612e-03 -2.61042520e+02] [-2.03001838e-03 -7.72956829e-05 9.99997937e-01 -5.65856779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8265599949999 meters 0.053364542943725855 Centerline is valid? [True, True] Translation: X:678.05, Y:-261.00, Z:-5.66 [[-6.48323211e-01 -7.61364753e-01 -8.52668104e-04 6.78051823e+02] [ 7.61364184e-01 -6.48323770e-01 9.32218743e-04 -2.61001111e+02] [-1.26256349e-03 -4.48119067e-05 9.99999202e-01 -5.65997701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.886559995 meters 0.05251399264828715 Centerline is valid? [True, True] Translation: X:678.02, Y:-260.95, Z:-5.66 [[-6.54655622e-01 -7.55927256e-01 -3.22698987e-05 6.78021063e+02] [ 7.55927255e-01 -6.54655622e-01 3.58882721e-05 -2.60952132e+02] [-4.82545939e-05 -8.99236888e-07 9.99999999e-01 -5.66149896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9465599949999 meters 0.05141550507142081 Centerline is valid? [True, True] Translation: X:677.99, Y:-260.91, Z:-5.66 [[-6.62148996e-01 -7.49372182e-01 2.01052773e-04 6.77987996e+02] [ 7.49372150e-01 -6.62149026e-01 -2.18745836e-04 -2.60906363e+02] [ 2.97048942e-04 5.82101348e-06 9.99999956e-01 -5.66306011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.006559995 meters 0.051412912521024 Centerline is valid? [True, True] Translation: X:677.96, Y:-260.85, Z:-5.66 [[-6.68503127e-01 -7.43709330e-01 3.11228065e-05 6.77960288e+02] [ 7.43709330e-01 -6.68503128e-01 -3.32231863e-05 -2.60853658e+02] [ 4.55140869e-05 9.36517635e-07 9.99999999e-01 -5.66207078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0665599949999 meters 0.05114040274899791 Centerline is valid? [True, True] Translation: X:677.92, Y:-260.81, Z:-5.66 [[-6.72180962e-01 -7.40386851e-01 2.56273644e-04 6.77924251e+02] [ 7.40386798e-01 -6.72181011e-01 -2.78969536e-04 -2.60807748e+02] [ 3.78807653e-04 2.22361196e-06 9.99999928e-01 -5.66244099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.126559995 meters 0.050791017796344075 Centerline is valid? [True, True] Translation: X:677.89, Y:-260.76, Z:-5.66 [[-6.77339971e-01 -7.35670125e-01 1.73714443e-04 6.77891926e+02] [ 7.35670101e-01 -6.77339993e-01 -1.88625415e-04 -2.60760936e+02] [ 2.56429822e-04 3.29888692e-08 9.99999967e-01 -5.66357171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1865599949999 meters 0.05130574211534629 Centerline is valid? [True, True] Translation: X:677.86, Y:-260.72, Z:-5.66 [[-6.81709412e-01 -7.31622182e-01 -1.12211586e-03 6.77856833e+02] [ 7.31621157e-01 -6.81710336e-01 1.22474252e-03 -2.60715861e+02] [-1.66100678e-03 1.39548006e-05 9.99998620e-01 -5.66193452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.246559995 meters 0.05120366541808599 Centerline is valid? [True, True] Translation: X:677.82, Y:-260.67, Z:-5.66 [[-6.83484657e-01 -7.29963673e-01 -1.32641636e-03 6.77821388e+02] [ 7.29962239e-01 -6.83485944e-01 1.44718265e-03 -2.60669976e+02] [-1.96297770e-03 2.08932772e-05 9.99998073e-01 -5.66143015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3065599949999 meters 0.05117520191100612 Centerline is valid? [True, True] Translation: X:677.79, Y:-260.63, Z:-5.66 [[-6.83855184e-01 -7.29615850e-01 -1.67324073e-03 6.77785515e+02] [ 7.29613568e-01 -6.83857230e-01 1.82499779e-03 -2.60626318e+02] [-2.47580508e-03 2.72150669e-05 9.99996935e-01 -5.66179269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.366559995 meters 0.050668473917174446 Centerline is valid? [True, True] Translation: X:677.75, Y:-260.59, Z:-5.66 [[-6.80639961e-01 -7.32617414e-01 -9.83773893e-04 6.77746213e+02] [ 7.32616629e-01 -6.80640672e-01 1.07285406e-03 -2.60585978e+02] [-1.45558809e-03 9.49823173e-06 9.99998941e-01 -5.66287673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4265599949999 meters 0.05090153533930423 Centerline is valid? [True, True] Translation: X:677.71, Y:-260.54, Z:-5.66 [[-6.77708117e-01 -7.35330975e-01 -2.56953432e-04 6.77705967e+02] [ 7.35330921e-01 -6.77708165e-01 2.80603664e-04 -2.60543477e+02] [-3.80476005e-04 1.22157726e-06 9.99999928e-01 -5.66282300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.486559995 meters 0.05060346334905722 Centerline is valid? [True, True] Translation: X:677.67, Y:-260.50, Z:-5.66 [[-6.73999072e-01 -7.38731967e-01 5.76749543e-04 6.77667852e+02] [ 7.38731700e-01 -6.73999319e-01 -6.27721935e-04 -2.60500021e+02] [ 8.52447059e-04 2.97916876e-06 9.99999637e-01 -5.66418961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5465599949999 meters 0.050799412308261495 Centerline is valid? [True, True] Translation: X:677.63, Y:-260.46, Z:-5.66 [[-6.72793258e-01 -7.39830322e-01 5.72057595e-04 6.77629493e+02] [ 7.39830060e-01 -6.72793501e-01 -6.22459043e-04 -2.60456912e+02] [ 8.45390706e-04 4.43915735e-06 9.99999643e-01 -5.66436671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.606559995 meters 0.050813912420226245 Centerline is valid? [True, True] Translation: X:677.59, Y:-260.41, Z:-5.66 [[-6.73507171e-01 -7.39180676e-01 1.38552865e-04 6.77593789e+02] [ 7.39180661e-01 -6.73507185e-01 -1.50078611e-04 -2.60413228e+02] [ 2.04251559e-04 1.33657755e-06 9.99999979e-01 -5.66439237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.666559995 meters 0.05085060961969095 Centerline is valid? [True, True] Translation: X:677.56, Y:-260.37, Z:-5.67 [[-6.75442699e-01 -7.37411544e-01 -1.17265557e-03 6.77556624e+02] [ 7.37410438e-01 -6.75443717e-01 1.27729623e-03 -2.60370175e+02] [-1.73395583e-03 -1.98804061e-06 9.99998497e-01 -5.66522917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.726559995 meters 0.05013700209276155 Centerline is valid? [True, True] Translation: X:677.52, Y:-260.33, Z:-5.67 [[-6.77875381e-01 -7.35174133e-01 -1.99053530e-03 6.77518815e+02] [ 7.35170939e-01 -6.77878304e-01 2.16714080e-03 -2.60327719e+02] [-2.94256655e-03 5.66768771e-06 9.99995671e-01 -5.66509567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.786559995 meters 0.05062679223351652 Centerline is valid? [True, True] Translation: X:677.48, Y:-260.29, Z:-5.67 [[-6.79233147e-01 -7.33920425e-01 -1.77255699e-03 6.77481018e+02] [ 7.33917889e-01 -6.79235459e-01 1.92929711e-03 -2.60285413e+02] [-2.61993411e-03 9.53126186e-06 9.99996568e-01 -5.66564578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8465599949999 meters 0.050767190584807186 Centerline is valid? [True, True] Translation: X:677.44, Y:-260.24, Z:-5.67 [[-6.82255912e-01 -7.31112479e-01 -1.18934305e-03 6.77444390e+02] [ 7.31111333e-01 -6.82256948e-01 1.29445322e-03 -2.60243457e+02] [-1.75782846e-03 1.36061743e-05 9.99998455e-01 -5.66599814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.906559995 meters 0.05152677314809967 Centerline is valid? [True, True] Translation: X:677.40, Y:-260.20, Z:-5.67 [[-6.87743904e-01 -7.25953313e-01 3.32331292e-04 6.77402232e+02] [ 7.25953223e-01 -6.87743984e-01 -3.60662622e-04 -2.60202991e+02] [ 4.90383072e-04 -6.78654690e-06 9.99999880e-01 -5.66655119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9665599949999 meters 0.05195531042976317 Centerline is valid? [True, True] Translation: X:677.36, Y:-260.16, Z:-5.67 [[-6.93702521e-01 -7.20260803e-01 1.09026550e-03 6.77362220e+02] [ 7.20259830e-01 -6.93703377e-01 -1.18449472e-03 -2.60160812e+02] [ 1.60946598e-03 -3.64125312e-05 9.99998704e-01 -5.66805601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.026559995 meters 0.05217311755800463 Centerline is valid? [True, True] Translation: X:677.32, Y:-260.12, Z:-5.67 [[-6.98005129e-01 -7.16089723e-01 2.08545386e-03 6.77323922e+02] [ 7.16086144e-01 -6.98008238e-01 -2.26567851e-03 -2.60116808e+02] [ 3.07809307e-03 -8.80906081e-05 9.99995259e-01 -5.66925004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0865599949999 meters 0.052609673060375214 Centerline is valid? [True, True] Translation: X:677.28, Y:-260.08, Z:-5.67 [[-7.02882642e-01 -7.11299212e-01 3.06959559e-03 6.77280579e+02] [ 7.11291416e-01 -7.02889327e-01 -3.33409715e-03 -2.60079131e+02] [ 4.52912665e-03 -1.60102023e-04 9.99989731e-01 -5.66843750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.146559995 meters 0.05304793313281186 Centerline is valid? [True, True] Translation: X:677.24, Y:-260.04, Z:-5.67 [[-7.03609793e-01 -7.10574640e-01 4.11586215e-03 6.77235743e+02] [ 7.10560614e-01 -7.03621796e-01 -4.47004436e-03 -2.60039914e+02] [ 6.07231048e-03 -2.20597446e-04 9.99981539e-01 -5.66801755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2065599949999 meters 0.05312831448569307 Centerline is valid? [True, True] Translation: X:677.19, Y:-260.00, Z:-5.67 [[-7.01105541e-01 -7.13046427e-01 3.97646059e-03 6.77194948e+02] [ 7.13033378e-01 -7.01116792e-01 -4.31821482e-03 -2.59998168e+02] [ 5.86705094e-03 -1.92175218e-04 9.99982770e-01 -5.66880159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.266559995 meters 0.05212775494332614 Centerline is valid? [True, True] Translation: X:677.15, Y:-259.96, Z:-5.67 [[-6.92757850e-01 -7.21162613e-01 3.32360627e-03 6.77152609e+02] [ 7.21153592e-01 -6.92765815e-01 -3.60856155e-03 -2.59958936e+02] [ 4.90484048e-03 -1.03028741e-04 9.99987966e-01 -5.66881541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3265599949999 meters 0.05226191864204561 Centerline is valid? [True, True] Translation: X:677.11, Y:-259.92, Z:-5.67 [[-6.80910349e-01 -7.32361821e-01 2.69427583e-03 6.77106556e+02] [ 7.32355984e-01 -6.80915679e-01 -2.92400815e-03 -2.59924158e+02] [ 3.97600659e-03 -1.78183789e-05 9.99992095e-01 -5.67049474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.386559995 meters 0.05094275394630317 Centerline is valid? [True, True] Translation: X:677.06, Y:-259.89, Z:-5.67 [[-6.72899533e-01 -7.39731396e-01 1.91835230e-03 6.77062462e+02] [ 7.39728469e-01 -6.72902267e-01 -2.08112956e-03 -2.59886733e+02] [ 2.83034049e-03 1.86687062e-05 9.99995994e-01 -5.67086370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4465599949999 meters 0.05221084733202764 Centerline is valid? [True, True] Translation: X:677.02, Y:-259.85, Z:-5.67 [[-6.63265569e-01 -7.48384114e-01 5.41030606e-05 6.77015196e+02] [ 7.48384112e-01 -6.63265571e-01 -5.78123934e-05 -2.59854364e+02] [ 7.91505739e-05 2.14490089e-06 9.99999997e-01 -5.66979072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.506559995 meters 0.05209295218895076 Centerline is valid? [True, True] Translation: X:676.97, Y:-259.82, Z:-5.67 [[-6.59517726e-01 -7.51688234e-01 -1.08077062e-03 6.76973675e+02] [ 7.51687319e-01 -6.59518611e-01 1.17305745e-03 -2.59815371e+02] [-1.59456182e-03 -3.87493862e-05 9.99998728e-01 -5.66806230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5665599949999 meters 0.05155245409485211 Centerline is valid? [True, True] Translation: X:676.94, Y:-259.77, Z:-5.67 [[-6.57164529e-01 -7.53745217e-01 -1.71153229e-03 6.76937631e+02] [ 7.53742934e-01 -6.57166754e-01 1.85659975e-03 -2.59770749e+02] [-2.52416530e-03 -6.99638695e-05 9.99996812e-01 -5.66746509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.626559995 meters 0.051987119326944234 Centerline is valid? [True, True] Translation: X:676.90, Y:-259.73, Z:-5.67 [[-6.57646558e-01 -7.53326616e-01 -1.19839180e-04 6.76897279e+02] [ 7.53326605e-01 -6.57646569e-01 1.30815716e-04 -2.59732840e+02] [-1.77358786e-04 -4.24753731e-06 9.99999984e-01 -5.67159085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6865599949999 meters 0.05078802086414245 Centerline is valid? [True, True] Translation: X:676.87, Y:-259.68, Z:-5.67 [[-6.61712885e-01 -7.49752543e-01 2.68003489e-03 6.76866573e+02] [ 7.49746925e-01 -6.61718306e-01 -2.90359097e-03 -2.59682336e+02] [ 3.95040286e-03 8.80043641e-05 9.99992193e-01 -5.67366276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.746559995 meters 0.051624967165028506 Centerline is valid? [True, True] Translation: X:676.83, Y:-259.64, Z:-5.67 [[-6.67234636e-01 -7.44837981e-01 3.78461857e-03 6.76831272e+02] [ 7.44826701e-01 -6.67245364e-01 -4.09995745e-03 -2.59636024e+02] [ 5.57907322e-03 8.32513541e-05 9.99984433e-01 -5.67443475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8065599949999 meters 0.05125634719947276 Centerline is valid? [True, True] Translation: X:676.80, Y:-259.59, Z:-5.68 [[-6.78228083e-01 -7.34840463e-01 4.02019491e-03 6.76801570e+02] [ 7.34827565e-01 -6.78239998e-01 -4.35370051e-03 -2.59586710e+02] [ 5.92593228e-03 1.34808236e-06 9.99982442e-01 -5.67552123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.866559995 meters 0.05118477416085633 Centerline is valid? [True, True] Translation: X:676.77, Y:-259.54, Z:-5.67 [[-6.86469134e-01 -7.27149559e-01 3.69404854e-03 6.76767680e+02] [ 7.27138563e-01 -6.86479071e-01 -3.99946031e-03 -2.59538622e+02] [ 5.44409281e-03 -5.94209113e-05 9.99985179e-01 -5.67184037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9265599949999 meters 0.05223487306455286 Centerline is valid? [True, True] Translation: X:676.74, Y:-259.49, Z:-5.67 [[-7.02973097e-01 -7.11211659e-01 2.60791135e-03 6.76738304e+02] [ 7.11206068e-01 -7.02977923e-01 -2.82305045e-03 -2.59487573e+02] [ 3.84109050e-03 -1.29766141e-04 9.99992615e-01 -5.67056887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.986559995 meters 0.05337521852567238 Centerline is valid? [True, True] Translation: X:676.71, Y:-259.44, Z:-5.67 [[-7.09867304e-01 -7.04330464e-01 2.64727626e-03 6.76705484e+02] [ 7.04324657e-01 -7.09872220e-01 -2.86501874e-03 -2.59440798e+02] [ 3.89714785e-03 -1.69241185e-04 9.99992392e-01 -5.67065712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0465599949999 meters 0.053543625848008 Centerline is valid? [True, True] Translation: X:676.67, Y:-259.39, Z:-5.67 [[-7.15550033e-01 -6.98559135e-01 1.81230727e-03 6.76669681e+02] [ 6.98556397e-01 -7.15552315e-01 -1.96058188e-03 -2.59394712e+02] [ 2.66638305e-03 -1.36895587e-04 9.99996436e-01 -5.67003831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.106559995 meters 0.052799077657247055 Centerline is valid? [True, True] Translation: X:676.63, Y:-259.35, Z:-5.67 [[-7.15569658e-01 -6.98540245e-01 1.26076255e-03 6.76629354e+02] [ 6.98538921e-01 -7.15570763e-01 -1.36328035e-03 -2.59353976e+02] [ 1.85447102e-03 -9.48303424e-05 9.99998276e-01 -5.66895897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.166559995 meters 0.05269354386362495 Centerline is valid? [True, True] Translation: X:676.59, Y:-259.31, Z:-5.67 [[-7.13453346e-01 -7.00702518e-01 5.51292002e-04 6.76588084e+02] [ 7.00702266e-01 -7.13453558e-01 -5.95616345e-04 -2.59312904e+02] [ 8.10671113e-04 -3.86529197e-05 9.99999671e-01 -5.66887349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.226559995 meters 0.05305623643459291 Centerline is valid? [True, True] Translation: X:676.54, Y:-259.28, Z:-5.67 [[-7.07686957e-01 -7.06526127e-01 5.25460367e-05 6.76538925e+02] [ 7.06526125e-01 -7.07686959e-01 -5.60444669e-05 -2.59280215e+02] [ 7.67830247e-05 -2.53679058e-06 9.99999997e-01 -5.66862526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.286559995 meters 0.05315547676963063 Centerline is valid? [True, True] Translation: X:676.51, Y:-259.23, Z:-5.67 [[-7.00297996e-01 -7.13850610e-01 -1.52379520e-04 6.76505817e+02] [ 7.13850591e-01 -7.00298013e-01 1.65022659e-04 -2.59231390e+02] [-2.24512601e-04 6.78882735e-06 9.99999975e-01 -5.67126665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3465599949999 meters 0.051800711471868634 Centerline is valid? [True, True] Translation: X:676.45, Y:-259.20, Z:-5.67 [[-6.92690424e-01 -7.21234733e-01 -6.60661185e-04 6.76449083e+02] [ 7.21234380e-01 -6.92690738e-01 7.14637130e-04 -2.59202508e+02] [-9.73055004e-04 1.85307362e-05 9.99999526e-01 -5.66932197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.406559995 meters 0.05153422665679348 Centerline is valid? [True, True] Translation: X:676.41, Y:-259.16, Z:-5.67 [[-6.87080262e-01 -7.26581256e-01 -6.26125564e-04 6.76410595e+02] [ 7.26580940e-01 -6.87080548e-01 6.77385785e-04 -2.59160144e+02] [-9.22374510e-04 1.04875019e-05 9.99999575e-01 -5.67045633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4665599949999 meters 0.051201583709337924 Centerline is valid? [True, True] Translation: X:676.36, Y:-259.13, Z:-5.67 [[-6.78593360e-01 -7.34513280e-01 1.13720734e-03 6.76363230e+02] [ 7.34512253e-01 -6.78594313e-01 -1.22808664e-03 -2.59125662e+02] [ 1.67374838e-03 1.92127984e-06 9.99998599e-01 -5.67357611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.526559995 meters 0.05154830839120487 Centerline is valid? [True, True] Translation: X:676.32, Y:-259.09, Z:-5.67 [[-6.71639741e-01 -7.40876694e-01 1.33538416e-03 6.76318311e+02] [ 7.40875291e-01 -6.71641068e-01 -1.44175009e-03 -2.59089130e+02] [ 1.96505788e-03 2.10164667e-05 9.99998069e-01 -5.67455768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5865599949999 meters 0.05095337080129774 Centerline is valid? [True, True] Translation: X:676.28, Y:-259.05, Z:-5.67 [[-6.68471113e-01 -7.43737684e-01 7.93190767e-04 6.76277248e+02] [ 7.43737191e-01 -6.68471583e-01 -8.55805694e-04 -2.59049006e+02] [ 1.16672043e-03 1.78440883e-05 9.99999319e-01 -5.67375411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.646559995 meters 0.05170475541609489 Centerline is valid? [True, True] Translation: X:676.23, Y:-259.01, Z:-5.68 [[-6.66318413e-01 -7.45667229e-01 3.95985706e-04 6.76231572e+02] [ 7.45667107e-01 -6.66318530e-01 -4.27020828e-04 -2.59013797e+02] [ 5.82268051e-04 1.07416754e-05 9.99999830e-01 -5.67568364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7065599949999 meters 0.05118819494023769 Centerline is valid? [True, True] Translation: X:676.20, Y:-258.97, Z:-5.67 [[-6.64549871e-01 -7.47243736e-01 5.17656178e-04 6.76196065e+02] [ 7.47243528e-01 -6.64550073e-01 -5.58001765e-04 -2.58968053e+02] [ 7.60971774e-04 1.59952279e-05 9.99999710e-01 -5.67482278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.766559995 meters 0.05077338684347044 Centerline is valid? [True, True] Translation: X:676.16, Y:-258.92, Z:-5.67 [[-6.62533941e-01 -7.49031236e-01 9.91912773e-04 6.76158150e+02] [ 7.49030473e-01 -6.62534683e-01 -1.06965909e-03 -2.58924198e+02] [ 1.45838468e-03 3.42874434e-05 9.99998936e-01 -5.67480923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8265599949999 meters 0.051646808177163446 Centerline is valid? [True, True] Translation: X:676.12, Y:-258.89, Z:-5.68 [[-6.60785037e-01 -7.50567707e-01 3.35448319e-03 6.76115358e+02] [ 7.50558994e-01 -6.60793539e-01 -3.61866496e-03 -2.58886206e+02] [ 4.93267388e-03 1.26577874e-04 9.99987826e-01 -5.67851969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.886559995 meters 0.051987253578901556 Centerline is valid? [True, True] Translation: X:676.08, Y:-258.84, Z:-5.68 [[-6.60518474e-01 -7.50790445e-01 5.39009135e-03 6.76077207e+02] [ 7.50767969e-01 -6.60540434e-01 -5.81311209e-03 -2.58843671e+02] [ 7.92480229e-03 2.07040004e-04 9.99968577e-01 -5.68057906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9465599949999 meters 0.0523295839555985 Centerline is valid? [True, True] Translation: X:676.04, Y:-258.80, Z:-5.68 [[-6.62200849e-01 -7.49302269e-01 6.01218137e-03 6.76038071e+02] [ 7.49274259e-01 -6.62228107e-01 -6.48220448e-03 -2.58803783e+02] [ 8.83856601e-03 2.12251435e-04 9.99960917e-01 -5.68383396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.006559995 meters 0.051048676639486625 Centerline is valid? [True, True] Translation: X:676.01, Y:-258.75, Z:-5.68 [[-6.67455618e-01 -7.44629879e-01 5.41674198e-03 6.76009861e+02] [ 7.44606994e-01 -6.67477584e-01 -5.83950943e-03 -2.58750486e+02] [ 7.96382705e-03 1.35730581e-04 9.99968279e-01 -5.67771884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0665599949999 meters 0.051011061334844544 Centerline is valid? [True, True] Translation: X:675.98, Y:-258.70, Z:-5.68 [[-6.75972705e-01 -7.36916546e-01 3.86094549e-03 6.75977918e+02] [ 7.36904800e-01 -6.75983730e-01 -4.16071638e-03 -2.58703137e+02] [ 5.67603708e-03 3.26185548e-05 9.99983891e-01 -5.67711470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.126559995 meters 0.05064960853454202 Centerline is valid? [True, True] Translation: X:675.95, Y:-258.65, Z:-5.68 [[-6.85470043e-01 -7.28097793e-01 2.10355862e-03 6.75947492e+02] [ 7.28094267e-01 -6.85473270e-01 -2.26579983e-03 -2.58653701e+02] [ 3.09165706e-03 -2.15489328e-05 9.99995221e-01 -5.67513803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1865599949999 meters 0.05136606048659699 Centerline is valid? [True, True] Translation: X:675.91, Y:-258.61, Z:-5.67 [[-6.94263535e-01 -7.19717932e-01 2.05973447e-03 6.75913952e+02] [ 7.19714517e-01 -6.94266588e-01 -2.21805405e-03 -2.58606078e+02] [ 3.02637810e-03 -5.74932404e-05 9.99995419e-01 -5.67486330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.246559995 meters 0.05214574074942791 Centerline is valid? [True, True] Translation: X:675.88, Y:-258.56, Z:-5.68 [[-7.01186995e-01 -7.12970935e-01 3.04055282e-03 6.75879913e+02] [ 7.12963431e-01 -7.01193575e-01 -3.27349218e-03 -2.58560028e+02] [ 4.46592088e-03 -1.27527175e-04 9.99990020e-01 -5.67620820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3065599949999 meters 0.052376521033028055 Centerline is valid? [True, True] Translation: X:675.84, Y:-258.52, Z:-5.67 [[-7.04377801e-01 -7.09816530e-01 3.52238089e-03 6.75839847e+02] [ 7.09806422e-01 -7.04386588e-01 -3.79177392e-03 -2.58520263e+02] [ 5.17258166e-03 -1.70632805e-04 9.99986608e-01 -5.67437970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.366559995 meters 0.0530918452324542 Centerline is valid? [True, True] Translation: X:675.81, Y:-258.47, Z:-5.68 [[-7.04298432e-01 -7.09897940e-01 2.93816289e-03 6.75805997e+02] [ 7.09890913e-01 -7.04304547e-01 -3.16186623e-03 -2.58472140e+02] [ 4.31396381e-03 -1.41122288e-04 9.99990685e-01 -5.67662549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4265599949999 meters 0.052640860631891176 Centerline is valid? [True, True] Translation: X:675.77, Y:-258.43, Z:-5.68 [[-7.02953759e-01 -7.11228806e-01 3.09806582e-03 6.75767010e+02] [ 7.11221011e-01 -7.02960572e-01 -3.33285216e-03 -2.58429758e+02] [ 4.54823858e-03 -1.39431451e-04 9.99989647e-01 -5.67729273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.486559995 meters 0.051931645312565264 Centerline is valid? [True, True] Translation: X:675.72, Y:-258.39, Z:-5.68 [[-6.99119473e-01 -7.14995608e-01 3.63904900e-03 6.75724015e+02] [ 7.14984910e-01 -6.99128931e-01 -3.91362392e-03 -2.58393309e+02] [ 5.34238835e-03 -1.34225568e-04 9.99985720e-01 -5.67609451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5465599949999 meters 0.0519583415218195 Centerline is valid? [True, True] Translation: X:675.68, Y:-258.35, Z:-5.67 [[-6.93764071e-01 -7.20196572e-01 2.88282623e-03 6.75679755e+02] [ 7.20189904e-01 -6.93770057e-01 -3.09992219e-03 -2.58352803e+02] [ 4.23257185e-03 -7.44322872e-05 9.99991040e-01 -5.67490209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.606559995 meters 0.051643996074300764 Centerline is valid? [True, True] Translation: X:675.64, Y:-258.31, Z:-5.68 [[-6.88096279e-01 -7.25616513e-01 2.04629143e-03 6.75640702e+02] [ 7.25613176e-01 -6.88099321e-01 -2.20051822e-03 -2.58309287e+02] [ 3.00478410e-03 -2.93523772e-05 9.99995485e-01 -5.67570043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.666559995 meters 0.05091901595543967 Centerline is valid? [True, True] Translation: X:675.60, Y:-258.27, Z:-5.68 [[-6.84045572e-01 -7.29434315e-01 2.68976008e-03 6.75601299e+02] [ 7.29428586e-01 -6.84050860e-01 -2.89108735e-03 -2.58268133e+02] [ 3.94879102e-03 -1.56476069e-05 9.99992203e-01 -5.67937024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.726559995 meters 0.05110425918625035 Centerline is valid? [True, True] Translation: X:675.56, Y:-258.23, Z:-5.68 [[-6.80027031e-01 -7.33181211e-01 2.92364101e-03 6.75559756e+02] [ 7.33174481e-01 -6.80033316e-01 -3.14151566e-03 -2.58228038e+02] [ 4.29147355e-03 7.22341728e-06 9.99990792e-01 -5.67838414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.786559995 meters 0.05058333227047641 Centerline is valid? [True, True] Translation: X:675.52, Y:-258.19, Z:-5.68 [[-6.75974556e-01 -7.36919380e-01 2.86820252e-03 6.75517016e+02] [ 7.36912939e-01 -6.75980640e-01 -3.08119862e-03 -2.58188868e+02] [ 4.20944436e-03 3.08036819e-05 9.99991140e-01 -5.67797974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8465599949999 meters 0.05152362855787931 Centerline is valid? [True, True] Translation: X:675.48, Y:-258.15, Z:-5.68 [[-6.76037665e-01 -7.36861794e-01 2.78785394e-03 6.75476601e+02] [ 7.36855712e-01 -6.76043412e-01 -2.99406665e-03 -2.58146675e+02] [ 4.09092362e-03 3.01442730e-05 9.99991632e-01 -5.67812861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.906559995 meters 0.051209076191293404 Centerline is valid? [True, True] Translation: X:675.44, Y:-258.10, Z:-5.68 [[-6.77506134e-01 -7.35513085e-01 2.43727806e-03 6.75437787e+02] [ 7.35508430e-01 -6.77510518e-01 -2.61676468e-03 -2.58104329e+02] [ 3.57594619e-03 1.97644395e-05 9.99993606e-01 -5.68034776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9665599949999 meters 0.050997361615895735 Centerline is valid? [True, True] Translation: X:675.40, Y:-258.06, Z:-5.68 [[-6.79728586e-01 -7.33457799e-01 2.95072747e-03 6.75400580e+02] [ 7.33450960e-01 -6.79734990e-01 -3.16734180e-03 -2.58059543e+02] [ 4.32882426e-03 1.12811304e-05 9.99990631e-01 -5.67790888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.026559995 meters 0.05129319216628054 Centerline is valid? [True, True] Translation: X:675.36, Y:-258.02, Z:-5.68 [[-6.80677928e-01 -7.32569727e-01 4.37641607e-03 6.75361540e+02] [ 7.32554671e-01 -6.80691997e-01 -4.69668402e-03 -2.58017942e+02] [ 6.41963993e-03 9.03488849e-06 9.99979394e-01 -5.68170153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0865599949999 meters 0.051307364446516956 Centerline is valid? [True, True] Translation: X:675.32, Y:-257.97, Z:-5.68 [[-6.80551662e-01 -7.32689378e-01 3.96370521e-03 6.75324492e+02] [ 7.32677038e-01 -6.80563205e-01 -4.25235919e-03 -2.57974568e+02] [ 5.81321033e-03 1.01656763e-05 9.99983103e-01 -5.67954756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.146559995 meters 0.05116008219194328 Centerline is valid? [True, True] Translation: X:675.29, Y:-257.93, Z:-5.68 [[-6.78590095e-01 -7.34513022e-01 2.47072156e-03 6.75285737e+02] [ 7.34508243e-01 -6.78594592e-01 -2.64945840e-03 -2.57933650e+02] [ 3.62267998e-03 1.68691294e-05 9.99993438e-01 -5.67876877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2065599949999 meters 0.05065311068915127 Centerline is valid? [True, True] Translation: X:675.25, Y:-257.89, Z:-5.68 [[-6.75610734e-01 -7.37254632e-01 2.39651833e-03 6.75245352e+02] [ 7.37250156e-01 -6.75614984e-01 -2.56919906e-03 -2.57892655e+02] [ 3.51327760e-03 3.10550511e-05 9.99993828e-01 -5.67877411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.266559995 meters 0.05047043127027883 Centerline is valid? [True, True] Translation: X:675.21, Y:-257.85, Z:-5.68 [[-6.73109208e-01 -7.39537304e-01 2.92742578e-03 6.75206588e+02] [ 7.39530650e-01 -6.73115571e-01 -3.13777949e-03 -2.57849639e+02] [ 4.29100086e-03 5.28528219e-05 9.99990792e-01 -5.67812277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3265599949999 meters 0.05112295732753843 Centerline is valid? [True, True] Translation: X:675.17, Y:-257.81, Z:-5.68 [[-6.72830847e-01 -7.39791767e-01 2.60636068e-03 6.75167646e+02] [ 7.39786498e-01 -6.72835893e-01 -2.79254967e-03 -2.57808754e+02] [ 3.81955827e-03 4.92368760e-05 9.99992704e-01 -5.67869338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.386559995 meters 0.05143305465240304 Centerline is valid? [True, True] Translation: X:675.13, Y:-257.77, Z:-5.68 [[-6.72790022e-01 -7.39829228e-01 2.51010584e-03 6.75129240e+02] [ 7.39824344e-01 -6.72794702e-01 -2.68865834e-03 -2.57767002e+02] [ 3.67793393e-03 4.81349024e-05 9.99993235e-01 -5.67857423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4465599949999 meters 0.05075307253991958 Centerline is valid? [True, True] Translation: X:675.09, Y:-257.72, Z:-5.68 [[-6.74062393e-01 -7.38671360e-01 2.12405663e-03 6.75091787e+02] [ 7.38667859e-01 -6.74065739e-01 -2.27454583e-03 -2.57721838e+02] [ 3.11189567e-03 3.57865588e-05 9.99995157e-01 -5.67758547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.506559995 meters 0.05124516014459613 Centerline is valid? [True, True] Translation: X:675.05, Y:-257.68, Z:-5.68 [[-6.76274444e-01 -7.36643677e-01 2.99494525e-03 6.75053598e+02] [ 7.36636698e-01 -6.76281075e-01 -3.20657141e-03 -2.57678988e+02] [ 4.38752534e-03 3.76642794e-05 9.99990374e-01 -5.67862486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5665599949999 meters 0.05124516014459613 Centerline is valid? [True, True] Translation: X:675.01, Y:-257.64, Z:-5.68 [[-6.76382500e-01 -7.36544460e-01 2.99546065e-03 6.75014914e+02] [ 7.36537483e-01 -6.76389131e-01 -3.20609001e-03 -2.57637528e+02] [ 4.38752486e-03 3.77258736e-05 9.99990374e-01 -5.67884348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.626559995 meters 0.050781787845101435 Centerline is valid? [True, True] Translation: X:674.98, Y:-257.60, Z:-5.68 [[-6.77835229e-01 -7.35208767e-01 2.73333487e-03 6.74976219e+02] [ 7.35202951e-01 -6.77840739e-01 -2.92451884e-03 -2.57596823e+02] [ 4.00289762e-03 2.72139716e-05 9.99991988e-01 -5.68039163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6865599949999 meters 0.05076421933318448 Centerline is valid? [True, True] Translation: X:674.94, Y:-257.55, Z:-5.68 [[-6.78869396e-01 -7.34255644e-01 2.23429728e-03 6.74938793e+02] [ 7.34251756e-01 -6.78873073e-01 -2.38962396e-03 -2.57554833e+02] [ 3.27139914e-03 1.82941263e-05 9.99994649e-01 -5.67899760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.746559995 meters 0.05095546283693692 Centerline is valid? [True, True] Translation: X:674.90, Y:-257.51, Z:-5.68 [[-6.79009260e-01 -7.34125645e-01 2.44171139e-03 6.74898962e+02] [ 7.34121002e-01 -6.79013650e-01 -2.61099292e-03 -2.57513224e+02] [ 3.57475223e-03 1.96232423e-05 9.99993610e-01 -5.67791890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8065599949999 meters 0.051159118822222203 Centerline is valid? [True, True] Translation: X:674.86, Y:-257.47, Z:-5.68 [[-6.79480446e-01 -7.33687536e-01 2.98710585e-03 6.74859186e+02] [ 7.33680585e-01 -6.79487012e-01 -3.19372649e-03 -2.57472948e+02] [ 4.37289695e-03 2.15068651e-05 9.99990439e-01 -5.67890347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.866559995 meters 0.051088731812740054 Centerline is valid? [True, True] Translation: X:674.82, Y:-257.43, Z:-5.68 [[-6.80507745e-01 -7.32736195e-01 2.62242958e-03 6.74819686e+02] [ 7.32730835e-01 -6.80512798e-01 -2.80280498e-03 -2.57431922e+02] [ 3.83831355e-03 1.42045169e-05 9.99992634e-01 -5.67882513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9265599949999 meters 0.05143095456562809 Centerline is valid? [True, True] Translation: X:674.78, Y:-257.39, Z:-5.68 [[-6.82419036e-01 -7.30960638e-01 8.96873821e-04 6.74780927e+02] [ 7.30960011e-01 -6.82419625e-01 -9.57759625e-04 -2.57391271e+02] [ 1.31212888e-03 1.98549797e-06 9.99999139e-01 -5.67902528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.986559995 meters 0.05116102094222657 Centerline is valid? [True, True] Translation: X:674.74, Y:-257.35, Z:-5.68 [[-6.84159637e-01 -7.29332207e-01 3.51571286e-04 6.74740834e+02] [ 7.29332110e-01 -6.84159727e-01 -3.74852146e-04 -2.57350487e+02] [ 5.13922658e-04 -4.64800716e-08 9.99999868e-01 -5.67732461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0465599949999 meters 0.051575039381088504 Centerline is valid? [True, True] Translation: X:674.70, Y:-257.31, Z:-5.68 [[-6.84567575e-01 -7.28949152e-01 6.07291423e-04 6.74702005e+02] [ 7.28948864e-01 -6.84567845e-01 -6.47785965e-04 -2.57309517e+02] [ 8.87935210e-04 -7.68874226e-07 9.99999606e-01 -5.67875659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.106559995 meters 0.05159573127183246 Centerline is valid? [True, True] Translation: X:674.66, Y:-257.27, Z:-5.68 [[-6.84366658e-01 -7.29136881e-01 1.29888929e-03 6.74661209e+02] [ 7.29135563e-01 -6.84367890e-01 -1.38613688e-03 -2.57269971e+02] [ 1.89960164e-03 -1.55948842e-06 9.99998196e-01 -5.67871466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.166559995 meters 0.05163593106240397 Centerline is valid? [True, True] Translation: X:674.62, Y:-257.23, Z:-5.68 [[-6.83302347e-01 -7.30134106e-01 1.44597964e-03 6.74620165e+02] [ 7.30132476e-01 -6.83303877e-01 -1.54267619e-03 -2.57231951e+02] [ 2.11440399e-03 1.64243531e-06 9.99997765e-01 -5.68053887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.226559995 meters 0.0511408458142691 Centerline is valid? [True, True] Translation: X:674.58, Y:-257.19, Z:-5.68 [[-6.81706594e-01 -7.31623780e-01 1.66243717e-03 6.74579755e+02] [ 7.31621632e-01 -6.81708621e-01 -1.77308087e-03 -2.57193797e+02] [ 2.43052588e-03 7.55407404e-06 9.99997046e-01 -5.67828485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.286559995 meters 0.05151488624925352 Centerline is valid? [True, True] Translation: X:674.54, Y:-257.15, Z:-5.68 [[-6.80164973e-01 -7.33056819e-01 1.81921983e-03 6.74538107e+02] [ 7.33054252e-01 -6.80167406e-01 -1.93999101e-03 -2.57154363e+02] [ 2.65949767e-03 1.40728938e-05 9.99996463e-01 -5.67974611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3465599949999 meters 0.0514524995700374 Centerline is valid? [True, True] Translation: X:674.50, Y:-257.12, Z:-5.68 [[-6.78051112e-01 -7.35010651e-01 2.45619955e-03 6.74497782e+02] [ 7.35005986e-01 -6.78055560e-01 -2.61861323e-03 -2.57115524e+02] [ 3.59014838e-03 2.97677605e-05 9.99993555e-01 -5.67906382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.406559995 meters 0.05120358353974525 Centerline is valid? [True, True] Translation: X:674.45, Y:-257.08, Z:-5.68 [[-6.77189290e-01 -7.35803607e-01 2.77811467e-03 6.74454151e+02] [ 7.35797649e-01 -6.77194987e-01 -2.96129865e-03 -2.57077454e+02] [ 4.06025956e-03 3.87705183e-05 9.99991756e-01 -5.68230404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4665599949999 meters 0.05169157386591723 Centerline is valid? [True, True] Translation: X:674.41, Y:-257.04, Z:-5.68 [[-6.76889695e-01 -7.36080452e-01 2.43074106e-03 6.74414446e+02] [ 7.36075897e-01 -6.76894059e-01 -2.58990771e-03 -2.57039339e+02] [ 3.55173462e-03 3.61280631e-05 9.99993692e-01 -5.68240667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.526559995 meters 0.051945693607020046 Centerline is valid? [True, True] Translation: X:674.38, Y:-257.00, Z:-5.68 [[-6.77251859e-01 -7.35744942e-01 3.04949439e-03 6.74375111e+02] [ 7.35737772e-01 -6.77258723e-01 -3.24843644e-03 -2.56998738e+02] [ 4.45531735e-03 4.36185887e-05 9.99990074e-01 -5.68278353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5865599949999 meters 0.05204285279378357 Centerline is valid? [True, True] Translation: X:674.34, Y:-256.96, Z:-5.68 [[-6.78048746e-01 -7.35008076e-01 3.60924491e-03 6.74336218e+02] [ 7.34998028e-01 -6.78058350e-01 -3.84365313e-03 -2.56958612e+02] [ 5.27239474e-03 4.66037041e-05 9.99986100e-01 -5.68327290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.646559995 meters 0.05183731915304097 Centerline is valid? [True, True] Translation: X:674.30, Y:-256.92, Z:-5.68 [[-6.79297423e-01 -7.33855103e-01 3.42044471e-03 6.74298451e+02] [ 7.33846071e-01 -6.79306033e-01 -3.64111250e-03 -2.56918744e+02] [ 4.99557772e-03 3.66815707e-05 9.99987521e-01 -5.68343908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7065599949999 meters 0.05224045271140418 Centerline is valid? [True, True] Translation: X:674.26, Y:-256.88, Z:-5.68 [[-6.81542819e-01 -7.31771805e-01 3.06778613e-03 6.74260898e+02] [ 7.31764522e-01 -6.81549723e-01 -3.26490830e-03 -2.56875086e+02] [ 4.48001663e-03 1.97222474e-05 9.99989964e-01 -5.68075043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.766559995 meters 0.05129529258999253 Centerline is valid? [True, True] Translation: X:674.22, Y:-256.83, Z:-5.68 [[-6.84026218e-01 -7.29449287e-01 3.44551730e-03 6.74223617e+02] [ 7.29440075e-01 -6.84034896e-01 -3.66576945e-03 -2.56833171e+02] [ 5.03084697e-03 5.81598858e-06 9.99987345e-01 -5.68147438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8265599949999 meters 0.05184379077255591 Centerline is valid? [True, True] Translation: X:674.19, Y:-256.79, Z:-5.68 [[-6.87128148e-01 -7.26528885e-01 3.26913435e-03 6.74187422e+02] [ 7.26520565e-01 -6.87135925e-01 -3.47691571e-03 -2.56790568e+02] [ 4.77241935e-03 -1.39933195e-05 9.99988612e-01 -5.68281237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.886559995 meters 0.051667124366013804 Centerline is valid? [True, True] Translation: X:674.15, Y:-256.75, Z:-5.68 [[-6.88325428e-01 -7.25393550e-01 3.50754694e-03 6.74147918e+02] [ 7.25383964e-01 -6.88334365e-01 -3.72927230e-03 -2.56750336e+02] [ 5.11955517e-03 -2.26346554e-05 9.99986895e-01 -5.68159381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9465599949999 meters 0.05161032894104364 Centerline is valid? [True, True] Translation: X:674.11, Y:-256.71, Z:-5.68 [[-6.87595267e-01 -7.26083208e-01 3.99057899e-03 6.74108046e+02] [ 7.26070819e-01 -6.87606846e-01 -4.24154287e-03 -2.56709952e+02] [ 5.82366249e-03 -1.90218448e-05 9.99983042e-01 -5.68218490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.006559995 meters 0.052154244507797994 Centerline is valid? [True, True] Translation: X:674.07, Y:-256.67, Z:-5.68 [[-6.86238354e-01 -7.27363614e-01 4.36971448e-03 6.74069109e+02] [ 7.27348791e-01 -6.86252267e-01 -4.64357765e-03 -2.56671162e+02] [ 6.37629589e-03 -8.29454189e-06 9.99979671e-01 -5.68365845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0665599949999 meters 0.052624377770910544 Centerline is valid? [True, True] Translation: X:674.03, Y:-256.63, Z:-5.68 [[-6.84611858e-01 -7.28892927e-01 4.65887910e-03 6.74029194e+02] [ 7.28876125e-01 -6.84627710e-01 -4.94916803e-03 -2.56630903e+02] [ 6.79701130e-03 7.48663084e-06 9.99976900e-01 -5.67923865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.126559995 meters 0.05237333321986888 Centerline is valid? [True, True] Translation: X:673.99, Y:-256.59, Z:-5.68 [[-6.84122958e-01 -7.29354032e-01 4.29810502e-03 6.73989547e+02] [ 7.29339749e-01 -6.84136460e-01 -4.56463821e-03 -2.56589828e+02] [ 6.26972763e-03 1.20050443e-05 9.99980345e-01 -5.68217753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1865599949999 meters 0.052036790847109576 Centerline is valid? [True, True] Translation: X:673.95, Y:-256.55, Z:-5.68 [[-6.84351184e-01 -7.29144195e-01 3.49290349e-03 6.73951377e+02] [ 7.29134766e-01 -6.84360098e-01 -3.70807444e-03 -2.56548287e+02] [ 5.09412473e-03 9.17223099e-06 9.99987025e-01 -5.68129890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.246559995 meters 0.05185761737542453 Centerline is valid? [True, True] Translation: X:673.91, Y:-256.51, Z:-5.68 [[-6.85024227e-01 -7.28517146e-01 2.13915039e-03 6.73913551e+02] [ 7.28513610e-01 -6.85027567e-01 -2.26997129e-03 -2.56506272e+02] [ 3.11908999e-03 3.41484814e-06 9.99995136e-01 -5.68197650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3065599949999 meters 0.05208586956830364 Centerline is valid? [True, True] Translation: X:673.88, Y:-256.47, Z:-5.68 [[-6.85645214e-01 -7.27933345e-01 1.91984144e-03 6.73875223e+02] [ 7.27930497e-01 -6.85647901e-01 -2.03641115e-03 -2.56465570e+02] [ 2.79870684e-03 1.25557435e-06 9.99996084e-01 -5.68227030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.366559995 meters 0.0517157960084154 Centerline is valid? [True, True] Translation: X:673.84, Y:-256.42, Z:-5.68 [[-6.86121592e-01 -7.27484274e-01 1.94726582e-03 6.73836687e+02] [ 7.27481344e-01 -6.86124355e-01 -2.06484025e-03 -2.56424257e+02] [ 2.83820532e-03 -1.31922254e-07 9.99995972e-01 -5.68326053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4265599949999 meters 0.05210111338534177 Centerline is valid? [True, True] Translation: X:673.80, Y:-256.38, Z:-5.68 [[-6.86259034e-01 -7.27352687e-01 2.57047701e-03 6.73798147e+02] [ 7.27347582e-01 -6.86263848e-01 -2.72509114e-03 -2.56382936e+02] [ 3.74612780e-03 -4.88171808e-07 9.99992983e-01 -5.68373455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.486559995 meters 0.05212349129509376 Centerline is valid? [True, True] Translation: X:673.76, Y:-256.34, Z:-5.68 [[-6.86488671e-01 -7.27135860e-01 2.59733227e-03 6.73758894e+02] [ 7.27130649e-01 -6.86493585e-01 -2.75284955e-03 -2.56341653e+02] [ 3.78474757e-03 -1.20013267e-06 9.99992838e-01 -5.68051717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5465599949999 meters 0.052404904928636115 Centerline is valid? [True, True] Translation: X:673.72, Y:-256.30, Z:-5.68 [[-6.86472693e-01 -7.27149077e-01 3.07610298e-03 6.73719997e+02] [ 7.27141772e-01 -6.86479585e-01 -3.25942031e-03 -2.56300404e+02] [ 4.48176637e-03 -7.40061521e-07 9.99989957e-01 -5.68485462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.606559995 meters 0.05184425773570235 Centerline is valid? [True, True] Translation: X:673.68, Y:-256.26, Z:-5.69 [[-6.86525865e-01 -7.27098502e-01 3.16319876e-03 6.73682913e+02] [ 7.27090782e-01 -6.86533152e-01 -3.35060763e-03 -2.56258681e+02] [ 4.60786260e-03 -3.46140488e-07 9.99989384e-01 -5.68660020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.666559995 meters 0.05188887404982695 Centerline is valid? [True, True] Translation: X:673.65, Y:-256.22, Z:-5.69 [[-6.86304906e-01 -7.27306690e-01 3.24879217e-03 6.73645362e+02] [ 7.27298550e-01 -6.86312596e-01 -3.44090094e-03 -2.56215591e+02] [ 4.73227725e-03 1.33463649e-06 9.99988803e-01 -5.68573310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.726559995 meters 0.05178081405774877 Centerline is valid? [True, True] Translation: X:673.61, Y:-256.17, Z:-5.68 [[-6.84504694e-01 -7.29003246e-01 2.75535994e-03 6.73606418e+02] [ 7.28997409e-01 -6.84510239e-01 -2.91719241e-03 -2.56172453e+02] [ 4.01271483e-03 1.18183650e-05 9.99991949e-01 -5.68414926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.786559995 meters 0.05156510445486976 Centerline is valid? [True, True] Translation: X:673.57, Y:-256.13, Z:-5.68 [[-6.82592925e-01 -7.30795416e-01 2.22658137e-03 6.73568363e+02] [ 7.30791616e-01 -6.82596557e-01 -2.35694866e-03 -2.56130292e+02] [ 3.24230405e-03 1.83305170e-05 9.99994744e-01 -5.68369338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8465599949999 meters 0.051165712002318224 Centerline is valid? [True, True] Translation: X:673.53, Y:-256.09, Z:-5.68 [[-6.79660250e-01 -7.33525799e-01 1.35862077e-03 6.73528726e+02] [ 7.33524391e-01 -6.79661608e-01 -1.43746518e-03 -2.56088312e+02] [ 1.97782017e-03 1.95935289e-05 9.99998044e-01 -5.68386893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.906559995 meters 0.051038623136735684 Centerline is valid? [True, True] Translation: X:673.49, Y:-256.05, Z:-5.69 [[-6.76132665e-01 -7.36778403e-01 1.48462637e-03 6.73488317e+02] [ 7.36776730e-01 -6.76134294e-01 -1.57041063e-03 -2.56048917e+02] [ 2.16085144e-03 3.20322351e-05 9.99997665e-01 -5.68508069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9665599949999 meters 0.05138436096621106 Centerline is valid? [True, True] Translation: X:673.45, Y:-256.01, Z:-5.69 [[-6.73696307e-01 -7.39006960e-01 1.41356305e-03 6.73448728e+02] [ 7.39005450e-01 -6.73697789e-01 -1.49466710e-03 -2.56009175e+02] [ 2.05688369e-03 3.76790913e-05 9.99997884e-01 -5.68551464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.026559995 meters 0.05229867729297741 Centerline is valid? [True, True] Translation: X:673.41, Y:-255.97, Z:-5.69 [[-6.70655020e-01 -7.41766494e-01 2.07653640e-03 6.73409409e+02] [ 7.41763247e-01 -6.70658232e-01 -2.19569644e-03 -2.55968415e+02] [ 3.02134028e-03 6.77435441e-05 9.99995433e-01 -5.68605703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0865599949999 meters 0.05108693671148285 Centerline is valid? [True, True] Translation: X:673.37, Y:-255.92, Z:-5.69 [[-6.69779566e-01 -7.42555606e-01 2.55030263e-03 6.73373006e+02] [ 7.42550717e-01 -6.69784416e-01 -2.69595582e-03 -2.55924337e+02] [ 3.71005006e-03 8.80329301e-05 9.99993114e-01 -5.68600036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.146559995 meters 0.051389416714461046 Centerline is valid? [True, True] Translation: X:673.34, Y:-255.88, Z:-5.69 [[-6.69497618e-01 -7.42805010e-01 3.69552774e-03 6.73336092e+02] [ 7.42794748e-01 -6.69507805e-01 -3.90666336e-03 -2.55879271e+02] [ 5.37607378e-03 1.29516774e-04 9.99985540e-01 -5.68641075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2065599949999 meters 0.05208787946491727 Centerline is valid? [True, True] Translation: X:673.30, Y:-255.84, Z:-5.69 [[-6.69663720e-01 -7.42650594e-01 4.53845514e-03 6.73297637e+02] [ 7.42635121e-01 -6.69679080e-01 -4.79650952e-03 -2.55838996e+02] [ 6.60143911e-03 1.58367777e-04 9.99978198e-01 -5.68876753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.266559995 meters 0.051196918783866806 Centerline is valid? [True, True] Translation: X:673.26, Y:-255.79, Z:-5.69 [[-6.70854143e-01 -7.41570079e-01 5.34201139e-03 6.73264118e+02] [ 7.41548612e-01 -6.70875389e-01 -5.64517994e-03 -2.55790111e+02] [ 7.77012050e-03 1.74268784e-04 9.99969797e-01 -5.68782002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3265599949999 meters 0.05089971883270015 Centerline is valid? [True, True] Translation: X:673.23, Y:-255.74, Z:-5.69 [[-6.73398066e-01 -7.39261984e-01 5.17341031e-03 6.73230255e+02] [ 7.39241795e-01 -6.73417922e-01 -5.46533941e-03 -2.55741957e+02] [ 7.52418488e-03 1.44052140e-04 9.99971683e-01 -5.68610913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.386559995 meters 0.05127820497386047 Centerline is valid? [True, True] Translation: X:673.19, Y:-255.70, Z:-5.69 [[-6.75434453e-01 -7.37405698e-01 4.59742144e-03 6.73192980e+02] [ 7.37389721e-01 -6.75450090e-01 -4.85542418e-03 -2.55699233e+02] [ 6.68574618e-03 1.10570542e-04 9.99977644e-01 -5.68722817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4465599949999 meters 0.05059926046510689 Centerline is valid? [True, True] Translation: X:673.16, Y:-255.65, Z:-5.69 [[-6.77966347e-01 -7.35084526e-01 3.51720637e-03 6.73158902e+02] [ 7.35075150e-01 -6.77975467e-01 -3.71338873e-03 -2.55651913e+02] [ 5.11423423e-03 6.78584081e-05 9.99986920e-01 -5.68561979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.506559995 meters 0.05123335520782222 Centerline is valid? [True, True] Translation: X:673.12, Y:-255.61, Z:-5.69 [[-6.78094259e-01 -7.34968217e-01 3.14572745e-03 6.73117075e+02] [ 7.34960720e-01 -6.78101553e-01 -3.32019598e-03 -2.55613032e+02] [ 4.57336119e-03 6.05802775e-05 9.99989540e-01 -5.68852504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5665599949999 meters 0.05134851009157327 Centerline is valid? [True, True] Translation: X:673.08, Y:-255.57, Z:-5.69 [[-6.76696545e-01 -7.36254417e-01 3.34946157e-03 6.73076717e+02] [ 7.36245939e-01 -6.76704831e-01 -3.53413078e-03 -2.55573362e+02] [ 4.86861622e-03 7.44933888e-05 9.99988145e-01 -5.68837819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.626559995 meters 0.050914356793058224 Centerline is valid? [True, True] Translation: X:673.04, Y:-255.53, Z:-5.69 [[-6.75864974e-01 -7.37012958e-01 4.29386880e-03 6.73037050e+02] [ 7.36999044e-01 -6.75878606e-01 -4.52980159e-03 -2.55531101e+02] [ 6.24065652e-03 1.03042965e-04 9.99980522e-01 -5.68708004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6865599949999 meters 0.051159066931531355 Centerline is valid? [True, True] Translation: X:673.00, Y:-255.49, Z:-5.69 [[-6.74736206e-01 -7.38047142e-01 4.17944408e-03 6.72996448e+02] [ 7.38033987e-01 -6.74749141e-01 -4.40800311e-03 -2.55489261e+02] [ 6.07339041e-03 1.10332485e-04 9.99981551e-01 -5.68664397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.746559995 meters 0.051046342515613616 Centerline is valid? [True, True] Translation: X:672.95, Y:-255.45, Z:-5.69 [[-6.72177587e-01 -7.40380233e-01 3.79504663e-03 6.72951842e+02] [ 7.40369427e-01 -6.72188290e-01 -4.00189065e-03 -2.55453068e+02] [ 5.51390663e-03 1.19755295e-04 9.99984791e-01 -5.68770664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8065599949999 meters 0.05111232844475851 Centerline is valid? [True, True] Translation: X:672.91, Y:-255.41, Z:-5.69 [[-6.70618413e-01 -7.41791413e-01 4.05508551e-03 6.72913968e+02] [ 7.41779109e-01 -6.70630658e-01 -4.27493024e-03 -2.55408800e+02] [ 5.89057121e-03 1.41130785e-04 9.99982640e-01 -5.68650697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.866559995 meters 0.05096439527614291 Centerline is valid? [True, True] Translation: X:672.87, Y:-255.37, Z:-5.69 [[-6.70386595e-01 -7.42000558e-01 4.12132591e-03 6.72872180e+02] [ 7.41987858e-01 -6.70399247e-01 -4.34382158e-03 -2.55369537e+02] [ 5.98605182e-03 1.45934024e-04 9.99982073e-01 -5.68803547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9265599949999 meters 0.051467493014745194 Centerline is valid? [True, True] Translation: X:672.83, Y:-255.33, Z:-5.69 [[-6.70845912e-01 -7.41586356e-01 3.92913625e-03 6.72829987e+02] [ 7.41574811e-01 -6.70857405e-01 -4.14033609e-03 -2.55332452e+02] [ 5.70630690e-03 1.36220929e-04 9.99983710e-01 -5.68912465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.986559995 meters 0.05073408006766909 Centerline is valid? [True, True] Translation: X:672.79, Y:-255.29, Z:-5.69 [[-6.71319982e-01 -7.41159428e-01 3.49045666e-03 6.72793244e+02] [ 7.41150317e-01 -6.71329046e-01 -3.67698632e-03 -2.55286984e+02] [ 5.06847802e-03 1.18518672e-04 9.99987148e-01 -5.68702432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0465599949999 meters 0.051405421775684586 Centerline is valid? [True, True] Translation: X:672.75, Y:-255.25, Z:-5.69 [[-6.71619012e-01 -7.40888060e-01 3.57565411e-03 6.72751682e+02] [ 7.40878501e-01 -6.71628519e-01 -3.76549629e-03 -2.55249059e+02] [ 5.19132251e-03 1.20146360e-04 9.99986518e-01 -5.68891513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.106559995 meters 0.050829224898363654 Centerline is valid? [True, True] Translation: X:672.72, Y:-255.20, Z:-5.69 [[-6.74122178e-01 -7.38609657e-01 3.88130741e-03 6.72715881e+02] [ 7.38598360e-01 -6.74133342e-01 -4.08657548e-03 -2.55202753e+02] [ 5.63490285e-03 1.11876122e-04 9.99984118e-01 -5.68826335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.166559995 meters 0.050990595681571715 Centerline is valid? [True, True] Translation: X:672.68, Y:-255.16, Z:-5.69 [[-6.78437954e-01 -7.34649771e-01 3.41410651e-03 6.72677901e+02] [ 7.34640986e-01 -6.78446541e-01 -3.59343158e-03 -2.55161115e+02] [ 4.95620244e-03 7.02222038e-05 9.99987715e-01 -5.68933520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.226559995 meters 0.05032995041054125 Centerline is valid? [True, True] Translation: X:672.64, Y:-255.12, Z:-5.69 [[-6.81898617e-01 -7.31441989e-01 2.62544376e-03 6.72642918e+02] [ 7.31436773e-01 -6.81903670e-01 -2.76243918e-03 -2.55115780e+02] [ 3.81086374e-03 3.66426540e-05 9.99992738e-01 -5.68679337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.286559995 meters 0.05064673805025716 Centerline is valid? [True, True] Translation: X:672.61, Y:-255.07, Z:-5.69 [[-6.85546414e-01 -7.28027093e-01 1.63289927e-03 6.72605916e+02] [ 7.28025067e-01 -6.85548359e-01 -1.71737448e-03 -2.55071313e+02] [ 2.36972657e-03 1.14516878e-05 9.99997192e-01 -5.68561672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3465599949999 meters 0.05110780956967279 Centerline is valid? [True, True] Translation: X:672.57, Y:-255.03, Z:-5.69 [[-6.86683767e-01 -7.26954051e-01 1.79207395e-03 6.72566025e+02] [ 7.26951609e-01 -6.86686106e-01 -1.88429326e-03 -2.55030090e+02] [ 2.60038690e-03 8.83745056e-06 9.99996619e-01 -5.68860626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.406559995 meters 0.05146903143437861 Centerline is valid? [True, True] Translation: X:672.53, Y:-254.99, Z:-5.69 [[-6.86941787e-01 -7.26708035e-01 2.53237730e-03 6.72528039e+02] [ 7.26703160e-01 -6.86946455e-01 -2.66193209e-03 -2.54990045e+02] [ 3.67405505e-03 1.16942014e-05 9.99993251e-01 -5.68926510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4665599949999 meters 0.051180530964552176 Centerline is valid? [True, True] Translation: X:672.49, Y:-254.95, Z:-5.69 [[-6.86700723e-01 -7.26931403e-01 3.58497315e-03 6.72487542e+02] [ 7.26921637e-01 -6.86710080e-01 -3.76807578e-03 -2.54947422e+02] [ 5.20096982e-03 1.84541940e-05 9.99986475e-01 -5.68801862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.526559995 meters 0.05143713230423532 Centerline is valid? [True, True] Translation: X:672.45, Y:-254.91, Z:-5.69 [[-6.86407806e-01 -7.27202178e-01 4.61695820e-03 6.72446348e+02] [ 7.27185994e-01 -6.86423333e-01 -4.85163909e-03 -2.54906744e+02] [ 6.69731035e-03 2.71843900e-05 9.99977572e-01 -5.68930088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5865599949999 meters 0.05206597349865659 Centerline is valid? [True, True] Translation: X:672.41, Y:-254.87, Z:-5.69 [[-6.87247000e-01 -7.26408296e-01 4.74847242e-03 6.72407439e+02] [ 7.26391169e-01 -6.87263404e-01 -4.98816844e-03 -2.54866143e+02] [ 6.88689825e-03 2.11446368e-05 9.99976285e-01 -5.69017955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.646559995 meters 0.05148264763534948 Centerline is valid? [True, True] Translation: X:672.37, Y:-254.82, Z:-5.69 [[-6.88564846e-01 -7.25163527e-01 4.03897235e-03 6.72368328e+02] [ 7.25151122e-01 -6.88576691e-01 -4.24152271e-03 -2.54823968e+02] [ 5.85693979e-03 8.30189747e-06 9.99982848e-01 -5.68899810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7065599949999 meters 0.05197322310458282 Centerline is valid? [True, True] Translation: X:672.33, Y:-254.78, Z:-5.69 [[-6.89127262e-01 -7.24632570e-01 3.35499005e-03 6.72329118e+02] [ 7.24624011e-01 -6.89135428e-01 -3.52205364e-03 -2.54782850e+02] [ 4.86423728e-03 3.96316577e-06 9.99988170e-01 -5.68883130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.766559995 meters 0.05147663952948279 Centerline is valid? [True, True] Translation: X:672.29, Y:-254.74, Z:-5.69 [[-6.88380877e-01 -7.25345478e-01 2.38891324e-03 6.72289029e+02] [ 7.25341145e-01 -6.88385022e-01 -2.50688761e-03 -2.54742556e+02] [ 3.46285168e-03 7.08357147e-06 9.99994004e-01 -5.68918074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8265599949999 meters 0.05174941830217697 Centerline is valid? [True, True] Translation: X:672.25, Y:-254.70, Z:-5.69 [[-6.86014101e-01 -7.27584354e-01 2.37931790e-03 6.72247374e+02] [ 7.27580072e-01 -6.86018227e-01 -2.49624225e-03 -2.54702575e+02] [ 3.44848225e-03 1.86869031e-05 9.99994054e-01 -5.68942491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.886559995 meters 0.051114472251368975 Centerline is valid? [True, True] Translation: X:672.20, Y:-254.66, Z:-5.69 [[-6.84119629e-01 -7.29363199e-01 3.10747862e-03 6.72204537e+02] [ 7.29355917e-01 -6.84126686e-01 -3.25947738e-03 -2.54664258e+02] [ 4.50325190e-03 3.65854612e-05 9.99989860e-01 -5.69299056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9465599949999 meters 0.05203787438036503 Centerline is valid? [True, True] Translation: X:672.16, Y:-254.62, Z:-5.69 [[-6.80743956e-01 -7.32511207e-01 3.87269820e-03 6.72164276e+02] [ 7.32499949e-01 -6.80754968e-01 -4.06192675e-03 -2.54622889e+02] [ 5.61176540e-03 7.16191470e-05 9.99984251e-01 -5.69050460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.006559995 meters 0.05113527767094929 Centerline is valid? [True, True] Translation: X:672.12, Y:-254.58, Z:-5.69 [[-6.78677146e-01 -7.34424551e-01 4.23198558e-03 6.72122496e+02] [ 7.34411151e-01 -6.78690334e-01 -4.43759698e-03 -2.54584746e+02] [ 6.13128788e-03 9.63217448e-05 9.99981199e-01 -5.69212042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0665599949999 meters 0.051229471903773985 Centerline is valid? [True, True] Translation: X:672.08, Y:-254.54, Z:-5.69 [[-6.76641613e-01 -7.36298313e-01 4.57409441e-03 6.72081469e+02] [ 7.36282710e-01 -6.76657062e-01 -4.79492676e-03 -2.54544452e+02] [ 6.62558977e-03 1.23379654e-04 9.99978043e-01 -5.69209525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.126559995 meters 0.05177449842419488 Centerline is valid? [True, True] Translation: X:672.04, Y:-254.50, Z:-5.69 [[-6.76228854e-01 -7.36676177e-01 4.76948772e-03 6.72040958e+02] [ 7.36659230e-01 -6.76245660e-01 -4.99856129e-03 -2.54503128e+02] [ 6.90766640e-03 1.33315779e-04 9.99976133e-01 -5.69279904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1865599949999 meters 0.05192805754719002 Centerline is valid? [True, True] Translation: X:672.00, Y:-254.46, Z:-5.69 [[-6.76392429e-01 -7.36526156e-01 4.74391338e-03 6.72001400e+02] [ 7.36509398e-01 -6.76409051e-01 -4.97011479e-03 -2.54463324e+02] [ 6.86944548e-03 1.32188778e-04 9.99976396e-01 -5.69407101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.246559995 meters 0.05178809492134285 Centerline is valid? [True, True] Translation: X:671.96, Y:-254.42, Z:-5.69 [[-6.76673527e-01 -7.36270034e-01 4.40159947e-03 6.71963108e+02] [ 7.36255612e-01 -6.76687832e-01 -4.60994405e-03 -2.54421428e+02] [ 6.37267246e-03 1.21275208e-04 9.99979687e-01 -5.69325200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3065599949999 meters 0.051766465531012454 Centerline is valid? [True, True] Translation: X:671.92, Y:-254.38, Z:-5.69 [[-6.77015025e-01 -7.35958627e-01 3.94396469e-03 6.71924210e+02] [ 7.35947052e-01 -6.77026504e-01 -4.12917228e-03 -2.54382072e+02] [ 5.70906859e-03 1.07037516e-04 9.99983697e-01 -5.69378521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.366559995 meters 0.05168629397634888 Centerline is valid? [True, True] Translation: X:671.89, Y:-254.34, Z:-5.69 [[-6.76840749e-01 -7.36116692e-01 4.33784930e-03 6.71885407e+02] [ 7.36102699e-01 -6.76854638e-01 -4.54043454e-03 -2.54341430e+02] [ 6.27838308e-03 1.19951464e-04 9.99980284e-01 -5.69407239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4265599949999 meters 0.05159722556865415 Centerline is valid? [True, True] Translation: X:671.85, Y:-254.30, Z:-5.69 [[-6.76791933e-01 -7.36161350e-01 4.37565232e-03 6.71849707e+02] [ 7.36147118e-01 -6.76806067e-01 -4.57906243e-03 -2.54295205e+02] [ 6.33239682e-03 1.22051329e-04 9.99979943e-01 -5.69188082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.486559995 meters 0.051926963889952514 Centerline is valid? [True, True] Translation: X:671.81, Y:-254.25, Z:-5.69 [[-6.77331503e-01 -7.35664844e-01 4.39004131e-03 6.71811031e+02] [ 7.35650518e-01 -6.77345719e-01 -4.59265354e-03 -2.54252803e+02] [ 6.35222944e-03 1.18787241e-04 9.99979817e-01 -5.69205471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5465599949999 meters 0.05135478187926154 Centerline is valid? [True, True] Translation: X:671.77, Y:-254.21, Z:-5.69 [[-6.78563360e-01 -7.34529573e-01 4.25121613e-03 6.71771274e+02] [ 7.34516122e-01 -6.78576669e-01 -4.44643295e-03 -2.54212412e+02] [ 6.15081257e-03 1.05400296e-04 9.99981078e-01 -5.69344260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.606559995 meters 0.05158663887249344 Centerline is valid? [True, True] Translation: X:671.73, Y:-254.17, Z:-5.69 [[-6.79604673e-01 -7.33566827e-01 4.14709955e-03 6.71732749e+02] [ 7.33554017e-01 -6.79617320e-01 -4.33623186e-03 -2.54169602e+02] [ 5.99935653e-03 9.51980890e-05 9.99981999e-01 -5.69426799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.666559995 meters 0.05156794608343121 Centerline is valid? [True, True] Translation: X:671.70, Y:-254.13, Z:-5.69 [[-6.79508966e-01 -7.33657605e-01 3.75280407e-03 6.71695764e+02] [ 7.33647123e-01 -6.79519323e-01 -3.92271484e-03 -2.54125538e+02] [ 5.42803245e-03 8.77140057e-05 9.99985264e-01 -5.69294368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.726559995 meters 0.05157232409643524 Centerline is valid? [True, True] Translation: X:671.66, Y:-254.08, Z:-5.69 [[-6.79681556e-01 -7.33498699e-01 3.55544946e-03 6.71657067e+02] [ 7.33489295e-01 -6.79690850e-01 -3.71522332e-03 -2.54084625e+02] [ 5.14171794e-03 8.27153495e-05 9.99986778e-01 -5.69348596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.786559995 meters 0.05174476897355667 Centerline is valid? [True, True] Translation: X:671.62, Y:-254.04, Z:-5.69 [[-6.80700847e-01 -7.32556078e-01 2.81943586e-03 6.71624696e+02] [ 7.32550160e-01 -6.80706683e-01 -2.94517101e-03 -2.54036497e+02] [ 4.07671176e-03 6.05977922e-05 9.99991688e-01 -5.68943108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8465599949999 meters 0.05155115497405144 Centerline is valid? [True, True] Translation: X:671.58, Y:-254.00, Z:-5.69 [[-6.81358697e-01 -7.31945220e-01 2.55344512e-03 6.71580673e+02] [ 7.31940365e-01 -6.81363480e-01 -2.66650449e-03 -2.54000810e+02] [ 3.69155947e-03 5.21235251e-05 9.99993185e-01 -5.69377000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.906559995 meters 0.05136102047334532 Centerline is valid? [True, True] Translation: X:671.54, Y:-253.96, Z:-5.69 [[-6.81608033e-01 -7.31713515e-01 2.41297852e-03 6.71542649e+02] [ 7.31709180e-01 -6.81612302e-01 -2.51904666e-03 -2.53958373e+02] [ 3.48793633e-03 4.85961010e-05 9.99993916e-01 -5.69361492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9665599949999 meters 0.05098103671730194 Centerline is valid? [True, True] Translation: X:671.50, Y:-253.92, Z:-5.69 [[-6.80743781e-01 -7.32516807e-01 2.65184728e-03 6.71504647e+02] [ 7.32511580e-01 -6.80748944e-01 -2.76770613e-03 -2.53915463e+02] [ 3.83263349e-03 5.84101029e-05 9.99992654e-01 -5.69228831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.026559995 meters 0.050949316192392666 Centerline is valid? [True, True] Translation: X:671.46, Y:-253.88, Z:-5.69 [[-6.80049072e-01 -7.33162858e-01 2.34162714e-03 6.71461867e+02] [ 7.33158789e-01 -6.80053101e-01 -2.44325331e-03 -2.53878087e+02] [ 3.38373338e-03 5.52523706e-05 9.99994274e-01 -5.69424566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0865599949999 meters 0.05103380453515419 Centerline is valid? [True, True] Translation: X:671.42, Y:-253.84, Z:-5.69 [[-6.80093071e-01 -7.33123955e-01 1.63726112e-03 6.71424591e+02] [ 7.33121968e-01 -6.80095041e-01 -1.70744534e-03 -2.53835234e+02] [ 2.36526225e-03 3.90903478e-05 9.99997202e-01 -5.69238180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.146559995 meters 0.05185762114472253 Centerline is valid? [True, True] Translation: X:671.38, Y:-253.80, Z:-5.69 [[-6.80094049e-01 -7.33124006e-01 1.12951020e-03 6.71381895e+02] [ 7.33123061e-01 -6.80094987e-01 -1.17731685e-03 -2.53798868e+02] [ 1.63129348e-03 2.73837917e-05 9.99998669e-01 -5.69444144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2065599949999 meters 0.05121999858958254 Centerline is valid? [True, True] Translation: X:671.35, Y:-253.75, Z:-5.69 [[-6.79566229e-01 -7.33611272e-01 2.05960849e-03 6.71346938e+02] [ 7.33608132e-01 -6.79569348e-01 -2.14712456e-03 -2.53752041e+02] [ 2.97480158e-03 5.18322024e-05 9.99995574e-01 -5.69285321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.266559995 meters 0.051755096344504994 Centerline is valid? [True, True] Translation: X:671.31, Y:-253.71, Z:-5.69 [[-6.79315563e-01 -7.33841288e-01 2.70731654e-03 6.71305275e+02] [ 7.33835865e-01 -6.79320955e-01 -2.82194311e-03 -2.53713147e+02] [ 3.90999522e-03 6.97360990e-05 9.99992354e-01 -5.69392584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3265599949999 meters 0.05172688904156138 Centerline is valid? [True, True] Translation: X:671.26, Y:-253.67, Z:-5.69 [[-6.78945014e-01 -7.34184756e-01 2.53228693e-03 6.71263969e+02] [ 7.34180017e-01 -6.78949733e-01 -2.63877268e-03 -2.53671731e+02] [ 3.65664221e-03 6.75729104e-05 9.99993312e-01 -5.69447165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.386559995 meters 0.05122898709337875 Centerline is valid? [True, True] Translation: X:671.22, Y:-253.64, Z:-5.70 [[-6.79354672e-01 -7.33808441e-01 1.54960138e-03 6.71220845e+02] [ 7.33806667e-01 -6.79356438e-01 -1.61419793e-03 -2.53635046e+02] [ 2.23724374e-03 4.04949229e-05 9.99997497e-01 -5.69535012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4465599949999 meters 0.05143381973523505 Centerline is valid? [True, True] Translation: X:671.18, Y:-253.59, Z:-5.69 [[-6.81563497e-01 -7.31758884e-01 3.67276028e-04 6.71182790e+02] [ 7.31758784e-01 -6.81563596e-01 -3.81806134e-04 -2.53593162e+02] [ 5.29712001e-04 8.53233602e-06 9.99999860e-01 -5.69406921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.506559995 meters 0.051453298173201004 Centerline is valid? [True, True] Translation: X:671.14, Y:-253.55, Z:-5.70 [[-6.83862732e-01 -7.29610647e-01 2.58993102e-04 6.71144927e+02] [ 7.29610598e-01 -6.83862781e-01 -2.68890126e-04 -2.53551762e+02] [ 3.73300842e-04 5.08017562e-06 9.99999930e-01 -5.69500881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5665599949999 meters 0.051563952871121074 Centerline is valid? [True, True] Translation: X:671.11, Y:-253.51, Z:-5.70 [[-6.87667479e-01 -7.26025065e-01 1.02095173e-03 6.71108143e+02] [ 7.26024289e-01 -6.87668237e-01 -1.06211983e-03 -2.53509276e+02] [ 1.47320169e-03 1.08504844e-05 9.99998915e-01 -5.69664629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.626559995 meters 0.051813421321752894 Centerline is valid? [True, True] Translation: X:671.07, Y:-253.47, Z:-5.70 [[-6.90133536e-01 -7.23680109e-01 1.67411828e-03 6.71070397e+02] [ 7.23678013e-01 -6.90135566e-01 -1.74167354e-03 -2.53465795e+02] [ 2.41578306e-03 9.53527890e-06 9.99997082e-01 -5.69555063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6865599949999 meters 0.05144818673088201 Centerline is valid? [True, True] Translation: X:671.03, Y:-253.43, Z:-5.70 [[-6.91266117e-01 -7.22596755e-01 2.25506761e-03 6.71031331e+02] [ 7.22592948e-01 -6.91269795e-01 -2.34557882e-03 -2.53425769e+02] [ 3.25376777e-03 8.07678976e-06 9.99994706e-01 -5.69774355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.746559995 meters 0.05204597602180732 Centerline is valid? [True, True] Translation: X:670.99, Y:-253.38, Z:-5.70 [[-6.92337324e-01 -7.21570837e-01 2.13482887e-03 6.70991550e+02] [ 7.21567421e-01 -6.92340616e-01 -2.22007569e-03 -2.53383976e+02] [ 3.07997061e-03 3.38169836e-06 9.99995257e-01 -5.69536356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8065599949999 meters 0.05177331665298981 Centerline is valid? [True, True] Translation: X:670.95, Y:-253.34, Z:-5.70 [[-6.93100815e-01 -7.20837623e-01 2.09317393e-03 6.70952267e+02] [ 7.20834339e-01 -6.93103976e-01 -2.17586386e-03 -2.53343412e+02] [ 3.01923171e-03 7.38629014e-07 9.99995442e-01 -5.69619041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.866559995 meters 0.05193396789625216 Centerline is valid? [True, True] Translation: X:670.91, Y:-253.30, Z:-5.70 [[-6.93796093e-01 -7.20168864e-01 1.94646859e-03 6.70912464e+02] [ 7.20166023e-01 -6.93798824e-01 -2.02275600e-03 -2.53301917e+02] [ 2.80718351e-03 -1.59967145e-06 9.99996060e-01 -5.69528534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9265599949999 meters 0.05210991032219882 Centerline is valid? [True, True] Translation: X:670.87, Y:-253.26, Z:-5.70 [[-6.94476374e-01 -7.19512377e-01 2.12252264e-03 6.70872539e+02] [ 7.19508998e-01 -6.94479618e-01 -2.20505245e-03 -2.53262315e+02] [ 3.06061124e-03 -4.18268956e-06 9.99995316e-01 -5.69516613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.986559995 meters 0.05182193421213965 Centerline is valid? [True, True] Translation: X:670.83, Y:-253.22, Z:-5.70 [[-6.94654090e-01 -7.19340830e-01 2.11344152e-03 6.70834527e+02] [ 7.19337481e-01 -6.94657305e-01 -2.19478071e-03 -2.53223580e+02] [ 3.04691297e-03 -4.33569763e-06 9.99995358e-01 -5.69709987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0465599949999 meters 0.05203699718329228 Centerline is valid? [True, True] Translation: X:670.79, Y:-253.19, Z:-5.69 [[-6.94550742e-01 -7.19440606e-01 2.11682298e-03 6.70794326e+02] [ 7.19437250e-01 -6.94553967e-01 -2.19755891e-03 -2.53185613e+02] [ 3.05126091e-03 -3.39486850e-06 9.99995345e-01 -5.69464660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.106559995 meters 0.052064429889588204 Centerline is valid? [True, True] Translation: X:670.75, Y:-253.15, Z:-5.70 [[-6.94411320e-01 -7.19576195e-01 1.73736865e-03 6.70753753e+02] [ 7.19573936e-01 -6.94413493e-01 -1.80294745e-03 -2.53147901e+02] [ 2.50381030e-03 -1.82191864e-06 9.99996865e-01 -5.69745640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.166559995 meters 0.05191697497142831 Centerline is valid? [True, True] Translation: X:670.71, Y:-253.11, Z:-5.70 [[-6.94561078e-01 -7.19432427e-01 1.37555981e-03 6.70713318e+02] [ 7.19431012e-01 -6.94562440e-01 -1.42680275e-03 -2.53109395e+02] [ 1.98190034e-03 -1.38127318e-06 9.99998036e-01 -5.69650845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.226559995 meters 0.05224412727723375 Centerline is valid? [True, True] Translation: X:670.67, Y:-253.07, Z:-5.70 [[-6.95203174e-01 -7.18812668e-01 9.46177338e-04 6.70672532e+02] [ 7.18811998e-01 -6.95203818e-01 -9.80857152e-04 -2.53070339e+02] [ 1.36283864e-03 -1.77138271e-06 9.99999071e-01 -5.69559612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.286559995 meters 0.05215912269844822 Centerline is valid? [True, True] Translation: X:670.63, Y:-253.03, Z:-5.70 [[-6.95602897e-01 -7.18425508e-01 1.18290743e-03 6.70633325e+02] [ 7.18424462e-01 -6.95603902e-01 -1.22605890e-03 -2.53031413e+02] [ 1.70366702e-03 -3.02048671e-06 9.99998549e-01 -5.69641671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3465599949999 meters 0.05198723561247045 Centerline is valid? [True, True] Translation: X:670.59, Y:-252.99, Z:-5.69 [[-6.95721012e-01 -7.18310359e-01 1.58163056e-03 6.70591684e+02] [ 7.18308489e-01 -6.95722810e-01 -1.63904943e-03 -2.52993734e+02] [ 2.27772264e-03 -4.22247469e-06 9.99997406e-01 -5.69410610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.406559995 meters 0.05175692548237635 Centerline is valid? [True, True] Translation: X:670.55, Y:-252.95, Z:-5.70 [[-6.95856903e-01 -7.18177205e-01 2.16185850e-03 6.70550799e+02] [ 7.18173711e-01 -6.95860261e-01 -2.24007851e-03 -2.52954405e+02] [ 3.11312474e-03 -6.18414754e-06 9.99995154e-01 -5.69739139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4665599949999 meters 0.052520771915962126 Centerline is valid? [True, True] Translation: X:670.51, Y:-252.92, Z:-5.70 [[-6.96365752e-01 -7.17681904e-01 2.72467906e-03 6.70509480e+02] [ 7.17676354e-01 -6.96371082e-01 -2.82247368e-03 -2.52916495e+02] [ 3.92302599e-03 -1.00362725e-05 9.99992305e-01 -5.69778148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.526559995 meters 0.05218964440329769 Centerline is valid? [True, True] Translation: X:670.47, Y:-252.88, Z:-5.70 [[-6.97248747e-01 -7.16822446e-01 3.12484680e-03 6.70470205e+02] [ 7.16815142e-01 -6.97255749e-01 -3.23609334e-03 -2.52877850e+02] [ 4.49852174e-03 -1.64245227e-05 9.99989881e-01 -5.70018451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5865599949999 meters 0.052873861266416675 Centerline is valid? [True, True] Translation: X:670.43, Y:-252.84, Z:-5.70 [[-6.97592893e-01 -7.16490290e-01 2.41238416e-03 6.70428536e+02] [ 7.16485938e-01 -6.97597064e-01 -2.49738772e-03 -2.52838485e+02] [ 3.47222616e-03 -1.37206033e-05 9.99993972e-01 -5.69818196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.646559995 meters 0.05265883908659877 Centerline is valid? [True, True] Translation: X:670.39, Y:-252.80, Z:-5.70 [[-6.96302628e-01 -7.17747625e-01 9.98282756e-04 6.70387284e+02] [ 7.17746882e-01 -6.96303344e-01 -1.03279075e-03 -2.52801170e+02] [ 1.43639073e-03 -2.62057593e-06 9.99998968e-01 -5.69650762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7065599949999 meters 0.05231813326512194 Centerline is valid? [True, True] Translation: X:670.34, Y:-252.76, Z:-5.70 [[-6.94182702e-01 -7.19797963e-01 1.12657036e-03 6.70343365e+02] [ 7.19797020e-01 -6.94183616e-01 -1.16534515e-03 -2.52763319e+02] [ 1.62085975e-03 1.93954002e-06 9.99998686e-01 -5.69585077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.766559995 meters 0.052751613527118 Centerline is valid? [True, True] Translation: X:670.30, Y:-252.72, Z:-5.70 [[-6.92817146e-01 -7.21110039e-01 2.17128662e-03 6.70301654e+02] [ 7.21106541e-01 -6.92820548e-01 -2.24593112e-03 -2.52724069e+02] [ 3.12387546e-03 9.70939698e-06 9.99995121e-01 -5.69573973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8265599949999 meters 0.05331757257646979 Centerline is valid? [True, True] Translation: X:670.26, Y:-252.68, Z:-5.70 [[-6.91755201e-01 -7.22127776e-01 2.49340120e-03 6.70259040e+02] [ 7.22123171e-01 -6.91759695e-01 -2.57896567e-03 -2.52683042e+02] [ 3.58717719e-03 1.65298650e-05 9.99993566e-01 -5.69599848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.886559995 meters 0.0529962710460552 Centerline is valid? [True, True] Translation: X:670.22, Y:-252.64, Z:-5.69 [[-6.90738305e-01 -7.23101357e-01 2.24087222e-03 6.70216865e+02] [ 7.23097645e-01 -6.90741939e-01 -2.31720336e-03 -2.52642103e+02] [ 3.22343732e-03 1.97883047e-05 9.99994805e-01 -5.69411791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9465599949999 meters 0.0531200948709589 Centerline is valid? [True, True] Translation: X:670.17, Y:-252.60, Z:-5.70 [[-6.90501755e-01 -7.23326154e-01 2.56939137e-03 6.70173091e+02] [ 7.23321277e-01 -6.90506535e-01 -2.65627375e-03 -2.52602878e+02] [ 3.69553380e-03 2.43337584e-05 9.99993171e-01 -5.69693411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.006559995 meters 0.052763249864604414 Centerline is valid? [True, True] Translation: X:670.13, Y:-252.56, Z:-5.70 [[-6.91319897e-01 -7.22543156e-01 2.86144953e-03 6.70131562e+02] [ 7.22537103e-01 -6.91325819e-01 -2.95749997e-03 -2.52562817e+02] [ 4.11511530e-03 2.29248774e-05 9.99991533e-01 -5.69742814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0665599949999 meters 0.053346779567244054 Centerline is valid? [True, True] Translation: X:670.09, Y:-252.52, Z:-5.70 [[-6.92055131e-01 -7.21840238e-01 2.52313882e-03 6.70091840e+02] [ 7.21835532e-01 -6.92059730e-01 -2.60672682e-03 -2.52522591e+02] [ 3.62780308e-03 1.72925811e-05 9.99993419e-01 -5.69699212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.126559995 meters 0.05301856285632176 Centerline is valid? [True, True] Translation: X:670.05, Y:-252.48, Z:-5.70 [[-6.92232742e-01 -7.21669444e-01 2.65421949e-03 6.70051834e+02] [ 7.21664237e-01 -6.92237830e-01 -2.74157613e-03 -2.52481863e+02] [ 3.81586286e-03 1.76465166e-05 9.99992719e-01 -5.69640428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1865599949999 meters 0.05263353392657835 Centerline is valid? [True, True] Translation: X:670.01, Y:-252.44, Z:-5.70 [[-6.92322282e-01 -7.21583375e-01 2.70027354e-03 6.70011415e+02] [ 7.21577987e-01 -6.92327547e-01 -2.78855451e-03 -2.52442407e+02] [ 3.88164833e-03 1.78795186e-05 9.99992466e-01 -5.69875002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.246559995 meters 0.052807592473556854 Centerline is valid? [True, True] Translation: X:669.97, Y:-252.40, Z:-5.70 [[-6.91748323e-01 -7.22133586e-01 2.70959523e-03 6.69972575e+02] [ 7.22128169e-01 -6.91753630e-01 -2.79715424e-03 -2.52400974e+02] [ 3.89429136e-03 2.17482804e-05 9.99992417e-01 -5.69723875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3065599949999 meters 0.05341474265264279 Centerline is valid? [True, True] Translation: X:669.93, Y:-252.36, Z:-5.70 [[-6.90927341e-01 -7.22918979e-01 2.74943783e-03 6.69931896e+02] [ 7.22913410e-01 -6.90932811e-01 -2.83756450e-03 -2.52360569e+02] [ 3.95100603e-03 2.70545802e-05 9.99992194e-01 -5.69950170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.366559995 meters 0.053220684960847836 Centerline is valid? [True, True] Translation: X:669.89, Y:-252.32, Z:-5.70 [[-6.90426384e-01 -7.23395393e-01 3.24263269e-03 6.69893062e+02] [ 7.23387656e-01 -6.90433997e-01 -3.34576335e-03 -2.52318249e+02] [ 4.65913364e-03 3.56771750e-05 9.99989146e-01 -5.70093665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4265599949999 meters 0.052699920643594994 Centerline is valid? [True, True] Translation: X:669.85, Y:-252.28, Z:-5.70 [[-6.90304893e-01 -7.23512114e-01 3.06208454e-03 6.69854971e+02] [ 7.23505221e-01 -6.90311683e-01 -3.15844179e-03 -2.52275361e+02] [ 4.39896363e-03 3.51463275e-05 9.99990324e-01 -5.70049988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.486559995 meters 0.052962088118472236 Centerline is valid? [True, True] Translation: X:669.82, Y:-252.23, Z:-5.70 [[-6.88647511e-01 -7.25092037e-01 2.47866625e-03 6.69816129e+02] [ 7.25087531e-01 -6.88651971e-01 -2.55634090e-03 -2.52234370e+02] [ 3.56052083e-03 3.68321897e-05 9.99993661e-01 -5.70243872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5465599949999 meters 0.05228352921741848 Centerline is valid? [True, True] Translation: X:669.78, Y:-252.19, Z:-5.70 [[-6.87172411e-01 -7.26490872e-01 2.25617326e-03 6.69779597e+02] [ 7.26487150e-01 -6.87176113e-01 -2.32602335e-03 -2.52189040e+02] [ 3.24022311e-03 4.07018029e-05 9.99994750e-01 -5.70005209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.606559995 meters 0.05245809320553267 Centerline is valid? [True, True] Translation: X:669.74, Y:-252.15, Z:-5.70 [[-6.84586616e-01 -7.28927274e-01 2.48892362e-03 6.69740598e+02] [ 7.28922761e-01 -6.84591138e-01 -2.56545551e-03 -2.52145750e+02] [ 3.57392554e-03 5.79565740e-05 9.99993612e-01 -5.70084101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.666559995 meters 0.0534246813575358 Centerline is valid? [True, True] Translation: X:669.70, Y:-252.11, Z:-5.70 [[-6.83063012e-01 -7.30356712e-01 1.99887233e-03 6.69699001e+02] [ 7.30353810e-01 -6.83065934e-01 -2.05954770e-03 -2.52106449e+02] [ 2.86956608e-03 5.30831658e-05 9.99995881e-01 -5.70225997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.726559995 meters 0.05157273973191957 Centerline is valid? [True, True] Translation: X:669.66, Y:-252.06, Z:-5.70 [[-6.81969777e-01 -7.31378800e-01 1.50807843e-03 6.69664357e+02] [ 7.31377152e-01 -6.81971443e-01 -1.55326662e-03 -2.52059900e+02] [ 2.16449270e-03 4.36932175e-05 9.99997657e-01 -5.70071808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.786559995 meters 0.05146831299964131 Centerline is valid? [True, True] Translation: X:669.63, Y:-252.01, Z:-5.70 [[-6.80867544e-01 -7.32405152e-01 1.44271951e-03 6.69629472e+02] [ 7.32403646e-01 -6.80869071e-01 -1.48585469e-03 -2.52013491e+02] [ 2.07055072e-03 4.49827909e-05 9.99997855e-01 -5.70020689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8465599949999 meters 0.05202746892187617 Centerline is valid? [True, True] Translation: X:669.59, Y:-251.97, Z:-5.70 [[-6.78809757e-01 -7.34313069e-01 1.27671168e-03 6.69590600e+02] [ 7.34311895e-01 -6.78810956e-01 -1.31427040e-03 -2.51972566e+02] [ 1.83173180e-03 4.53650012e-05 9.99998321e-01 -5.70131367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.906559995 meters 0.05180021440489061 Centerline is valid? [True, True] Translation: X:669.55, Y:-251.93, Z:-5.70 [[-6.76170628e-01 -7.36742940e-01 1.76700994e-03 6.69551417e+02] [ 7.36740698e-01 -6.76172933e-01 -1.81867961e-03 -2.51932151e+02] [ 2.53470365e-03 7.20904028e-05 9.99996785e-01 -5.70264111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9665599949999 meters 0.052441442665407144 Centerline is valid? [True, True] Translation: X:669.52, Y:-251.89, Z:-5.70 [[-6.74195559e-01 -7.38549658e-01 2.17966344e-03 6.69515265e+02] [ 7.38546258e-01 -6.74199076e-01 -2.24295100e-03 -2.51888140e+02] [ 3.12605777e-03 9.75946790e-05 9.99995109e-01 -5.70286530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.026559995 meters 0.052385746227603294 Centerline is valid? [True, True] Translation: X:669.48, Y:-251.84, Z:-5.70 [[-6.75220737e-01 -7.37611273e-01 2.56247270e-03 6.69476995e+02] [ 7.37606570e-01 -6.75225590e-01 -2.63645135e-03 -2.51844739e+02] [ 3.67492338e-03 1.09910078e-04 9.99993241e-01 -5.70316564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0865599949999 meters 0.05077568168437555 Centerline is valid? [True, True] Translation: X:669.45, Y:-251.79, Z:-5.70 [[-6.80174899e-01 -7.33045458e-01 2.54208283e-03 6.69446151e+02] [ 7.33040800e-01 -6.80179644e-01 -2.61487183e-03 -2.51794063e+02] [ 3.64589292e-03 8.48802510e-05 9.99993350e-01 -5.70173352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.146559995 meters 0.05134629855740834 Centerline is valid? [True, True] Translation: X:669.41, Y:-251.75, Z:-5.70 [[-6.83232744e-01 -7.30196072e-01 2.59105518e-03 6.69406573e+02] [ 7.30191215e-01 -6.83237653e-01 -2.66444547e-03 -2.51752649e+02] [ 3.71587408e-03 7.15293468e-05 9.99993094e-01 -5.70265432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2065599949999 meters 0.0512287266139416 Centerline is valid? [True, True] Translation: X:669.37, Y:-251.71, Z:-5.70 [[-6.84857047e-01 -7.28673379e-01 2.43546500e-03 6.69368561e+02] [ 7.28669080e-01 -6.84861375e-01 -2.50387093e-03 -2.51707890e+02] [ 3.49246000e-03 5.98543856e-05 9.99993900e-01 -5.70273866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.266559995 meters 0.051109725861405955 Centerline is valid? [True, True] Translation: X:669.32, Y:-251.67, Z:-5.71 [[-6.84496793e-01 -7.29012443e-01 2.23573373e-03 6.69324611e+02] [ 7.29008823e-01 -6.84500442e-01 -2.29817950e-03 -2.51670448e+02] [ 3.20576218e-03 5.67731143e-05 9.99994860e-01 -5.70567340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3265599949999 meters 0.051107889702507875 Centerline is valid? [True, True] Translation: X:669.29, Y:-251.62, Z:-5.70 [[-6.85158491e-01 -7.28391958e-01 1.73148656e-03 6.69288224e+02] [ 7.28389787e-01 -6.85160677e-01 -1.77908377e-03 -2.51624774e+02] [ 2.48221681e-03 4.22427742e-05 9.99996918e-01 -5.70401008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.386559995 meters 0.0511649495707694 Centerline is valid? [True, True] Translation: X:669.25, Y:-251.59, Z:-5.71 [[-6.86612279e-01 -7.27022738e-01 1.23168881e-03 6.69245913e+02] [ 7.27021638e-01 -6.86613383e-01 -1.26501494e-03 -2.51585919e+02] [ 1.76538865e-03 2.68896280e-05 9.99998441e-01 -5.70586467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4465599949999 meters 0.051500955334055125 Centerline is valid? [True, True] Translation: X:669.21, Y:-251.55, Z:-5.71 [[-6.88779799e-01 -7.24968859e-01 1.59407026e-03 6.69205909e+02] [ 7.24967012e-01 -6.88781643e-01 -1.63690835e-03 -2.51545904e+02] [ 2.28467391e-03 2.81789427e-05 9.99997390e-01 -5.70688724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.506559995 meters 0.05101099679595769 Centerline is valid? [True, True] Translation: X:669.17, Y:-251.50, Z:-5.70 [[-6.92504502e-01 -7.21413136e-01 7.76183908e-04 6.69169248e+02] [ 7.21412696e-01 -6.92504937e-01 -7.96465172e-04 -2.51501019e+02] [ 1.11209163e-03 8.39320861e-06 9.99999382e-01 -5.70499698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5665599949999 meters 0.050621570265179126 Centerline is valid? [True, True] Translation: X:669.13, Y:-251.46, Z:-5.71 [[-6.96331480e-01 -7.17720086e-01 5.90823595e-04 6.69130418e+02] [ 7.17719830e-01 -6.96331730e-01 -6.05950425e-04 -2.51459153e+02] [ 8.46312007e-04 2.10345427e-06 9.99999642e-01 -5.70705656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.626559995 meters 0.05100456819795416 Centerline is valid? [True, True] Translation: X:669.09, Y:-251.42, Z:-5.71 [[-7.01833393e-01 -7.12340700e-01 7.83730496e-04 6.69091691e+02] [ 7.12340247e-01 -7.01833831e-01 -8.03867455e-04 -2.51416134e+02] [ 1.12267608e-03 -5.89824877e-06 9.99999370e-01 -5.70705670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6865599949999 meters 0.052042970079478695 Centerline is valid? [True, True] Translation: X:669.05, Y:-251.38, Z:-5.71 [[-7.06067499e-01 -7.08141844e-01 1.95348394e-03 6.69051026e+02] [ 7.08139009e-01 -7.06070201e-01 -2.00406719e-03 -2.51375193e+02] [ 2.79846063e-03 -3.16685283e-05 9.99996084e-01 -5.70807371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.746559995 meters 0.05263938994781231 Centerline is valid? [True, True] Translation: X:669.01, Y:-251.33, Z:-5.71 [[-7.08895235e-01 -7.05309235e-01 2.53553086e-03 6.69010285e+02] [ 7.05304443e-01 -7.08899767e-01 -2.60069291e-03 -2.51333709e+02] [ 3.63172996e-03 -5.52976354e-05 9.99993404e-01 -5.70753375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8065599949999 meters 0.05283070205167654 Centerline is valid? [True, True] Translation: X:668.97, Y:-251.30, Z:-5.71 [[-7.13441549e-01 -7.00709547e-01 2.69957615e-03 6.68967209e+02] [ 7.00704084e-01 -7.13446651e-01 -2.76805212e-03 -2.51297194e+02] [ 3.86560411e-03 -8.32393612e-05 9.99992525e-01 -5.70585306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.866559995 meters 0.053237942392013446 Centerline is valid? [True, True] Translation: X:668.93, Y:-251.25, Z:-5.71 [[-7.16090364e-01 -6.98004078e-01 2.21290619e-03 6.68929692e+02] [ 6.98000396e-01 -7.16093779e-01 -2.26864085e-03 -2.51253364e+02] [ 3.16816892e-03 -7.99424521e-05 9.99994978e-01 -5.70748024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9265599949999 meters 0.05269695987237682 Centerline is valid? [True, True] Translation: X:668.89, Y:-251.21, Z:-5.71 [[-7.16047210e-01 -6.98051077e-01 1.04231776e-03 6.68887875e+02] [ 6.98050262e-01 -7.16047968e-01 -1.06784570e-03 -2.51213744e+02] [ 1.49176036e-03 -3.70377487e-05 9.99998887e-01 -5.70641770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.986559995 meters 0.05270364918993471 Centerline is valid? [True, True] Translation: X:668.85, Y:-251.17, Z:-5.71 [[-7.12009097e-01 -7.02170206e-01 -2.16366060e-04 6.68848512e+02] [ 7.02170171e-01 -7.12009130e-01 2.22295949e-04 -2.51173942e+02] [-3.10144202e-04 6.35094453e-06 9.99999952e-01 -5.70623313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0465599949999 meters 0.05223356866439998 Centerline is valid? [True, True] Translation: X:668.80, Y:-251.14, Z:-5.71 [[-7.07233135e-01 -7.06979685e-01 -1.00858750e-03 6.68801914e+02] [ 7.06978929e-01 -7.07233854e-01 1.03413454e-03 -2.51138953e+02] [-1.44441934e-03 1.83241034e-05 9.99998957e-01 -5.70672358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.106559995 meters 0.051377027750156595 Centerline is valid? [True, True] Translation: X:668.76, Y:-251.10, Z:-5.71 [[-7.01492304e-01 -7.12676109e-01 -1.14477115e-03 6.68757471e+02] [ 7.12675143e-01 -7.01493238e-01 1.17364485e-03 -2.51103149e+02] [-1.63947787e-03 7.45289301e-06 9.99998656e-01 -5.70796248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.166559995 meters 0.05192652587055441 Centerline is valid? [True, True] Translation: X:668.71, Y:-251.07, Z:-5.71 [[-6.93568611e-01 -7.20389428e-01 -1.28603613e-03 6.68710947e+02] [ 7.20388223e-01 -6.93569803e-01 1.31795386e-03 -2.51069083e+02] [-1.84139585e-03 -1.23538563e-05 9.99998305e-01 -5.70855681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.226559995 meters 0.05169261725250612 Centerline is valid? [True, True] Translation: X:668.67, Y:-251.03, Z:-5.71 [[-6.89835743e-01 -7.23965168e-01 -1.04099275e-03 6.68667779e+02] [ 7.23964383e-01 -6.89836528e-01 1.06656441e-03 -2.51032402e+02] [-1.49027031e-03 -1.78874236e-05 9.99998889e-01 -5.70897375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.286559995 meters 0.05168213671503804 Centerline is valid? [True, True] Translation: X:668.63, Y:-250.99, Z:-5.71 [[-6.88812127e-01 -7.24939293e-01 -9.35416232e-04 6.68625426e+02] [ 7.24938660e-01 -6.88812762e-01 9.58311293e-04 -2.50993268e+02] [-1.33904415e-03 -1.80229490e-05 9.99999103e-01 -5.70943907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3465599949999 meters 0.051610277435844454 Centerline is valid? [True, True] Translation: X:668.59, Y:-250.95, Z:-5.71 [[-6.91137595e-01 -7.22722753e-01 -8.04260799e-04 6.68587085e+02] [ 7.22722284e-01 -6.91138063e-01 8.23822313e-04 -2.50951174e+02] [-1.15125038e-03 -1.18826294e-05 9.99999337e-01 -5.70981213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.406559995 meters 0.051272873200413946 Centerline is valid? [True, True] Translation: X:668.55, Y:-250.91, Z:-5.71 [[-6.93604492e-01 -7.20355807e-01 -5.65535172e-04 6.68548927e+02] [ 7.20355574e-01 -6.93604722e-01 5.79253938e-04 -2.50906844e+02] [-8.09526804e-04 -5.61328064e-06 9.99999672e-01 -5.71012865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4665599949999 meters 0.052069094382048944 Centerline is valid? [True, True] Translation: X:668.51, Y:-250.86, Z:-5.71 [[-6.97066445e-01 -7.17006504e-01 2.08990635e-04 6.68510610e+02] [ 7.17006473e-01 -6.97066477e-01 -2.12956357e-04 -2.50863734e+02] [ 2.98371458e-04 1.40290748e-06 9.99999955e-01 -5.71121552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.526559995 meters 0.051553625002745726 Centerline is valid? [True, True] Translation: X:668.47, Y:-250.82, Z:-5.71 [[-7.00171588e-01 -7.13974574e-01 2.36110459e-04 6.68473801e+02] [ 7.13974533e-01 -7.00171627e-01 -2.40535202e-04 -2.50820677e+02] [ 3.37053863e-04 1.60940844e-07 9.99999943e-01 -5.71183341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5865599949999 meters 0.05177477973612079 Centerline is valid? [True, True] Translation: X:668.44, Y:-250.78, Z:-5.71 [[-7.03388600e-01 -7.10805202e-01 -6.65284193e-04 6.68437107e+02] [ 7.10804876e-01 -7.03388914e-01 6.80814104e-04 -2.50776886e+02] [-9.51879733e-04 5.98963106e-06 9.99999547e-01 -5.71062175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.646559995 meters 0.05212833008179788 Centerline is valid? [True, True] Translation: X:668.40, Y:-250.74, Z:-5.71 [[-7.05935860e-01 -7.08275693e-01 -3.23238890e-04 6.68399013e+02] [ 7.08275615e-01 -7.05935934e-01 3.31173202e-04 -2.50735516e+02] [-4.62747878e-04 4.84481551e-06 9.99999893e-01 -5.71074266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7065599949999 meters 0.052369206468073574 Centerline is valid? [True, True] Translation: X:668.36, Y:-250.70, Z:-5.71 [[-7.09656059e-01 -7.04548211e-01 -3.10926919e-04 6.68356706e+02] [ 7.04548139e-01 -7.09656127e-01 3.18356481e-04 -2.50695686e+02] [-4.44948683e-04 6.86062338e-06 9.99999901e-01 -5.71074865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.766559995 meters 0.05261719310478519 Centerline is valid? [True, True] Translation: X:668.32, Y:-250.65, Z:-5.71 [[-7.11731497e-01 -7.02451327e-01 -6.40850141e-04 6.68322865e+02] [ 7.02451021e-01 -7.11731785e-01 6.55178249e-04 -2.50648457e+02] [-9.16344245e-04 1.61451598e-05 9.99999580e-01 -5.71185427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8265599949999 meters 0.05240008593170762 Centerline is valid? [True, True] Translation: X:668.29, Y:-250.60, Z:-5.71 [[-7.13314053e-01 -7.00843669e-01 -1.10194876e-03 6.68286640e+02] [ 7.00842765e-01 -7.13314903e-01 1.12591892e-03 -2.50603514e+02] [-1.57512962e-03 3.08409688e-05 9.99998759e-01 -5.71231100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.886559995 meters 0.051997177035003055 Centerline is valid? [True, True] Translation: X:668.25, Y:-250.57, Z:-5.71 [[-7.12635571e-01 -7.01531263e-01 -2.10485058e-03 6.68246042e+02] [ 7.01527973e-01 -7.12638677e-01 2.14937170e-03 -2.50565248e+02] [-3.00784937e-03 5.51071666e-05 9.99995475e-01 -5.71135138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9465599949999 meters 0.052324231175976746 Centerline is valid? [True, True] Translation: X:668.20, Y:-250.53, Z:-5.71 [[-7.10884659e-01 -7.03304592e-01 -2.37726880e-03 6.68204466e+02] [ 7.03300408e-01 -7.10888632e-01 2.42653282e-03 -2.50525514e+02] [-3.39656504e-03 5.30508433e-05 9.99994230e-01 -5.71146234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.006559995 meters 0.05189817320199426 Centerline is valid? [True, True] Translation: X:668.16, Y:-250.49, Z:-5.71 [[-7.06829847e-01 -7.07379236e-01 -2.48656359e-03 6.68159456e+02] [ 7.07374686e-01 -7.06834220e-01 2.53762939e-03 -2.50488595e+02] [-3.55265458e-03 3.47400552e-05 9.99993689e-01 -5.71198918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0665599949999 meters 0.05118457507645952 Centerline is valid? [True, True] Translation: X:668.12, Y:-250.45, Z:-5.71 [[-7.02044605e-01 -7.12128581e-01 -2.50146760e-03 6.68117088e+02] [ 7.12124007e-01 -7.02049061e-01 2.55223894e-03 -2.50448926e+02] [-3.57367528e-03 1.04304462e-05 9.99993614e-01 -5.71249375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.126559995 meters 0.0512025402429541 Centerline is valid? [True, True] Translation: X:668.08, Y:-250.41, Z:-5.71 [[-6.99018913e-01 -7.15099123e-01 -2.40917006e-03 6.68075795e+02] [ 7.15094899e-01 -6.99023065e-01 2.45768410e-03 -2.50410194e+02] [-3.44155318e-03 -4.81755885e-06 9.99994078e-01 -5.71293259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1865599949999 meters 0.05123364678942768 Centerline is valid? [True, True] Translation: X:668.03, Y:-250.37, Z:-5.71 [[-6.94204982e-01 -7.19774846e-01 -1.90113928e-03 6.68034073e+02] [ 7.19772234e-01 -6.94207585e-01 1.93913761e-03 -2.50370138e+02] [-2.71552778e-03 -2.22282793e-05 9.99996313e-01 -5.71398586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.246559995 meters 0.05098203630821541 Centerline is valid? [True, True] Translation: X:667.99, Y:-250.33, Z:-5.72 [[-6.90774879e-01 -7.23068482e-01 -1.42734510e-03 6.67991475e+02] [ 7.23067017e-01 -6.90776353e-01 1.45563117e-03 -2.50332720e+02] [-2.03849727e-03 -2.65527231e-05 9.99997922e-01 -5.71513919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3065599949999 meters 0.05054586937481987 Centerline is valid? [True, True] Translation: X:667.95, Y:-250.29, Z:-5.72 [[-6.86621360e-01 -7.27013775e-01 -1.44197352e-03 6.67950059e+02] [ 7.27012289e-01 -6.86622873e-01 1.47022083e-03 -2.50293071e+02] [-2.05896280e-03 -3.88474424e-05 9.99997880e-01 -5.71544564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.366559995 meters 0.05104134637352495 Centerline is valid? [True, True] Translation: X:667.91, Y:-250.25, Z:-5.72 [[-6.84820765e-01 -7.28709988e-01 -1.50778382e-03 6.67911939e+02] [ 7.28708369e-01 -6.84822423e-01 1.53682477e-03 -2.50249075e+02] [-2.15246373e-03 -4.62851765e-05 9.99997682e-01 -5.71533787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4265599949999 meters 0.0511559757806685 Centerline is valid? [True, True] Translation: X:667.87, Y:-250.21, Z:-5.72 [[-6.85323075e-01 -7.28237662e-01 -1.47994052e-03 6.67871751e+02] [ 7.28236102e-01 -6.85324672e-01 1.50811326e-03 -2.50210052e+02] [-2.11250463e-03 -4.42012910e-05 9.99997768e-01 -5.71598863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.486559995 meters 0.0509959959647427 Centerline is valid? [True, True] Translation: X:667.84, Y:-250.16, Z:-5.72 [[-6.86944577e-01 -7.26707658e-01 -1.76867363e-03 6.67836450e+02] [ 7.26705427e-01 -6.86946852e-01 1.80156043e-03 -2.50162514e+02] [-2.52419254e-03 -4.77325584e-05 9.99996813e-01 -5.71655197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5465599949999 meters 0.05056815171488918 Centerline is valid? [True, True] Translation: X:667.80, Y:-250.12, Z:-5.72 [[-6.87970496e-01 -7.25738656e-01 9.27823223e-06 6.67795720e+02] [ 7.25738656e-01 -6.87970496e-01 -8.73452106e-06 -2.50122261e+02] [ 1.27221293e-05 7.24478998e-07 1.00000000e+00 -5.71927064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.606559995 meters 0.05086979307479349 Centerline is valid? [True, True] Translation: X:667.76, Y:-250.08, Z:-5.72 [[-6.88424520e-01 -7.25304875e-01 2.12578235e-03 6.67762236e+02] [ 7.25301653e-01 -6.88427800e-01 -2.16247931e-03 -2.50075712e+02] [ 3.03190445e-03 5.31296772e-05 9.99995402e-01 -5.72103116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.666559995 meters 0.05077397343765085 Centerline is valid? [True, True] Translation: X:667.73, Y:-250.03, Z:-5.72 [[-6.89059434e-01 -7.24698156e-01 3.11106629e-03 6.67726257e+02] [ 7.24691252e-01 -6.89066454e-01 -3.16426852e-03 -2.50030965e+02] [ 4.43687098e-03 7.41934488e-05 9.99990154e-01 -5.72100115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.726559995 meters 0.050053395957501405 Centerline is valid? [True, True] Translation: X:667.69, Y:-249.99, Z:-5.72 [[-6.89261269e-01 -7.24505808e-01 3.19957840e-03 6.67688104e+02] [ 7.24498508e-01 -6.89268691e-01 -3.25337950e-03 -2.49988549e+02] [ 4.56246156e-03 7.56612962e-05 9.99989589e-01 -5.72078158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.786559995 meters 0.050177870459102956 Centerline is valid? [True, True] Translation: X:667.65, Y:-249.95, Z:-5.72 [[-6.88818994e-01 -7.24931285e-01 1.73960269e-03 6.67647617e+02] [ 7.24929130e-01 -6.88821189e-01 -1.76811816e-03 -2.49947274e+02] [ 2.48003936e-03 4.31752901e-05 9.99996924e-01 -5.71859528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8465599949999 meters 0.050613235623978785 Centerline is valid? [True, True] Translation: X:667.61, Y:-249.91, Z:-5.72 [[-6.91008425e-01 -7.22846595e-01 3.95985558e-04 6.67606597e+02] [ 7.22846483e-01 -6.91008539e-01 -4.01792774e-04 -2.49906884e+02] [ 5.64063940e-04 8.59457597e-06 9.99999841e-01 -5.71809064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.906559995 meters 0.0502308455382509 Centerline is valid? [True, True] Translation: X:667.57, Y:-249.86, Z:-5.72 [[-6.93306934e-01 -7.20642282e-01 4.43560517e-04 6.67566704e+02] [ 7.20642142e-01 -6.93307076e-01 -4.50047539e-04 -2.49864615e+02] [ 6.31846930e-04 7.62732124e-06 9.99999800e-01 -5.71829542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9665599949999 meters 0.0506480859344671 Centerline is valid? [True, True] Translation: X:667.53, Y:-249.82, Z:-5.72 [[-6.95939161e-01 -7.18100549e-01 5.34337102e-04 6.67527778e+02] [ 7.18100344e-01 -6.95939366e-01 -5.42163256e-04 -2.49821810e+02] [ 7.61193955e-04 6.39501564e-06 9.99999710e-01 -5.71826251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.026559995 meters 0.05058949946185528 Centerline is valid? [True, True] Translation: X:667.49, Y:-249.78, Z:-5.72 [[-6.96312895e-01 -7.17738331e-01 2.02092733e-04 6.67486740e+02] [ 7.17738302e-01 -6.96312924e-01 -2.04411762e-04 -2.49782941e+02] [ 2.87433938e-04 2.71514898e-06 9.99999959e-01 -5.71866688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0865599949999 meters 0.05065538977331729 Centerline is valid? [True, True] Translation: X:667.45, Y:-249.74, Z:-5.72 [[-6.96138371e-01 -7.17907595e-01 2.31429116e-04 6.67448161e+02] [ 7.17907557e-01 -6.96138409e-01 -2.34086620e-04 -2.49742808e+02] [ 3.29159259e-04 3.18803273e-06 9.99999946e-01 -5.71806547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.146559995 meters 0.0508378009027911 Centerline is valid? [True, True] Translation: X:667.40, Y:-249.70, Z:-5.72 [[-6.96313258e-01 -7.17736871e-01 1.27654918e-03 6.67404468e+02] [ 7.17735702e-01 -6.96314428e-01 -1.29547326e-03 -2.49703924e+02] [ 1.81868854e-03 1.41697138e-05 9.99998346e-01 -5.72022376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2065599949999 meters 0.05130283549954265 Centerline is valid? [True, True] Translation: X:667.36, Y:-249.66, Z:-5.72 [[-6.97013332e-01 -7.17055796e-01 1.84392520e-03 6.67364685e+02] [ 7.17053355e-01 -6.97015771e-01 -1.87101585e-03 -2.49662889e+02] [ 2.62686770e-03 1.80697625e-05 9.99996550e-01 -5.71921503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.266559995 meters 0.050478198421393776 Centerline is valid? [True, True] Translation: X:667.32, Y:-249.62, Z:-5.72 [[-6.98295817e-01 -7.15808468e-01 1.09036635e-03 6.67324009e+02] [ 7.15807615e-01 -6.98296668e-01 -1.10562945e-03 -2.49622633e+02] [ 1.55281812e-03 8.43611615e-06 9.99998794e-01 -5.72071654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3265599949999 meters 0.051037879309594344 Centerline is valid? [True, True] Translation: X:667.29, Y:-249.58, Z:-5.72 [[-7.00818552e-01 -7.13339343e-01 5.82656876e-04 6.67286286e+02] [ 7.13339098e-01 -7.00818794e-01 -5.90182436e-04 -2.49581257e+02] [ 8.29337240e-04 2.02113017e-06 9.99999656e-01 -5.71921226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.386559995 meters 0.05074997015686376 Centerline is valid? [True, True] Translation: X:667.25, Y:-249.54, Z:-5.72 [[-7.02383522e-01 -7.11798694e-01 8.37745008e-05 6.67246256e+02] [ 7.11798689e-01 -7.02383527e-01 -8.42643598e-05 -2.49539575e+02] [ 1.18821090e-04 4.44682141e-07 9.99999993e-01 -5.72021685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4465599949999 meters 0.050847986469792945 Centerline is valid? [True, True] Translation: X:667.21, Y:-249.50, Z:-5.72 [[-7.04265465e-01 -7.09936722e-01 7.31352523e-05 6.67207569e+02] [ 7.09936719e-01 -7.04265469e-01 -7.33070223e-05 -2.49497465e+02] [ 1.03549980e-04 2.93796857e-07 9.99999995e-01 -5.71995642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.506559995 meters 0.050533169926400626 Centerline is valid? [True, True] Translation: X:667.17, Y:-249.45, Z:-5.72 [[-7.05854055e-01 -7.08357189e-01 -3.82771676e-04 6.67170946e+02] [ 7.08357082e-01 -7.05854159e-01 3.88773813e-04 -2.49454928e+02] [-5.45571704e-04 3.27854506e-06 9.99999851e-01 -5.72052599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5665599949999 meters 0.051011547776589505 Centerline is valid? [True, True] Translation: X:667.13, Y:-249.42, Z:-5.72 [[-7.05294804e-01 -7.08914098e-01 -2.02987667e-04 6.67129459e+02] [ 7.08914067e-01 -7.05294834e-01 2.06560611e-04 -2.49417160e+02] [-2.89599882e-04 1.78531331e-06 9.99999958e-01 -5.71950590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.626559995 meters 0.05097961518867254 Centerline is valid? [True, True] Translation: X:667.09, Y:-249.38, Z:-5.72 [[-7.03642678e-01 -7.10553966e-01 2.05837650e-04 6.67088500e+02] [ 7.10553936e-01 -7.03642708e-01 -2.08055831e-04 -2.49376230e+02] [ 2.92671057e-04 -1.38209568e-07 9.99999957e-01 -5.72128819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6865599949999 meters 0.050728814181325924 Centerline is valid? [True, True] Translation: X:667.05, Y:-249.34, Z:-5.72 [[-6.99480663e-01 -7.14651365e-01 4.78214849e-04 6.67046092e+02] [ 7.14651201e-01 -6.99480827e-01 -4.83563550e-04 -2.49337089e+02] [ 6.80081469e-04 3.51346337e-06 9.99999769e-01 -5.72129995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.746559995 meters 0.050690432852522165 Centerline is valid? [True, True] Translation: X:667.00, Y:-249.30, Z:-5.72 [[-6.96230047e-01 -7.17818340e-01 7.43610472e-04 6.67003690e+02] [ 7.17817946e-01 -6.96230444e-01 -7.52087542e-04 -2.49298406e+02] [ 1.05758648e-03 1.01509969e-05 9.99999441e-01 -5.72201714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8065599949999 meters 0.050114549491824575 Centerline is valid? [True, True] Translation: X:666.96, Y:-249.26, Z:-5.72 [[-6.91964075e-01 -7.21930313e-01 1.53027192e-03 6.66961579e+02] [ 7.21928654e-01 -6.91965767e-01 -1.54822661e-03 -2.49257963e+02] [ 2.17660750e-03 3.34299490e-05 9.99997631e-01 -5.72228334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.866559995 meters 0.05051146083001616 Centerline is valid? [True, True] Translation: X:666.92, Y:-249.22, Z:-5.72 [[-6.89741097e-01 -7.24051113e-01 2.68433155e-03 6.66919526e+02] [ 7.24046024e-01 -6.89746317e-01 -2.71559791e-03 -2.49219150e+02] [ 3.81773949e-03 7.05201045e-05 9.99992710e-01 -5.72351258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9265599949999 meters 0.05055805495671537 Centerline is valid? [True, True] Translation: X:666.88, Y:-249.18, Z:-5.72 [[-6.90048226e-01 -7.23758442e-01 2.67648897e-03 6.66878680e+02] [ 7.23753383e-01 -6.90053413e-01 -2.70699606e-03 -2.49177290e+02] [ 3.80613160e-03 6.91601181e-05 9.99992754e-01 -5.72375880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.986559995 meters 0.05035209945442825 Centerline is valid? [True, True] Translation: X:666.84, Y:-249.13, Z:-5.72 [[-6.92741651e-01 -7.21184336e-01 1.46902371e-03 6.66840086e+02] [ 7.21182807e-01 -6.92743208e-01 -1.48552264e-03 -2.49133552e+02] [ 2.08899186e-03 3.03512361e-05 9.99997818e-01 -5.72228949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0465599949999 meters 0.05049073228783993 Centerline is valid? [True, True] Translation: X:666.80, Y:-249.09, Z:-5.72 [[-6.96550392e-01 -7.17507876e-01 5.70170805e-06 6.66799765e+02] [ 7.17507876e-01 -6.96550392e-01 -5.19620373e-06 -2.49093385e+02] [ 7.69984377e-06 4.71602680e-07 1.00000000e+00 -5.72193610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.106559995 meters 0.05053806425372763 Centerline is valid? [True, True] Translation: X:666.76, Y:-249.05, Z:-5.72 [[-6.98858367e-01 -7.15259924e-01 -4.72759745e-04 6.66759850e+02] [ 7.15259764e-01 -6.98858527e-01 4.78750084e-04 -2.49053019e+02] [-6.72822928e-04 -3.56752200e-06 9.99999774e-01 -5.72277176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.166559995 meters 0.05002384841014568 Centerline is valid? [True, True] Translation: X:666.72, Y:-249.01, Z:-5.72 [[-7.01534093e-01 -7.12635715e-01 -5.03791791e-04 6.66722488e+02] [ 7.12635533e-01 -7.01534274e-01 5.10088719e-04 -2.49012350e+02] [-7.16934647e-04 -1.17530457e-06 9.99999743e-01 -5.72361746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.226559995 meters 0.050550349780401016 Centerline is valid? [True, True] Translation: X:666.68, Y:-248.97, Z:-5.72 [[-7.02433272e-01 -7.11749380e-01 5.64922934e-04 6.66683903e+02] [ 7.11749151e-01 -7.02433499e-01 -5.69889441e-04 -2.48971474e+02] [ 8.02439249e-04 1.77411429e-06 9.99999678e-01 -5.72294487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.286559995 meters 0.05050544941290342 Centerline is valid? [True, True] Translation: X:666.64, Y:-248.93, Z:-5.73 [[-7.02196646e-01 -7.11981672e-01 1.40298897e-03 6.66642168e+02] [ 7.11980263e-01 -7.02198048e-01 -1.41635343e-03 -2.48932735e+02] [ 1.99359380e-03 4.34182243e-06 9.99998013e-01 -5.72643413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3465599949999 meters 0.0510003320504835 Centerline is valid? [True, True] Translation: X:666.60, Y:-248.89, Z:-5.73 [[-7.01054698e-01 -7.13103043e-01 2.52198695e-03 6.66599747e+02] [ 7.13098498e-01 -7.01059234e-01 -2.54599115e-03 -2.48893029e+02] [ 3.58361628e-03 1.35460469e-05 9.99993579e-01 -5.72766711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.406559995 meters 0.05053846432256722 Centerline is valid? [True, True] Translation: X:666.56, Y:-248.85, Z:-5.73 [[-7.00443256e-01 -7.13703560e-01 2.54447320e-03 6.66560339e+02] [ 7.13698941e-01 -7.00447877e-01 -2.56779444e-03 -2.48853468e+02] [ 3.61491488e-03 1.73935302e-05 9.99993466e-01 -5.72712070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4665599949999 meters 0.050506742634529866 Centerline is valid? [True, True] Translation: X:666.52, Y:-248.81, Z:-5.73 [[-7.00852657e-01 -7.13302904e-01 2.12595919e-03 6.66519165e+02] [ 7.13299679e-01 -7.00855882e-01 -2.14493068e-03 -2.48812366e+02] [ 3.01997629e-03 1.31656416e-05 9.99995440e-01 -5.72818478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.526559995 meters 0.05064128651070153 Centerline is valid? [True, True] Translation: X:666.48, Y:-248.77, Z:-5.73 [[-7.02094398e-01 -7.12083064e-01 1.07985846e-03 6.66480330e+02] [ 7.12082232e-01 -7.02095229e-01 -1.08863536e-03 -2.48771261e+02] [ 1.53336227e-03 4.62323311e-06 9.99998824e-01 -5.72862009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5865599949999 meters 0.05083476304082707 Centerline is valid? [True, True] Translation: X:666.44, Y:-248.73, Z:-5.73 [[-7.04042682e-01 -7.10157659e-01 -3.97484747e-05 6.66442573e+02] [ 7.10157658e-01 -7.04042683e-01 4.08933245e-05 -2.48730032e+02] [-5.70253306e-05 5.62962142e-07 9.99999998e-01 -5.72805743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.646559995 meters 0.05043785534918525 Centerline is valid? [True, True] Translation: X:666.41, Y:-248.69, Z:-5.73 [[-7.05075581e-01 -7.09130791e-01 -1.39506727e-03 6.66405113e+02] [ 7.09129395e-01 -7.05076961e-01 1.40745170e-03 -2.48688834e+02] [-1.98169713e-03 3.07661673e-06 9.99998036e-01 -5.72754285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7065599949999 meters 0.05050076261290152 Centerline is valid? [True, True] Translation: X:666.36, Y:-248.65, Z:-5.73 [[-7.05185376e-01 -7.09019569e-01 -2.19914383e-03 6.66364831e+02] [ 7.09016101e-01 -7.05188805e-01 2.21771005e-03 -2.48648255e+02] [-3.12321143e-03 4.66831346e-06 9.99995123e-01 -5.72698414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.766559995 meters 0.04999569004279963 Centerline is valid? [True, True] Translation: X:666.32, Y:-248.61, Z:-5.73 [[-7.04616285e-01 -7.09586101e-01 -1.85894739e-03 6.66324703e+02] [ 7.09583626e-01 -7.04618738e-01 1.87422081e-03 -2.48609062e+02] [-2.63977020e-03 1.52787297e-06 9.99996516e-01 -5.72854967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8265599949999 meters 0.050531655643866046 Centerline is valid? [True, True] Translation: X:666.28, Y:-248.57, Z:-5.73 [[-7.04298414e-01 -7.09901960e-01 -1.71790238e-03 6.66284165e+02] [ 7.09899848e-01 -7.04300509e-01 1.73152576e-03 -2.48568517e+02] [-2.43913305e-03 -2.77916133e-08 9.99997025e-01 -5.72947087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.886559995 meters 0.05100192975936892 Centerline is valid? [True, True] Translation: X:666.24, Y:-248.53, Z:-5.73 [[-7.04271375e-01 -7.09929257e-01 -1.51016204e-03 6.66244170e+02] [ 7.09927626e-01 -7.04272994e-01 1.52177609e-03 -2.48528163e+02] [-2.14391971e-03 -3.62407574e-07 9.99997702e-01 -5.73020946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9465599949999 meters 0.050619118702599254 Centerline is valid? [True, True] Translation: X:666.20, Y:-248.49, Z:-5.73 [[-7.03985039e-01 -7.10214694e-01 -3.91945974e-04 6.66204622e+02] [ 7.10214584e-01 -7.03985148e-01 3.95491099e-04 -2.48488515e+02] [-5.56807735e-04 5.40701250e-08 9.99999845e-01 -5.73172809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.006559995 meters 0.05097468274694256 Centerline is valid? [True, True] Translation: X:666.17, Y:-248.45, Z:-5.73 [[-7.03250339e-01 -7.10942267e-01 2.31207331e-04 6.66165184e+02] [ 7.10942229e-01 -7.03250377e-01 -2.31783098e-04 -2.48449712e+02] [ 3.27381044e-04 1.37351270e-06 9.99999946e-01 -5.73318654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0665599949999 meters 0.05029117455251808 Centerline is valid? [True, True] Translation: X:666.12, Y:-248.41, Z:-5.73 [[-7.00815519e-01 -7.13342165e-01 7.50665790e-04 6.66123261e+02] [ 7.13341766e-01 -7.00815921e-01 -7.54610045e-04 -2.48409410e+02] [ 1.06437370e-03 6.63882991e-06 9.99999434e-01 -5.73350619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.126559995 meters 0.04991626986081703 Centerline is valid? [True, True] Translation: X:666.08, Y:-248.37, Z:-5.73 [[-6.98430946e-01 -7.15677234e-01 5.57931166e-04 6.66081527e+02] [ 7.15677014e-01 -6.98431169e-01 -5.60734706e-04 -2.48371244e+02] [ 7.90981579e-04 7.66403958e-06 9.99999687e-01 -5.73470451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1865599949999 meters 0.04976282330865506 Centerline is valid? [True, True] Translation: X:666.04, Y:-248.33, Z:-5.73 [[-6.97339075e-01 -7.16741385e-01 -4.21076292e-05 6.66041585e+02] [ 7.16741384e-01 -6.97339076e-01 4.31333619e-05 -2.48330152e+02] [-6.02787611e-05 -1.01701796e-07 9.99999998e-01 -5.73383626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.246559995 meters 0.05022763116384816 Centerline is valid? [True, True] Translation: X:666.00, Y:-248.29, Z:-5.73 [[-6.95718308e-01 -7.18314650e-01 3.16360118e-04 6.65999469e+02] [ 7.18314579e-01 -6.95718380e-01 -3.17381250e-04 -2.48289691e+02] [ 4.48077150e-04 6.43813856e-06 9.99999900e-01 -5.73446936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3065599949999 meters 0.049504300708639176 Centerline is valid? [True, True] Translation: X:665.96, Y:-248.25, Z:-5.73 [[-6.93957758e-01 -7.20015498e-01 5.59742171e-04 6.65957970e+02] [ 7.20015279e-01 -6.93957983e-01 -5.61983259e-04 -2.48248235e+02] [ 7.93074203e-04 1.30302730e-05 9.99999685e-01 -5.73485658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.366559995 meters 0.049821921427429555 Centerline is valid? [True, True] Translation: X:665.92, Y:-248.21, Z:-5.74 [[-6.93206236e-01 -7.20739208e-01 3.28495951e-04 6.65917057e+02] [ 7.20739133e-01 -6.93206314e-01 -3.29857365e-04 -2.48208643e+02] [ 4.65456604e-04 8.10070417e-06 9.99999892e-01 -5.73514385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4265599949999 meters 0.04938799449960725 Centerline is valid? [True, True] Translation: X:665.88, Y:-248.17, Z:-5.74 [[-6.92852100e-01 -7.21078868e-01 1.11056751e-03 6.65877366e+02] [ 7.21078006e-01 -6.92852989e-01 -1.11527812e-03 -2.48165361e+02] [ 1.57366350e-03 2.80830191e-05 9.99998761e-01 -5.73564088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.486559995 meters 0.04981056636722497 Centerline is valid? [True, True] Translation: X:665.84, Y:-248.12, Z:-5.74 [[-6.93197456e-01 -7.20746111e-01 1.52672574e-03 6.65837832e+02] [ 7.20744482e-01 -6.93199136e-01 -1.53300940e-03 -2.48123026e+02] [ 2.16323553e-03 3.77009391e-05 9.99997659e-01 -5.73640964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5465599949999 meters 0.050224626385825116 Centerline is valid? [True, True] Translation: X:665.80, Y:-248.08, Z:-5.74 [[-6.93900343e-01 -7.20069299e-01 1.58698988e-03 6.65797318e+02] [ 7.20067537e-01 -6.93902156e-01 -1.59343778e-03 -2.48083381e+02] [ 2.24860133e-03 3.70528705e-05 9.99997471e-01 -5.73697415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.606559995 meters 0.050212305466752594 Centerline is valid? [True, True] Translation: X:665.76, Y:-248.04, Z:-5.74 [[-6.94774745e-01 -7.19226440e-01 1.17551828e-03 6.65756277e+02] [ 7.19225473e-01 -6.94775739e-01 -1.17969532e-03 -2.48041474e+02] [ 1.66518965e-03 2.58401700e-05 9.99998613e-01 -5.73664712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.666559995 meters 0.050080325531324 Centerline is valid? [True, True] Translation: X:665.71, Y:-248.00, Z:-5.74 [[-6.94700095e-01 -7.19298040e-01 1.45179551e-03 6.65714155e+02] [ 7.19296566e-01 -6.94701611e-01 -1.45664155e-03 -2.48003480e+02] [ 2.05632409e-03 3.23425004e-05 9.99997885e-01 -5.73724035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.726559995 meters 0.050264842365775574 Centerline is valid? [True, True] Translation: X:665.67, Y:-247.96, Z:-5.74 [[-6.93882156e-01 -7.20086713e-01 1.63665561e-03 6.65672661e+02] [ 7.20084842e-01 -6.93884085e-01 -1.64225768e-03 -2.47962895e+02] [ 2.31821722e-03 3.89975958e-05 9.99997312e-01 -5.73748607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.786559995 meters 0.050332941492589864 Centerline is valid? [True, True] Translation: X:665.63, Y:-247.93, Z:-5.74 [[-6.91810549e-01 -7.22074889e-01 2.45324866e-03 6.65628236e+02] [ 7.22070699e-01 -6.91814896e-01 -2.46096442e-03 -2.47927750e+02] [ 3.47419458e-03 6.88978285e-05 9.99993963e-01 -5.74002803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8465599949999 meters 0.05005422768025262 Centerline is valid? [True, True] Translation: X:665.59, Y:-247.89, Z:-5.74 [[-6.91028006e-01 -7.22819263e-01 3.55092691e-03 6.65588250e+02] [ 7.22810497e-01 -6.91037121e-01 -3.56136816e-03 -2.47886477e+02] [ 5.02804782e-03 1.05642108e-04 9.99987354e-01 -5.74077840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.906559995 meters 0.05052485246625122 Centerline is valid? [True, True] Translation: X:665.55, Y:-247.84, Z:-5.74 [[-6.92600763e-01 -7.21310181e-01 3.97568301e-03 6.65549214e+02] [ 7.21299173e-01 -6.92612165e-01 -3.98649862e-03 -2.47843302e+02] [ 5.62910846e-03 1.06604881e-04 9.99984151e-01 -5.74027514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9665599949999 meters 0.05006788152229548 Centerline is valid? [True, True] Translation: X:665.51, Y:-247.80, Z:-5.74 [[-6.94053524e-01 -7.19915652e-01 3.34069388e-03 6.65511319e+02] [ 7.19907867e-01 -6.94061559e-01 -3.34894340e-03 -2.47798138e+02] [ 4.72960397e-03 8.06458360e-05 9.99988812e-01 -5.73859372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.026559995 meters 0.050573170013715626 Centerline is valid? [True, True] Translation: X:665.47, Y:-247.76, Z:-5.74 [[-6.96338151e-01 -7.17706894e-01 3.16121496e-03 6.65469595e+02] [ 7.17699905e-01 -6.96345324e-01 -3.16807285e-03 -2.47758532e+02] [ 4.47504498e-03 6.27536881e-05 9.99989985e-01 -5.74088090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0865599949999 meters 0.05027416183988921 Centerline is valid? [True, True] Translation: X:665.43, Y:-247.72, Z:-5.74 [[-6.96824658e-01 -7.17236780e-01 2.60734498e-03 6.65430337e+02] [ 7.17232025e-01 -6.96829534e-01 -2.61219184e-03 -2.47716053e+02] [ 3.69043505e-03 4.98316361e-05 9.99993189e-01 -5.74008105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.146559995 meters 0.0501747771069162 Centerline is valid? [True, True] Translation: X:665.39, Y:-247.67, Z:-5.74 [[-6.98300307e-01 -7.15798653e-01 2.99487404e-03 6.65390169e+02] [ 7.15792369e-01 -6.98306728e-01 -2.99981623e-03 -2.47674088e+02] [ 4.23860511e-03 4.89353860e-05 9.99991016e-01 -5.74066024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2065599949999 meters 0.05051919382845081 Centerline is valid? [True, True] Translation: X:665.35, Y:-247.63, Z:-5.74 [[-7.01501136e-01 -7.12663997e-01 2.48689366e-03 6.65350560e+02] [ 7.12659646e-01 -7.01505543e-01 -2.49028053e-03 -2.47631035e+02] [ 3.51930297e-03 2.53741331e-05 9.99993807e-01 -5.74034192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.266559995 meters 0.050279428564235354 Centerline is valid? [True, True] Translation: X:665.31, Y:-247.59, Z:-5.74 [[-7.04418071e-01 -7.09783518e-01 1.59319526e-03 6.65310341e+02] [ 7.09781726e-01 -7.04419873e-01 -1.59472079e-03 -2.47589757e+02] [ 2.25418493e-03 7.47073788e-06 9.99997459e-01 -5.74041689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3265599949999 meters 0.05024319182231798 Centerline is valid? [True, True] Translation: X:665.27, Y:-247.55, Z:-5.74 [[-7.08220735e-01 -7.05990164e-01 1.13076621e-03 6.65270467e+02] [ 7.05989258e-01 -7.08221638e-01 -1.13116733e-03 -2.47548436e+02] [ 1.59942611e-03 -2.80736448e-06 9.99998721e-01 -5.73961072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.386559995 meters 0.051008952238389985 Centerline is valid? [True, True] Translation: X:665.23, Y:-247.51, Z:-5.74 [[-7.10818148e-01 -7.03373013e-01 1.99115076e-03 6.65229196e+02] [ 7.03370192e-01 -7.10820937e-01 -1.99212439e-03 -2.47507470e+02] [ 2.81655818e-03 -1.55220841e-05 9.99996033e-01 -5.74037116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4465599949999 meters 0.05046395414617533 Centerline is valid? [True, True] Translation: X:665.19, Y:-247.47, Z:-5.74 [[-7.12366795e-01 -7.01804196e-01 2.10244673e-03 6.65188401e+02] [ 7.01801046e-01 -7.12369897e-01 -2.10282545e-03 -2.47467058e+02] [ 2.97349149e-03 -2.24837095e-05 9.99995579e-01 -5.74139005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.506559995 meters 0.051675252609339445 Centerline is valid? [True, True] Translation: X:665.15, Y:-247.43, Z:-5.74 [[-7.14169800e-01 -6.99968515e-01 2.36120541e-03 6.65145524e+02] [ 6.99964534e-01 -7.14173702e-01 -2.36091189e-03 -2.47429876e+02] [ 3.33887480e-03 -3.33319289e-05 9.99994425e-01 -5.73917978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5665599949999 meters 0.051484435289381486 Centerline is valid? [True, True] Translation: X:665.11, Y:-247.39, Z:-5.74 [[-7.14877979e-01 -6.99245040e-01 2.41839454e-03 6.65107165e+02] [ 6.99240862e-01 -7.14882069e-01 -2.41749307e-03 -2.47387182e+02] [ 3.41928693e-03 -3.71722762e-05 9.99994154e-01 -5.74101044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.626559995 meters 0.05079827034600837 Centerline is valid? [True, True] Translation: X:664.69, Y:-247.88, Z:-4.72 [[-7.48867787e-01 6.62674764e-01 7.69380888e-03 6.64688042e+02] [ 6.62637455e-01 7.48907289e-01 -7.03382241e-03 -2.47881296e+02] [-1.04230862e-02 -1.69197078e-04 -9.99945664e-01 -4.71672631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6865599949999 meters 0.05164596798771581 Centerline is valid? [True, True] Translation: X:665.23, Y:-248.20, Z:-4.72 [[-7.96993963e-01 6.03948834e-01 6.81384818e-03 6.65230946e+02] [ 6.03924512e-01 7.97023063e-01 -5.42418149e-03 -2.48199942e+02] [-8.70672223e-03 -2.07989971e-04 -9.99962074e-01 -4.71876283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.746559995 meters 0.050788355817280625 Centerline is valid? [True, True] Translation: X:664.70, Y:-247.74, Z:-4.72 [[-8.38695219e-01 5.44587600e-01 3.83078476e-03 6.64696849e+02] [ 5.44580614e-01 8.38703935e-01 -2.76849076e-03 -2.47740070e+02] [-4.72057999e-03 -2.35748851e-04 -9.99988830e-01 -4.72184361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8065599949999 meters 0.050887350583701585 Centerline is valid? [True, True] Translation: X:664.70, Y:-247.66, Z:-4.72 [[-8.75548531e-01 4.83116077e-01 3.69130815e-03 6.64700633e+02] [ 4.83110600e-01 8.75556279e-01 -2.31319031e-03 -2.47658355e+02] [-4.34948746e-03 -2.42000286e-04 -9.99990512e-01 -4.72255787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.866559995 meters 0.05055476632838364 Centerline is valid? [True, True] Translation: X:664.77, Y:-247.61, Z:-4.72 [[-9.09555169e-01 4.15558968e-01 4.48755872e-03 6.64767545e+02] [ 4.15552481e-01 9.09566202e-01 -2.33659710e-03 -2.47606223e+02] [-5.05272563e-03 -2.60447809e-04 -9.99987201e-01 -4.72188566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9265599949999 meters 0.04998564496190728 Centerline is valid? [True, True] Translation: X:664.81, Y:-247.54, Z:-4.72 [[-9.39281037e-01 3.43096308e-01 6.00477396e-03 6.64811562e+02] [ 3.43087210e-01 9.39300182e-01 -2.51700968e-03 -2.47536892e+02] [-6.50386200e-03 -3.04018324e-04 -9.99978803e-01 -4.72094551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.986559995 meters 0.050473653422878934 Centerline is valid? [True, True] Translation: X:664.79, Y:-247.45, Z:-4.72 [[-9.62335588e-01 2.71770019e-01 7.16042653e-03 6.64785205e+02] [ 2.71759865e-01 9.62362168e-01 -2.37355097e-03 -2.47446660e+02] [-7.53598359e-03 -3.38236022e-04 -9.99971547e-01 -4.72091332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0465599949999 meters 0.050373522434354036 Centerline is valid? [True, True] Translation: X:665.08, Y:-247.44, Z:-4.72 [[-9.80432968e-01 1.96660994e-01 8.69764347e-03 6.65075911e+02] [ 1.96649714e-01 9.80471469e-01 -2.14198750e-03 -2.47437660e+02] [-8.94903666e-03 -3.89686056e-04 -9.99959881e-01 -4.71989621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.106559995 meters 0.05038526982072511 Centerline is valid? [True, True] Translation: X:664.52, Y:-246.69, Z:-5.74 [[-9.58541283e-01 -2.84941569e-01 2.62883883e-03 6.64520178e+02] [ 2.84940359e-01 -9.58544887e-01 -8.31546999e-04 -2.46693797e+02] [ 2.75680232e-03 -4.80098470e-05 9.99996199e-01 -5.74311115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.166559995 meters 0.05058904740424327 Centerline is valid? [True, True] Translation: X:664.30, Y:-247.26, Z:-4.72 [[-9.80790607e-01 1.94783955e-01 1.04401487e-02 6.64297461e+02] [ 1.94768801e-01 9.80846098e-01 -2.45895966e-03 -2.47258206e+02] [-1.07191450e-02 -3.78309285e-04 -9.99942477e-01 -4.72110670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.226559995 meters 0.05068667543154044 Centerline is valid? [True, True] Translation: X:664.24, Y:-247.17, Z:-4.72 [[-9.91905743e-01 1.26612277e-01 9.60875181e-03 6.64240632e+02] [ 1.26602930e-01 9.91952222e-01 -1.57733577e-03 -2.47174267e+02] [-9.73113278e-03 -3.48072278e-04 -9.99952591e-01 -4.72211984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.286559995 meters 0.05088605999934067 Centerline is valid? [True, True] Translation: X:664.26, Y:-246.57, Z:-5.74 [[-9.77952485e-01 -2.08821483e-01 1.58907143e-03 6.64260815e+02] [ 2.08820803e-01 -9.77953747e-01 -5.84336392e-04 -2.46565846e+02] [ 1.67606035e-03 -2.39622054e-04 9.99998567e-01 -5.74418489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3465599949999 meters 0.05041964979296983 Centerline is valid? [True, True] Translation: X:664.10, Y:-247.16, Z:-4.72 [[-9.92359348e-01 1.23020832e-01 9.42333222e-03 6.64102318e+02] [ 1.23011990e-01 9.92404029e-01 -1.51440229e-03 -2.47162627e+02] [-9.53805589e-03 -3.43648423e-04 -9.99954453e-01 -4.72336724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.406559995 meters 0.05066915168567652 Centerline is valid? [True, True] Translation: X:664.18, Y:-246.55, Z:-5.74 [[-9.78528097e-01 -2.06106675e-01 1.67414251e-03 6.64177888e+02] [ 2.06105953e-01 -9.78529500e-01 -5.94992646e-04 -2.46551493e+02] [ 1.76082979e-03 -2.37166284e-04 9.99998422e-01 -5.74295340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4665599949999 meters 0.050126500960440266 Centerline is valid? [True, True] Translation: X:664.01, Y:-247.16, Z:-4.72 [[-9.93082771e-01 1.17071139e-01 8.99771061e-03 6.64010313e+02] [ 1.17063052e-01 9.93123466e-01 -1.42210780e-03 -2.47156998e+02] [-9.10232533e-03 -3.58971291e-04 -9.99958509e-01 -4.72428607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.526559995 meters 0.05069891776738681 Centerline is valid? [True, True] Translation: X:664.17, Y:-246.56, Z:-5.74 [[-9.78338654e-01 -2.07000443e-01 2.07222887e-03 6.64174325e+02] [ 2.06999546e-01 -9.78340829e-01 -6.40725784e-04 -2.46561822e+02] [ 2.15997663e-03 -1.97896367e-04 9.99997648e-01 -5.74387779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5865599949999 meters 0.05131773120047388 Centerline is valid? [True, True] Translation: X:663.93, Y:-247.15, Z:-4.72 [[-9.94110243e-01 1.07947379e-01 9.60143001e-03 6.63927245e+02] [ 1.07938281e-01 9.94156521e-01 -1.46230713e-03 -2.47147577e+02] [-9.70317648e-03 -4.17332646e-04 -9.99952836e-01 -4.72303446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.646559995 meters 0.0500018274676669 Centerline is valid? [True, True] Translation: X:663.89, Y:-247.07, Z:-4.72 [[-9.99320845e-01 3.53357893e-02 1.04513670e-02 6.63891457e+02] [ 3.53291778e-02 9.99375396e-01 -8.16604122e-04 -2.47071345e+02] [-1.04736944e-02 -4.46811318e-04 -9.99945050e-01 -4.72386995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7065599949999 meters 0.050733822400257665 Centerline is valid? [True, True] Translation: X:663.93, Y:-246.45, Z:-5.74 [[-9.90489475e-01 -1.37517592e-01 4.41722608e-03 6.63927994e+02] [ 1.37515962e-01 -9.90499323e-01 -6.71993563e-04 -2.46445988e+02] [ 4.46767038e-03 -5.81634562e-05 9.99990018e-01 -5.74398828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.766559995 meters 0.05045295284657551 Centerline is valid? [True, True] Translation: X:663.79, Y:-247.07, Z:-4.72 [[-9.99421392e-01 3.18359480e-02 1.19730709e-02 6.63787806e+02] [ 3.18280307e-02 9.99492997e-01 -8.51273200e-04 -2.47074866e+02] [-1.19941016e-02 -4.69701379e-04 -9.99927958e-01 -4.72489108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8265599949999 meters 0.05043067469091706 Centerline is valid? [True, True] Translation: X:663.73, Y:-247.00, Z:-4.73 [[-9.99225294e-01 -3.78583065e-02 1.07499240e-02 6.63726488e+02] [-3.78607617e-02 9.99283024e-01 -2.48980341e-05 -2.46998808e+02] [-1.07412740e-02 -4.31879057e-04 -9.99942218e-01 -4.72585661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.886559995 meters 0.0504757059934187 Centerline is valid? [True, True] Translation: X:663.64, Y:-246.92, Z:-4.72 [[-9.94255988e-01 -1.06617625e-01 9.36551057e-03 6.63644074e+02] [-1.06616573e-01 9.94300020e-01 6.12938507e-04 -2.46923670e+02] [-9.37747740e-03 -3.89100857e-04 -9.99955955e-01 -4.72483881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9465599949999 meters 0.05005706730085078 Centerline is valid? [True, True] Translation: X:663.55, Y:-246.86, Z:-4.73 [[-9.84488507e-01 -1.75226273e-01 8.83932155e-03 6.63549494e+02] [-1.75222533e-01 9.84528120e-01 1.20187608e-03 -2.46862272e+02] [-8.91316090e-03 -3.65615121e-04 -9.99960210e-01 -4.72723994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.006559995 meters 0.05068646980538586 Centerline is valid? [True, True] Translation: X:663.37, Y:-246.23, Z:-5.75 [[-9.96157328e-01 8.75584834e-02 2.02226027e-03 6.63373894e+02] [-8.75586208e-02 -9.96159369e-01 2.06187335e-05 -2.46231858e+02] [ 2.01629886e-03 -1.56526818e-04 9.99997955e-01 -5.74633766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0665599949999 meters 0.05055728749060267 Centerline is valid? [True, True] Translation: X:663.38, Y:-246.89, Z:-4.73 [[-9.84322399e-01 -1.76125008e-01 9.45492918e-03 6.63380762e+02] [-1.76120220e-01 9.84367748e-01 1.34319444e-03 -2.46888882e+02] [-9.54369748e-03 -3.43067830e-04 -9.99954399e-01 -4.72550140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.126559995 meters 0.0501628259092424 Centerline is valid? [True, True] Translation: X:663.27, Y:-246.83, Z:-4.73 [[-9.68869264e-01 -2.47384306e-01 9.66206458e-03 6.63265493e+02] [-2.47375707e-01 9.68917373e-01 2.09404967e-03 -2.46832459e+02] [-9.87977725e-03 -3.61299691e-04 -9.99951129e-01 -4.72679075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1865599949999 meters 0.05053054709052741 Centerline is valid? [True, True] Translation: X:663.19, Y:-246.77, Z:-4.73 [[-9.47969722e-01 -3.18234596e-01 8.95256066e-03 6.63192306e+02] [-3.18224148e-01 9.48011919e-01 2.60631753e-03 -2.46771726e+02] [-9.31655462e-03 -3.78210885e-04 -9.99956528e-01 -4.72763179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.246559995 meters 0.05049979974007349 Centerline is valid? [True, True] Translation: X:663.13, Y:-246.70, Z:-4.73 [[-9.21099255e-01 -3.89229368e-01 8.75567335e-03 6.63126740e+02] [-3.89216018e-01 9.21140775e-01 3.25015091e-03 -2.46704528e+02] [-9.33026192e-03 -4.14136737e-04 -9.99956386e-01 -4.72634938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3065599949999 meters 0.05017979563162348 Centerline is valid? [True, True] Translation: X:662.99, Y:-246.68, Z:-4.73 [[-8.90703552e-01 -4.54501518e-01 8.69207903e-03 6.62988096e+02] [-4.54484422e-01 8.90745864e-01 3.96431253e-03 -2.46683059e+02] [-9.54421950e-03 -4.19387263e-04 -9.99954365e-01 -4.72770649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.366559995 meters 0.04998561736047263 Centerline is valid? [True, True] Translation: X:662.85, Y:-246.67, Z:-4.73 [[-8.56439624e-01 -5.16178083e-01 8.44729853e-03 6.62853561e+02] [-5.16157635e-01 8.56481184e-01 4.61274977e-03 -2.46666277e+02] [-9.61595259e-03 -4.09595951e-04 -9.99953682e-01 -4.72840403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4265599949999 meters 0.05013634337974066 Centerline is valid? [True, True] Translation: X:662.72, Y:-246.65, Z:-4.73 [[-8.17944977e-01 -5.75248959e-01 7.39263139e-03 6.62720974e+02] [-5.75229618e-01 8.17978294e-01 4.73253048e-03 -2.46653630e+02] [-8.76939524e-03 -3.81510997e-04 -9.99961475e-01 -4.72785333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.486559995 meters 0.05003758224716696 Centerline is valid? [True, True] Translation: X:662.54, Y:-246.70, Z:-4.73 [[-7.77163157e-01 -6.29263359e-01 6.71208606e-03 6.62541016e+02] [-6.29243599e-01 7.77192067e-01 4.99833340e-03 -2.46695735e+02] [-8.36184811e-03 -3.39016621e-04 -9.99964982e-01 -4.72956028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5465599949999 meters 0.04998253807593177 Centerline is valid? [True, True] Translation: X:662.36, Y:-246.76, Z:-4.73 [[-7.32832264e-01 -6.80373148e-01 7.01794661e-03 6.62355461e+02] [-6.80345902e-01 7.32865803e-01 6.09660420e-03 -2.46756702e+02] [-9.29117887e-03 -3.06842955e-04 -9.99956789e-01 -4.72954229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.606559995 meters 0.049714698017505596 Centerline is valid? [True, True] Translation: X:662.18, Y:-246.83, Z:-4.73 [[-6.83742691e-01 -7.29691139e-01 6.83918366e-03 6.62175910e+02] [-7.29658680e-01 6.83776837e-01 6.88826943e-03 -2.46829873e+02] [-9.70278454e-03 -2.80465841e-04 -9.99952888e-01 -4.72817496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.666559995 meters 0.05062287672183101 Centerline is valid? [True, True] Translation: X:662.06, Y:-246.86, Z:-4.73 [[-6.30883263e-01 -7.75852115e-01 6.30899670e-03 6.62056199e+02] [-7.75817178e-01 6.30914760e-01 7.36692914e-03 -2.46856061e+02] [-9.69608669e-03 -2.46955721e-04 -9.99952961e-01 -4.72906408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.726559995 meters 0.05056184816000589 Centerline is valid? [True, True] Translation: X:661.87, Y:-246.97, Z:-4.73 [[-5.72896486e-01 -8.19608261e-01 5.64936144e-03 6.61874756e+02] [-8.19572426e-01 5.72924291e-01 7.66783110e-03 -2.46970261e+02] [-9.52127411e-03 -2.37187372e-04 -9.99954644e-01 -4.72985000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.786559995 meters 0.05009512561951728 Centerline is valid? [True, True] Translation: X:661.67, Y:-247.15, Z:-4.73 [[-5.12059507e-01 -8.58937389e-01 4.65003557e-03 6.61672276e+02] [-8.58906048e-01 5.12080567e-01 7.34125544e-03 -2.47146684e+02] [-8.68687163e-03 -2.34784036e-04 -9.99962241e-01 -4.73125558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8465599949999 meters 0.04979882648726619 Centerline is valid? [True, True] Translation: X:661.54, Y:-247.22, Z:-4.73 [[-4.44469626e-01 -8.95783329e-01 4.35648355e-03 6.61541771e+02] [-8.95745962e-01 4.44490898e-01 8.18614678e-03 -2.47224971e+02] [-9.26943110e-03 -2.63808947e-04 -9.99957003e-01 -4.73117500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.906559995 meters 0.050186540489746266 Centerline is valid? [True, True] Translation: X:661.38, Y:-247.40, Z:-4.73 [[-3.74302033e-01 -9.27296987e-01 4.27618007e-03 6.61375104e+02] [-9.27245246e-01 3.74326341e-01 9.80026481e-03 -2.47404379e+02] [-1.06884429e-02 -2.96808598e-04 -9.99942833e-01 -4.73094881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9665599949999 meters 0.04979940245338382 Centerline is valid? [True, True] Translation: X:661.36, Y:-247.22, Z:-4.73 [[-2.98062220e-01 -9.54539088e-01 3.74725105e-03 6.61355910e+02] [-9.54478386e-01 2.98085549e-01 1.07710406e-02 -2.47219301e+02] [-1.13983807e-02 -3.66229871e-04 -9.99934969e-01 -4.73207790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.026559995 meters 0.05019384315525822 Centerline is valid? [True, True] Translation: X:661.09, Y:-247.83, Z:-4.73 [[-2.26814963e-01 -9.73933461e-01 2.93008549e-03 6.61090980e+02] [-9.73872433e-01 2.26833571e-01 1.09094039e-02 -2.47834512e+02] [-1.12896752e-02 -3.79113457e-04 -9.99936198e-01 -4.73219808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0865599949999 meters 0.04918633744851872 Centerline is valid? [True, True] Translation: X:660.97, Y:-248.02, Z:-4.73 [[-1.52350342e-01 -9.88324487e-01 2.02032504e-03 6.60973133e+02] [-9.88269051e-01 1.52363211e-01 1.04754344e-02 -2.48020750e+02] [-1.06609516e-02 -4.00688695e-04 -9.99943090e-01 -4.73435961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.146559995 meters 0.049635178865479815 Centerline is valid? [True, True] Translation: X:660.87, Y:-248.21, Z:-4.74 [[-7.91117604e-02 -9.96865073e-01 1.16445125e-03 6.60869202e+02] [-9.96817032e-01 7.91193886e-02 9.79425974e-03 -2.48212956e+02] [-9.85568611e-03 -3.85903709e-04 -9.99951357e-01 -4.73524959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2065599949999 meters 0.0496791771229939 Centerline is valid? [True, True] Translation: X:660.78, Y:-248.48, Z:-4.74 [[-7.86518818e-03 -9.99968983e-01 4.15560860e-04 6.60776407e+02] [-9.99931374e-01 7.86849937e-03 8.67957045e-03 -2.48478899e+02] [-8.68257108e-03 -3.47265887e-04 -9.99962245e-01 -4.73525541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.266559995 meters 0.04938842175841937 Centerline is valid? [True, True] Translation: X:660.71, Y:-248.73, Z:-4.74 [[ 6.29203966e-02 -9.98018530e-01 -1.96208376e-04 6.60706909e+02] [-9.97985513e-01 -6.29199122e-02 8.12405916e-03 -2.48733971e+02] [-8.12030699e-03 -3.15355908e-04 -9.99966980e-01 -4.73626272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3265599949999 meters 0.0499985000313162 Centerline is valid? [True, True] Translation: X:660.66, Y:-248.99, Z:-4.74 [[ 1.30734827e-01 -9.91417072e-01 -7.70827878e-04 6.60659280e+02] [-9.91385782e-01 -1.30736828e-01 7.88124220e-03 -2.48991204e+02] [-7.91437366e-03 -2.66165036e-04 -9.99968645e-01 -4.73750281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.386559995 meters 0.04940348786873347 Centerline is valid? [True, True] Translation: X:660.55, Y:-248.82, Z:-4.74 [[ 2.00121617e-01 -9.79770084e-01 -1.38562689e-03 6.60550068e+02] [-9.79738003e-01 -2.00126282e-01 7.93204753e-03 -2.48824441e+02] [-8.04888323e-03 -2.29822861e-04 -9.99967581e-01 -4.73687209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4465599949999 meters 0.04975791770009119 Centerline is valid? [True, True] Translation: X:660.63, Y:-249.50, Z:-4.74 [[ 2.68128366e-01 -9.63381145e-01 -1.98699729e-03 6.60633893e+02] [-9.63348891e-01 -2.68135654e-01 7.88581382e-03 -2.49499322e+02] [-8.12982916e-03 -2.00238745e-04 -9.99966932e-01 -4.73854379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.506559995 meters 0.04997500307301594 Centerline is valid? [True, True] Translation: X:660.65, Y:-249.78, Z:-4.74 [[ 3.34818195e-01 -9.42277382e-01 -3.18006995e-03 6.60648961e+02] [-9.42230390e-01 -3.34833261e-01 9.41166534e-03 -2.49776976e+02] [-9.93319256e-03 -1.54838251e-04 -9.99950653e-01 -4.73723254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5665599949999 meters 0.050570503975120557 Centerline is valid? [True, True] Translation: X:660.35, Y:-249.28, Z:-4.74 [[ 4.01238171e-01 -9.15965104e-01 -3.98222792e-03 6.60353984e+02] [-9.15917116e-01 -4.01257916e-01 9.37666832e-03 -2.49282919e+02] [-1.01866015e-02 -1.14886533e-04 -9.99948109e-01 -4.73744995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.626559995 meters 0.05018219025542285 Centerline is valid? [True, True] Translation: X:660.68, Y:-250.10, Z:-4.74 [[ 4.64388885e-01 -8.85618407e-01 -4.79593041e-03 6.60675045e+02] [-8.85569413e-01 -4.64413643e-01 9.31579307e-03 -2.50102018e+02] [-1.04775333e-02 -7.90214810e-05 -9.99945106e-01 -4.73871124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6865599949999 meters 0.05098413570838355 Centerline is valid? [True, True] Translation: X:660.40, Y:-249.80, Z:-4.74 [[ 5.30050860e-01 -8.47943894e-01 -6.10238413e-03 6.60395173e+02] [-8.47885958e-01 -5.30085980e-01 9.91235528e-03 -2.49802331e+02] [-1.16399094e-02 -7.99266216e-05 -9.99932251e-01 -4.73918468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.746559995 meters 0.049617015503150105 Centerline is valid? [True, True] Translation: X:660.76, Y:-250.47, Z:-4.74 [[ 5.93678511e-01 -8.04668664e-01 -7.35986826e-03 6.60760407e+02] [-8.04604430e-01 -5.93724118e-01 1.01676922e-02 -2.50465175e+02] [-1.25513546e-02 -1.14557730e-04 -9.99921222e-01 -4.73889144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8065599949999 meters 0.05003886391753329 Centerline is valid? [True, True] Translation: X:660.86, Y:-250.71, Z:-4.74 [[ 6.54503351e-01 -7.56016424e-01 -8.03308337e-03 6.60859320e+02] [-7.55956230e-01 -6.54552623e-01 9.54153294e-03 -2.50708909e+02] [-1.24716314e-02 -1.72305855e-04 -9.99922211e-01 -4.73735032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.866559995 meters 0.05013933475505024 Centerline is valid? [True, True] Translation: X:660.93, Y:-250.90, Z:-4.74 [[ 7.12771759e-01 -7.01352605e-01 -7.80655858e-03 6.60928262e+02] [-7.01306659e-01 -7.12814464e-01 8.03181676e-03 -2.50898880e+02] [-1.11977635e-02 -2.50060646e-04 -9.99937272e-01 -4.74145988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9265599949999 meters 0.050093102784538684 Centerline is valid? [True, True] Translation: X:660.90, Y:-250.98, Z:-4.74 [[ 7.67553250e-01 -6.40940413e-01 -7.57595690e-03 6.60901389e+02] [-6.40905308e-01 -7.67590580e-01 6.71474116e-03 -2.50978476e+02] [-1.01189821e-02 -2.98450405e-04 -9.99948757e-01 -4.74143980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.986559995 meters 0.05007096130048997 Centerline is valid? [True, True] Translation: X:660.88, Y:-251.05, Z:-4.74 [[ 8.17005801e-01 -5.76581988e-01 -7.39810514e-03 6.60884805e+02] [-5.76554738e-01 -8.17039232e-01 5.61490309e-03 -2.51054751e+02] [-9.28199413e-03 -3.21995827e-04 -9.99956870e-01 -4.74128830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0465599949999 meters 0.04989650841550585 Centerline is valid? [True, True] Translation: X:660.87, Y:-251.14, Z:-4.74 [[ 8.60038814e-01 -5.10180128e-01 -7.03394803e-03 6.60871696e+02] [-5.10159958e-01 -8.60067517e-01 4.54793994e-03 -2.51139151e+02] [-8.36993879e-03 -3.22966236e-04 -9.99964919e-01 -4.74352377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.106559995 meters 0.04972337035975437 Centerline is valid? [True, True] Translation: X:660.86, Y:-251.22, Z:-4.74 [[ 8.97396150e-01 -4.41178280e-01 -6.47113194e-03 6.60864613e+02] [-4.41164238e-01 -8.97419425e-01 3.53414834e-03 -2.51221934e+02] [-7.36650900e-03 -3.16699119e-04 -9.99972817e-01 -4.74338716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.166559995 meters 0.049907898780274615 Centerline is valid? [True, True] Translation: X:660.87, Y:-251.30, Z:-4.74 [[ 9.29033024e-01 -3.69932012e-01 -6.92442871e-03 6.60865576e+02] [-3.69919184e-01 -9.29058775e-01 3.09681551e-03 -2.51304226e+02] [-7.57881245e-03 -3.15564857e-04 -9.99971231e-01 -4.74394673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.226559995 meters 0.04991767410175869 Centerline is valid? [True, True] Translation: X:660.87, Y:-251.39, Z:-4.74 [[ 9.55271032e-01 -2.95581005e-01 -9.44055667e-03 6.60871753e+02] [-2.95563049e-01 -9.55317620e-01 3.27559544e-03 -2.51391112e+02] [-9.98693392e-03 -3.38801729e-04 -9.99950072e-01 -4.74170275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.286559995 meters 0.04978203903046916 Centerline is valid? [True, True] Translation: X:660.88, Y:-251.47, Z:-4.74 [[ 9.75646044e-01 -2.18982650e-01 -1.27041244e-02 6.60884699e+02] [-2.18959044e-01 -9.75728680e-01 3.23728899e-03 -2.51472408e+02] [-1.31046887e-02 -3.76765252e-04 -9.99914059e-01 -4.74144166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3465599949999 meters 0.05024900474893766 Centerline is valid? [True, True] Translation: X:660.91, Y:-251.55, Z:-4.74 [[ 9.89991668e-01 -1.40359236e-01 -1.46895485e-02 6.60905186e+02] [-1.40337517e-01 -9.90100556e-01 2.50417629e-03 -2.51552007e+02] [-1.48956144e-02 -4.17618901e-04 -9.99888967e-01 -4.73683734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.406559995 meters 0.050141571560740415 Centerline is valid? [True, True] Translation: X:660.93, Y:-251.63, Z:-4.74 [[ 9.97792568e-01 -6.48489917e-02 -1.43038449e-02 6.60931898e+02] [-6.48368984e-02 -9.97895017e-01 1.30806762e-03 -2.51629697e+02] [-1.43585625e-02 -3.77763207e-04 -9.99896839e-01 -4.74047977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4665599949999 meters 0.04986324533680005 Centerline is valid? [True, True] Translation: X:660.96, Y:-251.70, Z:-4.74 [[ 9.99863000e-01 9.34602497e-03 -1.36613757e-02 6.60960441e+02] [ 9.34946416e-03 -9.99956275e-01 1.87900069e-04 -2.51703616e+02] [-1.36590222e-02 -3.15600869e-04 -9.99906661e-01 -4.74099119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.526559995 meters 0.050070382654210446 Centerline is valid? [True, True] Translation: X:660.99, Y:-251.77, Z:-4.74 [[ 9.96760188e-01 7.92713588e-02 -1.36080635e-02 6.60992306e+02] [ 7.92667285e-02 -9.96853054e-01 -8.80131055e-04 -2.51772367e+02] [-1.36350088e-02 -2.01387077e-04 -9.99907019e-01 -4.74250662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5865599949999 meters 0.05016247656439914 Centerline is valid? [True, True] Translation: X:661.03, Y:-251.84, Z:-4.74 [[ 9.88634451e-01 1.49831578e-01 -1.23458391e-02 6.61028071e+02] [ 1.49821341e-01 -9.88711528e-01 -1.75513902e-03 -2.51835197e+02] [-1.24694486e-02 -1.14479266e-04 -9.99922247e-01 -4.74230400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.646559995 meters 0.050447206683519916 Centerline is valid? [True, True] Translation: X:661.07, Y:-251.90, Z:-4.74 [[ 9.74146821e-01 2.25635769e-01 -1.12459539e-02 6.61069631e+02] [ 2.25622055e-01 -9.74211726e-01 -2.49013754e-03 -2.51899909e+02] [-1.15178042e-02 -1.11575657e-04 -9.99933662e-01 -4.74314766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7065599949999 meters 0.050989898157493406 Centerline is valid? [True, True] Translation: X:661.12, Y:-251.97, Z:-4.75 [[ 9.53728389e-01 3.00484879e-01 -1.05355543e-02 6.61118213e+02] [ 3.00467811e-01 -9.53786572e-01 -3.20456354e-03 -2.51968620e+02] [-1.10115931e-02 -1.09311723e-04 -9.99939365e-01 -4.74534308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.766559995 meters 0.050445363107826754 Centerline is valid? [True, True] Translation: X:661.17, Y:-252.03, Z:-4.74 [[ 9.27211000e-01 3.74387471e-01 -1.06669169e-02 6.61169167e+02] [ 3.74364001e-01 -9.27272350e-01 -4.19332432e-03 -2.52027710e+02] [-1.14610652e-02 -1.05213255e-04 -9.99934314e-01 -4.74495498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8265599949999 meters 0.050372424072588594 Centerline is valid? [True, True] Translation: X:661.23, Y:-252.08, Z:-4.75 [[ 8.94218925e-01 4.47516411e-01 -1.00784351e-02 6.61227635e+02] [ 4.47489616e-01 -8.94275710e-01 -4.89883173e-03 -2.52084543e+02] [-1.12052073e-02 -1.29367024e-04 -9.99937211e-01 -4.74511793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.886559995 meters 0.05048436177770209 Centerline is valid? [True, True] Translation: X:661.29, Y:-252.14, Z:-4.75 [[ 8.54524316e-01 5.19321240e-01 -9.67688669e-03 6.61288855e+02] [ 5.19290195e-01 -8.54579090e-01 -5.68096999e-03 -2.52137252e+02] [-1.12199134e-02 -1.70585379e-04 -9.99937040e-01 -4.74660769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9465599949999 meters 0.05009116019629882 Centerline is valid? [True, True] Translation: X:661.36, Y:-252.19, Z:-4.75 [[ 8.09337502e-01 5.87265618e-01 -9.58650024e-03 6.61361153e+02] [ 5.87227405e-01 -8.09394250e-01 -6.70245752e-03 -2.52191954e+02] [-1.16953810e-02 -2.04905428e-04 -9.99931586e-01 -4.74545087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.006559995 meters 0.05028819647903609 Centerline is valid? [True, True] Translation: X:661.44, Y:-252.24, Z:-4.74 [[ 7.57077439e-01 6.53247819e-01 -1.00517401e-02 6.61437143e+02] [ 6.53195038e-01 -7.57144115e-01 -8.30852150e-03 -2.52239804e+02] [-1.30381394e-02 -2.75552567e-04 -9.99914962e-01 -4.74480573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0665599949999 meters 0.05026755183737423 Centerline is valid? [True, True] Translation: X:661.51, Y:-252.28, Z:-4.74 [[ 7.00376543e-01 7.13704690e-01 -9.91535440e-03 6.61512733e+02] [ 7.13639961e-01 -7.00446644e-01 -9.61796109e-03 -2.52278436e+02] [-1.38095606e-02 -3.39798793e-04 -9.99904586e-01 -4.74327974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.126559995 meters 0.05045610949773944 Centerline is valid? [True, True] Translation: X:661.59, Y:-252.31, Z:-4.74 [[ 6.36980872e-01 7.70820054e-01 -9.58188778e-03 6.61591856e+02] [ 7.70743189e-01 -6.37052781e-01 -1.08945250e-02 -2.52310348e+02] [-1.45018866e-02 -4.45570723e-04 -9.99894743e-01 -4.74311944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1865599949999 meters 0.04998277478456133 Centerline is valid? [True, True] Translation: X:661.67, Y:-252.34, Z:-4.74 [[ 5.71286012e-01 8.20710084e-01 -8.20062684e-03 6.61673796e+02] [ 8.20637566e-01 -5.71344657e-01 -1.09210186e-02 -2.52335116e+02] [-1.36483744e-02 -4.90717308e-04 -9.99906736e-01 -4.74434155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.246559995 meters 0.05103150468128299 Centerline is valid? [True, True] Translation: X:661.76, Y:-252.36, Z:-4.75 [[ 5.02701474e-01 8.64439112e-01 -6.02079116e-03 6.61760702e+02] [ 8.64388151e-01 -5.02737299e-01 -9.39850848e-03 -2.52356535e+02] [-1.11513146e-02 -4.79656474e-04 -9.99937707e-01 -4.74543603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3065599949999 meters 0.05240367458709064 Centerline is valid? [True, True] Translation: X:661.84, Y:-252.37, Z:-4.74 [[ 4.33744942e-01 9.01023998e-01 -4.59130191e-03 6.61844094e+02] [ 9.00983920e-01 -4.33769012e-01 -8.51002063e-03 -2.52368558e+02] [-9.65929730e-03 -4.45510793e-04 -9.99953249e-01 -4.74398332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.366559995 meters 0.050360948149076885 Centerline is valid? [True, True] Translation: X:661.92, Y:-252.37, Z:-4.75 [[ 3.62532651e-01 9.31962785e-01 -3.93005503e-03 6.61921408e+02] [ 9.31920485e-01 -3.62553686e-01 -8.89013254e-03 -2.52369679e+02] [-9.71012862e-03 -4.39535477e-04 -9.99952759e-01 -4.74741787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4265599949999 meters 0.05101875287384623 Centerline is valid? [True, True] Translation: X:662.01, Y:-252.37, Z:-4.74 [[ 2.89602681e-01 9.57140090e-01 -3.62430280e-03 6.62008895e+02] [ 9.57083530e-01 -2.89625005e-01 -1.04150209e-02 -2.52369654e+02] [-1.10183228e-02 -4.52542539e-04 -9.99939194e-01 -4.74404819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.486559995 meters 0.051877694047416274 Centerline is valid? [True, True] Translation: X:662.09, Y:-252.36, Z:-4.74 [[ 2.14341111e-01 9.76753774e-01 -3.15498589e-03 6.62087027e+02] [ 9.76678158e-01 -2.14363804e-01 -1.21628252e-02 -2.52359395e+02] [-1.25564002e-02 -4.74412349e-04 -9.99921053e-01 -4.74262569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5465599949999 meters 0.05128118748238444 Centerline is valid? [True, True] Translation: X:662.17, Y:-252.34, Z:-4.75 [[ 1.38770703e-01 9.90321538e-01 -2.43781893e-03 6.62166879e+02] [ 9.90223715e-01 -1.38791280e-01 -1.39274935e-02 -2.52343357e+02] [-1.41310448e-02 -4.81258049e-04 -9.99900036e-01 -4.74580252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.606559995 meters 0.051001726815691185 Centerline is valid? [True, True] Translation: X:662.25, Y:-252.32, Z:-4.75 [[ 6.49588117e-02 9.97887065e-01 -1.32575726e-03 6.62250528e+02] [ 9.97790435e-01 -6.49709793e-02 -1.38931267e-02 -2.52322030e+02] [-1.39499072e-02 -4.20346913e-04 -9.99902607e-01 -4.74808484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.666559995 meters 0.051057467589890854 Centerline is valid? [True, True] Translation: X:662.33, Y:-252.30, Z:-4.75 [[-8.36436663e-03 9.99964991e-01 -2.34793746e-04 6.62331760e+02] [ 9.99886345e-01 8.36076303e-03 -1.25456980e-02 -2.52295875e+02] [-1.25432957e-02 -3.39703878e-04 -9.99921272e-01 -4.74907723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.726559995 meters 0.05120678027245091 Centerline is valid? [True, True] Translation: X:662.41, Y:-252.26, Z:-4.75 [[-7.62505778e-02 9.97088491e-01 6.25706758e-04 6.62409120e+02] [ 9.97028104e-01 7.62528473e-02 -1.09755823e-02 -2.52262626e+02] [-1.09913387e-02 -2.13047268e-04 -9.99939571e-01 -4.75135338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.786559995 meters 0.05191470400282652 Centerline is valid? [True, True] Translation: X:662.48, Y:-252.23, Z:-4.75 [[-1.43383831e-01 9.89666043e-01 1.48370659e-03 6.62479293e+02] [ 9.89606068e-01 1.43391476e-01 -1.08956508e-02 -2.52225295e+02] [-1.09958065e-02 -9.39751164e-05 -9.99939540e-01 -4.75123729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8465599949999 meters 0.05232539237204592 Centerline is valid? [True, True] Translation: X:662.55, Y:-252.18, Z:-4.75 [[-2.14513915e-01 9.76718212e-01 2.30526286e-03 6.62552990e+02] [ 9.76660330e-01 2.14526299e-01 -1.06332787e-02 -2.52179910e+02] [-1.08802564e-02 -2.95274484e-05 -9.99940808e-01 -4.75350881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.906559995 meters 0.05311968324399629 Centerline is valid? [True, True] Translation: X:662.62, Y:-252.13, Z:-4.76 [[-2.84392183e-01 9.58703514e-01 2.94262439e-03 6.62624910e+02] [ 9.58653013e-01 2.84407405e-01 -9.84014278e-03 -2.52129240e+02] [-1.02706836e-02 2.24960560e-05 -9.99947255e-01 -4.75609167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9665599949999 meters 0.05370714861766817 Centerline is valid? [True, True] Translation: X:662.71, Y:-252.06, Z:-4.76 [[-3.56342715e-01 9.34348434e-01 3.58790253e-03 6.62713706e+02] [ 9.34302164e-01 3.56360775e-01 -9.29863522e-03 -2.52064057e+02] [-9.96675298e-03 3.86841740e-05 -9.99950330e-01 -4.75696433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.026559995 meters 0.05447996220531456 Centerline is valid? [True, True] Translation: X:662.79, Y:-252.00, Z:-4.76 [[-4.27577991e-01 9.03968402e-01 4.26489101e-03 6.62787970e+02] [ 9.03924490e-01 4.27599258e-01 -8.91018915e-03 -2.51997526e+02] [-9.87819369e-03 4.53386565e-05 -9.99951208e-01 -4.75521636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0865599949999 meters 0.053587950813826495 Centerline is valid? [True, True] Translation: X:662.86, Y:-251.92, Z:-4.76 [[-4.98109550e-01 8.67097917e-01 5.29881749e-03 6.62857428e+02] [ 8.67049956e-01 4.98137731e-01 -9.11997785e-03 -2.51923833e+02] [-1.05474547e-02 5.15914056e-05 -9.99944373e-01 -4.75665060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.146559995 meters 0.05358148615128686 Centerline is valid? [True, True] Translation: X:662.91, Y:-251.85, Z:-4.76 [[-5.69456863e-01 8.21996784e-01 6.33790022e-03 6.62906873e+02] [ 8.21945883e-01 5.69492131e-01 -9.14754930e-03 -2.51853164e+02] [-1.11286404e-02 2.76265312e-07 -9.99938075e-01 -4.75538467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2065599949999 meters 0.05378818310292662 Centerline is valid? [True, True] Translation: X:662.95, Y:-251.78, Z:-4.76 [[-6.36405317e-01 7.71320514e-01 7.27572549e-03 6.62949737e+02] [ 7.71269101e-01 6.36446903e-01 -8.90579859e-03 -2.51780922e+02] [-1.14998381e-02 -5.61553176e-05 -9.99933873e-01 -4.75610307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.266559995 meters 0.05299679125925603 Centerline is valid? [True, True] Translation: X:662.99, Y:-251.69, Z:-4.76 [[-7.01558658e-01 7.12564270e-01 8.22258011e-03 6.62994629e+02] [ 7.12512617e-01 7.01606824e-01 -8.58116886e-03 -2.51694901e+02] [-1.18836526e-02 -1.61501242e-04 -9.99929374e-01 -4.75660135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3265599949999 meters 0.05305148245674429 Centerline is valid? [True, True] Translation: X:663.03, Y:-251.61, Z:-4.76 [[-7.59030434e-01 6.50995809e-01 8.78955148e-03 6.63026939e+02] [ 6.50948607e-01 7.59081289e-01 -7.84271050e-03 -2.51610931e+02] [-1.17775557e-02 -2.31309664e-04 -9.99930615e-01 -4.75708727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.386559995 meters 0.053464276899597825 Centerline is valid? [True, True] Translation: X:663.35, Y:-251.75, Z:-4.76 [[-8.09245712e-01 5.87405639e-01 8.71739194e-03 6.63347981e+02] [ 5.87367516e-01 8.09292608e-01 -6.69898042e-03 -2.51753788e+02] [-1.09899397e-02 -3.00808335e-04 -9.99939564e-01 -4.75923559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4465599949999 meters 0.05295353462691886 Centerline is valid? [True, True] Translation: X:662.75, Y:-251.23, Z:-4.76 [[-8.50927563e-01 5.25213845e-01 8.52637889e-03 6.62750678e+02] [ 5.25183565e-01 8.50970216e-01 -5.64931254e-03 -2.51228818e+02] [-1.02227917e-02 -3.29241693e-04 -9.99947692e-01 -4.75753960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.506559995 meters 0.05305539142916301 Centerline is valid? [True, True] Translation: X:662.78, Y:-251.16, Z:-4.76 [[-8.86259700e-01 4.63101126e-01 9.00510781e-03 6.62780496e+02] [ 4.63073345e-01 8.86305385e-01 -5.08353217e-03 -2.51158303e+02] [-1.03354650e-02 -3.35304300e-04 -9.99946531e-01 -4.75818681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5665599949999 meters 0.05313611379315113 Centerline is valid? [True, True] Translation: X:662.73, Y:-251.05, Z:-4.76 [[-9.16927706e-01 3.98918528e-01 1.03725341e-02 6.62727425e+02] [ 3.98888659e-01 9.16986306e-01 -4.89410147e-03 -2.51047542e+02] [-1.14638195e-02 -3.50051014e-04 -9.99934227e-01 -4.75970058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.626559995 meters 0.05304480184507046 Centerline is valid? [True, True] Translation: X:662.75, Y:-250.55, Z:-5.78 [[-8.76759353e-01 -4.80883742e-01 6.62303657e-03 6.62747443e+02] [ 4.80870495e-01 -8.76784366e-01 -3.56978830e-03 -2.50553859e+02] [ 7.52362807e-03 5.49775964e-05 9.99971696e-01 -5.77971179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6865599949999 meters 0.05365617620877731 Centerline is valid? [True, True] Translation: X:662.77, Y:-251.07, Z:-4.76 [[-9.19479740e-01 3.92881773e-01 1.41746515e-02 6.62768714e+02] [ 3.92828225e-01 9.19588901e-01 -6.49914746e-03 -2.51065300e+02] [-1.55882487e-02 -4.07631238e-04 -9.99878413e-01 -4.75893700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.746559995 meters 0.053466628515213624 Centerline is valid? [True, True] Translation: X:662.89, Y:-250.64, Z:-5.78 [[-8.79984914e-01 -4.74899749e-01 9.83768034e-03 6.62891266e+02] [ 4.74870937e-01 -8.80039899e-01 -5.23154991e-03 -2.50636712e+02] [ 1.11420130e-02 6.79434808e-05 9.99937924e-01 -5.77741237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8065599949999 meters 0.0539190685470682 Centerline is valid? [True, True] Translation: X:662.81, Y:-251.09, Z:-4.76 [[-9.18853141e-01 3.94325303e-01 1.47125915e-02 6.62808010e+02] [ 3.94269309e-01 9.18970869e-01 -6.65235941e-03 -2.51090139e+02] [-1.61436366e-02 -3.11818068e-04 -9.99869634e-01 -4.75990778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.866559995 meters 0.05380547065593957 Centerline is valid? [True, True] Translation: X:662.46, Y:-250.87, Z:-4.76 [[-9.41061303e-01 3.37953734e-01 1.38165675e-02 6.62462112e+02] [ 3.37914993e-01 9.41162713e-01 -5.11913223e-03 -2.50869202e+02] [-1.47336680e-02 -1.48591931e-04 -9.99891443e-01 -4.76264995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9265599949999 meters 0.054090221051849595 Centerline is valid? [True, True] Translation: X:662.40, Y:-250.77, Z:-4.76 [[-9.60453624e-01 2.78135778e-01 1.30124686e-02 6.62398648e+02] [ 2.78109654e-01 9.60541768e-01 -3.81222624e-03 -2.50771148e+02] [-1.35593361e-02 -4.25733484e-05 -9.99908067e-01 -4.76219701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.986559995 meters 0.054744432735915866 Centerline is valid? [True, True] Translation: X:662.52, Y:-250.33, Z:-5.77 [[-9.51219450e-01 -3.08435459e-01 7.00894796e-03 6.62516633e+02] [ 3.08425408e-01 -9.51245247e-01 -2.49933064e-03 -2.50325555e+02] [ 7.43811064e-03 -2.15674280e-04 9.99972314e-01 -5.77302542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0465599949999 meters 0.05474951751020076 Centerline is valid? [True, True] Translation: X:662.28, Y:-250.75, Z:-4.76 [[-9.56662292e-01 2.90901892e-01 1.31662020e-02 6.62278821e+02] [ 2.90877110e-01 9.56752869e-01 -3.80194427e-03 -2.50747295e+02] [-1.37027943e-02 1.92570067e-04 -9.99906094e-01 -4.76439863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.106559995 meters 0.055033413262409674 Centerline is valid? [True, True] Translation: X:662.49, Y:-250.71, Z:-4.76 [[-9.74396766e-01 2.24384893e-01 1.42253986e-02 6.62490618e+02] [ 2.24365192e-01 9.74500560e-01 -2.98659678e-03 -2.50711831e+02] [-1.45328061e-02 2.81554051e-04 -9.99894354e-01 -4.76416782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.166559995 meters 0.055500375643995084 Centerline is valid? [True, True] Translation: X:662.24, Y:-250.59, Z:-4.77 [[-9.87690279e-01 1.55754238e-01 1.44405449e-02 6.62242591e+02] [ 1.55742130e-01 9.87795790e-01 -1.96614730e-03 -2.50588341e+02] [-1.45705452e-02 3.07056649e-04 -9.99893797e-01 -4.76714233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.226559995 meters 0.0555250196086041 Centerline is valid? [True, True] Translation: X:662.32, Y:-250.52, Z:-4.77 [[-9.96521066e-01 8.21965184e-02 1.37658330e-02 6.62323172e+02] [ 8.21921668e-02 9.96616109e-01 -8.82519122e-04 -2.50519630e+02] [-1.37917909e-02 2.51994747e-04 -9.99904857e-01 -4.76590714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.286559995 meters 0.055050201687284306 Centerline is valid? [True, True] Translation: X:661.85, Y:-250.42, Z:-4.77 [[-9.99903383e-01 4.43915136e-03 1.31726554e-02 6.61850579e+02] [ 4.44066507e-03 9.99990137e-01 8.56660927e-05 -2.50424356e+02] [-1.31721452e-02 1.44153167e-04 -9.99913233e-01 -4.76798485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3465599949999 meters 0.055223706045216404 Centerline is valid? [True, True] Translation: X:661.95, Y:-250.33, Z:-4.77 [[-9.96665807e-01 -8.06063817e-02 1.26443911e-02 6.61945023e+02] [-8.06001873e-02 9.96746011e-01 9.99556471e-04 -2.50329857e+02] [-1.26838170e-02 -2.29165321e-05 -9.99919557e-01 -4.76887915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.406559995 meters 0.05407997429334115 Centerline is valid? [True, True] Translation: X:661.84, Y:-249.91, Z:-5.77 [[-9.99389434e-01 3.40673278e-02 7.75738844e-03 6.61838895e+02] [-3.40684307e-02 -9.99419502e-01 -1.00437306e-05 -2.49907595e+02] [ 7.75254313e-03 -2.74319649e-04 9.99969911e-01 -5.77257353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4665599949999 meters 0.05389698614756306 Centerline is valid? [True, True] Translation: X:661.57, Y:-250.35, Z:-4.77 [[-9.94218459e-01 -1.06473480e-01 1.38943651e-02 6.61566045e+02] [-1.06467402e-01 9.94315495e-01 1.17850826e-03 -2.50347695e+02] [-1.39408624e-02 -3.07602295e-04 -9.99902774e-01 -4.76697787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.526559995 meters 0.05419057877884802 Centerline is valid? [True, True] Translation: X:661.68, Y:-250.24, Z:-4.77 [[-9.81745234e-01 -1.89752917e-01 1.30432122e-02 6.61677994e+02] [-1.89742203e-01 9.81831773e-01 2.06537834e-03 -2.50241112e+02] [-1.31981517e-02 -4.47172470e-04 -9.99912801e-01 -4.76821396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5865599949999 meters 0.05423003218612607 Centerline is valid? [True, True] Translation: X:661.51, Y:-250.19, Z:-4.77 [[-9.64218676e-01 -2.64802557e-01 1.27259943e-02 6.61510975e+02] [-2.64786495e-01 9.64302516e-01 2.96149280e-03 -2.50188542e+02] [-1.30559192e-02 -5.14144753e-04 -9.99914636e-01 -4.77018249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.646559995 meters 0.05495687749765204 Centerline is valid? [True, True] Translation: X:660.89, Y:-250.28, Z:-4.77 [[-9.42821140e-01 -3.33054940e-01 1.27556179e-02 6.60889253e+02] [-3.33032002e-01 9.42907274e-01 3.94445232e-03 -2.50279489e+02] [-1.33410843e-02 -5.29115940e-04 -9.99910864e-01 -4.76927313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7065599949999 meters 0.054413320156877255 Centerline is valid? [True, True] Translation: X:660.99, Y:-250.16, Z:-4.77 [[-9.15724576e-01 -4.01608427e-01 1.26163762e-02 6.60990427e+02] [-4.01578250e-01 9.15811328e-01 4.95178860e-03 -2.50164415e+02] [-1.35429003e-02 -5.31987773e-04 -9.99908149e-01 -4.77049139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.766559995 meters 0.053750010701934706 Centerline is valid? [True, True] Translation: X:660.89, Y:-250.13, Z:-4.77 [[-8.87127993e-01 -4.61345305e-01 1.28231721e-02 6.60890657e+02] [-4.61304602e-01 8.87220545e-01 6.14570896e-03 -2.50126703e+02] [-1.42122757e-02 -4.63357824e-04 -9.99898893e-01 -4.76980485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8265599949999 meters 0.053733300100594315 Centerline is valid? [True, True] Translation: X:660.52, Y:-250.25, Z:-4.77 [[-8.54302508e-01 -5.19607986e-01 1.32198683e-02 6.60518352e+02] [-5.19553277e-01 8.54404685e-01 7.55157231e-03 -2.50246912e+02] [-1.52189747e-02 -4.17098723e-04 -9.99884098e-01 -4.77043718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.886559995 meters 0.053933083392761226 Centerline is valid? [True, True] Translation: X:660.29, Y:-250.32, Z:-4.77 [[-8.18579490e-01 -5.74218832e-01 1.41545529e-02 6.60290537e+02] [-5.74140185e-01 8.18701787e-01 9.50960764e-03 -2.50317937e+02] [-1.70489536e-02 -3.42327855e-04 -9.99854597e-01 -4.77137464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9465599949999 meters 0.054259139673549034 Centerline is valid? [True, True] Translation: X:660.23, Y:-250.28, Z:-4.77 [[-7.76677884e-01 -6.29741068e-01 1.40588302e-02 6.60231058e+02] [-6.29644443e-01 7.76805064e-01 1.10348509e-02 -2.50278494e+02] [-1.78700693e-02 -2.81539671e-04 -9.99840278e-01 -4.77133675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.006559995 meters 0.053718435190865235 Centerline is valid? [True, True] Translation: X:660.11, Y:-250.30, Z:-4.77 [[-7.33472226e-01 -6.79586919e-01 1.34206263e-02 6.60108544e+02] [-6.79477055e-01 7.33594981e-01 1.22202944e-02 -2.50298009e+02] [-1.81500563e-02 -1.55761123e-04 -9.99835262e-01 -4.77310889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0665599949999 meters 0.054135633012778815 Centerline is valid? [True, True] Translation: X:659.92, Y:-250.40, Z:-4.78 [[-6.88702351e-01 -7.24942111e-01 1.21657943e-02 6.59915276e+02] [-7.24829456e-01 6.88809796e-01 1.27798823e-02 -2.50401237e+02] [-1.76445932e-02 -1.65910825e-05 -9.99844322e-01 -4.77541964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.126559995 meters 0.054278900616565276 Centerline is valid? [True, True] Translation: X:659.77, Y:-250.47, Z:-4.78 [[-6.39144744e-01 -7.69014890e-01 1.04926383e-02 6.59769547e+02] [-7.68909229e-01 6.39230860e-01 1.27477585e-02 -2.50472228e+02] [-1.65104343e-02 7.97763839e-05 -9.99863690e-01 -4.77710818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1865599949999 meters 0.053671523653022385 Centerline is valid? [True, True] Translation: X:659.77, Y:-250.36, Z:-4.78 [[-5.82652091e-01 -8.12669266e-01 9.23066086e-03 6.59765318e+02] [-8.12563842e-01 5.82725191e-01 1.30902148e-02 -2.50360233e+02] [-1.60169539e-02 1.26539757e-04 -9.99871712e-01 -4.77691915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.246559995 meters 0.05412070890474286 Centerline is valid? [True, True] Translation: X:659.49, Y:-250.66, Z:-4.78 [[-5.27340998e-01 -8.49621838e-01 7.36235297e-03 6.59485773e+02] [-8.49534590e-01 5.27392363e-01 1.21768223e-02 -2.50664680e+02] [-1.42285429e-02 1.66764123e-04 -9.99898755e-01 -4.78038484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3065599949999 meters 0.05455506982768244 Centerline is valid? [True, True] Translation: X:659.47, Y:-250.51, Z:-4.78 [[-4.64043744e-01 -8.85792503e-01 5.91992492e-03 6.59473113e+02] [-8.85716044e-01 4.64081476e-01 1.16393026e-02 -2.50511987e+02] [-1.30573344e-02 1.57773057e-04 -9.99914737e-01 -4.78347016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.366559995 meters 0.05407881232593732 Centerline is valid? [True, True] Translation: X:659.31, Y:-250.69, Z:-4.78 [[-3.97584636e-01 -9.17552854e-01 4.81837782e-03 6.59306586e+02] [-9.17481162e-01 3.97613807e-01 1.14707136e-02 -2.50688804e+02] [-1.24408395e-02 1.39808598e-04 -9.99922600e-01 -4.78384887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4265599949999 meters 0.053805535480059126 Centerline is valid? [True, True] Translation: X:659.17, Y:-250.83, Z:-4.78 [[-3.26299556e-01 -9.45258913e-01 3.76650748e-03 6.59173001e+02] [-9.45192836e-01 3.26321283e-01 1.11769153e-02 -2.50826381e+02] [-1.17941704e-02 8.69466323e-05 -9.99930443e-01 -4.78323262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.486559995 meters 0.05341669489292441 Centerline is valid? [True, True] Translation: X:659.04, Y:-251.00, Z:-4.78 [[-2.49348833e-01 -9.68408909e-01 3.05696351e-03 6.59039441e+02] [-9.68335384e-01 2.49367571e-01 1.19330696e-02 -2.50997281e+02] [-1.23183984e-02 1.53310349e-05 -9.99924126e-01 -4.78126514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5465599949999 meters 0.05347301051606093 Centerline is valid? [True, True] Translation: X:658.91, Y:-251.20, Z:-4.78 [[-1.73054437e-01 -9.84909853e-01 2.17805832e-03 6.58907573e+02] [-9.84834844e-01 1.73068138e-01 1.21552701e-02 -2.51196754e+02] [-1.23487978e-02 -4.15043016e-05 -9.99923750e-01 -4.78282063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.606559995 meters 0.05318625903311141 Centerline is valid? [True, True] Translation: X:658.80, Y:-251.32, Z:-4.78 [[-9.60657496e-02 -9.95374114e-01 1.32062126e-03 6.58804710e+02] [-9.95291849e-01 9.60747889e-02 1.27972955e-02 -2.51317982e+02] [-1.28649751e-02 -8.50217948e-05 -9.99917239e-01 -4.78280262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.666559995 meters 0.05345928102360642 Centerline is valid? [True, True] Translation: X:658.71, Y:-251.48, Z:-4.78 [[-1.86742758e-02 -9.99825553e-01 3.68342538e-04 6.58705610e+02] [-9.99748284e-01 1.86774121e-02 1.24307072e-02 -2.51483830e+02] [-1.24354184e-02 -1.36115365e-04 -9.99922668e-01 -4.78463115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.726559995 meters 0.05336343948501631 Centerline is valid? [True, True] Translation: X:658.19, Y:-251.70, Z:-5.78 [[-7.76241193e-02 9.96982420e-01 7.42336008e-04 6.58190896e+02] [-9.96962019e-01 -7.76272833e-02 6.38259812e-03 -2.51695567e+02] [ 6.42096365e-03 -2.44637247e-04 9.99979355e-01 -5.77940961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.786559995 meters 0.053207077811978386 Centerline is valid? [True, True] Translation: X:658.68, Y:-252.58, Z:-4.78 [[-1.39085668e-02 -9.99903223e-01 3.09529734e-04 6.58675540e+02] [-9.99834083e-01 1.39112453e-02 1.17593711e-02 -2.52584876e+02] [-1.17625391e-02 -1.45922378e-04 -9.99930808e-01 -4.78465016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8465599949999 meters 0.05324424575778721 Centerline is valid? [True, True] Translation: X:658.60, Y:-252.63, Z:-4.79 [[ 5.89032706e-02 -9.98263529e-01 -5.75390251e-04 6.58604140e+02] [-9.98190897e-01 -5.89059261e-02 1.20426280e-02 -2.52633636e+02] [-1.20556102e-02 -1.35000862e-04 -9.99927319e-01 -4.78557669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.906559995 meters 0.05401593601891631 Centerline is valid? [True, True] Translation: X:658.56, Y:-252.95, Z:-4.79 [[ 1.29016370e-01 -9.91641204e-01 -1.58053715e-03 6.58563682e+02] [-9.91558056e-01 -1.29026020e-01 1.28416691e-02 -2.52945118e+02] [-1.29382587e-02 -8.95911917e-05 -9.99916293e-01 -4.78620383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9665599949999 meters 0.05376407363316392 Centerline is valid? [True, True] Translation: X:658.54, Y:-253.24, Z:-4.79 [[ 1.99269071e-01 -9.79941767e-01 -2.44363548e-03 6.58544506e+02] [-9.79864069e-01 -1.99284043e-01 1.23400773e-02 -2.53238417e+02] [-1.25795347e-02 -6.45651257e-05 -9.99920872e-01 -4.78674388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.026559995 meters 0.05347705079057301 Centerline is valid? [True, True] Translation: X:658.35, Y:-252.78, Z:-4.79 [[ 2.72282067e-01 -9.62211667e-01 -3.34426980e-03 6.58345616e+02] [-9.62136138e-01 -2.72302596e-01 1.20560245e-02 -2.52783504e+02] [-1.25111008e-02 -6.49964282e-05 -9.99921731e-01 -4.78815943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0865599949999 meters 0.0536622720373637 Centerline is valid? [True, True] Translation: X:658.46, Y:-253.40, Z:-4.79 [[ 3.41135432e-01 -9.40005003e-01 -4.14874777e-03 6.58463906e+02] [-9.39933204e-01 -3.41160652e-01 1.16181144e-02 -2.53400886e+02] [-1.23364752e-02 -6.38046951e-05 -9.99923901e-01 -4.78882660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.146559995 meters 0.054124300630526624 Centerline is valid? [True, True] Translation: X:658.34, Y:-253.34, Z:-4.79 [[ 4.12281643e-01 -9.11041328e-01 -5.24840551e-03 6.58344906e+02] [-9.10964495e-01 -4.12315037e-01 1.18320998e-02 -2.53339273e+02] [-1.29435284e-02 -9.70464825e-05 -9.99916224e-01 -4.78989355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2065599949999 meters 0.05389468950620765 Centerline is valid? [True, True] Translation: X:658.35, Y:-253.54, Z:-4.79 [[ 4.80478630e-01 -8.76983581e-01 -6.33123225e-03 6.58349998e+02] [-8.76903880e-01 -4.80520324e-01 1.18238800e-02 -2.53541949e+02] [-1.34116344e-02 -1.29239534e-04 -9.99910052e-01 -4.78975041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.266559995 meters 0.053311633631245775 Centerline is valid? [True, True] Translation: X:658.36, Y:-253.73, Z:-4.79 [[ 5.48250953e-01 -8.36280173e-01 -7.50766452e-03 6.58356075e+02] [-8.36196556e-01 -5.48302316e-01 1.18275334e-02 -2.53725604e+02] [-1.40076015e-02 -2.06573249e-04 -9.99901867e-01 -4.78714896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3265599949999 meters 0.05357685014419856 Centerline is valid? [True, True] Translation: X:658.66, Y:-254.30, Z:-4.79 [[ 6.11843301e-01 -7.90936159e-01 -8.23213380e-03 6.58662152e+02] [-7.90858198e-01 -6.11898611e-01 1.11085554e-02 -2.54304640e+02] [-1.38233894e-02 -2.86244696e-04 -9.99904411e-01 -4.79038787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.386559995 meters 0.05366840431532258 Centerline is valid? [True, True] Translation: X:658.42, Y:-254.13, Z:-4.79 [[ 6.70789400e-01 -7.41596158e-01 -8.75895708e-03 6.58415336e+02] [-7.41526497e-01 -6.70846504e-01 1.01696656e-02 -2.54131709e+02] [-1.34177007e-02 -3.26705111e-04 -9.99909925e-01 -4.79179800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4465599949999 meters 0.05352926678458991 Centerline is valid? [True, True] Translation: X:658.80, Y:-254.67, Z:-4.79 [[ 7.24085111e-01 -6.89655793e-01 -8.69711788e-03 6.58804124e+02] [-6.89600336e-01 -7.24137260e-01 8.75238366e-03 -2.54672232e+02] [-1.23340392e-02 -3.39935278e-04 -9.99923875e-01 -4.79193277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.506559995 meters 0.05312722224624745 Centerline is valid? [True, True] Translation: X:658.77, Y:-254.77, Z:-4.80 [[ 7.76319693e-01 -6.30270707e-01 -9.30436779e-03 6.58770932e+02] [-6.30219726e-01 -7.76375362e-01 8.02461697e-03 -2.54767307e+02] [-1.22813629e-02 -3.65872062e-04 -9.99924514e-01 -4.79532518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5665599949999 meters 0.053582781199028734 Centerline is valid? [True, True] Translation: X:658.74, Y:-254.87, Z:-4.79 [[ 8.24486704e-01 -5.65780903e-01 -1.06604688e-02 6.58744137e+02] [-5.65727153e-01 -8.24555519e-01 7.80928587e-03 -2.54865069e+02] [-1.32084932e-02 -4.07735705e-04 -9.99912681e-01 -4.79369308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.626559995 meters 0.053570380477090125 Centerline is valid? [True, True] Translation: X:658.73, Y:-254.96, Z:-4.79 [[ 8.68078625e-01 -4.96277034e-01 -1.21904224e-02 6.58728493e+02] [-4.96220279e-01 -8.68164083e-01 7.52059280e-03 -2.54958791e+02] [-1.43155844e-02 -4.79331050e-04 -9.99897412e-01 -4.79130787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6865599949999 meters 0.05334649177107112 Centerline is valid? [True, True] Translation: X:658.72, Y:-255.05, Z:-4.79 [[ 9.06180786e-01 -4.22686415e-01 -1.31368613e-02 6.58724612e+02] [-4.22633033e-01 -9.06275833e-01 6.74049734e-03 -2.55047789e+02] [-1.47547365e-02 -5.56037664e-04 -9.99890988e-01 -4.79105771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.746559995 meters 0.05382175537542151 Centerline is valid? [True, True] Translation: X:658.73, Y:-255.14, Z:-4.79 [[ 9.37482476e-01 -3.47763462e-01 -1.36814472e-02 6.58728430e+02] [-3.47717004e-01 -9.37582110e-01 5.71595767e-03 -2.55135473e+02] [-1.48152813e-02 -6.01338327e-04 -9.99890067e-01 -4.79266276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8065599949999 meters 0.05294739603484949 Centerline is valid? [True, True] Translation: X:658.74, Y:-255.22, Z:-4.79 [[ 9.62407349e-01 -2.71211330e-01 -1.47142435e-02 6.58738847e+02] [-2.71169188e-01 -9.62519603e-01 4.82545513e-03 -2.55221788e+02] [-1.54714659e-02 -6.54004027e-04 -9.99880096e-01 -4.79305363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.866559995 meters 0.05286257121447728 Centerline is valid? [True, True] Translation: X:658.76, Y:-255.31, Z:-4.80 [[ 9.80888710e-01 -1.94061581e-01 -1.40514008e-02 6.58756626e+02] [-1.94032288e-01 -9.80989140e-01 3.43186969e-03 -2.55305132e+02] [-1.44502657e-02 -6.39856777e-04 -9.99895385e-01 -4.79508233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9265599949999 meters 0.05308476678639422 Centerline is valid? [True, True] Translation: X:658.78, Y:-255.39, Z:-4.80 [[ 9.93118364e-01 -1.16340974e-01 -1.34421791e-02 6.58777271e+02] [-1.16321847e-01 -9.93209139e-01 2.19877813e-03 -2.55392517e+02] [-1.36067031e-02 -6.20027835e-04 -9.99907232e-01 -4.79502439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.986559995 meters 0.05247465900279985 Centerline is valid? [True, True] Translation: X:658.81, Y:-255.47, Z:-4.80 [[ 9.99212412e-01 -3.72487404e-02 -1.36779497e-02 6.58807102e+02] [-3.72365056e-02 -9.99305821e-01 1.14816567e-03 -2.55470741e+02] [-1.37112225e-02 -6.37942336e-04 -9.99905793e-01 -4.79564880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0465599949999 meters 0.05274553083213671 Centerline is valid? [True, True] Translation: X:658.84, Y:-255.55, Z:-4.80 [[ 9.99052527e-01 4.11576697e-02 -1.41455057e-02 6.58842389e+02] [ 4.11627943e-02 -9.99152450e-01 7.11951756e-05 -2.55548740e+02] [-1.41305865e-02 -6.53396262e-04 -9.99899945e-01 -4.79547462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.106559995 meters 0.053522721135078485 Centerline is valid? [True, True] Translation: X:658.88, Y:-255.63, Z:-4.79 [[ 9.92794905e-01 1.18970165e-01 -1.42960015e-02 6.58876785e+02] [ 1.18967315e-01 -9.92897613e-01 -1.05264585e-03 -2.55629471e+02] [-1.43196992e-02 -6.55695476e-04 -9.99897253e-01 -4.79404363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.166559995 meters 0.05339115942407764 Centerline is valid? [True, True] Translation: X:658.92, Y:-255.69, Z:-4.80 [[ 9.80304776e-01 1.97114493e-01 -1.21829070e-02 6.58916937e+02] [ 1.97106858e-01 -9.80380291e-01 -1.83617676e-03 -2.55694913e+02] [-1.23058189e-02 -6.01321668e-04 -9.99924100e-01 -4.79581285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.226559995 meters 0.051822669919979344 Centerline is valid? [True, True] Translation: X:658.96, Y:-255.76, Z:-4.80 [[ 9.61538901e-01 2.74448124e-01 -1.10076640e-02 6.58962292e+02] [ 2.74437018e-01 -9.61601731e-01 -2.53663745e-03 -2.55761552e+02] [-1.12811641e-02 -5.81834902e-04 -9.99936196e-01 -4.79731646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.286559995 meters 0.05166737811414485 Centerline is valid? [True, True] Translation: X:659.01, Y:-255.83, Z:-4.80 [[ 9.36631139e-01 3.50121633e-01 -1.17026519e-02 6.59014448e+02] [ 3.50102649e-01 -9.36704032e-01 -3.70024114e-03 -2.55831225e+02] [-1.22574557e-02 -6.31368350e-04 -9.99924675e-01 -4.79719280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3465599949999 meters 0.05172069215771716 Centerline is valid? [True, True] Translation: X:659.07, Y:-255.90, Z:-4.80 [[ 9.06348717e-01 4.22375040e-01 -1.14598811e-02 6.59074076e+02] [ 4.22350031e-01 -9.06420941e-01 -4.63991893e-03 -2.55903324e+02] [-1.23472622e-02 -6.34696588e-04 -9.99923568e-01 -4.79705895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.406559995 meters 0.0516711120822773 Centerline is valid? [True, True] Translation: X:659.14, Y:-255.97, Z:-4.80 [[ 8.71255402e-01 4.90683502e-01 -1.19885675e-02 6.59135194e+02] [ 4.90647197e-01 -8.71337637e-01 -6.00423125e-03 -2.55965957e+02] [-1.33922673e-02 -6.50938103e-04 -9.99910108e-01 -4.79689032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4665599949999 meters 0.051291626803636234 Centerline is valid? [True, True] Translation: X:659.20, Y:-256.02, Z:-4.80 [[ 8.31874043e-01 5.54862351e-01 -1.06465222e-02 6.59200591e+02] [ 5.54825697e-01 -8.31941966e-01 -6.40394588e-03 -2.56022729e+02] [-1.24105971e-02 -5.79687761e-04 -9.99922818e-01 -4.79797330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.526559995 meters 0.05160224442489227 Centerline is valid? [True, True] Translation: X:659.27, Y:-256.08, Z:-4.80 [[ 7.86970723e-01 6.16910157e-01 -9.94685255e-03 6.59270272e+02] [ 6.16869596e-01 -7.87033388e-01 -7.09561951e-03 -2.56076887e+02] [-1.22058648e-02 -5.51866105e-04 -9.99925353e-01 -4.79802953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5865599949999 meters 0.05061451611335899 Centerline is valid? [True, True] Translation: X:659.34, Y:-256.12, Z:-4.80 [[ 7.37622334e-01 6.75157692e-01 -8.68229814e-03 6.59343841e+02] [ 6.75118796e-01 -7.37673259e-01 -7.26455989e-03 -2.56123340e+02] [-1.13094227e-02 -5.03081043e-04 -9.99935920e-01 -4.79961091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.646559995 meters 0.05078520673612048 Centerline is valid? [True, True] Translation: X:659.43, Y:-256.17, Z:-4.80 [[ 6.83709791e-01 7.29716480e-01 -7.40140631e-03 6.59426010e+02] [ 7.29680834e-01 -6.83749697e-01 -7.22715635e-03 -2.56169697e+02] [-1.03344844e-02 -4.59386773e-04 -9.99946492e-01 -4.80040774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7065599949999 meters 0.05066908698407961 Centerline is valid? [True, True] Translation: X:659.52, Y:-256.22, Z:-4.80 [[ 6.26536636e-01 7.79364570e-01 -6.53538570e-03 6.59515256e+02] [ 7.79329025e-01 -6.26570578e-01 -7.45534298e-03 -2.56215115e+02] [-9.90531057e-03 -4.22170259e-04 -9.99950852e-01 -4.79982386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.766559995 meters 0.050124205731407176 Centerline is valid? [True, True] Translation: X:659.60, Y:-256.25, Z:-4.80 [[ 5.67961234e-01 8.23034844e-01 -5.80366042e-03 6.59600496e+02] [ 8.22998288e-01 -5.67990767e-01 -7.76577277e-03 -2.56246793e+02] [-9.68792712e-03 -3.65744705e-04 -9.99953004e-01 -4.79956485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8265599949999 meters 0.051244418922850136 Centerline is valid? [True, True] Translation: X:659.69, Y:-256.27, Z:-4.80 [[ 5.03908601e-01 8.63744476e-01 -4.64773770e-03 6.59686329e+02] [ 8.63713524e-01 -5.03929929e-01 -7.31946437e-03 -2.56271889e+02] [-8.66428105e-03 -3.25972857e-04 -9.99962411e-01 -4.79963225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.886559995 meters 0.05176103141276751 Centerline is valid? [True, True] Translation: X:659.77, Y:-256.29, Z:-4.80 [[ 4.35383877e-01 9.00235097e-01 -4.20122621e-03 6.59774919e+02] [ 9.00200127e-01 -4.35404025e-01 -7.94137911e-03 -2.56290591e+02] [-8.97833900e-03 -3.24395941e-04 -9.99959641e-01 -4.79772564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9465599949999 meters 0.05173934565373699 Centerline is valid? [True, True] Translation: X:659.86, Y:-256.30, Z:-4.80 [[ 3.64294422e-01 9.31275410e-01 -3.96035572e-03 6.59859511e+02] [ 9.31229907e-01 -3.64315797e-01 -9.21195788e-03 -2.56299155e+02] [-1.00216900e-02 -3.32136819e-04 -9.99949726e-01 -4.79724262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.006559995 meters 0.05134598518041394 Centerline is valid? [True, True] Translation: X:659.95, Y:-256.30, Z:-4.80 [[ 2.90380478e-01 9.56905941e-01 -3.19350967e-03 6.59949034e+02] [ 9.56859938e-01 -2.90397852e-01 -9.38864315e-03 -2.56302374e+02] [-9.91143675e-03 -3.29462771e-04 -9.99950826e-01 -4.79761913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0665599949999 meters 0.05112203716509818 Centerline is valid? [True, True] Translation: X:660.04, Y:-256.30, Z:-4.80 [[ 2.15304982e-01 9.76543822e-01 -2.43462963e-03 6.60040147e+02] [ 9.76497178e-01 -2.15318507e-01 -9.54997953e-03 -2.56298825e+02] [-9.85019433e-03 -3.21250792e-04 -9.99951434e-01 -4.79935825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.126559995 meters 0.051680243213255594 Centerline is valid? [True, True] Translation: X:660.13, Y:-256.29, Z:-4.80 [[ 1.40403751e-01 9.90092896e-01 -1.68653368e-03 6.60131658e+02] [ 9.90044855e-01 -1.40413561e-01 -9.75796745e-03 -2.56288902e+02] [-9.89810645e-03 -2.99688751e-04 -9.99950968e-01 -4.79881930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1865599949999 meters 0.05168562439034876 Centerline is valid? [True, True] Translation: X:660.22, Y:-256.27, Z:-4.80 [[ 6.39595020e-02 9.97952084e-01 -9.05195488e-04 6.60223632e+02] [ 9.97905012e-01 -6.39652807e-02 -9.69685537e-03 -2.56272022e+02] [-9.73489811e-03 -2.83093073e-04 -9.99952575e-01 -4.79746785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.246559995 meters 0.052041220216408716 Centerline is valid? [True, True] Translation: X:660.30, Y:-256.25, Z:-4.80 [[-1.25395872e-02 9.99921366e-01 -1.45204102e-04 6.60302942e+02] [ 9.99878227e-01 1.25376969e-02 -9.29183319e-03 -2.56248197e+02] [-9.28928201e-03 -2.61702172e-04 -9.99956819e-01 -4.79706143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3065599949999 meters 0.05107698548474913 Centerline is valid? [True, True] Translation: X:660.38, Y:-256.22, Z:-4.80 [[-8.97354679e-02 9.95965487e-01 5.42114888e-04 6.60376279e+02] [ 9.95926775e-01 8.97367616e-02 -8.78481740e-03 -2.56217303e+02] [-8.79802258e-03 -2.48402968e-04 -9.99961266e-01 -4.79855657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.366559995 meters 0.051900273868143325 Centerline is valid? [True, True] Translation: X:660.45, Y:-256.18, Z:-4.80 [[-1.66633446e-01 9.86018101e-01 1.26442467e-03 6.60446106e+02] [ 9.85977625e-01 1.66638066e-01 -8.93747013e-03 -2.56182424e+02] [-9.02320861e-03 -2.42587014e-04 -9.99959261e-01 -4.80034620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4265599949999 meters 0.051398429129692606 Centerline is valid? [True, True] Translation: X:660.52, Y:-256.14, Z:-4.80 [[-2.44316231e-01 9.69693635e-01 1.95807045e-03 6.60515974e+02] [ 9.69653723e-01 2.44323947e-01 -8.80148635e-03 -2.56140187e+02] [-9.01314880e-03 -2.51695666e-04 -9.99959349e-01 -4.79847018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.486559995 meters 0.051352688502535083 Centerline is valid? [True, True] Translation: X:660.58, Y:-256.09, Z:-4.80 [[-3.21206636e-01 9.47005823e-01 2.50372810e-03 6.60577605e+02] [ 9.46970333e-01 3.21216286e-01 -8.20286678e-03 -2.56093804e+02] [-8.57240085e-03 -2.63859016e-04 -9.99963221e-01 -4.79870072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5465599949999 meters 0.051356655914411714 Centerline is valid? [True, True] Translation: X:660.63, Y:-256.04, Z:-4.80 [[-3.95305130e-01 9.18544464e-01 3.14987489e-03 6.60633370e+02] [ 9.18509589e-01 3.95317585e-01 -8.00882373e-03 -2.56043734e+02] [-8.60166164e-03 -2.72738813e-04 -9.99962968e-01 -4.80153978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.606559995 meters 0.05095711252504419 Centerline is valid? [True, True] Translation: X:660.70, Y:-255.98, Z:-4.80 [[-4.66863572e-01 8.84324901e-01 2.80598340e-03 6.60702536e+02] [ 8.84305485e-01 4.66871934e-01 -5.86572685e-03 -2.55979989e+02] [-6.49724322e-03 -2.57147679e-04 -9.99978860e-01 -4.80094341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.666559995 meters 0.050876010750585565 Centerline is valid? [True, True] Translation: X:660.76, Y:-255.91, Z:-4.80 [[-5.35489686e-01 8.44534510e-01 3.50124575e-03 6.60764584e+02] [ 8.44513066e-01 5.35501064e-01 -6.02423112e-03 -2.55914270e+02] [-6.96259190e-03 -2.69065844e-04 -9.99975725e-01 -4.79955403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.726559995 meters 0.051476891404762734 Centerline is valid? [True, True] Translation: X:660.81, Y:-255.85, Z:-4.80 [[-6.01511691e-01 7.98853625e-01 4.07080047e-03 6.60810796e+02] [ 7.98832036e-01 6.01525398e-01 -5.87999142e-03 -2.55850395e+02] [-7.14594233e-03 -2.84997758e-04 -9.99974427e-01 -4.79930506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.786559995 meters 0.05181467694508707 Centerline is valid? [True, True] Translation: X:660.85, Y:-255.78, Z:-4.80 [[-6.64734621e-01 7.47061708e-01 5.16600491e-03 6.60854795e+02] [ 7.47035241e-01 6.64754615e-01 -6.29690685e-03 -2.55781482e+02] [-8.13830359e-03 -3.26584271e-04 -9.99966830e-01 -4.79754965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8465599949999 meters 0.05118461477905072 Centerline is valid? [True, True] Translation: X:660.89, Y:-255.71, Z:-4.80 [[-7.22990142e-01 6.90836370e-01 5.51038894e-03 6.60893575e+02] [ 6.90812602e-01 7.23011060e-01 -5.74077761e-03 -2.55707065e+02] [-7.95001011e-03 -3.43879496e-04 -9.99968339e-01 -4.79883327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.906559995 meters 0.05202932407885205 Centerline is valid? [True, True] Translation: X:660.96, Y:-255.66, Z:-4.80 [[-7.70543069e-01 6.37359880e-01 5.98026841e-03 6.60962473e+02] [ 6.37337273e-01 7.70566203e-01 -5.37841032e-03 -2.55657729e+02] [-8.03617567e-03 -3.32848828e-04 -9.99967654e-01 -4.79761549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9665599949999 meters 0.05117465270910377 Centerline is valid? [True, True] Translation: X:660.95, Y:-255.56, Z:-4.80 [[-8.14177785e-01 5.80590757e-01 5.37651343e-03 6.60950376e+02] [ 5.80575530e-01 8.14195478e-01 -4.21639990e-03 -2.55557049e+02] [-6.82553573e-03 -3.11427005e-04 -9.99976657e-01 -4.80079868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.026559995 meters 0.05093502301162541 Centerline is valid? [True, True] Translation: X:660.97, Y:-255.47, Z:-4.80 [[-8.53424064e-01 5.21185845e-01 5.71685079e-03 6.60972539e+02] [ 5.21171651e-01 8.53443154e-01 -3.85931951e-03 -2.55473088e+02] [-6.89042987e-03 -3.14175574e-04 -9.99976211e-01 -4.80035707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0865599949999 meters 0.05135988691029998 Centerline is valid? [True, True] Translation: X:660.96, Y:-255.37, Z:-4.80 [[-8.87904000e-01 4.59979705e-01 6.71991064e-03 6.60959082e+02] [ 4.59963715e-01 8.87929369e-01 -3.84932075e-03 -2.55368990e+02] [-7.73741544e-03 -3.26912231e-04 -9.99970012e-01 -4.79807050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.146559995 meters 0.05084687720496579 Centerline is valid? [True, True] Translation: X:660.91, Y:-255.27, Z:-4.80 [[-9.16630626e-01 3.99665036e-01 7.49359378e-03 6.60911529e+02] [ 3.99648947e-01 9.16661206e-01 -3.59895646e-03 -2.55265970e+02] [-8.30746377e-03 -3.04106853e-04 -9.99965446e-01 -4.79824393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2065599949999 meters 0.05109161315142342 Centerline is valid? [True, True] Translation: X:660.87, Y:-255.17, Z:-4.80 [[-9.41293254e-01 3.37522292e-01 6.76111294e-03 6.60866140e+02] [ 3.37511620e-01 9.41317501e-01 -2.69627115e-03 -2.55170245e+02] [-7.27440555e-03 -2.56027661e-04 -9.99973508e-01 -4.80003684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.266559995 meters 0.050863239989543695 Centerline is valid? [True, True] Translation: X:661.01, Y:-254.52, Z:-5.80 [[-9.07731146e-01 -4.19549684e-01 1.49282363e-03 6.61014869e+02] [ 4.19548845e-01 -9.07732362e-01 -8.51634315e-04 -2.54515891e+02] [ 1.71238723e-03 -1.46742561e-04 9.99998523e-01 -5.79729584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3265599949999 meters 0.05061553399331779 Centerline is valid? [True, True] Translation: X:660.67, Y:-255.10, Z:-4.80 [[-9.39691513e-01 3.41981221e-01 5.35772625e-03 6.60669195e+02] [ 3.41974519e-01 9.39706768e-01 -2.14906597e-03 -2.55101591e+02] [-5.76963183e-03 -1.87253191e-04 -9.99983338e-01 -4.79986342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.386559995 meters 0.050813910811247004 Centerline is valid? [True, True] Translation: X:660.58, Y:-255.00, Z:-4.80 [[-9.60310606e-01 2.78869161e-01 5.96081425e-03 6.60577956e+02] [ 2.78862749e-01 9.60329092e-01 -1.89785199e-03 -2.54995389e+02] [-6.25359573e-03 -1.60278347e-04 -9.99980433e-01 -4.80050350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4465599949999 meters 0.05157711498323611 Centerline is valid? [True, True] Translation: X:660.75, Y:-254.34, Z:-5.80 [[-9.40489276e-01 -3.39819138e-01 1.69577549e-03 6.60749899e+02] [ 3.39818368e-01 -9.40490798e-01 -7.32013266e-04 -2.54339017e+02] [ 1.84361336e-03 -1.12194968e-04 9.99998294e-01 -5.79894321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.506559995 meters 0.051586564253655716 Centerline is valid? [True, True] Translation: X:660.44, Y:-254.96, Z:-4.80 [[-9.60073296e-01 2.79686057e-01 5.91405448e-03 6.60442367e+02] [ 2.79679903e-01 9.60091502e-01 -1.85999438e-03 -2.54956584e+02] [-6.19824794e-03 -1.31688755e-04 -9.99980782e-01 -4.79945948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5665599949999 meters 0.051874556942564286 Centerline is valid? [True, True] Translation: X:660.53, Y:-254.90, Z:-4.80 [[-9.77257042e-01 2.11962267e-01 6.37735181e-03 6.60532180e+02] [ 2.11956943e-01 9.77277843e-01 -1.50712350e-03 -2.54898778e+02] [-6.55189793e-03 -1.21123058e-04 -9.99978529e-01 -4.79908883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.626559995 meters 0.051663190448400384 Centerline is valid? [True, True] Translation: X:660.62, Y:-254.24, Z:-5.80 [[-9.63774585e-01 -2.66717138e-01 7.20024906e-04 6.60621311e+02] [ 2.66716883e-01 -9.63774828e-01 -4.31124234e-04 -2.54235131e+02] [ 8.08930101e-04 -2.23463781e-04 9.99999648e-01 -5.79858960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6865599949999 meters 0.051149700166125536 Centerline is valid? [True, True] Translation: X:660.42, Y:-254.26, Z:-5.80 [[-9.43060020e-01 -3.32622560e-01 -1.77623115e-04 6.60419929e+02] [ 3.32622579e-01 -9.43060026e-01 -8.94542368e-05 -2.54261513e+02] [-1.37754762e-04 -1.43442173e-04 9.99999980e-01 -5.79809931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.746559995 meters 0.05145416266015533 Centerline is valid? [True, True] Translation: X:660.45, Y:-254.95, Z:-4.80 [[-9.64586109e-01 2.63732534e-01 4.33465048e-03 6.60446467e+02] [ 2.63729071e-01 9.64595833e-01 -1.36228728e-03 -2.54952764e+02] [-4.54046527e-03 -1.70870046e-04 -9.99989677e-01 -4.80186829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8065599949999 meters 0.05158599540831209 Centerline is valid? [True, True] Translation: X:660.14, Y:-254.80, Z:-4.80 [[-9.81663487e-01 1.90562627e-01 4.76267142e-03 6.60144961e+02] [ 1.90559471e-01 9.81675023e-01 -1.11199106e-03 -2.54795494e+02] [-4.88729951e-03 -1.84028873e-04 -9.99988040e-01 -4.80203968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.866559995 meters 0.05159088994896397 Centerline is valid? [True, True] Translation: X:660.10, Y:-254.71, Z:-4.80 [[-9.93087998e-01 1.17255685e-01 5.22815235e-03 6.60102690e+02] [ 1.17252983e-01 9.93101739e-01 -8.21399968e-04 -2.54708419e+02] [-5.28840101e-03 -2.02705990e-04 -9.99985996e-01 -4.80195938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9265599949999 meters 0.05140669729729382 Centerline is valid? [True, True] Translation: X:660.23, Y:-254.11, Z:-5.80 [[-9.78374759e-01 -2.06835023e-01 1.45062108e-03 6.60225326e+02] [ 2.06834635e-01 -9.78375829e-01 -4.14329631e-04 -2.54105729e+02] [ 1.50495048e-03 -1.05330971e-04 9.99998862e-01 -5.79974704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.986559995 meters 0.0518748109199613 Centerline is valid? [True, True] Translation: X:660.12, Y:-254.70, Z:-4.80 [[-9.94951611e-01 1.00193258e-01 5.70981496e-03 6.60122787e+02] [ 1.00189970e-01 9.94967955e-01 -8.59698944e-04 -2.54698574e+02] [-5.76721895e-03 -2.83292663e-04 -9.99983329e-01 -4.80042126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0465599949999 meters 0.05086104063214851 Centerline is valid? [True, True] Translation: X:660.09, Y:-254.62, Z:-4.80 [[-9.99664164e-01 2.53070794e-02 5.57772332e-03 6.60090123e+02] [ 2.53050069e-02 9.99679679e-01 -4.41853260e-04 -2.54617798e+02] [-5.58711867e-03 -3.00560543e-04 -9.99984347e-01 -4.80173004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.106559995 meters 0.05179268363791512 Centerline is valid? [True, True] Translation: X:660.10, Y:-254.03, Z:-5.80 [[-9.89389308e-01 -1.45287816e-01 4.98243549e-04 6.60100737e+02] [ 1.45287708e-01 -9.89389418e-01 -2.47604212e-04 -2.54034523e+02] [ 5.28930770e-04 -1.72588297e-04 9.99999845e-01 -5.79905531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.166559995 meters 0.050789864496080396 Centerline is valid? [True, True] Translation: X:660.03, Y:-254.62, Z:-4.80 [[-9.99851097e-01 1.61756917e-02 6.01091990e-03 6.60027327e+02] [ 1.61733391e-02 9.99869106e-01 -4.39783900e-04 -2.54615058e+02] [-6.01724691e-03 -3.42501769e-04 -9.99981838e-01 -4.80205665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.226559995 meters 0.05229678518926485 Centerline is valid? [True, True] Translation: X:659.98, Y:-254.52, Z:-4.80 [[-9.98272536e-01 -5.81838680e-02 8.15977792e-03 6.59983787e+02] [-5.81854718e-02 9.98305789e-01 4.09030446e-05 -2.54521181e+02] [-8.14833344e-03 -4.33948142e-04 -9.99966708e-01 -4.79962708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.286559995 meters 0.051395023269067495 Centerline is valid? [True, True] Translation: X:659.93, Y:-253.97, Z:-5.80 [[-9.96917845e-01 -7.82853411e-02 5.12015250e-03 6.59933524e+02] [ 7.82849647e-02 -9.96930985e-01 -2.74197004e-04 -2.53965115e+02] [ 5.12590428e-03 1.27479071e-04 9.99986854e-01 -5.80138733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3465599949999 meters 0.05149989167771317 Centerline is valid? [True, True] Translation: X:659.83, Y:-254.53, Z:-4.80 [[-9.98081642e-01 -6.12083924e-02 9.30420234e-03 6.59830897e+02] [-6.12100743e-02 9.98124900e-01 1.04147082e-04 -2.54529197e+02] [-9.29313071e-03 -4.65563627e-04 -9.99956710e-01 -4.80035208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.406559995 meters 0.05176811108497058 Centerline is valid? [True, True] Translation: X:659.68, Y:-254.47, Z:-4.80 [[-9.91998483e-01 -1.26065270e-01 6.82325741e-03 6.59683501e+02] [-1.26064654e-01 9.92021890e-01 5.22124370e-04 -2.54466014e+02] [-6.83464246e-03 -3.42224999e-04 -9.99976585e-01 -4.80254426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4665599949999 meters 0.05113391447324162 Centerline is valid? [True, True] Translation: X:659.53, Y:-253.90, Z:-5.80 [[-9.99953874e-01 9.40577955e-03 1.94434933e-03 6.59532116e+02] [-9.40593365e-03 -9.99955761e-01 -7.01274479e-05 -2.53899749e+02] [ 1.94360371e-03 -8.84126340e-05 9.99998107e-01 -5.80050153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.526559995 meters 0.05188790427086188 Centerline is valid? [True, True] Translation: X:659.42, Y:-254.50, Z:-4.80 [[-9.93105201e-01 -1.17054580e-01 6.34702531e-03 6.59417028e+02] [-1.17053775e-01 9.93125452e-01 4.99391753e-04 -2.54497526e+02] [-6.36184847e-03 -2.46994725e-04 -9.99979733e-01 -4.80229283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5865599949999 meters 0.051771696182200636 Centerline is valid? [True, True] Translation: X:659.28, Y:-253.91, Z:-5.80 [[-9.99666604e-01 2.56179267e-02 3.22520148e-03 6.59277338e+02] [-2.56177625e-02 -9.99671807e-01 9.22425214e-05 -2.53909510e+02] [ 3.22650605e-03 9.58932279e-06 9.99994795e-01 -5.80141310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.646559995 meters 0.0512873601140336 Centerline is valid? [True, True] Translation: X:659.19, Y:-254.53, Z:-4.80 [[-9.93385189e-01 -1.14545934e-01 8.06815545e-03 6.59192458e+02] [-1.14543959e-01 9.93417928e-01 7.08024148e-04 -2.54531148e+02] [-8.09615156e-03 -2.20817764e-04 -9.99967201e-01 -4.80348837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7065599949999 meters 0.05178380573496516 Centerline is valid? [True, True] Translation: X:659.14, Y:-254.46, Z:-4.80 [[-9.82579201e-01 -1.85661205e-01 8.24813741e-03 6.59141815e+02] [-1.85656608e-01 9.82613792e-01 1.32622780e-03 -2.54461128e+02] [-8.35096263e-03 -2.28197362e-04 -9.99965104e-01 -4.80266901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.766559995 meters 0.05148157514049245 Centerline is valid? [True, True] Translation: X:659.19, Y:-254.37, Z:-4.80 [[-9.65600896e-01 -2.59862585e-01 9.29229683e-03 6.59186529e+02] [-2.59853209e-01 9.65645569e-01 2.22355557e-03 -2.54372592e+02] [-9.55088416e-03 -2.67565899e-04 -9.99954353e-01 -4.80321728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8265599949999 meters 0.05175074700834227 Centerline is valid? [True, True] Translation: X:658.95, Y:-254.36, Z:-4.80 [[-9.43750509e-01 -3.30493247e-01 1.04494700e-02 6.58947009e+02] [-3.30476600e-01 9.43808306e-01 3.33147924e-03 -2.54358859e+02] [-1.09633280e-02 -3.09220083e-04 -9.99939853e-01 -4.80173233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.886559995 meters 0.05195573952013067 Centerline is valid? [True, True] Translation: X:658.85, Y:-254.31, Z:-4.80 [[-9.17025688e-01 -3.98716924e-01 9.41823100e-03 6.58850950e+02] [-3.98699406e-01 9.17073997e-01 3.75078224e-03 -2.54313194e+02] [-1.01327151e-02 -3.15479447e-04 -9.99948613e-01 -4.80415675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9465599949999 meters 0.05146530336891661 Centerline is valid? [True, True] Translation: X:658.73, Y:-254.28, Z:-4.81 [[-8.85961645e-01 -4.63689196e-01 8.01823741e-03 6.58734822e+02] [-4.63673235e-01 8.85997878e-01 3.85893296e-03 -2.54281575e+02] [-8.89348685e-03 -2.98975484e-04 -9.99960407e-01 -4.80540104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.006559995 meters 0.05112743947053402 Centerline is valid? [True, True] Translation: X:658.59, Y:-254.27, Z:-4.81 [[-8.51299037e-01 -5.24646425e-01 6.00658660e-03 6.58590714e+02] [-5.24635463e-01 8.51320189e-01 3.40111785e-03 -2.54273680e+02] [-6.89791276e-03 -2.55899994e-04 -9.99976176e-01 -4.80686421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0665599949999 meters 0.0515045138858292 Centerline is valid? [True, True] Translation: X:658.47, Y:-254.26, Z:-4.81 [[-8.12062692e-01 -5.83546245e-01 5.28810360e-03 6.58472808e+02] [-5.83535747e-01 8.12079876e-01 3.50826747e-03 -2.54259250e+02] [-6.34159882e-03 -2.36864354e-04 -9.99979864e-01 -4.80772300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.126559995 meters 0.051653015707180026 Centerline is valid? [True, True] Translation: X:658.30, Y:-254.29, Z:-4.81 [[-7.69811968e-01 -6.38250144e-01 5.12711256e-03 6.58295375e+02] [-6.38237854e-01 7.69829011e-01 3.96677327e-03 -2.54293078e+02] [-6.47879361e-03 -2.18647777e-04 -9.99978988e-01 -4.80606780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1865599949999 meters 0.05182010040268003 Centerline is valid? [True, True] Translation: X:658.11, Y:-254.35, Z:-4.81 [[-7.24037065e-01 -6.89732856e-01 6.23826642e-03 6.58112867e+02] [-6.89709740e-01 7.24063908e-01 5.65082625e-03 -2.54354429e+02] [-8.41446409e-03 -2.11185455e-04 -9.99964575e-01 -4.80552923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.246559995 meters 0.051944322288805786 Centerline is valid? [True, True] Translation: X:658.13, Y:-254.23, Z:-4.81 [[-6.71216297e-01 -7.41233388e-01 6.46120090e-03 6.58128475e+02] [-7.41202022e-01 6.71247362e-01 6.82220859e-03 -2.54229536e+02] [-9.39391285e-03 -2.09877580e-04 -9.99955854e-01 -4.80764067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3065599949999 meters 0.05180232324520435 Centerline is valid? [True, True] Translation: X:657.86, Y:-254.42, Z:-4.81 [[-6.17826579e-01 -7.86284374e-01 6.87039965e-03 6.57856085e+02] [-7.86239207e-01 6.17864747e-01 8.42992816e-03 -2.54422107e+02] [-1.08732985e-02 -1.93543896e-04 -9.99940865e-01 -4.80653549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.366559995 meters 0.051907420139823135 Centerline is valid? [True, True] Translation: X:657.64, Y:-254.59, Z:-4.81 [[-5.60465188e-01 -8.28150335e-01 6.76723226e-03 6.57639342e+02] [-8.28093935e-01 5.60506010e-01 9.66681001e-03 -2.54585473e+02] [-1.17986463e-02 -1.85993508e-04 -9.99930376e-01 -4.80520232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4265599949999 meters 0.051893086730915 Centerline is valid? [True, True] Translation: X:657.45, Y:-254.75, Z:-4.81 [[-5.00205086e-01 -8.65887935e-01 5.74072205e-03 6.57451771e+02] [-8.65834634e-01 5.00238000e-01 9.60881653e-03 -2.54746564e+02] [-1.11918856e-02 -1.64137079e-04 -9.99937355e-01 -4.80769920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.486559995 meters 0.05252604802385703 Centerline is valid? [True, True] Translation: X:657.50, Y:-254.48, Z:-4.81 [[-4.33807371e-01 -9.00995038e-01 4.37108013e-03 6.57500365e+02] [-9.00952947e-01 4.33829363e-01 8.71039487e-03 -2.54484955e+02] [-9.74432547e-03 -1.59504028e-04 -9.99952510e-01 -4.81190670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5465599949999 meters 0.05219843294641089 Centerline is valid? [True, True] Translation: X:657.16, Y:-255.07, Z:-4.81 [[-3.68971957e-01 -9.29434690e-01 3.29425839e-03 6.57155661e+02] [-9.29401120e-01 3.68986634e-01 7.90075758e-03 -2.55073114e+02] [-8.55877549e-03 -1.46529449e-04 -9.99963362e-01 -4.81061512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.606559995 meters 0.0520174345208423 Centerline is valid? [True, True] Translation: X:657.03, Y:-255.19, Z:-4.81 [[-2.97100866e-01 -9.54841146e-01 3.07586158e-03 6.57032979e+02] [-9.54795814e-01 2.97116738e-01 9.30578439e-03 -2.55193326e+02] [-9.79943579e-03 -1.72063155e-04 -9.99951970e-01 -4.80960230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.666559995 meters 0.05201381690485618 Centerline is valid? [True, True] Translation: X:656.90, Y:-255.40, Z:-4.81 [[-2.24277368e-01 -9.74522153e-01 2.49725763e-03 6.56899425e+02] [-9.74470770e-01 2.24291191e-01 1.00089837e-02 -2.55395655e+02] [-1.03140893e-02 -1.88716031e-04 -9.99946791e-01 -4.81074557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.726559995 meters 0.05323400250928924 Centerline is valid? [True, True] Translation: X:656.82, Y:-255.41, Z:-4.81 [[-1.50123488e-01 -9.88665880e-01 1.64786287e-03 6.56817438e+02] [-9.88619831e-01 1.50132403e-01 9.54413833e-03 -2.55411022e+02] [-9.68336154e-03 -1.96310580e-04 -9.99953096e-01 -4.81082681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.786559995 meters 0.05236184573318125 Centerline is valid? [True, True] Translation: X:656.70, Y:-255.75, Z:-4.81 [[-7.79230018e-02 -9.96959029e-01 8.37046049e-04 6.56700348e+02] [-9.96923906e-01 7.79272844e-02 8.37040668e-03 -2.55750247e+02] [-8.41018124e-03 -1.82224002e-04 -9.99964617e-01 -4.81316145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8465599949999 meters 0.052167214621590394 Centerline is valid? [True, True] Translation: X:656.61, Y:-256.00, Z:-4.82 [[-4.10918667e-03 -9.99991535e-01 2.08774615e-04 6.56614926e+02] [-9.99965376e-01 4.11058972e-03 7.23525617e-03 -2.56004225e+02] [-7.23605311e-03 -1.79036368e-04 -9.99973803e-01 -4.81520401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.906559995 meters 0.05192581625258369 Centerline is valid? [True, True] Translation: X:656.55, Y:-256.20, Z:-4.82 [[ 7.13505929e-02 -9.97451240e-01 -3.42573788e-04 6.56545576e+02] [-9.97423429e-01 -7.13511625e-02 7.45077489e-03 -2.56200571e+02] [-7.45622769e-03 -1.89926083e-04 -9.99972184e-01 -4.81572073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9665599949999 meters 0.05181989909986457 Centerline is valid? [True, True] Translation: X:656.49, Y:-256.39, Z:-4.81 [[ 1.49017319e-01 -9.88833990e-01 -1.08557284e-03 6.56485374e+02] [-9.88795271e-01 -1.49021094e-01 8.75363572e-03 -2.56387541e+02] [-8.81766579e-03 -2.31034034e-04 -9.99961097e-01 -4.81410243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.026559995 meters 0.052472407573785525 Centerline is valid? [True, True] Translation: X:656.44, Y:-256.58, Z:-4.81 [[ 2.24594892e-01 -9.74450234e-01 -1.96872103e-03 6.56441501e+02] [-9.74401635e-01 -2.24603360e-01 9.73576228e-03 -2.56583490e+02] [-9.92919719e-03 -2.68277488e-04 -9.99950668e-01 -4.81327753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0865599949999 meters 0.052059644105831415 Centerline is valid? [True, True] Translation: X:656.42, Y:-256.81, Z:-4.81 [[ 2.99030142e-01 -9.54238544e-01 -3.12655220e-03 6.56421028e+02] [-9.54174579e-01 -2.99046314e-01 1.10533123e-02 -2.56811018e+02] [-1.14824806e-02 -3.21996936e-04 -9.99934022e-01 -4.81388077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.146559995 meters 0.0519149294343375 Centerline is valid? [True, True] Translation: X:656.41, Y:-257.02, Z:-4.81 [[ 3.70869503e-01 -9.28677689e-01 -3.68258904e-03 6.56408143e+02] [-9.28622563e-01 -3.70887634e-01 1.01241377e-02 -2.57017789e+02] [-1.07678875e-02 -3.34998629e-04 -9.99941969e-01 -4.81437421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2065599949999 meters 0.05156379467063718 Centerline is valid? [True, True] Translation: X:656.42, Y:-257.23, Z:-4.82 [[ 4.39188046e-01 -8.98389432e-01 -3.20767247e-03 6.56415589e+02] [-8.98360427e-01 -4.39199663e-01 7.22488106e-03 -2.57225688e+02] [-7.89956545e-03 -2.91435383e-04 -9.99968755e-01 -4.81793845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.266559995 meters 0.051864885891630214 Centerline is valid? [True, True] Translation: X:656.44, Y:-257.44, Z:-4.82 [[ 5.03802984e-01 -8.63812770e-01 -3.17037962e-03 6.56438028e+02] [-8.63792209e-01 -5.03812888e-01 5.96596911e-03 -2.57444137e+02] [-6.75075842e-03 -2.67123818e-04 -9.99977178e-01 -4.81817738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3265599949999 meters 0.05127617246649209 Centerline is valid? [True, True] Translation: X:656.51, Y:-257.70, Z:-4.82 [[ 5.65687068e-01 -8.24613219e-01 -3.34366630e-03 6.56506055e+02] [-8.24596054e-01 -5.65696892e-01 5.32669682e-03 -2.57701828e+02] [-6.28396625e-03 -2.56069469e-04 -9.99980223e-01 -4.81864545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.386559995 meters 0.05174142141687004 Centerline is valid? [True, True] Translation: X:656.52, Y:-257.85, Z:-4.82 [[ 6.26977238e-01 -7.79025709e-01 -4.29974682e-03 6.56521819e+02] [-7.79004128e-01 -6.26991914e-01 5.80586152e-03 -2.57852335e+02] [-7.21882187e-03 -2.90622500e-04 -9.99973902e-01 -4.81787158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4465599949999 meters 0.051474149309177854 Centerline is valid? [True, True] Translation: X:656.57, Y:-258.03, Z:-4.82 [[ 6.84991274e-01 -7.28529435e-01 -5.64064511e-03 6.56569731e+02] [-7.28500492e-01 -6.85014410e-01 6.50313567e-03 -2.58029412e+02] [-8.60164894e-03 -3.45378444e-04 -9.99962945e-01 -4.81843297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.506559995 meters 0.05188576910599729 Centerline is valid? [True, True] Translation: X:656.62, Y:-258.19, Z:-4.82 [[ 7.39399601e-01 -6.73230923e-01 -6.95375566e-03 6.56617085e+02] [-6.73195807e-01 -7.39432184e-01 6.88848506e-03 -2.58192469e+02] [-9.77937189e-03 -4.12103953e-04 -9.99952096e-01 -4.81725946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5665599949999 meters 0.0514929010210956 Centerline is valid? [True, True] Translation: X:656.59, Y:-258.28, Z:-4.82 [[ 7.89277974e-01 -6.13994530e-01 -7.14122513e-03 6.56586933e+02] [-6.13964706e-01 -7.89310177e-01 6.06499808e-03 -2.58278247e+02] [-9.36051732e-03 -4.02509209e-04 -9.99956108e-01 -4.81727684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.626559995 meters 0.051285955173426 Centerline is valid? [True, True] Translation: X:656.56, Y:-258.37, Z:-4.82 [[ 8.31218465e-01 -5.55912566e-01 -6.08944421e-03 6.56562632e+02] [-5.55894933e-01 -8.31240715e-01 4.43821335e-03 -2.58367159e+02] [-7.52905253e-03 -3.04033707e-04 -9.99971610e-01 -4.81971262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6865599949999 meters 0.05148147277385639 Centerline is valid? [True, True] Translation: X:656.54, Y:-258.46, Z:-4.82 [[ 8.69076129e-01 -4.94651460e-01 -5.15892858e-03 6.56542073e+02] [-4.94641108e-01 -8.69091409e-01 3.20888859e-03 -2.58459044e+02] [-6.07086193e-03 -2.36950327e-04 -9.99981544e-01 -4.82010856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.746559995 meters 0.05115920920233079 Centerline is valid? [True, True] Translation: X:656.54, Y:-258.54, Z:-4.82 [[ 9.01788485e-01 -4.32143143e-01 -5.46189200e-03 6.56536001e+02] [-4.32133929e-01 -9.01805005e-01 2.82833309e-03 -2.58539455e+02] [-6.14780630e-03 -1.90289363e-04 -9.99981084e-01 -4.81957311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8065599949999 meters 0.0509501480931834 Centerline is valid? [True, True] Translation: X:656.54, Y:-258.62, Z:-4.82 [[ 9.31191305e-01 -3.64459478e-01 -7.21399554e-03 6.56536991e+02] [-3.64447162e-01 -9.31219234e-01 3.00074274e-03 -2.58617150e+02] [-7.81146054e-03 -1.65145349e-04 -9.99969476e-01 -4.81920266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.866559995 meters 0.051372085839612516 Centerline is valid? [True, True] Translation: X:656.54, Y:-258.70, Z:-4.82 [[ 9.56480582e-01 -2.91682250e-01 -8.14619538e-03 6.56543435e+02] [-2.91670280e-01 -9.56515259e-01 2.64700823e-03 -2.58696356e+02] [-8.56404550e-03 -1.55808884e-04 -9.99963316e-01 -4.81887541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9265599949999 meters 0.052033108003626066 Centerline is valid? [True, True] Translation: X:656.56, Y:-258.78, Z:-4.82 [[ 9.76208673e-01 -2.16671713e-01 -8.36630474e-03 6.56555127e+02] [-2.16662440e-01 -9.76244512e-01 2.01016466e-03 -2.58777927e+02] [-8.60310491e-03 -1.49676173e-04 -9.99962981e-01 -4.81845497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.986559995 meters 0.051528854419205634 Centerline is valid? [True, True] Translation: X:656.57, Y:-258.86, Z:-4.82 [[ 9.90291936e-01 -1.38787227e-01 -7.74517509e-03 6.56571604e+02] [-1.38781743e-01 -9.90322211e-01 1.24375985e-03 -2.58864418e+02] [-7.84283690e-03 -1.56796457e-04 -9.99969232e-01 -4.82047335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0465599949999 meters 0.051109481353469724 Centerline is valid? [True, True] Translation: X:656.59, Y:-258.95, Z:-4.82 [[ 9.98139910e-01 -6.04932875e-02 -7.56851672e-03 6.56594892e+02] [-6.04903335e-02 -9.98168591e-01 6.18813698e-04 -2.58950921e+02] [-7.59208974e-03 -1.59840549e-04 -9.99971167e-01 -4.82063346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.106559995 meters 0.051224111562878816 Centerline is valid? [True, True] Translation: X:656.62, Y:-259.03, Z:-4.82 [[ 9.99764994e-01 1.98045322e-02 -8.81683026e-03 6.56618675e+02] [ 1.98053377e-02 -9.99803855e-01 4.03715245e-06 -2.59034811e+02] [-8.81502093e-03 -1.78656504e-04 -9.99961131e-01 -4.81915704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.166559995 meters 0.05090144845996083 Centerline is valid? [True, True] Translation: X:656.65, Y:-259.11, Z:-4.82 [[ 9.94899298e-01 1.00402059e-01 -9.73720347e-03 6.56649528e+02] [ 1.00399266e-01 -9.94946925e-01 -7.76421960e-04 -2.59111922e+02] [-9.76595502e-03 -2.05146421e-04 -9.99952291e-01 -4.81837375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.226559995 meters 0.050895354242463726 Centerline is valid? [True, True] Translation: X:656.69, Y:-259.19, Z:-4.82 [[ 9.83693573e-01 1.79621201e-01 -9.12026871e-03 6.56687918e+02] [ 1.79615527e-01 -9.83735827e-01 -1.44412793e-03 -2.59193119e+02] [-9.23133108e-03 -2.17562510e-04 -9.99957367e-01 -4.82056347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.286559995 meters 0.0509860740125482 Centerline is valid? [True, True] Translation: X:656.73, Y:-259.27, Z:-4.82 [[ 9.66600388e-01 2.56154992e-01 -8.26503862e-03 6.56731471e+02] [ 2.56147505e-01 -9.66635699e-01 -1.96997270e-03 -2.59272894e+02] [-8.49389972e-03 -2.12892650e-04 -9.99963904e-01 -4.82074566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3465599949999 meters 0.05057733206115272 Centerline is valid? [True, True] Translation: X:656.78, Y:-259.35, Z:-4.82 [[ 9.43793944e-01 3.30441973e-01 -7.81628438e-03 6.56781742e+02] [ 3.30432436e-01 -9.43826287e-01 -2.51893891e-03 -2.59346830e+02] [-8.20957781e-03 -2.05394603e-04 -9.99966280e-01 -4.82206933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.406559995 meters 0.05043748897015568 Centerline is valid? [True, True] Translation: X:656.84, Y:-259.42, Z:-4.82 [[ 9.15218443e-01 4.02879062e-01 -7.97889979e-03 6.56836850e+02] [ 4.02865687e-01 -9.15253200e-01 -3.28919842e-03 -2.59418477e+02] [-8.62786274e-03 -2.04089887e-04 -9.99962758e-01 -4.82107673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4665599949999 meters 0.05099397363653219 Centerline is valid? [True, True] Translation: X:656.90, Y:-259.48, Z:-4.82 [[ 8.80789457e-01 4.73442439e-01 -7.88599002e-03 6.56896020e+02] [ 4.73425555e-01 -8.80824735e-01 -4.00365977e-03 -2.59481599e+02] [-8.84167752e-03 -2.07047887e-04 -9.99960890e-01 -4.82076958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.526559995 meters 0.0508791430487773 Centerline is valid? [True, True] Translation: X:656.96, Y:-259.54, Z:-4.82 [[ 8.40625366e-01 5.41561491e-01 -7.75538288e-03 6.56960471e+02] [ 5.41540790e-01 -8.40661112e-01 -4.74007516e-03 -2.59540624e+02] [-9.08669096e-03 -2.15228755e-04 -9.99958692e-01 -4.81943722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5865599949999 meters 0.05084411894880981 Centerline is valid? [True, True] Translation: X:657.03, Y:-259.60, Z:-4.82 [[ 7.95214573e-01 6.06266808e-01 -8.62208115e-03 6.57031936e+02] [ 6.06234344e-01 -7.95261279e-01 -6.27832068e-03 -2.59596423e+02] [-1.06631447e-02 -2.34389618e-04 -9.99943120e-01 -4.82110669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.646559995 meters 0.050721175849160915 Centerline is valid? [True, True] Translation: X:657.11, Y:-259.65, Z:-4.82 [[ 7.44949041e-01 6.67065400e-01 -8.64166094e-03 6.57106636e+02] [ 6.67024321e-01 -7.44999122e-01 -7.40704225e-03 -2.59647003e+02] [-1.13790114e-02 -2.46328997e-04 -9.99935227e-01 -4.81987510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7065599949999 meters 0.050712565539094215 Centerline is valid? [True, True] Translation: X:657.19, Y:-259.69, Z:-4.82 [[ 6.90413469e-01 7.23368257e-01 -8.22226550e-03 6.57186867e+02] [ 7.23321221e-01 -6.90462383e-01 -8.25286418e-03 -2.59692091e+02] [-1.16470250e-02 -2.49450526e-04 -9.99932140e-01 -4.82066426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.766559995 meters 0.05191638950344047 Centerline is valid? [True, True] Translation: X:657.27, Y:-259.73, Z:-4.82 [[ 6.31960050e-01 7.74963888e-01 -7.58068833e-03 6.57269739e+02] [ 7.74912742e-01 -6.32005468e-01 -8.90680585e-03 -2.59729676e+02] [-1.16934894e-02 -2.45626503e-04 -9.99931599e-01 -4.82096507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8265599949999 meters 0.05222805035969835 Centerline is valid? [True, True] Translation: X:657.35, Y:-259.76, Z:-4.83 [[ 5.70186022e-01 8.21490315e-01 -6.44695030e-03 6.57351205e+02] [ 8.21442277e-01 -5.70222422e-01 -8.88678303e-03 -2.59758683e+02] [-1.09766018e-02 -2.28678067e-04 -9.99939729e-01 -4.82536326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.886559995 meters 0.051714468473535544 Centerline is valid? [True, True] Translation: X:657.44, Y:-259.79, Z:-4.82 [[ 5.04673059e-01 8.63291660e-01 -5.71086266e-03 6.57440734e+02] [ 8.63241280e-01 -5.04705321e-01 -9.32910013e-03 -2.59785230e+02] [-1.09360371e-02 -2.21706895e-04 -9.99940175e-01 -4.81957742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9465599949999 meters 0.0509035584045025 Centerline is valid? [True, True] Translation: X:657.53, Y:-259.80, Z:-4.82 [[ 4.36102743e-01 8.99883992e-01 -4.81651551e-03 6.57526023e+02] [ 8.99834397e-01 -4.36129288e-01 -9.44992245e-03 -2.59800303e+02] [-1.06044574e-02 -2.12929224e-04 -9.99943748e-01 -4.82217344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.006559995 meters 0.05091476692535824 Centerline is valid? [True, True] Translation: X:657.62, Y:-259.81, Z:-4.82 [[ 3.63707781e-01 9.31503261e-01 -4.28079066e-03 6.57616428e+02] [ 9.31445823e-01 -3.63732903e-01 -1.03467282e-02 -2.59810149e+02] [-1.11950755e-02 -2.24139033e-04 -9.99937308e-01 -4.82199379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0665599949999 meters 0.051198907751718245 Centerline is valid? [True, True] Translation: X:657.71, Y:-259.81, Z:-4.82 [[ 2.89785653e-01 9.57085399e-01 -3.43714267e-03 6.57705506e+02] [ 9.57026909e-01 -2.89805951e-01 -1.05832862e-02 -2.59812145e+02] [-1.11252131e-02 -2.22553527e-04 -9.99938088e-01 -4.82236415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.126559995 meters 0.05139855590920034 Centerline is valid? [True, True] Translation: X:657.80, Y:-259.81, Z:-4.82 [[ 2.15468146e-01 9.76507293e-01 -2.64302945e-03 6.57795757e+02] [ 9.76445151e-01 -2.15484257e-01 -1.10182449e-02 -2.59807534e+02] [-1.13289277e-02 -2.06692501e-04 -9.99935804e-01 -4.82255405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1865599949999 meters 0.05147133683308539 Centerline is valid? [True, True] Translation: X:657.89, Y:-259.80, Z:-4.82 [[ 1.40594459e-01 9.90065714e-01 -1.75474963e-03 6.57885946e+02] [ 9.90003836e-01 -1.40605293e-01 -1.10704877e-02 -2.59796221e+02] [-1.12072374e-02 -1.80759638e-04 -9.99937181e-01 -4.82331906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.246559995 meters 0.050884105584034854 Centerline is valid? [True, True] Translation: X:657.97, Y:-259.78, Z:-4.82 [[ 6.53214515e-02 9.97863939e-01 -8.17184834e-04 6.57971411e+02] [ 9.97811967e-01 -6.53263905e-02 -1.01853655e-02 -2.59778221e+02] [-1.02169926e-02 -1.50073949e-04 -9.99947794e-01 -4.82408353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3065599949999 meters 0.05136156799616173 Centerline is valid? [True, True] Translation: X:658.05, Y:-259.75, Z:-4.82 [[-1.14028900e-02 9.99934985e-01 -2.06979185e-05 6.58054456e+02] [ 9.99885564e-01 1.14021206e-02 -9.94232583e-03 -2.59752322e+02] [-9.94144343e-03 -1.34066798e-04 -9.99950574e-01 -4.82441415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.366559995 meters 0.05175222751663778 Centerline is valid? [True, True] Translation: X:658.13, Y:-259.72, Z:-4.82 [[-8.76637195e-02 9.96149809e-01 7.93502828e-04 6.58134257e+02] [ 9.96096481e-01 8.76672375e-02 -1.03080565e-02 -2.59721124e+02] [-1.03379328e-02 -1.13237203e-04 -9.99946556e-01 -4.82403998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4265599949999 meters 0.05121156235992264 Centerline is valid? [True, True] Translation: X:658.21, Y:-259.68, Z:-4.82 [[-1.64225610e-01 9.86421371e-01 1.68161836e-03 6.58210979e+02] [ 9.86363277e-01 1.64234190e-01 -1.07059608e-02 -2.59683544e+02] [-1.08367678e-02 -9.95063516e-05 -9.99941276e-01 -4.82394520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.486559995 meters 0.05153616947577022 Centerline is valid? [True, True] Translation: X:658.28, Y:-259.64, Z:-4.82 [[-2.40823776e-01 9.70565483e-01 2.55966818e-03 6.58283641e+02] [ 9.70506271e-01 2.40837359e-01 -1.07211826e-02 -2.59640628e+02] [-1.10220735e-02 -9.77416511e-05 -9.99939250e-01 -4.82396689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5465599949999 meters 0.05133756229157724 Centerline is valid? [True, True] Translation: X:658.36, Y:-259.59, Z:-4.82 [[-3.16709740e-01 9.48516346e-01 3.41784540e-03 6.58356127e+02] [ 9.48457483e-01 3.16728164e-01 -1.05675933e-02 -2.59590560e+02] [-1.11060629e-02 -1.05178673e-04 -9.99938320e-01 -4.82457617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.606559995 meters 0.05167684346486616 Centerline is valid? [True, True] Translation: X:658.42, Y:-259.54, Z:-4.82 [[-3.91993274e-01 9.19959419e-01 3.99262799e-03 6.58424435e+02] [ 9.19908277e-01 3.92013586e-01 -9.70110607e-03 -2.59536168e+02] [-1.04897883e-02 -1.29916799e-04 -9.99944972e-01 -4.82408061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.666559995 meters 0.05096937710979388 Centerline is valid? [True, True] Translation: X:658.49, Y:-259.48, Z:-4.82 [[-4.64094527e-01 8.85772574e-01 4.81848993e-03 6.58487260e+02] [ 8.85721545e-01 4.64119518e-01 -9.50885925e-03 -2.59477288e+02] [-1.06590420e-02 -1.45169195e-04 -9.99943180e-01 -4.82369016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.726559995 meters 0.05141561516784151 Centerline is valid? [True, True] Translation: X:658.55, Y:-259.41, Z:-4.82 [[-5.33135026e-01 8.46010797e-01 5.72494400e-03 6.58545405e+02] [ 8.45958760e-01 5.33165739e-01 -9.38467913e-03 -2.59412328e+02] [-1.09918839e-02 -1.60234627e-04 -9.99939575e-01 -4.82363141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.786559995 meters 0.05163521799598352 Centerline is valid? [True, True] Translation: X:658.60, Y:-259.34, Z:-4.82 [[-5.97797108e-01 8.01622022e-01 6.38372652e-03 6.58597473e+02] [ 8.01573410e-01 5.97831170e-01 -8.82955160e-03 -2.59344729e+02] [-1.08943537e-02 -1.61254979e-04 -9.99940642e-01 -4.82346105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8465599949999 meters 0.05164466380727471 Centerline is valid? [True, True] Translation: X:658.64, Y:-259.27, Z:-4.82 [[-6.57861063e-01 7.53107545e-01 6.91724876e-03 6.58644538e+02] [ 7.53063518e-01 6.57897412e-01 -8.14455028e-03 -2.59271377e+02] [-1.06845623e-02 -1.48854811e-04 -9.99942907e-01 -4.82464331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.906559995 meters 0.051508204141351495 Centerline is valid? [True, True] Translation: X:658.68, Y:-259.20, Z:-4.82 [[-7.13916406e-01 7.00194598e-01 7.13367488e-03 6.58684540e+02] [ 7.00157736e-01 7.13952033e-01 -7.18600346e-03 -2.59195255e+02] [-1.01247025e-02 -1.35508110e-04 -9.99948735e-01 -4.82476975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9665599949999 meters 0.05157936210575857 Centerline is valid? [True, True] Translation: X:658.68, Y:-259.09, Z:-4.82 [[-7.60802655e-01 6.48940703e-01 7.43525259e-03 6.58676512e+02] [ 6.48908323e-01 7.60838979e-01 -6.48355139e-03 -2.59087326e+02] [-9.86447039e-03 -1.07905827e-04 -9.99951339e-01 -4.82450263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.026559995 meters 0.05172091333391995 Centerline is valid? [True, True] Translation: X:658.69, Y:-259.00, Z:-4.83 [[-8.03827908e-01 5.94813246e-01 7.60898500e-03 6.58689628e+02] [ 5.94785522e-01 8.03863915e-01 -5.74358237e-03 -2.59004796e+02] [-9.53294734e-03 -9.11376902e-05 -9.99954556e-01 -4.82543614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0865599949999 meters 0.05191978592017596 Centerline is valid? [True, True] Translation: X:658.67, Y:-258.90, Z:-4.83 [[-8.43832024e-01 5.36547390e-01 8.02574113e-03 6.58665667e+02] [ 5.36522126e-01 8.43870186e-01 -5.20749449e-03 -2.58898832e+02] [-9.56675123e-03 -8.82629245e-05 -9.99954234e-01 -4.82646120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.146559995 meters 0.051906019464293116 Centerline is valid? [True, True] Translation: X:659.04, Y:-258.37, Z:-5.82 [[-8.08781664e-01 -5.88083543e-01 5.47412674e-03 6.59036699e+02] [ 5.88069361e-01 -8.08800185e-01 -4.08493648e-03 -2.58365113e+02] [ 6.82975864e-03 -8.46555098e-05 9.99976673e-01 -5.81561234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2065599949999 meters 0.05188471865251157 Centerline is valid? [True, True] Translation: X:658.59, Y:-258.85, Z:-4.83 [[-8.48862262e-01 5.28538545e-01 8.93688127e-03 6.58587387e+02] [ 5.28507437e-01 8.48909292e-01 -5.73612315e-03 -2.58846084e+02] [-1.06183637e-02 -1.45970248e-04 -9.99943613e-01 -4.82548934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.266559995 meters 0.05157980690849386 Centerline is valid? [True, True] Translation: X:658.61, Y:-258.77, Z:-4.83 [[-8.85039645e-01 4.65414532e-01 9.70258036e-03 6.58613677e+02] [ 4.65384502e-01 8.85092812e-01 -5.28962550e-03 -2.58773841e+02] [-1.10495527e-02 -1.66097744e-04 -9.99938938e-01 -4.82513615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3265599949999 meters 0.051666431386088 Centerline is valid? [True, True] Translation: X:658.92, Y:-258.22, Z:-5.81 [[-8.47520768e-01 -5.30721871e-01 6.54553817e-03 6.58924446e+02] [ 5.30705495e-01 -8.47546041e-01 -4.16957339e-03 -2.58217534e+02] [ 7.76052876e-03 -6.00469658e-05 9.99969885e-01 -5.81448056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.386559995 meters 0.051853103500545526 Centerline is valid? [True, True] Translation: X:658.53, Y:-258.73, Z:-4.83 [[-8.86596221e-01 4.62441191e-01 9.76140680e-03 6.58527922e+02] [ 4.62411138e-01 8.86649941e-01 -5.27456234e-03 -2.58732440e+02] [-1.10941257e-02 -1.62623814e-04 -9.99938445e-01 -4.82698175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4465599949999 meters 0.052159345807326264 Centerline is valid? [True, True] Translation: X:658.52, Y:-258.64, Z:-4.83 [[-9.16801416e-01 3.99244193e-01 8.90156560e-03 6.58517596e+02] [ 3.99223799e-01 9.16844617e-01 -4.03806095e-03 -2.58644766e+02] [-9.77352489e-03 -1.48383162e-04 -9.99952227e-01 -4.82812904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.506559995 meters 0.05171986463445212 Centerline is valid? [True, True] Translation: X:658.45, Y:-258.54, Z:-4.83 [[-9.42617265e-01 3.33800531e-01 7.06384395e-03 6.58446346e+02] [ 3.33790059e-01 9.42643722e-01 -2.64766904e-03 -2.58535821e+02] [-7.54248149e-03 -1.37897663e-04 -9.99971546e-01 -4.82877191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5665599949999 meters 0.0517933991859589 Centerline is valid? [True, True] Translation: X:658.67, Y:-257.94, Z:-5.81 [[-9.16382194e-01 -4.00288207e-01 3.60904178e-03 6.58668326e+02] [ 4.00284666e-01 -9.16389295e-01 -1.68673186e-03 -2.57935702e+02] [ 3.98246612e-03 -1.01046957e-04 9.99992065e-01 -5.81399709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.626559995 meters 0.05197073930210114 Centerline is valid? [True, True] Translation: X:658.35, Y:-258.50, Z:-4.83 [[-9.43850944e-01 3.30275215e-01 7.97988549e-03 6.58349805e+02] [ 3.30262153e-01 9.43884666e-01 -2.94063520e-03 -2.58503696e+02] [-8.50331047e-03 -1.40067143e-04 -9.99963836e-01 -4.82749290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6865599949999 meters 0.05192847012725888 Centerline is valid? [True, True] Translation: X:658.34, Y:-258.42, Z:-4.83 [[-9.65184280e-01 2.61395296e-01 9.58151885e-03 6.58340217e+02] [ 2.61380833e-01 9.65231825e-01 -2.75393706e-03 -2.58421583e+02] [-9.96825312e-03 -1.53631374e-04 -9.99950304e-01 -4.82597987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.746559995 meters 0.052122403311973285 Centerline is valid? [True, True] Translation: X:658.30, Y:-258.33, Z:-4.83 [[-9.81808421e-01 1.89628674e-01 9.65354529e-03 6.58301174e+02] [ 1.89617714e-01 9.81855862e-01 -2.04656399e-03 -2.58333986e+02] [-9.86647725e-03 -1.78850572e-04 -9.99951309e-01 -4.82641197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8065599949999 meters 0.05220063435106515 Centerline is valid? [True, True] Translation: X:658.41, Y:-257.71, Z:-5.82 [[-9.63228929e-01 -2.68591693e-01 6.96649517e-03 6.58411496e+02] [ 2.68584562e-01 -9.63254121e-01 -1.95728063e-03 -2.57710465e+02] [ 7.23621451e-03 -1.42162716e-05 9.99973818e-01 -5.81659223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.866559995 meters 0.0520892592656169 Centerline is valid? [True, True] Translation: X:658.27, Y:-258.33, Z:-4.83 [[-9.83628586e-01 1.79907053e-01 1.04046184e-02 6.58265322e+02] [ 1.79894327e-01 9.83683583e-01 -2.15409499e-03 -2.58327502e+02] [-1.06223892e-02 -2.47097587e-04 -9.99943550e-01 -4.82573871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9265599949999 meters 0.05197985384454391 Centerline is valid? [True, True] Translation: X:658.21, Y:-258.24, Z:-4.83 [[-9.94309721e-01 1.06038527e-01 1.01984795e-02 6.58214016e+02] [ 1.06030065e-01 9.94361983e-01 -1.36837200e-03 -2.58239923e+02] [-1.02860804e-02 -2.79240135e-04 -9.99947058e-01 -4.82660370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.986559995 meters 0.05194682642535571 Centerline is valid? [True, True] Translation: X:658.27, Y:-257.62, Z:-5.82 [[-9.78752971e-01 -2.04943160e-01 6.39712874e-03 6.58270524e+02] [ 2.04938569e-01 -9.78773876e-01 -1.37220264e-03 -2.57620650e+02] [ 6.54256603e-03 -3.20290000e-05 9.99978597e-01 -5.81639599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0465599949999 meters 0.05090285204206861 Centerline is valid? [True, True] Translation: X:658.12, Y:-258.23, Z:-4.83 [[-9.95078046e-01 9.87689889e-02 8.02307842e-03 6.58120338e+02] [ 9.87635608e-02 9.95110352e-01 -1.07093310e-03 -2.58230351e+02] [-8.08962337e-03 -2.73274221e-04 -9.99967241e-01 -4.82860861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.106559995 meters 0.05248997222134198 Centerline is valid? [True, True] Translation: X:658.08, Y:-258.15, Z:-4.83 [[-9.99545551e-01 2.92068750e-02 7.45986385e-03 6.58078887e+02] [ 2.92041890e-02 9.99573357e-01 -4.68751304e-04 -2.58149369e+02] [-7.47037191e-03 -2.50679007e-04 -9.99972065e-01 -4.82876460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.166559995 meters 0.05249051425070307 Centerline is valid? [True, True] Translation: X:657.98, Y:-258.07, Z:-4.83 [[-9.99250417e-01 -3.76903575e-02 8.83408369e-03 6.57977937e+02] [-3.76909821e-02 9.99289438e-01 9.58371667e-05 -2.58072698e+02] [-8.83141867e-03 -2.37199961e-04 -9.99960974e-01 -4.82832769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.226559995 meters 0.051884670923800655 Centerline is valid? [True, True] Translation: X:657.90, Y:-257.44, Z:-5.82 [[-9.98605590e-01 -5.24186785e-02 6.25766432e-03 6.57899518e+02] [ 5.24179249e-02 -9.98625195e-01 -2.84485638e-04 -2.57444821e+02] [ 6.26397361e-03 4.39248302e-05 9.99980380e-01 -5.81627517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.286559995 meters 0.05188443111785846 Centerline is valid? [True, True] Translation: X:657.77, Y:-258.08, Z:-4.83 [[-9.99449336e-01 -3.19785628e-02 8.85414926e-03 6.57773910e+02] [-3.19786674e-02 9.99488543e-01 1.29794801e-04 -2.58084951e+02] [-8.85377140e-03 -1.53420566e-04 -9.99960793e-01 -4.82884019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3465599949999 meters 0.052000842072829005 Centerline is valid? [True, True] Translation: X:657.95, Y:-258.00, Z:-4.83 [[-9.94790100e-01 -1.01584916e-01 8.55350958e-03 6.57954500e+02] [-1.01582172e-01 9.94826865e-01 7.55746602e-04 -2.57995108e+02] [-8.58603358e-03 -1.17074846e-04 -9.99963132e-01 -4.83118617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.406559995 meters 0.0518451051387524 Centerline is valid? [True, True] Translation: X:657.18, Y:-257.41, Z:-5.82 [[-9.99223398e-01 3.90130137e-02 5.53041869e-03 6.57180975e+02] [-3.90127210e-02 -9.99238701e-01 1.60826684e-04 -2.57408705e+02] [ 5.53248272e-03 -5.50548958e-05 9.99984694e-01 -5.81824820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4665599949999 meters 0.05181210049476912 Centerline is valid? [True, True] Translation: X:656.96, Y:-258.09, Z:-4.83 [[-9.94662339e-01 -1.02785528e-01 9.05358769e-03 6.56964055e+02] [-1.02782072e-01 9.94703538e-01 8.47401988e-04 -2.58085201e+02] [-9.09273637e-03 -8.76676574e-05 -9.99958656e-01 -4.82885848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.526559995 meters 0.0520802995216094 Centerline is valid? [True, True] Translation: X:656.93, Y:-258.01, Z:-4.83 [[-9.84320288e-01 -1.76159737e-01 9.01759648e-03 6.56927798e+02] [-1.76153394e-01 9.84361587e-01 1.49921169e-03 -2.58014230e+02] [-9.14067632e-03 -1.12775744e-04 -9.99958217e-01 -4.82863724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5865599949999 meters 0.05213257262420582 Centerline is valid? [True, True] Translation: X:656.80, Y:-257.37, Z:-5.82 [[-9.94274896e-01 1.06729322e-01 5.12670381e-03 6.56800423e+02] [-1.06728771e-01 -9.94288099e-01 3.81746043e-04 -2.57374245e+02] [ 5.13816408e-03 -1.67606289e-04 9.99986786e-01 -5.81876201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.646559995 meters 0.05251730579615937 Centerline is valid? [True, True] Translation: X:656.83, Y:-258.03, Z:-4.83 [[-9.82324250e-01 -1.87009700e-01 8.15104008e-03 6.56832713e+02] [-1.87004684e-01 9.82358053e-01 1.37995267e-03 -2.58030477e+02] [-8.26530439e-03 -1.68721705e-04 -9.99965828e-01 -4.82780300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7065599949999 meters 0.05138456808414032 Centerline is valid? [True, True] Translation: X:656.74, Y:-257.97, Z:-4.83 [[-9.66328401e-01 -2.57202727e-01 7.49527699e-03 6.56738566e+02] [-2.57196351e-01 9.66357454e-01 1.81903959e-03 -2.57973432e+02] [-7.71097873e-03 -1.69968274e-04 -9.99970256e-01 -4.82915635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.766559995 meters 0.05150263322215228 Centerline is valid? [True, True] Translation: X:656.66, Y:-257.92, Z:-4.83 [[-9.45686241e-01 -3.25009866e-01 6.79121550e-03 6.56658004e+02] [-3.25002709e-01 9.45710612e-01 2.16285894e-03 -2.57917962e+02] [-7.12547505e-03 -1.61777495e-04 -9.99974600e-01 -4.82906440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8265599949999 meters 0.05162745486678796 Centerline is valid? [True, True] Translation: X:656.53, Y:-257.89, Z:-4.83 [[-9.20514721e-01 -3.90669261e-01 5.49332399e-03 6.56530454e+02] [-3.90663257e-01 9.20531100e-01 2.17099582e-03 -2.57887368e+02] [-5.90491690e-03 -1.47606232e-04 -9.99982555e-01 -4.83107626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.886559995 meters 0.05180322947226374 Centerline is valid? [True, True] Translation: X:656.41, Y:-257.86, Z:-4.83 [[-8.90111169e-01 -4.55709582e-01 5.55725145e-03 6.56410767e+02] [-4.55701743e-01 8.90128504e-01 2.67714569e-03 -2.57857730e+02] [-6.16666887e-03 -1.49491896e-04 -9.99980975e-01 -4.83008876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9465599949999 meters 0.05158639228341154 Centerline is valid? [True, True] Translation: X:656.30, Y:-257.83, Z:-4.83 [[-8.54125703e-01 -5.20033207e-01 5.89461717e-03 6.56302496e+02] [-5.20022113e-01 8.54146028e-01 3.40072226e-03 -2.57831791e+02] [-6.80335235e-03 -1.60686984e-04 -9.99976844e-01 -4.83104105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.006559995 meters 0.051436124026440634 Centerline is valid? [True, True] Translation: X:656.14, Y:-257.85, Z:-4.83 [[-8.13702886e-01 -5.81229238e-01 7.75796127e-03 6.56139031e+02] [-5.81205013e-01 8.13739846e-01 5.30994121e-03 -2.57845405e+02] [-9.39925529e-03 -1.88251492e-04 -9.99955808e-01 -4.82941669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0665599949999 meters 0.05193964920181578 Centerline is valid? [True, True] Translation: X:656.00, Y:-257.86, Z:-4.83 [[-7.68013416e-01 -6.40379776e-01 8.31474572e-03 6.55995498e+02] [-6.40345319e-01 7.68058393e-01 6.64663511e-03 -2.57857793e+02] [-1.06425809e-02 -2.19603558e-04 -9.99943342e-01 -4.82860480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.126559995 meters 0.052026116902023745 Centerline is valid? [True, True] Translation: X:655.83, Y:-257.90, Z:-4.83 [[-7.18553945e-01 -6.95436498e-01 6.95021783e-03 6.55831778e+02] [-6.95406889e-01 7.18587524e-01 6.42107424e-03 -2.57899507e+02] [-9.45978920e-03 -2.19341131e-04 -9.99955231e-01 -4.83018435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1865599949999 meters 0.0520608281719101 Centerline is valid? [True, True] Translation: X:655.67, Y:-257.96, Z:-4.83 [[-6.65248141e-01 -7.46602468e-01 5.44656124e-03 6.55668796e+02] [-7.46579974e-01 6.65270404e-01 5.79928360e-03 -2.57955992e+02] [-7.95319545e-03 -2.08330908e-04 -9.99968351e-01 -4.83192189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.246559995 meters 0.05194931242348599 Centerline is valid? [True, True] Translation: X:655.49, Y:-258.04, Z:-4.83 [[-6.08486313e-01 -7.93553507e-01 4.15187266e-03 6.55494071e+02] [-7.93537176e-01 6.08500447e-01 5.09468372e-03 -2.58044505e+02] [-6.56932050e-03 -1.94619995e-04 -9.99978403e-01 -4.83416735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3065599949999 meters 0.051995240686117036 Centerline is valid? [True, True] Translation: X:655.31, Y:-258.18, Z:-4.84 [[-5.49514471e-01 -8.35475888e-01 3.72637036e-03 6.55305483e+02] [-8.35458943e-01 5.49527074e-01 5.32444718e-03 -2.58177150e+02] [-6.49618864e-03 -1.87368661e-04 -9.99978882e-01 -4.83520805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.366559995 meters 0.05200477082562471 Centerline is valid? [True, True] Translation: X:655.15, Y:-258.28, Z:-4.83 [[-4.87237387e-01 -8.73262931e-01 3.40320253e-03 6.55153338e+02] [-8.73244198e-01 4.87249238e-01 5.72289166e-03 -2.58276528e+02] [-6.65579698e-03 -1.83420086e-04 -9.99977833e-01 -4.83450058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4265599949999 meters 0.052207479841758886 Centerline is valid? [True, True] Translation: X:654.99, Y:-258.42, Z:-4.83 [[-4.21846323e-01 -9.06660779e-01 3.45120413e-03 6.54988445e+02] [-9.06634066e-01 4.21860397e-01 6.96243208e-03 -2.58420331e+02] [-7.76849045e-03 -1.91902863e-04 -9.99969806e-01 -4.83241958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.486559995 meters 0.05245036079265481 Centerline is valid? [True, True] Translation: X:654.83, Y:-258.60, Z:-4.83 [[-3.54711792e-01 -9.34970524e-01 3.10858251e-03 6.54829513e+02] [-9.34939174e-01 3.54725362e-01 7.65886900e-03 -2.58601160e+02] [-8.26350982e-03 -1.89644420e-04 -9.99965839e-01 -4.83440780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5465599949999 meters 0.05182018468490602 Centerline is valid? [True, True] Translation: X:654.68, Y:-258.80, Z:-4.84 [[-2.87278015e-01 -9.57844131e-01 2.44193460e-03 6.54683614e+02] [-9.57814276e-01 2.87288346e-01 7.56429004e-03 -2.58795334e+02] [-7.94695017e-03 -1.65865594e-04 -9.99968409e-01 -4.83579003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.606559995 meters 0.051577961680228504 Centerline is valid? [True, True] Translation: X:654.55, Y:-259.02, Z:-4.84 [[-2.19550911e-01 -9.75599308e-01 1.84048146e-03 6.54546865e+02] [-9.75569988e-01 2.19558584e-01 7.56486380e-03 -2.59019877e+02] [-7.78436939e-03 -1.34645735e-04 -9.99969692e-01 -4.83533890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.666559995 meters 0.05182797841534008 Centerline is valid? [True, True] Translation: X:654.43, Y:-259.26, Z:-4.84 [[-1.50091675e-01 -9.88671158e-01 1.35308285e-03 6.54427220e+02] [-9.88637245e-01 1.50097735e-01 8.18948207e-03 -2.59260665e+02] [-8.29979939e-03 -1.08535014e-04 -9.99965550e-01 -4.83582265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.726559995 meters 0.052299900323101806 Centerline is valid? [True, True] Translation: X:654.32, Y:-259.53, Z:-4.84 [[-8.17227273e-02 -9.96654757e-01 8.31448417e-04 6.54323910e+02] [-9.96610149e-01 8.17269361e-02 9.42972931e-03 -2.59529663e+02] [-9.46613630e-03 -5.80067344e-05 -9.99955193e-01 -4.83730881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.786559995 meters 0.052017060498992046 Centerline is valid? [True, True] Translation: X:654.26, Y:-259.28, Z:-4.84 [[-1.02096599e-02 -9.99947873e-01 1.16668120e-04 6.54257210e+02] [-9.99902917e-01 1.02103072e-02 9.48193667e-03 -2.59282463e+02] [-9.48263363e-03 -1.98494450e-05 -9.99955039e-01 -4.83718620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8465599949999 meters 0.05248453692461995 Centerline is valid? [True, True] Translation: X:654.21, Y:-260.17, Z:-4.84 [[ 5.93600154e-02 -9.98236486e-01 -5.53288118e-04 6.54207207e+02] [-9.98193264e-01 -5.93625939e-02 9.28928195e-03 -2.60165742e+02] [-9.30574479e-03 8.76552744e-07 -9.99956701e-01 -4.83731691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.906559995 meters 0.05266442746503084 Centerline is valid? [True, True] Translation: X:654.15, Y:-260.42, Z:-4.84 [[ 1.32240958e-01 -9.91217014e-01 -1.07721415e-03 6.54151895e+02] [-9.91183427e-01 -1.32245344e-01 8.15978974e-03 -2.60424014e+02] [-8.23057898e-03 -1.13415939e-05 -9.99966128e-01 -4.84073988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9665599949999 meters 0.05219337003485736 Centerline is valid? [True, True] Translation: X:654.14, Y:-260.78, Z:-4.84 [[ 2.07156057e-01 -9.78306782e-01 -1.48618865e-03 6.54139625e+02] [-9.78280267e-01 -2.07161384e-01 7.20284375e-03 -2.60780262e+02] [-7.35447179e-03 -3.82036852e-05 -9.99972955e-01 -4.84015105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.026559995 meters 0.05253073903262743 Centerline is valid? [True, True] Translation: X:654.11, Y:-261.00, Z:-4.84 [[ 2.83543447e-01 -9.58956867e-01 -2.20030508e-03 6.54114738e+02] [-9.58926120e-01 -2.83551976e-01 7.67936822e-03 -2.60997735e+02] [-7.98808374e-03 -6.75045267e-05 -9.99968092e-01 -4.84116863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0865599949999 meters 0.052492739961904886 Centerline is valid? [True, True] Translation: X:654.05, Y:-261.06, Z:-4.84 [[ 3.60761034e-01 -9.32651437e-01 -3.57389416e-03 6.54049598e+02] [-9.32602182e-01 -3.60778715e-01 9.58584996e-03 -2.61064647e+02] [-1.02296417e-02 -1.25179650e-04 -9.99947668e-01 -4.84169058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.146559995 meters 0.052185344237414374 Centerline is valid? [True, True] Translation: X:654.09, Y:-261.37, Z:-4.84 [[ 4.32677750e-01 -9.01536808e-01 -4.62051765e-03 6.54093238e+02] [-9.01481019e-01 -4.32702385e-01 1.00309043e-02 -2.61372437e+02] [-1.10425385e-02 -1.74840149e-04 -9.99939014e-01 -4.84107407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2065599949999 meters 0.052368966429939816 Centerline is valid? [True, True] Translation: X:654.12, Y:-261.60, Z:-4.84 [[ 5.01537795e-01 -8.65121598e-01 -4.94587696e-03 6.54120804e+02] [-8.65075317e-01 -5.01562137e-01 8.95097228e-03 -2.61601268e+02] [-1.02243441e-02 -2.10694818e-04 -9.99947708e-01 -4.84049880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.266559995 meters 0.05193907154130259 Centerline is valid? [True, True] Translation: X:654.15, Y:-261.80, Z:-4.84 [[ 5.63941551e-01 -8.25802170e-01 -4.54998437e-03 6.54152442e+02] [-8.25772506e-01 -5.63959873e-01 7.00211157e-03 -2.61800096e+02] [-8.34836754e-03 -1.91529662e-04 -9.99965133e-01 -4.84222136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3265599949999 meters 0.05161646255089113 Centerline is valid? [True, True] Translation: X:654.21, Y:-262.01, Z:-4.84 [[ 6.22832115e-01 -7.82346360e-01 -3.78537480e-03 6.54207846e+02] [-7.82330242e-01 -6.22843595e-01 5.02467946e-03 -2.62006632e+02] [-6.28873613e-03 -1.68118551e-04 -9.99980212e-01 -4.84403952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.386559995 meters 0.05127374813737475 Centerline is valid? [True, True] Translation: X:653.85, Y:-261.71, Z:-4.84 [[ 6.80318615e-01 -7.32903986e-01 -4.28139228e-03 6.53850260e+02] [-7.32887787e-01 -6.80332063e-01 4.87608903e-03 -2.61711637e+02] [-6.48647352e-03 -1.79514024e-04 -9.99978946e-01 -4.84446733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4465599949999 meters 0.052096255858749926 Centerline is valid? [True, True] Translation: X:654.23, Y:-262.22, Z:-4.84 [[ 7.33059200e-01 -6.80135359e-01 -6.33259997e-03 6.54228239e+02] [-6.80107378e-01 -7.33086520e-01 6.17330726e-03 -2.62218874e+02] [-8.84102822e-03 -2.18551723e-04 -9.99960893e-01 -4.84231112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.506559995 meters 0.05190908417206856 Centerline is valid? [True, True] Translation: X:654.20, Y:-262.30, Z:-4.84 [[ 7.84637293e-01 -6.19906807e-01 -7.73752076e-03 6.54198996e+02] [-6.19873461e-01 -7.84675402e-01 6.43471909e-03 -2.62303543e+02] [-1.00603684e-02 -2.52636798e-04 -9.99949361e-01 -4.84080561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5665599949999 meters 0.052359927093230334 Centerline is valid? [True, True] Translation: X:654.18, Y:-262.39, Z:-4.84 [[ 8.30257795e-01 -5.57294472e-01 -9.73990758e-03 6.54179668e+02] [-5.57252311e-01 -8.30314880e-01 6.86021183e-03 -2.62388184e+02] [-1.19103483e-02 -2.68158336e-04 -9.99929033e-01 -4.83974977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.626559995 meters 0.05276046507076893 Centerline is valid? [True, True] Translation: X:654.17, Y:-262.47, Z:-4.84 [[ 8.69890992e-01 -4.93119186e-01 -1.10964110e-02 6.54167736e+02] [-4.93075472e-01 -8.69961728e-01 6.57042753e-03 -2.62470779e+02] [-1.28934568e-02 -2.44187608e-04 -9.99916846e-01 -4.83887986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6865599949999 meters 0.052004328414811125 Centerline is valid? [True, True] Translation: X:654.16, Y:-262.55, Z:-4.84 [[ 9.02580553e-01 -4.30398764e-01 -1.02591206e-02 6.54164406e+02] [-4.30369148e-01 -9.02638844e-01 5.05103322e-03 -2.62550791e+02] [-1.14342392e-02 -1.43755361e-04 -9.99934617e-01 -4.84156617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.746559995 meters 0.05265568535721252 Centerline is valid? [True, True] Translation: X:654.17, Y:-262.63, Z:-4.84 [[ 9.31383057e-01 -3.63950116e-01 -8.11879953e-03 6.54167594e+02] [-3.63935479e-01 -9.31418437e-01 3.26523633e-03 -2.62630043e+02] [-8.75038271e-03 -8.64665983e-05 -9.99961711e-01 -4.84309565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8065599949999 meters 0.05212115895872445 Centerline is valid? [True, True] Translation: X:654.18, Y:-262.71, Z:-4.84 [[ 9.55451544e-01 -2.95080249e-01 -6.32406580e-03 6.54175882e+02] [-2.95073378e-01 -9.55472471e-01 2.01445395e-03 -2.62710275e+02] [-6.63689635e-03 -5.86496774e-05 -9.99977974e-01 -4.84472017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.866559995 meters 0.05281399137588123 Centerline is valid? [True, True] Translation: X:654.19, Y:-262.79, Z:-4.85 [[ 9.74123704e-01 -2.25944654e-01 -5.65890911e-03 6.54189367e+02] [-2.25940680e-01 -9.74140140e-01 1.34032765e-03 -2.62785855e+02] [-5.81541038e-03 -2.70671609e-05 -9.99983090e-01 -4.84550752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9265599949999 meters 0.05306384095795651 Centerline is valid? [True, True] Translation: X:654.21, Y:-262.88, Z:-4.84 [[ 9.88018840e-01 -1.54189575e-01 -6.65930623e-03 6.54205350e+02] [-1.54186223e-01 -9.88041282e-01 1.01691727e-03 -2.62883288e+02] [-6.73646751e-03 2.20398600e-05 -9.99977310e-01 -4.84442106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.986559995 meters 0.053552852961568115 Centerline is valid? [True, True] Translation: X:654.23, Y:-262.99, Z:-4.85 [[ 9.96832385e-01 -7.91857566e-02 -7.40354147e-03 6.54227406e+02] [-7.91839944e-02 -9.96859876e-01 5.31309019e-04 -2.62993247e+02] [-7.42236554e-03 5.66159493e-05 -9.99972452e-01 -4.84549469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0465599949999 meters 0.053734772148593894 Centerline is valid? [True, True] Translation: X:654.25, Y:-263.11, Z:-4.85 [[ 9.99968923e-01 -1.40699095e-03 -7.75716300e-03 6.54252986e+02] [-1.40747749e-03 -9.99999008e-01 -5.72632863e-05 -2.63108188e+02] [-7.75707473e-03 6.81795391e-05 -9.99969911e-01 -4.84611321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.106559995 meters 0.05335162381768874 Centerline is valid? [True, True] Translation: X:654.29, Y:-263.18, Z:-4.84 [[ 9.96990433e-01 7.71012628e-02 -8.09144379e-03 6.54285494e+02] [ 7.70981131e-02 -9.97023264e-01 -7.00927228e-04 -2.63179295e+02] [-8.12140007e-03 7.49826925e-05 -9.99967018e-01 -4.84425098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.166559995 meters 0.05330962914522888 Centerline is valid? [True, True] Translation: X:654.32, Y:-263.25, Z:-4.85 [[ 9.87808953e-01 1.55496906e-01 -7.36109416e-03 6.54323236e+02] [ 1.55492173e-01 -9.87836378e-01 -1.21439335e-03 -2.63250561e+02] [-7.46039100e-03 5.49960971e-05 -9.99972169e-01 -4.84501245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.226559995 meters 0.053873127177168044 Centerline is valid? [True, True] Translation: X:654.37, Y:-263.33, Z:-4.85 [[ 9.72115721e-01 2.34416951e-01 -6.30224664e-03 6.54369744e+02] [ 2.34411898e-01 -9.72136149e-01 -1.53920626e-03 -2.63330406e+02] [-6.48745782e-03 1.89650022e-05 -9.99978956e-01 -4.84660036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.286559995 meters 0.05302714240210439 Centerline is valid? [True, True] Translation: X:654.43, Y:-263.43, Z:-4.85 [[ 9.49283968e-01 3.14353643e-01 -6.46034937e-03 6.54427931e+02] [ 3.14346414e-01 -9.49305950e-01 -2.13184967e-03 -2.63427174e+02] [-6.80300281e-03 -7.05694119e-06 -9.99976859e-01 -4.84715639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3465599949999 meters 0.0531533336049026 Centerline is valid? [True, True] Translation: X:654.48, Y:-263.49, Z:-4.85 [[ 9.20274578e-01 3.91227443e-01 -5.98235221e-03 6.54484171e+02] [ 3.91219437e-01 -9.20294022e-01 -2.50311943e-03 -2.63491495e+02] [-6.48481199e-03 -3.68552811e-05 -9.99978973e-01 -4.84554534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.406559995 meters 0.05305461422867704 Centerline is valid? [True, True] Translation: X:654.55, Y:-263.56, Z:-4.84 [[ 8.83305501e-01 4.68774653e-01 -4.66016112e-03 6.54547296e+02] [ 4.68768672e-01 -8.83317789e-01 -2.36971219e-03 -2.63555889e+02] [-5.22726422e-03 -9.13577266e-05 -9.99986334e-01 -4.84494864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4665599949999 meters 0.05263496530995877 Centerline is valid? [True, True] Translation: X:654.61, Y:-263.60, Z:-4.84 [[ 8.42078284e-01 5.39335337e-01 -4.64298847e-03 6.54608155e+02] [ 5.39327846e-01 -8.42091077e-01 -2.84456606e-03 -2.63602994e+02] [-5.44399416e-03 -1.08745667e-04 -9.99985175e-01 -4.84466206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.526559995 meters 0.05225837863958929 Centerline is valid? [True, True] Translation: X:654.68, Y:-263.65, Z:-4.84 [[ 7.94356628e-01 6.07427586e-01 -5.41063697e-03 6.54675948e+02] [ 6.07414685e-01 -7.94375042e-01 -3.96134733e-03 -2.63647746e+02] [-6.70430661e-03 -1.39777847e-04 -9.99977516e-01 -4.84313387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5865599949999 meters 0.05257717494330533 Centerline is valid? [True, True] Translation: X:654.75, Y:-263.69, Z:-4.84 [[ 7.41054885e-01 6.71415349e-01 -6.25189960e-03 6.54750222e+02] [ 6.71393562e-01 -7.41081233e-01 -5.41213636e-03 -2.63689754e+02] [-8.26695689e-03 -1.86795046e-04 -9.99965811e-01 -4.84271905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.646559995 meters 0.052699100138395565 Centerline is valid? [True, True] Translation: X:654.83, Y:-263.73, Z:-4.84 [[ 6.84381942e-01 7.29095127e-01 -6.45399887e-03 6.54829393e+02] [ 7.29065680e-01 -6.84412338e-01 -6.55635774e-03 -2.63727921e+02] [-9.19740493e-03 -2.18336235e-04 -9.99957679e-01 -4.84301743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7065599949999 meters 0.05220061006639253 Centerline is valid? [True, True] Translation: X:654.91, Y:-263.76, Z:-4.84 [[ 6.23666843e-01 7.81669505e-01 -5.69685442e-03 6.54913509e+02] [ 7.81640236e-01 -6.23692818e-01 -6.76832802e-03 -2.63761399e+02] [-8.84368280e-03 -2.31708865e-04 -9.99960867e-01 -4.84353891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.766559995 meters 0.05226711932127592 Centerline is valid? [True, True] Translation: X:655.00, Y:-263.79, Z:-4.84 [[ 5.60786184e-01 8.27947881e-01 -4.60031134e-03 6.54997946e+02] [ 8.27923132e-01 -5.60805011e-01 -6.40527873e-03 -2.63787582e+02] [-7.88311460e-03 -2.16712359e-04 -9.99968904e-01 -4.84410749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8265599949999 meters 0.05260470612866839 Centerline is valid? [True, True] Translation: X:655.08, Y:-263.80, Z:-4.84 [[ 4.94379552e-01 8.69237469e-01 -3.88351595e-03 6.55082378e+02] [ 8.69213916e-01 -4.94394760e-01 -6.40233188e-03 -2.63804456e+02] [-7.48513669e-03 -2.10424137e-04 -9.99971964e-01 -4.84449157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.886559995 meters 0.0522149384044923 Centerline is valid? [True, True] Translation: X:655.17, Y:-263.82, Z:-4.84 [[ 4.23602963e-01 9.05840505e-01 -3.67547813e-03 6.55166159e+02] [ 9.05810999e-01 -4.23618846e-01 -7.31489610e-03 -2.63815782e+02] [-8.18313098e-03 -2.30676854e-04 -9.99966491e-01 -4.84319676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9465599949999 meters 0.052454808431224596 Centerline is valid? [True, True] Translation: X:655.25, Y:-263.82, Z:-4.84 [[ 3.48815164e-01 9.37186537e-01 -3.06218391e-03 6.55250866e+02] [ 9.37156517e-01 -3.48828514e-01 -7.50536508e-03 -2.63819765e+02] [-8.10210417e-03 -2.51760455e-04 -9.99967146e-01 -4.84425114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.006559995 meters 0.05265468764680812 Centerline is valid? [True, True] Translation: X:655.34, Y:-263.82, Z:-4.84 [[ 2.73060179e-01 9.61994267e-01 -2.27342698e-03 6.55339895e+02] [ 9.61968159e-01 -2.73069528e-01 -7.09177773e-03 -2.63818951e+02] [-7.44305315e-03 -2.50482276e-04 -9.99972269e-01 -4.84441034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0665599949999 meters 0.052995524120169606 Centerline is valid? [True, True] Translation: X:655.43, Y:-263.81, Z:-4.84 [[ 1.96544824e-01 9.80493152e-01 -1.81932726e-03 6.55428859e+02] [ 9.80462657e-01 -1.96553069e-01 -7.73758362e-03 -2.63811830e+02] [-7.94424211e-03 -2.63000421e-04 -9.99968409e-01 -4.84285318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.126559995 meters 0.05276426311555854 Centerline is valid? [True, True] Translation: X:655.51, Y:-263.79, Z:-4.84 [[ 1.20097134e-01 9.92761491e-01 -1.13997264e-03 6.55506662e+02] [ 9.92734175e-01 -1.20102291e-01 -7.36871646e-03 -2.63794959e+02] [-7.45229127e-03 -2.46728074e-04 -9.99972201e-01 -4.84424336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1865599949999 meters 0.05177726162725916 Centerline is valid? [True, True] Translation: X:655.59, Y:-263.77, Z:-4.84 [[ 4.40317504e-02 9.99030001e-01 -5.12543525e-04 6.55589098e+02] [ 9.99007838e-01 -4.40341895e-02 -6.65802411e-03 -2.63773252e+02] [-6.67413527e-03 -2.18870543e-04 -9.99977704e-01 -4.84456858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.246559995 meters 0.05129956128302982 Centerline is valid? [True, True] Translation: X:655.67, Y:-263.75, Z:-4.84 [[-3.26719146e-02 9.99466130e-01 1.31696376e-05 6.55670123e+02] [ 9.99442771e-01 3.26712411e-02 -6.83643503e-03 -2.63746235e+02] [-6.83321554e-03 -2.10197122e-04 -9.99976631e-01 -4.84365142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3065599949999 meters 0.05187399983183118 Centerline is valid? [True, True] Translation: X:655.74, Y:-263.71, Z:-4.84 [[-1.10237577e-01 9.93905067e-01 6.27353270e-04 6.55737359e+02] [ 9.93875780e-01 1.10239147e-01 -7.63313288e-03 -2.63714089e+02] [-7.65576834e-03 -2.17946856e-04 -9.99970670e-01 -4.84315673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.366559995 meters 0.052148792758425044 Centerline is valid? [True, True] Translation: X:655.81, Y:-263.68, Z:-4.84 [[-1.87612139e-01 9.82242357e-01 1.27946934e-03 6.55807746e+02] [ 9.82210767e-01 1.87616371e-01 -7.88077391e-03 -2.63675044e+02] [-7.98087933e-03 -2.21820293e-04 -9.99968128e-01 -4.84289410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4265599949999 meters 0.05261062520424993 Centerline is valid? [True, True] Translation: X:655.88, Y:-263.63, Z:-4.84 [[-2.63089673e-01 9.64769501e-01 1.90607099e-03 6.55877845e+02] [ 9.64737923e-01 2.63096490e-01 -7.80878155e-03 -2.63629620e+02] [-8.03515487e-03 -2.15550818e-04 -9.99967694e-01 -4.84354506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.486559995 meters 0.05210473282149596 Centerline is valid? [True, True] Translation: X:655.94, Y:-263.58, Z:-4.84 [[-3.36426923e-01 9.41707173e-01 2.12739993e-03 6.55943007e+02] [ 9.41684633e-01 3.36433595e-01 -6.51828197e-03 -2.63580758e+02] [-6.85404169e-03 -1.89585720e-04 -9.99976493e-01 -4.84435829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5465599949999 meters 0.05164269896799482 Centerline is valid? [True, True] Translation: X:656.01, Y:-263.52, Z:-4.85 [[-4.08051529e-01 9.12955752e-01 2.39694588e-03 6.56005561e+02] [ 9.12937394e-01 4.08058531e-01 -5.79216987e-03 -2.63524966e+02] [-6.26608901e-03 -1.75242244e-04 -9.99980353e-01 -4.84504431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.606559995 meters 0.051802099170057105 Centerline is valid? [True, True] Translation: X:656.06, Y:-263.47, Z:-4.84 [[-4.77590877e-01 8.78578274e-01 2.67778368e-03 6.56064305e+02] [ 8.78562453e-01 4.77598355e-01 -5.27511618e-03 -2.63466150e+02] [-5.91350755e-03 -1.66747161e-04 -9.99982501e-01 -4.84427665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.666559995 meters 0.05171300124134099 Centerline is valid? [True, True] Translation: X:656.11, Y:-263.41, Z:-4.84 [[-5.45284048e-01 8.38246107e-01 2.96167332e-03 6.56114615e+02] [ 8.38232041e-01 5.45292065e-01 -4.85898165e-03 -2.63405809e+02] [-5.68799941e-03 -1.66955712e-04 -9.99983809e-01 -4.84385818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.726559995 meters 0.05157289990837892 Centerline is valid? [True, True] Translation: X:656.17, Y:-263.33, Z:-4.84 [[-6.10443363e-01 7.92053606e-01 3.15991986e-03 6.56168088e+02] [ 7.92041504e-01 6.10451518e-01 -4.38174742e-03 -2.63333641e+02] [-5.39955672e-03 -1.72020953e-04 -9.99985407e-01 -4.84451335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.786559995 meters 0.05116263998806324 Centerline is valid? [True, True] Translation: X:656.22, Y:-263.26, Z:-4.84 [[-6.72824678e-01 7.39789025e-01 4.37619747e-03 6.56216636e+02] [ 7.39771323e-01 6.72838878e-01 -5.12193502e-03 -2.63258032e+02] [-6.73362711e-03 -2.08778887e-04 -9.99977307e-01 -4.84303938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8465599949999 meters 0.051642202059336 Centerline is valid? [True, True] Translation: X:656.25, Y:-263.18, Z:-4.84 [[-7.30181700e-01 6.83233830e-01 5.12036194e-03 6.56253280e+02] [ 6.83214766e-01 7.30199616e-01 -5.10914331e-03 -2.63184292e+02] [-7.22962587e-03 -2.32296062e-04 -9.99973839e-01 -4.84292902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.906559995 meters 0.051703086112585554 Centerline is valid? [True, True] Translation: X:656.21, Y:-263.05, Z:-4.84 [[-7.77278162e-01 6.29132066e-01 5.61267325e-03 6.56213783e+02] [ 6.29113488e-01 7.77298392e-01 -4.84035815e-03 -2.63050701e+02] [-7.40794642e-03 -2.31296237e-04 -9.99972534e-01 -4.84405089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9665599949999 meters 0.05095493983674304 Centerline is valid? [True, True] Translation: X:656.29, Y:-263.01, Z:-4.84 [[-8.20455599e-01 5.71678277e-01 6.04630375e-03 6.56286419e+02] [ 5.71660572e-01 8.20477842e-01 -4.50558577e-03 -2.63011459e+02] [-7.53660377e-03 -2.40199611e-04 -9.99971571e-01 -4.84317694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.026559995 meters 0.05120732922394617 Centerline is valid? [True, True] Translation: X:656.30, Y:-262.93, Z:-4.84 [[-8.59214811e-01 5.11569782e-01 6.80193863e-03 6.56299357e+02] [ 5.11551385e-01 8.59241697e-01 -4.34595169e-03 -2.62925687e+02] [-8.06776685e-03 -2.54564937e-04 -9.99967423e-01 -4.84207558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0865599949999 meters 0.05125607132298502 Centerline is valid? [True, True] Translation: X:656.31, Y:-262.85, Z:-4.84 [[-8.93333047e-01 4.49329485e-01 7.68640552e-03 6.56312348e+02] [ 4.49310257e-01 8.93366074e-01 -4.16548750e-03 -2.62849957e+02] [-8.73845027e-03 -2.67586807e-04 -9.99961783e-01 -4.84252683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.146559995 meters 0.05175770378129263 Centerline is valid? [True, True] Translation: X:656.63, Y:-262.27, Z:-5.83 [[-8.39118133e-01 -5.43927025e-01 4.91417890e-03 6.56625221e+02] [ 5.43917816e-01 -8.39132523e-01 -3.16523025e-03 -2.62273694e+02] [ 5.84530161e-03 1.69073568e-05 9.99982916e-01 -5.83396064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2065599949999 meters 0.05140500963194961 Centerline is valid? [True, True] Translation: X:656.24, Y:-262.81, Z:-4.84 [[-8.96020003e-01 4.43939890e-01 8.09500707e-03 6.56239836e+02] [ 4.43918751e-01 8.96056519e-01 -4.34242073e-03 -2.62809674e+02] [-9.18135764e-03 -2.97370407e-04 -9.99957806e-01 -4.84218788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.266559995 meters 0.05124016399287283 Centerline is valid? [True, True] Translation: X:656.19, Y:-262.70, Z:-4.84 [[-9.24303608e-01 3.81578478e-01 7.79135689e-03 6.56185914e+02] [ 3.81562522e-01 9.24336409e-01 -3.49934826e-03 -2.62696272e+02] [-8.53711083e-03 -2.61570435e-04 -9.99963524e-01 -4.84307770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3265599949999 meters 0.051113116538364194 Centerline is valid? [True, True] Translation: X:656.12, Y:-262.59, Z:-4.84 [[-9.48113286e-01 3.17844098e-01 7.50513246e-03 6.56121845e+02] [ 3.17832236e-01 9.48142963e-01 -2.75535978e-03 -2.62585051e+02] [-7.99171338e-03 -2.27020187e-04 -9.99968040e-01 -4.84246363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.386559995 meters 0.05130665144951053 Centerline is valid? [True, True] Translation: X:656.05, Y:-262.48, Z:-4.84 [[-9.66861291e-01 2.55183288e-01 7.79315939e-03 6.56046824e+02] [ 2.55173466e-01 9.66892681e-01 -2.24638113e-03 -2.62482123e+02] [-8.10838769e-03 -1.83331464e-04 -9.99967110e-01 -4.84182027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4465599949999 meters 0.05151144569418646 Centerline is valid? [True, True] Translation: X:655.94, Y:-262.38, Z:-4.84 [[-9.81371684e-01 1.91877023e-01 9.63457878e-03 6.55944035e+02] [ 1.91866347e-01 9.81418966e-01 -2.02914097e-03 -2.62383767e+02] [-9.84490388e-03 -1.42790064e-04 -9.99951528e-01 -4.84202877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.506559995 meters 0.0510435117205512 Centerline is valid? [True, True] Translation: X:656.07, Y:-262.33, Z:-4.84 [[-9.92238491e-01 1.23951280e-01 9.94264777e-03 6.56067985e+02] [ 1.23943892e-01 9.92288298e-01 -1.35827696e-03 -2.62325520e+02] [-1.00343332e-02 -1.15404219e-04 -9.99949648e-01 -4.84054679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5665599949999 meters 0.05146325405744315 Centerline is valid? [True, True] Translation: X:655.90, Y:-261.63, Z:-5.84 [[-9.81259622e-01 -1.92602793e-01 5.80681867e-03 6.55896243e+02] [ 1.92598558e-01 -9.81276793e-01 -1.28513468e-03 -2.61628505e+02] [ 5.94561693e-03 -1.42665866e-04 9.99982314e-01 -5.83558286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.626559995 meters 0.05156423099449139 Centerline is valid? [True, True] Translation: X:655.70, Y:-262.27, Z:-4.84 [[-9.92393920e-01 1.22817376e-01 8.37855798e-03 6.55697018e+02] [ 1.22812249e-01 9.92429284e-01 -1.12567141e-03 -2.62274490e+02] [-8.45337831e-03 -8.81199194e-05 -9.99964266e-01 -4.84338217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6865599949999 meters 0.051687006223645256 Centerline is valid? [True, True] Translation: X:655.75, Y:-261.61, Z:-5.84 [[-9.82131182e-01 -1.88112286e-01 5.66653506e-03 6.55746547e+02] [ 1.88108658e-01 -9.82147525e-01 -1.17145548e-03 -2.61610396e+02] [ 5.78573855e-03 -8.45986563e-05 9.99983259e-01 -5.83510807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.746559995 meters 0.051759616033387953 Centerline is valid? [True, True] Translation: X:655.53, Y:-262.26, Z:-4.85 [[-9.92938498e-01 1.18390552e-01 7.53771593e-03 6.55531566e+02] [ 1.18386424e-01 9.92967103e-01 -9.93073144e-04 -2.62255130e+02] [-7.60227443e-03 -9.36973243e-05 -9.99971098e-01 -4.84514110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8065599949999 meters 0.05169883053793472 Centerline is valid? [True, True] Translation: X:655.62, Y:-261.60, Z:-5.83 [[-9.82458823e-01 -1.86442566e-01 3.71904886e-03 6.55618641e+02] [ 1.86440608e-01 -9.82465849e-01 -8.69551411e-04 -2.61599325e+02] [ 3.81595989e-03 -1.60916725e-04 9.99992706e-01 -5.83393955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.866559995 meters 0.05112097427083549 Centerline is valid? [True, True] Translation: X:655.45, Y:-262.25, Z:-4.85 [[-9.93644979e-01 1.12450483e-01 4.95419514e-03 6.55449727e+02] [ 1.12448566e-01 9.93657324e-01 -6.64729779e-04 -2.62246219e+02] [-4.99752147e-03 -1.03413268e-04 -9.99987507e-01 -4.84755465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9265599949999 meters 0.05085322015349198 Centerline is valid? [True, True] Translation: X:655.76, Y:-262.19, Z:-4.85 [[-9.99287380e-01 3.73816437e-02 5.22931025e-03 6.55756451e+02] [ 3.73805545e-02 9.99301056e-01 -3.05896492e-04 -2.62187753e+02] [-5.23709017e-03 -1.10203987e-04 -9.99986280e-01 -4.84699591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.986559995 meters 0.0514681726262339 Centerline is valid? [True, True] Translation: X:655.62, Y:-262.09, Z:-4.85 [[-9.99426731e-01 -3.35084803e-02 4.83646662e-03 6.55623967e+02] [-3.35085860e-02 9.99438428e-01 5.91857544e-05 -2.62091101e+02] [-4.83573382e-03 -1.02911333e-04 -9.99988302e-01 -4.84738285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0465599949999 meters 0.05206845569535684 Centerline is valid? [True, True] Translation: X:654.61, Y:-262.07, Z:-4.85 [[-9.94543998e-01 -1.04228192e-01 4.32657374e-03 6.54607780e+02] [-1.04227651e-01 9.94553404e-01 3.51103867e-04 -2.62071412e+02] [-4.33960356e-03 -1.01760372e-04 -9.99990579e-01 -4.84727399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.106559995 meters 0.051133553274391806 Centerline is valid? [True, True] Translation: X:655.10, Y:-261.92, Z:-4.85 [[-9.83550828e-01 -1.80566146e-01 4.86171544e-03 6.55099714e+02] [-1.80564510e-01 9.83562837e-01 7.76980617e-04 -2.61918223e+02] [-4.92209902e-03 -1.13653336e-04 -9.99987880e-01 -4.84857562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.166559995 meters 0.05126339339184453 Centerline is valid? [True, True] Translation: X:654.39, Y:-261.37, Z:-5.83 [[-9.94368947e-01 1.05921057e-01 3.33560907e-03 6.54385391e+02] [-1.05920425e-01 -9.94374542e-01 3.66037999e-04 -2.61372349e+02] [ 3.35561587e-03 1.06676909e-05 9.99994370e-01 -5.83475135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.226559995 meters 0.051198224473400326 Centerline is valid? [True, True] Translation: X:654.47, Y:-262.02, Z:-4.85 [[-9.81452203e-01 -1.91562328e-01 7.44635533e-03 6.54466772e+02] [-1.91558029e-01 9.81480438e-01 1.29300594e-03 -2.62015665e+02] [-7.55614331e-03 -1.57385619e-04 -9.99971440e-01 -4.84608455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.286559995 meters 0.05155003663286159 Centerline is valid? [True, True] Translation: X:654.24, Y:-261.41, Z:-5.84 [[-9.94620943e-01 1.03451223e-01 5.19850214e-03 6.54235538e+02] [-1.03449952e-01 -9.94634528e-01 5.13390334e-04 -2.61413052e+02] [ 5.22372058e-03 -2.71560211e-05 9.99986356e-01 -5.83767714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3465599949999 meters 0.05123786164556142 Centerline is valid? [True, True] Translation: X:654.25, Y:-262.05, Z:-4.85 [[-9.78823058e-01 -2.04609819e-01 6.34371815e-03 6.54248382e+02] [-2.04606873e-01 9.78843593e-01 1.11696120e-03 -2.62051309e+02] [-6.43804910e-03 -2.04660953e-04 -9.99979255e-01 -4.84877515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.406559995 meters 0.051660414133320696 Centerline is valid? [True, True] Translation: X:654.18, Y:-261.98, Z:-4.85 [[-9.61061441e-01 -2.76295202e-01 4.67629271e-03 6.54178222e+02] [-2.76292875e-01 9.61072800e-01 1.14922094e-03 -2.61982468e+02] [-4.81178196e-03 -1.87554426e-04 -9.99988406e-01 -4.84952946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4665599949999 meters 0.05195766165873159 Centerline is valid? [True, True] Translation: X:654.11, Y:-261.92, Z:-4.85 [[-9.37768734e-01 -3.47243762e-01 3.40183184e-03 6.54112758e+02] [-3.47242141e-01 9.37774888e-01 1.07481812e-03 -2.61918097e+02] [-3.56337636e-03 -1.73328544e-04 -9.99993636e-01 -4.85097479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.526559995 meters 0.05262686718161245 Centerline is valid? [True, True] Translation: X:654.04, Y:-261.86, Z:-4.85 [[-9.09435715e-01 -4.15825658e-01 3.96262309e-03 6.54039683e+02] [-4.15822652e-01 9.09444326e-01 1.59344192e-03 -2.61857347e+02] [-4.26637912e-03 -1.98615452e-04 -9.99990879e-01 -4.84969783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5865599949999 meters 0.05257865042271793 Centerline is valid? [True, True] Translation: X:653.90, Y:-261.83, Z:-4.85 [[-8.77208824e-01 -4.80089389e-01 4.34254597e-03 6.53899282e+02] [-4.80084700e-01 8.77219547e-01 2.13266983e-03 -2.61830524e+02] [-4.83323836e-03 -2.13993085e-04 -9.99988297e-01 -4.84914357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.646559995 meters 0.05225033800153847 Centerline is valid? [True, True] Translation: X:653.77, Y:-261.81, Z:-4.85 [[-8.39977559e-01 -5.42597561e-01 5.05840420e-03 6.53774990e+02] [-5.42589461e-01 8.39992754e-01 2.97509006e-03 -2.61812884e+02] [-5.86329949e-03 -2.45627926e-04 -9.99982781e-01 -4.84867031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7065599949999 meters 0.05119450683052267 Centerline is valid? [True, True] Translation: X:653.63, Y:-261.82, Z:-4.85 [[-7.98346168e-01 -6.02159534e-01 6.87682836e-03 6.53626975e+02] [-6.02140560e-01 7.98375723e-01 4.79064587e-03 -2.61820126e+02] [-8.37502591e-03 -3.16223507e-04 -9.99964879e-01 -4.84832677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.766559995 meters 0.05195408533696831 Centerline is valid? [True, True] Translation: X:653.47, Y:-261.84, Z:-4.85 [[-7.53232243e-01 -6.57709350e-01 7.72004112e-03 6.53473219e+02] [-6.57679505e-01 7.53271723e-01 6.27537109e-03 -2.61835056e+02] [-9.94265892e-03 -3.50500987e-04 -9.99950509e-01 -4.84722436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8265599949999 meters 0.051298148224856094 Centerline is valid? [True, True] Translation: X:653.31, Y:-261.88, Z:-4.85 [[-7.06464827e-01 -7.07710470e-01 7.30335912e-03 6.53306115e+02] [-7.07677171e-01 7.06502507e-01 6.87234665e-03 -2.61881082e+02] [-1.00234732e-02 -3.13349331e-04 -9.99949715e-01 -4.84787160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.886559995 meters 0.05155118296963574 Centerline is valid? [True, True] Translation: X:653.11, Y:-261.97, Z:-4.85 [[-6.58002061e-01 -7.52995261e-01 5.60584883e-03 6.53110880e+02] [-7.52970799e-01 6.58025902e-01 6.07357078e-03 -2.61971066e+02] [-8.26216374e-03 -2.24618386e-04 -9.99965843e-01 -4.84746279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9465599949999 meters 0.05134848849838424 Centerline is valid? [True, True] Translation: X:652.92, Y:-262.08, Z:-4.85 [[-6.05026171e-01 -7.96194276e-01 4.24351208e-03 6.52923990e+02] [-7.96176652e-01 6.05041028e-01 5.30027841e-03 -2.62082118e+02] [-6.78755024e-03 -1.71778089e-04 -9.99976950e-01 -4.84953965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.006559995 meters 0.05155012358401109 Centerline is valid? [True, True] Translation: X:652.73, Y:-262.22, Z:-4.85 [[-5.48076145e-01 -8.36422174e-01 3.23836051e-03 6.52734186e+02] [-8.36409044e-01 5.48085694e-01 4.68857438e-03 -2.62223252e+02] [-5.69652664e-03 -1.38898246e-04 -9.99983765e-01 -4.85036068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0665599949999 meters 0.05081748511804369 Centerline is valid? [True, True] Translation: X:652.57, Y:-262.35, Z:-4.85 [[-4.84422438e-01 -8.74826030e-01 3.78405916e-03 6.52568769e+02] [-8.74801869e-01 4.84437191e-01 6.50366567e-03 -2.62348254e+02] [-7.52271501e-03 -1.59780443e-04 -9.99971691e-01 -4.84872464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.126559995 meters 0.05118428391185041 Centerline is valid? [True, True] Translation: X:652.43, Y:-262.45, Z:-4.85 [[-4.16384383e-01 -9.09180383e-01 3.88277063e-03 6.52427465e+02] [-9.09145051e-01 4.16402442e-01 8.01765941e-03 -2.62454336e+02] [-8.90629383e-03 -1.91573533e-04 -9.99960320e-01 -4.84879428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1865599949999 meters 0.05075231473354842 Centerline is valid? [True, True] Translation: X:652.27, Y:-262.62, Z:-4.85 [[-3.44220554e-01 -9.38882570e-01 3.42497970e-03 6.52269450e+02] [-9.38842674e-01 3.44237513e-01 8.65847253e-03 -2.62616050e+02] [-9.30829543e-03 -2.35092884e-04 -9.99956649e-01 -4.84777080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.246559995 meters 0.05114560463081715 Centerline is valid? [True, True] Translation: X:652.12, Y:-262.81, Z:-4.85 [[-2.71903579e-01 -9.62321463e-01 2.41765461e-03 6.52122576e+02] [-9.62290701e-01 2.71914227e-01 7.69800642e-03 -2.62805868e+02] [-8.06535149e-03 -2.33371055e-04 -9.99967447e-01 -4.84888696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3065599949999 meters 0.050963812001429236 Centerline is valid? [True, True] Translation: X:651.98, Y:-263.03, Z:-4.85 [[-1.99025028e-01 -9.79993161e-01 1.56279645e-03 6.51980967e+02] [-9.79970988e-01 1.99031043e-01 6.59599829e-03 -2.63034467e+02] [-6.77507822e-03 -2.18726443e-04 -9.99977025e-01 -4.84929159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.366559995 meters 0.05145215372444955 Centerline is valid? [True, True] Translation: X:651.85, Y:-263.28, Z:-4.85 [[-1.28354949e-01 -9.91727558e-01 1.20757635e-03 6.51854924e+02] [-9.91698564e-01 1.28360434e-01 7.58669200e-03 -2.63278506e+02] [-7.67893655e-03 -2.23762262e-04 -9.99970491e-01 -4.84772672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4265599949999 meters 0.05111759041968779 Centerline is valid? [True, True] Translation: X:651.77, Y:-263.35, Z:-4.85 [[-5.52747956e-02 -9.98470935e-01 6.99049099e-04 6.51772173e+02] [-9.98434830e-01 5.52787438e-02 8.49413770e-03 -2.63350815e+02] [-8.51979217e-03 -2.28443243e-04 -9.99963680e-01 -4.84859472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.486559995 meters 0.050955684863971853 Centerline is valid? [True, True] Translation: X:651.69, Y:-263.55, Z:-4.85 [[ 1.79598653e-02 -9.99838706e-01 7.03526375e-05 6.51685628e+02] [-9.99807814e-01 -1.79587572e-02 7.86249990e-03 -2.63554360e+02] [-7.85996828e-03 -2.11548556e-04 -9.99969088e-01 -4.84946829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5465599949999 meters 0.05106970780571329 Centerline is valid? [True, True] Translation: X:651.61, Y:-263.82, Z:-4.85 [[ 9.19337565e-02 -9.95765044e-01 -4.01093057e-04 6.51613000e+02] [-9.95744411e-01 -9.19344347e-02 6.41314110e-03 -2.63820404e+02] [-6.42285600e-03 -1.90197983e-04 -9.99979355e-01 -4.85000095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.606559995 meters 0.05114911385234914 Centerline is valid? [True, True] Translation: X:651.57, Y:-264.08, Z:-4.85 [[ 1.64519672e-01 -9.86373608e-01 -6.18351798e-04 6.51567918e+02] [-9.86362551e-01 -1.64520757e-01 4.67323713e-03 -2.64079737e+02] [-4.71128948e-03 -1.58920382e-04 -9.99988889e-01 -4.85214471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.666559995 meters 0.050670367399614995 Centerline is valid? [True, True] Translation: X:651.51, Y:-264.21, Z:-4.85 [[ 2.35493900e-01 -9.71875352e-01 -9.61032535e-04 6.51508540e+02] [-9.71864477e-01 -2.35495814e-01 4.59999148e-03 -2.64208825e+02] [-4.69693748e-03 -1.49276551e-04 -9.99988958e-01 -4.85141793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.726559995 meters 0.05114283706763881 Centerline is valid? [True, True] Translation: X:651.51, Y:-264.51, Z:-4.85 [[ 3.02122394e-01 -9.53268747e-01 -8.69075814e-04 6.51511513e+02] [-9.53263647e-01 -3.02123623e-01 3.12027966e-03 -2.64505280e+02] [-3.23703342e-03 -1.14247982e-04 -9.99994754e-01 -4.85388497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.786559995 meters 0.05105516593078343 Centerline is valid? [True, True] Translation: X:651.54, Y:-264.83, Z:-4.85 [[ 3.67513876e-01 -9.30017445e-01 -1.05010601e-03 6.51543757e+02] [-9.30012844e-01 -3.67515363e-01 2.92698593e-03 -2.64833441e+02] [-3.10807807e-03 -9.90958678e-05 -9.99995165e-01 -4.85393336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8465599949999 meters 0.0507591885893178 Centerline is valid? [True, True] Translation: X:651.57, Y:-265.09, Z:-4.85 [[ 4.33243484e-01 -9.01275574e-01 -1.55678935e-03 6.51570642e+02] [-9.01268965e-01 -4.33246271e-01 3.45274071e-03 -2.65085249e+02] [-3.78634405e-03 -9.27914904e-05 -9.99992827e-01 -4.85325573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.906559995 meters 0.051105114207555806 Centerline is valid? [True, True] Translation: X:651.35, Y:-264.84, Z:-4.85 [[ 4.97310082e-01 -8.67567298e-01 -3.10909391e-03 6.51347361e+02] [-8.67549317e-01 -4.97319794e-01 5.58619269e-03 -2.64837906e+02] [-6.39261203e-03 -8.07776511e-05 -9.99979564e-01 -4.85170014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9665599949999 meters 0.051882921297669374 Centerline is valid? [True, True] Translation: X:651.28, Y:-264.91, Z:-4.85 [[ 5.59888394e-01 -8.28558246e-01 -4.02737154e-03 6.51279794e+02] [-8.28535818e-01 -5.59902873e-01 6.09680722e-03 -2.64907111e+02] [-7.30649679e-03 -7.67100293e-05 -9.99973304e-01 -4.85268172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.026559995 meters 0.05231604346861645 Centerline is valid? [True, True] Translation: X:651.61, Y:-265.50, Z:-4.85 [[ 6.18842760e-01 -7.85501172e-01 -4.64195154e-03 6.51607664e+02] [-7.85478126e-01 -6.18860164e-01 6.01754188e-03 -2.65498324e+02] [-7.59950509e-03 -7.77608272e-05 -9.99971120e-01 -4.85123338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0865599949999 meters 0.0516845957907473 Centerline is valid? [True, True] Translation: X:651.73, Y:-265.76, Z:-4.85 [[ 6.75163977e-01 -7.37657197e-01 -3.93235055e-03 6.51729052e+02] [-7.37643971e-01 -6.75175423e-01 4.41809499e-03 -2.65760678e+02] [-5.91406601e-03 -8.22639134e-05 -9.99982508e-01 -4.85262039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.146559995 meters 0.05117397173744466 Centerline is valid? [True, True] Translation: X:651.82, Y:-265.97, Z:-4.85 [[ 7.28217646e-01 -6.85336898e-01 -3.52086273e-03 6.51824802e+02] [-6.85328304e-01 -7.28226152e-01 3.43325210e-03 -2.65966714e+02] [-4.91691866e-03 -8.72078762e-05 -9.99987908e-01 -4.85359953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2065599949999 meters 0.05127546190515476 Centerline is valid? [True, True] Translation: X:651.79, Y:-266.05, Z:-4.85 [[ 7.82544551e-01 -6.22583781e-01 -3.66888262e-03 6.51793077e+02] [-6.22576242e-01 -7.82553143e-01 3.06612268e-03 -2.66053454e+02] [-4.78001388e-03 -1.15218447e-04 -9.99988569e-01 -4.85382251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.266559995 meters 0.05125142237939272 Centerline is valid? [True, True] Translation: X:651.77, Y:-266.14, Z:-4.85 [[ 8.32597275e-01 -5.53862568e-01 -4.24657239e-03 6.51766379e+02] [-5.53854421e-01 -8.32608090e-01 3.00809194e-03 -2.66144299e+02] [-5.20180005e-03 -1.52546261e-04 -9.99986459e-01 -4.85267887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3265599949999 meters 0.05138507267137092 Centerline is valid? [True, True] Translation: X:651.75, Y:-266.23, Z:-4.85 [[ 8.76462792e-01 -4.81448123e-01 -4.54739496e-03 6.51750132e+02] [-4.81440522e-01 -8.76474569e-01 2.71183332e-03 -2.66233268e+02] [-5.29128310e-03 -1.87520796e-04 -9.99985983e-01 -4.85306578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.386559995 meters 0.05124001981614859 Centerline is valid? [True, True] Translation: X:651.74, Y:-266.33, Z:-4.85 [[ 9.12364904e-01 -4.09345555e-01 -5.14758486e-03 6.51738033e+02] [-4.09337738e-01 -9.12379402e-01 2.53837140e-03 -2.66328595e+02] [-5.73562144e-03 -2.08820232e-04 -9.99983529e-01 -4.85240954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4465599949999 meters 0.05188683443803651 Centerline is valid? [True, True] Translation: X:651.74, Y:-266.42, Z:-4.85 [[ 9.41820770e-01 -3.36085493e-01 -4.49197546e-03 6.51738050e+02] [-3.36080684e-01 -9.41831462e-01 1.80839646e-03 -2.66415699e+02] [-4.83845963e-03 -1.93519161e-04 -9.99988276e-01 -4.85276926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.506559995 meters 0.05185960905186897 Centerline is valid? [True, True] Translation: X:651.74, Y:-266.50, Z:-4.85 [[ 9.65060180e-01 -2.62001845e-01 -3.72580448e-03 6.51744015e+02] [-2.61999204e-01 -9.65067357e-01 1.18866463e-03 -2.66504524e+02] [-3.90708461e-03 -1.70975095e-04 -9.99992353e-01 -4.85387264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5665599949999 meters 0.05130332004686521 Centerline is valid? [True, True] Translation: X:651.76, Y:-266.60, Z:-4.85 [[ 9.82133699e-01 -1.88170637e-01 -2.28215900e-03 6.51755081e+02] [-1.88169814e-01 -9.82136342e-01 5.72102889e-04 -2.66595847e+02] [-2.34904426e-03 -1.32448091e-04 -9.99997232e-01 -4.85421119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.626559995 meters 0.05077486299370978 Centerline is valid? [True, True] Translation: X:651.78, Y:-266.68, Z:-4.85 [[ 9.93126786e-01 -1.17027853e-01 -1.91513378e-03 6.51775265e+02] [-1.17027416e-01 -9.93128627e-01 3.38990539e-04 -2.66680232e+02] [-1.94164552e-03 -1.12537426e-04 -9.99998109e-01 -4.85405687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6865599949999 meters 0.051371880872648795 Centerline is valid? [True, True] Translation: X:651.80, Y:-266.76, Z:-4.85 [[ 9.98953773e-01 -4.56213435e-02 -3.17059626e-03 6.51800761e+02] [-4.56207756e-02 -9.98958799e-01 2.51244315e-04 -2.66762556e+02] [-3.17875714e-03 -1.06336395e-04 -9.99994942e-01 -4.85236823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.746559995 meters 0.05090420522049907 Centerline is valid? [True, True] Translation: X:651.83, Y:-266.84, Z:-4.85 [[ 9.99576746e-01 2.85765468e-02 -5.45072797e-03 6.51826702e+02] [ 2.85766472e-02 -9.99591602e-01 -5.94628112e-05 -2.66838992e+02] [-5.45020115e-03 -9.63258873e-05 -9.99985143e-01 -4.84987813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8065599949999 meters 0.05069767960627808 Centerline is valid? [True, True] Translation: X:651.86, Y:-266.91, Z:-4.85 [[ 9.94440815e-01 1.05083062e-01 -6.70933632e-03 6.51859051e+02] [ 1.05081260e-01 -9.94463445e-01 -6.21500326e-04 -2.66913871e+02] [-6.73749886e-03 -8.69802228e-05 -9.99977299e-01 -4.84918186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.866559995 meters 0.05179573897681607 Centerline is valid? [True, True] Translation: X:651.90, Y:-266.99, Z:-4.85 [[ 9.83411949e-01 1.81251144e-01 -6.99728031e-03 6.51897227e+02] [ 1.81247114e-01 -9.83436839e-01 -1.21116236e-03 -2.66985842e+02] [-7.10090779e-03 -7.71653256e-05 -9.99974785e-01 -4.84868537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9265599949999 meters 0.05149812922039035 Centerline is valid? [True, True] Translation: X:651.94, Y:-267.05, Z:-4.85 [[ 9.66111878e-01 2.58026939e-01 -7.06668313e-03 6.51939926e+02] [ 2.58020638e-01 -9.66137719e-01 -1.80494721e-03 -2.67053114e+02] [-7.29311412e-03 -7.95691548e-05 -9.99973402e-01 -4.84807113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.986559995 meters 0.051034006407367855 Centerline is valid? [True, True] Translation: X:651.99, Y:-267.12, Z:-4.85 [[ 9.42790390e-01 3.33344840e-01 -5.24383406e-03 6.51989724e+02] [ 3.33340181e-01 -9.42804969e-01 -1.76453476e-03 -2.67120430e+02] [-5.53211137e-03 -8.43941759e-05 -9.99984694e-01 -4.84984111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0465599949999 meters 0.050772167516363244 Centerline is valid? [True, True] Translation: X:652.04, Y:-267.18, Z:-4.85 [[ 9.13444498e-01 4.06948912e-01 -3.42514727e-03 6.52043377e+02] [ 4.06946413e-01 -9.13450916e-01 -1.42890451e-03 -2.67183679e+02] [-3.71019504e-03 -8.86264284e-05 -9.99993113e-01 -4.85073385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.106559995 meters 0.05100640806550232 Centerline is valid? [True, True] Translation: X:652.10, Y:-267.24, Z:-4.85 [[ 8.78027860e-01 4.78603957e-01 -2.30848967e-03 6.52098657e+02] [ 4.78602576e-01 -8.78030890e-01 -1.15341771e-03 -2.67235430e+02] [-2.57895552e-03 -9.21162193e-05 -9.99996670e-01 -4.85031435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.166559995 meters 0.05074617888074432 Centerline is valid? [True, True] Translation: X:652.16, Y:-267.29, Z:-4.85 [[ 8.37096628e-01 5.47050281e-01 -2.28609846e-03 6.52162210e+02] [ 5.47048550e-01 -8.37099744e-01 -1.37940116e-03 -2.67287108e+02] [-2.66829422e-03 -9.59147917e-05 -9.99996436e-01 -4.85013098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.226559995 meters 0.050983169276130516 Centerline is valid? [True, True] Translation: X:652.23, Y:-267.34, Z:-4.85 [[ 7.90865701e-01 6.11984047e-01 -2.64013586e-03 6.52234073e+02] [ 6.11981064e-01 -7.90870101e-01 -1.91356967e-03 -2.67340192e+02] [-3.25907863e-03 -1.02336537e-04 -9.99994684e-01 -4.84969188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.286559995 meters 0.05009951645660785 Centerline is valid? [True, True] Translation: X:652.31, Y:-267.39, Z:-4.85 [[ 7.39906815e-01 6.72705008e-01 -2.42412359e-03 6.52307895e+02] [ 6.72701855e-01 -7.39910779e-01 -2.06229748e-03 -2.67386277e+02] [-3.18095302e-03 -1.04804478e-04 -9.99994935e-01 -4.84982919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3465599949999 meters 0.05045498152316288 Centerline is valid? [True, True] Translation: X:652.39, Y:-267.42, Z:-4.85 [[ 6.84378346e-01 7.29124516e-01 -1.92876288e-03 6.52385420e+02] [ 7.29122041e-01 -6.84381056e-01 -1.90274013e-03 -2.67424833e+02] [-2.70734325e-03 -1.04109385e-04 -9.99996330e-01 -4.84931588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.406559995 meters 0.05073680046822157 Centerline is valid? [True, True] Translation: X:652.47, Y:-267.46, Z:-4.85 [[ 6.24015710e-01 7.81408797e-01 -2.16456238e-03 6.52465728e+02] [ 7.81404713e-01 -6.24019454e-01 -2.52904117e-03 -2.67458487e+02] [-3.32694405e-03 -1.13237819e-04 -9.99994459e-01 -4.84875619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4665599949999 meters 0.050451081550997486 Centerline is valid? [True, True] Translation: X:652.55, Y:-267.49, Z:-4.85 [[ 5.60556384e-01 8.28111780e-01 -2.72388629e-03 6.52549131e+02] [ 8.28103079e-01 -5.60562988e-01 -3.79831795e-03 -2.67486887e+02] [-4.67234167e-03 -1.26487244e-04 -9.99989077e-01 -4.84727908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.526559995 meters 0.050940859891620116 Centerline is valid? [True, True] Translation: X:652.63, Y:-267.50, Z:-4.85 [[ 4.92314416e-01 8.70412780e-01 -2.84759832e-03 6.52630085e+02] [ 8.70399883e-01 -4.92322630e-01 -4.74045550e-03 -2.67503486e+02] [-5.52809014e-03 -1.44754657e-04 -9.99984710e-01 -4.84727404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5865599949999 meters 0.05068369365933288 Centerline is valid? [True, True] Translation: X:652.72, Y:-267.52, Z:-4.85 [[ 4.21209110e-01 9.06960779e-01 -2.24292948e-03 6.52717987e+02] [ 9.06949725e-01 -4.21215056e-01 -4.48025495e-03 -2.67517958e+02] [-5.00817119e-03 -1.47100074e-04 -9.99987448e-01 -4.84800827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.646559995 meters 0.050686669197027884 Centerline is valid? [True, True] Translation: X:652.81, Y:-267.53, Z:-4.85 [[ 3.48161462e-01 9.37432331e-01 -2.05440437e-03 6.52807850e+02] [ 9.37418581e-01 -3.48167488e-01 -5.07978568e-03 -2.67525771e+02] [-5.47723214e-03 -1.57251222e-04 -9.99984987e-01 -4.84753656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7065599949999 meters 0.05065855680726792 Centerline is valid? [True, True] Translation: X:652.90, Y:-267.53, Z:-4.85 [[ 2.73057461e-01 9.61995601e-01 -2.02179090e-03 6.52896948e+02] [ 9.61973879e-01 -2.73064887e-01 -6.46712824e-03 -2.67525828e+02] [-6.77342902e-03 -1.79012416e-04 -9.99977044e-01 -4.84749775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.766559995 meters 0.05119128902767989 Centerline is valid? [True, True] Translation: X:652.99, Y:-267.52, Z:-4.85 [[ 1.96197842e-01 9.80562747e-01 -1.76219909e-03 6.52987355e+02] [ 9.80531917e-01 -1.96205652e-01 -7.77831616e-03 -2.67521006e+02] [-7.97288048e-03 -2.01803605e-04 -9.99968196e-01 -4.84576613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8265599949999 meters 0.05099376757509679 Centerline is valid? [True, True] Translation: X:653.07, Y:-267.51, Z:-4.85 [[ 1.18916678e-01 9.92903556e-01 -1.16246770e-03 6.53074700e+02] [ 9.92871360e-01 -1.18922187e-01 -7.99848033e-03 -2.67508557e+02] [-8.07996277e-03 -2.03028179e-04 -9.99967336e-01 -4.84529777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.886559995 meters 0.0508564664261078 Centerline is valid? [True, True] Translation: X:653.16, Y:-267.49, Z:-4.85 [[ 4.16001542e-02 9.99134220e-01 -4.88462345e-04 6.53157162e+02] [ 9.99107800e-01 -4.16026076e-02 -7.26821408e-03 -2.67487969e+02] [-7.28224271e-03 -1.85667712e-04 -9.99973467e-01 -4.84546630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9465599949999 meters 0.05043480085911672 Centerline is valid? [True, True] Translation: X:653.24, Y:-267.46, Z:-4.85 [[-3.68966076e-02 9.99319086e-01 6.18848317e-05 6.53238687e+02] [ 9.99298617e-01 3.68962480e-02 -6.39857721e-03 -2.67460848e+02] [-6.39650365e-03 -1.74244366e-04 -9.99979527e-01 -4.84599009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.006559995 meters 0.0506345178727179 Centerline is valid? [True, True] Translation: X:653.32, Y:-267.43, Z:-4.85 [[-1.16799682e-01 9.93155332e-01 5.67211117e-04 6.53321320e+02] [ 9.93134597e-01 1.16800911e-01 -6.42022232e-03 -2.67427400e+02] [-6.44252880e-03 -1.86562944e-04 -9.99979229e-01 -4.84600297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0665599949999 meters 0.050678245897376455 Centerline is valid? [True, True] Translation: X:653.40, Y:-267.39, Z:-4.85 [[-1.95031013e-01 9.80796419e-01 1.13551369e-03 6.53403382e+02] [ 9.80773360e-01 1.95034218e-01 -6.72838132e-03 -2.67386888e+02] [-6.82063632e-03 -1.98561453e-04 -9.99976719e-01 -4.84505366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.126559995 meters 0.05026594887695437 Centerline is valid? [True, True] Translation: X:653.48, Y:-267.34, Z:-4.84 [[-2.70371166e-01 9.62754162e-01 1.96363680e-03 6.53478603e+02] [ 9.62722779e-01 2.70378213e-01 -7.77640454e-03 -2.67342116e+02] [-8.01769045e-03 -2.12077683e-04 -9.99967835e-01 -4.84445683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1865599949999 meters 0.049955854637900234 Centerline is valid? [True, True] Translation: X:653.55, Y:-267.29, Z:-4.85 [[-3.40623400e-01 9.40196479e-01 2.50617658e-03 6.53548670e+02] [ 9.40167161e-01 3.40632575e-01 -7.42681750e-03 -2.67290752e+02] [-7.83635304e-03 -1.73522910e-04 -9.99969280e-01 -4.84510088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.246559995 meters 0.050453784421802435 Centerline is valid? [True, True] Translation: X:653.62, Y:-267.23, Z:-4.85 [[-4.08875032e-01 9.12585421e-01 3.00955645e-03 6.53616459e+02] [ 9.12558213e-01 4.08886086e-01 -7.04817951e-03 -2.67233987e+02] [-7.66263163e-03 -1.35429172e-04 -9.99970632e-01 -4.84660384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3065599949999 meters 0.05042036515925367 Centerline is valid? [True, True] Translation: X:653.68, Y:-267.17, Z:-4.85 [[-4.72642605e-01 8.81248933e-01 3.04731904e-03 6.53677122e+02] [ 8.81229515e-01 4.72652422e-01 -5.85065487e-03 -2.67174481e+02] [-6.59620608e-03 -7.98812765e-05 -9.99978242e-01 -4.84641492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.366559995 meters 0.05115255764735498 Centerline is valid? [True, True] Translation: X:653.73, Y:-267.11, Z:-4.85 [[-5.38254960e-01 8.42775387e-01 3.35338836e-03 6.53728044e+02] [ 8.42758266e-01 5.38265402e-01 -5.37232110e-03 -2.67112834e+02] [-6.33267293e-03 -6.55827189e-05 -9.99979946e-01 -4.84680897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4265599949999 meters 0.05149397100716044 Centerline is valid? [True, True] Translation: X:653.77, Y:-267.05, Z:-4.85 [[-5.97890256e-01 8.01568964e-01 3.79975227e-03 6.53773420e+02] [ 8.01552479e-01 5.97902330e-01 -5.14083996e-03 -2.67047219e+02] [-6.39261849e-03 -2.79572664e-05 -9.99979567e-01 -4.84680187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.486559995 meters 0.051626493934529505 Centerline is valid? [True, True] Translation: X:653.82, Y:-266.98, Z:-4.85 [[-6.57137753e-01 7.53756350e-01 4.61934787e-03 6.53815884e+02] [ 7.53737653e-01 6.57153989e-01 -5.30899717e-03 -2.66976958e+02] [-7.03731321e-03 -6.96604934e-06 -9.99975238e-01 -4.84752974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5465599949999 meters 0.051819118608660855 Centerline is valid? [True, True] Translation: X:653.86, Y:-266.90, Z:-4.85 [[-7.14504439e-01 6.99608692e-01 5.57537372e-03 6.53857115e+02] [ 6.99587360e-01 7.14526191e-01 -5.46338525e-03 -2.66900481e+02] [-7.80598236e-03 -3.15202956e-06 -9.99969533e-01 -4.84669512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.606559995 meters 0.05240770093042583 Centerline is valid? [True, True] Translation: X:653.41, Y:-266.39, Z:-4.85 [[-7.64208289e-01 6.44934803e-01 6.69262791e-03 6.53414186e+02] [ 6.44909919e-01 7.64237594e-01 -5.66535764e-03 -2.66385116e+02] [-8.76854416e-03 -1.33711452e-05 -9.99961555e-01 -4.84631815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.666559995 meters 0.05250507646043269 Centerline is valid? [True, True] Translation: X:653.31, Y:-266.21, Z:-4.85 [[-8.10432393e-01 5.85790657e-01 6.97441170e-03 6.53313486e+02] [ 5.85768427e-01 8.10462401e-01 -5.10351895e-03 -2.66206854e+02] [-8.64209217e-03 -5.06669044e-05 -9.99962655e-01 -4.84618914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.726559995 meters 0.05256465654970351 Centerline is valid? [True, True] Translation: X:653.72, Y:-265.73, Z:-5.86 [[-7.69998226e-01 -6.38030176e-01 4.49733850e-03 6.53717066e+02] [ 6.38018324e-01 -7.70011350e-01 -3.89099285e-03 -2.65728701e+02] [ 5.94557254e-03 -1.26673223e-04 9.99982317e-01 -5.85782847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.786559995 meters 0.05183559268774895 Centerline is valid? [True, True] Translation: X:653.30, Y:-266.19, Z:-4.85 [[-8.16551795e-01 5.77245164e-01 5.58457284e-03 6.53297674e+02] [ 5.77230806e-01 8.16570885e-01 -4.07269727e-03 -2.66193987e+02] [-6.91114439e-03 -1.01980784e-04 -9.99976113e-01 -4.84787307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8465599949999 meters 0.05211644461513031 Centerline is valid? [True, True] Translation: X:653.31, Y:-266.11, Z:-4.85 [[-8.56699442e-01 5.15788322e-01 5.33602013e-03 6.53311414e+02] [ 5.15777480e-01 8.56716052e-01 -3.34613333e-03 -2.66111170e+02] [-6.29735060e-03 -1.14431544e-04 -9.99980165e-01 -4.84883102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.906559995 meters 0.052329811044760866 Centerline is valid? [True, True] Translation: X:653.33, Y:-266.03, Z:-4.85 [[-8.93029006e-01 4.49974517e-01 4.70416263e-03 6.53328183e+02] [ 4.49967503e-01 8.93041386e-01 -2.51582522e-03 -2.66030731e+02] [-5.33306915e-03 -1.29984583e-04 -9.99985771e-01 -4.84948986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9665599949999 meters 0.05211657502080689 Centerline is valid? [True, True] Translation: X:653.32, Y:-265.94, Z:-4.85 [[-9.23804516e-01 3.82839518e-01 4.37268588e-03 6.53319167e+02] [ 3.82834520e-01 9.23814854e-01 -1.96111340e-03 -2.65938946e+02] [-4.79034388e-03 -1.37670312e-04 -9.99988517e-01 -4.84991821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.026559995 meters 0.05219308375218347 Centerline is valid? [True, True] Translation: X:653.37, Y:-265.87, Z:-4.85 [[-9.50055608e-01 3.12050035e-01 4.37237458e-03 6.53371155e+02] [ 3.12045969e-01 9.50065656e-01 -1.60058273e-03 -2.65873187e+02] [-4.65350483e-03 -1.56260733e-04 -9.99989160e-01 -4.85019881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0865599949999 meters 0.05274575176804864 Centerline is valid? [True, True] Translation: X:653.55, Y:-265.32, Z:-5.86 [[-9.11358240e-01 -4.11595768e-01 3.88364354e-03 6.53549647e+02] [ 4.11592578e-01 -9.11366507e-01 -1.62471232e-03 -2.65316568e+02] [ 4.20814736e-03 1.17783895e-04 9.99991139e-01 -5.85812874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.146559995 meters 0.05303088197426551 Centerline is valid? [True, True] Translation: X:653.36, Y:-265.86, Z:-4.85 [[-9.52429121e-01 3.04688465e-01 6.61130845e-03 6.53355734e+02] [ 3.04679463e-01 9.52452040e-01 -2.35320154e-03 -2.65862962e+02] [-7.01394758e-03 -2.26927766e-04 -9.99975376e-01 -4.84761674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2065599949999 meters 0.053038975245153316 Centerline is valid? [True, True] Translation: X:653.19, Y:-265.73, Z:-4.85 [[-9.71425237e-01 2.37214881e-01 7.88089909e-03 6.53190269e+02] [ 2.37205015e-01 9.71457173e-01 -2.17745358e-03 -2.65733742e+02] [-8.17248035e-03 -2.45844580e-04 -9.99966575e-01 -4.84854860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.266559995 meters 0.05308502612149256 Centerline is valid? [True, True] Translation: X:653.18, Y:-265.65, Z:-4.85 [[-9.85329085e-01 1.70478074e-01 7.98881328e-03 6.53178354e+02] [ 1.70470643e-01 9.85361445e-01 -1.60706792e-03 -2.65653750e+02] [-8.14583844e-03 -2.21632628e-04 -9.99966798e-01 -4.84969402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3265599949999 meters 0.053067718194249595 Centerline is valid? [True, True] Translation: X:653.20, Y:-265.05, Z:-5.85 [[-9.63362844e-01 -2.68151969e-01 5.15285599e-03 6.53198012e+02] [ 2.68148136e-01 -9.63376625e-01 -1.43373850e-03 -2.65053660e+02] [ 5.34860082e-03 5.18328829e-07 9.99985696e-01 -5.85465656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.386559995 meters 0.05331306270228333 Centerline is valid? [True, True] Translation: X:652.96, Y:-265.62, Z:-4.85 [[-9.84511215e-01 1.75170206e-01 7.28473574e-03 6.52964694e+02] [ 1.75164319e-01 9.84538155e-01 -1.44335776e-03 -2.65617532e+02] [-7.42493356e-03 -1.44976125e-04 -9.99972424e-01 -4.85168173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4465599949999 meters 0.05280822302447924 Centerline is valid? [True, True] Translation: X:653.01, Y:-265.01, Z:-5.85 [[-9.65969821e-01 -2.58601919e-01 5.22989845e-03 6.53005790e+02] [ 2.58598119e-01 -9.65983979e-01 -1.40200158e-03 -2.65012892e+02] [ 5.41455841e-03 -1.84931486e-06 9.99985341e-01 -5.85451201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.506559995 meters 0.053431489585536396 Centerline is valid? [True, True] Translation: X:652.80, Y:-265.59, Z:-4.85 [[-9.84638317e-01 1.74464212e-01 7.04441836e-03 6.52801014e+02] [ 1.74458870e-01 9.84663508e-01 -1.37056143e-03 -2.65588074e+02] [-7.17549561e-03 -1.20546036e-04 -9.99974249e-01 -4.85143340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5665599949999 meters 0.05300509269515489 Centerline is valid? [True, True] Translation: X:652.87, Y:-265.00, Z:-5.86 [[-9.67047260e-01 -2.54535824e-01 5.57771694e-03 6.52874642e+02] [ 2.54531695e-01 -9.67063345e-01 -1.45006202e-03 -2.64995549e+02] [ 5.76309834e-03 1.74272374e-05 9.99983393e-01 -5.85740235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.626559995 meters 0.05328275107511249 Centerline is valid? [True, True] Translation: X:652.69, Y:-265.57, Z:-4.85 [[-9.85600277e-01 1.68889289e-01 8.27665394e-03 6.52685589e+02] [ 1.68882096e-01 9.85635017e-01 -1.56544687e-03 -2.65567398e+02] [-8.42214716e-03 -1.45126199e-04 -9.99964523e-01 -4.85154518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6865599949999 meters 0.05284758896947839 Centerline is valid? [True, True] Translation: X:652.76, Y:-264.98, Z:-5.86 [[-9.67289074e-01 -2.53598199e-01 6.30881402e-03 6.52758626e+02] [ 2.53592812e-01 -9.67309647e-01 -1.65294039e-03 -2.64976191e+02] [ 6.52175937e-03 9.98706012e-07 9.99978733e-01 -5.85554348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.746559995 meters 0.05200333012537916 Centerline is valid? [True, True] Translation: X:652.55, Y:-265.54, Z:-4.85 [[-9.86686137e-01 1.62485866e-01 6.98643484e-03 6.52552354e+02] [ 1.62480695e-01 9.86710859e-01 -1.30520294e-03 -2.65543212e+02] [-7.10566816e-03 -1.52664852e-04 -9.99974743e-01 -4.85288567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8065599949999 meters 0.052121634632093565 Centerline is valid? [True, True] Translation: X:652.52, Y:-265.46, Z:-4.85 [[-9.95739232e-01 9.20552332e-02 5.40523574e-03 6.52520498e+02] [ 9.20531530e-02 9.95753894e-01 -6.32895641e-04 -2.65459829e+02] [-5.44054589e-03 -1.32630026e-04 -9.99985191e-01 -4.85304739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.866559995 meters 0.05219513303918452 Centerline is valid? [True, True] Translation: X:652.47, Y:-265.38, Z:-4.85 [[-9.99728453e-01 2.25273046e-02 5.96160919e-03 6.52473465e+02] [ 2.25261300e-02 9.99746220e-01 -2.64105562e-04 -2.65379624e+02] [-5.96604584e-03 -1.29741862e-04 -9.99982195e-01 -4.85275876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9265599949999 meters 0.052182529963523384 Centerline is valid? [True, True] Translation: X:652.38, Y:-264.79, Z:-5.86 [[-9.94131688e-01 -1.08063219e-01 4.95254616e-03 6.52378498e+02] [ 1.08062164e-01 -9.94144023e-01 -4.80894567e-04 -2.64786063e+02] [ 4.97551118e-03 5.71103273e-05 9.99987620e-01 -5.85560339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.986559995 meters 0.051701627408492094 Centerline is valid? [True, True] Translation: X:652.30, Y:-265.38, Z:-4.85 [[-9.99753505e-01 2.09443537e-02 7.36640520e-03 6.52300291e+02] [ 2.09428508e-02 9.99780635e-01 -2.81108192e-04 -2.65376229e+02] [-7.37067690e-03 -1.26765375e-04 -9.99972828e-01 -4.85227448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0465599949999 meters 0.05139999664133187 Centerline is valid? [True, True] Translation: X:652.22, Y:-264.78, Z:-5.86 [[-9.94770584e-01 -1.01963275e-01 5.91405170e-03 6.52216222e+02] [ 1.01961623e-01 -9.94788163e-01 -5.81064856e-04 -2.64782560e+02] [ 5.94247590e-03 2.49800818e-05 9.99982343e-01 -5.85739048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.106559995 meters 0.05194817795482433 Centerline is valid? [True, True] Translation: X:652.09, Y:-265.37, Z:-4.85 [[-9.99787499e-01 1.89694181e-02 8.06959641e-03 6.52085677e+02] [ 1.89678527e-02 9.99820058e-01 -2.70491284e-04 -2.65370231e+02] [-8.07327541e-03 -1.17370888e-04 -9.99967404e-01 -4.85153519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.166559995 meters 0.0517179493806274 Centerline is valid? [True, True] Translation: X:652.09, Y:-265.29, Z:-4.85 [[-9.98546022e-01 -5.31456379e-02 9.02129485e-03 6.52088767e+02] [-5.31446494e-02 9.98586763e-01 3.49431385e-04 -2.65294359e+02] [-9.02711638e-03 -1.30510232e-04 -9.99959246e-01 -4.84931981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.226559995 meters 0.05154894037750829 Centerline is valid? [True, True] Translation: X:652.04, Y:-264.71, Z:-5.86 [[-9.99554856e-01 -2.87255106e-02 8.05821245e-03 6.52044731e+02] [ 2.87250504e-02 -9.99587336e-01 -1.72863456e-04 -2.64710450e+02] [ 8.05985270e-03 5.86860519e-05 9.99967517e-01 -5.85992203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.286559995 meters 0.05185187200050089 Centerline is valid? [True, True] Translation: X:651.94, Y:-265.30, Z:-4.85 [[-9.98294719e-01 -5.76081359e-02 9.43164852e-03 6.51941475e+02] [-5.76068877e-02 9.98339263e-01 4.04183704e-04 -2.65304279e+02] [-9.43926930e-03 -1.39833460e-04 -9.99955439e-01 -4.85036245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3465599949999 meters 0.05180321054052223 Centerline is valid? [True, True] Translation: X:651.85, Y:-265.24, Z:-4.85 [[-9.91763964e-01 -1.27760783e-01 9.02344436e-03 6.51854862e+02] [-1.27756692e-01 9.91805004e-01 1.03070407e-03 -2.65237749e+02] [-9.08118082e-03 -1.30590252e-04 -9.99958757e-01 -4.85068752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.406559995 meters 0.05142800562794109 Centerline is valid? [True, True] Translation: X:651.79, Y:-265.17, Z:-4.85 [[-9.80424434e-01 -1.96707268e-01 8.61280962e-03 6.51788361e+02] [-1.96700718e-01 9.80462257e-01 1.60949076e-03 -2.65172715e+02] [-8.76113329e-03 -1.16161765e-04 -9.99961614e-01 -4.84897565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4665599949999 meters 0.05172729087087023 Centerline is valid? [True, True] Translation: X:651.60, Y:-264.60, Z:-5.86 [[-9.92730734e-01 1.20192354e-01 6.28399690e-03 6.51600434e+02] [-1.20190311e-01 -9.92750621e-01 7.03143931e-04 -2.64602334e+02] [ 6.32295434e-03 -5.72429507e-05 9.99980008e-01 -5.85797051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.526559995 meters 0.05141782831275412 Centerline is valid? [True, True] Translation: X:651.61, Y:-265.21, Z:-4.85 [[-9.80074308e-01 -1.98499807e-01 7.22335676e-03 6.51608693e+02] [-1.98495110e-01 9.80100922e-01 1.36870966e-03 -2.65212852e+02] [-7.35130723e-03 -9.23638208e-05 -9.99972975e-01 -4.85219966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5865599949999 meters 0.051737085986548706 Centerline is valid? [True, True] Translation: X:651.42, Y:-264.63, Z:-5.86 [[-9.91884778e-01 1.27018832e-01 5.55007266e-03 6.51424996e+02] [-1.27017001e-01 -9.91900305e-01 6.82599629e-04 -2.64633857e+02] [ 5.59182177e-03 -2.78934050e-05 9.99984365e-01 -5.85723291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.646559995 meters 0.05144818573210534 Centerline is valid? [True, True] Translation: X:651.41, Y:-265.25, Z:-4.85 [[-9.79592886e-01 -2.00828463e-01 8.10597575e-03 6.51413513e+02] [-2.00822283e-01 9.79626419e-01 1.57763987e-03 -2.65254989e+02] [-8.25766299e-03 -8.24157706e-05 -9.99965902e-01 -4.85236721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7065599949999 meters 0.051177731829367905 Centerline is valid? [True, True] Translation: X:651.36, Y:-265.19, Z:-4.85 [[-9.62952972e-01 -2.69507665e-01 9.33771334e-03 6.51360446e+02] [-2.69495767e-01 9.62998241e-01 2.53348526e-03 -2.65194671e+02] [-9.67499522e-03 -7.68470631e-05 -9.99953193e-01 -4.85101085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.766559995 meters 0.05104192159011253 Centerline is valid? [True, True] Translation: X:651.26, Y:-265.15, Z:-4.85 [[-9.41531253e-01 -3.36789701e-01 9.57061845e-03 6.51259352e+02] [-3.36773051e-01 9.41579892e-01 3.34965524e-03 -2.65152125e+02] [-1.01396313e-02 -6.93212781e-05 -9.99948590e-01 -4.85102278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8265599949999 meters 0.05164552613041745 Centerline is valid? [True, True] Translation: X:651.17, Y:-265.11, Z:-4.85 [[-9.15119421e-01 -4.03081607e-01 9.03677836e-03 6.51166148e+02] [-4.03062650e-01 9.15164037e-01 3.90976715e-03 -2.65112184e+02] [-9.84608979e-03 -6.44839795e-05 -9.99951524e-01 -4.85183459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.886559995 meters 0.05107518108956293 Centerline is valid? [True, True] Translation: X:651.04, Y:-265.09, Z:-4.85 [[-8.84196309e-01 -4.67036841e-01 8.57188512e-03 6.51044672e+02] [-4.67015530e-01 8.84237856e-01 4.46193669e-03 -2.65092078e+02] [-9.66347414e-03 -5.79755139e-05 -9.99953306e-01 -4.85197516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9465599949999 meters 0.05151863410251578 Centerline is valid? [True, True] Translation: X:650.94, Y:-265.07, Z:-4.85 [[-8.47747161e-01 -5.30338879e-01 8.08855963e-03 6.50942593e+02] [-5.30315382e-01 8.47785745e-01 4.99261163e-03 -2.65066578e+02] [-9.50514161e-03 -5.70152563e-05 -9.99954823e-01 -4.85217641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.006559995 meters 0.05135155710833656 Centerline is valid? [True, True] Translation: X:651.26, Y:-264.75, Z:-4.86 [[-8.04547293e-01 -5.93847614e-01 6.97601598e-03 6.51256398e+02] [-5.93825975e-01 8.04577533e-01 5.06989598e-03 -2.64750679e+02] [-8.62349136e-03 -6.35684038e-05 -9.99962815e-01 -4.85585109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0665599949999 meters 0.051219201443297044 Centerline is valid? [True, True] Translation: X:650.46, Y:-265.28, Z:-4.85 [[-7.59925743e-01 -6.49973315e-01 6.89603165e-03 6.50458956e+02] [-6.49947346e-01 7.59957028e-01 5.81058152e-03 -2.65279936e+02] [-9.01741065e-03 -6.64469865e-05 -9.99959340e-01 -4.85342309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.126559995 meters 0.051325023965402894 Centerline is valid? [True, True] Translation: X:650.32, Y:-265.30, Z:-4.85 [[-7.07849779e-01 -7.06335481e-01 6.23530065e-03 6.50320039e+02] [-7.06309292e-01 7.07877235e-01 6.08316423e-03 -2.65304583e+02] [-8.71058211e-03 -9.80843318e-05 -9.99962057e-01 -4.85400989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1865599949999 meters 0.05107819804351425 Centerline is valid? [True, True] Translation: X:650.17, Y:-265.35, Z:-4.85 [[-6.50433833e-01 -7.59541208e-01 5.74304307e-03 6.50166873e+02] [-7.59513490e-01 6.50459171e-01 6.49037089e-03 -2.65354763e+02] [-8.66531918e-03 -1.40361868e-04 -9.99962446e-01 -4.85448317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.246559995 meters 0.05028508734725774 Centerline is valid? [True, True] Translation: X:650.02, Y:-265.41, Z:-4.85 [[-5.88192697e-01 -8.08694660e-01 6.50372832e-03 6.50022559e+02] [-8.08649277e-01 5.88228612e-01 8.57017726e-03 -2.65410761e+02] [-1.07563357e-02 -2.18319520e-04 -9.99942125e-01 -4.85416662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3065599949999 meters 0.05055204956915134 Centerline is valid? [True, True] Translation: X:649.87, Y:-265.49, Z:-4.85 [[-5.24306447e-01 -8.51506592e-01 6.26688465e-03 6.49870766e+02] [-8.51451738e-01 5.24343831e-01 9.66875805e-03 -2.65493650e+02] [-1.15190135e-02 -2.66557648e-04 -9.99933618e-01 -4.85423867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.366559995 meters 0.05068377734511501 Centerline is valid? [True, True] Translation: X:649.71, Y:-265.61, Z:-4.85 [[-4.57508249e-01 -8.89186076e-01 5.85871038e-03 6.49710488e+02] [-8.89121851e-01 4.57545650e-01 1.06916813e-02 -2.65609951e+02] [-1.21875216e-02 -3.17575006e-04 -9.99925679e-01 -4.85369243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4265599949999 meters 0.050602614154978263 Centerline is valid? [True, True] Translation: X:649.55, Y:-265.76, Z:-4.86 [[-3.92687279e-01 -9.19661504e-01 4.40675588e-03 6.49554501e+02] [-9.19610965e-01 3.92711915e-01 9.64494408e-03 -2.65758614e+02] [-1.06006693e-02 -2.65054175e-04 -9.99943776e-01 -4.85513703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.486559995 meters 0.0507678694155091 Centerline is valid? [True, True] Translation: X:649.39, Y:-265.98, Z:-4.86 [[-3.30295348e-01 -9.43872212e-01 3.19857157e-03 6.49386390e+02] [-9.43833081e-01 3.30310786e-01 8.59650367e-03 -2.65984083e+02] [-9.17052363e-03 -1.79532495e-04 -9.99957934e-01 -4.85721473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5465599949999 meters 0.05046496077258534 Centerline is valid? [True, True] Translation: X:649.24, Y:-266.19, Z:-4.86 [[-2.64850710e-01 -9.64286748e-01 2.27368536e-03 6.49242815e+02] [-9.64255163e-01 2.64860440e-01 7.80568103e-03 -2.66190288e+02] [-8.12912407e-03 -1.25072683e-04 -9.99966950e-01 -4.85729614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.606559995 meters 0.05047417661277297 Centerline is valid? [True, True] Translation: X:649.12, Y:-266.38, Z:-4.86 [[-1.96574449e-01 -9.80487548e-01 1.62942380e-03 6.49123011e+02] [-9.80457654e-01 1.96581181e-01 7.65693938e-03 -2.66378725e+02] [-7.82784777e-03 -9.24223927e-05 -9.99969358e-01 -4.85794816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.666559995 meters 0.05082591501996222 Centerline is valid? [True, True] Translation: X:649.01, Y:-266.61, Z:-4.86 [[-1.26618693e-01 -9.91950614e-01 1.29881817e-03 6.49012028e+02] [-9.91903805e-01 1.26625336e-01 9.63672602e-03 -2.66611174e+02] [-9.72361957e-03 -6.81130389e-05 -9.99952722e-01 -4.85821701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.726559995 meters 0.05054543174984633 Centerline is valid? [True, True] Translation: X:648.92, Y:-266.82, Z:-4.86 [[-5.21144306e-02 -9.98640908e-01 6.51028604e-04 6.48918220e+02] [-9.98579839e-01 5.21184436e-02 1.10441795e-02 -2.66824407e+02] [-1.10631000e-02 -7.45429144e-05 -9.99938799e-01 -4.85734506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.786559995 meters 0.051302458060161885 Centerline is valid? [True, True] Translation: X:648.84, Y:-267.03, Z:-4.86 [[ 2.30602031e-02 -9.99734056e-01 -2.11758935e-04 6.48839349e+02] [-9.99650476e-01 -2.30610134e-02 1.29273497e-02 -2.67026974e+02] [-1.29287951e-02 -8.64223894e-05 -9.99916416e-01 -4.85566184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8465599949999 meters 0.05115525771488041 Centerline is valid? [True, True] Translation: X:648.78, Y:-267.27, Z:-4.86 [[ 9.61547397e-02 -9.95365664e-01 -1.20843983e-03 6.48779511e+02] [-9.95277039e-01 -9.61623042e-02 1.32825695e-02 -2.67267142e+02] [-1.33372200e-02 -7.44496010e-05 -9.99911053e-01 -4.85658235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.906559995 meters 0.05110768819308431 Centerline is valid? [True, True] Translation: X:648.74, Y:-267.54, Z:-4.86 [[ 1.67575716e-01 -9.85857193e-01 -1.99350026e-03 6.48742280e+02] [-9.85783999e-01 -1.67587567e-01 1.20131261e-02 -2.67535375e+02] [-1.21773127e-02 -4.79475631e-05 -9.99925853e-01 -4.85655687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9665599949999 meters 0.05150567643278472 Centerline is valid? [True, True] Translation: X:648.72, Y:-267.78, Z:-4.86 [[ 2.36587621e-01 -9.71607205e-01 -2.39530904e-03 6.48719966e+02] [-9.71556885e-01 -2.36599746e-01 9.88832213e-03 -2.67778366e+02] [-1.01742945e-02 -1.22756148e-05 -9.99948240e-01 -4.85983142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.026559995 meters 0.0513344995920536 Centerline is valid? [True, True] Translation: X:648.71, Y:-268.00, Z:-4.86 [[ 3.06099552e-01 -9.51994677e-01 -3.03311469e-03 6.48710313e+02] [-9.51948014e-01 -3.06114579e-01 9.42562733e-03 -2.68001565e+02] [-9.90162767e-03 2.18720058e-06 -9.99950978e-01 -4.85738321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0865599949999 meters 0.051179861172006916 Centerline is valid? [True, True] Translation: X:648.72, Y:-268.25, Z:-4.86 [[ 3.75696609e-01 -9.26734464e-01 -3.91033000e-03 6.48722098e+02] [-9.26684477e-01 -3.75716958e-01 9.62541164e-03 -2.68246030e+02] [-1.03893780e-02 7.40759261e-06 -9.99946029e-01 -4.85773465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.146559995 meters 0.05151300859410595 Centerline is valid? [True, True] Translation: X:648.73, Y:-268.45, Z:-4.86 [[ 4.44950001e-01 -8.95540664e-01 -5.13956957e-03 6.48733341e+02] [-8.95480830e-01 -4.44979683e-01 1.03520590e-02 -2.68453959e+02] [-1.15576939e-02 -3.76264841e-06 -9.99933208e-01 -4.85932488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2065599949999 meters 0.05075924924898575 Centerline is valid? [True, True] Translation: X:648.77, Y:-268.67, Z:-4.86 [[ 5.10932095e-01 -8.59600047e-01 -6.01283457e-03 6.48766986e+02] [-8.59540205e-01 -5.10967474e-01 1.01427605e-02 -2.68669847e+02] [-1.17910803e-02 -1.39888120e-05 -9.99930483e-01 -4.85723499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.266559995 meters 0.05176008926160196 Centerline is valid? [True, True] Translation: X:648.81, Y:-268.87, Z:-4.86 [[ 5.75573097e-01 -8.17719455e-01 -7.10656621e-03 6.48805546e+02] [-8.17656098e-01 -5.75616965e-01 1.01791492e-02 -2.68872200e+02] [-1.24143484e-02 -4.81172575e-05 -9.99922938e-01 -4.85974349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3265599949999 meters 0.05119437798789759 Centerline is valid? [True, True] Translation: X:648.86, Y:-269.07, Z:-4.86 [[ 6.36047230e-01 -7.71614833e-01 -7.38045799e-03 6.48858031e+02] [-7.71561535e-01 -6.36090044e-01 9.06940049e-03 -2.69068926e+02] [-1.16927198e-02 -7.40895630e-05 -9.99931635e-01 -4.85869205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.386559995 meters 0.05082430130683052 Centerline is valid? [True, True] Translation: X:648.94, Y:-269.28, Z:-4.86 [[ 6.92960497e-01 -7.20939842e-01 -7.17597558e-03 6.48938356e+02] [-7.20899700e-01 -6.92997644e-01 7.60841027e-03 -2.69278426e+02] [-1.04581403e-02 -9.91691203e-05 -9.99945307e-01 -4.86173556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4465599949999 meters 0.05069753294218653 Centerline is valid? [True, True] Translation: X:648.98, Y:-269.43, Z:-4.86 [[ 7.45006124e-01 -6.67009877e-01 -7.98120828e-03 6.48984504e+02] [-6.66969944e-01 -7.45048865e-01 7.29947335e-03 -2.69433783e+02] [-1.08152110e-02 -1.14926307e-04 -9.99941507e-01 -4.85986724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.506559995 meters 0.05132472913551745 Centerline is valid? [True, True] Translation: X:648.96, Y:-269.52, Z:-4.86 [[ 7.94635789e-01 -6.07004707e-01 -9.96241504e-03 6.48955273e+02] [-6.06955063e-01 -7.94698226e-01 7.76405640e-03 -2.69519864e+02] [-1.26299323e-02 -1.22858832e-04 -9.99920232e-01 -4.86015202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5665599949999 meters 0.05152286058507843 Centerline is valid? [True, True] Translation: X:648.93, Y:-269.61, Z:-4.86 [[ 8.38305913e-01 -5.45099054e-01 -1.04984533e-02 6.48934159e+02] [-5.45054941e-01 -8.38371644e-01 6.93526807e-03 -2.69606064e+02] [-1.25820136e-02 -9.16424012e-05 -9.99920839e-01 -4.86017502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.626559995 meters 0.051282941366798805 Centerline is valid? [True, True] Translation: X:648.92, Y:-269.69, Z:-4.86 [[ 8.77755553e-01 -4.78991627e-01 -1.05929097e-02 6.48921315e+02] [-4.78955707e-01 -8.77819466e-01 5.86644868e-03 -2.69692616e+02] [-1.21086422e-02 -7.57733274e-05 -9.99926685e-01 -4.86042370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6865599949999 meters 0.05161270147999849 Centerline is valid? [True, True] Translation: X:648.92, Y:-269.77, Z:-4.86 [[ 9.10915996e-01 -4.12475113e-01 -9.81473965e-03 6.48915759e+02] [-4.12450785e-01 -9.10968869e-01 4.47988566e-03 -2.69774488e+02] [-1.07887636e-02 -3.27024395e-05 -9.99941799e-01 -4.86044264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.746559995 meters 0.051551096556711876 Centerline is valid? [True, True] Translation: X:648.92, Y:-269.86, Z:-4.86 [[ 9.39011977e-01 -3.43727069e-01 -1.04023422e-02 6.48916450e+02] [-3.43706122e-01 -9.39069594e-01 3.79474165e-03 -2.69860140e+02] [-1.10728787e-02 1.20408469e-05 -9.99938694e-01 -4.86153898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8065599949999 meters 0.051862775675277396 Centerline is valid? [True, True] Translation: X:648.92, Y:-269.95, Z:-4.86 [[ 9.62455820e-01 -2.71200155e-01 -1.13697410e-02 6.48920402e+02] [-2.71181737e-01 -9.62522973e-01 3.16092001e-03 -2.69952835e+02] [-1.18008789e-02 4.10202486e-05 -9.99930366e-01 -4.86410605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.866559995 meters 0.0521537384119394 Centerline is valid? [True, True] Translation: X:648.93, Y:-270.04, Z:-4.86 [[ 9.80503758e-01 -1.96116916e-01 -1.22692987e-02 6.48933972e+02] [-1.96102331e-01 -9.80580518e-01 2.39248668e-03 -2.70042388e+02] [-1.25002424e-02 6.01958933e-05 -9.99921867e-01 -4.86064264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9265599949999 meters 0.05174268575360393 Centerline is valid? [True, True] Translation: X:648.95, Y:-270.12, Z:-4.86 [[ 9.93032533e-01 -1.17119247e-01 -1.30180423e-02 6.48954597e+02] [-1.17109756e-01 -9.93117858e-01 1.49159778e-03 -2.70124539e+02] [-1.31031451e-02 4.33346400e-05 -9.99914149e-01 -4.86047305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.986559995 meters 0.05158762520068419 Centerline is valid? [True, True] Translation: X:648.98, Y:-270.20, Z:-4.86 [[ 9.99348789e-01 -3.38721896e-02 -1.24367503e-02 6.48981108e+02] [-3.38692327e-02 -9.99426172e-01 4.48357156e-04 -2.70204894e+02] [-1.24448006e-02 -2.68419900e-05 -9.99922560e-01 -4.86198416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0465599949999 meters 0.05106347303937449 Centerline is valid? [True, True] Translation: X:649.01, Y:-270.29, Z:-4.86 [[ 9.98625226e-01 5.09435942e-02 -1.23453395e-02 6.49009953e+02] [ 5.09410359e-02 -9.98701526e-01 -5.21798274e-04 -2.70285674e+02] [-1.23558917e-02 -1.07803463e-04 -9.99923657e-01 -4.86279209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.106559995 meters 0.05123441933477089 Centerline is valid? [True, True] Translation: X:649.05, Y:-270.37, Z:-4.86 [[ 9.90935634e-01 1.33803195e-01 -1.19697195e-02 6.49045282e+02] [ 1.33795456e-01 -9.91007910e-01 -1.44868639e-03 -2.70367661e+02] [-1.20559255e-02 -1.65939109e-04 -9.99927311e-01 -4.86284868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.166559995 meters 0.05140029852164549 Centerline is valid? [True, True] Translation: X:649.09, Y:-270.45, Z:-4.86 [[ 9.75859671e-01 2.18107438e-01 -1.12715938e-02 6.49087938e+02] [ 2.18095792e-01 -9.75924733e-01 -2.26722748e-03 -2.70446437e+02] [-1.14947263e-02 -2.45791303e-04 -9.99933903e-01 -4.86431455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2265599949999 meters 0.05143372376157363 Centerline is valid? [True, True] Translation: X:649.14, Y:-270.53, Z:-4.86 [[ 9.53981229e-01 2.99673181e-01 -1.07609679e-02 6.49137628e+02] [ 2.99657764e-01 -9.54041869e-01 -3.05543146e-03 -2.70529849e+02] [-1.11820448e-02 -3.09783320e-04 -9.99937431e-01 -4.86433597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.286559995 meters 0.05181653872159161 Centerline is valid? [True, True] Translation: X:649.19, Y:-270.60, Z:-4.86 [[ 9.26401643e-01 3.76385907e-01 -1.06604614e-02 6.49192671e+02] [ 3.76365313e-01 -9.26462911e-01 -3.95284158e-03 -2.70601348e+02] [-1.13643160e-02 -3.50308977e-04 -9.99935363e-01 -4.86476348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3465599949999 meters 0.05133950328099124 Centerline is valid? [True, True] Translation: X:649.25, Y:-270.67, Z:-4.86 [[ 8.93030990e-01 4.49868324e-01 -1.06837268e-02 6.49253174e+02] [ 4.49841297e-01 -8.93094810e-01 -4.94643270e-03 -2.70669227e+02] [-1.17668243e-02 -3.88663828e-04 -9.99930693e-01 -4.86437977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.406559995 meters 0.0513880855809618 Centerline is valid? [True, True] Translation: X:649.32, Y:-270.73, Z:-4.87 [[ 8.55782756e-01 5.17218223e-01 -1.10083809e-02 6.49317872e+02] [ 5.17181319e-01 -8.55853465e-01 -6.19102101e-03 -2.70730369e+02] [-1.26236698e-02 -3.95159915e-04 -9.99920240e-01 -4.86557165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4665599949999 meters 0.05188104931859967 Centerline is valid? [True, True] Translation: X:649.39, Y:-270.79, Z:-4.87 [[ 8.14034708e-01 5.80719617e-01 -1.05934453e-02 6.49388315e+02] [ 5.80676287e-01 -8.14103550e-01 -7.10348171e-03 -2.70788475e+02] [-1.27492926e-02 -3.68881813e-04 -9.99918656e-01 -4.86597681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.526559995 meters 0.052254374671755394 Centerline is valid? [True, True] Translation: X:649.46, Y:-270.84, Z:-4.87 [[ 7.68800374e-01 6.39416526e-01 -9.61725354e-03 6.49461268e+02] [ 6.39371422e-01 -7.68860464e-01 -7.60075999e-03 -2.70838865e+02] [-1.22543776e-02 -3.05529959e-04 -9.99924866e-01 -4.86584809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5865599949999 meters 0.052305515770604695 Centerline is valid? [True, True] Translation: X:649.53, Y:-270.88, Z:-4.86 [[ 7.18566854e-01 6.95396693e-01 -9.22576001e-03 6.49533375e+02] [ 6.95344211e-01 -7.18626025e-01 -8.54777296e-03 -2.70879169e+02] [-1.25739643e-02 -2.72932487e-04 -9.99920907e-01 -4.86478459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.646559995 meters 0.05195075853400236 Centerline is valid? [True, True] Translation: X:649.61, Y:-270.91, Z:-4.86 [[ 6.62799251e-01 7.48742613e-01 -9.03618837e-03 6.49606275e+02] [ 7.48678532e-01 -6.62860790e-01 -9.79941227e-03 -2.70909114e+02] [-1.33269725e-02 -2.70157135e-04 -9.99911155e-01 -4.86495351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7065599949999 meters 0.05195367934500978 Centerline is valid? [True, True] Translation: X:649.68, Y:-270.93, Z:-4.87 [[ 6.03662413e-01 7.97188492e-01 -9.06641186e-03 6.49678485e+02] [ 7.97105075e-01 -6.03730435e-01 -1.15351917e-02 -2.70933303e+02] [-1.46693908e-02 -2.63521285e-04 -9.99892364e-01 -4.86512975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.766559995 meters 0.05260336217676691 Centerline is valid? [True, True] Translation: X:649.75, Y:-270.95, Z:-4.87 [[ 5.41250600e-01 8.40827856e-01 -7.50355304e-03 6.49754701e+02] [ 8.40752609e-01 -5.41302566e-01 -1.12508956e-02 -2.70951352e+02] [-1.35217589e-02 -2.19077813e-04 -9.99908553e-01 -4.86578380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8265599949999 meters 0.051766768636247476 Centerline is valid? [True, True] Translation: X:649.83, Y:-270.96, Z:-4.87 [[ 4.76483195e-01 8.79167711e-01 -5.28220543e-03 6.49828036e+02] [ 8.79117259e-01 -4.76512447e-01 -9.41977938e-03 -2.70962680e+02] [-1.07986025e-02 -1.55311381e-04 -9.99941681e-01 -4.86916132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.886559995 meters 0.052466613762507656 Centerline is valid? [True, True] Translation: X:649.90, Y:-270.97, Z:-4.87 [[ 4.06347732e-01 9.13707286e-01 -4.52945608e-03 6.49903515e+02] [ 9.13654681e-01 -4.06372946e-01 -9.80569767e-03 -2.70967240e+02] [-1.08001858e-02 -1.53835743e-04 -9.99941664e-01 -4.86957892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9465599949999 meters 0.05220198573691898 Centerline is valid? [True, True] Translation: X:649.98, Y:-270.97, Z:-4.87 [[ 3.34317828e-01 9.42452598e-01 -3.83267927e-03 6.49975954e+02] [ 9.42395633e-01 -3.34339764e-01 -1.03630406e-02 -2.70965305e+02] [-1.10480916e-02 -1.47350997e-04 -9.99938957e-01 -4.86820052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.006559995 meters 0.05259831927863871 Centerline is valid? [True, True] Translation: X:650.05, Y:-270.96, Z:-4.87 [[ 2.59866911e-01 9.65639719e-01 -3.02013305e-03 6.50045876e+02] [ 9.65580794e-01 -2.59884420e-01 -1.06685495e-02 -2.70957001e+02] [-1.10868606e-02 -1.43779484e-04 -9.99938529e-01 -4.86811922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0665599949999 meters 0.05284017118705152 Centerline is valid? [True, True] Translation: X:650.12, Y:-270.94, Z:-4.87 [[ 1.85064027e-01 9.82723594e-01 -2.37582233e-03 6.50116410e+02] [ 9.82651522e-01 -1.85079229e-01 -1.19023459e-02 -2.70943518e+02] [-1.21364315e-02 -1.31909361e-04 -9.99926342e-01 -4.86802328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.126559995 meters 0.05313415996217449 Centerline is valid? [True, True] Translation: X:650.18, Y:-270.92, Z:-4.87 [[ 1.07771297e-01 9.94174665e-01 -1.44348478e-03 6.50183097e+02] [ 9.94100926e-01 -1.07780885e-01 -1.21090734e-02 -2.70923831e+02] [-1.21941141e-02 -1.29959014e-04 -9.99925641e-01 -4.86840495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1865599949999 meters 0.05336451880537071 Centerline is valid? [True, True] Translation: X:650.25, Y:-270.90, Z:-4.87 [[ 2.79693967e-02 9.99608638e-01 -5.32238725e-04 6.50251769e+02] [ 9.99519445e-01 -2.79740114e-02 -1.33541817e-02 -2.70898818e+02] [-1.33638443e-02 -1.58474549e-04 -9.99910687e-01 -4.86798882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.246559995 meters 0.05306773251015488 Centerline is valid? [True, True] Translation: X:650.31, Y:-270.87, Z:-4.87 [[-5.19855120e-02 9.98647701e-01 5.25520977e-04 6.50313162e+02] [ 9.98555055e-01 5.19878480e-02 -1.36039183e-02 -2.70869007e+02] [-1.36128424e-02 -1.82445030e-04 -9.99907324e-01 -4.87304567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3065599949999 meters 0.053362151935077144 Centerline is valid? [True, True] Translation: X:650.39, Y:-270.83, Z:-4.87 [[-1.31149151e-01 9.91361413e-01 1.56512005e-03 6.50388456e+02] [ 9.91271812e-01 1.31158343e-01 -1.33297773e-02 -2.70832580e+02] [-1.34199054e-02 -1.96729592e-04 -9.99909930e-01 -4.86837713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.366559995 meters 0.05353466133051499 Centerline is valid? [True, True] Translation: X:650.45, Y:-270.79, Z:-4.87 [[-2.07975238e-01 9.78131181e-01 2.38589466e-03 6.50450601e+02] [ 9.78056461e-01 2.07988844e-01 -1.20913109e-02 -2.70791846e+02] [-1.23231277e-02 -1.81153560e-04 -9.99924051e-01 -4.86876933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4265599949999 meters 0.05385989663228938 Centerline is valid? [True, True] Translation: X:650.50, Y:-270.75, Z:-4.87 [[-2.81734575e-01 9.59487288e-01 3.12608552e-03 6.50503680e+02] [ 9.59422267e-01 2.81751879e-01 -1.11710301e-02 -2.70746967e+02] [-1.15992418e-02 -1.48029359e-04 -9.99932716e-01 -4.87030505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.486559995 meters 0.054217357978340375 Centerline is valid? [True, True] Translation: X:650.56, Y:-270.70, Z:-4.87 [[-3.53261214e-01 9.35516299e-01 3.97105119e-03 6.50560926e+02] [ 9.35453508e-01 3.53283515e-01 -1.08393728e-02 -2.70695275e+02] [-1.15433168e-02 -1.14396212e-04 -9.99933367e-01 -4.87437130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5465599949999 meters 0.05378336142179152 Centerline is valid? [True, True] Translation: X:650.61, Y:-270.64, Z:-4.87 [[-4.20904854e-01 9.07090853e-01 5.02875362e-03 6.50608684e+02] [ 9.07024500e-01 4.20934889e-01 -1.09715830e-02 -2.70642786e+02] [-1.20690004e-02 -5.67897840e-05 -9.99927165e-01 -4.86894142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.606559995 meters 0.05417930020596985 Centerline is valid? [True, True] Translation: X:650.64, Y:-270.59, Z:-4.87 [[-4.87274788e-01 8.73227522e-01 6.08074921e-03 6.50639475e+02] [ 8.73159312e-01 4.87312728e-01 -1.09142405e-02 -2.70592704e+02] [-1.24938416e-02 -8.77142146e-06 -9.99921949e-01 -4.86786286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.666559995 meters 0.05452476059170244 Centerline is valid? [True, True] Translation: X:650.68, Y:-270.53, Z:-4.87 [[-5.49982764e-01 8.35142835e-01 7.44335339e-03 6.50684917e+02] [ 8.35067876e-01 5.50033127e-01 -1.11893836e-02 -2.70527800e+02] [-1.34388245e-02 6.17371865e-05 -9.99909693e-01 -4.87475397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7265599949999 meters 0.05481638346897161 Centerline is valid? [True, True] Translation: X:650.72, Y:-270.47, Z:-4.87 [[-6.12197617e-01 7.90658402e-01 8.56558326e-03 6.50715420e+02] [ 7.90583098e-01 6.12257530e-01 -1.09124938e-02 -2.70468437e+02] [-1.38723978e-02 9.12026484e-05 -9.99903770e-01 -4.86655769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.786559995 meters 0.054960564827797403 Centerline is valid? [True, True] Translation: X:650.75, Y:-270.39, Z:-4.87 [[-6.75345801e-01 7.37440373e-01 9.47339753e-03 6.50754977e+02] [ 7.37368506e-01 6.75412241e-01 -1.02952217e-02 -2.70393252e+02] [-1.39905608e-02 3.25502607e-05 -9.99902127e-01 -4.87397030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8465599949999 meters 0.055292227009378185 Centerline is valid? [True, True] Translation: X:650.78, Y:-270.32, Z:-4.88 [[-7.32239589e-01 6.80968747e-01 1.03319836e-02 6.50779969e+02] [ 6.80901111e-01 7.32312478e-01 -9.59748593e-03 -2.70322656e+02] [-1.41018285e-02 7.39993887e-06 -9.99900564e-01 -4.87504063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.906559995 meters 0.054485389888882255 Centerline is valid? [True, True] Translation: X:650.74, Y:-270.18, Z:-4.88 [[-7.83188761e-01 6.21681024e-01 1.13167807e-02 6.50736277e+02] [ 6.21614468e-01 7.83270513e-01 -9.09704127e-03 -2.70183000e+02] [-1.45195586e-02 -9.00258362e-05 -9.99894582e-01 -4.87508886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9665599949999 meters 0.054391848442284244 Centerline is valid? [True, True] Translation: X:650.78, Y:-270.12, Z:-4.88 [[-8.29283209e-01 5.58715626e-01 1.12342344e-02 6.50778932e+02] [ 5.58661284e-01 8.29359279e-01 -7.79464964e-03 -2.70120193e+02] [-1.36722091e-02 -1.87840272e-04 -9.99906513e-01 -4.87675899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.026559995 meters 0.05440666605613746 Centerline is valid? [True, True] Translation: X:650.85, Y:-270.07, Z:-4.88 [[-8.70149686e-01 4.92701713e-01 9.19489312e-03 6.50848356e+02] [ 4.92671404e-01 8.70198236e-01 -5.46978643e-03 -2.70072130e+02] [-1.06963529e-02 -2.29472040e-04 -9.99942766e-01 -4.87802481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0865599949999 meters 0.055081907158889845 Centerline is valid? [True, True] Translation: X:651.13, Y:-269.65, Z:-5.85 [[-8.14557747e-01 -5.80051967e-01 5.94906553e-03 6.51130997e+02] [ 5.80035995e-01 -8.14579469e-01 -4.30499531e-03 -2.69654477e+02] [ 7.34310765e-03 -5.59951414e-05 9.99973037e-01 -5.84921236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.146559995 meters 0.05422783436934449 Centerline is valid? [True, True] Translation: X:650.78, Y:-270.03, Z:-4.88 [[-8.75186592e-01 4.83722302e-01 7.82069995e-03 6.50781038e+02] [ 4.83700287e-01 8.75221495e-01 -4.62248225e-03 -2.70033438e+02] [-9.08084245e-03 -2.62659676e-04 -9.99958734e-01 -4.87811366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2065599949999 meters 0.05423660153543644 Centerline is valid? [True, True] Translation: X:650.79, Y:-269.95, Z:-4.88 [[-9.07573013e-01 4.19793723e-01 9.19006485e-03 6.50793429e+02] [ 4.19768876e-01 9.07619492e-01 -4.57688061e-03 -2.69954128e+02] [-1.02624277e-02 -2.96150126e-04 -9.99947296e-01 -4.87721492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.266559995 meters 0.054006966264734176 Centerline is valid? [True, True] Translation: X:650.78, Y:-269.87, Z:-4.88 [[-9.34808953e-01 3.54981158e-01 1.09817571e-02 6.50779244e+02] [ 3.54952558e-01 9.34873399e-01 -4.51770307e-03 -2.69869244e+02] [-1.18702520e-02 -3.25186509e-04 -9.99929493e-01 -4.87708474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3265599949999 meters 0.05440595177031596 Centerline is valid? [True, True] Translation: X:650.70, Y:-269.77, Z:-4.88 [[-9.56862377e-01 2.90306691e-01 1.16797590e-02 6.50704658e+02] [ 2.90281198e-01 9.56933610e-01 -3.85899980e-03 -2.69766806e+02] [-1.22970474e-02 -3.02117274e-04 -9.99924343e-01 -4.87773323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.386559995 meters 0.054041954869832425 Centerline is valid? [True, True] Translation: X:650.66, Y:-269.68, Z:-4.88 [[-9.74274618e-01 2.25039594e-01 1.20892710e-02 6.50658225e+02] [ 2.25018927e-01 9.74349584e-01 -3.06105262e-03 -2.69678489e+02] [-1.24680342e-02 -2.61991079e-04 -9.99922237e-01 -4.87722199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4465599949999 meters 0.05400925543547361 Centerline is valid? [True, True] Translation: X:650.75, Y:-269.14, Z:-5.85 [[-9.47801781e-01 -3.18700730e-01 1.00810796e-02 6.50749758e+02] [ 3.18683994e-01 -9.47855385e-01 -3.26812231e-03 -2.69141908e+02] [ 1.05969586e-02 1.15146571e-04 9.99943844e-01 -5.84891154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.506559995 meters 0.054226015887750806 Centerline is valid? [True, True] Translation: X:650.80, Y:-269.74, Z:-4.88 [[-9.73463299e-01 2.28551553e-01 1.15495487e-02 6.50802759e+02] [ 2.28533872e-01 9.73531802e-01 -2.84589704e-03 -2.69735226e+02] [-1.18942872e-02 -1.30913245e-04 -9.99929252e-01 -4.88158524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5665599949999 meters 0.05367856208059894 Centerline is valid? [True, True] Translation: X:650.31, Y:-269.01, Z:-5.85 [[-9.54378958e-01 -2.98441974e-01 9.65360193e-03 6.50309977e+02] [ 2.98426995e-01 -9.54427780e-01 -2.99023802e-03 -2.69009925e+02] [ 1.01060784e-02 2.70751626e-05 9.99948932e-01 -5.84866912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.626559995 meters 0.054318279477300065 Centerline is valid? [True, True] Translation: X:650.06, Y:-269.55, Z:-4.88 [[-9.71496757e-01 2.36799415e-01 1.09584423e-02 6.50056989e+02] [ 2.36784509e-01 9.71558561e-01 -2.65695492e-03 -2.69553796e+02] [-1.12759338e-02 1.35662978e-05 -9.99936425e-01 -4.87948019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6865599949999 meters 0.05406889658495676 Centerline is valid? [True, True] Translation: X:650.02, Y:-269.48, Z:-4.88 [[-9.85706419e-01 1.68099567e-01 1.11978379e-02 6.50020147e+02] [ 1.68089003e-01 9.85770021e-01 -1.88475137e-03 -2.69476292e+02] [-1.13553188e-02 2.44218810e-05 -9.99935526e-01 -4.87791804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.746559995 meters 0.05482447914402176 Centerline is valid? [True, True] Translation: X:650.14, Y:-269.42, Z:-4.88 [[-9.95221063e-01 9.69993354e-02 1.12322846e-02 6.50135710e+02] [ 9.69934901e-02 9.95284446e-01 -1.06527081e-03 -2.69417158e+02] [-1.12826487e-02 2.92785371e-05 -9.99936348e-01 -4.87930309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8065599949999 meters 0.05426227932879882 Centerline is valid? [True, True] Translation: X:649.93, Y:-268.79, Z:-5.85 [[-9.89221153e-01 -1.46134386e-01 9.28722402e-03 6.49933326e+02] [ 1.46126729e-01 -9.89264739e-01 -1.50144785e-03 -2.68786335e+02] [ 9.40693641e-03 -1.28152301e-04 9.99955746e-01 -5.84807087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.866559995 meters 0.054225324092776826 Centerline is valid? [True, True] Translation: X:649.78, Y:-269.39, Z:-4.88 [[-9.94964663e-01 9.96581306e-02 1.06572479e-02 6.49776620e+02] [ 9.96534456e-02 9.95021732e-01 -9.71063197e-04 -2.69388732e+02] [-1.07009676e-02 9.58579050e-05 -9.99942738e-01 -4.88052298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9265599949999 meters 0.05419823170281374 Centerline is valid? [True, True] Translation: X:649.69, Y:-269.31, Z:-4.88 [[-9.99512371e-01 2.95058075e-02 1.02189818e-02 6.49689697e+02] [ 2.95052617e-02 9.99564604e-01 -2.04193303e-04 -2.69313408e+02] [-1.02205574e-02 9.74200012e-05 -9.99947764e-01 -4.88063189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.986559995 meters 0.05396049454580256 Centerline is valid? [True, True] Translation: X:649.62, Y:-269.24, Z:-4.88 [[-9.99078156e-01 -4.18420364e-02 9.59596752e-03 6.49615268e+02] [-4.18392754e-02 9.99124235e-01 4.88386708e-04 -2.69244520e+02] [-9.60799880e-03 8.64481640e-05 -9.99953838e-01 -4.88086718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0465599949999 meters 0.05422303486536027 Centerline is valid? [True, True] Translation: X:650.07, Y:-269.12, Z:-4.88 [[-9.92644953e-01 -1.20598397e-01 1.05841250e-02 6.50074689e+02] [-1.20590794e-01 9.92701376e-01 1.35597495e-03 -2.69116978e+02] [-1.06704039e-02 6.96536439e-05 -9.99943067e-01 -4.88189069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.106559995 meters 0.05406884370718382 Centerline is valid? [True, True] Translation: X:649.58, Y:-269.12, Z:-4.88 [[-9.81117601e-01 -1.93118683e-01 1.06502515e-02 6.49583514e+02] [-1.93106769e-01 9.81175403e-01 2.14567812e-03 -2.69117772e+02] [-1.08641353e-02 4.85269194e-05 -9.99940982e-01 -4.88197312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.166559995 meters 0.0540934633793527 Centerline is valid? [True, True] Translation: X:649.40, Y:-269.08, Z:-4.88 [[-9.63102383e-01 -2.68918527e-01 1.07993572e-02 6.49395420e+02] [-2.68901910e-01 9.63162928e-01 2.98963438e-03 -2.69084314e+02] [-1.12055086e-02 -2.46437824e-05 -9.99937216e-01 -4.88121408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2265599949999 meters 0.05384345650729679 Centerline is valid? [True, True] Translation: X:649.41, Y:-269.00, Z:-4.88 [[-9.39487796e-01 -3.42387920e-01 1.15409107e-02 6.49409084e+02] [-3.42362948e-01 9.39558677e-01 4.13575238e-03 -2.68997519e+02] [-1.22593945e-02 -6.56913375e-05 -9.99924849e-01 -4.87825938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.286559995 meters 0.05422407211783656 Centerline is valid? [True, True] Translation: X:649.75, Y:-268.76, Z:-4.88 [[-9.09046297e-01 -4.16534297e-01 1.15762147e-02 6.49748368e+02] [-4.16502165e-01 9.09119995e-01 5.17502952e-03 -2.68764595e+02] [-1.26797455e-02 -1.17177060e-04 -9.99919602e-01 -4.88178093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3465599949999 meters 0.053860481511730694 Centerline is valid? [True, True] Translation: X:648.89, Y:-268.48, Z:-5.85 [[-9.38813014e-01 3.44296798e-01 9.47842961e-03 6.48894958e+02] [-3.44279881e-01 -9.38860859e-01 3.41351963e-03 -2.68482297e+02] [ 1.00741904e-02 -5.85759666e-05 9.99949252e-01 -5.84960344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.406559995 meters 0.05365782986412736 Centerline is valid? [True, True] Translation: X:649.00, Y:-269.09, Z:-4.88 [[-9.06215354e-01 -4.22695921e-01 1.00940934e-02 6.49004535e+02] [-4.22671288e-01 9.06271560e-01 4.56519671e-03 -2.69085339e+02] [-1.10776799e-02 -1.29432126e-04 -9.99938632e-01 -4.88114620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4665599949999 meters 0.052989317699933654 Centerline is valid? [True, True] Translation: X:648.89, Y:-269.06, Z:-4.88 [[-8.72404940e-01 -4.88692444e-01 9.45075399e-03 6.48886171e+02] [-4.88665638e-01 8.72456115e-01 5.12073541e-03 -2.69061143e+02] [-1.07478328e-02 -1.50903857e-04 -9.99942229e-01 -4.88167026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.526559995 meters 0.053182329715403834 Centerline is valid? [True, True] Translation: X:648.77, Y:-269.04, Z:-4.88 [[-8.32227629e-01 -5.54345335e-01 9.92085588e-03 6.48774859e+02] [-5.54309010e-01 8.32286732e-01 6.34963870e-03 -2.69036674e+02] [-1.17768893e-02 -2.14875039e-04 -9.99930627e-01 -4.87952914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5865599949999 meters 0.05321015051806374 Centerline is valid? [True, True] Translation: X:648.65, Y:-269.03, Z:-4.88 [[-7.86703242e-01 -6.17240221e-01 1.06074581e-02 6.48650717e+02] [-6.17189184e-01 7.86774695e-01 7.94293107e-03 -2.69026956e+02] [-1.32483762e-02 -2.98078818e-04 -9.99912192e-01 -4.87761733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.646559995 meters 0.053155588793338385 Centerline is valid? [True, True] Translation: X:648.51, Y:-269.04, Z:-4.88 [[-7.38472290e-01 -6.74217450e-01 9.46080801e-03 6.48514940e+02] [-6.74167386e-01 7.38532827e-01 8.22188299e-03 -2.69040743e+02] [-1.25304543e-02 -3.06535443e-04 -9.99921444e-01 -4.87935799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7065599949999 meters 0.05253937646339918 Centerline is valid? [True, True] Translation: X:648.36, Y:-269.09, Z:-4.88 [[-6.88290253e-01 -7.25397120e-01 7.45289724e-03 6.48355060e+02] [-7.25358587e-01 6.88330554e-01 7.48117012e-03 -2.69090158e+02] [-1.05568762e-02 -2.56806537e-04 -9.99944242e-01 -4.88135056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.766559995 meters 0.053192375078623406 Centerline is valid? [True, True] Translation: X:648.18, Y:-269.17, Z:-4.88 [[-6.34931173e-01 -7.72549247e-01 5.48337331e-03 6.48182217e+02] [-7.72523180e-01 6.34954817e-01 6.34949776e-03 -2.69167367e+02] [-8.38699401e-03 -2.04538931e-04 -9.99964808e-01 -4.88223908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8265599949999 meters 0.05237341514625658 Centerline is valid? [True, True] Translation: X:648.01, Y:-269.27, Z:-4.88 [[-5.78146898e-01 -8.15921884e-01 4.20052745e-03 6.48008625e+02] [-8.15902421e-01 5.78162133e-01 5.63800152e-03 -2.69268719e+02] [-7.02875473e-03 -1.67627426e-04 -9.99975284e-01 -4.88311389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.886559995 meters 0.0529197903807087 Centerline is valid? [True, True] Translation: X:647.83, Y:-269.40, Z:-4.88 [[-5.21128407e-01 -8.53466280e-01 4.52679380e-03 6.47828289e+02] [-8.53436516e-01 5.21148047e-01 7.12927043e-03 -2.69399813e+02] [-8.44372166e-03 -1.48065787e-04 -9.99964340e-01 -4.87955311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9465599949999 meters 0.05221940069884781 Centerline is valid? [True, True] Translation: X:647.66, Y:-269.55, Z:-4.88 [[-4.62230024e-01 -8.86750654e-01 4.08428886e-03 6.47660839e+02] [-8.86717933e-01 4.62248058e-01 7.61843553e-03 -2.69545935e+02] [-8.64360728e-03 -1.00142534e-04 -9.99962638e-01 -4.87877329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.006559995 meters 0.05272300797017395 Centerline is valid? [True, True] Translation: X:647.50, Y:-269.72, Z:-4.88 [[-3.98372181e-01 -9.17217737e-01 3.35078630e-03 6.47496753e+02] [-9.17186860e-01 3.98386266e-01 7.52638968e-03 -2.69717327e+02] [-8.23824535e-03 -7.49928871e-05 -9.99966062e-01 -4.88118111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0665599949999 meters 0.05288684619451447 Centerline is valid? [True, True] Translation: X:647.33, Y:-269.96, Z:-4.88 [[-3.37896149e-01 -9.41179182e-01 2.81786977e-03 6.47325978e+02] [-9.41146605e-01 3.37907898e-01 7.83070128e-03 -2.69962037e+02] [-8.32227348e-03 -6.06476823e-06 -9.99965369e-01 -4.88173908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.126559995 meters 0.05333776265889999 Centerline is valid? [True, True] Translation: X:647.18, Y:-270.22, Z:-4.88 [[-2.80494677e-01 -9.59853088e-01 2.18778529e-03 6.47180530e+02] [-9.59821017e-01 2.80503191e-01 7.84697883e-03 -2.70215315e+02] [-8.14562761e-03 1.01153493e-04 -9.99966819e-01 -4.88176674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1865599949999 meters 0.05385681503418753 Centerline is valid? [True, True] Translation: X:647.17, Y:-269.90, Z:-4.88 [[-2.12547665e-01 -9.77149435e-01 1.57208207e-03 6.47171266e+02] [-9.77117350e-01 2.12553428e-01 7.91984244e-03 -2.69895121e+02] [-8.07302100e-03 1.47235349e-04 -9.99967402e-01 -4.88412407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.246559995 meters 0.054270838181956355 Centerline is valid? [True, True] Translation: X:646.40, Y:-270.29, Z:-5.85 [[-2.22574554e-01 9.74914663e-01 1.40276073e-03 6.46396063e+02] [-9.74901651e-01 -2.22578840e-01 5.04290362e-03 -2.70285059e+02] [ 5.22862554e-03 -2.45131730e-04 9.99986301e-01 -5.84909224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3065599949999 meters 0.054453459315275635 Centerline is valid? [True, True] Translation: X:647.01, Y:-270.69, Z:-4.88 [[-2.15543780e-01 -9.76493390e-01 1.23993265e-03 6.47012799e+02] [-9.76472171e-01 2.15547274e-01 6.43991283e-03 -2.70687103e+02] [-6.55579641e-03 1.77323425e-04 -9.99978495e-01 -4.88469127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.366559995 meters 0.054404810983479955 Centerline is valid? [True, True] Translation: X:646.91, Y:-270.89, Z:-4.88 [[-1.43070535e-01 -9.89712172e-01 7.98724268e-04 6.46911129e+02] [-9.89688162e-01 1.43072630e-01 6.89669023e-03 -2.70889565e+02] [-6.94001385e-03 1.96225210e-04 -9.99975899e-01 -4.88422193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4265599949999 meters 0.05415367413811821 Centerline is valid? [True, True] Translation: X:646.83, Y:-270.78, Z:-4.89 [[-6.52334961e-02 -9.97869981e-01 3.02276334e-04 6.46832488e+02] [-9.97840128e-01 6.52338835e-02 7.72139787e-03 -2.70784032e+02] [-7.72466981e-03 2.02070322e-04 -9.99970144e-01 -4.88544731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.486559995 meters 0.05517841630459378 Centerline is valid? [True, True] Translation: X:646.77, Y:-271.48, Z:-4.88 [[ 8.82937454e-03 -9.99960991e-01 -2.41230470e-04 6.46768978e+02] [-9.99933378e-01 -8.83092393e-03 7.43328047e-03 -2.71479773e+02] [-7.43512079e-03 1.75583182e-04 -9.99972344e-01 -4.88296909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5465599949999 meters 0.053849310880178754 Centerline is valid? [True, True] Translation: X:646.70, Y:-271.53, Z:-4.88 [[ 8.64199725e-02 -9.96258562e-01 -6.82350690e-04 6.46697570e+02] [-9.96237611e-01 -8.64225812e-02 6.46224793e-03 -2.71530007e+02] [-6.49704034e-03 1.21316133e-04 -9.99978887e-01 -4.88348726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.606559995 meters 0.05344646048268843 Centerline is valid? [True, True] Translation: X:646.67, Y:-271.84, Z:-4.88 [[ 1.67199258e-01 -9.85922534e-01 -1.07947368e-03 6.46667352e+02] [-9.85904427e-01 -1.67202730e-01 5.97558891e-03 -2.71838537e+02] [-6.07195871e-03 6.51438450e-05 -9.99981563e-01 -4.88340992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.666559995 meters 0.053789940815005065 Centerline is valid? [True, True] Translation: X:646.62, Y:-271.99, Z:-4.88 [[ 2.47998664e-01 -9.68759158e-01 -1.53518713e-03 6.46621482e+02] [-9.68741011e-01 -2.48003415e-01 5.92954852e-03 -2.71993594e+02] [-6.12503608e-03 1.66786159e-05 -9.99981242e-01 -4.88276437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7265599949999 meters 0.05300497020568621 Centerline is valid? [True, True] Translation: X:646.60, Y:-272.18, Z:-4.88 [[ 3.23542072e-01 -9.46211150e-01 -2.23311720e-03 6.46598739e+02] [-9.46188499e-01 -3.23549778e-01 6.54715381e-03 -2.72179320e+02] [-6.91751452e-03 -5.32989499e-06 -9.99976074e-01 -4.88142557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.786559995 meters 0.05351489301431582 Centerline is valid? [True, True] Translation: X:646.61, Y:-272.43, Z:-4.88 [[ 3.95240549e-01 -9.18572262e-01 -3.14756834e-03 6.46614849e+02] [-9.18542719e-01 -3.95253082e-01 7.36714293e-03 -2.72432308e+02] [-8.01133923e-03 -2.06176346e-05 -9.99967908e-01 -4.88086516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8465599949999 meters 0.05347693406446248 Centerline is valid? [True, True] Translation: X:646.63, Y:-272.64, Z:-4.88 [[ 4.61565174e-01 -8.87099995e-01 -3.34497317e-03 6.46630898e+02] [-8.87076414e-01 -4.61577294e-01 6.46822009e-03 -2.72637848e+02] [-7.28192168e-03 -1.82583301e-05 -9.99973486e-01 -4.88368314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.906559995 meters 0.053025868181132495 Centerline is valid? [True, True] Translation: X:646.68, Y:-272.87, Z:-4.88 [[ 5.25525199e-01 -8.50768031e-01 -4.12579901e-03 6.46681742e+02] [-8.50741631e-01 -5.25541394e-01 6.70227818e-03 -2.72871553e+02] [-7.87036217e-03 -1.22270893e-05 -9.99969028e-01 -4.88188892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9665599949999 meters 0.052950966001263894 Centerline is valid? [True, True] Translation: X:646.75, Y:-273.10, Z:-4.88 [[ 5.85577706e-01 -8.10600864e-01 -4.99888769e-03 6.46746444e+02] [-8.10571404e-01 -5.85599043e-01 6.91090013e-03 -2.73099443e+02] [-8.52932546e-03 5.08637257e-06 -9.99963625e-01 -4.88197094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.026559995 meters 0.05308227786467357 Centerline is valid? [True, True] Translation: X:646.82, Y:-273.31, Z:-4.88 [[ 6.43127915e-01 -7.65738650e-01 -5.55027506e-03 6.46820085e+02] [-7.65710304e-01 -6.43151864e-01 6.58865769e-03 -2.73309878e+02] [-8.61485959e-03 1.25531156e-05 -9.99962891e-01 -4.88194184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0865599949999 meters 0.05340677102008674 Centerline is valid? [True, True] Translation: X:646.75, Y:-273.34, Z:-4.88 [[ 6.98463203e-01 -7.15629183e-01 -4.90172262e-03 6.46749750e+02] [-7.15611519e-01 -6.98480403e-01 5.02808735e-03 -2.73342179e+02] [-7.02200323e-03 -4.20483138e-06 -9.99975345e-01 -4.88480635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.146559995 meters 0.05342382995825079 Centerline is valid? [True, True] Translation: X:646.98, Y:-273.66, Z:-4.88 [[ 7.50380824e-01 -6.60987695e-01 -4.88731931e-03 6.46980702e+02] [-6.60973499e-01 -7.50396740e-01 4.33196733e-03 -2.73663202e+02] [-6.53080558e-03 -2.02366711e-05 -9.99978674e-01 -4.88468924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2065599949999 meters 0.053720320428784864 Centerline is valid? [True, True] Translation: X:646.96, Y:-273.74, Z:-4.88 [[ 8.01698424e-01 -5.97702720e-01 -5.57641632e-03 6.46961038e+02] [-5.97687878e-01 -8.01717816e-01 4.21224904e-03 -2.73739688e+02] [-6.98838503e-03 -4.39969756e-05 -9.99975580e-01 -4.88385702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.266559995 meters 0.053297444510986766 Centerline is valid? [True, True] Translation: X:646.95, Y:-273.82, Z:-4.88 [[ 8.49441675e-01 -5.27651345e-01 -5.73575073e-03 6.46946001e+02] [-5.27638609e-01 -8.49461035e-01 3.66716097e-03 -2.73821261e+02] [-6.80727917e-03 -8.86358183e-05 -9.99976826e-01 -4.88486022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3265599949999 meters 0.05264725297645649 Centerline is valid? [True, True] Translation: X:646.94, Y:-273.91, Z:-4.89 [[ 8.90062758e-01 -4.55798336e-01 -6.01370110e-03 6.46935408e+02] [-4.55787033e-01 -8.90083065e-01 3.21205565e-03 -2.73906938e+02] [-6.81674313e-03 -1.17964133e-04 -9.99976759e-01 -4.88548200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.386559995 meters 0.052857057487296674 Centerline is valid? [True, True] Translation: X:646.93, Y:-273.99, Z:-4.89 [[ 9.25368864e-01 -3.79035255e-01 -4.97400955e-03 6.46930357e+02] [-3.79028971e-01 -9.25382222e-01 2.18698410e-03 -2.73993639e+02] [-5.43180408e-03 -1.38473273e-04 -9.99985238e-01 -4.88514355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4465599949999 meters 0.05269860343411635 Centerline is valid? [True, True] Translation: X:646.93, Y:-274.08, Z:-4.89 [[ 9.53971874e-01 -2.99869080e-01 -4.02471289e-03 6.46933925e+02] [-2.99865766e-01 -9.53980353e-01 1.41736048e-03 -2.74079916e+02] [-4.26451960e-03 -1.45248422e-04 -9.99990896e-01 -4.88591863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.506559995 meters 0.0523710567948127 Centerline is valid? [True, True] Translation: X:646.94, Y:-274.17, Z:-4.89 [[ 9.75809277e-01 -2.18574948e-01 -4.60938758e-03 6.46942755e+02] [-2.18571613e-01 -9.75820146e-01 1.22150368e-03 -2.74171052e+02] [-4.76492336e-03 -1.84473343e-04 -9.99988631e-01 -4.88542547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5665599949999 meters 0.05227256267569477 Centerline is valid? [True, True] Translation: X:646.96, Y:-274.26, Z:-4.88 [[ 9.90500520e-01 -1.37397192e-01 -5.54368227e-03 6.46957987e+02] [-1.37393722e-01 -9.90516006e-01 1.00379537e-03 -2.74263742e+02] [-5.62902468e-03 -2.32592693e-04 -9.99984130e-01 -4.88488618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.626559995 meters 0.05189044582345063 Centerline is valid? [True, True] Translation: X:646.98, Y:-274.36, Z:-4.88 [[ 9.98254161e-01 -5.87226328e-02 -6.34691016e-03 6.46978606e+02] [-5.87197772e-02 -9.98274303e-01 6.35493363e-04 -2.74360239e+02] [-6.37327516e-03 -2.61694743e-04 -9.99979656e-01 -4.88492542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6865599949999 meters 0.052543763658528884 Centerline is valid? [True, True] Translation: X:647.01, Y:-274.45, Z:-4.88 [[ 9.99833454e-01 1.71801350e-02 -6.15691033e-03 6.47006915e+02] [ 1.71812875e-02 -9.99852382e-01 1.34345121e-04 -2.74447632e+02] [-6.15369339e-03 -2.40106393e-04 -9.99981037e-01 -4.88499143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.746559995 meters 0.05287601288581687 Centerline is valid? [True, True] Translation: X:647.04, Y:-274.54, Z:-4.88 [[ 9.95489615e-01 9.46670261e-02 -6.21138744e-03 6.47035964e+02] [ 9.46666701e-02 -9.95508964e-01 -3.51951362e-04 -2.74536038e+02] [-6.21681007e-03 -2.37647440e-04 -9.99980647e-01 -4.88433097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8065599949999 meters 0.051637827766818974 Centerline is valid? [True, True] Translation: X:647.07, Y:-274.62, Z:-4.89 [[ 9.85420636e-01 1.70040285e-01 -5.69838778e-03 6.47072674e+02] [ 1.70038673e-01 -9.85437089e-01 -7.69771737e-04 -2.74619851e+02] [-5.74629488e-03 -2.10397342e-04 -9.99983468e-01 -4.88654623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.866559995 meters 0.05208087118795674 Centerline is valid? [True, True] Translation: X:647.12, Y:-274.71, Z:-4.89 [[ 9.69923227e-01 2.43350359e-01 -5.43471358e-03 6.47116334e+02] [ 2.43347610e-01 -9.69938435e-01 -1.17152060e-03 -2.74713008e+02] [-5.55642754e-03 -1.86239518e-04 -9.99984546e-01 -4.88506996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9265599949999 meters 0.051824948379511494 Centerline is valid? [True, True] Translation: X:647.17, Y:-274.79, Z:-4.89 [[ 9.48520537e-01 3.16691080e-01 -3.94341800e-03 6.47165281e+02] [ 3.16688966e-01 -9.48528724e-01 -1.16584690e-03 -2.74792712e+02] [-4.10965855e-03 -1.43007237e-04 -9.99991545e-01 -4.88660946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.986559995 meters 0.05188433962798809 Centerline is valid? [True, True] Translation: X:647.22, Y:-274.87, Z:-4.89 [[ 9.22262604e-01 3.86544518e-01 -3.87618992e-03 6.47221739e+02] [ 3.86541685e-01 -9.22270741e-01 -1.48534923e-03 -2.74873787e+02] [-4.14905015e-03 -1.28426940e-04 -9.99991384e-01 -4.88678982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0465599949999 meters 0.052012776425554706 Centerline is valid? [True, True] Translation: X:647.28, Y:-274.94, Z:-4.89 [[ 8.89654511e-01 4.56623153e-01 -3.18538859e-03 6.47278832e+02] [ 4.56620677e-01 -8.89660207e-01 -1.50788206e-03 -2.74939619e+02] [-3.52244733e-03 -1.13020221e-04 -9.99993790e-01 -4.88610357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.106559995 meters 0.05174675938262156 Centerline is valid? [True, True] Translation: X:647.34, Y:-275.00, Z:-4.89 [[ 8.50700274e-01 5.25637547e-01 -3.76987037e-03 6.47339290e+02] [ 5.25633066e-01 -8.50708617e-01 -2.17453802e-03 -2.74995923e+02] [-4.35008004e-03 -1.31688430e-04 -9.99990530e-01 -4.88510426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.166559995 meters 0.05188287924029594 Centerline is valid? [True, True] Translation: X:647.41, Y:-275.06, Z:-4.88 [[ 8.05468463e-01 5.92623234e-01 -4.27284078e-03 6.47410139e+02] [ 5.92615940e-01 -8.05479781e-01 -2.94466409e-03 -2.75056111e+02] [-5.18676321e-03 -1.60319493e-04 -9.99986536e-01 -4.88494874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2265599949999 meters 0.051704040927159654 Centerline is valid? [True, True] Translation: X:647.49, Y:-275.11, Z:-4.88 [[ 7.55458307e-01 6.55183849e-01 -4.10724396e-03 6.47487711e+02] [ 6.55175386e-01 -7.55469453e-01 -3.33461186e-03 -2.75114945e+02] [-5.28768118e-03 -1.71804916e-04 -9.99986005e-01 -4.88453965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.286559995 meters 0.055130377787310954 Centerline is valid? [True, True] Translation: X:647.58, Y:-275.18, Z:-4.88 [[ 7.01161314e-01 7.12990707e-01 -4.13074489e-03 6.47577788e+02] [ 7.12979880e-01 -7.01173457e-01 -3.93374039e-03 -2.75176563e+02] [-5.70108902e-03 -1.86951416e-04 -9.99983731e-01 -4.88183513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3465599949999 meters 0.05308224010600997 Centerline is valid? [True, True] Translation: X:647.66, Y:-275.21, Z:-4.88 [[ 6.42459012e-01 7.66315897e-01 -2.52285477e-03 6.47655048e+02] [ 7.66310848e-01 -6.42463949e-01 -2.78533645e-03 -2.75211663e+02] [-3.75529083e-03 -1.43826478e-04 -9.99992939e-01 -4.88416103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.406559995 meters 0.051786706144905215 Centerline is valid? [True, True] Translation: X:647.73, Y:-275.24, Z:-4.88 [[ 5.79987089e-01 8.14623340e-01 -1.94723557e-03 6.47732397e+02] [ 8.14619487e-01 -5.79990343e-01 -2.50865961e-03 -2.75239404e+02] [-3.17299049e-03 -1.31265858e-04 -9.99994957e-01 -4.88495236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4665599949999 meters 0.053051109228224876 Centerline is valid? [True, True] Translation: X:647.82, Y:-275.27, Z:-4.88 [[ 5.13753193e-01 8.57935988e-01 -1.87028859e-03 6.47816939e+02] [ 8.57931263e-01 -5.13756578e-01 -2.85070570e-03 -2.75265569e+02] [-3.40659607e-03 -1.40019898e-04 -9.99994188e-01 -4.88439065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.526559995 meters 0.052532573008798766 Centerline is valid? [True, True] Translation: X:647.90, Y:-275.28, Z:-4.88 [[ 4.44738815e-01 8.95658790e-01 -1.64866479e-03 6.47901732e+02] [ 8.95653771e-01 -4.44741848e-01 -3.00197520e-03 -2.75282382e+02] [-3.42197571e-03 -1.41537944e-04 -9.99994135e-01 -4.88446245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5865599949999 meters 0.051590252508185774 Centerline is valid? [True, True] Translation: X:647.99, Y:-275.29, Z:-4.88 [[ 3.74057201e-01 9.27404408e-01 -1.50817394e-03 6.47991010e+02] [ 9.27398365e-01 -3.74060213e-01 -3.35120461e-03 -2.75294587e+02] [-3.67206979e-03 -1.45135828e-04 -9.99993247e-01 -4.88462337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.646559995 meters 0.052631917810428065 Centerline is valid? [True, True] Translation: X:648.08, Y:-275.30, Z:-4.88 [[ 3.02080141e-01 9.53281300e-01 -1.53344961e-03 6.48082124e+02] [ 9.53271575e-01 -3.02083991e-01 -4.30882436e-03 -2.75301412e+02] [-4.57075226e-03 -1.60183654e-04 -9.99989541e-01 -4.88419765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7065599949999 meters 0.0523277157063425 Centerline is valid? [True, True] Translation: X:648.17, Y:-275.30, Z:-4.88 [[ 2.29101183e-01 9.73402009e-01 -1.08525141e-03 6.48171777e+02] [ 9.73393781e-01 -2.29103711e-01 -4.00469006e-03 -2.75299190e+02] [-4.14680847e-03 -1.38897748e-04 -9.99991392e-01 -4.88392578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.766559995 meters 0.052372977730045164 Centerline is valid? [True, True] Translation: X:648.26, Y:-275.29, Z:-4.88 [[ 1.58459409e-01 9.87365269e-01 -6.64138225e-04 6.48264215e+02] [ 9.87359121e-01 -1.58460767e-01 -3.48580859e-03 -2.75290696e+02] [-3.54700619e-03 -1.03383763e-04 -9.99993704e-01 -4.88453986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8265599949999 meters 0.052812055504364394 Centerline is valid? [True, True] Translation: X:648.36, Y:-275.28, Z:-4.88 [[ 8.35021587e-02 9.96507531e-01 -3.61403011e-04 6.48359084e+02] [ 9.96502271e-01 -8.35028927e-02 -3.23908562e-03 -2.75277051e+02] [-3.25795141e-03 -8.96682791e-05 -9.99994689e-01 -4.88426025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.886559995 meters 0.05206314075015966 Centerline is valid? [True, True] Translation: X:648.44, Y:-275.26, Z:-4.88 [[ 1.49801138e-02 9.99887787e-01 -9.67599132e-05 6.48440305e+02] [ 9.99884139e-01 -1.49803206e-02 -2.70165155e-03 -2.75255235e+02] [-2.70279789e-03 -5.62776548e-05 -9.99996346e-01 -4.88434090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9465599949999 meters 0.052059048238745576 Centerline is valid? [True, True] Translation: X:648.51, Y:-275.23, Z:-4.88 [[-5.72530741e-02 9.98359685e-01 1.55706319e-04 6.48513928e+02] [ 9.98353984e-01 5.72532734e-02 -3.37425084e-03 -2.75226664e+02] [-3.37763070e-03 -3.77362096e-05 -9.99994295e-01 -4.88375725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.006559995 meters 0.05344395014385776 Centerline is valid? [True, True] Translation: X:648.59, Y:-275.19, Z:-4.88 [[-1.27808406e-01 9.91798694e-01 6.02355163e-04 6.48586903e+02] [ 9.91787732e-01 1.27809825e-01 -4.66303824e-03 -2.75192892e+02] [-4.70178214e-03 1.43297628e-06 -9.99988947e-01 -4.88290590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0665599949999 meters 0.05291679412368652 Centerline is valid? [True, True] Translation: X:648.66, Y:-275.15, Z:-4.88 [[-1.99651430e-01 9.79866421e-01 1.05040037e-03 6.48664141e+02] [ 9.79853734e-01 1.99654191e-01 -4.98646497e-03 -2.75151781e+02] [-5.09578642e-03 3.36838586e-05 -9.99987016e-01 -4.88342568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.126559995 meters 0.05339230803914291 Centerline is valid? [True, True] Translation: X:648.74, Y:-275.10, Z:-4.88 [[-2.73122023e-01 9.61978683e-01 1.17260342e-03 6.48741635e+02] [ 9.61970290e-01 2.73124538e-01 -4.01846311e-03 -2.75103465e+02] [-4.18594262e-03 3.04788833e-05 -9.99991238e-01 -4.88478904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1865599949999 meters 0.053097301477775076 Centerline is valid? [True, True] Translation: X:648.84, Y:-275.04, Z:-4.89 [[-3.44083776e-01 9.38938661e-01 7.39509421e-04 6.48839019e+02] [ 9.38936495e-01 3.44084571e-01 -2.01656998e-03 -2.75041453e+02] [-2.14788930e-03 4.83369675e-07 -9.99997693e-01 -4.88540257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.246559995 meters 0.053727828873415484 Centerline is valid? [True, True] Translation: X:648.88, Y:-274.99, Z:-4.88 [[-4.17222178e-01 9.08803829e-01 1.12008190e-03 6.48884267e+02] [ 9.08800618e-01 4.17223682e-01 -2.41569449e-03 -2.74993811e+02] [-2.66271709e-03 1.00498082e-05 -9.99996455e-01 -4.88483214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3065599949999 meters 0.053870993983937694 Centerline is valid? [True, True] Translation: X:648.93, Y:-274.94, Z:-4.89 [[-4.89668101e-01 8.71907558e-01 1.53649854e-03 6.48933057e+02] [ 8.71903334e-01 4.89670511e-01 -2.71401447e-03 -2.74939844e+02] [-3.11874776e-03 1.07118909e-05 -9.99995137e-01 -4.88515836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.366559995 meters 0.0536800563169194 Centerline is valid? [True, True] Translation: X:648.99, Y:-274.87, Z:-4.88 [[-5.61608699e-01 8.27401146e-01 1.73601780e-03 6.48989666e+02] [ 8.27397143e-01 5.61611382e-01 -2.57361450e-03 -2.74870965e+02] [-3.10437894e-03 -8.98811759e-06 -9.99995181e-01 -4.88454554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4265599949999 meters 0.053408379579840896 Centerline is valid? [True, True] Translation: X:649.04, Y:-274.80, Z:-4.89 [[-6.29222812e-01 7.77221678e-01 2.26202797e-03 6.49038478e+02] [ 7.77216519e-01 6.29226877e-01 -2.83196122e-03 -2.74798892e+02] [-3.62439045e-03 -2.38490977e-05 -9.99993432e-01 -4.88553823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.486559995 meters 0.053526259023940446 Centerline is valid? [True, True] Translation: X:649.08, Y:-274.72, Z:-4.89 [[-6.90492417e-01 7.23336027e-01 2.28331679e-03 6.49083787e+02] [ 7.23331897e-01 6.90496191e-01 -2.44478890e-03 -2.74721158e+02] [-3.34502543e-03 -3.65123317e-05 -9.99994405e-01 -4.88516667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5465599949999 meters 0.05341043538766633 Centerline is valid? [True, True] Translation: X:649.13, Y:-274.64, Z:-4.89 [[-7.47566406e-01 6.64184247e-01 1.93761562e-03 6.49125317e+02] [ 6.64181846e-01 7.47568915e-01 -1.78685819e-03 -2.74635951e+02] [-2.63530427e-03 -4.88660406e-05 -9.99996526e-01 -4.88654794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.606559995 meters 0.05312804025321531 Centerline is valid? [True, True] Translation: X:649.54, Y:-274.20, Z:-5.86 [[-6.97757373e-01 -7.16332861e-01 1.37179621e-03 6.49540221e+02] [ 7.16331485e-01 -6.97758721e-01 -1.40371863e-03 -2.74196363e+02] [ 1.96271255e-03 3.20579240e-06 9.99998074e-01 -5.85602067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.666559995 meters 0.05315998311425116 Centerline is valid? [True, True] Translation: X:649.50, Y:-274.16, Z:-5.86 [[-6.96320696e-01 -7.17729728e-01 1.23486813e-03 6.49497111e+02] [ 7.17728627e-01 -6.96321791e-01 -1.25721370e-03 -2.74161662e+02] [ 1.76220524e-03 1.08762871e-05 9.99998447e-01 -5.85699597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7265599949999 meters 0.05343765752191086 Centerline is valid? [True, True] Translation: X:649.45, Y:-274.13, Z:-5.86 [[-6.95179989e-01 -7.18834597e-01 1.26658501e-03 6.49454593e+02] [ 7.18833441e-01 -6.95181143e-01 -1.28921867e-03 -2.74125842e+02] [ 1.80724100e-03 1.42246411e-05 9.99998367e-01 -5.85742820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.786559995 meters 0.05361246784661814 Centerline is valid? [True, True] Translation: X:649.41, Y:-274.09, Z:-5.86 [[-6.93666786e-01 -7.20293162e-01 2.03716290e-03 6.49413164e+02] [ 7.20290180e-01 -6.93669777e-01 -2.07300842e-03 -2.74085936e+02] [ 2.90629212e-03 2.93713477e-05 9.99995776e-01 -5.85804594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8465599949999 meters 0.053351250112133417 Centerline is valid? [True, True] Translation: X:649.37, Y:-274.05, Z:-5.86 [[-6.90952740e-01 -7.22890381e-01 3.71589692e-03 6.49369604e+02] [ 7.22880500e-01 -6.90962728e-01 -3.78038661e-03 -2.74047820e+02] [ 5.30035139e-03 7.40809396e-05 9.99985950e-01 -5.85974767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.906559995 meters 0.05352269439116751 Centerline is valid? [True, True] Translation: X:649.32, Y:-274.01, Z:-5.86 [[-6.89278462e-01 -7.24487534e-01 3.60764381e-03 6.49324801e+02] [ 7.24478247e-01 -6.89287898e-01 -3.66923009e-03 -2.74012200e+02] [ 5.14501668e-03 8.45381903e-05 9.99986761e-01 -5.86137048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9665599949999 meters 0.05297852150991746 Centerline is valid? [True, True] Translation: X:649.29, Y:-273.97, Z:-5.86 [[-6.89095397e-01 -7.24664636e-01 2.94921342e-03 6.49288107e+02] [ 7.24658436e-01 -6.89101705e-01 -2.99864342e-03 -2.73967485e+02] [ 4.20531884e-03 7.08210070e-05 9.99991155e-01 -5.85854835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.026559995 meters 0.05385788842500195 Centerline is valid? [True, True] Translation: X:649.25, Y:-273.93, Z:-5.86 [[-6.89065385e-01 -7.24695048e-01 2.44594487e-03 6.49245139e+02] [ 7.24690786e-01 -6.89069724e-01 -2.48614384e-03 -2.73931122e+02] [ 3.48712269e-03 5.94380437e-05 9.99993918e-01 -5.85938617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0865599949999 meters 0.0532831302144015 Centerline is valid? [True, True] Translation: X:649.21, Y:-273.89, Z:-5.86 [[-6.88828204e-01 -7.24921094e-01 2.26138938e-03 6.49206108e+02] [ 7.24917454e-01 -6.88831913e-01 -2.29775377e-03 -2.73891470e+02] [ 3.22340735e-03 5.65630350e-05 9.99994803e-01 -5.85894229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.146559995 meters 0.05369511062627548 Centerline is valid? [True, True] Translation: X:649.17, Y:-273.85, Z:-5.86 [[-6.88687618e-01 -7.25051552e-01 3.10032941e-03 6.49167832e+02] [ 7.25044716e-01 -6.88694592e-01 -3.14946599e-03 -2.73847925e+02] [ 4.41870530e-03 7.88792269e-05 9.99990234e-01 -5.85901776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2065599949999 meters 0.053257077085833264 Centerline is valid? [True, True] Translation: X:649.13, Y:-273.80, Z:-5.86 [[-6.88640928e-01 -7.25094198e-01 3.47512352e-03 6.49129307e+02] [ 7.25085614e-01 -6.88649691e-01 -3.52928121e-03 -2.73804766e+02] [ 4.95220406e-03 8.93545786e-05 9.99987734e-01 -5.85888292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.266559995 meters 0.05311076538122141 Centerline is valid? [True, True] Translation: X:649.09, Y:-273.76, Z:-5.86 [[-6.88199422e-01 -7.25512747e-01 3.57904669e-03 6.49088675e+02] [ 7.25503653e-01 -6.88208722e-01 -3.63381368e-03 -2.73764965e+02] [ 5.09950930e-03 9.58229746e-05 9.99986993e-01 -5.85951214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3265599949999 meters 0.05372092754068975 Centerline is valid? [True, True] Translation: X:649.05, Y:-273.73, Z:-5.86 [[-6.86604864e-01 -7.27017139e-01 4.45423387e-03 6.49048240e+02] [ 7.27003094e-01 -6.86619299e-01 -4.52100845e-03 -2.73726572e+02] [ 6.34521357e-03 1.34095412e-04 9.99979860e-01 -5.86144212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.386559995 meters 0.05382754870827472 Centerline is valid? [True, True] Translation: X:649.01, Y:-273.68, Z:-5.86 [[-6.85829630e-01 -7.27746393e-01 4.78614168e-03 6.49010950e+02] [ 7.27730200e-01 -6.85846313e-01 -4.85703599e-03 -2.73682391e+02] [ 6.81724805e-03 1.51920649e-04 9.99976751e-01 -5.86081425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4465599949999 meters 0.05275221096911501 Centerline is valid? [True, True] Translation: X:648.97, Y:-273.64, Z:-5.86 [[-6.84177262e-01 -7.29303446e-01 4.23778712e-03 6.48972603e+02] [ 7.29290785e-01 -6.84190370e-01 -4.29985963e-03 -2.73638625e+02] [ 6.03535558e-03 1.48712907e-04 9.99981776e-01 -5.85969518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.506559995 meters 0.05240419801729904 Centerline is valid? [True, True] Translation: X:648.93, Y:-273.60, Z:-5.86 [[-6.82248068e-01 -7.31112891e-01 3.39326195e-03 6.48933768e+02] [ 7.31104801e-01 -6.82256494e-01 -3.44193624e-03 -2.73596925e+02] [ 4.83151895e-03 1.32575751e-04 9.99988319e-01 -5.85917462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5665599949999 meters 0.052539648816483 Centerline is valid? [True, True] Translation: X:648.90, Y:-273.55, Z:-5.86 [[-6.81567568e-01 -7.31749512e-01 2.88121331e-03 6.48895924e+02] [ 7.31743688e-01 -6.81573648e-01 -2.92183204e-03 -2.73551779e+02] [ 4.10180824e-03 1.16883698e-04 9.99991581e-01 -5.85771201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.626559995 meters 0.05302510204781859 Centerline is valid? [True, True] Translation: X:648.85, Y:-273.52, Z:-5.86 [[-6.80671492e-01 -7.32585315e-01 2.25304140e-03 6.48851151e+02] [ 7.32581760e-01 -6.80675214e-01 -2.28419103e-03 -2.73515170e+02] [ 3.20695424e-03 9.57533214e-05 9.99994853e-01 -5.85828596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6865599949999 meters 0.053434588227801005 Centerline is valid? [True, True] Translation: X:648.81, Y:-273.48, Z:-5.86 [[-6.80200251e-01 -7.33022228e-01 2.45593416e-03 6.48811048e+02] [ 7.33018009e-01 -6.80204677e-01 -2.48935163e-03 -2.73476391e+02] [ 3.49528798e-03 1.06986360e-04 9.99993886e-01 -5.85888960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.746559995 meters 0.05280645695611644 Centerline is valid? [True, True] Translation: X:648.77, Y:-273.43, Z:-5.86 [[-6.79813929e-01 -7.33380431e-01 2.48285898e-03 6.48774525e+02] [ 7.33376124e-01 -6.79818455e-01 -2.51601700e-03 -2.73430356e+02] [ 3.53309099e-03 1.10446097e-04 9.99993753e-01 -5.85812336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8065599949999 meters 0.05347422094870816 Centerline is valid? [True, True] Translation: X:648.73, Y:-273.39, Z:-5.86 [[-6.78957002e-01 -7.34171298e-01 3.14557364e-03 6.48731172e+02] [ 7.34164397e-01 -6.78964273e-01 -3.18666800e-03 -2.73394161e+02] [ 4.47529230e-03 1.45757618e-04 9.99989975e-01 -5.85957371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.866559995 meters 0.05252607729555659 Centerline is valid? [True, True] Translation: X:648.70, Y:-273.34, Z:-5.86 [[-6.78532220e-01 -7.34556232e-01 4.60093243e-03 6.48699026e+02] [ 7.34541482e-01 -6.78547783e-01 -4.66016891e-03 -2.73342672e+02] [ 6.54510862e-03 2.17500971e-04 9.99978557e-01 -5.85863463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9265599949999 meters 0.05321771350990484 Centerline is valid? [True, True] Translation: X:648.66, Y:-273.31, Z:-5.86 [[-6.78404084e-01 -7.34667193e-01 5.65814198e-03 6.48655400e+02] [ 7.34644900e-01 -6.78427625e-01 -5.72964528e-03 -2.73305296e+02] [ 8.04802224e-03 2.69710393e-04 9.99967578e-01 -5.86081717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.986559995 meters 0.05223990941192713 Centerline is valid? [True, True] Translation: X:648.62, Y:-273.26, Z:-5.86 [[-6.78944726e-01 -7.34167341e-01 5.68995185e-03 6.48620227e+02] [ 7.34144789e-01 -6.78968516e-01 -5.76058633e-03 -2.73257233e+02] [ 8.09253251e-03 2.66128799e-04 9.99967220e-01 -5.85843024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0465599949999 meters 0.052622599088777665 Centerline is valid? [True, True] Translation: X:648.58, Y:-273.21, Z:-5.86 [[-6.81078199e-01 -7.32189057e-01 5.62772008e-03 6.48581824e+02] [ 7.32166940e-01 -6.81101407e-01 -5.69611589e-03 -2.73213521e+02] [ 8.00368178e-03 2.40930234e-04 9.99967941e-01 -5.85768186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.106559995 meters 0.0535974268232203 Centerline is valid? [True, True] Translation: X:648.54, Y:-273.18, Z:-5.86 [[-6.84601861e-01 -7.28900221e-01 4.97589980e-03 6.48536038e+02] [ 7.28882851e-01 -6.84619921e-01 -5.03516389e-03 -2.73178864e+02] [ 7.07673220e-03 1.79765458e-04 9.99974943e-01 -5.86040438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.166559995 meters 0.052053290878222046 Centerline is valid? [True, True] Translation: X:648.50, Y:-273.13, Z:-5.86 [[-6.87346554e-01 -7.26316568e-01 4.35413426e-03 6.48504468e+02] [ 7.26303223e-01 -6.87360331e-01 -4.40494246e-03 -2.73128281e+02] [ 6.19224186e-03 1.34699725e-04 9.99980819e-01 -5.85696007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2265599949999 meters 0.05197066164151531 Centerline is valid? [True, True] Translation: X:648.47, Y:-273.08, Z:-5.86 [[-6.91336290e-01 -7.22519672e-01 4.41100515e-03 6.48467584e+02] [ 7.22505903e-01 -6.91350354e-01 -4.46179839e-03 -2.73083344e+02] [ 6.27328708e-03 1.02374111e-04 9.99980318e-01 -5.85660037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.286559995 meters 0.052535222832483554 Centerline is valid? [True, True] Translation: X:648.43, Y:-273.04, Z:-5.86 [[-6.93305373e-01 -7.20628163e-01 4.76553537e-03 6.48428276e+02] [ 7.20612055e-01 -6.93321745e-01 -4.81923724e-03 -2.73039912e+02] [ 6.77692737e-03 9.28991598e-05 9.99977032e-01 -5.85695621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3465599949999 meters 0.05245603562037576 Centerline is valid? [True, True] Translation: X:648.39, Y:-273.00, Z:-5.86 [[-6.94719410e-01 -7.19260359e-01 5.42934145e-03 6.48389004e+02] [ 7.19239418e-01 -6.94740619e-01 -5.48919602e-03 -2.72996469e+02] [ 7.72014514e-03 9.15453663e-05 9.99970195e-01 -5.85795117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.406559995 meters 0.052857830996790395 Centerline is valid? [True, True] Translation: X:648.35, Y:-272.95, Z:-5.86 [[-6.95067003e-01 -7.18911728e-01 6.91302677e-03 6.48349964e+02] [ 7.18877778e-01 -6.95101371e-01 -6.98744360e-03 -2.72953890e+02] [ 9.82860953e-03 1.12879847e-04 9.99951692e-01 -5.85920670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4665599949999 meters 0.052837862096747956 Centerline is valid? [True, True] Translation: X:648.31, Y:-272.91, Z:-5.86 [[-6.95477978e-01 -7.18507546e-01 7.56885645e-03 6.48312728e+02] [ 7.18466844e-01 -6.95519153e-01 -7.64863870e-03 -2.72912062e+02] [ 1.07598892e-02 1.18512636e-04 9.99942104e-01 -5.85918562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.526559995 meters 0.0521219218716521 Centerline is valid? [True, True] Translation: X:648.27, Y:-272.87, Z:-5.86 [[-6.96104616e-01 -7.17910530e-01 6.54481694e-03 6.48274895e+02] [ 7.17880085e-01 -6.96135376e-01 -6.61218631e-03 -2.72868348e+02] [ 9.30303678e-03 9.56203280e-05 9.99956721e-01 -5.85840921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5865599949999 meters 0.052455333546443314 Centerline is valid? [True, True] Translation: X:648.24, Y:-272.83, Z:-5.86 [[-6.96518958e-01 -7.17514803e-01 5.81802145e-03 6.48236134e+02] [ 7.17490746e-01 -6.96543251e-01 -5.87607055e-03 -2.72827560e+02] [ 8.26867118e-03 8.15820101e-05 9.99965811e-01 -5.85935938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.646559995 meters 0.052007927124368226 Centerline is valid? [True, True] Translation: X:648.20, Y:-272.78, Z:-5.86 [[-6.97857220e-01 -7.16219678e-01 4.96728472e-03 6.48198940e+02] [ 7.16202118e-01 -6.97874896e-01 -5.01557688e-03 -2.72781810e+02] [ 7.05879816e-03 5.74233032e-05 9.99975085e-01 -5.85783020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7065599949999 meters 0.051936419128148816 Centerline is valid? [True, True] Translation: X:648.16, Y:-272.74, Z:-5.86 [[-6.98511004e-01 -7.15583307e-01 4.78623126e-03 6.48160267e+02] [ 7.15566998e-01 -6.98527400e-01 -4.83142885e-03 -2.72739751e+02] [ 6.80060351e-03 5.00629175e-05 9.99976874e-01 -5.85820015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.766559995 meters 0.05196864175046167 Centerline is valid? [True, True] Translation: X:648.12, Y:-272.70, Z:-5.86 [[-6.99840094e-01 -7.14281373e-01 5.09536909e-03 6.48121941e+02] [ 7.14262865e-01 -6.99858641e-01 -5.14211626e-03 -2.72695605e+02] [ 7.23895596e-03 4.07737983e-05 9.99973798e-01 -5.85717212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8265599949999 meters 0.0521162749491628 Centerline is valid? [True, True] Translation: X:648.08, Y:-272.65, Z:-5.86 [[-7.01311468e-01 -7.12832127e-01 5.70825402e-03 6.48082628e+02] [ 7.12808861e-01 -7.01334698e-01 -5.75925053e-03 -2.72654280e+02] [ 8.10877541e-03 2.98656060e-05 9.99967123e-01 -5.86012135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.886559995 meters 0.0525264679595311 Centerline is valid? [True, True] Translation: X:648.04, Y:-272.61, Z:-5.86 [[-7.03876199e-01 -7.10300238e-01 5.64519765e-03 6.48044872e+02] [ 7.10277414e-01 -7.03898837e-01 -5.69411736e-03 -2.72610099e+02] [ 8.01818097e-03 1.70270215e-06 9.99967854e-01 -5.85861995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9465599949999 meters 0.05200923934897388 Centerline is valid? [True, True] Translation: X:648.00, Y:-272.57, Z:-5.86 [[-7.04360647e-01 -7.09824283e-01 5.05635991e-03 6.48003496e+02] [ 7.09805970e-01 -7.04378795e-01 -5.09879706e-03 -2.72568790e+02] [ 7.18084267e-03 -2.35754845e-06 9.99974217e-01 -5.85806690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.006559995 meters 0.052499030400058225 Centerline is valid? [True, True] Translation: X:647.96, Y:-272.53, Z:-5.86 [[-7.04852891e-01 -7.09332850e-01 5.41387146e-03 6.47963286e+02] [ 7.09311853e-01 -7.04873683e-01 -5.45776866e-03 -2.72528252e+02] [ 7.68747011e-03 -6.80082666e-06 9.99970451e-01 -5.85943441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0665599949999 meters 0.05252148100629906 Centerline is valid? [True, True] Translation: X:647.92, Y:-272.49, Z:-5.86 [[-7.05202355e-01 -7.08982988e-01 5.72366702e-03 6.47924561e+02] [ 7.08959519e-01 -7.05225583e-01 -5.76878695e-03 -2.72487613e+02] [ 8.12644822e-03 -1.03139352e-05 9.99966980e-01 -5.86003087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.126559995 meters 0.05271850319070508 Centerline is valid? [True, True] Translation: X:647.88, Y:-272.45, Z:-5.86 [[-7.05542149e-01 -7.08648701e-01 5.22436089e-03 6.47884605e+02] [ 7.08629150e-01 -7.05561491e-01 -5.26395334e-03 -2.72446524e+02] [ 7.41640155e-03 -1.18065352e-05 9.99972498e-01 -5.85891387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1865599949999 meters 0.052296653586535784 Centerline is valid? [True, True] Translation: X:647.84, Y:-272.41, Z:-5.86 [[-7.04929361e-01 -7.09260339e-01 4.93641963e-03 6.47843629e+02] [ 7.09242909e-01 -7.04946645e-01 -4.97227635e-03 -2.72407460e+02] [ 7.00655086e-03 -3.98297092e-06 9.99975454e-01 -5.85911277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.246559995 meters 0.05215692258419686 Centerline is valid? [True, True] Translation: X:647.80, Y:-272.37, Z:-5.86 [[-7.03813041e-01 -7.10371693e-01 4.38874241e-03 6.47802324e+02] [ 7.10357947e-01 -7.03826724e-01 -4.41930691e-03 -2.72368503e+02] [ 6.22826472e-03 7.21221359e-06 9.99980604e-01 -5.85827650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3065599949999 meters 0.05235038431628385 Centerline is valid? [True, True] Translation: X:647.76, Y:-272.33, Z:-5.86 [[-7.01014273e-01 -7.13137540e-01 3.71996438e-03 6.47759886e+02] [ 7.13127707e-01 -7.01024143e-01 -3.74502196e-03 -2.72330811e+02] [ 5.27850059e-03 2.74958206e-05 9.99986068e-01 -5.85769777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.366559995 meters 0.052368191781537 Centerline is valid? [True, True] Translation: X:647.72, Y:-272.29, Z:-5.86 [[-6.98341367e-01 -7.15757054e-01 3.34290055e-03 6.47717429e+02] [ 7.15749148e-01 -6.98349367e-01 -3.36445376e-03 -2.72291869e+02] [ 4.74264399e-03 4.31409797e-05 9.99988753e-01 -5.85746426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4265599949999 meters 0.052345215863291106 Centerline is valid? [True, True] Translation: X:647.67, Y:-272.25, Z:-5.86 [[-6.95681367e-01 -7.18343877e-01 3.08389430e-03 6.47674731e+02] [ 7.18337177e-01 -6.95688200e-01 -3.10291193e-03 -2.72253687e+02] [ 4.37438666e-03 5.66379185e-05 9.99990431e-01 -5.85781963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.486559995 meters 0.05233629453842917 Centerline is valid? [True, True] Translation: X:647.63, Y:-272.21, Z:-5.86 [[-6.93971947e-01 -7.19996661e-01 2.78293514e-03 6.47633704e+02] [ 7.19991221e-01 -6.93977525e-01 -2.79941710e-03 -2.72212383e+02] [ 3.94686540e-03 6.09719332e-05 9.99992209e-01 -5.85721686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5465599949999 meters 0.05247519596579974 Centerline is valid? [True, True] Translation: X:647.59, Y:-272.18, Z:-5.86 [[-6.91288521e-01 -7.22572161e-01 3.10683226e-03 6.47585801e+02] [ 7.22565410e-01 -6.91295497e-01 -3.12470329e-03 -2.72179747e+02] [ 4.40556276e-03 8.48180075e-05 9.99990292e-01 -5.85978981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.606559995 meters 0.053304687586656165 Centerline is valid? [True, True] Translation: X:647.54, Y:-272.14, Z:-5.86 [[-6.90499630e-01 -7.23325254e-01 3.29204663e-03 6.47544716e+02] [ 7.23317687e-01 -6.90507471e-01 -3.30995260e-03 -2.72141259e+02] [ 4.66735509e-03 9.56745131e-05 9.99989103e-01 -5.86080606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.666559995 meters 0.052032630094066966 Centerline is valid? [True, True] Translation: X:647.51, Y:-272.09, Z:-5.86 [[-6.89103029e-01 -7.24654725e-01 3.54191996e-03 6.47509654e+02] [ 7.24645988e-01 -6.89112122e-01 -3.56029110e-03 -2.72094544e+02] [ 5.02076175e-03 1.13230710e-04 9.99987389e-01 -5.85910327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7265599949999 meters 0.052407026274825574 Centerline is valid? [True, True] Translation: X:647.47, Y:-272.06, Z:-5.86 [[-6.88261432e-01 -7.25450700e-01 4.18136407e-03 6.47467323e+02] [ 7.25438542e-01 -6.88274119e-01 -4.20233985e-03 -2.72056245e+02] [ 5.92651505e-03 1.41014211e-04 9.99982428e-01 -5.85970634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.786559995 meters 0.05151194921501356 Centerline is valid? [True, True] Translation: X:647.43, Y:-272.01, Z:-5.86 [[-6.88815412e-01 -7.24929153e-01 3.32438564e-03 6.47426742e+02] [ 7.24921466e-01 -6.88823425e-01 -3.34018418e-03 -2.72014773e+02] [ 4.71131160e-03 1.09148167e-04 9.99988896e-01 -5.85822267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8465599949999 meters 0.051974162685682085 Centerline is valid? [True, True] Translation: X:647.39, Y:-271.98, Z:-5.86 [[-6.89981195e-01 -7.23822510e-01 2.63134834e-03 6.47385182e+02] [ 7.23817689e-01 -6.89986208e-01 -2.64316605e-03 -2.71975199e+02] [ 3.72877715e-03 8.08816006e-05 9.99993045e-01 -5.85824856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.906559995 meters 0.05218294620609177 Centerline is valid? [True, True] Translation: X:647.35, Y:-271.93, Z:-5.86 [[-6.92885353e-01 -7.21046014e-01 1.59178311e-03 6.47347911e+02] [ 7.21044243e-01 -6.92887180e-01 -1.59867961e-03 -2.71930611e+02] [ 2.25564767e-03 4.00443594e-05 9.99997455e-01 -5.85748091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9665599949999 meters 0.051992816642662844 Centerline is valid? [True, True] Translation: X:647.31, Y:-271.89, Z:-5.86 [[-6.94913471e-01 -7.19090624e-01 1.98528468e-03 6.47307273e+02] [ 7.19087862e-01 -6.94916306e-01 -1.99349509e-03 -2.71890365e+02] [ 2.81311033e-03 4.22875256e-05 9.99996042e-01 -5.85784095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.026559995 meters 0.051961311250386534 Centerline is valid? [True, True] Translation: X:647.27, Y:-271.85, Z:-5.86 [[-6.98173068e-01 -7.15925579e-01 2.22083835e-03 6.47268388e+02] [ 7.15922109e-01 -6.98176599e-01 -2.22945477e-03 -2.71847067e+02] [ 3.14666107e-03 3.34019935e-05 9.99995049e-01 -5.85836581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0865599949999 meters 0.051727550961681606 Centerline is valid? [True, True] Translation: X:647.23, Y:-271.81, Z:-5.86 [[-7.01194326e-01 -7.12965244e-01 2.66043213e-03 6.47226837e+02] [ 7.12960244e-01 -7.01199373e-01 -2.67009174e-03 -2.71806823e+02] [ 3.76917595e-03 2.45291662e-05 9.99992896e-01 -5.86044231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.146559995 meters 0.05237826779148807 Centerline is valid? [True, True] Translation: X:647.19, Y:-271.76, Z:-5.86 [[-7.03063347e-01 -7.11123037e-01 2.44063841e-03 6.47188627e+02] [ 7.11118820e-01 -7.03067583e-01 -2.44889510e-03 -2.71762453e+02] [ 3.45739947e-03 1.38555174e-05 9.99994023e-01 -5.85866653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2065599949999 meters 0.05226303110111823 Centerline is valid? [True, True] Translation: X:647.15, Y:-271.72, Z:-5.86 [[-7.05076641e-01 -7.09127044e-01 2.40134902e-03 6.47147845e+02] [ 7.09122952e-01 -7.05080730e-01 -2.40887541e-03 -2.71721393e+02] [ 3.40134362e-03 4.40992905e-06 9.99994215e-01 -5.85919346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.266559995 meters 0.052182268957612805 Centerline is valid? [True, True] Translation: X:647.11, Y:-271.68, Z:-5.86 [[-7.06314945e-01 -7.07893826e-01 2.35156718e-03 6.47108060e+02] [ 7.07889898e-01 -7.06318859e-01 -2.35816943e-03 -2.71681826e+02] [ 3.33028983e-03 -9.59658636e-07 9.99994455e-01 -5.85978017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3265599949999 meters 0.051811942051821124 Centerline is valid? [True, True] Translation: X:647.07, Y:-271.64, Z:-5.86 [[-7.07728941e-01 -7.06481689e-01 1.83533850e-03 6.47067528e+02] [ 7.06479293e-01 -7.07731321e-01 -1.84012711e-03 -2.71640806e+02] [ 2.59894265e-03 -5.68256607e-06 9.99996623e-01 -5.85923645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.386559995 meters 0.051672138756152924 Centerline is valid? [True, True] Translation: X:647.03, Y:-271.60, Z:-5.86 [[-7.08256606e-01 -7.05952368e-01 1.95813164e-03 6.47027058e+02] [ 7.05949640e-01 -7.08259313e-01 -1.96261867e-03 -2.71601054e+02] [ 2.77238027e-03 -7.69531546e-06 9.99996157e-01 -5.85922642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4465599949999 meters 0.05152450373078577 Centerline is valid? [True, True] Translation: X:646.99, Y:-271.56, Z:-5.86 [[-7.07316941e-01 -7.06893185e-01 2.18421608e-03 6.46986374e+02] [ 7.06889797e-01 -7.07320313e-01 -2.18854173e-03 -2.71562792e+02] [ 3.09200564e-03 -3.99258604e-06 9.99995220e-01 -5.86015977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.506559995 meters 0.05233261358744813 Centerline is valid? [True, True] Translation: X:646.94, Y:-271.53, Z:-5.86 [[-7.03756201e-01 -7.10437926e-01 2.27198460e-03 6.46943078e+02] [ 7.10434281e-01 -7.03759869e-01 -2.27592654e-03 -2.71527165e+02] [ 3.21583611e-03 1.23983308e-05 9.99994829e-01 -5.86142522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5665599949999 meters 0.052408648203473004 Centerline is valid? [True, True] Translation: X:646.90, Y:-271.49, Z:-5.86 [[-6.99220857e-01 -7.14900709e-01 2.67744463e-03 6.46899470e+02] [ 7.14895682e-01 -6.99225982e-01 -2.68139934e-03 -2.71492003e+02] [ 3.78907314e-03 3.92032614e-05 9.99992821e-01 -5.86177569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.626559995 meters 0.05190600867289046 Centerline is valid? [True, True] Translation: X:646.86, Y:-271.45, Z:-5.86 [[-6.96694505e-01 -7.17363023e-01 2.65713524e-03 6.46857690e+02] [ 7.17358092e-01 -6.96699570e-01 -2.66038136e-03 -2.71451272e+02] [ 3.75968419e-03 5.26443850e-05 9.99992931e-01 -5.86099966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6865599949999 meters 0.05207864027735566 Centerline is valid? [True, True] Translation: X:646.82, Y:-271.41, Z:-5.86 [[-6.94071241e-01 -7.19903081e-01 2.15992416e-03 6.46816115e+02] [ 7.19899837e-01 -6.94074600e-01 -2.16193462e-03 -2.71411396e+02] [ 3.05553189e-03 5.43924059e-05 9.99995330e-01 -5.86038625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.746559995 meters 0.052021069983395056 Centerline is valid? [True, True] Translation: X:646.77, Y:-271.37, Z:-5.86 [[-6.92381082e-01 -7.21528680e-01 2.19143049e-03 6.46773615e+02] [ 7.21525350e-01 -6.92384547e-01 -2.19292028e-03 -2.71371774e+02] [ 3.09956748e-03 6.28361370e-05 9.99995194e-01 -5.86020781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8065599949999 meters 0.051605634327633626 Centerline is valid? [True, True] Translation: X:646.73, Y:-271.33, Z:-5.86 [[-6.91207927e-01 -7.22650711e-01 2.74798374e-03 6.46733066e+02] [ 7.22645486e-01 -6.91213385e-01 -2.74921640e-03 -2.71329360e+02] [ 3.88616633e-03 8.55378710e-05 9.99992445e-01 -5.86064290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.866559995 meters 0.05233561369773118 Centerline is valid? [True, True] Translation: X:646.69, Y:-271.29, Z:-5.86 [[-6.91052195e-01 -7.22799906e-01 2.67579860e-03 6.46688969e+02] [ 7.22794956e-01 -6.91057370e-01 -2.67625538e-03 -2.71292524e+02] [ 3.78352748e-03 8.46215762e-05 9.99992839e-01 -5.86198956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9265599949999 meters 0.05211897777066925 Centerline is valid? [True, True] Translation: X:646.65, Y:-271.25, Z:-5.86 [[-6.92038547e-01 -7.21855006e-01 2.82837595e-03 6.46651730e+02] [ 7.21849471e-01 -6.92044322e-01 -2.82817585e-03 -2.71246969e+02] [ 3.99889441e-03 8.44549754e-05 9.99992001e-01 -5.86078645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.986559995 meters 0.052061207389245585 Centerline is valid? [True, True] Translation: X:646.15, Y:-271.66, Z:-4.89 [[-7.68189038e-01 6.40208868e-01 4.26687582e-03 6.46145136e+02] [ 6.40197866e-01 7.68200873e-01 -3.75655174e-03 -2.71656752e+02] [-5.68279547e-03 -1.54097072e-04 -9.99983841e-01 -4.88606089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0465599949999 meters 0.0519704975991728 Centerline is valid? [True, True] Translation: X:646.55, Y:-271.16, Z:-5.86 [[-6.97041810e-01 -7.17023141e-01 3.24510537e-03 6.46550884e+02] [ 7.17015802e-01 -6.97049361e-01 -3.24486126e-03 -2.71158869e+02] [ 4.58863924e-03 6.49878638e-05 9.99989470e-01 -5.86175552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.106559995 meters 0.05269319650029491 Centerline is valid? [True, True] Translation: X:646.04, Y:-271.57, Z:-4.88 [[-7.68073379e-01 6.40344966e-01 4.64850653e-03 6.46038284e+02] [ 6.40332124e-01 7.68087433e-01 -4.05784443e-03 -2.71566045e+02] [-6.16887970e-03 -1.40134226e-04 -9.99980962e-01 -4.88397472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.166559995 meters 0.05251803747510953 Centerline is valid? [True, True] Translation: X:646.04, Y:-271.47, Z:-4.88 [[-8.10547756e-01 5.85650504e-01 5.08157709e-03 6.46043285e+02] [ 5.85637964e-01 8.10563674e-01 -3.83489071e-03 -2.71474610e+02] [-6.36484747e-03 -1.32397593e-04 -9.99979735e-01 -4.88474949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2265599949999 meters 0.05181636513975688 Centerline is valid? [True, True] Translation: X:646.02, Y:-271.37, Z:-4.88 [[-8.48655643e-01 5.28915100e-01 5.69353718e-03 6.46021176e+02] [ 5.28902238e-01 8.48674733e-01 -3.69053345e-03 -2.71367085e+02] [-6.78394001e-03 -1.20667482e-04 -9.99976982e-01 -4.88417524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.286559995 meters 0.051963244183049005 Centerline is valid? [True, True] Translation: X:646.36, Y:-270.80, Z:-5.86 [[-7.98474322e-01 -6.02013531e-01 4.29725482e-03 6.46360557e+02] [ 6.02004922e-01 -7.98485885e-01 -3.21950011e-03 -2.70804904e+02] [ 5.36947995e-03 1.62803839e-05 9.99985584e-01 -5.86312145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3465599949999 meters 0.052078808232250244 Centerline is valid? [True, True] Translation: X:645.92, Y:-271.31, Z:-4.88 [[-8.49703845e-01 5.27233194e-01 5.34185095e-03 6.45921468e+02] [ 5.27221995e-01 8.49720630e-01 -3.43800638e-03 -2.71309932e+02] [-6.35171204e-03 -1.04945924e-04 -9.99979822e-01 -4.88468276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.406559995 meters 0.05189740067700647 Centerline is valid? [True, True] Translation: X:645.93, Y:-271.23, Z:-4.89 [[-8.86129351e-01 4.63400093e-01 5.92685592e-03 6.45928466e+02] [ 4.63388772e-01 8.86149162e-01 -3.24169410e-03 -2.71228079e+02] [-6.75427975e-03 -1.26121800e-04 -9.99977182e-01 -4.88673809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4665599949999 meters 0.052000313303946694 Centerline is valid? [True, True] Translation: X:646.26, Y:-270.65, Z:-5.86 [[-8.37284919e-01 -5.46741626e-01 5.24960712e-03 6.46256501e+02] [ 5.46731494e-01 -8.37301372e-01 -3.32961043e-03 -2.70649497e+02] [ 6.21593986e-03 8.22929469e-05 9.99980677e-01 -5.86162352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.526559995 meters 0.051690030551623696 Centerline is valid? [True, True] Translation: X:645.85, Y:-271.19, Z:-4.88 [[-8.90313964e-01 4.55298613e-01 6.64970432e-03 6.45853602e+02] [ 4.55284415e-01 8.90338779e-01 -3.59999100e-03 -2.71188483e+02] [-7.55956053e-03 -1.77615517e-04 -9.99971410e-01 -4.88480796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5865599949999 meters 0.05120806484546537 Centerline is valid? [True, True] Translation: X:646.14, Y:-270.59, Z:-5.86 [[-8.37403871e-01 -5.46552744e-01 5.90383875e-03 6.46143089e+02] [ 5.46540229e-01 -8.37424672e-01 -3.70089428e-03 -2.70591630e+02] [ 6.96675415e-03 1.27542188e-04 9.99975724e-01 -5.86196292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.646559995 meters 0.051193640007613374 Centerline is valid? [True, True] Translation: X:645.77, Y:-271.16, Z:-4.89 [[-8.92544445e-01 4.50910049e-01 6.67400188e-03 6.45774693e+02] [ 4.50895866e-01 8.92569377e-01 -3.58118967e-03 -2.71155972e+02] [-7.57180411e-03 -1.87091088e-04 -9.99971316e-01 -4.88692178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7065599949999 meters 0.052126515463731565 Centerline is valid? [True, True] Translation: X:645.70, Y:-271.03, Z:-4.89 [[-9.20525320e-01 3.90629795e-01 6.44193406e-03 6.45701402e+02] [ 3.90619120e-01 9.20547849e-01 -2.89150132e-03 -2.71029851e+02] [-7.05961511e-03 -1.45357564e-04 -9.99975070e-01 -4.88563659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.766559995 meters 0.05165485680780659 Centerline is valid? [True, True] Translation: X:646.18, Y:-271.13, Z:-4.89 [[-9.45623937e-01 3.25207385e-01 5.96045576e-03 6.46178796e+02] [ 3.25200224e-01 9.45642716e-01 -2.16072434e-03 -2.71132301e+02] [-6.33914508e-03 -1.04891114e-04 -9.99979902e-01 -4.88795004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8265599949999 meters 0.051625125465190005 Centerline is valid? [True, True] Translation: X:645.17, Y:-270.72, Z:-4.89 [[-9.65674783e-01 2.59697418e-01 5.42809706e-03 6.45173230e+02] [ 2.59692830e-01 9.65690035e-01 -1.54593851e-03 -2.70719123e+02] [-5.64333548e-03 -8.32359431e-05 -9.99984073e-01 -4.88630871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.886559995 meters 0.05150316990339772 Centerline is valid? [True, True] Translation: X:645.09, Y:-270.62, Z:-4.89 [[-9.81420152e-01 1.91787703e-01 5.65344928e-03 6.45094581e+02] [ 1.91784069e-01 9.81436433e-01 -1.18309952e-03 -2.70623879e+02] [-5.77540503e-03 -7.68762042e-05 -9.99983319e-01 -4.88802823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9465599949999 meters 0.05190379902823092 Centerline is valid? [True, True] Translation: X:645.06, Y:-270.54, Z:-4.89 [[-9.92547284e-01 1.21703483e-01 6.17669566e-03 6.45061440e+02] [ 1.21700631e-01 9.92566500e-01 -8.36947240e-04 -2.70538457e+02] [-6.23264059e-03 -7.90019520e-05 -9.99980574e-01 -4.88630904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.006559995 meters 0.05170804124910972 Centerline is valid? [True, True] Translation: X:645.11, Y:-269.86, Z:-5.86 [[-9.79898453e-01 -1.99393565e-01 6.42093165e-03 6.45108785e+02] [ 1.99389953e-01 -9.79919485e-01 -1.20430584e-03 -2.69862744e+02] [ 6.53212687e-03 1.00171831e-04 9.99978660e-01 -5.86277538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0665599949999 meters 0.051683919045348976 Centerline is valid? [True, True] Translation: X:644.93, Y:-270.52, Z:-4.89 [[-9.92826024e-01 1.19281818e-01 8.26644795e-03 6.44925431e+02] [ 1.19277005e-01 9.92860434e-01 -1.07467540e-03 -2.70520435e+02] [-8.33561833e-03 -8.09685512e-05 -9.99965255e-01 -4.88579907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.126559995 meters 0.051736499069666944 Centerline is valid? [True, True] Translation: X:644.97, Y:-269.85, Z:-5.86 [[-9.80692178e-01 -1.95427571e-01 7.13559634e-03 6.44969627e+02] [ 1.95422444e-01 -9.80718137e-01 -1.41554939e-03 -2.69850632e+02] [ 7.27464612e-03 6.23746493e-06 9.99973539e-01 -5.86398088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1865599949999 meters 0.051554865689252896 Centerline is valid? [True, True] Translation: X:644.76, Y:-270.50, Z:-4.88 [[-9.93393808e-01 1.14390539e-01 9.14035164e-03 6.44763022e+02] [ 1.14384809e-01 9.93435854e-01 -1.14899745e-03 -2.70497507e+02] [-9.21178747e-03 -9.58895732e-05 -9.99957566e-01 -4.88427375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.246559995 meters 0.05182803926014469 Centerline is valid? [True, True] Translation: X:644.86, Y:-269.84, Z:-5.86 [[-9.81036682e-01 -1.93685979e-01 7.26429842e-03 6.44858118e+02] [ 1.93680400e-01 -9.81063576e-01 -1.47044749e-03 -2.69842809e+02] [ 7.41154365e-03 -3.56106971e-05 9.99972534e-01 -5.86386266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3065599949999 meters 0.05149757824266689 Centerline is valid? [True, True] Translation: X:644.65, Y:-270.48, Z:-4.89 [[-9.94033115e-01 1.08776970e-01 8.10779906e-03 6.44648459e+02] [ 1.08772489e-01 9.94066175e-01 -9.92936054e-04 -2.70483949e+02] [-8.16769738e-03 -1.05105839e-04 -9.99966638e-01 -4.88574700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.366559995 meters 0.05169047728359078 Centerline is valid? [True, True] Translation: X:645.05, Y:-270.43, Z:-4.89 [[-9.99471424e-01 3.16579560e-02 7.39237368e-03 6.45053320e+02] [ 3.16562427e-02 9.99498755e-01 -3.48688308e-04 -2.70432930e+02] [-7.39970704e-03 -1.14489224e-04 -9.99972615e-01 -4.88796607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4265599949999 meters 0.051568434261522245 Centerline is valid? [True, True] Translation: X:644.97, Y:-270.34, Z:-4.89 [[-9.99134548e-01 -4.10495319e-02 6.71497447e-03 6.44969315e+02] [-4.10493836e-02 9.99157106e-01 1.59967141e-04 -2.70335619e+02] [-6.71588104e-03 -1.15816865e-04 -9.99977442e-01 -4.88811668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.486559995 meters 0.05138348579785714 Centerline is valid? [True, True] Translation: X:644.00, Y:-270.31, Z:-4.89 [[-9.93696936e-01 -1.11902407e-01 6.65206932e-03 6.43999304e+02] [-1.11900690e-01 9.93719194e-01 6.30945686e-04 -2.70306473e+02] [-6.68089330e-03 -1.17402353e-04 -9.99977676e-01 -4.88598102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5465599949999 meters 0.05162730598639134 Centerline is valid? [True, True] Translation: X:643.86, Y:-269.66, Z:-5.86 [[-9.99743328e-01 2.18935157e-02 5.82682408e-03 6.43859396e+02] [-2.18928433e-02 -9.99760307e-01 1.79156547e-04 -2.69662219e+02] [ 5.82934979e-03 5.15448163e-05 9.99983008e-01 -5.86390500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.606559995 meters 0.05202976604855006 Centerline is valid? [True, True] Translation: X:643.84, Y:-270.33, Z:-4.89 [[-9.93261464e-01 -1.15623542e-01 7.92852219e-03 6.43840003e+02] [-1.15620906e-01 9.93293099e-01 7.91494192e-04 -2.70326079e+02] [-7.96686173e-03 -1.30542241e-04 -9.99968256e-01 -4.88521848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.666559995 meters 0.05150613405194029 Centerline is valid? [True, True] Translation: X:643.75, Y:-269.68, Z:-5.87 [[-9.99639593e-01 2.58638907e-02 7.19334609e-03 6.43749382e+02] [-2.58627132e-02 -9.99665471e-01 2.56676917e-04 -2.69677599e+02] [ 7.19757837e-03 7.05449611e-05 9.99974095e-01 -5.86609294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7265599949999 meters 0.05319580551965106 Centerline is valid? [True, True] Translation: X:644.38, Y:-270.30, Z:-4.90 [[-9.92148926e-01 -1.24740830e-01 8.95738919e-03 6.44380627e+02] [-1.24737045e-01 9.92189349e-01 9.82224284e-04 -2.70297951e+02] [-9.00994963e-03 -1.42805491e-04 -9.99959399e-01 -4.89668174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.786559995 meters 0.05178590437571795 Centerline is valid? [True, True] Translation: X:643.77, Y:-269.67, Z:-5.86 [[-9.99311892e-01 3.62460901e-02 7.87170737e-03 6.43773906e+02] [-3.62444817e-02 -9.99342893e-01 3.46921893e-04 -2.69674063e+02] [ 7.87910937e-03 6.13772192e-05 9.99968957e-01 -5.86364862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8465599949999 meters 0.05270319475052546 Centerline is valid? [True, True] Translation: X:644.01, Y:-270.33, Z:-4.90 [[-9.91369352e-01 -1.30880341e-01 7.55935177e-03 6.44006351e+02] [-1.30877415e-01 9.91398166e-01 8.82530503e-04 -2.70331197e+02] [-7.60983338e-03 -1.14434730e-04 -9.99971038e-01 -4.89518412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.906559995 meters 0.05148365287014235 Centerline is valid? [True, True] Translation: X:643.21, Y:-270.36, Z:-4.89 [[-9.79912114e-01 -1.99258779e-01 8.25755818e-03 6.43205281e+02] [-1.99252627e-01 9.79946900e-01 1.56949075e-03 -2.70357135e+02] [-8.40470335e-03 -1.07377162e-04 -9.99964674e-01 -4.88610435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9665599949999 meters 0.05150567653689928 Centerline is valid? [True, True] Translation: X:642.84, Y:-269.75, Z:-5.87 [[-9.92951136e-01 1.18241677e-01 8.18219330e-03 6.42841826e+02] [-1.18236862e-01 -9.92984842e-01 1.07144182e-03 -2.69745490e+02] [ 8.25148300e-03 9.64525069e-05 9.99965951e-01 -5.86575524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.026559995 meters 0.05132558656799481 Centerline is valid? [True, True] Translation: X:642.84, Y:-270.43, Z:-4.89 [[-9.79779507e-01 -1.99857109e-01 9.44745451e-03 6.42836687e+02] [-1.99848653e-01 9.79825050e-01 1.84037420e-03 -2.70427592e+02] [-9.62466445e-03 -8.49001299e-05 -9.99953678e-01 -4.88537980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0865599949999 meters 0.05216717175922792 Centerline is valid? [True, True] Translation: X:642.74, Y:-270.37, Z:-4.89 [[-9.64090617e-01 -2.65433004e-01 8.63732071e-03 6.42742106e+02] [-2.65422789e-01 9.64129306e-01 2.32913380e-03 -2.70374290e+02] [-8.94572300e-03 -4.70457133e-05 -9.99959985e-01 -4.88648947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.146559995 meters 0.053158335803427284 Centerline is valid? [True, True] Translation: X:643.02, Y:-270.20, Z:-4.90 [[-9.42577781e-01 -3.33911255e-01 7.09938057e-03 6.43018057e+02] [-3.33901923e-01 9.42604516e-01 2.49648589e-03 -2.70197119e+02] [-7.52551292e-03 -1.73646945e-05 -9.99971683e-01 -4.89619137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2065599949999 meters 0.05200762946669965 Centerline is valid? [True, True] Translation: X:642.16, Y:-270.45, Z:-4.89 [[-9.18115085e-01 -3.96278032e-01 5.33026916e-03 6.42162475e+02] [-3.96271343e-01 9.18130558e-01 2.30252286e-03 -2.70450922e+02] [-5.80632222e-03 1.74805679e-06 -9.99983143e-01 -4.88841504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.266559995 meters 0.052041972828932775 Centerline is valid? [True, True] Translation: X:641.87, Y:-270.51, Z:-4.89 [[-8.88544460e-01 -4.58761835e-01 5.13054630e-03 6.41874265e+02] [-4.58754105e-01 8.88559272e-01 2.66316758e-03 -2.70507741e+02] [-5.78055413e-03 1.26836241e-05 -9.99983292e-01 -4.88753420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3265599949999 meters 0.05327408034648862 Centerline is valid? [True, True] Translation: X:642.55, Y:-270.00, Z:-4.89 [[-8.50103193e-01 -5.26588866e-01 5.35978665e-03 6.42553210e+02] [-5.26578313e-01 8.50120089e-01 3.33373897e-03 -2.69998788e+02] [-6.31197213e-03 1.16747301e-05 -9.99980079e-01 -4.89394308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.386559995 meters 0.05194997042254032 Centerline is valid? [True, True] Translation: X:641.93, Y:-270.33, Z:-4.89 [[-8.09332905e-01 -5.87327950e-01 5.11168681e-03 6.41928393e+02] [-5.87316226e-01 8.09349047e-01 3.71089443e-03 -2.70334550e+02] [-6.31665086e-03 1.17236319e-06 -9.99980050e-01 -4.88714458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4465599949999 meters 0.053253039572511804 Centerline is valid? [True, True] Translation: X:642.12, Y:-270.07, Z:-4.89 [[-7.61717861e-01 -6.47889741e-01 4.97839321e-03 6.42116956e+02] [-6.47875950e-01 7.61734129e-01 4.22724105e-03 -2.70073276e+02] [-6.53099812e-03 -5.41622141e-06 -9.99978673e-01 -4.89372818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.506559995 meters 0.05250096273791881 Centerline is valid? [True, True] Translation: X:642.07, Y:-270.00, Z:-4.89 [[-7.09808877e-01 -7.04380394e-01 4.42935069e-03 6.42071376e+02] [-7.04366849e-01 7.09822696e-01 4.36832572e-03 -2.69997542e+02] [-6.22101664e-03 -1.92114197e-05 -9.99980649e-01 -4.89013269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5665599949999 meters 0.05299006469510802 Centerline is valid? [True, True] Translation: X:641.37, Y:-269.79, Z:-5.86 [[-7.53445306e-01 6.57500879e-01 3.57285083e-03 6.41368182e+02] [-6.57494010e-01 -7.53453772e-01 3.00677897e-03 -2.69792647e+02] [ 4.66893775e-03 -8.36845134e-05 9.99989097e-01 -5.85985266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.626559995 meters 0.05292347210929374 Centerline is valid? [True, True] Translation: X:641.86, Y:-270.19, Z:-4.89 [[-6.99061511e-01 -7.15052114e-01 3.67125718e-03 6.41863005e+02] [-7.15042707e-01 6.99071148e-01 3.66832169e-03 -2.70186137e+02] [-5.18951116e-03 -6.07231681e-05 -9.99986533e-01 -4.89296878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6865599949999 meters 0.05254042685872291 Centerline is valid? [True, True] Translation: X:641.02, Y:-270.13, Z:-5.86 [[-7.54672488e-01 6.56092834e-01 3.41003262e-03 6.41022804e+02] [-6.56086068e-01 -7.54680193e-01 2.97974608e-03 -2.70134774e+02] [ 4.52847412e-03 1.14574953e-05 9.99989746e-01 -5.86067380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.746559995 meters 0.05222460246706809 Centerline is valid? [True, True] Translation: X:641.27, Y:-270.74, Z:-4.89 [[-6.86872022e-01 -7.26767559e-01 3.96735387e-03 6.41272678e+02] [-7.26756498e-01 6.86883468e-01 4.01179186e-03 -2.70744188e+02] [-5.64074997e-03 -1.27712619e-04 -9.99984083e-01 -4.89220015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8065599949999 meters 0.05231704519875145 Centerline is valid? [True, True] Translation: X:640.84, Y:-271.08, Z:-4.89 [[-6.30718345e-01 -7.76003134e-01 3.67497151e-03 6.40836659e+02] [-7.75991306e-01 6.30729034e-01 4.28719798e-03 -2.71078874e+02] [-5.64479030e-03 -1.47731527e-04 -9.99984057e-01 -4.88831061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.866559995 meters 0.0527192799116626 Centerline is valid? [True, True] Translation: X:640.67, Y:-271.15, Z:-4.89 [[-5.71906811e-01 -8.20309154e-01 3.93588314e-03 6.40674020e+02] [-8.20291739e-01 5.71920329e-01 5.34793135e-03 -2.71154756e+02] [-6.63796862e-03 -1.70054061e-04 -9.99977954e-01 -4.88787531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9265599949999 meters 0.05277007790725978 Centerline is valid? [True, True] Translation: X:640.50, Y:-271.27, Z:-4.89 [[-5.12051505e-01 -8.58947951e-01 3.41664964e-03 6.40497786e+02] [-8.58930793e-01 5.12062880e-01 5.43131111e-03 -2.71269342e+02] [-6.41475300e-03 -1.53554561e-04 -9.99979413e-01 -4.88652270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.986559995 meters 0.05296534887026349 Centerline is valid? [True, True] Translation: X:640.33, Y:-271.41, Z:-4.89 [[-4.49966073e-01 -8.93039971e-01 3.18485162e-03 6.40334100e+02] [-8.93019812e-01 4.49977321e-01 6.00219500e-03 -2.71412385e+02] [-6.79331105e-03 -1.43351486e-04 -9.99976915e-01 -4.88872784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0465599949999 meters 0.05292532861921949 Centerline is valid? [True, True] Translation: X:640.34, Y:-271.23, Z:-4.89 [[-3.85546673e-01 -9.22683419e-01 3.01177760e-03 6.40339771e+02] [-9.22657653e-01 3.85558418e-01 6.89644524e-03 -2.71231605e+02] [-7.52445188e-03 -1.19938139e-04 -9.99971684e-01 -4.89361674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.106559995 meters 0.05347529607403362 Centerline is valid? [True, True] Translation: X:640.11, Y:-271.55, Z:-4.89 [[-3.22917804e-01 -9.46423153e-01 2.70317426e-03 6.40112917e+02] [-9.46392190e-01 3.22929107e-01 7.65604586e-03 -2.71551906e+02] [-8.11879271e-03 -8.59894840e-05 -9.99967038e-01 -4.89347704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.166559995 meters 0.05330273577523504 Centerline is valid? [True, True] Translation: X:640.03, Y:-271.51, Z:-4.89 [[-2.55009015e-01 -9.66936595e-01 2.00577348e-03 6.40028408e+02] [-9.66908377e-01 2.55016898e-01 7.38727423e-03 -2.71509126e+02] [-7.65453192e-03 -5.55776576e-05 -9.99970702e-01 -4.89434676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2265599949999 meters 0.05310627134694485 Centerline is valid? [True, True] Translation: X:639.79, Y:-272.12, Z:-4.89 [[-1.92730452e-01 -9.81250970e-01 1.22768783e-03 6.39792000e+02] [-9.81231215e-01 1.92734362e-01 6.22636702e-03 -2.72116663e+02] [-6.34624630e-03 -4.63508951e-06 -9.99979862e-01 -4.89203059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.286559995 meters 0.05327660174976745 Centerline is valid? [True, True] Translation: X:639.66, Y:-272.35, Z:-4.89 [[-1.25353175e-01 -9.92111978e-01 6.35576400e-04 6.39655914e+02] [-9.92098630e-01 1.25354786e-01 5.14647073e-03 -2.72347479e+02] [-5.18554780e-03 1.45719717e-05 -9.99986555e-01 -4.89147728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3465599949999 meters 0.054208952622990615 Centerline is valid? [True, True] Translation: X:639.57, Y:-272.20, Z:-4.89 [[-5.79684521e-02 -9.98318395e-01 2.02597639e-04 6.39565760e+02] [-9.98310262e-01 5.79687976e-02 4.02981185e-03 -2.72202977e+02] [-4.03477963e-03 3.13466529e-05 -9.99991860e-01 -4.89292087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.406559995 meters 0.05431347359863361 Centerline is valid? [True, True] Translation: X:639.47, Y:-272.57, Z:-4.89 [[ 1.13881247e-02 -9.99935149e-01 -8.71358231e-05 6.39471463e+02] [-9.99927676e-01 -1.13883764e-02 3.86625066e-03 -2.72574669e+02] [-3.86699227e-03 4.31001766e-05 -9.99992522e-01 -4.89219555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4665599949999 meters 0.05464531416630564 Centerline is valid? [True, True] Translation: X:639.37, Y:-272.54, Z:-4.89 [[ 8.62409128e-02 -9.96274261e-01 -3.19593621e-04 6.39373478e+02] [-9.96268662e-01 -8.62414996e-02 3.34017297e-03 -2.72536176e+02] [-3.35529059e-03 3.03415434e-05 -9.99994371e-01 -4.89216557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.526559995 meters 0.053828799752691246 Centerline is valid? [True, True] Translation: X:639.39, Y:-273.25, Z:-4.89 [[ 1.60892998e-01 -9.86971670e-01 -6.05308625e-04 6.39387165e+02] [-9.86965230e-01 -1.60894134e-01 3.56536752e-03 -2.73249469e+02] [-3.61630735e-03 2.37758976e-05 -9.99993461e-01 -4.89131987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5865599949999 meters 0.05356138258070434 Centerline is valid? [True, True] Translation: X:639.27, Y:-273.16, Z:-4.89 [[ 2.39850641e-01 -9.70809370e-01 -9.15077910e-04 6.39265598e+02] [-9.70802339e-01 -2.39852387e-01 3.69470688e-03 -2.73162639e+02] [-3.80633967e-03 2.18196136e-06 -9.99992756e-01 -4.89112201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.646559995 meters 0.052885596941916906 Centerline is valid? [True, True] Translation: X:639.56, Y:-274.45, Z:-4.89 [[ 3.12918521e-01 -9.49779181e-01 -1.22733432e-03 6.39562222e+02] [-9.49771701e-01 -3.12920928e-01 3.76951725e-03 -2.74448244e+02] [-3.96426760e-03 -1.38643575e-05 -9.99992142e-01 -4.88846610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7065599949999 meters 0.053125726329412586 Centerline is valid? [True, True] Translation: X:639.57, Y:-274.71, Z:-4.89 [[ 3.88548437e-01 -9.21427110e-01 -1.48075055e-03 6.39573594e+02] [-9.21419996e-01 -3.88551256e-01 3.62116575e-03 -2.74707556e+02] [-3.91198778e-03 -4.26051337e-05 -9.99992347e-01 -4.88901176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.766559995 meters 0.05246772845534242 Centerline is valid? [True, True] Translation: X:639.58, Y:-274.91, Z:-4.89 [[ 4.58708663e-01 -8.88585484e-01 -1.48355431e-03 6.39582665e+02] [-8.88580452e-01 -4.58711059e-01 2.99083651e-03 -2.74911195e+02] [-3.33813667e-03 -5.36652518e-05 -9.99994427e-01 -4.88933685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8265599949999 meters 0.053141782948326284 Centerline is valid? [True, True] Translation: X:639.55, Y:-275.01, Z:-4.89 [[ 5.24404460e-01 -8.51468324e-01 -1.28629169e-03 6.39545979e+02] [-8.51465508e-01 -5.24406035e-01 2.19061915e-03 -2.75005528e+02] [-2.53978194e-03 -5.35374464e-05 -9.99996773e-01 -4.88989645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.886559995 meters 0.05283828013611068 Centerline is valid? [True, True] Translation: X:639.66, Y:-275.31, Z:-4.89 [[ 5.83613653e-01 -8.12030220e-01 -1.42360143e-03 6.39658521e+02] [-8.12027604e-01 -5.83615387e-01 2.06160248e-03 -2.75311370e+02] [-2.50491921e-03 -4.71756938e-05 -9.99996862e-01 -4.89046120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9465599949999 meters 0.05301679254203213 Centerline is valid? [True, True] Translation: X:639.77, Y:-275.56, Z:-4.89 [[ 6.36822515e-01 -7.71008210e-01 -1.85062945e-03 6.39765032e+02] [-7.71004816e-01 -6.36825204e-01 2.28767640e-03 -2.75564766e+02] [-2.94234476e-03 -2.99996210e-05 -9.99995671e-01 -4.89036773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.006559995 meters 0.05283100873535292 Centerline is valid? [True, True] Translation: X:639.88, Y:-275.79, Z:-4.89 [[ 6.88550428e-01 -7.25184775e-01 -2.31308269e-03 6.39876815e+02] [-7.25180615e-01 -6.88554313e-01 2.45625177e-03 -2.75794928e+02] [-3.37391945e-03 -1.38504770e-05 -9.99994308e-01 -4.88975772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0665599949999 meters 0.05341575522656272 Centerline is valid? [True, True] Translation: X:639.93, Y:-275.94, Z:-4.89 [[ 7.36137698e-01 -6.76826813e-01 -2.59889557e-03 6.39926223e+02] [-6.76822630e-01 -7.36142286e-01 2.37953292e-03 -2.75940823e+02] [-3.52368861e-03 7.32744698e-06 -9.99993792e-01 -4.88968825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.126559995 meters 0.05360536406235726 Centerline is valid? [True, True] Translation: X:639.90, Y:-276.02, Z:-4.89 [[ 7.84496991e-01 -6.20123740e-01 -3.31934199e-03 6.39903770e+02] [-6.20118347e-01 -7.84504013e-01 2.58646389e-03 -2.76022329e+02] [-4.20796477e-03 2.93117320e-05 -9.99991146e-01 -4.88934932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1865599949999 meters 0.05389552087910854 Centerline is valid? [True, True] Translation: X:639.89, Y:-276.11, Z:-4.89 [[ 8.30166574e-01 -5.57497853e-01 -4.42762667e-03 6.39888323e+02] [-5.57490252e-01 -8.30178379e-01 2.91165356e-03 -2.76106335e+02] [-5.29896054e-03 5.12012437e-05 -9.99985959e-01 -4.88834369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.246559995 meters 0.05366823081046023 Centerline is valid? [True, True] Translation: X:639.88, Y:-276.20, Z:-4.89 [[ 8.72876073e-01 -4.87915174e-01 -5.11310030e-03 6.39875441e+02] [-4.87907075e-01 -8.72891048e-01 2.81157130e-03 -2.76197121e+02] [-5.83498778e-03 4.05644951e-05 -9.99982975e-01 -4.88947633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3065599949999 meters 0.05335059490547259 Centerline is valid? [True, True] Translation: X:639.85, Y:-276.33, Z:-4.89 [[ 9.11069010e-01 -4.12216203e-01 -5.57319085e-03 6.39853177e+02] [-4.12208520e-01 -9.11086056e-01 2.51677272e-03 -2.76325386e+02] [-6.11511097e-03 4.36312180e-06 -9.99981303e-01 -4.88955307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.366559995 meters 0.05324344781728723 Centerline is valid? [True, True] Translation: X:639.84, Y:-276.45, Z:-4.89 [[ 9.41341117e-01 -3.37400503e-01 -6.14832891e-03 6.39842626e+02] [-3.37393245e-01 -9.41361195e-01 2.21309793e-03 -2.76448635e+02] [-6.53449861e-03 -8.87542797e-06 -9.99978650e-01 -4.88847505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4265599949999 meters 0.05297362576565107 Centerline is valid? [True, True] Translation: X:639.85, Y:-276.55, Z:-4.89 [[ 9.66786454e-01 -2.55526080e-01 -5.51126224e-03 6.39851380e+02] [-2.55521599e-01 -9.66802161e-01 1.51422695e-03 -2.76545455e+02] [-5.71522472e-03 -5.56875596e-05 -9.99983666e-01 -4.88775614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.486559995 meters 0.0524661374595226 Centerline is valid? [True, True] Translation: X:639.87, Y:-276.64, Z:-4.89 [[ 9.85258100e-01 -1.71025805e-01 -4.08058847e-03 6.39867361e+02] [-1.71023978e-01 -9.85266546e-01 7.95147829e-04 -2.76639209e+02] [-4.15645811e-03 -8.55473679e-05 -9.99991358e-01 -4.88854729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5465599949999 meters 0.05306944966255221 Centerline is valid? [True, True] Translation: X:639.89, Y:-276.73, Z:-4.89 [[ 9.96057353e-01 -8.86495762e-02 -3.31709834e-03 6.39890081e+02] [-8.86487747e-02 -9.96062872e-01 3.88174583e-04 -2.76730854e+02] [-3.33845001e-03 -9.25874448e-05 -9.99994423e-01 -4.88783803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.606559995 meters 0.05294648015176192 Centerline is valid? [True, True] Translation: X:639.92, Y:-276.80, Z:-4.89 [[ 9.99980450e-01 -5.44350045e-03 -3.07695251e-03 6.39922940e+02] [-5.44315475e-03 -9.99985179e-01 1.20715660e-04 -2.76803216e+02] [-3.07756402e-03 -1.03964972e-04 -9.99995259e-01 -4.88814081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.666559995 meters 0.05352440309875828 Centerline is valid? [True, True] Translation: X:639.96, Y:-276.88, Z:-4.89 [[ 9.97214485e-01 7.44988931e-02 -3.63117675e-03 6.39956741e+02] [ 7.44988432e-02 -9.97221089e-01 -1.49193610e-04 -2.76879309e+02] [-3.63220080e-03 -1.21740439e-04 -9.99993396e-01 -4.88670839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7265599949999 meters 0.052464612640901576 Centerline is valid? [True, True] Translation: X:639.99, Y:-276.95, Z:-4.89 [[ 9.88303400e-01 1.52440625e-01 -4.27157865e-03 6.39994911e+02] [ 1.52439801e-01 -9.88312621e-01 -5.19726121e-04 -2.76948260e+02] [-4.30088247e-03 -1.37511508e-04 -9.99990742e-01 -4.88766781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.786559995 meters 0.0522919908609414 Centerline is valid? [True, True] Translation: X:640.04, Y:-277.02, Z:-4.89 [[ 9.73625606e-01 2.28107425e-01 -4.49255131e-03 6.40039321e+02] [ 2.28105649e-01 -9.73635961e-01 -9.10532839e-04 -2.77024516e+02] [-4.58180881e-03 -1.38258246e-04 -9.99989494e-01 -4.88701463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8465599949999 meters 0.05220934896247673 Centerline is valid? [True, True] Translation: X:640.09, Y:-277.10, Z:-4.89 [[ 9.54082108e-01 2.99495712e-01 -5.44523144e-03 6.40087773e+02] [ 2.99491653e-01 -9.54097636e-01 -1.56537722e-03 -2.77095283e+02] [-5.66410621e-03 -1.37302971e-04 -9.99983949e-01 -4.88571160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.906559995 meters 0.05223435688917838 Centerline is valid? [True, True] Translation: X:640.14, Y:-277.15, Z:-4.89 [[ 9.29705629e-01 3.68262988e-01 -5.46036358e-03 6.40138280e+02] [ 3.68257322e-01 -9.29721657e-01 -2.04574088e-03 -2.77152646e+02] [-5.82998893e-03 -1.08882057e-04 -9.99983000e-01 -4.88543158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9665599949999 meters 0.05199743366315891 Centerline is valid? [True, True] Translation: X:640.19, Y:-277.20, Z:-4.89 [[ 9.03047094e-01 4.29516976e-01 -4.59500670e-03 6.40192071e+02] [ 4.29511648e-01 -9.03058783e-01 -2.13972442e-03 -2.77203706e+02] [-5.06860912e-03 -4.13369852e-05 -9.99987154e-01 -4.88698299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.026559995 meters 0.05274285884079929 Centerline is valid? [True, True] Translation: X:640.25, Y:-277.25, Z:-4.89 [[ 8.71163050e-01 4.90984936e-01 -2.95538256e-03 6.40249975e+02] [ 4.90982148e-01 -8.71168062e-01 -1.65460612e-03 -2.77252937e+02] [-3.38702158e-03 -9.60836280e-06 -9.99994264e-01 -4.88754500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0865599949999 meters 0.052104310218256594 Centerline is valid? [True, True] Translation: X:640.31, Y:-277.29, Z:-4.89 [[ 8.36989532e-01 5.47214645e-01 -2.15792441e-03 6.40308078e+02] [ 5.47212776e-01 -8.36992313e-01 -1.43008985e-03 -2.77294622e+02] [-2.58873225e-03 1.61264251e-05 -9.99996649e-01 -4.88795716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.146559995 meters 0.053076221407750986 Centerline is valid? [True, True] Translation: X:640.38, Y:-277.35, Z:-4.89 [[ 7.96880542e-01 6.04134432e-01 -1.72885396e-03 6.40379696e+02] [ 6.04132937e-01 -7.96882417e-01 -1.34437860e-03 -2.77347628e+02] [-2.18987873e-03 2.68515290e-05 -9.99997602e-01 -4.88722286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2065599949999 meters 0.05293363522614046 Centerline is valid? [True, True] Translation: X:640.48, Y:-277.42, Z:-4.89 [[ 7.49090253e-01 6.62466201e-01 -1.52501354e-03 6.40479563e+02] [ 6.62464748e-01 -7.49091805e-01 -1.38753797e-03 -2.77420764e+02] [-2.06157215e-03 2.91234563e-05 -9.99997875e-01 -4.88691368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.266559995 meters 0.053370244620104555 Centerline is valid? [True, True] Translation: X:640.56, Y:-277.46, Z:-4.89 [[ 6.94751414e-01 7.19245844e-01 -2.42676482e-03 6.40558142e+02] [ 7.19241063e-01 -6.94755648e-01 -2.62366859e-03 -2.77460039e+02] [-3.57307130e-03 7.73685580e-05 -9.99993614e-01 -4.88566440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3265599949999 meters 0.053187665921421316 Centerline is valid? [True, True] Translation: X:640.64, Y:-277.49, Z:-4.89 [[ 6.33825786e-01 7.73471629e-01 -2.55188026e-03 6.40636637e+02] [ 7.73464834e-01 -6.33830918e-01 -3.24310747e-03 -2.77490169e+02] [-4.12591222e-03 8.17755010e-05 -9.99991485e-01 -4.88526183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.386559995 meters 0.052474400623590954 Centerline is valid? [True, True] Translation: X:640.72, Y:-277.52, Z:-4.89 [[ 5.65177691e-01 8.24966241e-01 -2.20878912e-03 6.40718466e+02] [ 8.24959609e-01 -5.65182005e-01 -3.30826428e-03 -2.77516732e+02] [-3.97757421e-03 4.75953542e-05 -9.99992088e-01 -4.88548623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4465599949999 meters 0.052141695582595356 Centerline is valid? [True, True] Translation: X:640.80, Y:-277.53, Z:-4.88 [[ 4.91558246e-01 8.70843469e-01 -1.46442983e-03 6.40796879e+02] [ 8.70839597e-01 -4.91560427e-01 -2.59663496e-03 -2.77531456e+02] [-2.98111834e-03 1.11383819e-06 -9.99995556e-01 -4.88496432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.506559995 meters 0.051361530187517414 Centerline is valid? [True, True] Translation: X:640.87, Y:-277.54, Z:-4.89 [[ 4.16402019e-01 9.09180322e-01 -7.06863091e-04 6.40873329e+02] [ 9.09179117e-01 -4.16402618e-01 -1.48064217e-03 -2.77539908e+02] [-1.64051037e-03 -2.61227721e-05 -9.99998654e-01 -4.88602712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5665599949999 meters 0.051275294335886956 Centerline is valid? [True, True] Translation: X:640.95, Y:-277.54, Z:-4.89 [[ 3.36666379e-01 9.41623897e-01 4.31645437e-04 6.40950403e+02] [ 9.41622980e-01 -3.36666654e-01 1.31422843e-03 -2.77541853e+02] [ 1.38282952e-03 -3.60092624e-05 -9.99999043e-01 -4.88790450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.626559995 meters 0.05090082211324082 Centerline is valid? [True, True] Translation: X:641.03, Y:-277.54, Z:-4.89 [[ 2.57783906e-01 9.66202547e-01 3.09988211e-04 6.41026632e+02] [ 9.66201701e-01 -2.57784090e-01 1.27922675e-03 -2.77535819e+02] [ 1.31590217e-03 -3.02529310e-05 -9.99999134e-01 -4.88731310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6865599949999 meters 0.05134021035606754 Centerline is valid? [True, True] Translation: X:641.11, Y:-277.53, Z:-4.88 [[ 1.75750299e-01 9.84434772e-01 -1.10817708e-04 6.41110974e+02] [ 9.84434698e-01 -1.75750329e-01 -3.84861317e-04 -2.77525541e+02] [-3.98347112e-04 -4.14533051e-05 -9.99999920e-01 -4.88441865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.746559995 meters 0.05159013467582821 Centerline is valid? [True, True] Translation: X:641.20, Y:-277.51, Z:-4.88 [[ 9.50163926e-02 9.95475673e-01 -2.65164148e-04 6.41199529e+02] [ 9.95473509e-01 -9.50167393e-02 -2.07657962e-03 -2.77510088e+02] [-2.09237953e-03 -6.66547794e-05 -9.99997809e-01 -4.88250724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8065599949999 meters 0.051244406617037 Centerline is valid? [True, True] Translation: X:641.28, Y:-277.49, Z:-4.88 [[ 1.34573458e-02 9.99909436e-01 -1.38921821e-04 6.41276290e+02] [ 9.99904037e-01 -1.34577299e-02 -3.28743326e-03 -2.77485832e+02] [-3.28900511e-03 -9.46683633e-05 -9.99994587e-01 -4.88107176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.866559995 meters 0.051016257828948565 Centerline is valid? [True, True] Translation: X:641.36, Y:-277.46, Z:-4.88 [[-6.62726504e-02 9.97801545e-01 1.14979656e-04 6.41357306e+02] [ 9.97796398e-01 6.62726780e-02 -3.20640012e-03 -2.77455960e+02] [-3.20697101e-03 -9.77703479e-05 -9.99994853e-01 -4.88074771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9265599949999 meters 0.050918092601549135 Centerline is valid? [True, True] Translation: X:641.44, Y:-277.42, Z:-4.88 [[-1.44580211e-01 9.89492991e-01 4.28411138e-04 6.41437495e+02] [ 9.89486135e-01 1.44580805e-01 -3.68515738e-03 -2.77420907e+02] [-3.70837743e-03 -1.08893953e-04 -9.99993118e-01 -4.88019017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.986559995 meters 0.050165247108304716 Centerline is valid? [True, True] Translation: X:641.51, Y:-277.38, Z:-4.88 [[-2.22267217e-01 9.74985312e-01 9.62380193e-04 6.41513054e+02] [ 9.74973338e-01 2.22269259e-01 -4.83397598e-03 -2.77379381e+02] [-4.92696311e-03 -1.36139363e-04 -9.99987853e-01 -4.87979065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0465599949999 meters 0.05129724146948427 Centerline is valid? [True, True] Translation: X:641.59, Y:-277.33, Z:-4.88 [[-2.98911865e-01 9.54279357e-01 1.61409682e-03 6.41592555e+02] [ 9.54262364e-01 2.98916179e-01 -5.69724406e-03 -2.77331383e+02] [-5.91924205e-03 -1.62702000e-04 -9.99982468e-01 -4.87783354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.106559995 meters 0.05036268665243227 Centerline is valid? [True, True] Translation: X:641.66, Y:-277.28, Z:-4.88 [[-3.73464515e-01 9.27641851e-01 2.20265222e-03 6.41659107e+02] [ 9.27622816e-01 3.73470969e-01 -5.94539314e-03 -2.77278289e+02] [-6.33782216e-03 -1.77162911e-04 -9.99979900e-01 -4.87942414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.166559995 meters 0.051119028461978626 Centerline is valid? [True, True] Translation: X:641.73, Y:-277.22, Z:-4.88 [[-4.44470175e-01 8.95789567e-01 2.70479344e-03 6.41729506e+02] [ 8.95770495e-01 4.44478370e-01 -5.84795263e-03 -2.77217688e+02] [-6.44075713e-03 -1.76366363e-04 -9.99979243e-01 -4.87902509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2265599949999 meters 0.05080534416116177 Centerline is valid? [True, True] Translation: X:641.79, Y:-277.15, Z:-4.88 [[-5.11184383e-01 8.59465602e-01 3.06685206e-03 6.41794910e+02] [ 8.59448241e-01 5.11193558e-01 -5.46515618e-03 -2.77152231e+02] [-6.26486876e-03 -1.57901882e-04 -9.99980363e-01 -4.87903427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.286559995 meters 0.05060028433357322 Centerline is valid? [True, True] Translation: X:641.85, Y:-277.08, Z:-4.88 [[-5.74464455e-01 8.18522653e-01 3.35503770e-03 6.41854570e+02] [ 8.18507293e-01 5.74474236e-01 -5.01623392e-03 -2.77082558e+02] [-6.03328382e-03 -1.35525260e-04 -9.99981790e-01 -4.87984431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3465599949999 meters 0.05211510231366022 Centerline is valid? [True, True] Translation: X:641.91, Y:-277.00, Z:-4.88 [[-6.34974871e-01 7.72528167e-01 2.67291965e-03 6.41914371e+02] [ 7.72520668e-01 6.34980489e-01 -3.40517199e-03 -2.77004508e+02] [-4.32784310e-03 -9.73129703e-05 -9.99990630e-01 -4.87981453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.406559995 meters 0.05097153550815618 Centerline is valid? [True, True] Translation: X:641.96, Y:-276.93, Z:-4.88 [[-6.95082003e-01 7.18929565e-01 1.13537475e-03 6.41957658e+02] [ 7.18928453e-01 6.95082928e-01 -1.26589328e-03 -2.76929672e+02] [-1.69926771e-03 -6.36464261e-05 -9.99998554e-01 -4.88196618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4665599949999 meters 0.05147954391732939 Centerline is valid? [True, True] Translation: X:642.00, Y:-276.85, Z:-4.88 [[-7.50621107e-01 6.60731169e-01 1.50856502e-03 6.41997973e+02] [ 6.60729633e-01 7.50622619e-01 -1.42666719e-03 -2.76850829e+02] [-2.07500651e-03 -7.41328934e-05 -9.99997844e-01 -4.88145912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.526559995 meters 0.05083523556721851 Centerline is valid? [True, True] Translation: X:642.04, Y:-276.78, Z:-4.88 [[-7.97058482e-01 6.03895710e-01 2.78346788e-03 6.42038797e+02] [ 6.03891553e-01 7.97063335e-01 -2.24334675e-03 -2.76783439e+02] [-3.57334767e-03 -1.07165817e-04 -9.99993610e-01 -4.88095406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5865599949999 meters 0.05069089942243915 Centerline is valid? [True, True] Translation: X:642.06, Y:-276.70, Z:-4.88 [[-8.38451303e-01 5.44963174e-01 3.81469753e-03 6.42060083e+02] [ 5.44956798e-01 8.38459970e-01 -2.63959480e-03 -2.76701290e+02] [-4.63695313e-03 -1.34326347e-04 -9.99989240e-01 -4.88132641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.646559995 meters 0.05044461088934492 Centerline is valid? [True, True] Translation: X:642.00, Y:-276.56, Z:-4.88 [[-8.74482494e-01 4.85039391e-01 4.14204120e-03 6.41997430e+02] [ 4.85033223e-01 8.74492294e-01 -2.44976468e-03 -2.76563785e+02] [-4.81041548e-03 -1.33248737e-04 -9.99988421e-01 -4.88084101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7065599949999 meters 0.05067422862358085 Centerline is valid? [True, True] Translation: X:641.96, Y:-276.46, Z:-4.88 [[-9.04066842e-01 4.27384152e-01 2.43559020e-03 6.41958278e+02] [ 4.27382384e-01 9.04070120e-01 -1.23163805e-03 -2.76459578e+02] [-2.72832690e-03 -7.25547742e-05 -9.99996275e-01 -4.88177385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.766559995 meters 0.05098015721162137 Centerline is valid? [True, True] Translation: X:641.90, Y:-276.35, Z:-4.88 [[-9.29841443e-01 3.67956024e-01 1.80440296e-03 6.41904442e+02] [ 3.67955228e-01 9.29843192e-01 -7.66972740e-04 -2.76354704e+02] [-1.96002405e-03 -4.92235385e-05 -9.99998078e-01 -4.88227635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8265599949999 meters 0.05029873918824762 Centerline is valid? [True, True] Translation: X:641.81, Y:-276.25, Z:-4.88 [[-9.50869017e-01 3.09587770e-01 1.87771432e-03 6.41811704e+02] [ 3.09587100e-01 9.50870870e-01 -6.44719105e-04 -2.76247234e+02] [-1.98506100e-03 -3.17272890e-05 -9.99998029e-01 -4.88268811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.886559995 meters 0.05051349225012534 Centerline is valid? [True, True] Translation: X:641.83, Y:-276.18, Z:-4.88 [[-9.69721142e-01 2.44208950e-01 1.70147959e-03 6.41827959e+02] [ 2.44208526e-01 9.69722635e-01 -4.55666325e-04 -2.76175055e+02] [-1.76124107e-03 -2.63534450e-05 -9.99998449e-01 -4.88247798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9465599949999 meters 0.05092147006433017 Centerline is valid? [True, True] Translation: X:641.76, Y:-276.08, Z:-4.88 [[-9.84681951e-01 1.74339123e-01 2.70666904e-03 6.41756824e+02] [ 1.74338396e-01 9.84685670e-01 -5.03963828e-04 -2.76080583e+02] [-2.75307883e-03 -2.43677445e-05 -9.99996210e-01 -4.88125508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.006559995 meters 0.05106641651976643 Centerline is valid? [True, True] Translation: X:641.81, Y:-275.43, Z:-5.88 [[-9.71325713e-01 -2.37731531e-01 3.17459416e-03 6.41811304e+02] [ 2.37730452e-01 -9.71330899e-01 -7.18323157e-04 -2.75428082e+02] [ 3.25434946e-03 5.69719526e-05 9.99994703e-01 -5.88370283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0665599949999 meters 0.0510003305194082 Centerline is valid? [True, True] Translation: X:641.61, Y:-276.05, Z:-4.88 [[-9.85989638e-01 1.66743609e-01 4.58287578e-03 6.41612038e+02] [ 1.66741629e-01 9.86000288e-01 -8.13503028e-04 -2.76050731e+02] [-4.65436326e-03 -3.79493823e-05 -9.99989168e-01 -4.87877197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.126559995 meters 0.05107733602584865 Centerline is valid? [True, True] Translation: X:641.73, Y:-275.42, Z:-5.88 [[-9.71422695e-01 -2.37334339e-01 3.21858598e-03 6.41726257e+02] [ 2.37332852e-01 -9.71428025e-01 -8.41862042e-04 -2.75422856e+02] [ 3.32642739e-03 -5.39277035e-05 9.99994466e-01 -5.88491052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1865599949999 meters 0.050988070638203105 Centerline is valid? [True, True] Translation: X:641.52, Y:-276.03, Z:-4.88 [[-9.87297147e-01 1.58840510e-01 3.74636912e-03 6.41516851e+02] [ 1.58839164e-01 9.87304254e-01 -6.56243541e-04 -2.76030986e+02] [-3.80304422e-03 -5.28372385e-05 -9.99992767e-01 -4.87862910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.246559995 meters 0.05048778948460036 Centerline is valid? [True, True] Translation: X:641.64, Y:-275.42, Z:-5.89 [[-9.70832278e-01 -2.39748355e-01 2.32675791e-03 6.41636853e+02] [ 2.39747537e-01 -9.70835065e-01 -6.28637304e-04 -2.75418433e+02] [ 2.40961293e-03 -5.24669081e-05 9.99997096e-01 -5.88520856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3065599949999 meters 0.049954369217494 Centerline is valid? [True, True] Translation: X:641.42, Y:-276.01, Z:-4.88 [[-9.88858665e-01 1.48816623e-01 3.48618000e-03 6.41420527e+02] [ 1.48815435e-01 9.88864807e-01 -5.99253448e-04 -2.76012043e+02] [-3.53653959e-03 -7.37795727e-05 -9.99993744e-01 -4.87769830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.366559995 meters 0.0501962072740537 Centerline is valid? [True, True] Translation: X:641.52, Y:-275.41, Z:-5.89 [[-9.70503033e-01 -2.41074132e-01 2.66949526e-03 6.41519538e+02] [ 2.41073249e-01 -9.70506704e-01 -6.52485199e-04 -2.75408646e+02] [ 2.74806035e-03 1.03050315e-05 9.99996224e-01 -5.88734217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4265599949999 meters 0.05013332104626656 Centerline is valid? [True, True] Translation: X:641.35, Y:-276.00, Z:-4.87 [[-9.89975047e-01 1.41172754e-01 4.43387652e-03 6.41348104e+02] [ 1.41170871e-01 9.89984971e-01 -7.36256765e-04 -2.75998925e+02] [-4.49341052e-03 -1.02941613e-04 -9.99989899e-01 -4.87448313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.486559995 meters 0.04990622247752414 Centerline is valid? [True, True] Translation: X:641.40, Y:-275.39, Z:-5.89 [[-9.71110552e-01 -2.38581834e-01 4.79634406e-03 6.41400607e+02] [ 2.38579615e-01 -9.71122387e-01 -1.03785855e-03 -2.75392939e+02] [ 4.90545128e-03 1.36434529e-04 9.99987959e-01 -5.89061195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5465599949999 meters 0.050385668395400963 Centerline is valid? [True, True] Translation: X:641.18, Y:-275.98, Z:-4.87 [[-9.90250822e-01 1.39151793e-01 6.33145231e-03 6.41176157e+02] [ 1.39148153e-01 9.90271056e-01 -1.01403243e-03 -2.75975872e+02] [-6.41095839e-03 -1.23136560e-04 -9.99979442e-01 -4.87255426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.606559995 meters 0.0504584065639319 Centerline is valid? [True, True] Translation: X:641.12, Y:-275.89, Z:-4.87 [[-9.97498383e-01 7.04657913e-02 5.61678245e-03 6.41122566e+02] [ 7.04641063e-02 9.97514191e-01 -4.97576862e-04 -2.75892719e+02] [-5.63788235e-03 -1.00550560e-04 -9.99984102e-01 -4.87177470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.666559995 meters 0.049850550645009414 Centerline is valid? [True, True] Translation: X:641.07, Y:-275.26, Z:-5.89 [[-9.87595509e-01 -1.56993702e-01 2.84412855e-03 6.41070311e+02] [ 1.56992765e-01 -9.87599599e-01 -5.51169784e-04 -2.75260309e+02] [ 2.89539040e-03 -9.78251982e-05 9.99995804e-01 -5.89042884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7265599949999 meters 0.05020220783650212 Centerline is valid? [True, True] Translation: X:640.88, Y:-275.89, Z:-4.87 [[-9.96956026e-01 7.79148283e-02 2.82150414e-03 6.40878489e+02] [ 7.79144204e-02 9.96960018e-01 -2.54384281e-04 -2.75886183e+02] [-2.83274713e-03 -3.37740824e-05 -9.99995987e-01 -4.87284291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.786559995 meters 0.0506756724796778 Centerline is valid? [True, True] Translation: X:640.80, Y:-275.81, Z:-4.87 [[-9.99936946e-01 1.07888926e-02 3.11512107e-03 6.40804503e+02] [ 1.07887722e-02 9.99941798e-01 -5.54282419e-05 -2.75811981e+02] [-3.11553777e-03 -2.18164152e-05 -9.99995146e-01 -4.87299485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8465599949999 meters 0.05106713332283355 Centerline is valid? [True, True] Translation: X:640.87, Y:-275.73, Z:-4.87 [[-9.98249723e-01 -5.90249969e-02 3.67966220e-03 6.40874103e+02] [-5.90246379e-02 9.98256505e-01 2.06160370e-04 -2.75734021e+02] [-3.68541534e-03 -1.13911966e-05 -9.99993209e-01 -4.87210460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.906559995 meters 0.050587794606759905 Centerline is valid? [True, True] Translation: X:640.76, Y:-275.09, Z:-5.89 [[-9.99980954e-01 4.41766883e-03 4.30995446e-03 6.40763716e+02] [-4.41742106e-03 -9.99990241e-01 6.70061035e-05 -2.75091490e+02] [ 4.31020840e-03 4.79659437e-05 9.99990710e-01 -5.89207076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9665599949999 meters 0.05061731235823578 Centerline is valid? [True, True] Translation: X:641.02, Y:-275.73, Z:-4.87 [[-9.97998581e-01 -6.29670083e-02 5.82987856e-03 6.41022938e+02] [-6.29658055e-02 9.98015609e-01 3.89808907e-04 -2.75727291e+02] [-5.84285490e-03 2.19457363e-05 -9.99982930e-01 -4.87435574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.026559995 meters 0.05167486963332544 Centerline is valid? [True, True] Translation: X:640.29, Y:-275.73, Z:-4.87 [[-9.91399162e-01 -1.30769019e-01 5.21211013e-03 6.40288482e+02] [-1.30767039e-01 9.91412862e-01 7.20232311e-04 -2.75727986e+02] [-5.26153709e-03 3.24654982e-05 -9.99986157e-01 -4.87285559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0865599949999 meters 0.05143421970590488 Centerline is valid? [True, True] Translation: X:640.14, Y:-275.68, Z:-4.87 [[-9.79986834e-01 -1.99024283e-01 3.89096784e-03 6.40141219e+02] [-1.99022615e-01 9.79994558e-01 8.15248391e-04 -2.75680599e+02] [-3.97538154e-03 2.45420948e-05 -9.99992098e-01 -4.87345920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.146559995 meters 0.05125185384821161 Centerline is valid? [True, True] Translation: X:640.39, Y:-275.53, Z:-4.87 [[-9.62345291e-01 -2.71802761e-01 3.84714052e-03 6.40394899e+02] [-2.71800479e-01 9.62352980e-01 1.11406555e-03 -2.75533705e+02] [-4.00511324e-03 2.64611032e-05 -9.99991979e-01 -4.87491216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2065599949999 meters 0.05220703185915608 Centerline is valid? [True, True] Translation: X:640.26, Y:-275.49, Z:-4.88 [[-9.41033781e-01 -3.38309534e-01 1.44287849e-03 6.40258284e+02] [-3.38309146e-01 9.41034887e-01 5.12552672e-04 -2.75488453e+02] [-1.53120045e-03 -5.80961125e-06 -9.99998828e-01 -4.87650465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.266559995 meters 0.051571300777163986 Centerline is valid? [True, True] Translation: X:640.20, Y:-275.41, Z:-4.88 [[-9.13165683e-01 -4.07587102e-01 -1.09067714e-03 6.40200128e+02] [-4.07586746e-01 9.13166333e-01 -5.41095633e-04 -2.75410401e+02] [ 1.21651324e-03 -4.95644180e-05 -9.99999259e-01 -4.87716302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3265599949999 meters 0.05122383260822876 Centerline is valid? [True, True] Translation: X:640.07, Y:-275.37, Z:-4.88 [[-8.80098030e-01 -4.74790440e-01 -1.22289376e-03 6.40073765e+02] [-4.74789904e-01 8.80098879e-01 -7.14475306e-04 -2.75370131e+02] [ 1.41549347e-03 -4.81907008e-05 -9.99998997e-01 -4.87611567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.386559995 meters 0.05108319234077984 Centerline is valid? [True, True] Translation: X:639.33, Y:-275.73, Z:-4.88 [[-8.42834941e-01 -5.38171428e-01 -8.81034787e-04 6.39328897e+02] [-5.38171083e-01 8.42835401e-01 -6.10504682e-04 -2.75726920e+02] [ 1.07112348e-03 -4.04072318e-05 -9.99999426e-01 -4.87596164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4465599949999 meters 0.05105930606069356 Centerline is valid? [True, True] Translation: X:639.60, Y:-275.43, Z:-4.87 [[-7.98441981e-01 -6.02071469e-01 -5.91398819e-04 6.39600298e+02] [-6.02071267e-01 7.98442199e-01 -4.94684274e-04 -2.75432355e+02] [ 7.70033061e-04 -3.89124555e-05 -9.99999703e-01 -4.87450542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.506559995 meters 0.05064257248996756 Centerline is valid? [True, True] Translation: X:638.61, Y:-275.40, Z:-5.89 [[-8.28820961e-01 5.59511918e-01 -1.49307422e-03 6.38614615e+02] [-5.59510970e-01 -8.28822305e-01 -1.02970943e-03 -2.75399128e+02] [-1.81362792e-03 -1.80533499e-05 9.99998355e-01 -5.89254966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5665599949999 meters 0.051027450048960574 Centerline is valid? [True, True] Translation: X:638.86, Y:-275.97, Z:-4.87 [[-7.92710632e-01 -6.09597883e-01 -5.23978931e-04 6.38859975e+02] [-6.09597721e-01 7.92710805e-01 -4.46408331e-04 -2.75972655e+02] [ 6.87493334e-04 -3.44562686e-05 -9.99999763e-01 -4.87280706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.626559995 meters 0.051379969479911164 Centerline is valid? [True, True] Translation: X:638.69, Y:-276.02, Z:-4.87 [[-7.45176796e-01 -6.66866959e-01 3.90736239e-05 6.38687177e+02] [-6.66866960e-01 7.45176797e-01 -5.79582277e-06 -2.76021893e+02] [-2.52517149e-05 -3.03758214e-05 -9.99999999e-01 -4.87236213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6865599949999 meters 0.05148826119589316 Centerline is valid? [True, True] Translation: X:638.86, Y:-275.74, Z:-4.87 [[-6.87538734e-01 -7.26146170e-01 1.49318361e-03 6.38864893e+02] [-7.26144584e-01 6.87540354e-01 1.51826835e-03 -2.75736514e+02] [-2.12910873e-03 -4.03988916e-05 -9.99997733e-01 -4.87115195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.746559995 meters 0.05100229032441806 Centerline is valid? [True, True] Translation: X:638.30, Y:-276.24, Z:-4.87 [[-6.28340888e-01 -7.77935556e-01 1.99956326e-03 6.38300790e+02] [-7.77931948e-01 6.28344066e-01 2.37024671e-03 -2.76240899e+02] [-3.10031290e-03 -6.62012144e-05 -9.99995192e-01 -4.86952862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8065599949999 meters 0.05065150829977419 Centerline is valid? [True, True] Translation: X:638.17, Y:-276.29, Z:-4.87 [[-5.64775903e-01 -8.25241795e-01 2.03968927e-03 6.38172206e+02] [-8.25236983e-01 5.64779579e-01 2.81946103e-03 -2.76286337e+02] [-3.47871193e-03 -9.08633689e-05 -9.99993945e-01 -4.87009202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.866559995 meters 0.05028438737666473 Centerline is valid? [True, True] Translation: X:638.00, Y:-276.41, Z:-4.87 [[-5.00956155e-01 -8.65471431e-01 1.46062131e-03 6.38002199e+02] [-8.65468231e-01 5.00958277e-01 2.35510477e-03 -2.76407413e+02] [-2.76998623e-03 -8.43171120e-05 -9.99996160e-01 -4.87103711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9265599949999 meters 0.050483615972206075 Centerline is valid? [True, True] Translation: X:637.87, Y:-276.49, Z:-4.87 [[-4.33575739e-01 -9.01116749e-01 8.26536281e-04 6.37867748e+02] [-9.01115404e-01 4.33576521e-01 1.55836507e-03 -2.76494789e+02] [-1.76263559e-03 -6.91352875e-05 -9.99998444e-01 -4.87198984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.986559995 meters 0.05011607994843803 Centerline is valid? [True, True] Translation: X:637.71, Y:-276.64, Z:-4.87 [[-3.66039084e-01 -9.30598340e-01 1.45544361e-03 6.37713240e+02] [-9.30592152e-01 3.66041961e-01 3.39541361e-03 -2.76643697e+02] [-3.69251970e-03 -1.11570314e-04 -9.99993176e-01 -4.87172052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0465599949999 meters 0.05063522340118292 Centerline is valid? [True, True] Translation: X:637.58, Y:-276.79, Z:-4.87 [[-2.97987066e-01 -9.54568764e-01 1.47776316e-03 6.37577118e+02] [-9.54558994e-01 2.97990705e-01 4.32039968e-03 -2.76792684e+02] [-4.56447827e-03 -1.23188887e-04 -9.99989575e-01 -4.87166298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.106559995 meters 0.05018410218898303 Centerline is valid? [True, True] Translation: X:637.43, Y:-277.03, Z:-4.87 [[-2.31917900e-01 -9.72734428e-01 1.34907457e-03 6.37434602e+02] [-9.72720680e-01 2.31921797e-01 5.17284932e-03 -2.77027889e+02] [-5.34468842e-03 -1.12596380e-04 -9.99985711e-01 -4.87186907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.166559995 meters 0.050185006790660416 Centerline is valid? [True, True] Translation: X:637.31, Y:-277.25, Z:-4.87 [[-1.66695459e-01 -9.86008089e-01 8.20055334e-04 6.37314639e+02] [-9.85998078e-01 1.66697463e-01 4.44360831e-03 -2.77254424e+02] [-4.51813488e-03 -6.78436562e-05 -9.99989791e-01 -4.87226171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2265599949999 meters 0.05033622837550087 Centerline is valid? [True, True] Translation: X:637.21, Y:-277.49, Z:-4.87 [[-9.70398369e-02 -9.95280432e-01 3.63150217e-04 6.37205731e+02] [-9.95275114e-01 9.70405057e-02 3.25400021e-03 -2.77492404e+02] [-3.27388302e-03 -4.56667235e-05 -9.99994640e-01 -4.87306963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.286559995 meters 0.05012933595628118 Centerline is valid? [True, True] Translation: X:637.11, Y:-277.72, Z:-4.87 [[-2.33450717e-02 -9.99727458e-01 1.31489899e-04 6.37113563e+02] [-9.99720831e-01 2.33453958e-02 3.64050425e-03 -2.77720314e+02] [-3.64258175e-03 -4.64653584e-05 -9.99993365e-01 -4.87279039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3465599949999 meters 0.050089363988854586 Centerline is valid? [True, True] Translation: X:637.04, Y:-277.66, Z:-4.87 [[ 4.78681267e-02 -9.98853637e-01 -2.32892021e-04 6.37035277e+02] [-9.98838211e-01 -4.78686818e-02 5.55133237e-03 -2.77655612e+02] [-5.55611676e-03 -3.31104317e-05 -9.99984564e-01 -4.87272865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.406559995 meters 0.05027501709192539 Centerline is valid? [True, True] Translation: X:636.95, Y:-277.66, Z:-4.87 [[ 1.19884373e-01 -9.92787638e-01 -6.65137013e-04 6.36949379e+02] [-9.92771478e-01 -1.19886216e-01 5.66467468e-03 -2.77661587e+02] [-5.70355976e-03 -1.87769158e-05 -9.99983734e-01 -4.87315703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4665599949999 meters 0.05100699239424215 Centerline is valid? [True, True] Translation: X:636.39, Y:-278.45, Z:-5.90 [[ 5.90930969e-02 9.98252447e-01 -2.40938362e-04 6.36387301e+02] [-9.98241141e-01 5.90935744e-02 4.75127983e-03 -2.78448184e+02] [ 4.75721463e-03 -4.02532545e-05 9.99988684e-01 -5.89778468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.526559995 meters 0.05141980749900886 Centerline is valid? [True, True] Translation: X:636.99, Y:-278.09, Z:-4.87 [[ 1.25878068e-01 -9.92045487e-01 -6.80665718e-04 6.36986606e+02] [-9.92030658e-01 -1.25879908e-01 5.42419993e-03 -2.78086600e+02] [-5.46673520e-03 -7.54654948e-06 -9.99985057e-01 -4.87350897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5865599949999 meters 0.05081455009634925 Centerline is valid? [True, True] Translation: X:636.43, Y:-278.81, Z:-5.90 [[ 6.65080370e-02 9.97785877e-01 -1.57119803e-04 6.36434028e+02] [-9.97778600e-01 6.65081522e-02 3.81207088e-03 -2.78813280e+02] [ 3.81408023e-03 -9.67625741e-05 9.99992722e-01 -5.89586186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.646559995 meters 0.050272501406127976 Centerline is valid? [True, True] Translation: X:637.09, Y:-279.04, Z:-4.87 [[ 1.35071781e-01 -9.90835730e-01 -4.11947079e-04 6.37089859e+02] [-9.90830550e-01 -1.35072406e-01 3.20415741e-03 -2.79042958e+02] [-3.23043633e-03 -2.46214956e-05 -9.99994782e-01 -4.87433217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7065599949999 meters 0.051128323396821794 Centerline is valid? [True, True] Translation: X:637.06, Y:-279.33, Z:-4.87 [[ 2.11294424e-01 -9.77422291e-01 -5.76192965e-04 6.37060222e+02] [-9.77418188e-01 -2.11295207e-01 2.83228893e-03 -2.79331725e+02] [-2.89008915e-03 -3.52653755e-05 -9.99995823e-01 -4.87391231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.766559995 meters 0.050715336287682995 Centerline is valid? [True, True] Translation: X:637.03, Y:-279.51, Z:-4.87 [[ 2.86840615e-01 -9.57977568e-01 -1.20001029e-03 6.37026064e+02] [-9.57968370e-01 -2.86843120e-01 4.19849547e-03 -2.79512405e+02] [-4.36627918e-03 -5.47271221e-05 -9.99990466e-01 -4.87405468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8265599949999 meters 0.05037717190630325 Centerline is valid? [True, True] Translation: X:637.01, Y:-279.70, Z:-4.87 [[ 3.59368504e-01 -9.33194469e-01 -1.53633188e-03 6.37006633e+02] [-9.33185126e-01 -3.59371782e-01 4.17650323e-03 -2.79700963e+02] [-4.44960404e-03 -6.72216583e-05 -9.99990098e-01 -4.87424907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.886559995 meters 0.0508048956780486 Centerline is valid? [True, True] Translation: X:637.01, Y:-279.92, Z:-4.87 [[ 4.28030075e-01 -9.03763180e-01 -1.53934831e-03 6.37014807e+02] [-9.03756785e-01 -4.28032839e-01 3.40044648e-03 -2.79920137e+02] [-3.73208994e-03 -6.42968834e-05 -9.99993034e-01 -4.87454127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9465599949999 meters 0.050810311407088735 Centerline is valid? [True, True] Translation: X:637.04, Y:-280.14, Z:-4.88 [[ 4.93282082e-01 -8.69867341e-01 -1.89677456e-03 6.37040003e+02] [-8.69860395e-01 -4.93285724e-01 3.47663540e-03 -2.80135794e+02] [-3.95986340e-03 -6.50328838e-05 -9.99992158e-01 -4.87518786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.006559995 meters 0.05089838976232128 Centerline is valid? [True, True] Translation: X:637.08, Y:-280.35, Z:-4.87 [[ 5.55613039e-01 -8.31437606e-01 -2.37848453e-03 6.37082788e+02] [-8.31429472e-01 -5.55618126e-01 3.67850918e-03 -2.80352132e+02] [-4.37997999e-03 -6.62855318e-05 -9.99990406e-01 -4.87486883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0665599949999 meters 0.05026916049756358 Centerline is valid? [True, True] Translation: X:637.13, Y:-280.55, Z:-4.87 [[ 6.15254923e-01 -7.88322139e-01 -3.09606420e-03 6.37132065e+02] [-7.88311559e-01 -6.15262708e-01 4.08475203e-03 -2.80551911e+02] [-5.12499331e-03 -7.25005963e-05 -9.99986865e-01 -4.87473700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.126559995 meters 0.05024367015950094 Centerline is valid? [True, True] Translation: X:636.82, Y:-280.30, Z:-4.87 [[ 6.73787742e-01 -7.38913139e-01 -4.17740392e-03 6.36819324e+02] [-7.38898039e-01 -6.73800685e-01 4.72497310e-03 -2.80302063e+02] [-6.30608233e-03 -9.69533925e-05 -9.99980112e-01 -4.87461371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1865599949999 meters 0.05068229263334519 Centerline is valid? [True, True] Translation: X:637.27, Y:-280.89, Z:-4.87 [[ 7.27133921e-01 -6.86474700e-01 -5.36155122e-03 6.37270896e+02] [-6.86454738e-01 -7.27153677e-01 5.23665386e-03 -2.80894883e+02] [-7.49350207e-03 -1.27286416e-04 -9.99971915e-01 -4.87323147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.246559995 meters 0.050582241723663914 Centerline is valid? [True, True] Translation: X:637.24, Y:-280.98, Z:-4.87 [[ 7.79986391e-01 -6.25751401e-01 -7.51095783e-03 6.37243558e+02] [-6.25720126e-01 -7.80022532e-01 6.25876749e-03 -2.80976788e+02] [-9.77514887e-03 -1.81995983e-04 -9.99952206e-01 -4.87125067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3065599949999 meters 0.050886978581153305 Centerline is valid? [True, True] Translation: X:637.23, Y:-281.06, Z:-4.87 [[ 8.26859404e-01 -5.62350198e-01 -8.11053211e-03 6.37226469e+02] [-5.62320868e-01 -8.26899159e-01 5.74652457e-03 -2.81056462e+02] [-9.93815141e-03 -1.90846423e-04 -9.99950597e-01 -4.87145567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.366559995 meters 0.05072180161461146 Centerline is valid? [True, True] Translation: X:637.21, Y:-281.14, Z:-4.87 [[ 8.68179881e-01 -4.96188377e-01 -7.79665870e-03 6.37213463e+02] [-4.96166551e-01 -8.68214872e-01 4.65720312e-03 -2.81140026e+02] [-9.08002509e-03 -1.74848792e-04 -9.99958760e-01 -4.87369040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4265599949999 meters 0.04975489026136948 Centerline is valid? [True, True] Translation: X:637.21, Y:-281.23, Z:-4.87 [[ 9.04131368e-01 -4.27195210e-01 -7.12198954e-03 6.37206451e+02] [-4.27180614e-01 -9.04159405e-01 3.53463995e-03 -2.81225189e+02] [-7.94939508e-03 -1.53402989e-04 -9.99968391e-01 -4.87486764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.486559995 meters 0.05046630985982092 Centerline is valid? [True, True] Translation: X:637.20, Y:-281.31, Z:-4.87 [[ 9.35452716e-01 -3.53397591e-01 -6.19348618e-03 6.37203299e+02] [-3.53388804e-01 -9.35473207e-01 2.49642530e-03 -2.81313682e+02] [-6.67607106e-03 -1.46579155e-04 -9.99977704e-01 -4.87479894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5465599949999 meters 0.05081423328775107 Centerline is valid? [True, True] Translation: X:637.21, Y:-281.41, Z:-4.87 [[ 9.60943541e-01 -2.76658967e-01 -6.87941544e-03 6.37205817e+02] [-2.76650570e-01 -9.60968150e-01 2.16259709e-03 -2.81408234e+02] [-7.20920101e-03 -1.74939497e-04 -9.99973998e-01 -4.87276352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.606559995 meters 0.050896851368954055 Centerline is valid? [True, True] Translation: X:637.22, Y:-281.50, Z:-4.87 [[ 9.79919213e-01 -1.99239842e-01 -7.86271331e-03 6.37217408e+02] [-1.99231752e-01 -9.79950735e-01 1.80694175e-03 -2.81500583e+02] [-8.06508648e-03 -2.04154784e-04 -9.99967456e-01 -4.87352109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.666559995 meters 0.050900913348094726 Centerline is valid? [True, True] Translation: X:637.24, Y:-281.59, Z:-4.87 [[ 9.92873943e-01 -1.18956874e-01 -7.11306682e-03 6.37235502e+02] [-1.18952321e-01 -9.92899400e-01 1.06116768e-03 -2.81594117e+02] [-7.18879297e-03 -2.07489929e-04 -9.99974139e-01 -4.87421600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7265599949999 meters 0.05007414688021237 Centerline is valid? [True, True] Translation: X:637.26, Y:-281.69, Z:-4.88 [[ 9.99285794e-01 -3.72218861e-02 -6.51408948e-03 6.37261422e+02] [-3.72196873e-02 -9.99307002e-01 4.58486976e-04 -2.81686319e+02] [-6.52664098e-03 -2.15707149e-04 -9.99978678e-01 -4.87508783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.786559995 meters 0.0505599091160014 Centerline is valid? [True, True] Translation: X:637.29, Y:-281.78, Z:-4.87 [[ 9.99085859e-01 4.21400115e-02 -7.18784478e-03 6.37292843e+02] [ 4.21406659e-02 -9.99111686e-01 -6.04546156e-05 -2.81779315e+02] [-7.18400728e-03 -2.42501214e-04 -9.99974165e-01 -4.87381039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8465599949999 meters 0.051044076005281436 Centerline is valid? [True, True] Translation: X:637.33, Y:-281.87, Z:-4.87 [[ 9.93051124e-01 1.17386799e-01 -8.35485839e-03 6.37326876e+02] [ 1.17384796e-01 -9.93086237e-01 -7.31508812e-04 -2.81867060e+02] [-8.38296436e-03 -2.54307697e-04 -9.99964830e-01 -4.87305804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.906559995 meters 0.05077070126701679 Centerline is valid? [True, True] Translation: X:637.37, Y:-281.94, Z:-4.87 [[ 9.82177857e-01 1.87776929e-01 -8.15367469e-03 6.37366929e+02] [ 1.87772083e-01 -9.82211682e-01 -1.36275348e-03 -2.81944246e+02] [-8.26452819e-03 -1.92566181e-04 -9.99965830e-01 -4.87341297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9665599949999 meters 0.05033935108869588 Centerline is valid? [True, True] Translation: X:637.41, Y:-282.01, Z:-4.87 [[ 9.66299519e-01 2.57301489e-01 -7.82204656e-03 6.37410682e+02] [ 2.57294164e-01 -9.66331168e-01 -1.94598670e-03 -2.82011952e+02] [-8.05939266e-03 -1.32160912e-04 -9.99967514e-01 -4.87336431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.026559995 meters 0.05032735200311107 Centerline is valid? [True, True] Translation: X:637.46, Y:-282.08, Z:-4.87 [[ 9.44447738e-01 3.28574145e-01 -7.58296759e-03 6.37459783e+02] [ 3.28564415e-01 -9.44478174e-01 -2.53074474e-03 -2.82075283e+02] [-7.99348467e-03 -1.01337165e-04 -9.99968046e-01 -4.87425665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0865599949999 meters 0.05081828966932706 Centerline is valid? [True, True] Translation: X:637.51, Y:-282.13, Z:-4.87 [[ 9.17524141e-01 3.97618184e-01 -7.01639591e-03 6.37512233e+02] [ 3.97607107e-01 -9.17550966e-01 -2.96870283e-03 -2.82133726e+02] [-7.61831108e-03 -6.59123626e-05 -9.99970978e-01 -4.87294311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.146559995 meters 0.05072537686418745 Centerline is valid? [True, True] Translation: X:637.57, Y:-282.18, Z:-4.87 [[ 8.84465884e-01 4.66566342e-01 -5.99575432e-03 6.37567081e+02] [ 4.66555999e-01 -8.84486205e-01 -3.10697940e-03 -2.82182479e+02] [-6.75277399e-03 -4.93378690e-05 -9.99977199e-01 -4.87348224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2065599949999 meters 0.05014080560981902 Centerline is valid? [True, True] Translation: X:637.63, Y:-282.23, Z:-4.87 [[ 8.45472046e-01 5.33990783e-01 -5.55547250e-03 6.37628994e+02] [ 5.33979611e-01 -8.45490297e-01 -3.45446272e-03 -2.82233000e+02] [-6.54174934e-03 -4.58573768e-05 -9.99978601e-01 -4.87454412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.266559995 meters 0.05065961611196854 Centerline is valid? [True, True] Translation: X:637.69, Y:-282.28, Z:-4.87 [[ 8.00155854e-01 5.99768411e-01 -5.33494625e-03 6.37694045e+02] [ 5.99755550e-01 -8.00173637e-01 -3.92818936e-03 -2.82279570e+02] [-6.62488723e-03 -5.64999097e-05 -9.99978054e-01 -4.87492688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3265599949999 meters 0.05073468906864368 Centerline is valid? [True, True] Translation: X:637.77, Y:-282.33, Z:-4.87 [[ 7.47900747e-01 6.63786897e-01 -5.60614910e-03 6.37768729e+02] [ 6.63769164e-01 -7.47921752e-01 -4.85283800e-03 -2.82327255e+02] [-7.41421113e-03 -9.17477356e-05 -9.99972510e-01 -4.87292487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.386559995 meters 0.05081390909076386 Centerline is valid? [True, True] Translation: X:637.84, Y:-282.36, Z:-4.87 [[ 6.91568142e-01 7.22286089e-01 -6.02588956e-03 6.37842919e+02] [ 7.22260255e-01 -6.91594383e-01 -6.11010842e-03 -2.82364843e+02] [-8.58071768e-03 -1.26704208e-04 -9.99963177e-01 -4.87121196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4465599949999 meters 0.05132307532432701 Centerline is valid? [True, True] Translation: X:637.92, Y:-282.40, Z:-4.87 [[ 6.32473135e-01 7.74559976e-01 -5.88023025e-03 6.37921499e+02] [ 7.74528517e-01 -6.32500454e-01 -6.98226496e-03 -2.82396583e+02] [-9.12743129e-03 -1.38311011e-04 -9.99958335e-01 -4.87199625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.506559995 meters 0.04997699499461286 Centerline is valid? [True, True] Translation: X:638.00, Y:-282.42, Z:-4.87 [[ 5.72548212e-01 8.19860805e-01 -4.09956966e-03 6.38001293e+02] [ 8.19840914e-01 -5.72562881e-01 -5.71163519e-03 -2.82422212e+02] [-7.03000724e-03 -9.08084184e-05 -9.99975285e-01 -4.87254941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5665599949999 meters 0.05032633848808165 Centerline is valid? [True, True] Translation: X:638.08, Y:-282.44, Z:-4.87 [[ 5.09646269e-01 8.60379968e-01 -2.64414857e-03 6.38078833e+02] [ 8.60368953e-01 -5.09653125e-01 -4.35405547e-03 -2.82438630e+02] [-5.09374069e-03 -5.59152087e-05 -9.99987025e-01 -4.87374821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.626559995 meters 0.05003367492637936 Centerline is valid? [True, True] Translation: X:638.16, Y:-282.45, Z:-4.87 [[ 4.41011011e-01 8.97499337e-01 -2.05623007e-03 6.38155939e+02] [ 8.97490123e-01 -4.41015802e-01 -4.06720662e-03 -2.82449020e+02] [-4.55714519e-03 -5.17632741e-05 -9.99989615e-01 -4.87251772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6865599949999 meters 0.05035473896366885 Centerline is valid? [True, True] Translation: X:638.24, Y:-282.45, Z:-4.87 [[ 3.67983479e-01 9.29829745e-01 -2.19206660e-03 6.38235523e+02] [ 9.29814318e-01 -3.67990002e-01 -5.35656419e-03 -2.82452741e+02] [-5.78735131e-03 -6.70877894e-05 -9.99983251e-01 -4.87221793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.746559995 meters 0.050384259508484144 Centerline is valid? [True, True] Translation: X:638.32, Y:-282.45, Z:-4.87 [[ 2.90379773e-01 9.56907094e-01 -2.89823700e-03 6.38316074e+02] [ 9.56863791e-01 -2.90394208e-01 -9.10439407e-03 -2.82451344e+02] [-9.55369051e-03 -1.29486156e-04 -9.99954354e-01 -4.86943792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8065599949999 meters 0.05077563270703419 Centerline is valid? [True, True] Translation: X:638.40, Y:-282.44, Z:-4.87 [[ 2.13360844e-01 9.76969415e-01 -2.81299657e-03 6.38396256e+02] [ 9.76895028e-01 -2.13379314e-01 -1.20570703e-02 -2.82442912e+02] [-1.23796242e-02 -1.75495683e-04 -9.99923354e-01 -4.86621820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.866559995 meters 0.05057100526344997 Centerline is valid? [True, True] Translation: X:638.47, Y:-282.43, Z:-4.87 [[ 1.37491338e-01 9.90501155e-01 -1.89587862e-03 6.38469365e+02] [ 9.90422610e-01 -1.37504313e-01 -1.24746817e-02 -2.82427052e+02] [-1.26168781e-02 -1.62560371e-04 -9.99920391e-01 -4.86646783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9265599949999 meters 0.05036846035498383 Centerline is valid? [True, True] Translation: X:638.54, Y:-282.41, Z:-4.87 [[ 6.34246293e-02 9.97986297e-01 -8.16850151e-04 6.38538806e+02] [ 9.97923376e-01 -6.34298033e-02 -1.12069450e-02 -2.82405582e+02] [-1.12361902e-02 -1.04357525e-04 -9.99936867e-01 -4.86947757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.986559995 meters 0.05048443231104503 Centerline is valid? [True, True] Translation: X:638.61, Y:-282.38, Z:-4.87 [[-1.31622317e-02 9.99913373e-01 5.64697605e-05 6.38613554e+02] [ 9.99858620e-01 1.31621019e-02 -1.04641948e-02 -2.82378941e+02] [-1.04640316e-02 -8.12703793e-05 -9.99945247e-01 -4.87018355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0465599949999 meters 0.05050618166346358 Centerline is valid? [True, True] Translation: X:638.69, Y:-282.35, Z:-4.87 [[-8.67270360e-02 9.96231843e-01 7.32370994e-04 6.38685582e+02] [ 9.96193156e-01 8.67301224e-02 -8.77962966e-03 -2.82346653e+02] [-8.81006526e-03 -3.18482858e-05 -9.99961190e-01 -4.87277500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.106559995 meters 0.050347903085690426 Centerline is valid? [True, True] Translation: X:638.75, Y:-282.31, Z:-4.87 [[-1.62402284e-01 9.86723454e-01 1.52441705e-03 6.38754768e+02] [ 9.86679235e-01 1.62409438e-01 -9.34143122e-03 -2.82309174e+02] [-9.46498900e-03 -1.29591110e-05 -9.99955206e-01 -4.87224747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.166559995 meters 0.051083506604873374 Centerline is valid? [True, True] Translation: X:638.82, Y:-282.27, Z:-4.87 [[-2.40334800e-01 9.70686512e-01 2.62270027e-03 6.38818873e+02] [ 9.70627602e-01 2.40349109e-01 -1.06940842e-02 -2.82268145e+02] [-1.10109670e-02 -2.44953278e-05 -9.99939377e-01 -4.87422059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2265599949999 meters 0.050115528911584876 Centerline is valid? [True, True] Translation: X:638.90, Y:-282.22, Z:-4.87 [[-3.19831209e-01 9.47463906e-01 4.48821583e-03 6.38900036e+02] [ 9.47366711e-01 3.19862687e-01 -1.35711399e-02 -2.82215319e+02] [-1.42937780e-02 -8.84878011e-05 -9.99897835e-01 -4.86925020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.286559995 meters 0.05082571589694576 Centerline is valid? [True, True] Translation: X:638.97, Y:-282.16, Z:-4.86 [[-3.97313743e-01 9.17659595e-01 6.53126569e-03 6.38966799e+02] [ 9.17528129e-01 3.97367381e-01 -1.55337229e-02 -2.82159454e+02] [-1.68499819e-02 -1.79141612e-04 -9.99858013e-01 -4.86488770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3465599949999 meters 0.05131288017609864 Centerline is valid? [True, True] Translation: X:639.02, Y:-282.10, Z:-4.86 [[-4.70026628e-01 8.82619421e-01 7.61101133e-03 6.39023305e+02] [ 8.82496172e-01 4.70088196e-01 -1.47511078e-02 -2.82101588e+02] [-1.65974608e-02 -2.16725107e-04 -9.99862229e-01 -4.86492840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.406559995 meters 0.05023012593977723 Centerline is valid? [True, True] Translation: X:639.08, Y:-282.04, Z:-4.87 [[-5.37863527e-01 8.43003221e-01 6.95666879e-03 6.39079906e+02] [ 8.42928307e-01 5.37908483e-01 -1.12397968e-02 -2.82035852e+02] [-1.32172360e-02 -1.81503700e-04 -9.99912632e-01 -4.87153730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4665599949999 meters 0.049967615880426704 Centerline is valid? [True, True] Translation: X:639.13, Y:-281.97, Z:-4.87 [[-5.99542144e-01 8.00326684e-01 5.13958588e-03 6.39125496e+02] [ 8.00295841e-01 5.99564165e-01 -7.02704744e-03 -2.81970744e+02] [-8.70544510e-03 -9.98218918e-05 -9.99962102e-01 -4.87365344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.526559995 meters 0.05037146197685399 Centerline is valid? [True, True] Translation: X:639.16, Y:-281.91, Z:-4.87 [[-6.58666332e-01 7.52418274e-01 5.04028702e-03 6.39163040e+02] [ 7.52395373e-01 6.58685612e-01 -5.87093138e-03 -2.81906080e+02] [-7.73736060e-03 -7.46962052e-05 -9.99970063e-01 -4.87351331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5865599949999 meters 0.050218041743631356 Centerline is valid? [True, True] Translation: X:639.20, Y:-281.83, Z:-4.87 [[-7.13907108e-01 7.00217471e-01 5.66867174e-03 6.39198624e+02] [ 7.00194753e-01 7.13929611e-01 -5.64079097e-03 -2.81834026e+02] [-7.99681300e-03 -5.78265620e-05 -9.99968023e-01 -4.87384091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.646559995 meters 0.050947456976574594 Centerline is valid? [True, True] Translation: X:639.67, Y:-282.15, Z:-4.88 [[-7.63866822e-01 6.45329379e-01 7.58089976e-03 6.39668465e+02] [ 6.45296799e-01 7.63904437e-01 -6.48483314e-03 -2.82149856e+02] [-9.97593631e-03 -6.16185368e-05 -9.99950237e-01 -4.87516019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7065599949999 meters 0.05107116269556341 Centerline is valid? [True, True] Translation: X:639.45, Y:-281.13, Z:-5.90 [[-7.13555383e-01 -7.00547692e-01 8.46446844e-03 6.39447105e+02] [ 7.00501169e-01 -7.13605566e-01 -8.07516227e-03 -2.81127591e+02] [ 1.16973281e-02 1.67294535e-04 9.99931570e-01 -5.90324881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.766559995 meters 0.05125432013769157 Centerline is valid? [True, True] Translation: X:639.34, Y:-281.86, Z:-4.87 [[-7.68204871e-01 6.40115263e-01 1.06642384e-02 6.39342856e+02] [ 6.40052187e-01 7.68278885e-01 -8.98628467e-03 -2.81858611e+02] [-1.39453671e-02 -7.76385592e-05 -9.99902756e-01 -4.87086004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8265599949999 meters 0.05110531665010135 Centerline is valid? [True, True] Translation: X:639.17, Y:-280.89, Z:-5.90 [[-7.19959804e-01 -6.93962014e-01 8.63735488e-03 6.39167614e+02] [ 6.93911471e-01 -7.20011612e-01 -8.37549300e-03 -2.80885511e+02] [ 1.20312698e-02 -3.64586599e-05 9.99927621e-01 -5.90280418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.886559995 meters 0.05093790982451433 Centerline is valid? [True, True] Translation: X:639.04, Y:-281.59, Z:-4.87 [[-7.69148702e-01 6.39005631e-01 9.05962784e-03 6.39035338e+02] [ 6.38961132e-01 7.69202056e-01 -7.54113991e-03 -2.81594991e+02] [-1.17875152e-02 -1.15079147e-05 -9.99930525e-01 -4.87366583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9465599949999 meters 0.0505584802605187 Centerline is valid? [True, True] Translation: X:638.50, Y:-281.08, Z:-4.87 [[-8.10903479e-01 5.85104936e-01 9.36811767e-03 6.38495181e+02] [ 5.85066159e-01 8.10957590e-01 -6.73613356e-03 -2.81077438e+02] [-1.15384911e-02 1.86144900e-05 -9.99933429e-01 -4.87347508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.006559995 meters 0.05126417767938752 Centerline is valid? [True, True] Translation: X:638.82, Y:-280.53, Z:-5.90 [[-7.74003566e-01 -6.33132085e-01 7.88941124e-03 6.38817640e+02] [ 6.33097937e-01 -7.74043768e-01 -6.57635487e-03 -2.80530882e+02] [ 1.02704509e-02 -9.53521407e-05 9.99947253e-01 -5.89900539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0665599949999 meters 0.05103586865136225 Centerline is valid? [True, True] Translation: X:638.68, Y:-280.52, Z:-5.90 [[-7.28566797e-01 -6.84939015e-01 6.99776169e-03 6.38675004e+02] [ 6.84907001e-01 -7.28600401e-01 -6.62231370e-03 -2.80515063e+02] [ 9.63445300e-03 -3.19819063e-05 9.99953587e-01 -5.89900594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.126559995 meters 0.05085937902343597 Centerline is valid? [True, True] Translation: X:638.32, Y:-281.04, Z:-4.88 [[-7.75429276e-01 6.31396705e-01 6.90207887e-03 6.38316597e+02] [ 6.31371261e-01 7.75459992e-01 -5.66843993e-03 -2.81042345e+02] [-8.93132032e-03 -3.77000318e-05 -9.99960114e-01 -4.87661142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1865599949999 meters 0.05041490526074166 Centerline is valid? [True, True] Translation: X:638.60, Y:-280.46, Z:-5.90 [[-7.27565770e-01 -6.86015507e-01 5.54745678e-03 6.38597321e+02] [ 6.85995082e-01 -7.27586917e-01 -5.29382828e-03 -2.80461496e+02] [ 7.66790527e-03 -4.60801784e-05 9.99970600e-01 -5.89508047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.246559995 meters 0.05159722538328897 Centerline is valid? [True, True] Translation: X:638.15, Y:-280.90, Z:-4.88 [[-7.81582661e-01 6.23770330e-01 6.25454733e-03 6.38146074e+02] [ 6.23749477e-01 7.81607682e-01 -5.10119144e-03 -2.80896710e+02] [-8.07057411e-03 -8.57321595e-05 -9.99967429e-01 -4.87982620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3065599949999 meters 0.05140362400968905 Centerline is valid? [True, True] Translation: X:638.18, Y:-280.82, Z:-4.88 [[-8.26512161e-01 5.62870741e-01 7.36047273e-03 6.38183295e+02] [ 5.62846958e-01 8.26544924e-01 -5.17597130e-03 -2.80821640e+02] [-8.99716417e-03 -1.35183539e-04 -9.99959516e-01 -4.87697983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.366559995 meters 0.05151058740377464 Centerline is valid? [True, True] Translation: X:638.55, Y:-280.35, Z:-5.90 [[-7.69500231e-01 -6.38606036e-01 7.19200592e-03 6.38552025e+02] [ 6.38579989e-01 -7.69533825e-01 -5.76971938e-03 -2.80349108e+02] [ 9.21906944e-03 1.52870662e-04 9.99957492e-01 -5.89567490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4265599949999 meters 0.05170434412341348 Centerline is valid? [True, True] Translation: X:638.14, Y:-280.79, Z:-4.88 [[-8.31613220e-01 5.55288197e-01 8.62965174e-03 6.38136973e+02] [ 5.55255640e-01 8.31657967e-01 -6.01667742e-03 -2.80788878e+02] [-1.05179086e-02 -2.11885677e-04 -9.99944663e-01 -4.87704154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.486559995 meters 0.0512311083178951 Centerline is valid? [True, True] Translation: X:638.15, Y:-280.71, Z:-4.88 [[-8.69347415e-01 4.94134581e-01 8.12945463e-03 6.38152618e+02] [ 4.94110799e-01 8.69385401e-01 -4.85213421e-03 -2.80705873e+02] [-9.46523647e-03 -2.01339010e-04 -9.99955183e-01 -4.87796703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5465599949999 meters 0.05152780686735248 Centerline is valid? [True, True] Translation: X:638.42, Y:-280.18, Z:-5.90 [[-8.13091442e-01 -5.82100547e-01 6.42345130e-03 6.38422710e+02] [ 5.82083042e-01 -8.13116811e-01 -4.51487208e-03 -2.80181067e+02] [ 7.85112574e-03 6.79782181e-05 9.99969177e-01 -5.89602574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.606559995 meters 0.05127927228751074 Centerline is valid? [True, True] Translation: X:638.02, Y:-280.63, Z:-4.88 [[-8.69805743e-01 4.93342579e-01 7.14625971e-03 6.38020663e+02] [ 4.93324440e-01 8.69835085e-01 -4.23336147e-03 -2.80632412e+02] [-8.30456489e-03 -1.56777550e-04 -9.99965504e-01 -4.87895525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.666559995 meters 0.050787115317358696 Centerline is valid? [True, True] Translation: X:637.99, Y:-280.53, Z:-4.88 [[-9.01986415e-01 4.31695098e-01 7.73622778e-03 6.37991877e+02] [ 4.31677790e-01 9.02019578e-01 -3.86855010e-03 -2.80530482e+02] [-8.64826304e-03 -1.49821924e-04 -9.99962592e-01 -4.87823513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7265599949999 meters 0.05115352855735205 Centerline is valid? [True, True] Translation: X:637.99, Y:-280.45, Z:-4.88 [[-9.30267867e-01 3.66769694e-01 9.03810507e-03 6.37992691e+02] [ 3.66750649e-01 9.30311757e-01 -3.74133057e-03 -2.80448177e+02] [-9.78046207e-03 -1.65708714e-04 -9.99952156e-01 -4.87791664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.786559995 meters 0.051458411783741866 Centerline is valid? [True, True] Translation: X:638.20, Y:-279.88, Z:-5.90 [[-8.90861954e-01 -4.54182900e-01 9.10347483e-03 6.38201753e+02] [ 4.54161385e-01 -8.90908445e-01 -4.42490200e-03 -2.79881486e+02] [ 1.01200774e-02 1.92469899e-04 9.99948772e-01 -5.89679714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8465599949999 meters 0.05097892275550741 Centerline is valid? [True, True] Translation: X:637.86, Y:-280.40, Z:-4.88 [[-9.31157929e-01 3.64489652e-01 9.60235079e-03 6.37862796e+02] [ 3.64468474e-01 9.31207424e-01 -3.93250234e-03 -2.80403143e+02] [-1.03751368e-02 -1.62026603e-04 -9.99946164e-01 -4.88076746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.906559995 meters 0.050863463856334994 Centerline is valid? [True, True] Translation: X:637.81, Y:-280.30, Z:-4.88 [[-9.53407429e-01 3.01565745e-01 8.50741694e-03 6.37809245e+02] [ 3.01552756e-01 9.53445379e-01 -2.80088511e-03 -2.80301489e+02] [-8.95600838e-03 -1.04949639e-04 -9.99959889e-01 -4.87875766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9665599949999 meters 0.05128399317327052 Centerline is valid? [True, True] Translation: X:637.69, Y:-280.20, Z:-4.88 [[-9.70734772e-01 2.40016994e-01 8.11452789e-03 6.37694516e+02] [ 2.40008235e-01 9.70768686e-01 -2.05096156e-03 -2.80199121e+02] [-8.36959520e-03 -4.33861854e-05 -9.99964973e-01 -4.88418190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.026559995 meters 0.051180060084167124 Centerline is valid? [True, True] Translation: X:637.61, Y:-280.11, Z:-4.88 [[-9.84484603e-01 1.75276451e-01 8.26033146e-03 6.37612116e+02] [ 1.75270256e-01 9.84519256e-01 -1.47358775e-03 -2.80108425e+02] [-8.39074062e-03 -2.93403385e-06 -9.99964797e-01 -4.88364093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0865599949999 meters 0.05136820516759234 Centerline is valid? [True, True] Translation: X:637.91, Y:-280.07, Z:-4.88 [[-9.94029406e-01 1.08790903e-01 8.37134175e-03 6.37907891e+02] [ 1.08787553e-01 9.94064654e-01 -8.55829649e-04 -2.80074507e+02] [-8.41476142e-03 5.99779439e-05 -9.99964593e-01 -4.88179197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.146559995 meters 0.051599049992450456 Centerline is valid? [True, True] Translation: X:637.44, Y:-279.97, Z:-4.88 [[-9.98955340e-01 4.47870730e-02 9.07446267e-03 6.37436145e+02] [ 4.47863920e-02 9.98996547e-01 -2.78341362e-04 -2.79969091e+02] [-9.07782297e-03 1.28361852e-04 -9.99958787e-01 -4.88407935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2065599949999 meters 0.05197768991624118 Centerline is valid? [True, True] Translation: X:637.52, Y:-279.90, Z:-4.88 [[-9.99625851e-01 -2.55635993e-02 9.72939406e-03 6.37518366e+02] [-2.55607799e-02 9.99673184e-01 4.14032952e-04 -2.79897424e+02] [-9.73679851e-03 1.65187141e-04 -9.99952583e-01 -4.88324295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.266559995 meters 0.05221482846091136 Centerline is valid? [True, True] Translation: X:637.40, Y:-279.83, Z:-4.88 [[-9.95341627e-01 -9.59758901e-02 9.14739649e-03 6.37403112e+02] [-9.59703508e-02 9.95383646e-01 1.04361179e-03 -2.79828934e+02] [-9.20533044e-03 1.60871404e-04 -9.99957617e-01 -4.88410604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3265599949999 meters 0.052166560326265925 Centerline is valid? [True, True] Translation: X:637.60, Y:-279.71, Z:-4.89 [[-9.84977896e-01 -1.72473656e-01 8.44881422e-03 6.37604944e+02] [-1.72466189e-01 9.85014122e-01 1.61008365e-03 -2.79710549e+02] [-8.59989834e-03 1.28762013e-04 -9.99963012e-01 -4.88623859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.386559995 meters 0.05157617257707154 Centerline is valid? [True, True] Translation: X:637.54, Y:-279.63, Z:-4.89 [[-9.68592981e-01 -2.48547175e-01 7.20694121e-03 6.37537497e+02] [-2.48539814e-01 9.68619790e-01 1.91384099e-03 -2.79633259e+02] [-7.45646566e-03 6.25211253e-05 -9.99972198e-01 -4.88649302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4465599949999 meters 0.05121321498654531 Centerline is valid? [True, True] Translation: X:636.80, Y:-279.77, Z:-4.88 [[-9.45716395e-01 -3.24907510e-01 7.45714711e-03 6.36799535e+02] [-3.24897433e-01 9.45745795e-01 2.55903735e-03 -2.79773996e+02] [-7.88401598e-03 -2.68437578e-06 -9.99968921e-01 -4.88267648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.506559995 meters 0.05161916648416343 Centerline is valid? [True, True] Translation: X:636.55, Y:-279.19, Z:-5.89 [[-9.65729448e-01 2.59453486e-01 7.10793596e-03 6.36554078e+02] [-2.59446723e-01 -9.65755604e-01 1.87361270e-03 -2.79190580e+02] [ 7.35064434e-03 -3.47277360e-05 9.99972983e-01 -5.89140342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5665599949999 meters 0.05083343909957085 Centerline is valid? [True, True] Translation: X:636.67, Y:-279.81, Z:-4.89 [[-9.40152040e-01 -3.40682194e-01 7.05582960e-03 6.36666970e+02] [-3.40673340e-01 9.40178512e-01 2.45795663e-03 -2.79813274e+02] [-7.47112143e-03 -9.28801003e-05 -9.99972086e-01 -4.88523995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.626559995 meters 0.050038075930738876 Centerline is valid? [True, True] Translation: X:636.58, Y:-279.76, Z:-4.89 [[-9.12581851e-01 -4.08853087e-01 5.78955979e-03 6.36575934e+02] [-4.08845504e-01 9.12600211e-01 2.49183046e-03 -2.79764832e+02] [-6.30234606e-03 -9.30362375e-05 -9.99980136e-01 -4.88518886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6865599949999 meters 0.05095153729398842 Centerline is valid? [True, True] Translation: X:636.45, Y:-279.74, Z:-4.88 [[-8.81204766e-01 -4.72709002e-01 4.93553031e-03 6.36447102e+02] [-4.72702111e-01 8.81218584e-01 2.55375665e-03 -2.79740399e+02] [-5.55646479e-03 -8.26530662e-05 -9.99984559e-01 -4.88477892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.746559995 meters 0.050724627410008515 Centerline is valid? [True, True] Translation: X:636.31, Y:-279.73, Z:-4.88 [[-8.46669917e-01 -5.32098280e-01 4.63368218e-03 6.36305222e+02] [-5.32090730e-01 8.46682595e-01 2.83530529e-03 -2.79734906e+02] [-5.43191912e-03 -6.49716402e-05 -9.99985245e-01 -4.88475660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8065599949999 meters 0.050550949104930104 Centerline is valid? [True, True] Translation: X:636.17, Y:-279.73, Z:-4.88 [[-8.07200942e-01 -5.90258915e-01 4.58832172e-03 6.36173909e+02] [-5.90249766e-01 8.07213981e-01 3.28676952e-03 -2.79731618e+02] [-5.64380245e-03 -5.51723655e-05 -9.99984072e-01 -4.88391455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.866559995 meters 0.050935331314123 Centerline is valid? [True, True] Translation: X:636.00, Y:-279.77, Z:-4.88 [[-7.63414074e-01 -6.45888428e-01 5.20469948e-03 6.35996774e+02] [-6.45873902e-01 7.63431814e-01 4.33215583e-03 -2.79773690e+02] [-6.77152248e-03 -5.43508302e-05 -9.99977072e-01 -4.88206365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9265599949999 meters 0.050986082640776094 Centerline is valid? [True, True] Translation: X:635.84, Y:-279.81, Z:-4.88 [[-7.13341148e-01 -7.00775958e-01 7.58051056e-03 6.35839096e+02] [-7.00737657e-01 7.13381420e-01 7.32707654e-03 -2.79814496e+02] [-1.05424345e-02 -8.52440282e-05 -9.99944423e-01 -4.88046155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.986559995 meters 0.051164477832906695 Centerline is valid? [True, True] Translation: X:635.75, Y:-279.80, Z:-4.88 [[-6.58442722e-01 -7.52582906e-01 8.49425587e-03 6.35747104e+02] [-7.52522545e-01 6.58497499e-01 9.53221582e-03 -2.79799677e+02] [-1.27672289e-02 -1.15700909e-04 -9.99918489e-01 -4.87928250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0465599949999 meters 0.050953392396655535 Centerline is valid? [True, True] Translation: X:635.54, Y:-279.93, Z:-4.88 [[-6.02595639e-01 -7.98007866e-01 7.87023245e-03 6.35537539e+02] [-7.97942318e-01 6.02647021e-01 1.02286638e-02 -2.79934934e+02] [-1.29055263e-02 -1.16243303e-04 -9.99916713e-01 -4.88043027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.106559995 meters 0.051100883001776114 Centerline is valid? [True, True] Translation: X:635.36, Y:-280.05, Z:-4.88 [[-5.43573243e-01 -8.39340944e-01 5.90846819e-03 6.35363599e+02] [-8.39293100e-01 5.43605346e-01 8.96217181e-03 -2.80053072e+02] [-1.07341926e-02 -8.73397902e-05 -9.99942383e-01 -4.88230204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.166559995 meters 0.05080599161491716 Centerline is valid? [True, True] Translation: X:635.20, Y:-280.18, Z:-4.88 [[-4.83715750e-01 -8.75215995e-01 4.00441993e-03 6.35202886e+02] [-8.75186723e-01 4.83732324e-01 7.15819323e-03 -2.80178654e+02] [-8.20203256e-03 -4.20843445e-05 -9.99966362e-01 -4.88333604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2265599949999 meters 0.051239243729401966 Centerline is valid? [True, True] Translation: X:634.57, Y:-280.06, Z:-5.89 [[-5.43404922e-01 8.39462015e-01 3.82303897e-03 6.34568628e+02] [-8.39441751e-01 -5.43418369e-01 5.83298844e-03 -2.80058498e+02] [ 6.97408183e-03 -3.95439026e-05 9.99975680e-01 -5.89175802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.286559995 meters 0.051223972447767024 Centerline is valid? [True, True] Translation: X:634.97, Y:-280.59, Z:-4.89 [[-4.83092736e-01 -8.75563092e-01 3.26812014e-03 6.34974423e+02] [-8.75543095e-01 4.83103790e-01 5.91746130e-03 -2.80586992e+02] [-6.75995194e-03 -2.69746006e-06 -9.99977151e-01 -4.88581467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3465599949999 meters 0.05124765919985508 Centerline is valid? [True, True] Translation: X:634.83, Y:-280.71, Z:-4.89 [[-4.16247510e-01 -9.09246884e-01 2.84843115e-03 6.34831446e+02] [-9.09225744e-01 4.16257256e-01 6.20022534e-03 -2.80707910e+02] [-6.82321571e-03 -9.03856868e-06 -9.99976722e-01 -4.88504585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.406559995 meters 0.05116946190048077 Centerline is valid? [True, True] Translation: X:634.69, Y:-280.84, Z:-4.88 [[-3.46012366e-01 -9.38226166e-01 2.66538444e-03 6.34694736e+02] [-9.38198833e-01 3.46022631e-01 7.16163389e-03 -2.80843391e+02] [-7.64151564e-03 -2.26466808e-05 -9.99970803e-01 -4.88414836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4665599949999 meters 0.051229834801494664 Centerline is valid? [True, True] Translation: X:634.61, Y:-280.86, Z:-4.88 [[-2.72128969e-01 -9.62255991e-01 3.03832152e-03 6.34609776e+02] [-9.62198208e-01 2.72145925e-01 1.05453808e-02 -2.80857932e+02] [-1.09742227e-02 -5.37639123e-05 -9.99939780e-01 -4.88180966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.526559995 meters 0.050912268067111244 Centerline is valid? [True, True] Translation: X:634.45, Y:-281.17, Z:-4.88 [[-2.00993371e-01 -9.79589708e-01 2.38082951e-03 6.34454569e+02] [-9.79524717e-01 2.01007461e-01 1.12840215e-02 -2.81172884e+02] [-1.15322758e-02 -6.40678361e-05 -9.99933499e-01 -4.88163522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5865599949999 meters 0.050783408071707455 Centerline is valid? [True, True] Translation: X:634.35, Y:-281.38, Z:-4.88 [[-1.29189092e-01 -9.91619103e-01 1.31669523e-03 6.34346659e+02] [-9.91571244e-01 1.29195793e-01 9.74247823e-03 -2.81382508e+02] [-9.83093901e-03 -4.69752049e-05 -9.99951674e-01 -4.88247503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.646559995 meters 0.050793322003264765 Centerline is valid? [True, True] Translation: X:634.26, Y:-281.54, Z:-4.88 [[-5.75420618e-02 -9.98342938e-01 5.38008237e-04 6.34260775e+02] [-9.98302968e-01 5.75445723e-02 8.93338361e-03 -2.81535341e+02] [-8.94953989e-03 -2.30499075e-05 -9.99959952e-01 -4.88118208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7065599949999 meters 0.05091712749565291 Centerline is valid? [True, True] Translation: X:634.19, Y:-281.83, Z:-4.88 [[ 1.03714737e-02 -9.99946210e-01 -9.67828246e-05 6.34188433e+02] [-9.99919243e-01 -1.03719048e-02 7.34379067e-03 -2.81826830e+02] [-7.34439947e-03 2.06090770e-05 -9.99973029e-01 -4.88423636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.766559995 meters 0.05015547575905011 Centerline is valid? [True, True] Translation: X:633.56, Y:-281.92, Z:-5.89 [[-4.35999015e-02 9.99049009e-01 3.54572959e-04 6.33558269e+02] [-9.99028212e-01 -4.36012819e-02 6.44675403e-03 -2.81924346e+02] [ 6.45608306e-03 -7.31505484e-05 9.99979157e-01 -5.89223452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8265599949999 meters 0.050601712409118045 Centerline is valid? [True, True] Translation: X:634.20, Y:-281.79, Z:-4.89 [[ 1.18900052e-02 -9.99929303e-01 -1.28987012e-04 6.34196194e+02] [-9.99909461e-01 -1.18905819e-02 6.29944528e-03 -2.81790687e+02] [-6.30053366e-03 5.40748964e-05 -9.99980150e-01 -4.88612532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.886559995 meters 0.05089696187964451 Centerline is valid? [True, True] Translation: X:634.14, Y:-282.28, Z:-4.89 [[ 8.34263371e-02 -9.96513802e-01 -5.38017509e-04 6.34144787e+02] [-9.96497061e-01 -8.34280543e-02 5.77635618e-03 -2.82278876e+02] [-5.80110441e-03 5.42326283e-05 -9.99983172e-01 -4.88545999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9465599949999 meters 0.051493665076750496 Centerline is valid? [True, True] Translation: X:634.09, Y:-282.48, Z:-4.89 [[ 1.58843558e-01 -9.87303056e-01 -1.18304799e-03 6.34092118e+02] [-9.87278337e-01 -1.58847953e-01 6.98666553e-03 -2.82479355e+02] [-7.08588099e-03 5.82108430e-05 -9.99974893e-01 -4.88527070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.006559995 meters 0.05086570341729483 Centerline is valid? [True, True] Translation: X:634.12, Y:-282.97, Z:-4.88 [[ 2.35542310e-01 -9.71861701e-01 -2.15732655e-03 6.34118379e+02] [-9.71822268e-01 -2.35552187e-01 8.75476133e-03 -2.82972261e+02] [-9.01658023e-03 3.44212695e-05 -9.99959349e-01 -4.88151578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0665599949999 meters 0.051180528415739154 Centerline is valid? [True, True] Translation: X:634.05, Y:-283.02, Z:-4.88 [[ 3.11304084e-01 -9.50305554e-01 -3.02014880e-03 6.34052506e+02] [-9.50260794e-01 -3.11318734e-01 9.22330005e-03 -2.83023383e+02] [-9.70518216e-03 -1.32197870e-06 -9.99952904e-01 -4.88172917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.126559995 meters 0.050721940472749874 Centerline is valid? [True, True] Translation: X:634.09, Y:-283.35, Z:-4.88 [[ 3.86659336e-01 -9.22214609e-01 -3.84354887e-03 6.34089802e+02] [-9.22167296e-01 -3.86678433e-01 9.34175098e-03 -2.83349591e+02] [-1.01013167e-02 -6.76801642e-05 -9.99948978e-01 -4.88155274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1865599949999 meters 0.04979111472037086 Centerline is valid? [True, True] Translation: X:634.09, Y:-283.53, Z:-4.88 [[ 4.61068311e-01 -8.87352544e-01 -4.63422939e-03 6.34087778e+02] [-8.87304361e-01 -4.61091574e-01 9.24833862e-03 -2.83533911e+02] [-1.03433409e-02 -1.52143924e-04 -9.99946495e-01 -4.88102066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.246559995 meters 0.04993331839331316 Centerline is valid? [True, True] Translation: X:634.10, Y:-283.72, Z:-4.88 [[ 5.29690397e-01 -8.48176060e-01 -5.04520752e-03 6.34101304e+02] [-8.48133995e-01 -5.29714387e-01 8.44953670e-03 -2.83717900e+02] [-9.83921376e-03 -1.96626445e-04 -9.99951574e-01 -4.88198385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3065599949999 meters 0.05055493294225275 Centerline is valid? [True, True] Translation: X:634.09, Y:-283.85, Z:-4.88 [[ 5.95697286e-01 -8.03194140e-01 -4.89043131e-03 6.34089447e+02] [-8.03163941e-01 -5.95717318e-01 6.96861683e-03 -2.83850347e+02] [-8.51046683e-03 -2.23368057e-04 -9.99963760e-01 -4.88230963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.366559995 meters 0.05008131484633427 Centerline is valid? [True, True] Translation: X:634.13, Y:-284.03, Z:-4.88 [[ 6.55207939e-01 -7.55434628e-01 -4.59127113e-03 6.34130221e+02] [-7.55413771e-01 -6.55223991e-01 5.61751760e-03 -2.84032770e+02] [-7.25197831e-03 -2.12332687e-04 -9.99973682e-01 -4.88418390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4265599949999 meters 0.04963520817259109 Centerline is valid? [True, True] Translation: X:634.21, Y:-284.24, Z:-4.89 [[ 7.09552642e-01 -7.04639183e-01 -4.32090538e-03 6.34210069e+02] [-7.04624443e-01 -7.09565772e-01 4.56181861e-03 -2.84243404e+02] [-6.28040270e-03 -1.92234894e-04 -9.99980260e-01 -4.88528086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.486559995 meters 0.05086526670840391 Centerline is valid? [True, True] Translation: X:634.28, Y:-284.44, Z:-4.88 [[ 7.58702794e-01 -6.51417161e-01 -5.07472575e-03 6.34284184e+02] [-6.51400789e-01 -7.58719738e-01 4.62290164e-03 -2.84437620e+02] [-6.86173206e-03 -2.01728031e-04 -9.99976438e-01 -4.88239870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5465599949999 meters 0.050306207688919205 Centerline is valid? [True, True] Translation: X:634.26, Y:-284.52, Z:-4.88 [[ 8.06897149e-01 -5.90655224e-01 -6.58764172e-03 6.34258385e+02] [-5.90633125e-01 -8.06924006e-01 5.11480811e-03 -2.84522417e+02] [-8.33681437e-03 -2.36244669e-04 -9.99965220e-01 -4.88259304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.606559995 meters 0.050323042208994515 Centerline is valid? [True, True] Translation: X:634.24, Y:-284.61, Z:-4.88 [[ 8.50157801e-01 -5.26421404e-01 -1.05933477e-02 6.34237822e+02] [-5.26375553e-01 -8.50223730e-01 6.95598543e-03 -2.84609055e+02] [-1.26684952e-02 -3.37606042e-04 -9.99919694e-01 -4.88001352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.666559995 meters 0.050643340448808916 Centerline is valid? [True, True] Translation: X:634.22, Y:-284.70, Z:-4.88 [[ 8.88579737e-01 -4.58561904e-01 -1.21256578e-02 6.34222148e+02] [-4.58513598e-01 -8.88662393e-01 6.66572197e-03 -2.84699659e+02] [-1.38322622e-02 -3.63246488e-04 -9.99904264e-01 -4.87803944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7265599949999 meters 0.05038660565550763 Centerline is valid? [True, True] Translation: X:634.22, Y:-284.79, Z:-4.88 [[ 9.21362343e-01 -3.88552668e-01 -1.08746057e-02 6.34216535e+02] [-3.88521674e-01 -9.21426465e-01 4.91707108e-03 -2.84786654e+02] [-1.19306906e-02 -3.05384123e-04 -9.99928780e-01 -4.88205607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.786559995 meters 0.05059244013222405 Centerline is valid? [True, True] Translation: X:634.21, Y:-284.88, Z:-4.88 [[ 9.48652578e-01 -3.16190904e-01 -9.03318726e-03 6.34214266e+02] [-3.16174134e-01 -9.48695554e-01 3.26540812e-03 -2.84883646e+02] [-9.60223694e-03 -2.41677671e-04 -9.99953868e-01 -4.88426832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8465599949999 meters 0.0511922931434824 Centerline is valid? [True, True] Translation: X:634.22, Y:-284.99, Z:-4.88 [[ 9.70232184e-01 -2.42050321e-01 -7.81986248e-03 6.34215795e+02] [-2.42040798e-01 -9.70263677e-01 2.15640512e-03 -2.84987465e+02] [-8.10928708e-03 -1.99487901e-04 -9.99967099e-01 -4.88162821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.906559995 meters 0.049661523004973555 Centerline is valid? [True, True] Translation: X:634.23, Y:-285.08, Z:-4.88 [[ 9.86108840e-01 -1.65914126e-01 -7.86507827e-03 6.34229784e+02] [-1.65907280e-01 -9.86140186e-01 1.51954948e-03 -2.85076405e+02] [-8.00818447e-03 -1.93567434e-04 -9.99967915e-01 -4.88478228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9665599949999 meters 0.050260138420911586 Centerline is valid? [True, True] Translation: X:634.25, Y:-285.18, Z:-4.88 [[ 9.96057834e-01 -8.83002738e-02 -8.47666926e-03 6.34247501e+02] [-8.82953251e-02 -9.96093881e-01 9.57003432e-04 -2.85176613e+02] [-8.52806205e-03 -2.04780496e-04 -9.99963614e-01 -4.88251673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.026559995 meters 0.049835324484549436 Centerline is valid? [True, True] Translation: X:634.27, Y:-285.26, Z:-4.88 [[ 9.99908243e-01 -9.94627931e-03 -9.19663451e-03 6.34274905e+02] [-9.94382495e-03 -9.99950510e-01 3.12564069e-04 -2.85264872e+02] [-9.19928822e-03 -2.21085666e-04 -9.99957661e-01 -4.88414708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0865599949999 meters 0.05063854492106385 Centerline is valid? [True, True] Translation: X:634.30, Y:-285.35, Z:-4.88 [[ 9.97662519e-01 6.75737364e-02 -1.01631182e-02 6.34303269e+02] [ 6.75726216e-02 -9.97714255e-01 -4.53419634e-04 -2.85351606e+02] [-1.01705271e-02 -2.34388765e-04 -9.99948251e-01 -4.88403295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.146559995 meters 0.05049586421787731 Centerline is valid? [True, True] Translation: X:634.34, Y:-285.44, Z:-4.88 [[ 9.89807666e-01 1.41920704e-01 -1.18024224e-02 6.34338582e+02] [ 1.41913360e-01 -9.89878003e-01 -1.46173689e-03 -2.85437203e+02] [-1.18904091e-02 -2.28083037e-04 -9.99929281e-01 -4.88382547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2065599949999 meters 0.05087929712118226 Centerline is valid? [True, True] Translation: X:634.38, Y:-285.52, Z:-4.88 [[ 9.77381438e-01 2.11182257e-01 -1.12950658e-02 6.34380291e+02] [ 2.11169696e-01 -9.77446693e-01 -2.30691425e-03 -2.85516161e+02] [-1.15275041e-02 -1.30440443e-04 -9.99933548e-01 -4.88422966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.266559995 meters 0.05073695822151232 Centerline is valid? [True, True] Translation: X:634.43, Y:-285.59, Z:-4.88 [[ 9.59924062e-01 2.80083741e-01 -9.94451010e-03 6.34426436e+02] [ 2.80069191e-01 -9.59975571e-01 -2.85517859e-03 -2.85585794e+02] [-1.03461759e-02 -4.43962677e-05 -9.99946476e-01 -4.88494043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3265599949999 meters 0.051016428398726096 Centerline is valid? [True, True] Translation: X:634.47, Y:-285.64, Z:-4.89 [[ 9.38928564e-01 3.44005143e-01 -8.57984798e-03 6.34472993e+02] [ 3.43990203e-01 -9.38967762e-01 -3.20652258e-03 -2.85642540e+02] [-9.15926091e-03 5.93119869e-05 -9.99958051e-01 -4.88534861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.386559995 meters 0.051593521110506864 Centerline is valid? [True, True] Translation: X:634.53, Y:-285.70, Z:-4.89 [[ 9.12515060e-01 4.08963541e-01 -8.06770801e-03 6.34526202e+02] [ 4.08946297e-01 -9.12550714e-01 -3.75780118e-03 -2.85697072e+02] [-8.89899638e-03 1.29790856e-04 -9.99960395e-01 -4.88598386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4465599949999 meters 0.051828216685121616 Centerline is valid? [True, True] Translation: X:634.58, Y:-285.75, Z:-4.89 [[ 8.79387599e-01 4.76042880e-01 -7.78640611e-03 6.34584698e+02] [ 4.76022583e-01 -8.79422055e-01 -4.39880548e-03 -2.85750886e+02] [-8.94155729e-03 1.61749834e-04 -9.99960010e-01 -4.88952587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.506559995 meters 0.052041446439238366 Centerline is valid? [True, True] Translation: X:634.65, Y:-285.80, Z:-4.89 [[ 8.40731524e-01 5.41405604e-01 -7.10476493e-03 6.34646249e+02] [ 5.41384509e-01 -8.40761525e-01 -4.78239521e-03 -2.85797915e+02] [-8.56262856e-03 1.74300735e-04 -9.99963325e-01 -4.88689796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5665599949999 meters 0.05230867531946886 Centerline is valid? [True, True] Translation: X:634.72, Y:-285.85, Z:-4.89 [[ 7.94934550e-01 6.06653503e-01 -7.11255848e-03 6.34715545e+02] [ 6.06627256e-01 -7.94966350e-01 -5.64586719e-03 -2.85846306e+02] [-9.07932976e-03 1.73423069e-04 -9.99958767e-01 -4.88803680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.626559995 meters 0.05234284496370469 Centerline is valid? [True, True] Translation: X:634.82, Y:-285.92, Z:-4.89 [[ 7.42330126e-01 6.69994147e-01 -7.33668181e-03 6.34816188e+02] [ 6.69959374e-01 -7.42366365e-01 -6.82778271e-03 -2.85920123e+02] [-1.00210803e-02 1.53190050e-04 -9.99949776e-01 -4.89041242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6865599949999 meters 0.05134068736647894 Centerline is valid? [True, True] Translation: X:634.91, Y:-285.98, Z:-4.89 [[ 6.86244087e-01 7.27339688e-01 -6.78467818e-03 6.34913743e+02] [ 7.27302198e-01 -6.86277612e-01 -7.38597924e-03 -2.85978483e+02] [-1.00282886e-02 1.34073226e-04 -9.99949706e-01 -4.88973073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.746559995 meters 0.05137072471458409 Centerline is valid? [True, True] Translation: X:634.99, Y:-286.00, Z:-4.89 [[ 6.22337108e-01 7.82726788e-01 -5.94134867e-03 6.34986203e+02] [ 7.82690080e-01 -6.22365465e-01 -7.58066776e-03 -2.86002255e+02] [-9.63128195e-03 6.74961796e-05 -9.99953616e-01 -4.88656874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8065599949999 meters 0.05196496995241189 Centerline is valid? [True, True] Translation: X:635.06, Y:-286.02, Z:-4.89 [[ 5.55573695e-01 8.31451664e-01 -5.09901509e-03 6.35062266e+02] [ 8.31416258e-01 -5.55597093e-01 -7.67309677e-03 -2.86021119e+02] [-9.21280704e-03 2.35666711e-05 -9.99957561e-01 -4.88708363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.866559995 meters 0.051673766469015114 Centerline is valid? [True, True] Translation: X:635.15, Y:-286.04, Z:-4.89 [[ 4.84612742e-01 8.74718718e-01 -4.20178828e-03 6.35145351e+02] [ 8.74686214e-01 -4.84630956e-01 -7.54081570e-03 -2.86037006e+02] [-8.63240932e-03 -2.08709123e-05 -9.99962740e-01 -4.88834586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9265599949999 meters 0.05128046184309075 Centerline is valid? [True, True] Translation: X:635.23, Y:-286.05, Z:-4.89 [[ 4.13168211e-01 9.10647590e-01 -3.60512187e-03 6.35226477e+02] [ 9.10613667e-01 -4.13183938e-01 -7.86020131e-03 -2.86045979e+02] [-8.64745183e-03 -3.52879296e-05 -9.99962609e-01 -4.89036311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.986559995 meters 0.05081686875364492 Centerline is valid? [True, True] Translation: X:635.32, Y:-286.05, Z:-4.89 [[ 3.40723622e-01 9.40159904e-01 -2.60150280e-03 6.35320621e+02] [ 9.40133233e-01 -3.40733552e-01 -7.08166471e-03 -2.86051981e+02] [-7.54431651e-03 -3.28687833e-05 -9.99971541e-01 -4.88924862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0465599949999 meters 0.05219774574114327 Centerline is valid? [True, True] Translation: X:635.41, Y:-286.05, Z:-4.89 [[ 2.68388505e-01 9.63308433e-01 -2.11492141e-03 6.35409692e+02] [ 9.63278963e-01 -2.68396838e-01 -7.53502176e-03 -2.86049463e+02] [-7.82618823e-03 -1.49460778e-05 -9.99969375e-01 -4.89182538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.106559995 meters 0.05216767001944061 Centerline is valid? [True, True] Translation: X:635.49, Y:-286.04, Z:-4.89 [[ 1.95863707e-01 9.80629443e-01 -1.81769810e-03 6.35493341e+02] [ 9.80586193e-01 -1.95872140e-01 -9.20988808e-03 -2.86037564e+02] [-9.38752383e-03 2.14731550e-05 -9.99955936e-01 -4.88994921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.166559995 meters 0.052917706785972816 Centerline is valid? [True, True] Translation: X:635.57, Y:-286.02, Z:-4.89 [[ 1.21479211e-01 9.92593314e-01 -1.14686246e-03 6.35570690e+02] [ 9.92544868e-01 -1.21484613e-01 -9.80684011e-03 -2.86019408e+02] [-9.87353006e-03 5.30147493e-05 -9.99951254e-01 -4.89100399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2265599949999 meters 0.05299001154875433 Centerline is valid? [True, True] Translation: X:635.65, Y:-285.99, Z:-4.89 [[ 4.64381199e-02 9.98921119e-01 -3.15251459e-04 6.35650697e+02] [ 9.98887659e-01 -4.64391447e-02 -8.17624400e-03 -2.85994676e+02] [-8.18206282e-03 6.47886071e-05 -9.99966524e-01 -4.89199843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.286559995 meters 0.05326978630597052 Centerline is valid? [True, True] Translation: X:635.73, Y:-285.96, Z:-4.89 [[-3.23906071e-02 9.99475227e-01 3.44344162e-04 6.35728460e+02] [ 9.99438043e-01 3.23923724e-02 -8.62163793e-03 -2.85964844e+02] [-8.62826765e-03 6.48905690e-05 -9.99962774e-01 -4.89389871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3465599949999 meters 0.05320709760280019 Centerline is valid? [True, True] Translation: X:635.84, Y:-285.92, Z:-4.90 [[-1.12136361e-01 9.93692236e-01 1.08461422e-03 6.35837802e+02] [ 9.93650392e-01 1.12141593e-01 -9.11924847e-03 -2.85925000e+02] [-9.18335677e-03 5.51280004e-05 -9.99957831e-01 -4.89524957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.406559995 meters 0.05295138888156293 Centerline is valid? [True, True] Translation: X:635.91, Y:-285.88, Z:-4.89 [[-1.92083528e-01 9.81376917e-01 1.80717806e-03 6.35909857e+02] [ 9.81335025e-01 1.92092026e-01 -9.06768301e-03 -2.85881148e+02] [-9.24595929e-03 3.16945862e-05 -9.99957255e-01 -4.89280686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4665599949999 meters 0.0531718374045189 Centerline is valid? [True, True] Translation: X:635.97, Y:-285.83, Z:-4.89 [[-2.69403664e-01 9.63024623e-01 2.28923548e-03 6.35972684e+02] [ 9.62990405e-01 2.69413390e-01 -8.11821450e-03 -2.85834558e+02] [-8.43479115e-03 1.74350612e-05 -9.99964426e-01 -4.89305906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.526559995 meters 0.053500919620896474 Centerline is valid? [True, True] Translation: X:636.03, Y:-285.78, Z:-4.90 [[-3.45578214e-01 9.38386104e-01 2.68675585e-03 6.36034012e+02] [ 9.38357761e-01 3.45588658e-01 -7.29329166e-03 -2.85780574e+02] [-7.77243589e-03 7.35499657e-07 -9.99969794e-01 -4.89625949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5865599949999 meters 0.05396678165990731 Centerline is valid? [True, True] Translation: X:636.11, Y:-285.71, Z:-4.90 [[-4.19890202e-01 9.07568729e-01 3.34953349e-03 6.36109146e+02] [ 9.07539554e-01 4.19903562e-01 -7.27714949e-03 -2.85713924e+02] [-8.01099436e-03 -1.57696481e-05 -9.99967911e-01 -4.89619557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.646559995 meters 0.05332479462046857 Centerline is valid? [True, True] Translation: X:636.16, Y:-285.65, Z:-4.89 [[-4.93321135e-01 8.69838221e-01 3.96582911e-03 6.36164530e+02] [ 8.69809291e-01 4.93337073e-01 -7.09433832e-03 -2.85648272e+02] [-8.12741714e-03 -5.02720194e-05 -9.99966971e-01 -4.89442996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7065599949999 meters 0.053751090846342324 Centerline is valid? [True, True] Translation: X:636.21, Y:-285.58, Z:-4.90 [[-5.62716851e-01 8.26635400e-01 4.86421030e-03 6.36209779e+02] [ 8.26603236e-01 5.62737868e-01 -7.29261175e-03 -2.85581892e+02] [-8.76560636e-03 -8.29035487e-05 -9.99961578e-01 -4.89510491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.766559995 meters 0.0537999813709993 Centerline is valid? [True, True] Translation: X:636.26, Y:-285.51, Z:-4.89 [[-6.26565402e-01 7.79346145e-01 5.94838092e-03 6.36256528e+02] [ 7.79309502e-01 6.26593629e-01 -7.55805396e-03 -2.85505857e+02] [-9.61755781e-03 -9.99853477e-05 -9.99953745e-01 -4.89429092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8265599949999 meters 0.05411320491185775 Centerline is valid? [True, True] Translation: X:636.30, Y:-285.43, Z:-4.89 [[-6.85277655e-01 7.28241446e-01 7.67671370e-03 6.36297323e+02] [ 7.28193966e-01 6.85320643e-01 -8.31652082e-03 -2.85425891e+02] [-1.13174455e-02 -1.08989286e-04 -9.99935950e-01 -4.89449523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.886559995 meters 0.053394905373787126 Centerline is valid? [True, True] Translation: X:636.33, Y:-285.35, Z:-4.89 [[-7.38322898e-01 6.74401982e-01 7.82715661e-03 6.36328797e+02] [ 6.74363012e-01 7.38364382e-01 -7.25036604e-03 -2.85347921e+02] [-1.06689549e-02 -7.47663614e-05 -9.99943082e-01 -4.89354079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9465599949999 meters 0.05316022420697219 Centerline is valid? [True, True] Translation: X:636.57, Y:-284.89, Z:-5.89 [[-6.85280384e-01 -7.28252959e-01 6.19869875e-03 6.36574404e+02] [ 7.28222765e-01 -6.85308418e-01 -6.63152626e-03 -2.84886971e+02] [ 9.07744906e-03 -3.04213180e-05 9.99958799e-01 -5.88678277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.006559995 meters 0.05366878303866741 Centerline is valid? [True, True] Translation: X:636.54, Y:-284.84, Z:-5.89 [[-6.86316026e-01 -7.27280076e-01 5.83123581e-03 6.36535982e+02] [ 7.27254027e-01 -6.86340798e-01 -6.15540855e-03 -2.84844589e+02] [ 8.47892104e-03 1.62341860e-05 9.99964053e-01 -5.88500985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0665599949999 meters 0.053621692841143556 Centerline is valid? [True, True] Translation: X:636.50, Y:-284.80, Z:-5.89 [[-6.85154288e-01 -7.28371248e-01 6.23909688e-03 6.36495866e+02] [ 7.28341490e-01 -6.85182694e-01 -6.58403605e-03 -2.84803669e+02] [ 9.07054376e-03 3.31125854e-05 9.99958861e-01 -5.88767271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.126559995 meters 0.054124989172455035 Centerline is valid? [True, True] Translation: X:636.46, Y:-284.76, Z:-5.89 [[-6.83157376e-01 -7.30237181e-01 7.04696009e-03 6.36456191e+02] [ 7.30199339e-01 -6.83193717e-01 -7.43434662e-03 -2.84763519e+02] [ 1.02432752e-02 6.68568758e-05 9.99947534e-01 -5.88894870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1865599949999 meters 0.053901258850989335 Centerline is valid? [True, True] Translation: X:636.42, Y:-284.72, Z:-5.89 [[-6.78634151e-01 -7.34437308e-01 7.58491431e-03 6.36417433e+02] [ 7.34393756e-01 -6.78676522e-01 -7.99934364e-03 -2.84722006e+02] [ 1.10227197e-02 1.41685935e-04 9.99939238e-01 -5.88581543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.246559995 meters 0.053791339725923405 Centerline is valid? [True, True] Translation: X:636.38, Y:-284.68, Z:-5.89 [[-6.75479923e-01 -7.37343286e-01 7.19395289e-03 6.36376577e+02] [ 7.37304293e-01 -6.75518206e-01 -7.58502855e-03 -2.84680582e+02] [ 1.04524160e-02 1.80597855e-04 9.99945356e-01 -5.88579526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3065599949999 meters 0.053462057417844336 Centerline is valid? [True, True] Translation: X:636.34, Y:-284.64, Z:-5.88 [[-6.73299640e-01 -7.39340311e-01 6.59538770e-03 6.36337227e+02] [ 7.39307649e-01 -6.73331914e-01 -6.95218189e-03 -2.84637095e+02] [ 9.58091335e-03 1.95119014e-04 9.99954083e-01 -5.88483536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.366559995 meters 0.053532744184166044 Centerline is valid? [True, True] Translation: X:636.30, Y:-284.60, Z:-5.89 [[-6.71784254e-01 -7.40719386e-01 6.38023941e-03 6.36298585e+02] [ 7.40688897e-01 -6.71814518e-01 -6.72384643e-03 -2.84595887e+02] [ 9.26682087e-03 2.08798335e-04 9.99957040e-01 -5.88582554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4265599949999 meters 0.052858449040975086 Centerline is valid? [True, True] Translation: X:636.26, Y:-284.55, Z:-5.88 [[-6.71960407e-01 -7.40564108e-01 5.83212751e-03 6.36264248e+02] [ 7.40538641e-01 -6.71985689e-01 -6.14456162e-03 -2.84549028e+02] [ 8.46954802e-03 1.90013655e-04 9.99964115e-01 -5.88332851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.486559995 meters 0.0536623170311798 Centerline is valid? [True, True] Translation: X:636.22, Y:-284.51, Z:-5.88 [[-6.71820929e-01 -7.40696053e-01 5.09868935e-03 6.36224506e+02] [ 7.40676603e-01 -6.71840256e-01 -5.37030558e-03 -2.84508458e+02] [ 7.40326890e-03 1.68596226e-04 9.99972581e-01 -5.88358295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5465599949999 meters 0.05414413384796273 Centerline is valid? [True, True] Translation: X:636.19, Y:-284.47, Z:-5.88 [[-6.71420472e-01 -7.41063849e-01 4.34982953e-03 6.36185014e+02] [ 7.41049708e-01 -6.71434546e-01 -4.58046575e-03 -2.84469185e+02] [ 6.31504339e-03 1.48021425e-04 9.99980049e-01 -5.88346479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.606559995 meters 0.053394540494005355 Centerline is valid? [True, True] Translation: X:636.15, Y:-284.42, Z:-5.88 [[-6.71411782e-01 -7.41071767e-01 4.34228260e-03 6.36149666e+02] [ 7.41057683e-01 -6.71425807e-01 -4.57119798e-03 -2.84423614e+02] [ 6.30310637e-03 1.48725704e-04 9.99980124e-01 -5.88240101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.666559995 meters 0.054270140370720504 Centerline is valid? [True, True] Translation: X:636.11, Y:-284.38, Z:-5.89 [[-6.70184680e-01 -7.42168664e-01 6.17809757e-03 6.36110349e+02] [ 7.42140214e-01 -6.70213118e-01 -6.50227521e-03 -2.84384048e+02] [ 8.96642693e-03 2.27289417e-04 9.99959775e-01 -5.88572567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7265599949999 meters 0.05339992245894319 Centerline is valid? [True, True] Translation: X:636.07, Y:-284.34, Z:-5.89 [[-6.69408235e-01 -7.42855097e-01 7.67592664e-03 6.36073936e+02] [ 7.42811250e-01 -6.69452178e-01 -8.07640719e-03 -2.84339434e+02] [ 1.11382660e-02 2.95351180e-04 9.99937924e-01 -5.88626213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.786559995 meters 0.05341880328285044 Centerline is valid? [True, True] Translation: X:636.04, Y:-284.29, Z:-5.89 [[-6.69353177e-01 -7.42893179e-01 8.72064245e-03 6.36037034e+02] [ 7.42836617e-01 -6.69409897e-01 -9.17333920e-03 -2.84294373e+02] [ 1.26524955e-02 3.37808798e-04 9.99919897e-01 -5.88655644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8465599949999 meters 0.05294175731761537 Centerline is valid? [True, True] Translation: X:636.01, Y:-284.24, Z:-5.88 [[-6.71379039e-01 -7.41068653e-01 8.21205435e-03 6.36005041e+02] [ 7.41018386e-01 -6.71429199e-01 -8.63612601e-03 -2.84244625e+02] [ 1.19137753e-02 2.87169282e-04 9.99928987e-01 -5.88377988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.906559995 meters 0.0527022678487594 Centerline is valid? [True, True] Translation: X:635.97, Y:-284.20, Z:-5.88 [[-6.75487122e-01 -7.37339193e-01 6.93276424e-03 6.35969941e+02] [ 7.37303189e-01 -6.75522671e-01 -7.28888550e-03 -2.84199287e+02] [ 1.00576204e-02 1.88000899e-04 9.99949403e-01 -5.88299106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9665599949999 meters 0.052764563595688076 Centerline is valid? [True, True] Translation: X:635.93, Y:-284.15, Z:-5.88 [[-6.79011181e-01 -7.34103080e-01 6.04018977e-03 6.35934331e+02] [ 7.34075637e-01 -6.79038035e-01 -6.34876952e-03 -2.84153237e+02] [ 8.76216985e-03 1.23070661e-04 9.99961604e-01 -5.88119597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.026559995 meters 0.052460698641910615 Centerline is valid? [True, True] Translation: X:635.90, Y:-284.11, Z:-5.88 [[-6.84182770e-01 -7.29291169e-01 5.32238182e-03 6.35898225e+02] [ 7.29269726e-01 -6.84203470e-01 -5.59270750e-03 -2.84109165e+02] [ 7.72030430e-03 5.50178257e-05 9.99970196e-01 -5.88328601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0865599949999 meters 0.052102346485785184 Centerline is valid? [True, True] Translation: X:635.86, Y:-284.06, Z:-5.88 [[-6.86636062e-01 -7.26979306e-01 5.65750411e-03 6.35863828e+02] [ 7.26955015e-01 -6.86659368e-01 -5.94298557e-03 -2.84063673e+02] [ 8.20520572e-03 3.20827759e-05 9.99966336e-01 -5.87962072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.146559995 meters 0.05285886884740833 Centerline is valid? [True, True] Translation: X:635.83, Y:-284.02, Z:-5.88 [[-6.87833150e-01 -7.25840207e-01 6.44598639e-03 6.35826576e+02] [ 7.25808639e-01 -6.87863353e-01 -6.76957862e-03 -2.84019265e+02] [ 9.34759016e-03 2.22120207e-05 9.99956310e-01 -5.88143564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2065599949999 meters 0.0525257465160683 Centerline is valid? [True, True] Translation: X:635.79, Y:-283.98, Z:-5.88 [[-6.86845344e-01 -7.26767495e-01 7.24444743e-03 6.35787333e+02] [ 7.26727694e-01 -6.86883546e-01 -7.60607742e-03 -2.83976185e+02] [ 1.05039416e-02 4.05417154e-05 9.99944831e-01 -5.88190751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.266559995 meters 0.05258274511328772 Centerline is valid? [True, True] Translation: X:635.75, Y:-283.94, Z:-5.89 [[-6.83700126e-01 -7.29717999e-01 8.11042054e-03 6.35747630e+02] [ 7.29668349e-01 -6.83748223e-01 -8.51287114e-03 -2.83935618e+02] [ 1.17574809e-02 9.76660862e-05 9.99930874e-01 -5.88542517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3265599949999 meters 0.05242796400053808 Centerline is valid? [True, True] Translation: X:635.71, Y:-283.89, Z:-5.88 [[-6.80301373e-01 -7.32882543e-01 8.55681638e-03 6.35709916e+02] [ 7.32827551e-01 -6.80355166e-01 -8.97933439e-03 -2.83890893e+02] [ 1.24024717e-02 1.62017277e-04 9.99923073e-01 -5.88302833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.386559995 meters 0.05195092699068224 Centerline is valid? [True, True] Translation: X:635.67, Y:-283.85, Z:-5.88 [[-6.77921703e-01 -7.35086034e-01 8.40755140e-03 6.35670651e+02] [ 7.35033143e-01 -6.77973806e-01 -8.82022541e-03 -2.83849578e+02] [ 1.21837241e-02 2.00406700e-04 9.99925756e-01 -5.88337260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4465599949999 meters 0.05176875524960022 Centerline is valid? [True, True] Translation: X:635.63, Y:-283.81, Z:-5.88 [[-6.74270525e-01 -7.38444244e-01 7.70435093e-03 6.35631899e+02] [ 7.38400067e-01 -6.74314497e-01 -8.08093122e-03 -2.83806840e+02] [ 1.11624727e-02 2.40159499e-04 9.99937669e-01 -5.88248405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.506559995 meters 0.051549885149623255 Centerline is valid? [True, True] Translation: X:635.59, Y:-283.76, Z:-5.88 [[-6.70421400e-01 -7.41951227e-01 6.59719232e-03 6.35593360e+02] [ 7.41919020e-01 -6.70453810e-01 -6.91780759e-03 -2.83763592e+02] [ 9.55578855e-03 2.56736217e-04 9.99954309e-01 -5.88139920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5665599949999 meters 0.051171696399201744 Centerline is valid? [True, True] Translation: X:635.56, Y:-283.72, Z:-5.88 [[-6.67844265e-01 -7.44275410e-01 6.17678836e-03 6.35555302e+02] [ 7.44247291e-01 -6.67872773e-01 -6.47527738e-03 -2.83720195e+02] [ 8.94469849e-03 2.72581148e-04 9.99959958e-01 -5.88064141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.626559995 meters 0.05938553271362678 Centerline is valid? [True, True] Translation: X:635.49, Y:-283.70, Z:-5.89 [[-6.66680265e-01 -7.45319619e-01 6.00742963e-03 6.35493988e+02] [ 7.45293078e-01 -6.66707272e-01 -6.29613067e-03 -2.83699663e+02] [ 8.69782673e-03 2.79789651e-04 9.99962134e-01 -5.88975416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6865599949999 meters 0.05147529437983802 Centerline is valid? [True, True] Translation: X:635.48, Y:-283.64, Z:-5.88 [[-6.66274272e-01 -7.45683322e-01 5.91416214e-03 6.35475759e+02] [ 7.45657625e-01 -6.66300460e-01 -6.19695320e-03 -2.83636804e+02] [ 8.56157360e-03 2.81069614e-04 9.99963310e-01 -5.88176034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.746559995 meters 0.05257162145090841 Centerline is valid? [True, True] Translation: X:635.43, Y:-283.60, Z:-5.88 [[-6.66246562e-01 -7.45707689e-01 5.96327304e-03 6.35432037e+02] [ 7.45681579e-01 -6.66273188e-01 -6.24678472e-03 -2.83599080e+02] [ 8.63144434e-03 2.84804010e-04 9.99962708e-01 -5.88449930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8065599949999 meters 0.05066302332457791 Centerline is valid? [True, True] Translation: X:635.40, Y:-283.55, Z:-5.88 [[-6.66420713e-01 -7.45547329e-01 6.52790787e-03 6.35401351e+02] [ 7.45516048e-01 -6.66452612e-01 -6.83655842e-03 -2.83548064e+02] [ 9.44751912e-03 3.10635941e-04 9.99955323e-01 -5.88198091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.866559995 meters 0.051452252547999885 Centerline is valid? [True, True] Translation: X:635.36, Y:-283.51, Z:-5.89 [[-6.65581187e-01 -7.46283832e-01 7.88199701e-03 6.35357637e+02] [ 7.46238294e-01 -6.65627742e-01 -8.25335099e-03 -2.83511242e+02] [ 1.14058183e-02 3.88572850e-04 9.99934876e-01 -5.88543479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9265599949999 meters 0.051223251587032476 Centerline is valid? [True, True] Translation: X:635.32, Y:-283.46, Z:-5.88 [[-6.66262993e-01 -7.45666527e-01 8.66342822e-03 6.35323533e+02] [ 7.45611486e-01 -6.66319186e-01 -9.06940257e-03 -2.83463577e+02] [ 1.25353583e-02 4.16944288e-04 9.99921342e-01 -5.88390611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.986559995 meters 0.052018376842090125 Centerline is valid? [True, True] Translation: X:635.28, Y:-283.43, Z:-5.89 [[-6.67252050e-01 -7.44786444e-01 8.23732256e-03 6.35281416e+02] [ 7.44736632e-01 -6.67302785e-01 -8.62220855e-03 -2.83425053e+02] [ 1.19184923e-02 3.81449524e-04 9.99928899e-01 -5.88587458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0465599949999 meters 0.050303348923042696 Centerline is valid? [True, True] Translation: X:635.25, Y:-283.37, Z:-5.88 [[-6.69300586e-01 -7.42963848e-01 6.43787146e-03 6.35250141e+02] [ 7.42933353e-01 -6.69331491e-01 -6.73710362e-03 -2.83373528e+02] [ 9.31449454e-03 2.73762025e-04 9.99956582e-01 -5.88064364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.106559995 meters 0.05085327056266814 Centerline is valid? [True, True] Translation: X:635.21, Y:-283.33, Z:-5.88 [[-6.71203497e-01 -7.41251093e-01 5.71693350e-03 6.35208172e+02] [ 7.41226995e-01 -6.71227806e-01 -5.98112910e-03 -2.83334534e+02] [ 8.27088321e-03 2.22990677e-04 9.99965771e-01 -5.88159852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.166559995 meters 0.052787328653193175 Centerline is valid? [True, True] Translation: X:635.16, Y:-283.30, Z:-5.88 [[-6.72809101e-01 -7.39798980e-01 5.03812548e-03 6.35163777e+02] [ 7.39780234e-01 -6.72827939e-01 -5.26969899e-03 -2.83298990e+02] [ 7.28830953e-03 1.81604205e-04 9.99973423e-01 -5.88418513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2265599949999 meters 0.05175403754379143 Centerline is valid? [True, True] Translation: X:635.13, Y:-283.25, Z:-5.88 [[-6.72766752e-01 -7.39838295e-01 4.91886075e-03 6.35128025e+02] [ 7.39820434e-01 -6.72784710e-01 -5.14386394e-03 -2.83254738e+02] [ 7.11496183e-03 1.78453064e-04 9.99974672e-01 -5.88157977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.286559995 meters 0.05321893838401984 Centerline is valid? [True, True] Translation: X:635.08, Y:-283.22, Z:-5.88 [[-6.71691945e-01 -7.40812669e-01 5.14989838e-03 6.35084127e+02] [ 7.40793131e-01 -6.71711657e-01 -5.38390336e-03 -2.83219857e+02] [ 7.44771059e-03 1.98684831e-04 9.99972246e-01 -5.88402246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3465599949999 meters 0.0513882677493399 Centerline is valid? [True, True] Translation: X:635.05, Y:-283.17, Z:-5.88 [[-6.70910607e-01 -7.41518022e-01 5.47552531e-03 6.35050466e+02] [ 7.41495970e-01 -6.70932914e-01 -5.72288882e-03 -2.83171660e+02] [ 7.91733535e-03 2.20533135e-04 9.99968633e-01 -5.88069112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.406559995 meters 0.05205816693101302 Centerline is valid? [True, True] Translation: X:635.01, Y:-283.13, Z:-5.88 [[-6.70426333e-01 -7.41950168e-01 6.20323889e-03 6.35005593e+02] [ 7.41921898e-01 -6.70454981e-01 -6.48188408e-03 -2.83134590e+02] [ 8.96822740e-03 2.56692996e-04 9.99959752e-01 -5.88234808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4665599949999 meters 0.05222889548400103 Centerline is valid? [True, True] Translation: X:634.97, Y:-283.10, Z:-5.88 [[-6.70562555e-01 -7.41825100e-01 6.43284222e-03 6.34965833e+02] [ 7.41794711e-01 -6.70593357e-01 -6.71978004e-03 -2.83095050e+02] [ 9.29872276e-03 2.65815471e-04 9.99956731e-01 -5.88260889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.526559995 meters 0.05173091882859756 Centerline is valid? [True, True] Translation: X:634.93, Y:-283.05, Z:-5.88 [[-6.70769595e-01 -7.41642035e-01 5.93651870e-03 6.34929807e+02] [ 7.41616155e-01 -6.70795820e-01 -6.20054567e-03 -2.83048308e+02] [ 8.58077724e-03 2.43480664e-04 9.99963155e-01 -5.88010112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5865599949999 meters 0.0523104922511207 Centerline is valid? [True, True] Translation: X:634.89, Y:-283.01, Z:-5.88 [[-6.72039212e-01 -7.40499494e-01 4.87813505e-03 6.34886321e+02] [ 7.40481996e-01 -6.72056890e-01 -5.09415711e-03 -2.83010970e+02] [ 7.05060504e-03 1.88697846e-04 9.99975126e-01 -5.87982660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.646559995 meters 0.05134868338264955 Centerline is valid? [True, True] Translation: X:634.85, Y:-282.97, Z:-5.88 [[-6.73729587e-01 -7.38962390e-01 4.79886256e-03 6.34847708e+02] [ 7.38945426e-01 -6.73746656e-01 -5.01008104e-03 -2.82967540e+02] [ 6.93547906e-03 1.70657712e-04 9.99975935e-01 -5.87882935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7065599949999 meters 0.05127209333304071 Centerline is valid? [True, True] Translation: X:634.81, Y:-282.93, Z:-5.88 [[-6.74354014e-01 -7.38388917e-01 5.33584730e-03 6.34806301e+02] [ 7.38367937e-01 -6.74375098e-01 -5.56926467e-03 -2.82927690e+02] [ 7.71064586e-03 1.84162580e-04 9.99970256e-01 -5.87972740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.766559995 meters 0.052109485768742976 Centerline is valid? [True, True] Translation: X:634.77, Y:-282.89, Z:-5.88 [[-6.74809360e-01 -7.37964987e-01 6.32500345e-03 6.34766982e+02] [ 7.37935503e-01 -6.74838968e-01 -6.59998562e-03 -2.82885172e+02] [ 9.13891710e-03 2.13712534e-04 9.99958216e-01 -5.87960130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8265599949999 meters 0.05257823013024121 Centerline is valid? [True, True] Translation: X:634.72, Y:-282.85, Z:-5.88 [[-6.74665560e-01 -7.38092496e-01 6.77129002e-03 6.34723147e+02] [ 7.38058719e-01 -6.74699499e-01 -7.06489902e-03 -2.82848337e+02] [ 9.78313494e-03 2.31165585e-04 9.99952117e-01 -5.88199509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.886559995 meters 0.052787352333730525 Centerline is valid? [True, True] Translation: X:634.68, Y:-282.81, Z:-5.88 [[-6.75284995e-01 -7.37527901e-01 6.53991571e-03 6.34683075e+02] [ 7.37496384e-01 -6.75316628e-01 -6.82165207e-03 -2.82806867e+02] [ 9.44767256e-03 2.16604905e-04 9.99955346e-01 -5.88192559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9465599949999 meters 0.052487533821759066 Centerline is valid? [True, True] Translation: X:634.64, Y:-282.76, Z:-5.88 [[-6.76710559e-01 -7.36227627e-01 5.63027108e-03 6.34643103e+02] [ 7.36204235e-01 -6.76733959e-01 -5.87141829e-03 -2.82764761e+02] [ 8.13289600e-03 1.71778652e-04 9.99966913e-01 -5.88129352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.006559995 meters 0.05233003320500023 Centerline is valid? [True, True] Translation: X:634.60, Y:-282.73, Z:-5.88 [[-6.77483548e-01 -7.35518141e-01 5.39502099e-03 6.34601720e+02] [ 7.35496653e-01 -6.77505011e-01 -5.62439998e-03 -2.82726334e+02] [ 7.79200197e-03 1.57581433e-04 9.99969629e-01 -5.88245623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0665599949999 meters 0.05249037654707936 Centerline is valid? [True, True] Translation: X:634.56, Y:-282.68, Z:-5.88 [[-6.78024352e-01 -7.35021223e-01 5.17487185e-03 6.34563689e+02] [ 7.35001451e-01 -6.78044084e-01 -5.39323342e-03 -2.82684788e+02] [ 7.47293227e-03 1.46794726e-04 9.99972066e-01 -5.88179737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.126559995 meters 0.052250544702535526 Centerline is valid? [True, True] Translation: X:634.53, Y:-282.64, Z:-5.88 [[-6.77677524e-01 -7.35340802e-01 5.20371691e-03 6.34525202e+02] [ 7.35320828e-01 -6.77697485e-01 -5.42197716e-03 -2.82641134e+02] [ 7.51354690e-03 1.52049370e-04 9.99971761e-01 -5.88052453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1865599949999 meters 0.05231549567088996 Centerline is valid? [True, True] Translation: X:634.49, Y:-282.60, Z:-5.88 [[-6.77823878e-01 -7.35203579e-01 5.52156673e-03 6.34485208e+02] [ 7.35181098e-01 -6.77846348e-01 -5.75166474e-03 -2.82599220e+02] [ 7.97141834e-03 1.60735789e-04 9.99968215e-01 -5.88037656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.246559995 meters 0.05274326361191972 Centerline is valid? [True, True] Translation: X:634.44, Y:-282.56, Z:-5.88 [[-6.78187298e-01 -7.34861336e-01 6.38790856e-03 6.34443020e+02] [ 7.34831243e-01 -6.78217357e-01 -6.65287564e-03 -2.82560919e+02] [ 9.22133154e-03 1.82139037e-04 9.99957466e-01 -5.88192841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3065599949999 meters 0.051737812571083924 Centerline is valid? [True, True] Translation: X:634.40, Y:-282.52, Z:-5.88 [[-6.78664379e-01 -7.34415390e-01 6.97814957e-03 6.34403714e+02] [ 7.34379474e-01 -6.78700226e-01 -7.26571993e-03 -2.82517822e+02] [ 1.00721282e-02 1.93624507e-04 9.99949256e-01 -5.88107363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.366559995 meters 0.052428519489503805 Centerline is valid? [True, True] Translation: X:634.37, Y:-282.47, Z:-5.88 [[-6.80996233e-01 -7.32253150e-01 7.03242447e-03 6.34365451e+02] [ 7.32216576e-01 -6.81032523e-01 -7.32041970e-03 -2.82473507e+02] [ 1.01497102e-02 1.64079523e-04 9.99948477e-01 -5.87963674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4265599949999 meters 0.05260748648574686 Centerline is valid? [True, True] Translation: X:634.33, Y:-282.43, Z:-5.88 [[-6.85689389e-01 -7.27854557e-01 7.60301835e-03 6.34327060e+02] [ 7.27811556e-01 -6.85731531e-01 -7.91248017e-03 -2.82429491e+02] [ 1.09727642e-02 1.08060916e-04 9.99939792e-01 -5.87991620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.486559995 meters 0.05249749797698207 Centerline is valid? [True, True] Translation: X:634.29, Y:-282.39, Z:-5.88 [[-6.89692210e-01 -7.24067631e-01 7.12194398e-03 6.34289073e+02] [ 7.24029716e-01 -6.89728979e-01 -7.40984926e-03 -2.82385590e+02] [ 1.02774431e-02 4.59837662e-05 9.99947185e-01 -5.87993213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5465599949999 meters 0.052072487471176654 Centerline is valid? [True, True] Translation: X:634.25, Y:-282.34, Z:-5.88 [[-6.95533192e-01 -7.18465668e-01 6.37671751e-03 6.34253164e+02] [ 7.18435054e-01 -6.95562422e-01 -6.63259988e-03 -2.82340576e+02] [ 9.20070038e-03 -3.19359768e-05 9.99957672e-01 -5.87895588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.606559995 meters 0.05280472601124307 Centerline is valid? [True, True] Translation: X:634.22, Y:-282.30, Z:-5.88 [[-7.00204243e-01 -7.13918689e-01 5.84148596e-03 6.34216697e+02] [ 7.13892854e-01 -7.00228604e-01 -6.07415650e-03 -2.82296604e+02] [ 8.42682941e-03 -8.29550762e-05 9.99964490e-01 -5.87889682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.666559995 meters 0.05352435479087527 Centerline is valid? [True, True] Translation: X:634.18, Y:-282.25, Z:-5.88 [[-7.02139006e-01 -7.12017708e-01 5.62141231e-03 6.34176737e+02] [ 7.11993733e-01 -7.02161501e-01 -5.84390229e-03 -2.82253806e+02] [ 8.10810122e-03 -1.00821405e-04 9.99967124e-01 -5.87892133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7265599949999 meters 0.053348617607694805 Centerline is valid? [True, True] Translation: X:634.14, Y:-282.21, Z:-5.88 [[-7.04044159e-01 -7.10132389e-01 5.81474498e-03 6.34138666e+02] [ 7.10106687e-01 -7.04068160e-01 -6.04309314e-03 -2.82211521e+02] [ 8.38537297e-03 -1.25515137e-04 9.99964834e-01 -5.87926186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.786559995 meters 0.05324498292518385 Centerline is valid? [True, True] Translation: X:634.10, Y:-282.17, Z:-5.88 [[-7.04739365e-01 -7.09448521e-01 5.02231966e-03 6.34100329e+02] [ 7.09429340e-01 -7.04757251e-01 -5.21806466e-03 -2.82168905e+02] [ 7.24146445e-03 -1.14394651e-04 9.99973774e-01 -5.87905837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8465599949999 meters 0.05305315606074129 Centerline is valid? [True, True] Translation: X:634.06, Y:-282.13, Z:-5.88 [[-7.04004792e-01 -7.10184541e-01 3.89494681e-03 6.34060077e+02] [ 7.10173023e-01 -7.04015562e-01 -4.04551130e-03 -2.82127941e+02] [ 5.61516275e-03 -8.19731886e-05 9.99984231e-01 -5.87871805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.906559995 meters 0.05278460583707987 Centerline is valid? [True, True] Translation: X:634.02, Y:-282.09, Z:-5.88 [[-7.02686566e-01 -7.11491529e-01 3.37554395e-03 6.34018963e+02] [ 7.11482898e-01 -7.02694671e-01 -3.50495974e-03 -2.82088388e+02] [ 4.86572591e-03 -6.12463299e-05 9.99988160e-01 -5.87800097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9665599949999 meters 0.05294005729650689 Centerline is valid? [True, True] Translation: X:633.98, Y:-282.05, Z:-5.88 [[-6.99278289e-01 -7.14843715e-01 2.88745712e-03 6.33976096e+02] [ 7.14837432e-01 -6.99284250e-01 -2.99736391e-03 -2.82049082e+02] [ 4.16180004e-03 -3.19290712e-05 9.99991339e-01 -5.87812574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.026559995 meters 0.05211434739840555 Centerline is valid? [True, True] Translation: X:633.93, Y:-282.01, Z:-5.88 [[-6.94621199e-01 -7.19369878e-01 2.89304909e-03 6.33933574e+02] [ 7.19363612e-01 -6.94627223e-01 -3.00242526e-03 -2.82010721e+02] [ 4.16944495e-03 -4.39398870e-06 9.99991308e-01 -5.87739582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0865599949999 meters 0.052676168055372105 Centerline is valid? [True, True] Translation: X:633.89, Y:-281.97, Z:-5.88 [[-6.91867933e-01 -7.22016831e-01 3.23402276e-03 6.33891941e+02] [ 7.22009033e-01 -6.91875491e-01 -3.35575068e-03 -2.81970114e+02] [ 4.66044956e-03 1.32573583e-05 9.99989140e-01 -5.87801966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.146559995 meters 0.05186514547774316 Centerline is valid? [True, True] Translation: X:633.85, Y:-281.93, Z:-5.88 [[-6.89083634e-01 -7.24672358e-01 3.70381727e-03 6.33848677e+02] [ 7.24662171e-01 -6.89093587e-01 -3.84259545e-03 -2.81932051e+02] [ 5.33689943e-03 3.61466297e-05 9.99985758e-01 -5.87995703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2065599949999 meters 0.05203927114099361 Centerline is valid? [True, True] Translation: X:633.81, Y:-281.89, Z:-5.88 [[-6.88985666e-01 -7.24770717e-01 2.48192028e-03 6.33808365e+02] [ 7.24766146e-01 -6.88990136e-01 -2.57421140e-03 -2.81889703e+02] [ 3.57573164e-03 2.52170418e-05 9.99993607e-01 -5.87883775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.266559995 meters 0.052063153390751744 Centerline is valid? [True, True] Translation: X:633.77, Y:-281.85, Z:-5.88 [[-6.90094423e-01 -7.23717484e-01 1.64076318e-03 6.33768884e+02] [ 7.23715484e-01 -6.90096373e-01 -1.70124491e-03 -2.81848599e+02] [ 2.36350540e-03 1.34261001e-05 9.99997207e-01 -5.87854806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3265599949999 meters 0.05201140614192858 Centerline is valid? [True, True] Translation: X:633.73, Y:-281.80, Z:-5.88 [[-6.93578383e-01 -7.20379396e-01 1.59755421e-03 6.33729899e+02] [ 7.20377492e-01 -6.93580223e-01 -1.65621761e-03 -2.81804960e+02] [ 2.30113705e-03 2.12536643e-06 9.99997352e-01 -5.87939617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.386559995 meters 0.05193483165668872 Centerline is valid? [True, True] Translation: X:633.69, Y:-281.76, Z:-5.88 [[-6.95120279e-01 -7.18890982e-01 1.88532327e-03 6.33691175e+02] [ 7.18888326e-01 -6.95122835e-01 -1.95397319e-03 -2.81762676e+02] [ 2.71522496e-03 -2.90949797e-06 9.99996314e-01 -5.88012996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4465599949999 meters 0.0523526848144891 Centerline is valid? [True, True] Translation: X:633.65, Y:-281.72, Z:-5.88 [[-6.98956688e-01 -7.15158063e-01 2.91444533e-03 6.33652519e+02] [ 7.15151687e-01 -6.98962764e-01 -3.01982233e-03 -2.81718332e+02] [ 4.19673905e-03 -2.64545196e-05 9.99991193e-01 -5.87946724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.506559995 meters 0.0525100511491668 Centerline is valid? [True, True] Translation: X:633.61, Y:-281.67, Z:-5.88 [[-7.00426252e-01 -7.13710654e-01 4.49085133e-03 6.33614916e+02] [ 7.13695496e-01 -7.00440647e-01 -4.65188858e-03 -2.81674784e+02] [ 6.46567725e-03 -5.32045164e-05 9.99979096e-01 -5.88212926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5665599949999 meters 0.05271787040245423 Centerline is valid? [True, True] Translation: X:633.57, Y:-281.63, Z:-5.88 [[-6.99988972e-01 -7.14138683e-01 4.62381306e-03 6.33573843e+02] [ 7.14122631e-01 -7.00004242e-01 -4.78841131e-03 -2.81634219e+02] [ 6.65627850e-03 -4.98655656e-05 9.99977845e-01 -5.88176703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.626559995 meters 0.052453747610344104 Centerline is valid? [True, True] Translation: X:633.53, Y:-281.59, Z:-5.88 [[-6.97499912e-01 -7.16569778e-01 4.65042506e-03 6.33533364e+02] [ 7.16553604e-01 -6.97515414e-01 -4.81459750e-03 -2.81593878e+02] [ 6.69373822e-03 -2.59024921e-05 9.99977596e-01 -5.88158935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6865599949999 meters 0.05205922160895284 Centerline is valid? [True, True] Translation: X:633.49, Y:-281.55, Z:-5.88 [[-6.94686980e-01 -7.19299736e-01 4.22962240e-03 6.33492448e+02] [ 7.19286414e-01 -6.94699856e-01 -4.37784174e-03 -2.81552182e+02] [ 6.08729848e-03 1.08027290e-06 9.99981472e-01 -5.88047671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.746559995 meters 0.05259356152630563 Centerline is valid? [True, True] Translation: X:633.45, Y:-281.51, Z:-5.88 [[-6.91896939e-01 -7.21985815e-01 3.88686258e-03 6.33452091e+02] [ 7.21974613e-01 -6.91907857e-01 -4.02191570e-03 -2.81511871e+02] [ 5.59311684e-03 2.34649470e-05 9.99984358e-01 -5.88034198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8065599949999 meters 0.051319076369165696 Centerline is valid? [True, True] Translation: X:633.41, Y:-281.47, Z:-5.88 [[-6.85989768e-01 -7.27604698e-01 3.07292596e-03 6.33410264e+02] [ 7.27597756e-01 -6.85996648e-01 -3.17883415e-03 -2.81471819e+02] [ 4.42095157e-03 5.52063349e-05 9.99990226e-01 -5.87892529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.866559995 meters 0.05194273354380569 Centerline is valid? [True, True] Translation: X:633.37, Y:-281.44, Z:-5.88 [[-6.80077788e-01 -7.33133510e-01 3.07565929e-03 6.33366007e+02] [ 7.33126615e-01 -6.80084736e-01 -3.18072730e-03 -2.81436159e+02] [ 4.42360671e-03 9.17057049e-05 9.99990212e-01 -5.88018631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9265599949999 meters 0.052020347820816146 Centerline is valid? [True, True] Translation: X:633.33, Y:-281.39, Z:-5.88 [[-6.77320358e-01 -7.35682163e-01 2.98140061e-03 6.33327735e+02] [ 7.35675712e-01 -6.77326911e-01 -3.08258604e-03 -2.81394172e+02] [ 4.28718643e-03 1.05445739e-04 9.99990804e-01 -5.88018965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.986559995 meters 0.0519221187879273 Centerline is valid? [True, True] Translation: X:633.29, Y:-281.35, Z:-5.88 [[-6.75599680e-01 -7.37262177e-01 3.09110481e-03 6.33292060e+02] [ 7.37255262e-01 -6.75606740e-01 -3.19550100e-03 -2.81348449e+02] [ 4.44429327e-03 1.20053835e-04 9.99990117e-01 -5.88005869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0465599949999 meters 0.05255913966940779 Centerline is valid? [True, True] Translation: X:633.25, Y:-281.31, Z:-5.88 [[-6.76437283e-01 -7.36492712e-01 3.32989023e-03 6.33249903e+02] [ 7.36484680e-01 -6.76445467e-01 -3.44179591e-03 -2.81309903e+02] [ 4.78734676e-03 1.24254070e-04 9.99988533e-01 -5.88127328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.106559995 meters 0.05163876305873535 Centerline is valid? [True, True] Translation: X:633.21, Y:-281.27, Z:-5.88 [[-6.77483525e-01 -7.35530992e-01 3.19893625e-03 6.33214175e+02] [ 7.35523573e-01 -6.77491068e-01 -3.30551245e-03 -2.81265260e+02] [ 4.59855759e-03 1.13462789e-04 9.99989420e-01 -5.88030990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.166559995 meters 0.05161276626957048 Centerline is valid? [True, True] Translation: X:633.18, Y:-281.22, Z:-5.88 [[-6.78040161e-01 -7.35013355e-01 4.11181176e-03 6.33177652e+02] [ 7.35001096e-01 -6.78052614e-01 -4.24762134e-03 -2.81220433e+02] [ 5.91008312e-03 1.42128288e-04 9.99982525e-01 -5.88190131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2265599949999 meters 0.05211621321540483 Centerline is valid? [True, True] Translation: X:633.14, Y:-281.18, Z:-5.89 [[-6.78539618e-01 -7.34545379e-01 5.20321774e-03 6.33135809e+02] [ 7.34525742e-01 -6.78559545e-01 -5.37393433e-03 -2.81182833e+02] [ 7.47809169e-03 1.75470025e-04 9.99972023e-01 -5.88529464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.286559995 meters 0.05170169891357794 Centerline is valid? [True, True] Translation: X:633.10, Y:-281.13, Z:-5.88 [[-6.80282122e-01 -7.32926202e-01 5.95124375e-03 6.33101717e+02] [ 7.32900459e-01 -6.80308129e-01 -6.14553568e-03 -2.81134429e+02] [ 8.55290362e-03 1.80971215e-04 9.99963407e-01 -5.88430984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3465599949999 meters 0.051077417317126436 Centerline is valid? [True, True] Translation: X:633.06, Y:-281.09, Z:-5.88 [[-6.81915704e-01 -7.31410634e-01 5.42740331e-03 6.33062942e+02] [ 7.31389188e-01 -6.81937286e-01 -5.60300852e-03 -2.81093140e+02] [ 7.79924870e-03 1.48764605e-04 9.99969574e-01 -5.88407285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.406559995 meters 0.05080296943733859 Centerline is valid? [True, True] Translation: X:633.02, Y:-281.05, Z:-5.88 [[-6.82883309e-01 -7.30511252e-01 4.86783904e-03 6.33023622e+02] [ 7.30493986e-01 -6.82900648e-01 -5.02419238e-03 -2.81050448e+02] [ 6.99447950e-03 1.24990018e-04 9.99975531e-01 -5.88312298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4665599949999 meters 0.05172199701222791 Centerline is valid? [True, True] Translation: X:632.98, Y:-281.01, Z:-5.88 [[-6.84444427e-01 -7.29054429e-01 3.93261821e-03 6.32983447e+02] [ 7.29043142e-01 -6.84455719e-01 -4.05786987e-03 -2.81009021e+02] [ 5.65011103e-03 8.96619143e-05 9.99984034e-01 -5.88284931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.526559995 meters 0.0513122929905069 Centerline is valid? [True, True] Translation: X:632.94, Y:-280.97, Z:-5.88 [[-6.85103475e-01 -7.28437872e-01 3.39055172e-03 6.32943591e+02] [ 7.28429478e-01 -6.85111861e-01 -3.49762798e-03 -2.80967242e+02] [ 4.87071188e-03 7.35407329e-05 9.99988135e-01 -5.88215052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5865599949999 meters 0.05115719180300169 Centerline is valid? [True, True] Translation: X:632.90, Y:-280.92, Z:-5.88 [[-6.85083448e-01 -7.28458582e-01 2.96038763e-03 6.32903629e+02] [ 7.28452187e-01 -6.85089841e-01 -3.05306229e-03 -2.80924504e+02] [ 4.25216091e-03 6.48984053e-05 9.99990957e-01 -5.88129990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.646559995 meters 0.05130844299791068 Centerline is valid? [True, True] Translation: X:632.86, Y:-280.89, Z:-5.88 [[-6.85035968e-01 -7.28505232e-01 2.41879612e-03 6.32860691e+02] [ 7.28500965e-01 -6.85040236e-01 -2.49392521e-03 -2.80887062e+02] [ 3.47381023e-03 5.36668430e-05 9.99993965e-01 -5.88228990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7065599949999 meters 0.05106492815616858 Centerline is valid? [True, True] Translation: X:632.82, Y:-280.85, Z:-5.88 [[-6.86002612e-01 -7.27595909e-01 2.14679133e-03 6.32820725e+02] [ 7.27592545e-01 -6.86005970e-01 -2.21290643e-03 -2.80845248e+02] [ 3.08281334e-03 4.39297798e-05 9.99995247e-01 -5.88133718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.766559995 meters 0.05122984979884881 Centerline is valid? [True, True] Translation: X:632.78, Y:-280.80, Z:-5.88 [[-6.88177801e-01 -7.25539240e-01 2.03111743e-03 6.32779839e+02] [ 7.25536221e-01 -6.88180798e-01 -2.09316581e-03 -2.80804544e+02] [ 2.91644994e-03 3.31790158e-05 9.99995747e-01 -5.88134238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8265599949999 meters 0.05161107570024037 Centerline is valid? [True, True] Translation: X:632.74, Y:-280.76, Z:-5.88 [[-6.91342983e-01 -7.22523181e-01 2.26542805e-03 6.32740536e+02] [ 7.22519412e-01 -6.91346694e-01 -2.33401771e-03 -2.80762154e+02] [ 3.25257809e-03 2.32089773e-05 9.99994710e-01 -5.88215800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.886559995 meters 0.05188690191852706 Centerline is valid? [True, True] Translation: X:632.70, Y:-280.72, Z:-5.88 [[-6.93683156e-01 -7.20275954e-01 2.49575354e-03 6.32701418e+02] [ 7.20271366e-01 -6.93687646e-01 -2.57074062e-03 -2.80721261e+02] [ 3.58291605e-03 1.43403458e-05 9.99993581e-01 -5.88275760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9465599949999 meters 0.051890859848613226 Centerline is valid? [True, True] Translation: X:632.66, Y:-280.68, Z:-5.88 [[-6.97813200e-01 -7.16272501e-01 3.23141366e-03 6.32662944e+02] [ 7.16264772e-01 -6.97820682e-01 -3.32751593e-03 -2.80678703e+02] [ 4.63835544e-03 -7.43677322e-06 9.99989243e-01 -5.88317863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.006559995 meters 0.05193440314426523 Centerline is valid? [True, True] Translation: X:632.63, Y:-280.64, Z:-5.88 [[-7.02821738e-01 -7.11356922e-01 3.59651293e-03 6.32625260e+02] [ 7.11347287e-01 -7.02830938e-01 -3.70267018e-03 -2.80636416e+02] [ 5.16166062e-03 -4.39473745e-05 9.99986678e-01 -5.88425538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0665599949999 meters 0.05158112775745133 Centerline is valid? [True, True] Translation: X:632.59, Y:-280.59, Z:-5.88 [[-7.04540216e-01 -7.09658823e-01 2.72750489e-03 6.32588383e+02] [ 7.09653272e-01 -7.04545494e-01 -2.80712728e-03 -2.80594213e+02] [ 3.91375392e-03 -4.21512946e-05 9.99992340e-01 -5.88444421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.126559995 meters 0.05179873904300081 Centerline is valid? [True, True] Translation: X:632.55, Y:-280.56, Z:-5.88 [[-7.04677597e-01 -7.09524244e-01 2.19808944e-03 6.32547529e+02] [ 7.09520641e-01 -7.04681024e-01 -2.26154656e-03 -2.80555829e+02] [ 3.15357403e-03 -3.40713686e-05 9.99995027e-01 -5.88355943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1865599949999 meters 0.05163455229496435 Centerline is valid? [True, True] Translation: X:632.50, Y:-280.52, Z:-5.88 [[-7.03121875e-01 -7.11067029e-01 1.81899075e-03 6.32504576e+02] [ 7.11064568e-01 -7.03124228e-01 -1.87099771e-03 -2.80516304e+02] [ 2.60938125e-03 -2.21195478e-05 9.99996595e-01 -5.88324212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.246559995 meters 0.05172505655392143 Centerline is valid? [True, True] Translation: X:632.46, Y:-280.48, Z:-5.88 [[-7.00513776e-01 -7.13636412e-01 1.87671484e-03 6.32464059e+02] [ 7.13633803e-01 -7.00516290e-01 -1.92975022e-03 -2.80477480e+02] [ 2.69180934e-03 -1.25294639e-05 9.99996377e-01 -5.88457434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3065599949999 meters 0.05144895373831895 Centerline is valid? [True, True] Translation: X:632.42, Y:-280.44, Z:-5.88 [[-6.98877207e-01 -7.15239852e-01 1.61353986e-03 6.32421436e+02] [ 7.15237929e-01 -6.98879070e-01 -1.65863593e-03 -2.80438650e+02] [ 2.31399175e-03 -5.11793408e-06 9.99997323e-01 -5.88438815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.366559995 meters 0.051156455538487126 Centerline is valid? [True, True] Translation: X:632.38, Y:-280.40, Z:-5.89 [[-6.92696812e-01 -7.21226103e-01 2.00867603e-03 6.32376430e+02] [ 7.21223149e-01 -6.92699725e-01 -2.06427727e-03 -2.80401128e+02] [ 2.88021998e-03 1.87853709e-05 9.99995852e-01 -5.88562254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4265599949999 meters 0.051579933519130594 Centerline is valid? [True, True] Translation: X:632.33, Y:-280.37, Z:-5.89 [[-6.86829515e-01 -7.26813353e-01 2.75103370e-03 6.32332385e+02] [ 7.26807859e-01 -6.86835022e-01 -2.82637034e-03 -2.80365243e+02] [ 3.94374999e-03 5.82383396e-05 9.99992222e-01 -5.88662579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.486559995 meters 0.051947328517913276 Centerline is valid? [True, True] Translation: X:632.29, Y:-280.33, Z:-5.89 [[-6.84085919e-01 -7.29393382e-01 3.42778011e-03 6.32290941e+02] [ 7.29384890e-01 -6.84094501e-01 -3.52068355e-03 -2.80325415e+02] [ 4.91288880e-03 9.17209736e-05 9.99987927e-01 -5.88705233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5465599949999 meters 0.05093144722778747 Centerline is valid? [True, True] Translation: X:632.25, Y:-280.28, Z:-5.89 [[-6.82499544e-01 -7.30879398e-01 3.11109055e-03 6.32250097e+02] [ 7.30872422e-01 -6.82506628e-01 -3.19453097e-03 -2.80284950e+02] [ 4.45815679e-03 9.35443596e-05 9.99990058e-01 -5.88717978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.606559995 meters 0.05141022042360656 Centerline is valid? [True, True] Translation: X:632.21, Y:-280.24, Z:-5.89 [[-6.82802497e-01 -7.30598806e-01 2.47697501e-03 6.32210551e+02] [ 7.30594385e-01 -6.82806986e-01 -2.54262357e-03 -2.80244615e+02] [ 3.54893358e-03 7.35543080e-05 9.99993700e-01 -5.88647020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.666559995 meters 0.05203771315094078 Centerline is valid? [True, True] Translation: X:632.17, Y:-280.21, Z:-5.89 [[-6.84150314e-01 -7.29336795e-01 2.48755759e-03 6.32168709e+02] [ 7.29332330e-01 -6.84154833e-01 -2.55303144e-03 -2.80205975e+02] [ 3.56389432e-03 6.75989126e-05 9.99993647e-01 -5.88816719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7265599949999 meters 0.051926736837752695 Centerline is valid? [True, True] Translation: X:632.13, Y:-280.17, Z:-5.89 [[-6.85018517e-01 -7.28521324e-01 2.51258401e-03 6.32128317e+02] [ 7.28516765e-01 -6.85023121e-01 -2.57792346e-03 -2.80166257e+02] [ 3.59925036e-03 6.45342725e-05 9.99993521e-01 -5.88887369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.786559995 meters 0.05159162130975432 Centerline is valid? [True, True] Translation: X:632.09, Y:-280.12, Z:-5.89 [[-6.85768984e-01 -7.27814339e-01 2.68104495e-03 6.32092099e+02] [ 7.27809147e-01 -6.85774222e-01 -2.75000004e-03 -2.80121891e+02] [ 3.84008098e-03 6.54243002e-05 9.99992625e-01 -5.88855502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8465599949999 meters 0.05092549842685688 Centerline is valid? [True, True] Translation: X:632.05, Y:-280.08, Z:-5.89 [[-6.87498527e-01 -7.26177293e-01 3.50920365e-03 6.32054223e+02] [ 7.26168381e-01 -6.87507479e-01 -3.59846638e-03 -2.80079751e+02] [ 5.02572833e-03 7.43323925e-05 9.99987368e-01 -5.88983336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.906559995 meters 0.05022142393593911 Centerline is valid? [True, True] Translation: X:632.02, Y:-280.04, Z:-5.89 [[-6.89158496e-01 -7.24599640e-01 3.99124261e-03 6.32016690e+02] [ 7.24588090e-01 -6.89170049e-01 -4.09178887e-03 -2.80035230e+02] [ 5.71555360e-03 7.21158004e-05 9.99983663e-01 -5.89000457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9665599949999 meters 0.05107768118588323 Centerline is valid? [True, True] Translation: X:631.98, Y:-279.99, Z:-5.89 [[-6.90830982e-01 -7.23002267e-01 4.50279234e-03 6.31978665e+02] [ 7.22987541e-01 -6.90845654e-01 -4.61504922e-03 -2.79992229e+02] [ 6.44742557e-03 6.72437793e-05 9.99979213e-01 -5.89085948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.026559995 meters 0.051647748064264906 Centerline is valid? [True, True] Translation: X:631.94, Y:-279.95, Z:-5.89 [[-6.91892817e-01 -7.21983212e-01 4.95691007e-03 6.31940261e+02] [ 7.21965350e-01 -6.91910570e-01 -5.07902249e-03 -2.79949218e+02] [ 7.09670744e-03 6.45781325e-05 9.99974816e-01 -5.89026304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0865599949999 meters 0.05212280069015957 Centerline is valid? [True, True] Translation: X:631.90, Y:-279.91, Z:-5.89 [[-6.92532061e-01 -7.21373202e-01 4.47753541e-03 6.31901601e+02] [ 7.21358622e-01 -6.92546534e-01 -4.58664183e-03 -2.79906128e+02] [ 6.40958213e-03 5.35122546e-05 9.99979457e-01 -5.88859668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.146559995 meters 0.051265866845757 Centerline is valid? [True, True] Translation: X:631.86, Y:-279.86, Z:-5.89 [[-6.93580033e-01 -7.20374472e-01 2.71243184e-03 6.31863101e+02] [ 7.20369117e-01 -6.93585337e-01 -2.77780744e-03 -2.79864251e+02] [ 3.88236452e-03 2.73203500e-05 9.99992463e-01 -5.88715452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2065599949999 meters 0.051165900186867036 Centerline is valid? [True, True] Translation: X:631.82, Y:-279.82, Z:-5.89 [[-6.95015806e-01 -7.18992356e-01 1.73833961e-03 6.31824563e+02] [ 7.18990153e-01 -6.95017980e-01 -1.77960993e-03 -2.79824974e+02] [ 2.48770322e-03 1.29920287e-05 9.99996906e-01 -5.88666984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.266559995 meters 0.05125141990172427 Centerline is valid? [True, True] Translation: X:631.79, Y:-279.78, Z:-5.89 [[-6.96957823e-01 -7.17110284e-01 1.62302573e-03 6.31786582e+02] [ 7.17108360e-01 -6.96959712e-01 -1.66106660e-03 -2.79783452e+02] [ 2.32235149e-03 6.19196222e-06 9.99997303e-01 -5.88697675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3265599949999 meters 0.05166262957201821 Centerline is valid? [True, True] Translation: X:631.75, Y:-279.74, Z:-5.89 [[-6.98070761e-01 -7.16024710e-01 2.41387634e-03 6.31748203e+02] [ 7.16020451e-01 -6.98074935e-01 -2.46969210e-03 -2.79742264e+02] [ 3.45342714e-03 4.36497986e-06 9.99994037e-01 -5.88700878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.386559995 meters 0.05197341863611653 Centerline is valid? [True, True] Translation: X:631.71, Y:-279.70, Z:-5.89 [[-6.99205448e-01 -7.14909348e-01 4.04528579e-03 6.31708526e+02] [ 7.14897374e-01 -6.99217150e-01 -4.13769571e-03 -2.79701503e+02] [ 5.78661055e-03 -1.13519016e-06 9.99983257e-01 -5.88902873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4465599949999 meters 0.05180949474337943 Centerline is valid? [True, True] Translation: X:631.67, Y:-279.66, Z:-5.89 [[-7.00051131e-01 -7.14076409e-01 4.82662767e-03 6.31669680e+02] [ 7.14059354e-01 -7.00067770e-01 -4.93526534e-03 -2.79661846e+02] [ 6.90312302e-03 -8.43944836e-06 9.99976173e-01 -5.89058862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.506559995 meters 0.05245450317024994 Centerline is valid? [True, True] Translation: X:631.63, Y:-279.62, Z:-5.89 [[-7.01488169e-01 -7.12662364e-01 5.16761089e-03 6.31630243e+02] [ 7.12642787e-01 -7.01507202e-01 -5.28238467e-03 -2.79619746e+02] [ 7.38967300e-03 -2.28697257e-05 9.99972696e-01 -5.88888963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5665599949999 meters 0.05169681719288151 Centerline is valid? [True, True] Translation: X:631.59, Y:-279.58, Z:-5.89 [[-7.02766366e-01 -7.11411650e-01 3.59150162e-03 6.31591793e+02] [ 7.11402184e-01 -7.02775543e-01 -3.66999597e-03 -2.79580106e+02] [ 5.13489739e-03 -2.41476339e-05 9.99986816e-01 -5.88605915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.626559995 meters 0.052332914279138595 Centerline is valid? [True, True] Translation: X:631.55, Y:-279.54, Z:-5.89 [[-7.02841065e-01 -7.11342039e-01 2.63459313e-03 6.31550335e+02] [ 7.11336947e-01 -7.02846002e-01 -2.69149160e-03 -2.79539149e+02] [ 3.76628437e-03 -1.76073893e-05 9.99992907e-01 -5.88586554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6865599949999 meters 0.051684545855295486 Centerline is valid? [True, True] Translation: X:631.51, Y:-279.50, Z:-5.89 [[-7.01497133e-01 -7.12667192e-01 2.69168434e-03 6.31509306e+02] [ 7.12661891e-01 -7.01502297e-01 -2.74892247e-03 -2.79500450e+02] [ 3.84728961e-03 -1.01003776e-05 9.99992599e-01 -5.88640947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.746559995 meters 0.05187468274714417 Centerline is valid? [True, True] Translation: X:631.47, Y:-279.46, Z:-5.89 [[-6.97990657e-01 -7.16094918e-01 4.13665098e-03 6.31466127e+02] [ 7.16082462e-01 -6.98002915e-01 -4.22353098e-03 -2.79461933e+02] [ 5.91184350e-03 1.41980553e-05 9.99982525e-01 -5.88782148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8065599949999 meters 0.051572134738698865 Centerline is valid? [True, True] Translation: X:631.42, Y:-279.42, Z:-5.89 [[-6.93956109e-01 -7.20000951e-01 4.85269928e-03 6.31422826e+02] [ 7.19983915e-01 -6.93973074e-01 -4.95323765e-03 -2.79423784e+02] [ 6.93397845e-03 5.65359032e-05 9.99975958e-01 -5.88806851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.866559995 meters 0.052670394222059554 Centerline is valid? [True, True] Translation: X:631.38, Y:-279.39, Z:-5.89 [[-6.91552717e-01 -7.22312376e-01 4.43517567e-03 6.31380196e+02] [ 7.22298201e-01 -6.91566936e-01 -4.52581136e-03 -2.79385230e+02] [ 6.33627040e-03 7.36822669e-05 9.99979923e-01 -5.88886853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9265599949999 meters 0.05238324518397624 Centerline is valid? [True, True] Translation: X:631.34, Y:-279.34, Z:-5.89 [[-6.89951962e-01 -7.23841475e-01 4.45064178e-03 6.31339576e+02] [ 7.23827240e-01 -6.89966311e-01 -4.54041545e-03 -2.79343977e+02] [ 6.35733391e-03 8.88272079e-05 9.99979788e-01 -5.88803888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.986559995 meters 0.0516759054456987 Centerline is valid? [True, True] Translation: X:631.30, Y:-279.30, Z:-5.89 [[-6.88577852e-01 -7.25150408e-01 4.17454291e-03 6.31299366e+02] [ 7.25137915e-01 -6.88590500e-01 -4.25769349e-03 -2.79301643e+02] [ 5.96201876e-03 9.53659035e-05 9.99982222e-01 -5.88772683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0465599949999 meters 0.051212061492315955 Centerline is valid? [True, True] Translation: X:631.26, Y:-279.26, Z:-5.89 [[-6.88322778e-01 -7.25393797e-01 3.94874110e-03 6.31259173e+02] [ 7.25382629e-01 -6.88334098e-01 -4.02625738e-03 -2.79260859e+02] [ 5.63867527e-03 9.29835399e-05 9.99984098e-01 -5.88702166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.106559995 meters 0.05213356830274382 Centerline is valid? [True, True] Translation: X:631.22, Y:-279.22, Z:-5.89 [[-6.88803443e-01 -7.24936179e-01 4.16575071e-03 6.31215442e+02] [ 7.24923746e-01 -6.88816033e-01 -4.24674205e-03 -2.79223455e+02] [ 5.94805284e-03 9.46810622e-05 9.99982306e-01 -5.88968434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.166559995 meters 0.0512439817521913 Centerline is valid? [True, True] Translation: X:631.18, Y:-279.18, Z:-5.89 [[-6.89492371e-01 -7.24270860e-01 5.65615718e-03 6.31178642e+02] [ 7.24247928e-01 -6.89515559e-01 -5.76473747e-03 -2.79178059e+02] [ 8.07523975e-03 1.21717611e-04 9.99967387e-01 -5.88932509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2265599949999 meters 0.051233267039995 Centerline is valid? [True, True] Translation: X:631.14, Y:-279.14, Z:-5.89 [[-6.89874301e-01 -7.23901407e-01 6.34047496e-03 6.31138985e+02] [ 7.23872592e-01 -6.89903425e-01 -6.46021050e-03 -2.79138169e+02] [ 9.05087086e-03 1.32962841e-04 9.99959031e-01 -5.89064732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.286559995 meters 0.05139415083166484 Centerline is valid? [True, True] Translation: X:631.10, Y:-279.10, Z:-5.89 [[-6.91147756e-01 -7.22676594e-01 7.30205024e-03 6.31101463e+02] [ 7.22638333e-01 -6.91186315e-01 -7.43762649e-03 -2.79095691e+02] [ 1.04220758e-02 1.36242554e-04 9.99945679e-01 -5.89167114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3465599949999 meters 0.05141715108804136 Centerline is valid? [True, True] Translation: X:631.06, Y:-279.05, Z:-5.89 [[-6.92716326e-01 -7.21174781e-01 7.14323438e-03 6.31063703e+02] [ 7.21138107e-01 -6.92753147e-01 -7.27380849e-03 -2.79052355e+02] [ 1.01941853e-02 1.12572627e-04 9.99948032e-01 -5.89079798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.406559995 meters 0.05075790749185448 Centerline is valid? [True, True] Translation: X:631.03, Y:-279.01, Z:-5.89 [[-6.95790610e-01 -7.18221942e-01 5.71569200e-03 6.31028529e+02] [ 7.18198375e-01 -6.95814084e-01 -5.81846392e-03 -2.79006857e+02] [ 8.15600745e-03 5.65681462e-05 9.99966738e-01 -5.88844272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4665599949999 meters 0.05131497434988177 Centerline is valid? [True, True] Translation: X:630.99, Y:-278.96, Z:-5.89 [[-6.97097669e-01 -7.16966856e-01 3.65613939e-03 6.30989749e+02] [ 7.16957201e-01 -6.97107256e-01 -3.72089372e-03 -2.78964089e+02] [ 5.21647877e-03 2.74691262e-05 9.99986394e-01 -5.88640125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.526559995 meters 0.05130725949147051 Centerline is valid? [True, True] Translation: X:630.95, Y:-278.93, Z:-5.89 [[-6.96390406e-01 -7.17659804e-01 2.19282774e-03 6.30947954e+02] [ 7.17656336e-01 -6.96393858e-01 -2.23098398e-03 -2.78925361e+02] [ 3.12815930e-03 2.00608797e-05 9.99995107e-01 -5.88717358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5865599949999 meters 0.05141653287156926 Centerline is valid? [True, True] Translation: X:630.91, Y:-278.88, Z:-5.89 [[-6.95213861e-01 -7.18797484e-01 2.80447309e-03 6.30906960e+02] [ 7.18791824e-01 -6.95219517e-01 -2.85254086e-03 -2.78884532e+02] [ 4.00012362e-03 3.27063844e-05 9.99991999e-01 -5.88733971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.646559995 meters 0.051556724679616736 Centerline is valid? [True, True] Translation: X:630.87, Y:-278.85, Z:-5.89 [[-6.94657748e-01 -7.19332494e-01 3.37292249e-03 6.30865387e+02] [ 7.19324317e-01 -6.94665935e-01 -3.43009840e-03 -2.78845929e+02] [ 4.81043559e-03 4.34807354e-05 9.99988429e-01 -5.88821787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7065599949999 meters 0.051483923788531887 Centerline is valid? [True, True] Translation: X:630.82, Y:-278.81, Z:-5.89 [[-6.94661044e-01 -7.19328647e-01 3.51178775e-03 6.30823649e+02] [ 7.19319788e-01 -6.94669919e-01 -3.57026467e-03 -2.78806324e+02] [ 5.00772697e-03 4.59746317e-05 9.99987460e-01 -5.88868056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.766559995 meters 0.05126291148883233 Centerline is valid? [True, True] Translation: X:630.78, Y:-278.77, Z:-5.89 [[-6.95760892e-01 -7.18264255e-01 3.63881732e-03 6.30782226e+02] [ 7.18254735e-01 -6.95770407e-01 -3.69828379e-03 -2.78768600e+02] [ 5.18812645e-03 4.04765412e-05 9.99986541e-01 -5.88984825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8265599949999 meters 0.051640382254123256 Centerline is valid? [True, True] Translation: X:630.74, Y:-278.73, Z:-5.89 [[-6.98764132e-01 -7.15341379e-01 3.92431246e-03 6.30742393e+02] [ 7.15330266e-01 -6.98775151e-01 -3.98741440e-03 -2.78726375e+02] [ 5.59457454e-03 2.09173180e-05 9.99984350e-01 -5.88985064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.886559995 meters 0.05187192423159438 Centerline is valid? [True, True] Translation: X:630.70, Y:-278.68, Z:-5.89 [[-7.01313668e-01 -7.12846032e-01 3.11033458e-03 6.30702740e+02] [ 7.12839029e-01 -7.01320565e-01 -3.15955770e-03 -2.78684223e+02] [ 4.43361977e-03 1.32688822e-06 9.99990171e-01 -5.88935962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9465599949999 meters 0.051535030661701925 Centerline is valid? [True, True] Translation: X:630.66, Y:-278.64, Z:-5.89 [[-7.04424133e-01 -7.09776499e-01 1.99052357e-03 6.30663532e+02] [ 7.09773620e-01 -7.04426946e-01 -2.02136190e-03 -2.78643457e+02] [ 2.83689361e-03 -1.10749833e-05 9.99995976e-01 -5.89000586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.006559995 meters 0.05122914963753624 Centerline is valid? [True, True] Translation: X:630.63, Y:-278.60, Z:-5.89 [[-7.05840738e-01 -7.08369705e-01 1.10158367e-03 6.30626340e+02] [ 7.08368823e-01 -7.05841597e-01 -1.11825423e-03 -2.78603055e+02] [ 1.56968100e-03 -8.98186137e-06 9.99998768e-01 -5.88959817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0665599949999 meters 0.051084111105841705 Centerline is valid? [True, True] Translation: X:630.58, Y:-278.57, Z:-5.89 [[-7.04787295e-01 -7.09418663e-01 1.68938593e-04 6.30583824e+02] [ 7.09418643e-01 -7.04787315e-01 -1.71394886e-04 -2.78565079e+02] [ 2.40656508e-04 -9.48750631e-07 9.99999971e-01 -5.88839752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.126559995 meters 0.05158908821392167 Centerline is valid? [True, True] Translation: X:630.54, Y:-278.53, Z:-5.89 [[-7.03532349e-01 -7.10663048e-01 -5.16199400e-04 6.30541036e+02] [ 7.10662855e-01 -7.03532539e-01 5.23789583e-04 -2.78525957e+02] [-7.35400975e-04 1.65917675e-06 9.99999730e-01 -5.88850887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1865599949999 meters 0.050995769460789445 Centerline is valid? [True, True] Translation: X:630.50, Y:-278.49, Z:-5.89 [[-7.00373636e-01 -7.13776115e-01 6.54164469e-04 6.30497052e+02] [ 7.13775807e-01 -7.00373941e-01 -6.63479179e-04 -2.78488565e+02] [ 9.31735338e-04 2.24344648e-06 9.99999566e-01 -5.89034666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.246559995 meters 0.05114449769699175 Centerline is valid? [True, True] Translation: X:630.45, Y:-278.45, Z:-5.89 [[-6.97491368e-01 -7.16590589e-01 1.92858709e-03 6.30454465e+02] [ 7.16587920e-01 -6.97494035e-01 -1.95577691e-03 -2.78451146e+02] [ 2.74666932e-03 1.78646934e-05 9.99996228e-01 -5.89181184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3065599949999 meters 0.05151536787085797 Centerline is valid? [True, True] Translation: X:630.41, Y:-278.41, Z:-5.89 [[-6.96667231e-01 -7.17388307e-01 2.96411925e-03 6.30413637e+02] [ 7.17382014e-01 -6.96673536e-01 -3.00500422e-03 -2.78412474e+02] [ 4.22077833e-03 3.29178706e-05 9.99991092e-01 -5.89229656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.366559995 meters 0.0516081487558449 Centerline is valid? [True, True] Translation: X:630.38, Y:-278.37, Z:-5.89 [[-6.96695810e-01 -7.17357943e-01 3.53968335e-03 6.30375151e+02] [ 7.17348974e-01 -6.96704801e-01 -3.58748572e-03 -2.78370431e+02] [ 5.03962576e-03 3.98019484e-05 9.99987300e-01 -5.89058468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4265599949999 meters 0.05166683985880911 Centerline is valid? [True, True] Translation: X:630.33, Y:-278.33, Z:-5.89 [[-6.97607134e-01 -7.16469348e-01 3.99503154e-03 6.30332871e+02] [ 7.16457914e-01 -6.97618572e-01 -4.04787843e-03 -2.78331980e+02] [ 5.68718901e-03 3.84430924e-05 9.99983827e-01 -5.89286965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.486559995 meters 0.05216539143413858 Centerline is valid? [True, True] Translation: X:630.29, Y:-278.29, Z:-5.89 [[-7.00445530e-01 -7.13693695e-01 4.16768754e-03 6.30294633e+02] [ 7.13681209e-01 -7.00457929e-01 -4.22169932e-03 -2.78288060e+02] [ 5.93228997e-03 1.73298614e-05 9.99982404e-01 -5.89114017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5465599949999 meters 0.05231545263993028 Centerline is valid? [True, True] Translation: X:630.26, Y:-278.25, Z:-5.89 [[-7.04468921e-01 -7.09724825e-01 3.77005061e-03 6.30258374e+02] [ 7.09714556e-01 -7.04479008e-01 -3.81775851e-03 -2.78245075e+02] [ 5.36547950e-03 -1.38324188e-05 9.99985606e-01 -5.89089111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.606559995 meters 0.05179629678289019 Centerline is valid? [True, True] Translation: X:630.22, Y:-278.20, Z:-5.89 [[-7.07887522e-01 -7.06320810e-01 2.48386675e-03 6.30220765e+02] [ 7.06316334e-01 -7.07891880e-01 -2.51457602e-03 -2.78202053e+02] [ 3.53440648e-03 -2.56413286e-05 9.99993754e-01 -5.88958115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.666559995 meters 0.052103115589077015 Centerline is valid? [True, True] Translation: X:630.18, Y:-278.16, Z:-5.89 [[-7.09473074e-01 -7.04730005e-01 1.89117460e-03 6.30180681e+02] [ 7.04727406e-01 -7.09475594e-01 -1.91427169e-03 -2.78159860e+02] [ 2.69078692e-03 -2.53616514e-05 9.99996380e-01 -5.88923085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7265599949999 meters 0.05202085095512902 Centerline is valid? [True, True] Translation: X:630.14, Y:-278.12, Z:-5.89 [[-7.09133489e-01 -7.05070422e-01 2.32262536e-03 6.30142254e+02] [ 7.05066505e-01 -7.09137292e-01 -2.35041770e-03 -2.78118822e+02] [ 3.30427026e-03 -2.91545611e-05 9.99994540e-01 -5.89003582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.786559995 meters 0.05149062031005795 Centerline is valid? [True, True] Translation: X:630.10, Y:-278.08, Z:-5.89 [[-7.05612469e-01 -7.08591695e-01 2.97556895e-03 6.30100035e+02] [ 7.08585301e-01 -7.05618743e-01 -3.01029054e-03 -2.78080419e+02] [ 4.23268410e-03 -1.56541250e-05 9.99991042e-01 -5.89109601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8465599949999 meters 0.05158821516481983 Centerline is valid? [True, True] Translation: X:630.06, Y:-278.04, Z:-5.89 [[-7.03135682e-01 -7.11048255e-01 3.25432502e-03 6.30059088e+02] [ 7.11040639e-01 -7.03143213e-01 -3.29117331e-03 -2.78042751e+02] [ 4.62843959e-03 -1.84046093e-07 9.99989289e-01 -5.89220486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.906559995 meters 0.05182224129872094 Centerline is valid? [True, True] Translation: X:630.02, Y:-278.00, Z:-5.89 [[-6.99220839e-01 -7.14897706e-01 3.38952821e-03 6.30016771e+02] [ 7.14889492e-01 -6.99229054e-01 -3.42702474e-03 -2.78003601e+02] [ 4.82002873e-03 2.68909846e-05 9.99988383e-01 -5.89070410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9665599949999 meters 0.05170962668313817 Centerline is valid? [True, True] Translation: X:629.97, Y:-277.97, Z:-5.89 [[-6.94889236e-01 -7.19109664e-01 3.20014554e-03 6.29972915e+02] [ 7.19102390e-01 -6.94896602e-01 -3.23493041e-03 -2.77966569e+02] [ 4.55003998e-03 5.33139879e-05 9.99989647e-01 -5.89139977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.026559995 meters 0.05141527903247423 Centerline is valid? [True, True] Translation: X:629.93, Y:-277.93, Z:-5.89 [[-6.91840899e-01 -7.22044009e-01 2.93602841e-03 6.29931554e+02] [ 7.22037915e-01 -6.91847126e-01 -2.96710647e-03 -2.77926713e+02] [ 4.17366427e-03 6.71582268e-05 9.99991288e-01 -5.89055019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0865599949999 meters 0.05194789350844243 Centerline is valid? [True, True] Translation: X:629.89, Y:-277.89, Z:-5.89 [[-6.91457205e-01 -7.22411676e-01 2.88166115e-03 6.29890723e+02] [ 7.22405812e-01 -6.91463207e-01 -2.91142349e-03 -2.77885684e+02] [ 4.09580898e-03 6.86040178e-05 9.99991610e-01 -5.89036316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.146559995 meters 0.05130308915385087 Centerline is valid? [True, True] Translation: X:629.85, Y:-277.85, Z:-5.89 [[-6.91368782e-01 -7.22496653e-01 2.79183599e-03 6.29850452e+02] [ 7.22491153e-01 -6.91374415e-01 -2.81981199e-03 -2.77847103e+02] [ 3.96750869e-03 6.75468223e-05 9.99992127e-01 -5.89011980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2065599949999 meters 0.051469437921742536 Centerline is valid? [True, True] Translation: X:629.81, Y:-277.81, Z:-5.89 [[-6.92071730e-01 -7.21821750e-01 3.17532697e-03 6.29812441e+02] [ 7.21814633e-01 -6.92079010e-01 -3.20615903e-03 -2.77805876e+02] [ 4.51185247e-03 7.31054498e-05 9.99989819e-01 -5.89028060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.266559995 meters 0.05131453745298927 Centerline is valid? [True, True] Translation: X:629.77, Y:-277.76, Z:-5.89 [[-6.92374873e-01 -7.21527616e-01 3.86457199e-03 6.29774156e+02] [ 7.21517075e-01 -6.92385653e-01 -3.90110307e-03 -2.77762694e+02] [ 5.49052780e-03 8.73289359e-05 9.99984923e-01 -5.89007017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3265599949999 meters 0.05232450598067154 Centerline is valid? [True, True] Translation: X:629.73, Y:-277.73, Z:-5.89 [[-6.92627256e-01 -7.21282512e-01 4.36148832e-03 6.29731188e+02] [ 7.21269089e-01 -6.92640981e-01 -4.40136850e-03 -2.77726502e+02] [ 6.19557568e-03 9.72989165e-05 9.99980803e-01 -5.89281177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.386559995 meters 0.05120809453589389 Centerline is valid? [True, True] Translation: X:629.70, Y:-277.68, Z:-5.89 [[-6.92433527e-01 -7.21466574e-01 4.66835748e-03 6.29695345e+02] [ 7.21451209e-01 -6.92449255e-01 -4.70983615e-03 -2.77679985e+02] [ 6.63059001e-03 1.06743693e-04 9.99978012e-01 -5.88999493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4465599949999 meters 0.05072750913427159 Centerline is valid? [True, True] Translation: X:629.65, Y:-277.64, Z:-5.89 [[-6.91489805e-01 -7.22367745e-01 5.16620881e-03 6.29654147e+02] [ 7.22348963e-01 -6.91509092e-01 -5.21076565e-03 -2.77638888e+02] [ 7.33656940e-03 1.28614249e-04 9.99973079e-01 -5.89035635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.506559995 meters 0.05127919112728433 Centerline is valid? [True, True] Translation: X:629.61, Y:-277.60, Z:-5.89 [[-6.89534557e-01 -7.24228367e-01 5.94701173e-03 6.29614084e+02] [ 7.24203560e-01 -6.89560181e-01 -5.99673292e-03 -2.77597010e+02] [ 8.44382657e-03 1.71892490e-04 9.99964335e-01 -5.89056702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5665599949999 meters 0.051493350501526536 Centerline is valid? [True, True] Translation: X:629.58, Y:-277.55, Z:-5.89 [[-6.88703190e-01 -7.25013441e-01 6.58980673e-03 6.29575251e+02] [ 7.24983027e-01 -6.88734687e-01 -6.64385606e-03 -2.77553901e+02] [ 9.35551342e-03 2.01853171e-04 9.99956216e-01 -5.88991647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.626559995 meters 0.05109317294408582 Centerline is valid? [True, True] Translation: X:629.54, Y:-277.51, Z:-5.89 [[-6.89623775e-01 -7.24145237e-01 5.72058153e-03 6.29535375e+02] [ 7.24122299e-01 -6.89647481e-01 -5.76614690e-03 -2.77510659e+02] [ 8.12071245e-03 1.65928659e-04 9.99967013e-01 -5.88894569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6865599949999 meters 0.05117979725686222 Centerline is valid? [True, True] Translation: X:629.49, Y:-277.47, Z:-5.89 [[-6.91638922e-01 -7.22225460e-01 5.09769488e-03 6.29494417e+02] [ 7.22207203e-01 -6.91657696e-01 -5.13695506e-03 -2.77470042e+02] [ 7.23589963e-03 1.28673901e-04 9.99973812e-01 -5.88929064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.746559995 meters 0.05073691371174155 Centerline is valid? [True, True] Translation: X:629.46, Y:-277.43, Z:-5.89 [[-6.95657309e-01 -7.18364364e-01 3.68086757e-03 6.29456831e+02] [ 7.18354794e-01 -6.95667044e-01 -3.70848139e-03 -2.77426141e+02] [ 5.22469914e-03 6.43366825e-05 9.99986349e-01 -5.88806907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8065599949999 meters 0.050622806057753995 Centerline is valid? [True, True] Translation: X:629.42, Y:-277.38, Z:-5.89 [[-6.99072656e-01 -7.15043902e-01 3.10477100e-03 6.29419264e+02] [ 7.15037065e-01 -6.99079550e-01 -3.12719679e-03 -2.77382790e+02] [ 4.40656491e-03 3.38885742e-05 9.99990290e-01 -5.88773352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.866559995 meters 0.05041099326505525 Centerline is valid? [True, True] Translation: X:629.38, Y:-277.34, Z:-5.89 [[-7.00203548e-01 -7.13933815e-01 3.67408280e-03 6.29379236e+02] [ 7.13924230e-01 -7.00213187e-01 -3.69955336e-03 -2.77341449e+02] [ 5.21387747e-03 3.25763411e-05 9.99986407e-01 -5.88931332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9265599949999 meters 0.05139979713359449 Centerline is valid? [True, True] Translation: X:629.34, Y:-277.30, Z:-5.89 [[-6.98691332e-01 -7.15408204e-01 4.63942438e-03 6.29337475e+02] [ 7.15392960e-01 -6.98706733e-01 -4.67056406e-03 -2.77303765e+02] [ 6.58295689e-03 5.57289146e-05 9.99978331e-01 -5.89145488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.986559995 meters 0.05094113286149314 Centerline is valid? [True, True] Translation: X:629.30, Y:-277.26, Z:-5.89 [[-6.97584859e-01 -7.16478584e-01 5.81416885e-03 6.29296034e+02] [ 7.16454692e-01 -6.97609083e-01 -5.85168111e-03 -2.77263437e+02] [ 8.24862119e-03 8.35444101e-05 9.99965976e-01 -5.89204150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0465599949999 meters 0.05105524116694118 Centerline is valid? [True, True] Translation: X:629.26, Y:-277.22, Z:-5.89 [[-6.97203540e-01 -7.16851015e-01 5.64324263e-03 6.29255717e+02] [ 7.16828533e-01 -6.97226373e-01 -5.67798048e-03 -2.77223099e+02] [ 8.00488366e-03 8.65292451e-05 9.99967957e-01 -5.89125197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.106559995 meters 0.05146018048436922 Centerline is valid? [True, True] Translation: X:629.21, Y:-277.18, Z:-5.89 [[-6.97219195e-01 -7.16842629e-01 4.69475589e-03 6.29213606e+02] [ 7.16827078e-01 -6.97234997e-01 -4.72227044e-03 -2.77184535e+02] [ 6.65847286e-03 7.28705509e-05 9.99977829e-01 -5.89133260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.166559995 meters 0.050964523375619845 Centerline is valid? [True, True] Translation: X:629.17, Y:-277.14, Z:-5.89 [[-6.97978272e-01 -7.16107520e-01 4.04375732e-03 6.29171604e+02] [ 7.16095977e-01 -6.97989983e-01 -4.06639911e-03 -2.77144570e+02] [ 5.73448109e-03 5.74601266e-05 9.99983556e-01 -5.89113764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2265599949999 meters 0.05138869114409123 Centerline is valid? [True, True] Translation: X:629.13, Y:-277.10, Z:-5.89 [[-6.98397253e-01 -7.15698559e-01 4.10493063e-03 6.29129858e+02] [ 7.15686663e-01 -6.98409314e-01 -4.12670361e-03 -2.77104863e+02] [ 5.82039761e-03 5.57656425e-05 9.99983060e-01 -5.89129166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.286559995 meters 0.0511881808396463 Centerline is valid? [True, True] Translation: X:629.09, Y:-277.07, Z:-5.89 [[-6.98539999e-01 -7.15557623e-01 4.37694014e-03 6.29088341e+02] [ 7.15544105e-01 -6.98553709e-01 -4.39880301e-03 -2.77066541e+02] [ 6.20512479e-03 5.91538679e-05 9.99980746e-01 -5.89273722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3465599949999 meters 0.0511928880904962 Centerline is valid? [True, True] Translation: X:629.05, Y:-277.03, Z:-5.89 [[-6.99142322e-01 -7.14966321e-01 4.81389846e-03 6.29047859e+02] [ 7.14949964e-01 -6.99158892e-01 -4.83653212e-03 -2.77026292e+02] [ 6.82363749e-03 6.02722322e-05 9.99976717e-01 -5.89304501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.406559995 meters 0.050890644184141146 Centerline is valid? [True, True] Translation: X:629.01, Y:-276.99, Z:-5.89 [[-7.00022173e-01 -7.14107676e-01 4.38001599e-03 6.29007268e+02] [ 7.14094127e-01 -7.00035874e-01 -4.39925032e-03 -2.76987608e+02] [ 6.20770674e-03 4.81709227e-05 9.99980731e-01 -5.89414603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4665599949999 meters 0.050794239432460475 Centerline is valid? [True, True] Translation: X:628.97, Y:-276.95, Z:-5.89 [[-7.00866660e-01 -7.13281697e-01 3.89161504e-03 6.28967113e+02] [ 7.13270994e-01 -7.00877464e-01 -3.90766482e-03 -2.76945575e+02] [ 5.51481108e-03 3.70241366e-05 9.99984793e-01 -5.89274899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.526559995 meters 0.05104316236791138 Centerline is valid? [True, True] Translation: X:628.93, Y:-276.90, Z:-5.89 [[-7.01804449e-01 -7.12359818e-01 3.74237913e-03 6.28927445e+02] [ 7.12349913e-01 -7.01814426e-01 -3.75677804e-03 -2.76904986e+02] [ 5.30263339e-03 2.93599074e-05 9.99985941e-01 -5.89330643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5865599949999 meters 0.05112302943073323 Centerline is valid? [True, True] Translation: X:628.89, Y:-276.87, Z:-5.90 [[-7.01488122e-01 -7.12671364e-01 3.73378647e-03 6.28885999e+02] [ 7.12661513e-01 -7.01498058e-01 -3.74730443e-03 -2.76866675e+02] [ 5.28984052e-03 3.22363689e-05 9.99986008e-01 -5.89669431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.646559995 meters 0.051101994896194415 Centerline is valid? [True, True] Translation: X:628.85, Y:-276.83, Z:-5.90 [[-7.00442463e-01 -7.13698373e-01 3.87157889e-03 6.28846089e+02] [ 7.13687803e-01 -7.00453161e-01 -3.88440254e-03 -2.76826268e+02] [ 5.48415144e-03 4.22981502e-05 9.99984961e-01 -5.89564776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7065599949999 meters 0.05039136985072671 Centerline is valid? [True, True] Translation: X:628.81, Y:-276.78, Z:-5.89 [[-6.97997690e-01 -7.16088837e-01 4.00018821e-03 6.28806047e+02] [ 7.16077599e-01 -6.98009150e-01 -4.01240529e-03 -2.76784502e+02] [ 5.66540661e-03 6.37955424e-05 9.99983949e-01 -5.89474261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.766559995 meters 0.05119021145784743 Centerline is valid? [True, True] Translation: X:628.76, Y:-276.75, Z:-5.89 [[-6.94286955e-01 -7.19690283e-01 3.39419386e-03 6.28764052e+02] [ 7.19682239e-01 -6.94295247e-01 -3.40364392e-03 -2.76746607e+02] [ 4.80614212e-03 7.96354634e-05 9.99988447e-01 -5.89473166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8265599949999 meters 0.05111918039181925 Centerline is valid? [True, True] Translation: X:628.72, Y:-276.71, Z:-5.89 [[-6.91328435e-01 -7.22532720e-01 3.38576642e-03 6.28721884e+02] [ 7.22524754e-01 -6.91336718e-01 -3.39431372e-03 -2.76707074e+02] [ 4.79320737e-03 9.97144561e-05 9.99988508e-01 -5.89433744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.886559995 meters 0.05109454163549774 Centerline is valid? [True, True] Translation: X:628.68, Y:-276.67, Z:-5.90 [[-6.89006281e-01 -7.24745225e-01 3.83451514e-03 6.28678792e+02] [ 7.24735047e-01 -6.89016939e-01 -3.84316018e-03 -2.76669682e+02] [ 5.42735788e-03 1.31046009e-04 9.99985263e-01 -5.89508603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9465599949999 meters 0.05097541630534593 Centerline is valid? [True, True] Translation: X:628.64, Y:-276.63, Z:-5.89 [[-6.86801343e-01 -7.26837738e-01 3.28911318e-03 6.28636962e+02] [ 7.26830277e-01 -6.86809207e-01 -3.29561594e-03 -2.76630507e+02] [ 4.65437125e-03 1.27193592e-04 9.99989160e-01 -5.89446831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.006559995 meters 0.05379647829132153 Centerline is valid? [True, True] Translation: X:628.59, Y:-276.60, Z:-5.90 [[-6.85669958e-01 -7.27905586e-01 3.18851115e-03 6.28589463e+02] [ 7.27898590e-01 -6.85677359e-01 -3.19389460e-03 -2.76598157e+02] [ 4.51114362e-03 1.30955197e-04 9.99989816e-01 -5.89529769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0665599949999 meters 0.05492821710340693 Centerline is valid? [True, True] Translation: X:628.54, Y:-276.56, Z:-5.90 [[-6.84748948e-01 -7.28768111e-01 3.98980506e-03 6.28543929e+02] [ 7.28757178e-01 -6.84760550e-01 -3.99549329e-03 -2.76562527e+02] [ 5.64384920e-03 1.71689245e-04 9.99984059e-01 -5.89707529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.126559995 meters 0.05117326213319335 Centerline is valid? [True, True] Translation: X:628.51, Y:-276.51, Z:-5.90 [[-6.84928273e-01 -7.28593969e-01 4.90813960e-03 6.28512719e+02] [ 7.28577429e-01 -6.84945826e-01 -4.91381753e-03 -2.76513337e+02] [ 6.94198755e-03 2.10347181e-04 9.99975882e-01 -5.89524230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1865599949999 meters 0.0525734754907285 Centerline is valid? [True, True] Translation: X:628.47, Y:-276.48, Z:-5.90 [[-6.85345609e-01 -7.28200716e-01 5.01135586e-03 6.28469034e+02] [ 7.28183471e-01 -6.85363898e-01 -5.01595919e-03 -2.76478539e+02] [ 7.08722746e-03 2.11520900e-04 9.99974863e-01 -5.89676717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.246559995 meters 0.051405831663086286 Centerline is valid? [True, True] Translation: X:628.43, Y:-276.43, Z:-5.89 [[-6.87439432e-01 -7.26224766e-01 4.96149017e-03 6.28433662e+02] [ 7.26207820e-01 -6.87457310e-01 -4.96476088e-03 -2.76433022e+02] [ 7.01634499e-03 1.90100564e-04 9.99975367e-01 -5.89491140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3065599949999 meters 0.050664370712680845 Centerline is valid? [True, True] Translation: X:628.40, Y:-276.39, Z:-5.89 [[-6.92290892e-01 -7.21604696e-01 4.47032553e-03 6.28398595e+02] [ 7.21590847e-01 -6.92305313e-01 -4.47256913e-03 -2.76386330e+02] [ 6.32225700e-03 1.29427107e-04 9.99980006e-01 -5.89282968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.366559995 meters 0.051267119583872915 Centerline is valid? [True, True] Translation: X:628.36, Y:-276.34, Z:-5.89 [[-6.96120336e-01 -7.17913703e-01 4.04883496e-03 6.28359003e+02] [ 7.17902285e-01 -6.96132105e-01 -4.04979194e-03 -2.76343857e+02] [ 5.72592513e-03 8.75253397e-05 9.99983603e-01 -5.89260456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4265599949999 meters 0.050841353342139226 Centerline is valid? [True, True] Translation: X:628.32, Y:-276.30, Z:-5.89 [[-7.01967352e-01 -7.12197908e-01 3.99704922e-03 6.28320712e+02] [ 7.12186694e-01 -7.01978730e-01 -3.99689676e-03 -2.76302565e+02] [ 5.65242505e-03 4.09542304e-05 9.99984024e-01 -5.89445027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.486559995 meters 0.05130859661190428 Centerline is valid? [True, True] Translation: X:628.26, Y:-277.11, Z:-4.89 [[-7.57670357e-01 6.52612229e-01 5.73662762e-03 6.28258512e+02] [ 6.52593357e-01 7.57692073e-01 -4.96317305e-03 -2.77106675e+02] [-7.58562470e-03 -1.67640194e-05 -9.99971229e-01 -4.89422602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5465599949999 meters 0.05131520243411694 Centerline is valid? [True, True] Translation: X:627.71, Y:-276.56, Z:-4.89 [[-7.99507639e-01 6.00622365e-01 6.34901489e-03 6.27707122e+02] [ 6.00603585e-01 7.99532848e-01 -4.74960096e-03 -2.76563775e+02] [-7.92896251e-03 1.58988557e-05 -9.99968565e-01 -4.89246512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.606559995 meters 0.05129721192339433 Centerline is valid? [True, True] Translation: X:628.04, Y:-276.00, Z:-5.90 [[-7.64853314e-01 -6.44180056e-01 5.60929117e-03 6.28039884e+02] [ 6.44162282e-01 -7.64873881e-01 -4.78546085e-03 -2.75997078e+02] [ 7.37309874e-03 -4.68817846e-05 9.99972817e-01 -5.89514316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.666559995 meters 0.05169538461840184 Centerline is valid? [True, True] Translation: X:627.53, Y:-276.44, Z:-4.89 [[-7.98750685e-01 6.01625041e-01 6.68228040e-03 6.27534825e+02] [ 6.01604594e-01 7.98778634e-01 -4.96045455e-03 -2.76438793e+02] [-8.32199648e-03 5.79241171e-05 -9.99965370e-01 -4.89089926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7265599949999 meters 0.05214891900082163 Centerline is valid? [True, True] Translation: X:627.71, Y:-276.46, Z:-4.89 [[-8.39579506e-01 5.43189392e-01 7.17887872e-03 6.27706759e+02] [ 5.43170130e-01 8.39610196e-01 -4.57490319e-03 -2.76464890e+02] [-8.51249865e-03 5.83575184e-05 -9.99963766e-01 -4.89115641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.786559995 meters 0.051731318120901905 Centerline is valid? [True, True] Translation: X:627.90, Y:-275.81, Z:-5.90 [[-8.10785204e-01 -5.85307368e-01 6.52973750e-03 6.27902244e+02] [ 5.85287586e-01 -8.10811494e-01 -4.81284881e-03 -2.75813411e+02] [ 8.11138209e-03 -8.04123134e-05 9.99967099e-01 -5.89625186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8465599949999 meters 0.0511448082415759 Centerline is valid? [True, True] Translation: X:627.59, Y:-276.39, Z:-4.89 [[-8.44304091e-01 5.35801239e-01 8.22394127e-03 6.27586675e+02] [ 5.35776066e-01 8.44344143e-01 -5.19375250e-03 -2.76385908e+02] [-9.72665567e-03 2.10844180e-05 -9.99952695e-01 -4.88999993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.906559995 meters 0.051930142073219776 Centerline is valid? [True, True] Translation: X:627.96, Y:-276.50, Z:-4.89 [[-8.83524991e-01 4.68310236e-01 8.31340708e-03 6.27962522e+02] [ 4.68289296e-01 8.83564102e-01 -4.42859440e-03 -2.76504727e+02] [-9.41938415e-03 -1.96942782e-05 -9.99955636e-01 -4.89175088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9665599949999 meters 0.05125236029061585 Centerline is valid? [True, True] Translation: X:627.21, Y:-276.04, Z:-4.89 [[-9.16352058e-01 4.00307569e-01 7.26330302e-03 6.27205901e+02] [ 4.00294501e-01 9.16380842e-01 -3.23495355e-03 -2.76040837e+02] [-7.95092812e-03 -5.68960811e-05 -9.99968389e-01 -4.88999157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.026559995 meters 0.051307006349563526 Centerline is valid? [True, True] Translation: X:627.33, Y:-276.00, Z:-4.89 [[-9.43607438e-01 3.31000876e-01 6.58960876e-03 6.27331366e+02] [ 3.30992246e-01 9.43630444e-01 -2.39139182e-03 -2.76004810e+02] [-7.00970823e-03 -7.54257032e-05 -9.99975429e-01 -4.88996862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0865599949999 meters 0.051240157430421644 Centerline is valid? [True, True] Translation: X:627.23, Y:-275.89, Z:-4.89 [[-9.65911706e-01 2.58808873e-01 5.70474518e-03 6.27228191e+02] [ 2.58803786e-01 9.65928547e-01 -1.62552715e-03 -2.75888596e+02] [-5.93107708e-03 -9.37060501e-05 -9.99982407e-01 -4.89147856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.146559995 meters 0.05111273709399804 Centerline is valid? [True, True] Translation: X:627.40, Y:-275.30, Z:-5.90 [[-9.36863992e-01 -3.49652684e-01 5.37223824e-03 6.27404779e+02] [ 3.49647397e-01 -9.36879392e-01 -1.92435252e-03 -2.75299461e+02] [ 5.70599432e-03 7.55325352e-05 9.99983718e-01 -5.89746104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2065599949999 meters 0.050815198787306594 Centerline is valid? [True, True] Translation: X:627.15, Y:-275.87, Z:-4.89 [[-9.67985858e-01 2.50916891e-01 6.64025257e-03 6.27154597e+02] [ 2.50910017e-01 9.68008623e-01 -1.86241379e-03 -2.75869050e+02] [-6.89513283e-03 -1.36684329e-04 -9.99976219e-01 -4.89158640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.266559995 meters 0.05063994927442302 Centerline is valid? [True, True] Translation: X:627.12, Y:-275.78, Z:-4.89 [[-9.83411973e-01 1.81192372e-01 8.37953860e-03 6.27117162e+02] [ 1.81184333e-01 9.83447658e-01 -1.71503967e-03 -2.75780342e+02] [-8.55158971e-03 -1.68349427e-04 -9.99963420e-01 -4.89137174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3265599949999 meters 0.051068848936841195 Centerline is valid? [True, True] Translation: X:627.06, Y:-275.69, Z:-4.89 [[-9.93584561e-01 1.12605442e-01 1.04754051e-02 6.27057030e+02] [ 1.12597213e-01 9.93639764e-01 -1.37392086e-03 -2.75688432e+02] [-1.05634900e-02 -1.85605133e-04 -9.99944188e-01 -4.88778000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.386559995 meters 0.051528500500179014 Centerline is valid? [True, True] Translation: X:626.99, Y:-275.61, Z:-4.89 [[-9.98944507e-01 4.45305181e-02 1.12651970e-02 6.26987165e+02] [ 4.45258193e-02 9.99008011e-01 -6.67700130e-04 -2.75608498e+02] [-1.12837551e-02 -1.65403252e-04 -9.99936323e-01 -4.88901108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4465599949999 meters 0.05104089122690152 Centerline is valid? [True, True] Translation: X:626.94, Y:-275.53, Z:-4.89 [[-9.99669778e-01 -2.30972437e-02 1.12628652e-02 6.26937087e+02] [-2.30971908e-02 9.99733215e-01 1.34791658e-04 -2.75530649e+02] [-1.12629738e-02 -1.25393400e-04 -9.99936563e-01 -4.88508566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.506559995 meters 0.05109681947987472 Centerline is valid? [True, True] Translation: X:626.84, Y:-275.47, Z:-4.89 [[-9.95773367e-01 -9.13184453e-02 9.81547146e-03 6.26837576e+02] [-9.13148440e-02 9.95821738e-01 8.15369481e-04 -2.75466602e+02] [-9.84891813e-03 -8.43750320e-05 -9.99951495e-01 -4.89121325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5665599949999 meters 0.05058914462883587 Centerline is valid? [True, True] Translation: X:626.76, Y:-274.83, Z:-5.90 [[-9.99901425e-01 1.14374136e-02 8.14411057e-03 6.26757171e+02] [-1.14373516e-02 -9.99934590e-01 5.41892749e-05 -2.74831954e+02] [ 8.14419765e-03 -3.89631228e-05 9.99966835e-01 -5.89715224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.626559995 meters 0.05089276874632728 Centerline is valid? [True, True] Translation: X:626.69, Y:-275.49, Z:-4.89 [[-9.95561716e-01 -9.37161381e-02 8.61137168e-03 6.26693090e+02] [-9.37131831e-02 9.95598956e-01 7.46904319e-04 -2.75485332e+02] [-8.64346965e-03 -6.34097066e-05 -9.99962643e-01 -4.89337401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6865599949999 meters 0.051125488471931047 Centerline is valid? [True, True] Translation: X:626.57, Y:-274.84, Z:-5.89 [[-9.99832361e-01 1.64934641e-02 7.95080184e-03 6.26571764e+02] [-1.64928271e-02 -9.99863973e-01 1.45686976e-04 -2.74842637e+02] [ 7.95212320e-03 1.45313539e-05 9.99968381e-01 -5.89424894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.746559995 meters 0.05158813721571034 Centerline is valid? [True, True] Translation: X:626.53, Y:-275.51, Z:-4.90 [[-9.95410497e-01 -9.53173626e-02 8.51718378e-03 6.26530526e+02] [-9.53142421e-02 9.95446934e-01 7.72466813e-04 -2.75505744e+02] [-8.55203398e-03 -4.28873426e-05 -9.99963430e-01 -4.89508796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8065599949999 meters 0.051909659936307743 Centerline is valid? [True, True] Translation: X:626.40, Y:-275.45, Z:-4.90 [[-9.86464136e-01 -1.63777476e-01 8.08985620e-03 6.26401107e+02] [-1.63772175e-01 9.86497308e-01 1.31799870e-03 -2.75447661e+02] [-8.19647986e-03 -2.47348932e-05 -9.99966408e-01 -4.89522423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.866559995 meters 0.05118097684259868 Centerline is valid? [True, True] Translation: X:626.31, Y:-275.39, Z:-4.90 [[-9.73492865e-01 -2.28604482e-01 7.18554506e-03 6.26312241e+02] [-2.28598147e-01 9.73519384e-01 1.70185948e-03 -2.75393268e+02] [-7.38432010e-03 1.41457755e-05 -9.99972735e-01 -4.89509974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9265599949999 meters 0.05169949122713345 Centerline is valid? [True, True] Translation: X:626.21, Y:-275.34, Z:-4.90 [[-9.55281012e-01 -2.95618054e-01 6.93927203e-03 6.26213854e+02] [-2.95610046e-01 9.55306216e-01 2.17602370e-03 -2.75343633e+02] [-7.27240159e-03 2.73955917e-05 -9.99973555e-01 -4.89679573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.986559995 meters 0.05228366572774195 Centerline is valid? [True, True] Translation: X:626.15, Y:-275.29, Z:-4.90 [[-9.33108836e-01 -3.59515982e-01 7.49393007e-03 6.26154397e+02] [-3.59503755e-01 9.33138925e-01 2.96595836e-03 -2.75285128e+02] [-8.05918728e-03 7.34659565e-05 -9.99967522e-01 -4.89812673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0465599949999 meters 0.05286576224134233 Centerline is valid? [True, True] Translation: X:625.88, Y:-275.33, Z:-4.89 [[-9.07050727e-01 -4.20927163e-01 8.90517261e-03 6.25878394e+02] [-4.20905384e-01 9.07094430e-01 4.28414423e-03 -2.75330291e+02] [-9.88114514e-03 1.37701047e-04 -9.99951171e-01 -4.89391698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.106559995 meters 0.05291032578069155 Centerline is valid? [True, True] Translation: X:625.74, Y:-275.32, Z:-4.90 [[-8.75183561e-01 -4.83697865e-01 9.49265599e-03 6.25736817e+02] [-4.83667260e-01 8.75235023e-01 5.44390920e-03 -2.75320310e+02] [-1.09415122e-02 1.73132925e-04 -9.99940125e-01 -4.89593793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.166559995 meters 0.05269570285156963 Centerline is valid? [True, True] Translation: X:625.64, Y:-275.29, Z:-4.90 [[-8.37749678e-01 -5.45981567e-01 8.92219853e-03 6.25637213e+02] [-5.45948309e-01 8.37797169e-01 6.02883821e-03 -2.75293379e+02] [-1.07666272e-02 1.79598069e-04 -9.99942022e-01 -4.89791180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2265599949999 meters 0.05303510283043559 Centerline is valid? [True, True] Translation: X:625.48, Y:-275.32, Z:-4.90 [[-7.95466421e-01 -6.05940846e-01 8.29846422e-03 6.25477186e+02] [-6.05905697e-01 7.95509688e-01 6.52854123e-03 -2.75320362e+02] [-1.05574185e-02 1.65148574e-04 -9.99944255e-01 -4.89607697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.286559995 meters 0.052090316047844504 Centerline is valid? [True, True] Translation: X:625.28, Y:-275.38, Z:-4.90 [[-7.47185415e-01 -6.64573741e-01 7.46308161e-03 6.25277746e+02] [-6.64539008e-01 7.47222677e-01 6.79545701e-03 -2.75384561e+02] [-1.00926661e-02 1.17957518e-04 -9.99949061e-01 -4.89792073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3465599949999 meters 0.05221549258732742 Centerline is valid? [True, True] Translation: X:625.13, Y:-275.41, Z:-4.90 [[-6.91132585e-01 -7.22697420e-01 6.64744474e-03 6.25133104e+02] [-7.22663401e-01 6.91164551e-01 7.01224086e-03 -2.75413738e+02] [-9.66220654e-03 4.25231282e-05 -9.99953319e-01 -4.89852302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.406559995 meters 0.052645151205350786 Centerline is valid? [True, True] Translation: X:624.97, Y:-275.48, Z:-4.90 [[-6.31258364e-01 -7.75550292e-01 5.88409879e-03 6.24967147e+02] [-7.75516903e-01 6.31285786e-01 7.19650101e-03 -2.75482999e+02] [-9.29579639e-03 -2.03666144e-05 -9.99956793e-01 -4.90004832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4665599949999 meters 0.051914587528437355 Centerline is valid? [True, True] Translation: X:624.85, Y:-275.50, Z:-4.90 [[-5.63717893e-01 -8.25952307e-01 4.99244831e-03 6.24847374e+02] [-8.25921604e-01 5.63739989e-01 7.12237416e-03 -2.75503620e+02] [-8.69718413e-03 -1.08361165e-04 -9.99962173e-01 -4.90079876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.526559995 meters 0.052453620560327006 Centerline is valid? [True, True] Translation: X:624.70, Y:-275.56, Z:-4.90 [[-4.94551183e-01 -8.69136733e-01 4.52406653e-03 6.24702145e+02] [-8.69103610e-01 4.94571843e-01 7.58990315e-03 -2.75562614e+02] [-8.83413955e-03 -1.78286973e-04 -9.99960962e-01 -4.89779056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5865599949999 meters 0.05238514544874167 Centerline is valid? [True, True] Translation: X:624.53, Y:-275.71, Z:-4.90 [[-4.26647045e-01 -9.04408150e-01 4.26587811e-03 6.24533421e+02] [-9.04368007e-01 4.26668313e-01 8.52398242e-03 -2.75713981e+02] [-9.52927419e-03 -2.21191776e-04 -9.99954571e-01 -4.90055122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.646559995 meters 0.053991535341927174 Centerline is valid? [True, True] Translation: X:624.39, Y:-275.81, Z:-4.90 [[-3.57170258e-01 -9.34031088e-01 3.91571492e-03 6.24385069e+02] [-9.33982582e-01 3.57191630e-01 9.52234835e-03 -2.75813718e+02] [-1.02928300e-02 -2.56109912e-04 -9.99946995e-01 -4.89536895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7065599949999 meters 0.05190301106364636 Centerline is valid? [True, True] Translation: X:624.26, Y:-275.97, Z:-4.90 [[-2.87349822e-01 -9.57819304e-01 3.50157184e-03 6.24256662e+02] [-9.57759599e-01 2.87371020e-01 1.06980354e-02 -2.75967561e+02] [-1.12530351e-02 -2.79585482e-04 -9.99936644e-01 -4.90016652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.766559995 meters 0.052862701827866745 Centerline is valid? [True, True] Translation: X:624.11, Y:-276.17, Z:-4.90 [[-2.19035781e-01 -9.75711403e-01 3.25342067e-03 6.24110838e+02] [-9.75622960e-01 2.19059742e-01 1.31403370e-02 -2.76174928e+02] [-1.35338702e-02 -2.95907917e-04 -9.99908369e-01 -4.89648689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8265599949999 meters 0.052276351357438564 Centerline is valid? [True, True] Translation: X:624.00, Y:-276.36, Z:-4.90 [[-1.49335389e-01 -9.88784083e-01 2.23130922e-03 6.23998542e+02] [-9.88697576e-01 1.49351845e-01 1.30816743e-02 -2.76359279e+02] [-1.32682015e-02 -2.52533088e-04 -9.99911942e-01 -4.90000834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.886559995 meters 0.05270183909636537 Centerline is valid? [True, True] Translation: X:623.89, Y:-276.61, Z:-4.90 [[-8.29138039e-02 -9.96556157e-01 1.06204333e-03 6.23891672e+02] [-9.96495121e-01 8.29204808e-02 1.10303376e-02 -2.76607408e+02] [-1.10804160e-02 -1.43753745e-04 -9.99938600e-01 -4.90243992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9465599949999 meters 0.05339889885304195 Centerline is valid? [True, True] Translation: X:623.80, Y:-276.90, Z:-4.90 [[-1.81703683e-02 -9.99834878e-01 2.35241486e-04 6.23802834e+02] [-9.99780712e-01 1.81718325e-02 1.04072844e-02 -2.76895115e+02] [-1.04098407e-02 -4.60857097e-05 -9.99945815e-01 -4.90158999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.006559995 meters 0.0532608681165847 Centerline is valid? [True, True] Translation: X:623.74, Y:-277.19, Z:-4.90 [[ 4.58301556e-02 -9.98949076e-01 -5.83933833e-04 6.23740778e+02] [-9.98884113e-01 -4.58338347e-02 1.13924607e-02 -2.77192259e+02] [-1.14072520e-02 6.11639808e-05 -9.99934933e-01 -4.90140276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0665599949999 meters 0.05362725419782265 Centerline is valid? [True, True] Translation: X:623.68, Y:-277.25, Z:-4.90 [[ 1.14005791e-01 -9.93478978e-01 -1.48301265e-03 6.23676539e+02] [-9.93410018e-01 -1.14015352e-01 1.17062423e-02 -2.77254631e+02] [-1.17989918e-02 1.38660209e-04 -9.99930380e-01 -4.90034046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.126559995 meters 0.0548274053755468 Centerline is valid? [True, True] Translation: X:623.57, Y:-277.14, Z:-4.91 [[ 1.78355271e-01 -9.83963769e-01 -2.16783716e-03 6.23567706e+02] [-9.83906012e-01 -1.78368295e-01 1.06635563e-02 -2.77139141e+02] [-1.08792264e-02 2.31046548e-04 -9.99940793e-01 -4.90780366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1865599949999 meters 0.05492924527976341 Centerline is valid? [True, True] Translation: X:623.57, Y:-277.45, Z:-4.91 [[ 2.42899351e-01 -9.70047643e-01 -2.73423163e-03 6.23567856e+02] [-9.69998916e-01 -2.42914567e-01 9.72705060e-03 -2.77449675e+02] [-1.00998872e-02 2.89507441e-04 -9.99948953e-01 -4.90506272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.246559995 meters 0.0553675711950197 Centerline is valid? [True, True] Translation: X:623.50, Y:-277.54, Z:-4.91 [[ 3.10887849e-01 -9.50439959e-01 -3.55393984e-03 6.23499669e+02] [-9.50389567e-01 -3.10907983e-01 9.79270420e-03 -2.77537517e+02] [-1.04123256e-02 3.33194601e-04 -9.99945735e-01 -4.90562846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3065599949999 meters 0.05490019842692 Centerline is valid? [True, True] Translation: X:623.52, Y:-277.83, Z:-4.91 [[ 3.79279131e-01 -9.25271113e-01 -4.55063637e-03 6.23515902e+02] [-9.25215600e-01 -3.79306255e-01 1.01419097e-02 -2.77825720e+02] [-1.11101009e-02 3.63705077e-04 -9.99938215e-01 -4.90785121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.366559995 meters 0.05524676501100223 Centerline is valid? [True, True] Translation: X:623.52, Y:-278.02, Z:-4.91 [[ 4.48746027e-01 -8.93642887e-01 -5.42155919e-03 6.23515715e+02] [-8.93586649e-01 -4.48778645e-01 1.00313994e-02 -2.78018131e+02] [-1.13975687e-02 3.43082270e-04 -9.99934987e-01 -4.90782340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4265599949999 meters 0.055252738122564996 Centerline is valid? [True, True] Translation: X:623.85, Y:-278.73, Z:-4.90 [[ 5.18416871e-01 -8.55106289e-01 -6.09770016e-03 6.23852432e+02] [-8.55052832e-01 -5.18452668e-01 9.56485411e-03 -2.78728803e+02] [-1.13403358e-02 2.55274056e-04 -9.99935664e-01 -4.90352716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.486559995 meters 0.05452078469735279 Centerline is valid? [True, True] Translation: X:623.76, Y:-278.74, Z:-4.91 [[ 5.89077342e-01 -8.08049911e-01 -6.57476112e-03 6.23757853e+02] [-8.08001985e-01 -5.89114018e-01 8.80151951e-03 -2.78740604e+02] [-1.09853510e-02 1.27644320e-04 -9.99939651e-01 -4.90542655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5465599949999 meters 0.054233736021480655 Centerline is valid? [True, True] Translation: X:623.89, Y:-279.03, Z:-4.90 [[ 6.53388651e-01 -7.56990463e-01 -6.97921049e-03 6.23889253e+02] [-7.56947769e-01 -6.53425924e-01 8.03972691e-03 -2.79029481e+02] [-1.06463937e-02 2.98314943e-05 -9.99943325e-01 -4.90260788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.606559995 meters 0.054101250105748594 Centerline is valid? [True, True] Translation: X:623.74, Y:-278.99, Z:-4.91 [[ 7.17268181e-01 -6.96754811e-01 -7.68695958e-03 6.23738382e+02] [-6.96712968e-01 -7.17309360e-01 7.63690349e-03 -2.78994008e+02] [-1.08349773e-02 -1.22103449e-04 -9.99941292e-01 -4.90536419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.666559995 meters 0.054543161067664894 Centerline is valid? [True, True] Translation: X:623.70, Y:-279.09, Z:-4.90 [[ 7.76706739e-01 -6.29816997e-01 -7.56251879e-03 6.23702438e+02] [-6.29784282e-01 -7.76743522e-01 6.42329040e-03 -2.79090458e+02] [-9.91963495e-03 -2.26257472e-04 -9.99950774e-01 -4.90350766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7265599949999 meters 0.055645601300658494 Centerline is valid? [True, True] Translation: X:623.69, Y:-279.17, Z:-4.90 [[ 8.26249276e-01 -5.63248054e-01 -7.98520768e-03 6.23688757e+02] [-5.63218544e-01 -8.26287816e-01 5.77198117e-03 -2.79173970e+02] [-9.84913698e-03 -2.71678219e-04 -9.99951459e-01 -4.90304134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.786559995 meters 0.05465492815177657 Centerline is valid? [True, True] Translation: X:623.68, Y:-279.26, Z:-4.91 [[ 8.69210640e-01 -4.94353452e-01 -9.35563089e-03 6.23683741e+02] [-4.94320662e-01 -8.69260924e-01 5.70341448e-03 -2.79255670e+02] [-1.09519870e-02 -3.32786887e-04 -9.99939970e-01 -4.90610880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8465599949999 meters 0.05534033047374867 Centerline is valid? [True, True] Translation: X:623.68, Y:-279.35, Z:-4.90 [[ 9.05325509e-01 -4.24601580e-01 -9.96097944e-03 6.23677509e+02] [-4.24571689e-01 -9.05380241e-01 5.04975257e-03 -2.79347573e+02] [-1.11626069e-02 -3.42519941e-04 -9.99937638e-01 -4.90364792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.906559995 meters 0.05483990455572766 Centerline is valid? [True, True] Translation: X:623.68, Y:-279.43, Z:-4.91 [[ 9.35637064e-01 -3.52785323e-01 -1.12160596e-02 6.23682412e+02] [-3.52755242e-01 -9.35704217e-01 4.62152167e-03 -2.79433833e+02] [-1.21253193e-02 -3.67543143e-04 -9.99926418e-01 -4.90612842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9665599949999 meters 0.054606468651663645 Centerline is valid? [True, True] Translation: X:623.69, Y:-279.52, Z:-4.91 [[ 9.59551829e-01 -2.81237573e-01 -1.28730468e-02 6.23691314e+02] [-2.81207071e-01 -9.59638104e-01 4.15846962e-03 -2.79524980e+02] [-1.35229841e-02 -3.70275341e-04 -9.99908492e-01 -4.90671176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.026559995 meters 0.053871047876935745 Centerline is valid? [True, True] Translation: X:623.71, Y:-279.61, Z:-4.91 [[ 9.77652891e-01 -2.09794920e-01 -1.34504999e-02 6.23706235e+02] [-2.09770614e-01 -9.77745361e-01 3.20901664e-03 -2.79613945e+02] [-1.38243993e-02 -3.15784783e-04 -9.99904389e-01 -4.90588893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0865599949999 meters 0.05437660589589198 Centerline is valid? [True, True] Translation: X:623.73, Y:-279.70, Z:-4.91 [[ 9.90635707e-01 -1.35865086e-01 -1.34749311e-02 6.23730315e+02] [-1.35848827e-01 -9.90727312e-01 2.11897478e-03 -2.79695854e+02] [-1.36378769e-02 -2.68578499e-04 -9.99906964e-01 -4.90599836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.146559995 meters 0.054265245578628635 Centerline is valid? [True, True] Translation: X:623.76, Y:-279.77, Z:-4.91 [[ 9.97922431e-01 -6.31502053e-02 -1.27621600e-02 6.23761488e+02] [-6.31426413e-02 -9.98004016e-01 9.95164183e-04 -2.79771651e+02] [-1.27995318e-02 -1.87260168e-04 -9.99918065e-01 -4.90678799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2065599949999 meters 0.054140443525359176 Centerline is valid? [True, True] Translation: X:623.79, Y:-279.85, Z:-4.91 [[ 9.99892883e-01 8.49870310e-03 -1.19161573e-02 6.23794584e+02] [ 8.49925022e-03 -9.99963881e-01 -4.72701318e-06 -2.79846718e+02] [-1.19157671e-02 -9.65518959e-05 -9.99929000e-01 -4.90816352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.266559995 meters 0.05472798509915548 Centerline is valid? [True, True] Translation: X:623.83, Y:-279.92, Z:-4.91 [[ 9.96782136e-01 7.92776408e-02 -1.18503084e-02 6.23829836e+02] [ 7.92721285e-02 -9.96852575e-01 -9.34891424e-04 -2.79916880e+02] [-1.18871264e-02 -7.51609987e-06 -9.99929346e-01 -4.90917451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3265599949999 meters 0.053535019433534475 Centerline is valid? [True, True] Translation: X:623.87, Y:-279.98, Z:-4.91 [[ 9.88119606e-01 1.53208017e-01 -1.21221932e-02 6.23869257e+02] [ 1.53195986e-01 -9.88193960e-01 -1.92043345e-03 -2.79982213e+02] [-1.22733039e-02 4.05465993e-05 -9.99924679e-01 -4.90730828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.386559995 meters 0.05476094628396615 Centerline is valid? [True, True] Translation: X:623.91, Y:-280.05, Z:-4.91 [[ 9.73748407e-01 2.27368261e-01 -1.08495709e-02 6.23914694e+02] [ 2.27353393e-01 -9.73808847e-01 -2.60097932e-03 -2.80046224e+02] [-1.11567882e-02 6.60127227e-05 -9.99937759e-01 -4.90908337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4465599949999 meters 0.05426397106751187 Centerline is valid? [True, True] Translation: X:623.96, Y:-280.10, Z:-4.91 [[ 9.52791673e-01 3.03449133e-01 -1.03272459e-02 6.23963309e+02] [ 3.03430661e-01 -9.52847638e-01 -3.34867058e-03 -2.80103822e+02] [-1.08564430e-02 5.69824143e-05 -9.99941065e-01 -4.90890278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.506559995 meters 0.05353656485338028 Centerline is valid? [True, True] Translation: X:624.02, Y:-280.16, Z:-4.91 [[ 9.25013836e-01 3.79788193e-01 -1.05038516e-02 6.24016731e+02] [ 3.79763379e-01 -9.25073472e-01 -4.34146630e-03 -2.80156991e+02] [-1.13656721e-02 2.69382358e-05 -9.99935408e-01 -4.90793679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5665599949999 meters 0.05377579710214795 Centerline is valid? [True, True] Translation: X:624.07, Y:-280.21, Z:-4.91 [[ 8.91127638e-01 4.53635171e-01 -1.03278014e-02 6.24072646e+02] [ 4.53604793e-01 -8.91187484e-01 -5.24979026e-03 -2.80207769e+02] [-1.15854968e-02 -6.50701402e-06 -9.99932886e-01 -4.90563277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.626559995 meters 0.05436356204094907 Centerline is valid? [True, True] Translation: X:624.13, Y:-280.25, Z:-4.91 [[ 8.50620690e-01 5.25713274e-01 -8.36634817e-03 6.24131061e+02] [ 5.25688436e-01 -8.50661831e-01 -5.11050335e-03 -2.80249726e+02] [-9.80359250e-03 -5.09925950e-05 -9.99951942e-01 -4.91232451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6865599949999 meters 0.05346056223744356 Centerline is valid? [True, True] Translation: X:624.20, Y:-280.31, Z:-4.91 [[ 8.04024937e-01 5.94555596e-01 -6.89520389e-03 6.24204990e+02] [ 5.94534664e-01 -8.04054498e-01 -4.98976151e-03 -2.80305156e+02] [-8.51081033e-03 -8.75450453e-05 -9.99963779e-01 -4.91110137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.746559995 meters 0.052470435272209716 Centerline is valid? [True, True] Translation: X:624.28, Y:-280.35, Z:-4.91 [[ 7.53113037e-01 6.57863272e-01 -6.05541012e-03 6.24279647e+02] [ 6.57843136e-01 -7.53137374e-01 -5.14831492e-03 -2.80352861e+02] [-7.94744297e-03 -1.06246894e-04 -9.99968413e-01 -4.91023737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8065599949999 meters 0.0527880308647515 Centerline is valid? [True, True] Translation: X:624.36, Y:-280.39, Z:-4.91 [[ 6.97900003e-01 7.16175242e-01 -5.34879198e-03 6.24359455e+02] [ 7.16155480e-01 -6.97920490e-01 -5.32154145e-03 -2.80394277e+02] [-7.54418775e-03 -1.16662900e-04 -9.99971535e-01 -4.91124568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.866559995 meters 0.05273389676233757 Centerline is valid? [True, True] Translation: X:624.44, Y:-280.43, Z:-4.91 [[ 6.38866454e-01 7.69301592e-01 -4.97141730e-03 6.24444934e+02] [ 7.69279824e-01 -6.38885784e-01 -5.78859456e-03 -2.80434537e+02] [-7.62934285e-03 -1.26272141e-04 -9.99970888e-01 -4.90773825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9265599949999 meters 0.05195688690137218 Centerline is valid? [True, True] Translation: X:624.52, Y:-280.46, Z:-4.91 [[ 5.78102765e-01 8.15948276e-01 -5.06002591e-03 6.24524957e+02] [ 8.15918902e-01 -5.78124895e-01 -6.92459309e-03 -2.80459528e+02] [-8.57543674e-03 -1.25444383e-04 -9.99963222e-01 -4.90930999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.986559995 meters 0.05274139216215543 Centerline is valid? [True, True] Translation: X:624.61, Y:-280.48, Z:-4.91 [[ 5.13702593e-01 8.57953797e-01 -4.99281910e-03 6.24612776e+02] [ 8.57915595e-01 -5.13726841e-01 -8.09722223e-03 -2.80484244e+02] [-9.51198774e-03 -1.23853307e-04 -9.99954752e-01 -4.90636084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0465599949999 meters 0.05200568786496543 Centerline is valid? [True, True] Translation: X:624.69, Y:-280.49, Z:-4.91 [[ 4.47928269e-01 8.94058769e-01 -4.37979326e-03 6.24691042e+02] [ 8.94018055e-01 -4.47949671e-01 -8.53278811e-03 -2.80494824e+02] [-9.59074099e-03 -9.35372524e-05 -9.99954003e-01 -4.90589118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.106559995 meters 0.05180250168161341 Centerline is valid? [True, True] Translation: X:624.77, Y:-280.50, Z:-4.90 [[ 3.81177677e-01 9.24494317e-01 -3.71982739e-03 6.24765431e+02] [ 9.24451476e-01 -3.81195824e-01 -8.90015016e-03 -2.80499409e+02] [-9.64612091e-03 -4.62613634e-05 -9.99953474e-01 -4.90480748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.166559995 meters 0.05201101938819836 Centerline is valid? [True, True] Translation: X:624.84, Y:-280.50, Z:-4.91 [[ 3.10423905e-01 9.50593890e-01 -2.87337384e-03 6.24843967e+02] [ 9.50553718e-01 -3.10437202e-01 -8.73919501e-03 -2.80498712e+02] [-9.19942752e-03 -1.84411483e-05 -9.99957684e-01 -4.90617936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2265599949999 meters 0.05205291887194949 Centerline is valid? [True, True] Translation: X:624.92, Y:-280.49, Z:-4.90 [[ 2.37470399e-01 9.71391653e-01 -2.46306819e-03 6.24917156e+02] [ 9.71339111e-01 -2.37483172e-01 -1.01032071e-02 -2.80491917e+02] [-1.03991083e-02 6.73816400e-06 -9.99945928e-01 -4.90374151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.286559995 meters 0.051992610957959276 Centerline is valid? [True, True] Translation: X:624.99, Y:-280.48, Z:-4.91 [[ 1.61625701e-01 9.86850587e-01 -1.74698404e-03 6.24993854e+02] [ 9.86791767e-01 -1.61635141e-01 -1.07745146e-02 -2.80480116e+02] [-1.09152100e-02 1.75289961e-05 -9.99940427e-01 -4.90519468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3465599949999 meters 0.051914282989942655 Centerline is valid? [True, True] Translation: X:625.08, Y:-280.46, Z:-4.91 [[ 8.00336333e-02 9.96791840e-01 -8.03896589e-04 6.25080635e+02] [ 9.96744516e-01 -8.00376669e-02 -9.71299346e-03 -2.80464008e+02] [-9.74617463e-03 -2.39133600e-05 -9.99952505e-01 -4.90671368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.406559995 meters 0.051455681124368435 Centerline is valid? [True, True] Translation: X:625.16, Y:-280.44, Z:-4.91 [[-2.10468041e-03 9.99997784e-01 -4.34069333e-05 6.25164712e+02] [ 9.99942845e-01 2.10410977e-03 -1.04823134e-02 -2.80441973e+02] [-1.04821989e-02 -6.54663720e-05 -9.99945058e-01 -4.90556409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4665599949999 meters 0.05155102745318772 Centerline is valid? [True, True] Translation: X:625.24, Y:-280.41, Z:-4.90 [[-8.21166036e-02 9.96622433e-01 7.67902593e-04 6.25242563e+02] [ 9.96568835e-01 8.21201515e-02 -1.03362830e-02 -2.80413464e+02] [-1.03644318e-02 -8.35126601e-05 -9.99946284e-01 -4.90446157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.526559995 meters 0.05226313395089022 Centerline is valid? [True, True] Translation: X:625.32, Y:-280.38, Z:-4.91 [[-1.60620757e-01 9.87015105e-01 1.46789916e-03 6.25323269e+02] [ 9.86968817e-01 1.60627441e-01 -9.55925087e-03 -2.80377529e+02] [-9.67090988e-03 -8.66434199e-05 -9.99953232e-01 -4.90616323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5865599949999 meters 0.05227296248936452 Centerline is valid? [True, True] Translation: X:625.39, Y:-280.34, Z:-4.91 [[-2.36519482e-01 9.71623211e-01 2.62096460e-03 6.25394799e+02] [ 9.71559278e-01 2.36533987e-01 -1.11464192e-02 -2.80337924e+02] [-1.14500669e-02 -8.99228384e-05 -9.99934442e-01 -4.91025608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.646559995 meters 0.051865872114202745 Centerline is valid? [True, True] Translation: X:625.47, Y:-280.29, Z:-4.91 [[-3.09421279e-01 9.50917119e-01 3.88663000e-03 6.25470564e+02] [ 9.50839392e-01 3.09445681e-01 -1.21581771e-02 -2.80289755e+02] [-1.27641196e-02 -6.64377897e-05 -9.99918533e-01 -4.90517405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7065599949999 meters 0.05217473721963108 Centerline is valid? [True, True] Translation: X:625.54, Y:-280.24, Z:-4.91 [[-3.80748683e-01 9.24667240e-01 4.57545110e-03 6.25537711e+02] [ 9.24599346e-01 3.80776172e-01 -1.12051891e-02 -2.80237467e+02] [-1.21032941e-02 -3.59019138e-05 -9.99926752e-01 -4.90573954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.766559995 meters 0.05243641757885568 Centerline is valid? [True, True] Translation: X:625.60, Y:-280.18, Z:-4.91 [[-4.49856299e-01 8.93085564e-01 5.24268994e-03 6.25603094e+02] [ 8.93024712e-01 4.49886847e-01 -1.04253494e-02 -2.80178420e+02] [-1.16693463e-02 -8.05741051e-06 -9.99931911e-01 -4.90736209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8265599949999 meters 0.05221546264023932 Centerline is valid? [True, True] Translation: X:625.66, Y:-280.11, Z:-4.91 [[-5.16120277e-01 8.56499546e-01 5.32798529e-03 6.25663254e+02] [ 8.56454273e-01 5.16147777e-01 -8.80630938e-03 -2.80114836e+02] [-1.02926277e-02 1.80609228e-05 -9.99947029e-01 -4.90807831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.886559995 meters 0.05185797022931088 Centerline is valid? [True, True] Translation: X:625.71, Y:-280.05, Z:-4.91 [[-5.81150346e-01 8.13779378e-01 5.23441844e-03 6.25714622e+02] [ 8.13746652e-01 5.81173918e-01 -7.29816946e-03 -2.80051123e+02] [-8.98120728e-03 1.81567758e-05 -9.99959668e-01 -4.90678249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9465599949999 meters 0.05147358182996533 Centerline is valid? [True, True] Translation: X:625.75, Y:-279.99, Z:-4.91 [[-6.44178696e-01 7.64854739e-01 5.57108721e-03 6.25751744e+02] [ 7.64826192e-01 6.44202785e-01 -6.60808130e-03 -2.79990840e+02] [-8.64313219e-03 4.12823102e-06 -9.99962647e-01 -4.90567225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.006559995 meters 0.051791788124415684 Centerline is valid? [True, True] Translation: X:625.79, Y:-279.92, Z:-4.91 [[-7.04700743e-01 7.09475190e-01 6.46669244e-03 6.25794682e+02] [ 7.09444944e-01 7.04730412e-01 -6.55114309e-03 -2.79916053e+02] [-9.20514832e-03 -2.88331399e-05 -9.99957631e-01 -4.90790395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0665599949999 meters 0.05210973215450227 Centerline is valid? [True, True] Translation: X:625.83, Y:-279.84, Z:-4.91 [[-7.60558861e-01 6.49220407e-01 7.94245264e-03 6.25830666e+02] [ 6.49184025e-01 7.60600328e-01 -6.87333525e-03 -2.79838246e+02] [-1.05033416e-02 -7.14626575e-05 -9.99944836e-01 -4.90739934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.126559995 meters 0.05185928936470598 Centerline is valid? [True, True] Translation: X:625.84, Y:-279.75, Z:-4.91 [[-8.06252216e-01 5.91520249e-01 7.82043122e-03 6.25843817e+02] [ 5.91491315e-01 8.06290138e-01 -5.85131375e-03 -2.79747302e+02] [-9.76670714e-03 -9.19175307e-05 -9.99952300e-01 -4.90670997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1865599949999 meters 0.05150660458719717 Centerline is valid? [True, True] Translation: X:625.88, Y:-279.68, Z:-4.91 [[-8.48098943e-01 5.29803567e-01 6.03020921e-03 6.25882750e+02] [ 5.29789360e-01 8.48120375e-01 -3.88105744e-03 -2.79677959e+02] [-7.17054137e-03 -9.67800260e-05 -9.99974287e-01 -4.90846763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.246559995 meters 0.050703548676122846 Centerline is valid? [True, True] Translation: X:625.83, Y:-279.56, Z:-4.91 [[-8.85295418e-01 4.65002288e-01 4.98952496e-03 6.25828305e+02] [ 4.64994256e-01 8.85309473e-01 -2.73497285e-03 -2.79557047e+02] [-5.68904234e-03 -1.01158482e-04 -9.99983812e-01 -4.91015596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3065599949999 meters 0.05087335617375059 Centerline is valid? [True, True] Translation: X:625.95, Y:-279.53, Z:-4.91 [[-9.16942493e-01 3.98990216e-01 4.82412238e-03 6.25950747e+02] [ 3.98984082e-01 9.16955177e-01 -2.21505665e-03 -2.79528532e+02] [-5.30728992e-03 -1.06331524e-04 -9.99985911e-01 -4.91006659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.366559995 meters 0.05179736769039594 Centerline is valid? [True, True] Translation: X:626.22, Y:-278.93, Z:-5.88 [[-8.70433015e-01 -4.92268435e-01 4.26076779e-03 6.26219491e+02] [ 4.92262921e-01 -8.70443440e-01 -2.33111297e-03 -2.78930275e+02] [ 4.85629070e-03 6.83403053e-05 9.99988206e-01 -5.88294108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4265599949999 meters 0.05095204702421706 Centerline is valid? [True, True] Translation: X:625.86, Y:-279.49, Z:-4.91 [[-9.19612218e-01 3.92785379e-01 5.74592535e-03 6.25860091e+02] [ 3.92776735e-01 9.19630157e-01 -2.60969015e-03 -2.79488645e+02] [-6.30917436e-03 -1.43037143e-04 -9.99980087e-01 -4.90940179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.486559995 meters 0.051520519940745864 Centerline is valid? [True, True] Translation: X:625.83, Y:-279.39, Z:-4.91 [[-9.45123164e-01 3.26645568e-01 6.69909796e-03 6.25829296e+02] [ 3.26636163e-01 9.45146892e-01 -2.48377504e-03 -2.79390752e+02] [-7.14294572e-03 -1.59305674e-04 -9.99974476e-01 -4.90961233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5465599949999 meters 0.05168189933281218 Centerline is valid? [True, True] Translation: X:625.79, Y:-279.29, Z:-4.91 [[-9.65447736e-01 2.60500524e-01 7.08140453e-03 6.25785007e+02] [ 2.60492369e-01 9.65473694e-01 -2.06673508e-03 -2.79286014e+02] [-7.37529537e-03 -1.50672860e-04 -9.99972791e-01 -4.90679881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.606559995 meters 0.0509907931948383 Centerline is valid? [True, True] Translation: X:625.73, Y:-279.20, Z:-4.91 [[-9.81111304e-01 1.93367040e-01 5.45858700e-03 6.25730467e+02] [ 1.93363447e-01 9.81126484e-01 -1.18353401e-03 -2.79198345e+02] [-5.58442074e-03 -1.05687399e-04 -9.99984401e-01 -4.91052766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.666559995 meters 0.0513680219013396 Centerline is valid? [True, True] Translation: X:625.70, Y:-279.11, Z:-4.91 [[-9.92292643e-01 1.23837953e-01 4.41267867e-03 6.25696183e+02] [ 1.23836351e-01 9.92302451e-01 -6.35437093e-04 -2.79111813e+02] [-4.45740309e-03 -8.40895271e-05 -9.99990062e-01 -4.91170878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7265599949999 meters 0.05199652823212677 Centerline is valid? [True, True] Translation: X:625.77, Y:-278.45, Z:-5.88 [[-9.75054181e-01 -2.21931655e-01 3.96036894e-03 6.25774156e+02] [ 2.21930035e-01 -9.75062223e-01 -8.49483122e-04 -2.78454035e+02] [ 4.05013334e-03 5.06327463e-05 9.99991797e-01 -5.88120645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.786559995 meters 0.05132767026196347 Centerline is valid? [True, True] Translation: X:625.56, Y:-279.09, Z:-4.91 [[-9.92970342e-01 1.18271650e-01 4.66004603e-03 6.25559872e+02] [ 1.18269890e-01 9.92981272e-01 -6.52470125e-04 -2.79092298e+02] [-4.70450716e-03 -9.67403508e-05 -9.99988929e-01 -4.91113550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8465599949999 meters 0.05101602070645298 Centerline is valid? [True, True] Translation: X:625.62, Y:-278.43, Z:-5.88 [[-9.74909840e-01 -2.22516860e-01 6.08696095e-03 6.25621949e+02] [ 2.22513959e-01 -9.74928816e-01 -1.15827870e-03 -2.78432584e+02] [ 6.19209017e-03 2.25216472e-04 9.99980803e-01 -5.88133189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.906559995 meters 0.052100517226062334 Centerline is valid? [True, True] Translation: X:625.43, Y:-279.07, Z:-4.91 [[-9.94061536e-01 1.08539089e-01 7.80568069e-03 6.25431203e+02] [ 1.08534152e-01 9.94092162e-01 -1.05453646e-03 -2.79070425e+02] [-7.87402442e-03 -2.01091201e-04 -9.99968979e-01 -4.90907128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9665599949999 meters 0.05159510579021322 Centerline is valid? [True, True] Translation: X:625.43, Y:-278.99, Z:-4.91 [[-9.99322988e-01 3.59170578e-02 7.97056476e-03 6.25427257e+02] [ 3.59141837e-02 9.99354751e-01 -5.03479045e-04 -2.78985720e+02] [-7.98350525e-03 -2.16881857e-04 -9.99968108e-01 -4.90909113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.026559995 meters 0.05109130550562327 Centerline is valid? [True, True] Translation: X:625.40, Y:-278.91, Z:-4.91 [[-9.99296368e-01 -3.68672200e-02 6.89755867e-03 6.25395483e+02] [-3.68677251e-02 9.99320153e-01 5.39531610e-05 -2.78907819e+02] [-6.89485848e-03 -2.00382099e-04 -9.99976210e-01 -4.91180293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0865599949999 meters 0.051118822429204236 Centerline is valid? [True, True] Translation: X:625.33, Y:-278.83, Z:-4.91 [[-9.94092340e-01 -1.08319568e-01 6.87681592e-03 6.25326369e+02] [-1.08318392e-01 9.94116105e-01 5.44265292e-04 -2.78828364e+02] [-6.89530804e-03 -2.03835687e-04 -9.99976206e-01 -4.91244110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.146559995 meters 0.052407595431827776 Centerline is valid? [True, True] Translation: X:625.23, Y:-278.19, Z:-5.88 [[-9.99873131e-01 -1.39768828e-02 7.63990313e-03 6.25227294e+02] [ 1.39785641e-02 -9.99902281e-01 1.66714984e-04 -2.78191260e+02] [ 7.63682642e-03 2.73488709e-04 9.99970802e-01 -5.88134940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2065599949999 meters 0.05196413281971521 Centerline is valid? [True, True] Translation: X:625.17, Y:-278.84, Z:-4.91 [[-9.93866656e-01 -1.10230719e-01 8.84641198e-03 6.25166496e+02] [-1.10228512e-01 9.93905997e-01 7.38111941e-04 -2.78839733e+02] [-8.87386453e-03 -2.41541983e-04 -9.99960597e-01 -4.91153975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.266559995 meters 0.05188921050139462 Centerline is valid? [True, True] Translation: X:625.03, Y:-278.78, Z:-4.91 [[-9.84300758e-01 -1.76295986e-01 8.47010677e-03 6.25030277e+02] [-1.76291170e-01 9.84337182e-01 1.31773334e-03 -2.78776446e+02] [-8.56975213e-03 -1.96159102e-04 -9.99963260e-01 -4.91254772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3265599949999 meters 0.052096955635503914 Centerline is valid? [True, True] Translation: X:624.91, Y:-278.72, Z:-4.91 [[-9.70221129e-01 -2.42102939e-01 7.55833979e-03 6.24907400e+02] [-2.42096785e-01 9.70250558e-01 1.73270902e-03 -2.78721314e+02] [-7.75297734e-03 -1.48738857e-04 -9.99969934e-01 -4.91379528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.386559995 meters 0.051903181954351896 Centerline is valid? [True, True] Translation: X:624.83, Y:-278.66, Z:-4.91 [[-9.52188250e-01 -3.05425047e-01 7.28545217e-03 6.24832792e+02] [-3.05416937e-01 9.52216115e-01 2.22813759e-03 -2.78661721e+02] [-7.61785399e-03 -1.03494063e-04 -9.99970978e-01 -4.91404785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4465599949999 meters 0.05246334931969591 Centerline is valid? [True, True] Translation: X:624.45, Y:-278.08, Z:-5.88 [[-9.75058306e-01 2.21807719e-01 7.91429748e-03 6.24454560e+02] [-2.21799226e-01 -9.75090414e-01 1.94627987e-03 -2.78083248e+02] [ 8.14885551e-03 1.42351304e-04 9.99966787e-01 -5.88042362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.506559995 meters 0.05226741791222086 Centerline is valid? [True, True] Translation: X:624.52, Y:-278.76, Z:-4.91 [[-9.52764717e-01 -3.03572085e-01 9.13145493e-03 6.24520301e+02] [-3.03558820e-01 9.52808472e-01 2.83874757e-03 -2.78757036e+02] [-9.56229213e-03 -6.72751563e-05 -9.99954278e-01 -4.91325343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5665599949999 meters 0.05244384328220528 Centerline is valid? [True, True] Translation: X:624.42, Y:-278.71, Z:-4.91 [[-9.29371978e-01 -3.69020916e-01 9.55457750e-03 6.24419928e+02] [-3.69001969e-01 9.29421089e-01 3.73982759e-03 -2.78710165e+02] [-1.02603004e-02 -4.99669412e-05 -9.99947360e-01 -4.91246148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.626559995 meters 0.05259392324251252 Centerline is valid? [True, True] Translation: X:624.30, Y:-278.68, Z:-4.91 [[-9.00919190e-01 -4.33893433e-01 9.00566011e-03 6.24297730e+02] [-4.33872212e-01 9.00964199e-01 4.29150547e-03 -2.78680121e+02] [-9.97583338e-03 -4.10060346e-05 -9.99950239e-01 -4.91214199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6865599949999 meters 0.05239387248187528 Centerline is valid? [True, True] Translation: X:624.16, Y:-278.66, Z:-4.91 [[-8.68561727e-01 -4.95506722e-01 8.57991505e-03 6.24164313e+02] [-4.95482733e-01 8.68604103e-01 4.87577186e-03 -2.78663819e+02] [-9.86852715e-03 -1.62909325e-05 -9.99951305e-01 -4.91382160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.746559995 meters 0.05260361142585099 Centerline is valid? [True, True] Translation: X:623.73, Y:-278.15, Z:-5.88 [[-8.99018083e-01 4.37837027e-01 8.07615804e-03 6.23730967e+02] [-4.37819780e-01 -8.99054356e-01 3.88642380e-03 -2.78146215e+02] [ 8.96252531e-03 -4.19364683e-05 9.99959835e-01 -5.87892012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8065599949999 meters 0.05382523763448361 Centerline is valid? [True, True] Translation: X:624.17, Y:-278.66, Z:-4.91 [[-8.66257483e-01 -4.99543433e-01 7.37098547e-03 6.24165700e+02] [-4.99525221e-01 8.66288843e-01 4.26559870e-03 -2.78661683e+02] [-8.51625429e-03 1.31136496e-05 -9.99963736e-01 -4.91499236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.866559995 meters 0.05350691420104443 Centerline is valid? [True, True] Translation: X:624.00, Y:-278.66, Z:-4.92 [[-8.27494304e-01 -5.61437584e-01 6.40440783e-03 6.23999298e+02] [-5.61420724e-01 8.27519087e-01 4.35095809e-03 -2.78655604e+02] [-7.74256112e-03 4.82575623e-06 -9.99970026e-01 -4.91570080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9265599949999 meters 0.05292730465067206 Centerline is valid? [True, True] Translation: X:623.23, Y:-279.11, Z:-4.91 [[-7.84232792e-01 -6.20443397e-01 5.37764929e-03 6.23230385e+02] [-6.20428926e-01 7.84251230e-01 4.23749991e-03 -2.79113265e+02] [-6.84655691e-03 -1.32627855e-05 -9.99976562e-01 -4.91328635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.986559995 meters 0.0527696299600033 Centerline is valid? [True, True] Translation: X:623.08, Y:-279.14, Z:-4.91 [[-7.34084340e-01 -6.79036333e-01 5.46256033e-03 6.23078942e+02] [-6.79017956e-01 7.34104663e-01 4.99589934e-03 -2.79137025e+02] [-7.40248818e-03 -4.17650854e-05 -9.99972600e-01 -4.91391675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0465599949999 meters 0.05296467083564575 Centerline is valid? [True, True] Translation: X:622.91, Y:-279.19, Z:-4.91 [[-6.79871453e-01 -7.33313577e-01 5.09948864e-03 6.22908514e+02] [-7.33293719e-01 6.79890574e-01 5.39710105e-03 -2.79192539e+02] [-7.42486173e-03 -7.00880596e-05 -9.99972433e-01 -4.91372369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.106559995 meters 0.05358888730500802 Centerline is valid? [True, True] Translation: X:622.75, Y:-279.25, Z:-4.91 [[-6.22687310e-01 -7.82453714e-01 5.16707402e-03 6.22746728e+02] [-7.82428002e-01 6.22708741e-01 6.34387613e-03 -2.79254293e+02] [-8.18137160e-03 -9.26122350e-05 -9.99966528e-01 -4.91111381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.166559995 meters 0.05331478025815497 Centerline is valid? [True, True] Translation: X:622.56, Y:-279.37, Z:-4.91 [[-5.62246272e-01 -8.26952775e-01 5.31392890e-03 6.22564496e+02] [-8.26917836e-01 5.62271370e-01 7.60258120e-03 -2.79371708e+02] [-9.27484571e-03 -1.19659649e-04 -9.99956981e-01 -4.91390529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2265599949999 meters 0.05368157143235588 Centerline is valid? [True, True] Translation: X:622.41, Y:-279.47, Z:-4.91 [[-4.99381673e-01 -8.66368261e-01 4.89703128e-03 6.22409090e+02] [-8.66329096e-01 4.99405667e-01 8.23882820e-03 -2.79465527e+02] [-9.58346444e-03 -1.28120870e-04 -9.99954069e-01 -4.91242227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.286559995 meters 0.05325632893444271 Centerline is valid? [True, True] Translation: X:622.25, Y:-279.60, Z:-4.92 [[-4.34797915e-01 -9.00518419e-01 4.16531958e-03 6.22249531e+02] [-9.00479716e-01 4.34817850e-01 8.34972027e-03 -2.79599533e+02] [-9.33023220e-03 -1.20344831e-04 -9.99956465e-01 -4.91502692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3465599949999 meters 0.05356565927683069 Centerline is valid? [True, True] Translation: X:622.09, Y:-279.75, Z:-4.91 [[-3.68872336e-01 -9.29472516e-01 3.74715781e-03 6.22093742e+02] [-9.29427572e-01 3.68891351e-01 9.14103044e-03 -2.79753841e+02] [-9.87863067e-03 -1.10838538e-04 -9.99951199e-01 -4.91425144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.406559995 meters 0.053519943515191966 Centerline is valid? [True, True] Translation: X:621.94, Y:-279.95, Z:-4.91 [[-3.00824825e-01 -9.53674783e-01 2.97199232e-03 6.21941736e+02] [-9.53631323e-01 3.00839490e-01 9.10499108e-03 -2.79947079e+02] [-9.57729305e-03 -9.51776257e-05 -9.99954132e-01 -4.91469523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4665599949999 meters 0.05415359772354656 Centerline is valid? [True, True] Translation: X:621.81, Y:-280.13, Z:-4.92 [[-2.31413076e-01 -9.72852446e-01 2.47110993e-03 6.21810007e+02] [-9.72800731e-01 2.31426255e-01 1.00312729e-02 -2.80132337e+02] [-1.03308281e-02 -8.25298384e-05 -9.99946632e-01 -4.91505284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.526559995 meters 0.05417616154646118 Centerline is valid? [True, True] Translation: X:621.69, Y:-280.36, Z:-4.92 [[-1.62129303e-01 -9.86767850e-01 1.81618612e-03 6.21687402e+02] [-9.86709787e-01 1.62139466e-01 1.07046212e-02 -2.80361167e+02] [-1.08574515e-02 -5.65158302e-05 -9.99941055e-01 -4.91533896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5865599949999 meters 0.053377206994836 Centerline is valid? [True, True] Translation: X:621.59, Y:-280.56, Z:-4.92 [[-9.09499407e-02 -9.95855016e-01 9.45926793e-04 6.21588020e+02] [-9.95804620e-01 9.09548545e-02 1.00186388e-02 -2.80560014e+02] [-1.00631483e-02 -3.07636648e-05 -9.99949365e-01 -4.91557366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.646559995 meters 0.0539833405441015 Centerline is valid? [True, True] Translation: X:621.53, Y:-280.26, Z:-4.92 [[-2.02875585e-02 -9.99794170e-01 1.78560231e-04 6.21526196e+02] [-9.99746966e-01 2.02883358e-02 9.71535522e-03 -2.80255368e+02] [-9.71697821e-03 1.85857886e-05 -9.99952789e-01 -4.91730004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7065599949999 meters 0.05416382953749752 Centerline is valid? [True, True] Translation: X:621.47, Y:-281.22, Z:-4.91 [[ 4.67269823e-02 -9.98907562e-01 -5.21088038e-04 6.21466854e+02] [-9.98859018e-01 -4.67298488e-02 9.84799101e-03 -2.81222157e+02] [-9.86158305e-03 6.03265848e-05 -9.99951372e-01 -4.91494245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.766559995 meters 0.05425050610033122 Centerline is valid? [True, True] Translation: X:621.42, Y:-281.48, Z:-4.91 [[ 1.15506060e-01 -9.93306069e-01 -1.18440617e-03 6.21422399e+02] [-9.93262738e-01 -1.15512085e-01 9.27860805e-03 -2.81477250e+02] [-9.35331091e-03 1.04691056e-04 -9.99956251e-01 -4.91466598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8265599949999 meters 0.05459953999864764 Centerline is valid? [True, True] Translation: X:621.39, Y:-281.73, Z:-4.92 [[ 1.86089140e-01 -9.82531062e-01 -1.88246682e-03 6.21390430e+02] [-9.82487736e-01 -1.86098614e-01 9.22795011e-03 -2.81726819e+02] [-9.41707209e-03 1.32279267e-04 -9.99955650e-01 -4.91632404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.886559995 meters 0.05450150735524131 Centerline is valid? [True, True] Translation: X:621.24, Y:-281.44, Z:-4.92 [[ 2.55578178e-01 -9.66785226e-01 -2.47445108e-03 6.21236405e+02] [-9.66745974e-01 -2.55590102e-01 8.71332190e-03 -2.81436789e+02] [-9.05635608e-03 1.65230686e-04 -9.99958977e-01 -4.91811720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9465599949999 meters 0.054159996178334405 Centerline is valid? [True, True] Translation: X:621.40, Y:-282.17, Z:-4.92 [[ 3.19019375e-01 -9.47743428e-01 -3.00535605e-03 6.21397226e+02] [-9.47707424e-01 -3.19033461e-01 8.26373044e-03 -2.82167895e+02] [-8.79070536e-03 2.11908115e-04 -9.99961339e-01 -4.91689776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.006559995 meters 0.05517901111678632 Centerline is valid? [True, True] Translation: X:621.41, Y:-282.40, Z:-4.92 [[ 3.84511101e-01 -9.23114140e-01 -3.39076569e-03 6.21411824e+02] [-9.23083420e-01 -3.84525981e-01 7.53452217e-03 -2.82399671e+02] [-8.25906146e-03 2.32852175e-04 -9.99965866e-01 -4.91731013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0665599949999 meters 0.055550561883054336 Centerline is valid? [True, True] Translation: X:621.23, Y:-282.24, Z:-4.92 [[ 4.48652907e-01 -8.93698674e-01 -3.63999887e-03 6.21234827e+02] [-8.93673577e-01 -4.48667605e-01 6.70206287e-03 -2.82244488e+02] [-7.62277427e-03 2.46070826e-04 -9.99970916e-01 -4.92033375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.126559995 meters 0.055675120241522234 Centerline is valid? [True, True] Translation: X:621.54, Y:-282.87, Z:-4.92 [[ 5.11691573e-01 -8.59160020e-01 -3.97420344e-03 6.21535154e+02] [-8.59137695e-01 -5.11706949e-01 6.19836869e-03 -2.82874894e+02] [-7.35901808e-03 2.42734956e-04 -9.99972893e-01 -4.91757761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1865599949999 meters 0.055529085746448256 Centerline is valid? [True, True] Translation: X:621.26, Y:-282.64, Z:-4.92 [[ 5.76086468e-01 -8.17376275e-01 -4.51738378e-03 6.21259435e+02] [-8.17354233e-01 -5.76104132e-01 6.00719586e-03 -2.82640457e+02] [-7.51262283e-03 2.31638511e-04 -9.99971753e-01 -4.91864562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.246559995 meters 0.0550358381970548 Centerline is valid? [True, True] Translation: X:621.57, Y:-283.14, Z:-4.92 [[ 6.37284439e-01 -7.70614239e-01 -4.71590829e-03 6.21573751e+02] [-7.70595333e-01 -6.37301858e-01 5.40136441e-03 -2.83142558e+02] [-7.16782544e-03 1.91851431e-04 -9.99974292e-01 -4.91713518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3065599949999 meters 0.0553391991026488 Centerline is valid? [True, True] Translation: X:621.65, Y:-283.33, Z:-4.92 [[ 6.94592066e-01 -7.19390430e-01 -4.38979720e-03 6.21653909e+02] [-7.19377353e-01 -6.94605923e-01 4.34001403e-03 -2.83333650e+02] [-6.17134369e-03 1.43381380e-04 -9.99980947e-01 -4.91702838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.366559995 meters 0.05558540856234881 Centerline is valid? [True, True] Translation: X:621.63, Y:-283.41, Z:-4.92 [[ 7.50208557e-01 -6.61186236e-01 -4.45899005e-03 6.21629260e+02] [-6.61175504e-01 -7.50221798e-01 3.76902449e-03 -2.83411329e+02] [-5.83725865e-03 1.20620578e-04 -9.99982956e-01 -4.91700108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4265599949999 meters 0.05477322168351047 Centerline is valid? [True, True] Translation: X:621.61, Y:-283.50, Z:-4.92 [[ 8.02868866e-01 -5.96142680e-01 -3.93576336e-03 6.21605939e+02] [-5.96135950e-01 -8.02878509e-01 2.83358475e-03 -2.83497314e+02] [-4.84916062e-03 7.12530561e-05 -9.99988240e-01 -4.91718018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.486559995 meters 0.05471164578959498 Centerline is valid? [True, True] Translation: X:621.58, Y:-283.61, Z:-4.92 [[ 8.49832715e-01 -5.27034542e-01 -4.35300866e-03 6.21576806e+02] [-5.27027919e-01 -8.49843862e-01 2.64266916e-03 -2.83607167e+02] [-5.09215562e-03 4.83303937e-05 -9.99987034e-01 -4.91743658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5465599949999 meters 0.05410710486123897 Centerline is valid? [True, True] Translation: X:621.57, Y:-283.70, Z:-4.92 [[ 8.91213903e-01 -4.53558834e-01 -4.70771467e-03 6.21567923e+02] [-4.53552615e-01 -8.91226337e-01 2.37513488e-03 -2.83698006e+02] [-5.27290271e-03 1.84430689e-05 -9.99986098e-01 -4.91661322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.606559995 meters 0.054452721243192545 Centerline is valid? [True, True] Translation: X:621.57, Y:-283.79, Z:-4.92 [[ 9.26376388e-01 -3.76549054e-01 -6.13166401e-03 6.21568273e+02] [-3.76540693e-01 -9.26396681e-01 2.50940731e-03 -2.83787471e+02] [-6.62526813e-03 -1.58346636e-05 -9.99978053e-01 -4.91556535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.666559995 meters 0.05417318725623852 Centerline is valid? [True, True] Translation: X:621.58, Y:-283.88, Z:-4.91 [[ 9.55506344e-01 -2.94869567e-01 -7.71785046e-03 6.21575047e+02] [-2.94859229e-01 -9.55537509e-01 2.47056198e-03 -2.83876467e+02] [-8.10318914e-03 -8.49582114e-05 -9.99967165e-01 -4.91459422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7265599949999 meters 0.05450746394911585 Centerline is valid? [True, True] Translation: X:621.59, Y:-283.96, Z:-4.91 [[ 9.77022737e-01 -2.12979713e-01 -8.13719757e-03 6.21588809e+02] [-2.12971121e-01 -9.77056612e-01 1.91818812e-03 -2.83964843e+02] [-8.35903784e-03 -1.41125315e-04 -9.99965053e-01 -4.91419921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.786559995 meters 0.05398138480755126 Centerline is valid? [True, True] Translation: X:621.61, Y:-284.05, Z:-4.92 [[ 9.91090015e-01 -1.32975878e-01 -7.61565066e-03 6.21611868e+02] [-1.32970753e-01 -9.91119262e-01 1.17753810e-03 -2.84046129e+02] [-7.70460222e-03 -1.54387451e-04 -9.99970307e-01 -4.91539514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8465599949999 meters 0.05448905280349494 Centerline is valid? [True, True] Translation: X:621.64, Y:-284.13, Z:-4.92 [[ 9.98635573e-01 -5.18174324e-02 -6.47657971e-03 6.21641481e+02] [-5.18153435e-02 -9.98656563e-01 4.90025083e-04 -2.84130528e+02] [-6.49327067e-03 -1.53770277e-04 -9.99978907e-01 -4.91730287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.906559995 meters 0.05432018478791216 Centerline is valid? [True, True] Translation: X:621.68, Y:-284.22, Z:-4.92 [[ 9.99535544e-01 2.96687747e-02 -6.96127358e-03 6.21675907e+02] [ 2.96693541e-02 -9.99559768e-01 -2.00408617e-05 -2.84219741e+02] [-6.95880359e-03 -1.86504937e-04 -9.99975770e-01 -4.91633296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9665599949999 meters 0.05438381866256617 Centerline is valid? [True, True] Translation: X:621.71, Y:-284.30, Z:-4.92 [[ 9.93850842e-01 1.10446698e-01 -7.87592027e-03 6.21713277e+02] [ 1.10445068e-01 -9.93882022e-01 -6.42900474e-04 -2.84297698e+02] [-7.89874180e-03 -2.30909372e-04 -9.99968778e-01 -4.91588928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.026559995 meters 0.054508896912656216 Centerline is valid? [True, True] Translation: X:621.76, Y:-284.38, Z:-4.92 [[ 9.81551108e-01 1.90972710e-01 -9.31915067e-03 6.21756522e+02] [ 1.90967025e-01 -9.81595300e-01 -1.50433506e-03 -2.84376771e+02] [-9.43492143e-03 -3.03068738e-04 -9.99955444e-01 -4.91535468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0865599949999 meters 0.0558899926828011 Centerline is valid? [True, True] Translation: X:621.81, Y:-284.46, Z:-4.91 [[ 9.63365135e-01 2.68006587e-01 -1.00042839e-02 6.21807261e+02] [ 2.67995764e-01 -9.63417020e-01 -2.43211363e-03 -2.84462139e+02] [-1.02901199e-02 -3.38092240e-04 -9.99946998e-01 -4.91227668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.146559995 meters 0.05388707868620895 Centerline is valid? [True, True] Translation: X:621.86, Y:-284.52, Z:-4.91 [[ 9.40064840e-01 3.40851511e-01 -9.91685398e-03 6.21859010e+02] [ 3.40836157e-01 -9.40117090e-01 -3.25133422e-03 -2.84522201e+02] [-1.04312261e-02 -3.23557425e-04 -9.99945541e-01 -4.91408966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2065599949999 meters 0.054835544523819384 Centerline is valid? [True, True] Translation: X:621.92, Y:-284.59, Z:-4.91 [[ 9.11773303e-01 4.10592938e-01 -9.10400494e-03 6.21918016e+02] [ 4.10575480e-01 -9.11818712e-01 -3.79633243e-03 -2.84585067e+02] [-9.85994934e-03 -2.76486636e-04 -9.99951351e-01 -4.91387161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.266559995 meters 0.05360475308479977 Centerline is valid? [True, True] Translation: X:621.98, Y:-284.64, Z:-4.92 [[ 8.78482024e-01 4.77698176e-01 -8.58990708e-03 6.21981324e+02] [ 4.77677972e-01 -8.78523987e-01 -4.39984197e-03 -2.84644536e+02] [-9.64823590e-03 -2.38027319e-04 -9.99953426e-01 -4.91574170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3265599949999 meters 0.05452569250430903 Centerline is valid? [True, True] Translation: X:622.05, Y:-284.70, Z:-4.91 [[ 8.38831351e-01 5.44327541e-01 -8.33619770e-03 6.22050032e+02] [ 5.44303414e-01 -8.38872739e-01 -5.13035176e-03 -2.84702498e+02] [-9.78560076e-03 -2.33920975e-04 -9.99952093e-01 -4.91496514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.386559995 meters 0.053849710079935116 Centerline is valid? [True, True] Translation: X:622.12, Y:-284.75, Z:-4.92 [[ 7.93670717e-01 6.08297388e-01 -7.81539207e-03 6.22120965e+02] [ 6.08270741e-01 -7.93709162e-01 -5.69838885e-03 -2.84750096e+02] [-9.66946335e-03 -2.31229959e-04 -9.99953223e-01 -4.91525203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4465599949999 meters 0.05347713784457953 Centerline is valid? [True, True] Translation: X:622.19, Y:-284.79, Z:-4.92 [[ 7.43485346e-01 6.68715080e-01 -7.04855368e-03 6.22194900e+02] [ 6.68687864e-01 -7.43518723e-01 -6.03731598e-03 -2.84791516e+02] [-9.27797587e-03 -2.24626339e-04 -9.99956933e-01 -4.91528233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.506559995 meters 0.05315400709520666 Centerline is valid? [True, True] Translation: X:622.27, Y:-284.83, Z:-4.92 [[ 6.89418021e-01 7.24334243e-01 -6.53421121e-03 6.22269864e+02] [ 7.24304663e-01 -6.89448951e-01 -6.54969378e-03 -2.84825642e+02] [-9.24917255e-03 -2.17282724e-04 -9.99957202e-01 -4.91537143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5665599949999 meters 0.053196604022710516 Centerline is valid? [True, True] Translation: X:622.35, Y:-284.85, Z:-4.91 [[ 6.31930179e-01 7.75000098e-01 -6.25270870e-03 6.22347183e+02] [ 7.74965404e-01 -6.31961078e-01 -7.33614787e-03 -2.84854535e+02] [-9.63698385e-03 -2.09699688e-04 -9.99953541e-01 -4.91472266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.626559995 meters 0.05378830841839573 Centerline is valid? [True, True] Translation: X:622.43, Y:-284.88, Z:-4.92 [[ 5.73064471e-01 8.19490791e-01 -5.65291454e-03 6.22426114e+02] [ 8.19453745e-01 -5.73092327e-01 -7.79386656e-03 -2.84877666e+02] [-9.62664383e-03 -1.65913974e-04 -9.99953649e-01 -4.91609686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6865599949999 meters 0.05311623889161746 Centerline is valid? [True, True] Translation: X:622.51, Y:-284.90, Z:-4.92 [[ 5.11484975e-01 8.59278873e-01 -4.78931057e-03 6.22506189e+02] [ 8.59243256e-01 -5.11507385e-01 -7.82444536e-03 -2.84895930e+02] [-9.17314832e-03 -1.13096567e-04 -9.99957919e-01 -4.91633239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.746559995 meters 0.05300637089461366 Centerline is valid? [True, True] Translation: X:622.58, Y:-284.90, Z:-4.92 [[ 4.51312920e-01 8.92357528e-01 -3.83277341e-03 6.22578326e+02] [ 8.92325796e-01 -4.51329194e-01 -7.52544145e-03 -2.84904040e+02] [-8.44522687e-03 -2.37536276e-05 -9.99964338e-01 -4.91865465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8065599949999 meters 0.05369435662899862 Centerline is valid? [True, True] Translation: X:622.68, Y:-284.92, Z:-4.92 [[ 3.88387563e-01 9.21491469e-01 -2.92813221e-03 6.22682951e+02] [ 9.21464388e-01 -3.88398598e-01 -7.06479545e-03 -2.84920694e+02] [-7.64743118e-03 4.57091362e-05 -9.99970757e-01 -4.91782564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.866559995 meters 0.05368560264110308 Centerline is valid? [True, True] Translation: X:622.75, Y:-284.92, Z:-4.92 [[ 3.20292487e-01 9.47315335e-01 -2.52574326e-03 6.22751277e+02] [ 9.47283520e-01 -3.20302431e-01 -7.76436849e-03 -2.84915537e+02] [-8.16430704e-03 9.42739197e-05 -9.99966667e-01 -4.91661954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9265599949999 meters 0.05391980843439092 Centerline is valid? [True, True] Translation: X:622.83, Y:-284.91, Z:-4.92 [[ 2.47929168e-01 9.68775949e-01 -2.07092181e-03 6.22825452e+02] [ 9.68737696e-01 -2.47937783e-01 -8.60999857e-03 -2.84907724e+02] [-8.85461930e-03 1.28489759e-04 -9.99960789e-01 -4.91725844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.986559995 meters 0.05400586100267279 Centerline is valid? [True, True] Translation: X:622.91, Y:-284.90, Z:-4.92 [[ 1.76557717e-01 9.84289415e-01 -1.31184964e-03 6.22909619e+02] [ 9.84254913e-01 -1.76562514e-01 -8.24289379e-03 -2.84896248e+02] [-8.34501657e-03 1.64152057e-04 -9.99965166e-01 -4.91804765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0465599949999 meters 0.05415208092219742 Centerline is valid? [True, True] Translation: X:622.99, Y:-284.88, Z:-4.92 [[ 1.04941334e-01 9.94478297e-01 -4.83543992e-04 6.22988559e+02] [ 9.94460065e-01 -1.04942339e-01 -6.02366028e-03 -2.84878023e+02] [-6.04114365e-03 1.51265752e-04 -9.99981741e-01 -4.91854526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.106559995 meters 0.0536435070054687 Centerline is valid? [True, True] Translation: X:623.07, Y:-284.85, Z:-4.92 [[ 3.01719373e-02 9.99544723e-01 -1.10085319e-05 6.23073993e+02] [ 9.99530157e-01 -3.01715570e-02 -5.39837796e-03 -2.84853962e+02] [-5.39625235e-03 1.51876162e-04 -9.99985429e-01 -4.91930535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.166559995 meters 0.05472518560627269 Centerline is valid? [True, True] Translation: X:623.15, Y:-284.82, Z:-4.92 [[-4.63250388e-02 9.98926338e-01 4.02263930e-04 6.23145121e+02] [ 9.98912470e-01 4.63265163e-02 -5.26595563e-03 -2.84823812e+02] [-5.27893726e-03 1.57880857e-04 -9.99986054e-01 -4.91837755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2265599949999 meters 0.054825638449499295 Centerline is valid? [True, True] Translation: X:623.22, Y:-284.79, Z:-4.92 [[-1.27589253e-01 9.91826660e-01 9.26988027e-04 6.23219426e+02] [ 9.91808901e-01 1.27592518e-01 -5.93746136e-03 -2.84788141e+02] [-6.00720920e-03 1.61838719e-04 -9.99981943e-01 -4.91907545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.286559995 meters 0.0545415863512575 Centerline is valid? [True, True] Translation: X:623.31, Y:-284.74, Z:-4.92 [[-2.08834210e-01 9.77949956e-01 1.46853498e-03 6.23314082e+02] [ 9.77930441e-01 2.08839322e-01 -6.17975907e-03 -2.84742326e+02] [-6.35018296e-03 1.45579964e-04 -9.99979827e-01 -4.91844816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3465599949999 meters 0.05431009095466919 Centerline is valid? [True, True] Translation: X:623.39, Y:-284.69, Z:-4.92 [[-2.89942702e-01 9.57042447e-01 1.72776814e-03 6.23389300e+02] [ 9.57027396e-01 2.89947833e-01 -5.36812122e-03 -2.84692354e+02] [-5.63848249e-03 9.70738744e-05 -9.99984099e-01 -4.91775102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.406559995 meters 0.054378168909775655 Centerline is valid? [True, True] Translation: X:623.45, Y:-284.64, Z:-4.92 [[-3.66449620e-01 9.30435465e-01 2.12642839e-03 6.23449448e+02] [ 9.30421062e-01 3.66455781e-01 -5.17768905e-03 -2.84641371e+02] [-5.59674749e-03 8.11115751e-05 -9.99984335e-01 -4.91635437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4665599949999 meters 0.05447517952516437 Centerline is valid? [True, True] Translation: X:623.51, Y:-284.58, Z:-4.92 [[-4.39351837e-01 8.98311569e-01 2.50753855e-03 6.23512616e+02] [ 8.98297875e-01 4.39358987e-01 -4.96073516e-03 -2.84581302e+02] [-5.55799538e-03 7.30084467e-05 -9.99984552e-01 -4.91768710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.526559995 meters 0.054312258884704256 Centerline is valid? [True, True] Translation: X:623.57, Y:-284.52, Z:-4.92 [[-5.12042013e-01 8.58956203e-01 2.68651640e-03 6.23569611e+02] [ 8.58944833e-01 5.12049059e-01 -4.41975881e-03 -2.84517096e+02] [-5.17200744e-03 4.44671820e-05 -9.99986624e-01 -4.91849451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5865599949999 meters 0.05440635525430323 Centerline is valid? [True, True] Translation: X:623.63, Y:-284.44, Z:-4.92 [[-5.82340574e-01 8.12940662e-01 2.63359617e-03 6.23627262e+02] [ 8.12932436e-01 5.82346529e-01 -3.65714691e-03 -2.84443486e+02] [-4.50670902e-03 1.12307152e-05 -9.99989845e-01 -4.91924501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.646559995 meters 0.05387890284505503 Centerline is valid? [True, True] Translation: X:623.67, Y:-284.37, Z:-4.92 [[-6.47311426e-01 7.62219669e-01 3.01542370e-03 6.23673822e+02] [ 7.62211348e-01 6.47318450e-01 -3.56172874e-03 -2.84369820e+02] [-4.66675910e-03 -7.15754512e-06 -9.99989111e-01 -4.91905732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7065599949999 meters 0.05391661691123074 Centerline is valid? [True, True] Translation: X:623.72, Y:-284.29, Z:-4.92 [[-7.09771198e-01 7.04417078e-01 4.62894976e-03 6.23715484e+02] [ 7.04401641e-01 7.09786290e-01 -4.66380265e-03 -2.84291787e+02] [-6.57082732e-03 -4.95929889e-05 -9.99978411e-01 -4.91825884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.766559995 meters 0.05389010461408566 Centerline is valid? [True, True] Translation: X:623.75, Y:-284.21, Z:-4.92 [[-7.65157045e-01 6.43820574e-01 5.45580327e-03 6.23750991e+02] [ 6.43803455e-01 7.65176491e-01 -4.69562220e-03 -2.84209852e+02] [-7.19779059e-03 -8.04234083e-05 -9.99974092e-01 -4.91719900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8265599949999 meters 0.05383320471844164 Centerline is valid? [True, True] Translation: X:623.80, Y:-284.15, Z:-4.92 [[-8.10894032e-01 5.85159847e-01 6.23079801e-03 6.23798105e+02] [ 5.85141516e-01 8.10917962e-01 -4.63306721e-03 -2.84148456e+02] [-7.76375092e-03 -1.11027957e-04 -9.99969855e-01 -4.91788479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.886559995 meters 0.05377611341781078 Centerline is valid? [True, True] Translation: X:624.14, Y:-283.68, Z:-5.88 [[-7.52526194e-01 -6.58539150e-01 5.52408754e-03 6.24141282e+02] [ 6.58522117e-01 -7.52546466e-01 -4.73690841e-03 -2.83683746e+02] [ 7.27657219e-03 7.30861661e-05 9.99973523e-01 -5.87734842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9465599949999 meters 0.0535334436325176 Centerline is valid? [True, True] Translation: X:623.69, Y:-284.07, Z:-4.92 [[-8.12850785e-01 5.82456762e-01 4.20970394e-03 6.23685824e+02] [ 5.82448457e-01 8.12861682e-01 -3.11139953e-03 -2.84068445e+02] [-5.23416273e-03 -7.71679896e-05 -9.99986299e-01 -4.91931707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.006559995 meters 0.05394571218183187 Centerline is valid? [True, True] Translation: X:623.68, Y:-283.97, Z:-4.92 [[-8.50940255e-01 5.25250525e-01 3.54504024e-03 6.23681874e+02] [ 5.25245698e-01 8.50947638e-01 -2.25250446e-03 -2.83974374e+02] [-4.19977277e-03 -5.47295818e-05 -9.99991179e-01 -4.91924520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0665599949999 meters 0.053538412316387916 Centerline is valid? [True, True] Translation: X:623.69, Y:-283.89, Z:-4.92 [[-8.85893010e-01 4.63876350e-01 3.50807631e-03 6.23685883e+02] [ 4.63872484e-01 8.85899955e-01 -1.89461663e-03 -2.83891656e+02] [-3.98667249e-03 -5.11275559e-05 -9.99992052e-01 -4.91992395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.126559995 meters 0.05364930040292192 Centerline is valid? [True, True] Translation: X:623.67, Y:-283.80, Z:-4.92 [[-9.17130127e-01 3.98562125e-01 4.53452361e-03 6.23665810e+02] [ 3.98556886e-01 9.17141335e-01 -2.04468896e-03 -2.83797407e+02] [-4.97373461e-03 -6.79802352e-05 -9.99987629e-01 -4.91899672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1865599949999 meters 0.05354642999341771 Centerline is valid? [True, True] Translation: X:623.93, Y:-283.27, Z:-5.88 [[-8.76718091e-01 -4.80968125e-01 5.92039855e-03 6.23925066e+02] [ 4.80958676e-01 -8.76738058e-01 -3.02140534e-03 -2.83270161e+02] [ 6.64383839e-03 1.98546325e-04 9.99977910e-01 -5.87798278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.246559995 meters 0.053798021671340054 Centerline is valid? [True, True] Translation: X:623.57, Y:-283.76, Z:-4.92 [[-9.18856857e-01 3.94517395e-01 7.62236558e-03 6.23565375e+02] [ 3.94502796e-01 9.18888466e-01 -3.39589731e-03 -2.83759774e+02] [-8.34384437e-03 -1.13299000e-04 -9.99965183e-01 -4.91692393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3065599949999 meters 0.05367466705598213 Centerline is valid? [True, True] Translation: X:623.53, Y:-283.67, Z:-4.92 [[-9.42280686e-01 3.34729589e-01 7.95057400e-03 6.23529602e+02] [ 3.34717134e-01 9.42314225e-01 -2.88818030e-03 -2.83671277e+02] [-8.45869838e-03 -6.02831717e-05 -9.99964223e-01 -4.91686099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.366559995 meters 0.05322079719855928 Centerline is valid? [True, True] Translation: X:623.63, Y:-283.05, Z:-5.88 [[-9.15852669e-01 -4.01459354e-01 6.65400689e-03 6.23627520e+02] [ 4.01448649e-01 -9.15876840e-01 -2.93177678e-03 -2.83046621e+02] [ 7.27124002e-03 -1.38335046e-05 9.99973564e-01 -5.87978542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4265599949999 meters 0.05351623923951542 Centerline is valid? [True, True] Translation: X:623.23, Y:-283.58, Z:-4.92 [[-9.37632536e-01 3.47589543e-01 5.17075900e-03 6.23234133e+02] [ 3.47584562e-01 9.37646792e-01 -1.86161912e-03 -2.83579903e+02] [-5.49542493e-03 5.17613417e-05 -9.99984899e-01 -4.91916955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.486559995 meters 0.05394055633972743 Centerline is valid? [True, True] Translation: X:623.18, Y:-283.50, Z:-4.92 [[-9.58243858e-01 2.85921512e-01 4.19483080e-03 6.23179574e+02] [ 2.85919068e-01 9.58253038e-01 -1.18404952e-03 -2.83495067e+02] [-4.35825459e-03 6.47739358e-05 -9.99990501e-01 -4.91960133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5465599949999 meters 0.05392478775606714 Centerline is valid? [True, True] Translation: X:623.11, Y:-283.40, Z:-4.92 [[-9.75783820e-01 2.18694185e-01 4.33475183e-03 6.23106857e+02] [ 2.18692358e-01 9.75793445e-01 -8.96895981e-04 -2.83402120e+02] [-4.42596836e-03 7.28005120e-05 -9.99990203e-01 -4.92071988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.606559995 meters 0.05332778819068816 Centerline is valid? [True, True] Translation: X:623.26, Y:-282.76, Z:-5.88 [[-9.68438498e-01 -2.49145915e-01 7.29303799e-03 6.23255054e+02] [ 2.49139452e-01 -9.68465956e-01 -1.79619119e-03 -2.82760789e+02] [ 7.51057271e-03 7.74827933e-05 9.99971792e-01 -5.87859158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.666559995 meters 0.05387140947928408 Centerline is valid? [True, True] Translation: X:623.06, Y:-283.40, Z:-4.92 [[-9.77789211e-01 2.09420492e-01 8.44493516e-03 6.23062168e+02] [ 2.09413586e-01 9.77825673e-01 -1.70383519e-03 -2.83402533e+02] [-8.61449241e-03 1.02492493e-04 -9.99962889e-01 -4.91667367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7265599949999 meters 0.05404788898687141 Centerline is valid? [True, True] Translation: X:623.04, Y:-283.33, Z:-4.92 [[-9.90496978e-01 1.37247184e-01 8.88522502e-03 6.23037919e+02] [ 1.37242454e-01 9.90536826e-01 -1.14273359e-03 -2.83325113e+02] [-8.95797955e-03 8.75559188e-05 -9.99959873e-01 -4.91687854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.786559995 meters 0.05274115519119322 Centerline is valid? [True, True] Translation: X:623.16, Y:-282.67, Z:-5.88 [[-9.82599641e-01 -1.85601424e-01 7.07508767e-03 6.23161314e+02] [ 1.85595222e-01 -9.82625094e-01 -1.52904067e-03 -2.82672955e+02] [ 7.23595081e-03 -1.89332350e-04 9.99973802e-01 -5.87799875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8465599949999 meters 0.05253978038565145 Centerline is valid? [True, True] Translation: X:622.99, Y:-283.32, Z:-4.92 [[-9.91931070e-01 1.26668566e-01 5.27503595e-03 6.22994007e+02] [ 1.26666832e-01 9.91945096e-01 -6.62845705e-04 -2.83323287e+02] [-5.31650776e-03 1.06748437e-05 -9.99985867e-01 -4.91873885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.906559995 meters 0.05197912944969543 Centerline is valid? [True, True] Translation: X:622.97, Y:-283.24, Z:-4.92 [[-9.98758947e-01 4.96955089e-02 3.30477086e-03 6.22973771e+02] [ 4.96951767e-02 9.98764415e-01 -1.82626396e-04 -2.83244235e+02] [-3.30976324e-03 -1.81685750e-05 -9.99994523e-01 -4.92037995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9665599949999 meters 0.05170348571774248 Centerline is valid? [True, True] Translation: X:623.04, Y:-283.16, Z:-4.92 [[-9.99493537e-01 -3.15508275e-02 4.14897391e-03 6.23036779e+02] [-3.15508049e-02 9.99502147e-01 7.09137335e-05 -2.83162431e+02] [-4.14914571e-03 -6.00256479e-05 -9.99991390e-01 -4.91863432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.026559995 meters 0.05164054807504713 Centerline is valid? [True, True] Translation: X:623.07, Y:-282.52, Z:-5.88 [[-9.97590195e-01 -6.92100023e-02 4.87632304e-03 6.23065551e+02] [ 6.92097858e-02 -9.97602105e-01 -2.13346478e-04 -2.82522954e+02] [ 4.87939584e-03 1.24656918e-04 9.99988088e-01 -5.87731590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0865599949999 meters 0.05185619079075119 Centerline is valid? [True, True] Translation: X:623.05, Y:-283.17, Z:-4.92 [[-9.98592085e-01 -5.27217935e-02 5.85328300e-03 6.23053209e+02] [-5.27219405e-02 9.98609223e-01 1.29292843e-04 -2.83166751e+02] [-5.85195894e-03 -1.79485628e-04 -9.99982861e-01 -4.91859812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.146559995 meters 0.05191172253976939 Centerline is valid? [True, True] Translation: X:623.01, Y:-282.54, Z:-5.88 [[-9.97246376e-01 -7.39277354e-02 5.86136068e-03 6.23014351e+02] [ 7.39275220e-02 -9.97263585e-01 -2.53352544e-04 -2.82536691e+02] [ 5.86405134e-03 1.80660965e-04 9.99982790e-01 -5.87887352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2065599949999 meters 0.051669046224605615 Centerline is valid? [True, True] Translation: X:622.94, Y:-283.17, Z:-4.92 [[-9.98269363e-01 -5.84468182e-02 6.49987080e-03 6.22936261e+02] [-5.84469483e-02 9.98290501e-01 1.70097447e-04 -2.83173806e+02] [-6.49870093e-03 -2.10094542e-04 -9.99978861e-01 -4.91824610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.266559995 meters 0.05223522935208053 Centerline is valid? [True, True] Translation: X:622.84, Y:-282.54, Z:-5.88 [[-9.97776958e-01 -6.63771948e-02 5.93382069e-03 6.22838789e+02] [ 6.63769612e-02 -9.97794590e-01 -2.36523375e-04 -2.82536047e+02] [ 5.93643394e-03 1.57871411e-04 9.99982367e-01 -5.87881515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3265599949999 meters 0.051938796113114576 Centerline is valid? [True, True] Translation: X:622.70, Y:-283.19, Z:-4.92 [[-9.98413600e-01 -5.59471580e-02 6.34032813e-03 6.22698833e+02] [-5.59470815e-02 9.98433717e-01 1.89569778e-04 -2.83185079e+02] [-6.34100328e-03 -1.65453811e-04 -9.99979882e-01 -4.91785191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.386559995 meters 0.052104870075691 Centerline is valid? [True, True] Translation: X:622.62, Y:-282.54, Z:-5.88 [[-9.98450585e-01 -5.52839848e-02 6.33326700e-03 6.22616863e+02] [ 5.52839191e-02 -9.98470658e-01 -1.85575486e-04 -2.82536222e+02] [ 6.33384062e-03 1.64839868e-04 9.99979927e-01 -5.88169898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4465599949999 meters 0.0519628996117852 Centerline is valid? [True, True] Translation: X:622.56, Y:-283.20, Z:-4.91 [[-9.98569365e-01 -5.29986616e-02 7.09683032e-03 6.22555778e+02] [-5.29982852e-02 9.98594574e-01 2.41230665e-04 -2.83198415e+02] [-7.09964115e-03 -1.35234285e-04 -9.99974788e-01 -4.91475459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.506559995 meters 0.0519628996117852 Centerline is valid? [True, True] Translation: X:622.49, Y:-283.12, Z:-4.91 [[-9.92269238e-01 -1.23902775e-01 7.06125236e-03 6.22488085e+02] [-1.23900606e-01 9.92294354e-01 7.45477673e-04 -2.83122315e+02] [-7.09920759e-03 -1.35178881e-04 -9.99974791e-01 -4.91477032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5665599949999 meters 0.05171197869566645 Centerline is valid? [True, True] Translation: X:622.36, Y:-283.06, Z:-4.92 [[-9.81002538e-01 -1.93866830e-01 7.04794046e-03 6.22362242e+02] [-1.93862807e-01 9.81027846e-01 1.25610250e-03 -2.83063477e+02] [-7.15774245e-03 -1.34093779e-04 -9.99974374e-01 -4.91571402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.626559995 meters 0.0520049638074699 Centerline is valid? [True, True] Translation: X:622.28, Y:-283.00, Z:-4.92 [[-9.64814290e-01 -2.62831350e-01 7.28473827e-03 6.22275332e+02] [-2.62824926e-01 9.64841781e-01 1.84263609e-03 -2.83003852e+02] [-7.51292238e-03 -1.36809164e-04 -9.99971768e-01 -4.91509945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6865599949999 meters 0.05160621556393098 Centerline is valid? [True, True] Translation: X:622.20, Y:-282.95, Z:-4.92 [[-9.43640585e-01 -3.30900821e-01 6.86246538e-03 6.22198875e+02] [-3.30893072e-01 9.43665529e-01 2.26831507e-03 -2.82946112e+02] [-7.22645933e-03 -1.30268093e-04 -9.99973880e-01 -4.91500991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.746559995 meters 0.05213620103448163 Centerline is valid? [True, True] Translation: X:622.09, Y:-282.90, Z:-4.91 [[-9.17479640e-01 -3.97734677e-01 6.18361447e-03 6.22086088e+02] [-3.97726548e-01 9.17500469e-01 2.54599813e-03 -2.82903961e+02] [-6.68610093e-03 -1.23486187e-04 -9.99977640e-01 -4.91458398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8065599949999 meters 0.052074842392548226 Centerline is valid? [True, True] Translation: X:621.97, Y:-282.87, Z:-4.91 [[-8.85805528e-01 -4.64012257e-01 6.41811246e-03 6.21974812e+02] [-4.64001226e-01 8.85828768e-01 3.20258142e-03 -2.82867216e+02] [-7.17138568e-03 -1.41147731e-04 -9.99974275e-01 -4.91467877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.866559995 meters 0.05178778182465245 Centerline is valid? [True, True] Translation: X:621.84, Y:-282.85, Z:-4.91 [[-8.49520991e-01 -5.27506878e-01 7.11189759e-03 6.21836543e+02] [-5.27490044e-01 8.49550743e-01 4.21765276e-03 -2.82850107e+02] [-8.26675872e-03 -1.68470617e-04 -9.99965816e-01 -4.91348744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9265599949999 meters 0.05099556938312692 Centerline is valid? [True, True] Translation: X:621.67, Y:-282.87, Z:-4.92 [[-8.10425512e-01 -5.85805489e-01 6.51299315e-03 6.21667652e+02] [-5.85788032e-01 8.10451669e-01 4.52492071e-03 -2.82869982e+02] [-7.92918956e-03 -1.48122259e-04 -9.99968553e-01 -4.91550847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.986559995 meters 0.05168232082522215 Centerline is valid? [True, True] Translation: X:621.51, Y:-282.88, Z:-4.91 [[-7.66308607e-01 -6.42459288e-01 4.14505423e-03 6.21509877e+02] [-6.42450584e-01 7.66319811e-01 3.34578641e-03 -2.82880112e+02] [-5.32596873e-03 -9.90875882e-05 -9.99985812e-01 -4.91488504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0465599949999 meters 0.051987494865648826 Centerline is valid? [True, True] Translation: X:621.34, Y:-282.92, Z:-4.92 [[-7.17401751e-01 -6.96652454e-01 3.17588938e-03 6.21335007e+02] [-6.96646149e-01 7.17408775e-01 2.96523775e-03 -2.82924682e+02] [-4.34415107e-03 -8.52043575e-05 -9.99990561e-01 -4.91587034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.106559995 meters 0.05172546123436245 Centerline is valid? [True, True] Translation: X:621.18, Y:-282.97, Z:-4.92 [[-6.63418135e-01 -7.48243580e-01 2.81487385e-03 6.21177016e+02] [-7.48237396e-01 6.63424101e-01 3.04338572e-03 -2.82966649e+02] [-4.14464898e-03 -8.71565996e-05 -9.99991407e-01 -4.91506783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.166559995 meters 0.05151014483214861 Centerline is valid? [True, True] Translation: X:620.99, Y:-283.07, Z:-4.91 [[-6.05945262e-01 -7.95495953e-01 4.06543026e-03 6.20985192e+02] [-7.95479554e-01 6.05958885e-01 5.10967197e-03 -2.83070853e+02] [-6.52820695e-03 -1.37785130e-04 -9.99978682e-01 -4.91462315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2265599949999 meters 0.05136712777076126 Centerline is valid? [True, True] Translation: X:620.82, Y:-283.17, Z:-4.92 [[-5.45330195e-01 -8.38209012e-01 4.54204327e-03 6.20815352e+02] [-8.38182524e-01 5.45349083e-01 6.66591768e-03 -2.83168790e+02] [-8.06443141e-03 -1.71935099e-04 -9.99967467e-01 -4.91544360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.286559995 meters 0.050988458325844 Centerline is valid? [True, True] Translation: X:620.63, Y:-283.31, Z:-4.92 [[-4.82669862e-01 -8.75793701e-01 3.89842690e-03 6.20626939e+02] [-8.75767835e-01 4.82685577e-01 6.73297182e-03 -2.83314210e+02] [-7.77840874e-03 -1.64314304e-04 -9.99969734e-01 -4.91584751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3465599949999 meters 0.05280596851625928 Centerline is valid? [True, True] Translation: X:620.45, Y:-283.45, Z:-4.91 [[-4.18982274e-01 -9.07989407e-01 3.01500957e-03 6.20451036e+02] [-9.07968114e-01 4.18993101e-01 6.21967986e-03 -2.83451098e+02] [-6.91067164e-03 -1.31596941e-04 -9.99976112e-01 -4.91234106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.406559995 meters 0.051374004248570734 Centerline is valid? [True, True] Translation: X:620.27, Y:-283.68, Z:-4.91 [[-3.55161380e-01 -9.34801349e-01 2.61369699e-03 6.20273654e+02] [-9.34778180e-01 3.55170981e-01 6.58237768e-03 -2.83675891e+02] [-7.08152486e-03 -1.05420582e-04 -9.99974920e-01 -4.91388752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4665599949999 meters 0.05268164851971043 Centerline is valid? [True, True] Translation: X:620.12, Y:-283.87, Z:-4.91 [[-2.87652597e-01 -9.57731763e-01 2.41933999e-03 6.20121819e+02] [-9.57700713e-01 2.87662754e-01 7.71267014e-03 -2.83874370e+02] [-8.08262318e-03 -9.84340389e-05 -9.99967330e-01 -4.91327199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.526559995 meters 0.05218034447152818 Centerline is valid? [True, True] Translation: X:619.98, Y:-284.09, Z:-4.91 [[-2.19728472e-01 -9.75559090e-01 1.96487324e-03 6.19983695e+02] [-9.75522968e-01 2.19737245e-01 8.39535477e-03 -2.84090810e+02] [-8.62192049e-03 -7.20805071e-05 -9.99962828e-01 -4.91292946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5865599949999 meters 0.05236915471182531 Centerline is valid? [True, True] Translation: X:619.86, Y:-284.33, Z:-4.92 [[-1.50076610e-01 -9.88673590e-01 1.24269233e-03 6.19861952e+02] [-9.88642016e-01 1.50081749e-01 7.90142665e-03 -2.84331482e+02] [-7.99843729e-03 -4.27585226e-05 -9.99968011e-01 -4.91618838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.646559995 meters 0.05202867646690666 Centerline is valid? [True, True] Translation: X:619.76, Y:-284.58, Z:-4.92 [[-7.88287226e-02 -9.96887984e-01 6.16456812e-04 6.19757317e+02] [-9.96859708e-01 7.88311298e-02 7.50836341e-03 -2.84577966e+02] [-7.53359325e-03 -2.26462612e-05 -9.99971622e-01 -4.91591962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7065599949999 meters 0.051614503906826606 Centerline is valid? [True, True] Translation: X:619.67, Y:-284.81, Z:-4.92 [[-5.56689536e-03 -9.99984503e-01 5.36481585e-05 6.19671286e+02] [-9.99960252e-01 5.56713398e-03 6.96423258e-03 -2.84810269e+02] [-6.96442333e-03 -1.48768720e-05 -9.99975748e-01 -4.91654899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.766559995 meters 0.052528969983388275 Centerline is valid? [True, True] Translation: X:619.60, Y:-285.05, Z:-4.92 [[ 6.76915756e-02 -9.97706221e-01 -3.82705290e-04 6.19602029e+02] [-9.97689561e-01 -6.76926569e-02 5.76573574e-03 -2.85054186e+02] [-5.77841676e-03 -8.47066433e-06 -9.99983305e-01 -4.91579435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8265599949999 meters 0.05164197481367092 Centerline is valid? [True, True] Translation: X:619.55, Y:-285.30, Z:-4.92 [[ 1.41983324e-01 -9.89868687e-01 -8.47679590e-04 6.19551333e+02] [-9.89850595e-01 -1.41985854e-01 5.98475562e-03 -2.85302147e+02] [-6.04448069e-03 -1.06593484e-05 -9.99981732e-01 -4.91566225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.886559995 meters 0.05195955342371688 Centerline is valid? [True, True] Translation: X:619.51, Y:-285.50, Z:-4.91 [[ 2.18273766e-01 -9.75886314e-01 -1.57015013e-03 6.19506130e+02] [-9.75859969e-01 -2.18279411e-01 7.17069743e-03 -2.85498955e+02] [-7.34051693e-03 -3.29284814e-05 -9.99973058e-01 -4.91429061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9465599949999 meters 0.05158635183073419 Centerline is valid? [True, True] Translation: X:619.49, Y:-285.75, Z:-4.91 [[ 2.92388672e-01 -9.56296867e-01 -2.27323829e-03 6.19489242e+02] [-9.56266519e-01 -2.92397503e-01 7.61866943e-03 -2.85747236e+02] [-7.95039890e-03 -5.37909668e-05 -9.99968394e-01 -4.91450105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.006559995 meters 0.051941053122942726 Centerline is valid? [True, True] Translation: X:619.48, Y:-285.97, Z:-4.91 [[ 3.64357270e-01 -9.31253915e-01 -3.15053473e-03 6.19479853e+02] [-9.31217284e-01 -3.64370883e-01 8.26017726e-03 -2.85970500e+02] [-8.84028553e-03 -7.58232468e-05 -9.99960921e-01 -4.91144557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0665599949999 meters 0.05199740402662913 Centerline is valid? [True, True] Translation: X:619.50, Y:-286.20, Z:-4.91 [[ 4.31585474e-01 -9.02064471e-01 -3.69720381e-03 6.19497542e+02] [-9.02030032e-01 -4.31601305e-01 7.88256226e-03 -2.86203787e+02] [-8.70629734e-03 -6.70104997e-05 -9.99962097e-01 -4.91460321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.126559995 meters 0.05197625463844369 Centerline is valid? [True, True] Translation: X:619.54, Y:-286.46, Z:-4.92 [[ 4.95733329e-01 -8.68468383e-01 -3.33698760e-03 6.19544559e+02] [-8.68448108e-01 -4.95744558e-01 5.93433258e-03 -2.86460484e+02] [-6.80807366e-03 -4.38458697e-05 -9.99976824e-01 -4.91538145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1865599949999 meters 0.05241471553866965 Centerline is valid? [True, True] Translation: X:619.61, Y:-286.71, Z:-4.92 [[ 5.58253824e-01 -8.29664023e-01 -3.20570927e-03 6.19610825e+02] [-8.29649961e-01 -5.58263027e-01 4.83073840e-03 -2.86714756e+02] [-5.79751882e-03 -3.71616118e-05 -9.99983194e-01 -4.91586569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.246559995 meters 0.05235881929678789 Centerline is valid? [True, True] Translation: X:619.65, Y:-286.90, Z:-4.91 [[ 6.18329594e-01 -7.85910575e-01 -3.61674755e-03 6.19645963e+02] [-7.85896756e-01 -6.18340170e-01 4.66071962e-03 -2.86896353e+02] [-5.89928913e-03 -3.94707029e-05 -9.99982598e-01 -4.91444706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3065599949999 meters 0.051657909022669125 Centerline is valid? [True, True] Translation: X:619.74, Y:-287.12, Z:-4.91 [[ 6.75599452e-01 -7.37252982e-01 -4.83959719e-03 6.19735166e+02] [-7.37233474e-01 -6.75616783e-01 5.36348769e-03 -2.87122852e+02] [-7.22396037e-03 -5.56562963e-05 -9.99973905e-01 -4.91375885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.366559995 meters 0.052212870512993025 Centerline is valid? [True, True] Translation: X:619.80, Y:-287.30, Z:-4.91 [[ 7.28855528e-01 -6.84646125e-01 -5.41325604e-03 6.19797204e+02] [-6.84626567e-01 -7.28875627e-01 5.17539300e-03 -2.87298649e+02] [-7.48890315e-03 -6.60548969e-05 -9.99971956e-01 -4.91347664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4265599949999 meters 0.05226880188145725 Centerline is valid? [True, True] Translation: X:619.76, Y:-287.38, Z:-4.91 [[ 7.80846340e-01 -6.24695161e-01 -5.91183393e-03 6.19764799e+02] [-6.24676512e-01 -7.80868715e-01 4.82748594e-03 -2.87383040e+02] [-7.63207327e-03 -7.65409278e-05 -9.99970872e-01 -4.91401628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.486559995 meters 0.05171522033512387 Centerline is valid? [True, True] Translation: X:619.74, Y:-287.47, Z:-4.91 [[ 8.28509813e-01 -5.59941311e-01 -6.10066245e-03 6.19738466e+02] [-5.59925318e-01 -8.28532269e-01 4.23297624e-03 -2.87470793e+02] [-7.42481396e-03 -9.11469848e-05 -9.99972432e-01 -4.91494144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5465599949999 meters 0.05172356604172223 Centerline is valid? [True, True] Translation: X:619.72, Y:-287.56, Z:-4.92 [[ 8.71134452e-01 -4.90995493e-01 -6.94198884e-03 6.19718260e+02] [-4.90978798e-01 -8.71162104e-01 4.05084339e-03 -2.87563202e+02] [-8.03654345e-03 -1.20459906e-04 -9.99967699e-01 -4.91531777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.606559995 meters 0.05160816266584973 Centerline is valid? [True, True] Translation: X:619.71, Y:-287.66, Z:-4.91 [[ 9.07302140e-01 -4.20400838e-01 -8.12164856e-03 6.19705094e+02] [-4.20382575e-01 -9.07338478e-01 3.92120777e-03 -2.87656030e+02] [-9.01756328e-03 -1.43520664e-04 -9.99959331e-01 -4.91460383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.666559995 meters 0.05245270117478111 Centerline is valid? [True, True] Translation: X:619.70, Y:-287.75, Z:-4.91 [[ 9.37102910e-01 -3.48940349e-01 -8.87520207e-03 6.19699441e+02] [-3.48923248e-01 -9.37144926e-01 3.45760654e-03 -2.87749524e+02] [-9.52384902e-03 -1.43368820e-04 -9.99954637e-01 -4.91417842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7265599949999 meters 0.05172709322809746 Centerline is valid? [True, True] Translation: X:619.70, Y:-287.84, Z:-4.92 [[ 9.60622218e-01 -2.77754405e-01 -7.57916285e-03 6.19702522e+02] [-2.77744975e-01 -9.60652112e-01 2.29079752e-03 -2.87838179e+02] [-7.91721791e-03 -9.55166005e-05 -9.99968654e-01 -4.91568024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.786559995 meters 0.05226977043629736 Centerline is valid? [True, True] Translation: X:619.71, Y:-287.93, Z:-4.92 [[ 9.78868691e-01 -2.04375485e-01 -6.83721151e-03 6.19711773e+02] [-2.04370017e-01 -9.78892566e-01 1.49653837e-03 -2.87928846e+02] [-6.99875128e-03 -6.75935201e-05 -9.99975506e-01 -4.91715011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8465599949999 meters 0.052365967635324515 Centerline is valid? [True, True] Translation: X:619.73, Y:-288.02, Z:-4.92 [[ 9.91073320e-01 -1.33077563e-01 -8.00229257e-03 6.19728039e+02] [-1.33072993e-01 -9.91105626e-01 1.10331706e-03 -2.88019568e+02] [-8.07794393e-03 -2.85790787e-05 -9.99967372e-01 -4.91647003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.906559995 meters 0.05259755827503176 Centerline is valid? [True, True] Translation: X:619.75, Y:-288.11, Z:-4.91 [[ 9.98262688e-01 -5.82510656e-02 -8.85546143e-03 6.19750253e+02] [-5.82487475e-02 -9.98301965e-01 5.19680809e-04 -2.88105344e+02] [-8.87069651e-03 -2.95842381e-06 -9.99960655e-01 -4.91441908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9665599949999 meters 0.05255591185505812 Centerline is valid? [True, True] Translation: X:619.77, Y:-288.19, Z:-4.92 [[ 9.99833021e-01 1.60780292e-02 -8.68485612e-03 6.19774851e+02] [ 1.60771509e-02 -9.99870740e-01 -1.70942594e-04 -2.88187058e+02] [-8.68648193e-03 3.12863083e-05 -9.99962271e-01 -4.91629515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.026559995 meters 0.05308109852821258 Centerline is valid? [True, True] Translation: X:619.80, Y:-288.27, Z:-4.92 [[ 9.95535528e-01 9.40589629e-02 -7.86919793e-03 6.19804004e+02] [ 9.40557935e-02 -9.95566628e-01 -7.72700826e-04 -2.88265272e+02] [-7.90699028e-03 2.91074691e-05 -9.99968739e-01 -4.91602588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0865599949999 meters 0.05264593689313698 Centerline is valid? [True, True] Translation: X:619.84, Y:-288.35, Z:-4.92 [[ 9.84685777e-01 1.74156615e-01 -7.96207908e-03 6.19841087e+02] [ 1.74150843e-01 -9.84717966e-01 -1.41794032e-03 -2.88345261e+02] [-8.08734601e-03 9.62288365e-06 -9.99967297e-01 -4.91650337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.146559995 meters 0.052504983908107795 Centerline is valid? [True, True] Translation: X:619.88, Y:-288.42, Z:-4.92 [[ 9.67363239e-01 2.53237695e-01 -8.89010632e-03 6.19884248e+02] [ 2.53227116e-01 -9.67404088e-01 -2.31481938e-03 -2.88418048e+02] [-9.18652472e-03 -1.19448107e-05 -9.99957803e-01 -4.91644430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2065599949999 meters 0.05255622741400037 Centerline is valid? [True, True] Translation: X:619.93, Y:-288.49, Z:-4.92 [[ 9.44222818e-01 3.29180156e-01 -9.14847356e-03 6.19933324e+02] [ 3.29164937e-01 -9.44267136e-01 -3.16542294e-03 -2.88488137e+02] [-9.68059735e-03 -2.24921569e-05 -9.99953142e-01 -4.91666576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.266559995 meters 0.05233249871141195 Centerline is valid? [True, True] Translation: X:619.99, Y:-288.56, Z:-4.92 [[ 9.14893825e-01 4.03620155e-01 -7.74981832e-03 6.19987741e+02] [ 4.03606006e-01 -9.14926647e-01 -3.37974724e-03 -2.88556444e+02] [-8.45464939e-03 -3.57633398e-05 -9.99964258e-01 -4.91626077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3265599949999 meters 0.05317838440257299 Centerline is valid? [True, True] Translation: X:620.05, Y:-288.63, Z:-4.92 [[ 8.79251150e-01 4.76316495e-01 -6.32555303e-03 6.20050947e+02] [ 4.76304587e-01 -8.79273902e-01 -3.36845761e-03 -2.88625444e+02] [-7.16634562e-03 -5.11696964e-05 -9.99974320e-01 -4.91856936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.386559995 meters 0.052607082414348416 Centerline is valid? [True, True] Translation: X:620.12, Y:-288.69, Z:-4.92 [[ 8.37520321e-01 5.46373287e-01 -5.99527683e-03 6.20118490e+02] [ 5.46359918e-01 -8.37541776e-01 -3.82288472e-03 -2.88688318e+02] [-7.11001689e-03 -7.38353176e-05 -9.99974721e-01 -4.91729835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4465599949999 meters 0.053210781529138065 Centerline is valid? [True, True] Translation: X:620.19, Y:-288.74, Z:-4.92 [[ 7.90610430e-01 6.12297188e-01 -5.22514547e-03 6.20186585e+02] [ 6.12284531e-01 -7.90627691e-01 -3.93785044e-03 -2.88739143e+02] [-6.54227946e-03 -8.59701130e-05 -9.99978595e-01 -4.91696354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.506559995 meters 0.05244576669049315 Centerline is valid? [True, True] Translation: X:620.26, Y:-288.79, Z:-4.92 [[ 7.39284525e-01 6.73379064e-01 -4.36196047e-03 6.20264409e+02] [ 6.73368028e-01 -7.39297388e-01 -3.85620826e-03 -2.88789036e+02] [-5.82147590e-03 -8.63696268e-05 -9.99983051e-01 -4.91917536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5665599949999 meters 0.05198217007952606 Centerline is valid? [True, True] Translation: X:620.35, Y:-288.83, Z:-4.92 [[ 6.83544629e-01 7.29893980e-01 -4.63866084e-03 6.20346925e+02] [ 7.29878202e-01 -6.83560360e-01 -4.80033281e-03 -2.88834156e+02] [-6.67453870e-03 -1.04415724e-04 -9.99977720e-01 -4.91944415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.626559995 meters 0.05248263059971748 Centerline is valid? [True, True] Translation: X:620.43, Y:-288.87, Z:-4.92 [[ 6.22103008e-01 7.82916901e-01 -5.38272644e-03 6.20431994e+02] [ 7.82889704e-01 -6.22126276e-01 -6.52746956e-03 -2.88871861e+02] [-8.45920179e-03 -1.53322662e-04 -9.99964209e-01 -4.91854884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6865599949999 meters 0.05297025698357436 Centerline is valid? [True, True] Translation: X:620.53, Y:-288.91, Z:-4.92 [[ 5.56148525e-01 8.31064932e-01 -5.46789197e-03 6.20525854e+02] [ 8.31028305e-01 -5.56175366e-01 -7.80506713e-03 -2.88908270e+02] [-9.52762441e-03 -2.03196424e-04 -9.99954591e-01 -4.91601814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.746559995 meters 0.05325888547566968 Centerline is valid? [True, True] Translation: X:620.61, Y:-288.93, Z:-4.92 [[ 4.88976130e-01 8.72286366e-01 -4.34048567e-03 6.20614116e+02] [ 8.72255347e-01 -4.88995358e-01 -7.35867750e-03 -2.88929556e+02] [-8.54135140e-03 -1.87794186e-04 -9.99963504e-01 -4.91862397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8065599949999 meters 0.053161792728645164 Centerline is valid? [True, True] Translation: X:620.71, Y:-288.95, Z:-4.92 [[ 4.21883399e-01 9.06645911e-01 -2.75513911e-03 6.20705232e+02] [ 9.06628438e-01 -4.21892377e-01 -5.63013601e-03 -2.88945090e+02] [-6.26691198e-03 -1.22626548e-04 -9.99980355e-01 -4.92103529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.866559995 meters 0.053583668165546064 Centerline is valid? [True, True] Translation: X:620.80, Y:-288.95, Z:-4.92 [[ 3.53055822e-01 9.35599606e-01 -2.22794323e-03 6.20796612e+02] [ 9.35582674e-01 -3.53062839e-01 -5.62958017e-03 -2.88954336e+02] [-6.05363695e-03 -9.68690296e-05 -9.99981672e-01 -4.92072609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9265599949999 meters 0.053606660856533934 Centerline is valid? [True, True] Translation: X:620.88, Y:-288.95, Z:-4.92 [[ 2.83459284e-01 9.58981791e-01 -2.18128292e-03 6.20884612e+02] [ 9.58955529e-01 -2.83467666e-01 -7.09755839e-03 -2.88953065e+02] [-7.42475243e-03 -7.98844988e-05 -9.99972433e-01 -4.91934377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.986559995 meters 0.053527159028641226 Centerline is valid? [True, True] Translation: X:620.97, Y:-288.95, Z:-4.92 [[ 2.11716312e-01 9.77329334e-01 -1.89122637e-03 6.20970236e+02] [ 9.77292613e-01 -2.11724752e-01 -8.47219394e-03 -2.88945095e+02] [-8.68054309e-03 -5.45799082e-05 -9.99962322e-01 -4.91893300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0465599949999 meters 0.054409628347466085 Centerline is valid? [True, True] Translation: X:621.05, Y:-288.93, Z:-4.92 [[ 1.40881587e-01 9.90025607e-01 -1.29434258e-03 6.21052871e+02] [ 9.89983751e-01 -1.40887533e-01 -9.10366778e-03 -2.88930546e+02] [-9.19522095e-03 1.16104307e-06 -9.99957723e-01 -4.91910698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.106559995 meters 0.05420269715740048 Centerline is valid? [True, True] Translation: X:621.13, Y:-288.91, Z:-4.92 [[ 6.76111673e-02 9.97711586e-01 -5.67419486e-04 6.21130055e+02] [ 9.97670972e-01 -6.76135348e-02 -9.00229906e-03 -2.88908761e+02] [-9.02006330e-03 4.25579973e-05 -9.99959318e-01 -4.91860563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.166559995 meters 0.05449727298014121 Centerline is valid? [True, True] Translation: X:621.20, Y:-288.88, Z:-4.92 [[-9.73388837e-03 9.99952616e-01 1.34840550e-04 6.21203054e+02] [ 9.99913953e-01 9.73469777e-03 -8.79335963e-03 -2.88882363e+02] [-8.79425559e-03 4.92353667e-05 -9.99961329e-01 -4.92109472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2265599949999 meters 0.054414826067110886 Centerline is valid? [True, True] Translation: X:621.27, Y:-288.85, Z:-4.92 [[-8.66438649e-02 9.96239109e-01 6.91100464e-04 6.21274324e+02] [ 9.96211807e-01 8.66466070e-02 -7.37571989e-03 -2.88849067e+02] [-7.40786212e-03 4.94215644e-05 -9.99972560e-01 -4.91982837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.286559995 meters 0.05454023182524606 Centerline is valid? [True, True] Translation: X:621.35, Y:-288.81, Z:-4.92 [[-1.65899513e-01 9.86141898e-01 1.22833485e-03 6.21346790e+02] [ 9.86116456e-01 1.65904056e-01 -7.08373028e-03 -2.88809130e+02] [-7.18934895e-03 3.60938112e-05 -9.99974156e-01 -4.92008063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3465599949999 meters 0.0542423535236451 Centerline is valid? [True, True] Translation: X:621.41, Y:-288.77, Z:-4.92 [[-2.46640283e-01 9.69105452e-01 1.78698740e-03 6.21414941e+02] [ 9.69080186e-01 2.46646757e-01 -6.99792690e-03 -2.88765398e+02] [-7.22248376e-03 5.76341224e-06 -9.99973918e-01 -4.91917859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.406559995 meters 0.05438774648247533 Centerline is valid? [True, True] Translation: X:621.48, Y:-288.71, Z:-4.92 [[-3.24957050e-01 9.45725742e-01 2.39525173e-03 6.21479656e+02] [ 9.45699613e-01 3.24965877e-01 -7.02998283e-03 -2.88714399e+02] [-7.42681081e-03 -1.92538503e-05 -9.99972421e-01 -4.91963535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4665599949999 meters 0.053535979081577846 Centerline is valid? [True, True] Translation: X:621.54, Y:-288.66, Z:-4.92 [[-4.03385754e-01 9.15026408e-01 2.57008693e-03 6.21543352e+02] [ 9.15006933e-01 4.03393938e-01 -5.97028697e-03 -2.88658290e+02] [-6.49972773e-03 -5.66813545e-05 -9.99978875e-01 -4.91894313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.526559995 meters 0.053872092118549667 Centerline is valid? [True, True] Translation: X:621.60, Y:-288.60, Z:-4.92 [[-4.76388728e-01 8.79230623e-01 2.70023454e-03 6.21596493e+02] [ 8.79215669e-01 4.76396375e-01 -5.12849241e-03 -2.88600280e+02] [-5.79550952e-03 -6.90674601e-05 -9.99983204e-01 -4.91793034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5865599949999 meters 0.05364074169107215 Centerline is valid? [True, True] Translation: X:621.65, Y:-288.53, Z:-4.92 [[-5.47193947e-01 8.37000586e-01 2.96705654e-03 6.21647982e+02] [ 8.36987381e-01 5.47201984e-01 -4.70247773e-03 -2.88534639e+02] [-5.55955584e-03 -8.97784658e-05 -9.99984542e-01 -4.91822478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.646559995 meters 0.053602504349907897 Centerline is valid? [True, True] Translation: X:621.70, Y:-288.46, Z:-4.92 [[-6.14248841e-01 7.89104516e-01 3.52493266e-03 6.21697032e+02] [ 7.89090400e-01 6.14258943e-01 -4.72129221e-03 -2.88463221e+02] [-5.89081442e-03 -1.18557741e-04 -9.99982642e-01 -4.91804251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7065599949999 meters 0.0536648815469612 Centerline is valid? [True, True] Translation: X:621.74, Y:-288.39, Z:-4.92 [[-6.76683547e-01 7.36261070e-01 4.36043797e-03 6.21742884e+02] [ 7.36244291e-01 6.76697578e-01 -4.97308680e-03 -2.88387632e+02] [-6.61218802e-03 -1.54858457e-04 -9.99978127e-01 -4.91778888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.766559995 meters 0.05373682776548803 Centerline is valid? [True, True] Translation: X:621.78, Y:-288.31, Z:-4.92 [[-7.34840320e-01 6.78220445e-01 5.17034873e-03 6.21781419e+02] [ 6.78201758e-01 7.34858483e-01 -5.03839975e-03 -2.88308890e+02] [-7.21662035e-03 -1.95879688e-04 -9.99973941e-01 -4.91700089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8265599949999 meters 0.053732843963952975 Centerline is valid? [True, True] Translation: X:621.72, Y:-288.16, Z:-4.92 [[-7.81377904e-01 6.24035000e-01 5.37493238e-03 6.21723120e+02] [ 6.24018513e-01 7.81396366e-01 -4.54038902e-03 -2.88155773e+02] [-7.03331429e-03 -1.93702341e-04 -9.99975247e-01 -4.91780905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.886559995 meters 0.05347126771348769 Centerline is valid? [True, True] Translation: X:622.10, Y:-287.75, Z:-5.88 [[-7.01088377e-01 -7.13057197e-01 4.95201045e-03 6.22103178e+02] [ 7.13041198e-01 -7.01105842e-01 -4.78000665e-03 -2.87747645e+02] [ 6.88030159e-03 1.79780362e-04 9.99976314e-01 -5.88171671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9465599949999 meters 0.05467127176152436 Centerline is valid? [True, True] Translation: X:621.70, Y:-288.14, Z:-4.92 [[-7.83718588e-01 6.21091249e-01 5.55288772e-03 6.21699187e+02] [ 6.21073833e-01 7.83738234e-01 -4.65556228e-03 -2.88138507e+02] [-7.24353941e-03 -1.99897435e-04 -9.99973745e-01 -4.91586659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.006559995 meters 0.05362664713908111 Centerline is valid? [True, True] Translation: X:621.73, Y:-288.07, Z:-4.92 [[-8.25914375e-01 5.63769596e-01 5.41185089e-03 6.21725378e+02] [ 5.63756000e-01 8.25932085e-01 -3.91968422e-03 -2.88067920e+02] [-6.67962008e-03 -1.86360126e-04 -9.99977674e-01 -4.91777330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0665599949999 meters 0.05306668289739697 Centerline is valid? [True, True] Translation: X:622.03, Y:-287.58, Z:-5.88 [[-7.51145931e-01 -6.60122301e-01 4.28220616e-03 6.22028545e+02] [ 6.60112243e-01 -7.51158132e-01 -3.64510023e-03 -2.87584006e+02] [ 5.62282594e-03 8.87345094e-05 9.99984188e-01 -5.88056287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.126559995 meters 0.052563645249127995 Centerline is valid? [True, True] Translation: X:621.65, Y:-288.02, Z:-4.92 [[-8.31177351e-01 5.55985922e-01 4.88523627e-03 6.21648619e+02] [ 5.55974868e-01 8.31191683e-01 -3.51178728e-03 -2.88023531e+02] [-6.01307204e-03 -2.02849460e-04 -9.99981901e-01 -4.91922312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1865599949999 meters 0.05543468554418675 Centerline is valid? [True, True] Translation: X:621.70, Y:-287.94, Z:-4.92 [[-8.70370492e-01 4.92364075e-01 5.72928470e-03 6.21699340e+02] [ 4.92351492e-01 8.70389312e-01 -3.52890563e-03 -2.87943243e+02] [-6.72421453e-03 -2.50633460e-04 -9.99977361e-01 -4.91642667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.246559995 meters 0.05347290518632751 Centerline is valid? [True, True] Translation: X:621.70, Y:-287.86, Z:-4.92 [[-9.03963117e-01 4.27562052e-01 6.43233773e-03 6.21699467e+02] [ 4.27548973e-01 9.03985957e-01 -3.35636531e-03 -2.87862427e+02] [-7.24979742e-03 -2.83891061e-04 -9.99973680e-01 -4.91830692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3065599949999 meters 0.052851520715131176 Centerline is valid? [True, True] Translation: X:621.66, Y:-287.75, Z:-4.92 [[-9.32446442e-01 3.61237829e-01 7.13196486e-03 6.21660780e+02] [ 3.61224675e-01 9.32473664e-01 -3.09859134e-03 -2.87753478e+02] [-7.76969781e-03 -3.13028785e-04 -9.99969766e-01 -4.91865942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.366559995 meters 0.05382108088752789 Centerline is valid? [True, True] Translation: X:621.81, Y:-287.20, Z:-5.88 [[-8.69694242e-01 -4.93543554e-01 6.83270360e-03 6.21805369e+02] [ 4.93531039e-01 -8.69721029e-01 -3.52780977e-03 -2.87195506e+02] [ 7.68367378e-03 3.04035461e-04 9.99970434e-01 -5.88217282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4265599949999 meters 0.05473010271742599 Centerline is valid? [True, True] Translation: X:621.56, Y:-287.70, Z:-4.92 [[-9.34390729e-01 3.56167637e-01 7.65376829e-03 6.21556848e+02] [ 3.56152608e-01 9.34422010e-01 -3.29038109e-03 -2.87701890e+02] [-8.32377681e-03 -3.48592045e-04 -9.99965296e-01 -4.91659940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.486559995 meters 0.05397291672433227 Centerline is valid? [True, True] Translation: X:621.50, Y:-287.60, Z:-4.92 [[-9.57537164e-01 2.88223239e-01 7.06709041e-03 6.21495023e+02] [ 2.88212908e-01 9.57563190e-01 -2.46116290e-03 -2.87595959e+02] [-7.47654998e-03 -3.19828268e-04 -9.99971999e-01 -4.91776939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5465599949999 meters 0.05219174751884519 Centerline is valid? [True, True] Translation: X:621.74, Y:-287.07, Z:-5.88 [[-9.03547116e-01 -4.28449102e-01 5.82894147e-03 6.21742393e+02] [ 4.28441599e-01 -9.03565895e-01 -2.54346005e-03 -2.87074015e+02] [ 6.35657589e-03 1.99225009e-04 9.99979777e-01 -5.87960862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.606559995 meters 0.05522215330438901 Centerline is valid? [True, True] Translation: X:621.45, Y:-287.58, Z:-4.92 [[-9.58422483e-01 2.85289527e-01 6.01908016e-03 6.21445952e+02] [ 2.85282125e-01 9.58441346e-01 -2.07264997e-03 -2.87579574e+02] [-6.36024062e-03 -2.69338349e-04 -9.99979737e-01 -4.91785516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.666559995 meters 0.054504641412343784 Centerline is valid? [True, True] Translation: X:621.42, Y:-287.49, Z:-4.92 [[-9.76098663e-01 2.17262239e-01 5.34030115e-03 6.21420593e+02] [ 2.17257688e-01 9.76113245e-01 -1.42503433e-03 -2.87490129e+02] [-5.52234483e-03 -2.30752627e-04 -9.99984725e-01 -4.91874221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7265599949999 meters 0.05393790407763678 Centerline is valid? [True, True] Translation: X:621.34, Y:-287.39, Z:-4.92 [[-9.88937517e-01 1.48214571e-01 5.91854075e-03 6.21341739e+02] [ 1.48210424e-01 9.88955196e-01 -1.13569346e-03 -2.87385434e+02] [-6.02149795e-03 -2.45940437e-04 -9.99981840e-01 -4.91753152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.786559995 meters 0.052442593230691247 Centerline is valid? [True, True] Translation: X:621.26, Y:-287.30, Z:-4.92 [[-9.96825481e-01 7.93938110e-02 5.96521978e-03 6.21264010e+02] [ 7.93909796e-02 9.96843302e-01 -7.10319112e-04 -2.87298223e+02] [-6.00278432e-03 -2.34479548e-04 -9.99981956e-01 -4.91813326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8465599949999 meters 0.05320962929804131 Centerline is valid? [True, True] Translation: X:621.27, Y:-286.71, Z:-5.88 [[-9.75798573e-01 -2.18597085e-01 5.69729417e-03 6.21266439e+02] [ 2.18594628e-01 -9.75815182e-01 -1.05804307e-03 -2.86713400e+02] [ 5.79079128e-03 2.12960981e-04 9.99983211e-01 -5.88219776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.906559995 meters 0.05258037229066616 Centerline is valid? [True, True] Translation: X:621.06, Y:-287.27, Z:-4.92 [[-9.96887410e-01 7.85876094e-02 6.28320563e-03 6.21059086e+02] [ 7.85846035e-02 9.96907185e-01 -7.24251180e-04 -2.87274125e+02] [-6.32069000e-03 -2.28233660e-04 -9.99979998e-01 -4.91774060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9665599949999 meters 0.05313952976566199 Centerline is valid? [True, True] Translation: X:621.13, Y:-286.70, Z:-5.88 [[-9.77054545e-01 -2.12883628e-01 6.70647217e-03 6.21133491e+02] [ 2.12880548e-01 -9.77077522e-01 -1.17811929e-03 -2.86702476e+02] [ 6.80354552e-03 2.76590660e-04 9.99976817e-01 -5.88367194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.026559995 meters 0.053209418479608084 Centerline is valid? [True, True] Translation: X:620.90, Y:-287.25, Z:-4.92 [[-9.97068123e-01 7.61401337e-02 7.60518999e-03 6.20901301e+02] [ 7.61358874e-02 9.97097091e-01 -8.46723898e-04 -2.87254858e+02] [-7.64758249e-03 -2.65213519e-04 -9.99970722e-01 -4.91607064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0865599949999 meters 0.05353869113582984 Centerline is valid? [True, True] Translation: X:620.85, Y:-287.17, Z:-4.92 [[-9.99957179e-01 5.25344448e-03 7.61854897e-03 6.20845140e+02] [ 5.25128789e-03 9.99986166e-01 -3.03047199e-04 -2.87168943e+02] [-7.62003561e-03 -2.63027029e-04 -9.99970933e-01 -4.91612489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.146559995 meters 0.05360720971046284 Centerline is valid? [True, True] Translation: X:620.83, Y:-286.59, Z:-5.88 [[-9.90572870e-01 -1.36820886e-01 6.74047240e-03 6.20825152e+02] [ 1.36818961e-01 -9.90595787e-01 -7.48068478e-04 -2.86593864e+02] [ 6.77943495e-03 1.81208089e-04 9.99977003e-01 -5.88318090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2065599949999 meters 0.05214726349830472 Centerline is valid? [True, True] Translation: X:620.67, Y:-287.17, Z:-4.92 [[-9.99963286e-01 5.97852927e-03 6.13877102e-03 6.20672654e+02] [ 5.97727451e-03 9.99982111e-01 -2.22725828e-04 -2.87168540e+02] [-6.13999278e-03 -1.86024531e-04 -9.99981133e-01 -4.91803161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.266559995 meters 0.052916346085634815 Centerline is valid? [True, True] Translation: X:620.54, Y:-287.09, Z:-4.92 [[-9.98153171e-01 -6.05456592e-02 4.94665863e-03 6.20541062e+02] [-6.05455571e-02 9.98165420e-01 1.70530764e-04 -2.87089592e+02] [-4.94790849e-03 -1.29282380e-04 -9.99987751e-01 -4.91835018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3265599949999 meters 0.053316593118549555 Centerline is valid? [True, True] Translation: X:620.44, Y:-286.51, Z:-5.88 [[-9.98769784e-01 -4.94083326e-02 4.21134563e-03 6.20444006e+02] [ 4.94081781e-02 -9.98778660e-01 -1.40780205e-04 -2.86505757e+02] [ 4.21315786e-03 6.74679002e-05 9.99991122e-01 -5.88262756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.386559995 meters 0.05285936114470241 Centerline is valid? [True, True] Translation: X:620.28, Y:-287.10, Z:-4.92 [[-9.98717845e-01 -5.04129099e-02 4.60485548e-03 6.20284033e+02] [-5.04126372e-02 9.98728459e-01 1.75334256e-04 -2.87102111e+02] [-4.60783933e-03 -5.70334582e-05 -9.99989382e-01 -4.91735999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4465599949999 meters 0.052736606674086535 Centerline is valid? [True, True] Translation: X:620.10, Y:-287.05, Z:-4.92 [[-9.93564190e-01 -1.13131183e-01 5.61561651e-03 6.20099494e+02] [-1.13129501e-01 9.93580060e-01 6.17266235e-04 -2.87045367e+02] [-5.64939665e-03 -2.19982684e-05 -9.99984042e-01 -4.91635086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.506559995 meters 0.0536909794271796 Centerline is valid? [True, True] Translation: X:620.30, Y:-286.94, Z:-4.92 [[-9.83391762e-01 -1.81381869e-01 6.42345048e-03 6.20302358e+02] [-1.81377900e-01 9.83412740e-01 1.19989605e-03 -2.86936891e+02] [-6.53454243e-03 1.48959304e-05 -9.99978650e-01 -4.91720578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5665599949999 meters 0.05421255346347142 Centerline is valid? [True, True] Translation: X:620.16, Y:-286.88, Z:-4.92 [[-9.68623804e-01 -2.48446643e-01 6.49547257e-03 6.20162470e+02] [-2.48440827e-01 9.68645582e-01 1.70026738e-03 -2.86877982e+02] [-6.71423654e-03 3.31788828e-05 -9.99977459e-01 -4.91719064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.626559995 meters 0.05363538668022898 Centerline is valid? [True, True] Translation: X:620.07, Y:-286.82, Z:-4.92 [[-9.49236553e-01 -3.14507171e-01 5.93343364e-03 6.20067601e+02] [-3.14500718e-01 9.49255096e-01 2.01529831e-03 -2.86816149e+02] [-6.26616789e-03 4.69256806e-05 -9.99980366e-01 -4.91829782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6865599949999 meters 0.053083062181666786 Centerline is valid? [True, True] Translation: X:619.41, Y:-286.98, Z:-4.92 [[-9.24941783e-01 -3.80068566e-01 5.53025847e-03 6.19412145e+02] [-3.80061449e-01 9.24958314e-01 2.32651113e-03 -2.86984524e+02] [-5.99949229e-03 5.00493019e-05 -9.99982002e-01 -4.91662868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.746559995 meters 0.053243490901074865 Centerline is valid? [True, True] Translation: X:619.01, Y:-286.47, Z:-5.88 [[-9.42399670e-01 3.34441408e-01 5.63969873e-03 6.19010895e+02] [-3.34435749e-01 -9.42416544e-01 1.94624039e-03 -2.86467654e+02] [ 5.96584876e-03 -5.19805687e-05 9.99982203e-01 -5.88392182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8065599949999 meters 0.053628870544501016 Centerline is valid? [True, True] Translation: X:619.49, Y:-286.95, Z:-4.92 [[-9.19654183e-01 -3.92693343e-01 5.30298270e-03 6.19485111e+02] [-3.92686698e-01 9.19669472e-01 2.28451160e-03 -2.86954545e+02] [-5.77410380e-03 1.85498799e-05 -9.99983330e-01 -4.91755955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.866559995 meters 0.05320403245002739 Centerline is valid? [True, True] Translation: X:619.54, Y:-286.83, Z:-4.92 [[-8.85137611e-01 -4.65303619e-01 4.89415306e-03 6.19536814e+02] [-4.65296597e-01 8.85151141e-01 2.55629795e-03 -2.86828197e+02] [-5.52151985e-03 -1.45573039e-05 -9.99984756e-01 -4.91819997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9265599949999 meters 0.053396423822718836 Centerline is valid? [True, True] Translation: X:618.53, Y:-286.64, Z:-5.88 [[-9.17806911e-01 3.96997908e-01 4.80981099e-03 6.18526454e+02] [-3.96992484e-01 -9.17819514e-01 2.07536810e-03 -2.86644993e+02] [ 5.23845518e-03 -4.67162080e-06 9.99986279e-01 -5.88357885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.986559995 meters 0.052616774400613686 Centerline is valid? [True, True] Translation: X:618.69, Y:-287.25, Z:-4.92 [[-8.77199932e-01 -4.80100010e-01 4.92545291e-03 6.18693347e+02] [-4.80092926e-01 8.77213757e-01 2.60903124e-03 -2.87246319e+02] [-5.57327097e-03 -7.60330692e-05 -9.99984466e-01 -4.91785528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0465599949999 meters 0.052972123307220044 Centerline is valid? [True, True] Translation: X:618.57, Y:-287.23, Z:-4.92 [[-8.36432404e-01 -5.48043882e-01 5.36074441e-03 6.18568562e+02] [-5.48033608e-01 8.36449572e-01 3.35816709e-03 -2.87226227e+02] [-6.32441529e-03 -1.28988333e-04 -9.99979992e-01 -4.91798540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.106559995 meters 0.053226121207234973 Centerline is valid? [True, True] Translation: X:618.45, Y:-287.21, Z:-4.92 [[-7.90399898e-01 -6.12565520e-01 5.61117635e-03 6.18449992e+02] [-6.12551714e-01 7.90419794e-01 4.11668756e-03 -2.87205656e+02] [-6.95692571e-03 -1.83306272e-04 -9.99975784e-01 -4.91642259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.166559995 meters 0.05307724226707377 Centerline is valid? [True, True] Translation: X:618.31, Y:-287.21, Z:-4.92 [[-7.41809758e-01 -6.70587445e-01 5.54628934e-03 6.18314667e+02] [-6.70570797e-01 7.41830462e-01 4.72992694e-03 -2.87214585e+02] [-7.28623600e-03 -2.10473704e-04 -9.99973433e-01 -4.91685843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2265599949999 meters 0.0530970938884202 Centerline is valid? [True, True] Translation: X:618.16, Y:-287.24, Z:-4.92 [[-6.89373700e-01 -7.24387562e-01 5.15378809e-03 6.18162280e+02] [-7.24369727e-01 6.89392928e-01 5.08827301e-03 -2.87243706e+02] [-7.23886675e-03 -2.25526481e-04 -9.99973774e-01 -4.91613447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.286559995 meters 0.05297053332680346 Centerline is valid? [True, True] Translation: X:617.99, Y:-287.31, Z:-4.92 [[-6.34018264e-01 -7.73304587e-01 4.56689940e-03 6.17992431e+02] [-7.73287049e-01 6.34034671e-01 5.21305454e-03 -2.87311643e+02] [-6.92685155e-03 -2.26352371e-04 -9.99975983e-01 -4.91718533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3465599949999 meters 0.052199850111504555 Centerline is valid? [True, True] Translation: X:617.84, Y:-287.38, Z:-4.92 [[-5.74600208e-01 -8.18422480e-01 4.38706764e-03 6.17841890e+02] [-8.18401826e-01 5.74616902e-01 5.81956733e-03 -2.87376261e+02] [-7.28374795e-03 -2.46459570e-04 -9.99973443e-01 -4.91777407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.406559995 meters 0.05205339901851768 Centerline is valid? [True, True] Translation: X:617.66, Y:-287.50, Z:-4.92 [[-5.12177099e-01 -8.58869662e-01 4.18597346e-03 6.17661690e+02] [-8.58845164e-01 5.12194134e-01 6.49259164e-03 -2.87496828e+02] [-7.72032104e-03 -2.69746311e-04 -9.99970162e-01 -4.91700849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4665599949999 meters 0.051556969224354626 Centerline is valid? [True, True] Translation: X:617.51, Y:-287.60, Z:-4.92 [[-4.48354378e-01 -8.93848213e-01 3.70463531e-03 6.17513231e+02] [-8.93822401e-01 4.48369606e-01 6.79798002e-03 -2.87597358e+02] [-7.73740816e-03 -2.63381917e-04 -9.99970031e-01 -4.91726183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.526559995 meters 0.051827781900511766 Centerline is valid? [True, True] Translation: X:617.33, Y:-287.78, Z:-4.92 [[-3.83305454e-01 -9.23617769e-01 2.67315110e-03 6.17331138e+02] [-9.23598993e-01 3.83314717e-01 5.89307402e-03 -2.87781266e+02] [-6.46760603e-03 -2.10072252e-04 -9.99979063e-01 -4.91689474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5865599949999 meters 0.051948961901671045 Centerline is valid? [True, True] Translation: X:617.17, Y:-287.97, Z:-4.92 [[-3.15539121e-01 -9.48910537e-01 1.96356399e-03 6.17170031e+02] [-9.48895548e-01 3.15545179e-01 5.33663709e-03 -2.87968344e+02] [-5.68358432e-03 -1.79299353e-04 -9.99983832e-01 -4.91721511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.646559995 meters 0.05168607284501485 Centerline is valid? [True, True] Translation: X:617.02, Y:-288.17, Z:-4.92 [[-2.46837631e-01 -9.69055530e-01 1.60113291e-03 6.17024611e+02] [-9.69039412e-01 2.46842765e-01 5.59173787e-03 -2.88173810e+02] [-5.81393258e-03 -1.71309562e-04 -9.99983084e-01 -4.91732320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7065599949999 meters 0.052469332823839886 Centerline is valid? [True, True] Translation: X:616.90, Y:-288.34, Z:-4.91 [[-1.77335405e-01 -9.84149795e-01 1.15507572e-03 6.16895778e+02] [-9.84134108e-01 1.77339103e-01 5.55880494e-03 -2.88337048e+02] [-5.67553684e-03 -1.50976484e-04 -9.99983883e-01 -4.91494569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.766559995 meters 0.05115541164074951 Centerline is valid? [True, True] Translation: X:616.78, Y:-288.64, Z:-4.92 [[-1.09414145e-01 -9.93996080e-01 5.81035704e-04 6.16777990e+02] [-9.93986422e-01 1.09415644e-01 4.38289569e-03 -2.88642198e+02] [-4.42015554e-03 -9.79908133e-05 -9.99990226e-01 -4.91716001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8265599949999 meters 0.051273117116492455 Centerline is valid? [True, True] Translation: X:616.68, Y:-288.90, Z:-4.92 [[-4.17896643e-02 -9.99126411e-01 1.98992481e-04 6.16678156e+02] [-9.99120615e-01 4.17900998e-02 3.40346998e-03 -2.88902550e+02] [-3.40881266e-03 -5.65876223e-05 -9.99994188e-01 -4.91697905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.886559995 meters 0.05103555852335113 Centerline is valid? [True, True] Translation: X:616.60, Y:-289.19, Z:-4.92 [[ 2.81336923e-02 -9.99604169e-01 -3.93868462e-05 6.16597249e+02] [-9.99600647e-01 -2.81336978e-02 2.65366544e-03 -2.89194774e+02] [-2.65372313e-03 -3.52862899e-05 -9.99996478e-01 -4.91667985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9465599949999 meters 0.051029608008143 Centerline is valid? [True, True] Translation: X:616.54, Y:-289.42, Z:-4.92 [[ 9.89002409e-02 -9.95097339e-01 -1.66938905e-04 6.16535366e+02] [-9.95095538e-01 -9.89003795e-02 1.89356227e-03 -2.89415882e+02] [-1.90078910e-03 -2.11536052e-05 -9.99998193e-01 -4.91639556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.006559995 meters 0.05102254714452515 Centerline is valid? [True, True] Translation: X:616.49, Y:-289.67, Z:-4.92 [[ 1.70365619e-01 -9.85380887e-01 -2.53084833e-04 6.16493581e+02] [-9.85379660e-01 -1.70365807e-01 1.55511025e-03 -2.89665626e+02] [-1.57549292e-03 -1.55526741e-05 -9.99998759e-01 -4.91710584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0665599949999 meters 0.05131396296050998 Centerline is valid? [True, True] Translation: X:616.46, Y:-289.89, Z:-4.92 [[ 2.43308420e-01 -9.69948927e-01 -3.03510051e-04 6.16462346e+02] [-9.69948096e-01 -2.43308609e-01 1.26985344e-03 -2.89892885e+02] [-1.30553959e-03 -1.45770376e-05 -9.99999148e-01 -4.91688947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.126559995 meters 0.051078934278463196 Centerline is valid? [True, True] Translation: X:616.45, Y:-290.14, Z:-4.92 [[ 3.18157609e-01 -9.48037723e-01 -4.59722100e-04 6.16451230e+02] [-9.48036636e-01 -3.18157941e-01 1.43597962e-03 -2.90137527e+02] [-1.50762708e-03 -2.10344494e-05 -9.99998863e-01 -4.91581934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1865599949999 meters 0.051198290584364876 Centerline is valid? [True, True] Translation: X:616.44, Y:-290.35, Z:-4.92 [[ 3.92620028e-01 -9.19700323e-01 -9.10685952e-04 6.16443347e+02] [-9.19697599e-01 -3.92621082e-01 2.23885420e-03 -2.90347819e+02] [-2.41662943e-03 -4.14633145e-05 -9.99997079e-01 -4.91506469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.246559995 meters 0.05137143815608557 Centerline is valid? [True, True] Translation: X:616.43, Y:-290.53, Z:-4.92 [[ 4.63021599e-01 -8.86346404e-01 -1.02548225e-03 6.16433702e+02] [-8.86343991e-01 -4.63022732e-01 2.06848193e-03 -2.90527297e+02] [-2.30821312e-03 -4.88217824e-05 -9.99997335e-01 -4.91504080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3065599949999 meters 0.050550219093428224 Centerline is valid? [True, True] Translation: X:616.48, Y:-290.77, Z:-4.92 [[ 5.28688331e-01 -8.48815279e-01 -1.12719026e-03 6.16478398e+02] [-8.48813142e-01 -5.28689530e-01 1.90564230e-03 -2.90771375e+02] [-2.21347199e-03 -5.07169378e-05 -9.99997549e-01 -4.91543147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.366559995 meters 0.05063586346686754 Centerline is valid? [True, True] Translation: X:616.53, Y:-291.01, Z:-4.92 [[ 5.88706997e-01 -8.08346004e-01 -8.99966156e-04 6.16533255e+02] [-8.08344964e-01 -5.88707684e-01 1.29704904e-03 -2.91007271e+02] [-1.57828140e-03 -3.60987375e-05 -9.99998754e-01 -4.91568366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4265599949999 meters 0.05202687192911005 Centerline is valid? [True, True] Translation: X:616.56, Y:-291.18, Z:-4.92 [[ 6.47269255e-01 -7.62260803e-01 -9.89886008e-04 6.16559673e+02] [-7.62259822e-01 -6.47270011e-01 1.22294236e-03 -2.91181363e+02] [-1.57292455e-03 -3.70226572e-05 -9.99998762e-01 -4.91524233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.486559995 meters 0.05105476805183368 Centerline is valid? [True, True] Translation: X:616.66, Y:-291.41, Z:-4.91 [[ 7.02965436e-01 -7.11222136e-01 -1.63376005e-03 6.16660903e+02] [-7.11220027e-01 -7.02967333e-01 1.73281449e-03 -2.91412084e+02] [-2.38089597e-03 -5.61458313e-05 -9.99997164e-01 -4.91450028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5465599949999 meters 0.05056743147589834 Centerline is valid? [True, True] Translation: X:616.73, Y:-291.59, Z:-4.91 [[ 7.53982111e-01 -6.56892346e-01 -1.84988641e-03 6.16727261e+02] [-6.56890168e-01 -7.53984378e-01 1.69253461e-03 -2.91592927e+02] [-2.50659848e-03 -6.09686187e-05 -9.99996857e-01 -4.91371158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.606559995 meters 0.05175602715531205 Centerline is valid? [True, True] Translation: X:616.69, Y:-291.69, Z:-4.91 [[ 8.03687467e-01 -5.95047094e-01 -2.32606384e-03 6.16686367e+02] [-5.95044333e-01 -8.03690830e-01 1.81438681e-03 -2.91690599e+02] [-2.94908178e-03 -7.40888390e-05 -9.99995649e-01 -4.91276618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.666559995 meters 0.05120012315700932 Centerline is valid? [True, True] Translation: X:616.67, Y:-291.78, Z:-4.91 [[ 8.47814655e-01 -5.30285030e-01 -2.84545284e-03 6.16665038e+02] [-5.30281706e-01 -8.47819426e-01 1.87969856e-03 -2.91776578e+02] [-3.40920620e-03 -8.47444004e-05 -9.99994185e-01 -4.91306614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7265599949999 meters 0.05054166399178077 Centerline is valid? [True, True] Translation: X:616.65, Y:-291.87, Z:-4.91 [[ 8.86720335e-01 -4.62300234e-01 -2.35403968e-03 6.16645111e+02] [-4.62298396e-01 -8.86723457e-01 1.30512177e-03 -2.91871972e+02] [-2.69074031e-03 -6.90092453e-05 -9.99996378e-01 -4.91266572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.786559995 meters 0.050773537030808 Centerline is valid? [True, True] Translation: X:616.63, Y:-291.97, Z:-4.91 [[ 9.20375057e-01 -3.91031006e-01 -2.12291012e-03 6.16631621e+02] [-3.91029809e-01 -9.20377503e-01 9.69723240e-04 -2.91970568e+02] [-2.33307057e-03 -6.23879446e-05 -9.99997276e-01 -4.91295529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8465599949999 meters 0.05127030737728493 Centerline is valid? [True, True] Translation: X:616.62, Y:-292.08, Z:-4.91 [[ 9.48454791e-01 -3.16902428e-01 -2.52187394e-03 6.16622924e+02] [-3.16901102e-01 -9.48458141e-01 9.19794293e-04 -2.92075352e+02] [-2.68337691e-03 -7.31986760e-05 -9.99996397e-01 -4.91233675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.906559995 meters 0.05083349431691994 Centerline is valid? [True, True] Translation: X:616.63, Y:-292.17, Z:-4.91 [[ 9.70770509e-01 -2.39998317e-01 -2.32960653e-03 6.16625560e+02] [-2.39997449e-01 -9.70773301e-01 6.49375389e-04 -2.92173534e+02] [-2.41736882e-03 -7.12948525e-05 -9.99997076e-01 -4.91241395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9665599949999 meters 0.05153260493233601 Centerline is valid? [True, True] Translation: X:616.63, Y:-292.28, Z:-4.91 [[ 9.86890885e-01 -1.61373394e-01 -2.23795338e-03 6.16633136e+02] [-1.61372813e-01 -9.86893420e-01 4.39247022e-04 -2.92280360e+02] [-2.27950424e-03 -7.23440513e-05 -9.99997399e-01 -4.91242517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.026559995 meters 0.051423510233991034 Centerline is valid? [True, True] Translation: X:616.65, Y:-292.37, Z:-4.91 [[ 9.96651458e-01 -8.17302190e-02 -2.45815861e-03 6.16652829e+02] [-8.17297654e-02 -9.96654486e-01 2.84602853e-04 -2.92369843e+02] [-2.47319546e-03 -8.27451223e-05 -9.99996938e-01 -4.91198136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0865599949999 meters 0.050394852797767425 Centerline is valid? [True, True] Translation: X:616.68, Y:-292.46, Z:-4.91 [[ 9.99996113e-01 -1.03657234e-03 -2.58843708e-03 6.16679237e+02] [-1.03632867e-03 -9.99999458e-01 9.54767561e-05 -2.92464199e+02] [-2.58853464e-03 -9.27939134e-05 -9.99996645e-01 -4.91235347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.146559995 meters 0.05290947990545598 Centerline is valid? [True, True] Translation: X:616.71, Y:-292.58, Z:-4.91 [[ 9.96876452e-01 7.89207426e-02 -2.97591176e-03 6.16708440e+02] [ 7.89207213e-02 -9.96880888e-01 -1.24764898e-04 -2.92576040e+02] [-2.97647609e-03 -1.10485913e-04 -9.99995564e-01 -4.91079693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2065599949999 meters 0.051103435234279015 Centerline is valid? [True, True] Translation: X:616.74, Y:-292.66, Z:-4.91 [[ 9.87470540e-01 1.57766981e-01 -3.39302672e-03 6.16743253e+02] [ 1.57766499e-01 -9.87476361e-01 -4.11139482e-04 -2.92658818e+02] [-3.41539791e-03 -1.29317819e-04 -9.99994159e-01 -4.91068571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.266559995 meters 0.05316048991555245 Centerline is valid? [True, True] Translation: X:616.79, Y:-292.75, Z:-4.91 [[ 9.72143236e-01 2.34372162e-01 -2.68664090e-03 6.16786009e+02] [ 2.34371564e-01 -9.72146943e-01 -5.39779566e-04 -2.92749769e+02] [-2.73831904e-03 -1.04929176e-04 -9.99996245e-01 -4.91000804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3265599949999 meters 0.05280560343652076 Centerline is valid? [True, True] Translation: X:616.83, Y:-292.82, Z:-4.91 [[ 9.51271403e-01 3.08350321e-01 -1.67245068e-03 6.16833400e+02] [ 3.08349968e-01 -9.51272871e-01 -4.71497582e-04 -2.92822183e+02] [-1.73634339e-03 -6.71779481e-05 -9.99998490e-01 -4.91014290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.386559995 meters 0.05053511632989295 Centerline is valid? [True, True] Translation: X:616.89, Y:-292.90, Z:-4.91 [[ 9.24756754e-01 3.80556972e-01 -1.15618822e-03 6.16888037e+02] [ 3.80556740e-01 -9.24757475e-01 -4.23509532e-04 -2.92896414e+02] [-1.23036321e-03 -4.83519211e-05 -9.99999242e-01 -4.91023058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4465599949999 meters 0.05098477214953464 Centerline is valid? [True, True] Translation: X:616.95, Y:-292.98, Z:-4.91 [[ 8.93512914e-01 4.49035534e-01 -1.32771372e-03 6.16951801e+02] [ 4.49035123e-01 -8.93513899e-01 -6.09783803e-04 -2.92978472e+02] [-1.46014526e-03 -5.13403922e-05 -9.99998933e-01 -4.90894605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.506559995 meters 0.05144712084881833 Centerline is valid? [True, True] Translation: X:617.02, Y:-293.05, Z:-4.91 [[ 8.56996906e-01 5.15319676e-01 -1.39103479e-03 6.17018451e+02] [ 5.15319093e-01 -8.56998033e-01 -7.76901706e-04 -2.93048704e+02] [-1.59246682e-03 -5.10244294e-05 -9.99998731e-01 -4.90863389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5665599949999 meters 0.05130610008720469 Centerline is valid? [True, True] Translation: X:617.09, Y:-293.10, Z:-4.91 [[ 8.16373884e-01 5.77521783e-01 -1.50752631e-03 6.17086173e+02] [ 5.77520909e-01 -8.16375274e-01 -1.00569635e-03 -2.93104946e+02] [-1.81151876e-03 -4.96037341e-05 -9.99998358e-01 -4.90867854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.626559995 meters 0.05154044379099664 Centerline is valid? [True, True] Translation: X:617.16, Y:-293.16, Z:-4.91 [[ 7.71185153e-01 6.36609023e-01 -1.55283817e-03 6.17159209e+02] [ 6.36607851e-01 -7.71186715e-01 -1.22273545e-03 -2.93159271e+02] [-1.97593258e-03 -4.55935424e-05 -9.99998047e-01 -4.90781541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6865599949999 meters 0.05135140076700014 Centerline is valid? [True, True] Translation: X:617.23, Y:-293.20, Z:-4.91 [[ 7.20768656e-01 6.93173464e-01 -1.75905033e-03 6.17232086e+02] [ 6.93171558e-01 -7.20770801e-01 -1.62592121e-03 -2.93201460e+02] [-2.39491755e-03 -4.74106102e-05 -9.99997131e-01 -4.90740556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.746559995 meters 0.051142853608091614 Centerline is valid? [True, True] Translation: X:617.31, Y:-293.24, Z:-4.91 [[ 6.66288385e-01 7.45691020e-01 -2.16583508e-03 6.17312697e+02] [ 7.45687332e-01 -6.66291903e-01 -2.34591233e-03 -2.93242308e+02] [-3.19240414e-03 -5.19816483e-05 -9.99994903e-01 -4.90719149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8065599949999 meters 0.051362283303080916 Centerline is valid? [True, True] Translation: X:617.40, Y:-293.28, Z:-4.91 [[ 6.06566087e-01 7.95031270e-01 -1.69153460e-03 6.17397683e+02] [ 7.95028376e-01 -6.06568444e-01 -2.14558356e-03 -2.93278164e+02] [-2.73183753e-03 -4.33797789e-05 -9.99996268e-01 -4.90747157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.866559995 meters 0.05118734961379477 Centerline is valid? [True, True] Translation: X:617.49, Y:-293.31, Z:-4.91 [[ 5.42710198e-01 8.39918457e-01 -1.62076234e-03 6.17485746e+02] [ 8.39914956e-01 -5.42712616e-01 -2.42546004e-03 -2.93308845e+02] [-2.91679682e-03 -4.49806328e-05 -9.99995745e-01 -4.90704755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9265599949999 meters 0.05151696503639539 Centerline is valid? [True, True] Translation: X:617.57, Y:-293.32, Z:-4.91 [[ 4.76312156e-01 8.79275333e-01 -1.27258275e-03 6.17565063e+02] [ 8.79272405e-01 -4.76313855e-01 -2.26925732e-03 -2.93324655e+02] [-2.60145078e-03 -3.80720520e-05 -9.99996616e-01 -4.90726100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.986559995 meters 0.05081309286618638 Centerline is valid? [True, True] Translation: X:617.65, Y:-293.34, Z:-4.91 [[ 4.07200756e-01 9.13338360e-01 -7.64739096e-04 6.17648476e+02] [ 9.13336871e-01 -4.07201473e-01 -1.64948242e-03 -2.93336085e+02] [-1.81793845e-03 -2.67939263e-05 -9.99998347e-01 -4.90750831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0465599949999 meters 0.05088268423258326 Centerline is valid? [True, True] Translation: X:617.73, Y:-293.34, Z:-4.91 [[ 3.35205835e-01 9.42144574e-01 -8.06424013e-04 6.17731593e+02] [ 9.42142060e-01 -3.35206804e-01 -2.17654774e-03 -2.93342467e+02] [-2.32094146e-03 -3.01744778e-05 -9.99997306e-01 -4.90730179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.106559995 meters 0.05078951517577129 Centerline is valid? [True, True] Translation: X:617.81, Y:-293.34, Z:-4.91 [[ 2.61275293e-01 9.65264117e-01 -6.37371484e-04 6.17810120e+02] [ 9.65261504e-01 -2.61276069e-01 -2.24615389e-03 -2.93340020e+02] [-2.33466166e-03 -2.83656436e-05 -9.99997274e-01 -4.90660685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.166559995 meters 0.05070847092072112 Centerline is valid? [True, True] Translation: X:617.88, Y:-293.33, Z:-4.91 [[ 1.86150745e-01 9.82521151e-01 -2.96886908e-04 6.17882474e+02] [ 9.82520061e-01 -1.86150981e-01 -1.46346699e-03 -2.93331305e+02] [-1.49315306e-03 -1.92718723e-05 -9.99998885e-01 -4.90745115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2265599949999 meters 0.05114907760814747 Centerline is valid? [True, True] Translation: X:617.96, Y:-293.32, Z:-4.91 [[ 1.11304826e-01 9.93786309e-01 -8.83803933e-05 6.17963343e+02] [ 9.93786072e-01 -1.11304860e-01 -6.85869156e-04 -2.93316356e+02] [-6.91444544e-04 -1.14906572e-05 -9.99999761e-01 -4.90793901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.286559995 meters 0.051465431101248515 Centerline is valid? [True, True] Translation: X:618.05, Y:-293.30, Z:-4.91 [[ 3.56262415e-02 9.99365182e-01 -5.50367730e-05 6.18046704e+02] [ 9.99364423e-01 -3.56262823e-02 -1.23198751e-03 -2.93295309e+02] [-1.23316618e-03 -1.11107082e-05 -9.99999240e-01 -4.90755846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3465599949999 meters 0.051558258284008285 Centerline is valid? [True, True] Translation: X:618.13, Y:-293.27, Z:-4.91 [[-3.93006210e-02 9.99227430e-01 6.12442925e-05 6.18131279e+02] [ 9.99225946e-01 3.93006682e-02 -1.72219110e-03 -2.93267346e+02] [-1.72326753e-03 -6.48629380e-06 -9.99998515e-01 -4.90628941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.406559995 meters 0.051283187618504956 Centerline is valid? [True, True] Translation: X:618.21, Y:-293.24, Z:-4.91 [[-1.14929050e-01 9.93373621e-01 4.01926811e-04 6.18208254e+02] [ 9.93367658e-01 1.14929753e-01 -3.44203518e-03 -2.93235427e+02] [-3.46542031e-03 3.67126029e-06 -9.99993995e-01 -4.90528426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4665599949999 meters 0.052094694391363425 Centerline is valid? [True, True] Translation: X:618.28, Y:-293.20, Z:-4.91 [[-1.91160688e-01 9.81558422e-01 8.10228626e-04 6.18279671e+02] [ 9.81549846e-01 1.91162404e-01 -4.10307668e-03 -2.93198194e+02] [-4.18229472e-03 1.09328230e-05 -9.99991254e-01 -4.90648022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.526559995 meters 0.0514620665451768 Centerline is valid? [True, True] Translation: X:618.35, Y:-293.15, Z:-4.91 [[-2.67479858e-01 9.63562791e-01 1.12817846e-03 6.18352134e+02] [ 9.63554384e-01 2.67482237e-01 -4.02514385e-03 -2.93152638e+02] [-4.18024654e-03 1.04163900e-05 -9.99991263e-01 -4.90511822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5865599949999 meters 0.05252857346899279 Centerline is valid? [True, True] Translation: X:618.42, Y:-293.10, Z:-4.91 [[-3.43970824e-01 9.38979418e-01 1.31337382e-03 6.18419340e+02] [ 9.38972584e-01 3.43973332e-01 -3.58238397e-03 -2.93103090e+02] [-3.81555039e-03 9.86441451e-07 -9.99992721e-01 -4.90531334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.646559995 meters 0.05197157213110288 Centerline is valid? [True, True] Translation: X:618.49, Y:-293.04, Z:-4.90 [[-4.17770917e-01 9.08551208e-01 1.47092385e-03 6.18491197e+02] [ 9.08545534e-01 4.17773507e-01 -3.21097378e-03 -2.93043539e+02] [-3.53184713e-03 -5.05016442e-06 -9.99993763e-01 -4.90459415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7065599949999 meters 0.05152755982341525 Centerline is valid? [True, True] Translation: X:618.56, Y:-292.98, Z:-4.90 [[-4.90098268e-01 8.71665459e-01 1.73654041e-03 6.18555831e+02] [ 8.71659876e-01 4.90101344e-01 -3.11972606e-03 -2.92980819e+02] [-3.57043824e-03 -1.52997410e-05 -9.99993626e-01 -4.90448809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.766559995 meters 0.05092835289513776 Centerline is valid? [True, True] Translation: X:618.62, Y:-292.91, Z:-4.90 [[-5.59796018e-01 8.28629279e-01 1.39155638e-03 6.18615252e+02] [ 8.28626620e-01 5.59797747e-01 -2.09943175e-03 -2.92912307e+02] [-2.51864074e-03 -2.21728752e-05 -9.99996828e-01 -4.90498547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8265599949999 meters 0.05097503278884143 Centerline is valid? [True, True] Translation: X:618.67, Y:-292.84, Z:-4.91 [[-6.24916692e-01 7.80690291e-01 1.34062081e-03 6.18668727e+02] [ 7.80688406e-01 6.24918130e-01 -1.71607539e-03 -2.92838420e+02] [-2.17750164e-03 -2.57970357e-05 -9.99997629e-01 -4.90525609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.886559995 meters 0.050743054154942825 Centerline is valid? [True, True] Translation: X:618.72, Y:-292.76, Z:-4.91 [[-6.86361326e-01 7.27259324e-01 1.41637411e-03 6.18715874e+02] [ 7.27257680e-01 6.86362786e-01 -1.54691783e-03 -2.92761127e+02] [-2.09715690e-03 -3.16756260e-05 -9.99997800e-01 -4.90500312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9465599949999 meters 0.05105836775297434 Centerline is valid? [True, True] Translation: X:618.76, Y:-292.68, Z:-4.90 [[-7.41949223e-01 6.70453916e-01 1.70221563e-03 6.18758822e+02] [ 6.70452036e-01 7.41951175e-01 -1.58806552e-03 -2.92677422e+02] [-2.32768563e-03 -3.70100473e-05 -9.99997290e-01 -4.90412698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.006559995 meters 0.05126537246688143 Centerline is valid? [True, True] Translation: X:619.17, Y:-292.20, Z:-5.90 [[-6.77509424e-01 -7.35510787e-01 2.20514405e-03 6.19172110e+02] [ 7.35507357e-01 -6.77513006e-01 -2.24818485e-03 -2.92204998e+02] [ 3.14757798e-03 9.87332473e-05 9.99995041e-01 -5.89839440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0665599949999 meters 0.05136596764867772 Centerline is valid? [True, True] Translation: X:619.13, Y:-292.16, Z:-5.90 [[-6.79054910e-01 -7.34080843e-01 3.12171849e-03 6.19132837e+02] [ 7.34073386e-01 -6.79062084e-01 -3.30910747e-03 -2.92164104e+02] [ 4.54899306e-03 4.45047880e-05 9.99989652e-01 -5.89989936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.126559995 meters 0.05147669621189391 Centerline is valid? [True, True] Translation: X:619.09, Y:-292.12, Z:-5.90 [[-6.80309313e-01 -7.32914047e-01 4.02966953e-03 6.19094509e+02] [ 7.32901609e-01 -6.80321246e-01 -4.27013160e-03 -2.92124394e+02] [ 5.87110923e-03 4.83409889e-05 9.99982764e-01 -5.90148921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1865599949999 meters 0.05131213404750408 Centerline is valid? [True, True] Translation: X:619.06, Y:-292.08, Z:-5.90 [[-6.81737362e-01 -7.31583766e-01 4.40032137e-03 6.19057635e+02] [ 7.31568917e-01 -6.81751562e-01 -4.66140627e-03 -2.92081395e+02] [ 6.41013512e-03 4.12835211e-05 9.99979454e-01 -5.90114035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.246559995 meters 0.05190208082102224 Centerline is valid? [True, True] Translation: X:619.02, Y:-292.04, Z:-5.90 [[-6.82118183e-01 -7.31228414e-01 4.44878860e-03 6.19019552e+02] [ 7.31213233e-01 -6.82132689e-01 -4.71197143e-03 -2.92037636e+02] [ 6.48019152e-03 3.88917024e-05 9.99979003e-01 -5.89969760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3065599949999 meters 0.05146045283618219 Centerline is valid? [True, True] Translation: X:618.98, Y:-292.00, Z:-5.90 [[-6.81681289e-01 -7.31635663e-01 4.45839246e-03 6.18980357e+02] [ 7.31620433e-01 -6.81695867e-01 -4.72102821e-03 -2.91997919e+02] [ 6.49334032e-03 4.36144273e-05 9.99978917e-01 -5.90125103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.366559995 meters 0.05125657642691025 Centerline is valid? [True, True] Translation: X:618.94, Y:-291.95, Z:-5.90 [[-6.80435867e-01 -7.32796415e-01 4.05518130e-03 6.18943018e+02] [ 7.32783843e-01 -6.80447949e-01 -4.29284677e-03 -2.91954742e+02] [ 5.90512252e-03 5.05644248e-05 9.99982563e-01 -5.89913136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4265599949999 meters 0.05108995543427454 Centerline is valid? [True, True] Translation: X:618.90, Y:-291.91, Z:-5.90 [[-6.80050536e-01 -7.33156684e-01 3.54205359e-03 6.18904874e+02] [ 7.33147101e-01 -6.80059758e-01 -3.74871360e-03 -2.91910561e+02] [ 5.15720253e-03 4.75316309e-05 9.99986700e-01 -5.89784477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.486559995 meters 0.051446304341571825 Centerline is valid? [True, True] Translation: X:618.87, Y:-291.87, Z:-5.90 [[-6.80214244e-01 -7.33007521e-01 2.92509353e-03 6.18867213e+02] [ 7.33000988e-01 -6.80220533e-01 -3.09489046e-03 -2.91867521e+02] [ 4.25828666e-03 3.89078746e-05 9.99990933e-01 -5.89799772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5465599949999 meters 0.05130162933628254 Centerline is valid? [True, True] Translation: X:618.83, Y:-291.82, Z:-5.90 [[-6.81016015e-01 -7.32263257e-01 2.77666302e-03 6.18829921e+02] [ 7.32257368e-01 -6.81021674e-01 -2.93705563e-03 -2.91823454e+02] [ 4.04166562e-03 3.30500351e-05 9.99991832e-01 -5.89768771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.606559995 meters 0.051511642734627765 Centerline is valid? [True, True] Translation: X:618.79, Y:-291.78, Z:-5.90 [[-6.82330017e-01 -7.31039836e-01 2.55064138e-03 6.18792946e+02] [ 7.31034860e-01 -6.82334784e-01 -2.69725343e-03 -2.91778786e+02] [ 3.71219104e-03 2.41907852e-05 9.99993110e-01 -5.89699066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.666559995 meters 0.05121490586023259 Centerline is valid? [True, True] Translation: X:618.75, Y:-291.74, Z:-5.90 [[-6.83167330e-01 -7.30254135e-01 3.36108187e-03 6.18754270e+02] [ 7.30245489e-01 -6.83175598e-01 -3.55359064e-03 -2.91736786e+02] [ 4.89123338e-03 2.67178500e-05 9.99988037e-01 -5.89867596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7265599949999 meters 0.05093971011542034 Centerline is valid? [True, True] Translation: X:618.72, Y:-291.69, Z:-5.90 [[-6.83898518e-01 -7.29566663e-01 3.91164966e-03 6.18716705e+02] [ 7.29554948e-01 -6.83909704e-01 -4.13457702e-03 -2.91692601e+02] [ 5.69166472e-03 2.61322751e-05 9.99983802e-01 -5.89840781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.786559995 meters 0.05062608401715319 Centerline is valid? [True, True] Translation: X:618.68, Y:-291.65, Z:-5.90 [[-6.83908301e-01 -7.29556686e-01 4.05926413e-03 6.18677337e+02] [ 7.29544077e-01 -6.83920347e-01 -4.28938797e-03 -2.91650838e+02] [ 5.90556500e-03 2.78640630e-05 9.99982562e-01 -5.90018570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8465599949999 meters 0.05115473297342895 Centerline is valid? [True, True] Translation: X:618.64, Y:-291.61, Z:-5.90 [[-6.83679965e-01 -7.29771715e-01 3.86646520e-03 6.18639823e+02] [ 7.29760285e-01 -6.83690897e-01 -4.08445035e-03 -2.91607533e+02] [ 5.62418340e-03 2.91358780e-05 9.99984184e-01 -5.89830787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.906559995 meters 0.051320459673859016 Centerline is valid? [True, True] Translation: X:618.60, Y:-291.57, Z:-5.90 [[-6.80943007e-01 -7.32326952e-01 3.72244448e-03 6.18599122e+02] [ 7.32316401e-01 -6.80953180e-01 -3.93127810e-03 -2.91566171e+02] [ 5.41379131e-03 4.90308108e-05 9.99985344e-01 -5.89845579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9665599949999 meters 0.050451621417265585 Centerline is valid? [True, True] Translation: X:618.56, Y:-291.53, Z:-5.90 [[-6.77190734e-01 -7.35797099e-01 3.91646814e-03 6.18557757e+02] [ 7.35785485e-01 -6.77202054e-01 -4.13501974e-03 -2.91525876e+02] [ 5.69477580e-03 8.14833519e-05 9.99983781e-01 -5.89906747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.026559995 meters 0.05076091011404932 Centerline is valid? [True, True] Translation: X:618.52, Y:-291.48, Z:-5.90 [[-6.74222487e-01 -7.38518162e-01 3.86812668e-03 6.18517573e+02] [ 7.38506881e-01 -6.74233575e-01 -4.08329060e-03 -2.91483954e+02] [ 5.62360515e-03 1.03591828e-04 9.99984182e-01 -5.89903471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0865599949999 meters 0.05130882797404491 Centerline is valid? [True, True] Translation: X:618.47, Y:-291.45, Z:-5.90 [[-6.73132237e-01 -7.39512614e-01 3.75294103e-03 6.18474047e+02] [ 7.39502016e-01 -6.73142690e-01 -3.96068487e-03 -2.91445541e+02] [ 5.45524124e-03 1.09242786e-04 9.99985114e-01 -5.89995152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.146559995 meters 0.050961646672172005 Centerline is valid? [True, True] Translation: X:618.43, Y:-291.41, Z:-5.90 [[-6.73619441e-01 -7.39070773e-01 3.35288381e-03 6.18433755e+02] [ 7.39062314e-01 -6.73627778e-01 -3.53739069e-03 -2.91406003e+02] [ 4.87297774e-03 9.51349232e-05 9.99988122e-01 -5.90015082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2065599949999 meters 0.051028218225245836 Centerline is valid? [True, True] Translation: X:618.40, Y:-291.36, Z:-5.90 [[-6.75254557e-01 -7.37576757e-01 3.43669833e-03 6.18396321e+02] [ 7.37567855e-01 -6.75263297e-01 -3.62489230e-03 -2.91361005e+02] [ 4.99431255e-03 8.70731662e-05 9.99987525e-01 -5.89859518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.266559995 meters 0.050666388707320674 Centerline is valid? [True, True] Translation: X:618.36, Y:-291.32, Z:-5.90 [[-6.76061214e-01 -7.36837818e-01 3.35638332e-03 6.18356506e+02] [ 7.36829322e-01 -6.76069541e-01 -3.53926055e-03 -2.91318923e+02] [ 4.87700955e-03 8.03248648e-05 9.99988104e-01 -5.89851244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3265599949999 meters 0.05119525949459399 Centerline is valid? [True, True] Translation: X:618.31, Y:-291.28, Z:-5.90 [[-6.76161717e-01 -7.36744915e-01 3.50182028e-03 6.18312870e+02] [ 7.36735671e-01 -6.76170780e-01 -3.69148934e-03 -2.91282920e+02] [ 5.08751454e-03 8.38721455e-05 9.99987055e-01 -5.90059134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.386559995 meters 0.05092685323781706 Centerline is valid? [True, True] Translation: X:618.28, Y:-291.24, Z:-5.90 [[-6.76022339e-01 -7.36867925e-01 4.41120103e-03 6.18276327e+02] [ 7.36853267e-01 -6.76036723e-01 -4.64893129e-03 -2.91238054e+02] [ 6.40778224e-03 1.07626486e-04 9.99979464e-01 -5.90078401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4465599949999 meters 0.051048134410905895 Centerline is valid? [True, True] Translation: X:618.23, Y:-291.20, Z:-5.90 [[-6.75792031e-01 -7.37073272e-01 5.30314416e-03 6.18233858e+02] [ 7.37052102e-01 -6.75812825e-01 -5.58791577e-03 -2.91200358e+02] [ 7.70263619e-03 1.32424598e-04 9.99970325e-01 -5.90357249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.506559995 meters 0.051437308216275755 Centerline is valid? [True, True] Translation: X:618.20, Y:-291.16, Z:-5.90 [[-6.75888506e-01 -7.36984139e-01 5.39504049e-03 6.18197143e+02] [ 7.36962240e-01 -6.75910024e-01 -5.68300010e-03 -2.91157573e+02] [ 7.83484288e-03 1.34866675e-04 9.99969298e-01 -5.90220880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5665599949999 meters 0.05118484115524054 Centerline is valid? [True, True] Translation: X:618.16, Y:-291.11, Z:-5.90 [[-6.77584076e-01 -7.35434002e-01 4.08025878e-03 6.18161292e+02] [ 7.35421454e-01 -6.77596355e-01 -4.29699176e-03 -2.91111136e+02] [ 5.92492232e-03 8.91366479e-05 9.99982444e-01 -5.89952433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.626559995 meters 0.05131908637731288 Centerline is valid? [True, True] Translation: X:618.12, Y:-291.07, Z:-5.90 [[-6.79381538e-01 -7.33776604e-01 3.55258349e-03 6.18122240e+02] [ 7.33767074e-01 -6.79390824e-01 -3.74032937e-03 -2.91068404e+02] [ 5.15815880e-03 6.56580729e-05 9.99986694e-01 -5.90008924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6865599949999 meters 0.051206137807406106 Centerline is valid? [True, True] Translation: X:618.08, Y:-291.02, Z:-5.90 [[-6.81675071e-01 -7.31646629e-01 3.50830881e-03 6.18084044e+02] [ 7.31637312e-01 -6.81684097e-01 -3.69274459e-03 -2.91024427e+02] [ 5.09334245e-03 4.95576988e-05 9.99987028e-01 -5.90006836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.746559995 meters 0.05078215178750779 Centerline is valid? [True, True] Translation: X:618.05, Y:-290.98, Z:-5.90 [[-6.84249287e-01 -7.29240373e-01 3.37517257e-03 6.18046441e+02] [ 7.29231725e-01 -6.84257610e-01 -3.55172061e-03 -2.90981844e+02] [ 4.89954558e-03 3.10206232e-05 9.99987997e-01 -5.90059584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8065599949999 meters 0.05091142889863047 Centerline is valid? [True, True] Translation: X:618.01, Y:-290.94, Z:-5.90 [[-6.84971636e-01 -7.28561913e-01 3.37604101e-03 6.18006434e+02] [ 7.28553256e-01 -6.84979955e-01 -3.55167857e-03 -2.90939582e+02] [ 4.90013815e-03 2.68265889e-05 9.99987994e-01 -5.90006479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.866559995 meters 0.0514437063346993 Centerline is valid? [True, True] Translation: X:617.96, Y:-290.90, Z:-5.90 [[-6.85416551e-01 -7.28142048e-01 3.64819154e-03 6.17964764e+02] [ 7.28131940e-01 -6.85426259e-01 -3.83690273e-03 -2.90900981e+02] [ 5.29437649e-03 2.64881471e-05 9.99985984e-01 -5.90214807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9265599949999 meters 0.05160756523736078 Centerline is valid? [True, True] Translation: X:617.93, Y:-290.86, Z:-5.90 [[-6.85443041e-01 -7.28115320e-01 3.98973830e-03 6.17926295e+02] [ 7.28103238e-01 -6.85454652e-01 -4.19471122e-03 -2.90861027e+02] [ 5.78901818e-03 2.97057610e-05 9.99983243e-01 -5.90106395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.986559995 meters 0.05067585270878924 Centerline is valid? [True, True] Translation: X:617.89, Y:-290.82, Z:-5.90 [[-6.85215501e-01 -7.28329117e-01 4.05151024e-03 6.17885783e+02] [ 7.28316668e-01 -6.85227478e-01 -4.25851028e-03 -2.90821286e+02] [ 5.87780317e-03 3.27851788e-05 9.99982725e-01 -5.90172785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0465599949999 meters 0.051526398958380536 Centerline is valid? [True, True] Translation: X:617.84, Y:-290.78, Z:-5.90 [[-6.84832011e-01 -7.28691085e-01 3.79726955e-03 6.17844031e+02] [ 7.28680160e-01 -6.84842538e-01 -3.99020950e-03 -2.90780848e+02] [ 5.50816180e-03 3.43717872e-05 9.99984829e-01 -5.90091538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.106559995 meters 0.05117193102806419 Centerline is valid? [True, True] Translation: X:617.80, Y:-290.74, Z:-5.90 [[-6.83481004e-01 -7.29958888e-01 3.70649107e-03 6.17802408e+02] [ 7.29948504e-01 -6.83491053e-01 -3.89382300e-03 -2.90740420e+02] [ 5.37568419e-03 4.41935556e-05 9.99985550e-01 -5.90077038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.166559995 meters 0.05099208295724679 Centerline is valid? [True, True] Translation: X:617.76, Y:-290.70, Z:-5.90 [[-6.82299590e-01 -7.31062573e-01 3.84498109e-03 6.17761538e+02] [ 7.31051421e-01 -6.82310421e-01 -4.03833726e-03 -2.90700462e+02] [ 5.57574789e-03 5.55230373e-05 9.99984454e-01 -5.90087452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2265599949999 meters 0.05105909343302884 Centerline is valid? [True, True] Translation: X:617.72, Y:-290.66, Z:-5.90 [[-6.80679793e-01 -7.32573401e-01 3.35137170e-03 6.17720179e+02] [ 7.32564952e-01 -6.80688040e-01 -3.51897688e-03 -2.90659889e+02] [ 4.85914749e-03 5.98009911e-05 9.99988192e-01 -5.90028935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.286559995 meters 0.051361882151453646 Centerline is valid? [True, True] Translation: X:617.68, Y:-290.62, Z:-5.90 [[-6.79032387e-01 -7.34104106e-01 2.48572511e-03 6.17682668e+02] [ 7.34099470e-01 -6.79036935e-01 -2.60950219e-03 -2.90617485e+02] [ 3.60354543e-03 5.28329840e-05 9.99993506e-01 -5.89874373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3465599949999 meters 0.05115498457889065 Centerline is valid? [True, True] Translation: X:617.64, Y:-290.58, Z:-5.90 [[-6.77428477e-01 -7.35584227e-01 2.55025075e-03 6.17636165e+02] [ 7.35579360e-01 -6.77433274e-01 -2.67653110e-03 -2.90582382e+02] [ 3.69643877e-03 6.27534334e-05 9.99993166e-01 -5.90022175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.406559995 meters 0.05210418564168522 Centerline is valid? [True, True] Translation: X:617.59, Y:-290.54, Z:-5.90 [[-6.76129674e-01 -7.36776223e-01 3.07574813e-03 6.17594566e+02] [ 7.36769161e-01 -6.76136665e-01 -3.22709967e-03 -2.90544134e+02] [ 4.45727638e-03 8.41785188e-05 9.99990063e-01 -5.90131544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4665599949999 meters 0.0508933670851547 Centerline is valid? [True, True] Translation: X:617.56, Y:-290.50, Z:-5.90 [[-6.74520999e-01 -7.38246535e-01 3.67083834e-03 6.17555873e+02] [ 7.38236502e-01 -6.74530978e-01 -3.85049689e-03 -2.90501147e+02] [ 5.31871016e-03 1.12705851e-04 9.99985849e-01 -5.90159069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.526559995 meters 0.05086434686478716 Centerline is valid? [True, True] Translation: X:617.52, Y:-290.46, Z:-5.90 [[-6.74045502e-01 -7.38677983e-01 4.18306224e-03 6.17516292e+02] [ 7.38664969e-01 -6.74058469e-01 -4.38679786e-03 -2.90457877e+02] [ 6.06005952e-03 1.32980174e-04 9.99981629e-01 -5.90163775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5865599949999 meters 0.050989944296026025 Centerline is valid? [True, True] Translation: X:617.48, Y:-290.41, Z:-5.90 [[-6.75638758e-01 -7.37218652e-01 4.57472112e-03 6.17478524e+02] [ 7.37203058e-01 -6.75654233e-01 -4.79677731e-03 -2.90412778e+02] [ 6.62720338e-03 1.31609737e-04 9.99978031e-01 -5.90075258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.646559995 meters 0.05124672347942335 Centerline is valid? [True, True] Translation: X:617.44, Y:-290.37, Z:-5.90 [[-6.79268621e-01 -7.33874857e-01 4.67276695e-03 6.17439090e+02] [ 7.33858515e-01 -6.79284685e-01 -4.89857014e-03 -2.90372098e+02] [ 6.76907649e-03 1.01704834e-04 9.99977084e-01 -5.90161358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7065599949999 meters 0.051427064571914954 Centerline is valid? [True, True] Translation: X:617.40, Y:-290.33, Z:-5.90 [[-6.81085555e-01 -7.32189939e-01 4.51232489e-03 6.17401846e+02] [ 7.32174670e-01 -6.81100497e-01 -4.72925440e-03 -2.90326746e+02] [ 6.53605921e-03 8.27831240e-05 9.99978636e-01 -5.89993443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.766559995 meters 0.05135474804248169 Centerline is valid? [True, True] Translation: X:617.36, Y:-290.28, Z:-5.90 [[-6.86095421e-01 -7.27495242e-01 4.87304460e-03 6.17363321e+02] [ 7.27477319e-01 -6.86112725e-01 -5.10672421e-03 -2.90284793e+02] [ 7.05857547e-03 4.13293271e-05 9.99975087e-01 -5.90205477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8265599949999 meters 0.05167286892596494 Centerline is valid? [True, True] Translation: X:617.33, Y:-290.24, Z:-5.90 [[-6.89817857e-01 -7.23966298e-01 4.91150406e-03 6.17325558e+02] [ 7.23948011e-01 -6.89835342e-01 -5.14572218e-03 -2.90240078e+02] [ 7.11345852e-03 6.06254430e-06 9.99974699e-01 -5.90111171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.886559995 meters 0.05187009860445238 Centerline is valid? [True, True] Translation: X:617.29, Y:-290.19, Z:-5.90 [[-6.95311203e-01 -7.18693233e-01 4.72932166e-03 6.17290145e+02] [ 7.18676164e-01 -6.95327286e-01 -4.95351772e-03 -2.90194877e+02] [ 6.84848606e-03 -4.53856224e-05 9.99976548e-01 -5.90134543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9465599949999 meters 0.052220279135150136 Centerline is valid? [True, True] Translation: X:617.25, Y:-290.15, Z:-5.90 [[-6.99591705e-01 -7.14531552e-01 4.01348331e-03 6.17251452e+02] [ 7.14519196e-01 -6.99603213e-01 -4.20265951e-03 -2.90151790e+02] [ 5.81077865e-03 -7.24348639e-05 9.99983115e-01 -5.89999955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.006559995 meters 0.052002101234134755 Centerline is valid? [True, True] Translation: X:617.21, Y:-290.11, Z:-5.90 [[-7.00713677e-01 -7.13430351e-01 4.18068381e-03 6.17212813e+02] [ 7.13416932e-01 -7.00726143e-01 -4.37646452e-03 -2.90109396e+02] [ 6.05181706e-03 -8.40779305e-05 9.99981684e-01 -5.90039892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0665599949999 meters 0.05176835179896168 Centerline is valid? [True, True] Translation: X:617.17, Y:-290.07, Z:-5.90 [[-6.99625447e-01 -7.14497154e-01 4.24860916e-03 6.17172729e+02] [ 7.14483324e-01 -6.99638343e-01 -4.44622819e-03 -2.90070318e+02] [ 6.14930726e-03 -7.51339854e-05 9.99981090e-01 -5.89997751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.126559995 meters 0.052353412637124015 Centerline is valid? [True, True] Translation: X:617.13, Y:-290.03, Z:-5.90 [[-6.96454137e-01 -7.17586755e-01 4.56993019e-03 6.17130128e+02] [ 7.17570825e-01 -6.96469128e-01 -4.78176166e-03 -2.90030023e+02] [ 6.61414413e-03 -5.10291101e-05 9.99978125e-01 -5.90044471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1865599949999 meters 0.051771547572017844 Centerline is valid? [True, True] Translation: X:617.09, Y:-289.99, Z:-5.90 [[-6.92536735e-01 -7.21366918e-01 4.75812165e-03 6.17088441e+02] [ 7.21349745e-01 -6.92553080e-01 -4.97767705e-03 -2.89991502e+02] [ 6.88598336e-03 -1.49543796e-05 9.99976291e-01 -5.90141702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.246559995 meters 0.05166888339003683 Centerline is valid? [True, True] Translation: X:617.05, Y:-289.95, Z:-5.90 [[-6.90126341e-01 -7.23676273e-01 4.27613156e-03 6.17047705e+02] [ 7.23662455e-01 -6.90139588e-01 -4.47208848e-03 -2.89951744e+02] [ 6.18747200e-03 8.16980906e-06 9.99980857e-01 -5.89926869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3065599949999 meters 0.05133663652771839 Centerline is valid? [True, True] Translation: X:617.01, Y:-289.91, Z:-5.90 [[-6.86268555e-01 -7.27337553e-01 3.94386605e-03 6.17005320e+02] [ 7.27325864e-01 -6.86279887e-01 -4.12363145e-03 -2.89911445e+02] [ 5.70586795e-03 3.85571855e-05 9.99983721e-01 -5.89864204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.366559995 meters 0.05144126568115664 Centerline is valid? [True, True] Translation: X:616.96, Y:-289.87, Z:-5.90 [[-6.83488213e-01 -7.29952249e-01 3.68458023e-03 6.16964068e+02] [ 7.29942089e-01 -6.83498142e-01 -3.85168469e-03 -2.89872742e+02] [ 5.32994965e-03 5.69491071e-05 9.99985794e-01 -5.89871338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4265599949999 meters 0.05093554711505975 Centerline is valid? [True, True] Translation: X:616.92, Y:-289.83, Z:-5.90 [[-6.80240195e-01 -7.32981609e-01 3.35238806e-03 6.16922569e+02] [ 7.32973240e-01 -6.80248451e-01 -3.50342708e-03 -2.89833188e+02] [ 4.84840440e-03 7.40388241e-05 9.99988244e-01 -5.89892141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.486559995 meters 0.05105181119791742 Centerline is valid? [True, True] Translation: X:616.88, Y:-289.79, Z:-5.90 [[-6.78430675e-01 -7.34653870e-01 3.93841077e-03 6.16881677e+02] [ 7.34642353e-01 -6.78442099e-01 -4.11477793e-03 -2.89791873e+02] [ 5.69492120e-03 1.01731789e-04 9.99983779e-01 -5.89970470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5465599949999 meters 0.05105701284290132 Centerline is valid? [True, True] Translation: X:616.84, Y:-289.76, Z:-5.90 [[-6.77901193e-01 -7.35136612e-01 4.91274927e-03 6.16838215e+02] [ 7.35118712e-01 -6.77918981e-01 -5.13173709e-03 -2.89755082e+02] [ 7.10297380e-03 1.32643223e-04 9.99974765e-01 -5.90249661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.606559995 meters 0.051170012990724406 Centerline is valid? [True, True] Translation: X:616.80, Y:-289.71, Z:-5.90 [[-6.78437625e-01 -7.34630529e-01 6.35417537e-03 6.16801192e+02] [ 7.34600581e-01 -6.78467360e-01 -6.63536703e-03 -2.89711904e+02] [ 9.18564378e-03 1.66098266e-04 9.99957797e-01 -5.90286452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.666559995 meters 0.05132763138911773 Centerline is valid? [True, True] Translation: X:616.77, Y:-289.67, Z:-5.90 [[-6.80887611e-01 -7.32355009e-01 6.94268475e-03 6.16765252e+02] [ 7.32319150e-01 -6.80922990e-01 -7.24878164e-03 -2.89665073e+02] [ 1.00361152e-02 1.48655377e-04 9.99949626e-01 -5.90050393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7265599949999 meters 0.051859140456173104 Centerline is valid? [True, True] Translation: X:616.73, Y:-289.62, Z:-5.90 [[-6.83380008e-01 -7.30027960e-01 7.13748142e-03 6.16727503e+02] [ 7.29989951e-01 -6.83417270e-01 -7.45034566e-03 -2.89622619e+02] [ 1.03168387e-02 1.18872443e-04 9.99946773e-01 -5.90149532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.786559995 meters 0.05204620867247937 Centerline is valid? [True, True] Translation: X:616.69, Y:-289.58, Z:-5.90 [[-6.88635944e-01 -7.25063112e-01 8.00124954e-03 6.16692074e+02] [ 7.25015034e-01 -6.88682424e-01 -8.34986850e-03 -2.89576085e+02] [ 1.15645016e-02 5.10066312e-05 9.99933128e-01 -5.90083306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8465599949999 meters 0.051725655341425064 Centerline is valid? [True, True] Translation: X:616.66, Y:-289.53, Z:-5.90 [[-6.92258615e-01 -7.21609833e-01 7.56703973e-03 6.16656083e+02] [ 7.21566651e-01 -6.92299971e-01 -7.89425568e-03 -2.89532643e+02] [ 1.09352339e-02 -4.74298717e-06 9.99940209e-01 -5.90242111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.906559995 meters 0.05153169895426942 Centerline is valid? [True, True] Translation: X:616.62, Y:-289.49, Z:-5.90 [[-6.95672182e-01 -7.18333540e-01 6.09432577e-03 6.16617696e+02] [ 7.18305421e-01 -6.95698875e-01 -6.35597684e-03 -2.89489745e+02] [ 8.80552692e-03 -4.40890368e-05 9.99961230e-01 -5.89971206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9665599949999 meters 0.05191486334382615 Centerline is valid? [True, True] Translation: X:616.58, Y:-289.45, Z:-5.90 [[-6.97568969e-01 -7.16494316e-01 5.78170445e-03 6.16580355e+02] [ 7.16468961e-01 -6.97592926e-01 -6.02805923e-03 -2.89448099e+02] [ 8.35234630e-03 -6.25752809e-05 9.99965117e-01 -5.90059418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.026559995 meters 0.05177188378505147 Centerline is valid? [True, True] Translation: X:616.54, Y:-289.41, Z:-5.90 [[-7.00192095e-01 -7.13923446e-01 6.65914434e-03 6.16540405e+02] [ 7.13889712e-01 -7.00223752e-01 -6.94091125e-03 -2.89407473e+02] [ 9.61817031e-03 -1.06076551e-04 9.99953739e-01 -5.90013890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0865599949999 meters 0.052118398098084634 Centerline is valid? [True, True] Translation: X:616.50, Y:-289.37, Z:-5.90 [[-7.02857110e-01 -7.11290586e-01 7.58857346e-03 6.16501802e+02] [ 7.11246650e-01 -7.02898056e-01 -7.90730594e-03 -2.89365790e+02] [ 1.09583858e-02 -1.60358748e-04 9.99939942e-01 -5.90161843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.146559995 meters 0.052995939909041605 Centerline is valid? [True, True] Translation: X:616.46, Y:-289.33, Z:-5.90 [[-7.08944769e-01 -7.05216191e-01 8.21209940e-03 6.16461088e+02] [ 7.05164359e-01 -7.08992277e-01 -8.55439153e-03 -2.89325315e+02] [ 1.18550105e-02 -2.73711314e-04 9.99929689e-01 -5.90005078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2065599949999 meters 0.053452260479198314 Centerline is valid? [True, True] Translation: X:616.42, Y:-289.29, Z:-5.90 [[-7.13842860e-01 -7.00260120e-01 8.00848544e-03 6.16417204e+02] [ 7.00210535e-01 -7.13887698e-01 -8.34037437e-03 -2.89289416e+02] [ 1.15575908e-02 -3.46090818e-04 9.99933149e-01 -5.89626013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.266559995 meters 0.05350296442172804 Centerline is valid? [True, True] Translation: X:616.38, Y:-289.25, Z:-5.90 [[-7.20625964e-01 -6.93286801e-01 7.18554539e-03 6.16377221e+02] [ 6.93246550e-01 -7.20661671e-01 -7.48177687e-03 -2.89246845e+02] [ 1.03653643e-02 -4.10208117e-04 9.99946194e-01 -5.89633823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3265599949999 meters 0.05424126365477742 Centerline is valid? [True, True] Translation: X:616.34, Y:-289.20, Z:-5.90 [[-7.23301158e-01 -6.90503200e-01 6.38482235e-03 6.16341042e+02] [ 6.90471322e-01 -7.23329228e-01 -6.64688989e-03 -2.89202428e+02] [ 9.20802736e-03 -3.99166431e-04 9.99957526e-01 -5.89687350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.386559995 meters 0.05384331909284579 Centerline is valid? [True, True] Translation: X:616.29, Y:-289.17, Z:-5.89 [[-7.23567559e-01 -6.90235285e-01 5.02391801e-03 6.16287285e+02] [ 6.90215550e-01 -7.23584931e-01 -5.22900913e-03 -2.89172727e+02] [ 7.24447797e-03 -3.15955035e-04 9.99973709e-01 -5.89384534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4465599949999 meters 0.054342020730637756 Centerline is valid? [True, True] Translation: X:616.25, Y:-289.13, Z:-5.90 [[-7.18577486e-01 -6.95427789e-01 5.15627823e-03 6.16250893e+02] [ 6.95407144e-01 -7.18595935e-01 -5.36525886e-03 -2.89127974e+02] [ 7.43643068e-03 -2.69641506e-04 9.99972313e-01 -5.89645728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.506559995 meters 0.05391349643665869 Centerline is valid? [True, True] Translation: X:616.20, Y:-289.09, Z:-5.90 [[-7.12624359e-01 -7.01521153e-01 5.88169941e-03 6.16204812e+02] [ 7.01494513e-01 -7.12648593e-01 -6.11808849e-03 -2.89093719e+02] [ 8.48355330e-03 -2.33919029e-04 9.99963987e-01 -5.89688609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5665599949999 meters 0.05348717054228474 Centerline is valid? [True, True] Translation: X:616.16, Y:-289.06, Z:-5.90 [[-7.09274485e-01 -7.04904278e-01 6.29794456e-03 6.16162600e+02] [ 7.04873884e-01 -7.09302416e-01 -6.54911397e-03 -2.89055217e+02] [ 9.08364575e-03 -2.05862797e-04 9.99958722e-01 -5.89718033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.626559995 meters 0.053400987088278874 Centerline is valid? [True, True] Translation: X:616.12, Y:-289.02, Z:-5.90 [[-6.99233943e-01 -7.14858123e-01 7.05387442e-03 6.16115169e+02] [ 7.14820515e-01 -6.99269517e-01 -7.33308628e-03 -2.89021599e+02] [ 1.01746756e-02 -8.52886883e-05 9.99948233e-01 -5.89879932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6865599949999 meters 0.053276719365469814 Centerline is valid? [True, True] Translation: X:616.07, Y:-288.99, Z:-5.90 [[-6.93357554e-01 -7.20564243e-01 6.51725135e-03 6.16068217e+02] [ 7.20532406e-01 -6.93388183e-01 -6.77346908e-03 -2.88985832e+02] [ 9.39970469e-03 -5.45157246e-07 9.99955822e-01 -5.89791665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.746559995 meters 0.053179757100362164 Centerline is valid? [True, True] Translation: X:616.02, Y:-288.95, Z:-5.90 [[-6.86490857e-01 -7.27115039e-01 5.83295454e-03 6.16021282e+02] [ 7.27089785e-01 -6.86515633e-01 -6.06052017e-03 -2.88951349e+02] [ 8.41110984e-03 8.05899800e-05 9.99964623e-01 -5.89769968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8065599949999 meters 0.05235276327935641 Centerline is valid? [True, True] Translation: X:615.98, Y:-288.91, Z:-5.90 [[-6.81964730e-01 -7.31360097e-01 6.04280896e-03 6.15977284e+02] [ 7.31333176e-01 -6.81991487e-01 -6.27674217e-03 -2.88913875e+02] [ 8.71170304e-03 1.38789886e-04 9.99962043e-01 -5.89673331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.866559995 meters 0.05295877634403419 Centerline is valid? [True, True] Translation: X:615.93, Y:-288.88, Z:-5.90 [[-6.79806501e-01 -7.33365911e-01 6.12878542e-03 6.15934124e+02] [ 7.33338315e-01 -6.79834106e-01 -6.36425641e-03 -2.88876492e+02] [ 8.83388606e-03 1.68010291e-04 9.99960966e-01 -5.89714956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9265599949999 meters 0.053119889567130485 Centerline is valid? [True, True] Translation: X:615.89, Y:-288.84, Z:-5.90 [[-6.78903094e-01 -7.34196858e-01 6.74996217e-03 6.15893165e+02] [ 7.34163443e-01 -6.78936620e-01 -7.00756158e-03 -2.88835223e+02] [ 9.72772620e-03 1.98120219e-04 9.99952665e-01 -5.89638107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.986559995 meters 0.05286971520751936 Centerline is valid? [True, True] Translation: X:615.85, Y:-288.79, Z:-5.90 [[-6.79855219e-01 -7.33309752e-01 7.32728426e-03 6.15852519e+02] [ 7.33270345e-01 -6.79894673e-01 -7.60489864e-03 -2.88793857e+02] [ 1.05585279e-02 2.02650227e-04 9.99944237e-01 -5.89610609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0465599949999 meters 0.05333454478385308 Centerline is valid? [True, True] Translation: X:615.81, Y:-288.75, Z:-5.90 [[-6.84026609e-01 -7.29410698e-01 8.22386582e-03 6.15813777e+02] [ 7.29360799e-01 -6.84076025e-01 -8.53334076e-03 -2.88750624e+02] [ 1.18500595e-02 1.61133198e-04 9.99929773e-01 -5.89630500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.106559995 meters 0.053459152836561365 Centerline is valid? [True, True] Translation: X:615.78, Y:-288.71, Z:-5.90 [[-6.91415678e-01 -7.22407029e-01 8.51150221e-03 6.15777139e+02] [ 7.22353059e-01 -6.91468064e-01 -8.83034255e-03 -2.88705472e+02] [ 1.22645335e-02 4.28723839e-05 9.99924787e-01 -5.89585536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.166559995 meters 0.0539806447173392 Centerline is valid? [True, True] Translation: X:615.74, Y:-288.66, Z:-5.89 [[-6.97025798e-01 -7.16999990e-01 8.12716132e-03 6.15740471e+02] [ 7.16950434e-01 -6.97073175e-01 -8.42989376e-03 -2.88661512e+02] [ 1.17094599e-02 -4.90815900e-05 9.99931441e-01 -5.89271296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2265599949999 meters 0.0543465497508356 Centerline is valid? [True, True] Translation: X:615.70, Y:-288.62, Z:-5.89 [[-7.03906542e-01 -7.10261523e-01 6.64444990e-03 6.15701641e+02] [ 7.10228108e-01 -7.03937889e-01 -6.89082327e-03 -2.88615712e+02] [ 9.57156667e-03 -1.31420504e-04 9.99954183e-01 -5.89080331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.286559995 meters 0.053728854836798685 Centerline is valid? [True, True] Translation: X:615.66, Y:-288.57, Z:-5.89 [[-7.06244474e-01 -7.07944371e-01 5.78886546e-03 6.15664230e+02] [ 7.07918934e-01 -7.06268184e-01 -6.00293389e-03 -2.88572013e+02] [ 8.33823475e-03 -1.41491424e-04 9.99965226e-01 -5.89195133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3465599949999 meters 0.05434381715807856 Centerline is valid? [True, True] Translation: X:615.62, Y:-288.53, Z:-5.89 [[-7.05314249e-01 -7.08870255e-01 5.89678488e-03 6.15622764e+02] [ 7.08843897e-01 -7.05338886e-01 -6.11437166e-03 -2.88531358e+02] [ 8.49352788e-03 -1.32653480e-04 9.99963921e-01 -5.89148990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.406559995 meters 0.05409888347478946 Centerline is valid? [True, True] Translation: X:615.59, Y:-288.49, Z:-5.89 [[-7.01695307e-01 -7.12448328e-01 6.40914079e-03 6.15585468e+02] [ 7.12417350e-01 -7.01724569e-01 -6.64440695e-03 -2.88487965e+02] [ 9.23124818e-03 -9.63660697e-05 9.99957386e-01 -5.89456892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4665599949999 meters 0.0534999105872928 Centerline is valid? [True, True] Translation: X:615.54, Y:-288.45, Z:-5.90 [[-6.98550737e-01 -7.15527302e-01 6.89545720e-03 6.15544282e+02] [ 7.15491613e-01 -6.98584767e-01 -7.14674293e-03 -2.88447697e+02] [ 9.93075105e-03 -5.87207569e-05 9.99950687e-01 -5.89598337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.526559995 meters 0.053309089765490605 Centerline is valid? [True, True] Translation: X:615.50, Y:-288.41, Z:-5.90 [[-6.93899571e-01 -7.20036554e-01 7.12364539e-03 6.15501467e+02] [ 7.19998716e-01 -6.93936136e-01 -7.38168839e-03 -2.88409439e+02] [ 1.02584404e-02 6.86513281e-06 9.99947381e-01 -5.89519017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5865599949999 meters 0.05318670731409441 Centerline is valid? [True, True] Translation: X:615.46, Y:-288.37, Z:-5.89 [[-6.90348330e-01 -7.23450273e-01 6.23581773e-03 6.15460538e+02] [ 7.23421435e-01 -6.90376491e-01 -6.45969167e-03 -2.88369930e+02] [ 8.97832767e-03 5.16868517e-05 9.99959693e-01 -5.89389598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.646559995 meters 0.053280614078333004 Centerline is valid? [True, True] Translation: X:615.42, Y:-288.33, Z:-5.89 [[-6.89039914e-01 -7.24698191e-01 6.04380041e-03 6.15420240e+02] [ 7.24671164e-01 -6.89066417e-01 -6.25913455e-03 -2.88327157e+02] [ 8.70056338e-03 6.69743473e-05 9.99962147e-01 -5.89263176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7065599949999 meters 0.05307110766539511 Centerline is valid? [True, True] Translation: X:615.38, Y:-288.29, Z:-5.89 [[-6.88072660e-01 -7.25617341e-01 5.95720323e-03 6.15379795e+02] [ 7.25591127e-01 -6.88098443e-01 -6.16840058e-03 -2.88286446e+02] [ 8.57504070e-03 7.81860094e-05 9.99963231e-01 -5.89387145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.766559995 meters 0.05361987487576671 Centerline is valid? [True, True] Translation: X:615.34, Y:-288.24, Z:-5.89 [[-6.87815371e-01 -7.25859061e-01 6.21608626e-03 6.15340639e+02] [ 7.25830545e-01 -6.87843454e-01 -6.43449472e-03 -2.88244161e+02] [ 8.94623054e-03 8.60809069e-05 9.99959978e-01 -5.89349172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8265599949999 meters 0.05310726357674745 Centerline is valid? [True, True] Translation: X:615.30, Y:-288.20, Z:-5.89 [[-6.88093421e-01 -7.25595513e-01 6.21251119e-03 6.15302615e+02] [ 7.25567038e-01 -6.88121460e-01 -6.42884917e-03 -2.88202040e+02] [ 8.93970639e-03 8.39445222e-05 9.99960037e-01 -5.89357423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.886559995 meters 0.05342657972017331 Centerline is valid? [True, True] Translation: X:615.26, Y:-288.16, Z:-5.89 [[-6.89191107e-01 -7.24559222e-01 5.43616393e-03 6.15263845e+02] [ 7.24537398e-01 -6.89212543e-01 -5.62403885e-03 -2.88158103e+02] [ 7.82162158e-03 6.26665071e-05 9.99969409e-01 -5.89377468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9465599949999 meters 0.053101827000719075 Centerline is valid? [True, True] Translation: X:615.23, Y:-288.12, Z:-5.89 [[-6.89691416e-01 -7.24083447e-01 5.37707275e-03 6.15225239e+02] [ 7.24062094e-01 -6.89712374e-01 -5.56112235e-03 -2.88117227e+02] [ 7.73535025e-03 5.78762057e-05 9.99970080e-01 -5.89460517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.006559995 meters 0.05303361125286777 Centerline is valid? [True, True] Translation: X:615.19, Y:-288.07, Z:-5.90 [[-6.89795068e-01 -7.23979397e-01 6.04959283e-03 6.15188083e+02] [ 7.23952381e-01 -6.89821592e-01 -6.25469939e-03 -2.88074956e+02] [ 8.70141325e-03 6.51563430e-05 9.99962140e-01 -5.89577425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0665599949999 meters 0.05285857557212225 Centerline is valid? [True, True] Translation: X:615.15, Y:-288.03, Z:-5.90 [[-6.89870314e-01 -7.23903566e-01 6.52513136e-03 6.15149772e+02] [ 7.23872151e-01 -6.89901169e-01 -6.74440222e-03 -2.88033186e+02] [ 9.38399257e-03 7.05979958e-05 9.99955967e-01 -5.89695275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.126559995 meters 0.05314531948344128 Centerline is valid? [True, True] Translation: X:615.11, Y:-287.99, Z:-5.90 [[-6.89489635e-01 -7.24258614e-01 7.31460756e-03 6.15112086e+02] [ 7.24219178e-01 -6.89528428e-01 -7.55842889e-03 -2.87988487e+02] [ 1.05178871e-02 8.59206986e-05 9.99944682e-01 -5.89674541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1865599949999 meters 0.05288791216422711 Centerline is valid? [True, True] Translation: X:615.07, Y:-287.95, Z:-5.90 [[-6.88776607e-01 -7.24931237e-01 7.84135234e-03 6.15073387e+02] [ 7.24885988e-01 -6.88821233e-01 -8.10022425e-03 -2.87947533e+02] [ 1.12733956e-02 1.04841464e-04 9.99936448e-01 -5.89836292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.246559995 meters 0.05274528871968069 Centerline is valid? [True, True] Translation: X:615.04, Y:-287.90, Z:-5.90 [[-6.86932935e-01 -7.26688042e-01 6.90159586e-03 6.15036424e+02] [ 7.26653094e-01 -6.86967594e-01 -7.12778265e-03 -2.87902221e+02] [ 9.92084712e-03 1.18757331e-04 9.99950780e-01 -5.89544532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3065599949999 meters 0.05241490315479831 Centerline is valid? [True, True] Translation: X:615.00, Y:-287.86, Z:-5.89 [[-6.84974845e-01 -7.28537138e-01 6.56514930e-03 6.14998460e+02] [ 7.28505615e-01 -6.85006292e-01 -6.77861978e-03 -2.87857251e+02] [ 9.43564483e-03 1.39564091e-04 9.99955474e-01 -5.89435803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.366559995 meters 0.052782325465035 Centerline is valid? [True, True] Translation: X:614.96, Y:-287.81, Z:-5.89 [[-6.82617629e-01 -7.30742026e-01 7.01886019e-03 6.14961400e+02] [ 7.30706127e-01 -6.82653688e-01 -7.24551090e-03 -2.87814433e+02] [ 1.00860501e-02 1.82810672e-04 9.99949118e-01 -5.89435435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4265599949999 meters 0.05218481370039366 Centerline is valid? [True, True] Translation: X:614.92, Y:-287.77, Z:-5.89 [[-6.81059571e-01 -7.32197662e-01 6.66675012e-03 6.14923726e+02] [ 7.32165360e-01 -6.81092172e-01 -6.88033054e-03 -2.87769728e+02] [ 9.57843325e-03 1.95248541e-04 9.99954107e-01 -5.89305248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.486559995 meters 0.052069500724486864 Centerline is valid? [True, True] Translation: X:614.88, Y:-287.73, Z:-5.89 [[-6.80067166e-01 -7.33124773e-01 6.05946189e-03 6.14884534e+02] [ 7.33098141e-01 -6.80094134e-01 -6.25183777e-03 -2.87728813e+02] [ 8.70438163e-03 1.90510660e-04 9.99962098e-01 -5.89323183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5465599949999 meters 0.051943513811191874 Centerline is valid? [True, True] Translation: X:614.85, Y:-287.68, Z:-5.89 [[-6.79375751e-01 -7.33769071e-01 5.61599789e-03 6.14847725e+02] [ 7.33746227e-01 -6.79398938e-01 -5.79288355e-03 -2.87683319e+02] [ 8.06614178e-03 1.85172652e-04 9.99967451e-01 -5.89232463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.606559995 meters 0.05185101579777399 Centerline is valid? [True, True] Translation: X:614.81, Y:-287.64, Z:-5.89 [[-6.79317325e-01 -7.33825456e-01 5.30775163e-03 6.14812221e+02] [ 7.33805064e-01 -6.79338037e-01 -5.47350846e-03 -2.87637436e+02] [ 7.62235742e-03 1.76605895e-04 9.99970934e-01 -5.89180240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.666559995 meters 0.05132838400485427 Centerline is valid? [True, True] Translation: X:614.77, Y:-287.59, Z:-5.89 [[-6.80111248e-01 -7.33090524e-01 5.19362427e-03 6.14774779e+02] [ 7.33070988e-01 -6.80131058e-01 -5.35450075e-03 -2.87592917e+02] [ 7.45767893e-03 1.65639091e-04 9.99972177e-01 -5.89189606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7265599949999 meters 0.051810126155594265 Centerline is valid? [True, True] Translation: X:614.74, Y:-287.55, Z:-5.89 [[-6.81817680e-01 -7.31502208e-01 5.40106340e-03 6.14739057e+02] [ 7.31481041e-01 -6.81839054e-01 -5.56701909e-03 -2.87546113e+02] [ 7.75494272e-03 1.55083435e-04 9.99969918e-01 -5.89156950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.786559995 meters 0.051014708703770624 Centerline is valid? [True, True] Translation: X:614.70, Y:-287.50, Z:-5.89 [[-6.82276516e-01 -7.31076462e-01 5.09525257e-03 6.14701539e+02] [ 7.31057622e-01 -6.82295527e-01 -5.25046462e-03 -2.87502025e+02] [ 7.31495914e-03 1.42654516e-04 9.99973235e-01 -5.89140874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8465599949999 meters 0.05148416295527189 Centerline is valid? [True, True] Translation: X:614.66, Y:-287.46, Z:-5.89 [[-6.80879022e-01 -7.32380095e-01 4.81181382e-03 6.14660842e+02] [ 7.32363334e-01 -6.80896009e-01 -4.95712355e-03 -2.87460658e+02] [ 6.90684344e-03 1.48794575e-04 9.99976136e-01 -5.89153080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.906559995 meters 0.05131150380318118 Centerline is valid? [True, True] Translation: X:614.62, Y:-287.42, Z:-5.89 [[-6.81399469e-01 -7.31887857e-01 5.91000683e-03 6.14621532e+02] [ 7.31862567e-01 -6.81425075e-01 -6.08690270e-03 -2.87417644e+02] [ 8.48215702e-03 1.77700503e-04 9.99964010e-01 -5.89170209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9665599949999 meters 0.050981832027338456 Centerline is valid? [True, True] Translation: X:614.58, Y:-287.38, Z:-5.89 [[-6.83836331e-01 -7.29610682e-01 6.01037215e-03 6.14581105e+02] [ 7.29584450e-01 -6.83862727e-01 -6.18875934e-03 -2.87376876e+02] [ 8.62565441e-03 1.52975579e-04 9.99962787e-01 -5.89310607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.026559995 meters 0.05177026066097168 Centerline is valid? [True, True] Translation: X:614.54, Y:-287.34, Z:-5.89 [[-6.87956445e-01 -7.25738388e-01 4.44095003e-03 6.14540623e+02] [ 7.25723995e-01 -6.87970774e-01 -4.57141715e-03 -2.87337425e+02] [ 6.37289675e-03 7.79681076e-05 9.99979690e-01 -5.89442120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0865599949999 meters 0.05137623088975784 Centerline is valid? [True, True] Translation: X:614.50, Y:-287.29, Z:-5.89 [[-6.90705703e-01 -7.23130420e-01 2.83353241e-03 6.14504643e+02] [ 7.23124541e-01 -6.90711514e-01 -2.91599808e-03 -2.87291536e+02] [ 4.06580038e-03 3.49003238e-05 9.99991734e-01 -5.89097836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.146559995 meters 0.0515163202052752 Centerline is valid? [True, True] Translation: X:614.46, Y:-287.25, Z:-5.89 [[-6.92145734e-01 -7.21751343e-01 3.04643439e-03 6.14464908e+02] [ 7.21744539e-01 -6.92152438e-01 -3.13426221e-03 -2.87249546e+02] [ 4.37075495e-03 2.93811587e-05 9.99990448e-01 -5.89058825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2065599949999 meters 0.05180433810060224 Centerline is valid? [True, True] Translation: X:614.42, Y:-287.21, Z:-5.89 [[-6.94975334e-01 -7.19022683e-01 3.95809921e-03 6.14424161e+02] [ 7.19011157e-01 -6.94986605e-01 -4.07110927e-03 -2.87209970e+02] [ 5.67804585e-03 1.65969671e-05 9.99983880e-01 -5.89364983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.266559995 meters 0.05205420703010797 Centerline is valid? [True, True] Translation: X:614.39, Y:-287.17, Z:-5.89 [[-6.97252663e-01 -7.16811653e-01 4.44723836e-03 6.14385428e+02] [ 7.16797067e-01 -6.97266846e-01 -4.57274868e-03 -2.87168382e+02] [ 6.37871140e-03 -5.93787494e-07 9.99979656e-01 -5.89284007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3265599949999 meters 0.05201970830557028 Centerline is valid? [True, True] Translation: X:614.35, Y:-287.13, Z:-5.89 [[-7.00667810e-01 -7.13473602e-01 4.47642746e-03 6.14347005e+02] [ 7.13458765e-01 -7.00682109e-01 -4.60143683e-03 -2.87126231e+02] [ 6.41955634e-03 -3.03322646e-05 9.99979394e-01 -5.89260700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.386559995 meters 0.05242761341054596 Centerline is valid? [True, True] Translation: X:614.31, Y:-287.09, Z:-5.89 [[-7.02784826e-01 -7.11385287e-01 4.94596184e-03 6.14308567e+02] [ 7.11367131e-01 -7.02802228e-01 -5.08262388e-03 -2.87085468e+02] [ 7.09173685e-03 -5.35962526e-05 9.99974852e-01 -5.89461451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4465599949999 meters 0.052239797013073866 Centerline is valid? [True, True] Translation: X:614.27, Y:-287.05, Z:-5.89 [[-7.03268016e-01 -7.10909670e-01 4.64100883e-03 6.14266733e+02] [ 7.10893684e-01 -7.03283328e-01 -4.76778896e-03 -2.87046998e+02] [ 6.65341141e-03 -5.37696256e-05 9.99977864e-01 -5.89313821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.506559995 meters 0.05228877341002407 Centerline is valid? [True, True] Translation: X:614.23, Y:-287.01, Z:-5.89 [[-7.02861055e-01 -7.11312424e-01 4.57960161e-03 6.14226423e+02] [ 7.11296874e-01 -7.02875973e-01 -4.70360097e-03 -2.87007243e+02] [ 6.56462175e-03 -4.85216315e-05 9.99978451e-01 -5.89288157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5665599949999 meters 0.05242879860719929 Centerline is valid? [True, True] Translation: X:614.19, Y:-286.97, Z:-5.89 [[-7.01990540e-01 -7.12174233e-01 4.14044487e-03 6.14187212e+02] [ 7.12161546e-01 -7.02002750e-01 -4.25106845e-03 -2.86968613e+02] [ 5.93410510e-03 -3.55442201e-05 9.99982392e-01 -5.89338031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.626559995 meters 0.05190887175731982 Centerline is valid? [True, True] Translation: X:614.15, Y:-286.93, Z:-5.89 [[-7.00050447e-01 -7.14085018e-01 3.45807548e-03 6.14145760e+02] [ 7.14076197e-01 -7.00058988e-01 -3.54932595e-03 -2.86931438e+02] [ 4.95537730e-03 -1.53778282e-05 9.99987722e-01 -5.89324431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6865599949999 meters 0.05246309794967321 Centerline is valid? [True, True] Translation: X:614.10, Y:-286.89, Z:-5.89 [[-6.97645462e-01 -7.16435632e-01 3.28552900e-03 6.14102137e+02] [ 7.16427700e-01 -6.97653199e-01 -3.37121709e-03 -2.86894160e+02] [ 4.70741987e-03 1.92967904e-06 9.99988920e-01 -5.89092051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.746559995 meters 0.052289361683941236 Centerline is valid? [True, True] Translation: X:614.06, Y:-286.86, Z:-5.89 [[-6.95897116e-01 -7.18132264e-01 3.64090262e-03 6.14060243e+02] [ 7.18122552e-01 -6.95906640e-01 -3.73474707e-03 -2.86855306e+02] [ 5.21577068e-03 1.56145714e-05 9.99986398e-01 -5.89084089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8065599949999 meters 0.051750528349589764 Centerline is valid? [True, True] Translation: X:614.02, Y:-286.82, Z:-5.89 [[-6.93881868e-01 -7.20078356e-01 3.88774145e-03 6.14017503e+02] [ 7.20067320e-01 -6.93892758e-01 -3.98684153e-03 -2.86817262e+02] [ 5.56851393e-03 3.30385167e-05 9.99984495e-01 -5.89179546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.866559995 meters 0.05198058438804614 Centerline is valid? [True, True] Translation: X:613.98, Y:-286.78, Z:-5.89 [[-6.93473612e-01 -7.20470139e-01 4.13864878e-03 6.13978188e+02] [ 7.20457646e-01 -6.93485960e-01 -4.24306485e-03 -2.86777728e+02] [ 5.92709635e-03 3.92676529e-05 9.99982434e-01 -5.89108727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9265599949999 meters 0.051661997892712495 Centerline is valid? [True, True] Translation: X:613.94, Y:-286.74, Z:-5.89 [[-6.93470342e-01 -7.20472547e-01 4.26556203e-03 6.13937742e+02] [ 7.20459283e-01 -6.93483459e-01 -4.37199537e-03 -2.86737612e+02] [ 6.10799935e-03 4.13146395e-05 9.99981345e-01 -5.89172742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.986559995 meters 0.05126042079688494 Centerline is valid? [True, True] Translation: X:613.90, Y:-286.70, Z:-5.89 [[-6.92842569e-01 -7.21074736e-01 4.51659176e-03 6.13897146e+02] [ 7.21059885e-01 -6.92857289e-01 -4.62810698e-03 -2.86695843e+02] [ 6.46656454e-03 5.01835999e-05 9.99979090e-01 -5.89098535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0465599949999 meters 0.05197967201459897 Centerline is valid? [True, True] Translation: X:613.86, Y:-286.66, Z:-5.89 [[-6.92401268e-01 -7.21497321e-01 4.70104133e-03 6.13856563e+02] [ 7.21481251e-01 -6.92417225e-01 -4.81575026e-03 -2.86655576e+02] [ 6.72963290e-03 5.72815929e-05 9.99977354e-01 -5.89220844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.106559995 meters 0.051991746768871354 Centerline is valid? [True, True] Translation: X:613.82, Y:-286.61, Z:-5.89 [[-6.92874870e-01 -7.21038507e-01 5.28072476e-03 6.13816862e+02] [ 7.21018227e-01 -6.92894991e-01 -5.40813485e-03 -2.86612689e+02] [ 7.55846121e-03 6.03380740e-05 9.99971433e-01 -5.89290738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.166559995 meters 0.05262808124738249 Centerline is valid? [True, True] Translation: X:613.78, Y:-286.57, Z:-5.89 [[-6.95320605e-01 -7.18681877e-01 5.06116866e-03 6.13778148e+02] [ 7.18663196e-01 -6.95339024e-01 -5.18194636e-03 -2.86568553e+02] [ 7.24339901e-03 3.41615692e-05 9.99973766e-01 -5.89255059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2265599949999 meters 0.05193262856390456 Centerline is valid? [True, True] Translation: X:613.74, Y:-286.53, Z:-5.89 [[-6.97573637e-01 -7.16498168e-01 4.62569308e-03 6.13740624e+02] [ 7.16482525e-01 -6.97588973e-01 -4.73457097e-03 -2.86526234e+02] [ 6.61914391e-03 1.15163717e-05 9.99978093e-01 -5.89314920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.286559995 meters 0.05284822486113881 Centerline is valid? [True, True] Translation: X:613.70, Y:-286.48, Z:-5.89 [[-7.00994891e-01 -7.13155475e-01 3.92828754e-03 6.13704163e+02] [ 7.13144148e-01 -7.01005897e-01 -4.01944547e-03 -2.86483107e+02] [ 5.62024228e-03 -1.61754644e-05 9.99984206e-01 -5.89019636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3465599949999 meters 0.05239304274777099 Centerline is valid? [True, True] Translation: X:613.67, Y:-286.44, Z:-5.89 [[-7.03174524e-01 -7.11005868e-01 4.03056603e-03 6.13669856e+02] [ 7.10993915e-01 -7.03186074e-01 -4.12284303e-03 -2.86438723e+02] [ 5.76560348e-03 -3.33702626e-05 9.99983378e-01 -5.89448065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.406559995 meters 0.05245514056780036 Centerline is valid? [True, True] Translation: X:613.63, Y:-286.40, Z:-5.89 [[-7.03679275e-01 -7.10506346e-01 4.02629546e-03 6.13630119e+02] [ 7.10494418e-01 -7.03690792e-01 -4.11713274e-03 -2.86398386e+02] [ 5.75851598e-03 -3.64805324e-05 9.99983419e-01 -5.89401198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4665599949999 meters 0.05237366992643973 Centerline is valid? [True, True] Translation: X:613.59, Y:-286.36, Z:-5.89 [[-7.03582989e-01 -7.10598606e-01 4.53870542e-03 6.13591924e+02] [ 7.10583460e-01 -7.03597627e-01 -4.63959357e-03 -2.86356745e+02] [ 6.49031108e-03 -3.92101061e-05 9.99978937e-01 -5.89365147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.526559995 meters 0.0517928661858114 Centerline is valid? [True, True] Translation: X:613.55, Y:-286.32, Z:-5.89 [[-7.02327438e-01 -7.11841172e-01 4.27973496e-03 6.13552837e+02] [ 7.11827737e-01 -7.02340477e-01 -4.37352894e-03 -2.86316571e+02] [ 6.11908906e-03 -2.52153213e-05 9.99981278e-01 -5.89356908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5865599949999 meters 0.05213232515050744 Centerline is valid? [True, True] Translation: X:613.51, Y:-286.28, Z:-5.89 [[-6.99194293e-01 -7.14922113e-01 3.70315333e-03 6.13513054e+02] [ 7.14912104e-01 -6.99204099e-01 -3.78302642e-03 -2.86278503e+02] [ 5.29382923e-03 2.35865923e-06 9.99985988e-01 -5.89107041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.646559995 meters 0.05108083184969146 Centerline is valid? [True, True] Translation: X:613.47, Y:-286.24, Z:-5.89 [[-6.95127694e-01 -7.18876857e-01 3.68163241e-03 6.13471210e+02] [ 7.18867024e-01 -6.95137443e-01 -3.76002589e-03 -2.86239375e+02] [ 5.26223613e-03 3.29060112e-05 9.99986154e-01 -5.89368698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7065599949999 meters 0.05198753595811739 Centerline is valid? [True, True] Translation: X:613.43, Y:-286.20, Z:-5.89 [[-6.92532250e-01 -7.21379066e-01 3.36534242e-03 6.13430945e+02] [ 7.21370884e-01 -6.92540425e-01 -3.43609251e-03 -2.86197780e+02] [ 4.80936088e-03 4.80551619e-05 9.99988434e-01 -5.89335899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.766559995 meters 0.05125345248107197 Centerline is valid? [True, True] Translation: X:613.39, Y:-286.16, Z:-5.89 [[-6.89359174e-01 -7.24412483e-01 3.23803586e-03 6.13390088e+02] [ 7.24404945e-01 -6.89366775e-01 -3.30530202e-03 -2.86158742e+02] [ 4.62659638e-03 6.71089191e-05 9.99989295e-01 -5.89370545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8265599949999 meters 0.05091427266041501 Centerline is valid? [True, True] Translation: X:613.35, Y:-286.12, Z:-5.89 [[-6.87962328e-01 -7.25741684e-01 2.61611944e-03 6.13350755e+02] [ 7.25736776e-01 -6.87967299e-01 -2.66971656e-03 -2.86117689e+02] [ 3.73732922e-03 6.19496634e-05 9.99993014e-01 -5.89312722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.886559995 meters 0.05114510380990102 Centerline is valid? [True, True] Translation: X:613.31, Y:-286.07, Z:-5.89 [[-6.86901864e-01 -7.26747250e-01 2.06476289e-03 6.13312354e+02] [ 7.26744199e-01 -6.86904965e-01 -2.10655278e-03 -2.86073884e+02] [ 2.94922733e-03 5.35594243e-05 9.99995650e-01 -5.89194005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9465599949999 meters 0.050766384807780736 Centerline is valid? [True, True] Translation: X:613.27, Y:-286.03, Z:-5.89 [[-6.87013273e-01 -7.26641230e-01 2.29894292e-03 6.13271680e+02] [ 7.26637449e-01 -6.87017117e-01 -2.34486485e-03 -2.86032707e+02] [ 3.28328862e-03 5.95447441e-05 9.99994608e-01 -5.89234289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.006559995 meters 0.051418908776427956 Centerline is valid? [True, True] Translation: X:613.23, Y:-285.99, Z:-5.89 [[-6.88400219e-01 -7.25325367e-01 2.87235876e-03 6.13229757e+02] [ 7.25319456e-01 -6.88406208e-01 -2.92901661e-03 -2.85991637e+02] [ 4.10183965e-03 6.70420191e-05 9.99991585e-01 -5.89352109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0665599949999 meters 0.05149181350395139 Centerline is valid? [True, True] Translation: X:613.19, Y:-285.96, Z:-5.90 [[-6.88967898e-01 -7.24782096e-01 3.76158536e-03 6.13185423e+02] [ 7.24771954e-01 -6.88978161e-01 -3.83506792e-03 -2.85955382e+02] [ 5.37123873e-03 8.40528938e-05 9.99985571e-01 -5.89570899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.126559995 meters 0.051525504932165234 Centerline is valid? [True, True] Translation: X:613.15, Y:-285.91, Z:-5.89 [[-6.88457610e-01 -7.25266351e-01 3.85220102e-03 6.13146848e+02] [ 7.25255728e-01 -6.88468381e-01 -3.92644207e-03 -2.85911448e+02] [ 5.49983492e-03 9.06419341e-05 9.99984872e-01 -5.89439647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1865599949999 meters 0.05112624616400393 Centerline is valid? [True, True] Translation: X:613.11, Y:-285.87, Z:-5.90 [[-6.87644889e-01 -7.26031771e-01 4.73019594e-03 6.13106088e+02] [ 7.26015781e-01 -6.87661147e-01 -4.82005827e-03 -2.85871928e+02] [ 6.75228741e-03 1.19708466e-04 9.99977196e-01 -5.89531726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.246559995 meters 0.05101365816414287 Centerline is valid? [True, True] Translation: X:613.07, Y:-285.83, Z:-5.90 [[-6.88478813e-01 -7.25241622e-01 4.63833883e-03 6.13066312e+02] [ 7.25226238e-01 -6.88494428e-01 -4.72513336e-03 -2.85830567e+02] [ 6.62033382e-03 1.10690813e-04 9.99978079e-01 -5.89561942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3065599949999 meters 0.051860806499155206 Centerline is valid? [True, True] Translation: X:613.03, Y:-285.79, Z:-5.89 [[-6.90198381e-01 -7.23606553e-01 4.44435471e-03 6.13027907e+02] [ 7.23592402e-01 -6.90212684e-01 -4.52633896e-03 -2.85787073e+02] [ 6.34283852e-03 9.18294821e-05 9.99979880e-01 -5.89431533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.366559995 meters 0.051786658942215645 Centerline is valid? [True, True] Translation: X:612.99, Y:-285.75, Z:-5.89 [[-6.91469844e-01 -7.22393824e-01 4.07648814e-03 6.12987591e+02] [ 7.22381904e-01 -6.91481856e-01 -4.15060834e-03 -2.85745134e+02] [ 5.81719142e-03 7.47607609e-05 9.99983077e-01 -5.89392116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4265599949999 meters 0.0520065594185064 Centerline is valid? [True, True] Translation: X:612.95, Y:-285.71, Z:-5.89 [[-6.92445394e-01 -7.21458873e-01 4.05846287e-03 6.12946640e+02] [ 7.21447049e-01 -6.92457284e-01 -4.13098665e-03 -2.85706348e+02] [ 5.79064915e-03 6.74833765e-05 9.99983232e-01 -5.89434385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.486559995 meters 0.051182115647805414 Centerline is valid? [True, True] Translation: X:612.91, Y:-285.66, Z:-5.89 [[-6.93535721e-01 -7.20412724e-01 3.70274798e-03 6.12907896e+02] [ 7.20402872e-01 -6.93545603e-01 -3.76793767e-03 -2.85662565e+02] [ 5.28249482e-03 5.42709141e-05 9.99986046e-01 -5.89279956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5465599949999 meters 0.051606844560719164 Centerline is valid? [True, True] Translation: X:612.87, Y:-285.62, Z:-5.89 [[-6.93713478e-01 -7.20240011e-01 3.99216092e-03 6.12867150e+02] [ 7.20228562e-01 -6.93724962e-01 -4.06136511e-03 -2.85621004e+02] [ 5.69461934e-03 5.78446055e-05 9.99983784e-01 -5.89268548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.606559995 meters 0.05140391768725389 Centerline is valid? [True, True] Translation: X:612.83, Y:-285.58, Z:-5.89 [[-6.93133138e-01 -7.20800640e-01 3.59042744e-03 6.12825477e+02] [ 7.20791391e-01 -6.93142434e-01 -3.65196260e-03 -2.85581966e+02] [ 5.12101460e-03 5.66528900e-05 9.99986886e-01 -5.89366774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.666559995 meters 0.051135305729730095 Centerline is valid? [True, True] Translation: X:612.78, Y:-285.54, Z:-5.89 [[-6.92841828e-01 -7.21080500e-01 3.62134550e-03 6.12783988e+02] [ 7.21071100e-01 -6.92851289e-01 -3.68244556e-03 -2.85541922e+02] [ 5.16439358e-03 5.98952719e-05 9.99986663e-01 -5.89371034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7265599949999 meters 0.05113543521349001 Centerline is valid? [True, True] Translation: X:612.74, Y:-285.50, Z:-5.90 [[-6.92029197e-01 -7.21856704e-01 4.29996777e-03 6.12741474e+02] [ 7.21843471e-01 -6.92042551e-01 -4.37167970e-03 -2.85504358e+02] [ 6.13148696e-03 7.85736698e-05 9.99981199e-01 -5.89572898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.786559995 meters 0.05125442521461244 Centerline is valid? [True, True] Translation: X:612.70, Y:-285.46, Z:-5.90 [[-6.91437114e-01 -7.22416485e-01 5.39819595e-03 6.12701932e+02] [ 7.22395656e-01 -6.91458178e-01 -5.48679848e-03 -2.85461821e+02] [ 7.69638041e-03 1.05857197e-04 9.99970377e-01 -5.89517107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8465599949999 meters 0.05181661132807193 Centerline is valid? [True, True] Translation: X:612.66, Y:-285.42, Z:-5.90 [[-6.91067809e-01 -7.22769135e-01 5.48279930e-03 6.12657762e+02] [ 7.22747671e-01 -6.91089549e-01 -5.57126301e-03 -2.85424697e+02] [ 7.81584225e-03 1.12559906e-04 9.99969450e-01 -5.89815826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.906559995 meters 0.051397229974822295 Centerline is valid? [True, True] Translation: X:612.62, Y:-285.38, Z:-5.90 [[-6.91424567e-01 -7.22434529e-01 4.51882725e-03 6.12619126e+02] [ 7.22419950e-01 -6.91439327e-01 -4.59049582e-03 -2.85381778e+02] [ 6.44082756e-03 9.05093694e-05 9.99979254e-01 -5.89540645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9665599949999 meters 0.051166223725781376 Centerline is valid? [True, True] Translation: X:612.58, Y:-285.34, Z:-5.89 [[-6.92479075e-01 -7.21425957e-01 4.16159339e-03 6.12579933e+02] [ 7.21413580e-01 -6.92491576e-01 -4.22650390e-03 -2.85339334e+02] [ 5.93097799e-03 7.54644724e-05 9.99982409e-01 -5.89388262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.026559995 meters 0.051115375146665566 Centerline is valid? [True, True] Translation: X:612.54, Y:-285.30, Z:-5.89 [[-6.94134130e-01 -7.19836184e-01 3.69838095e-03 6.12540752e+02] [ 7.19826392e-01 -6.94143980e-01 -3.75514002e-03 -2.85298045e+02] [ 5.27029453e-03 5.56213693e-05 9.99986110e-01 -5.89369588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0865599949999 meters 0.05066659444861655 Centerline is valid? [True, True] Translation: X:612.50, Y:-285.26, Z:-5.89 [[-6.95362129e-01 -7.18650840e-01 3.53253838e-03 6.12501539e+02] [ 7.18641897e-01 -6.95371101e-01 -3.58554917e-03 -2.85258623e+02] [ 5.03318303e-03 4.53749775e-05 9.99987332e-01 -5.89451989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.146559995 meters 0.05107328268415334 Centerline is valid? [True, True] Translation: X:612.46, Y:-285.22, Z:-5.89 [[-6.97145921e-01 -7.16919819e-01 3.67936827e-03 6.12463507e+02] [ 7.16910099e-01 -6.97155629e-01 -3.73348378e-03 -2.85216651e+02] [ 5.24170082e-03 3.49932833e-05 9.99986262e-01 -5.89474008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2065599949999 meters 0.05106491388515326 Centerline is valid? [True, True] Translation: X:612.43, Y:-285.17, Z:-5.90 [[-6.99281286e-01 -7.14829608e-01 4.93098549e-03 6.12426266e+02] [ 7.14812109e-01 -6.99298670e-01 -5.00191786e-03 -2.85174714e+02] [ 7.02375058e-03 2.69805834e-05 9.99975333e-01 -5.89578037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.266559995 meters 0.05199626761328695 Centerline is valid? [True, True] Translation: X:612.39, Y:-285.13, Z:-5.90 [[-6.99934465e-01 -7.14188544e-01 5.14477033e-03 6.12386083e+02] [ 7.14169488e-01 -6.99953372e-01 -5.21724794e-03 -2.85134082e+02] [ 7.32719805e-03 2.25063495e-05 9.99973155e-01 -5.89588930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3265599949999 meters 0.0515101658965789 Centerline is valid? [True, True] Translation: X:612.35, Y:-285.09, Z:-5.90 [[-6.99738118e-01 -7.14378341e-01 5.49120236e-03 6.12345181e+02] [ 7.14356650e-01 -6.99759663e-01 -5.56692072e-03 -2.85094067e+02] [ 7.81940950e-03 2.72902970e-05 9.99969428e-01 -5.89595709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.386559995 meters 0.05122598934076081 Centerline is valid? [True, True] Translation: X:612.31, Y:-285.05, Z:-5.90 [[-7.01337282e-01 -7.12805770e-01 5.82670270e-03 6.12306019e+02] [ 7.12781309e-01 -7.01361486e-01 -5.90530430e-03 -2.85052467e+02] [ 8.29595985e-03 1.15547093e-05 9.99965588e-01 -5.89597173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4465599949999 meters 0.051777872314866545 Centerline is valid? [True, True] Translation: X:612.27, Y:-285.01, Z:-5.89 [[-7.03542724e-01 -7.10631287e-01 5.55066827e-03 6.12266039e+02] [ 7.10609032e-01 -7.03564620e-01 -5.62402004e-03 -2.85009780e+02] [ 7.90185841e-03 -1.23833763e-05 9.99968780e-01 -5.89434738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.506559995 meters 0.05212387014524468 Centerline is valid? [True, True] Translation: X:612.23, Y:-284.97, Z:-5.89 [[-7.06950614e-01 -7.07250137e-01 4.25123847e-03 6.12226263e+02] [ 7.07237029e-01 -7.06963395e-01 -4.30602461e-03 -2.84970240e+02] [ 6.05090648e-03 -3.75134687e-05 9.99981692e-01 -5.89448963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5665599949999 meters 0.05222668062314869 Centerline is valid? [True, True] Translation: X:612.19, Y:-284.93, Z:-5.89 [[-7.09732841e-01 -7.04457452e-01 4.35802931e-03 6.12185794e+02] [ 7.04443631e-01 -7.09746219e-01 -4.41323045e-03 -2.84930750e+02] [ 6.20202790e-03 -6.22285971e-05 9.99980765e-01 -5.89264226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.626559995 meters 0.05295970624368106 Centerline is valid? [True, True] Translation: X:612.15, Y:-284.89, Z:-5.90 [[-7.13335112e-01 -7.00804731e-01 5.07418479e-03 6.12149157e+02] [ 7.00785913e-01 -7.13353150e-01 -5.13688775e-03 -2.84887415e+02] [ 7.21964094e-03 -1.08405177e-04 9.99973932e-01 -5.89545379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6865599949999 meters 0.05288481119662093 Centerline is valid? [True, True] Translation: X:612.10, Y:-284.85, Z:-5.89 [[-7.14756948e-01 -6.99355306e-01 4.96613690e-03 6.12102710e+02] [ 6.99337256e-01 -7.14774190e-01 -5.02596640e-03 -2.84852389e+02] [ 7.06460274e-03 -1.19339847e-04 9.99975038e-01 -5.89325506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.746559995 meters 0.052730154201295044 Centerline is valid? [True, True] Translation: X:612.07, Y:-284.81, Z:-5.90 [[-7.14710723e-01 -6.99404452e-01 4.68993194e-03 6.12066900e+02] [ 6.99388365e-01 -7.14726102e-01 -4.74491696e-03 -2.84807998e+02] [ 6.67063282e-03 -1.11159190e-04 9.99977745e-01 -5.89636567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8065599949999 meters 0.05259755326478711 Centerline is valid? [True, True] Translation: X:612.03, Y:-284.77, Z:-5.90 [[-7.13070383e-01 -7.01075809e-01 4.83097453e-03 6.12025928e+02] [ 7.01058790e-01 -7.13086741e-01 -4.88605428e-03 -2.84769631e+02] [ 6.87039834e-03 -9.73034447e-05 9.99976394e-01 -5.89689197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.866559995 meters 0.052634871100219 Centerline is valid? [True, True] Translation: X:611.98, Y:-284.73, Z:-5.90 [[-7.09821033e-01 -7.04361612e-01 5.36856060e-03 6.11983984e+02] [ 7.04340701e-01 -7.09841331e-01 -5.42789174e-03 -2.84733365e+02] [ 7.63402478e-03 -7.15359773e-05 9.99970858e-01 -5.89860993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9265599949999 meters 0.052341832643030356 Centerline is valid? [True, True] Translation: X:611.94, Y:-284.70, Z:-5.90 [[-7.06988352e-01 -7.07203857e-01 5.49311971e-03 6.11941845e+02] [ 7.07182062e-01 -7.07009690e-01 -5.55232352e-03 -2.84695192e+02] [ 7.81031348e-03 -4.07923307e-05 9.99969498e-01 -5.89902605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.986559995 meters 0.052062868014203005 Centerline is valid? [True, True] Translation: X:611.90, Y:-284.66, Z:-5.90 [[-7.02241899e-01 -7.11918087e-01 5.38077530e-03 6.11899177e+02] [ 7.11897325e-01 -7.02262513e-01 -5.43702380e-03 -2.84658727e+02] [ 7.64943237e-03 1.24536248e-05 9.99970743e-01 -5.89912855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0465599949999 meters 0.05177847646800972 Centerline is valid? [True, True] Translation: X:611.86, Y:-284.62, Z:-5.90 [[-6.99007550e-01 -7.15094736e-01 5.28800879e-03 6.11857654e+02] [ 7.15074787e-01 -6.99027551e-01 -5.34160143e-03 -2.84621067e+02] [ 7.51621490e-03 4.75020223e-05 9.99971752e-01 -5.89884717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.106559995 meters 0.051290492165419935 Centerline is valid? [True, True] Translation: X:611.82, Y:-284.58, Z:-5.90 [[-6.94352598e-01 -7.19622397e-01 4.25144740e-03 6.11816739e+02] [ 7.19609594e-01 -6.94365609e-01 -4.29339648e-03 -2.84584201e+02] [ 6.04168313e-03 7.82513340e-05 9.99981746e-01 -5.89786346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.166559995 meters 0.05135811833487895 Centerline is valid? [True, True] Translation: X:611.77, Y:-284.55, Z:-5.90 [[-6.90447155e-01 -7.23373137e-01 3.74585684e-03 6.11773479e+02] [ 7.23363257e-01 -6.90457309e-01 -3.78200027e-03 -2.84546662e+02] [ 5.32215163e-03 9.83438759e-05 9.99985832e-01 -5.89818602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2265599949999 meters 0.05106239844883993 Centerline is valid? [True, True] Translation: X:611.74, Y:-284.50, Z:-5.90 [[-6.88810922e-01 -7.24927876e-01 4.36907364e-03 6.11736843e+02] [ 7.24914473e-01 -6.88824766e-01 -4.41012972e-03 -2.84500766e+02] [ 6.20655209e-03 1.29459195e-04 9.99980731e-01 -5.89741273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.286559995 meters 0.05120195101673789 Centerline is valid? [True, True] Translation: X:611.70, Y:-284.46, Z:-5.90 [[-6.89175567e-01 -7.24578946e-01 4.73172207e-03 6.11695915e+02] [ 7.24563226e-01 -6.89191796e-01 -4.77487767e-03 -2.84460372e+02] [ 6.72083986e-03 1.37702782e-04 9.99977405e-01 -5.89866298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3465599949999 meters 0.050867674964626866 Centerline is valid? [True, True] Translation: X:611.66, Y:-284.42, Z:-5.90 [[-6.91534466e-01 -7.22323303e-01 5.39709190e-03 6.11658699e+02] [ 7.22302793e-01 -6.91555513e-01 -5.44488972e-03 -2.84415364e+02] [ 7.66535938e-03 1.33005650e-04 9.99970612e-01 -5.89856759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.406559995 meters 0.050814417577042616 Centerline is valid? [True, True] Translation: X:611.62, Y:-284.37, Z:-5.90 [[-6.94645309e-01 -7.19332470e-01 5.35645908e-03 6.11621229e+02] [ 7.19312187e-01 -6.94665954e-01 -5.40276609e-03 -2.84372926e+02] [ 7.60733483e-03 9.99601748e-05 9.99971059e-01 -5.89926220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4665599949999 meters 0.05116992800906634 Centerline is valid? [True, True] Translation: X:611.59, Y:-284.33, Z:-5.90 [[-7.02411872e-01 -7.11754633e-01 4.78581042e-03 6.11587422e+02] [ 7.11738273e-01 -7.02428176e-01 -4.82590356e-03 -2.84325339e+02] [ 6.79654730e-03 1.64724851e-05 9.99976903e-01 -5.89910429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.526559995 meters 0.05160967149529288 Centerline is valid? [True, True] Translation: X:611.55, Y:-284.28, Z:-5.90 [[-7.09039594e-01 -7.05156964e-01 4.06345076e-03 6.11552185e+02] [ 7.05145066e-01 -7.09051236e-01 -4.09645730e-03 -2.84278828e+02] [ 5.76984017e-03 -3.92281678e-05 9.99983354e-01 -5.89864482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5865599949999 meters 0.05193796840600398 Centerline is valid? [True, True] Translation: X:611.52, Y:-284.24, Z:-5.90 [[-7.15506191e-01 -6.98602965e-01 2.18818147e-03 6.11515453e+02] [ 6.98599486e-01 -7.15509535e-01 -2.20529457e-03 -2.84235756e+02] [ 3.10629003e-03 -4.92394689e-05 9.99995174e-01 -5.89715232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.646559995 meters 0.052803494834335114 Centerline is valid? [True, True] Translation: X:611.48, Y:-284.19, Z:-5.90 [[-7.20443014e-01 -6.93510783e-01 2.15809759e-03 6.11477369e+02] [ 6.93507378e-01 -7.20446243e-01 -2.17437338e-03 -2.84192929e+02] [ 3.06274469e-03 -6.98555077e-05 9.99995307e-01 -5.89714020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7065599949999 meters 0.05210993585942482 Centerline is valid? [True, True] Translation: X:611.43, Y:-284.16, Z:-5.90 [[-7.26676895e-01 -6.86971894e-01 3.21041403e-03 6.11434628e+02] [ 6.86964298e-01 -7.26683973e-01 -3.23386904e-03 -2.84156777e+02] [ 4.55453356e-03 -1.44538093e-04 9.99989618e-01 -5.89733481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.766559995 meters 0.05349226668766298 Centerline is valid? [True, True] Translation: X:611.39, Y:-284.12, Z:-5.90 [[-7.31106274e-01 -6.82256853e-01 3.03364928e-03 6.11393128e+02] [ 6.82250031e-01 -7.31112549e-01 -3.05537758e-03 -2.84116449e+02] [ 4.30249135e-03 -1.64098400e-04 9.99990731e-01 -5.89729882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8265599949999 meters 0.05401021722645404 Centerline is valid? [True, True] Translation: X:611.34, Y:-284.08, Z:-5.90 [[-7.37212325e-01 -6.75658273e-01 1.97130674e-03 6.11344776e+02] [ 6.75655370e-01 -7.37214949e-01 -1.98499655e-03 -2.84080786e+02] [ 2.79445614e-03 -1.31439940e-04 9.99996087e-01 -5.89711634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.886559995 meters 0.05375258041450915 Centerline is valid? [True, True] Translation: X:611.30, Y:-284.04, Z:-5.90 [[-7.41720304e-01 -6.70706904e-01 1.79972923e-03 6.11301445e+02] [ 6.70704471e-01 -7.41722475e-01 -1.81199953e-03 -2.84040503e+02] [ 2.55022021e-03 -1.36910404e-04 9.99996739e-01 -5.89600158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9465599949999 meters 0.05468592278674228 Centerline is valid? [True, True] Translation: X:611.26, Y:-284.00, Z:-5.90 [[-7.42981977e-01 -6.69308609e-01 1.94083243e-03 6.11262625e+02] [ 6.69305775e-01 -7.42984497e-01 -1.95380656e-03 -2.83998506e+02] [ 2.74970796e-03 -1.52632712e-04 9.99996208e-01 -5.89596395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.006559995 meters 0.05631800280753014 Centerline is valid? [True, True] Translation: X:611.19, Y:-283.98, Z:-5.90 [[-7.42211466e-01 -6.70164443e-01 1.32672825e-03 6.11194789e+02] [ 6.70163120e-01 -7.42212644e-01 -1.33525924e-03 -2.83984356e+02] [ 1.87955775e-03 -1.01920373e-04 9.99998228e-01 -5.89536107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0665599949999 meters 0.054260742079336385 Centerline is valid? [True, True] Translation: X:611.16, Y:-283.93, Z:-5.90 [[-7.39697123e-01 -6.72939663e-01 6.13329229e-04 6.11163762e+02] [ 6.72939381e-01 -7.39697376e-01 -6.17136802e-04 -2.83931601e+02] [ 8.68973853e-04 -4.37609253e-05 9.99999621e-01 -5.89632814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.126559995 meters 0.05378798319471024 Centerline is valid? [True, True] Translation: X:611.12, Y:-283.90, Z:-5.90 [[-7.32553263e-01 -6.80709278e-01 7.72294263e-04 6.11117185e+02] [ 6.80708836e-01 -7.32553668e-01 -7.77004267e-04 -2.83897406e+02] [ 1.09466101e-03 -4.34894827e-05 9.99999400e-01 -5.89599766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1865599949999 meters 0.0546728563893597 Centerline is valid? [True, True] Translation: X:611.08, Y:-283.86, Z:-5.90 [[-7.26359571e-01 -6.87314400e-01 8.30426924e-04 6.11075024e+02] [ 6.87313893e-01 -7.26360045e-01 -8.35255751e-04 -2.83858375e+02] [ 1.17727224e-03 -3.59320471e-05 9.99999306e-01 -5.89647653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.246559995 meters 0.05352815803774147 Centerline is valid? [True, True] Translation: X:611.02, Y:-283.83, Z:-5.90 [[-7.19714158e-01 -6.94269944e-01 8.80557785e-04 6.11024313e+02] [ 6.94269380e-01 -7.19714697e-01 -8.85473562e-04 -2.83829424e+02] [ 1.24850806e-03 -2.59435522e-05 9.99999220e-01 -5.89663632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3065599949999 meters 0.053304267361783536 Centerline is valid? [True, True] Translation: X:610.98, Y:-283.80, Z:-5.90 [[-7.10375758e-01 -7.03821358e-01 1.33385032e-03 6.10975572e+02] [ 7.03820080e-01 -7.10377010e-01 -1.34094139e-03 -2.83796974e+02] [ 1.89131980e-03 -1.37816162e-05 9.99998211e-01 -5.89789160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.366559995 meters 0.05310053268924066 Centerline is valid? [True, True] Translation: X:610.92, Y:-283.77, Z:-5.90 [[-7.01234865e-01 -7.12925513e-01 2.62232941e-03 6.10924272e+02] [ 7.12920642e-01 -7.01239768e-01 -2.63538514e-03 -2.83769440e+02] [ 3.71771497e-03 2.14888239e-05 9.99993089e-01 -5.89958781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4265599949999 meters 0.05350753186953201 Centerline is valid? [True, True] Translation: X:610.88, Y:-283.73, Z:-5.90 [[-6.95731637e-01 -7.18295505e-01 3.00941101e-03 6.10878796e+02] [ 7.18289142e-01 -6.95738144e-01 -3.02379404e-03 -2.83733519e+02] [ 4.26573969e-03 5.78780761e-05 9.99990900e-01 -5.89928749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.486559995 meters 0.053373404280464005 Centerline is valid? [True, True] Translation: X:610.83, Y:-283.70, Z:-5.90 [[-6.89875572e-01 -7.23914271e-01 4.45223371e-03 6.10832061e+02] [ 7.23900468e-01 -6.89889925e-01 -4.47247387e-03 -2.83700472e+02] [ 6.30923884e-03 1.37523599e-04 9.99980087e-01 -5.90042906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5465599949999 meters 0.05317997726403841 Centerline is valid? [True, True] Translation: X:610.79, Y:-283.66, Z:-5.90 [[-6.89102505e-01 -7.24646012e-01 5.08874080e-03 6.10791408e+02] [ 7.24628010e-01 -6.89121274e-01 -5.11045051e-03 -2.83659606e+02] [ 7.21002712e-03 1.65819872e-04 9.99973994e-01 -5.90007294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.606559995 meters 0.05322781502990671 Centerline is valid? [True, True] Translation: X:610.75, Y:-283.62, Z:-5.90 [[-6.92092390e-01 -7.21791695e-01 4.98715709e-03 6.10751768e+02] [ 7.21774341e-01 -6.92110346e-01 -5.00695653e-03 -2.83618354e+02] [ 7.06564266e-03 1.34325514e-04 9.99975029e-01 -5.89969840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.666559995 meters 0.052963426509105786 Centerline is valid? [True, True] Translation: X:610.71, Y:-283.57, Z:-5.90 [[-6.96500609e-01 -7.17540658e-01 4.72281358e-03 6.10713754e+02] [ 7.17525005e-01 -6.96516616e-01 -4.74035546e-03 -2.83574528e+02] [ 6.69091591e-03 8.70763771e-05 9.99977612e-01 -5.89931058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7265599949999 meters 0.05377831527091146 Centerline is valid? [True, True] Translation: X:610.67, Y:-283.53, Z:-5.90 [[-6.98620250e-01 -7.15476225e-01 4.84950696e-03 6.10674577e+02] [ 7.15459680e-01 -6.98637078e-01 -4.86619262e-03 -2.83532201e+02] [ 6.86969049e-03 7.00059915e-05 9.99976401e-01 -5.89901149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.786559995 meters 0.0537147769173756 Centerline is valid? [True, True] Translation: X:610.64, Y:-283.49, Z:-5.90 [[-7.00432788e-01 -7.13697126e-01 5.50653258e-03 6.10636291e+02] [ 7.13675751e-01 -7.00454430e-01 -5.52389208e-03 -2.83488907e+02] [ 7.79946104e-03 6.07636494e-05 9.99969582e-01 -5.89814754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8465599949999 meters 0.05323012192246371 Centerline is valid? [True, True] Translation: X:610.60, Y:-283.45, Z:-5.90 [[-7.01680208e-01 -7.12471795e-01 5.36904129e-03 6.10598440e+02] [ 7.12451446e-01 -7.01700747e-01 -5.38508551e-03 -2.83446006e+02] [ 7.60418182e-03 4.65733070e-05 9.99971087e-01 -5.89776885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.906559995 meters 0.0533718838501348 Centerline is valid? [True, True] Translation: X:610.56, Y:-283.40, Z:-5.90 [[-7.02242524e-01 -7.11917983e-01 5.31248824e-03 6.10559388e+02] [ 7.11898054e-01 -7.02262617e-01 -5.32704572e-03 -2.83403672e+02] [ 7.52318154e-03 4.10720003e-05 9.99971700e-01 -5.89830757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9665599949999 meters 0.05329918962915035 Centerline is valid? [True, True] Translation: X:610.52, Y:-283.36, Z:-5.90 [[-7.03228536e-01 -7.10942654e-01 5.49257310e-03 6.10521626e+02] [ 7.10921334e-01 -7.03249985e-01 -5.50603380e-03 -2.83360523e+02] [ 7.77712624e-03 3.27873048e-05 9.99969757e-01 -5.89948258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.026559995 meters 0.053136211739234725 Centerline is valid? [True, True] Translation: X:610.49, Y:-283.32, Z:-5.90 [[-7.05632917e-01 -7.08555880e-01 5.54549805e-03 6.10486242e+02] [ 7.08534086e-01 -7.05654707e-01 -5.55729474e-03 -2.83316130e+02] [ 7.85086066e-03 7.76429624e-06 9.99969181e-01 -5.89949401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0865599949999 meters 0.05250819429490719 Centerline is valid? [True, True] Translation: X:610.45, Y:-283.27, Z:-5.90 [[-7.09599083e-01 -7.04585446e-01 5.33757849e-03 6.10453085e+02] [ 7.04565157e-01 -7.09619157e-01 -5.34713284e-03 -2.83270726e+02] [ 7.55515992e-03 -3.36487408e-05 9.99971459e-01 -5.89933319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.146559995 meters 0.05313733943144428 Centerline is valid? [True, True] Translation: X:610.41, Y:-283.23, Z:-5.90 [[-7.12225505e-01 -7.01934085e-01 4.83430360e-03 6.10414703e+02] [ 7.01917389e-01 -7.12241910e-01 -4.84156229e-03 -2.83227656e+02] [ 6.84165122e-03 -5.50023851e-05 9.99976594e-01 -5.89623367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2065599949999 meters 0.053978222650784204 Centerline is valid? [True, True] Translation: X:610.38, Y:-283.18, Z:-5.90 [[-7.15168760e-01 -6.98938276e-01 4.35093033e-03 6.10377437e+02] [ 6.98924705e-01 -7.15181991e-01 -4.35621312e-03 -2.83183848e+02] [ 6.15643110e-03 -7.44548388e-05 9.99981046e-01 -5.89598480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.266559995 meters 0.053111176708708144 Centerline is valid? [True, True] Translation: X:610.34, Y:-283.14, Z:-5.90 [[-7.16264121e-01 -6.97816619e-01 4.20424679e-03 6.10339253e+02] [ 6.97803932e-01 -7.16276455e-01 -4.20864040e-03 -2.83140485e+02] [ 5.94826220e-03 -8.07581787e-05 9.99982306e-01 -5.89582960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3265599949999 meters 0.05351031954147576 Centerline is valid? [True, True] Translation: X:610.30, Y:-283.10, Z:-5.90 [[-7.15671375e-01 -6.98422440e-01 4.53643514e-03 6.10301276e+02] [ 6.98407688e-01 -7.15685748e-01 -4.54008368e-03 -2.83098975e+02] [ 6.41755830e-03 -8.09267497e-05 9.99979404e-01 -5.89565297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.386559995 meters 0.05293744985875845 Centerline is valid? [True, True] Translation: X:610.26, Y:-283.06, Z:-5.90 [[-7.13810697e-01 -7.00321679e-01 4.88207210e-03 6.10259621e+02] [ 7.00304647e-01 -7.13827389e-01 -4.88466969e-03 -2.83058410e+02] [ 6.90579686e-03 -6.77916957e-05 9.99976152e-01 -5.89528715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4465599949999 meters 0.05298938561406948 Centerline is valid? [True, True] Translation: X:610.22, Y:-283.02, Z:-5.90 [[-7.09239078e-01 -7.04951388e-01 4.84461851e-03 6.10218709e+02] [ 7.04934733e-01 -7.09255624e-01 -4.84592820e-03 -2.83017830e+02] [ 6.85221674e-03 -2.17817946e-05 9.99976523e-01 -5.89567650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.506559995 meters 0.0529273921896919 Centerline is valid? [True, True] Translation: X:610.18, Y:-282.98, Z:-5.89 [[-7.04397760e-01 -7.09785820e-01 5.28070785e-03 6.10179715e+02] [ 7.09766178e-01 -7.04417553e-01 -5.28041202e-03 -2.82977879e+02] [ 7.46778487e-03 2.85574283e-05 9.99972115e-01 -5.89305512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5665599949999 meters 0.05277641477154204 Centerline is valid? [True, True] Translation: X:609.37, Y:-283.00, Z:-4.91 [[-7.62629978e-01 6.46804494e-01 6.28193582e-03 6.09368484e+02] [ 6.46781458e-01 7.62655844e-01 -5.45982608e-03 -2.83000304e+02] [-8.32239511e-03 -1.00787440e-04 -9.99965363e-01 -4.90922428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.626559995 meters 0.05265103690780003 Centerline is valid? [True, True] Translation: X:609.46, Y:-282.97, Z:-4.91 [[-8.09632374e-01 5.86902005e-01 6.43860500e-03 6.09456129e+02] [ 5.86882073e-01 8.09657963e-01 -4.83891534e-03 -2.82973827e+02] [-8.05303693e-03 -1.39040668e-04 -9.99967564e-01 -4.90923219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6865599949999 meters 0.052234184293444084 Centerline is valid? [True, True] Translation: X:609.48, Y:-282.90, Z:-4.91 [[-8.52498563e-01 5.22683199e-01 6.96231837e-03 6.09479531e+02] [ 5.22663890e-01 8.52526970e-01 -4.49702731e-03 -2.82898643e+02] [-8.28608481e-03 -1.94756919e-04 -9.99965651e-01 -4.91019063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.746559995 meters 0.05277070116093223 Centerline is valid? [True, True] Translation: X:609.55, Y:-282.85, Z:-4.91 [[-8.88668282e-01 4.58500205e-01 6.80055401e-03 6.09553385e+02] [ 4.58485020e-01 8.88694279e-01 -3.73703700e-03 -2.82846059e+02] [-7.75704567e-03 -2.03034110e-04 -9.99969893e-01 -4.90852559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8065599949999 meters 0.05239823697093833 Centerline is valid? [True, True] Translation: X:609.55, Y:-282.76, Z:-4.91 [[-9.19891220e-01 3.92105114e-01 7.32960947e-03 6.09552793e+02] [ 3.92090664e-01 9.19920392e-01 -3.37399440e-03 -2.82762919e+02] [-8.06561768e-03 -2.29836379e-04 -9.99967446e-01 -4.90876696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.866559995 meters 0.05123369867451947 Centerline is valid? [True, True] Translation: X:609.58, Y:-282.70, Z:-4.91 [[-9.46108700e-01 3.23721110e-01 9.10885844e-03 6.09576710e+02] [ 3.23703070e-01 9.46152501e-01 -3.43045397e-03 -2.82698593e+02] [-9.72887956e-03 -2.97016912e-04 -9.99952629e-01 -4.91053943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9265599949999 meters 0.05190194493906123 Centerline is valid? [True, True] Translation: X:609.59, Y:-282.61, Z:-4.91 [[-9.66976761e-01 2.54637021e-01 1.07671600e-02 6.09586989e+02] [ 2.54617138e-01 9.67036639e-01 -3.20176629e-03 -2.82614119e+02] [-1.12275265e-02 -3.54530129e-04 -9.99936906e-01 -4.90783133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.986559995 meters 0.053220889225051415 Centerline is valid? [True, True] Translation: X:609.57, Y:-282.53, Z:-4.91 [[-9.82560547e-01 1.85515233e-01 1.26043663e-02 6.09568191e+02] [ 1.85494683e-01 9.82641305e-01 -2.79057244e-03 -2.82525872e+02] [-1.29032647e-02 -4.03863443e-04 -9.99916668e-01 -4.90512513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0465599949999 meters 0.051633339874081516 Centerline is valid? [True, True] Translation: X:609.50, Y:-282.45, Z:-4.91 [[-9.92843354e-01 1.18756982e-01 1.26037363e-02 6.09500895e+02] [ 1.18742879e-01 9.92923287e-01 -1.86414536e-03 -2.82451421e+02] [-1.27359235e-02 -3.54200404e-04 -9.99918832e-01 -4.91137414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.106559995 meters 0.05134462260301239 Centerline is valid? [True, True] Translation: X:609.41, Y:-282.36, Z:-4.91 [[-9.98688334e-01 4.97423388e-02 1.21372228e-02 6.09407356e+02] [ 4.97348079e-02 9.98762033e-01 -9.21711577e-04 -2.82362750e+02] [-1.21680454e-02 -3.16860155e-04 -9.99925916e-01 -4.91180166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.166559995 meters 0.050839379978016776 Centerline is valid? [True, True] Translation: X:609.52, Y:-282.30, Z:-4.91 [[-9.99810609e-01 -1.71434176e-02 9.21136689e-03 6.09519855e+02] [-1.71444525e-02 9.99853023e-01 -3.33925720e-05 -2.82296278e+02] [-9.20944056e-03 -1.91310089e-04 -9.99957574e-01 -4.91422964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2265599949999 meters 0.051247257942049616 Centerline is valid? [True, True] Translation: X:609.05, Y:-281.63, Z:-5.89 [[-9.96222300e-01 -8.64238512e-02 8.48807007e-03 6.09049329e+02] [ 8.64218811e-02 -9.96258450e-01 -5.99301992e-04 -2.81629846e+02] [ 8.50810552e-03 1.36516973e-04 9.99963796e-01 -5.89283989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.286559995 meters 0.05133098125692811 Centerline is valid? [True, True] Translation: X:608.98, Y:-282.29, Z:-4.91 [[-9.99804553e-01 -1.74028287e-02 9.38070411e-03 6.08975522e+02] [-1.74035604e-02 9.99848547e-01 3.63462163e-06 -2.82289686e+02] [-9.37934662e-03 -1.59623739e-04 -9.99956000e-01 -4.90989954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3465599949999 meters 0.05090358450416047 Centerline is valid? [True, True] Translation: X:608.89, Y:-282.22, Z:-4.91 [[-9.95976927e-01 -8.89918298e-02 1.05078176e-02 6.08887313e+02] [-8.89888300e-02 9.96032339e-01 7.53619450e-04 -2.82215817e+02] [-1.05331922e-02 -1.84490814e-04 -9.99944507e-01 -4.91090327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.406559995 meters 0.05092987087936413 Centerline is valid? [True, True] Translation: X:608.86, Y:-282.14, Z:-4.91 [[-9.86891490e-01 -1.61027204e-01 1.07436842e-02 6.08858677e+02] [-1.61019905e-01 9.86949947e-01 1.54663466e-03 -2.82136933e+02] [-1.08525288e-02 -2.03586420e-04 -9.99941089e-01 -4.91071432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4665599949999 meters 0.051155159739509 Centerline is valid? [True, True] Translation: X:608.72, Y:-281.50, Z:-5.90 [[-9.98422049e-01 5.51875531e-02 1.03801064e-02 6.08718900e+02] [-5.51828587e-02 -9.98475992e-01 7.38337590e-04 -2.81499459e+02] [ 1.04050341e-02 1.64368585e-04 9.99945853e-01 -5.89505693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.526559995 meters 0.050655892433732794 Centerline is valid? [True, True] Translation: X:608.70, Y:-282.16, Z:-4.91 [[-9.85393435e-01 -1.69932277e-01 1.10814859e-02 6.08704189e+02] [-1.69924570e-01 9.85455707e-01 1.64019672e-03 -2.82157529e+02] [-1.11990359e-02 -2.66777649e-04 -9.99937253e-01 -4.91199340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5865599949999 meters 0.05080398257546056 Centerline is valid? [True, True] Translation: X:608.59, Y:-282.10, Z:-4.91 [[-9.70839715e-01 -2.39469246e-01 1.11681739e-02 6.08589689e+02] [-2.39456599e-01 9.70903912e-01 2.47587974e-03 -2.82096676e+02] [-1.14361208e-02 -2.70610556e-04 -9.99934569e-01 -4.91160257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.646559995 meters 0.051555821414565633 Centerline is valid? [True, True] Translation: X:608.48, Y:-282.04, Z:-4.91 [[-9.52283185e-01 -3.05056272e-01 9.86942496e-03 6.08481573e+02] [-3.05042193e-01 9.52334304e-01 2.93845530e-03 -2.82043430e+02] [-1.02953862e-02 -2.12349463e-04 -9.99946979e-01 -4.91176729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7065599949999 meters 0.0514687864782248 Centerline is valid? [True, True] Translation: X:608.40, Y:-281.98, Z:-4.91 [[-9.28779187e-01 -3.70545065e-01 8.09799955e-03 6.08397753e+02] [-3.70532496e-01 9.28814475e-01 3.05620367e-03 -2.81984861e+02] [-8.65400039e-03 -1.62033624e-04 -9.99962540e-01 -4.91140748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.766559995 meters 0.051167789400579956 Centerline is valid? [True, True] Translation: X:608.26, Y:-281.96, Z:-4.91 [[-9.01706074e-01 -4.32306626e-01 6.09407740e-03 6.08256781e+02] [-4.32297508e-01 9.01726661e-01 2.80969611e-03 -2.81958489e+02] [-6.70984231e-03 -1.00934423e-04 -9.99977484e-01 -4.91217790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8265599949999 meters 0.05171581515324394 Centerline is valid? [True, True] Translation: X:608.12, Y:-281.94, Z:-4.91 [[-8.69772790e-01 -4.93415374e-01 6.04664815e-03 6.08117629e+02] [-4.93404139e-01 8.69793804e-01 3.33086693e-03 -2.81942284e+02] [-6.90283805e-03 -8.63437999e-05 -9.99976171e-01 -4.91122264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.886559995 meters 0.05096195161873572 Centerline is valid? [True, True] Translation: X:607.97, Y:-281.94, Z:-4.91 [[-8.32846666e-01 -5.53450628e-01 7.67026386e-03 6.07973595e+02] [-5.53428218e-01 8.32881980e-01 4.98138329e-03 -2.81940900e+02] [-9.14537426e-03 -9.62119950e-05 -9.99958176e-01 -4.90963163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9465599949999 meters 0.05188001087667533 Centerline is valid? [True, True] Translation: X:607.83, Y:-281.95, Z:-4.91 [[-7.91715511e-01 -6.10830682e-01 8.51037619e-03 6.07827319e+02] [-6.10796636e-01 7.91761245e-01 6.44982416e-03 -2.81949419e+02] [-1.06779365e-02 -9.16833201e-05 -9.99942985e-01 -4.90734177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.006559995 meters 0.051900271682932306 Centerline is valid? [True, True] Translation: X:607.65, Y:-282.00, Z:-4.91 [[-7.47872236e-01 -6.63789369e-01 8.41375383e-03 6.07648607e+02] [-6.63748197e-01 7.47919561e-01 7.39328284e-03 -2.82002364e+02] [-1.12003936e-02 -5.53829620e-05 -9.99937272e-01 -4.90931188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0665599949999 meters 0.05143251194217259 Centerline is valid? [True, True] Translation: X:607.47, Y:-282.07, Z:-4.91 [[-6.98713541e-01 -7.15366435e-01 7.08887602e-03 6.07470759e+02] [-7.15330121e-01 6.98749500e-01 7.20800278e-03 -2.82068254e+02] [-1.01097118e-02 -3.45573902e-05 -9.99948895e-01 -4.91135001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.126559995 meters 0.05186037468381263 Centerline is valid? [True, True] Translation: X:607.29, Y:-282.15, Z:-4.91 [[-6.44138637e-01 -7.64885397e-01 5.97881915e-03 6.07294263e+02] [-7.64852962e-01 6.44166382e-01 7.04398582e-03 -2.82148902e+02] [-9.23919619e-03 -3.56141141e-05 -9.99957317e-01 -4.91186480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1865599949999 meters 0.051572826762118794 Centerline is valid? [True, True] Translation: X:607.11, Y:-282.25, Z:-4.91 [[-5.85069083e-01 -8.10963096e-01 5.74671611e-03 6.07114485e+02] [-8.10924863e-01 5.85097303e-01 7.87480824e-03 -2.82250204e+02] [-9.74856696e-03 -5.28481312e-05 -9.99952480e-01 -4.90987374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.246559995 meters 0.05134534830341078 Centerline is valid? [True, True] Translation: X:606.94, Y:-282.36, Z:-4.91 [[-5.23661339e-01 -8.51908628e-01 5.52191385e-03 6.06944974e+02] [-8.51862436e-01 5.23690448e-01 8.87160152e-03 -2.82364581e+02] [-1.04495674e-02 -5.81962546e-05 -9.99945400e-01 -4.90864743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3065599949999 meters 0.05207268792386152 Centerline is valid? [True, True] Translation: X:606.79, Y:-282.49, Z:-4.91 [[-4.59901613e-01 -8.87956888e-01 4.80332856e-03 6.06787263e+02] [-8.87909658e-01 4.59926693e-01 9.15836852e-03 -2.82489483e+02] [-1.03414154e-02 -5.29733693e-05 -9.99946525e-01 -4.91131173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.366559995 meters 0.05225545810602031 Centerline is valid? [True, True] Translation: X:606.62, Y:-282.66, Z:-4.91 [[-3.93842675e-01 -9.19170109e-01 3.77604582e-03 6.06623127e+02] [-9.19128918e-01 3.93860774e-01 8.70182248e-03 -2.82655010e+02] [-9.48569144e-03 -4.35238698e-05 -9.99955009e-01 -4.91170271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4265599949999 meters 0.051850592945118415 Centerline is valid? [True, True] Translation: X:606.47, Y:-282.84, Z:-4.91 [[-3.25075730e-01 -9.45682270e-01 3.28843331e-03 6.06469007e+02] [-9.45635268e-01 3.25092359e-01 9.42854787e-03 -2.82839209e+02] [-9.98545510e-03 -4.46664350e-05 -9.99950143e-01 -4.91085730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.486559995 meters 0.05152496224971447 Centerline is valid? [True, True] Translation: X:606.34, Y:-283.00, Z:-4.91 [[-2.53978453e-01 -9.67205952e-01 2.75515158e-03 6.06338921e+02] [-9.67151088e-01 2.53993392e-01 1.03019762e-02 -2.83000681e+02] [-1.06639230e-02 -4.81678647e-05 -9.99943138e-01 -4.90895826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5465599949999 meters 0.05240633361472591 Centerline is valid? [True, True] Translation: X:606.21, Y:-283.22, Z:-4.91 [[-1.81600212e-01 -9.83370261e-01 2.07199341e-03 6.06212040e+02] [-9.83309499e-01 1.81612025e-01 1.09316639e-02 -2.83217891e+02] [-1.11261721e-02 -5.22183216e-05 -9.99938101e-01 -4.91114548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.606559995 meters 0.05164164703028512 Centerline is valid? [True, True] Translation: X:606.10, Y:-283.42, Z:-4.91 [[-1.06943184e-01 -9.94264254e-01 1.32216570e-03 6.06103627e+02] [-9.94196112e-01 1.06951335e-01 1.16405932e-02 -2.83422701e+02] [-1.17152331e-02 -6.96098881e-05 -9.99931372e-01 -4.91169695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.666559995 meters 0.052507609769050195 Centerline is valid? [True, True] Translation: X:606.01, Y:-283.63, Z:-4.91 [[-3.10921878e-02 -9.99516415e-01 4.60123884e-04 6.06009234e+02] [-9.99446223e-01 3.10954575e-02 1.18456529e-02 -2.83625793e+02] [-1.18542323e-02 -9.15618120e-05 -9.99929732e-01 -4.91118066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7265599949999 meters 0.052852552371232354 Centerline is valid? [True, True] Translation: X:605.93, Y:-283.86, Z:-4.91 [[ 4.34830865e-02 -9.99054072e-01 -4.26746740e-04 6.05931796e+02] [-9.98981403e-01 -4.34850708e-02 1.20500829e-02 -2.83855305e+02] [-1.20572415e-02 -9.76627388e-05 -9.99927304e-01 -4.91232941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.786559995 meters 0.05176098876419684 Centerline is valid? [True, True] Translation: X:605.87, Y:-284.05, Z:-4.91 [[ 1.16390459e-01 -9.93202699e-01 -1.28849621e-03 6.05868299e+02] [-9.93133575e-01 -1.16397560e-01 1.17179560e-02 -2.84049462e+02] [-1.17882833e-02 -8.42094214e-05 -9.99930512e-01 -4.91131061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8465599949999 meters 0.05308611520911343 Centerline is valid? [True, True] Translation: X:605.83, Y:-284.31, Z:-4.91 [[ 1.87585798e-01 -9.82246129e-01 -2.02758939e-03 6.05831506e+02] [-9.82185325e-01 -1.87596747e-01 1.09291808e-02 -2.84312175e+02] [-1.11155147e-02 -5.86905705e-05 -9.99938219e-01 -4.91338572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.906559995 meters 0.051693065721708245 Centerline is valid? [True, True] Translation: X:605.80, Y:-284.53, Z:-4.91 [[ 2.58142271e-01 -9.66102977e-01 -2.75783988e-03 6.05803198e+02] [-9.66046191e-01 -2.58156999e-01 1.04747441e-02 -2.84532582e+02] [-1.08316372e-02 -3.97735223e-05 -9.99941335e-01 -4.91372921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9665599949999 meters 0.05221032579230027 Centerline is valid? [True, True] Translation: X:605.81, Y:-284.82, Z:-4.91 [[ 3.26609671e-01 -9.45152477e-01 -3.59416318e-03 6.05812415e+02] [-9.45094808e-01 -3.26629446e-01 1.04407728e-02 -2.84822606e+02] [-1.10420818e-02 -1.32324180e-05 -9.99939034e-01 -4.91304183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.026559995 meters 0.05280169550068953 Centerline is valid? [True, True] Translation: X:605.82, Y:-285.05, Z:-4.91 [[ 3.94988961e-01 -9.18675464e-01 -4.37184702e-03 6.05818819e+02] [-9.18619097e-01 -3.95013155e-01 1.01765892e-02 -2.85048876e+02] [-1.10759199e-02 -3.57826096e-06 -9.99938660e-01 -4.91362274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0865599949999 meters 0.05335375773225595 Centerline is valid? [True, True] Translation: X:605.86, Y:-285.31, Z:-4.91 [[ 4.59732598e-01 -8.88043470e-01 -4.97330312e-03 6.05860382e+02] [-8.87992038e-01 -4.59759497e-01 9.55749583e-03 -2.85313003e+02] [-1.07739951e-02 2.23611776e-05 -9.99941959e-01 -4.91258836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.146559995 meters 0.052736867551001675 Centerline is valid? [True, True] Translation: X:605.90, Y:-285.52, Z:-4.91 [[ 5.22311819e-01 -8.52736390e-01 -5.56900869e-03 6.05895079e+02] [-8.52688853e-01 -5.22341505e-01 9.00400792e-03 -2.85524076e+02] [-1.05869696e-02 4.57318753e-05 -9.99943955e-01 -4.91295226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2065599949999 meters 0.05236478470282505 Centerline is valid? [True, True] Translation: X:605.98, Y:-285.78, Z:-4.91 [[ 5.80627978e-01 -8.14151284e-01 -5.37013962e-03 6.05980750e+02] [-8.14117646e-01 -5.80652806e-01 7.40118171e-03 -2.85781401e+02] [-9.14386823e-03 7.45922593e-05 -9.99958191e-01 -4.91246910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.266559995 meters 0.052610220940857946 Centerline is valid? [True, True] Translation: X:606.06, Y:-286.00, Z:-4.91 [[ 6.38082193e-01 -7.69950923e-01 -5.16632311e-03 6.06058144e+02] [-7.69926635e-01 -6.38103103e-01 6.11610635e-03 -2.86001950e+02] [-8.00574854e-03 7.51112156e-05 -9.99967951e-01 -4.91319585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3265599949999 meters 0.052914497196051215 Centerline is valid? [True, True] Translation: X:606.15, Y:-286.22, Z:-4.91 [[ 6.93273976e-01 -7.20658226e-01 -4.78709693e-03 6.06150401e+02] [-7.20641650e-01 -6.93290501e-01 4.88816796e-03 -2.86220807e+02] [-6.84154728e-03 6.09417931e-05 -9.99976594e-01 -4.91498171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.386559995 meters 0.05246295740720938 Centerline is valid? [True, True] Translation: X:606.20, Y:-286.38, Z:-4.91 [[ 7.46357253e-01 -6.65525401e-01 -5.17614171e-03 6.06204565e+02] [-6.65509780e-01 -7.46375200e-01 4.56004281e-03 -2.86376682e+02] [-6.89816812e-03 4.13519008e-05 -9.99976207e-01 -4.91371433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4465599949999 meters 0.052681991957023604 Centerline is valid? [True, True] Translation: X:606.18, Y:-286.46, Z:-4.91 [[ 7.99119688e-01 -6.01144408e-01 -5.75541680e-03 6.06176823e+02] [-6.01128879e-01 -7.99140414e-01 4.32087416e-03 -2.86462774e+02] [-7.19685550e-03 6.85163673e-06 -9.99974102e-01 -4.91499021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.506559995 meters 0.053008542086946525 Centerline is valid? [True, True] Translation: X:606.16, Y:-286.55, Z:-4.92 [[ 8.45674887e-01 -5.33665119e-01 -5.96041311e-03 6.06157500e+02] [-5.33651698e-01 -8.45695891e-01 3.78473966e-03 -2.86550761e+02] [-7.06048042e-03 -1.98747055e-05 -9.99975074e-01 -4.91526420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5665599949999 meters 0.053179874543656094 Centerline is valid? [True, True] Translation: X:606.14, Y:-286.64, Z:-4.91 [[ 8.86971236e-01 -4.61797164e-01 -5.04034661e-03 6.06142276e+02] [-4.61789425e-01 -8.86985557e-01 2.67380248e-03 -2.86642627e+02] [-5.70546904e-03 -4.40071264e-05 -9.99983723e-01 -4.91494824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.626559995 meters 0.05284371814281963 Centerline is valid? [True, True] Translation: X:606.14, Y:-286.73, Z:-4.92 [[ 9.21307988e-01 -3.88813261e-01 -3.98000770e-03 6.06137517e+02] [-3.88809418e-01 -9.21316583e-01 1.72916312e-03 -2.86729184e+02] [-4.33916865e-03 -4.56273197e-05 -9.99990585e-01 -4.91532119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6865599949999 meters 0.052796529676041204 Centerline is valid? [True, True] Translation: X:606.14, Y:-286.82, Z:-4.92 [[ 9.49604558e-01 -3.13433741e-01 -3.23613374e-03 6.06137287e+02] [-3.13431758e-01 -9.49610072e-01 1.11582056e-03 -2.86823987e+02] [-3.42280101e-03 -4.52811968e-05 -9.99994141e-01 -4.91763503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.746559995 meters 0.05236847588070556 Centerline is valid? [True, True] Translation: X:606.14, Y:-286.92, Z:-4.92 [[ 9.71373166e-01 -2.37532523e-01 -3.53181290e-03 6.06142647e+02] [-2.37530763e-01 -9.71379585e-01 9.15680335e-04 -2.86923537e+02] [-3.64823481e-03 -5.05530903e-05 -9.99993344e-01 -4.91609083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8065599949999 meters 0.052419560503545404 Centerline is valid? [True, True] Translation: X:606.16, Y:-287.00, Z:-4.92 [[ 9.87202589e-01 -1.59417939e-01 -4.11923405e-03 6.06160934e+02] [-1.59416284e-01 -9.87211181e-01 7.29151535e-04 -2.87004489e+02] [-4.18279375e-03 -6.31472981e-05 -9.99991250e-01 -4.91593215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.866559995 meters 0.05288902686259631 Centerline is valid? [True, True] Translation: X:606.19, Y:-287.09, Z:-4.92 [[ 9.96713816e-01 -8.08337074e-02 -5.24224479e-03 6.06185215e+02] [-8.08321528e-02 -9.96727598e-01 5.08089507e-04 -2.87088676e+02] [-5.26616082e-03 -8.26778997e-05 -9.99986130e-01 -4.91580501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9265599949999 meters 0.05306410117599549 Centerline is valid? [True, True] Translation: X:606.22, Y:-287.18, Z:-4.91 [[ 9.99971017e-01 -2.49926167e-03 -7.19164308e-03 6.06215435e+02] [-2.49839436e-03 -9.99996871e-01 1.29580262e-04 -2.87176330e+02] [-7.19194443e-03 -1.11608945e-04 -9.99974131e-01 -4.91424592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.986559995 meters 0.05291177033603872 Centerline is valid? [True, True] Translation: X:606.25, Y:-287.26, Z:-4.91 [[ 9.97307807e-01 7.28801644e-02 -8.10063249e-03 6.06247140e+02] [ 7.28785876e-02 -9.97340700e-01 -4.90060305e-04 -2.87256805e+02] [-8.11480615e-03 -1.01621686e-04 -9.99967069e-01 -4.91413833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0465599949999 meters 0.052751367945383196 Centerline is valid? [True, True] Translation: X:606.28, Y:-287.34, Z:-4.92 [[ 9.89097087e-01 1.47106974e-01 -6.81841561e-03 6.06284547e+02] [ 1.47103913e-01 -9.89120586e-01 -9.51082442e-04 -2.87335461e+02] [-6.88414611e-03 -6.23027454e-05 -9.99976302e-01 -4.91531317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.106559995 meters 0.05271586416935854 Centerline is valid? [True, True] Translation: X:606.33, Y:-287.41, Z:-4.92 [[ 9.75476699e-01 2.20023215e-01 -5.91566317e-03 6.06328927e+02] [ 2.20019359e-01 -9.75494636e-01 -1.30285206e-03 -2.87411224e+02] [-6.05735538e-03 -3.06585964e-05 -9.99981654e-01 -4.91599884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.166559995 meters 0.052963978095815656 Centerline is valid? [True, True] Translation: X:606.38, Y:-287.48, Z:-4.91 [[ 9.57184987e-01 2.89432913e-01 -5.04879762e-03 6.06375044e+02] [ 2.89428848e-01 -9.57198302e-01 -1.53388792e-03 -2.87477483e+02] [-5.27665816e-03 6.94680835e-06 -9.99986078e-01 -4.91440276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2265599949999 meters 0.0526912730377959 Centerline is valid? [True, True] Translation: X:606.43, Y:-287.54, Z:-4.92 [[ 9.33510660e-01 3.58515639e-01 -4.93799390e-03 6.06425919e+02] [ 3.58510424e-01 -9.33523720e-01 -1.93397021e-03 -2.87536048e+02] [-5.30309300e-03 3.50595205e-05 -9.99985938e-01 -4.91524189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.286559995 meters 0.053207812382188226 Centerline is valid? [True, True] Translation: X:606.48, Y:-287.59, Z:-4.91 [[ 9.03752435e-01 4.28014813e-01 -5.90389070e-03 6.06478470e+02] [ 4.28005226e-01 -9.03771717e-01 -2.86530255e-03 -2.87587168e+02] [-6.56216137e-03 6.26280765e-05 -9.99978467e-01 -4.91410376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3465599949999 meters 0.05326413355538635 Centerline is valid? [True, True] Translation: X:606.54, Y:-287.64, Z:-4.92 [[ 8.67922629e-01 4.96668980e-01 -5.49859687e-03 6.06535683e+02] [ 4.96658530e-01 -8.67940044e-01 -3.22259047e-03 -2.87635559e+02] [-6.37301313e-03 6.60341596e-05 -9.99979690e-01 -4.91632399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.406559995 meters 0.053030224184997074 Centerline is valid? [True, True] Translation: X:606.60, Y:-287.68, Z:-4.91 [[ 8.26522422e-01 5.62886252e-01 -4.44453239e-03 6.06597198e+02] [ 5.62877747e-01 -8.26534370e-01 -3.09471963e-03 -2.87677667e+02] [-5.41553391e-03 5.61267882e-05 -9.99985334e-01 -4.91494684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4665599949999 meters 0.05304618491089191 Centerline is valid? [True, True] Translation: X:606.67, Y:-287.72, Z:-4.91 [[ 7.78658893e-01 6.27433812e-01 -4.14000465e-03 6.06666479e+02] [ 6.27424640e-01 -7.78669898e-01 -3.39287829e-03 -2.87721055e+02] [-5.35250356e-03 4.43539298e-05 -9.99985674e-01 -4.91440519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.526559995 meters 0.05270307706429567 Centerline is valid? [True, True] Translation: X:606.74, Y:-287.76, Z:-4.91 [[ 7.25418087e-01 6.88294215e-01 -4.43537729e-03 6.06743632e+02] [ 6.88281043e-01 -7.25431646e-01 -4.25821908e-03 -2.87763690e+02] [-6.14847061e-03 3.62030314e-05 -9.99981097e-01 -4.91402308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5865599949999 meters 0.05294387872247175 Centerline is valid? [True, True] Translation: X:606.82, Y:-287.80, Z:-4.91 [[ 6.65627036e-01 7.46271803e-01 -4.36406948e-03 6.06818212e+02] [ 7.46255701e-01 -6.65641342e-01 -4.90233161e-03 -2.87796893e+02] [-6.56337692e-03 6.41272651e-06 -9.99978461e-01 -4.91191752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.646559995 meters 0.05248847218170521 Centerline is valid? [True, True] Translation: X:606.89, Y:-287.82, Z:-4.91 [[ 6.02458495e-01 7.98143079e-01 -3.37440513e-03 6.06888288e+02] [ 7.98130697e-01 -6.02467945e-01 -4.44588062e-03 -2.87817782e+02] [-5.58141977e-03 -1.47577680e-05 -9.99984424e-01 -4.91263989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7065599949999 meters 0.051950954099306126 Centerline is valid? [True, True] Translation: X:606.96, Y:-287.83, Z:-4.91 [[ 5.34430955e-01 8.45210068e-01 -1.86970858e-03 6.06963130e+02] [ 8.45205070e-01 -5.34434225e-01 -2.90661091e-03 -2.87834544e+02] [-3.45593306e-03 -2.69043280e-05 -9.99994028e-01 -4.91403730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.766559995 meters 0.05186011839634125 Centerline is valid? [True, True] Translation: X:607.04, Y:-287.85, Z:-4.91 [[ 4.65588664e-01 8.85000398e-01 -1.22168875e-03 6.07037788e+02] [ 8.84997490e-01 -4.65590266e-01 -2.26882907e-03 -2.87846435e+02] [-2.57672102e-03 -2.48503851e-05 -9.99996680e-01 -4.91395052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8265599949999 meters 0.051801736142025295 Centerline is valid? [True, True] Translation: X:607.11, Y:-287.85, Z:-4.91 [[ 3.95068187e-01 9.18651406e-01 -8.49278027e-04 6.07112811e+02] [ 9.18649397e-01 -3.95069099e-01 -1.92145469e-03 -2.87850391e+02] [-2.10067056e-03 -2.10831268e-05 -9.99997793e-01 -4.91402184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.886559995 meters 0.05187490152541787 Centerline is valid? [True, True] Translation: X:607.20, Y:-287.85, Z:-4.91 [[ 3.22246193e-01 9.46655412e-01 -9.59922486e-04 6.07195751e+02] [ 9.46651448e-01 -3.22247621e-01 -2.73984834e-03 -2.87852120e+02] [-2.90302500e-03 -2.58063157e-05 -9.99995786e-01 -4.91305552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9465599949999 meters 0.051505271936590366 Centerline is valid? [True, True] Translation: X:607.28, Y:-287.85, Z:-4.91 [[ 2.47242608e-01 9.68953040e-01 -1.04800780e-03 6.07281510e+02] [ 9.68944902e-01 -2.47244827e-01 -3.97143821e-03 -2.87848735e+02] [-4.10725163e-03 -3.35530733e-05 -9.99991565e-01 -4.91215911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.006559995 meters 0.052093446502958024 Centerline is valid? [True, True] Translation: X:607.37, Y:-287.84, Z:-4.91 [[ 1.69460824e-01 9.85536394e-01 -1.02221058e-03 6.07366411e+02] [ 9.85520245e-01 -1.69463899e-01 -5.64217099e-03 -2.87837514e+02] [-5.73379264e-03 -5.12822788e-05 -9.99983560e-01 -4.91105244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0665599949999 meters 0.05208339122989802 Centerline is valid? [True, True] Translation: X:607.45, Y:-287.82, Z:-4.91 [[ 9.05997963e-02 9.95887143e-01 -6.90083219e-04 6.07452041e+02] [ 9.95863733e-01 -9.06023985e-02 -6.82871999e-03 -2.87821240e+02] [-6.86315763e-03 -6.85482101e-05 -9.99976446e-01 -4.90784223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.126559995 meters 0.05218960022019301 Centerline is valid? [True, True] Translation: X:607.53, Y:-287.80, Z:-4.91 [[ 1.11451244e-02 9.99937877e-01 -1.66016642e-04 6.07529430e+02] [ 9.99910194e-01 -1.11460513e-02 -7.44106446e-03 -2.87797440e+02] [-7.44245263e-03 -8.30701432e-05 -9.99972301e-01 -4.90970259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1865599949999 meters 0.05238301602869204 Centerline is valid? [True, True] Translation: X:607.61, Y:-287.77, Z:-4.91 [[-6.72870744e-02 9.97733573e-01 4.07582324e-04 6.07608786e+02] [ 9.97707076e-01 6.72882580e-02 -7.27187051e-03 -2.87767046e+02] [-7.28281486e-03 -8.26551228e-05 -9.99973477e-01 -4.91005947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.246559995 meters 0.051691401117063676 Centerline is valid? [True, True] Translation: X:607.69, Y:-287.73, Z:-4.91 [[-1.44616523e-01 9.89487339e-01 9.31526397e-04 6.07686603e+02] [ 9.89463308e-01 1.44619504e-01 -6.89645136e-03 -2.87732517e+02] [-6.95866819e-03 -7.56296275e-05 -9.99975785e-01 -4.90983328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3065599949999 meters 0.051558970898205755 Centerline is valid? [True, True] Translation: X:607.75, Y:-287.69, Z:-4.91 [[-2.20927915e-01 9.75289581e-01 1.04395892e-03 6.07750209e+02] [ 9.75277546e-01 2.20930375e-01 -4.84541488e-03 -2.87693348e+02] [-4.95632488e-03 -5.23377084e-05 -9.99987716e-01 -4.91172249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.366559995 meters 0.051754973918368544 Centerline is valid? [True, True] Translation: X:607.82, Y:-287.65, Z:-4.91 [[-2.97997590e-01 9.54566053e-01 1.04232128e-03 6.07821192e+02] [ 9.54559667e-01 2.97999410e-01 -3.49185063e-03 -2.87646153e+02] [-3.64381320e-03 -4.56052216e-05 -9.99993360e-01 -4.91356455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4265599949999 meters 0.05086295394547624 Centerline is valid? [True, True] Translation: X:607.89, Y:-287.59, Z:-4.91 [[-3.74245473e-01 9.27328669e-01 1.36594754e-03 6.07892145e+02] [ 9.27321922e-01 3.74247961e-01 -3.53780639e-03 -2.87592470e+02] [-3.79191237e-03 -5.73349258e-05 -9.99992809e-01 -4.91326410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.486559995 meters 0.05204174066629884 Centerline is valid? [True, True] Translation: X:607.96, Y:-287.53, Z:-4.91 [[-4.49002662e-01 8.93527727e-01 2.19319688e-03 6.07962958e+02] [ 8.93516032e-01 4.49008009e-01 -4.57264720e-03 -2.87532892e+02] [-5.07055002e-03 -9.34742003e-05 -9.99987140e-01 -4.91114311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5465599949999 meters 0.051280365654500885 Centerline is valid? [True, True] Translation: X:608.01, Y:-287.48, Z:-4.91 [[-5.18720583e-01 8.54939424e-01 2.74564374e-03 6.08014297e+02] [ 8.54926327e-01 5.18727838e-01 -4.73333346e-03 -2.87476056e+02] [-5.47095522e-03 -1.07954371e-04 -9.99985028e-01 -4.91088512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.606559995 meters 0.05116282791249708 Centerline is valid? [True, True] Translation: X:608.06, Y:-287.41, Z:-4.91 [[-5.82680891e-01 8.12694277e-01 3.31537991e-03 6.08064974e+02] [ 8.12680083e-01 5.82690314e-01 -4.80432082e-03 -2.87412645e+02] [-5.83628380e-03 -1.05042721e-04 -9.99982963e-01 -4.91134322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.666559995 meters 0.05094307401817774 Centerline is valid? [True, True] Translation: X:608.12, Y:-287.34, Z:-4.91 [[-6.41107451e-01 7.67440669e-01 4.00695984e-03 6.08117015e+02] [ 7.67424837e-01 6.41119967e-01 -4.93024169e-03 -2.87340480e+02] [-6.35260994e-03 -8.57741766e-05 -9.99979818e-01 -4.91121963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7265599949999 meters 0.05093030695127801 Centerline is valid? [True, True] Translation: X:608.17, Y:-287.26, Z:-4.91 [[-6.98472244e-01 7.15623311e-01 4.45000384e-03 6.08168613e+02] [ 7.15608047e-01 6.98486414e-01 -4.67455015e-03 -2.87260323e+02] [-6.45348427e-03 -8.05849704e-05 -9.99979173e-01 -4.91098418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.786559995 meters 0.051314011821540696 Centerline is valid? [True, True] Translation: X:608.22, Y:-287.17, Z:-4.91 [[-7.52522160e-01 6.58552682e-01 4.33174956e-03 6.08216187e+02] [ 6.58541195e-01 7.52534623e-01 -3.89041860e-03 -2.87174064e+02] [-5.82183712e-03 -7.49906749e-05 -9.99983050e-01 -4.90967668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8465599949999 meters 0.05127429747157201 Centerline is valid? [True, True] Translation: X:608.27, Y:-287.11, Z:-4.91 [[-7.97278397e-01 6.03600371e-01 3.70797556e-03 6.08266229e+02] [ 6.03593488e-01 7.97287017e-01 -2.88324811e-03 -2.87108997e+02] [-4.69665041e-03 -6.06415334e-05 -9.99988969e-01 -4.90990332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.906559995 meters 0.050830399822873 Centerline is valid? [True, True] Translation: X:608.60, Y:-286.52, Z:-5.90 [[-7.40776108e-01 -6.71745336e-01 2.99358409e-03 6.08597130e+02] [ 6.71739918e-01 -7.40782157e-01 -2.69794242e-03 -2.86520711e+02] [ 4.02992392e-03 1.23386422e-05 9.99991880e-01 -5.89543341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9665599949999 meters 0.05095220571738222 Centerline is valid? [True, True] Translation: X:608.09, Y:-286.98, Z:-4.91 [[-7.96178202e-01 6.05051424e-01 3.61166404e-03 6.08092350e+02] [ 6.05045004e-01 7.96186393e-01 -2.78747468e-03 -2.86980876e+02] [-4.56212329e-03 -3.41072943e-05 -9.99989593e-01 -4.90983790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.026559995 meters 0.05124173301842914 Centerline is valid? [True, True] Translation: X:608.06, Y:-286.87, Z:-4.91 [[-8.33362359e-01 5.52709631e-01 4.38666575e-03 6.08055705e+02] [ 5.52701953e-01 8.33373904e-01 -2.91317083e-03 -2.86865217e+02] [-5.26587033e-03 -3.20818478e-06 -9.99986135e-01 -4.90944790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0865599949999 meters 0.05147954372724358 Centerline is valid? [True, True] Translation: X:608.01, Y:-286.75, Z:-4.91 [[-8.67881684e-01 4.96746028e-01 4.97656611e-03 6.08005867e+02] [ 4.96738037e-01 8.67895952e-01 -2.81766796e-03 -2.86752130e+02] [-5.71880695e-03 2.66472672e-05 -9.99983647e-01 -4.90864192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.146559995 meters 0.051577685510067424 Centerline is valid? [True, True] Translation: X:608.07, Y:-286.71, Z:-4.91 [[-8.97781462e-01 4.40416459e-01 4.66775618e-03 6.08070357e+02] [ 4.40410860e-01 8.97793595e-01 -2.22163171e-03 -2.86705152e+02] [-5.16912477e-03 6.11907537e-05 -9.99986638e-01 -4.90968982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2065599949999 meters 0.05176236288681891 Centerline is valid? [True, True] Translation: X:608.46, Y:-286.78, Z:-4.91 [[-9.26779364e-01 3.75574538e-01 4.87608874e-03 6.08463449e+02] [ 3.75569792e-01 9.26792188e-01 -1.88987784e-03 -2.86779165e+02] [-5.22891095e-03 7.98118465e-05 -9.99986326e-01 -4.91045422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.266559995 meters 0.0522340180556568 Centerline is valid? [True, True] Translation: X:608.43, Y:-286.67, Z:-4.91 [[-9.50621357e-01 3.10311249e-01 5.09550039e-03 6.08430513e+02] [ 3.10307298e-01 9.50635009e-01 -1.56854273e-03 -2.86669999e+02] [-5.33069751e-03 9.00807361e-05 -9.99985788e-01 -4.91125754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3265599949999 meters 0.051856395123833894 Centerline is valid? [True, True] Translation: X:607.78, Y:-286.41, Z:-4.91 [[-9.70620231e-01 2.40565459e-01 4.96253175e-03 6.07780038e+02] [ 2.40562718e-01 9.70632914e-01 -1.15088969e-03 -2.86414534e+02] [-5.09366096e-03 7.67233056e-05 -9.99987024e-01 -4.90980361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.386559995 meters 0.052151512561789716 Centerline is valid? [True, True] Translation: X:607.64, Y:-286.31, Z:-4.91 [[-9.85596448e-01 1.69048021e-01 4.73366771e-03 6.07636910e+02] [ 1.69046371e-01 9.85607814e-01 -7.49240024e-04 -2.86309388e+02] [-4.79219742e-03 6.17610424e-05 -9.99988515e-01 -4.91022527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4465599949999 meters 0.051148753017648166 Centerline is valid? [True, True] Translation: X:607.66, Y:-286.23, Z:-4.91 [[-9.95666333e-01 9.28772686e-02 4.72940070e-03 6.07656013e+02] [ 9.28763844e-02 9.95677564e-01 -4.06721736e-04 -2.86233514e+02] [-4.74673337e-03 3.42904979e-05 -9.99988734e-01 -4.90973806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.506559995 meters 0.05165870402958968 Centerline is valid? [True, True] Translation: X:607.64, Y:-286.15, Z:-4.91 [[-9.99853458e-01 1.62567811e-02 5.36467072e-03 6.07642418e+02] [ 1.62565989e-02 9.99867850e-01 -7.75852688e-05 -2.86154074e+02] [-5.36522307e-03 9.63740074e-06 -9.99985607e-01 -4.90946333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5665599949999 meters 0.05129651394500247 Centerline is valid? [True, True] Translation: X:607.68, Y:-286.07, Z:-4.91 [[-9.97972984e-01 -6.33649710e-02 5.89951410e-03 6.07681467e+02] [-6.33640823e-02 9.97990420e-01 3.37612195e-04 -2.86070729e+02] [-5.90905135e-03 -3.68894478e-05 -9.99982541e-01 -4.90902086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.626559995 meters 0.05188889838597516 Centerline is valid? [True, True] Translation: X:607.64, Y:-285.99, Z:-4.91 [[-9.90218843e-01 -1.39416214e-01 5.45552553e-03 6.07643076e+02] [-1.39414453e-01 9.90233869e-01 7.03641407e-04 -2.85993924e+02] [-5.50034518e-03 -6.38201271e-05 -9.99984871e-01 -4.90925870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6865599949999 meters 0.05158366020491684 Centerline is valid? [True, True] Translation: X:607.56, Y:-285.37, Z:-5.90 [[-9.98747842e-01 4.97694588e-02 5.07428975e-03 6.07557320e+02] [-4.97686593e-02 -9.98760732e-01 2.83778421e-04 -2.85368744e+02] [ 5.08212485e-03 3.08824879e-05 9.99987085e-01 -5.89859167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.746559995 meters 0.05105152940455621 Centerline is valid? [True, True] Translation: X:607.52, Y:-286.01, Z:-4.91 [[-9.89431268e-01 -1.44933738e-01 4.46958083e-03 6.07522387e+02] [-1.44932536e-01 9.89441362e-01 5.93240960e-04 -2.86007104e+02] [-4.50836877e-03 -6.08165303e-05 -9.99989835e-01 -4.90917731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8065599949999 meters 0.05150507499336659 Centerline is valid? [True, True] Translation: X:607.41, Y:-285.39, Z:-5.90 [[-9.98577513e-01 5.31698563e-02 3.98952405e-03 6.07406226e+02] [-5.31693508e-02 -9.98585483e-01 2.32734017e-04 -2.85393078e+02] [ 3.99625523e-03 2.02825527e-05 9.99992015e-01 -5.89769951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.866559995 meters 0.05115366193052673 Centerline is valid? [True, True] Translation: X:607.38, Y:-286.02, Z:-4.91 [[-9.88704895e-01 -1.49801617e-01 4.70176413e-03 6.07380579e+02] [-1.49800252e-01 9.88716072e-01 6.43228225e-04 -2.86024780e+02] [-4.74506639e-03 -6.83625545e-05 -9.99988740e-01 -4.90841239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9265599949999 meters 0.051462181962682846 Centerline is valid? [True, True] Translation: X:607.29, Y:-285.96, Z:-4.91 [[-9.75548819e-01 -2.19683001e-01 6.62420190e-03 6.07288580e+02] [-2.19678594e-01 9.75571305e-01 1.39464970e-03 -2.85963155e+02] [-6.76876212e-03 -9.46464890e-05 -9.99977087e-01 -4.90678876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.986559995 meters 0.05169481833478733 Centerline is valid? [True, True] Translation: X:607.21, Y:-285.91, Z:-4.91 [[-9.57812376e-01 -2.87285875e-01 7.89166567e-03 6.07210084e+02] [-2.87276997e-01 9.57844881e-01 2.26079799e-03 -2.85905221e+02] [-8.20848690e-03 -1.01673720e-04 -9.99966305e-01 -4.90677567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0465599949999 meters 0.05149942086122768 Centerline is valid? [True, True] Translation: X:607.07, Y:-285.87, Z:-4.91 [[-9.36198562e-01 -3.51383837e-01 7.85178254e-03 6.07065193e+02] [-3.51372138e-01 9.36231485e-01 2.86831457e-03 -2.85874945e+02] [-8.35896541e-03 -7.35856439e-05 -9.99965061e-01 -4.90655906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.106559995 meters 0.05122438416679544 Centerline is valid? [True, True] Translation: X:606.93, Y:-285.85, Z:-4.91 [[-9.11035418e-01 -4.12282228e-01 6.15073127e-03 6.06934744e+02] [-4.12273005e-01 9.11056180e-01 2.75780372e-03 -2.85851906e+02] [-6.74065520e-03 -2.33236034e-05 -9.99977281e-01 -4.90776420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.166559995 meters 0.051319551472542156 Centerline is valid? [True, True] Translation: X:606.79, Y:-285.84, Z:-4.91 [[-8.81032286e-01 -4.73018879e-01 5.93731259e-03 6.06791324e+02] [-4.73008125e-01 8.81052291e-01 3.18961486e-03 -2.85843250e+02] [-6.73983091e-03 1.75657693e-06 -9.99977287e-01 -4.90805257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2265599949999 meters 0.05206961831452441 Centerline is valid? [True, True] Translation: X:606.64, Y:-285.85, Z:-4.91 [[-8.46966586e-01 -5.31612057e-01 6.01855154e-03 6.06644437e+02] [-5.31598364e-01 8.46987969e-01 3.81568739e-03 -2.85848232e+02] [-7.12610617e-03 3.23075745e-05 -9.99974608e-01 -4.90710443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.286559995 meters 0.05108614514778721 Centerline is valid? [True, True] Translation: X:606.49, Y:-285.87, Z:-4.91 [[-8.07584478e-01 -5.89719745e-01 6.15896150e-03 6.06488224e+02] [-5.89702109e-01 8.07607962e-01 4.56099122e-03 -2.85871279e+02] [-7.66373292e-03 5.14331350e-05 -9.99970632e-01 -4.90649701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3465599949999 meters 0.05159372535156961 Centerline is valid? [True, True] Translation: X:606.33, Y:-285.90, Z:-4.91 [[-7.62218688e-01 -6.47289869e-01 6.20456273e-03 6.06329384e+02] [-6.47267851e-01 7.62243939e-01 5.33912540e-03 -2.85904463e+02] [-8.18535212e-03 5.35671714e-05 -9.99966498e-01 -4.90714761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.406559995 meters 0.051891308194525816 Centerline is valid? [True, True] Translation: X:606.26, Y:-285.86, Z:-4.91 [[-7.09373108e-01 -7.04808234e-01 5.92848481e-03 6.06261332e+02] [-7.04783329e-01 7.09397881e-01 5.92506398e-03 -2.85861581e+02] [-8.38168844e-03 2.47837974e-05 -9.99964873e-01 -4.90760913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4665599949999 meters 0.05191297275936701 Centerline is valid? [True, True] Translation: X:606.05, Y:-285.97, Z:-4.91 [[-6.54090649e-01 -7.56396482e-01 5.45765004e-03 6.06051989e+02] [-7.56370195e-01 6.54113417e-01 6.30593881e-03 -2.85972743e+02] [-8.33971205e-03 -3.34822011e-06 -9.99965224e-01 -4.90819047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.526559995 meters 0.05135643096042017 Centerline is valid? [True, True] Translation: X:605.88, Y:-286.06, Z:-4.91 [[-5.93187162e-01 -8.05050345e-01 4.78880670e-03 6.05882119e+02] [-8.05024658e-01 5.93206490e-01 6.43114994e-03 -2.86060716e+02] [-8.01815069e-03 -4.02318985e-05 -9.99967853e-01 -4.90817914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5865599949999 meters 0.05135839599976582 Centerline is valid? [True, True] Translation: X:605.72, Y:-286.16, Z:-4.91 [[-5.30210144e-01 -8.47858958e-01 3.52015214e-03 6.05720949e+02] [-8.47840901e-01 5.30221827e-01 5.53364098e-03 -2.86158506e+02] [-6.55820857e-03 -5.05363893e-05 -9.99978493e-01 -4.90784657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.646559995 meters 0.05144557549760622 Centerline is valid? [True, True] Translation: X:605.56, Y:-286.28, Z:-4.91 [[-4.65490846e-01 -8.85048259e-01 2.80221365e-03 6.05560337e+02] [-8.85032890e-01 4.65499277e-01 5.21605105e-03 -2.86282460e+02] [-5.92088533e-03 -5.20272245e-05 -9.99982470e-01 -4.90882915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7065599949999 meters 0.05170334380431217 Centerline is valid? [True, True] Translation: X:605.41, Y:-286.42, Z:-4.91 [[-3.97657942e-01 -9.17531157e-01 2.17635664e-03 6.05407602e+02] [-9.17518165e-01 3.97663894e-01 4.88304600e-03 -2.86421717e+02] [-5.34580530e-03 -5.50647266e-05 -9.99985710e-01 -4.90970127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.766559995 meters 0.0512275129114431 Centerline is valid? [True, True] Translation: X:605.26, Y:-286.58, Z:-4.91 [[-3.27622791e-01 -9.44806196e-01 2.13525939e-03 6.05257663e+02] [-9.44787546e-01 3.27629741e-01 5.93676907e-03 -2.86579898e+02] [-6.30867068e-03 -7.23456206e-05 -9.99980098e-01 -4.90730809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8265599949999 meters 0.05099035807565494 Centerline is valid? [True, True] Translation: X:605.13, Y:-286.74, Z:-4.91 [[-2.57015252e-01 -9.66405561e-01 1.85785506e-03 6.05127706e+02] [-9.66382459e-01 2.57021955e-01 6.68258820e-03 -2.86738734e+02] [-6.93559994e-03 -7.78714476e-05 -9.99975945e-01 -4.90719924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.886559995 meters 0.05140993965557192 Centerline is valid? [True, True] Translation: X:605.00, Y:-286.94, Z:-4.91 [[-1.86656882e-01 -9.82423939e-01 1.55309498e-03 6.05000853e+02] [-9.82393161e-01 1.86663328e-01 7.77677700e-03 -2.86944373e+02] [-7.92999777e-03 -7.41609472e-05 -9.99968554e-01 -4.90654725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9465599949999 meters 0.05157369676416917 Centerline is valid? [True, True] Translation: X:604.89, Y:-287.17, Z:-4.91 [[-1.15880624e-01 -9.93262620e-01 1.02398748e-03 6.04889511e+02] [-9.93228136e-01 1.15885133e-01 8.27683341e-03 -2.87169856e+02] [-8.33973417e-03 -5.79285538e-05 -9.99965222e-01 -4.90714963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.006559995 meters 0.05101278750449232 Centerline is valid? [True, True] Translation: X:604.79, Y:-287.42, Z:-4.91 [[-4.30552193e-02 -9.99072613e-01 4.01974712e-04 6.04792442e+02] [-9.99039124e-01 4.30570674e-02 8.18033272e-03 -2.87418824e+02] [-8.19005424e-03 -4.93824451e-05 -9.99966460e-01 -4.90686589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0665599949999 meters 0.05134909311334856 Centerline is valid? [True, True] Translation: X:604.72, Y:-287.63, Z:-4.91 [[ 3.11654279e-02 -9.99514220e-01 -1.99099698e-04 6.04715401e+02] [-9.99482888e-01 -3.11660274e-02 7.91420841e-03 -2.87634376e+02] [-7.91656899e-03 -4.76529506e-05 -9.99968662e-01 -4.90699355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.126559995 meters 0.05102830261100068 Centerline is valid? [True, True] Translation: X:604.66, Y:-287.89, Z:-4.91 [[ 1.05587124e-01 -9.94409762e-01 -7.64596826e-04 6.04656400e+02] [-9.94380152e-01 -1.05589881e-01 7.67404920e-03 -2.87888804e+02] [-7.71188312e-03 -4.99808804e-05 -9.99970262e-01 -4.90755319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1865599949999 meters 0.05128744776849215 Centerline is valid? [True, True] Translation: X:604.61, Y:-288.11, Z:-4.91 [[ 1.80700125e-01 -9.83537313e-01 -1.34847378e-03 6.04612083e+02] [-9.83507256e-01 -1.80705145e-01 7.68944695e-03 -2.88112972e+02] [-7.80653414e-03 -6.32502742e-05 -9.99969527e-01 -4.90821201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.246559995 meters 0.05104651585125945 Centerline is valid? [True, True] Translation: X:604.58, Y:-288.32, Z:-4.91 [[ 2.56130297e-01 -9.66640203e-01 -1.99708729e-03 6.04577858e+02] [-9.66608020e-01 -2.56138067e-01 7.88833111e-03 -2.88321495e+02] [-8.13670806e-03 -9.00400046e-05 -9.99966892e-01 -4.90673539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3065599949999 meters 0.050927653043501164 Centerline is valid? [True, True] Translation: X:604.56, Y:-288.52, Z:-4.91 [[ 3.29343272e-01 -9.44206759e-01 -2.56993376e-03 6.04557862e+02] [-9.44175398e-01 -3.29353281e-01 7.69635099e-03 -2.88524281e+02] [-8.11336274e-03 -1.08273182e-04 -9.99967080e-01 -4.90765137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.366559995 meters 0.05132706686783254 Centerline is valid? [True, True] Translation: X:604.54, Y:-288.72, Z:-4.91 [[ 4.01251762e-01 -9.15964114e-01 -2.60103598e-03 6.04543728e+02] [-9.15943035e-01 -4.01260177e-01 6.21505675e-03 -2.88719435e+02] [-6.73646110e-03 -1.11401679e-04 -9.99977304e-01 -4.90724204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4265599949999 meters 0.0512717709527171 Centerline is valid? [True, True] Translation: X:604.56, Y:-288.94, Z:-4.91 [[ 4.69409862e-01 -8.82977671e-01 -2.19416042e-03 6.04562721e+02] [-8.82967118e-01 -4.69414982e-01 4.31788389e-03 -2.88935188e+02] [-4.84256683e-03 -8.94857817e-05 -9.99988271e-01 -4.91060778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.486559995 meters 0.0507945457651823 Centerline is valid? [True, True] Translation: X:604.61, Y:-289.18, Z:-4.91 [[ 5.33764970e-01 -8.45629048e-01 -2.54356133e-03 6.04605608e+02] [-8.45618604e-01 -5.33771022e-01 4.20390881e-03 -2.89182414e+02] [-4.91262673e-03 -9.30164752e-05 -9.99987929e-01 -4.90991952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5465599949999 meters 0.05055655456968974 Centerline is valid? [True, True] Translation: X:604.66, Y:-289.40, Z:-4.91 [[ 5.95167818e-01 -8.03594102e-01 -3.43328830e-03 6.04655481e+02] [-8.03579612e-01 -5.95177710e-01 4.82717762e-03 -2.89395228e+02] [-5.92250813e-03 -1.14060295e-04 -9.99982455e-01 -4.91044058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.606559995 meters 0.05124426356884774 Centerline is valid? [True, True] Translation: X:604.72, Y:-289.61, Z:-4.91 [[ 6.53603759e-01 -7.56823226e-01 -4.55304211e-03 6.04716930e+02] [-7.56803310e-01 -6.53619601e-01 5.49236482e-03 -2.89610800e+02] [-7.13270683e-03 -1.44072951e-04 -9.99974552e-01 -4.90885071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.666559995 meters 0.05145827459789661 Centerline is valid? [True, True] Translation: X:604.79, Y:-289.82, Z:-4.91 [[ 7.08807296e-01 -7.05376615e-01 -6.00398201e-03 6.04789366e+02] [-7.05349019e-01 -7.08832699e-01 6.24233854e-03 -2.89817899e+02] [-8.65901840e-03 -1.89712285e-04 -9.99962492e-01 -4.90776904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7265599949999 meters 0.05215892973111604 Centerline is valid? [True, True] Translation: X:604.86, Y:-290.00, Z:-4.91 [[ 7.59517431e-01 -6.50456160e-01 -6.32897617e-03 6.04856483e+02] [-6.50431392e-01 -7.59543774e-01 5.67975419e-03 -2.90000015e+02] [-8.50156554e-03 -1.97307525e-04 -9.99963842e-01 -4.90722386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.786559995 meters 0.051663557426838785 Centerline is valid? [True, True] Translation: X:604.83, Y:-290.08, Z:-4.91 [[ 8.08555639e-01 -5.88389023e-01 -6.01132170e-03 6.04832415e+02] [-5.88371064e-01 -8.08577964e-01 4.60071133e-03 -2.90080776e+02] [-7.56763030e-03 -1.83043344e-04 -9.99971348e-01 -4.90825166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8465599949999 meters 0.05104174390784209 Centerline is valid? [True, True] Translation: X:604.81, Y:-290.17, Z:-4.91 [[ 8.52550717e-01 -5.22623746e-01 -4.65767578e-03 6.04813029e+02] [-5.22615039e-01 -8.52563429e-01 3.02009292e-03 -2.90166019e+02] [-5.54933631e-03 -1.40610971e-04 -9.99984592e-01 -4.91115699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.906559995 meters 0.05203855203373192 Centerline is valid? [True, True] Translation: X:604.80, Y:-290.26, Z:-4.91 [[ 8.91242413e-01 -4.53504443e-01 -4.54761394e-03 6.04795096e+02] [-4.53497753e-01 -8.91254005e-01 2.46715949e-03 -2.90260392e+02] [-5.17194693e-03 -1.36504476e-04 -9.99986616e-01 -4.91085538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9665599949999 meters 0.05123124335170073 Centerline is valid? [True, True] Translation: X:604.79, Y:-290.35, Z:-4.91 [[ 9.24156810e-01 -3.81979608e-01 -5.07633963e-03 6.04787232e+02] [-3.81972954e-01 -9.24170740e-01 2.25953756e-03 -2.90352698e+02] [-5.55450182e-03 -1.49142577e-04 -9.99984563e-01 -4.91196834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.026559995 meters 0.05198559249053902 Centerline is valid? [True, True] Translation: X:604.78, Y:-290.45, Z:-4.91 [[ 9.51500622e-01 -3.07589228e-01 -5.95262858e-03 6.04782391e+02] [-3.07582051e-01 -9.51519225e-01 2.10851799e-03 -2.90453390e+02] [-6.31259796e-03 -1.75334469e-04 -9.99980060e-01 -4.91109294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0865599949999 meters 0.05133488720714787 Centerline is valid? [True, True] Translation: X:604.79, Y:-290.55, Z:-4.91 [[ 9.72715564e-01 -2.31912082e-01 -6.42010206e-03 6.04788782e+02] [-2.31905760e-01 -9.72736733e-01 1.72260601e-03 -2.90548081e+02] [-6.64456225e-03 -1.86747034e-04 -9.99977907e-01 -4.91194938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.146559995 meters 0.051701502003267216 Centerline is valid? [True, True] Translation: X:604.80, Y:-290.64, Z:-4.91 [[ 9.87773890e-01 -1.55760428e-01 -6.43667658e-03 6.04801667e+02] [-1.55755930e-01 -9.87794845e-01 1.19734665e-03 -2.90644933e+02] [-6.54461518e-03 -1.80157213e-04 -9.99978568e-01 -4.91155082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2065599949999 meters 0.05107824605344496 Centerline is valid? [True, True] Translation: X:604.82, Y:-290.74, Z:-4.91 [[ 9.96827430e-01 -7.93406146e-02 -6.33568885e-03 6.04822401e+02] [-7.93379438e-02 -9.96847550e-01 6.72168247e-04 -2.90739733e+02] [-6.36904615e-03 -1.67375221e-04 -9.99979703e-01 -4.91181069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.266559995 meters 0.05153598385703009 Centerline is valid? [True, True] Translation: X:604.85, Y:-290.84, Z:-4.91 [[ 9.99970872e-01 -3.99557584e-03 -6.50311003e-03 6.04849939e+02] [-3.99449961e-03 -9.99992006e-01 1.78474095e-04 -2.90838131e+02] [-6.50377115e-03 -1.52492226e-04 -9.99978839e-01 -4.91300004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3265599949999 meters 0.05260425569462388 Centerline is valid? [True, True] Translation: X:604.88, Y:-290.94, Z:-4.91 [[ 9.97441022e-01 7.11243119e-02 -7.26220244e-03 6.04879267e+02] [ 7.11234994e-02 -9.97467448e-01 -3.70405495e-04 -2.90940209e+02] [-7.27015537e-03 -1.47055615e-04 -9.99973561e-01 -4.91004714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.386559995 meters 0.05215792971994676 Centerline is valid? [True, True] Translation: X:604.92, Y:-291.02, Z:-4.91 [[ 9.89408732e-01 1.44941268e-01 -7.89871711e-03 6.04915488e+02] [ 1.44937683e-01 -9.89440252e-01 -1.02747355e-03 -2.91021487e+02] [-7.96423197e-03 -1.28230450e-04 -9.99968277e-01 -4.91179448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4465599949999 meters 0.05170624965925134 Centerline is valid? [True, True] Translation: X:604.96, Y:-291.10, Z:-4.91 [[ 9.75869841e-01 2.18207877e-01 -7.96090710e-03 6.04958071e+02] [ 2.18201451e-01 -9.75902307e-01 -1.67755675e-03 -2.91101259e+02] [-8.13512370e-03 -1.00004442e-04 -9.99966904e-01 -4.91160058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.506559995 meters 0.052216093458959056 Centerline is valid? [True, True] Translation: X:605.00, Y:-291.17, Z:-4.91 [[ 9.57947509e-01 2.86844187e-01 -7.54861255e-03 6.05004998e+02] [ 2.86835602e-01 -9.57977250e-01 -2.21967292e-03 -2.91172276e+02] [-7.86809936e-03 -3.88806813e-05 -9.99969045e-01 -4.91196821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5665599949999 meters 0.05309147069473517 Centerline is valid? [True, True] Translation: X:605.06, Y:-291.24, Z:-4.91 [[ 9.34559200e-01 3.55752329e-01 -6.27550340e-03 6.05057107e+02] [ 3.55744286e-01 -9.34580270e-01 -2.39225674e-03 -2.91237042e+02] [-6.71601257e-03 3.23106927e-06 -9.99977447e-01 -4.91213649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.626559995 meters 0.05260011944907172 Centerline is valid? [True, True] Translation: X:605.11, Y:-291.30, Z:-4.91 [[ 9.07382374e-01 4.20274309e-01 -5.17038220e-03 6.05113447e+02] [ 4.20267174e-01 -9.07397103e-01 -2.44929797e-03 -2.91297441e+02] [-5.72096684e-03 4.95078906e-05 -9.99983634e-01 -4.91279440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6865599949999 meters 0.05311587373347809 Centerline is valid? [True, True] Translation: X:605.17, Y:-291.35, Z:-4.91 [[ 8.73521423e-01 4.86759633e-01 -5.03819733e-03 6.05170494e+02] [ 4.86751060e-01 -8.73535949e-01 -2.88968717e-03 -2.91346986e+02] [-5.80762955e-03 7.18557529e-05 -9.99983133e-01 -4.91051011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.746559995 meters 0.053237817061639915 Centerline is valid? [True, True] Translation: X:605.23, Y:-291.39, Z:-4.91 [[ 8.34407624e-01 5.51117607e-01 -5.77057634e-03 6.05231994e+02] [ 5.51103527e-01 -8.34427571e-01 -3.94106245e-03 -2.91392711e+02] [-6.98711690e-03 1.08267583e-04 -9.99975584e-01 -4.91053392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8065599949999 meters 0.05327249528557542 Centerline is valid? [True, True] Translation: X:605.29, Y:-291.43, Z:-4.91 [[ 7.88522661e-01 6.14974098e-01 -6.23470858e-03 6.05293267e+02] [ 6.14953645e-01 -7.88547299e-01 -5.01704709e-03 -2.91430075e+02] [-8.00171663e-03 1.21998552e-04 -9.99967978e-01 -4.90898715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.866559995 meters 0.053563113071770495 Centerline is valid? [True, True] Translation: X:605.36, Y:-291.46, Z:-4.91 [[ 7.36699718e-01 6.76195061e-01 -5.81084823e-03 6.05359340e+02] [ 6.76172880e-01 -7.36722627e-01 -5.47790926e-03 -2.91464057e+02] [-7.98511856e-03 1.06436217e-04 -9.99968113e-01 -4.90976789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9265599949999 meters 0.052876296335166606 Centerline is valid? [True, True] Translation: X:605.43, Y:-291.49, Z:-4.91 [[ 6.78582297e-01 7.34505202e-01 -5.30793802e-03 6.05431134e+02] [ 7.34481883e-01 -6.78603052e-01 -5.85326070e-03 -2.91494484e+02] [-7.90123338e-03 7.33347804e-05 -9.99968782e-01 -4.90868926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.986559995 meters 0.05296214384732748 Centerline is valid? [True, True] Translation: X:605.51, Y:-291.52, Z:-4.91 [[ 6.15191168e-01 7.88366353e-01 -4.28020266e-03 6.05512020e+02] [ 7.88346930e-01 -6.15206057e-01 -5.53407147e-03 -2.91523341e+02] [-6.99608234e-03 3.02272683e-05 -9.99975527e-01 -4.91096432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0465599949999 meters 0.052733120008311256 Centerline is valid? [True, True] Translation: X:605.59, Y:-291.55, Z:-4.91 [[ 5.46517010e-01 8.37442966e-01 -2.90439794e-03 6.05593709e+02] [ 8.37431245e-01 -5.46524728e-01 -4.43082863e-03 -2.91546427e+02] [-5.29789156e-03 -1.07103654e-05 -9.99985966e-01 -4.91233716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.106559995 meters 0.05243044538449992 Centerline is valid? [True, True] Translation: X:605.68, Y:-291.56, Z:-4.91 [[ 4.75480209e-01 8.79722522e-01 -2.61817748e-03 6.05680639e+02] [ 8.79709585e-01 -4.75487416e-01 -4.77111767e-03 -2.91563205e+02] [-5.44217012e-03 -3.46638006e-05 -9.99985191e-01 -4.91201957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.166559995 meters 0.05266916605747252 Centerline is valid? [True, True] Translation: X:605.76, Y:-291.57, Z:-4.91 [[ 4.00860191e-01 9.16135126e-01 -2.74558489e-03 6.05764405e+02] [ 9.16114871e-01 -4.00869587e-01 -6.09244111e-03 -2.91571229e+02] [-6.68212079e-03 -7.30540374e-05 -9.99977672e-01 -4.91131753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2265599949999 meters 0.05337209039276567 Centerline is valid? [True, True] Translation: X:605.86, Y:-291.58, Z:-4.91 [[ 3.22665274e-01 9.46510306e-01 -2.31541864e-03 6.05862855e+02] [ 9.46488393e-01 -3.22673562e-01 -6.44155516e-03 -2.91578081e+02] [-6.84412273e-03 -1.13050708e-04 -9.99976572e-01 -4.91138525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.286559995 meters 0.05230673135712328 Centerline is valid? [True, True] Translation: X:605.96, Y:-291.58, Z:-4.91 [[ 2.44610845e-01 9.69620234e-01 -1.46167821e-03 6.05955703e+02] [ 9.69605506e-01 -2.44615187e-01 -5.34544387e-03 -2.91575722e+02] [-5.54059923e-03 -1.09697696e-04 -9.99984645e-01 -4.91158799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3465599949999 meters 0.05314032558982759 Centerline is valid? [True, True] Translation: X:606.04, Y:-291.56, Z:-4.91 [[ 1.67448055e-01 9.85880380e-01 -1.01272143e-03 6.06039346e+02] [ 9.85866111e-01 -1.67451081e-01 -5.30530836e-03 -2.91563482e+02] [-5.39998072e-03 -1.10044172e-04 -9.99985414e-01 -4.91143922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.406559995 meters 0.0529868798179644 Centerline is valid? [True, True] Translation: X:606.12, Y:-291.54, Z:-4.91 [[ 9.00012509e-02 9.95941372e-01 -7.47214390e-04 6.06115597e+02] [ 9.95918458e-01 -9.00042498e-02 -6.75723963e-03 -2.91542937e+02] [-6.79706697e-03 -1.36004585e-04 -9.99976890e-01 -4.91029095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4665599949999 meters 0.05296431498980983 Centerline is valid? [True, True] Translation: X:606.19, Y:-291.52, Z:-4.91 [[ 1.22232109e-02 9.99925259e-01 -2.64687622e-04 6.06191206e+02] [ 9.99890392e-01 -1.22249955e-02 -8.35184254e-03 -2.91516443e+02] [-8.35445411e-03 -1.62572278e-04 -9.99965088e-01 -4.91004334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.526559995 meters 0.05266513404183295 Centerline is valid? [True, True] Translation: X:606.27, Y:-291.48, Z:-4.91 [[-6.53369865e-02 9.97863157e-01 4.44127476e-04 6.06273380e+02] [ 9.97817936e-01 6.53382545e-02 -9.50156422e-03 -2.91484041e+02] [-9.51027938e-03 -1.77645212e-04 -9.99954760e-01 -4.91026520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5865599949999 meters 0.05262677751976482 Centerline is valid? [True, True] Translation: X:606.36, Y:-291.45, Z:-4.91 [[-1.42415842e-01 9.89806211e-01 1.18047824e-03 6.06356004e+02] [ 9.89761648e-01 1.42420634e-01 -9.39383723e-03 -2.91445463e+02] [-9.46620289e-03 -1.69439149e-04 -9.99955180e-01 -4.91064312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.646559995 meters 0.05237925924411746 Centerline is valid? [True, True] Translation: X:606.44, Y:-291.40, Z:-4.91 [[-2.19319121e-01 9.75651270e-01 1.92958598e-03 6.06439289e+02] [ 9.75606399e-01 2.19327544e-01 -9.35862495e-03 -2.91401199e+02] [-9.55396566e-03 -1.70008968e-04 -9.99954345e-01 -4.90809857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7065599949999 meters 0.053144734260493716 Centerline is valid? [True, True] Translation: X:606.50, Y:-291.35, Z:-4.91 [[-2.94973933e-01 9.55501336e-01 2.75254114e-03 6.06504124e+02] [ 9.55454003e-01 2.94986723e-01 -9.51213437e-03 -2.91353207e+02] [-9.90082018e-03 -1.75905239e-04 -9.99950970e-01 -4.90821086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.766559995 meters 0.05297420276643704 Centerline is valid? [True, True] Translation: X:606.57, Y:-291.30, Z:-4.91 [[-3.69677956e-01 9.29154039e-01 3.31361989e-03 6.06565999e+02] [ 9.29112346e-01 3.69692764e-01 -8.80392575e-03 -2.91300943e+02] [-9.40522447e-03 -1.75892124e-04 -9.99955754e-01 -4.91055039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8265599949999 meters 0.05254524125233073 Centerline is valid? [True, True] Translation: X:606.63, Y:-291.24, Z:-4.91 [[-4.41890489e-01 8.97061649e-01 3.63216179e-03 6.06630129e+02] [ 8.97028184e-01 4.41905385e-01 -7.75032032e-03 -2.91241797e+02] [-8.55758698e-03 -1.66641341e-04 -9.99963369e-01 -4.90943026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.886559995 meters 0.05230391625810633 Centerline is valid? [True, True] Translation: X:606.68, Y:-291.18, Z:-4.91 [[-5.11320012e-01 8.59382937e-01 3.57944694e-03 6.06679410e+02] [ 8.59359835e-01 5.11332520e-01 -6.30303383e-03 -2.91183222e+02] [-7.24700735e-03 -1.46834405e-04 -9.99973729e-01 -4.91071451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9465599949999 meters 0.05200811527360749 Centerline is valid? [True, True] Translation: X:606.73, Y:-291.11, Z:-4.91 [[-5.77183801e-01 8.16605083e-01 3.87280263e-03 6.06732468e+02] [ 8.16585027e-01 5.77196777e-01 -5.72493367e-03 -2.91114793e+02] [-6.91037913e-03 -1.41866338e-04 -9.99976113e-01 -4.91188903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.006559995 meters 0.05195064097060914 Centerline is valid? [True, True] Translation: X:606.78, Y:-291.04, Z:-4.91 [[-6.38695293e-01 7.69444031e-01 4.91998327e-03 6.06781477e+02] [ 7.69419310e-01 6.38714223e-01 -6.16977440e-03 -2.91043753e+02] [-7.88975937e-03 -1.55075731e-04 -9.99968863e-01 -4.90975542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0665599949999 meters 0.05160392799364213 Centerline is valid? [True, True] Translation: X:606.82, Y:-290.97, Z:-4.91 [[-6.95795740e-01 7.18216450e-01 5.78094826e-03 6.06820340e+02] [ 7.18189822e-01 6.95819738e-01 -6.18633699e-03 -2.90971936e+02] [-8.46562689e-03 -1.52608726e-04 -9.99964154e-01 -4.91018763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.126559995 meters 0.05190446054746175 Centerline is valid? [True, True] Translation: X:606.86, Y:-290.89, Z:-4.91 [[-7.48787673e-01 6.62783393e-01 5.93256136e-03 6.06858667e+02] [ 6.62761182e-01 7.48811162e-01 -5.42759382e-03 -2.90892057e+02] [-8.03968721e-03 -1.32243963e-04 -9.99967672e-01 -4.91128031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1865599949999 meters 0.05161766653293655 Centerline is valid? [True, True] Translation: X:606.91, Y:-290.83, Z:-4.91 [[-7.92918221e-01 6.09299526e-01 5.89756465e-03 6.06909454e+02] [ 6.09281624e-01 7.92940146e-01 -4.67208645e-03 -2.90832928e+02] [-7.52311584e-03 -1.11304710e-04 -9.99971695e-01 -4.90915262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.246559995 meters 0.05132086306411027 Centerline is valid? [True, True] Translation: X:606.90, Y:-290.73, Z:-4.91 [[-8.33658433e-01 5.52242073e-01 6.50462688e-03 6.06898971e+02] [ 5.52224232e-01 8.33683802e-01 -4.44029523e-03 -2.90734323e+02] [-7.87491991e-03 -1.09676984e-04 -9.99968986e-01 -4.90976070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3065599949999 meters 0.05124815352313096 Centerline is valid? [True, True] Translation: X:606.89, Y:-290.64, Z:-4.91 [[-8.71099621e-01 4.91061637e-01 6.62713093e-03 6.06892782e+02] [ 4.91046436e-01 8.71124822e-01 -3.86541061e-03 -2.90642472e+02] [-7.67121311e-03 -1.12928690e-04 -9.99970569e-01 -4.91119929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.366559995 meters 0.05148370963145428 Centerline is valid? [True, True] Translation: X:606.91, Y:-290.57, Z:-4.91 [[-9.04501608e-01 4.26420261e-01 6.52710226e-03 6.06911805e+02] [ 4.26408196e-01 9.04525150e-01 -3.20986871e-03 -2.90566109e+02] [-7.27268120e-03 -1.20121504e-04 -9.99973546e-01 -4.91086619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4265599949999 meters 0.0514690757538728 Centerline is valid? [True, True] Translation: X:606.91, Y:-290.48, Z:-4.91 [[-9.32609875e-01 3.60832516e-01 6.22231228e-03 6.06908366e+02] [ 3.60823669e-01 9.32630625e-01 -2.52924147e-03 -2.90478485e+02] [-6.71575155e-03 -1.13638020e-04 -9.99977443e-01 -4.91066734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.486559995 meters 0.051983432414438084 Centerline is valid? [True, True] Translation: X:607.14, Y:-289.87, Z:-5.90 [[-8.91924753e-01 -4.52148994e-01 5.61443399e-03 6.07135682e+02] [ 4.52140573e-01 -8.91942421e-01 -2.76051308e-03 -2.89870050e+02] [ 6.25591506e-03 7.63434527e-05 9.99980429e-01 -5.89943006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5465599949999 meters 0.05049883245550423 Centerline is valid? [True, True] Translation: X:606.76, Y:-290.43, Z:-4.91 [[-9.33749270e-01 3.57898035e-01 4.61491799e-03 6.06763843e+02] [ 3.57893226e-01 9.33760670e-01 -1.85730365e-03 -2.90425862e+02] [-4.97395425e-03 -8.26080404e-05 -9.99987626e-01 -4.91148252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.606559995 meters 0.050941240540604504 Centerline is valid? [True, True] Translation: X:607.00, Y:-289.81, Z:-5.90 [[-8.94185151e-01 -4.47679026e-01 4.05040199e-03 6.06999674e+02] [ 4.47674663e-01 -8.94194323e-01 -1.97711248e-03 -2.89807461e+02] [ 4.50695825e-03 4.53577261e-05 9.99989843e-01 -5.89719880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.666559995 meters 0.050527055486159864 Centerline is valid? [True, True] Translation: X:606.65, Y:-290.39, Z:-4.91 [[-9.34322708e-01 3.56403665e-01 4.18376622e-03 6.06648107e+02] [ 3.56399777e-01 9.34332073e-01 -1.66616549e-03 -2.90385739e+02] [-4.50285446e-03 -6.56429082e-05 -9.99989860e-01 -4.91165317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7265599949999 meters 0.05133993213134857 Centerline is valid? [True, True] Translation: X:606.61, Y:-290.29, Z:-4.91 [[-9.57154086e-01 2.89531301e-01 5.26131523e-03 6.06613238e+02] [ 2.89526479e-01 9.57168543e-01 -1.67268891e-03 -2.90288506e+02] [-5.52026123e-03 -7.77309477e-05 -9.99984760e-01 -4.90987895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.786559995 meters 0.0505191293393477 Centerline is valid? [True, True] Translation: X:606.61, Y:-290.21, Z:-4.91 [[-9.75245143e-01 2.21021934e-01 6.79827874e-03 6.06612062e+02] [ 2.21015875e-01 9.75268832e-01 -1.63936471e-03 -2.90209822e+02] [-6.99248492e-03 -9.62549453e-05 -9.99975548e-01 -4.91057856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8465599949999 meters 0.050659059059268846 Centerline is valid? [True, True] Translation: X:606.57, Y:-290.12, Z:-4.91 [[-9.88419992e-01 1.51542066e-01 7.80527540e-03 6.06571233e+02] [ 1.51536496e-01 9.88450804e-01 -1.30359003e-03 -2.90119800e+02] [-7.91267946e-03 -1.05710362e-04 -9.99968689e-01 -4.91009344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.906559995 meters 0.051748295182047085 Centerline is valid? [True, True] Translation: X:606.52, Y:-290.03, Z:-4.91 [[-9.96678504e-01 8.09791362e-02 8.62206254e-03 6.06520920e+02] [ 8.09751079e-02 9.96715790e-01 -8.15848564e-04 -2.90033247e+02] [-8.65981259e-03 -1.14966281e-04 -9.99962497e-01 -4.90976488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9665599949999 meters 0.051671191857989976 Centerline is valid? [True, True] Translation: X:606.56, Y:-289.37, Z:-5.90 [[-9.84899721e-01 -1.72878623e-01 9.24776553e-03 6.06559882e+02] [ 1.72872618e-01 -9.84943122e-01 -1.45084293e-03 -2.89368359e+02] [ 9.35934278e-03 1.69750645e-04 9.99956186e-01 -5.90299151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.026559995 meters 0.05121881701398349 Centerline is valid? [True, True] Translation: X:606.35, Y:-290.02, Z:-4.91 [[-9.96833313e-01 7.90057444e-02 9.02431187e-03 6.06354371e+02] [ 7.90015570e-02 9.96874155e-01 -8.20103468e-04 -2.90018079e+02] [-9.06089616e-03 -1.04571769e-04 -9.99958944e-01 -4.90855972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0865599949999 meters 0.051345636002734535 Centerline is valid? [True, True] Translation: X:606.34, Y:-289.34, Z:-5.90 [[-9.86073041e-01 -1.66162095e-01 7.07930765e-03 6.06340746e+02] [ 1.66157556e-01 -9.86098452e-01 -1.22877208e-03 -2.89340687e+02] [ 7.18506966e-03 -3.53785710e-05 9.99974186e-01 -5.89787462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.146559995 meters 0.05188490088644799 Centerline is valid? [True, True] Translation: X:606.22, Y:-290.01, Z:-4.91 [[-9.97056352e-01 7.64259967e-02 6.13986081e-03 6.06224685e+02] [ 7.64241527e-02 9.97075254e-01 -5.34732452e-04 -2.90008072e+02] [-6.16277073e-03 -6.39247282e-05 -9.99981008e-01 -4.91187361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2065599949999 meters 0.05152638228328306 Centerline is valid? [True, True] Translation: X:606.22, Y:-289.34, Z:-5.90 [[-9.86338777e-01 -1.64629791e-01 5.73144598e-03 6.06218632e+02] [ 1.64627226e-01 -9.86355428e-01 -9.19798085e-04 -2.89338624e+02] [ 5.80466902e-03 3.63195326e-05 9.99983152e-01 -5.89704964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.266559995 meters 0.050828824905814925 Centerline is valid? [True, True] Translation: X:606.07, Y:-289.99, Z:-4.91 [[-9.97608163e-01 6.87924477e-02 6.74926074e-03 6.06072643e+02] [ 6.87902239e-02 9.97630989e-01 -5.61354735e-04 -2.89989846e+02] [-6.77188863e-03 -9.57289081e-05 -9.99977066e-01 -4.91053002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3265599949999 meters 0.051348022620279515 Centerline is valid? [True, True] Translation: X:606.07, Y:-289.90, Z:-4.91 [[-9.99955421e-01 -5.43966269e-03 7.71785876e-03 6.06072812e+02] [-5.44052104e-03 9.99985196e-01 -9.02251929e-05 -2.89903241e+02] [-7.71725371e-03 -1.32210344e-04 -9.99970213e-01 -4.90837588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.386559995 meters 0.051694932427031874 Centerline is valid? [True, True] Translation: X:606.03, Y:-289.26, Z:-5.90 [[-9.95230690e-01 -9.72128486e-02 8.09544656e-03 6.06025424e+02] [ 9.72109888e-02 -9.95263601e-01 -6.23849761e-04 -2.89261919e+02] [ 8.11774950e-03 1.66091937e-04 9.99967037e-01 -5.89963602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4465599949999 meters 0.0512133288227185 Centerline is valid? [True, True] Translation: X:605.93, Y:-289.90, Z:-4.91 [[-9.99893786e-01 -1.19229476e-02 8.38213378e-03 6.05926097e+02] [-1.19239164e-02 9.99928905e-01 -6.56195962e-05 -2.89903306e+02] [-8.38075548e-03 -1.65560489e-04 -9.99964867e-01 -4.90965281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.506559995 meters 0.051119328127021926 Centerline is valid? [True, True] Translation: X:605.85, Y:-289.83, Z:-4.91 [[-9.96471223e-01 -8.35414680e-02 8.11936115e-03 6.05854774e+02] [-8.35400446e-02 9.96504288e-01 5.14902362e-04 -2.89825722e+02] [-8.13399391e-03 -1.65206406e-04 -9.99966905e-01 -4.91095140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5665599949999 meters 0.05102063232032899 Centerline is valid? [True, True] Translation: X:605.78, Y:-289.75, Z:-4.91 [[-9.88001056e-01 -1.54248752e-01 7.82535720e-03 6.05775786e+02] [-1.54245200e-01 9.88032032e-01 1.05900815e-03 -2.89752649e+02] [-7.89505427e-03 -1.60722616e-04 -9.99968821e-01 -4.91071407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.626559995 meters 0.05121264719342679 Centerline is valid? [True, True] Translation: X:605.63, Y:-289.13, Z:-5.90 [[-9.98797567e-01 4.85029650e-02 7.13324602e-03 6.05627032e+02] [-4.85010358e-02 -9.98823034e-01 4.43290935e-04 -2.89127474e+02] [ 7.14635136e-03 9.67880860e-05 9.99974460e-01 -5.89760071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6865599949999 meters 0.05098432606168221 Centerline is valid? [True, True] Translation: X:605.61, Y:-289.77, Z:-4.91 [[-9.87770962e-01 -1.55772599e-01 6.58967444e-03 6.05608248e+02] [-1.55769941e-01 9.87792935e-01 9.17824163e-04 -2.89774994e+02] [-6.65220571e-03 -1.19873145e-04 -9.99977867e-01 -4.91123142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.746559995 meters 0.05216298197866089 Centerline is valid? [True, True] Translation: X:605.46, Y:-289.16, Z:-5.90 [[-9.98421082e-01 5.58933948e-02 5.59216251e-03 6.05456900e+02] [-5.58923278e-02 -9.98436742e-01 3.47024218e-04 -2.89157316e+02] [ 5.60281688e-03 3.39173144e-05 9.99984304e-01 -5.89893150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8065599949999 meters 0.05106745610715743 Centerline is valid? [True, True] Translation: X:605.40, Y:-289.80, Z:-4.91 [[-9.87756774e-01 -1.55897692e-01 5.69777373e-03 6.05399830e+02] [-1.55895580e-01 9.87773204e-01 8.15606619e-04 -2.89803551e+02] [-5.75525941e-03 -8.26367775e-05 -9.99983435e-01 -4.91097805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.866559995 meters 0.0510236012086876 Centerline is valid? [True, True] Translation: X:605.32, Y:-289.74, Z:-4.91 [[-9.74389767e-01 -2.24795355e-01 5.62409832e-03 6.05317538e+02] [-2.24792063e-01 9.74405995e-01 1.21885994e-03 -2.89742150e+02] [-5.75414917e-03 -7.66080165e-05 -9.99983442e-01 -4.91165569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9265599949999 meters 0.05182889212807368 Centerline is valid? [True, True] Translation: X:605.18, Y:-289.70, Z:-4.91 [[-9.56473790e-01 -2.91755562e-01 6.04821449e-03 6.05184876e+02] [-2.91750201e-01 9.56492910e-01 1.77001187e-03 -2.89695544e+02] [-6.30148508e-03 -7.15978308e-05 -9.99980143e-01 -4.91120752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.986559995 meters 0.05124098780914769 Centerline is valid? [True, True] Translation: X:605.18, Y:-289.62, Z:-4.91 [[-9.33053965e-01 -3.59692904e-01 5.59576985e-03 6.05182304e+02] [-3.59686808e-01 9.33070743e-01 2.09500613e-03 -2.89615739e+02] [-5.97480797e-03 -5.79708229e-05 -9.99982149e-01 -4.91245039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0465599949999 meters 0.0513698938749816 Centerline is valid? [True, True] Translation: X:605.05, Y:-289.58, Z:-4.91 [[-9.05771815e-01 -4.23728935e-01 5.58652180e-03 6.05054719e+02] [-4.23721211e-01 9.05789041e-01 2.55899811e-03 -2.89577851e+02] [-6.14453177e-03 -4.92594164e-05 -9.99981121e-01 -4.91036682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.106559995 meters 0.05171042399423222 Centerline is valid? [True, True] Translation: X:604.91, Y:-289.56, Z:-4.91 [[-8.73456507e-01 -4.86875436e-01 5.10292134e-03 6.04905604e+02] [-4.86867427e-01 8.73471412e-01 2.79302387e-03 -2.89564064e+02] [-5.81711062e-03 -4.48613125e-05 -9.99983079e-01 -4.91137159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.166559995 meters 0.05210591766714358 Centerline is valid? [True, True] Translation: X:604.72, Y:-289.58, Z:-4.91 [[-8.35754381e-01 -5.49079151e-01 5.16731532e-03 6.04715955e+02] [-5.49069068e-01 8.35770353e-01 3.32804374e-03 -2.89583977e+02] [-6.14604838e-03 -5.57858692e-05 -9.99981111e-01 -4.91151670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2265599949999 meters 0.05176842704816376 Centerline is valid? [True, True] Translation: X:604.55, Y:-289.60, Z:-4.91 [[-7.93036715e-01 -6.09150965e-01 5.27923601e-03 6.04547468e+02] [-6.09138067e-01 7.93054284e-01 3.96456254e-03 -2.89604861e+02] [-6.60173782e-03 -7.17399667e-05 -9.99978206e-01 -4.91074907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.286559995 meters 0.051464940925599 Centerline is valid? [True, True] Translation: X:604.40, Y:-289.62, Z:-4.91 [[-7.45703059e-01 -6.66258011e-01 5.21634357e-03 6.04400705e+02] [-6.66242490e-01 7.45721299e-01 4.54854218e-03 -2.89621614e+02] [-6.92044117e-03 -8.34879050e-05 -9.99976050e-01 -4.91039140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3465599949999 meters 0.05229385494768992 Centerline is valid? [True, True] Translation: X:604.23, Y:-289.67, Z:-4.91 [[-6.93979508e-01 -7.19978856e-01 4.78426510e-03 6.04230921e+02] [-7.19962691e-01 6.93995993e-01 4.82544096e-03 -2.89674785e+02] [-6.79447627e-03 -9.57352364e-05 -9.99976913e-01 -4.91143630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.406559995 meters 0.05284728443723727 Centerline is valid? [True, True] Translation: X:604.08, Y:-289.71, Z:-4.91 [[-6.38132616e-01 -7.69916343e-01 3.94838551e-03 6.04077625e+02] [-7.69902517e-01 6.38144824e-01 4.61496448e-03 -2.89713265e+02] [-6.07277835e-03 -9.49125846e-05 -9.99981556e-01 -4.91003471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4665599949999 meters 0.05183862377488618 Centerline is valid? [True, True] Translation: X:603.91, Y:-289.81, Z:-4.91 [[-5.79440816e-01 -8.15008573e-01 3.06047305e-03 6.03908995e+02] [-8.14997973e-01 5.79448892e-01 4.15762069e-03 -2.89809062e+02] [-5.16188423e-03 -8.51842010e-05 -9.99986674e-01 -4.91300165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.526559995 meters 0.05186306073279906 Centerline is valid? [True, True] Translation: X:603.75, Y:-289.90, Z:-4.91 [[-5.16961770e-01 -8.56005872e-01 2.11530978e-03 6.03745953e+02] [-8.55999263e-01 5.16966093e-01 3.36449654e-03 -2.89904899e+02] [-3.97357223e-03 -7.13875256e-05 -9.99992103e-01 -4.91296059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5865599949999 meters 0.05252281550895574 Centerline is valid? [True, True] Translation: X:603.56, Y:-290.06, Z:-4.91 [[-4.52143627e-01 -8.91942975e-01 1.96740957e-03 6.03561457e+02] [-8.91935297e-01 4.52147900e-01 3.70181597e-03 -2.90064563e+02] [-4.19136885e-03 -8.10495389e-05 -9.99991213e-01 -4.91238712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.646559995 meters 0.05238966195870683 Centerline is valid? [True, True] Translation: X:603.44, Y:-290.13, Z:-4.91 [[-3.83606415e-01 -9.23494448e-01 2.03050791e-03 6.03438193e+02] [-9.23482903e-01 3.83611775e-01 4.61898588e-03 -2.90133900e+02] [-5.04453456e-03 -1.03266727e-04 -9.99987271e-01 -4.91113152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7065599949999 meters 0.05189893060205242 Centerline is valid? [True, True] Translation: X:603.29, Y:-290.29, Z:-4.91 [[-3.12751692e-01 -9.49832883e-01 1.96825857e-03 6.03293493e+02] [-9.49816633e-01 3.12757858e-01 5.55746450e-03 -2.90294301e+02] [-5.89425086e-03 -1.31378304e-04 -9.99982620e-01 -4.91159688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.766559995 meters 0.0515689129467864 Centerline is valid? [True, True] Translation: X:603.16, Y:-290.46, Z:-4.91 [[-2.40659084e-01 -9.70608190e-01 1.71664604e-03 6.03157411e+02] [-9.70587826e-01 2.40665158e-01 6.28916393e-03 -2.90455538e+02] [-6.51745091e-03 -1.52611318e-04 -9.99978750e-01 -4.91071329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8265599949999 meters 0.05129561016189967 Centerline is valid? [True, True] Translation: X:603.03, Y:-290.65, Z:-4.91 [[-1.68705920e-01 -9.85665507e-01 1.34968458e-03 6.03031895e+02] [-9.85641224e-01 1.68711241e-01 6.92061095e-03 -2.90651709e+02] [-7.04911446e-03 -1.62756725e-04 -9.99975141e-01 -4.91079719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.886559995 meters 0.05177864297860033 Centerline is valid? [True, True] Translation: X:602.92, Y:-290.85, Z:-4.91 [[-9.70012251e-02 -9.95283931e-01 8.11770643e-04 6.02920657e+02] [-9.95260665e-01 9.70045094e-02 6.80685594e-03 -2.90854198e+02] [-6.85349975e-03 -1.47650025e-04 -9.99976504e-01 -4.91119149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9465599949999 meters 0.05224254601266352 Centerline is valid? [True, True] Translation: X:602.82, Y:-291.08, Z:-4.91 [[-2.53428680e-02 -9.99678778e-01 2.83546815e-04 6.02815284e+02] [-9.99659233e-01 2.53441460e-02 6.25237900e-03 -2.91077600e+02] [-6.25755685e-03 -1.24996976e-04 -9.99980413e-01 -4.90918695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.006559995 meters 0.051719864571997246 Centerline is valid? [True, True] Translation: X:602.74, Y:-291.34, Z:-4.91 [[ 4.56413132e-02 -9.98957880e-01 -1.54582841e-04 6.02741949e+02] [-9.98943113e-01 -4.56414792e-02 5.43247875e-03 -2.91344319e+02] [-5.43387285e-03 -9.35260000e-05 -9.99985232e-01 -4.91142639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0665599949999 meters 0.05227022944116202 Centerline is valid? [True, True] Translation: X:602.12, Y:-291.56, Z:-5.90 [[-5.18678522e-02 9.98653935e-01 2.08536078e-04 6.02116541e+02] [-9.98642789e-01 -5.18682585e-02 4.71851127e-03 -2.91556461e+02] [ 4.72297626e-03 3.64859943e-05 9.99988846e-01 -5.89901052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.126559995 meters 0.05129798385355833 Centerline is valid? [True, True] Translation: X:602.76, Y:-291.88, Z:-4.91 [[ 4.60937976e-02 -9.98937105e-01 -1.51967243e-04 6.02758410e+02] [-9.98927480e-01 -4.60940207e-02 4.38537939e-03 -2.91882697e+02] [-4.38772297e-03 -5.03345352e-05 -9.99990373e-01 -4.91067986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1865599949999 meters 0.05193051670330346 Centerline is valid? [True, True] Translation: X:602.70, Y:-292.12, Z:-4.91 [[ 1.16873465e-01 -9.93146624e-01 -6.13565079e-04 6.02701389e+02] [-9.93130776e-01 -1.16875066e-01 5.61070617e-03 -2.92122880e+02] [-5.64396435e-03 -4.63923062e-05 -9.99984072e-01 -4.91016426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.246559995 meters 0.05119050148554169 Centerline is valid? [True, True] Translation: X:602.07, Y:-292.39, Z:-5.90 [[ 3.65092474e-02 9.99333244e-01 -3.76352683e-04 6.02074394e+02] [-9.99310286e-01 3.65109601e-02 6.77515123e-03 -2.92386614e+02] [ 6.78437486e-03 1.28737435e-04 9.99976978e-01 -5.90126741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3065599949999 meters 0.05165310851761779 Centerline is valid? [True, True] Translation: X:602.76, Y:-292.65, Z:-4.91 [[ 1.19566481e-01 -9.92825834e-01 -8.49046041e-04 6.02759782e+02] [-9.92798854e-01 -1.19569491e-01 7.31931564e-03 -2.92650130e+02] [-7.36832566e-03 -3.22128800e-05 -9.99972853e-01 -4.90928685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.366559995 meters 0.05194356344476618 Centerline is valid? [True, True] Translation: X:602.70, Y:-292.76, Z:-4.91 [[ 1.92186938e-01 -9.81357404e-01 -1.35145365e-03 6.02699253e+02] [-9.81332283e-01 -1.92191688e-01 7.02177610e-03 -2.92762011e+02] [-7.15061012e-03 -2.32685500e-05 -9.99974434e-01 -4.90842672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4265599949999 meters 0.05191151661370298 Centerline is valid? [True, True] Translation: X:602.71, Y:-293.14, Z:-4.91 [[ 2.63105329e-01 -9.64765519e-01 -1.75501753e-03 6.02709076e+02] [-9.64743638e-01 -2.63111182e-01 6.49758779e-03 -2.93142570e+02] [-6.73041339e-03 -1.64079803e-05 -9.99977350e-01 -4.90875540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.486559995 meters 0.05195617689978392 Centerline is valid? [True, True] Translation: X:602.70, Y:-293.36, Z:-4.91 [[ 3.33743778e-01 -9.42661908e-01 -1.90226879e-03 6.02697011e+02] [-9.42646373e-01 -3.33749199e-01 5.41184015e-03 -2.93357211e+02] [-5.73641625e-03 -1.30012021e-05 -9.99983547e-01 -4.90897374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5465599949999 meters 0.05183644190449656 Centerline is valid? [True, True] Translation: X:602.71, Y:-293.59, Z:-4.91 [[ 4.03367301e-01 -9.15035674e-01 -2.12981362e-03 6.02705732e+02] [-9.15022706e-01 -4.03372924e-01 4.87150677e-03 -2.93585582e+02] [-5.31671163e-03 -1.61787164e-05 -9.99985866e-01 -4.90923495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.606559995 meters 0.051759259768675014 Centerline is valid? [True, True] Translation: X:602.73, Y:-293.82, Z:-4.91 [[ 4.72292860e-01 -8.81437229e-01 -2.80448290e-03 6.02733521e+02] [-8.81421268e-01 -4.72301186e-01 5.30456802e-03 -2.93820824e+02] [-6.00020434e-03 -3.33787329e-05 -9.99981998e-01 -4.90859546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.666559995 meters 0.051504668990548064 Centerline is valid? [True, True] Translation: X:602.77, Y:-294.05, Z:-4.91 [[ 5.38134372e-01 -8.42853096e-01 -3.17113144e-03 6.02774136e+02] [-8.42837946e-01 -5.38143713e-01 5.05383107e-03 -2.94047763e+02] [-5.96616161e-03 -4.68902965e-05 -9.99982201e-01 -4.90734271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7265599949999 meters 0.05137956130260097 Centerline is valid? [True, True] Translation: X:602.80, Y:-294.22, Z:-4.91 [[ 6.01724641e-01 -7.98695654e-01 -3.56493562e-03 6.02795804e+02] [-7.98680961e-01 -6.01735197e-01 4.84507031e-03 -2.94221885e+02] [-6.01488384e-03 -6.81519886e-05 -9.99981908e-01 -4.90660534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.786559995 meters 0.05132330137635941 Centerline is valid? [True, True] Translation: X:602.83, Y:-294.39, Z:-4.91 [[ 6.61018312e-01 -7.50362948e-01 -3.19956233e-03 6.02831068e+02] [-7.50353645e-01 -6.61026052e-01 3.73697170e-03 -2.94394688e+02] [-4.91907915e-03 -6.94034697e-05 -9.99987899e-01 -4.90718809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8465599949999 meters 0.05063082895267974 Centerline is valid? [True, True] Translation: X:602.90, Y:-294.58, Z:-4.91 [[ 7.16240038e-01 -6.97847074e-01 -3.10963259e-03 6.02899826e+02] [-6.97840046e-01 -7.16246784e-01 3.13283512e-03 -2.94582538e+02] [-4.41350416e-03 -7.38357914e-05 -9.99990258e-01 -4.90832609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.906559995 meters 0.050778640904775206 Centerline is valid? [True, True] Translation: X:603.01, Y:-294.80, Z:-4.91 [[ 7.66672664e-01 -6.42028692e-01 -3.49070805e-03 6.03008550e+02] [-6.42021526e-01 -7.66680606e-01 3.03477350e-03 -2.94795954e+02] [-4.62466982e-03 -8.55681732e-05 -9.99989303e-01 -4.90766099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9665599949999 meters 0.050645385640033916 Centerline is valid? [True, True] Translation: X:602.98, Y:-294.88, Z:-4.91 [[ 8.16137827e-01 -5.77842934e-01 -4.07312943e-03 6.02984893e+02] [-5.77835073e-01 -8.16147984e-01 3.01614191e-03 -2.94877174e+02] [-5.06713266e-03 -1.07990467e-04 -9.99987156e-01 -4.90761211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.026559995 meters 0.051148394263824636 Centerline is valid? [True, True] Translation: X:602.96, Y:-294.97, Z:-4.91 [[ 8.60216639e-01 -5.09907120e-01 -4.69713963e-03 6.02960820e+02] [-5.09898668e-01 -8.60229452e-01 2.93897357e-03 -2.94969912e+02] [-5.53922140e-03 -1.33088720e-04 -9.99984650e-01 -4.90756555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0865599949999 meters 0.051049194311418494 Centerline is valid? [True, True] Translation: X:602.94, Y:-295.07, Z:-4.91 [[ 8.97567791e-01 -4.40827285e-01 -6.58522542e-03 6.02942420e+02] [-4.40813944e-01 -8.97591930e-01 3.43427320e-03 -2.95067366e+02] [-7.42476652e-03 -1.79633825e-04 -9.99972420e-01 -4.90717261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.146559995 meters 0.050717430636401516 Centerline is valid? [True, True] Translation: X:602.93, Y:-295.17, Z:-4.91 [[ 9.28865325e-01 -3.70342111e-01 -7.47858859e-03 6.02930054e+02] [-3.70328478e-01 -9.28895412e-01 3.18324651e-03 -2.95168016e+02] [-8.12571686e-03 -1.87272980e-04 -9.99966968e-01 -4.90673046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2065599949999 meters 0.05100897452086483 Centerline is valid? [True, True] Translation: X:602.93, Y:-295.26, Z:-4.91 [[ 9.54088005e-01 -2.99435151e-01 -7.39389949e-03 6.02926970e+02] [-2.99424884e-01 -9.54116642e-01 2.48459695e-03 -2.95263219e+02] [-7.79861822e-03 -1.56606652e-04 -9.99969578e-01 -4.90717399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.266559995 meters 0.05098272716385501 Centerline is valid? [True, True] Translation: X:602.93, Y:-295.35, Z:-4.91 [[ 9.73590649e-01 -2.28205665e-01 -6.58952126e-03 6.02934797e+02] [-2.28199691e-01 -9.73612943e-01 1.65466804e-03 -2.95352670e+02] [-6.79324781e-03 -1.07242616e-04 -9.99976920e-01 -4.90727633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3265599949999 meters 0.05069255799365535 Centerline is valid? [True, True] Translation: X:602.95, Y:-295.43, Z:-4.91 [[ 9.87488497e-01 -1.57572050e-01 -6.12515630e-03 6.02949305e+02] [-1.57568644e-01 -9.87507491e-01 1.03778402e-03 -2.95434211e+02] [-6.21216348e-03 -5.96672062e-05 -9.99980703e-01 -4.90770344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.386559995 meters 0.05067805590298588 Centerline is valid? [True, True] Translation: X:602.97, Y:-295.51, Z:-4.91 [[ 9.96447373e-01 -8.40195470e-02 -5.77485798e-03 6.02971804e+02] [-8.40179502e-02 -9.96464106e-01 5.18988039e-04 -2.95510019e+02] [-5.79804383e-03 -3.19525384e-05 -9.99983191e-01 -4.90795997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4465599949999 meters 0.05100943029050259 Centerline is valid? [True, True] Translation: X:602.99, Y:-295.60, Z:-4.91 [[ 9.99933865e-01 -1.00817690e-02 -5.53393837e-03 6.02994561e+02] [-1.00815764e-02 -9.99949178e-01 6.26866669e-05 -2.95596493e+02] [-5.53428911e-03 -6.89169856e-06 -9.99984686e-01 -4.90973609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.506559995 meters 0.05045038164544149 Centerline is valid? [True, True] Translation: X:603.02, Y:-295.68, Z:-4.91 [[ 9.97738049e-01 6.69341435e-02 -6.21339722e-03 6.03022683e+02] [ 6.69328424e-02 -9.97757396e-01 -4.17339412e-04 -2.95681347e+02] [-6.22739728e-03 5.15073553e-07 -9.99980610e-01 -4.90844188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5665599949999 meters 0.05047435202956707 Centerline is valid? [True, True] Translation: X:603.06, Y:-295.76, Z:-4.91 [[ 9.89440693e-01 1.44758886e-01 -7.20968838e-03 6.03057078e+02] [ 1.44755032e-01 -9.89466960e-01 -1.05629568e-03 -2.95755637e+02] [-7.28665663e-03 1.50325170e-06 -9.99973452e-01 -4.90815611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.626559995 meters 0.050419442729345315 Centerline is valid? [True, True] Translation: X:603.10, Y:-295.83, Z:-4.91 [[ 9.74813287e-01 2.22884526e-01 -7.84499182e-03 6.03096040e+02] [ 2.22877372e-01 -9.74844853e-01 -1.78582708e-03 -2.95825989e+02] [-8.04568312e-03 -7.62319730e-06 -9.99967633e-01 -4.90629518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6865599949999 meters 0.050914240533377224 Centerline is valid? [True, True] Translation: X:603.14, Y:-295.90, Z:-4.91 [[ 9.53437313e-01 3.01480351e-01 -8.17854460e-03 6.03144053e+02] [ 3.01469574e-01 -9.53472389e-01 -2.54940051e-03 -2.95901669e+02] [-8.56661062e-03 -3.48887854e-05 -9.99963305e-01 -4.90836170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.746559995 meters 0.05126323855794573 Centerline is valid? [True, True] Translation: X:603.20, Y:-295.97, Z:-4.91 [[ 9.26091397e-01 3.77228904e-01 -7.28551660e-03 6.03197559e+02] [ 3.77217653e-01 -9.26120053e-01 -2.91382542e-03 -2.95971391e+02] [-7.84644219e-03 -4.97568202e-05 -9.99969215e-01 -4.90923079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8065599949999 meters 0.05103786120073313 Centerline is valid? [True, True] Translation: X:603.26, Y:-296.04, Z:-4.91 [[ 8.92478606e-01 4.51055663e-01 -5.54324711e-03 6.03257284e+02] [ 4.51047361e-01 -8.92495818e-01 -2.73725642e-03 -2.96039368e+02] [-6.18197988e-03 -5.73241824e-05 -9.99980890e-01 -4.90905797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.866559995 meters 0.05081277591700455 Centerline is valid? [True, True] Translation: X:603.32, Y:-296.10, Z:-4.91 [[ 8.53234088e-01 5.21507749e-01 -4.61064671e-03 6.03319212e+02] [ 5.21500531e-01 -8.53246543e-01 -2.74453036e-03 -2.96095273e+02] [-5.36531222e-03 -6.27278465e-05 -9.99985605e-01 -4.90993267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9265599949999 meters 0.05101557968565446 Centerline is valid? [True, True] Translation: X:603.39, Y:-296.15, Z:-4.91 [[ 8.08980115e-01 5.87820030e-01 -4.33426316e-03 6.03385956e+02] [ 5.87812053e-01 -8.08991723e-01 -3.06325189e-03 -2.96148603e+02] [-5.30702383e-03 -6.96222601e-05 -9.99985915e-01 -4.90906404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.986559995 meters 0.05117643634562103 Centerline is valid? [True, True] Translation: X:603.46, Y:-296.19, Z:-4.91 [[ 7.59729655e-01 6.50223971e-01 -4.43148894e-03 6.03456959e+02] [ 6.50213538e-01 -7.59742575e-01 -3.68444477e-03 -2.96193953e+02] [-5.76250513e-03 -8.22321423e-05 -9.99983393e-01 -4.90887485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0465599949999 meters 0.0513596400500724 Centerline is valid? [True, True] Translation: X:603.54, Y:-296.24, Z:-4.91 [[ 7.06975631e-01 7.07218954e-01 -5.17766837e-03 6.03536626e+02] [ 7.07200993e-01 -7.06994584e-01 -5.04124804e-03 -2.96240352e+02] [-7.22584966e-03 -9.76126961e-05 -9.99973888e-01 -4.90958628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.106559995 meters 0.05094302319688426 Centerline is valid? [True, True] Translation: X:603.62, Y:-296.28, Z:-4.91 [[ 6.50638430e-01 7.59369602e-01 -5.23842214e-03 6.03621519e+02] [ 7.59346157e-01 -6.50659510e-01 -5.96790103e-03 -2.96282077e+02] [-7.94027182e-03 -9.48299634e-05 -9.99968471e-01 -4.90862840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.166559995 meters 0.05094142694999593 Centerline is valid? [True, True] Translation: X:603.71, Y:-296.31, Z:-4.91 [[ 5.91269298e-01 8.06459900e-01 -4.80076718e-03 6.03707894e+02] [ 8.06434347e-01 -5.91288782e-01 -6.42032512e-03 -2.96314934e+02] [-8.01637453e-03 -7.53624213e-05 -9.99967866e-01 -4.90885084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2265599949999 meters 0.05148938809870526 Centerline is valid? [True, True] Translation: X:603.79, Y:-296.34, Z:-4.91 [[ 5.28177777e-01 8.49121945e-01 -4.48989529e-03 6.03794131e+02] [ 8.49092241e-01 -5.28196857e-01 -7.10262973e-03 -2.96339798e+02] [-8.40254735e-03 -6.08840765e-05 -9.99964696e-01 -4.90667969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.286559995 meters 0.05215190127311744 Centerline is valid? [True, True] Translation: X:603.88, Y:-296.36, Z:-4.91 [[ 4.61756956e-01 8.86995965e-01 -4.32097234e-03 6.03880939e+02] [ 8.86958134e-01 -4.61777170e-01 -8.19226893e-03 -2.96356381e+02] [-9.26183587e-03 -4.96843983e-05 -9.99957107e-01 -4.90781348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3465599949999 meters 0.05258808112348697 Centerline is valid? [True, True] Translation: X:603.97, Y:-296.37, Z:-4.91 [[ 3.91151337e-01 9.20318405e-01 -3.82951737e-03 6.03968347e+02] [ 9.20275534e-01 -3.91170080e-01 -8.88315913e-03 -2.96366336e+02] [-9.67332745e-03 -4.95515739e-05 -9.99953211e-01 -4.90772614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.406559995 meters 0.051817962520005124 Centerline is valid? [True, True] Translation: X:604.06, Y:-296.37, Z:-4.91 [[ 3.17648829e-01 9.48201792e-01 -3.54721275e-03 6.04055339e+02] [ 9.48144750e-01 -3.17668629e-01 -1.04007648e-02 -2.96369858e+02] [-1.09888620e-02 -5.94803844e-05 -9.99939619e-01 -4.90602248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4665599949999 meters 0.05238542965322028 Centerline is valid? [True, True] Translation: X:604.14, Y:-296.37, Z:-4.91 [[ 2.42379294e-01 9.70178102e-01 -2.59377866e-03 6.04141833e+02] [ 9.70125085e-01 -2.42393165e-01 -1.01426156e-02 -2.96365736e+02] [-1.04688577e-02 -5.79297435e-05 -9.99945198e-01 -4.90814450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.526559995 meters 0.05192878308251539 Centerline is valid? [True, True] Translation: X:604.23, Y:-296.36, Z:-4.91 [[ 1.65803472e-01 9.86157296e-01 -1.73099130e-03 6.04231379e+02] [ 9.86106996e-01 -1.65812498e-01 -9.96031000e-03 -2.96355285e+02] [-1.01094524e-02 -5.54886560e-05 -9.99948897e-01 -4.91005994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5865599949999 meters 0.05177631434685943 Centerline is valid? [True, True] Translation: X:604.32, Y:-296.34, Z:-4.91 [[ 8.84899581e-02 9.96076730e-01 -8.21863147e-04 6.04321869e+02] [ 9.96038409e-01 -8.84937630e-02 -8.73742683e-03 -2.96339151e+02] [-8.77587730e-03 -4.54327271e-05 -9.99961490e-01 -4.90757660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.646559995 meters 0.05189994795320184 Centerline is valid? [True, True] Translation: X:604.39, Y:-296.31, Z:-4.91 [[ 1.08745902e-02 9.99940862e-01 -1.22446683e-04 6.04393758e+02] [ 9.99909732e-01 -1.08752179e-02 -7.89039852e-03 -2.96314559e+02] [-7.89126353e-03 -3.66307796e-05 -9.99968863e-01 -4.90808365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7065599949999 meters 0.05245801994157939 Centerline is valid? [True, True] Translation: X:604.46, Y:-296.28, Z:-4.91 [[-6.72856411e-02 9.97733659e-01 4.33288180e-04 6.04461339e+02] [ 9.97709833e-01 6.72870287e-02 -6.89522894e-03 -2.96284443e+02] [-6.90875667e-03 -3.16540222e-05 -9.99976134e-01 -4.90914831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.766559995 meters 0.051574594966994895 Centerline is valid? [True, True] Translation: X:604.54, Y:-296.25, Z:-4.91 [[-1.47159583e-01 9.89112232e-01 1.02483068e-03 6.04540959e+02] [ 9.89085912e-01 1.47163143e-01 -7.21576052e-03 -2.96247510e+02] [-7.28801430e-03 -4.82227176e-05 -9.99973441e-01 -4.91055253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8265599949999 meters 0.051720281095655754 Centerline is valid? [True, True] Translation: X:604.62, Y:-296.20, Z:-4.91 [[-2.28358328e-01 9.73575132e-01 1.98393872e-03 6.04623430e+02] [ 9.73534521e-01 2.28366924e-01 -8.89297471e-03 -2.96204229e+02] [-9.11104501e-03 -9.93520063e-05 -9.99958489e-01 -4.90608817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.886559995 meters 0.051909123804053305 Centerline is valid? [True, True] Translation: X:604.70, Y:-296.15, Z:-4.91 [[-3.06092137e-01 9.51997201e-01 2.98877651e-03 6.04696879e+02] [ 9.51947428e-01 3.06106699e-01 -9.73562286e-03 -2.96153867e+02] [-1.01831702e-02 -1.34839498e-04 -9.99948141e-01 -4.90855983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9465599949999 meters 0.05193755927393501 Centerline is valid? [True, True] Translation: X:604.77, Y:-296.10, Z:-4.91 [[-3.79733384e-01 9.25087492e-01 3.96096283e-03 6.04770266e+02] [ 9.25033151e-01 3.79754014e-01 -1.00278256e-02 -2.96098109e+02] [-1.07808076e-02 -1.43878215e-04 -9.99941875e-01 -4.90637208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.006559995 meters 0.052170915901412845 Centerline is valid? [True, True] Translation: X:604.83, Y:-296.04, Z:-4.91 [[-4.47300799e-01 8.94375150e-01 3.88415739e-03 6.04834275e+02] [ 8.94339813e-01 4.47317655e-01 -7.95075238e-03 -2.96038244e+02] [-8.84840753e-03 -8.26212980e-05 -9.99960849e-01 -4.90971460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0665599949999 meters 0.052336123230633434 Centerline is valid? [True, True] Translation: X:604.89, Y:-295.97, Z:-4.91 [[-5.10882474e-01 8.59642852e-01 3.64203113e-03 6.04892924e+02] [ 8.59620651e-01 5.10895455e-01 -6.17827956e-03 -2.95974125e+02] [-7.17181101e-03 -2.56095778e-05 -9.99974282e-01 -4.91112895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.126559995 meters 0.05281473405117523 Centerline is valid? [True, True] Translation: X:604.95, Y:-295.90, Z:-4.91 [[-5.72896167e-01 8.19619025e-01 3.82567514e-03 6.04948910e+02] [ 8.19600820e-01 5.72908941e-01 -5.46278837e-03 -2.95903758e+02] [-6.66916877e-03 5.91596249e-06 -9.99977761e-01 -4.91161995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1865599949999 meters 0.05223506337291625 Centerline is valid? [True, True] Translation: X:605.00, Y:-295.83, Z:-4.91 [[-6.30853058e-01 7.75890601e-01 4.26553644e-03 6.04998544e+02] [ 7.75873338e-01 6.30867477e-01 -5.17596348e-03 -2.95830869e+02] [-6.70696963e-03 4.42436026e-05 -9.99977507e-01 -4.91164185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.246559995 meters 0.052576139989582237 Centerline is valid? [True, True] Translation: X:605.04, Y:-295.76, Z:-4.91 [[-6.88177747e-01 7.25523529e-01 5.19588408e-03 6.05041328e+02] [ 7.25503556e-01 6.88197359e-01 -5.38385018e-03 -2.95755509e+02] [-7.48190368e-03 6.45864881e-05 -9.99972008e-01 -4.91216954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3065599949999 meters 0.05207493770812038 Centerline is valid? [True, True] Translation: X:605.10, Y:-295.66, Z:-4.91 [[-7.42939609e-01 6.69327955e-01 6.38948207e-03 6.05096525e+02] [ 6.69304038e-01 7.42967081e-01 -5.65871222e-03 -2.95658992e+02] [-8.53470912e-03 7.24247074e-05 -9.99963576e-01 -4.91003624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.366559995 meters 0.05215044304175687 Centerline is valid? [True, True] Translation: X:604.94, Y:-294.64, Z:-5.90 [[-7.07700272e-01 -7.06482219e-01 6.57262465e-03 6.04938786e+02] [ 7.06451319e-01 -7.07730792e-01 -6.60756415e-03 -2.94641635e+02] [ 9.31977543e-03 -3.29355905e-05 9.99956569e-01 -5.90103105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4265599949999 meters 0.05291541382392239 Centerline is valid? [True, True] Translation: X:604.90, Y:-294.60, Z:-5.90 [[-7.04270479e-01 -7.09898459e-01 6.87540323e-03 6.04896146e+02] [ 7.09864328e-01 -7.04304038e-01 -6.96119887e-03 -2.94603878e+02] [ 9.78411861e-03 -2.19633627e-05 9.99952134e-01 -5.90088013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.486559995 meters 0.05202572860937745 Centerline is valid? [True, True] Translation: X:604.85, Y:-294.57, Z:-5.90 [[-6.98602418e-01 -7.15476783e-01 6.90176444e-03 6.04852348e+02] [ 7.15442679e-01 -6.98636508e-01 -6.98591963e-03 -2.94567275e+02] [ 9.82008791e-03 5.74364933e-05 9.99951780e-01 -5.90227148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5465599949999 meters 0.05226141918230326 Centerline is valid? [True, True] Translation: X:604.81, Y:-294.53, Z:-5.90 [[-6.92315490e-01 -7.21570723e-01 5.91211452e-03 6.04810131e+02] [ 7.21545934e-01 -6.92340723e-01 -5.98244662e-03 -2.94527890e+02] [ 8.40995597e-03 1.24121722e-04 9.99964628e-01 -5.89836485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.606559995 meters 0.05274307159867695 Centerline is valid? [True, True] Translation: X:604.76, Y:-294.49, Z:-5.90 [[-6.88647507e-01 -7.25080397e-01 4.79874651e-03 6.04763354e+02] [ 7.25064157e-01 -6.88664213e-01 -4.85487338e-03 -2.94493928e+02] [ 6.82489851e-03 1.36102640e-04 9.99976701e-01 -5.90017901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.666559995 meters 0.051274738853016984 Centerline is valid? [True, True] Translation: X:604.72, Y:-294.45, Z:-5.90 [[-6.83386767e-01 -7.30048321e-01 3.46060900e-03 6.04723727e+02] [ 7.30039942e-01 -6.83395515e-01 -3.50037562e-03 -2.94452161e+02] [ 4.92040802e-03 1.34272415e-04 9.99987886e-01 -5.89676051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7265599949999 meters 0.052903426772105376 Centerline is valid? [True, True] Translation: X:604.68, Y:-294.42, Z:-5.90 [[-6.78450293e-01 -7.34638344e-01 3.42109600e-03 6.04675587e+02] [ 7.34630216e-01 -6.78458898e-01 -3.45968586e-03 -2.94420729e+02] [ 4.86269091e-03 1.66015611e-04 9.99988163e-01 -5.89846984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.786559995 meters 0.053539300611401455 Centerline is valid? [True, True] Translation: X:604.63, Y:-294.38, Z:-5.90 [[-6.75151522e-01 -7.37667303e-01 4.16813784e-03 6.04632624e+02] [ 7.37655302e-01 -6.75164349e-01 -4.21395729e-03 -2.94383722e+02] [ 5.92267658e-03 2.29589307e-04 9.99982434e-01 -5.89945156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8465599949999 meters 0.05109760779940937 Centerline is valid? [True, True] Translation: X:604.60, Y:-294.33, Z:-5.90 [[-6.74497382e-01 -7.38261929e-01 4.75460368e-03 6.04598983e+02] [ 7.38246335e-01 -6.74514086e-01 -4.80580717e-03 -2.94334545e+02] [ 6.75499163e-03 2.68564392e-04 9.99977149e-01 -5.89785669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.906559995 meters 0.051448251561426246 Centerline is valid? [True, True] Translation: X:604.56, Y:-294.29, Z:-5.90 [[-6.75094607e-01 -7.37707993e-01 5.84703490e-03 6.04557900e+02] [ 7.37684398e-01 -6.75119850e-01 -5.90913463e-03 -2.94292569e+02] [ 8.30666518e-03 3.24041493e-04 9.99965447e-01 -5.89822934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9665599949999 meters 0.0519433593714767 Centerline is valid? [True, True] Translation: X:604.52, Y:-294.25, Z:-5.90 [[-6.77357130e-01 -7.35624419e-01 6.63573102e-03 6.04515662e+02] [ 7.35593943e-01 -6.77389548e-01 -6.70461856e-03 -2.94253835e+02] [ 9.42705596e-03 3.39782359e-04 9.99955507e-01 -5.89984045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.026559995 meters 0.051828266096671384 Centerline is valid? [True, True] Translation: X:604.48, Y:-294.21, Z:-5.90 [[-6.79550778e-01 -7.33599758e-01 6.49107905e-03 6.04476202e+02] [ 7.33570520e-01 -6.79581710e-01 -6.55681907e-03 -2.94210997e+02] [ 9.22129949e-03 3.05972727e-04 9.99957436e-01 -5.89943332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0865599949999 meters 0.05204294973413693 Centerline is valid? [True, True] Translation: X:604.44, Y:-294.17, Z:-5.90 [[-6.82543091e-01 -7.30828605e-01 4.94755270e-03 6.04438358e+02] [ 7.30811552e-01 -6.82560992e-01 -4.99686730e-03 -2.94166388e+02] [ 7.02886003e-03 2.05151413e-04 9.99975276e-01 -5.89775732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.146559995 meters 0.05191647723700544 Centerline is valid? [True, True] Translation: X:604.40, Y:-294.12, Z:-5.90 [[-6.84202624e-01 -7.29283086e-01 3.59854586e-03 6.04398961e+02] [ 7.29274048e-01 -6.84212073e-01 -3.63345393e-03 -2.94124324e+02] [ 5.11198502e-03 1.38307392e-04 9.99986924e-01 -5.89659959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2065599949999 meters 0.05174597411426642 Centerline is valid? [True, True] Translation: X:604.35, Y:-294.09, Z:-5.90 [[-6.83383012e-01 -7.30053205e-01 3.15860599e-03 6.04354256e+02] [ 7.30046253e-01 -6.83390300e-01 -3.18839936e-03 -2.94088037e+02] [ 4.48626186e-03 1.27030505e-04 9.99989929e-01 -5.89714992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.266559995 meters 0.053354597906806765 Centerline is valid? [True, True] Translation: X:604.31, Y:-294.05, Z:-5.90 [[-6.82811889e-01 -7.30587118e-01 3.22286862e-03 6.04312635e+02] [ 7.30579891e-01 -6.82819482e-01 -3.25237482e-03 -2.94050921e+02] [ 4.57678063e-03 1.33802816e-04 9.99989518e-01 -5.89783238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3265599949999 meters 0.05134096261078833 Centerline is valid? [True, True] Translation: X:604.28, Y:-294.00, Z:-5.90 [[-6.80636410e-01 -7.32606433e-01 4.67875032e-03 6.04277118e+02] [ 7.32591255e-01 -6.80652457e-01 -4.72080097e-03 -2.94004640e+02] [ 6.64309206e-03 2.14462537e-04 9.99977911e-01 -5.89829467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.386559995 meters 0.051978881984118666 Centerline is valid? [True, True] Translation: X:604.24, Y:-293.97, Z:-5.90 [[-6.80260200e-01 -7.32948201e-01 5.74415613e-03 6.04235128e+02] [ 7.32925343e-01 -6.80284399e-01 -5.79472305e-03 -2.93965479e+02] [ 8.15489163e-03 2.68118135e-04 9.99966712e-01 -5.89968034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4465599949999 meters 0.051424061895453614 Centerline is valid? [True, True] Translation: X:604.20, Y:-293.92, Z:-5.90 [[-6.81617765e-01 -7.31687553e-01 5.52700263e-03 6.04197211e+02] [ 7.31666360e-01 -6.81640129e-01 -5.57422922e-03 -2.93921701e+02] [ 7.84602092e-03 2.44428239e-04 9.99969190e-01 -5.89880512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.506559995 meters 0.05157121323494437 Centerline is valid? [True, True] Translation: X:604.16, Y:-293.88, Z:-5.90 [[-6.83727163e-01 -7.29723067e-01 4.62735587e-03 6.04160835e+02] [ 7.29708174e-01 -6.83742796e-01 -4.66581989e-03 -2.93875358e+02] [ 6.56867764e-03 1.86471606e-04 9.99978409e-01 -5.89736752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5665599949999 meters 0.0522565594700906 Centerline is valid? [True, True] Translation: X:604.12, Y:-293.84, Z:-5.90 [[-6.87394820e-01 -7.26275502e-01 3.50085115e-03 6.04117954e+02] [ 7.26266937e-01 -6.87403725e-01 -3.52904426e-03 -2.93837603e+02] [ 4.96955652e-03 1.16705700e-04 9.99987645e-01 -5.89840748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.626559995 meters 0.051176516514380155 Centerline is valid? [True, True] Translation: X:604.08, Y:-293.79, Z:-5.90 [[-6.88940123e-01 -7.24811406e-01 3.15166044e-03 6.04080978e+02] [ 7.24804453e-01 -6.88947325e-01 -3.17621152e-03 -2.93792397e+02] [ 4.47348237e-03 9.61179617e-05 9.99989989e-01 -5.89729670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6865599949999 meters 0.05131436603316148 Centerline is valid? [True, True] Translation: X:604.04, Y:-293.75, Z:-5.90 [[-6.87990967e-01 -7.25708790e-01 3.89640381e-03 6.04039021e+02] [ 7.25698182e-01 -6.88001989e-01 -3.92580434e-03 -2.93751952e+02] [ 5.52972428e-03 1.26695236e-04 9.99984703e-01 -5.89855938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.746559995 meters 0.05199896968205001 Centerline is valid? [True, True] Translation: X:604.00, Y:-293.71, Z:-5.90 [[-6.87062845e-01 -7.26582495e-01 4.74604814e-03 6.03995939e+02] [ 7.26566785e-01 -6.87079218e-01 -4.78063881e-03 -2.93713952e+02] [ 6.73443952e-03 1.63721637e-04 9.99977310e-01 -5.90008985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8065599949999 meters 0.05169348114035809 Centerline is valid? [True, True] Translation: X:603.96, Y:-293.67, Z:-5.90 [[-6.85674854e-01 -7.27889385e-01 5.19984387e-03 6.03955134e+02] [ 7.27870571e-01 -6.85694543e-01 -5.23697328e-03 -2.93672429e+02] [ 7.37744182e-03 1.93952438e-04 9.99972768e-01 -5.90069784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.866559995 meters 0.05148063057277935 Centerline is valid? [True, True] Translation: X:603.91, Y:-293.63, Z:-5.90 [[-6.85371713e-01 -7.28173869e-01 5.33222254e-03 6.03914062e+02] [ 7.28154104e-01 -6.85392425e-01 -5.36889634e-03 -2.93630901e+02] [ 7.56415495e-03 2.02990046e-04 9.99971371e-01 -5.90060238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9265599949999 meters 0.05142316541138327 Centerline is valid? [True, True] Translation: X:603.87, Y:-293.59, Z:-5.90 [[-6.86083701e-01 -7.27507367e-01 4.71026065e-03 6.03873338e+02] [ 7.27491935e-01 -6.86099848e-01 -4.74156055e-03 -2.93588365e+02] [ 6.68122934e-03 1.73569223e-04 9.99977665e-01 -5.90055757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.986559995 meters 0.051824880544198634 Centerline is valid? [True, True] Translation: X:603.83, Y:-293.55, Z:-5.90 [[-6.87674444e-01 -7.26005259e-01 4.49705293e-03 6.03832857e+02] [ 7.25991168e-01 -6.87689131e-01 -4.52584771e-03 -2.93546261e+02] [ 6.37836366e-03 1.52510896e-04 9.99979646e-01 -5.90046073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0465599949999 meters 0.05143176362058305 Centerline is valid? [True, True] Translation: X:603.79, Y:-293.50, Z:-5.90 [[-6.88578646e-01 -7.25148129e-01 4.43167653e-03 6.03793092e+02] [ 7.25134433e-01 -6.88592892e-01 -4.45902822e-03 -2.93503122e+02] [ 6.28507693e-03 1.43169637e-04 9.99980238e-01 -5.89996992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.106559995 meters 0.0515528769719785 Centerline is valid? [True, True] Translation: X:603.75, Y:-293.46, Z:-5.90 [[-6.88193992e-01 -7.25509875e-01 4.94484267e-03 6.03750579e+02] [ 7.25492842e-01 -6.88211737e-01 -4.97413270e-03 -2.93464742e+02] [ 7.01188115e-03 1.64279717e-04 9.99975403e-01 -5.90097253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.166559995 meters 0.05160777958948182 Centerline is valid? [True, True] Translation: X:603.71, Y:-293.42, Z:-5.90 [[-6.86521882e-01 -7.27082043e-01 6.27759241e-03 6.03711039e+02] [ 7.27054672e-01 -6.86550545e-01 -6.31299313e-03 -2.93423331e+02] [ 8.89994843e-03 2.30144960e-04 9.99960368e-01 -5.90146427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2265599949999 meters 0.05115120103367364 Centerline is valid? [True, True] Translation: X:603.67, Y:-293.38, Z:-5.90 [[-6.86072160e-01 -7.27508177e-01 6.06997486e-03 6.03670555e+02] [ 7.27482616e-01 -6.86098973e-01 -6.10272841e-03 -2.93381569e+02] [ 8.60438834e-03 2.28889125e-04 9.99962955e-01 -5.90148161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.286559995 meters 0.051566668186847825 Centerline is valid? [True, True] Translation: X:603.63, Y:-293.34, Z:-5.90 [[-6.87463691e-01 -7.26196158e-01 5.72827272e-03 6.03630630e+02] [ 7.26173360e-01 -6.87487527e-01 -5.75780109e-03 -2.93339055e+02] [ 8.11940908e-03 2.01439855e-04 9.99967017e-01 -5.90094021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3465599949999 meters 0.05143101736106098 Centerline is valid? [True, True] Translation: X:603.59, Y:-293.30, Z:-5.90 [[-6.89158412e-01 -7.24593187e-01 5.03949018e-03 6.03591051e+02] [ 7.24575507e-01 -6.89176819e-01 -5.06432099e-03 -2.93296226e+02] [ 7.14267230e-03 1.61371736e-04 9.99974478e-01 -5.90067493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.406559995 meters 0.05198721108353854 Centerline is valid? [True, True] Translation: X:603.55, Y:-293.26, Z:-5.90 [[-6.92129559e-01 -7.21755577e-01 5.05574084e-03 6.03549437e+02] [ 7.21737717e-01 -6.92148011e-01 -5.07926341e-03 -2.93257197e+02] [ 7.16530766e-03 1.33410503e-04 9.99974320e-01 -5.90296192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4665599949999 meters 0.050914831997535416 Centerline is valid? [True, True] Translation: X:603.52, Y:-293.21, Z:-5.90 [[-6.95050999e-01 -7.18942008e-01 5.14756166e-03 6.03515436e+02] [ 7.18923424e-01 -6.95070052e-01 -5.17031105e-03 -2.93208220e+02] [ 7.29506976e-03 1.07072789e-04 9.99973385e-01 -5.90008379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.526559995 meters 0.05138176430027068 Centerline is valid? [True, True] Translation: X:603.48, Y:-293.17, Z:-5.90 [[-6.97258424e-01 -7.16799895e-01 5.34805979e-03 6.03475351e+02] [ 7.16779776e-01 -6.97278928e-01 -5.37119886e-03 -2.93167239e+02] [ 7.57916417e-03 8.82674501e-05 9.99971274e-01 -5.90130834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5865599949999 meters 0.05100563666390723 Centerline is valid? [True, True] Translation: X:603.44, Y:-293.12, Z:-5.90 [[-7.00336415e-01 -7.13791582e-01 5.52109662e-03 6.03436793e+02] [ 7.13770057e-01 -7.00358175e-01 -5.54361789e-03 -2.93123108e+02] [ 7.82373294e-03 5.83959679e-05 9.99969392e-01 -5.90037878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.646559995 meters 0.05151986110673358 Centerline is valid? [True, True] Translation: X:603.40, Y:-293.08, Z:-5.90 [[-7.02132169e-01 -7.12029019e-01 5.00934918e-03 6.03396600e+02] [ 7.12011263e-01 -7.02150038e-01 -5.02849486e-03 -2.93081295e+02] [ 7.09774898e-03 3.60450354e-05 9.99974810e-01 -5.90111485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7065599949999 meters 0.05163913153016296 Centerline is valid? [True, True] Translation: X:603.36, Y:-293.04, Z:-5.90 [[-7.02906033e-01 -7.11261445e-01 5.50142807e-03 6.03357343e+02] [ 7.11240018e-01 -7.02927561e-01 -5.52089270e-03 -2.93039901e+02] [ 7.79390353e-03 3.21670106e-05 9.99969627e-01 -5.90146125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.766559995 meters 0.052182128524767134 Centerline is valid? [True, True] Translation: X:603.32, Y:-293.00, Z:-5.90 [[-7.02053564e-01 -7.12101125e-01 5.72548001e-03 6.03318070e+02] [ 7.12077960e-01 -7.02076908e-01 -5.74395620e-03 -2.93000152e+02] [ 8.11000498e-03 4.44232091e-05 9.99967112e-01 -5.90232874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8265599949999 meters 0.05149298494454225 Centerline is valid? [True, True] Translation: X:603.28, Y:-292.96, Z:-5.90 [[-7.00572611e-01 -7.13560866e-01 5.37655652e-03 6.03276735e+02] [ 7.13540492e-01 -7.00593240e-01 -5.39249985e-03 -2.92959453e+02] [ 7.61465601e-03 5.85530892e-05 9.99971006e-01 -5.90136643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.886559995 meters 0.05163146170680829 Centerline is valid? [True, True] Translation: X:603.24, Y:-292.92, Z:-5.90 [[-6.97325987e-01 -7.16738101e-01 4.79186584e-03 6.03235822e+02] [ 7.16721997e-01 -6.97342446e-01 -4.80528636e-03 -2.92918182e+02] [ 6.78570326e-03 8.35846008e-05 9.99976973e-01 -5.90008040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9465599949999 meters 0.05167636069871137 Centerline is valid? [True, True] Translation: X:603.19, Y:-292.88, Z:-5.90 [[-6.93404578e-01 -7.20535241e-01 4.36553743e-03 6.03194246e+02] [ 7.20521958e-01 -6.93418311e-01 -4.37657589e-03 -2.92878621e+02] [ 6.18062076e-03 1.10727820e-04 9.99980894e-01 -5.90014339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.006559995 meters 0.05113388964553312 Centerline is valid? [True, True] Translation: X:603.15, Y:-292.84, Z:-5.90 [[-6.90396127e-01 -7.23417219e-01 4.55138836e-03 6.03152879e+02] [ 7.23402850e-01 -6.90411114e-01 -4.56168980e-03 -2.92838039e+02] [ 6.44233406e-03 1.43114337e-04 9.99979238e-01 -5.90007321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0665599949999 meters 0.05200870364768023 Centerline is valid? [True, True] Translation: X:603.11, Y:-292.80, Z:-5.90 [[-6.86070338e-01 -7.27516575e-01 5.20813724e-03 6.03108107e+02] [ 7.27497886e-01 -6.86090074e-01 -5.21884404e-03 -2.92803009e+02] [ 7.37004681e-03 2.08414736e-04 9.99972819e-01 -5.90136426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.126559995 meters 0.050980381634158606 Centerline is valid? [True, True] Translation: X:603.07, Y:-292.76, Z:-5.90 [[-6.83939341e-01 -7.29519934e-01 5.25764044e-03 6.03071064e+02] [ 7.29500957e-01 -6.83959510e-01 -5.26716003e-03 -2.92757603e+02] [ 7.43851142e-03 2.33035769e-04 9.99972307e-01 -5.89968650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1865599949999 meters 0.05082931912661312 Centerline is valid? [True, True] Translation: X:603.03, Y:-292.72, Z:-5.90 [[-6.83749411e-01 -7.29699097e-01 5.09618812e-03 6.03030016e+02] [ 7.29681280e-01 -6.83768364e-01 -5.10428334e-03 -2.92715864e+02] [ 7.20920316e-03 2.28542349e-04 9.99973987e-01 -5.89952075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.246559995 meters 0.050926315396597276 Centerline is valid? [True, True] Translation: X:602.99, Y:-292.67, Z:-5.90 [[-6.83323781e-01 -7.30096069e-01 5.32358690e-03 6.02989119e+02] [ 7.30076648e-01 -6.83344474e-01 -5.33086075e-03 -2.92673669e+02] [ 7.52988417e-03 2.43922555e-04 9.99971620e-01 -5.89980077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3065599949999 meters 0.05092071015105068 Centerline is valid? [True, True] Translation: X:602.95, Y:-292.63, Z:-5.90 [[-6.83690656e-01 -7.29742316e-01 6.57556608e-03 6.02949113e+02] [ 7.29712685e-01 -6.83722212e-01 -6.58289612e-03 -2.92631823e+02] [ 9.29967845e-03 2.97609411e-04 9.99956713e-01 -5.90051173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.366559995 meters 0.05155178496620529 Centerline is valid? [True, True] Translation: X:602.91, Y:-292.59, Z:-5.90 [[-6.84716980e-01 -7.28775121e-01 7.03420149e-03 6.02907700e+02] [ 7.28741171e-01 -6.84753043e-01 -7.04100818e-03 -2.92592780e+02] [ 9.94800246e-03 3.05014384e-04 9.99950471e-01 -5.90161366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4265599949999 meters 0.0509727150639527 Centerline is valid? [True, True] Translation: X:602.87, Y:-292.55, Z:-5.90 [[-6.87381707e-01 -7.26264455e-01 6.80660705e-03 6.02870811e+02] [ 7.26232558e-01 -6.87415357e-01 -6.81162722e-03 -2.92546760e+02] [ 9.62600895e-03 2.60991707e-04 9.99953635e-01 -5.90024045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.486559995 meters 0.051161486641041094 Centerline is valid? [True, True] Translation: X:602.83, Y:-292.51, Z:-5.90 [[-6.88997517e-01 -7.24736857e-01 6.23778322e-03 6.02831773e+02] [ 7.24710014e-01 -6.89025718e-01 -6.24144251e-03 -2.92505725e+02] [ 8.82139649e-03 2.20245575e-04 9.99961066e-01 -5.90017049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5465599949999 meters 0.05109780783222414 Centerline is valid? [True, True] Translation: X:602.79, Y:-292.47, Z:-5.90 [[-6.89109380e-01 -7.24633164e-01 5.91948553e-03 6.02790598e+02] [ 7.24609000e-01 -6.89134772e-01 -5.92138158e-03 -2.92466656e+02] [ 8.37015278e-03 2.08832901e-04 9.99964948e-01 -5.89998698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.606559995 meters 0.05146210881779016 Centerline is valid? [True, True] Translation: X:602.75, Y:-292.42, Z:-5.90 [[-6.89252308e-01 -7.24496228e-01 6.03917924e-03 6.02749897e+02] [ 7.24471085e-01 -6.89278732e-01 -6.03958740e-03 -2.92424707e+02] [ 8.53833610e-03 2.12411180e-04 9.99963525e-01 -5.89997023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.666559995 meters 0.05096501416088572 Centerline is valid? [True, True] Translation: X:602.71, Y:-292.38, Z:-5.90 [[-6.89346152e-01 -7.24407196e-01 6.00806983e-03 6.02709496e+02] [ 7.24382321e-01 -6.89372301e-01 -6.00693871e-03 -2.92383693e+02] [ 8.49326655e-03 2.11279486e-04 9.99963909e-01 -5.89972299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7265599949999 meters 0.05087383038348457 Centerline is valid? [True, True] Translation: X:602.20, Y:-292.80, Z:-4.91 [[-7.71799013e-01 6.35837011e-01 6.13022464e-03 6.02195306e+02] [ 6.35814793e-01 7.71823330e-01 -5.31950260e-03 -2.92796953e+02] [-8.11378703e-03 -2.07899342e-04 -9.99967061e-01 -4.91094436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.786559995 meters 0.05015838704498636 Centerline is valid? [True, True] Translation: X:602.59, Y:-292.28, Z:-5.90 [[-6.90586987e-01 -7.23233059e-01 4.85343247e-03 6.02587094e+02] [ 7.23216211e-01 -6.90604035e-01 -4.93757605e-03 -2.92281418e+02] [ 6.92281827e-03 1.00255271e-04 9.99976032e-01 -5.89803916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8465599949999 meters 0.05111966594945632 Centerline is valid? [True, True] Translation: X:602.12, Y:-292.73, Z:-4.91 [[-7.75921961e-01 6.30799418e-01 6.09958387e-03 6.02122854e+02] [ 6.30777584e-01 7.75945901e-01 -5.25341311e-03 -2.92731025e+02] [-8.04679704e-03 -2.28757827e-04 -9.99967598e-01 -4.91033028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.906559995 meters 0.05113738957527136 Centerline is valid? [True, True] Translation: X:602.09, Y:-292.61, Z:-4.91 [[-8.18856834e-01 5.73950825e-01 7.34414546e-03 6.02092251e+02] [ 5.73924834e-01 8.18889725e-01 -5.46835480e-03 -2.92606459e+02] [-9.15261200e-03 -2.62812234e-04 -9.99958079e-01 -4.91104263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9665599949999 meters 0.05150309683289905 Centerline is valid? [True, True] Translation: X:602.11, Y:-292.52, Z:-4.91 [[-8.57227244e-01 5.14879895e-01 7.75534429e-03 6.02108490e+02] [ 5.14856064e-01 8.57262286e-01 -4.96056833e-03 -2.92518634e+02] [-9.20246107e-03 -2.59448288e-04 -9.99957623e-01 -4.91147677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.026559995 meters 0.051465746564656994 Centerline is valid? [True, True] Translation: X:602.40, Y:-291.95, Z:-5.90 [[-7.89811353e-01 -6.13322669e-01 5.77335003e-03 6.02400813e+02] [ 6.13307084e-01 -7.89832448e-01 -4.37311634e-03 -2.91950654e+02] [ 7.24211057e-03 8.68995426e-05 9.99973772e-01 -5.89868262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0865599949999 meters 0.050930697031173824 Centerline is valid? [True, True] Translation: X:601.92, Y:-292.40, Z:-4.91 [[-8.53162026e-01 5.21623812e-01 4.81212289e-03 6.01924906e+02] [ 5.21614879e-01 8.53175592e-01 -3.05420054e-03 -2.92404034e+02] [-5.69872952e-03 -9.56530212e-05 -9.99983758e-01 -4.91363969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.146559995 meters 0.051717048232647146 Centerline is valid? [True, True] Translation: X:602.19, Y:-291.81, Z:-5.90 [[-8.00928306e-01 -5.98737630e-01 5.20570133e-03 6.02187168e+02] [ 5.98726158e-01 -8.00945210e-01 -3.70921557e-03 -2.91805064e+02] [ 6.39032848e-03 1.45973812e-04 9.99979571e-01 -5.90043124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2065599949999 meters 0.051771109943855496 Centerline is valid? [True, True] Translation: X:601.66, Y:-292.24, Z:-4.91 [[-8.45635555e-01 5.33731041e-01 5.62887366e-03 6.01659187e+02] [ 5.33719272e-01 8.45654289e-01 -3.54432577e-03 -2.92241340e+02] [-6.65179783e-03 7.03046962e-06 -9.99977877e-01 -4.91287462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.266559995 meters 0.052312350404143025 Centerline is valid? [True, True] Translation: X:601.89, Y:-291.59, Z:-5.90 [[-8.13979906e-01 -5.80871745e-01 4.97279768e-03 6.01886450e+02] [ 5.80860645e-01 -8.13995095e-01 -3.59122123e-03 -2.91592076e+02] [ 6.13387187e-03 -3.46794550e-05 9.99981187e-01 -5.89564856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3265599949999 meters 0.052474519024929146 Centerline is valid? [True, True] Translation: X:601.45, Y:-292.12, Z:-4.91 [[-8.41793493e-01 5.39768868e-01 5.76926577e-03 6.01452829e+02] [ 5.39756847e-01 8.41813259e-01 -3.60332856e-03 -2.92119547e+02] [-6.80160900e-03 8.07421674e-05 -9.99976866e-01 -4.91145766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.386559995 meters 0.05238933303071706 Centerline is valid? [True, True] Translation: X:601.42, Y:-292.01, Z:-4.91 [[-8.77202419e-01 4.80080866e-01 6.18703503e-03 6.01416509e+02] [ 4.80069678e-01 8.77224232e-01 -3.27889058e-03 -2.92010859e+02] [-7.00154968e-03 9.39571636e-05 -9.99975484e-01 -4.91366484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4465599949999 meters 0.05267747103176248 Centerline is valid? [True, True] Translation: X:601.71, Y:-291.41, Z:-5.90 [[-8.56139442e-01 -5.16702835e-01 6.59057252e-03 6.01707950e+02] [ 5.16687026e-01 -8.56164807e-01 -4.04232281e-03 -2.91407093e+02] [ 7.73129591e-03 -5.55286847e-05 9.99970112e-01 -5.89749126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.506559995 meters 0.052372859485329736 Centerline is valid? [True, True] Translation: X:601.34, Y:-291.96, Z:-4.91 [[-8.81245487e-01 4.72602179e-01 7.31934125e-03 6.01343442e+02] [ 4.72586551e-01 8.81275879e-01 -3.84407427e-03 -2.91963788e+02] [-8.26707677e-03 7.14491351e-05 -9.99965825e-01 -4.91380150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5665599949999 meters 0.05318827265746973 Centerline is valid? [True, True] Translation: X:601.66, Y:-292.02, Z:-4.92 [[-9.15288034e-01 4.02714224e-01 8.31073515e-03 6.01664841e+02] [ 4.02698034e-01 9.15325763e-01 -3.61121016e-03 -2.92023864e+02] [-9.06131569e-03 4.14192637e-05 -9.99958945e-01 -4.91740639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.626559995 meters 0.052417169440099415 Centerline is valid? [True, True] Translation: X:600.88, Y:-291.63, Z:-4.91 [[-9.42756596e-01 3.33348411e-01 9.42533623e-03 6.00881558e+02] [ 3.33331826e-01 9.42803711e-01 -3.32516185e-03 -2.91625157e+02] [-9.99467939e-03 6.94627766e-06 -9.99950052e-01 -4.91232205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6865599949999 meters 0.052430886209949845 Centerline is valid? [True, True] Translation: X:601.06, Y:-291.02, Z:-5.90 [[-9.17961337e-01 -3.96569273e-01 8.93284205e-03 6.01056040e+02] [ 3.96550246e-01 -9.18004799e-01 -3.88474055e-03 -2.91019682e+02] [ 9.74096060e-03 -2.37209102e-05 9.99952555e-01 -5.89584849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.746559995 meters 0.05224892697790015 Centerline is valid? [True, True] Translation: X:600.81, Y:-291.59, Z:-4.91 [[-9.45997693e-01 3.24086835e-01 7.48917842e-03 6.00807713e+02] [ 3.24076319e-01 9.46027337e-01 -2.61101311e-03 -2.91590298e+02] [-7.93116249e-03 -4.29470027e-05 -9.99968547e-01 -4.91389377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8065599949999 meters 0.051938569727239745 Centerline is valid? [True, True] Translation: X:601.10, Y:-291.59, Z:-4.92 [[-9.68398302e-01 2.49322173e-01 6.57139562e-03 6.01098344e+02] [ 2.49315978e-01 9.68420596e-01 -1.75885037e-03 -2.91593810e+02] [-6.80239526e-03 -6.49137911e-05 -9.99976861e-01 -4.91809450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.866559995 meters 0.05270318115637183 Centerline is valid? [True, True] Translation: X:600.68, Y:-291.40, Z:-4.91 [[-9.84391514e-01 1.75803288e-01 8.15792644e-03 6.00677522e+02] [ 1.75796278e-01 9.84425310e-01 -1.57415115e-03 -2.91402478e+02] [-8.30761021e-03 -1.15447927e-04 -9.99965485e-01 -4.91369548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9265599949999 meters 0.05207046922974627 Centerline is valid? [True, True] Translation: X:600.64, Y:-291.32, Z:-4.92 [[-9.94675145e-01 1.02545627e-01 1.02835202e-02 6.00642940e+02] [ 1.02538344e-01 9.94728287e-01 -1.23435577e-03 -2.91320083e+02] [-1.03558862e-02 -1.73327878e-04 -9.99946361e-01 -4.91516102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.986559995 meters 0.05256507578546059 Centerline is valid? [True, True] Translation: X:600.68, Y:-290.74, Z:-5.90 [[-9.78747731e-01 -2.04710014e-01 1.21115634e-02 6.00676074e+02] [ 2.04698619e-01 -9.78822607e-01 -2.18640898e-03 -2.90740823e+02] [ 1.23026519e-02 3.39277468e-04 9.99924262e-01 -5.89535098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0465599949999 meters 0.05290304576977112 Centerline is valid? [True, True] Translation: X:600.51, Y:-291.30, Z:-4.91 [[-9.95367755e-01 9.53119320e-02 1.25963192e-02 6.00514973e+02] [ 9.53010395e-02 9.95447422e-01 -1.46353699e-03 -2.91302415e+02] [-1.26784660e-02 -2.56315217e-04 -9.99919592e-01 -4.91403505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.106559995 meters 0.0529258584040497 Centerline is valid? [True, True] Translation: X:600.58, Y:-291.23, Z:-4.92 [[-9.99584751e-01 2.54873185e-02 1.34433226e-02 6.00578444e+02] [ 2.54816239e-02 9.99675114e-01 -5.94751068e-04 -2.91231507e+02] [-1.34541136e-02 -2.51946410e-04 -9.99909458e-01 -4.91627913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.166559995 meters 0.053488568334110725 Centerline is valid? [True, True] Translation: X:600.31, Y:-291.15, Z:-4.92 [[-9.99123999e-01 -3.98937743e-02 1.26380566e-02 6.00310594e+02] [-3.98926905e-02 9.99203913e-01 3.37938774e-04 -2.91152962e+02] [-1.26414773e-02 -1.66523342e-04 -9.99920079e-01 -4.91546970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2265599949999 meters 0.05348566827818015 Centerline is valid? [True, True] Translation: X:600.16, Y:-290.57, Z:-5.89 [[-9.98951046e-01 -4.45729754e-02 1.04908129e-02 6.00157276e+02] [ 4.45707121e-02 -9.99006131e-01 -4.49554484e-04 -2.90565326e+02] [ 1.05004244e-02 1.85000815e-05 9.99944869e-01 -5.89420945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.286559995 meters 0.05311092029067641 Centerline is valid? [True, True] Translation: X:600.40, Y:-291.16, Z:-4.92 [[-9.99386214e-01 -3.36584020e-02 9.71120873e-03 6.00401752e+02] [-3.36567199e-02 9.99433395e-01 3.36633560e-04 -2.91161205e+02] [-9.71703686e-03 9.57950692e-06 -9.99952788e-01 -4.91830496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3465599949999 meters 0.05391359606093577 Centerline is valid? [True, True] Translation: X:600.48, Y:-291.07, Z:-4.92 [[-9.94967970e-01 -9.97813505e-02 9.07853851e-03 6.00477363e+02] [-9.97765276e-02 9.95009385e-01 9.83745649e-04 -2.91069545e+02] [-9.13139049e-03 7.29703634e-05 -9.99958305e-01 -4.92076338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.406559995 meters 0.05339770335544471 Centerline is valid? [True, True] Translation: X:600.12, Y:-291.04, Z:-4.92 [[-9.86519499e-01 -1.63318876e-01 1.03064900e-02 6.00123221e+02] [-1.63308310e-01 9.86573322e-01 1.86427697e-03 -2.91038161e+02] [-1.04725797e-02 1.56010115e-04 -9.99945149e-01 -4.91775443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4665599949999 meters 0.05387355776101587 Centerline is valid? [True, True] Translation: X:599.82, Y:-291.02, Z:-4.92 [[-9.73762068e-01 -2.27303600e-01 1.09776457e-02 5.99819253e+02] [-2.27286436e-01 9.73823915e-01 2.80315540e-03 -2.91023528e+02] [-1.13274612e-02 2.34536436e-04 -9.99935815e-01 -4.91801777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.526559995 meters 0.05433662144848863 Centerline is valid? [True, True] Translation: X:599.36, Y:-290.50, Z:-5.89 [[-9.77765009e-01 2.09408128e-01 1.11275657e-02 5.99360404e+02] [-2.09397291e-01 -9.77828298e-01 2.14328013e-03 -2.90496365e+02] [ 1.13296689e-02 -2.34457800e-04 9.99935790e-01 -5.89401070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5865599949999 meters 0.05537564292667834 Centerline is valid? [True, True] Translation: X:599.32, Y:-291.15, Z:-4.92 [[-9.76889729e-01 -2.13513786e-01 9.91564301e-03 5.99320920e+02] [-2.13498657e-01 9.76939971e-01 2.57233376e-03 -2.91150100e+02] [-1.02362167e-02 3.95909970e-04 -9.99947530e-01 -4.91783717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.646559995 meters 0.055217310398432716 Centerline is valid? [True, True] Translation: X:599.49, Y:-291.01, Z:-4.92 [[-9.60046912e-01 -2.79719300e-01 8.18784882e-03 5.99491535e+02] [-2.79705595e-01 9.60081745e-01 2.79686660e-03 -2.91012223e+02] [-8.64334175e-03 3.94936012e-04 -9.99962568e-01 -4.92021246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7065599949999 meters 0.056160400744316975 Centerline is valid? [True, True] Translation: X:599.43, Y:-290.95, Z:-4.92 [[-9.36808934e-01 -3.49755145e-01 7.76912017e-03 5.99432831e+02] [-3.49739715e-01 9.36841072e-01 3.30733689e-03 -2.90948185e+02] [-8.43518896e-03 3.81172875e-04 -9.99964351e-01 -4.91927755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.766559995 meters 0.05530676461958071 Centerline is valid? [True, True] Translation: X:599.13, Y:-290.98, Z:-4.92 [[-9.07580738e-01 -4.19817897e-01 7.08076048e-03 5.99131487e+02] [-4.19802352e-01 9.07608303e-01 3.62685657e-03 -2.90982923e+02] [-7.94917630e-03 3.19145263e-04 -9.99968354e-01 -4.92075007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8265599949999 meters 0.05532391309982106 Centerline is valid? [True, True] Translation: X:598.99, Y:-290.95, Z:-4.92 [[-8.68029303e-01 -4.96460680e-01 7.20571026e-03 5.98991978e+02] [-4.96441474e-01 8.68059183e-01 4.37240502e-03 -2.90954465e+02] [-8.42571013e-03 2.18162260e-04 -9.99964479e-01 -4.92098004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.886559995 meters 0.054447765511696326 Centerline is valid? [True, True] Translation: X:598.87, Y:-290.92, Z:-4.92 [[-8.19202207e-01 -5.73462756e-01 6.94347228e-03 5.98874546e+02] [-5.73441483e-01 8.19231630e-01 4.93991660e-03 -2.90921535e+02] [-8.52117030e-03 6.51155409e-05 -9.99963692e-01 -4.92064019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9465599949999 meters 0.054458002712459555 Centerline is valid? [True, True] Translation: X:598.16, Y:-291.35, Z:-4.92 [[-7.68392553e-01 -6.39948194e-01 6.26051789e-03 5.98164300e+02] [-6.39927409e-01 7.68418055e-01 5.15792697e-03 -2.91353947e+02] [-8.11150103e-03 -4.29643221e-05 -9.99967100e-01 -4.91736652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.006559995 meters 0.054223475733812476 Centerline is valid? [True, True] Translation: X:598.09, Y:-291.31, Z:-4.92 [[-7.07468341e-01 -7.06722712e-01 5.61737584e-03 5.98090377e+02] [-7.06702312e-01 7.07490622e-01 5.37229337e-03 -2.91305641e+02] [-7.77096246e-03 -1.69085016e-04 -9.99969791e-01 -4.91957923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0665599949999 meters 0.05378643631027552 Centerline is valid? [True, True] Translation: X:597.96, Y:-291.32, Z:-4.92 [[-6.46512758e-01 -7.62887788e-01 4.84518447e-03 5.97962377e+02] [-7.62868947e-01 6.46530874e-01 5.36648541e-03 -2.91323935e+02] [-7.22658753e-03 -2.26739491e-04 -9.99973862e-01 -4.92203617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.126559995 meters 0.054590600793201695 Centerline is valid? [True, True] Translation: X:597.82, Y:-291.37, Z:-4.92 [[-5.87632937e-01 -8.09114524e-01 4.60638548e-03 5.97816230e+02] [-8.09092930e-01 5.87650938e-01 5.91662429e-03 -2.91366086e+02] [-7.49417339e-03 -2.50190614e-04 -9.99971887e-01 -4.92200323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1865599949999 meters 0.054389075824606614 Centerline is valid? [True, True] Translation: X:597.66, Y:-291.44, Z:-4.92 [[-5.28417680e-01 -8.48971648e-01 4.67933213e-03 5.97663915e+02] [-8.48942788e-01 5.28438329e-01 7.00544300e-03 -2.91441969e+02] [-8.42016094e-03 -2.70685324e-04 -9.99964513e-01 -4.92137900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.246559995 meters 0.05445949328997584 Centerline is valid? [True, True] Translation: X:597.49, Y:-291.58, Z:-4.92 [[-4.68944226e-01 -8.83212324e-01 5.22524825e-03 5.97494764e+02] [-8.83164439e-01 4.68973240e-01 9.20183564e-03 -2.91575202e+02] [-1.05776762e-02 -2.99605750e-04 -9.99944010e-01 -4.92071551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3065599949999 meters 0.05464788033309725 Centerline is valid? [True, True] Translation: X:597.34, Y:-291.71, Z:-4.92 [[-4.06259810e-01 -9.13741827e-01 5.37031755e-03 5.97339731e+02] [-9.13671954e-01 4.06295181e-01 1.13042905e-02 -2.91713712e+02] [-1.25111372e-02 -3.14229629e-04 -9.99921683e-01 -4.92060380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.366559995 meters 0.054129770264137865 Centerline is valid? [True, True] Translation: X:597.19, Y:-291.88, Z:-4.92 [[-3.43497278e-01 -9.39141526e-01 4.77636720e-03 5.97190506e+02] [-9.39060965e-01 3.43530387e-01 1.23035842e-02 -2.91878130e+02] [-1.31956341e-02 -2.59052320e-04 -9.99912900e-01 -4.91978801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4265599949999 meters 0.053994644274212 Centerline is valid? [True, True] Translation: X:597.05, Y:-292.08, Z:-4.92 [[-2.79344002e-01 -9.60184336e-01 3.60122032e-03 5.97047489e+02] [-9.60112379e-01 2.79367160e-01 1.17562923e-02 -2.92077368e+02] [-1.22942704e-02 -1.73526461e-04 -9.99924408e-01 -4.91945263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.486559995 meters 0.05358808907260509 Centerline is valid? [True, True] Translation: X:596.92, Y:-292.27, Z:-4.92 [[-2.11120537e-01 -9.77456806e-01 2.51211932e-03 5.96924657e+02] [-9.77394535e-01 2.11135445e-01 1.10339085e-02 -2.92266861e+02] [-1.13155664e-02 -1.25847013e-04 -9.99935969e-01 -4.91930260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5465599949999 meters 0.05433703675384879 Centerline is valid? [True, True] Translation: X:596.82, Y:-292.47, Z:-4.92 [[-1.43147069e-01 -9.89700231e-01 1.53953354e-03 5.96819815e+02] [-9.89648012e-01 1.43155331e-01 1.01667509e-02 -2.92474133e+02] [-1.02824281e-02 -6.82557171e-05 -9.99947132e-01 -4.91936367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.606559995 meters 0.054012201454686395 Centerline is valid? [True, True] Translation: X:596.73, Y:-292.65, Z:-4.92 [[-7.13786306e-02 -9.97448985e-01 7.83265264e-04 5.96730618e+02] [-9.97396425e-01 7.13829103e-02 1.02397397e-02 -2.92648063e+02] [-1.02695298e-02 -5.03273723e-05 -9.99947266e-01 -4.92012211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.666559995 meters 0.053788974413640264 Centerline is valid? [True, True] Translation: X:596.65, Y:-292.91, Z:-4.92 [[ 6.60892731e-04 -9.99999781e-01 2.76284925e-05 5.96652692e+02] [-9.99952183e-01 -6.60591705e-04 9.75684206e-03 -2.92912065e+02] [-9.75682168e-03 -3.40753973e-05 -9.99952401e-01 -4.92240166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7265599949999 meters 0.05320688954962183 Centerline is valid? [True, True] Translation: X:596.58, Y:-292.93, Z:-4.92 [[ 7.50018063e-02 -9.97183083e-01 -7.92687691e-04 5.96582217e+02] [-9.97122538e-01 -7.50059875e-02 1.09884192e-02 -2.92925262e+02] [-1.10169220e-02 -3.37445247e-05 -9.99939311e-01 -4.92193740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.786559995 meters 0.05358570448479117 Centerline is valid? [True, True] Translation: X:596.54, Y:-293.26, Z:-4.92 [[ 1.48348851e-01 -9.88933863e-01 -1.56000793e-03 5.96544458e+02] [-9.88876477e-01 -1.48357048e-01 1.06535805e-02 -2.93257825e+02] [-1.07671247e-02 -3.77912783e-05 -9.99942032e-01 -4.92352666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8465599949999 meters 0.05354633968708243 Centerline is valid? [True, True] Translation: X:596.50, Y:-293.45, Z:-4.92 [[ 2.23267694e-01 -9.74754551e-01 -2.25886245e-03 5.96504430e+02] [-9.74701936e-01 -2.23279113e-01 1.01278363e-02 -2.93445915e+02] [-1.03765114e-02 -5.95010681e-05 -9.99946161e-01 -4.92304943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.906559995 meters 0.053879297297951205 Centerline is valid? [True, True] Translation: X:596.50, Y:-293.71, Z:-4.92 [[ 2.96115278e-01 -9.55147295e-01 -3.06392876e-03 5.96499927e+02] [-9.55093372e-01 -2.96131118e-01 1.01494985e-02 -2.93713557e+02] [-1.06015907e-02 -7.90835287e-05 -9.99943798e-01 -4.92483599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9665599949999 meters 0.053760542983709726 Centerline is valid? [True, True] Translation: X:596.49, Y:-293.91, Z:-4.93 [[ 3.67051220e-01 -9.30192740e-01 -3.85588282e-03 5.96491151e+02] [-9.30138728e-01 -3.67071461e-01 1.00244639e-02 -2.93909598e+02] [-1.07400681e-02 -9.29857807e-05 -9.99942319e-01 -4.92549353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.026559995 meters 0.05364332872896012 Centerline is valid? [True, True] Translation: X:596.50, Y:-294.12, Z:-4.93 [[ 4.35813589e-01 -9.00027611e-01 -4.10065049e-03 5.96501613e+02] [-8.99985698e-01 -4.35832870e-01 8.68636103e-03 -2.94119559e+02] [-9.60516304e-03 -9.51073773e-05 -9.99953865e-01 -4.92601098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0865599949999 meters 0.05308720598872521 Centerline is valid? [True, True] Translation: X:596.50, Y:-294.27, Z:-4.92 [[ 5.02234838e-01 -8.64720151e-01 -4.38489045e-03 5.96496054e+02] [-8.64685453e-01 -5.02253970e-01 7.74713878e-03 -2.94274404e+02] [-8.90143566e-03 -9.93320054e-05 -9.99960377e-01 -4.92392919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.146559995 meters 0.05329573462698261 Centerline is valid? [True, True] Translation: X:596.54, Y:-294.48, Z:-4.93 [[ 5.65743404e-01 -8.24569223e-01 -4.47179161e-03 5.96539520e+02] [-8.24542034e-01 -5.65761068e-01 6.69683413e-03 -2.94484481e+02] [-8.05196891e-03 -1.01509583e-04 -9.99967577e-01 -4.92520714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2065599949999 meters 0.05281662157451907 Centerline is valid? [True, True] Translation: X:596.59, Y:-294.68, Z:-4.93 [[ 6.26530229e-01 -7.79381217e-01 -4.97904400e-03 5.96586480e+02] [-7.79355086e-01 -6.26550002e-01 6.38316239e-03 -2.94677666e+02] [-8.09453690e-03 -1.18800934e-04 -9.99967232e-01 -4.92531601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.266559995 meters 0.052948604962035205 Centerline is valid? [True, True] Translation: X:596.63, Y:-294.85, Z:-4.93 [[ 6.84793803e-01 -7.28713837e-01 -5.79567661e-03 5.96632900e+02] [-7.28685768e-01 -6.84818310e-01 6.39787682e-03 -2.94850057e+02] [-8.63120683e-03 -1.57999337e-04 -9.99962738e-01 -4.92548592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3265599949999 meters 0.0530395716336273 Centerline is valid? [True, True] Translation: X:596.72, Y:-295.06, Z:-4.92 [[ 7.38775508e-01 -6.73916516e-01 -6.87596415e-03 5.96724511e+02] [-6.73884691e-01 -7.38807476e-01 6.55264139e-03 -2.95055873e+02] [-9.49594697e-03 -2.07323995e-04 -9.99954891e-01 -4.92495039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.386559995 meters 0.05236803817665474 Centerline is valid? [True, True] Translation: X:596.70, Y:-295.14, Z:-4.93 [[ 7.89790228e-01 -6.13324857e-01 -8.00097405e-03 5.96701771e+02] [-6.13290340e-01 -7.89830719e-01 6.51104264e-03 -2.95135124e+02] [-1.03127994e-02 -2.35437756e-04 -9.99946794e-01 -4.92539702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4465599949999 meters 0.053131624907820904 Centerline is valid? [True, True] Translation: X:596.68, Y:-295.22, Z:-4.92 [[ 8.34815075e-01 -5.50457112e-01 -8.98654053e-03 5.96680208e+02] [-5.50422113e-01 -8.34863408e-01 6.21192114e-03 -2.95221551e+02] [-1.09219300e-02 -2.39414786e-04 -9.99940325e-01 -4.92309525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.506559995 meters 0.05252699991734462 Centerline is valid? [True, True] Translation: X:596.67, Y:-295.31, Z:-4.93 [[ 8.73702283e-01 -4.86357126e-01 -1.00531382e-02 5.96668704e+02] [-4.86322061e-01 -8.73760092e-01 5.84418163e-03 -2.95305304e+02] [-1.16263903e-02 -2.17011954e-04 -9.99932388e-01 -4.92540581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5665599949999 meters 0.052935453013369306 Centerline is valid? [True, True] Translation: X:596.66, Y:-295.39, Z:-4.92 [[ 9.07454591e-01 -4.19983661e-01 -1.18275196e-02 5.96660985e+02] [-4.19945177e-01 -9.07531645e-01 5.68877455e-03 -2.95390988e+02] [-1.31230407e-02 -1.95394769e-04 -9.99913870e-01 -4.92411325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.626559995 meters 0.05304214716817411 Centerline is valid? [True, True] Translation: X:596.66, Y:-295.48, Z:-4.93 [[ 9.35929894e-01 -3.51965977e-01 -1.24573307e-02 5.96660718e+02] [-3.51932822e-01 -9.36012784e-01 4.83290673e-03 -2.95478103e+02] [-1.33612396e-02 -1.39118323e-04 -9.99910725e-01 -4.92553116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6865599949999 meters 0.05270039002126855 Centerline is valid? [True, True] Translation: X:596.67, Y:-295.57, Z:-4.93 [[ 9.59783181e-01 -2.80504297e-01 -1.15579230e-02 5.96665246e+02] [-2.80482817e-01 -9.59852765e-01 3.47245094e-03 -2.95565215e+02] [-1.20679418e-02 -9.10011916e-05 -9.99927176e-01 -4.92599944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.746559995 meters 0.05260347091543811 Centerline is valid? [True, True] Translation: X:596.68, Y:-295.64, Z:-4.93 [[ 9.77829292e-01 -2.09204705e-01 -9.12510225e-03 5.96678004e+02] [-2.09195335e-01 -9.77871868e-01 1.98016556e-03 -2.95644895e+02] [-9.33744074e-03 -2.73350616e-05 -9.99956405e-01 -4.92737408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8065599949999 meters 0.05220807346206938 Centerline is valid? [True, True] Translation: X:596.70, Y:-295.73, Z:-4.93 [[ 9.90674177e-01 -1.36079563e-01 -6.85761495e-03 5.96696298e+02] [-1.36076349e-01 -9.90697912e-01 9.35309549e-04 -2.95726626e+02] [-6.92110133e-03 6.57219004e-06 -9.99976049e-01 -4.92833462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.866559995 meters 0.05222312121677178 Centerline is valid? [True, True] Translation: X:596.72, Y:-295.81, Z:-4.93 [[ 9.98215223e-01 -5.92512652e-02 -7.46025096e-03 5.96720003e+02] [-5.92497232e-02 -9.98243100e-01 4.27730318e-04 -2.95805578e+02] [-7.47248761e-03 1.50508891e-05 -9.99972080e-01 -4.92692640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9265599949999 meters 0.052288632692942 Centerline is valid? [True, True] Translation: X:596.75, Y:-295.88, Z:-4.93 [[ 9.99718103e-01 2.23463188e-02 -8.02224593e-03 5.96745176e+02] [ 2.23456810e-02 -9.99750290e-01 -1.69134768e-04 -2.95881632e+02] [-8.02402223e-03 -1.01754595e-05 -9.99967807e-01 -4.92716966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.986559995 meters 0.05211216967189815 Centerline is valid? [True, True] Translation: X:596.78, Y:-295.96, Z:-4.93 [[ 9.94103083e-01 1.07953259e-01 -1.02544698e-02 5.96775580e+02] [ 1.07948442e-01 -9.94155967e-01 -1.02364196e-03 -2.95959502e+02] [-1.03050478e-02 -8.93484071e-05 -9.99946898e-01 -4.92582249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0465599949999 meters 0.05247449323080001 Centerline is valid? [True, True] Translation: X:596.81, Y:-296.04, Z:-4.93 [[ 9.81638026e-01 1.90465843e-01 -1.04665956e-02 5.96813952e+02] [ 1.90456610e-01 -9.81693812e-01 -1.88109772e-03 -2.96039032e+02] [-1.06332770e-02 -1.46875257e-04 -9.99943454e-01 -4.92658409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.106559995 meters 0.05246196908593504 Centerline is valid? [True, True] Translation: X:596.86, Y:-296.11, Z:-4.93 [[ 9.63503034e-01 2.67520765e-01 -9.72333513e-03 5.96856594e+02] [ 2.67508688e-01 -9.63552084e-01 -2.54626480e-03 -2.96113098e+02] [-1.00501185e-02 -1.47742760e-04 -9.99949485e-01 -4.92729814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.166559995 meters 0.05203673649019032 Centerline is valid? [True, True] Translation: X:596.91, Y:-296.19, Z:-4.93 [[ 9.40084876e-01 3.40855771e-01 -7.60065027e-03 5.96907080e+02] [ 3.40845562e-01 -9.40115595e-01 -2.64036623e-03 -2.96187879e+02] [-8.04547392e-03 -1.08479558e-04 -9.99967629e-01 -4.92952129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2265599949999 meters 0.051808183392094594 Centerline is valid? [True, True] Translation: X:596.96, Y:-296.26, Z:-4.93 [[ 9.10779110e-01 4.12837747e-01 -6.81227456e-03 5.96964475e+02] [ 4.12826987e-01 -9.10804582e-01 -2.98210077e-03 -2.96262151e+02] [-7.43577464e-03 -9.62556964e-05 -9.99972350e-01 -4.92789865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.286559995 meters 0.05209119058033485 Centerline is valid? [True, True] Translation: X:597.02, Y:-296.31, Z:-4.93 [[ 8.75605147e-01 4.82985964e-01 -6.33921223e-03 5.97019495e+02] [ 4.82974085e-01 -8.75628089e-01 -3.38880217e-03 -2.96314037e+02] [-7.18753617e-03 -9.44226042e-05 -9.99974165e-01 -4.92814709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3465599949999 meters 0.05212992637054569 Centerline is valid? [True, True] Translation: X:597.08, Y:-296.37, Z:-4.93 [[ 8.34569066e-01 5.50871957e-01 -5.87893897e-03 5.97081880e+02] [ 5.50859121e-01 -8.34589766e-01 -3.76177061e-03 -2.96366631e+02] [-6.97875623e-03 -9.90097722e-05 -9.99975643e-01 -4.92766786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.406559995 meters 0.05286037385660535 Centerline is valid? [True, True] Translation: X:597.15, Y:-296.41, Z:-4.93 [[ 7.87626910e-01 6.16123000e-01 -6.02484134e-03 5.97148702e+02] [ 6.16106159e-01 -7.87649944e-01 -4.55708035e-03 -2.96414315e+02] [-7.55318796e-03 -1.22662742e-04 -9.99971467e-01 -4.92659538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4665599949999 meters 0.05271134450952519 Centerline is valid? [True, True] Translation: X:597.22, Y:-296.46, Z:-4.93 [[ 7.35081466e-01 6.77945848e-01 -6.68320599e-03 5.97219274e+02] [ 6.77919912e-01 -7.35111827e-01 -5.93243264e-03 -2.96457231e+02] [-8.93477185e-03 -1.69857134e-04 -9.99960070e-01 -4.92581549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.526559995 meters 0.05184950744299951 Centerline is valid? [True, True] Translation: X:597.30, Y:-296.50, Z:-4.93 [[ 6.77814313e-01 7.35204815e-01 -6.45267234e-03 5.97301493e+02] [ 7.35174303e-01 -6.77844996e-01 -6.70115829e-03 -2.96504130e+02] [-9.30063549e-03 -2.01697890e-04 -9.99956728e-01 -4.92701495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5865599949999 meters 0.051982530120638026 Centerline is valid? [True, True] Translation: X:597.39, Y:-296.55, Z:-4.93 [[ 6.17374387e-01 7.86649685e-01 -5.58021996e-03 5.97392732e+02] [ 7.86620443e-01 -6.17399573e-01 -6.78575026e-03 -2.96549090e+02] [-8.78323372e-03 -2.00166686e-04 -9.99961407e-01 -4.92524692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.646559995 meters 0.0526149390368945 Centerline is valid? [True, True] Translation: X:597.47, Y:-296.58, Z:-4.93 [[ 5.55112788e-01 8.31762359e-01 -4.60111126e-03 5.97473715e+02] [ 8.31736318e-01 -5.55131829e-01 -6.58404572e-03 -2.96576626e+02] [-8.03058471e-03 -1.72023362e-04 -9.99967740e-01 -4.92536959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7065599949999 meters 0.052279567255413634 Centerline is valid? [True, True] Translation: X:597.56, Y:-296.60, Z:-4.93 [[ 4.90741472e-01 8.71298597e-01 -3.40035270e-03 5.97561175e+02] [ 8.71279428e-01 -4.90753236e-01 -5.78101113e-03 -2.96599658e+02] [-6.70572098e-03 -1.25675452e-04 -9.99977509e-01 -4.92756661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.766559995 meters 0.05146711491223158 Centerline is valid? [True, True] Translation: X:597.65, Y:-296.62, Z:-4.93 [[ 4.21738893e-01 9.06712769e-01 -2.87421069e-03 5.97654445e+02] [ 9.06693588e-01 -4.21748670e-01 -5.89883127e-03 -2.96619131e+02] [-6.56074017e-03 -1.18261830e-04 -9.99978471e-01 -4.92647072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8265599949999 meters 0.05222896435723467 Centerline is valid? [True, True] Translation: X:597.74, Y:-296.63, Z:-4.93 [[ 3.49451918e-01 9.36951697e-01 -2.20769478e-03 5.97744693e+02] [ 9.36934927e-01 -3.49458875e-01 -5.60689091e-03 -2.96629432e+02] [-6.02488449e-03 -1.09127563e-04 -9.99981844e-01 -4.92627841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.886559995 meters 0.05223377924561943 Centerline is valid? [True, True] Translation: X:597.84, Y:-296.63, Z:-4.93 [[ 2.75029359e-01 9.61434155e-01 -1.79362037e-03 5.97835022e+02] [ 9.61416272e-01 -2.75035185e-01 -5.86504157e-03 -2.96632813e+02] [-6.13216000e-03 -1.11357183e-04 -9.99981192e-01 -4.92551638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9465599949999 meters 0.051645188201005075 Centerline is valid? [True, True] Translation: X:597.93, Y:-296.63, Z:-4.93 [[ 1.99417390e-01 9.79913827e-01 -1.26353291e-03 5.97927143e+02] [ 9.79897306e-01 -1.99421367e-01 -5.69099569e-03 -2.96628772e+02] [-5.82866082e-03 -1.03248984e-04 -9.99983008e-01 -4.92579041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.006559995 meters 0.05168729168673776 Centerline is valid? [True, True] Translation: X:598.02, Y:-296.62, Z:-4.92 [[ 1.23359910e-01 9.92361669e-01 -8.06981193e-04 5.98020765e+02] [ 9.92345187e-01 -1.23362512e-01 -5.72013893e-03 -2.96617451e+02] [-5.77599784e-03 -9.51680825e-05 -9.99983314e-01 -4.92494948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0665599949999 meters 0.051928573407952455 Centerline is valid? [True, True] Translation: X:598.11, Y:-296.60, Z:-4.92 [[ 4.59099053e-02 9.98945521e-01 -3.57036059e-04 5.98114169e+02] [ 9.98928885e-01 -4.59112015e-02 -5.76573567e-03 -2.96599992e+02] [-5.77604777e-03 -9.19492544e-05 -9.99983314e-01 -4.92404674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.126559995 meters 0.05137297660713572 Centerline is valid? [True, True] Translation: X:598.20, Y:-296.57, Z:-4.92 [[-3.33745687e-02 9.99442911e-01 7.54082925e-05 5.98202503e+02] [ 9.99432281e-01 3.33745616e-02 -4.61031186e-03 -2.96574984e+02] [-4.61026023e-03 -7.85016884e-05 -9.99989370e-01 -4.92497950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1865599949999 meters 0.05265260817992853 Centerline is valid? [True, True] Translation: X:598.29, Y:-296.54, Z:-4.92 [[-1.14116538e-01 9.93467262e-01 4.63704132e-04 5.98292166e+02] [ 9.93455279e-01 1.14117439e-01 -4.88038650e-03 -2.96543195e+02] [-4.90142095e-03 -9.62634930e-05 -9.99987983e-01 -4.92420732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.246559995 meters 0.05184473610718415 Centerline is valid? [True, True] Translation: X:598.37, Y:-296.51, Z:-4.92 [[-1.93522369e-01 9.81095364e-01 9.89637694e-04 5.98369624e+02] [ 9.81079051e-01 1.93524860e-01 -5.65893939e-03 -2.96505322e+02] [-5.74347870e-03 -1.24218547e-04 -9.99983498e-01 -4.92282415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3065599949999 meters 0.051824661156245996 Centerline is valid? [True, True] Translation: X:598.44, Y:-296.46, Z:-4.92 [[-2.70565068e-01 9.62700317e-01 1.62611520e-03 5.98443025e+02] [ 9.62679529e-01 2.70569915e-01 -6.32810396e-03 -2.96461057e+02] [-6.53204554e-03 -1.46736061e-04 -9.99978655e-01 -4.92314791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.366559995 meters 0.051445120835282784 Centerline is valid? [True, True] Translation: X:598.52, Y:-296.41, Z:-4.92 [[-3.45382978e-01 9.38459357e-01 2.15262218e-03 5.98520711e+02] [ 9.38438303e-01 3.45389653e-01 -6.28795922e-03 -2.96408717e+02] [-6.64448759e-03 -1.51650979e-04 -9.99977914e-01 -4.92416899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4265599949999 meters 0.051564067554411876 Centerline is valid? [True, True] Translation: X:598.60, Y:-296.35, Z:-4.92 [[-4.17909538e-01 9.08486056e-01 2.16888875e-03 5.98600341e+02] [ 9.08472213e-01 4.17915147e-01 -5.01671972e-03 -2.96349328e+02] [-5.46403138e-03 -1.26159858e-04 -9.99985064e-01 -4.92383763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.486559995 meters 0.05181143850928848 Centerline is valid? [True, True] Translation: X:598.67, Y:-296.29, Z:-4.92 [[-4.87203976e-01 8.73286120e-01 1.90737401e-03 5.98666167e+02] [ 8.73278669e-01 4.87207701e-01 -3.60874896e-03 -2.96288896e+02] [-4.08075768e-03 -9.25277991e-05 -9.99991669e-01 -4.92414410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5465599949999 meters 0.051012983339976316 Centerline is valid? [True, True] Translation: X:598.73, Y:-296.22, Z:-4.93 [[-5.52633171e-01 8.33423439e-01 1.39615715e-03 5.98725159e+02] [ 8.33420520e-01 5.52634932e-01 -2.20653209e-03 -2.96222252e+02] [-2.61054077e-03 -5.58168093e-05 -9.99996591e-01 -4.92525638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.606559995 meters 0.051343137363309824 Centerline is valid? [True, True] Translation: X:598.79, Y:-296.15, Z:-4.92 [[-6.15109752e-01 7.88438645e-01 2.12058419e-03 5.98786918e+02] [ 7.88433562e-01 6.15113403e-01 -2.83188333e-03 -2.96147409e+02] [-3.53716602e-03 -6.99793035e-05 -9.99993742e-01 -4.92420348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.666559995 meters 0.051258716143992814 Centerline is valid? [True, True] Translation: X:598.83, Y:-296.08, Z:-4.92 [[-6.73941154e-01 7.38778814e-01 3.03055031e-03 5.98830884e+02] [ 7.38770780e-01 6.73947963e-01 -3.44651438e-03 -2.96077160e+02] [-4.58864502e-03 -8.38658629e-05 -9.99989469e-01 -4.92278372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7265599949999 meters 0.05114844152531488 Centerline is valid? [True, True] Translation: X:598.87, Y:-296.00, Z:-4.92 [[-7.29707972e-01 6.83745928e-01 4.21685254e-03 5.98873441e+02] [ 6.83733657e-01 7.29720148e-01 -4.09766776e-03 -2.95997825e+02] [-5.87888590e-03 -1.06896826e-04 -9.99982713e-01 -4.92232111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.786559995 meters 0.05080575426801165 Centerline is valid? [True, True] Translation: X:598.91, Y:-295.93, Z:-4.92 [[-7.76832277e-01 6.29675771e-01 6.32745910e-03 5.98913857e+02] [ 6.29653244e-01 7.76858030e-01 -5.32862123e-03 -2.95926239e+02] [-8.27084110e-03 -1.55339815e-04 -9.99965784e-01 -4.92027758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8465599949999 meters 0.05200151242927657 Centerline is valid? [True, True] Translation: X:598.91, Y:-295.83, Z:-4.92 [[-8.18782321e-01 5.74063918e-01 6.79182384e-03 5.98911951e+02] [ 5.74042671e-01 8.18810476e-01 -4.94124579e-03 -2.95825270e+02] [-8.39780744e-03 -1.47007997e-04 -9.99964727e-01 -4.91991755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.906559995 meters 0.05095180833077615 Centerline is valid? [True, True] Translation: X:598.88, Y:-295.71, Z:-4.92 [[-8.55789344e-01 5.17284790e-01 6.40670594e-03 5.98879349e+02] [ 5.17269340e-01 8.55813318e-01 -3.99937464e-03 -2.95712525e+02] [-7.55175994e-03 -1.08629643e-04 -9.99971479e-01 -4.91979593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9665599949999 meters 0.05099470465765373 Centerline is valid? [True, True] Translation: X:598.84, Y:-295.61, Z:-4.92 [[-8.87346996e-01 4.61080183e-01 4.51358137e-03 5.98842613e+02] [ 4.61073982e-01 8.87358475e-01 -2.39171822e-03 -2.95607989e+02] [-5.10793855e-03 -4.11890415e-05 -9.99986954e-01 -4.91989912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.026559995 meters 0.05026330865467235 Centerline is valid? [True, True] Translation: X:598.77, Y:-295.49, Z:-4.92 [[-9.15470207e-01 4.02371572e-01 3.37914577e-03 5.98767798e+02] [ 4.02368795e-01 9.15476443e-01 -1.49499911e-03 -2.95490147e+02] [-3.69507349e-03 -8.96433195e-06 -9.99993173e-01 -4.91980898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0865599949999 meters 0.05101902478964463 Centerline is valid? [True, True] Translation: X:598.73, Y:-295.39, Z:-4.92 [[-9.40481304e-01 3.39830669e-01 3.16746932e-03 5.98729147e+02] [ 3.39828755e-01 9.40486638e-01 -1.14039869e-03 -2.95394260e+02] [-3.36650502e-03 3.87351131e-06 -9.99994333e-01 -4.91801077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.146559995 meters 0.05176042818309151 Centerline is valid? [True, True] Translation: X:599.12, Y:-295.43, Z:-4.92 [[-9.62689257e-01 2.70581142e-01 3.90380727e-03 5.99119417e+02] [ 2.70578975e-01 9.62697172e-01 -1.08309988e-03 -2.95431319e+02] [-4.05125062e-03 1.35995478e-05 -9.99991794e-01 -4.91851598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2065599949999 meters 0.05174437424082924 Centerline is valid? [True, True] Translation: X:599.30, Y:-294.80, Z:-5.89 [[-9.45576127e-01 -3.25378776e-01 3.80011418e-03 5.99300912e+02] [ 3.25376084e-01 -9.45583762e-01 -1.32373219e-03 -2.94799793e+02] [ 4.02404063e-03 -1.52232876e-05 9.99991903e-01 -5.89266105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.266559995 meters 0.05133375672552855 Centerline is valid? [True, True] Translation: X:598.28, Y:-295.19, Z:-4.92 [[-9.63018957e-01 2.69399846e-01 4.26749851e-03 5.98284334e+02] [ 2.69397313e-01 9.63028412e-01 -1.16831181e-03 -2.95187158e+02] [-4.42446533e-03 2.45462116e-05 -9.99990212e-01 -4.91611954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3265599949999 meters 0.05144338378236549 Centerline is valid? [True, True] Translation: X:598.45, Y:-295.14, Z:-4.92 [[-9.80015229e-01 1.98888263e-01 3.68915069e-03 5.98445946e+02] [ 1.98886922e-01 9.80022173e-01 -7.30624324e-04 -2.95143927e+02] [-3.76076207e-03 1.77008588e-05 -9.99992928e-01 -4.91671567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.386559995 meters 0.05203041302218712 Centerline is valid? [True, True] Translation: X:598.35, Y:-294.44, Z:-5.89 [[-9.66978667e-01 -2.54842992e-01 2.70308168e-03 5.98351025e+02] [ 2.54841785e-01 -9.66982442e-01 -7.87921235e-04 -2.94443870e+02] [ 2.81462873e-03 -7.30448669e-05 9.99996036e-01 -5.89457461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4465599949999 meters 0.05197189504443352 Centerline is valid? [True, True] Translation: X:598.14, Y:-295.07, Z:-4.92 [[-9.81321861e-01 1.92354845e-01 2.64946386e-03 5.98142088e+02] [ 1.92354156e-01 9.81325437e-01 -5.14703698e-04 -2.95074825e+02] [-2.69899203e-03 4.54539513e-06 -9.99996358e-01 -4.91535717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.506559995 meters 0.051410869966701134 Centerline is valid? [True, True] Translation: X:598.44, Y:-295.04, Z:-4.92 [[-9.93387705e-01 1.14781418e-01 2.46869471e-03 5.98441743e+02] [ 1.14781049e-01 9.93390772e-01 -2.90994632e-04 -2.95036120e+02] [-2.48577932e-03 -5.71112169e-06 -9.99996910e-01 -4.91569622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5665599949999 meters 0.05139635498520036 Centerline is valid? [True, True] Translation: X:597.96, Y:-294.33, Z:-5.90 [[-9.82481861e-01 -1.86342210e-01 2.44427194e-03 5.97964509e+02] [ 1.86341648e-01 -9.82484901e-01 -4.57714520e-04 -2.94325814e+02] [ 2.48675181e-03 5.77344758e-06 9.99996908e-01 -5.89697220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.626559995 meters 0.050836792115584846 Centerline is valid? [True, True] Translation: X:597.82, Y:-294.95, Z:-4.91 [[-9.94449584e-01 1.05201248e-01 1.64999715e-03 5.97824456e+02] [ 1.05201080e-01 9.94450953e-01 -1.88618243e-04 -2.94946182e+02] [-1.66068411e-03 -1.39898514e-05 -9.99998621e-01 -4.91381588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6865599949999 meters 0.05144770563121897 Centerline is valid? [True, True] Translation: X:597.86, Y:-294.33, Z:-5.90 [[-9.82202016e-01 -1.87827113e-01 4.18194745e-04 5.97862297e+02] [ 1.87827062e-01 -9.82202102e-01 -1.58488595e-04 -2.94325196e+02] [ 4.40520213e-04 -7.71195267e-05 9.99999900e-01 -5.89744115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.746559995 meters 0.05160249989156208 Centerline is valid? [True, True] Translation: X:597.70, Y:-294.93, Z:-4.91 [[-9.95117892e-01 9.86930801e-02 2.36907714e-04 5.97702839e+02] [ 9.86930763e-02 9.95117921e-01 -2.77402533e-05 -2.94929991e+02] [-2.38488882e-04 -4.22367140e-06 -9.99999972e-01 -4.91352957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8065599949999 meters 0.05155552925564955 Centerline is valid? [True, True] Translation: X:597.72, Y:-294.32, Z:-5.90 [[-9.82625846e-01 -1.85597297e-01 2.99191316e-04 5.97717496e+02] [ 1.85597291e-01 -9.82625892e-01 -4.72419171e-05 -2.94316824e+02] [ 3.02761106e-04 9.10796923e-06 9.99999954e-01 -5.89738379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.866559995 meters 0.0515464296394839 Centerline is valid? [True, True] Translation: X:597.55, Y:-294.91, Z:-4.91 [[-9.95647279e-01 9.32006749e-02 3.61911912e-04 5.97551972e+02] [ 9.32006665e-02 9.95647344e-01 -4.00156887e-05 -2.94913169e+02] [-3.64066124e-04 -6.11108014e-06 -9.99999934e-01 -4.91470972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9265599949999 meters 0.051801811886704414 Centerline is valid? [True, True] Translation: X:597.57, Y:-294.83, Z:-4.91 [[-9.99785945e-01 2.06726585e-02 8.40012148e-04 5.97571436e+02] [ 2.06726404e-02 9.99786298e-01 -3.01738932e-05 -2.94833859e+02] [-8.40456409e-04 -1.28021652e-05 -9.99999647e-01 -4.91438479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.986559995 meters 0.051306862434257465 Centerline is valid? [True, True] Translation: X:597.57, Y:-294.23, Z:-5.90 [[-9.93175292e-01 -1.16622816e-01 1.39940740e-03 5.97567875e+02] [ 1.16622784e-01 -9.93176276e-01 -1.05115716e-04 -2.94232846e+02] [ 1.40211712e-03 5.88044537e-05 9.99999015e-01 -5.89741535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0465599949999 meters 0.05164131588465563 Centerline is valid? [True, True] Translation: X:597.43, Y:-294.83, Z:-4.91 [[-9.99930073e-01 1.14674597e-02 2.88887685e-03 5.97429128e+02] [ 1.14672521e-02 9.99934245e-01 -8.84094813e-05 -2.94830682e+02] [-2.88970073e-03 -5.52758200e-05 -9.99995823e-01 -4.91318078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.106559995 meters 0.051313247337492686 Centerline is valid? [True, True] Translation: X:597.45, Y:-294.75, Z:-4.91 [[-9.98139447e-01 -6.09053218e-02 2.86115017e-03 5.97445755e+02] [-6.09052378e-02 9.98143546e-01 1.16555505e-04 -2.94751905e+02] [-2.86293742e-03 -5.79203835e-05 -9.99995900e-01 -4.91293992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.166559995 meters 0.05185101359409179 Centerline is valid? [True, True] Translation: X:597.38, Y:-294.16, Z:-5.90 [[-9.98963343e-01 -4.54892543e-02 1.72258690e-03 5.97380600e+02] [ 4.54891183e-02 -9.98964827e-01 -1.18030299e-04 -2.94158587e+02] [ 1.72617283e-03 -3.95489824e-05 9.99998509e-01 -5.89684953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2265599949999 meters 0.05120653576136144 Centerline is valid? [True, True] Translation: X:597.28, Y:-294.77, Z:-4.92 [[-9.97984133e-01 -6.34619687e-02 4.98968580e-04 5.97278923e+02] [-6.34619662e-02 9.97984258e-01 2.08553874e-05 -2.94765093e+02] [-4.99286311e-04 -1.08521814e-05 -9.99999875e-01 -4.91527653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.286559995 meters 0.0514454133342304 Centerline is valid? [True, True] Translation: X:597.16, Y:-294.70, Z:-4.91 [[-9.91170263e-01 -1.32594398e-01 4.84469728e-04 5.97156202e+02] [-1.32594387e-01 9.91170382e-01 5.48875542e-05 -2.94698929e+02] [-4.87469827e-04 -9.83505527e-06 -9.99999881e-01 -4.91474187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3465599949999 meters 0.05105405597437053 Centerline is valid? [True, True] Translation: X:597.09, Y:-294.64, Z:-4.91 [[-9.80091302e-01 -1.98542496e-01 1.38428606e-03 5.97090794e+02] [-1.98542325e-01 9.80092280e-01 2.61066647e-04 -2.94636381e+02] [-1.40856090e-03 -1.89702234e-05 -9.99999008e-01 -4.91439945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.406559995 meters 0.05137572497705476 Centerline is valid? [True, True] Translation: X:596.98, Y:-294.59, Z:-4.91 [[-9.64974019e-01 -2.62340501e-01 1.61376544e-03 5.96984776e+02] [-2.62340156e-01 9.64975368e-01 4.25580203e-04 -2.94586759e+02] [-1.66889082e-03 -1.26816372e-05 -9.99998607e-01 -4.91482473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4665599949999 meters 0.05121115614086822 Centerline is valid? [True, True] Translation: X:596.87, Y:-294.55, Z:-4.91 [[-9.45596423e-01 -3.25333353e-01 2.36958432e-03 5.96867860e+02] [-3.25332344e-01 9.45599392e-01 8.10288285e-04 -2.94547184e+02] [-2.50429130e-03 -4.69671792e-06 -9.99996864e-01 -4.91451706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.526559995 meters 0.05100327663496714 Centerline is valid? [True, True] Translation: X:596.75, Y:-294.52, Z:-4.91 [[-9.21151850e-01 -3.89192686e-01 2.88499333e-03 5.96745182e+02] [-3.89190764e-01 9.21156367e-01 1.22325496e-03 -2.94517504e+02] [-3.13361185e-03 3.99080835e-06 -9.99995090e-01 -4.91369332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5865599949999 meters 0.052187201169554595 Centerline is valid? [True, True] Translation: X:596.59, Y:-294.51, Z:-4.91 [[-8.92900485e-01 -4.50251310e-01 1.57543938e-03 5.96586973e+02] [-4.50250592e-01 8.92901875e-01 8.04099692e-04 -2.94513700e+02] [-1.76875972e-03 8.63849129e-06 -9.99998436e-01 -4.91431458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.646559995 meters 0.05164607817230248 Centerline is valid? [True, True] Translation: X:596.76, Y:-294.33, Z:-4.91 [[-8.57121304e-01 -5.15113326e-01 1.15426952e-03 5.96763927e+02] [-5.15112846e-01 8.57122081e-01 7.03556343e-04 -2.94326908e+02] [-1.35176114e-03 8.45407069e-06 -9.99999086e-01 -4.91460731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7065599949999 meters 0.05171510489466643 Centerline is valid? [True, True] Translation: X:596.63, Y:-294.31, Z:-4.92 [[-8.17028958e-01 -5.76595655e-01 1.06449071e-03 5.96627099e+02] [-5.76595154e-01 8.17029651e-01 7.59898430e-04 -2.94307556e+02] [-1.30787460e-03 7.07883855e-06 -9.99999145e-01 -4.91528910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.766559995 meters 0.05172380420732204 Centerline is valid? [True, True] Translation: X:596.04, Y:-294.65, Z:-4.91 [[-7.71174439e-01 -6.36621212e-01 1.84831717e-03 5.96043258e+02] [-6.36619374e-01 7.71176654e-01 1.53006896e-03 -2.94652887e+02] [-2.39945341e-03 3.27555583e-06 -9.99997121e-01 -4.91417855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8265599949999 meters 0.05177947358317205 Centerline is valid? [True, True] Translation: X:596.00, Y:-294.57, Z:-4.91 [[-7.16486002e-01 -6.97596266e-01 2.69409166e-03 5.96004736e+02] [-6.97591444e-01 7.16491067e-01 2.59370225e-03 -2.94573162e+02] [-3.73964961e-03 -2.10239338e-05 -9.99993007e-01 -4.91283387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.886559995 meters 0.05184413765686121 Centerline is valid? [True, True] Translation: X:595.27, Y:-294.39, Z:-5.90 [[-7.72753653e-01 6.34701883e-01 2.30491207e-03 5.95269805e+02] [-6.34699213e-01 -7.72757089e-01 1.84138747e-03 -2.94389050e+02] [ 2.94986924e-03 -3.99869829e-05 9.99995648e-01 -5.89813529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9465599949999 meters 0.05163501412132729 Centerline is valid? [True, True] Translation: X:595.60, Y:-294.95, Z:-4.91 [[-7.03452545e-01 -7.10741434e-01 1.06345428e-03 5.95596828e+02] [-7.10740679e-01 7.03453349e-01 1.03633453e-03 -2.94947243e+02] [-1.48465637e-03 -2.68280556e-05 -9.99998898e-01 -4.91448408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.006559995 meters 0.051379501795894275 Centerline is valid? [True, True] Translation: X:595.42, Y:-295.02, Z:-4.91 [[-6.47716812e-01 -7.61880873e-01 6.83652023e-04 5.95422397e+02] [-7.61880484e-01 6.47717172e-01 7.70126616e-04 -2.95015857e+02] [-1.02955789e-03 -2.20371774e-05 -9.99999470e-01 -4.91497313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0665599949999 meters 0.0517214205683184 Centerline is valid? [True, True] Translation: X:595.28, Y:-295.06, Z:-4.91 [[-5.86712459e-01 -8.09794524e-01 1.14833608e-03 5.95277825e+02] [-8.09793127e-01 5.86713581e-01 1.50510289e-03 -2.95062730e+02] [-1.89256845e-03 -4.68520473e-05 -9.99998208e-01 -4.91360050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.126559995 meters 0.050843422487998925 Centerline is valid? [True, True] Translation: X:595.12, Y:-295.15, Z:-4.91 [[-5.22513957e-01 -8.52628559e-01 1.92463790e-03 5.95122671e+02] [-8.52623457e-01 5.22517492e-01 2.95132916e-03 -2.95152745e+02] [-3.52204450e-03 -9.88807398e-05 -9.99993793e-01 -4.91263977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1865599949999 meters 0.051341225564867816 Centerline is valid? [True, True] Translation: X:594.96, Y:-295.26, Z:-4.91 [[-4.56291190e-01 -8.89827270e-01 2.40420817e-03 5.94963322e+02] [-8.89816611e-01 4.56297499e-01 4.35793378e-03 -2.95261042e+02] [-4.97484250e-03 -1.50817578e-04 -9.99987614e-01 -4.91121797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.246559995 meters 0.05058385120223809 Centerline is valid? [True, True] Translation: X:594.81, Y:-295.40, Z:-4.91 [[-3.88318917e-01 -9.21521009e-01 2.72931491e-03 5.94809320e+02] [-9.21501854e-01 3.88328454e-01 5.94518845e-03 -2.95395849e+02] [-6.53848670e-03 -2.06439605e-04 -9.99978603e-01 -4.91132785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3065599949999 meters 0.050834324395705864 Centerline is valid? [True, True] Translation: X:594.65, Y:-295.58, Z:-4.91 [[-3.22571037e-01 -9.46542432e-01 2.31299497e-03 5.94650035e+02] [-9.46522125e-01 3.22579274e-01 6.20318717e-03 -2.95576470e+02] [-6.61770412e-03 -1.88332395e-04 -9.99978085e-01 -4.91147633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.366559995 meters 0.05027759525680135 Centerline is valid? [True, True] Translation: X:594.49, Y:-295.81, Z:-4.91 [[-2.58853166e-01 -9.65915019e-01 1.79313260e-03 5.94492042e+02] [-9.65895410e-01 2.58859340e-01 6.15630189e-03 -2.95810470e+02] [-6.41063358e-03 -1.38400311e-04 -9.99979442e-01 -4.91187413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4265599949999 meters 0.05017861187078903 Centerline is valid? [True, True] Translation: X:594.35, Y:-296.07, Z:-4.91 [[-1.92352479e-01 -9.81325228e-01 1.14952181e-03 5.94350908e+02] [-9.81310387e-01 1.92355893e-01 5.39770282e-03 -2.96067440e+02] [-5.51801924e-03 -8.97761803e-05 -9.99984772e-01 -4.91338765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.486559995 meters 0.050711083146045666 Centerline is valid? [True, True] Translation: X:594.24, Y:-296.29, Z:-4.91 [[-1.24412522e-01 -9.92230414e-01 5.73734807e-04 5.94235823e+02] [-9.92221533e-01 1.24413836e-01 4.19840478e-03 -2.96287574e+02] [-4.23716546e-03 -4.69379031e-05 -9.99991022e-01 -4.91394411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5465599949999 meters 0.05114199041016623 Centerline is valid? [True, True] Translation: X:594.13, Y:-296.54, Z:-4.91 [[-5.23989109e-02 -9.98626190e-01 2.96083729e-04 5.94128372e+02] [-9.98614736e-01 5.23997281e-02 4.78310700e-03 -2.96543732e+02] [-4.79205062e-03 -4.50439772e-05 -9.99988517e-01 -4.91146108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.606559995 meters 0.0512798442847381 Centerline is valid? [True, True] Translation: X:594.05, Y:-296.77, Z:-4.91 [[ 2.11889036e-02 -9.99775486e-01 -8.66938317e-05 5.94046946e+02] [-9.99751116e-01 -2.11889924e-02 6.98093469e-03 -2.96772505e+02] [-6.98120433e-03 -6.12460973e-05 -9.99975629e-01 -4.91180897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.666559995 meters 0.0511626385976964 Centerline is valid? [True, True] Translation: X:593.98, Y:-297.01, Z:-4.91 [[ 9.50132220e-02 -9.95475812e-01 -6.28587598e-04 5.93981084e+02] [-9.95449511e-01 -9.50152812e-02 7.23654640e-03 -2.97012295e+02] [-7.26353233e-03 -6.18403732e-05 -9.99973618e-01 -4.91196737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7265599949999 meters 0.05081587863090713 Centerline is valid? [True, True] Translation: X:593.93, Y:-297.24, Z:-4.91 [[ 1.67846319e-01 -9.85812629e-01 -1.03631888e-03 5.93932505e+02] [-9.85791952e-01 -1.67849511e-01 6.38508005e-03 -2.97244921e+02] [-6.46843816e-03 -5.01173691e-05 -9.99979078e-01 -4.91330272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.786559995 meters 0.0510425578879063 Centerline is valid? [True, True] Translation: X:593.91, Y:-297.52, Z:-4.91 [[ 2.38648284e-01 -9.71105343e-01 -1.18686628e-03 5.93905992e+02] [-9.71092676e-01 -2.38651233e-01 4.96020062e-03 -2.97519660e+02] [-5.10012443e-03 -3.11862106e-05 -9.99986994e-01 -4.91225273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8465599949999 meters 0.05080267772270024 Centerline is valid? [True, True] Translation: X:593.90, Y:-297.76, Z:-4.91 [[ 3.07653084e-01 -9.51496661e-01 -1.91928439e-03 5.93895414e+02] [-9.51477689e-01 -3.07659069e-01 6.00874474e-03 -2.97759820e+02] [-6.30778580e-03 -2.24525721e-05 -9.99980105e-01 -4.91189752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.906559995 meters 0.05180227197712871 Centerline is valid? [True, True] Translation: X:593.92, Y:-298.05, Z:-4.91 [[ 3.74168522e-01 -9.27357377e-01 -2.49235390e-03 5.93923375e+02] [-9.27336774e-01 -3.74176823e-01 6.18162760e-03 -2.98052830e+02] [-6.66515903e-03 -1.71903669e-06 -9.99977788e-01 -4.91350143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9665599949999 meters 0.05159892179664878 Centerline is valid? [True, True] Translation: X:593.93, Y:-298.26, Z:-4.91 [[ 4.40734298e-01 -8.97634583e-01 -2.33109635e-03 5.93934998e+02] [-8.97622092e-01 -4.40740462e-01 4.73544093e-03 -2.98261410e+02] [-5.27810403e-03 5.37235570e-06 -9.99986071e-01 -4.91334230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.026559995 meters 0.05121027421687117 Centerline is valid? [True, True] Translation: X:593.98, Y:-298.49, Z:-4.91 [[ 5.05777407e-01 -8.62661310e-01 -2.16301989e-03 5.93975676e+02] [-8.62653465e-01 -5.05782032e-01 3.67913384e-03 -2.98494976e+02] [-4.26786301e-03 5.11382383e-06 -9.99990893e-01 -4.91240029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0865599949999 meters 0.05154777949378193 Centerline is valid? [True, True] Translation: X:594.03, Y:-298.72, Z:-4.91 [[ 5.69342509e-01 -8.22097920e-01 -2.02926660e-03 5.94030485e+02] [-8.22092692e-01 -5.69346125e-01 2.93189853e-03 -2.98722245e+02] [-3.56566276e-03 -1.00921990e-06 -9.99993643e-01 -4.91363485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.146559995 meters 0.05132504198253917 Centerline is valid? [True, True] Translation: X:594.05, Y:-298.88, Z:-4.91 [[ 6.33640554e-01 -7.73625313e-01 -1.87711474e-03 5.94047430e+02] [-7.73621821e-01 -6.33643334e-01 2.32463389e-03 -2.98879701e+02] [-2.98781686e-03 -2.08053773e-05 -9.99995536e-01 -4.91393250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2065599949999 meters 0.0508834854979302 Centerline is valid? [True, True] Translation: X:594.11, Y:-299.08, Z:-4.91 [[ 6.92186398e-01 -7.21715500e-01 -2.17436036e-03 5.94111543e+02] [-7.21711773e-01 -6.92189812e-01 2.31963502e-03 -2.99075038e+02] [-3.17918664e-03 -3.63583391e-05 -9.99994946e-01 -4.91400560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.266559995 meters 0.051488068867678885 Centerline is valid? [True, True] Translation: X:594.13, Y:-299.22, Z:-4.91 [[ 7.47860551e-01 -6.63848920e-01 -3.03449549e-03 5.94129306e+02] [-6.63843048e-01 -7.47866703e-01 2.79309244e-03 -2.99216058e+02] [-4.12358954e-03 -7.44149132e-05 -9.99991495e-01 -4.91183923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3265599949999 meters 0.051091895530048705 Centerline is valid? [True, True] Translation: X:594.10, Y:-299.30, Z:-4.91 [[ 8.00307616e-01 -5.99574438e-01 -4.26758342e-03 5.94102249e+02] [-5.99565086e-01 -8.00318985e-01 3.35115565e-03 -2.99300473e+02] [-5.42469530e-03 -1.23261373e-04 -9.99985279e-01 -4.91155421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.386559995 meters 0.05101372533852254 Centerline is valid? [True, True] Translation: X:594.08, Y:-299.39, Z:-4.91 [[ 8.45873954e-01 -5.33354636e-01 -5.48517258e-03 5.94077645e+02] [-5.33342158e-01 -8.45891722e-01 3.65198326e-03 -2.99391936e+02] [-6.58766428e-03 -1.63643741e-04 -9.99978288e-01 -4.91118327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4465599949999 meters 0.05151018118523415 Centerline is valid? [True, True] Translation: X:594.06, Y:-299.48, Z:-4.91 [[ 8.84951995e-01 -4.65644177e-01 -5.95535753e-03 5.94061107e+02] [-4.65632339e-01 -8.84972017e-01 3.32459270e-03 -2.99481832e+02] [-6.81840200e-03 -1.69097883e-04 -9.99976740e-01 -4.91084710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.506559995 meters 0.05096435064943705 Centerline is valid? [True, True] Translation: X:594.05, Y:-299.58, Z:-4.91 [[ 9.17919775e-01 -3.96710971e-01 -6.60996862e-03 5.94049527e+02] [-3.96699369e-01 -9.17943559e-01 3.03858270e-03 -2.99578742e+02] [-7.27301721e-03 -1.67004770e-04 -9.99973537e-01 -4.91096228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5665599949999 meters 0.0509980667070215 Centerline is valid? [True, True] Translation: X:594.05, Y:-299.67, Z:-4.91 [[ 9.44914451e-01 -3.27238634e-01 -7.18034366e-03 5.94046339e+02] [-3.27227997e-01 -9.44941720e-01 2.64256092e-03 -2.99671469e+02] [-7.64975431e-03 -1.47384527e-04 -9.99970729e-01 -4.90986059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.626559995 meters 0.05108675818637341 Centerline is valid? [True, True] Translation: X:594.05, Y:-299.76, Z:-4.91 [[ 9.66544446e-01 -2.56390491e-01 -7.46654195e-03 5.94054022e+02] [-2.56381902e-01 -9.66573278e-01 2.10191599e-03 -2.99758564e+02] [-7.75587120e-03 -1.17308997e-04 -9.99969916e-01 -4.91035535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6865599949999 meters 0.051560904407021074 Centerline is valid? [True, True] Translation: X:594.07, Y:-299.84, Z:-4.91 [[ 9.82114233e-01 -1.88174540e-01 -6.47880249e-03 5.94068327e+02] [-1.88170139e-01 -9.82135602e-01 1.28776423e-03 -2.99841265e+02] [-6.60538703e-03 -4.56144123e-05 -9.99978183e-01 -4.91115523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.746559995 meters 0.05160602964296831 Centerline is valid? [True, True] Translation: X:594.09, Y:-299.92, Z:-4.91 [[ 9.92747320e-01 -1.20117905e-01 -4.94445972e-03 5.94088894e+02] [-1.20116474e-01 -9.92759633e-01 5.86378142e-04 -2.99917281e+02] [-4.97909453e-03 1.17857400e-05 -9.99987604e-01 -4.91251772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8065599949999 meters 0.052027241117339376 Centerline is valid? [True, True] Translation: X:594.11, Y:-299.99, Z:-4.91 [[ 9.98603487e-01 -5.26597946e-02 -4.24531069e-03 5.94112073e+02] [-5.26595527e-02 -9.98612509e-01 1.68815529e-04 -2.99993720e+02] [-4.24831015e-03 5.49763865e-05 -9.99990974e-01 -4.91297941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.866559995 meters 0.05296457838316011 Centerline is valid? [True, True] Translation: X:594.14, Y:-300.07, Z:-4.91 [[ 9.99784741e-01 2.04840618e-02 -3.29762565e-03 5.94137614e+02] [ 2.04837544e-02 -9.99790178e-01 -1.26975650e-04 -3.00070755e+02] [-3.29953472e-03 5.94005639e-05 -9.99994555e-01 -4.91357643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9265599949999 meters 0.053308826642075285 Centerline is valid? [True, True] Translation: X:594.17, Y:-300.17, Z:-4.91 [[ 9.96020010e-01 8.89902805e-02 -4.98695671e-03 5.94171549e+02] [ 8.89884617e-02 -9.96032485e-01 -5.85870515e-04 -3.00169331e+02] [-5.01930767e-03 1.39757150e-04 -9.99987393e-01 -4.91354730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.986559995 meters 0.05435111195143491 Centerline is valid? [True, True] Translation: X:594.22, Y:-300.28, Z:-4.91 [[ 9.87264400e-01 1.59004815e-01 -5.14529198e-03 5.94216492e+02] [ 1.59001668e-01 -9.87277790e-01 -1.01766887e-03 -3.00281120e+02] [-5.24164674e-03 1.86598241e-04 -9.99986245e-01 -4.91349197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0465599949999 meters 0.05407913003525808 Centerline is valid? [True, True] Translation: X:594.27, Y:-300.37, Z:-4.91 [[ 9.73999435e-01 2.26499642e-01 -4.79720036e-03 5.94265878e+02] [ 2.26495753e-01 -9.74011223e-01 -1.34611043e-03 -3.00369122e+02] [-4.97742051e-03 2.24565287e-04 -9.99987587e-01 -4.91265296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.106559995 meters 0.05521158559215255 Centerline is valid? [True, True] Translation: X:594.32, Y:-300.44, Z:-4.91 [[ 9.54344805e-01 2.98672311e-01 -4.56547755e-03 5.94316807e+02] [ 2.98667701e-01 -9.54355696e-01 -1.67633238e-03 -3.00442635e+02] [-4.85776357e-03 2.36238421e-04 -9.99988173e-01 -4.91150509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.166559995 meters 0.054778993093746994 Centerline is valid? [True, True] Translation: X:594.38, Y:-300.53, Z:-4.91 [[ 9.27650445e-01 3.73426367e-01 -4.17135408e-03 5.94380797e+02] [ 3.73421526e-01 -9.27659798e-01 -1.91391620e-03 -3.00528313e+02] [-4.58430426e-03 2.17771812e-04 -9.99989468e-01 -4.91170391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2265599949999 meters 0.05446473295211928 Centerline is valid? [True, True] Translation: X:594.47, Y:-300.64, Z:-4.91 [[ 8.92095510e-01 4.51834918e-01 -3.28767575e-03 5.94470170e+02] [ 4.51831228e-01 -8.92101555e-01 -1.83216311e-03 -3.00641573e+02] [-3.76077592e-03 1.48989909e-04 -9.99992917e-01 -4.91181162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.286559995 meters 0.053565459327463816 Centerline is valid? [True, True] Translation: X:594.53, Y:-300.69, Z:-4.91 [[ 8.46629139e-01 5.32174513e-01 -3.06418184e-03 5.94531503e+02] [ 5.32170622e-01 -8.46634679e-01 -2.03723543e-03 -3.00688549e+02] [-3.67840738e-03 9.41153199e-05 -9.99993230e-01 -4.90948561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3465599949999 meters 0.053286093990850804 Centerline is valid? [True, True] Translation: X:594.61, Y:-300.74, Z:-4.91 [[ 7.95929216e-01 6.05382243e-01 -3.00396794e-03 5.94605931e+02] [ 6.05377661e-01 -7.95934883e-01 -2.35594071e-03 -3.00740749e+02] [-3.81720754e-03 5.66269598e-05 -9.99992713e-01 -4.91107860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.406559995 meters 0.05221738053021174 Centerline is valid? [True, True] Translation: X:594.69, Y:-300.79, Z:-4.91 [[ 7.35697127e-01 6.77305765e-01 -2.57647758e-03 5.94688489e+02] [ 6.77301624e-01 -7.35701638e-01 -2.36856681e-03 -3.00791662e+02] [-3.49976273e-03 -2.50465572e-06 -9.99993876e-01 -4.90974054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4665599949999 meters 0.05229823924685963 Centerline is valid? [True, True] Translation: X:594.77, Y:-300.83, Z:-4.91 [[ 6.73928366e-01 7.38794980e-01 -1.59241214e-03 5.94772121e+02] [ 7.38792997e-01 -6.73930247e-01 -1.71177296e-03 -3.00831056e+02] [-2.33782398e-03 -2.28505779e-05 -9.99997267e-01 -4.91008029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.526559995 meters 0.0522682088566794 Centerline is valid? [True, True] Translation: X:594.86, Y:-300.86, Z:-4.91 [[ 6.05570498e-01 7.95790244e-01 -1.50337701e-03 5.94855994e+02] [ 7.95787992e-01 -6.05572362e-01 -1.89381434e-03 -3.00862191e+02] [-2.41748254e-03 -4.95312728e-05 -9.99997077e-01 -4.90988238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5865599949999 meters 0.052565536020378764 Centerline is valid? [True, True] Translation: X:594.94, Y:-300.88, Z:-4.91 [[ 5.39018635e-01 8.42292066e-01 -1.72839712e-03 5.94941606e+02] [ 8.42288157e-01 -5.39021401e-01 -2.56721969e-03 -3.00884432e+02] [-3.09399181e-03 -7.20291770e-05 -9.99995211e-01 -4.90920372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.646559995 meters 0.05392873655778813 Centerline is valid? [True, True] Translation: X:595.03, Y:-300.90, Z:-4.91 [[ 4.65718928e-01 8.84929116e-01 -2.51789335e-03 5.95030059e+02] [ 8.84917897e-01 -4.65725709e-01 -4.45870580e-03 -3.00900726e+02] [-5.11828625e-03 -1.51625204e-04 -9.99986890e-01 -4.90664703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7065599949999 meters 0.05235931502260715 Centerline is valid? [True, True] Translation: X:595.12, Y:-300.91, Z:-4.91 [[ 3.92428871e-01 9.19776868e-01 -3.17717544e-03 5.95116863e+02] [ 9.19751579e-01 -3.92441656e-01 -6.82490580e-03 -3.00907470e+02] [-7.52424647e-03 -2.43922055e-04 -9.99971663e-01 -4.90776324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.766559995 meters 0.05321569377023108 Centerline is valid? [True, True] Translation: X:595.21, Y:-300.91, Z:-4.91 [[ 3.20478963e-01 9.47249595e-01 -3.38216563e-03 5.95213248e+02] [ 9.47206330e-01 -3.20496668e-01 -9.05832213e-03 -3.00911813e+02] [-9.66446478e-03 -3.00607016e-04 -9.99953253e-01 -4.90548378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8265599949999 meters 0.05352235339010944 Centerline is valid? [True, True] Translation: X:595.30, Y:-300.90, Z:-4.90 [[ 2.50223748e-01 9.68182907e-01 -3.15180489e-03 5.95295734e+02] [ 9.68120447e-01 -2.50243419e-01 -1.10014291e-02 -3.00903603e+02] [-1.14401140e-02 -2.98507951e-04 -9.99934515e-01 -4.90273065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.886559995 meters 0.05313571631986041 Centerline is valid? [True, True] Translation: X:595.37, Y:-300.89, Z:-4.90 [[ 1.78025952e-01 9.84022896e-01 -2.38778317e-03 5.95374420e+02] [ 9.83952914e-01 -1.78041775e-01 -1.17383910e-02 -3.00888149e+02] [-1.19759706e-02 -2.59727987e-04 -9.99928252e-01 -4.90374157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9465599949999 meters 0.05270440606665097 Centerline is valid? [True, True] Translation: X:595.45, Y:-300.87, Z:-4.91 [[ 1.07014999e-01 9.94256291e-01 -1.48944711e-03 5.95447457e+02] [ 9.94182521e-01 -1.07025205e-01 -1.21127877e-02 -3.00867298e+02] [-1.22026238e-02 -1.84532309e-04 -9.99925528e-01 -4.90589985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.006559995 meters 0.05249258008903963 Centerline is valid? [True, True] Translation: X:595.53, Y:-300.84, Z:-4.91 [[ 3.34900490e-02 9.99438940e-01 -4.71110561e-04 5.95527285e+02] [ 9.99381788e-01 -3.34931723e-02 -1.06886999e-02 -3.00842100e+02] [-1.06984819e-02 -1.12854231e-04 -9.99942763e-01 -4.90700989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0665599949999 meters 0.052327463637655815 Centerline is valid? [True, True] Translation: X:595.60, Y:-300.81, Z:-4.91 [[-4.38692748e-02 9.99037228e-01 3.21522852e-04 5.95600864e+02] [ 9.98993137e-01 4.38703595e-02 -9.38632917e-03 -3.00811028e+02] [-9.39139760e-03 -9.05723312e-05 -9.99955896e-01 -4.90802183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.126559995 meters 0.051475603061312596 Centerline is valid? [True, True] Translation: X:595.67, Y:-300.77, Z:-4.91 [[-1.23675206e-01 9.92322329e-01 9.15531024e-04 5.95668993e+02] [ 9.92289263e-01 1.23678559e-01 -8.10140250e-03 -3.00774708e+02] [-8.15243416e-03 -9.34710170e-05 -9.99966764e-01 -4.90886686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1865599949999 meters 0.05161412739269324 Centerline is valid? [True, True] Translation: X:595.74, Y:-300.73, Z:-4.91 [[-2.01963162e-01 9.79391658e-01 1.69151850e-03 5.95738111e+02] [ 9.79352535e-01 2.01970214e-01 -8.75475479e-03 -3.00732745e+02] [-8.91597017e-03 -1.11545026e-04 -9.99960246e-01 -4.90793625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.246559995 meters 0.05156724211048568 Centerline is valid? [True, True] Translation: X:595.80, Y:-300.69, Z:-4.91 [[-2.76751343e-01 9.60938540e-01 2.41184378e-03 5.95804598e+02] [ 9.60898774e-01 2.76761833e-01 -8.74262980e-03 -3.00686794e+02] [-9.06863622e-03 -1.01996811e-04 -9.99958874e-01 -4.90732448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3065599949999 meters 0.05192077304174314 Centerline is valid? [True, True] Translation: X:595.86, Y:-300.64, Z:-4.91 [[-3.49334721e-01 9.36993540e-01 2.89125954e-03 5.95861713e+02] [ 9.36959535e-01 3.49346676e-01 -7.98312622e-03 -3.00639040e+02] [-8.49018961e-03 -7.97899724e-05 -9.99963955e-01 -4.90665807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.366559995 meters 0.050946481720323886 Centerline is valid? [True, True] Translation: X:595.92, Y:-300.59, Z:-4.91 [[-4.18953442e-01 9.08001830e-01 3.26969730e-03 5.95915081e+02] [ 9.07973208e-01 4.18966198e-01 -7.20961523e-03 -3.00585107e+02] [-7.91623647e-03 -5.16955722e-05 -9.99968665e-01 -4.91050337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4265599949999 meters 0.05209604495722472 Centerline is valid? [True, True] Translation: X:595.97, Y:-300.52, Z:-4.91 [[-4.86229563e-01 8.73825060e-01 3.25211520e-03 5.95973551e+02] [ 8.73805169e-01 4.86240438e-01 -5.89601999e-03 -3.00523835e+02] [-6.73339995e-03 -2.51041538e-05 -9.99977330e-01 -4.91194128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.486559995 meters 0.05166672333375736 Centerline is valid? [True, True] Translation: X:596.06, Y:-300.44, Z:-4.91 [[-5.51205393e-01 8.34362141e-01 3.52595823e-03 5.96056640e+02] [ 8.34344962e-01 5.51216670e-01 -5.35412011e-03 -3.00439826e+02] [-6.41084208e-03 -9.35439083e-06 -9.99979450e-01 -4.91138079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5465599949999 meters 0.05158711992154536 Centerline is valid? [True, True] Translation: X:596.09, Y:-300.38, Z:-4.91 [[-6.13043591e-01 7.90039879e-01 3.81394402e-03 5.96094891e+02] [ 7.90024637e-01 6.13055454e-01 -4.90735884e-03 -3.00378584e+02] [-6.21516837e-03 4.68485661e-06 -9.99980686e-01 -4.90852874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.606559995 meters 0.05161040312754839 Centerline is valid? [True, True] Translation: X:596.14, Y:-300.31, Z:-4.91 [[-6.74203062e-01 7.38535160e-01 4.00603531e-03 5.96135232e+02] [ 7.38522075e-01 6.74214964e-01 -4.39623118e-03 -3.00307145e+02] [-5.94770025e-03 -5.40701135e-06 -9.99982312e-01 -4.91084832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.666559995 meters 0.051027410551239556 Centerline is valid? [True, True] Translation: X:596.17, Y:-300.23, Z:-4.91 [[-7.32300068e-01 6.80968343e-01 4.32746974e-03 5.96173203e+02] [ 6.80956242e-01 7.32312853e-01 -4.05977436e-03 -3.00231430e+02] [-5.93363953e-03 -2.61555063e-05 -9.99982395e-01 -4.90984262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7265599949999 meters 0.051129120422423104 Centerline is valid? [True, True] Translation: X:596.26, Y:-300.21, Z:-4.91 [[-7.83587033e-01 6.21262329e-01 4.94782697e-03 5.96259784e+02] [ 6.21249319e-01 7.83602650e-01 -4.02136914e-03 -3.00205197e+02] [-6.37545548e-03 -7.72585719e-05 -9.99979674e-01 -4.90873516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.786559995 meters 0.050964840511424955 Centerline is valid? [True, True] Translation: X:596.31, Y:-300.14, Z:-4.91 [[-8.28688241e-01 5.59683157e-01 5.52845339e-03 5.96305678e+02] [ 5.59669748e-01 8.28706673e-01 -3.87594137e-03 -3.00143944e+02] [-6.75076532e-03 -1.17838918e-04 -9.99977206e-01 -4.90849293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8465599949999 meters 0.052034221281771466 Centerline is valid? [True, True] Translation: X:596.37, Y:-300.09, Z:-4.91 [[-8.69960795e-01 4.93091667e-01 5.36861086e-03 5.96369333e+02] [ 4.93081169e-01 8.69977347e-01 -3.22132091e-03 -3.00087727e+02] [-6.25897633e-03 -1.55261978e-04 -9.99980400e-01 -4.90851009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.906559995 meters 0.051129128201475214 Centerline is valid? [True, True] Translation: X:596.49, Y:-300.06, Z:-4.91 [[-9.05228670e-01 4.24903032e-01 4.29745150e-03 5.96485008e+02] [ 4.24897464e-01 9.05238859e-01 -2.18022249e-03 -3.00058195e+02] [-4.81660323e-03 -1.47623663e-04 -9.99988389e-01 -4.90969651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9665599949999 meters 0.050576436298721834 Centerline is valid? [True, True] Translation: X:596.75, Y:-299.49, Z:-5.90 [[-8.42216894e-01 -5.39126142e-01 3.70228806e-03 5.96747270e+02] [ 5.39121453e-01 -8.42225025e-01 -2.25070239e-03 -2.99487237e+02] [ 4.33157215e-03 1.00403344e-04 9.99990614e-01 -5.90042859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.026559995 meters 0.05058159953551725 Centerline is valid? [True, True] Translation: X:596.39, Y:-300.02, Z:-4.91 [[-9.07613299e-01 4.19767275e-01 5.79081467e-03 5.96390721e+02] [ 4.19757239e-01 9.07631748e-01 -2.91034008e-03 -3.00020904e+02] [-6.47759277e-03 -2.10726986e-04 -9.99978998e-01 -4.90916101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0865599949999 meters 0.050753343413045666 Centerline is valid? [True, True] Translation: X:596.61, Y:-299.41, Z:-5.90 [[-8.46164602e-01 -5.32873028e-01 7.19743553e-03 5.96606973e+02] [ 5.32857493e-01 -8.46195127e-01 -4.08638427e-03 -2.99411613e+02] [ 8.26795883e-03 3.77453731e-04 9.99965749e-01 -5.90283971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.146559995 meters 0.050745553137295174 Centerline is valid? [True, True] Translation: X:596.15, Y:-299.91, Z:-4.91 [[-9.04813801e-01 4.25704695e-01 9.35404686e-03 5.96145044e+02] [ 4.25679263e-01 9.04862121e-01 -4.65906490e-03 -2.99909977e+02] [-1.04475085e-02 -2.33762445e-04 -9.99945396e-01 -4.90791132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2065599949999 meters 0.051478547060880724 Centerline is valid? [True, True] Translation: X:596.38, Y:-299.29, Z:-5.90 [[-8.53433525e-01 -5.21133666e-01 8.42144149e-03 5.96381492e+02] [ 5.21110327e-01 -8.53475056e-01 -4.93511781e-03 -2.99290761e+02] [ 9.75934628e-03 1.76705139e-04 9.99952361e-01 -5.90417266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.266559995 meters 0.051474305274773355 Centerline is valid? [True, True] Translation: X:595.96, Y:-299.82, Z:-4.91 [[-9.02602218e-01 4.30408162e-01 7.61899049e-03 5.95961352e+02] [ 4.30391747e-01 9.02634367e-01 -3.76075545e-03 -2.99824714e+02] [-8.49582250e-03 -1.15315580e-04 -9.99963903e-01 -4.91146590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3265599949999 meters 0.051367810353823685 Centerline is valid? [True, True] Translation: X:595.86, Y:-299.70, Z:-4.91 [[-9.27682969e-01 3.73306217e-01 6.83945522e-03 5.95863614e+02] [ 3.73295777e-01 9.27708180e-01 -2.79209282e-03 -2.99699441e+02] [-7.38732416e-03 -3.70372027e-05 -9.99972713e-01 -4.91241342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.386559995 meters 0.05125288804531246 Centerline is valid? [True, True] Translation: X:596.14, Y:-299.72, Z:-4.91 [[-9.49463933e-01 3.13806963e-01 6.59007006e-03 5.96142377e+02] [ 3.13799660e-01 9.49486803e-01 -2.14113160e-03 -2.99717732e+02] [-6.92908655e-03 3.50345171e-05 -9.99975993e-01 -4.91429522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4465599949999 meters 0.05182237249335439 Centerline is valid? [True, True] Translation: X:595.69, Y:-298.83, Z:-5.90 [[-9.32266990e-01 -3.61722130e-01 5.94643049e-03 5.95685301e+02] [ 3.61714360e-01 -9.32285953e-01 -2.37154892e-03 -2.98827430e+02] [ 6.40161534e-03 -6.00074768e-05 9.99979508e-01 -5.89779036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.506559995 meters 0.05268563603953494 Centerline is valid? [True, True] Translation: X:595.34, Y:-299.45, Z:-4.91 [[-9.47390461e-01 3.20020699e-01 6.16979066e-03 5.95336877e+02] [ 3.20014594e-01 9.47410546e-01 -1.97917105e-03 -2.99448397e+02] [-6.47870044e-03 9.93752762e-05 -9.99979008e-01 -4.91233688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5665599949999 meters 0.05302463171004837 Centerline is valid? [True, True] Translation: X:595.76, Y:-299.47, Z:-4.92 [[-9.68013534e-01 2.50804835e-01 6.83616207e-03 5.95764479e+02] [ 2.50799523e-01 9.68037664e-01 -1.63736639e-03 -2.99469232e+02] [-7.02832176e-03 1.29513358e-04 -9.99975293e-01 -4.91626070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.626559995 meters 0.05323624877079504 Centerline is valid? [True, True] Translation: X:595.74, Y:-298.78, Z:-5.90 [[-9.60005733e-01 -2.79884100e-01 7.34049172e-03 5.95744842e+02] [ 2.79875119e-01 -9.60033791e-01 -2.24437523e-03 -2.98782683e+02] [ 7.67528504e-03 -1.00192093e-04 9.99970540e-01 -5.89627671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6865599949999 meters 0.05329230752582572 Centerline is valid? [True, True] Translation: X:595.46, Y:-299.39, Z:-4.92 [[-9.69366733e-01 2.45498788e-01 7.64736755e-03 5.95464027e+02] [ 2.45492216e-01 9.69396889e-01 -1.80117617e-03 -2.99386323e+02] [-7.85552087e-03 1.31368943e-04 -9.99969136e-01 -4.91541207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.746559995 meters 0.05296361838098408 Centerline is valid? [True, True] Translation: X:595.44, Y:-299.29, Z:-4.91 [[-9.85036558e-01 1.72181522e-01 7.51685093e-03 5.95438043e+02] [ 1.72177265e-01 9.85065233e-01 -1.21473288e-03 -2.99290325e+02] [-7.61374307e-03 9.76745371e-05 -9.99971010e-01 -4.91349729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8065599949999 meters 0.05267397955840069 Centerline is valid? [True, True] Translation: X:594.92, Y:-298.53, Z:-5.90 [[-9.75549254e-01 -2.19707861e-01 5.66652265e-03 5.94919090e+02] [ 2.19703008e-01 -9.75565692e-01 -1.47293162e-03 -2.98532726e+02] [ 5.85167975e-03 -1.91965277e-04 9.99982860e-01 -5.89661738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.866559995 meters 0.052051775584508415 Centerline is valid? [True, True] Translation: X:594.82, Y:-299.17, Z:-4.92 [[-9.87962546e-01 1.54620320e-01 4.75012206e-03 5.94818305e+02] [ 1.54618512e-01 9.87973966e-01 -7.47669659e-04 -2.99167608e+02] [-4.80860185e-03 -4.21281631e-06 -9.99988439e-01 -4.91521625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9265599949999 meters 0.05176569720236087 Centerline is valid? [True, True] Translation: X:594.96, Y:-298.57, Z:-5.90 [[-9.72644081e-01 -2.32259209e-01 4.37626689e-03 5.94957211e+02] [ 2.32256768e-01 -9.72653926e-01 -1.06491412e-03 -2.98565289e+02] [ 4.50392928e-03 -1.93648120e-05 9.99989857e-01 -5.89642465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.986559995 meters 0.05133629120863068 Centerline is valid? [True, True] Translation: X:595.19, Y:-299.22, Z:-4.92 [[-9.91554170e-01 1.29611449e-01 4.60437880e-03 5.95194541e+02] [ 1.29609660e-01 9.91564857e-01 -6.86108912e-04 -2.99223221e+02] [-4.65446778e-03 -8.35421818e-05 -9.99989164e-01 -4.91598131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0465599949999 meters 0.05377194956502884 Centerline is valid? [True, True] Translation: X:594.08, Y:-298.99, Z:-4.91 [[-9.98707079e-01 5.04585528e-02 6.17287708e-03 5.94083150e+02] [ 5.04565652e-02 9.98726142e-01 -4.77403906e-04 -2.98986165e+02] [-6.18910282e-03 -1.65324486e-04 -9.99980834e-01 -4.91163220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.106559995 meters 0.05306222442381794 Centerline is valid? [True, True] Translation: X:594.10, Y:-298.91, Z:-4.91 [[-9.99641800e-01 -2.53206482e-02 8.66811835e-03 5.94095502e+02] [-2.53220424e-02 9.99679344e-01 -5.11177280e-05 -2.98908729e+02] [-8.66404453e-03 -2.70593878e-04 -9.99962430e-01 -4.91099705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.166559995 meters 0.052125849613168594 Centerline is valid? [True, True] Translation: X:594.07, Y:-298.83, Z:-4.91 [[-9.95268219e-01 -9.66891695e-02 9.61129862e-03 5.94070207e+02] [-9.66875996e-02 9.95314580e-01 6.28950056e-04 -2.98834903e+02] [-9.62707831e-03 -3.03319391e-04 -9.99953613e-01 -4.91295663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2265599949999 meters 0.0515246550814403 Centerline is valid? [True, True] Translation: X:593.90, Y:-298.27, Z:-5.90 [[-9.99472118e-01 -3.12879249e-02 8.74934121e-03 5.93896954e+02] [ 3.12886520e-02 -9.99510389e-01 -5.37920914e-05 -2.98269159e+02] [ 8.74674048e-03 2.19991397e-04 9.99961722e-01 -5.89755614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.286559995 meters 0.05279731235219099 Centerline is valid? [True, True] Translation: X:593.74, Y:-298.86, Z:-4.91 [[-9.96088514e-01 -8.80280633e-02 7.66376895e-03 5.93739626e+02] [-8.80265892e-02 9.96117984e-01 5.30108053e-04 -2.98857612e+02] [-7.68068246e-03 -1.46580898e-04 -9.99970492e-01 -4.91416171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3465599949999 meters 0.051974550798369275 Centerline is valid? [True, True] Translation: X:593.62, Y:-298.80, Z:-4.91 [[-9.88407641e-01 -1.51610770e-01 8.03175740e-03 5.93619836e+02] [-1.51606565e-01 9.88440269e-01 1.13344520e-03 -2.98796976e+02] [-8.11075494e-03 -9.73612508e-05 -9.99967103e-01 -4.91398079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.406559995 meters 0.052971495440523084 Centerline is valid? [True, True] Translation: X:593.57, Y:-298.73, Z:-4.91 [[-9.77366868e-01 -2.11381959e-01 8.46600921e-03 5.93574239e+02] [-2.11374135e-01 9.77403534e-01 1.81868738e-03 -2.98734911e+02] [-8.65914501e-03 -1.19705863e-05 -9.99962509e-01 -4.91408444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4665599949999 meters 0.05286498640393184 Centerline is valid? [True, True] Translation: X:593.32, Y:-298.73, Z:-4.91 [[-9.61341295e-01 -2.75241268e-01 8.07212453e-03 5.93318219e+02] [-2.75231285e-01 9.61375183e-01 2.34445065e-03 -2.98726907e+02] [-8.40562977e-03 3.21160126e-05 -9.99964672e-01 -4.91489376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.526559995 meters 0.05256633025538942 Centerline is valid? [True, True] Translation: X:593.20, Y:-298.69, Z:-4.92 [[-9.40274990e-01 -3.40275401e-01 9.77727184e-03 5.93201185e+02] [-3.40256221e-01 9.40325819e-01 3.61349809e-03 -2.98690466e+02] [-1.04234057e-02 7.09043047e-05 -9.99945672e-01 -4.91537338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5865599949999 meters 0.05342640358337076 Centerline is valid? [True, True] Translation: X:593.48, Y:-298.48, Z:-4.92 [[-9.11379983e-01 -4.11462014e-01 9.24866113e-03 5.93483488e+02] [-4.11440135e-01 9.11426907e-01 4.24362919e-03 -2.98484597e+02] [-1.01755708e-02 6.22883142e-05 -9.99948226e-01 -4.91874683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.646559995 meters 0.05343484885568667 Centerline is valid? [True, True] Translation: X:592.88, Y:-298.70, Z:-4.92 [[-8.78758086e-01 -4.77191298e-01 8.52591666e-03 5.92875844e+02] [-4.77168453e-01 8.78799445e-01 4.66941810e-03 -2.98697296e+02] [-9.72077651e-03 3.49904521e-05 -9.99952752e-01 -4.91600271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7065599949999 meters 0.052878078335707956 Centerline is valid? [True, True] Translation: X:592.62, Y:-298.76, Z:-4.92 [[-8.39880283e-01 -5.42710136e-01 8.17423940e-03 5.92615433e+02] [-5.42684599e-01 8.39920061e-01 5.26481813e-03 -2.98760116e+02] [-9.72297782e-03 -1.42168874e-05 -9.99952731e-01 -4.91687109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.766559995 meters 0.05234286050038844 Centerline is valid? [True, True] Translation: X:592.49, Y:-298.75, Z:-4.92 [[-7.94269186e-01 -6.07524592e-01 7.09440929e-03 5.92494268e+02] [-6.07501106e-01 7.94300866e-01 5.34231303e-03 -2.98749861e+02] [-8.88068198e-03 -6.66268709e-05 -9.99960564e-01 -4.91843820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8265599949999 meters 0.05290038281405776 Centerline is valid? [True, True] Translation: X:592.35, Y:-298.76, Z:-4.92 [[-7.45449233e-01 -6.66532630e-01 6.30029208e-03 5.92350891e+02] [-6.66509901e-01 7.45475850e-01 5.50529781e-03 -2.98762503e+02] [-8.36617623e-03 -9.52870195e-05 -9.99964998e-01 -4.91656085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.886559995 meters 0.0526251681288281 Centerline is valid? [True, True] Translation: X:592.20, Y:-298.80, Z:-4.92 [[-6.91616670e-01 -7.22241876e-01 5.74919683e-03 5.92201814e+02] [-7.22218450e-01 6.91640554e-01 5.81849305e-03 -2.98796765e+02] [-8.17873702e-03 -1.28009230e-04 -9.99966545e-01 -4.91856373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9465599949999 meters 0.052101335628918354 Centerline is valid? [True, True] Translation: X:592.04, Y:-298.85, Z:-4.92 [[-6.35243119e-01 -7.72295453e-01 5.09055295e-03 5.92044575e+02] [-7.72272416e-01 6.35263500e-01 5.96673808e-03 -2.98848245e+02] [-7.84192717e-03 -1.40964318e-04 -9.99969242e-01 -4.91821683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.006559995 meters 0.05301822125482756 Centerline is valid? [True, True] Translation: X:591.87, Y:-298.93, Z:-4.92 [[-5.76999814e-01 -8.16729529e-01 4.90820186e-03 5.91874662e+02] [-8.16702185e-01 5.77020669e-01 6.68495023e-03 -2.98933646e+02] [-8.29193018e-03 -1.51324139e-04 -9.99965610e-01 -4.91636449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0665599949999 meters 0.05236919339607316 Centerline is valid? [True, True] Translation: X:591.72, Y:-299.04, Z:-4.92 [[-5.17015717e-01 -8.55962058e-01 4.86855595e-03 5.91716116e+02] [-8.55926846e-01 5.17038617e-01 7.76550580e-03 -2.99040509e+02] [-9.16420976e-03 -1.52239185e-04 -9.99957996e-01 -4.91731892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.126559995 meters 0.052244053302616916 Centerline is valid? [True, True] Translation: X:591.54, Y:-299.20, Z:-4.92 [[-4.54609639e-01 -8.90677283e-01 4.90454478e-03 5.91539262e+02] [-8.90629182e-01 4.54636067e-01 9.25785083e-03 -2.99201481e+02] [-1.04755404e-02 -1.59422483e-04 -9.99945117e-01 -4.91752472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1865599949999 meters 0.052364729943260066 Centerline is valid? [True, True] Translation: X:591.41, Y:-299.31, Z:-4.92 [[-3.88999626e-01 -9.21225144e-01 4.85030977e-03 5.91407491e+02] [-9.21158762e-01 3.89029828e-01 1.10602349e-02 -2.99306180e+02] [-1.20758817e-02 -1.65478099e-04 -9.99927070e-01 -4.91675310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.246559995 meters 0.05286058747855638 Centerline is valid? [True, True] Translation: X:591.26, Y:-299.47, Z:-4.92 [[-3.20477807e-01 -9.47247533e-01 4.01074304e-03 5.91262989e+02] [-9.47179551e-01 3.20502862e-01 1.13495735e-02 -2.99470096e+02] [-1.20363102e-02 -1.61607358e-04 -9.99927548e-01 -4.91619775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3065599949999 meters 0.0526221103825539 Centerline is valid? [True, True] Translation: X:591.13, Y:-299.62, Z:-4.91 [[-2.49210425e-01 -9.68443330e-01 3.41755517e-03 5.91130328e+02] [-9.68361991e-01 2.49233792e-01 1.25527402e-02 -2.99621893e+02] [-1.30083877e-02 -1.81156807e-04 -9.99915371e-01 -4.90947057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.366559995 meters 0.051777537214252635 Centerline is valid? [True, True] Translation: X:591.02, Y:-299.83, Z:-4.92 [[-1.76655930e-01 -9.84269829e-01 2.36347140e-03 5.91015428e+02] [-9.84194955e-01 1.76671646e-01 1.21416532e-02 -2.99827131e+02] [-1.23682213e-02 -1.81221603e-04 -9.99923494e-01 -4.91712043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4265599949999 meters 0.05194431019115616 Centerline is valid? [True, True] Translation: X:590.91, Y:-300.02, Z:-4.92 [[-1.02748522e-01 -9.94706400e-01 1.38552443e-03 5.90907794e+02] [-9.94638095e-01 1.02757705e-01 1.16582477e-02 -3.00024771e+02] [-1.17389069e-02 -1.80227662e-04 -9.99931080e-01 -4.91715313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.486559995 meters 0.05142153686079247 Centerline is valid? [True, True] Translation: X:590.81, Y:-300.22, Z:-4.92 [[-2.76085280e-02 -9.99618703e-01 4.67632136e-04 5.90814983e+02] [-9.99562911e-01 2.76119284e-02 1.05625546e-02 -3.00224286e+02] [-1.05714393e-02 -1.75811156e-04 -9.99944105e-01 -4.91716925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5465599949999 meters 0.051335344441061845 Centerline is valid? [True, True] Translation: X:590.74, Y:-300.40, Z:-4.92 [[ 4.87204222e-02 -9.98812417e-01 -2.77551554e-04 5.90736666e+02] [-9.98769434e-01 -4.87209010e-02 9.26774721e-03 -3.00399917e+02] [-9.27026355e-03 -1.74318548e-04 -9.99957015e-01 -4.91724982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.606559995 meters 0.051924033755799646 Centerline is valid? [True, True] Translation: X:590.67, Y:-300.57, Z:-4.92 [[ 1.26743219e-01 -9.91935158e-01 -8.93435843e-04 5.90666591e+02] [-9.91898310e-01 -1.26746214e-01 8.55218992e-03 -3.00573499e+02] [-8.59645747e-03 -1.97734578e-04 -9.99963030e-01 -4.91544189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.666559995 meters 0.051135216070438604 Centerline is valid? [True, True] Translation: X:590.08, Y:-300.80, Z:-5.89 [[ 9.71392480e-03 9.99952766e-01 -3.24406523e-04 5.90080488e+02] [-9.99912194e-01 9.71645397e-03 9.01079798e-03 -3.00803478e+02] [ 9.01352445e-03 2.36847824e-04 9.99959349e-01 -5.89361730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7265599949999 meters 0.05101274284964321 Centerline is valid? [True, True] Translation: X:590.72, Y:-300.98, Z:-4.92 [[ 1.39553398e-01 -9.90213980e-01 -1.05992529e-03 5.90718021e+02] [-9.90168086e-01 -1.39557139e-01 9.53761923e-03 -3.00984076e+02] [-9.59220404e-03 -2.81502972e-04 -9.99953954e-01 -4.91783373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.786559995 meters 0.0510094179922677 Centerline is valid? [True, True] Translation: X:590.67, Y:-301.18, Z:-4.92 [[ 2.14773725e-01 -9.76662117e-01 -1.83216703e-03 5.90665256e+02] [-9.76612994e-01 -2.14781308e-01 9.80045829e-03 -3.01182507e+02] [-9.96525157e-03 -3.15562805e-04 -9.99950296e-01 -4.91712333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8465599949999 meters 0.050993604438122606 Centerline is valid? [True, True] Translation: X:590.64, Y:-301.43, Z:-4.92 [[ 2.87780244e-01 -9.57693083e-01 -2.54752976e-03 5.90641486e+02] [-9.57644752e-01 -2.87791329e-01 9.62708595e-03 -3.01431977e+02] [-9.95295060e-03 -3.30856641e-04 -9.99950413e-01 -4.91786486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.906559995 meters 0.0506721439011743 Centerline is valid? [True, True] Translation: X:590.64, Y:-301.69, Z:-4.92 [[ 3.58053256e-01 -9.33695829e-01 -3.15675300e-03 5.90641097e+02] [-9.33651166e-01 -3.58067024e-01 9.13817489e-03 -3.01693201e+02] [-9.66260493e-03 -3.24647154e-04 -9.99953263e-01 -4.91813187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9665599949999 meters 0.05099016302793668 Centerline is valid? [True, True] Translation: X:590.64, Y:-301.93, Z:-4.92 [[ 4.24692761e-01 -9.05328940e-01 -3.94581624e-03 5.90644869e+02] [-9.05282612e-01 -4.24710970e-01 9.16433372e-03 -3.01932697e+02] [-9.97256798e-03 -3.19947356e-04 -9.99950222e-01 -4.91693457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.026559995 meters 0.05080667350590381 Centerline is valid? [True, True] Translation: X:590.69, Y:-302.21, Z:-4.92 [[ 4.86937284e-01 -8.73425831e-01 -4.40454855e-03 5.90692049e+02] [-8.73384971e-01 -4.86957129e-01 8.45256258e-03 -3.02211619e+02] [-9.52751281e-03 -2.69001354e-04 -9.99954576e-01 -4.91763281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0865599949999 meters 0.0506434286522652 Centerline is valid? [True, True] Translation: X:590.72, Y:-302.41, Z:-4.92 [[ 5.49777204e-01 -8.35298328e-01 -4.66135873e-03 5.90715420e+02] [-8.35264432e-01 -5.49796910e-01 7.52900087e-03 -3.02408153e+02] [-8.85176247e-03 -2.45805894e-04 -9.99960792e-01 -4.91883917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.146559995 meters 0.0510120987386927 Centerline is valid? [True, True] Translation: X:590.77, Y:-302.65, Z:-4.92 [[ 6.08277514e-01 -7.93707496e-01 -5.18434822e-03 5.90774554e+02] [-7.93675424e-01 -6.08299564e-01 7.13877870e-03 -3.02648630e+02] [-8.81973892e-03 -2.27668791e-04 -9.99961079e-01 -4.91690841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2065599949999 meters 0.05050759113378625 Centerline is valid? [True, True] Translation: X:590.85, Y:-302.87, Z:-4.92 [[ 6.64328327e-01 -7.47418994e-01 -5.72029339e-03 5.90853356e+02] [-7.47388398e-01 -6.64352918e-01 6.76633196e-03 -3.02874564e+02] [-8.85757863e-03 -2.19785084e-04 -9.99960747e-01 -4.91775135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.266559995 meters 0.05083453462544508 Centerline is valid? [True, True] Translation: X:590.97, Y:-303.11, Z:-4.92 [[ 7.14914233e-01 -6.99186400e-01 -6.00146348e-03 5.90965843e+02] [-6.99159615e-01 -7.14939400e-01 6.12265523e-03 -3.03111367e+02] [-8.57155996e-03 -1.81192471e-04 -9.99963247e-01 -4.91838938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3265599949999 meters 0.05095097269416369 Centerline is valid? [True, True] Translation: X:591.12, Y:-303.37, Z:-4.92 [[ 7.60111378e-01 -6.49764335e-01 -6.08293264e-03 5.91121912e+02] [-6.49742267e-01 -7.60135708e-01 5.35640749e-03 -3.03367159e+02] [-8.10425686e-03 -1.19127837e-04 -9.99967153e-01 -4.91732844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.386559995 meters 0.050690449934147154 Centerline is valid? [True, True] Translation: X:591.09, Y:-303.45, Z:-4.92 [[ 8.06484747e-01 -5.91225341e-01 -5.91175543e-03 5.91092441e+02] [-5.91208705e-01 -8.06506410e-01 4.43599286e-03 -3.03454571e+02] [-7.39054004e-03 -8.24793080e-05 -9.99972686e-01 -4.91787792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4465599949999 meters 0.050921415956382006 Centerline is valid? [True, True] Translation: X:591.07, Y:-303.54, Z:-4.92 [[ 8.49074417e-01 -5.28241929e-01 -5.75306608e-03 5.91071275e+02] [-5.28229314e-01 -8.49093906e-01 3.65119217e-03 -3.03541991e+02] [-6.81360614e-03 -6.11957117e-05 -9.99976785e-01 -4.91761421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.506559995 meters 0.05127367888983881 Centerline is valid? [True, True] Translation: X:591.06, Y:-303.63, Z:-4.92 [[ 8.87278660e-01 -4.61190868e-01 -6.28986011e-03 5.91055773e+02] [-4.61178828e-01 -8.87300952e-01 3.33296028e-03 -3.03633818e+02] [-7.11812972e-03 -5.65142218e-05 -9.99974664e-01 -4.91702980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5665599949999 meters 0.05117543216312207 Centerline is valid? [True, True] Translation: X:591.05, Y:-303.73, Z:-4.91 [[ 9.20609202e-01 -3.90420832e-01 -7.09019106e-03 5.91046121e+02] [-3.90408740e-01 -9.20636503e-01 3.07337981e-03 -3.03725699e+02] [-7.72740020e-03 -6.13091768e-05 -9.99970141e-01 -4.91480279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.626559995 meters 0.05126401518196148 Centerline is valid? [True, True] Translation: X:591.05, Y:-303.81, Z:-4.92 [[ 9.48283866e-01 -3.17332154e-01 -7.61664582e-03 5.91047405e+02] [-3.17321380e-01 -9.48314452e-01 2.61563299e-03 -3.03812178e+02] [-8.05299976e-03 -6.34379990e-05 -9.99967572e-01 -4.91671081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6865599949999 meters 0.051544906682140824 Centerline is valid? [True, True] Translation: X:591.05, Y:-303.90, Z:-4.92 [[ 9.70479640e-01 -2.41057537e-01 -7.78023308e-03 5.91053383e+02] [-2.41049185e-01 -9.70510824e-01 2.00792401e-03 -3.03901893e+02] [-8.03482563e-03 -7.32305314e-05 -9.99967718e-01 -4.91606971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.746559995 meters 0.05093992131456672 Centerline is valid? [True, True] Translation: X:591.07, Y:-303.99, Z:-4.92 [[ 9.86501555e-01 -1.63541459e-01 -8.29897579e-03 5.91068352e+02] [-1.63534949e-01 -9.86536459e-01 1.46164854e-03 -3.03990298e+02] [-8.42628232e-03 -8.47459709e-05 -9.99964495e-01 -4.91821014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8065599949999 meters 0.05109440313276949 Centerline is valid? [True, True] Translation: X:591.09, Y:-304.08, Z:-4.92 [[ 9.96276364e-01 -8.57749562e-02 -8.72144186e-03 5.91089050e+02] [-8.57708828e-02 -9.96314533e-01 8.40711339e-04 -3.04078564e+02] [-8.76141125e-03 -8.95350681e-05 -9.99961614e-01 -4.91767498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.866559995 meters 0.05186197989256789 Centerline is valid? [True, True] Translation: X:591.12, Y:-304.16, Z:-4.92 [[ 9.99928326e-01 -8.32246913e-03 -8.60694037e-03 5.91115071e+02] [-8.32145993e-03 -9.99965364e-01 1.53060715e-04 -3.04164940e+02] [-8.60791611e-03 -8.14274353e-05 -9.99962948e-01 -4.91925448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9265599949999 meters 0.0516803034911663 Centerline is valid? [True, True] Translation: X:591.14, Y:-304.25, Z:-4.92 [[ 9.97627330e-01 6.82730895e-02 -8.85983105e-03 5.91144267e+02] [ 6.82710113e-02 -9.97666668e-01 -5.37155431e-04 -3.04254428e+02] [-8.87583139e-03 -6.89886869e-05 -9.99960607e-01 -4.92025611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.986559995 meters 0.051901804866855104 Centerline is valid? [True, True] Translation: X:591.18, Y:-304.34, Z:-4.92 [[ 9.89399424e-01 1.44930623e-01 -9.15940918e-03 5.91179613e+02] [ 1.44924980e-01 -9.89441818e-01 -1.28035386e-03 -3.04338591e+02] [-9.24826495e-03 -6.06458230e-05 -9.99957232e-01 -4.91912885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0465599949999 meters 0.051967779067388184 Centerline is valid? [True, True] Translation: X:591.22, Y:-304.42, Z:-4.92 [[ 9.75110472e-01 2.21531759e-01 -9.12402983e-03 5.91222232e+02] [ 2.21522615e-01 -9.75153155e-01 -2.01358388e-03 -3.04416291e+02] [-9.34339926e-03 -5.77122180e-05 -9.99956348e-01 -4.92009628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.106559995 meters 0.05242391112861105 Centerline is valid? [True, True] Translation: X:591.27, Y:-304.49, Z:-4.92 [[ 9.55284398e-01 2.95523426e-01 -9.88047060e-03 5.91271757e+02] [ 2.95508119e-01 -9.55335492e-01 -3.00819622e-03 -3.04494082e+02] [-1.03281567e-02 -4.60763573e-05 -9.99946662e-01 -4.92051060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.166559995 meters 0.05250355878854859 Centerline is valid? [True, True] Translation: X:591.33, Y:-304.57, Z:-4.92 [[ 9.29790312e-01 3.67952640e-01 -1.00414838e-02 5.91325397e+02] [ 3.67931552e-01 -9.29844532e-01 -3.93947620e-03 -3.04566300e+02] [-1.07865595e-02 -3.16919113e-05 -9.99941823e-01 -4.91949674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2265599949999 meters 0.052007901526970046 Centerline is valid? [True, True] Translation: X:591.38, Y:-304.63, Z:-4.92 [[ 8.98713466e-01 4.38418205e-01 -1.01775913e-02 5.91382579e+02] [ 4.38390328e-01 -8.98771093e-01 -4.94400199e-03 -3.04629797e+02] [-1.13148653e-02 -1.85164063e-05 -9.99935985e-01 -4.91894364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.286559995 meters 0.05257542282467435 Centerline is valid? [True, True] Translation: X:591.44, Y:-304.69, Z:-4.92 [[ 8.62201459e-01 5.06472757e-01 -9.69482556e-03 5.91444223e+02] [ 5.06440824e-01 -8.62255963e-01 -5.68729334e-03 -3.04686010e+02] [-1.12398803e-02 -6.26282754e-06 -9.99936831e-01 -4.92028434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3465599949999 meters 0.05325523608009851 Centerline is valid? [True, True] Translation: X:591.51, Y:-304.74, Z:-4.93 [[ 8.20705110e-01 5.71276122e-01 -9.31210683e-03 5.91508685e+02] [ 5.71239230e-01 -8.20757938e-01 -6.49223257e-03 -3.04737159e+02] [-1.13518430e-02 8.76770291e-06 -9.99935566e-01 -4.92539524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.406559995 meters 0.052660399637182366 Centerline is valid? [True, True] Translation: X:591.58, Y:-304.78, Z:-4.92 [[ 7.74192708e-01 6.32897395e-01 -8.15717155e-03 5.91578136e+02] [ 6.32862001e-01 -7.74235680e-01 -6.69330848e-03 -3.04782964e+02] [-1.05517508e-02 1.95467061e-05 -9.99944329e-01 -4.92161812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4665599949999 meters 0.05254803323242219 Centerline is valid? [True, True] Translation: X:591.65, Y:-304.82, Z:-4.92 [[ 7.23612668e-01 6.90175016e-01 -6.56909564e-03 5.91651306e+02] [ 6.90146152e-01 -7.23642485e-01 -6.31214535e-03 -3.04824484e+02] [-9.11016171e-03 3.39122582e-05 -9.99958501e-01 -4.92348784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.526559995 meters 0.052506621213583377 Centerline is valid? [True, True] Translation: X:591.72, Y:-304.86, Z:-4.92 [[ 6.68600965e-01 7.43602025e-01 -5.36449069e-03 5.91723283e+02] [ 7.43577575e-01 -6.68622484e-01 -6.03016988e-03 -3.04856346e+02] [-8.07086562e-03 4.28624216e-05 -9.99967429e-01 -4.92408635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5865599949999 meters 0.0522461040517404 Centerline is valid? [True, True] Translation: X:591.79, Y:-304.88, Z:-4.92 [[ 6.09426806e-01 7.92825152e-01 -5.21975720e-03 5.91792599e+02] [ 7.92795264e-01 -6.09449157e-01 -6.88443932e-03 -3.04879229e+02] [-8.63933328e-03 5.73630855e-05 -9.99962679e-01 -4.92404762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.646559995 meters 0.05244877283278597 Centerline is valid? [True, True] Translation: X:591.87, Y:-304.90, Z:-4.92 [[ 5.47288273e-01 8.36927827e-01 -5.23051786e-03 5.91870295e+02] [ 8.36888119e-01 -5.47313261e-01 -8.15296215e-03 -3.04899932e+02] [-9.68617268e-03 8.46623253e-05 -9.99953084e-01 -4.92492031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7065599949999 meters 0.05305919672562764 Centerline is valid? [True, True] Translation: X:591.96, Y:-304.92, Z:-4.93 [[ 4.81726228e-01 8.76308225e-01 -4.87190528e-03 5.91957611e+02] [ 8.76261100e-01 -4.81750851e-01 -9.08860047e-03 -3.04919775e+02] [-1.03114599e-02 1.09156147e-04 -9.99946830e-01 -4.93071794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.766559995 meters 0.05330638993582091 Centerline is valid? [True, True] Translation: X:592.06, Y:-304.94, Z:-4.93 [[ 4.14729152e-01 9.09934430e-01 -4.36629893e-03 5.92056450e+02] [ 9.09880109e-01 -4.14752108e-01 -9.94367317e-03 -3.04939014e+02] [-1.08590223e-02 1.51122586e-04 -9.99941028e-01 -4.92856832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8265599949999 meters 0.053904646607342295 Centerline is valid? [True, True] Translation: X:592.16, Y:-304.95, Z:-4.93 [[ 3.44352621e-01 9.38833716e-01 -3.53924072e-03 5.92162438e+02] [ 9.38778832e-01 -3.44370765e-01 -1.01528204e-02 -3.04950832e+02] [-1.07506211e-02 1.73586047e-04 -9.99942195e-01 -4.93179792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.886559995 meters 0.053813040705180955 Centerline is valid? [True, True] Translation: X:592.23, Y:-304.94, Z:-4.93 [[ 2.71420651e-01 9.62458136e-01 -2.27319206e-03 5.92234931e+02] [ 9.62419323e-01 -2.71430124e-01 -8.64493736e-03 -3.04944372e+02] [-8.93740310e-03 1.58650569e-04 -9.99960048e-01 -4.92820106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9465599949999 meters 0.05407983286756033 Centerline is valid? [True, True] Translation: X:592.31, Y:-304.93, Z:-4.93 [[ 1.94046280e-01 9.80991353e-01 -1.41648634e-03 5.92313674e+02] [ 9.80960060e-01 -1.94051406e-01 -7.83665768e-03 -3.04934466e+02] [-7.96256459e-03 1.31157747e-04 -9.99968290e-01 -4.93177445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.006559995 meters 0.05414007735627611 Centerline is valid? [True, True] Translation: X:592.39, Y:-304.92, Z:-4.93 [[ 1.11956766e-01 9.93712821e-01 -7.16100302e-04 5.92393869e+02] [ 9.93687458e-01 -1.11959025e-01 -7.10019050e-03 -3.04917367e+02] [-7.13572422e-03 8.33344737e-05 -9.99974537e-01 -4.93084594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0665599949999 meters 0.05357246924113384 Centerline is valid? [True, True] Translation: X:592.48, Y:-304.89, Z:-4.93 [[ 2.65356715e-02 9.99647848e-01 -1.92887740e-04 5.92475803e+02] [ 9.99610077e-01 -2.65363456e-02 -8.69000854e-03 -3.04893916e+02] [-8.69206688e-03 3.77826831e-05 -9.99962223e-01 -4.92959958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.126559995 meters 0.05354307509308889 Centerline is valid? [True, True] Translation: X:592.55, Y:-304.86, Z:-4.93 [[-5.78227509e-02 9.98326689e-01 5.92765050e-04 5.92554891e+02] [ 9.98270922e-01 5.78257863e-02 -1.05520064e-02 -3.04864983e+02] [-1.05686267e-02 -1.84059258e-05 -9.99944150e-01 -4.92990842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1865599949999 meters 0.0534808464593759 Centerline is valid? [True, True] Translation: X:592.63, Y:-304.83, Z:-4.93 [[-1.37907091e-01 9.90444119e-01 1.44292254e-03 5.92627286e+02] [ 9.90386666e-01 1.37914633e-01 -1.06679835e-02 -3.04828995e+02] [-1.07650416e-02 -4.21393251e-05 -9.99942054e-01 -4.92718311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.246559995 meters 0.053397358145150293 Centerline is valid? [True, True] Translation: X:592.70, Y:-304.79, Z:-4.93 [[-2.17032997e-01 9.76162101e-01 2.05675485e-03 5.92698143e+02] [ 9.76115678e-01 2.17042734e-01 -9.52019218e-03 -3.04786291e+02] [-9.73965450e-03 -5.85651810e-05 -9.99952567e-01 -4.92957255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3065599949999 meters 0.05321159077603137 Centerline is valid? [True, True] Translation: X:592.77, Y:-304.74, Z:-4.93 [[-2.94001647e-01 9.55801313e-01 2.62316601e-03 5.92765360e+02] [ 9.55761214e-01 2.94013341e-01 -8.75544661e-03 -3.04739484e+02] [-9.13971317e-03 -6.69953943e-05 -9.99958230e-01 -4.92706316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.366559995 meters 0.051726573855733045 Centerline is valid? [True, True] Translation: X:592.83, Y:-304.69, Z:-4.93 [[-3.69238413e-01 9.29328856e-01 3.29716843e-03 5.92828046e+02] [ 9.29289844e-01 3.69253125e-01 -8.51556632e-03 -3.04686223e+02] [-9.13125125e-03 -8.02490481e-05 -9.99958306e-01 -4.92969162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4265599949999 meters 0.05059101264779029 Centerline is valid? [True, True] Translation: X:592.89, Y:-304.63, Z:-4.93 [[-4.42444047e-01 8.96786557e-01 4.13956963e-03 5.92888015e+02] [ 8.96745145e-01 4.42463400e-01 -8.61889370e-03 -3.04627469e+02] [-9.56091606e-03 -1.01239238e-04 -9.99954288e-01 -4.93034433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.486559995 meters 0.05039464128619949 Centerline is valid? [True, True] Translation: X:592.95, Y:-304.56, Z:-4.93 [[-5.11353741e-01 8.59354179e-01 5.26757737e-03 5.92946612e+02] [ 8.59306304e-01 5.11380859e-01 -9.07153454e-03 -3.04562501e+02] [-1.04893994e-02 -1.12300679e-04 -9.99944978e-01 -4.93016310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5465599949999 meters 0.05077360524119899 Centerline is valid? [True, True] Translation: X:593.00, Y:-304.49, Z:-4.93 [[-5.76172095e-01 8.17307057e-01 5.90689440e-03 5.93003388e+02] [ 8.17262306e-01 5.76202364e-01 -8.55330255e-03 -3.04492524e+02] [-1.03942411e-02 -1.00692109e-04 -9.99945973e-01 -4.92702585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.606559995 meters 0.050245620160862106 Centerline is valid? [True, True] Translation: X:593.05, Y:-304.42, Z:-4.93 [[-6.36424570e-01 7.71309400e-01 6.75101476e-03 5.93048043e+02] [ 7.71264717e-01 6.36460371e-01 -8.30249983e-03 -3.04421782e+02] [-1.07005495e-02 -7.70953973e-05 -9.99942745e-01 -4.93054275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.666559995 meters 0.05118205877595331 Centerline is valid? [True, True] Translation: X:593.08, Y:-304.35, Z:-4.93 [[-6.89984813e-01 7.23788266e-01 7.17662414e-03 5.93084776e+02] [ 7.23749039e-01 6.90022135e-01 -7.53541392e-03 -3.04351242e+02] [-1.04060737e-02 -5.24635040e-06 -9.99945855e-01 -4.93033065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7265599949999 meters 0.05118631968376107 Centerline is valid? [True, True] Translation: X:593.11, Y:-304.28, Z:-4.93 [[-7.39933076e-01 6.72639334e-01 7.44107879e-03 5.93112528e+02] [ 6.72606180e-01 7.39970487e-01 -6.67865669e-03 -3.04281951e+02] [-9.99850589e-03 6.31565968e-05 -9.99950012e-01 -4.93076409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.786559995 meters 0.051812205861603594 Centerline is valid? [True, True] Translation: X:593.23, Y:-304.29, Z:-4.93 [[-7.77928986e-01 6.28305760e-01 7.63965143e-03 5.93229951e+02] [ 6.28277766e-01 7.77966476e-01 -5.93379364e-03 -3.04293008e+02] [-9.67162943e-03 1.83753068e-04 -9.99953212e-01 -4.93261644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8465599949999 meters 0.05132613981624545 Centerline is valid? [True, True] Translation: X:593.52, Y:-304.41, Z:-4.93 [[-8.16512894e-01 5.77274471e-01 7.80249502e-03 5.93520884e+02] [ 5.77251072e-01 8.16550133e-01 -5.20378165e-03 -3.04408032e+02] [-9.37513865e-03 2.55043794e-04 -9.99956020e-01 -4.93383417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.906559995 meters 0.05181496533530371 Centerline is valid? [True, True] Translation: X:593.76, Y:-303.78, Z:-5.88 [[-8.14997096e-01 -5.79431562e-01 6.22888567e-03 5.93759346e+02] [ 5.79411845e-01 -8.15020846e-01 -4.78911063e-03 -3.03783185e+02] [ 7.85163352e-03 -2.94021113e-04 9.99969132e-01 -5.87717466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9665599949999 meters 0.052820134837393944 Centerline is valid? [True, True] Translation: X:593.59, Y:-304.46, Z:-4.94 [[-8.10343516e-01 5.85916868e-01 6.69401307e-03 5.93591560e+02] [ 5.85900332e-01 8.10371091e-01 -4.41541735e-03 -3.04457933e+02] [-8.01170218e-03 3.44019660e-04 -9.99967847e-01 -4.93574544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.026559995 meters 0.0530780382312515 Centerline is valid? [True, True] Translation: X:593.46, Y:-304.28, Z:-4.94 [[-8.49146156e-01 5.28104346e-01 7.52365973e-03 5.93460693e+02] [ 5.28087544e-01 8.49179400e-01 -4.22987833e-03 -3.04284924e+02] [-8.62275399e-03 3.81366066e-04 -9.99962751e-01 -4.93504268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0865599949999 meters 0.05284611081028178 Centerline is valid? [True, True] Translation: X:593.47, Y:-304.19, Z:-4.94 [[-8.85487160e-01 4.64602654e-01 7.54074742e-03 5.93471642e+02] [ 4.64589125e-01 8.85519200e-01 -3.56263838e-03 -3.04194840e+02] [-8.33268786e-03 3.48678704e-04 -9.99965222e-01 -4.93548037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.146559995 meters 0.052701453094954546 Centerline is valid? [True, True] Translation: X:593.67, Y:-303.58, Z:-5.88 [[-8.89407324e-01 -4.57074731e-01 6.10764352e-03 5.93667979e+02] [ 4.57060925e-01 -8.89428210e-01 -3.57350595e-03 -3.03584782e+02] [ 7.06566972e-03 -3.86737168e-04 9.99974963e-01 -5.87638928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2065599949999 meters 0.053154940421312816 Centerline is valid? [True, True] Translation: X:592.90, Y:-303.91, Z:-4.93 [[-8.92232285e-01 4.51536440e-01 6.03261818e-03 5.92897727e+02] [ 4.51527654e-01 8.92252656e-01 -2.82410168e-03 -3.03912912e+02] [-6.65780441e-03 2.04139241e-04 -9.99977816e-01 -4.93353155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.266559995 meters 0.05223157871561568 Centerline is valid? [True, True] Translation: X:593.26, Y:-303.97, Z:-4.93 [[-9.27209428e-01 3.74506516e-01 5.24838189e-03 5.93257997e+02] [ 3.74501214e-01 9.27224275e-01 -1.99599821e-03 -3.03970885e+02] [-5.61394143e-03 1.14817028e-04 -9.99984235e-01 -4.93358018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3265599949999 meters 0.051866087814063176 Centerline is valid? [True, True] Translation: X:593.31, Y:-303.89, Z:-4.93 [[-9.53148006e-01 3.02471390e-01 4.46509289e-03 5.93312113e+02] [ 3.02468415e-01 9.53158462e-01 -1.34335740e-03 -3.03887743e+02] [-4.66226825e-03 7.01311404e-05 -9.99989129e-01 -4.93455147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.386559995 meters 0.052117453087465 Centerline is valid? [True, True] Translation: X:592.88, Y:-303.11, Z:-5.88 [[-9.39591878e-01 -3.42283637e-01 3.00244026e-03 5.92878372e+02] [ 3.42281412e-01 -9.39596665e-01 -1.24199985e-03 -3.03110623e+02] [ 3.24619908e-03 -1.39293479e-04 9.99994721e-01 -5.87975385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4465599949999 meters 0.05277169912413916 Centerline is valid? [True, True] Translation: X:592.52, Y:-303.63, Z:-4.93 [[-9.56223771e-01 2.92610101e-01 3.92793686e-03 5.92522407e+02] [ 2.92607782e-01 9.56231838e-01 -1.16534365e-03 -3.03628774e+02] [-4.09700960e-03 3.50155966e-05 -9.99991607e-01 -4.93051478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.506559995 meters 0.052303144111606505 Centerline is valid? [True, True] Translation: X:592.49, Y:-303.54, Z:-4.93 [[-9.74491798e-01 2.24381996e-01 4.29587802e-03 5.92492340e+02] [ 2.24379994e-01 9.74501266e-01 -9.48791949e-04 -3.03543287e+02] [-4.39923040e-03 3.93191095e-05 -9.99990323e-01 -4.92863177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5665599949999 meters 0.05255608452559926 Centerline is valid? [True, True] Translation: X:592.44, Y:-303.46, Z:-4.93 [[-9.87766073e-01 1.55860561e-01 5.06664421e-03 5.92436039e+02] [ 1.55858781e-01 9.87779066e-01 -7.46681399e-04 -3.03460874e+02] [-5.12110327e-03 5.21344354e-05 -9.99986886e-01 -4.92663058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.626559995 meters 0.052834294697004576 Centerline is valid? [True, True] Translation: X:592.86, Y:-303.42, Z:-4.93 [[-9.96597389e-01 8.23389261e-02 3.73430232e-03 5.92857751e+02] [ 8.23385167e-02 9.96604385e-01 -2.63496473e-04 -3.03419142e+02] [-3.74331809e-03 4.48770173e-05 -9.99992993e-01 -4.92882381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6865599949999 meters 0.05327249574865849 Centerline is valid? [True, True] Translation: X:592.70, Y:-303.33, Z:-4.93 [[-9.99909089e-01 1.28652883e-02 4.03713874e-03 5.92703940e+02] [ 1.28654025e-02 9.99917237e-01 2.31114662e-06 -3.03328095e+02] [-4.03677488e-03 5.42503513e-05 -9.99991851e-01 -4.92762621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.746559995 meters 0.05330557547942576 Centerline is valid? [True, True] Translation: X:592.59, Y:-303.25, Z:-4.93 [[-9.98223663e-01 -5.93832823e-02 4.81092664e-03 5.92594079e+02] [-5.93823068e-02 9.98235254e-01 3.45466600e-04 -3.03245935e+02] [-4.82295152e-03 5.91690127e-05 -9.99988368e-01 -4.92587441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8065599949999 meters 0.052788260982389236 Centerline is valid? [True, True] Translation: X:592.57, Y:-303.16, Z:-4.93 [[-9.91020186e-01 -1.33642273e-01 4.32817858e-03 5.92571658e+02] [-1.33640823e-01 9.91029637e-01 6.23762210e-04 -3.03158464e+02] [-4.37271424e-03 3.97395959e-05 -9.99990439e-01 -4.92624246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.866559995 meters 0.05268816146657077 Centerline is valid? [True, True] Translation: X:591.75, Y:-303.23, Z:-4.93 [[-9.78547955e-01 -2.05993309e-01 3.26439880e-03 5.91747620e+02] [-2.05992089e-01 9.78553400e-01 7.09229047e-04 -3.03227666e+02] [-3.34048499e-03 2.15743059e-05 -9.99994420e-01 -4.92536738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9265599949999 meters 0.05208025851126654 Centerline is valid? [True, True] Translation: X:591.69, Y:-303.17, Z:-4.93 [[-9.60063852e-01 -2.79771800e-01 2.26725280e-03 5.91686190e+02] [-2.79771008e-01 9.60066529e-01 6.65386969e-04 -3.03167118e+02] [-2.36287003e-03 4.50237490e-06 -9.99997208e-01 -4.92542362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.986559995 meters 0.05206934287003591 Centerline is valid? [True, True] Translation: X:591.62, Y:-303.11, Z:-4.93 [[-9.36304817e-01 -3.51184515e-01 1.65105936e-03 5.91617761e+02] [-3.51183974e-01 9.36306273e-01 6.16173029e-04 -3.03112728e+02] [-1.76228766e-03 -2.89981387e-06 -9.99998447e-01 -4.92536198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0465599949999 meters 0.05258794993527301 Centerline is valid? [True, True] Translation: X:591.69, Y:-303.00, Z:-4.92 [[-9.04852827e-01 -4.25719131e-01 2.14079061e-03 5.91690867e+02] [-4.25717991e-01 9.04855359e-01 9.85374230e-04 -3.02996634e+02] [-2.35659852e-03 -1.97544216e-05 -9.99997223e-01 -4.92492739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.106559995 meters 0.052269630994969174 Centerline is valid? [True, True] Translation: X:591.55, Y:-302.97, Z:-4.92 [[-8.69810251e-01 -4.93381155e-01 2.27228271e-03 5.91551178e+02] [-4.93379574e-01 8.69813218e-01 1.24945223e-03 -3.02973238e+02] [-2.59291772e-03 -3.43115226e-05 -9.99996638e-01 -4.92376270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.166559995 meters 0.05180050867933543 Centerline is valid? [True, True] Translation: X:591.37, Y:-303.00, Z:-4.92 [[-8.28782672e-01 -5.59568798e-01 1.42951558e-03 5.91365944e+02] [-5.59568035e-01 8.28783904e-01 9.24717602e-04 -3.02998022e+02] [-1.70220262e-03 -3.35213019e-05 -9.99998551e-01 -4.92383232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2265599949999 meters 0.05166535730490707 Centerline is valid? [True, True] Translation: X:591.26, Y:-302.98, Z:-4.92 [[-7.83092353e-01 -6.21903969e-01 1.34937694e-03 5.91255316e+02] [-6.21903135e-01 7.83093514e-01 1.01912464e-03 -3.02983355e+02] [-1.69048599e-03 -4.11130390e-05 -9.99998570e-01 -4.92313546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.286559995 meters 0.05070795894402541 Centerline is valid? [True, True] Translation: X:591.13, Y:-302.99, Z:-4.92 [[-7.34076667e-01 -6.79065283e-01 1.33769429e-03 5.91126580e+02] [-6.79064272e-01 7.34077884e-01 1.17282770e-03 -3.02991468e+02] [-1.77839837e-03 -4.74349517e-05 -9.99998418e-01 -4.92302688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3465599949999 meters 0.051207467646568444 Centerline is valid? [True, True] Translation: X:590.96, Y:-303.04, Z:-4.92 [[-6.82190978e-01 -7.31173707e-01 6.93043568e-04 5.90962528e+02] [-7.31173369e-01 6.82191330e-01 7.03059642e-04 -3.03038086e+02] [-9.86847037e-04 -2.71140555e-05 -9.99999513e-01 -4.92299007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.406559995 meters 0.05078177160938542 Centerline is valid? [True, True] Translation: X:590.81, Y:-303.10, Z:-4.92 [[-6.26232673e-01 -7.79635851e-01 7.60830468e-04 5.90809232e+02] [-7.79635340e-01 6.26233134e-01 8.94033807e-04 -3.03096309e+02] [-1.17347806e-03 -3.32971401e-05 -9.99999311e-01 -4.92309442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4665599949999 meters 0.052023776219539256 Centerline is valid? [True, True] Translation: X:590.64, Y:-303.17, Z:-4.92 [[-5.67222730e-01 -8.23563091e-01 1.48682478e-03 5.90643036e+02] [-8.23560595e-01 5.67224674e-01 2.02867270e-03 -3.03169562e+02] [-2.51410366e-03 -7.37810317e-05 -9.99996837e-01 -4.92169291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.526559995 meters 0.05103518957145969 Centerline is valid? [True, True] Translation: X:590.48, Y:-303.28, Z:-4.92 [[-5.05165332e-01 -8.63021046e-01 1.63130458e-03 5.90484631e+02] [-8.63017115e-01 5.05167958e-01 2.60667345e-03 -3.03279596e+02] [-3.07369685e-03 -9.10427117e-05 -9.99995272e-01 -4.92155584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5865599949999 meters 0.05160194864973148 Centerline is valid? [True, True] Translation: X:590.33, Y:-303.39, Z:-4.92 [[-4.40785591e-01 -8.97610184e-01 2.00505657e-03 5.90329157e+02] [-8.97602160e-01 4.40790133e-01 3.79736491e-03 -3.03388011e+02] [-4.29236257e-03 -1.25919369e-04 -9.99990780e-01 -4.91983094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.646559995 meters 0.049470861787867866 Centerline is valid? [True, True] Translation: X:590.17, Y:-303.55, Z:-4.92 [[-3.74386680e-01 -9.27271598e-01 1.41295866e-03 5.90174804e+02] [-9.27265980e-01 3.74389333e-01 3.22939604e-03 -3.03554392e+02] [-3.52352388e-03 -1.01145632e-04 -9.99993787e-01 -4.92091599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7065599949999 meters 0.05130957822387767 Centerline is valid? [True, True] Translation: X:590.02, Y:-303.71, Z:-4.92 [[-3.05826539e-01 -9.52086551e-01 1.15201403e-03 5.90023769e+02] [-9.52080942e-01 3.05828694e-01 3.26958154e-03 -3.03707554e+02] [-3.46524356e-03 -9.68857976e-05 -9.99993991e-01 -4.92072533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.766559995 meters 0.05003514905962593 Centerline is valid? [True, True] Translation: X:589.89, Y:-303.90, Z:-4.92 [[-2.35454543e-01 -9.71885301e-01 3.46499799e-04 5.89888512e+02] [-9.71884461e-01 2.35454795e-01 1.27843482e-03 -3.03901078e+02] [-1.32407705e-03 -3.57444844e-05 -9.99999123e-01 -4.92220858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8265599949999 meters 0.0504430108650842 Centerline is valid? [True, True] Translation: X:589.77, Y:-304.08, Z:-4.92 [[-1.62843383e-01 -9.86651921e-01 -1.41715287e-04 5.89765924e+02] [-9.86651653e-01 1.62843443e-01 -7.26960767e-04 -3.04081293e+02] [ 7.40334642e-04 2.14428713e-05 -9.99999726e-01 -4.92349579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.886559995 meters 0.049177328762931634 Centerline is valid? [True, True] Translation: X:589.66, Y:-304.30, Z:-4.92 [[-8.88377610e-02 -9.96046094e-01 -1.75137677e-04 5.89656196e+02] [-9.96045000e-01 8.88379231e-02 -1.47684672e-03 -3.04303844e+02] [ 1.48656627e-03 4.32452516e-05 -9.99998894e-01 -4.92291828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9465599949999 meters 0.04946364713499274 Centerline is valid? [True, True] Translation: X:589.56, Y:-304.53, Z:-4.92 [[-1.44570697e-02 -9.99895491e-01 -3.58579186e-06 5.89556983e+02] [-9.99895489e-01 1.44570699e-02 -6.34723394e-05 -3.04525081e+02] [ 6.35175462e-05 2.66779307e-06 -9.99999998e-01 -4.92188723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.006559995 meters 0.04996830465252491 Centerline is valid? [True, True] Translation: X:589.47, Y:-304.72, Z:-4.92 [[ 5.87879480e-02 -9.98270491e-01 -6.27747952e-05 5.89469994e+02] [-9.98268463e-01 -5.87879551e-02 2.01322446e-03 -3.04717998e+02] [-2.01343297e-03 -5.56872364e-05 -9.99997972e-01 -4.91994035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0665599949999 meters 0.04885961254703649 Centerline is valid? [True, True] Translation: X:589.42, Y:-305.04, Z:-4.92 [[ 1.28268220e-01 -9.91739469e-01 -2.97911674e-04 5.89420578e+02] [-9.91735431e-01 -1.28268548e-01 2.83096702e-03 -3.05039015e+02] [-2.84579442e-03 -6.76735381e-05 -9.99995948e-01 -4.91959534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.126559995 meters 0.04897034967504031 Centerline is valid? [True, True] Translation: X:589.37, Y:-305.27, Z:-4.92 [[ 1.99261845e-01 -9.79946129e-01 -5.49822755e-04 5.89373579e+02] [-9.79941422e-01 -1.99262592e-01 3.03787315e-03 -3.05272532e+02] [-3.08651114e-03 -6.65381146e-05 -9.99995235e-01 -4.91956703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1865599949999 meters 0.04935015912029431 Centerline is valid? [True, True] Translation: X:589.36, Y:-305.56, Z:-4.92 [[ 2.65197908e-01 -9.64193754e-01 -6.87933133e-04 5.89358486e+02] [-9.64190088e-01 -2.65198797e-01 2.65918370e-03 -3.05563175e+02] [-2.74640736e-03 -4.19116475e-05 -9.99996228e-01 -4.91984048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.246559995 meters 0.04970719142410758 Centerline is valid? [True, True] Translation: X:589.27, Y:-305.54, Z:-4.92 [[ 3.27947285e-01 -9.44695895e-01 -4.93755269e-04 5.89271742e+02] [-9.44694783e-01 -3.27947657e-01 1.44959695e-03 -3.05540141e+02] [-1.53135417e-03 -8.94335889e-06 -9.99998827e-01 -4.92169500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3065599949999 meters 0.0501436457158556 Centerline is valid? [True, True] Translation: X:589.55, Y:-306.53, Z:-4.92 [[ 3.88831318e-01 -9.21308875e-01 -4.03261616e-04 5.89553297e+02] [-9.21308381e-01 -3.88831527e-01 9.54010019e-04 -3.06526974e+02] [-1.03573873e-03 5.79333427e-07 -9.99999464e-01 -4.92063687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.366559995 meters 0.050478332972216496 Centerline is valid? [True, True] Translation: X:589.58, Y:-306.77, Z:-4.92 [[ 4.52296377e-01 -8.91867449e-01 -6.64569943e-04 5.89583241e+02] [-8.91866508e-01 -4.52296865e-01 1.29544405e-03 -3.06769730e+02] [-1.45594729e-03 6.78302275e-06 -9.99998940e-01 -4.92022393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4265599949999 meters 0.050259873127062725 Centerline is valid? [True, True] Translation: X:589.64, Y:-307.02, Z:-4.92 [[ 5.14514604e-01 -8.57481121e-01 -9.22027428e-04 5.89637699e+02] [-8.57479790e-01 -5.14515430e-01 1.51063369e-03 -3.07022778e+02] [-1.76973721e-03 1.33767900e-05 -9.99998434e-01 -4.92012174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.486559995 meters 0.05012265479784528 Centerline is valid? [True, True] Translation: X:589.73, Y:-307.30, Z:-4.92 [[ 5.73058076e-01 -8.19513260e-01 -1.56759000e-03 5.89732894e+02] [-8.19510342e-01 -5.73060219e-01 2.18736027e-03 -3.07304263e+02] [-2.69089422e-03 3.11717497e-05 -9.99996379e-01 -4.91955813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5465599949999 meters 0.05152768678168645 Centerline is valid? [True, True] Translation: X:589.83, Y:-307.55, Z:-4.92 [[ 6.28871452e-01 -7.77507177e-01 -1.81287504e-03 5.89827706e+02] [-7.77504148e-01 -6.28874063e-01 2.17097039e-03 -3.07545764e+02] [-2.82801516e-03 4.42565654e-05 -9.99996000e-01 -4.91967576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6065599949999 meters 0.05121476852029589 Centerline is valid? [True, True] Translation: X:589.97, Y:-307.81, Z:-4.92 [[ 6.80644693e-01 -7.32612442e-01 -1.34585642e-03 5.89966585e+02] [-7.32611127e-01 -6.80646022e-01 1.38885541e-03 -3.07814046e+02] [-1.93354457e-03 4.06723233e-05 -9.99998130e-01 -4.92077582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.666559995 meters 0.05085471201879394 Centerline is valid? [True, True] Translation: X:590.04, Y:-307.98, Z:-4.92 [[ 7.31844721e-01 -6.81470330e-01 -1.22258638e-03 5.90037936e+02] [-6.81469462e-01 -7.31845741e-01 1.08808233e-03 -3.07983895e+02] [-1.63624046e-03 3.68479694e-05 -9.99998661e-01 -4.92040297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7265599949999 meters 0.05147139902939117 Centerline is valid? [True, True] Translation: X:590.01, Y:-308.06, Z:-4.92 [[ 7.84220188e-01 -6.20480991e-01 -1.42693631e-03 5.90012498e+02] [-6.20480048e-01 -7.84221485e-01 1.08254471e-03 -3.08063283e+02] [-1.79073253e-03 3.64320978e-05 -9.99998396e-01 -4.92047513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.786559995 meters 0.05099881292864609 Centerline is valid? [True, True] Translation: X:590.00, Y:-308.14, Z:-4.92 [[ 8.34527220e-01 -5.50965123e-01 -1.32402157e-03 5.89996945e+02] [-5.50964467e-01 -8.34528270e-01 8.50026660e-04 -3.08143129e+02] [-1.57326847e-03 2.01184515e-05 -9.99998762e-01 -4.91954371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8465599949999 meters 0.051209638950574496 Centerline is valid? [True, True] Translation: X:589.99, Y:-308.22, Z:-4.92 [[ 8.78904550e-01 -4.76994808e-01 -1.65704283e-03 5.89986351e+02] [-4.76993979e-01 -8.78906112e-01 8.89369490e-04 -3.08224418e+02] [-1.88060970e-03 8.72855986e-06 -9.99998232e-01 -4.91948712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.906559995 meters 0.05104429997318513 Centerline is valid? [True, True] Translation: X:589.98, Y:-308.32, Z:-4.92 [[ 9.15308003e-01 -4.02751639e-01 -1.54191519e-03 5.89978477e+02] [-4.02751068e-01 -9.15309301e-01 6.78063910e-04 -3.08317567e+02] [-1.68442067e-03 3.70666104e-07 -9.99998581e-01 -4.91931162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9665599949999 meters 0.050791853921107334 Centerline is valid? [True, True] Translation: X:589.98, Y:-308.41, Z:-4.92 [[ 9.45628978e-01 -3.25245674e-01 -1.04234274e-03 5.89978110e+02] [-3.25245471e-01 -9.45629553e-01 3.63793090e-04 -3.08407462e+02] [-1.10399223e-03 -4.99603413e-06 -9.99999391e-01 -4.91959789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.026559995 meters 0.05091727988334719 Centerline is valid? [True, True] Translation: X:589.99, Y:-308.50, Z:-4.92 [[ 9.69150231e-01 -2.46469179e-01 8.79309626e-04 5.89986320e+02] [-2.46469069e-01 -9.69150630e-01 -2.33194033e-04 -3.08498524e+02] [ 9.09658620e-04 9.27742618e-06 -9.99999586e-01 -4.91982905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0865599949999 meters 0.051298619977055725 Centerline is valid? [True, True] Translation: X:590.00, Y:-308.59, Z:-4.92 [[ 9.85878351e-01 -1.67459212e-01 1.13547311e-03 5.90000806e+02] [-1.67459084e-01 -9.85879005e-01 -2.07548179e-04 -3.08590422e+02] [ 1.15419496e-03 1.44719689e-05 -9.99999334e-01 -4.92068349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.146559995 meters 0.05098041718254656 Centerline is valid? [True, True] Translation: X:590.03, Y:-308.66, Z:-4.92 [[ 9.96293871e-01 -8.60047007e-02 1.30926005e-03 5.90025817e+02] [-8.60045980e-02 -9.96294731e-01 -1.34630724e-04 -3.08664237e+02] [ 1.31598776e-03 2.15293813e-05 -9.99999134e-01 -4.92039256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2065599949999 meters 0.05044675072789596 Centerline is valid? [True, True] Translation: X:590.06, Y:-308.75, Z:-4.92 [[ 9.99988544e-01 -4.78634067e-03 6.16050604e-05 5.90055321e+02] [-4.78634054e-03 -9.99988545e-01 -2.27756739e-06 -3.08750269e+02] [ 6.16152562e-05 1.98267849e-06 -9.99999998e-01 -4.91983766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.266559995 meters 0.05087864468237855 Centerline is valid? [True, True] Translation: X:590.09, Y:-308.84, Z:-4.92 [[ 9.97199187e-01 7.47843782e-02 -1.03800369e-03 5.90086104e+02] [ 7.47843587e-02 -9.97199727e-01 -5.76510099e-05 -3.08835244e+02] [-1.03940839e-03 -2.01369000e-05 -9.99999460e-01 -4.91875709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3265599949999 meters 0.050664013129481406 Centerline is valid? [True, True] Translation: X:590.12, Y:-308.92, Z:-4.92 [[ 9.88180228e-01 1.53254358e-01 -3.59716418e-03 5.90123818e+02] [ 1.53253618e-01 -9.88186772e-01 -4.82107737e-04 -3.08919718e+02] [-3.62855517e-03 -7.48690932e-05 -9.99993414e-01 -4.91834718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.386559995 meters 0.05018081594506061 Centerline is valid? [True, True] Translation: X:590.17, Y:-309.01, Z:-4.92 [[ 9.73622755e-01 2.28129320e-01 -3.96796258e-03 5.90167374e+02] [ 2.28127741e-01 -9.73630837e-01 -8.52113894e-04 -3.09005015e+02] [-4.05772289e-03 -7.55648638e-05 -9.99991765e-01 -4.91709850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4465599949999 meters 0.05007953504162293 Centerline is valid? [True, True] Translation: X:590.22, Y:-309.07, Z:-4.92 [[ 9.53948080e-01 2.99960734e-01 -2.57258380e-03 5.90215195e+02] [ 2.99959755e-01 -9.53951548e-01 -7.67574177e-04 -3.09073408e+02] [-2.68436242e-03 -3.94456941e-05 -9.99996396e-01 -4.91864655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.506559995 meters 0.05035713597408937 Centerline is valid? [True, True] Translation: X:590.27, Y:-309.14, Z:-4.92 [[ 9.28624327e-01 3.71019845e-01 -1.06540876e-03 5.90267801e+02] [ 3.71019617e-01 -9.28624938e-01 -4.11639329e-04 -3.09140417e+02] [-1.14209150e-03 -1.30292544e-05 -9.99999348e-01 -4.91948179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5665599949999 meters 0.04986938279230258 Centerline is valid? [True, True] Translation: X:590.32, Y:-309.20, Z:-4.92 [[ 8.98147265e-01 4.39694151e-01 7.37870198e-04 5.90323659e+02] [ 4.39694010e-01 -8.98147568e-01 3.52191618e-04 -3.09196490e+02] [ 8.17572918e-04 8.11716850e-06 -9.99999666e-01 -4.92049321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.626559995 meters 0.04972726500809264 Centerline is valid? [True, True] Translation: X:590.39, Y:-309.26, Z:-4.92 [[ 8.61127504e-01 5.08387909e-01 1.07503146e-03 5.90385805e+02] [ 5.08387530e-01 -8.61128175e-01 6.21195212e-04 -3.09255797e+02] [ 1.24154801e-03 1.16043044e-05 -9.99999229e-01 -4.92033728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6865599949999 meters 0.04982422337222369 Centerline is valid? [True, True] Translation: X:590.45, Y:-309.30, Z:-4.92 [[ 8.16774552e-01 5.76956701e-01 -5.44091042e-04 5.90449209e+02] [ 5.76956579e-01 -8.16774733e-01 -3.75537685e-04 -3.09303930e+02] [-6.61068799e-04 -7.18728205e-06 -9.99999781e-01 -4.91744856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.746559995 meters 0.049851013194412826 Centerline is valid? [True, True] Translation: X:590.52, Y:-309.36, Z:-4.92 [[ 7.66538145e-01 6.42191132e-01 -3.13414768e-03 5.90524858e+02] [ 6.42186104e-01 -7.66544549e-01 -2.54188630e-03 -3.09358269e+02] [-4.03484066e-03 -6.42532767e-05 -9.99991858e-01 -4.91628934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8065599949999 meters 0.049069268979552466 Centerline is valid? [True, True] Translation: X:590.60, Y:-309.41, Z:-4.92 [[ 7.13002147e-01 7.01155979e-01 -2.86910987e-03 5.90603321e+02] [ 7.01150685e-01 -7.13007916e-01 -2.72554830e-03 -3.09407719e+02] [-3.95673254e-03 -6.83565606e-05 -9.99992170e-01 -4.91531529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.866559995 meters 0.05008651498503494 Centerline is valid? [True, True] Translation: X:590.69, Y:-309.45, Z:-4.92 [[ 6.56129288e-01 7.54647187e-01 -1.40732102e-03 5.90685606e+02] [ 7.54645566e-01 -6.56130796e-01 -1.56452549e-03 -3.09451057e+02] [-2.10405142e-03 -3.54975699e-05 -9.99997786e-01 -4.91560872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9265599949999 meters 0.050889480112710536 Centerline is valid? [True, True] Translation: X:590.77, Y:-309.49, Z:-4.92 [[ 5.95491653e-01 8.03361206e-01 -6.81721944e-04 5.90771170e+02] [ 8.03360713e-01 -5.95492043e-01 -8.89542134e-04 -3.09488202e+02] [-1.12058363e-03 -1.79537120e-05 -9.99999372e-01 -4.91577469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.986559995 meters 0.04980938125090678 Centerline is valid? [True, True] Translation: X:590.84, Y:-309.50, Z:-4.91 [[ 5.30875661e-01 8.47449107e-01 -1.02138230e-03 5.90842080e+02] [ 8.47447648e-01 -5.30876643e-01 -1.57308484e-03 -3.09504918e+02] [-1.87533735e-03 -3.04555759e-05 -9.99998241e-01 -4.91498397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0465599949999 meters 0.04868935820120221 Centerline is valid? [True, True] Translation: X:590.93, Y:-309.52, Z:-4.91 [[ 4.63196450e-01 8.86255152e-01 -9.24407679e-04 5.90927840e+02] [ 8.86253518e-01 -4.63197371e-01 -1.70195880e-03 -3.09524767e+02] [-1.93655296e-03 -3.09182832e-05 -9.99998124e-01 -4.91487353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1065599949999 meters 0.049227939255971076 Centerline is valid? [True, True] Translation: X:591.02, Y:-309.54, Z:-4.91 [[ 3.94246289e-01 9.19004085e-01 -1.16415475e-03 5.91020209e+02] [ 9.19000376e-01 -3.94248006e-01 -2.61126164e-03 -3.09541474e+02] [-2.85872580e-03 -4.03784471e-05 -9.99995913e-01 -4.91382164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.166559995 meters 0.049604486478531794 Centerline is valid? [True, True] Translation: X:591.11, Y:-309.55, Z:-4.91 [[ 3.24614699e-01 9.45845827e-01 -9.84464231e-04 5.91110391e+02] [ 9.45841761e-01 -3.24616190e-01 -2.77368623e-03 -3.09548997e+02] [-2.94305257e-03 -3.07680615e-05 -9.99995669e-01 -4.91370432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2265599949999 meters 0.04908308242087349 Centerline is valid? [True, True] Translation: X:591.20, Y:-309.55, Z:-4.91 [[ 2.51868968e-01 9.67761104e-01 -6.84367334e-04 5.91201405e+02] [ 9.67757758e-01 -2.51869897e-01 -2.54492399e-03 -3.09550812e+02] [-2.63524998e-03 -2.13144182e-05 -9.99996528e-01 -4.91288850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.286559995 meters 0.04892082759378255 Centerline is valid? [True, True] Translation: X:591.29, Y:-309.54, Z:-4.91 [[ 1.76421264e-01 9.84314619e-01 -5.17860620e-04 5.91288637e+02] [ 9.84310703e-01 -1.76422022e-01 -2.77668101e-03 -3.09543069e+02] [-2.82448973e-03 -1.98701789e-05 -9.99996011e-01 -4.91324082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3465599949999 meters 0.04917205478148585 Centerline is valid? [True, True] Translation: X:591.37, Y:-309.53, Z:-4.91 [[ 1.01917054e-01 9.94792848e-01 -3.22598876e-04 5.91374078e+02] [ 9.94788234e-01 -1.01917564e-01 -3.02983598e-03 -3.09529352e+02] [-3.04693765e-03 -1.21256107e-05 -9.99995358e-01 -4.91279112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.406559995 meters 0.04938520758200948 Centerline is valid? [True, True] Translation: X:591.46, Y:-309.51, Z:-4.91 [[ 2.86448033e-02 9.99589652e-01 -5.21437031e-05 5.91459623e+02] [ 9.99587866e-01 -2.86448507e-02 -1.88979644e-03 -3.09510276e+02] [-1.89051461e-03 2.01063436e-06 -9.99998213e-01 -4.91234750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4665599949999 meters 0.04931573920264778 Centerline is valid? [True, True] Translation: X:591.53, Y:-309.48, Z:-4.91 [[-4.43146254e-02 9.99017622e-01 6.85328037e-05 5.91528716e+02] [ 9.99016716e-01 4.43146775e-02 -1.34543941e-03 -3.09483752e+02] [-1.34715469e-03 8.84277309e-06 -9.99999093e-01 -4.91404865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.526559995 meters 0.04990776368547488 Centerline is valid? [True, True] Translation: X:591.61, Y:-309.45, Z:-4.91 [[-1.19362246e-01 9.92850729e-01 2.89994356e-04 5.91608390e+02] [ 9.92848211e-01 1.19362596e-01 -2.23615476e-03 -3.09450039e+02] [-2.25478237e-03 2.10079231e-05 -9.99997458e-01 -4.91309468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5865599949999 meters 0.04998246455766412 Centerline is valid? [True, True] Translation: X:591.68, Y:-309.41, Z:-4.91 [[-1.92903487e-01 9.81217302e-01 9.22488212e-04 5.91677115e+02] [ 9.81207484e-01 1.92905684e-01 -4.38983400e-03 -3.09412915e+02] [-4.48533429e-03 5.83380509e-05 -9.99989939e-01 -4.91039664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.646559995 meters 0.04966603236488317 Centerline is valid? [True, True] Translation: X:591.76, Y:-309.37, Z:-4.91 [[-2.67253808e-01 9.63625051e-01 1.47048917e-03 5.91757069e+02] [ 9.63612023e-01 2.67257842e-01 -5.01148283e-03 -3.09366484e+02] [-5.22219016e-03 7.76431687e-05 -9.99986361e-01 -4.91021490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7065599949999 meters 0.050877832835642976 Centerline is valid? [True, True] Translation: X:591.82, Y:-309.32, Z:-4.91 [[-3.42532730e-01 9.39504615e-01 1.55156719e-03 5.91818416e+02] [ 9.39495777e-01 3.42536238e-01 -4.07551313e-03 -3.09318417e+02] [-4.36043138e-03 6.16941878e-05 -9.99990491e-01 -4.90961147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.766559995 meters 0.04968092186301641 Centerline is valid? [True, True] Translation: X:591.88, Y:-309.26, Z:-4.91 [[-4.21278089e-01 9.06930822e-01 1.12061093e-03 5.91880537e+02] [ 9.06927734e-01 4.21279579e-01 -2.36670621e-03 -3.09263364e+02] [-2.61852931e-03 1.92716629e-05 -9.99996571e-01 -4.91083097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8265599949999 meters 0.04922389950979742 Centerline is valid? [True, True] Translation: X:591.95, Y:-309.20, Z:-4.91 [[-5.01496498e-01 8.65159331e-01 7.70561540e-04 5.91949865e+02] [ 8.65158288e-01 5.01497090e-01 -1.34356888e-03 -3.09198455e+02] [-1.54883552e-03 -7.13738389e-06 -9.99998801e-01 -4.91021653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.886559995 meters 0.04922389950979742 Centerline is valid? [True, True] Translation: X:592.00, Y:-309.14, Z:-4.91 [[-5.67654394e-01 8.23266498e-01 8.73343281e-04 5.91997238e+02] [ 8.23265504e-01 5.67655066e-01 -1.27918160e-03 -3.09138079e+02] [-1.54886509e-03 -7.13965989e-06 -9.99998800e-01 -4.91021597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9465599949999 meters 0.04986684331153176 Centerline is valid? [True, True] Translation: X:592.05, Y:-309.07, Z:-4.91 [[-6.36637907e-01 7.71162772e-01 3.92868745e-04 5.92045168e+02] [ 7.71162618e-01 6.36638029e-01 -4.87719152e-04 -3.09070840e+02] [-6.26226037e-04 -7.53481054e-06 -9.99999804e-01 -4.91101827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.006559995 meters 0.05040951086778157 Centerline is valid? [True, True] Translation: X:592.08, Y:-309.00, Z:-4.91 [[-6.97893419e-01 7.16201608e-01 1.80607911e-04 5.92084465e+02] [ 7.16201583e-01 6.97893442e-01 -1.90750073e-04 -3.09000894e+02] [-2.62660586e-04 -3.77154838e-06 -9.99999966e-01 -4.91170333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0665599949999 meters 0.04992760472183591 Centerline is valid? [True, True] Translation: X:592.12, Y:-308.93, Z:-4.91 [[-7.54989679e-01 6.55735920e-01 9.93517164e-04 5.92119117e+02] [ 6.55735302e-01 7.54990332e-01 -9.01147453e-04 -3.08926398e+02] [-1.34101061e-03 -2.88727487e-05 -9.99999100e-01 -4.91087733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.126559995 meters 0.04927392392053292 Centerline is valid? [True, True] Translation: X:592.08, Y:-308.79, Z:-4.91 [[-8.01190253e-01 5.98399031e-01 3.57470873e-03 5.92081933e+02] [ 5.98392444e-01 8.01198220e-01 -2.80983068e-03 -3.08792879e+02] [-4.54545022e-03 -1.12130261e-04 -9.99989663e-01 -4.90938514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1865599949999 meters 0.049441631329499976 Centerline is valid? [True, True] Translation: X:592.10, Y:-308.71, Z:-4.91 [[-8.41126943e-01 5.40817211e-01 4.71270988e-03 5.92097629e+02] [ 5.40807812e-01 8.41140135e-01 -3.19123864e-03 -3.08709605e+02] [-5.68992620e-03 -1.35566483e-04 -9.99983803e-01 -4.90837936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.246559995 meters 0.04904254839020963 Centerline is valid? [True, True] Translation: X:591.99, Y:-308.56, Z:-4.91 [[-8.72683782e-01 4.88263499e-01 4.66605071e-03 5.91990946e+02] [ 4.88256049e-01 8.72696253e-01 -2.69839367e-03 -3.08558756e+02] [-5.38957210e-03 -7.66169114e-05 -9.99985473e-01 -4.91020676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3065599949999 meters 0.049577612481219696 Centerline is valid? [True, True] Translation: X:591.92, Y:-308.44, Z:-4.91 [[-9.00421592e-01 4.35007188e-01 3.11492181e-03 5.91922481e+02] [ 4.35004541e-01 9.00426980e-01 -1.51750651e-03 -3.08443862e+02] [-3.46488587e-03 -1.13905003e-05 -9.99993997e-01 -4.91080817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.366559995 meters 0.04968279923065866 Centerline is valid? [True, True] Translation: X:591.87, Y:-308.35, Z:-4.91 [[-9.25247403e-01 3.79351344e-01 3.13067874e-03 5.91868832e+02] [ 3.79349253e-01 9.25252699e-01 -1.25953392e-03 -3.08347970e+02] [-3.37447484e-03 2.22401564e-05 -9.99994306e-01 -4.91082539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4265599949999 meters 0.0500253621339732 Centerline is valid? [True, True] Translation: X:591.80, Y:-308.24, Z:-4.91 [[-9.49103285e-01 3.14947673e-01 3.30426030e-03 5.91799419e+02] [ 3.14945877e-01 9.49109036e-01 -1.06396672e-03 -3.08244287e+02] [-3.47119715e-03 3.08488470e-05 -9.99993975e-01 -4.91112047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.486559995 meters 0.05049191322757843 Centerline is valid? [True, True] Translation: X:591.94, Y:-308.21, Z:-4.91 [[-9.68867112e-01 2.47524949e-01 5.28382509e-03 5.91939661e+02] [ 2.47521570e-01 9.68881519e-01 -1.29439465e-03 -3.08210660e+02] [-5.43979544e-03 5.37642779e-05 -9.99985203e-01 -4.90696890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5465599949999 meters 0.050184723171894645 Centerline is valid? [True, True] Translation: X:591.75, Y:-308.09, Z:-4.91 [[-9.84665877e-01 1.74315931e-01 6.86048150e-03 5.91751295e+02] [ 1.74311990e-01 9.84689776e-01 -1.17281557e-03 -3.08087612e+02] [-6.95988642e-03 4.10327085e-05 -9.99975779e-01 -4.90805755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6065599949999 meters 0.05011824000663794 Centerline is valid? [True, True] Translation: X:591.87, Y:-308.03, Z:-4.91 [[-9.94795266e-01 1.01618187e-01 7.49155699e-03 5.91866873e+02] [ 1.01615540e-01 9.94823473e-01 -7.34078894e-04 -3.08025248e+02] [-7.52737251e-03 3.10004020e-05 -9.99971668e-01 -4.90926332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.666559995 meters 0.04921275017149367 Centerline is valid? [True, True] Translation: X:591.78, Y:-307.33, Z:-5.90 [[-9.86541800e-01 -1.63416689e-01 5.50108612e-03 5.91778526e+02] [ 1.63413284e-01 -9.86557126e-01 -1.06606252e-03 -3.07330660e+02] [ 5.60134812e-03 -1.52764690e-04 9.99984301e-01 -5.90318210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7265599949999 meters 0.049735009724042885 Centerline is valid? [True, True] Translation: X:591.65, Y:-307.99, Z:-4.91 [[-9.95866076e-01 9.07883615e-02 2.86925965e-03 5.91651661e+02] [ 9.07879639e-02 9.95870209e-01 -2.68804466e-04 -3.07994531e+02] [-2.88181452e-03 -7.19900722e-06 -9.99995848e-01 -4.90908923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.786559995 meters 0.04995929948599255 Centerline is valid? [True, True] Translation: X:591.68, Y:-307.33, Z:-5.90 [[-9.86131937e-01 -1.65947305e-01 2.30089409e-03 5.91676667e+02] [ 1.65946778e-01 -9.86134621e-01 -4.19015973e-04 -3.07334236e+02] [ 2.33852589e-03 -3.13790715e-05 9.99997265e-01 -5.90287501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8465599949999 meters 0.0499851268420418 Centerline is valid? [True, True] Translation: X:591.54, Y:-307.98, Z:-4.91 [[-9.96699256e-01 8.11407712e-02 2.60162396e-03 5.91538649e+02] [ 8.11404385e-02 9.96702651e-01 -2.33361706e-04 -3.07981849e+02] [-2.61198064e-03 -2.14945299e-05 -9.99996589e-01 -4.90912794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.906559995 meters 0.05002955285126961 Centerline is valid? [True, True] Translation: X:591.50, Y:-307.90, Z:-4.91 [[-9.99956711e-01 8.99716759e-03 2.37199086e-03 5.91498560e+02] [ 8.99709015e-03 9.99959524e-01 -4.33156904e-05 -3.07899606e+02] [-2.37228457e-03 -2.19727998e-05 -9.99997186e-01 -4.90842759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9665599949999 meters 0.04963438020563615 Centerline is valid? [True, True] Translation: X:591.43, Y:-307.25, Z:-5.90 [[-9.95140892e-01 -9.84213618e-02 2.80024377e-03 5.91434246e+02] [ 9.84211300e-02 -9.95144830e-01 -2.20804384e-04 -3.07251442e+02] [ 2.80837998e-03 5.58716842e-05 9.99996055e-01 -5.90300185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.026559995 meters 0.049861102883027336 Centerline is valid? [True, True] Translation: X:591.36, Y:-307.90, Z:-4.91 [[-9.99984495e-01 4.60376561e-03 3.13277637e-03 5.91355587e+02] [ 4.60364542e-03 9.99989402e-01 -4.55757029e-05 -3.07896503e+02] [-3.13295299e-03 -3.11528046e-05 -9.99995092e-01 -4.90860535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0865599949999 meters 0.04956465145211579 Centerline is valid? [True, True] Translation: X:591.23, Y:-307.25, Z:-5.90 [[-9.96330770e-01 -8.55408765e-02 2.78475278e-03 5.91230924e+02] [ 8.55405651e-02 -9.96334662e-01 -2.30953427e-04 -3.07245271e+02] [ 2.79430167e-03 8.10332088e-06 9.99996096e-01 -5.90349293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.146559995 meters 0.04969986648898638 Centerline is valid? [True, True] Translation: X:591.07, Y:-307.90, Z:-4.91 [[-9.99887915e-01 1.47333541e-02 2.66175683e-03 5.91071025e+02] [ 1.47333304e-02 9.99891458e-01 -2.84882302e-05 -3.07895901e+02] [-2.66188765e-03 1.07315058e-05 -9.99996457e-01 -4.90781065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2065599949999 meters 0.05039739571503091 Centerline is valid? [True, True] Translation: X:591.31, Y:-307.81, Z:-4.91 [[-9.98683789e-01 -5.12100248e-02 2.86757221e-03 5.91311907e+02] [-5.12097065e-02 9.98687905e-01 1.84366372e-04 -3.07814184e+02] [-2.87325109e-03 3.72761756e-05 -9.99995872e-01 -4.90785262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.266559995 meters 0.05014388256413305 Centerline is valid? [True, True] Translation: X:590.70, Y:-307.80, Z:-4.91 [[-9.93060167e-01 -1.17506503e-01 4.87105508e-03 5.90696779e+02] [-1.17504677e-01 9.93072110e-01 6.60521383e-04 -3.07796581e+02] [-4.91492450e-03 8.35657221e-05 -9.99987918e-01 -4.90574873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3265599949999 meters 0.05082160129210562 Centerline is valid? [True, True] Translation: X:590.54, Y:-307.14, Z:-5.91 [[-9.96471982e-01 8.36957584e-02 6.21368104e-03 5.90538699e+02] [-8.36942455e-02 -9.96491355e-01 5.03557679e-04 -3.07143922e+02] [ 6.23402508e-03 -1.82682286e-05 9.99980568e-01 -5.90714117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.386559995 meters 0.05099711807404313 Centerline is valid? [True, True] Translation: X:590.44, Y:-307.83, Z:-4.90 [[-9.92194342e-01 -1.24574875e-01 5.61140256e-03 5.90435118e+02] [-1.24572445e-01 9.92210207e-01 7.81741239e-04 -3.07830299e+02] [-5.66507621e-03 7.66130947e-05 -9.99983950e-01 -4.90423830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4465599949999 meters 0.05099968983057083 Centerline is valid? [True, True] Translation: X:590.37, Y:-307.77, Z:-4.91 [[-9.80409475e-01 -1.96924704e-01 4.23355440e-03 5.90372893e+02] [-1.96922647e-01 9.80418614e-01 9.01422694e-04 -3.07766518e+02] [-4.32816793e-03 5.00806124e-05 -9.99990632e-01 -4.90514808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.506559995 meters 0.049945099249810616 Centerline is valid? [True, True] Translation: X:590.43, Y:-307.67, Z:-4.90 [[-9.62186793e-01 -2.72371041e-01 3.25452919e-03 5.90430639e+02] [-2.72369387e-01 9.62192296e-01 9.49739550e-04 -3.07673213e+02] [-3.39016446e-03 2.73927329e-05 -9.99994253e-01 -4.90493549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5665599949999 meters 0.04993629030374577 Centerline is valid? [True, True] Translation: X:590.04, Y:-307.10, Z:-5.91 [[-9.75764565e-01 2.18804666e-01 2.83391632e-03 5.90037445e+02] [-2.18803915e-01 -9.75768679e-01 5.76345545e-04 -3.07100445e+02] [ 2.89135388e-03 -5.76944249e-05 9.99995818e-01 -5.90729648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.626559995 meters 0.049748525153819854 Centerline is valid? [True, True] Translation: X:590.11, Y:-307.75, Z:-4.91 [[-9.57761367e-01 -2.87551737e-01 2.67619920e-03 5.90113889e+02] [-2.87550638e-01 9.57765106e-01 7.94902507e-04 -3.07754474e+02] [-2.79174581e-03 -8.21587654e-06 -9.99996103e-01 -4.90521144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6865599949999 meters 0.05068665586830467 Centerline is valid? [True, True] Translation: X:590.07, Y:-307.68, Z:-4.90 [[-9.30872421e-01 -3.65331492e-01 3.07181391e-03 5.90073977e+02] [-3.65329652e-01 9.30877489e-01 1.16018407e-03 -3.07677879e+02] [-3.28333420e-03 -4.22413492e-05 -9.99994609e-01 -4.90370727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.746559995 meters 0.04903681840118108 Centerline is valid? [True, True] Translation: X:590.01, Y:-307.62, Z:-4.90 [[-8.98715318e-01 -4.38511968e-01 4.24629662e-03 5.90014532e+02] [-4.38507577e-01 8.98725344e-01 1.96486600e-03 -3.07621044e+02] [-4.67787165e-03 -9.61780712e-05 -9.99989054e-01 -4.90437892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8065599949999 meters 0.05032268500647957 Centerline is valid? [True, True] Translation: X:589.90, Y:-307.58, Z:-4.90 [[-8.63340709e-01 -5.04604184e-01 4.17580293e-03 5.89897034e+02] [-5.04598905e-01 8.63350801e-01 2.31087400e-03 -3.07581663e+02] [-4.77125949e-03 -1.12033991e-04 -9.99988611e-01 -4.90312056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.866559995 meters 0.04953134502050132 Centerline is valid? [True, True] Translation: X:589.76, Y:-307.58, Z:-4.90 [[-8.24528603e-01 -5.65811876e-01 3.08294967e-03 5.89759226e+02] [-5.65808317e-01 8.24534362e-01 2.00867819e-03 -3.07582125e+02] [-3.67853191e-03 -8.81459425e-05 -9.99993230e-01 -4.90488323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9265599949999 meters 0.04980996723687138 Centerline is valid? [True, True] Translation: X:589.62, Y:-307.58, Z:-4.90 [[-7.81651220e-01 -6.23706558e-01 3.39105271e-03 5.89622771e+02] [-6.23701242e-01 7.81658570e-01 2.57701794e-03 -3.07575353e+02] [-4.25794840e-03 -1.00674571e-04 -9.99990930e-01 -4.90428766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.986559995 meters 0.04939362924472626 Centerline is valid? [True, True] Translation: X:589.45, Y:-307.62, Z:-4.90 [[-7.36709746e-01 -6.76196894e-01 4.06346925e-03 5.89452785e+02] [-6.76187433e-01 7.36720943e-01 3.57867045e-03 -3.07618240e+02] [-5.41352874e-03 -1.11225442e-04 -9.99985341e-01 -4.90416689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0465599949999 meters 0.0495411218223676 Centerline is valid? [True, True] Translation: X:589.26, Y:-307.69, Z:-4.90 [[-6.88951180e-01 -7.24792065e-01 4.76804649e-03 5.89263304e+02] [-7.24775819e-01 6.88967670e-01 4.85412292e-03 -3.07689660e+02] [-6.80325966e-03 -1.11511087e-04 -9.99976851e-01 -4.90327737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1065599949999 meters 0.049908029371850945 Centerline is valid? [True, True] Translation: X:589.08, Y:-307.78, Z:-4.90 [[-6.42238301e-01 -7.66492820e-01 4.32679216e-03 5.89078212e+02] [-7.66475889e-01 6.42252875e-01 5.09482508e-03 -3.07783046e+02] [-6.68404154e-03 -4.42900597e-05 -9.99977661e-01 -4.90238303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.166559995 meters 0.05060987523048268 Centerline is valid? [True, True] Translation: X:588.94, Y:-307.85, Z:-4.90 [[-5.94115937e-01 -8.04371073e-01 3.66461941e-03 5.88936196e+02] [-8.04355383e-01 5.94127238e-01 5.02416263e-03 -3.07853030e+02] [-6.21854129e-03 3.72787420e-05 -9.99980664e-01 -4.90316690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2265599949999 meters 0.050989474488993006 Centerline is valid? [True, True] Translation: X:588.79, Y:-307.94, Z:-4.90 [[-5.45870349e-01 -8.37860614e-01 3.89287255e-03 5.88789478e+02] [-8.37837230e-01 5.45884207e-01 6.26166196e-03 -3.07944111e+02] [-7.37145758e-03 1.56462050e-04 -9.99972818e-01 -4.90384623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.286559995 meters 0.05182062990878599 Centerline is valid? [True, True] Translation: X:588.68, Y:-307.96, Z:-4.91 [[-4.91240605e-01 -8.71016216e-01 3.66331876e-03 5.88678462e+02] [-8.70988052e-01 4.91254199e-01 7.00898947e-03 -3.07962293e+02] [-7.90456421e-03 2.52393354e-04 -9.99968727e-01 -4.90664039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3465599949999 meters 0.05201232356470745 Centerline is valid? [True, True] Translation: X:588.50, Y:-308.14, Z:-4.91 [[-4.36792955e-01 -8.99557450e-01 2.88249333e-03 5.88503162e+02] [-8.99532783e-01 4.36802348e-01 6.66944063e-03 -3.08139576e+02] [-7.25862486e-03 3.20267435e-04 -9.99973605e-01 -4.90764014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.406559995 meters 0.05229530391754455 Centerline is valid? [True, True] Translation: X:588.34, Y:-308.32, Z:-4.91 [[-3.76499947e-01 -9.26414081e-01 2.17741494e-03 5.88343294e+02] [-9.26392911e-01 3.76506086e-01 6.27224790e-03 -3.08321532e+02] [-6.63050875e-03 3.44359232e-04 -9.99977959e-01 -4.90920003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4665599949999 meters 0.05293543491257122 Centerline is valid? [True, True] Translation: X:588.21, Y:-308.52, Z:-4.91 [[-3.08444382e-01 -9.51240800e-01 1.73337398e-03 5.88205032e+02] [-9.51218578e-01 3.08449042e-01 6.51191603e-03 -3.08516850e+02] [-6.72905776e-03 3.59746380e-04 -9.99977295e-01 -4.90711699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.526559995 meters 0.05251296668178577 Centerline is valid? [True, True] Translation: X:587.42, Y:-308.82, Z:-5.90 [[-2.76634503e-01 9.60973097e-01 2.01461299e-03 5.87416829e+02] [-9.60956581e-01 -2.76641586e-01 5.64646752e-03 -3.08819338e+02] [ 5.98342911e-03 -3.73947873e-04 9.99982029e-01 -5.90489540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5865599949999 meters 0.05279435628917655 Centerline is valid? [True, True] Translation: X:588.05, Y:-309.01, Z:-4.91 [[-2.88795837e-01 -9.57389709e-01 1.38174293e-03 5.88050532e+02] [-9.57374688e-01 2.88799053e-01 5.36792001e-03 -3.09005447e+02] [-5.53823743e-03 2.27387242e-04 -9.99984638e-01 -4.90729955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.646559995 meters 0.052508613727036496 Centerline is valid? [True, True] Translation: X:587.90, Y:-309.34, Z:-4.91 [[-2.11496299e-01 -9.77378386e-01 8.97892614e-04 5.87896904e+02] [-9.77365845e-01 2.11498136e-01 4.95409039e-03 -3.09339767e+02] [-5.03192348e-03 1.70202207e-04 -9.99987325e-01 -4.90802390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7065599949999 meters 0.05216272769500257 Centerline is valid? [True, True] Translation: X:587.85, Y:-309.07, Z:-4.91 [[-1.25431813e-01 -9.92102096e-01 5.39932882e-04 5.87847656e+02] [-9.92088455e-01 1.25432920e-01 5.20389992e-03 -3.09074917e+02] [-5.23052537e-03 1.17073421e-04 -9.99986314e-01 -4.90731627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.766559995 meters 0.05209737732926488 Centerline is valid? [True, True] Translation: X:587.74, Y:-309.19, Z:-4.91 [[-3.98958089e-02 -9.99203837e-01 1.25752643e-04 5.87738614e+02] [-9.99194557e-01 3.98959804e-02 4.30683818e-03 -3.09185517e+02] [-4.30842626e-03 4.61734364e-05 -9.99990718e-01 -4.90684987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8265599949999 meters 0.051928377729912704 Centerline is valid? [True, True] Translation: X:587.11, Y:-309.99, Z:-5.90 [[-9.36025082e-02 9.95609557e-01 4.25628333e-04 5.87112897e+02] [-9.95603276e-01 -9.36034301e-02 3.53768864e-03 -3.09991178e+02] [ 3.56199689e-03 -9.26204326e-05 9.99993652e-01 -5.90403886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.886559995 meters 0.051835931502864516 Centerline is valid? [True, True] Translation: X:587.67, Y:-310.22, Z:-4.91 [[-1.93528093e-02 -9.99812715e-01 6.70991145e-05 5.87673499e+02] [-9.99808085e-01 1.93529239e-02 3.04263111e-03 -3.10222938e+02] [-3.04335984e-03 -8.20277746e-06 -9.99995369e-01 -4.90719535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9465599949999 meters 0.05248517384234095 Centerline is valid? [True, True] Translation: X:587.59, Y:-310.30, Z:-4.91 [[ 6.45294685e-02 -9.97915756e-01 -3.04099584e-04 5.87591962e+02] [-9.97898701e-01 -6.45301437e-02 5.83470977e-03 -3.10303005e+02] [-5.84217240e-03 -7.30501405e-05 -9.99982932e-01 -4.90514412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.006559995 meters 0.05169741911318705 Centerline is valid? [True, True] Translation: X:587.53, Y:-310.52, Z:-4.90 [[ 1.43940457e-01 -9.89585921e-01 -9.21889125e-04 5.87528011e+02] [-9.89559043e-01 -1.43943344e-01 7.29487889e-03 -3.10521597e+02] [-7.35160925e-03 -1.37764485e-04 -9.99972967e-01 -4.90327528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0665599949999 meters 0.05348957582553727 Centerline is valid? [True, True] Translation: X:587.46, Y:-310.66, Z:-4.90 [[ 2.22444247e-01 -9.74943775e-01 -1.78677700e-03 5.87459958e+02] [-9.74903787e-01 -2.22451311e-01 8.83295463e-03 -3.10664953e+02] [-9.00910502e-03 -2.22904273e-04 -9.99959392e-01 -4.89992449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.126559995 meters 0.05247064126856447 Centerline is valid? [True, True] Translation: X:587.44, Y:-310.88, Z:-4.90 [[ 2.93609597e-01 -9.55921844e-01 -2.61393013e-03 5.87437190e+02] [-9.55876354e-01 -2.93621134e-01 9.32877319e-03 -3.10879000e+02] [-9.68508320e-03 -2.40423336e-04 -9.99953070e-01 -4.90212818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1865599949999 meters 0.05213812024877087 Centerline is valid? [True, True] Translation: X:587.47, Y:-311.21, Z:-4.91 [[ 3.56782500e-01 -9.34183062e-01 -2.87308493e-03 5.87472389e+02] [-9.34149200e-01 -3.56794034e-01 7.95542444e-03 -3.11214634e+02] [-8.45692233e-03 -1.54466228e-04 -9.99964228e-01 -4.90515069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.246559995 meters 0.052179436969832405 Centerline is valid? [True, True] Translation: X:587.49, Y:-311.43, Z:-4.91 [[ 4.18177332e-01 -9.08359678e-01 -3.22720978e-03 5.87485360e+02] [-9.08330982e-01 -4.18189775e-01 7.22073588e-03 -3.11434398e+02] [-7.90861145e-03 -8.81734364e-05 -9.99968723e-01 -4.90521846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3065599949999 meters 0.0517300487187056 Centerline is valid? [True, True] Translation: X:587.27, Y:-311.15, Z:-4.90 [[ 4.74057466e-01 -8.80487806e-01 -3.27743997e-03 5.87266213e+02] [-8.80466894e-01 -4.74068795e-01 6.06847568e-03 -3.11149873e+02] [-6.89695086e-03 8.87118328e-06 -9.99976216e-01 -4.90366441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.366559995 meters 0.05234689518604963 Centerline is valid? [True, True] Translation: X:587.50, Y:-311.72, Z:-4.91 [[ 5.25630995e-01 -8.50706968e-01 -3.11623203e-03 5.87503029e+02] [-8.50692930e-01 -5.25640226e-01 4.88793359e-03 -3.11719410e+02] [-5.79621608e-03 8.17071568e-05 -9.99983198e-01 -4.90927989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4265599949999 meters 0.052606947828394826 Centerline is valid? [True, True] Translation: X:587.59, Y:-311.99, Z:-4.91 [[ 5.79786011e-01 -8.14762355e-01 -3.23831614e-03 5.87585045e+02] [-8.14750798e-01 -5.79795042e-01 4.34123799e-03 -3.11985059e+02] [-5.41463693e-03 1.21431601e-04 -9.99985333e-01 -4.91057896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.486559995 meters 0.05328740245453924 Centerline is valid? [True, True] Translation: X:587.73, Y:-312.28, Z:-4.91 [[ 6.29611739e-01 -7.76896498e-01 -4.57046576e-03 5.87727124e+02] [-7.76878637e-01 -6.29628286e-01 5.27310835e-03 -3.12276734e+02] [-6.97435393e-03 2.30686296e-04 -9.99975652e-01 -4.90896656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5465599949999 meters 0.05334111859016253 Centerline is valid? [True, True] Translation: X:587.79, Y:-312.46, Z:-4.91 [[ 6.78604664e-01 -7.34482567e-01 -5.57391082e-03 5.87790920e+02] [-7.34461663e-01 -6.78627476e-01 5.55110660e-03 -3.12458640e+02] [-7.85980006e-03 3.26816975e-04 -9.99969058e-01 -4.90951682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6065599949999 meters 0.053810970967598334 Centerline is valid? [True, True] Translation: X:587.76, Y:-312.55, Z:-4.91 [[ 7.30417888e-01 -6.82985808e-01 -4.48269442e-03 5.87756180e+02] [-6.82975214e-01 -7.30431591e-01 3.81414745e-03 -3.12549114e+02] [-5.87931020e-03 2.75647650e-04 -9.99982679e-01 -4.91127935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.666559995 meters 0.052991309296026794 Centerline is valid? [True, True] Translation: X:587.72, Y:-312.65, Z:-4.91 [[ 7.84357297e-01 -6.20296162e-01 -4.03767842e-03 5.87719245e+02] [-6.20289308e-01 -7.84367661e-01 2.92360366e-03 -3.12652828e+02] [-4.98052450e-03 2.11378888e-04 -9.99987575e-01 -4.91104987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7265599949999 meters 0.05382415305670027 Centerline is valid? [True, True] Translation: X:587.70, Y:-312.74, Z:-4.91 [[ 8.40472433e-01 -5.41838279e-01 -4.16762142e-03 5.87703248e+02] [-5.41832309e-01 -8.40482757e-01 2.54639910e-03 -3.12738252e+02] [-4.88255045e-03 1.17973691e-04 -9.99988073e-01 -4.90894784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.786559995 meters 0.05246243758534466 Centerline is valid? [True, True] Translation: X:587.70, Y:-312.82, Z:-4.91 [[ 8.82795890e-01 -4.69733699e-01 -4.65498609e-03 5.87695573e+02] [-4.69727750e-01 -8.82808157e-01 2.36606791e-03 -3.12822868e+02] [-5.22088153e-03 9.78211224e-05 -9.99986366e-01 -4.91014756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8465599949999 meters 0.05246243758534466 Centerline is valid? [True, True] Translation: X:587.69, Y:-312.93, Z:-4.91 [[ 9.16809868e-01 -3.99294851e-01 -4.82575555e-03 5.87686623e+02] [-3.99289879e-01 -9.16822563e-01 1.99502564e-03 -3.12927471e+02] [-5.22096503e-03 9.78161540e-05 -9.99986366e-01 -4.91014578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.906559995 meters 0.052311466325741025 Centerline is valid? [True, True] Translation: X:587.69, Y:-313.01, Z:-4.91 [[ 9.49859444e-01 -3.12642293e-01 -4.67261660e-03 5.87694365e+02] [-3.12638617e-01 -9.49870937e-01 1.51608234e-03 -3.13008075e+02] [-4.91237416e-03 2.07752590e-05 -9.99987934e-01 -4.90819464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9665599949999 meters 0.051762670355852816 Centerline is valid? [True, True] Translation: X:587.71, Y:-313.08, Z:-4.91 [[ 9.73086159e-01 -2.30393254e-01 -4.71967801e-03 5.87710521e+02] [-2.30390471e-01 -9.73097605e-01 1.13247015e-03 -3.13084247e+02] [-4.85362084e-03 -1.46221870e-05 -9.99988221e-01 -4.90722614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.026559995 meters 0.05172315770250532 Centerline is valid? [True, True] Translation: X:587.73, Y:-313.17, Z:-4.91 [[ 9.89195240e-01 -1.46528835e-01 -4.69864360e-03 5.87732534e+02] [-1.46526950e-01 -9.89206398e-01 7.44957122e-04 -3.13165127e+02] [-4.75708601e-03 -4.84301250e-05 -9.99988684e-01 -4.90751697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0865599949999 meters 0.05197649682926502 Centerline is valid? [True, True] Translation: X:587.76, Y:-313.24, Z:-4.91 [[ 9.97675385e-01 -6.79432934e-02 -5.24736868e-03 5.87760182e+02] [-6.79420469e-02 -9.97689183e-01 4.15636800e-04 -3.13242634e+02] [-5.26348270e-03 -5.81536358e-05 -9.99986146e-01 -4.90679544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.146559995 meters 0.0511854628171982 Centerline is valid? [True, True] Translation: X:587.79, Y:-313.32, Z:-4.91 [[ 9.99920864e-01 1.13750584e-02 -5.37352204e-03 5.87794063e+02] [ 1.13752463e-02 -9.99935300e-01 4.40444938e-06 -3.13321865e+02] [-5.37312427e-03 -6.55292376e-05 -9.99985563e-01 -4.90728999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2065599949999 meters 0.05154613343740526 Centerline is valid? [True, True] Translation: X:587.83, Y:-313.40, Z:-4.91 [[ 9.95711045e-01 9.22802537e-02 -6.62337148e-03 5.87828837e+02] [ 9.22788764e-02 -9.95733069e-01 -5.13902369e-04 -3.13395649e+02] [-6.64253306e-03 -9.94990135e-05 -9.99977933e-01 -4.90634039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.266559995 meters 0.052075756462527614 Centerline is valid? [True, True] Translation: X:587.87, Y:-313.47, Z:-4.91 [[ 9.85273912e-01 1.70837793e-01 -7.05462071e-03 5.87870325e+02] [ 1.70834240e-01 -9.85299160e-01 -1.10766365e-03 -3.13472898e+02] [-7.14014267e-03 -1.13818676e-04 -9.99974502e-01 -4.90583128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3265599949999 meters 0.05157018861009524 Centerline is valid? [True, True] Translation: X:587.92, Y:-313.54, Z:-4.90 [[ 9.68369501e-01 2.49375962e-01 -8.49352231e-03 5.87915917e+02] [ 2.49367793e-01 -9.68406735e-01 -2.02467086e-03 -3.13544250e+02] [-8.73008845e-03 -1.57381398e-04 -9.99961880e-01 -4.90461836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.386559995 meters 0.051488221543281865 Centerline is valid? [True, True] Translation: X:587.97, Y:-313.61, Z:-4.90 [[ 9.45184776e-01 3.26388725e-01 -9.80509851e-03 5.87967052e+02] [ 3.26373439e-01 -9.45235609e-01 -3.16561381e-03 -3.13609153e+02] [-1.03013489e-02 -2.08033748e-04 -9.99946918e-01 -4.90336271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4465599949999 meters 0.051707353254353154 Centerline is valid? [True, True] Translation: X:588.02, Y:-313.67, Z:-4.90 [[ 9.16709331e-01 3.99441627e-01 -9.50728858e-03 5.88020181e+02] [ 3.99422497e-01 -9.16758607e-01 -3.91480487e-03 -3.13667318e+02] [-1.02796247e-02 -2.08686787e-04 -9.99947141e-01 -4.90379211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.506559995 meters 0.05100508608434043 Centerline is valid? [True, True] Translation: X:588.08, Y:-313.72, Z:-4.91 [[ 8.83777184e-01 4.67841445e-01 -7.89123171e-03 5.88080134e+02] [ 4.67824388e-01 -8.83812399e-01 -3.99809131e-03 -3.13724871e+02] [-8.84484125e-03 -1.58288768e-04 -9.99960871e-01 -4.90628604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5665599949999 meters 0.05089076451855561 Centerline is valid? [True, True] Translation: X:588.14, Y:-313.78, Z:-4.91 [[ 8.47777174e-01 5.30323063e-01 -5.59575013e-03 5.88143882e+02] [ 5.30312102e-01 -8.47795638e-01 -3.41041788e-03 -3.13777506e+02] [-6.55267581e-03 -7.62195807e-05 -9.99978528e-01 -4.90774628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.626559995 meters 0.051081933623250995 Centerline is valid? [True, True] Translation: X:588.21, Y:-313.82, Z:-4.91 [[ 8.08774489e-01 5.88099249e-01 -4.80608352e-03 5.88209986e+02] [ 5.88088997e-01 -8.08788769e-01 -3.47255635e-03 -3.13824009e+02] [-5.92931416e-03 -1.78898469e-05 -9.99982421e-01 -4.90817618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6865599949999 meters 0.051017783422448025 Centerline is valid? [True, True] Translation: X:588.28, Y:-313.87, Z:-4.91 [[ 7.64757975e-01 6.44299299e-01 -4.86340864e-03 5.88278191e+02] [ 6.44286065e-01 -7.64773439e-01 -4.12971598e-03 -3.13866078e+02] [-6.38017886e-03 2.48068180e-05 -9.99979646e-01 -4.90888184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.746559995 meters 0.05143088439448571 Centerline is valid? [True, True] Translation: X:588.35, Y:-313.90, Z:-4.91 [[ 7.14861486e-01 6.99249329e-01 -4.84074636e-03 5.88348874e+02] [ 6.99232782e-01 -7.14877873e-01 -4.81080547e-03 -3.13901042e+02] [-6.82449496e-03 5.42510024e-05 -9.99976711e-01 -4.90661283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8065599949999 meters 0.051897714466980494 Centerline is valid? [True, True] Translation: X:588.42, Y:-313.93, Z:-4.91 [[ 6.67213938e-01 7.44848621e-01 -5.10813927e-03 5.88417100e+02] [ 7.44824950e-01 -6.67233473e-01 -5.94030073e-03 -3.13925837e+02] [-7.83294631e-03 1.58781875e-04 -9.99969309e-01 -4.90691158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.866559995 meters 0.05229601765593872 Centerline is valid? [True, True] Translation: X:588.50, Y:-313.95, Z:-4.91 [[ 6.16178793e-01 7.87591726e-01 -4.79263921e-03 5.88495344e+02] [ 7.87564560e-01 -6.16197376e-01 -6.54660087e-03 -3.13951958e+02] [-8.10926039e-03 2.59363829e-04 -9.99967086e-01 -4.90847085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9265599949999 meters 0.05286939703566726 Centerline is valid? [True, True] Translation: X:588.57, Y:-313.97, Z:-4.91 [[ 5.57459129e-01 8.30194121e-01 -4.12805000e-03 5.88567722e+02] [ 8.30167309e-01 -5.57474335e-01 -6.67867844e-03 -3.13967412e+02] [-7.84588150e-03 2.96118106e-04 -9.99969177e-01 -4.90734588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.986559995 meters 0.05251255843222049 Centerline is valid? [True, True] Translation: X:588.65, Y:-313.98, Z:-4.91 [[ 4.93911566e-01 8.69505793e-01 -3.32270491e-03 5.88650361e+02] [ 8.69481871e-01 -4.93922651e-01 -6.45676442e-03 -3.13983139e+02] [-7.25535329e-03 3.00038943e-04 -9.99973635e-01 -4.90874890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0465599949999 meters 0.05232842373164495 Centerline is valid? [True, True] Translation: X:588.75, Y:-314.00, Z:-4.91 [[ 4.21644869e-01 9.06756835e-01 -2.76514717e-03 5.88746501e+02] [ 9.06732884e-01 -4.21653847e-01 -6.59629864e-03 -3.13998970e+02] [-7.14717382e-03 2.74045605e-04 -9.99974421e-01 -4.91004457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1065599949999 meters 0.052350198312447256 Centerline is valid? [True, True] Translation: X:588.83, Y:-314.00, Z:-4.91 [[ 3.45025381e-01 9.38590711e-01 -2.22806787e-03 5.88834529e+02] [ 9.38566437e-01 -3.45032492e-01 -6.75440486e-03 -3.14002143e+02] [-7.10837747e-03 2.39251384e-04 -9.99974707e-01 -4.90927054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.166559995 meters 0.052083982919572926 Centerline is valid? [True, True] Translation: X:588.92, Y:-314.00, Z:-4.91 [[ 2.60546464e-01 9.65460022e-01 -1.57670491e-03 5.88920303e+02] [ 9.65438592e-01 -2.60551189e-01 -6.43456404e-03 -3.13997692e+02] [-6.62312667e-03 1.54291139e-04 -9.99978055e-01 -4.90913518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2265599949999 meters 0.051100061945655625 Centerline is valid? [True, True] Translation: X:589.01, Y:-313.99, Z:-4.91 [[ 1.76255281e-01 9.84343964e-01 -1.01819614e-03 5.89006527e+02] [ 9.84324249e-01 -1.76258196e-01 -6.23071784e-03 -3.13987538e+02] [-6.31263491e-03 9.59617681e-05 -9.99980071e-01 -4.91113452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.286559995 meters 0.051605626949686574 Centerline is valid? [True, True] Translation: X:589.10, Y:-313.97, Z:-4.91 [[ 8.81075074e-02 9.96110842e-01 -5.06823934e-04 5.89099123e+02] [ 9.96092502e-01 -8.81089607e-02 -6.04478339e-03 -3.13969895e+02] [-6.06593000e-03 2.77472767e-05 -9.99981602e-01 -4.90918249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3465599949999 meters 0.05145495395175923 Centerline is valid? [True, True] Translation: X:589.18, Y:-313.95, Z:-4.91 [[ 4.37132069e-03 9.99990445e-01 -3.51681549e-05 5.89183886e+02] [ 9.99969002e-01 -4.37145726e-03 -6.54871556e-03 -3.13946388e+02] [-6.54880673e-03 -6.54052887e-06 -9.99978556e-01 -4.91031484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.406559995 meters 0.05102862604319537 Centerline is valid? [True, True] Translation: X:589.27, Y:-313.92, Z:-4.91 [[-8.02910145e-02 9.96771335e-01 5.08886742e-04 5.89267319e+02] [ 9.96746992e-01 8.02926102e-02 -6.96645403e-03 -3.13916088e+02] [-6.98482153e-03 -5.21123319e-05 -9.99975604e-01 -4.90746586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4665599949999 meters 0.05088144713509405 Centerline is valid? [True, True] Translation: X:589.35, Y:-313.88, Z:-4.91 [[-1.61497812e-01 9.86872378e-01 1.16884927e-03 5.89349656e+02] [ 9.86842564e-01 1.61502019e-01 -7.67147279e-03 -3.13877193e+02] [-7.75953612e-03 -8.54558627e-05 -9.99969891e-01 -4.90823132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.526559995 meters 0.0513292046056659 Centerline is valid? [True, True] Translation: X:589.42, Y:-313.83, Z:-4.91 [[-2.38799113e-01 9.71066436e-01 2.22735718e-03 5.89424994e+02] [ 9.71019618e-01 2.38809473e-01 -9.53613682e-03 -3.13833926e+02] [-9.79213638e-03 -1.14413499e-04 -9.99952049e-01 -4.90589138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5865599949999 meters 0.05180342385232416 Centerline is valid? [True, True] Translation: X:589.49, Y:-313.79, Z:-4.90 [[-3.13349172e-01 9.49633636e-01 2.87301325e-03 5.89488882e+02] [ 9.49590638e-01 3.13362325e-01 -9.03728316e-03 -3.13786683e+02] [-9.48240218e-03 -1.03638712e-04 -9.99955036e-01 -4.90379815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.646559995 meters 0.050968617531679195 Centerline is valid? [True, True] Translation: X:589.54, Y:-313.74, Z:-4.91 [[-3.85065880e-01 9.22883693e-01 3.15545039e-03 5.89540590e+02] [ 9.22851061e-01 3.85078800e-01 -7.76124857e-03 -3.13737173e+02] [-8.37782680e-03 -7.65812662e-05 -9.99964902e-01 -4.90620900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7065599949999 meters 0.051004500090399 Centerline is valid? [True, True] Translation: X:589.60, Y:-313.68, Z:-4.91 [[-4.55420613e-01 8.90268627e-01 3.71984263e-03 5.89597498e+02] [ 8.90237669e-01 4.55435799e-01 -7.42470752e-03 -3.13679256e+02] [-8.30413367e-03 -6.98208238e-05 -9.99965518e-01 -4.90880691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.766559995 meters 0.05103384933119736 Centerline is valid? [True, True] Translation: X:589.65, Y:-313.62, Z:-4.91 [[-5.21953030e-01 8.52958583e-01 5.16617341e-03 5.89652950e+02] [ 8.52915578e-01 5.21978592e-01 -8.56539421e-03 -3.13615356e+02] [-1.00025584e-02 -6.44236845e-05 -9.99949971e-01 -4.90814096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8265599949999 meters 0.051688066621497324 Centerline is valid? [True, True] Translation: X:589.70, Y:-313.55, Z:-4.90 [[-5.86676430e-01 8.09795038e-01 6.53933548e-03 5.89704243e+02] [ 8.09743456e-01 5.86712870e-01 -9.14022793e-03 -3.13547997e+02] [-1.12384235e-02 -6.71721778e-05 -9.99936845e-01 -4.90372804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.886559995 meters 0.05154243953560795 Centerline is valid? [True, True] Translation: X:589.75, Y:-313.48, Z:-4.91 [[-6.47729371e-01 7.61835242e-01 7.32982255e-03 5.89747817e+02] [ 7.61785407e-01 6.47770840e-01 -8.71397013e-03 -3.13477748e+02] [-1.13866549e-02 -6.05425383e-05 -9.99935168e-01 -4.90698379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9465599949999 meters 0.051639224535023925 Centerline is valid? [True, True] Translation: X:589.79, Y:-313.40, Z:-4.91 [[-7.06144702e-01 7.08023047e-01 7.93879898e-03 5.89785902e+02] [ 7.07977141e-01 7.06189323e-01 -8.06273922e-03 -3.13404968e+02] [-1.13149003e-02 -7.29723797e-05 -9.99935982e-01 -4.90768306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.006559995 meters 0.05157393421530313 Centerline is valid? [True, True] Translation: X:589.82, Y:-313.33, Z:-4.91 [[-7.61996434e-01 6.47524431e-01 8.57587785e-03 5.89819928e+02] [ 6.47481659e-01 7.62044681e-01 -7.44341702e-03 -3.13328983e+02] [-1.13549965e-02 -1.19133607e-04 -9.99935523e-01 -4.90707321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0665599949999 meters 0.051244276964405984 Centerline is valid? [True, True] Translation: X:589.87, Y:-313.27, Z:-4.91 [[-8.08424637e-01 5.88536198e-01 8.64583475e-03 5.89872209e+02] [ 5.88500445e-01 8.08470852e-01 -6.48900569e-03 -3.13270359e+02] [-1.08089201e-02 -1.57794469e-04 -9.99941569e-01 -4.90634156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.126559995 meters 0.050660812806448415 Centerline is valid? [True, True] Translation: X:590.25, Y:-312.76, Z:-5.90 [[-7.43785546e-01 -6.68377517e-01 7.38622112e-03 5.90253535e+02] [ 6.68345593e-01 -7.43822216e-01 -6.53296866e-03 -3.12761067e+02] [ 9.86052473e-03 7.74206611e-05 9.99951381e-01 -5.90149034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1865599949999 meters 0.050673335214035435 Centerline is valid? [True, True] Translation: X:589.87, Y:-313.28, Z:-4.91 [[-8.16439074e-01 5.77393423e-01 6.63876176e-03 5.89868231e+02] [ 5.77372301e-01 8.16466040e-01 -4.94292895e-03 -3.13276256e+02] [-8.27433819e-03 -2.02563181e-04 -9.99965747e-01 -4.91093283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.246559995 meters 0.05013454110771684 Centerline is valid? [True, True] Translation: X:589.87, Y:-313.18, Z:-4.91 [[-8.56427214e-01 5.16229120e-01 6.31841295e-03 5.89871582e+02] [ 5.16213341e-01 8.56450498e-01 -4.04115640e-03 -3.13181369e+02] [-7.49757053e-03 -1.99307261e-04 -9.99971873e-01 -4.91203961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3065599949999 meters 0.050624944459358744 Centerline is valid? [True, True] Translation: X:590.21, Y:-312.64, Z:-5.90 [[-7.86778451e-01 -6.17190006e-01 7.49443490e-03 5.90211384e+02] [ 6.17166317e-01 -7.86814061e-01 -5.41950003e-03 -3.12644230e+02] [ 9.24158802e-03 3.61366948e-04 9.99957230e-01 -5.89953055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.366559995 meters 0.050856933288813105 Centerline is valid? [True, True] Translation: X:589.78, Y:-313.13, Z:-4.91 [[-8.58888781e-01 5.12074620e-01 9.46817758e-03 5.89783226e+02] [ 5.12039455e-01 8.58940909e-01 -6.00923780e-03 -3.13126870e+02] [-1.12097832e-02 -3.13186441e-04 -9.99937119e-01 -4.90924438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4265599949999 meters 0.0507677785791836 Centerline is valid? [True, True] Translation: X:589.77, Y:-313.03, Z:-4.91 [[-8.91977799e-01 4.51944773e-01 1.10240165e-02 5.89774534e+02] [ 4.51905710e-01 8.92045860e-01 -5.95088183e-03 -3.13025440e+02] [-1.25233982e-02 -3.26238483e-04 -9.99921526e-01 -4.90711579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.486559995 meters 0.051002558749753846 Centerline is valid? [True, True] Translation: X:590.03, Y:-312.44, Z:-5.90 [[-8.33009046e-01 -5.53184147e-01 9.12301219e-03 5.90030780e+02] [ 5.53153299e-01 -8.33058982e-01 -5.84466595e-03 -3.12439875e+02] [ 1.08331838e-02 1.77764685e-04 9.99941304e-01 -5.89999607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5465599949999 meters 0.05084625270145304 Centerline is valid? [True, True] Translation: X:589.61, Y:-312.94, Z:-4.91 [[-8.91287427e-01 4.53379766e-01 7.31514811e-03 5.89606049e+02] [ 4.53362906e-01 8.91317429e-01 -3.91360721e-03 -3.12939074e+02] [-8.29446933e-03 -1.71732086e-04 -9.99965586e-01 -4.91117798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6065599949999 meters 0.05102557018434661 Centerline is valid? [True, True] Translation: X:589.60, Y:-312.85, Z:-4.91 [[-9.20363386e-01 3.91004582e-01 6.83037506e-03 5.89601605e+02] [ 3.90992695e-01 9.20388721e-01 -3.05199432e-03 -3.12849696e+02] [-7.47994393e-03 -1.38317080e-04 -9.99972015e-01 -4.91198828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.666559995 meters 0.05068274933265731 Centerline is valid? [True, True] Translation: X:589.55, Y:-312.75, Z:-4.91 [[-9.45587013e-01 3.25285920e-01 7.36688181e-03 5.89549295e+02] [ 3.25274889e-01 9.45615699e-01 -2.68261543e-03 -3.12748652e+02] [-7.83885612e-03 -1.40384652e-04 -9.99969266e-01 -4.91413381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7265599949999 meters 0.04999875244296465 Centerline is valid? [True, True] Translation: X:589.70, Y:-312.11, Z:-5.90 [[-9.07399473e-01 -4.20180951e-01 8.61195278e-03 5.89703708e+02] [ 4.20164776e-01 -9.07440300e-01 -3.69629624e-03 -3.12112539e+02] [ 9.36794628e-03 2.64421946e-04 9.99956085e-01 -5.89853822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.786559995 meters 0.05065188929597853 Centerline is valid? [True, True] Translation: X:589.35, Y:-312.67, Z:-4.91 [[-9.46017449e-01 3.23959171e-01 1.00718086e-02 5.89353486e+02] [ 3.23938906e-01 9.46071048e-01 -3.62740737e-03 -3.12673860e+02] [-1.07037784e-02 -1.68940009e-04 -9.99942699e-01 -4.91173306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8465599949999 meters 0.05084642546893519 Centerline is valid? [True, True] Translation: X:589.57, Y:-312.07, Z:-5.90 [[-9.09917069e-01 -4.14649515e-01 1.08031643e-02 5.89570633e+02] [ 4.14623572e-01 -9.09981163e-01 -4.64511644e-03 -3.12067529e+02] [ 1.17567713e-02 2.52575847e-04 9.99930855e-01 -5.89940239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.906559995 meters 0.050785519606770566 Centerline is valid? [True, True] Translation: X:589.19, Y:-312.62, Z:-4.91 [[-9.46105207e-01 3.23667607e-01 1.11453055e-02 5.89191216e+02] [ 3.23643306e-01 9.46170840e-01 -3.96893523e-03 -3.12615662e+02] [-1.18299788e-02 -1.47926778e-04 -9.99930012e-01 -4.91089200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9665599949999 meters 0.051260295677405913 Centerline is valid? [True, True] Translation: X:589.22, Y:-312.54, Z:-4.91 [[-9.66401926e-01 2.56812654e-01 1.07041186e-02 5.89217581e+02] [ 2.56795466e-01 9.66461197e-01 -2.97386996e-03 -3.12544402e+02] [-1.11088427e-02 -1.25184552e-04 -9.99938287e-01 -4.91247760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.026559995 meters 0.051255233727600505 Centerline is valid? [True, True] Translation: X:589.32, Y:-311.90, Z:-5.90 [[-9.40003392e-01 -3.41034776e-01 9.42893275e-03 5.89324438e+02] [ 3.41018090e-01 -9.40050679e-01 -3.37383277e-03 -3.11903680e+02] [ 1.00142689e-02 4.40223851e-05 9.99949855e-01 -5.89818687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0865599949999 meters 0.05126070812374252 Centerline is valid? [True, True] Translation: X:589.01, Y:-312.49, Z:-4.91 [[-9.66368018e-01 2.57023083e-01 8.48457933e-03 5.89013898e+02] [ 2.57012592e-01 9.66405262e-01 -2.32309532e-03 -3.12488604e+02] [-8.79663123e-03 -6.43212964e-05 -9.99961307e-01 -4.91355704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.146559995 meters 0.05111164510132101 Centerline is valid? [True, True] Translation: X:589.11, Y:-312.43, Z:-4.91 [[-9.81922686e-01 1.89082339e-01 8.70100364e-03 5.89109149e+02] [ 1.89074455e-01 9.81961235e-01 -1.72741979e-03 -3.12431738e+02] [-8.87067285e-03 -5.10551593e-05 -9.99960654e-01 -4.91395810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2065599949999 meters 0.051260071908132775 Centerline is valid? [True, True] Translation: X:589.11, Y:-311.77, Z:-5.90 [[-9.64196576e-01 -2.65047252e-01 8.65545383e-03 5.89111411e+02] [ 2.65037106e-01 -9.64235423e-01 -2.31980190e-03 -3.11772623e+02] [ 8.96075231e-03 5.72713813e-05 9.99959850e-01 -5.89874248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.266559995 meters 0.05161415770247929 Centerline is valid? [True, True] Translation: X:588.90, Y:-312.39, Z:-4.91 [[-9.82076736e-01 1.88281649e-01 8.67788529e-03 5.88898335e+02] [ 1.88274076e-01 9.82115075e-01 -1.68884638e-03 -3.12389227e+02] [-8.84066074e-03 -2.47559056e-05 -9.99960920e-01 -4.91461828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3265599949999 meters 0.051328221683701464 Centerline is valid? [True, True] Translation: X:588.75, Y:-312.29, Z:-4.91 [[-9.92290682e-01 1.23576722e-01 9.38064087e-03 5.88752169e+02] [ 1.23571441e-01 9.92335021e-01 -1.14277153e-03 -3.12290703e+02] [-9.44995841e-03 2.52177637e-05 -9.99955348e-01 -4.91205505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.386559995 meters 0.051966501650750056 Centerline is valid? [True, True] Translation: X:588.82, Y:-312.22, Z:-4.91 [[-9.98209427e-01 5.89206845e-02 1.03098091e-02 5.88817993e+02] [ 5.89185182e-02 9.98262663e-01 -5.13985892e-04 -3.12222480e+02] [-1.03221819e-02 9.43731111e-05 -9.99946720e-01 -4.91375982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4465599949999 meters 0.05219794418561657 Centerline is valid? [True, True] Translation: X:588.99, Y:-312.14, Z:-4.92 [[-9.99870682e-01 -1.19812144e-02 1.07270423e-02 5.88987719e+02] [-1.19791140e-02 9.99928214e-01 2.60036601e-04 -3.12140678e+02] [-1.07293878e-02 1.31502511e-04 -9.99942430e-01 -4.91678894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.506559995 meters 0.0520814626240302 Centerline is valid? [True, True] Translation: X:588.84, Y:-311.50, Z:-5.90 [[-9.99501111e-01 -2.97493445e-02 1.06068503e-02 5.88839695e+02] [ 2.97462106e-02 -9.99557381e-01 -4.53138350e-04 -3.11503857e+02] [ 1.06156361e-02 -1.37398682e-04 9.99943643e-01 -5.89505985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5665599949999 meters 0.05213942803412339 Centerline is valid? [True, True] Translation: X:588.80, Y:-312.15, Z:-4.92 [[-9.99792524e-01 -1.70942073e-02 1.10768689e-02 5.88804879e+02] [-1.70917766e-02 9.99853876e-01 3.14078332e-04 -3.12146148e+02] [-1.10806192e-02 1.24689801e-04 -9.99938600e-01 -4.91500153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.626559995 meters 0.05220446157130545 Centerline is valid? [True, True] Translation: X:588.67, Y:-312.06, Z:-4.92 [[-9.95617170e-01 -9.28432696e-02 1.12506945e-02 5.88672485e+02] [-9.28365067e-02 9.95680733e-01 1.12300864e-03 -3.12060954e+02] [-1.13063635e-02 7.36115101e-05 -9.99936078e-01 -4.91667120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6865599949999 meters 0.05152807777991151 Centerline is valid? [True, True] Translation: X:587.83, Y:-312.09, Z:-4.91 [[-9.85844566e-01 -1.67321520e-01 1.06770932e-02 5.87831609e+02] [-1.67311453e-01 9.85902383e-01 1.83552182e-03 -3.12091549e+02] [-1.08336939e-02 2.31392437e-05 -9.99941314e-01 -4.91086536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.746559995 meters 0.05210878972198292 Centerline is valid? [True, True] Translation: X:587.79, Y:-312.02, Z:-4.92 [[-9.69506304e-01 -2.44881591e-01 9.51484251e-03 5.87790366e+02] [-2.44870358e-01 9.69552992e-01 2.34619554e-03 -3.12017502e+02] [-9.79968411e-03 -5.52515219e-05 -9.99951980e-01 -4.91666839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8065599949999 meters 0.05202188794439231 Centerline is valid? [True, True] Translation: X:587.76, Y:-311.94, Z:-4.92 [[-9.46868683e-01 -3.21509180e-01 8.45842440e-03 5.87760540e+02] [-3.21497495e-01 9.46906454e-01 2.74376004e-03 -3.11938004e+02] [-8.89148070e-03 -1.21381804e-04 -9.99960463e-01 -4.91530738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.866559995 meters 0.051695460857170174 Centerline is valid? [True, True] Translation: X:587.66, Y:-311.89, Z:-4.92 [[-9.19670942e-01 -3.92604525e-01 8.18811851e-03 5.87658125e+02] [-3.92590526e-01 9.19707378e-01 3.31931944e-03 -3.11893107e+02] [-8.83385283e-03 -1.61896117e-04 -9.99960968e-01 -4.91727969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9265599949999 meters 0.05211875799931905 Centerline is valid? [True, True] Translation: X:587.59, Y:-311.84, Z:-4.92 [[-8.86532276e-01 -4.62592699e-01 8.27756761e-03 5.87588017e+02] [-4.62574757e-01 8.86570894e-01 4.07980767e-03 -3.11836875e+02] [-9.22593975e-03 -2.12112644e-04 -9.99957418e-01 -4.91758502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.986559995 meters 0.051535501526177245 Centerline is valid? [True, True] Translation: X:587.46, Y:-311.82, Z:-4.92 [[-8.50176396e-01 -5.26434452e-01 8.17699477e-03 5.87459785e+02] [-5.26412720e-01 8.50215686e-01 4.78903588e-03 -3.11815475e+02] [-9.47332270e-03 -2.32948797e-04 -9.99955100e-01 -4.91754156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0465599949999 meters 0.0522426162503445 Centerline is valid? [True, True] Translation: X:587.33, Y:-311.80, Z:-4.92 [[-8.10465776e-01 -5.85712587e-01 9.27313770e-03 5.87328969e+02] [-5.85677969e-01 8.10518781e-01 6.37353132e-03 -3.11803384e+02] [-1.12491098e-02 -2.65543452e-04 -9.99936692e-01 -4.91655240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1065599949999 meters 0.052365109630768465 Centerline is valid? [True, True] Translation: X:587.16, Y:-311.82, Z:-4.91 [[-7.66677021e-01 -6.41967500e-01 9.16924347e-03 5.87162806e+02] [-6.41925725e-01 7.66731803e-01 7.32837584e-03 -3.11824758e+02] [-1.17349297e-02 -2.67475913e-04 -9.99931108e-01 -4.91471189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.166559995 meters 0.05156165722795805 Centerline is valid? [True, True] Translation: X:586.99, Y:-311.88, Z:-4.92 [[-7.20056671e-01 -6.93865488e-01 8.31120284e-03 5.86990159e+02] [-6.93822920e-01 7.20104598e-01 7.68922418e-03 -3.11877859e+02] [-1.13202227e-02 -2.29825856e-04 -9.99935898e-01 -4.91761514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2265599949999 meters 0.05208906171677043 Centerline is valid? [True, True] Translation: X:586.82, Y:-311.94, Z:-4.92 [[-6.71007341e-01 -7.41425148e-01 6.15611111e-03 5.86820120e+02] [-7.41395889e-01 6.71035564e-01 6.58841845e-03 -3.11938242e+02] [-9.01578862e-03 -1.43238322e-04 -9.99959347e-01 -4.91812780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.286559995 meters 0.05245003130453353 Centerline is valid? [True, True] Translation: X:586.64, Y:-312.03, Z:-4.92 [[-6.16943476e-01 -7.86991974e-01 4.93771013e-03 5.86641528e+02] [-7.86968161e-01 6.16963225e-01 6.12309422e-03 -3.12026733e+02] [-7.86521157e-03 -1.08217630e-04 -9.99969063e-01 -4.91826545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3465599949999 meters 0.05135230600248423 Centerline is valid? [True, True] Translation: X:586.46, Y:-312.15, Z:-4.92 [[-5.58734115e-01 -8.29333787e-01 4.65384669e-03 5.86458011e+02] [-8.29306537e-01 5.58753487e-01 6.72372463e-03 -3.12147734e+02] [-8.17656507e-03 -1.02691149e-04 -9.99966566e-01 -4.91840291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.406559995 meters 0.051746646485695706 Centerline is valid? [True, True] Translation: X:586.30, Y:-312.26, Z:-4.92 [[-4.96545449e-01 -8.67997169e-01 4.85097754e-03 5.86295940e+02] [-8.67958030e-01 4.96569130e-01 8.24355296e-03 -3.12258467e+02] [-9.56422633e-03 -1.17146204e-04 -9.99954255e-01 -4.91711493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4665599949999 meters 0.051848907789185585 Centerline is valid? [True, True] Translation: X:586.13, Y:-312.41, Z:-4.92 [[-4.32555360e-01 -9.01598007e-01 4.11035202e-03 5.86127162e+02] [-9.01559540e-01 4.32574876e-01 8.32904668e-03 -3.12412877e+02] [-9.28748690e-03 -1.02953285e-04 -9.99956865e-01 -4.91903427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.526559995 meters 0.05214593235291779 Centerline is valid? [True, True] Translation: X:585.97, Y:-312.56, Z:-4.92 [[-3.66284145e-01 -9.30497253e-01 3.28447213e-03 5.85973840e+02] [-9.30461896e-01 3.66298860e-01 8.11202956e-03 -3.12561763e+02] [-8.75131962e-03 -8.47683512e-05 -9.99961703e-01 -4.91863404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5865599949999 meters 0.05229588167655876 Centerline is valid? [True, True] Translation: X:585.82, Y:-312.78, Z:-4.92 [[-3.00563254e-01 -9.53759091e-01 2.30789666e-03 5.85815280e+02] [-9.53732108e-01 3.00572112e-01 7.17435456e-03 -3.12777011e+02] [-7.53629526e-03 -4.47677964e-05 -9.99971601e-01 -4.92012935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.646559995 meters 0.05179735169006002 Centerline is valid? [True, True] Translation: X:585.68, Y:-312.99, Z:-4.92 [[-2.31710752e-01 -9.72783379e-01 1.62029094e-03 5.85676066e+02] [-9.72760343e-01 2.31716416e-01 6.69455213e-03 -3.12992767e+02] [-6.88779705e-03 -2.49550607e-05 -9.99976279e-01 -4.92156607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7065599949999 meters 0.0521463248705253 Centerline is valid? [True, True] Translation: X:585.65, Y:-312.68, Z:-4.92 [[-1.60117556e-01 -9.87097354e-01 1.08755273e-03 5.85652628e+02] [-9.87074768e-01 1.60121250e-01 6.67739683e-03 -3.12684975e+02] [-6.76538104e-03 -4.32739154e-06 -9.99977115e-01 -4.92336135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.766559995 meters 0.05260857341273677 Centerline is valid? [True, True] Translation: X:585.51, Y:-313.17, Z:-4.92 [[-9.16565775e-02 -9.95790424e-01 7.09604615e-04 5.85510880e+02] [-9.95759153e-01 9.16593228e-02 7.89161435e-03 -3.13167250e+02] [-7.92343587e-03 1.67230715e-05 -9.99968609e-01 -4.92115288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8265599949999 meters 0.052877526521261785 Centerline is valid? [True, True] Translation: X:584.87, Y:-313.32, Z:-5.89 [[-1.53029034e-01 9.88220718e-01 1.38855698e-03 5.84867440e+02] [-9.88174278e-01 -1.53035305e-01 9.58081482e-03 -3.13323708e+02] [ 9.68045793e-03 9.40065483e-05 9.99953139e-01 -5.89074999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.886559995 meters 0.0528472533084901 Centerline is valid? [True, True] Translation: X:585.48, Y:-313.43, Z:-4.92 [[-8.66005320e-02 -9.96242742e-01 8.63943236e-04 5.85482199e+02] [-9.96187619e-01 8.66048286e-02 1.04800721e-02 -3.13426430e+02] [-1.05155175e-02 4.69302660e-05 -9.99944709e-01 -4.92140514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9465599949999 meters 0.052809560861683466 Centerline is valid? [True, True] Translation: X:585.38, Y:-313.83, Z:-4.92 [[-1.45322232e-02 -9.99894397e-01 9.36866892e-05 5.85384368e+02] [-9.99847343e-01 1.45324482e-02 9.70047793e-03 -3.13833396e+02] [-9.70081503e-03 4.72971232e-05 -9.99952945e-01 -4.92235217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.006559995 meters 0.05327270903554991 Centerline is valid? [True, True] Translation: X:585.31, Y:-313.92, Z:-4.92 [[ 6.03096666e-02 -9.98179569e-01 -5.40440990e-04 5.85310579e+02] [-9.98145042e-01 -6.03120756e-02 8.30237516e-03 -3.13923660e+02] [-8.31985638e-03 3.87250171e-05 -9.99965389e-01 -4.92018290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0665599949999 meters 0.05341762485146579 Centerline is valid? [True, True] Translation: X:585.25, Y:-314.16, Z:-4.92 [[ 1.34649038e-01 -9.90892782e-01 -1.06395109e-03 5.85253645e+02] [-9.90863592e-01 -1.34653238e-01 7.60572970e-03 -3.14160071e+02] [-7.67972712e-03 3.01262111e-05 -9.99970510e-01 -4.92166180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.126559995 meters 0.053789568555195184 Centerline is valid? [True, True] Translation: X:585.22, Y:-314.42, Z:-4.92 [[ 2.09426195e-01 -9.77823118e-01 -1.61832214e-03 5.85217197e+02] [-9.77794442e-01 -2.09432447e-01 7.48858865e-03 -3.14416184e+02] [-7.66144427e-03 1.40797674e-05 -9.99970651e-01 -4.92065832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1865599949999 meters 0.053211034920020335 Centerline is valid? [True, True] Translation: X:585.20, Y:-314.68, Z:-4.92 [[ 2.83400961e-01 -9.58999140e-01 -2.13175670e-03 5.85203129e+02] [-9.58971866e-01 -2.83408979e-01 7.23259716e-03 -3.14681440e+02] [-7.54021344e-03 -5.43028518e-06 -9.99971572e-01 -4.92209998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.246559995 meters 0.05287906889733462 Centerline is valid? [True, True] Translation: X:585.15, Y:-314.78, Z:-4.92 [[ 3.58148741e-01 -9.33659663e-01 -3.01863854e-03 5.85150231e+02] [-9.33625405e-01 -3.58161459e-01 7.99826084e-03 -3.14780643e+02] [-8.54881351e-03 -4.62894292e-05 -9.99963457e-01 -4.92093456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3065599949999 meters 0.05332451008094125 Centerline is valid? [True, True] Translation: X:585.18, Y:-315.08, Z:-4.92 [[ 4.29505389e-01 -9.03054090e-01 -4.29311964e-03 5.85183204e+02] [-9.03006670e-01 -4.29526833e-01 9.25493306e-03 -3.15075425e+02] [-1.02017152e-02 -9.83279571e-05 -9.99947956e-01 -4.91715967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.366559995 meters 0.053223378520631255 Centerline is valid? [True, True] Translation: X:585.23, Y:-315.33, Z:-4.92 [[ 4.95910430e-01 -8.68358894e-01 -5.06722395e-03 5.85227777e+02] [-8.68311180e-01 -4.95936305e-01 9.10368156e-03 -3.15328279e+02] [-1.04182832e-02 -1.14683433e-04 -9.99945722e-01 -4.91848829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4265599949999 meters 0.05349256030694375 Centerline is valid? [True, True] Translation: X:585.26, Y:-315.53, Z:-4.92 [[ 5.58011444e-01 -8.29811216e-01 -6.04765176e-03 5.85260321e+02] [-8.29760234e-01 -5.58044203e-01 9.19899390e-03 -3.15528021e+02] [-1.10082853e-02 -1.15042925e-04 -9.99939400e-01 -4.91760275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.486559995 meters 0.05370739219398922 Centerline is valid? [True, True] Translation: X:585.32, Y:-315.73, Z:-4.92 [[ 6.16039832e-01 -7.87686960e-01 -6.64672868e-03 5.85316977e+02] [-7.87639455e-01 -6.16075681e-01 8.65126914e-03 -3.15732024e+02] [-1.09093798e-02 -9.43006259e-05 -9.99940487e-01 -4.91935432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5465599949999 meters 0.05330678211152787 Centerline is valid? [True, True] Translation: X:585.39, Y:-315.93, Z:-4.92 [[ 6.71469423e-01 -7.41000904e-01 -6.81716673e-03 5.85390358e+02] [-7.40961526e-01 -6.71504024e-01 7.63960676e-03 -3.15934532e+02] [-1.02387104e-02 -7.85040792e-05 -9.99947580e-01 -4.92073020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6065599949999 meters 0.05349062767101897 Centerline is valid? [True, True] Translation: X:585.46, Y:-316.11, Z:-4.92 [[ 7.23814465e-01 -6.89967640e-01 -6.10532629e-03 5.85461122e+02] [-6.89942360e-01 -7.23840211e-01 5.90664802e-03 -3.16114617e+02] [-8.49467667e-03 -6.29940472e-05 -9.99963918e-01 -4.92086194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.666559995 meters 0.05353576749470273 Centerline is valid? [True, True] Translation: X:585.44, Y:-316.19, Z:-4.92 [[ 7.75703913e-01 -6.31071833e-01 -5.63753151e-03 5.85439438e+02] [-6.31054640e-01 -7.75724396e-01 4.65860048e-03 -3.16193956e+02] [-7.31308227e-03 -5.61042093e-05 -9.99973257e-01 -4.92161638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7265599949999 meters 0.053093266423648186 Centerline is valid? [True, True] Translation: X:585.42, Y:-316.27, Z:-4.92 [[ 8.23148260e-01 -5.67789242e-01 -6.50532286e-03 5.85422985e+02] [-5.67770856e-01 -8.23173962e-01 4.56971447e-03 -3.16274679e+02] [-7.94964711e-03 -6.80197795e-05 -9.99968399e-01 -4.92047502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.786559995 meters 0.05353612590437909 Centerline is valid? [True, True] Translation: X:585.41, Y:-316.35, Z:-4.92 [[ 8.65571947e-01 -5.00731116e-01 -7.31803373e-03 5.85413781e+02] [-5.00712414e-01 -8.65602878e-01 4.32851368e-03 -3.16354788e+02] [-8.50193254e-03 -8.24096814e-05 -9.99963855e-01 -4.91808303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8465599949999 meters 0.05289628599925795 Centerline is valid? [True, True] Translation: X:585.42, Y:-316.43, Z:-4.92 [[ 9.02910519e-01 -4.29750101e-01 -8.21251527e-03 5.85415813e+02] [-4.29731246e-01 -9.02947861e-01 4.02694198e-03 -3.16428823e+02] [-9.14605182e-03 -1.06793848e-04 -9.99958168e-01 -4.91805292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.906559995 meters 0.05257886401065964 Centerline is valid? [True, True] Translation: X:585.42, Y:-316.51, Z:-4.92 [[ 9.34401688e-01 -3.56135769e-01 -7.79739513e-03 5.85419511e+02] [-3.56122355e-01 -9.34434214e-01 3.09307369e-03 -3.16512835e+02] [-8.38770697e-03 -1.13346556e-04 -9.99964816e-01 -4.92061712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9665599949999 meters 0.05294533674882114 Centerline is valid? [True, True] Translation: X:585.43, Y:-316.60, Z:-4.92 [[ 9.60290545e-01 -2.78885170e-01 -8.07035908e-03 5.85427745e+02] [-2.78874079e-01 -9.60324446e-01 2.49122750e-03 -3.16599609e+02] [-8.44492952e-03 -1.41688262e-04 -9.99964331e-01 -4.92017368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.026559995 meters 0.05256248973614207 Centerline is valid? [True, True] Translation: X:585.44, Y:-316.69, Z:-4.92 [[ 9.79608796e-01 -2.00708261e-01 -9.09954172e-03 5.85443184e+02] [-2.00697909e-01 -9.79651041e-01 2.04618545e-03 -3.16685849e+02] [-9.32506184e-03 -1.78202266e-04 -9.99956505e-01 -4.92044328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0865599949999 meters 0.05235678042724307 Centerline is valid? [True, True] Translation: X:585.46, Y:-316.77, Z:-4.92 [[ 9.92403520e-01 -1.22705696e-01 -8.86373954e-03 5.85463653e+02] [-1.22699194e-01 -9.92443087e-01 1.27577086e-03 -3.16774851e+02] [-8.95330138e-03 -1.78505795e-04 -9.99959902e-01 -4.92176133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.146559995 meters 0.05294092780435432 Centerline is valid? [True, True] Translation: X:585.49, Y:-316.87, Z:-4.92 [[ 9.98993984e-01 -4.42649805e-02 -7.18554628e-03 5.85489651e+02] [-4.42627774e-02 -9.99019815e-01 4.65418996e-04 -3.16866139e+02] [-7.19910487e-03 -1.46898542e-04 -9.99974075e-01 -4.92057347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2065599949999 meters 0.0527808388919006 Centerline is valid? [True, True] Translation: X:585.52, Y:-316.94, Z:-4.92 [[ 9.99460999e-01 3.23566092e-02 -5.54628022e-03 5.85523830e+02] [ 3.23566880e-02 -9.99476382e-01 -7.55346820e-05 -3.16936078e+02] [-5.54582014e-03 -1.03965290e-04 -9.99984616e-01 -4.92201276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.266559995 meters 0.05268399944000383 Centerline is valid? [True, True] Translation: X:585.56, Y:-317.00, Z:-4.92 [[ 9.94124476e-01 1.08090452e-01 -5.74285695e-03 5.85558436e+02] [ 1.08089197e-01 -9.94141059e-01 -5.29315176e-04 -3.17004882e+02] [-5.76642381e-03 -9.45356248e-05 -9.99983370e-01 -4.92174976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3265599949999 meters 0.05263455951360957 Centerline is valid? [True, True] Translation: X:585.60, Y:-317.08, Z:-4.92 [[ 9.83461980e-01 1.80989577e-01 -6.73107824e-03 5.85597995e+02] [ 1.80985898e-01 -9.83485011e-01 -1.15671679e-03 -3.17076525e+02] [-6.82926824e-03 -8.06432603e-05 -9.99976677e-01 -4.92163235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.386559995 meters 0.05284324151587614 Centerline is valid? [True, True] Translation: X:585.64, Y:-317.15, Z:-4.92 [[ 9.66929007e-01 2.54921006e-01 -7.97348112e-03 5.85642687e+02] [ 2.54912989e-01 -9.66961879e-01 -2.02311898e-03 -3.17148675e+02] [-8.22578781e-03 -7.63314827e-05 -9.99966165e-01 -4.91935213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4465599949999 meters 0.05214810118562315 Centerline is valid? [True, True] Translation: X:585.69, Y:-317.21, Z:-4.92 [[ 9.44838170e-01 3.27444993e-01 -7.78516323e-03 5.85692469e+02] [ 3.27434365e-01 -9.44870242e-01 -2.63873239e-03 -3.17213516e+02] [-8.22000877e-03 -5.59548947e-05 -9.99966214e-01 -4.92101133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.506559995 meters 0.05169176552687153 Centerline is valid? [True, True] Translation: X:585.75, Y:-317.28, Z:-4.92 [[ 9.17497680e-01 3.97677021e-01 -7.14101387e-03 5.85747220e+02] [ 3.97665230e-01 -9.17525469e-01 -3.06239756e-03 -3.17276645e+02] [-7.76990724e-03 -2.99902688e-05 -9.99969813e-01 -4.92150347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5665599949999 meters 0.05183292698717784 Centerline is valid? [True, True] Translation: X:585.81, Y:-317.33, Z:-4.92 [[ 8.84208704e-01 4.67048287e-01 -6.39254096e-03 5.85805731e+02] [ 4.67036229e-01 -8.84231812e-01 -3.35616055e-03 -3.17333930e+02] [-7.21997711e-03 -1.80018521e-05 -9.99973935e-01 -4.92153175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.626559995 meters 0.051411649785689295 Centerline is valid? [True, True] Translation: X:585.87, Y:-317.38, Z:-4.92 [[ 8.45464710e-01 5.33998775e-01 -5.89337408e-03 5.85865983e+02] [ 5.33985891e-01 -8.45485250e-01 -3.70944557e-03 -3.17384136e+02] [-6.96360025e-03 -1.07732811e-05 -9.99975754e-01 -4.92069728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6865599949999 meters 0.051897565021585705 Centerline is valid? [True, True] Translation: X:585.93, Y:-317.43, Z:-4.92 [[ 8.00350014e-01 5.99509462e-01 -5.31612336e-03 5.85926805e+02] [ 5.99496390e-01 -8.00367669e-01 -3.95898768e-03 -3.17425330e+02] [-6.62830383e-03 -1.84209170e-05 -9.99978032e-01 -4.92020682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.746559995 meters 0.051415310222555764 Centerline is valid? [True, True] Translation: X:585.99, Y:-317.46, Z:-4.92 [[ 7.49365213e-01 6.62136553e-01 -5.19251292e-03 5.85991325e+02] [ 6.62120993e-01 -7.49383202e-01 -4.53959144e-03 -3.17461271e+02] [-6.89701139e-03 -3.62598977e-05 -9.99976215e-01 -4.92050006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8065599949999 meters 0.05084388893584931 Centerline is valid? [True, True] Translation: X:586.06, Y:-317.49, Z:-4.92 [[ 6.92195760e-01 7.21694192e-01 -4.74579129e-03 5.86058635e+02] [ 7.21677868e-01 -6.92212026e-01 -4.85451099e-03 -3.17493618e+02] [-6.78856619e-03 -6.46606081e-05 -9.99976955e-01 -4.91926368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.866559995 meters 0.050662512976480625 Centerline is valid? [True, True] Translation: X:586.13, Y:-317.52, Z:-4.92 [[ 6.32320454e-01 7.74694767e-01 -4.34288986e-03 5.86130488e+02] [ 7.74677315e-01 -6.32335364e-01 -5.20052738e-03 -3.17521395e+02] [-6.77498419e-03 -7.59384203e-05 -9.99977047e-01 -4.92019559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9265599949999 meters 0.050273010003245015 Centerline is valid? [True, True] Translation: X:586.21, Y:-317.55, Z:-4.92 [[ 5.69615687e-01 8.21902472e-01 -3.78100199e-03 5.86210386e+02] [ 8.21885226e-01 -5.69628231e-01 -5.32491423e-03 -3.17549576e+02] [-6.53032564e-03 -7.43949994e-05 -9.99978674e-01 -4.92183751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.986559995 meters 0.050838981739777654 Centerline is valid? [True, True] Translation: X:586.30, Y:-317.57, Z:-4.92 [[ 5.04202972e-01 8.63580795e-01 -2.75186620e-03 5.86295644e+02] [ 8.63568546e-01 -5.04210478e-01 -4.59999789e-03 -3.17574453e+02] [-5.35998961e-03 -5.70924908e-05 -9.99985634e-01 -4.92196243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0465599949999 meters 0.05069431854408669 Centerline is valid? [True, True] Translation: X:586.38, Y:-317.59, Z:-4.92 [[ 4.34029408e-01 9.00895535e-01 -2.38925358e-03 5.86382037e+02] [ 9.00882682e-01 -4.34035980e-01 -4.81263591e-03 -3.17591704e+02] [-5.37270422e-03 -6.36116601e-05 -9.99985565e-01 -4.92086630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1065599949999 meters 0.05090291525357143 Centerline is valid? [True, True] Translation: X:586.47, Y:-317.60, Z:-4.92 [[ 3.62120130e-01 9.32128299e-01 -2.41794559e-03 5.86467818e+02] [ 9.32108927e-01 -3.62128194e-01 -6.00998061e-03 -3.17602044e+02] [-6.47767927e-03 -7.74537060e-05 -9.99979017e-01 -4.91953869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.166559995 meters 0.050665863746191774 Centerline is valid? [True, True] Translation: X:586.55, Y:-317.60, Z:-4.92 [[ 2.87493263e-01 9.57780537e-01 -2.01686952e-03 5.86545398e+02] [ 9.57758996e-01 -2.87500324e-01 -6.42408014e-03 -3.17602518e+02] [-6.73270957e-03 -8.47951655e-05 -9.99977331e-01 -4.91825292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2265599949999 meters 0.051308121285267835 Centerline is valid? [True, True] Translation: X:586.64, Y:-317.60, Z:-4.92 [[ 2.10669408e-01 9.77556434e-01 -1.34878011e-03 5.86637651e+02] [ 9.77538817e-01 -2.10673710e-01 -5.86930430e-03 -3.17599701e+02] [-6.02172869e-03 -8.20020473e-05 -9.99981866e-01 -4.92020931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.286559995 meters 0.050681137194076444 Centerline is valid? [True, True] Translation: X:586.73, Y:-317.59, Z:-4.92 [[ 1.31967187e-01 9.91253645e-01 -9.34485645e-04 5.86734255e+02] [ 9.91233718e-01 -1.31970460e-01 -6.28595780e-03 -3.17590885e+02] [-6.35430308e-03 -9.67535124e-05 -9.99979807e-01 -4.91907541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3465599949999 meters 0.05081327174674071 Centerline is valid? [True, True] Translation: X:586.82, Y:-317.57, Z:-4.92 [[ 5.29561352e-02 9.98596730e-01 -4.67154803e-04 5.86822897e+02] [ 9.98574033e-01 -5.29580816e-02 -6.73364441e-03 -3.17573193e+02] [-6.74893491e-03 -1.09900873e-04 -9.99977220e-01 -4.91983488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.406559995 meters 0.05159426251292969 Centerline is valid? [True, True] Translation: X:586.92, Y:-317.55, Z:-4.92 [[-2.56742432e-02 9.99670361e-01 5.82509080e-05 5.86915494e+02] [ 9.99649674e-01 2.56740867e-02 -6.43192157e-03 -3.17549680e+02] [-6.43129690e-03 -1.06904217e-04 -9.99979313e-01 -4.91877633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4665599949999 meters 0.051440088811620835 Centerline is valid? [True, True] Translation: X:586.99, Y:-317.52, Z:-4.92 [[-1.03532388e-01 9.94625977e-01 4.59312509e-04 5.86986221e+02] [ 9.94612173e-01 1.03533372e-01 -5.24086819e-03 -3.17519214e+02] [-5.26025781e-03 -8.57617871e-05 -9.99986161e-01 -4.91950743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.526559995 meters 0.050984918356682556 Centerline is valid? [True, True] Translation: X:587.06, Y:-317.48, Z:-4.92 [[-1.81156995e-01 9.83453923e-01 7.24188139e-04 5.87062315e+02] [ 9.83444398e-01 1.81158428e-01 -4.32896915e-03 -3.17482113e+02] [-4.38853448e-03 -7.20242737e-05 -9.99990368e-01 -4.92078438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5865599949999 meters 0.051271328267881354 Centerline is valid? [True, True] Translation: X:587.14, Y:-317.44, Z:-4.92 [[-2.58084270e-01 9.66121693e-01 1.17607564e-03 5.87140324e+02] [ 9.66110153e-01 2.58086936e-01 -4.72296463e-03 -3.17438846e+02] [-4.86648835e-03 -8.27042581e-05 -9.99988155e-01 -4.92012367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.646559995 meters 0.051301229262292754 Centerline is valid? [True, True] Translation: X:587.20, Y:-317.39, Z:-4.92 [[-3.34451184e-01 9.42411381e-01 1.78716123e-03 5.87203628e+02] [ 9.42396197e-01 3.34455942e-01 -5.35075739e-03 -3.17392354e+02] [-5.64034136e-03 -1.05353201e-04 -9.99984088e-01 -4.91865508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7065599949999 meters 0.051357632777263636 Centerline is valid? [True, True] Translation: X:587.27, Y:-317.34, Z:-4.92 [[-4.08352643e-01 9.12821026e-01 2.42763799e-03 5.87266422e+02] [ 9.12803041e-01 4.08359840e-01 -5.73139806e-03 -3.17339271e+02] [-6.22309052e-03 -1.24476203e-04 -9.99980629e-01 -4.91860484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.766559995 meters 0.05011126521301448 Centerline is valid? [True, True] Translation: X:587.33, Y:-317.28, Z:-4.92 [[-4.78649122e-01 8.78001366e-01 2.93580102e-03 5.87334402e+02] [ 8.77983174e-01 4.78658108e-01 -5.65351009e-03 -3.17276838e+02] [-6.36903455e-03 -1.28463742e-04 -9.99979709e-01 -4.91996292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8265599949999 meters 0.0515644137995585 Centerline is valid? [True, True] Translation: X:587.40, Y:-317.21, Z:-4.92 [[-5.44576718e-01 8.38703938e-01 3.45003958e-03 5.87401864e+02] [ 8.38685672e-01 5.44587633e-01 -5.53658034e-03 -3.17207846e+02] [-6.52240062e-03 -1.21593994e-04 -9.99978722e-01 -4.91821241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.886559995 meters 0.05080216929761531 Centerline is valid? [True, True] Translation: X:587.46, Y:-317.14, Z:-4.92 [[-6.06375968e-01 7.95171148e-01 3.32119402e-03 5.87456249e+02] [ 7.95158410e-01 6.06385057e-01 -4.50183934e-03 -3.17137719e+02] [-5.59365518e-03 -8.89318264e-05 -9.99984351e-01 -4.92038789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9465599949999 meters 0.05086613987779 Centerline is valid? [True, True] Translation: X:587.51, Y:-317.06, Z:-4.92 [[-6.63603082e-01 7.48077647e-01 3.28393844e-03 5.87507323e+02] [ 7.48068047e-01 6.63611205e-01 -3.79031569e-03 -3.17063123e+02] [-5.01470879e-03 -5.86557580e-05 -9.99987425e-01 -4.91978052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.006559995 meters 0.05086643572908613 Centerline is valid? [True, True] Translation: X:587.55, Y:-316.98, Z:-4.92 [[-7.17707292e-01 6.96337429e-01 3.22921143e-03 5.87551865e+02] [ 6.96330146e-01 7.17714556e-01 -3.18502432e-03 -3.16984143e+02] [-4.53550369e-03 -3.73179117e-05 -9.99989714e-01 -4.92089660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0665599949999 meters 0.050928942456165686 Centerline is valid? [True, True] Translation: X:587.83, Y:-317.13, Z:-4.92 [[-7.62601174e-01 6.46856691e-01 3.98384410e-03 5.87832535e+02] [ 6.46847729e-01 7.62611579e-01 -3.40522521e-03 -3.17134807e+02] [-5.24081836e-03 -1.98882345e-05 -9.99986267e-01 -4.92205305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.126559995 meters 0.051397346986816986 Centerline is valid? [True, True] Translation: X:588.18, Y:-316.56, Z:-5.89 [[-7.14355361e-01 -6.99770179e-01 4.25620504e-03 5.88183117e+02] [ 6.99758271e-01 -7.14368038e-01 -4.08271103e-03 -3.16559175e+02] [ 5.89745627e-03 6.18081728e-05 9.99982608e-01 -5.88972402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1865599949999 meters 0.05165875900130112 Centerline is valid? [True, True] Translation: X:587.39, Y:-316.77, Z:-4.92 [[-7.58522198e-01 6.51631689e-01 4.49622808e-03 5.87393064e+02] [ 6.51620512e-01 7.58535523e-01 -3.81676479e-03 -3.16767995e+02] [-5.89767360e-03 3.47336255e-05 -9.99982608e-01 -4.92013440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.246559995 meters 0.05257812776775754 Centerline is valid? [True, True] Translation: X:587.68, Y:-316.90, Z:-4.92 [[-7.99442358e-01 6.00722400e-01 4.95131619e-03 5.87678990e+02] [ 6.00711447e-01 7.99457687e-01 -3.62830360e-03 -3.16895808e+02] [-6.13797104e-03 7.36927321e-05 -9.99981160e-01 -4.92055617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3065599949999 meters 0.05188906392466413 Centerline is valid? [True, True] Translation: X:587.41, Y:-315.81, Z:-5.89 [[-7.75408986e-01 -6.31443821e-01 4.42772207e-03 5.87406246e+02] [ 6.31432874e-01 -7.75421623e-01 -3.71917745e-03 -3.15813942e+02] [ 5.78180305e-03 -8.80743384e-05 9.99983281e-01 -5.89108098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.366559995 meters 0.052212032751900325 Centerline is valid? [True, True] Translation: X:586.92, Y:-316.32, Z:-4.92 [[-7.98661019e-01 6.01762591e-01 4.72866297e-03 5.86919959e+02] [ 6.01752776e-01 7.98675012e-01 -3.43842003e-03 -3.16318024e+02] [-5.84577750e-03 9.93540241e-05 -9.99982908e-01 -4.91998577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4265599949999 meters 0.05218775694476553 Centerline is valid? [True, True] Translation: X:587.33, Y:-316.49, Z:-4.92 [[-8.41155459e-01 5.40769822e-01 5.04907168e-03 5.87333124e+02] [ 5.40760790e-01 8.41170607e-01 -3.12698903e-03 -3.16492158e+02] [-5.93811199e-03 1.00056098e-04 -9.99982364e-01 -4.92165864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.486559995 meters 0.05226980039349601 Centerline is valid? [True, True] Translation: X:586.75, Y:-316.07, Z:-4.92 [[-8.79168214e-01 4.76481390e-01 5.36063772e-03 5.86747882e+02] [ 4.76473072e-01 8.79184553e-01 -2.81652560e-03 -3.16067460e+02] [-6.05501192e-03 7.79997462e-05 -9.99981665e-01 -4.92012598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5465599949999 meters 0.05272554361902358 Centerline is valid? [True, True] Translation: X:586.77, Y:-315.99, Z:-4.92 [[-9.12676180e-01 4.08638774e-01 6.04508875e-03 5.86765494e+02] [ 4.08630203e-01 9.12696198e-01 -2.64719311e-03 -3.15991764e+02] [-6.59907526e-03 5.41757491e-05 -9.99978224e-01 -4.91960169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6065599949999 meters 0.052169277307209716 Centerline is valid? [True, True] Translation: X:587.09, Y:-316.03, Z:-4.92 [[-9.43244944e-01 3.32030246e-01 6.70011853e-03 5.87090385e+02] [ 3.32021853e-01 9.43268740e-01 -2.36081108e-03 -3.16028570e+02] [-7.10387305e-03 -2.23734634e-06 -9.99974767e-01 -4.91841922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.666559995 meters 0.05196523129757488 Centerline is valid? [True, True] Translation: X:586.96, Y:-315.30, Z:-5.89 [[-9.15048019e-01 -4.03308955e-01 5.38602502e-03 5.86957619e+02] [ 4.03301446e-01 -9.15063867e-01 -2.46237301e-03 -3.15295750e+02] [ 5.92165397e-03 -8.09978729e-05 9.99982464e-01 -5.89160210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7265599949999 meters 0.05141988802359552 Centerline is valid? [True, True] Translation: X:586.68, Y:-315.87, Z:-4.92 [[-9.48999100e-01 3.15240643e-01 4.90355735e-03 5.86684969e+02] [ 3.15236034e-01 9.49011766e-01 -1.70613964e-03 -3.15869555e+02] [-5.19137817e-03 -7.33470107e-05 -9.99986522e-01 -4.91951552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.786559995 meters 0.05083097922111621 Centerline is valid? [True, True] Translation: X:586.91, Y:-315.29, Z:-5.89 [[-9.11998501e-01 -4.10172615e-01 4.14250078e-03 5.86914110e+02] [ 4.10168469e-01 -9.12007909e-01 -1.84436161e-03 -3.15292248e+02] [ 4.53450010e-03 1.70681832e-05 9.99989719e-01 -5.88971261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8465599949999 meters 0.051504485587590514 Centerline is valid? [True, True] Translation: X:586.63, Y:-315.85, Z:-4.92 [[-9.53260988e-01 3.02101993e-01 5.27972742e-03 5.86628825e+02] [ 3.02096573e-01 9.53275599e-01 -1.81467345e-03 -3.15848671e+02] [-5.58125179e-03 -1.34869847e-04 -9.99984416e-01 -4.91969231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.906559995 meters 0.051457595134423995 Centerline is valid? [True, True] Translation: X:586.66, Y:-315.77, Z:-4.92 [[-9.72715980e-01 2.31921956e-01 5.98567805e-03 5.86655263e+02] [ 2.31916547e-01 9.72734383e-01 -1.59213175e-03 -3.15770981e+02] [-6.19172516e-03 -1.60514208e-04 -9.99980818e-01 -4.91871011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9665599949999 meters 0.05129996149214834 Centerline is valid? [True, True] Translation: X:586.64, Y:-315.69, Z:-4.92 [[-9.86693481e-01 1.62443393e-01 6.93668315e-03 5.86635716e+02] [ 1.62438080e-01 9.86717848e-01 -1.32635770e-03 -3.15685166e+02] [-7.06000711e-03 -1.81926998e-04 -9.99975061e-01 -4.91821655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.026559995 meters 0.05127188512297767 Centerline is valid? [True, True] Translation: X:586.53, Y:-315.59, Z:-4.92 [[-9.95311651e-01 9.64255833e-02 7.53821112e-03 5.86531267e+02] [ 9.64215852e-02 9.95340183e-01 -8.92877349e-04 -3.15593157e+02] [-7.58918066e-03 -1.61844963e-04 -9.99971189e-01 -4.91848590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0865599949999 meters 0.05146634577297101 Centerline is valid? [True, True] Translation: X:586.52, Y:-314.97, Z:-5.89 [[-9.79873273e-01 -1.99489267e-01 7.23881476e-03 5.86519748e+02] [ 1.99484902e-01 -9.79900001e-01 -1.32749991e-03 -3.14966769e+02] [ 7.35813657e-03 1.43252573e-04 9.99972918e-01 -5.89198591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.146559995 meters 0.05150174600259009 Centerline is valid? [True, True] Translation: X:586.21, Y:-315.57, Z:-4.92 [[-9.93574534e-01 1.12995600e-01 6.45290416e-03 5.86213098e+02] [ 1.12993173e-01 9.93595488e-01 -7.40568634e-04 -3.15565043e+02] [-6.49525745e-03 -6.67601770e-06 -9.99978906e-01 -4.92044780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2065599949999 meters 0.05187184896035143 Centerline is valid? [True, True] Translation: X:586.11, Y:-314.89, Z:-5.89 [[-9.86052302e-01 -1.66362964e-01 4.92161735e-03 5.86113631e+02] [ 1.66360554e-01 -9.86064582e-01 -8.98081439e-04 -3.14891359e+02] [ 5.00244004e-03 -6.67922831e-05 9.99987486e-01 -5.88831928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.266559995 meters 0.05261104876823101 Centerline is valid? [True, True] Translation: X:586.32, Y:-315.59, Z:-4.92 [[-9.91637742e-01 1.28960791e-01 4.86860253e-03 5.86319779e+02] [ 1.28959801e-01 9.91649687e-01 -5.18085890e-04 -3.15590903e+02] [-4.89476094e-03 1.14100492e-04 -9.99988014e-01 -4.92346880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3265599949999 meters 0.053081715561336985 Centerline is valid? [True, True] Translation: X:585.98, Y:-314.88, Z:-5.89 [[-9.89970411e-01 -1.41177455e-01 5.24509168e-03 5.85984988e+02] [ 1.41174929e-01 -9.89984301e-01 -8.50611781e-04 -3.14881946e+02] [ 5.31264562e-03 -1.01605049e-04 9.99985883e-01 -5.88727894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.386559995 meters 0.053842057145776855 Centerline is valid? [True, True] Translation: X:585.69, Y:-315.51, Z:-4.92 [[-9.90327720e-01 1.38615227e-01 6.06845280e-03 5.85692683e+02] [ 1.38614005e-01 9.90346287e-01 -6.23595639e-04 -3.15513567e+02] [-6.09630955e-03 2.23608497e-04 -9.99981392e-01 -4.92333961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4465599949999 meters 0.053801568030299694 Centerline is valid? [True, True] Translation: X:585.84, Y:-315.44, Z:-4.92 [[-9.97766824e-01 6.64905791e-02 6.35353533e-03 5.85835470e+02] [ 6.64907557e-02 9.97787024e-01 -1.83655035e-04 -3.15439897e+02] [-6.35168644e-03 2.39206464e-04 -9.99979799e-01 -4.92409876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.506559995 meters 0.0544015273013786 Centerline is valid? [True, True] Translation: X:585.34, Y:-315.37, Z:-4.92 [[-9.99962159e-01 -6.02849204e-03 6.27207094e-03 5.85340340e+02] [-6.02695907e-03 9.99981803e-01 2.63285262e-04 -3.15370818e+02] [-6.27354402e-03 2.25473784e-04 -9.99980296e-01 -4.92220792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5665599949999 meters 0.0535351364906476 Centerline is valid? [True, True] Translation: X:585.59, Y:-315.26, Z:-4.92 [[-9.96410544e-01 -8.44770010e-02 5.44646591e-03 5.85589775e+02] [-8.44747553e-02 9.96425413e-01 6.41476280e-04 -3.15258896e+02] [-5.48118704e-03 1.79084854e-04 -9.99984962e-01 -4.92437857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.626559995 meters 0.054387613850464867 Centerline is valid? [True, True] Translation: X:585.03, Y:-315.27, Z:-4.92 [[-9.86557476e-01 -1.63355391e-01 4.40025561e-03 5.85033837e+02] [-1.63353279e-01 9.86567283e-01 8.37618910e-04 -3.15266105e+02] [-4.47797779e-03 1.07563013e-04 -9.99989968e-01 -4.92378556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6865599949999 meters 0.053681787878156986 Centerline is valid? [True, True] Translation: X:584.90, Y:-315.22, Z:-4.92 [[-9.69762826e-01 -2.44020725e-01 3.73458568e-03 5.84899344e+02] [-2.44018718e-01 9.69770016e-01 9.90807537e-04 -3.15216431e+02] [-3.86346679e-03 4.95395071e-05 -9.99992536e-01 -4.92393791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.746559995 meters 0.05246840227651548 Centerline is valid? [True, True] Translation: X:584.86, Y:-315.14, Z:-4.92 [[-9.46001623e-01 -3.24142036e-01 3.58753762e-03 5.84863710e+02] [-3.24139682e-01 9.46008425e-01 1.23558708e-03 -3.15139735e+02] [-3.79434653e-03 6.00408438e-06 -9.99992801e-01 -4.92357940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8065599949999 meters 0.05276633455922628 Centerline is valid? [True, True] Translation: X:584.78, Y:-315.09, Z:-4.92 [[-9.17919531e-01 -3.96755386e-01 2.98313932e-03 5.84781463e+02] [-3.96753342e-01 9.17924378e-01 1.27368804e-03 -3.15086517e+02] [-3.24363889e-03 -1.44273669e-05 -9.99994739e-01 -4.92388495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.866559995 meters 0.05324355400836918 Centerline is valid? [True, True] Translation: X:584.75, Y:-315.01, Z:-4.92 [[-8.83648390e-01 -4.68137081e-01 3.63264572e-03 5.84745261e+02] [-4.68133319e-01 8.83655856e-01 1.87721401e-03 -3.15010352e+02] [-4.08880215e-03 -4.17653657e-05 -9.99991640e-01 -4.92180414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9265599949999 meters 0.0533843023057422 Centerline is valid? [True, True] Translation: X:585.05, Y:-314.74, Z:-4.92 [[-8.44489929e-01 -5.35549192e-01 4.88092750e-03 5.85048244e+02] [-5.35540712e-01 8.44504031e-01 3.01439633e-03 -3.14739838e+02] [-5.73632047e-03 -6.83080483e-05 -9.99983545e-01 -4.92191079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.986559995 meters 0.0531663755826171 Centerline is valid? [True, True] Translation: X:584.47, Y:-315.03, Z:-4.92 [[-8.04062078e-01 -5.94517891e-01 5.71419317e-03 5.84465368e+02] [-5.94503656e-01 8.04082377e-01 4.11496004e-03 -3.15027620e+02] [-7.04109939e-03 -8.84254059e-05 -9.99975207e-01 -4.92050126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0465599949999 meters 0.053170121234212456 Centerline is valid? [True, True] Translation: X:584.51, Y:-314.89, Z:-4.92 [[-7.56821203e-01 -6.53587399e-01 6.72153730e-03 5.84510799e+02] [-6.53562963e-01 7.56851042e-01 5.65285327e-03 -3.14891866e+02] [-8.78183617e-03 -1.14748613e-04 -9.99961432e-01 -4.92066915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1065599949999 meters 0.05357587054203712 Centerline is valid? [True, True] Translation: X:584.10, Y:-315.15, Z:-4.92 [[-7.07988475e-01 -7.06191437e-01 6.78043736e-03 5.84100433e+02] [-7.06160814e-01 7.08020930e-01 6.57781208e-03 -3.15154924e+02] [-9.44588613e-03 -1.31064020e-04 -9.99955378e-01 -4.92005687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.166559995 meters 0.05296624383243217 Centerline is valid? [True, True] Translation: X:584.18, Y:-314.96, Z:-4.92 [[-6.50940598e-01 -7.59103706e-01 6.15642177e-03 5.84175624e+02] [-7.59071907e-01 6.50969693e-01 6.94972317e-03 -3.14963285e+02] [-9.28320461e-03 -1.49309862e-04 -9.99956899e-01 -4.92133791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2265599949999 meters 0.05387313262190644 Centerline is valid? [True, True] Translation: X:583.60, Y:-315.53, Z:-4.92 [[-5.94707042e-01 -8.03924587e-01 5.36584836e-03 5.83597420e+02] [-8.03894133e-01 5.94731230e-01 6.99916516e-03 -3.15528980e+02] [-8.81803856e-03 -1.51121205e-04 -9.99961109e-01 -4.91966349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.286559995 meters 0.05310647534553802 Centerline is valid? [True, True] Translation: X:583.44, Y:-315.62, Z:-4.92 [[-5.34171129e-01 -8.45362590e-01 4.82660961e-03 5.83438670e+02] [-8.45330627e-01 5.34192912e-01 7.35273845e-03 -3.15622221e+02] [-8.79407066e-03 -1.52460333e-04 -9.99961320e-01 -4.92029513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3465599949999 meters 0.05282760265061313 Centerline is valid? [True, True] Translation: X:583.29, Y:-315.73, Z:-4.92 [[-4.69299261e-01 -8.83029995e-01 4.02890633e-03 5.83285977e+02] [-8.83000292e-01 4.69316528e-01 7.24441472e-03 -3.15733633e+02] [-8.28786782e-03 -1.57726988e-04 -9.99965643e-01 -4.92232118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.406559995 meters 0.05238760584707412 Centerline is valid? [True, True] Translation: X:583.14, Y:-315.85, Z:-4.92 [[-4.00854811e-01 -9.16135595e-01 3.31544821e-03 5.83142689e+02] [-9.16107705e-01 4.00868485e-01 7.15050384e-03 -3.15850571e+02] [-7.87988979e-03 -1.70993790e-04 -9.99968939e-01 -4.92361104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4665599949999 meters 0.05273675033008741 Centerline is valid? [True, True] Translation: X:582.99, Y:-316.01, Z:-4.92 [[-3.28804748e-01 -9.44393026e-01 3.04145269e-03 5.82994587e+02] [-9.44358654e-01 3.28818740e-01 8.06027916e-03 -3.16013543e+02] [-8.61215806e-03 -2.21964109e-04 -9.99962890e-01 -4.92448673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.526559995 meters 0.05381367032845762 Centerline is valid? [True, True] Translation: X:582.88, Y:-316.07, Z:-4.92 [[-2.56980017e-01 -9.66413506e-01 2.49119784e-03 5.82884100e+02] [-9.66376551e-01 2.56991985e-01 8.45461873e-03 -3.16069980e+02] [-8.81087561e-03 -2.34767111e-04 -9.99961156e-01 -4.92077052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5865599949999 meters 0.05367822112227236 Centerline is valid? [True, True] Translation: X:582.75, Y:-316.30, Z:-4.92 [[-1.88122239e-01 -9.82143986e-01 1.79255556e-03 5.82751010e+02] [-9.82109111e-01 1.88130670e-01 8.27923914e-03 -3.16303192e+02] [-8.46863961e-03 -2.02976143e-04 -9.99964120e-01 -4.92202248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.646559995 meters 0.05226438025261442 Centerline is valid? [True, True] Translation: X:582.65, Y:-316.53, Z:-4.93 [[-1.23046503e-01 -9.92400373e-01 1.02886641e-03 5.82649443e+02] [-9.92373334e-01 1.23050746e-01 7.32658999e-03 -3.16525606e+02] [-7.39751342e-03 -1.19508310e-04 -9.99972631e-01 -4.92618818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7065599949999 meters 0.05301258401843828 Centerline is valid? [True, True] Translation: X:582.55, Y:-316.79, Z:-4.93 [[-5.64267417e-02 -9.98406642e-01 4.47042245e-04 5.82550606e+02] [-9.98383643e-01 5.64284763e-02 6.77710619e-03 -3.16792007e+02] [-6.79153375e-03 -6.39096443e-05 -9.99976935e-01 -4.92621774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.766559995 meters 0.0520148954316409 Centerline is valid? [True, True] Translation: X:582.48, Y:-317.07, Z:-4.92 [[ 5.70444287e-03 -9.99983728e-01 -5.68544596e-05 5.82477437e+02] [-9.99956901e-01 -5.70470629e-03 7.32478818e-03 -3.17072269e+02] [-7.32499333e-03 1.50681735e-05 -9.99973172e-01 -4.92496457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8265599949999 meters 0.05243951383100017 Centerline is valid? [True, True] Translation: X:582.43, Y:-317.42, Z:-4.93 [[ 6.64850689e-02 -9.97787208e-01 -6.50660069e-04 5.82431815e+02] [-9.97755437e-01 -6.64881448e-02 7.96338313e-03 -3.17419804e+02] [-7.98902300e-03 1.19753545e-04 -9.99968080e-01 -4.92519191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.886559995 meters 0.05310327885536013 Centerline is valid? [True, True] Translation: X:582.32, Y:-317.11, Z:-4.93 [[ 1.33640872e-01 -9.91028996e-01 -1.28304809e-03 5.82319104e+02] [-9.90996017e-01 -1.33646895e-01 8.08717775e-03 -3.17107296e+02] [-8.18610304e-03 1.90718060e-04 -9.99966475e-01 -4.92652543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9465599949999 meters 0.05371107707177879 Centerline is valid? [True, True] Translation: X:582.40, Y:-317.85, Z:-4.92 [[ 1.94504177e-01 -9.80900041e-01 -1.79840632e-03 5.82400558e+02] [-9.80869792e-01 -1.94512311e-01 7.70788147e-03 -3.17852767e+02] [-7.91047342e-03 2.64787296e-04 -9.99968677e-01 -4.92456730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.006559995 meters 0.05349765441488194 Centerline is valid? [True, True] Translation: X:582.23, Y:-317.53, Z:-4.93 [[ 2.63988206e-01 -9.64522697e-01 -2.48872096e-03 5.82225150e+02] [-9.64490326e-01 -2.63999752e-01 7.90840679e-03 -3.17534302e+02] [-8.28485956e-03 3.12621165e-04 -9.99965631e-01 -4.92797771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0665599949999 meters 0.0537926267236612 Centerline is valid? [True, True] Translation: X:582.29, Y:-317.93, Z:-4.93 [[ 3.35299825e-01 -9.42106338e-01 -3.11039135e-03 5.82290880e+02] [-9.42073908e-01 -3.35314111e-01 7.82297892e-03 -3.17933364e+02] [-8.41303614e-03 3.07175064e-04 -9.99964563e-01 -4.92537175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.126559995 meters 0.05331774183464326 Centerline is valid? [True, True] Translation: X:582.59, Y:-318.78, Z:-4.92 [[ 4.07721981e-01 -9.13100295e-01 -3.26155792e-03 5.82586627e+02] [-9.13075411e-01 -4.07734963e-01 6.74499108e-03 -3.18782611e+02] [-7.48870454e-03 2.27967212e-04 -9.99971933e-01 -4.92333643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1865599949999 meters 0.05258193499689288 Centerline is valid? [True, True] Translation: X:582.54, Y:-318.87, Z:-4.92 [[ 4.80367745e-01 -8.77059868e-01 -3.58011456e-03 5.82544966e+02] [-8.77038109e-01 -4.80381056e-01 6.18030417e-03 -3.18865381e+02] [-7.14031597e-03 1.71078123e-04 -9.99974493e-01 -4.92394389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.246559995 meters 0.052210199027498454 Centerline is valid? [True, True] Translation: X:582.28, Y:-318.60, Z:-4.92 [[ 5.55140037e-01 -8.31748195e-01 -3.80525907e-03 5.82275967e+02] [-8.31729597e-01 -5.55153073e-01 5.56270794e-03 -3.18597992e+02] [-6.73927355e-03 7.68647011e-05 -9.99977288e-01 -4.92353592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3065599949999 meters 0.05092361331078123 Centerline is valid? [True, True] Translation: X:582.52, Y:-319.08, Z:-4.92 [[ 6.25884656e-01 -7.79907656e-01 -3.52778681e-03 5.82517654e+02] [-7.79895101e-01 -6.25894598e-01 4.42536337e-03 -3.19080547e+02] [-5.65939748e-03 -1.84633790e-05 -9.99983985e-01 -4.92313494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.366559995 meters 0.05051773075870065 Centerline is valid? [True, True] Translation: X:582.70, Y:-319.42, Z:-4.92 [[ 6.88562548e-01 -7.25170355e-01 -3.09413373e-03 5.82695323e+02] [-7.25162640e-01 -6.88569497e-01 3.34556893e-03 -3.19417960e+02] [-4.55663352e-03 -5.98832828e-05 -9.99989617e-01 -4.92280914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4265599949999 meters 0.0513459204487956 Centerline is valid? [True, True] Translation: X:582.66, Y:-319.51, Z:-4.92 [[ 7.47568413e-01 -6.64178778e-01 -2.83170177e-03 5.82661471e+02] [-6.64173531e-01 -7.47573770e-01 2.64166737e-03 -3.19507715e+02] [-3.87144537e-03 -9.40857210e-05 -9.99992502e-01 -4.92257316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.486559995 meters 0.050688994483540015 Centerline is valid? [True, True] Translation: X:582.63, Y:-319.59, Z:-4.92 [[ 8.00303950e-01 -5.99584258e-01 -3.50797728e-03 5.82634808e+02] [-5.99577765e-01 -8.00311627e-01 2.79333330e-03 -3.19588279e+02] [-4.48231368e-03 -1.32210500e-04 -9.99989946e-01 -4.92324533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5465599949999 meters 0.050494935414237926 Centerline is valid? [True, True] Translation: X:582.61, Y:-319.68, Z:-4.92 [[ 8.44107164e-01 -5.36147599e-01 -5.37106175e-03 5.82607317e+02] [-5.36135345e-01 -8.44124231e-01 3.62956147e-03 -3.19680969e+02] [-6.47982404e-03 -1.84122794e-04 -9.99978989e-01 -4.92183143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6065599949999 meters 0.050758320196082674 Centerline is valid? [True, True] Translation: X:582.59, Y:-319.78, Z:-4.92 [[ 8.82582772e-01 -4.70109086e-01 -6.71558974e-03 5.82586024e+02] [-4.70093690e-01 -8.82608297e-01 3.81009740e-03 -3.19775832e+02] [-7.71839662e-03 -2.05769959e-04 -9.99970192e-01 -4.91945204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.666559995 meters 0.05045964043931983 Centerline is valid? [True, True] Translation: X:582.58, Y:-319.86, Z:-4.92 [[ 9.14899010e-01 -4.03601218e-01 -8.11532120e-03 5.82577608e+02] [-4.03583386e-01 -9.14934980e-01 3.79910870e-03 -3.19863529e+02] [-8.95831613e-03 -2.00591978e-04 -9.99959853e-01 -4.91978010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7265599949999 meters 0.051256142874199315 Centerline is valid? [True, True] Translation: X:582.57, Y:-319.95, Z:-4.92 [[ 9.41424765e-01 -3.37100747e-01 -9.08287722e-03 5.82574818e+02] [-3.37083486e-01 -9.41468567e-01 3.41467777e-03 -3.19953414e+02] [-9.70233383e-03 -1.52974295e-04 -9.99952920e-01 -4.92012314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.786559995 meters 0.05109984098324422 Centerline is valid? [True, True] Translation: X:582.58, Y:-320.05, Z:-4.92 [[ 9.64265187e-01 -2.64830840e-01 -7.56802372e-03 5.82576322e+02] [-2.64821830e-01 -9.64294880e-01 2.18714260e-03 -3.20045995e+02] [-7.87702934e-03 -1.04807581e-04 -9.99968970e-01 -4.92043845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8465599949999 meters 0.050176825455859796 Centerline is valid? [True, True] Translation: X:582.59, Y:-320.13, Z:-4.92 [[ 9.81716210e-01 -1.90263244e-01 -5.76023628e-03 5.82587573e+02] [-1.90259559e-01 -9.81733107e-01 1.18609096e-03 -3.20134353e+02] [-5.88068418e-03 -6.84647107e-05 -9.99982706e-01 -4.92211506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.906559995 meters 0.05039277013798406 Centerline is valid? [True, True] Translation: X:582.61, Y:-320.23, Z:-4.92 [[ 9.93426820e-01 -1.14392585e-01 -4.18204166e-03 5.82605396e+02] [-1.14391390e-01 -9.93435622e-01 5.24563681e-04 -3.20227047e+02] [-4.21459535e-03 -4.27260710e-05 -9.99991118e-01 -4.92382861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9665599949999 meters 0.050874243304526875 Centerline is valid? [True, True] Translation: X:582.63, Y:-320.31, Z:-4.92 [[ 9.99270319e-01 -3.79463607e-02 -4.34777421e-03 5.82629422e+02] [-3.79458389e-02 -9.99279777e-01 2.02471937e-04 -3.20314823e+02] [-4.35232591e-03 -3.73442576e-05 -9.99990528e-01 -4.92321207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.026559995 meters 0.050725826382759916 Centerline is valid? [True, True] Translation: X:582.66, Y:-320.40, Z:-4.92 [[ 9.99301677e-01 3.70424223e-02 -4.90070321e-03 5.82655975e+02] [ 3.70421042e-02 -9.99313694e-01 -1.55686796e-04 -3.20399468e+02] [-4.90310684e-03 -2.59542829e-05 -9.99987979e-01 -4.92241690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0865599949999 meters 0.05122079991515717 Centerline is valid? [True, True] Translation: X:582.69, Y:-320.48, Z:-4.92 [[ 9.93737124e-01 1.11552381e-01 -6.52646943e-03 5.82687706e+02] [ 1.11550051e-01 -9.93758555e-01 -7.21082409e-04 -3.20476886e+02] [-6.56617330e-03 -1.14616409e-05 -9.99978442e-01 -4.92095778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.146559995 meters 0.05068384569198397 Centerline is valid? [True, True] Translation: X:582.73, Y:-320.55, Z:-4.92 [[ 9.82190824e-01 1.87754126e-01 -7.04079434e-03 5.82726500e+02] [ 1.87749331e-01 -9.82216060e-01 -1.34189366e-03 -3.20554231e+02] [-7.16752734e-03 -3.90878962e-06 -9.99974313e-01 -4.92024745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2065599949999 meters 0.05158349328666045 Centerline is valid? [True, True] Translation: X:582.77, Y:-320.63, Z:-4.92 [[ 9.65397558e-01 2.60702407e-01 -6.46608775e-03 5.82771055e+02] [ 2.60696424e-01 -9.65419212e-01 -1.76630075e-03 -3.20625293e+02] [-6.70296420e-03 1.94964736e-05 -9.99977535e-01 -4.92002544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.266559995 meters 0.05195757629336295 Centerline is valid? [True, True] Translation: X:582.82, Y:-320.69, Z:-4.92 [[ 9.42475858e-01 3.34219357e-01 -6.05629724e-03 5.82819937e+02] [ 3.34212273e-01 -9.42495316e-01 -2.17621651e-03 -3.20694552e+02] [-6.43536546e-03 2.69426591e-05 -9.99979292e-01 -4.91927266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3265599949999 meters 0.05121913237847706 Centerline is valid? [True, True] Translation: X:582.88, Y:-320.76, Z:-4.92 [[ 9.13598430e-01 4.06603088e-01 -3.44044926e-03 5.82876413e+02] [ 4.06600133e-01 -9.13604908e-01 -1.55033418e-03 -3.20761925e+02] [-3.77358199e-03 1.74957438e-05 -9.99992880e-01 -4.92156667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.386559995 meters 0.05060291931036977 Centerline is valid? [True, True] Translation: X:582.94, Y:-320.82, Z:-4.92 [[ 8.77831294e-01 4.78967873e-01 -1.41316242e-03 5.82935455e+02] [ 4.78967245e-01 -8.77832431e-01 -7.75627465e-04 -3.20821367e+02] [-1.61202044e-03 4.01154951e-06 -9.99998701e-01 -4.92177860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4465599949999 meters 0.05051501262347865 Centerline is valid? [True, True] Translation: X:583.00, Y:-320.87, Z:-4.92 [[ 8.34152736e-01 5.51533246e-01 -5.39889252e-04 5.82999095e+02] [ 5.51533133e-01 -8.34152910e-01 -3.54488015e-04 -3.20874475e+02] [-6.45862116e-04 -2.06966276e-06 -9.99999791e-01 -4.92161866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.506559995 meters 0.05101532402437698 Centerline is valid? [True, True] Translation: X:583.07, Y:-320.93, Z:-4.92 [[ 7.82823474e-01 6.22243834e-01 -1.40613284e-04 5.83068178e+02] [ 6.22243824e-01 -7.82823487e-01 -1.09662446e-04 -3.20925871e+02] [-1.78312162e-04 -1.64941043e-06 -9.99999984e-01 -4.92046914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5665599949999 meters 0.050835963198893046 Centerline is valid? [True, True] Translation: X:583.14, Y:-320.97, Z:-4.92 [[ 7.28093528e-01 6.85477190e-01 -9.14523638e-04 5.83142013e+02] [ 6.85476687e-01 -7.28094102e-01 -8.30113635e-04 -3.20969601e+02] [-1.23488323e-03 -2.24842680e-05 -9.99999237e-01 -4.91855042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.626559995 meters 0.05094939763705011 Centerline is valid? [True, True] Translation: X:583.22, Y:-321.01, Z:-4.92 [[ 6.69506844e-01 7.42801905e-01 -2.43213976e-03 5.83219491e+02] [ 7.42797427e-01 -6.69511257e-01 -2.58046703e-03 -3.21009432e+02] [-3.54512077e-03 -7.89468186e-05 -9.99993713e-01 -4.91612556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6865599949999 meters 0.05008861563041231 Centerline is valid? [True, True] Translation: X:583.30, Y:-321.04, Z:-4.92 [[ 6.09441378e-01 7.92827706e-01 -2.33143757e-03 5.83301051e+02] [ 7.92822414e-01 -6.09445832e-01 -2.89774359e-03 -3.21042966e+02] [-3.71829631e-03 -8.24111133e-05 -9.99993084e-01 -4.91702164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.746559995 meters 0.05068717759517101 Centerline is valid? [True, True] Translation: X:583.39, Y:-321.07, Z:-4.92 [[ 5.48354290e-01 8.36243522e-01 -2.08456888e-03 5.83389073e+02] [ 8.36237955e-01 -5.48358247e-01 -3.05212809e-03 -3.21074105e+02] [-3.69541288e-03 -6.95480842e-05 -9.99993170e-01 -4.91656120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8065599949999 meters 0.050793198042269914 Centerline is valid? [True, True] Translation: X:583.47, Y:-321.10, Z:-4.92 [[ 4.85578239e-01 8.74190933e-01 -1.99667892e-03 5.83474682e+02] [ 8.74184009e-01 -4.85582341e-01 -3.47981833e-03 -3.21096690e+02] [-4.01157765e-03 -5.57407259e-05 -9.99991952e-01 -4.91560628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.866559995 meters 0.05053680485044564 Centerline is valid? [True, True] Translation: X:583.56, Y:-321.11, Z:-4.92 [[ 4.18606090e-01 9.08166743e-01 -1.45176565e-03 5.83562336e+02] [ 9.08161578e-01 -4.18608606e-01 -3.06319810e-03 -3.21111613e+02] [-3.38961624e-03 -3.61644021e-05 -9.99994255e-01 -4.91607158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9265599949999 meters 0.05042329479858003 Centerline is valid? [True, True] Translation: X:583.65, Y:-321.12, Z:-4.92 [[ 3.49266131e-01 9.37022074e-01 -1.67399638e-03 5.83648267e+02] [ 9.37011793e-01 -3.49270141e-01 -4.38950566e-03 -3.21118806e+02] [-4.69774065e-03 -3.54486914e-05 -9.99988965e-01 -4.91526246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.986559995 meters 0.050403514612031707 Centerline is valid? [True, True] Translation: X:583.73, Y:-321.12, Z:-4.91 [[ 2.75397250e-01 9.61329046e-01 -1.67950044e-03 5.83731009e+02] [ 9.61312088e-01 -2.75402368e-01 -5.71002517e-03 -3.21118188e+02] [-5.95175144e-03 -4.19988474e-05 -9.99982287e-01 -4.91399512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0465599949999 meters 0.05032803408571913 Centerline is valid? [True, True] Translation: X:583.81, Y:-321.11, Z:-4.91 [[ 1.97934603e-01 9.80214337e-01 -1.32155229e-03 5.83814423e+02] [ 9.80194292e-01 -1.97939007e-01 -6.26899071e-03 -3.21111635e+02] [-6.40654132e-03 -5.45278186e-05 -9.99979476e-01 -4.91413282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1065599949999 meters 0.050370871866478706 Centerline is valid? [True, True] Translation: X:583.90, Y:-321.10, Z:-4.91 [[ 1.17931137e-01 9.93021496e-01 -7.45255592e-04 5.83901685e+02] [ 9.93004993e-01 -1.17933474e-01 -5.72542482e-03 -3.21100193e+02] [-5.77336050e-03 -6.48366651e-05 -9.99983332e-01 -4.91432937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.166559995 meters 0.04959588154756678 Centerline is valid? [True, True] Translation: X:583.99, Y:-321.08, Z:-4.91 [[ 3.44666513e-02 9.99405809e-01 -2.81418330e-04 5.83991687e+02] [ 9.99390675e-01 -3.44676783e-02 -5.50072603e-03 -3.21081992e+02] [-5.50715739e-03 -9.16552487e-05 -9.99984831e-01 -4.91454071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2265599949999 meters 0.05105008798996055 Centerline is valid? [True, True] Translation: X:584.08, Y:-321.06, Z:-4.92 [[-4.78918187e-02 9.98852520e-01 1.30390567e-04 5.84077026e+02] [ 9.98841046e-01 4.78918937e-02 -4.78864746e-03 -3.21057370e+02] [-4.78939724e-03 -9.90975858e-05 -9.99988526e-01 -4.91543830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.286559995 meters 0.04990857687026131 Centerline is valid? [True, True] Translation: X:584.17, Y:-321.02, Z:-4.92 [[-1.27273418e-01 9.91867544e-01 5.01891502e-04 5.84166930e+02] [ 9.91856232e-01 1.27274364e-01 -4.73834242e-03 -3.21024393e+02] [-4.76368598e-03 -1.05260822e-04 -9.99988648e-01 -4.91646259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3465599949999 meters 0.04985072760292338 Centerline is valid? [True, True] Translation: X:584.26, Y:-320.98, Z:-4.92 [[-2.05103841e-01 9.78739702e-01 1.00494039e-03 5.84262431e+02] [ 9.78724784e-01 2.05106265e-01 -5.40534443e-03 -3.20983820e+02] [-5.49654476e-03 -1.25096842e-04 -9.99984886e-01 -4.91500427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.406559995 meters 0.050405967482748705 Centerline is valid? [True, True] Translation: X:584.34, Y:-320.94, Z:-4.91 [[-2.80356555e-01 9.59894654e-01 1.56668106e-03 5.84343634e+02] [ 9.59876901e-01 2.80360901e-01 -5.83959525e-03 -3.20937718e+02] [-6.04463238e-03 -1.33347848e-04 -9.99981722e-01 -4.91474477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4665599949999 meters 0.049986605925658276 Centerline is valid? [True, True] Translation: X:584.42, Y:-320.88, Z:-4.92 [[-3.53182620e-01 9.35551571e-01 2.30131486e-03 5.84421065e+02] [ 9.35529021e-01 3.53190089e-01 -6.49703175e-03 -3.20884555e+02] [-6.89110986e-03 -1.41691858e-04 -9.99976246e-01 -4.91536139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.526559995 meters 0.050480108605917645 Centerline is valid? [True, True] Translation: X:584.49, Y:-320.83, Z:-4.92 [[-4.21555218e-01 9.06798257e-01 2.84933158e-03 5.84494867e+02] [ 9.06775663e-01 4.21564832e-01 -6.40229854e-03 -3.20827443e+02] [-7.00677114e-03 -1.15217819e-04 -9.99975446e-01 -4.91510716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5865599949999 meters 0.050806902919201764 Centerline is valid? [True, True] Translation: X:584.57, Y:-320.76, Z:-4.92 [[-4.87657809e-01 8.73030098e-01 2.88262579e-03 5.84565395e+02] [ 8.73013930e-01 4.87666323e-01 -5.31359418e-03 -3.20762385e+02] [-6.04468717e-03 -7.46432244e-05 -9.99981728e-01 -4.91747714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.646559995 meters 0.05034315832510839 Centerline is valid? [True, True] Translation: X:584.63, Y:-320.69, Z:-4.92 [[-5.49396513e-01 8.35558832e-01 2.21596072e-03 5.84630306e+02] [ 8.35551849e-01 5.49400981e-01 -3.41609636e-03 -3.20694084e+02] [-4.07180048e-03 -2.52413458e-05 -9.99991710e-01 -4.91705580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7065599949999 meters 0.05048328255706259 Centerline is valid? [True, True] Translation: X:584.69, Y:-320.62, Z:-4.92 [[-6.09942989e-01 7.92444124e-01 1.36395746e-03 5.84685913e+02] [ 7.92442125e-01 6.09944514e-01 -1.77969082e-03 -3.20622064e+02] [-2.24224390e-03 -4.65258920e-06 -9.99997486e-01 -4.91825909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.766559995 meters 0.05111194968607801 Centerline is valid? [True, True] Translation: X:584.74, Y:-320.55, Z:-4.92 [[-6.69314344e-01 7.42977026e-01 1.85707450e-03 5.84737288e+02] [ 7.42974153e-01 6.69316920e-01 -2.06607017e-03 -3.20546420e+02] [-2.77801406e-03 -3.09204557e-06 -9.99996141e-01 -4.91617460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8265599949999 meters 0.050248721052969174 Centerline is valid? [True, True] Translation: X:584.77, Y:-320.48, Z:-4.92 [[-7.26111354e-01 6.87571810e-01 2.70330954e-03 5.84767131e+02] [ 6.87567002e-01 7.26116386e-01 -2.57116863e-03 -3.20483017e+02] [-3.73078042e-03 -8.24829638e-06 -9.99993041e-01 -4.91585493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.886559995 meters 0.05095011574377153 Centerline is valid? [True, True] Translation: X:584.78, Y:-320.39, Z:-4.92 [[-7.76015575e-01 6.30707989e-01 2.69449507e-03 5.84783018e+02] [ 6.30704078e-01 7.76020253e-01 -2.22118092e-03 -3.20394564e+02] [-3.49189930e-03 -2.42419605e-05 -9.99993903e-01 -4.91704039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9465599949999 meters 0.0500817379901874 Centerline is valid? [True, True] Translation: X:584.89, Y:-320.37, Z:-4.92 [[-8.21983360e-01 5.69502286e-01 3.24063707e-03 5.84890145e+02] [ 5.69497621e-01 8.21989747e-01 -2.30568090e-03 -3.20373480e+02] [-3.97686099e-03 -4.96962353e-05 -9.99992091e-01 -4.91585282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.006559995 meters 0.05030474535517063 Centerline is valid? [True, True] Translation: X:584.91, Y:-320.29, Z:-4.92 [[-8.61588608e-01 5.07594088e-01 3.64857948e-03 5.84912572e+02] [ 5.07589210e-01 8.61596331e-01 -2.22623775e-03 -3.20293622e+02] [-4.27362781e-03 -6.61215031e-05 -9.99990866e-01 -4.91603872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0665599949999 meters 0.050467320275382206 Centerline is valid? [True, True] Translation: X:584.98, Y:-320.24, Z:-4.92 [[-8.96313723e-01 4.43406305e-01 3.54372942e-03 5.84983424e+02] [ 4.43402532e-01 8.96320726e-01 -1.83057953e-03 -3.20235948e+02] [-3.98800863e-03 -6.94749619e-05 -9.99992045e-01 -4.91515962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.126559995 meters 0.04989622247744407 Centerline is valid? [True, True] Translation: X:584.95, Y:-320.14, Z:-4.92 [[-9.25967604e-01 3.77595127e-01 2.43225194e-03 5.84951098e+02] [ 3.77593684e-01 9.25970798e-01 -1.04482033e-03 -3.20136979e+02] [-2.64671333e-03 -4.90668051e-05 -9.99996496e-01 -4.91695154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1865599949999 meters 0.04973484974053922 Centerline is valid? [True, True] Translation: X:584.94, Y:-320.04, Z:-4.92 [[-9.50551388e-01 3.10566668e-01 6.35672873e-04 5.84940246e+02] [ 3.10566589e-01 9.50551600e-01 -2.20764024e-04 -3.20042991e+02] [-6.72801814e-04 -1.24287936e-05 -9.99999774e-01 -4.91796095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.246559995 meters 0.049976523846081984 Centerline is valid? [True, True] Translation: X:584.91, Y:-319.95, Z:-4.92 [[-9.69867167e-01 2.43630173e-01 -1.42035220e-03 5.84908331e+02] [ 2.43629871e-01 9.69868206e-01 3.84830733e-04 -3.19946537e+02] [ 1.47131082e-03 2.71944681e-05 -9.99998917e-01 -4.91872886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3065599949999 meters 0.05133203007482145 Centerline is valid? [True, True] Translation: X:584.85, Y:-319.85, Z:-4.92 [[-9.84450538e-01 1.75658072e-01 -1.17438558e-03 5.84850132e+02] [ 1.75657922e-01 9.84451239e-01 2.30296119e-04 -3.19847335e+02] [ 1.19657872e-03 2.04250066e-05 -9.99999284e-01 -4.91845512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.366559995 meters 0.05071849326159508 Centerline is valid? [True, True] Translation: X:584.77, Y:-319.76, Z:-4.92 [[-9.94152458e-01 1.07985172e-01 3.05798365e-04 5.84766857e+02] [ 1.07985165e-01 9.94152505e-01 -3.68811079e-05 -3.19755137e+02] [-3.07992823e-04 -3.64375712e-06 -9.99999953e-01 -4.91526089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4265599949999 meters 0.050800733629916446 Centerline is valid? [True, True] Translation: X:584.70, Y:-319.67, Z:-4.91 [[-9.99229512e-01 3.92212977e-02 1.43925051e-03 5.84697061e+02] [ 3.92212336e-02 9.99230549e-01 -7.27680747e-05 -3.19671711e+02] [-1.44099713e-03 -1.62628276e-05 -9.99998962e-01 -4.91416534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.486559995 meters 0.05078577503678578 Centerline is valid? [True, True] Translation: X:584.64, Y:-319.01, Z:-5.90 [[-9.91936357e-01 -1.26700120e-01 3.05655708e-03 5.84638459e+02] [ 1.26699940e-01 -9.91941057e-01 -2.53116163e-04 -3.19007231e+02] [ 3.06399431e-03 1.36190474e-04 9.99995297e-01 -5.89765241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5465599949999 meters 0.050268589669862807 Centerline is valid? [True, True] Translation: X:584.47, Y:-319.66, Z:-4.91 [[-9.99122270e-01 4.17313116e-02 3.63150914e-03 5.84468412e+02] [ 4.17309641e-02 9.99128869e-01 -1.71427373e-04 -3.19664325e+02] [-3.63549951e-03 -1.97305279e-05 -9.99993391e-01 -4.91345035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6065599949999 meters 0.05037595609417478 Centerline is valid? [True, True] Translation: X:584.47, Y:-318.99, Z:-5.90 [[-9.93248488e-01 -1.15981107e-01 2.41335304e-03 5.84471282e+02] [ 1.15980615e-01 -9.93251418e-01 -3.43436009e-04 -3.18992329e+02] [ 2.43689842e-03 -6.12151261e-05 9.99997029e-01 -5.89640267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.666559995 meters 0.050353872637936975 Centerline is valid? [True, True] Translation: X:584.27, Y:-319.66, Z:-4.91 [[-9.99007856e-01 4.45049415e-02 1.61702102e-03 5.84266558e+02] [ 4.45048865e-02 9.99009164e-01 -6.99870617e-05 -3.19659277e+02] [-1.61853359e-03 2.04771238e-06 -9.99998690e-01 -4.91368903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7265599949999 meters 0.050689831467279 Centerline is valid? [True, True] Translation: X:584.20, Y:-318.97, Z:-5.90 [[-9.94304530e-01 -1.06576181e-01 1.37210054e-04 5.84198591e+02] [ 1.06576167e-01 -9.94304536e-01 -1.06845988e-04 -3.18972633e+02] [ 1.47815816e-04 -9.16141282e-05 9.99999985e-01 -5.89548226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.786559995 meters 0.05061512048409635 Centerline is valid? [True, True] Translation: X:584.09, Y:-319.66, Z:-4.92 [[-9.99010658e-01 4.44682896e-02 -5.25878526e-04 5.84087982e+02] [ 4.44682843e-02 9.99010796e-01 2.17095809e-05 -3.19655264e+02] [ 5.26323714e-04 -1.69681316e-06 -9.99999862e-01 -4.91558603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8465599949999 meters 0.05102913369286867 Centerline is valid? [True, True] Translation: X:584.05, Y:-319.58, Z:-4.91 [[-9.99639567e-01 -2.68462386e-02 -1.24599366e-04 5.84045251e+02] [-2.68462385e-02 9.99639575e-01 -3.08448922e-06 -3.19579146e+02] [ 1.24637264e-04 2.61646826e-07 -9.99999992e-01 -4.91449477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.906559995 meters 0.05111517280611658 Centerline is valid? [True, True] Translation: X:584.00, Y:-319.51, Z:-4.91 [[-9.95200705e-01 -9.78547605e-02 4.33347582e-05 5.84004127e+02] [-9.78547604e-02 9.95200706e-01 5.31588242e-06 -3.19507728e+02] [-4.36469662e-05 1.04985755e-06 -9.99999999e-01 -4.91302258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9665599949999 meters 0.05067024877783463 Centerline is valid? [True, True] Translation: X:583.96, Y:-318.83, Z:-5.90 [[-9.99224719e-01 3.93667365e-02 4.70207987e-04 5.83957911e+02] [-3.93667200e-02 -9.99224829e-01 4.42927048e-05 -3.18830684e+02] [ 4.71587155e-04 2.57478193e-05 9.99999888e-01 -5.89808192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.026559995 meters 0.050211960685746376 Centerline is valid? [True, True] Translation: X:583.90, Y:-319.52, Z:-4.91 [[-9.94546168e-01 -1.04293514e-01 8.84150372e-04 5.83901569e+02] [-1.04293471e-01 9.94546561e-01 9.53355783e-05 -3.19517834e+02] [-8.89271594e-04 2.60452320e-06 -9.99999605e-01 -4.91168697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0865599949999 meters 0.05051783965278819 Centerline is valid? [True, True] Translation: X:583.83, Y:-319.45, Z:-4.91 [[-9.84167756e-01 -1.77234806e-01 1.28513050e-03 5.83829891e+02] [-1.77234654e-01 9.84168595e-01 2.31745839e-04 -3.19450896e+02] [-1.30585851e-03 3.07122902e-07 -9.99999147e-01 -4.91094601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.146559995 meters 0.049868615486763364 Centerline is valid? [True, True] Translation: X:583.77, Y:-319.39, Z:-4.91 [[-9.67931209e-01 -2.51214250e-01 7.58608721e-04 5.83768670e+02] [-2.51214175e-01 9.67931506e-01 1.93832119e-04 -3.19385309e+02] [-7.82974672e-04 -2.95710701e-06 -9.99999693e-01 -4.91153972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2065599949999 meters 0.05006194308456821 Centerline is valid? [True, True] Translation: X:583.72, Y:-319.31, Z:-4.91 [[-9.44964305e-01 -3.27173424e-01 1.15531679e-04 5.83723315e+02] [-3.27173422e-01 9.44964312e-01 3.92290432e-05 -3.19310598e+02] [-1.22008014e-04 -7.28849280e-07 -9.99999993e-01 -4.90999738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.266559995 meters 0.04965079644327189 Centerline is valid? [True, True] Translation: X:583.61, Y:-319.27, Z:-4.91 [[-9.18583995e-01 -3.95225803e-01 -9.57958178e-05 5.83612620e+02] [-3.95225802e-01 9.18584000e-01 -3.89389628e-05 -3.19270740e+02] [ 1.03386189e-04 2.09227086e-06 -9.99999995e-01 -4.90984756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3265599949999 meters 0.049974818693446575 Centerline is valid? [True, True] Translation: X:583.54, Y:-319.21, Z:-4.91 [[-8.85787124e-01 -4.64091311e-01 -6.52279789e-04 5.83544919e+02] [-4.64091196e-01 8.85787364e-01 -3.26654903e-04 -3.19211432e+02] [ 7.29378898e-04 1.33706007e-05 -9.99999734e-01 -4.91032887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.386559995 meters 0.049149906535232636 Centerline is valid? [True, True] Translation: X:583.43, Y:-319.18, Z:-4.91 [[-8.48580177e-01 -5.29066727e-01 -2.83503982e-04 5.83426740e+02] [-5.29066701e-01 8.48580225e-01 -1.68140261e-04 -3.19184790e+02] [ 3.29533291e-04 7.31202373e-06 -9.99999946e-01 -4.90982336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4465599949999 meters 0.05004642090837347 Centerline is valid? [True, True] Translation: X:583.28, Y:-319.18, Z:-4.91 [[-8.07214420e-01 -5.90258268e-01 2.39309500e-04 5.83278378e+02] [-5.90258244e-01 8.07214456e-01 1.68026428e-04 -3.19183184e+02] [-2.92353076e-04 -5.62104951e-06 -9.99999957e-01 -4.90866703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.506559995 meters 0.049851064131901934 Centerline is valid? [True, True] Translation: X:583.12, Y:-319.20, Z:-4.91 [[-7.62701596e-01 -6.46750331e-01 5.34130659e-04 5.83121929e+02] [-6.46750185e-01 7.62701783e-01 4.34693785e-04 -3.19196601e+02] [-6.88520755e-04 -1.39074587e-05 -9.99999763e-01 -4.90850996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5665599949999 meters 0.04962361236648436 Centerline is valid? [True, True] Translation: X:582.94, Y:-319.25, Z:-4.91 [[-7.15567789e-01 -6.98543177e-01 4.11070207e-04 5.82944871e+02] [-6.98543070e-01 7.15567907e-01 3.87357410e-04 -3.19253755e+02] [-5.64734524e-04 -9.96975898e-06 -9.99999841e-01 -4.90841123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.626559995 meters 0.049680531948209344 Centerline is valid? [True, True] Translation: X:582.77, Y:-319.32, Z:-4.91 [[-6.64803712e-01 -7.47017881e-01 5.56864161e-04 5.82769893e+02] [-7.47017634e-01 6.64803945e-01 6.06818491e-04 -3.19315775e+02] [-8.23509754e-04 -1.25721622e-05 -9.99999661e-01 -4.90773255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6865599949999 meters 0.048858577922480315 Centerline is valid? [True, True] Translation: X:582.58, Y:-319.43, Z:-4.91 [[-6.10392173e-01 -7.92099167e-01 5.51539619e-04 5.82580752e+02] [-7.92098861e-01 6.10392422e-01 6.96247539e-04 -3.19427420e+02] [-8.88152699e-04 -1.18898556e-05 -9.99999606e-01 -4.90799158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.746559995 meters 0.049672341286117125 Centerline is valid? [True, True] Translation: X:582.39, Y:-319.56, Z:-4.91 [[-5.53214121e-01 -8.33038514e-01 9.84899982e-04 5.82386980e+02] [-8.33037254e-01 5.53214997e-01 1.44894276e-03 -3.19555258e+02] [-1.75188656e-03 -1.88827832e-05 -9.99998465e-01 -4.90699055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8065599949999 meters 0.04951978658709775 Centerline is valid? [True, True] Translation: X:582.22, Y:-319.69, Z:-4.91 [[-4.93015263e-01 -8.70020041e-01 1.03869765e-03 5.82218048e+02] [-8.70018180e-01 4.93016357e-01 1.79937901e-03 -3.19686748e+02] [-2.07759073e-03 -1.65645256e-05 -9.99997842e-01 -4.90637798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.866559995 meters 0.04897672296420116 Centerline is valid? [True, True] Translation: X:582.10, Y:-319.75, Z:-4.90 [[-4.28710876e-01 -9.03440523e-01 1.48508997e-03 5.82097634e+02] [-9.03435271e-01 4.28713448e-01 3.08057180e-03 -3.19746905e+02] [-3.41979144e-03 -2.10080277e-05 -9.99994152e-01 -4.90426540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9265599949999 meters 0.04914220175180286 Centerline is valid? [True, True] Translation: X:581.90, Y:-320.01, Z:-4.91 [[-3.62673579e-01 -9.31915491e-01 1.18009128e-03 5.81900463e+02] [-9.31910715e-01 3.62675499e-01 2.98368011e-03 -3.20010644e+02] [-3.20852791e-03 -1.76377658e-05 -9.99994853e-01 -4.90552576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.986559995 meters 0.048858682550857006 Centerline is valid? [True, True] Translation: X:581.76, Y:-320.18, Z:-4.91 [[-2.92714231e-01 -9.56199690e-01 7.29089629e-04 5.81761478e+02] [-9.56196835e-01 2.92715138e-01 2.33683779e-03 -3.20175087e+02] [-2.44789914e-03 -1.31275206e-05 -9.99997004e-01 -4.90608759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0465599949999 meters 0.04832446707881523 Centerline is valid? [True, True] Translation: X:581.63, Y:-320.38, Z:-4.91 [[-2.20507225e-01 -9.75385297e-01 2.93415086e-04 5.81625978e+02] [-9.75384479e-01 2.20507420e-01 1.26354312e-03 -3.20375669e+02] [-1.29714158e-03 -7.57213468e-06 -9.99999159e-01 -4.90646229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1065599949999 meters 0.04879974869215153 Centerline is valid? [True, True] Translation: X:581.51, Y:-320.56, Z:-4.91 [[-1.46104401e-01 -9.89269168e-01 -1.34453384e-04 5.81506433e+02] [-9.89268795e-01 1.46104463e-01 -8.58800026e-04 -3.20560281e+02] [ 8.69228626e-04 7.53607312e-06 -9.99999622e-01 -4.90764357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.166559995 meters 0.04842243643694903 Centerline is valid? [True, True] Translation: X:581.39, Y:-320.81, Z:-4.91 [[-7.02369182e-02 -9.97530331e-01 -1.15414574e-04 5.81392901e+02] [-9.97529320e-01 7.02370114e-02 -1.42045975e-03 -3.20812169e+02] [ 1.42505806e-03 1.53607067e-05 -9.99998984e-01 -4.90729479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2265599949999 meters 0.04878064541590395 Centerline is valid? [True, True] Translation: X:581.31, Y:-320.99, Z:-4.91 [[ 5.75086193e-03 -9.99983464e-01 -5.22872395e-06 5.81308959e+02] [-9.99983199e-01 -5.75085660e-03 -7.27733564e-04 -3.20991450e+02] [ 7.27691461e-04 9.41373135e-06 -9.99999735e-01 -4.90520277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.286559995 meters 0.04915951527090572 Centerline is valid? [True, True] Translation: X:581.23, Y:-321.19, Z:-4.90 [[ 8.21718637e-02 -9.96618173e-01 -4.89905051e-05 5.81230709e+02] [-9.96617921e-01 -8.21718778e-02 7.08422123e-04 -3.21187935e+02] [-7.10052003e-04 -9.38755085e-06 -9.99999748e-01 -4.90335093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3465599949999 meters 0.0494046979692304 Centerline is valid? [True, True] Translation: X:581.17, Y:-321.44, Z:-4.90 [[ 1.57270926e-01 -9.87555485e-01 -1.37812853e-04 5.81174547e+02] [-9.87555020e-01 -1.57270986e-01 9.58555367e-04 -3.21440629e+02] [-9.68300574e-04 -1.46551157e-05 -9.99999531e-01 -4.90218980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.406559995 meters 0.04936937791736934 Centerline is valid? [True, True] Translation: X:581.14, Y:-321.69, Z:-4.90 [[ 2.29724942e-01 -9.73255592e-01 -6.69185637e-05 5.81138862e+02] [-9.73255545e-01 -2.29724952e-01 3.01493378e-04 -3.21685904e+02] [-3.08802980e-04 -4.13168572e-06 -9.99999952e-01 -4.90217277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4665599949999 meters 0.04839353940186024 Centerline is valid? [True, True] Translation: X:581.13, Y:-321.94, Z:-4.90 [[ 2.98484024e-01 -9.54414592e-01 2.72993823e-04 5.81129580e+02] [-9.54414152e-01 -2.98484149e-01 -9.16438072e-04 -3.21943032e+02] [ 9.56146198e-04 1.29929561e-05 -9.99999543e-01 -4.90308975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.526559995 meters 0.04847582277413287 Centerline is valid? [True, True] Translation: X:581.14, Y:-322.20, Z:-4.90 [[ 3.65393188e-01 -9.30853087e-01 5.91107586e-04 5.81137689e+02] [-9.30851792e-01 -3.65393666e-01 -1.55224894e-03 -3.22204866e+02] [ 1.66090269e-03 1.69476345e-05 -9.99998621e-01 -4.90292732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5865599949999 meters 0.049175303466239884 Centerline is valid? [True, True] Translation: X:581.17, Y:-322.48, Z:-4.90 [[ 4.29338375e-01 -9.03143166e-01 9.90551939e-04 5.81174500e+02] [-9.03140689e-01 -4.29339518e-01 -2.11525076e-03 -3.22483378e+02] [ 2.33565736e-03 1.35505645e-05 -9.99997272e-01 -4.90240111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.646559995 meters 0.04869290594917533 Centerline is valid? [True, True] Translation: X:581.21, Y:-322.71, Z:-4.90 [[ 4.93408673e-01 -8.69797605e-01 9.13490913e-05 5.81207000e+02] [-8.69797589e-01 -4.93408681e-01 -1.63826325e-04 -3.22709223e+02] [ 1.87568180e-04 1.37811001e-06 -9.99999982e-01 -4.90097509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7065599949999 meters 0.04873272817777503 Centerline is valid? [True, True] Translation: X:581.24, Y:-322.92, Z:-4.90 [[ 5.56377771e-01 -8.30928867e-01 -9.96695265e-04 5.81243916e+02] [-8.30927515e-01 -5.56378664e-01 1.49938318e-03 -3.22920310e+02] [-1.80042074e-03 -6.04194978e-06 -9.99998379e-01 -4.89894531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.766559995 meters 0.049265631882564 Centerline is valid? [True, True] Translation: X:581.31, Y:-323.14, Z:-4.90 [[ 6.17276109e-01 -7.86743980e-01 -2.02866179e-03 5.81310881e+02] [-7.86739643e-01 -6.17279443e-01 2.61219991e-03 -3.23144267e+02] [-3.30738377e-03 -1.64199462e-05 -9.99994530e-01 -4.89777511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8265599949999 meters 0.04910235654997862 Centerline is valid? [True, True] Translation: X:581.38, Y:-323.35, Z:-4.90 [[ 6.73753216e-01 -7.38953576e-01 -2.05315246e-03 5.81384574e+02] [-7.38950073e-01 -6.73756345e-01 2.27562990e-03 -3.23351961e+02] [-3.06490935e-03 -1.60358072e-05 -9.99995303e-01 -4.89784097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.886559995 meters 0.04877364062145655 Centerline is valid? [True, True] Translation: X:581.44, Y:-323.52, Z:-4.90 [[ 7.26372992e-01 -6.87298480e-01 -1.75390622e-03 5.81439990e+02] [-6.87296434e-01 -7.26375109e-01 1.67712160e-03 -3.23519653e+02] [-2.42667695e-03 -1.27623407e-05 -9.99997056e-01 -4.89788627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9465599949999 meters 0.0491969077515436 Centerline is valid? [True, True] Translation: X:581.41, Y:-323.60, Z:-4.90 [[ 7.78311812e-01 -6.27877636e-01 -6.30638755e-04 5.81412643e+02] [-6.27877425e-01 -7.78312068e-01 5.14345764e-04 -3.23600406e+02] [-8.13779956e-04 -4.35754615e-06 -9.99999669e-01 -4.89890082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.006559995 meters 0.04864710370482006 Centerline is valid? [True, True] Translation: X:581.39, Y:-323.68, Z:-4.90 [[ 8.25857764e-01 -5.63878481e-01 1.09026691e-04 5.81392126e+02] [-5.63878476e-01 -8.25857772e-01 -7.65557162e-05 -3.23682925e+02] [ 1.33208661e-04 1.74632854e-06 -9.99999991e-01 -4.89936857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0665599949999 meters 0.04917098291793931 Centerline is valid? [True, True] Translation: X:581.38, Y:-323.77, Z:-4.90 [[ 8.68173371e-01 -4.96261009e-01 9.20040687e-05 5.81377298e+02] [-4.96261006e-01 -8.68173376e-01 -5.45556385e-05 -3.23766815e+02] [ 1.06949319e-04 1.70572087e-06 -9.99999994e-01 -4.89847442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.126559995 meters 0.04900629001502967 Centerline is valid? [True, True] Translation: X:581.37, Y:-323.85, Z:-4.90 [[ 9.05520383e-01 -4.24301094e-01 -1.19068202e-03 5.81368691e+02] [-4.24300704e-01 -9.05521166e-01 5.74901013e-04 -3.23853711e+02] [-1.32211890e-03 -1.53773677e-05 -9.99999126e-01 -4.89671186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1865599949999 meters 0.048992839194700405 Centerline is valid? [True, True] Translation: X:581.37, Y:-323.94, Z:-4.90 [[ 9.36408800e-01 -3.50908535e-01 -1.32618791e-03 5.81367073e+02] [-3.50908155e-01 -9.36409739e-01 5.16879200e-04 -3.23940833e+02] [-1.42323260e-03 -1.86400781e-05 -9.99998987e-01 -4.89632056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.246559995 meters 0.04898709193807114 Centerline is valid? [True, True] Translation: X:581.37, Y:-324.03, Z:-4.90 [[ 9.61076557e-01 -2.76279463e-01 -1.22893124e-03 5.81370606e+02] [-2.76279214e-01 -9.61077342e-01 3.71220322e-04 -3.24033540e+02] [-1.28365852e-03 -1.72429931e-05 -9.99999176e-01 -4.89542883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3065599949999 meters 0.04979345176214384 Centerline is valid? [True, True] Translation: X:581.38, Y:-324.13, Z:-4.89 [[ 9.79600581e-01 -2.00949984e-01 -1.34339082e-03 5.81379337e+02] [-2.00949771e-01 -9.79601502e-01 2.93553733e-04 -3.24129092e+02] [-1.37497728e-03 -1.76113304e-05 -9.99999055e-01 -4.89415513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.366559995 meters 0.04833207687819668 Centerline is valid? [True, True] Translation: X:581.40, Y:-324.21, Z:-4.89 [[ 9.92197491e-01 -1.24676064e-01 1.36304318e-04 5.81399411e+02] [-1.24676063e-01 -9.92197500e-01 -1.95569222e-05 -3.24212362e+02] [ 1.37679084e-04 2.41044346e-06 -9.99999991e-01 -4.89464676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4265599949999 meters 0.04895622230572436 Centerline is valid? [True, True] Translation: X:581.42, Y:-324.29, Z:-4.89 [[ 9.98884208e-01 -4.72124068e-02 1.15210313e-03 5.81424770e+02] [-4.72123586e-02 -9.98884872e-01 -6.89752990e-05 -3.24292416e+02] [ 1.15407488e-03 1.45048309e-05 -9.99999334e-01 -4.89476852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.486559995 meters 0.04895925047733918 Centerline is valid? [True, True] Translation: X:581.46, Y:-324.37, Z:-4.89 [[ 9.99520330e-01 3.09652253e-02 -5.15444555e-04 5.81455258e+02] [ 3.09652239e-02 -9.99520462e-01 -1.05479539e-05 -3.24371933e+02] [-5.15524000e-04 -5.41796173e-06 -9.99999867e-01 -4.89241648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5465599949999 meters 0.048829974907837366 Centerline is valid? [True, True] Translation: X:581.49, Y:-324.45, Z:-4.89 [[ 9.93964479e-01 1.09663701e-01 -2.91329802e-03 5.81488344e+02] [ 1.09663336e-01 -9.93968748e-01 -2.85430656e-04 -3.24451829e+02] [-2.92702857e-03 -3.57740462e-05 -9.99995716e-01 -4.89016585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6065599949999 meters 0.048436711035924694 Centerline is valid? [True, True] Translation: X:581.53, Y:-324.53, Z:-4.89 [[ 9.82194501e-01 1.87821400e-01 -4.13319329e-03 5.81526891e+02] [ 1.87819971e-01 -9.82203196e-01 -7.34681218e-04 -3.24530765e+02] [-4.19762452e-03 -5.46963934e-05 -9.99991188e-01 -4.88936852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.666559995 meters 0.04895775416149276 Centerline is valid? [True, True] Translation: X:581.57, Y:-324.60, Z:-4.89 [[ 9.64305247e-01 2.64762984e-01 -3.99410338e-03 5.81571043e+02] [ 2.64760956e-01 -9.64313517e-01 -1.03788914e-03 -3.24604657e+02] [-4.12636250e-03 -5.66406884e-05 -9.99991485e-01 -4.88915545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7265599949999 meters 0.049023241752321 Centerline is valid? [True, True] Translation: X:581.62, Y:-324.67, Z:-4.89 [[ 9.40820013e-01 3.38892620e-01 -3.08132334e-03 5.81622528e+02] [ 3.38890952e-01 -9.40825058e-01 -1.06432087e-03 -3.24674831e+02] [-3.25967670e-03 -4.28982213e-05 -9.99994686e-01 -4.88989722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.786559995 meters 0.04964072229369005 Centerline is valid? [True, True] Translation: X:581.68, Y:-324.74, Z:-4.89 [[ 9.12082152e-01 4.10004896e-01 -1.46042782e-03 5.81678507e+02] [ 4.10004403e-01 -9.12083321e-01 -6.36669405e-04 -3.24742562e+02] [-1.59306943e-03 -1.80870359e-05 -9.99998731e-01 -4.89096692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8465599949999 meters 0.048840407543665226 Centerline is valid? [True, True] Translation: X:581.74, Y:-324.80, Z:-4.89 [[ 8.77492537e-01 4.79589745e-01 -7.23486621e-04 5.81740218e+02] [ 4.79589590e-01 -8.77492836e-01 -3.85749046e-04 -3.24802786e+02] [-8.19855613e-04 -8.48474262e-06 -9.99999664e-01 -4.89158773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.906559995 meters 0.048905467320984254 Centerline is valid? [True, True] Translation: X:581.81, Y:-324.86, Z:-4.89 [[ 8.37148931e-01 5.46974200e-01 -9.44594516e-04 5.81806383e+02] [ 5.46973868e-01 -8.37149463e-01 -6.02708641e-04 -3.24859292e+02] [-1.12043287e-03 -1.21116219e-05 -9.99999372e-01 -4.89128344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9665599949999 meters 0.04886758406944657 Centerline is valid? [True, True] Translation: X:581.88, Y:-324.91, Z:-4.89 [[ 7.90528159e-01 6.12424564e-01 -1.17643222e-03 5.81877968e+02] [ 6.12423922e-01 -7.90529034e-01 -8.87081772e-04 -3.24913759e+02] [-1.47327449e-03 -1.92121132e-05 -9.99998915e-01 -4.89069966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.026559995 meters 0.04965296381963837 Centerline is valid? [True, True] Translation: X:581.95, Y:-324.96, Z:-4.89 [[ 7.38932104e-01 6.73778156e-01 -1.53006741e-03 5.81953295e+02] [ 6.73776797e-01 -7.38933688e-01 -1.35361835e-03 -3.24961753e+02] [-2.04265683e-03 -3.06918675e-05 -9.99997913e-01 -4.89002225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0865599949999 meters 0.04837715913843985 Centerline is valid? [True, True] Translation: X:582.03, Y:-325.00, Z:-4.89 [[ 6.83334583e-01 7.30103467e-01 -1.66618411e-03 5.82031611e+02] [ 7.30101431e-01 -6.83336613e-01 -1.72434408e-03 -3.25000003e+02] [-2.39751420e-03 -3.81794643e-05 -9.99997125e-01 -4.88963696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.146559995 meters 0.048901698409362045 Centerline is valid? [True, True] Translation: X:582.12, Y:-325.04, Z:-4.89 [[ 6.23237191e-01 7.82028581e-01 -2.58880320e-03 5.82115206e+02] [ 7.82022295e-01 -6.23242564e-01 -3.13634523e-03 -3.25035711e+02] [-4.06616396e-03 -6.98148312e-05 -9.99991731e-01 -4.88833047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2065599949999 meters 0.04933376793904635 Centerline is valid? [True, True] Translation: X:582.20, Y:-325.06, Z:-4.89 [[ 5.60214584e-01 8.28344342e-01 -2.29594323e-03 5.82201083e+02] [ 8.28337879e-01 -5.60219285e-01 -3.27280540e-03 -3.25063826e+02] [-3.99724151e-03 -6.83434240e-05 -9.99992009e-01 -4.88750468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.266559995 meters 0.04864319628387332 Centerline is valid? [True, True] Translation: X:582.29, Y:-325.09, Z:-4.89 [[ 4.95081533e-01 8.68845253e-01 -1.48397740e-03 5.82291349e+02] [ 8.68841619e-01 -4.95083755e-01 -2.51340115e-03 -3.25087253e+02] [-2.91844976e-03 -4.50028344e-05 -9.99995740e-01 -4.88765220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3265599949999 meters 0.04885204287887963 Centerline is valid? [True, True] Translation: X:582.38, Y:-325.11, Z:-4.89 [[ 4.27694451e-01 9.03923163e-01 -6.10113393e-04 5.82384208e+02] [ 9.03922302e-01 -4.27694886e-01 -1.24777937e-03 -3.25105345e+02] [-1.38883905e-03 -1.78267896e-05 -9.99999035e-01 -4.88827780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.386559995 meters 0.04833871353640543 Centerline is valid? [True, True] Translation: X:582.46, Y:-325.11, Z:-4.89 [[ 3.56398781e-01 9.34333875e-01 -3.43634641e-04 5.82461286e+02] [ 9.34333470e-01 -3.56398947e-01 -8.69863926e-04 -3.25107782e+02] [-9.35214357e-04 -1.10509031e-05 -9.99999563e-01 -4.88915983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4465599949999 meters 0.04859114024679972 Centerline is valid? [True, True] Translation: X:582.54, Y:-325.11, Z:-4.89 [[ 2.82284553e-01 9.59330631e-01 -4.14948587e-04 5.82540220e+02] [ 9.59329680e-01 -2.82284858e-01 -1.35030530e-03 -3.25105568e+02] [-1.41252294e-03 -1.69021661e-05 -9.99999002e-01 -4.88731126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.506559995 meters 0.04923916056041172 Centerline is valid? [True, True] Translation: X:582.62, Y:-325.10, Z:-4.89 [[ 2.05921311e-01 9.78568338e-01 -6.48852237e-04 5.82622128e+02] [ 9.78564040e-01 -2.05922329e-01 -2.90066539e-03 -3.25096689e+02] [-2.97211247e-03 -3.76346481e-05 -9.99995583e-01 -4.88518028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5665599949999 meters 0.04887140731888966 Centerline is valid? [True, True] Translation: X:582.70, Y:-325.08, Z:-4.88 [[ 1.28009251e-01 9.91772701e-01 -7.35492291e-04 5.82701577e+02] [ 9.91759330e-01 -1.28011345e-01 -5.15052451e-03 -3.25081032e+02] [-5.20230096e-03 -7.01165562e-05 -9.99986465e-01 -4.88366474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.626559995 meters 0.0486407489344831 Centerline is valid? [True, True] Translation: X:582.79, Y:-325.06, Z:-4.88 [[ 4.99112522e-02 9.98753609e-01 -3.09772205e-04 5.82785104e+02] [ 9.98741731e-01 -4.99121695e-02 -4.87134592e-03 -3.25060204e+02] [-4.88073572e-03 -6.62474535e-05 -9.99988087e-01 -4.88478113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6865599949999 meters 0.048623610531164346 Centerline is valid? [True, True] Translation: X:582.87, Y:-325.03, Z:-4.89 [[-2.80294796e-02 9.99607095e-01 6.80419482e-05 5.82868046e+02] [ 9.99596544e-01 2.80294964e-02 -4.59315184e-03 -3.25033028e+02] [-4.59325435e-03 -6.07291597e-05 -9.99989449e-01 -4.88555762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.746559995 meters 0.04883211732599422 Centerline is valid? [True, True] Translation: X:582.95, Y:-325.00, Z:-4.89 [[-1.05667150e-01 9.94401492e-01 3.55649265e-04 5.82950753e+02] [ 9.94394208e-01 1.05667737e-01 -3.80626006e-03 -3.24998691e+02] [-3.82253134e-03 -4.85410824e-05 -9.99992693e-01 -4.88635491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8065599949999 meters 0.04912236581866612 Centerline is valid? [True, True] Translation: X:583.03, Y:-324.96, Z:-4.89 [[-1.82645657e-01 9.83178660e-01 5.35507546e-04 5.83033458e+02] [ 9.83173799e-01 1.82646438e-01 -3.09181868e-03 -3.24958688e+02] [-3.13761870e-03 -3.82102671e-05 -9.99995077e-01 -4.88696912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.866559995 meters 0.04951212913728543 Centerline is valid? [True, True] Translation: X:583.11, Y:-324.91, Z:-4.89 [[-2.58815805e-01 9.65926450e-01 6.87882699e-04 5.83105032e+02] [ 9.65922689e-01 2.58816717e-01 -2.69553905e-03 -3.24913685e+02] [-2.78172800e-03 -3.32066015e-05 -9.99996130e-01 -4.88777162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9265599949999 meters 0.049685270751918816 Centerline is valid? [True, True] Translation: X:583.17, Y:-324.86, Z:-4.89 [[-3.33672126e-01 9.42688662e-01 9.99622648e-04 5.83174295e+02] [ 9.42684090e-01 3.33673622e-01 -2.93606301e-03 -3.24862926e+02] [-3.10134102e-03 -3.73540225e-05 -9.99995190e-01 -4.88720594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.986559995 meters 0.048871962181753346 Centerline is valid? [True, True] Translation: X:583.24, Y:-324.81, Z:-4.89 [[-4.06542118e-01 9.13630391e-01 1.73647426e-03 5.83236442e+02] [ 9.13621483e-01 4.06545823e-01 -4.03474692e-03 -3.24807221e+02] [-4.39222376e-03 -5.38143654e-05 -9.99990353e-01 -4.88803418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0465599949999 meters 0.04926683132652896 Centerline is valid? [True, True] Translation: X:583.30, Y:-324.75, Z:-4.89 [[-4.76967378e-01 8.78917451e-01 2.49714090e-03 5.83296815e+02] [ 8.78904661e-01 4.76973910e-01 -4.74197616e-03 -3.24745441e+02] [-5.35887666e-03 -6.70191622e-05 -9.99985639e-01 -4.88814532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1065599949999 meters 0.04959456795611846 Centerline is valid? [True, True] Translation: X:583.35, Y:-324.68, Z:-4.89 [[-5.43674241e-01 8.39290998e-01 2.98983976e-03 5.83352241e+02] [ 8.39277633e-01 5.43682458e-01 -4.73698823e-03 -3.24679153e+02] [-5.60123501e-03 -6.60728492e-05 -9.99984311e-01 -4.88791775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.166559995 meters 0.04983064988085445 Centerline is valid? [True, True] Translation: X:583.40, Y:-324.61, Z:-4.89 [[-6.05053364e-01 7.96178278e-01 3.25220302e-03 5.83400533e+02] [ 7.96166365e-01 6.05062102e-01 -4.35568938e-03 -3.24610587e+02] [-5.43569006e-03 -4.61298548e-05 -9.99985225e-01 -4.88782276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2265599949999 meters 0.04939073151960451 Centerline is valid? [True, True] Translation: X:583.44, Y:-324.54, Z:-4.89 [[-6.61936451e-01 7.49555052e-01 2.71277704e-03 5.83444011e+02] [ 7.49548662e-01 6.61942010e-01 -3.09491981e-03 -3.24536698e+02] [-4.11551386e-03 -1.52818323e-05 -9.99991531e-01 -4.88971778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.286559995 meters 0.04981350109887929 Centerline is valid? [True, True] Translation: X:583.48, Y:-324.46, Z:-4.89 [[-7.16039201e-01 6.98056134e-01 2.34444599e-03 5.83480127e+02] [ 6.98052391e-01 7.16043039e-01 -2.28585581e-03 -3.24462386e+02] [-3.27437990e-03 -2.16239590e-07 -9.99994639e-01 -4.88967218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3465599949999 meters 0.04967775807139797 Centerline is valid? [True, True] Translation: X:584.08, Y:-324.22, Z:-5.92 [[-6.68419310e-01 -7.43781477e-01 2.17718201e-03 5.84077433e+02] [ 7.43777528e-01 -6.68422856e-01 -2.42389032e-03 -3.24224321e+02] [ 3.25812294e-03 -8.36042389e-07 9.99994692e-01 -5.92104806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.406559995 meters 0.05041277992045213 Centerline is valid? [True, True] Translation: X:584.04, Y:-324.18, Z:-5.92 [[-6.68988027e-01 -7.43267682e-01 2.85880569e-03 5.84037435e+02] [ 7.43260833e-01 -6.68994135e-01 -3.19083960e-03 -3.24182117e+02] [ 4.28417219e-03 -9.79519216e-06 9.99990823e-01 -5.92113217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4665599949999 meters 0.05013416930031358 Centerline is valid? [True, True] Translation: X:584.00, Y:-324.14, Z:-5.92 [[-6.69517402e-01 -7.42785947e-01 3.93518248e-03 5.83998811e+02] [ 7.42772967e-01 -6.69528967e-01 -4.39119521e-03 -3.24140088e+02] [ 5.89643675e-03 -1.70344410e-05 9.99982616e-01 -5.92388350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.526559995 meters 0.050117865507652806 Centerline is valid? [True, True] Translation: X:583.96, Y:-324.10, Z:-5.92 [[-6.69727836e-01 -7.42592722e-01 4.54688959e-03 5.83960291e+02] [ 7.42575401e-01 -6.69743271e-01 -5.07210022e-03 -3.24100454e+02] [ 6.81175341e-03 -2.05183454e-05 9.99976800e-01 -5.92163034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5865599949999 meters 0.05054762808965757 Centerline is valid? [True, True] Translation: X:583.92, Y:-324.06, Z:-5.92 [[-6.69808664e-01 -7.42516827e-01 5.01155340e-03 5.83920946e+02] [ 7.42495793e-01 -6.69827412e-01 -5.58885807e-03 -3.24058730e+02] [ 7.50669700e-03 -2.24082386e-05 9.99971824e-01 -5.92334454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.646559995 meters 0.05020495819329516 Centerline is valid? [True, True] Translation: X:583.88, Y:-324.02, Z:-5.92 [[-6.69752984e-01 -7.42565094e-01 5.29346125e-03 5.83881360e+02] [ 7.42541644e-01 -6.69773902e-01 -5.90146104e-03 -3.24017088e+02] [ 7.92764117e-03 -2.19057296e-05 9.99968576e-01 -5.92264564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7065599949999 meters 0.050539733966056245 Centerline is valid? [True, True] Translation: X:583.84, Y:-323.98, Z:-5.92 [[-6.69662424e-01 -7.42651730e-01 4.54378419e-03 5.83843180e+02] [ 7.42634464e-01 -6.69677838e-01 -5.06410270e-03 -3.23976175e+02] [ 6.80373621e-03 -1.68685505e-05 9.99976854e-01 -5.92197921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.766559995 meters 0.0510330807978264 Centerline is valid? [True, True] Translation: X:583.80, Y:-323.93, Z:-5.92 [[-6.69580033e-01 -7.42726578e-01 4.45083815e-03 5.83804605e+02] [ 7.42710020e-01 -6.69594826e-01 -4.95948369e-03 -3.23933549e+02] [ 6.66379854e-03 -1.50891628e-05 9.99977797e-01 -5.92160627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8265599949999 meters 0.05028469191759411 Centerline is valid? [True, True] Translation: X:583.77, Y:-323.89, Z:-5.92 [[-6.68594301e-01 -7.43615703e-01 4.16502356e-03 5.83765130e+02] [ 7.43601229e-01 -6.68607274e-01 -4.63959810e-03 -3.23892011e+02] [ 6.23484305e-03 -4.89221722e-06 9.99980563e-01 -5.92106979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.886559995 meters 0.05079047306431624 Centerline is valid? [True, True] Translation: X:583.73, Y:-323.85, Z:-5.92 [[-6.67100962e-01 -7.44956368e-01 4.03930928e-03 5.83725987e+02] [ 7.44942788e-01 -6.67113191e-01 -4.49811964e-03 -3.23850971e+02] [ 6.04557937e-03 8.35437536e-06 9.99981725e-01 -5.92098982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9465599949999 meters 0.05017203762251324 Centerline is valid? [True, True] Translation: X:583.69, Y:-323.81, Z:-5.92 [[-6.66535702e-01 -7.45460654e-01 4.30959611e-03 5.83686778e+02] [ 7.45445215e-01 -6.66549633e-01 -4.79761966e-03 -3.23809784e+02] [ 6.44899639e-03 1.47830159e-05 9.99979205e-01 -5.92111815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.006559995 meters 0.05084287007435156 Centerline is valid? [True, True] Translation: X:583.65, Y:-323.77, Z:-5.92 [[-6.66948982e-01 -7.45088426e-01 4.72148356e-03 5.83649384e+02] [ 7.45069899e-01 -6.66965694e-01 -5.25434891e-03 -3.23769024e+02] [ 7.06402212e-03 1.34526217e-05 9.99975049e-01 -5.92026933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0665599949999 meters 0.05098537098278478 Centerline is valid? [True, True] Translation: X:583.61, Y:-323.73, Z:-5.92 [[-6.69168776e-01 -7.43094883e-01 4.81076723e-03 5.83613219e+02] [ 7.43075610e-01 -6.69186069e-01 -5.35197399e-03 -3.23727170e+02] [ 7.19632290e-03 -6.61009113e-06 9.99974106e-01 -5.92333254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.126559995 meters 0.05097529695473539 Centerline is valid? [True, True] Translation: X:583.58, Y:-323.68, Z:-5.92 [[-6.71582440e-01 -7.40910527e-01 5.34954490e-03 5.83576514e+02] [ 7.40886639e-01 -6.71603745e-01 -5.94962526e-03 -3.23683817e+02] [ 8.00091437e-03 -3.22575071e-05 9.99967992e-01 -5.92139628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1865599949999 meters 0.05061816161342863 Centerline is valid? [True, True] Translation: X:583.54, Y:-323.64, Z:-5.92 [[-6.72882558e-01 -7.39726616e-01 5.79620813e-03 5.83538629e+02] [ 7.39698545e-01 -6.72907520e-01 -6.44454606e-03 -3.23640968e+02] [ 8.66751429e-03 -4.89759220e-05 9.99962435e-01 -5.92218643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.246559995 meters 0.051178562419206534 Centerline is valid? [True, True] Translation: X:583.50, Y:-323.60, Z:-5.92 [[-6.72788218e-01 -7.39810190e-01 6.07426723e-03 5.83500239e+02] [ 7.39779384e-01 -6.72815637e-01 -6.75145804e-03 -3.23601153e+02] [ 9.08165943e-03 -4.86837563e-05 9.99958760e-01 -5.92041728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3065599949999 meters 0.05034106132524781 Centerline is valid? [True, True] Translation: X:583.46, Y:-323.56, Z:-5.92 [[-6.71475525e-01 -7.41002546e-01 5.98713289e-03 5.83463085e+02] [ 7.40972683e-01 -6.71502216e-01 -6.65255354e-03 -3.23558502e+02] [ 8.94993211e-03 -3.07249546e-05 9.99959948e-01 -5.92303805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.366559995 meters 0.05074333430407037 Centerline is valid? [True, True] Translation: X:583.42, Y:-323.52, Z:-5.92 [[-6.69101678e-01 -7.43145956e-01 6.08549145e-03 5.83423253e+02] [ 7.43115211e-01 -6.69129351e-01 -6.75976593e-03 -3.23517346e+02] [ 9.09547366e-03 -7.49458148e-07 9.99958635e-01 -5.92148572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4265599949999 meters 0.05091869620206481 Centerline is valid? [True, True] Translation: X:583.38, Y:-323.48, Z:-5.92 [[-6.66005872e-01 -7.45917555e-01 6.57111853e-03 5.83383760e+02] [ 7.45881863e-01 -6.66038287e-01 -7.29710354e-03 -3.23476352e+02] [ 9.81965416e-03 4.13643223e-05 9.99951785e-01 -5.92267727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.486559995 meters 0.05088789725690505 Centerline is valid? [True, True] Translation: X:583.35, Y:-323.44, Z:-5.92 [[-6.63320920e-01 -7.48311610e-01 5.92375418e-03 5.83345062e+02] [ 7.48282716e-01 -6.63347367e-01 -6.57635873e-03 -3.23436312e+02] [ 8.85067233e-03 7.04065436e-05 9.99960830e-01 -5.92257951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5465599949999 meters 0.05052157511154083 Centerline is valid? [True, True] Translation: X:583.31, Y:-323.39, Z:-5.92 [[-6.61547236e-01 -7.49883599e-01 5.46281855e-03 5.83306127e+02] [ 7.49859092e-01 -6.61569785e-01 -6.06316294e-03 -3.23393027e+02] [ 8.16070214e-03 8.52754698e-05 9.99966697e-01 -5.92098397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6065599949999 meters 0.05046774789600198 Centerline is valid? [True, True] Translation: X:583.27, Y:-323.35, Z:-5.92 [[-6.59115967e-01 -7.52023079e-01 5.23752757e-03 5.83267417e+02] [ 7.52000630e-01 -6.59136767e-01 -5.81158278e-03 -3.23349304e+02] [ 7.82269137e-03 1.08117035e-04 9.99969396e-01 -5.92002033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.666559995 meters 0.05031923129364562 Centerline is valid? [True, True] Translation: X:583.23, Y:-323.30, Z:-5.92 [[-6.57298330e-01 -7.53615921e-01 4.68502493e-03 5.83230855e+02] [ 7.53598009e-01 -6.57315016e-01 -5.19721948e-03 -3.23303213e+02] [ 6.99624458e-03 1.14501779e-04 9.99975519e-01 -5.91825587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7265599949999 meters 0.05031434679799836 Centerline is valid? [True, True] Translation: X:583.19, Y:-323.26, Z:-5.92 [[-6.55851734e-01 -7.54877263e-01 4.33833071e-03 5.83190587e+02] [ 7.54861934e-01 -6.55866072e-01 -4.81206913e-03 -3.23262731e+02] [ 6.47788549e-03 1.18836826e-04 9.99979011e-01 -5.91969053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.786559995 meters 0.050987152839643037 Centerline is valid? [True, True] Translation: X:583.15, Y:-323.22, Z:-5.92 [[-6.54259761e-01 -7.56256108e-01 4.56776448e-03 5.83150793e+02] [ 7.56239160e-01 -6.54275690e-01 -5.06502049e-03 -3.23223465e+02] [ 6.81902994e-03 1.40483278e-04 9.99976740e-01 -5.92129484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8465599949999 meters 0.04982368120017582 Centerline is valid? [True, True] Translation: X:583.12, Y:-323.17, Z:-5.92 [[-6.52108941e-01 -7.58108356e-01 5.06448290e-03 5.83118798e+02] [ 7.58087588e-01 -6.52128583e-01 -5.61424492e-03 -3.23174921e+02] [ 7.55890004e-03 1.78222315e-04 9.99971415e-01 -5.91929629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.906559995 meters 0.05083743679450799 Centerline is valid? [True, True] Translation: X:583.08, Y:-323.13, Z:-5.92 [[-6.50845066e-01 -7.59169983e-01 7.85095794e-03 5.83080776e+02] [ 7.59120172e-01 -6.50892348e-01 -8.70149556e-03 -3.23132523e+02] [ 1.17160427e-02 2.96495097e-04 9.99931321e-01 -5.92292627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9665599949999 meters 0.05048505844652585 Centerline is valid? [True, True] Translation: X:583.05, Y:-323.09, Z:-5.92 [[-6.51462680e-01 -7.58632957e-01 8.50958794e-03 5.83047278e+02] [ 7.58574426e-01 -6.51518180e-01 -9.42877904e-03 -3.23085738e+02] [ 1.26971338e-02 3.12658123e-04 9.99919339e-01 -5.92226039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.026559995 meters 0.04988955475199962 Centerline is valid? [True, True] Translation: X:583.01, Y:-323.04, Z:-5.92 [[-6.55689838e-01 -7.54982351e-01 8.51386295e-03 5.83014651e+02] [ 7.54923476e-01 -6.55745065e-01 -9.43161806e-03 -3.23037904e+02] [ 1.27036288e-02 2.43098901e-04 9.99919276e-01 -5.92135383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0865599949999 meters 0.04944444476438123 Centerline is valid? [True, True] Translation: X:582.98, Y:-322.99, Z:-5.92 [[-6.61962969e-01 -7.49496056e-01 7.79032780e-03 5.82982637e+02] [ 7.49446406e-01 -6.62008796e-01 -8.62779079e-03 -3.22989783e+02] [ 1.16237607e-02 1.27155155e-04 9.99932434e-01 -5.92090195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.146559995 meters 0.049739361364964624 Centerline is valid? [True, True] Translation: X:582.94, Y:-322.95, Z:-5.92 [[-6.64267777e-01 -7.47469994e-01 6.07689412e-03 5.82944163e+02] [ 7.47439716e-01 -6.64295569e-01 -6.72820461e-03 -3.22948540e+02] [ 9.06598490e-03 7.27824949e-05 9.99958900e-01 -5.92193266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2065599949999 meters 0.04943127127589204 Centerline is valid? [True, True] Translation: X:582.91, Y:-322.90, Z:-5.92 [[-6.65398165e-01 -7.46473330e-01 4.78020304e-03 5.82906813e+02] [ 7.46454578e-01 -6.65415333e-01 -5.29124102e-03 -3.22903880e+02] [ 7.13059070e-03 4.74223754e-05 9.99974576e-01 -5.91814680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.266559995 meters 0.04910166933721268 Centerline is valid? [True, True] Translation: X:582.87, Y:-322.86, Z:-5.92 [[-6.65265131e-01 -7.46586607e-01 5.54467631e-03 5.82867603e+02] [ 7.46561395e-01 -6.65288234e-01 -6.13582760e-03 -3.22860977e+02] [ 8.26973462e-03 5.74891294e-05 9.99965804e-01 -5.91819422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3265599949999 meters 0.0493773598565596 Centerline is valid? [True, True] Translation: X:582.83, Y:-322.82, Z:-5.92 [[-6.65034162e-01 -7.46785492e-01 6.40252796e-03 5.82828060e+02] [ 7.46751897e-01 -6.65064977e-01 -7.08379058e-03 -3.22819377e+02] [ 9.54816915e-03 7.01371710e-05 9.99954413e-01 -5.92100341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.386559995 meters 0.050018064135060276 Centerline is valid? [True, True] Translation: X:582.79, Y:-322.78, Z:-5.92 [[-6.64944763e-01 -7.46860235e-01 6.94631006e-03 5.82788139e+02] [ 7.46820720e-01 -6.64981039e-01 -7.68306188e-03 -3.22779044e+02] [ 1.03573379e-02 7.88365196e-05 9.99946358e-01 -5.92198663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4465599949999 meters 0.050867851083068086 Centerline is valid? [True, True] Translation: X:582.75, Y:-322.74, Z:-5.92 [[-6.65321815e-01 -7.46525714e-01 6.80006626e-03 5.82748545e+02] [ 7.46487849e-01 -6.65356561e-01 -7.51924502e-03 -3.22737959e+02] [ 1.01377785e-02 7.34490922e-05 9.99948609e-01 -5.92103604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.506559995 meters 0.049727395014641046 Centerline is valid? [True, True] Translation: X:582.71, Y:-322.69, Z:-5.92 [[-6.65895957e-01 -7.46018756e-01 6.21213168e-03 5.82710555e+02] [ 7.45987152e-01 -6.65924930e-01 -6.86712219e-03 -3.22694867e+02] [ 9.25981531e-03 6.13815216e-05 9.99957125e-01 -5.91977654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5665599949999 meters 0.04928195866435815 Centerline is valid? [True, True] Translation: X:582.67, Y:-322.65, Z:-5.92 [[-6.64527982e-01 -7.47253334e-01 3.87497832e-03 5.82671884e+02] [ 7.47241066e-01 -6.64539278e-01 -4.28228202e-03 -3.22652337e+02] [ 5.77502481e-03 4.98467068e-05 9.99983323e-01 -5.91774445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.626559995 meters 0.049917572328188164 Centerline is valid? [True, True] Translation: X:582.63, Y:-322.61, Z:-5.92 [[-6.60638603e-01 -7.50691982e-01 4.26425894e-03 5.82629831e+02] [ 7.50677204e-01 -6.60652359e-01 -4.71124604e-03 -3.22614369e+02] [ 6.35388736e-03 8.86509724e-05 9.99979810e-01 -5.91954797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6865599949999 meters 0.050039864050020366 Centerline is valid? [True, True] Translation: X:582.59, Y:-322.57, Z:-5.92 [[-6.57225903e-01 -7.53677292e-01 4.96507895e-03 5.82592152e+02] [ 7.53657353e-01 -6.57244643e-01 -5.48398916e-03 -3.22571139e+02] [ 7.39642964e-03 1.37748529e-04 9.99972637e-01 -5.91912686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.746559995 meters 0.04950967122703986 Centerline is valid? [True, True] Translation: X:582.55, Y:-322.53, Z:-5.92 [[-6.52262820e-01 -7.57972011e-01 5.62526692e-03 5.82552775e+02] [ 7.57946585e-01 -6.52287042e-01 -6.21192488e-03 -3.22529469e+02] [ 8.37775391e-03 2.11844212e-04 9.99964884e-01 -5.91898749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8065599949999 meters 0.04949209410956051 Centerline is valid? [True, True] Translation: X:582.51, Y:-322.49, Z:-5.92 [[-6.50715055e-01 -7.59298027e-01 6.03511836e-03 5.82512363e+02] [ 7.59268834e-01 -6.50742994e-01 -6.66281095e-03 -3.22489612e+02] [ 8.98637020e-03 2.46685884e-04 9.99959591e-01 -5.91986356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.866559995 meters 0.05077702006213563 Centerline is valid? [True, True] Translation: X:582.47, Y:-322.45, Z:-5.92 [[-6.47998585e-01 -7.61611693e-01 6.74263664e-03 5.82470699e+02] [ 7.61575400e-01 -6.48033588e-01 -7.44173762e-03 -3.22452045e+02] [ 1.00371694e-02 3.12790748e-04 9.99949577e-01 -5.92202816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9265599949999 meters 0.05039069380049999 Centerline is valid? [True, True] Translation: X:582.43, Y:-322.41, Z:-5.92 [[-6.46235734e-01 -7.63099282e-01 7.67217661e-03 5.82433975e+02] [ 7.63052414e-01 -6.46281161e-01 -8.46603338e-03 -3.22408121e+02] [ 1.14188072e-02 3.83219589e-04 9.99934730e-01 -5.92147607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.986559995 meters 0.04998456878842953 Centerline is valid? [True, True] Translation: X:582.40, Y:-322.36, Z:-5.92 [[-6.46885756e-01 -7.62550075e-01 7.49687237e-03 5.82397970e+02] [ 7.62505310e-01 -6.46929092e-01 -8.27060870e-03 -3.22362142e+02] [ 1.11566981e-02 3.66266028e-04 9.99937695e-01 -5.91940968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0465599949999 meters 0.04923789915472909 Centerline is valid? [True, True] Translation: X:582.36, Y:-322.32, Z:-5.92 [[-6.50725760e-01 -7.59281021e-01 6.95095288e-03 5.82360792e+02] [ 7.59242370e-01 -6.50762819e-01 -7.66657085e-03 -3.22317282e+02] [ 1.03445034e-02 2.88622796e-04 9.99946453e-01 -5.91883525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1065599949999 meters 0.0495137338987811 Centerline is valid? [True, True] Translation: X:582.33, Y:-322.27, Z:-5.92 [[-6.56753491e-01 -7.54082214e-01 5.90477028e-03 5.82327495e+02] [ 7.54054125e-01 -6.56780011e-01 -6.51109067e-03 -3.22268909e+02] [ 8.78803276e-03 1.76334854e-04 9.99961369e-01 -5.91682137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.166559995 meters 0.049457336600535876 Centerline is valid? [True, True] Translation: X:582.29, Y:-322.22, Z:-5.92 [[-6.63391065e-01 -7.48246165e-01 6.32226134e-03 5.82292793e+02] [ 7.48213711e-01 -6.63421182e-01 -6.96972735e-03 -3.22221671e+02] [ 9.40939385e-03 1.06747766e-04 9.99955725e-01 -5.91644949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2265599949999 meters 0.04969815293202962 Centerline is valid? [True, True] Translation: X:582.25, Y:-322.18, Z:-5.92 [[-6.66785683e-01 -7.45223703e-01 6.20370125e-03 5.82251807e+02] [ 7.45192340e-01 -6.66814539e-01 -6.83720124e-03 -3.22181649e+02] [ 9.23196261e-03 6.40027476e-05 9.99957382e-01 -5.92003645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.286559995 meters 0.05046960069634069 Centerline is valid? [True, True] Translation: X:582.22, Y:-322.14, Z:-5.92 [[-6.70180622e-01 -7.42167069e-01 6.78056440e-03 5.82215660e+02] [ 7.42129467e-01 -6.70214921e-01 -7.47085316e-03 -3.22136675e+02] [ 1.00890566e-02 2.52356350e-05 9.99949104e-01 -5.91697301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3465599949999 meters 0.0502096258746068 Centerline is valid? [True, True] Translation: X:582.18, Y:-322.09, Z:-5.92 [[-6.74865731e-01 -7.37885607e-01 9.00423407e-03 5.82177843e+02] [ 7.37818948e-01 -6.74925795e-01 -9.91819834e-03 -3.22092192e+02] [ 1.33956856e-02 -4.99576677e-05 9.99910273e-01 -5.91744487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.406559995 meters 0.05091760072770523 Centerline is valid? [True, True] Translation: X:582.14, Y:-322.05, Z:-5.92 [[-6.84446855e-01 -7.29015177e-01 8.32908279e-03 5.82141286e+02] [ 7.28957510e-01 -6.84497501e-01 -9.17167167e-03 -3.22049297e+02] [ 1.23875242e-02 -2.05974386e-04 9.99923250e-01 -5.91875634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4665599949999 meters 0.05133499230920179 Centerline is valid? [True, True] Translation: X:582.10, Y:-322.01, Z:-5.91 [[-6.88632649e-01 -7.25081284e-01 6.49670329e-03 5.82101250e+02] [ 7.25046039e-01 -6.88663260e-01 -7.15227590e-03 -3.22008929e+02] [ 9.66002226e-03 -2.14881709e-04 9.99953318e-01 -5.91434492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.526559995 meters 0.05165858237212342 Centerline is valid? [True, True] Translation: X:582.06, Y:-321.97, Z:-5.91 [[-6.88602156e-01 -7.25112966e-01 6.18532925e-03 5.82064162e+02] [ 7.25081040e-01 -6.88629905e-01 -6.80734798e-03 -3.21966919e+02] [ 9.19549898e-03 -2.02689529e-04 9.99957700e-01 -5.91456924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5865599949999 meters 0.051066303822097224 Centerline is valid? [True, True] Translation: X:582.02, Y:-321.93, Z:-5.91 [[-6.88031183e-01 -7.25657805e-01 5.81738610e-03 5.82016402e+02] [ 7.25629599e-01 -6.88055752e-01 -6.40065935e-03 -3.21931682e+02] [ 8.64737437e-03 -1.82585680e-04 9.99962594e-01 -5.91034635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.646559995 meters 0.05162788747530587 Centerline is valid? [True, True] Translation: X:581.98, Y:-321.89, Z:-5.91 [[-6.85384548e-01 -7.28159268e-01 5.66582897e-03 5.81979881e+02] [ 7.28132613e-01 -6.85407951e-01 -6.23202797e-03 -3.21888827e+02] [ 8.42131315e-03 -1.45860818e-04 9.99964529e-01 -5.91329045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7065599949999 meters 0.05146378989347773 Centerline is valid? [True, True] Translation: X:581.93, Y:-321.85, Z:-5.91 [[-6.79119177e-01 -7.33998763e-01 6.55436990e-03 5.81932225e+02] [ 7.33963382e-01 -6.79150800e-01 -7.20725172e-03 -3.21854915e+02] [ 9.74151941e-03 -8.39153598e-05 9.99952547e-01 -5.91331422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.766559995 meters 0.051200870956298196 Centerline is valid? [True, True] Translation: X:581.89, Y:-321.82, Z:-5.91 [[-6.73544108e-01 -7.39122408e-01 6.03326615e-03 5.81886799e+02] [ 7.39092649e-01 -6.73571129e-01 -6.63251692e-03 -3.21817956e+02] [ 8.96607577e-03 -8.15003031e-06 9.99959804e-01 -5.91253276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8265599949999 meters 0.05111383311100824 Centerline is valid? [True, True] Translation: X:581.84, Y:-321.78, Z:-5.91 [[-6.70220723e-01 -7.42140866e-01 5.57830424e-03 5.81843287e+02] [ 7.42115547e-01 -6.70243936e-01 -6.13038631e-03 -3.21781104e+02] [ 8.28843479e-03 3.10343601e-05 9.99965650e-01 -5.91366286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.886559995 meters 0.051318273206349456 Centerline is valid? [True, True] Translation: X:581.80, Y:-321.75, Z:-5.91 [[-6.63686338e-01 -7.47990012e-01 5.60238576e-03 5.81796854e+02] [ 7.47964695e-01 -6.63709975e-01 -6.15500358e-03 -3.21746044e+02] [ 8.32224051e-03 1.05394969e-04 9.99965364e-01 -5.91284872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9465599949999 meters 0.052365280840777524 Centerline is valid? [True, True] Translation: X:581.75, Y:-321.71, Z:-5.91 [[-6.60042964e-01 -7.51207579e-01 5.51885867e-03 5.81750812e+02] [ 7.51183139e-01 -6.60066021e-01 -6.06135249e-03 -3.21711806e+02] [ 8.19614502e-03 1.44920511e-04 9.99966401e-01 -5.91393773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.006559995 meters 0.05198207153846434 Centerline is valid? [True, True] Translation: X:581.71, Y:-321.67, Z:-5.91 [[-6.57291479e-01 -7.53615135e-01 5.66917359e-03 5.81710423e+02] [ 7.53589449e-01 -6.57315902e-01 -6.22477777e-03 -3.21670490e+02] [ 8.41752470e-03 1.80736014e-04 9.99964556e-01 -5.91219131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0665599949999 meters 0.051953569975569026 Centerline is valid? [True, True] Translation: X:581.67, Y:-321.63, Z:-5.91 [[-6.55194054e-01 -7.55413947e-01 8.39760871e-03 5.81668684e+02] [ 7.55357757e-01 -6.55247798e-01 -9.21857618e-03 -3.21631767e+02] [ 1.24663556e-02 3.03242582e-04 9.99922246e-01 -5.91497033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.126559995 meters 0.0521856783701187 Centerline is valid? [True, True] Translation: X:581.63, Y:-321.59, Z:-5.92 [[-6.55811466e-01 -7.54868139e-01 9.24196594e-03 5.81628485e+02] [ 7.54800067e-01 -6.55876503e-01 -1.01425398e-02 -3.21590778e+02] [ 1.37178684e-02 3.24242650e-04 9.99905853e-01 -5.91613680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1865599949999 meters 0.0521856783701187 Centerline is valid? [True, True] Translation: X:581.59, Y:-321.55, Z:-5.92 [[-6.55920649e-01 -7.54773252e-01 9.24343307e-03 5.81590296e+02] [ 7.54705189e-01 -6.55985696e-01 -1.01412027e-02 -3.21548854e+02] [ 1.37178684e-02 3.24242647e-04 9.99905853e-01 -5.91613636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.246559995 meters 0.05201180794550443 Centerline is valid? [True, True] Translation: X:581.55, Y:-321.50, Z:-5.91 [[-6.57794872e-01 -7.53142015e-01 9.11104608e-03 5.81553384e+02] [ 7.53075765e-01 -6.57857905e-01 -9.99347305e-03 -3.21503096e+02] [ 1.35202781e-02 2.87652669e-04 9.99908556e-01 -5.91417671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3065599949999 meters 0.05176727083040264 Centerline is valid? [True, True] Translation: X:581.52, Y:-321.46, Z:-5.91 [[-6.62256811e-01 -7.49243170e-01 7.11264532e-03 5.81517840e+02] [ 7.49202592e-01 -6.62294984e-01 -7.79933964e-03 -3.21457344e+02] [ 1.05542713e-02 1.63646517e-04 9.99944289e-01 -5.91229831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.366559995 meters 0.05152465541165192 Centerline is valid? [True, True] Translation: X:581.48, Y:-321.41, Z:-5.91 [[-6.68335513e-01 -7.43833565e-01 6.26652927e-03 5.81482656e+02] [ 7.43801845e-01 -6.68364888e-01 -6.86967540e-03 -3.21411377e+02] [ 9.29822328e-03 6.98080004e-05 9.99956768e-01 -5.91174804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4265599949999 meters 0.05119013480056926 Centerline is valid? [True, True] Translation: X:581.45, Y:-321.37, Z:-5.91 [[-6.74214928e-01 -7.38505619e-01 6.60917856e-03 5.81448085e+02] [ 7.38470097e-01 -6.74247321e-01 -7.24338006e-03 -3.21365534e+02] [ 9.80549781e-03 -2.91423577e-06 9.99951925e-01 -5.91241720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.486559995 meters 0.051499542989964675 Centerline is valid? [True, True] Translation: X:581.41, Y:-321.32, Z:-5.91 [[-6.76600441e-01 -7.36318801e-01 6.81662756e-03 5.81412967e+02] [ 7.36280925e-01 -6.76634778e-01 -7.46841896e-03 -3.21321548e+02] [ 1.01115046e-02 -3.41827191e-05 9.99948877e-01 -5.91307179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5465599949999 meters 0.051717386709239706 Centerline is valid? [True, True] Translation: X:581.38, Y:-321.28, Z:-5.91 [[-6.77639577e-01 -7.35363042e-01 6.76753152e-03 5.81377634e+02] [ 7.35325683e-01 -6.77673368e-01 -7.41262021e-03 -3.21279514e+02] [ 1.00371428e-02 -4.67450867e-05 9.99949626e-01 -5.91413677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6065599949999 meters 0.05146979976290115 Centerline is valid? [True, True] Translation: X:581.34, Y:-321.24, Z:-5.91 [[-6.77545677e-01 -7.35450401e-01 6.67557744e-03 5.81338642e+02] [ 7.35414075e-01 -6.77578561e-01 -7.30973600e-03 -3.21237422e+02] [ 9.89917642e-03 -4.33664174e-05 9.99951001e-01 -5.91197007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.666559995 meters 0.05142395220049627 Centerline is valid? [True, True] Translation: X:581.30, Y:-321.19, Z:-5.91 [[-6.76216310e-01 -7.36674795e-01 6.46132802e-03 5.81299698e+02] [ 7.36640838e-01 -6.76247178e-01 -7.07322232e-03 -3.21194153e+02] [ 9.58011944e-03 -2.33502128e-05 9.99954109e-01 -5.91065043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7265599949999 meters 0.051634274586558504 Centerline is valid? [True, True] Translation: X:581.26, Y:-321.15, Z:-5.91 [[-6.74343871e-01 -7.38389393e-01 6.43804455e-03 5.81262071e+02] [ 7.38355779e-01 -6.74374603e-01 -7.04549071e-03 -3.21152604e+02] [ 9.54396934e-03 2.48391311e-06 9.99954455e-01 -5.91155454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.786559995 meters 0.05182421533178465 Centerline is valid? [True, True] Translation: X:581.22, Y:-321.11, Z:-5.91 [[-6.72936326e-01 -7.39677483e-01 5.82426369e-03 5.81223145e+02] [ 7.39650037e-01 -6.72961530e-01 -6.37195553e-03 -3.21110064e+02] [ 8.63269743e-03 1.99965094e-05 9.99962737e-01 -5.91078929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8465599949999 meters 0.05176773479095374 Centerline is valid? [True, True] Translation: X:581.18, Y:-321.07, Z:-5.91 [[-6.71606885e-01 -7.40888190e-01 5.37420964e-03 5.81184934e+02] [ 7.40864874e-01 -6.71628386e-01 -5.87790650e-03 -3.21066513e+02] [ 7.96434325e-03 3.39206690e-05 9.99968284e-01 -5.90876784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.906559995 meters 0.0513954219347103 Centerline is valid? [True, True] Translation: X:581.15, Y:-321.02, Z:-5.91 [[-6.71290806e-01 -7.41178442e-01 4.81373698e-03 5.81148414e+02] [ 7.41159754e-01 -6.71308064e-01 -5.26334882e-03 -3.21022250e+02] [ 7.13258112e-03 3.45104479e-05 9.99974562e-01 -5.90966836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9665599949999 meters 0.05131848370612844 Centerline is valid? [True, True] Translation: X:581.11, Y:-320.98, Z:-5.91 [[-6.72101732e-01 -7.40444313e-01 4.63477370e-03 5.81111790e+02] [ 7.40426980e-01 -6.72117712e-01 -5.06647638e-03 -3.20980045e+02] [ 6.86655711e-03 2.65239402e-05 9.99976425e-01 -5.91170605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.026559995 meters 0.05073244580483821 Centerline is valid? [True, True] Translation: X:581.08, Y:-320.94, Z:-5.91 [[-6.74012857e-01 -7.38708680e-01 4.01929404e-03 5.81078829e+02] [ 7.38695623e-01 -6.74024841e-01 -4.39207820e-03 -3.20936382e+02] [ 5.95357032e-03 8.71774024e-06 9.99982277e-01 -5.91220667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0865599949999 meters 0.050986675399795234 Centerline is valid? [True, True] Translation: X:581.04, Y:-320.89, Z:-5.91 [[-6.74721900e-01 -7.38064104e-01 3.42593520e-03 5.81042185e+02] [ 7.38054615e-01 -6.74730597e-01 -3.74255958e-03 -3.20891912e+02] [ 5.07383219e-03 3.34038038e-06 9.99987128e-01 -5.91085338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.146559995 meters 0.05025701845818562 Centerline is valid? [True, True] Translation: X:581.01, Y:-320.85, Z:-5.91 [[-6.73157172e-01 -7.39490266e-01 3.68341870e-03 5.81005688e+02] [ 7.39479325e-01 -6.73167250e-01 -4.02262149e-03 -3.20847813e+02] [ 5.45424628e-03 1.59554670e-05 9.99985125e-01 -5.91116780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2065599949999 meters 0.05053161840921885 Centerline is valid? [True, True] Translation: X:580.97, Y:-320.81, Z:-5.91 [[-6.70761800e-01 -7.41658204e-01 4.66008244e-03 5.80967011e+02] [ 7.41640755e-01 -6.70777986e-01 -5.08770496e-03 -3.20805591e+02] [ 6.89921883e-03 4.34689209e-05 9.99976199e-01 -5.91250896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.266559995 meters 0.05061909418867975 Centerline is valid? [True, True] Translation: X:580.93, Y:-320.76, Z:-5.91 [[-6.67490530e-01 -7.44596260e-01 5.72738948e-03 5.80927268e+02] [ 7.44570024e-01 -6.67515095e-01 -6.25118210e-03 -3.20764069e+02] [ 8.47772574e-03 9.18376719e-05 9.99964059e-01 -5.91396690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3265599949999 meters 0.051097508860509955 Centerline is valid? [True, True] Translation: X:580.88, Y:-320.73, Z:-5.92 [[-6.62213342e-01 -7.49276981e-01 7.58255773e-03 5.80884883e+02] [ 7.49231331e-01 -6.62256721e-01 -8.27335735e-03 -3.20726477e+02] [ 1.12206360e-02 2.02362197e-04 9.99937026e-01 -5.91849873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.386559995 meters 0.051139898936363365 Centerline is valid? [True, True] Translation: X:580.85, Y:-320.68, Z:-5.92 [[-6.57712430e-01 -7.53230919e-01 7.58566714e-03 5.80849114e+02] [ 7.53185522e-01 -6.57756117e-01 -8.27412153e-03 -3.20683255e+02] [ 1.12218431e-02 2.71422085e-04 9.99936996e-01 -5.91786915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4465599949999 meters 0.05038543767547694 Centerline is valid? [True, True] Translation: X:580.82, Y:-320.64, Z:-5.91 [[-6.54838971e-01 -7.55734792e-01 7.13072096e-03 5.80815014e+02] [ 7.55694847e-01 -6.54877726e-01 -7.77574459e-03 -3.20636609e+02] [ 1.05461510e-02 2.96788499e-04 9.99944344e-01 -5.91457784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.506559995 meters 0.04964099791094546 Centerline is valid? [True, True] Translation: X:580.78, Y:-320.59, Z:-5.91 [[-6.53507555e-01 -7.56895699e-01 6.06434251e-03 5.80779947e+02] [ 7.56866872e-01 -6.53535637e-01 -6.61133681e-03 -3.20589228e+02] [ 8.96735634e-03 2.69341393e-04 9.99959756e-01 -5.91241635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5665599949999 meters 0.049718220663576285 Centerline is valid? [True, True] Translation: X:580.74, Y:-320.54, Z:-5.91 [[-6.51831398e-01 -7.58348246e-01 4.87505650e-03 5.80743934e+02] [ 7.58329668e-01 -6.51849586e-01 -5.31340127e-03 -3.20543441e+02] [ 7.20721210e-03 2.33458196e-04 9.99974000e-01 -5.91158259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.626559995 meters 0.04984508760349843 Centerline is valid? [True, True] Translation: X:580.71, Y:-320.50, Z:-5.91 [[-6.50986584e-01 -7.59070617e-01 5.31668109e-03 5.80706218e+02] [ 7.59048552e-01 -6.51008241e-01 -5.79368675e-03 -3.20500479e+02] [ 7.85902058e-03 2.64006733e-04 9.99969083e-01 -5.91200234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6865599949999 meters 0.0496396334404941 Centerline is valid? [True, True] Translation: X:580.67, Y:-320.46, Z:-5.91 [[-6.50531123e-01 -7.59455940e-01 5.99443042e-03 5.80668765e+02] [ 7.59427922e-01 -6.50558670e-01 -6.53053123e-03 -3.20456551e+02] [ 8.85937941e-03 3.04024023e-04 9.99960709e-01 -5.91301797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.746559995 meters 0.05019363273987627 Centerline is valid? [True, True] Translation: X:580.63, Y:-320.41, Z:-5.91 [[-6.49640785e-01 -7.60205400e-01 7.38918609e-03 5.80631070e+02] [ 7.60162897e-01 -6.49682691e-01 -8.04801529e-03 -3.20412654e+02] [ 1.09187710e-02 3.88666131e-04 9.99940313e-01 -5.91451818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8065599949999 meters 0.04935072737730085 Centerline is valid? [True, True] Translation: X:580.60, Y:-320.37, Z:-5.91 [[-6.49418715e-01 -7.60389106e-01 7.98374400e-03 5.80596011e+02] [ 7.60339526e-01 -6.49467649e-01 -8.69354428e-03 -3.20365989e+02] [ 1.17956598e-02 4.24605783e-04 9.99930339e-01 -5.91434731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.866559995 meters 0.049592401009210633 Centerline is valid? [True, True] Translation: X:580.56, Y:-320.32, Z:-5.91 [[-6.51182972e-01 -7.58872194e-01 8.58667377e-03 5.80559138e+02] [ 7.58814739e-01 -6.51239441e-01 -9.34779655e-03 -3.20321001e+02] [ 1.26857635e-02 4.28568684e-04 9.99919441e-01 -5.91461756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9265599949999 meters 0.048937071870670215 Centerline is valid? [True, True] Translation: X:580.52, Y:-320.27, Z:-5.91 [[-6.55053615e-01 -7.55538098e-01 8.18189892e-03 5.80524160e+02] [ 7.55485699e-01 -6.55104618e-01 -8.90490076e-03 -3.20274450e+02] [ 1.20879916e-02 3.48120192e-04 9.99926877e-01 -5.91411344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.986559995 meters 0.048897745781263345 Centerline is valid? [True, True] Translation: X:580.49, Y:-320.23, Z:-5.91 [[-6.57728025e-01 -7.53216702e-01 7.64488567e-03 5.80487411e+02] [ 7.53170820e-01 -6.57772390e-01 -8.31856560e-03 -3.20228477e+02] [ 1.12942773e-02 2.86551090e-04 9.99936177e-01 -5.91287075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0465599949999 meters 0.049138658499323654 Centerline is valid? [True, True] Translation: X:580.45, Y:-320.19, Z:-5.91 [[-6.60557451e-01 -7.50746455e-01 6.60405502e-03 5.80447773e+02] [ 7.50712111e-01 -6.60590429e-01 -7.18406309e-03 -3.20187154e+02] [ 9.75598544e-03 2.12257682e-04 9.99952387e-01 -5.91321726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1065599949999 meters 0.049356816921286656 Centerline is valid? [True, True] Translation: X:580.41, Y:-320.14, Z:-5.91 [[-6.62316869e-01 -7.49202434e-01 5.66382124e-03 5.80409297e+02] [ 7.49177129e-01 -6.62341065e-01 -6.15975121e-03 -3.20143329e+02] [ 8.36628199e-03 1.63498204e-04 9.99964989e-01 -5.91154572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.166559995 meters 0.04958990191762303 Centerline is valid? [True, True] Translation: X:580.37, Y:-320.10, Z:-5.91 [[-6.63603351e-01 -7.48061233e-01 5.91479771e-03 5.80369518e+02] [ 7.48033600e-01 -6.63629691e-01 -6.43169243e-03 -3.20101901e+02] [ 8.73653515e-03 1.56374775e-04 9.99961824e-01 -5.91207694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2265599949999 meters 0.049858004450334226 Centerline is valid? [True, True] Translation: X:580.33, Y:-320.06, Z:-5.91 [[-6.64999081e-01 -7.46821117e-01 5.86864783e-03 5.80331277e+02] [ 7.46793879e-01 -6.65024962e-01 -6.37990925e-03 -3.20057837e+02] [ 8.66744825e-03 1.40036488e-04 9.99962427e-01 -5.91147774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.286559995 meters 0.04897954449321955 Centerline is valid? [True, True] Translation: X:580.29, Y:-320.02, Z:-5.91 [[-6.66822355e-01 -7.45191030e-01 6.18668196e-03 5.80291494e+02] [ 7.45160699e-01 -6.66851042e-01 -6.72462471e-03 -3.20016947e+02] [ 9.13672533e-03 1.25942167e-04 9.99958251e-01 -5.91187005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3465599949999 meters 0.049746727045497596 Centerline is valid? [True, True] Translation: X:580.25, Y:-319.97, Z:-5.91 [[-6.69720080e-01 -7.42592189e-01 5.64405157e-03 5.80251984e+02] [ 7.42566865e-01 -6.69743857e-01 -6.13329740e-03 -3.19973686e+02] [ 8.33460761e-03 8.34932553e-05 9.99965263e-01 -5.91123937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.406559995 meters 0.04983202348792228 Centerline is valid? [True, True] Translation: X:580.21, Y:-319.93, Z:-5.91 [[-6.72095691e-01 -7.40444828e-01 5.37017175e-03 5.80212708e+02] [ 7.40421845e-01 -6.72117143e-01 -5.83420174e-03 -3.19932260e+02] [ 7.92928900e-03 5.50506180e-05 9.99968561e-01 -5.91186320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4665599949999 meters 0.049869926764719553 Centerline is valid? [True, True] Translation: X:580.17, Y:-319.89, Z:-5.91 [[-6.74058225e-01 -7.38661768e-01 4.92972469e-03 5.80174083e+02] [ 7.38642362e-01 -6.74076251e-01 -5.35432683e-03 -3.19888120e+02] [ 7.27804686e-03 3.21754486e-05 9.99973514e-01 -5.91075978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.526559995 meters 0.04965995595033318 Centerline is valid? [True, True] Translation: X:580.14, Y:-319.85, Z:-5.91 [[-6.75502265e-01 -7.37341757e-01 4.88089746e-03 5.80135579e+02] [ 7.37322711e-01 -6.75519898e-01 -5.29962042e-03 -3.19847756e+02] [ 7.20477479e-03 1.88909558e-05 9.99974045e-01 -5.91124049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5865599949999 meters 0.049286369781251144 Centerline is valid? [True, True] Translation: X:580.09, Y:-319.81, Z:-5.91 [[-6.76647940e-01 -7.36290832e-01 4.83488310e-03 5.80094874e+02] [ 7.36272128e-01 -6.76665213e-01 -5.24825367e-03 -3.19805821e+02] [ 7.13583827e-03 8.56963418e-06 9.99974540e-01 -5.91094789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.646559995 meters 0.05002769571080332 Centerline is valid? [True, True] Translation: X:580.06, Y:-319.76, Z:-5.91 [[-6.77658474e-01 -7.35360228e-01 4.93232803e-03 5.80056471e+02] [ 7.35340749e-01 -6.77676423e-01 -5.35233271e-03 -3.19764430e+02] [ 7.27841503e-03 -1.11824113e-07 9.99973512e-01 -5.91132314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7065599949999 meters 0.05052356080741957 Centerline is valid? [True, True] Translation: X:580.02, Y:-319.72, Z:-5.91 [[-6.79529579e-01 -7.33631761e-01 4.89804857e-03 5.80016988e+02] [ 7.33612518e-01 -6.79547231e-01 -5.31364956e-03 -3.19722948e+02] [ 7.22671742e-03 -1.75122998e-05 9.99973887e-01 -5.91234140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.766559995 meters 0.050059417510823566 Centerline is valid? [True, True] Translation: X:579.98, Y:-319.68, Z:-5.91 [[-6.81029314e-01 -7.32237378e-01 5.24356557e-03 5.79975630e+02] [ 7.32215296e-01 -6.81049500e-01 -5.68679057e-03 -3.19683222e+02] [ 7.73520832e-03 -3.34521691e-05 9.99970082e-01 -5.90863168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8265599949999 meters 0.05004937147681322 Centerline is valid? [True, True] Translation: X:579.94, Y:-319.64, Z:-5.91 [[-6.81328939e-01 -7.31958982e-01 5.18908326e-03 5.79935062e+02] [ 7.31937352e-01 -6.81348698e-01 -5.62711870e-03 -3.19642466e+02] [ 7.65439519e-03 -3.58349549e-05 9.99970704e-01 -5.90951236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.886559995 meters 0.050630253059470165 Centerline is valid? [True, True] Translation: X:579.89, Y:-319.60, Z:-5.91 [[-6.80265063e-01 -7.32948684e-01 5.06662046e-03 5.79893576e+02] [ 7.32928094e-01 -6.80283930e-01 -5.49392275e-03 -3.19602371e+02] [ 7.47350393e-03 -2.38552275e-05 9.99972073e-01 -5.91096433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9465599949999 meters 0.049938591355964464 Centerline is valid? [True, True] Translation: X:579.85, Y:-319.56, Z:-5.91 [[-6.78531255e-01 -7.34559400e-01 4.22182891e-03 5.79853367e+02] [ 7.34545143e-01 -6.78544389e-01 -4.57648188e-03 -3.19563290e+02] [ 6.22639610e-03 -4.16207037e-06 9.99980616e-01 -5.91166569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.006559995 meters 0.05047279456028187 Centerline is valid? [True, True] Translation: X:579.81, Y:-319.53, Z:-5.91 [[-6.74555250e-01 -7.38211507e-01 4.35714452e-03 5.79809670e+02] [ 7.38196407e-01 -6.74569321e-01 -4.72178714e-03 -3.19525930e+02] [ 6.42487362e-03 3.13221260e-05 9.99979360e-01 -5.91127043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0665599949999 meters 0.050465541285901715 Centerline is valid? [True, True] Translation: X:579.77, Y:-319.49, Z:-5.91 [[-6.70448119e-01 -7.41932460e-01 5.96191473e-03 5.79765664e+02] [ 7.41904349e-01 -6.70474620e-01 -6.45913622e-03 -3.19487443e+02] [ 8.78955534e-03 9.26547354e-05 9.99961367e-01 -5.91245282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.126559995 meters 0.0510395780242738 Centerline is valid? [True, True] Translation: X:579.72, Y:-319.45, Z:-5.91 [[-6.68363960e-01 -7.43802119e-01 6.93003779e-03 5.79724848e+02] [ 7.43764259e-01 -6.68399872e-01 -7.50586922e-03 -3.19446747e+02] [ 1.02149178e-02 1.37661947e-04 9.99947817e-01 -5.91273977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1865599949999 meters 0.05091768042165099 Centerline is valid? [True, True] Translation: X:579.68, Y:-319.41, Z:-5.91 [[-6.67446967e-01 -7.44621497e-01 7.30564974e-03 5.79683087e+02] [ 7.44579495e-01 -6.67486929e-01 -7.91048292e-03 -3.19407496e+02] [ 1.07667413e-02 1.59809162e-04 9.99942024e-01 -5.91344452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.246559995 meters 0.051218064324931034 Centerline is valid? [True, True] Translation: X:579.64, Y:-319.36, Z:-5.91 [[-6.68171067e-01 -7.43977997e-01 6.64571638e-03 5.79643337e+02] [ 7.43943226e-01 -6.68204102e-01 -7.19404209e-03 -3.19364867e+02] [ 9.79290396e-03 1.37184904e-04 9.99952039e-01 -5.91292842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3065599949999 meters 0.05052437829914814 Centerline is valid? [True, True] Translation: X:579.61, Y:-319.32, Z:-5.91 [[-6.70502429e-01 -7.41883190e-01 5.98540811e-03 5.79605147e+02] [ 7.41854918e-01 -6.70529136e-01 -6.47753470e-03 -3.19320812e+02] [ 8.81896464e-03 9.71016872e-05 9.99961107e-01 -5.91089318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.366559995 meters 0.05064852146120502 Centerline is valid? [True, True] Translation: X:579.57, Y:-319.28, Z:-5.91 [[-6.73023730e-01 -7.39599201e-01 5.66392676e-03 5.79566283e+02] [ 7.39573817e-01 -6.73047560e-01 -6.12800728e-03 -3.19277431e+02] [ 8.34436137e-03 6.45976138e-05 9.99965183e-01 -5.91068324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4265599949999 meters 0.05154529985476824 Centerline is valid? [True, True] Translation: X:579.53, Y:-319.24, Z:-5.91 [[-6.74128792e-01 -7.38590284e-01 5.89609831e-03 5.79525830e+02] [ 7.38562753e-01 -6.74154573e-01 -6.37739680e-03 -3.19236947e+02] [ 8.68516495e-03 5.54518033e-05 9.99962282e-01 -5.91349142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.486559995 meters 0.05078038965869489 Centerline is valid? [True, True] Translation: X:579.49, Y:-319.19, Z:-5.91 [[-6.73898363e-01 -7.38792118e-01 6.87037925e-03 5.79486997e+02] [ 7.38754767e-01 -6.73933381e-01 -7.42921788e-03 -3.19194387e+02] [ 1.01188255e-02 6.89876438e-05 9.99948801e-01 -5.91234447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5465599949999 meters 0.05108358124508012 Centerline is valid? [True, True] Translation: X:579.45, Y:-319.15, Z:-5.92 [[-6.73278837e-01 -7.39333020e-01 9.07154541e-03 5.79445830e+02] [ 7.39267985e-01 -6.73339940e-01 -9.80667227e-03 -3.19154554e+02] [ 1.33586305e-02 1.03678195e-04 9.99910764e-01 -5.91767768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6065599949999 meters 0.051696218110889314 Centerline is valid? [True, True] Translation: X:579.41, Y:-319.11, Z:-5.91 [[-6.74257061e-01 -7.38434738e-01 9.56838602e-03 5.79408617e+02] [ 7.38362341e-01 -6.74324943e-01 -1.03404121e-02 -3.19111642e+02] [ 1.40879209e-02 9.28400171e-05 9.99900756e-01 -5.91493326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.666559995 meters 0.051335584189615785 Centerline is valid? [True, True] Translation: X:579.37, Y:-319.07, Z:-5.91 [[-6.78638631e-01 -7.34413053e-01 9.33152112e-03 5.79372444e+02] [ 7.34343852e-01 -6.78702783e-01 -1.00816433e-02 -3.19067454e+02] [ 1.37374198e-02 1.07525485e-05 9.99905637e-01 -5.91350332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7265599949999 meters 0.05145727352763041 Centerline is valid? [True, True] Translation: X:579.34, Y:-319.02, Z:-5.91 [[-6.83585024e-01 -7.29824751e-01 8.20662011e-03 5.79337188e+02] [ 7.29770931e-01 -6.83634280e-01 -8.86339902e-03 -3.19023396e+02] [ 1.20790548e-02 -6.99340261e-05 9.99927043e-01 -5.91231418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.786559995 meters 0.0516475459758855 Centerline is valid? [True, True] Translation: X:579.30, Y:-318.98, Z:-5.91 [[-6.91869815e-01 -7.21987812e-01 7.05394379e-03 5.79300608e+02] [ 7.21947658e-01 -6.91905751e-01 -7.61653487e-03 -3.18977795e+02] [ 1.03797096e-02 -1.77072376e-04 9.99946114e-01 -5.90837735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8465599949999 meters 0.051875509278820175 Centerline is valid? [True, True] Translation: X:579.26, Y:-318.93, Z:-5.91 [[-6.97745458e-01 -7.16319947e-01 6.08353264e-03 5.79263145e+02] [ 7.16289883e-01 -6.97771942e-01 -6.56664644e-03 -3.18934788e+02] [ 8.94873822e-03 -2.24274846e-04 9.99959934e-01 -5.90673056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.906559995 meters 0.05232131092988143 Centerline is valid? [True, True] Translation: X:579.22, Y:-318.89, Z:-5.91 [[-6.98785998e-01 -7.15303733e-01 6.22086235e-03 5.79224172e+02] [ 7.15272271e-01 -6.98813646e-01 -6.71313554e-03 -3.18891654e+02] [ 9.14915441e-03 -2.41434773e-04 9.99958116e-01 -5.90683662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9665599949999 meters 0.052515550123193186 Centerline is valid? [True, True] Translation: X:579.18, Y:-318.86, Z:-5.91 [[-6.96972549e-01 -7.17064919e-01 6.86785313e-03 5.79178397e+02] [ 7.17026682e-01 -6.97006344e-01 -7.40901230e-03 -3.18856956e+02] [ 1.00996800e-02 -2.39444247e-04 9.99948968e-01 -5.90518437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.026559995 meters 0.053031126114303634 Centerline is valid? [True, True] Translation: X:579.13, Y:-318.82, Z:-5.90 [[-6.94483975e-01 -7.19465151e-01 7.86792292e-03 5.79132260e+02] [ 7.19415142e-01 -6.94528503e-01 -8.48600494e-03 -3.18819232e+02] [ 1.15698816e-02 -2.33091562e-04 9.99933040e-01 -5.90439960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0865599949999 meters 0.053244491383741925 Centerline is valid? [True, True] Translation: X:579.09, Y:-318.78, Z:-5.91 [[-6.93465483e-01 -7.20439726e-01 8.49851695e-03 5.79092898e+02] [ 7.20381481e-01 -6.93517517e-01 -9.16379221e-03 -3.18776512e+02] [ 1.24958303e-02 -2.32599368e-04 9.99921897e-01 -5.90662885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.146559995 meters 0.053628938196509615 Centerline is valid? [True, True] Translation: X:579.05, Y:-318.74, Z:-5.91 [[-6.92696825e-01 -7.21189633e-01 7.52482804e-03 5.79050973e+02] [ 7.21144037e-01 -6.92737668e-01 -8.11178028e-03 -3.18737509e+02] [ 1.10628637e-02 -1.92519574e-04 9.99938786e-01 -5.90633220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2065599949999 meters 0.05291322989177096 Centerline is valid? [True, True] Translation: X:579.01, Y:-318.70, Z:-5.90 [[-6.91626802e-01 -7.22223573e-01 6.74378459e-03 5.79005050e+02] [ 7.22187019e-01 -6.91659661e-01 -7.26791889e-03 -3.18700894e+02] [ 9.91346611e-03 -1.56413811e-04 9.99950848e-01 -5.90438359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.266559995 meters 0.053021286461093185 Centerline is valid? [True, True] Translation: X:578.96, Y:-318.67, Z:-5.90 [[-6.91015201e-01 -7.22811434e-01 6.45154498e-03 5.78960782e+02] [ 7.22778027e-01 -6.91045303e-01 -6.95069530e-03 -3.18665848e+02] [ 9.48235189e-03 -1.40001161e-04 9.99955032e-01 -5.90147693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3265599949999 meters 0.05348309267454272 Centerline is valid? [True, True] Translation: X:578.91, Y:-318.63, Z:-5.90 [[-6.89067484e-01 -7.24665553e-01 6.77044677e-03 5.78914398e+02] [ 7.24628866e-01 -6.89100734e-01 -7.29278257e-03 -3.18628128e+02] [ 9.95034816e-03 -1.19158165e-04 9.99950487e-01 -5.90106781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.386559995 meters 0.05410047785135447 Centerline is valid? [True, True] Translation: X:578.87, Y:-318.59, Z:-5.90 [[-6.88135444e-01 -7.25547495e-01 7.10242884e-03 5.78873410e+02] [ 7.25507174e-01 -6.88172087e-01 -7.64977889e-03 -3.18586769e+02] [ 1.04379712e-02 -1.11220912e-04 9.99945517e-01 -5.90157514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4465599949999 meters 0.053882058090151834 Centerline is valid? [True, True] Translation: X:578.83, Y:-318.55, Z:-5.91 [[-6.83500398e-01 -7.29906802e-01 7.95396938e-03 5.78828961e+02] [ 7.29856556e-01 -6.83546676e-01 -8.56442977e-03 -3.18551301e+02] [ 1.16881449e-02 -4.85344527e-05 9.99931690e-01 -5.90711473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.506559995 meters 0.05415764007897688 Centerline is valid? [True, True] Translation: X:578.78, Y:-318.52, Z:-5.90 [[-6.78571624e-01 -7.34484763e-01 8.52546031e-03 5.78783597e+02] [ 7.34427433e-01 -6.78625178e-01 -9.17682113e-03 -3.18516471e+02] [ 1.25258273e-02 3.42015137e-05 9.99921548e-01 -5.90275250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5665599949999 meters 0.05388495401431875 Centerline is valid? [True, True] Translation: X:578.74, Y:-318.48, Z:-5.90 [[-6.76121786e-01 -7.36741868e-01 8.41133102e-03 5.78740284e+02] [ 7.36686260e-01 -6.76174101e-01 -9.05207821e-03 -3.18476723e+02] [ 1.23565692e-02 7.62047002e-05 9.99923652e-01 -5.90255131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.626559995 meters 0.05357676345188328 Centerline is valid? [True, True] Translation: X:578.70, Y:-318.44, Z:-5.90 [[-6.74100790e-01 -7.38593045e-01 8.27274362e-03 5.78696856e+02] [ 7.38539420e-01 -6.74151542e-01 -8.90073579e-03 -3.18438278e+02] [ 1.21511044e-02 1.09754243e-04 9.99926167e-01 -5.90463471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6865599949999 meters 0.0541995186905735 Centerline is valid? [True, True] Translation: X:578.65, Y:-318.40, Z:-5.90 [[-6.71342296e-01 -7.41105203e-01 7.91203603e-03 5.78652313e+02] [ 7.41056351e-01 -6.71388901e-01 -8.51049058e-03 -3.18399998e+02] [ 1.16192220e-02 1.49812273e-04 9.99932483e-01 -5.90449411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.746559995 meters 0.05434701808932689 Centerline is valid? [True, True] Translation: X:578.61, Y:-318.36, Z:-5.90 [[-6.68748850e-01 -7.43444529e-01 8.07511183e-03 5.78609950e+02] [ 7.43393836e-01 -6.68797573e-01 -8.68397299e-03 -3.18362410e+02] [ 1.18566674e-02 1.95591409e-04 9.99929688e-01 -5.90439999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8065599949999 meters 0.054856019684477196 Centerline is valid? [True, True] Translation: X:578.57, Y:-318.32, Z:-5.90 [[-6.67576371e-01 -7.44496806e-01 8.14218434e-03 5.78568444e+02] [ 7.44445373e-01 -6.67625987e-01 -8.75375740e-03 -3.18321851e+02] [ 1.19530783e-02 2.17609857e-04 9.99928536e-01 -5.90426286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.866559995 meters 0.054741334687563065 Centerline is valid? [True, True] Translation: X:578.53, Y:-318.28, Z:-5.90 [[-6.66626365e-01 -7.45336687e-01 9.08363221e-03 5.78528354e+02] [ 7.45272791e-01 -6.66688199e-01 -9.76282118e-03 -3.18283122e+02] [ 1.33325392e-02 2.61629928e-04 9.99911084e-01 -5.90453115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9265599949999 meters 0.05468921891437456 Centerline is valid? [True, True] Translation: X:578.49, Y:-318.24, Z:-5.90 [[-6.66934467e-01 -7.45059960e-01 9.16912994e-03 5.78490504e+02] [ 7.44994867e-01 -6.66997443e-01 -9.85187179e-03 -3.18240343e+02] [ 1.34560214e-02 2.60401880e-04 9.99909430e-01 -5.90307730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.986559995 meters 0.05426340353490562 Centerline is valid? [True, True] Translation: X:578.45, Y:-318.20, Z:-5.90 [[-6.67862212e-01 -7.44231186e-01 8.94467739e-03 5.78452159e+02] [ 7.44169187e-01 -6.67922064e-01 -9.60917910e-03 -3.18196109e+02] [ 1.31257982e-02 2.38745704e-04 9.99913825e-01 -5.90182059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0465599949999 meters 0.05422794623925372 Centerline is valid? [True, True] Translation: X:578.41, Y:-318.15, Z:-5.90 [[-6.70281179e-01 -7.42053737e-01 8.91023726e-03 5.78413934e+02] [ 7.41992048e-01 -6.70340371e-01 -9.57016704e-03 -3.18153810e+02] [ 1.30744700e-02 1.96622348e-04 9.99914506e-01 -5.90223376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1065599949999 meters 0.054518925132823984 Centerline is valid? [True, True] Translation: X:578.38, Y:-318.11, Z:-5.90 [[-6.72388097e-01 -7.40149333e-01 8.55643509e-03 5.78375521e+02] [ 7.40092320e-01 -6.72442519e-01 -9.18787028e-03 -3.18111650e+02] [ 1.25541068e-02 1.54737283e-04 9.99921182e-01 -5.90395263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.166559995 meters 0.054468155300848226 Centerline is valid? [True, True] Translation: X:578.34, Y:-318.07, Z:-5.90 [[-6.76343445e-01 -7.36552032e-01 7.11685034e-03 5.78341404e+02] [ 7.36512415e-01 -6.76380883e-01 -7.63958497e-03 -3.18068118e+02] [ 1.04406533e-02 7.46654176e-05 9.99945492e-01 -5.90350725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2265599949999 meters 0.054996310900398755 Centerline is valid? [True, True] Translation: X:578.31, Y:-318.02, Z:-5.90 [[-6.81289673e-01 -7.31987656e-01 6.20109037e-03 5.78307345e+02] [ 7.31957405e-01 -6.81317893e-01 -6.65472546e-03 -3.18020480e+02] [ 9.09609072e-03 5.13828858e-06 9.99958630e-01 -5.89747310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.286559995 meters 0.05457021096291627 Centerline is valid? [True, True] Translation: X:578.27, Y:-317.97, Z:-5.90 [[-6.87665430e-01 -7.25999048e-01 6.45281374e-03 5.78273061e+02] [ 7.25966033e-01 -6.87695701e-01 -6.92403327e-03 -3.17974395e+02] [ 9.46441383e-03 -7.68947244e-05 9.99955208e-01 -5.89822178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3465599949999 meters 0.054557490397903634 Centerline is valid? [True, True] Translation: X:578.24, Y:-317.93, Z:-5.90 [[-6.92103441e-01 -7.21767549e-01 6.66577415e-03 5.78237388e+02] [ 7.21732137e-01 -6.92135526e-01 -7.15092633e-03 -3.17930756e+02] [ 9.77492567e-03 -1.38277304e-04 9.99952215e-01 -5.89793046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.406559995 meters 0.05514072917883247 Centerline is valid? [True, True] Translation: X:578.20, Y:-317.89, Z:-5.90 [[-6.97031984e-01 -7.17010833e-01 6.47138637e-03 5.78202482e+02] [ 7.16977269e-01 -6.97061996e-01 -6.94043993e-03 -3.17886023e+02] [ 9.48732812e-03 -1.97871692e-04 9.99954975e-01 -5.89862583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4665599949999 meters 0.05502899984495006 Centerline is valid? [True, True] Translation: X:578.16, Y:-317.84, Z:-5.90 [[-6.98724102e-01 -7.15365313e-01 6.09092990e-03 5.78162878e+02] [ 7.15335527e-01 -6.98750618e-01 -6.53126175e-03 -3.17843932e+02] [ 8.92827913e-03 -2.06491449e-04 9.99960121e-01 -5.89802448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.526559995 meters 0.05535153897377708 Centerline is valid? [True, True] Translation: X:578.12, Y:-317.80, Z:-5.90 [[-6.98502348e-01 -7.15588270e-01 5.28171709e-03 5.78120985e+02] [ 7.15565892e-01 -6.98522295e-01 -5.66195859e-03 -3.17804352e+02] [ 7.74102830e-03 -1.75474773e-04 9.99970022e-01 -5.89723992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5865599949999 meters 0.05485505402643239 Centerline is valid? [True, True] Translation: X:578.08, Y:-317.76, Z:-5.90 [[-6.96614433e-01 -7.17431139e-01 4.57079220e-03 5.78079454e+02] [ 7.17414428e-01 -6.96629415e-01 -4.89857442e-03 -3.17764229e+02] [ 6.69853813e-03 -1.33265365e-04 9.99977556e-01 -5.89682467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.646559995 meters 0.0559268916984242 Centerline is valid? [True, True] Translation: X:578.04, Y:-317.73, Z:-5.90 [[-6.94242407e-01 -7.19726452e-01 4.61689956e-03 5.78038364e+02] [ 7.19709459e-01 -6.94257749e-01 -4.94690332e-03 -3.17725001e+02] [ 6.76573548e-03 -1.11523780e-04 9.99977106e-01 -5.89684747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7065599949999 meters 0.055269459421929644 Centerline is valid? [True, True] Translation: X:578.00, Y:-317.68, Z:-5.90 [[-6.91829384e-01 -7.22047970e-01 4.33955011e-03 5.77997063e+02] [ 7.22033012e-01 -6.91842989e-01 -4.64849022e-03 -3.17684591e+02] [ 6.35872025e-03 -8.26636900e-05 9.99979780e-01 -5.89736228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.766559995 meters 0.054420355822894555 Centerline is valid? [True, True] Translation: X:577.95, Y:-317.65, Z:-5.90 [[-6.87526309e-01 -7.26148549e-01 3.98238441e-03 5.77953944e+02] [ 7.26136027e-01 -6.87537841e-01 -4.26463521e-03 -3.17647094e+02] [ 5.83479865e-03 -4.02961055e-05 9.99982977e-01 -5.89777127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8265599949999 meters 0.05415559953205866 Centerline is valid? [True, True] Translation: X:577.91, Y:-317.61, Z:-5.90 [[-6.84532973e-01 -7.28972147e-01 3.77064023e-03 5.77913202e+02] [ 7.28960970e-01 -6.84543358e-01 -4.03662456e-03 -3.17607565e+02] [ 5.52375360e-03 -1.45530512e-05 9.99984744e-01 -5.89955967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.886559995 meters 0.05443860933398292 Centerline is valid? [True, True] Translation: X:577.87, Y:-317.57, Z:-5.90 [[-6.79692308e-01 -7.33484074e-01 4.41365504e-03 5.77870592e+02] [ 7.33468864e-01 -6.79706638e-01 -4.72360035e-03 -3.17568556e+02] [ 6.46467625e-03 2.66837198e-05 9.99979103e-01 -5.89885976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9465599949999 meters 0.054762264660078414 Centerline is valid? [True, True] Translation: X:577.83, Y:-317.53, Z:-5.90 [[-6.73874983e-01 -7.38827659e-01 5.11839721e-03 5.77826462e+02] [ 7.38807367e-01 -6.73894415e-01 -5.47649755e-03 -3.17530434e+02] [ 7.49544716e-03 9.10348696e-05 9.99971905e-01 -5.90169213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.006559995 meters 0.05434771997409033 Centerline is valid? [True, True] Translation: X:577.79, Y:-317.49, Z:-5.90 [[-6.68287840e-01 -7.43886950e-01 4.85474128e-03 5.77786457e+02] [ 7.43868837e-01 -6.68305458e-01 -5.19302005e-03 -3.17489259e+02] [ 7.10746995e-03 1.40858604e-04 9.99974732e-01 -5.90006693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0665599949999 meters 0.054762183989572735 Centerline is valid? [True, True] Translation: X:577.75, Y:-317.45, Z:-5.90 [[-6.65640909e-01 -7.46257898e-01 4.61833587e-03 5.77746745e+02] [ 7.46241573e-01 -6.65656911e-01 -4.93868686e-03 -3.17448719e+02] [ 6.75976127e-03 1.59002208e-04 9.99977140e-01 -5.90048344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.126559995 meters 0.054502918977186635 Centerline is valid? [True, True] Translation: X:577.71, Y:-317.41, Z:-5.90 [[-6.63127376e-01 -7.48490810e-01 4.85710891e-03 5.77709487e+02] [ 7.48472823e-01 -6.63145136e-01 -5.19252282e-03 -3.17405315e+02] [ 7.10752376e-03 1.92109987e-04 9.99974723e-01 -5.90092114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1865599949999 meters 0.05458155037521989 Centerline is valid? [True, True] Translation: X:577.67, Y:-317.36, Z:-5.90 [[-6.63414876e-01 -7.48227283e-01 6.05282482e-03 5.77672084e+02] [ 7.48199357e-01 -6.63442445e-01 -6.46880227e-03 -3.17362743e+02] [ 8.85583524e-03 2.37219978e-04 9.99960758e-01 -5.90238189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.246559995 meters 0.053387941912691216 Centerline is valid? [True, True] Translation: X:577.64, Y:-317.31, Z:-5.90 [[-6.64886941e-01 -7.46916011e-01 6.46751113e-03 5.77644696e+02] [ 7.46884083e-01 -6.64918354e-01 -6.91010908e-03 -3.17309403e+02] [ 9.46163796e-03 2.36039826e-04 9.99955210e-01 -5.89795257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3065599949999 meters 0.054211919967192324 Centerline is valid? [True, True] Translation: X:577.60, Y:-317.27, Z:-5.90 [[-6.66175788e-01 -7.45766496e-01 6.49254597e-03 5.77601052e+02] [ 7.45734282e-01 -6.66207389e-01 -6.93514097e-03 -3.17271341e+02] [ 9.49737787e-03 2.21691112e-04 9.99954874e-01 -5.90126874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.366559995 meters 0.05397602251357436 Centerline is valid? [True, True] Translation: X:577.57, Y:-317.22, Z:-5.90 [[-6.71634442e-01 -7.40860798e-01 5.69694971e-03 5.77569394e+02] [ 7.40835827e-01 -6.71658589e-01 -6.08414238e-03 -3.17222259e+02] [ 8.33390779e-03 1.34184880e-04 9.99965263e-01 -5.90026497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4265599949999 meters 0.05332518030526192 Centerline is valid? [True, True] Translation: X:577.54, Y:-317.17, Z:-5.90 [[-6.79623806e-01 -7.33546296e-01 4.61671564e-03 5.77539670e+02] [ 7.33529736e-01 -6.79639486e-01 -4.92903332e-03 -3.17171188e+02] [ 6.75337638e-03 3.66098193e-05 9.99977195e-01 -5.89944642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.486559995 meters 0.0534410666346552 Centerline is valid? [True, True] Translation: X:577.51, Y:-317.12, Z:-5.90 [[-6.89095597e-01 -7.24659075e-01 4.05989458e-03 5.77513197e+02] [ 7.24646121e-01 -6.89107556e-01 -4.33309052e-03 -3.17120503e+02] [ 5.93771740e-03 -4.39267380e-05 9.99982371e-01 -5.89943635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5465599949999 meters 0.05399683326281963 Centerline is valid? [True, True] Translation: X:577.48, Y:-317.07, Z:-5.90 [[-6.93937431e-01 -7.20024092e-01 4.01857173e-03 5.77478001e+02] [ 7.20011330e-01 -6.93949062e-01 -4.28769784e-03 -3.17074840e+02] [ 5.87592983e-03 -8.19768480e-05 9.99982733e-01 -5.89829730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6065599949999 meters 0.053806650629470945 Centerline is valid? [True, True] Translation: X:577.44, Y:-317.03, Z:-5.90 [[-6.96973061e-01 -7.17079583e-01 5.04222813e-03 5.77443185e+02] [ 7.17059426e-01 -6.96991287e-01 -5.37830835e-03 -3.17028369e+02] [ 7.37106418e-03 -1.32958820e-04 9.99972825e-01 -5.89825374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.666559995 meters 0.053388009598432914 Centerline is valid? [True, True] Translation: X:577.40, Y:-316.99, Z:-5.90 [[-6.96349774e-01 -7.17679688e-01 5.73216360e-03 5.77400584e+02] [ 7.17653671e-01 -6.96373352e-01 -6.11253364e-03 -3.16989175e+02] [ 8.37856721e-03 -1.42753168e-04 9.99964889e-01 -5.89580930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7265599949999 meters 0.05371382827351855 Centerline is valid? [True, True] Translation: X:577.36, Y:-316.95, Z:-5.90 [[-6.93040811e-01 -7.20874308e-01 5.88782863e-03 5.77362088e+02] [ 7.20846977e-01 -6.93065813e-01 -6.27816171e-03 -3.16945034e+02] [ 8.60641821e-03 -1.06798811e-04 9.99962958e-01 -5.89667381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.786559995 meters 0.05279780929377884 Centerline is valid? [True, True] Translation: X:577.32, Y:-316.90, Z:-5.90 [[-6.89508656e-01 -7.24255559e-01 5.63008924e-03 5.77324924e+02] [ 7.24230693e-01 -6.89531639e-01 -6.00187500e-03 -3.16901024e+02] [ 8.22901600e-03 -6.08613387e-05 9.99966139e-01 -5.89967053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8465599949999 meters 0.05329492263826479 Centerline is valid? [True, True] Translation: X:577.28, Y:-316.86, Z:-5.90 [[-6.86312191e-01 -7.27291420e-01 4.77152106e-03 5.77283832e+02] [ 7.27273640e-01 -6.86328777e-01 -5.08547628e-03 -3.16859118e+02] [ 6.97345548e-03 -2.00228766e-05 9.99975685e-01 -5.89787437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.906559995 meters 0.05315603749751405 Centerline is valid? [True, True] Translation: X:577.24, Y:-316.82, Z:-5.90 [[-6.83433223e-01 -7.30001573e-01 4.09069932e-03 5.77244607e+02] [ 7.29988561e-01 -6.83445465e-01 -4.35853272e-03 -3.16819227e+02] [ 5.97750564e-03 7.39765247e-06 9.99982135e-01 -5.89822632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9665599949999 meters 0.05219448272746085 Centerline is valid? [True, True] Translation: X:577.20, Y:-316.78, Z:-5.90 [[-6.77253150e-01 -7.35745118e-01 2.70045048e-03 5.77204557e+02] [ 7.35739497e-01 -6.77258532e-01 -2.87634531e-03 -3.16779455e+02] [ 3.94516015e-03 3.88141559e-05 9.99992217e-01 -5.89651457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.026559995 meters 0.05250960650410133 Centerline is valid? [True, True] Translation: X:577.16, Y:-316.74, Z:-5.90 [[-6.70283075e-01 -7.42098204e-01 3.29457599e-03 5.77159553e+02] [ 7.42089918e-01 -6.70291165e-01 -3.50821110e-03 -3.16742890e+02] [ 4.81176234e-03 9.33770986e-05 9.99988419e-01 -5.89952150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0865599949999 meters 0.052902536164459564 Centerline is valid? [True, True] Translation: X:577.12, Y:-316.70, Z:-5.90 [[-6.64751111e-01 -7.47049470e-01 4.80101471e-03 5.77120605e+02] [ 7.47032008e-01 -6.64768422e-01 -5.11125692e-03 -3.16700243e+02] [ 7.00992474e-03 1.88797936e-04 9.99975412e-01 -5.90046423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.146559995 meters 0.05284221211704657 Centerline is valid? [True, True] Translation: X:577.08, Y:-316.66, Z:-5.90 [[-6.62692936e-01 -7.48871832e-01 5.38996177e-03 5.77083010e+02] [ 7.48849896e-01 -6.62714814e-01 -5.73670325e-03 -3.16655973e+02] [ 7.86806298e-03 2.34599590e-04 9.99969019e-01 -5.90048235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2065599949999 meters 0.05304057469496564 Centerline is valid? [True, True] Translation: X:577.04, Y:-316.62, Z:-5.90 [[-6.61826565e-01 -7.49636912e-01 5.48617308e-03 5.77043139e+02] [ 7.49614217e-01 -6.61849257e-01 -5.83843986e-03 -3.16615140e+02] [ 8.00772960e-03 2.48478740e-04 9.99967907e-01 -5.90140781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.266559995 meters 0.05214108065884378 Centerline is valid? [True, True] Translation: X:577.01, Y:-316.57, Z:-5.90 [[-6.62635520e-01 -7.48921615e-01 5.53007302e-03 5.77007347e+02] [ 7.48898537e-01 -6.62658551e-01 -5.88437970e-03 -3.16567971e+02] [ 8.07148932e-03 2.42264595e-04 9.99967396e-01 -5.90029923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3265599949999 meters 0.05265933522041904 Centerline is valid? [True, True] Translation: X:576.97, Y:-316.52, Z:-5.90 [[-6.65285793e-01 -7.46560125e-01 6.54168644e-03 5.76973822e+02] [ 7.46527734e-01 -6.65317906e-01 -6.95887961e-03 -3.16520393e+02] [ 9.54752315e-03 2.53906618e-04 9.99954389e-01 -5.90051679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.386559995 meters 0.0523086818835607 Centerline is valid? [True, True] Translation: X:576.94, Y:-316.48, Z:-5.90 [[-6.67104099e-01 -7.44937693e-01 6.32094876e-03 5.76937008e+02] [ 7.44907397e-01 -6.67134007e-01 -6.72215020e-03 -3.16476869e+02] [ 9.22450294e-03 2.24147538e-04 9.99957428e-01 -5.90064293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4465599949999 meters 0.05176061414510532 Centerline is valid? [True, True] Translation: X:576.90, Y:-316.43, Z:-5.90 [[-6.68992519e-01 -7.43244451e-01 6.05771514e-03 5.76902881e+02] [ 7.43216572e-01 -6.69019916e-01 -6.44039217e-03 -3.16429947e+02] [ 8.83951782e-03 1.93620108e-04 9.99960912e-01 -5.90038189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.506559995 meters 0.05163109857509119 Centerline is valid? [True, True] Translation: X:576.87, Y:-316.38, Z:-5.90 [[-6.71566802e-01 -7.40917282e-01 6.29379038e-03 5.76869824e+02] [ 7.40887103e-01 -6.71596271e-01 -6.68950064e-03 -3.16384241e+02] [ 9.18325278e-03 1.70541572e-04 9.99957819e-01 -5.90085578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5665599949999 meters 0.05144637765722567 Centerline is valid? [True, True] Translation: X:576.84, Y:-316.33, Z:-5.90 [[-6.75088652e-01 -7.37711992e-01 6.02723745e-03 5.76838465e+02] [ 7.37684198e-01 -6.75115547e-01 -6.40494578e-03 -3.16334227e+02] [ 8.79408702e-03 1.22291608e-04 9.99961324e-01 -5.89955280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.626559995 meters 0.051405460928722196 Centerline is valid? [True, True] Translation: X:576.80, Y:-316.29, Z:-5.90 [[-6.77419482e-01 -7.35576930e-01 5.42455034e-03 5.76803372e+02] [ 7.35554357e-01 -6.77441195e-01 -5.76320357e-03 -3.16285570e+02] [ 7.91409345e-03 8.59452618e-05 9.99968679e-01 -5.89790380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6865599949999 meters 0.05126921805289878 Centerline is valid? [True, True] Translation: X:576.77, Y:-316.24, Z:-5.90 [[-6.80309815e-01 -7.32904158e-01 5.48193318e-03 5.76769317e+02] [ 7.32881022e-01 -6.80331899e-01 -5.82367049e-03 -3.16238634e+02] [ 7.99772632e-03 5.57045993e-05 9.99968016e-01 -5.89861531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.746559995 meters 0.0508646898884382 Centerline is valid? [True, True] Translation: X:576.73, Y:-316.19, Z:-5.90 [[-6.81657783e-01 -7.31645585e-01 6.11597144e-03 5.76734031e+02] [ 7.31616754e-01 -6.81685218e-01 -6.49536812e-03 -3.16194140e+02] [ 8.92147473e-03 4.69289391e-05 9.99960202e-01 -5.90036129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8065599949999 meters 0.05071139307784385 Centerline is valid? [True, True] Translation: X:576.70, Y:-316.15, Z:-5.90 [[-6.81963607e-01 -7.31358148e-01 6.39517057e-03 5.76700141e+02] [ 7.31326631e-01 -6.81993591e-01 -6.78980173e-03 -3.16148497e+02] [ 9.32724215e-03 4.65608681e-05 9.99956499e-01 -5.90111781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.866559995 meters 0.051161802863163 Centerline is valid? [True, True] Translation: X:576.66, Y:-316.11, Z:-5.90 [[-6.80712093e-01 -7.32528742e-01 5.71743898e-03 5.76663064e+02] [ 7.32503609e-01 -6.80736101e-01 -6.06823870e-03 -3.16107946e+02] [ 8.33722638e-03 5.73212214e-05 9.99965243e-01 -5.90298523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9265599949999 meters 0.05057388207916228 Centerline is valid? [True, True] Translation: X:576.63, Y:-316.06, Z:-5.90 [[-6.79462346e-01 -7.33689386e-01 5.55024403e-03 5.76626627e+02] [ 7.33665754e-01 -6.79485011e-01 -5.88915277e-03 -3.16063220e+02] [ 8.09211651e-03 7.05664111e-05 9.99967256e-01 -5.89922341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.986559995 meters 0.050318928146808314 Centerline is valid? [True, True] Translation: X:576.59, Y:-316.02, Z:-5.90 [[-6.76760399e-01 -7.36179913e-01 5.87349264e-03 5.76587210e+02] [ 7.36153554e-01 -6.76785878e-01 -6.23066947e-03 -3.16019470e+02] [ 8.56199058e-03 1.07122120e-04 9.99963340e-01 -5.89786015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0465599949999 meters 0.05077414602361685 Centerline is valid? [True, True] Translation: X:576.55, Y:-315.98, Z:-5.90 [[-6.74663292e-01 -7.38104882e-01 5.53408744e-03 5.76546107e+02] [ 7.38081554e-01 -6.74685978e-01 -5.86950156e-03 -3.15979805e+02] [ 8.06607895e-03 1.24670614e-04 9.99967461e-01 -5.89754181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1065599949999 meters 0.05100275484100153 Centerline is valid? [True, True] Translation: X:576.51, Y:-315.94, Z:-5.90 [[-6.74908146e-01 -7.37881042e-01 5.52844085e-03 5.76505843e+02] [ 7.37857766e-01 -6.74930777e-01 -5.86203669e-03 -3.15937955e+02] [ 8.05680061e-03 1.22866703e-04 9.99967536e-01 -5.89639119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.166559995 meters 0.05062327516992762 Centerline is valid? [True, True] Translation: X:576.47, Y:-315.90, Z:-5.90 [[-6.77696016e-01 -7.35323885e-01 5.18604407e-03 5.76466113e+02] [ 7.35303339e-01 -6.77715853e-01 -5.49750234e-03 -3.15896441e+02] [ 7.55710905e-03 8.76800865e-05 9.99971441e-01 -5.89637395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2265599949999 meters 0.050941318977392895 Centerline is valid? [True, True] Translation: X:576.43, Y:-315.85, Z:-5.90 [[-6.79977937e-01 -7.33218907e-01 4.47661029e-03 5.76426949e+02] [ 7.33203560e-01 -6.79992670e-01 -4.74421803e-03 -3.15853329e+02] [ 6.52261254e-03 5.63030174e-05 9.99978726e-01 -5.89606141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.286559995 meters 0.051000135295522685 Centerline is valid? [True, True] Translation: X:576.39, Y:-315.81, Z:-5.90 [[-6.82479600e-01 -7.30890677e-01 4.51819247e-03 5.76387840e+02] [ 7.30875001e-01 -6.82494554e-01 -4.78707095e-03 -3.15811805e+02] [ 6.58246729e-03 3.51556608e-05 9.99978335e-01 -5.89656573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3465599949999 meters 0.05121645043490604 Centerline is valid? [True, True] Translation: X:576.35, Y:-315.77, Z:-5.90 [[-6.86038330e-01 -7.27543000e-01 5.70898388e-03 5.76348325e+02] [ 7.27517871e-01 -6.86062084e-01 -6.04688307e-03 -3.15771613e+02] [ 8.31608483e-03 4.99423565e-06 9.99965421e-01 -5.89929030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.406559995 meters 0.05043882764966251 Centerline is valid? [True, True] Translation: X:576.31, Y:-315.73, Z:-5.90 [[-6.85985787e-01 -7.27589785e-01 6.05018953e-03 5.76308198e+02] [ 7.27561581e-01 -6.86012467e-01 -6.40634293e-03 -3.15730315e+02] [ 8.81169512e-03 7.22526163e-06 9.99961176e-01 -5.89799282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4665599949999 meters 0.05058258715759314 Centerline is valid? [True, True] Translation: X:576.27, Y:-315.69, Z:-5.90 [[-6.84604597e-01 -7.28888704e-01 6.14841455e-03 5.76266839e+02] [ 7.28859645e-01 -6.84632205e-01 -6.50860318e-03 -3.15689468e+02] [ 8.95344995e-03 2.55115835e-05 9.99959917e-01 -5.89774107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.526559995 meters 0.0508418247578354 Centerline is valid? [True, True] Translation: X:576.22, Y:-315.65, Z:-5.90 [[-6.80461979e-01 -7.32749970e-01 6.99834816e-03 5.76223457e+02] [ 7.32712544e-01 -6.80497960e-01 -7.40634056e-03 -3.15650440e+02] [ 1.01893575e-02 8.80443247e-05 9.99948083e-01 -5.89810822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5865599949999 meters 0.05086155625226563 Centerline is valid? [True, True] Translation: X:576.18, Y:-315.61, Z:-5.90 [[-6.77834091e-01 -7.35176853e-01 7.47930990e-03 5.76181837e+02] [ 7.35134277e-01 -6.77875341e-01 -7.91308857e-03 -3.15610549e+02] [ 1.08875593e-02 1.34535876e-04 9.99940720e-01 -5.89850709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.646559995 meters 0.051003947690421984 Centerline is valid? [True, True] Translation: X:576.14, Y:-315.57, Z:-5.90 [[-6.75149174e-01 -7.37648080e-01 6.99297299e-03 5.76140406e+02] [ 7.37611014e-01 -6.75185369e-01 -7.39657717e-03 -3.15569735e+02] [ 1.01776240e-02 1.64300927e-04 9.99948193e-01 -5.89721091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7065599949999 meters 0.051258165051078525 Centerline is valid? [True, True] Translation: X:576.10, Y:-315.53, Z:-5.90 [[-6.73654749e-01 -7.39021562e-01 6.03404487e-03 5.76100278e+02] [ 7.38994033e-01 -6.73681754e-01 -6.38072733e-03 -3.15529111e+02] [ 8.78052101e-03 1.60715885e-04 9.99961438e-01 -5.89555792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.766559995 meters 0.05144465210154665 Centerline is valid? [True, True] Translation: X:576.06, Y:-315.49, Z:-5.90 [[-6.73349812e-01 -7.39306473e-01 5.09600267e-03 5.76057856e+02] [ 7.39286857e-01 -6.73369081e-01 -5.38729426e-03 -3.15490801e+02] [ 7.41435215e-03 1.39874222e-04 9.99972504e-01 -5.89637060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8265599949999 meters 0.05126006970762181 Centerline is valid? [True, True] Translation: X:576.02, Y:-315.44, Z:-5.89 [[-6.75049919e-01 -7.37755689e-01 4.91435491e-03 5.76022561e+02] [ 7.37737415e-01 -6.75067796e-01 -5.19397918e-03 -3.15443719e+02] [ 7.14941043e-03 1.19308266e-04 9.99974436e-01 -5.89328399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.886559995 meters 0.05110664613076661 Centerline is valid? [True, True] Translation: X:575.98, Y:-315.40, Z:-5.89 [[-6.76791875e-01 -7.36156876e-01 5.08051123e-03 5.75981614e+02] [ 7.36137311e-01 -6.76810935e-01 -5.36821973e-03 -3.15403044e+02] [ 7.39039742e-03 1.06786375e-04 9.99972685e-01 -5.89457878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9465599949999 meters 0.051916383627752846 Centerline is valid? [True, True] Translation: X:575.94, Y:-315.36, Z:-5.89 [[-6.79673562e-01 -7.33490874e-01 5.91499396e-03 5.75944227e+02] [ 7.33464264e-01 -6.79699294e-01 -6.24853012e-03 -3.15357564e+02] [ 8.60365703e-03 9.14759611e-05 9.99962984e-01 -5.89335176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.006559995 meters 0.05105167060785558 Centerline is valid? [True, True] Translation: X:575.91, Y:-315.31, Z:-5.90 [[-6.82888672e-01 -7.30488413e-01 7.05267079e-03 5.75905494e+02] [ 7.30450435e-01 -6.82925087e-01 -7.44901700e-03 -3.15314984e+02] [ 1.02578664e-02 6.47771204e-05 9.99947385e-01 -5.89544214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0665599949999 meters 0.051364724117382125 Centerline is valid? [True, True] Translation: X:575.87, Y:-315.27, Z:-5.90 [[-6.84937822e-01 -7.28558750e-01 7.89481918e-03 5.75867989e+02] [ 7.28511062e-01 -6.84983319e-01 -8.33585406e-03 -3.15273181e+02] [ 1.14809789e-02 4.19213773e-05 9.99934091e-01 -5.89766895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.126559995 meters 0.05156006284573991 Centerline is valid? [True, True] Translation: X:575.83, Y:-315.23, Z:-5.90 [[-6.86656342e-01 -7.26931384e-01 8.59252260e-03 5.75830687e+02] [ 7.26874802e-01 -6.86710101e-01 -9.06969875e-03 -3.15230400e+02] [ 1.24936207e-02 1.79220006e-05 9.99921952e-01 -5.89827972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1865599949999 meters 0.05170666629185984 Centerline is valid? [True, True] Translation: X:575.80, Y:-315.19, Z:-5.90 [[-6.88537265e-01 -7.25154052e-01 8.24838055e-03 5.75795026e+02] [ 7.25101820e-01 -6.88586669e-01 -8.70343941e-03 -3.15188540e+02] [ 1.19910592e-02 -1.17266208e-05 9.99928105e-01 -5.89998564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.246559995 meters 0.052080319964600885 Centerline is valid? [True, True] Translation: X:575.76, Y:-315.15, Z:-5.90 [[-6.89476242e-01 -7.24280878e-01 6.30239483e-03 5.75756267e+02] [ 7.24250365e-01 -6.89505046e-01 -6.64832585e-03 -3.15145319e+02] [ 9.16078833e-03 -1.93509751e-05 9.99958039e-01 -5.89547137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3065599949999 meters 0.05170103564023741 Centerline is valid? [True, True] Translation: X:575.72, Y:-315.10, Z:-5.89 [[-6.89200515e-01 -7.24548420e-01 5.67771711e-03 5.75717737e+02] [ 7.24523680e-01 -6.89223902e-01 -5.98753506e-03 -3.15103577e+02] [ 8.25147741e-03 -1.29717591e-05 9.99965956e-01 -5.89432752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.366559995 meters 0.05094532118614405 Centerline is valid? [True, True] Translation: X:575.68, Y:-315.06, Z:-5.90 [[-6.86843510e-01 -7.26785347e-01 5.39003569e-03 5.75679346e+02] [ 7.26763133e-01 -6.86864658e-01 -5.68233918e-03 -3.15062972e+02] [ 7.83206588e-03 1.44014378e-05 9.99969329e-01 -5.89534810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4265599949999 meters 0.050898508486943446 Centerline is valid? [True, True] Translation: X:575.64, Y:-315.02, Z:-5.89 [[-6.81753829e-01 -7.31560839e-01 5.51857967e-03 5.75638074e+02] [ 7.31537720e-01 -6.81776161e-01 -5.81650711e-03 -3.15021938e+02] [ 8.01756488e-03 7.16231924e-05 9.99967856e-01 -5.89475587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.486559995 meters 0.0514382990129242 Centerline is valid? [True, True] Translation: X:575.60, Y:-314.98, Z:-5.90 [[-6.76873278e-01 -7.36074491e-01 6.07532131e-03 5.75597207e+02] [ 7.36046666e-01 -6.76900528e-01 -6.40155366e-03 -3.14981360e+02] [ 8.82440856e-03 1.38679388e-04 9.99961055e-01 -5.89543480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5465599949999 meters 0.05121980928589972 Centerline is valid? [True, True] Translation: X:575.56, Y:-314.94, Z:-5.89 [[-6.74525097e-01 -7.38219401e-01 6.92885122e-03 5.75557691e+02] [ 7.38183341e-01 -6.74560656e-01 -7.29905610e-03 -3.14938196e+02] [ 1.00622353e-02 1.91366015e-04 9.99949356e-01 -5.89471476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6065599949999 meters 0.05107216444911063 Centerline is valid? [True, True] Translation: X:575.52, Y:-314.90, Z:-5.89 [[-6.71789836e-01 -7.40712303e-01 6.61063972e-03 5.75518097e+02] [ 7.40679612e-01 -6.71822325e-01 -6.96247991e-03 -3.14897042e+02] [ 9.59836988e-03 2.19042830e-04 9.99953911e-01 -5.89473019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.666559995 meters 0.05035330642750252 Centerline is valid? [True, True] Translation: X:575.48, Y:-314.86, Z:-5.90 [[-6.70393089e-01 -7.41981335e-01 6.06672294e-03 5.75476565e+02] [ 7.41953869e-01 -6.70420503e-01 -6.38795914e-03 -3.14857119e+02] [ 8.80700189e-03 2.18784896e-04 9.99961194e-01 -5.89518382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7265599949999 meters 0.05065001819466564 Centerline is valid? [True, True] Translation: X:575.44, Y:-314.82, Z:-5.90 [[-6.69948532e-01 -7.42379498e-01 6.45339327e-03 5.75435931e+02] [ 7.42348452e-01 -6.69979570e-01 -6.79346446e-03 -3.14815127e+02] [ 9.36697038e-03 2.39394962e-04 9.99956100e-01 -5.89584182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.786559995 meters 0.050440901027633725 Centerline is valid? [True, True] Translation: X:575.40, Y:-314.77, Z:-5.90 [[-6.70640495e-01 -7.41752368e-01 6.68966334e-03 5.75395893e+02] [ 7.41718994e-01 -6.70673816e-01 -7.04038393e-03 -3.14773355e+02] [ 9.70880349e-03 2.40283796e-04 9.99952840e-01 -5.89646195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8465599949999 meters 0.05047793694065019 Centerline is valid? [True, True] Translation: X:575.36, Y:-314.73, Z:-5.90 [[-6.71319957e-01 -7.41141464e-01 6.23270350e-03 5.75357266e+02] [ 7.41112482e-01 -6.71348854e-01 -6.55782524e-03 -3.14729139e+02] [ 9.04459455e-03 2.16735401e-04 9.99959073e-01 -5.89502365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.906559995 meters 0.05080381190531485 Centerline is valid? [True, True] Translation: X:575.32, Y:-314.69, Z:-5.90 [[-6.71896491e-01 -7.40620815e-01 5.99270863e-03 5.75316309e+02] [ 7.40594016e-01 -6.71923185e-01 -6.30368750e-03 -3.14689284e+02] [ 8.69528205e-03 2.02738643e-04 9.99962175e-01 -5.89560907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9665599949999 meters 0.05065452935508142 Centerline is valid? [True, True] Translation: X:575.28, Y:-314.65, Z:-5.90 [[-6.74307478e-01 -7.38419702e-01 6.76526650e-03 5.75277685e+02] [ 7.38385454e-01 -6.74341386e-01 -7.11459338e-03 -3.14645304e+02] [ 9.81565511e-03 1.97950857e-04 9.99951806e-01 -5.89571412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.026559995 meters 0.05080025268513142 Centerline is valid? [True, True] Translation: X:575.24, Y:-314.60, Z:-5.89 [[-6.78229802e-01 -7.34821878e-01 6.41428860e-03 5.75240493e+02] [ 7.34790944e-01 -6.78260119e-01 -6.74390851e-03 -3.14600021e+02] [ 9.30612767e-03 1.39241435e-04 9.99956687e-01 -5.89460191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0865599949999 meters 0.050937869287994805 Centerline is valid? [True, True] Translation: X:575.20, Y:-314.56, Z:-5.89 [[-6.81195546e-01 -7.32083173e-01 5.18228496e-03 5.75201593e+02] [ 7.32062908e-01 -6.81215253e-01 -5.44769909e-03 -3.14559027e+02] [ 7.51842040e-03 8.28102416e-05 9.99971733e-01 -5.89464113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.146559995 meters 0.05092180281507593 Centerline is valid? [True, True] Translation: X:575.16, Y:-314.52, Z:-5.90 [[-6.82057714e-01 -7.31280543e-01 5.10307036e-03 5.75161680e+02] [ 7.31260881e-01 -6.82076800e-01 -5.36300303e-03 -3.14517118e+02] [ 7.40254567e-03 7.37981375e-05 9.99972598e-01 -5.89501490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2065599949999 meters 0.05151148439968151 Centerline is valid? [True, True] Translation: X:575.12, Y:-314.47, Z:-5.90 [[-6.83940266e-01 -7.29520513e-01 5.05311317e-03 5.75122287e+02] [ 7.29501196e-01 -6.83958931e-01 -5.30913742e-03 -3.14474177e+02] [ 7.32924654e-03 5.51192352e-05 9.99973139e-01 -5.89558842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.266559995 meters 0.050971075716013024 Centerline is valid? [True, True] Translation: X:575.08, Y:-314.43, Z:-5.90 [[-6.84602913e-01 -7.28899023e-01 5.00651366e-03 5.75084006e+02] [ 7.28880053e-01 -6.84621218e-01 -5.25895397e-03 -3.14433613e+02] [ 7.26081188e-03 4.88527316e-05 9.99973639e-01 -5.89563501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3265599949999 meters 0.050761173127345925 Centerline is valid? [True, True] Translation: X:575.04, Y:-314.39, Z:-5.89 [[-6.84377548e-01 -7.29111705e-01 4.84701003e-03 5.75043232e+02] [ 7.29093939e-01 -6.84394711e-01 -5.09005385e-03 -3.14392024e+02] [ 7.02848586e-03 5.04070583e-05 9.99975299e-01 -5.89493013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.386559995 meters 0.051344278614471245 Centerline is valid? [True, True] Translation: X:575.00, Y:-314.35, Z:-5.90 [[-6.83790730e-01 -7.29661722e-01 4.89988602e-03 5.75001351e+02] [ 7.29643591e-01 -6.83808283e-01 -5.14420182e-03 -3.14351182e+02] [ 7.10410981e-03 5.76129161e-05 9.99974764e-01 -5.89535168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4465599949999 meters 0.05062672961230885 Centerline is valid? [True, True] Translation: X:574.96, Y:-314.31, Z:-5.89 [[-6.84154678e-01 -7.29322616e-01 4.57156163e-03 5.74960754e+02] [ 7.29306834e-01 -6.84169949e-01 -4.79822459e-03 -3.14309092e+02] [ 6.62717880e-03 5.13433410e-05 9.99978039e-01 -5.89484772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.506559995 meters 0.05097167298785349 Centerline is valid? [True, True] Translation: X:574.92, Y:-314.27, Z:-5.89 [[-6.86504227e-01 -7.27115974e-01 3.78250083e-03 5.74921604e+02] [ 7.27105142e-01 -6.86514646e-01 -3.96901768e-03 -3.14267747e+02] [ 5.48267837e-03 2.55283936e-05 9.99984970e-01 -5.89448359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5665599949999 meters 0.05073920053676827 Centerline is valid? [True, True] Translation: X:574.88, Y:-314.23, Z:-5.89 [[-6.88725321e-01 -7.25016010e-01 3.03601630e-03 5.74883454e+02] [ 7.25009016e-01 -6.88732012e-01 -3.18465471e-03 -3.14227355e+02] [ 4.39992727e-03 7.78685693e-06 9.99990320e-01 -5.89487955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.626559995 meters 0.051411466476465544 Centerline is valid? [True, True] Translation: X:574.85, Y:-314.19, Z:-5.89 [[-6.92615354e-01 -7.21303854e-01 2.17284016e-03 5.74845190e+02] [ 7.21300256e-01 -6.92618762e-01 -2.27848123e-03 -3.14186123e+02] [ 3.14842715e-03 -1.08409232e-05 9.99995044e-01 -5.89395835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6865599949999 meters 0.05123084219979383 Centerline is valid? [True, True] Translation: X:574.81, Y:-314.14, Z:-5.89 [[-6.96065518e-01 -7.17975448e-01 2.01264180e-03 5.74805514e+02] [ 7.17972348e-01 -6.96068427e-01 -2.10996409e-03 -3.14143540e+02] [ 2.91583882e-03 -2.36520842e-05 9.99995749e-01 -5.89366412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.746559995 meters 0.051572278372099996 Centerline is valid? [True, True] Translation: X:574.77, Y:-314.10, Z:-5.90 [[-6.97685132e-01 -7.16397488e-01 3.17725480e-03 5.74767257e+02] [ 7.16389751e-01 -6.97692365e-01 -3.32983253e-03 -3.14101956e+02] [ 4.60223008e-03 -4.70218700e-05 9.99989409e-01 -5.89600037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8065599949999 meters 0.052241467949216615 Centerline is valid? [True, True] Translation: X:574.72, Y:-314.06, Z:-5.90 [[-6.97068924e-01 -7.16994160e-01 3.78015084e-03 5.74723919e+02] [ 7.16983223e-01 -6.97079172e-01 -3.96053956e-03 -3.14064780e+02] [ 5.47474815e-03 -5.04643169e-05 9.99985012e-01 -5.89687804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.866559995 meters 0.05181402419130675 Centerline is valid? [True, True] Translation: X:574.68, Y:-314.03, Z:-5.90 [[-6.94523085e-01 -7.19454973e-01 4.71448029e-03 5.74682468e+02] [ 7.19438029e-01 -6.94539085e-01 -4.93786526e-03 -3.14026141e+02] [ 6.82696254e-03 -3.76850035e-05 9.99976695e-01 -5.89919939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9265599949999 meters 0.05142932721614249 Centerline is valid? [True, True] Translation: X:574.64, Y:-313.99, Z:-5.90 [[-6.93832495e-01 -7.20119124e-01 4.99152523e-03 5.74641305e+02] [ 7.20100158e-01 -6.93850449e-01 -5.22651337e-03 -3.13986185e+02] [ 7.22708426e-03 -3.19267033e-05 9.99973884e-01 -5.89769240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.986559995 meters 0.05185617007765534 Centerline is valid? [True, True] Translation: X:574.60, Y:-313.95, Z:-5.90 [[-6.91142305e-01 -7.22700247e-01 5.16415241e-03 5.74599482e+02] [ 7.22680029e-01 -6.91161597e-01 -5.40572322e-03 -3.13946737e+02] [ 7.47598133e-03 -4.09419127e-06 9.99972054e-01 -5.89816950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0465599949999 meters 0.05089643522607614 Centerline is valid? [True, True] Translation: X:574.56, Y:-313.91, Z:-5.90 [[-6.87804466e-01 -7.25882172e-01 4.48220266e-03 5.74558083e+02] [ 7.25867018e-01 -6.87819069e-01 -4.69043981e-03 -3.13907772e+02] [ 6.48765110e-03 2.73776348e-05 9.99978955e-01 -5.89723640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1065599949999 meters 0.05122041539136932 Centerline is valid? [True, True] Translation: X:574.52, Y:-313.87, Z:-5.90 [[-6.83813475e-01 -7.29647162e-01 3.76172255e-03 5.74515811e+02] [ 7.29636550e-01 -6.83823820e-01 -3.93549275e-03 -3.13867311e+02] [ 5.44387660e-03 5.35472903e-05 9.99985181e-01 -5.89625630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.166559995 meters 0.05099831645321558 Centerline is valid? [True, True] Translation: X:574.48, Y:-313.83, Z:-5.90 [[-6.80978761e-01 -7.32296443e-01 3.13786049e-03 5.74475368e+02] [ 7.32289091e-01 -6.80985988e-01 -3.28205707e-03 -3.13825362e+02] [ 4.54027774e-03 6.28098487e-05 9.99989691e-01 -5.89573060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2265599949999 meters 0.05151140553080042 Centerline is valid? [True, True] Translation: X:574.43, Y:-313.79, Z:-5.90 [[-6.76869286e-01 -7.36098148e-01 2.73619130e-03 5.74431382e+02] [ 7.36092590e-01 -6.76874812e-01 -2.86144304e-03 -3.13787734e+02] [ 3.95836189e-03 7.72672387e-05 9.99992163e-01 -5.89544731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.286559995 meters 0.05108765908951602 Centerline is valid? [True, True] Translation: X:574.39, Y:-313.75, Z:-5.90 [[-6.74927829e-01 -7.37877777e-01 2.96846429e-03 5.74391572e+02] [ 7.37871256e-01 -6.74934350e-01 -3.10357600e-03 -3.13745217e+02] [ 4.29357827e-03 9.56546634e-05 9.99990778e-01 -5.89526258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3465599949999 meters 0.05110440356780731 Centerline is valid? [True, True] Translation: X:574.35, Y:-313.70, Z:-5.90 [[-6.72782200e-01 -7.39828807e-01 4.17711367e-03 5.74351741e+02] [ 7.39815939e-01 -6.72795150e-01 -4.36607990e-03 -3.13703133e+02] [ 6.04049350e-03 1.52874438e-04 9.99981744e-01 -5.89637377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.406559995 meters 0.05119701820580254 Centerline is valid? [True, True] Translation: X:574.31, Y:-313.66, Z:-5.90 [[-6.71741336e-01 -7.40766386e-01 5.36084676e-03 5.74313403e+02] [ 7.40745232e-01 -6.71762695e-01 -5.60208259e-03 -3.13658286e+02] [ 7.75105134e-03 2.07871234e-04 9.99969939e-01 -5.89652130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4665599949999 meters 0.05127353879517527 Centerline is valid? [True, True] Translation: X:574.27, Y:-313.62, Z:-5.90 [[-6.71837993e-01 -7.40669310e-01 6.53331320e-03 5.74272738e+02] [ 7.40637897e-01 -6.71869711e-01 -6.82620167e-03 -3.13617579e+02] [ 9.44549334e-03 2.52717716e-04 9.99955358e-01 -5.89773136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.526559995 meters 0.05136625848901605 Centerline is valid? [True, True] Translation: X:574.23, Y:-313.58, Z:-5.90 [[-6.72535019e-01 -7.40035794e-01 6.60841544e-03 5.74233945e+02] [ 7.40003640e-01 -6.72567440e-01 -6.90294804e-03 -3.13576168e+02] [ 9.55303369e-03 2.47777196e-04 9.99954338e-01 -5.89802655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5865599949999 meters 0.05119541507308559 Centerline is valid? [True, True] Translation: X:574.20, Y:-313.53, Z:-5.90 [[-6.74707728e-01 -7.38061791e-01 5.85442722e-03 5.74200348e+02] [ 7.38036494e-01 -6.74733099e-01 -6.11386723e-03 -3.13527637e+02] [ 8.46258762e-03 1.95707463e-04 9.99964173e-01 -5.89512104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.646559995 meters 0.05101106664281771 Centerline is valid? [True, True] Translation: X:574.16, Y:-313.48, Z:-5.89 [[-6.77091729e-01 -7.35878441e-01 5.45071322e-03 5.74161977e+02] [ 7.35856453e-01 -6.77113650e-01 -5.69086558e-03 -3.13484094e+02] [ 7.87853762e-03 1.57704478e-04 9.99968951e-01 -5.89454021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7065599949999 meters 0.051468651207119714 Centerline is valid? [True, True] Translation: X:574.12, Y:-313.44, Z:-5.89 [[-6.79960398e-01 -7.33236451e-01 4.26191991e-03 5.74121737e+02] [ 7.33222964e-01 -6.79973747e-01 -4.44846102e-03 -3.13443622e+02] [ 6.15976743e-03 1.00160222e-04 9.99981023e-01 -5.89403285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.766559995 meters 0.051636797849081276 Centerline is valid? [True, True] Translation: X:574.09, Y:-313.40, Z:-5.89 [[-6.82426890e-01 -7.30942563e-01 4.06313796e-03 5.74086480e+02] [ 7.30930271e-01 -6.82438981e-01 -4.23984922e-03 -3.13397664e+02] [ 5.87192999e-03 7.64834069e-05 9.99982757e-01 -5.89200058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8265599949999 meters 0.05188891069482653 Centerline is valid? [True, True] Translation: X:574.05, Y:-313.35, Z:-5.89 [[-6.85248646e-01 -7.28290971e-01 5.15308949e-03 5.74048254e+02] [ 7.28271133e-01 -6.85268018e-01 -5.37592950e-03 -3.13353414e+02] [ 7.44648834e-03 6.89979054e-05 9.99972272e-01 -5.89227233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.886559995 meters 0.05232032111563417 Centerline is valid? [True, True] Translation: X:574.01, Y:-313.31, Z:-5.89 [[-6.87254543e-01 -7.26395721e-01 5.51809358e-03 5.74010853e+02] [ 7.26372924e-01 -6.87276694e-01 -5.75518528e-03 -3.13309755e+02] [ 7.97299907e-03 5.29165417e-05 9.99968214e-01 -5.89026561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9465599949999 meters 0.05172432028565816 Centerline is valid? [True, True] Translation: X:573.97, Y:-313.27, Z:-5.89 [[-6.91722781e-01 -7.22139545e-01 5.83705423e-03 5.73972621e+02] [ 7.22113899e-01 -6.91747409e-01 -6.08600346e-03 -3.13268783e+02] [ 8.43271091e-03 5.19074499e-06 9.99964444e-01 -5.89327026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.006559995 meters 0.05182750926575889 Centerline is valid? [True, True] Translation: X:573.94, Y:-313.23, Z:-5.89 [[-6.93554827e-01 -7.20383956e-01 5.35330465e-03 5.73935107e+02] [ 7.20362346e-01 -6.93575487e-01 -5.57983136e-03 -3.13227137e+02] [ 7.73254187e-03 -1.35998738e-05 9.99970103e-01 -5.89320131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0665599949999 meters 0.05166377638565716 Centerline is valid? [True, True] Translation: X:573.90, Y:-313.18, Z:-5.89 [[-6.98315682e-01 -7.15771791e-01 5.09436014e-03 5.73897747e+02] [ 7.15752104e-01 -6.98334261e-01 -5.30904976e-03 -3.13182284e+02] [ 7.35763428e-03 -6.10937201e-05 9.99972930e-01 -5.89208048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.126559995 meters 0.05206937360964291 Centerline is valid? [True, True] Translation: X:573.86, Y:-313.14, Z:-5.89 [[-7.01210528e-01 -7.12938931e-01 4.67713355e-03 5.73857773e+02] [ 7.12922281e-01 -7.01226122e-01 -4.87310868e-03 -3.13142902e+02] [ 6.75395711e-03 -8.26423955e-05 9.99977188e-01 -5.88954297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1865599949999 meters 0.0524366981035718 Centerline is valid? [True, True] Translation: X:573.82, Y:-313.10, Z:-5.89 [[-7.00729031e-01 -7.13415888e-01 4.07384042e-03 5.73823228e+02] [ 7.13403272e-01 -7.00740870e-01 -4.24316791e-03 -3.13099721e+02] [ 5.88184988e-03 -6.70198529e-05 9.99982700e-01 -5.89335737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.246559995 meters 0.05258133209034978 Centerline is valid? [True, True] Translation: X:573.78, Y:-313.06, Z:-5.89 [[-6.99785873e-01 -7.14341785e-01 3.94284641e-03 5.73778892e+02] [ 7.14329990e-01 -6.99796978e-01 -4.10534758e-03 -3.13064548e+02] [ 5.69181332e-03 -5.63708052e-05 9.99983800e-01 -5.89039977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3065599949999 meters 0.052094071800167244 Centerline is valid? [True, True] Translation: X:573.74, Y:-313.03, Z:-5.89 [[-6.95615617e-01 -7.18404777e-01 3.67291311e-03 5.73735774e+02] [ 7.18394603e-01 -6.95625313e-01 -3.82331360e-03 -3.13025761e+02] [ 5.30165809e-03 -2.09556914e-05 9.99985946e-01 -5.89189225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.366559995 meters 0.05166601623618109 Centerline is valid? [True, True] Translation: X:573.69, Y:-312.99, Z:-5.89 [[-6.92774468e-01 -7.21142907e-01 4.05501171e-03 5.73693811e+02] [ 7.21130562e-01 -6.92786336e-01 -4.21972088e-03 -3.12988165e+02] [ 5.85227849e-03 8.77982751e-07 9.99982875e-01 -5.88994624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4265599949999 meters 0.051568020469895094 Centerline is valid? [True, True] Translation: X:573.65, Y:-312.95, Z:-5.89 [[-6.88841375e-01 -7.24894900e-01 4.99440087e-03 5.73648995e+02] [ 7.24876278e-01 -6.88859480e-01 -5.19605406e-03 -3.12950277e+02] [ 7.20703347e-03 4.10656885e-05 9.99974028e-01 -5.89328374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.486559995 meters 0.0520287318690861 Centerline is valid? [True, True] Translation: X:573.61, Y:-312.91, Z:-5.89 [[-6.87016051e-01 -7.26626577e-01 4.77111385e-03 5.73606682e+02] [ 7.26609634e-01 -6.87032615e-01 -4.96233712e-03 -3.12911122e+02] [ 6.88367686e-03 5.75320336e-05 9.99976306e-01 -5.89338502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5465599949999 meters 0.05249631798488052 Centerline is valid? [True, True] Translation: X:573.56, Y:-312.87, Z:-5.89 [[-6.86019655e-01 -7.27571201e-01 4.14486262e-03 5.73563712e+02] [ 7.27558439e-01 -6.86032174e-01 -4.30983122e-03 -3.12871868e+02] [ 5.97921819e-03 5.90008442e-05 9.99982123e-01 -5.89295963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6065599949999 meters 0.05181123777692336 Centerline is valid? [True, True] Translation: X:573.52, Y:-312.83, Z:-5.89 [[-6.86371490e-01 -7.27236692e-01 4.57961031e-03 5.73523706e+02] [ 7.27221113e-01 -6.86386765e-01 -4.76053036e-03 -3.12831418e+02] [ 6.60541625e-03 6.28969932e-05 9.99978182e-01 -5.89197991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.666559995 meters 0.05158332862679288 Centerline is valid? [True, True] Translation: X:573.48, Y:-312.79, Z:-5.89 [[-6.88383765e-01 -7.25333786e-01 4.32330053e-03 5.73482058e+02] [ 7.25319872e-01 -6.88397340e-01 -4.49293779e-03 -3.12791849e+02] [ 6.23502816e-03 4.29103547e-05 9.99980561e-01 -5.89404667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7265599949999 meters 0.05140697109622832 Centerline is valid? [True, True] Translation: X:573.44, Y:-312.75, Z:-5.89 [[-6.89875630e-01 -7.23913251e-01 4.60661613e-03 5.73441681e+02] [ 7.23897430e-01 -6.89891009e-01 -4.78608267e-03 -3.12750046e+02] [ 6.64277171e-03 3.29157823e-05 9.99977936e-01 -5.89463431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.786559995 meters 0.052910494032341514 Centerline is valid? [True, True] Translation: X:573.40, Y:-312.71, Z:-5.89 [[-6.91129315e-01 -7.22711889e-01 5.27215207e-03 5.73402595e+02] [ 7.22691145e-01 -6.91149423e-01 -5.47580198e-03 -3.12709995e+02] [ 7.60127206e-03 2.56503385e-05 9.99971110e-01 -5.89353920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8465599949999 meters 0.05229854037796264 Centerline is valid? [True, True] Translation: X:573.36, Y:-312.67, Z:-5.90 [[-6.91481833e-01 -7.22371208e-01 5.71944184e-03 5.73362480e+02] [ 7.22346799e-01 -6.91505486e-01 -5.93847049e-03 -3.12671068e+02] [ 8.24480551e-03 2.50760396e-05 9.99966011e-01 -5.89749740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.906559995 meters 0.052273643768480545 Centerline is valid? [True, True] Translation: X:573.32, Y:-312.63, Z:-5.90 [[-6.92097662e-01 -7.21779169e-01 5.97140189e-03 5.73322923e+02] [ 7.21752556e-01 -6.92123421e-01 -6.19820245e-03 -3.12629990e+02] [ 8.60668052e-03 2.01131516e-05 9.99962962e-01 -5.89629888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9665599949999 meters 0.052682183754621845 Centerline is valid? [True, True] Translation: X:573.28, Y:-312.59, Z:-5.90 [[-6.93996733e-01 -7.19956738e-01 5.55241690e-03 5.73284015e+02] [ 7.19933685e-01 -6.94018944e-01 -5.76146639e-03 -3.12588881e+02] [ 8.00148907e-03 -1.06689254e-06 9.99967988e-01 -5.89547340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.026559995 meters 0.05214978041251289 Centerline is valid? [True, True] Translation: X:573.25, Y:-312.55, Z:-5.89 [[-6.97256872e-01 -7.16809849e-01 4.06129829e-03 5.73246080e+02] [ 7.16797467e-01 -6.97268699e-01 -4.21332981e-03 -3.12545840e+02] [ 5.85197248e-03 -2.66448392e-05 9.99982877e-01 -5.89457341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0865599949999 meters 0.05222535214606797 Centerline is valid? [True, True] Translation: X:573.21, Y:-312.50, Z:-5.89 [[-6.99776474e-01 -7.14352878e-01 3.58503334e-03 5.73207334e+02] [ 7.14343203e-01 -6.99785656e-01 -3.71811527e-03 -3.12503156e+02] [ 5.16480125e-03 -4.09053959e-05 9.99986662e-01 -5.89485356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.146559995 meters 0.05202911148590819 Centerline is valid? [True, True] Translation: X:573.17, Y:-312.46, Z:-5.90 [[-7.03774078e-01 -7.10411619e-01 4.16876714e-03 5.73169022e+02] [ 7.10398475e-01 -7.03786420e-01 -4.32220936e-03 -3.12460496e+02] [ 6.00446945e-03 -8.03730866e-05 9.99981970e-01 -5.89568845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2065599949999 meters 0.053011273119031505 Centerline is valid? [True, True] Translation: X:573.13, Y:-312.42, Z:-5.90 [[-7.07550731e-01 -7.06649803e-01 4.24489373e-03 5.73131857e+02] [ 7.06636114e-01 -7.07563455e-01 -4.39989676e-03 -3.12418325e+02] [ 6.11271785e-03 -1.13554959e-04 9.99981311e-01 -5.89707742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.266559995 meters 0.0534364994929656 Centerline is valid? [True, True] Translation: X:573.09, Y:-312.37, Z:-5.90 [[-7.10815824e-01 -7.03368773e-01 3.63779844e-03 5.73094949e+02] [ 7.03358683e-01 -7.10825122e-01 -3.76950352e-03 -3.12374623e+02] [ 5.23718959e-03 -1.20745632e-04 9.99986279e-01 -5.89688451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3265599949999 meters 0.053082344922032385 Centerline is valid? [True, True] Translation: X:573.06, Y:-312.33, Z:-5.90 [[-7.15286427e-01 -6.98823720e-01 3.27657717e-03 5.73056490e+02] [ 6.98815491e-01 -7.15293918e-01 -3.39413095e-03 -3.12334476e+02] [ 4.71561494e-03 -1.38052915e-04 9.99988872e-01 -5.89544262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.386559995 meters 0.05312173712835203 Centerline is valid? [True, True] Translation: X:573.01, Y:-312.30, Z:-5.90 [[-7.18028784e-01 -6.96009906e-01 2.20806452e-03 5.73012539e+02] [ 6.96006158e-01 -7.18032172e-01 -2.28673219e-03 -3.12296040e+02] [ 3.17704962e-03 -1.05113030e-04 9.99994948e-01 -5.89568138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4465599949999 meters 0.05416534116826646 Centerline is valid? [True, True] Translation: X:572.98, Y:-312.25, Z:-5.90 [[-7.19370295e-01 -6.94624657e-01 1.72166856e-03 5.72977750e+02] [ 6.94622376e-01 -7.19372350e-01 -1.78250497e-03 -3.12251033e+02] [ 2.47669266e-03 -8.63716242e-05 9.99996929e-01 -5.89705090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.506559995 meters 0.05342717761933172 Centerline is valid? [True, True] Translation: X:572.93, Y:-312.22, Z:-5.90 [[-7.17290549e-01 -6.96771418e-01 1.96445276e-03 5.72930665e+02] [ 6.96768458e-01 -7.17293233e-01 -2.03326129e-03 -3.12216875e+02] [ 2.82580702e-03 -8.96703841e-05 9.99996003e-01 -5.89780821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5665599949999 meters 0.05403312405217671 Centerline is valid? [True, True] Translation: X:572.89, Y:-312.18, Z:-5.90 [[-7.14322347e-01 -6.99813962e-01 2.00077790e-03 5.72890158e+02] [ 6.99810904e-01 -7.14325145e-01 -2.07043686e-03 -3.12176599e+02] [ 2.87812659e-03 -7.87931239e-05 9.99995855e-01 -5.89854443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.626559995 meters 0.05300216316841932 Centerline is valid? [True, True] Translation: X:572.84, Y:-312.14, Z:-5.90 [[-7.08118260e-01 -7.06087050e-01 3.09949064e-03 5.72844066e+02] [ 7.06079775e-01 -7.08125039e-01 -3.20635223e-03 -3.12142271e+02] [ 4.45879072e-03 -8.19889145e-05 9.99990056e-01 -5.89944208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6865599949999 meters 0.052788543141979685 Centerline is valid? [True, True] Translation: X:572.80, Y:-312.11, Z:-5.90 [[-7.00997217e-01 -7.13155226e-01 3.53914662e-03 5.72797386e+02] [ 7.13145835e-01 -7.01006150e-01 -3.66000108e-03 -3.12108543e+02] [ 5.09111244e-03 -4.17228949e-05 9.99987039e-01 -5.89914911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.746559995 meters 0.05271373918834036 Centerline is valid? [True, True] Translation: X:572.75, Y:-312.07, Z:-5.90 [[-6.96288298e-01 -7.17755293e-01 3.15345782e-03 5.72754205e+02] [ 7.17747887e-01 -6.96295439e-01 -3.26058515e-03 -3.12069892e+02] [ 4.53604055e-03 -6.91959379e-06 9.99989712e-01 -5.89952943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8065599949999 meters 0.05307595186792608 Centerline is valid? [True, True] Translation: X:572.71, Y:-312.04, Z:-5.90 [[-6.88986439e-01 -7.24771015e-01 2.15956174e-03 5.72707170e+02] [ 7.24767577e-01 -6.88989823e-01 -2.23247925e-03 -3.12035699e+02] [ 3.10595231e-03 2.70324034e-05 9.99995176e-01 -5.89972867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.866559995 meters 0.052694176241107435 Centerline is valid? [True, True] Translation: X:572.66, Y:-312.00, Z:-5.90 [[-6.83017212e-01 -7.30398319e-01 2.40496365e-03 5.72663485e+02] [ 7.30394093e-01 -6.83021443e-01 -2.48544094e-03 -3.11998187e+02] [ 3.45800363e-03 5.89723010e-05 9.99994019e-01 -5.89882609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9265599949999 meters 0.052771355307999764 Centerline is valid? [True, True] Translation: X:572.62, Y:-311.96, Z:-5.90 [[-6.81551616e-01 -7.31765514e-01 2.57440512e-03 5.72623049e+02] [ 7.31760683e-01 -6.81556475e-01 -2.65981270e-03 -3.11957127e+02] [ 3.70096168e-03 7.10488067e-05 9.99993149e-01 -5.89909953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.986559995 meters 0.052817281699284416 Centerline is valid? [True, True] Translation: X:572.58, Y:-311.92, Z:-5.90 [[-6.77969334e-01 -7.35080635e-01 3.74722059e-03 5.72581062e+02] [ 7.35070457e-01 -6.77979678e-01 -3.87036490e-03 -3.11919325e+02] [ 5.38556970e-03 1.30482438e-04 9.99985489e-01 -5.90060647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0465599949999 meters 0.052704414783501755 Centerline is valid? [True, True] Translation: X:572.54, Y:-311.88, Z:-5.90 [[-6.76796422e-01 -7.36154765e-01 4.77133766e-03 5.72541471e+02] [ 7.36138299e-01 -6.76813217e-01 -4.92685629e-03 -3.11877166e+02] [ 6.85623313e-03 1.77885674e-04 9.99976480e-01 -5.90051134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1065599949999 meters 0.05168991323091527 Centerline is valid? [True, True] Translation: X:572.50, Y:-311.84, Z:-5.90 [[-6.77283132e-01 -7.35698759e-01 5.90710375e-03 5.72503026e+02] [ 7.35673520e-01 -6.77308858e-01 -6.09779602e-03 -3.11836819e+02] [ 8.48707466e-03 2.15765417e-04 9.99963961e-01 -5.90170743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.166559995 meters 0.05281959949158869 Centerline is valid? [True, True] Translation: X:572.47, Y:-311.79, Z:-5.90 [[-6.80489192e-01 -7.32735069e-01 5.81198468e-03 5.72466642e+02] [ 7.32710542e-01 -6.80513988e-01 -5.99785953e-03 -3.11793394e+02] [ 8.34997889e-03 1.77023860e-04 9.99965123e-01 -5.90208547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2265599949999 meters 0.05193457324203675 Centerline is valid? [True, True] Translation: X:572.43, Y:-311.75, Z:-5.90 [[-6.84760580e-01 -7.28753085e-01 4.67871667e-03 5.72434413e+02] [ 7.28737106e-01 -6.84776555e-01 -4.82701234e-03 -3.11745099e+02] [ 6.72157562e-03 1.04206679e-04 9.99977405e-01 -5.90052633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.286559995 meters 0.052216530590308924 Centerline is valid? [True, True] Translation: X:572.40, Y:-311.70, Z:-5.90 [[-6.87107993e-01 -7.26541894e-01 4.41373228e-03 5.72398166e+02] [ 7.26527636e-01 -6.87122165e-01 -4.55240710e-03 -3.11699948e+02] [ 6.34028776e-03 7.87031749e-05 9.99979897e-01 -5.90046893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3465599949999 meters 0.051920656185838854 Centerline is valid? [True, True] Translation: X:572.36, Y:-311.65, Z:-5.90 [[-6.88568163e-01 -7.25155779e-01 4.79388934e-03 5.72362434e+02] [ 7.25138935e-01 -6.88584847e-01 -4.94305135e-03 -3.11654621e+02] [ 6.88548181e-03 7.26080232e-05 9.99976292e-01 -5.90080246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.406559995 meters 0.05280611240047596 Centerline is valid? [True, True] Translation: X:572.32, Y:-311.61, Z:-5.91 [[-6.87509412e-01 -7.26151187e-01 5.93814261e-03 5.72322597e+02] [ 7.26125390e-01 -6.87535048e-01 -6.12174246e-03 -3.11613678e+02] [ 8.52799172e-03 1.03080555e-04 9.99963631e-01 -5.90537018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4665599949999 meters 0.05238907342382482 Centerline is valid? [True, True] Translation: X:572.29, Y:-311.57, Z:-5.90 [[-6.85651081e-01 -7.27907804e-01 5.72925758e-03 5.72289245e+02] [ 7.27883863e-01 -6.85675006e-01 -5.90486580e-03 -3.11565318e+02] [ 8.22660663e-03 1.21556522e-04 9.99966154e-01 -5.90189377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.526559995 meters 0.05137839835267308 Centerline is valid? [True, True] Translation: X:572.25, Y:-311.52, Z:-5.90 [[-6.83235587e-01 -7.30180045e-01 5.12190700e-03 5.72251644e+02] [ 7.30160985e-01 -6.83254772e-01 -5.27752134e-03 -3.11520852e+02] [ 7.35310817e-03 1.34026268e-04 9.99972957e-01 -5.90095061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5865599949999 meters 0.051239139273705 Centerline is valid? [True, True] Translation: X:572.21, Y:-311.48, Z:-5.90 [[-6.81249544e-01 -7.32035126e-01 4.86138379e-03 5.72212626e+02] [ 7.32018011e-01 -6.81266874e-01 -5.00778274e-03 -3.11477644e+02] [ 6.97777261e-03 1.47070780e-04 9.99975644e-01 -5.90110875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.646559995 meters 0.05113924459487934 Centerline is valid? [True, True] Translation: X:572.17, Y:-311.44, Z:-5.90 [[-6.78034359e-01 -7.35011161e-01 5.29162987e-03 5.72172855e+02] [ 7.34990982e-01 -6.78054980e-01 -5.44981902e-03 -3.11437388e+02] [ 7.59369379e-03 1.94135692e-04 9.99971149e-01 -5.90245472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7065599949999 meters 0.05051525661778231 Centerline is valid? [True, True] Translation: X:572.14, Y:-311.39, Z:-5.90 [[-6.76075615e-01 -7.36810187e-01 5.70185380e-03 5.72137480e+02] [ 7.36786835e-01 -6.76099619e-01 -5.87072201e-03 -3.11391633e+02] [ 8.18062896e-03 2.31998825e-04 9.99966511e-01 -5.90198102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.766559995 meters 0.050707102921103094 Centerline is valid? [True, True] Translation: X:572.10, Y:-311.35, Z:-5.90 [[-6.75552867e-01 -7.37292850e-01 5.25134641e-03 5.72099826e+02] [ 7.37273068e-01 -6.75573242e-01 -5.40545253e-03 -3.11348088e+02] [ 7.53307062e-03 2.20007322e-04 9.99971602e-01 -5.90167741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8265599949999 meters 0.05112134702530479 Centerline is valid? [True, True] Translation: X:572.06, Y:-311.30, Z:-5.90 [[-6.75218729e-01 -7.37606104e-01 4.11138683e-03 5.72061741e+02] [ 7.37593991e-01 -6.75231223e-01 -4.23087822e-03 -3.11304836e+02] [ 5.89685836e-03 1.75766008e-04 9.99982598e-01 -5.90044212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.886559995 meters 0.0507749273560292 Centerline is valid? [True, True] Translation: X:572.02, Y:-311.26, Z:-5.90 [[-6.76738374e-01 -7.36213946e-01 3.76804619e-03 5.72022001e+02] [ 7.36203756e-01 -6.76748848e-01 -3.87650127e-03 -3.11264163e+02] [ 5.40395522e-03 1.50672587e-04 9.99985387e-01 -5.90156160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9465599949999 meters 0.050558364771898776 Centerline is valid? [True, True] Translation: X:571.99, Y:-311.22, Z:-5.90 [[-6.79278292e-01 -7.33871667e-01 3.65758593e-03 5.71985881e+02] [ 7.33862037e-01 -6.79288127e-01 -3.76176695e-03 -3.11220390e+02] [ 5.24520888e-03 1.28876834e-04 9.99986236e-01 -5.90148431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.006559995 meters 0.05021690372847963 Centerline is valid? [True, True] Translation: X:571.95, Y:-311.18, Z:-5.90 [[-6.82509017e-01 -7.30869000e-01 3.45649555e-03 5.71948708e+02] [ 7.30860365e-01 -6.82517762e-01 -3.55407456e-03 -3.11175603e+02] [ 4.95668252e-03 1.00527668e-04 9.99987711e-01 -5.90162689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0665599949999 meters 0.05147381587394901 Centerline is valid? [True, True] Translation: X:571.90, Y:-311.14, Z:-5.90 [[-6.83711020e-01 -7.29743715e-01 3.65394791e-03 5.71903915e+02] [ 7.29734055e-01 -6.83720777e-01 -3.75616363e-03 -3.11139177e+02] [ 5.23931690e-03 9.82797575e-05 9.99986270e-01 -5.90337854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.126559995 meters 0.05108833750809748 Centerline is valid? [True, True] Translation: X:571.87, Y:-311.10, Z:-5.90 [[-6.83678496e-01 -7.29772826e-01 3.91614893e-03 5.71866418e+02] [ 7.29761737e-01 -6.83689703e-01 -4.02446272e-03 -3.11097229e+02] [ 5.61437423e-03 1.06417030e-04 9.99984234e-01 -5.90259618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1865599949999 meters 0.04995676830562955 Centerline is valid? [True, True] Translation: X:571.83, Y:-311.05, Z:-5.90 [[-6.84083586e-01 -7.29392625e-01 4.00576452e-03 5.71829256e+02] [ 7.29381022e-01 -6.84095306e-01 -4.11547857e-03 -3.11052564e+02] [ 5.74212442e-03 1.06397285e-04 9.99983508e-01 -5.90151080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.246559995 meters 0.05071941109534197 Centerline is valid? [True, True] Translation: X:571.79, Y:-311.01, Z:-5.90 [[-6.84505204e-01 -7.28992220e-01 4.79261258e-03 5.71787227e+02] [ 7.28975610e-01 -6.84521971e-01 -4.92251496e-03 -3.11013364e+02] [ 6.86912371e-03 1.24210570e-04 9.99976400e-01 -5.90213903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3065599949999 meters 0.050203065920117244 Centerline is valid? [True, True] Translation: X:571.75, Y:-310.97, Z:-5.90 [[-6.87027994e-01 -7.26615278e-01 4.77215259e-03 5.71748257e+02] [ 7.26598762e-01 -6.87044561e-01 -4.90013742e-03 -3.10970850e+02] [ 6.83919619e-03 1.00908574e-04 9.99976607e-01 -5.90021002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.366559995 meters 0.05042527414648889 Centerline is valid? [True, True] Translation: X:571.71, Y:-310.93, Z:-5.90 [[-6.89681278e-01 -7.24098115e-01 4.65352352e-03 5.71709352e+02] [ 7.24082360e-01 -6.89696973e-01 -4.77721050e-03 -3.10929342e+02] [ 6.66869020e-03 7.47816458e-05 9.99977761e-01 -5.89981109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4265599949999 meters 0.05120460635895673 Centerline is valid? [True, True] Translation: X:571.67, Y:-310.89, Z:-5.90 [[-6.94134524e-01 -7.19832885e-01 4.22845971e-03 5.71671830e+02] [ 7.19819804e-01 -6.94147402e-01 -4.33970416e-03 -3.10885405e+02] [ 6.05903609e-03 3.13905580e-05 9.99981643e-01 -5.89790996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.486559995 meters 0.05089017486637588 Centerline is valid? [True, True] Translation: X:571.63, Y:-310.84, Z:-5.90 [[-6.98723599e-01 -7.15380673e-01 3.97803839e-03 5.71634015e+02] [ 7.15369029e-01 -6.98734923e-01 -4.08155652e-03 -3.10842372e+02] [ 5.69946099e-03 -6.11440020e-06 9.99983758e-01 -5.89690552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5465599949999 meters 0.05190194316489818 Centerline is valid? [True, True] Translation: X:571.60, Y:-310.80, Z:-5.90 [[-7.02443461e-01 -7.11730999e-01 3.48846362e-03 5.71597881e+02] [ 7.11722006e-01 -7.02452122e-01 -3.57812674e-03 -3.10799531e+02] [ 4.99714239e-03 -3.06154034e-05 9.99987514e-01 -5.89654375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6065599949999 meters 0.05186310505360926 Centerline is valid? [True, True] Translation: X:571.56, Y:-310.76, Z:-5.89 [[-7.08325842e-01 -7.05881033e-01 2.54344795e-03 5.71561750e+02] [ 7.05876217e-01 -7.08330406e-01 -2.60805440e-03 -3.10755881e+02] [ 3.64257765e-03 -5.19929153e-05 9.99993364e-01 -5.89492677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.666559995 meters 0.05178347088209415 Centerline is valid? [True, True] Translation: X:571.52, Y:-310.72, Z:-5.89 [[-7.13749657e-01 -7.00397251e-01 2.26235423e-03 5.71521969e+02] [ 7.00393414e-01 -7.13753239e-01 -2.31922489e-03 -3.10717428e+02] [ 3.23914140e-03 -7.08079628e-05 9.99994751e-01 -5.89261443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7265599949999 meters 0.05291733876587852 Centerline is valid? [True, True] Translation: X:571.48, Y:-310.67, Z:-5.89 [[-7.16490711e-01 -6.97588328e-01 3.40386472e-03 5.71482597e+02] [ 6.97579616e-01 -7.16498786e-01 -3.48851812e-03 -3.10674923e+02] [ 4.87241446e-03 -1.25024187e-04 9.99988122e-01 -5.89367025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.786559995 meters 0.05337781131495825 Centerline is valid? [True, True] Translation: X:571.44, Y:-310.64, Z:-5.89 [[-7.16888529e-01 -6.97173755e-01 4.42633194e-03 5.71442010e+02] [ 6.97159024e-01 -7.16902175e-01 -4.53516380e-03 -3.10635265e+02] [ 6.33504417e-03 -1.65349647e-04 9.99979920e-01 -5.89468307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8465599949999 meters 0.052892980040262966 Centerline is valid? [True, True] Translation: X:571.40, Y:-310.60, Z:-5.89 [[-7.16702916e-01 -6.97366021e-01 4.19086153e-03 5.71395566e+02] [ 6.97352823e-01 -7.16715152e-01 -4.29305556e-03 -3.10597778e+02] [ 5.99748503e-03 -1.54336316e-04 9.99982003e-01 -5.89346979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.906559995 meters 0.052250464085021854 Centerline is valid? [True, True] Translation: X:571.36, Y:-310.55, Z:-5.89 [[-7.14624187e-01 -6.99500033e-01 3.46045656e-03 5.71357259e+02] [ 6.99491063e-01 -7.14632557e-01 -3.54414456e-03 -3.10554948e+02] [ 4.95208416e-03 -1.12172987e-04 9.99987732e-01 -5.89474681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9665599949999 meters 0.05246674814002959 Centerline is valid? [True, True] Translation: X:571.31, Y:-310.52, Z:-5.89 [[-7.10895839e-01 -7.03290744e-01 3.03905719e-03 5.71313107e+02] [ 7.03283864e-01 -7.10902331e-01 -3.11172723e-03 -3.10520230e+02] [ 4.34892180e-03 -7.47940551e-05 9.99990541e-01 -5.89342236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.026559995 meters 0.051952234206376416 Centerline is valid? [True, True] Translation: X:571.27, Y:-310.48, Z:-5.89 [[-7.06057519e-01 -7.08148910e-01 2.81087956e-03 5.71267926e+02] [ 7.08143064e-01 -7.06063113e-01 -2.87763677e-03 -3.10484108e+02] [ 4.02245372e-03 -4.12722186e-05 9.99991909e-01 -5.89324933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0865599949999 meters 0.0514375950103795 Centerline is valid? [True, True] Translation: X:571.22, Y:-310.45, Z:-5.89 [[-6.99605034e-01 -7.14524869e-01 2.64738769e-03 5.71223645e+02] [ 7.14519731e-01 -6.99610043e-01 -2.70959137e-03 -3.10448173e+02] [ 3.78820943e-03 -4.03302561e-06 9.99992825e-01 -5.89480291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.146559995 meters 0.05176101334521647 Centerline is valid? [True, True] Translation: X:571.18, Y:-310.42, Z:-5.90 [[-6.92678553e-01 -7.21238117e-01 3.46412064e-03 5.71175995e+02] [ 7.21229409e-01 -6.92687214e-01 -3.54456131e-03 -3.10417759e+02] [ 4.95602480e-03 4.31840818e-05 9.99987718e-01 -5.89791253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2065599949999 meters 0.05197039441927176 Centerline is valid? [True, True] Translation: X:571.13, Y:-310.38, Z:-5.90 [[-6.88901777e-01 -7.24842519e-01 4.20298528e-03 5.71134528e+02] [ 7.24829774e-01 -6.88914593e-01 -4.29920609e-03 -3.10380501e+02] [ 6.01174526e-03 8.47181563e-05 9.99981926e-01 -5.89797178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.266559995 meters 0.051334368740744984 Centerline is valid? [True, True] Translation: X:571.10, Y:-310.33, Z:-5.89 [[-6.86380142e-01 -7.27228537e-01 4.57776329e-03 5.71097295e+02] [ 7.27213478e-01 -6.86395397e-01 -4.68145577e-03 -3.10334710e+02] [ 6.54664388e-03 1.15752889e-04 9.99978564e-01 -5.89449561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3265599949999 meters 0.05231810460781802 Centerline is valid? [True, True] Translation: X:571.05, Y:-310.30, Z:-5.90 [[-6.86139082e-01 -7.27458167e-01 4.21618437e-03 5.71051621e+02] [ 7.27445403e-01 -6.86152027e-01 -4.31064303e-03 -3.10299331e+02] [ 6.02875593e-03 1.09343284e-04 9.99981821e-01 -5.89694616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.386559995 meters 0.051393629325362664 Centerline is valid? [True, True] Translation: X:571.01, Y:-310.26, Z:-5.90 [[-6.86254351e-01 -7.27345478e-01 4.84985661e-03 5.71013865e+02] [ 7.27328597e-01 -6.86271477e-01 -4.95697793e-03 -3.10257841e+02] [ 6.93375374e-03 1.25691734e-04 9.99975953e-01 -5.89700372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4465599949999 meters 0.052039713352824486 Centerline is valid? [True, True] Translation: X:570.98, Y:-310.21, Z:-5.90 [[-6.87080909e-01 -7.26557606e-01 5.81970758e-03 5.70976789e+02] [ 7.26533285e-01 -6.87105541e-01 -5.94655533e-03 -3.10214046e+02] [ 8.31926833e-03 1.42446623e-04 9.99965384e-01 -5.89796064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.506559995 meters 0.05120676417537 Centerline is valid? [True, True] Translation: X:570.94, Y:-310.17, Z:-5.90 [[-6.88762850e-01 -7.24961197e-01 6.08274205e-03 5.70940451e+02] [ 7.24934579e-01 -6.88789696e-01 -6.21371712e-03 -3.10168787e+02] [ 8.69443386e-03 1.29812539e-04 9.99962194e-01 -5.89680663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5665599949999 meters 0.05175709671347121 Centerline is valid? [True, True] Translation: X:570.90, Y:-310.13, Z:-5.90 [[-6.90081241e-01 -7.23708549e-01 5.81527319e-03 5.70901781e+02] [ 7.23684188e-01 -6.90105734e-01 -5.93894688e-03 -3.10125253e+02] [ 8.31122000e-03 1.10065428e-04 9.99965455e-01 -5.89619345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.626559995 meters 0.05114985584354382 Centerline is valid? [True, True] Translation: X:570.86, Y:-310.08, Z:-5.90 [[-6.91383240e-01 -7.22467844e-01 5.42493593e-03 5.70864076e+02] [ 7.22446617e-01 -6.91404517e-01 -5.53886704e-03 -3.10080521e+02] [ 7.75247854e-03 8.97467735e-05 9.99969945e-01 -5.89634854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6865599949999 meters 0.05090819963258492 Centerline is valid? [True, True] Translation: X:570.83, Y:-310.04, Z:-5.90 [[-6.92210251e-01 -7.21675067e-01 5.48324894e-03 5.70826684e+02] [ 7.21653370e-01 -6.92231963e-01 -5.59676529e-03 -3.10036596e+02] [ 7.83472614e-03 8.28667683e-05 9.99969305e-01 -5.89574931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.746559995 meters 0.05135710563040132 Centerline is valid? [True, True] Translation: X:570.79, Y:-309.99, Z:-5.90 [[-6.93824632e-01 -7.20124349e-01 5.31985353e-03 5.70789553e+02] [ 7.20103891e-01 -6.93845024e-01 -5.42857356e-03 -3.09991332e+02] [ 7.60040190e-03 6.43691733e-05 9.99971114e-01 -5.89641146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8065599949999 meters 0.0509213865325394 Centerline is valid? [True, True] Translation: X:570.75, Y:-309.95, Z:-5.90 [[-6.95189968e-01 -7.18806610e-01 5.28819765e-03 5.70753336e+02] [ 7.18786368e-01 -6.95210079e-01 -5.39468821e-03 -3.09947111e+02] [ 7.55414585e-03 5.07512598e-05 9.99971466e-01 -5.89580063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.866559995 meters 0.050853884875232874 Centerline is valid? [True, True] Translation: X:570.72, Y:-309.90, Z:-5.89 [[-6.95455155e-01 -7.18552905e-01 4.88354261e-03 5.70715216e+02] [ 7.18535647e-01 -6.95472300e-01 -4.98041244e-03 -3.09903745e+02] [ 6.97505844e-03 4.53459384e-05 9.99975673e-01 -5.89439455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9265599949999 meters 0.05084668587281202 Centerline is valid? [True, True] Translation: X:570.68, Y:-309.86, Z:-5.89 [[-6.94506570e-01 -7.19473629e-01 4.28038516e-03 5.70676620e+02] [ 7.19460396e-01 -6.94519758e-01 -4.36400570e-03 -3.09861065e+02] [ 6.11259908e-03 4.87369735e-05 9.99981317e-01 -5.89328267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.986559995 meters 0.05087482992756128 Centerline is valid? [True, True] Translation: X:570.63, Y:-309.82, Z:-5.89 [[-6.91453514e-01 -7.22409208e-01 4.11998187e-03 5.70633325e+02] [ 7.22397006e-01 -6.91465784e-01 -4.19931598e-03 -3.09823345e+02] [ 5.88245103e-03 7.26307766e-05 9.99982696e-01 -5.89467490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0465599949999 meters 0.050620617468728334 Centerline is valid? [True, True] Translation: X:570.59, Y:-309.78, Z:-5.89 [[-6.88466781e-01 -7.25249695e-01 5.13536562e-03 5.70593567e+02] [ 7.25230827e-01 -6.88485923e-01 -5.23279526e-03 -3.09782266e+02] [ 7.33071010e-03 1.21719744e-04 9.99973123e-01 -5.89431457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1065599949999 meters 0.0513877034097783 Centerline is valid? [True, True] Translation: X:570.55, Y:-309.74, Z:-5.89 [[-6.87283082e-01 -7.26368423e-01 5.55690558e-03 5.70551561e+02] [ 7.26346379e-01 -6.87305531e-01 -5.66080821e-03 -3.09743182e+02] [ 7.93112427e-03 1.45660529e-04 9.99968538e-01 -5.89466114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.166559995 meters 0.05161963546819098 Centerline is valid? [True, True] Translation: X:570.51, Y:-309.71, Z:-5.90 [[-6.87014902e-01 -7.26622952e-01 5.44141419e-03 5.70506521e+02] [ 7.26601836e-01 -6.87036435e-01 -5.54152266e-03 -3.09708573e+02] [ 7.76504736e-03 1.46632891e-04 9.99969841e-01 -5.89674551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2265599949999 meters 0.05056165906048785 Centerline is valid? [True, True] Translation: X:570.47, Y:-309.66, Z:-5.89 [[-6.87700921e-01 -7.25980454e-01 4.45236444e-03 5.70470155e+02] [ 7.25966310e-01 -6.87715324e-01 -4.53315798e-03 -3.09662972e+02] [ 6.35294334e-03 1.14809662e-04 9.99979813e-01 -5.89189766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.286559995 meters 0.051349511678627946 Centerline is valid? [True, True] Translation: X:570.43, Y:-309.62, Z:-5.89 [[-6.89500204e-01 -7.24274669e-01 3.95884341e-03 5.70429499e+02] [ 7.24263464e-01 -6.89511564e-01 -4.02970390e-03 -3.09620816e+02] [ 5.64828077e-03 8.87639749e-05 9.99984044e-01 -5.89168131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3465599949999 meters 0.05130642663082902 Centerline is valid? [True, True] Translation: X:570.39, Y:-309.58, Z:-5.89 [[-6.90755712e-01 -7.23075037e-01 4.36317367e-03 5.70388141e+02] [ 7.23061409e-01 -6.90769487e-01 -4.44013977e-03 -3.09581253e+02] [ 6.22450146e-03 8.77905870e-05 9.99980624e-01 -5.89351151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.406559995 meters 0.05213900370759647 Centerline is valid? [True, True] Translation: X:570.35, Y:-309.54, Z:-5.90 [[-6.92756868e-01 -7.21151334e-01 5.35485808e-03 5.70348138e+02] [ 7.21130761e-01 -6.92777558e-01 -5.44803187e-03 -3.09539582e+02] [ 7.63858096e-03 8.73913890e-05 9.99970822e-01 -5.89567156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4665599949999 meters 0.051894629008153385 Centerline is valid? [True, True] Translation: X:570.31, Y:-309.50, Z:-5.90 [[-6.92637608e-01 -7.21262390e-01 5.80592272e-03 5.70306380e+02] [ 7.21238221e-01 -6.92661935e-01 -5.90536700e-03 -3.09500029e+02] [ 8.28086078e-03 9.71740982e-05 9.99965708e-01 -5.89711081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.526559995 meters 0.05162192306380846 Centerline is valid? [True, True] Translation: X:570.27, Y:-309.46, Z:-5.90 [[-6.91510106e-01 -7.22339874e-01 6.23538177e-03 5.70266288e+02] [ 7.22312056e-01 -6.91538207e-01 -6.34045260e-03 -3.09458668e+02] [ 8.89196647e-03 1.19404383e-04 9.99960459e-01 -5.89592672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5865599949999 meters 0.05159503961299867 Centerline is valid? [True, True] Translation: X:570.23, Y:-309.42, Z:-5.90 [[-6.88808745e-01 -7.24911321e-01 6.78896470e-03 5.70225659e+02] [ 7.24878486e-01 -6.88842180e-01 -6.90156159e-03 -3.09417818e+02] [ 9.67954537e-03 1.67318473e-04 9.99953138e-01 -5.89526306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.646559995 meters 0.050903168246733285 Centerline is valid? [True, True] Translation: X:570.19, Y:-309.38, Z:-5.89 [[-6.87552534e-01 -7.26106041e-01 6.44448439e-03 5.70185935e+02] [ 7.26076521e-01 -6.87582713e-01 -6.54967326e-03 -3.09375563e+02] [ 9.18687338e-03 1.75944368e-04 9.99957784e-01 -5.89434541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7065599949999 meters 0.050700407917857314 Centerline is valid? [True, True] Translation: X:570.15, Y:-309.33, Z:-5.89 [[-6.87640831e-01 -7.26024957e-01 6.15218640e-03 5.70146099e+02] [ 7.25998066e-01 -6.87668331e-01 -6.25100738e-03 -3.09333321e+02] [ 8.76905112e-03 1.68027517e-04 9.99961537e-01 -5.89375869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.766559995 meters 0.0506996022003303 Centerline is valid? [True, True] Translation: X:570.11, Y:-309.29, Z:-5.89 [[-6.88101780e-01 -7.25592556e-01 5.60208009e-03 5.70105724e+02] [ 7.25570256e-01 -6.88124568e-01 -5.69060530e-03 -3.09291184e+02] [ 7.98398979e-03 1.48987043e-04 9.99968116e-01 -5.89346326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8265599949999 meters 0.05080609249441111 Centerline is valid? [True, True] Translation: X:570.07, Y:-309.25, Z:-5.89 [[-6.88128782e-01 -7.25570112e-01 5.17612637e-03 5.70065690e+02] [ 7.25551083e-01 -6.88148235e-01 -5.25656487e-03 -3.09249301e+02] [ 7.37594858e-03 1.38350517e-04 9.99972788e-01 -5.89303344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.886559995 meters 0.05063379332608921 Centerline is valid? [True, True] Translation: X:570.02, Y:-309.21, Z:-5.89 [[-6.88082547e-01 -7.25612563e-01 5.36813867e-03 5.70024202e+02] [ 7.25592111e-01 -6.88103471e-01 -5.44990013e-03 -3.09211981e+02] [ 7.64835086e-03 1.45097908e-04 9.99970740e-01 -5.89441086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9465599949999 meters 0.05103102586267934 Centerline is valid? [True, True] Translation: X:569.98, Y:-309.17, Z:-5.89 [[-6.87802728e-01 -7.25877183e-01 5.45191005e-03 5.69984436e+02] [ 7.25856107e-01 -6.87824318e-01 -5.53350944e-03 -3.09169937e+02] [ 7.76660455e-03 1.51339320e-04 9.99969828e-01 -5.89446937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.006559995 meters 0.051120892980525454 Centerline is valid? [True, True] Translation: X:569.94, Y:-309.13, Z:-5.90 [[-6.86688650e-01 -7.26935799e-01 4.80029574e-03 5.69941210e+02] [ 7.26919492e-01 -6.86705412e-01 -4.87115324e-03 -3.09133117e+02] [ 6.83740474e-03 1.44462900e-04 9.99976614e-01 -5.89578653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0665599949999 meters 0.051177454103204324 Centerline is valid? [True, True] Translation: X:569.90, Y:-309.09, Z:-5.90 [[-6.86133746e-01 -7.27462768e-01 4.28992639e-03 5.69900556e+02] [ 7.27449762e-01 -6.86147144e-01 -4.35205884e-03 -3.09092561e+02] [ 6.10948151e-03 1.34611497e-04 9.99981328e-01 -5.89556920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.126559995 meters 0.05207643816039554 Centerline is valid? [True, True] Translation: X:569.86, Y:-309.05, Z:-5.90 [[-6.85581671e-01 -7.27982577e-01 4.37497358e-03 5.69858476e+02] [ 7.27969069e-01 -6.85595615e-01 -4.43706207e-03 -3.09054810e+02] [ 6.22956658e-03 1.42877009e-04 9.99980586e-01 -5.89677700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1865599949999 meters 0.051541600849674823 Centerline is valid? [True, True] Translation: X:569.82, Y:-309.01, Z:-5.90 [[-6.86151115e-01 -7.27445890e-01 4.37323360e-03 5.69821488e+02] [ 7.27432390e-01 -6.86165037e-01 -4.43398074e-03 -3.09011956e+02] [ 6.22624106e-03 1.38850944e-04 9.99980607e-01 -5.89675086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.246559995 meters 0.05166206224537199 Centerline is valid? [True, True] Translation: X:569.78, Y:-308.97, Z:-5.90 [[-6.87374377e-01 -7.26290934e-01 4.23625730e-03 5.69780458e+02] [ 7.26278252e-01 -6.87387419e-01 -4.29382510e-03 -3.08973269e+02] [ 6.03051621e-03 1.25236194e-04 9.99981808e-01 -5.89789383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3065599949999 meters 0.05219735814126581 Centerline is valid? [True, True] Translation: X:569.74, Y:-308.93, Z:-5.90 [[-6.88668818e-01 -7.25065845e-01 3.84438482e-03 5.69740767e+02] [ 7.25055388e-01 -6.88679541e-01 -3.89546450e-03 -3.08932936e+02] [ 5.47201743e-03 1.04706993e-04 9.99985023e-01 -5.89863241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.366559995 meters 0.05073129446758442 Centerline is valid? [True, True] Translation: X:569.71, Y:-308.89, Z:-5.90 [[-6.90032726e-01 -7.23766871e-01 4.04389479e-03 5.69705104e+02] [ 7.23755285e-01 -6.90044569e-01 -4.09652994e-03 -3.08888238e+02] [ 5.75540029e-03 1.00050504e-04 9.99983433e-01 -5.89727574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4265599949999 meters 0.05019562879751235 Centerline is valid? [True, True] Translation: X:569.67, Y:-308.84, Z:-5.90 [[-6.91765723e-01 -7.22111631e-01 3.86989353e-03 5.69666616e+02] [ 7.22100998e-01 -6.91776543e-01 -3.91964432e-03 -3.08843973e+02] [ 5.50752232e-03 8.29783909e-05 9.99984830e-01 -5.89602643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.486559995 meters 0.051083131730846144 Centerline is valid? [True, True] Translation: X:569.63, Y:-308.80, Z:-5.90 [[-6.94827272e-01 -7.19166976e-01 3.73130930e-03 5.69627580e+02] [ 7.19157053e-01 -6.94837288e-01 -3.77843048e-03 -3.08802773e+02] [ 5.30997526e-03 5.80408555e-05 9.99985900e-01 -5.89599086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5465599949999 meters 0.05078982593788781 Centerline is valid? [True, True] Translation: X:569.59, Y:-308.76, Z:-5.90 [[-6.99108584e-01 -7.15006789e-01 3.53255135e-03 5.69589593e+02] [ 7.14997844e-01 -6.99117509e-01 -3.57655084e-03 -3.08759154e+02] [ 5.02692663e-03 2.53692059e-05 9.99987365e-01 -5.89579338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6065599949999 meters 0.05085109945594438 Centerline is valid? [True, True] Translation: X:569.55, Y:-308.72, Z:-5.90 [[-7.02288832e-01 -7.11884253e-01 3.34763253e-03 5.69551561e+02] [ 7.11876188e-01 -7.02296811e-01 -3.38854516e-03 -3.08717150e+02] [ 4.76328359e-03 3.36246637e-06 9.99988656e-01 -5.89609401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.666559995 meters 0.051169735112625334 Centerline is valid? [True, True] Translation: X:569.51, Y:-308.68, Z:-5.90 [[-7.04102405e-01 -7.10091121e-01 3.22544066e-03 5.69511298e+02] [ 7.10083619e-01 -7.04109792e-01 -3.26398661e-03 -3.08675794e+02] [ 4.58879226e-03 -7.84824162e-06 9.99989471e-01 -5.89572625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7265599949999 meters 0.05036653533440924 Centerline is valid? [True, True] Translation: X:569.47, Y:-308.64, Z:-5.90 [[-7.03370372e-01 -7.10812953e-01 3.88134543e-03 5.69470338e+02] [ 7.10802109e-01 -7.03381081e-01 -3.92648578e-03 -3.08636634e+02] [ 5.52106189e-03 -2.90524726e-06 9.99984759e-01 -5.89631594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.786559995 meters 0.051498710160326526 Centerline is valid? [True, True] Translation: X:569.43, Y:-308.60, Z:-5.90 [[-7.02813367e-01 -7.11360828e-01 4.37537664e-03 5.69428581e+02] [ 7.11347065e-01 -7.02826987e-01 -4.42495101e-03 -3.08597929e+02] [ 6.22286959e-03 2.49660729e-06 9.99980638e-01 -5.89661605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8465599949999 meters 0.05092117061486774 Centerline is valid? [True, True] Translation: X:569.39, Y:-308.56, Z:-5.90 [[-7.02560100e-01 -7.11613193e-01 3.99626128e-03 5.69387149e+02] [ 7.11601721e-01 -7.02571466e-01 -4.04061845e-03 -3.08559225e+02] [ 5.68301654e-03 4.96910657e-06 9.99983852e-01 -5.89826309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.906559995 meters 0.051175623548164864 Centerline is valid? [True, True] Translation: X:569.35, Y:-308.52, Z:-5.90 [[-7.01689911e-01 -7.12473780e-01 3.51895639e-03 5.69345820e+02] [ 7.12464901e-01 -7.01698734e-01 -3.55679067e-03 -3.08521872e+02] [ 5.00336733e-03 1.13687868e-05 9.99987483e-01 -5.89734926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9665599949999 meters 0.050814496012421516 Centerline is valid? [True, True] Translation: X:569.30, Y:-308.48, Z:-5.90 [[-6.99062111e-01 -7.15053276e-01 3.31309128e-03 5.69303235e+02] [ 7.15045440e-01 -6.99069962e-01 -3.34783180e-03 -3.08482906e+02] [ 4.70996069e-03 2.86684431e-05 9.99988908e-01 -5.89586239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.026559995 meters 0.05089592720349337 Centerline is valid? [True, True] Translation: X:569.26, Y:-308.44, Z:-5.90 [[-6.96576631e-01 -7.17475669e-01 3.10820129e-03 5.69261364e+02] [ 7.17468800e-01 -6.96583564e-01 -3.13995171e-03 -3.08443174e+02] [ 4.41796089e-03 4.28204651e-05 9.99990240e-01 -5.89519378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0865599949999 meters 0.05072966465585114 Centerline is valid? [True, True] Translation: X:569.22, Y:-308.41, Z:-5.90 [[-6.93400172e-01 -7.20543445e-01 3.65314344e-03 5.69215957e+02] [ 7.20534004e-01 -6.93409791e-01 -3.68941250e-03 -3.08407731e+02] [ 5.19150742e-03 7.39748042e-05 9.99986521e-01 -5.89753531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.146559995 meters 0.05116906469923481 Centerline is valid? [True, True] Translation: X:569.18, Y:-308.37, Z:-5.90 [[-6.91245058e-01 -7.22600983e-01 5.29993046e-03 5.69175539e+02] [ 7.22581181e-01 -6.91265363e-01 -5.35114373e-03 -3.08366176e+02] [ 7.53040007e-03 1.30678354e-04 9.99971638e-01 -5.89819539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2065599949999 meters 0.05092307098177666 Centerline is valid? [True, True] Translation: X:569.13, Y:-308.33, Z:-5.90 [[-6.90040572e-01 -7.23742183e-01 6.42354737e-03 5.69134443e+02] [ 7.23713158e-01 -6.90070448e-01 -6.48394952e-03 -3.08325478e+02] [ 9.12540798e-03 1.74617519e-04 9.99958347e-01 -5.89910169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.266559995 meters 0.05061455100273276 Centerline is valid? [True, True] Translation: X:569.09, Y:-308.28, Z:-5.90 [[-6.90308385e-01 -7.23484952e-01 6.62248080e-03 5.69094578e+02] [ 7.23454109e-01 -6.90340128e-01 -6.68281867e-03 -3.08283927e+02] [ 9.40668299e-03 1.77855176e-04 9.99955740e-01 -5.89946714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3265599949999 meters 0.05081235938731048 Centerline is valid? [True, True] Translation: X:569.06, Y:-308.24, Z:-5.90 [[-6.92792867e-01 -7.21104896e-01 6.76561700e-03 5.69056248e+02] [ 7.21072609e-01 -6.92825885e-01 -6.82536918e-03 -3.08241201e+02] [ 9.60920172e-03 1.49934015e-04 9.99953819e-01 -5.89908929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.386559995 meters 0.051383524059519604 Centerline is valid? [True, True] Translation: X:569.02, Y:-308.20, Z:-5.90 [[-6.97419258e-01 -7.16643944e-01 5.27593688e-03 5.69019948e+02] [ 7.16624193e-01 -6.97439210e-01 -5.32105396e-03 -3.08197990e+02] [ 7.49294635e-03 6.98585047e-05 9.99971925e-01 -5.89880112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4465599949999 meters 0.0512574170599405 Centerline is valid? [True, True] Translation: X:568.98, Y:-308.15, Z:-5.90 [[-7.02847105e-01 -7.11327915e-01 4.30635249e-03 5.68984439e+02] [ 7.11314663e-01 -7.02860297e-01 -4.34201117e-03 -3.08151827e+02] [ 6.11535794e-03 1.14016875e-05 9.99981301e-01 -5.89813337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.506559995 meters 0.05120185319922234 Centerline is valid? [True, True] Translation: X:568.95, Y:-308.11, Z:-5.90 [[-7.07597991e-01 -7.06597705e-01 4.97662429e-03 5.68949897e+02] [ 7.06579899e-01 -7.07615490e-01 -5.01636687e-03 -3.08107138e+02] [ 7.06608975e-03 -3.31884255e-05 9.99975034e-01 -5.89999514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5665599949999 meters 0.0513372740581428 Centerline is valid? [True, True] Translation: X:568.91, Y:-308.07, Z:-5.90 [[-7.08487565e-01 -7.05701947e-01 5.48918225e-03 5.68909593e+02] [ 7.05680272e-01 -7.08508828e-01 -5.53125369e-03 -3.08067372e+02] [ 7.79255059e-03 -4.52168412e-05 9.99969637e-01 -5.89955517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.626559995 meters 0.051485918770278305 Centerline is valid? [True, True] Translation: X:568.87, Y:-308.03, Z:-5.90 [[-7.08171165e-01 -7.06013969e-01 6.15438125e-03 5.68868089e+02] [ 7.05986749e-01 -7.08197905e-01 -6.19979263e-03 -3.08028173e+02] [ 8.73566011e-03 -4.56027542e-05 9.99961842e-01 -5.89906778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6865599949999 meters 0.05168295070315194 Centerline is valid? [True, True] Translation: X:568.83, Y:-307.99, Z:-5.90 [[-7.08390314e-01 -7.05783136e-01 7.30261404e-03 5.68827118e+02] [ 7.05744820e-01 -7.08427951e-01 -7.35441163e-03 -3.07988431e+02] [ 1.03639956e-02 -5.60119302e-05 9.99946291e-01 -5.89704413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.746559995 meters 0.051801596839155924 Centerline is valid? [True, True] Translation: X:568.79, Y:-307.95, Z:-5.90 [[-7.10821038e-01 -7.03334251e-01 7.37442609e-03 5.68789205e+02] [ 7.03295065e-01 -7.10859285e-01 -7.42486119e-03 -3.07945909e+02] [ 1.04643384e-02 -9.13500656e-05 9.99945243e-01 -5.89909596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8065599949999 meters 0.051456973857117665 Centerline is valid? [True, True] Translation: X:568.75, Y:-307.91, Z:-5.90 [[-7.13095688e-01 -7.01042313e-01 5.84939489e-03 5.68747639e+02] [ 7.01017593e-01 -7.13119671e-01 -5.88797926e-03 -3.07906019e+02] [ 8.29904116e-03 -9.81638938e-05 9.99965558e-01 -5.89644846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.866559995 meters 0.051703824107673636 Centerline is valid? [True, True] Translation: X:568.71, Y:-307.87, Z:-5.90 [[-7.13569184e-01 -7.00573723e-01 3.93424375e-03 5.68707149e+02] [ 7.00562538e-01 -7.13580026e-01 -3.95936308e-03 -3.07865784e+02] [ 5.58122349e-03 -6.90956958e-05 9.99984422e-01 -5.89529542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9265599949999 meters 0.05155306127030253 Centerline is valid? [True, True] Translation: X:568.67, Y:-307.83, Z:-5.89 [[-7.12513223e-01 -7.01648977e-01 3.69054467e-03 5.68666078e+02] [ 7.01639154e-01 -7.12522779e-01 -3.71311388e-03 -3.07829071e+02] [ 5.23489970e-03 -5.62120954e-05 9.99986296e-01 -5.89422238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.986559995 meters 0.05139485759211802 Centerline is valid? [True, True] Translation: X:568.62, Y:-307.79, Z:-5.89 [[-7.08681436e-01 -7.05522154e-01 3.01857453e-03 5.68620897e+02] [ 7.05515620e-01 -7.08687865e-01 -3.03645534e-03 -3.07792755e+02] [ 4.28151365e-03 -2.22280523e-05 9.99990834e-01 -5.89456998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0465599949999 meters 0.05112947170025414 Centerline is valid? [True, True] Translation: X:568.58, Y:-307.76, Z:-5.90 [[-7.03827481e-01 -7.10361208e-01 3.71902710e-03 5.68577241e+02] [ 7.10351364e-01 -7.03837306e-01 -3.73975122e-03 -3.07758133e+02] [ 5.27416421e-03 9.67629545e-06 9.99986091e-01 -5.89546820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1065599949999 meters 0.05101260759104377 Centerline is valid? [True, True] Translation: X:568.53, Y:-307.72, Z:-5.89 [[-6.99491631e-01 -7.14635741e-01 2.68622443e-03 5.68533150e+02] [ 7.14630639e-01 -6.99496788e-01 -2.70046266e-03 -3.07720495e+02] [ 3.80885249e-03 3.07072457e-05 9.99992746e-01 -5.89362388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.166559995 meters 0.051867326029983424 Centerline is valid? [True, True] Translation: X:568.49, Y:-307.68, Z:-5.89 [[-6.97707013e-01 -7.16379959e-01 2.16278348e-03 5.68490127e+02] [ 7.16376663e-01 -6.97710365e-01 -2.17363031e-03 -3.07683312e+02] [ 3.06614165e-03 3.28105018e-05 9.99995299e-01 -5.89319628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2265599949999 meters 0.05121350994943159 Centerline is valid? [True, True] Translation: X:568.45, Y:-307.64, Z:-5.89 [[-6.97661967e-01 -7.16425418e-01 1.54906970e-03 5.68449082e+02] [ 7.16423728e-01 -6.97663686e-01 -1.55642737e-03 -3.07641754e+02] [ 2.19579381e-03 2.39301105e-05 9.99997589e-01 -5.89269011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.286559995 meters 0.05091816953610984 Centerline is valid? [True, True] Translation: X:568.41, Y:-307.60, Z:-5.89 [[-6.98576200e-01 -7.15533064e-01 1.93062231e-03 5.68408988e+02] [ 7.15530437e-01 -6.98578867e-01 -1.93934472e-03 -3.07602072e+02] [ 2.73635722e-03 2.66389599e-05 9.99996256e-01 -5.89306079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3465599949999 meters 0.0513260891456003 Centerline is valid? [True, True] Translation: X:568.37, Y:-307.56, Z:-5.89 [[-7.00583218e-01 -7.13563993e-01 3.09577052e-03 5.68369137e+02] [ 7.13557220e-01 -7.00590057e-01 -3.10898110e-03 -3.07559567e+02] [ 4.38732301e-03 3.09094259e-05 9.99990375e-01 -5.89412544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.406559995 meters 0.05166008993590873 Centerline is valid? [True, True] Translation: X:568.33, Y:-307.52, Z:-5.90 [[-7.01677029e-01 -7.12480726e-01 4.53443411e-03 5.68329204e+02] [ 7.12466183e-01 -7.01691680e-01 -4.55249616e-03 -3.07519288e+02] [ 6.42534046e-03 3.62489788e-05 9.99979357e-01 -5.89678599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4665599949999 meters 0.051273158006821494 Centerline is valid? [True, True] Translation: X:568.29, Y:-307.48, Z:-5.90 [[-7.02039708e-01 -7.12118958e-01 5.18042636e-03 5.68290828e+02] [ 7.12099975e-01 -7.02058821e-01 -5.19976710e-03 -3.07475886e+02] [ 7.33981675e-03 3.85385063e-05 9.99973062e-01 -5.89569817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.526559995 meters 0.05098771543795133 Centerline is valid? [True, True] Translation: X:568.25, Y:-307.43, Z:-5.90 [[-7.02649855e-01 -7.11514670e-01 5.48236425e-03 5.68253286e+02] [ 7.11493405e-01 -7.02671241e-01 -5.50109748e-03 -3.07433320e+02] [ 7.76641125e-03 3.53206659e-05 9.99969840e-01 -5.89714598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5865599949999 meters 0.05150591579162539 Centerline is valid? [True, True] Translation: X:568.22, Y:-307.39, Z:-5.90 [[-7.03818854e-01 -7.10363925e-01 4.70255655e-03 5.68216331e+02] [ 7.10348263e-01 -7.03834564e-01 -4.71722841e-03 -3.07388777e+02] [ 6.66077073e-03 2.03785803e-05 9.99977817e-01 -5.89639757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.646559995 meters 0.05111951601346761 Centerline is valid? [True, True] Translation: X:568.18, Y:-307.34, Z:-5.90 [[-7.05721474e-01 -7.08480325e-01 3.58189352e-03 5.68180024e+02] [ 7.08471219e-01 -7.05730564e-01 -3.59210528e-03 -3.07342921e+02] [ 5.07278765e-03 2.64263290e-06 9.99987133e-01 -5.89548917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7065599949999 meters 0.05175164684184969 Centerline is valid? [True, True] Translation: X:568.14, Y:-307.30, Z:-5.90 [[-7.06817591e-01 -7.07389053e-01 3.10173513e-03 5.68142829e+02] [ 7.07382218e-01 -7.06824397e-01 -3.10959294e-03 -3.07300159e+02] [ 4.39207407e-03 -3.80271208e-06 9.99990355e-01 -5.89603512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.766559995 meters 0.05070390431918277 Centerline is valid? [True, True] Translation: X:568.10, Y:-307.26, Z:-5.89 [[-7.07279962e-01 -7.06923154e-01 3.83540896e-03 5.68104005e+02] [ 7.06912702e-01 -7.07290361e-01 -3.84408574e-03 -3.07256610e+02] [ 5.43022100e-03 -7.54550142e-06 9.99985256e-01 -5.89447449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8265599949999 meters 0.051173023715965965 Centerline is valid? [True, True] Translation: X:568.07, Y:-307.22, Z:-5.89 [[-7.06618812e-01 -7.07580410e-01 4.45182211e-03 5.68065263e+02] [ 7.07566351e-01 -7.06632835e-01 -4.46046667e-03 -3.07215781e+02] [ 6.30194252e-03 -1.89013601e-06 9.99980143e-01 -5.89346023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.886559995 meters 0.05128040598811377 Centerline is valid? [True, True] Translation: X:568.03, Y:-307.17, Z:-5.89 [[-7.04985970e-01 -7.09208157e-01 4.30952820e-03 5.68025573e+02] [ 7.09195018e-01 -7.04999142e-01 -4.31691963e-03 -3.07173419e+02] [ 6.09980830e-03 1.29281567e-05 9.99981396e-01 -5.89362288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9465599949999 meters 0.04990284109326427 Centerline is valid? [True, True] Translation: X:567.98, Y:-307.13, Z:-5.90 [[-7.03126448e-01 -7.11053927e-01 3.93842304e-03 5.67984406e+02] [ 7.11042988e-01 -7.03137478e-01 -3.94419041e-03 -3.07134658e+02] [ 5.57378492e-03 2.71234891e-05 9.99984466e-01 -5.89504047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.006559995 meters 0.051193107280785494 Centerline is valid? [True, True] Translation: X:567.94, Y:-307.09, Z:-5.90 [[-7.01105384e-01 -7.13043349e-01 4.51920020e-03 5.67943684e+02] [ 7.13028995e-01 -7.01119947e-01 -4.52463378e-03 -3.07093800e+02] [ 6.39476143e-03 5.00756746e-05 9.99979552e-01 -5.89545947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0665599949999 meters 0.050762662334934955 Centerline is valid? [True, True] Translation: X:567.90, Y:-307.05, Z:-5.90 [[-6.97991338e-01 -7.16089504e-01 4.89024423e-03 5.67902526e+02] [ 7.16072780e-01 -6.98008463e-01 -4.89483342e-03 -3.07053193e+02] [ 6.91857070e-03 8.52194573e-05 9.99976063e-01 -5.89523762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.126559995 meters 0.05059126306279813 Centerline is valid? [True, True] Translation: X:567.86, Y:-307.02, Z:-5.90 [[-6.96639707e-01 -7.17405596e-01 4.72541674e-03 5.67859269e+02] [ 7.17390018e-01 -6.96655727e-01 -4.72855974e-03 -3.07015338e+02] [ 6.68428385e-03 9.58643262e-05 9.99977655e-01 -5.89673157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1865599949999 meters 0.05044298503666536 Centerline is valid? [True, True] Translation: X:567.82, Y:-306.97, Z:-5.89 [[-6.96687759e-01 -7.17365204e-01 3.65106328e-03 5.67821850e+02] [ 7.17355909e-01 -6.96697322e-01 -3.65255228e-03 -3.06970538e+02] [ 5.16389992e-03 7.44233485e-05 9.99986664e-01 -5.89425083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.246559995 meters 0.05050060482369141 Centerline is valid? [True, True] Translation: X:567.78, Y:-306.93, Z:-5.89 [[-6.97306163e-01 -7.16766177e-01 3.21900747e-03 5.67780165e+02] [ 7.16758950e-01 -6.97313590e-01 -3.21948183e-03 -3.06931832e+02] [ 4.55227334e-03 6.22878956e-05 9.99989636e-01 -5.89412494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3065599949999 meters 0.05017486897380394 Centerline is valid? [True, True] Translation: X:567.74, Y:-306.89, Z:-5.89 [[-6.97828813e-01 -7.16257237e-01 3.24318581e-03 5.67738783e+02] [ 7.16249900e-01 -6.97836346e-01 -3.24269349e-03 -3.06894159e+02] [ 4.58581562e-03 6.00865656e-05 9.99989483e-01 -5.89497460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.366559995 meters 0.05098375462309593 Centerline is valid? [True, True] Translation: X:567.23, Y:-307.34, Z:-4.91 [[-7.64160010e-01 6.45016811e-01 3.57661567e-03 5.67226428e+02] [ 6.45009361e-01 7.64168378e-01 -3.10072264e-03 -3.07336929e+02] [-4.73315483e-03 -6.24976552e-05 -9.99988797e-01 -4.91308238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4265599949999 meters 0.05105058913861428 Centerline is valid? [True, True] Translation: X:567.65, Y:-306.83, Z:-5.90 [[-6.99845683e-01 -7.14284271e-01 3.74183558e-03 5.67651288e+02] [ 7.14274833e-01 -6.99855678e-01 -3.67325421e-03 -3.06827381e+02] [ 5.24249259e-03 1.01987884e-04 9.99986253e-01 -5.89688775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.486559995 meters 0.05067188174968521 Centerline is valid? [True, True] Translation: X:567.15, Y:-307.27, Z:-4.91 [[-7.66251678e-01 6.42515146e-01 5.71432222e-03 5.67145728e+02] [ 6.42496328e-01 7.66272979e-01 -4.91845599e-03 -3.07273471e+02] [-7.53891318e-03 -9.73441165e-05 -9.99971577e-01 -4.91220797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5465599949999 meters 0.05109411482510731 Centerline is valid? [True, True] Translation: X:567.12, Y:-307.15, Z:-4.91 [[-8.09522964e-01 5.87052720e-01 6.45557543e-03 5.67117729e+02] [ 5.87033070e-01 8.09548698e-01 -4.80415036e-03 -3.07152603e+02] [-8.04639222e-03 -9.94337793e-05 -9.99967622e-01 -4.91177760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6065599949999 meters 0.051100358540776915 Centerline is valid? [True, True] Translation: X:567.12, Y:-307.06, Z:-4.91 [[-8.47869508e-01 5.30152356e-01 7.46838958e-03 5.67123021e+02] [ 5.30130865e-01 8.47902395e-01 -4.77433836e-03 -3.07063997e+02] [-8.86359214e-03 -8.87920886e-05 -9.99960714e-01 -4.91179723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.666559995 meters 0.05053724978219148 Centerline is valid? [True, True] Translation: X:567.11, Y:-306.97, Z:-4.91 [[-8.82475095e-01 4.70306635e-01 7.02673729e-03 5.67109770e+02] [ 4.70291134e-01 8.82503068e-01 -3.81894694e-03 -3.06967278e+02] [-7.99719330e-03 -6.55133130e-05 -9.99968020e-01 -4.91198441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7265599949999 meters 0.05065710074215313 Centerline is valid? [True, True] Translation: X:567.08, Y:-306.87, Z:-4.91 [[-9.12297451e-01 4.09491238e-01 5.50329369e-03 5.67084469e+02] [ 4.09483580e-01 9.12314049e-01 -2.50458633e-03 -3.06872623e+02] [-6.04633831e-03 -3.14193210e-05 -9.99981720e-01 -4.91417227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.786559995 meters 0.050462307438110754 Centerline is valid? [True, True] Translation: X:567.02, Y:-306.77, Z:-4.91 [[-9.38442550e-01 3.45399191e-01 4.99803885e-03 5.67023615e+02] [ 3.45394188e-01 9.38455859e-01 -1.85909350e-03 -3.06766682e+02] [-5.33256823e-03 -1.83588770e-05 -9.99985782e-01 -4.91467794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8465599949999 meters 0.05073609128285693 Centerline is valid? [True, True] Translation: X:567.27, Y:-306.13, Z:-5.90 [[-9.10572486e-01 -4.13325672e-01 4.43136629e-03 5.67269562e+02] [ 4.13320710e-01 -9.10583268e-01 -2.02541058e-03 -3.06128309e+02] [ 4.87228219e-03 -1.27076926e-05 9.99988130e-01 -5.89614862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.906559995 meters 0.0506506105831018 Centerline is valid? [True, True] Translation: X:566.93, Y:-306.73, Z:-4.91 [[-9.39579449e-01 3.42299281e-01 4.65411584e-03 5.66925612e+02] [ 3.42295002e-01 9.39590976e-01 -1.71162000e-03 -3.06730979e+02] [-4.95885154e-03 -1.51223873e-05 -9.99987705e-01 -4.91337038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9665599949999 meters 0.05038609870906845 Centerline is valid? [True, True] Translation: X:567.02, Y:-306.68, Z:-4.91 [[-9.61631110e-01 2.74299554e-01 5.03608832e-03 5.67022286e+02] [ 2.74295696e-01 9.61644297e-01 -1.45492350e-03 -3.06680272e+02] [-5.24201048e-03 -1.77223472e-05 -9.99986260e-01 -4.91265068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.026559995 meters 0.050674858673485076 Centerline is valid? [True, True] Translation: X:567.05, Y:-305.98, Z:-5.90 [[-9.38730253e-01 -3.44602094e-01 5.90846219e-03 5.67049101e+02] [ 3.44595841e-01 -9.38748843e-01 -2.07772409e-03 -3.05976923e+02] [ 6.26255011e-03 8.56090353e-05 9.99980386e-01 -5.89731030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0865599949999 meters 0.05030810577011437 Centerline is valid? [True, True] Translation: X:566.73, Y:-306.59, Z:-4.91 [[-9.62274654e-01 2.72014382e-01 5.97209847e-03 5.66725460e+02] [ 2.72009058e-01 9.62293186e-01 -1.70180772e-03 -3.06591177e+02] [-6.20982584e-03 -1.31415553e-05 -9.99980719e-01 -4.91153611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.146559995 meters 0.05018160023668312 Centerline is valid? [True, True] Translation: X:566.89, Y:-305.93, Z:-5.90 [[-9.40917755e-01 -3.38585812e-01 5.78160288e-03 5.66888883e+02] [ 3.38579476e-01 -9.40935518e-01 -2.07123315e-03 -3.05932181e+02] [ 6.14140566e-03 8.67203318e-06 9.99981141e-01 -5.89851432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2065599949999 meters 0.051118400824301975 Centerline is valid? [True, True] Translation: X:566.56, Y:-306.55, Z:-4.91 [[-9.61872372e-01 2.73446313e-01 5.35295232e-03 5.66564778e+02] [ 2.73442177e-01 9.61887266e-01 -1.50420560e-03 -3.06547019e+02] [-5.56025615e-03 1.68691275e-05 -9.99984542e-01 -4.91121459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.266559995 meters 0.05036576142034347 Centerline is valid? [True, True] Translation: X:566.54, Y:-306.46, Z:-4.91 [[-9.78487992e-01 2.06241927e-01 5.05144869e-03 5.66541745e+02] [ 2.06239311e-01 9.78501031e-01 -1.03905630e-03 -3.06464039e+02] [-5.15714472e-03 2.51031858e-05 -9.99986702e-01 -4.91251516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3265599949999 meters 0.05054262944433524 Centerline is valid? [True, True] Translation: X:566.59, Y:-305.78, Z:-5.90 [[-9.65731966e-01 -2.59503364e-01 4.44682822e-03 5.66592068e+02] [ 2.59500348e-01 -9.65742202e-01 -1.25245288e-03 -3.05778638e+02] [ 4.61950541e-03 -5.55803156e-05 9.99989328e-01 -5.89785853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.386559995 meters 0.05040362020709345 Centerline is valid? [True, True] Translation: X:566.44, Y:-306.45, Z:-4.91 [[-9.78390849e-01 2.06727467e-01 3.88593221e-03 5.66438789e+02] [ 2.06725986e-01 9.78398565e-01 -7.83388904e-04 -3.06445523e+02] [-3.96393850e-03 3.68626330e-05 -9.99992143e-01 -4.91205318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4465599949999 meters 0.05121965771018027 Centerline is valid? [True, True] Translation: X:566.85, Y:-306.42, Z:-4.91 [[-9.91142378e-01 1.32750793e-01 3.74346263e-03 5.66854778e+02] [ 1.32749985e-01 9.91149447e-01 -4.64418765e-04 -3.06423222e+02] [-3.77198287e-03 3.66394904e-05 -9.99992885e-01 -4.91285598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.506559995 meters 0.05040923123533007 Centerline is valid? [True, True] Translation: X:566.22, Y:-305.66, Z:-5.90 [[-9.83490108e-01 -1.80920313e-01 3.87903673e-03 5.66218183e+02] [ 1.80918795e-01 -9.83497758e-01 -7.41833226e-04 -3.05655726e+02] [ 3.94923663e-03 -2.77949889e-05 9.99992201e-01 -5.89806481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5665599949999 meters 0.051084935128051456 Centerline is valid? [True, True] Translation: X:566.04, Y:-306.31, Z:-4.91 [[-9.91893203e-01 1.27006389e-01 4.15348615e-03 5.66035474e+02] [ 1.27005413e-01 9.91901898e-01 -4.99020443e-04 -3.06306631e+02] [-4.18322958e-03 3.25402370e-05 -9.99991250e-01 -4.91062779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.626559995 meters 0.051054325737640745 Centerline is valid? [True, True] Translation: X:566.09, Y:-305.65, Z:-5.90 [[-9.83345467e-01 -1.81676317e-01 5.04058133e-03 5.66090202e+02] [ 1.81674060e-01 -9.83358386e-01 -9.05926516e-04 -3.05647551e+02] [ 5.12128332e-03 2.49041444e-05 9.99986886e-01 -5.89879850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6865599949999 meters 0.05102442549877004 Centerline is valid? [True, True] Translation: X:565.95, Y:-306.29, Z:-4.91 [[-9.93186673e-01 1.16380317e-01 5.98786087e-03 5.65950491e+02] [ 1.16378233e-01 9.93204723e-01 -6.96409070e-04 -3.06290035e+02] [-6.02822001e-03 5.19246146e-06 -9.99981830e-01 -4.90950968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.746559995 meters 0.05105204497522023 Centerline is valid? [True, True] Translation: X:566.04, Y:-305.65, Z:-5.90 [[-9.83051794e-01 -1.83240713e-01 5.65787479e-03 5.66041271e+02] [ 1.83237542e-01 -9.83068075e-01 -1.07825753e-03 -3.05654056e+02] [ 5.75965676e-03 -2.32479322e-05 9.99983413e-01 -5.90254510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8065599949999 meters 0.05058203874405995 Centerline is valid? [True, True] Translation: X:565.84, Y:-306.28, Z:-4.91 [[-9.93848145e-01 1.10647137e-01 4.80372777e-03 5.65842103e+02] [ 1.10645818e-01 9.93859754e-01 -5.40344312e-04 -3.06277247e+02] [-4.83401925e-03 -5.50780276e-06 -9.99988316e-01 -4.90968992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.866559995 meters 0.050854493957254054 Centerline is valid? [True, True] Translation: X:565.86, Y:-305.63, Z:-5.90 [[-9.83882048e-01 -1.78777962e-01 3.81517819e-03 5.65856357e+02] [ 1.78776395e-01 -9.83889444e-01 -7.50680261e-04 -3.05632985e+02] [ 3.88791863e-03 -5.65170298e-05 9.99992440e-01 -5.89981432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9265599949999 meters 0.050536557328374566 Centerline is valid? [True, True] Translation: X:565.67, Y:-306.26, Z:-4.91 [[-9.94004573e-01 1.09275577e-01 3.70900166e-03 5.65671531e+02] [ 1.09274834e-01 9.94011493e-01 -4.02757763e-04 -3.06259386e+02] [-3.73080187e-03 4.95748383e-06 -9.99993041e-01 -4.90977228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.986559995 meters 0.0508895381077493 Centerline is valid? [True, True] Translation: X:565.63, Y:-306.18, Z:-4.91 [[-9.99223474e-01 3.91645219e-02 4.31149345e-03 5.65634052e+02] [ 3.91641970e-02 9.99232776e-01 -1.59804585e-04 -3.06183317e+02] [-4.31444424e-03 9.17568593e-06 -9.99990693e-01 -4.90856650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0465599949999 meters 0.05098571506617711 Centerline is valid? [True, True] Translation: X:565.63, Y:-305.54, Z:-5.90 [[-9.94718148e-01 -1.02487380e-01 5.66955005e-03 5.65626513e+02] [ 1.02486168e-01 -9.94734302e-01 -5.04726982e-04 -3.05539763e+02] [ 5.69142406e-03 7.89893684e-05 9.99983801e-01 -5.90241030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1065599949999 meters 0.05074784955674186 Centerline is valid? [True, True] Translation: X:565.52, Y:-306.18, Z:-4.91 [[-9.99367673e-01 3.47784182e-02 7.39702106e-03 5.65517500e+02] [ 3.47775458e-02 9.99395048e-01 -2.46573196e-04 -3.06180164e+02] [-7.40112164e-03 1.08329578e-05 -9.99972611e-01 -4.90565706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.166559995 meters 0.0509593412158687 Centerline is valid? [True, True] Translation: X:565.43, Y:-306.11, Z:-4.90 [[-9.99300097e-01 -3.61367929e-02 9.66682459e-03 5.65427247e+02] [-3.61349487e-02 9.99346853e-01 3.65426284e-04 -3.06107749e+02] [-9.67371606e-03 1.58603101e-05 -9.99953208e-01 -4.90346238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2265599949999 meters 0.051405565506971874 Centerline is valid? [True, True] Translation: X:565.42, Y:-306.04, Z:-4.90 [[-9.94249421e-01 -1.06627045e-01 9.93795803e-03 5.65420668e+02] [-1.06621484e-01 9.94299086e-01 1.08929977e-03 -3.06036487e+02] [-9.99745140e-03 2.34358306e-05 -9.99950024e-01 -4.90421501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.286559995 meters 0.051056602816951 Centerline is valid? [True, True] Translation: X:565.33, Y:-305.98, Z:-4.91 [[-9.84233495e-01 -1.76672641e-01 8.43828665e-03 5.65332614e+02] [-1.76665942e-01 9.84269667e-01 1.53878806e-03 -3.05975766e+02] [-8.57741134e-03 2.37688981e-05 -9.99963213e-01 -4.90527655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3465599949999 meters 0.05105568286200073 Centerline is valid? [True, True] Translation: X:565.24, Y:-305.92, Z:-4.91 [[-9.69016196e-01 -2.46937116e-01 5.44728211e-03 5.65236849e+02] [-2.46933146e-01 9.69031506e-01 1.40035176e-03 -3.05921823e+02] [-5.62438681e-03 1.18490255e-05 -9.99984183e-01 -4.90998410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.406559995 meters 0.050735104341830706 Centerline is valid? [True, True] Translation: X:565.18, Y:-305.86, Z:-4.91 [[-9.47252379e-01 -3.20448908e-01 5.04255977e-03 5.65184092e+02] [-3.20444444e-01 9.47265801e-01 1.69157889e-03 -3.05857677e+02] [-5.31870903e-03 -1.35081278e-05 -9.99985855e-01 -4.90876701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4665599949999 meters 0.05086446575823179 Centerline is valid? [True, True] Translation: X:565.08, Y:-305.82, Z:-4.91 [[-9.21059776e-01 -3.89390556e-01 4.88713889e-03 5.65079506e+02] [-3.89385220e-01 9.21072741e-01 2.03858623e-03 -3.05815553e+02] [-5.29521664e-03 -2.53198757e-05 -9.99985980e-01 -4.91016857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.526559995 meters 0.05079831019072694 Centerline is valid? [True, True] Translation: X:565.01, Y:-305.76, Z:-4.91 [[-8.86873212e-01 -4.61974351e-01 5.96692459e-03 5.65005115e+02] [-4.61964520e-01 8.86893281e-01 3.01490003e-03 -3.05762059e+02] [-6.68483181e-03 -8.26733814e-05 -9.99977653e-01 -4.90950275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5865599949999 meters 0.050327661958297736 Centerline is valid? [True, True] Translation: X:564.88, Y:-305.74, Z:-4.91 [[-8.47957276e-01 -5.30018128e-01 7.01721746e-03 5.64879216e+02] [-5.30001442e-01 8.47986298e-01 4.20835834e-03 -3.05740764e+02] [-8.18101047e-03 -1.50627297e-04 -9.99966524e-01 -4.90909704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.646559995 meters 0.05078425153209226 Centerline is valid? [True, True] Translation: X:564.76, Y:-305.72, Z:-4.91 [[-8.05393805e-01 -5.92694917e-01 7.31808721e-03 5.64756232e+02] [-5.92672563e-01 8.05427029e-01 5.15102543e-03 -3.05724988e+02] [-8.94717183e-03 -1.88625540e-04 -9.99959955e-01 -4.90848740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7065599949999 meters 0.0509657067500078 Centerline is valid? [True, True] Translation: X:564.58, Y:-305.75, Z:-4.91 [[-7.59605659e-01 -6.50338493e-01 7.68684179e-03 5.64581505e+02] [-6.50308147e-01 7.59644519e-01 6.28642487e-03 -3.05752427e+02] [-9.92757130e-03 -2.23611931e-04 -9.99950695e-01 -4.90611026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.766559995 meters 0.04978928448997999 Centerline is valid? [True, True] Translation: X:564.42, Y:-305.80, Z:-4.91 [[-7.11488288e-01 -7.02662457e-01 7.06310954e-03 5.64418374e+02] [-7.02630658e-01 7.11523316e-01 6.68795096e-03 -3.05795514e+02] [-9.72493917e-03 -2.04358524e-04 -9.99952691e-01 -4.90774848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8265599949999 meters 0.04972355797279258 Centerline is valid? [True, True] Translation: X:564.25, Y:-305.86, Z:-4.91 [[-6.62575105e-01 -7.48978763e-01 5.00428546e-03 5.64251042e+02] [-7.48958714e-01 6.62593993e-01 5.48133324e-03 -3.05859620e+02] [-7.42121167e-03 -1.16208257e-04 -9.99972456e-01 -4.90984069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.886559995 meters 0.04994743116622263 Centerline is valid? [True, True] Translation: X:564.04, Y:-305.99, Z:-4.91 [[-6.12517715e-01 -7.90448434e-01 3.64998449e-03 5.64040725e+02] [-7.90434875e-01 6.12528588e-01 4.63006246e-03 -3.05988555e+02] [-5.89554546e-03 -4.90797549e-05 -9.99982620e-01 -4.90895827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9465599949999 meters 0.050550727155056964 Centerline is valid? [True, True] Translation: X:563.84, Y:-306.14, Z:-4.91 [[-5.59015945e-01 -8.29149754e-01 3.44374698e-03 5.63842179e+02] [-8.29134138e-01 5.59026552e-01 5.08879965e-03 -3.06140477e+02] [-6.14452298e-03 -1.06080373e-05 -9.99981122e-01 -4.90991296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.006559995 meters 0.05075124346828903 Centerline is valid? [True, True] Translation: X:563.68, Y:-306.26, Z:-4.91 [[-4.99259626e-01 -8.66444365e-01 3.74000765e-03 5.63680849e+02] [-8.66419869e-01 4.99273634e-01 6.51523382e-03 -3.06259926e+02] [-7.51237484e-03 1.23762653e-05 -9.99971782e-01 -4.90896496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0665599949999 meters 0.051116231517204215 Centerline is valid? [True, True] Translation: X:563.50, Y:-306.43, Z:-4.91 [[-4.35568304e-01 -9.00148454e-01 3.60739451e-03 5.63504817e+02] [-9.00117084e-01 4.35583241e-01 7.51495983e-03 -3.06428295e+02] [-8.33590007e-03 2.62008778e-05 -9.99965255e-01 -4.90832385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.126559995 meters 0.05092772698025681 Centerline is valid? [True, True] Translation: X:563.35, Y:-306.60, Z:-4.91 [[-3.68798027e-01 -9.29503555e-01 3.34027843e-03 5.63348203e+02] [-9.29464523e-01 3.68813151e-01 8.51824850e-03 -3.06600504e+02] [-9.14968088e-03 3.68429410e-05 -9.99958140e-01 -4.90885234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1865599949999 meters 0.05115362109322419 Centerline is valid? [True, True] Translation: X:563.25, Y:-306.66, Z:-4.91 [[-3.00112297e-01 -9.53899960e-01 2.73422386e-03 5.63245535e+02] [-9.53858704e-01 3.00124747e-01 8.87184627e-03 -3.06661032e+02] [-9.28346205e-03 5.44869392e-05 -9.99956906e-01 -4.90780065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.246559995 meters 0.051061245759899454 Centerline is valid? [True, True] Translation: X:563.08, Y:-306.99, Z:-4.91 [[-2.30914483e-01 -9.72971918e-01 2.03667733e-03 5.63075331e+02] [-9.72931616e-01 2.30923456e-01 8.85602077e-03 -3.06992360e+02] [-9.08697608e-03 6.34356878e-05 -9.99958711e-01 -4.90838447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3065599949999 meters 0.051375802209044405 Centerline is valid? [True, True] Translation: X:562.96, Y:-307.20, Z:-4.91 [[-1.58493917e-01 -9.87359122e-01 1.28124649e-03 5.62958644e+02] [-9.87323646e-01 1.58499084e-01 8.37003615e-03 -3.07201642e+02] [-8.46730794e-03 6.15948588e-05 -9.99964150e-01 -4.90869971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.366559995 meters 0.05139463356647991 Centerline is valid? [True, True] Translation: X:562.86, Y:-307.42, Z:-4.91 [[-8.48193230e-02 -9.96396154e-01 6.22610558e-04 5.62858448e+02] [-9.96364056e-01 8.48215882e-02 7.99789126e-03 -3.07420462e+02] [-8.02187891e-03 5.80289413e-05 -9.99967823e-01 -4.90811623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4265599949999 meters 0.051607193069867725 Centerline is valid? [True, True] Translation: X:562.77, Y:-307.66, Z:-4.91 [[-1.09082479e-02 -9.99940503e-01 2.65733585e-05 5.62772746e+02] [-9.99911861e-01 1.09081366e-02 7.56859138e-03 -3.07655683e+02] [-7.56843093e-03 5.59890549e-05 -9.99971357e-01 -4.90904253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.486559995 meters 0.05145194107426327 Centerline is valid? [True, True] Translation: X:562.69, Y:-307.86, Z:-4.91 [[ 5.66628533e-02 -9.98393250e-01 -4.88782352e-04 5.62692841e+02] [-9.98374981e-01 -5.66647742e-02 6.04153484e-03 -3.07856393e+02] [-6.05952435e-03 1.45657469e-04 -9.99981630e-01 -4.90929872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5465599949999 meters 0.05204851601357956 Centerline is valid? [True, True] Translation: X:562.64, Y:-308.06, Z:-4.91 [[ 1.30316507e-01 -9.91472140e-01 -7.77032494e-04 5.62639939e+02] [-9.91456459e-01 -1.30318816e-01 5.57636193e-03 -3.08057177e+02] [-5.63006945e-03 4.37018770e-05 -9.99984150e-01 -4.90864077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6065599949999 meters 0.05182337736375495 Centerline is valid? [True, True] Translation: X:562.48, Y:-307.62, Z:-4.91 [[ 2.04661863e-01 -9.78832002e-01 -1.19774870e-03 5.62475030e+02] [-9.78816529e-01 -2.04665363e-01 5.50379778e-03 -3.07622556e+02] [-5.63243107e-03 4.59587168e-05 -9.99984137e-01 -4.91057305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.666559995 meters 0.05186915533924178 Centerline is valid? [True, True] Translation: X:562.57, Y:-308.33, Z:-4.91 [[ 2.74203404e-01 -9.61670139e-01 -1.74288566e-03 5.62572755e+02] [-9.61651896e-01 -2.74208938e-01 5.92370916e-03 -3.08326024e+02] [-6.17456904e-03 5.17480835e-05 -9.99980936e-01 -4.91043615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7265599949999 meters 0.05123268225360748 Centerline is valid? [True, True] Translation: X:562.51, Y:-308.39, Z:-4.91 [[ 3.45917572e-01 -9.38261476e-01 -2.53708542e-03 5.62512795e+02] [-9.38237383e-01 -3.45926872e-01 6.72404131e-03 -3.08390577e+02] [-7.18655495e-03 5.44243355e-05 -9.99974175e-01 -4.90916728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.786559995 meters 0.05110232777417217 Centerline is valid? [True, True] Translation: X:562.58, Y:-308.75, Z:-4.91 [[ 4.15598541e-01 -9.09541994e-01 -3.34876029e-03 5.62580752e+02] [-9.09513344e-01 -4.15612030e-01 7.21922798e-03 -3.08750634e+02] [-7.95797607e-03 4.54415559e-05 -9.99968334e-01 -4.90887830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8465599949999 meters 0.05180449360096428 Centerline is valid? [True, True] Translation: X:562.52, Y:-308.80, Z:-4.91 [[ 4.83128641e-01 -8.75541316e-01 -3.75767029e-03 5.62518292e+02] [-8.75515390e-01 -4.83143252e-01 6.73795209e-03 -3.08798990e+02] [-7.71484849e-03 3.46005343e-05 -9.99970240e-01 -4.90991055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.906559995 meters 0.05101217914293601 Centerline is valid? [True, True] Translation: X:562.66, Y:-309.19, Z:-4.91 [[ 5.48277774e-01 -8.36285324e-01 -4.28249722e-03 5.62663716e+02] [-8.36260010e-01 -5.48294499e-01 6.50681501e-03 -3.09185728e+02] [-7.78962357e-03 1.37391175e-05 -9.99969660e-01 -4.90927645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9665599949999 meters 0.05141084037982282 Centerline is valid? [True, True] Translation: X:562.66, Y:-309.31, Z:-4.91 [[ 6.10978448e-01 -7.91637284e-01 -3.96810735e-03 5.62659031e+02] [-7.91620502e-01 -6.10991334e-01 5.15463765e-03 -3.09310124e+02] [-6.50508255e-03 -8.13738285e-06 -9.99978842e-01 -4.91051076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.026559995 meters 0.05141496270790235 Centerline is valid? [True, True] Translation: X:562.75, Y:-309.54, Z:-4.91 [[ 6.68804757e-01 -7.43427753e-01 -3.92082631e-03 5.62750570e+02] [-7.43414825e-01 -6.68816249e-01 4.38438872e-03 -3.09538869e+02] [-5.88178860e-03 -1.74996309e-05 -9.99982702e-01 -4.91103424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0865599949999 meters 0.05163612358977244 Centerline is valid? [True, True] Translation: X:562.83, Y:-309.73, Z:-4.91 [[ 7.22700067e-01 -6.91153500e-01 -3.38403106e-03 5.62830657e+02] [-6.91145781e-01 -7.22707990e-01 3.26657930e-03 -3.09730970e+02] [-4.70337400e-03 -2.18982892e-05 -9.99988939e-01 -4.91031857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.146559995 meters 0.051220631408581976 Centerline is valid? [True, True] Translation: X:562.81, Y:-309.81, Z:-4.91 [[ 7.75440286e-01 -6.31410532e-01 -3.61989523e-03 5.62808765e+02] [-6.31403478e-01 -7.75448734e-01 2.98465558e-03 -3.09806975e+02] [-4.69158614e-03 -2.88077336e-05 -9.99988994e-01 -4.90978787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2065599949999 meters 0.051605458313142824 Centerline is valid? [True, True] Translation: X:562.79, Y:-309.88, Z:-4.91 [[ 8.24399497e-01 -5.65996411e-01 -3.67851974e-03 5.62793885e+02] [-5.65990542e-01 -8.24407703e-01 2.57797796e-03 -3.09884285e+02] [-4.49172629e-03 -4.32763530e-05 -9.99989911e-01 -4.91028223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.266559995 meters 0.051281673712730014 Centerline is valid? [True, True] Translation: X:562.79, Y:-309.96, Z:-4.91 [[ 8.67391535e-01 -4.97613185e-01 -3.61163930e-03 5.62786640e+02] [-4.97608625e-01 -8.67399052e-01 2.13093350e-03 -3.09958631e+02] [-4.19311311e-03 -5.11708115e-05 -9.99991208e-01 -4.91247786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3265599949999 meters 0.05084165381557675 Centerline is valid? [True, True] Translation: X:562.78, Y:-310.05, Z:-4.91 [[ 9.03726806e-01 -4.28095527e-01 -3.47558344e-03 5.62777417e+02] [-4.28092156e-01 -9.03733488e-01 1.69962273e-03 -3.10050397e+02] [-3.86860203e-03 -4.81246119e-05 -9.99992516e-01 -4.91106780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.386559995 meters 0.051182209710152186 Centerline is valid? [True, True] Translation: X:562.78, Y:-310.14, Z:-4.91 [[ 9.34262371e-01 -3.56563842e-01 -4.00614874e-03 5.62776466e+02] [-3.56560327e-01 -9.34270959e-01 1.58417995e-03 -3.10139995e+02] [-4.30768972e-03 -5.16060145e-05 -9.99990721e-01 -4.91119315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4465599949999 meters 0.05135543928046491 Centerline is valid? [True, True] Translation: X:562.78, Y:-310.23, Z:-4.91 [[ 9.59064427e-01 -2.83140136e-01 -5.20455557e-03 5.62780970e+02] [-2.83135621e-01 -9.59078547e-01 1.60020608e-03 -3.10229179e+02] [-5.44466016e-03 -6.11056543e-05 -9.99985176e-01 -4.90935989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.506559995 meters 0.051918391498369694 Centerline is valid? [True, True] Translation: X:562.79, Y:-310.31, Z:-4.91 [[ 9.77948446e-01 -2.08725833e-01 -7.09667201e-03 5.62794400e+02] [-2.08719811e-01 -9.77974193e-01 1.58713800e-03 -3.10314361e+02] [-7.27163878e-03 -7.09230977e-05 -9.99973559e-01 -4.90910131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5665599949999 meters 0.052069248669934814 Centerline is valid? [True, True] Translation: X:562.81, Y:-310.40, Z:-4.91 [[ 9.90981596e-01 -1.33777551e-01 -7.68396064e-03 5.62813871e+02] [-1.33773068e-01 -9.91011384e-01 1.09680846e-03 -3.10396681e+02] [-7.76162082e-03 -5.90100085e-05 -9.99969876e-01 -4.90721259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.626559995 meters 0.0515134502471344 Centerline is valid? [True, True] Translation: X:562.84, Y:-310.48, Z:-4.91 [[ 9.98306965e-01 -5.77184978e-02 -7.19569187e-03 5.62841146e+02] [-5.77166968e-02 -9.98332897e-01 4.57868426e-04 -3.10475747e+02] [-7.21012339e-03 -4.17816734e-05 -9.99974006e-01 -4.91007970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6865599949999 meters 0.0506802542966556 Centerline is valid? [True, True] Translation: X:562.87, Y:-310.55, Z:-4.91 [[ 9.99828430e-01 1.75629516e-02 -5.88679069e-03 5.62868533e+02] [ 1.75627443e-02 -9.99845759e-01 -8.69127646e-05 -3.10548454e+02] [-5.88740915e-03 -1.64903468e-05 -9.99982669e-01 -4.91055594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.746559995 meters 0.05094727040328654 Centerline is valid? [True, True] Translation: X:562.90, Y:-310.62, Z:-4.91 [[ 9.95552431e-01 9.40642408e-02 -5.22252796e-03 5.62901420e+02] [ 9.40629777e-02 -9.95566130e-01 -4.87490813e-04 -3.10618870e+02] [-5.24522740e-03 -5.92386666e-06 -9.99986244e-01 -4.91066309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8065599949999 meters 0.05107292968268434 Centerline is valid? [True, True] Translation: X:562.94, Y:-310.69, Z:-4.91 [[ 9.85437108e-01 1.69955871e-01 -5.35800438e-03 5.62939845e+02] [ 1.69953341e-01 -9.85451674e-01 -9.27420155e-04 -3.10687335e+02] [-5.43767489e-03 3.30349081e-06 -9.99985216e-01 -4.91103165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.866559995 meters 0.05066607962273177 Centerline is valid? [True, True] Translation: X:562.98, Y:-310.75, Z:-4.91 [[ 9.69303667e-01 2.45781606e-01 -6.46550442e-03 5.62981406e+02] [ 2.45776073e-01 -9.69325230e-01 -1.64909043e-03 -3.10750536e+02] [-6.67249265e-03 9.40310978e-06 -9.99977739e-01 -4.90948669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9265599949999 meters 0.050867535449046014 Centerline is valid? [True, True] Translation: X:563.03, Y:-310.81, Z:-4.91 [[ 9.47032805e-01 3.21059993e-01 -7.02470296e-03 5.63028314e+02] [ 3.21051090e-01 -9.47058858e-01 -2.39106871e-03 -3.10809017e+02] [-7.42048367e-03 9.13197125e-06 -9.99972468e-01 -4.90919650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.986559995 meters 0.05156825848662308 Centerline is valid? [True, True] Translation: X:563.08, Y:-310.87, Z:-4.91 [[ 9.18421433e-01 3.95533086e-01 -7.45987549e-03 5.63080781e+02] [ 3.95520057e-01 -9.18451729e-01 -3.21032973e-03 -3.10870028e+02] [-8.12132717e-03 -2.09474961e-06 -9.99967021e-01 -4.91080039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0465599949999 meters 0.0512296584839676 Centerline is valid? [True, True] Translation: X:563.14, Y:-310.93, Z:-4.91 [[ 8.83998790e-01 4.67431253e-01 -7.35950988e-03 5.63139948e+02] [ 4.67415185e-01 -8.84029425e-01 -3.87571779e-03 -3.10928739e+02] [-8.31765491e-03 -1.38168366e-05 -9.99965408e-01 -4.90810438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1065599949999 meters 0.05143993483879793 Centerline is valid? [True, True] Translation: X:563.20, Y:-310.98, Z:-4.91 [[ 8.43851805e-01 5.36538282e-01 -6.38768902e-03 5.63202826e+02] [ 5.36523134e-01 -8.43875981e-01 -4.03179059e-03 -3.10981365e+02] [-7.55362734e-03 -2.49091652e-05 -9.99971471e-01 -4.90913380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.166559995 meters 0.05114194784345081 Centerline is valid? [True, True] Translation: X:563.27, Y:-311.03, Z:-4.91 [[ 7.98556184e-01 6.01898336e-01 -5.13941044e-03 5.63271217e+02] [ 6.01886105e-01 -7.98572722e-01 -3.83729346e-03 -3.11031723e+02] [-6.41385353e-03 -2.90453116e-05 -9.99979431e-01 -4.91002973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2265599949999 meters 0.051074249096850516 Centerline is valid? [True, True] Translation: X:563.34, Y:-311.08, Z:-4.91 [[ 7.45716390e-01 6.66251140e-01 -4.06020872e-03 5.63344890e+02] [ 6.66241638e-01 -7.45727441e-01 -3.55859702e-03 -3.11080117e+02] [-5.39872838e-03 -5.13759810e-05 -9.99985425e-01 -4.90984104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.286559995 meters 0.05071052277437336 Centerline is valid? [True, True] Translation: X:563.42, Y:-311.12, Z:-4.91 [[ 6.87917358e-01 7.25780635e-01 -3.48963894e-03 5.63421871e+02] [ 7.25771817e-01 -6.87926205e-01 -3.57850888e-03 -3.11121400e+02] [-4.99782652e-03 -7.09632193e-05 -9.99987508e-01 -4.91049933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3465599949999 meters 0.050596314366525307 Centerline is valid? [True, True] Translation: X:563.50, Y:-311.16, Z:-4.91 [[ 6.28148317e-01 7.78085170e-01 -3.62774330e-03 5.63504171e+02] [ 7.78072984e-01 -6.28158786e-01 -4.35549058e-03 -3.11159774e+02] [-5.66774146e-03 -8.67549777e-05 -9.99983934e-01 -4.90875300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.406559995 meters 0.05082456824315481 Centerline is valid? [True, True] Translation: X:563.58, Y:-311.19, Z:-4.91 [[ 5.66061984e-01 8.24354832e-01 -3.59748256e-03 5.63583115e+02] [ 8.24339182e-01 -5.66073408e-01 -5.08027382e-03 -3.11185624e+02] [-6.22438748e-03 -8.97959552e-05 -9.99980624e-01 -4.90872477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4665599949999 meters 0.05108718274113388 Centerline is valid? [True, True] Translation: X:563.66, Y:-311.21, Z:-4.91 [[ 5.01095153e-01 8.65385539e-01 -3.39360658e-03 5.63664976e+02] [ 8.65366841e-01 -5.01106637e-01 -5.68936211e-03 -3.11205511e+02] [-6.62405048e-03 -8.58028255e-05 -9.99978057e-01 -4.90863995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.526559995 meters 0.05063620930092976 Centerline is valid? [True, True] Translation: X:563.75, Y:-311.22, Z:-4.91 [[ 4.32956376e-01 9.01410483e-01 -2.81376662e-03 5.63750582e+02] [ 9.01392552e-01 -4.32965513e-01 -5.68605490e-03 -3.11220939e+02] [-6.34373340e-03 -7.44945519e-05 -9.99979876e-01 -4.90930522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5865599949999 meters 0.05024344744562388 Centerline is valid? [True, True] Translation: X:563.84, Y:-311.23, Z:-4.91 [[ 3.64177224e-01 9.31327079e-01 -2.19593189e-03 5.63838005e+02] [ 9.31310967e-01 -3.64183841e-01 -5.47837355e-03 -3.11229482e+02] [-5.90188054e-03 -4.99965842e-05 -9.99982583e-01 -4.90917940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.646559995 meters 0.05088472968645031 Centerline is valid? [True, True] Translation: X:563.92, Y:-311.23, Z:-4.91 [[ 2.92865293e-01 9.56151556e-01 -2.03035281e-03 5.63924241e+02] [ 9.56129484e-01 -2.92872328e-01 -6.49683195e-03 -3.11230404e+02] [-6.80659013e-03 -3.85835888e-05 -9.99976834e-01 -4.90836871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7065599949999 meters 0.05068901393000702 Centerline is valid? [True, True] Translation: X:564.01, Y:-311.22, Z:-4.91 [[ 2.20049182e-01 9.75487329e-01 -1.68162783e-03 5.64005518e+02] [ 9.75459548e-01 -2.20055606e-01 -7.36211625e-03 -3.11224593e+02] [-7.55170275e-03 -2.03322679e-05 -9.99971485e-01 -4.90631274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.766559995 meters 0.05179789783575255 Centerline is valid? [True, True] Translation: X:564.09, Y:-311.21, Z:-4.91 [[ 1.43182837e-01 9.89695574e-01 -1.16045538e-03 5.64093102e+02] [ 9.89664209e-01 -1.43187538e-01 -7.87918011e-03 -3.11213358e+02] [-7.96415242e-03 -2.02977955e-05 -9.99968285e-01 -4.90803699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8265599949999 meters 0.05100175938482776 Centerline is valid? [True, True] Translation: X:564.18, Y:-311.20, Z:-4.91 [[ 6.37142402e-02 9.97968056e-01 -5.03949940e-04 5.64177911e+02] [ 9.97940557e-01 -6.37162257e-02 -7.40865233e-03 -3.11195234e+02] [-7.42570816e-03 -3.08754301e-05 -9.99972429e-01 -4.90734499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.886559995 meters 0.05099985524591367 Centerline is valid? [True, True] Translation: X:564.26, Y:-311.17, Z:-4.91 [[-1.97043097e-02 9.99805849e-01 6.61139688e-05 5.64259597e+02] [ 9.99785634e-01 1.97043317e-02 -6.35808240e-03 -3.11169634e+02] [-6.35815070e-03 -5.91818283e-05 -9.99979785e-01 -4.90809811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9465599949999 meters 0.0510435575370535 Centerline is valid? [True, True] Translation: X:564.34, Y:-311.14, Z:-4.91 [[-1.01109174e-01 9.94875201e-01 5.18274206e-04 5.64341520e+02] [ 9.94858140e-01 1.01110475e-01 -5.82689771e-03 -3.11138715e+02] [-5.84943899e-03 -7.35435017e-05 -9.99982889e-01 -4.90753298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.006559995 meters 0.050788579416159586 Centerline is valid? [True, True] Translation: X:564.42, Y:-311.10, Z:-4.91 [[-1.82562750e-01 9.83193918e-01 7.49999749e-04 5.64418697e+02] [ 9.83183856e-01 1.82564275e-01 -4.44861484e-03 -3.11100575e+02] [-4.51077422e-03 -7.47637145e-05 -9.99989824e-01 -4.90815506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0665599949999 meters 0.051044272315175165 Centerline is valid? [True, True] Translation: X:564.50, Y:-311.06, Z:-4.91 [[-2.62196434e-01 9.65013762e-01 1.21204501e-03 5.64495934e+02] [ 9.65001626e-01 2.62199216e-01 -4.84078657e-03 -3.11055160e+02] [-4.98922291e-03 -9.96115656e-05 -9.99987549e-01 -4.90714021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.126559995 meters 0.0508198358531018 Centerline is valid? [True, True] Translation: X:564.57, Y:-311.00, Z:-4.91 [[-3.38160911e-01 9.41086308e-01 1.93887797e-03 5.64569066e+02] [ 9.41068568e-01 3.38166444e-01 -5.77979777e-03 -3.11003985e+02] [-6.09495201e-03 -1.29884559e-04 -9.99981417e-01 -4.90662179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1865599949999 meters 0.05038264692213466 Centerline is valid? [True, True] Translation: X:564.64, Y:-310.95, Z:-4.91 [[-4.11366054e-01 9.11465057e-01 3.06916066e-03 5.64641493e+02] [ 9.11436482e-01 4.11377468e-01 -7.21931348e-03 -3.10947133e+02] [-7.84273551e-03 -1.72435503e-04 -9.99969230e-01 -4.90502607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.246559995 meters 0.0509506752376092 Centerline is valid? [True, True] Translation: X:564.70, Y:-310.89, Z:-4.90 [[-4.81062059e-01 8.76678684e-01 3.71225495e-03 5.64704646e+02] [ 8.76649746e-01 4.81076351e-01 -7.12511686e-03 -3.10887071e+02] [-8.03231614e-03 -1.73276035e-04 -9.99967725e-01 -4.90368867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3065599949999 meters 0.05071729359854842 Centerline is valid? [True, True] Translation: X:564.77, Y:-310.82, Z:-4.91 [[-5.44949257e-01 8.38458716e-01 4.15807993e-03 5.64765167e+02] [ 8.38432334e-01 5.44965102e-01 -6.65269719e-03 -3.10819569e+02] [-7.84402040e-03 -1.39113725e-04 -9.99969226e-01 -4.90511922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.366559995 meters 0.05128861262869927 Centerline is valid? [True, True] Translation: X:564.82, Y:-310.75, Z:-4.91 [[-6.04449103e-01 7.96631143e-01 4.48385046e-03 5.64820921e+02] [ 7.96608092e-01 6.04465726e-01 -6.06081092e-03 -3.10747191e+02] [-7.53856465e-03 -9.15801636e-05 -9.99971580e-01 -4.90508298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4265599949999 meters 0.050812199680404554 Centerline is valid? [True, True] Translation: X:564.86, Y:-310.68, Z:-4.90 [[-6.55807884e-01 7.54914321e-01 4.51516647e-03 5.64864176e+02] [ 7.54896428e-01 6.55823427e-01 -5.19760648e-03 -3.10678118e+02] [-6.88489952e-03 -1.48263864e-07 -9.99976299e-01 -4.90495843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.486559995 meters 0.05055238213398119 Centerline is valid? [True, True] Translation: X:564.90, Y:-310.61, Z:-4.91 [[-7.06561024e-01 7.07638668e-01 4.36294539e-03 5.64898551e+02] [ 7.07625652e-01 7.06574492e-01 -4.29229158e-03 -3.10607828e+02] [-6.12013742e-03 5.45661441e-05 -9.99981270e-01 -4.90596939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5465599949999 meters 0.05078402091595541 Centerline is valid? [True, True] Translation: X:564.85, Y:-310.47, Z:-4.91 [[-7.49255615e-01 6.62273080e-01 3.22349295e-03 5.64850920e+02] [ 6.62267373e-01 7.49262546e-01 -2.75025378e-03 -3.10470925e+02] [-4.23666157e-03 7.41711163e-05 -9.99991023e-01 -4.90675884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6065599949999 meters 0.05117010978161815 Centerline is valid? [True, True] Translation: X:564.95, Y:-310.46, Z:-4.91 [[-7.93011516e-01 6.09190749e-01 4.40090129e-03 5.64949606e+02] [ 6.09182118e-01 7.93023720e-01 -3.24460676e-03 -3.10460551e+02] [-5.46660353e-03 1.07939841e-04 -9.99985052e-01 -4.90587245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.666559995 meters 0.051368267161953876 Centerline is valid? [True, True] Translation: X:564.99, Y:-310.39, Z:-4.91 [[-8.34662626e-01 5.50740922e-01 4.76835188e-03 5.64985132e+02] [ 5.50732663e-01 8.34676240e-01 -3.01816871e-03 -3.10393765e+02] [-5.64225903e-03 1.06934508e-04 -9.99984077e-01 -4.90569349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7265599949999 meters 0.05129260472649767 Centerline is valid? [True, True] Translation: X:565.40, Y:-310.53, Z:-4.91 [[-8.75033768e-01 4.84028760e-01 5.66253824e-03 5.65395139e+02] [ 4.84019349e-01 8.75052084e-01 -3.01987215e-03 -3.10527491e+02] [-6.41672086e-03 9.82879684e-05 -9.99979408e-01 -4.90633713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.786559995 meters 0.051677110058130436 Centerline is valid? [True, True] Translation: X:565.17, Y:-310.32, Z:-4.90 [[-9.08932232e-01 4.16905509e-01 5.65626347e-03 5.65167438e+02] [ 4.16897901e-01 9.08949829e-01 -2.51961007e-03 -3.10319996e+02] [-6.19169903e-03 6.79295649e-05 -9.99980829e-01 -4.90491695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8465599949999 meters 0.05037103143221959 Centerline is valid? [True, True] Translation: X:564.74, Y:-310.06, Z:-4.91 [[-9.39402991e-01 3.42784582e-01 4.55531011e-03 5.64739472e+02] [ 3.42780592e-01 9.39414036e-01 -1.65400403e-03 -3.10057567e+02] [-4.84628934e-03 7.69556256e-06 -9.99988257e-01 -4.90507785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.906559995 meters 0.05047504119976196 Centerline is valid? [True, True] Translation: X:564.94, Y:-310.03, Z:-4.91 [[-9.64759260e-01 2.63115296e-01 3.14815449e-03 5.64942997e+02] [ 2.63113784e-01 9.64764396e-01 -8.92485216e-04 -3.10034835e+02] [-3.27205388e-03 -3.27105358e-05 -9.99994646e-01 -4.90671334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9665599949999 meters 0.05069658036101313 Centerline is valid? [True, True] Translation: X:564.82, Y:-309.92, Z:-4.91 [[-9.82283629e-01 1.87383281e-01 2.52546357e-03 5.64820627e+02] [ 1.87382548e-01 9.82286875e-01 -5.25867704e-04 -3.09915097e+02] [-2.57926853e-03 -4.33234388e-05 -9.99996673e-01 -4.90606501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.026559995 meters 0.051251261367948636 Centerline is valid? [True, True] Translation: X:564.82, Y:-309.83, Z:-4.91 [[-9.93823047e-01 1.10968742e-01 1.29998861e-03 5.64823566e+02] [ 1.10968607e-01 9.93823897e-01 -1.75650801e-04 -3.09826677e+02] [-1.31145149e-03 -3.03078895e-05 -9.99999140e-01 -4.90635820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0865599949999 meters 0.052146004340706126 Centerline is valid? [True, True] Translation: X:564.79, Y:-309.74, Z:-4.91 [[-9.99271976e-01 3.81374930e-02 1.02463562e-03 5.64793081e+02] [ 3.81374465e-02 9.99272501e-01 -6.49079844e-05 -3.09741061e+02] [-1.02636563e-03 -2.57837436e-05 -9.99999473e-01 -4.90673222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.146559995 meters 0.05159366574970636 Centerline is valid? [True, True] Translation: X:564.84, Y:-309.17, Z:-5.90 [[-9.87982728e-01 -1.54552381e-01 1.92127046e-03 5.64843843e+02] [ 1.54552301e-01 -9.87984590e-01 -1.91061645e-04 -3.09170344e+02] [ 1.92771464e-03 1.08171167e-04 9.99998136e-01 -5.90446124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2065599949999 meters 0.05116079125926496 Centerline is valid? [True, True] Translation: X:564.64, Y:-309.74, Z:-4.90 [[-9.99343142e-01 3.60122643e-02 4.04996779e-03 5.64642681e+02] [ 3.60115842e-02 9.99351344e-01 -2.40740149e-04 -3.09735535e+02] [-4.05601035e-03 -9.47362604e-05 -9.99991770e-01 -4.90334038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.266559995 meters 0.049908109387132325 Centerline is valid? [True, True] Translation: X:564.54, Y:-309.14, Z:-5.91 [[-9.89322668e-01 -1.45620378e-01 5.94671260e-03 5.64539091e+02] [ 1.45619300e-01 -9.89340508e-01 -6.16183569e-04 -3.09137908e+02] [ 5.97305254e-03 2.56351751e-04 9.99982128e-01 -5.90731030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3265599949999 meters 0.05033255088988774 Centerline is valid? [True, True] Translation: X:564.45, Y:-309.73, Z:-4.90 [[-9.99213990e-01 3.89859205e-02 7.17631681e-03 5.64445074e+02] [ 3.89840624e-02 9.99239753e-01 -3.98683270e-04 -3.09730027e+02] [-7.18640407e-03 -1.18607919e-04 -9.99974170e-01 -4.90104856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.386559995 meters 0.0503602374003859 Centerline is valid? [True, True] Translation: X:564.86, Y:-309.66, Z:-4.90 [[-9.99491806e-01 -3.08669000e-02 7.96020154e-03 5.64856923e+02] [-3.08665925e-02 9.99523500e-01 1.61507068e-04 -3.09662015e+02] [-7.96139373e-03 -8.42793062e-05 -9.99968304e-01 -4.90396825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4465599949999 meters 0.05065900097075104 Centerline is valid? [True, True] Translation: X:564.41, Y:-309.61, Z:-4.90 [[-9.95223568e-01 -9.72885260e-02 8.06172804e-03 5.64407290e+02] [-9.72857463e-02 9.95256218e-01 7.37170580e-04 -3.09606644e+02] [-8.09520320e-03 -5.06416945e-05 -9.99967232e-01 -4.90196427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.506559995 meters 0.050619010389399935 Centerline is valid? [True, True] Translation: X:564.35, Y:-309.54, Z:-4.90 [[-9.86841464e-01 -1.61490681e-01 8.04272537e-03 5.64351018e+02] [-1.61485300e-01 9.86874237e-01 1.31831555e-03 -3.09542056e+02] [-8.15005414e-03 2.18653144e-06 -9.99966788e-01 -4.90230528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5665599949999 meters 0.05011082730306742 Centerline is valid? [True, True] Translation: X:564.21, Y:-309.50, Z:-4.90 [[-9.74038532e-01 -2.26273132e-01 7.02903578e-03 5.64214661e+02] [-2.26266952e-01 9.74063893e-01 1.67275182e-03 -3.09495545e+02] [-7.22522875e-03 3.88862223e-05 -9.99973897e-01 -4.90247334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.626559995 meters 0.050638849897707436 Centerline is valid? [True, True] Translation: X:563.95, Y:-309.50, Z:-4.90 [[-9.56240822e-01 -2.92519619e-01 5.98024983e-03 5.63948570e+02] [-2.92513579e-01 9.56259520e-01 1.88034198e-03 -3.09495438e+02] [-6.26870775e-03 4.87554782e-05 -9.99980350e-01 -4.90235779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6865599949999 meters 0.05039541622417661 Centerline is valid? [True, True] Translation: X:563.86, Y:-309.45, Z:-4.90 [[-9.33045480e-01 -3.59720944e-01 5.19376117e-03 5.63860734e+02] [-3.59715093e-01 9.33059934e-01 2.05223171e-03 -3.09451257e+02] [-5.58432118e-03 4.65512377e-05 -9.99984406e-01 -4.90313769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.746559995 meters 0.050292879747496584 Centerline is valid? [True, True] Translation: X:564.10, Y:-309.26, Z:-4.90 [[-9.01841936e-01 -4.32037838e-01 4.94261487e-03 5.64095881e+02] [-4.32031165e-01 9.01855479e-01 2.40148557e-03 -3.09259214e+02] [-5.49505693e-03 3.03967386e-05 -9.99984902e-01 -4.90283593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8065599949999 meters 0.05057890942895043 Centerline is valid? [True, True] Translation: X:563.64, Y:-309.41, Z:-4.90 [[-8.67730005e-01 -4.97011530e-01 4.91716607e-03 5.63638824e+02] [-4.97003433e-01 8.67743936e-01 2.83693737e-03 -3.09408669e+02] [-5.67683163e-03 1.78472602e-05 -9.99983887e-01 -4.90303383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.866559995 meters 0.05089957068058172 Centerline is valid? [True, True] Translation: X:563.46, Y:-309.43, Z:-4.90 [[-8.27950786e-01 -5.60782139e-01 4.57040297e-03 5.63458042e+02] [-5.60773617e-01 8.27963401e-01 3.09162313e-03 -3.09431122e+02] [-5.51785341e-03 -3.24960317e-06 -9.99984777e-01 -4.90196610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9265599949999 meters 0.05020533580129773 Centerline is valid? [True, True] Translation: X:563.31, Y:-309.44, Z:-4.90 [[-7.83618508e-01 -6.21226014e-01 4.50263480e-03 5.63309837e+02] [-6.21215894e-01 7.83631443e-01 3.54605918e-03 -3.09444379e+02] [-5.73131042e-03 -1.83507017e-05 -9.99983576e-01 -4.90085208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.986559995 meters 0.05023924845322576 Centerline is valid? [True, True] Translation: X:563.18, Y:-309.45, Z:-4.90 [[-7.32925433e-01 -6.80298590e-01 3.76006912e-03 5.63179235e+02] [-6.80289912e-01 7.32935077e-01 3.43623953e-03 -3.09451884e+02] [-5.09355546e-03 -3.94297483e-05 -9.99987027e-01 -4.90220162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0465599949999 meters 0.049812823452848216 Centerline is valid? [True, True] Translation: X:563.01, Y:-309.51, Z:-4.90 [[-6.78147411e-01 -7.34918869e-01 3.21645840e-03 5.63012244e+02] [-7.34910989e-01 6.78155036e-01 3.40365779e-03 -3.09506025e+02] [-4.68266980e-03 -5.56289026e-05 -9.99989035e-01 -4.90308192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1065599949999 meters 0.05003916933352438 Centerline is valid? [True, True] Translation: X:562.83, Y:-309.59, Z:-4.90 [[-6.21447581e-01 -7.83451907e-01 2.45233057e-03 5.62833478e+02] [-7.83446136e-01 6.21452417e-01 3.00754821e-03 -3.09588694e+02] [-3.88027614e-03 -5.22353513e-05 -9.99992470e-01 -4.90274452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.166559995 meters 0.04979139198688239 Centerline is valid? [True, True] Translation: X:562.67, Y:-309.68, Z:-4.90 [[-5.62106692e-01 -8.27062342e-01 1.98739641e-03 5.62665865e+02] [-8.27057471e-01 5.62110203e-01 2.83887362e-03 -3.09684130e+02] [-3.46506126e-03 -4.79411906e-05 -9.99993996e-01 -4.90328868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2265599949999 meters 0.05116894353608412 Centerline is valid? [True, True] Translation: X:562.51, Y:-309.77, Z:-4.90 [[-4.99817973e-01 -8.66129582e-01 1.24112936e-03 5.62508302e+02] [-8.66127078e-01 4.99819513e-01 2.08317800e-03 -3.09773646e+02] [-2.42464276e-03 -3.37659447e-05 -9.99997060e-01 -4.90320463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.286559995 meters 0.04971088212661554 Centerline is valid? [True, True] Translation: X:562.34, Y:-309.92, Z:-4.90 [[-4.35522073e-01 -9.00177411e-01 1.07383730e-03 5.62343969e+02] [-9.00174854e-01 4.35523396e-01 2.14583232e-03 -3.09915939e+02] [-2.39931105e-03 -3.20839924e-05 -9.99997121e-01 -4.90314302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3465599949999 meters 0.0500933112530286 Centerline is valid? [True, True] Translation: X:562.19, Y:-310.06, Z:-4.90 [[-3.68313133e-01 -9.29701174e-01 1.07893933e-03 5.62193330e+02] [-9.29697473e-01 3.68314711e-01 2.62344585e-03 -3.10062723e+02] [-2.83640991e-03 -3.68376074e-05 -9.99995977e-01 -4.90227459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.406559995 meters 0.0503134349682937 Centerline is valid? [True, True] Translation: X:562.04, Y:-310.27, Z:-4.90 [[-2.99744077e-01 -9.54018613e-01 1.40502440e-03 5.62039734e+02] [-9.54008970e-01 2.99747365e-01 4.28976439e-03 -3.10266194e+02] [-4.51366743e-03 -5.45744091e-05 -9.99989812e-01 -4.90107696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4665599949999 meters 0.04976650391078773 Centerline is valid? [True, True] Translation: X:561.91, Y:-310.44, Z:-4.90 [[-2.30539379e-01 -9.73062044e-01 1.36120692e-03 5.61913234e+02] [-9.73046487e-01 2.30543390e-01 5.50271150e-03 -3.10437800e+02] [-5.66829696e-03 -5.59259179e-05 -9.99983934e-01 -4.90004296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.526559995 meters 0.049816069012899436 Centerline is valid? [True, True] Translation: X:561.89, Y:-310.16, Z:-4.90 [[-1.58521683e-01 -9.87355007e-01 9.83493564e-04 5.61894700e+02] [-9.87337680e-01 1.58524728e-01 5.84940610e-03 -3.10157721e+02] [-5.93134845e-03 -4.37825546e-05 -9.99982408e-01 -4.90443215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5865599949999 meters 0.04975487122082366 Centerline is valid? [True, True] Translation: X:561.70, Y:-310.94, Z:-4.90 [[-9.31475994e-02 -9.95652157e-01 5.54494597e-04 5.61700492e+02] [-9.95635298e-01 9.31492490e-02 5.79406687e-03 -3.10935633e+02] [-5.82052593e-03 -1.23709736e-05 -9.99983061e-01 -4.89978575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.646559995 meters 0.04943764634062035 Centerline is valid? [True, True] Translation: X:561.60, Y:-311.37, Z:-4.90 [[-2.58956955e-02 -9.99664647e-01 8.68927808e-05 5.61598758e+02] [-9.99657487e-01 2.58958389e-02 3.78343530e-03 -3.11373006e+02] [-3.78441667e-03 1.11116694e-05 -9.99992839e-01 -4.90007120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7065599949999 meters 0.04970606128710514 Centerline is valid? [True, True] Translation: X:561.53, Y:-311.69, Z:-4.90 [[ 4.61897789e-02 -9.98932676e-01 -1.13500518e-04 5.61528198e+02] [-9.98930161e-01 -4.61899173e-02 2.24183344e-03 -3.11692826e+02] [-2.24468326e-03 9.82929969e-06 -9.99997481e-01 -4.90111097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.766559995 meters 0.049375216421205605 Centerline is valid? [True, True] Translation: X:561.41, Y:-311.32, Z:-4.90 [[ 1.18691246e-01 -9.92931177e-01 -2.55841596e-04 5.61410071e+02] [-9.92929136e-01 -1.18691521e-01 2.01347566e-03 -3.11318217e+02] [-2.02960899e-03 1.50506398e-05 -9.99997940e-01 -4.90137255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8265599949999 meters 0.04999161697848301 Centerline is valid? [True, True] Translation: X:561.53, Y:-312.53, Z:-4.90 [[ 1.87254337e-01 -9.82311393e-01 -3.75108784e-04 5.61530534e+02] [-9.82309604e-01 -1.87254711e-01 1.87460823e-03 -3.12529205e+02] [-1.91168991e-03 1.74444402e-05 -9.99998173e-01 -4.89963627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.886559995 meters 0.05065115440194292 Centerline is valid? [True, True] Translation: X:561.47, Y:-312.65, Z:-4.90 [[ 2.52320282e-01 -9.67643618e-01 -5.51476702e-04 5.61469839e+02] [-9.67641329e-01 -2.52320885e-01 2.10465908e-03 -3.12652004e+02] [-2.17570902e-03 2.58347486e-06 -9.99997633e-01 -4.89860209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9465599949999 meters 0.04999269982271463 Centerline is valid? [True, True] Translation: X:561.49, Y:-312.98, Z:-4.90 [[ 3.24348238e-01 -9.45937622e-01 -4.85913809e-04 5.61490076e+02] [-9.45936618e-01 -3.24348602e-01 1.37845354e-03 -3.12977291e+02] [-1.46153653e-03 1.25446888e-05 -9.99998932e-01 -4.89865543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.006559995 meters 0.05046215970778069 Centerline is valid? [True, True] Translation: X:561.22, Y:-312.51, Z:-4.90 [[ 3.95747149e-01 -9.18359253e-01 -6.90620106e-04 5.61216538e+02] [-9.18357912e-01 -3.95747751e-01 1.56919406e-03 -3.12513828e+02] [-1.71439524e-03 1.32323654e-05 -9.99998530e-01 -4.89867235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0665599949999 meters 0.050308204015142244 Centerline is valid? [True, True] Translation: X:561.15, Y:-312.60, Z:-4.90 [[ 4.63172192e-01 -8.86267955e-01 -7.94796180e-04 5.61150668e+02] [-8.86266694e-01 -4.63172874e-01 1.49504086e-03 -3.12600688e+02] [-1.69313483e-03 1.19400320e-05 -9.99998567e-01 -4.89871752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.126559995 meters 0.05020345549696686 Centerline is valid? [True, True] Translation: X:561.08, Y:-313.88, Z:-5.91 [[ 4.15487766e-01 9.09598546e-01 -6.33127063e-04 5.61075162e+02] [-9.09597418e-01 4.15488248e-01 1.43309675e-03 -3.13884705e+02] [ 1.56659958e-03 -1.95434265e-05 9.99998773e-01 -5.91323002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1865599949999 meters 0.049607714729247604 Centerline is valid? [True, True] Translation: X:561.76, Y:-313.80, Z:-4.90 [[ 4.71888486e-01 -8.81657964e-01 -7.01126547e-04 5.61756213e+02] [-8.81657009e-01 -4.71889006e-01 1.29785778e-03 -3.13797113e+02] [-1.47512056e-03 5.70899141e-06 -9.99998912e-01 -4.89713617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.246559995 meters 0.049533102220860936 Centerline is valid? [True, True] Translation: X:561.36, Y:-313.30, Z:-4.90 [[ 5.41019661e-01 -8.41009815e-01 -4.66661901e-04 5.61359252e+02] [-8.41009499e-01 -5.41019863e-01 7.28139610e-04 -3.13296352e+02] [-8.64845916e-04 -1.47075357e-06 -9.99999626e-01 -4.89744609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3065599949999 meters 0.0491904142622362 Centerline is valid? [True, True] Translation: X:561.27, Y:-313.32, Z:-4.90 [[ 6.05016208e-01 -7.96213149e-01 9.37505500e-05 5.61269106e+02] [-7.96213140e-01 -6.05016215e-01 -1.22617330e-04 -3.13322721e+02] [ 1.54350133e-04 -4.59947999e-07 -9.99999988e-01 -4.89643251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.366559995 meters 0.04900220589773376 Centerline is valid? [True, True] Translation: X:561.73, Y:-314.03, Z:-4.89 [[ 6.64671747e-01 -7.47135508e-01 4.59640097e-05 5.61727478e+02] [-7.47135506e-01 -6.64671748e-01 -5.09639663e-05 -3.14030620e+02] [ 6.86279677e-05 -4.67035128e-07 -9.99999998e-01 -4.89497026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4265599949999 meters 0.05001424675402087 Centerline is valid? [True, True] Translation: X:561.78, Y:-314.20, Z:-4.89 [[ 7.19858479e-01 -6.94120630e-01 -5.65939569e-04 5.61779729e+02] [-6.94120404e-01 -7.19858702e-01 5.61289298e-04 -3.14202845e+02] [-7.96999004e-04 -1.12186589e-05 -9.99999682e-01 -4.89442241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.486559995 meters 0.04963818502893356 Centerline is valid? [True, True] Translation: X:561.76, Y:-314.28, Z:-4.89 [[ 7.72597550e-01 -6.34895692e-01 -6.97566330e-04 5.61757874e+02] [-6.34895417e-01 -7.72597864e-01 5.91038472e-04 -3.14278662e+02] [-9.14186037e-04 -1.37532091e-05 -9.99999582e-01 -4.89426422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5465599949999 meters 0.04983830703670619 Centerline is valid? [True, True] Translation: X:561.74, Y:-314.36, Z:-4.89 [[ 8.20668565e-01 -5.71401906e-01 -1.72275761e-03 5.61741618e+02] [-5.71400562e-01 -8.20670372e-01 1.24008547e-03 -3.14356489e+02] [-2.12240333e-03 -3.33144962e-05 -9.99997747e-01 -4.89285744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6065599949999 meters 0.049783834185990423 Centerline is valid? [True, True] Translation: X:561.73, Y:-314.44, Z:-4.89 [[ 8.62913638e-01 -5.05341658e-01 -3.14033856e-03 5.61728637e+02] [-5.05338068e-01 -8.62919351e-01 1.90559472e-03 -3.14438831e+02] [-3.67283531e-03 -5.74310488e-05 -9.99993253e-01 -4.89174577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.666559995 meters 0.048900965598711384 Centerline is valid? [True, True] Translation: X:561.72, Y:-314.52, Z:-4.89 [[ 8.99057906e-01 -4.37812898e-01 -3.84023479e-03 5.61722692e+02] [-4.37808618e-01 -8.99066106e-01 1.93683218e-03 -3.14519496e+02] [-4.30059505e-03 -6.00364009e-05 -9.99990751e-01 -4.89259895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7265599949999 meters 0.048662415950118734 Centerline is valid? [True, True] Translation: X:561.72, Y:-314.61, Z:-4.89 [[ 9.28904616e-01 -3.70302638e-01 -3.48874170e-03 5.61719413e+02] [-3.70299880e-01 -9.28911166e-01 1.42967239e-03 -3.14608896e+02] [-3.77014258e-03 -3.61486505e-05 -9.99992892e-01 -4.89327724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.786559995 meters 0.04933101220130938 Centerline is valid? [True, True] Translation: X:561.72, Y:-314.70, Z:-4.89 [[ 9.52971715e-01 -3.03040075e-01 -3.40935036e-03 5.61723442e+02] [-3.03038098e-01 -9.52977813e-01 1.09471624e-03 -3.14696698e+02] [-3.58077814e-03 -1.00705654e-05 -9.99993589e-01 -4.89420813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8465599949999 meters 0.049674305905528286 Centerline is valid? [True, True] Translation: X:561.73, Y:-314.79, Z:-4.89 [[ 9.73066444e-01 -2.30511183e-01 -2.50803847e-03 5.61731882e+02] [-2.30510418e-01 -9.73069676e-01 5.94103932e-04 -3.14785661e+02] [-2.57744378e-03 2.63957989e-08 -9.99996678e-01 -4.89319311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.906559995 meters 0.04909167904346438 Centerline is valid? [True, True] Translation: X:561.75, Y:-314.87, Z:-4.89 [[ 9.87969216e-01 -1.54618810e-01 -3.13862603e-03 5.61749009e+02] [-1.54618040e-01 -9.87974202e-01 4.88021145e-04 -3.14869532e+02] [-3.17633880e-03 3.13833620e-06 -9.99994955e-01 -4.89350654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9665599949999 meters 0.0493503753631472 Centerline is valid? [True, True] Translation: X:561.77, Y:-314.96, Z:-4.89 [[ 9.96994966e-01 -7.73464795e-02 -4.30822492e-03 5.61771549e+02] [-7.73457856e-02 -9.97004274e-01 3.27702651e-04 -3.14959943e+02] [-4.32066530e-03 6.50514714e-06 -9.99990666e-01 -4.89309469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.026559995 meters 0.04936583607599292 Centerline is valid? [True, True] Translation: X:561.80, Y:-315.04, Z:-4.89 [[ 9.99985447e-01 -2.01107121e-03 -5.00607381e-03 5.61796128e+02] [-2.01115788e-03 -9.99997978e-01 -1.22809277e-05 -3.15040233e+02] [-5.00603899e-03 2.23487538e-05 -9.99987469e-01 -4.89262936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0865599949999 meters 0.04950684189245113 Centerline is valid? [True, True] Translation: X:561.83, Y:-315.11, Z:-4.89 [[ 9.97180451e-01 7.48833798e-02 -4.86078839e-03 5.61826737e+02] [ 7.48823514e-02 -9.97192298e-01 -3.93467166e-04 -3.15114481e+02] [-4.87660490e-03 2.83705017e-05 -9.99988109e-01 -4.89260894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.146559995 meters 0.04938461532240102 Centerline is valid? [True, True] Translation: X:561.86, Y:-315.18, Z:-4.89 [[ 9.88921258e-01 1.48405592e-01 -3.24418591e-03 5.61861702e+02] [ 1.48404685e-01 -9.88926579e-01 -5.20173690e-04 -3.15180541e+02] [-3.28545836e-03 3.29584343e-05 -9.99994602e-01 -4.89329415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2065599949999 meters 0.04991721318253424 Centerline is valid? [True, True] Translation: X:561.90, Y:-315.25, Z:-4.89 [[ 9.74766952e-01 2.23201745e-01 -3.22035732e-03 5.61902886e+02] [ 2.23200390e-01 -9.74772271e-01 -7.78873926e-04 -3.15245696e+02] [-3.31296103e-03 4.04355543e-05 -9.99994511e-01 -4.89464389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.266559995 meters 0.050221136865556223 Centerline is valid? [True, True] Translation: X:561.95, Y:-315.31, Z:-4.89 [[ 9.53990053e-01 2.99820164e-01 -3.29350578e-03 5.61949509e+02] [ 2.99818238e-01 -9.53995738e-01 -1.07554975e-03 -3.15310319e+02] [-3.46446198e-03 3.86106620e-05 -9.99993998e-01 -4.89366205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3265599949999 meters 0.05041435573810819 Centerline is valid? [True, True] Translation: X:562.01, Y:-315.38, Z:-4.89 [[ 9.25669138e-01 3.78324525e-01 -2.68331134e-03 5.62005414e+02] [ 3.78322881e-01 -9.25673027e-01 -1.11530527e-03 -3.15378706e+02] [-2.90581626e-03 1.72455915e-05 -9.99995778e-01 -4.89333067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.386559995 meters 0.049771858708121446 Centerline is valid? [True, True] Translation: X:562.06, Y:-315.43, Z:-4.89 [[ 8.91246777e-01 4.53510713e-01 -2.68642199e-03 5.62061282e+02] [ 4.53508637e-01 -8.91250825e-01 -1.37222323e-03 -3.15434963e+02] [-3.01659375e-03 4.67396011e-06 -9.99995450e-01 -4.89348101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4465599949999 meters 0.04987300107960933 Centerline is valid? [True, True] Translation: X:562.12, Y:-315.48, Z:-4.89 [[ 8.49689551e-01 5.27275883e-01 -2.79459830e-03 5.62117064e+02] [ 5.27273092e-01 -8.49694147e-01 -1.71562933e-03 -3.15475902e+02] [-3.27916378e-03 -1.57641719e-05 -9.99994623e-01 -4.89430086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.506559995 meters 0.04906846835506825 Centerline is valid? [True, True] Translation: X:562.19, Y:-315.53, Z:-4.90 [[ 8.02412042e-01 5.96766082e-01 -2.27105084e-03 5.62186246e+02] [ 5.96763797e-01 -8.02415256e-01 -1.65186492e-03 -3.15525720e+02] [-2.80810279e-03 -2.98046153e-05 -9.99996057e-01 -4.89507819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5665599949999 meters 0.04977522499074306 Centerline is valid? [True, True] Translation: X:562.26, Y:-315.57, Z:-4.89 [[ 7.50752412e-01 6.60581114e-01 -1.84613079e-03 5.62261502e+02] [ 6.60579231e-01 -7.50754681e-01 -1.57753067e-03 -3.15575000e+02] [-2.42807830e-03 -3.51807049e-05 -9.99997052e-01 -4.89464864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.626559995 meters 0.05019873161311927 Centerline is valid? [True, True] Translation: X:562.33, Y:-315.61, Z:-4.89 [[ 6.93847433e-01 7.20119947e-01 -1.73261955e-03 5.62334611e+02] [ 7.20117863e-01 -6.93849595e-01 -1.73275408e-03 -3.15612387e+02] [-2.44996814e-03 -4.54233154e-05 -9.99996998e-01 -4.89395723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6865599949999 meters 0.0497725594704718 Centerline is valid? [True, True] Translation: X:562.41, Y:-315.64, Z:-4.89 [[ 6.34492378e-01 7.72927005e-01 -1.80764229e-03 5.62406027e+02] [ 7.72924110e-01 -6.34494951e-01 -2.11593644e-03 -3.15638477e+02] [-2.78240432e-03 -5.46247619e-05 -9.99996128e-01 -4.89367990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.746559995 meters 0.04860220822853537 Centerline is valid? [True, True] Translation: X:562.48, Y:-315.66, Z:-4.89 [[ 5.72911741e-01 8.19614126e-01 -2.19582906e-03 5.62484604e+02] [ 8.19608562e-01 -5.72915944e-01 -3.02076441e-03 -3.15662245e+02] [-3.73388666e-03 -6.90889020e-05 -9.99993027e-01 -4.89372094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8065599949999 meters 0.04845843609182102 Centerline is valid? [True, True] Translation: X:562.57, Y:-315.68, Z:-4.89 [[ 5.10996970e-01 8.59577941e-01 -2.80342397e-03 5.62568952e+02] [ 8.59565791e-01 -5.11004655e-01 -4.57104227e-03 -3.15684557e+02] [-5.36172980e-03 -7.39385901e-05 -9.99985623e-01 -4.89345769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.866559995 meters 0.04851845745860426 Centerline is valid? [True, True] Translation: X:562.65, Y:-315.70, Z:-4.89 [[ 4.48881641e-01 8.93587221e-01 -2.67427982e-03 5.62650825e+02] [ 8.93571851e-01 -4.48889605e-01 -5.24110006e-03 -3.15698781e+02] [-5.88383645e-03 -3.70275716e-05 -9.99982689e-01 -4.89241335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9265599949999 meters 0.049267809784634506 Centerline is valid? [True, True] Translation: X:562.73, Y:-315.70, Z:-4.89 [[ 3.82995789e-01 9.23747417e-01 -2.22174224e-03 5.62728801e+02] [ 9.23731915e-01 -3.83002233e-01 -5.35152557e-03 -3.15704116e+02] [-5.79439016e-03 -2.68245900e-06 -9.99983212e-01 -4.89258160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.986559995 meters 0.048905967003259256 Centerline is valid? [True, True] Translation: X:562.80, Y:-315.70, Z:-4.89 [[ 3.16538613e-01 9.48578294e-01 -1.58967725e-03 5.62802635e+02] [ 9.48565768e-01 -3.16542603e-01 -4.87491283e-03 -3.15702216e+02] [-5.12743706e-03 3.51847210e-05 -9.99986854e-01 -4.89209917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0465599949999 meters 0.04932928023802065 Centerline is valid? [True, True] Translation: X:562.88, Y:-315.70, Z:-4.89 [[ 2.40817526e-01 9.70569605e-01 -1.24920450e-03 5.62877441e+02] [ 9.70555815e-01 -2.40820763e-01 -5.17405018e-03 -3.15695400e+02] [-5.32261022e-03 3.35792686e-05 -9.99985834e-01 -4.89166500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1065599949999 meters 0.049537111979959 Centerline is valid? [True, True] Translation: X:562.95, Y:-315.68, Z:-4.89 [[ 1.62979977e-01 9.86628775e-01 -1.08965112e-03 5.62947199e+02] [ 9.86605231e-01 -1.62983616e-01 -6.81609108e-03 -3.15682728e+02] [-6.90254687e-03 3.58308785e-05 -9.99976177e-01 -4.89110057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.166559995 meters 0.049594526724629856 Centerline is valid? [True, True] Translation: X:563.03, Y:-315.66, Z:-4.89 [[ 8.20568637e-02 9.96627455e-01 -6.22736291e-04 5.63029684e+02] [ 9.96597321e-01 -8.20592252e-02 -7.75007187e-03 -3.15664310e+02] [-7.77503566e-03 1.53292711e-05 -9.99969774e-01 -4.89124633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2265599949999 meters 0.04945671666533147 Centerline is valid? [True, True] Translation: X:563.11, Y:-315.64, Z:-4.89 [[ 4.51534298e-04 9.99999898e-01 -1.39606245e-05 5.63108321e+02] [ 9.99972196e-01 -4.51625705e-04 -7.44335237e-03 -3.15640238e+02] [-7.44335792e-03 -1.05993074e-05 -9.99972298e-01 -4.89080523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.286559995 meters 0.049480769218976005 Centerline is valid? [True, True] Translation: X:563.18, Y:-315.61, Z:-4.89 [[-8.35572567e-02 9.96502837e-01 5.30333097e-04 5.63184472e+02] [ 9.96478767e-01 8.35589245e-02 -6.92628694e-03 -3.15609880e+02] [-6.94637865e-03 -5.02758655e-05 -9.99975872e-01 -4.89160903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3465599949999 meters 0.04946449766833869 Centerline is valid? [True, True] Translation: X:563.26, Y:-315.57, Z:-4.89 [[-1.64793611e-01 9.86327586e-01 9.79006825e-04 5.63257308e+02] [ 9.86307617e-01 1.64796505e-01 -6.27662972e-03 -3.15574669e+02] [-6.35214995e-03 -6.87465871e-05 -9.99979823e-01 -4.89203649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.406559995 meters 0.0495631084870812 Centerline is valid? [True, True] Translation: X:563.33, Y:-315.53, Z:-4.89 [[-2.45652613e-01 9.69357203e-01 1.18636741e-03 5.63327563e+02] [ 9.69344315e-01 2.45655466e-01 -4.99912411e-03 -3.15532149e+02] [-5.13737460e-03 -7.80493966e-05 -9.99986801e-01 -4.89300989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4665599949999 meters 0.04985864942488905 Centerline is valid? [True, True] Translation: X:563.39, Y:-315.49, Z:-4.89 [[-3.22597687e-01 9.46535115e-01 1.41739697e-03 5.63394123e+02] [ 9.46524868e-01 3.22600791e-01 -4.40496249e-03 -3.15485704e+02] [-4.62670506e-03 -7.94292252e-05 -9.99989294e-01 -4.89221408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.526559995 meters 0.04927847996326007 Centerline is valid? [True, True] Translation: X:563.46, Y:-315.43, Z:-4.89 [[-3.97670641e-01 9.17526843e-01 1.59799540e-03 5.63455119e+02] [ 9.17518593e-01 3.97673844e-01 -3.89176496e-03 -3.15432433e+02] [-4.20627979e-03 -8.14501792e-05 -9.99991150e-01 -4.89429686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5865599949999 meters 0.050077102024850745 Centerline is valid? [True, True] Translation: X:563.52, Y:-315.37, Z:-4.89 [[-4.70133948e-01 8.82591187e-01 2.62059131e-03 5.63515416e+02] [ 8.82575970e-01 4.70141235e-01 -5.18432709e-03 -3.15374519e+02] [-5.80768944e-03 -1.24457245e-04 -9.99983128e-01 -4.89284166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.646559995 meters 0.04896933608917265 Centerline is valid? [True, True] Translation: X:563.57, Y:-315.31, Z:-4.89 [[-5.38477722e-01 8.42631041e-01 3.83035185e-03 5.63573043e+02] [ 8.42607516e-01 5.38491320e-01 -6.29858760e-03 -3.15309326e+02] [-7.36999665e-03 -1.64165838e-04 -9.99972828e-01 -4.89335228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7065599949999 meters 0.04863728228306388 Centerline is valid? [True, True] Translation: X:563.63, Y:-315.24, Z:-4.89 [[-6.01863930e-01 7.98577688e-01 5.78668571e-03 5.63631247e+02] [ 7.98537390e-01 6.01891711e-01 -8.02525976e-03 -3.15236513e+02] [-9.89175155e-03 -2.09229477e-04 -9.99951054e-01 -4.89358088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.766559995 meters 0.049742950645431286 Centerline is valid? [True, True] Translation: X:563.68, Y:-315.16, Z:-4.89 [[-6.58710678e-01 7.52362884e-01 7.09455525e-03 5.63683526e+02] [ 7.52316336e-01 6.58748859e-01 -8.37083671e-03 -3.15161096e+02] [-1.09714370e-02 -1.76609721e-04 -9.99939796e-01 -4.89292237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8265599949999 meters 0.04922437957519248 Centerline is valid? [True, True] Translation: X:563.72, Y:-315.09, Z:-4.89 [[-7.12479424e-01 7.01648171e-01 7.93186095e-03 5.63723598e+02] [ 7.01602626e-01 7.12523562e-01 -7.99558814e-03 -3.15085635e+02] [-1.12617276e-02 -1.31677562e-04 -9.99936576e-01 -4.89375148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.886559995 meters 0.04979722160870104 Centerline is valid? [True, True] Translation: X:563.76, Y:-315.00, Z:-4.90 [[-7.62742592e-01 6.46644791e-01 8.61704419e-03 5.63760716e+02] [ 6.46602195e-01 7.62791260e-01 -7.42263726e-03 -3.15003955e+02] [-1.13728157e-02 -8.97618930e-05 -9.99935323e-01 -4.89541166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9465599949999 meters 0.05006161098655992 Centerline is valid? [True, True] Translation: X:563.70, Y:-314.86, Z:-4.89 [[-8.03452301e-01 5.95267325e-01 1.10096228e-02 5.63701599e+02] [ 5.95210856e-01 8.03527728e-01 -8.19921587e-03 -3.14860932e+02] [-1.37272625e-02 -3.46318393e-05 -9.99905776e-01 -4.89407447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.006559995 meters 0.05041882859486956 Centerline is valid? [True, True] Translation: X:563.70, Y:-314.76, Z:-4.89 [[-8.42620280e-01 5.38382989e-01 1.16112639e-02 5.63695299e+02] [ 5.38331613e-01 8.42700277e-01 -7.43751364e-03 -3.14764912e+02] [-1.37890461e-02 -1.62894228e-05 -9.99904926e-01 -4.89275313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0665599949999 meters 0.05013413074709419 Centerline is valid? [True, True] Translation: X:563.82, Y:-314.75, Z:-4.90 [[-8.77422642e-01 4.79558884e-01 1.23605932e-02 5.63821039e+02] [ 4.79511666e-01 8.77509701e-01 -6.72950441e-03 -3.14750554e+02] [-1.40737340e-02 2.24290794e-05 -9.99900960e-01 -4.89820984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.126559995 meters 0.05061984755460131 Centerline is valid? [True, True] Translation: X:564.10, Y:-314.80, Z:-4.90 [[-9.07883553e-01 4.19035763e-01 1.25093007e-02 5.64103325e+02] [ 4.18997450e-01 9.07969724e-01 -5.66716560e-03 -3.14797511e+02] [-1.37328114e-02 9.62386583e-05 -9.99905696e-01 -4.90007408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1865599949999 meters 0.05072044628904635 Centerline is valid? [True, True] Translation: X:563.70, Y:-313.89, Z:-5.91 [[-8.86712799e-01 -4.62172392e-01 1.17086278e-02 5.63700881e+02] [ 4.62130346e-01 -8.86790091e-01 -6.23512829e-03 -3.13887500e+02] [ 1.32647993e-02 -1.17855846e-04 9.99912012e-01 -5.91180147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.246559995 meters 0.051469710302377736 Centerline is valid? [True, True] Translation: X:563.75, Y:-314.62, Z:-4.90 [[-9.08807734e-01 4.17036020e-01 1.22253942e-02 5.63752030e+02] [ 4.17000747e-01 9.08889944e-01 -5.42652998e-03 -3.14622894e+02] [-1.33745963e-02 1.66326093e-04 -9.99910542e-01 -4.90282420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3065599949999 meters 0.051294345701780035 Centerline is valid? [True, True] Translation: X:563.07, Y:-314.26, Z:-4.90 [[-9.37300541e-01 3.48295602e-01 1.25645688e-02 5.63071874e+02] [ 3.48265985e-01 9.37384745e-01 -4.54354468e-03 -3.14258848e+02] [-1.33603318e-02 1.17145061e-04 -9.99910740e-01 -4.89969743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.366559995 meters 0.051325107334299847 Centerline is valid? [True, True] Translation: X:563.15, Y:-314.20, Z:-4.90 [[-9.60967768e-01 2.76403135e-01 1.19271018e-02 5.63148908e+02] [ 2.76382526e-01 9.61041781e-01 -3.37567970e-03 -3.14199162e+02] [-1.23954916e-02 5.25231281e-05 -9.99923172e-01 -4.90190749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4265599949999 meters 0.05070659412235786 Centerline is valid? [True, True] Translation: X:563.01, Y:-314.08, Z:-4.90 [[-9.79857816e-01 1.99384540e-01 1.11563900e-02 5.63007091e+02] [ 1.99371073e-01 9.79921325e-01 -2.31782805e-03 -3.14079045e+02] [-1.13945236e-02 -4.68804900e-05 -9.99935079e-01 -4.90033314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.486559995 meters 0.05053138047561177 Centerline is valid? [True, True] Translation: X:563.03, Y:-314.00, Z:-4.90 [[-9.92569081e-01 1.21289901e-01 9.76625758e-03 5.63025342e+02] [ 1.21282848e-01 9.92617119e-01 -1.31341430e-03 -3.13997859e+02] [-9.85345836e-03 -1.19174891e-04 -9.99951446e-01 -4.90028313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5465599949999 meters 0.050833204308527426 Centerline is valid? [True, True] Translation: X:563.02, Y:-313.92, Z:-4.90 [[-9.98874014e-01 4.66866802e-02 8.42958778e-03 5.63018701e+02] [ 4.66838878e-02 9.98909574e-01 -5.27836493e-04 -3.13917311e+02] [-8.44503886e-03 -1.33716227e-04 -9.99964331e-01 -4.90152300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6065599949999 meters 0.050650689373449465 Centerline is valid? [True, True] Translation: X:563.03, Y:-313.33, Z:-5.91 [[-9.89120001e-01 -1.46983107e-01 6.13112528e-03 5.63028058e+02] [ 1.46979947e-01 -9.89139001e-01 -9.65241201e-04 -3.13330884e+02] [ 6.20640929e-03 -5.35869062e-05 9.99980739e-01 -5.90774119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.666559995 meters 0.05026690225737837 Centerline is valid? [True, True] Translation: X:562.89, Y:-313.91, Z:-4.90 [[-9.99144559e-01 4.08636203e-02 6.34933000e-03 5.62885035e+02] [ 4.08620751e-02 9.99164727e-01 -3.72947357e-04 -3.13908429e+02] [-6.35926655e-03 -1.13181524e-04 -9.99979773e-01 -4.90220010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7265599949999 meters 0.050523901088712915 Centerline is valid? [True, True] Translation: X:562.83, Y:-313.83, Z:-4.90 [[-9.99547082e-01 -2.90487939e-02 7.86126243e-03 5.62825300e+02] [-2.90489202e-02 9.99577986e-01 9.81394066e-05 -3.13827680e+02] [-7.86079570e-03 -1.30266228e-04 -9.99969095e-01 -4.89910494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.786559995 meters 0.050406681787357695 Centerline is valid? [True, True] Translation: X:562.74, Y:-313.76, Z:-4.90 [[-9.95229843e-01 -9.70133464e-02 1.02942222e-02 5.62743504e+02] [-9.70096056e-02 9.95283071e-01 8.63286323e-04 -3.13759525e+02] [-1.03294153e-02 -1.39470121e-04 -9.99946640e-01 -4.89851609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8465599949999 meters 0.050608052983033835 Centerline is valid? [True, True] Translation: X:562.64, Y:-313.70, Z:-4.89 [[-9.86492611e-01 -1.63364625e-01 1.20136220e-02 5.62637385e+02] [-1.63353900e-01 9.86565754e-01 1.87534968e-03 -3.13695713e+02] [-1.21585939e-02 -1.12453403e-04 -9.99926075e-01 -4.89478598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.906559995 meters 0.05127957943288738 Centerline is valid? [True, True] Translation: X:563.01, Y:-313.55, Z:-4.90 [[-9.73742654e-01 -2.27240601e-01 1.36730857e-02 5.63009473e+02] [-2.27217856e-01 9.73838646e-01 3.21514734e-03 -3.13546377e+02] [-1.40459913e-02 2.39568866e-05 -9.99901350e-01 -4.89866770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9665599949999 meters 0.05124519761172729 Centerline is valid? [True, True] Translation: X:562.64, Y:-313.01, Z:-5.91 [[-9.83537356e-01 1.80230787e-01 1.30817935e-02 5.62644544e+02] [-1.80215658e-01 -9.83624349e-01 2.33600709e-03 -3.13005987e+02] [ 1.32885910e-02 -5.99937828e-05 9.99911701e-01 -5.90932062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.026559995 meters 0.05109857415603529 Centerline is valid? [True, True] Translation: X:562.20, Y:-313.74, Z:-4.90 [[-9.79002111e-01 -2.03497412e-01 1.19862667e-02 5.62201985e+02] [-2.03477612e-01 9.79075417e-01 2.86179060e-03 -3.13743022e+02] [-1.23178261e-02 3.62762112e-04 -9.99924067e-01 -4.90040440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0865599949999 meters 0.05264213409372839 Centerline is valid? [True, True] Translation: X:562.30, Y:-313.64, Z:-4.90 [[-9.65531669e-01 -2.60093519e-01 9.99786484e-03 5.62297433e+02] [-2.60074370e-01 9.65583310e-01 3.19272848e-03 -3.13635971e+02] [-1.04841794e-02 4.82492067e-04 -9.99944923e-01 -4.90426947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.146559995 meters 0.05275163635181632 Centerline is valid? [True, True] Translation: X:562.19, Y:-313.59, Z:-4.90 [[-9.46989956e-01 -3.21139245e-01 8.92239823e-03 5.62186999e+02] [-3.21119778e-01 9.47031845e-01 3.57386160e-03 -3.13594069e+02] [-9.59750248e-03 5.19252499e-04 -9.99953808e-01 -4.90453878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2065599949999 meters 0.05295448402461758 Centerline is valid? [True, True] Translation: X:562.07, Y:-313.55, Z:-4.90 [[-9.23347580e-01 -3.83863115e-01 8.85181153e-03 5.62074283e+02] [-3.83839335e-01 9.23389824e-01 4.31252711e-03 -3.13553681e+02] [-9.82909278e-03 5.84288023e-04 -9.99951523e-01 -4.90408354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.266559995 meters 0.052927390681699625 Centerline is valid? [True, True] Translation: X:561.95, Y:-313.52, Z:-4.90 [[-8.91632393e-01 -4.52677006e-01 8.67202965e-03 5.61948487e+02] [-4.52649357e-01 8.91674386e-01 5.03477808e-03 -3.13516726e+02] [-1.00117550e-02 5.63782582e-04 -9.99949722e-01 -4.90453066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3265599949999 meters 0.05258866000967446 Centerline is valid? [True, True] Translation: X:561.78, Y:-313.52, Z:-4.91 [[-8.53407620e-01 -5.21200425e-01 6.74920034e-03 5.61783358e+02] [-5.21180300e-01 8.53434211e-01 4.59813929e-03 -3.13519236e+02] [-8.15655061e-03 4.06536847e-04 -9.99966652e-01 -4.90515968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.386559995 meters 0.05302123412760311 Centerline is valid? [True, True] Translation: X:561.64, Y:-313.52, Z:-4.91 [[-8.05729748e-01 -5.92269559e-01 4.04269678e-03 5.61637285e+02] [-5.92260905e-01 8.05739867e-01 3.20722122e-03 -3.13523059e+02] [-5.15690146e-03 1.89822295e-04 -9.99986685e-01 -4.90513229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4465599949999 meters 0.05226997763986485 Centerline is valid? [True, True] Translation: X:561.52, Y:-313.51, Z:-4.90 [[-7.50236056e-01 -6.61155829e-01 4.33935233e-03 5.61521665e+02] [-6.61143760e-01 7.50248594e-01 3.99707091e-03 -3.13506056e+02] [-5.89827972e-03 1.29810998e-04 -9.99982597e-01 -4.90338351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.506559995 meters 0.05155243232726919 Centerline is valid? [True, True] Translation: X:561.30, Y:-313.58, Z:-4.90 [[-6.90948590e-01 -7.22895858e-01 3.40935544e-03 5.61303078e+02] [-7.22886770e-01 6.90957001e-01 3.62513086e-03 -3.13575125e+02] [-4.97631010e-03 4.02011143e-05 -9.99987617e-01 -4.90341687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5665599949999 meters 0.05136850667700574 Centerline is valid? [True, True] Translation: X:560.30, Y:-313.79, Z:-5.91 [[-7.32896189e-01 6.80335007e-01 2.73018014e-03 5.60301695e+02] [-6.80330914e-01 -7.32901264e-01 2.36335730e-03 -3.13788462e+02] [ 3.60882718e-03 -1.25330388e-04 9.99993480e-01 -5.90867995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.626559995 meters 0.051680647383879404 Centerline is valid? [True, True] Translation: X:560.60, Y:-314.27, Z:-4.90 [[-6.70455153e-01 -7.41949314e-01 1.05079184e-03 5.60602797e+02] [-7.41948451e-01 6.70455976e-01 1.13133489e-03 -3.14267244e+02] [-1.54390281e-03 -2.11240718e-05 -9.99998808e-01 -4.90178590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6865599949999 meters 0.05193840121815906 Centerline is valid? [True, True] Translation: X:560.49, Y:-314.27, Z:-4.90 [[-6.07351656e-01 -7.94432692e-01 8.14610255e-04 5.60490135e+02] [-7.94432040e-01 6.07352202e-01 1.01802218e-03 -3.14265492e+02] [-1.30350544e-03 -2.88550278e-05 -9.99999150e-01 -4.90141807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.746559995 meters 0.0524217122059874 Centerline is valid? [True, True] Translation: X:560.34, Y:-314.34, Z:-4.90 [[-5.45995257e-01 -8.37788173e-01 3.95894492e-04 5.60335320e+02] [-8.37787975e-01 5.45995400e-01 5.75956959e-04 -3.14340033e+02] [-6.98686500e-04 -1.72058772e-05 -9.99999756e-01 -4.90111508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8065599949999 meters 0.05268197986100875 Centerline is valid? [True, True] Translation: X:560.17, Y:-314.45, Z:-4.90 [[-4.84720238e-01 -8.74668828e-01 8.55926328e-04 5.60170304e+02] [-8.74667604e-01 4.84720992e-01 1.46355731e-03 -3.14449662e+02] [-1.69501341e-03 -3.92351843e-05 -9.99998563e-01 -4.89870558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.866559995 meters 0.05296235519950208 Centerline is valid? [True, True] Translation: X:560.02, Y:-314.58, Z:-4.90 [[-4.21635984e-01 -9.06764609e-01 1.02034420e-03 5.60016941e+02] [-9.06762225e-01 4.21637216e-01 2.07959130e-03 -3.14577260e+02] [-2.31591488e-03 -4.83790464e-05 -9.99997317e-01 -4.89744196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9265599949999 meters 0.05180178710650953 Centerline is valid? [True, True] Translation: X:559.87, Y:-314.74, Z:-4.90 [[-3.56486521e-01 -9.34299761e-01 1.14757162e-03 5.59869936e+02] [-9.34295417e-01 3.56488364e-01 2.84964139e-03 -3.14741560e+02] [-3.07151520e-03 -5.63121584e-05 -9.99995281e-01 -4.89665077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.986559995 meters 0.05219766820357825 Centerline is valid? [True, True] Translation: X:559.74, Y:-314.89, Z:-4.89 [[-2.91768902e-01 -9.56486730e-01 2.01057361e-03 5.59740942e+02] [-9.56466076e-01 2.91775816e-01 6.28648319e-03 -3.14893789e+02] [-6.59957451e-03 -8.88451514e-05 -9.99978219e-01 -4.89361526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0465599949999 meters 0.05122549249785167 Centerline is valid? [True, True] Translation: X:559.64, Y:-314.99, Z:-4.89 [[-2.24436224e-01 -9.74487371e-01 1.65693343e-03 5.59642029e+02] [-9.74462874e-01 2.24442331e-01 6.90996863e-03 -3.14991135e+02] [-7.10556317e-03 -6.37728487e-05 -9.99974753e-01 -4.89344991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1065599949999 meters 0.051402665503781045 Centerline is valid? [True, True] Translation: X:559.51, Y:-315.29, Z:-4.89 [[-1.56225234e-01 -9.87721015e-01 9.34191680e-04 5.59508831e+02] [-9.87704631e-01 1.56228024e-01 5.68908428e-03 -3.15289368e+02] [-5.76517501e-03 -3.39269246e-05 -9.99983381e-01 -4.89399535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.166559995 meters 0.0511441140606336 Centerline is valid? [True, True] Translation: X:559.44, Y:-315.27, Z:-4.90 [[-8.55471839e-02 -9.96334058e-01 3.51130120e-04 5.59441208e+02] [-9.96326087e-01 8.55479041e-02 3.98553892e-03 -3.15269439e+02] [-4.00096661e-03 -8.88846717e-06 -9.99991996e-01 -4.89526385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2265599949999 meters 0.051027401301613054 Centerline is valid? [True, True] Translation: X:559.35, Y:-315.73, Z:-4.90 [[-1.48553904e-02 -9.99889651e-01 4.87423219e-05 5.59347079e+02] [-9.99884916e-01 1.48554701e-02 3.07723627e-03 -3.15730125e+02] [-3.07762079e-03 -3.02316629e-06 -9.99995264e-01 -4.89533619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.286559995 meters 0.05070461572412128 Centerline is valid? [True, True] Translation: X:559.28, Y:-315.81, Z:-4.90 [[ 6.25901551e-02 -9.98039298e-01 -1.80885754e-04 5.59278816e+02] [-9.98034567e-01 -6.25904153e-02 3.07283141e-03 -3.15810919e+02] [-3.07812822e-03 -1.17987589e-05 -9.99995262e-01 -4.89593066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3465599949999 meters 0.050514506030450504 Centerline is valid? [True, True] Translation: X:559.18, Y:-315.60, Z:-4.90 [[ 1.40828001e-01 -9.90034012e-01 -3.58697989e-04 5.59180687e+02] [-9.90030445e-01 -1.40828456e-01 2.65787956e-03 -3.15604213e+02] [-2.68190605e-03 -1.91819353e-05 -9.99996404e-01 -4.89717380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.406559995 meters 0.050772794669976314 Centerline is valid? [True, True] Translation: X:559.11, Y:-315.71, Z:-4.90 [[ 2.15622715e-01 -9.76476625e-01 -4.95689935e-04 5.59111296e+02] [-9.76473809e-01 -2.15623284e-01 2.34508126e-03 -3.15710027e+02] [-2.39679933e-03 -2.16245504e-05 -9.99997127e-01 -4.89737454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4665599949999 meters 0.05068067728488562 Centerline is valid? [True, True] Translation: X:559.24, Y:-316.59, Z:-4.90 [[ 2.89929247e-01 -9.57047809e-01 -7.22955444e-04 5.59238264e+02] [-9.57044497e-01 -2.89930146e-01 2.51822960e-03 -3.16592984e+02] [-2.61967270e-03 -3.82078820e-05 -9.99996568e-01 -4.89575155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.526559995 meters 0.05067054625319317 Centerline is valid? [True, True] Translation: X:559.12, Y:-316.50, Z:-4.90 [[ 3.64128309e-01 -9.31348112e-01 -1.12676962e-03 5.59122595e+02] [-9.31343136e-01 -3.64130047e-01 3.04487345e-03 -3.16495570e+02] [-3.24612782e-03 -5.93154658e-05 -9.99994730e-01 -4.89502173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5865599949999 meters 0.05016099631116954 Centerline is valid? [True, True] Translation: X:559.22, Y:-316.95, Z:-4.90 [[ 4.32796807e-01 -9.01490725e-01 -1.18208694e-03 5.59224910e+02] [-9.01486987e-01 -4.32798418e-01 2.59659910e-03 -3.16947944e+02] [-2.85241536e-03 -5.81638039e-05 -9.99995930e-01 -4.89533168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.646559995 meters 0.05001699343626465 Centerline is valid? [True, True] Translation: X:559.26, Y:-317.19, Z:-4.90 [[ 4.98605663e-01 -8.66828453e-01 -9.08457846e-04 5.59264427e+02] [-8.66826866e-01 -4.98606489e-01 1.65921749e-03 -3.17187914e+02] [-1.89121991e-03 -3.98195703e-05 -9.99998211e-01 -4.89620486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7065599949999 meters 0.05057507384032738 Centerline is valid? [True, True] Translation: X:559.30, Y:-317.41, Z:-4.90 [[ 5.60536164e-01 -8.28128897e-01 -1.31873710e-03 5.59297861e+02] [-8.28126396e-01 -5.60537713e-01 2.03589775e-03 -3.17405261e+02] [-2.42518764e-03 -4.91133113e-05 -9.99997058e-01 -4.89565169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.766559995 meters 0.04878511270697304 Centerline is valid? [True, True] Translation: X:559.42, Y:-317.69, Z:-4.90 [[ 6.17972939e-01 -7.86198150e-01 -1.38451711e-03 5.59415487e+02] [-7.86196027e-01 -6.17974488e-01 1.82724231e-03 -3.17685691e+02] [-2.29217078e-03 -4.06844467e-05 -9.99997372e-01 -4.89579955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8265599949999 meters 0.048769528773678045 Centerline is valid? [True, True] Translation: X:559.48, Y:-317.88, Z:-4.90 [[ 6.71342525e-01 -7.41144546e-01 -1.99402279e-03 5.59481572e+02] [-7.41141092e-01 -6.71345485e-01 2.26316036e-03 -3.17881555e+02] [-3.01600715e-03 -4.15035600e-05 -9.99995451e-01 -4.89516668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.886559995 meters 0.04865858255371746 Centerline is valid? [True, True] Translation: X:559.57, Y:-318.08, Z:-4.90 [[ 7.22322739e-01 -6.91553359e-01 -1.95252487e-03 5.59567780e+02] [-6.91550716e-01 -7.22325377e-01 1.91220800e-03 -3.18079621e+02] [-2.73275213e-03 -3.09613513e-05 -9.99996266e-01 -4.89578043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9465599949999 meters 0.049092350191839024 Centerline is valid? [True, True] Translation: X:559.53, Y:-318.16, Z:-4.90 [[ 7.73487453e-01 -6.33808700e-01 -1.92151059e-03 5.59534239e+02] [-6.33806661e-01 -7.73489839e-01 1.60782367e-03 -3.18164758e+02] [-2.50532155e-03 -2.57652281e-05 -9.99996861e-01 -4.89529608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.006559995 meters 0.04835103315470363 Centerline is valid? [True, True] Translation: X:559.51, Y:-318.25, Z:-4.90 [[ 8.20488951e-01 -5.71651922e-01 -3.45851888e-03 5.59511890e+02] [-5.71646627e-01 -8.20496239e-01 2.46078538e-03 -3.18246231e+02] [-4.24441443e-03 -4.19965617e-05 -9.99990992e-01 -4.89554561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0665599949999 meters 0.049140701842706185 Centerline is valid? [True, True] Translation: X:559.49, Y:-318.34, Z:-4.89 [[ 8.62648240e-01 -5.05787779e-01 -4.09096212e-03 5.59493080e+02] [-5.05781832e-01 -8.62657939e-01 2.45312214e-03 -3.18335948e+02] [-4.76986015e-03 -4.70471787e-05 -9.99988623e-01 -4.89341498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.126559995 meters 0.049310360824307745 Centerline is valid? [True, True] Translation: X:559.48, Y:-318.43, Z:-4.89 [[ 8.99157524e-01 -4.37595827e-01 -5.06355373e-03 5.59482605e+02] [-4.37588570e-01 -8.99171780e-01 2.52075283e-03 -3.18425904e+02] [-5.65607554e-03 -5.08006404e-05 -9.99984003e-01 -4.89332043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1865599949999 meters 0.04901501998907399 Centerline is valid? [True, True] Translation: X:559.48, Y:-318.52, Z:-4.89 [[ 9.29940979e-01 -3.67663460e-01 -5.77549844e-03 5.59477827e+02] [-3.67656071e-01 -9.29958912e-01 2.33124665e-03 -3.18516921e+02] [-6.22809046e-03 -4.45247243e-05 -9.99980604e-01 -4.89274861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.246559995 meters 0.048983805976964945 Centerline is valid? [True, True] Translation: X:559.48, Y:-318.61, Z:-4.89 [[ 9.55437163e-01 -2.95126538e-01 -6.33671540e-03 5.59481593e+02] [-2.95119780e-01 -9.55458175e-01 1.99766460e-03 -3.18605687e+02] [-6.64403037e-03 -3.85529424e-05 -9.99977927e-01 -4.89371149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3065599949999 meters 0.04909109762159489 Centerline is valid? [True, True] Translation: X:559.49, Y:-318.69, Z:-4.89 [[ 9.75355062e-01 -2.20545015e-01 -6.51157047e-03 5.59491375e+02] [-2.20539881e-01 -9.75376797e-01 1.50509226e-03 -3.18693542e+02] [-6.68317534e-03 -3.19383735e-05 -9.99977667e-01 -4.89437856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.366559995 meters 0.04915998836715795 Centerline is valid? [True, True] Translation: X:559.51, Y:-318.78, Z:-4.89 [[ 9.89619065e-01 -1.43557135e-01 -6.74198522e-03 5.59510117e+02] [-1.43553576e-01 -9.89642030e-01 1.01134555e-03 -3.18778254e+02] [-6.81733781e-03 -3.30107505e-05 -9.99976761e-01 -4.89467653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4265599949999 meters 0.04951103740495811 Centerline is valid? [True, True] Translation: X:559.53, Y:-318.86, Z:-4.89 [[ 9.97864252e-01 -6.49523234e-02 -6.93766014e-03 5.59534479e+02] [-6.49504800e-02 -9.97888368e-01 4.90928116e-04 -3.18858861e+02] [-6.95489728e-03 -3.92752609e-05 -9.99975814e-01 -4.89385758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.486559995 meters 0.04920196588183544 Centerline is valid? [True, True] Translation: X:559.56, Y:-318.93, Z:-4.89 [[ 9.99841043e-01 1.60563288e-02 -7.75126355e-03 5.59563849e+02] [ 1.60563504e-02 -9.99871087e-01 -5.94493691e-05 -3.18934424e+02] [-7.75121885e-03 -6.50170842e-05 -9.99969957e-01 -4.89381855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5465599949999 meters 0.04917132204492515 Centerline is valid? [True, True] Translation: X:559.60, Y:-319.02, Z:-4.90 [[ 9.95059174e-01 9.89330289e-02 -8.33638846e-03 5.59596820e+02] [ 9.89304790e-02 -9.95094088e-01 -7.18709739e-04 -3.19015030e+02] [-8.36659500e-03 -1.09564183e-04 -9.99964993e-01 -4.89597299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6065599949999 meters 0.04896910719695819 Centerline is valid? [True, True] Translation: X:559.64, Y:-319.10, Z:-4.90 [[ 9.83566132e-01 1.80386769e-01 -7.63396094e-03 5.59637031e+02] [ 1.80382376e-01 -9.83595748e-01 -1.26581502e-03 -3.19097977e+02] [-7.73706781e-03 -1.32019225e-04 -9.99970060e-01 -4.89602974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.666559995 meters 0.048926651940757966 Centerline is valid? [True, True] Translation: X:559.68, Y:-319.18, Z:-4.90 [[ 9.66055640e-01 2.58249955e-01 -6.59253176e-03 5.59683619e+02] [ 2.58244831e-01 -9.66078126e-01 -1.63160408e-03 -3.19177045e+02] [-6.79026240e-03 -1.26266930e-04 -9.99976938e-01 -4.89696510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7265599949999 meters 0.04986036676497192 Centerline is valid? [True, True] Translation: X:559.74, Y:-319.26, Z:-4.89 [[ 9.42279819e-01 3.34765835e-01 -6.37010527e-03 5.59736868e+02] [ 3.34759165e-01 -9.42301341e-01 -2.11768361e-03 -3.19257699e+02] [-6.71148686e-03 -1.37000587e-04 -9.99977468e-01 -4.89435869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.786559995 meters 0.04876307393959906 Centerline is valid? [True, True] Translation: X:559.79, Y:-319.33, Z:-4.90 [[ 9.13116252e-01 4.07643870e-01 -6.72209353e-03 5.59793145e+02] [ 4.07634030e-01 -9.13140982e-01 -2.83635403e-03 -3.19325258e+02] [-7.29444142e-03 -1.50233111e-04 -9.99973384e-01 -4.89568076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8465599949999 meters 0.04938870578145263 Centerline is valid? [True, True] Translation: X:559.86, Y:-319.39, Z:-4.89 [[ 8.78441803e-01 4.77780872e-01 -8.08938674e-03 5.59855528e+02] [ 4.77762561e-01 -8.78479029e-01 -4.18700991e-03 -3.19392455e+02] [-9.10682985e-03 -1.86761600e-04 -9.99958515e-01 -4.89458188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.906559995 meters 0.048540931258663135 Centerline is valid? [True, True] Translation: X:559.92, Y:-319.45, Z:-4.89 [[ 8.39052645e-01 5.43986525e-01 -8.32584331e-03 5.59920619e+02] [ 5.43961964e-01 -8.39093931e-01 -5.17270491e-03 -3.19447314e+02] [-9.80004636e-03 -1.88770341e-04 -9.99951961e-01 -4.89439465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9665599949999 meters 0.048696552240007344 Centerline is valid? [True, True] Translation: X:559.99, Y:-319.50, Z:-4.90 [[ 7.95081118e-01 6.06451479e-01 -7.91320563e-03 5.59990327e+02] [ 6.06423567e-01 -7.95120478e-01 -5.82093538e-03 -3.19498819e+02] [-9.82206671e-03 -1.70638579e-04 -9.99951748e-01 -4.89567417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.026559995 meters 0.04857838976610885 Centerline is valid? [True, True] Translation: X:560.07, Y:-319.55, Z:-4.89 [[ 7.46076471e-01 6.65822581e-01 -7.08451200e-03 5.60065567e+02] [ 6.65794468e-01 -7.46110091e-01 -6.12040595e-03 -3.19548883e+02] [-9.36093038e-03 -1.50538025e-04 -9.99956174e-01 -4.89467788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0865599949999 meters 0.04905720521592298 Centerline is valid? [True, True] Translation: X:560.14, Y:-319.59, Z:-4.89 [[ 6.93124274e-01 7.20785938e-01 -6.80973210e-03 5.60140600e+02] [ 7.20753074e-01 -6.93157711e-01 -6.88433246e-03 -3.19588622e+02] [-9.68234835e-03 -1.36437403e-04 -9.99953116e-01 -4.89254868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.146559995 meters 0.048800156798053454 Centerline is valid? [True, True] Translation: X:560.22, Y:-319.62, Z:-4.90 [[ 6.36312944e-01 7.71401313e-01 -6.77136198e-03 5.60219782e+02] [ 7.71359708e-01 -6.36348960e-01 -8.01261279e-03 -3.19622030e+02] [-1.04898892e-02 -1.24626560e-04 -9.99944972e-01 -4.89551072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2065599949999 meters 0.04930079279232507 Centerline is valid? [True, True] Translation: X:560.30, Y:-319.65, Z:-4.90 [[ 5.75811016e-01 8.17560968e-01 -5.97811858e-03 5.60302337e+02] [ 8.17518683e-01 -5.75842039e-01 -8.31561769e-03 -3.19650605e+02] [-1.02409764e-02 -9.89993520e-05 -9.99947555e-01 -4.89582482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.266559995 meters 0.04875517337923775 Centerline is valid? [True, True] Translation: X:560.39, Y:-319.67, Z:-4.90 [[ 5.10788420e-01 8.59689614e-01 -5.38115800e-03 5.60386102e+02] [ 8.59643789e-01 -5.10816756e-01 -8.87677728e-03 -3.19672960e+02] [-1.03800589e-02 -9.17240163e-05 -9.99946122e-01 -4.89622067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3265599949999 meters 0.049861230825896344 Centerline is valid? [True, True] Translation: X:560.47, Y:-319.69, Z:-4.90 [[ 4.42214453e-01 8.96896860e-01 -4.73276524e-03 5.60468752e+02] [ 8.96847659e-01 -4.42239770e-01 -9.39484062e-03 -3.19686168e+02] [-1.05192201e-02 -9.00351168e-05 -9.99944667e-01 -4.89625779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.386559995 meters 0.04909037738511065 Centerline is valid? [True, True] Translation: X:560.56, Y:-319.70, Z:-4.90 [[ 3.72305985e-01 9.28101897e-01 -3.88862163e-03 5.60557971e+02] [ 9.28053225e-01 -3.72326286e-01 -9.50518674e-03 -3.19696567e+02] [-1.02696179e-02 -7.00099279e-05 -9.99947264e-01 -4.89542443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4465599949999 meters 0.04955024459023233 Centerline is valid? [True, True] Translation: X:560.65, Y:-319.70, Z:-4.90 [[ 3.01160124e-01 9.53568764e-01 -3.03188116e-03 5.60646746e+02] [ 9.53521791e-01 -3.01175382e-01 -9.46480962e-03 -3.19698030e+02] [-9.93847478e-03 -4.05415201e-05 -9.99950611e-01 -4.89831025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.506559995 meters 0.04954473778733063 Centerline is valid? [True, True] Translation: X:560.73, Y:-319.69, Z:-4.90 [[ 2.27485196e-01 9.73779517e-01 -1.98445679e-03 5.60732708e+02] [ 9.73743185e-01 -2.27493851e-01 -8.41178927e-03 -3.19692934e+02] [-8.64267980e-03 -1.87937400e-05 -9.99962651e-01 -4.89759158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5665599949999 meters 0.04934872136877128 Centerline is valid? [True, True] Translation: X:560.81, Y:-319.68, Z:-4.90 [[ 1.51884399e-01 9.88397475e-01 -1.24914802e-03 5.60811089e+02] [ 9.88364436e-01 -1.51889536e-01 -8.08146427e-03 -3.19680272e+02] [-8.17743139e-03 -7.16513103e-06 -9.99966564e-01 -4.89635682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.626559995 meters 0.049347481376560275 Centerline is valid? [True, True] Translation: X:560.89, Y:-319.66, Z:-4.90 [[ 7.77534066e-02 9.96972417e-01 -6.37669478e-04 5.60892007e+02] [ 9.96936322e-01 -7.77560177e-02 -8.48365895e-03 -3.19660617e+02] [-8.50755661e-03 2.39175198e-05 -9.99963810e-01 -4.89827812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6865599949999 meters 0.05015984676324995 Centerline is valid? [True, True] Translation: X:560.97, Y:-319.64, Z:-4.90 [[ 3.77724650e-03 9.99992866e-01 2.67524814e-05 5.60965339e+02] [ 9.99960190e-01 -3.77690680e-03 -8.08417989e-03 -3.19635347e+02] [-8.08402118e-03 5.72873565e-05 -9.99967322e-01 -4.89697054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.746559995 meters 0.04990520604347886 Centerline is valid? [True, True] Translation: X:561.04, Y:-319.60, Z:-4.90 [[-7.24508763e-02 9.97371766e-01 6.56074480e-04 5.61035871e+02] [ 9.97339535e-01 7.24538096e-02 -8.01853732e-03 -3.19604142e+02] [-8.04499783e-03 7.33789617e-05 -9.99967636e-01 -4.89791425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8065599949999 meters 0.04994149271729776 Centerline is valid? [True, True] Translation: X:561.11, Y:-319.57, Z:-4.90 [[-1.51153138e-01 9.88509571e-01 1.24782423e-03 5.61108035e+02] [ 9.88479308e-01 1.51158275e-01 -7.73516399e-03 -3.19567683e+02] [-7.83490259e-03 6.42541169e-05 -9.99969305e-01 -4.89981095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.866559995 meters 0.04988184051833947 Centerline is valid? [True, True] Translation: X:561.18, Y:-319.52, Z:-4.90 [[-2.31541192e-01 9.72823291e-01 1.87631003e-03 5.61182812e+02] [ 9.72792617e-01 2.31548792e-01 -7.72536181e-03 -3.19523806e+02] [-7.94986922e-03 3.65210563e-05 -9.99968399e-01 -4.89840987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9265599949999 meters 0.04984436253400924 Centerline is valid? [True, True] Translation: X:561.26, Y:-319.47, Z:-4.90 [[-3.12239211e-01 9.49999687e-01 2.69630297e-03 5.61257858e+02] [ 9.49964032e-01 3.12250853e-01 -8.23062348e-03 -3.19471781e+02] [-8.66101263e-03 -8.53254265e-06 -9.99962493e-01 -4.89921639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.986559995 meters 0.0498506501240414 Centerline is valid? [True, True] Translation: X:561.33, Y:-319.42, Z:-4.90 [[-3.90121083e-01 9.20756766e-01 3.53815238e-03 5.61325407e+02] [ 9.20717634e-01 3.90137124e-01 -8.48896918e-03 -3.19416920e+02] [-9.19664040e-03 -5.40865638e-05 -9.99957709e-01 -4.89578656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0465599949999 meters 0.05013565559413151 Centerline is valid? [True, True] Translation: X:561.39, Y:-319.35, Z:-4.90 [[-4.66584392e-01 8.84462220e-01 5.05834876e-03 5.61389435e+02] [ 8.84407061e-01 4.66611791e-01 -9.87862136e-03 -3.19354813e+02] [-1.10975526e-02 -1.35571183e-04 -9.99938411e-01 -4.89700125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1065599949999 meters 0.05022451152893131 Centerline is valid? [True, True] Translation: X:561.45, Y:-319.29, Z:-4.90 [[-5.38135743e-01 8.42838963e-01 5.69252624e-03 5.61445295e+02] [ 8.42788194e-01 5.38165820e-01 -9.25263300e-03 -3.19290369e+02] [-1.08620027e-02 -1.81578623e-04 -9.99940990e-01 -4.89626726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.166559995 meters 0.05002164279712158 Centerline is valid? [True, True] Translation: X:561.49, Y:-319.22, Z:-4.90 [[-6.04431663e-01 7.96637851e-01 5.52256129e-03 5.61491134e+02] [ 7.96601838e-01 6.04456865e-01 -7.57688647e-03 -3.19224070e+02] [-9.37418464e-03 -1.80427614e-04 -9.99956045e-01 -4.89866313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2265599949999 meters 0.05001841352339036 Centerline is valid? [True, True] Translation: X:561.54, Y:-319.15, Z:-4.90 [[-6.65605678e-01 7.46283866e-01 5.42892496e-03 5.61539700e+02] [ 7.46256956e-01 6.65627797e-01 -6.33969289e-03 -3.19147171e+02] [-8.34485387e-03 -1.68362574e-04 -9.99965167e-01 -4.90051534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.286559995 meters 0.04938723755465704 Centerline is valid? [True, True] Translation: X:561.58, Y:-319.07, Z:-4.90 [[-7.21242041e-01 6.92661264e-01 5.50383238e-03 5.61584238e+02] [ 6.92639507e-01 7.21263025e-01 -5.49206118e-03 -3.19065426e+02] [-7.77384883e-03 -1.48933667e-04 -9.99969772e-01 -4.90162363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3465599949999 meters 0.050445076228942884 Centerline is valid? [True, True] Translation: X:561.58, Y:-318.96, Z:-4.90 [[-7.66864586e-01 6.41781565e-01 5.92693718e-03 5.61584068e+02] [ 6.41761081e-01 7.66887479e-01 -5.12931636e-03 -3.18956581e+02] [-7.83719459e-03 -1.29813458e-04 -9.99969280e-01 -4.89995433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.406559995 meters 0.05020043940133052 Centerline is valid? [True, True] Translation: X:561.57, Y:-318.85, Z:-4.90 [[-8.07954375e-01 5.89196522e-01 7.56216650e-03 5.61574897e+02] [ 5.89169248e-01 8.07989754e-01 -5.67059389e-03 -3.18852910e+02] [-9.45124724e-03 -1.26185191e-04 -9.99955328e-01 -4.89919923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4665599949999 meters 0.050469769301568844 Centerline is valid? [True, True] Translation: X:561.56, Y:-318.75, Z:-4.90 [[-8.45625912e-01 5.33682167e-01 1.00080532e-02 5.61555626e+02] [ 5.33643207e-01 8.45685126e-01 -6.44946888e-03 -3.18750953e+02] [-1.19056282e-02 -1.13108424e-04 -9.99929119e-01 -4.89841048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.526559995 meters 0.050022863962248566 Centerline is valid? [True, True] Translation: X:561.49, Y:-318.63, Z:-4.90 [[-8.78887231e-01 4.76908082e-01 1.07664770e-02 5.61487021e+02] [ 4.76871556e-01 8.78953172e-01 -5.90265864e-03 -3.18626967e+02] [-1.22782548e-02 -5.35446554e-05 -9.99924618e-01 -4.89693052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5865599949999 meters 0.05081193664679916 Centerline is valid? [True, True] Translation: X:561.64, Y:-318.62, Z:-4.90 [[-9.08038786e-01 4.18698884e-01 1.25222865e-02 5.61636251e+02] [ 4.18659438e-01 9.08125126e-01 -5.74723122e-03 -3.18623565e+02] [-1.37781623e-02 2.38645836e-05 -9.99905076e-01 -4.89770660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.646559995 meters 0.05088766153375633 Centerline is valid? [True, True] Translation: X:561.83, Y:-318.02, Z:-5.91 [[-8.81582883e-01 -4.71878693e-01 1.19213692e-02 5.61827632e+02] [ 4.71834978e-01 -8.81663483e-01 -6.42306836e-03 -3.18020946e+02] [ 1.35415450e-02 -3.75481467e-05 9.99908308e-01 -5.91227369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7065599949999 meters 0.050654294966619245 Centerline is valid? [True, True] Translation: X:561.46, Y:-318.55, Z:-4.90 [[-9.06702567e-01 4.21601514e-01 1.19422759e-02 5.61460432e+02] [ 4.21566584e-01 9.06781203e-01 -5.42811056e-03 -3.18550231e+02] [-1.31175310e-02 1.12782694e-04 -9.99913955e-01 -4.90045570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.766559995 meters 0.05072017540865411 Centerline is valid? [True, True] Translation: X:561.46, Y:-318.47, Z:-4.90 [[-9.33811539e-01 3.57593759e-01 1.10775931e-02 5.61463273e+02] [ 3.57570117e-01 9.33877235e-01 -4.11365267e-03 -3.18469525e+02] [-1.18161286e-02 1.19639943e-04 -9.99930180e-01 -4.90051249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8265599949999 meters 0.05071445437397665 Centerline is valid? [True, True] Translation: X:561.33, Y:-318.35, Z:-4.90 [[-9.56529167e-01 2.91431331e-01 1.09422354e-02 5.61329908e+02] [ 2.91413765e-01 9.56591743e-01 -3.20220585e-03 -3.18347265e+02] [-1.14004751e-02 1.25714709e-04 -9.99935005e-01 -4.89987013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.886559995 meters 0.050499229629389734 Centerline is valid? [True, True] Translation: X:561.54, Y:-317.74, Z:-5.91 [[-9.42370368e-01 -3.34428333e-01 9.78675782e-03 5.61540125e+02] [ 3.34408335e-01 -9.42421169e-01 -3.66151954e-03 -3.17741603e+02] [ 1.04477636e-02 -1.77734131e-04 9.99945405e-01 -5.90947446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9465599949999 meters 0.05071475253177338 Centerline is valid? [True, True] Translation: X:561.07, Y:-318.27, Z:-4.90 [[-9.58527185e-01 2.84822699e-01 1.00829181e-02 5.61073054e+02] [ 2.84807827e-01 9.58580212e-01 -2.91173448e-03 -3.18271284e+02] [-1.04946138e-02 8.07173315e-05 -9.99944927e-01 -4.89968237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.006559995 meters 0.050179653704139356 Centerline is valid? [True, True] Translation: X:561.29, Y:-317.67, Z:-5.91 [[-9.41222778e-01 -3.37646462e-01 9.72360172e-03 5.61289639e+02] [ 3.37627468e-01 -9.41272999e-01 -3.58239604e-03 -3.17667623e+02] [ 1.03621471e-02 -8.88777180e-05 9.99946308e-01 -5.91028468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0665599949999 meters 0.04953987793440676 Centerline is valid? [True, True] Translation: X:561.09, Y:-318.28, Z:-4.90 [[-9.62336608e-01 2.71736721e-01 8.21022734e-03 5.61086128e+02] [ 2.71726671e-01 9.62371630e-01 -2.33713759e-03 -3.18275803e+02] [-8.53637598e-03 -1.81753217e-05 -9.99963564e-01 -4.90171615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.126559995 meters 0.04981938310796749 Centerline is valid? [True, True] Translation: X:561.09, Y:-318.19, Z:-4.90 [[-9.80385337e-01 1.96978846e-01 6.62753826e-03 5.61086414e+02] [ 1.96973973e-01 9.80407737e-01 -1.38660794e-03 -3.18194386e+02] [-6.77082222e-03 -5.39575501e-05 -9.99977076e-01 -4.90181118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1865599949999 meters 0.05013049917410982 Centerline is valid? [True, True] Translation: X:561.23, Y:-317.59, Z:-5.91 [[-9.59510618e-01 -2.81604462e-01 6.18877431e-03 5.61234359e+02] [ 2.81598795e-01 -9.59530576e-01 -1.78672942e-03 -3.17591132e+02] [ 6.44146916e-03 2.83655453e-05 9.99979253e-01 -5.90852543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.246559995 meters 0.049399219931918814 Centerline is valid? [True, True] Translation: X:561.01, Y:-318.18, Z:-4.90 [[-9.82067649e-01 1.88412345e-01 6.62730089e-03 5.61008384e+02] [ 1.88407452e-01 9.82090006e-01 -1.36069520e-03 -3.18180788e+02] [-6.76497774e-03 -8.76618580e-05 -9.99977113e-01 -4.90231719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3065599949999 meters 0.050234587563410746 Centerline is valid? [True, True] Translation: X:561.11, Y:-317.57, Z:-5.91 [[-9.60049724e-01 -2.79738863e-01 7.12015538e-03 5.61114577e+02] [ 2.79732218e-01 -9.60076117e-01 -1.93292401e-03 -3.17572379e+02] [ 7.37660509e-03 1.36033694e-04 9.99972783e-01 -5.91078029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.366559995 meters 0.050084619757910745 Centerline is valid? [True, True] Translation: X:560.89, Y:-318.16, Z:-4.90 [[-9.82691539e-01 1.85065445e-01 8.25344472e-03 5.60887929e+02] [ 1.85058005e-01 9.82726193e-01 -1.66286260e-03 -3.18156465e+02] [-8.41861471e-03 -1.06714990e-04 -9.99964557e-01 -4.89714781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4265599949999 meters 0.0499861921268155 Centerline is valid? [True, True] Translation: X:561.01, Y:-317.55, Z:-5.91 [[-9.61159260e-01 -2.75857291e-01 8.69663539e-03 5.61010486e+02] [ 2.75847436e-01 -9.61198591e-01 -2.33677017e-03 -3.17548675e+02] [ 9.00380878e-03 1.52936285e-04 9.99959453e-01 -5.91242897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.486559995 meters 0.05036450801143731 Centerline is valid? [True, True] Translation: X:560.79, Y:-318.14, Z:-4.90 [[-9.83583409e-01 1.80228353e-01 9.02315876e-03 5.60791821e+02] [ 1.80219578e-01 9.83624789e-01 -1.78298737e-03 -3.18143393e+02] [-9.19674751e-03 -1.27566927e-04 -9.99957701e-01 -4.89663731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5465599949999 meters 0.05020599857859473 Centerline is valid? [True, True] Translation: X:560.91, Y:-317.53, Z:-5.91 [[-9.61716357e-01 -2.73875286e-01 9.69417904e-03 5.60908759e+02] [ 2.73863404e-01 -9.61765195e-01 -2.55852626e-03 -3.17530672e+02] [ 1.00242411e-02 1.94304324e-04 9.99949737e-01 -5.91318607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6065599949999 meters 0.049942543688654875 Centerline is valid? [True, True] Translation: X:560.69, Y:-318.13, Z:-4.90 [[-9.84739655e-01 1.73729072e-01 1.02966647e-02 5.60687058e+02] [ 1.73717706e-01 9.84793470e-01 -1.99502353e-03 -3.18129013e+02] [-1.04866818e-02 -1.75865803e-04 -9.99944998e-01 -4.89748961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.666559995 meters 0.05012842200280726 Centerline is valid? [True, True] Translation: X:560.82, Y:-317.51, Z:-5.91 [[-9.61691945e-01 -2.73997923e-01 8.58730860e-03 5.60815089e+02] [ 2.73987399e-01 -9.61730283e-01 -2.40186751e-03 -3.17514804e+02] [ 8.91678144e-03 4.29577110e-05 9.99960244e-01 -5.91166505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7265599949999 meters 0.0498936982903886 Centerline is valid? [True, True] Translation: X:560.62, Y:-318.12, Z:-4.90 [[-9.86175788e-01 1.65510314e-01 7.97816133e-03 5.60624869e+02] [ 1.65503479e-01 9.86208044e-01 -1.51411288e-03 -3.18120445e+02] [-8.11872818e-03 -1.72768007e-04 -9.99967028e-01 -4.89917759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.786559995 meters 0.0501503624827242 Centerline is valid? [True, True] Translation: X:560.69, Y:-317.50, Z:-5.91 [[-9.61820097e-01 -2.73571918e-01 7.77862371e-03 5.60693401e+02] [ 2.73564363e-01 -9.61851536e-01 -2.03995748e-03 -3.17495637e+02] [ 8.03995625e-03 1.65882141e-04 9.99967665e-01 -5.91152050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8465599949999 meters 0.04976671293477115 Centerline is valid? [True, True] Translation: X:560.46, Y:-318.09, Z:-4.90 [[-9.86925616e-01 1.61012498e-01 7.26664666e-03 5.60458582e+02] [ 1.61006912e-01 9.86952354e-01 -1.35103911e-03 -3.18093497e+02] [-7.38936821e-03 -1.63394767e-04 -9.99972685e-01 -4.90042774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.906559995 meters 0.049633920684683024 Centerline is valid? [True, True] Translation: X:560.57, Y:-317.47, Z:-5.91 [[-9.63308624e-01 -2.68303626e-01 7.04695615e-03 5.60566931e+02] [ 2.68297608e-01 -9.63334387e-01 -1.80353016e-03 -3.17473485e+02] [ 7.27246886e-03 1.53325325e-04 9.99973544e-01 -5.91064348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9665599949999 meters 0.049834030353758704 Centerline is valid? [True, True] Translation: X:560.34, Y:-318.08, Z:-4.90 [[-9.86892007e-01 1.61162938e-01 8.40675790e-03 5.60343445e+02] [ 1.61155744e-01 9.86927800e-01 -1.53073170e-03 -3.18075430e+02] [-8.54356030e-03 -1.55869562e-04 -9.99963491e-01 -4.89856521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.026559995 meters 0.05056147284963007 Centerline is valid? [True, True] Translation: X:560.36, Y:-317.43, Z:-5.91 [[-9.65226600e-01 -2.61193803e-01 1.07427556e-02 5.60355476e+02] [ 2.61181744e-01 -9.65286314e-01 -2.53542385e-03 -3.17430718e+02] [ 1.10320719e-02 3.58553095e-04 9.99939081e-01 -5.91440761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0865599949999 meters 0.05003194252586705 Centerline is valid? [True, True] Translation: X:560.15, Y:-318.04, Z:-4.90 [[-9.86856291e-01 1.61212811e-01 1.11844367e-02 5.60147114e+02] [ 1.61200565e-01 9.86919654e-01 -1.99382101e-03 -3.18042044e+02] [-1.13595699e-02 -1.64677284e-04 -9.99935464e-01 -4.89663202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.146559995 meters 0.050285696785738986 Centerline is valid? [True, True] Translation: X:560.05, Y:-317.95, Z:-4.90 [[-9.95700876e-01 9.20978636e-02 9.88685586e-03 5.60050404e+02] [ 9.20920191e-02 9.95749952e-01 -1.04575563e-03 -3.17953052e+02] [-9.94114810e-03 -1.30759278e-04 -9.99950577e-01 -4.90172930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2065599949999 meters 0.05005696541688693 Centerline is valid? [True, True] Translation: X:560.02, Y:-317.87, Z:-4.90 [[-9.99737733e-01 2.08051075e-02 9.57148045e-03 5.60023721e+02] [ 2.08029236e-02 9.99783542e-01 -3.27682402e-04 -3.17872423e+02] [-9.57622610e-03 -1.28481685e-04 -9.99954139e-01 -4.90212911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.266559995 meters 0.04977088082903056 Centerline is valid? [True, True] Translation: X:559.97, Y:-317.79, Z:-4.90 [[-9.98657261e-01 -5.06976964e-02 1.06498358e-02 5.59971096e+02] [-5.06963800e-02 9.98714034e-01 3.93712491e-04 -3.17792600e+02] [-1.06561008e-02 -1.46724285e-04 -9.99943211e-01 -4.90032176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3265599949999 meters 0.0495953333453603 Centerline is valid? [True, True] Translation: X:559.91, Y:-317.72, Z:-4.90 [[-9.92484444e-01 -1.21894184e-01 1.07905436e-02 5.59907581e+02] [-1.21888647e-01 9.92543090e-01 1.17172125e-03 -3.17721488e+02] [-1.08529055e-02 -1.52329645e-04 -9.99941094e-01 -4.90252057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.386559995 meters 0.04999854747415538 Centerline is valid? [True, True] Translation: X:559.83, Y:-317.65, Z:-4.90 [[-9.81501709e-01 -1.91185761e-01 1.01192793e-02 5.59832447e+02] [-1.91176999e-01 9.81553864e-01 1.83522308e-03 -3.17651326e+02] [-1.02834862e-02 -1.33298860e-04 -9.99947115e-01 -4.90204322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4465599949999 meters 0.04939748275815505 Centerline is valid? [True, True] Translation: X:559.62, Y:-317.03, Z:-5.91 [[-9.94695510e-01 1.02391982e-01 9.83487387e-03 5.59624763e+02] [-1.02385943e-01 -9.94744123e-01 1.11696631e-03 -3.17033472e+02] [ 9.89755138e-03 1.04088538e-04 9.99951013e-01 -5.90579294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.506559995 meters 0.049844328284949425 Centerline is valid? [True, True] Translation: X:559.60, Y:-317.70, Z:-4.91 [[-9.82172292e-01 -1.87716150e-01 1.00117520e-02 5.59597128e+02] [-1.87706984e-01 9.82223317e-01 1.85589171e-03 -3.17698489e+02] [-1.01821571e-02 -5.64703558e-05 -9.99948159e-01 -4.90502414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5665599949999 meters 0.05012771184995579 Centerline is valid? [True, True] Translation: X:559.59, Y:-317.62, Z:-4.90 [[-9.67877192e-01 -2.51248926e-01 9.36586056e-03 5.59592427e+02] [-2.51236921e-01 9.67922506e-01 2.45622045e-03 -3.17623856e+02] [-9.68254997e-03 2.42697819e-05 -9.99953123e-01 -4.89940832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.626559995 meters 0.05029013732493901 Centerline is valid? [True, True] Translation: X:559.30, Y:-317.02, Z:-5.91 [[-9.80566348e-01 1.96013870e-01 8.25837702e-03 5.59299832e+02] [-1.96007764e-01 -9.80601118e-01 1.55028274e-03 -3.17017572e+02] [ 8.40205066e-03 -9.85509322e-05 9.99964697e-01 -5.90528594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6865599949999 meters 0.0511875242655401 Centerline is valid? [True, True] Translation: X:559.07, Y:-317.76, Z:-4.90 [[-9.69344047e-01 -2.45572681e-01 8.13492625e-03 5.59067609e+02] [-2.45563161e-01 9.69378176e-01 2.16462436e-03 -3.17757195e+02] [-8.41739258e-03 1.00627533e-04 -9.99964568e-01 -4.90307494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.746559995 meters 0.05086088307682154 Centerline is valid? [True, True] Translation: X:559.07, Y:-317.68, Z:-4.90 [[-9.49730384e-01 -3.12917141e-01 9.74986032e-03 5.59066044e+02] [-3.12898922e-01 9.49780415e-01 3.38047885e-03 -3.17679670e+02] [-1.03180362e-02 1.59822699e-04 -9.99946755e-01 -4.90301978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8065599949999 meters 0.05081289320605186 Centerline is valid? [True, True] Translation: X:558.79, Y:-317.71, Z:-4.90 [[-9.25012639e-01 -3.79771068e-01 1.12050712e-02 5.58789630e+02] [-3.79740759e-01 9.25080484e-01 4.80155846e-03 -3.17707015e+02] [-1.21890856e-02 1.86480031e-04 -9.99925693e-01 -4.90088490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.866559995 meters 0.051248471594226325 Centerline is valid? [True, True] Translation: X:558.74, Y:-317.64, Z:-4.90 [[-8.92811058e-01 -4.50265179e-01 1.22345114e-02 5.58744938e+02] [-4.50220446e-01 8.92894867e-01 6.34879002e-03 -3.17638203e+02] [-1.37827715e-02 1.60042755e-04 -9.99905000e-01 -4.90231576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9265599949999 meters 0.05104532317908716 Centerline is valid? [True, True] Translation: X:558.54, Y:-317.67, Z:-4.90 [[-8.56638100e-01 -5.15792922e-01 1.13502183e-02 5.58538308e+02] [-5.15745999e-01 8.56713283e-01 6.95804628e-03 -3.17669383e+02] [-1.33127938e-02 1.06697881e-04 -9.99911375e-01 -4.89967903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.986559995 meters 0.05101463358471325 Centerline is valid? [True, True] Translation: X:558.40, Y:-317.67, Z:-4.90 [[-8.15254614e-01 -5.79019857e-01 9.79383290e-03 5.58402920e+02] [-5.78977143e-01 8.15313438e-01 7.03320954e-03 -3.17669461e+02] [-1.20574115e-02 6.34511406e-05 -9.99927305e-01 -4.89983427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0465599949999 meters 0.05072935399636613 Centerline is valid? [True, True] Translation: X:558.25, Y:-317.69, Z:-4.90 [[-7.67456800e-01 -6.41048832e-01 8.15206713e-03 5.58254011e+02] [-6.41012686e-01 7.67500095e-01 6.80744421e-03 -3.17685289e+02] [-1.06206164e-02 -1.15909747e-06 -9.99943600e-01 -4.90090283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1065599949999 meters 0.05064659335000916 Centerline is valid? [True, True] Translation: X:558.09, Y:-317.72, Z:-4.91 [[-7.14264436e-01 -6.99845639e-01 6.51124195e-03 5.58093529e+02] [-6.99817286e-01 7.14294112e-01 6.29987320e-03 -3.17722960e+02] [-9.05988057e-03 -5.69042935e-05 -9.99958957e-01 -4.90537011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.166559995 meters 0.05014313371024391 Centerline is valid? [True, True] Translation: X:557.96, Y:-317.75, Z:-4.91 [[-6.57252760e-01 -7.53652295e-01 5.19888946e-03 5.57955535e+02] [-7.53629757e-01 6.57273315e-01 5.82912223e-03 -3.17751513e+02] [-7.81022265e-03 -8.68311244e-05 -9.99969496e-01 -4.90584031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2265599949999 meters 0.05057761331033586 Centerline is valid? [True, True] Translation: X:557.78, Y:-317.83, Z:-4.91 [[-5.97521299e-01 -8.01839012e-01 4.74304787e-03 5.57783928e+02] [-8.01815240e-01 5.97540113e-01 6.17536210e-03 -3.17834126e+02] [-7.78580760e-03 -1.13137679e-04 -9.99969684e-01 -4.90561773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.286559995 meters 0.050572316629574586 Centerline is valid? [True, True] Translation: X:557.63, Y:-317.92, Z:-4.90 [[-5.33558954e-01 -8.45747565e-01 5.08913395e-03 5.57628156e+02] [-8.45712131e-01 5.33583196e-01 7.74363708e-03 -3.17915872e+02] [-9.26463856e-03 -1.72255416e-04 -9.99957067e-01 -4.90423018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3465599949999 meters 0.05055253909827182 Centerline is valid? [True, True] Translation: X:557.48, Y:-318.01, Z:-4.90 [[-4.67362625e-01 -8.84051752e-01 4.96763798e-03 5.57479050e+02] [-8.84006686e-01 4.67388974e-01 8.92898342e-03 -3.18008001e+02] [-1.02155026e-02 -2.18352061e-04 -9.99947797e-01 -4.90314862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.406559995 meters 0.050874771896517984 Centerline is valid? [True, True] Translation: X:557.34, Y:-318.11, Z:-4.90 [[-4.00492026e-01 -9.16287003e-01 4.92588660e-03 5.57337432e+02] [-9.16225378e-01 4.00522237e-01 1.06298867e-02 -3.18113575e+02] [-1.17129541e-02 -2.56037466e-04 -9.99931368e-01 -4.90280147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4665599949999 meters 0.050681422603464796 Centerline is valid? [True, True] Translation: X:557.17, Y:-318.34, Z:-4.90 [[-3.39562044e-01 -9.40575235e-01 3.98077269e-03 5.57168422e+02] [-9.40516101e-01 3.39585338e-01 1.05480565e-02 -3.18337391e+02] [-1.12730527e-02 -1.62261194e-04 -9.99936444e-01 -4.90471226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.526559995 meters 0.05058530052378072 Centerline is valid? [True, True] Translation: X:556.51, Y:-318.32, Z:-5.91 [[-4.23286950e-01 9.05984697e-01 4.45957345e-03 5.56506444e+02] [-9.05931218e-01 -4.23310422e-01 9.84457994e-03 -3.18318469e+02] [ 1.08068227e-02 1.27015409e-04 9.99941597e-01 -5.90505598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5865599949999 meters 0.04984560770805959 Centerline is valid? [True, True] Translation: X:557.00, Y:-318.80, Z:-4.91 [[-3.43900939e-01 -9.38998810e-01 3.65783028e-03 5.56998166e+02] [-9.38946836e-01 3.43920389e-01 9.87954125e-03 -3.18799581e+02] [-1.05348799e-02 -3.69246503e-05 -9.99944506e-01 -4.90545542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.646559995 meters 0.05041186530872691 Centerline is valid? [True, True] Translation: X:556.84, Y:-319.05, Z:-4.91 [[-2.78653512e-01 -9.60387214e-01 2.93594990e-03 5.56841354e+02] [-9.60333411e-01 2.78668978e-01 1.01655983e-02 -3.19048611e+02] [-1.05810688e-02 1.31888889e-05 -9.99944019e-01 -4.90570315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7065599949999 meters 0.05031148238834998 Centerline is valid? [True, True] Translation: X:556.72, Y:-319.25, Z:-4.91 [[-2.11783803e-01 -9.77314446e-01 2.02363485e-03 5.56720586e+02] [-9.77266978e-01 2.11793461e-01 9.63242593e-03 -3.19252733e+02] [-9.84250164e-03 6.23602795e-05 -9.99951559e-01 -4.90532501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.766559995 meters 0.05135507045102352 Centerline is valid? [True, True] Translation: X:556.72, Y:-318.79, Z:-4.91 [[-1.39165941e-01 -9.90268192e-01 1.32251814e-03 5.56715767e+02] [-9.90217056e-01 1.39172195e-01 1.00638689e-02 -3.18794188e+02] [-1.01499870e-02 9.09677737e-05 -9.99948483e-01 -4.90753027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8265599949999 meters 0.0512524483573075 Centerline is valid? [True, True] Translation: X:555.97, Y:-319.29, Z:-5.90 [[-1.86301359e-01 9.82490341e-01 2.12908168e-03 5.55970581e+02] [-9.82427863e-01 -1.86313522e-01 1.10799373e-02 -3.19292352e+02] [ 1.12826081e-02 -2.74617817e-05 9.99936349e-01 -5.90431432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.886559995 meters 0.05126345196471533 Centerline is valid? [True, True] Translation: X:556.60, Y:-319.58, Z:-4.90 [[-1.33997405e-01 -9.90980681e-01 1.40884872e-03 5.56603578e+02] [-9.90915627e-01 1.34004752e-01 1.13554266e-02 -3.19584254e+02] [-1.14418008e-02 1.25547489e-04 -9.99934533e-01 -4.90458010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9465599949999 meters 0.05039641221693322 Centerline is valid? [True, True] Translation: X:556.50, Y:-319.96, Z:-4.91 [[-5.92958015e-02 -9.98240315e-01 5.29851929e-04 5.56495361e+02] [-9.98184371e-01 5.92980881e-02 1.05687201e-02 -3.19959623e+02] [-1.05815417e-02 9.77908128e-05 -9.99944009e-01 -4.90557586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.006559995 meters 0.05046569051387893 Centerline is valid? [True, True] Translation: X:556.42, Y:-320.12, Z:-4.90 [[ 1.72886939e-02 -9.99850510e-01 -2.43181602e-04 5.56420127e+02] [-9.99799303e-01 -1.72902696e-02 1.01193497e-02 -3.20124738e+02] [-1.01220416e-02 6.81824574e-05 -9.99948769e-01 -4.90425566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0665599949999 meters 0.0501980935854211 Centerline is valid? [True, True] Translation: X:556.35, Y:-320.32, Z:-4.91 [[ 9.76728068e-02 -9.95218186e-01 -8.85614546e-04 5.56354329e+02] [-9.95177759e-01 -9.76768216e-02 8.97035329e-03 -3.20324928e+02] [-9.01396275e-03 5.18431476e-06 -9.99959373e-01 -4.90747524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.126559995 meters 0.050397497621303536 Centerline is valid? [True, True] Translation: X:556.30, Y:-320.50, Z:-4.91 [[ 1.79275890e-01 -9.83797675e-01 -1.51317087e-03 5.56296760e+02] [-9.83759513e-01 -1.79282264e-01 8.66548650e-03 -3.20498624e+02] [-8.79637017e-03 -6.49165688e-05 -9.99961309e-01 -4.90786425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1865599949999 meters 0.05021918005246002 Centerline is valid? [True, True] Translation: X:556.25, Y:-320.67, Z:-4.91 [[ 2.58187756e-01 -9.66092588e-01 -2.04786517e-03 5.56246697e+02] [-9.66058534e-01 -2.58195851e-01 8.11247569e-03 -3.20665674e+02] [-8.36615293e-03 -1.16184265e-04 -9.99964996e-01 -4.90668805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.246559995 meters 0.050156924045131376 Centerline is valid? [True, True] Translation: X:556.22, Y:-320.87, Z:-4.91 [[ 3.31357566e-01 -9.43501879e-01 -2.52340843e-03 5.56224871e+02] [-9.43471454e-01 -3.31367149e-01 7.57815763e-03 -3.20874477e+02] [-7.98618062e-03 -1.30316050e-04 -9.99968101e-01 -4.90765695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3065599949999 meters 0.050303450525058836 Centerline is valid? [True, True] Translation: X:556.23, Y:-321.12, Z:-4.91 [[ 4.00676414e-01 -9.16214136e-01 -3.17292660e-03 5.56231132e+02] [-9.16182592e-01 -4.00688953e-01 7.60405694e-03 -3.21117257e+02] [-8.23830110e-03 -1.39786157e-04 -9.99966055e-01 -4.90827685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.366559995 meters 0.0503698009225146 Centerline is valid? [True, True] Translation: X:556.25, Y:-321.35, Z:-4.91 [[ 4.67087506e-01 -8.84201528e-01 -4.11342720e-03 5.56249418e+02] [-8.84164319e-01 -4.67105593e-01 8.11302854e-03 -3.21350076e+02] [-9.09495708e-03 -1.52548703e-04 -9.99958628e-01 -4.90693769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4265599949999 meters 0.05049477870479343 Centerline is valid? [True, True] Translation: X:556.30, Y:-321.60, Z:-4.90 [[ 5.29577997e-01 -8.48240190e-01 -5.97700387e-03 5.56296828e+02] [-8.48182420e-01 -5.29611697e-01 9.90112412e-03 -3.21598194e+02] [-1.15640226e-02 -1.73827867e-04 -9.99933119e-01 -4.90464235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.486559995 meters 0.05014269119045386 Centerline is valid? [True, True] Translation: X:556.36, Y:-321.83, Z:-4.90 [[ 5.88810759e-01 -8.08235047e-01 -7.61565422e-03 5.56360438e+02] [-8.08163734e-01 -5.88859983e-01 1.07377827e-02 -3.21833086e+02] [-1.31632063e-02 -1.67826409e-04 -9.99913347e-01 -4.90455343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5465599949999 meters 0.05049312906206983 Centerline is valid? [True, True] Translation: X:556.42, Y:-322.04, Z:-4.90 [[ 6.44812365e-01 -7.64293736e-01 -8.49115866e-03 5.56422988e+02] [-7.64224669e-01 -6.44868256e-01 1.02755733e-02 -3.22040982e+02] [-1.33292350e-02 -1.36663818e-04 -9.99911152e-01 -4.90346824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6065599949999 meters 0.05004587934522045 Centerline is valid? [True, True] Translation: X:556.52, Y:-322.26, Z:-4.90 [[ 6.97332733e-01 -7.16701895e-01 -8.09025741e-03 5.56520519e+02] [-7.16652187e-01 -6.97379657e-01 8.44143406e-03 -3.22262214e+02] [-1.16919727e-02 -8.85876231e-05 -9.99931643e-01 -4.90488521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.666559995 meters 0.05017496884454454 Centerline is valid? [True, True] Translation: X:556.61, Y:-322.46, Z:-4.91 [[ 7.47685018e-01 -6.64014354e-01 -7.21460974e-03 5.56614880e+02] [-6.63982567e-01 -7.47719822e-01 6.49757301e-03 -3.22457260e+02] [-9.70898846e-03 -6.77629042e-05 -9.99952864e-01 -4.90693157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7265599949999 meters 0.05025132285666215 Centerline is valid? [True, True] Translation: X:556.59, Y:-322.54, Z:-4.91 [[ 7.97937711e-01 -6.02697847e-01 -7.12140005e-03 5.56586932e+02] [-6.02673034e-01 -7.97969486e-01 5.46938200e-03 -3.22542837e+02] [-8.97904469e-03 -7.23503854e-05 -9.99959685e-01 -4.90795971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.786559995 meters 0.049778297244253686 Centerline is valid? [True, True] Translation: X:556.57, Y:-322.63, Z:-4.91 [[ 8.43991002e-01 -5.36304435e-01 -7.53272148e-03 5.56565138e+02] [-5.36282060e-01 -8.44024611e-01 4.89985658e-03 -3.22629770e+02] [-8.98561713e-03 -9.57714768e-05 -9.99959624e-01 -4.90752804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8465599949999 meters 0.0500886633155798 Centerline is valid? [True, True] Translation: X:556.55, Y:-322.72, Z:-4.91 [[ 8.85532680e-01 -4.64495679e-01 -8.69694920e-03 5.56552208e+02] [-4.64471582e-01 -8.85575373e-01 4.73381148e-03 -3.22716421e+02] [-9.90063901e-03 -1.52459013e-04 -9.99950976e-01 -4.90691287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.906559995 meters 0.050685842565509606 Centerline is valid? [True, True] Translation: X:556.54, Y:-322.81, Z:-4.91 [[ 9.21479232e-01 -3.88283679e-01 -1.05740278e-02 5.56544927e+02] [-3.88255011e-01 -9.21539865e-01 4.72471112e-03 -3.22807359e+02] [-1.15789164e-02 -2.48303872e-04 -9.99932931e-01 -4.90631138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9665599949999 meters 0.05105722410115051 Centerline is valid? [True, True] Translation: X:556.54, Y:-322.90, Z:-4.90 [[ 9.49991185e-01 -3.12072282e-01 -1.12977838e-02 5.56541295e+02] [-3.12046512e-01 -9.50058316e-01 4.02123517e-03 -3.22903436e+02] [-1.19884695e-02 -2.94703945e-04 -9.99928092e-01 -4.90477163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.026559995 meters 0.05038304729987725 Centerline is valid? [True, True] Translation: X:556.55, Y:-323.00, Z:-4.91 [[ 9.71498081e-01 -2.36829452e-01 -1.01631355e-02 5.56547507e+02] [-2.36813696e-01 -9.71551205e-01 2.74404992e-03 -3.22997975e+02] [-1.05238783e-02 -2.59069559e-04 -9.99944589e-01 -4.90786984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0865599949999 meters 0.049828584406418394 Centerline is valid? [True, True] Translation: X:556.56, Y:-323.10, Z:-4.91 [[ 9.86750857e-01 -1.62022210e-01 -8.45874078e-03 5.56557859e+02] [-1.62014552e-01 -9.86787092e-01 1.58743312e-03 -3.23095519e+02] [-8.60417564e-03 -1.95961899e-04 -9.99962964e-01 -4.90867169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.146559995 meters 0.051069932076101256 Centerline is valid? [True, True] Translation: X:556.58, Y:-323.19, Z:-4.91 [[ 9.96168491e-01 -8.71326361e-02 -7.49937166e-03 5.56575678e+02] [-8.71290241e-02 -9.96196708e-01 8.07641961e-04 -3.23194663e+02] [-7.54122133e-03 -1.51134540e-04 -9.99971553e-01 -4.90592435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2065599949999 meters 0.04972909065100698 Centerline is valid? [True, True] Translation: X:556.60, Y:-323.27, Z:-4.91 [[ 9.99917039e-01 -1.04787085e-02 -7.49078066e-03 5.56603609e+02] [-1.04773719e-02 -9.99945087e-01 2.17650591e-04 -3.23271473e+02] [-7.49265001e-03 -1.39148840e-04 -9.99971920e-01 -4.90767189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.266559995 meters 0.050819534284360576 Centerline is valid? [True, True] Translation: X:556.63, Y:-323.35, Z:-4.91 [[ 9.97670363e-01 6.76688744e-02 -8.64695122e-03 5.56632937e+02] [ 6.76677186e-02 -9.97707822e-01 -4.26497162e-04 -3.23352305e+02] [-8.65599145e-03 -1.59615883e-04 -9.99962523e-01 -4.90722875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3265599949999 meters 0.05031654754846168 Centerline is valid? [True, True] Translation: X:556.67, Y:-323.43, Z:-4.91 [[ 9.89094732e-01 1.46958254e-01 -9.74081286e-03 5.56667829e+02] [ 1.46953071e-01 -9.89142676e-01 -1.24966748e-03 -3.23433996e+02] [-9.81870265e-03 -1.95402837e-04 -9.99951776e-01 -4.90522026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.386559995 meters 0.04998195609665368 Centerline is valid? [True, True] Translation: X:556.71, Y:-323.51, Z:-4.91 [[ 9.74267071e-01 2.25196391e-01 -9.50057234e-03 5.56709395e+02] [ 2.25187742e-01 -9.74313370e-01 -1.98434769e-03 -3.23508131e+02] [-9.70340259e-03 -2.06127824e-04 -9.99952900e-01 -4.90664401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4465599949999 meters 0.050360027243274375 Centerline is valid? [True, True] Translation: X:556.76, Y:-323.59, Z:-4.91 [[ 9.53048135e-01 3.02666907e-01 -9.59148603e-03 5.56758021e+02] [ 3.02654025e-01 -9.53096370e-01 -2.80208590e-03 -3.23585218e+02] [-9.98970918e-03 -2.32379112e-04 -9.99950075e-01 -4.90790065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.506559995 meters 0.04987100811290285 Centerline is valid? [True, True] Translation: X:556.81, Y:-323.66, Z:-4.91 [[ 9.25765724e-01 3.77974275e-01 -9.65769101e-03 5.56812188e+02] [ 3.77956612e-01 -9.25816062e-01 -3.66324566e-03 -3.23658856e+02] [-1.03258581e-02 -2.58880901e-04 -9.99946653e-01 -4.90838397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5665599949999 meters 0.05019635785113162 Centerline is valid? [True, True] Translation: X:556.87, Y:-323.73, Z:-4.91 [[ 8.93119839e-01 4.49720294e-01 -9.41332277e-03 5.56874759e+02] [ 4.49698439e-01 -8.93169405e-01 -4.44156883e-03 -3.23733212e+02] [-1.04051555e-02 -2.66303320e-04 -9.99945829e-01 -4.90917944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.626559995 meters 0.051016409751725736 Centerline is valid? [True, True] Translation: X:556.95, Y:-323.81, Z:-4.91 [[ 8.55697738e-01 5.17395051e-01 -9.15112627e-03 5.56945136e+02] [ 5.17368684e-01 -8.55746630e-01 -5.22973901e-03 -3.23808954e+02] [-1.05368865e-02 -2.59430321e-04 -9.99944452e-01 -4.90658628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6865599949999 meters 0.05062372497225489 Centerline is valid? [True, True] Translation: X:557.01, Y:-323.86, Z:-4.91 [[ 8.14145011e-01 5.80598493e-01 -8.56106883e-03 5.57013791e+02] [ 5.80569309e-01 -8.14189989e-01 -5.82569534e-03 -3.23864680e+02] [-1.03527265e-02 -2.27333021e-04 -9.99946383e-01 -4.90913018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.746559995 meters 0.049893738492353124 Centerline is valid? [True, True] Translation: X:557.09, Y:-323.91, Z:-4.91 [[ 7.70403666e-01 6.37509756e-01 -7.71375060e-03 5.57085997e+02] [ 6.37479774e-01 -7.70442268e-01 -6.18469539e-03 -3.23914804e+02] [-9.88580315e-03 -1.52647979e-04 -9.99951123e-01 -4.91024091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8065599949999 meters 0.05033935411482091 Centerline is valid? [True, True] Translation: X:557.16, Y:-323.95, Z:-4.91 [[ 7.24897133e-01 6.88825150e-01 -6.63771592e-03 5.57157462e+02] [ 6.88796932e-01 -7.24927521e-01 -6.23508453e-03 -3.23954829e+02] [-9.10674598e-03 -5.22434547e-05 -9.99958531e-01 -4.90927446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.866559995 meters 0.050613301832229285 Centerline is valid? [True, True] Translation: X:557.23, Y:-323.98, Z:-4.91 [[ 6.74010320e-01 7.38695940e-01 -6.19649314e-03 5.57227799e+02] [ 7.38664562e-01 -6.74038803e-01 -6.80863540e-03 -3.23984752e+02] [-9.20618814e-03 1.19606344e-05 -9.99957622e-01 -4.90932367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9265599949999 meters 0.05165518137862329 Centerline is valid? [True, True] Translation: X:557.30, Y:-324.01, Z:-4.91 [[ 6.21139136e-01 7.83681251e-01 -5.46529097e-03 5.57298166e+02] [ 7.83649624e-01 -6.21163173e-01 -7.04118278e-03 -3.24008052e+02] [-8.91288041e-03 9.06809703e-05 -9.99960275e-01 -4.90967131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.986559995 meters 0.05173364311217155 Centerline is valid? [True, True] Translation: X:557.37, Y:-324.02, Z:-4.91 [[ 5.61820415e-01 8.27241762e-01 -5.37481381e-03 5.57366360e+02] [ 8.27201399e-01 -5.61846106e-01 -8.17303741e-03 -3.24024030e+02] [-9.78089608e-03 1.45725767e-04 -9.99952155e-01 -4.90857177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0465599949999 meters 0.05213564855665992 Centerline is valid? [True, True] Translation: X:557.45, Y:-324.04, Z:-4.91 [[ 4.95012262e-01 8.68870419e-01 -5.20145997e-03 5.57452291e+02] [ 8.68819096e-01 -4.95039564e-01 -9.44502834e-03 -3.24043098e+02] [-1.07814342e-02 1.56277092e-04 -9.99941866e-01 -4.91036797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1065599949999 meters 0.05150279849493967 Centerline is valid? [True, True] Translation: X:557.54, Y:-324.06, Z:-4.91 [[ 4.23961585e-01 9.05667222e-01 -4.84334243e-03 5.57538357e+02] [ 9.05604028e-01 -4.23989223e-01 -1.06997068e-02 -3.24055329e+02] [-1.17438987e-02 1.50114221e-04 -9.99931027e-01 -4.90882295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.166559995 meters 0.05218246858325569 Centerline is valid? [True, True] Translation: X:557.62, Y:-324.06, Z:-4.91 [[ 3.49067867e-01 9.37089157e-01 -3.94160640e-03 5.57621097e+02] [ 9.37025673e-01 -3.49090102e-01 -1.09081926e-02 -3.24060689e+02] [-1.15979248e-02 1.14313136e-04 -9.99932735e-01 -4.90806541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2265599949999 meters 0.05159389231260531 Centerline is valid? [True, True] Translation: X:557.70, Y:-324.06, Z:-4.91 [[ 2.71473508e-01 9.62442413e-01 -2.59559566e-03 5.57703241e+02] [ 9.62396166e-01 -2.71485909e-01 -9.43515251e-03 -3.24058842e+02] [-9.78545859e-03 6.34026370e-05 -9.99952119e-01 -4.91252305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.286559995 meters 0.0509607486195915 Centerline is valid? [True, True] Translation: X:557.79, Y:-324.05, Z:-4.91 [[ 1.92509499e-01 9.81293933e-01 -1.51982708e-03 5.57786025e+02] [ 9.81262170e-01 -1.92515496e-01 -7.89543381e-03 -3.24048760e+02] [-8.04033156e-03 2.85971887e-05 -9.99967676e-01 -4.91233483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3465599949999 meters 0.05143189869265201 Centerline is valid? [True, True] Translation: X:557.87, Y:-324.03, Z:-4.91 [[ 1.09927771e-01 9.93939292e-01 -7.53821127e-04 5.57867076e+02] [ 9.93916642e-01 -1.09930355e-01 -6.71008976e-03 -3.24033444e+02] [-6.75228969e-03 -1.16101512e-05 -9.99977203e-01 -4.91272946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.406559995 meters 0.05126291661111606 Centerline is valid? [True, True] Translation: X:557.94, Y:-324.01, Z:-4.91 [[ 2.85731662e-02 9.99591674e-01 -2.45397656e-04 5.57944180e+02] [ 9.99564907e-01 -2.85741969e-02 -7.31519511e-03 -3.24009851e+02] [-7.31922017e-03 -3.62725996e-05 -9.99973214e-01 -4.91136860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4665599949999 meters 0.05133828752260882 Centerline is valid? [True, True] Translation: X:558.02, Y:-323.98, Z:-4.91 [[-5.20021219e-02 9.98646919e-01 3.31255671e-04 5.58018873e+02] [ 9.98619569e-01 5.20031494e-02 -7.39118500e-03 -3.23979991e+02] [-7.39841047e-03 -5.35589081e-05 -9.99972630e-01 -4.91136165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.526559995 meters 0.050687842789175375 Centerline is valid? [True, True] Translation: X:558.09, Y:-323.94, Z:-4.91 [[-1.32150837e-01 9.91229242e-01 8.64060545e-04 5.58093126e+02] [ 9.91204649e-01 1.32153646e-01 -6.98272591e-03 -3.23944325e+02] [-7.03567086e-03 -6.63122477e-05 -9.99975247e-01 -4.91247226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5865599949999 meters 0.051328235521173805 Centerline is valid? [True, True] Translation: X:558.17, Y:-323.90, Z:-4.91 [[-2.10086161e-01 9.77681543e-01 1.61381473e-03 5.58165049e+02] [ 9.77649609e-01 2.10092344e-01 -7.90252202e-03 -3.23902213e+02] [-8.06520005e-03 -8.24651797e-05 -9.99967472e-01 -4.91182988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.646559995 meters 0.05143051444342034 Centerline is valid? [True, True] Translation: X:558.24, Y:-323.85, Z:-4.91 [[-2.85569979e-01 9.58355212e-01 2.25276412e-03 5.58235089e+02] [ 9.58323139e-01 2.85578853e-01 -7.84089447e-03 -3.23854206e+02] [-8.15770387e-03 -8.02480772e-05 -9.99966722e-01 -4.91297578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7065599949999 meters 0.0515809334363943 Centerline is valid? [True, True] Translation: X:558.30, Y:-323.80, Z:-4.91 [[-3.58380661e-01 9.33571472e-01 2.75822783e-03 5.58304434e+02] [ 9.33542380e-01 3.58391269e-01 -7.37042386e-03 -3.23799232e+02] [-7.86934222e-03 -6.64947982e-05 -9.99969034e-01 -4.91390392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.766559995 meters 0.051613337906159386 Centerline is valid? [True, True] Translation: X:558.37, Y:-323.74, Z:-4.91 [[-4.27835554e-01 9.03850106e-01 3.42407885e-03 5.58366906e+02] [ 9.03820294e-01 4.27849254e-01 -7.34114571e-03 -3.23740476e+02] [-8.10028491e-03 -4.60511959e-05 -9.99967191e-01 -4.91453639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8265599949999 meters 0.052344631940339906 Centerline is valid? [True, True] Translation: X:558.43, Y:-323.68, Z:-4.91 [[-4.95034891e-01 8.68859125e-01 4.92717255e-03 5.58425928e+02] [ 8.68815455e-01 4.95059410e-01 -8.71120748e-03 -3.23675959e+02] [-1.00080552e-02 -3.15479878e-05 -9.99949918e-01 -4.91277718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.886559995 meters 0.05186146847865236 Centerline is valid? [True, True] Translation: X:558.48, Y:-323.61, Z:-4.91 [[-5.60538833e-01 8.28105305e-01 6.14983311e-03 5.58476305e+02] [ 8.28055040e-01 5.60572567e-01 -9.12405509e-03 -3.23608626e+02] [-1.10031062e-02 -2.19868941e-05 -9.99939464e-01 -4.91278171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9465599949999 meters 0.05221141003633949 Centerline is valid? [True, True] Translation: X:558.53, Y:-323.53, Z:-4.91 [[-6.23668595e-01 7.81664738e-01 6.14179374e-03 5.58527732e+02] [ 7.81626513e-01 6.23698836e-01 -7.73021014e-03 -3.23532212e+02] [-9.87306229e-03 -2.05004724e-05 -9.99951260e-01 -4.91365940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.006559995 meters 0.052068910565878763 Centerline is valid? [True, True] Translation: X:558.57, Y:-323.45, Z:-4.91 [[-6.83613972e-01 7.29822194e-01 5.61278857e-03 5.58570696e+02] [ 7.29797295e-01 6.83637013e-01 -6.02853286e-03 -3.23454227e+02] [-8.23686709e-03 -2.49913760e-05 -9.99966076e-01 -4.91462808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0665599949999 meters 0.05203483350993969 Centerline is valid? [True, True] Translation: X:558.60, Y:-323.38, Z:-4.92 [[-7.39480756e-01 6.73152516e-01 5.82254722e-03 5.58604539e+02] [ 6.73131288e-01 7.39503678e-01 -5.34609581e-03 -3.23377771e+02] [-7.90453293e-03 -3.39962668e-05 -9.99968758e-01 -4.91549392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.126559995 meters 0.051562875730199964 Centerline is valid? [True, True] Translation: X:558.86, Y:-322.83, Z:-5.90 [[-6.85143740e-01 -7.28388278e-01 5.34527766e-03 5.58861761e+02] [ 7.28366398e-01 -6.85164590e-01 -5.64580304e-03 -3.22831580e+02] [ 7.77473173e-03 2.51340218e-05 9.99969776e-01 -5.89533284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1865599949999 meters 0.05234911498061274 Centerline is valid? [True, True] Translation: X:558.82, Y:-322.79, Z:-5.90 [[-6.83040663e-01 -7.30356691e-01 5.87850423e-03 5.58820610e+02] [ 7.30330609e-01 -6.83065954e-01 -6.17289289e-03 -3.22791643e+02] [ 8.52381972e-03 7.69147211e-05 9.99963669e-01 -5.89648613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.246559995 meters 0.05223768795335924 Centerline is valid? [True, True] Translation: X:558.78, Y:-322.75, Z:-5.90 [[-6.80871274e-01 -7.32379721e-01 5.85260127e-03 5.58779464e+02] [ 7.32353956e-01 -6.80896419e-01 -6.14406519e-03 -3.22750766e+02] [ 8.48480400e-03 1.02858199e-04 9.99963998e-01 -5.89607063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3065599949999 meters 0.051794343573089 Centerline is valid? [True, True] Translation: X:558.74, Y:-322.71, Z:-5.90 [[-6.80202950e-01 -7.32998087e-01 6.14418554e-03 5.58739194e+02] [ 7.32969731e-01 -6.80230689e-01 -6.44847582e-03 -3.22708465e+02] [ 8.90618400e-03 1.17229749e-04 9.99960332e-01 -5.89594198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.366559995 meters 0.051954892192553885 Centerline is valid? [True, True] Translation: X:558.70, Y:-322.67, Z:-5.90 [[-6.80125934e-01 -7.33064947e-01 6.67063409e-03 5.58700313e+02] [ 7.33031541e-01 -6.80158633e-01 -6.99957217e-03 -3.22666406e+02] [ 9.66823037e-03 1.29194633e-04 9.99953253e-01 -5.89637991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4265599949999 meters 0.051826675119257266 Centerline is valid? [True, True] Translation: X:558.66, Y:-322.62, Z:-5.90 [[-6.79915309e-01 -7.33263939e-01 6.25847637e-03 5.58662668e+02] [ 7.33234555e-01 -6.79944101e-01 -6.56559017e-03 -3.22624532e+02] [ 9.06972460e-03 1.24885865e-04 9.99958861e-01 -5.89632703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.486559995 meters 0.05177400738306328 Centerline is valid? [True, True] Translation: X:558.62, Y:-322.59, Z:-5.90 [[-6.79648958e-01 -7.33511915e-01 6.12894460e-03 5.58621294e+02] [ 7.33483758e-01 -6.79676581e-01 -6.42825340e-03 -3.22586210e+02] [ 8.88090057e-03 1.26525588e-04 9.99960556e-01 -5.89915135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5465599949999 meters 0.05155921268992208 Centerline is valid? [True, True] Translation: X:558.59, Y:-322.54, Z:-5.90 [[-6.78583970e-01 -7.34499674e-01 5.83309743e-03 5.58587296e+02] [ 7.34474220e-01 -6.78609027e-01 -6.11625630e-03 -3.22539218e+02] [ 8.45078083e-03 1.33866205e-04 9.99964283e-01 -5.89605393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6065599949999 meters 0.05123703144148296 Centerline is valid? [True, True] Translation: X:558.55, Y:-322.50, Z:-5.90 [[-6.77042517e-01 -7.35915631e-01 6.45085486e-03 5.58548733e+02] [ 7.35884581e-01 -6.77073227e-01 -6.76223481e-03 -3.22495558e+02] [ 9.34413542e-03 1.68764152e-04 9.99956328e-01 -5.89636264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.666559995 meters 0.05161765471741989 Centerline is valid? [True, True] Translation: X:558.51, Y:-322.45, Z:-5.90 [[-6.76702956e-01 -7.36226795e-01 6.57377920e-03 5.58512286e+02] [ 7.36194584e-01 -6.76734863e-01 -6.88919451e-03 -3.22450786e+02] [ 9.52071516e-03 1.77642348e-04 9.99954661e-01 -5.89598742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7265599949999 meters 0.051283357055694145 Centerline is valid? [True, True] Translation: X:558.47, Y:-322.41, Z:-5.90 [[-6.77252643e-01 -7.35722667e-01 6.40435954e-03 5.58473968e+02] [ 7.35692086e-01 -6.77282903e-01 -6.71003010e-03 -3.22407062e+02] [ 9.27428445e-03 1.67251010e-04 9.99956979e-01 -5.89568676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.786559995 meters 0.05137830480577117 Centerline is valid? [True, True] Translation: X:558.44, Y:-322.36, Z:-5.89 [[-6.77933599e-01 -7.35100027e-01 5.82965435e-03 5.58436561e+02] [ 7.35074679e-01 -6.77958648e-01 -6.10636962e-03 -3.22362181e+02] [ 8.44105705e-03 1.45518167e-04 9.99964363e-01 -5.89466944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8465599949999 meters 0.05099953805098141 Centerline is valid? [True, True] Translation: X:558.40, Y:-322.32, Z:-5.89 [[-6.78082619e-01 -7.34965758e-01 5.41262028e-03 5.58399187e+02] [ 7.34943916e-01 -6.78104207e-01 -5.66788098e-03 -3.22318210e+02] [ 7.83601902e-03 1.34680766e-04 9.99969289e-01 -5.89448307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.906559995 meters 0.051061501448500045 Centerline is valid? [True, True] Translation: X:558.36, Y:-322.27, Z:-5.89 [[-6.78784220e-01 -7.34314786e-01 5.81194413e-03 5.58361216e+02] [ 7.34289590e-01 -6.78809087e-01 -6.08445955e-03 -3.22274421e+02] [ 8.41310910e-03 1.37614940e-04 9.99964600e-01 -5.89463234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9665599949999 meters 0.050393568359144825 Centerline is valid? [True, True] Translation: X:558.32, Y:-322.23, Z:-5.90 [[-6.80680043e-01 -7.32556214e-01 6.00603174e-03 5.58324873e+02] [ 7.32529254e-01 -6.80706529e-01 -6.28600747e-03 -3.22228823e+02] [ 8.69319885e-03 1.20834106e-04 9.99962206e-01 -5.89500949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.026559995 meters 0.050895981700867454 Centerline is valid? [True, True] Translation: X:558.29, Y:-322.18, Z:-5.89 [[-6.83749181e-01 -7.29699266e-01 5.10282414e-03 5.58289994e+02] [ 7.29679736e-01 -6.83768218e-01 -5.33916789e-03 -3.22183032e+02] [ 7.38513586e-03 7.27757053e-05 9.99972727e-01 -5.89415001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0865599949999 meters 0.05037664665994817 Centerline is valid? [True, True] Translation: X:558.25, Y:-322.14, Z:-5.89 [[-6.86309811e-01 -7.27294424e-01 4.65444258e-03 5.58252969e+02] [ 7.27278129e-01 -6.86325592e-01 -4.86877397e-03 -3.22137704e+02] [ 6.73549522e-03 4.35869490e-05 9.99977315e-01 -5.89362111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.146559995 meters 0.051023949589135184 Centerline is valid? [True, True] Translation: X:558.22, Y:-322.09, Z:-5.90 [[-6.90305464e-01 -7.23501023e-01 4.96360291e-03 5.58217796e+02] [ 7.23482402e-01 -6.90323309e-01 -5.19079052e-03 -3.22092325e+02] [ 7.18203304e-03 7.84829852e-06 9.99974209e-01 -5.89566818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2065599949999 meters 0.05037592154626632 Centerline is valid? [True, True] Translation: X:558.18, Y:-322.05, Z:-5.90 [[-6.93965963e-01 -7.19989786e-01 5.09405317e-03 5.58182229e+02] [ 7.19970090e-01 -6.93984659e-01 -5.32562975e-03 -3.22047039e+02] [ 7.36959377e-03 -2.82398622e-05 9.99972844e-01 -5.89579134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.266559995 meters 0.05095085413398381 Centerline is valid? [True, True] Translation: X:558.14, Y:-322.00, Z:-5.90 [[-6.95876210e-01 -7.18142396e-01 5.27254875e-03 5.58144870e+02] [ 7.18121254e-01 -6.95896182e-01 -5.51075585e-03 -3.22002016e+02] [ 7.62665395e-03 -4.84745749e-05 9.99970915e-01 -5.89599981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3265599949999 meters 0.05096696244188228 Centerline is valid? [True, True] Translation: X:558.11, Y:-321.96, Z:-5.90 [[-6.96009848e-01 -7.18011461e-01 5.46188647e-03 5.58106380e+02] [ 7.17988783e-01 -6.96031277e-01 -5.70691194e-03 -3.21960226e+02] [ 7.89927200e-03 -5.04936947e-05 9.99968799e-01 -5.89586040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.386559995 meters 0.050920000720931 Centerline is valid? [True, True] Translation: X:558.07, Y:-321.92, Z:-5.89 [[-6.94316352e-01 -7.19650652e-01 5.26708731e-03 5.58067192e+02] [ 7.19629623e-01 -6.94336329e-01 -5.50162011e-03 -3.21919789e+02] [ 7.61637457e-03 -2.95127541e-05 9.99970995e-01 -5.89352985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4465599949999 meters 0.05087893119470808 Centerline is valid? [True, True] Translation: X:558.03, Y:-321.88, Z:-5.90 [[-6.92117646e-01 -7.21767367e-01 5.00319796e-03 5.58027258e+02] [ 7.21748455e-01 -6.92135729e-01 -5.22495269e-03 -3.21878163e+02] [ 7.23409241e-03 -5.23156109e-06 9.99973834e-01 -5.89612909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.506559995 meters 0.05011873183947315 Centerline is valid? [True, True] Translation: X:557.99, Y:-321.84, Z:-5.90 [[-6.89554890e-01 -7.24214768e-01 5.19853765e-03 5.57986467e+02] [ 7.24194431e-01 -6.89574485e-01 -5.42733169e-03 -3.21837575e+02] [ 7.51533268e-03 2.23089102e-05 9.99971759e-01 -5.89592031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5665599949999 meters 0.04992475812717144 Centerline is valid? [True, True] Translation: X:557.95, Y:-321.80, Z:-5.90 [[-6.88620156e-01 -7.25106142e-01 4.83361118e-03 5.57946977e+02] [ 7.25088592e-01 -6.88637120e-01 -5.04485527e-03 -3.21796225e+02] [ 6.98665962e-03 3.08073004e-05 9.99975593e-01 -5.89534728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.626559995 meters 0.04999185811563238 Centerline is valid? [True, True] Translation: X:557.91, Y:-321.75, Z:-5.90 [[-6.88714213e-01 -7.25018762e-01 4.53072295e-03 5.57907093e+02] [ 7.25003351e-01 -6.88729115e-01 -4.72733485e-03 -3.21754760e+02] [ 6.54784727e-03 2.90066168e-05 9.99978562e-01 -5.89516821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6865599949999 meters 0.05010075279969912 Centerline is valid? [True, True] Translation: X:557.87, Y:-321.71, Z:-5.89 [[-6.89656895e-01 -7.24123369e-01 4.32588552e-03 5.57868073e+02] [ 7.24109311e-01 -6.89670462e-01 -4.51221177e-03 -3.21714138e+02] [ 6.25083345e-03 2.05360263e-05 9.99980463e-01 -5.89406765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.746559995 meters 0.05062254426963653 Centerline is valid? [True, True] Translation: X:557.83, Y:-321.67, Z:-5.89 [[-6.92835019e-01 -7.21085109e-01 3.98774807e-03 5.57829308e+02] [ 7.21073119e-01 -6.92846495e-01 -4.15830144e-03 -3.21673737e+02] [ 5.76138652e-03 -5.55892081e-06 9.99983403e-01 -5.89456577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8065599949999 meters 0.05028259620813375 Centerline is valid? [True, True] Translation: X:557.79, Y:-321.63, Z:-5.89 [[-6.97790395e-01 -7.16293220e-01 3.54779869e-03 5.57791624e+02] [ 7.16283673e-01 -6.97799413e-01 -3.69842412e-03 -3.21631329e+02] [ 5.12480796e-03 -3.94945474e-05 9.99986867e-01 -5.89476363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.866559995 meters 0.050971409406577496 Centerline is valid? [True, True] Translation: X:557.75, Y:-321.59, Z:-5.89 [[-7.02403500e-01 -7.11769477e-01 3.67907953e-03 5.57752837e+02] [ 7.11759154e-01 -7.02413131e-01 -3.83415219e-03 -3.21589335e+02] [ 5.31326627e-03 -7.45033825e-05 9.99985882e-01 -5.89386029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9265599949999 meters 0.05197098178893449 Centerline is valid? [True, True] Translation: X:557.72, Y:-321.55, Z:-5.90 [[-7.09051110e-01 -7.05144451e-01 4.22210782e-03 5.57716686e+02] [ 7.05130744e-01 -7.09063666e-01 -4.39897314e-03 -3.21545671e+02] [ 6.09565476e-03 -1.41958758e-04 9.99981411e-01 -5.89518926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.986559995 meters 0.052756442308083955 Centerline is valid? [True, True] Translation: X:557.67, Y:-321.51, Z:-5.90 [[-7.13016792e-01 -7.01127213e-01 5.26171627e-03 5.57673303e+02] [ 7.01105825e-01 -7.13036173e-01 -5.48075341e-03 -3.21507866e+02] [ 7.59449939e-03 -2.18849286e-04 9.99971137e-01 -5.89549830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0465599949999 meters 0.0521683216987755 Centerline is valid? [True, True] Translation: X:557.63, Y:-321.47, Z:-5.90 [[-7.13671308e-01 -7.00454129e-01 6.10555752e-03 5.57631009e+02] [ 7.00425319e-01 -7.13697376e-01 -6.35820664e-03 -3.21467299e+02] [ 8.81115247e-03 -2.61182572e-04 9.99961147e-01 -5.89593135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1065599949999 meters 0.0520994630723332 Centerline is valid? [True, True] Translation: X:557.59, Y:-321.43, Z:-5.89 [[-7.13326034e-01 -7.00799013e-01 6.83464909e-03 5.57586405e+02] [ 7.00762951e-01 -7.13358719e-01 -7.11515602e-03 -3.21431988e+02] [ 9.86185083e-03 -2.85957163e-04 9.99951330e-01 -5.89476192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.166559995 meters 0.052212297322875946 Centerline is valid? [True, True] Translation: X:557.55, Y:-321.39, Z:-5.90 [[-7.12110758e-01 -7.02041907e-01 5.95219627e-03 5.57549246e+02] [ 7.02014614e-01 -7.12135596e-01 -6.19472975e-03 -3.21388638e+02] [ 8.58773072e-03 -2.32804929e-04 9.99963098e-01 -5.89658806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2265599949999 meters 0.05205773933224239 Centerline is valid? [True, True] Translation: X:557.50, Y:-321.35, Z:-5.89 [[-7.10514431e-01 -7.03667502e-01 4.61404963e-03 5.57503914e+02] [ 7.03651146e-01 -7.10529394e-01 -4.80059710e-03 -3.21353328e+02] [ 6.65644206e-03 -1.64212213e-04 9.99977832e-01 -5.89419613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.286559995 meters 0.052349314884307975 Centerline is valid? [True, True] Translation: X:557.47, Y:-321.31, Z:-5.90 [[-7.05972696e-01 -7.08230669e-01 3.44546716e-03 5.57467388e+02] [ 7.08221607e-01 -7.05981098e-01 -3.58384790e-03 -3.21309923e+02] [ 4.97062568e-03 -8.99444752e-05 9.99987642e-01 -5.89638672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3465599949999 meters 0.05179836025651628 Centerline is valid? [True, True] Translation: X:557.42, Y:-321.27, Z:-5.90 [[-7.01963014e-01 -7.12205628e-01 3.32742826e-03 5.57424109e+02] [ 7.12197226e-01 -7.01970897e-01 -3.45989338e-03 -3.21274330e+02] [ 4.79991334e-03 -5.89320116e-05 9.99988479e-01 -5.89648572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.406559995 meters 0.05129894599432775 Centerline is valid? [True, True] Translation: X:557.38, Y:-321.24, Z:-5.90 [[-6.94524764e-01 -7.19460813e-01 3.38980316e-03 5.57376611e+02] [ 7.19452183e-01 -6.94533036e-01 -3.52380660e-03 -3.21239675e+02] [ 4.88957104e-03 -8.56966045e-06 9.99988046e-01 -5.89578763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4665599949999 meters 0.051099035228662874 Centerline is valid? [True, True] Translation: X:557.33, Y:-321.21, Z:-5.90 [[-6.86081186e-01 -7.27516756e-01 3.46058605e-03 5.57329639e+02] [ 7.27507869e-01 -6.86089912e-01 -3.59623507e-03 -3.21207664e+02] [ 4.99059445e-03 5.02943630e-05 9.99987546e-01 -5.89819198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.526559995 meters 0.05108936997850084 Centerline is valid? [True, True] Translation: X:557.29, Y:-321.17, Z:-5.90 [[-6.81083241e-01 -7.32195555e-01 3.90998939e-03 5.57287293e+02] [ 7.32184292e-01 -6.81094458e-01 -4.06229680e-03 -3.21169644e+02] [ 5.63746776e-03 9.60705413e-05 9.99984105e-01 -5.89800387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5865599949999 meters 0.05094439585952324 Centerline is valid? [True, True] Translation: X:557.25, Y:-321.13, Z:-5.90 [[-6.75904310e-01 -7.36976580e-01 4.34565038e-03 5.57245747e+02] [ 7.36962772e-01 -6.75918263e-01 -4.51391797e-03 -3.21130943e+02] [ 6.26395628e-03 1.51605944e-04 9.99980370e-01 -5.89871009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.646559995 meters 0.05059717421164411 Centerline is valid? [True, True] Translation: X:557.21, Y:-321.09, Z:-5.90 [[-6.73780173e-01 -7.38918124e-01 4.50386424e-03 5.57205383e+02] [ 7.38903341e-01 -6.73795202e-01 -4.67735285e-03 -3.21090203e+02] [ 6.49086291e-03 1.76412728e-04 9.99978919e-01 -5.89854603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7065599949999 meters 0.05208026752490935 Centerline is valid? [True, True] Translation: X:557.16, Y:-321.05, Z:-5.90 [[-6.72935546e-01 -7.39692012e-01 3.67114492e-03 5.57162027e+02] [ 7.39682207e-01 -6.72945543e-01 -3.81154664e-03 -3.21053150e+02] [ 5.28985122e-03 1.50555353e-04 9.99985997e-01 -5.89854042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.766559995 meters 0.051227719801994094 Centerline is valid? [True, True] Translation: X:557.13, Y:-321.01, Z:-5.90 [[-6.74734916e-01 -7.38047686e-01 4.29024396e-03 5.57127801e+02] [ 7.38034269e-01 -6.74748536e-01 -4.45309369e-03 -3.21006286e+02] [ 6.18143133e-03 1.61689265e-04 9.99980882e-01 -5.89816754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8265599949999 meters 0.05138637696534246 Centerline is valid? [True, True] Translation: X:557.09, Y:-320.96, Z:-5.90 [[-6.77105595e-01 -7.35873400e-01 4.28394905e-03 5.57089148e+02] [ 7.35859986e-01 -6.77119132e-01 -4.44537650e-03 -3.20963554e+02] [ 6.17197818e-03 1.42397386e-04 9.99980943e-01 -5.89916454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.886559995 meters 0.05078774122288314 Centerline is valid? [True, True] Translation: X:557.05, Y:-320.92, Z:-5.90 [[-6.83066477e-01 -7.30345236e-01 4.00307664e-03 5.57054616e+02] [ 7.30333434e-01 -6.83078201e-01 -4.15284409e-03 -3.20916439e+02] [ 5.76742429e-03 8.69121251e-05 9.99983365e-01 -5.89871613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9465599949999 meters 0.051029040931713725 Centerline is valid? [True, True] Translation: X:557.02, Y:-320.87, Z:-5.90 [[-6.91810882e-01 -7.22068576e-01 3.83085547e-03 5.57021712e+02] [ 7.22057646e-01 -6.91821488e-01 -3.97304134e-03 -3.20869995e+02] [ 5.51907643e-03 1.75052514e-05 9.99984770e-01 -5.89870931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.006559995 meters 0.05042562683045425 Centerline is valid? [True, True] Translation: X:556.99, Y:-320.82, Z:-5.90 [[-6.98634664e-01 -7.15470153e-01 3.47371946e-03 5.56986371e+02] [ 7.15461089e-01 -6.98643299e-01 -3.60162011e-03 -3.20824100e+02] [ 5.00374251e-03 -3.09055524e-05 9.99987481e-01 -5.89800802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0665599949999 meters 0.05197391924355322 Centerline is valid? [True, True] Translation: X:556.96, Y:-320.78, Z:-5.90 [[-7.09451183e-01 -7.04746470e-01 3.38113618e-03 5.56955182e+02] [ 7.04737764e-01 -7.09459232e-01 -3.50461875e-03 -3.20775618e+02] [ 4.86864597e-03 -1.03541564e-04 9.99988143e-01 -5.89851684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.126559995 meters 0.05232786822526501 Centerline is valid? [True, True] Translation: X:556.91, Y:-320.73, Z:-5.90 [[-7.16515753e-01 -6.97562494e-01 3.42685797e-03 5.56914329e+02] [ 6.97553471e-01 -7.16523931e-01 -3.55128393e-03 -3.20734022e+02] [ 4.93266822e-03 -1.54134210e-04 9.99987822e-01 -5.89819465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1865599949999 meters 0.0518359225475178 Centerline is valid? [True, True] Translation: X:556.88, Y:-320.69, Z:-5.90 [[-7.24994989e-01 -6.88741742e-01 4.13254630e-03 5.56878306e+02] [ 6.88728483e-01 -7.25006721e-01 -4.28150180e-03 -3.20687872e+02] [ 5.94497285e-03 -2.57865007e-04 9.99982295e-01 -5.89908859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.246559995 meters 0.053325170089268265 Centerline is valid? [True, True] Translation: X:556.84, Y:-320.64, Z:-5.90 [[-7.28220658e-01 -6.85329601e-01 4.24404438e-03 5.56842501e+02] [ 6.85315563e-01 -7.28232966e-01 -4.39620907e-03 -3.20642627e+02] [ 6.10350523e-03 -2.92900597e-04 9.99981331e-01 -5.89947860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3065599949999 meters 0.05263068692157525 Centerline is valid? [True, True] Translation: X:556.80, Y:-320.60, Z:-5.90 [[-7.29529572e-01 -6.83936383e-01 4.19854042e-03 5.56799692e+02] [ 6.83922627e-01 -7.29541591e-01 -4.34811564e-03 -3.20603132e+02] [ 6.03684435e-03 -3.00602148e-04 9.99981733e-01 -5.89901043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.366559995 meters 0.05236962207611483 Centerline is valid? [True, True] Translation: X:556.75, Y:-320.57, Z:-5.90 [[-7.27247098e-01 -6.86361261e-01 4.45837169e-03 5.56752155e+02] [ 6.86345799e-01 -7.27260703e-01 -4.61669723e-03 -3.20566535e+02] [ 6.41112066e-03 -2.97494989e-04 9.99979404e-01 -5.89883491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4265599949999 meters 0.05219917979921138 Centerline is valid? [True, True] Translation: X:556.71, Y:-320.53, Z:-5.90 [[-7.23242739e-01 -6.90579853e-01 4.40542548e-03 5.56711279e+02] [ 6.90564835e-01 -7.23256110e-01 -4.56147395e-03 -3.20525892e+02] [ 6.33631291e-03 -2.56820992e-04 9.99979892e-01 -5.89924932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.486559995 meters 0.05260027309734388 Centerline is valid? [True, True] Translation: X:556.67, Y:-320.48, Z:-5.90 [[-7.14702629e-01 -6.99415666e-01 4.22820148e-03 5.56671292e+02] [ 6.99401990e-01 -7.14715116e-01 -4.37725347e-03 -3.20483494e+02] [ 6.08347916e-03 -1.71222040e-04 9.99981481e-01 -5.90094988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5465599949999 meters 0.05242967092978529 Centerline is valid? [True, True] Translation: X:556.63, Y:-320.45, Z:-5.90 [[-7.04758957e-01 -7.09431321e-01 4.69182461e-03 5.56625535e+02] [ 7.09414709e-01 -7.04774568e-01 -4.85578847e-03 -3.20449320e+02] [ 6.75152709e-03 -9.37110258e-05 9.99977204e-01 -5.90124322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6065599949999 meters 0.050755300260483985 Centerline is valid? [True, True] Translation: X:556.58, Y:-320.41, Z:-5.90 [[-6.95548090e-01 -7.18467416e-01 4.17445474e-03 5.56581824e+02] [ 7.18454433e-01 -6.95560617e-01 -4.31918042e-03 -3.20411882e+02] [ 6.00677671e-03 -5.04217944e-06 9.99981959e-01 -5.90260464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.666559995 meters 0.050265115070466014 Centerline is valid? [True, True] Translation: X:556.54, Y:-320.38, Z:-5.90 [[-6.86904594e-01 -7.26741302e-01 3.02642878e-03 5.56536230e+02] [ 7.26734561e-01 -6.86911259e-01 -3.13057129e-03 -3.20377089e+02] [ 4.35400346e-03 4.90065888e-05 9.99990520e-01 -5.90237894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7265599949999 meters 0.05092677265418569 Centerline is valid? [True, True] Translation: X:556.50, Y:-320.34, Z:-5.90 [[-6.85464958e-01 -7.28100964e-01 2.60353643e-03 5.56495743e+02] [ 7.28095988e-01 -6.85469900e-01 -2.69235187e-03 -3.20337140e+02] [ 3.74494985e-03 5.01115706e-05 9.99992986e-01 -5.90200210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.786559995 meters 0.05032889427441527 Centerline is valid? [True, True] Translation: X:556.46, Y:-320.30, Z:-5.90 [[-6.83061414e-01 -7.30357055e-01 2.38268202e-03 5.56455567e+02] [ 7.30352903e-01 -6.83065568e-01 -2.46331566e-03 -3.20295658e+02] [ 3.42662802e-03 5.76028535e-05 9.99994127e-01 -5.90102613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8465599949999 meters 0.0504391216350546 Centerline is valid? [True, True] Translation: X:556.41, Y:-320.26, Z:-5.90 [[-6.80783084e-01 -7.32477469e-01 3.33916696e-03 5.56413939e+02] [ 7.32469344e-01 -6.80791267e-01 -3.45125629e-03 -3.20255096e+02] [ 4.80124318e-03 9.62805297e-05 9.99988469e-01 -5.90244401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.906559995 meters 0.05098379042147508 Centerline is valid? [True, True] Translation: X:556.37, Y:-320.22, Z:-5.90 [[-6.79326068e-01 -7.33823649e-01 4.35271384e-03 5.56372580e+02] [ 7.33809878e-01 -6.79339998e-01 -4.49775060e-03 -3.20216417e+02] [ 6.25752837e-03 1.38625185e-04 9.99980412e-01 -5.90424234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9665599949999 meters 0.050800477289131236 Centerline is valid? [True, True] Translation: X:556.33, Y:-320.18, Z:-5.91 [[-6.77882910e-01 -7.35145505e-01 5.98725655e-03 5.56333389e+02] [ 7.35119516e-01 -6.77909318e-01 -6.18491890e-03 -3.20175645e+02] [ 8.60563233e-03 2.08698312e-04 9.99962949e-01 -5.90552184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.026559995 meters 0.05093880611265218 Centerline is valid? [True, True] Translation: X:556.30, Y:-320.13, Z:-5.91 [[-6.79116191e-01 -7.33996351e-01 7.11026239e-03 5.56295694e+02] [ 7.33959655e-01 -6.79153373e-01 -7.34306543e-03 -3.20131745e+02] [ 1.02187419e-02 2.31851104e-04 9.99947760e-01 -5.90589730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0865599949999 meters 0.05020979962188266 Centerline is valid? [True, True] Translation: X:556.26, Y:-320.09, Z:-5.90 [[-6.81949118e-01 -7.31372581e-01 6.28872447e-03 5.56260719e+02] [ 7.31343780e-01 -6.81978092e-01 -6.49286964e-03 -3.20085390e+02] [ 9.03747914e-03 1.71412804e-04 9.99959146e-01 -5.90383171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.146559995 meters 0.05078356019445268 Centerline is valid? [True, True] Translation: X:556.23, Y:-320.04, Z:-5.90 [[-6.88407407e-01 -7.25309599e-01 4.60728647e-03 5.56226289e+02] [ 7.25294011e-01 -6.88422821e-01 -4.75573765e-03 -3.20037459e+02] [ 6.62114332e-03 6.77522611e-05 9.99978078e-01 -5.90156248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2065599949999 meters 0.05033789427924236 Centerline is valid? [True, True] Translation: X:556.19, Y:-319.99, Z:-5.90 [[-6.93254420e-01 -7.20681977e-01 3.97458760e-03 5.56189716e+02] [ 7.20670305e-01 -6.93265813e-01 -4.10171137e-03 -3.19993546e+02] [ 5.71147517e-03 2.08377182e-05 9.99983689e-01 -5.90218220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.266559995 meters 0.05006704530987871 Centerline is valid? [True, True] Translation: X:556.16, Y:-319.94, Z:-5.90 [[-7.00602054e-01 -7.13547809e-01 2.50701266e-03 5.56156373e+02] [ 7.13543121e-01 -7.00606539e-01 -2.58676156e-03 -3.19944745e+02] [ 3.60220751e-03 -2.34288225e-05 9.99993512e-01 -5.89923961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3265599949999 meters 0.050172331557204825 Centerline is valid? [True, True] Translation: X:556.12, Y:-319.90, Z:-5.90 [[-7.04865362e-01 -7.09338535e-01 1.91417463e-03 5.56121111e+02] [ 7.09335788e-01 -7.04867960e-01 -1.97452688e-03 -3.19899695e+02] [ 2.74984837e-03 -3.39830389e-05 9.99996219e-01 -5.89861676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.386559995 meters 0.05116571718274158 Centerline is valid? [True, True] Translation: X:556.08, Y:-319.86, Z:-5.90 [[-7.08844468e-01 -7.05361735e-01 2.08376122e-03 5.56083785e+02] [ 7.05358464e-01 -7.08847529e-01 -2.14892085e-03 -3.19858182e+02] [ 2.99283553e-03 -5.34520390e-05 9.99995520e-01 -5.89792919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4465599949999 meters 0.05103366306667466 Centerline is valid? [True, True] Translation: X:556.04, Y:-319.82, Z:-5.90 [[-7.09294028e-01 -7.04907657e-01 2.67907616e-03 5.56041080e+02] [ 7.04902248e-01 -7.09299084e-01 -2.76230680e-03 -3.19817324e+02] [ 3.84743747e-03 -7.08009084e-05 9.99992596e-01 -5.89810869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.506559995 meters 0.05050834349940712 Centerline is valid? [True, True] Translation: X:556.00, Y:-319.77, Z:-5.90 [[-7.06425305e-01 -7.07782104e-01 2.78955933e-03 5.56004833e+02] [ 7.07776265e-01 -7.06430811e-01 -2.87538848e-03 -3.19773008e+02] [ 4.00577916e-03 -5.68633015e-05 9.99991975e-01 -5.89902313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5665599949999 meters 0.04979696309661537 Centerline is valid? [True, True] Translation: X:555.97, Y:-319.73, Z:-5.90 [[-7.03664141e-01 -7.10528038e-01 2.58532929e-03 5.55965317e+02] [ 7.10523045e-01 -7.03668889e-01 -2.66403384e-03 -3.19732806e+02] [ 3.71208653e-03 -3.76490458e-05 9.99993109e-01 -5.89904998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.626559995 meters 0.050628174935762285 Centerline is valid? [True, True] Translation: X:555.92, Y:-319.69, Z:-5.90 [[-6.99178865e-01 -7.14943340e-01 2.22155660e-03 5.55922909e+02] [ 7.14939678e-01 -6.99182394e-01 -2.28850431e-03 -3.19694526e+02] [ 3.18942418e-03 -1.17948858e-05 9.99994914e-01 -5.89885016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6865599949999 meters 0.050185905899935726 Centerline is valid? [True, True] Translation: X:555.88, Y:-319.66, Z:-5.90 [[-6.94620656e-01 -7.19372404e-01 2.34255723e-03 5.55881789e+02] [ 7.19368360e-01 -6.94624606e-01 -2.41232427e-03 -3.19657721e+02] [ 3.36255740e-03 9.51128621e-06 9.99994347e-01 -5.90018689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.746559995 meters 0.04951617187636249 Centerline is valid? [True, True] Translation: X:555.84, Y:-319.62, Z:-5.90 [[-6.91590168e-01 -7.22285840e-01 2.49102787e-03 5.55840159e+02] [ 7.22281288e-01 -6.91594654e-01 -2.56449667e-03 -3.19618320e+02] [ 3.57508119e-03 2.56421358e-05 9.99993609e-01 -5.89979940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8065599949999 meters 0.049710900661230045 Centerline is valid? [True, True] Translation: X:555.80, Y:-319.58, Z:-5.90 [[-6.87246639e-01 -7.26421065e-01 2.11947955e-03 5.55799113e+02] [ 7.26417791e-01 -6.87249907e-01 -2.18137527e-03 -3.19578052e+02] [ 3.04120907e-03 4.04848333e-05 9.99995375e-01 -5.89883970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.866559995 meters 0.04992458733793208 Centerline is valid? [True, True] Translation: X:555.76, Y:-319.54, Z:-5.90 [[-6.84923084e-01 -7.28613094e-01 1.82442280e-03 5.55756783e+02] [ 7.28610676e-01 -6.84925513e-01 -1.87726388e-03 -3.19540440e+02] [ 2.61739276e-03 4.35125611e-05 9.99996574e-01 -5.89923046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9265599949999 meters 0.04993578956929754 Centerline is valid? [True, True] Translation: X:555.72, Y:-319.50, Z:-5.90 [[-6.83384874e-01 -7.30054566e-01 2.33323781e-03 5.55716725e+02] [ 7.30050623e-01 -6.83388855e-01 -2.40011278e-03 -3.19500206e+02] [ 3.34672200e-03 6.31809494e-05 9.99994398e-01 -5.90012290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.986559995 meters 0.05038058351605396 Centerline is valid? [True, True] Translation: X:555.68, Y:-319.46, Z:-5.90 [[-6.83512493e-01 -7.29931571e-01 3.25171546e-03 5.55678083e+02] [ 7.29923917e-01 -6.83520222e-01 -3.34384393e-03 -3.19460947e+02] [ 4.66339053e-03 8.79457799e-05 9.99989122e-01 -5.90141768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0465599949999 meters 0.050584842807332636 Centerline is valid? [True, True] Translation: X:555.64, Y:-319.42, Z:-5.90 [[-6.83840281e-01 -7.29622589e-01 3.65345650e-03 5.55636592e+02] [ 7.29612929e-01 -6.83850033e-01 -3.75573362e-03 -3.19423192e+02] [ 5.23868444e-03 9.72871706e-05 9.99986273e-01 -5.90315006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1065599949999 meters 0.04987395698027082 Centerline is valid? [True, True] Translation: X:555.60, Y:-319.38, Z:-5.90 [[-6.83967953e-01 -7.29502960e-01 3.64294529e-03 5.55602234e+02] [ 7.29493360e-01 -6.83977648e-01 -3.74378099e-03 -3.19378560e+02] [ 5.22279246e-03 9.68781804e-05 9.99986356e-01 -5.90167100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.166559995 meters 0.05003632994465943 Centerline is valid? [True, True] Translation: X:555.56, Y:-319.34, Z:-5.90 [[-6.84442626e-01 -7.29049413e-01 5.02441121e-03 5.55564356e+02] [ 7.29031150e-01 -6.84461055e-01 -5.16203975e-03 -3.19335677e+02] [ 7.20239585e-03 1.29832231e-04 9.99974054e-01 -5.90196366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2265599949999 meters 0.049895122691999215 Centerline is valid? [True, True] Translation: X:555.53, Y:-319.29, Z:-5.90 [[-6.85483721e-01 -7.28063286e-01 5.99341827e-03 5.55525159e+02] [ 7.28037275e-01 -6.85509906e-01 -6.15586928e-03 -3.19293654e+02] [ 8.59041001e-03 1.43683731e-04 9.99963091e-01 -5.90313803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.286559995 meters 0.04958837048329402 Centerline is valid? [True, True] Translation: X:555.49, Y:-319.25, Z:-5.90 [[-6.87846893e-01 -7.25834041e-01 5.62111119e-03 5.55489303e+02] [ 7.25811099e-01 -6.87869852e-01 -5.77193949e-03 -3.19247819e+02] [ 8.05606309e-03 1.09654245e-04 9.99967543e-01 -5.90114518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3465599949999 meters 0.04939338237003333 Centerline is valid? [True, True] Translation: X:555.45, Y:-319.21, Z:-5.90 [[-6.90936317e-01 -7.22905701e-01 3.78860805e-03 5.55451507e+02] [ 7.22895241e-01 -6.90946702e-01 -3.88915069e-03 -3.19205576e+02] [ 5.42921544e-03 5.16112706e-05 9.99985260e-01 -5.90094859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.406559995 meters 0.049596639704819576 Centerline is valid? [True, True] Translation: X:555.41, Y:-319.16, Z:-5.90 [[-6.93127684e-01 -7.20808026e-01 3.13089806e-03 5.55414294e+02] [ 7.20800866e-01 -6.93134755e-01 -3.21302974e-03 -3.19163772e+02] [ 4.48611188e-03 2.97141670e-05 9.99989937e-01 -5.90027165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4665599949999 meters 0.049548726369326335 Centerline is valid? [True, True] Translation: X:555.37, Y:-319.12, Z:-5.90 [[-6.93886387e-01 -7.20079675e-01 2.63483770e-03 5.55374628e+02] [ 7.20074602e-01 -6.93891390e-01 -2.70311700e-03 -3.19124145e+02] [ 3.77475080e-03 2.16236162e-05 9.99992875e-01 -5.90056893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.526559995 meters 0.049787733487477136 Centerline is valid? [True, True] Translation: X:555.34, Y:-319.08, Z:-5.90 [[-6.95524010e-01 -7.18486270e-01 4.88182439e-03 5.55336429e+02] [ 7.18468823e-01 -6.95541142e-01 -5.00701043e-03 -3.19080931e+02] [ 6.99297796e-03 2.49426545e-05 9.99975549e-01 -5.90137801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5865599949999 meters 0.049734692798224664 Centerline is valid? [True, True] Translation: X:555.30, Y:-319.04, Z:-5.90 [[-6.97162748e-01 -7.16894951e-01 5.07267728e-03 5.55297608e+02] [ 7.16876083e-01 -6.97181202e-01 -5.20130665e-03 -3.19039282e+02] [ 7.26536572e-03 1.03237804e-05 9.99973607e-01 -5.90166340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.646559995 meters 0.050060620357543946 Centerline is valid? [True, True] Translation: X:555.26, Y:-319.00, Z:-5.90 [[-6.99839621e-01 -7.14284653e-01 4.68391179e-03 5.55257403e+02] [ 7.14268517e-01 -6.99855295e-01 -4.80120005e-03 -3.18999532e+02] [ 6.70748398e-03 -1.44992997e-05 9.99977504e-01 -5.90211663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7065599949999 meters 0.04993209215268123 Centerline is valid? [True, True] Translation: X:555.22, Y:-318.96, Z:-5.90 [[-7.01346723e-01 -7.12808724e-01 4.06162890e-03 5.55216435e+02] [ 7.12796572e-01 -7.01358484e-01 -4.16228969e-03 -3.18958656e+02] [ 5.81557429e-03 -2.40930843e-05 9.99983089e-01 -5.90058388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.766559995 meters 0.05010550907689837 Centerline is valid? [True, True] Translation: X:555.18, Y:-318.92, Z:-5.90 [[-7.02163306e-01 -7.12003444e-01 4.21753016e-03 5.55175550e+02] [ 7.11990333e-01 -7.02175972e-01 -4.32088563e-03 -3.18917915e+02] [ 6.03793379e-03 -3.11266398e-05 9.99981771e-01 -5.89973945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8265599949999 meters 0.05021385319205014 Centerline is valid? [True, True] Translation: X:555.13, Y:-318.88, Z:-5.90 [[-7.01046578e-01 -7.13104243e-01 4.00425646e-03 5.55133105e+02] [ 7.13092450e-01 -7.01058013e-01 -4.10128106e-03 -3.18878841e+02] [ 5.73185700e-03 -1.97840011e-05 9.99983573e-01 -5.89995313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.886559995 meters 0.04927428918156066 Centerline is valid? [True, True] Translation: X:555.09, Y:-318.84, Z:-5.90 [[-6.98154773e-01 -7.15939163e-01 3.32077205e-03 5.55090144e+02] [ 7.15931089e-01 -6.98162671e-01 -3.40014992e-03 -3.18842590e+02] [ 4.75273957e-03 3.61305695e-06 9.99988706e-01 -5.90122351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9465599949999 meters 0.049980250858228235 Centerline is valid? [True, True] Translation: X:555.05, Y:-318.81, Z:-5.90 [[-6.94868300e-01 -7.19131714e-01 2.76089756e-03 5.55047286e+02] [ 7.19126162e-01 -6.94873785e-01 -2.82602509e-03 -3.18805146e+02] [ 3.95075960e-03 2.17184155e-05 9.99992196e-01 -5.89955062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.006559995 meters 0.05007598334561898 Centerline is valid? [True, True] Translation: X:555.00, Y:-318.77, Z:-5.90 [[-6.92786803e-01 -7.21135871e-01 3.08225765e-03 5.55004366e+02] [ 7.21128975e-01 -6.92793659e-01 -3.15406328e-03 -3.18769223e+02] [ 4.40987673e-03 3.76118790e-05 9.99990276e-01 -5.90090611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0665599949999 meters 0.050449727403405364 Centerline is valid? [True, True] Translation: X:554.96, Y:-318.73, Z:-5.90 [[-6.90500823e-01 -7.23324223e-01 3.26819372e-03 5.54961979e+02] [ 7.23316499e-01 -6.90508556e-01 -3.34331577e-03 -3.18732069e+02] [ 4.67501700e-03 5.53761502e-05 9.99989071e-01 -5.90184371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.126559995 meters 0.05080748917593336 Centerline is valid? [True, True] Translation: X:554.92, Y:-318.69, Z:-5.90 [[-6.90091092e-01 -7.23715828e-01 3.11208898e-03 5.54921503e+02] [ 7.23708832e-01 -6.90098107e-01 -3.18255523e-03 -3.18693418e+02] [ 4.45091231e-03 5.59932734e-05 9.99990093e-01 -5.90175883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1865599949999 meters 0.05016238473338499 Centerline is valid? [True, True] Translation: X:554.88, Y:-318.65, Z:-5.90 [[-6.90148652e-01 -7.23660776e-01 3.14938174e-03 5.54882088e+02] [ 7.23653616e-01 -6.90155836e-01 -3.21977393e-03 -3.18651383e+02] [ 4.50358829e-03 5.69388456e-05 9.99989857e-01 -5.90049993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.246559995 meters 0.05059822908075199 Centerline is valid? [True, True] Translation: X:554.84, Y:-318.61, Z:-5.90 [[-6.89732793e-01 -7.24054395e-01 3.72939860e-03 5.54842769e+02] [ 7.24044365e-01 -6.89742871e-01 -3.81169637e-03 -3.18609292e+02] [ 5.33220161e-03 7.11980550e-05 9.99985781e-01 -5.90029881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3065599949999 meters 0.04987670627697134 Centerline is valid? [True, True] Translation: X:554.80, Y:-318.57, Z:-5.90 [[-6.87572190e-01 -7.26093830e-01 5.67742943e-03 5.54800948e+02] [ 7.26070667e-01 -6.87595617e-01 -5.80125199e-03 -3.18568698e+02] [ 8.11602886e-03 1.33435438e-04 9.99967056e-01 -5.90109798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.366559995 meters 0.05054836314041082 Centerline is valid? [True, True] Translation: X:554.76, Y:-318.53, Z:-5.90 [[-6.85037751e-01 -7.28480054e-01 6.33171149e-03 5.54757054e+02] [ 7.28451357e-01 -6.85066988e-01 -6.46854790e-03 -3.18532191e+02] [ 9.04985464e-03 1.81144321e-04 9.99959033e-01 -5.90336818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4265599949999 meters 0.05047525414805063 Centerline is valid? [True, True] Translation: X:554.72, Y:-318.49, Z:-5.90 [[-6.84224054e-01 -7.29243615e-01 6.41822037e-03 5.54717527e+02] [ 7.29214176e-01 -6.84254128e-01 -6.55539071e-03 -3.18492945e+02] [ 9.17217060e-03 1.94901273e-04 9.99957916e-01 -5.90303995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.486559995 meters 0.050462735317857395 Centerline is valid? [True, True] Translation: X:554.68, Y:-318.45, Z:-5.90 [[-6.84375106e-01 -7.29104373e-01 6.12601543e-03 5.54681968e+02] [ 7.29077562e-01 -6.84402498e-01 -6.25530432e-03 -3.18446560e+02] [ 8.75343000e-03 1.85365844e-04 9.99961671e-01 -5.90005643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5465599949999 meters 0.050378184327739 Centerline is valid? [True, True] Translation: X:554.64, Y:-318.41, Z:-5.90 [[-6.84898495e-01 -7.28617167e-01 5.57451608e-03 5.54641691e+02] [ 7.28594962e-01 -6.84921161e-01 -5.69070563e-03 -3.18405613e+02] [ 7.96444983e-03 1.64008610e-04 9.99968270e-01 -5.90004473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6065599949999 meters 0.049933283806079753 Centerline is valid? [True, True] Translation: X:554.60, Y:-318.37, Z:-5.90 [[-6.85424285e-01 -7.28124441e-01 5.32434871e-03 5.54599233e+02] [ 7.28104180e-01 -6.85444947e-01 -5.43392457e-03 -3.18367907e+02] [ 7.60612121e-03 1.52136691e-04 9.99971061e-01 -5.90211181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.666559995 meters 0.05033171504344234 Centerline is valid? [True, True] Translation: X:554.56, Y:-318.33, Z:-5.90 [[-6.86290450e-01 -7.27308785e-01 5.22969745e-03 5.54560695e+02] [ 7.27289226e-01 -6.86310361e-01 -5.33577471e-03 -3.18327032e+02] [ 7.46995137e-03 1.41611386e-04 9.99972090e-01 -5.90235431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7265599949999 meters 0.0503818563533299 Centerline is valid? [True, True] Translation: X:554.52, Y:-318.28, Z:-5.90 [[-6.85744046e-01 -7.27827799e-01 4.66891811e-03 5.54523264e+02] [ 7.27812229e-01 -6.85759927e-01 -4.76242099e-03 -3.18281958e+02] [ 6.66797933e-03 1.32293857e-04 9.99977760e-01 -5.90019791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.786559995 meters 0.04972903147528826 Centerline is valid? [True, True] Translation: X:554.48, Y:-318.24, Z:-5.90 [[-6.84559320e-01 -7.28939592e-01 5.06036852e-03 5.54482059e+02] [ 7.28921343e-01 -6.84578006e-01 -5.16041954e-03 -3.18241490e+02] [ 7.22585110e-03 1.55997323e-04 9.99973881e-01 -5.90068931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8465599949999 meters 0.049059966737117565 Centerline is valid? [True, True] Translation: X:554.44, Y:-318.20, Z:-5.90 [[-6.82673214e-01 -7.30694068e-01 6.59251850e-03 5.54443155e+02] [ 7.30663191e-01 -6.82705007e-01 -6.72121146e-03 -3.18197725e+02] [ 9.41189473e-03 2.28519578e-04 9.99955681e-01 -5.90030600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.906559995 meters 0.049746260308257975 Centerline is valid? [True, True] Translation: X:554.40, Y:-318.16, Z:-5.90 [[-6.81858466e-01 -7.31447444e-01 7.32586217e-03 5.54402757e+02] [ 7.31409379e-01 -6.81897767e-01 -7.46694220e-03 -3.18156811e+02] [ 1.04571648e-02 2.66806551e-04 9.99945287e-01 -5.90122304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9665599949999 meters 0.04946399107253016 Centerline is valid? [True, True] Translation: X:554.36, Y:-318.12, Z:-5.90 [[-6.81980428e-01 -7.31336894e-01 7.00317238e-03 5.54362792e+02] [ 7.31302120e-01 -6.82016336e-01 -7.13623526e-03 -3.18115400e+02] [ 9.99527009e-03 2.54662035e-04 9.99950014e-01 -5.90134852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.026559995 meters 0.050540460077780416 Centerline is valid? [True, True] Translation: X:554.32, Y:-318.08, Z:-5.90 [[-6.82246138e-01 -7.31095296e-01 6.31463110e-03 5.54319935e+02] [ 7.31067029e-01 -6.82275323e-01 -6.43299663e-03 -3.18076813e+02] [ 9.01145055e-03 2.27531485e-04 9.99959370e-01 -5.90167242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0865599949999 meters 0.049906763708032174 Centerline is valid? [True, True] Translation: X:554.28, Y:-318.04, Z:-5.90 [[-6.82677440e-01 -7.30701089e-01 5.23748172e-03 5.54281039e+02] [ 7.30681642e-01 -6.82697505e-01 -5.33419824e-03 -3.18035392e+02] [ 7.47332017e-03 1.85394953e-04 9.99972057e-01 -5.90072392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.146559995 meters 0.05051652550782263 Centerline is valid? [True, True] Translation: X:554.24, Y:-318.00, Z:-5.90 [[-6.82375204e-01 -7.30987820e-01 4.57038543e-03 5.54240118e+02] [ 7.30973028e-01 -6.82390489e-01 -4.65331343e-03 -3.17997368e+02] [ 6.52030299e-03 1.65522775e-04 9.99978729e-01 -5.90000424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2065599949999 meters 0.04934262439350453 Centerline is valid? [True, True] Translation: X:554.20, Y:-317.95, Z:-5.90 [[-6.81904463e-01 -7.31428032e-01 4.39751324e-03 5.54201745e+02] [ 7.31414353e-01 -6.81918622e-01 -4.47625900e-03 -3.17953627e+02] [ 6.27280748e-03 1.64023315e-04 9.99980312e-01 -5.89891066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.266559995 meters 0.05033176114046173 Centerline is valid? [True, True] Translation: X:554.16, Y:-317.91, Z:-5.90 [[-6.81582698e-01 -7.31728148e-01 4.35246152e-03 5.54158965e+02] [ 7.31714761e-01 -6.81596575e-01 -4.42922708e-03 -3.17914968e+02] [ 6.20761299e-03 1.65875795e-04 9.99980719e-01 -5.90017414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3265599949999 meters 0.04954595996494994 Centerline is valid? [True, True] Translation: X:554.12, Y:-317.87, Z:-5.90 [[-6.82895618e-01 -7.30500507e-01 4.75230571e-03 5.54118617e+02] [ 7.30484526e-01 -6.82912132e-01 -4.83497805e-03 -3.17872516e+02] [ 6.77736114e-03 1.69700464e-04 9.99977019e-01 -5.90018599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.386559995 meters 0.04952805173908407 Centerline is valid? [True, True] Translation: X:554.08, Y:-317.83, Z:-5.90 [[-6.85943619e-01 -7.27637242e-01 5.03946770e-03 5.54078180e+02] [ 7.27619203e-01 -6.85962114e-01 -5.12574539e-03 -3.17832075e+02] [ 7.18656716e-03 1.50841127e-04 9.99974165e-01 -5.90075719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4465599949999 meters 0.050371892263619 Centerline is valid? [True, True] Translation: X:554.04, Y:-317.79, Z:-5.90 [[-6.88771726e-01 -7.24961188e-01 4.97863392e-03 5.54038010e+02] [ 7.24943521e-01 -6.88789708e-01 -5.06260603e-03 -3.17791155e+02] [ 7.09942468e-03 1.22248513e-04 9.99974791e-01 -5.90123856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.506559995 meters 0.0504811389574039 Centerline is valid? [True, True] Translation: X:554.00, Y:-317.75, Z:-5.90 [[-6.93571681e-01 -7.20368891e-01 5.19456443e-03 5.53999054e+02] [ 7.20349539e-01 -6.93591129e-01 -5.28082417e-03 -3.17748586e+02] [ 7.40704526e-03 7.92719915e-05 9.99972564e-01 -5.90159154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5665599949999 meters 0.04990731319426092 Centerline is valid? [True, True] Translation: X:553.96, Y:-317.71, Z:-5.90 [[-6.97562450e-01 -7.16501393e-01 5.69057290e-03 5.53960283e+02] [ 7.16478051e-01 -6.97585659e-01 -5.78365387e-03 -3.17705375e+02] [ 8.11365810e-03 4.27108167e-05 9.99967083e-01 -5.90174677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.626559995 meters 0.04990750904639049 Centerline is valid? [True, True] Translation: X:553.92, Y:-317.66, Z:-5.90 [[-6.99329918e-01 -7.14772399e-01 6.17115167e-03 5.53919420e+02] [ 7.14744896e-01 -6.99357146e-01 -6.27026925e-03 -3.17664753e+02] [ 8.79765441e-03 2.58122774e-05 9.99961300e-01 -5.90272583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6865599949999 meters 0.049930891240209614 Centerline is valid? [True, True] Translation: X:553.88, Y:-317.62, Z:-5.90 [[-6.99118139e-01 -7.14975454e-01 6.62781032e-03 5.53878274e+02] [ 7.14943757e-01 -6.99149554e-01 -6.73247185e-03 -3.17624239e+02] [ 9.44738274e-03 3.17184196e-05 9.99955372e-01 -5.90209581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.746559995 meters 0.050327228154481596 Centerline is valid? [True, True] Translation: X:553.84, Y:-317.59, Z:-5.90 [[-6.98244657e-01 -7.15822245e-01 7.27410968e-03 5.53836701e+02] [ 7.15784131e-01 -6.98282544e-01 -7.38690714e-03 -3.17585096e+02] [ 1.03670963e-02 4.88238440e-05 9.99946259e-01 -5.90350871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8065599949999 meters 0.04975361969823956 Centerline is valid? [True, True] Translation: X:553.80, Y:-317.54, Z:-5.90 [[-6.97655271e-01 -7.16399330e-01 7.00872549e-03 5.53796291e+02] [ 7.16363995e-01 -6.97690473e-01 -7.11551152e-03 -3.17543849e+02] [ 9.98746869e-03 5.66244753e-05 9.99950122e-01 -5.90178078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.866559995 meters 0.0507160769214067 Centerline is valid? [True, True] Translation: X:553.75, Y:-317.50, Z:-5.90 [[-6.97422514e-01 -7.16637068e-01 5.75762634e-03 5.53754947e+02] [ 7.16613243e-01 -6.97446278e-01 -5.84378951e-03 -3.17504620e+02] [ 8.20351124e-03 5.04009077e-05 9.99966349e-01 -5.90168605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9265599949999 meters 0.05029182929463867 Centerline is valid? [True, True] Translation: X:553.71, Y:-317.46, Z:-5.90 [[-6.97060757e-01 -7.16995923e-01 4.81121868e-03 5.53713418e+02] [ 7.16979304e-01 -6.97077359e-01 -4.88186749e-03 -3.17464526e+02] [ 6.85407069e-03 4.65859750e-05 9.99976510e-01 -5.90070781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.986559995 meters 0.05068306095000356 Centerline is valid? [True, True] Translation: X:553.67, Y:-317.42, Z:-5.90 [[-6.96750691e-01 -7.17297829e-01 4.72228710e-03 5.53672290e+02] [ 7.17281834e-01 -6.96766692e-01 -4.79035001e-03 -3.17424035e+02] [ 6.72644002e-03 4.95310719e-05 9.99977376e-01 -5.90063549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0465599949999 meters 0.050069287617428196 Centerline is valid? [True, True] Translation: X:553.63, Y:-317.39, Z:-5.90 [[-6.96218908e-01 -7.17807426e-01 5.63313677e-03 5.53630638e+02] [ 7.17784692e-01 -6.96241693e-01 -5.71324397e-03 -3.17385661e+02] [ 8.02303363e-03 6.57108678e-05 9.99967813e-01 -5.90237963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1065599949999 meters 0.0508532240354006 Centerline is valid? [True, True] Translation: X:553.59, Y:-317.35, Z:-5.90 [[-6.96726630e-01 -7.17304291e-01 6.82329223e-03 5.53587980e+02] [ 7.17270929e-01 -6.96760037e-01 -6.91853134e-03 -3.17346519e+02] [ 9.71688956e-03 7.38241302e-05 9.99952787e-01 -5.90437868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.166559995 meters 0.05101174150012359 Centerline is valid? [True, True] Translation: X:553.55, Y:-317.31, Z:-5.90 [[-6.97617565e-01 -7.16437114e-01 6.89882568e-03 5.53547556e+02] [ 7.16402987e-01 -6.97651673e-01 -6.99307120e-03 -3.17306386e+02] [ 9.82307303e-03 6.38500172e-05 9.99951750e-01 -5.90443186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2265599949999 meters 0.05099662357039235 Centerline is valid? [True, True] Translation: X:553.51, Y:-317.27, Z:-5.90 [[-6.99042333e-01 -7.15049297e-01 6.65727253e-03 5.53505713e+02] [ 7.15017470e-01 -6.99074031e-01 -6.74665075e-03 -3.17265440e+02] [ 9.47811422e-03 4.38716748e-05 9.99955081e-01 -5.90336082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.286559995 meters 0.05105068470027946 Centerline is valid? [True, True] Translation: X:553.46, Y:-317.23, Z:-5.90 [[-6.99399470e-01 -7.14703874e-01 6.22528662e-03 5.53464741e+02] [ 7.14676047e-01 -6.99427174e-01 -6.30687418e-03 -3.17227413e+02] [ 8.86168204e-03 3.80387715e-05 9.99960734e-01 -5.90393856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3465599949999 meters 0.05072958594056536 Centerline is valid? [True, True] Translation: X:553.42, Y:-317.19, Z:-5.91 [[-6.98263671e-01 -7.15803033e-01 7.33915891e-03 5.53421614e+02] [ 7.15764439e-01 -6.98302237e-01 -7.43329864e-03 -3.17189570e+02] [ 1.04457288e-02 6.27065688e-05 9.99945440e-01 -5.90648966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.406559995 meters 0.05097089633067695 Centerline is valid? [True, True] Translation: X:553.38, Y:-317.15, Z:-5.90 [[-6.96456998e-01 -7.17560634e-01 7.37475199e-03 5.53380088e+02] [ 7.17521786e-01 -6.96496036e-01 -7.46718833e-03 -3.17149723e+02] [ 1.04946459e-02 9.09696536e-05 9.99944926e-01 -5.90488856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4665599949999 meters 0.05117986247132461 Centerline is valid? [True, True] Translation: X:553.34, Y:-317.11, Z:-5.90 [[-6.93679468e-01 -7.20246590e-01 7.32427721e-03 5.53337442e+02] [ 7.20208444e-01 -6.93718122e-01 -7.41382914e-03 -3.17112144e+02] [ 1.04207690e-02 1.32185239e-04 9.99945694e-01 -5.90480156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.526559995 meters 0.051579014056878716 Centerline is valid? [True, True] Translation: X:553.29, Y:-317.07, Z:-5.91 [[-6.91989850e-01 -7.21869056e-01 7.42391274e-03 5.53294944e+02] [ 7.21829981e-01 -6.92029653e-01 -7.51253730e-03 -3.17073761e+02] [ 1.05606360e-02 1.60203231e-04 9.99944222e-01 -5.90525059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5865599949999 meters 0.05108356077557685 Centerline is valid? [True, True] Translation: X:553.25, Y:-317.03, Z:-5.90 [[-6.89156304e-01 -7.24567194e-01 8.12214467e-03 5.53253897e+02] [ 7.24520637e-01 -6.89204129e-01 -8.21679238e-03 -3.17033575e+02] [ 1.15514338e-02 2.22007162e-04 9.99933255e-01 -5.90396993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.646559995 meters 0.050988918650174526 Centerline is valid? [True, True] Translation: X:553.21, Y:-316.99, Z:-5.90 [[-6.87669711e-01 -7.25978886e-01 8.06381577e-03 5.53211935e+02] [ 7.25933117e-01 -6.87716945e-01 -8.15555405e-03 -3.16994270e+02] [ 1.14663828e-02 2.45463419e-04 9.99934229e-01 -5.90371387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7065599949999 meters 0.051121049044963396 Centerline is valid? [True, True] Translation: X:553.17, Y:-316.95, Z:-5.90 [[-6.88372707e-01 -7.25330802e-01 6.18411102e-03 5.53170877e+02] [ 7.25303873e-01 -6.88400461e-01 -6.25283919e-03 -3.16954010e+02] [ 8.79252174e-03 1.81075831e-04 9.99961329e-01 -5.90217046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.766559995 meters 0.05102587566755151 Centerline is valid? [True, True] Translation: X:553.13, Y:-316.91, Z:-5.90 [[-6.89709540e-01 -7.24070657e-01 4.73659008e-03 5.53131700e+02] [ 7.24054838e-01 -6.89725792e-01 -4.78786518e-03 -3.16912396e+02] [ 6.73370103e-03 1.27314679e-04 9.99977320e-01 -5.90049443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8265599949999 meters 0.05103015516079154 Centerline is valid? [True, True] Translation: X:553.09, Y:-316.87, Z:-5.90 [[-6.91604659e-01 -7.22261398e-01 4.63340374e-03 5.53092387e+02] [ 7.22246226e-01 -6.91620171e-01 -4.68264176e-03 -3.16870258e+02] [ 6.58664687e-03 1.07921503e-04 9.99978302e-01 -5.90043996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.886559995 meters 0.051014490957145074 Centerline is valid? [True, True] Translation: X:553.05, Y:-316.83, Z:-5.90 [[-6.93630376e-01 -7.20302032e-01 6.47178772e-03 5.53053294e+02] [ 7.20272363e-01 -6.93660556e-01 -6.53886818e-03 -3.16827600e+02] [ 9.19918391e-03 1.25892236e-04 9.99957679e-01 -5.90108901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9465599949999 meters 0.05123794836439195 Centerline is valid? [True, True] Translation: X:553.01, Y:-316.79, Z:-5.90 [[-6.94459693e-01 -7.19500629e-01 6.67679090e-03 5.53013372e+02] [ 7.19469032e-01 -6.94491778e-01 -6.74402263e-03 -3.16786728e+02] [ 9.48930490e-03 1.20292402e-04 9.99954968e-01 -5.90126777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.006559995 meters 0.05144268712861569 Centerline is valid? [True, True] Translation: X:552.97, Y:-316.75, Z:-5.90 [[-6.97680273e-01 -7.16379873e-01 6.48949617e-03 5.52972925e+02] [ 7.16349903e-01 -6.97710449e-01 -6.55331837e-03 -3.16746405e+02] [ 9.22245468e-03 7.66289947e-05 9.99957469e-01 -5.90343183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0665599949999 meters 0.051460668981788 Centerline is valid? [True, True] Translation: X:552.94, Y:-316.70, Z:-5.90 [[-7.02442212e-01 -7.11717799e-01 5.71959021e-03 5.52935946e+02] [ 7.11694374e-01 -7.02465497e-01 -5.77438966e-03 -3.16701435e+02] [ 8.12755067e-03 1.44251286e-05 9.99966971e-01 -5.89942132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.126559995 meters 0.05154636958315893 Centerline is valid? [True, True] Translation: X:552.90, Y:-316.66, Z:-5.90 [[-7.05485281e-01 -7.08701852e-01 5.67480805e-03 5.52897780e+02] [ 7.08678708e-01 -7.05508104e-01 -5.72748339e-03 -3.16660174e+02] [ 8.06270115e-03 -1.90395933e-05 9.99967496e-01 -5.90001214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1865599949999 meters 0.051962073831860266 Centerline is valid? [True, True] Translation: X:552.86, Y:-316.62, Z:-5.90 [[-7.08968149e-01 -7.05220163e-01 5.35587338e-03 5.52858005e+02] [ 7.05199460e-01 -7.08988377e-01 -5.40401160e-03 -3.16619054e+02] [ 7.60826991e-03 -5.43130835e-05 9.99971055e-01 -5.89890274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.246559995 meters 0.05226126628985438 Centerline is valid? [True, True] Translation: X:552.82, Y:-316.58, Z:-5.90 [[-7.10117423e-01 -7.04065226e-01 5.04016794e-03 5.52818851e+02] [ 7.04046872e-01 -7.10135306e-01 -5.08417954e-03 -3.16579652e+02] [ 7.15879522e-03 -6.18500053e-05 9.99974374e-01 -5.89936651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3065599949999 meters 0.05238666285333285 Centerline is valid? [True, True] Translation: X:552.78, Y:-316.54, Z:-5.90 [[-7.09707145e-01 -7.04479371e-01 4.95823980e-03 5.52776656e+02] [ 7.04461632e-01 -7.09724462e-01 -4.99974811e-03 -3.16544253e+02] [ 7.04120349e-03 -5.54672547e-05 9.99975209e-01 -5.89831641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.366559995 meters 0.051669055887894534 Centerline is valid? [True, True] Translation: X:552.73, Y:-316.51, Z:-5.90 [[-7.06622620e-01 -7.07564621e-01 6.06464985e-03 5.52732178e+02] [ 7.07538206e-01 -7.06648644e-01 -6.11393117e-03 -3.16506990e+02] [ 8.61157799e-03 -2.92705846e-05 9.99962919e-01 -5.89904559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4265599949999 meters 0.052580184880946804 Centerline is valid? [True, True] Translation: X:552.69, Y:-316.47, Z:-5.90 [[-7.03440450e-01 -7.10724906e-01 6.45302919e-03 5.52689136e+02] [ 7.10695149e-01 -7.03470047e-01 -6.50364186e-03 -3.16468741e+02] [ 9.16181299e-03 1.12117881e-05 9.99958030e-01 -5.90015774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.486559995 meters 0.05162883996071049 Centerline is valid? [True, True] Translation: X:552.64, Y:-316.44, Z:-5.90 [[-6.97134055e-01 -7.16914932e-01 6.09013052e-03 5.52642993e+02] [ 7.16888678e-01 -6.97160651e-01 -6.13597168e-03 -3.16435211e+02] [ 8.64476908e-03 8.83507972e-05 9.99962629e-01 -5.90110838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5465599949999 meters 0.05262310164859234 Centerline is valid? [True, True] Translation: X:552.60, Y:-316.40, Z:-5.90 [[-6.93009654e-01 -7.20909126e-01 5.25846012e-03 5.52599284e+02] [ 7.20889681e-01 -6.93029593e-01 -5.29630869e-03 -3.16400380e+02] [ 7.46242575e-03 1.20376586e-04 9.99972148e-01 -5.90057988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6065599949999 meters 0.052466771307285234 Centerline is valid? [True, True] Translation: X:552.56, Y:-316.36, Z:-5.90 [[-6.88090182e-01 -7.25613852e-01 4.05455597e-03 5.52559705e+02] [ 7.25602379e-01 -6.88102114e-01 -4.08260960e-03 -3.16358595e+02] [ 5.75234662e-03 1.32791877e-04 9.99983446e-01 -5.89669929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.666559995 meters 0.05365876397090383 Centerline is valid? [True, True] Translation: X:552.51, Y:-316.33, Z:-5.90 [[-6.85076442e-01 -7.28461518e-01 3.75301559e-03 5.52509941e+02] [ 7.28451736e-01 -6.85086706e-01 -3.77800134e-03 -3.16327596e+02] [ 5.32326968e-03 1.45671003e-04 9.99985821e-01 -5.89835942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7265599949999 meters 0.052396554368810466 Centerline is valid? [True, True] Translation: X:552.47, Y:-316.28, Z:-5.90 [[-6.83787209e-01 -7.29669882e-01 4.11305652e-03 5.52473332e+02] [ 7.29658161e-01 -6.83799557e-01 -4.13931475e-03 -3.16282719e+02] [ 5.83283953e-03 1.70714781e-04 9.99982974e-01 -5.89729225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.786559995 meters 0.053930532353617854 Centerline is valid? [True, True] Translation: X:552.42, Y:-316.25, Z:-5.90 [[-6.82236844e-01 -7.31110562e-01 5.49866932e-03 5.52424739e+02] [ 7.31089672e-01 -6.82258958e-01 -5.53226981e-03 -3.16251604e+02] [ 7.79621729e-03 2.45702050e-04 9.99969579e-01 -5.90130355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8465599949999 meters 0.051713549391298554 Centerline is valid? [True, True] Translation: X:552.39, Y:-316.20, Z:-5.90 [[-6.81580333e-01 -7.31705775e-01 7.41006480e-03 5.52392796e+02] [ 7.31667892e-01 -6.81620527e-01 -7.45341506e-03 -3.16201887e+02] [ 1.05045591e-02 3.41605377e-04 9.99944767e-01 -5.89969656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.906559995 meters 0.052241598192571785 Centerline is valid? [True, True] Translation: X:552.35, Y:-316.16, Z:-5.90 [[-6.82192995e-01 -7.31129789e-01 7.87081994e-03 5.52353826e+02] [ 7.31087032e-01 -6.82238306e-01 -7.91489100e-03 -3.16158064e+02] [ 1.11565874e-02 3.54771188e-04 9.99937700e-01 -5.89915178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9665599949999 meters 0.052729155577523945 Centerline is valid? [True, True] Translation: X:552.31, Y:-316.12, Z:-5.90 [[-6.84975060e-01 -7.28527216e-01 7.56728637e-03 5.52310577e+02] [ 7.28487555e-01 -6.85016792e-01 -7.60766906e-03 -3.16119923e+02] [ 1.07261122e-02 3.01610383e-04 9.99942428e-01 -5.90152540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.026559995 meters 0.052074649225576766 Centerline is valid? [True, True] Translation: X:552.28, Y:-316.07, Z:-5.90 [[-6.89058139e-01 -7.24671839e-01 7.04329280e-03 5.52276739e+02] [ 7.24637290e-01 -6.89094098e-01 -7.07971925e-03 -3.16072074e+02] [ 9.98396466e-03 2.25494438e-04 9.99950134e-01 -5.89979654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0865599949999 meters 0.05186574602159636 Centerline is valid? [True, True] Translation: X:552.24, Y:-316.03, Z:-5.90 [[-6.91212037e-01 -7.22617909e-01 7.01984504e-03 5.52239715e+02] [ 7.22583496e-01 -6.91247654e-01 -7.05492771e-03 -3.16027287e+02] [ 9.95046852e-03 1.95973219e-04 9.99950474e-01 -5.89941979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.146559995 meters 0.052406013432954535 Centerline is valid? [True, True] Translation: X:552.20, Y:-315.98, Z:-5.90 [[-6.92575280e-01 -7.21306085e-01 7.55073106e-03 5.52202434e+02] [ 7.21266213e-01 -6.92616412e-01 -7.58650566e-03 -3.15983120e+02] [ 1.07019530e-02 1.91860919e-04 9.99942714e-01 -5.90071797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2065599949999 meters 0.05157430021582076 Centerline is valid? [True, True] Translation: X:552.16, Y:-315.94, Z:-5.90 [[-6.91966369e-01 -7.21888420e-01 7.72356943e-03 5.52164546e+02] [ 7.21846759e-01 -6.92009441e-01 -7.75816628e-03 -3.15938417e+02] [ 1.09453134e-02 2.06843416e-04 9.99940077e-01 -5.89957593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.266559995 meters 0.05159973401959759 Centerline is valid? [True, True] Translation: X:552.13, Y:-315.89, Z:-5.90 [[-6.89220189e-01 -7.24512778e-01 7.53433101e-03 5.52127162e+02] [ 7.24473313e-01 -6.89261326e-01 -7.56594545e-03 -3.15894879e+02] [ 1.06747471e-02 2.43819392e-04 9.99942994e-01 -5.89865597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3265599949999 meters 0.05197409792287311 Centerline is valid? [True, True] Translation: X:552.09, Y:-315.86, Z:-5.90 [[-6.86538555e-01 -7.27063889e-01 6.55093273e-03 5.52086631e+02] [ 7.27034186e-01 -6.86569764e-01 -6.57660932e-03 -3.15855796e+02] [ 9.27928749e-03 2.47656190e-04 9.99956916e-01 -5.89927939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.386559995 meters 0.05177514684688048 Centerline is valid? [True, True] Translation: X:552.05, Y:-315.82, Z:-5.90 [[-6.84988636e-01 -7.28526602e-01 6.28953254e-03 5.52048137e+02] [ 7.28499297e-01 -6.85017462e-01 -6.31275634e-03 -3.15815721e+02] [ 8.90745054e-03 2.57753675e-04 9.99960295e-01 -5.89984552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4465599949999 meters 0.05064656361293415 Centerline is valid? [True, True] Translation: X:552.01, Y:-315.77, Z:-5.90 [[-6.83894442e-01 -7.29551499e-01 6.55767353e-03 5.52013669e+02] [ 7.29521879e-01 -6.83925822e-01 -6.58013856e-03 -3.15768824e+02] [ 9.28551221e-03 2.83846131e-04 9.99956848e-01 -5.89796090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.506559995 meters 0.050921569498597614 Centerline is valid? [True, True] Translation: X:551.97, Y:-315.73, Z:-5.90 [[-6.81678959e-01 -7.31620609e-01 6.71433150e-03 5.51974588e+02] [ 7.31589668e-01 -6.81711950e-01 -6.73611506e-03 -3.15726285e+02] [ 9.50552062e-03 3.20267652e-04 9.99954770e-01 -5.89794943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5665599949999 meters 0.05041714516552729 Centerline is valid? [True, True] Translation: X:551.94, Y:-315.68, Z:-5.90 [[-6.80062979e-01 -7.33122042e-01 6.81289856e-03 5.51935982e+02] [ 7.33090278e-01 -6.80097016e-01 -6.83327148e-03 -3.15683076e+02] [ 9.64305392e-03 3.47414736e-04 9.99953444e-01 -5.89698886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.626559995 meters 0.05199963393242467 Centerline is valid? [True, True] Translation: X:551.89, Y:-315.65, Z:-5.90 [[-6.79634078e-01 -7.33525175e-01 6.19171502e-03 5.51892395e+02] [ 7.33498966e-01 -6.79662205e-01 -6.20913181e-03 -3.15646767e+02] [ 8.76282918e-03 3.21678995e-04 9.99961554e-01 -5.89813301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6865599949999 meters 0.05073779059734903 Centerline is valid? [True, True] Translation: X:551.86, Y:-315.60, Z:-5.90 [[-6.79794920e-01 -7.33386155e-01 4.85942061e-03 5.51856518e+02] [ 7.33370016e-01 -6.79812242e-01 -4.87192199e-03 -3.15601137e+02] [ 6.87649376e-03 2.51845552e-04 9.99976325e-01 -5.89616501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.746559995 meters 0.051418315312814385 Centerline is valid? [True, True] Translation: X:551.81, Y:-315.56, Z:-5.90 [[-6.80639492e-01 -7.32605195e-01 4.41699595e-03 5.51814920e+02] [ 7.32591852e-01 -6.80653788e-01 -4.42712618e-03 -3.15563342e+02] [ 6.24978067e-03 2.22578326e-04 9.99980445e-01 -5.89666373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8065599949999 meters 0.051668038881667336 Centerline is valid? [True, True] Translation: X:551.78, Y:-315.52, Z:-5.90 [[-6.82544657e-01 -7.30829031e-01 4.66029530e-03 5.51775997e+02] [ 7.30814145e-01 -6.82560532e-01 -4.66967501e-03 -3.15522444e+02] [ 6.59366770e-03 2.18547994e-04 9.99978238e-01 -5.89765665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.866559995 meters 0.0505264260334336 Centerline is valid? [True, True] Translation: X:551.74, Y:-315.48, Z:-5.90 [[-6.83150282e-01 -7.30260760e-01 4.99140981e-03 5.51738190e+02] [ 7.30243677e-01 -6.83168478e-01 -5.00024323e-03 -3.15478277e+02] [ 7.06145526e-03 2.29027877e-04 9.99975041e-01 -5.89723649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9265599949999 meters 0.05061110402504072 Centerline is valid? [True, True] Translation: X:551.70, Y:-315.44, Z:-5.90 [[-6.83785205e-01 -7.29662832e-01 5.47230421e-03 5.51697644e+02] [ 7.29642289e-01 -6.83807058e-01 -5.48066358e-03 -3.15436443e+02] [ 7.74103675e-03 2.45227908e-04 9.99970008e-01 -5.89725047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.986559995 meters 0.05023548661625774 Centerline is valid? [True, True] Translation: X:551.66, Y:-315.39, Z:-5.90 [[-6.82736821e-01 -7.30636033e-01 6.43585868e-03 5.51659551e+02] [ 7.30607677e-01 -6.82767087e-01 -6.44414033e-03 -3.15392124e+02] [ 9.10251361e-03 3.02435880e-04 9.99958526e-01 -5.89787243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0465599949999 meters 0.050954763202429906 Centerline is valid? [True, True] Translation: X:551.61, Y:-315.36, Z:-5.90 [[-6.82405477e-01 -7.30935011e-01 7.53496955e-03 5.51614702e+02] [ 7.30896180e-01 -6.82446980e-01 -7.54279009e-03 -3.15355603e+02] [ 1.06555066e-02 3.60039191e-04 9.99943164e-01 -5.90075515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1065599949999 meters 0.05122930710912875 Centerline is valid? [True, True] Translation: X:551.58, Y:-315.31, Z:-5.90 [[-6.83567909e-01 -7.29845129e-01 7.81032545e-03 5.51576949e+02] [ 7.29803361e-01 -6.83612434e-01 -7.81632804e-03 -3.15312541e+02] [ 1.10439445e-02 3.57010747e-04 9.99938950e-01 -5.90065651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.166559995 meters 0.04985947063094215 Centerline is valid? [True, True] Translation: X:551.54, Y:-315.27, Z:-5.90 [[-6.84652536e-01 -7.28835273e-01 7.07458787e-03 5.51541886e+02] [ 7.28800967e-01 -6.84689016e-01 -7.07824619e-03 -3.15265803e+02] [ 1.00027681e-02 3.09827279e-04 9.99949923e-01 -5.89706005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2265599949999 meters 0.049342103224059075 Centerline is valid? [True, True] Translation: X:551.50, Y:-315.22, Z:-5.90 [[-6.86058358e-01 -7.27526177e-01 5.43980111e-03 5.51502857e+02] [ 7.27505863e-01 -6.86079887e-01 -5.44136920e-03 -3.15222044e+02] [ 7.69087667e-03 2.24390384e-04 9.99970400e-01 -5.89556637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.286559995 meters 0.04927261124611501 Centerline is valid? [True, True] Translation: X:551.46, Y:-315.18, Z:-5.90 [[-6.86896124e-01 -7.26736247e-01 5.30485987e-03 5.51458972e+02] [ 7.26716908e-01 -6.86916576e-01 -5.30596465e-03 -3.15183692e+02] [ 7.50003302e-03 2.10484813e-04 9.99971852e-01 -5.89674721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3465599949999 meters 0.05088672923062552 Centerline is valid? [True, True] Translation: X:551.42, Y:-315.15, Z:-5.90 [[-6.87215562e-01 -7.26425926e-01 6.33602764e-03 5.51415059e+02] [ 7.26398341e-01 -6.87244725e-01 -6.33548789e-03 -3.15147845e+02] [ 8.95666423e-03 2.48634092e-04 9.99959857e-01 -5.89947906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.406559995 meters 0.049768287444630584 Centerline is valid? [True, True] Translation: X:551.34, Y:-315.19, Z:-5.90 [[-6.36041701e-01 -7.71619435e-01 7.37581552e-03 5.51340452e+02] [ 7.71573305e-01 -6.36084385e-01 -8.44334858e-03 -3.15185489e+02] [ 1.12066929e-02 3.20660571e-04 9.99937152e-01 -5.89763263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4665599949999 meters 0.051347074965372254 Centerline is valid? [True, True] Translation: X:551.30, Y:-315.15, Z:-5.90 [[-6.35597398e-01 -7.71984858e-01 7.43816841e-03 5.51295293e+02] [ 7.71938006e-01 -6.35640833e-01 -8.51150379e-03 -3.15148987e+02] [ 1.12987556e-02 3.31915229e-04 9.99936112e-01 -5.90096298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.526559995 meters 0.05026708239180877 Centerline is valid? [True, True] Translation: X:551.26, Y:-315.10, Z:-5.89 [[-6.34598233e-01 -7.72812848e-01 6.73673469e-03 5.51264867e+02] [ 7.72774474e-01 -6.34633912e-01 -7.70782557e-03 -3.15098085e+02] [ 1.02320669e-02 3.14604120e-04 9.99947602e-01 -5.89479019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5865599949999 meters 0.05007768122689583 Centerline is valid? [True, True] Translation: X:551.22, Y:-315.06, Z:-5.90 [[-6.33916387e-01 -7.73377845e-01 6.05990746e-03 5.51223226e+02] [ 7.73346829e-01 -6.33945284e-01 -6.93246221e-03 -3.15057636e+02] [ 9.20306245e-03 2.91808822e-04 9.99957608e-01 -5.89570136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.646559995 meters 0.04986127254333637 Centerline is valid? [True, True] Translation: X:551.19, Y:-315.01, Z:-5.90 [[-6.34030182e-01 -7.73283624e-01 6.17787215e-03 5.51186470e+02] [ 7.73251400e-01 -6.34060209e-01 -7.06561544e-03 -3.15013308e+02] [ 9.38086762e-03 2.97234856e-04 9.99955955e-01 -5.89502747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7065599949999 meters 0.05101385334289652 Centerline is valid? [True, True] Translation: X:551.14, Y:-314.97, Z:-5.90 [[-6.34009289e-01 -7.73300458e-01 6.21475908e-03 5.51144716e+02] [ 7.73267868e-01 -6.34039676e-01 -7.10588343e-03 -3.14973664e+02] [ 9.43538675e-03 3.00477404e-04 9.99955441e-01 -5.89641595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.766559995 meters 0.05039465349262715 Centerline is valid? [True, True] Translation: X:551.11, Y:-314.93, Z:-5.90 [[-6.33577058e-01 -7.73650466e-01 6.71324878e-03 5.51105032e+02] [ 7.73612477e-01 -6.33612536e-01 -7.67393680e-03 -3.14931085e+02] [ 1.01905434e-02 3.31422717e-04 9.99948020e-01 -5.89611741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8265599949999 meters 0.050414000939453085 Centerline is valid? [True, True] Translation: X:551.07, Y:-314.89, Z:-5.90 [[-6.33399587e-01 -7.73796148e-01 6.66966694e-03 5.51066261e+02] [ 7.73758677e-01 -6.33434615e-01 -7.62222113e-03 -3.14888138e+02] [ 1.01228433e-02 3.32800950e-04 9.99948707e-01 -5.89589915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.886559995 meters 0.04982903812392322 Centerline is valid? [True, True] Translation: X:551.03, Y:-314.84, Z:-5.89 [[-6.33954737e-01 -7.73346469e-01 6.05238161e-03 5.51028435e+02] [ 7.73315607e-01 -6.33983558e-01 -6.91523351e-03 -3.14842835e+02] [ 9.18498184e-03 2.96456125e-04 9.99957773e-01 -5.89499925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9465599949999 meters 0.05100484378329892 Centerline is valid? [True, True] Translation: X:550.98, Y:-314.81, Z:-5.90 [[-6.37627238e-01 -7.70323785e-01 5.72460834e-03 5.50984935e+02] [ 7.70296066e-01 -6.37652891e-01 -6.53927912e-03 -3.14805735e+02] [ 8.68767530e-03 2.40020801e-04 9.99962233e-01 -5.89701055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.006559995 meters 0.051025491737359686 Centerline is valid? [True, True] Translation: X:550.95, Y:-314.76, Z:-5.89 [[-6.41151584e-01 -7.67400413e-01 4.61009478e-03 5.50951569e+02] [ 7.67382369e-01 -6.41168137e-01 -5.26485188e-03 -3.14758692e+02] [ 6.99609539e-03 1.62137340e-04 9.99975514e-01 -5.89493993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0665599949999 meters 0.05032532019290374 Centerline is valid? [True, True] Translation: X:550.92, Y:-314.71, Z:-5.89 [[-6.46240086e-01 -7.63123977e-01 3.94302523e-03 5.50915123e+02] [ 7.63110702e-01 -6.46252107e-01 -4.50230176e-03 -3.14713057e+02] [ 5.98400279e-03 9.93968708e-05 9.99982091e-01 -5.89338168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.126559995 meters 0.05104942711601939 Centerline is valid? [True, True] Translation: X:550.87, Y:-314.67, Z:-5.90 [[-6.49072807e-01 -7.60712600e-01 4.56425462e-03 5.50874516e+02] [ 7.60694759e-01 -6.49088848e-01 -5.21061185e-03 -3.14673240e+02] [ 6.92638486e-03 8.99381175e-05 9.99976008e-01 -5.89612683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1865599949999 meters 0.050626828457623285 Centerline is valid? [True, True] Translation: X:550.84, Y:-314.63, Z:-5.90 [[-6.52581545e-01 -7.57698898e-01 5.45053854e-03 5.50837701e+02] [ 7.57673364e-01 -6.52604303e-01 -6.22080860e-03 -3.14628920e+02] [ 8.27054472e-03 7.01429817e-05 9.99965796e-01 -5.89678152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.246559995 meters 0.0512624373497225 Centerline is valid? [True, True] Translation: X:550.80, Y:-314.59, Z:-5.90 [[-6.55734228e-01 -7.54970497e-01 5.67195091e-03 5.50799556e+02] [ 7.54942758e-01 -6.55758757e-01 -6.47181465e-03 -3.14585203e+02] [ 8.60546060e-03 3.82078776e-05 9.99962972e-01 -5.89653257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3065599949999 meters 0.05122528849626267 Centerline is valid? [True, True] Translation: X:550.76, Y:-314.54, Z:-5.90 [[-6.58723560e-01 -7.52365968e-01 5.35937351e-03 5.50762129e+02] [ 7.52341131e-01 -6.58745361e-01 -6.11326183e-03 -3.14543763e+02] [ 8.12987259e-03 5.12753419e-06 9.99966952e-01 -5.89722815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.366559995 meters 0.05159104748468658 Centerline is valid? [True, True] Translation: X:550.73, Y:-314.50, Z:-5.90 [[-6.60268118e-01 -7.51013806e-01 4.92707904e-03 5.50725094e+02] [ 7.50992790e-01 -6.60286501e-01 -5.61833014e-03 -3.14501449e+02] [ 7.47272728e-03 -9.40343499e-06 9.99972079e-01 -5.89529042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4265599949999 meters 0.051455398391082534 Centerline is valid? [True, True] Translation: X:550.69, Y:-314.46, Z:-5.89 [[-6.61199666e-01 -7.50193927e-01 4.90652304e-03 5.50685552e+02] [ 7.50173076e-01 -6.61217871e-01 -5.59320993e-03 -3.14460543e+02] [ 7.44027284e-03 -1.74870544e-05 9.99972321e-01 -5.89494940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.486559995 meters 0.051704942378528476 Centerline is valid? [True, True] Translation: X:550.65, Y:-314.42, Z:-5.89 [[-6.60617265e-01 -7.50706035e-01 5.02767909e-03 5.50645681e+02] [ 7.50684170e-01 -6.60636397e-01 -5.72956166e-03 -3.14419839e+02] [ 7.62268431e-03 -1.08482496e-05 9.99970947e-01 -5.89442382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5465599949999 meters 0.051861539339916544 Centerline is valid? [True, True] Translation: X:550.60, Y:-314.38, Z:-5.89 [[-6.58597061e-01 -7.52477996e-01 5.17461817e-03 5.50604231e+02] [ 7.52454902e-01 -6.58617389e-01 -5.89534621e-03 -3.14379800e+02] [ 7.84421182e-03 1.10091198e-05 9.99969234e-01 -5.89328619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6065599949999 meters 0.05158393079109826 Centerline is valid? [True, True] Translation: X:550.56, Y:-314.34, Z:-5.90 [[-6.57570183e-01 -7.53378863e-01 4.66287161e-03 5.50562738e+02] [ 7.53360143e-01 -6.57586715e-01 -5.31096611e-03 -3.14338482e+02] [ 7.06741203e-03 2.04886666e-05 9.99975025e-01 -5.89563984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.666559995 meters 0.05141682741785603 Centerline is valid? [True, True] Translation: X:550.52, Y:-314.30, Z:-5.90 [[-6.56910769e-01 -7.53956629e-01 4.20037159e-03 5.50521982e+02] [ 7.53941461e-01 -6.56924197e-01 -4.78263385e-03 -3.14299057e+02] [ 6.36522423e-03 2.50706112e-05 9.99979741e-01 -5.89719068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7265599949999 meters 0.051733775546658874 Centerline is valid? [True, True] Translation: X:550.48, Y:-314.26, Z:-5.90 [[-6.56974139e-01 -7.53905172e-01 3.46024962e-03 5.50483403e+02] [ 7.53894884e-01 -6.56983251e-01 -3.93863591e-03 -3.14258378e+02] [ 5.24268402e-03 2.10825497e-05 9.99986257e-01 -5.89608126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.786559995 meters 0.05107339284954979 Centerline is valid? [True, True] Translation: X:550.44, Y:-314.22, Z:-5.90 [[-6.57100662e-01 -7.53796550e-01 3.07912503e-03 5.50444770e+02] [ 7.53788406e-01 -6.57107876e-01 -3.50391290e-03 -3.14219039e+02] [ 4.66455477e-03 1.85852656e-05 9.99989121e-01 -5.89611187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8465599949999 meters 0.05252584189824975 Centerline is valid? [True, True] Translation: X:550.40, Y:-314.18, Z:-5.89 [[-6.57518192e-01 -7.53433127e-01 2.88968494e-03 5.50404225e+02] [ 7.53425955e-01 -6.57524542e-01 -3.28743831e-03 -3.14176972e+02] [ 4.37690369e-03 1.56131405e-05 9.99990421e-01 -5.89496903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.906559995 meters 0.05255446702535842 Centerline is valid? [True, True] Translation: X:550.37, Y:-314.14, Z:-5.90 [[-6.58402717e-01 -7.52659261e-01 3.14624336e-03 5.50365479e+02] [ 7.52650756e-01 -6.58410234e-01 -3.57814892e-03 -3.14136691e+02] [ 4.76464575e-03 1.21594721e-05 9.99988649e-01 -5.89699033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9665599949999 meters 0.05237084474777622 Centerline is valid? [True, True] Translation: X:550.33, Y:-314.09, Z:-5.90 [[-6.59358534e-01 -7.51816662e-01 4.24614090e-03 5.50326315e+02] [ 7.51801163e-01 -6.59372206e-01 -4.82758701e-03 -3.14094722e+02] [ 6.42924765e-03 9.14296881e-06 9.99979332e-01 -5.89779512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.026559995 meters 0.05260907583044327 Centerline is valid? [True, True] Translation: X:550.29, Y:-314.05, Z:-5.90 [[-6.59416776e-01 -7.51758795e-01 5.31315632e-03 5.50285651e+02] [ 7.51734538e-01 -6.59438181e-01 -6.03911511e-03 -3.14053327e+02] [ 8.04365603e-03 1.17892973e-05 9.99967649e-01 -5.89923982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0865599949999 meters 0.05266711360990837 Centerline is valid? [True, True] Translation: X:550.25, Y:-314.01, Z:-5.90 [[-6.58922010e-01 -7.52191170e-01 5.49797497e-03 5.50246431e+02] [ 7.52165226e-01 -6.58944947e-01 -6.24734272e-03 -3.14011540e+02] [ 8.32205885e-03 1.88739603e-05 9.99965371e-01 -5.89885634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.146559995 meters 0.05266104023714261 Centerline is valid? [True, True] Translation: X:550.21, Y:-313.97, Z:-5.90 [[-6.57545010e-01 -7.53401344e-01 4.57989508e-03 5.50206728e+02] [ 7.53383380e-01 -6.57560959e-01 -5.20277688e-03 -3.13968699e+02] [ 6.93133929e-03 2.93568573e-05 9.99975978e-01 -5.89568052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2065599949999 meters 0.05253956468470224 Centerline is valid? [True, True] Translation: X:550.17, Y:-313.93, Z:-5.90 [[-6.55401326e-01 -7.55275481e-01 2.83717044e-03 5.50165064e+02] [ 7.55268609e-01 -6.55407466e-01 -3.22211583e-03 -3.13929763e+02] [ 4.29308777e-03 3.10467848e-05 9.99990784e-01 -5.89729417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.266559995 meters 0.0522423754127585 Centerline is valid? [True, True] Translation: X:550.12, Y:-313.89, Z:-5.90 [[-6.53134560e-01 -7.57239116e-01 2.04173115e-03 5.50124868e+02] [ 7.57235568e-01 -6.53137750e-01 -2.31812354e-03 -3.13888236e+02] [ 3.08890551e-03 3.20248525e-05 9.99995229e-01 -5.89625795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3265599949999 meters 0.05276679438419415 Centerline is valid? [True, True] Translation: X:550.08, Y:-313.85, Z:-5.90 [[-6.47773092e-01 -7.61831369e-01 1.72824622e-03 5.50082968e+02] [ 7.61828845e-01 -6.47775396e-01 -1.96155739e-03 -3.13850107e+02] [ 2.61389133e-03 4.59837322e-05 9.99996583e-01 -5.89646247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.386559995 meters 0.0537477467107779 Centerline is valid? [True, True] Translation: X:550.04, Y:-313.82, Z:-5.90 [[-6.40811197e-01 -7.67695396e-01 2.18820921e-03 5.50036933e+02] [ 7.67691387e-01 -6.40814927e-01 -2.48280973e-03 -3.13816404e+02] [ 3.30827873e-03 8.88570870e-05 9.99994524e-01 -5.89839328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4465599949999 meters 0.052991323596046705 Centerline is valid? [True, True] Translation: X:550.00, Y:-313.77, Z:-5.90 [[-6.34976787e-01 -7.72526271e-01 2.76412651e-03 5.49999960e+02] [ 7.72519922e-01 -6.34982787e-01 -3.13537014e-03 -3.13772831e+02] [ 4.17732855e-03 1.44455537e-04 9.99991265e-01 -5.89891602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.506559995 meters 0.05409506147156178 Centerline is valid? [True, True] Translation: X:549.96, Y:-313.73, Z:-5.90 [[-6.32785456e-01 -7.74319279e-01 3.49576722e-03 5.49961657e+02] [ 7.74309156e-01 -6.32795081e-01 -3.96447922e-03 -3.13730442e+02] [ 5.28187700e-03 1.98139774e-04 9.99986031e-01 -5.89892171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5665599949999 meters 0.052494978319887246 Centerline is valid? [True, True] Translation: X:549.93, Y:-313.68, Z:-5.90 [[-6.31804977e-01 -7.75118257e-01 3.76278419e-03 5.49928110e+02] [ 7.75106546e-01 -6.31816143e-01 -4.26671450e-03 -3.13682270e+02] [ 5.68459610e-03 2.20827198e-04 9.99983818e-01 -5.89821654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.626559995 meters 0.05318140315818889 Centerline is valid? [True, True] Translation: X:549.88, Y:-313.64, Z:-5.90 [[-6.32913211e-01 -7.74213721e-01 3.73915770e-03 5.49884476e+02] [ 7.74202143e-01 -6.32924221e-01 -4.23943372e-03 -3.13644770e+02] [ 5.64883124e-03 2.11670292e-04 9.99984023e-01 -5.89905277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6865599949999 meters 0.054264301833680445 Centerline is valid? [True, True] Translation: X:549.85, Y:-313.60, Z:-5.90 [[-6.34458586e-01 -7.72949465e-01 3.38036857e-03 5.49846589e+02] [ 7.72939990e-01 -6.34467565e-01 -3.83148408e-03 -3.13603664e+02] [ 5.10627778e-03 1.81904080e-04 9.99986946e-01 -5.89918638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.746559995 meters 0.05174124095386441 Centerline is valid? [True, True] Translation: X:549.82, Y:-313.55, Z:-5.90 [[-6.36694400e-01 -7.71110889e-01 2.87010268e-03 5.49819474e+02] [ 7.71104042e-01 -6.36700853e-01 -3.25257662e-03 -3.13550266e+02] [ 4.33549408e-03 1.42250456e-04 9.99990592e-01 -5.89701880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8065599949999 meters 0.05245783974561523 Centerline is valid? [True, True] Translation: X:549.78, Y:-313.50, Z:-5.90 [[-6.38021532e-01 -7.70013107e-01 2.88802191e-03 5.49783686e+02] [ 7.70006165e-01 -6.38028054e-01 -3.27236031e-03 -3.13503882e+02] [ 4.36239932e-03 1.35958342e-04 9.99990475e-01 -5.89672297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.866559995 meters 0.052515220047339974 Centerline is valid? [True, True] Translation: X:549.75, Y:-313.46, Z:-5.90 [[-6.38456984e-01 -7.69651835e-01 2.95514811e-03 5.49747727e+02] [ 7.69644567e-01 -6.38463808e-01 -3.34754466e-03 -3.13458073e+02] [ 4.46319900e-03 1.37150422e-04 9.99990030e-01 -5.89703283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9265599949999 meters 0.051158108199371485 Centerline is valid? [True, True] Translation: X:549.71, Y:-313.41, Z:-5.90 [[-6.39128762e-01 -7.69094788e-01 2.76263066e-03 5.49714109e+02] [ 7.69088434e-01 -6.39134721e-01 -3.12873800e-03 -3.13409057e+02] [ 4.17198926e-03 1.25040847e-04 9.99991289e-01 -5.89651384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.986559995 meters 0.052224441193700004 Centerline is valid? [True, True] Translation: X:549.68, Y:-313.37, Z:-5.90 [[-6.39590999e-01 -7.68709985e-01 2.88314206e-03 5.49675676e+02] [ 7.68703065e-01 -6.39597484e-01 -3.26434309e-03 -3.13367243e+02] [ 4.35338354e-03 1.28435681e-04 9.99990516e-01 -5.89744679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0465599949999 meters 0.05208666392498927 Centerline is valid? [True, True] Translation: X:549.64, Y:-313.32, Z:-5.90 [[-6.40778473e-01 -7.67720422e-01 2.88136259e-03 5.49638962e+02] [ 7.67713504e-01 -6.40784939e-01 -3.26148860e-03 -3.13322940e+02] [ 4.35024516e-03 1.22169284e-04 9.99990530e-01 -5.89786110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1065599949999 meters 0.051696352834201625 Centerline is valid? [True, True] Translation: X:549.61, Y:-313.28, Z:-5.90 [[-6.42941362e-01 -7.65912878e-01 1.96668186e-03 5.49605656e+02] [ 7.65909649e-01 -6.42944365e-01 -2.22545033e-03 -3.13277823e+02] [ 2.96896809e-03 7.54665478e-05 9.99995590e-01 -5.89642013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.166559995 meters 0.05068157531372696 Centerline is valid? [True, True] Translation: X:549.58, Y:-313.23, Z:-5.90 [[-6.45995999e-01 -7.63340395e-01 7.81712137e-04 5.49576474e+02] [ 7.63339883e-01 -6.45996471e-01 -8.84346371e-04 -3.13226424e+02] [ 1.18004059e-03 2.54278341e-05 9.99999303e-01 -5.89505270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2265599949999 meters 0.0514058993102528 Centerline is valid? [True, True] Translation: X:549.54, Y:-313.18, Z:-5.90 [[-6.47990408e-01 -7.61647979e-01 8.87486362e-04 5.49540907e+02] [ 7.61647318e-01 -6.47991015e-01 -1.00373625e-03 -3.13180311e+02] [ 1.33957688e-03 2.55401434e-05 9.99999102e-01 -5.89560381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.286559995 meters 0.05078554302521491 Centerline is valid? [True, True] Translation: X:549.50, Y:-313.14, Z:-5.90 [[-6.49803287e-01 -7.60100278e-01 1.80417063e-03 5.49504986e+02] [ 7.60097542e-01 -6.49805790e-01 -2.03995891e-03 -3.13135598e+02] [ 2.72293385e-03 4.57736599e-05 9.99996292e-01 -5.89711381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3465599949999 meters 0.05098288800167774 Centerline is valid? [True, True] Translation: X:549.47, Y:-313.09, Z:-5.90 [[-6.50958637e-01 -7.59109081e-01 2.50122022e-03 5.49470911e+02] [ 7.59103818e-01 -6.50963440e-01 -2.82727530e-03 -3.13088937e+02] [ 3.77441328e-03 5.82465449e-05 9.99992875e-01 -5.89843478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.406559995 meters 0.05019800907399291 Centerline is valid? [True, True] Translation: X:549.44, Y:-313.04, Z:-5.90 [[-6.51709986e-01 -7.58464119e-01 2.50491852e-03 5.49436795e+02] [ 7.58458839e-01 -6.51714797e-01 -2.83061519e-03 -3.13042378e+02] [ 3.77941252e-03 5.51374124e-05 9.99992856e-01 -5.89916112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4665599949999 meters 0.0503139285404079 Centerline is valid? [True, True] Translation: X:549.40, Y:-313.00, Z:-5.90 [[-6.52120605e-01 -7.58112628e-01 1.99001492e-03 5.49401286e+02] [ 7.58109295e-01 -6.52123640e-01 -2.24824781e-03 -3.12998699e+02] [ 3.00216082e-03 4.25200859e-05 9.99995493e-01 -5.89924560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.526559995 meters 0.05025864138576424 Centerline is valid? [True, True] Translation: X:549.37, Y:-312.96, Z:-5.90 [[-6.51894320e-01 -7.58309501e-01 7.04449426e-04 5.49365609e+02] [ 7.58309084e-01 -6.51894700e-01 -7.95683559e-04 -3.12955778e+02] [ 1.06260125e-03 1.54888065e-05 9.99999435e-01 -5.89876333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5865599949999 meters 0.04985179532895897 Centerline is valid? [True, True] Translation: X:549.33, Y:-312.91, Z:-5.90 [[-6.49982631e-01 -7.59948849e-01 -5.71654113e-04 5.49332226e+02] [ 7.59948575e-01 -6.49982882e-01 6.45517229e-04 -3.12908324e+02] [-8.62125463e-04 -1.48527418e-05 9.99999628e-01 -5.89881759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.646559995 meters 0.04988618992450191 Centerline is valid? [True, True] Translation: X:549.29, Y:-312.87, Z:-5.90 [[-6.48873078e-01 -7.60896519e-01 -4.64392941e-04 5.49292823e+02] [ 7.60896339e-01 -6.48873244e-01 5.24255908e-04 -3.12867185e+02] [-7.00236650e-04 -1.31793441e-05 9.99999755e-01 -5.89901604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7065599949999 meters 0.049425111296204124 Centerline is valid? [True, True] Translation: X:549.26, Y:-312.82, Z:-5.90 [[-6.44609376e-01 -7.64511985e-01 4.21576348e-04 5.49255498e+02] [ 7.64511837e-01 -6.44609514e-01 -4.75803613e-04 -3.12824335e+02] [ 6.35509689e-04 1.55926378e-05 9.99999798e-01 -5.90148998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.766559995 meters 0.05025445459871603 Centerline is valid? [True, True] Translation: X:549.22, Y:-312.79, Z:-5.90 [[-6.40729641e-01 -7.67764620e-01 1.73648196e-03 5.49215621e+02] [ 7.67762124e-01 -6.40731989e-01 -1.95929720e-03 -3.12785230e+02] [ 2.61689861e-03 7.78252883e-05 9.99996573e-01 -5.90388673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8265599949999 meters 0.048843548010009244 Centerline is valid? [True, True] Translation: X:549.18, Y:-312.74, Z:-5.91 [[-6.41906344e-01 -7.66776777e-01 3.10177367e-03 5.49182963e+02] [ 7.66768805e-01 -6.41913824e-01 -3.49890006e-03 -3.12736729e+02] [ 4.67394671e-03 1.32377145e-04 9.99989068e-01 -5.90521994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.886559995 meters 0.04891043997853974 Centerline is valid? [True, True] Translation: X:549.15, Y:-312.69, Z:-5.91 [[-6.44416282e-01 -7.64669621e-01 2.83305613e-03 5.49146401e+02] [ 7.64662953e-01 -6.44422501e-01 -3.19516170e-03 -3.12692283e+02] [ 4.26892820e-03 1.07318846e-04 9.99990882e-01 -5.90540682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9465599949999 meters 0.04849416250012662 Centerline is valid? [True, True] Translation: X:549.11, Y:-312.64, Z:-5.91 [[-6.49005744e-01 -7.60779362e-01 2.51127591e-03 5.49113621e+02] [ 7.60774095e-01 -6.49010598e-01 -2.83177237e-03 -3.12644165e+02] [ 3.78419866e-03 7.26771219e-05 9.99992837e-01 -5.90520672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.006559995 meters 0.049074469549927585 Centerline is valid? [True, True] Translation: X:549.08, Y:-312.60, Z:-5.91 [[-6.52449178e-01 -7.57827150e-01 2.84279765e-03 5.49077244e+02] [ 7.57820376e-01 -6.52455368e-01 -3.20477614e-03 -3.12598520e+02] [ 4.28346496e-03 6.33764231e-05 9.99990824e-01 -5.90540148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0665599949999 meters 0.04859916699722953 Centerline is valid? [True, True] Translation: X:549.04, Y:-312.55, Z:-5.91 [[-6.54208851e-01 -7.56304461e-01 3.78709462e-03 5.49039108e+02] [ 7.56292420e-01 -6.54219808e-01 -4.26823024e-03 -3.12554594e+02] [ 5.70567388e-03 7.18369581e-05 9.99983720e-01 -5.90556659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.126559995 meters 0.04978121685298238 Centerline is valid? [True, True] Translation: X:549.00, Y:-312.51, Z:-5.91 [[-6.55910455e-01 -7.54826704e-01 4.25697043e-03 5.49000145e+02] [ 7.54811467e-01 -6.55924265e-01 -4.79659654e-03 -3.12511935e+02] [ 6.41284936e-03 6.70722741e-05 9.99979435e-01 -5.90623146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1865599949999 meters 0.04919084249138593 Centerline is valid? [True, True] Translation: X:548.96, Y:-312.47, Z:-5.91 [[-6.57861678e-01 -7.53128911e-01 3.85431396e-03 5.48962532e+02] [ 7.53116397e-01 -6.57872967e-01 -4.34177326e-03 -3.12467267e+02] [ 5.80556393e-03 4.64608059e-05 9.99983147e-01 -5.90539169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.246559995 meters 0.04985013835998795 Centerline is valid? [True, True] Translation: X:548.92, Y:-312.42, Z:-5.90 [[-6.59280431e-01 -7.51889932e-01 3.29292645e-03 5.48924411e+02] [ 7.51880788e-01 -6.59288654e-01 -3.70829619e-03 -3.12424695e+02] [ 4.95921961e-03 3.10810246e-05 9.99987703e-01 -5.90495057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3065599949999 meters 0.04974098000572279 Centerline is valid? [True, True] Translation: X:548.89, Y:-312.38, Z:-5.90 [[-6.60722593e-01 -7.50626895e-01 2.21815699e-03 5.48885858e+02] [ 7.50622741e-01 -6.60726316e-01 -2.49722558e-03 -3.12383180e+02] [ 3.34007938e-03 1.50257133e-05 9.99994422e-01 -5.90480308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.366559995 meters 0.04946870636267491 Centerline is valid? [True, True] Translation: X:548.85, Y:-312.34, Z:-5.90 [[-6.60965791e-01 -7.50411815e-01 2.51641324e-03 5.48847741e+02] [ 7.50406470e-01 -6.60970581e-01 -2.83216774e-03 -3.12340975e+02] [ 3.78856725e-03 1.63667894e-05 9.99992823e-01 -5.90474205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4265599949999 meters 0.04967135790288085 Centerline is valid? [True, True] Translation: X:548.81, Y:-312.30, Z:-5.91 [[-6.60258030e-01 -7.51030571e-01 3.52367370e-03 5.48809237e+02] [ 7.51020104e-01 -6.60267432e-01 -3.96505747e-03 -3.12299451e+02] [ 5.30444635e-03 2.83887591e-05 9.99985931e-01 -5.90578556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.486559995 meters 0.05019724247802325 Centerline is valid? [True, True] Translation: X:548.77, Y:-312.26, Z:-5.91 [[-6.59646518e-01 -7.51565703e-01 3.93251426e-03 5.48771114e+02] [ 7.51552685e-01 -6.59658239e-01 -4.42374404e-03 -3.12258337e+02] [ 5.91884973e-03 3.73842945e-05 9.99982483e-01 -5.90662005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5465599949999 meters 0.04936208160201112 Centerline is valid? [True, True] Translation: X:548.73, Y:-312.22, Z:-5.91 [[-6.58925511e-01 -7.52198641e-01 3.79145271e-03 5.48732932e+02] [ 7.52186557e-01 -6.58936418e-01 -4.26388857e-03 -3.12215647e+02] [ 5.70561746e-03 4.22948086e-05 9.99983722e-01 -5.90653846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6065599949999 meters 0.04918509141712207 Centerline is valid? [True, True] Translation: X:548.70, Y:-312.17, Z:-5.90 [[-6.58249722e-01 -7.52794699e-01 2.72834571e-03 5.48695516e+02] [ 7.52788451e-01 -6.58255375e-01 -3.06749341e-03 -3.12170939e+02] [ 4.10514101e-03 3.46904524e-05 9.99991573e-01 -5.90472719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.666559995 meters 0.04920748734711086 Centerline is valid? [True, True] Translation: X:548.66, Y:-312.13, Z:-5.90 [[-6.57748072e-01 -7.53236714e-01 1.38804074e-03 5.48660013e+02] [ 7.53235098e-01 -6.57749537e-01 -1.56008960e-03 -3.12127440e+02] [ 2.08809992e-03 1.93750722e-05 9.99997820e-01 -5.90324632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7265599949999 meters 0.04927085712833457 Centerline is valid? [True, True] Translation: X:548.62, Y:-312.09, Z:-5.90 [[-6.57311374e-01 -7.53618874e-01 5.92151109e-04 5.48620316e+02] [ 7.53618581e-01 -6.57311640e-01 -6.65350392e-04 -3.12086835e+02] [ 8.90648430e-04 8.91369842e-06 9.99999603e-01 -5.90371405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.786559995 meters 0.048622802644022085 Centerline is valid? [True, True] Translation: X:548.58, Y:-312.04, Z:-5.90 [[-6.56987085e-01 -7.53901088e-01 1.05853925e-03 5.48582874e+02] [ 7.53900150e-01 -6.56987937e-01 -1.18905038e-03 -3.12043363e+02] [ 1.59187389e-03 1.68421568e-05 9.99998733e-01 -5.90434667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8465599949999 meters 0.04895157227035333 Centerline is valid? [True, True] Translation: X:548.54, Y:-312.00, Z:-5.91 [[-6.55522138e-01 -7.55171460e-01 2.60639625e-03 5.48543082e+02] [ 7.55165789e-01 -6.55527317e-01 -2.92700322e-03 -3.12000859e+02] [ 3.91895324e-03 4.95458764e-05 9.99992320e-01 -5.90643291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.906559995 meters 0.049146592342045034 Centerline is valid? [True, True] Translation: X:548.51, Y:-311.96, Z:-5.91 [[-6.54754776e-01 -7.55830627e-01 4.03079421e-03 5.48505619e+02] [ 7.55817083e-01 -6.54767178e-01 -4.52543476e-03 -3.11956831e+02] [ 6.05969394e-03 8.34930949e-05 9.99981636e-01 -5.90727573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9665599949999 meters 0.04930883412228405 Centerline is valid? [True, True] Translation: X:548.47, Y:-311.91, Z:-5.91 [[-6.54330358e-01 -7.56197198e-01 4.19293815e-03 5.48467517e+02] [ 7.56182558e-01 -6.54343786e-01 -4.70626187e-03 -3.11912520e+02] [ 6.30248506e-03 9.11766846e-05 9.99980135e-01 -5.90651331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.026559995 meters 0.04944396617000081 Centerline is valid? [True, True] Translation: X:548.43, Y:-311.87, Z:-5.91 [[-6.54572346e-01 -7.55990553e-01 3.65083179e-03 5.48429232e+02] [ 7.55979457e-01 -6.54582522e-01 -4.09654327e-03 -3.11871112e+02] [ 5.48671869e-03 7.84698930e-05 9.99984945e-01 -5.90647715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0865599949999 meters 0.04866243349357743 Centerline is valid? [True, True] Translation: X:548.39, Y:-311.83, Z:-5.90 [[-6.55501821e-01 -7.55189642e-01 2.44272019e-03 5.48392638e+02] [ 7.55184672e-01 -6.55506371e-01 -2.74022766e-03 -3.11825491e+02] [ 3.67061019e-03 4.84806224e-05 9.99993262e-01 -5.90498849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.146559995 meters 0.04938532600909267 Centerline is valid? [True, True] Translation: X:548.35, Y:-311.78, Z:-5.91 [[-6.55444798e-01 -7.55240427e-01 2.00355393e-03 5.48353302e+02] [ 7.55237086e-01 -6.55447859e-01 -2.24688601e-03 -3.11784814e+02] [ 3.01016428e-03 4.04484834e-05 9.99995469e-01 -5.90543363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2065599949999 meters 0.04877903097418418 Centerline is valid? [True, True] Translation: X:548.32, Y:-311.74, Z:-5.91 [[-6.54739039e-01 -7.55849463e-01 2.89474307e-03 5.48315357e+02] [ 7.55842498e-01 -6.54745435e-01 -3.24548585e-03 -3.11741315e+02] [ 4.34841855e-03 6.30235443e-05 9.99990544e-01 -5.90552987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.266559995 meters 0.049265666408514826 Centerline is valid? [True, True] Translation: X:548.27, Y:-311.70, Z:-5.91 [[-6.53106529e-01 -7.57256519e-01 3.79828928e-03 5.48273954e+02] [ 7.57244557e-01 -6.53117567e-01 -4.25737326e-03 -3.11701148e+02] [ 5.70465310e-03 9.57156117e-05 9.99983724e-01 -5.90709271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3265599949999 meters 0.0490237959444604 Centerline is valid? [True, True] Translation: X:548.23, Y:-311.66, Z:-5.91 [[-6.52143043e-01 -7.58085267e-01 4.02237674e-03 5.48234026e+02] [ 7.58071875e-01 -6.52155438e-01 -4.50741184e-03 -3.11658903e+02] [ 6.04021738e-03 1.09773406e-04 9.99981752e-01 -5.90715552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.386559995 meters 0.049848142919904546 Centerline is valid? [True, True] Translation: X:548.20, Y:-311.62, Z:-5.91 [[-6.52121022e-01 -7.58107815e-01 3.27320540e-03 5.48195296e+02] [ 7.58098952e-01 -6.52129230e-01 -3.66686135e-03 -3.11616528e+02] [ 4.91442916e-03 9.01762145e-05 9.99987920e-01 -5.90666052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4465599949999 meters 0.04919647606345946 Centerline is valid? [True, True] Translation: X:548.16, Y:-311.57, Z:-5.91 [[-6.53708059e-01 -7.56740065e-01 3.20120357e-03 5.48156383e+02] [ 7.56731576e-01 -6.53715892e-01 -3.58535140e-03 -3.11573583e+02] [ 4.80585670e-03 7.86787206e-05 9.99988449e-01 -5.90712842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.506559995 meters 0.04936251971874765 Centerline is valid? [True, True] Translation: X:548.12, Y:-311.53, Z:-5.91 [[-6.58186442e-01 -7.52846846e-01 3.49761645e-03 5.48120340e+02] [ 7.52836662e-01 -6.58195733e-01 -3.91638934e-03 -3.11527823e+02] [ 5.25055759e-03 5.54195290e-05 9.99986214e-01 -5.90759648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5665599949999 meters 0.049582320012051075 Centerline is valid? [True, True] Translation: X:548.08, Y:-311.49, Z:-5.91 [[-6.59322015e-01 -7.51851714e-01 3.67162171e-03 5.48082412e+02] [ 7.51840482e-01 -6.59332236e-01 -4.11002852e-03 -3.11485726e+02] [ 5.51095054e-03 5.06415528e-05 9.99984813e-01 -5.90815779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.626559995 meters 0.049728524557970465 Centerline is valid? [True, True] Translation: X:548.05, Y:-311.44, Z:-5.91 [[-6.61056540e-01 -7.50326690e-01 3.75617872e-03 5.48045650e+02] [ 7.50314917e-01 -6.61067210e-01 -4.20345149e-03 -3.11442021e+02] [ 5.63704843e-03 3.95978262e-05 9.99984111e-01 -5.90800761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6865599949999 meters 0.04944802066799413 Centerline is valid? [True, True] Translation: X:548.01, Y:-311.40, Z:-5.91 [[-6.62231881e-01 -7.49290691e-01 3.52086953e-03 5.48008328e+02] [ 7.49280336e-01 -6.62241240e-01 -3.93923116e-03 -3.11399681e+02] [ 5.28329424e-03 2.94338487e-05 9.99986043e-01 -5.90849975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.746559995 meters 0.04915102299546508 Centerline is valid? [True, True] Translation: X:547.97, Y:-311.36, Z:-5.91 [[-6.62015659e-01 -7.49484915e-01 2.76217969e-03 5.47970383e+02] [ 7.49478547e-01 -6.62021421e-01 -3.08949608e-03 -3.11357002e+02] [ 4.14415283e-03 2.48996358e-05 9.99991413e-01 -5.90774364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8065599949999 meters 0.04906280895914092 Centerline is valid? [True, True] Translation: X:547.93, Y:-311.32, Z:-5.91 [[-6.59988078e-01 -7.51268974e-01 3.26592297e-03 5.47931075e+02] [ 7.51260099e-01 -6.59996157e-01 -3.65188112e-03 -3.11315399e+02] [ 4.89904159e-03 4.33596090e-05 9.99987999e-01 -5.90827490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.866559995 meters 0.04912666826496967 Centerline is valid? [True, True] Translation: X:547.89, Y:-311.27, Z:-5.91 [[-6.58055984e-01 -7.52959613e-01 3.76076316e-03 5.47892015e+02] [ 7.52947879e-01 -6.58066727e-01 -4.20409844e-03 -3.11272154e+02] [ 5.64034944e-03 6.51265014e-05 9.99984091e-01 -5.90870021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9265599949999 meters 0.0497362862297386 Centerline is valid? [True, True] Translation: X:547.85, Y:-311.23, Z:-5.91 [[-6.54507030e-01 -7.56044588e-01 4.13864517e-03 5.47850896e+02] [ 7.56030447e-01 -6.54520107e-01 -4.62527233e-03 -3.11233274e+02] [ 6.20573860e-03 1.01668498e-04 9.99980739e-01 -5.90896040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.986559995 meters 0.04850558067806991 Centerline is valid? [True, True] Translation: X:547.81, Y:-311.19, Z:-5.91 [[-6.51384308e-01 -7.58738992e-01 3.69122047e-03 5.47814032e+02] [ 7.58727792e-01 -6.51394757e-01 -4.12426409e-03 -3.11188157e+02] [ 5.53368163e-03 1.14150647e-04 9.99984683e-01 -5.90688818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0465599949999 meters 0.049140045611174105 Centerline is valid? [True, True] Translation: X:547.77, Y:-311.15, Z:-5.91 [[-6.49915734e-01 -7.59996076e-01 3.93742775e-03 5.47772756e+02] [ 7.59983357e-01 -6.49927648e-01 -4.39882125e-03 -3.11148541e+02] [ 5.90213004e-03 1.33516420e-04 9.99982573e-01 -5.90777949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1065599949999 meters 0.049271464830066135 Centerline is valid? [True, True] Translation: X:547.74, Y:-311.10, Z:-5.91 [[-6.49961980e-01 -7.59952886e-01 4.58650554e-03 5.47735721e+02] [ 7.59935636e-01 -6.49978143e-01 -5.12267110e-03 -3.11103066e+02] [ 6.87411704e-03 1.55907555e-04 9.99976361e-01 -5.90741994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.166559995 meters 0.04963051627206467 Centerline is valid? [True, True] Translation: X:547.69, Y:-311.06, Z:-5.91 [[-6.50689325e-01 -7.59329157e-01 4.75738662e-03 5.47694032e+02] [ 7.59310592e-01 -6.50706698e-01 -5.31215011e-03 -3.11063109e+02] [ 7.12933380e-03 1.55774677e-04 9.99974574e-01 -5.90891018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2265599949999 meters 0.04945650137835299 Centerline is valid? [True, True] Translation: X:547.66, Y:-311.02, Z:-5.91 [[-6.52473373e-01 -7.57797452e-01 4.63884170e-03 5.47656774e+02] [ 7.57779772e-01 -6.52489849e-01 -5.17832182e-03 -3.11020051e+02] [ 6.95091621e-03 1.36503302e-04 9.99975833e-01 -5.90809528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.286559995 meters 0.04930965101391131 Centerline is valid? [True, True] Translation: X:547.62, Y:-310.97, Z:-5.91 [[-6.54287407e-01 -7.56233727e-01 4.30580189e-03 5.47621553e+02] [ 7.56218468e-01 -6.54301565e-01 -4.80529404e-03 -3.10973944e+02] [ 6.45121834e-03 1.12083538e-04 9.99979184e-01 -5.90627762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3465599949999 meters 0.04997829274165533 Centerline is valid? [True, True] Translation: X:547.58, Y:-310.93, Z:-5.91 [[-6.57232732e-01 -7.53673641e-01 4.60200497e-03 5.47580194e+02] [ 7.53656156e-01 -6.57248837e-01 -5.13460573e-03 -3.10933738e+02] [ 6.89447941e-03 9.36984271e-05 9.99976228e-01 -5.90907868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.406559995 meters 0.04954104824584911 Centerline is valid? [True, True] Translation: X:547.55, Y:-310.89, Z:-5.91 [[-6.59035085e-01 -7.52098176e-01 4.59240592e-03 5.47545913e+02] [ 7.52080735e-01 -6.59051081e-01 -5.12259652e-03 -3.10886070e+02] [ 6.87932559e-03 7.78891875e-05 9.99976334e-01 -5.90658546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4665599949999 meters 0.049884592519780786 Centerline is valid? [True, True] Translation: X:547.51, Y:-310.84, Z:-5.91 [[-6.59185236e-01 -7.51964174e-01 4.97044102e-03 5.47507701e+02] [ 7.51943751e-01 -6.59203970e-01 -5.54271593e-03 -3.10844010e+02] [ 7.44445826e-03 8.38155580e-05 9.99972286e-01 -5.90703222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.526559995 meters 0.049678171516628414 Centerline is valid? [True, True] Translation: X:547.47, Y:-310.80, Z:-5.91 [[-6.58601207e-01 -7.52471490e-01 5.57732033e-03 5.47468131e+02] [ 7.52445807e-01 -6.58624814e-01 -6.21777019e-03 -3.10802790e+02] [ 8.35205637e-03 1.01600346e-04 9.99965116e-01 -5.90866172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5865599949999 meters 0.04964861589584461 Centerline is valid? [True, True] Translation: X:547.43, Y:-310.76, Z:-5.91 [[-6.58879115e-01 -7.52227117e-01 5.71625587e-03 5.47431530e+02] [ 7.52200147e-01 -6.58903903e-01 -6.37063500e-03 -3.10760308e+02] [ 8.55862771e-03 1.02290157e-04 9.99963369e-01 -5.90724550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.646559995 meters 0.049677760525854826 Centerline is valid? [True, True] Translation: X:547.40, Y:-310.72, Z:-5.90 [[-6.59633317e-01 -7.51565450e-01 5.76726224e-03 5.47397507e+02] [ 7.51537989e-01 -6.59658522e-01 -6.42536368e-03 -3.10716932e+02] [ 8.63350503e-03 9.59327123e-05 9.99962726e-01 -5.90378109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7065599949999 meters 0.05010032462124601 Centerline is valid? [True, True] Translation: X:547.36, Y:-310.68, Z:-5.91 [[-6.61822065e-01 -7.49641679e-01 5.37667047e-03 5.47356417e+02] [ 7.49617759e-01 -6.61843901e-01 -5.98884606e-03 -3.10675332e+02] [ 8.04800517e-03 6.68972011e-05 9.99967612e-01 -5.90567839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.766559995 meters 0.050046069960498346 Centerline is valid? [True, True] Translation: X:547.32, Y:-310.63, Z:-5.90 [[-6.66964567e-01 -7.45071339e-01 5.19290592e-03 5.47318789e+02] [ 7.45048898e-01 -6.66984782e-01 -5.78275347e-03 -3.10630209e+02] [ 7.77215310e-03 1.20771629e-05 9.99969796e-01 -5.90394666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8265599949999 meters 0.050575204768613956 Centerline is valid? [True, True] Translation: X:547.28, Y:-310.59, Z:-5.90 [[-6.73385543e-01 -7.39272049e-01 5.36177473e-03 5.47281852e+02] [ 7.39247948e-01 -6.73406887e-01 -5.96964001e-03 -3.10586270e+02] [ 8.02384403e-03 -5.61883192e-05 9.99967807e-01 -5.90202813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.886559995 meters 0.05094191823275571 Centerline is valid? [True, True] Translation: X:547.24, Y:-310.54, Z:-5.90 [[-6.76929313e-01 -7.36026684e-01 5.60581529e-03 5.47243479e+02] [ 7.36000239e-01 -6.76952517e-01 -6.23998259e-03 -3.10542682e+02] [ 8.38766447e-03 -9.81457388e-05 9.99964818e-01 -5.90230401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9465599949999 meters 0.050624371061267326 Centerline is valid? [True, True] Translation: X:547.21, Y:-310.50, Z:-5.90 [[-6.79565626e-01 -7.33586111e-01 6.47910366e-03 5.47205566e+02] [ 7.33550691e-01 -6.79596496e-01 -7.21021095e-03 -3.10498957e+02] [ 9.69248675e-03 -1.47060550e-04 9.99953016e-01 -5.90335777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.006559995 meters 0.051972743567403154 Centerline is valid? [True, True] Translation: X:547.16, Y:-310.46, Z:-5.90 [[-6.79115405e-01 -7.34002587e-01 6.51688104e-03 5.47161586e+02] [ 7.33966797e-01 -6.79146658e-01 -7.24967305e-03 -3.10463670e+02] [ 9.74719676e-03 -1.40190342e-04 9.99952485e-01 -5.89948029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0665599949999 meters 0.05117566303562725 Centerline is valid? [True, True] Translation: X:547.12, Y:-310.42, Z:-5.90 [[-6.77547305e-01 -7.35449469e-01 6.61264142e-03 5.47121765e+02] [ 7.35412694e-01 -6.77579562e-01 -7.35565126e-03 -3.10421417e+02] [ 9.89030050e-03 -1.20781244e-04 9.99951083e-01 -5.90000419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.126559995 meters 0.051373604683725024 Centerline is valid? [True, True] Translation: X:547.08, Y:-310.38, Z:-5.90 [[-6.74124597e-01 -7.38589693e-01 6.42590295e-03 5.47080391e+02] [ 7.38555115e-01 -6.74155219e-01 -7.14719077e-03 -3.10381907e+02] [ 9.61089745e-03 -7.22136049e-05 9.99953812e-01 -5.90116211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1865599949999 meters 0.05158134379390316 Centerline is valid? [True, True] Translation: X:547.04, Y:-310.34, Z:-5.90 [[-6.69513235e-01 -7.42776078e-01 5.97717284e-03 5.47036809e+02] [ 7.42746341e-01 -6.69539915e-01 -6.64640476e-03 -3.10343204e+02] [ 8.93874625e-03 -1.03326940e-05 9.99960049e-01 -5.90074569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.246559995 meters 0.05065996494426326 Centerline is valid? [True, True] Translation: X:546.99, Y:-310.31, Z:-5.90 [[-6.64280939e-01 -7.47458256e-01 6.08186264e-03 5.46991950e+02] [ 7.47427681e-01 -6.64308778e-01 -6.76087614e-03 -3.10306621e+02] [ 9.09370743e-03 5.46313400e-05 9.99958650e-01 -5.90254963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3065599949999 meters 0.052099235083917284 Centerline is valid? [True, True] Translation: X:546.94, Y:-310.28, Z:-5.91 [[-6.58260386e-01 -7.52770473e-01 5.46620655e-03 5.46943994e+02] [ 7.52745968e-01 -6.58283071e-01 -6.07502423e-03 -3.10275002e+02] [ 8.17141010e-03 1.15717144e-04 9.99966607e-01 -5.90510873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.366559995 meters 0.05157673993412753 Centerline is valid? [True, True] Translation: X:546.90, Y:-310.24, Z:-5.90 [[-6.54715030e-01 -7.55857453e-01 5.26680607e-03 5.46903702e+02] [ 7.55834817e-01 -6.54736197e-01 -5.85163488e-03 -3.10235365e+02] [ 7.87137042e-03 1.49682094e-04 9.99969009e-01 -5.90271911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4265599949999 meters 0.05178911383868102 Centerline is valid? [True, True] Translation: X:546.86, Y:-310.20, Z:-5.90 [[-6.51043292e-01 -7.59021305e-01 5.41208858e-03 5.46863238e+02] [ 7.58997526e-01 -6.51065758e-01 -6.01123493e-03 -3.10195016e+02] [ 8.08628094e-03 1.94187660e-04 9.99967287e-01 -5.90144664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.486559995 meters 0.05288068577647255 Centerline is valid? [True, True] Translation: X:546.82, Y:-310.16, Z:-5.90 [[-6.50341558e-01 -7.59619916e-01 5.78295262e-03 5.46821210e+02] [ 7.59592805e-01 -6.50367232e-01 -6.42128290e-03 -3.10157041e+02] [ 8.63877726e-03 2.16662083e-04 9.99962662e-01 -5.90323397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5465599949999 meters 0.051104336818711286 Centerline is valid? [True, True] Translation: X:546.79, Y:-310.11, Z:-5.90 [[-6.49703104e-01 -7.60164674e-01 5.96198394e-03 5.46787612e+02] [ 7.60135896e-01 -6.49730417e-01 -6.61847370e-03 -3.10108232e+02] [ 8.90481222e-03 2.31875096e-04 9.99960325e-01 -5.90013204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6065599949999 meters 0.051493965098601345 Centerline is valid? [True, True] Translation: X:546.75, Y:-310.07, Z:-5.90 [[-6.49821040e-01 -7.60060150e-01 6.41750901e-03 5.46747865e+02] [ 7.60026819e-01 -6.49852681e-01 -7.12229398e-03 -3.10066463e+02] [ 9.58380726e-03 2.49262475e-04 9.99954043e-01 -5.90034971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.666559995 meters 0.05308792719864524 Centerline is valid? [True, True] Translation: X:546.70, Y:-310.03, Z:-5.90 [[-6.50641908e-01 -7.59346990e-01 7.56677022e-03 5.46702804e+02] [ 7.59300631e-01 -6.50685844e-01 -8.39549211e-03 -3.10030060e+02] [ 1.12986819e-02 2.82994395e-04 9.99936128e-01 -5.90454815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7265599949999 meters 0.052598852506426146 Centerline is valid? [True, True] Translation: X:546.67, Y:-309.99, Z:-5.90 [[-6.53532600e-01 -7.56854828e-01 8.11847520e-03 5.46667747e+02] [ 7.56801302e-01 -6.53582973e-01 -9.00485687e-03 -3.09985786e+02] [ 1.21214665e-02 2.59105070e-04 9.99926499e-01 -5.90328238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.786559995 meters 0.05183959065410438 Centerline is valid? [True, True] Translation: X:546.63, Y:-309.94, Z:-5.90 [[-6.57915403e-01 -7.53061093e-01 6.80531765e-03 5.46634041e+02] [ 7.53023292e-01 -6.57950579e-01 -7.54699390e-03 -3.09938348e+02] [ 1.01609102e-02 1.59279169e-04 9.99948364e-01 -5.89885858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8465599949999 meters 0.05185011987374193 Centerline is valid? [True, True] Translation: X:546.60, Y:-309.90, Z:-5.90 [[-6.61379971e-01 -7.50026395e-01 6.07785134e-03 5.46597390e+02] [ 7.49996129e-01 -6.61407890e-01 -6.73868762e-03 -3.09895790e+02] [ 9.07413241e-03 1.01531952e-04 9.99958824e-01 -5.89833786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.906559995 meters 0.05185880204380053 Centerline is valid? [True, True] Translation: X:546.56, Y:-309.85, Z:-5.90 [[-6.66857055e-01 -7.45166307e-01 5.37062622e-03 5.46561736e+02] [ 7.45142529e-01 -6.66878680e-01 -5.95290075e-03 -3.09850923e+02] [ 8.01745719e-03 3.21481445e-05 9.99967859e-01 -5.89778672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9665599949999 meters 0.05219385278979754 Centerline is valid? [True, True] Translation: X:546.53, Y:-309.81, Z:-5.90 [[-6.71614846e-01 -7.40877184e-01 5.87339655e-03 5.46525818e+02] [ 7.40848599e-01 -6.71640528e-01 -6.50812794e-03 -3.09807717e+02] [ 8.76653466e-03 -1.96577483e-05 9.99961573e-01 -5.89809882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.026559995 meters 0.05295522722926814 Centerline is valid? [True, True] Translation: X:546.49, Y:-309.76, Z:-5.90 [[-6.73847701e-01 -7.38844999e-01 6.11096130e-03 5.46487658e+02] [ 7.38813987e-01 -6.73875408e-01 -6.76951540e-03 -3.09764695e+02] [ 9.11964914e-03 -4.67587104e-05 9.99958414e-01 -5.89630355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0865599949999 meters 0.052426331692643276 Centerline is valid? [True, True] Translation: X:546.45, Y:-309.72, Z:-5.90 [[-6.75212461e-01 -7.37591795e-01 6.81731517e-03 5.46448447e+02] [ 7.37553155e-01 -6.75246872e-01 -7.55012823e-03 -3.09723229e+02] [ 1.01722834e-02 -6.98083511e-05 9.99948259e-01 -5.89691236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.146559995 meters 0.05236820063117094 Centerline is valid? [True, True] Translation: X:546.41, Y:-309.68, Z:-5.90 [[-6.74887050e-01 -7.37895911e-01 6.09048616e-03 5.46410213e+02] [ 7.37865103e-01 -6.74914529e-01 -6.74303584e-03 -3.09682715e+02] [ 9.08621617e-03 -5.68303735e-05 9.99958718e-01 -5.89915525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2065599949999 meters 0.05207445097570985 Centerline is valid? [True, True] Translation: X:546.37, Y:-309.65, Z:-5.90 [[-6.73371468e-01 -7.39282291e-01 5.70619494e-03 5.46368945e+02] [ 7.39255315e-01 -6.73395644e-01 -6.31552134e-03 -3.09645201e+02] [ 8.51147990e-03 -3.43569391e-05 9.99963776e-01 -5.89760853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.266559995 meters 0.05231727898337068 Centerline is valid? [True, True] Translation: X:546.33, Y:-309.61, Z:-5.90 [[-6.70952997e-01 -7.41482247e-01 5.11402879e-03 5.46327897e+02] [ 7.41460654e-01 -6.70972487e-01 -5.65873229e-03 -3.09606178e+02] [ 7.62722215e-03 -4.89226102e-06 9.99970912e-01 -5.89769169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3265599949999 meters 0.05204849665016668 Centerline is valid? [True, True] Translation: X:546.29, Y:-309.57, Z:-5.90 [[-6.68585572e-01 -7.43620769e-01 4.63525323e-03 5.46287528e+02] [ 7.43603090e-01 -6.68601639e-01 -5.12768910e-03 -3.09567914e+02] [ 6.91219402e-03 1.84896693e-05 9.99976110e-01 -5.89682088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.386559995 meters 0.0524474307704212 Centerline is valid? [True, True] Translation: X:546.24, Y:-309.53, Z:-5.90 [[-6.63650620e-01 -7.48036005e-01 3.16052345e-03 5.46243255e+02] [ 7.48027840e-01 -6.63658145e-01 -3.49534696e-03 -3.09531330e+02] [ 4.71215251e-03 4.44703456e-05 9.99988897e-01 -5.89623516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4465599949999 meters 0.05262283697301837 Centerline is valid? [True, True] Translation: X:546.20, Y:-309.50, Z:-5.90 [[-6.59128531e-01 -7.52024745e-01 2.89192698e-03 5.46199818e+02] [ 7.52017951e-01 -6.59134871e-01 -3.19723146e-03 -3.09496049e+02] [ 4.31056709e-03 6.73945287e-05 9.99990707e-01 -5.89766157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.506559995 meters 0.0525892650043385 Centerline is valid? [True, True] Translation: X:546.16, Y:-309.45, Z:-5.90 [[-6.57452679e-01 -7.53488924e-01 3.22738431e-03 5.46162402e+02] [ 7.53480486e-01 -6.57460595e-01 -3.56704982e-03 -3.09453042e+02] [ 4.80961054e-03 8.66046319e-05 9.99988430e-01 -5.89767877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5665599949999 meters 0.051887869200108926 Centerline is valid? [True, True] Translation: X:546.13, Y:-309.41, Z:-5.90 [[-6.56867503e-01 -7.53998349e-01 3.40189987e-03 5.46128806e+02] [ 7.53988986e-01 -6.56876305e-01 -3.75876990e-03 -3.09407232e+02] [ 5.06873372e-03 9.59812302e-05 9.99987149e-01 -5.89686415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.626559995 meters 0.052449462110839604 Centerline is valid? [True, True] Translation: X:546.08, Y:-309.37, Z:-5.90 [[-6.57648649e-01 -7.53316856e-01 3.45968751e-03 5.46084286e+02] [ 7.53307167e-01 -6.57657743e-01 -3.82162512e-03 -3.09369741e+02] [ 5.15418490e-03 9.29207998e-05 9.99986713e-01 -5.89884349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6865599949999 meters 0.052798612965105955 Centerline is valid? [True, True] Translation: X:546.04, Y:-309.33, Z:-5.90 [[-6.57889377e-01 -7.53107484e-01 3.26872585e-03 5.46043058e+02] [ 7.53098839e-01 -6.57897492e-01 -3.60956911e-03 -3.09331700e+02] [ 4.86888005e-03 8.69764701e-05 9.99988143e-01 -5.90003226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.746559995 meters 0.053421393259608936 Centerline is valid? [True, True] Translation: X:546.00, Y:-309.29, Z:-5.90 [[-6.57143891e-01 -7.53756715e-01 3.56666727e-03 5.46004364e+02] [ 7.53746438e-01 -6.57153562e-01 -3.93731083e-03 -3.09291390e+02] [ 5.31162258e-03 1.00982990e-04 9.99985888e-01 -5.90106430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8065599949999 meters 0.05235827654058929 Centerline is valid? [True, True] Translation: X:545.97, Y:-309.25, Z:-5.90 [[-6.56351911e-01 -7.54440163e-01 4.71268070e-03 5.45968106e+02] [ 7.54422247e-01 -6.56368815e-01 -5.20114142e-03 -3.09245620e+02] [ 7.01720662e-03 1.41572053e-04 9.99975369e-01 -5.90154326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.866559995 meters 0.05246641409093971 Centerline is valid? [True, True] Translation: X:545.93, Y:-309.20, Z:-5.90 [[-6.56408442e-01 -7.54386499e-01 5.38213825e-03 5.45930698e+02] [ 7.54363144e-01 -6.56430487e-01 -5.93823179e-03 -3.09202036e+02] [ 8.01272152e-03 1.62181252e-04 9.99967885e-01 -5.90245243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9265599949999 meters 0.05270644785631552 Centerline is valid? [True, True] Translation: X:545.89, Y:-309.16, Z:-5.90 [[-6.57258371e-01 -7.53646322e-01 5.35296465e-03 5.45893261e+02] [ 7.53623208e-01 -6.57280151e-01 -5.90449449e-03 -3.09158207e+02] [ 7.96829797e-03 1.53339957e-04 9.99968241e-01 -5.90215595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.986559995 meters 0.052221949714472624 Centerline is valid? [True, True] Translation: X:545.86, Y:-309.11, Z:-5.90 [[-6.59412765e-01 -7.51770649e-01 3.96184575e-03 5.45858661e+02] [ 7.51757961e-01 -6.59424660e-01 -4.36882510e-03 -3.09111724e+02] [ 5.89689326e-03 9.74900412e-05 9.99982608e-01 -5.90063788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0465599949999 meters 0.05159298455489549 Centerline is valid? [True, True] Translation: X:545.82, Y:-309.07, Z:-5.90 [[-6.61905081e-01 -7.49583342e-01 2.54495038e-03 5.45822357e+02] [ 7.49578093e-01 -6.61909972e-01 -2.80564336e-03 -3.09065932e+02] [ 3.78759156e-03 5.05694542e-05 9.99992826e-01 -5.90048556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1065599949999 meters 0.052019736870090115 Centerline is valid? [True, True] Translation: X:545.79, Y:-309.02, Z:-5.90 [[-6.63623485e-01 -7.48062726e-01 2.45544006e-03 5.45786588e+02] [ 7.48057832e-01 -6.63628026e-01 -2.70625618e-03 -3.09021813e+02] [ 3.65394821e-03 4.08760140e-05 9.99993323e-01 -5.90053879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.166559995 meters 0.05173324857615097 Centerline is valid? [True, True] Translation: X:545.75, Y:-308.98, Z:-5.90 [[-6.64061203e-01 -7.47673443e-01 2.67240622e-03 5.45753756e+02] [ 7.47667647e-01 -6.64066579e-01 -2.94436285e-03 -3.08976888e+02] [ 3.97607756e-03 4.28345299e-05 9.99992094e-01 -5.89946031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2265599949999 meters 0.05150758669548307 Centerline is valid? [True, True] Translation: X:545.71, Y:-308.94, Z:-5.90 [[-6.63431367e-01 -7.48232687e-01 2.58213505e-03 5.45713204e+02] [ 7.48227283e-01 -6.63436390e-01 -2.84410741e-03 -3.08935915e+02] [ 3.84113649e-03 4.51538242e-05 9.99992622e-01 -5.90135870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.286559995 meters 0.05164853702984052 Centerline is valid? [True, True] Translation: X:545.68, Y:-308.89, Z:-5.90 [[-6.61370170e-01 -7.50055780e-01 2.41356071e-03 5.45675406e+02] [ 7.50051073e-01 -6.61374572e-01 -2.65766778e-03 -3.08892462e+02] [ 3.58966676e-03 5.25916164e-05 9.99993556e-01 -5.90165294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3465599949999 meters 0.0513625128121548 Centerline is valid? [True, True] Translation: X:545.64, Y:-308.85, Z:-5.90 [[-6.60940389e-01 -7.50433911e-01 2.59742332e-03 5.45636604e+02] [ 7.50428467e-01 -6.60945490e-01 -2.85931293e-03 -3.08850229e+02] [ 3.86248062e-03 5.93450010e-05 9.99992539e-01 -5.90211773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.406559995 meters 0.05182517132912848 Centerline is valid? [True, True] Translation: X:545.60, Y:-308.81, Z:-5.90 [[-6.60419138e-01 -7.50889552e-01 3.38267054e-03 5.45597294e+02] [ 7.50880328e-01 -6.60427796e-01 -3.72269493e-03 -3.08808875e+02] [ 5.02934237e-03 8.14417888e-05 9.99987349e-01 -5.90412173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4665599949999 meters 0.05141923523474001 Centerline is valid? [True, True] Translation: X:545.56, Y:-308.76, Z:-5.90 [[-6.61841448e-01 -7.49639179e-01 2.64573801e-03 5.45564299e+02] [ 7.49633529e-01 -6.61846734e-01 -2.91093879e-03 -3.08760177e+02] [ 3.93322682e-03 5.67539757e-05 9.99992263e-01 -5.90230043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.526559995 meters 0.05085509147764803 Centerline is valid? [True, True] Translation: X:545.53, Y:-308.71, Z:-5.90 [[-6.63578401e-01 -7.48104258e-01 1.92995591e-03 5.45527854e+02] [ 7.48101247e-01 -6.63581207e-01 -2.12286237e-03 -3.08714781e+02] [ 2.86880485e-03 3.51168104e-05 9.99995884e-01 -5.90146240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5865599949999 meters 0.05088672837927303 Centerline is valid? [True, True] Translation: X:545.49, Y:-308.67, Z:-5.90 [[-6.64301920e-01 -7.47462505e-01 1.66194321e-03 5.45490903e+02] [ 7.47460272e-01 -6.64303999e-01 -1.82747966e-03 -3.08672320e+02] [ 2.47000805e-03 2.82382766e-05 9.99996949e-01 -5.90197139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.646559995 meters 0.050613462995504475 Centerline is valid? [True, True] Translation: X:545.45, Y:-308.63, Z:-5.90 [[-6.65815602e-01 -7.46114602e-01 1.60777714e-03 5.45454948e+02] [ 7.46112509e-01 -6.65817542e-01 -1.76747970e-03 -3.08625499e+02] [ 2.38922864e-03 2.27670794e-05 9.99997146e-01 -5.90189772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7065599949999 meters 0.05106597604027679 Centerline is valid? [True, True] Translation: X:545.42, Y:-308.58, Z:-5.90 [[-6.67876643e-01 -7.44268989e-01 2.11227281e-03 5.45417648e+02] [ 7.44265369e-01 -6.67879982e-01 -2.32145303e-03 -3.08582482e+02] [ 3.13853023e-03 2.16472450e-05 9.99995075e-01 -5.90369995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.766559995 meters 0.051359264794342475 Centerline is valid? [True, True] Translation: X:545.38, Y:-308.54, Z:-5.90 [[-6.69060613e-01 -7.43204917e-01 2.08517170e-03 5.45380654e+02] [ 7.43201386e-01 -6.69063862e-01 -2.29098180e-03 -3.08538619e+02] [ 3.09778197e-03 1.68968082e-05 9.99995202e-01 -5.90351850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8265599949999 meters 0.05086824576376478 Centerline is valid? [True, True] Translation: X:545.34, Y:-308.50, Z:-5.90 [[-6.69238959e-01 -7.43043912e-01 2.22728773e-03 5.45343575e+02] [ 7.43039885e-01 -6.69242665e-01 -2.44638979e-03 -3.08495365e+02] [ 3.30837101e-03 1.77442635e-05 9.99994527e-01 -5.90320124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.886559995 meters 0.05043867682975567 Centerline is valid? [True, True] Translation: X:545.31, Y:-308.45, Z:-5.90 [[-6.67718472e-01 -7.44409793e-01 2.47023257e-03 5.45305184e+02] [ 7.44404852e-01 -6.67723041e-01 -2.71251035e-03 -3.08451749e+02] [ 3.66865047e-03 2.76598460e-05 9.99993270e-01 -5.90372471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9465599949999 meters 0.050421395066234664 Centerline is valid? [True, True] Translation: X:545.27, Y:-308.41, Z:-5.91 [[-6.66057606e-01 -7.45892995e-01 3.30225346e-03 5.45265748e+02] [ 7.45884187e-01 -6.66065791e-01 -3.62512223e-03 -3.08410033e+02] [ 4.90347134e-03 4.85584011e-05 9.99987977e-01 -5.90510456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.006559995 meters 0.05014951129936442 Centerline is valid? [True, True] Translation: X:545.23, Y:-308.36, Z:-5.90 [[-6.63051637e-01 -7.48559966e-01 4.52809134e-03 5.45229910e+02] [ 7.48543477e-01 -6.63067092e-01 -4.96937957e-03 -3.08364637e+02] [ 6.72230696e-03 9.45179761e-05 9.99977401e-01 -5.90468742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0665599949999 meters 0.05002682400913761 Centerline is valid? [True, True] Translation: X:545.19, Y:-308.32, Z:-5.91 [[-6.60564252e-01 -7.50754119e-01 4.80854091e-03 5.45192711e+02] [ 7.50735592e-01 -6.60581742e-01 -5.27582983e-03 -3.08322265e+02] [ 7.13728530e-03 1.24918221e-04 9.99974521e-01 -5.90545914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.126559995 meters 0.050190125035425776 Centerline is valid? [True, True] Translation: X:545.16, Y:-308.28, Z:-5.90 [[-6.59541838e-01 -7.51658359e-01 3.77831548e-03 5.45156962e+02] [ 7.51646941e-01 -6.59552652e-01 -4.14440430e-03 -3.08275896e+02] [ 5.60717413e-03 1.06551240e-04 9.99984274e-01 -5.90403600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1865599949999 meters 0.049885853600306604 Centerline is valid? [True, True] Translation: X:545.12, Y:-308.23, Z:-5.90 [[-6.59297638e-01 -7.51877358e-01 2.65742439e-03 5.45121020e+02] [ 7.51871715e-01 -6.59302990e-01 -2.91405598e-03 -3.08230878e+02] [ 3.94306056e-03 7.68120037e-05 9.99992223e-01 -5.90368500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.246559995 meters 0.049686484176685836 Centerline is valid? [True, True] Translation: X:545.08, Y:-308.19, Z:-5.90 [[-6.59264706e-01 -7.51906216e-01 2.66255486e-03 5.45084641e+02] [ 7.51900555e-01 -6.59270078e-01 -2.91878813e-03 -3.08187828e+02] [ 3.94999769e-03 7.77224783e-05 9.99992196e-01 -5.90372463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3065599949999 meters 0.04947339182949821 Centerline is valid? [True, True] Translation: X:545.05, Y:-308.14, Z:-5.90 [[-6.59425180e-01 -7.51763108e-01 3.26517530e-03 5.45049650e+02] [ 7.51754598e-01 -6.59433257e-01 -3.57832923e-03 -3.08144213e+02] [ 4.84322108e-03 9.49701435e-05 9.99988267e-01 -5.90498131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.366559995 meters 0.048904826313381305 Centerline is valid? [True, True] Translation: X:545.02, Y:-308.10, Z:-5.91 [[-6.58801556e-01 -7.52307858e-01 3.66001487e-03 5.45015478e+02] [ 7.52297180e-01 -6.58811714e-01 -4.00986503e-03 -3.08098569e+02] [ 5.42791364e-03 1.11713546e-04 9.99985263e-01 -5.90520363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4265599949999 meters 0.050260450037512505 Centerline is valid? [True, True] Translation: X:544.98, Y:-308.06, Z:-5.91 [[-6.57902757e-01 -7.53091658e-01 4.11299442e-03 5.44975794e+02] [ 7.53078195e-01 -6.57915600e-01 -4.50511944e-03 -3.08059405e+02] [ 6.09877106e-03 1.33475914e-04 9.99981393e-01 -5.90744153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.486559995 meters 0.04908346549693132 Centerline is valid? [True, True] Translation: X:544.94, Y:-308.01, Z:-5.91 [[-6.56636486e-01 -7.54190080e-01 5.08405194e-03 5.44942961e+02] [ 7.54169552e-01 -6.56656144e-01 -5.56736666e-03 -3.08011071e+02] [ 7.53732665e-03 1.78501093e-04 9.99971578e-01 -5.90730906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5465599949999 meters 0.049686649648848266 Centerline is valid? [True, True] Translation: X:544.91, Y:-307.97, Z:-5.91 [[-6.56412534e-01 -7.54381025e-01 5.64388233e-03 5.44906940e+02] [ 7.54355747e-01 -6.56436766e-01 -6.17893802e-03 -3.07965403e+02] [ 8.36612546e-03 2.01562705e-04 9.99964983e-01 -5.90596695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6065599949999 meters 0.04905886825527194 Centerline is valid? [True, True] Translation: X:544.87, Y:-307.92, Z:-5.90 [[-6.58522614e-01 -7.52545830e-01 4.76878449e-03 5.44868336e+02] [ 7.52527743e-01 -6.58539863e-01 -5.21955819e-03 -3.07921957e+02] [ 7.06839144e-03 1.51445529e-04 9.99975007e-01 -5.90451718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.666559995 meters 0.049196537612251665 Centerline is valid? [True, True] Translation: X:544.83, Y:-307.88, Z:-5.90 [[-6.61161156e-01 -7.50234401e-01 3.77749493e-03 5.44827865e+02] [ 7.50223021e-01 -6.61171939e-01 -4.13351291e-03 -3.07881128e+02] [ 5.59867723e-03 1.01045485e-04 9.99984322e-01 -5.90415867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7265599949999 meters 0.04922172035156101 Centerline is valid? [True, True] Translation: X:544.79, Y:-307.84, Z:-5.90 [[-6.62813947e-01 -7.48777324e-01 3.19209604e-03 5.44789688e+02] [ 7.48769185e-01 -6.62821630e-01 -3.49204142e-03 -3.07837591e+02] [ 4.73055173e-03 7.55693924e-05 9.99988808e-01 -5.90292349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.786559995 meters 0.04943766628450765 Centerline is valid? [True, True] Translation: X:544.75, Y:-307.80, Z:-5.90 [[-6.63915185e-01 -7.47799321e-01 3.57794974e-03 5.44751811e+02] [ 7.47789088e-01 -6.63924822e-01 -3.91295378e-03 -3.07796241e+02] [ 5.30159382e-03 7.76823405e-05 9.99985943e-01 -5.90425496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8465599949999 meters 0.04950439599847749 Centerline is valid? [True, True] Translation: X:544.71, Y:-307.75, Z:-5.90 [[-6.65017176e-01 -7.46813529e-01 4.65928531e-03 5.44713976e+02] [ 7.46796160e-01 -6.65033491e-01 -5.09422258e-03 -3.07752704e+02] [ 6.90301512e-03 9.17908676e-05 9.99976170e-01 -5.90497922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.906559995 meters 0.04946577903241664 Centerline is valid? [True, True] Translation: X:544.68, Y:-307.71, Z:-5.90 [[-6.66237379e-01 -7.45722361e-01 5.09066098e-03 5.44675722e+02] [ 7.45701605e-01 -6.66256822e-01 -5.56449261e-03 -3.07708362e+02] [ 7.54125417e-03 8.88410941e-05 9.99971560e-01 -5.90381596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9665599949999 meters 0.0495883029732418 Centerline is valid? [True, True] Translation: X:544.64, Y:-307.67, Z:-5.90 [[-6.66632363e-01 -7.45372117e-01 4.65840591e-03 5.44636091e+02] [ 7.45354737e-01 -6.66648634e-01 -5.09066469e-03 -3.07665728e+02] [ 6.89995945e-03 7.85630821e-05 9.99976192e-01 -5.90299032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.026559995 meters 0.04982404773957158 Centerline is valid? [True, True] Translation: X:544.59, Y:-307.63, Z:-5.91 [[-6.65929197e-01 -7.45996456e-01 5.25281176e-03 5.44594110e+02] [ 7.45974388e-01 -6.65949907e-01 -5.73884375e-03 -3.07626687e+02] [ 7.77926660e-03 9.67994169e-05 9.99969736e-01 -5.90600873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0865599949999 meters 0.04930725227568547 Centerline is valid? [True, True] Translation: X:544.56, Y:-307.58, Z:-5.90 [[-6.64136934e-01 -7.47592121e-01 5.30593080e-03 5.44555644e+02] [ 7.47569667e-01 -6.64158119e-01 -5.79539817e-03 -3.07583209e+02] [ 7.85657103e-03 1.17614944e-04 9.99969130e-01 -5.90477753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.146559995 meters 0.049225642625407844 Centerline is valid? [True, True] Translation: X:544.52, Y:-307.54, Z:-5.90 [[-6.62413184e-01 -7.49123328e-01 4.79732075e-03 5.44516456e+02] [ 7.49105021e-01 -6.62430543e-01 -5.23858043e-03 -3.07539368e+02] [ 7.10223459e-03 1.23592319e-04 9.99974771e-01 -5.90267617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2065599949999 meters 0.04954988381275616 Centerline is valid? [True, True] Translation: X:544.48, Y:-307.50, Z:-5.90 [[-6.61326385e-01 -7.50088053e-01 3.91472170e-03 5.44475364e+02] [ 7.50075885e-01 -6.61337963e-01 -4.27376901e-03 -3.07498742e+02] [ 5.79465715e-03 1.09982131e-04 9.99983205e-01 -5.90252419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.266559995 meters 0.049699452750089725 Centerline is valid? [True, True] Translation: X:544.44, Y:-307.46, Z:-5.90 [[-6.61127453e-01 -7.50264943e-01 3.60648999e-03 5.44437325e+02] [ 7.50254624e-01 -6.61137281e-01 -3.93624532e-03 -3.07455133e+02] [ 5.33761186e-03 1.03425955e-04 9.99985750e-01 -5.90192769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3265599949999 meters 0.05090443522015982 Centerline is valid? [True, True] Translation: X:544.39, Y:-307.42, Z:-5.90 [[-6.59938635e-01 -7.51311774e-01 3.40818185e-03 5.44391685e+02] [ 7.51302576e-01 -6.59947427e-01 -3.71930835e-03 -3.07418738e+02] [ 5.04358100e-03 1.06060531e-04 9.99987275e-01 -5.90289918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.386559995 meters 0.05088066768084507 Centerline is valid? [True, True] Translation: X:544.35, Y:-307.38, Z:-5.90 [[-6.59320266e-01 -7.51850266e-01 4.23849544e-03 5.44349651e+02] [ 7.51836058e-01 -6.59333875e-01 -4.62417915e-03 -3.07379739e+02] [ 6.27127395e-03 1.37838674e-04 9.99980326e-01 -5.90472516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4465599949999 meters 0.049931284330121714 Centerline is valid? [True, True] Translation: X:544.32, Y:-307.33, Z:-5.90 [[-6.59648894e-01 -7.51556567e-01 5.10511653e-03 5.44316201e+02] [ 7.51535958e-01 -6.59668628e-01 -5.56823056e-03 -3.07332261e+02] [ 7.55252547e-03 1.63601507e-04 9.99971466e-01 -5.90317992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.506559995 meters 0.05011093897220403 Centerline is valid? [True, True] Translation: X:544.28, Y:-307.29, Z:-5.90 [[-6.62181555e-01 -7.49326338e-01 5.06236681e-03 5.44276973e+02] [ 7.49306016e-01 -6.62200891e-01 -5.52030762e-03 -3.07289218e+02] [ 7.48881571e-03 1.37816025e-04 9.99971949e-01 -5.90311605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5665599949999 meters 0.05011148352670936 Centerline is valid? [True, True] Translation: X:544.24, Y:-307.24, Z:-5.90 [[-6.64601190e-01 -7.47182091e-01 4.91744487e-03 5.44239832e+02] [ 7.47162867e-01 -6.64619373e-01 -5.36090624e-03 -3.07244394e+02] [ 7.27380226e-03 1.11267541e-04 9.99973539e-01 -5.90187740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.626559995 meters 0.04997710294392957 Centerline is valid? [True, True] Translation: X:544.20, Y:-307.20, Z:-5.90 [[-6.65849406e-01 -7.46064352e-01 5.70538482e-03 5.44198957e+02] [ 7.46038446e-01 -6.65873839e-01 -6.21829670e-03 -3.07203535e+02] [ 8.43831599e-03 1.15987261e-04 9.99964390e-01 -5.90330782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6865599949999 meters 0.049864974746301735 Centerline is valid? [True, True] Translation: X:544.16, Y:-307.16, Z:-5.90 [[-6.66251191e-01 -7.45701051e-01 6.26850249e-03 5.44159552e+02] [ 7.45669781e-01 -6.66280668e-01 -6.83004957e-03 -3.07161564e+02] [ 9.26975717e-03 1.23704220e-04 9.99957027e-01 -5.90397265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.746559995 meters 0.04959488666802588 Centerline is valid? [True, True] Translation: X:544.12, Y:-307.12, Z:-5.90 [[-6.67475309e-01 -7.44605712e-01 6.24864845e-03 5.44121372e+02] [ 7.44574608e-01 -6.67504548e-01 -6.80669383e-03 -3.07117303e+02] [ 9.23930437e-03 1.09284905e-04 9.99957311e-01 -5.90294434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8065599949999 meters 0.050111727017772785 Centerline is valid? [True, True] Translation: X:544.08, Y:-307.07, Z:-5.90 [[-6.69463197e-01 -7.42826192e-01 5.31766910e-03 5.44083133e+02] [ 7.42803621e-01 -6.69484312e-01 -5.79105227e-03 -3.07073452e+02] [ 7.86184134e-03 7.30874977e-05 9.99969093e-01 -5.90185392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.866559995 meters 0.04985902802928111 Centerline is valid? [True, True] Translation: X:544.04, Y:-307.03, Z:-5.90 [[-6.71108761e-01 -7.41341823e-01 5.03306644e-03 5.44044389e+02] [ 7.41321573e-01 -6.71127632e-01 -5.47974318e-03 -3.07029755e+02] [ 7.44019276e-03 5.36170709e-05 9.99972320e-01 -5.90164045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9265599949999 meters 0.0496380050448456 Centerline is valid? [True, True] Translation: X:544.01, Y:-306.99, Z:-5.90 [[-6.72380887e-01 -7.40189242e-01 4.88134282e-03 5.44005678e+02] [ 7.40170176e-01 -6.72398605e-01 -5.31286938e-03 -3.06988453e+02] [ 7.21473686e-03 4.07525448e-05 9.99973973e-01 -5.90440424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.986559995 meters 0.05065748085767631 Centerline is valid? [True, True] Translation: X:543.97, Y:-306.94, Z:-5.90 [[-6.73718843e-01 -7.38970130e-01 5.10562390e-03 5.43968389e+02] [ 7.38949247e-01 -6.73738188e-01 -5.55559255e-03 -3.06943562e+02] [ 7.54527074e-03 2.98895578e-05 9.99971534e-01 -5.90204211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0465599949999 meters 0.049914032081031075 Centerline is valid? [True, True] Translation: X:543.93, Y:-306.90, Z:-5.90 [[-6.74696907e-01 -7.38073171e-01 5.66377662e-03 5.43929865e+02] [ 7.38047454e-01 -6.74720679e-01 -6.16129173e-03 -3.06900350e+02] [ 8.36895133e-03 2.31314439e-05 9.99964979e-01 -5.90285370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1065599949999 meters 0.05009337990259743 Centerline is valid? [True, True] Translation: X:543.89, Y:-306.86, Z:-5.90 [[-6.73802028e-01 -7.38887328e-01 6.02855396e-03 5.43890491e+02] [ 7.38858243e-01 -6.73828996e-01 -6.55603947e-03 -3.06859825e+02] [ 8.90638894e-03 3.67740972e-05 9.99960337e-01 -5.90428151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.166559995 meters 0.05003131315401565 Centerline is valid? [True, True] Translation: X:543.85, Y:-306.82, Z:-5.90 [[-6.72779949e-01 -7.39816787e-01 6.18559310e-03 5.43850481e+02] [ 7.39786222e-01 -6.72808382e-01 -6.72510356e-03 -3.06817622e+02] [ 9.13706339e-03 5.15017159e-05 9.99958255e-01 -5.90333344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2265599949999 meters 0.05002019319477753 Centerline is valid? [True, True] Translation: X:543.81, Y:-306.78, Z:-5.90 [[-6.71882325e-01 -7.40633703e-01 5.98819229e-03 5.43810811e+02] [ 7.40605107e-01 -6.71909007e-01 -6.50853685e-03 -3.06776293e+02] [ 8.84396209e-03 6.19149213e-05 9.99960890e-01 -5.90250910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.286559995 meters 0.05036416847476065 Centerline is valid? [True, True] Translation: X:543.77, Y:-306.74, Z:-5.90 [[-6.71998487e-01 -7.40528169e-01 6.00541966e-03 5.43770866e+02] [ 7.40499421e-01 -6.72025318e-01 -6.52532877e-03 -3.06735084e+02] [ 8.86798382e-03 6.19987228e-05 9.99960677e-01 -5.90320746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3465599949999 meters 0.05032712695763652 Centerline is valid? [True, True] Translation: X:543.73, Y:-306.69, Z:-5.90 [[-6.72010587e-01 -7.40520217e-01 5.61957517e-03 5.43732068e+02] [ 7.40495058e-01 -6.72034080e-01 -6.10445184e-03 -3.06691869e+02] [ 8.29701603e-03 5.90113727e-05 9.99965577e-01 -5.90196563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.406559995 meters 0.05011426682862412 Centerline is valid? [True, True] Translation: X:543.69, Y:-306.65, Z:-5.90 [[-6.71345290e-01 -7.41126542e-01 5.19138219e-03 5.43691944e+02] [ 7.41105101e-01 -6.71365359e-01 -5.63772909e-03 -3.06650623e+02] [ 7.66358483e-03 6.24969504e-05 9.99970632e-01 -5.90222348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4665599949999 meters 0.050414508425595646 Centerline is valid? [True, True] Translation: X:543.65, Y:-306.61, Z:-5.90 [[-6.69523466e-01 -7.42778164e-01 4.35047103e-03 5.43651792e+02] [ 7.42763150e-01 -6.69537597e-01 -4.72327297e-03 -3.06608702e+02] [ 6.42114795e-03 6.90274760e-05 9.99979382e-01 -5.90094133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.526559995 meters 0.049812349035463346 Centerline is valid? [True, True] Translation: X:543.61, Y:-306.57, Z:-5.90 [[-6.67271971e-01 -7.44803677e-01 3.94958875e-03 5.43609761e+02] [ 7.44791342e-01 -6.67283655e-01 -4.28721909e-03 -3.06569503e+02] [ 5.82863256e-03 8.08783708e-05 9.99983010e-01 -5.90184552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5865599949999 meters 0.05042888469884989 Centerline is valid? [True, True] Translation: X:543.57, Y:-306.53, Z:-5.90 [[-6.65390187e-01 -7.46482987e-01 4.36452568e-03 5.43569367e+02] [ 7.46467967e-01 -6.65404493e-01 -4.73659751e-03 -3.06530160e+02] [ 6.43996445e-03 1.06293113e-04 9.99979258e-01 -5.90307444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.646559995 meters 0.050061966214754464 Centerline is valid? [True, True] Translation: X:543.53, Y:-306.48, Z:-5.90 [[-6.64309551e-01 -7.47439997e-01 5.12552739e-03 5.43533362e+02] [ 7.47419322e-01 -6.64329310e-01 -5.56103346e-03 -3.06484652e+02] [ 7.56157691e-03 1.36670572e-04 9.99971402e-01 -5.90119987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7065599949999 meters 0.04997198734931917 Centerline is valid? [True, True] Translation: X:543.49, Y:-306.44, Z:-5.90 [[-6.63192249e-01 -7.48430127e-01 5.32793459e-03 5.43492494e+02] [ 7.48407830e-01 -6.63213632e-01 -5.77906963e-03 -3.06444535e+02] [ 7.85878867e-03 1.54833786e-04 9.99969107e-01 -5.90152432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.766559995 meters 0.049497305500565504 Centerline is valid? [True, True] Translation: X:543.46, Y:-306.40, Z:-5.90 [[-6.63177592e-01 -7.48441919e-01 5.49318275e-03 5.43455196e+02] [ 7.48418231e-01 -6.63200323e-01 -5.95683455e-03 -3.06400297e+02] [ 8.10142525e-03 1.60758917e-04 9.99967170e-01 -5.90040772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8265599949999 meters 0.050295474178630735 Centerline is valid? [True, True] Translation: X:543.41, Y:-306.36, Z:-5.90 [[-6.64127606e-01 -7.47601979e-01 5.07986136e-03 5.43414557e+02] [ 7.47581703e-01 -6.64147018e-01 -5.50774050e-03 -3.06360154e+02] [ 7.49137247e-03 1.39768892e-04 9.99971930e-01 -5.90063878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.886559995 meters 0.04983711049499283 Centerline is valid? [True, True] Translation: X:543.38, Y:-306.31, Z:-5.90 [[-6.66016013e-01 -7.45924975e-01 4.31302728e-03 5.43379975e+02] [ 7.45910332e-01 -6.66029970e-01 -4.67510389e-03 -3.06313433e+02] [ 6.35988218e-03 1.03437560e-04 9.99979770e-01 -5.89785971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9465599949999 meters 0.05005845046122509 Centerline is valid? [True, True] Translation: X:543.34, Y:-306.27, Z:-5.90 [[-6.67327148e-01 -7.44755143e-01 3.77540889e-03 5.43341577e+02] [ 7.44743910e-01 -6.67337823e-01 -4.09133368e-03 -3.06269535e+02] [ 5.56651495e-03 8.14547369e-05 9.99984504e-01 -5.89753326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.006559995 meters 0.05065190875328211 Centerline is valid? [True, True] Translation: X:543.30, Y:-306.23, Z:-5.90 [[-6.67986215e-01 -7.44165811e-01 3.41497525e-03 5.43301056e+02] [ 7.44156618e-01 -6.67994940e-01 -3.69960035e-03 -3.06229910e+02] [ 5.03430228e-03 6.99943942e-05 9.99987325e-01 -5.89956337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0665599949999 meters 0.04994263181530965 Centerline is valid? [True, True] Translation: X:543.26, Y:-306.18, Z:-5.90 [[-6.66904636e-01 -7.45130489e-01 4.33140509e-03 5.43264660e+02] [ 7.45115728e-01 -6.66918694e-01 -4.69120467e-03 -3.06184157e+02] [ 6.38425466e-03 9.88119187e-05 9.99979616e-01 -5.89942972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.126559995 meters 0.049540918283740354 Centerline is valid? [True, True] Translation: X:543.23, Y:-306.14, Z:-5.90 [[-6.65120495e-01 -7.46711240e-01 6.08702631e-03 5.43226623e+02] [ 7.46682168e-01 -6.65148328e-01 -6.59100047e-03 -3.06140000e+02] [ 8.97034951e-03 1.61264517e-04 9.99959753e-01 -5.90044956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1865599949999 meters 0.04969232625785597 Centerline is valid? [True, True] Translation: X:543.19, Y:-306.10, Z:-5.90 [[-6.64554939e-01 -7.47213103e-01 6.26982483e-03 5.43187478e+02] [ 7.47182297e-01 -6.64584493e-01 -6.78731124e-03 -3.06098520e+02] [ 9.23839625e-03 1.74160901e-04 9.99957310e-01 -5.90118695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.246559995 meters 0.05006010305601079 Centerline is valid? [True, True] Translation: X:543.15, Y:-306.05, Z:-5.90 [[-6.63013453e-01 -7.48582881e-01 6.06893478e-03 5.43148838e+02] [ 7.48554088e-01 -6.63041202e-01 -6.56826715e-03 -3.06054928e+02] [ 8.94084616e-03 1.88076456e-04 9.99960012e-01 -5.90103048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3065599949999 meters 0.050049127390222714 Centerline is valid? [True, True] Translation: X:543.11, Y:-306.02, Z:-5.90 [[-6.62392704e-01 -7.49135308e-01 5.67411112e-03 5.43107497e+02] [ 7.49110174e-01 -6.62416981e-01 -6.13929812e-03 -3.06015305e+02] [ 8.35779254e-03 1.83908087e-04 9.99965056e-01 -5.90202966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.366559995 meters 0.04984657172809213 Centerline is valid? [True, True] Translation: X:543.07, Y:-305.97, Z:-5.90 [[-6.62507590e-01 -7.49035009e-01 5.49983106e-03 5.43073220e+02] [ 7.49011404e-01 -6.62530394e-01 -5.94919917e-03 -3.05967455e+02] [ 8.09996369e-03 1.78046582e-04 9.99967179e-01 -5.89982053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4265599949999 meters 0.049463378542303336 Centerline is valid? [True, True] Translation: X:543.03, Y:-305.92, Z:-5.90 [[-6.64108499e-01 -7.47613790e-01 5.78990922e-03 5.43034463e+02] [ 7.47587587e-01 -6.64133716e-01 -6.26159062e-03 -3.05923542e+02] [ 8.52652542e-03 1.70088714e-04 9.99963634e-01 -5.90028807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.486559995 meters 0.04984428825380376 Centerline is valid? [True, True] Translation: X:543.00, Y:-305.88, Z:-5.90 [[-6.67674899e-01 -7.44436687e-01 4.92414948e-03 5.42996901e+02] [ 7.44417655e-01 -6.67693048e-01 -5.32437070e-03 -3.05879592e+02] [ 7.25147726e-03 1.10675137e-04 9.99973702e-01 -5.89971682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5465599949999 meters 0.04979369012385334 Centerline is valid? [True, True] Translation: X:542.96, Y:-305.84, Z:-5.90 [[-6.69495041e-01 -7.42803391e-01 4.41736924e-03 5.42957749e+02] [ 7.42788043e-01 -6.69509609e-01 -4.77565599e-03 -3.05836011e+02] [ 6.50484462e-03 8.38910527e-05 9.99978840e-01 -5.89885704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6065599949999 meters 0.049628932256506775 Centerline is valid? [True, True] Translation: X:542.92, Y:-305.79, Z:-5.90 [[-6.70909627e-01 -7.41526110e-01 4.39330904e-03 5.42917920e+02] [ 7.41510907e-01 -6.70924007e-01 -4.74892013e-03 -3.05793359e+02] [ 6.46902477e-03 7.15903426e-05 9.99979073e-01 -5.89962821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.666559995 meters 0.050223428755831155 Centerline is valid? [True, True] Translation: X:542.88, Y:-305.75, Z:-5.90 [[-6.72603653e-01 -7.39982557e-01 5.49016427e-03 5.42878599e+02] [ 7.39958774e-01 -6.72626055e-01 -5.93319130e-03 -3.05753092e+02] [ 8.08328560e-03 7.18090751e-05 9.99967327e-01 -5.90171039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7265599949999 meters 0.050330309309409064 Centerline is valid? [True, True] Translation: X:542.84, Y:-305.71, Z:-5.90 [[-6.73963054e-01 -7.38737805e-01 6.34487161e-03 5.42839678e+02] [ 7.38706002e-01 -6.73992916e-01 -6.85505162e-03 -3.05710321e+02] [ 9.34048430e-03 6.69432103e-05 9.99956375e-01 -5.90093850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.786559995 meters 0.04999286359456902 Centerline is valid? [True, True] Translation: X:542.80, Y:-305.67, Z:-5.90 [[-6.74790144e-01 -7.37981230e-01 6.47806414e-03 5.42799486e+02] [ 7.37948060e-01 -6.74821236e-01 -6.99709463e-03 -3.05668409e+02] [ 9.53525975e-03 5.89043717e-05 9.99954537e-01 -5.90053464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8465599949999 meters 0.05074224169783567 Centerline is valid? [True, True] Translation: X:542.76, Y:-305.63, Z:-5.90 [[-6.75695860e-01 -7.37150370e-01 6.66601368e-03 5.42760068e+02] [ 7.37115230e-01 -6.75728739e-01 -7.19784026e-03 -3.05628721e+02] [ 9.81030763e-03 5.00693371e-05 9.99951877e-01 -5.90046338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.906559995 meters 0.05004696614292856 Centerline is valid? [True, True] Translation: X:542.72, Y:-305.59, Z:-5.90 [[-6.76508602e-01 -7.36406468e-01 6.45176143e-03 5.42720450e+02] [ 7.36373534e-01 -6.76539365e-01 -6.96464290e-03 -3.05586052e+02] [ 9.49367866e-03 3.92655316e-05 9.99954933e-01 -5.89948522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9665599949999 meters 0.05042289632024983 Centerline is valid? [True, True] Translation: X:542.68, Y:-305.54, Z:-5.90 [[-6.76803417e-01 -7.36142700e-01 5.57317784e-03 5.42679773e+02] [ 7.36118129e-01 -6.76826362e-01 -6.01461227e-03 -3.05544204e+02] [ 8.19968660e-03 3.18071172e-05 9.99966382e-01 -5.89909748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.026559995 meters 0.050015653322328456 Centerline is valid? [True, True] Translation: X:542.64, Y:-305.51, Z:-5.90 [[-6.76238494e-01 -7.36668267e-01 4.62213500e-03 5.42639451e+02] [ 7.36651389e-01 -6.76254289e-01 -4.98667118e-03 -3.05505118e+02] [ 6.79926103e-03 3.27231576e-05 9.99976884e-01 -5.89889464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0865599949999 meters 0.05022023470935549 Centerline is valid? [True, True] Translation: X:542.60, Y:-305.46, Z:-5.90 [[-6.75619992e-01 -7.37239576e-01 3.92849512e-03 5.42599606e+02] [ 7.37227402e-01 -6.75631413e-01 -4.23706376e-03 -3.05464321e+02] [ 5.77794580e-03 3.35492687e-05 9.99983307e-01 -5.89796218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.146559995 meters 0.05082712562346256 Centerline is valid? [True, True] Translation: X:542.56, Y:-305.43, Z:-5.90 [[-6.74070040e-01 -7.38659689e-01 3.38289844e-03 5.42557374e+02] [ 7.38650684e-01 -6.74078528e-01 -3.64759512e-03 -3.05426297e+02] [ 4.97467068e-03 4.00456532e-05 9.99987625e-01 -5.89883478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2065599949999 meters 0.05056305589814747 Centerline is valid? [True, True] Translation: X:542.52, Y:-305.39, Z:-5.90 [[-6.72802783e-01 -7.39815056e-01 3.17778732e-03 5.42517134e+02] [ 7.39807126e-01 -6.72810286e-01 -3.42568420e-03 -3.05386325e+02] [ 4.67242074e-03 4.61398396e-05 9.99989083e-01 -5.89863073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.266559995 meters 0.050860235021678496 Centerline is valid? [True, True] Translation: X:542.48, Y:-305.34, Z:-5.90 [[-6.70427031e-01 -7.41965229e-01 3.89820580e-03 5.42476374e+02] [ 7.41953338e-01 -6.70438359e-01 -4.20119854e-03 -3.05344947e+02] [ 5.73064993e-03 7.56897430e-05 9.99983577e-01 -5.89893269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3265599949999 meters 0.050404943216077844 Centerline is valid? [True, True] Translation: X:542.43, Y:-305.30, Z:-5.90 [[-6.68331294e-01 -7.43848284e-01 4.79706379e-03 5.42434693e+02] [ 7.43830336e-01 -6.68348500e-01 -5.16856084e-03 -3.05304767e+02] [ 7.05073549e-03 1.13890619e-04 9.99975137e-01 -5.90019911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.386559995 meters 0.05104848399626174 Centerline is valid? [True, True] Translation: X:542.39, Y:-305.27, Z:-5.90 [[-6.66680598e-01 -7.45321404e-01 5.74324926e-03 5.42390585e+02] [ 7.45295742e-01 -6.66705318e-01 -6.18684295e-03 -3.05267901e+02] [ 8.44024129e-03 1.55771062e-04 9.99964368e-01 -5.90315719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4465599949999 meters 0.050495869214499285 Centerline is valid? [True, True] Translation: X:542.35, Y:-305.22, Z:-5.90 [[-6.66145783e-01 -7.45798762e-01 5.83110766e-03 5.42354972e+02] [ 7.45772340e-01 -6.66171284e-01 -6.27993160e-03 -3.05221705e+02] [ 8.56808169e-03 1.65328847e-04 9.99963280e-01 -5.90014859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.506559995 meters 0.050549777455101606 Centerline is valid? [True, True] Translation: X:542.31, Y:-305.18, Z:-5.90 [[-6.65908106e-01 -7.46007570e-01 6.25306916e-03 5.42314023e+02] [ 7.45977210e-01 -6.65937439e-01 -6.73271578e-03 -3.05181975e+02] [ 9.18680980e-03 1.81277076e-04 9.99957784e-01 -5.90145206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5665599949999 meters 0.050633086915620004 Centerline is valid? [True, True] Translation: X:542.28, Y:-305.14, Z:-5.90 [[-6.66813018e-01 -7.45200638e-01 6.03397618e-03 5.42275098e+02] [ 7.45172350e-01 -6.66840298e-01 -6.49514121e-03 -3.05138560e+02] [ 8.86388184e-03 1.65307495e-04 9.99960701e-01 -5.90059974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.626559995 meters 0.050386660938005416 Centerline is valid? [True, True] Translation: X:542.24, Y:-305.09, Z:-5.90 [[-6.68244504e-01 -7.43920386e-01 5.63396969e-03 5.42237415e+02] [ 7.43895692e-01 -6.68268239e-01 -6.06298881e-03 -3.05093943e+02] [ 8.27538398e-03 1.39526830e-04 9.99965749e-01 -5.89931805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6865599949999 meters 0.050754193013021344 Centerline is valid? [True, True] Translation: X:542.20, Y:-305.05, Z:-5.90 [[-6.71365999e-01 -7.41108649e-01 5.06612450e-03 5.42197365e+02] [ 7.41088609e-01 -6.71385106e-01 -5.45097441e-03 -3.05053444e+02] [ 7.44108482e-03 9.48482749e-05 9.99972310e-01 -5.90051126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.746559995 meters 0.049947605739947595 Centerline is valid? [True, True] Translation: X:542.16, Y:-305.01, Z:-5.90 [[-6.74488480e-01 -7.38269164e-01 4.89202586e-03 5.42161993e+02] [ 7.38250411e-01 -6.74506217e-01 -5.26247038e-03 -3.05005864e+02] [ 7.18482146e-03 6.20644560e-05 9.99974187e-01 -5.89774182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8065599949999 meters 0.0505761489437473 Centerline is valid? [True, True] Translation: X:542.12, Y:-304.96, Z:-5.90 [[-6.76611702e-01 -7.36325887e-01 4.55994180e-03 5.42123020e+02] [ 7.36309557e-01 -6.76627067e-01 -4.90396126e-03 -3.04963632e+02] [ 6.69629367e-03 3.94511465e-05 9.99977579e-01 -5.89859102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.866559995 meters 0.050386736788178045 Centerline is valid? [True, True] Translation: X:542.08, Y:-304.92, Z:-5.90 [[-6.77662082e-01 -7.35360925e-01 4.29099176e-03 5.42084023e+02] [ 7.35346454e-01 -6.77675667e-01 -4.61345178e-03 -3.04920200e+02] [ 6.30045287e-03 2.90042316e-05 9.99980152e-01 -5.89760234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9265599949999 meters 0.05070366735060873 Centerline is valid? [True, True] Translation: X:542.04, Y:-304.88, Z:-5.90 [[-6.78258904e-01 -7.34803528e-01 5.35113416e-03 5.42044153e+02] [ 7.34781018e-01 -6.78280012e-01 -5.75161083e-03 -3.04878928e+02] [ 7.85587127e-03 3.08305471e-05 9.99969142e-01 -5.90167719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.986559995 meters 0.05052472670435941 Centerline is valid? [True, True] Translation: X:542.01, Y:-304.84, Z:-5.90 [[-6.78894791e-01 -7.34210685e-01 6.04421154e-03 5.42005904e+02] [ 7.34181959e-01 -6.78921696e-01 -6.49482826e-03 -3.04835326e+02] [ 8.87211866e-03 2.82459948e-05 9.99960642e-01 -5.89974237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0465599949999 meters 0.050665183905839864 Centerline is valid? [True, True] Translation: X:541.97, Y:-304.79, Z:-5.90 [[-6.79779998e-01 -7.33389773e-01 6.21248461e-03 5.41968313e+02] [ 7.33359410e-01 -6.79808385e-01 -6.67354536e-03 -3.04792965e+02] [ 9.11760905e-03 1.94414012e-05 9.99958434e-01 -5.90052881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1065599949999 meters 0.050537040942013764 Centerline is valid? [True, True] Translation: X:541.93, Y:-304.75, Z:-5.90 [[-6.80138157e-01 -7.33059046e-01 6.04337247e-03 5.41929367e+02] [ 7.33030316e-01 -6.80165005e-01 -6.49014102e-03 -3.04750185e+02] [ 8.86814706e-03 1.57826768e-05 9.99960677e-01 -5.89957354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.166559995 meters 0.05079628794818067 Centerline is valid? [True, True] Translation: X:541.89, Y:-304.71, Z:-5.90 [[-6.80303920e-01 -7.32913367e-01 4.95701960e-03 5.41890570e+02] [ 7.32894044e-01 -6.80321980e-01 -5.32204592e-03 -3.04707197e+02] [ 7.27296798e-03 1.23614441e-05 9.99973552e-01 -5.89937347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2265599949999 meters 0.050368109476901575 Centerline is valid? [True, True] Translation: X:541.85, Y:-304.66, Z:-5.90 [[-6.79872141e-01 -7.33319641e-01 4.02194098e-03 5.41851007e+02] [ 7.33306935e-01 -6.79884037e-01 -4.31694796e-03 -3.04664666e+02] [ 5.90015620e-03 1.43445582e-05 9.99982594e-01 -5.89927121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.286559995 meters 0.050813159745533326 Centerline is valid? [True, True] Translation: X:541.81, Y:-304.62, Z:-5.90 [[-6.78552007e-01 -7.34546069e-01 3.04094019e-03 5.41811934e+02] [ 7.34538821e-01 -6.78558820e-01 -3.26308971e-03 -3.04621782e+02] [ 4.46034651e-03 1.95125483e-05 9.99990052e-01 -5.89823255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3465599949999 meters 0.05032958459166679 Centerline is valid? [True, True] Translation: X:541.77, Y:-304.58, Z:-5.90 [[-6.76120412e-01 -7.36785736e-01 2.82283349e-03 5.41770553e+02] [ 7.36779512e-01 -6.76126304e-01 -3.02853576e-03 -3.04582264e+02] [ 4.13997392e-03 3.21510325e-05 9.99991430e-01 -5.89962791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.406559995 meters 0.04993357380594014 Centerline is valid? [True, True] Translation: X:541.73, Y:-304.54, Z:-5.90 [[-6.74063512e-01 -7.38668351e-01 2.72932478e-03 5.41732094e+02] [ 7.38662551e-01 -6.74069037e-01 -2.92744094e-03 -3.04539044e+02] [ 4.00216130e-03 4.27688863e-05 9.99991990e-01 -5.89891931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4665599949999 meters 0.05008649326797506 Centerline is valid? [True, True] Translation: X:541.69, Y:-304.50, Z:-5.90 [[-6.70265270e-01 -7.42112955e-01 3.58193759e-03 5.41690594e+02] [ 7.42103019e-01 -6.70274835e-01 -3.84118611e-03 -3.04499983e+02] [ 5.25147660e-03 8.35530582e-05 9.99986207e-01 -5.90118332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.526559995 meters 0.05006554199201294 Centerline is valid? [True, True] Translation: X:541.65, Y:-304.46, Z:-5.90 [[-6.68072063e-01 -7.44079059e-01 5.10621528e-03 5.41651218e+02] [ 7.44058935e-01 -6.68091561e-01 -5.47414981e-03 -3.04458796e+02] [ 7.48461957e-03 1.42198544e-04 9.99971980e-01 -5.90319197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5865599949999 meters 0.05017963034987158 Centerline is valid? [True, True] Translation: X:541.61, Y:-304.41, Z:-5.90 [[-6.69330977e-01 -7.42942236e-01 5.73392539e-03 5.41614484e+02] [ 7.42916832e-01 -6.69355521e-01 -6.14557564e-03 -3.04413301e+02] [ 8.40384232e-03 1.46405538e-04 9.99964676e-01 -5.90325697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.646559995 meters 0.050206368269382844 Centerline is valid? [True, True] Translation: X:541.58, Y:-304.37, Z:-5.90 [[-6.72168330e-01 -7.40378973e-01 5.35848562e-03 5.41576807e+02] [ 7.40356713e-01 -6.72189679e-01 -5.74220823e-03 -3.04369086e+02] [ 7.85332896e-03 1.07460279e-04 9.99969156e-01 -5.90332053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7065599949999 meters 0.04990373201704989 Centerline is valid? [True, True] Translation: X:541.54, Y:-304.32, Z:-5.90 [[-6.78042116e-01 -7.35013094e-01 3.82627012e-03 5.41542295e+02] [ 7.35001665e-01 -6.78052911e-01 -4.09912513e-03 -3.04322523e+02] [ 5.60732424e-03 3.29354290e-05 9.99984278e-01 -5.90192788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.766559995 meters 0.049381489891435676 Centerline is valid? [True, True] Translation: X:541.51, Y:-304.28, Z:-5.90 [[-6.83860591e-01 -7.29606049e-01 3.11543150e-03 5.41505866e+02] [ 7.29598417e-01 -6.83867687e-01 -3.33712500e-03 -3.04276181e+02] [ 4.56532952e-03 -9.11438582e-06 9.99989579e-01 -5.90115382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8265599949999 meters 0.04947627863304359 Centerline is valid? [True, True] Translation: X:541.47, Y:-304.23, Z:-5.90 [[-6.86470158e-01 -7.27151943e-01 2.96207903e-03 5.41467926e+02] [ 7.27145025e-01 -6.86476548e-01 -3.17208360e-03 -3.04233587e+02] [ 4.33998454e-03 -2.36796986e-05 9.99990582e-01 -5.90293061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.886559995 meters 0.05012573168156403 Centerline is valid? [True, True] Translation: X:541.43, Y:-304.19, Z:-5.90 [[-6.86994876e-01 -7.26653370e-01 3.59463349e-03 5.41427742e+02] [ 7.26643180e-01 -6.87004279e-01 -3.84830777e-03 -3.04192663e+02] [ 5.26591440e-03 -3.17518025e-05 9.99986134e-01 -5.90303188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9465599949999 meters 0.04994651260676098 Centerline is valid? [True, True] Translation: X:541.39, Y:-304.15, Z:-5.90 [[-6.87296491e-01 -7.26366090e-01 3.97962219e-03 5.41388672e+02] [ 7.26353603e-01 -6.87308011e-01 -4.25916607e-03 -3.04150234e+02] [ 5.82894002e-03 -3.66969763e-05 9.99983011e-01 -5.90290510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.006559995 meters 0.05027276362528729 Centerline is valid? [True, True] Translation: X:541.35, Y:-304.11, Z:-5.90 [[-6.87392702e-01 -7.26276507e-01 3.70237906e-03 5.41350083e+02] [ 7.26265706e-01 -6.87402672e-01 -3.96118796e-03 -3.04109489e+02] [ 5.42194301e-03 -3.39807542e-05 9.99985301e-01 -5.90420319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0665599949999 meters 0.05006076726371367 Centerline is valid? [True, True] Translation: X:541.31, Y:-304.07, Z:-5.90 [[-6.87137770e-01 -7.26518752e-01 3.49116563e-03 5.41310358e+02] [ 7.26509156e-01 -6.87146638e-01 -3.73408945e-03 -3.04069679e+02] [ 5.11182873e-03 -2.94700987e-05 9.99986934e-01 -5.90437550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.126559995 meters 0.05059263723047143 Centerline is valid? [True, True] Translation: X:541.27, Y:-304.03, Z:-5.90 [[-6.85366743e-01 -7.28186783e-01 4.05425337e-03 5.41270247e+02] [ 7.28173881e-01 -6.85378734e-01 -4.33478291e-03 -3.04032979e+02] [ 5.93523066e-03 -1.87146347e-05 9.99982386e-01 -5.90463359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1865599949999 meters 0.04930123779917615 Centerline is valid? [True, True] Translation: X:541.23, Y:-303.99, Z:-5.91 [[-6.83522101e-01 -7.29918245e-01 4.11013765e-03 5.41228658e+02] [ 7.29905024e-01 -6.83534458e-01 -4.39325690e-03 -3.03994253e+02] [ 6.01613908e-03 -2.87806356e-06 9.99981903e-01 -5.90535265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.246559995 meters 0.050364915816661505 Centerline is valid? [True, True] Translation: X:541.19, Y:-303.95, Z:-5.91 [[-6.82760719e-01 -7.30628444e-01 4.45852519e-03 5.41188522e+02] [ 7.30612911e-01 -6.82775276e-01 -4.76419435e-03 -3.03954633e+02] [ 6.52502667e-03 4.65131248e-06 9.99978712e-01 -5.90591122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3065599949999 meters 0.05002052082658957 Centerline is valid? [True, True] Translation: X:541.15, Y:-303.91, Z:-5.91 [[-6.82515842e-01 -7.30861665e-01 3.65391021e-03 5.41148655e+02] [ 7.30851243e-01 -6.82525623e-01 -3.90322984e-03 -3.03913801e+02] [ 5.34660840e-03 6.44861672e-06 9.99985707e-01 -5.90532613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.366559995 meters 0.04948357079112604 Centerline is valid? [True, True] Translation: X:541.11, Y:-303.87, Z:-5.90 [[-6.83828740e-01 -7.29634745e-01 3.37541077e-03 5.41110481e+02] [ 7.29625841e-01 -6.83837071e-01 -3.60458056e-03 -3.03872555e+02] [ 4.93825823e-03 -2.12885885e-06 9.99987807e-01 -5.90359802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4265599949999 meters 0.05019808824050383 Centerline is valid? [True, True] Translation: X:541.07, Y:-303.83, Z:-5.90 [[-6.87007251e-01 -7.26647025e-01 2.26682928e-03 5.41072225e+02] [ 7.26642995e-01 -6.87010990e-01 -2.42003826e-03 -3.03829637e+02] [ 3.31585023e-03 -1.54082143e-05 9.99994502e-01 -5.90476315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.486559995 meters 0.05067624984184381 Centerline is valid? [True, True] Translation: X:541.03, Y:-303.79, Z:-5.91 [[-6.91085348e-01 -7.22769507e-01 2.29837251e-03 5.41034370e+02] [ 7.22765345e-01 -6.91089169e-01 -2.45304588e-03 -3.03785957e+02] [ 3.36136711e-03 -3.40800657e-05 9.99994350e-01 -5.90562406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5465599949999 meters 0.0505962982953385 Centerline is valid? [True, True] Translation: X:541.00, Y:-303.74, Z:-5.91 [[-6.94820158e-01 -7.19173700e-01 3.75994379e-03 5.40999814e+02] [ 7.19162514e-01 -6.94830326e-01 -4.01202229e-03 -3.03741424e+02] [ 5.49786388e-03 -8.36233366e-05 9.99984883e-01 -5.90768626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6065599949999 meters 0.05165974745713425 Centerline is valid? [True, True] Translation: X:540.96, Y:-303.70, Z:-5.91 [[-6.96948895e-01 -7.17106125e-01 4.58738442e-03 5.40955790e+02] [ 7.17089438e-01 -6.96963982e-01 -4.89346178e-03 -3.03704431e+02] [ 6.70637312e-03 -1.20927859e-04 9.99977505e-01 -5.90599724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.666559995 meters 0.051578871561599286 Centerline is valid? [True, True] Translation: X:540.92, Y:-303.66, Z:-5.91 [[-6.98231209e-01 -7.15850907e-01 5.53701496e-03 5.40924104e+02] [ 7.15826571e-01 -6.98253145e-01 -5.90473063e-03 -3.03657270e+02] [ 8.09314488e-03 -1.59324770e-04 9.99967237e-01 -5.90965498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7265599949999 meters 0.05125064625439911 Centerline is valid? [True, True] Translation: X:540.88, Y:-303.62, Z:-5.91 [[-6.96313999e-01 -7.17716719e-01 5.43370126e-03 5.40883569e+02] [ 7.17693354e-01 -6.96335187e-01 -5.79279223e-03 -3.03617128e+02] [ 7.94126121e-03 -1.33871040e-04 9.99968459e-01 -5.90954913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.786559995 meters 0.05088122299071026 Centerline is valid? [True, True] Translation: X:540.84, Y:-303.58, Z:-5.91 [[-6.92009567e-01 -7.21873411e-01 4.64096016e-03 5.40840892e+02] [ 7.21856469e-01 -6.92025125e-01 -4.94617798e-03 -3.03578445e+02] [ 6.78217541e-03 -7.26953616e-05 9.99976998e-01 -5.90834827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8465599949999 meters 0.050513199111415136 Centerline is valid? [True, True] Translation: X:540.80, Y:-303.54, Z:-5.91 [[-6.88029398e-01 -7.25671184e-01 4.10860063e-03 5.40799466e+02] [ 7.25657981e-01 -6.88041665e-01 -4.37750624e-03 -3.03538939e+02] [ 6.00351855e-03 -3.04141502e-05 9.99981978e-01 -5.90719442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.906559995 meters 0.04996531641497965 Centerline is valid? [True, True] Translation: X:540.76, Y:-303.50, Z:-5.91 [[-6.80077200e-01 -7.33131540e-01 3.62577643e-03 5.40756686e+02] [ 7.33121369e-01 -6.80086865e-01 -3.86202801e-03 -3.03498904e+02] [ 5.29721747e-03 3.16569811e-05 9.99985969e-01 -5.90526974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9665599949999 meters 0.050381021358426085 Centerline is valid? [True, True] Translation: X:540.72, Y:-303.46, Z:-5.91 [[-6.77203148e-01 -7.35787111e-01 3.63632394e-03 5.40715173e+02] [ 7.35776923e-01 -6.77212909e-01 -3.87235500e-03 -3.03458923e+02] [ 5.31179441e-03 5.31522475e-05 9.99985891e-01 -5.90621739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.026559995 meters 0.04939757099662584 Centerline is valid? [True, True] Translation: X:540.67, Y:-303.42, Z:-5.91 [[-6.68781418e-01 -7.43449531e-01 3.76957043e-03 5.40673490e+02] [ 7.43438709e-01 -6.68792031e-01 -4.01318976e-03 -3.03418610e+02] [ 5.50466270e-03 1.18497837e-04 9.99984842e-01 -5.90575864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.086559995 meters 0.0498939401549138 Centerline is valid? [True, True] Translation: X:540.63, Y:-303.38, Z:-5.91 [[-6.63566768e-01 -7.48105738e-01 4.11709108e-03 5.40631071e+02] [ 7.48092921e-01 -6.63579517e-01 -4.38242242e-03 -3.03380929e+02] [ 6.01053267e-03 1.71936812e-04 9.99981922e-01 -5.90652658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.146559995 meters 0.05017211197649548 Centerline is valid? [True, True] Translation: X:540.59, Y:-303.34, Z:-5.91 [[-6.62441734e-01 -7.49102552e-01 4.03930698e-03 5.40593340e+02] [ 7.49090240e-01 -6.62454025e-01 -4.29859234e-03 -3.03336401e+02] [ 5.89594166e-03 1.78238479e-04 9.99982603e-01 -5.90611150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2065599950001 meters 0.04964376472012695 Centerline is valid? [True, True] Translation: X:540.56, Y:-303.29, Z:-5.91 [[-6.63764265e-01 -7.47927404e-01 4.64742440e-03 5.40555267e+02] [ 7.47911085e-01 -6.63780507e-01 -4.94448770e-03 -3.03292501e+02] [ 6.78298757e-03 1.93885976e-04 9.99976977e-01 -5.90645532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.266559995 meters 0.04950031569144078 Centerline is valid? [True, True] Translation: X:540.52, Y:-303.25, Z:-5.91 [[-6.67794239e-01 -7.44330578e-01 4.77974540e-03 5.40519295e+02] [ 7.44313233e-01 -6.67811324e-01 -5.08396287e-03 -3.03246318e+02] [ 6.97611713e-03 1.62586634e-04 9.99975653e-01 -5.90597553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.326559995 meters 0.049131782986678786 Centerline is valid? [True, True] Translation: X:540.48, Y:-303.20, Z:-5.91 [[-6.72398658e-01 -7.40170075e-01 5.32016603e-03 5.40483119e+02] [ 7.40148462e-01 -6.72419692e-01 -5.65788360e-03 -3.03200234e+02] [ 7.76518053e-03 1.33359361e-04 9.99969842e-01 -5.90569999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.386559995 meters 0.04961865676208316 Centerline is valid? [True, True] Translation: X:540.45, Y:-303.15, Z:-5.91 [[-6.75513358e-01 -7.37328386e-01 5.34372015e-03 5.40446109e+02] [ 7.37306503e-01 -6.75534486e-01 -5.68151207e-03 -3.03154987e+02] [ 7.79900737e-03 1.02022315e-04 9.99969582e-01 -5.90534778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4465599950001 meters 0.0495981701746528 Centerline is valid? [True, True] Translation: X:540.41, Y:-303.11, Z:-5.91 [[-6.80181768e-01 -7.33027476e-01 4.84580020e-03 5.40409616e+02] [ 7.33009377e-01 -6.80199028e-01 -5.15130469e-03 -3.03109336e+02] [ 7.07215645e-03 4.81934547e-05 9.99974991e-01 -5.90534889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.506559995 meters 0.04988943982660953 Centerline is valid? [True, True] Translation: X:540.37, Y:-303.06, Z:-5.90 [[-6.83183317e-01 -7.30237280e-01 3.75092527e-03 5.40370804e+02] [ 7.30226399e-01 -6.83193614e-01 -3.98645432e-03 -3.03064755e+02] [ 5.47366575e-03 1.55455682e-05 9.99985019e-01 -5.90305627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.566559995 meters 0.05015272633685563 Centerline is valid? [True, True] Translation: X:540.33, Y:-303.02, Z:-5.90 [[-6.84154579e-01 -7.29323266e-01 4.48170328e-03 5.40331713e+02] [ 7.29307722e-01 -6.84169258e-01 -4.76175019e-03 -3.03022810e+02] [ 6.53909881e-03 1.07676113e-05 9.99978620e-01 -5.90378241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.626559995 meters 0.049893798909327026 Centerline is valid? [True, True] Translation: X:540.29, Y:-302.98, Z:-5.90 [[-6.84072622e-01 -7.29398083e-01 4.80467436e-03 5.40292398e+02] [ 7.29380227e-01 -6.84089495e-01 -5.10363342e-03 -3.02980372e+02] [ 7.00940769e-03 1.31785823e-05 9.99975434e-01 -5.90330476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6865599950002 meters 0.050712937933732945 Centerline is valid? [True, True] Translation: X:540.25, Y:-302.94, Z:-5.90 [[-6.82755704e-01 -7.30633376e-01 4.41805972e-03 5.40251531e+02] [ 7.30618313e-01 -6.82769998e-01 -4.69148267e-03 -3.02941730e+02] [ 6.44427245e-03 2.47787842e-05 9.99979235e-01 -5.90383060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.746559995 meters 0.050306623304175825 Centerline is valid? [True, True] Translation: X:540.21, Y:-302.90, Z:-5.90 [[-6.81422550e-01 -7.31880092e-01 3.85215534e-03 5.40210495e+02] [ 7.31868669e-01 -6.81433437e-01 -4.08927565e-03 -3.02903428e+02] [ 5.61784689e-03 3.27471649e-05 9.99984219e-01 -5.90304460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.806559995 meters 0.0504776142089622 Centerline is valid? [True, True] Translation: X:540.17, Y:-302.87, Z:-5.90 [[-6.79204992e-01 -7.33943637e-01 2.70492907e-03 5.40167587e+02] [ 7.33938024e-01 -6.79210377e-01 -2.87062226e-03 -3.02865471e+02] [ 3.94409084e-03 3.55093246e-05 9.99992221e-01 -5.90163871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.866559995 meters 0.04968088092200826 Centerline is valid? [True, True] Translation: X:540.13, Y:-302.83, Z:-5.90 [[-6.77751745e-01 -7.35288553e-01 1.82103505e-03 5.40126466e+02] [ 7.35286015e-01 -6.77754191e-01 -1.93202251e-03 -3.02825256e+02] [ 2.65480817e-03 2.95499747e-05 9.99996476e-01 -5.89931288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9265599950002 meters 0.04960452721117133 Centerline is valid? [True, True] Translation: X:540.08, Y:-302.79, Z:-5.90 [[-6.77519203e-01 -7.35502924e-01 1.78258053e-03 5.40084632e+02] [ 7.35500495e-01 -6.77521548e-01 -1.89067902e-03 -3.02786320e+02] [ 2.59833667e-03 3.01175194e-05 9.99996624e-01 -5.90027845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.986559995 meters 0.050442637653512125 Centerline is valid? [True, True] Translation: X:540.04, Y:-302.75, Z:-5.90 [[-6.78611475e-01 -7.34494107e-01 2.20747678e-03 5.40044234e+02] [ 7.34490378e-01 -6.78615064e-01 -2.34066868e-03 -3.02746410e+02] [ 3.21723435e-03 3.29658366e-05 9.99994824e-01 -5.90183934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.046559995 meters 0.05013825649955758 Centerline is valid? [True, True] Translation: X:540.00, Y:-302.71, Z:-5.90 [[-6.81006517e-01 -7.32271919e-01 2.82152970e-03 5.40004904e+02] [ 7.32265811e-01 -6.81012361e-01 -2.99095802e-03 -3.02705171e+02] [ 4.11169117e-03 2.92478375e-05 9.99991547e-01 -5.90318715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.106559995 meters 0.05075186965946249 Centerline is valid? [True, True] Translation: X:539.97, Y:-302.67, Z:-5.91 [[-6.83367979e-01 -7.30066308e-01 3.37502572e-03 5.39965569e+02] [ 7.30057548e-01 -6.83376313e-01 -3.57648708e-03 -3.02666105e+02] [ 4.91748535e-03 1.99062578e-05 9.99987909e-01 -5.90529886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.166559995 meters 0.05091497049452902 Centerline is valid? [True, True] Translation: X:539.93, Y:-302.62, Z:-5.90 [[-6.84622745e-01 -7.28890918e-01 3.11866042e-03 5.39926518e+02] [ 7.28883431e-01 -6.84629848e-01 -3.30383384e-03 -3.02624776e+02] [ 4.54326249e-03 1.12601127e-05 9.99989679e-01 -5.90487808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2265599950001 meters 0.050207092019144604 Centerline is valid? [True, True] Translation: X:539.89, Y:-302.58, Z:-5.91 [[-6.86066963e-01 -7.27532756e-01 2.86541551e-03 5.39887205e+02] [ 7.27526427e-01 -6.86072947e-01 -3.03465313e-03 -3.02584130e+02] [ 4.17369362e-03 2.69025234e-06 9.99991290e-01 -5.90521830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.286559995 meters 0.050464485619510925 Centerline is valid? [True, True] Translation: X:539.85, Y:-302.54, Z:-5.90 [[-6.86188372e-01 -7.27415867e-01 3.41674108e-03 5.39848032e+02] [ 7.27406872e-01 -6.86196879e-01 -3.61740667e-03 -3.02544016e+02] [ 4.97591607e-03 3.13854918e-06 9.99987620e-01 -5.90404960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.346559995 meters 0.05025783976505698 Centerline is valid? [True, True] Translation: X:539.81, Y:-302.50, Z:-5.91 [[-6.85062410e-01 -7.28472875e-01 4.09450845e-03 5.39807406e+02] [ 7.28459984e-01 -6.85074646e-01 -4.33369791e-03 -3.02504393e+02] [ 5.96202530e-03 1.38320176e-05 9.99982227e-01 -5.90639976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.406559995 meters 0.049880071827763606 Centerline is valid? [True, True] Translation: X:539.77, Y:-302.46, Z:-5.91 [[-6.82661077e-01 -7.30720655e-01 4.60198667e-03 5.39765512e+02] [ 7.30704431e-01 -6.82676587e-01 -4.86950675e-03 -3.02463780e+02] [ 6.69991772e-03 3.84693270e-05 9.99977555e-01 -5.90682403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4665599950001 meters 0.050253108931466825 Centerline is valid? [True, True] Translation: X:539.72, Y:-302.42, Z:-5.91 [[-6.81272849e-01 -7.32012168e-01 5.04880250e-03 5.39724804e+02] [ 7.31992687e-01 -6.81291554e-01 -5.34086144e-03 -3.02422127e+02] [ 7.34928206e-03 5.71026169e-05 9.99972992e-01 -5.90694738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.526559995 meters 0.050320536241354824 Centerline is valid? [True, True] Translation: X:539.69, Y:-302.38, Z:-5.91 [[-6.79124666e-01 -7.34006776e-01 4.87242995e-03 5.39685850e+02] [ 7.33988693e-01 -6.79142140e-01 -5.15289923e-03 -3.02379608e+02] [ 7.09133546e-03 7.68475173e-05 9.99974853e-01 -5.90598630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.586559995 meters 0.050281390865620085 Centerline is valid? [True, True] Translation: X:539.65, Y:-302.34, Z:-5.91 [[-6.78410495e-01 -7.34670319e-01 4.32687676e-03 5.39647491e+02] [ 7.34656081e-01 -6.78424289e-01 -4.57449690e-03 -3.02338552e+02] [ 6.29620539e-03 7.53796119e-05 9.99980176e-01 -5.90605466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.646559995 meters 0.04940812935823867 Centerline is valid? [True, True] Translation: X:539.61, Y:-302.30, Z:-5.91 [[-6.77057065e-01 -7.35922159e-01 3.50795362e-03 5.39608759e+02] [ 7.35912821e-01 -6.77066149e-01 -3.70800291e-03 -3.02297458e+02] [ 5.10391816e-03 7.10184808e-05 9.99986972e-01 -5.90514844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7065599950001 meters 0.04917051887002783 Centerline is valid? [True, True] Translation: X:539.57, Y:-302.25, Z:-5.90 [[-6.75162182e-01 -7.37663453e-01 2.94268867e-03 5.39571010e+02] [ 7.37656901e-01 -6.75168591e-01 -3.10968427e-03 -3.02252975e+02] [ 4.28071140e-03 7.11533885e-05 9.99990835e-01 -5.90416651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.766559995 meters 0.04969930046263044 Centerline is valid? [True, True] Translation: X:539.53, Y:-302.21, Z:-5.90 [[-6.73907950e-01 -7.38809845e-01 2.84399618e-03 5.39532656e+02] [ 7.38803739e-01 -6.73913947e-01 -3.00461506e-03 -3.02209501e+02] [ 4.13644787e-03 7.63210353e-05 9.99991442e-01 -5.90419581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.826559995 meters 0.04934396138187545 Centerline is valid? [True, True] Translation: X:539.49, Y:-302.17, Z:-5.91 [[-6.72609787e-01 -7.39985996e-01 4.09870145e-03 5.39494226e+02] [ 7.39973343e-01 -6.72622264e-01 -4.32904061e-03 -3.02166838e+02] [ 5.96030728e-03 1.21174727e-04 9.99982230e-01 -5.90550800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.886559995 meters 0.050411994620777376 Centerline is valid? [True, True] Translation: X:539.45, Y:-302.13, Z:-5.91 [[-6.72484053e-01 -7.40097852e-01 4.51321060e-03 5.39452330e+02] [ 7.40082518e-01 -6.72499184e-01 -4.76594501e-03 -3.02128014e+02] [ 6.56239611e-03 1.35126250e-04 9.99978458e-01 -5.90726935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9465599950001 meters 0.04965268487860289 Centerline is valid? [True, True] Translation: X:539.42, Y:-302.08, Z:-5.91 [[-6.73318973e-01 -7.39334408e-01 5.11804484e-03 5.39417241e+02] [ 7.39314678e-01 -6.73338409e-01 -5.40312897e-03 -3.02082242e+02] [ 7.44089532e-03 1.45816420e-04 9.99972306e-01 -5.90671860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.006559995 meters 0.04947040438804656 Centerline is valid? [True, True] Translation: X:539.38, Y:-302.04, Z:-5.91 [[-6.76391775e-01 -7.36529280e-01 4.33434630e-03 5.39381222e+02] [ 7.36515078e-01 -6.76405655e-01 -4.57488100e-03 -3.02037160e+02] [ 6.30131016e-03 9.78995188e-05 9.99980142e-01 -5.90552402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.066559995 meters 0.0498016551069388 Centerline is valid? [True, True] Translation: X:539.35, Y:-301.99, Z:-5.90 [[-6.81550734e-01 -7.31761584e-01 3.68528403e-03 5.39346122e+02] [ 7.31751251e-01 -6.81560696e-01 -3.88910997e-03 -3.01990063e+02] [ 5.35764602e-03 4.60854394e-05 9.99985647e-01 -5.90380570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.126559995 meters 0.049393208489720015 Centerline is valid? [True, True] Translation: X:539.31, Y:-301.95, Z:-5.91 [[-6.85185571e-01 -7.28357779e-01 3.95969232e-03 5.39308458e+02] [ 7.28345798e-01 -6.85197012e-01 -4.17765251e-03 -3.01946772e+02] [ 5.75599505e-03 2.15580415e-05 9.99983434e-01 -5.90544652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1865599950002 meters 0.04970097613080827 Centerline is valid? [True, True] Translation: X:539.27, Y:-301.91, Z:-5.90 [[-6.87519199e-01 -7.26156434e-01 3.76622009e-03 5.39269563e+02] [ 7.26145569e-01 -6.87529514e-01 -3.97225863e-03 -3.01905891e+02] [ 5.47386863e-03 3.81996555e-06 9.99985018e-01 -5.90493654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.246559995 meters 0.050510917095837944 Centerline is valid? [True, True] Translation: X:539.23, Y:-301.86, Z:-5.90 [[-6.88804487e-01 -7.24932168e-01 4.66156799e-03 5.39228529e+02] [ 7.24915504e-01 -6.88820261e-01 -4.91530404e-03 -3.01864416e+02] [ 6.77424449e-03 -6.44056430e-06 9.99977055e-01 -5.90122605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.306559995 meters 0.0500099296573309 Centerline is valid? [True, True] Translation: X:539.19, Y:-301.82, Z:-5.90 [[-6.89888984e-01 -7.23899169e-01 4.81488279e-03 5.39189258e+02] [ 7.23881375e-01 -6.89905786e-01 -5.07558613e-03 -3.01822852e+02] [ 6.99602808e-03 -1.61869876e-05 9.99975527e-01 -5.90480149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.366559995 meters 0.04982933281768582 Centerline is valid? [True, True] Translation: X:539.15, Y:-301.78, Z:-5.91 [[-6.89906960e-01 -7.23881036e-01 4.96302183e-03 5.39148640e+02] [ 7.23862142e-01 -6.89924811e-01 -5.23015218e-03 -3.01783087e+02] [ 7.21011988e-03 -1.57747842e-05 9.99974007e-01 -5.90561546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4265599950002 meters 0.05039355680456298 Centerline is valid? [True, True] Translation: X:539.11, Y:-301.74, Z:-5.91 [[-6.88038634e-01 -7.25658610e-01 4.73491577e-03 5.39106462e+02] [ 7.25641465e-01 -6.88054926e-01 -4.98824754e-03 -3.01744169e+02] [ 6.87764690e-03 3.74419456e-06 9.99976349e-01 -5.90552671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.486559995 meters 0.05023053171180224 Centerline is valid? [True, True] Translation: X:539.06, Y:-301.70, Z:-5.91 [[-6.84246641e-01 -7.29239827e-01 3.97602202e-03 5.39063622e+02] [ 7.29227804e-01 -6.84258192e-01 -4.18762122e-03 -3.01704952e+02] [ 5.77440581e-03 3.40600577e-05 9.99983327e-01 -5.90504427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.546559995 meters 0.049659651131910953 Centerline is valid? [True, True] Translation: X:539.02, Y:-301.66, Z:-5.90 [[-6.81017547e-01 -7.32258480e-01 3.55248976e-03 5.39021902e+02] [ 7.32248928e-01 -6.81026810e-01 -3.74060780e-03 -3.01663946e+02] [ 5.15843256e-03 5.38872710e-05 9.99986694e-01 -5.90422860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.606559995 meters 0.04920941687518914 Centerline is valid? [True, True] Translation: X:538.98, Y:-301.63, Z:-5.91 [[-6.74141478e-01 -7.38596494e-01 2.91331094e-03 5.38977382e+02] [ 7.38590131e-01 -6.74147768e-01 -3.06695915e-03 -3.01627335e+02] [ 4.22924734e-03 8.41783320e-05 9.99991053e-01 -5.90561398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.666559995 meters 0.04927358065369644 Centerline is valid? [True, True] Translation: X:538.94, Y:-301.59, Z:-5.91 [[-6.72836101e-01 -7.39785968e-01 2.88141591e-03 5.38936488e+02] [ 7.39779758e-01 -6.72842265e-01 -3.03261118e-03 -3.01586434e+02] [ 4.18222160e-03 9.11628829e-05 9.99991250e-01 -5.90600086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7265599950001 meters 0.050024755105418 Centerline is valid? [True, True] Translation: X:538.90, Y:-301.55, Z:-5.91 [[-6.69760264e-01 -7.42570970e-01 3.08926041e-03 5.38895988e+02] [ 7.42563865e-01 -6.69767378e-01 -3.25044868e-03 -3.01546183e+02] [ 4.48277467e-03 1.16951784e-04 9.99989945e-01 -5.90706541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.786559995 meters 0.049618646075222955 Centerline is valid? [True, True] Translation: X:538.85, Y:-301.51, Z:-5.91 [[-6.68615131e-01 -7.43602947e-01 2.90926929e-03 5.38854609e+02] [ 7.43596658e-01 -6.68621450e-01 -3.06050734e-03 -3.01506938e+02] [ 4.22100213e-03 1.17021404e-04 9.99991085e-01 -5.90808848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.846559995 meters 0.04969369154247362 Centerline is valid? [True, True] Translation: X:538.82, Y:-301.47, Z:-5.91 [[-6.69065389e-01 -7.43197335e-01 3.03762605e-03 5.38815636e+02] [ 7.43190478e-01 -6.69072273e-01 -3.19466100e-03 -3.01465091e+02] [ 4.40665491e-03 1.20097656e-04 9.99990283e-01 -5.90851926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.906559995 meters 0.049006734692670396 Centerline is valid? [True, True] Translation: X:538.78, Y:-301.42, Z:-5.91 [[-6.70839266e-01 -7.41594693e-01 3.46276173e-03 5.38782620e+02] [ 7.41585766e-01 -6.70848191e-01 -3.64087302e-03 -3.01416308e+02] [ 5.02303955e-03 1.25494233e-04 9.99987377e-01 -5.90812312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9665599950001 meters 0.04884977133889789 Centerline is valid? [True, True] Translation: X:538.74, Y:-301.37, Z:-5.91 [[-6.73804385e-01 -7.38894508e-01 4.74940894e-03 5.38744164e+02] [ 7.38877656e-01 -6.73821107e-01 -4.99242791e-03 -3.01373974e+02] [ 6.88912956e-03 1.45312331e-04 9.99976259e-01 -5.91009849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.026559995 meters 0.049409648065105324 Centerline is valid? [True, True] Translation: X:538.71, Y:-301.33, Z:-5.91 [[-6.77816168e-01 -7.35209151e-01 5.72257870e-03 5.38707386e+02] [ 7.35184567e-01 -6.77840311e-01 -6.01365201e-03 -3.01330143e+02] [ 8.30028651e-03 1.31000984e-04 9.99965543e-01 -5.91160412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.086559995 meters 0.049196427774641116 Centerline is valid? [True, True] Translation: X:538.67, Y:-301.29, Z:-5.91 [[-6.79915239e-01 -7.33271706e-01 5.27940323e-03 5.38669263e+02] [ 7.33250736e-01 -6.79935728e-01 -5.54645563e-03 -3.01286487e+02] [ 7.65671387e-03 1.00006596e-04 9.99970682e-01 -5.91092857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.146559995 meters 0.049319853260103325 Centerline is valid? [True, True] Translation: X:538.63, Y:-301.25, Z:-5.91 [[-6.81855715e-01 -7.31471508e-01 4.71351989e-03 5.38628064e+02] [ 7.31454758e-01 -6.81872002e-01 -4.95065044e-03 -3.01245544e+02] [ 6.83527698e-03 7.20972605e-05 9.99976637e-01 -5.91082707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2065599950001 meters 0.04973687674432714 Centerline is valid? [True, True] Translation: X:538.59, Y:-301.20, Z:-5.91 [[-6.85777699e-01 -7.27793557e-01 5.04828075e-03 5.38590451e+02] [ 7.27774251e-01 -6.85796279e-01 -5.30122249e-03 -3.01202698e+02] [ 7.32028773e-03 3.85485830e-05 9.99973206e-01 -5.91001631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.266559995 meters 0.0494195737615652 Centerline is valid? [True, True] Translation: X:538.55, Y:-301.16, Z:-5.91 [[-6.89125614e-01 -7.24627266e-01 4.60583526e-03 5.38553824e+02] [ 7.24611135e-01 -6.89141006e-01 -4.83504563e-03 -3.01160261e+02] [ 6.67767584e-03 5.48572645e-06 9.99977704e-01 -5.91010255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.326559995 meters 0.04943428646867613 Centerline is valid? [True, True] Translation: X:538.52, Y:-301.12, Z:-5.91 [[-6.93065833e-01 -7.20864951e-01 3.67068961e-03 5.38515788e+02] [ 7.20854659e-01 -6.93075553e-01 -3.85211896e-03 -3.01119621e+02] [ 5.32092278e-03 -2.37383299e-05 9.99985844e-01 -5.90994655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.386559995 meters 0.050418034650254066 Centerline is valid? [True, True] Translation: X:538.48, Y:-301.08, Z:-5.91 [[-6.95328136e-01 -7.18686312e-01 2.96104656e-03 5.38476584e+02] [ 7.18679599e-01 -6.95334440e-01 -3.10644957e-03 -3.01079576e+02] [ 4.29148043e-03 -3.19580320e-05 9.99990791e-01 -5.91007225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4465599950001 meters 0.049412403567615594 Centerline is valid? [True, True] Translation: X:538.44, Y:-301.04, Z:-5.91 [[-6.94456741e-01 -7.19529786e-01 2.59269278e-03 5.38438842e+02] [ 7.19524649e-01 -6.94461581e-01 -2.71900402e-03 -3.01040392e+02] [ 3.75692990e-03 -2.27243118e-05 9.99992942e-01 -5.90976650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.506559995 meters 0.049231100523193835 Centerline is valid? [True, True] Translation: X:538.40, Y:-301.00, Z:-5.91 [[-6.89786503e-01 -7.24008257e-01 2.57370808e-03 5.38395336e+02] [ 7.24003230e-01 -6.89791304e-01 -2.69821465e-03 -3.01004823e+02] [ 3.72885114e-03 2.18091208e-06 9.99993048e-01 -5.91137557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.566559995 meters 0.04930215090623633 Centerline is valid? [True, True] Translation: X:538.35, Y:-300.97, Z:-5.91 [[-6.83640311e-01 -7.29814862e-01 2.48845692e-03 5.38350330e+02] [ 7.29810202e-01 -6.83644839e-01 -2.60815685e-03 -3.00967689e+02] [ 3.60469236e-03 3.30600931e-05 9.99993503e-01 -5.91223336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.626559995 meters 0.04954961565783986 Centerline is valid? [True, True] Translation: X:538.31, Y:-300.93, Z:-5.91 [[-6.80786438e-01 -7.32478520e-01 2.24570195e-03 5.38308857e+02] [ 7.32474742e-01 -6.80790141e-01 -2.35307362e-03 -3.00927943e+02] [ 3.25242763e-03 4.29793513e-05 9.99994710e-01 -5.91196539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6865599950002 meters 0.04966507276248364 Centerline is valid? [True, True] Translation: X:538.27, Y:-300.89, Z:-5.91 [[-6.78754674e-01 -7.34364624e-01 8.32039076e-04 5.38265174e+02] [ 7.34364107e-01 -6.78755183e-01 -8.71581515e-04 -3.00890409e+02] [ 1.20480947e-03 1.94296054e-05 9.99999274e-01 -5.91030027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.746559995 meters 0.04975383640386174 Centerline is valid? [True, True] Translation: X:538.23, Y:-300.85, Z:-5.91 [[-6.77928480e-01 -7.35127768e-01 -3.73562738e-04 5.38226240e+02] [ 7.35127664e-01 -6.77928583e-01 3.91203947e-04 -3.00849080e+02] [-5.40833743e-04 -9.40800627e-06 9.99999854e-01 -5.90954574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.806559995 meters 0.04904942329229976 Centerline is valid? [True, True] Translation: X:538.19, Y:-300.81, Z:-5.91 [[-6.76900210e-01 -7.36074637e-01 -4.83967278e-04 5.38186372e+02] [ 7.36074463e-01 -6.76900383e-01 5.06691600e-04 -3.00806889e+02] [-7.00560471e-04 -1.32563035e-05 9.99999755e-01 -5.91004848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.866559995 meters 0.04981603086886302 Centerline is valid? [True, True] Translation: X:538.14, Y:-300.77, Z:-5.91 [[-6.76478763e-01 -7.36461795e-01 7.12924258e-04 5.38144971e+02] [ 7.36461417e-01 -6.76479138e-01 -7.46191477e-04 -3.00767972e+02] [ 1.03181990e-03 2.02585220e-05 9.99999467e-01 -5.91190442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9265599950002 meters 0.04983136205655557 Centerline is valid? [True, True] Translation: X:538.11, Y:-300.73, Z:-5.91 [[-6.77771869e-01 -7.35265981e-01 3.03816804e-03 5.38106231e+02] [ 7.35259113e-01 -6.77778674e-01 -3.17906439e-03 -3.00725995e+02] [ 4.39666341e-03 7.91603237e-05 9.99990332e-01 -5.91472980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.986559995 meters 0.04943059036947823 Centerline is valid? [True, True] Translation: X:538.07, Y:-300.68, Z:-5.91 [[-6.79518249e-01 -7.33647915e-01 3.96056105e-03 5.38069667e+02] [ 7.33636222e-01 -6.79529785e-01 -4.14316108e-03 -3.00680275e+02] [ 5.73094069e-03 9.02574868e-05 9.99983574e-01 -5.91464726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.046559995 meters 0.0490485829623028 Centerline is valid? [True, True] Translation: X:538.03, Y:-300.63, Z:-5.91 [[-6.83337055e-01 -7.30088004e-01 4.68783773e-03 5.38032624e+02] [ 7.30071545e-01 -6.83353131e-01 -4.90283299e-03 -3.00634553e+02] [ 6.78294814e-03 7.21694743e-05 9.99976993e-01 -5.91423955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.106559995 meters 0.04914353959557172 Centerline is valid? [True, True] Translation: X:538.00, Y:-300.59, Z:-5.91 [[-6.90720620e-01 -7.23108164e-01 4.42817989e-03 5.37998217e+02] [ 7.23093340e-01 -6.90734814e-01 -4.63008986e-03 -3.00589257e+02] [ 6.40675379e-03 3.88884794e-06 9.99979477e-01 -5.91366279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.166559995 meters 0.04962295398498931 Centerline is valid? [True, True] Translation: X:537.96, Y:-300.54, Z:-5.91 [[-6.96844191e-01 -7.17209202e-01 4.37425880e-03 5.37963304e+02] [ 7.17194628e-01 -6.96857918e-01 -4.57241962e-03 -3.00543787e+02] [ 6.32761830e-03 -4.90691380e-05 9.99979979e-01 -5.91466615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2265599950001 meters 0.04961537673540879 Centerline is valid? [True, True] Translation: X:537.93, Y:-300.50, Z:-5.91 [[-7.05294942e-01 -7.08897547e-01 4.82828957e-03 5.37925161e+02] [ 7.08879603e-01 -7.05311455e-01 -5.04577222e-03 -3.00500797e+02] [ 6.98238350e-03 -1.36081628e-04 9.99975614e-01 -5.91285477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.286559995 meters 0.050179772030726356 Centerline is valid? [True, True] Translation: X:537.89, Y:-300.45, Z:-5.91 [[-7.09577495e-01 -7.04611742e-01 4.69799012e-03 5.37891557e+02] [ 7.04594663e-01 -7.09593026e-01 -4.90906788e-03 -3.00454268e+02] [ 6.79264790e-03 -1.73185325e-04 9.99976915e-01 -5.91433535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.346559995 meters 0.05050377805868608 Centerline is valid? [True, True] Translation: X:537.85, Y:-300.42, Z:-5.92 [[-7.06778623e-01 -7.07419498e-01 4.65094956e-03 5.37849214e+02] [ 7.07402829e-01 -7.06793911e-01 -4.85850186e-03 -3.00416037e+02] [ 6.72426178e-03 -1.43790384e-04 9.99977382e-01 -5.91506616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.406559995 meters 0.05024317164693658 Centerline is valid? [True, True] Translation: X:537.80, Y:-300.38, Z:-5.91 [[-7.05128945e-01 -7.09062731e-01 4.81818112e-03 5.37803031e+02] [ 7.09044888e-01 -7.05145394e-01 -5.03189282e-03 -3.00379604e+02] [ 6.96544589e-03 -1.31826577e-04 9.99975732e-01 -5.91257376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4665599950001 meters 0.05038831755928999 Centerline is valid? [True, True] Translation: X:537.77, Y:-300.34, Z:-5.92 [[-6.98584774e-01 -7.15509784e-01 5.00623076e-03 5.37765325e+02] [ 7.15490698e-01 -6.98602708e-01 -5.22668577e-03 -3.00337621e+02] [ 7.23711117e-03 -6.93715541e-05 9.99973809e-01 -5.91667654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.526559995 meters 0.049931603727596245 Centerline is valid? [True, True] Translation: X:537.72, Y:-300.30, Z:-5.92 [[-6.92055828e-01 -7.21828133e-01 4.78300752e-03 5.37719226e+02] [ 7.21810870e-01 -6.92072356e-01 -4.99213234e-03 -3.00302718e+02] [ 6.91364886e-03 -2.40746184e-06 9.99976100e-01 -5.91538748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.586559995 meters 0.04914968735545374 Centerline is valid? [True, True] Translation: X:537.68, Y:-300.26, Z:-5.91 [[-6.86983882e-01 -7.26658635e-01 4.51368774e-03 5.37675410e+02] [ 7.26643374e-01 -6.86998709e-01 -4.70964383e-03 -3.00264994e+02] [ 6.52320101e-03 4.43918828e-05 9.99978723e-01 -5.91472403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.646559995 meters 0.04905679214552806 Centerline is valid? [True, True] Translation: X:537.63, Y:-300.22, Z:-5.91 [[-6.84076564e-01 -7.29396461e-01 4.47851994e-03 5.37634179e+02] [ 7.29381503e-01 -6.84091220e-01 -4.67175849e-03 -3.00223022e+02] [ 6.47128028e-03 7.07091129e-05 9.99979059e-01 -5.91328200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7065599950001 meters 0.04928250056641992 Centerline is valid? [True, True] Translation: X:537.59, Y:-300.19, Z:-5.91 [[-6.80528102e-01 -7.32708126e-01 4.50593051e-03 5.37591713e+02] [ 7.32693063e-01 -6.80543012e-01 -4.69941564e-03 -3.00185235e+02] [ 6.50977955e-03 1.03379620e-04 9.99978806e-01 -5.91407456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.766559995 meters 0.04919015008855831 Centerline is valid? [True, True] Translation: X:537.55, Y:-300.15, Z:-5.91 [[-6.78342687e-01 -7.34734050e-01 4.13222023e-03 5.37549318e+02] [ 7.34721426e-01 -6.78355264e-01 -4.30850359e-03 -3.00145776e+02] [ 5.96871763e-03 1.13388835e-04 9.99982181e-01 -5.91420462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.826559995 meters 0.04874210643431851 Centerline is valid? [True, True] Translation: X:537.51, Y:-300.10, Z:-5.91 [[-6.78181273e-01 -7.34885235e-01 3.72195326e-03 5.37508597e+02] [ 7.34875001e-01 -6.78191478e-01 -3.87970285e-03 -3.00103929e+02] [ 5.37533332e-03 1.04028588e-04 9.99985547e-01 -5.91403868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.886559995 meters 0.04866859472787117 Centerline is valid? [True, True] Translation: X:537.47, Y:-300.06, Z:-5.92 [[-6.78302804e-01 -7.34770583e-01 4.18287996e-03 5.37467508e+02] [ 7.34757663e-01 -6.78315691e-01 -4.35894760e-03 -3.00064133e+02] [ 6.04013958e-03 1.16716719e-04 9.99981751e-01 -5.91556299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9465599950001 meters 0.04916313496928551 Centerline is valid? [True, True] Translation: X:537.43, Y:-300.02, Z:-5.92 [[-6.76792506e-01 -7.36145741e-01 6.43059585e-03 5.37427264e+02] [ 7.36115283e-01 -6.76823026e-01 -6.69941052e-03 -3.00023098e+02] [ 9.28411786e-03 1.99549043e-04 9.99956882e-01 -5.91788505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.006559995 meters 0.04977907154219461 Centerline is valid? [True, True] Translation: X:537.39, Y:-299.98, Z:-5.92 [[-6.74627589e-01 -7.38103337e-01 9.00446207e-03 5.37386606e+02] [ 7.38043826e-01 -6.74687604e-01 -9.37808834e-03 -2.99984600e+02] [ 1.29971972e-02 3.18970510e-04 9.99915482e-01 -5.92161974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.066559995 meters 0.049509759302127414 Centerline is valid? [True, True] Translation: X:537.35, Y:-299.94, Z:-5.92 [[-6.74565477e-01 -7.38153445e-01 9.53458504e-03 5.37349057e+02] [ 7.38086764e-01 -6.74632771e-01 -9.92744330e-03 -2.99941217e+02] [ 1.37603200e-02 3.40640487e-04 9.99905264e-01 -5.92151352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.126559995 meters 0.049482687119976845 Centerline is valid? [True, True] Translation: X:537.32, Y:-299.90, Z:-5.92 [[-6.78156960e-01 -7.34863444e-01 8.88011701e-03 5.37315398e+02] [ 7.34805355e-01 -6.78215049e-01 -9.24322363e-03 -2.99895762e+02] [ 1.28151361e-02 2.56801093e-04 9.99917850e-01 -5.91992674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1865599950002 meters 0.049600128009537205 Centerline is valid? [True, True] Translation: X:537.28, Y:-299.85, Z:-5.92 [[-6.82916452e-01 -7.30457474e-01 7.54973341e-03 5.37282052e+02] [ 7.30415232e-01 -6.82958166e-01 -7.85702393e-03 -2.99848096e+02] [ 1.08953739e-02 1.48749371e-04 9.99940633e-01 -5.91660334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.246559995 meters 0.049848138522678324 Centerline is valid? [True, True] Translation: X:537.25, Y:-299.80, Z:-5.92 [[-6.92075524e-01 -7.21802440e-01 5.71902672e-03 5.37250437e+02] [ 7.21777916e-01 -6.92099153e-01 -5.95000780e-03 -2.99800968e+02] [ 8.25286370e-03 1.00124200e-05 9.99965945e-01 -5.91970342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.306559995 meters 0.04928534802198635 Centerline is valid? [True, True] Translation: X:537.22, Y:-299.75, Z:-5.91 [[-7.00431970e-01 -7.13707674e-01 4.05099667e-03 5.37217805e+02] [ 7.13695240e-01 -7.00443682e-01 -4.21334810e-03 -2.99753646e+02] [ 5.84459390e-03 -5.99866709e-05 9.99982918e-01 -5.91327548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.366559995 meters 0.04999675206293382 Centerline is valid? [True, True] Translation: X:537.18, Y:-299.72, Z:-5.91 [[-7.04095907e-01 -7.10087980e-01 4.90041824e-03 5.37175025e+02] [ 7.10069707e-01 -7.04112952e-01 -5.09530715e-03 -2.99715090e+02] [ 7.06856431e-03 -1.07946363e-04 9.99975012e-01 -5.91005711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4265599950002 meters 0.05000584102042828 Centerline is valid? [True, True] Translation: X:537.14, Y:-299.67, Z:-5.91 [[-7.05212289e-01 -7.08969385e-01 6.16751483e-03 5.37135703e+02] [ 7.08940403e-01 -7.05239242e-01 -6.41212233e-03 -2.99672740e+02] [ 8.89557191e-03 -1.49507019e-04 9.99960422e-01 -5.91098120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.486559995 meters 0.049740547750186215 Centerline is valid? [True, True] Translation: X:537.10, Y:-299.63, Z:-5.91 [[-7.06325093e-01 -7.07856816e-01 6.60229398e-03 5.37096523e+02] [ 7.07823571e-01 -7.06355928e-01 -6.86256660e-03 -2.99629049e+02] [ 9.52128403e-03 -1.73943694e-04 9.99954656e-01 -5.91318742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.546559995 meters 0.051202586359479 Centerline is valid? [True, True] Translation: X:537.06, Y:-299.59, Z:-5.91 [[-7.07443631e-01 -7.06745009e-01 5.91611430e-03 5.37055551e+02] [ 7.06718285e-01 -7.07468348e-01 -6.14829142e-03 -2.99587436e+02] [ 8.53073789e-03 -1.68543457e-04 9.99963598e-01 -5.91457084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.606559995 meters 0.05109550583974831 Centerline is valid? [True, True] Translation: X:537.01, Y:-299.55, Z:-5.91 [[-7.07527840e-01 -7.06667493e-01 5.04080623e-03 5.37013779e+02] [ 7.06648101e-01 -7.07545782e-01 -5.23720245e-03 -2.99551173e+02] [ 7.26756191e-03 -1.43390384e-04 9.99973581e-01 -5.91236775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.666559995 meters 0.050586084731337376 Centerline is valid? [True, True] Translation: X:536.97, Y:-299.51, Z:-5.91 [[-7.06062886e-01 -7.08139831e-01 3.63046985e-03 5.36972862e+02] [ 7.08129797e-01 -7.06072214e-01 -3.77083614e-03 -2.99511756e+02] [ 5.23365315e-03 -9.16035714e-05 9.99986300e-01 -5.91158956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7265599950001 meters 0.05020223182501517 Centerline is valid? [True, True] Translation: X:536.93, Y:-299.48, Z:-5.91 [[-7.05065423e-01 -7.09134334e-01 3.35345681e-03 5.36928868e+02] [ 7.09125790e-01 -7.05073393e-01 -3.48201921e-03 -2.99475768e+02] [ 4.83365255e-03 -7.70286410e-05 9.99988315e-01 -5.91007965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.786559995 meters 0.05015670484606082 Centerline is valid? [True, True] Translation: X:536.89, Y:-299.44, Z:-5.91 [[-7.02404947e-01 -7.11771931e-01 2.83018329e-03 5.36889429e+02] [ 7.11765869e-01 -7.02410647e-01 -2.93785230e-03 -2.99435161e+02] [ 4.07903168e-03 -4.91341173e-05 9.99991680e-01 -5.91228307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.846559995 meters 0.04966173946439966 Centerline is valid? [True, True] Translation: X:536.84, Y:-299.40, Z:-5.91 [[-6.96678802e-01 -7.17377771e-01 2.78940210e-03 5.36842005e+02] [ 7.17371931e-01 -6.96684386e-01 -2.89469372e-03 -2.99401408e+02] [ 4.01992181e-03 -1.56329810e-05 9.99991920e-01 -5.91219844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.906559995 meters 0.04993655947922867 Centerline is valid? [True, True] Translation: X:536.80, Y:-299.37, Z:-5.91 [[-6.90224737e-01 -7.23588455e-01 3.09193779e-03 5.36795943e+02] [ 7.23581346e-01 -6.90231662e-01 -3.20765411e-03 -2.99366702e+02] [ 4.45517484e-03 2.32662985e-05 9.99990075e-01 -5.91221340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9665599950001 meters 0.05025057703968952 Centerline is valid? [True, True] Translation: X:536.75, Y:-299.33, Z:-5.91 [[-6.86362477e-01 -7.27251748e-01 3.38312058e-03 5.36751489e+02] [ 7.27243284e-01 -6.86370813e-01 -3.50896100e-03 -2.99330805e+02] [ 4.87397324e-03 5.19325578e-05 9.99988121e-01 -5.91391551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.026559995 meters 0.049961106629772004 Centerline is valid? [True, True] Translation: X:536.71, Y:-299.29, Z:-5.91 [[-6.82844137e-01 -7.30555651e-01 3.51065322e-03 5.36709212e+02] [ 7.30546586e-01 -6.82853157e-01 -3.64030030e-03 -2.99290748e+02] [ 5.05670259e-03 7.89380066e-05 9.99987212e-01 -5.91280686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.086559995 meters 0.05081252640240297 Centerline is valid? [True, True] Translation: X:536.66, Y:-299.26, Z:-5.91 [[-6.80858970e-01 -7.32406733e-01 3.38234085e-03 5.36663495e+02] [ 7.32398343e-01 -6.80867365e-01 -3.50681608e-03 -2.99255792e+02] [ 4.87134121e-03 8.95736468e-05 9.99988131e-01 -5.91396260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.146559995 meters 0.050682129442815596 Centerline is valid? [True, True] Translation: X:536.63, Y:-299.21, Z:-5.91 [[-6.79560570e-01 -7.33610099e-01 3.69516913e-03 5.36625136e+02] [ 7.33600108e-01 -6.79570608e-01 -3.83016239e-03 -2.99211832e+02] [ 5.32097414e-03 1.07949138e-04 9.99985838e-01 -5.91312924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2065599950001 meters 0.05074302469015414 Centerline is valid? [True, True] Translation: X:536.58, Y:-299.17, Z:-5.92 [[-6.77360435e-01 -7.35630166e-01 5.57670134e-03 5.36582978e+02] [ 7.35607492e-01 -6.77383365e-01 -5.77880544e-03 -2.99174534e+02] [ 8.02862833e-03 1.87929112e-04 9.99967752e-01 -5.91582000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.266559995 meters 0.05081953071652721 Centerline is valid? [True, True] Translation: X:536.54, Y:-299.13, Z:-5.92 [[-6.76970193e-01 -7.35979756e-01 6.71987667e-03 5.36543148e+02] [ 7.35946867e-01 -6.77003504e-01 -6.96163120e-03 -2.99132333e+02] [ 9.67299968e-03 2.32655366e-04 9.99953188e-01 -5.91597755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.326559995 meters 0.050709523238039914 Centerline is valid? [True, True] Translation: X:536.50, Y:-299.09, Z:-5.91 [[-6.79533547e-01 -7.33616569e-01 6.39437231e-03 5.36504832e+02] [ 7.33586701e-01 -6.79563605e-01 -6.62260192e-03 -2.99089368e+02] [ 9.20383320e-03 1.90546307e-04 9.99957626e-01 -5.91464851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.386559995 meters 0.050568261787476136 Centerline is valid? [True, True] Translation: X:536.47, Y:-299.05, Z:-5.91 [[-6.83275759e-01 -7.30136612e-01 5.89614644e-03 5.36467146e+02] [ 7.30111100e-01 -6.83301185e-01 -6.10506334e-03 -2.99045408e+02] [ 8.48637412e-03 1.33400177e-04 9.99963981e-01 -5.91308804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4465599950001 meters 0.05078945297354775 Centerline is valid? [True, True] Translation: X:536.43, Y:-299.00, Z:-5.91 [[-6.91210938e-01 -7.22627648e-01 6.05984001e-03 5.36431060e+02] [ 7.22600422e-01 -6.91237499e-01 -6.27291237e-03 -2.98999636e+02] [ 8.72176857e-03 4.29373106e-05 9.99961964e-01 -5.91333731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.506559995 meters 0.050667567012918725 Centerline is valid? [True, True] Translation: X:536.40, Y:-298.96, Z:-5.92 [[-6.97236342e-01 -7.16811112e-01 6.58127260e-03 5.36395965e+02] [ 7.16778758e-01 -6.97267401e-01 -6.81051095e-03 -2.98955883e+02] [ 9.47075676e-03 -3.12193397e-05 9.99955151e-01 -5.91526536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.566559995 meters 0.05147272859760163 Centerline is valid? [True, True] Translation: X:536.36, Y:-298.91, Z:-5.91 [[-7.05033266e-01 -7.09138949e-01 7.07424593e-03 5.36358396e+02] [ 7.09101197e-01 -7.05068742e-01 -7.31863022e-03 -2.98911738e+02] [ 1.01777554e-02 -1.43521515e-04 9.99948195e-01 -5.91087640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.626559995 meters 0.051302409370872375 Centerline is valid? [True, True] Translation: X:536.32, Y:-298.87, Z:-5.91 [[-7.10494075e-01 -7.03669357e-01 6.89967573e-03 5.36322453e+02] [ 7.03633193e-01 -7.10527543e-01 -7.13719322e-03 -2.98865381e+02] [ 9.92463381e-03 -2.16092630e-04 9.99950726e-01 -5.91174689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6865599950002 meters 0.052039441664516135 Centerline is valid? [True, True] Translation: X:536.29, Y:-298.82, Z:-5.91 [[-7.13377072e-01 -7.00752454e-01 6.25707931e-03 5.36286383e+02] [ 7.00722614e-01 -7.13404474e-01 -6.47101477e-03 -2.98820322e+02] [ 8.99840786e-03 -2.31796598e-04 9.99959487e-01 -5.91211915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.746559995 meters 0.05167742679891253 Centerline is valid? [True, True] Translation: X:536.25, Y:-298.78, Z:-5.91 [[-7.13588815e-01 -7.00540590e-01 5.82107039e-03 5.36246996e+02] [ 7.00514770e-01 -7.13612524e-01 -6.01852389e-03 -2.98778366e+02] [ 8.37020900e-03 -2.17005544e-04 9.99964946e-01 -5.91166901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.806559995 meters 0.0513046835975543 Centerline is valid? [True, True] Translation: X:536.20, Y:-298.74, Z:-5.91 [[-7.10962382e-01 -7.03206777e-01 5.72022959e-03 5.36200556e+02] [ 7.03181934e-01 -7.10985370e-01 -5.91362141e-03 -2.98740745e+02] [ 8.22549820e-03 -1.82000252e-04 9.99966153e-01 -5.90906158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.866559995 meters 0.050831564858550934 Centerline is valid? [True, True] Translation: X:536.17, Y:-298.70, Z:-5.91 [[-7.07844153e-01 -7.06348023e-01 5.39686739e-03 5.36165145e+02] [ 7.06326014e-01 -7.07864713e-01 -5.57762291e-03 -2.98697175e+02] [ 7.75999489e-03 -1.36139931e-04 9.99969882e-01 -5.91160872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9265599950002 meters 0.05087620432422197 Centerline is valid? [True, True] Translation: X:536.12, Y:-298.66, Z:-5.91 [[-7.01478183e-01 -7.12675252e-01 4.72703428e-03 5.36123327e+02] [ 7.12658520e-01 -7.01494107e-01 -4.88386209e-03 -2.98659971e+02] [ 6.79659434e-03 -5.71614489e-05 9.99976901e-01 -5.91226084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.986559995 meters 0.050554031630664076 Centerline is valid? [True, True] Translation: X:536.08, Y:-298.62, Z:-5.91 [[-6.95561804e-01 -7.18446518e-01 5.32706450e-03 5.36078053e+02] [ 7.18425449e-01 -6.95582203e-01 -5.50217430e-03 -2.98623880e+02] [ 7.65842922e-03 -3.57955947e-09 9.99970674e-01 -5.91136611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.046559995 meters 0.050136436546501684 Centerline is valid? [True, True] Translation: X:536.03, Y:-298.59, Z:-5.91 [[-6.90460945e-01 -7.23349678e-01 5.37846347e-03 5.36033570e+02] [ 7.23328358e-01 -6.90481890e-01 -5.55391910e-03 -2.98589528e+02] [ 7.73115721e-03 5.56309185e-05 9.99970113e-01 -5.91308452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.106559995 meters 0.050999696372751036 Centerline is valid? [True, True] Translation: X:535.99, Y:-298.55, Z:-5.91 [[-6.86957124e-01 -7.26677584e-01 5.44048252e-03 5.35991068e+02] [ 7.26655885e-01 -6.86978660e-01 -5.61647643e-03 -2.98552670e+02] [ 7.81886292e-03 9.50801497e-05 9.99969428e-01 -5.91315824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.166559995 meters 0.05046457986250494 Centerline is valid? [True, True] Translation: X:535.95, Y:-298.51, Z:-5.91 [[-6.85459328e-01 -7.28086436e-01 5.97084157e-03 5.35953179e+02] [ 7.28060369e-01 -6.85485322e-01 -6.16224029e-03 -2.98509281e+02] [ 8.57956782e-03 1.23168023e-04 9.99963187e-01 -5.91083953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2265599950001 meters 0.050630367599779784 Centerline is valid? [True, True] Translation: X:535.91, Y:-298.47, Z:-5.91 [[-6.84269950e-01 -7.29198169e-01 6.68317277e-03 5.35912307e+02] [ 7.29165582e-01 -6.84302569e-01 -6.89546951e-03 -2.98469771e+02] [ 9.60147604e-03 1.54776982e-04 9.99953893e-01 -5.91182108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.286559995 meters 0.050462321763522215 Centerline is valid? [True, True] Translation: X:535.87, Y:-298.43, Z:-5.91 [[-6.84228924e-01 -7.29237667e-01 6.57304495e-03 5.35871905e+02] [ 7.29206161e-01 -6.84260478e-01 -6.78031214e-03 -2.98431238e+02] [ 9.44213388e-03 1.53819191e-04 9.99955410e-01 -5.91328015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.346559995 meters 0.050312419725568755 Centerline is valid? [True, True] Translation: X:535.83, Y:-298.39, Z:-5.91 [[-6.84075602e-01 -7.29377855e-01 6.96530752e-03 5.35834599e+02] [ 7.29342503e-01 -6.84111041e-01 -7.18306720e-03 -2.98386840e+02] [ 1.00042139e-02 1.66333806e-04 9.99949943e-01 -5.91127722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.406559995 meters 0.05099764462953175 Centerline is valid? [True, True] Translation: X:535.80, Y:-298.35, Z:-5.91 [[-6.83071662e-01 -7.30314265e-01 7.36067339e-03 5.35796036e+02] [ 7.30274856e-01 -6.83111293e-01 -7.58918496e-03 -2.98345479e+02] [ 1.05706492e-02 1.91357521e-04 9.99944111e-01 -5.91228772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4665599950001 meters 0.05065392601879323 Centerline is valid? [True, True] Translation: X:535.76, Y:-298.30, Z:-5.91 [[-6.81639888e-01 -7.31636928e-01 8.62956398e-03 5.35757366e+02] [ 7.31582897e-01 -6.81694465e-01 -8.89500319e-03 -2.98303121e+02] [ 1.23906388e-02 2.50052444e-04 9.99923202e-01 -5.91296217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.526559995 meters 0.049861637792021185 Centerline is valid? [True, True] Translation: X:535.72, Y:-298.26, Z:-5.91 [[-6.80572241e-01 -7.32631984e-01 8.47355866e-03 5.35720221e+02] [ 7.32579993e-01 -6.80624938e-01 -8.73194752e-03 -2.98258558e+02] [ 1.21646194e-02 2.64838450e-04 9.99925973e-01 -5.91171557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.586559995 meters 0.05021714525557647 Centerline is valid? [True, True] Translation: X:535.68, Y:-298.22, Z:-5.91 [[-6.80252016e-01 -7.32931404e-01 8.29165863e-03 5.35681009e+02] [ 7.32881670e-01 -6.80302497e-01 -8.54231730e-03 -2.98216234e+02] [ 1.19017687e-02 2.65876050e-04 9.99929136e-01 -5.91121362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.646559995 meters 0.05026081993399133 Centerline is valid? [True, True] Translation: X:535.64, Y:-298.17, Z:-5.91 [[-6.80125672e-01 -7.33060462e-01 7.17142901e-03 5.35644432e+02] [ 7.33023286e-01 -6.80163439e-01 -7.38629719e-03 -2.98171477e+02] [ 1.02923463e-02 2.33214126e-04 9.99947005e-01 -5.90984571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7065599950001 meters 0.05003429987105094 Centerline is valid? [True, True] Translation: X:535.61, Y:-298.13, Z:-5.91 [[-6.82052758e-01 -7.31272852e-01 6.63713528e-03 5.35605999e+02] [ 7.31240934e-01 -6.82085024e-01 -6.83497029e-03 -2.98129621e+02] [ 9.52531879e-03 1.91534660e-04 9.99954615e-01 -5.91188131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.766559995 meters 0.049677090412957765 Centerline is valid? [True, True] Translation: X:535.57, Y:-298.08, Z:-5.91 [[-6.83982223e-01 -7.29466293e-01 6.87348371e-03 5.35570950e+02] [ 7.29431989e-01 -6.84016737e-01 -7.07651034e-03 -2.98082910e+02] [ 9.86365366e-03 1.73531616e-04 9.99951338e-01 -5.91068345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.826559995 meters 0.04941299131826319 Centerline is valid? [True, True] Translation: X:535.53, Y:-298.04, Z:-5.91 [[-6.83881978e-01 -7.29541424e-01 8.64584377e-03 5.35532378e+02] [ 7.29487183e-01 -6.83936592e-01 -8.89879382e-03 -2.98039991e+02] [ 1.24052476e-02 2.21307499e-04 9.99923027e-01 -5.91160349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.886559995 meters 0.04948616750232482 Centerline is valid? [True, True] Translation: X:535.49, Y:-298.00, Z:-5.91 [[-6.82835063e-01 -7.30511509e-01 9.44524137e-03 5.35494510e+02] [ 7.30446898e-01 -6.82900334e-01 -9.71921392e-03 -2.97995216e+02] [ 1.35501561e-02 2.62627202e-04 9.99908158e-01 -5.91093746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9465599950001 meters 0.04930323554136631 Centerline is valid? [True, True] Translation: X:535.46, Y:-297.95, Z:-5.91 [[-6.83610732e-01 -7.29793978e-01 8.78165983e-03 5.35456728e+02] [ 7.29738096e-01 -6.83667094e-01 -9.03414948e-03 -2.97952870e+02] [ 1.25967997e-02 2.32470191e-04 9.99920630e-01 -5.91073465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.006559995 meters 0.048679699790594264 Centerline is valid? [True, True] Translation: X:535.42, Y:-297.91, Z:-5.91 [[-6.86949803e-01 -7.26657765e-01 8.27409086e-03 5.35419966e+02] [ 7.26607954e-01 -6.86999610e-01 -8.50976755e-03 -2.97907272e+02] [ 1.18679859e-02 1.66237086e-04 9.99929559e-01 -5.91002731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.066559995 meters 0.04930885230577642 Centerline is valid? [True, True] Translation: X:535.38, Y:-297.86, Z:-5.91 [[-6.90024685e-01 -7.23739001e-01 8.23359847e-03 5.35382185e+02] [ 7.23689495e-01 -6.90073796e-01 -8.46583357e-03 -2.97863416e+02] [ 1.18088445e-02 1.16934583e-04 9.99930266e-01 -5.91018111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.126559995 meters 0.04903365078876551 Centerline is valid? [True, True] Translation: X:535.35, Y:-297.82, Z:-5.91 [[-6.93192310e-01 -7.20709662e-01 7.87426974e-03 5.35345263e+02] [ 7.20664211e-01 -6.93237029e-01 -8.09420774e-03 -2.97818477e+02] [ 1.12923091e-02 6.38618283e-05 9.99936238e-01 -5.90977824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1865599950002 meters 0.04930422630186091 Centerline is valid? [True, True] Translation: X:535.31, Y:-297.78, Z:-5.91 [[-6.93768333e-01 -7.20164681e-01 6.95213804e-03 5.35305954e+02] [ 7.20129244e-01 -6.93803164e-01 -7.14441730e-03 -2.97775368e+02] [ 9.96857237e-03 4.98674295e-05 9.99950311e-01 -5.90869578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.246559995 meters 0.048908175138341635 Centerline is valid? [True, True] Translation: X:535.27, Y:-297.73, Z:-5.91 [[-6.92881262e-01 -7.21021542e-01 6.59497993e-03 5.35265990e+02] [ 7.20989708e-01 -6.92912645e-01 -6.77557339e-03 -2.97733405e+02] [ 9.45507935e-03 6.02448116e-05 9.99955298e-01 -5.90827978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.306559995 meters 0.04842362888126682 Centerline is valid? [True, True] Translation: X:535.23, Y:-297.69, Z:-5.91 [[-6.91158215e-01 -7.22675987e-01 6.30398987e-03 5.35225586e+02] [ 7.22646985e-01 -6.91186958e-01 -6.47479717e-03 -2.97693581e+02] [ 9.03641602e-03 8.04500261e-05 9.99959168e-01 -5.90829614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.366559995 meters 0.04956814325003559 Centerline is valid? [True, True] Translation: X:535.18, Y:-297.66, Z:-5.91 [[-6.89923206e-01 -7.23858612e-01 5.88891485e-03 5.35181731e+02] [ 7.23833357e-01 -6.89948332e-01 -6.04731785e-03 -2.97657274e+02] [ 8.44045009e-03 9.04080831e-05 9.99964375e-01 -5.91178770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4265599950002 meters 0.04892257371574658 Centerline is valid? [True, True] Translation: X:535.14, Y:-297.62, Z:-5.91 [[-6.88617414e-01 -7.25102533e-01 5.68981546e-03 5.35142125e+02] [ 7.25079012e-01 -6.88640912e-01 -5.84123490e-03 -2.97616442e+02] [ 8.15373393e-03 1.03189697e-04 9.99966752e-01 -5.90963788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.486559995 meters 0.04895605746768369 Centerline is valid? [True, True] Translation: X:535.11, Y:-297.57, Z:-5.90 [[-6.86784755e-01 -7.26833951e-01 6.25364451e-03 5.35108164e+02] [ 7.26805624e-01 -6.86813213e-01 -6.41838646e-03 -2.97568419e+02] [ 8.96018687e-03 1.37134025e-04 9.99959847e-01 -5.90365430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.546559995 meters 0.049404907529742755 Centerline is valid? [True, True] Translation: X:535.06, Y:-297.54, Z:-5.91 [[-6.85383168e-01 -7.28122487e-01 9.35714663e-03 5.35059797e+02] [ 7.28059221e-01 -6.85447000e-01 -9.60110878e-03 -2.97535737e+02] [ 1.34046113e-02 2.32118538e-04 9.99910127e-01 -5.91320640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.606559995 meters 0.0491126600752235 Centerline is valid? [True, True] Translation: X:535.02, Y:-297.49, Z:-5.91 [[-6.85842633e-01 -7.27677244e-01 1.02816197e-02 5.35020375e+02] [ 7.27600847e-01 -6.85919651e-01 -1.05470048e-02 -2.97492624e+02] [ 1.47271804e-02 2.47329638e-04 9.99891519e-01 -5.91289891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.666559995 meters 0.0491126600752235 Centerline is valid? [True, True] Translation: X:534.98, Y:-297.45, Z:-5.91 [[-6.85946655e-01 -7.27579167e-01 1.02831277e-02 5.34980797e+02] [ 7.27502782e-01 -6.86023684e-01 -1.05455346e-02 -2.97452003e+02] [ 1.47271804e-02 2.47329832e-04 9.99891519e-01 -5.91289960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7265599950001 meters 0.048477073032294184 Centerline is valid? [True, True] Translation: X:534.94, Y:-297.41, Z:-5.91 [[-6.86385343e-01 -7.27167738e-01 1.01114147e-02 5.34941609e+02] [ 7.27093877e-01 -6.86459776e-01 -1.03667397e-02 -2.97409300e+02] [ 1.44794382e-02 2.36369515e-04 9.99895140e-01 -5.91163519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.786559995 meters 0.04947350776663928 Centerline is valid? [True, True] Translation: X:534.90, Y:-297.37, Z:-5.91 [[-6.88068864e-01 -7.25581793e-01 9.60735983e-03 5.34901717e+02] [ 7.25514989e-01 -6.88135906e-01 -9.84761867e-03 -2.97368482e+02] [ 1.37564221e-02 1.94443777e-04 9.99905357e-01 -5.91233951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.846559995 meters 0.048673936070249425 Centerline is valid? [True, True] Translation: X:534.86, Y:-297.32, Z:-5.91 [[-6.90869279e-01 -7.22919929e-01 9.29599940e-03 5.34863511e+02] [ 7.22857176e-01 -6.90931804e-01 -9.52609739e-03 -2.97323813e+02] [ 1.33095073e-02 1.38391835e-04 9.99911415e-01 -5.90936155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.906559995 meters 0.0495316578873199 Centerline is valid? [True, True] Translation: X:534.83, Y:-297.28, Z:-5.91 [[-6.96072989e-01 -7.17909743e-01 9.38061455e-03 5.34825006e+02] [ 7.17845418e-01 -6.96136193e-01 -9.61020391e-03 -2.97281518e+02] [ 1.34294443e-02 4.44278180e-05 9.99909820e-01 -5.91294613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9665599950001 meters 0.04854697953668358 Centerline is valid? [True, True] Translation: X:534.79, Y:-297.24, Z:-5.91 [[-6.98918552e-01 -7.15149963e-01 8.56669822e-03 5.34785726e+02] [ 7.15096139e-01 -6.98971051e-01 -8.77386861e-03 -2.97239988e+02] [ 1.22625059e-02 -6.20671923e-06 9.99924813e-01 -5.91177231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.026559995 meters 0.049072383693412554 Centerline is valid? [True, True] Translation: X:534.75, Y:-297.20, Z:-5.91 [[-7.00868399e-01 -7.13241097e-01 8.40385500e-03 5.34746474e+02] [ 7.13189193e-01 -7.00918780e-01 -8.60456286e-03 -2.97197962e+02] [ 1.20275476e-02 -3.71276306e-05 9.99927666e-01 -5.90978112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.086559995 meters 0.04951852714771448 Centerline is valid? [True, True] Translation: X:534.71, Y:-297.16, Z:-5.91 [[-7.03461763e-01 -7.10684351e-01 8.32471774e-03 5.34705412e+02] [ 7.10633268e-01 -7.03511014e-01 -8.52124882e-03 -2.97156425e+02] [ 1.19124488e-02 -7.85513534e-05 9.99929041e-01 -5.90851979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.146559995 meters 0.049732047806102735 Centerline is valid? [True, True] Translation: X:534.66, Y:-297.12, Z:-5.91 [[-7.03989409e-01 -7.10157536e-01 8.67097386e-03 5.34663178e+02] [ 7.10102106e-01 -7.04042801e-01 -8.87315689e-03 -2.97118480e+02] [ 1.24060760e-02 -8.93316777e-05 9.99923038e-01 -5.90974920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2065599950001 meters 0.05041410417427139 Centerline is valid? [True, True] Translation: X:534.62, Y:-297.08, Z:-5.91 [[-7.03262699e-01 -7.10867213e-01 9.45421889e-03 5.34620672e+02] [ 7.10801424e-01 -7.03326240e-01 -9.67143148e-03 -2.97082297e+02] [ 1.35245038e-02 -8.14847534e-05 9.99908536e-01 -5.90561809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.266559995 meters 0.05014659132232138 Centerline is valid? [True, True] Translation: X:534.58, Y:-297.04, Z:-5.91 [[-7.02791500e-01 -7.11332791e-01 9.47459069e-03 5.34579940e+02] [ 7.11266787e-01 -7.02855359e-01 -9.69035132e-03 -2.97042109e+02] [ 1.35523315e-02 -7.13348669e-05 9.99908160e-01 -5.90854954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.326559995 meters 0.050305688253901845 Centerline is valid? [True, True] Translation: X:534.54, Y:-297.00, Z:-5.91 [[-7.02090606e-01 -7.12038918e-01 8.32828731e-03 5.34538248e+02] [ 7.11987998e-01 -7.02139998e-01 -8.51546307e-03 -2.97003762e+02] [ 1.19109647e-02 -4.89860111e-05 9.99929061e-01 -5.91037223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.386559995 meters 0.05056675235696011 Centerline is valid? [True, True] Translation: X:534.50, Y:-296.97, Z:-5.91 [[-7.01587181e-01 -7.12543967e-01 7.51808025e-03 5.34497407e+02] [ 7.12502530e-01 -7.01627461e-01 -7.68450021e-03 -2.96965380e+02] [ 1.07504358e-02 -3.46956450e-05 9.99942212e-01 -5.90779704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4465599950001 meters 0.050282110291259986 Centerline is valid? [True, True] Translation: X:534.45, Y:-296.93, Z:-5.91 [[-6.99572527e-01 -7.14531021e-01 6.61053818e-03 5.34454294e+02] [ 7.14499092e-01 -6.99603759e-01 -6.75480758e-03 -2.96927113e+02] [ 9.45127692e-03 -2.25428309e-06 9.99955336e-01 -5.90562533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.506559995 meters 0.05056811817259705 Centerline is valid? [True, True] Translation: X:534.41, Y:-296.89, Z:-5.91 [[-6.97351427e-01 -7.16704015e-01 6.02853240e-03 5.34411748e+02] [ 7.16677558e-01 -6.97377484e-01 -6.15822314e-03 -2.96888550e+02] [ 8.61778600e-03 2.60681791e-05 9.99962866e-01 -5.90508285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.566559995 meters 0.049939713725767866 Centerline is valid? [True, True] Translation: X:534.37, Y:-296.85, Z:-5.90 [[-6.94823108e-01 -7.19158952e-01 5.59024528e-03 5.34368741e+02] [ 7.19136293e-01 -6.94845594e-01 -5.70896988e-03 -2.96848893e+02] [ 7.99001410e-03 5.34240715e-05 9.99968078e-01 -5.90415931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.626559995 meters 0.04996388082536715 Centerline is valid? [True, True] Translation: X:534.32, Y:-296.81, Z:-5.91 [[-6.91200950e-01 -7.22642706e-01 5.36341761e-03 5.34324795e+02] [ 7.22621961e-01 -6.91221753e-01 -5.47625000e-03 -2.96811182e+02] [ 7.66468304e-03 9.05341514e-05 9.99970622e-01 -5.90508751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6865599950002 meters 0.05057439564524943 Centerline is valid? [True, True] Translation: X:534.28, Y:-296.77, Z:-5.91 [[-6.89019513e-01 -7.24714825e-01 6.36663202e-03 5.34282105e+02] [ 7.24685699e-01 -6.89048913e-01 -6.49872697e-03 -2.96773056e+02] [ 9.09664465e-03 1.36057485e-04 9.99958615e-01 -5.90667025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.746559995 meters 0.050580412804612326 Centerline is valid? [True, True] Translation: X:534.24, Y:-296.73, Z:-5.91 [[-6.87359853e-01 -7.26270569e-01 8.21540319e-03 5.34238908e+02] [ 7.26222208e-01 -6.87408917e-01 -8.38364478e-03 -2.96734296e+02] [ 1.17361359e-02 2.03627396e-04 9.99931108e-01 -5.90915744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.806559995 meters 0.050607600786042484 Centerline is valid? [True, True] Translation: X:534.20, Y:-296.69, Z:-5.91 [[-6.89480261e-01 -7.24249584e-01 8.91687575e-03 5.34198293e+02] [ 7.24192470e-01 -6.89537893e-01 -9.09728167e-03 -2.96692268e+02] [ 1.27372262e-02 1.85138131e-04 9.99918861e-01 -5.90861329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.866559995 meters 0.0508275393873389 Centerline is valid? [True, True] Translation: X:534.16, Y:-296.65, Z:-5.91 [[-6.96080435e-01 -7.17915923e-01 8.29191811e-03 5.34162464e+02] [ 7.17866110e-01 -6.96129818e-01 -8.45729704e-03 -2.96647464e+02] [ 1.18438797e-02 6.55279901e-05 9.99929857e-01 -5.90662550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9265599950002 meters 0.05072272092073006 Centerline is valid? [True, True] Translation: X:534.13, Y:-296.60, Z:-5.90 [[-7.04709181e-01 -7.09467522e-01 6.38793480e-03 5.34126085e+02] [ 7.09437617e-01 -7.04738130e-01 -6.51434684e-03 -2.96601040e+02] [ 9.12353874e-03 -5.88787818e-05 9.99958378e-01 -5.90474096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.986559995 meters 0.05126650463857707 Centerline is valid? [True, True] Translation: X:534.09, Y:-296.56, Z:-5.91 [[-7.12531323e-01 -7.01615641e-01 5.88277565e-03 5.34090988e+02] [ 7.01590018e-01 -7.12555592e-01 -5.99795411e-03 -2.96556640e+02] [ 8.40006310e-03 -1.46433500e-04 9.99964708e-01 -5.90549312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.046559995 meters 0.051376161864886645 Centerline is valid? [True, True] Translation: X:534.05, Y:-296.52, Z:-5.90 [[-7.16764150e-01 -6.97292370e-01 5.70127920e-03 5.34050638e+02] [ 6.97268182e-01 -7.16786799e-01 -5.81103737e-03 -2.96517922e+02] [ 8.13859369e-03 -1.89822677e-04 9.99966863e-01 -5.90318599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.106559995 meters 0.0519964486472903 Centerline is valid? [True, True] Translation: X:534.01, Y:-296.48, Z:-5.90 [[-7.20904424e-01 -6.92998762e-01 7.03754010e-03 5.34008279e+02] [ 6.92961716e-01 -7.20938715e-01 -7.17144438e-03 -2.96477500e+02] [ 1.00434372e-02 -2.93180122e-04 9.99949520e-01 -5.90117831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.166559995 meters 0.05248850046469284 Centerline is valid? [True, True] Translation: X:533.97, Y:-296.44, Z:-5.90 [[-7.21768381e-01 -6.92094864e-01 7.42310278e-03 5.33969510e+02] [ 6.92053613e-01 -7.21806480e-01 -7.56316834e-03 -2.96435202e+02] [ 1.05924737e-02 -3.21670670e-04 9.99943846e-01 -5.90332089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2265599950001 meters 0.052434540284543384 Centerline is valid? [True, True] Translation: X:533.93, Y:-296.40, Z:-5.90 [[-7.20647020e-01 -6.93261651e-01 7.49378956e-03 5.33928436e+02] [ 6.93219690e-01 -7.20685916e-01 -7.63353924e-03 -2.96396112e+02] [ 1.06927086e-02 -3.06244821e-04 9.99942784e-01 -5.90345833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.286559995 meters 0.05252250500866206 Centerline is valid? [True, True] Translation: X:533.89, Y:-296.36, Z:-5.90 [[-7.17308658e-01 -6.96730544e-01 5.90234898e-03 5.33885656e+02] [ 6.96704645e-01 -7.17332914e-01 -6.01069652e-03 -2.96359163e+02] [ 8.42178505e-03 -1.99330703e-04 9.99964516e-01 -5.90164725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.346559995 meters 0.052446299385271275 Centerline is valid? [True, True] Translation: X:533.84, Y:-296.33, Z:-5.90 [[-7.08188187e-01 -7.06003438e-01 5.35138092e-03 5.33837107e+02] [ 7.05982421e-01 -7.08208401e-01 -5.44806504e-03 -2.96328505e+02] [ 7.63624557e-03 -8.02744403e-05 9.99970840e-01 -5.90085010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.406559995 meters 0.05211485071147315 Centerline is valid? [True, True] Translation: X:533.79, Y:-296.29, Z:-5.90 [[-7.02206259e-01 -7.11950198e-01 5.76939322e-03 5.33790147e+02] [ 7.11925979e-01 -7.02229959e-01 -5.87246298e-03 -2.96291251e+02] [ 8.23234195e-03 -1.62993463e-05 9.99966114e-01 -5.89845579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4665599950001 meters 0.05193389537036787 Centerline is valid? [True, True] Translation: X:533.74, Y:-296.26, Z:-5.90 [[-6.93302234e-01 -7.20624511e-01 5.68560846e-03 5.33741650e+02] [ 7.20601291e-01 -6.93325542e-01 -5.78554929e-03 -2.96259677e+02] [ 8.11118619e-03 8.59225470e-05 9.99967100e-01 -5.90187351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.526559995 meters 0.0516129793775216 Centerline is valid? [True, True] Translation: X:533.70, Y:-296.23, Z:-5.90 [[-6.87075023e-01 -7.26566235e-01 5.42400249e-03 5.33695626e+02] [ 7.26545299e-01 -6.87096415e-01 -5.51764553e-03 -2.96225626e+02] [ 7.73574760e-03 1.49747082e-04 9.99970067e-01 -5.90067627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.586559995 meters 0.051891707807202175 Centerline is valid? [True, True] Translation: X:533.65, Y:-296.19, Z:-5.90 [[-6.84668200e-01 -7.28832240e-01 5.74647530e-03 5.33653388e+02] [ 7.28808833e-01 -6.84692289e-01 -5.84408228e-03 -2.96185926e+02] [ 8.19392291e-03 1.86824667e-04 9.99966412e-01 -5.89970542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.646559995 meters 0.05219314130443769 Centerline is valid? [True, True] Translation: X:533.61, Y:-296.15, Z:-5.90 [[-6.86437091e-01 -7.27166047e-01 5.80179807e-03 5.33609112e+02] [ 7.27142139e-01 -6.86461588e-01 -5.89895968e-03 -2.96149538e+02] [ 8.27223470e-03 1.69467140e-04 9.99965770e-01 -5.90029438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7065599950001 meters 0.05228033933588008 Centerline is valid? [True, True] Translation: X:533.57, Y:-296.11, Z:-5.90 [[-6.87964005e-01 -7.25719626e-01 6.04594760e-03 5.33568980e+02] [ 7.25693622e-01 -6.87990552e-01 -6.14557020e-03 -2.96107413e+02] [ 8.61951573e-03 1.59574523e-04 9.99962839e-01 -5.89987956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.766559995 meters 0.05258153604329536 Centerline is valid? [True, True] Translation: X:533.53, Y:-296.07, Z:-5.90 [[-6.89214688e-01 -7.24524685e-01 6.86251530e-03 5.33527829e+02] [ 7.24491143e-01 -6.89248832e-01 -6.97352820e-03 -2.96067186e+02] [ 9.78247398e-03 1.65573498e-04 9.99952137e-01 -5.90090656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.826559995 meters 0.052525601454545164 Centerline is valid? [True, True] Translation: X:533.49, Y:-296.02, Z:-5.90 [[-6.90412632e-01 -7.23365447e-01 8.53395357e-03 5.33492601e+02] [ 7.23313515e-01 -6.90465347e-01 -8.66968130e-03 -2.96019872e+02] [ 1.21637471e-02 1.87066466e-04 9.99926001e-01 -5.89586324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.886559995 meters 0.05319294565076309 Centerline is valid? [True, True] Translation: X:533.45, Y:-295.98, Z:-5.90 [[-6.90716411e-01 -7.23064073e-01 9.44387365e-03 5.33446935e+02] [ 7.23000482e-01 -6.90780939e-01 -9.59154021e-03 -2.95984778e+02] [ 1.34589460e-02 2.02890973e-04 9.99909404e-01 -5.90307558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9465599950001 meters 0.05313772666582323 Centerline is valid? [True, True] Translation: X:533.41, Y:-295.94, Z:-5.90 [[-6.91129255e-01 -7.22670455e-01 9.36840747e-03 5.33407585e+02] [ 7.22607878e-01 -6.91192719e-01 -9.51208544e-03 -2.95942769e+02] [ 1.33494781e-02 1.95604519e-04 9.99910873e-01 -5.90231944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.006559995 meters 0.052855605893728695 Centerline is valid? [True, True] Translation: X:533.37, Y:-295.90, Z:-5.90 [[-6.92396927e-01 -7.21466445e-01 8.52433167e-03 5.33369279e+02] [ 7.21414574e-01 -6.92449380e-01 -8.65272082e-03 -2.95899292e+02] [ 1.21453159e-02 1.58459797e-04 9.99926230e-01 -5.90012324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.066559995 meters 0.052693572602208326 Centerline is valid? [True, True] Translation: X:533.33, Y:-295.85, Z:-5.90 [[-6.97954401e-01 -7.16105883e-01 7.21231246e-03 5.33334039e+02] [ 7.16068478e-01 -6.97991662e-01 -7.31941807e-03 -2.95854788e+02] [ 1.02756123e-02 5.58895488e-05 9.99947203e-01 -5.90063343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.126559995 meters 0.05214999778088904 Centerline is valid? [True, True] Translation: X:533.30, Y:-295.81, Z:-5.90 [[-7.01461655e-01 -7.12669359e-01 7.34371881e-03 5.33297317e+02] [ 7.12630413e-01 -7.01500096e-01 -7.45049188e-03 -2.95810549e+02] [ 1.04613567e-02 7.12300532e-06 9.99945279e-01 -5.89830476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1865599950002 meters 0.05341997788092003 Centerline is valid? [True, True] Translation: X:533.26, Y:-295.77, Z:-5.90 [[-7.06665426e-01 -7.07505581e-01 7.73488436e-03 5.33260568e+02] [ 7.07462089e-01 -7.06707753e-01 -7.84508076e-03 -2.95767163e+02] [ 1.10167412e-02 -7.17098939e-05 9.99939311e-01 -5.89530718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.246559995 meters 0.05340123678979976 Centerline is valid? [True, True] Translation: X:533.22, Y:-295.72, Z:-5.90 [[-7.11898347e-01 -7.02235726e-01 8.10731769e-03 5.33222966e+02] [ 7.02187619e-01 -7.11944492e-01 -8.22123062e-03 -2.95721692e+02] [ 1.15452020e-02 -1.59822391e-04 9.99933339e-01 -5.89503243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.306559995 meters 0.053508204295408306 Centerline is valid? [True, True] Translation: X:533.19, Y:-295.68, Z:-5.90 [[-7.16324741e-01 -6.97719480e-01 8.14819777e-03 5.33185376e+02] [ 6.97670612e-01 -7.16371044e-01 -8.26096264e-03 -2.95675889e+02] [ 1.16009675e-02 -2.32773797e-04 9.99932679e-01 -5.89645422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.366559995 meters 0.05328086229160019 Centerline is valid? [True, True] Translation: X:533.15, Y:-295.63, Z:-5.90 [[-7.18364809e-01 -6.95618744e-01 8.15874047e-03 5.33149204e+02] [ 6.95569636e-01 -7.18411089e-01 -8.26974510e-03 -2.95630574e+02] [ 1.16139193e-02 -2.65721716e-04 9.99932521e-01 -5.89727585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4265599950002 meters 0.05353185617611537 Centerline is valid? [True, True] Translation: X:533.11, Y:-295.59, Z:-5.90 [[-7.18761956e-01 -6.95210622e-01 7.96507938e-03 5.33109317e+02] [ 6.95163806e-01 -7.18806039e-01 -8.07231676e-03 -2.95588371e+02] [ 1.13373075e-02 -2.65039287e-04 9.99935696e-01 -5.89656663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.486559995 meters 0.05319004280787101 Centerline is valid? [True, True] Translation: X:533.07, Y:-295.55, Z:-5.90 [[-7.15780252e-01 -6.98280968e-01 7.89429660e-03 5.33069965e+02] [ 6.98235189e-01 -7.15823752e-01 -7.99850990e-03 -2.95546651e+02] [ 1.12361323e-02 -2.13099753e-04 9.99936850e-01 -5.89615023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.546559995 meters 0.05206924648663117 Centerline is valid? [True, True] Translation: X:533.03, Y:-295.50, Z:-5.90 [[-7.11074031e-01 -7.03073861e-01 7.80177861e-03 5.33032133e+02] [ 7.03029452e-01 -7.11116817e-01 -7.90328075e-03 -2.95503809e+02] [ 1.11045661e-02 -1.34937564e-04 9.99938333e-01 -5.89951245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.606559995 meters 0.052697975573509005 Centerline is valid? [True, True] Translation: X:532.99, Y:-295.47, Z:-5.89 [[-7.00172158e-01 -7.13937525e-01 7.22222266e-03 5.32989810e+02] [ 7.13900061e-01 -7.00209404e-01 -7.31390281e-03 -2.95466595e+02] [ 1.02787379e-02 3.49540866e-05 9.99947172e-01 -5.89462080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.666559995 meters 0.051963008735589025 Centerline is valid? [True, True] Translation: X:532.95, Y:-295.43, Z:-5.90 [[-6.89188400e-01 -7.24545206e-01 7.32082110e-03 5.32945724e+02] [ 7.24507316e-01 -6.89227253e-01 -7.41228556e-03 -2.95429439e+02] [ 1.04162454e-02 1.95527230e-04 9.99945730e-01 -5.89760395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7265599950001 meters 0.05183958885068035 Centerline is valid? [True, True] Translation: X:532.90, Y:-295.39, Z:-5.90 [[-6.82171486e-01 -7.31170096e-01 5.68808981e-03 5.32904395e+02] [ 7.31147464e-01 -6.82195160e-01 -5.75749319e-03 -2.95391333e+02] [ 8.09009419e-03 2.31234752e-04 9.99967248e-01 -5.89625376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.786559995 meters 0.052505602642524546 Centerline is valid? [True, True] Translation: X:532.86, Y:-295.35, Z:-5.90 [[-6.80443925e-01 -7.32782134e-01 5.13907836e-03 5.32861580e+02] [ 7.32763716e-01 -6.80463293e-01 -5.20037614e-03 -2.95353781e+02] [ 7.30769691e-03 2.27165802e-04 9.99973273e-01 -5.89674444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.846559995 meters 0.05180262326808614 Centerline is valid? [True, True] Translation: X:532.83, Y:-295.31, Z:-5.90 [[-6.81049208e-01 -7.32218391e-01 5.31085109e-03 5.32826235e+02] [ 7.32198714e-01 -6.81069876e-01 -5.37280350e-03 -2.95307581e+02] [ 7.55112622e-03 2.29454775e-04 9.99971464e-01 -5.89594771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.906559995 meters 0.051630845377561324 Centerline is valid? [True, True] Translation: X:532.79, Y:-295.26, Z:-5.90 [[-6.83073992e-01 -7.30319918e-01 6.53757018e-03 5.32790447e+02] [ 7.30290032e-01 -6.83105227e-01 -6.61199256e-03 -2.95262274e+02] [ 9.29471822e-03 2.57842186e-04 9.99956770e-01 -5.89664777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9665599950001 meters 0.05128934798436423 Centerline is valid? [True, True] Translation: X:532.76, Y:-295.22, Z:-5.90 [[-6.86446236e-01 -7.27133919e-01 8.23578350e-03 5.32755007e+02] [ 7.27086286e-01 -6.86495586e-01 -8.32729242e-03 -2.95216049e+02] [ 1.17088858e-02 2.71886693e-04 9.99931412e-01 -5.89789030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.026559995 meters 0.050986280678410836 Centerline is valid? [True, True] Translation: X:532.72, Y:-295.17, Z:-5.90 [[-6.91104981e-01 -7.22696207e-01 9.17045913e-03 5.32721747e+02] [ 7.22636775e-01 -6.91165786e-01 -9.27084467e-03 -2.95167107e+02] [ 1.30383119e-02 2.19784078e-04 9.99914973e-01 -5.89691056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.086559995 meters 0.050491504437614354 Centerline is valid? [True, True] Translation: X:532.69, Y:-295.12, Z:-5.90 [[-6.96653549e-01 -7.17350001e-01 9.09988816e-03 5.32687492e+02] [ 7.17291052e-01 -6.96712969e-01 -9.19704554e-03 -2.95118993e+02] [ 1.29375107e-02 1.20113928e-04 9.99916300e-01 -5.89715650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.146559995 meters 0.05058169635102993 Centerline is valid? [True, True] Translation: X:532.65, Y:-295.07, Z:-5.90 [[-7.00274573e-01 -7.13817538e-01 8.94674324e-03 5.32651120e+02] [ 7.13760296e-01 -7.00331721e-01 -9.03991475e-03 -2.95072789e+02] [ 1.27185378e-02 5.54076628e-05 9.99919115e-01 -5.89707885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2065599950001 meters 0.05082319933195929 Centerline is valid? [True, True] Translation: X:532.62, Y:-295.03, Z:-5.90 [[-7.04563769e-01 -7.09595467e-01 8.01054393e-03 5.32616779e+02] [ 7.09549328e-01 -7.04609305e-01 -8.09181702e-03 -2.95025190e+02] [ 1.13862205e-02 -1.73250282e-05 9.99935175e-01 -5.89641564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.266559995 meters 0.051096386681694306 Centerline is valid? [True, True] Translation: X:532.58, Y:-294.98, Z:-5.90 [[-7.05582093e-01 -7.08585176e-01 7.80761485e-03 5.32582204e+02] [ 7.08541311e-01 -7.05625288e-01 -7.88435648e-03 -2.94980935e+02] [ 1.10959886e-02 -3.10430847e-05 9.99938437e-01 -5.89918062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.326559995 meters 0.050832876764460334 Centerline is valid? [True, True] Translation: X:532.54, Y:-294.94, Z:-5.90 [[-7.00587031e-01 -7.13527981e-01 7.45873338e-03 5.32539348e+02] [ 7.13488252e-01 -7.00626733e-01 -7.52963233e-03 -2.94943427e+02] [ 1.05983913e-02 4.65558847e-05 9.99943834e-01 -5.89752893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.386559995 meters 0.0499917022843344 Centerline is valid? [True, True] Translation: X:532.50, Y:-294.90, Z:-5.90 [[-6.94592316e-01 -7.19365823e-01 7.37072165e-03 5.32497367e+02] [ 7.19327373e-01 -6.94631409e-01 -7.43880641e-03 -2.94903743e+02] [ 1.04711579e-02 1.35024070e-04 9.99945167e-01 -5.89531188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4465599950001 meters 0.049679226281989175 Centerline is valid? [True, True] Translation: X:532.46, Y:-294.86, Z:-5.89 [[-6.89403446e-01 -7.24342693e-01 7.11003432e-03 5.32455055e+02] [ 7.24307197e-01 -6.89440079e-01 -7.17370996e-03 -2.94864710e+02] [ 1.00981670e-02 2.04268665e-04 9.99948991e-01 -5.89396162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.506559995 meters 0.05048956789251648 Centerline is valid? [True, True] Translation: X:532.41, Y:-294.83, Z:-5.90 [[-6.88389383e-01 -7.25302381e-01 7.51751625e-03 5.32411240e+02] [ 7.25262779e-01 -6.88430390e-01 -7.58279869e-03 -2.94827511e+02] [ 1.06751086e-02 2.32256610e-04 9.99942992e-01 -5.89547637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.566559995 meters 0.04970717797364271 Centerline is valid? [True, True] Translation: X:532.37, Y:-294.79, Z:-5.90 [[-6.88406733e-01 -7.25281262e-01 7.95366908e-03 5.32369888e+02] [ 7.25236952e-01 -6.88452635e-01 -8.02079300e-03 -2.94786041e+02] [ 1.12930553e-02 2.46726810e-04 9.99936201e-01 -5.89538898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.626559995 meters 0.05033720433731414 Centerline is valid? [True, True] Translation: X:532.33, Y:-294.74, Z:-5.89 [[-6.90448871e-01 -7.23344350e-01 7.30127707e-03 5.32330479e+02] [ 7.23306922e-01 -6.90487446e-01 -7.36098049e-03 -2.94743574e+02] [ 1.03659638e-02 1.98683581e-04 9.99946252e-01 -5.89368592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6865599950002 meters 0.05076180704052836 Centerline is valid? [True, True] Translation: X:532.29, Y:-294.71, Z:-5.90 [[-6.94717569e-01 -7.19251306e-01 6.71260071e-03 5.32287910e+02] [ 7.19219496e-01 -6.94749986e-01 -6.76562754e-03 -2.94705098e+02] [ 9.52976569e-03 1.27632985e-04 9.99954583e-01 -5.89669467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.746559995 meters 0.049900221376353596 Centerline is valid? [True, True] Translation: X:532.25, Y:-294.66, Z:-5.89 [[-6.98833707e-01 -7.15251509e-01 6.83583144e-03 5.32251446e+02] [ 7.15218344e-01 -6.98867136e-01 -6.88812654e-03 -2.94659897e+02] [ 9.70408084e-03 7.54570403e-05 9.99952911e-01 -5.89459320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.806559995 meters 0.05061039353597951 Centerline is valid? [True, True] Translation: X:532.22, Y:-294.62, Z:-5.90 [[-7.06299012e-01 -7.07873968e-01 7.49342939e-03 5.32215824e+02] [ 7.07833721e-01 -7.06338761e-01 -7.54838632e-03 -2.94616036e+02] [ 1.06362058e-02 -2.73157933e-05 9.99943434e-01 -5.89746818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.866559995 meters 0.050829056039961636 Centerline is valid? [True, True] Translation: X:532.18, Y:-294.57, Z:-5.90 [[-7.10195899e-01 -7.03965743e-01 7.34966301e-03 5.32176118e+02] [ 7.03926835e-01 -7.10233923e-01 -7.40170183e-03 -2.94573509e+02] [ 1.04305245e-02 -8.30332640e-05 9.99945597e-01 -5.89519762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9265599950002 meters 0.05181989308427566 Centerline is valid? [True, True] Translation: X:532.14, Y:-294.53, Z:-5.90 [[-7.11934821e-01 -7.02203942e-01 7.64424992e-03 5.32138380e+02] [ 7.02161769e-01 -7.11975850e-01 -7.69669440e-03 -2.94531300e+02] [ 1.08471705e-02 -1.12044698e-04 9.99941161e-01 -5.89922638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.986559995 meters 0.050718767577789405 Centerline is valid? [True, True] Translation: X:532.10, Y:-294.49, Z:-5.90 [[-7.11472561e-01 -7.02663075e-01 8.44974035e-03 5.32095534e+02] [ 7.02611611e-01 -7.11522726e-01 -8.50495308e-03 -2.94494310e+02] [ 1.19882988e-02 -1.14155072e-04 9.99928131e-01 -5.89763542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.046559995 meters 0.05088829119901155 Centerline is valid? [True, True] Translation: X:532.05, Y:-294.46, Z:-5.90 [[-7.09640454e-01 -7.04513791e-01 8.41095820e-03 5.32053433e+02] [ 7.04462956e-01 -7.09690293e-01 -8.46355482e-03 -2.94455410e+02] [ 1.19318665e-02 -8.08724153e-05 9.99928809e-01 -5.89972972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.106559995 meters 0.05078636578269619 Centerline is valid? [True, True] Translation: X:532.01, Y:-294.42, Z:-5.90 [[-7.06077649e-01 -7.08087204e-01 8.17714883e-03 5.32010081e+02] [ 7.08039426e-01 -7.06124997e-01 -8.22552816e-03 -2.94419909e+02] [ 1.15984804e-02 -1.81178160e-05 9.99932735e-01 -5.90020366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.166559995 meters 0.05083303577800589 Centerline is valid? [True, True] Translation: X:531.97, Y:-294.38, Z:-5.90 [[-7.03308231e-01 -7.10843321e-01 7.70092565e-03 5.31967655e+02] [ 7.10801138e-01 -7.03350391e-01 -7.74401969e-03 -2.94382866e+02] [ 1.09212337e-02 2.73939232e-05 9.99940361e-01 -5.89831620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2265599950001 meters 0.05048998974395997 Centerline is valid? [True, True] Translation: X:531.93, Y:-294.34, Z:-5.90 [[-6.99781294e-01 -7.14324161e-01 6.86536376e-03 5.31925187e+02] [ 7.14290822e-01 -6.99814967e-01 -6.90175697e-03 -2.94344766e+02] [ 9.73457607e-03 7.41459007e-05 9.99952615e-01 -5.89591407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.286559995 meters 0.05018674571682038 Centerline is valid? [True, True] Translation: X:531.88, Y:-294.31, Z:-5.90 [[-6.97913031e-01 -7.16163409e-01 5.23195479e-03 5.31883501e+02] [ 7.16144110e-01 -6.97932637e-01 -5.25808844e-03 -2.94307060e+02] [ 7.41720254e-03 7.71451717e-05 9.99972489e-01 -5.89539659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.346559995 meters 0.05032332428408467 Centerline is valid? [True, True] Translation: X:531.84, Y:-294.27, Z:-5.90 [[-6.97808599e-01 -7.16267440e-01 4.91053654e-03 5.31843773e+02] [ 7.16250454e-01 -6.97825873e-01 -4.93342852e-03 -2.94268521e+02] [ 6.96035366e-03 7.45851766e-05 9.99975774e-01 -5.89577642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.406559995 meters 0.05081452058189804 Centerline is valid? [True, True] Translation: X:531.80, Y:-294.23, Z:-5.90 [[-6.98163380e-01 -7.15927546e-01 3.95526503e-03 5.31803408e+02] [ 7.15916528e-01 -6.98174581e-01 -3.97239865e-03 -2.94229963e+02] [ 5.60541512e-03 5.82563367e-05 9.99984288e-01 -5.89564077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4665599950001 meters 0.05112060599370201 Centerline is valid? [True, True] Translation: X:531.77, Y:-294.19, Z:-5.89 [[-6.99310095e-01 -7.14809497e-01 3.57411105e-03 5.31765144e+02] [ 7.14800491e-01 -6.99319227e-01 -3.58854209e-03 -2.94188708e+02] [ 5.06456854e-03 4.52726263e-05 9.99987174e-01 -5.89454861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.526559995 meters 0.05031980031871291 Centerline is valid? [True, True] Translation: X:531.73, Y:-294.15, Z:-5.90 [[-7.00438210e-01 -7.13696374e-01 4.87844021e-03 5.31726395e+02] [ 7.13679578e-01 -7.00455197e-01 -4.89661555e-03 -2.94147830e+02] [ 6.91182556e-03 5.18665146e-05 9.99976112e-01 -5.89611697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.586559995 meters 0.05042467169763927 Centerline is valid? [True, True] Translation: X:531.69, Y:-294.11, Z:-5.89 [[-7.00691326e-01 -7.13434719e-01 6.52434642e-03 5.31688972e+02] [ 7.13404685e-01 -7.00721697e-01 -6.54662517e-03 -2.94105553e+02] [ 9.24234078e-03 6.73358322e-05 9.99957286e-01 -5.89443748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.646559995 meters 0.05031200653422319 Centerline is valid? [True, True] Translation: X:531.65, Y:-294.07, Z:-5.90 [[-7.00181399e-01 -7.13932617e-01 6.79904588e-03 5.31646641e+02] [ 7.13900041e-01 -7.00214405e-01 -6.82043072e-03 -2.94066532e+02] [ 9.63011782e-03 7.83004073e-05 9.99953626e-01 -5.89839365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7065599950001 meters 0.05090152672826548 Centerline is valid? [True, True] Translation: X:531.61, Y:-294.03, Z:-5.90 [[-7.00039606e-01 -7.14073478e-01 6.60447705e-03 5.31607462e+02] [ 7.14042766e-01 -7.00070755e-01 -6.62314760e-03 -2.94025917e+02] [ 9.35301527e-03 7.94134279e-05 9.99956256e-01 -5.89837995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.766559995 meters 0.05067210889003829 Centerline is valid? [True, True] Translation: X:531.57, Y:-293.99, Z:-5.90 [[-7.00135333e-01 -7.13981738e-01 6.37136396e-03 5.31568549e+02] [ 7.13953171e-01 -7.00164318e-01 -6.38725052e-03 -2.93986084e+02] [ 9.02138193e-03 7.69157378e-05 9.99959304e-01 -5.89910856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.826559995 meters 0.05055229128505194 Centerline is valid? [True, True] Translation: X:531.53, Y:-293.95, Z:-5.90 [[-7.00162286e-01 -7.13957117e-01 6.16500418e-03 5.31529963e+02] [ 7.13930388e-01 -7.00189424e-01 -6.17834249e-03 -2.93946269e+02] [ 8.72774232e-03 7.55414174e-05 9.99961910e-01 -5.89933467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.886559995 meters 0.050113775862871066 Centerline is valid? [True, True] Translation: X:531.49, Y:-293.90, Z:-5.90 [[-7.00156942e-01 -7.13974544e-01 4.53948897e-03 5.31492596e+02] [ 7.13960061e-01 -7.00171655e-01 -4.54806905e-03 -2.93902114e+02] [ 6.42562703e-03 5.66517053e-05 9.99979354e-01 -5.89516812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9465599950001 meters 0.0500090110409151 Centerline is valid? [True, True] Translation: X:531.45, Y:-293.86, Z:-5.90 [[-7.00142736e-01 -7.13987556e-01 4.68177551e-03 5.31453414e+02] [ 7.13972160e-01 -7.00158386e-01 -4.68925305e-03 -2.93859999e+02] [ 6.62605272e-03 5.95109163e-05 9.99978046e-01 -5.89624129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.006559995 meters 0.04973084931001149 Centerline is valid? [True, True] Translation: X:531.41, Y:-293.82, Z:-5.90 [[-7.00417660e-01 -7.13714120e-01 5.22081121e-03 5.31414700e+02] [ 7.13694979e-01 -7.00437114e-01 -5.22754721e-03 -2.93819185e+02] [ 7.38782419e-03 6.46003622e-05 9.99972708e-01 -5.89725257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.066559995 meters 0.05021709700487024 Centerline is valid? [True, True] Translation: X:531.37, Y:-293.78, Z:-5.90 [[-7.00125764e-01 -7.13997356e-01 5.62938891e-03 5.31374490e+02] [ 7.13975122e-01 -7.00148391e-01 -5.63519987e-03 -2.93776688e+02] [ 7.96492539e-03 7.38950195e-05 9.99968277e-01 -5.89666762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.126559995 meters 0.050393628313682055 Centerline is valid? [True, True] Translation: X:531.33, Y:-293.74, Z:-5.90 [[-6.99741809e-01 -7.14374074e-01 5.57514921e-03 5.31334228e+02] [ 7.14352289e-01 -6.99764014e-01 -5.57956837e-03 -2.93738190e+02] [ 7.88718778e-03 7.83633319e-05 9.99968893e-01 -5.89799804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1865599950002 meters 0.05007999033639825 Centerline is valid? [True, True] Translation: X:531.29, Y:-293.70, Z:-5.90 [[-6.98676598e-01 -7.15423683e-01 4.46824244e-03 5.31293503e+02] [ 7.15409720e-01 -6.98690882e-01 -4.47039893e-03 -2.93698542e+02] [ 6.32014952e-03 7.32609547e-05 9.99980025e-01 -5.89700558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.246559995 meters 0.050277968627432966 Centerline is valid? [True, True] Translation: X:531.25, Y:-293.66, Z:-5.90 [[-6.97286667e-01 -7.16781514e-01 3.94537705e-03 5.31254294e+02] [ 7.16770655e-01 -6.97297824e-01 -3.94625461e-03 -2.93656073e+02] [ 5.57970518e-03 7.62597704e-05 9.99984430e-01 -5.89514164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.306559995 meters 0.05002745329319688 Centerline is valid? [True, True] Translation: X:531.21, Y:-293.62, Z:-5.90 [[-6.95085112e-01 -7.18911274e-01 4.82357934e-03 5.31212908e+02] [ 7.18895102e-01 -6.95101839e-01 -4.82344907e-03 -2.93615096e+02] [ 6.82051079e-03 1.14939928e-04 9.99976733e-01 -5.89567988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.366559995 meters 0.049985671975316726 Centerline is valid? [True, True] Translation: X:530.73, Y:-294.08, Z:-4.91 [[-7.68339014e-01 6.40019151e-01 5.53589759e-03 5.30728569e+02] [ 6.40001154e-01 7.68358943e-01 -4.80192907e-03 -2.94078961e+02] [-7.32688299e-03 -1.46528607e-04 -9.99973147e-01 -4.91475720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4265599950002 meters 0.04955912817886006 Centerline is valid? [True, True] Translation: X:530.75, Y:-293.99, Z:-4.92 [[-8.13481094e-01 5.81564527e-01 5.58673526e-03 5.30746314e+02] [ 5.81549450e-01 8.13500262e-01 -4.19062086e-03 -2.93990635e+02] [-6.98192703e-03 -1.60028021e-04 -9.99975613e-01 -4.91566419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.486559995 meters 0.050302990521116114 Centerline is valid? [True, True] Translation: X:530.76, Y:-293.90, Z:-4.92 [[-8.53198157e-01 5.21563892e-01 4.90010501e-03 5.30763077e+02] [ 5.21554344e-01 8.53212217e-01 -3.15898981e-03 -2.93899031e+02] [-5.82844447e-03 -1.39573231e-04 -9.99983005e-01 -4.91520773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.546559995 meters 0.05029903537160821 Centerline is valid? [True, True] Translation: X:530.79, Y:-293.82, Z:-4.91 [[-8.87795568e-01 4.60213171e-01 4.78198402e-03 5.30787589e+02] [ 4.60205715e-01 8.87808437e-01 -2.62261111e-03 -2.93815727e+02] [-5.45244594e-03 -1.27646145e-04 -9.99985127e-01 -4.91465402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.606559995 meters 0.05000143184298877 Centerline is valid? [True, True] Translation: X:531.04, Y:-293.21, Z:-5.90 [[-8.30535021e-01 -5.56951700e-01 4.04755701e-03 5.31039799e+02] [ 5.56945517e-01 -8.30544880e-01 -2.62546563e-03 -2.93213869e+02] [ 4.82393530e-03 7.37275751e-05 9.99988362e-01 -5.89567511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.666559995 meters 0.050493200535197055 Centerline is valid? [True, True] Translation: X:530.62, Y:-293.73, Z:-4.92 [[-8.89258020e-01 4.57385600e-01 4.31117731e-03 5.30619038e+02] [ 4.57379607e-01 8.89268464e-01 -2.34400595e-03 -2.93727434e+02] [-4.90590859e-03 -1.12581513e-04 -9.99987960e-01 -4.91560593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7265599950001 meters 0.05087400498737302 Centerline is valid? [True, True] Translation: X:530.93, Y:-293.17, Z:-5.90 [[-8.31172627e-01 -5.55977487e-01 6.41072969e-03 5.30929689e+02] [ 5.55964079e-01 -8.31197279e-01 -3.87641977e-03 -2.93168693e+02] [ 7.48378320e-03 3.42161426e-04 9.99971938e-01 -5.89928277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.786559995 meters 0.05070238036657931 Centerline is valid? [True, True] Translation: X:530.55, Y:-293.69, Z:-4.91 [[-8.91835207e-01 4.52312044e-01 6.61653624e-03 5.30549869e+02] [ 4.52298021e-01 8.91859731e-01 -3.56656704e-03 -2.93687014e+02] [-7.51422346e-03 -1.88143808e-04 -9.99971750e-01 -4.91319641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.846559995 meters 0.04971968805169079 Centerline is valid? [True, True] Translation: X:530.81, Y:-293.10, Z:-5.90 [[-8.32387157e-01 -5.54159413e-01 6.24236395e-03 5.30806783e+02] [ 5.54145405e-01 -8.32410544e-01 -3.94400839e-03 -2.93097577e+02] [ 7.38181894e-03 1.76235373e-04 9.99972738e-01 -5.89694053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.906559995 meters 0.0504217449480987 Centerline is valid? [True, True] Translation: X:530.44, Y:-293.63, Z:-4.91 [[-8.94438468e-01 4.47145519e-01 6.38062864e-03 5.30437465e+02] [ 4.47132566e-01 8.94461205e-01 -3.40916164e-03 -2.93630489e+02] [-7.23161613e-03 -1.96298461e-04 -9.99973832e-01 -4.91462276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9665599950001 meters 0.050151486857534164 Centerline is valid? [True, True] Translation: X:530.68, Y:-293.04, Z:-5.90 [[-8.34435932e-01 -5.51083761e-01 4.83363218e-03 5.30684033e+02] [ 5.51074953e-01 -8.34449929e-01 -3.11644131e-03 -2.93037672e+02] [ 5.75084423e-03 6.32230201e-05 9.99983462e-01 -5.89621686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.026559995 meters 0.04951686887742326 Centerline is valid? [True, True] Translation: X:530.28, Y:-293.55, Z:-4.92 [[-8.95020136e-01 4.46003740e-01 4.42938507e-03 5.30282494e+02] [ 4.45997588e-01 8.95031088e-01 -2.34588087e-03 -2.93553200e+02] [-5.01070898e-03 -1.24115560e-04 -9.99987439e-01 -4.91651829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.086559995 meters 0.049908944819166544 Centerline is valid? [True, True] Translation: X:530.26, Y:-293.45, Z:-4.92 [[-9.23893452e-01 3.82618348e-01 4.90813891e-03 5.30258824e+02] [ 3.82612223e-01 9.23906480e-01 -2.16859758e-03 -2.93452238e+02] [-5.36440657e-03 -1.25639169e-04 -9.99985604e-01 -4.91514255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.146559995 meters 0.05028942024607361 Centerline is valid? [True, True] Translation: X:530.21, Y:-293.35, Z:-4.91 [[-9.48255538e-01 3.17466437e-01 5.14746794e-03 5.30213413e+02] [ 3.17461069e-01 9.48269501e-01 -1.85010620e-03 -2.93345401e+02] [-5.46853348e-03 -1.20252779e-04 -9.99985040e-01 -4.91420411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2065599950001 meters 0.05039979087822821 Centerline is valid? [True, True] Translation: X:530.17, Y:-293.25, Z:-4.91 [[-9.67997140e-01 2.50930973e-01 3.89668155e-03 5.30170653e+02] [ 2.50928594e-01 9.68004979e-01 -1.09558170e-03 -2.93249742e+02] [-4.04692252e-03 -8.27311302e-05 -9.99991808e-01 -4.91492150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.266559995 meters 0.05012354008772693 Centerline is valid? [True, True] Translation: X:530.32, Y:-292.63, Z:-5.90 [[-9.35730079e-01 -3.52693943e-01 4.02508557e-03 5.30316096e+02] [ 3.52691142e-01 -9.35738731e-01 -1.40919276e-03 -2.92626448e+02] [ 4.26344222e-03 1.00987979e-04 9.99990906e-01 -5.89719755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.326559995 meters 0.05073874266869134 Centerline is valid? [True, True] Translation: X:530.02, Y:-293.21, Z:-4.91 [[-9.67450279e-01 2.53018916e-01 4.62443374e-03 5.30019326e+02] [ 2.53015679e-01 9.67461329e-01 -1.28186916e-03 -2.93209416e+02] [-4.79829795e-03 -7.00904338e-05 -9.99988486e-01 -4.91356857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.386559995 meters 0.05033633688259901 Centerline is valid? [True, True] Translation: X:530.16, Y:-292.58, Z:-5.90 [[-9.39438325e-01 -3.42688486e-01 4.49829224e-03 5.30158875e+02] [ 3.42684900e-01 -9.39449092e-01 -1.56911154e-03 -2.92578851e+02] [ 4.76363302e-03 6.74133117e-05 9.99988652e-01 -5.89797475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4465599950001 meters 0.05036984762686422 Centerline is valid? [True, True] Translation: X:530.40, Y:-293.33, Z:-4.92 [[-9.68274158e-01 2.49856990e-01 4.07916332e-03 5.30397481e+02] [ 2.49854597e-01 9.68282749e-01 -1.09434464e-03 -2.93330078e+02] [-4.22321313e-03 -4.04279291e-05 -9.99991081e-01 -4.91605781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.506559995 meters 0.05085714864953344 Centerline is valid? [True, True] Translation: X:529.70, Y:-293.08, Z:-4.92 [[-9.83140231e-01 1.82825932e-01 3.15678802e-03 5.29701999e+02] [ 1.82824910e-01 9.83145299e-01 -6.11763762e-04 -2.93083063e+02] [-3.21542758e-03 -2.43100796e-05 -9.99994830e-01 -4.91519127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.566559995 meters 0.05063921101821912 Centerline is valid? [True, True] Translation: X:529.62, Y:-293.00, Z:-4.92 [[-9.93428650e-01 1.14422561e-01 2.64466059e-03 5.29621693e+02] [ 1.14422114e-01 9.93432171e-01 -3.20107091e-04 -2.92995251e+02] [-2.66391838e-03 -1.53959003e-05 -9.99996452e-01 -4.91608006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.626559995 meters 0.05069964293251894 Centerline is valid? [True, True] Translation: X:529.67, Y:-292.34, Z:-5.90 [[-9.81699617e-01 -1.90404049e-01 3.48706162e-03 5.29671308e+02] [ 1.90403123e-01 -9.81705807e-01 -5.98628521e-04 -2.92336497e+02] [ 3.53724994e-03 7.62740331e-05 9.99993741e-01 -5.89720684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6865599950002 meters 0.05032842048704904 Centerline is valid? [True, True] Translation: X:529.47, Y:-292.98, Z:-4.91 [[-9.93663645e-01 1.12280548e-01 5.06348612e-03 5.29473340e+02] [ 1.12278985e-01 9.93676546e-01 -5.92934712e-04 -2.92977067e+02] [-5.09804243e-03 -2.06545864e-05 -9.99987005e-01 -4.91278538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.746559995 meters 0.05017205483670459 Centerline is valid? [True, True] Translation: X:529.44, Y:-292.90, Z:-4.91 [[-9.99130656e-01 4.13616036e-02 5.21055529e-03 5.29438652e+02] [ 4.13609313e-02 9.99144243e-01 -2.36764017e-04 -2.92898675e+02] [-5.21588926e-03 -2.10447680e-05 -9.99986397e-01 -4.91307437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.806559995 meters 0.050494053587466274 Centerline is valid? [True, True] Translation: X:529.72, Y:-292.82, Z:-4.92 [[-9.99420785e-01 -3.35767911e-02 5.54013826e-03 5.29724607e+02] [-3.35763959e-02 9.99436140e-01 1.64360684e-04 -2.92819287e+02] [-5.54253310e-03 -2.17523913e-05 -9.99984640e-01 -4.91509546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.866559995 meters 0.05091139239364822 Centerline is valid? [True, True] Translation: X:529.51, Y:-292.74, Z:-4.91 [[-9.94673004e-01 -1.02907965e-01 5.96368119e-03 5.29506523e+02] [-1.02906201e-01 9.94690882e-01 6.02751246e-04 -2.92738707e+02] [-5.99404720e-03 -1.41593806e-05 -9.99982035e-01 -4.91323575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9265599950002 meters 0.05022879343021326 Centerline is valid? [True, True] Translation: X:529.33, Y:-292.11, Z:-5.90 [[-9.99410409e-01 3.40182785e-02 4.64666993e-03 5.29333229e+02] [-3.40182552e-02 -9.99421208e-01 8.40920535e-05 -2.92111678e+02] [ 4.64684114e-03 -7.40291297e-05 9.99989201e-01 -5.89747003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.986559995 meters 0.050726982202756836 Centerline is valid? [True, True] Translation: X:528.95, Y:-292.80, Z:-4.91 [[-9.94840806e-01 -1.01371410e-01 3.95078415e-03 5.28953439e+02] [-1.01370568e-01 9.94848650e-01 4.13318442e-04 -2.92796496e+02] [-3.97233095e-03 1.06928190e-05 -9.99992110e-01 -4.91440971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.046559995 meters 0.050314733811613443 Centerline is valid? [True, True] Translation: X:528.82, Y:-292.74, Z:-4.91 [[-9.85227928e-01 -1.71193566e-01 4.32344256e-03 5.28815127e+02] [-1.71191852e-01 9.85237414e-01 7.66285802e-04 -2.92736725e+02] [-4.39080057e-03 1.48280337e-05 -9.99990360e-01 -4.91246331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.106559995 meters 0.05029817224359589 Centerline is valid? [True, True] Translation: X:528.79, Y:-292.66, Z:-4.91 [[-9.70058922e-01 -2.42840676e-01 3.75431445e-03 5.28786807e+02] [-2.42838823e-01 9.70066186e-01 9.48676605e-04 -2.92659133e+02] [-3.87231077e-03 8.57890130e-06 -9.99992503e-01 -4.91296257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.166559995 meters 0.05055509114656753 Centerline is valid? [True, True] Translation: X:528.29, Y:-292.10, Z:-5.90 [[-9.83603606e-01 1.80300819e-01 3.94482949e-03 5.28289187e+02] [-1.80299369e-01 -9.83611516e-01 7.23193969e-04 -2.92096906e+02] [ 4.01057218e-03 8.59278597e-08 9.99991958e-01 -5.89900174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2265599950001 meters 0.050660300326915805 Centerline is valid? [True, True] Translation: X:528.41, Y:-292.75, Z:-4.91 [[-9.67342034e-01 -2.53415822e-01 5.45986235e-03 5.28406703e+02] [-2.53411871e-01 9.67357442e-01 1.41514436e-03 -2.92745507e+02] [-5.64025845e-03 -1.46653043e-05 -9.99984094e-01 -4.91076146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.286559995 meters 0.05018731053551865 Centerline is valid? [True, True] Translation: X:528.22, Y:-292.72, Z:-4.91 [[-9.45782795e-01 -3.24758431e-01 5.18316465e-03 5.28221480e+02] [-3.24753745e-01 9.45796997e-01 1.74499256e-03 -2.92719257e+02] [-5.46892261e-03 -3.28681923e-05 -9.99985045e-01 -4.91206911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.346559995 meters 0.05042726430339519 Centerline is valid? [True, True] Translation: X:528.14, Y:-292.67, Z:-4.91 [[-9.18793741e-01 -3.94715563e-01 4.20556590e-03 5.28139439e+02] [-3.94711630e-01 9.18803365e-01 1.76251538e-03 -2.92665161e+02] [-4.55978034e-03 -4.05976691e-05 -9.99989603e-01 -4.91173215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.406559995 meters 0.050859871759368874 Centerline is valid? [True, True] Translation: X:528.03, Y:-292.63, Z:-4.91 [[-8.87443202e-01 -4.60900013e-01 3.96759891e-03 5.28025858e+02] [-4.60895635e-01 8.87452070e-01 2.00951609e-03 -2.92629563e+02] [-4.44723985e-03 -4.53176260e-05 -9.99990110e-01 -4.91117271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4665599950001 meters 0.05056100796236973 Centerline is valid? [True, True] Translation: X:527.88, Y:-292.62, Z:-4.91 [[-8.50846146e-01 -5.25401484e-01 3.75723533e-03 5.27883862e+02] [-5.25396647e-01 8.50854440e-01 2.25499019e-03 -2.92622414e+02] [-4.38163555e-03 -5.53891383e-05 -9.99990399e-01 -4.91207930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.526559995 meters 0.05009117062054635 Centerline is valid? [True, True] Translation: X:527.75, Y:-292.61, Z:-4.91 [[-8.09570091e-01 -5.87004860e-01 4.64353572e-03 5.27754780e+02] [-5.86995769e-01 8.09583404e-01 3.26784742e-03 -2.92613964e+02] [-5.67757177e-03 -8.01842882e-05 -9.99983879e-01 -4.91089099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.586559995 meters 0.04998767730187921 Centerline is valid? [True, True] Translation: X:527.59, Y:-292.65, Z:-4.91 [[-7.65323466e-01 -6.43631948e-01 4.23179765e-03 5.27585313e+02] [-6.43622650e-01 7.65335162e-01 3.46037372e-03 -2.92649132e+02] [-5.46595061e-03 -7.53756118e-05 -9.99985059e-01 -4.91133371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.646559995 meters 0.05038084096237153 Centerline is valid? [True, True] Translation: X:527.43, Y:-292.69, Z:-4.91 [[-7.17689334e-01 -6.96357175e-01 2.95045163e-03 5.27425312e+02] [-6.96351562e-01 7.17695397e-01 2.79623670e-03 -2.92688377e+02] [-4.06470504e-03 -4.77223494e-05 -9.99991738e-01 -4.91119339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7065599950001 meters 0.04999630094255905 Centerline is valid? [True, True] Translation: X:527.25, Y:-292.77, Z:-4.91 [[-6.66962127e-01 -7.45089301e-01 1.85884831e-03 5.27246507e+02] [-7.45086518e-01 6.66964716e-01 2.03667683e-03 -2.92767060e+02] [-2.75729235e-03 -2.66165041e-05 -9.99996198e-01 -4.91185318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.766559995 meters 0.04953086981618138 Centerline is valid? [True, True] Translation: X:527.08, Y:-292.84, Z:-4.91 [[-6.11061941e-01 -7.91581211e-01 1.57844011e-03 5.27083975e+02] [-7.91578666e-01 6.11063979e-01 2.00740761e-03 -2.92842859e+02] [-2.55355405e-03 -2.28091254e-05 -9.99996739e-01 -4.91166834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.826559995 meters 0.05014723643570013 Centerline is valid? [True, True] Translation: X:526.91, Y:-292.95, Z:-4.91 [[-5.51683621e-01 -8.34051219e-01 1.93564031e-03 5.26909380e+02] [-8.34046270e-01 5.51687016e-01 2.87334459e-03 -2.92954552e+02] [-3.46438418e-03 -2.92364272e-05 -9.99993999e-01 -4.91003265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.886559995 meters 0.049530933661540176 Centerline is valid? [True, True] Translation: X:526.76, Y:-293.06, Z:-4.91 [[-4.87096564e-01 -8.73346072e-01 1.89115950e-03 5.26757246e+02] [-8.73339797e-01 4.87100233e-01 3.31094461e-03 -2.93060879e+02] [-3.81278471e-03 -3.88751142e-05 -9.99992731e-01 -4.91044273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9465599950001 meters 0.049116287409265144 Centerline is valid? [True, True] Translation: X:526.60, Y:-293.20, Z:-4.91 [[-4.18988851e-01 -9.07989410e-01 1.89047863e-03 5.26595109e+02] [-9.07980766e-01 4.18993112e-01 3.96244947e-03 -2.93201801e+02] [-4.38995968e-03 -5.62960856e-05 -9.99990363e-01 -4.91001443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.006559995 meters 0.04943175777460487 Centerline is valid? [True, True] Translation: X:526.44, Y:-293.35, Z:-4.91 [[-3.47658309e-01 -9.37619202e-01 1.98305113e-03 5.26443840e+02] [-9.37605362e-01 3.47663953e-01 5.09517173e-03 -2.93353529e+02] [-5.46676625e-03 -8.79405810e-05 -9.99985053e-01 -4.90975067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.066559995 meters 0.049403128901717844 Centerline is valid? [True, True] Translation: X:526.32, Y:-293.48, Z:-4.91 [[-2.73103971e-01 -9.61982637e-01 1.90475174e-03 5.26315028e+02] [-9.61962489e-01 2.73110581e-01 6.22741643e-03 -2.93476348e+02] [-6.51087433e-03 -1.31567574e-04 -9.99978795e-01 -4.90866874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.126559995 meters 0.04962278949193337 Centerline is valid? [True, True] Translation: X:526.18, Y:-293.68, Z:-4.91 [[-2.00076091e-01 -9.79779496e-01 1.30298635e-03 5.26175325e+02] [-9.79762648e-01 2.00080293e-01 5.74714518e-03 -2.93679022e+02] [-5.89163689e-03 -1.26751018e-04 -9.99982636e-01 -4.90834817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1865599950002 meters 0.04942915207476866 Centerline is valid? [True, True] Translation: X:526.06, Y:-293.89, Z:-4.91 [[-1.28320322e-01 -9.91732552e-01 6.63427477e-04 5.26060019e+02] [-9.91722701e-01 1.28322005e-01 4.42119747e-03 -2.93886501e+02] [-4.46977779e-03 -9.06066063e-05 -9.99990006e-01 -4.91085440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.246559995 meters 0.049562791056000886 Centerline is valid? [True, True] Translation: X:525.95, Y:-294.13, Z:-4.91 [[-5.99582657e-02 -9.98200877e-01 1.25758644e-04 5.25952219e+02] [-9.98199488e-01 5.99583921e-02 1.66563170e-03 -2.94134543e+02] [-1.67017531e-03 -2.56638259e-05 -9.99998605e-01 -4.91304867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.306559995 meters 0.049590352957582115 Centerline is valid? [True, True] Translation: X:525.86, Y:-294.44, Z:-4.91 [[ 8.94813628e-03 -9.99959965e-01 1.70473299e-06 5.25863023e+02] [-9.99959715e-01 -8.94813284e-03 7.06339903e-04 -2.94441042e+02] [-7.06296370e-04 -8.02509003e-06 -9.99999751e-01 -4.91336391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.366559995 meters 0.050084029653138254 Centerline is valid? [True, True] Translation: X:525.79, Y:-294.70, Z:-4.91 [[ 8.12132633e-02 -9.96696732e-01 -1.74805240e-04 5.25794498e+02] [-9.96693853e-01 -8.12134489e-02 2.39577134e-03 -2.94699832e+02] [-2.40205400e-03 -2.03411001e-05 -9.99997115e-01 -4.91142872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4265599950002 meters 0.0503735290139613 Centerline is valid? [True, True] Translation: X:525.75, Y:-294.96, Z:-4.91 [[ 1.54152178e-01 -9.88047001e-01 -4.79422903e-04 5.25745665e+02] [-9.88041708e-01 -1.54152922e-01 3.23414891e-03 -2.94960821e+02] [-3.26939557e-03 -2.48612749e-05 -9.99994655e-01 -4.91016505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.486559995 meters 0.05008523229133693 Centerline is valid? [True, True] Translation: X:525.71, Y:-295.20, Z:-4.91 [[ 2.26153177e-01 -9.74091422e-01 -8.01817831e-04 5.25710694e+02] [-9.74084915e-01 -2.26154597e-01 3.56034819e-03 -2.95198064e+02] [-3.64943942e-03 -2.41453985e-05 -9.99993341e-01 -4.90967501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.546559995 meters 0.049917009647837345 Centerline is valid? [True, True] Translation: X:525.69, Y:-295.44, Z:-4.91 [[ 2.96221465e-01 -9.55118624e-01 -1.12185735e-03 5.25692453e+02] [-9.55111530e-01 -2.96223588e-01 3.68126233e-03 -2.95435110e+02] [-3.84836282e-03 -1.89700268e-05 -9.99992595e-01 -4.90866696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.606559995 meters 0.05022360763681207 Centerline is valid? [True, True] Translation: X:525.71, Y:-295.71, Z:-4.91 [[ 3.64072070e-01 -9.31369524e-01 -1.52924403e-03 5.25707285e+02] [-9.31361176e-01 -3.64075281e-01 3.94320351e-03 -2.95712365e+02] [-4.22933953e-03 -1.13317423e-05 -9.99991056e-01 -4.90784626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.666559995 meters 0.04991446095125486 Centerline is valid? [True, True] Translation: X:525.73, Y:-295.96, Z:-4.91 [[ 4.29756853e-01 -9.02943041e-01 -1.70639471e-03 5.25731518e+02] [-9.02935919e-01 -4.29760241e-01 3.58628765e-03 -2.95959411e+02] [-3.97155407e-03 -4.66618811e-07 -9.99992113e-01 -4.90815141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7265599950001 meters 0.049947426238677206 Centerline is valid? [True, True] Translation: X:525.79, Y:-296.23, Z:-4.91 [[ 4.93596620e-01 -8.69688616e-01 -2.02169157e-03 5.25787806e+02] [-8.69681386e-01 -4.93600760e-01 3.54628227e-03 -2.96230297e+02] [-4.08206982e-03 7.79458398e-06 -9.99991668e-01 -4.90746737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.786559995 meters 0.050060724421679685 Centerline is valid? [True, True] Translation: X:525.86, Y:-296.48, Z:-4.91 [[ 5.53731319e-01 -8.32693800e-01 -1.63174267e-03 5.25858030e+02] [-8.32690265e-01 -5.53733723e-01 2.42641151e-03 -2.96482896e+02] [-2.92400877e-03 1.51561903e-05 -9.99995725e-01 -4.90824151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.846559995 meters 0.04986704130743087 Centerline is valid? [True, True] Translation: X:525.94, Y:-296.72, Z:-4.91 [[ 6.12150529e-01 -7.90740300e-01 -1.22763791e-03 5.25938366e+02] [-7.90738756e-01 -6.12151760e-01 1.56290368e-03 -2.96715822e+02] [-1.98735163e-03 1.40085556e-05 -9.99998025e-01 -4.90918528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.906559995 meters 0.050233442307894095 Centerline is valid? [True, True] Translation: X:526.02, Y:-296.93, Z:-4.91 [[ 6.67399469e-01 -7.44698474e-01 -1.46033354e-03 5.26024573e+02] [-7.44696754e-01 -6.67401066e-01 1.60041646e-03 -2.96931753e+02] [-2.16645586e-03 1.93885503e-05 -9.99997653e-01 -4.90933090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9665599950001 meters 0.049965179347822596 Centerline is valid? [True, True] Translation: X:526.08, Y:-297.09, Z:-4.91 [[ 7.20950425e-01 -6.92982271e-01 -2.46095514e-03 5.26081024e+02] [-6.92978369e-01 -7.20954625e-01 2.32576377e-03 -2.97094628e+02] [-3.38595004e-03 2.86282999e-05 -9.99994267e-01 -4.90733902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.026559995 meters 0.050101551588938135 Centerline is valid? [True, True] Translation: X:526.06, Y:-297.16, Z:-4.91 [[ 7.73977740e-01 -6.33206255e-01 -2.88030256e-03 5.26062316e+02] [-6.33201991e-01 -7.73983099e-01 2.32403525e-03 -2.97164620e+02] [-3.70089915e-03 2.50617658e-05 -9.99993151e-01 -4.90667688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.086559995 meters 0.050289469480761545 Centerline is valid? [True, True] Translation: X:526.05, Y:-297.24, Z:-4.91 [[ 8.22177001e-01 -5.69224775e-01 -2.85208506e-03 5.26047407e+02] [-5.69221421e-01 -8.22181948e-01 1.95421334e-03 -2.97238402e+02] [-3.45731950e-03 1.67586501e-05 -9.99994023e-01 -4.90686548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.146559995 meters 0.04982928145335587 Centerline is valid? [True, True] Translation: X:526.03, Y:-297.32, Z:-4.91 [[ 8.66077838e-01 -4.99897221e-01 -3.45661183e-03 5.26033298e+02] [-4.99893258e-01 -8.66084735e-01 1.99036209e-03 -2.97322020e+02] [-3.98869522e-03 4.12845982e-06 -9.99992045e-01 -4.90792370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2065599950001 meters 0.050379499090090735 Centerline is valid? [True, True] Translation: X:526.03, Y:-297.40, Z:-4.91 [[ 9.03888184e-01 -4.27751488e-01 -3.84914658e-03 5.26025821e+02] [-4.27747566e-01 -9.03896379e-01 1.83182250e-03 -2.97404682e+02] [-4.26279445e-03 -9.29963233e-06 -9.99990914e-01 -4.90711669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.266559995 meters 0.04948787626537422 Centerline is valid? [True, True] Translation: X:526.02, Y:-297.49, Z:-4.91 [[ 9.36501473e-01 -3.50636321e-01 -4.37743582e-03 5.26024552e+02] [-3.50632310e-01 -9.36511703e-01 1.67738821e-03 -2.97492390e+02] [-4.68767310e-03 -3.60060938e-05 -9.99989012e-01 -4.90708299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.326559995 meters 0.05018846538429464 Centerline is valid? [True, True] Translation: X:526.03, Y:-297.58, Z:-4.91 [[ 9.62044382e-01 -2.72854210e-01 -4.60302492e-03 5.26030351e+02] [-2.72850817e-01 -9.62055392e-01 1.36197960e-03 -2.97579718e+02] [-4.79998681e-03 -5.43457112e-05 -9.99988479e-01 -4.90690852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.386559995 meters 0.05059272888417394 Centerline is valid? [True, True] Translation: X:526.04, Y:-297.67, Z:-4.91 [[ 9.81147867e-01 -1.93169439e-01 -5.86783812e-03 5.26041519e+02] [-1.93165435e-01 -9.81165409e-01 1.24700958e-03 -2.97670933e+02] [-5.99820393e-03 -9.00372929e-05 -9.99982007e-01 -4.90535171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4465599950001 meters 0.049803273573183066 Centerline is valid? [True, True] Translation: X:526.06, Y:-297.76, Z:-4.91 [[ 9.93279899e-01 -1.15617399e-01 -5.25920012e-03 5.26061551e+02] [-1.15615345e-01 -9.93293819e-01 6.93884077e-04 -2.97759012e+02] [-5.30415604e-03 -8.11768697e-05 -9.99985930e-01 -4.90712467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.506559995 meters 0.05061331089558894 Centerline is valid? [True, True] Translation: X:526.09, Y:-297.85, Z:-4.91 [[ 9.99163066e-01 -4.06551018e-02 -4.50900970e-03 5.26087149e+02] [-4.06544366e-02 -9.99173238e-01 2.39118623e-04 -2.97849349e+02] [-4.51500322e-03 -5.56072477e-05 -9.99989806e-01 -4.90611432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.566559995 meters 0.05059496281819157 Centerline is valid? [True, True] Translation: X:526.12, Y:-297.92, Z:-4.91 [[ 9.99474351e-01 3.21340444e-02 -4.29254387e-03 5.26115359e+02] [ 3.21338739e-02 -9.99483568e-01 -1.08713671e-04 -2.97918449e+02] [-4.29382047e-03 -2.92795376e-05 -9.99990781e-01 -4.90718651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.626559995 meters 0.050532670723242495 Centerline is valid? [True, True] Translation: X:526.15, Y:-297.99, Z:-4.91 [[ 9.94335589e-01 1.06163241e-01 -5.10900441e-03 5.26148955e+02] [ 1.06161911e-01 -9.94348715e-01 -5.31590967e-04 -2.97991844e+02] [-5.13656739e-03 -1.38018531e-05 -9.99986808e-01 -4.90674130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6865599950002 meters 0.050122322378198005 Centerline is valid? [True, True] Translation: X:526.19, Y:-298.06, Z:-4.91 [[ 9.84115154e-01 1.77383139e-01 -7.25166715e-03 5.26187901e+02] [ 1.77378117e-01 -9.84141871e-01 -1.33500466e-03 -2.98062560e+02] [-7.37347659e-03 2.75112555e-05 -9.99972815e-01 -4.90630799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.746559995 meters 0.050833416971580496 Centerline is valid? [True, True] Translation: X:526.23, Y:-298.13, Z:-4.91 [[ 9.68221226e-01 2.49964083e-01 -8.10034455e-03 5.26231457e+02] [ 2.49954773e-01 -9.68255107e-01 -2.15825991e-03 -2.98129897e+02] [-8.38268744e-03 6.49532700e-05 -9.99964863e-01 -4.90602670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.806559995 meters 0.051179615307369725 Centerline is valid? [True, True] Translation: X:526.28, Y:-298.19, Z:-4.91 [[ 9.47079997e-01 3.20891457e-01 -8.25544313e-03 5.26278425e+02] [ 3.20878294e-01 -9.47115970e-01 -2.90840936e-03 -2.98189047e+02] [-8.75214575e-03 1.05503817e-04 -9.99961694e-01 -4.90724945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.866559995 meters 0.05086638499933594 Centerline is valid? [True, True] Translation: X:526.35, Y:-298.29, Z:-4.91 [[ 9.19560590e-01 3.92889682e-01 -6.78369753e-03 5.26347284e+02] [ 3.92878201e-01 -9.19585607e-01 -3.00523944e-03 -2.98289005e+02] [-7.41891817e-03 9.83328765e-05 -9.99972475e-01 -4.91097823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9265599950002 meters 0.050617288630563424 Centerline is valid? [True, True] Translation: X:526.42, Y:-298.37, Z:-4.91 [[ 8.85451245e-01 4.64699229e-01 -5.54243463e-03 5.26415080e+02] [ 4.64689589e-01 -8.85468588e-01 -2.99421777e-03 -2.98365912e+02] [-6.29906245e-03 7.57221796e-05 -9.99980158e-01 -4.90870442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.986559995 meters 0.05048328922065237 Centerline is valid? [True, True] Translation: X:526.48, Y:-298.41, Z:-4.91 [[ 8.43684841e-01 5.36818088e-01 -4.71469817e-03 5.26475669e+02] [ 5.36809447e-01 -8.43698014e-01 -3.04608601e-03 -2.98413565e+02] [-5.61297555e-03 3.90420750e-05 -9.99984246e-01 -4.90858914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.046559995 meters 0.04988080722031058 Centerline is valid? [True, True] Translation: X:526.54, Y:-298.46, Z:-4.91 [[ 7.97562669e-01 6.03220307e-01 -4.36467438e-03 5.26543886e+02] [ 6.03211108e-01 -7.97574612e-01 -3.33136992e-03 -2.98462078e+02] [-5.49070346e-03 2.41562109e-05 -9.99984926e-01 -4.90997821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.106559995 meters 0.04993850586740951 Centerline is valid? [True, True] Translation: X:526.62, Y:-298.51, Z:-4.91 [[ 7.41192395e-01 6.71279424e-01 -4.21524977e-03 5.26619678e+02] [ 6.71268815e-01 -7.41204380e-01 -3.77423303e-03 -2.98509837e+02] [-5.65792658e-03 -3.21328981e-05 -9.99983993e-01 -4.90896361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.166559995 meters 0.050973918578238624 Centerline is valid? [True, True] Translation: X:526.69, Y:-298.55, Z:-4.91 [[ 6.81339911e-01 7.31957367e-01 -3.78660465e-03 5.26693839e+02] [ 7.31946624e-01 -6.81350430e-01 -3.96629486e-03 -2.98545394e+02] [-5.48316345e-03 -6.91975022e-05 -9.99984965e-01 -4.90825715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2265599950001 meters 0.05042714291995165 Centerline is valid? [True, True] Translation: X:526.77, Y:-298.58, Z:-4.91 [[ 6.15896723e-01 7.87815276e-01 -4.27986151e-03 5.26772889e+02] [ 7.87797789e-01 -6.15911578e-01 -5.25090313e-03 -2.98577060e+02] [-6.77275795e-03 -1.37651411e-04 -9.99977055e-01 -4.90825093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.286559995 meters 0.050052751367542864 Centerline is valid? [True, True] Translation: X:526.86, Y:-298.61, Z:-4.91 [[ 5.50399589e-01 8.34890193e-01 -4.31947901e-03 5.26860526e+02] [ 8.34866895e-01 -5.50416512e-01 -6.23951820e-03 -2.98606159e+02] [-7.58682513e-03 -1.71961770e-04 -9.99971205e-01 -4.90915383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.346559995 meters 0.051573996429002504 Centerline is valid? [True, True] Translation: X:526.95, Y:-298.63, Z:-4.91 [[ 4.84249728e-01 8.74922965e-01 -3.46506749e-03 5.26953668e+02] [ 8.74902735e-01 -4.84262102e-01 -5.95155618e-03 -2.98631935e+02] [-6.88515404e-03 -1.49557566e-04 -9.99976286e-01 -4.90690117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.406559995 meters 0.050273782913173776 Centerline is valid? [True, True] Translation: X:527.03, Y:-298.64, Z:-4.91 [[ 4.16423634e-01 9.09167231e-01 -2.51048455e-03 5.27034020e+02] [ 9.09152303e-01 -4.16431186e-01 -5.21124102e-03 -2.98641645e+02] [-5.78333363e-03 -1.12328887e-04 -9.99983270e-01 -4.90952645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4665599950001 meters 0.050060427268266476 Centerline is valid? [True, True] Translation: X:527.12, Y:-298.65, Z:-4.91 [[ 3.45120764e-01 9.38555051e-01 -2.46445524e-03 5.27121278e+02] [ 9.38533628e-01 -3.45129541e-01 -6.34259551e-03 -2.98647238e+02] [-6.80343136e-03 -1.24012710e-04 -9.99976849e-01 -4.90883786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.526559995 meters 0.05001685806232591 Centerline is valid? [True, True] Translation: X:527.21, Y:-298.65, Z:-4.91 [[ 2.70961067e-01 9.62587180e-01 -2.45386717e-03 5.27210861e+02] [ 9.62552638e-01 -2.70972136e-01 -8.15606478e-03 -2.98648088e+02] [-8.51585302e-03 -1.52000301e-04 -9.99963728e-01 -4.90715404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.586559995 meters 0.049396689591681024 Centerline is valid? [True, True] Translation: X:527.29, Y:-298.64, Z:-4.91 [[ 1.95985290e-01 9.80605046e-01 -1.87340625e-03 5.27294636e+02] [ 9.80567149e-01 -1.95994189e-01 -8.62230447e-03 -2.98639328e+02] [-8.82225201e-03 -1.47155784e-04 -9.99961072e-01 -4.90639863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.646559995 meters 0.049836452399621124 Centerline is valid? [True, True] Translation: X:527.38, Y:-298.63, Z:-4.91 [[ 1.22804448e-01 9.92430253e-01 -1.12315674e-03 5.27380935e+02] [ 9.92396132e-01 -1.22809540e-01 -8.23012823e-03 -2.98625265e+02] [-8.30576260e-03 -1.03920053e-04 -9.99965501e-01 -4.90865790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7065599950001 meters 0.04987062021307996 Centerline is valid? [True, True] Translation: X:527.47, Y:-298.61, Z:-4.91 [[ 4.92142482e-02 9.98788151e-01 -4.33603076e-04 5.27466947e+02] [ 9.98759580e-01 -4.92161202e-02 -7.55479107e-03 -2.98605069e+02] [-7.56697606e-03 -6.12618634e-05 -9.99971368e-01 -4.90915540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.766559995 meters 0.049696220325146034 Centerline is valid? [True, True] Translation: X:527.54, Y:-298.58, Z:-4.91 [[-2.08673145e-02 9.99782244e-01 1.40229671e-04 5.27544165e+02] [ 9.99759853e-01 2.08677856e-02 -6.69115618e-03 -2.98579693e+02] [-6.69262542e-03 5.69534941e-07 -9.99977604e-01 -4.90810283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.826559995 meters 0.04960995744038658 Centerline is valid? [True, True] Translation: X:527.61, Y:-298.55, Z:-4.91 [[-9.10756907e-02 9.95843823e-01 5.45924654e-04 5.27608570e+02] [ 9.95828732e-01 9.10773161e-02 -5.48267309e-03 -2.98548886e+02] [-5.50960749e-03 4.43092168e-05 -9.99984821e-01 -4.90886966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.886559995 meters 0.050587010976217976 Centerline is valid? [True, True] Translation: X:527.68, Y:-298.51, Z:-4.91 [[-1.64329824e-01 9.86405096e-01 8.34515092e-04 5.27678574e+02] [ 9.86394133e-01 1.64331932e-01 -4.65085661e-03 -2.98512881e+02] [-4.72476614e-03 5.88863438e-05 -9.99988837e-01 -4.91311091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9465599950001 meters 0.050440672378273155 Centerline is valid? [True, True] Translation: X:527.80, Y:-298.46, Z:-4.91 [[-2.37739612e-01 9.71328299e-01 1.10144518e-03 5.27804479e+02] [ 9.71319173e-01 2.37742154e-01 -4.21102398e-03 -2.98457586e+02] [-4.35214671e-03 6.87276148e-05 -9.99990527e-01 -4.91256143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.006559995 meters 0.05120060977715115 Centerline is valid? [True, True] Translation: X:527.93, Y:-298.39, Z:-4.91 [[-3.13111901e-01 9.49715286e-01 1.34662558e-03 5.27933037e+02] [ 9.49707366e-01 3.13114790e-01 -3.87901614e-03 -2.98389651e+02] [-4.10560931e-03 6.43341099e-05 -9.99991570e-01 -4.91225167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.066559995 meters 0.04975416477940306 Centerline is valid? [True, True] Translation: X:528.05, Y:-298.32, Z:-4.91 [[-3.89123834e-01 9.21184183e-01 1.53101374e-03 5.28050327e+02] [ 9.21177538e-01 3.89126842e-01 -3.49913853e-03 -2.98316461e+02] [-3.81910961e-03 4.87372699e-05 -9.99992706e-01 -4.91032440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.126559995 meters 0.049906736718874356 Centerline is valid? [True, True] Translation: X:528.16, Y:-298.23, Z:-4.91 [[-4.64485747e-01 8.85579663e-01 1.28467035e-03 5.28163064e+02] [ 8.85576399e-01 4.64487523e-01 -2.40465015e-03 -2.98231952e+02] [-2.72622262e-03 2.07480157e-05 -9.99996284e-01 -4.91008516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1865599950002 meters 0.049668948346134084 Centerline is valid? [True, True] Translation: X:528.21, Y:-298.18, Z:-4.91 [[-5.36197551e-01 8.44092147e-01 7.96032491e-04 5.28207003e+02] [ 8.44091228e-01 5.36198142e-01 -1.24548548e-03 -2.98177231e+02] [-1.47813566e-03 4.09777762e-06 -9.99998908e-01 -4.90822064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.246559995 meters 0.04985017452365524 Centerline is valid? [True, True] Translation: X:528.26, Y:-298.11, Z:-4.91 [[-6.07222040e-01 7.94531620e-01 9.47915650e-04 5.28256140e+02] [ 7.94530630e-01 6.07222780e-01 -1.25456294e-03 -2.98110011e+02] [-1.57238590e-03 -8.65024801e-06 -9.99998764e-01 -4.90797911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.306559995 meters 0.05004662417676915 Centerline is valid? [True, True] Translation: X:528.30, Y:-298.04, Z:-4.91 [[-6.71741856e-01 7.40784627e-01 1.00753974e-03 5.28302141e+02] [ 7.40783756e-01 6.71742611e-01 -1.13643543e-03 -2.98037706e+02] [-1.51866128e-03 -1.70221722e-05 -9.99998847e-01 -4.90737893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.366559995 meters 0.05007276893850159 Centerline is valid? [True, True] Translation: X:528.34, Y:-297.97, Z:-4.91 [[-7.31825471e-01 6.81491973e-01 4.14132246e-04 5.28337720e+02] [ 6.81491855e-01 7.31825588e-01 -4.00095553e-04 -2.97966783e+02] [-5.75734482e-04 -1.05723636e-05 -9.99999834e-01 -4.90682006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4265599950002 meters 0.05017919553249345 Centerline is valid? [True, True] Translation: X:528.35, Y:-297.87, Z:-4.91 [[-7.79730007e-01 6.26115841e-01 2.62916369e-04 5.28353099e+02] [ 6.26115802e-01 7.79730052e-01 -2.20584445e-04 -2.97870648e+02] [-3.43115209e-04 -7.38021758e-06 -9.99999941e-01 -4.90698195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.486559995 meters 0.048062516033072995 Centerline is valid? [True, True] Translation: X:528.92, Y:-298.21, Z:-4.91 [[-8.24770912e-01 5.65467011e-01 4.67454164e-05 5.28924280e+02] [ 5.65467010e-01 8.24770913e-01 -3.45208270e-05 -2.98213841e+02] [-5.80746485e-05 -2.03878310e-06 -9.99999998e-01 -4.90673778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.546559995 meters 0.048852972418551716 Centerline is valid? [True, True] Translation: X:528.89, Y:-298.07, Z:-4.91 [[-8.62976467e-01 5.05244053e-01 2.54816078e-04 5.28890993e+02] [ 5.05244028e-01 8.62976504e-01 -1.57001453e-04 -2.98071087e+02] [-2.99224338e-04 -6.74425790e-06 -9.99999955e-01 -4.90589504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.606559995 meters 0.049044620840888266 Centerline is valid? [True, True] Translation: X:528.94, Y:-297.99, Z:-4.90 [[-8.96690726e-01 4.42654942e-01 1.53108456e-03 5.28935678e+02] [ 4.42654229e-01 8.96692032e-01 -7.95569697e-04 -2.97988176e+02] [-1.72507419e-03 -3.56389116e-05 -9.99998511e-01 -4.90429301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.666559995 meters 0.04873221405060101 Centerline is valid? [True, True] Translation: X:528.91, Y:-297.87, Z:-4.90 [[-9.25785822e-01 3.78035122e-01 3.17157450e-03 5.28913129e+02] [ 3.78032644e-01 9.25791252e-01 -1.37069163e-03 -2.97874604e+02] [-3.45438550e-03 -7.00081818e-05 -9.99994031e-01 -4.90328778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7265599950001 meters 0.04897135293108012 Centerline is valid? [True, True] Translation: X:529.08, Y:-297.85, Z:-4.90 [[-9.50101801e-01 3.11916322e-01 3.84391735e-03 5.29076366e+02] [ 3.11913433e-01 9.50109573e-01 -1.34499028e-03 -2.97845156e+02] [-4.07166709e-03 -7.89082287e-05 -9.99991708e-01 -4.90381057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.786559995 meters 0.04841613441772312 Centerline is valid? [True, True] Translation: X:529.02, Y:-297.74, Z:-4.90 [[-9.68900984e-01 2.47420996e-01 3.70585512e-03 5.29019469e+02] [ 2.47418950e-01 9.68908070e-01 -1.00787216e-03 -2.97736718e+02] [-3.84000166e-03 -5.96295479e-05 -9.99992625e-01 -4.90446045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.846559995 meters 0.04858693060085983 Centerline is valid? [True, True] Translation: X:528.99, Y:-297.06, Z:-5.91 [[-9.41396679e-01 -3.37285215e-01 3.31322479e-03 5.28992662e+02] [ 3.37283255e-01 -9.41402508e-01 -1.15026591e-03 -2.97058020e+02] [ 3.50704581e-03 3.46387348e-05 9.99993850e-01 -5.90784480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.906559995 meters 0.049289089733318914 Centerline is valid? [True, True] Translation: X:528.67, Y:-297.64, Z:-4.90 [[-9.66801793e-01 2.55513709e-01 2.65291567e-03 5.28672701e+02] [ 2.55512720e-01 9.66805433e-01 -7.11138345e-04 -2.97640789e+02] [-2.74655888e-03 -9.67612848e-06 -9.99996228e-01 -4.90383114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9665599950001 meters 0.04926639826847498 Centerline is valid? [True, True] Translation: X:528.85, Y:-297.01, Z:-5.91 [[-9.47257536e-01 -3.20463662e-01 2.49020433e-03 5.28850445e+02] [ 3.20462561e-01 -9.47260809e-01 -8.40100423e-04 -2.97013336e+02] [ 2.62809463e-03 2.22580133e-06 9.99996547e-01 -5.90755705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.026559995 meters 0.048998505012251004 Centerline is valid? [True, True] Translation: X:528.57, Y:-297.62, Z:-4.90 [[-9.64906575e-01 2.62576573e-01 2.97410069e-03 5.28569714e+02] [ 2.62575399e-01 9.64911158e-01 -7.85354313e-04 -2.97623229e+02] [-3.07595858e-03 2.31321363e-05 -9.99995269e-01 -4.90460816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.086559995 meters 0.04981526087058518 Centerline is valid? [True, True] Translation: X:528.52, Y:-297.53, Z:-4.90 [[-9.80260989e-01 1.97666937e-01 4.02198584e-03 5.28517051e+02] [ 1.97665477e-01 9.80269238e-01 -7.61092264e-04 -2.97526123e+02] [-4.09307177e-03 4.89386964e-05 -9.99991622e-01 -4.90366545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.146559995 meters 0.049811639490713114 Centerline is valid? [True, True] Translation: X:528.43, Y:-297.42, Z:-4.90 [[-9.91895731e-01 1.26976401e-01 4.45552052e-03 5.28426939e+02] [ 1.26975352e-01 9.91905737e-01 -5.18791022e-04 -2.97424208e+02] [-4.48533058e-03 5.11546847e-05 -9.99989940e-01 -4.90377207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2065599950001 meters 0.04887048330070627 Centerline is valid? [True, True] Translation: X:528.44, Y:-296.75, Z:-5.91 [[-9.85115431e-01 -1.71836644e-01 4.44463524e-03 5.28435455e+02] [ 1.71834669e-01 -9.85125457e-01 -8.25259511e-04 -2.96746661e+02] [ 4.52033314e-03 -4.92334547e-05 9.99989782e-01 -5.90999480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.266559995 meters 0.04925344029972801 Centerline is valid? [True, True] Translation: X:528.49, Y:-297.44, Z:-4.90 [[-9.93270734e-01 1.15754702e-01 3.75476293e-03 5.28492716e+02] [ 1.15753971e-01 9.93277830e-01 -4.12213960e-04 -2.97436345e+02] [-3.77723848e-03 2.51886554e-05 -9.99992866e-01 -4.90297034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.326559995 meters 0.04922998807148135 Centerline is valid? [True, True] Translation: X:527.96, Y:-297.30, Z:-4.90 [[-9.99235339e-01 3.90233962e-02 2.43136777e-03 5.27958007e+02] [ 3.90232832e-02 9.99238297e-01 -9.39165252e-05 -2.97304047e+02] [-2.43318073e-03 1.03524205e-06 -9.99997040e-01 -4.90340337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.386559995 meters 0.04902649347231744 Centerline is valid? [True, True] Translation: X:527.89, Y:-296.64, Z:-5.91 [[-9.93970670e-01 -1.09626968e-01 2.05819715e-03 5.27891909e+02] [ 1.09626678e-01 -9.93972800e-01 -2.53197671e-04 -2.96641022e+02] [ 2.07354927e-03 -2.60377421e-05 9.99997850e-01 -5.90838460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4465599950001 meters 0.04870793636241995 Centerline is valid? [True, True] Translation: X:527.70, Y:-297.29, Z:-4.90 [[-9.99629147e-01 2.72053641e-02 1.19820616e-03 5.27696794e+02] [ 2.72053332e-02 9.99629866e-01 -4.20674099e-05 -2.97286373e+02] [-1.19890712e-03 -9.45421134e-06 -9.99999281e-01 -4.90373977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.506559995 meters 0.049263272763271325 Centerline is valid? [True, True] Translation: X:527.63, Y:-296.64, Z:-5.91 [[-9.93990079e-01 -1.09460501e-01 1.45629133e-03 5.27634895e+02] [ 1.09460426e-01 -9.93991146e-01 -1.31499982e-04 -2.96636219e+02] [ 1.46193474e-03 2.86965917e-05 9.99998931e-01 -5.90893036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.566559995 meters 0.04932038397109767 Centerline is valid? [True, True] Translation: X:527.43, Y:-297.27, Z:-4.90 [[-9.99698117e-01 2.45168766e-02 1.61190666e-03 5.27428872e+02] [ 2.45168272e-02 9.99699416e-01 -5.04354162e-05 -2.97270747e+02] [-1.61265866e-03 -1.09013537e-05 -9.99998700e-01 -4.90266449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.626559995 meters 0.049107385739964225 Centerline is valid? [True, True] Translation: X:527.37, Y:-296.62, Z:-5.91 [[-9.94894648e-01 -1.00913755e-01 1.02614297e-03 5.27366388e+02] [ 1.00913671e-01 -9.94895177e-01 -1.32804461e-04 -2.96623445e+02] [ 1.03430649e-03 -2.85745931e-05 9.99999465e-01 -5.90935542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6865599950002 meters 0.04948147613595415 Centerline is valid? [True, True] Translation: X:527.19, Y:-297.27, Z:-4.90 [[-9.99644964e-01 2.65985664e-02 1.56911770e-03 5.27192464e+02] [ 2.65985315e-02 9.99646196e-01 -4.31076342e-05 -2.97265568e+02] [-1.56970914e-03 -1.35610282e-06 -9.99998768e-01 -4.90256473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.746559995 meters 0.048535150876905804 Centerline is valid? [True, True] Translation: X:527.06, Y:-297.19, Z:-4.90 [[-9.99125652e-01 -4.17093843e-02 2.87390379e-03 5.27064015e+02] [-4.17091947e-02 9.99129785e-01 1.25908085e-04 -2.97191122e+02] [-2.87665442e-03 5.92978488e-06 -9.99995862e-01 -4.90136329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.806559995 meters 0.04970197726392289 Centerline is valid? [True, True] Translation: X:526.93, Y:-297.13, Z:-4.90 [[-9.93745443e-01 -1.11584466e-01 4.34763964e-03 5.26931695e+02] [-1.11583338e-01 9.93754953e-01 5.01954492e-04 -2.97127495e+02] [-4.37649875e-03 1.36908458e-05 -9.99990423e-01 -4.89938802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.866559995 meters 0.04988878340433169 Centerline is valid? [True, True] Translation: X:526.90, Y:-297.06, Z:-4.90 [[-9.83189779e-01 -1.82496446e-01 5.73639601e-03 5.26897490e+02] [-1.82493241e-01 9.83206513e-01 1.08174856e-03 -2.97058359e+02] [-5.83747718e-03 1.67106261e-05 -9.99982962e-01 -4.89871020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9265599950002 meters 0.04951326613838435 Centerline is valid? [True, True] Translation: X:526.84, Y:-297.00, Z:-4.90 [[-9.67477969e-01 -2.52875176e-01 6.36593306e-03 5.26840118e+02] [-2.52869604e-01 9.67498912e-01 1.67878201e-03 -2.96996088e+02] [-6.58355561e-03 1.44336426e-05 -9.99978328e-01 -4.89805848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.986559995 meters 0.04944726017982364 Centerline is valid? [True, True] Translation: X:526.78, Y:-296.94, Z:-4.90 [[-9.46138124e-01 -3.23718468e-01 5.38554555e-03 5.26779436e+02] [-3.23713218e-01 9.46153451e-01 1.84367354e-03 -2.96935965e+02] [-5.69238368e-03 9.97541844e-07 -9.99983798e-01 -4.89877105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.046559995 meters 0.0488040434009496 Centerline is valid? [True, True] Translation: X:526.54, Y:-296.34, Z:-5.91 [[-9.67048340e-01 2.54566152e-01 3.68556108e-03 5.26536606e+02] [-2.54564846e-01 -9.67055353e-01 8.26994329e-04 -2.96343908e+02] [ 3.77466634e-03 -1.38470796e-04 9.99992866e-01 -5.91200638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.106559995 meters 0.048464940241750847 Centerline is valid? [True, True] Translation: X:526.63, Y:-296.98, Z:-4.90 [[-9.40865707e-01 -3.38762241e-01 3.44446827e-03 5.26634488e+02] [-3.38760125e-01 9.40872012e-01 1.19796233e-03 -2.96983603e+02] [-3.64662820e-03 -3.97268239e-05 -9.99993350e-01 -4.90066995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.166559995 meters 0.04943283396878134 Centerline is valid? [True, True] Translation: X:526.55, Y:-296.93, Z:-4.90 [[-9.12175225e-01 -4.09780731e-01 4.01399037e-03 5.26552237e+02] [-4.09777088e-01 9.12184054e-01 1.72927873e-03 -2.96929886e+02] [-4.37012311e-03 -6.74360732e-05 -9.99990449e-01 -4.89919630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2265599950001 meters 0.0496698964016407 Centerline is valid? [True, True] Translation: X:526.45, Y:-296.89, Z:-4.90 [[-8.78957006e-01 -4.76878219e-01 4.66322236e-03 5.26454087e+02] [-4.76872074e-01 8.78969371e-01 2.42266256e-03 -2.96885114e+02] [-5.25414463e-03 -9.43442922e-05 -9.99986192e-01 -4.89760309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.286559995 meters 0.048887328203251916 Centerline is valid? [True, True] Translation: X:526.32, Y:-296.88, Z:-4.90 [[-8.41015580e-01 -5.40980248e-01 5.75899809e-03 5.26323871e+02] [-5.40968675e-01 8.41035286e-01 3.54122159e-03 -2.96876894e+02] [-6.75925155e-03 -1.37215036e-04 -9.99977147e-01 -4.89886180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.346559995 meters 0.04840854672300989 Centerline is valid? [True, True] Translation: X:526.18, Y:-296.88, Z:-4.90 [[-8.00041990e-01 -5.99915862e-01 5.81143500e-03 5.26176704e+02] [-5.99901312e-01 8.00063084e-01 4.18056523e-03 -2.96881686e+02] [-7.15750200e-03 -1.41659758e-04 -9.99974375e-01 -4.89832480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.406559995 meters 0.04831802559936003 Centerline is valid? [True, True] Translation: X:526.01, Y:-296.91, Z:-4.90 [[-7.55835953e-01 -6.54744135e-01 4.70428982e-03 5.26008285e+02] [-6.54732352e-01 7.55850584e-01 3.92964291e-03 -2.96914838e+02] [-6.12865086e-03 -1.09885342e-04 -9.99981214e-01 -4.89850728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4665599950001 meters 0.048914063586681454 Centerline is valid? [True, True] Translation: X:525.85, Y:-296.95, Z:-4.90 [[-7.08915547e-01 -7.05285184e-01 3.39951709e-03 5.25845247e+02] [-7.05277528e-01 7.08923695e-01 3.28687605e-03 -2.96954285e+02] [-4.72818320e-03 -6.74854786e-05 -9.99988820e-01 -4.89815989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.526559995 meters 0.04860855981399385 Centerline is valid? [True, True] Translation: X:525.67, Y:-297.03, Z:-4.90 [[-6.57406073e-01 -7.53531294e-01 2.80087337e-03 5.25668001e+02] [-7.53524789e-01 6.57412037e-01 3.13151510e-03 -2.97033542e+02] [-4.20102249e-03 -5.18504683e-05 -9.99991174e-01 -4.89961344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.586559995 meters 0.04850975622090302 Centerline is valid? [True, True] Translation: X:525.48, Y:-297.14, Z:-4.90 [[-6.01046720e-01 -7.99210134e-01 2.44995818e-03 5.25481013e+02] [-7.99203819e-01 6.01051711e-01 3.17756779e-03 -2.97135703e+02] [-4.01209594e-03 -4.81492358e-05 -9.99991950e-01 -4.89881112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.646559995 meters 0.04833696466173437 Centerline is valid? [True, True] Translation: X:525.31, Y:-297.23, Z:-4.90 [[-5.39353327e-01 -8.42074426e-01 2.94089663e-03 5.25312479e+02] [-8.42062639e-01 5.39361340e-01 4.45605791e-03 -2.97231496e+02] [-5.33853836e-03 -7.30295202e-05 -9.99985747e-01 -4.89683680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7065599950001 meters 0.04882529999048697 Centerline is valid? [True, True] Translation: X:525.23, Y:-297.21, Z:-4.90 [[-4.72039915e-01 -8.81567191e-01 4.19589799e-03 5.25231870e+02] [-8.81535073e-01 4.72058541e-01 7.52650841e-03 -2.97209035e+02] [-8.61583236e-03 -1.46018848e-04 -9.99962872e-01 -4.89610162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.766559995 meters 0.04964874653731912 Centerline is valid? [True, True] Translation: X:525.00, Y:-297.47, Z:-4.89 [[-4.05893727e-01 -9.13912416e-01 3.79189170e-03 5.25002842e+02] [-9.13876343e-01 4.05911404e-01 8.12165812e-03 -2.97466317e+02] [-8.96165628e-03 -1.68790038e-04 -9.99959829e-01 -4.89396933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.826559995 meters 0.04938017986867111 Centerline is valid? [True, True] Translation: X:524.85, Y:-297.62, Z:-4.89 [[-3.37674817e-01 -9.41258227e-01 2.94419540e-03 5.24854755e+02] [-9.41226331e-01 3.37687617e-01 7.75029290e-03 -2.97618441e+02] [-8.28924528e-03 -1.54075497e-04 -9.99965632e-01 -4.89488348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.886559995 meters 0.04883452475755194 Centerline is valid? [True, True] Translation: X:524.71, Y:-297.81, Z:-4.90 [[-2.69838481e-01 -9.62904136e-01 1.67891141e-03 5.24712841e+02] [-9.62887625e-01 2.69843687e-01 5.63965800e-03 -2.97812263e+02] [-5.88349366e-03 -9.48062761e-05 -9.99982688e-01 -4.89849344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9465599950001 meters 0.04868997644466123 Centerline is valid? [True, True] Translation: X:524.58, Y:-298.00, Z:-4.90 [[-1.99695511e-01 -9.79857367e-01 1.11539952e-03 5.24583313e+02] [-9.79844113e-01 1.99698612e-01 5.09697902e-03 -2.97998427e+02] [-5.21705618e-03 -7.50738210e-05 -9.99986388e-01 -4.89792492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.006559995 meters 0.04868082466218138 Centerline is valid? [True, True] Translation: X:524.47, Y:-298.20, Z:-4.90 [[-1.25989036e-01 -9.92031364e-01 7.31736935e-04 5.24473340e+02] [-9.92018051e-01 1.25991136e-01 5.14008324e-03 -2.98201065e+02] [-5.19131615e-03 -7.83021180e-05 -9.99986522e-01 -4.89951159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.066559995 meters 0.049825114776192836 Centerline is valid? [True, True] Translation: X:524.37, Y:-298.36, Z:-4.90 [[-5.00540451e-02 -9.98746443e-01 3.67720402e-04 5.24368259e+02] [-9.98731488e-01 5.00553082e-02 5.46635435e-03 -2.98363832e+02] [-5.47790832e-03 -9.36407972e-05 -9.99984992e-01 -4.89675283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.126559995 meters 0.04980060311738038 Centerline is valid? [True, True] Translation: X:524.28, Y:-298.56, Z:-4.90 [[ 2.73107189e-02 -9.99626992e-01 -4.40052345e-05 5.24280531e+02] [-9.99606707e-01 -2.73104451e-02 6.36958231e-03 -2.98564368e+02] [-6.36840821e-03 -1.29969944e-04 -9.99979713e-01 -4.89676797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1865599950002 meters 0.04914049614875366 Centerline is valid? [True, True] Translation: X:524.21, Y:-298.82, Z:-4.90 [[ 1.02405907e-01 -9.94742559e-01 -5.21700408e-04 5.24213711e+02] [-9.94721707e-01 -1.02407139e-01 6.44238110e-03 -2.98815821e+02] [-6.46193650e-03 -1.40791161e-04 -9.99979112e-01 -4.89740532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.246559995 meters 0.04923472954318952 Centerline is valid? [True, True] Translation: X:523.62, Y:-299.02, Z:-5.91 [[-8.94331899e-03 9.99960006e-01 -5.43585730e-05 5.23615653e+02] [-9.99941373e-01 -8.94282045e-03 6.10539276e-03 -2.99017593e+02] [ 6.10466246e-03 1.08957861e-04 9.99981360e-01 -5.91413728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.306559995 meters 0.04871187594172432 Centerline is valid? [True, True] Translation: X:524.25, Y:-299.28, Z:-4.90 [[ 1.07809428e-01 -9.94171471e-01 -4.62308942e-04 5.24247226e+02] [-9.94157379e-01 -1.07810361e-01 5.29450241e-03 -2.99281634e+02] [-5.31348495e-03 -1.11189428e-04 -9.99985877e-01 -4.89870313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.366559995 meters 0.04889212802101223 Centerline is valid? [True, True] Translation: X:524.20, Y:-299.53, Z:-4.90 [[ 1.79668170e-01 -9.83727090e-01 -6.00751212e-04 5.24197754e+02] [-9.83720142e-01 -1.79669159e-01 3.69803128e-03 -2.99528843e+02] [-3.74579001e-03 -7.34474437e-05 -9.99992982e-01 -4.89850245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4265599950002 meters 0.04842883489518422 Centerline is valid? [True, True] Translation: X:524.17, Y:-299.76, Z:-4.90 [[ 2.50379923e-01 -9.68147167e-01 -9.78302594e-04 5.24170124e+02] [-9.68138555e-01 -2.50381823e-01 4.08420085e-03 -2.99760807e+02] [-4.19905667e-03 -7.54694334e-05 -9.99991181e-01 -4.89968342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.486559995 meters 0.04810332489567143 Centerline is valid? [True, True] Translation: X:524.16, Y:-300.02, Z:-4.90 [[ 3.18804990e-01 -9.47818425e-01 -1.90020266e-03 5.24157935e+02] [-9.47799745e-01 -3.18810639e-01 5.95147610e-03 -3.00015261e+02] [-6.24672353e-03 -9.63486852e-05 -9.99980484e-01 -4.89733116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.546559995 meters 0.04842697229948601 Centerline is valid? [True, True] Translation: X:524.17, Y:-300.28, Z:-4.90 [[ 3.85248095e-01 -9.22807880e-01 -3.08575459e-03 5.24174718e+02] [-9.22776099e-01 -3.85260440e-01 7.65925554e-03 -3.00281851e+02] [-8.25684053e-03 -1.03253021e-04 -9.99965906e-01 -4.89604139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.606559995 meters 0.048469004459117615 Centerline is valid? [True, True] Translation: X:524.21, Y:-300.55, Z:-4.90 [[ 4.50335921e-01 -8.92850740e-01 -3.88769873e-03 5.24211048e+02] [-8.92815707e-01 -4.50352692e-01 7.90982364e-03 -3.00550461e+02] [-8.81312748e-03 -9.10792173e-05 -9.99961160e-01 -4.89529989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.666559995 meters 0.049064607875431 Centerline is valid? [True, True] Translation: X:524.25, Y:-300.78, Z:-4.90 [[ 5.12629631e-01 -8.58597593e-01 -4.58643136e-03 5.24250762e+02] [-8.58562025e-01 -5.12650143e-01 7.81544357e-03 -3.00782166e+02] [-9.06155573e-03 -6.86921539e-05 -9.99958941e-01 -4.89516090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7265599950001 meters 0.04893355641509923 Centerline is valid? [True, True] Translation: X:524.33, Y:-301.04, Z:-4.90 [[ 5.70171005e-01 -8.21506382e-01 -5.68245841e-03 5.24327913e+02] [-8.21465187e-01 -5.70199320e-01 8.22689595e-03 -3.01038917e+02] [-9.99858145e-03 -2.27957697e-05 -9.99950013e-01 -4.89600514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.786559995 meters 0.049541040041676594 Centerline is valid? [True, True] Translation: X:524.29, Y:-301.12, Z:-4.90 [[ 6.27144691e-01 -7.78879444e-01 -6.02894168e-03 5.24293010e+02] [-7.78843548e-01 -6.27173670e-01 7.47763095e-03 -3.01119866e+02] [-9.60536652e-03 6.04577808e-06 -9.99953867e-01 -4.89677153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.846559995 meters 0.049239897026051554 Centerline is valid? [True, True] Translation: X:524.43, Y:-301.40, Z:-4.90 [[ 6.79890961e-01 -7.33294494e-01 -5.24082785e-03 5.24434201e+02] [-7.33273090e-01 -6.79911159e-01 5.60289794e-03 -3.01399734e+02] [-7.67187155e-03 3.35983658e-05 -9.99970570e-01 -4.89677440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.906559995 meters 0.04970040374284415 Centerline is valid? [True, True] Translation: X:524.20, Y:-301.28, Z:-4.90 [[ 7.30073320e-01 -6.83352304e-01 -4.75146608e-03 5.24195976e+02] [-6.83338266e-01 -7.30088780e-01 4.38046638e-03 -3.01278150e+02] [-6.46239387e-03 4.87969581e-05 -9.99979117e-01 -4.89637053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9665599950001 meters 0.0501599007996485 Centerline is valid? [True, True] Translation: X:524.18, Y:-301.35, Z:-4.90 [[ 7.80794566e-01 -6.24771745e-01 -4.48465856e-03 5.24175049e+02] [-6.24761787e-01 -7.80807444e-01 3.52784300e-03 -3.01354891e+02] [-5.70575141e-03 4.73226522e-05 -9.99983721e-01 -4.89581281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.026559995 meters 0.04917723668456539 Centerline is valid? [True, True] Translation: X:524.16, Y:-301.43, Z:-4.90 [[ 8.28996191e-01 -5.59237854e-01 -4.28225413e-03 5.24158314e+02] [-5.59230559e-01 -8.29007251e-01 2.85664249e-03 -3.01434109e+02] [-5.14756234e-03 2.66216254e-05 -9.99986751e-01 -4.89712768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.086559995 meters 0.04981160409727548 Centerline is valid? [True, True] Translation: X:524.13, Y:-301.55, Z:-4.90 [[ 8.71803886e-01 -4.89830955e-01 -4.86008922e-03 5.24130945e+02] [-4.89823408e-01 -8.71817433e-01 2.71896458e-03 -3.01545338e+02] [-5.56894352e-03 1.01815793e-05 -9.99984493e-01 -4.89640444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.146559995 meters 0.0491065779535615 Centerline is valid? [True, True] Translation: X:524.13, Y:-301.63, Z:-4.89 [[ 9.09488086e-01 -4.15701211e-01 -4.89133172e-03 5.24128106e+02] [-4.15695099e-01 -9.09501239e-01 2.25418888e-03 -3.01627062e+02] [-5.38574131e-03 -1.68553059e-05 -9.99985497e-01 -4.89321723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2065599950001 meters 0.04938229797550675 Centerline is valid? [True, True] Translation: X:524.13, Y:-301.71, Z:-4.89 [[ 9.40193366e-01 -3.40612033e-01 -4.45844496e-03 5.24131818e+02] [-3.40608059e-01 -9.40203936e-01 1.64570757e-03 -3.01708368e+02] [-4.75239531e-03 -2.87010599e-05 -9.99988707e-01 -4.89413216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.266559995 meters 0.04967201835206897 Centerline is valid? [True, True] Translation: X:524.14, Y:-301.79, Z:-4.89 [[ 9.65006612e-01 -2.62191241e-01 -4.24160952e-03 5.24140571e+02] [-2.62188506e-01 -9.65015933e-01 1.19839645e-03 -3.01793485e+02] [-4.40742982e-03 -4.43592363e-05 -9.99990286e-01 -4.89488261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.326559995 meters 0.049005766772193864 Centerline is valid? [True, True] Translation: X:524.16, Y:-301.88, Z:-4.90 [[ 9.82991201e-01 -1.83612963e-01 -3.81816823e-03 5.24155383e+02] [-1.83611387e-01 -9.82998615e-01 7.62429498e-04 -3.01881380e+02] [-3.89324602e-03 -4.84023246e-05 -9.99992420e-01 -4.89504084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.386559995 meters 0.04891357655422252 Centerline is valid? [True, True] Translation: X:524.18, Y:-301.97, Z:-4.89 [[ 9.94338638e-01 -1.06171454e-01 -4.27731684e-03 5.24177896e+02] [-1.06170239e-01 -9.94347836e-01 5.10815838e-04 -3.01967294e+02] [-4.30737480e-03 -5.38001759e-05 -9.99990722e-01 -4.89386310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4465599950001 meters 0.04889204632649812 Centerline is valid? [True, True] Translation: X:524.21, Y:-302.05, Z:-4.89 [[ 9.99550873e-01 -2.95661570e-02 -4.88832166e-03 5.24206229e+02] [-2.95655383e-02 -9.99562824e-01 1.98784063e-04 -3.02049608e+02] [-4.89206188e-03 -5.41689222e-05 -9.99988032e-01 -4.89246142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.506559995 meters 0.04933731359133038 Centerline is valid? [True, True] Translation: X:524.24, Y:-302.12, Z:-4.89 [[ 9.98955545e-01 4.54109630e-02 -5.06587232e-03 5.24235290e+02] [ 4.54105783e-02 -9.98968389e-01 -1.91006679e-04 -3.02117299e+02] [-5.06932011e-03 -3.92370109e-05 -9.99987150e-01 -4.89199143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.566559995 meters 0.04929730254138572 Centerline is valid? [True, True] Translation: X:524.27, Y:-302.19, Z:-4.89 [[ 9.92775472e-01 1.19833622e-01 -6.06344470e-03 5.24269989e+02] [ 1.19831541e-01 -9.92793988e-01 -7.06609279e-04 -3.02185271e+02] [-6.10442700e-03 -2.50875613e-05 -9.99981368e-01 -4.89159550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.626559995 meters 0.04944855863100995 Centerline is valid? [True, True] Translation: X:524.31, Y:-302.25, Z:-4.89 [[ 9.80795494e-01 1.94919512e-01 -6.82511329e-03 5.24310019e+02] [ 1.94914885e-01 -9.80819241e-01 -1.34316555e-03 -3.02254658e+02] [-6.95601162e-03 -1.29454521e-05 -9.99975807e-01 -4.89240205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6865599950002 meters 0.04895600050750239 Centerline is valid? [True, True] Translation: X:524.36, Y:-302.32, Z:-4.89 [[ 9.62785280e-01 2.70184970e-01 -6.67726467e-03 5.24355138e+02] [ 2.70178520e-01 -9.62808435e-01 -1.86694393e-03 -3.02321342e+02] [-6.93334694e-03 -6.58735355e-06 -9.99975964e-01 -4.89235171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.746559995 meters 0.04917524983244835 Centerline is valid? [True, True] Translation: X:524.41, Y:-302.39, Z:-4.89 [[ 9.38690449e-01 3.44706443e-01 -6.14072246e-03 5.24406380e+02] [ 3.44699112e-01 -9.38710535e-01 -2.24821997e-03 -3.02385338e+02] [-6.53933677e-03 -6.31895885e-06 -9.99978618e-01 -4.89266537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.806559995 meters 0.049630872767890695 Centerline is valid? [True, True] Translation: X:524.46, Y:-302.45, Z:-4.89 [[ 9.08513862e-01 4.17819585e-01 -5.41823486e-03 5.24461409e+02] [ 4.17812225e-01 -9.08530018e-01 -2.48012061e-03 -3.02445637e+02] [-5.95887198e-03 -1.05808043e-05 -9.99982246e-01 -4.89172243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.866559995 meters 0.049728588131371876 Centerline is valid? [True, True] Translation: X:524.52, Y:-302.50, Z:-4.89 [[ 8.72763116e-01 4.88119316e-01 -4.90673314e-03 5.24519047e+02] [ 4.88111688e-01 -8.72776909e-01 -2.72905321e-03 -3.02496023e+02] [-5.61458697e-03 -1.32168083e-05 -9.99984238e-01 -4.89259295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9265599950002 meters 0.049091395426499075 Centerline is valid? [True, True] Translation: X:524.59, Y:-302.56, Z:-4.90 [[ 8.29835160e-01 5.57994371e-01 -3.98621063e-03 5.24589928e+02] [ 5.57988101e-01 -8.29844733e-01 -2.64536720e-03 -3.02557712e+02] [-4.78403591e-03 -2.90393875e-05 -9.99988556e-01 -4.89521274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.986559995 meters 0.050032565427652866 Centerline is valid? [True, True] Translation: X:524.66, Y:-302.61, Z:-4.89 [[ 7.81751293e-01 6.23578923e-01 -3.77403208e-03 5.24663598e+02] [ 6.23571924e-01 -7.81760402e-01 -2.95474606e-03 -3.02613773e+02] [-4.79290620e-03 -4.35038933e-05 -9.99988513e-01 -4.89396472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.046559995 meters 0.04981044728371034 Centerline is valid? [True, True] Translation: X:524.74, Y:-302.66, Z:-4.89 [[ 7.28190159e-01 6.85368538e-01 -3.00984567e-03 5.24738937e+02] [ 6.85362973e-01 -7.28196378e-01 -2.76243322e-03 -3.02658451e+02] [-4.08504354e-03 -5.12600896e-05 -9.99991655e-01 -4.89472428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.106559995 meters 0.04991073939539542 Centerline is valid? [True, True] Translation: X:524.82, Y:-302.70, Z:-4.89 [[ 6.71654132e-01 7.40860859e-01 -2.43192162e-03 5.24820436e+02] [ 7.40856260e-01 -6.71658533e-01 -2.61092251e-03 -3.02701155e+02] [-3.56775120e-03 -4.80674641e-05 -9.99993634e-01 -4.89450182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.166559995 meters 0.05017398567151373 Centerline is valid? [True, True] Translation: X:524.89, Y:-302.72, Z:-4.89 [[ 6.12222426e-01 7.90683281e-01 -1.91061737e-03 5.24890245e+02] [ 7.90679628e-01 -6.12225407e-01 -2.40377356e-03 -3.02722456e+02] [-3.07035206e-03 -3.90421525e-05 -9.99995286e-01 -4.89433930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2265599950001 meters 0.05050619279094905 Centerline is valid? [True, True] Translation: X:524.97, Y:-302.74, Z:-4.90 [[ 5.50449237e-01 8.34866585e-01 -1.84991983e-03 5.24969191e+02] [ 8.34862079e-01 -5.50452344e-01 -2.74337530e-03 -3.02744550e+02] [-3.30864507e-03 -3.43390786e-05 -9.99994526e-01 -4.89576633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.286559995 meters 0.05012537595255326 Centerline is valid? [True, True] Translation: X:525.05, Y:-302.76, Z:-4.90 [[ 4.85683147e-01 8.74133205e-01 -1.73807587e-03 5.25053598e+02] [ 8.74127809e-01 -4.85686257e-01 -3.07140682e-03 -3.02763920e+02] [-3.52897826e-03 -2.75699232e-05 -9.99993773e-01 -4.89504193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.346559995 meters 0.049961782951175426 Centerline is valid? [True, True] Translation: X:525.14, Y:-302.78, Z:-4.89 [[ 4.16867661e-01 9.08965669e-01 -1.66280681e-03 5.25137957e+02] [ 9.08958686e-01 -4.16870977e-01 -3.56302681e-03 -3.02775118e+02] [-3.93184495e-03 -2.61120425e-05 -9.99992270e-01 -4.89477608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.406559995 meters 0.04997261608789858 Centerline is valid? [True, True] Translation: X:525.22, Y:-302.78, Z:-4.89 [[ 3.45001899e-01 9.38599961e-01 -1.95025291e-03 5.25221284e+02] [ 9.38585514e-01 -3.45007409e-01 -5.20774759e-03 -3.02779779e+02] [-5.56084338e-03 -3.37963264e-05 -9.99984538e-01 -4.89322863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4665599950001 meters 0.05048202144997578 Centerline is valid? [True, True] Translation: X:525.30, Y:-302.78, Z:-4.89 [[ 2.69527424e-01 9.62991199e-01 -1.70843307e-03 5.25304693e+02] [ 9.62972872e-01 -2.69532835e-01 -5.94133478e-03 -3.02777609e+02] [-6.18193191e-03 -4.38220397e-05 -9.99980891e-01 -4.89135389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.526559995 meters 0.050726669692539625 Centerline is valid? [True, True] Translation: X:525.39, Y:-302.77, Z:-4.89 [[ 1.91491675e-01 9.81493579e-01 -1.13663622e-03 5.25387940e+02] [ 9.81477837e-01 -1.91495042e-01 -5.55909979e-03 -3.02768183e+02] [-5.67388095e-03 -5.10619282e-05 -9.99983902e-01 -4.89308406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.586559995 meters 0.04939682253466728 Centerline is valid? [True, True] Translation: X:525.47, Y:-302.75, Z:-4.89 [[ 1.09700435e-01 9.93964470e-01 -6.69225125e-04 5.25472391e+02] [ 9.93949823e-01 -1.09702452e-01 -5.39649728e-03 -3.02752751e+02] [-5.43734220e-03 -7.31780943e-05 -9.99985215e-01 -4.89311708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.646559995 meters 0.05055655898288204 Centerline is valid? [True, True] Translation: X:525.56, Y:-302.73, Z:-4.89 [[ 2.83790584e-02 9.99597201e-01 -2.54450735e-04 5.25558540e+02] [ 9.99581271e-01 -2.83800429e-02 -5.64412816e-03 -3.02731742e+02] [-5.64907603e-03 -9.41691463e-05 -9.99984039e-01 -4.89192530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7065599950001 meters 0.04968866491366548 Centerline is valid? [True, True] Translation: X:525.64, Y:-302.70, Z:-4.89 [[-5.37950653e-02 9.98551981e-01 1.80259505e-04 5.25639062e+02] [ 9.98537284e-01 5.37952517e-02 -5.41877945e-03 -3.02702384e+02] [-5.42063006e-03 -1.11507758e-04 -9.99985302e-01 -4.89443311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.766559995 meters 0.05054899733094296 Centerline is valid? [True, True] Translation: X:525.73, Y:-302.67, Z:-4.89 [[-1.33512291e-01 9.91046965e-01 6.18155779e-04 5.25727853e+02] [ 9.91031611e-01 1.33513664e-01 -5.51786848e-03 -3.02667656e+02] [-5.55099905e-03 -1.24091343e-04 -9.99984585e-01 -4.89338539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.826559995 meters 0.04958954021848798 Centerline is valid? [True, True] Translation: X:525.80, Y:-302.63, Z:-4.89 [[-2.10632353e-01 9.77564447e-01 1.32806417e-03 5.25803039e+02] [ 9.77540035e-01 2.10636481e-01 -6.91036875e-03 -3.02626798e+02] [-7.03506957e-03 -1.57311341e-04 -9.99975241e-01 -4.89251203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.886559995 meters 0.0493360390048219 Centerline is valid? [True, True] Translation: X:525.87, Y:-302.58, Z:-4.89 [[-2.83223471e-01 9.59052124e-01 1.86767118e-03 5.25874913e+02] [ 9.59028053e-01 2.83229598e-01 -6.79616404e-03 -3.02580013e+02] [-7.04685532e-03 -1.33684116e-04 -9.99975162e-01 -4.89414437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9465599950001 meters 0.04940139841735797 Centerline is valid? [True, True] Translation: X:525.94, Y:-302.53, Z:-4.89 [[-3.52191967e-01 9.35925571e-01 2.03571258e-03 5.25942145e+02] [ 9.35908596e-01 3.52197841e-01 -5.63742804e-03 -3.02529711e+02] [-5.99318663e-03 -8.02159725e-05 -9.99982038e-01 -4.89466990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.006559995 meters 0.04930262689063708 Centerline is valid? [True, True] Translation: X:526.00, Y:-302.47, Z:-4.89 [[-4.20347720e-01 9.07359989e-01 2.37588997e-03 5.26003506e+02] [ 9.07344792e-01 4.20354432e-01 -5.25163965e-03 -3.02474071e+02] [-5.76384357e-03 -5.17633688e-05 -9.99983388e-01 -4.89461703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.066559995 meters 0.049267008333344554 Centerline is valid? [True, True] Translation: X:526.06, Y:-302.41, Z:-4.89 [[-4.84742002e-01 8.74652425e-01 2.88554861e-03 5.26060530e+02] [ 8.74636715e-01 4.84750590e-01 -5.24241356e-03 -3.02412744e+02] [-5.98406113e-03 -1.74112849e-05 -9.99982095e-01 -4.89477980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.126559995 meters 0.04901000858654015 Centerline is valid? [True, True] Translation: X:526.11, Y:-302.35, Z:-4.89 [[-5.49223200e-01 8.35668330e-01 3.50986715e-03 5.26113563e+02] [ 8.35651269e-01 5.49234415e-01 -5.33976683e-03 -3.02348342e+02] [-6.39001386e-03 3.01109746e-07 -9.99979584e-01 -4.89357775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1865599950002 meters 0.04882468989009608 Centerline is valid? [True, True] Translation: X:526.15, Y:-302.29, Z:-4.89 [[-6.12665591e-01 7.90327390e-01 4.84666657e-03 5.26153336e+02] [ 7.90302699e-01 6.12684761e-01 -6.24727598e-03 -3.02287797e+02] [-7.90687207e-03 2.84263765e-06 -9.99968740e-01 -4.89306649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.246559995 meters 0.049250836796171586 Centerline is valid? [True, True] Translation: X:526.19, Y:-302.22, Z:-4.89 [[-6.73692003e-01 7.38981294e-01 6.76250277e-03 5.26193970e+02] [ 7.38943903e-01 6.73725943e-01 -7.43383920e-03 -3.02218885e+02] [-1.00495417e-02 -1.10078322e-05 -9.99949502e-01 -4.88992772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.306559995 meters 0.050132001137534646 Centerline is valid? [True, True] Translation: X:526.23, Y:-302.14, Z:-4.89 [[-7.30268427e-01 6.83124242e-01 7.02101526e-03 5.26234477e+02] [ 6.83092380e-01 7.30302176e-01 -6.59788195e-03 -3.02138188e+02] [-9.63463583e-03 -2.22228509e-05 -9.99953586e-01 -4.89224694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.366559995 meters 0.04935945496222137 Centerline is valid? [True, True] Translation: X:526.62, Y:-301.65, Z:-5.92 [[-6.79609279e-01 -7.33553244e-01 5.55567041e-03 5.26621958e+02] [ 7.33527915e-01 -6.79631984e-01 -6.09631627e-03 -3.01650054e+02] [ 8.24778388e-03 -6.78737784e-05 9.99965984e-01 -5.91860134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4265599950002 meters 0.04930561775953543 Centerline is valid? [True, True] Translation: X:526.58, Y:-301.61, Z:-5.92 [[-6.80407751e-01 -7.32823078e-01 3.95336517e-03 5.26583031e+02] [ 7.32810754e-01 -6.80419236e-01 -4.24993633e-03 -3.01610047e+02] [ 5.80439712e-03 5.37888984e-06 9.99983154e-01 -5.91756513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.486559995 meters 0.049194408513193004 Centerline is valid? [True, True] Translation: X:526.54, Y:-301.57, Z:-5.92 [[-6.79852184e-01 -7.33343307e-01 2.93299763e-03 5.26542946e+02] [ 7.33336533e-01 -6.79858511e-01 -3.15206082e-03 -3.01569515e+02] [ 4.30556610e-03 7.93888257e-06 9.99990731e-01 -5.91706436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.546559995 meters 0.04930392832410601 Centerline is valid? [True, True] Translation: X:526.50, Y:-301.53, Z:-5.92 [[-6.78439866e-01 -7.34650151e-01 2.91604357e-03 5.26502923e+02] [ 7.34643471e-01 -6.78446133e-01 -3.13309929e-03 -3.01529954e+02] [ 4.28011035e-03 1.66329074e-05 9.99990840e-01 -5.91820522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.606559995 meters 0.048988586052976325 Centerline is valid? [True, True] Translation: X:526.46, Y:-301.49, Z:-5.92 [[-6.76309646e-01 -7.36609673e-01 3.38414965e-03 5.26463289e+02] [ 7.36600705e-01 -6.76318112e-01 -3.63500519e-03 -3.01488328e+02] [ 4.96634169e-03 3.43779458e-05 9.99987667e-01 -5.91786591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.666559995 meters 0.049022817455336834 Centerline is valid? [True, True] Translation: X:526.42, Y:-301.45, Z:-5.92 [[-6.74028180e-01 -7.38694912e-01 3.97988760e-03 5.26422294e+02] [ 7.38682552e-01 -6.74039927e-01 -4.27368636e-03 -3.01448098e+02] [ 5.83955352e-03 5.92884935e-05 9.99982948e-01 -5.91905273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7265599950001 meters 0.049037617673930035 Centerline is valid? [True, True] Translation: X:526.38, Y:-301.41, Z:-5.92 [[-6.71047710e-01 -7.41403629e-01 3.95355061e-03 5.26381610e+02] [ 7.41391485e-01 -6.71059351e-01 -4.24421391e-03 -3.01407460e+02] [ 5.79974270e-03 8.30587340e-05 9.99983178e-01 -5.91881825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.786559995 meters 0.04901979065053626 Centerline is valid? [True, True] Translation: X:526.34, Y:-301.37, Z:-5.92 [[-6.68917372e-01 -7.43326762e-01 3.85670964e-03 5.26339603e+02] [ 7.43315243e-01 -6.68928483e-01 -4.13929568e-03 -3.01369261e+02] [ 5.65671218e-03 9.79042744e-05 9.99983996e-01 -5.91978915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.846559995 meters 0.048356223281134314 Centerline is valid? [True, True] Translation: X:526.30, Y:-301.33, Z:-5.92 [[-6.68069375e-01 -7.44090063e-01 3.64547856e-03 5.26302047e+02] [ 7.44079788e-01 -6.68079313e-01 -3.91146927e-03 -3.01325677e+02] [ 5.34595423e-03 9.93940829e-05 9.99985705e-01 -5.91920647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.906559995 meters 0.048506012242278185 Centerline is valid? [True, True] Translation: X:526.26, Y:-301.28, Z:-5.92 [[-6.67382307e-01 -7.44707225e-01 3.46489921e-03 5.26262841e+02] [ 7.44697957e-01 -6.67391294e-01 -3.71665589e-03 -3.01283791e+02] [ 5.08026406e-03 9.98729832e-05 9.99987090e-01 -5.91943718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9665599950001 meters 0.04883794703891763 Centerline is valid? [True, True] Translation: X:526.23, Y:-301.24, Z:-5.92 [[-6.66993379e-01 -7.45053291e-01 3.92764330e-03 5.26225870e+02] [ 7.45041394e-01 -6.67004933e-01 -4.21197361e-03 -3.01238339e+02] [ 5.75790225e-03 1.16898328e-04 9.99983416e-01 -5.91954967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.026559995 meters 0.04815107267805249 Centerline is valid? [True, True] Translation: X:526.19, Y:-301.20, Z:-5.92 [[-6.68008182e-01 -7.44139668e-01 4.60696304e-03 5.26187454e+02] [ 7.44123285e-01 -6.68024055e-01 -4.93951426e-03 -3.01196440e+02] [ 6.75325063e-03 1.28512534e-04 9.99977188e-01 -5.92049080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.086559995 meters 0.0482897644079831 Centerline is valid? [True, True] Translation: X:526.15, Y:-301.15, Z:-5.92 [[-6.70717293e-01 -7.41696723e-01 4.92778398e-03 5.26150892e+02] [ 7.41677923e-01 -6.70735386e-01 -5.28214827e-03 -3.01151613e+02] [ 7.22299115e-03 1.12000396e-04 9.99973908e-01 -5.92107071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.146559995 meters 0.048667799396583104 Centerline is valid? [True, True] Translation: X:526.12, Y:-301.11, Z:-5.92 [[-6.75267896e-01 -7.37554954e-01 5.09489905e-03 5.26116068e+02] [ 7.37534749e-01 -6.75287113e-01 -5.45974786e-03 -3.01105171e+02] [ 7.46738375e-03 7.08726429e-05 9.99972116e-01 -5.92008526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2065599950001 meters 0.047909237332784516 Centerline is valid? [True, True] Translation: X:526.08, Y:-301.06, Z:-5.92 [[-6.78512718e-01 -7.34569724e-01 5.27364593e-03 5.26078276e+02] [ 7.34547998e-01 -6.78533211e-01 -5.64983216e-03 -3.01060489e+02] [ 7.72853956e-03 4.02630889e-05 9.99970134e-01 -5.92034406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.266559995 meters 0.0487779000229336 Centerline is valid? [True, True] Translation: X:526.04, Y:-301.02, Z:-5.92 [[-6.81606893e-01 -7.31700563e-01 5.13122273e-03 5.26039300e+02] [ 7.31679924e-01 -6.81626207e-01 -5.49577041e-03 -3.01018148e+02] [ 7.51883419e-03 8.45766545e-06 9.99971733e-01 -5.92151434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.326559995 meters 0.048767626309916844 Centerline is valid? [True, True] Translation: X:526.00, Y:-300.98, Z:-5.92 [[-6.82872961e-01 -7.30518203e-01 5.26053238e-03 5.25999320e+02] [ 7.30496487e-01 -6.82893223e-01 -5.63274042e-03 -3.00975535e+02] [ 7.70720132e-03 -3.64570765e-06 9.99970299e-01 -5.92108284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.386559995 meters 0.04832180116912993 Centerline is valid? [True, True] Translation: X:525.96, Y:-300.94, Z:-5.92 [[-6.82382984e-01 -7.30979338e-01 4.76133067e-03 5.25959770e+02] [ 7.30961570e-01 -6.82399595e-01 -5.09658468e-03 -3.00935126e+02] [ 6.97462822e-03 2.52707733e-06 9.99975677e-01 -5.91994273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4465599950001 meters 0.04873410951592168 Centerline is valid? [True, True] Translation: X:525.92, Y:-300.90, Z:-5.92 [[-6.81609952e-01 -7.31704949e-01 3.96766462e-03 5.25919807e+02] [ 7.31692631e-01 -6.81621499e-01 -4.24568301e-03 -3.00895695e+02] [ 5.81103278e-03 9.21117281e-06 9.99983116e-01 -5.92007723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.506559995 meters 0.0480860705231627 Centerline is valid? [True, True] Translation: X:525.88, Y:-300.86, Z:-5.92 [[-6.80661844e-01 -7.32590091e-01 3.34853825e-03 5.25878536e+02] [ 7.32581334e-01 -6.80670080e-01 -3.58215208e-03 -3.00855624e+02] [ 4.90349892e-03 1.48423775e-05 9.99987978e-01 -5.91920502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.566559995 meters 0.048000640423412864 Centerline is valid? [True, True] Translation: X:525.84, Y:-300.81, Z:-5.92 [[-6.80743056e-01 -7.32515846e-01 3.07031432e-03 5.25838653e+02] [ 7.32508487e-01 -6.80749979e-01 -3.28360989e-03 -3.00813805e+02] [ 4.49541269e-03 1.37366638e-05 9.99989896e-01 -5.91884206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.626559995 meters 0.04834466149422364 Centerline is valid? [True, True] Translation: X:525.80, Y:-300.77, Z:-5.92 [[-6.81728289e-01 -7.31599624e-01 2.92062280e-03 5.25799815e+02] [ 7.31592960e-01 -6.81734545e-01 -3.12262240e-03 -3.00772035e+02] [ 4.27559883e-03 7.92705686e-06 9.99990860e-01 -5.91854307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6865599950002 meters 0.04925233475439954 Centerline is valid? [True, True] Translation: X:525.76, Y:-300.73, Z:-5.92 [[-6.82424465e-01 -7.30950131e-01 2.95901010e-03 5.25761581e+02] [ 7.30943289e-01 -6.82430880e-01 -3.16258110e-03 -3.00733067e+02] [ 4.33100894e-03 4.64586161e-06 9.99990621e-01 -5.92157108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.746559995 meters 0.04900447270581851 Centerline is valid? [True, True] Translation: X:525.72, Y:-300.69, Z:-5.92 [[-6.82380200e-01 -7.30989799e-01 3.34323867e-03 5.25722525e+02] [ 7.30981071e-01 -6.82388390e-01 -3.57202354e-03 -3.00693000e+02] [ 4.89250002e-03 6.36605154e-06 9.99988032e-01 -5.92209205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.806559995 meters 0.04912240335637488 Centerline is valid? [True, True] Translation: X:525.68, Y:-300.65, Z:-5.92 [[-6.82386830e-01 -7.30983217e-01 3.42795766e-03 5.25682971e+02] [ 7.30974047e-01 -6.82395440e-01 -3.66146452e-03 -3.00651029e+02] [ 5.01569179e-03 7.21291579e-06 9.99987421e-01 -5.91946207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.866559995 meters 0.04865357957092741 Centerline is valid? [True, True] Translation: X:525.64, Y:-300.61, Z:-5.92 [[-6.82155304e-01 -7.31202531e-01 2.64555177e-03 5.25643405e+02] [ 7.31197074e-01 -6.82160434e-01 -2.82494232e-03 -3.00611332e+02] [ 3.87029571e-03 7.37032551e-06 9.99992510e-01 -5.92092057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9265599950002 meters 0.04881392059058976 Centerline is valid? [True, True] Translation: X:525.61, Y:-300.57, Z:-5.92 [[-6.81428407e-01 -7.31880774e-01 2.42060543e-03 5.25605313e+02] [ 7.31876213e-01 -6.81432706e-01 -2.58385897e-03 -3.00571586e+02] [ 3.54055641e-03 1.08686381e-05 9.99993732e-01 -5.92019958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.986559995 meters 0.04878243102273693 Centerline is valid? [True, True] Translation: X:525.56, Y:-300.53, Z:-5.92 [[-6.79064296e-01 -7.34074344e-01 2.55709719e-03 5.25564432e+02] [ 7.34069272e-01 -6.79069111e-01 -2.72886554e-03 -3.00530544e+02] [ 3.73963590e-03 2.40113127e-05 9.99993007e-01 -5.92025287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.046559995 meters 0.048700691603543955 Centerline is valid? [True, True] Translation: X:525.52, Y:-300.49, Z:-5.92 [[-6.76952967e-01 -7.36017779e-01 3.53689888e-03 5.25523194e+02] [ 7.36008108e-01 -6.76962205e-01 -3.77340824e-03 -3.00490769e+02] [ 5.17164241e-03 4.87663449e-05 9.99986626e-01 -5.92198955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.106559995 meters 0.04917479222185533 Centerline is valid? [True, True] Translation: X:525.48, Y:-300.45, Z:-5.92 [[-6.75110914e-01 -7.37700972e-01 4.74655207e-03 5.25483851e+02] [ 7.37683605e-01 -6.75127594e-01 -5.06262654e-03 -3.00448204e+02] [ 6.93923280e-03 8.36192144e-05 9.99975920e-01 -5.92309756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.166559995 meters 0.04868917222300504 Centerline is valid? [True, True] Translation: X:525.45, Y:-300.40, Z:-5.92 [[-6.76103584e-01 -7.36784492e-01 5.70581945e-03 5.25446430e+02] [ 7.36759373e-01 -6.76127654e-01 -6.08453759e-03 -3.00404217e+02] [ 8.34085525e-03 9.00382907e-05 9.99965210e-01 -5.92386365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2265599950001 meters 0.049126946936976654 Centerline is valid? [True, True] Translation: X:525.41, Y:-300.36, Z:-5.92 [[-6.79772351e-01 -7.33405653e-01 5.06952467e-03 5.25410774e+02] [ 7.33385741e-01 -6.79791252e-01 -5.40452010e-03 -3.00358655e+02] [ 7.40992412e-03 4.40737680e-05 9.99972545e-01 -5.92355306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.286559995 meters 0.04882181917765354 Centerline is valid? [True, True] Translation: X:525.37, Y:-300.31, Z:-5.92 [[-6.82157457e-01 -7.31193491e-01 4.15726048e-03 5.25373529e+02] [ 7.31180067e-01 -6.82170124e-01 -4.43081610e-03 -3.00314011e+02] [ 6.07574279e-03 1.71917558e-05 9.99981542e-01 -5.92285654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.346559995 meters 0.048217217986293 Centerline is valid? [True, True] Translation: X:525.34, Y:-300.27, Z:-5.92 [[-6.82970556e-01 -7.30440933e-01 2.69513448e-03 5.25336056e+02] [ 7.30435288e-01 -6.82975873e-01 -2.87161083e-03 -3.00270191e+02] [ 3.93825392e-03 7.39568722e-06 9.99992245e-01 -5.92127342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.406559995 meters 0.0479300737163816 Centerline is valid? [True, True] Translation: X:525.29, Y:-300.23, Z:-5.92 [[-6.79822607e-01 -7.33371798e-01 2.65144821e-03 5.25294695e+02] [ 7.33366360e-01 -6.79827777e-01 -2.82426067e-03 -3.00231249e+02] [ 3.87376126e-03 2.44866767e-05 9.99992497e-01 -5.92271418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4665599950001 meters 0.04917361369420345 Centerline is valid? [True, True] Translation: X:525.25, Y:-300.20, Z:-5.93 [[-6.76385038e-01 -7.36532620e-01 4.79372764e-03 5.25250890e+02] [ 7.36514933e-01 -6.76402020e-01 -5.10500485e-03 -3.00195160e+02] [ 7.00248966e-03 7.77030945e-05 9.99975479e-01 -5.92756541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.526559995 meters 0.048677597651095916 Centerline is valid? [True, True] Translation: X:525.21, Y:-300.15, Z:-5.93 [[-6.71624114e-01 -7.40865949e-01 6.22055212e-03 5.25211462e+02] [ 7.40836366e-01 -6.71652902e-01 -6.62261284e-03 -3.00152926e+02] [ 9.08452023e-03 1.60504744e-04 9.99958722e-01 -5.92702402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.586559995 meters 0.049127682504954105 Centerline is valid? [True, True] Translation: X:525.17, Y:-300.11, Z:-5.93 [[-6.70533468e-01 -7.41852819e-01 6.26609311e-03 5.25169947e+02] [ 7.41822860e-01 -6.70562722e-01 -6.66929806e-03 -3.00113801e+02] [ 9.14944602e-03 1.76343557e-04 9.99958127e-01 -5.92859934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.646559995 meters 0.04914087316682728 Centerline is valid? [True, True] Translation: X:525.13, Y:-300.07, Z:-5.93 [[-6.69300760e-01 -7.42965051e-01 6.27897041e-03 5.25130786e+02] [ 7.42935034e-01 -6.69330185e-01 -6.68129306e-03 -3.00070570e+02] [ 9.16667166e-03 1.93072572e-04 9.99957967e-01 -5.92755820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7065599950001 meters 0.04906654040242803 Centerline is valid? [True, True] Translation: X:525.09, Y:-300.03, Z:-5.93 [[-6.70596592e-01 -7.41800590e-01 5.66528434e-03 5.25092382e+02] [ 7.41776125e-01 -6.70620503e-01 -6.02680902e-03 -3.00026733e+02] [ 8.26994632e-03 1.60815071e-04 9.99965791e-01 -5.92702978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.766559995 meters 0.048891136124438114 Centerline is valid? [True, True] Translation: X:525.06, Y:-299.98, Z:-5.93 [[-6.74319624e-01 -7.38423291e-01 4.90805467e-03 5.25055092e+02] [ 7.38404849e-01 -6.74337477e-01 -5.21981049e-03 -2.99982670e+02] [ 7.16411484e-03 1.04310722e-04 9.99974332e-01 -5.92650312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.826559995 meters 0.04830857900918826 Centerline is valid? [True, True] Translation: X:525.02, Y:-299.94, Z:-5.93 [[-6.78208377e-01 -7.34852318e-01 5.04651438e-03 5.25018914e+02] [ 7.34832733e-01 -6.78227149e-01 -5.36551698e-03 -2.99937986e+02] [ 7.36554565e-03 6.94053932e-05 9.99972872e-01 -5.92651620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.886559995 meters 0.048713779702140185 Centerline is valid? [True, True] Translation: X:524.98, Y:-299.90, Z:-5.93 [[-6.78597579e-01 -7.34489479e-01 5.52551301e-03 5.24978033e+02] [ 7.34465999e-01 -6.78620070e-01 -5.87335043e-03 -2.99896623e+02] [ 8.06363812e-03 7.26600498e-05 9.99967486e-01 -5.92723270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9465599950001 meters 0.048775499735752084 Centerline is valid? [True, True] Translation: X:524.94, Y:-299.86, Z:-5.93 [[-6.76971492e-01 -7.35975344e-01 7.06347134e-03 5.24936313e+02] [ 7.35937071e-01 -6.77008331e-01 -7.50652366e-03 -2.99858443e+02] [ 1.03066453e-02 1.16567891e-04 9.99946878e-01 -5.92948577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.006559995 meters 0.04911349516738494 Centerline is valid? [True, True] Translation: X:524.90, Y:-299.82, Z:-5.93 [[-6.75887295e-01 -7.36962993e-01 7.86839089e-03 5.24895037e+02] [ 7.36915593e-01 -6.75933077e-01 -8.35960289e-03 -2.99819510e+02] [ 1.14792236e-02 1.48190554e-04 9.99934101e-01 -5.93133094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.066559995 meters 0.04848743013700423 Centerline is valid? [True, True] Translation: X:524.86, Y:-299.78, Z:-5.93 [[-6.75645633e-01 -7.37184245e-01 7.89731359e-03 5.24856991e+02] [ 7.37136533e-01 -6.75691768e-01 -8.38845756e-03 -2.99777457e+02] [ 1.15199885e-02 1.53773644e-04 9.99933631e-01 -5.92967485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.126559995 meters 0.04889344873574565 Centerline is valid? [True, True] Translation: X:524.82, Y:-299.73, Z:-5.93 [[-6.77923968e-01 -7.35099526e-01 6.91239410e-03 5.24818011e+02] [ 7.35062876e-01 -6.77959199e-01 -7.34112270e-03 -2.99734590e+02] [ 1.00827770e-02 1.04321263e-04 9.99949162e-01 -5.92974270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1865599950002 meters 0.048856371085487085 Centerline is valid? [True, True] Translation: X:524.78, Y:-299.69, Z:-5.93 [[-6.83318422e-01 -7.30098754e-01 5.63416204e-03 5.24782891e+02] [ 7.30074248e-01 -6.83341649e-01 -5.98199605e-03 -2.99688565e+02] [ 8.21750544e-03 2.57485128e-05 9.99966235e-01 -5.92711487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.246559995 meters 0.04889257193627471 Centerline is valid? [True, True] Translation: X:524.75, Y:-299.64, Z:-5.93 [[-6.87718210e-01 -7.25963679e-01 4.51659923e-03 5.24746462e+02] [ 7.25947849e-01 -6.87733041e-01 -4.79420084e-03 -2.99644974e+02] [ 6.58663020e-03 -1.82437247e-05 9.99978308e-01 -5.92795594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.306559995 meters 0.04901099921666215 Centerline is valid? [True, True] Translation: X:524.71, Y:-299.60, Z:-5.93 [[-6.88171226e-01 -7.25531211e-01 4.98257193e-03 5.24705798e+02] [ 7.25511946e-01 -6.88189263e-01 -5.28729012e-03 -2.99604924e+02] [ 7.26504651e-03 -2.36454682e-05 9.99973609e-01 -5.92919343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.366559995 meters 0.04901779459288043 Centerline is valid? [True, True] Translation: X:524.67, Y:-299.56, Z:-5.93 [[-6.88044782e-01 -7.25641064e-01 6.27884554e-03 5.24666140e+02] [ 7.25610491e-01 -6.88073430e-01 -6.66112588e-03 -2.99562742e+02] [ 9.15389326e-03 -2.71567056e-05 9.99958102e-01 -5.93015590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4265599950002 meters 0.048933995850511426 Centerline is valid? [True, True] Translation: X:524.63, Y:-299.52, Z:-5.93 [[-6.87773116e-01 -7.25891257e-01 7.07274897e-03 5.24627127e+02] [ 7.25852500e-01 -6.87809481e-01 -7.50106545e-03 -2.99522483e+02] [ 1.03096616e-02 -2.52586341e-05 9.99946854e-01 -5.93133895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.486559995 meters 0.04946381934871897 Centerline is valid? [True, True] Translation: X:524.59, Y:-299.48, Z:-5.93 [[-6.87482707e-01 -7.26176998e-01 5.87324670e-03 5.24586405e+02] [ 7.26150300e-01 -6.87507794e-01 -6.22689042e-03 -2.99483484e+02] [ 8.55972747e-03 -1.60196256e-05 9.99963365e-01 -5.92990790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.546559995 meters 0.04850993413734636 Centerline is valid? [True, True] Translation: X:524.55, Y:-299.44, Z:-5.93 [[-6.86244097e-01 -7.27362387e-01 3.60506740e-03 5.24545157e+02] [ 7.27352348e-01 -6.86253567e-01 -3.82151596e-03 -2.99443189e+02] [ 5.25361733e-03 -3.38535920e-07 9.99986200e-01 -5.92773703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.606559995 meters 0.048554864028665025 Centerline is valid? [True, True] Translation: X:524.51, Y:-299.40, Z:-5.93 [[-6.84831082e-01 -7.28696275e-01 2.85090635e-03 5.24505203e+02] [ 7.28690013e-01 -6.84837016e-01 -3.02118428e-03 -2.99401609e+02] [ 4.15393193e-03 8.42608257e-06 9.99991372e-01 -5.92616060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.666559995 meters 0.04897169093636743 Centerline is valid? [True, True] Translation: X:524.47, Y:-299.36, Z:-5.93 [[-6.83877401e-01 -7.29591033e-01 2.93686198e-03 5.24466201e+02] [ 7.29584399e-01 -6.83883707e-01 -3.11121012e-03 -2.99362353e+02] [ 4.27838306e-03 1.50023923e-05 9.99990848e-01 -5.92651346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7265599950001 meters 0.04882462905040377 Centerline is valid? [True, True] Translation: X:524.43, Y:-299.32, Z:-5.93 [[-6.83519411e-01 -7.29926693e-01 2.87012293e-03 5.24426879e+02] [ 7.29920364e-01 -6.83525437e-01 -3.03958875e-03 -2.99323806e+02] [ 4.18047899e-03 1.73432561e-05 9.99991262e-01 -5.92725472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.786559995 meters 0.048728717048296614 Centerline is valid? [True, True] Translation: X:524.39, Y:-299.28, Z:-5.93 [[-6.84090375e-01 -7.29387845e-01 3.70541181e-03 5.24390165e+02] [ 7.29377296e-01 -6.84100410e-01 -3.92299504e-03 -2.99280732e+02] [ 5.39625863e-03 1.89600968e-05 9.99985440e-01 -5.92540216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.846559995 meters 0.04853349848207646 Centerline is valid? [True, True] Translation: X:524.35, Y:-299.24, Z:-5.93 [[-6.83360590e-01 -7.30070457e-01 3.92823780e-03 5.24350780e+02] [ 7.30058617e-01 -6.83371880e-01 -4.15801052e-03 -2.99238828e+02] [ 5.72008789e-03 2.64233334e-05 9.99983640e-01 -5.92502136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.906559995 meters 0.04880584082609485 Centerline is valid? [True, True] Translation: X:524.31, Y:-299.20, Z:-5.93 [[-6.81883027e-01 -7.31454216e-01 3.20416427e-03 5.24309547e+02] [ 7.31446358e-01 -6.81890555e-01 -3.39068536e-03 -2.99199272e+02] [ 4.66502046e-03 3.16234880e-05 9.99989118e-01 -5.92575918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9665599950001 meters 0.04898303324672965 Centerline is valid? [True, True] Translation: X:524.27, Y:-299.16, Z:-5.93 [[-6.80638564e-01 -7.32613051e-01 3.04338393e-03 5.24268051e+02] [ 7.32605977e-01 -6.80645367e-01 -3.21959146e-03 -2.99160595e+02] [ 4.43017990e-03 3.82231560e-05 9.99990186e-01 -5.92599420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.026559995 meters 0.04870136394431612 Centerline is valid? [True, True] Translation: X:524.23, Y:-299.12, Z:-5.93 [[-6.81674096e-01 -7.31650241e-01 2.89011134e-03 5.24230746e+02] [ 7.31643856e-01 -6.81680221e-01 -3.05666036e-03 -2.99117609e+02] [ 4.20653802e-03 3.08860228e-05 9.99991152e-01 -5.92502887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.086559995 meters 0.04849626540306819 Centerline is valid? [True, True] Translation: X:524.19, Y:-299.07, Z:-5.93 [[-6.84800393e-01 -7.28720398e-01 3.87353917e-03 5.24194574e+02] [ 7.28708889e-01 -6.84811348e-01 -4.09553432e-03 -2.99074120e+02] [ 5.63714298e-03 1.80589117e-05 9.99984111e-01 -5.92631035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.146559995 meters 0.04882064361915099 Centerline is valid? [True, True] Translation: X:524.16, Y:-299.03, Z:-5.93 [[-6.87730623e-01 -7.25951637e-01 4.56200366e-03 5.24158577e+02] [ 7.25935623e-01 -6.87745753e-01 -4.82178319e-03 -2.99031725e+02] [ 6.63788004e-03 -4.36698880e-06 9.99977969e-01 -5.92688968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2065599950001 meters 0.04943971100027029 Centerline is valid? [True, True] Translation: X:524.12, Y:-298.99, Z:-5.93 [[-6.92514415e-01 -7.21386500e-01 5.03019131e-03 5.24120465e+02] [ 7.21366920e-01 -6.92532682e-01 -5.31520256e-03 -2.98987878e+02] [ 7.31788725e-03 -5.22407838e-05 9.99973223e-01 -5.92534057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.266559995 meters 0.049929092623363855 Centerline is valid? [True, True] Translation: X:524.09, Y:-298.94, Z:-5.93 [[-6.96985200e-01 -7.17065376e-01 5.37383808e-03 5.24087259e+02] [ 7.17042912e-01 -6.97005908e-01 -5.67678330e-03 -2.98940935e+02] [ 7.81622164e-03 -1.03361440e-04 9.99969448e-01 -5.92807002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.326559995 meters 0.050665805019138 Centerline is valid? [True, True] Translation: X:524.05, Y:-298.90, Z:-5.93 [[-6.99096475e-01 -7.15006335e-01 5.48263587e-03 5.24049737e+02] [ 7.14982904e-01 -6.99117962e-01 -5.78991557e-03 -2.98898975e+02] [ 7.97283553e-03 -1.27718652e-04 9.99968208e-01 -5.92794157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.386559995 meters 0.04985978538325997 Centerline is valid? [True, True] Translation: X:524.01, Y:-298.86, Z:-5.92 [[-7.00034836e-01 -7.14089510e-01 5.23451488e-03 5.24005018e+02] [ 7.14068133e-01 -7.00054394e-01 -5.52693714e-03 -2.98861800e+02] [ 7.61117298e-03 -1.31248276e-04 9.99971026e-01 -5.92385136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4465599950001 meters 0.049658349043826336 Centerline is valid? [True, True] Translation: X:523.96, Y:-298.82, Z:-5.92 [[-6.98164265e-01 -7.15925696e-01 4.13004976e-03 5.23964129e+02] [ 7.15912426e-01 -6.98176475e-01 -4.35981499e-03 -2.98822854e+02] [ 6.00480717e-03 -8.71130818e-05 9.99981967e-01 -5.92300110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.506559995 meters 0.04954946777741884 Centerline is valid? [True, True] Translation: X:523.93, Y:-298.78, Z:-5.92 [[-6.97182407e-01 -7.16883502e-01 3.83860628e-03 5.23925008e+02] [ 7.16872060e-01 -6.97192971e-01 -4.05094348e-03 -2.98781836e+02] [ 5.58030386e-03 -7.24569357e-05 9.99984427e-01 -5.92344216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.566559995 meters 0.04957812537152719 Centerline is valid? [True, True] Translation: X:523.88, Y:-298.74, Z:-5.92 [[-6.93587944e-01 -7.20361169e-01 3.94342985e-03 5.23880276e+02] [ 7.20349155e-01 -6.93599152e-01 -4.16067040e-03 -2.98744763e+02] [ 5.73234499e-03 -4.51444664e-05 9.99983569e-01 -5.92397932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.626559995 meters 0.04957481778661154 Centerline is valid? [True, True] Translation: X:523.84, Y:-298.71, Z:-5.92 [[-6.91628500e-01 -7.22234297e-01 5.25724789e-03 5.23837561e+02] [ 7.22213010e-01 -6.91648479e-01 -5.54519252e-03 -2.98705948e+02] [ 7.64109573e-03 -3.83603622e-05 9.99970806e-01 -5.92432803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6865599950002 meters 0.04965518053789545 Centerline is valid? [True, True] Translation: X:523.80, Y:-298.67, Z:-5.92 [[-6.92111749e-01 -7.21765113e-01 6.03727936e-03 5.23796911e+02] [ 7.21737033e-01 -6.92138078e-01 -6.36670722e-03 -2.98665249e+02] [ 8.77389809e-03 -4.91447734e-05 9.99961507e-01 -5.92492733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.746559995 meters 0.04978544516569031 Centerline is valid? [True, True] Translation: X:523.76, Y:-298.62, Z:-5.92 [[-6.95801330e-01 -7.18202150e-01 6.79561390e-03 5.23757466e+02] [ 7.18166420e-01 -6.95834507e-01 -7.16469943e-03 -2.98624496e+02] [ 9.87432518e-03 -1.04825690e-04 9.99951242e-01 -5.92471214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.806559995 meters 0.050322896226573266 Centerline is valid? [True, True] Translation: X:523.72, Y:-298.58, Z:-5.92 [[-7.00496401e-01 -7.13632333e-01 5.80391888e-03 5.23717312e+02] [ 7.13606124e-01 -7.00520430e-01 -6.11766457e-03 -2.98582399e+02] [ 8.43152698e-03 -1.43689957e-04 9.99964444e-01 -5.92320121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.866559995 meters 0.05045206221557486 Centerline is valid? [True, True] Translation: X:523.68, Y:-298.54, Z:-5.92 [[-7.02935385e-01 -7.11240171e-01 4.38901194e-03 5.23676329e+02] [ 7.11225143e-01 -7.02949075e-01 -4.62528438e-03 -2.98539916e+02] [ 6.37493993e-03 -1.29700406e-04 9.99979671e-01 -5.92194847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9265599950002 meters 0.05011564813055185 Centerline is valid? [True, True] Translation: X:523.64, Y:-298.50, Z:-5.92 [[-7.02820175e-01 -7.11354174e-01 4.36360473e-03 5.23636669e+02] [ 7.11339330e-01 -7.02833709e-01 -4.59724932e-03 -2.98498866e+02] [ 6.33716099e-03 -1.27035908e-04 9.99979912e-01 -5.92215203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.986559995 meters 0.05080486477486617 Centerline is valid? [True, True] Translation: X:523.59, Y:-298.46, Z:-5.92 [[-6.99530522e-01 -7.14586159e-01 4.86526265e-03 5.23594625e+02] [ 7.14567792e-01 -6.99547432e-01 -5.12454714e-03 -2.98459406e+02] [ 7.06541245e-03 -1.08217146e-04 9.99975034e-01 -5.92328557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.046559995 meters 0.049966313752255756 Centerline is valid? [True, True] Translation: X:523.55, Y:-298.42, Z:-5.92 [[-6.95396800e-01 -7.18606884e-01 5.23793051e-03 5.23550303e+02] [ 7.18585719e-01 -6.95416523e-01 -5.51579135e-03 -2.98421324e+02] [ 7.60622906e-03 -7.17615913e-05 9.99971070e-01 -5.92266144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.106559995 meters 0.05031070697274578 Centerline is valid? [True, True] Translation: X:523.51, Y:-298.38, Z:-5.92 [[-6.87712112e-01 -7.25958148e-01 6.06783024e-03 5.23506933e+02] [ 7.25930035e-01 -6.87738880e-01 -6.38877491e-03 -2.98383596e+02] [ 8.81106597e-03 1.11823280e-05 9.99961182e-01 -5.92372145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.166559995 meters 0.04965658869825511 Centerline is valid? [True, True] Translation: X:523.46, Y:-298.35, Z:-5.92 [[-6.80556713e-01 -7.32667111e-01 6.43925550e-03 5.23462867e+02] [ 7.32635764e-01 -6.80587168e-01 -6.77825221e-03 -2.98345142e+02] [ 9.34867713e-03 1.04643824e-04 9.99956295e-01 -5.92426334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2265599950001 meters 0.04988608989297158 Centerline is valid? [True, True] Translation: X:523.42, Y:-298.31, Z:-5.93 [[-6.76483985e-01 -7.36434496e-01 5.80090650e-03 5.23420536e+02] [ 7.36409208e-01 -6.76508842e-01 -6.10455894e-03 -2.98307483e+02] [ 8.41997233e-03 1.42204599e-04 9.99964541e-01 -5.92544143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.286559995 meters 0.049958557834689075 Centerline is valid? [True, True] Translation: X:523.38, Y:-298.27, Z:-5.93 [[-6.76426814e-01 -7.36487726e-01 5.70918741e-03 5.23382358e+02] [ 7.36463249e-01 -6.76450892e-01 -6.00618378e-03 -2.98266779e+02] [ 8.28546555e-03 1.41862950e-04 9.99965665e-01 -5.92509379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.346559995 meters 0.05010787257990857 Centerline is valid? [True, True] Translation: X:523.34, Y:-298.23, Z:-5.93 [[-6.77926320e-01 -7.35113794e-01 4.85956973e-03 5.23343945e+02] [ 7.35096035e-01 -6.77943729e-01 -5.11085007e-03 -2.98225452e+02] [ 7.05157120e-03 1.07470660e-04 9.99975132e-01 -5.92556973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.406559995 meters 0.05005324757674042 Centerline is valid? [True, True] Translation: X:523.31, Y:-298.18, Z:-5.92 [[-6.78711720e-01 -7.34390584e-01 4.56850200e-03 5.23307706e+02] [ 7.34374883e-01 -6.78727089e-01 -4.80315421e-03 -2.98182897e+02] [ 6.62815729e-03 9.50360591e-05 9.99978029e-01 -5.92488253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4665599950001 meters 0.049146335326523335 Centerline is valid? [True, True] Translation: X:523.27, Y:-298.14, Z:-5.92 [[-6.78715042e-01 -7.34382351e-01 5.33426884e-03 5.23271875e+02] [ 7.34360958e-01 -6.78735994e-01 -5.60651632e-03 -2.98139340e+02] [ 7.73788690e-03 1.12051812e-04 9.99970056e-01 -5.92490766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.526559995 meters 0.04935410856953081 Centerline is valid? [True, True] Translation: X:523.24, Y:-298.09, Z:-5.92 [[-6.79750985e-01 -7.33416119e-01 6.27655090e-03 5.23237992e+02] [ 7.33386477e-01 -6.79779951e-01 -6.59495829e-03 -2.98093266e+02] [ 9.10352218e-03 1.20208154e-04 9.99958555e-01 -5.92443320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.586559995 meters 0.04907987680267643 Centerline is valid? [True, True] Translation: X:523.20, Y:-298.05, Z:-5.93 [[-6.83633200e-01 -7.29793986e-01 6.81065850e-03 5.23204356e+02] [ 7.29758924e-01 -6.83667120e-01 -7.15407487e-03 -2.98046699e+02] [ 9.87722410e-03 7.93757167e-05 9.99951216e-01 -5.92514080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.646559995 meters 0.0484322189826856 Centerline is valid? [True, True] Translation: X:523.17, Y:-298.00, Z:-5.92 [[-6.87383701e-01 -7.26262924e-01 6.76846407e-03 5.23169098e+02] [ 7.26228141e-01 -6.87417024e-01 -7.10797134e-03 -2.97999369e+02] [ 9.81501347e-03 2.95454283e-05 9.99951831e-01 -5.92373790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7065599950001 meters 0.04980913236199162 Centerline is valid? [True, True] Translation: X:523.14, Y:-297.95, Z:-5.92 [[-6.94706571e-01 -7.19264934e-01 6.38234465e-03 5.23138103e+02] [ 7.19233725e-01 -6.94735885e-01 -6.70068527e-03 -2.97949923e+02] [ 9.25361181e-03 -6.46125707e-05 9.99957182e-01 -5.92490129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.766559995 meters 0.04986618265914476 Centerline is valid? [True, True] Translation: X:523.11, Y:-297.91, Z:-5.92 [[-7.01747082e-01 -7.12394784e-01 6.68623257e-03 5.23105133e+02] [ 7.12360234e-01 -7.01778915e-01 -7.01793159e-03 -2.97905131e+02] [ 9.69179490e-03 -1.61806815e-04 9.99953020e-01 -5.92162160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.826559995 meters 0.04987357829283463 Centerline is valid? [True, True] Translation: X:523.07, Y:-297.86, Z:-5.92 [[-7.03565787e-01 -7.10602795e-01 6.23312800e-03 5.23068436e+02] [ 7.10572713e-01 -7.03593376e-01 -6.54071331e-03 -2.97860008e+02] [ 9.03343673e-03 -1.72731425e-04 9.99959183e-01 -5.92213778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.886559995 meters 0.04947959679932697 Centerline is valid? [True, True] Translation: X:523.03, Y:-297.82, Z:-5.92 [[-7.01520819e-01 -7.12617386e-01 6.70834753e-03 5.23029530e+02] [ 7.12582656e-01 -7.01552875e-01 -7.03719693e-03 -2.97819516e+02] [ 9.72108938e-03 -1.56488045e-04 9.99952737e-01 -5.92347227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9465599950001 meters 0.049279925507345286 Centerline is valid? [True, True] Translation: X:522.99, Y:-297.78, Z:-5.93 [[-6.98639334e-01 -7.15432435e-01 7.71433437e-03 5.22989774e+02] [ 7.15386705e-01 -6.98681911e-01 -8.09011194e-03 -2.97779320e+02] [ 1.11777944e-02 -1.33338169e-04 9.99937518e-01 -5.92518181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.006559995 meters 0.04920370596556553 Centerline is valid? [True, True] Translation: X:522.95, Y:-297.74, Z:-5.92 [[-6.96469746e-01 -7.17546993e-01 7.49705262e-03 5.22948166e+02] [ 7.17503947e-01 -6.96510089e-01 -7.86012801e-03 -2.97739393e+02] [ 1.08617840e-02 -9.51765110e-05 9.99941005e-01 -5.92443063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.066559995 meters 0.049063945290327836 Centerline is valid? [True, True] Translation: X:522.90, Y:-297.70, Z:-5.92 [[-6.92393818e-01 -7.21492062e-01 6.32503429e-03 5.22902667e+02] [ 7.21461598e-01 -6.92422706e-01 -6.63010421e-03 -2.97703350e+02] [ 9.16316492e-03 -2.73738214e-05 9.99958017e-01 -5.92285021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.126559995 meters 0.04902126129738303 Centerline is valid? [True, True] Translation: X:522.86, Y:-297.66, Z:-5.92 [[-6.89368032e-01 -7.24390834e-01 5.44388264e-03 5.22861108e+02] [ 7.24368371e-01 -6.89389527e-01 -5.70472173e-03 -2.97664256e+02] [ 7.88540381e-03 1.07236032e-05 9.99968910e-01 -5.92157079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1865599950002 meters 0.04859378699771809 Centerline is valid? [True, True] Translation: X:522.82, Y:-297.63, Z:-5.92 [[-6.84559774e-01 -7.28938511e-01 5.15389638e-03 5.22818761e+02] [ 7.28918517e-01 -6.84579172e-01 -5.39929911e-03 -2.97625918e+02] [ 7.46400717e-03 6.06275281e-05 9.99972142e-01 -5.92213204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.246559995 meters 0.04875860878338169 Centerline is valid? [True, True] Translation: X:522.78, Y:-297.59, Z:-5.92 [[-6.79768498e-01 -7.33406736e-01 5.41742319e-03 5.22777016e+02] [ 7.33384798e-01 -6.79790075e-01 -5.67376057e-03 -2.97586096e+02] [ 7.84388474e-03 1.16212110e-04 9.99969230e-01 -5.92340898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.306559995 meters 0.04800151986756462 Centerline is valid? [True, True] Translation: X:522.74, Y:-297.54, Z:-5.92 [[-6.77321257e-01 -7.35668223e-01 5.30848685e-03 5.22737381e+02] [ 7.35647240e-01 -6.77342045e-01 -5.55817666e-03 -2.97543838e+02] [ 7.68463529e-03 1.40502496e-04 9.99970463e-01 -5.92295284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.366559995 meters 0.05022312006357931 Centerline is valid? [True, True] Translation: X:522.69, Y:-297.51, Z:-5.93 [[-6.75087781e-01 -7.37719934e-01 5.07804256e-03 5.22690883e+02] [ 7.37700801e-01 -6.75106861e-01 -5.31547928e-03 -2.97508893e+02] [ 7.34955640e-03 1.57660952e-04 9.99972979e-01 -5.92552637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4265599950002 meters 0.048263770916020084 Centerline is valid? [True, True] Translation: X:522.66, Y:-297.46, Z:-5.92 [[-6.72164507e-01 -7.40388936e-01 4.37019456e-03 5.22657996e+02] [ 7.40374829e-01 -6.72178694e-01 -4.57338531e-03 -2.97459807e+02] [ 6.32363556e-03 1.61514769e-04 9.99979993e-01 -5.92146137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.486559995 meters 0.04928242915273589 Centerline is valid? [True, True] Translation: X:522.61, Y:-297.42, Z:-5.92 [[-6.70334398e-01 -7.42046336e-01 4.36242113e-03 5.22612589e+02] [ 7.42032319e-01 -6.70348569e-01 -4.56436769e-03 -2.97424485e+02] [ 6.31131508e-03 1.77404796e-04 9.99980068e-01 -5.92385199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.546559995 meters 0.04854265191254522 Centerline is valid? [True, True] Translation: X:522.58, Y:-297.38, Z:-5.93 [[-6.68304082e-01 -7.43869161e-01 5.32209573e-03 5.22575252e+02] [ 7.43848369e-01 -6.68325231e-01 -5.56684705e-03 -2.97381137e+02] [ 7.69789670e-03 2.38485620e-04 9.99970342e-01 -5.92506990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.606559995 meters 0.049137405243672605 Centerline is valid? [True, True] Translation: X:522.53, Y:-297.34, Z:-5.93 [[-6.67996586e-01 -7.44140797e-01 5.91898086e-03 5.22534436e+02] [ 7.44115100e-01 -6.68022755e-01 -6.19006700e-03 -2.97340924e+02] [ 8.56029529e-03 2.69459408e-04 9.99963324e-01 -5.92683290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.666559995 meters 0.04834801990268567 Centerline is valid? [True, True] Translation: X:522.50, Y:-297.29, Z:-5.93 [[-6.70301572e-01 -7.42057596e-01 6.80635551e-03 5.22499984e+02] [ 7.42023528e-01 -6.70336069e-01 -7.11609312e-03 -2.97294790e+02] [ 9.84309656e-03 2.80547527e-04 9.99951516e-01 -5.92667791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7265599950001 meters 0.048610800952840254 Centerline is valid? [True, True] Translation: X:522.47, Y:-297.25, Z:-5.93 [[-6.74429834e-01 -7.38299032e-01 7.67711008e-03 5.22465629e+02] [ 7.38255459e-01 -6.74473479e-01 -8.02516179e-03 -2.97247083e+02] [ 1.11029763e-02 2.55259889e-04 9.99938328e-01 -5.92667970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.786559995 meters 0.048428859283431484 Centerline is valid? [True, True] Translation: X:522.43, Y:-297.20, Z:-5.93 [[-6.79136845e-01 -7.33965276e-01 8.25344414e-03 5.22428342e+02] [ 7.33914623e-01 -6.79186965e-01 -8.62512759e-03 -2.97203893e+02] [ 1.19361758e-02 1.99681412e-04 9.99928741e-01 -5.92861878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.846559995 meters 0.0484914641761255 Centerline is valid? [True, True] Translation: X:522.39, Y:-297.16, Z:-5.93 [[-6.80433966e-01 -7.32770316e-01 7.56846409e-03 5.22388063e+02] [ 7.32727671e-01 -6.80476037e-01 -7.90721784e-03 -2.97161979e+02] [ 1.09443330e-02 1.65283470e-04 9.99940095e-01 -5.92788630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.906559995 meters 0.04868617737394737 Centerline is valid? [True, True] Translation: X:522.35, Y:-297.12, Z:-5.93 [[-6.84456109e-01 -7.29018263e-01 7.22549469e-03 5.22350011e+02] [ 7.28979207e-01 -6.84494238e-01 -7.54680370e-03 -2.97118587e+02] [ 1.04475672e-02 1.01779499e-04 9.99945418e-01 -5.92593075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9665599950001 meters 0.048297780759223245 Centerline is valid? [True, True] Translation: X:522.31, Y:-297.08, Z:-5.93 [[-6.87665303e-01 -7.26001773e-01 6.15285908e-03 5.22311833e+02] [ 7.25973344e-01 -6.87692827e-01 -6.42493474e-03 -2.97076644e+02] [ 8.89579107e-03 4.86069916e-05 9.99960431e-01 -5.92593712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.026559995 meters 0.04823102905055279 Centerline is valid? [True, True] Translation: X:522.27, Y:-297.04, Z:-5.93 [[-6.90710923e-01 -7.23111845e-01 5.26129565e-03 5.22273586e+02] [ 7.23090986e-01 -6.90730960e-01 -5.49234788e-03 -2.97035670e+02] [ 7.60572161e-03 1.07707952e-05 9.99971076e-01 -5.92606668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.086559995 meters 0.048638991512708375 Centerline is valid? [True, True] Translation: X:522.23, Y:-297.00, Z:-5.93 [[-6.92160237e-01 -7.21725067e-01 5.20903466e-03 5.22233018e+02] [ 7.21704594e-01 -6.92179837e-01 -5.43615427e-03 -2.96995652e+02] [ 7.52899757e-03 -3.30558848e-06 9.99971657e-01 -5.92621706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.146559995 meters 0.04855890507537082 Centerline is valid? [True, True] Translation: X:522.19, Y:-296.96, Z:-5.93 [[-6.91997543e-01 -7.21873448e-01 6.17453270e-03 5.22192765e+02] [ 7.21844699e-01 -6.92025090e-01 -6.44255268e-03 -2.96955989e+02] [ 8.92363927e-03 -1.17693068e-06 9.99960184e-01 -5.92756002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2065599950001 meters 0.049063473704144385 Centerline is valid? [True, True] Translation: X:522.15, Y:-296.92, Z:-5.93 [[-6.91046175e-01 -7.22784944e-01 6.09169542e-03 5.22151898e+02] [ 7.22757008e-01 -6.91073024e-01 -6.35479774e-03 -2.96915416e+02] [ 8.80295851e-03 1.13568843e-05 9.99961253e-01 -5.92637539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.266559995 meters 0.048729129600298286 Centerline is valid? [True, True] Translation: X:522.11, Y:-296.88, Z:-5.93 [[-6.89382128e-01 -7.24373677e-01 5.92092180e-03 5.22110236e+02] [ 7.24347356e-01 -6.89407553e-01 -6.17521046e-03 -2.96877028e+02] [ 8.55508812e-03 3.17243249e-05 9.99963404e-01 -5.92765121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.326559995 meters 0.0489756514400898 Centerline is valid? [True, True] Translation: X:522.07, Y:-296.83, Z:-5.93 [[-6.89437454e-01 -7.24316342e-01 6.46798573e-03 5.22070893e+02] [ 7.24284946e-01 -6.89467792e-01 -6.74394465e-03 -2.96834314e+02] [ 9.34421716e-03 3.51366652e-05 9.99956341e-01 -5.92650450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.386559995 meters 0.04932291870610718 Centerline is valid? [True, True] Translation: X:522.03, Y:-296.79, Z:-5.92 [[-6.91487935e-01 -7.22366798e-01 5.53579851e-03 5.22031676e+02] [ 7.22343750e-01 -6.91510093e-01 -5.77041997e-03 -2.96791011e+02] [ 7.99642034e-03 8.57366978e-06 9.99968028e-01 -5.92369779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4465599950001 meters 0.04875623179526223 Centerline is valid? [True, True] Translation: X:521.99, Y:-296.75, Z:-5.93 [[-6.93231928e-01 -7.20700099e-01 4.56752671e-03 5.21992964e+02] [ 7.20684381e-01 -6.93246975e-01 -4.75966803e-03 -2.96750141e+02] [ 6.59671729e-03 -7.80868159e-06 9.99978241e-01 -5.92539755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.506559995 meters 0.048541062825194325 Centerline is valid? [True, True] Translation: X:521.95, Y:-296.71, Z:-5.93 [[-6.94911543e-01 -7.19083417e-01 4.12154444e-03 5.21952632e+02] [ 7.19070598e-01 -6.94923765e-01 -4.29374449e-03 -2.96708053e+02] [ 5.95171964e-03 -2.00911754e-05 9.99982288e-01 -5.92501319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.566559995 meters 0.04962142844930626 Centerline is valid? [True, True] Translation: X:521.91, Y:-296.67, Z:-5.93 [[-6.96144540e-01 -7.17882665e-01 5.22108266e-03 5.21913724e+02] [ 7.17862069e-01 -6.96164117e-01 -5.43801089e-03 -2.96666973e+02] [ 7.53858415e-03 -3.76243891e-05 9.99971584e-01 -5.92547105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.626559995 meters 0.0486150924571674 Centerline is valid? [True, True] Translation: X:521.87, Y:-296.63, Z:-5.93 [[-6.95476357e-01 -7.18517916e-01 6.68145293e-03 5.21872959e+02] [ 7.18484232e-01 -6.95508449e-01 -6.95740516e-03 -2.96626864e+02] [ 9.64602722e-03 -3.81922162e-05 9.99953475e-01 -5.92853708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6865599950002 meters 0.04907719924609713 Centerline is valid? [True, True] Translation: X:521.83, Y:-296.59, Z:-5.93 [[-6.93341709e-01 -7.20566180e-01 7.85203792e-03 5.21830160e+02] [ 7.20519815e-01 -6.93386170e-01 -8.17408459e-03 -2.96588262e+02] [ 1.13344634e-02 -9.88487175e-06 9.99935763e-01 -5.93102900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.746559995 meters 0.04947704399091136 Centerline is valid? [True, True] Translation: X:521.79, Y:-296.55, Z:-5.93 [[-6.90816321e-01 -7.22970264e-01 9.31709543e-03 5.21789078e+02] [ 7.22905236e-01 -6.90879147e-01 -9.69654491e-03 -2.96548404e+02] [ 1.34473006e-02 3.68455922e-05 9.99909580e-01 -5.92770414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.806559995 meters 0.04942705140731799 Centerline is valid? [True, True] Translation: X:521.75, Y:-296.51, Z:-5.93 [[-6.89567149e-01 -7.24153417e-01 9.94866847e-03 5.21748134e+02] [ 7.24079428e-01 -6.89638909e-01 -1.03516887e-02 -2.96508593e+02] [ 1.43571996e-02 6.54417140e-05 9.99896928e-01 -5.93231324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.866559995 meters 0.0487039071430786 Centerline is valid? [True, True] Translation: X:521.71, Y:-296.47, Z:-5.93 [[-6.88496885e-01 -7.25173147e-01 9.79520997e-03 5.21709315e+02] [ 7.25101572e-01 -6.88566554e-01 -1.01887536e-02 -2.96467788e+02] [ 1.41332645e-02 8.75970503e-05 9.99900117e-01 -5.93056379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9265599950002 meters 0.04885237119694253 Centerline is valid? [True, True] Translation: X:521.67, Y:-296.43, Z:-5.93 [[-6.88327685e-01 -7.25340561e-01 9.27731404e-03 5.21670388e+02] [ 7.25276412e-01 -6.88390196e-01 -9.64699677e-03 -2.96428884e+02] [ 1.33837701e-02 8.83220848e-05 9.99910429e-01 -5.93242994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.986559995 meters 0.04856552885673618 Centerline is valid? [True, True] Translation: X:521.63, Y:-296.39, Z:-5.93 [[-6.88249700e-01 -7.25422893e-01 8.60095171e-03 5.21633290e+02] [ 7.25367799e-01 -6.88303435e-01 -8.94079798e-03 -2.96386220e+02] [ 1.24059242e-02 8.53518780e-05 9.99923040e-01 -5.92867142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.046559995 meters 0.04902259994805665 Centerline is valid? [True, True] Translation: X:521.59, Y:-296.34, Z:-5.93 [[-6.87878005e-01 -7.25783420e-01 7.89167891e-03 5.21594215e+02] [ 7.25737087e-01 -6.87923266e-01 -8.20125826e-03 -2.96343844e+02] [ 1.13812068e-02 8.58188961e-05 9.99935228e-01 -5.92785710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.106559995 meters 0.048735814002279394 Centerline is valid? [True, True] Translation: X:521.55, Y:-296.30, Z:-5.93 [[-6.87249660e-01 -7.26383106e-01 7.44902357e-03 5.21554988e+02] [ 7.26341884e-01 -6.87290023e-01 -7.73898797e-03 -2.96302478e+02] [ 1.07411097e-02 9.19209651e-05 9.99942308e-01 -5.92773908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.166559995 meters 0.048556269332635 Centerline is valid? [True, True] Translation: X:521.52, Y:-296.26, Z:-5.93 [[-6.87715382e-01 -7.25942309e-01 7.43757267e-03 5.21515944e+02] [ 7.25901215e-01 -6.87755593e-01 -7.72460980e-03 -2.96261540e+02] [ 1.07228533e-02 8.66100659e-05 9.99942505e-01 -5.92775283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2265599950001 meters 0.048706710406948406 Centerline is valid? [True, True] Translation: X:521.48, Y:-296.22, Z:-5.93 [[-6.90749359e-01 -7.23051939e-01 7.82412432e-03 5.21478836e+02] [ 7.23006302e-01 -6.90793668e-01 -8.12371501e-03 -2.96217467e+02] [ 1.12787234e-02 4.54402575e-05 9.99936392e-01 -5.92728210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.286559995 meters 0.048572058143571996 Centerline is valid? [True, True] Translation: X:521.44, Y:-296.18, Z:-5.93 [[-6.92473286e-01 -7.21397489e-01 8.14926210e-03 5.21441501e+02] [ 7.21347900e-01 -6.92521236e-01 -8.45843359e-03 -2.96175970e+02] [ 1.17454298e-02 2.12138068e-05 9.99931020e-01 -5.92816020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.346559995 meters 0.049004781431534854 Centerline is valid? [True, True] Translation: X:521.41, Y:-296.13, Z:-5.93 [[-6.98160368e-01 -7.15888212e-01 8.72741840e-03 5.21406886e+02] [ 7.15830934e-01 -6.98214911e-01 -9.05600923e-03 -2.96129983e+02] [ 1.25767039e-02 -7.51906709e-05 9.99920907e-01 -5.92734680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.406559995 meters 0.04951826034764687 Centerline is valid? [True, True] Translation: X:521.37, Y:-296.09, Z:-5.92 [[-7.04110605e-01 -7.10036451e-01 8.74607969e-03 5.21369804e+02] [ 7.09978509e-01 -7.04164900e-01 -9.07254480e-03 -2.96087161e+02] [ 1.26005198e-02 -1.78546395e-04 9.99920594e-01 -5.92386512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4665599950001 meters 0.049277218011900506 Centerline is valid? [True, True] Translation: X:521.33, Y:-296.04, Z:-5.92 [[-7.08605317e-01 -7.05559131e-01 8.05090483e-03 5.21331952e+02] [ 7.05509767e-01 -7.08651012e-01 -8.34936749e-03 -2.96043333e+02] [ 1.15962543e-02 -2.36414206e-04 9.99932733e-01 -5.92220533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.526559995 meters 0.05044634845027421 Centerline is valid? [True, True] Translation: X:521.30, Y:-296.00, Z:-5.92 [[-7.15078627e-01 -6.99019577e-01 5.84708912e-03 5.21295648e+02] [ 6.98993334e-01 -7.15102489e-01 -6.06216702e-03 -2.95998524e+02] [ 8.41884141e-03 -2.47849743e-04 9.99964530e-01 -5.91977893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.586559995 meters 0.050363529744332114 Centerline is valid? [True, True] Translation: X:521.26, Y:-295.96, Z:-5.92 [[-7.18155132e-01 -6.95869724e-01 4.30509271e-03 5.21255767e+02] [ 6.95855446e-01 -7.18168006e-01 -4.46259916e-03 -2.95956497e+02] [ 6.19716749e-03 -2.09116278e-04 9.99980776e-01 -5.91749467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.646559995 meters 0.05122577186379902 Centerline is valid? [True, True] Translation: X:521.21, Y:-295.92, Z:-5.92 [[-7.16237908e-01 -6.97842509e-01 4.36935879e-03 5.21212285e+02] [ 6.97827848e-01 -7.16251210e-01 -4.52770809e-03 -2.95920157e+02] [ 6.28918569e-03 -1.93855934e-04 9.99980204e-01 -5.91762638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7065599950001 meters 0.05086306064890684 Centerline is valid? [True, True] Translation: X:521.16, Y:-295.89, Z:-5.91 [[-7.12844951e-01 -7.01303530e-01 5.04326032e-03 5.21160072e+02] [ 7.01284094e-01 -7.12862767e-01 -5.22444924e-03 -2.95891050e+02] [ 7.25907720e-03 -1.87464016e-04 9.99973635e-01 -5.91486838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.766559995 meters 0.0506668557520387 Centerline is valid? [True, True] Translation: X:521.12, Y:-295.85, Z:-5.92 [[-7.06957948e-01 -7.07233460e-01 5.59408212e-03 5.21118369e+02] [ 7.07209745e-01 -7.06980066e-01 -5.79333559e-03 -2.95852341e+02] [ 8.05214532e-03 -1.39455254e-04 9.99967571e-01 -5.91661892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.826559995 meters 0.05035262871258559 Centerline is valid? [True, True] Translation: X:521.07, Y:-295.82, Z:-5.92 [[-7.03083343e-01 -7.11086794e-01 5.42067107e-03 5.21070454e+02] [ 7.11064655e-01 -7.03104233e-01 -5.61199501e-03 -2.95819116e+02] [ 7.80191232e-03 -9.12526147e-05 9.99969560e-01 -5.91532229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.886559995 meters 0.05058748862928813 Centerline is valid? [True, True] Translation: X:521.02, Y:-295.78, Z:-5.91 [[-7.01622463e-01 -7.12531700e-01 4.94927249e-03 5.21023220e+02] [ 7.12513289e-01 -7.01639916e-01 -5.12259540e-03 -2.95783525e+02] [ 7.12261874e-03 -6.77055881e-05 9.99974632e-01 -5.91392869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9465599950001 meters 0.051371697800969195 Centerline is valid? [True, True] Translation: X:520.98, Y:-295.75, Z:-5.92 [[-7.01185580e-01 -7.12962780e-01 4.78087472e-03 5.20980410e+02] [ 7.12945621e-01 -7.01201876e-01 -4.94667925e-03 -2.95747034e+02] [ 6.87915651e-03 -6.00364622e-05 9.99976337e-01 -5.91528669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.006559995 meters 0.05104982355005098 Centerline is valid? [True, True] Translation: X:520.93, Y:-295.71, Z:-5.91 [[-6.99995166e-01 -7.14138045e-01 3.69059316e-03 5.20933788e+02] [ 7.14127843e-01 -7.00004894e-01 -3.81737696e-03 -2.95713953e+02] [ 5.30956740e-03 -3.65900897e-05 9.99985904e-01 -5.91452151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.066559995 meters 0.05109178129304697 Centerline is valid? [True, True] Translation: X:520.89, Y:-295.68, Z:-5.91 [[-6.97754347e-01 -7.16330214e-01 3.14571435e-03 5.20890331e+02] [ 7.16322829e-01 -6.97761438e-01 -3.25281205e-03 -2.95677084e+02] [ 4.52504572e-03 -1.63167464e-05 9.99989762e-01 -5.91495392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.126559995 meters 0.05120555977967933 Centerline is valid? [True, True] Translation: X:520.84, Y:-295.65, Z:-5.91 [[-6.92090509e-01 -7.21802822e-01 3.37853155e-03 5.20842368e+02] [ 7.21794372e-01 -6.92098755e-01 -3.49264940e-03 -2.95645790e+02] [ 4.85928167e-03 2.13755582e-05 9.99988193e-01 -5.91453448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1865599950002 meters 0.05193352721818549 Centerline is valid? [True, True] Translation: X:520.79, Y:-295.61, Z:-5.92 [[-6.86419148e-01 -7.27188639e-01 5.04340429e-03 5.20792678e+02] [ 7.27169965e-01 -6.86437670e-01 -5.21225118e-03 -2.95614135e+02] [ 7.25227253e-03 8.96231026e-05 9.99973698e-01 -5.91702246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.246559995 meters 0.05224737020895647 Centerline is valid? [True, True] Translation: X:520.75, Y:-295.58, Z:-5.92 [[-6.83779461e-01 -7.29661922e-01 6.25526742e-03 5.20748101e+02] [ 7.29633313e-01 -6.83808057e-01 -6.46290147e-03 -2.95577011e+02] [ 8.99313537e-03 1.44852212e-04 9.99959550e-01 -5.91794322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.306559995 meters 0.05312066688670093 Centerline is valid? [True, True] Translation: X:520.70, Y:-295.54, Z:-5.92 [[-6.82211311e-01 -7.31108949e-01 8.21175947e-03 5.20699967e+02] [ 7.31059779e-01 -6.82260697e-01 -8.48184879e-03 -2.95544500e+02] [ 1.18037163e-02 2.16873882e-04 9.99930310e-01 -5.92304470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.366559995 meters 0.05266397479923015 Centerline is valid? [True, True] Translation: X:520.66, Y:-295.51, Z:-5.92 [[-6.83950571e-01 -7.29466983e-01 9.46239952e-03 5.20660857e+02] [ 7.29401585e-01 -6.84015988e-01 -9.77013741e-03 -2.95506443e+02] [ 1.35994252e-02 2.19598151e-04 9.99907499e-01 -5.92333413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4265599950002 meters 0.05295355259814788 Centerline is valid? [True, True] Translation: X:520.62, Y:-295.46, Z:-5.92 [[-6.85560765e-01 -7.27960298e-01 8.95779634e-03 5.20623676e+02] [ 7.27901587e-01 -6.85619262e-01 -9.24701423e-03 -2.95461060e+02] [ 1.28730970e-02 1.81004026e-04 9.99917122e-01 -5.91829799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.486559995 meters 0.052763256207830796 Centerline is valid? [True, True] Translation: X:520.58, Y:-295.42, Z:-5.92 [[-6.87593132e-01 -7.26061199e-01 7.12885844e-03 5.20583493e+02] [ 7.26023925e-01 -6.87630077e-01 -7.35788459e-03 -2.95418706e+02] [ 1.02442920e-02 1.16490875e-04 9.99947519e-01 -5.91586120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.546559995 meters 0.05286282445892463 Centerline is valid? [True, True] Translation: X:520.54, Y:-295.38, Z:-5.92 [[-6.88585738e-01 -7.25131878e-01 5.78277221e-03 5.20542681e+02] [ 7.25107332e-01 -6.88610015e-01 -5.96696448e-03 -2.95376916e+02] [ 8.30891101e-03 8.43638898e-05 9.99965477e-01 -5.91502461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.606559995 meters 0.05313310483615669 Centerline is valid? [True, True] Translation: X:520.50, Y:-295.34, Z:-5.91 [[-6.89270567e-01 -7.24488116e-01 4.80147528e-03 5.20503791e+02] [ 7.24471187e-01 -6.89287288e-01 -4.95320884e-03 -2.95336164e+02] [ 6.89813682e-03 6.44294244e-05 9.99976206e-01 -5.91394248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.666559995 meters 0.05237836267418133 Centerline is valid? [True, True] Translation: X:520.46, Y:-295.30, Z:-5.92 [[-6.90059729e-01 -7.23732913e-01 5.31422143e-03 5.20462796e+02] [ 7.23712164e-01 -6.90080189e-01 -5.48061967e-03 -2.95295830e+02] [ 7.63374377e-03 6.40117630e-05 9.99970861e-01 -5.91566733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7265599950001 meters 0.05254158780154084 Centerline is valid? [True, True] Translation: X:520.43, Y:-295.25, Z:-5.92 [[-6.90703437e-01 -7.23109126e-01 6.47725866e-03 5.20425482e+02] [ 7.23078293e-01 -6.90733804e-01 -6.67797754e-03 -2.95254235e+02] [ 9.30296801e-03 7.10630962e-05 9.99956724e-01 -5.91519051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.786559995 meters 0.052704049483367627 Centerline is valid? [True, True] Translation: X:520.39, Y:-295.21, Z:-5.92 [[-6.90962697e-01 -7.22860461e-01 6.58063978e-03 5.20385391e+02] [ 7.22828643e-01 -6.90994029e-01 -6.78260932e-03 -2.95212994e+02] [ 9.45006290e-03 7.01448961e-05 9.99955345e-01 -5.91594534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.846559995 meters 0.0520779136072604 Centerline is valid? [True, True] Translation: X:520.35, Y:-295.17, Z:-5.91 [[-6.90834088e-01 -7.22982431e-01 6.68332865e-03 5.20348841e+02] [ 7.22949640e-01 -6.90866411e-01 -6.88623387e-03 -2.95170710e+02] [ 9.59591339e-03 7.44649496e-05 9.99953955e-01 -5.91332180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.906559995 meters 0.0525686720422287 Centerline is valid? [True, True] Translation: X:520.31, Y:-295.13, Z:-5.92 [[-6.90820483e-01 -7.22993377e-01 6.90190846e-03 5.20308231e+02] [ 7.22958418e-01 -6.90854956e-01 -7.11027568e-03 -2.95129551e+02] [ 9.90889990e-03 7.78687331e-05 9.99950903e-01 -5.91643663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9665599950001 meters 0.05197485983392089 Centerline is valid? [True, True] Translation: X:520.27, Y:-295.09, Z:-5.92 [[-6.90599115e-01 -7.23203057e-01 7.08523886e-03 5.20268935e+02] [ 7.23166245e-01 -6.90635454e-01 -7.29731671e-03 -2.95086958e+02] [ 1.01707589e-02 8.42851252e-05 9.99948273e-01 -5.91697850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.026559995 meters 0.05222266345548465 Centerline is valid? [True, True] Translation: X:520.23, Y:-295.04, Z:-5.92 [[-6.88662549e-01 -7.25054519e-01 6.31170598e-03 5.20228942e+02] [ 7.25025400e-01 -6.88691465e-01 -6.49888306e-03 -2.95044763e+02] [ 9.05886257e-03 1.00609775e-04 9.99958963e-01 -5.91662462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.086559995 meters 0.05249392169642147 Centerline is valid? [True, True] Translation: X:520.19, Y:-295.00, Z:-5.92 [[-6.84892876e-01 -7.28628229e-01 4.75955277e-03 5.20188461e+02] [ 7.28611765e-01 -6.84909404e-01 -4.89936257e-03 -2.95003112e+02] [ 6.82967632e-03 1.12327620e-04 9.99976671e-01 -5.91573891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.146559995 meters 0.052296482505780006 Centerline is valid? [True, True] Translation: X:520.15, Y:-294.97, Z:-5.92 [[-6.82703969e-01 -7.30682015e-01 4.36841794e-03 5.20145288e+02] [ 7.30668195e-01 -6.82717934e-01 -4.49574789e-03 -2.94966296e+02] [ 6.26735940e-03 1.22599117e-04 9.99980352e-01 -5.91747354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2065599950001 meters 0.052347128230229266 Centerline is valid? [True, True] Translation: X:520.11, Y:-294.93, Z:-5.92 [[-6.81408445e-01 -7.31888617e-01 4.64578811e-03 5.20107006e+02] [ 7.31873023e-01 -6.81424267e-01 -4.77969793e-03 -2.94925087e+02] [ 6.66395927e-03 1.43200455e-04 9.99977785e-01 -5.91766540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.266559995 meters 0.05198081360832777 Centerline is valid? [True, True] Translation: X:520.07, Y:-294.88, Z:-5.92 [[-6.80768654e-01 -7.32481099e-01 5.04767877e-03 5.20070623e+02] [ 7.32462718e-01 -6.80787348e-01 -5.19180862e-03 -2.94879071e+02] [ 7.23929753e-03 1.62815946e-04 9.99973783e-01 -5.91766423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.326559995 meters 0.05183501130746815 Centerline is valid? [True, True] Translation: X:520.03, Y:-294.83, Z:-5.92 [[-6.80387867e-01 -7.32834746e-01 5.05822494e-03 5.20033564e+02] [ 7.32816307e-01 -6.80406648e-01 -5.20133861e-03 -2.94833422e+02] [ 7.25337153e-03 1.67822039e-04 9.99973680e-01 -5.91754010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.386559995 meters 0.05193416514172486 Centerline is valid? [True, True] Translation: X:520.00, Y:-294.79, Z:-5.92 [[-6.80533884e-01 -7.32702210e-01 4.59391618e-03 5.19995417e+02] [ 7.32687008e-01 -6.80549372e-01 -4.72240374e-03 -2.94792319e+02] [ 6.58650243e-03 1.52146940e-04 9.99978297e-01 -5.91783651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4465599950001 meters 0.051454382736931294 Centerline is valid? [True, True] Translation: X:519.96, Y:-294.75, Z:-5.92 [[-6.80493709e-01 -7.32741548e-01 4.25858530e-03 5.19959882e+02] [ 7.32728489e-01 -6.80507020e-01 -4.37696426e-03 -2.94745687e+02] [ 6.10518076e-03 1.41890124e-04 9.99981353e-01 -5.91762581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.506559995 meters 0.05140268138036633 Centerline is valid? [True, True] Translation: X:519.92, Y:-294.70, Z:-5.92 [[-6.79929070e-01 -7.33265707e-01 4.22637677e-03 5.19923146e+02] [ 7.33252860e-01 -6.79942190e-01 -4.34300947e-03 -2.94701840e+02] [ 6.05827178e-03 1.46064470e-04 9.99981638e-01 -5.91848111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.566559995 meters 0.050958478789325905 Centerline is valid? [True, True] Translation: X:519.89, Y:-294.66, Z:-5.92 [[-6.78413031e-01 -7.34664042e-01 4.95017394e-03 5.19886204e+02] [ 7.34646465e-01 -6.78431065e-01 -5.08543761e-03 -2.94657168e+02] [ 7.09443993e-03 1.86600638e-04 9.99974817e-01 -5.91984199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.626559995 meters 0.05065555067900475 Centerline is valid? [True, True] Translation: X:519.85, Y:-294.61, Z:-5.92 [[-6.77183585e-01 -7.35795648e-01 5.21123903e-03 5.19849882e+02] [ 7.35776211e-01 -6.77203604e-01 -5.35229654e-03 -2.94610850e+02] [ 7.46726635e-03 2.09818351e-04 9.99972098e-01 -5.92001415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6865599950002 meters 0.050098966570840134 Centerline is valid? [True, True] Translation: X:519.81, Y:-294.57, Z:-5.92 [[-6.75947947e-01 -7.36920665e-01 6.50443756e-03 5.19813409e+02] [ 7.36890447e-01 -6.75979184e-01 -6.67920272e-03 -2.94566715e+02] [ 9.31890690e-03 2.78264543e-04 9.99956539e-01 -5.92091527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.746559995 meters 0.05187559445773952 Centerline is valid? [True, True] Translation: X:519.77, Y:-294.53, Z:-5.93 [[-6.75918887e-01 -7.36935048e-01 7.77133135e-03 5.19771438e+02] [ 7.36891938e-01 -6.75963478e-01 -7.97798682e-03 -2.94527705e+02] [ 1.11323943e-02 3.34159452e-04 9.99937977e-01 -5.92511799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.806559995 meters 0.05028828996851241 Centerline is valid? [True, True] Translation: X:519.74, Y:-294.48, Z:-5.92 [[-6.76487247e-01 -7.36421462e-01 6.95951654e-03 5.19741291e+02] [ 7.36386871e-01 -6.76522982e-01 -7.14355919e-03 -2.94475258e+02] [ 9.96894318e-03 2.92369924e-04 9.99950266e-01 -5.92165745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.866559995 meters 0.04928449359765324 Centerline is valid? [True, True] Translation: X:519.71, Y:-294.43, Z:-5.92 [[-6.77580551e-01 -7.35422685e-01 6.17019928e-03 5.19705218e+02] [ 7.35395469e-01 -6.77608599e-01 -6.33169495e-03 -2.94429317e+02] [ 8.83745218e-03 2.47303239e-04 9.99960918e-01 -5.92019685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9265599950002 meters 0.04973264435722722 Centerline is valid? [True, True] Translation: X:519.67, Y:-294.38, Z:-5.92 [[-6.79104534e-01 -7.34025386e-01 4.87490213e-03 5.19670456e+02] [ 7.34008370e-01 -6.79122007e-01 -5.00121000e-03 -2.94382704e+02] [ 6.98166842e-03 1.81874583e-04 9.99975611e-01 -5.91872930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.986559995 meters 0.049357185696918375 Centerline is valid? [True, True] Translation: X:519.64, Y:-294.34, Z:-5.92 [[-6.78799682e-01 -7.34309877e-01 4.47167733e-03 5.19635199e+02] [ 7.34295574e-01 -6.78814390e-01 -4.58634646e-03 -2.94335516e+02] [ 6.40323842e-03 1.70322351e-04 9.99979485e-01 -5.91821009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.046559995 meters 0.0498395733107755 Centerline is valid? [True, True] Translation: X:519.59, Y:-294.30, Z:-5.92 [[-6.77024052e-01 -7.35942416e-01 5.21472991e-03 5.19593358e+02] [ 7.35923020e-01 -6.77044100e-01 -5.34742116e-03 -2.94296794e+02] [ 7.46599617e-03 2.17307042e-04 9.99972105e-01 -5.91998829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.106559995 meters 0.04842461907472912 Centerline is valid? [True, True] Translation: X:519.56, Y:-294.25, Z:-5.92 [[-6.73177191e-01 -7.39454422e-01 6.29499321e-03 5.19560447e+02] [ 7.39426326e-01 -6.73206552e-01 -6.45348215e-03 -2.94248311e+02] [ 9.00988659e-03 3.10346714e-04 9.99959362e-01 -5.91948430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.166559995 meters 0.047834525897826476 Centerline is valid? [True, True] Translation: X:519.52, Y:-294.20, Z:-5.92 [[-6.70740527e-01 -7.41656041e-01 7.31185354e-03 5.19523490e+02] [ 7.41618278e-01 -6.70780263e-01 -7.49463118e-03 -2.94203153e+02] [ 1.04630855e-02 3.95651364e-04 9.99945182e-01 -5.91961746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2265599950001 meters 0.048554372142241536 Centerline is valid? [True, True] Translation: X:519.48, Y:-294.16, Z:-5.92 [[-6.71700335e-01 -7.40780147e-01 7.96455940e-03 5.19483859e+02] [ 7.40735302e-01 -6.71747422e-01 -8.16167434e-03 -2.94161224e+02] [ 1.13961786e-02 4.17430932e-04 9.99934974e-01 -5.91999570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.286559995 meters 0.0490007958503028 Centerline is valid? [True, True] Translation: X:519.45, Y:-294.12, Z:-5.92 [[-6.76655184e-01 -7.36255634e-01 8.08721794e-03 5.19447760e+02] [ 7.36209098e-01 -6.76703421e-01 -8.28519730e-03 -2.94116093e+02] [ 1.15726712e-02 3.47661727e-04 9.99932974e-01 -5.92042633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.346559995 meters 0.04836339944268248 Centerline is valid? [True, True] Translation: X:519.41, Y:-294.07, Z:-5.92 [[-6.80836429e-01 -7.32399926e-01 7.21835766e-03 5.19410651e+02] [ 7.32362647e-01 -6.80874647e-01 -7.39380466e-03 -2.94071845e+02] [ 1.03300187e-02 2.52483966e-04 9.99946612e-01 -5.91951291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.406559995 meters 0.048282941383326054 Centerline is valid? [True, True] Translation: X:519.37, Y:-294.03, Z:-5.92 [[-6.82277081e-01 -7.31075654e-01 5.13549029e-03 5.19374258e+02] [ 7.31056758e-01 -6.82296388e-01 -5.25898496e-03 -2.94026173e+02] [ 7.34864234e-03 1.66249969e-04 9.99972985e-01 -5.91641789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4665599950001 meters 0.04864857836477633 Centerline is valid? [True, True] Translation: X:519.33, Y:-293.99, Z:-5.92 [[-6.82505282e-01 -7.30865278e-01 4.74199991e-03 5.19329610e+02] [ 7.30849170e-01 -6.82521738e-01 -4.85473924e-03 -2.93990679e+02] [ 6.78467837e-03 1.52301523e-04 9.99976972e-01 -5.91837263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.526559995 meters 0.04810824602098725 Centerline is valid? [True, True] Translation: X:519.29, Y:-293.95, Z:-5.92 [[-6.82525032e-01 -7.30839665e-01 5.74144274e-03 5.19291306e+02] [ 7.30816064e-01 -6.82549156e-01 -5.87635283e-03 -2.93947720e+02] [ 8.21348863e-03 1.85180680e-04 9.99966252e-01 -5.91992186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.586559995 meters 0.04861941398361552 Centerline is valid? [True, True] Translation: X:519.25, Y:-293.91, Z:-5.92 [[-6.81901288e-01 -7.31403788e-01 7.68979921e-03 5.19250512e+02] [ 7.31361505e-01 -6.81944597e-01 -7.86867588e-03 -2.93908684e+02] [ 1.09991964e-02 2.58362910e-04 9.99939474e-01 -5.92260922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.646559995 meters 0.048146621255108685 Centerline is valid? [True, True] Translation: X:519.21, Y:-293.87, Z:-5.92 [[-6.80491686e-01 -7.32712264e-01 7.98772737e-03 5.19210507e+02] [ 7.32666755e-01 -6.80538503e-01 -8.17144973e-03 -2.93866691e+02] [ 1.14232775e-02 2.91738686e-04 9.99934710e-01 -5.92197935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7065599950001 meters 0.0493348014078187 Centerline is valid? [True, True] Translation: X:519.17, Y:-293.83, Z:-5.92 [[-6.78487542e-01 -7.34573169e-01 7.54412154e-03 5.19166074e+02] [ 7.34532706e-01 -6.78529414e-01 -7.71617519e-03 -2.93830342e+02] [ 1.07870036e-02 3.06075260e-04 9.99941772e-01 -5.92237685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.766559995 meters 0.048799180288638694 Centerline is valid? [True, True] Translation: X:519.13, Y:-293.79, Z:-5.92 [[-6.79773198e-01 -7.33390085e-01 6.88351054e-03 5.19125362e+02] [ 7.33356356e-01 -6.79807998e-01 -7.03854505e-03 -2.93790138e+02] [ 9.84146466e-03 2.63451926e-04 9.99951537e-01 -5.92143590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.826559995 meters 0.04849518532563664 Centerline is valid? [True, True] Translation: X:519.09, Y:-293.74, Z:-5.92 [[-6.84176886e-01 -7.29285519e-01 6.67986976e-03 5.19090239e+02] [ 7.29253571e-01 -6.84209465e-01 -6.82914190e-03 -2.93744025e+02] [ 9.55082441e-03 1.98977831e-04 9.99954370e-01 -5.91938478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.886559995 meters 0.04813992214029313 Centerline is valid? [True, True] Translation: X:519.05, Y:-293.70, Z:-5.92 [[-6.86640873e-01 -7.26967841e-01 6.48610981e-03 5.19051797e+02] [ 7.26937632e-01 -6.86671487e-01 -6.62936030e-03 -2.93700639e+02] [ 9.27315841e-03 1.63007562e-04 9.99956990e-01 -5.91936908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9465599950001 meters 0.04817237890813108 Centerline is valid? [True, True] Translation: X:519.01, Y:-293.66, Z:-5.92 [[-6.89464652e-01 -7.24290443e-01 6.46897408e-03 5.19012202e+02] [ 7.24260292e-01 -6.89494988e-01 -6.60994542e-03 -2.93659006e+02] [ 9.24784550e-03 1.27897337e-04 9.99957230e-01 -5.91967977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.006559995 meters 0.04850326084420183 Centerline is valid? [True, True] Translation: X:518.97, Y:-293.62, Z:-5.92 [[-6.91079095e-01 -7.22746274e-01 6.89260475e-03 5.18971370e+02] [ 7.22711985e-01 -6.91113457e-01 -7.04100323e-03 -2.93619088e+02] [ 9.85243075e-03 1.15477922e-04 9.99951457e-01 -5.92140512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.066559995 meters 0.04814575699760113 Centerline is valid? [True, True] Translation: X:518.93, Y:-293.58, Z:-5.92 [[-6.92085003e-01 -7.21775399e-01 7.65643421e-03 5.18933039e+02] [ 7.21733055e-01 -6.92127344e-01 -7.81902826e-03 -2.93576828e+02] [ 1.09428097e-02 1.14469456e-04 9.99940119e-01 -5.92008311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.126559995 meters 0.04881604105436357 Centerline is valid? [True, True] Translation: X:518.89, Y:-293.54, Z:-5.92 [[-6.92677953e-01 -7.21207524e-01 7.54722079e-03 5.18892433e+02] [ 7.21166368e-01 -6.92719060e-01 -7.70538696e-03 -2.93535953e+02] [ 1.07852867e-02 1.05450142e-04 9.99941832e-01 -5.92051951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1865599950002 meters 0.04940343568544447 Centerline is valid? [True, True] Translation: X:518.85, Y:-293.50, Z:-5.92 [[-6.93833346e-01 -7.20102608e-01 6.89355549e-03 5.18851388e+02] [ 7.20068239e-01 -6.93867586e-01 -7.03597796e-03 -2.93495734e+02] [ 9.84984079e-03 8.20342299e-05 9.99951486e-01 -5.92067822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.246559995 meters 0.048832691184817145 Centerline is valid? [True, True] Translation: X:518.81, Y:-293.46, Z:-5.92 [[-6.95837347e-01 -7.18167892e-01 6.72789077e-03 5.18811950e+02] [ 7.18135083e-01 -6.95869870e-01 -6.86491850e-03 -2.93456061e+02] [ 9.61190052e-03 5.46677154e-05 9.99953803e-01 -5.92098620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.306559995 meters 0.049378659620204476 Centerline is valid? [True, True] Translation: X:518.77, Y:-293.41, Z:-5.92 [[-6.99317088e-01 -7.14777522e-01 6.97879901e-03 5.18773883e+02] [ 7.14742073e-01 -6.99351910e-01 -7.11867046e-03 -2.93414942e+02] [ 9.96890205e-03 9.83337222e-06 9.99950309e-01 -5.92098833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.366559995 meters 0.04859532490478871 Centerline is valid? [True, True] Translation: X:518.73, Y:-293.38, Z:-5.92 [[-7.00694761e-01 -7.13428230e-01 6.85653770e-03 5.18733052e+02] [ 7.13393968e-01 -7.00728307e-01 -6.99188124e-03 -2.93375320e+02] [ 9.79277552e-03 -7.76191757e-06 9.99952050e-01 -5.91919641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4265599950002 meters 0.048843189939322434 Centerline is valid? [True, True] Translation: X:518.69, Y:-293.34, Z:-5.92 [[-7.00252099e-01 -7.13863069e-01 6.82031429e-03 5.18691504e+02] [ 7.13829208e-01 -7.00285312e-01 -6.95290370e-03 -2.93338021e+02] [ 9.73958710e-03 -2.45863321e-07 9.99952569e-01 -5.92130487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.486559995 meters 0.04918178068758968 Centerline is valid? [True, True] Translation: X:518.65, Y:-293.30, Z:-5.92 [[-6.99116895e-01 -7.14969843e-01 7.32738197e-03 5.18649773e+02] [ 7.14930847e-01 -6.99155293e-01 -7.46728684e-03 -2.93301806e+02] [ 1.04618628e-02 1.80650091e-05 9.99945273e-01 -5.92248276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.546559995 meters 0.04918437043170178 Centerline is valid? [True, True] Translation: X:518.61, Y:-293.26, Z:-5.92 [[-6.98272169e-01 -7.15791108e-01 7.68555954e-03 5.18608310e+02] [ 7.15748282e-01 -6.98314463e-01 -7.82989027e-03 -2.93263213e+02] [ 1.09715032e-02 3.35315735e-05 9.99939811e-01 -5.92128205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.606559995 meters 0.0498230105093255 Centerline is valid? [True, True] Translation: X:518.57, Y:-293.23, Z:-5.92 [[-6.97703012e-01 -7.16356907e-01 6.57947204e-03 5.18567259e+02] [ 7.16325568e-01 -6.97734033e-01 -6.70074912e-03 -2.93225589e+02] [ 9.39084948e-03 3.79112076e-05 9.99955904e-01 -5.92130729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.666559995 meters 0.049129319867480405 Centerline is valid? [True, True] Translation: X:518.53, Y:-293.19, Z:-5.92 [[-6.97234414e-01 -7.16819551e-01 5.82263875e-03 5.18526047e+02] [ 7.16795038e-01 -6.97258725e-01 -5.92822636e-03 -2.93185823e+02] [ 8.30935423e-03 4.02751273e-05 9.99965476e-01 -5.91860181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7265599950001 meters 0.04931870834362206 Centerline is valid? [True, True] Translation: X:518.49, Y:-293.15, Z:-5.92 [[-6.97756043e-01 -7.16314156e-01 5.52589025e-03 5.18485744e+02] [ 7.16292074e-01 -6.97777923e-01 -5.62449832e-03 -2.93145512e+02] [ 7.88475198e-03 3.36237016e-05 9.99968914e-01 -5.91782642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.786559995 meters 0.04939211211600753 Centerline is valid? [True, True] Translation: X:518.44, Y:-293.11, Z:-5.92 [[-6.99257442e-01 -7.14845620e-01 5.89655711e-03 5.18444574e+02] [ 7.14820440e-01 -6.99282303e-01 -5.99996403e-03 -2.93105551e+02] [ 8.41240604e-03 1.94600387e-05 9.99964615e-01 -5.91802523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.846559995 meters 0.05012596873777753 Centerline is valid? [True, True] Translation: X:518.40, Y:-293.07, Z:-5.92 [[-7.00580162e-01 -7.13542870e-01 6.63400211e-03 5.18404889e+02] [ 7.13510954e-01 -7.00611571e-01 -6.74876332e-03 -2.93066275e+02] [ 9.46339058e-03 5.38347280e-06 9.99955221e-01 -5.91973339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.906559995 meters 0.04983664448542669 Centerline is valid? [True, True] Translation: X:518.36, Y:-293.03, Z:-5.92 [[-7.00540541e-01 -7.13575166e-01 7.30975250e-03 5.18363326e+02] [ 7.13536439e-01 -7.00578677e-01 -7.43421693e-03 -2.93025692e+02] [ 1.04259293e-02 7.80442161e-06 9.99945649e-01 -5.91829965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9665599950001 meters 0.05002409711431665 Centerline is valid? [True, True] Translation: X:518.32, Y:-292.99, Z:-5.92 [[-7.00319889e-01 -7.13789016e-01 7.56924647e-03 5.18321596e+02] [ 7.13747525e-01 -7.00360793e-01 -7.69611060e-03 -2.92985905e+02] [ 1.07946027e-02 1.27916181e-05 9.99941737e-01 -5.91898352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.026559995 meters 0.05015662454644792 Centerline is valid? [True, True] Translation: X:518.28, Y:-292.95, Z:-5.92 [[-6.99482668e-01 -7.14609176e-01 7.59760739e-03 5.18279541e+02] [ 7.14567445e-01 -6.99523928e-01 -7.72275688e-03 -2.92946997e+02] [ 1.08334611e-02 2.70683213e-05 9.99941316e-01 -5.92024101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.086559995 meters 0.049931856026496226 Centerline is valid? [True, True] Translation: X:518.24, Y:-292.91, Z:-5.92 [[-6.97372771e-01 -7.16664692e-01 7.93335079e-03 5.18237402e+02] [ 7.16619349e-01 -6.97417892e-01 -8.06186443e-03 -2.92907489e+02] [ 1.13105144e-02 6.30679418e-05 9.99936032e-01 -5.91990716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.146559995 meters 0.04997901103587459 Centerline is valid? [True, True] Translation: X:518.19, Y:-292.87, Z:-5.92 [[-6.94010967e-01 -7.19914899e-01 8.44486213e-03 5.18194360e+02] [ 7.19863789e-01 -6.94062333e-01 -8.57924050e-03 -2.92869657e+02] [ 1.20375838e-02 1.25063457e-04 9.99927538e-01 -5.92061968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2065599950001 meters 0.04990927410551169 Centerline is valid? [True, True] Translation: X:518.15, Y:-292.83, Z:-5.92 [[-6.92471052e-01 -7.21401096e-01 8.01872512e-03 5.18154200e+02] [ 7.21355142e-01 -6.92517464e-01 -8.14384455e-03 -2.92830284e+02] [ 1.14280856e-02 1.44971985e-04 9.99934687e-01 -5.91975871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.266559995 meters 0.05090797536613564 Centerline is valid? [True, True] Translation: X:518.11, Y:-292.79, Z:-5.92 [[-6.91440930e-01 -7.22395446e-01 7.36614102e-03 5.18113373e+02] [ 7.22356736e-01 -6.91480150e-01 -7.47987541e-03 -2.92788424e+02] [ 1.04969682e-02 1.49089579e-04 9.99944894e-01 -5.91711942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.326559995 meters 0.05076680510946681 Centerline is valid? [True, True] Translation: X:518.07, Y:-292.75, Z:-5.92 [[-6.91717020e-01 -7.22136471e-01 6.81781118e-03 5.18072209e+02] [ 7.22103312e-01 -6.91750605e-01 -6.92151962e-03 -2.92750155e+02] [ 9.71450676e-03 1.35431111e-04 9.99952804e-01 -5.91673305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.386559995 meters 0.050270885442411185 Centerline is valid? [True, True] Translation: X:518.03, Y:-292.71, Z:-5.91 [[-6.93556853e-01 -7.20377715e-01 5.90245980e-03 5.18033392e+02] [ 7.20352811e-01 -6.93581962e-01 -5.99075975e-03 -2.92707031e+02] [ 8.40944947e-03 9.69210340e-05 9.99964635e-01 -5.91451088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4465599950001 meters 0.050238825846443035 Centerline is valid? [True, True] Translation: X:517.99, Y:-292.67, Z:-5.91 [[-6.94814572e-01 -7.19165209e-01 5.84058148e-03 5.17993514e+02] [ 7.19140797e-01 -6.94839115e-01 -5.92613149e-03 -2.92667434e+02] [ 8.32013206e-03 8.26379077e-05 9.99965384e-01 -5.91477062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.506559995 meters 0.05048383423719153 Centerline is valid? [True, True] Translation: X:517.95, Y:-292.63, Z:-5.91 [[-6.95400799e-01 -7.18596191e-01 6.10270280e-03 5.17953123e+02] [ 7.18569532e-01 -6.95427572e-01 -6.19027971e-03 -2.92626300e+02] [ 8.69229921e-03 8.04908378e-05 9.99962218e-01 -5.91435043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.566559995 meters 0.050597239312692485 Centerline is valid? [True, True] Translation: X:517.91, Y:-292.59, Z:-5.91 [[-6.95810892e-01 -7.18184638e-01 7.61762221e-03 5.17912749e+02] [ 7.18143098e-01 -6.95852583e-01 -7.72488133e-03 -2.92585060e+02] [ 1.08486332e-02 9.54862437e-05 9.99941147e-01 -5.91458832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.626559995 meters 0.05020901310179942 Centerline is valid? [True, True] Translation: X:517.87, Y:-292.55, Z:-5.92 [[-6.96014344e-01 -7.17976218e-01 8.61297966e-03 5.17872191e+02] [ 7.17923127e-01 -6.96067625e-01 -8.73179286e-03 -2.92545160e+02] [ 1.22644359e-02 1.06004215e-04 9.99924783e-01 -5.91589081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6865599950002 meters 0.05009530463388335 Centerline is valid? [True, True] Translation: X:517.83, Y:-292.51, Z:-5.92 [[-6.97894603e-01 -7.16157429e-01 7.85232862e-03 5.17832416e+02] [ 7.16113214e-01 -6.97938774e-01 -7.95820197e-03 -2.92505103e+02] [ 1.11797701e-02 6.91700806e-05 9.99937502e-01 -5.91648727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.746559995 meters 0.050285174317285096 Centerline is valid? [True, True] Translation: X:517.79, Y:-292.46, Z:-5.91 [[-7.00451655e-01 -7.13667495e-01 6.79589974e-03 5.17794004e+02] [ 7.13634276e-01 -7.00484622e-01 -6.88583030e-03 -2.92461954e+02] [ 9.67461652e-03 2.65957536e-05 9.99953199e-01 -5.91398542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.806559995 meters 0.05083352273135126 Centerline is valid? [True, True] Translation: X:517.76, Y:-292.42, Z:-5.91 [[-7.04239655e-01 -7.09942747e-01 5.27296276e-03 5.17756631e+02] [ 7.09922656e-01 -7.04259395e-01 -5.34101038e-03 -2.92419818e+02] [ 7.50534514e-03 -1.79555744e-05 9.99971834e-01 -5.91331633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.866559995 meters 0.05069162973530695 Centerline is valid? [True, True] Translation: X:517.72, Y:-292.38, Z:-5.91 [[-7.06294639e-01 -7.07900474e-01 4.98001719e-03 5.17717597e+02] [ 7.07882515e-01 -7.06312195e-01 -5.04263655e-03 -2.92378604e+02] [ 7.08713168e-03 -3.63200747e-05 9.99974885e-01 -5.91221566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9265599950002 meters 0.05070104312456173 Centerline is valid? [True, True] Translation: X:517.68, Y:-292.34, Z:-5.91 [[-7.04776946e-01 -7.09411467e-01 4.98273611e-03 5.17675347e+02] [ 7.09393537e-01 -7.04794559e-01 -5.04370272e-03 -2.92341085e+02] [ 7.08986584e-03 -1.99646015e-05 9.99974866e-01 -5.91229218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.986559995 meters 0.05107709219526201 Centerline is valid? [True, True] Translation: X:517.63, Y:-292.30, Z:-5.91 [[-7.02121184e-01 -7.12037370e-01 5.35031273e-03 5.17633690e+02] [ 7.12016785e-01 -7.02141569e-01 -5.41433519e-03 -2.92304513e+02] [ 7.61188597e-03 7.99302753e-06 9.99971029e-01 -5.91333013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.046559995 meters 0.05116355324895978 Centerline is valid? [True, True] Translation: X:517.59, Y:-292.26, Z:-5.91 [[-7.00505442e-01 -7.13625218e-01 5.58345553e-03 5.17592880e+02] [ 7.13602864e-01 -7.00527692e-01 -5.64844339e-03 -2.92264980e+02] [ 7.94223686e-03 2.76045264e-05 9.99968460e-01 -5.91007158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.106559995 meters 0.05076687133300978 Centerline is valid? [True, True] Translation: X:517.55, Y:-292.23, Z:-5.91 [[-6.96054204e-01 -7.17960195e-01 6.45782067e-03 5.17547178e+02] [ 7.17930492e-01 -6.96084155e-01 -6.53133238e-03 -2.92228369e+02] [ 9.18442331e-03 9.01050070e-05 9.99957818e-01 -5.91247479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.166559995 meters 0.05100002202593861 Centerline is valid? [True, True] Translation: X:517.50, Y:-292.19, Z:-5.91 [[-6.92251117e-01 -7.21619116e-01 7.36488436e-03 5.17504038e+02] [ 7.21580711e-01 -6.92290276e-01 -7.44660175e-03 -2.92191519e+02] [ 1.04722480e-02 1.59440112e-04 9.99945152e-01 -5.91346217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2265599950001 meters 0.050934249802913674 Centerline is valid? [True, True] Translation: X:517.46, Y:-292.15, Z:-5.91 [[-6.90079759e-01 -7.23693808e-01 7.56295278e-03 5.17461509e+02] [ 7.23653455e-01 -6.90121173e-01 -7.64483984e-03 -2.92151934e+02] [ 1.07518771e-02 1.97407680e-04 9.99942177e-01 -5.91252237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.286559995 meters 0.05139894477283576 Centerline is valid? [True, True] Translation: X:517.42, Y:-292.11, Z:-5.91 [[-6.90041028e-01 -7.23738219e-01 6.80957027e-03 5.17420781e+02] [ 7.23705525e-01 -6.90074604e-01 -6.88147104e-03 -2.92110410e+02] [ 9.67949510e-03 1.79626276e-04 9.99953136e-01 -5.91052451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.346559995 meters 0.05149401886275592 Centerline is valid? [True, True] Translation: X:517.38, Y:-292.07, Z:-5.91 [[-6.91272111e-01 -7.22564550e-01 6.58332491e-03 5.17380711e+02] [ 7.22533954e-01 -6.91303440e-01 -6.65125851e-03 -2.92067346e+02] [ 9.35703877e-03 1.58846265e-04 9.99956209e-01 -5.90944555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.406559995 meters 0.051333312244178315 Centerline is valid? [True, True] Translation: X:517.34, Y:-292.02, Z:-5.91 [[-6.94259754e-01 -7.19692756e-01 6.76246969e-03 5.17340957e+02] [ 7.19660352e-01 -6.94292677e-01 -6.83055190e-03 -2.92024311e+02] [ 9.61103191e-03 1.24504033e-04 9.99953805e-01 -5.90953423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4665599950001 meters 0.051500022892152386 Centerline is valid? [True, True] Translation: X:517.30, Y:-291.98, Z:-5.91 [[-6.96342545e-01 -7.17677108e-01 6.82844688e-03 5.17301653e+02] [ 7.17643989e-01 -6.96376018e-01 -6.89544374e-03 -2.91983261e+02] [ 9.70386877e-03 9.88030052e-05 9.99952912e-01 -5.91050716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.526559995 meters 0.05121288579823786 Centerline is valid? [True, True] Translation: X:517.26, Y:-291.94, Z:-5.91 [[-6.96145924e-01 -7.17868240e-01 6.78545958e-03 5.17262539e+02] [ 7.17835565e-01 -6.96178985e-01 -6.85000868e-03 -2.91941857e+02] [ 9.64129804e-03 1.02238591e-04 9.99953516e-01 -5.90999015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.586559995 meters 0.05095021587628261 Centerline is valid? [True, True] Translation: X:517.22, Y:-291.90, Z:-5.91 [[-6.93388259e-01 -7.20513347e-01 8.55798872e-03 5.17221719e+02] [ 7.20461599e-01 -6.93441047e-01 -8.63706754e-03 -2.91900974e+02] [ 1.21575831e-02 1.76861010e-04 9.99926078e-01 -5.91098097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.646559995 meters 0.05117206772709763 Centerline is valid? [True, True] Translation: X:517.18, Y:-291.86, Z:-5.91 [[-6.88821174e-01 -7.24859104e-01 1.02308213e-02 5.17180160e+02] [ 7.24785669e-01 -6.88897079e-01 -1.03222530e-02 -2.91862695e+02] [ 1.45301620e-02 3.04966244e-04 9.99894385e-01 -5.91322966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7065599950001 meters 0.05130320224445213 Centerline is valid? [True, True] Translation: X:517.14, Y:-291.82, Z:-5.91 [[-6.86645245e-01 -7.26917696e-01 1.04388891e-02 5.17139468e+02] [ 7.26841521e-01 -6.86724497e-01 -1.05294245e-02 -2.91821583e+02] [ 1.48226659e-02 3.57438777e-04 9.99890074e-01 -5.91339011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.766559995 meters 0.050951944777624575 Centerline is valid? [True, True] Translation: X:517.10, Y:-291.78, Z:-5.91 [[-6.87519263e-01 -7.26103355e-01 9.54885844e-03 5.17102195e+02] [ 7.26039571e-01 -6.87585500e-01 -9.62915732e-03 -2.91777171e+02] [ 1.35574200e-02 3.12617950e-04 9.99908045e-01 -5.91123832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.826559995 meters 0.05146907900942089 Centerline is valid? [True, True] Translation: X:517.07, Y:-291.73, Z:-5.91 [[-6.92573932e-01 -7.21299824e-01 8.24089999e-03 5.17067320e+02] [ 7.21251994e-01 -6.92622933e-01 -8.30865264e-03 -2.91730814e+02] [ 1.17008660e-02 1.89409319e-04 9.99931525e-01 -5.90910521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.886559995 meters 0.051068801208296405 Centerline is valid? [True, True] Translation: X:517.03, Y:-291.69, Z:-5.91 [[-6.98659842e-01 -7.15416338e-01 7.34087014e-03 5.17032150e+02] [ 7.15378079e-01 -6.98698402e-01 -7.39909951e-03 -2.91685896e+02] [ 1.04224909e-02 8.20438806e-05 9.99945681e-01 -5.90988695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9465599950001 meters 0.050575487095138684 Centerline is valid? [True, True] Translation: X:517.00, Y:-291.64, Z:-5.91 [[-7.01898146e-01 -7.12241990e-01 7.09510109e-03 5.16995918e+02] [ 7.12206109e-01 -7.01934004e-01 -7.14928654e-03 -2.91641636e+02] [ 1.00723148e-02 3.51033708e-05 9.99949272e-01 -5.90863557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.006559995 meters 0.05081928852910283 Centerline is valid? [True, True] Translation: X:516.96, Y:-291.60, Z:-5.91 [[-7.05360606e-01 -7.08814444e-01 6.96415837e-03 5.16961501e+02] [ 7.08779725e-01 -7.05394984e-01 -7.01552950e-03 -2.91597970e+02] [ 9.88519102e-03 -1.24238850e-05 9.99951140e-01 -5.90848668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.066559995 meters 0.05080083020886005 Centerline is valid? [True, True] Translation: X:516.92, Y:-291.55, Z:-5.91 [[-7.06900660e-01 -7.07272018e-01 7.59931532e-03 5.16924236e+02] [ 7.07230610e-01 -7.06941505e-01 -7.65329386e-03 -2.91553814e+02] [ 1.07852320e-02 -3.56500706e-05 9.99941837e-01 -5.91022258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.126559995 meters 0.05051355039277587 Centerline is valid? [True, True] Translation: X:516.89, Y:-291.51, Z:-5.91 [[-7.06583585e-01 -7.07586012e-01 7.85322092e-03 5.16886690e+02] [ 7.07541842e-01 -7.06627225e-01 -7.90609773e-03 -2.91514574e+02] [ 1.11435439e-02 -2.98364858e-05 9.99937908e-01 -5.90637626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1865599950002 meters 0.050431301690742635 Centerline is valid? [True, True] Translation: X:516.85, Y:-291.47, Z:-5.91 [[-7.05609662e-01 -7.08561089e-01 7.49581763e-03 5.16848382e+02] [ 7.08520930e-01 -7.05649476e-01 -7.54378792e-03 -2.91474116e+02] [ 1.06346544e-02 -1.20259662e-05 9.99943450e-01 -5.91095121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.246559995 meters 0.05043625895468552 Centerline is valid? [True, True] Translation: X:516.81, Y:-291.44, Z:-5.91 [[-7.03669221e-01 -7.10488959e-01 7.42070226e-03 5.16810377e+02] [ 7.10449736e-01 -7.03708348e-01 -7.46548205e-03 -2.91435478e+02] [ 1.05261527e-02 1.88060209e-05 9.99944598e-01 -5.91124440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.306559995 meters 0.05056269034312282 Centerline is valid? [True, True] Translation: X:516.77, Y:-291.39, Z:-5.91 [[-7.00362970e-01 -7.13750100e-01 7.24605341e-03 5.16769782e+02] [ 7.13712895e-01 -7.00400450e-01 -7.28783500e-03 -2.91393511e+02] [ 1.02768320e-02 6.74719946e-05 9.99947190e-01 -5.90859241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.366559995 meters 0.05033339118783604 Centerline is valid? [True, True] Translation: X:516.73, Y:-291.35, Z:-5.91 [[-6.95935307e-01 -7.18068726e-01 7.16607984e-03 5.16728380e+02] [ 7.18032585e-01 -6.95972189e-01 -7.20545057e-03 -2.91352795e+02] [ 1.01614010e-02 1.30951379e-04 9.99948363e-01 -5.90737182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4265599950002 meters 0.050402977154290256 Centerline is valid? [True, True] Translation: X:516.68, Y:-291.32, Z:-5.91 [[-6.90639228e-01 -7.23166653e-01 6.88831108e-03 5.16681236e+02] [ 7.23133532e-01 -6.90673550e-01 -6.92411114e-03 -2.91320121e+02] [ 9.76486055e-03 1.99105947e-04 9.99952303e-01 -5.91171990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.486559995 meters 0.04923264913448201 Centerline is valid? [True, True] Translation: X:516.65, Y:-291.27, Z:-5.91 [[-6.87651844e-01 -7.26010537e-01 6.60611795e-03 5.16645642e+02] [ 7.25980222e-01 -6.87683537e-01 -6.63862776e-03 -2.91274112e+02] [ 9.36263226e-03 2.30846355e-04 9.99956143e-01 -5.90756659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.546559995 meters 0.0509873137469933 Centerline is valid? [True, True] Translation: X:516.60, Y:-291.24, Z:-5.91 [[-6.84883530e-01 -7.28627142e-01 6.08586626e-03 5.16600021e+02] [ 7.28601527e-01 -6.84910525e-01 -6.11450597e-03 -2.91240447e+02] [ 8.62346887e-03 2.46447020e-04 9.99962787e-01 -5.91014599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.606559995 meters 0.05106277692367299 Centerline is valid? [True, True] Translation: X:516.56, Y:-291.20, Z:-5.91 [[-6.83382381e-01 -7.30035842e-01 6.01592484e-03 5.16560337e+02] [ 7.30010883e-01 -6.83408809e-01 -6.04234516e-03 -2.91201355e+02] [ 8.52246457e-03 2.62458385e-04 9.99963649e-01 -5.91068185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.666559995 meters 0.04945776731648928 Centerline is valid? [True, True] Translation: X:516.53, Y:-291.15, Z:-5.91 [[-6.82514110e-01 -7.30837714e-01 7.12212749e-03 5.16528585e+02] [ 7.30802795e-01 -6.82551193e-01 -7.15157803e-03 -2.91150988e+02] [ 1.00878596e-02 3.23817756e-04 9.99949064e-01 -5.90857680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7265599950001 meters 0.050418969058536184 Centerline is valid? [True, True] Translation: X:516.49, Y:-291.11, Z:-5.91 [[-6.82172943e-01 -7.31141559e-01 8.49098732e-03 5.16486465e+02] [ 7.31091960e-01 -6.82225672e-01 -8.52517364e-03 -2.91112653e+02] [ 1.20258783e-02 3.92049773e-04 9.99927610e-01 -5.91128981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.786559995 meters 0.04978746779022906 Centerline is valid? [True, True] Translation: X:516.45, Y:-291.07, Z:-5.91 [[-6.81882441e-01 -7.31385968e-01 1.05310299e-02 5.16446568e+02] [ 7.31309742e-01 -6.81963578e-01 -1.05706628e-02 -2.91071352e+02] [ 1.49130133e-02 4.93495426e-04 9.99888673e-01 -5.91290084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.846559995 meters 0.05013527538697928 Centerline is valid? [True, True] Translation: X:516.41, Y:-291.03, Z:-5.91 [[-6.82713065e-01 -7.30605615e-01 1.08768788e-02 5.16407305e+02] [ 7.30524241e-01 -6.82799526e-01 -1.09151730e-02 -2.91028866e+02] [ 1.54014144e-02 4.93892383e-04 9.99881269e-01 -5.91273645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.906559995 meters 0.05023286852555198 Centerline is valid? [True, True] Translation: X:516.37, Y:-290.99, Z:-5.91 [[-6.83609988e-01 -7.29772626e-01 1.04545665e-02 5.16367967e+02] [ 7.29697391e-01 -6.83689772e-01 -1.04887664e-02 -2.90986206e+02] [ 1.48020948e-02 4.58444424e-04 9.99890338e-01 -5.91173442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9665599950001 meters 0.049414185364560215 Centerline is valid? [True, True] Translation: X:516.33, Y:-290.94, Z:-5.91 [[-6.87165643e-01 -7.26449365e-01 8.64285607e-03 5.16331438e+02] [ 7.26397710e-01 -6.87219918e-01 -8.66891019e-03 -2.90940917e+02] [ 1.22370672e-02 3.21173614e-04 9.99925073e-01 -5.90897381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.026559995 meters 0.04872772606213374 Centerline is valid? [True, True] Translation: X:516.29, Y:-290.90, Z:-5.91 [[-6.89936271e-01 -7.23829734e-01 7.64572574e-03 5.16292556e+02] [ 7.23789162e-01 -6.89978591e-01 -7.66765925e-03 -2.90896680e+02] [ 1.08254668e-02 2.43697188e-04 9.99941373e-01 -5.90755285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.086559995 meters 0.048822811280134056 Centerline is valid? [True, True] Translation: X:516.25, Y:-290.85, Z:-5.91 [[-6.90683533e-01 -7.23116319e-01 7.68422608e-03 5.16252094e+02] [ 7.23075313e-01 -6.90726237e-01 -7.70435786e-03 -2.90854818e+02] [ 1.08788435e-02 2.35001070e-04 9.99940796e-01 -5.90730783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.146559995 meters 0.048733512478550615 Centerline is valid? [True, True] Translation: X:516.21, Y:-290.81, Z:-5.91 [[-6.89605561e-01 -7.24144914e-01 7.63642430e-03 5.16210026e+02] [ 7.24104499e-01 -6.89647795e-01 -7.65458454e-03 -2.90814308e+02] [ 1.08094716e-02 2.50925133e-04 9.99941544e-01 -5.90700343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2065599950001 meters 0.04956638922329565 Centerline is valid? [True, True] Translation: X:516.16, Y:-290.78, Z:-5.91 [[-6.86660114e-01 -7.26942959e-01 7.19884719e-03 5.16163867e+02] [ 7.26907214e-01 -6.86697792e-01 -7.21421725e-03 -2.90780013e+02] [ 1.01877569e-02 2.79178726e-04 9.99948065e-01 -5.90899564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.266559995 meters 0.04934386416845617 Centerline is valid? [True, True] Translation: X:516.12, Y:-290.74, Z:-5.91 [[-6.84785211e-01 -7.28708993e-01 7.24009343e-03 5.16124655e+02] [ 7.28672954e-01 -6.84823414e-01 -7.25379101e-03 -2.90736591e+02] [ 1.02440882e-02 3.08371459e-04 9.99947480e-01 -5.90743015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.326559995 meters 0.04923405097684626 Centerline is valid? [True, True] Translation: X:516.08, Y:-290.70, Z:-5.91 [[-6.83826234e-01 -7.29600657e-01 8.03518365e-03 5.16082562e+02] [ 7.29556353e-01 -6.83873346e-01 -8.04830116e-03 -2.90697559e+02] [ 1.13670937e-02 3.58479810e-04 9.99935328e-01 -5.90845340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.386559995 meters 0.04875153468451961 Centerline is valid? [True, True] Translation: X:516.04, Y:-290.66, Z:-5.91 [[-6.84651930e-01 -7.28834400e-01 7.22165956e-03 5.16041211e+02] [ 7.28798588e-01 -6.84689944e-01 -7.23174753e-03 -2.90656128e+02] [ 1.02153441e-02 3.11905391e-04 9.99947773e-01 -5.90772706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4465599950001 meters 0.049389556147511476 Centerline is valid? [True, True] Translation: X:516.00, Y:-290.62, Z:-5.91 [[-6.86706088e-01 -7.26917479e-01 5.07219965e-03 5.15999500e+02] [ 7.26899770e-01 -6.86724791e-01 -5.07789594e-03 -2.90617109e+02] [ 7.17441657e-03 1.99958704e-04 9.99974244e-01 -5.90663903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.506559995 meters 0.05026545768249243 Centerline is valid? [True, True] Translation: X:515.96, Y:-290.58, Z:-5.91 [[-6.88338889e-01 -7.25375867e-01 4.40747827e-03 5.15957117e+02] [ 7.25362470e-01 -6.88352981e-01 -4.41147695e-03 -2.90579822e+02] [ 6.23387972e-03 1.60428182e-04 9.99980556e-01 -5.90678260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.566559995 meters 0.048418787147552864 Centerline is valid? [True, True] Translation: X:515.92, Y:-290.53, Z:-5.90 [[-6.90552258e-01 -7.23268537e-01 4.49461711e-03 5.15922106e+02] [ 7.23254567e-01 -6.90566870e-01 -4.49763165e-03 -2.90532417e+02] [ 6.35682914e-03 1.44902664e-04 9.99979785e-01 -5.90483369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.626559995 meters 0.049005088238911386 Centerline is valid? [True, True] Translation: X:515.88, Y:-290.49, Z:-5.91 [[-6.92005520e-01 -7.21876339e-01 4.78664592e-03 5.15881645e+02] [ 7.21860470e-01 -6.92022060e-01 -4.78861322e-03 -2.90490345e+02] [ 6.76925115e-03 1.41543689e-04 9.99977078e-01 -5.90506578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6865599950002 meters 0.04993149420349777 Centerline is valid? [True, True] Translation: X:515.84, Y:-290.45, Z:-5.91 [[-6.93772356e-01 -7.20173951e-01 5.42206008e-03 5.15839260e+02] [ 7.20153543e-01 -6.93793529e-01 -5.42347899e-03 -2.90451880e+02] [ 7.66763848e-03 1.42055985e-04 9.99970593e-01 -5.90645026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.746559995 meters 0.0490698518921745 Centerline is valid? [True, True] Translation: X:515.80, Y:-290.41, Z:-5.91 [[-6.95888851e-01 -7.18125330e-01 5.89213187e-03 5.15800812e+02] [ 7.18101164e-01 -6.95913783e-01 -5.89281546e-03 -2.90407587e+02] [ 8.33219583e-03 1.30402173e-04 9.99965278e-01 -5.90504929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.806559995 meters 0.05013437080783975 Centerline is valid? [True, True] Translation: X:515.76, Y:-290.37, Z:-5.91 [[-6.99709790e-01 -7.14400461e-01 6.17990277e-03 5.15759842e+02] [ 7.14373745e-01 -6.99737074e-01 -6.17894151e-03 -2.90367363e+02] [ 8.73854574e-03 9.12944183e-05 9.99961814e-01 -5.90751006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.866559995 meters 0.04968048288162846 Centerline is valid? [True, True] Translation: X:515.63, Y:-290.35, Z:-5.91 [[-6.54791014e-01 -7.55789962e-01 5.50099731e-03 5.15633890e+02] [ 7.55763748e-01 -6.54814120e-01 -6.29486596e-03 -2.90348336e+02] [ 8.35972722e-03 3.56326835e-05 9.99965056e-01 -5.90729403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9265599950002 meters 0.0500838715793115 Centerline is valid? [True, True] Translation: X:515.60, Y:-290.30, Z:-5.91 [[-6.60593935e-01 -7.50727406e-01 4.90051217e-03 5.15599230e+02] [ 7.50706469e-01 -6.60612111e-01 -5.60679912e-03 -2.90302012e+02] [ 7.44651545e-03 -2.49713065e-05 9.99972274e-01 -5.90541890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.986559995 meters 0.050166081431387045 Centerline is valid? [True, True] Translation: X:515.57, Y:-290.26, Z:-5.91 [[-6.64653064e-01 -7.47132586e-01 5.40407221e-03 5.15565077e+02] [ 7.47107020e-01 -6.64675029e-01 -6.18119808e-03 -2.90256691e+02] [ 8.21012636e-03 -7.09319613e-05 9.99966294e-01 -5.90712438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.046559995 meters 0.05048337737128829 Centerline is valid? [True, True] Translation: X:515.53, Y:-290.21, Z:-5.91 [[-6.69373982e-01 -7.42900921e-01 6.05750218e-03 5.15529983e+02] [ 7.42868643e-01 -6.69401377e-01 -6.92654332e-03 -2.90212306e+02] [ 9.20063571e-03 -1.36519466e-04 9.99957664e-01 -5.90820859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.106559995 meters 0.05039422261901646 Centerline is valid? [True, True] Translation: X:515.49, Y:-290.17, Z:-5.91 [[-6.71412072e-01 -7.41064185e-01 5.45008586e-03 5.15487916e+02] [ 7.41038008e-01 -6.71434177e-01 -6.23028897e-03 -2.90171896e+02] [ 8.27641793e-03 -1.44370454e-04 9.99965739e-01 -5.90543223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.166559995 meters 0.05071482895427276 Centerline is valid? [True, True] Translation: X:515.45, Y:-290.13, Z:-5.91 [[-6.71519731e-01 -7.40971284e-01 4.77558893e-03 5.15451350e+02] [ 7.40951195e-01 -6.71536700e-01 -5.45767601e-03 -2.90127913e+02] [ 7.25096443e-03 -1.26458803e-04 9.99973703e-01 -5.90639514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2265599950001 meters 0.050973808063616136 Centerline is valid? [True, True] Translation: X:515.41, Y:-290.09, Z:-5.91 [[-6.69094034e-01 -7.43163061e-01 4.67323358e-03 5.15410995e+02] [ 7.43143888e-01 -6.69110346e-01 -5.33906498e-03 -2.90088698e+02] [ 7.09470481e-03 -9.94515503e-05 9.99974827e-01 -5.90637876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.286559995 meters 0.050790328798979684 Centerline is valid? [True, True] Translation: X:515.37, Y:-290.05, Z:-5.91 [[-6.63853015e-01 -7.47847319e-01 4.85402309e-03 5.15368280e+02] [ 7.47826771e-01 -6.63870759e-01 -5.54403571e-03 -2.90051513e+02] [ 7.36853623e-03 -5.04564070e-05 9.99972851e-01 -5.90530318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.346559995 meters 0.05026063313930992 Centerline is valid? [True, True] Translation: X:515.33, Y:-290.01, Z:-5.91 [[-6.59552158e-01 -7.51646333e-01 4.32909543e-03 5.15326508e+02] [ 7.51630077e-01 -6.59566365e-01 -4.94339866e-03 -2.90009843e+02] [ 6.57101321e-03 -6.55091759e-06 9.99978411e-01 -5.90602920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.406559995 meters 0.049838818627716414 Centerline is valid? [True, True] Translation: X:515.28, Y:-289.97, Z:-5.91 [[-6.52194875e-01 -7.58040950e-01 3.97024963e-03 5.15281857e+02] [ 7.58027400e-01 -6.52206958e-01 -4.53263111e-03 -2.89973682e+02] [ 6.02534443e-03 5.33992204e-05 9.99981846e-01 -5.90660543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4665599950001 meters 0.050697309616598026 Centerline is valid? [True, True] Translation: X:515.24, Y:-289.94, Z:-5.91 [[-6.45520636e-01 -7.63735935e-01 3.24509348e-03 5.15237558e+02] [ 7.63726959e-01 -6.45528787e-01 -3.70368114e-03 -2.89935950e+02] [ 4.92343563e-03 8.75627769e-05 9.99987876e-01 -5.90609396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.526559995 meters 0.05110804541285657 Centerline is valid? [True, True] Translation: X:515.19, Y:-289.90, Z:-5.91 [[-6.40809872e-01 -7.67692788e-01 3.23898272e-03 5.15192459e+02] [ 7.67683901e-01 -6.40818046e-01 -3.69587995e-03 -2.89900346e+02] [ 4.91289897e-03 1.18158534e-04 9.99987925e-01 -5.90718952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.586559995 meters 0.050113242786475436 Centerline is valid? [True, True] Translation: X:515.16, Y:-289.86, Z:-5.91 [[-6.39195967e-01 -7.69037943e-01 3.02607066e-03 5.15155859e+02] [ 7.69030205e-01 -6.39203119e-01 -3.45196905e-03 -2.89855985e+02] [ 4.58896898e-03 1.20655049e-04 9.99989463e-01 -5.90598484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.646559995 meters 0.05073079694815079 Centerline is valid? [True, True] Translation: X:515.12, Y:-289.82, Z:-5.91 [[-6.39255675e-01 -7.68987249e-01 3.28531400e-03 5.15115313e+02] [ 7.68978132e-01 -6.39264103e-01 -3.74693218e-03 -2.89815919e+02] [ 4.98152638e-03 1.31086969e-04 9.99987584e-01 -5.90670083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7065599950001 meters 0.05087194513093719 Centerline is valid? [True, True] Translation: X:515.08, Y:-289.77, Z:-5.91 [[-6.40697945e-01 -7.67782390e-01 4.04283386e-03 5.15077073e+02] [ 7.67768567e-01 -6.40710682e-01 -4.60966489e-03 -2.89772097e+02] [ 6.12950637e-03 1.50557941e-04 9.99981203e-01 -5.90769353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.766559995 meters 0.05024795926435118 Centerline is valid? [True, True] Translation: X:515.04, Y:-289.73, Z:-5.91 [[-6.42828350e-01 -7.65993042e-01 5.13536612e-03 5.15039106e+02] [ 7.65970693e-01 -6.42848840e-01 -5.85381191e-03 -2.89728880e+02] [ 7.78524335e-03 1.70543692e-04 9.99969680e-01 -5.90897528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.826559995 meters 0.051116743867918785 Centerline is valid? [True, True] Translation: X:515.00, Y:-289.68, Z:-5.91 [[-6.43778233e-01 -7.65193080e-01 5.39785128e-03 5.15000849e+02] [ 7.65168373e-01 -6.43800840e-01 -6.15142648e-03 -2.89684962e+02] [ 8.18217016e-03 1.70110618e-04 9.99966511e-01 -5.90942166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.886559995 meters 0.05092699688326487 Centerline is valid? [True, True] Translation: X:514.97, Y:-289.64, Z:-5.91 [[-6.47364183e-01 -7.62163485e-01 5.14177142e-03 5.14965098e+02] [ 7.62140984e-01 -6.47384589e-01 -5.85785365e-03 -2.89640442e+02] [ 7.79334573e-03 1.26590087e-04 9.99969623e-01 -5.90836050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9465599950001 meters 0.05152911164060179 Centerline is valid? [True, True] Translation: X:514.93, Y:-289.60, Z:-5.91 [[-6.50899813e-01 -7.59149602e-01 4.61679405e-03 5.14928842e+02] [ 7.59131392e-01 -6.50916181e-01 -5.25881628e-03 -2.89595202e+02] [ 6.99737423e-03 8.17907567e-05 9.99975515e-01 -5.90750558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.006559995 meters 0.05078905646825798 Centerline is valid? [True, True] Translation: X:514.90, Y:-289.55, Z:-5.91 [[-6.57722364e-01 -7.53247327e-01 4.44488029e-03 5.14895928e+02] [ 7.53230321e-01 -6.57737383e-01 -5.06150270e-03 -2.89548899e+02] [ 6.73612731e-03 1.89550892e-05 9.99977312e-01 -5.90749883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.066559995 meters 0.05084265605271159 Centerline is valid? [True, True] Translation: X:514.86, Y:-289.50, Z:-5.91 [[-6.65074406e-01 -7.46767770e-01 3.73261280e-03 5.14863667e+02] [ 7.46755681e-01 -6.65084879e-01 -4.24928072e-03 -2.89503110e+02] [ 5.65573022e-03 -3.87380334e-05 9.99984006e-01 -5.90571142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.126559995 meters 0.05130446488273761 Centerline is valid? [True, True] Translation: X:514.83, Y:-289.46, Z:-5.91 [[-6.72331909e-01 -7.40244246e-01 2.87410156e-03 5.14830976e+02] [ 7.40237022e-01 -6.72338048e-01 -3.27099313e-03 -2.89455503e+02] [ 4.35370167e-03 -7.16766770e-05 9.99990520e-01 -5.90610152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1865599950002 meters 0.05096863632260343 Centerline is valid? [True, True] Translation: X:514.79, Y:-289.42, Z:-5.90 [[-6.76426034e-01 -7.36505019e-01 2.85970038e-03 5.14791514e+02] [ 7.36497837e-01 -6.76432072e-01 -3.25377196e-03 -2.89415709e+02] [ 4.33081243e-03 -9.47729147e-05 9.99990618e-01 -5.90454304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.246559995 meters 0.05231326253253967 Centerline is valid? [True, True] Translation: X:514.75, Y:-289.37, Z:-5.90 [[-6.79742702e-01 -7.33446952e-01 2.32976061e-03 5.14754225e+02] [ 7.33442170e-01 -6.79746688e-01 -2.65021497e-03 -2.89369768e+02] [ 3.52743915e-03 -9.27196037e-05 9.99993774e-01 -5.90459487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.306559995 meters 0.05103046321736528 Centerline is valid? [True, True] Translation: X:514.72, Y:-289.33, Z:-5.90 [[-6.80307541e-01 -7.32922965e-01 2.36152642e-03 5.14717165e+02] [ 7.32918049e-01 -6.80311633e-01 -2.68613442e-03 -2.89325020e+02] [ 3.57530350e-03 -9.65921614e-05 9.99993604e-01 -5.90459042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.366559995 meters 0.05186161971764339 Centerline is valid? [True, True] Translation: X:514.68, Y:-289.28, Z:-5.91 [[-6.76726145e-01 -7.36228677e-01 3.00991024e-03 5.14676307e+02] [ 7.36220727e-01 -6.76732832e-01 -3.42284800e-03 -2.89283105e+02] [ 4.55690393e-03 -1.00372422e-04 9.99989612e-01 -5.90617056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4265599950002 meters 0.05095096432499374 Centerline is valid? [True, True] Translation: X:514.64, Y:-289.24, Z:-5.91 [[-6.70141177e-01 -7.42230880e-01 2.03069515e-03 5.14636970e+02] [ 7.42227289e-01 -6.70144253e-01 -2.30904892e-03 -2.89241678e+02] [ 3.07470609e-03 -4.01514052e-05 9.99995272e-01 -5.90574832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.486559995 meters 0.050433160515798346 Centerline is valid? [True, True] Translation: X:514.60, Y:-289.20, Z:-5.91 [[-6.63426457e-01 -7.48240437e-01 1.25912694e-03 5.14596640e+02] [ 7.48239067e-01 -6.63427651e-01 -1.43151277e-03 -2.89201686e+02] [ 1.90645537e-03 -7.57547555e-06 9.99998183e-01 -5.90514363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.546559995 meters 0.05058521875817979 Centerline is valid? [True, True] Translation: X:514.56, Y:-289.16, Z:-5.91 [[-6.59356946e-01 -7.51829602e-01 8.17036865e-04 5.14556957e+02] [ 7.51829028e-01 -6.59357452e-01 -9.28616107e-04 -2.89161756e+02] [ 1.23688042e-03 1.98255226e-06 9.99999235e-01 -5.90500754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.606559995 meters 0.0510194315819179 Centerline is valid? [True, True] Translation: X:514.51, Y:-289.13, Z:-5.90 [[-6.52814338e-01 -7.57517553e-01 -7.72616321e-04 5.14513999e+02] [ 7.57517044e-01 -6.52814795e-01 8.77830560e-04 -2.89125892e+02] [-1.16934742e-03 -1.22096555e-05 9.99999316e-01 -5.90454100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.666559995 meters 0.05036218407670674 Centerline is valid? [True, True] Translation: X:514.47, Y:-289.09, Z:-5.91 [[-6.48917168e-01 -7.60858532e-01 -8.96872029e-04 5.14473857e+02] [ 7.60857850e-01 -6.48917787e-01 1.01870320e-03 -2.89085949e+02] [-1.35708523e-03 -2.13381298e-05 9.99999079e-01 -5.90551518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7265599950001 meters 0.050175604535754655 Centerline is valid? [True, True] Translation: X:514.44, Y:-289.04, Z:-5.91 [[-6.44762401e-01 -7.64382843e-01 -5.61456564e-04 5.14438306e+02] [ 7.64382577e-01 -6.44762646e-01 6.37548102e-04 -2.89040372e+02] [-8.49337050e-04 -1.81005707e-05 9.99999639e-01 -5.90757326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.786559995 meters 0.050771088201719355 Centerline is valid? [True, True] Translation: X:514.40, Y:-289.00, Z:-5.91 [[-6.43181903e-01 -7.65713417e-01 4.48083567e-05 5.14395608e+02] [ 7.65713416e-01 -6.43181905e-01 -5.08755134e-05 -2.89002177e+02] [ 6.77759873e-05 1.58815034e-06 9.99999998e-01 -5.90773557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.846559995 meters 0.05027530996916257 Centerline is valid? [True, True] Translation: X:514.36, Y:-288.95, Z:-5.91 [[-6.41508527e-01 -7.67115903e-01 3.63554724e-05 5.14362773e+02] [ 7.67115902e-01 -6.41508528e-01 -4.12716151e-05 -2.88953760e+02] [ 5.49824577e-05 1.41276803e-06 9.99999999e-01 -5.90888696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.906559995 meters 0.05114465418703415 Centerline is valid? [True, True] Translation: X:514.32, Y:-288.92, Z:-5.91 [[-6.39624849e-01 -7.68686035e-01 1.35317753e-03 5.14320611e+02] [ 7.68684504e-01 -6.39626278e-01 -1.53570170e-03 -2.88915550e+02] [ 2.04600036e-03 5.78936332e-05 9.99997905e-01 -5.91095295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9665599950001 meters 0.052453331613964524 Centerline is valid? [True, True] Translation: X:514.28, Y:-288.87, Z:-5.91 [[-6.38841854e-01 -7.69334812e-01 2.24351372e-03 5.14283003e+02] [ 7.69330607e-01 -6.38845786e-01 -2.54536107e-03 -2.88873173e+02] [ 3.39149416e-03 9.99205834e-05 9.99994244e-01 -5.91335692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.026559995 meters 0.04958620628073652 Centerline is valid? [True, True] Translation: X:514.26, Y:-288.82, Z:-5.91 [[-6.40265598e-01 -7.68148627e-01 2.76590226e-03 5.14256311e+02] [ 7.68142230e-01 -6.40271562e-01 -3.13722178e-03 -2.88819724e+02] [ 4.18078116e-03 1.15951147e-04 9.99991254e-01 -5.91302931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.086559995 meters 0.049557271655752584 Centerline is valid? [True, True] Translation: X:514.22, Y:-288.77, Z:-5.91 [[-6.42310134e-01 -7.66437698e-01 3.30854405e-03 5.14222806e+02] [ 7.66428524e-01 -6.42318643e-01 -3.75213337e-03 -2.88771851e+02] [ 5.00091599e-03 1.25729238e-04 9.99987487e-01 -5.91285074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.146559995 meters 0.0491792406196053 Centerline is valid? [True, True] Translation: X:514.20, Y:-288.72, Z:-5.91 [[-6.50122062e-01 -7.59826976e-01 2.06689286e-03 5.14195308e+02] [ 7.59823364e-01 -6.50125345e-01 -2.34332712e-03 -2.88720488e+02] [ 3.12426259e-03 4.70248240e-05 9.99995118e-01 -5.91110226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2065599950001 meters 0.04864082026365562 Centerline is valid? [True, True] Translation: X:514.17, Y:-288.67, Z:-5.91 [[-6.55328791e-01 -7.55342171e-01 1.54318769e-03 5.14165382e+02] [ 7.55340146e-01 -6.55330607e-01 -1.74912118e-03 -2.88669377e+02] [ 2.33248311e-03 1.93821474e-05 9.99997280e-01 -5.91086579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.266559995 meters 0.04864082026365562 Centerline is valid? [True, True] Translation: X:514.13, Y:-288.63, Z:-5.91 [[-6.55429406e-01 -7.55254866e-01 1.54342066e-03 5.14127351e+02] [ 7.55252841e-01 -6.55431223e-01 -1.74891561e-03 -2.88626205e+02] [ 2.33248311e-03 1.93821201e-05 9.99997280e-01 -5.91086529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.326559995 meters 0.04853343275536584 Centerline is valid? [True, True] Translation: X:514.09, Y:-288.58, Z:-5.91 [[-6.57840698e-01 -7.53155334e-01 1.63042498e-03 5.14093566e+02] [ 7.53153069e-01 -6.57842719e-01 -1.84714044e-03 -2.88580090e+02] [ 2.46374688e-03 1.28354190e-05 9.99996965e-01 -5.91079642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.386559995 meters 0.04876020641777089 Centerline is valid? [True, True] Translation: X:514.05, Y:-288.54, Z:-5.91 [[-6.56333746e-01 -7.54469729e-01 1.20081237e-03 5.14054137e+02] [ 7.54468503e-01 -6.56334844e-01 -1.36007137e-03 -2.88538526e+02] [ 1.81426768e-03 1.33143746e-05 9.99998354e-01 -5.91089918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4465599950001 meters 0.04874753975925403 Centerline is valid? [True, True] Translation: X:514.02, Y:-288.49, Z:-5.91 [[-6.54950911e-01 -7.55669214e-01 1.82831329e-03 5.14015668e+02] [ 7.55666379e-01 -6.54953463e-01 -2.07025244e-03 -2.88494913e+02] [ 2.76188616e-03 2.56811569e-05 9.99996186e-01 -5.91147456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.506559995 meters 0.048438655094191985 Centerline is valid? [True, True] Translation: X:513.98, Y:-288.45, Z:-5.91 [[-6.55060895e-01 -7.55573929e-01 1.80589288e-03 5.13978161e+02] [ 7.55571164e-01 -6.55063384e-01 -2.04431966e-03 -2.88451102e+02] [ 2.72760893e-03 2.53267185e-05 9.99996280e-01 -5.91186988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.566559995 meters 0.04855407424279405 Centerline is valid? [True, True] Translation: X:513.94, Y:-288.41, Z:-5.91 [[-6.55526166e-01 -7.55171091e-01 1.43854113e-03 5.13939112e+02] [ 7.55169336e-01 -6.55527744e-01 -1.62806341e-03 -2.88407502e+02] [ 2.17247004e-03 1.91039901e-05 9.99997640e-01 -5.91193943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.626559995 meters 0.049092764886777385 Centerline is valid? [True, True] Translation: X:513.90, Y:-288.37, Z:-5.91 [[-6.57495490e-01 -7.53458278e-01 5.52010441e-04 5.13900462e+02] [ 7.53458019e-01 -6.57495721e-01 -6.24579116e-04 -2.88365608e+02] [ 8.33538808e-04 5.25874191e-06 9.99999653e-01 -5.91108356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6865599950002 meters 0.04885878676492009 Centerline is valid? [True, True] Translation: X:513.86, Y:-288.32, Z:-5.91 [[-6.59389887e-01 -7.51801135e-01 1.77393398e-04 5.13862866e+02] [ 7.51801108e-01 -6.59389911e-01 -2.00653039e-04 -2.88324011e+02] [ 2.67822600e-04 1.05596849e-06 9.99999964e-01 -5.91057736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.746559995 meters 0.04901464039775129 Centerline is valid? [True, True] Translation: X:513.83, Y:-288.28, Z:-5.91 [[-6.60453086e-01 -7.50867293e-01 -1.72418315e-04 5.13825926e+02] [ 7.50867268e-01 -6.60453108e-01 1.94960444e-04 -2.88281804e+02] [-2.60263633e-04 -7.01042488e-07 9.99999966e-01 -5.91019906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.806559995 meters 0.04858499942029687 Centerline is valid? [True, True] Translation: X:513.79, Y:-288.24, Z:-5.91 [[-6.63398736e-01 -7.48265731e-01 -7.16758699e-04 5.13788766e+02] [ 7.48265292e-01 -6.63399123e-01 8.10218684e-04 -2.88239274e+02] [-1.08175597e-03 1.17239327e-06 9.99999415e-01 -5.91072761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.866559995 meters 0.04878150409774815 Centerline is valid? [True, True] Translation: X:513.75, Y:-288.20, Z:-5.91 [[-6.65636231e-01 -7.46276247e-01 -4.13811805e-04 5.13752204e+02] [ 7.46276101e-01 -6.65636359e-01 4.67648885e-04 -2.88196170e+02] [-6.24443438e-04 2.46618063e-06 9.99999805e-01 -5.91166082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9265599950002 meters 0.04936346942065254 Centerline is valid? [True, True] Translation: X:513.72, Y:-288.15, Z:-5.91 [[-6.66588774e-01 -7.45425524e-01 -4.39739348e-04 5.13716349e+02] [ 7.45425359e-01 -6.66588919e-01 4.96775383e-04 -2.88154772e+02] [-6.63434428e-04 3.35203270e-06 9.99999780e-01 -5.91260778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.986559995 meters 0.04932737142942322 Centerline is valid? [True, True] Translation: X:513.68, Y:-288.11, Z:-5.91 [[-6.66412167e-01 -7.45583532e-01 1.40743877e-04 5.13677757e+02] [ 7.45583515e-01 -6.66412182e-01 -1.58949431e-04 -2.88114287e+02] [ 2.12303512e-04 -9.89520368e-07 9.99999977e-01 -5.91348882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.046559995 meters 0.04879048719962075 Centerline is valid? [True, True] Translation: X:513.64, Y:-288.07, Z:-5.91 [[-6.63988839e-01 -7.47742444e-01 2.42033671e-04 5.13637657e+02] [ 7.47742394e-01 -6.63988883e-01 -2.73256963e-04 -2.88073905e+02] [ 3.65033496e-04 -4.60737073e-07 9.99999933e-01 -5.91435349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.106559995 meters 0.04967254970706767 Centerline is valid? [True, True] Translation: X:513.60, Y:-288.03, Z:-5.92 [[-6.61260122e-01 -7.50156134e-01 9.08264950e-04 5.13597774e+02] [ 7.50155434e-01 -6.61260746e-01 -1.02518957e-03 -2.88034250e+02] [ 1.36965220e-03 3.42290593e-06 9.99999062e-01 -5.91561184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.166559995 meters 0.04904115409347099 Centerline is valid? [True, True] Translation: X:513.56, Y:-287.99, Z:-5.92 [[-6.56948062e-01 -7.53934884e-01 1.19725135e-03 5.13557278e+02] [ 7.53933674e-01 -6.56949153e-01 -1.35101665e-03 -2.87992741e+02] [ 1.80511184e-03 1.51003321e-05 9.99998371e-01 -5.91613665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2265599950001 meters 0.04906957476635332 Centerline is valid? [True, True] Translation: X:513.52, Y:-287.95, Z:-5.92 [[-6.53821318e-01 -7.56648031e-01 1.20061158e-03 5.13516312e+02] [ 7.56646819e-01 -6.53822420e-01 -1.35444938e-03 -2.87951467e+02] [ 1.80982822e-03 2.28710574e-05 9.99998362e-01 -5.91671040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.286559995 meters 0.04945341458594128 Centerline is valid? [True, True] Translation: X:513.48, Y:-287.91, Z:-5.92 [[-6.52977779e-01 -7.57375819e-01 1.37414479e-03 5.13476375e+02] [ 7.57374234e-01 -6.52979225e-01 -1.54992394e-03 -2.87911407e+02] [ 2.07116292e-03 2.86759666e-05 9.99997855e-01 -5.91665243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.346559995 meters 0.048502642221750714 Centerline is valid? [True, True] Translation: X:513.44, Y:-287.87, Z:-5.92 [[-6.53321449e-01 -7.57079996e-01 9.81646982e-04 5.13441326e+02] [ 7.57079187e-01 -6.53322186e-01 -1.10691910e-03 -2.87865725e+02] [ 1.47935806e-03 2.00105088e-05 9.99998906e-01 -5.91634679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.406559995 meters 0.04869536143477519 Centerline is valid? [True, True] Translation: X:513.40, Y:-287.82, Z:-5.92 [[-6.54303119e-01 -7.56231557e-01 1.12323257e-03 5.13404528e+02] [ 7.56230497e-01 -6.54304082e-01 -1.26614913e-03 -2.87823802e+02] [ 1.69243758e-03 2.09774035e-05 9.99998568e-01 -5.91675403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4665599950001 meters 0.04832260420105699 Centerline is valid? [True, True] Translation: X:513.37, Y:-287.78, Z:-5.92 [[-6.56422709e-01 -7.54393198e-01 3.59678018e-04 5.13369217e+02] [ 7.54393089e-01 -6.56422808e-01 -4.05326335e-04 -2.87778473e+02] [ 5.41876284e-04 5.27320008e-06 9.99999853e-01 -5.91675282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.526559995 meters 0.048987335084658815 Centerline is valid? [True, True] Translation: X:513.33, Y:-287.73, Z:-5.92 [[-6.57609709e-01 -7.53358785e-01 -1.03544599e-04 5.13333591e+02] [ 7.53358776e-01 -6.57609718e-01 1.16652269e-04 -2.87732509e+02] [-1.55972946e-04 -1.29456798e-06 9.99999988e-01 -5.91595032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.586559995 meters 0.04786403720440303 Centerline is valid? [True, True] Translation: X:513.30, Y:-287.69, Z:-5.92 [[-6.58620505e-01 -7.52475217e-01 -2.80445683e-04 5.13296197e+02] [ 7.52475150e-01 -6.58620565e-01 3.15862779e-04 -2.87688845e+02] [-4.22386207e-04 -2.99470446e-06 9.99999911e-01 -5.91588838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.646559995 meters 0.04907450939696704 Centerline is valid? [True, True] Translation: X:513.26, Y:-287.65, Z:-5.92 [[-6.57839776e-01 -7.53157414e-01 8.59919804e-04 5.13256841e+02] [ 7.53156791e-01 -6.57840338e-01 -9.68253829e-04 -2.87649180e+02] [ 1.29493748e-03 1.06985588e-05 9.99999162e-01 -5.91757724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7065599950001 meters 0.04817434476863296 Centerline is valid? [True, True] Translation: X:513.22, Y:-287.61, Z:-5.92 [[-6.56570258e-01 -7.54263413e-01 1.48327149e-03 5.13218961e+02] [ 7.54261565e-01 -6.56571933e-01 -1.66965132e-03 -2.87606696e+02] [ 2.23323133e-03 2.25312798e-05 9.99997506e-01 -5.91832756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.766559995 meters 0.04850116217222434 Centerline is valid? [True, True] Translation: X:513.18, Y:-287.57, Z:-5.92 [[-6.53875266e-01 -7.56598118e-01 2.53465508e-03 5.13176962e+02] [ 7.56592743e-01 -6.53880176e-01 -2.85246171e-03 -2.87569710e+02] [ 3.81552787e-03 5.25474784e-05 9.99992719e-01 -5.91982012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.826559995 meters 0.0484709795463345 Centerline is valid? [True, True] Translation: X:513.14, Y:-287.53, Z:-5.92 [[-6.52009611e-01 -7.58207004e-01 2.36790603e-03 5.13137146e+02] [ 7.58202326e-01 -6.52013908e-01 -2.66400523e-03 -2.87529161e+02] [ 3.56377509e-03 5.83948517e-05 9.99993648e-01 -5.91980667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.886559995 meters 0.04858175897123949 Centerline is valid? [True, True] Translation: X:513.10, Y:-287.49, Z:-5.92 [[-6.49659491e-01 -7.60223086e-01 1.84528645e-03 5.13097295e+02] [ 7.60220255e-01 -6.49662110e-01 -2.07539866e-03 -2.87490038e+02] [ 2.77657867e-03 5.45217002e-05 9.99996144e-01 -5.91882508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9465599950001 meters 0.04851990062970111 Centerline is valid? [True, True] Translation: X:513.06, Y:-287.44, Z:-5.92 [[-6.49119313e-01 -7.60684298e-01 1.87525073e-03 5.13061311e+02] [ 7.60681377e-01 -6.49122019e-01 -2.10855242e-03 -2.87444711e+02] [ 2.82120925e-03 5.77662130e-05 9.99996019e-01 -5.91825523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.006559995 meters 0.04927203209285684 Centerline is valid? [True, True] Translation: X:513.02, Y:-287.41, Z:-5.92 [[-6.49536429e-01 -7.60326310e-01 2.51607191e-03 5.13019538e+02] [ 7.60321053e-01 -6.49541298e-01 -2.82823514e-03 -2.87406657e+02] [ 3.78467420e-03 7.59806883e-05 9.99992835e-01 -5.91996764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.066559995 meters 0.04877504451924509 Centerline is valid? [True, True] Translation: X:512.98, Y:-287.36, Z:-5.92 [[-6.50315194e-01 -7.59661376e-01 2.17791680e-03 5.12982888e+02] [ 7.59657436e-01 -6.50318838e-01 -2.44744452e-03 -2.87363096e+02] [ 3.27556939e-03 6.28603350e-05 9.99994633e-01 -5.91935682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.126559995 meters 0.04885359224634837 Centerline is valid? [True, True] Translation: X:512.94, Y:-287.32, Z:-5.92 [[-6.50346614e-01 -7.59635796e-01 1.65495462e-03 5.12944779e+02] [ 7.59633522e-01 -6.50348718e-01 -1.85916075e-03 -2.87322551e+02] [ 2.48858267e-03 4.80601135e-05 9.99996902e-01 -5.91877589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1865599950002 meters 0.04950404843022638 Centerline is valid? [True, True] Translation: X:512.91, Y:-287.28, Z:-5.92 [[-6.50490123e-01 -7.59512931e-01 1.64534612e-03 5.12907961e+02] [ 7.59510685e-01 -6.50492203e-01 -1.84775144e-03 -2.87281627e+02] [ 2.47367593e-03 4.77138972e-05 9.99996939e-01 -5.91928283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.246559995 meters 0.04874566548190758 Centerline is valid? [True, True] Translation: X:512.87, Y:-287.24, Z:-5.92 [[-6.51058633e-01 -7.59024190e-01 2.22161308e-03 5.12874028e+02] [ 7.59020094e-01 -6.51062421e-01 -2.49418883e-03 -2.87235313e+02] [ 3.33955845e-03 6.23857979e-05 9.99994422e-01 -5.91995733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.306559995 meters 0.048424514777892294 Centerline is valid? [True, True] Translation: X:512.84, Y:-287.19, Z:-5.92 [[-6.51385911e-01 -7.58740888e-01 2.94292837e-03 5.12837637e+02] [ 7.58733703e-01 -6.51392553e-01 -3.30303221e-03 -2.87191317e+02] [ 4.42314722e-03 8.13502967e-05 9.99990215e-01 -5.92021776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.366559995 meters 0.04855802086681065 Centerline is valid? [True, True] Translation: X:512.80, Y:-287.15, Z:-5.92 [[-6.52071275e-01 -7.58153117e-01 2.62739372e-03 5.12798073e+02] [ 7.58147389e-01 -6.52076565e-01 -2.94798016e-03 -2.87150966e+02] [ 3.94828222e-03 6.96585029e-05 9.99992203e-01 -5.92128480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4265599950002 meters 0.04824124739387395 Centerline is valid? [True, True] Translation: X:512.76, Y:-287.10, Z:-5.92 [[-6.52776138e-01 -7.57547202e-01 2.35590788e-03 5.12763094e+02] [ 7.57542595e-01 -6.52780387e-01 -2.64266855e-03 -2.87104759e+02] [ 3.53983662e-03 5.96295984e-05 9.99993733e-01 -5.91997683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.486559995 meters 0.04822504903456555 Centerline is valid? [True, True] Translation: X:512.72, Y:-287.07, Z:-5.92 [[-6.54033952e-01 -7.56461241e-01 2.44566565e-03 5.12721235e+02] [ 7.56456270e-01 -6.54038522e-01 -2.74289740e-03 -2.87065597e+02] [ 3.67445512e-03 5.60910867e-05 9.99993248e-01 -5.92191753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.546559995 meters 0.04865610222337442 Centerline is valid? [True, True] Translation: X:512.68, Y:-287.02, Z:-5.92 [[-6.54834899e-01 -7.55768702e-01 2.21901843e-03 5.12683726e+02] [ 7.55764608e-01 -6.54838657e-01 -2.48799045e-03 -2.87022951e+02] [ 3.33344436e-03 4.78326162e-05 9.99994443e-01 -5.92208119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.606559995 meters 0.04868551755319376 Centerline is valid? [True, True] Translation: X:512.65, Y:-286.98, Z:-5.92 [[-6.55126458e-01 -7.55515774e-01 2.28893510e-03 5.12646597e+02] [ 7.55511419e-01 -6.55130455e-01 -2.56562542e-03 -2.86979361e+02] [ 3.43792157e-03 4.85075140e-05 9.99994089e-01 -5.92151743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.666559995 meters 0.048037520533407735 Centerline is valid? [True, True] Translation: X:512.61, Y:-286.94, Z:-5.92 [[-6.56039689e-01 -7.54722234e-01 2.50513253e-03 5.12608389e+02] [ 7.54717015e-01 -6.56044471e-01 -2.80712956e-03 -2.86936444e+02] [ 3.76208144e-03 4.90777422e-05 9.99992922e-01 -5.92180286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7265599950001 meters 0.04861671639917642 Centerline is valid? [True, True] Translation: X:512.57, Y:-286.89, Z:-5.92 [[-6.57336348e-01 -7.53589314e-01 3.47426530e-03 5.12570342e+02] [ 7.53579266e-01 -6.57345527e-01 -3.89205314e-03 -2.86892817e+02] [ 5.21680241e-03 5.97462972e-05 9.99986391e-01 -5.92284969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.786559995 meters 0.049268002883058354 Centerline is valid? [True, True] Translation: X:512.53, Y:-286.85, Z:-5.92 [[-6.60360222e-01 -7.50933781e-01 4.77860224e-03 5.12532888e+02] [ 7.50914711e-01 -6.60377509e-01 -5.35185499e-03 -2.86849534e+02] [ 7.17457014e-03 5.41705699e-05 9.99974261e-01 -5.92410955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.846559995 meters 0.04899786902672143 Centerline is valid? [True, True] Translation: X:512.50, Y:-286.80, Z:-5.92 [[-6.63536715e-01 -7.48127344e-01 4.95024499e-03 5.12496194e+02] [ 7.48106813e-01 -6.63555179e-01 -5.54260320e-03 -2.86804038e+02] [ 7.43133371e-03 2.55912800e-05 9.99972387e-01 -5.92300265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.906559995 meters 0.04857480869727442 Centerline is valid? [True, True] Translation: X:512.46, Y:-286.76, Z:-5.92 [[-6.64931249e-01 -7.46893393e-01 4.08585479e-03 5.12458826e+02] [ 7.46879391e-01 -6.64943802e-01 -4.57333213e-03 -2.86762338e+02] [ 6.13265537e-03 1.06892965e-05 9.99981195e-01 -5.92377573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9665599950001 meters 0.04881798260187835 Centerline is valid? [True, True] Translation: X:512.42, Y:-286.72, Z:-5.92 [[-6.66379792e-01 -7.45606128e-01 3.07811163e-03 5.12421014e+02] [ 7.45598172e-01 -6.66386901e-01 -3.44430406e-03 -2.86719991e+02] [ 4.61930749e-03 -1.80218100e-07 9.99989331e-01 -5.92214516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.026559995 meters 0.04860060525483803 Centerline is valid? [True, True] Translation: X:512.38, Y:-286.68, Z:-5.92 [[-6.66767335e-01 -7.45262113e-01 2.38813959e-03 5.12382713e+02] [ 7.45257325e-01 -6.66771612e-01 -2.67143581e-03 -2.86677538e+02] [ 3.58326358e-03 -1.44761070e-06 9.99993580e-01 -5.92058905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.086559995 meters 0.0494058951120505 Centerline is valid? [True, True] Translation: X:512.34, Y:-286.64, Z:-5.92 [[-6.65651562e-01 -7.46260030e-01 1.99144865e-03 5.12344023e+02] [ 7.46256707e-01 -6.65654541e-01 -2.22697236e-03 -2.86636879e+02] [ 2.98751730e-03 3.74428356e-06 9.99995537e-01 -5.91984461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.146559995 meters 0.04905402157329409 Centerline is valid? [True, True] Translation: X:512.30, Y:-286.60, Z:-5.92 [[-6.63186557e-01 -7.48449004e-01 2.77103319e-03 5.12301595e+02] [ 7.48442594e-01 -6.63192346e-01 -3.09785204e-03 -2.86599013e+02] [ 4.15631228e-03 1.95054384e-05 9.99991362e-01 -5.92275902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2065599950001 meters 0.048885340601489295 Centerline is valid? [True, True] Translation: X:512.26, Y:-286.56, Z:-5.92 [[-6.62124674e-01 -7.49386315e-01 3.32666272e-03 5.12262436e+02] [ 7.49377093e-01 -6.62133030e-01 -3.71802029e-03 -2.86555627e+02] [ 4.98892679e-03 3.11318600e-05 9.99987555e-01 -5.92225457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.266559995 meters 0.049156241934140435 Centerline is valid? [True, True] Translation: X:512.22, Y:-286.51, Z:-5.92 [[-6.61930423e-01 -7.49556254e-01 3.67933169e-03 5.12223872e+02] [ 7.49544982e-01 -6.61940647e-01 -4.11089136e-03 -2.86514959e+02] [ 5.51684353e-03 3.67005485e-05 9.99984781e-01 -5.92336355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.326559995 meters 0.04841595051461575 Centerline is valid? [True, True] Translation: X:512.19, Y:-286.47, Z:-5.92 [[-6.61934776e-01 -7.49553319e-01 3.48910930e-03 5.12185179e+02] [ 7.49543188e-01 -6.61943971e-01 -3.89731267e-03 -2.86471098e+02] [ 5.23083851e-03 3.54713209e-05 9.99986318e-01 -5.92340155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.386559995 meters 0.048657351630833505 Centerline is valid? [True, True] Translation: X:512.15, Y:-286.43, Z:-5.92 [[-6.62322902e-01 -7.49211735e-01 3.18579066e-03 5.12147787e+02] [ 7.49203289e-01 -6.62330563e-01 -3.55767742e-03 -2.86429546e+02] [ 4.77550019e-03 3.04736100e-05 9.99988597e-01 -5.92407135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4465599950001 meters 0.04855615485027386 Centerline is valid? [True, True] Translation: X:512.11, Y:-286.39, Z:-5.92 [[-6.63633202e-01 -7.48050026e-01 3.48304985e-03 5.12110933e+02] [ 7.48039920e-01 -6.63642341e-01 -3.88846525e-03 -2.86386014e+02] [ 5.22026589e-03 2.49456838e-05 9.99986374e-01 -5.92477765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.506559995 meters 0.0490662957851185 Centerline is valid? [True, True] Translation: X:512.07, Y:-286.34, Z:-5.93 [[-6.64266477e-01 -7.47486800e-01 3.67837218e-03 5.12074270e+02] [ 7.47475528e-01 -6.64276661e-01 -4.10522311e-03 -2.86342845e+02] [ 5.51205688e-03 2.25310889e-05 9.99984808e-01 -5.92529300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.566559995 meters 0.048818590673082474 Centerline is valid? [True, True] Translation: X:512.04, Y:-286.30, Z:-5.93 [[-6.63111594e-01 -7.48513312e-01 3.29175126e-03 5.12036059e+02] [ 7.48504302e-01 -6.63119764e-01 -3.67271772e-03 -2.86299978e+02] [ 4.93190342e-03 2.84682790e-05 9.99987838e-01 -5.92545342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.626559995 meters 0.048801789739646224 Centerline is valid? [True, True] Translation: X:512.00, Y:-286.26, Z:-5.93 [[-6.60514957e-01 -7.50803540e-01 3.74637088e-03 5.11996500e+02] [ 7.50791913e-01 -6.60525580e-01 -4.17885366e-03 -2.86257390e+02] [ 5.61207191e-03 5.25496111e-05 9.99984251e-01 -5.92573037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6865599950002 meters 0.04899387189698904 Centerline is valid? [True, True] Translation: X:511.96, Y:-286.22, Z:-5.93 [[-6.58840407e-01 -7.52261496e-01 5.65327509e-03 5.11957968e+02] [ 7.52235084e-01 -6.58864654e-01 -6.30445270e-03 -2.86215971e+02] [ 8.46734015e-03 9.89636792e-05 9.99964147e-01 -5.92813975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.746559995 meters 0.04903549290949082 Centerline is valid? [True, True] Translation: X:511.92, Y:-286.17, Z:-5.93 [[-6.58993430e-01 -7.52120949e-01 6.46048193e-03 5.11921770e+02] [ 7.52086470e-01 -6.59025087e-01 -7.20253485e-03 -2.86171828e+02] [ 9.67479701e-03 1.12417906e-04 9.99953192e-01 -5.92772710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.806559995 meters 0.049323645400786556 Centerline is valid? [True, True] Translation: X:511.88, Y:-286.13, Z:-5.93 [[-6.60434657e-01 -7.50859132e-01 6.05206432e-03 5.11884681e+02] [ 7.50828837e-01 -6.60462381e-01 -6.74545264e-03 -2.86127280e+02] [ 9.06204552e-03 8.91337140e-05 9.99958935e-01 -5.92682280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.866559995 meters 0.0490695614123682 Centerline is valid? [True, True] Translation: X:511.85, Y:-286.08, Z:-5.92 [[-6.64353138e-01 -7.47402912e-01 4.87792732e-03 5.11848152e+02] [ 7.47383146e-01 -6.64371045e-01 -5.43577111e-03 -2.86082665e+02] [ 7.30346483e-03 3.44090693e-05 9.99973329e-01 -5.92464923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9265599950002 meters 0.049503857380007 Centerline is valid? [True, True] Translation: X:511.81, Y:-286.04, Z:-5.92 [[-6.69645072e-01 -7.42670212e-01 4.05384192e-03 5.11813074e+02] [ 7.42656480e-01 -6.69657342e-01 -4.51625915e-03 -2.86039441e+02] [ 6.06877615e-03 -1.36787102e-05 9.99981585e-01 -5.92174207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.986559995 meters 0.04975956196010181 Centerline is valid? [True, True] Translation: X:511.78, Y:-286.00, Z:-5.92 [[-6.73355826e-01 -7.39306862e-01 4.15883566e-03 5.11776073e+02] [ 7.39292352e-01 -6.73368668e-01 -4.63196693e-03 -2.85995701e+02] [ 6.22487456e-03 -4.43665247e-05 9.99980624e-01 -5.92174567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.046559995 meters 0.049841482154100294 Centerline is valid? [True, True] Translation: X:511.74, Y:-285.95, Z:-5.92 [[-6.75317805e-01 -7.37511842e-01 4.70580397e-03 5.11737506e+02] [ 7.37493233e-01 -6.75334197e-01 -5.23963920e-03 -2.85953243e+02] [ 7.04228630e-03 -6.79230656e-05 9.99975201e-01 -5.92177944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.106559995 meters 0.050142889686184765 Centerline is valid? [True, True] Translation: X:511.70, Y:-285.91, Z:-5.92 [[-6.76199100e-01 -7.36706736e-01 4.23818141e-03 5.11697283e+02] [ 7.36691634e-01 -6.76212379e-01 -4.71755748e-03 -2.85913075e+02] [ 6.34136710e-03 -6.77753325e-05 9.99979891e-01 -5.92099431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.166559995 meters 0.049989114627964126 Centerline is valid? [True, True] Translation: X:511.66, Y:-285.87, Z:-5.92 [[-6.76055512e-01 -7.36843892e-01 3.16589055e-03 5.11656259e+02] [ 7.36835472e-01 -6.76062923e-01 -3.52280871e-03 -2.85874128e+02] [ 4.73610130e-03 -4.88737926e-05 9.99988783e-01 -5.92069976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2265599950001 meters 0.05005596829150545 Centerline is valid? [True, True] Translation: X:511.62, Y:-285.83, Z:-5.92 [[-6.74852266e-01 -7.37947309e-01 2.86144324e-03 5.11616520e+02] [ 7.37940445e-01 -6.74858332e-01 -3.18302212e-03 -2.85834234e+02] [ 4.27997142e-03 -3.64949912e-05 9.99990840e-01 -5.92088751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.286559995 meters 0.050492174253394785 Centerline is valid? [True, True] Translation: X:511.57, Y:-285.80, Z:-5.92 [[-6.70247076e-01 -7.42131464e-01 3.12208579e-03 5.11571742e+02] [ 7.42123342e-01 -6.70254347e-01 -3.47199819e-03 -2.85796090e+02] [ 4.66927067e-03 -1.01238926e-05 9.99989099e-01 -5.91958365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.346559995 meters 0.04974235258850947 Centerline is valid? [True, True] Translation: X:511.53, Y:-285.76, Z:-5.92 [[-6.64948243e-01 -7.46881001e-01 3.55035439e-03 5.11528825e+02] [ 7.46870571e-01 -6.64957720e-01 -3.94728239e-03 -2.85757571e+02] [ 5.30898579e-03 2.69167227e-05 9.99985907e-01 -5.92363114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.406559995 meters 0.049405890516650564 Centerline is valid? [True, True] Translation: X:511.49, Y:-285.72, Z:-5.92 [[-6.56328140e-01 -7.54467705e-01 3.44301761e-03 5.11485231e+02] [ 7.54458004e-01 -6.56337166e-01 -3.82688658e-03 -2.85719180e+02] [ 5.14704275e-03 8.59188471e-05 9.99986750e-01 -5.92267369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4665599950001 meters 0.04995802350100995 Centerline is valid? [True, True] Translation: X:511.44, Y:-285.68, Z:-5.92 [[-6.51497546e-01 -7.58646946e-01 2.39961149e-03 5.11443552e+02] [ 7.58642264e-01 -6.51501960e-01 -2.66658419e-03 -2.85680002e+02] [ 3.58634754e-03 8.31736336e-05 9.99993566e-01 -5.92176850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.526559995 meters 0.049516668054089094 Centerline is valid? [True, True] Translation: X:511.40, Y:-285.64, Z:-5.92 [[-6.51123112e-01 -7.58969198e-01 2.10936497e-03 5.11404966e+02] [ 7.58965584e-01 -6.51126524e-01 -2.34340548e-03 -2.85638548e+02] [ 3.15203606e-03 7.50899417e-05 9.99995030e-01 -5.92157522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.586559995 meters 0.04965753507013304 Centerline is valid? [True, True] Translation: X:511.37, Y:-285.60, Z:-5.92 [[-6.50811096e-01 -7.59238389e-01 1.40917467e-03 5.11366514e+02] [ 7.59236778e-01 -6.50812620e-01 -1.56510625e-03 -2.85596747e+02] [ 2.10539741e-03 5.13087194e-05 9.99997782e-01 -5.92069230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.646559995 meters 0.04942459289738159 Centerline is valid? [True, True] Translation: X:511.33, Y:-285.55, Z:-5.92 [[-6.51144494e-01 -7.58952661e-01 1.30630754e-03 5.11328907e+02] [ 7.58951276e-01 -6.51145803e-01 -1.45044330e-03 -2.85554357e+02] [ 1.95141447e-03 4.69756005e-05 9.99998095e-01 -5.92091520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7065599950001 meters 0.050091244730453295 Centerline is valid? [True, True] Translation: X:511.29, Y:-285.51, Z:-5.92 [[-6.52543294e-01 -7.57748452e-01 2.12898330e-03 5.11288871e+02] [ 7.57744770e-01 -6.52546763e-01 -2.36326934e-03 -2.85513317e+02] [ 3.18002484e-03 7.10904024e-05 9.99994941e-01 -5.92214190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.766559995 meters 0.04840755069472988 Centerline is valid? [True, True] Translation: X:511.26, Y:-285.46, Z:-5.92 [[-6.54631335e-01 -7.55941551e-01 3.19161066e-03 5.11256142e+02] [ 7.55933260e-01 -6.54639108e-01 -3.54189299e-03 -2.85464704e+02] [ 4.76681724e-03 9.40105178e-05 9.99988634e-01 -5.92250400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.826559995 meters 0.04923270407377073 Centerline is valid? [True, True] Translation: X:511.22, Y:-285.42, Z:-5.92 [[-6.56848351e-01 -7.54010882e-01 4.22295978e-03 5.11218745e+02] [ 7.53996334e-01 -6.56861917e-01 -4.68516879e-03 -2.85421049e+02] [ 6.30656971e-03 1.06650798e-04 9.99980108e-01 -5.92254950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.886559995 meters 0.04956279077488296 Centerline is valid? [True, True] Translation: X:511.18, Y:-285.38, Z:-5.92 [[-6.61574107e-01 -7.49858859e-01 5.60283925e-03 5.11182234e+02] [ 7.49833113e-01 -6.61597826e-01 -6.21445184e-03 -2.85376621e+02] [ 8.36678803e-03 8.98739666e-05 9.99964994e-01 -5.92403788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9465599950001 meters 0.05002806758707097 Centerline is valid? [True, True] Translation: X:511.15, Y:-285.33, Z:-5.92 [[-6.68646558e-01 -7.43552960e-01 6.38564926e-03 5.11149953e+02] [ 7.43519246e-01 -6.68677049e-01 -7.08055604e-03 -2.85330195e+02] [ 9.53470550e-03 1.34637020e-05 9.99954544e-01 -5.92474008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.006559995 meters 0.05042770977492678 Centerline is valid? [True, True] Translation: X:511.12, Y:-285.28, Z:-5.92 [[-6.74614326e-01 -7.38142307e-01 6.43782558e-03 5.11116067e+02] [ 7.38107804e-01 -6.74645040e-01 -7.13724166e-03 -2.85283122e+02] [ 9.61154713e-03 -6.30761729e-05 9.99953806e-01 -5.92361078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.066559995 meters 0.05002651101518851 Centerline is valid? [True, True] Translation: X:511.08, Y:-285.23, Z:-5.92 [[-6.83361150e-01 -7.30053992e-01 6.22154676e-03 5.11084756e+02] [ 7.30021447e-01 -6.83389450e-01 -6.89540174e-03 -2.85234863e+02] [ 9.28575498e-03 -1.70187090e-04 9.99956872e-01 -5.92298354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.126559995 meters 0.050243007391543505 Centerline is valid? [True, True] Translation: X:511.05, Y:-285.19, Z:-5.92 [[-6.90102928e-01 -7.23692234e-01 5.24402401e-03 5.11045435e+02] [ 7.23668937e-01 -6.90122819e-01 -5.81080774e-03 -2.85193285e+02] [ 7.82425706e-03 -2.15118151e-04 9.99969367e-01 -5.91879987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1865599950002 meters 0.0510303914060097 Centerline is valid? [True, True] Translation: X:511.01, Y:-285.14, Z:-5.92 [[-6.92329064e-01 -7.21566668e-01 4.69159387e-03 5.11013184e+02] [ 7.21547982e-01 -6.92344927e-01 -5.19724936e-03 -2.85144691e+02] [ 6.99836312e-03 -2.12996696e-04 9.99975488e-01 -5.91975229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.246559995 meters 0.050259695901916084 Centerline is valid? [True, True] Translation: X:510.97, Y:-285.11, Z:-5.92 [[-6.91922832e-01 -7.21959109e-01 4.22356163e-03 5.10969289e+02] [ 7.21943981e-01 -6.91935697e-01 -4.67751165e-03 -2.85105719e+02] [ 6.29940520e-03 -1.87302209e-04 9.99980141e-01 -5.91850413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.306559995 meters 0.05050258278636135 Centerline is valid? [True, True] Translation: X:510.93, Y:-285.06, Z:-5.92 [[-6.87308719e-01 -7.26353530e-01 4.15611483e-03 5.10934121e+02] [ 7.26338967e-01 -6.87321270e-01 -4.60191263e-03 -2.85059807e+02] [ 6.19920161e-03 -1.44186528e-04 9.99980774e-01 -5.92063140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.366559995 meters 0.0503032169221035 Centerline is valid? [True, True] Translation: X:510.89, Y:-285.02, Z:-5.92 [[-6.82660302e-01 -7.30724746e-01 4.03212321e-03 5.10891882e+02] [ 7.30711122e-01 -6.82672202e-01 -4.46322943e-03 -2.85021415e+02] [ 6.01401063e-03 -1.00552276e-04 9.99981911e-01 -5.92074264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4265599950002 meters 0.049446353727326774 Centerline is valid? [True, True] Translation: X:510.85, Y:-284.98, Z:-5.92 [[-6.74889483e-01 -7.37909644e-01 3.68017699e-03 5.10848029e+02] [ 7.37898407e-01 -6.74899516e-01 -4.07244906e-03 -2.84983583e+02] [ 5.48884910e-03 -3.28562996e-05 9.99984936e-01 -5.92010460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.486559995 meters 0.04874938892932265 Centerline is valid? [True, True] Translation: X:510.81, Y:-284.95, Z:-5.92 [[-6.67763553e-01 -7.44366079e-01 3.31336836e-03 5.10805711e+02] [ 7.44357054e-01 -6.67771773e-01 -3.66537185e-03 -2.84946341e+02] [ 4.94095233e-03 1.87273795e-05 9.99987793e-01 -5.92026626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.546559995 meters 0.04898773085270559 Centerline is valid? [True, True] Translation: X:510.76, Y:-284.91, Z:-5.92 [[-6.63909933e-01 -7.47807173e-01 2.83407601e-03 5.10763861e+02] [ 7.47800606e-01 -6.63915981e-01 -3.13435377e-03 -2.84905349e+02] [ 4.22548059e-03 3.83951511e-05 9.99991072e-01 -5.91923167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.606559995 meters 0.049937631598247864 Centerline is valid? [True, True] Translation: X:510.72, Y:-284.87, Z:-5.92 [[-6.58666409e-01 -7.52432023e-01 2.14765434e-03 5.10718618e+02] [ 7.52428278e-01 -6.58669908e-01 -2.37450214e-03 -2.84869841e+02] [ 3.20124673e-03 5.19510637e-05 9.99994875e-01 -5.91999835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.666559995 meters 0.048851876769898 Centerline is valid? [True, True] Translation: X:510.68, Y:-284.83, Z:-5.92 [[-6.56230475e-01 -7.54558067e-01 1.92046892e-03 5.10681329e+02] [ 7.54555083e-01 -6.56233282e-01 -2.12275641e-03 -2.84825556e+02] [ 2.86201860e-03 5.60821417e-05 9.99995903e-01 -5.91954671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7265599950001 meters 0.05014637634024997 Centerline is valid? [True, True] Translation: X:510.64, Y:-284.79, Z:-5.92 [[-6.53818271e-01 -7.56647172e-01 2.59356885e-03 5.10639014e+02] [ 7.56641749e-01 -6.53823409e-01 -2.86597104e-03 -2.84787907e+02] [ 3.86426491e-03 8.85782444e-05 9.99992530e-01 -5.92090776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.786559995 meters 0.04914830383921453 Centerline is valid? [True, True] Translation: X:510.60, Y:-284.74, Z:-5.92 [[-6.53120778e-01 -7.57246292e-01 3.36191229e-03 5.10604386e+02] [ 7.57237193e-01 -6.53129420e-01 -3.71405971e-03 -2.84741036e+02] [ 5.00822177e-03 1.20035461e-04 9.99987452e-01 -5.92195134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.846559995 meters 0.049489108420231284 Centerline is valid? [True, True] Translation: X:510.57, Y:-284.70, Z:-5.92 [[-6.53404826e-01 -7.56994503e-01 4.63213714e-03 5.10565600e+02] [ 7.56977233e-01 -6.53421224e-01 -5.11590208e-03 -2.84698732e+02] [ 6.89944647e-03 1.63667249e-04 9.99976185e-01 -5.92326518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.906559995 meters 0.04920460861552234 Centerline is valid? [True, True] Translation: X:510.53, Y:-284.66, Z:-5.93 [[-6.54933906e-01 -7.55655795e-01 6.77484001e-03 5.10529683e+02] [ 7.55618798e-01 -6.54968909e-01 -7.48069554e-03 -2.84655430e+02] [ 1.00901405e-02 2.19835312e-04 9.99949069e-01 -5.92591117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9665599950001 meters 0.049043637468356285 Centerline is valid? [True, True] Translation: X:510.50, Y:-284.61, Z:-5.93 [[-6.58430386e-01 -7.52596082e-01 8.28035520e-03 5.10496270e+02] [ 7.52540602e-01 -6.58482416e-01 -9.14058072e-03 -2.84607832e+02] [ 1.23316335e-02 2.12867395e-04 9.99923940e-01 -5.92668378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.026559995 meters 0.049719811742339706 Centerline is valid? [True, True] Translation: X:510.46, Y:-284.56, Z:-5.93 [[-6.61196425e-01 -7.50163994e-01 8.55974284e-03 5.10460195e+02] [ 7.50104531e-01 -6.61251807e-01 -9.44675533e-03 -2.84563742e+02] [ 1.27467611e-02 1.74541032e-04 9.99918742e-01 -5.92854727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.086559995 meters 0.04922780767577921 Centerline is valid? [True, True] Translation: X:510.43, Y:-284.52, Z:-5.93 [[-6.66100450e-01 -7.45822094e-01 7.71973393e-03 5.10429163e+02] [ 7.45773465e-01 -6.66145177e-01 -8.51714480e-03 -2.84515351e+02] [ 1.14947383e-02 8.38987383e-05 9.99933930e-01 -5.92591102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.146559995 meters 0.04941518048374562 Centerline is valid? [True, True] Translation: X:510.39, Y:-284.47, Z:-5.92 [[-6.68889401e-01 -7.43327654e-01 7.13910387e-03 5.10392960e+02] [ 7.43285944e-01 -6.68927497e-01 -7.87458011e-03 -2.84469863e+02] [ 1.06289360e-02 3.91723832e-05 9.99943511e-01 -5.92269007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2065599950001 meters 0.049258550109506395 Centerline is valid? [True, True] Translation: X:510.35, Y:-284.43, Z:-5.92 [[-6.69922429e-01 -7.42403846e-01 6.36149056e-03 5.10352511e+02] [ 7.42370703e-01 -6.69952632e-01 -7.01502253e-03 -2.84430018e+02] [ 9.46987705e-03 2.30632898e-05 9.99955159e-01 -5.92397062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.266559995 meters 0.04942700315225736 Centerline is valid? [True, True] Translation: X:510.31, Y:-284.39, Z:-5.92 [[-6.71251160e-01 -7.41197045e-01 6.98713742e-03 5.10313830e+02] [ 7.41157017e-01 -6.71287524e-01 -7.70299500e-03 -2.84386812e+02] [ 1.03998153e-02 7.92159719e-06 9.99945920e-01 -5.92228578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.326559995 meters 0.04915191420774342 Centerline is valid? [True, True] Translation: X:510.28, Y:-284.34, Z:-5.92 [[-6.72324765e-01 -7.40221280e-01 7.20194490e-03 5.10275962e+02] [ 7.40178723e-01 -6.72363337e-01 -7.93726633e-03 -2.84344881e+02] [ 1.07176571e-02 -5.69433169e-06 9.99942564e-01 -5.92252622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.386559995 meters 0.04924087921097875 Centerline is valid? [True, True] Translation: X:510.24, Y:-284.30, Z:-5.92 [[-6.74175354e-01 -7.38530288e-01 7.78494111e-03 5.10235523e+02] [ 7.38480474e-01 -6.74220300e-01 -8.57772013e-03 -2.84302613e+02] [ 1.15836715e-02 -3.38605083e-05 9.99932906e-01 -5.92313165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4465599950001 meters 0.049199203565771114 Centerline is valid? [True, True] Translation: X:510.20, Y:-284.26, Z:-5.92 [[-6.75243713e-01 -7.37554364e-01 7.71290645e-03 5.10197010e+02] [ 7.37505432e-01 -6.75287759e-01 -8.49587994e-03 -2.84260388e+02] [ 1.14746046e-02 -4.84791059e-05 9.99934163e-01 -5.92331630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.506559995 meters 0.049890943875077406 Centerline is valid? [True, True] Translation: X:510.16, Y:-284.22, Z:-5.92 [[-6.78131991e-01 -7.34906706e-01 7.00977414e-03 5.10158426e+02] [ 7.34866168e-01 -6.78168214e-01 -7.71937289e-03 -2.84216749e+02] [ 1.04268249e-02 -8.35078488e-05 9.99945636e-01 -5.92266021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.566559995 meters 0.04940917381038619 Centerline is valid? [True, True] Translation: X:510.12, Y:-284.17, Z:-5.92 [[-6.80647369e-01 -7.32587964e-01 5.83382442e-03 5.10120198e+02] [ 7.32559816e-01 -6.80672363e-01 -6.42270797e-03 -2.84172826e+02] [ 8.67612160e-03 -9.79739426e-05 9.99962357e-01 -5.92085971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.626559995 meters 0.04964369710626013 Centerline is valid? [True, True] Translation: X:510.08, Y:-284.13, Z:-5.92 [[-6.81007564e-01 -7.32259401e-01 4.98681034e-03 5.10081225e+02] [ 7.32238832e-01 -6.81025816e-01 -5.48905451e-03 -2.84131582e+02] [ 7.41555834e-03 -8.65514561e-05 9.99972501e-01 -5.92113207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6865599950002 meters 0.04955780677357192 Centerline is valid? [True, True] Translation: X:510.04, Y:-284.09, Z:-5.92 [[-6.79200183e-01 -7.33944227e-01 3.60333150e-03 5.10039583e+02] [ 7.33933515e-01 -6.79209739e-01 -3.96555218e-03 -2.84090864e+02] [ 5.35791198e-03 -4.87980147e-05 9.99985645e-01 -5.91924237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.746559995 meters 0.048813231266340976 Centerline is valid? [True, True] Translation: X:510.00, Y:-284.05, Z:-5.92 [[-6.74667143e-01 -7.38114525e-01 3.34586895e-03 5.09998757e+02] [ 7.38105344e-01 -6.74675439e-01 -3.68132842e-03 -2.84051803e+02] [ 4.97461758e-03 -1.40675766e-05 9.99987626e-01 -5.92130214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.806559995 meters 0.04912644514722785 Centerline is valid? [True, True] Translation: X:509.96, Y:-284.01, Z:-5.92 [[-6.71456332e-01 -7.41035107e-01 3.65593147e-03 5.09958160e+02] [ 7.41024197e-01 -6.71466284e-01 -4.02104466e-03 -2.84013504e+02] [ 5.43456997e-03 9.17778512e-06 9.99985233e-01 -5.92126897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.866559995 meters 0.04940385687421847 Centerline is valid? [True, True] Translation: X:509.92, Y:-283.98, Z:-5.92 [[-6.66651503e-01 -7.45357403e-01 4.25621100e-03 5.09916942e+02] [ 7.45342715e-01 -6.66665087e-01 -4.67962526e-03 -2.83976814e+02] [ 6.32546061e-03 5.26566499e-05 9.99979993e-01 -5.92224147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9265599950002 meters 0.04906878837332972 Centerline is valid? [True, True] Translation: X:509.88, Y:-283.93, Z:-5.92 [[-6.65130316e-01 -7.46712423e-01 4.71379496e-03 5.09878858e+02] [ 7.46694449e-01 -6.65147016e-01 -5.18140052e-03 -2.83932381e+02] [ 7.00438278e-03 7.34579647e-05 9.99975466e-01 -5.92062712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.986559995 meters 0.04934508775006749 Centerline is valid? [True, True] Translation: X:509.84, Y:-283.89, Z:-5.92 [[-6.65798454e-01 -7.46109731e-01 5.71725744e-03 5.09840375e+02] [ 7.46083284e-01 -6.65822996e-01 -6.28259179e-03 -2.83889856e+02] [ 8.49418435e-03 8.26103023e-05 9.99963920e-01 -5.92239877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.046559995 meters 0.04904391501060834 Centerline is valid? [True, True] Translation: X:509.81, Y:-283.85, Z:-5.92 [[-6.69043358e-01 -7.43199855e-01 5.91274686e-03 5.09805432e+02] [ 7.43171472e-01 -6.69069483e-01 -6.49541152e-03 -2.83845832e+02] [ 8.78342739e-03 4.84728550e-05 9.99961424e-01 -5.92334857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.106559995 meters 0.04966485121143884 Centerline is valid? [True, True] Translation: X:509.77, Y:-283.80, Z:-5.92 [[-6.71744936e-01 -7.40757805e-01 6.05105987e-03 5.09770021e+02] [ 7.40727994e-01 -6.71772189e-01 -6.64566241e-03 -2.83801168e+02] [ 8.98776004e-03 1.79993689e-05 9.99959609e-01 -5.92348905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.166559995 meters 0.04948058048492171 Centerline is valid? [True, True] Translation: X:509.73, Y:-283.75, Z:-5.92 [[-6.74642731e-01 -7.38108050e-01 7.32750012e-03 5.09734444e+02] [ 7.38064200e-01 -6.74682522e-01 -8.04557926e-03 -2.83754817e+02] [ 1.08822431e-02 -1.97260439e-05 9.99940786e-01 -5.92401195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2265599950001 meters 0.04927801557805522 Centerline is valid? [True, True] Translation: X:509.70, Y:-283.71, Z:-5.93 [[-6.75978961e-01 -7.36876925e-01 8.05238179e-03 5.09698943e+02] [ 7.36823914e-01 -6.76026919e-01 -8.83878249e-03 -2.83711401e+02] [ 1.19567217e-02 -4.16435280e-05 9.99928515e-01 -5.92540665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.286559995 meters 0.04911475197471218 Centerline is valid? [True, True] Translation: X:509.66, Y:-283.67, Z:-5.92 [[-6.76107206e-01 -7.36760402e-01 7.94703488e-03 5.09661027e+02] [ 7.36708793e-01 -6.76153908e-01 -8.72042859e-03 -2.83669942e+02] [ 1.17982852e-02 -4.12941327e-05 9.99930397e-01 -5.92417692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.346559995 meters 0.049574624086083256 Centerline is valid? [True, True] Translation: X:509.62, Y:-283.63, Z:-5.92 [[-6.75607134e-01 -7.37227211e-01 7.14419882e-03 5.09623296e+02] [ 7.37185557e-01 -6.75644906e-01 -7.83686784e-03 -2.83628050e+02] [ 1.06044938e-02 -2.80436374e-05 9.99943770e-01 -5.92265974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.406559995 meters 0.049359591394507504 Centerline is valid? [True, True] Translation: X:509.59, Y:-283.59, Z:-5.92 [[-6.75543194e-01 -7.37290171e-01 6.67803055e-03 5.09585066e+02] [ 7.37253804e-01 -6.75576201e-01 -7.32298576e-03 -2.83587538e+02] [ 9.91068394e-03 -2.35897674e-05 9.99950888e-01 -5.91819375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4665599950001 meters 0.049359398104367576 Centerline is valid? [True, True] Translation: X:509.55, Y:-283.54, Z:-5.92 [[-6.77280392e-01 -7.35694075e-01 6.74521295e-03 5.09545532e+02] [ 7.35656902e-01 -6.77313978e-01 -7.39578221e-03 -2.83543579e+02] [ 1.00096602e-02 -4.68558162e-05 9.99949901e-01 -5.91707272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.526559995 meters 0.04894000408586586 Centerline is valid? [True, True] Translation: X:509.51, Y:-283.50, Z:-5.92 [[-6.78552308e-01 -7.34519183e-01 6.95232523e-03 5.09510769e+02] [ 7.34479654e-01 -6.78587920e-01 -7.62050905e-03 -2.83499901e+02] [ 1.03151740e-02 -6.45725699e-05 9.99946795e-01 -5.92207650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.586559995 meters 0.04929436115197887 Centerline is valid? [True, True] Translation: X:509.47, Y:-283.46, Z:-5.92 [[-6.79357667e-01 -7.33782007e-01 6.09318354e-03 5.09472543e+02] [ 7.33751634e-01 -6.79384988e-01 -6.67657788e-03 -2.83459097e+02] [ 9.03877014e-03 -6.49009956e-05 9.99959147e-01 -5.91890795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.646559995 meters 0.049370213222810114 Centerline is valid? [True, True] Translation: X:509.43, Y:-283.42, Z:-5.92 [[-6.79310644e-01 -7.33829797e-01 5.55672418e-03 5.09433272e+02] [ 7.33804555e-01 -6.79333368e-01 -6.08689287e-03 -2.83418305e+02] [ 8.24161152e-03 -5.73416081e-05 9.99966036e-01 -5.91678165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7065599950001 meters 0.0498975907507129 Centerline is valid? [True, True] Translation: X:509.39, Y:-283.38, Z:-5.92 [[-6.78104363e-01 -7.34940333e-01 6.09749985e-03 5.09392718e+02] [ 7.34909996e-01 -6.78131775e-01 -6.67779305e-03 -2.83376481e+02] [ 9.04268785e-03 -4.71270103e-05 9.99959113e-01 -5.91635685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.766559995 meters 0.049498471518735196 Centerline is valid? [True, True] Translation: X:509.35, Y:-283.34, Z:-5.92 [[-6.75000673e-01 -7.37788080e-01 6.54518520e-03 5.09352331e+02] [ 7.37753276e-01 -6.75032406e-01 -7.16627625e-03 -2.83335362e+02] [ 9.70540531e-03 -8.50946944e-06 9.99952901e-01 -5.91717722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.826559995 meters 0.0495711637891268 Centerline is valid? [True, True] Translation: X:509.31, Y:-283.30, Z:-5.92 [[-6.69502181e-01 -7.42779836e-01 6.70413829e-03 5.09309911e+02] [ 7.42743587e-01 -6.69535743e-01 -7.33846460e-03 -2.83296861e+02] [ 9.93952374e-03 6.63376647e-05 9.99950600e-01 -5.91845448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.886559995 meters 0.04949747280693017 Centerline is valid? [True, True] Translation: X:509.27, Y:-283.26, Z:-5.92 [[-6.65023164e-01 -7.46794537e-01 6.48925737e-03 5.09268818e+02] [ 7.46760780e-01 -6.65054813e-01 -7.10169461e-03 -2.83257760e+02] [ 9.61921859e-03 1.23131474e-04 9.99953727e-01 -5.91876017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9465599950001 meters 0.04912929108528864 Centerline is valid? [True, True] Translation: X:509.23, Y:-283.22, Z:-5.92 [[-6.58516802e-01 -7.52533513e-01 6.99525483e-03 5.09226740e+02] [ 7.52494628e-01 -6.58553917e-01 -7.65329830e-03 -2.83217926e+02] [ 1.03661159e-02 2.24066156e-04 9.99946245e-01 -5.91866976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.006559995 meters 0.04967289852228931 Centerline is valid? [True, True] Translation: X:509.19, Y:-283.18, Z:-5.92 [[-6.54968053e-01 -7.55621279e-01 7.30295674e-03 5.09186065e+02] [ 7.55579114e-01 -6.55008703e-01 -7.98754822e-03 -2.83179460e+02] [ 1.08190616e-02 2.86372681e-04 9.99941431e-01 -5.92026114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.066559995 meters 0.049356406678296126 Centerline is valid? [True, True] Translation: X:509.15, Y:-283.14, Z:-5.92 [[-6.54428434e-01 -7.56094198e-01 6.70733736e-03 5.09147216e+02] [ 7.56058676e-01 -6.54462749e-01 -7.33415292e-03 -2.83137024e+02] [ 9.93501292e-03 2.71462399e-04 9.99950610e-01 -5.91963738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.126559995 meters 0.049221434531343165 Centerline is valid? [True, True] Translation: X:509.11, Y:-283.09, Z:-5.92 [[-6.55199131e-01 -7.55429499e-01 6.35385995e-03 5.09109684e+02] [ 7.55397609e-01 -6.55229891e-01 -6.94568939e-03 -2.83094254e+02] [ 9.41021762e-03 2.48880960e-04 9.99955692e-01 -5.91964847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1865599950002 meters 0.04920187129343958 Centerline is valid? [True, True] Translation: X:509.07, Y:-283.05, Z:-5.92 [[-6.56713711e-01 -7.54112397e-01 6.44935371e-03 5.09072297e+02] [ 7.54079497e-01 -6.56745337e-01 -7.04803132e-03 -2.83052054e+02] [ 9.55059076e-03 2.34786591e-04 9.99954365e-01 -5.92076626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.246559995 meters 0.048677803180014495 Centerline is valid? [True, True] Translation: X:509.04, Y:-283.00, Z:-5.92 [[-6.57695721e-01 -7.53252913e-01 6.81085168e-03 5.09039135e+02] [ 7.53216194e-01 -6.57730943e-01 -7.44127766e-03 -2.83003105e+02] [ 1.00848720e-02 2.35947303e-04 9.99949119e-01 -5.91858663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.306559995 meters 0.04888974341769151 Centerline is valid? [True, True] Translation: X:509.00, Y:-282.96, Z:-5.92 [[-6.58460471e-01 -7.52577084e-01 7.58558943e-03 5.08999647e+02] [ 7.52531515e-01 -6.58504115e-01 -8.28552462e-03 -2.82961607e+02] [ 1.12306378e-02 2.52704659e-04 9.99936902e-01 -5.92119013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.366559995 meters 0.049938741982688876 Centerline is valid? [True, True] Translation: X:508.96, Y:-282.92, Z:-5.92 [[-6.59369104e-01 -7.51767565e-01 8.82683007e-03 5.08961663e+02] [ 7.51705828e-01 -6.59428124e-01 -9.63840089e-03 -2.82920163e+02] [ 1.30664972e-02 2.79915839e-04 9.99914591e-01 -5.92384777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4265599950002 meters 0.049454240379738404 Centerline is valid? [True, True] Translation: X:508.92, Y:-282.88, Z:-5.92 [[-6.60255227e-01 -7.50983680e-01 9.30311881e-03 5.08924865e+02] [ 7.50915065e-01 -6.60320705e-01 -1.01553501e-02 -2.82877971e+02] [ 1.37695442e-02 2.80729088e-04 9.99905156e-01 -5.92474565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.486559995 meters 0.04882788223818212 Centerline is valid? [True, True] Translation: X:508.89, Y:-282.83, Z:-5.92 [[-6.61829160e-01 -7.49594911e-01 9.46742619e-03 5.08887907e+02] [ 7.49523732e-01 -6.61896822e-01 -1.03330502e-02 -2.82832507e+02] [ 1.40120612e-02 2.57346667e-04 9.99901793e-01 -5.92266958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.546559995 meters 0.04869455846206303 Centerline is valid? [True, True] Translation: X:508.85, Y:-282.79, Z:-5.92 [[-6.64389738e-01 -7.47328315e-01 9.30941785e-03 5.08847594e+02] [ 7.47259293e-01 -6.64454924e-01 -1.01588810e-02 -2.82791259e+02] [ 1.37777080e-02 2.07092698e-04 9.99905061e-01 -5.92391761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.606559995 meters 0.04880409460642074 Centerline is valid? [True, True] Translation: X:508.81, Y:-282.75, Z:-5.92 [[-6.69516942e-01 -7.42743446e-01 8.90152079e-03 5.08811067e+02] [ 7.42679969e-01 -6.69576106e-01 -9.71096584e-03 -2.82748502e+02] [ 1.31730019e-02 1.09325026e-04 9.99913226e-01 -5.92472377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.666559995 meters 0.048835681259415474 Centerline is valid? [True, True] Translation: X:508.78, Y:-282.71, Z:-5.92 [[-6.74033902e-01 -7.38649750e-01 8.65132196e-03 5.08775421e+02] [ 7.38589489e-01 -6.74089420e-01 -9.43507936e-03 -2.82705236e+02] [ 1.28009836e-02 3.02121173e-05 9.99918064e-01 -5.92284930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7265599950001 meters 0.04959931586672194 Centerline is valid? [True, True] Translation: X:508.74, Y:-282.66, Z:-5.92 [[-6.80985706e-01 -7.32252938e-01 8.00643404e-03 5.08736298e+02] [ 7.32200903e-01 -6.81032766e-01 -8.72978161e-03 -2.82661348e+02] [ 1.18450521e-02 -8.25382479e-05 9.99929842e-01 -5.92047045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.786559995 meters 0.05003434626670336 Centerline is valid? [True, True] Translation: X:508.70, Y:-282.62, Z:-5.92 [[-6.86317886e-01 -7.27258306e-01 7.94450070e-03 5.08700974e+02] [ 7.27206762e-01 -6.86363846e-01 -8.66009101e-03 -2.82615448e+02] [ 1.17509412e-02 -1.66280730e-04 9.99930942e-01 -5.92231817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.846559995 meters 0.0501414250760862 Centerline is valid? [True, True] Translation: X:508.66, Y:-282.57, Z:-5.92 [[-6.87709429e-01 -7.25943522e-01 7.85778656e-03 5.08660758e+02] [ 7.25893038e-01 -6.87754294e-01 -8.56320382e-03 -2.82574271e+02] [ 1.16206288e-02 -1.85083446e-04 9.99932461e-01 -5.91986622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.906559995 meters 0.04997045160624969 Centerline is valid? [True, True] Translation: X:508.62, Y:-282.53, Z:-5.92 [[-6.86700228e-01 -7.26901634e-01 7.53728001e-03 5.08620574e+02] [ 7.26855263e-01 -6.86741573e-01 -8.21207179e-03 -2.82531944e+02] [ 1.11455319e-02 -1.60719930e-04 9.99937874e-01 -5.92012680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9665599950001 meters 0.04960535040635949 Centerline is valid? [True, True] Translation: X:508.58, Y:-282.49, Z:-5.92 [[-6.83083347e-01 -7.30309405e-01 6.73152052e-03 5.08581774e+02] [ 7.30272601e-01 -6.83116509e-01 -7.33234407e-03 -2.82490387e+02] [ 9.95329263e-03 -9.27571314e-05 9.99950460e-01 -5.92215823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.026559995 meters 0.049494619034773896 Centerline is valid? [True, True] Translation: X:508.54, Y:-282.45, Z:-5.92 [[-6.77297586e-01 -7.35688516e-01 5.51251431e-03 5.08540598e+02] [ 7.35664024e-01 -6.77320019e-01 -6.00297621e-03 -2.82450577e+02] [ 8.15005696e-03 -1.04428360e-05 9.99966788e-01 -5.91963999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.086559995 meters 0.049167693287081614 Centerline is valid? [True, True] Translation: X:508.50, Y:-282.41, Z:-5.92 [[-6.69799558e-01 -7.42531488e-01 3.94238765e-03 5.08497263e+02] [ 7.42519084e-01 -6.69811158e-01 -4.29210029e-03 -2.82412004e+02] [ 5.82767485e-03 5.24511901e-05 9.99983018e-01 -5.91922588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.146559995 meters 0.048997002368911385 Centerline is valid? [True, True] Translation: X:508.46, Y:-282.37, Z:-5.92 [[-6.65223747e-01 -7.46636517e-01 3.35818180e-03 5.08455881e+02] [ 7.46627575e-01 -6.65232219e-01 -3.65502984e-03 -2.82371968e+02] [ 4.96294948e-03 7.58984882e-05 9.99987682e-01 -5.91848229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2065599950001 meters 0.04917557594267175 Centerline is valid? [True, True] Translation: X:508.42, Y:-282.33, Z:-5.92 [[-6.61292031e-01 -7.50120959e-01 3.37583096e-03 5.08415452e+02] [ 7.50111973e-01 -6.61300640e-01 -3.67319110e-03 -2.82330720e+02] [ 4.98777681e-03 1.03199216e-04 9.99987556e-01 -5.91770407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.266559995 meters 0.0489747993199332 Centerline is valid? [True, True] Translation: X:508.37, Y:-282.29, Z:-5.92 [[-6.59889897e-01 -7.51350158e-01 4.27362277e-03 5.08374690e+02] [ 7.51335787e-01 -6.59903720e-01 -4.64918743e-03 -2.82290548e+02] [ 6.31334727e-03 1.42973919e-04 9.99980060e-01 -5.91899253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.326559995 meters 0.04926512408997874 Centerline is valid? [True, True] Translation: X:508.34, Y:-282.25, Z:-5.92 [[-6.60099859e-01 -7.51162952e-01 4.73242158e-03 5.08336260e+02] [ 7.51145336e-01 -6.60116804e-01 -5.14683706e-03 -2.82247702e+02] [ 6.99006433e-03 1.57309984e-04 9.99975557e-01 -5.91955277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.386559995 meters 0.04898104300043534 Centerline is valid? [True, True] Translation: X:508.30, Y:-282.20, Z:-5.92 [[-6.61981974e-01 -7.49498485e-01 5.64688170e-03 5.08299342e+02] [ 7.49473356e-01 -6.62006037e-01 -6.13964418e-03 -2.82203832e+02] [ 8.33992379e-03 1.67853607e-04 9.99965208e-01 -5.92068942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4465599950001 meters 0.04923820964378983 Centerline is valid? [True, True] Translation: X:508.26, Y:-282.16, Z:-5.92 [[-6.64751668e-01 -7.47029951e-01 7.17443816e-03 5.08264779e+02] [ 7.46989265e-01 -6.64790360e-01 -7.79845921e-03 -2.82157090e+02] [ 1.05951799e-02 1.75189522e-04 9.99943854e-01 -5.92160522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.506559995 meters 0.04920387120669954 Centerline is valid? [True, True] Translation: X:508.23, Y:-282.11, Z:-5.92 [[-6.68634245e-01 -7.43548940e-01 7.95113259e-03 5.08230908e+02] [ 7.43498748e-01 -6.68681506e-01 -8.64037214e-03 -2.82109825e+02] [ 1.17413149e-02 1.34408418e-04 9.99931059e-01 -5.92064765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.566559995 meters 0.04859325076352854 Centerline is valid? [True, True] Translation: X:508.20, Y:-282.06, Z:-5.92 [[-6.74335609e-01 -7.38389458e-01 7.24536329e-03 5.08196940e+02] [ 7.38347504e-01 -6.74374530e-01 -7.87121710e-03 -2.82062519e+02] [ 1.06981122e-02 4.17539267e-05 9.99942773e-01 -5.92003692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.626559995 meters 0.04955911749983451 Centerline is valid? [True, True] Translation: X:508.16, Y:-282.02, Z:-5.92 [[-6.76967522e-01 -7.35991425e-01 5.62105186e-03 5.08158879e+02] [ 7.35966104e-01 -6.76990859e-01 -6.10498897e-03 -2.82020056e+02] [ 8.29862026e-03 4.02438082e-06 9.99965566e-01 -5.92028515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6865599950002 meters 0.04916312204196569 Centerline is valid? [True, True] Translation: X:508.12, Y:-281.98, Z:-5.92 [[-6.79871085e-01 -7.33309266e-01 5.72956878e-03 5.08122074e+02] [ 7.33282879e-01 -6.79895227e-01 -6.22090014e-03 -2.81977051e+02] [ 8.45735018e-03 -2.80154407e-05 9.99964236e-01 -5.91968993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.746559995 meters 0.049638287304136025 Centerline is valid? [True, True] Translation: X:508.09, Y:-281.93, Z:-5.92 [[-6.84245790e-01 -7.29220578e-01 6.71176705e-03 5.08085557e+02] [ 7.29184187e-01 -6.84278701e-01 -7.28563126e-03 -2.81933411e+02] [ 9.90555148e-03 -9.10481156e-05 9.99950935e-01 -5.91934788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.806559995 meters 0.05011234170924808 Centerline is valid? [True, True] Translation: X:508.04, Y:-281.90, Z:-5.92 [[-6.88845946e-01 -7.24866047e-01 7.77666409e-03 5.08044001e+02] [ 7.24816935e-01 -6.88889819e-01 -8.43968900e-03 -2.81895067e+02] [ 1.14749087e-02 -1.76987736e-04 9.99934145e-01 -5.91758447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.866559995 meters 0.050674373930655464 Centerline is valid? [True, True] Translation: X:508.01, Y:-281.85, Z:-5.92 [[-6.91334208e-01 -7.22489992e-01 8.07611648e-03 5.08005406e+02] [ 7.22436878e-01 -6.91381343e-01 -8.76336335e-03 -2.81852773e+02] [ 1.19151186e-02 -2.23928491e-04 9.99928987e-01 -5.91874658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9265599950002 meters 0.051086517098886335 Centerline is valid? [True, True] Translation: X:507.97, Y:-281.81, Z:-5.92 [[-6.94173870e-01 -7.19759844e-01 8.27077241e-03 5.07965292e+02] [ 7.19703970e-01 -6.94223085e-01 -8.97236493e-03 -2.81811311e+02] [ 1.21997091e-02 -2.75873543e-04 9.99925543e-01 -5.91771869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.986559995 meters 0.05147852736844155 Centerline is valid? [True, True] Translation: X:507.93, Y:-281.77, Z:-5.92 [[-6.95073277e-01 -7.18894872e-01 7.95630587e-03 5.07926220e+02] [ 7.18843127e-01 -6.95118756e-01 -8.62978830e-03 -2.81768347e+02] [ 1.17344880e-02 -2.78999440e-04 9.99931110e-01 -5.91856270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.046559995 meters 0.05193983769199457 Centerline is valid? [True, True] Translation: X:507.89, Y:-281.73, Z:-5.92 [[-6.93349551e-01 -7.20564551e-01 7.28889726e-03 5.07888534e+02] [ 7.20521243e-01 -6.93387825e-01 -7.90331985e-03 -2.81727622e+02] [ 1.07488847e-02 -2.27957950e-04 9.99942203e-01 -5.92087308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.106559995 meters 0.05116239497571544 Centerline is valid? [True, True] Translation: X:507.84, Y:-281.69, Z:-5.92 [[-6.91009367e-01 -7.22817251e-01 6.42465529e-03 5.07842512e+02] [ 7.22783724e-01 -6.91039212e-01 -6.96391456e-03 -2.81693730e+02] [ 9.47332631e-03 -1.68493918e-04 9.99955113e-01 -5.91546277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.166559995 meters 0.0510348670466548 Centerline is valid? [True, True] Translation: X:507.80, Y:-281.65, Z:-5.92 [[-6.86134613e-01 -7.27451039e-01 5.85471245e-03 5.07802297e+02] [ 7.27423374e-01 -6.86159585e-01 -6.34491749e-03 -2.81652624e+02] [ 8.63288389e-03 -9.46128236e-05 9.99962732e-01 -5.91574941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2265599950001 meters 0.04973312396111278 Centerline is valid? [True, True] Translation: X:507.76, Y:-281.62, Z:-5.92 [[-6.80654018e-01 -7.32584773e-01 5.44593136e-03 5.07757890e+02] [ 7.32561014e-01 -6.80675803e-01 -5.90018656e-03 -2.81616025e+02] [ 8.02930054e-03 -2.65086861e-05 9.99967764e-01 -5.91641091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.286559995 meters 0.049818969206251354 Centerline is valid? [True, True] Translation: X:507.72, Y:-281.58, Z:-5.91 [[-6.79198266e-01 -7.33935379e-01 5.34556898e-03 5.07717360e+02] [ 7.33912543e-01 -6.79219302e-01 -5.78964622e-03 -2.81575570e+02] [ 7.88003982e-03 -9.13754971e-06 9.99968952e-01 -5.91483384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.346559995 meters 0.05057394135132126 Centerline is valid? [True, True] Translation: X:507.68, Y:-281.54, Z:-5.91 [[-6.76852424e-01 -7.36103040e-01 4.80728810e-03 5.07676875e+02] [ 7.36084637e-01 -6.76869495e-01 -5.20517269e-03 -2.81535295e+02] [ 7.08545011e-03 1.54371566e-05 9.99974898e-01 -5.91280758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.406559995 meters 0.05059757978274217 Centerline is valid? [True, True] Translation: X:507.64, Y:-281.49, Z:-5.91 [[-6.77337852e-01 -7.35658064e-01 4.54394170e-03 5.07636581e+02] [ 7.35641619e-01 -6.77353093e-01 -4.91885529e-03 -2.81493566e+02] [ 6.69644852e-03 1.09857491e-05 9.99977579e-01 -5.91373321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4665599950001 meters 0.05053476374552799 Centerline is valid? [True, True] Translation: X:507.60, Y:-281.45, Z:-5.92 [[-6.80457442e-01 -7.32770409e-01 5.01975839e-03 5.07600355e+02] [ 7.32750273e-01 -6.80475957e-01 -5.43233304e-03 -2.81451114e+02] [ 7.39647780e-03 -1.82421107e-05 9.99972646e-01 -5.91536443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.526559995 meters 0.050857899778456166 Centerline is valid? [True, True] Translation: X:507.56, Y:-281.41, Z:-5.91 [[-6.83949461e-01 -7.29506694e-01 5.75478644e-03 5.07563130e+02] [ 7.29480128e-01 -6.83973669e-01 -6.22598553e-03 -2.81407049e+02] [ 8.47802051e-03 -6.02570949e-05 9.99964059e-01 -5.91470329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.586559995 meters 0.05137418797856239 Centerline is valid? [True, True] Translation: X:507.53, Y:-281.36, Z:-5.92 [[-6.89143580e-01 -7.24582972e-01 7.78736078e-03 5.07529013e+02] [ 7.24534039e-01 -6.89187558e-01 -8.42237079e-03 -2.81361494e+02] [ 1.14696586e-02 -1.62014797e-04 9.99934208e-01 -5.91870331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.646559995 meters 0.0513962850902911 Centerline is valid? [True, True] Translation: X:507.49, Y:-281.32, Z:-5.92 [[-6.92999918e-01 -7.20887744e-01 8.48376253e-03 5.07493044e+02] [ 7.20829423e-01 -6.93051804e-01 -9.17285252e-03 -2.81317949e+02] [ 1.24922839e-02 -2.41440394e-04 9.99921939e-01 -5.91868411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7065599950001 meters 0.05143075624737895 Centerline is valid? [True, True] Translation: X:507.46, Y:-281.27, Z:-5.92 [[-6.94946972e-01 -7.19008500e-01 8.68808735e-03 5.07456311e+02] [ 7.18947223e-01 -6.95001222e-01 -9.39101533e-03 -2.81274021e+02] [ 1.27904512e-02 -2.79981396e-04 9.99918160e-01 -5.91780664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.766559995 meters 0.050863158998838934 Centerline is valid? [True, True] Translation: X:507.42, Y:-281.24, Z:-5.91 [[-6.93552059e-01 -7.20357694e-01 8.38650861e-03 5.07415854e+02] [ 7.20300732e-01 -6.93602720e-01 -9.06211129e-03 -2.81235282e+02] [ 1.23448668e-02 -2.44237653e-04 9.99923769e-01 -5.91488492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.826559995 meters 0.05077827667928354 Centerline is valid? [True, True] Translation: X:507.38, Y:-281.19, Z:-5.92 [[-6.91206362e-01 -7.22617465e-01 7.60032468e-03 5.07379398e+02] [ 7.22570838e-01 -6.91248122e-01 -8.21088037e-03 -2.81192519e+02] [ 1.11870357e-02 -1.83639774e-04 9.99937406e-01 -5.91637004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.886559995 meters 0.051073579411912415 Centerline is valid? [True, True] Translation: X:507.34, Y:-281.15, Z:-5.92 [[-6.85866627e-01 -7.27701589e-01 6.11285621e-03 5.07338399e+02] [ 7.27671645e-01 -6.85893863e-01 -6.60194753e-03 -2.81153060e+02] [ 8.99701827e-03 -7.99033546e-05 9.99959523e-01 -5.91588634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9465599950001 meters 0.050676712900045016 Centerline is valid? [True, True] Translation: X:507.30, Y:-281.11, Z:-5.91 [[-6.79237434e-01 -7.33898030e-01 5.49446192e-03 5.07296142e+02] [ 7.33874054e-01 -6.79259657e-01 -5.93227474e-03 -2.81114447e+02] [ 8.08585106e-03 2.81997210e-06 9.99967309e-01 -5.91468358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.006559995 meters 0.049967758488536095 Centerline is valid? [True, True] Translation: X:507.26, Y:-281.07, Z:-5.91 [[-6.73432140e-01 -7.39226111e-01 5.82317265e-03 5.07255316e+02] [ 7.39199393e-01 -6.73457313e-01 -6.28529532e-03 -2.81073973e+02] [ 8.56791262e-03 7.17658109e-05 9.99963292e-01 -5.91388607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.066559995 meters 0.05008334920425751 Centerline is valid? [True, True] Translation: X:507.22, Y:-281.03, Z:-5.91 [[-6.69783408e-01 -7.42530973e-01 6.15955268e-03 5.07216454e+02] [ 7.42501236e-01 -6.69811719e-01 -6.64646138e-03 -2.81031913e+02] [ 9.06094401e-03 1.21785920e-04 9.99958941e-01 -5.91280201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.126559995 meters 0.04936415155936348 Centerline is valid? [True, True] Translation: X:507.18, Y:-280.99, Z:-5.91 [[-6.68797448e-01 -7.43422359e-01 5.75934303e-03 5.07177990e+02] [ 7.43396408e-01 -6.68822234e-01 -6.21287687e-03 -2.80990242e+02] [ 8.47076825e-03 1.26318725e-04 9.99964114e-01 -5.91254251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1865599950002 meters 0.050568498800515886 Centerline is valid? [True, True] Translation: X:507.14, Y:-280.95, Z:-5.91 [[-6.69176304e-01 -7.43079083e-01 6.04563035e-03 5.07140233e+02] [ 7.43050492e-01 -6.69203601e-01 -6.51979451e-03 -2.80946989e+02] [ 8.89048053e-03 1.29316611e-04 9.99960471e-01 -5.91323074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.246559995 meters 0.050325418080779526 Centerline is valid? [True, True] Translation: X:507.10, Y:-280.90, Z:-5.91 [[-6.71191331e-01 -7.41245564e-01 7.56378426e-03 5.07104841e+02] [ 7.41200717e-01 -6.71233935e-01 -8.15477898e-03 -2.80901109e+02] [ 1.11217624e-02 1.32865361e-04 9.99938142e-01 -5.91442523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.306559995 meters 0.049805042220896975 Centerline is valid? [True, True] Translation: X:507.07, Y:-280.86, Z:-5.91 [[-6.71752539e-01 -7.40733952e-01 7.85738336e-03 5.07067695e+02] [ 7.40685547e-01 -6.71798478e-01 -8.46908415e-03 -2.80856193e+02] [ 1.15519164e-02 1.30721508e-04 9.99933266e-01 -5.91339156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.366559995 meters 0.04979427709610352 Centerline is valid? [True, True] Translation: X:507.03, Y:-280.81, Z:-5.91 [[-6.71903495e-01 -7.40598954e-01 7.67348160e-03 5.07030285e+02] [ 7.40552808e-01 -6.71947299e-01 -8.26839806e-03 -2.80812358e+02] [ 1.12797422e-02 1.27052791e-04 9.99936374e-01 -5.91315135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4265599950002 meters 0.049284506936661865 Centerline is valid? [True, True] Translation: X:507.00, Y:-280.77, Z:-5.91 [[-6.70891037e-01 -7.41514584e-01 7.83192293e-03 5.06995158e+02] [ 7.41466600e-01 -6.70936734e-01 -8.43688527e-03 -2.80765723e+02] [ 1.15107983e-02 1.46878558e-04 9.99933738e-01 -5.91322005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.486559995 meters 0.04959541927674479 Centerline is valid? [True, True] Translation: X:506.96, Y:-280.72, Z:-5.91 [[-6.70012714e-01 -7.42308925e-01 7.77323420e-03 5.06957051e+02] [ 7.42261737e-01 -6.70057784e-01 -8.37132685e-03 -2.80723444e+02] [ 1.14226267e-02 1.60878903e-04 9.99934747e-01 -5.91455329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.546559995 meters 0.0491422436258576 Centerline is valid? [True, True] Translation: X:506.92, Y:-280.68, Z:-5.92 [[-6.68174545e-01 -7.43958035e-01 8.31986298e-03 5.06921149e+02] [ 7.43904128e-01 -6.68226310e-01 -8.95804183e-03 -2.80679416e+02] [ 1.22239585e-02 2.03644891e-04 9.99925264e-01 -5.91518255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.606559995 meters 0.0492422994056086 Centerline is valid? [True, True] Translation: X:506.88, Y:-280.64, Z:-5.91 [[-6.65236735e-01 -7.46587504e-01 8.19665679e-03 5.06882822e+02] [ 7.46535409e-01 -6.65287184e-01 -8.82306679e-03 -2.80635873e+02] [ 1.20403221e-02 2.49666385e-04 9.99927482e-01 -5.91202359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.666559995 meters 0.04944017079781281 Centerline is valid? [True, True] Translation: X:506.84, Y:-280.60, Z:-5.91 [[-6.62730730e-01 -7.48818769e-01 7.64401965e-03 5.06838320e+02] [ 7.48773635e-01 -6.62774756e-01 -8.22593505e-03 -2.80598510e+02] [ 1.12259978e-02 2.72060440e-04 9.99936950e-01 -5.91215900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7265599950001 meters 0.05046270768215785 Centerline is valid? [True, True] Translation: X:506.79, Y:-280.56, Z:-5.91 [[-6.62381696e-01 -7.49126229e-01 7.77051877e-03 5.06794121e+02] [ 7.49079628e-01 -6.62427213e-01 -8.36051921e-03 -2.80562288e+02] [ 1.14104873e-02 2.82882411e-04 9.99934858e-01 -5.91349771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.786559995 meters 0.04979969419489377 Centerline is valid? [True, True] Translation: X:506.76, Y:-280.52, Z:-5.91 [[-6.62619783e-01 -7.48918644e-01 7.47576696e-03 5.06757493e+02] [ 7.48875521e-01 -6.62661898e-01 -8.04134314e-03 -2.80517491e+02] [ 1.09762177e-02 2.70065825e-04 9.99939723e-01 -5.91127638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.846559995 meters 0.05022817664551703 Centerline is valid? [True, True] Translation: X:506.72, Y:-280.48, Z:-5.91 [[-6.63305704e-01 -7.48317587e-01 6.80678999e-03 5.06715152e+02] [ 7.48281823e-01 -6.63340585e-01 -7.31990520e-03 -2.80478229e+02] [ 9.99283386e-03 2.38062356e-04 9.99950042e-01 -5.91350050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.906559995 meters 0.05001445980827737 Centerline is valid? [True, True] Translation: X:506.68, Y:-280.43, Z:-5.91 [[-6.66000916e-01 -7.45911730e-01 7.64664669e-03 5.06679916e+02] [ 7.45866462e-01 -6.66044772e-01 -8.22086618e-03 -2.80432686e+02] [ 1.12250496e-02 2.28272910e-04 9.99936971e-01 -5.91411907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9665599950001 meters 0.04990923039111768 Centerline is valid? [True, True] Translation: X:506.64, Y:-280.39, Z:-5.92 [[-6.68923610e-01 -7.43279138e-01 8.79358756e-03 5.06640990e+02] [ 7.43219078e-01 -6.68981373e-01 -9.45117938e-03 -2.80391910e+02] [ 1.29076107e-02 2.13445001e-04 9.99916671e-01 -5.91792243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.026559995 meters 0.0502079526913316 Centerline is valid? [True, True] Translation: X:506.61, Y:-280.35, Z:-5.92 [[-6.72914190e-01 -7.39660613e-01 9.41646808e-03 5.06607937e+02] [ 7.39591433e-01 -6.72980054e-01 -1.01173105e-02 -2.80347406e+02] [ 1.38204713e-02 1.56257287e-04 9.99904481e-01 -5.91856197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.086559995 meters 0.04951244724787419 Centerline is valid? [True, True] Translation: X:506.57, Y:-280.30, Z:-5.91 [[-6.73992181e-01 -7.38696085e-01 7.91411675e-03 5.06571018e+02] [ 7.38647179e-01 -6.74038634e-01 -8.50090978e-03 -2.80302816e+02] [ 1.16140092e-02 1.16193279e-04 9.99932548e-01 -5.91365399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.146559995 meters 0.04959476573903066 Centerline is valid? [True, True] Translation: X:506.53, Y:-280.26, Z:-5.91 [[-6.74941776e-01 -7.37833985e-01 7.38984360e-03 5.06532794e+02] [ 7.37791314e-01 -6.74982223e-01 -7.93573069e-03 -2.80258283e+02] [ 1.08432649e-02 9.60062537e-05 9.99941205e-01 -5.91143869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2065599950001 meters 0.04981582033461646 Centerline is valid? [True, True] Translation: X:506.49, Y:-280.22, Z:-5.91 [[-6.77302239e-01 -7.35680818e-01 5.95074355e-03 5.06494789e+02] [ 7.35653079e-01 -6.77328378e-01 -6.38876042e-03 -2.80216220e+02] [ 8.73069597e-03 5.05610698e-05 9.99961885e-01 -5.91060915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.266559995 meters 0.04985472256691584 Centerline is valid? [True, True] Translation: X:506.45, Y:-280.17, Z:-5.91 [[-6.78589868e-01 -7.34497941e-01 5.34460868e-03 5.06454754e+02] [ 7.34475541e-01 -6.78610914e-01 -5.73648716e-03 -2.80173730e+02] [ 7.84034779e-03 3.27622815e-05 9.99969263e-01 -5.90974426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.326559995 meters 0.04945075185263075 Centerline is valid? [True, True] Translation: X:506.41, Y:-280.13, Z:-5.91 [[-6.78968714e-01 -7.34145496e-01 5.64595477e-03 5.06413187e+02] [ 7.34120499e-01 -6.78992187e-01 -6.05831755e-03 -2.80133276e+02] [ 8.28124572e-03 3.14030604e-05 9.99965709e-01 -5.91013409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.386559995 meters 0.049566693215444144 Centerline is valid? [True, True] Translation: X:506.37, Y:-280.09, Z:-5.91 [[-6.78529804e-01 -7.34545790e-01 6.30775774e-03 5.06371497e+02] [ 7.34514623e-01 -6.78559121e-01 -6.76664883e-03 -2.80092667e+02] [ 9.25059996e-03 4.17673981e-05 9.99957211e-01 -5.91076653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4465599950001 meters 0.050071275907702405 Centerline is valid? [True, True] Translation: X:506.33, Y:-280.05, Z:-5.91 [[-6.78944088e-01 -7.34156884e-01 6.97096903e-03 5.06331989e+02] [ 7.34118821e-01 -6.78979873e-01 -7.47586403e-03 -2.80051329e+02] [ 1.02216047e-02 4.18258809e-05 9.99947757e-01 -5.91118264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.506559995 meters 0.05012662584558076 Centerline is valid? [True, True] Translation: X:506.29, Y:-280.01, Z:-5.91 [[-6.79252046e-01 -7.33868917e-01 7.28497202e-03 5.06292880e+02] [ 7.33827356e-01 -6.79291109e-01 -7.81027619e-03 -2.80009287e+02] [ 1.06803356e-02 4.07656827e-05 9.99942963e-01 -5.91167597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.566559995 meters 0.04950024408632911 Centerline is valid? [True, True] Translation: X:506.25, Y:-279.97, Z:-5.91 [[-6.78745903e-01 -7.34341535e-01 6.81984458e-03 5.06254252e+02] [ 7.34305158e-01 -6.78780162e-01 -7.30931122e-03 -2.79968874e+02] [ 9.99670602e-03 4.66820150e-05 9.99950031e-01 -5.91308472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.626559995 meters 0.0499096427183311 Centerline is valid? [True, True] Translation: X:506.21, Y:-279.93, Z:-5.91 [[-6.77337150e-01 -7.35651165e-01 5.63455660e-03 5.06214759e+02] [ 7.35626395e-01 -6.77360583e-01 -6.03717625e-03 -2.79927061e+02] [ 8.25788229e-03 5.57248028e-05 9.99965902e-01 -5.91137224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6865599950002 meters 0.04987101641696981 Centerline is valid? [True, True] Translation: X:506.18, Y:-279.88, Z:-5.91 [[-6.75351941e-01 -7.37478850e-01 4.97016905e-03 5.06175755e+02] [ 7.37459636e-01 -6.75370226e-01 -5.32382938e-03 -2.79884737e+02] [ 7.28291576e-03 6.98405581e-05 9.99973477e-01 -5.91043035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.746559995 meters 0.049330311662561466 Centerline is valid? [True, True] Translation: X:506.14, Y:-279.84, Z:-5.91 [[-6.71548022e-01 -7.40947125e-01 4.54013511e-03 5.06135793e+02] [ 7.40931180e-01 -6.71563362e-01 -4.86183487e-03 -2.79843730e+02] [ 6.65135097e-03 9.89720735e-05 9.99977875e-01 -5.91024016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.806559995 meters 0.04928684396874987 Centerline is valid? [True, True] Translation: X:506.10, Y:-279.80, Z:-5.91 [[-6.68281112e-01 -7.43892077e-01 4.99334013e-03 5.06095811e+02] [ 7.43872884e-01 -6.68299751e-01 -5.34564116e-03 -2.79802820e+02] [ 7.31362807e-03 1.42019306e-04 9.99973245e-01 -5.91076161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.866559995 meters 0.04925709747235469 Centerline is valid? [True, True] Translation: X:506.05, Y:-279.76, Z:-5.91 [[-6.65026504e-01 -7.46789730e-01 6.69690868e-03 5.06054003e+02] [ 7.46755371e-01 -6.65060181e-01 -7.16743363e-03 -2.79763027e+02] [ 9.80641312e-03 2.34419198e-04 9.99951889e-01 -5.91372829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9265599950002 meters 0.050243841672255665 Centerline is valid? [True, True] Translation: X:506.01, Y:-279.72, Z:-5.92 [[-6.65221213e-01 -7.46606825e-01 7.68025101e-03 5.06014013e+02] [ 7.46561647e-01 -6.65265494e-01 -8.21765302e-03 -2.79722130e+02] [ 1.12447618e-02 2.67223730e-04 9.99936740e-01 -5.91648439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.986559995 meters 0.04962953624022653 Centerline is valid? [True, True] Translation: X:505.98, Y:-279.67, Z:-5.91 [[-6.69012733e-01 -7.43215440e-01 7.26447017e-03 5.05982297e+02] [ 7.43174843e-01 -6.69052143e-01 -7.77069314e-03 -2.79673221e+02] [ 1.06356085e-02 2.00078825e-04 9.99943420e-01 -5.91393329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.046559995 meters 0.048742823998402615 Centerline is valid? [True, True] Translation: X:505.95, Y:-279.63, Z:-5.91 [[-6.74938035e-01 -7.37846998e-01 6.36054229e-03 5.05947416e+02] [ 7.37815651e-01 -6.74967997e-01 -6.80202418e-03 -2.79627390e+02] [ 9.31201562e-03 1.01962818e-04 9.99956637e-01 -5.91296582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.106559995 meters 0.049629797060032205 Centerline is valid? [True, True] Translation: X:505.91, Y:-279.58, Z:-5.91 [[-6.78215139e-01 -7.34841352e-01 5.69320046e-03 5.05908880e+02] [ 7.34816144e-01 -6.78239032e-01 -6.08682779e-03 -2.79583449e+02] [ 8.33420353e-03 5.52768499e-05 9.99965268e-01 -5.91266275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.166559995 meters 0.04907030237006182 Centerline is valid? [True, True] Translation: X:505.87, Y:-279.54, Z:-5.91 [[-6.80571661e-01 -7.32659161e-01 5.72433366e-03 5.05869767e+02] [ 7.32633613e-01 -6.80595734e-01 -6.11849446e-03 -2.79540509e+02] [ 8.37872808e-03 2.97653154e-05 9.99964897e-01 -5.91220907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2265599950001 meters 0.04919697216794255 Centerline is valid? [True, True] Translation: X:505.83, Y:-279.50, Z:-5.91 [[-6.81796026e-01 -7.31509807e-01 6.89783846e-03 5.05830303e+02] [ 7.31472673e-01 -6.81830919e-01 -7.37073666e-03 -2.79498795e+02] [ 1.00949257e-02 2.02413655e-05 9.99949045e-01 -5.91346564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.286559995 meters 0.04954591348883572 Centerline is valid? [True, True] Translation: X:505.79, Y:-279.46, Z:-5.92 [[-6.83321050e-01 -7.30072825e-01 8.12481347e-03 5.05789934e+02] [ 7.30021232e-01 -6.83369351e-01 -8.67930125e-03 -2.79458056e+02] [ 1.18887705e-02 5.37096287e-07 9.99929326e-01 -5.91504166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.346559995 meters 0.04982704437125634 Centerline is valid? [True, True] Translation: X:505.75, Y:-279.42, Z:-5.91 [[-6.85037283e-01 -7.28465206e-01 7.89716767e-03 5.05749900e+02] [ 7.28416388e-01 -6.85082801e-01 -8.43337344e-03 -2.79418414e+02] [ 1.15536329e-02 -2.47488748e-05 9.99933254e-01 -5.91464953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.406559995 meters 0.04963919362173412 Centerline is valid? [True, True] Translation: X:505.71, Y:-279.38, Z:-5.91 [[-6.85111509e-01 -7.28397167e-01 7.73219481e-03 5.05710879e+02] [ 7.28350396e-01 -6.85155140e-01 -8.25438489e-03 -2.79378931e+02] [ 1.13102236e-02 -2.34269421e-05 9.99936037e-01 -5.91485278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4665599950001 meters 0.04945140689159431 Centerline is valid? [True, True] Translation: X:505.67, Y:-279.34, Z:-5.91 [[-6.83915405e-01 -7.29516767e-01 8.06257252e-03 5.05670165e+02] [ 7.29466024e-01 -6.83962927e-01 -8.60426513e-03 -2.79340226e+02] [ 1.17914564e-02 -3.21675043e-06 9.99930478e-01 -5.91409785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.526559995 meters 0.04970500745434242 Centerline is valid? [True, True] Translation: X:505.63, Y:-279.30, Z:-5.91 [[-6.82312480e-01 -7.31010782e-01 8.53916822e-03 5.05629285e+02] [ 7.30954012e-01 -6.82365911e-01 -9.11020854e-03 -2.79300499e+02] [ 1.24864980e-02 2.57302955e-05 9.99922040e-01 -5.91466840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.586559995 meters 0.04926924384204511 Centerline is valid? [True, True] Translation: X:505.59, Y:-279.26, Z:-5.91 [[-6.81568751e-01 -7.31721195e-01 6.93759912e-03 5.05589708e+02] [ 7.31683782e-01 -6.81604058e-01 -7.39944867e-03 -2.79258585e+02] [ 1.01430291e-02 3.28957679e-05 9.99948558e-01 -5.91103608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.646559995 meters 0.050075048853409534 Centerline is valid? [True, True] Translation: X:505.55, Y:-279.22, Z:-5.91 [[-6.81161688e-01 -7.32118236e-01 4.65216305e-03 5.05549858e+02] [ 7.32101430e-01 -6.81177574e-01 -4.96065597e-03 -2.79215373e+02] [ 6.80073584e-03 2.68464273e-05 9.99976874e-01 -5.90766647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7065599950001 meters 0.049839186931687166 Centerline is valid? [True, True] Translation: X:505.51, Y:-279.17, Z:-5.91 [[-6.80405987e-01 -7.32827043e-01 3.49531091e-03 5.05509941e+02] [ 7.32817571e-01 -6.80414965e-01 -3.72603385e-03 -2.79174653e+02] [ 5.10880022e-03 2.62095129e-05 9.99986950e-01 -5.90791810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.766559995 meters 0.049207975332051596 Centerline is valid? [True, True] Translation: X:505.47, Y:-279.13, Z:-5.91 [[-6.78616251e-01 -7.34486175e-01 3.16901274e-03 5.05470270e+02] [ 7.34478411e-01 -6.78623649e-01 -3.37728544e-03 -2.79132884e+02] [ 4.63113645e-03 3.56906548e-05 9.99989276e-01 -5.90752907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.826559995 meters 0.04978093128790292 Centerline is valid? [True, True] Translation: X:505.43, Y:-279.10, Z:-5.91 [[-6.75791000e-01 -7.37079733e-01 4.47121463e-03 5.05427141e+02] [ 7.37064343e-01 -6.75805787e-01 -4.76371501e-03 -2.79095500e+02] [ 6.53291050e-03 7.62971414e-05 9.99978657e-01 -5.91148395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.886559995 meters 0.04927886588106488 Centerline is valid? [True, True] Translation: X:505.39, Y:-279.05, Z:-5.91 [[-6.73624128e-01 -7.39053872e-01 5.46882849e-03 5.05389148e+02] [ 7.39030926e-01 -6.73646317e-01 -5.82498151e-03 -2.79052165e+02] [ 7.98903131e-03 1.17785291e-04 9.99968080e-01 -5.91026762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9465599950001 meters 0.0494281071005035 Centerline is valid? [True, True] Translation: X:505.35, Y:-279.01, Z:-5.91 [[-6.70717070e-01 -7.41682484e-01 6.76062398e-03 5.05349020e+02] [ 7.41647567e-01 -6.70751116e-01 -7.19908476e-03 -2.79010022e+02] [ 9.87413114e-03 1.85451291e-04 9.99951232e-01 -5.91064732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.006559995 meters 0.04984320322211821 Centerline is valid? [True, True] Translation: X:505.31, Y:-278.97, Z:-5.91 [[-6.71756461e-01 -7.40735025e-01 7.40814997e-03 5.05309311e+02] [ 7.40693058e-01 -6.71797282e-01 -7.88709292e-03 -2.78968849e+02] [ 1.08190210e-02 1.88959627e-04 9.99941455e-01 -5.91272277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.066559995 meters 0.04974370693012578 Centerline is valid? [True, True] Translation: X:505.27, Y:-278.92, Z:-5.91 [[-6.73368536e-01 -7.39268925e-01 7.50145469e-03 5.05272021e+02] [ 7.39225825e-01 -6.73410297e-01 -7.98442603e-03 -2.78923546e+02] [ 1.09541949e-02 1.68807770e-04 9.99939987e-01 -5.91096853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.126559995 meters 0.04978956669102252 Centerline is valid? [True, True] Translation: X:505.24, Y:-278.88, Z:-5.91 [[-6.80442620e-01 -7.32778040e-01 5.84677455e-03 5.05236912e+02] [ 7.32751630e-01 -6.80467738e-01 -6.22154434e-03 -2.78877013e+02] [ 8.53755252e-03 5.08296467e-05 9.99963553e-01 -5.90852511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1865599950002 meters 0.049401387798260935 Centerline is valid? [True, True] Translation: X:505.20, Y:-278.83, Z:-5.91 [[-6.86118867e-01 -7.27473731e-01 4.78245265e-03 5.05201324e+02] [ 7.27455940e-01 -6.86135534e-01 -5.08765072e-03 -2.78832152e+02] [ 6.98254295e-03 -1.17095570e-05 9.99975622e-01 -5.90852012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.246559995 meters 0.050485941007933945 Centerline is valid? [True, True] Translation: X:505.17, Y:-278.79, Z:-5.91 [[-6.93872213e-01 -7.20085833e-01 4.21244515e-03 5.05166268e+02] [ 7.20071900e-01 -6.93884996e-01 -4.48003210e-03 -2.78786043e+02] [ 6.14896013e-03 -7.53064050e-05 9.99981092e-01 -5.90611784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.306559995 meters 0.0498267914095314 Centerline is valid? [True, True] Translation: X:505.13, Y:-278.74, Z:-5.91 [[-6.98202986e-01 -7.15884186e-01 4.73524415e-03 5.05128286e+02] [ 7.15866493e-01 -6.98219032e-01 -5.03468047e-03 -2.78742278e+02] [ 6.91048571e-03 -1.25426315e-04 9.99976114e-01 -5.90630006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.366559995 meters 0.05108513545263357 Centerline is valid? [True, True] Translation: X:505.09, Y:-278.70, Z:-5.91 [[-6.99040746e-01 -7.15059343e-01 5.67205703e-03 5.05089447e+02] [ 7.15033944e-01 -6.99063739e-01 -6.02893618e-03 -2.78700323e+02] [ 8.27617653e-03 -1.58758734e-04 9.99965739e-01 -5.90801257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4265599950002 meters 0.05091244768759375 Centerline is valid? [True, True] Translation: X:505.04, Y:-278.67, Z:-5.90 [[-6.98144347e-01 -7.15932713e-01 5.90094231e-03 5.05040815e+02] [ 7.15905268e-01 -6.98169268e-01 -6.27060593e-03 -2.78665687e+02] [ 8.60918849e-03 -1.53272397e-04 9.99962929e-01 -5.90421393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.486559995 meters 0.050350256061200714 Centerline is valid? [True, True] Translation: X:505.00, Y:-278.62, Z:-5.91 [[-6.96231441e-01 -7.17795905e-01 5.55147560e-03 5.05002983e+02] [ 7.17771679e-01 -6.96253563e-01 -5.89859339e-03 -2.78621815e+02] [ 8.09922085e-03 -1.22094223e-04 9.99967193e-01 -5.90568670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.546559995 meters 0.050629713218030864 Centerline is valid? [True, True] Translation: X:504.96, Y:-278.58, Z:-5.91 [[-6.94094265e-01 -7.19865348e-01 5.19923715e-03 5.04963156e+02] [ 7.19844166e-01 -6.94113732e-01 -5.52302827e-03 -2.78580172e+02] [ 7.58469857e-03 -9.08617171e-05 9.99971232e-01 -5.90587425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.606559995 meters 0.05023488066459694 Centerline is valid? [True, True] Translation: X:504.92, Y:-278.54, Z:-5.91 [[-6.89324146e-01 -7.24437190e-01 4.79367024e-03 5.04919898e+02] [ 7.24419304e-01 -6.89340813e-01 -5.09076870e-03 -2.78542148e+02] [ 6.99241471e-03 -3.65625333e-05 9.99975552e-01 -5.90670702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.666559995 meters 0.05013561897995512 Centerline is valid? [True, True] Translation: X:504.88, Y:-278.51, Z:-5.91 [[-6.83057405e-01 -7.30345603e-01 5.28030541e-03 5.04875042e+02] [ 7.30324090e-01 -6.83077813e-01 -5.60576702e-03 -2.78506723e+02] [ 7.70100677e-03 2.72735757e-05 9.99970346e-01 -5.90741638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7265599950001 meters 0.049882137658041406 Centerline is valid? [True, True] Translation: X:504.83, Y:-278.47, Z:-5.91 [[-6.79390478e-01 -7.33757352e-01 5.35977191e-03 5.04832192e+02] [ 7.33735303e-01 -6.79411616e-01 -5.68864146e-03 -2.78467804e+02] [ 7.81557379e-03 6.78450271e-05 9.99969456e-01 -5.90735089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.786559995 meters 0.05033848458347831 Centerline is valid? [True, True] Translation: X:504.79, Y:-278.43, Z:-5.91 [[-6.76149390e-01 -7.36744443e-01 5.44313065e-03 5.04789086e+02] [ 7.36721809e-01 -6.76171291e-01 -5.77600320e-03 -2.78429445e+02] [ 7.93592694e-03 1.04632015e-04 9.99968505e-01 -5.90736244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.846559995 meters 0.05048775908443715 Centerline is valid? [True, True] Translation: X:504.75, Y:-278.39, Z:-5.91 [[-6.75884875e-01 -7.36987889e-01 5.33743185e-03 5.04747130e+02] [ 7.36966146e-01 -6.75905941e-01 -5.66209670e-03 -2.78392041e+02] [ 7.78049859e-03 1.06581059e-04 9.99969726e-01 -5.90852323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.906559995 meters 0.05050826189886385 Centerline is valid? [True, True] Translation: X:504.71, Y:-278.35, Z:-5.91 [[-6.76962797e-01 -7.36001344e-01 4.83671269e-03 5.04708826e+02] [ 7.35983473e-01 -6.76980069e-01 -5.12960150e-03 -2.78348941e+02] [ 7.04975169e-03 8.71912270e-05 9.99975146e-01 -5.90696990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9665599950001 meters 0.05043489655901805 Centerline is valid? [True, True] Translation: X:504.67, Y:-278.31, Z:-5.91 [[-6.77487661e-01 -7.35513420e-01 5.52079383e-03 5.04669435e+02] [ 7.35490131e-01 -6.77510148e-01 -5.85379826e-03 -2.78308884e+02] [ 8.04594102e-03 9.46132836e-05 9.99967626e-01 -5.90818158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.026559995 meters 0.0510783415002381 Centerline is valid? [True, True] Translation: X:504.63, Y:-278.27, Z:-5.91 [[-6.77180896e-01 -7.35786534e-01 6.64912230e-03 5.04630597e+02] [ 7.35752783e-01 -6.77213528e-01 -7.04843149e-03 -2.78265433e+02] [ 9.68901655e-03 1.19047082e-04 9.99953053e-01 -5.90860015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.086559995 meters 0.05039725172498775 Centerline is valid? [True, True] Translation: X:504.59, Y:-278.22, Z:-5.91 [[-6.76844762e-01 -7.36074323e-01 8.70402391e-03 5.04591883e+02] [ 7.36016542e-01 -6.76900705e-01 -9.22415239e-03 -2.78223961e+02] [ 1.26814216e-02 1.62986353e-04 9.99919574e-01 -5.91149624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.146559995 meters 0.05036716071014642 Centerline is valid? [True, True] Translation: X:504.56, Y:-278.18, Z:-5.91 [[-6.78285009e-01 -7.34743991e-01 8.98407915e-03 5.04555759e+02] [ 7.34682354e-01 -6.78344490e-01 -9.51803133e-03 -2.78180224e+02] [ 1.30876169e-02 1.44506447e-04 9.99914343e-01 -5.91217670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2065599950001 meters 0.05051264894890584 Centerline is valid? [True, True] Translation: X:504.52, Y:-278.13, Z:-5.91 [[-6.82522051e-01 -7.30820690e-01 8.04794380e-03 5.04521832e+02] [ 7.30770982e-01 -6.82569495e-01 -8.52391398e-03 -2.78133899e+02] [ 1.17227336e-02 6.34445405e-05 9.99931284e-01 -5.91048459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.266559995 meters 0.050552104201575694 Centerline is valid? [True, True] Translation: X:504.49, Y:-278.09, Z:-5.91 [[-6.88550594e-01 -7.25151672e-01 7.28916597e-03 5.04488638e+02] [ 7.25110597e-01 -6.88589175e-01 -7.71824389e-03 -2.78085812e+02] [ 1.06161382e-02 -2.89499283e-05 9.99943647e-01 -5.90867376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.326559995 meters 0.050166115464561394 Centerline is valid? [True, True] Translation: X:504.45, Y:-278.04, Z:-5.91 [[-6.92108112e-01 -7.21762353e-01 6.74298573e-03 5.04453537e+02] [ 7.21727055e-01 -6.92140955e-01 -7.13842096e-03 -2.78041249e+02] [ 9.81934008e-03 -7.39638194e-05 9.99951786e-01 -5.90863034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.386559995 meters 0.050251902143190995 Centerline is valid? [True, True] Translation: X:504.42, Y:-278.00, Z:-5.91 [[-6.95169880e-01 -7.18819594e-01 6.10156295e-03 5.04416451e+02] [ 7.18790594e-01 -6.95196649e-01 -6.45775104e-03 -2.77995811e+02] [ 8.88374410e-03 -1.03487964e-04 9.99960533e-01 -5.90649629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4465599950001 meters 0.049646404290502134 Centerline is valid? [True, True] Translation: X:504.38, Y:-277.95, Z:-5.91 [[-6.94258590e-01 -7.19701481e-01 5.89810889e-03 5.04380574e+02] [ 7.19674428e-01 -6.94283638e-01 -6.24074486e-03 -2.77950980e+02] [ 8.58643382e-03 -8.79725881e-05 9.99963132e-01 -5.90723015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.506559995 meters 0.05000286005019103 Centerline is valid? [True, True] Translation: X:504.34, Y:-277.91, Z:-5.91 [[-6.91732795e-01 -7.22128375e-01 6.02914559e-03 5.04341640e+02] [ 7.22100215e-01 -6.91759067e-01 -6.37750738e-03 -2.77909102e+02] [ 8.77609517e-03 -5.78836819e-05 9.99961488e-01 -5.90766760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.566559995 meters 0.04948291471788446 Centerline is valid? [True, True] Translation: X:504.30, Y:-277.87, Z:-5.91 [[-6.85821126e-01 -7.27736258e-01 7.02302426e-03 5.04301053e+02] [ 7.27698363e-01 -6.85857084e-01 -7.42656214e-03 -2.77869106e+02] [ 1.02213695e-02 1.73500485e-05 9.99947760e-01 -5.90781847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.626559995 meters 0.04977327114970263 Centerline is valid? [True, True] Translation: X:504.26, Y:-277.83, Z:-5.91 [[-6.79521651e-01 -7.33618644e-01 7.34922510e-03 5.04261574e+02] [ 7.33577510e-01 -6.79561383e-01 -7.76942458e-03 -2.77826736e+02] [ 1.06940443e-02 1.11734026e-04 9.99942811e-01 -5.90765116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6865599950002 meters 0.049411367094591596 Centerline is valid? [True, True] Translation: X:504.22, Y:-277.79, Z:-5.91 [[-6.75523943e-01 -7.37307085e-01 6.75759799e-03 5.04223418e+02] [ 7.37272506e-01 -6.75557723e-01 -7.14242529e-03 -2.77785058e+02] [ 9.83130828e-03 1.57311909e-04 9.99951659e-01 -5.90607151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.746559995 meters 0.04913261743561943 Centerline is valid? [True, True] Translation: X:504.18, Y:-277.74, Z:-5.91 [[-6.74986532e-01 -7.37805826e-01 5.97871648e-03 5.04184113e+02] [ 7.37778794e-01 -6.75012994e-01 -6.31738537e-03 -2.77743520e+02] [ 8.69671504e-03 1.46820199e-04 9.99962172e-01 -5.90546869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.806559995 meters 0.0493472732598854 Centerline is valid? [True, True] Translation: X:504.14, Y:-277.70, Z:-5.91 [[-6.77951376e-01 -7.35087143e-01 5.36877940e-03 5.04144972e+02] [ 7.35065272e-01 -6.77972626e-01 -5.67126929e-03 -2.77701709e+02] [ 7.80876261e-03 1.01558476e-04 9.99969506e-01 -5.90522200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.866559995 meters 0.050118260257665796 Centerline is valid? [True, True] Translation: X:504.10, Y:-277.66, Z:-5.90 [[-6.81039239e-01 -7.32229259e-01 5.08595689e-03 5.04104244e+02] [ 7.32209562e-01 -6.81058226e-01 -5.37118890e-03 -2.77660158e+02] [ 7.39677444e-03 6.59958679e-05 9.99972641e-01 -5.90456153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9265599950002 meters 0.04981235756898633 Centerline is valid? [True, True] Translation: X:504.06, Y:-277.62, Z:-5.91 [[-6.81907178e-01 -7.31424546e-01 4.55357615e-03 5.04063379e+02] [ 7.31408747e-01 -6.81922379e-01 -4.80767277e-03 -2.77619834e+02] [ 6.62163535e-03 5.21388550e-05 9.99978075e-01 -5.90511971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.986559995 meters 0.0494999589990001 Centerline is valid? [True, True] Translation: X:504.02, Y:-277.58, Z:-5.91 [[-6.82088934e-01 -7.31253987e-01 4.72139200e-03 5.04023617e+02] [ 7.31237010e-01 -6.82105273e-01 -4.98320266e-03 -2.77580854e+02] [ 6.86447319e-03 5.34691803e-05 9.99976438e-01 -5.90676384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.046559995 meters 0.04925102956963103 Centerline is valid? [True, True] Translation: X:503.99, Y:-277.54, Z:-5.91 [[-6.82717520e-01 -7.30661806e-01 5.48761963e-03 5.03985487e+02] [ 7.30638864e-01 -6.82739572e-01 -5.79037965e-03 -2.77537512e+02] [ 7.97742432e-03 5.62745349e-05 9.99968178e-01 -5.90600717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.106559995 meters 0.05029608014610403 Centerline is valid? [True, True] Translation: X:503.95, Y:-277.50, Z:-5.91 [[-6.85568181e-01 -7.27957891e-01 8.57780734e-03 5.03947554e+02] [ 7.27901653e-01 -6.85621840e-01 -9.04851477e-03 -2.77495393e+02] [ 1.24680698e-02 4.04263315e-05 9.99922270e-01 -5.91081945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.166559995 meters 0.04986414453028139 Centerline is valid? [True, True] Translation: X:503.91, Y:-277.46, Z:-5.91 [[-6.86502937e-01 -7.27070782e-01 9.04415343e-03 5.03909925e+02] [ 7.27008228e-01 -6.86562508e-01 -9.53724495e-03 -2.77455364e+02] [ 1.31436288e-02 2.78272942e-05 9.99913618e-01 -5.91229186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2265599950001 meters 0.04997894883783167 Centerline is valid? [True, True] Translation: X:503.87, Y:-277.41, Z:-5.91 [[-6.86919669e-01 -7.26684996e-01 8.38365028e-03 5.03870956e+02] [ 7.26631251e-01 -6.86970827e-01 -8.83793112e-03 -2.77414954e+02] [ 1.21817151e-02 2.08735715e-05 9.99925800e-01 -5.90912824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.286559995 meters 0.05023628789223368 Centerline is valid? [True, True] Translation: X:503.83, Y:-277.37, Z:-5.90 [[-6.88221554e-01 -7.25469225e-01 6.74505374e-03 5.03831556e+02] [ 7.25434394e-01 -6.88254607e-01 -7.10889036e-03 -2.77371661e+02] [ 9.79959549e-03 6.02403735e-07 9.99951983e-01 -5.90348376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.346559995 meters 0.049908733864859826 Centerline is valid? [True, True] Translation: X:503.79, Y:-277.33, Z:-5.91 [[-6.89453614e-01 -7.24307986e-01 5.62636668e-03 5.03791976e+02] [ 7.24283724e-01 -6.89476570e-01 -5.92839337e-03 -2.77328852e+02] [ 8.17323067e-03 -1.22664178e-05 9.99966599e-01 -5.90555964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.406559995 meters 0.04976748570571378 Centerline is valid? [True, True] Translation: X:503.75, Y:-277.29, Z:-5.90 [[-6.90621666e-01 -7.23196271e-01 5.37291357e-03 5.03752594e+02] [ 7.23174126e-01 -6.90642566e-01 -5.65956061e-03 -2.77288913e+02] [ 7.80373594e-03 -2.30631047e-05 9.99969550e-01 -5.90445141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4665599950001 meters 0.04952013995212242 Centerline is valid? [True, True] Translation: X:503.71, Y:-277.25, Z:-5.91 [[-6.90640228e-01 -7.23180572e-01 5.09263117e-03 5.03713610e+02] [ 7.23160689e-01 -6.90659004e-01 -5.36276944e-03 -2.77248667e+02] [ 7.39552224e-03 -2.09536519e-05 9.99972653e-01 -5.90759879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.526559995 meters 0.04921627183087371 Centerline is valid? [True, True] Translation: X:503.67, Y:-277.21, Z:-5.91 [[-6.90672380e-01 -7.23149302e-01 5.17201252e-03 5.03673077e+02] [ 7.23128800e-01 -6.90691745e-01 -5.44545362e-03 -2.77207459e+02] [ 7.51014234e-03 -2.09932101e-05 9.99971798e-01 -5.90621754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.586559995 meters 0.050269577304612 Centerline is valid? [True, True] Translation: X:503.63, Y:-277.17, Z:-5.91 [[-6.90620697e-01 -7.23197127e-01 5.38232717e-03 5.03634692e+02] [ 7.23174934e-01 -6.90641670e-01 -5.66556368e-03 -2.77166557e+02] [ 7.81457880e-03 -2.03914441e-05 9.99969466e-01 -5.90744759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.646559995 meters 0.05005940516013717 Centerline is valid? [True, True] Translation: X:503.59, Y:-277.13, Z:-5.91 [[-6.90804711e-01 -7.23021755e-01 5.32860140e-03 5.03594946e+02] [ 7.23000012e-01 -6.90825261e-01 -5.60720921e-03 -2.77126207e+02] [ 7.73526670e-03 -2.09076590e-05 9.99970082e-01 -5.90676282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7065599950001 meters 0.050571579187805506 Centerline is valid? [True, True] Translation: X:503.56, Y:-277.08, Z:-5.91 [[-6.91538642e-01 -7.22317796e-01 5.59538729e-03 5.03555005e+02] [ 7.22293810e-01 -6.91561278e-01 -5.88649334e-03 -2.77083904e+02] [ 8.12147208e-03 -2.92240074e-05 9.99967020e-01 -5.90597846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.766559995 meters 0.05059438776651694 Centerline is valid? [True, True] Translation: X:503.52, Y:-277.04, Z:-5.91 [[-6.92234869e-01 -7.21651353e-01 5.49643884e-03 5.03517613e+02] [ 7.21628201e-01 -6.92256689e-01 -5.78066637e-03 -2.77041848e+02] [ 7.97657226e-03 -3.51935624e-05 9.99968186e-01 -5.90722757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.826559995 meters 0.05043307024575739 Centerline is valid? [True, True] Translation: X:503.48, Y:-277.00, Z:-5.90 [[-6.91798985e-01 -7.22070600e-01 5.31168598e-03 5.03477172e+02] [ 7.22049003e-01 -6.91819376e-01 -5.58466388e-03 -2.77001675e+02] [ 7.70724887e-03 -2.81672309e-05 9.99970298e-01 -5.90334252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.886559995 meters 0.05018591296088095 Centerline is valid? [True, True] Translation: X:503.44, Y:-276.96, Z:-5.91 [[-6.89995333e-01 -7.23792403e-01 5.56753025e-03 5.03438808e+02] [ 7.23768746e-01 -6.90017795e-01 -5.85192345e-03 -2.76960299e+02] [ 8.07727268e-03 -8.19547564e-06 9.99967378e-01 -5.90820066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9465599950001 meters 0.05023298422792552 Centerline is valid? [True, True] Translation: X:503.40, Y:-276.92, Z:-5.91 [[-6.90510355e-01 -7.23302336e-01 5.40189966e-03 5.03400719e+02] [ 7.23280064e-01 -6.90531484e-01 -5.67607743e-03 -2.76919056e+02] [ 7.83570185e-03 -1.23039023e-05 9.99969300e-01 -5.90713303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.006559995 meters 0.049877653850940624 Centerline is valid? [True, True] Translation: X:503.36, Y:-276.88, Z:-5.91 [[-6.92379770e-01 -7.21517916e-01 4.70646138e-03 5.03363268e+02] [ 7.21500978e-01 -6.92395765e-01 -4.94393633e-03 -2.76875288e+02] [ 6.82587256e-03 -2.73650126e-05 9.99976703e-01 -5.90674050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.066559995 meters 0.0498194081571283 Centerline is valid? [True, True] Translation: X:503.33, Y:-276.83, Z:-5.91 [[-6.94057418e-01 -7.19902171e-01 5.01640355e-03 5.03325956e+02] [ 7.19882897e-01 -6.94075545e-01 -5.26801935e-03 -2.76831884e+02] [ 7.27422159e-03 -4.50847838e-05 9.99973542e-01 -5.90743232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.126559995 meters 0.0500841088397244 Centerline is valid? [True, True] Translation: X:503.29, Y:-276.79, Z:-5.91 [[-6.93407175e-01 -7.20525309e-01 5.45606733e-03 5.03286638e+02] [ 7.20502544e-01 -6.93428639e-01 -5.72775951e-03 -2.76792369e+02] [ 7.91038904e-03 -4.05591493e-05 9.99968712e-01 -5.90845020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1865599950002 meters 0.0503546797215986 Centerline is valid? [True, True] Translation: X:503.25, Y:-276.75, Z:-5.91 [[-6.91174301e-01 -7.22663487e-01 5.96409221e-03 5.03245086e+02] [ 7.22636377e-01 -6.91200033e-01 -6.25952008e-03 -2.76752038e+02] [ 8.64590734e-03 -1.65494290e-05 9.99962623e-01 -5.90748074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.246559995 meters 0.05006102434365376 Centerline is valid? [True, True] Translation: X:503.21, Y:-276.71, Z:-5.91 [[-6.90304880e-01 -7.23493400e-01 6.03919273e-03 5.03206212e+02] [ 7.23465652e-01 -6.90331297e-01 -6.33644066e-03 -2.76710658e+02] [ 8.75341675e-03 -4.92740264e-06 9.99961688e-01 -5.90639092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.306559995 meters 0.0496460857288093 Centerline is valid? [True, True] Translation: X:503.17, Y:-276.67, Z:-5.91 [[-6.89649754e-01 -7.24118967e-01 5.91078954e-03 5.03166532e+02] [ 7.24092422e-01 -6.89675084e-01 -6.20028100e-03 -2.76671480e+02] [ 8.56626534e-03 3.93564395e-06 9.99963309e-01 -5.90700161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.366559995 meters 0.049646402768706584 Centerline is valid? [True, True] Translation: X:503.13, Y:-276.63, Z:-5.91 [[-6.88770340e-01 -7.24957007e-01 5.72333504e-03 5.03125765e+02] [ 7.24932162e-01 -6.88794119e-01 -6.00187071e-03 -2.76630833e+02] [ 8.29329775e-03 1.51191141e-05 9.99965610e-01 -5.90729261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4265599950002 meters 0.04989906526682078 Centerline is valid? [True, True] Translation: X:503.08, Y:-276.59, Z:-5.91 [[-6.84825064e-01 -7.28681152e-01 6.19761680e-03 5.03084035e+02] [ 7.28652186e-01 -6.84853104e-01 -6.49749364e-03 -2.76590064e+02] [ 8.97905826e-03 6.62605299e-05 9.99959685e-01 -5.90607682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.486559995 meters 0.05004485626599455 Centerline is valid? [True, True] Translation: X:503.04, Y:-276.55, Z:-5.91 [[-6.82568072e-01 -7.30792573e-01 6.56070369e-03 5.03042280e+02] [ 7.30760229e-01 -6.82599594e-01 -6.87622430e-03 -2.76550968e+02] [ 9.50342732e-03 1.00810171e-04 9.99954836e-01 -5.90772782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.546559995 meters 0.05015028482685081 Centerline is valid? [True, True] Translation: X:503.00, Y:-276.51, Z:-5.91 [[-6.79986118e-01 -7.33194886e-01 6.64362387e-03 5.03001393e+02] [ 7.33161846e-01 -6.80018559e-01 -6.96180519e-03 -2.76510410e+02] [ 9.62214749e-03 1.36920649e-04 9.99953697e-01 -5.90746330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.606559995 meters 0.04910807682183915 Centerline is valid? [True, True] Translation: X:502.96, Y:-276.47, Z:-5.91 [[-6.79399573e-01 -7.33735650e-01 6.94379392e-03 5.02962748e+02] [ 7.33699603e-01 -6.79435040e-01 -7.27455117e-03 -2.76466943e+02] [ 1.00554544e-02 1.52331877e-04 9.99949431e-01 -5.90602046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.666559995 meters 0.049894334841341356 Centerline is valid? [True, True] Translation: X:502.92, Y:-276.43, Z:-5.91 [[-6.79521337e-01 -7.33620899e-01 7.15040022e-03 5.02922794e+02] [ 7.33582690e-01 -6.79558939e-01 -7.48905100e-03 -2.76426865e+02] [ 1.03532427e-02 1.56439874e-04 9.99946392e-01 -5.90684598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7265599950001 meters 0.0490463102050518 Centerline is valid? [True, True] Translation: X:502.88, Y:-276.38, Z:-5.91 [[-6.80387516e-01 -7.32813096e-01 7.60231716e-03 5.02883894e+02] [ 7.32769879e-01 -6.80429969e-01 -7.96005956e-03 -2.76384908e+02] [ 1.10060803e-02 1.54823879e-04 9.99939419e-01 -5.90742131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.786559995 meters 0.05016943526942535 Centerline is valid? [True, True] Translation: X:502.85, Y:-276.34, Z:-5.91 [[-6.81660930e-01 -7.31621147e-01 8.29899051e-03 5.02845585e+02] [ 7.31569587e-01 -6.81711431e-01 -8.68702785e-03 -2.76343122e+02] [ 1.20131300e-02 1.49681575e-04 9.99927829e-01 -5.90889298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.846559995 meters 0.04975953872744844 Centerline is valid? [True, True] Translation: X:502.81, Y:-276.30, Z:-5.91 [[-6.82313695e-01 -7.31015622e-01 8.01132065e-03 5.02807908e+02] [ 7.30967557e-01 -6.82360712e-01 -8.38384720e-03 -2.76299280e+02] [ 1.15953337e-02 1.35601712e-04 9.99932763e-01 -5.90705083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.906559995 meters 0.049972700262890954 Centerline is valid? [True, True] Translation: X:502.77, Y:-276.26, Z:-5.91 [[-6.84722170e-01 -7.28763382e-01 7.71253973e-03 5.02770732e+02] [ 7.28718714e-01 -6.84765598e-01 -8.06916534e-03 -2.76255948e+02] [ 1.11617941e-02 9.51356274e-05 9.99937701e-01 -5.90666695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9665599950001 meters 0.04996304585137843 Centerline is valid? [True, True] Translation: X:502.73, Y:-276.21, Z:-5.91 [[-6.86859012e-01 -7.26751514e-01 7.54548547e-03 5.02732264e+02] [ 7.26708661e-01 -6.86900453e-01 -7.89238860e-03 -2.76211685e+02] [ 1.09188028e-02 6.24114030e-05 9.99940386e-01 -5.90577781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.026559995 meters 0.049762190092647894 Centerline is valid? [True, True] Translation: X:502.69, Y:-276.17, Z:-5.91 [[-6.90704581e-01 -7.23094192e-01 7.87222514e-03 5.02693585e+02] [ 7.23047332e-01 -6.90749441e-01 -8.23197056e-03 -2.76168132e+02] [ 1.13902252e-02 6.13160973e-06 9.99935129e-01 -5.90533818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.086559995 meters 0.050404239086505855 Centerline is valid? [True, True] Translation: X:502.65, Y:-276.13, Z:-5.90 [[-6.94927045e-01 -7.19033724e-01 8.17952603e-03 5.02653684e+02] [ 7.18982879e-01 -6.94975179e-01 -8.55103801e-03 -2.76126342e+02] [ 1.18330523e-02 -6.14084082e-05 9.99929985e-01 -5.90480024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.146559995 meters 0.05005388319936368 Centerline is valid? [True, True] Translation: X:502.62, Y:-276.08, Z:-5.90 [[-6.99546850e-01 -7.14545338e-01 7.69185788e-03 5.02615151e+02] [ 7.14500125e-01 -6.99589125e-01 -8.03912570e-03 -2.76083980e+02] [ 1.11254599e-02 -1.27911640e-04 9.99938102e-01 -5.90478730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2065599950001 meters 0.05062090063423147 Centerline is valid? [True, True] Translation: X:502.57, Y:-276.04, Z:-5.90 [[-7.03965246e-01 -7.10194008e-01 7.57647420e-03 5.02574590e+02] [ 7.10149913e-01 -7.04005990e-01 -7.91629747e-03 -2.76044884e+02] [ 1.09559902e-02 -1.92365798e-04 9.99939963e-01 -5.90234170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.266559995 meters 0.05146461652651256 Centerline is valid? [True, True] Translation: X:502.53, Y:-276.00, Z:-5.90 [[-7.06174326e-01 -7.07992040e-01 8.06800420e-03 5.02534995e+02] [ 7.07941910e-01 -7.06220372e-01 -8.42842890e-03 -2.76004390e+02] [ 1.16650495e-02 -2.40261799e-04 9.99931932e-01 -5.90352503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.326559995 meters 0.05143725060230037 Centerline is valid? [True, True] Translation: X:502.49, Y:-275.96, Z:-5.90 [[-7.07697436e-01 -7.06463782e-01 8.55937053e-03 5.02491450e+02] [ 7.06407269e-01 -7.07749140e-01 -8.94004110e-03 -2.75964455e+02] [ 1.23737024e-02 -2.80442598e-04 9.99923404e-01 -5.90272270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.386559995 meters 0.05199573972184612 Centerline is valid? [True, True] Translation: X:502.45, Y:-275.92, Z:-5.91 [[-7.06801323e-01 -7.07366629e-01 8.02132849e-03 5.02452771e+02] [ 7.07317082e-01 -7.06846795e-01 -8.37581337e-03 -2.75922445e+02] [ 1.15946212e-02 -2.46413305e-04 9.99932750e-01 -5.90588231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4465599950001 meters 0.051426078641047396 Centerline is valid? [True, True] Translation: X:502.41, Y:-275.89, Z:-5.90 [[-7.03095660e-01 -7.11057122e-01 7.36631820e-03 5.02405802e+02] [ 7.11015558e-01 -7.03134227e-01 -7.68994600e-03 -2.75889236e+02] [ 1.06475013e-02 -1.69200810e-04 9.99943299e-01 -5.90386469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.506559995 meters 0.05136169651265011 Centerline is valid? [True, True] Translation: X:502.36, Y:-275.85, Z:-5.90 [[-6.96602923e-01 -7.17425103e-01 6.75200570e-03 5.02360146e+02] [ 7.17390492e-01 -6.96635642e-01 -7.04729870e-03 -2.75853731e+02] [ 9.75959682e-03 -6.53441732e-05 9.99952372e-01 -5.90347402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.566559995 meters 0.05088115607446397 Centerline is valid? [True, True] Translation: X:502.31, Y:-275.82, Z:-5.90 [[-6.91158820e-01 -7.22673358e-01 6.53475691e-03 5.02314055e+02] [ 7.22641188e-01 -6.91189712e-01 -6.81875421e-03 -2.75817311e+02] [ 9.44448874e-03 9.44238379e-06 9.99955400e-01 -5.90348573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.626559995 meters 0.050662636722947636 Centerline is valid? [True, True] Translation: X:502.27, Y:-275.78, Z:-5.90 [[-6.83288991e-01 -7.30122803e-01 6.07015449e-03 5.02267062e+02] [ 7.30095353e-01 -6.83315945e-01 -6.33207426e-03 -2.75782784e+02] [ 8.77102516e-03 1.05154955e-04 9.99961528e-01 -5.90230949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6865599950002 meters 0.052509901496347905 Centerline is valid? [True, True] Translation: X:502.22, Y:-275.75, Z:-5.90 [[-6.78098631e-01 -7.34948226e-01 5.77503692e-03 5.02217259e+02] [ 7.34923569e-01 -6.78123204e-01 -6.02239338e-03 -2.75752244e+02] [ 8.34233387e-03 1.60434033e-04 9.99965189e-01 -5.90448215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.746559995 meters 0.05137234890175143 Centerline is valid? [True, True] Translation: X:502.18, Y:-275.71, Z:-5.90 [[-6.76383571e-01 -7.36530009e-01 5.36753343e-03 5.02180211e+02] [ 7.36508770e-01 -6.76404847e-01 -5.59598354e-03 -2.75707460e+02] [ 7.75223544e-03 1.68204114e-04 9.99969937e-01 -5.90047125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.806559995 meters 0.051348577239072386 Centerline is valid? [True, True] Translation: X:502.14, Y:-275.67, Z:-5.90 [[-6.74970862e-01 -7.37823859e-01 5.50351318e-03 5.02137796e+02] [ 7.37801583e-01 -6.74993272e-01 -5.73641813e-03 -2.75666763e+02] [ 7.94730053e-03 1.88585642e-04 9.99968402e-01 -5.89956107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.866559995 meters 0.05228734700404569 Centerline is valid? [True, True] Translation: X:502.09, Y:-275.63, Z:-5.90 [[-6.73576441e-01 -7.39083398e-01 7.10694249e-03 5.02092807e+02] [ 7.39046335e-01 -6.73613881e-01 -7.40632779e-03 -2.75631062e+02] [ 1.02612290e-02 2.63631885e-04 9.99947317e-01 -5.90255405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9265599950002 meters 0.051770415638873815 Centerline is valid? [True, True] Translation: X:502.05, Y:-275.59, Z:-5.90 [[-6.73166256e-01 -7.39451215e-01 7.68721588e-03 5.02049812e+02] [ 7.39407900e-01 -6.73210083e-01 -8.00889073e-03 -2.75593800e+02] [ 1.10972952e-02 2.92673161e-04 9.99938380e-01 -5.90323097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.986559995 meters 0.052442812203006964 Centerline is valid? [True, True] Translation: X:502.01, Y:-275.55, Z:-5.90 [[-6.75027566e-01 -7.37761115e-01 6.80599404e-03 5.02010247e+02] [ 7.37727096e-01 -6.75061835e-01 -7.08877339e-03 -2.75552678e+02] [ 9.82428818e-03 2.35848768e-04 9.99951713e-01 -5.90127965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.046559995 meters 0.05213364852019671 Centerline is valid? [True, True] Translation: X:501.97, Y:-275.51, Z:-5.90 [[-6.80451687e-01 -7.32775684e-01 5.02976965e-03 5.01974305e+02] [ 7.32756977e-01 -6.80470265e-01 -5.23744126e-03 -2.75507006e+02] [ 7.26047829e-03 1.21773067e-04 9.99973635e-01 -5.89861827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.106559995 meters 0.05198098635989147 Centerline is valid? [True, True] Translation: X:501.94, Y:-275.46, Z:-5.90 [[-6.85778378e-01 -7.27795040e-01 4.73238412e-03 5.01935889e+02] [ 7.27778369e-01 -6.85794703e-01 -4.92644657e-03 -2.75463366e+02] [ 6.83088734e-03 6.56762609e-05 9.99976667e-01 -5.89783909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.166559995 meters 0.05244965972740031 Centerline is valid? [True, True] Translation: X:501.90, Y:-275.42, Z:-5.90 [[-6.94445244e-01 -7.19534697e-01 3.95260384e-03 5.01899749e+02] [ 7.19522938e-01 -6.94456492e-01 -4.11360646e-03 -2.75418840e+02] [ 5.70479398e-03 -1.26853089e-05 9.99983727e-01 -5.89880107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2265599950001 meters 0.0525683580041554 Centerline is valid? [True, True] Translation: X:501.86, Y:-275.38, Z:-5.90 [[-6.99577190e-01 -7.14542808e-01 4.50888863e-03 5.01862596e+02] [ 7.14527412e-01 -6.99591718e-01 -4.69105865e-03 -2.75376250e+02] [ 6.50634337e-03 -6.00331028e-05 9.99978832e-01 -5.89875086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.286559995 meters 0.05284723308750846 Centerline is valid? [True, True] Translation: X:501.83, Y:-275.33, Z:-5.90 [[-7.05167916e-01 -7.09025030e-01 4.66020391e-03 5.01825627e+02] [ 7.09008469e-01 -7.05183306e-01 -4.84724033e-03 -2.75332872e+02] [ 6.72311272e-03 -1.13994321e-04 9.99977393e-01 -5.89877573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.346559995 meters 0.05316253225891425 Centerline is valid? [True, True] Translation: X:501.78, Y:-275.29, Z:-5.90 [[-7.07700223e-01 -7.06495943e-01 4.88643080e-03 5.01780563e+02] [ 7.06477684e-01 -7.07717077e-01 -5.08134984e-03 -2.75294865e+02] [ 7.04816357e-03 -1.43918096e-04 9.99975151e-01 -5.89739385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.406559995 meters 0.053008056990717284 Centerline is valid? [True, True] Translation: X:501.74, Y:-275.25, Z:-5.90 [[-7.06840142e-01 -7.07353751e-01 5.26161732e-03 5.01744365e+02] [ 7.07332617e-01 -7.06859710e-01 -5.46985488e-03 -2.75252086e+02] [ 7.58834766e-03 -1.44599443e-04 9.99971198e-01 -5.90127590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4665599950001 meters 0.05278023609597498 Centerline is valid? [True, True] Translation: X:501.70, Y:-275.22, Z:-5.90 [[-7.03433444e-01 -7.10744523e-01 4.85924453e-03 5.01701153e+02] [ 7.10726590e-01 -7.03450221e-01 -5.04988429e-03 -2.75216404e+02] [ 7.00741424e-03 -9.86632016e-05 9.99975443e-01 -5.90060872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.526559995 meters 0.054011620649681326 Centerline is valid? [True, True] Translation: X:501.66, Y:-275.18, Z:-5.90 [[-7.00168493e-01 -7.13965247e-01 4.20803124e-03 5.01658975e+02] [ 7.13951863e-01 -7.00181136e-01 -4.37187054e-03 -2.75178043e+02] [ 6.06774772e-03 -5.67142701e-05 9.99981589e-01 -5.89992349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.586559995 meters 0.05331923128127745 Centerline is valid? [True, True] Translation: X:501.62, Y:-275.14, Z:-5.90 [[-6.93924181e-01 -7.20038288e-01 3.75434722e-03 5.01615060e+02] [ 7.20027730e-01 -6.93934337e-01 -3.89920088e-03 -2.75143099e+02] [ 5.41284437e-03 -2.51566907e-06 9.99985350e-01 -5.90003648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.646559995 meters 0.05217289725045668 Centerline is valid? [True, True] Translation: X:501.57, Y:-275.10, Z:-5.90 [[-6.87318640e-01 -7.26351805e-01 2.47833916e-03 5.01572098e+02] [ 7.26347247e-01 -6.87323108e-01 -2.57326944e-03 -2.75103743e+02] [ 3.57251868e-03 3.14787793e-05 9.99993618e-01 -5.89690723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7065599950001 meters 0.052859743653416814 Centerline is valid? [True, True] Translation: X:501.52, Y:-275.07, Z:-5.90 [[-6.83436792e-01 -7.30007296e-01 1.87062589e-03 5.01523260e+02] [ 7.30004714e-01 -6.83439351e-01 -1.94176383e-03 -2.75071379e+02] [ 2.69596111e-03 3.84928769e-05 9.99996365e-01 -5.89888461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.766559995 meters 0.05262065757734403 Centerline is valid? [True, True] Translation: X:501.48, Y:-275.03, Z:-5.90 [[-6.81953255e-01 -7.31394321e-01 1.45082960e-03 5.01484555e+02] [ 7.31392773e-01 -6.81954797e-01 -1.50554025e-03 -2.75029904e+02] [ 2.09054379e-03 3.44182109e-05 9.99997814e-01 -5.89871927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.826559995 meters 0.05372459329104058 Centerline is valid? [True, True] Translation: X:501.44, Y:-275.00, Z:-5.90 [[-6.78594847e-01 -7.34507990e-01 2.65452672e-03 5.01440404e+02] [ 7.34502832e-01 -6.78600034e-01 -2.75374347e-03 -2.74995081e+02] [ 3.82400850e-03 8.10812659e-05 9.99992685e-01 -5.90090436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.886559995 meters 0.05253172084212595 Centerline is valid? [True, True] Translation: X:501.40, Y:-274.95, Z:-5.90 [[-6.77614099e-01 -7.35410705e-01 3.19793110e-03 5.01403204e+02] [ 7.35403234e-01 -6.77621637e-01 -3.31660748e-03 -2.74950771e+02] [ 4.60605596e-03 1.04388883e-04 9.99989387e-01 -5.90079973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9465599950001 meters 0.053763788395492534 Centerline is valid? [True, True] Translation: X:501.36, Y:-274.91, Z:-5.90 [[-6.77425495e-01 -7.35583774e-01 3.34818333e-03 5.01361255e+02] [ 7.35575590e-01 -6.77433760e-01 -3.47155199e-03 -2.74914285e+02] [ 4.82178973e-03 1.11124103e-04 9.99988369e-01 -5.90256285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.006559995 meters 0.05329820723894046 Centerline is valid? [True, True] Translation: X:501.32, Y:-274.87, Z:-5.90 [[-6.78443974e-01 -7.34643494e-01 3.56525203e-03 5.01324056e+02] [ 7.34634208e-01 -6.78453332e-01 -3.69549495e-03 -2.74872118e+02] [ 5.13372844e-03 1.11969822e-04 9.99986816e-01 -5.90385996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.066559995 meters 0.05241131634115145 Centerline is valid? [True, True] Translation: X:501.29, Y:-274.82, Z:-5.90 [[-6.81198446e-01 -7.32086369e-01 4.26911504e-03 5.01291247e+02] [ 7.32073011e-01 -6.81211815e-01 -4.42387033e-03 -2.74824391e+02] [ 6.14682677e-03 1.11770311e-04 9.99981102e-01 -5.90403659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.126559995 meters 0.05228703918644091 Centerline is valid? [True, True] Translation: X:501.26, Y:-274.78, Z:-5.90 [[-6.83895430e-01 -7.29566636e-01 4.42318606e-03 5.01256315e+02] [ 7.29552252e-01 -6.83909727e-01 -4.58233014e-03 -2.74777296e+02] [ 6.36817515e-03 9.31107067e-05 9.99979719e-01 -5.90337553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1865599950002 meters 0.05180742632480007 Centerline is valid? [True, True] Translation: X:501.22, Y:-274.73, Z:-5.90 [[-6.88486358e-01 -7.25235255e-01 4.51210883e-03 5.01221567e+02] [ 7.25220202e-01 -6.88501141e-01 -4.67305069e-03 -2.74732100e+02] [ 6.49565319e-03 5.49408221e-05 9.99978902e-01 -5.90280866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.246559995 meters 0.05197085320990374 Centerline is valid? [True, True] Translation: X:501.18, Y:-274.69, Z:-5.90 [[-6.91321304e-01 -7.22539378e-01 3.42080533e-03 5.01183964e+02] [ 7.22530697e-01 -6.91329767e-01 -3.54199838e-03 -2.74686993e+02] [ 4.92413785e-03 2.29779217e-05 9.99987876e-01 -5.90210227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.306559995 meters 0.05169500449118838 Centerline is valid? [True, True] Translation: X:501.15, Y:-274.64, Z:-5.90 [[-6.95107664e-01 -7.18899565e-01 2.95823969e-03 5.01148586e+02] [ 7.18893044e-01 -6.95113959e-01 -3.06208251e-03 -2.74642591e+02] [ 4.25764348e-03 -1.81908389e-06 9.99990936e-01 -5.90271091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.366559995 meters 0.05225067561151723 Centerline is valid? [True, True] Translation: X:501.11, Y:-274.60, Z:-5.90 [[-6.98588729e-01 -7.15515830e-01 3.29906181e-03 5.01112709e+02] [ 7.15507686e-01 -6.98596519e-01 -3.41392279e-03 -2.74597169e+02] [ 4.74742890e-03 -2.44238960e-05 9.99988731e-01 -5.90365171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4265599950002 meters 0.051616105423781665 Centerline is valid? [True, True] Translation: X:501.08, Y:-274.55, Z:-5.90 [[-7.00131696e-01 -7.14003590e-01 3.80547910e-03 5.01075504e+02] [ 7.13992738e-01 -7.00142037e-01 -3.93679542e-03 -2.74554226e+02] [ 5.47526195e-03 -3.91908127e-05 9.99985010e-01 -5.90335090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.486559995 meters 0.05216777693539356 Centerline is valid? [True, True] Translation: X:501.04, Y:-274.51, Z:-5.90 [[-7.00591851e-01 -7.13549370e-01 4.28434618e-03 5.01037920e+02] [ 7.13535615e-01 -7.00604949e-01 -4.43069710e-03 -2.74511628e+02] [ 6.16315526e-03 -4.70766928e-05 9.99981006e-01 -5.90391660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.546559995 meters 0.051550982893452744 Centerline is valid? [True, True] Translation: X:501.00, Y:-274.47, Z:-5.90 [[-6.99778723e-01 -7.14346882e-01 4.27455813e-03 5.00999407e+02] [ 7.14333213e-01 -6.99791777e-01 -4.41921295e-03 -2.74468862e+02] [ 6.14815162e-03 -3.90123509e-05 9.99981099e-01 -5.90281410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.606559995 meters 0.051358846430545196 Centerline is valid? [True, True] Translation: X:500.96, Y:-274.43, Z:-5.90 [[-6.99202069e-01 -7.14911900e-01 4.17646482e-03 5.00959765e+02] [ 7.14898869e-01 -6.99214541e-01 -4.31654727e-03 -2.74426957e+02] [ 6.00619594e-03 -3.23888077e-05 9.99981962e-01 -5.90266857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.666559995 meters 0.05194368809260228 Centerline is valid? [True, True] Translation: X:500.92, Y:-274.38, Z:-5.90 [[-6.97741739e-01 -7.16339207e-01 3.82180617e-03 5.00922164e+02] [ 7.16328321e-01 -6.97752205e-01 -3.94915886e-03 -2.74384193e+02] [ 5.49561100e-03 -1.78249723e-05 9.99984899e-01 -5.90348857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7265599950001 meters 0.05171449615704894 Centerline is valid? [True, True] Translation: X:500.89, Y:-274.34, Z:-5.90 [[-6.95386056e-01 -7.18624959e-01 4.04985012e-03 5.00885377e+02] [ 7.18612780e-01 -6.95397849e-01 -4.18380775e-03 -2.74341930e+02] [ 5.82284573e-03 9.12484040e-07 9.99983047e-01 -5.90236605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.786559995 meters 0.05093461696569181 Centerline is valid? [True, True] Translation: X:500.85, Y:-274.30, Z:-5.90 [[-6.93430928e-01 -7.20514307e-01 3.56122734e-03 5.00846698e+02] [ 7.20504919e-01 -6.93440072e-01 -3.67793187e-03 -2.74302062e+02] [ 5.11950028e-03 1.54901118e-05 9.99986895e-01 -5.90288550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.846559995 meters 0.050046144370101985 Centerline is valid? [True, True] Translation: X:500.81, Y:-274.26, Z:-5.90 [[-6.89680996e-01 -7.24109392e-01 2.39012380e-03 5.00809993e+02] [ 7.24105188e-01 -6.89685137e-01 -2.46765995e-03 -2.74259718e+02] [ 3.43528861e-03 2.88028665e-05 9.99994099e-01 -5.89984506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.906559995 meters 0.05017792394667788 Centerline is valid? [True, True] Translation: X:500.77, Y:-274.22, Z:-5.90 [[-6.87212562e-01 -7.26452354e-01 2.42329207e-03 5.00769684e+02] [ 7.26448049e-01 -6.87216833e-01 -2.50128258e-03 -2.74218187e+02] [ 3.48238972e-03 4.14829913e-05 9.99993936e-01 -5.90048209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9665599950001 meters 0.051342664858851375 Centerline is valid? [True, True] Translation: X:500.73, Y:-274.18, Z:-5.90 [[-6.84427620e-01 -7.29073910e-01 3.17275338e-03 5.00727575e+02] [ 7.29066561e-01 -6.84434970e-01 -3.27435411e-03 -2.74179711e+02] [ 4.55878952e-03 7.20900012e-05 9.99989606e-01 -5.90266462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.026559995 meters 0.05059451585081192 Centerline is valid? [True, True] Translation: X:500.69, Y:-274.14, Z:-5.90 [[-6.83776071e-01 -7.29678838e-01 4.36782325e-03 5.00691284e+02] [ 7.29664930e-01 -6.83790013e-01 -4.50643987e-03 -2.74135734e+02] [ 6.27492773e-03 1.05651700e-04 9.99980307e-01 -5.90339303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.086559995 meters 0.05100052877897795 Centerline is valid? [True, True] Translation: X:500.65, Y:-274.09, Z:-5.90 [[-6.84003552e-01 -7.29463100e-01 4.76724486e-03 5.00654426e+02] [ 7.29446537e-01 -6.84020155e-01 -4.91695350e-03 -2.74094819e+02] [ 6.84762771e-03 1.14236591e-04 9.99976548e-01 -5.90350352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.146559995 meters 0.05034519430961579 Centerline is valid? [True, True] Translation: X:500.62, Y:-274.05, Z:-5.90 [[-6.84645937e-01 -7.28854724e-01 5.54361819e-03 5.00620698e+02] [ 7.28832321e-01 -6.84668369e-01 -5.71607564e-03 -2.74047436e+02] [ 7.96172876e-03 1.26880148e-04 9.99968297e-01 -5.90229269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2065599950001 meters 0.05021061652237155 Centerline is valid? [True, True] Translation: X:500.58, Y:-274.00, Z:-5.90 [[-6.85031859e-01 -7.28488122e-01 6.03401728e-03 5.00584041e+02] [ 7.28461579e-01 -6.85058420e-01 -6.22009029e-03 -2.74002362e+02] [ 8.66491623e-03 1.34589745e-04 9.99962450e-01 -5.90219290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.266559995 meters 0.04949003933864634 Centerline is valid? [True, True] Translation: X:500.55, Y:-273.96, Z:-5.90 [[-6.86685758e-01 -7.26932062e-01 5.69615233e-03 5.00548121e+02] [ 7.26908367e-01 -6.86709374e-01 -5.87033881e-03 -2.73957607e+02] [ 8.17893870e-03 1.09502732e-04 9.99966546e-01 -5.90328133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.326559995 meters 0.049758445471601055 Centerline is valid? [True, True] Translation: X:500.51, Y:-273.91, Z:-5.90 [[-6.90266185e-01 -7.23541196e-01 4.55315933e-03 5.00514606e+02] [ 7.23525991e-01 -6.90281199e-01 -4.69103782e-03 -2.73911375e+02] [ 6.53711940e-03 5.62643344e-05 9.99978631e-01 -5.90235684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.386559995 meters 0.04949054612110465 Centerline is valid? [True, True] Translation: X:500.48, Y:-273.86, Z:-5.90 [[-6.92831341e-01 -7.21088146e-01 4.07650694e-03 5.00478392e+02] [ 7.21075921e-01 -6.92843333e-01 -4.19895510e-03 -2.73864983e+02] [ 5.85219741e-03 3.03033045e-05 9.99982875e-01 -5.90072936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4465599950001 meters 0.04980417431337222 Centerline is valid? [True, True] Translation: X:500.44, Y:-273.82, Z:-5.90 [[-6.95473239e-01 -7.18542057e-01 3.77970510e-03 5.00443311e+02] [ 7.18531516e-01 -6.95483510e-01 -3.89201184e-03 -2.73821090e+02] [ 5.42529676e-03 9.04715572e-06 9.99985283e-01 -5.90183203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.506559995 meters 0.04886848424818226 Centerline is valid? [True, True] Translation: X:500.40, Y:-273.78, Z:-5.90 [[-6.95344314e-01 -7.18671025e-01 2.87103809e-03 5.00404253e+02] [ 7.18664949e-01 -6.95350241e-01 -2.95528884e-03 -2.73783166e+02] [ 4.12025749e-03 8.37115154e-06 9.99991512e-01 -5.90213862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.566559995 meters 0.04891393928099457 Centerline is valid? [True, True] Translation: X:500.36, Y:-273.74, Z:-5.90 [[-6.95375330e-01 -7.18638964e-01 3.34523322e-03 5.00364427e+02] [ 7.18630719e-01 -6.95383376e-01 -3.44232575e-03 -2.73742618e+02] [ 4.80000898e-03 1.02789463e-05 9.99988480e-01 -5.90243202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.626559995 meters 0.04943469391716544 Centerline is valid? [True, True] Translation: X:500.32, Y:-273.70, Z:-5.90 [[-6.95967578e-01 -7.18060722e-01 4.23435065e-03 5.00324061e+02] [ 7.18047510e-01 -6.95980459e-01 -4.35596285e-03 -2.73701697e+02] [ 6.07487114e-03 8.85602830e-06 9.99981548e-01 -5.90189884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6865599950002 meters 0.04975681082354367 Centerline is valid? [True, True] Translation: X:500.28, Y:-273.66, Z:-5.90 [[-6.96205123e-01 -7.17829169e-01 4.43969672e-03 5.00283383e+02] [ 7.17814647e-01 -6.96219279e-01 -4.56599018e-03 -2.73660248e+02] [ 6.36860339e-03 8.01358095e-06 9.99979720e-01 -5.90122868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.746559995 meters 0.0493762283351651 Centerline is valid? [True, True] Translation: X:500.24, Y:-273.62, Z:-5.90 [[-6.96536800e-01 -7.17510013e-01 3.98350163e-03 5.00241936e+02] [ 7.17498324e-01 -6.96548190e-01 -4.09560290e-03 -2.73622253e+02] [ 5.71333694e-03 5.41760129e-06 9.99983679e-01 -5.90308464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.806559995 meters 0.04928088878410145 Centerline is valid? [True, True] Translation: X:500.20, Y:-273.58, Z:-5.90 [[-6.96593394e-01 -7.17453835e-01 4.19984773e-03 5.00200812e+02] [ 7.17440848e-01 -6.96606054e-01 -4.31676046e-03 -2.73582516e+02] [ 6.02271571e-03 6.11549720e-06 9.99981863e-01 -5.90348881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.866559995 meters 0.04946100068511002 Centerline is valid? [True, True] Translation: X:500.16, Y:-273.54, Z:-5.90 [[-6.96085977e-01 -7.17944256e-01 4.51208326e-03 5.00159230e+02] [ 7.17929286e-01 -6.96100600e-01 -4.63631989e-03 -2.73543105e+02] [ 6.46948310e-03 1.20794562e-05 9.99979073e-01 -5.90392988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9265599950002 meters 0.04959686648010932 Centerline is valid? [True, True] Translation: X:500.12, Y:-273.50, Z:-5.90 [[-6.93608915e-01 -7.20336009e-01 4.76515613e-03 5.00117406e+02] [ 7.20319378e-01 -6.93625282e-01 -4.89505830e-03 -2.73502500e+02] [ 6.83131953e-03 3.71782246e-05 9.99976666e-01 -5.90373711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.986559995 meters 0.050181144646050634 Centerline is valid? [True, True] Translation: X:500.08, Y:-273.46, Z:-5.90 [[-6.88855558e-01 -7.24883474e-01 4.68718171e-03 5.00075107e+02] [ 7.24867496e-01 -6.88871500e-01 -4.81359587e-03 -2.73464290e+02] [ 6.71816199e-03 8.17134000e-05 9.99977430e-01 -5.90374599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.046559995 meters 0.04936706421599303 Centerline is valid? [True, True] Translation: X:500.03, Y:-273.42, Z:-5.90 [[-6.85521399e-01 -7.28038442e-01 4.52086698e-03 5.00033474e+02] [ 7.28023655e-01 -6.85536297e-01 -4.64149695e-03 -2.73424484e+02] [ 6.47840662e-03 1.09452619e-04 9.99979009e-01 -5.90337458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.106559995 meters 0.05060150770649915 Centerline is valid? [True, True] Translation: X:499.99, Y:-273.39, Z:-5.90 [[-6.81726182e-01 -7.31597313e-01 3.84523009e-03 4.99990082e+02] [ 7.31586677e-01 -6.81737015e-01 -3.94667017e-03 -2.73388480e+02] [ 5.50880897e-03 1.22570718e-04 9.99984819e-01 -5.90336431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.166559995 meters 0.049621780604168365 Centerline is valid? [True, True] Translation: X:499.95, Y:-273.35, Z:-5.90 [[-6.80176299e-01 -7.33042737e-01 2.92385471e-03 4.99950994e+02] [ 7.33036605e-01 -6.80182575e-01 -3.00009124e-03 -2.73348226e+02] [ 4.18795012e-03 1.02701573e-04 9.99991225e-01 -5.90177813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2265599950001 meters 0.049911241866882734 Centerline is valid? [True, True] Translation: X:499.91, Y:-273.31, Z:-5.90 [[-6.80084216e-01 -7.33131469e-01 1.92567670e-03 4.99913460e+02] [ 7.33128811e-01 -6.80086939e-01 -1.97528254e-03 -2.73305601e+02] [ 2.75776936e-03 6.84105923e-05 9.99996195e-01 -5.90044408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.286559995 meters 0.048714030703566745 Centerline is valid? [True, True] Translation: X:499.88, Y:-273.26, Z:-5.90 [[-6.82269350e-01 -7.31098202e-01 1.98828788e-03 4.99876725e+02] [ 7.31095362e-01 -6.82272244e-01 -2.03896123e-03 -2.73260902e+02] [ 2.84723452e-03 6.25072981e-05 9.99995945e-01 -5.90061185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.346559995 meters 0.048604549242492204 Centerline is valid? [True, True] Translation: X:499.84, Y:-273.22, Z:-5.90 [[-6.87479515e-01 -7.26198419e-01 2.78804167e-03 4.99840928e+02] [ 7.26192796e-01 -6.87485165e-01 -2.85837813e-03 -2.73215199e+02] [ 3.99248697e-03 5.95793668e-05 9.99992028e-01 -5.90127051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.406559995 meters 0.04861189892896464 Centerline is valid? [True, True] Translation: X:499.80, Y:-273.17, Z:-5.90 [[-6.93404695e-01 -7.20540706e-01 3.31965775e-03 4.99804243e+02] [ 7.20532674e-01 -6.93412640e-01 -3.40245702e-03 -2.73171951e+02] [ 4.75350143e-03 3.26422087e-05 9.99988702e-01 -5.90181457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4665599950001 meters 0.04940599196781064 Centerline is valid? [True, True] Translation: X:499.77, Y:-273.13, Z:-5.90 [[-6.97519696e-01 -7.16556277e-01 3.65721104e-03 4.99765929e+02] [ 7.16546478e-01 -6.97529284e-01 -3.74747410e-03 -2.73131876e+02] [ 5.23628789e-03 6.62469265e-06 9.99986291e-01 -5.90388693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.526559995 meters 0.04956273216192691 Centerline is valid? [True, True] Translation: X:499.73, Y:-273.09, Z:-5.90 [[-7.01996369e-01 -7.12169108e-01 4.03241837e-03 4.99728650e+02] [ 7.12157129e-01 -7.02007950e-01 -4.13059173e-03 -2.73090659e+02] [ 5.77246958e-03 -2.79449049e-05 9.99983339e-01 -5.90219594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.586559995 meters 0.05002904629809287 Centerline is valid? [True, True] Translation: X:499.69, Y:-273.04, Z:-5.90 [[-7.11112429e-01 -7.03072875e-01 2.76515181e-03 4.99694663e+02] [ 7.03067176e-01 -7.11117801e-01 -2.83165101e-03 -2.73044643e+02] [ 3.95720569e-03 -6.95347497e-05 9.99992168e-01 -5.90250842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.646559995 meters 0.050490481426989364 Centerline is valid? [True, True] Translation: X:499.65, Y:-273.01, Z:-5.90 [[-7.20989445e-01 -6.92942773e-01 2.12914061e-03 4.99649937e+02] [ 6.92939352e-01 -7.20992582e-01 -2.17966314e-03 -2.73008547e+02] [ 3.04547640e-03 -9.61488039e-05 9.99995358e-01 -5.90052532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7065599950001 meters 0.05082731119848889 Centerline is valid? [True, True] Translation: X:499.61, Y:-272.97, Z:-5.90 [[-7.27366421e-01 -6.86246366e-01 2.00401537e-03 4.99606194e+02] [ 6.86243309e-01 -7.27369172e-01 -2.05137521e-03 -2.72968571e+02] [ 2.86540779e-03 -1.16859303e-04 9.99995888e-01 -5.90069952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.766559995 meters 0.05257916129148166 Centerline is valid? [True, True] Translation: X:499.57, Y:-272.92, Z:-5.90 [[-7.33124732e-01 -6.80090657e-01 2.19657870e-03 4.99574209e+02] [ 6.80086958e-01 -7.33128007e-01 -2.24828296e-03 -2.72918817e+02] [ 3.13940960e-03 -1.54407321e-04 9.99995060e-01 -5.90097094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.826559995 meters 0.05201521840471871 Centerline is valid? [True, True] Translation: X:499.51, Y:-272.89, Z:-5.90 [[-7.37452477e-01 -6.75396784e-01 1.74004030e-03 4.99514712e+02] [ 6.75394450e-01 -7.37454517e-01 -1.78089093e-03 -2.72893862e+02] [ 2.48600858e-03 -1.38108866e-04 9.99996900e-01 -5.90059309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.886559995 meters 0.052830915384245995 Centerline is valid? [True, True] Translation: X:499.48, Y:-272.85, Z:-5.90 [[-7.33982945e-01 -6.79167043e-01 1.07883198e-03 4.99476186e+02] [ 6.79166150e-01 -7.33983734e-01 -1.10398204e-03 -2.72850101e+02] [ 1.54163335e-03 -7.75978250e-05 9.99998809e-01 -5.90330462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9465599950001 meters 0.051416629307326774 Centerline is valid? [True, True] Translation: X:499.42, Y:-272.82, Z:-5.90 [[-7.24252021e-01 -6.89535104e-01 5.91816041e-04 4.99422475e+02] [ 6.89534839e-01 -7.24252262e-01 -6.05511693e-04 -2.72820947e+02] [ 8.46145675e-04 -3.04652889e-05 9.99999642e-01 -5.90437079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.006559995 meters 0.05153102102284505 Centerline is valid? [True, True] Translation: X:499.38, Y:-272.78, Z:-5.91 [[-7.16491769e-01 -6.97594915e-01 9.38189544e-04 4.99379387e+02] [ 6.97594256e-01 -7.16492382e-01 -9.59791563e-04 -2.72781935e+02] [ 1.34175138e-03 -3.32071182e-05 9.99999099e-01 -5.90505696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.066559995 meters 0.05101049614165654 Centerline is valid? [True, True] Translation: X:499.33, Y:-272.75, Z:-5.91 [[-7.05137877e-01 -7.09069419e-01 1.06448903e-03 4.99331057e+02] [ 7.09068583e-01 -7.05138680e-01 -1.08883718e-03 -2.72748695e+02] [ 1.52267353e-03 -1.29846086e-05 9.99998841e-01 -5.90631091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.126559995 meters 0.05115405877263325 Centerline is valid? [True, True] Translation: X:499.28, Y:-272.72, Z:-5.91 [[-6.95067632e-01 -7.18944121e-01 5.80765917e-04 4.99280939e+02] [ 7.18943876e-01 -6.95067875e-01 -5.93867765e-04 -2.72719394e+02] [ 8.30629470e-04 4.75983807e-06 9.99999655e-01 -5.90736413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1865599950002 meters 0.05089075359996953 Centerline is valid? [True, True] Translation: X:499.24, Y:-272.68, Z:-5.91 [[-6.89614011e-01 -7.24176778e-01 7.14571135e-04 4.99235903e+02] [ 7.24176410e-01 -6.89614381e-01 -7.30465390e-04 -2.72684602e+02] [ 1.02176460e-03 1.37363924e-05 9.99999478e-01 -5.90781499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.246559995 meters 0.052269796616277 Centerline is valid? [True, True] Translation: X:499.19, Y:-272.66, Z:-5.91 [[-6.83426401e-01 -7.30018297e-01 1.28087747e-03 4.99185111e+02] [ 7.30017124e-01 -6.83427600e-01 -1.30899194e-03 -2.72655333e+02] [ 1.83097508e-03 4.04628359e-05 9.99998323e-01 -5.90998765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.306559995 meters 0.05103061743102207 Centerline is valid? [True, True] Translation: X:499.15, Y:-272.61, Z:-5.91 [[-6.79251009e-01 -7.33904197e-01 1.64194833e-03 4.99146282e+02] [ 7.33902283e-01 -6.79252991e-01 -1.67760474e-03 -2.72613581e+02] [ 2.34649948e-03 6.55149164e-05 9.99997245e-01 -5.91085043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.366559995 meters 0.05238627726386775 Centerline is valid? [True, True] Translation: X:499.10, Y:-272.58, Z:-5.91 [[-6.77915181e-01 -7.35135135e-01 2.70959589e-03 4.99102006e+02] [ 7.35129934e-01 -6.77920586e-01 -2.76760604e-03 -2.72578386e+02] [ 3.87145527e-03 1.15702899e-04 9.99992499e-01 -5.91269394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4265599950002 meters 0.05155340173262673 Centerline is valid? [True, True] Translation: X:499.07, Y:-272.53, Z:-5.91 [[-6.77883351e-01 -7.35154304e-01 4.72361417e-03 4.99066598e+02] [ 7.35138506e-01 -6.77899778e-01 -4.82367766e-03 -2.72533600e+02] [ 6.74828439e-03 2.02619889e-04 9.99977210e-01 -5.91472263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.486559995 meters 0.0521869471337437 Centerline is valid? [True, True] Translation: X:499.03, Y:-272.49, Z:-5.92 [[-6.79896245e-01 -7.33284185e-01 5.94985819e-03 4.99027400e+02] [ 7.33259064e-01 -6.79922238e-01 -6.07409557e-03 -2.72492983e+02] [ 8.49947911e-03 2.33032683e-04 9.99963852e-01 -5.91771439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.546559995 meters 0.051012789314986914 Centerline is valid? [True, True] Translation: X:498.99, Y:-272.45, Z:-5.92 [[-6.80931110e-01 -7.32320462e-01 6.29011138e-03 4.98991236e+02] [ 7.32292361e-01 -6.80960121e-01 -6.41963528e-03 -2.72448885e+02] [ 8.98454528e-03 2.34871138e-04 9.99959611e-01 -5.91686455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.606559995 meters 0.05130931251851 Centerline is valid? [True, True] Translation: X:498.96, Y:-272.40, Z:-5.92 [[-6.84900105e-01 -7.28603204e-01 7.01556421e-03 4.98958020e+02] [ 7.28568073e-01 -6.84936003e-01 -7.15790210e-03 -2.72401871e+02] [ 1.00204829e-02 2.08868200e-04 9.99949772e-01 -5.91655746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.666559995 meters 0.05055811739460225 Centerline is valid? [True, True] Translation: X:498.93, Y:-272.35, Z:-5.91 [[-6.91381729e-01 -7.22465070e-01 5.96046270e-03 4.98928408e+02] [ 7.22439498e-01 -6.91407414e-01 -6.07940993e-03 -2.72353073e+02] [ 8.51326942e-03 1.02880735e-04 9.99963756e-01 -5.91409093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7265599950001 meters 0.05074030140259935 Centerline is valid? [True, True] Translation: X:498.90, Y:-272.30, Z:-5.91 [[-6.97422287e-01 -7.16648146e-01 4.19393487e-03 4.98895724e+02] [ 7.16635387e-01 -6.97434896e-01 -4.27647797e-03 -2.72304113e+02] [ 5.98972654e-03 2.30110937e-05 9.99982061e-01 -5.91073436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.786559995 meters 0.05055246163919964 Centerline is valid? [True, True] Translation: X:498.87, Y:-272.25, Z:-5.91 [[-7.06753493e-01 -7.07455677e-01 2.44225021e-03 4.98866103e+02] [ 7.07451298e-01 -7.06757712e-01 -2.48960583e-03 -2.72253265e+02] [ 3.48736495e-03 -3.17645345e-05 9.99993919e-01 -5.90817013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.846559995 meters 0.05055541303548132 Centerline is valid? [True, True] Translation: X:498.83, Y:-272.21, Z:-5.91 [[-7.11937403e-01 -7.02241456e-01 1.43957939e-03 4.98831072e+02] [ 7.02239924e-01 -7.11938857e-01 -1.46703611e-03 -2.72208653e+02] [ 2.05510608e-03 -3.35077512e-05 9.99997888e-01 -5.90674769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.906559995 meters 0.05052902184792721 Centerline is valid? [True, True] Translation: X:498.80, Y:-272.16, Z:-5.91 [[-7.16496928e-01 -6.97587665e-01 1.89798954e-03 4.98796953e+02] [ 6.97584987e-01 -7.16499439e-01 -1.93380096e-03 -2.72163245e+02] [ 2.70890413e-03 -6.15534385e-05 9.99996329e-01 -5.90687989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9665599950001 meters 0.05059372288585435 Centerline is valid? [True, True] Translation: X:498.76, Y:-272.12, Z:-5.91 [[-7.17019723e-01 -6.97047720e-01 2.68196447e-03 4.98760653e+02] [ 6.97042371e-01 -7.17024733e-01 -2.73216940e-03 -2.72117196e+02] [ 3.82748731e-03 -8.95764681e-05 9.99992671e-01 -5.90834396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.026559995 meters 0.05003196334048442 Centerline is valid? [True, True] Translation: X:498.72, Y:-272.07, Z:-5.91 [[-7.13750243e-01 -7.00392166e-01 3.37694931e-03 4.98724528e+02] [ 7.00383727e-01 -7.13758226e-01 -3.43935651e-03 -2.72073317e+02] [ 4.81922370e-03 -8.96811996e-05 9.99988383e-01 -5.91017209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.086559995 meters 0.0500328926240494 Centerline is valid? [True, True] Translation: X:498.68, Y:-272.04, Z:-5.91 [[-7.10140106e-01 -7.04052456e-01 3.34216168e-03 4.98682591e+02] [ 7.04044235e-01 -7.10147967e-01 -3.40283599e-03 -2.72035201e+02] [ 4.76920436e-03 -6.34606521e-05 9.99988625e-01 -5.90959066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.146559995 meters 0.049365981537208135 Centerline is valid? [True, True] Translation: X:498.64, Y:-272.00, Z:-5.91 [[-7.03601537e-01 -7.10591526e-01 2.13555140e-03 4.98640639e+02] [ 7.10588201e-01 -7.03604778e-01 -2.17373262e-03 -2.71995754e+02] [ 3.04722015e-03 -1.19439920e-05 9.99995357e-01 -5.90887967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2065599950001 meters 0.04905581200792818 Centerline is valid? [True, True] Translation: X:498.60, Y:-271.96, Z:-5.91 [[-6.98389854e-01 -7.15716274e-01 1.35189445e-03 4.98599448e+02] [ 7.15714952e-01 -6.98391163e-01 -1.37562343e-03 -2.71958029e+02] [ 1.92870721e-03 6.84962937e-06 9.99998140e-01 -5.90863029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.266559995 meters 0.04834967532572134 Centerline is valid? [True, True] Translation: X:498.56, Y:-271.92, Z:-5.91 [[-6.89553476e-01 -7.24234301e-01 8.25128929e-04 4.98557425e+02] [ 7.24233815e-01 -6.89553970e-01 -8.39357910e-04 -2.71919651e+02] [ 1.17686272e-03 1.88041068e-05 9.99999307e-01 -5.90768507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.326559995 meters 0.049848021226263105 Centerline is valid? [True, True] Translation: X:498.51, Y:-271.89, Z:-5.91 [[-6.82265616e-01 -7.31103595e-01 1.07822511e-03 4.98511262e+02] [ 7.31102774e-01 -6.82266467e-01 -1.09647796e-03 -2.71886100e+02] [ 1.53727582e-03 4.02041569e-05 9.99998818e-01 -5.90798202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.386559995 meters 0.049486582444228135 Centerline is valid? [True, True] Translation: X:498.47, Y:-271.85, Z:-5.91 [[-6.82180929e-01 -7.31178105e-01 2.78560242e-03 4.98471088e+02] [ 7.31172628e-01 -6.82186608e-01 -2.83198092e-03 -2.71845317e+02] [ 3.97098311e-03 1.04832864e-04 9.99992110e-01 -5.91100298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4465599950001 meters 0.04892339979128967 Centerline is valid? [True, True] Translation: X:498.43, Y:-271.80, Z:-5.91 [[-6.84536807e-01 -7.28966635e-01 4.12374479e-03 4.98431117e+02] [ 7.28954598e-01 -6.84549214e-01 -4.19135927e-03 -2.71802693e+02] [ 5.87826732e-03 1.36883037e-04 9.99982713e-01 -5.91224163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.506559995 meters 0.049334400703147936 Centerline is valid? [True, True] Translation: X:498.39, Y:-271.76, Z:-5.91 [[-6.84361397e-01 -7.29128857e-01 4.53752761e-03 4.98390331e+02] [ 7.29114295e-01 -6.84376422e-01 -4.61068019e-03 -2.71763327e+02] [ 6.46715689e-03 1.53004707e-04 9.99979076e-01 -5.91137748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.566559995 meters 0.049718733530880174 Centerline is valid? [True, True] Translation: X:498.35, Y:-271.72, Z:-5.91 [[-6.83622618e-01 -7.29816271e-01 5.32233588e-03 4.98349432e+02] [ 7.29796267e-01 -6.83643310e-01 -5.40679332e-03 -2.71722305e+02] [ 7.58454505e-03 1.88014652e-04 9.99971219e-01 -5.91235637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.626559995 meters 0.04893725593674209 Centerline is valid? [True, True] Translation: X:498.31, Y:-271.68, Z:-5.91 [[-6.85029508e-01 -7.28489282e-01 6.15949712e-03 4.98309644e+02] [ 7.28462444e-01 -6.85057170e-01 -6.25633826e-03 -2.71679397e+02] [ 8.77728303e-03 2.01186003e-04 9.99961459e-01 -5.91410927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6865599950002 meters 0.049014789510132856 Centerline is valid? [True, True] Translation: X:498.27, Y:-271.63, Z:-5.91 [[-6.87675930e-01 -7.25990473e-01 6.29670169e-03 4.98273105e+02] [ 7.25962337e-01 -6.87704735e-01 -6.39396314e-03 -2.71634520e+02] [ 8.97222789e-03 1.74193730e-04 9.99959734e-01 -5.91252545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.746559995 meters 0.04879209918346722 Centerline is valid? [True, True] Translation: X:498.23, Y:-271.59, Z:-5.91 [[-6.90724061e-01 -7.23094081e-01 5.93476551e-03 4.98234889e+02] [ 7.23068993e-01 -6.90749544e-01 -6.02488846e-03 -2.71591926e+02] [ 8.45599776e-03 1.29709499e-04 9.99964239e-01 -5.91210761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.806559995 meters 0.049609190085510846 Centerline is valid? [True, True] Translation: X:498.19, Y:-271.55, Z:-5.91 [[-6.91219389e-01 -7.22618542e-01 6.18053773e-03 4.98193923e+02] [ 7.22591329e-01 -6.91247008e-01 -6.27257285e-03 -2.71551558e+02] [ 8.80495566e-03 1.30278996e-04 9.99961227e-01 -5.91215762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.866559995 meters 0.04859911895509007 Centerline is valid? [True, True] Translation: X:498.15, Y:-271.51, Z:-5.91 [[-6.90791946e-01 -7.23016685e-01 7.30488567e-03 4.98152899e+02] [ 7.22978712e-01 -6.90830549e-01 -7.41175819e-03 -2.71510969e+02] [ 1.04052630e-02 1.61293974e-04 9.99945851e-01 -5.91265970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9265599950002 meters 0.04999518129531428 Centerline is valid? [True, True] Translation: X:498.11, Y:-271.47, Z:-5.91 [[-6.91593236e-01 -7.22244170e-01 7.88390494e-03 4.98112620e+02] [ 7.22199914e-01 -6.91638152e-01 -7.99695587e-03 -2.71470540e+02] [ 1.12285642e-02 1.63114885e-04 9.99936944e-01 -5.91290054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.986559995 meters 0.04954399569283157 Centerline is valid? [True, True] Translation: X:498.07, Y:-271.43, Z:-5.91 [[-6.94825383e-01 -7.19139333e-01 7.50374197e-03 4.98073092e+02] [ 7.19099084e-01 -6.94865892e-01 -7.60918564e-03 -2.71428696e+02] [ 1.06861590e-02 1.08878650e-04 9.99942895e-01 -5.91143496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.046559995 meters 0.049718826366167965 Centerline is valid? [True, True] Translation: X:498.03, Y:-271.39, Z:-5.91 [[-6.98531505e-01 -7.15548181e-01 6.67360550e-03 4.98034249e+02] [ 7.15516198e-01 -6.98563381e-01 -6.76554905e-03 -2.71386173e+02] [ 9.50301274e-03 4.91236761e-05 9.99954844e-01 -5.90970761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.106559995 meters 0.04958792585692041 Centerline is valid? [True, True] Translation: X:498.00, Y:-271.34, Z:-5.91 [[-7.04543907e-01 -7.09646476e-01 4.44553950e-03 4.97995825e+02] [ 7.09632172e-01 -7.04557932e-01 -4.50565701e-03 -2.71343757e+02] [ 6.32956373e-03 -1.97353435e-05 9.99979968e-01 -5.90545591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.166559995 meters 0.0502083973057743 Centerline is valid? [True, True] Translation: X:497.96, Y:-271.30, Z:-5.91 [[-7.07924053e-01 -7.06276532e-01 4.12257741e-03 4.97958951e+02] [ 7.06264181e-01 -7.07936055e-01 -4.17711110e-03 -2.71300438e+02] [ 5.86871673e-03 -4.54486685e-05 9.99982778e-01 -5.90785648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2265599950001 meters 0.05148688443985735 Centerline is valid? [True, True] Translation: X:497.92, Y:-271.26, Z:-5.91 [[-7.10055568e-01 -7.04132414e-01 4.31662195e-03 4.97920063e+02] [ 7.04118841e-01 -7.10068686e-01 -4.37244214e-03 -2.71258808e+02] [ 6.14387632e-03 -6.52620435e-05 9.99981124e-01 -5.90832781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.286559995 meters 0.05026212873987365 Centerline is valid? [True, True] Translation: X:497.88, Y:-271.22, Z:-5.91 [[-7.08229257e-01 -7.05967662e-01 4.58032894e-03 4.97879023e+02] [ 7.05952428e-01 -7.08244067e-01 -4.63798035e-03 -2.71221422e+02] [ 6.51825494e-03 -5.12590407e-05 9.99978755e-01 -5.90952653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.346559995 meters 0.050741798263648705 Centerline is valid? [True, True] Translation: X:497.83, Y:-271.19, Z:-5.91 [[-7.04771336e-01 -7.09411726e-01 5.68916583e-03 4.97834328e+02] [ 7.09388352e-01 -7.04794298e-01 -5.75886368e-03 -2.71186532e+02] [ 8.09509706e-03 -2.28540826e-05 9.99967234e-01 -5.90963130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.406559995 meters 0.049754250774934776 Centerline is valid? [True, True] Translation: X:497.79, Y:-271.15, Z:-5.91 [[-7.01871053e-01 -7.12280406e-01 5.80078082e-03 4.97792540e+02] [ 7.12256218e-01 -7.01895023e-01 -5.86989564e-03 -2.71148739e+02] [ 8.25255083e-03 1.17323808e-05 9.99965947e-01 -5.90959006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4665599950001 meters 0.04967209473059001 Centerline is valid? [True, True] Translation: X:497.75, Y:-271.11, Z:-5.91 [[-6.97522957e-01 -7.16546264e-01 4.81423926e-03 4.97749505e+02] [ 7.16529715e-01 -6.97539568e-01 -4.87016742e-03 -2.71111037e+02] [ 6.84782265e-03 5.24919095e-05 9.99976552e-01 -5.90831426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.526559995 meters 0.05017341191415466 Centerline is valid? [True, True] Translation: X:497.71, Y:-271.07, Z:-5.91 [[-6.96128714e-01 -7.17903618e-01 4.38289043e-03 4.97707744e+02] [ 7.17889935e-01 -6.96142508e-01 -4.43265938e-03 -2.71071218e+02] [ 6.23333854e-03 6.07314569e-05 9.99980571e-01 -5.90794140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.586559995 meters 0.050382694954807745 Centerline is valid? [True, True] Translation: X:497.66, Y:-271.04, Z:-5.91 [[-6.92465256e-01 -7.21440098e-01 4.00682370e-03 4.97662927e+02] [ 7.21428729e-01 -6.92476843e-01 -4.05108714e-03 -2.71036233e+02] [ 5.69724933e-03 8.54006387e-05 9.99983767e-01 -5.90956705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.646559995 meters 0.05012994182737607 Centerline is valid? [True, True] Translation: X:497.62, Y:-270.99, Z:-5.91 [[-6.91061923e-01 -7.22778431e-01 4.97578573e-03 4.97624984e+02] [ 7.22760944e-01 -6.91079825e-01 -5.02923655e-03 -2.70994198e+02] [ 7.07368884e-03 1.20789707e-04 9.99974974e-01 -5.90913830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7065599950001 meters 0.04969247476780936 Centerline is valid? [True, True] Translation: X:497.59, Y:-270.95, Z:-5.91 [[-6.91385133e-01 -7.22464806e-01 5.58587643e-03 4.97586127e+02] [ 7.22442770e-01 -6.91407685e-01 -5.64423746e-03 -2.70952046e+02] [ 7.93988081e-03 1.33134175e-04 9.99968470e-01 -5.90884021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.766559995 meters 0.04994940052171575 Centerline is valid? [True, True] Translation: X:497.55, Y:-270.91, Z:-5.91 [[-6.93486253e-01 -7.20437602e-01 6.81755563e-03 4.97546436e+02] [ 7.20404695e-01 -6.93519750e-01 -6.88705753e-03 -2.70909619e+02] [ 9.68980469e-03 1.35319372e-04 9.99953044e-01 -5.90970985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.826559995 meters 0.0494630968425286 Centerline is valid? [True, True] Translation: X:497.51, Y:-270.87, Z:-5.91 [[-6.97773430e-01 -7.16278372e-01 7.58518534e-03 4.97508708e+02] [ 7.16237412e-01 -6.97814651e-01 -7.66044890e-03 -2.70865842e+02] [ 1.07800673e-02 8.75358146e-05 9.99941890e-01 -5.91038224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.886559995 meters 0.05051965400546127 Centerline is valid? [True, True] Translation: X:497.47, Y:-270.82, Z:-5.91 [[-7.01782376e-01 -7.12348441e-01 7.82279434e-03 4.97471445e+02] [ 7.12304652e-01 -7.01825974e-01 -7.89841279e-03 -2.70822665e+02] [ 1.11166623e-02 2.92459031e-05 9.99938208e-01 -5.91127291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9465599950001 meters 0.050618315733029606 Centerline is valid? [True, True] Translation: X:497.44, Y:-270.78, Z:-5.91 [[-7.08183892e-01 -7.05990704e-01 7.25955871e-03 4.97436566e+02] [ 7.05952678e-01 -7.08221097e-01 -7.32768484e-03 -2.70776508e+02] [ 1.03146500e-02 -6.44434604e-05 9.99946801e-01 -5.91083609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.006559995 meters 0.04981173687425583 Centerline is valid? [True, True] Translation: X:497.40, Y:-270.73, Z:-5.91 [[-7.11207250e-01 -7.02946605e-01 7.09349058e-03 4.97400327e+02] [ 7.02910165e-01 -7.11242616e-01 -7.15829157e-03 -2.70733992e+02] [ 1.00770896e-02 -1.04942228e-04 9.99949219e-01 -5.91084403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.066559995 meters 0.05021072513168144 Centerline is valid? [True, True] Translation: X:497.36, Y:-270.70, Z:-5.91 [[-7.12360718e-01 -7.01777119e-01 7.14728751e-03 4.97358204e+02] [ 7.01740085e-01 -7.12396562e-01 -7.21053335e-03 -2.70695455e+02] [ 1.01518904e-02 -1.20962562e-04 9.99948461e-01 -5.90860287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.126559995 meters 0.05014782258430984 Centerline is valid? [True, True] Translation: X:497.32, Y:-270.65, Z:-5.91 [[-7.10753051e-01 -7.03396412e-01 7.97420668e-03 4.97321907e+02] [ 7.03350442e-01 -7.10797774e-01 -8.04233481e-03 -2.70652719e+02] [ 1.13249978e-02 -1.07452205e-04 9.99935864e-01 -5.91441470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1865599950002 meters 0.050318180936998164 Centerline is valid? [True, True] Translation: X:497.28, Y:-270.62, Z:-5.91 [[-7.08777399e-01 -7.05382166e-01 8.40223789e-03 4.97279409e+02] [ 7.05331301e-01 -7.08827196e-01 -8.47128980e-03 -2.70616006e+02] [ 1.19312315e-02 -7.78973771e-05 9.99928817e-01 -5.91120188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.246559995 meters 0.04992388106926308 Centerline is valid? [True, True] Translation: X:497.24, Y:-270.58, Z:-5.91 [[-7.05088112e-01 -7.09069490e-01 8.43872338e-03 4.97236088e+02] [ 7.09018476e-01 -7.05138609e-01 -8.50546877e-03 -2.70579248e+02] [ 1.19814381e-02 -1.38941301e-05 9.99928220e-01 -5.91240064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.306559995 meters 0.049749452058043854 Centerline is valid? [True, True] Translation: X:497.19, Y:-270.54, Z:-5.91 [[-7.02346334e-01 -7.11788997e-01 8.12717448e-03 4.97192063e+02] [ 7.11741890e-01 -7.02393353e-01 -8.18903853e-03 -2.70541767e+02] [ 1.15373409e-02 3.29093333e-05 9.99933442e-01 -5.91108385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.366559995 meters 0.05034629329677075 Centerline is valid? [True, True] Translation: X:497.15, Y:-270.50, Z:-5.91 [[-7.01536576e-01 -7.12589998e-01 7.86942433e-03 4.97150990e+02] [ 7.12545907e-01 -7.01580710e-01 -7.92698663e-03 -2.70502249e+02] [ 1.11697277e-02 4.62550449e-05 9.99937616e-01 -5.91013871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4265599950002 meters 0.05000169835522496 Centerline is valid? [True, True] Translation: X:497.11, Y:-270.46, Z:-5.91 [[-7.01290634e-01 -7.12841605e-01 6.94925806e-03 4.97109602e+02] [ 7.12807254e-01 -7.01325063e-01 -6.99813990e-03 -2.70462098e+02] [ 9.86225413e-03 4.57515897e-05 9.99951366e-01 -5.90896279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.486559995 meters 0.049498984476000096 Centerline is valid? [True, True] Translation: X:497.07, Y:-270.42, Z:-5.91 [[-7.00622201e-01 -7.13509042e-01 5.77742425e-03 4.97067125e+02] [ 7.13485337e-01 -7.00646020e-01 -5.81627065e-03 -2.70424988e+02] [ 8.19789100e-03 4.70991454e-05 9.99966396e-01 -5.91078366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.546559995 meters 0.050264752136388945 Centerline is valid? [True, True] Translation: X:497.03, Y:-270.38, Z:-5.91 [[-7.00052972e-01 -7.14075524e-01 4.68869588e-03 4.97027114e+02] [ 7.14059933e-01 -7.00068672e-01 -4.71882614e-03 -2.70384030e+02] [ 6.65200734e-03 4.45816064e-05 9.99977874e-01 -5.90736239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.606559995 meters 0.04970681459975836 Centerline is valid? [True, True] Translation: X:496.98, Y:-270.35, Z:-5.91 [[-6.99181115e-01 -7.14932163e-01 4.21549459e-03 4.96984144e+02] [ 7.14919584e-01 -6.99193821e-01 -4.24127961e-03 -2.70347440e+02] [ 5.97967498e-03 4.83170382e-05 9.99982120e-01 -5.90920409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.666559995 meters 0.049525936084487666 Centerline is valid? [True, True] Translation: X:496.94, Y:-270.31, Z:-5.91 [[-6.98683511e-01 -7.15410558e-01 5.39311492e-03 4.96943910e+02] [ 7.15389993e-01 -6.98704322e-01 -5.42477052e-03 -2.70305379e+02] [ 7.64913081e-03 6.79827323e-05 9.99970743e-01 -5.90872149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7265599950001 meters 0.05060854634786323 Centerline is valid? [True, True] Translation: X:496.90, Y:-270.27, Z:-5.91 [[-6.98647411e-01 -7.15435279e-01 6.64506347e-03 4.96903105e+02] [ 7.15404077e-01 -6.98679007e-01 -6.68220812e-03 -2.70265330e+02] [ 9.42345377e-03 8.53980969e-05 9.99955595e-01 -5.91072393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.786559995 meters 0.05000988127615767 Centerline is valid? [True, True] Translation: X:496.86, Y:-270.22, Z:-5.91 [[-6.99474684e-01 -7.14610342e-01 8.19911549e-03 4.96863914e+02] [ 7.14562808e-01 -6.99522730e-01 -8.24281454e-03 -2.70222131e+02] [ 1.16258682e-02 9.31428956e-05 9.99932413e-01 -5.91156887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.846559995 meters 0.050385699545044384 Centerline is valid? [True, True] Translation: X:496.83, Y:-270.18, Z:-5.91 [[-7.00469282e-01 -7.13631516e-01 8.53488933e-03 4.96825061e+02] [ 7.13579965e-01 -7.00521272e-01 -8.57788952e-03 -2.70180633e+02] [ 1.21003238e-02 8.17779151e-05 9.99926785e-01 -5.91191263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.906559995 meters 0.05049493477892916 Centerline is valid? [True, True] Translation: X:496.79, Y:-270.14, Z:-5.91 [[-7.02383859e-01 -7.11759638e-01 7.42517793e-03 4.96786383e+02] [ 7.11720536e-01 -7.02423104e-01 -7.46069771e-03 -2.70136391e+02] [ 1.05258400e-02 4.43779755e-05 9.99944601e-01 -5.90898020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9665599950001 meters 0.05006789918418109 Centerline is valid? [True, True] Translation: X:496.75, Y:-270.09, Z:-5.91 [[-7.04588928e-01 -7.09585798e-01 6.51443899e-03 4.96747639e+02] [ 7.09555623e-01 -7.04619043e-01 -6.54386378e-03 -2.70093601e+02] [ 9.23363057e-03 1.16228525e-05 9.99957369e-01 -5.90807728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.026559995 meters 0.0504842129609436 Centerline is valid? [True, True] Translation: X:496.71, Y:-270.05, Z:-5.91 [[-7.09369143e-01 -7.04807069e-01 6.51265245e-03 4.96711286e+02] [ 7.04776724e-01 -7.09399037e-01 -6.54033453e-03 -2.70049723e+02] [ 9.22974338e-03 -4.95456445e-05 9.99957404e-01 -5.90897953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.086559995 meters 0.04986328726792164 Centerline is valid? [True, True] Translation: X:496.67, Y:-270.01, Z:-5.91 [[-7.13448477e-01 -7.00682081e-01 5.99105864e-03 4.96674853e+02] [ 7.00656267e-01 -7.13473625e-01 -6.01519363e-03 -2.70005283e+02] [ 8.48920072e-03 -9.38579525e-05 9.99963962e-01 -5.90894043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.146559995 meters 0.050401945363552594 Centerline is valid? [True, True] Translation: X:496.64, Y:-269.96, Z:-5.91 [[-7.14936476e-01 -6.99161943e-01 6.19780672e-03 4.96636576e+02] [ 6.99134273e-01 -7.14963331e-01 -6.22122169e-03 -2.69964757e+02] [ 8.78084598e-03 -1.14679210e-04 9.99961441e-01 -5.90790331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2065599950001 meters 0.0508421591306119 Centerline is valid? [True, True] Translation: X:496.59, Y:-269.93, Z:-5.91 [[-7.14407159e-01 -6.99699310e-01 6.57928735e-03 4.96593537e+02] [ 6.99668171e-01 -7.14437445e-01 -6.60206105e-03 -2.69927497e+02] [ 9.31994681e-03 -1.13241732e-04 9.99956562e-01 -5.90621091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.266559995 meters 0.05026199528104725 Centerline is valid? [True, True] Translation: X:496.56, Y:-269.88, Z:-5.91 [[-7.12149125e-01 -7.01993032e-01 7.02901381e-03 4.96556998e+02] [ 7.01957622e-01 -7.12183808e-01 -7.05137478e-03 -2.69884678e+02] [ 9.95596577e-03 -8.75605659e-05 9.99950434e-01 -5.91061953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.326559995 meters 0.05022750255071576 Centerline is valid? [True, True] Translation: X:496.51, Y:-269.85, Z:-5.91 [[-7.09874836e-01 -7.04295745e-01 6.72468329e-03 4.96513574e+02] [ 7.04263454e-01 -7.09906685e-01 -6.74432751e-03 -2.69846195e+02] [ 9.52389879e-03 -5.16796997e-05 9.99954645e-01 -5.90859764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.386559995 meters 0.05008530380056158 Centerline is valid? [True, True] Translation: X:496.47, Y:-269.81, Z:-5.91 [[-7.09388584e-01 -7.04787970e-01 6.46166053e-03 4.96472865e+02] [ 7.04758193e-01 -7.09418011e-01 -6.47872263e-03 -2.69805737e+02] [ 9.15014413e-03 -4.20236775e-05 9.99958136e-01 -5.90944516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4465599950001 meters 0.05032785666472243 Centerline is valid? [True, True] Translation: X:496.43, Y:-269.77, Z:-5.91 [[-7.08379647e-01 -7.05808249e-01 5.74386122e-03 4.96433506e+02] [ 7.05784770e-01 -7.08402933e-01 -5.75703656e-03 -2.69766775e+02] [ 8.13233202e-03 -2.42377579e-05 9.99966932e-01 -5.90881861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.506559995 meters 0.0501652984084286 Centerline is valid? [True, True] Translation: X:496.39, Y:-269.73, Z:-5.91 [[-7.07535841e-01 -7.06661944e-01 4.68306232e-03 4.96394561e+02] [ 7.06646366e-01 -7.07551339e-01 -4.69221638e-03 -2.69727026e+02] [ 6.62931776e-03 -1.06422947e-05 9.99978026e-01 -5.90834479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.566559995 meters 0.04973128764693329 Centerline is valid? [True, True] Translation: X:496.35, Y:-269.69, Z:-5.91 [[-7.06079666e-01 -7.08114745e-01 5.00122584e-03 4.96353283e+02] [ 7.08097027e-01 -7.06097378e-01 -5.00931384e-03 -2.69689290e+02] [ 7.07852145e-03 4.37849976e-06 9.99974947e-01 -5.90888442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.626559995 meters 0.050306585230606604 Centerline is valid? [True, True] Translation: X:496.31, Y:-269.65, Z:-5.91 [[-7.04439090e-01 -7.09747511e-01 4.90302687e-03 4.96310801e+02] [ 7.09730530e-01 -7.04456152e-01 -4.90955689e-03 -2.69650384e+02] [ 6.93851322e-03 2.13440740e-05 9.99975928e-01 -5.90799959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6865599950002 meters 0.05010086843352631 Centerline is valid? [True, True] Translation: X:496.27, Y:-269.61, Z:-5.91 [[-7.03723717e-01 -7.10453907e-01 5.30807059e-03 4.96269450e+02] [ 7.10434038e-01 -7.03743735e-01 -5.31345934e-03 -2.69612105e+02] [ 7.51048937e-03 3.18266683e-05 9.99971795e-01 -5.91008837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.746559995 meters 0.050191389840939966 Centerline is valid? [True, True] Translation: X:496.23, Y:-269.57, Z:-5.91 [[-7.03821668e-01 -7.10346973e-01 6.49907409e-03 4.96228700e+02] [ 7.10317200e-01 -7.03851672e-01 -6.50373896e-03 -2.69572655e+02] [ 9.19429545e-03 3.89317069e-05 9.99957731e-01 -5.91069892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.806559995 meters 0.050266765256920795 Centerline is valid? [True, True] Translation: X:496.19, Y:-269.53, Z:-5.91 [[-7.04274567e-01 -7.09888380e-01 7.47139591e-03 4.96187508e+02] [ 7.09849025e-01 -7.04314196e-01 -7.47495322e-03 -2.69531492e+02] [ 1.05685926e-02 3.91436591e-05 9.99944150e-01 -5.91067395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.866559995 meters 0.050769754881896195 Centerline is valid? [True, True] Translation: X:496.15, Y:-269.49, Z:-5.91 [[-7.03800780e-01 -7.10362048e-01 7.08685719e-03 4.96146446e+02] [ 7.10326682e-01 -7.03836458e-01 -7.08835406e-03 -2.69490919e+02] [ 1.00232862e-02 4.51946446e-05 9.99949765e-01 -5.90933003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9265599950002 meters 0.05072075425337126 Centerline is valid? [True, True] Translation: X:496.10, Y:-269.45, Z:-5.91 [[-7.02808486e-01 -7.11347253e-01 6.73177132e-03 4.96104340e+02] [ 7.11315406e-01 -7.02840723e-01 -6.73140613e-03 -2.69451336e+02] [ 9.51973029e-03 5.75232935e-05 9.99954685e-01 -5.90892829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.986559995 meters 0.050939274974861184 Centerline is valid? [True, True] Translation: X:496.01, Y:-269.47, Z:-5.91 [[-6.52991358e-01 -7.57338199e-01 6.41394638e-03 4.96012193e+02] [ 7.57302626e-01 -6.53022854e-01 -7.34061817e-03 -2.69474831e+02] [ 9.74778412e-03 6.39382131e-05 9.99952487e-01 -5.91034800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.046559995 meters 0.04992845102611481 Centerline is valid? [True, True] Translation: X:495.98, Y:-269.43, Z:-5.91 [[-6.52915637e-01 -7.57399632e-01 6.85344704e-03 4.95975243e+02] [ 7.57359037e-01 -6.52951601e-01 -7.84192654e-03 -2.69432129e+02] [ 1.04144415e-02 7.04035913e-05 9.99945766e-01 -5.91067342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.106559995 meters 0.049708963930940875 Centerline is valid? [True, True] Translation: X:495.94, Y:-269.39, Z:-5.91 [[-6.52834388e-01 -7.57480895e-01 5.47324091e-03 4.95938140e+02] [ 7.57455023e-01 -6.52857328e-01 -6.26080554e-03 -2.69389140e+02] [ 8.31568602e-03 5.84646661e-05 9.99965422e-01 -5.90767780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.166559995 meters 0.05015151936393371 Centerline is valid? [True, True] Translation: X:495.90, Y:-269.35, Z:-5.91 [[-6.52723626e-01 -7.57582655e-01 4.51531720e-03 4.95899482e+02] [ 7.57565059e-01 -6.52739242e-01 -5.16365837e-03 -2.69345829e+02] [ 6.85922274e-03 5.02047232e-05 9.99976474e-01 -5.90638033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2265599950001 meters 0.049634165542723846 Centerline is valid? [True, True] Translation: X:495.86, Y:-269.30, Z:-5.91 [[-6.52600050e-01 -7.57694706e-01 3.45060369e-03 4.95861924e+02] [ 7.57684438e-01 -6.52609172e-01 -3.94481980e-03 -2.69303587e+02] [ 5.24086469e-03 4.00791164e-05 9.99986266e-01 -5.90565364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.286559995 meters 0.050371183668161255 Centerline is valid? [True, True] Translation: X:495.83, Y:-269.26, Z:-5.90 [[-6.52409437e-01 -7.57856810e-01 3.87074028e-03 4.95825163e+02] [ 7.57843899e-01 -6.52420918e-01 -4.42394061e-03 -2.69258542e+02] [ 5.87806544e-03 4.71963070e-05 9.99982723e-01 -5.90478341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.346559995 meters 0.0501274324300727 Centerline is valid? [True, True] Translation: X:495.79, Y:-269.22, Z:-5.91 [[-6.52440637e-01 -7.57826762e-01 4.45122552e-03 4.95786526e+02] [ 7.57809698e-01 -6.52455819e-01 -5.08594359e-03 -2.69216846e+02] [ 6.75849215e-03 5.49055887e-05 9.99977160e-01 -5.90633291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.406559995 meters 0.050091337255087846 Centerline is valid? [True, True] Translation: X:495.75, Y:-269.17, Z:-5.91 [[-6.52770025e-01 -7.57538698e-01 5.13966313e-03 4.95748683e+02] [ 7.57515951e-01 -6.52790255e-01 -5.87081481e-03 -2.69174583e+02] [ 7.80249142e-03 6.10848710e-05 9.99969558e-01 -5.90700925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4665599950001 meters 0.050060154258400616 Centerline is valid? [True, True] Translation: X:495.71, Y:-269.13, Z:-5.91 [[-6.53204612e-01 -7.57161020e-01 5.56099410e-03 4.95711461e+02] [ 7.57134393e-01 -6.53228280e-01 -6.35020761e-03 -2.69131283e+02] [ 8.44072828e-03 6.24349965e-05 9.99964374e-01 -5.90707347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.526559995 meters 0.05049492614689671 Centerline is valid? [True, True] Translation: X:495.67, Y:-269.09, Z:-5.91 [[-6.54022652e-01 -7.56454605e-01 5.54993459e-03 4.95674498e+02] [ 7.56428074e-01 -6.54046197e-01 -6.33561074e-03 -2.69088452e+02] [ 8.42251553e-03 5.44934009e-05 9.99964529e-01 -5.90750892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.586559995 meters 0.050101084112318416 Centerline is valid? [True, True] Translation: X:495.64, Y:-269.04, Z:-5.91 [[-6.55289897e-01 -7.55360755e-01 5.02808056e-03 4.95637147e+02] [ 7.55338956e-01 -6.55309186e-01 -5.73870390e-03 -2.69044662e+02] [ 7.62973909e-03 3.73904362e-05 9.99970892e-01 -5.90638136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.646559995 meters 0.04996674622103029 Centerline is valid? [True, True] Translation: X:495.60, Y:-269.00, Z:-5.90 [[-6.55786766e-01 -7.54931346e-01 4.73085200e-03 4.95602046e+02] [ 7.54912046e-01 -6.55803829e-01 -5.39822079e-03 -2.69000672e+02] [ 7.17779694e-03 3.12954069e-05 9.99974239e-01 -5.90268214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7065599950001 meters 0.050263112935401415 Centerline is valid? [True, True] Translation: X:495.56, Y:-268.96, Z:-5.90 [[-6.55147934e-01 -7.55492138e-01 3.57963006e-03 4.95563182e+02] [ 7.55481103e-01 -6.55157713e-01 -4.08348183e-03 -2.68959211e+02] [ 5.43026066e-03 2.90581803e-05 9.99985256e-01 -5.90432756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.766559995 meters 0.049904888870480515 Centerline is valid? [True, True] Translation: X:495.52, Y:-268.92, Z:-5.90 [[-6.53610668e-01 -7.56822727e-01 3.52912035e-03 4.95524075e+02] [ 7.56812027e-01 -6.53620194e-01 -4.02463137e-03 -2.68918736e+02] [ 5.35263681e-03 4.03387273e-05 9.99985674e-01 -5.90443970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.826559995 meters 0.04976102612238648 Centerline is valid? [True, True] Translation: X:495.49, Y:-268.88, Z:-5.91 [[-6.52728263e-01 -7.57578582e-01 4.52839576e-03 4.95485282e+02] [ 7.57560993e-01 -6.52743968e-01 -5.16274636e-03 -2.68876670e+02] [ 6.86706908e-03 6.06655235e-05 9.99976420e-01 -5.90627272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.886559995 meters 0.05006914990642869 Centerline is valid? [True, True] Translation: X:495.45, Y:-268.83, Z:-5.91 [[-6.53809803e-01 -7.56637790e-01 5.65646761e-03 4.95450059e+02] [ 7.56610325e-01 -6.53834268e-01 -6.44711727e-03 -2.68830293e+02] [ 8.57652492e-03 6.45533200e-05 9.99963219e-01 -5.90522501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9465599950001 meters 0.04988501203735312 Centerline is valid? [True, True] Translation: X:495.41, Y:-268.79, Z:-5.91 [[-6.56470013e-01 -7.54335506e-01 5.00671137e-03 4.95413134e+02] [ 7.54313932e-01 -6.56489104e-01 -5.70507792e-03 -2.68785357e+02] [ 7.59039430e-03 3.14195674e-05 9.99971192e-01 -5.90542910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.006559995 meters 0.04982959915876057 Centerline is valid? [True, True] Translation: X:495.38, Y:-268.74, Z:-5.91 [[-6.61291694e-01 -7.50117209e-01 4.17950748e-03 4.95379724e+02] [ 7.50102099e-01 -6.61304902e-01 -4.76113659e-03 -2.68739246e+02] [ 6.33533927e-03 -1.34427499e-05 9.99979931e-01 -5.90594496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.066559995 meters 0.049714489928928615 Centerline is valid? [True, True] Translation: X:495.34, Y:-268.69, Z:-5.91 [[-6.64263521e-01 -7.47485536e-01 4.39858365e-03 4.95344983e+02] [ 7.47468752e-01 -6.64278083e-01 -5.00923010e-03 -2.68693917e+02] [ 6.66620976e-03 -3.96449928e-05 9.99977780e-01 -5.90699799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.126559995 meters 0.049918810801376924 Centerline is valid? [True, True] Translation: X:495.31, Y:-268.65, Z:-5.91 [[-6.66122178e-01 -7.45821049e-01 5.67506725e-03 4.95309010e+02] [ 7.45793066e-01 -6.66146349e-01 -6.46105145e-03 -2.68648894e+02] [ 8.59921349e-03 -7.14238605e-05 9.99963024e-01 -5.90672337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1865599950002 meters 0.04946159053315177 Centerline is valid? [True, True] Translation: X:495.27, Y:-268.61, Z:-5.91 [[-6.65698148e-01 -7.46195801e-01 6.14840870e-03 4.95271626e+02] [ 7.46162991e-01 -6.65726537e-01 -6.99779717e-03 -2.68605844e+02] [ 9.31488569e-03 -7.07055873e-05 9.99956613e-01 -5.90705632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.246559995 meters 0.04974473354352393 Centerline is valid? [True, True] Translation: X:495.23, Y:-268.56, Z:-5.91 [[-6.65085536e-01 -7.46744852e-01 5.77541603e-03 4.95233759e+02] [ 7.46715941e-01 -6.65110609e-01 -6.57122999e-03 -2.68563467e+02] [ 8.74832264e-03 -5.78348089e-05 9.99961731e-01 -5.90652341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.306559995 meters 0.04980204393573861 Centerline is valid? [True, True] Translation: X:495.20, Y:-268.52, Z:-5.91 [[-6.64814052e-01 -7.46990203e-01 5.28319836e-03 4.95197829e+02] [ 7.46966033e-01 -6.64835043e-01 -6.00923583e-03 -2.68519804e+02] [ 8.00129570e-03 -4.86546963e-05 9.99967988e-01 -5.90833622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.366559995 meters 0.04988157018158422 Centerline is valid? [True, True] Translation: X:495.16, Y:-268.48, Z:-5.91 [[-6.63768524e-01 -7.47921453e-01 4.98461265e-03 4.95160503e+02] [ 7.47899978e-01 -6.63787239e-01 -5.66776713e-03 -2.68477908e+02] [ 7.54776689e-03 -3.40937306e-05 9.99971515e-01 -5.90853192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4265599950002 meters 0.04942928662355046 Centerline is valid? [True, True] Translation: X:495.12, Y:-268.44, Z:-5.91 [[-6.63240961e-01 -7.48387801e-01 5.20837232e-03 4.95123163e+02] [ 7.48364384e-01 -6.63261410e-01 -5.92026972e-03 -2.68435986e+02] [ 7.88517001e-03 -2.88050324e-05 9.99968911e-01 -5.90844356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.486559995 meters 0.049346028823775194 Centerline is valid? [True, True] Translation: X:495.09, Y:-268.39, Z:-5.91 [[-6.62946787e-01 -7.48645594e-01 5.59759921e-03 4.95085097e+02] [ 7.48618571e-01 -6.62970417e-01 -6.36085771e-03 -2.68393422e+02] [ 8.47307078e-03 -2.64434572e-05 9.99964103e-01 -5.90810131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.546559995 meters 0.04965957898466504 Centerline is valid? [True, True] Translation: X:495.05, Y:-268.35, Z:-5.91 [[-6.62630499e-01 -7.48926805e-01 5.42795077e-03 4.95047632e+02] [ 7.48901421e-01 -6.62652730e-01 -6.16608419e-03 -2.68350886e+02] [ 8.21479213e-03 -2.08354013e-05 9.99966258e-01 -5.90828073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.606559995 meters 0.049913870306850475 Centerline is valid? [True, True] Translation: X:495.01, Y:-268.31, Z:-5.91 [[-6.61375939e-01 -7.50038134e-01 4.96636841e-03 4.95008206e+02] [ 7.50016926e-01 -6.61394585e-01 -5.64038326e-03 -2.68307972e+02] [ 7.51523171e-03 -5.55340832e-06 9.99971760e-01 -5.90725286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.666559995 meters 0.049175819985513354 Centerline is valid? [True, True] Translation: X:494.97, Y:-268.26, Z:-5.91 [[-6.60485723e-01 -7.50822767e-01 4.87665388e-03 4.94969056e+02] [ 7.50802350e-01 -6.60503726e-01 -5.53710180e-03 -2.68264469e+02] [ 7.37843016e-03 4.22650961e-06 9.99972779e-01 -5.90744512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7265599950001 meters 0.04938518052362732 Centerline is valid? [True, True] Translation: X:494.93, Y:-268.22, Z:-5.91 [[-6.59489026e-01 -7.51700000e-01 4.61881965e-03 4.94930608e+02] [ 7.51681718e-01 -6.59505200e-01 -5.24268006e-03 -2.68223359e+02] [ 6.98705818e-03 1.43923245e-05 9.99975590e-01 -5.91002923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.786559995 meters 0.04905871779910718 Centerline is valid? [True, True] Translation: X:494.89, Y:-268.18, Z:-5.91 [[-6.57029860e-01 -7.53853099e-01 4.15552470e-03 4.94891561e+02] [ 7.53838354e-01 -6.57043000e-01 -4.71512225e-03 -2.68184521e+02] [ 6.28486793e-03 3.46177937e-05 9.99980249e-01 -5.91073165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.846559995 meters 0.04937531190967776 Centerline is valid? [True, True] Translation: X:494.85, Y:-268.14, Z:-5.91 [[-6.53660013e-01 -7.56780618e-01 3.41828872e-03 4.94853059e+02] [ 7.56770685e-01 -6.53668948e-01 -3.87758618e-03 -2.68141455e+02] [ 5.16891126e-03 5.22376604e-05 9.99986640e-01 -5.90865053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.906559995 meters 0.04944268585398756 Centerline is valid? [True, True] Translation: X:494.81, Y:-268.10, Z:-5.91 [[-6.52048589e-01 -7.58169073e-01 3.50637828e-03 4.94814828e+02] [ 7.58158647e-01 -6.52058014e-01 -3.97651247e-03 -2.68097335e+02] [ 5.30123082e-03 6.55116700e-05 9.99985946e-01 -5.90788079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9665599950001 meters 0.04912034627494452 Centerline is valid? [True, True] Translation: X:494.78, Y:-268.06, Z:-5.91 [[-6.50567994e-01 -7.59435653e-01 4.33293812e-03 4.94775622e+02] [ 7.59419770e-01 -6.50582416e-01 -4.91260350e-03 -2.68055693e+02] [ 6.54973960e-03 9.45362718e-05 9.99978546e-01 -5.90944865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.026559995 meters 0.05017934973448638 Centerline is valid? [True, True] Translation: X:494.73, Y:-268.02, Z:-5.91 [[-6.51223645e-01 -7.58870602e-01 4.81400582e-03 4.94734381e+02] [ 7.58850992e-01 -6.51241430e-01 -5.45634831e-03 -2.68017163e+02] [ 7.27574236e-03 9.98100602e-05 9.99973526e-01 -5.91258895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.086559995 meters 0.04896526366472703 Centerline is valid? [True, True] Translation: X:494.70, Y:-267.97, Z:-5.91 [[-6.52772743e-01 -7.57543241e-01 3.99786878e-03 4.94701811e+02] [ 7.57529700e-01 -6.52784982e-01 -4.53012854e-03 -2.67968252e+02] [ 6.04151696e-03 7.13599014e-05 9.99981747e-01 -5.90890544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.146559995 meters 0.04855003085854511 Centerline is valid? [True, True] Translation: X:494.66, Y:-267.92, Z:-5.91 [[-6.55686968e-01 -7.55022627e-01 3.92854073e-03 4.94664228e+02] [ 7.55009509e-01 -6.55698735e-01 -4.45090573e-03 -2.67923463e+02] [ 5.93647372e-03 4.76847260e-05 9.99982378e-01 -5.90932249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2065599950001 meters 0.04917072001996709 Centerline is valid? [True, True] Translation: X:494.63, Y:-267.88, Z:-5.91 [[-6.58408734e-01 -7.52650229e-01 3.94606982e-03 4.94628222e+02] [ 7.52636958e-01 -6.58420559e-01 -4.46957522e-03 -2.67878383e+02] [ 5.96220031e-03 2.71506171e-05 9.99982226e-01 -5.90878056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.266559995 meters 0.04931943120994735 Centerline is valid? [True, True] Translation: X:494.59, Y:-267.83, Z:-5.91 [[-6.59798325e-01 -7.51432711e-01 3.87950870e-03 4.94590489e+02] [ 7.51419871e-01 -6.59809730e-01 -4.39286029e-03 -2.67834987e+02] [ 5.86067651e-03 1.67380653e-05 9.99982826e-01 -5.90887453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.326559995 meters 0.04956480949543709 Centerline is valid? [True, True] Translation: X:494.55, Y:-267.79, Z:-5.91 [[-6.62288851e-01 -7.49236646e-01 4.23394582e-03 4.94554440e+02] [ 7.49221317e-01 -6.62302385e-01 -4.79269209e-03 -2.67791726e+02] [ 6.39501296e-03 -1.98408029e-06 9.99979552e-01 -5.91003347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.386559995 meters 0.05015552081323089 Centerline is valid? [True, True] Translation: X:494.52, Y:-267.75, Z:-5.91 [[-6.65839917e-01 -7.46080421e-01 4.60557296e-03 4.94518950e+02] [ 7.46062216e-01 -6.65855844e-01 -5.21194681e-03 -2.67746347e+02] [ 6.95517914e-03 -3.42782569e-05 9.99975812e-01 -5.91058943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4465599950001 meters 0.0496333014063954 Centerline is valid? [True, True] Translation: X:494.48, Y:-267.70, Z:-5.91 [[-6.68411543e-01 -7.43778138e-01 4.48227591e-03 4.94480515e+02] [ 7.43760854e-01 -6.68426569e-01 -5.07094592e-03 -2.67703919e+02] [ 6.76773103e-03 -5.57374285e-05 9.99977097e-01 -5.90765188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.506559995 meters 0.050275687432881015 Centerline is valid? [True, True] Translation: X:494.45, Y:-267.66, Z:-5.91 [[-6.73075807e-01 -7.39563661e-01 3.81436165e-03 4.94449519e+02] [ 7.39551083e-01 -6.73086610e-01 -4.31402204e-03 -2.67656818e+02] [ 5.75788968e-03 -8.27485759e-05 9.99983420e-01 -5.90983106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.566559995 meters 0.05030193521912964 Centerline is valid? [True, True] Translation: X:494.41, Y:-267.62, Z:-5.91 [[-6.77330204e-01 -7.35675719e-01 2.24306424e-03 4.94405836e+02] [ 7.35671351e-01 -6.77333915e-01 -2.53616726e-03 -2.67619065e+02] [ 3.38510016e-03 -6.76645942e-05 9.99994268e-01 -5.90656755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.626559995 meters 0.050129673158540125 Centerline is valid? [True, True] Translation: X:494.37, Y:-267.57, Z:-5.91 [[-6.79429993e-01 -7.33739278e-01 1.24773425e-03 4.94369018e+02] [ 7.33737923e-01 -6.79431137e-01 -1.41065754e-03 -2.67574479e+02] [ 1.88280435e-03 -4.29331091e-05 9.99998227e-01 -5.90629190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6865599950002 meters 0.05011959652852721 Centerline is valid? [True, True] Translation: X:494.33, Y:-267.53, Z:-5.91 [[-6.78909523e-01 -7.34220933e-01 1.21724734e-03 4.94331856e+02] [ 7.34219645e-01 -6.78910613e-01 -1.37585947e-03 -2.67531019e+02] [ 1.83658696e-03 -4.03571805e-05 9.99998313e-01 -5.90697322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.746559995 meters 0.05037989657014604 Centerline is valid? [True, True] Translation: X:494.29, Y:-267.49, Z:-5.91 [[-6.75531468e-01 -7.37327848e-01 2.20893454e-03 4.94288393e+02] [ 7.37323625e-01 -6.75535077e-01 -2.49614681e-03 -2.67492787e+02] [ 3.33269132e-03 -5.75261005e-05 9.99994445e-01 -5.90859322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.806559995 meters 0.05059058162469171 Centerline is valid? [True, True] Translation: X:494.25, Y:-267.45, Z:-5.91 [[-6.72015035e-01 -7.40532877e-01 2.61747264e-03 4.94245939e+02] [ 7.40526973e-01 -6.72020131e-01 -2.95735241e-03 -2.67452701e+02] [ 3.94901099e-03 -4.90761866e-05 9.99992201e-01 -5.90914493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.866559995 meters 0.049569008747732214 Centerline is valid? [True, True] Translation: X:494.20, Y:-267.41, Z:-5.91 [[-6.66129479e-01 -7.45827259e-01 3.63556648e-03 4.94204176e+02] [ 7.45815952e-01 -6.66139399e-01 -4.10683707e-03 -2.67413830e+02] [ 5.48478511e-03 -2.42217624e-05 9.99984958e-01 -5.90997799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9265599950002 meters 0.05011985860485172 Centerline is valid? [True, True] Translation: X:494.16, Y:-267.37, Z:-5.91 [[-6.63093607e-01 -7.48526056e-01 3.95119932e-03 4.94161885e+02] [ 7.48512755e-01 -6.63105379e-01 -4.46219868e-03 -2.67374423e+02] [ 5.96013351e-03 -1.33233091e-06 9.99982238e-01 -5.90996043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.986559995 meters 0.05055151486826714 Centerline is valid? [True, True] Translation: X:494.12, Y:-267.33, Z:-5.91 [[-6.61327908e-01 -7.50087859e-01 3.68808636e-03 4.94120404e+02] [ 7.50076301e-01 -6.61338192e-01 -4.16387407e-03 -2.67334588e+02] [ 5.56234375e-03 1.26600439e-05 9.99984530e-01 -5.90742370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.046559995 meters 0.050131584917315127 Centerline is valid? [True, True] Translation: X:494.08, Y:-267.29, Z:-5.91 [[-6.62344271e-01 -7.49195797e-01 2.39257347e-03 4.94079334e+02] [ 7.49190929e-01 -6.62348592e-01 -2.70077865e-03 -2.67293537e+02] [ 3.60812968e-03 3.64907262e-06 9.99993491e-01 -5.90720205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.106559995 meters 0.05085964867513162 Centerline is valid? [True, True] Translation: X:494.04, Y:-267.25, Z:-5.91 [[-6.64043014e-01 -7.47692985e-01 1.44056347e-03 4.94039290e+02] [ 7.47691218e-01 -6.64044577e-01 -1.62581246e-03 -2.67253073e+02] [ 2.17220693e-03 -2.51275148e-06 9.99997641e-01 -5.90729879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.166559995 meters 0.050021320368479484 Centerline is valid? [True, True] Translation: X:494.00, Y:-267.21, Z:-5.91 [[-6.64560649e-01 -7.47233013e-01 1.40280394e-03 4.94001456e+02] [ 7.47231337e-01 -6.64562130e-01 -1.58265595e-03 -2.67212024e+02] [ 2.11486315e-03 -3.55180514e-06 9.99997764e-01 -5.90725036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2265599950001 meters 0.049968363844345096 Centerline is valid? [True, True] Translation: X:493.96, Y:-267.17, Z:-5.91 [[-6.64683177e-01 -7.47123163e-01 1.80388794e-03 4.93960346e+02] [ 7.47120392e-01 -6.64685625e-01 -2.03464121e-03 -2.67170557e+02] [ 2.71914596e-03 -4.67031896e-06 9.99996303e-01 -5.90741717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.286559995 meters 0.05029150008930731 Centerline is valid? [True, True] Translation: X:493.92, Y:-267.13, Z:-5.91 [[-6.63331772e-01 -7.48318143e-01 3.30400990e-03 4.93918245e+02] [ 7.48308869e-01 -6.63340001e-01 -3.72551233e-03 -2.67131020e+02] [ 4.97955040e-03 1.16921604e-06 9.99987602e-01 -5.90903288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.346559995 meters 0.050715845172097485 Centerline is valid? [True, True] Translation: X:493.88, Y:-267.09, Z:-5.91 [[-6.61328234e-01 -7.50079869e-01 5.01567794e-03 4.93876114e+02] [ 7.50058560e-01 -6.61347253e-01 -5.65399597e-03 -2.67091140e+02] [ 7.55805338e-03 2.29050010e-05 9.99971437e-01 -5.91031358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.406559995 meters 0.05065377874655663 Centerline is valid? [True, True] Translation: X:493.84, Y:-267.05, Z:-5.92 [[-6.60370781e-01 -7.50909470e-01 6.73787919e-03 4.93835725e+02] [ 7.50871079e-01 -6.60405153e-01 -7.59321839e-03 -2.67051232e+02] [ 1.01515497e-02 4.49390568e-05 9.99948471e-01 -5.91545261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4665599950001 meters 0.051388655225549244 Centerline is valid? [True, True] Translation: X:493.80, Y:-267.01, Z:-5.92 [[-6.59786766e-01 -7.51415783e-01 7.46620670e-03 4.93796546e+02] [ 7.51368703e-01 -6.59829006e-01 -8.41156560e-03 -2.67009079e+02] [ 1.12470029e-02 6.00343855e-05 9.99936749e-01 -5.91534394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.526559995 meters 0.05078600824622165 Centerline is valid? [True, True] Translation: X:493.76, Y:-266.97, Z:-5.91 [[-6.60447993e-01 -7.50847270e-01 6.06838579e-03 4.93759806e+02] [ 7.50816166e-01 -6.60475871e-01 -6.83445675e-03 -2.66967436e+02] [ 9.13965557e-03 4.24389047e-05 9.99958232e-01 -5.91334589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.586559995 meters 0.05083953519987768 Centerline is valid? [True, True] Translation: X:493.72, Y:-266.92, Z:-5.91 [[-6.61137895e-01 -7.50250099e-01 4.63376881e-03 4.93722223e+02] [ 7.50231958e-01 -6.61154133e-01 -5.21734553e-03 -2.66923766e+02] [ 6.97794940e-03 2.70166042e-05 9.99975653e-01 -5.91132281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.646559995 meters 0.05042772349003136 Centerline is valid? [True, True] Translation: X:493.69, Y:-266.88, Z:-5.91 [[-6.62371367e-01 -7.49166821e-01 3.63963980e-03 4.93686591e+02] [ 7.49155619e-01 -6.62381367e-01 -4.09675314e-03 -2.66878928e+02] [ 5.47998110e-03 1.30846314e-05 9.99984985e-01 -5.90896149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7065599950001 meters 0.05090024135954391 Centerline is valid? [True, True] Translation: X:493.65, Y:-266.84, Z:-5.91 [[-6.62233745e-01 -7.49285675e-01 4.17658952e-03 4.93649918e+02] [ 7.49270937e-01 -6.62246915e-01 -4.69962409e-03 -2.66836252e+02] [ 6.28729454e-03 1.71474761e-05 9.99980235e-01 -5.90996065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.766559995 meters 0.051219169119235644 Centerline is valid? [True, True] Translation: X:493.61, Y:-266.79, Z:-5.91 [[-6.60680142e-01 -7.50650829e-01 5.00824876e-03 4.93611934e+02] [ 7.50629686e-01 -6.60699123e-01 -5.63415161e-03 -2.66794156e+02] [ 7.53822614e-03 3.69681033e-05 9.99971587e-01 -5.91132633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.826559995 meters 0.050755230229256376 Centerline is valid? [True, True] Translation: X:493.57, Y:-266.75, Z:-5.91 [[-6.59079034e-01 -7.52053266e-01 5.54189008e-03 4.93574290e+02] [ 7.52027441e-01 -6.59102330e-01 -6.23267492e-03 -2.66751556e+02] [ 8.33997619e-03 5.98280501e-05 9.99965220e-01 -5.91138736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.886559995 meters 0.05071570561963967 Centerline is valid? [True, True] Translation: X:493.54, Y:-266.71, Z:-5.91 [[-6.56151434e-01 -7.54601660e-01 6.45222117e-03 4.93537283e+02] [ 7.54566796e-01 -6.56183148e-01 -7.25443322e-03 -2.66707239e+02] [ 9.70804614e-03 1.08625105e-04 9.99952870e-01 -5.91084604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9465599950001 meters 0.05153572945080382 Centerline is valid? [True, True] Translation: X:493.50, Y:-266.67, Z:-5.91 [[-6.54599757e-01 -7.55942744e-01 7.05168117e-03 4.93497048e+02] [ 7.55901202e-01 -6.54637723e-01 -7.92623820e-03 -2.66666936e+02] [ 1.06080788e-02 1.41860668e-04 9.99943723e-01 -5.91471342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.006559995 meters 0.0510719534032693 Centerline is valid? [True, True] Translation: X:493.46, Y:-266.62, Z:-5.91 [[-6.53381813e-01 -7.56999281e-01 6.65542300e-03 4.93464152e+02] [ 7.56962344e-01 -6.53415691e-01 -7.47962745e-03 -2.66618459e+02] [ 1.00108304e-02 1.50852051e-04 9.99949879e-01 -5.91004350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.066559995 meters 0.049998697202532444 Centerline is valid? [True, True] Translation: X:493.43, Y:-266.57, Z:-5.91 [[-6.53058250e-01 -7.57286468e-01 5.66815993e-03 4.93429055e+02] [ 7.57259703e-01 -6.53082834e-01 -6.36823046e-03 -2.66573396e+02] [ 8.52435271e-03 1.33443664e-04 9.99963658e-01 -5.90767638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.126559995 meters 0.05082922530183464 Centerline is valid? [True, True] Translation: X:493.39, Y:-266.53, Z:-5.91 [[-6.53162222e-01 -7.57202398e-01 4.86207757e-03 4.93390120e+02] [ 7.57182715e-01 -6.53180308e-01 -5.46090924e-03 -2.66532253e+02] [ 7.31082689e-03 1.14621479e-04 9.99973269e-01 -5.90873655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1865599950002 meters 0.05045161170934402 Centerline is valid? [True, True] Translation: X:493.35, Y:-266.49, Z:-5.91 [[-6.53455537e-01 -7.56949503e-01 4.82826894e-03 4.93353942e+02] [ 7.56930098e-01 -6.53473364e-01 -5.42112382e-03 -2.66489894e+02] [ 7.25866213e-03 1.12198708e-04 9.99973649e-01 -5.90881414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.246559995 meters 0.05041539610873245 Centerline is valid? [True, True] Translation: X:493.32, Y:-266.44, Z:-5.91 [[-6.54366596e-01 -7.56159786e-01 5.17068179e-03 4.93320201e+02] [ 7.56137520e-01 -6.54387015e-01 -5.80391958e-03 -2.66443369e+02] [ 7.77231761e-03 1.11855405e-04 9.99969789e-01 -5.90752497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.306559995 meters 0.05016517418424106 Centerline is valid? [True, True] Translation: X:493.29, Y:-266.40, Z:-5.91 [[-6.55115064e-01 -7.55508694e-01 5.55574501e-03 4.93285364e+02] [ 7.55482978e-01 -6.55138612e-01 -6.23447661e-03 -2.66396544e+02] [ 8.34998436e-03 1.12971236e-04 9.99965132e-01 -5.90584482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.366559995 meters 0.05036940521713155 Centerline is valid? [True, True] Translation: X:493.25, Y:-266.35, Z:-5.91 [[-6.54923718e-01 -7.55660727e-01 7.19640509e-03 4.93247946e+02] [ 7.55617612e-01 -6.54963237e-01 -8.07353226e-03 -2.66353322e+02] [ 1.08142320e-02 1.50182666e-04 9.99941513e-01 -5.90802179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4265599950002 meters 0.050196536950482956 Centerline is valid? [True, True] Translation: X:493.21, Y:-266.31, Z:-5.91 [[-6.54782939e-01 -7.55774084e-01 8.05212820e-03 4.93208815e+02] [ 7.55720134e-01 -6.54832425e-01 -9.03184484e-03 -2.66311558e+02] [ 1.20988289e-02 1.71257494e-04 9.99926792e-01 -5.91139426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.486559995 meters 0.05074289367856416 Centerline is valid? [True, True] Translation: X:493.17, Y:-266.27, Z:-5.91 [[-6.55206963e-01 -7.55406971e-01 8.00898646e-03 4.93173968e+02] [ 7.55353603e-01 -6.55255890e-01 -8.98070277e-03 -2.66267327e+02] [ 1.20320210e-02 1.65397801e-04 9.99927599e-01 -5.91073183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.546559995 meters 0.050083399360426266 Centerline is valid? [True, True] Translation: X:493.14, Y:-266.22, Z:-5.91 [[-6.56259398e-01 -7.54504623e-01 6.80998971e-03 4.93140074e+02] [ 7.54466011e-01 -6.56294718e-01 -7.63423692e-03 -2.66219688e+02] [ 1.02294273e-02 1.27866041e-04 9.99947670e-01 -5.90673682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.606559995 meters 0.04958561440745409 Centerline is valid? [True, True] Translation: X:493.11, Y:-266.17, Z:-5.91 [[-6.58744624e-01 -7.52341989e-01 6.08704125e-03 4.93105385e+02] [ 7.52311065e-01 -6.58772741e-01 -6.82181420e-03 -2.66174730e+02] [ 9.14231411e-03 8.55150598e-05 9.99958205e-01 -5.90655010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.666559995 meters 0.04922461906160777 Centerline is valid? [True, True] Translation: X:493.07, Y:-266.13, Z:-5.91 [[-6.60976618e-01 -7.50381264e-01 6.15376747e-03 4.93070312e+02] [ 7.50349589e-01 -6.61005261e-01 -6.89487979e-03 -2.66128447e+02] [ 9.24146129e-03 6.01225693e-05 9.99957295e-01 -5.90506216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7265599950001 meters 0.049526837688327566 Centerline is valid? [True, True] Translation: X:493.04, Y:-266.08, Z:-5.91 [[-6.63854298e-01 -7.47836192e-01 6.20486085e-03 4.93036263e+02] [ 7.47803898e-01 -6.63883295e-01 -6.94993627e-03 -2.66083990e+02] [ 9.31671735e-03 2.62740615e-05 9.99956598e-01 -5.90546558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.786559995 meters 0.04974253500435147 Centerline is valid? [True, True] Translation: X:493.00, Y:-266.04, Z:-5.91 [[-6.65067516e-01 -7.46752080e-01 6.82131919e-03 4.93000480e+02] [ 7.46713016e-01 -6.65102497e-01 -7.63806014e-03 -2.66040356e+02] [ 1.02406137e-02 1.37421376e-05 9.99947563e-01 -5.90712168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.846559995 meters 0.04955028536806476 Centerline is valid? [True, True] Translation: X:492.97, Y:-265.99, Z:-5.91 [[-6.65909987e-01 -7.45998041e-01 7.12822744e-03 4.92965357e+02] [ 7.45955365e-01 -6.65948138e-01 -7.97936667e-03 -2.65994444e+02] [ 1.06996217e-02 3.79955027e-06 9.99942757e-01 -5.90642146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.906559995 meters 0.04942115908584434 Centerline is valid? [True, True] Translation: X:492.93, Y:-265.95, Z:-5.91 [[-6.65196323e-01 -7.46638083e-01 6.73978354e-03 4.92929162e+02] [ 7.46599987e-01 -6.65230466e-01 -7.54232599e-03 -2.65949870e+02] [ 1.01148972e-02 1.47947863e-05 9.99948843e-01 -5.90563313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9665599950001 meters 0.049634879081864855 Centerline is valid? [True, True] Translation: X:492.89, Y:-265.91, Z:-5.91 [[-6.63098608e-01 -7.48504230e-01 6.45402053e-03 4.92892914e+02] [ 7.48469408e-01 -6.63130014e-01 -7.22009038e-03 -2.65908409e+02] [ 9.68412292e-03 4.30050476e-05 9.99953107e-01 -5.90579618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.026559995 meters 0.04966385139881831 Centerline is valid? [True, True] Translation: X:492.86, Y:-265.87, Z:-5.91 [[-6.61153323e-01 -7.50222492e-01 6.51884938e-03 4.92855061e+02] [ 7.50187072e-01 -6.61185456e-01 -7.29039314e-03 -2.65866954e+02] [ 9.77958531e-03 7.02888733e-05 9.99952176e-01 -5.90630777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.086559995 meters 0.04979135898943701 Centerline is valid? [True, True] Translation: X:492.82, Y:-265.82, Z:-5.91 [[-6.60316976e-01 -7.50958924e-01 6.49501104e-03 4.92817371e+02] [ 7.50923819e-01 -6.60348914e-01 -7.26153475e-03 -2.65824583e+02] [ 9.74208781e-03 8.23438307e-05 9.99952541e-01 -5.90615375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.146559995 meters 0.04972295836478324 Centerline is valid? [True, True] Translation: X:492.78, Y:-265.78, Z:-5.91 [[-6.58073965e-01 -7.52924404e-01 6.59527167e-03 4.92780348e+02] [ 7.52888327e-01 -6.58107004e-01 -7.37146458e-03 -2.65783028e+02] [ 9.89055006e-03 1.14534128e-04 9.99951081e-01 -5.90602966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2065599950001 meters 0.049171604273138575 Centerline is valid? [True, True] Translation: X:492.74, Y:-265.74, Z:-5.91 [[-6.58188007e-01 -7.52826970e-01 6.33254392e-03 4.92743260e+02] [ 7.52793726e-01 -6.58218460e-01 -7.07561282e-03 -2.65740339e+02] [ 9.49490947e-03 1.10015837e-04 9.99954916e-01 -5.90599555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.266559995 meters 0.049194489608250534 Centerline is valid? [True, True] Translation: X:492.71, Y:-265.70, Z:-5.91 [[-6.59923477e-01 -7.51311567e-01 5.65102130e-03 4.92706857e+02] [ 7.51285050e-01 -6.59947667e-01 -6.31274503e-03 -2.65697658e+02] [ 8.47221668e-03 7.95991695e-05 9.99964107e-01 -5.90540474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.326559995 meters 0.04936554328317519 Centerline is valid? [True, True] Translation: X:492.67, Y:-265.65, Z:-5.90 [[-6.62694330e-01 -7.48873730e-01 4.93577315e-03 4.92670421e+02] [ 7.48853444e-01 -6.62712709e-01 -5.51229465e-03 -2.65652205e+02] [ 7.39901225e-03 4.32043117e-05 9.99972626e-01 -5.90330991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.386559995 meters 0.04842590169410662 Centerline is valid? [True, True] Translation: X:492.63, Y:-265.61, Z:-5.90 [[-6.64804124e-01 -7.47002515e-01 4.76642227e-03 4.92632999e+02] [ 7.46983559e-01 -6.64821210e-01 -5.32169778e-03 -2.65608333e+02] [ 7.14414025e-03 2.25524406e-05 9.99974480e-01 -5.90359580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4465599950001 meters 0.04896360231714712 Centerline is valid? [True, True] Translation: X:492.59, Y:-265.57, Z:-5.90 [[-6.66412858e-01 -7.45571679e-01 4.09565656e-03 4.92594876e+02] [ 7.45557664e-01 -6.66425443e-01 -4.57143203e-03 -2.65565613e+02] [ 6.13777999e-03 7.08705311e-06 9.99981164e-01 -5.90277332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.506559995 meters 0.04962272606127507 Centerline is valid? [True, True] Translation: X:492.56, Y:-265.52, Z:-5.90 [[-6.67131764e-01 -7.44925528e-01 4.60085966e-03 4.92556762e+02] [ 7.44907838e-01 -6.67147629e-01 -5.13371382e-03 -2.65523824e+02] [ 6.89368709e-03 2.35286971e-06 9.99976238e-01 -5.90416325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.566559995 meters 0.05010658871189098 Centerline is valid? [True, True] Translation: X:492.52, Y:-265.48, Z:-5.90 [[-6.66630475e-01 -7.45373266e-01 4.74385800e-03 4.92518316e+02] [ 7.45354483e-01 -6.66647354e-01 -5.29158066e-03 -2.65483165e+02] [ 7.10668314e-03 8.32689872e-06 9.99974747e-01 -5.90447698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.626559995 meters 0.049359549878399016 Centerline is valid? [True, True] Translation: X:492.48, Y:-265.44, Z:-5.91 [[-6.64909224e-01 -7.46904969e-01 5.35635712e-03 4.92476726e+02] [ 7.46881086e-01 -6.64930798e-01 -5.97305231e-03 -2.65443105e+02] [ 8.02290926e-03 2.90242433e-05 9.99967816e-01 -5.90543065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6865599950002 meters 0.050089830335263846 Centerline is valid? [True, True] Translation: X:492.44, Y:-265.40, Z:-5.90 [[-6.63489816e-01 -7.48168275e-01 5.04951381e-03 4.92436381e+02] [ 7.48147098e-01 -6.63509029e-01 -5.62921943e-03 -2.65402305e+02] [ 7.56200139e-03 4.28493466e-05 9.99971407e-01 -5.90404827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.746559995 meters 0.04970988509195462 Centerline is valid? [True, True] Translation: X:492.40, Y:-265.36, Z:-5.90 [[-6.62791993e-01 -7.48789006e-01 4.66895483e-03 4.92397068e+02] [ 7.48770927e-01 -6.62808436e-01 -5.20344310e-03 -2.65361162e+02] [ 6.99090364e-03 4.71772126e-05 9.99975562e-01 -5.90332908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.806559995 meters 0.050281374345971894 Centerline is valid? [True, True] Translation: X:492.36, Y:-265.32, Z:-5.90 [[-6.61901608e-01 -7.49581800e-01 3.65861637e-03 4.92356654e+02] [ 7.49570718e-01 -6.61911718e-01 -4.07619527e-03 -2.65322378e+02] [ 5.47712284e-03 4.43514976e-05 9.99984999e-01 -5.90338975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.866559995 meters 0.05064445770508777 Centerline is valid? [True, True] Translation: X:492.32, Y:-265.28, Z:-5.90 [[-6.61023509e-01 -7.50355705e-01 3.77319041e-03 4.92316093e+02] [ 7.50343938e-01 -6.61034276e-01 -4.20256713e-03 -2.65282631e+02] [ 5.64762840e-03 5.31948776e-05 9.99984051e-01 -5.90399215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9265599950002 meters 0.04969612943178326 Centerline is valid? [True, True] Translation: X:492.28, Y:-265.24, Z:-5.90 [[-6.60547686e-01 -7.50773633e-01 3.96318999e-03 4.92278037e+02] [ 7.50760666e-01 -6.60559572e-01 -4.41284364e-03 -2.65241478e+02] [ 5.93096974e-03 6.05135089e-05 9.99982410e-01 -5.90375667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.986559995 meters 0.049232111131834344 Centerline is valid? [True, True] Translation: X:492.24, Y:-265.20, Z:-5.90 [[-6.59733290e-01 -7.51489173e-01 4.00116446e-03 4.92240210e+02] [ 7.51475977e-01 -6.59745419e-01 -4.45388010e-03 -2.65198641e+02] [ 5.98679260e-03 6.84060077e-05 9.99982077e-01 -5.90298346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.046559995 meters 0.049818725803160234 Centerline is valid? [True, True] Translation: X:492.20, Y:-265.16, Z:-5.90 [[-6.59734894e-01 -7.51485092e-01 4.47519973e-03 4.92202772e+02] [ 7.51468594e-01 -6.59750067e-01 -4.98010250e-03 -2.65155012e+02] [ 6.69498610e-03 7.74246521e-05 9.99977585e-01 -5.90268050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.106559995 meters 0.050413608435950795 Centerline is valid? [True, True] Translation: X:492.16, Y:-265.11, Z:-5.90 [[-6.59663318e-01 -7.51543512e-01 5.16296685e-03 4.92164607e+02] [ 7.51521568e-01 -6.59683516e-01 -5.74389266e-03 -2.65111973e+02] [ 7.72270938e-03 9.10456498e-05 9.99970175e-01 -5.90346352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.166559995 meters 0.049699619179343096 Centerline is valid? [True, True] Translation: X:492.13, Y:-265.07, Z:-5.90 [[-6.60001707e-01 -7.51244007e-01 5.49451280e-03 4.92127399e+02] [ 7.51219158e-01 -6.60024570e-01 -6.11095547e-03 -2.65068955e+02] [ 8.21733213e-03 9.43422382e-05 9.99966233e-01 -5.90367556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2265599950001 meters 0.04906971602177168 Centerline is valid? [True, True] Translation: X:492.09, Y:-265.03, Z:-5.90 [[-6.61541107e-01 -7.49892984e-01 4.88637682e-03 4.92089812e+02] [ 7.49873302e-01 -6.61559149e-01 -5.43355148e-03 -2.65025971e+02] [ 7.30720943e-03 6.96458542e-05 9.99973300e-01 -5.90396445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.286559995 meters 0.04978344628357638 Centerline is valid? [True, True] Translation: X:492.05, Y:-264.98, Z:-5.90 [[-6.62815098e-01 -7.48775762e-01 3.31723620e-03 4.92052650e+02] [ 7.48766681e-01 -6.62823398e-01 -3.68795912e-03 -2.64981912e+02] [ 4.96019617e-03 3.94009506e-05 9.99987697e-01 -5.90200205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.346559995 meters 0.049023360091650224 Centerline is valid? [True, True] Translation: X:492.01, Y:-264.94, Z:-5.90 [[-6.62048994e-01 -7.49453523e-01 3.24746966e-03 4.92014706e+02] [ 7.49444834e-01 -6.62056958e-01 -3.60921705e-03 -2.64941593e+02] [ 4.85495031e-03 4.43208427e-05 9.99988214e-01 -5.90259110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.406559995 meters 0.049040154216632874 Centerline is valid? [True, True] Translation: X:491.98, Y:-264.90, Z:-5.90 [[-6.60375386e-01 -7.50924885e-01 4.02082784e-03 4.91977232e+02] [ 7.50911599e-01 -6.60387623e-01 -4.46743315e-03 -2.64898818e+02] [ 6.01001166e-03 6.91033753e-05 9.99981937e-01 -5.90289679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4665599950001 meters 0.04905956646834395 Centerline is valid? [True, True] Translation: X:491.94, Y:-264.86, Z:-5.90 [[-6.59283352e-01 -7.51882135e-01 4.32631245e-03 4.91938727e+02] [ 7.51866783e-01 -6.59297542e-01 -4.80546458e-03 -2.64856680e+02] [ 6.46547013e-03 8.46478199e-05 9.99979095e-01 -5.90273736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.526559995 meters 0.04996115109574088 Centerline is valid? [True, True] Translation: X:491.90, Y:-264.82, Z:-5.90 [[-6.58038147e-01 -7.52969955e-01 4.69513233e-03 4.91898928e+02] [ 7.52951911e-01 -6.58054888e-01 -5.21389324e-03 -2.64817472e+02] [ 7.01555974e-03 1.04268213e-04 9.99975385e-01 -5.90441613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.586559995 meters 0.04903773762204572 Centerline is valid? [True, True] Translation: X:491.86, Y:-264.77, Z:-5.90 [[-6.58341377e-01 -7.52704345e-01 4.77503458e-03 4.91863824e+02] [ 7.52685683e-01 -6.58358686e-01 -5.30125698e-03 -2.64771558e+02] [ 7.13396465e-03 1.04063346e-04 9.99974548e-01 -5.90335049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.646559995 meters 0.04905073051202484 Centerline is valid? [True, True] Translation: X:491.83, Y:-264.73, Z:-5.90 [[-6.60173977e-01 -7.51099132e-01 4.51833410e-03 4.91827362e+02] [ 7.51082394e-01 -6.60189433e-01 -5.01498497e-03 -2.64725855e+02] [ 6.74970728e-03 8.28786278e-05 9.99977217e-01 -5.90247584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7065599950001 meters 0.04928580737950355 Centerline is valid? [True, True] Translation: X:491.79, Y:-264.68, Z:-5.90 [[-6.61979687e-01 -7.49511307e-01 3.96174000e-03 4.91788810e+02] [ 7.49498416e-01 -6.61991539e-01 -4.39617774e-03 -2.64682857e+02] [ 5.91762329e-03 5.91374906e-05 9.99982489e-01 -5.90356132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.766559995 meters 0.048899437723636786 Centerline is valid? [True, True] Translation: X:491.75, Y:-264.64, Z:-5.90 [[-6.65642362e-01 -7.46267554e-01 2.23241295e-03 4.91751839e+02] [ 7.46263445e-01 -6.65646105e-01 -2.47654779e-03 -2.64638134e+02] [ 3.33416424e-03 1.74730614e-05 9.99994442e-01 -5.90320437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.826559995 meters 0.04899469540143549 Centerline is valid? [True, True] Translation: X:491.72, Y:-264.59, Z:-5.90 [[-6.69146995e-01 -7.43127167e-01 2.07679145e-03 4.91716611e+02] [ 7.43123598e-01 -6.69150218e-01 -2.30318866e-03 -2.64593961e+02] [ 3.10124752e-03 2.14096617e-06 9.99995191e-01 -5.90205185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.886559995 meters 0.04963497636252602 Centerline is valid? [True, True] Translation: X:491.68, Y:-264.55, Z:-5.90 [[-6.70256048e-01 -7.42125099e-01 2.67706907e-03 4.91678837e+02] [ 7.42119165e-01 -6.70261394e-01 -2.96794588e-03 -2.64552780e+02] [ 3.99692317e-03 -2.57941553e-06 9.99992012e-01 -5.90481704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9465599950001 meters 0.050075392901715525 Centerline is valid? [True, True] Translation: X:491.64, Y:-264.51, Z:-5.91 [[-6.70211632e-01 -7.42161065e-01 3.64974048e-03 4.91640444e+02] [ 7.42150042e-01 -6.70221570e-01 -4.04499595e-03 -2.64510935e+02] [ 5.44817330e-03 -2.34829061e-06 9.99985159e-01 -5.90632127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.006559995 meters 0.04924548817705458 Centerline is valid? [True, True] Translation: X:491.60, Y:-264.47, Z:-5.91 [[-6.70192588e-01 -7.42177960e-01 3.71089353e-03 4.91601717e+02] [ 7.42166572e-01 -6.70202861e-01 -4.11152453e-03 -2.64468812e+02] [ 5.53853435e-03 -1.41213207e-06 9.99984662e-01 -5.90585757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.066559995 meters 0.049973718947082045 Centerline is valid? [True, True] Translation: X:491.56, Y:-264.43, Z:-5.91 [[-6.69188960e-01 -7.43079825e-01 4.30239335e-03 4.91563849e+02] [ 7.43064542e-01 -6.69202790e-01 -4.76576839e-03 -2.64427863e+02] [ 6.42051997e-03 7.75635350e-06 9.99979388e-01 -5.90680427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.126559995 meters 0.04876065756663001 Centerline is valid? [True, True] Translation: X:491.53, Y:-264.39, Z:-5.91 [[-6.67512253e-01 -7.44588573e-01 3.90502917e-03 4.91525250e+02] [ 7.44576017e-01 -6.67523675e-01 -4.32422273e-03 -2.64386304e+02] [ 5.82646625e-03 2.11194095e-05 9.99983026e-01 -5.90505234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1865599950002 meters 0.04924602545252586 Centerline is valid? [True, True] Translation: X:491.48, Y:-264.35, Z:-5.91 [[-6.64908135e-01 -7.46914036e-01 4.07365227e-03 4.91484877e+02] [ 7.46900423e-01 -6.64920612e-01 -4.50967397e-03 -2.64345843e+02] [ 6.07699415e-03 4.40936954e-05 9.99981534e-01 -5.90606742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.246559995 meters 0.0489194963133641 Centerline is valid? [True, True] Translation: X:491.45, Y:-264.30, Z:-5.91 [[-6.63083051e-01 -7.48534584e-01 4.10415317e-03 4.91445450e+02] [ 7.48520805e-01 -6.63095749e-01 -4.54226199e-03 -2.64304014e+02] [ 6.12148671e-03 6.01470907e-05 9.99981262e-01 -5.90645607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.306559995 meters 0.048814251815055935 Centerline is valid? [True, True] Translation: X:491.41, Y:-264.26, Z:-5.91 [[-6.60819920e-01 -7.50534246e-01 3.92167857e-03 4.91405348e+02] [ 7.50521706e-01 -6.60831552e-01 -4.33911372e-03 -2.64263064e+02] [ 5.84822238e-03 7.59321106e-05 9.99982896e-01 -5.90641921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.366559995 meters 0.049578629993225314 Centerline is valid? [True, True] Translation: X:491.36, Y:-264.22, Z:-5.91 [[-6.58409189e-01 -7.52653688e-01 3.12516879e-03 4.91363897e+02] [ 7.52645753e-01 -6.58416601e-01 -3.45678408e-03 -2.64224390e+02] [ 4.65942430e-03 7.61666171e-05 9.99989142e-01 -5.90634964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4265599950002 meters 0.049442251463085216 Centerline is valid? [True, True] Translation: X:491.32, Y:-264.18, Z:-5.91 [[-6.56447967e-01 -7.54365343e-01 2.99938489e-03 4.91324615e+02] [ 7.54358057e-01 -6.56454813e-01 -3.31665280e-03 -2.64183952e+02] [ 4.47092858e-03 8.54001688e-05 9.99990002e-01 -5.90608105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.486559995 meters 0.04858572617858636 Centerline is valid? [True, True] Translation: X:491.29, Y:-264.14, Z:-5.91 [[-6.55559912e-01 -7.55135825e-01 3.32985327e-03 4.91288238e+02] [ 7.55126859e-01 -6.55568361e-01 -3.68114829e-03 -2.64139049e+02] [ 4.96271340e-03 1.01248394e-04 9.99987681e-01 -5.90510983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.546559995 meters 0.048764910816542766 Centerline is valid? [True, True] Translation: X:491.25, Y:-264.10, Z:-5.91 [[-6.53639523e-01 -7.56794546e-01 4.17000449e-03 4.91247879e+02] [ 7.56780526e-01 -6.53652809e-01 -4.60875616e-03 -2.64097712e+02] [ 6.21361667e-03 1.43313008e-04 9.99980685e-01 -5.90623596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.606559995 meters 0.04862016442966922 Centerline is valid? [True, True] Translation: X:491.21, Y:-264.05, Z:-5.91 [[-6.52497641e-01 -7.57774010e-01 5.03765325e-03 4.91209095e+02] [ 7.57753588e-01 -6.52517061e-01 -5.56635823e-03 -2.64053715e+02] [ 7.50519629e-03 1.85264214e-04 9.99971818e-01 -5.90641883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.666559995 meters 0.052649674032249766 Centerline is valid? [True, True] Translation: X:491.16, Y:-264.02, Z:-5.91 [[-6.52776973e-01 -7.57520562e-01 6.69490301e-03 4.91159105e+02] [ 7.57484494e-01 -6.52811258e-01 -7.39616241e-03 -2.64021767e+02] [ 9.97325317e-03 2.43240707e-04 9.99950236e-01 -5.91414239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7265599950001 meters 0.04916081396554432 Centerline is valid? [True, True] Translation: X:491.13, Y:-263.97, Z:-5.91 [[-6.53775379e-01 -7.56661761e-01 6.38222046e-03 4.91132667e+02] [ 7.56628959e-01 -6.53806493e-01 -7.04897189e-03 -2.63967792e+02] [ 9.50642466e-03 2.20528547e-04 9.99954789e-01 -5.90891055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.786559995 meters 0.048403605515713315 Centerline is valid? [True, True] Translation: X:491.10, Y:-263.92, Z:-5.91 [[-6.54777358e-01 -7.55800035e-01 5.73742255e-03 4.91096366e+02] [ 7.55773507e-01 -6.54802468e-01 -6.33518518e-03 -2.63922847e+02] [ 8.54501163e-03 1.88056149e-04 9.99963473e-01 -5.90763109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.846559995 meters 0.048642840129754304 Centerline is valid? [True, True] Translation: X:491.06, Y:-263.88, Z:-5.91 [[-6.56804540e-01 -7.54049028e-01 4.22602160e-03 4.91058988e+02] [ 7.54034605e-01 -6.56818124e-01 -4.66551544e-03 -2.63878224e+02] [ 6.29375497e-03 1.22234805e-04 9.99980187e-01 -5.90663700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.906559995 meters 0.04902702202998487 Centerline is valid? [True, True] Translation: X:491.02, Y:-263.84, Z:-5.91 [[-6.59759433e-01 -7.51466602e-01 3.92890974e-03 4.91019661e+02] [ 7.51454096e-01 -6.59771125e-01 -4.33625750e-03 -2.63837554e+02] [ 5.85073389e-03 9.15085313e-05 9.99982880e-01 -5.90775358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9665599950001 meters 0.048633115065119636 Centerline is valid? [True, True] Translation: X:490.98, Y:-263.80, Z:-5.91 [[-6.62717128e-01 -7.48856340e-01 4.49333826e-03 4.90983743e+02] [ 7.48839933e-01 -6.62732356e-01 -4.95761715e-03 -2.63795440e+02] [ 6.69042369e-03 7.92933219e-05 9.99977616e-01 -5.90946553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.026559995 meters 0.04842512047694872 Centerline is valid? [True, True] Translation: X:490.95, Y:-263.75, Z:-5.91 [[-6.64129179e-01 -7.47599251e-01 5.27199057e-03 4.90948105e+02] [ 7.47576641e-01 -6.64150099e-01 -5.81478714e-03 -2.63753034e+02] [ 7.84852357e-03 7.94471917e-05 9.99969197e-01 -5.90917787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.086559995 meters 0.049159315712905216 Centerline is valid? [True, True] Translation: X:490.91, Y:-263.71, Z:-5.91 [[-6.64825140e-01 -7.46976891e-01 5.74962749e-03 4.90910485e+02] [ 7.46949984e-01 -6.64849997e-01 -6.34055690e-03 -2.63708910e+02] [ 8.55888930e-03 7.93225298e-05 9.99963369e-01 -5.90786506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.146559995 meters 0.04935256132362118 Centerline is valid? [True, True] Translation: X:490.87, Y:-263.67, Z:-5.91 [[-6.66543673e-01 -7.45440584e-01 6.15365968e-03 4.90870645e+02] [ 7.45409712e-01 -6.66572075e-01 -6.78454941e-03 -2.63669146e+02] [ 9.15933618e-03 6.47992123e-05 9.99958050e-01 -5.91000730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2065599950001 meters 0.050124768327064126 Centerline is valid? [True, True] Translation: X:490.83, Y:-263.63, Z:-5.91 [[-6.68662811e-01 -7.43547780e-01 5.17139889e-03 4.90832106e+02] [ 7.43525931e-01 -6.68682808e-01 -5.70023598e-03 -2.63625054e+02] [ 7.69642333e-03 3.35333575e-05 9.99970382e-01 -5.90706217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.266559995 meters 0.04880228918275947 Centerline is valid? [True, True] Translation: X:490.79, Y:-263.58, Z:-5.91 [[-6.69861491e-01 -7.42474395e-01 4.16604851e-03 4.90793769e+02] [ 7.42460203e-01 -6.69874446e-01 -4.59063397e-03 -2.63584379e+02] [ 6.19915761e-03 1.80363029e-05 9.99980785e-01 -5.90744952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.326559995 meters 0.049643816485875306 Centerline is valid? [True, True] Translation: X:490.75, Y:-263.54, Z:-5.91 [[-6.69603451e-01 -7.42707863e-01 4.03109642e-03 4.90754500e+02] [ 7.42694588e-01 -6.69615584e-01 -4.44054000e-03 -2.63543619e+02] [ 5.99730895e-03 2.04725906e-05 9.99982016e-01 -5.90704556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.386559995 meters 0.049430392640479506 Centerline is valid? [True, True] Translation: X:490.71, Y:-263.51, Z:-5.91 [[-6.66426195e-01 -7.45557939e-01 4.41429413e-03 4.90713260e+02] [ 7.45542093e-01 -6.66440813e-01 -4.86114318e-03 -2.63505408e+02] [ 6.56612966e-03 5.14489274e-05 9.99978441e-01 -5.90774848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4465599950001 meters 0.04881818302689509 Centerline is valid? [True, True] Translation: X:490.67, Y:-263.47, Z:-5.91 [[-6.61235831e-01 -7.50159383e-01 5.29868867e-03 4.90671859e+02] [ 7.50136711e-01 -6.61257051e-01 -5.83330006e-03 -2.63466775e+02] [ 7.87970002e-03 1.17553876e-04 9.99968948e-01 -5.90788306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.506559995 meters 0.050797175936436276 Centerline is valid? [True, True] Translation: X:490.63, Y:-263.43, Z:-5.91 [[-6.57005001e-01 -7.53869822e-01 4.97199729e-03 4.90628553e+02] [ 7.53849978e-01 -6.57023796e-01 -5.47191840e-03 -2.63430605e+02] [ 7.39183468e-03 1.53062297e-04 9.99972668e-01 -5.90842507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.566559995 meters 0.04969486844125879 Centerline is valid? [True, True] Translation: X:490.59, Y:-263.39, Z:-5.91 [[-6.54583909e-01 -7.55978436e-01 4.06333225e-03 4.90590275e+02] [ 7.55965229e-01 -6.54596504e-01 -4.47092901e-03 -2.63388372e+02] [ 6.03976900e-03 1.45139714e-04 9.99981750e-01 -5.90651207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.626559995 meters 0.049745307801146325 Centerline is valid? [True, True] Translation: X:490.55, Y:-263.35, Z:-5.91 [[-6.53685533e-01 -7.56754657e-01 4.19685520e-03 4.90550412e+02] [ 7.56740592e-01 -6.53698986e-01 -4.61651782e-03 -2.63349002e+02] [ 6.23705135e-03 1.58179781e-04 9.99980537e-01 -5.90703511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6865599950002 meters 0.05137930173234415 Centerline is valid? [True, True] Translation: X:490.51, Y:-263.31, Z:-5.91 [[-6.54168683e-01 -7.56336100e-01 4.36329418e-03 4.90509775e+02] [ 7.56320897e-01 -6.54183215e-01 -4.79816551e-03 -2.63309256e+02] [ 6.48341960e-03 1.61240954e-04 9.99978969e-01 -5.90820843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.746559995 meters 0.05003011215101827 Centerline is valid? [True, True] Translation: X:490.47, Y:-263.27, Z:-5.91 [[-6.56002808e-01 -7.54744694e-01 4.55662803e-03 4.90473870e+02] [ 7.54728084e-01 -6.56018615e-01 -5.00958608e-03 -2.63265006e+02] [ 6.77019132e-03 1.52712609e-04 9.99977070e-01 -5.90833068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.806559995 meters 0.049351997183325766 Centerline is valid? [True, True] Translation: X:490.44, Y:-263.22, Z:-5.91 [[-6.59014720e-01 -7.52109337e-01 5.58072500e-03 4.90440429e+02] [ 7.52084340e-01 -6.59038331e-01 -6.13384287e-03 -2.63217810e+02] [ 8.29123219e-03 1.54883143e-04 9.99965615e-01 -5.90732891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.866559995 meters 0.049307569922146514 Centerline is valid? [True, True] Translation: X:490.40, Y:-263.18, Z:-5.91 [[-6.61776761e-01 -7.49676070e-01 6.10805961e-03 4.90402894e+02] [ 7.49646039e-01 -6.61804934e-01 -6.71154196e-03 -2.63175754e+02] [ 9.07382639e-03 1.37340197e-04 9.99958823e-01 -5.90850505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9265599950002 meters 0.04967887905561459 Centerline is valid? [True, True] Translation: X:490.37, Y:-263.13, Z:-5.91 [[-6.65649351e-01 -7.46238708e-01 6.22351364e-03 4.90367121e+02] [ 7.46207398e-01 -6.65678438e-01 -6.83640947e-03 -2.63131387e+02] [ 9.24445220e-03 9.33803927e-05 9.99957265e-01 -5.90907426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.986559995 meters 0.049502390398714256 Centerline is valid? [True, True] Translation: X:490.33, Y:-263.08, Z:-5.91 [[-6.72975111e-01 -7.39638962e-01 6.22140202e-03 4.90334874e+02] [ 7.39607406e-01 -6.73003868e-01 -6.83218108e-03 -2.63084117e+02] [ 9.24037495e-03 3.50719146e-06 9.99957307e-01 -5.90919667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.046559995 meters 0.04970224954974816 Centerline is valid? [True, True] Translation: X:490.30, Y:-263.04, Z:-5.91 [[-6.78145013e-01 -7.34900552e-01 6.36545679e-03 4.90300643e+02] [ 7.34867326e-01 -6.78174885e-01 -6.98846749e-03 -2.63038013e+02] [ 9.45272155e-03 -6.14281734e-05 9.99955320e-01 -5.90900572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.106559995 meters 0.05002821335592179 Centerline is valid? [True, True] Translation: X:490.26, Y:-263.00, Z:-5.90 [[-6.84016159e-01 -7.29436537e-01 6.65080385e-03 4.90262859e+02] [ 7.29400027e-01 -6.84048477e-01 -7.29945346e-03 -2.62995509e+02] [ 9.87396029e-03 -1.41847610e-04 9.99951241e-01 -5.90378923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.166559995 meters 0.05037570029559646 Centerline is valid? [True, True] Translation: X:490.23, Y:-262.95, Z:-5.91 [[-6.85431952e-01 -7.28112194e-01 5.97265878e-03 4.90227402e+02] [ 7.28082715e-01 -6.85457958e-01 -6.55339021e-03 -2.62949934e+02] [ 8.86560981e-03 -1.43313416e-04 9.99960689e-01 -5.90645539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2265599950001 meters 0.05038684369595409 Centerline is valid? [True, True] Translation: X:490.19, Y:-262.91, Z:-5.91 [[-6.83714917e-01 -7.29722050e-01 6.29628091e-03 4.90187292e+02] [ 7.29689379e-01 -6.83743895e-01 -6.90625262e-03 -2.62910275e+02] [ 9.34468845e-03 -1.27578628e-04 9.99956329e-01 -5.90570324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.286559995 meters 0.04998525143335532 Centerline is valid? [True, True] Translation: X:490.15, Y:-262.87, Z:-5.91 [[-6.80059550e-01 -7.33122674e-01 7.08190887e-03 4.90148968e+02] [ 7.33081548e-01 -6.80096418e-01 -7.76575847e-03 -2.62869454e+02] [ 1.05096345e-02 -8.95614968e-05 9.99944768e-01 -5.91026802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.346559995 meters 0.05017537995030388 Centerline is valid? [True, True] Translation: X:490.11, Y:-262.83, Z:-5.91 [[-6.77638331e-01 -7.35360040e-01 7.20443086e-03 4.90106416e+02] [ 7.35317629e-01 -6.77676625e-01 -7.89790794e-03 -2.62830496e+02] [ 1.06900803e-02 -5.43801373e-05 9.99942858e-01 -5.90884092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.406559995 meters 0.04998917052710672 Centerline is valid? [True, True] Translation: X:490.06, Y:-262.79, Z:-5.91 [[-6.74222666e-01 -7.38499395e-01 6.51452143e-03 4.90064596e+02] [ 7.38464884e-01 -6.74254138e-01 -7.13945932e-03 -2.62790830e+02] [ 9.66492943e-03 -2.83998255e-06 9.99953294e-01 -5.90765659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4665599950001 meters 0.05021590184981053 Centerline is valid? [True, True] Translation: X:490.02, Y:-262.75, Z:-5.91 [[-6.72045654e-01 -7.40492154e-01 5.09986383e-03 4.90024043e+02] [ 7.40471074e-01 -6.72065004e-01 -5.58742898e-03 -2.62750003e+02] [ 7.56488733e-03 2.12942833e-05 9.99971386e-01 -5.90604234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.526559995 meters 0.049183183451404135 Centerline is valid? [True, True] Translation: X:489.99, Y:-262.71, Z:-5.91 [[-6.72401108e-01 -7.40171417e-01 4.79828182e-03 4.89985032e+02] [ 7.40152757e-01 -6.72418227e-01 -5.25580855e-03 -2.62709931e+02] [ 7.11665142e-03 1.74500264e-05 9.99974676e-01 -5.90694905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.586559995 meters 0.049572903947314347 Centerline is valid? [True, True] Translation: X:489.95, Y:-262.67, Z:-5.91 [[-6.74709153e-01 -7.38070192e-01 4.46659639e-03 4.89947554e+02] [ 7.38053987e-01 -6.74723938e-01 -4.89091730e-03 -2.62667509e+02] [ 6.62355977e-03 -3.35739830e-06 9.99978064e-01 -5.90728248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.646559995 meters 0.04983191790169143 Centerline is valid? [True, True] Translation: X:489.91, Y:-262.63, Z:-5.91 [[-6.77170905e-01 -7.35811697e-01 4.55099465e-03 4.89908826e+02] [ 7.35794833e-01 -6.77186197e-01 -4.98182005e-03 -2.62625031e+02] [ 6.74755222e-03 -2.49452416e-05 9.99977235e-01 -5.90719275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7065599950001 meters 0.04960150144445468 Centerline is valid? [True, True] Translation: X:489.87, Y:-262.58, Z:-5.91 [[-6.79006913e-01 -7.34110317e-01 5.62623169e-03 4.89869784e+02] [ 7.34084497e-01 -6.79030220e-01 -6.15727932e-03 -2.62581840e+02] [ 8.34050361e-03 -5.07057699e-05 9.99965216e-01 -5.90832597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.766559995 meters 0.04993361385589638 Centerline is valid? [True, True] Translation: X:489.83, Y:-262.54, Z:-5.91 [[-6.79282704e-01 -7.33853665e-01 5.81425167e-03 4.89830454e+02] [ 7.33826098e-01 -6.79307585e-01 -6.36109039e-03 -2.62540757e+02] [ 8.61777476e-03 -5.43290705e-05 9.99962865e-01 -5.90791942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.826559995 meters 0.049799656690419684 Centerline is valid? [True, True] Translation: X:489.79, Y:-262.50, Z:-5.91 [[-6.78987675e-01 -7.34118674e-01 6.74602175e-03 4.89792002e+02] [ 7.34081596e-01 -6.79021184e-01 -7.37843304e-03 -2.62498338e+02] [ 9.99733716e-03 -5.77346820e-05 9.99950024e-01 -5.91059641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.886559995 meters 0.05008556538663621 Centerline is valid? [True, True] Translation: X:489.75, Y:-262.46, Z:-5.91 [[-6.79150418e-01 -7.33965871e-01 6.98650411e-03 4.89754035e+02] [ 7.33926120e-01 -6.79186349e-01 -7.63894272e-03 -2.62457713e+02] [ 1.03518615e-02 -6.04132872e-05 9.99946416e-01 -5.90918646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9465599950001 meters 0.049756955217608256 Centerline is valid? [True, True] Translation: X:489.72, Y:-262.42, Z:-5.91 [[-6.77950613e-01 -7.35081527e-01 6.17367228e-03 4.89715435e+02] [ 7.35050546e-01 -6.77978721e-01 -6.74888774e-03 -2.62415509e+02] [ 9.14660115e-03 -3.74513942e-05 9.99958168e-01 -5.90846182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.006559995 meters 0.04970261605968044 Centerline is valid? [True, True] Translation: X:489.68, Y:-262.37, Z:-5.91 [[-6.76284295e-01 -7.36617808e-01 5.81008545e-03 4.89676611e+02] [ 7.36590438e-01 -6.76309252e-01 -6.34997926e-03 -2.62374718e+02] [ 8.60692235e-03 -1.47378604e-05 9.99962960e-01 -5.90898837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.066559995 meters 0.04973996510962156 Centerline is valid? [True, True] Translation: X:489.64, Y:-262.34, Z:-5.91 [[-6.73380769e-01 -7.39277591e-01 5.19460910e-03 4.89636459e+02] [ 7.39255805e-01 -6.73400805e-01 -5.67552185e-03 -2.62336159e+02] [ 7.69384006e-03 1.83576586e-05 9.99970402e-01 -5.90973001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.126559995 meters 0.04973212478961124 Centerline is valid? [True, True] Translation: X:489.60, Y:-262.30, Z:-5.91 [[-6.72017282e-01 -7.40522148e-01 4.44072244e-03 4.89598274e+02] [ 7.40506265e-01 -6.72031954e-01 -4.85015975e-03 -2.62296244e+02] [ 6.57595809e-03 2.89916125e-05 9.99978378e-01 -5.90867713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1865599950002 meters 0.04894170929217048 Centerline is valid? [True, True] Translation: X:489.56, Y:-262.25, Z:-5.91 [[-6.72303566e-01 -7.40264450e-01 4.05697425e-03 4.89560949e+02] [ 7.40251196e-01 -6.72315807e-01 -4.42984118e-03 -2.62251245e+02] [ 6.00682186e-03 2.49820122e-05 9.99981959e-01 -5.90716013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.246559995 meters 0.04932760946797033 Centerline is valid? [True, True] Translation: X:489.52, Y:-262.21, Z:-5.91 [[-6.72115636e-01 -7.40433238e-01 4.38083538e-03 4.89523306e+02] [ 7.40417797e-01 -6.72129912e-01 -4.78195050e-03 -2.62209752e+02] [ 6.48520560e-03 2.96247833e-05 9.99978970e-01 -5.90827015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.306559995 meters 0.04956463523265777 Centerline is valid? [True, True] Translation: X:489.49, Y:-262.17, Z:-5.91 [[-6.71440947e-01 -7.41045466e-01 4.32122325e-03 4.89486902e+02] [ 7.41030462e-01 -6.71454851e-01 -4.71567438e-03 -2.62168646e+02] [ 6.39603542e-03 3.58611904e-05 9.99979545e-01 -5.90703601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.366559995 meters 0.04931276916416218 Centerline is valid? [True, True] Translation: X:489.45, Y:-262.13, Z:-5.91 [[-6.69340497e-01 -7.42945963e-01 3.82023390e-03 4.89447102e+02] [ 7.42934274e-01 -6.69351397e-01 -4.16793588e-03 -2.62126403e+02] [ 5.65363004e-03 4.84144213e-05 9.99984017e-01 -5.90762554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.426559995 meters 0.04985510034475901 Centerline is valid? [True, True] Translation: X:489.41, Y:-262.08, Z:-5.91 [[-6.67255224e-01 -7.44813943e-01 4.75991004e-03 4.89408883e+02] [ 7.44795853e-01 -6.67272196e-01 -5.19169183e-03 -2.62083310e+02] [ 7.04300009e-03 8.09777608e-05 9.99975195e-01 -5.90801186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.486559995 meters 0.04955892583869869 Centerline is valid? [True, True] Translation: X:489.37, Y:-262.04, Z:-5.91 [[-6.65883941e-01 -7.46040029e-01 4.78041917e-03 4.89370647e+02] [ 7.46021824e-01 -6.65901093e-01 -5.21270480e-03 -2.62039369e+02] [ 7.07217280e-03 9.52406121e-05 9.99974987e-01 -5.90780583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.546559995 meters 0.048631734105239126 Centerline is valid? [True, True] Translation: X:489.33, Y:-261.99, Z:-5.91 [[-6.66478771e-01 -7.45513594e-01 3.94078351e-03 4.89333774e+02] [ 7.45501219e-01 -6.66490417e-01 -4.29602149e-03 -2.61994378e+02] [ 5.82923686e-03 7.46517909e-05 9.99983007e-01 -5.90651982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.606559995 meters 0.049219429593740455 Centerline is valid? [True, True] Translation: X:489.29, Y:-261.95, Z:-5.91 [[-6.67839996e-01 -7.44297632e-01 3.28252784e-03 4.89293982e+02] [ 7.44289036e-01 -6.67848060e-01 -3.57749719e-03 -2.61952832e+02] [ 4.85495254e-03 5.39537764e-05 9.99988213e-01 -5.90714804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.666559995 meters 0.04904627648997897 Centerline is valid? [True, True] Translation: X:489.26, Y:-261.91, Z:-5.91 [[-6.71650739e-01 -7.40862911e-01 2.72629074e-03 4.89261668e+02] [ 7.40856956e-01 -6.71656272e-01 -2.97036747e-03 -2.61905944e+02] [ 4.03176536e-03 2.47419532e-05 9.99991872e-01 -5.90606977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7265599950001 meters 0.048610000937944375 Centerline is valid? [True, True] Translation: X:489.23, Y:-261.86, Z:-5.91 [[-6.75679848e-01 -7.37188696e-01 3.09341467e-03 4.89228584e+02] [ 7.37180997e-01 -6.75686929e-01 -3.36928780e-03 -2.61859710e+02] [ 4.57398074e-03 3.84664064e-06 9.99989539e-01 -5.90681184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.786559995 meters 0.0500982261166442 Centerline is valid? [True, True] Translation: X:489.19, Y:-261.82, Z:-5.91 [[-6.76727035e-01 -7.36227065e-01 3.19828066e-03 4.89190985e+02] [ 7.36218828e-01 -6.76734593e-01 -3.48247910e-03 -2.61816331e+02] [ 4.72828253e-03 -2.05332302e-06 9.99988822e-01 -5.90676952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.846559995 meters 0.04906195623177142 Centerline is valid? [True, True] Translation: X:489.15, Y:-261.77, Z:-5.91 [[-6.77207596e-01 -7.35786395e-01 2.87285113e-03 4.89153597e+02] [ 7.35779749e-01 -6.77213689e-01 -3.12716605e-03 -2.61774358e+02] [ 4.24646035e-03 -3.95492040e-06 9.99990984e-01 -5.90620014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.906559995 meters 0.04954667981227739 Centerline is valid? [True, True] Translation: X:489.11, Y:-261.73, Z:-5.91 [[-6.74971487e-01 -7.37837707e-01 3.00182036e-03 4.89113917e+02] [ 7.37830475e-01 -6.74978161e-01 -3.26673476e-03 -2.61732540e+02] [ 4.43648327e-03 9.88172317e-06 9.99990159e-01 -5.90674762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9665599950001 meters 0.04961389034690365 Centerline is valid? [True, True] Translation: X:489.07, Y:-261.69, Z:-5.91 [[-6.73084353e-01 -7.39556390e-01 3.71475481e-03 4.89074349e+02] [ 7.39545348e-01 -6.73094603e-01 -4.04144044e-03 -2.61691059e+02] [ 5.48925451e-03 2.69993178e-05 9.99984934e-01 -5.90735067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.026559995 meters 0.04859599270713008 Centerline is valid? [True, True] Translation: X:489.03, Y:-261.65, Z:-5.91 [[-6.70632831e-01 -7.41774966e-01 4.63739837e-03 4.89033521e+02] [ 7.41757819e-01 -6.70648862e-01 -5.04390847e-03 -2.61650179e+02] [ 6.85151098e-03 5.72158783e-05 9.99976527e-01 -5.90886813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.086559995 meters 0.048942893158831505 Centerline is valid? [True, True] Translation: X:488.99, Y:-261.61, Z:-5.91 [[-6.69369893e-01 -7.42912728e-01 4.96233294e-03 4.88992868e+02] [ 7.42893135e-01 -6.69388283e-01 -5.39598080e-03 -2.61607761e+02] [ 7.33047034e-03 7.45759805e-05 9.99973129e-01 -5.90870121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.146559995 meters 0.048874578846039976 Centerline is valid? [True, True] Translation: X:488.95, Y:-261.57, Z:-5.91 [[-6.68939859e-01 -7.43301599e-01 4.71153415e-03 4.88953606e+02] [ 7.43283956e-01 -6.68956447e-01 -5.12183721e-03 -2.61566680e+02] [ 6.95888093e-03 7.58066826e-05 9.99975784e-01 -5.90802333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2065599950001 meters 0.049350157863854445 Centerline is valid? [True, True] Translation: X:488.91, Y:-261.52, Z:-5.91 [[-6.68615645e-01 -7.43596439e-01 4.17794543e-03 4.88913914e+02] [ 7.43582579e-01 -6.68628695e-01 -4.54059987e-03 -2.61524392e+02] [ 6.16986809e-03 7.07313299e-05 9.99980964e-01 -5.90761967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.266559995 meters 0.0493018096534883 Centerline is valid? [True, True] Translation: X:488.87, Y:-261.49, Z:-5.91 [[-6.68087588e-01 -7.44073681e-01 3.65125507e-03 4.88872767e+02] [ 7.44063109e-01 -6.68097562e-01 -3.96697987e-03 -2.61486003e+02] [ 5.39111992e-03 6.64741880e-05 9.99985466e-01 -5.90762589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.326559995 meters 0.04899945230352344 Centerline is valid? [True, True] Translation: X:488.83, Y:-261.44, Z:-5.91 [[-6.68285897e-01 -7.43897515e-01 3.23231140e-03 4.88834729e+02] [ 7.43889232e-01 -6.68293711e-01 -3.51090030e-03 -2.61442363e+02] [ 4.77188338e-03 5.81964894e-05 9.99988613e-01 -5.90655865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.386559995 meters 0.049307894288845786 Centerline is valid? [True, True] Translation: X:488.80, Y:-261.40, Z:-5.91 [[-6.69556562e-01 -7.42752476e-01 3.57351261e-03 4.88795572e+02] [ 7.42742340e-01 -6.69566096e-01 -3.88056219e-03 -2.61399882e+02] [ 5.27500006e-03 5.59432367e-05 9.99986086e-01 -5.90664318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4465599950001 meters 0.04927446745848417 Centerline is valid? [True, True] Translation: X:488.76, Y:-261.36, Z:-5.91 [[-6.70249177e-01 -7.42124396e-01 4.17391994e-03 4.88757610e+02] [ 7.42110565e-01 -6.70262171e-01 -4.53115800e-03 -2.61358389e+02] [ 6.16030353e-03 6.05051616e-05 9.99981023e-01 -5.90744389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.506559995 meters 0.04943567567780016 Centerline is valid? [True, True] Translation: X:488.72, Y:-261.32, Z:-5.91 [[-6.70571239e-01 -7.41824625e-01 5.51716245e-03 4.88717906e+02] [ 7.41800462e-01 -6.70593930e-01 -5.98797106e-03 -2.61316275e+02] [ 8.14180004e-03 7.72724832e-05 9.99966852e-01 -5.90915130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.566559995 meters 0.04961538900010234 Centerline is valid? [True, True] Translation: X:488.68, Y:-261.27, Z:-5.91 [[-6.71216250e-01 -7.41229504e-01 6.89698741e-03 4.88679484e+02] [ 7.41191729e-01 -6.71251678e-01 -7.48373136e-03 -2.61273214e+02] [ 1.01767769e-02 8.87879188e-05 9.99948211e-01 -5.90950575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.626559995 meters 0.049488393511420495 Centerline is valid? [True, True] Translation: X:488.64, Y:-261.23, Z:-5.91 [[-6.72582612e-01 -7.39991164e-01 6.76065347e-03 4.88642152e+02] [ 7.39954827e-01 -6.72616586e-01 -7.33362008e-03 -2.61229520e+02] [ 9.97414172e-03 7.01128193e-05 9.99950255e-01 -5.90827106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6865599950002 meters 0.04994864006401202 Centerline is valid? [True, True] Translation: X:488.61, Y:-261.19, Z:-5.91 [[-6.74752506e-01 -7.38021454e-01 5.77842684e-03 4.88605813e+02] [ 7.37994849e-01 -6.74777247e-01 -6.26657530e-03 -2.61185293e+02] [ 8.52401796e-03 3.60618561e-05 9.99963669e-01 -5.90537613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.746559995 meters 0.04990972847343543 Centerline is valid? [True, True] Translation: X:488.57, Y:-261.14, Z:-5.91 [[-6.75480726e-01 -7.37362376e-01 4.74510234e-03 4.88567157e+02] [ 7.37344429e-01 -6.75497392e-01 -5.14453117e-03 -2.61142917e+02] [ 6.99868798e-03 2.37431236e-05 9.99975509e-01 -5.90577684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.806559995 meters 0.04995485645409491 Centerline is valid? [True, True] Translation: X:488.53, Y:-261.10, Z:-5.91 [[-6.74289569e-01 -7.38455239e-01 4.17572931e-03 4.88527939e+02] [ 7.38441371e-01 -6.74302498e-01 -4.52582697e-03 -2.61103112e+02] [ 6.15782535e-03 3.18133587e-05 9.99981040e-01 -5.90640212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.866559995 meters 0.04930335435585977 Centerline is valid? [True, True] Translation: X:488.49, Y:-261.06, Z:-5.91 [[-6.73130631e-01 -7.39509557e-01 4.55738210e-03 4.88488216e+02] [ 7.39493070e-01 -6.73146057e-01 -4.93818350e-03 -2.61061165e+02] [ 6.71961768e-03 4.61099118e-05 9.99977422e-01 -5.90641149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.926559995 meters 0.04954142130747336 Centerline is valid? [True, True] Translation: X:488.45, Y:-261.02, Z:-5.91 [[-6.70350648e-01 -7.42025012e-01 5.37499438e-03 4.88446591e+02] [ 7.42002171e-01 -6.70372191e-01 -5.82259804e-03 -2.61020617e+02] [ 7.92376014e-03 8.50751323e-05 9.99968603e-01 -5.90749421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.986559995 meters 0.049527417996263604 Centerline is valid? [True, True] Translation: X:488.41, Y:-260.98, Z:-5.91 [[-6.67926763e-01 -7.44201225e-01 6.19482875e-03 4.88406715e+02] [ 7.44170995e-01 -6.67955478e-01 -6.70891883e-03 -2.60978646e+02] [ 9.13065541e-03 1.28945444e-04 9.99958306e-01 -5.90790542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.046559995 meters 0.05018433284220128 Centerline is valid? [True, True] Translation: X:488.37, Y:-260.94, Z:-5.91 [[-6.67903358e-01 -7.44223791e-01 6.00449213e-03 4.88367158e+02] [ 7.44195402e-01 -6.67930336e-01 -6.50153618e-03 -2.60937952e+02] [ 8.84918034e-03 1.26117585e-04 9.99960837e-01 -5.90890460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.106559995 meters 0.04897420494058767 Centerline is valid? [True, True] Translation: X:488.33, Y:-260.89, Z:-5.91 [[-6.69302355e-01 -7.42973021e-01 5.04469466e-03 4.88329671e+02] [ 7.42952957e-01 -6.69321359e-01 -5.46089286e-03 -2.60893078e+02] [ 7.43381795e-03 9.29823649e-05 9.99972365e-01 -5.90672539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.166559995 meters 0.04972619050354745 Centerline is valid? [True, True] Translation: X:488.29, Y:-260.85, Z:-5.91 [[-6.72617027e-01 -7.39976857e-01 4.53733013e-03 4.88291507e+02] [ 7.39960565e-01 -6.72632328e-01 -4.91054783e-03 -2.60851334e+02] [ 6.68564667e-03 5.45272868e-05 9.99977649e-01 -5.90654557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2265599950001 meters 0.049548914186895415 Centerline is valid? [True, True] Translation: X:488.25, Y:-260.81, Z:-5.91 [[-6.76710868e-01 -7.36236209e-01 4.31797238e-03 4.88254660e+02] [ 7.36221385e-01 -6.76724644e-01 -4.67203613e-03 -2.60806260e+02] [ 6.36180050e-03 1.73659799e-05 9.99979763e-01 -5.90600497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.286559995 meters 0.04965609088836658 Centerline is valid? [True, True] Translation: X:488.22, Y:-260.76, Z:-5.91 [[-6.79302287e-01 -7.33845310e-01 4.41190985e-03 4.88217022e+02] [ 7.33829792e-01 -6.79316614e-01 -4.77239476e-03 -2.60762258e+02] [ 6.49928317e-03 -4.30778133e-06 9.99978879e-01 -5.90556333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.346559995 meters 0.049662159463066326 Centerline is valid? [True, True] Translation: X:488.18, Y:-260.72, Z:-5.91 [[-6.81566199e-01 -7.31740122e-01 4.88978813e-03 4.88179991e+02] [ 7.31721016e-01 -6.81583739e-01 -5.28782153e-03 -2.60719119e+02] [ 7.20211125e-03 -2.60396785e-05 9.99974064e-01 -5.90685223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.406559995 meters 0.049902577765196555 Centerline is valid? [True, True] Translation: X:488.14, Y:-260.68, Z:-5.91 [[-6.82053268e-01 -7.31281017e-01 5.60475180e-03 4.88139017e+02] [ 7.31255914e-01 -6.82076295e-01 -6.05938691e-03 -2.60677450e+02] [ 8.25398297e-03 -3.43167486e-05 9.99965935e-01 -5.90697159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4665599950001 meters 0.050318149470825094 Centerline is valid? [True, True] Translation: X:488.10, Y:-260.64, Z:-5.91 [[-6.81641044e-01 -7.31663072e-01 5.88525303e-03 4.88099309e+02] [ 7.31635423e-01 -6.81666449e-01 -6.36075590e-03 -2.60635996e+02] [ 8.66570974e-03 -2.98926963e-05 9.99962452e-01 -5.90677133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.526559995 meters 0.04919494820411587 Centerline is valid? [True, True] Translation: X:488.06, Y:-260.59, Z:-5.91 [[-6.79874274e-01 -7.33301620e-01 6.30125266e-03 4.88059081e+02] [ 7.33270005e-01 -6.79903474e-01 -6.80923787e-03 -2.60593753e+02] [ 9.27746874e-03 -8.90608971e-06 9.99956963e-01 -5.90594443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.586559995 meters 0.04939060478328721 Centerline is valid? [True, True] Translation: X:488.02, Y:-260.55, Z:-5.91 [[-6.77347133e-01 -7.35637108e-01 6.23751545e-03 4.88019116e+02] [ 7.35606242e-01 -6.77375852e-01 -6.73879715e-03 -2.60554660e+02] [ 9.18245158e-03 2.38503686e-05 9.99957840e-01 -5.90640259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.646559995 meters 0.04938455855357315 Centerline is valid? [True, True] Translation: X:487.98, Y:-260.51, Z:-5.91 [[-6.73788946e-01 -7.38898104e-01 6.16835697e-03 4.87977376e+02] [ 7.38868071e-01 -6.73817177e-01 -6.66230606e-03 -2.60513743e+02] [ 9.07911019e-03 6.86138380e-05 9.99958782e-01 -5.90549899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7065599950001 meters 0.04976606762023493 Centerline is valid? [True, True] Translation: X:487.94, Y:-260.47, Z:-5.91 [[-6.69620123e-01 -7.42675326e-01 6.50011568e-03 4.87936002e+02] [ 7.42642170e-01 -6.69651659e-01 -7.01872370e-03 -2.60473131e+02] [ 9.56544616e-03 1.27381391e-04 9.99954242e-01 -5.90525242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.766559995 meters 0.04909086212317379 Centerline is valid? [True, True] Translation: X:487.89, Y:-260.43, Z:-5.91 [[-6.68234636e-01 -7.43920133e-01 6.73106393e-03 4.87894363e+02] [ 7.43884661e-01 -6.68268519e-01 -7.26623692e-03 -2.60433142e+02] [ 9.90365805e-03 1.51584024e-04 9.99950946e-01 -5.90690156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.826559995 meters 0.049216369794157055 Centerline is valid? [True, True] Translation: X:487.85, Y:-260.39, Z:-5.91 [[-6.65502689e-01 -7.46364427e-01 6.80535019e-03 4.87854443e+02] [ 7.46328315e-01 -6.65537456e-01 -7.34450062e-03 -2.60391028e+02] [ 1.00108895e-02 1.91240626e-04 9.99949872e-01 -5.90575892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.886559995 meters 0.049403980268753526 Centerline is valid? [True, True] Translation: X:487.81, Y:-260.35, Z:-5.90 [[-6.61882950e-01 -7.49579099e-01 6.49113707e-03 4.87813999e+02] [ 7.49546410e-01 -6.61914739e-01 -7.00407716e-03 -2.60350144e+02] [ 9.54668914e-03 2.29529233e-04 9.99954403e-01 -5.90445808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9465599950001 meters 0.051165891565677926 Centerline is valid? [True, True] Translation: X:487.77, Y:-260.31, Z:-5.91 [[-6.59683007e-01 -7.51521487e-01 5.81237987e-03 4.87770448e+02] [ 7.51495367e-01 -6.59708572e-01 -6.26996127e-03 -2.60312691e+02] [ 8.54648744e-03 2.31789643e-04 9.99963451e-01 -5.90523141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.006559995 meters 0.051333382030867396 Centerline is valid? [True, True] Translation: X:487.73, Y:-260.28, Z:-5.91 [[-6.58992157e-01 -7.52130207e-01 5.43039830e-03 4.87727719e+02] [ 7.52107438e-01 -6.59014493e-01 -5.85658564e-03 -2.60276200e+02] [ 7.98362615e-03 2.24798952e-04 9.99968105e-01 -5.90667826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.066559995 meters 0.04924881835529561 Centerline is valid? [True, True] Translation: X:487.70, Y:-260.23, Z:-5.90 [[-6.58590568e-01 -7.52477157e-01 6.04905449e-03 4.87696404e+02] [ 7.52448934e-01 -6.58618298e-01 -6.52224499e-03 -2.60226007e+02] [ 8.89185834e-03 2.56115569e-04 9.99960434e-01 -5.90422134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.126559995 meters 0.04993324566373042 Centerline is valid? [True, True] Translation: X:487.65, Y:-260.19, Z:-5.91 [[-6.59696075e-01 -7.51498310e-01 7.16789404e-03 4.87654609e+02] [ 7.51458636e-01 -6.59734952e-01 -7.72738702e-03 -2.60186754e+02] [ 1.05360285e-02 2.88648992e-04 9.99944453e-01 -5.90766186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.1865599950002 meters 0.04998167248575052 Centerline is valid? [True, True] Translation: X:487.62, Y:-260.14, Z:-5.91 [[-6.62441596e-01 -7.49073306e-01 7.76615974e-03 4.87618615e+02] [ 7.49026590e-01 -6.62487062e-01 -8.37012620e-03 -2.60141818e+02] [ 1.14148185e-02 2.72340391e-04 9.99934812e-01 -5.90781471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.246559995 meters 0.049642559628382946 Centerline is valid? [True, True] Translation: X:487.59, Y:-260.09, Z:-5.90 [[-6.66341125e-01 -7.45615607e-01 6.84627201e-03 4.87585249e+02] [ 7.45579131e-01 -6.66376268e-01 -7.37760669e-03 -2.60093161e+02] [ 1.00630519e-02 1.88434797e-04 9.99949348e-01 -5.90410799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.306559995 meters 0.04921328979206258 Centerline is valid? [True, True] Translation: X:487.55, Y:-260.05, Z:-5.90 [[-6.69585167e-01 -7.42711873e-01 5.89732061e-03 4.87546744e+02] [ 7.42684709e-01 -6.69611124e-01 -6.35335557e-03 -2.60050785e+02] [ 8.66762410e-03 1.25737191e-04 9.99962428e-01 -5.90473874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.366559995 meters 0.04918357248180486 Centerline is valid? [True, True] Translation: X:487.51, Y:-260.01, Z:-5.90 [[-6.75236580e-01 -7.37583232e-01 5.15145406e-03 4.87511059e+02] [ 7.37562365e-01 -6.75256228e-01 -5.54827204e-03 -2.60005051e+02] [ 7.57086386e-03 5.31224058e-05 9.99971339e-01 -5.90421223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.426559995 meters 0.04951440264155888 Centerline is valid? [True, True] Translation: X:487.47, Y:-259.96, Z:-5.90 [[-6.80000044e-01 -7.33196189e-01 4.82583373e-03 4.87474666e+02] [ 7.33177775e-01 -6.80017168e-01 -5.19627946e-03 -2.59961093e+02] [ 7.09154208e-03 4.72376922e-06 9.99974855e-01 -5.90351160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.486559995 meters 0.04923341810589044 Centerline is valid? [True, True] Translation: X:487.44, Y:-259.92, Z:-5.90 [[-6.83071441e-01 -7.30334879e-01 4.93670133e-03 4.87436750e+02] [ 7.30315546e-01 -6.83089279e-01 -5.31404683e-03 -2.59919957e+02] [ 7.25324151e-03 -2.45238918e-05 9.99973695e-01 -5.90410063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.546559995 meters 0.04943706089726962 Centerline is valid? [True, True] Translation: X:487.40, Y:-259.88, Z:-5.90 [[-6.85456019e-01 -7.28098148e-01 4.80967537e-03 4.87397534e+02] [ 7.28079751e-01 -6.85472892e-01 -5.17594994e-03 -2.59877292e+02] [ 7.06550165e-03 -4.60587925e-05 9.99975038e-01 -5.90293135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.606559995 meters 0.0508136688324231 Centerline is valid? [True, True] Translation: X:487.36, Y:-259.84, Z:-5.90 [[-6.88975781e-01 -7.24765946e-01 5.16690944e-03 4.87357738e+02] [ 7.24744634e-01 -6.88995150e-01 -5.55865239e-03 -2.59838150e+02] [ 7.58869750e-03 -8.50869750e-05 9.99971202e-01 -5.90166647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.666559995 meters 0.050650710607264574 Centerline is valid? [True, True] Translation: X:487.32, Y:-259.80, Z:-5.90 [[-6.92661115e-01 -7.21246870e-01 4.85100170e-03 4.87318198e+02] [ 7.21228008e-01 -6.92678092e-01 -5.21732886e-03 -2.59796269e+02] [ 7.12316471e-03 -1.15162535e-04 9.99974623e-01 -5.90336105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.7265599950001 meters 0.051661426680141655 Centerline is valid? [True, True] Translation: X:487.28, Y:-259.75, Z:-5.90 [[-6.95804878e-01 -7.18213800e-01 4.95073362e-03 4.87279876e+02] [ 7.18194090e-01 -6.95822474e-01 -5.32299594e-03 -2.59754208e+02] [ 7.26788086e-03 -1.48178912e-04 9.99973578e-01 -5.90377723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.786559995 meters 0.05153852253121392 Centerline is valid? [True, True] Translation: X:487.24, Y:-259.71, Z:-5.90 [[-6.97192667e-01 -7.16871235e-01 4.24458662e-03 4.87241251e+02] [ 7.16856730e-01 -6.97205574e-01 -4.56244547e-03 -2.59712483e+02] [ 6.23003537e-03 -1.38143044e-04 9.99980584e-01 -5.90329348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.846559995 meters 0.05169978691151752 Centerline is valid? [True, True] Translation: X:487.20, Y:-259.68, Z:-5.90 [[-6.96478227e-01 -7.17568820e-01 3.61511228e-03 4.87195589e+02] [ 7.17558314e-01 -6.96487600e-01 -3.88458995e-03 -2.59677839e+02] [ 5.30534150e-03 -1.11478446e-04 9.99985920e-01 -5.90146350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.906559995 meters 0.05115943731830494 Centerline is valid? [True, True] Translation: X:487.15, Y:-259.64, Z:-5.90 [[-6.94060892e-01 -7.19909772e-01 3.06570190e-03 4.87152228e+02] [ 7.19902243e-01 -6.94067658e-01 -3.29340586e-03 -2.59639760e+02] [ 4.49875960e-03 -7.88185351e-05 9.99989877e-01 -5.90208199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.9665599950001 meters 0.0513614651959785 Centerline is valid? [True, True] Translation: X:487.11, Y:-259.60, Z:-5.90 [[-6.88033319e-01 -7.25673467e-01 2.85854444e-03 4.87107418e+02] [ 7.25666974e-01 -6.88039257e-01 -3.07004048e-03 -2.59603135e+02] [ 4.19463771e-03 -3.79388569e-05 9.99991202e-01 -5.90325156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.026559995 meters 0.05024926536336612 Centerline is valid? [True, True] Translation: X:487.06, Y:-259.57, Z:-5.91 [[-6.79212639e-01 -7.33933934e-01 3.34236159e-03 4.87060061e+02] [ 7.33925161e-01 -6.79220863e-01 -3.58860520e-03 -2.59569893e+02] [ 4.90400085e-03 1.56172582e-05 9.99987975e-01 -5.90583569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.086559995 meters 0.05065635729297972 Centerline is valid? [True, True] Translation: X:487.02, Y:-259.54, Z:-5.91 [[-6.73070613e-01 -7.39567956e-01 3.89710242e-03 4.87015283e+02] [ 7.39556131e-01 -6.73081892e-01 -4.18283718e-03 -2.59535137e+02] [ 5.71656142e-03 6.67811963e-05 9.99983658e-01 -5.90602726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.146559995 meters 0.05008708205962637 Centerline is valid? [True, True] Translation: X:486.97, Y:-259.50, Z:-5.90 [[-6.66338840e-01 -7.45638940e-01 3.88860910e-03 4.86972356e+02] [ 7.45627275e-01 -6.66350176e-01 -4.17258793e-03 -2.59495457e+02] [ 5.70241940e-03 1.19095602e-04 9.99983734e-01 -5.90429944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.2065599950001 meters 0.052366973790352475 Centerline is valid? [True, True] Translation: X:486.92, Y:-259.46, Z:-5.91 [[-6.63265908e-01 -7.48369017e-01 4.70639805e-03 4.86922419e+02] [ 7.48352006e-01 -6.63282583e-01 -5.04878357e-03 -2.59464695e+02] [ 6.90002505e-03 1.73356405e-04 9.99976180e-01 -5.90739010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.266559995 meters 0.050714267291007926 Centerline is valid? [True, True] Translation: X:486.89, Y:-259.42, Z:-5.91 [[-6.63089244e-01 -7.48520966e-01 5.38678913e-03 4.86887117e+02] [ 7.48498698e-01 -6.63111094e-01 -5.77728133e-03 -2.59417323e+02] [ 7.89645584e-03 2.01151535e-04 9.99968802e-01 -5.90594793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.326559995 meters 0.050555707274616536 Centerline is valid? [True, True] Translation: X:486.85, Y:-259.38, Z:-5.91 [[-6.64057315e-01 -7.47651582e-01 6.70772742e-03 4.86846452e+02] [ 7.47617026e-01 -6.64091149e-01 -7.19224784e-03 -2.59375247e+02] [ 9.83183789e-03 2.38746431e-04 9.99951638e-01 -5.90717379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.386559995 meters 0.052953328304252624 Centerline is valid? [True, True] Translation: X:486.80, Y:-259.34, Z:-5.91 [[-6.64991030e-01 -7.46804710e-01 8.34597985e-03 4.86800369e+02] [ 7.46751178e-01 -6.65043341e-01 -8.94612822e-03 -2.59341305e+02] [ 1.22314490e-02 2.83275263e-04 9.99925153e-01 -5.91352402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.4465599950001 meters 0.05168049217064295 Centerline is valid? [True, True] Translation: X:486.77, Y:-259.29, Z:-5.91 [[-6.68934235e-01 -7.43268859e-01 8.85394493e-03 4.86769538e+02] [ 7.43208334e-01 -6.68992786e-01 -9.48806559e-03 -2.59291669e+02] [ 1.29754090e-02 2.33433764e-04 9.99915789e-01 -5.90984704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.506559995 meters 0.051423199918152473 Centerline is valid? [True, True] Translation: X:486.73, Y:-259.25, Z:-5.91 [[-6.71751726e-01 -7.40725298e-01 8.69777540e-03 4.86732308e+02] [ 7.40666711e-01 -6.71808007e-01 -9.31793889e-03 -2.59249398e+02] [ 1.27452682e-02 1.82811175e-04 9.99918759e-01 -5.91074446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.566559995 meters 0.05122682890837877 Centerline is valid? [True, True] Translation: X:486.70, Y:-259.20, Z:-5.91 [[-6.74584565e-01 -7.38152721e-01 8.13790336e-03 4.86697447e+02] [ 7.38101265e-01 -6.74633637e-01 -8.71653464e-03 -2.59203151e+02] [ 1.19242371e-02 1.26557037e-04 9.99928896e-01 -5.90800409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.626559995 meters 0.051705008180653066 Centerline is valid? [True, True] Translation: X:486.66, Y:-259.16, Z:-5.91 [[-6.77459862e-01 -7.35515927e-01 8.02845404e-03 4.86660882e+02] [ 7.35465690e-01 -6.77507427e-01 -8.59679932e-03 -2.59159880e+02] [ 1.17624201e-02 8.06660141e-05 9.99930817e-01 -5.91019568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.6865599950002 meters 0.0511657600933806 Centerline is valid? [True, True] Translation: X:486.62, Y:-259.11, Z:-5.91 [[-6.79985479e-01 -7.33186114e-01 7.60731513e-03 4.86624885e+02] [ 7.33140877e-01 -6.80028030e-01 -8.14450054e-03 -2.59113440e+02] [ 1.11446222e-02 3.90915858e-05 9.99937896e-01 -5.90710449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.746559995 meters 0.05109304618422327 Centerline is valid? [True, True] Translation: X:486.59, Y:-259.07, Z:-5.91 [[-6.82500345e-01 -7.30846248e-01 7.55256072e-03 4.86590610e+02] [ 7.30801545e-01 -6.82542132e-01 -8.08334166e-03 -2.59068884e+02] [ 1.10626208e-02 2.53956991e-06 9.99938807e-01 -5.90779080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.806559995 meters 0.050943767857980986 Centerline is valid? [True, True] Translation: X:486.55, Y:-259.02, Z:-5.91 [[-6.83769059e-01 -7.29664091e-01 7.08442973e-03 4.86554078e+02] [ 7.29624716e-01 -6.83805758e-01 -7.58019746e-03 -2.59024040e+02] [ 1.03753717e-02 -1.41294524e-05 9.99946174e-01 -5.90727713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.866559995 meters 0.05043222420960752 Centerline is valid? [True, True] Translation: X:486.52, Y:-258.98, Z:-5.91 [[-6.82686665e-01 -7.30678886e-01 6.87632554e-03 4.86517232e+02] [ 7.30641867e-01 -6.82721295e-01 -7.35500658e-03 -2.58982991e+02] [ 1.00687619e-02 2.96642084e-06 9.99949309e-01 -5.90835965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.926559995 meters 0.050160337437196015 Centerline is valid? [True, True] Translation: X:486.48, Y:-258.94, Z:-5.91 [[-6.80815713e-01 -7.32425266e-01 6.57223281e-03 4.86478796e+02] [ 7.32391551e-01 -6.80847434e-01 -7.02762394e-03 -2.58941152e+02] [ 9.62189719e-03 2.89309796e-05 9.99953708e-01 -5.90661863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.986559995 meters 0.050523811771116305 Centerline is valid? [True, True] Translation: X:486.44, Y:-258.90, Z:-5.91 [[-6.79215954e-01 -7.33905714e-01 6.93470729e-03 4.86439660e+02] [ 7.33868276e-01 -6.79251352e-01 -7.41312441e-03 -2.58899692e+02] [ 1.01509437e-02 5.40493126e-05 9.99948476e-01 -5.90772047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.046559995 meters 0.05044547035968547 Centerline is valid? [True, True] Translation: X:486.40, Y:-258.86, Z:-5.91 [[-6.77418022e-01 -7.35561569e-01 7.34867792e-03 4.86401383e+02] [ 7.35519646e-01 -6.77457875e-01 -7.85356928e-03 -2.58855545e+02] [ 1.07552035e-02 8.49476211e-05 9.99942158e-01 -5.90687228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.106559995 meters 0.05044358153091907 Centerline is valid? [True, True] Translation: X:486.36, Y:-258.81, Z:-5.91 [[-6.76958329e-01 -7.35994057e-01 6.33785748e-03 4.86364752e+02] [ 7.35962913e-01 -6.76987992e-01 -6.77119998e-03 -2.58812711e+02] [ 9.27421635e-03 8.06078232e-05 9.99956990e-01 -5.90585371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.166559995 meters 0.05039502507510236 Centerline is valid? [True, True] Translation: X:486.33, Y:-258.77, Z:-5.90 [[-6.78856451e-01 -7.34253379e-01 5.08860047e-03 4.86328991e+02] [ 7.34233263e-01 -6.78875521e-01 -5.43521992e-03 -2.58765629e+02] [ 7.44535489e-03 4.64856200e-05 9.99972282e-01 -5.90230371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.2265599950001 meters 0.04991565346670018 Centerline is valid? [True, True] Translation: X:486.29, Y:-258.72, Z:-5.90 [[-6.81643295e-01 -7.31673520e-01 4.03459818e-03 4.86291941e+02] [ 7.31660836e-01 -6.81655235e-01 -4.30839276e-03 -2.58720799e+02] [ 5.90254187e-03 1.51704345e-05 9.99982580e-01 -5.90174497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.286559995 meters 0.04979135122296866 Centerline is valid? [True, True] Translation: X:486.26, Y:-258.67, Z:-5.90 [[-6.87537552e-01 -7.26143705e-01 2.72664191e-03 4.86259676e+02] [ 7.26137871e-01 -6.87542958e-01 -2.91075349e-03 -2.58673770e+02] [ 3.98830877e-03 -2.13343827e-05 9.99992046e-01 -5.90119160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.346559995 meters 0.0501355135784704 Centerline is valid? [True, True] Translation: X:486.23, Y:-258.63, Z:-5.90 [[-6.92812040e-01 -7.21115767e-01 1.87816039e-03 4.86225990e+02] [ 7.21112982e-01 -6.92814585e-01 -2.00439007e-03 -2.58627708e+02] [ 2.74661419e-03 -3.42997298e-05 9.99996227e-01 -5.90092513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.406559995 meters 0.05042321736797067 Centerline is valid? [True, True] Translation: X:486.19, Y:-258.58, Z:-5.90 [[-6.95680081e-01 -7.18348481e-01 2.16446212e-03 4.86187614e+02] [ 7.18344771e-01 -6.95683447e-01 -2.30925754e-03 -2.58584801e+02] [ 3.16463211e-03 -5.16744305e-05 9.99994991e-01 -5.90059687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.4665599950001 meters 0.05083181605928567 Centerline is valid? [True, True] Translation: X:486.15, Y:-258.54, Z:-5.90 [[-6.98857000e-01 -7.15252724e-01 3.52614642e-03 4.86151564e+02] [ 7.15242845e-01 -6.98865888e-01 -3.76081672e-03 -2.58541609e+02] [ 5.15423785e-03 -1.06222096e-04 9.99986711e-01 -5.90232602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.526559995 meters 0.051275476932558774 Centerline is valid? [True, True] Translation: X:486.11, Y:-258.50, Z:-5.90 [[-7.01258832e-01 -7.12893731e-01 4.31037003e-03 4.86111602e+02] [ 7.12878932e-01 -7.01272063e-01 -4.59594431e-03 -2.58499804e+02] [ 6.29916196e-03 -1.50174561e-04 9.99980149e-01 -5.90258032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.586559995 meters 0.05093467960834602 Centerline is valid? [True, True] Translation: X:486.07, Y:-258.46, Z:-5.90 [[-7.02114459e-01 -7.12050613e-01 4.38297174e-03 4.86069997e+02] [ 7.12035302e-01 -7.02128121e-01 -4.67222855e-03 -2.58460970e+02] [ 6.40427092e-03 -1.59608619e-04 9.99979480e-01 -5.90248821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.646559995 meters 0.05106028414326516 Centerline is valid? [True, True] Translation: X:486.03, Y:-258.42, Z:-5.90 [[-7.01735602e-01 -7.12424914e-01 4.22918889e-03 4.86025823e+02] [ 7.12410672e-01 -7.01748330e-01 -4.50723646e-03 -2.58424825e+02] [ 6.17889380e-03 -1.49968993e-04 9.99980899e-01 -5.90046734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.7065599950001 meters 0.05045408344695277 Centerline is valid? [True, True] Translation: X:485.99, Y:-258.38, Z:-5.90 [[-7.00530687e-01 -7.13610104e-01 4.16851506e-03 4.85986225e+02] [ 7.13596290e-01 -7.00543076e-01 -4.44223325e-03 -2.58382530e+02] [ 6.09024689e-03 -1.37283826e-04 9.99981445e-01 -5.89943524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.766559995 meters 0.050749803001180885 Centerline is valid? [True, True] Translation: X:485.95, Y:-258.34, Z:-5.90 [[-6.97986131e-01 -7.16099433e-01 4.11866200e-03 4.85946029e+02] [ 7.16085998e-01 -6.97998273e-01 -4.38791635e-03 -2.58341558e+02] [ 6.01700337e-03 -1.13388564e-04 9.99981891e-01 -5.90104313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.826559995 meters 0.051553039626310866 Centerline is valid? [True, True] Translation: X:485.90, Y:-258.30, Z:-5.90 [[-6.93350307e-01 -7.20588204e-01 4.24173095e-03 4.85902218e+02] [ 7.20574046e-01 -6.93363278e-01 -4.51769240e-03 -2.58303858e+02] [ 6.19645632e-03 -7.58621838e-05 9.99980799e-01 -5.90178874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.886559995 meters 0.05089233647934012 Centerline is valid? [True, True] Translation: X:485.86, Y:-258.27, Z:-5.90 [[-6.89674345e-01 -7.24107459e-01 4.20535664e-03 4.85860581e+02] [ 7.24093617e-01 -6.89687165e-01 -4.47754194e-03 -2.58266146e+02] [ 6.14260202e-03 -4.29739009e-05 9.99981133e-01 -5.90212544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.9465599950001 meters 0.051331150412592626 Centerline is valid? [True, True] Translation: X:485.81, Y:-258.23, Z:-5.90 [[-6.81612239e-01 -7.31707841e-01 2.89683595e-03 4.85814731e+02] [ 7.31701344e-01 -6.81618394e-01 -3.08350150e-03 -2.58229243e+02] [ 4.23075889e-03 1.78664028e-05 9.99991050e-01 -5.90088920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.006559995 meters 0.050559638156556286 Centerline is valid? [True, True] Translation: X:485.77, Y:-258.19, Z:-5.90 [[-6.77977520e-01 -7.35078362e-01 2.50686166e-03 4.85773217e+02] [ 7.35073522e-01 -6.77982154e-01 -2.66764327e-03 -2.58189282e+02] [ 3.66053431e-03 3.41254623e-05 9.99993300e-01 -5.90004133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.066559995 meters 0.05041842308231334 Centerline is valid? [True, True] Translation: X:485.73, Y:-258.15, Z:-5.90 [[-6.73413076e-01 -7.39260866e-01 2.86352633e-03 4.85730789e+02] [ 7.39254593e-01 -6.73419161e-01 -3.04635982e-03 -2.58149692e+02] [ 4.18040810e-03 6.54164546e-05 9.99991260e-01 -5.90035586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.126559995 meters 0.051059127737268034 Centerline is valid? [True, True] Translation: X:485.69, Y:-258.11, Z:-5.90 [[-6.70481347e-01 -7.41915812e-01 3.96117208e-03 4.85689531e+02] [ 7.41903860e-01 -6.70493038e-01 -4.21288876e-03 -2.58109452e+02] [ 5.78154709e-03 1.14145524e-04 9.99983280e-01 -5.90191071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.1865599950002 meters 0.050343709458754826 Centerline is valid? [True, True] Translation: X:485.65, Y:-258.07, Z:-5.90 [[-6.67503330e-01 -7.44579421e-01 6.38677953e-03 4.85648986e+02] [ 7.44548483e-01 -6.67533847e-01 -6.79121830e-03 -2.58070203e+02] [ 9.31999290e-03 2.22106178e-04 9.99956543e-01 -5.90344218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.246559995 meters 0.05023660793120738 Centerline is valid? [True, True] Translation: X:485.61, Y:-258.03, Z:-5.90 [[-6.68610593e-01 -7.43571995e-01 7.78225629e-03 4.85610791e+02] [ 7.43526015e-01 -6.68655834e-01 -8.27294499e-03 -2.58026784e+02] [ 1.13551813e-02 2.54931349e-04 9.99935495e-01 -5.90402693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.306559995 meters 0.05028935269561956 Centerline is valid? [True, True] Translation: X:485.57, Y:-257.98, Z:-5.90 [[-6.72095688e-01 -7.40426481e-01 7.48419835e-03 4.85574126e+02] [ 7.40383782e-01 -6.72137328e-01 -7.95405081e-03 -2.57982411e+02] [ 1.09197989e-02 1.95295832e-04 9.99940358e-01 -5.90386221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.366559995 meters 0.04992829204498159 Centerline is valid? [True, True] Translation: X:485.54, Y:-257.93, Z:-5.90 [[-6.80978174e-01 -7.32279128e-01 6.00044872e-03 4.85543019e+02] [ 7.32251376e-01 -6.81004608e-01 -6.37541141e-03 -2.57932681e+02] [ 8.75491393e-03 5.23208146e-05 9.99961674e-01 -5.90135881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.426559995 meters 0.05067082914738849 Centerline is valid? [True, True] Translation: X:485.51, Y:-257.88, Z:-5.90 [[-6.92447519e-01 -7.21455288e-01 4.32446970e-03 4.85511913e+02] [ 7.21440667e-01 -6.92461020e-01 -4.59350259e-03 -2.57881772e+02] [ 6.30853344e-03 -6.09111718e-05 9.99980099e-01 -5.89931749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.486559995 meters 0.051459965219825224 Centerline is valid? [True, True] Translation: X:485.48, Y:-257.84, Z:-5.90 [[-7.02174114e-01 -7.11994584e-01 3.90216402e-03 4.85477419e+02] [ 7.11982538e-01 -7.02184944e-01 -4.14371275e-03 -2.57836348e+02] [ 5.69034186e-03 -1.31335185e-04 9.99983801e-01 -5.89758381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.546559995 meters 0.05070434003247202 Centerline is valid? [True, True] Translation: X:485.44, Y:-257.79, Z:-5.90 [[-7.04273412e-01 -7.09916250e-01 4.22829563e-03 4.85441280e+02] [ 7.09902076e-01 -7.04286087e-01 -4.48899937e-03 -2.57789830e+02] [ 6.16474338e-03 -1.59807059e-04 9.99980985e-01 -5.89825202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.606559995 meters 0.05067381263279986 Centerline is valid? [True, True] Translation: X:485.40, Y:-257.74, Z:-5.90 [[-7.05700780e-01 -7.08491642e-01 5.09932305e-03 4.85404876e+02] [ 7.08470995e-01 -7.05719173e-01 -5.41281624e-03 -2.57744832e+02] [ 7.43362511e-03 -2.07106163e-04 9.99972349e-01 -5.89888548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.666559995 meters 0.051511339940581824 Centerline is valid? [True, True] Translation: X:485.36, Y:-257.71, Z:-5.90 [[-7.03350536e-01 -7.10823412e-01 5.30098686e-03 4.85362660e+02] [ 7.10801174e-01 -7.03370487e-01 -5.62584124e-03 -2.57706736e+02] [ 7.72753737e-03 -1.88990769e-04 9.99970124e-01 -5.89793733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.7265599950001 meters 0.05070238923613497 Centerline is valid? [True, True] Translation: X:485.32, Y:-257.67, Z:-5.90 [[-6.96695368e-01 -7.17351434e-01 4.74179762e-03 4.85318362e+02] [ 7.17333790e-01 -6.96711497e-01 -5.03229492e-03 -2.57665619e+02] [ 6.91358889e-03 -1.04524899e-04 9.99976095e-01 -5.89721477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.786559995 meters 0.05040372152752987 Centerline is valid? [True, True] Translation: X:485.28, Y:-257.62, Z:-5.90 [[-6.88902491e-01 -7.24842543e-01 4.07999934e-03 4.85281284e+02] [ 7.24829617e-01 -6.88914572e-01 -4.32886317e-03 -2.57621735e+02] [ 5.94851518e-03 -2.48602617e-05 9.99982307e-01 -5.90136497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.846559995 meters 0.04986944202169195 Centerline is valid? [True, True] Translation: X:485.24, Y:-257.58, Z:-5.90 [[-6.81898205e-01 -7.31434972e-01 4.20946923e-03 4.85238394e+02] [ 7.31421345e-01 -6.81911197e-01 -4.46501925e-03 -2.57584090e+02] [ 6.13635543e-03 3.42070385e-05 9.99981172e-01 -5.89980170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.906559995 meters 0.04908344051101936 Centerline is valid? [True, True] Translation: X:485.20, Y:-257.54, Z:-5.90 [[-6.75839952e-01 -7.37036006e-01 4.27620113e-03 4.85197796e+02] [ 7.37022062e-01 -6.75853474e-01 -4.53455699e-03 -2.57542744e+02] [ 6.23221716e-03 8.70198000e-05 9.99980576e-01 -5.89957471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.9665599950001 meters 0.04972958308426532 Centerline is valid? [True, True] Translation: X:485.15, Y:-257.51, Z:-5.90 [[-6.72512368e-01 -7.40071157e-01 4.66883748e-03 4.85152441e+02] [ 7.40054614e-01 -6.72528562e-01 -4.94992413e-03 -2.57507772e+02] [ 6.80322264e-03 1.26309522e-04 9.99976850e-01 -5.90234965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.026559995 meters 0.04880116228584841 Centerline is valid? [True, True] Translation: X:485.12, Y:-257.46, Z:-5.90 [[-6.69996991e-01 -7.42352686e-01 4.06477801e-03 4.85118261e+02] [ 7.42340195e-01 -6.70009308e-01 -4.30843184e-03 -2.57459596e+02] [ 5.92181505e-03 1.30811738e-04 9.99982457e-01 -5.89929759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.086559995 meters 0.04880993297870791 Centerline is valid? [True, True] Translation: X:485.08, Y:-257.42, Z:-5.90 [[-6.69820797e-01 -7.42515186e-01 3.36115925e-03 4.85079037e+02] [ 7.42506652e-01 -6.69829221e-01 -3.56167036e-03 -2.57418658e+02] [ 4.89599702e-03 1.10002221e-04 9.99988009e-01 -5.89918818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.146559995 meters 0.049277984768702314 Centerline is valid? [True, True] Translation: X:485.04, Y:-257.38, Z:-5.90 [[-6.71096003e-01 -7.41361490e-01 3.64633264e-03 4.85039560e+02] [ 7.41351434e-01 -6.71105900e-01 -3.86294158e-03 -2.57377574e+02] [ 5.31091148e-03 1.10809279e-04 9.99985891e-01 -5.89945153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.2065599950001 meters 0.04924452301342987 Centerline is valid? [True, True] Translation: X:485.00, Y:-257.34, Z:-5.90 [[-6.72386286e-01 -7.40186602e-01 4.52520248e-03 4.84999822e+02] [ 7.40171096e-01 -6.72401501e-01 -4.79277746e-03 -2.57335684e+02] [ 6.59030261e-03 1.26826243e-04 9.99978276e-01 -5.90182325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.266559995 meters 0.04944665443379017 Centerline is valid? [True, True] Translation: X:484.96, Y:-257.29, Z:-5.90 [[-6.74896915e-01 -7.37883677e-01 6.46790728e-03 4.84964061e+02] [ 7.37851909e-01 -6.74927890e-01 -6.84863322e-03 -2.57289687e+02] [ 9.41886568e-03 1.50236303e-04 9.99955630e-01 -5.90240612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.326559995 meters 0.049855944572909615 Centerline is valid? [True, True] Translation: X:484.92, Y:-257.25, Z:-5.90 [[-6.74945675e-01 -7.37829612e-01 7.46989776e-03 4.84924328e+02] [ 7.37787251e-01 -6.74986988e-01 -7.90816655e-03 -2.57249513e+02] [ 1.08769632e-02 1.73612518e-04 9.99940829e-01 -5.90417798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.386559995 meters 0.04969073346189357 Centerline is valid? [True, True] Translation: X:484.89, Y:-257.21, Z:-5.90 [[-6.74613765e-01 -7.38130323e-01 7.73911871e-03 4.84885712e+02] [ 7.38084888e-01 -6.74658130e-01 -8.19187495e-03 -2.57206249e+02] [ 1.12679307e-02 1.85774955e-04 9.99936498e-01 -5.90404069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.4465599950001 meters 0.04960387782072976 Centerline is valid? [True, True] Translation: X:484.85, Y:-257.16, Z:-5.90 [[-6.75332381e-01 -7.37477392e-01 7.29868213e-03 4.84846720e+02] [ 7.37436963e-01 -6.75371800e-01 -7.72382717e-03 -2.57162689e+02] [ 1.06254720e-02 1.66167384e-04 9.99943534e-01 -5.90261713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.506559995 meters 0.049778597360682936 Centerline is valid? [True, True] Translation: X:484.81, Y:-257.12, Z:-5.90 [[-6.76131782e-01 -7.36755615e-01 6.08088310e-03 4.84806880e+02] [ 7.36727537e-01 -6.76159113e-01 -6.43353423e-03 -2.57120749e+02] [ 8.85158699e-03 1.30037062e-04 9.99960816e-01 -5.90160500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.566559995 meters 0.04970067725438003 Centerline is valid? [True, True] Translation: X:484.77, Y:-257.08, Z:-5.90 [[-6.77154861e-01 -7.35824608e-01 4.84156572e-03 4.84766561e+02] [ 7.35806793e-01 -6.77172163e-01 -5.12108472e-03 -2.57080689e+02] [ 7.04679368e-03 9.46895370e-05 9.99975167e-01 -5.90096225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.626559995 meters 0.049698268934342725 Centerline is valid? [True, True] Translation: X:484.73, Y:-257.04, Z:-5.90 [[-6.77930279e-01 -7.35111339e-01 4.67512144e-03 4.84725336e+02] [ 7.35094720e-01 -6.77946394e-01 -4.94362624e-03 -2.57041678e+02] [ 6.80359743e-03 8.52231718e-05 9.99976852e-01 -5.90265074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.6865599950002 meters 0.04941590392132339 Centerline is valid? [True, True] Translation: X:484.69, Y:-257.00, Z:-5.90 [[-6.78494971e-01 -7.34585058e-01 5.41903354e-03 4.84687364e+02] [ 7.34562728e-01 -6.78516605e-01 -5.72849863e-03 -2.56999427e+02] [ 7.88497374e-03 9.38625465e-05 9.99968909e-01 -5.90230142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.746559995 meters 0.049632679679046984 Centerline is valid? [True, True] Translation: X:484.65, Y:-256.96, Z:-5.90 [[-6.79025063e-01 -7.34086570e-01 6.47078794e-03 4.84649344e+02] [ 7.34054723e-01 -6.79055886e-01 -6.83862267e-03 -2.56955805e+02] [ 9.41416770e-03 1.06316262e-04 9.99955680e-01 -5.90103858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.806559995 meters 0.04955280387944552 Centerline is valid? [True, True] Translation: X:484.61, Y:-256.91, Z:-5.90 [[-6.80416214e-01 -7.32796437e-01 6.56945208e-03 4.84609145e+02] [ 7.32763569e-01 -6.80447921e-01 -6.94105416e-03 -2.56914119e+02] [ 9.55654977e-03 9.10493645e-05 9.99954331e-01 -5.90100976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.866559995 meters 0.04906285835891774 Centerline is valid? [True, True] Translation: X:484.57, Y:-256.87, Z:-5.90 [[-6.82930594e-01 -7.30457014e-01 6.19314225e-03 4.84569468e+02] [ 7.30427720e-01 -6.82958672e-01 -6.54201918e-03 -2.56870651e+02] [ 9.00832400e-03 5.58977363e-05 9.99959423e-01 -5.89970752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.926559995 meters 0.04920403930297031 Centerline is valid? [True, True] Translation: X:484.53, Y:-256.83, Z:-5.90 [[-6.84935850e-01 -7.28584448e-01 5.25190977e-03 4.84531371e+02] [ 7.28563338e-01 -6.84955985e-01 -5.54632826e-03 -2.56828672e+02] [ 7.63829554e-03 2.74698495e-05 9.99970827e-01 -5.90035240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.986559995 meters 0.04963274990287122 Centerline is valid? [True, True] Translation: X:484.49, Y:-256.79, Z:-5.90 [[-6.87036959e-01 -7.26610255e-01 4.21372909e-03 4.84493003e+02] [ 7.26596636e-01 -6.87049880e-01 -4.44873802e-03 -2.56785573e+02] [ 6.12754073e-03 5.23394262e-06 9.99981226e-01 -5.90010134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.046559995 meters 0.04932954414593636 Centerline is valid? [True, True] Translation: X:484.45, Y:-256.75, Z:-5.90 [[-6.87132328e-01 -7.26521215e-01 4.01110665e-03 4.84453573e+02] [ 7.26508880e-01 -6.87144035e-01 -4.23345385e-03 -2.56745015e+02] [ 5.83190204e-03 5.16159865e-06 9.99982994e-01 -5.90095023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.106559995 meters 0.04970233301134298 Centerline is valid? [True, True] Translation: X:484.42, Y:-256.71, Z:-5.90 [[-6.85836714e-01 -7.27743553e-01 4.16218973e-03 4.84415054e+02] [ 7.27730301e-01 -6.85849343e-01 -4.39178800e-03 -2.56705283e+02] [ 6.05073049e-03 1.69021335e-05 9.99981694e-01 -5.89981899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.166559995 meters 0.04921735700628538 Centerline is valid? [True, True] Translation: X:484.37, Y:-256.66, Z:-5.90 [[-6.83176730e-01 -7.30237208e-01 4.81405616e-03 4.84373516e+02] [ 7.30219551e-01 -6.83193690e-01 -5.07837354e-03 -2.56664839e+02] [ 6.99735010e-03 4.58912989e-05 9.99975517e-01 -5.90274699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.2265599950001 meters 0.04891838830233803 Centerline is valid? [True, True] Translation: X:484.33, Y:-256.62, Z:-5.90 [[-6.80902130e-01 -7.32356309e-01 5.15038637e-03 4.84333117e+02] [ 7.32336166e-01 -6.80921605e-01 -5.43212453e-03 -2.56623877e+02] [ 7.48526002e-03 7.30690462e-05 9.99971982e-01 -5.90342279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.286559995 meters 0.049689006198824937 Centerline is valid? [True, True] Translation: X:484.29, Y:-256.58, Z:-5.90 [[-6.80118054e-01 -7.33090239e-01 4.25841105e-03 4.84293468e+02] [ 7.33076492e-01 -6.80131382e-01 -4.49003771e-03 -2.56582496e+02] [ 6.18788181e-03 6.79853286e-05 9.99980853e-01 -5.90317994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.346559995 meters 0.049141866887033994 Centerline is valid? [True, True] Translation: X:484.25, Y:-256.54, Z:-5.90 [[-6.79089703e-01 -7.34047712e-01 3.33639889e-03 4.84252083e+02] [ 7.34039290e-01 -6.79097896e-01 -3.51690929e-03 -2.56543418e+02] [ 4.84732068e-03 6.07509853e-05 9.99988250e-01 -5.90373154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.406559995 meters 0.048836545649549125 Centerline is valid? [True, True] Translation: X:484.21, Y:-256.50, Z:-5.90 [[-6.78431503e-01 -7.34655321e-01 3.50067986e-03 4.84212269e+02] [ 7.34646062e-01 -6.78440531e-01 -3.68904764e-03 -2.56501807e+02] [ 5.08518158e-03 6.89945376e-05 9.99987068e-01 -5.90381715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.4665599950001 meters 0.049155480122777095 Centerline is valid? [True, True] Translation: X:484.17, Y:-256.46, Z:-5.90 [[-6.76781340e-01 -7.36174822e-01 3.69436606e-03 4.84173567e+02] [ 7.36164538e-01 -6.76791418e-01 -3.89214915e-03 -2.56458773e+02] [ 5.36561746e-03 8.55273677e-05 9.99985601e-01 -5.90388611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.526559995 meters 0.04891800476397793 Centerline is valid? [True, True] Translation: X:484.13, Y:-256.42, Z:-5.91 [[-6.74805491e-01 -7.37981487e-01 4.56872083e-03 4.84133830e+02] [ 7.37965809e-01 -6.74820946e-01 -4.81210369e-03 -2.56416233e+02] [ 6.63431195e-03 1.24325772e-04 9.99977985e-01 -5.90518014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.586559995 meters 0.048965763141120555 Centerline is valid? [True, True] Translation: X:484.09, Y:-256.38, Z:-5.91 [[-6.74651528e-01 -7.38118939e-01 5.07425155e-03 4.84093910e+02] [ 7.38099611e-01 -6.74670596e-01 -5.34332456e-03 -2.56375621e+02] [ 7.36745737e-03 1.40421019e-04 9.99972850e-01 -5.90684223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.646559995 meters 0.04882330140565492 Centerline is valid? [True, True] Translation: X:484.06, Y:-256.33, Z:-5.91 [[-6.76237913e-01 -7.36670222e-01 4.38961283e-03 4.84055616e+02] [ 7.36655736e-01 -6.76252151e-01 -4.62117167e-03 -2.56332554e+02] [ 6.37276468e-03 1.08621985e-04 9.99979688e-01 -5.90654163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.7065599950001 meters 0.04907593427366199 Centerline is valid? [True, True] Translation: X:484.02, Y:-256.29, Z:-5.91 [[-6.78038083e-01 -7.35019372e-01 3.29862316e-03 4.84016000e+02] [ 7.35011176e-01 -6.78046103e-01 -3.47183275e-03 -2.56291535e+02] [ 4.78848291e-03 7.04900657e-05 9.99988533e-01 -5.90638498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.766559995 meters 0.04865634943847684 Centerline is valid? [True, True] Translation: X:483.98, Y:-256.25, Z:-5.91 [[-6.80998256e-01 -7.32280204e-01 2.66063423e-03 4.83977899e+02] [ 7.32274853e-01 -6.81003452e-01 -2.79954025e-03 -2.56249983e+02] [ 3.86194900e-03 4.18335105e-05 9.99992542e-01 -5.90637743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.826559995 meters 0.04900586325372948 Centerline is valid? [True, True] Translation: X:483.94, Y:-256.21, Z:-5.91 [[-6.82848091e-01 -7.30556127e-01 2.49614626e-03 4.83939370e+02] [ 7.30551409e-01 -6.82852652e-01 -2.62573622e-03 -2.56207367e+02] [ 3.62274778e-03 3.05842060e-05 9.99993437e-01 -5.90690274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.886559995 meters 0.04879288893660182 Centerline is valid? [True, True] Translation: X:483.90, Y:-256.16, Z:-5.91 [[-6.84981551e-01 -7.28556065e-01 2.51686589e-03 4.83901740e+02] [ 7.28551258e-01 -6.84986175e-01 -2.64679323e-03 -2.56164653e+02] [ 3.65235560e-03 2.06612812e-05 9.99993330e-01 -5.90742739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.9465599950001 meters 0.049918152601973846 Centerline is valid? [True, True] Translation: X:483.86, Y:-256.12, Z:-5.91 [[-6.85737253e-01 -7.27838243e-01 3.98896451e-03 4.83863242e+02] [ 7.27826162e-01 -6.85748855e-01 -4.19356058e-03 -2.56123963e+02] [ 5.78766161e-03 2.75920135e-05 9.99983251e-01 -5.90922028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.006559995 meters 0.049020612736580156 Centerline is valid? [True, True] Translation: X:483.82, Y:-256.08, Z:-5.91 [[-6.84220737e-01 -7.29254504e-01 5.46364798e-03 4.83824011e+02] [ 7.29231898e-01 -6.84242549e-01 -5.74224940e-03 -2.56082607e+02] [ 7.92602165e-03 5.53002694e-05 9.99968587e-01 -5.90727842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.066559995 meters 0.049193125542330345 Centerline is valid? [True, True] Translation: X:483.78, Y:-256.04, Z:-5.91 [[-6.82129058e-01 -7.31216123e-01 4.78851054e-03 4.83779722e+02] [ 7.31198815e-01 -6.82145861e-01 -5.03153362e-03 -2.56043878e+02] [ 6.94560116e-03 6.91979461e-05 9.99975877e-01 -5.90892647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.126559995 meters 0.048992198001189556 Centerline is valid? [True, True] Translation: X:483.74, Y:-256.00, Z:-5.91 [[-6.82043740e-01 -7.31300298e-01 4.02631228e-03 4.83739161e+02] [ 7.31288069e-01 -6.82055622e-01 -4.22949436e-03 -2.56003931e+02] [ 5.83919941e-03 5.96939844e-05 9.99982950e-01 -5.90839396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.1865599950002 meters 0.04945246041285354 Centerline is valid? [True, True] Translation: X:483.70, Y:-255.96, Z:-5.91 [[-6.83674847e-01 -7.29778134e-01 3.54672075e-03 4.83699152e+02] [ 7.29768628e-01 -6.83684045e-01 -3.72499417e-03 -2.55963481e+02] [ 5.14325569e-03 4.16007157e-05 9.99986773e-01 -5.90854440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.246559995 meters 0.0497569934470437 Centerline is valid? [True, True] Translation: X:483.66, Y:-255.92, Z:-5.91 [[-6.85930438e-01 -7.27661360e-01 2.89491442e-03 4.83660966e+02] [ 7.27655011e-01 -6.85936546e-01 -3.03965210e-03 -2.55919008e+02] [ 4.19756498e-03 2.15090960e-05 9.99991190e-01 -5.90639502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.306559995 meters 0.04986714534632788 Centerline is valid? [True, True] Translation: X:483.62, Y:-255.88, Z:-5.91 [[-6.87261781e-01 -7.26404487e-01 2.78670298e-03 4.83620118e+02] [ 7.26398597e-01 -6.87267430e-01 -2.92522984e-03 -2.55879519e+02] [ 4.04011028e-03 1.38584687e-05 9.99991839e-01 -5.90745191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.366559995 meters 0.04961502667796218 Centerline is valid? [True, True] Translation: X:483.58, Y:-255.84, Z:-5.91 [[-6.87717834e-01 -7.25972159e-01 2.93334701e-03 4.83579307e+02] [ 7.25965633e-01 -6.87724090e-01 -3.07825518e-03 -2.55839087e+02] [ 4.25206097e-03 1.25381345e-05 9.99990960e-01 -5.90752773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.426559995 meters 0.04917540895730737 Centerline is valid? [True, True] Translation: X:483.54, Y:-255.80, Z:-5.91 [[-6.89041151e-01 -7.24712060e-01 3.83696452e-03 4.83539048e+02] [ 7.24700881e-01 -6.89051834e-01 -4.02532529e-03 -2.55798782e+02] [ 5.56106922e-03 7.03679723e-06 9.99984537e-01 -5.90837391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.486559995 meters 0.0500100258624822 Centerline is valid? [True, True] Translation: X:483.50, Y:-255.76, Z:-5.91 [[-6.90679740e-01 -7.23145594e-01 4.68483851e-03 4.83498759e+02] [ 7.23128902e-01 -6.90695628e-01 -4.91337420e-03 -2.55758425e+02] [ 6.78888238e-03 -5.82588759e-06 9.99976955e-01 -5.90952151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.546559995 meters 0.05057875872485866 Centerline is valid? [True, True] Translation: X:483.46, Y:-255.72, Z:-5.91 [[-6.91441333e-01 -7.22414974e-01 5.04856793e-03 4.83457451e+02] [ 7.22395582e-01 -6.91459764e-01 -5.29327768e-03 -2.55718223e+02] [ 7.31482465e-03 -1.29278109e-05 9.99973246e-01 -5.90950650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.606559995 meters 0.04989021759707295 Centerline is valid? [True, True] Translation: X:483.42, Y:-255.68, Z:-5.91 [[-6.92532594e-01 -7.21374441e-01 4.18606892e-03 4.83417081e+02] [ 7.21361097e-01 -6.92545245e-01 -4.38766884e-03 -2.55677513e+02] [ 6.06419428e-03 -1.89364087e-05 9.99981612e-01 -5.90880574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.666559995 meters 0.0499989722693802 Centerline is valid? [True, True] Translation: X:483.38, Y:-255.64, Z:-5.91 [[-6.92845906e-01 -7.21072934e-01 4.28644870e-03 4.83378198e+02] [ 7.21058945e-01 -6.92859166e-01 -4.49156304e-03 -2.55636871e+02] [ 6.20864981e-03 -2.11788928e-05 9.99980726e-01 -5.91008689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.7265599950001 meters 0.049646866080289676 Centerline is valid? [True, True] Translation: X:483.34, Y:-255.60, Z:-5.91 [[-6.93088398e-01 -7.20840758e-01 4.13208099e-03 4.83338337e+02] [ 7.20827764e-01 -6.93100715e-01 -4.32830772e-03 -2.55598256e+02] [ 5.98396891e-03 -2.13811635e-05 9.99982096e-01 -5.90816722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.786559995 meters 0.05003517388932743 Centerline is valid? [True, True] Translation: X:483.30, Y:-255.56, Z:-5.91 [[-6.93028137e-01 -7.20900958e-01 3.71625811e-03 4.83298110e+02] [ 7.20890455e-01 -6.93038101e-01 -3.89145071e-03 -2.55559908e+02] [ 5.38085900e-03 -1.78698392e-05 9.99985523e-01 -5.90843088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.846559995 meters 0.0504347816664915 Centerline is valid? [True, True] Translation: X:483.26, Y:-255.52, Z:-5.91 [[-6.92650954e-01 -7.21265286e-01 3.32299169e-03 4.83255872e+02] [ 7.21256898e-01 -6.92658925e-01 -3.47856584e-03 -2.55521629e+02] [ 4.81066864e-03 -1.27012680e-05 9.99988429e-01 -5.90580224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.906559995 meters 0.05043200107300997 Centerline is valid? [True, True] Translation: X:483.21, Y:-255.48, Z:-5.91 [[-6.91946436e-01 -7.21940445e-01 3.48175528e-03 4.83214016e+02] [ 7.21931250e-01 -6.91955196e-01 -3.64367401e-03 -2.55484520e+02] [ 5.03973430e-03 -7.63929883e-06 9.99987300e-01 -5.90705640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.9665599950001 meters 0.05013936231741162 Centerline is valid? [True, True] Translation: X:483.17, Y:-255.45, Z:-5.91 [[-6.91044442e-01 -7.22803013e-01 3.65825295e-03 4.83172712e+02] [ 7.22792881e-01 -6.91054125e-01 -3.82710333e-03 -2.55447732e+02] [ 5.29429261e-03 -5.39292869e-07 9.99985985e-01 -5.90724205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.026559995 meters 0.05056053209781773 Centerline is valid? [True, True] Translation: X:483.13, Y:-255.41, Z:-5.91 [[-6.89131015e-01 -7.24626651e-01 3.82890306e-03 4.83129183e+02] [ 7.24615586e-01 -6.89141652e-01 -4.00445717e-03 -2.55410076e+02] [ 5.54039297e-03 1.48871998e-05 9.99984652e-01 -5.90651877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.086559995 meters 0.05056995913801789 Centerline is valid? [True, True] Translation: X:483.08, Y:-255.37, Z:-5.91 [[-6.87074545e-01 -7.26575897e-01 4.00439976e-03 4.83084640e+02] [ 7.26563832e-01 -6.87086213e-01 -4.18731175e-03 -2.55372405e+02] [ 5.79376766e-03 3.24567254e-05 9.99983215e-01 -5.90640405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.146559995 meters 0.05081364033605653 Centerline is valid? [True, True] Translation: X:483.04, Y:-255.33, Z:-5.91 [[-6.84806976e-01 -7.28710445e-01 4.52702391e-03 4.83040458e+02] [ 7.28695079e-01 -6.84821936e-01 -4.73253768e-03 -2.55334214e+02] [ 6.54885492e-03 5.79452324e-05 9.99978554e-01 -5.90624212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.2065599950001 meters 0.05118711085861518 Centerline is valid? [True, True] Translation: X:483.00, Y:-255.29, Z:-5.91 [[-6.83663810e-01 -7.29783885e-01 4.39038653e-03 4.82998092e+02] [ 7.29769464e-01 -6.83677904e-01 -4.58845490e-03 -2.55294382e+02] [ 6.35019070e-03 6.70094622e-05 9.99979835e-01 -5.90613793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.266559995 meters 0.05128856392987914 Centerline is valid? [True, True] Translation: X:482.95, Y:-255.26, Z:-5.91 [[-6.82738579e-01 -7.30657475e-01 2.77251742e-03 4.82954729e+02] [ 7.30651735e-01 -6.82744206e-01 -2.89681597e-03 -2.55255085e+02] [ 4.00950045e-03 4.79766411e-05 9.99991961e-01 -5.90505091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.326559995 meters 0.051075270580107524 Centerline is valid? [True, True] Translation: X:482.91, Y:-255.22, Z:-5.91 [[-6.82187264e-01 -7.31172033e-01 2.82744946e-03 4.82910638e+02] [ 7.31166070e-01 -6.82193122e-01 -2.95337573e-03 -2.55218387e+02] [ 4.08829231e-03 5.25797979e-05 9.99991642e-01 -5.90593683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.386559995 meters 0.05152003059450637 Centerline is valid? [True, True] Translation: X:482.87, Y:-255.18, Z:-5.91 [[-6.81917896e-01 -7.31421162e-01 3.32682751e-03 4.82870692e+02] [ 7.31412914e-01 -6.81926008e-01 -3.47398889e-03 -2.55177832e+02] [ 4.80959919e-03 6.43094126e-05 9.99988432e-01 -5.90597867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.4465599950001 meters 0.05121311750116898 Centerline is valid? [True, True] Translation: X:482.83, Y:-255.14, Z:-5.91 [[-6.81721308e-01 -7.31601759e-01 3.86329786e-03 4.82829764e+02] [ 7.31590647e-01 -6.81732250e-01 -4.03301861e-03 -2.55139863e+02] [ 5.58429825e-03 7.69578649e-05 9.99984405e-01 -5.90707154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.506559995 meters 0.05122733415719872 Centerline is valid? [True, True] Translation: X:482.79, Y:-255.10, Z:-5.91 [[-6.80658273e-01 -7.32589580e-01 4.10165131e-03 4.82791435e+02] [ 7.32577078e-01 -6.80670625e-01 -4.28076960e-03 -2.55095541e+02] [ 5.92792076e-03 9.10344956e-05 9.99982426e-01 -5.90587509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.566559995 meters 0.05191862424420927 Centerline is valid? [True, True] Translation: X:482.75, Y:-255.06, Z:-5.91 [[-6.78695341e-01 -7.34404709e-01 4.72835551e-03 4.82750413e+02] [ 7.34388148e-01 -6.78711800e-01 -4.93363457e-03 -2.55056542e+02] [ 6.83247514e-03 1.24013449e-04 9.99976651e-01 -5.90744879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.626559995 meters 0.05121075437650416 Centerline is valid? [True, True] Translation: X:482.71, Y:-255.01, Z:-5.91 [[-6.77324618e-01 -7.35670047e-01 4.57639801e-03 4.82710849e+02] [ 7.35654570e-01 -6.77340065e-01 -4.77383151e-03 -2.55014379e+02] [ 6.61174258e-03 1.33214505e-04 9.99978133e-01 -5.90759807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.6865599950002 meters 0.05175747074267747 Centerline is valid? [True, True] Translation: X:482.67, Y:-254.98, Z:-5.91 [[-6.77911322e-01 -7.35132352e-01 4.08212531e-03 4.82670591e+02] [ 7.35120036e-01 -6.77923603e-01 -4.25692575e-03 -2.54975689e+02] [ 5.89677294e-03 1.15033942e-04 9.99982607e-01 -5.90770171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.746559995 meters 0.0509974301512657 Centerline is valid? [True, True] Translation: X:482.64, Y:-254.93, Z:-5.90 [[-6.79953733e-01 -7.33249146e-01 2.93436901e-03 4.82636993e+02] [ 7.33242768e-01 -6.79960061e-01 -3.05914033e-03 -2.54928898e+02] [ 4.23836576e-03 7.15309668e-05 9.99991016e-01 -5.90492478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.806559995 meters 0.05143673411664191 Centerline is valid? [True, True] Translation: X:482.60, Y:-254.89, Z:-5.90 [[-6.83934681e-01 -7.29539816e-01 2.23810513e-03 4.82601764e+02] [ 7.29536088e-01 -6.83938342e-01 -2.33256052e-03 -2.54885114e+02] [ 3.23242168e-03 3.74594196e-05 9.99994775e-01 -5.90393344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.866559995 meters 0.05050003866233468 Centerline is valid? [True, True] Translation: X:482.57, Y:-254.84, Z:-5.90 [[-6.86942433e-01 -7.26706721e-01 2.72682397e-03 4.82565635e+02] [ 7.26701167e-01 -6.86947844e-01 -2.84133441e-03 -2.54840086e+02] [ 3.93800266e-03 2.97529886e-05 9.99992246e-01 -5.90454296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.926559995 meters 0.050964393671296716 Centerline is valid? [True, True] Translation: X:482.53, Y:-254.80, Z:-5.91 [[-6.90576536e-01 -7.23245574e-01 4.45963680e-03 4.82530787e+02] [ 7.23230653e-01 -6.90590935e-01 -4.64571827e-03 -2.54797028e+02] [ 6.43977992e-03 1.71220072e-05 9.99979264e-01 -5.90847172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.986559995 meters 0.05081524047991766 Centerline is valid? [True, True] Translation: X:482.50, Y:-254.75, Z:-5.91 [[-6.93694989e-01 -7.20260158e-01 3.54517864e-03 4.82496711e+02] [ 7.20250695e-01 -6.93704047e-01 -3.69193070e-03 -2.54751650e+02] [ 5.11845536e-03 -7.65644464e-06 9.99986901e-01 -5.90521452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.046559995 meters 0.05070771313572869 Centerline is valid? [True, True] Translation: X:482.46, Y:-254.71, Z:-5.90 [[-6.94260173e-01 -7.19718740e-01 2.78341533e-03 4.82459896e+02] [ 7.19712905e-01 -6.94265753e-01 -2.89803496e-03 -2.54708344e+02] [ 4.01820001e-03 -8.73032279e-06 9.99991927e-01 -5.90416160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.106559995 meters 0.051254884965560424 Centerline is valid? [True, True] Translation: X:482.42, Y:-254.67, Z:-5.90 [[-6.93647173e-01 -7.20307006e-01 3.37884576e-03 4.82421621e+02] [ 7.20298420e-01 -6.93655403e-01 -3.51693073e-03 -2.54665378e+02] [ 4.87702446e-03 -5.73179503e-06 9.99988107e-01 -5.90477525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.166559995 meters 0.05064841941743072 Centerline is valid? [True, True] Translation: X:482.38, Y:-254.62, Z:-5.90 [[-6.90337289e-01 -7.23476651e-01 3.99550801e-03 4.82383989e+02] [ 7.23464705e-01 -6.90348851e-01 -4.15748154e-03 -2.54623106e+02] [ 5.76613518e-03 2.05444965e-05 9.99983376e-01 -5.90385937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.2265599950001 meters 0.050130071297857 Centerline is valid? [True, True] Translation: X:482.34, Y:-254.58, Z:-5.91 [[-6.86984024e-01 -7.26659637e-01 4.32705496e-03 4.82342326e+02] [ 7.26645694e-01 -6.86997649e-01 -4.50173378e-03 -2.54582158e+02] [ 6.24390482e-03 5.16166679e-05 9.99980505e-01 -5.90642179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.286559995 meters 0.05058950190095474 Centerline is valid? [True, True] Translation: X:482.30, Y:-254.54, Z:-5.91 [[-6.81960688e-01 -7.31377149e-01 4.13352615e-03 4.82302975e+02] [ 7.31364517e-01 -6.81973209e-01 -4.29945347e-03 -2.54542076e+02] [ 5.96347612e-03 9.10561073e-05 9.99982214e-01 -5.90691364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.346559995 meters 0.05083976757775598 Centerline is valid? [True, True] Translation: X:482.26, Y:-254.50, Z:-5.91 [[-6.79295925e-01 -7.33859603e-01 2.67016877e-03 4.82263536e+02] [ 7.33854353e-01 -6.79301169e-01 -2.77669403e-03 -2.54502898e+02] [ 3.85155234e-03 7.33180368e-05 9.99992580e-01 -5.90622548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.406559995 meters 0.050002203273607056 Centerline is valid? [True, True] Translation: X:482.23, Y:-254.46, Z:-5.91 [[-6.79207349e-01 -7.33943818e-01 1.96190943e-03 4.82228543e+02] [ 7.33940986e-01 -6.79210180e-01 -2.03954870e-03 -2.54457967e+02] [ 2.82946301e-03 5.46492739e-05 9.99995996e-01 -5.90528500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.4665599950001 meters 0.05091704464838585 Centerline is valid? [True, True] Translation: X:482.19, Y:-254.42, Z:-5.91 [[-6.79057829e-01 -7.34081491e-01 2.19747605e-03 4.82190722e+02] [ 7.34077942e-01 -6.79061382e-01 -2.28370079e-03 -2.54417154e+02] [ 3.16864360e-03 6.23537941e-05 9.99994978e-01 -5.90705870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.526559995 meters 0.04984724808667356 Centerline is valid? [True, True] Translation: X:482.15, Y:-254.38, Z:-5.91 [[-6.78268239e-01 -7.34811381e-01 2.10499729e-03 4.82152390e+02] [ 7.34808129e-01 -6.78271502e-01 -2.18693348e-03 -2.54375745e+02] [ 3.03474328e-03 6.34415972e-05 9.99995393e-01 -5.90812029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.586559995 meters 0.04989347340660936 Centerline is valid? [True, True] Translation: X:482.11, Y:-254.33, Z:-5.91 [[-6.76204180e-01 -7.36706729e-01 3.33187257e-03 4.82114351e+02] [ 7.36698611e-01 -6.76212379e-01 -3.46052343e-03 -2.54334271e+02] [ 4.80244437e-03 1.14565483e-04 9.99988462e-01 -5.90963550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.646559995 meters 0.049582696286158114 Centerline is valid? [True, True] Translation: X:482.08, Y:-254.29, Z:-5.91 [[-6.73902770e-01 -7.38802351e-01 5.11294282e-03 4.82076511e+02] [ 7.38783302e-01 -6.73922137e-01 -5.30917049e-03 -2.54291369e+02] [ 7.36815299e-03 1.99492074e-04 9.99972835e-01 -5.91138828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.7065599950001 meters 0.04901829413014942 Centerline is valid? [True, True] Translation: X:482.04, Y:-254.24, Z:-5.91 [[-6.72717028e-01 -7.39873558e-01 6.23851528e-03 4.82041861e+02] [ 7.39845257e-01 -6.72745904e-01 -6.47637394e-03 -2.54243947e+02] [ 8.98863343e-03 2.58768912e-04 9.99959568e-01 -5.91048106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.766559995 meters 0.04900040208690905 Centerline is valid? [True, True] Translation: X:482.01, Y:-254.20, Z:-5.91 [[-6.74594934e-01 -7.38164540e-01 5.89806950e-03 4.82005074e+02] [ 7.38139187e-01 -6.74620680e-01 -6.12199915e-03 -2.54198863e+02] [ 8.49800234e-03 2.23726613e-04 9.99963866e-01 -5.91003712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.826559995 meters 0.049610910888967415 Centerline is valid? [True, True] Translation: X:481.97, Y:-254.16, Z:-5.91 [[-6.77560069e-01 -7.35452160e-01 4.74064936e-03 4.81968611e+02] [ 7.35435724e-01 -6.77576636e-01 -4.91922527e-03 -2.54155682e+02] [ 6.83000809e-03 1.53372281e-04 9.99976663e-01 -5.90948283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.886559995 meters 0.0487625799366644 Centerline is valid? [True, True] Translation: X:481.93, Y:-254.11, Z:-5.91 [[-6.84350782e-01 -7.29142179e-01 3.96098601e-03 4.81933756e+02] [ 7.29130602e-01 -6.84362241e-01 -4.10945626e-03 -2.54109474e+02] [ 5.70712716e-03 7.57665097e-05 9.99983711e-01 -5.90868039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.9465599950001 meters 0.0488032723690371 Centerline is valid? [True, True] Translation: X:481.89, Y:-254.07, Z:-5.91 [[-6.85566125e-01 -7.27994715e-01 4.77326841e-03 4.81893103e+02] [ 7.27977884e-01 -6.85582737e-01 -4.95082789e-03 -2.54068569e+02] [ 6.87664696e-03 8.07139506e-05 9.99976352e-01 -5.90912805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.006559995 meters 0.049048111544270113 Centerline is valid? [True, True] Translation: X:481.85, Y:-254.03, Z:-5.91 [[-6.85309820e-01 -7.28229961e-01 5.61909059e-03 4.81851773e+02] [ 7.28206658e-01 -6.85332849e-01 -5.82660537e-03 -2.54028115e+02] [ 8.09405597e-03 9.88293021e-05 9.99967238e-01 -5.90954093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.066559995 meters 0.049085410894228736 Centerline is valid? [True, True] Translation: X:481.81, Y:-253.99, Z:-5.91 [[-6.84205092e-01 -7.29267421e-01 5.69395861e-03 4.81810641e+02] [ 7.29243542e-01 -6.84228775e-01 -5.90261867e-03 -2.53989043e+02] [ 8.20055782e-03 1.13680794e-04 9.99966368e-01 -5.91064165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.126559995 meters 0.0484941235804162 Centerline is valid? [True, True] Translation: X:481.77, Y:-253.95, Z:-5.91 [[-6.82599026e-01 -7.30772830e-01 5.44424090e-03 4.81770533e+02] [ 7.30751059e-01 -6.82620725e-01 -5.64229389e-03 -2.53947083e+02] [ 7.83958675e-03 1.26960484e-04 9.99969262e-01 -5.91021997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.1865599950002 meters 0.04902784484844972 Centerline is valid? [True, True] Translation: X:481.73, Y:-253.91, Z:-5.91 [[-6.80224860e-01 -7.32984229e-01 5.31598323e-03 4.81728522e+02] [ 7.32963550e-01 -6.80245615e-01 -5.50799069e-03 -2.53909262e+02] [ 7.65344460e-03 1.49749746e-04 9.99970701e-01 -5.91131261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.246559995 meters 0.049244911660675746 Centerline is valid? [True, True] Translation: X:481.69, Y:-253.87, Z:-5.91 [[-6.79775290e-01 -7.33402227e-01 5.16996161e-03 4.81689261e+02] [ 7.33382690e-01 -6.79794932e-01 -5.35531857e-03 -2.53866511e+02] [ 7.44211627e-03 1.51147124e-04 9.99972296e-01 -5.91051325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.306559995 meters 0.04897181999872303 Centerline is valid? [True, True] Translation: X:481.65, Y:-253.83, Z:-5.91 [[-6.78928180e-01 -7.34187879e-01 4.96837188e-03 4.81647840e+02] [ 7.34169864e-01 -6.78946342e-01 -5.14553766e-03 -2.53826756e+02] [ 7.15104930e-03 1.54178384e-04 9.99974419e-01 -5.91003017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.366559995 meters 0.04936069470394005 Centerline is valid? [True, True] Translation: X:481.61, Y:-253.79, Z:-5.91 [[-6.78075768e-01 -7.34977176e-01 4.66956270e-03 4.81605267e+02] [ 7.34961287e-01 -6.78091829e-01 -4.83512958e-03 -2.53789279e+02] [ 6.72010219e-03 1.53363616e-04 9.99977408e-01 -5.91016810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.426559995 meters 0.049830474005296624 Centerline is valid? [True, True] Translation: X:481.57, Y:-253.75, Z:-5.91 [[-6.77608046e-01 -7.35411571e-01 4.14210903e-03 4.81565005e+02] [ 7.35399084e-01 -6.77620691e-01 -4.28781334e-03 -2.53749372e+02] [ 5.96008633e-03 1.40646369e-04 9.99982229e-01 -5.91001328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.486559995 meters 0.04953090804065986 Centerline is valid? [True, True] Translation: X:481.53, Y:-253.71, Z:-5.91 [[-6.77792432e-01 -7.35239620e-01 4.48544011e-03 4.81525770e+02] [ 7.35224983e-01 -6.77807257e-01 -4.64180868e-03 -2.53709177e+02] [ 6.45310551e-03 1.51624832e-04 9.99979167e-01 -5.91070229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.546559995 meters 0.0489016149748559 Centerline is valid? [True, True] Translation: X:481.49, Y:-253.67, Z:-5.91 [[-6.78196584e-01 -7.34864882e-01 4.79564216e-03 4.81488068e+02] [ 7.34848150e-01 -6.78213521e-01 -4.96144168e-03 -2.53666273e+02] [ 6.89845861e-03 1.59235969e-04 9.99976193e-01 -5.91042596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.606559995 meters 0.05019125858660519 Centerline is valid? [True, True] Translation: X:481.44, Y:-253.63, Z:-5.91 [[-6.77776016e-01 -7.35254141e-01 4.58477817e-03 4.81444933e+02] [ 7.35238867e-01 -6.77791504e-01 -4.74189671e-03 -2.53629331e+02] [ 6.59402289e-03 1.56963244e-04 9.99978247e-01 -5.91111683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.666559995 meters 0.04909159789997992 Centerline is valid? [True, True] Translation: X:481.41, Y:-253.59, Z:-5.91 [[-6.77691254e-01 -7.35332436e-01 4.55762586e-03 4.81407324e+02] [ 7.35317353e-01 -6.77706561e-01 -4.71248551e-03 -2.53585917e+02] [ 6.55397640e-03 1.57691166e-04 9.99978510e-01 -5.91012630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.7265599950001 meters 0.04925591899376811 Centerline is valid? [True, True] Translation: X:481.37, Y:-253.54, Z:-5.91 [[-6.78315325e-01 -7.34755090e-01 4.82472049e-03 4.81368340e+02] [ 7.34738181e-01 -6.78332464e-01 -4.98737930e-03 -2.53542666e+02] [ 6.93726686e-03 1.61890536e-04 9.99975924e-01 -5.91010398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.786559995 meters 0.04907847757598092 Centerline is valid? [True, True] Translation: X:481.33, Y:-253.50, Z:-5.91 [[-6.79320779e-01 -7.33824745e-01 4.95198625e-03 4.81328469e+02] [ 7.33806916e-01 -6.79338810e-01 -5.11768040e-03 -2.53502147e+02] [ 7.11955696e-03 1.57255124e-04 9.99974643e-01 -5.91053546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.846559995 meters 0.04918326094758208 Centerline is valid? [True, True] Translation: X:481.29, Y:-253.46, Z:-5.91 [[-6.80579543e-01 -7.32658507e-01 4.79566273e-03 4.81289327e+02] [ 7.32641767e-01 -6.80596424e-01 -4.95466417e-03 -2.53462074e+02] [ 6.89398776e-03 1.41459740e-04 9.99976226e-01 -5.91174352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.906559995 meters 0.04893009050123686 Centerline is valid? [True, True] Translation: X:481.25, Y:-253.42, Z:-5.91 [[-6.81415112e-01 -7.31879079e-01 5.14376776e-03 4.81251846e+02] [ 7.31859805e-01 -6.81434511e-01 -5.31350046e-03 -2.53416607e+02] [ 7.39398069e-03 1.43817354e-04 9.99972654e-01 -5.91048126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.9665599950001 meters 0.04921542328458731 Centerline is valid? [True, True] Translation: X:481.21, Y:-253.37, Z:-5.91 [[-6.82955762e-01 -7.30441676e-01 5.13666282e-03 4.81210856e+02] [ 7.30422420e-01 -6.82975067e-01 -5.30541216e-03 -2.53374470e+02] [ 7.38350678e-03 1.28571882e-04 9.99972733e-01 -5.91111655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.026559995 meters 0.04912378168482982 Centerline is valid? [True, True] Translation: X:481.17, Y:-253.34, Z:-5.91 [[-6.86359217e-01 -7.27244152e-01 5.19312695e-03 4.81169159e+02] [ 7.27224389e-01 -6.86378856e-01 -5.36226904e-03 -2.53335234e+02] [ 7.46413134e-03 9.61257977e-05 9.99972138e-01 -5.91334538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.086559995 meters 0.04953871440115694 Centerline is valid? [True, True] Translation: X:481.13, Y:-253.29, Z:-5.91 [[-6.89373559e-01 -7.24390991e-01 4.66786548e-03 4.81132708e+02] [ 7.24374968e-01 -6.89389360e-01 -4.81841127e-03 -2.53292150e+02] [ 6.70839051e-03 5.95995815e-05 9.99977497e-01 -5.91252342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.146559995 meters 0.04915634849744873 Centerline is valid? [True, True] Translation: X:481.10, Y:-253.25, Z:-5.91 [[-6.94779647e-01 -7.19210950e-01 4.10505964e-03 4.81096595e+02] [ 7.19198472e-01 -6.94791774e-01 -4.23646078e-03 -2.53245725e+02] [ 5.89907065e-03 8.94590148e-06 9.99982600e-01 -5.90941909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.2065599950001 meters 0.049363445470230805 Centerline is valid? [True, True] Translation: X:481.06, Y:-253.20, Z:-5.91 [[-6.99663706e-01 -7.14458219e-01 4.48912217e-03 4.81057909e+02] [ 7.14443207e-01 -6.99678106e-01 -4.63156700e-03 -2.53202262e+02] [ 6.45000161e-03 -3.33164881e-05 9.99979198e-01 -5.90944550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.266559995 meters 0.04950917874457988 Centerline is valid? [True, True] Translation: X:481.02, Y:-253.16, Z:-5.91 [[-7.01873756e-01 -7.12284561e-01 4.89227026e-03 4.81018962e+02] [ 7.12266687e-01 -7.01890804e-01 -5.04640018e-03 -2.53161212e+02] [ 7.02831245e-03 -5.73347156e-05 9.99975299e-01 -5.91048927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.326559995 meters 0.05010624555800633 Centerline is valid? [True, True] Translation: X:480.98, Y:-253.12, Z:-5.91 [[-7.03333119e-01 -7.10842853e-01 4.99623220e-03 4.80977368e+02] [ 7.10824185e-01 -7.03350861e-01 -5.15206375e-03 -2.53122938e+02] [ 7.17641191e-03 -7.21743833e-05 9.99974247e-01 -5.90780005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.386559995 meters 0.05020565961896478 Centerline is valid? [True, True] Translation: X:480.94, Y:-253.08, Z:-5.91 [[-7.03031242e-01 -7.11140957e-01 5.06091047e-03 4.80938558e+02] [ 7.11121821e-01 -7.03049454e-01 -5.21731867e-03 -2.53081347e+02] [ 7.26831933e-03 -6.90141504e-05 9.99973583e-01 -5.91050402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.4465599950001 meters 0.05017409149964554 Centerline is valid? [True, True] Translation: X:480.89, Y:-253.04, Z:-5.91 [[-7.01581086e-01 -7.12568216e-01 5.52419602e-03 4.80894975e+02] [ 7.12545474e-01 -7.01602832e-01 -5.69325548e-03 -2.53043583e+02] [ 7.93262447e-03 -5.80394916e-05 9.99968535e-01 -5.90935007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.506559995 meters 0.05013239567094485 Centerline is valid? [True, True] Translation: X:480.85, Y:-253.00, Z:-5.91 [[-6.98387920e-01 -7.15697316e-01 5.62710221e-03 4.80851716e+02] [ 7.15673831e-01 -6.98410589e-01 -5.79797284e-03 -2.53004100e+02] [ 8.07962137e-03 -2.20643965e-05 9.99967359e-01 -5.91220495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.566559995 meters 0.050018672063908955 Centerline is valid? [True, True] Translation: X:480.81, Y:-252.97, Z:-5.91 [[-6.96122102e-01 -7.17907241e-01 4.81791912e-03 4.80810269e+02] [ 7.17890088e-01 -6.96138775e-01 -4.96266442e-03 -2.52965912e+02] [ 6.91667303e-03 4.11598798e-06 9.99976080e-01 -5.91227390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.626559995 meters 0.05029643589942424 Centerline is valid? [True, True] Translation: X:480.77, Y:-252.93, Z:-5.91 [[-6.92819645e-01 -7.21101862e-01 3.61155803e-03 4.80767334e+02] [ 7.21092273e-01 -6.92829058e-01 -3.71884478e-03 -2.52930247e+02] [ 5.18385825e-03 2.77778700e-05 9.99986563e-01 -5.91184663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.6865599950002 meters 0.05034071821027913 Centerline is valid? [True, True] Translation: X:480.73, Y:-252.89, Z:-5.91 [[-6.90576638e-01 -7.23250945e-01 3.46093400e-03 4.80725021e+02] [ 7.23242169e-01 -6.90585309e-01 -3.56321512e-03 -2.52889519e+02] [ 4.96716887e-03 4.24202944e-05 9.99987663e-01 -5.91123575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.746559995 meters 0.04967822974663751 Centerline is valid? [True, True] Translation: X:480.68, Y:-252.85, Z:-5.91 [[-6.87382295e-01 -7.26286102e-01 3.75220948e-03 4.80682399e+02] [ 7.26275835e-01 -6.87392532e-01 -3.86233682e-03 -2.52850943e+02] [ 5.38440233e-03 7.02371258e-05 9.99985502e-01 -5.91146098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.806559995 meters 0.04970491597866096 Centerline is valid? [True, True] Translation: X:480.64, Y:-252.81, Z:-5.91 [[-6.85384409e-01 -7.28165465e-01 4.82363436e-03 4.80638346e+02] [ 7.28148552e-01 -6.85401374e-01 -4.96413530e-03 -2.52814670e+02] [ 6.92083751e-03 1.09981436e-04 9.99976045e-01 -5.91379735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.866559995 meters 0.049515941851714824 Centerline is valid? [True, True] Translation: X:480.60, Y:-252.77, Z:-5.91 [[-6.84898846e-01 -7.28617222e-01 5.52395614e-03 4.80598349e+02] [ 7.28595068e-01 -6.84921109e-01 -5.68344194e-03 -2.52771821e+02] [ 7.92452784e-03 1.32144375e-04 9.99968592e-01 -5.91314018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.926559995 meters 0.04984054433653821 Centerline is valid? [True, True] Translation: X:480.56, Y:-252.73, Z:-5.91 [[-6.84788983e-01 -7.28715904e-01 6.09756944e-03 4.80556722e+02] [ 7.28688929e-01 -6.84816113e-01 -6.27186146e-03 -2.52733282e+02] [ 8.74611900e-03 1.48329712e-04 9.99961741e-01 -5.91410828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.986559995 meters 0.050094457065982874 Centerline is valid? [True, True] Translation: X:480.52, Y:-252.69, Z:-5.91 [[-6.84971660e-01 -7.28537668e-01 6.83314375e-03 4.80516755e+02] [ 7.28503802e-01 -6.85005722e-01 -7.02642017e-03 -2.52692664e+02] [ 9.79975433e-03 1.65072516e-04 9.99951968e-01 -5.91452088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.046559995 meters 0.050007456017018996 Centerline is valid? [True, True] Translation: X:480.48, Y:-252.65, Z:-5.91 [[-6.85158214e-01 -7.28357891e-01 7.28040532e-03 4.80477316e+02] [ 7.28319459e-01 -6.85196871e-01 -7.48416839e-03 -2.52651464e+02] [ 1.04396641e-02 1.74621418e-04 9.99945490e-01 -5.91446052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.106559995 meters 0.04994240976769704 Centerline is valid? [True, True] Translation: X:480.44, Y:-252.61, Z:-5.91 [[-6.85554313e-01 -7.27990243e-01 6.74464291e-03 4.80438128e+02] [ 7.27957260e-01 -6.85587472e-01 -6.93150473e-03 -2.52609031e+02] [ 9.67011049e-03 1.57888810e-04 9.99953231e-01 -5.91343736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.166559995 meters 0.049597957682251496 Centerline is valid? [True, True] Translation: X:480.40, Y:-252.57, Z:-5.91 [[-6.86194968e-01 -7.27394824e-01 5.76505380e-03 4.80398236e+02] [ 7.27370717e-01 -6.86219173e-01 -5.92333503e-03 -2.52566134e+02] [ 8.26469369e-03 1.28768630e-04 9.99965839e-01 -5.91208703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.2265599950001 meters 0.04970130005170289 Centerline is valid? [True, True] Translation: X:480.36, Y:-252.52, Z:-5.91 [[-6.87109644e-01 -7.26536725e-01 4.97235939e-03 4.80358878e+02] [ 7.26518775e-01 -6.87127628e-01 -5.10809183e-03 -2.52522452e+02] [ 7.12786182e-03 1.02693296e-04 9.99974591e-01 -5.91089506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.286559995 meters 0.049911518198748624 Centerline is valid? [True, True] Translation: X:480.32, Y:-252.48, Z:-5.91 [[-6.88422592e-01 -7.25293266e-01 4.90032714e-03 4.80320400e+02] [ 7.25275810e-01 -6.88440026e-01 -5.03280194e-03 -2.52479081e+02] [ 7.02383870e-03 8.93941781e-05 9.99975329e-01 -5.91021232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.346559995 meters 0.049850496620187 Centerline is valid? [True, True] Translation: X:480.28, Y:-252.44, Z:-5.91 [[-6.90993757e-01 -7.22839375e-01 5.55576809e-03 4.80281528e+02] [ 7.22816868e-01 -6.91016088e-01 -5.70451534e-03 -2.52435441e+02] [ 7.96257343e-03 7.40184062e-05 9.99968296e-01 -5.91102285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.406559995 meters 0.049406133831159424 Centerline is valid? [True, True] Translation: X:480.24, Y:-252.39, Z:-5.91 [[-6.93022515e-01 -7.20888596e-01 6.27903305e-03 4.80243134e+02] [ 7.20859782e-01 -6.93050957e-01 -6.44564972e-03 -2.52394267e+02] [ 8.99828524e-03 5.93220112e-05 9.99959513e-01 -5.91223764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.4665599950001 meters 0.04977067272948182 Centerline is valid? [True, True] Translation: X:480.20, Y:-252.35, Z:-5.91 [[-6.93941847e-01 -7.20006567e-01 5.93761635e-03 4.80204190e+02] [ 7.19980784e-01 -6.93967248e-01 -6.09337966e-03 -2.52352157e+02] [ 8.50778465e-03 4.65185438e-05 9.99963807e-01 -5.91138134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.526559995 meters 0.04921158227670513 Centerline is valid? [True, True] Translation: X:480.17, Y:-252.31, Z:-5.91 [[-6.94675619e-01 -7.19294240e-01 6.44835656e-03 4.80165295e+02] [ 7.19263817e-01 -6.94705546e-01 -6.61559369e-03 -2.52311361e+02] [ 9.23826750e-03 4.23779118e-05 9.99957325e-01 -5.91254198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.586559995 meters 0.05014354929334865 Centerline is valid? [True, True] Translation: X:480.13, Y:-252.27, Z:-5.91 [[-6.96281426e-01 -7.17740586e-01 6.37386868e-03 4.80127656e+02] [ 7.17710815e-01 -6.96310599e-01 -6.53724168e-03 -2.52267957e+02] [ 9.13023600e-03 2.28345293e-05 9.99958318e-01 -5.91029752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.646559995 meters 0.050193870677843117 Centerline is valid? [True, True] Translation: X:480.09, Y:-252.22, Z:-5.91 [[-6.97983695e-01 -7.16088484e-01 6.00372347e-03 4.80090640e+02] [ 7.16062024e-01 -6.98009515e-01 -6.15583854e-03 -2.52224862e+02] [ 8.59878120e-03 2.36344460e-06 9.99963030e-01 -5.90716837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.7065599950001 meters 0.04975077793789054 Centerline is valid? [True, True] Translation: X:480.05, Y:-252.18, Z:-5.91 [[-6.98620381e-01 -7.15469094e-01 5.79136839e-03 4.80051719e+02] [ 7.15444465e-01 -6.98644385e-01 -5.93644190e-03 -2.52183244e+02] [ 8.29344771e-03 -3.91683484e-06 9.99965609e-01 -5.90913996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.766559995 meters 0.04984525738215409 Centerline is valid? [True, True] Translation: X:480.01, Y:-252.14, Z:-5.91 [[-6.97901851e-01 -7.16170764e-01 5.69584653e-03 4.80013048e+02] [ 7.16146981e-01 -6.97925094e-01 -5.83650936e-03 -2.52143061e+02] [ 8.15521159e-03 5.75261206e-06 9.99966746e-01 -5.90846463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.826559995 meters 0.04985004066105468 Centerline is valid? [True, True] Translation: X:479.97, Y:-252.10, Z:-5.91 [[-6.95302751e-01 -7.18697784e-01 5.25163664e-03 4.79973285e+02] [ 7.18677651e-01 -6.95322583e-01 -5.37961404e-03 -2.52104132e+02] [ 7.51789824e-03 3.37734379e-05 9.99971740e-01 -5.90869071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.886559995 meters 0.050332766126933735 Centerline is valid? [True, True] Translation: X:479.93, Y:-252.06, Z:-5.91 [[-6.93268909e-01 -7.20660848e-01 5.11481787e-03 4.79933251e+02] [ 7.20641814e-01 -6.93287775e-01 -5.23805775e-03 -2.52062684e+02] [ 7.32090385e-03 5.45690466e-05 9.99973200e-01 -5.90691980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.9465599950001 meters 0.04973324866300402 Centerline is valid? [True, True] Translation: X:479.89, Y:-252.02, Z:-5.91 [[-6.91136921e-01 -7.22705809e-01 5.10595941e-03 4.79892558e+02] [ 7.22686907e-01 -6.91155777e-01 -5.22750981e-03 -2.52022898e+02] [ 7.30696505e-03 7.70849830e-05 9.99973301e-01 -5.90708335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.006559995 meters 0.04970866721286345 Centerline is valid? [True, True] Translation: X:479.85, Y:-251.98, Z:-5.91 [[-6.88494066e-01 -7.25227241e-01 4.62282364e-03 4.79851810e+02] [ 7.25211811e-01 -6.88509579e-01 -4.73163578e-03 -2.51981466e+02] [ 6.61436952e-03 9.48231491e-05 9.99978120e-01 -5.90574076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.066559995 meters 0.0505262504227724 Centerline is valid? [True, True] Translation: X:479.81, Y:-251.94, Z:-5.91 [[-6.87123608e-01 -7.26522759e-01 5.08209553e-03 4.79808082e+02] [ 7.26504158e-01 -6.87142391e-01 -5.20028746e-03 -2.51944779e+02] [ 7.27025047e-03 1.18923254e-04 9.99973564e-01 -5.90802067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.126559995 meters 0.04962008473565855 Centerline is valid? [True, True] Translation: X:479.77, Y:-251.90, Z:-5.91 [[-6.84854140e-01 -7.28658742e-01 5.58965722e-03 4.79772112e+02] [ 7.28636322e-01 -6.84876933e-01 -5.71810448e-03 -2.51899173e+02] [ 7.99477411e-03 1.56759756e-04 9.99968029e-01 -5.90541300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.1865599950002 meters 0.049857575699583316 Centerline is valid? [True, True] Translation: X:479.73, Y:-251.86, Z:-5.91 [[-6.83486928e-01 -7.29940885e-01 5.65015549e-03 4.79730356e+02] [ 7.29918033e-01 -6.83510259e-01 -5.77849011e-03 -2.51859608e+02] [ 8.07989543e-03 1.74627935e-04 9.99967342e-01 -5.90535616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.246559995 meters 0.049965268529727457 Centerline is valid? [True, True] Translation: X:479.69, Y:-251.82, Z:-5.91 [[-6.82038460e-01 -7.31298051e-01 5.16720854e-03 4.79686503e+02] [ 7.31278986e-01 -6.82058011e-01 -5.28339780e-03 -2.51823498e+02] [ 7.38807449e-03 1.75190522e-04 9.99972692e-01 -5.90557782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.306559995 meters 0.05125045896513052 Centerline is valid? [True, True] Translation: X:479.64, Y:-251.79, Z:-5.91 [[-6.81888387e-01 -7.31438342e-01 5.11655349e-03 4.79644726e+02] [ 7.31419666e-01 -6.81907560e-01 -5.22993216e-03 -2.51787009e+02] [ 7.31438941e-03 1.76117834e-04 9.99973234e-01 -5.90669343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.366559995 meters 0.049948187361544556 Centerline is valid? [True, True] Translation: X:479.61, Y:-251.74, Z:-5.90 [[-6.83005512e-01 -7.30391907e-01 5.57967467e-03 4.79609259e+02] [ 7.30369672e-01 -6.83028278e-01 -5.70207456e-03 -2.51739771e+02] [ 7.97582470e-03 1.80676808e-04 9.99968176e-01 -5.90425594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.426559995 meters 0.049934552535498375 Centerline is valid? [True, True] Translation: X:479.57, Y:-251.70, Z:-5.90 [[-6.85144769e-01 -7.28385754e-01 5.55335475e-03 4.79572057e+02] [ 7.28363668e-01 -6.85167256e-01 -5.67429101e-03 -2.51695028e+02] [ 7.93804957e-03 1.57151033e-04 9.99968481e-01 -5.90281268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.486559995 meters 0.05031685714565853 Centerline is valid? [True, True] Translation: X:479.53, Y:-251.65, Z:-5.90 [[-6.90606272e-01 -7.23209930e-01 5.51126896e-03 4.79532194e+02] [ 7.23188025e-01 -6.90628256e-01 -5.62971974e-03 -2.51654799e+02] [ 7.87770729e-03 9.77639443e-05 9.99968966e-01 -5.90336889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.546559995 meters 0.05011019862450558 Centerline is valid? [True, True] Translation: X:479.49, Y:-251.61, Z:-5.90 [[-6.95448343e-01 -7.18557795e-01 5.12821450e-03 4.79494318e+02] [ 7.18538713e-01 -6.95467249e-01 -5.23683133e-03 -2.51614185e+02] [ 7.32947120e-03 4.28749742e-05 9.99973138e-01 -5.90491540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.606559995 meters 0.050539236948884764 Centerline is valid? [True, True] Translation: X:479.46, Y:-251.57, Z:-5.90 [[-7.00718165e-01 -7.13422963e-01 4.66145415e-03 4.79457883e+02] [ 7.13407092e-01 -7.00733669e-01 -4.75877768e-03 -2.51570332e+02] [ 6.66145914e-03 -9.04751619e-06 9.99977812e-01 -5.90381728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.666559995 meters 0.051259718522948666 Centerline is valid? [True, True] Translation: X:479.42, Y:-251.53, Z:-5.90 [[-7.07708121e-01 -7.06487112e-01 5.01755664e-03 4.79417600e+02] [ 7.06468557e-01 -7.07725903e-01 -5.12095465e-03 -2.51528401e+02] [ 7.16894326e-03 -7.93951980e-05 9.99974300e-01 -5.89971522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.7265599950001 meters 0.05130813806145657 Centerline is valid? [True, True] Translation: X:479.38, Y:-251.49, Z:-5.90 [[-7.11307849e-01 -7.02859025e-01 5.50769727e-03 4.79377936e+02] [ 7.02836567e-01 -7.11329160e-01 -5.62007265e-03 -2.51485314e+02] [ 7.86790446e-03 -1.26590746e-04 9.99969040e-01 -5.90055424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.786559995 meters 0.05149341469854036 Centerline is valid? [True, True] Translation: X:479.34, Y:-251.44, Z:-5.90 [[-7.14115748e-01 -7.00006896e-01 5.38926813e-03 4.79336574e+02] [ 6.99985321e-01 -7.14136067e-01 -5.49799921e-03 -2.51444170e+02] [ 7.69730810e-03 -1.53799231e-04 9.99970363e-01 -5.90103852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.846559995 meters 0.0513668143722847 Centerline is valid? [True, True] Translation: X:479.29, Y:-251.41, Z:-5.90 [[-7.14380461e-01 -6.99736795e-01 5.38276832e-03 4.79291917e+02] [ 6.99715274e-01 -7.14400723e-01 -5.49018671e-03 -2.51405907e+02] [ 7.68713923e-03 -1.55676909e-04 9.99970441e-01 -5.90026289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.906559995 meters 0.052072700699428404 Centerline is valid? [True, True] Translation: X:479.25, Y:-251.36, Z:-5.90 [[-7.13095797e-01 -7.01045675e-01 5.41727709e-03 4.79251776e+02] [ 7.01023923e-01 -7.13116359e-01 -5.52420431e-03 -2.51364223e+02] [ 7.73586846e-03 -1.41646034e-04 9.99970068e-01 -5.90089779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.9665599950001 meters 0.05164604328186836 Centerline is valid? [True, True] Translation: X:479.21, Y:-251.32, Z:-5.90 [[-7.10729814e-01 -7.03440139e-01 5.92470062e-03 4.79214319e+02] [ 7.03414220e-01 -7.10754497e-01 -6.03988931e-03 -2.51321918e+02] [ 8.45970818e-03 -1.25210735e-04 9.99964208e-01 -5.90400533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.026559995 meters 0.05147235526970826 Centerline is valid? [True, True] Translation: X:479.17, Y:-251.28, Z:-5.90 [[-7.07785974e-01 -7.06400730e-01 6.08470883e-03 4.79170162e+02] [ 7.06373511e-01 -7.07812122e-01 -6.20179957e-03 -2.51284206e+02] [ 8.68778641e-03 -9.14696095e-05 9.99962256e-01 -5.90408504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.086559995 meters 0.05125452021584048 Centerline is valid? [True, True] Translation: X:479.13, Y:-251.25, Z:-5.90 [[-7.04732843e-01 -7.09450677e-01 5.59979901e-03 4.79126592e+02] [ 7.09427733e-01 -7.04755089e-01 -5.70589423e-03 -2.51246185e+02] [ 7.99453737e-03 -4.84783424e-05 9.99968042e-01 -5.90267617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.146559995 meters 0.051260434895398124 Centerline is valid? [True, True] Translation: X:479.08, Y:-251.21, Z:-5.90 [[-7.01182454e-01 -7.12969093e-01 4.27057885e-03 4.79084564e+02] [ 7.12955821e-01 -7.01195459e-01 -4.35036382e-03 -2.51208002e+02] [ 6.09618544e-03 -5.66473462e-06 9.99981418e-01 -5.90196360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.2065599950001 meters 0.05052679035756755 Centerline is valid? [True, True] Translation: X:479.04, Y:-251.17, Z:-5.90 [[-6.97335316e-01 -7.16737565e-01 3.27425357e-03 4.79041790e+02] [ 7.16729808e-01 -6.97343002e-01 -3.33454369e-03 -2.51171979e+02] [ 4.67327054e-03 2.14600542e-05 9.99989080e-01 -5.90194267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.266559995 meters 0.05067287150857801 Centerline is valid? [True, True] Translation: X:479.00, Y:-251.14, Z:-5.90 [[-6.93641252e-01 -7.20314441e-01 2.98656033e-03 4.78997961e+02] [ 7.20308025e-01 -6.93647680e-01 -3.04061853e-03 -2.51135813e+02] [ 4.26182208e-03 4.21449307e-05 9.99990918e-01 -5.90224574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.326559995 meters 0.05089036164505786 Centerline is valid? [True, True] Translation: X:478.95, Y:-251.10, Z:-5.90 [[-6.89043679e-01 -7.24710888e-01 3.59679359e-03 4.78954102e+02] [ 7.24701647e-01 -6.89053062e-01 -3.66080378e-03 -2.51099483e+02] [ 5.13140599e-03 8.41485250e-05 9.99986831e-01 -5.90329155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.386559995 meters 0.052339182648757226 Centerline is valid? [True, True] Translation: X:478.91, Y:-251.06, Z:-5.90 [[-6.86562691e-01 -7.27058144e-01 4.25757687e-03 4.78910999e+02] [ 7.27045248e-01 -6.86575881e-01 -4.33207223e-03 -2.51062787e+02] [ 6.07281798e-03 1.21211869e-04 9.99981553e-01 -5.90377074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.4465599950001 meters 0.052044102568663875 Centerline is valid? [True, True] Translation: X:478.87, Y:-251.03, Z:-5.90 [[-6.84301601e-01 -7.29182581e-01 4.90744627e-03 4.78868502e+02] [ 7.29165511e-01 -6.84319178e-01 -4.99194647e-03 -2.51025234e+02] [ 6.99830001e-03 1.62343607e-04 9.99975498e-01 -5.90359943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.506559995 meters 0.05065550322866178 Centerline is valid? [True, True] Translation: X:478.83, Y:-250.98, Z:-5.90 [[-6.83523171e-01 -7.29910485e-01 5.17279069e-03 4.78829535e+02] [ 7.29891551e-01 -6.83542721e-01 -5.26053833e-03 -2.50982169e+02] [ 7.37554551e-03 1.79876377e-04 9.99972784e-01 -5.90287094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.566559995 meters 0.050860665182262385 Centerline is valid? [True, True] Translation: X:478.79, Y:-250.94, Z:-5.90 [[-6.83720273e-01 -7.29719087e-01 6.05323126e-03 4.78791131e+02] [ 7.29693165e-01 -6.83747036e-01 -6.15429616e-03 -2.50937913e+02] [ 8.62978631e-03 2.09184432e-04 9.99962741e-01 -5.90237770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.626559995 meters 0.0513769504164819 Centerline is valid? [True, True] Translation: X:478.75, Y:-250.90, Z:-5.90 [[-6.86084953e-01 -7.27485351e-01 7.24579244e-03 4.78749647e+02] [ 7.27448094e-01 -6.86123179e-01 -7.36570131e-03 -2.50898709e+02] [ 1.03299459e-02 2.17441057e-04 9.99946621e-01 -5.90495258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.6865599950002 meters 0.051024396167900284 Centerline is valid? [True, True] Translation: X:478.71, Y:-250.85, Z:-5.90 [[-6.90675504e-01 -7.23139767e-01 6.01875281e-03 4.78714266e+02] [ 7.23113907e-01 -6.90701717e-01 -6.11685309e-03 -2.50851550e+02] [ 8.58050262e-03 1.27483263e-04 9.99963179e-01 -5.90144661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.746559995 meters 0.051232487243052946 Centerline is valid? [True, True] Translation: X:478.67, Y:-250.81, Z:-5.90 [[-6.92079108e-01 -7.21799344e-01 5.67593361e-03 4.78672749e+02] [ 7.21776308e-01 -6.92102374e-01 -5.76754349e-03 -2.50812416e+02] [ 8.09133623e-03 1.05158051e-04 9.99967259e-01 -5.90282402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.806559995 meters 0.051238851837914955 Centerline is valid? [True, True] Translation: X:478.64, Y:-250.77, Z:-5.90 [[-6.95725650e-01 -7.18290939e-01 4.89358923e-03 4.78635938e+02] [ 7.18273740e-01 -6.95742857e-01 -4.97103908e-03 -2.50770626e+02] [ 6.97533208e-03 5.64572439e-05 9.99975671e-01 -5.90274540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.866559995 meters 0.05085252755158125 Centerline is valid? [True, True] Translation: X:478.60, Y:-250.73, Z:-5.90 [[-6.97086751e-01 -7.16969499e-01 4.97983200e-03 4.78598147e+02] [ 7.16951666e-01 -6.97104537e-01 -5.05706592e-03 -2.50728616e+02] [ 7.09722550e-03 4.50852015e-05 9.99974813e-01 -5.90207017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.926559995 meters 0.050889529248240445 Centerline is valid? [True, True] Translation: X:478.56, Y:-250.69, Z:-5.90 [[-6.98052310e-01 -7.16021130e-01 6.05919733e-03 4.78561789e+02] [ 7.15994711e-01 -6.98078606e-01 -6.15096913e-03 -2.50688132e+02] [ 8.63401989e-03 4.46550234e-05 9.99962725e-01 -5.90011027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.986559995 meters 0.05103616667703221 Centerline is valid? [True, True] Translation: X:478.52, Y:-250.65, Z:-5.90 [[-6.98566333e-01 -7.15517734e-01 6.28095874e-03 4.78521598e+02] [ 7.15489342e-01 -6.98594568e-01 -6.37431809e-03 -2.50647857e+02] [ 8.94878130e-03 4.10750232e-05 9.99959958e-01 -5.90208288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.046559995 meters 0.05101511651761828 Centerline is valid? [True, True] Translation: X:478.48, Y:-250.61, Z:-5.90 [[-6.99000084e-01 -7.15088404e-01 6.88887233e-03 4.78482490e+02] [ 7.15054250e-01 -6.99034028e-01 -6.98909746e-03 -2.50607355e+02] [ 9.81337872e-03 4.05377261e-05 9.99951847e-01 -5.90327762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.106559995 meters 0.05183286159667158 Centerline is valid? [True, True] Translation: X:478.44, Y:-250.57, Z:-5.90 [[-6.99425442e-01 -7.14671028e-01 7.02657460e-03 4.78443748e+02] [ 7.14635493e-01 -6.99460735e-01 -7.12684927e-03 -2.50565687e+02] [ 1.00081657e-02 3.67399053e-05 9.99949916e-01 -5.90155639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.166559995 meters 0.0509645286497218 Centerline is valid? [True, True] Translation: X:478.40, Y:-250.52, Z:-5.90 [[-6.99163673e-01 -7.14930244e-01 6.70115795e-03 4.78402921e+02] [ 7.14897952e-01 -6.99195785e-01 -6.79509751e-03 -2.50523873e+02] [ 9.54344211e-03 3.97587677e-05 9.99954460e-01 -5.90091935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.2265599950001 meters 0.051092117289296635 Centerline is valid? [True, True] Translation: X:478.36, Y:-250.49, Z:-5.90 [[-6.98222079e-01 -7.15859601e-01 5.56419139e-03 4.78361944e+02] [ 7.15837381e-01 -6.98244248e-01 -5.64041422e-03 -2.50485222e+02] [ 7.92290930e-03 4.47944442e-05 9.99968612e-01 -5.90131522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.286559995 meters 0.05072656314384022 Centerline is valid? [True, True] Translation: X:478.32, Y:-250.44, Z:-5.90 [[-6.97830230e-01 -7.16245052e-01 5.09857581e-03 4.78323972e+02] [ 7.16226418e-01 -6.97848854e-01 -5.16669037e-03 -2.50444377e+02] [ 7.25865170e-03 4.62619589e-05 9.99973655e-01 -5.89821050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.346559995 meters 0.050977471786325605 Centerline is valid? [True, True] Translation: X:478.28, Y:-250.41, Z:-5.90 [[-6.98059506e-01 -7.16024780e-01 4.63047096e-03 4.78282506e+02] [ 7.16009414e-01 -6.98074862e-01 -4.69105817e-03 -2.50405413e+02] [ 6.59132927e-03 4.08230449e-05 9.99978276e-01 -5.90062302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.406559995 meters 0.05101517616924154 Centerline is valid? [True, True] Translation: X:478.24, Y:-250.37, Z:-5.90 [[-6.98813640e-01 -7.15289817e-01 4.46921827e-03 4.78243378e+02] [ 7.15275497e-01 -6.98827931e-01 -4.52617759e-03 -2.50365636e+02] [ 6.36074330e-03 3.37676827e-05 9.99979770e-01 -5.90126942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.4665599950001 meters 0.05086136410597313 Centerline is valid? [True, True] Translation: X:478.20, Y:-250.32, Z:-5.90 [[-6.99573327e-01 -7.14546810e-01 4.47404059e-03 4.78203952e+02] [ 7.14532453e-01 -6.99587633e-01 -4.52960395e-03 -2.50324878e+02] [ 6.36659752e-03 2.80570893e-05 9.99979733e-01 -5.90077742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.526559995 meters 0.05052151005029922 Centerline is valid? [True, True] Translation: X:478.17, Y:-250.28, Z:-5.90 [[-7.01351602e-01 -7.12799798e-01 4.73058216e-03 4.78165223e+02] [ 7.12783718e-01 -7.01367556e-01 -4.78779103e-03 -2.50284264e+02] [ 6.73061332e-03 1.39570304e-05 9.99977349e-01 -5.90110838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.586559995 meters 0.05075470142531523 Centerline is valid? [True, True] Translation: X:478.13, Y:-250.24, Z:-5.90 [[-7.04300797e-01 -7.09885699e-01 4.76250112e-03 4.78128421e+02] [ 7.09869346e-01 -7.04316899e-01 -4.81848274e-03 -2.50243249e+02] [ 6.77488201e-03 -1.29076791e-05 9.99977050e-01 -5.90201001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.646559995 meters 0.051315725529029625 Centerline is valid? [True, True] Translation: X:478.09, Y:-250.20, Z:-5.90 [[-7.06697090e-01 -7.07495822e-01 5.37438312e-03 4.78089947e+02] [ 7.07474940e-01 -7.06717525e-01 -5.43594138e-03 -2.50201468e+02] [ 7.64407656e-03 -3.93225814e-05 9.99970783e-01 -5.90167588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.7065599950001 meters 0.05145566607262669 Centerline is valid? [True, True] Translation: X:478.05, Y:-250.16, Z:-5.90 [[-7.08746841e-01 -7.05437989e-01 5.92956400e-03 4.78050452e+02] [ 7.05412510e-01 -7.08771642e-01 -5.99585231e-03 -2.50158538e+02] [ 8.43240881e-03 -6.67527574e-05 9.99964444e-01 -5.90154417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.766559995 meters 0.051682747211938745 Centerline is valid? [True, True] Translation: X:478.01, Y:-250.12, Z:-5.90 [[-7.09909405e-01 -7.04266218e-01 6.14253735e-03 4.78011760e+02] [ 7.04238844e-01 -7.09935974e-01 -6.20996316e-03 -2.50115945e+02] [ 8.73427551e-03 -8.26978565e-05 9.99961852e-01 -5.90112445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.826559995 meters 0.05136362223715834 Centerline is valid? [True, True] Translation: X:477.97, Y:-250.08, Z:-5.90 [[-7.09399837e-01 -7.04778720e-01 6.23113294e-03 4.77972804e+02] [ 7.04750588e-01 -7.09427198e-01 -6.29750241e-03 -2.50075075e+02] [ 8.85888087e-03 -7.60525753e-05 9.99960756e-01 -5.90137697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.886559995 meters 0.05139779773638756 Centerline is valid? [True, True] Translation: X:477.93, Y:-250.04, Z:-5.90 [[-7.08162815e-01 -7.06020436e-01 6.36956703e-03 4.77930725e+02] [ 7.05991106e-01 -7.08191457e-01 -6.43563707e-03 -2.50035043e+02] [ 9.05456425e-03 -6.06211871e-05 9.99959005e-01 -5.90012278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.9465599950001 meters 0.050817672267269604 Centerline is valid? [True, True] Translation: X:477.89, Y:-249.99, Z:-5.90 [[-7.06445816e-01 -7.07734526e-01 6.79335425e-03 4.77891568e+02] [ 7.07701265e-01 -7.06478477e-01 -6.86158608e-03 -2.49994645e+02] [ 9.65553994e-03 -3.96733892e-05 9.99953383e-01 -5.90207774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.006559995 meters 0.051036404813019305 Centerline is valid? [True, True] Translation: X:477.85, Y:-249.95, Z:-5.90 [[-7.05749503e-01 -7.08428832e-01 6.79917589e-03 4.77851959e+02] [ 7.08395567e-01 -7.05782254e-01 -6.86526472e-03 -2.49954881e+02] [ 9.66228914e-03 -2.86511100e-05 9.99953319e-01 -5.90257592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.066559995 meters 0.05068388722866845 Centerline is valid? [True, True] Translation: X:477.81, Y:-249.91, Z:-5.90 [[-7.03558798e-01 -7.10607927e-01 6.43365681e-03 4.77810721e+02] [ 7.10578250e-01 -7.03588213e-01 -6.49433352e-03 -2.49914530e+02] [ 9.14156998e-03 2.47111325e-06 9.99958215e-01 -5.90021707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.126559995 meters 0.05157454889469057 Centerline is valid? [True, True] Translation: X:477.77, Y:-249.87, Z:-5.90 [[-7.02093763e-01 -7.12063940e-01 5.41239795e-03 4.77771535e+02] [ 7.12042993e-01 -7.02114624e-01 -5.46172036e-03 -2.49874432e+02] [ 7.68921786e-03 1.92202385e-05 9.99970437e-01 -5.89691553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.1865599950002 meters 0.050975522892485664 Centerline is valid? [True, True] Translation: X:477.73, Y:-249.84, Z:-5.90 [[-7.01033966e-01 -7.13115163e-01 4.25947536e-03 4.77730447e+02] [ 7.13102215e-01 -7.01046906e-01 -4.29742095e-03 -2.49835191e+02] [ 6.05064806e-03 2.48032631e-05 9.99981694e-01 -5.89960184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.246559995 meters 0.050557153116599016 Centerline is valid? [True, True] Translation: X:477.69, Y:-249.80, Z:-5.90 [[-7.01199380e-01 -7.12955018e-01 3.81737901e-03 4.77691382e+02] [ 7.12944620e-01 -7.01209771e-01 -3.85051162e-03 -2.49795054e+02] [ 5.42202504e-03 2.16034669e-05 9.99985301e-01 -5.90104816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.306559995 meters 0.0501425224771421 Centerline is valid? [True, True] Translation: X:477.65, Y:-249.75, Z:-5.90 [[-7.02170874e-01 -7.11998301e-01 3.80567104e-03 4.77652580e+02] [ 7.11987959e-01 -7.02181187e-01 -3.83756857e-03 -2.49752567e+02] [ 5.40461291e-03 1.49630794e-05 9.99985395e-01 -5.90010677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.366559995 meters 0.05030688736374044 Centerline is valid? [True, True] Translation: X:477.61, Y:-249.71, Z:-5.90 [[-7.03224754e-01 -7.10956153e-01 4.03645642e-03 4.77613144e+02] [ 7.10944509e-01 -7.03236339e-01 -4.06906539e-03 -2.49711352e+02] [ 5.73150991e-03 8.22901846e-06 9.99983575e-01 -5.90068198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.426559995 meters 0.05021400331871951 Centerline is valid? [True, True] Translation: X:477.57, Y:-249.67, Z:-5.90 [[-7.04090542e-01 -7.10098122e-01 4.14318710e-03 4.77573933e+02] [ 7.10085844e-01 -7.04102732e-01 -4.17568438e-03 -2.49670454e+02] [ 5.88237499e-03 1.95862851e-06 9.99982699e-01 -5.90150341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.486559995 meters 0.050627528029227174 Centerline is valid? [True, True] Translation: X:477.54, Y:-249.63, Z:-5.90 [[-7.04471327e-01 -7.09716155e-01 4.80936823e-03 4.77535064e+02] [ 7.09699612e-01 -7.04487743e-01 -4.84565987e-03 -2.49628668e+02] [ 6.82718405e-03 -4.21669821e-07 9.99976695e-01 -5.90223540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.546559995 meters 0.05051876443375389 Centerline is valid? [True, True] Translation: X:477.50, Y:-249.59, Z:-5.90 [[-7.04416833e-01 -7.09766705e-01 5.30566932e-03 4.77495939e+02] [ 7.09746586e-01 -7.04436813e-01 -5.34409397e-03 -2.49587451e+02] [ 7.53056876e-03 1.21094330e-06 9.99971645e-01 -5.90218130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.606559995 meters 0.050439147588994565 Centerline is valid? [True, True] Translation: X:477.46, Y:-249.55, Z:-5.90 [[-7.04234993e-01 -7.09943548e-01 5.76483351e-03 4.77456245e+02] [ 7.09919816e-01 -7.04258588e-01 -5.80474791e-03 -2.49547099e+02] [ 8.18097683e-03 4.66294049e-06 9.99966535e-01 -5.90335875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.666559995 meters 0.050814328514855456 Centerline is valid? [True, True] Translation: X:477.42, Y:-249.50, Z:-5.90 [[-7.03891243e-01 -7.10284105e-01 5.79734179e-03 4.77417294e+02] [ 7.10260130e-01 -7.03915116e-01 -5.83587150e-03 -2.49504692e+02] [ 8.22596328e-03 9.80188801e-06 9.99966166e-01 -5.90267686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.7265599950001 meters 0.049770437701097126 Centerline is valid? [True, True] Translation: X:477.38, Y:-249.46, Z:-5.90 [[-7.03356967e-01 -7.10814408e-01 5.64396350e-03 4.77378079e+02] [ 7.10791716e-01 -7.03379611e-01 -5.67972309e-03 -2.49463895e+02] [ 8.00707785e-03 1.68096989e-05 9.99967943e-01 -5.90325232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.786559995 meters 0.050371080814631645 Centerline is valid? [True, True] Translation: X:477.34, Y:-249.42, Z:-5.90 [[-7.02909177e-01 -7.11260674e-01 5.19061901e-03 4.77338042e+02] [ 7.11241503e-01 -7.02928342e-01 -5.22211124e-03 -2.49422278e+02] [ 7.36291557e-03 2.11137466e-05 9.99972893e-01 -5.90050898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.846559995 meters 0.050644960198156966 Centerline is valid? [True, True] Translation: X:477.30, Y:-249.38, Z:-5.90 [[-7.00121760e-01 -7.14005422e-01 5.07721580e-03 4.77297110e+02] [ 7.13987162e-01 -7.00140168e-01 -5.10658256e-03 -2.49382729e+02] [ 7.20089035e-03 4.98373325e-05 9.99974072e-01 -5.90100094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.906559995 meters 0.050227159340751226 Centerline is valid? [True, True] Translation: X:477.26, Y:-249.34, Z:-5.90 [[-6.98357322e-01 -7.15730630e-01 5.16870398e-03 4.77256471e+02] [ 7.15711760e-01 -6.98376446e-01 -5.19774281e-03 -2.49341369e+02] [ 7.32988485e-03 6.94204745e-05 9.99973134e-01 -5.90063176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.9665599950001 meters 0.0510843146432088 Centerline is valid? [True, True] Translation: X:477.21, Y:-249.30, Z:-5.90 [[-6.97431328e-01 -7.16630441e-01 5.50939482e-03 4.77211961e+02] [ 7.16609039e-01 -6.97453084e-01 -5.53902096e-03 -2.49304111e+02] [ 7.81197544e-03 8.49953905e-05 9.99969482e-01 -5.90451671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.026559995 meters 0.050392851633612464 Centerline is valid? [True, True] Translation: X:477.18, Y:-249.26, Z:-5.90 [[-6.97438529e-01 -7.16628409e-01 4.81887553e-03 4.77176958e+02] [ 7.16612046e-01 -6.97455172e-01 -4.84337760e-03 -2.49258304e+02] [ 6.83185165e-03 7.53061088e-05 9.99976660e-01 -5.90051501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.086559995 meters 0.04955944937965873 Centerline is valid? [True, True] Translation: X:477.14, Y:-249.22, Z:-5.90 [[-6.97597841e-01 -7.16473875e-01 4.73698344e-03 4.77137639e+02] [ 7.16458068e-01 -6.97613920e-01 -4.75975406e-03 -2.49216026e+02] [ 6.71482502e-03 7.34558481e-05 9.99977453e-01 -5.90099846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.146559995 meters 0.04938108351557394 Centerline is valid? [True, True] Translation: X:477.10, Y:-249.17, Z:-5.90 [[-6.97071624e-01 -7.16981594e-01 5.34276807e-03 4.77097556e+02] [ 7.16961511e-01 -6.97092093e-01 -5.36706192e-03 -2.49173707e+02] [ 7.57248599e-03 8.93325093e-05 9.99971324e-01 -5.90149612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.2065599950001 meters 0.04971911654329419 Centerline is valid? [True, True] Translation: X:477.06, Y:-249.13, Z:-5.90 [[-6.96343737e-01 -7.17684916e-01 5.81040025e-03 4.77056266e+02] [ 7.17661201e-01 -6.96367970e-01 -5.83531737e-03 -2.49132637e+02] [ 8.23409589e-03 1.06512110e-04 9.99966094e-01 -5.90296334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.266559995 meters 0.05044587011436781 Centerline is valid? [True, True] Translation: X:477.01, Y:-249.09, Z:-5.91 [[-6.95632154e-01 -7.18370313e-01 6.32445267e-03 4.77013784e+02] [ 7.18342260e-01 -6.95660892e-01 -6.34984099e-03 -2.49094082e+02] [ 8.96121165e-03 1.25968055e-04 9.99959840e-01 -5.90546631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.326559995 meters 0.049625502514293166 Centerline is valid? [True, True] Translation: X:476.97, Y:-249.05, Z:-5.91 [[-6.95516389e-01 -7.18480052e-01 6.58534477e-03 4.76974731e+02] [ 7.18449659e-01 -6.95547552e-01 -6.60992046e-03 -2.49051654e+02] [ 9.32951643e-03 1.33930689e-04 9.99956470e-01 -5.90554789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.386559995 meters 0.04991199125646212 Centerline is valid? [True, True] Translation: X:476.94, Y:-249.01, Z:-5.90 [[-6.95989902e-01 -7.18030007e-01 5.56475904e-03 4.76936407e+02] [ 7.18008301e-01 -6.96012139e-01 -5.58410901e-03 -2.49007252e+02] [ 7.88269768e-03 1.09059701e-04 9.99968925e-01 -5.90259030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.4465599950001 meters 0.049387763075201645 Centerline is valid? [True, True] Translation: X:476.90, Y:-248.97, Z:-5.90 [[-6.97379466e-01 -7.16689208e-01 4.29649430e-03 4.76896211e+02] [ 7.16676250e-01 -6.97392697e-01 -4.31033385e-03 -2.48966128e+02] [ 6.08551350e-03 7.32571050e-05 9.99981480e-01 -5.90175394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.506559995 meters 0.049339751461822096 Centerline is valid? [True, True] Translation: X:476.86, Y:-248.92, Z:-5.90 [[-6.99199175e-01 -7.14918337e-01 3.50491679e-03 4.76855626e+02] [ 7.14909696e-01 -6.99207958e-01 -3.51529539e-03 -2.48924555e+02] [ 4.96381485e-03 4.78073563e-05 9.99987679e-01 -5.90202674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.566559995 meters 0.04908466371927951 Centerline is valid? [True, True] Translation: X:476.82, Y:-248.88, Z:-5.90 [[-7.01172741e-01 -7.12984191e-01 3.21405598e-03 4.76815449e+02] [ 7.12976908e-01 -7.01180107e-01 -3.22273456e-03 -2.48882878e+02] [ 4.55139091e-03 3.18540714e-05 9.99989642e-01 -5.90185248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.626559995 meters 0.049514096512569626 Centerline is valid? [True, True] Translation: X:476.77, Y:-248.84, Z:-5.90 [[-7.03486357e-01 -7.10705446e-01 2.17130108e-03 4.76773917e+02] [ 7.10702113e-01 -7.03489708e-01 -2.17674854e-03 -2.48843703e+02] [ 3.07451500e-03 1.18353657e-05 9.99995274e-01 -5.90227575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.6865599950002 meters 0.04960009929254281 Centerline is valid? [True, True] Translation: X:476.74, Y:-248.80, Z:-5.90 [[-7.05276850e-01 -7.08927916e-01 2.40308285e-03 4.76735800e+02] [ 7.08923825e-01 -7.05280944e-01 -2.40830671e-03 -2.48803921e+02] [ 3.40216440e-03 5.07971389e-06 9.99994213e-01 -5.90277858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.746559995 meters 0.05004386476854745 Centerline is valid? [True, True] Translation: X:476.70, Y:-248.76, Z:-5.90 [[-7.07433518e-01 -7.06775203e-01 2.57504684e-03 4.76697027e+02] [ 7.06770495e-01 -7.07438204e-01 -2.57981616e-03 -2.48762860e+02] [ 3.64503660e-03 -5.08129345e-06 9.99993357e-01 -5.90297643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.806559995 meters 0.05027996754856371 Centerline is valid? [True, True] Translation: X:476.66, Y:-248.72, Z:-5.90 [[-7.09315682e-01 -7.04885047e-01 2.88683400e-03 4.76658162e+02] [ 7.04879118e-01 -7.09321556e-01 -2.89120628e-03 -2.48723798e+02] [ 4.08566165e-03 -1.59089500e-05 9.99991654e-01 -5.90262021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.866559995 meters 0.04984569549159648 Centerline is valid? [True, True] Translation: X:476.62, Y:-248.68, Z:-5.90 [[-7.10487506e-01 -7.03705140e-01 2.56511353e-03 4.76617727e+02] [ 7.03700453e-01 -7.10492136e-01 -2.56827853e-03 -2.48683063e+02] [ 3.62980379e-03 -1.96582504e-05 9.99993412e-01 -5.90305710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.926559995 meters 0.05010376253554616 Centerline is valid? [True, True] Translation: X:476.58, Y:-248.64, Z:-5.90 [[-7.11185669e-01 -7.03000168e-01 2.38916114e-03 4.76577981e+02] [ 7.02996101e-01 -7.11189682e-01 -2.39139770e-03 -2.48643531e+02] [ 3.38029974e-03 -2.11568082e-05 9.99994287e-01 -5.90387229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.986559995 meters 0.04970208388184641 Centerline is valid? [True, True] Translation: X:476.54, Y:-248.61, Z:-5.90 [[-7.11526389e-01 -7.02655543e-01 2.32049950e-03 4.76536989e+02] [ 7.02651707e-01 -7.11530173e-01 -2.32187881e-03 -2.48606719e+02] [ 3.28258643e-03 -2.15751094e-05 9.99994612e-01 -5.90281959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.046559995 meters 0.049494989930164296 Centerline is valid? [True, True] Translation: X:476.50, Y:-248.57, Z:-5.90 [[-7.11279267e-01 -7.02906813e-01 1.95383862e-03 4.76498745e+02] [ 7.02904096e-01 -7.11281950e-01 -1.95439782e-03 -2.48566025e+02] [ 2.76348969e-03 -1.67614848e-05 9.99996181e-01 -5.90473799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.106559995 meters 0.049748999527381446 Centerline is valid? [True, True] Translation: X:476.46, Y:-248.53, Z:-5.90 [[-7.10333479e-01 -7.03864335e-01 1.16079030e-03 4.76456248e+02] [ 7.03863378e-01 -7.10334427e-01 -1.16076817e-03 -2.48528050e+02] [ 1.64157263e-03 -7.49471211e-06 9.99998653e-01 -5.90329113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.166559995 meters 0.049371656918673255 Centerline is valid? [True, True] Translation: X:475.99, Y:-249.00, Z:-4.91 [[-7.54732747e-01 6.56031450e-01 1.10336163e-03 4.75990377e+02] [ 6.56030754e-01 7.54733553e-01 -9.56018160e-04 -2.49001033e+02] [-1.45992203e-03 2.30095200e-06 -9.99998934e-01 -4.90681302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.2265599950001 meters 0.0495735627785694 Centerline is valid? [True, True] Translation: X:476.02, Y:-248.93, Z:-4.91 [[-8.00725479e-01 5.99030498e-01 1.08159506e-03 4.76021492e+02] [ 5.99029950e-01 8.00726209e-01 -8.10360837e-04 -2.48925149e+02] [-1.35149236e-03 -9.68736819e-07 -9.99999087e-01 -4.90615475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.286559995 meters 0.04899992962156808 Centerline is valid? [True, True] Translation: X:476.03, Y:-248.83, Z:-4.91 [[-8.42295950e-01 5.39014251e-01 1.08159715e-03 4.76025931e+02] [ 5.39013801e-01 8.42296644e-01 -6.96385435e-04 -2.48833733e+02] [-1.28638732e-03 -3.56684031e-06 -9.99999173e-01 -4.90622764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.346559995 meters 0.049420584219563586 Centerline is valid? [True, True] Translation: X:476.03, Y:-248.74, Z:-4.91 [[-8.79685534e-01 4.75551394e-01 2.05727208e-03 4.76025485e+02] [ 4.75550058e-01 8.79687940e-01 -1.12730136e-03 -2.48741059e+02] [-2.34584717e-03 -1.33348429e-05 -9.99997248e-01 -4.90545202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.406559995 meters 0.04964529734118991 Centerline is valid? [True, True] Translation: X:476.08, Y:-248.68, Z:-4.91 [[-9.11971611e-01 4.10247451e-01 2.19316481e-03 4.76077913e+02] [ 4.10246216e-01 9.11974248e-01 -1.00649814e-03 -2.48677132e+02] [-2.41302312e-03 -1.81601647e-05 -9.99997089e-01 -4.90500006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.4665599950001 meters 0.04929357798172278 Centerline is valid? [True, True] Translation: X:476.07, Y:-248.59, Z:-4.90 [[-9.39589414e-01 3.42295559e-01 2.34151830e-03 4.76068340e+02] [ 3.42294430e-01 9.39592332e-01 -8.79309454e-04 -2.48589396e+02] [-2.50105636e-03 -2.47011842e-05 -9.99996872e-01 -4.90497579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.526559995 meters 0.049571381343221026 Centerline is valid? [True, True] Translation: X:476.25, Y:-248.00, Z:-5.91 [[-9.05946713e-01 -4.23365913e-01 4.67515437e-03 4.76247676e+02] [ 4.23361496e-01 -9.05958750e-01 -1.94593469e-03 -2.47995068e+02] [ 5.05933942e-03 2.16367212e-04 9.99987178e-01 -5.90781652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.586559995 meters 0.04963315143931378 Centerline is valid? [True, True] Translation: X:475.94, Y:-248.54, Z:-4.90 [[-9.40662645e-01 3.39287794e-01 6.13034855e-03 4.75944049e+02] [ 3.39280152e-01 9.40682618e-01 -2.27806063e-03 -2.48542706e+02] [-6.53963049e-03 -6.29809442e-05 -9.99978614e-01 -4.90293498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.646559995 meters 0.05021180012574188 Centerline is valid? [True, True] Translation: X:475.92, Y:-248.45, Z:-4.90 [[-9.61933200e-01 2.73210568e-01 6.36438638e-03 4.75918555e+02] [ 2.73204222e-01 9.61954252e-01 -1.86292415e-03 -2.48454232e+02] [-6.63121910e-03 -5.32313577e-05 -9.99978012e-01 -4.90291370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.7065599950001 meters 0.04934777676099573 Centerline is valid? [True, True] Translation: X:475.80, Y:-248.35, Z:-4.90 [[-9.77754496e-01 2.09694254e-01 4.94620405e-03 4.75800295e+02] [ 2.09691505e-01 9.77767007e-01 -1.07380877e-03 -2.48349372e+02] [-5.06140666e-03 -1.27443845e-05 -9.99987191e-01 -4.90385899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.766559995 meters 0.0499931246623002 Centerline is valid? [True, True] Translation: X:475.85, Y:-248.29, Z:-4.91 [[-9.89430860e-01 1.44968689e-01 3.26387074e-03 4.75852103e+02] [ 1.44967932e-01 9.89436243e-01 -4.68532059e-04 -2.48285883e+02] [-3.29731448e-03 9.57651422e-06 -9.99994564e-01 -4.90511817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.826559995 meters 0.050306218236690806 Centerline is valid? [True, True] Translation: X:475.57, Y:-248.19, Z:-4.91 [[-9.96652084e-01 8.17511210e-02 1.17384498e-03 4.75566001e+02] [ 8.17510784e-02 9.96652775e-01 -8.43562274e-05 -2.48185616e+02] [-1.17681207e-03 1.18892830e-05 -9.99999308e-01 -4.90651663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.886559995 meters 0.050646295293094355 Centerline is valid? [True, True] Translation: X:475.99, Y:-248.12, Z:-4.91 [[-9.99952594e-01 9.66555583e-03 1.17806320e-03 4.75992853e+02] [ 9.66556838e-03 9.99953287e-01 4.95381174e-06 -2.48117482e+02] [-1.17796029e-03 1.63402273e-05 -9.99999306e-01 -4.90657715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.9465599950001 meters 0.050615237321877754 Centerline is valid? [True, True] Translation: X:475.72, Y:-247.48, Z:-5.91 [[-9.98926929e-01 -4.62690546e-02 2.04081586e-03 4.75718757e+02] [ 4.62690081e-02 -9.98929014e-01 -7.00194399e-05 -2.47478677e+02] [ 2.04186991e-03 2.44822216e-05 9.99997915e-01 -5.90558539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.006559995 meters 0.05053602156312955 Centerline is valid? [True, True] Translation: X:475.28, Y:-247.53, Z:-5.91 [[-9.93657908e-01 -1.12398437e-01 3.24872485e-03 4.75277315e+02] [ 1.12397644e-01 -9.93663217e-01 -4.26090538e-04 -2.47528500e+02] [ 3.27603030e-03 -5.82392136e-05 9.99994632e-01 -5.90624119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.066559995 meters 0.05057269329560279 Centerline is valid? [True, True] Translation: X:474.75, Y:-248.14, Z:-4.90 [[-9.97061143e-01 7.65375907e-02 3.32790363e-03 4.74752735e+02] [ 7.65373542e-02 9.97066695e-01 -1.98540794e-04 -2.48138630e+02] [-3.33333771e-03 5.67516287e-05 -9.99994443e-01 -4.90310767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.126559995 meters 0.050528283627834146 Centerline is valid? [True, True] Translation: X:475.23, Y:-248.06, Z:-4.90 [[-9.99985012e-01 -1.22231955e-03 5.33684878e-03 4.75225475e+02] [-1.22186188e-03 9.99999250e-01 8.90170429e-05 -2.48062142e+02] [-5.33695358e-03 8.24948166e-05 -9.99985755e-01 -4.90414497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.1865599950002 meters 0.05029785966294926 Centerline is valid? [True, True] Translation: X:475.18, Y:-247.44, Z:-5.91 [[-9.99308864e-01 -3.67365511e-02 5.67627250e-03 4.75178035e+02] [ 3.67355924e-02 -9.99324983e-01 -2.73105022e-04 -2.47436032e+02] [ 5.68247386e-03 -6.43950360e-05 9.99983853e-01 -5.90665551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.246559995 meters 0.04983631185731842 Centerline is valid? [True, True] Translation: X:474.47, Y:-248.07, Z:-4.90 [[-9.99942570e-01 -9.52505171e-03 4.91223439e-03 4.74469416e+02] [-9.52468259e-03 9.99954634e-01 9.85333149e-05 -2.48068341e+02] [-4.91295008e-03 5.17401828e-05 -9.99987930e-01 -4.90316337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.306559995 meters 0.05000195113764928 Centerline is valid? [True, True] Translation: X:474.40, Y:-248.00, Z:-4.90 [[-9.96539154e-01 -8.30135889e-02 4.29633782e-03 4.74403678e+02] [-8.30126661e-02 9.96548415e-01 3.92993253e-04 -2.47998879e+02] [-4.31413242e-03 3.49827079e-05 -9.99990694e-01 -4.90384848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.366559995 meters 0.050425324106586046 Centerline is valid? [True, True] Translation: X:474.41, Y:-247.93, Z:-4.90 [[-9.87526249e-01 -1.57408665e-01 3.79739203e-03 4.74409784e+02] [-1.57407426e-01 9.87533550e-01 6.24912073e-04 -2.47925489e+02] [-3.84841860e-03 1.93793719e-05 -9.99992595e-01 -4.90333103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.426559995 meters 0.050353922513238766 Centerline is valid? [True, True] Translation: X:474.36, Y:-247.86, Z:-4.90 [[-9.72831754e-01 -2.31482357e-01 3.78104963e-03 4.74359952e+02] [-2.31480594e-01 9.72839102e-01 9.03389302e-04 -2.47857209e+02] [-3.88747161e-03 3.60618428e-06 -9.99992444e-01 -4.90426785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.486559995 meters 0.050436059609465796 Centerline is valid? [True, True] Translation: X:474.28, Y:-247.80, Z:-4.91 [[-9.52891291e-01 -3.03295864e-01 3.13152881e-03 4.74280351e+02] [-3.03294251e-01 9.52896437e-01 9.89094849e-04 -2.47800425e+02] [-3.28401102e-03 -7.27481708e-06 -9.99994608e-01 -4.90573452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.546559995 meters 0.05033367741761977 Centerline is valid? [True, True] Translation: X:474.20, Y:-247.75, Z:-4.91 [[-9.27465484e-01 -3.73903124e-01 2.05666692e-03 4.74198951e+02] [-3.73902235e-01 9.27467764e-01 8.15624608e-04 -2.47746755e+02] [-2.21245685e-03 -1.25286846e-05 -9.99997552e-01 -4.90538673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.606559995 meters 0.049316327271642445 Centerline is valid? [True, True] Translation: X:473.92, Y:-247.18, Z:-5.90 [[-9.54283593e-01 2.98894650e-01 2.19383248e-03 4.73918219e+02] [-2.98893813e-01 -9.54286114e-01 7.07382325e-04 -2.47183605e+02] [ 2.30497667e-03 1.93203905e-05 9.99997343e-01 -5.90468317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.666559995 meters 0.04987623152027133 Centerline is valid? [True, True] Translation: X:474.03, Y:-247.81, Z:-4.90 [[-9.24870137e-01 -3.80274843e-01 2.50468037e-03 4.74025572e+02] [-3.80273512e-01 9.24873528e-01 1.00660897e-03 -2.47813808e+02] [-2.69930064e-03 -2.14810240e-05 -9.99996357e-01 -4.90439226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.7265599950001 meters 0.050314662900513465 Centerline is valid? [True, True] Translation: X:473.74, Y:-247.26, Z:-5.91 [[-9.53646308e-01 3.00912582e-01 3.21507871e-03 4.73742463e+02] [-3.00910609e-01 -9.53651725e-01 1.09232854e-03 -2.47256686e+02] [ 3.39476076e-03 7.42437896e-05 9.99994235e-01 -5.90634075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.786559995 meters 0.049916024362110345 Centerline is valid? [True, True] Translation: X:473.84, Y:-247.89, Z:-4.90 [[-9.22348189e-01 -3.86338212e-01 4.07481163e-03 4.73843669e+02] [-3.86334655e-01 9.22357189e-01 1.65833163e-03 -2.47889165e+02] [-4.39910868e-03 -4.46817714e-05 -9.99990323e-01 -4.90435283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.846559995 meters 0.049908688548929124 Centerline is valid? [True, True] Translation: X:473.73, Y:-247.86, Z:-4.90 [[-8.90762431e-01 -4.54422169e-01 6.54089747e-03 4.73725612e+02] [-4.54410732e-01 8.90786440e-01 3.22556759e-03 -2.47855873e+02] [-7.29231220e-03 -9.90395746e-05 -9.99973406e-01 -4.90193187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.906559995 meters 0.050443490683825296 Centerline is valid? [True, True] Translation: X:473.63, Y:-247.82, Z:-4.90 [[-8.54090278e-01 -5.20065197e-01 7.87328425e-03 4.73628699e+02] [-5.20044662e-01 8.54126554e-01 4.62383706e-03 -2.47816486e+02] [-9.12947788e-03 -1.45285163e-04 -9.99958315e-01 -4.89933693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.9665599950001 meters 0.05096883661279914 Centerline is valid? [True, True] Translation: X:473.48, Y:-247.82, Z:-4.90 [[-8.14576919e-01 -5.80018395e-01 6.56546663e-03 4.73477403e+02] [-5.80000796e-01 8.14603367e-01 4.52007750e-03 -2.47819470e+02] [-7.96997932e-03 -1.26025065e-04 -9.99968231e-01 -4.89929843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.026559995 meters 0.05037076241292596 Centerline is valid? [True, True] Translation: X:473.32, Y:-247.84, Z:-4.90 [[-7.71487905e-01 -6.36224078e-01 5.03346950e-03 4.73324100e+02] [-6.36211312e-01 7.71504319e-01 4.03134384e-03 -2.47843108e+02] [-6.44818148e-03 -9.22172214e-05 -9.99979206e-01 -4.90259895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.086559995 meters 0.04955050409014538 Centerline is valid? [True, True] Translation: X:473.33, Y:-247.74, Z:-4.90 [[-7.25053085e-01 -6.88683816e-01 3.55312544e-03 4.73326075e+02] [-6.88675854e-01 7.25061790e-01 3.31187270e-03 -2.47738868e+02] [-4.85706863e-03 -4.56681810e-05 -9.99988203e-01 -4.90437530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.146559995 meters 0.050056911902577286 Centerline is valid? [True, True] Translation: X:472.91, Y:-248.05, Z:-4.91 [[-6.77302346e-01 -7.35699908e-01 2.67897233e-03 4.72906719e+02] [-7.35694278e-01 6.77307644e-01 2.87839947e-03 -2.48050809e+02] [-3.93212666e-03 -2.13578957e-05 -9.99992269e-01 -4.90521763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.2065599950001 meters 0.04970861456487185 Centerline is valid? [True, True] Translation: X:472.73, Y:-248.15, Z:-4.91 [[-6.24897012e-01 -7.80702857e-01 2.60262551e-03 4.72725569e+02] [-7.80696128e-01 6.24902432e-01 3.24151782e-03 -2.48150528e+02] [-4.15704924e-03 -6.24485882e-06 -9.99991359e-01 -4.90539009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.266559995 meters 0.049718821874169414 Centerline is valid? [True, True] Translation: X:472.54, Y:-248.29, Z:-4.90 [[-5.69984389e-01 -8.21648721e-01 3.34287462e-03 4.72536197e+02] [-8.21634389e-01 5.69994192e-01 4.85304957e-03 -2.48287812e+02] [-5.89292109e-03 1.95417525e-05 -9.99982636e-01 -4.90438452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.326559995 meters 0.04957924154328224 Centerline is valid? [True, True] Translation: X:472.38, Y:-248.39, Z:-4.90 [[-5.08610471e-01 -8.60991366e-01 3.04236482e-03 4.72383494e+02] [-8.60975660e-01 5.08619570e-01 5.20059381e-03 -2.48393528e+02] [-6.02507266e-03 2.56744057e-05 -9.99981849e-01 -4.90340378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.386559995 meters 0.05057604991381919 Centerline is valid? [True, True] Translation: X:472.22, Y:-248.53, Z:-4.90 [[-4.42666770e-01 -8.96682159e-01 2.68995218e-03 4.72224653e+02] [-8.96665347e-01 4.42674943e-01 5.49100081e-03 -2.48532914e+02] [-6.11445689e-03 1.86966914e-05 -9.99981306e-01 -4.90241848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.4465599950001 meters 0.049649934646996984 Centerline is valid? [True, True] Translation: X:472.08, Y:-248.67, Z:-4.90 [[-3.72615132e-01 -9.27980971e-01 3.04646518e-03 4.72080072e+02] [-9.27949887e-01 3.72627586e-01 7.59537474e-03 -2.48671986e+02] [-8.18356018e-03 3.18454541e-06 -9.99966514e-01 -4.90325991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.506559995 meters 0.05016288983171273 Centerline is valid? [True, True] Translation: X:471.94, Y:-248.83, Z:-4.90 [[-3.00763285e-01 -9.53694661e-01 2.81790272e-03 4.71942326e+02] [-9.53653346e-01 3.00776485e-01 8.87701835e-03 -2.48832462e+02] [-9.31352388e-03 -1.74211551e-05 -9.99956628e-01 -4.90241287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.566559995 meters 0.049680671318150425 Centerline is valid? [True, True] Translation: X:471.82, Y:-248.98, Z:-4.90 [[-2.25859226e-01 -9.74158114e-01 1.89202002e-03 4.71822606e+02] [-9.74125579e-01 2.25867146e-01 7.96164759e-03 -2.48975405e+02] [-8.18324876e-03 -4.48535380e-05 -9.99966516e-01 -4.90265798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.626559995 meters 0.0497731940131091 Centerline is valid? [True, True] Translation: X:471.70, Y:-249.17, Z:-4.90 [[-1.50685205e-01 -9.88581159e-01 1.12341815e-03 4.71703509e+02] [-9.88556424e-01 1.50689382e-01 6.99337512e-03 -2.49174125e+02] [-7.08280607e-03 -5.67640609e-05 -9.99974915e-01 -4.90289082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.6865599950002 meters 0.04991388781822881 Centerline is valid? [True, True] Translation: X:471.60, Y:-249.36, Z:-4.90 [[-7.35888009e-02 -9.97288561e-01 4.62824060e-04 4.71600532e+02] [-9.97273824e-01 7.35902297e-02 5.42194404e-03 -2.49357829e+02] [-5.44130210e-03 -6.25679591e-05 -9.99985194e-01 -4.90361499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.746559995 meters 0.04970535578980257 Centerline is valid? [True, True] Translation: X:471.51, Y:-249.54, Z:-4.90 [[ 1.90021434e-03 -9.99998193e-01 5.89127867e-05 4.71512557e+02] [-9.99983570e-01 -1.89986794e-03 5.40829919e-03 -2.49537415e+02] [-5.40817749e-03 -6.91887464e-05 -9.99985373e-01 -4.90386550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.806559995 meters 0.05014100126491768 Centerline is valid? [True, True] Translation: X:471.44, Y:-249.75, Z:-4.90 [[ 7.64007963e-02 -9.97077118e-01 -3.72334223e-04 4.71437685e+02] [-9.97059791e-01 -7.64016639e-02 5.87868237e-03 -2.49747866e+02] [-5.88994663e-03 -7.78965317e-05 -9.99982651e-01 -4.90316400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.866559995 meters 0.049513759990136214 Centerline is valid? [True, True] Translation: X:471.30, Y:-249.18, Z:-4.91 [[ 1.50786002e-01 -9.88565910e-01 -1.01106246e-03 4.71296224e+02] [-9.88539631e-01 -1.50789367e-01 7.20864194e-03 -2.49175826e+02] [-7.27867515e-03 -8.74869909e-05 -9.99973506e-01 -4.90515638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.926559995 meters 0.0498406025762371 Centerline is valid? [True, True] Translation: X:470.74, Y:-249.89, Z:-5.91 [[ 6.15635112e-02 9.98102961e-01 -6.43172706e-04 4.70744982e+02] [-9.98070652e-01 6.15666943e-02 8.03213455e-03 -2.49885648e+02] [ 8.05649529e-03 1.47445397e-04 9.99967535e-01 -5.90788907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.986559995 meters 0.049427963802225444 Centerline is valid? [True, True] Translation: X:471.41, Y:-250.09, Z:-4.90 [[ 1.53236345e-01 -9.88188881e-01 -1.16561823e-03 4.71406767e+02] [-9.88157071e-01 -1.53240766e-01 7.92913721e-03 -2.50087694e+02] [-8.01410546e-03 -6.32181144e-05 -9.99967885e-01 -4.90428060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.046559995 meters 0.04998285439424193 Centerline is valid? [True, True] Translation: X:471.37, Y:-250.32, Z:-4.91 [[ 2.24389600e-01 -9.74498021e-01 -1.70718757e-03 4.71372764e+02] [-9.74468151e-01 -2.24396089e-01 7.63003443e-03 -2.50316629e+02] [-7.81853967e-03 -4.85004615e-05 -9.99969434e-01 -4.90531892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.106559995 meters 0.04973705101180717 Centerline is valid? [True, True] Translation: X:471.36, Y:-250.56, Z:-4.90 [[ 2.94633545e-01 -9.55607443e-01 -2.34304932e-03 4.71357272e+02] [-9.55576155e-01 -2.94642859e-01 7.73295098e-03 -2.50558839e+02] [-8.08002826e-03 -3.94247007e-05 -9.99967355e-01 -4.90383963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.166559995 meters 0.049969831829811184 Centerline is valid? [True, True] Translation: X:471.37, Y:-250.82, Z:-4.90 [[ 3.63770267e-01 -9.31483624e-01 -3.07417620e-03 4.71366992e+02] [-9.31449546e-01 -3.63783255e-01 7.96781947e-03 -2.50816583e+02] [-8.54022718e-03 -3.50157933e-05 -9.99963531e-01 -4.90331176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.2265599950001 meters 0.04987677545676487 Centerline is valid? [True, True] Translation: X:471.38, Y:-251.04, Z:-4.90 [[ 4.32508317e-01 -9.01622388e-01 -3.69137094e-03 4.71383262e+02] [-9.01588696e-01 -4.32524067e-01 7.79452242e-03 -2.51044126e+02] [-8.62432269e-03 -4.30974596e-05 -9.99962809e-01 -4.90490164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.286559995 meters 0.04978632054444309 Centerline is valid? [True, True] Translation: X:471.40, Y:-251.25, Z:-4.90 [[ 4.99315401e-01 -8.66408573e-01 -4.50727317e-03 4.71402085e+02] [-8.66372199e-01 -4.99335740e-01 7.93922711e-03 -2.51247536e+02] [-9.12925701e-03 -5.92021969e-05 -9.99958326e-01 -4.90424182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.346559995 meters 0.050042551937734846 Centerline is valid? [True, True] Translation: X:471.43, Y:-251.44, Z:-4.90 [[ 5.63992407e-01 -8.25764302e-01 -5.08741402e-03 4.71429940e+02] [-8.25729394e-01 -5.64015346e-01 7.59329302e-03 -2.51442649e+02] [-9.13964989e-03 -8.17323117e-05 -9.99958229e-01 -4.90344339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.406559995 meters 0.04959987743919417 Centerline is valid? [True, True] Translation: X:471.47, Y:-251.63, Z:-4.91 [[ 6.25956087e-01 -7.79840228e-01 -5.31003719e-03 4.71474106e+02] [-7.79810720e-01 -6.25978600e-01 6.78478752e-03 -2.51634538e+02] [-8.61501989e-03 -1.06155122e-04 -9.99962884e-01 -4.90590347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.4665599950001 meters 0.04982231368740392 Centerline is valid? [True, True] Translation: X:471.53, Y:-251.83, Z:-4.91 [[ 6.85524868e-01 -7.28024128e-01 -6.04356129e-03 4.71528753e+02] [-7.27993771e-01 -6.85551489e-01 6.65022981e-03 -2.51826663e+02] [-8.98470020e-03 -1.59222945e-04 -9.99959624e-01 -4.90531663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.526559995 meters 0.04964382664600336 Centerline is valid? [True, True] Translation: X:471.60, Y:-252.01, Z:-4.91 [[ 7.38582544e-01 -6.74129838e-01 -6.69228544e-03 4.71595494e+02] [-6.74099902e-01 -7.38612840e-01 6.35571144e-03 -2.52005668e+02] [-9.22758268e-03 -1.82948567e-04 -9.99957408e-01 -4.90667595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.586559995 meters 0.05048655039598059 Centerline is valid? [True, True] Translation: X:471.56, Y:-252.10, Z:-4.91 [[ 7.89100675e-01 -6.14222414e-01 -7.13798596e-03 4.71560495e+02] [-6.14195165e-01 -7.89132937e-01 5.78849062e-03 -2.52095792e+02] [-9.18824051e-03 -1.83585391e-04 -9.99957770e-01 -4.90508026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.646559995 meters 0.05092223053697313 Centerline is valid? [True, True] Translation: X:471.54, Y:-252.19, Z:-4.91 [[ 8.34560505e-01 -5.50862596e-01 -7.69174361e-03 4.71536187e+02] [-5.50837152e-01 -8.34595930e-01 5.29772121e-03 -2.52185271e+02] [-9.33781437e-03 -1.84370744e-04 -9.99956385e-01 -4.90558702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.7065599950001 meters 0.049402576990205546 Centerline is valid? [True, True] Translation: X:471.52, Y:-252.27, Z:-4.91 [[ 8.74615418e-01 -4.84747022e-01 -8.25803369e-03 4.71520293e+02] [-4.84723467e-01 -8.74654385e-01 4.78206173e-03 -2.52272985e+02] [-9.54101555e-03 -1.79602203e-04 -9.99954467e-01 -4.90547026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.766559995 meters 0.049576951784936804 Centerline is valid? [True, True] Translation: X:471.51, Y:-252.36, Z:-4.91 [[ 9.09850728e-01 -4.14833136e-01 -9.22619872e-03 4.71511709e+02] [-4.14809648e-01 -9.09897484e-01 4.41858561e-03 -2.52362161e+02] [-1.02278707e-02 -1.93137092e-04 -9.99947675e-01 -4.90563463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.826559995 meters 0.05012720171356665 Centerline is valid? [True, True] Translation: X:471.51, Y:-252.45, Z:-4.91 [[ 9.38986040e-01 -3.43778845e-01 -1.10146695e-02 4.71510527e+02] [-3.43752616e-01 -9.39050618e-01 4.25157107e-03 -2.52451268e+02] [-1.18049324e-02 -2.05844439e-04 -9.99930298e-01 -4.90633382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.886559995 meters 0.04990863594197944 Centerline is valid? [True, True] Translation: X:471.52, Y:-252.54, Z:-4.91 [[ 9.62622979e-01 -2.70622330e-01 -1.09797900e-02 4.71515518e+02] [-2.70602538e-01 -9.62685577e-01 3.27802338e-03 -2.52541549e+02] [-1.14571918e-02 -1.84341576e-04 -9.99934347e-01 -4.90630289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.9465599950001 meters 0.05020260521858693 Centerline is valid? [True, True] Translation: X:471.53, Y:-252.63, Z:-4.91 [[ 9.80430343e-01 -1.96592565e-01 -1.03781254e-02 4.71528694e+02] [-1.96579945e-01 -9.80485258e-01 2.23248168e-03 -2.52627782e+02] [-1.06144883e-02 -1.48661448e-04 -9.99943654e-01 -4.90758529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.006559995 meters 0.0503774459648798 Centerline is valid? [True, True] Translation: X:471.55, Y:-252.71, Z:-4.91 [[ 9.92488201e-01 -1.21922142e-01 -1.01075479e-02 4.71548898e+02] [-1.21914623e-01 -9.92539661e-01 1.35904264e-03 -2.52713440e+02] [-1.01978396e-02 -1.16575887e-04 -9.99947994e-01 -4.90782677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.066559995 meters 0.0503071947968124 Centerline is valid? [True, True] Translation: X:471.57, Y:-252.80, Z:-4.91 [[ 9.98948354e-01 -4.46777357e-02 -1.02997954e-02 4.71573897e+02] [-4.46742206e-02 -9.99001445e-01 5.71214880e-04 -2.52795056e+02] [-1.03150311e-02 -1.10478831e-04 -9.99946793e-01 -4.90788256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.126559995 meters 0.05043014728293804 Centerline is valid? [True, True] Translation: X:471.60, Y:-252.87, Z:-4.91 [[ 9.99330134e-01 3.49965370e-02 -1.07017070e-02 4.71600403e+02] [ 3.49959132e-02 -9.99387425e-01 -2.45602944e-04 -2.52873301e+02] [-1.07037466e-02 -1.29077585e-04 -9.99942705e-01 -4.90800341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.1865599950002 meters 0.05024704231968846 Centerline is valid? [True, True] Translation: X:471.63, Y:-252.95, Z:-4.91 [[ 9.93348968e-01 1.14623842e-01 -1.09180214e-02 4.71634416e+02] [ 1.14618571e-01 -9.93408955e-01 -1.10929776e-03 -2.52949796e+02] [-1.09732122e-02 -1.49488224e-04 -9.99939781e-01 -4.90750728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.246559995 meters 0.050617545238967526 Centerline is valid? [True, True] Translation: X:471.67, Y:-253.02, Z:-4.91 [[ 9.81048213e-01 1.93476201e-01 -1.05528614e-02 4.71672642e+02] [ 1.93466785e-01 -9.81104955e-01 -1.91563817e-03 -2.53023106e+02] [-1.07240950e-02 -1.62294760e-04 -9.99942482e-01 -4.90565934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.306559995 meters 0.050664858400085486 Centerline is valid? [True, True] Translation: X:471.72, Y:-253.10, Z:-4.91 [[ 9.62615435e-01 2.70693499e-01 -9.82615262e-03 4.71718933e+02] [ 2.70681144e-01 -9.62665571e-01 -2.59160018e-03 -2.53095970e+02] [-1.01608282e-02 -1.65039894e-04 -9.99948364e-01 -4.90955832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.366559995 meters 0.05047374806099499 Centerline is valid? [True, True] Translation: X:471.77, Y:-253.17, Z:-4.91 [[ 9.38135035e-01 3.46142863e-01 -9.36874689e-03 4.71771184e+02] [ 3.46127422e-01 -9.38181800e-01 -3.27401898e-03 -2.53168958e+02] [-9.92286612e-03 -1.71308289e-04 -9.99950753e-01 -4.91036871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.426559995 meters 0.050441103316630764 Centerline is valid? [True, True] Translation: X:471.83, Y:-253.23, Z:-4.92 [[ 9.08105383e-01 4.18635007e-01 -9.45221494e-03 4.71825995e+02] [ 4.18614384e-01 -9.08154557e-01 -4.15913416e-03 -2.53230858e+02] [-1.03252312e-02 -1.79901022e-04 -9.99946677e-01 -4.91507700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.486559995 meters 0.05115505017257262 Centerline is valid? [True, True] Translation: X:471.89, Y:-253.31, Z:-4.91 [[ 8.73296687e-01 4.87108727e-01 -8.83092961e-03 4.71892940e+02] [ 4.87085667e-01 -8.73341321e-01 -4.74243380e-03 -2.53305218e+02] [-1.00224966e-02 -1.59867515e-04 -9.99949761e-01 -4.90934015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.546559995 meters 0.050363401044155244 Centerline is valid? [True, True] Translation: X:471.96, Y:-253.36, Z:-4.91 [[ 8.33784597e-01 5.52036345e-01 -7.68897062e-03 4.71960407e+02] [ 5.52014250e-01 -8.33820040e-01 -4.94057654e-03 -2.53360968e+02] [-9.13859560e-03 -1.25044732e-04 -9.99958234e-01 -4.91033940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.606559995 meters 0.050095532032901784 Centerline is valid? [True, True] Translation: X:472.03, Y:-253.41, Z:-4.91 [[ 7.90393078e-01 6.12562553e-01 -6.77502225e-03 4.72033019e+02] [ 6.12540956e-01 -7.90422110e-01 -5.14445853e-03 -2.53414817e+02] [-8.50643003e-03 -8.38341929e-05 -9.99963816e-01 -4.91129978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.666559995 meters 0.05069534084955642 Centerline is valid? [True, True] Translation: X:472.11, Y:-253.46, Z:-4.91 [[ 7.44633137e-01 6.67455368e-01 -4.98225927e-03 4.72107285e+02] [ 6.67440610e-01 -7.44649805e-01 -4.43849098e-03 -2.53460367e+02] [-6.67253302e-03 -2.03146994e-05 -9.99977738e-01 -4.90975788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.7265599950001 meters 0.05079685804342844 Centerline is valid? [True, True] Translation: X:472.18, Y:-253.49, Z:-4.91 [[ 6.95815677e-01 7.18206151e-01 -4.52421953e-03 4.72176140e+02] [ 7.18190674e-01 -6.95830384e-01 -4.71506829e-03 -2.53489802e+02] [-6.53448046e-03 3.15661538e-05 -9.99978650e-01 -4.90906473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.786559995 meters 0.051617755444830986 Centerline is valid? [True, True] Translation: X:472.24, Y:-253.51, Z:-4.91 [[ 6.41715387e-01 7.66933321e-01 -3.82660081e-03 4.72243985e+02] [ 7.66919103e-01 -6.41726793e-01 -4.67030606e-03 -2.53512556e+02] [-6.03744560e-03 6.23140006e-05 -9.99981773e-01 -4.90883159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.846559995 meters 0.05183898407687871 Centerline is valid? [True, True] Translation: X:472.32, Y:-253.54, Z:-4.91 [[ 5.84374048e-01 8.11479360e-01 -2.86717931e-03 4.72322775e+02] [ 8.11468912e-01 -5.84381076e-01 -4.11858885e-03 -2.53535196e+02] [-5.01767518e-03 8.01695621e-05 -9.99987408e-01 -4.90919234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.906559995 meters 0.05172161361916468 Centerline is valid? [True, True] Translation: X:472.40, Y:-253.55, Z:-4.91 [[ 5.23209625e-01 8.52200458e-01 -2.46336798e-03 4.72396931e+02] [ 8.52190084e-01 -5.23215414e-01 -4.20608689e-03 -2.53549273e+02] [-4.87330127e-03 1.01407380e-04 -9.99988120e-01 -4.90898575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.9665599950001 meters 0.05190811081549794 Centerline is valid? [True, True] Translation: X:472.47, Y:-253.56, Z:-4.91 [[ 4.58351918e-01 8.88767373e-01 -2.46484516e-03 4.72469626e+02] [ 8.88752845e-01 -4.58358524e-01 -5.08372023e-03 -2.53556737e+02] [-5.64802746e-03 1.39494766e-04 -9.99984040e-01 -4.90926829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.026559995 meters 0.052431909661162936 Centerline is valid? [True, True] Translation: X:472.57, Y:-253.57, Z:-4.91 [[ 3.89860285e-01 9.20871027e-01 -2.34725408e-03 4.72567547e+02] [ 9.20851521e-01 -3.89867311e-01 -5.99635959e-03 -2.53568157e+02] [-6.43699145e-03 1.76269966e-04 -9.99979267e-01 -4.90919898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.086559995 meters 0.05253984834591958 Centerline is valid? [True, True] Translation: X:472.67, Y:-253.57, Z:-4.91 [[ 3.15065343e-01 9.49068947e-01 -1.40137330e-03 4.72669333e+02] [ 9.49057737e-01 -3.15068435e-01 -4.61442437e-03 -2.53572830e+02] [-4.82093537e-03 1.23861019e-04 -9.99988372e-01 -4.90964459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.146559995 meters 0.05329234002447486 Centerline is valid? [True, True] Translation: X:472.76, Y:-253.57, Z:-4.91 [[ 2.38495210e-01 9.71143129e-01 -1.02897687e-03 4.72755024e+02] [ 9.71131869e-01 -2.38497401e-01 -4.67795551e-03 -2.53566079e+02] [-4.78837266e-03 1.16397748e-04 -9.99988529e-01 -4.90886080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.2065599950001 meters 0.052827228635759386 Centerline is valid? [True, True] Translation: X:472.84, Y:-253.55, Z:-4.91 [[ 1.55250208e-01 9.87874964e-01 -6.53988067e-04 4.72838704e+02] [ 9.87863776e-01 -1.55251563e-01 -4.70243188e-03 -2.53550346e+02] [-4.74694740e-03 8.40024065e-05 -9.99988730e-01 -4.90877136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.266559995 meters 0.05221169984496482 Centerline is valid? [True, True] Translation: X:472.92, Y:-253.53, Z:-4.91 [[ 6.79868289e-02 9.97686159e-01 -3.45266372e-04 4.72922656e+02] [ 9.97669505e-01 -6.79876890e-02 -5.76475945e-03 -2.53527452e+02] [-5.77489458e-03 4.74659837e-05 -9.99983324e-01 -4.90736464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.326559995 meters 0.052073128715640564 Centerline is valid? [True, True] Translation: X:473.00, Y:-253.50, Z:-4.91 [[-1.69675925e-02 9.99856034e-01 1.09696596e-04 4.73001994e+02] [ 9.99838439e-01 1.69679447e-02 -5.93171234e-03 -2.53497289e+02] [-5.93271970e-03 9.03199533e-06 -9.99982401e-01 -4.90784971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.386559995 meters 0.05275912058557959 Centerline is valid? [True, True] Translation: X:473.08, Y:-253.46, Z:-4.91 [[-1.01991892e-01 9.94785035e-01 6.22700582e-04 4.73079160e+02] [ 9.94764383e-01 1.01993787e-01 -6.41016988e-03 -2.53460967e+02] [-6.44025266e-03 -3.43449930e-05 -9.99979261e-01 -4.90654091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.4465599950001 meters 0.05261855580578283 Centerline is valid? [True, True] Translation: X:473.15, Y:-253.42, Z:-4.91 [[-1.88119013e-01 9.82145631e-01 1.09388185e-03 4.73154772e+02] [ 9.82126186e-01 1.88122172e-01 -6.18092717e-03 -2.53418677e+02] [-6.27635404e-03 -8.84199057e-05 -9.99980300e-01 -4.90560940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.506559995 meters 0.05274965971200606 Centerline is valid? [True, True] Translation: X:473.22, Y:-253.37, Z:-4.91 [[-2.68320355e-01 9.63328780e-01 1.35954452e-03 4.73220753e+02] [ 9.63314485e-01 2.68323781e-01 -5.24894391e-03 -2.53369422e+02] [-5.42125686e-03 -9.87295638e-05 -9.99985300e-01 -4.90733069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.566559995 meters 0.053642055448910424 Centerline is valid? [True, True] Translation: X:473.29, Y:-253.32, Z:-4.91 [[-3.44130646e-01 9.38919828e-01 1.91200058e-03 4.73286805e+02] [ 9.38903431e-01 3.44135938e-01 -5.55006079e-03 -2.53315253e+02] [-5.86905023e-03 -1.14762100e-04 -9.99982770e-01 -4.90612130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.626559995 meters 0.05230434613867279 Centerline is valid? [True, True] Translation: X:473.33, Y:-253.26, Z:-4.91 [[-4.18613022e-01 9.08161356e-01 2.46781660e-03 4.73328124e+02] [ 9.08143626e-01 4.18620274e-01 -5.67636629e-03 -2.53263009e+02] [-6.18813457e-03 -1.35068930e-04 -9.99980844e-01 -4.90909804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.6865599950002 meters 0.053109941103783094 Centerline is valid? [True, True] Translation: X:473.39, Y:-253.19, Z:-4.91 [[-4.89526643e-01 8.71983067e-01 3.03265694e-03 4.73390687e+02] [ 8.71964403e-01 4.89536014e-01 -5.70717491e-03 -2.53194428e+02] [-6.46115467e-03 -1.49445272e-04 -9.99979115e-01 -4.90679838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.746559995 meters 0.05361340736558461 Centerline is valid? [True, True] Translation: X:473.44, Y:-253.13, Z:-4.91 [[-5.57944008e-01 8.29870172e-01 3.73920633e-03 4.73442123e+02] [ 8.29849390e-01 5.57956510e-01 -5.87561678e-03 -2.53125685e+02] [-6.96231362e-03 -1.75287084e-04 -9.99975747e-01 -4.90536106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.806559995 meters 0.05309392334240342 Centerline is valid? [True, True] Translation: X:473.48, Y:-253.06, Z:-4.91 [[-6.23899039e-01 7.81489199e-01 4.96187032e-03 4.73481436e+02] [ 7.81461417e-01 6.23918725e-01 -6.59377423e-03 -2.53055730e+02] [-8.24876715e-03 -2.36339200e-04 -9.99965950e-01 -4.90568538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.866559995 meters 0.05305254392692963 Centerline is valid? [True, True] Translation: X:473.52, Y:-252.98, Z:-4.91 [[-6.84323883e-01 7.29154420e-01 5.88680989e-03 4.73517660e+02] [ 7.29124003e-01 6.84349150e-01 -6.66552387e-03 -2.52981975e+02] [-8.88882953e-03 -2.69162791e-04 -9.99960457e-01 -4.90560918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.926559995 meters 0.05318506501215233 Centerline is valid? [True, True] Translation: X:473.55, Y:-252.90, Z:-4.91 [[-7.39450934e-01 6.73182451e-01 6.14035493e-03 4.73548015e+02] [ 6.73156271e-01 7.39476382e-01 -5.94273279e-03 -2.52904878e+02] [-8.54119087e-03 -2.60940890e-04 -9.99963489e-01 -4.90621722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.986559995 meters 0.05216562386599543 Centerline is valid? [True, True] Translation: X:473.97, Y:-253.18, Z:-4.91 [[-7.86623725e-01 6.17410936e-01 5.18182868e-03 4.73967324e+02] [ 6.17395871e-01 7.86640768e-01 -4.31755462e-03 -2.53176031e+02] [-6.74194313e-03 -1.97051264e-04 -9.99977253e-01 -4.90837058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.046559995 meters 0.05403061372701127 Centerline is valid? [True, True] Translation: X:473.18, Y:-252.45, Z:-4.91 [[-8.27581179e-01 5.61327216e-01 4.59874648e-03 4.73180608e+02] [ 5.61317475e-01 8.27593941e-01 -3.31081344e-03 -2.52449797e+02] [-5.66434441e-03 -1.58610123e-04 -9.99983945e-01 -4.90717543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.106559995 meters 0.052576287833802755 Centerline is valid? [True, True] Translation: X:473.16, Y:-252.35, Z:-4.91 [[-8.64990673e-01 5.01770935e-01 4.13095423e-03 4.73159037e+02] [ 5.01764473e-01 8.65000527e-01 -2.54985915e-03 -2.52353257e+02] [-4.85272279e-03 -1.32838310e-04 -9.99988217e-01 -4.90817974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.166559995 meters 0.05270008358231507 Centerline is valid? [True, True] Translation: X:473.14, Y:-252.25, Z:-4.91 [[-8.98679703e-01 4.38576210e-01 5.06952991e-03 4.73137487e+02] [ 4.38568221e-01 8.98693987e-01 -2.65198842e-03 -2.52253800e+02] [-5.71905508e-03 -1.59953450e-04 -9.99983633e-01 -4.90710846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.2265599950001 meters 0.05360267455601223 Centerline is valid? [True, True] Translation: X:473.17, Y:-252.18, Z:-4.91 [[-9.28110209e-01 3.72264859e-01 5.50593546e-03 4.73167992e+02] [ 3.72257156e-01 9.28126523e-01 -2.40160873e-03 -2.52181583e+02] [-6.00423926e-03 -1.79333704e-04 -9.99981958e-01 -4.90562618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.286559995 meters 0.052055114138596176 Centerline is valid? [True, True] Translation: X:473.25, Y:-252.14, Z:-4.91 [[-9.53661887e-01 3.00813629e-01 6.33773521e-03 4.73247168e+02] [ 3.00805358e-01 9.53682917e-01 -2.24268222e-03 -2.52139201e+02] [-6.71881919e-03 -2.32335851e-04 -9.99977402e-01 -4.90618949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.346559995 meters 0.05391207982502174 Centerline is valid? [True, True] Translation: X:473.25, Y:-252.05, Z:-4.90 [[-9.73413425e-01 2.28944909e-01 7.10866128e-03 4.73247747e+02] [ 2.28936692e-01 9.73439341e-01 -1.95978756e-03 -2.52048620e+02] [-7.36853394e-03 -2.80250122e-04 -9.99972813e-01 -4.90401231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.406559995 meters 0.05119706791747696 Centerline is valid? [True, True] Translation: X:473.21, Y:-251.97, Z:-4.91 [[-9.87627582e-01 1.56620304e-01 7.86376548e-03 4.73212547e+02] [ 1.56612705e-01 9.87658835e-01 -1.57685260e-03 -2.51971559e+02] [-8.01368459e-03 -3.25777538e-04 -9.99967837e-01 -4.90609732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.4665599950001 meters 0.0505529209735062 Centerline is valid? [True, True] Translation: X:473.22, Y:-251.90, Z:-4.91 [[-9.96429000e-01 8.40282423e-02 8.27667508e-03 4.73216494e+02] [ 8.40223770e-02 9.96463310e-01 -1.05446158e-03 -2.51895202e+02] [-8.33600760e-03 -3.55270179e-04 -9.99965192e-01 -4.90587183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.526559995 meters 0.05029038759218442 Centerline is valid? [True, True] Translation: X:473.16, Y:-251.81, Z:-4.91 [[-9.99884253e-01 1.29179838e-02 8.03777448e-03 4.73159607e+02] [ 1.29148048e-02 9.99916500e-01 -4.47288387e-04 -2.51811450e+02] [-8.04288139e-03 -3.43430326e-04 -9.99967597e-01 -4.90626657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.586559995 meters 0.05026269565093944 Centerline is valid? [True, True] Translation: X:473.17, Y:-251.27, Z:-5.90 [[-9.86393325e-01 -1.64244480e-01 7.20822038e-03 4.73166654e+02] [ 1.64242008e-01 -9.86419629e-01 -9.37624669e-04 -2.51273322e+02] [ 7.26432975e-03 2.59025876e-04 9.99973581e-01 -5.90387042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.646559995 meters 0.04986417719707326 Centerline is valid? [True, True] Translation: X:473.01, Y:-251.82, Z:-4.91 [[-9.99920268e-01 1.05538324e-02 6.93352173e-03 4.73011675e+02] [ 1.05515915e-02 9.99944266e-01 -3.59695777e-04 -2.51816807e+02] [-6.93693147e-03 -2.86507409e-04 -9.99975898e-01 -4.90806609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.7065599950001 meters 0.05030136071151051 Centerline is valid? [True, True] Translation: X:472.94, Y:-251.25, Z:-5.90 [[-9.87647883e-01 -1.56576730e-01 5.94863276e-03 4.72944317e+02] [ 1.56575038e-01 -9.87665780e-01 -7.51929220e-04 -2.51252441e+02] [ 5.99299563e-03 1.88766098e-04 9.99982024e-01 -5.90399282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.766559995 meters 0.05090820690231744 Centerline is valid? [True, True] Translation: X:472.76, Y:-251.81, Z:-4.91 [[-9.99891758e-01 1.37182885e-02 5.31793097e-03 4.72763778e+02] [ 1.37171210e-02 9.99905883e-01 -2.55953932e-04 -2.51806041e+02] [-5.32094171e-03 -1.82979524e-04 -9.99985827e-01 -4.90637117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.826559995 meters 0.05224141745349653 Centerline is valid? [True, True] Translation: X:472.71, Y:-251.73, Z:-4.90 [[-9.98599613e-01 -5.26080587e-02 5.58620554e-03 4.72706543e+02] [-5.26081593e-02 9.98615224e-01 1.29033626e-04 -2.51726231e+02] [-5.58525810e-03 -1.65027062e-04 -9.99984389e-01 -4.90482672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.886559995 meters 0.050025495621997144 Centerline is valid? [True, True] Translation: X:472.59, Y:-251.67, Z:-4.91 [[-9.93286730e-01 -1.15477894e-01 6.80642134e-03 4.72585132e+02] [-1.15476197e-01 9.93310039e-01 6.43234978e-04 -2.51674355e+02] [-6.83516607e-03 -1.47062882e-04 -9.99976629e-01 -4.90561440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.9465599950001 meters 0.04944918699878839 Centerline is valid? [True, True] Translation: X:472.42, Y:-251.07, Z:-5.91 [[-9.99923012e-01 1.01681198e-02 7.11194106e-03 4.72416496e+02] [-1.01666531e-02 -9.99948289e-01 2.42357602e-04 -2.51071436e+02] [ 7.11403762e-03 1.70034306e-04 9.99974680e-01 -5.90576226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.006559995 meters 0.0502221133771847 Centerline is valid? [True, True] Translation: X:472.35, Y:-251.71, Z:-4.90 [[-9.93726210e-01 -1.11619044e-01 7.02910031e-03 4.72350749e+02] [-1.11616944e-01 9.93751065e-01 6.91526777e-04 -2.51706634e+02] [-7.06236348e-03 -9.73784147e-05 -9.99975056e-01 -4.90473219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.066559995 meters 0.0492113081850126 Centerline is valid? [True, True] Translation: X:472.29, Y:-251.64, Z:-4.90 [[-9.83831474e-01 -1.78938278e-01 7.53154542e-03 4.72292409e+02] [-1.78933662e-01 9.83860298e-01 1.28779945e-03 -2.51643201e+02] [-7.64042513e-03 -8.06693739e-05 -9.99970808e-01 -4.90393852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.126559995 meters 0.04983851480575608 Centerline is valid? [True, True] Translation: X:472.17, Y:-251.60, Z:-4.90 [[-9.69110865e-01 -2.46507543e-01 7.62640399e-03 4.72173947e+02] [-2.46500452e-01 9.69140870e-01 1.87096172e-03 -2.51595307e+02] [-7.85226598e-03 -6.67426984e-05 -9.99969168e-01 -4.90489141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.1865599950002 meters 0.049902922818023346 Centerline is valid? [True, True] Translation: X:472.08, Y:-251.55, Z:-4.90 [[-9.49833064e-01 -3.12668974e-01 7.43396400e-03 4.72077277e+02] [-3.12659788e-01 9.49862153e-01 2.39725294e-03 -2.51546921e+02] [-7.81078767e-03 -4.73115031e-05 -9.99969494e-01 -4.90376660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.246559995 meters 0.04937909039152562 Centerline is valid? [True, True] Translation: X:471.99, Y:-251.50, Z:-4.91 [[-9.25386151e-01 -3.78978313e-01 5.99245527e-03 4.71985599e+02] [-3.78970595e-01 9.25405553e-01 2.41876066e-03 -2.51502582e+02] [-6.46210921e-03 -3.26767179e-05 -9.99979120e-01 -4.90614103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.306559995 meters 0.04944890027141679 Centerline is valid? [True, True] Translation: X:471.86, Y:-251.47, Z:-4.91 [[-8.95346502e-01 -4.45328491e-01 6.09721645e-03 4.71863980e+02] [-4.45318486e-01 8.95367262e-01 2.98534914e-03 -2.51473027e+02] [-6.78870902e-03 -4.22812856e-05 -9.99976956e-01 -4.90513850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.366559995 meters 0.04905302695591332 Centerline is valid? [True, True] Translation: X:471.74, Y:-251.45, Z:-4.91 [[-8.59319067e-01 -5.11401721e-01 6.24666638e-03 4.71744641e+02] [-5.11388766e-01 8.59341769e-01 3.64066229e-03 -2.51448971e+02] [-7.22986230e-03 -6.59844906e-05 -9.99973862e-01 -4.90510260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.426559995 meters 0.04916782258256721 Centerline is valid? [True, True] Translation: X:471.61, Y:-251.44, Z:-4.91 [[-8.19407921e-01 -5.73181220e-01 5.82650487e-03 4.71612946e+02] [-5.73167358e-01 8.19428633e-01 3.98703095e-03 -2.51441756e+02] [-7.05969618e-03 -7.25576601e-05 -9.99975077e-01 -4.90580708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.486559995 meters 0.04917429504156651 Centerline is valid? [True, True] Translation: X:471.46, Y:-251.45, Z:-4.90 [[-7.75703150e-01 -6.31075199e-01 5.35879552e-03 4.71461636e+02] [-6.31060767e-01 7.75721656e-01 4.26851705e-03 -2.51453877e+02] [-6.85068898e-03 -7.06234938e-05 -9.99976531e-01 -4.90384609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.546559995 meters 0.04885257516426263 Centerline is valid? [True, True] Translation: X:471.37, Y:-251.43, Z:-4.90 [[-7.27020482e-01 -6.86600398e-01 4.59481938e-03 4.71367374e+02] [-6.86587233e-01 7.27034999e-01 4.25219314e-03 -2.51431107e+02] [-6.26015201e-03 -6.33128162e-05 -9.99980403e-01 -4.90497965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.606559995 meters 0.04929795744677606 Centerline is valid? [True, True] Translation: X:471.19, Y:-251.49, Z:-4.90 [[-6.74871698e-01 -7.37922379e-01 4.33060171e-03 4.71186797e+02] [-7.37907807e-01 6.74885589e-01 4.63791336e-03 -2.51494186e+02] [-6.34508075e-03 -6.55883428e-05 -9.99979868e-01 -4.90396619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.666559995 meters 0.04875744898934207 Centerline is valid? [True, True] Translation: X:470.93, Y:-251.67, Z:-4.90 [[-6.19708406e-01 -7.84822594e-01 3.87134414e-03 4.70930955e+02] [-7.84807983e-01 6.19720495e-01 4.78945698e-03 -2.51668862e+02] [-6.15802536e-03 -7.01950338e-05 -9.99981037e-01 -4.90464032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.7265599950001 meters 0.04876456865093899 Centerline is valid? [True, True] Translation: X:470.78, Y:-251.74, Z:-4.90 [[-5.59388869e-01 -8.28897406e-01 3.63099884e-03 4.70777154e+02] [-8.28880853e-01 5.59400648e-01 5.23898843e-03 -2.51743415e+02] [-6.37376702e-03 -7.90335994e-05 -9.99979684e-01 -4.90479904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.786559995 meters 0.04909164418793204 Centerline is valid? [True, True] Translation: X:470.62, Y:-251.84, Z:-4.91 [[-4.95519284e-01 -8.68590492e-01 3.34607422e-03 4.70618928e+02] [-8.68571921e-01 4.95530573e-01 5.68061990e-03 -2.51844829e+02] [-6.59221451e-03 -9.14494097e-05 -9.99978267e-01 -4.90564654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.846559995 meters 0.049281277380680874 Centerline is valid? [True, True] Translation: X:470.44, Y:-252.00, Z:-4.90 [[-4.30220582e-01 -9.02717934e-01 3.25310918e-03 4.70442109e+02] [-9.02693929e-01 4.30232868e-01 6.58411829e-03 -2.52000718e+02] [-7.34319615e-03 -1.03938711e-04 -9.99973033e-01 -4.90399772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.906559995 meters 0.0495557695398493 Centerline is valid? [True, True] Translation: X:470.28, Y:-252.17, Z:-4.91 [[-3.62847319e-01 -9.31843734e-01 3.01288585e-03 4.70282292e+02] [-9.31814121e-01 3.62859811e-01 7.42974273e-03 -2.52172886e+02] [-8.01661440e-03 -1.11587350e-04 -9.99967860e-01 -4.90504228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.9665599950001 meters 0.049739347971930185 Centerline is valid? [True, True] Translation: X:470.14, Y:-252.32, Z:-4.90 [[-2.93499609e-01 -9.55955606e-01 2.61884184e-03 4.70144004e+02] [-9.55920937e-01 2.93511270e-01 8.14224835e-03 -2.52317994e+02] [-8.55228756e-03 -1.13659040e-04 -9.99963422e-01 -4.90278124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.026559995 meters 0.0493556629047921 Centerline is valid? [True, True] Translation: X:470.01, Y:-252.51, Z:-4.90 [[-2.22173832e-01 -9.75005199e-01 1.91067274e-03 4.70011594e+02] [-9.74973204e-01 2.22182021e-01 7.89945803e-03 -2.52513279e+02] [-8.12652978e-03 -1.07801864e-04 -9.99966973e-01 -4.90499426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.086559995 meters 0.049772974999688115 Centerline is valid? [True, True] Translation: X:469.89, Y:-252.71, Z:-4.91 [[-1.48749051e-01 -9.88874214e-01 1.22792730e-03 4.69894011e+02] [-9.88846126e-01 1.48754082e-01 7.45397282e-03 -2.52705931e+02] [-7.55370071e-03 -1.05459767e-04 -9.99971465e-01 -4.90565827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.146559995 meters 0.049709218345011984 Centerline is valid? [True, True] Translation: X:469.79, Y:-252.87, Z:-4.90 [[-7.44574093e-02 -9.97223965e-01 6.76524876e-04 4.69791361e+02] [-9.97195166e-01 7.44604011e-02 7.57958144e-03 -2.52874163e+02] [-7.60891457e-03 -1.10271339e-04 -9.99971046e-01 -4.90386746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.2065599950001 meters 0.04944581233229984 Centerline is valid? [True, True] Translation: X:469.70, Y:-253.11, Z:-4.91 [[ 4.53560372e-04 -9.99999888e-01 1.32440812e-04 4.69704020e+02] [-9.99961298e-01 -4.52379205e-04 8.78628539e-03 -2.53108493e+02] [-8.78622450e-03 -1.36420797e-04 -9.99961391e-01 -4.90504000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.266559995 meters 0.04950956070733238 Centerline is valid? [True, True] Translation: X:469.63, Y:-253.31, Z:-4.91 [[ 7.48331257e-02 -9.97195908e-01 -5.68781778e-04 4.69630423e+02] [-9.97149637e-01 -7.48351333e-02 9.60748672e-03 -2.53314859e+02] [-9.62311131e-03 -1.51797719e-04 -9.99953685e-01 -4.90515557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.326559995 meters 0.049579721733291136 Centerline is valid? [True, True] Translation: X:469.57, Y:-253.53, Z:-4.91 [[ 1.49247165e-01 -9.88799248e-01 -1.15351026e-03 4.69571777e+02] [-9.88761859e-01 -1.49251554e-01 8.59993177e-03 -2.53531379e+02] [-8.67576926e-03 -1.42968490e-04 -9.99962355e-01 -4.90572410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.386559995 meters 0.04941974663444165 Centerline is valid? [True, True] Translation: X:469.54, Y:-253.80, Z:-4.91 [[ 2.22367370e-01 -9.74961737e-01 -1.53737935e-03 4.69537377e+02] [-9.74934345e-01 -2.22372649e-01 7.30950973e-03 -2.53801058e+02] [-7.46836343e-03 -1.26552532e-04 -9.99972103e-01 -4.90582420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.4465599950001 meters 0.0498473530158467 Centerline is valid? [True, True] Translation: X:469.52, Y:-254.03, Z:-4.91 [[ 2.94273079e-01 -9.55718892e-01 -2.18071467e-03 4.69516535e+02] [-9.55689140e-01 -2.94281128e-01 7.54220473e-03 -2.54029361e+02] [-7.84997072e-03 -1.35382478e-04 -9.99969179e-01 -4.90685762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.506559995 meters 0.04967466006570064 Centerline is valid? [True, True] Translation: X:469.53, Y:-254.31, Z:-4.90 [[ 3.64557719e-01 -9.31175831e-01 -3.04006203e-03 4.69525154e+02] [-9.31139823e-01 -3.64570362e-01 8.19038720e-03 -2.54310034e+02] [-8.73500712e-03 -1.55146057e-04 -9.99961837e-01 -4.90479153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.566559995 meters 0.04958399571582807 Centerline is valid? [True, True] Translation: X:469.53, Y:-254.51, Z:-4.91 [[ 4.32724615e-01 -9.01518914e-01 -3.61316112e-03 4.69525193e+02] [-9.01484422e-01 -4.32739671e-01 7.88763696e-03 -2.54507113e+02] [-8.67441206e-03 -1.55966202e-04 -9.99962364e-01 -4.90593288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.626559995 meters 0.04953773873280352 Centerline is valid? [True, True] Translation: X:469.55, Y:-254.73, Z:-4.91 [[ 4.98132663e-01 -8.67091921e-01 -3.93060289e-03 4.69550837e+02] [-8.67062581e-01 -4.98148149e-01 7.13456680e-03 -2.54732244e+02] [-8.14434779e-03 -1.45882075e-04 -9.99966824e-01 -4.90660073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.6865599950002 meters 0.049282854718171065 Centerline is valid? [True, True] Translation: X:469.59, Y:-254.96, Z:-4.91 [[ 5.60687337e-01 -8.28016850e-01 -4.21978293e-03 4.69594708e+02] [-8.27991529e-01 -5.60703200e-01 6.47685205e-03 -2.54962652e+02] [-7.72898841e-03 -1.37544409e-04 -9.99970121e-01 -4.90552049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.746559995 meters 0.04966276907515841 Centerline is valid? [True, True] Translation: X:469.67, Y:-255.21, Z:-4.90 [[ 6.19302869e-01 -7.85136792e-01 -4.91672074e-03 4.69672849e+02] [-7.85110299e-01 -6.19322371e-01 6.45124647e-03 -2.55208288e+02] [-8.11014611e-03 -1.35107351e-04 -9.99967103e-01 -4.90461842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.806559995 meters 0.04939212124160483 Centerline is valid? [True, True] Translation: X:469.74, Y:-255.41, Z:-4.90 [[ 6.74454947e-01 -7.38297000e-01 -5.29759318e-03 4.69737052e+02] [-7.38272795e-01 -6.74475741e-01 5.97964532e-03 -2.55408601e+02] [-7.98785229e-03 -1.21932442e-04 -9.99968089e-01 -4.90497590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.866559995 meters 0.04960721482745393 Centerline is valid? [True, True] Translation: X:469.86, Y:-255.65, Z:-4.90 [[ 7.24973424e-01 -6.88755315e-01 -5.44517985e-03 4.69858822e+02] [-6.88734899e-01 -7.24993867e-01 5.30402176e-03 -2.55649549e+02] [-7.60089517e-03 -9.49894273e-05 -9.99971108e-01 -4.90441441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.926559995 meters 0.04911519879511681 Centerline is valid? [True, True] Translation: X:469.83, Y:-255.73, Z:-4.90 [[ 7.75633939e-01 -6.31156656e-01 -5.76786326e-03 4.69832755e+02] [-6.31138410e-01 -7.75655380e-01 4.79976729e-03 -2.55727607e+02] [-7.50327924e-03 -8.25423657e-05 -9.99971847e-01 -4.90484717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.986559995 meters 0.049122095951680135 Centerline is valid? [True, True] Translation: X:469.81, Y:-255.81, Z:-4.91 [[ 8.22173643e-01 -5.69208970e-01 -5.62576544e-03 4.69810994e+02] [-5.69195054e-01 -8.22192887e-01 3.98078321e-03 -2.55808835e+02] [-6.89136184e-03 -7.07371702e-05 -9.99976252e-01 -4.90593038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.046559995 meters 0.04964175036490324 Centerline is valid? [True, True] Translation: X:469.79, Y:-255.89, Z:-4.91 [[ 8.63903625e-01 -5.03625147e-01 -5.67790931e-03 4.69794992e+02] [-5.03613777e-01 -8.63922281e-01 3.38473800e-03 -2.55890947e+02] [-6.60991153e-03 -6.46140759e-05 -9.99978152e-01 -4.90603620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.106559995 meters 0.04936458168282341 Centerline is valid? [True, True] Translation: X:469.79, Y:-255.97, Z:-4.90 [[ 9.00463736e-01 -4.34883660e-01 -6.42362764e-03 4.69785147e+02] [-4.34872060e-01 -9.00486645e-01 3.17711393e-03 -2.55974397e+02] [-7.16606584e-03 -6.74196894e-05 -9.99974321e-01 -4.90394653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.166559995 meters 0.04937844086608811 Centerline is valid? [True, True] Translation: X:469.79, Y:-256.05, Z:-4.90 [[ 9.31345261e-01 -3.64073896e-01 -6.79733051e-03 4.69786422e+02] [-3.64063715e-01 -9.31370063e-01 2.72339699e-03 -2.56052877e+02] [-7.32234790e-03 -6.17614817e-05 -9.99973189e-01 -4.90473452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.2265599950001 meters 0.04921499589034276 Centerline is valid? [True, True] Translation: X:469.79, Y:-256.13, Z:-4.91 [[ 9.56047479e-01 -2.93136024e-01 -6.66998572e-03 4.69794163e+02] [-2.93128618e-01 -9.56070745e-01 2.08395134e-03 -2.56130127e+02] [-6.98785943e-03 -3.71927301e-05 -9.99975584e-01 -4.90518193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.286559995 meters 0.04947189164508617 Centerline is valid? [True, True] Translation: X:469.81, Y:-256.20, Z:-4.91 [[ 9.75000853e-01 -2.22124581e-01 -5.83160325e-03 4.69808279e+02] [-2.22120585e-01 -9.75018292e-01 1.33234575e-03 -2.56200748e+02] [-5.98186658e-03 -3.71911209e-06 -9.99982109e-01 -4.90545324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.346559995 meters 0.049627971590178156 Centerline is valid? [True, True] Translation: X:469.83, Y:-256.27, Z:-4.90 [[ 9.88819799e-01 -1.49004129e-01 -5.75971037e-03 4.69828577e+02] [-1.49001710e-01 -9.88836574e-01 8.49144418e-04 -2.56266766e+02] [-5.82193829e-03 1.85558833e-05 -9.99983052e-01 -4.90481938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.406559995 meters 0.049756186940818396 Centerline is valid? [True, True] Translation: X:469.85, Y:-256.33, Z:-4.90 [[ 9.97292748e-01 -7.32898260e-02 -5.98127559e-03 4.69854981e+02] [-7.32886956e-02 -9.97310684e-01 4.08247444e-04 -2.56327796e+02] [-5.99511044e-03 3.12176707e-05 -9.99982029e-01 -4.90449224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.4665599950001 meters 0.05051006771799933 Centerline is valid? [True, True] Translation: X:469.88, Y:-256.38, Z:-4.90 [[ 9.99982808e-01 6.14776311e-04 -5.83144880e-03 4.69879856e+02] [ 6.14441462e-04 -9.99999810e-01 -5.92128620e-05 -2.56384639e+02] [-5.83148409e-03 5.56287601e-05 -9.99982995e-01 -4.90445289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.526559995 meters 0.05119308060254982 Centerline is valid? [True, True] Translation: X:469.91, Y:-256.44, Z:-4.90 [[ 9.97254724e-01 7.38752848e-02 -5.04564524e-03 4.69908831e+02] [ 7.38739663e-02 -9.97267485e-01 -4.47457291e-04 -2.56436425e+02] [-5.06491397e-03 7.34870708e-05 -9.99987171e-01 -4.90456348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.586559995 meters 0.0506119865858434 Centerline is valid? [True, True] Translation: X:469.94, Y:-256.49, Z:-4.91 [[ 9.88608642e-01 1.50444270e-01 -4.41303992e-03 4.69942804e+02] [ 1.50442453e-01 -9.88618489e-01 -7.42864818e-04 -2.56493443e+02] [-4.47457261e-03 7.04940292e-05 -9.99989987e-01 -4.90627322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.646559995 meters 0.051002917046712365 Centerline is valid? [True, True] Translation: X:469.98, Y:-256.54, Z:-4.91 [[ 9.73574118e-01 2.28327758e-01 -4.45766522e-03 4.69980080e+02] [ 2.28325046e-01 -9.73584321e-01 -1.11492010e-03 -2.56544400e+02] [-4.59448017e-03 6.76607330e-05 -9.99989443e-01 -4.90502224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.7065599950001 meters 0.05041063786149068 Centerline is valid? [True, True] Translation: X:470.02, Y:-256.60, Z:-4.91 [[ 9.51981025e-01 3.06120398e-01 -4.73600710e-03 4.70023988e+02] [ 3.06116288e-01 -9.51992804e-01 -1.58749120e-03 -2.56597773e+02] [-4.99460811e-03 6.14925811e-05 -9.99987525e-01 -4.90550144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.766559995 meters 0.05028117764029606 Centerline is valid? [True, True] Translation: X:470.09, Y:-256.69, Z:-4.91 [[ 9.23158844e-01 3.84387317e-01 -4.91321516e-03 4.70088177e+02] [ 3.84381650e-01 -9.23171918e-01 -2.08745032e-03 -2.56687372e+02] [-5.33813169e-03 3.84984718e-05 -9.99985751e-01 -4.90885040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.826559995 meters 0.049787667726126694 Centerline is valid? [True, True] Translation: X:470.15, Y:-256.75, Z:-4.91 [[ 8.88885458e-01 4.58101946e-01 -5.02487544e-03 4.70148758e+02] [ 4.58094475e-01 -8.88899660e-01 -2.61652510e-03 -2.56748205e+02] [-5.66524531e-03 2.39234430e-05 -9.99983952e-01 -4.90679812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.886559995 meters 0.05024320580755848 Centerline is valid? [True, True] Translation: X:470.21, Y:-256.80, Z:-4.91 [[ 8.49140580e-01 5.28144863e-01 -4.82482199e-03 4.70211327e+02] [ 5.28136262e-01 -8.49154287e-01 -3.01411695e-03 -2.56801364e+02] [-5.68890867e-03 1.12455638e-05 -9.99983818e-01 -4.90683943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.9465599950001 meters 0.04995213086911566 Centerline is valid? [True, True] Translation: X:470.28, Y:-256.85, Z:-4.91 [[ 8.03671779e-01 5.95060208e-01 -3.87576662e-03 4.70279676e+02] [ 5.95053307e-01 -8.03681124e-01 -2.86582024e-03 -2.56850886e+02] [-4.82021606e-03 -3.10889825e-06 -9.99988383e-01 -4.90870544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.006559995 meters 0.04999935300952709 Centerline is valid? [True, True] Translation: X:470.35, Y:-256.90, Z:-4.91 [[ 7.53249182e-01 6.57728556e-01 -2.96906512e-03 4.70354000e+02] [ 6.57723505e-01 -7.53255034e-01 -2.57790842e-03 -2.56896607e+02] [-3.93202723e-03 -1.10165011e-05 -9.99992270e-01 -4.90867657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.066559995 meters 0.05047734166370234 Centerline is valid? [True, True] Translation: X:470.43, Y:-256.94, Z:-4.91 [[ 6.96423921e-01 7.17625529e-01 -2.70600506e-03 4.70434877e+02] [ 7.17620263e-01 -6.96429178e-01 -2.74913195e-03 -2.56940284e+02] [-3.85738815e-03 -2.73228160e-05 -9.99992560e-01 -4.90547941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.126559995 meters 0.050637933415201994 Centerline is valid? [True, True] Translation: X:470.50, Y:-256.96, Z:-4.91 [[ 6.35978584e-01 7.71702454e-01 -2.56194761e-03 4.70503487e+02] [ 7.71696440e-01 -6.35983743e-01 -3.04672148e-03 -2.56963167e+02] [-3.98051947e-03 -3.93962394e-05 -9.99992077e-01 -4.90509832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.1865599950002 meters 0.050816497051345395 Centerline is valid? [True, True] Translation: X:470.58, Y:-256.98, Z:-4.91 [[ 5.70394051e-01 8.21366119e-01 -2.88516270e-03 4.70577868e+02] [ 8.21356215e-01 -5.70401344e-01 -4.03419165e-03 -2.56982856e+02] [-4.95924902e-03 -6.86673946e-05 -9.99987701e-01 -4.90612184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.246559995 meters 0.05248175832908398 Centerline is valid? [True, True] Translation: X:470.66, Y:-257.00, Z:-4.90 [[ 5.02379251e-01 8.64641940e-01 -3.06644531e-03 4.70662583e+02] [ 8.64626983e-01 -5.02388600e-01 -5.08663894e-03 -2.57003507e+02] [-5.93866853e-03 -9.59094969e-05 -9.99982361e-01 -4.90235682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.306559995 meters 0.05311565991942243 Centerline is valid? [True, True] Translation: X:470.74, Y:-257.01, Z:-4.90 [[ 4.30835918e-01 9.02424480e-01 -3.23562671e-03 4.70738320e+02] [ 9.02401350e-01 -4.30848046e-01 -6.46251221e-03 -2.57009858e+02] [-7.22599266e-03 -1.35551530e-04 -9.99973883e-01 -4.90098526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.366559995 meters 0.050967957076578904 Centerline is valid? [True, True] Translation: X:470.82, Y:-257.01, Z:-4.91 [[ 3.56325000e-01 9.34356280e-01 -3.29181737e-03 4.70818225e+02] [ 9.34321158e-01 -3.56340155e-01 -8.10353177e-03 -2.57011814e+02] [-8.74459252e-03 -1.88123663e-04 -9.99961748e-01 -4.90569392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.426559995 meters 0.050420265103044884 Centerline is valid? [True, True] Translation: X:470.91, Y:-257.01, Z:-4.91 [[ 2.81817665e-01 9.59464082e-01 -2.73479448e-03 4.70906881e+02] [ 9.59425461e-01 -2.81830865e-01 -8.61095431e-03 -2.57012220e+02] [-9.03265087e-03 -1.97112422e-04 -9.99959185e-01 -4.90593294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.486559995 meters 0.050317177380224905 Centerline is valid? [True, True] Translation: X:471.00, Y:-257.01, Z:-4.91 [[ 2.07893980e-01 9.78149520e-01 -1.89981006e-03 4.70999401e+02] [ 9.78115646e-01 -2.07902595e-01 -8.14218128e-03 -2.57006131e+02] [-8.35924615e-03 -1.65523469e-04 -9.99965047e-01 -4.90619020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.546559995 meters 0.05042248634982854 Centerline is valid? [True, True] Translation: X:471.09, Y:-256.99, Z:-4.91 [[ 1.36549715e-01 9.90632761e-01 -9.52790370e-04 4.71087421e+02] [ 9.90612958e-01 -1.36553010e-01 -6.26446716e-03 -2.56992213e+02] [-6.33589279e-03 -8.84352837e-05 -9.99979924e-01 -4.90769564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.606559995 meters 0.05035688919355294 Centerline is valid? [True, True] Translation: X:471.17, Y:-256.97, Z:-4.91 [[ 6.35655261e-02 9.97977608e-01 -3.42399484e-04 4.71171724e+02] [ 9.97966520e-01 -6.35664339e-02 -4.70472521e-03 -2.56973298e+02] [-4.71697553e-03 -4.26448885e-05 -9.99988874e-01 -4.90784455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.666559995 meters 0.050323853549306526 Centerline is valid? [True, True] Translation: X:471.25, Y:-256.95, Z:-4.91 [[-1.02796748e-02 9.99947162e-01 2.48610655e-05 4.71251513e+02] [ 9.99937541e-01 1.02796849e-02 -4.38657302e-03 -2.56947795e+02] [-4.38659681e-03 -2.02330313e-05 -9.99990379e-01 -4.90636267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.7265599950001 meters 0.04992656959748209 Centerline is valid? [True, True] Translation: X:471.33, Y:-256.92, Z:-4.91 [[-8.32976168e-02 9.96524595e-01 4.89060601e-04 4.71327288e+02] [ 9.96507671e-01 8.32990524e-02 -5.80775779e-03 -2.56915143e+02] [-5.82831176e-03 3.58025808e-06 -9.99983015e-01 -4.90646835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.786559995 meters 0.05029511750551747 Centerline is valid? [True, True] Translation: X:471.40, Y:-256.88, Z:-4.90 [[-1.58162486e-01 9.87412323e-01 1.23776593e-03 4.71403155e+02] [ 9.87383407e-01 1.58167326e-01 -7.55676368e-03 -2.56877918e+02] [-7.65741571e-03 2.69530137e-05 -9.99970681e-01 -4.90446066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.846559995 meters 0.05017146209288106 Centerline is valid? [True, True] Translation: X:471.47, Y:-256.84, Z:-4.90 [[-2.34241960e-01 9.72176373e-01 1.95023708e-03 4.71470439e+02] [ 9.72143898e-01 2.34250076e-01 -7.94623146e-03 -2.56835096e+02] [-8.18198167e-03 3.45702450e-05 -9.99966526e-01 -4.90335081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.906559995 meters 0.050480308203926266 Centerline is valid? [True, True] Translation: X:471.53, Y:-256.79, Z:-4.91 [[-3.09911809e-01 9.50761882e-01 2.55228662e-03 4.71533425e+02] [ 9.50730476e-01 3.09922317e-01 -7.72785433e-03 -2.56788235e+02] [-8.13835991e-03 3.15833630e-05 -9.99966883e-01 -4.90755715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.9665599950001 meters 0.05017549253272081 Centerline is valid? [True, True] Translation: X:471.59, Y:-256.74, Z:-4.91 [[-3.86324101e-01 9.22359684e-01 2.51040239e-03 4.71593624e+02] [ 9.22340279e-01 3.86332258e-01 -5.98306959e-03 -2.56735807e+02] [-6.48839160e-03 4.04125614e-06 -9.99978950e-01 -4.90536045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.026559995 meters 0.04958728006832346 Centerline is valid? [True, True] Translation: X:471.65, Y:-256.68, Z:-4.91 [[-4.60640060e-01 8.87583206e-01 2.60523743e-03 4.71648582e+02] [ 8.87568791e-01 4.60647427e-01 -5.05858225e-03 -2.56680850e+02] [-5.69000857e-03 -1.78581976e-05 -9.99983812e-01 -4.90504832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.086559995 meters 0.04954980476069837 Centerline is valid? [True, True] Translation: X:471.70, Y:-256.62, Z:-4.91 [[-5.34258236e-01 8.45317239e-01 2.62738690e-03 4.71702997e+02] [ 8.45306565e-01 5.34264695e-01 -4.24824718e-03 -2.56617222e+02] [-4.99483663e-03 -4.87136528e-05 -9.99987525e-01 -4.90650264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.146559995 meters 0.04934975137096152 Centerline is valid? [True, True] Translation: X:471.76, Y:-256.55, Z:-4.91 [[-6.02610364e-01 7.98030094e-01 2.95270987e-03 4.71757862e+02] [ 7.98019917e-01 6.02617593e-01 -4.03102827e-03 -2.56546792e+02] [-4.99623678e-03 -7.28181244e-05 -9.99987516e-01 -4.90565801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.2065599950001 meters 0.05014536945939728 Centerline is valid? [True, True] Translation: X:471.80, Y:-256.48, Z:-4.91 [[-6.68400967e-01 7.43795385e-01 2.92785527e-03 4.71802844e+02] [ 7.43787608e-01 6.68407373e-01 -3.40268169e-03 -2.56476116e+02] [-4.48789899e-03 -9.66532686e-05 -9.99989925e-01 -4.90539522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.266559995 meters 0.04972014162491849 Centerline is valid? [True, True] Translation: X:471.84, Y:-256.40, Z:-4.91 [[-7.25848295e-01 6.87849172e-01 2.78723248e-03 4.71841628e+02] [ 6.87843608e-01 7.25853641e-01 -2.76822049e-03 -2.56401013e+02] [-3.92724101e-03 -9.21280788e-05 -9.99992284e-01 -4.90700197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.326559995 meters 0.04920855349165582 Centerline is valid? [True, True] Translation: X:471.91, Y:-256.36, Z:-4.91 [[-7.74546738e-01 6.32510671e-01 2.75700924e-03 4.71912732e+02] [ 6.32506217e-01 7.74551639e-01 -2.37576698e-03 -2.56361627e+02] [-3.63814399e-03 -9.63170818e-05 -9.99993377e-01 -4.90799357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.386559995 meters 0.04842833407783884 Centerline is valid? [True, True] Translation: X:471.96, Y:-256.30, Z:-4.91 [[-8.18919071e-01 5.73900949e-01 3.04224667e-03 4.71962853e+02] [ 5.73896485e-01 8.18924715e-01 -2.26635370e-03 -2.56295396e+02] [-3.79203353e-03 -1.10025597e-04 -9.99992804e-01 -4.90715968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.4465599950001 meters 0.05030632542248058 Centerline is valid? [True, True] Translation: X:471.97, Y:-256.19, Z:-4.91 [[-8.57775422e-01 5.14010975e-01 3.74730852e-03 4.71971053e+02] [ 5.14005398e-01 8.57783597e-01 -2.39799418e-03 -2.56191638e+02] [-4.44697511e-03 -1.30803664e-04 -9.99990104e-01 -4.90516211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.506559995 meters 0.04848300030778228 Centerline is valid? [True, True] Translation: X:471.96, Y:-256.11, Z:-4.91 [[-8.92269631e-01 4.51479905e-01 4.56077418e-03 4.71964495e+02] [ 4.51473114e-01 8.92281274e-01 -2.48113026e-03 -2.56108091e+02] [-5.18967384e-03 -1.54770255e-04 -9.99986522e-01 -4.90591274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.566559995 meters 0.049049119221202524 Centerline is valid? [True, True] Translation: X:471.96, Y:-256.02, Z:-4.90 [[-9.22293698e-01 3.86442318e-01 6.05553369e-03 4.71963087e+02] [ 3.86432537e-01 9.22313555e-01 -2.75682180e-03 -2.56015878e+02] [-6.65045341e-03 -2.02544127e-04 -9.99977865e-01 -4.90463889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.626559995 meters 0.04847641677616707 Centerline is valid? [True, True] Translation: X:471.89, Y:-255.90, Z:-4.90 [[-9.47290211e-01 3.20297677e-01 7.11723600e-03 4.71894376e+02] [ 3.20286810e-01 9.47316920e-01 -2.64826462e-03 -2.55898484e+02] [-7.59051108e-03 -2.29118331e-04 -9.99971165e-01 -4.90399023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.6865599950002 meters 0.049360824442323016 Centerline is valid? [True, True] Translation: X:471.89, Y:-255.81, Z:-4.90 [[-9.67221586e-01 2.53803193e-01 8.14512896e-03 4.71889566e+02] [ 2.53792078e-01 9.67255851e-01 -2.38759047e-03 -2.55807527e+02] [-8.48440172e-03 -2.42159837e-04 -9.99963978e-01 -4.90218341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.746559995 meters 0.04937504283797627 Centerline is valid? [True, True] Translation: X:471.84, Y:-255.71, Z:-4.90 [[-9.82560800e-01 1.85785131e-01 7.62619749e-03 4.71835468e+02] [ 1.85777852e-01 9.82590372e-01 -1.65827678e-03 -2.55714271e+02] [-7.80151140e-03 -2.12579172e-04 -9.99969545e-01 -4.90311532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.806559995 meters 0.04850740259923285 Centerline is valid? [True, True] Translation: X:471.77, Y:-255.63, Z:-4.91 [[-9.93047535e-01 1.17499952e-01 7.09616558e-03 4.71768834e+02] [ 1.17495645e-01 9.93072872e-01 -1.02214178e-03 -2.55626412e+02] [-7.16711114e-03 -1.81266823e-04 -9.99974300e-01 -4.90523528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.866559995 meters 0.04924106494859017 Centerline is valid? [True, True] Translation: X:471.82, Y:-254.98, Z:-5.91 [[-9.73271085e-01 -2.29592546e-01 5.53701019e-03 4.71819625e+02] [ 2.29589133e-01 -9.73286834e-01 -1.25282498e-03 -2.54980891e+02] [ 5.67673839e-03 5.18990407e-05 9.99983886e-01 -5.90640206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.926559995 meters 0.04946907545838366 Centerline is valid? [True, True] Translation: X:471.56, Y:-255.59, Z:-4.90 [[-9.92738240e-01 1.20166485e-01 5.54996441e-03 4.71557460e+02] [ 1.20164011e-01 9.92753748e-01 -7.78443737e-04 -2.55592905e+02] [-5.60329082e-03 -1.05884883e-04 -9.99984296e-01 -4.90460767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.986559995 meters 0.048946587709656084 Centerline is valid? [True, True] Translation: X:471.60, Y:-254.94, Z:-5.91 [[-9.75190842e-01 -2.21290400e-01 5.77758234e-03 4.71597929e+02] [ 2.21287303e-01 -9.75207948e-01 -1.17798097e-03 -2.54943125e+02] [ 5.89502010e-03 1.29749357e-04 9.99982616e-01 -5.90605873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.046559995 meters 0.048675735658338916 Centerline is valid? [True, True] Translation: X:471.39, Y:-255.57, Z:-4.90 [[-9.92563908e-01 1.21550783e-01 6.50349387e-03 4.71388263e+02] [ 1.21547577e-01 9.92585210e-01 -8.87413763e-04 -2.55573820e+02] [-6.56313766e-03 -9.03309533e-05 -9.99978458e-01 -4.90368025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.106559995 meters 0.04926240660365195 Centerline is valid? [True, True] Translation: X:471.32, Y:-255.49, Z:-4.91 [[-9.98665333e-01 5.13873038e-02 5.18627044e-03 4.71321999e+02] [ 5.13862559e-02 9.98678797e-01 -3.35190888e-04 -2.55492419e+02] [-5.19664288e-03 -6.82405006e-05 -9.99986495e-01 -4.90670596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.166559995 meters 0.0483689950307012 Centerline is valid? [True, True] Translation: X:471.27, Y:-255.41, Z:-4.91 [[-9.99787163e-01 -2.01142633e-02 4.58742049e-03 4.71269462e+02] [-2.01143360e-02 9.99797686e-01 3.02776930e-05 -2.55411405e+02] [-4.58710140e-03 -6.20016684e-05 -9.99989477e-01 -4.90726806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.2265599950001 meters 0.04887332794120808 Centerline is valid? [True, True] Translation: X:471.23, Y:-254.76, Z:-5.90 [[-9.97182498e-01 -7.48017840e-02 5.63547797e-03 4.71231178e+02] [ 7.48014193e-02 -9.97198411e-01 -2.75765551e-04 -2.54758049e+02] [ 5.64031744e-03 1.46553169e-04 9.99984083e-01 -5.90482161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.286559995 meters 0.04948079030549366 Centerline is valid? [True, True] Translation: X:471.15, Y:-255.41, Z:-4.90 [[-9.99658046e-01 -2.52628917e-02 6.75117715e-03 4.71148664e+02] [-2.52629907e-02 9.99680837e-01 7.06189982e-05 -2.55407990e+02] [-6.75080647e-03 -9.99600761e-05 -9.99977208e-01 -4.90390678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.346559995 meters 0.048980260120864136 Centerline is valid? [True, True] Translation: X:471.15, Y:-255.33, Z:-4.91 [[-9.95336090e-01 -9.61526688e-02 7.79307314e-03 4.71145005e+02] [-9.61506123e-02 9.95366592e-01 6.38983023e-04 -2.55332061e+02] [-7.81840457e-03 -1.13305890e-04 -9.99969429e-01 -4.90576140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.406559995 meters 0.049202400608088816 Centerline is valid? [True, True] Translation: X:470.98, Y:-255.27, Z:-4.91 [[-9.86066026e-01 -1.66192656e-01 7.33438086e-03 4.70976919e+02] [-1.66188845e-01 9.86093297e-01 1.13027390e-03 -2.55270392e+02] [-7.42022703e-03 -1.04367597e-04 -9.99972464e-01 -4.90543122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.4665599950001 meters 0.049567176030932074 Centerline is valid? [True, True] Translation: X:470.81, Y:-254.65, Z:-5.91 [[-9.97266732e-01 7.36589783e-02 5.78109230e-03 4.70808791e+02] [-7.36578725e-02 -9.97283488e-01 4.04257049e-04 -2.54646990e+02] [ 5.79516506e-03 -2.26708534e-05 9.99983208e-01 -5.90680325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.526559995 meters 0.04942948077227633 Centerline is valid? [True, True] Translation: X:470.80, Y:-255.29, Z:-4.90 [[-9.86273090e-01 -1.65051992e-01 4.81994086e-03 4.70804290e+02] [-1.65050236e-01 9.86284867e-01 7.62634240e-04 -2.55292822e+02] [-4.87970902e-03 -4.33667462e-05 -9.99988093e-01 -4.90475662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.586559995 meters 0.04921152408485841 Centerline is valid? [True, True] Translation: X:470.69, Y:-255.24, Z:-4.91 [[-9.73007301e-01 -2.30737291e-01 4.13450563e-03 4.70685334e+02] [-2.30735295e-01 9.73016085e-01 9.59877367e-04 -2.55239925e+02] [-4.24441998e-03 -2.00086903e-05 -9.99990992e-01 -4.90590221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.646559995 meters 0.04957674499475464 Centerline is valid? [True, True] Translation: X:470.49, Y:-255.22, Z:-4.91 [[-9.56511872e-01 -2.91680131e-01 2.78209797e-03 4.70488779e+02] [-2.91678878e-01 9.56515918e-01 8.54946831e-04 -2.55215981e+02] [-2.91049199e-03 6.28758155e-06 -9.99995765e-01 -4.90760300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.7065599950001 meters 0.04996560273325314 Centerline is valid? [True, True] Translation: X:470.40, Y:-255.17, Z:-4.91 [[-9.34480075e-01 -3.56007785e-01 2.33370077e-03 4.70399608e+02] [-3.56006637e-01 9.34482989e-01 9.04479511e-04 -2.55170101e+02] [-2.50280542e-03 1.44051201e-05 -9.99996868e-01 -4.90703567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.766559995 meters 0.0496688970336637 Centerline is valid? [True, True] Translation: X:470.26, Y:-255.15, Z:-4.91 [[-9.07646907e-01 -4.19724837e-01 2.85532568e-03 4.70263610e+02] [-4.19722672e-01 9.07651398e-01 1.34836468e-03 -2.55147607e+02] [-3.15758250e-03 2.53941103e-05 -9.99995015e-01 -4.90669518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.826559995 meters 0.05068831066371707 Centerline is valid? [True, True] Translation: X:470.65, Y:-254.85, Z:-4.91 [[-8.73111834e-01 -4.87501438e-01 4.25123598e-03 4.70649192e+02] [-4.87495420e-01 8.73122183e-01 2.42265957e-03 -2.54848753e+02] [-4.89289846e-03 4.27946716e-05 -9.99988029e-01 -4.90724696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.886559995 meters 0.05000842216887201 Centerline is valid? [True, True] Translation: X:469.81, Y:-255.27, Z:-4.90 [[-8.36182000e-01 -5.48435857e-01 4.21601209e-03 4.69810380e+02] [-5.48428633e-01 8.36192627e-01 2.81524547e-03 -2.55272706e+02] [-5.06937979e-03 4.18758387e-05 -9.99987150e-01 -4.90441935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.9465599950001 meters 0.0501848756860295 Centerline is valid? [True, True] Translation: X:469.67, Y:-255.28, Z:-4.90 [[-7.93680496e-01 -6.08319991e-01 4.24948569e-03 4.69669189e+02] [-6.08311006e-01 7.93691872e-01 3.30649351e-03 -2.55281019e+02] [-5.38418836e-03 3.92904931e-05 -9.99985504e-01 -4.90369199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.006559995 meters 0.0507696625456475 Centerline is valid? [True, True] Translation: X:469.51, Y:-255.32, Z:-4.90 [[-7.46652169e-01 -6.65196838e-01 4.86887374e-03 4.69508347e+02] [-6.65182343e-01 7.46668042e-01 4.39145122e-03 -2.55316422e+02] [-6.55661189e-03 4.01977355e-05 -9.99978504e-01 -4.90321215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.066559995 meters 0.05008228233058018 Centerline is valid? [True, True] Translation: X:469.36, Y:-255.36, Z:-4.90 [[-6.95052701e-01 -7.18939929e-01 5.20780414e-03 4.69360023e+02] [-7.18919344e-01 6.95072210e-01 5.44061533e-03 -2.55357242e+02] [-7.53127553e-03 3.75232407e-05 -9.99971639e-01 -4.90257984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.126559995 meters 0.0505225641064259 Centerline is valid? [True, True] Translation: X:469.39, Y:-255.20, Z:-4.90 [[-6.37316760e-01 -7.70586434e-01 4.88823589e-03 4.69389332e+02] [-7.70563484e-01 6.37335506e-01 5.94728585e-03 -2.55200708e+02] [-7.69834409e-03 2.36088711e-05 -9.99970367e-01 -4.90478968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.1865599950002 meters 0.049975976710834674 Centerline is valid? [True, True] Translation: X:469.05, Y:-255.51, Z:-4.90 [[-5.77326220e-01 -8.16504942e-01 3.75698607e-03 4.69048121e+02] [-8.16487756e-01 5.77338445e-01 5.29758185e-03 -2.55511970e+02] [-6.49455425e-03 -9.10021504e-06 -9.99978910e-01 -4.90338039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.246559995 meters 0.04949540128843559 Centerline is valid? [True, True] Translation: X:468.88, Y:-255.63, Z:-4.90 [[-5.14614516e-01 -8.57415542e-01 3.23860644e-03 4.68882007e+02] [-8.57398788e-01 5.14624706e-01 5.36002114e-03 -2.55627697e+02] [-6.26243232e-03 -1.84325558e-05 -9.99980391e-01 -4.90359024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.306559995 meters 0.05015476505447818 Centerline is valid? [True, True] Translation: X:468.74, Y:-255.73, Z:-4.90 [[-4.47193685e-01 -8.94433093e-01 2.69253890e-03 4.68737360e+02] [-8.94417365e-01 4.47201789e-01 5.30439878e-03 -2.55728798e+02] [-5.94853803e-03 -3.61599154e-05 -9.99982307e-01 -4.90298283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.366559995 meters 0.049905302413752295 Centerline is valid? [True, True] Translation: X:468.59, Y:-255.86, Z:-4.90 [[-3.76155289e-01 -9.26553236e-01 2.50995399e-03 4.68588426e+02] [-9.26533794e-01 3.76163657e-01 6.00270974e-03 -2.55862180e+02] [-6.50598360e-03 -6.76061767e-05 -9.99978834e-01 -4.90280967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.426559995 meters 0.05077551859695558 Centerline is valid? [True, True] Translation: X:468.46, Y:-255.99, Z:-4.90 [[-3.04488562e-01 -9.52513647e-01 2.11364351e-03 4.68455082e+02] [-9.52492617e-01 3.04495885e-01 6.33014014e-03 -2.55993388e+02] [-6.67314063e-03 -8.57745737e-05 -9.99977731e-01 -4.90164339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.486559995 meters 0.0504957382192147 Centerline is valid? [True, True] Translation: X:468.33, Y:-256.13, Z:-4.90 [[-2.31927811e-01 -9.72731120e-01 1.91292692e-03 4.68333529e+02] [-9.72701853e-01 2.31935674e-01 7.54645651e-03 -2.56127503e+02] [-7.78434908e-03 -1.10474423e-04 -9.99969695e-01 -4.90066084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.546559995 meters 0.05024436421287485 Centerline is valid? [True, True] Translation: X:468.21, Y:-256.32, Z:-4.90 [[-1.58870758e-01 -9.87298151e-01 1.56311635e-03 4.68214995e+02] [-9.87258349e-01 1.58878391e-01 8.86615446e-03 -2.56319461e+02] [-9.00188331e-03 -1.34626982e-04 -9.99959473e-01 -4.90120000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.606559995 meters 0.0505595026948223 Centerline is valid? [True, True] Translation: X:468.11, Y:-256.50, Z:-4.90 [[-8.50637980e-02 -9.96375050e-01 9.54050358e-04 4.68112996e+02] [-9.96330169e-01 8.50690227e-02 9.45808832e-03 -2.56500628e+02] [-9.50496336e-03 -1.46008240e-04 -9.99954816e-01 -4.90160306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.666559995 meters 0.05047686173761273 Centerline is valid? [True, True] Translation: X:468.02, Y:-256.75, Z:-4.90 [[-1.17303221e-02 -9.99931162e-01 2.67311611e-04 4.68021144e+02] [-9.99881730e-01 1.17324004e-02 9.94371671e-03 -2.56749356e+02] [-9.94616841e-03 -1.50636997e-04 -9.99950524e-01 -4.90211127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.7265599950001 meters 0.050028720559790435 Centerline is valid? [True, True] Translation: X:467.95, Y:-256.98, Z:-4.90 [[ 6.01356817e-02 -9.98190087e-01 -4.99167216e-04 4.67950284e+02] [-9.98133732e-01 -6.01375912e-02 1.06077189e-02 -2.56984333e+02] [-1.06185386e-02 -1.39666772e-04 -9.99943612e-01 -4.90268339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.786559995 meters 0.050651027279888676 Centerline is valid? [True, True] Translation: X:467.89, Y:-257.21, Z:-4.90 [[ 1.32206480e-01 -9.91221522e-01 -1.15835269e-03 4.67894435e+02] [-9.91175764e-01 -1.32211508e-01 9.52480064e-03 -2.57208628e+02] [-9.59433494e-03 -1.11109251e-04 -9.99953967e-01 -4.90280756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.846559995 meters 0.05033267206940435 Centerline is valid? [True, True] Translation: X:467.86, Y:-257.45, Z:-4.90 [[ 2.04301070e-01 -9.78906537e-01 -1.75042112e-03 4.67857855e+02] [-9.78866416e-01 -2.04308545e-01 8.86328272e-03 -2.57450434e+02] [-9.03395139e-03 -9.73496937e-05 -9.99959188e-01 -4.90353287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.906559995 meters 0.050264441633084044 Centerline is valid? [True, True] Translation: X:467.84, Y:-257.68, Z:-4.90 [[ 2.75957802e-01 -9.61166715e-01 -2.41602310e-03 4.67837204e+02] [-9.61126770e-01 -2.75968361e-01 8.76329956e-03 -2.57682486e+02] [-9.08973779e-03 -9.61964035e-05 -9.99958683e-01 -4.90423318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.9665599950001 meters 0.050196186156009244 Centerline is valid? [True, True] Translation: X:467.71, Y:-257.51, Z:-4.91 [[ 3.48077399e-01 -9.37460511e-01 -3.14866888e-03 4.67706668e+02] [-9.37419339e-01 -3.48091624e-01 8.78656537e-03 -2.57512316e+02] [-9.33308333e-03 -1.06781718e-04 -9.99956440e-01 -4.90857803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.026559995 meters 0.050452274443823796 Centerline is valid? [True, True] Translation: X:467.90, Y:-258.22, Z:-4.90 [[ 4.15337436e-01 -9.09658359e-01 -4.06016960e-03 4.67897509e+02] [-9.09611935e-01 -4.15357262e-01 9.19090445e-03 -2.58223524e+02] [-1.00470040e-02 -1.24147955e-04 -9.99949520e-01 -4.90410005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.086559995 meters 0.05001952566086651 Centerline is valid? [True, True] Translation: X:467.92, Y:-258.44, Z:-4.90 [[ 4.82523130e-01 -8.75869631e-01 -4.88051287e-03 4.67919451e+02] [-8.75821818e-01 -4.82547790e-01 9.15277502e-03 -2.58441724e+02] [-1.03717184e-02 -1.41965992e-04 -9.99946202e-01 -4.90413771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.146559995 meters 0.050541206308510764 Centerline is valid? [True, True] Translation: X:467.94, Y:-258.62, Z:-4.91 [[ 5.48074909e-01 -8.36414154e-01 -5.02566008e-03 4.67938866e+02] [-8.36376402e-01 -5.48097929e-01 7.94828096e-03 -2.58622999e+02] [-9.40260858e-03 -1.52909870e-04 -9.99955783e-01 -4.90534117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.2065599950001 meters 0.04996557790454992 Centerline is valid? [True, True] Translation: X:468.02, Y:-258.88, Z:-4.91 [[ 6.09760201e-01 -7.92570017e-01 -5.02652193e-03 4.68022427e+02] [-7.92540972e-01 -6.09780899e-01 6.78697189e-03 -2.58880262e+02] [-8.44422749e-03 -1.54700769e-04 -9.99964335e-01 -4.90572635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.266559995 meters 0.05074985509921738 Centerline is valid? [True, True] Translation: X:468.00, Y:-258.98, Z:-4.90 [[ 6.67570879e-01 -7.44527906e-01 -5.22670726e-03 4.67998530e+02] [-7.44503219e-01 -6.67591321e-01 6.06499310e-03 -2.58980386e+02] [-8.00486102e-03 -1.57512395e-04 -9.99967948e-01 -4.90445689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.326559995 meters 0.04907947054169994 Centerline is valid? [True, True] Translation: X:468.08, Y:-259.17, Z:-4.91 [[ 7.21662359e-01 -6.92224734e-01 -5.32513274e-03 4.68076689e+02] [-6.92204223e-01 -7.21681988e-01 5.33122142e-03 -2.59172349e+02] [-7.53345572e-03 -1.61262452e-04 -9.99971610e-01 -4.90699613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.386559995 meters 0.0505510809543493 Centerline is valid? [True, True] Translation: X:468.14, Y:-259.35, Z:-4.91 [[ 7.71756596e-01 -6.35891411e-01 -5.81977187e-03 4.68141047e+02] [-6.35871554e-01 -7.71778518e-01 5.02839686e-03 -2.59347094e+02] [-7.68908929e-03 -1.80071057e-04 -9.99970422e-01 -4.90587387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.4465599950001 meters 0.048759724940849195 Centerline is valid? [True, True] Translation: X:468.12, Y:-259.43, Z:-4.91 [[ 8.20021040e-01 -5.72297370e-01 -6.41988762e-03 4.68115562e+02] [-5.72277911e-01 -8.20046146e-01 4.72353798e-03 -2.59433770e+02] [-7.96787246e-03 -1.99440647e-04 -9.99968236e-01 -4.90840888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.506559995 meters 0.04936592417573998 Centerline is valid? [True, True] Translation: X:468.09, Y:-259.53, Z:-4.91 [[ 8.62683907e-01 -5.05698130e-01 -6.77327536e-03 4.68091093e+02] [-5.05680650e-01 -8.62710472e-01 4.20977120e-03 -2.59528764e+02] [-7.97224901e-03 -2.06587587e-04 -9.99968200e-01 -4.90738822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.566559995 meters 0.05026427076523312 Centerline is valid? [True, True] Translation: X:468.08, Y:-259.62, Z:-4.91 [[ 8.99529955e-01 -4.36818924e-01 -5.92350411e-03 4.68077774e+02] [-4.36808186e-01 -8.99549442e-01 3.06776288e-03 -2.59618726e+02] [-6.66854170e-03 -1.72109523e-04 -9.99977750e-01 -4.90644366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.626559995 meters 0.05035873816273717 Centerline is valid? [True, True] Translation: X:468.08, Y:-259.70, Z:-4.91 [[ 9.30540960e-01 -3.66150759e-01 -5.20989973e-03 4.68076637e+02] [-3.66144174e-01 -9.30555534e-01 2.20038878e-03 -2.59701734e+02] [-5.65377504e-03 -1.39977451e-04 -9.99984008e-01 -4.90754355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.6865599950002 meters 0.048874612856416734 Centerline is valid? [True, True] Translation: X:468.08, Y:-259.79, Z:-4.91 [[ 9.55641649e-01 -2.94506570e-01 -3.86262816e-03 4.68079427e+02] [-2.94503776e-01 -9.55649450e-01 1.28611378e-03 -2.59788793e+02] [-4.07008743e-03 -9.15053199e-05 -9.99991713e-01 -4.90979071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.746559995 meters 0.04880913160588425 Centerline is valid? [True, True] Translation: X:468.09, Y:-259.88, Z:-4.91 [[ 9.74886624e-01 -2.22678890e-01 -3.19093285e-03 4.68086647e+02] [-2.22677491e-01 -9.74891844e-01 7.91632591e-04 -2.59880583e+02] [-3.28709428e-03 -6.12031027e-05 -9.99994596e-01 -4.91049635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.806559995 meters 0.049490961246863724 Centerline is valid? [True, True] Translation: X:468.10, Y:-259.97, Z:-4.91 [[ 9.89115412e-01 -1.47098597e-01 -3.56437128e-03 4.68100020e+02] [-1.47097414e-01 -9.89121832e-01 5.93256466e-04 -2.59971634e+02] [-3.61286464e-03 -6.24893172e-05 -9.99993472e-01 -4.90991424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.866559995 meters 0.049467807632922876 Centerline is valid? [True, True] Translation: X:468.12, Y:-260.06, Z:-4.91 [[ 9.97533215e-01 -7.00715167e-02 -4.17938595e-03 4.68122319e+02] [-7.00706100e-02 -9.97541968e-01 3.63156767e-04 -2.60056435e+02] [-4.19455983e-03 -6.94088149e-05 -9.99991200e-01 -4.90848855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.926559995 meters 0.049265149395222224 Centerline is valid? [True, True] Translation: X:468.15, Y:-260.14, Z:-4.91 [[ 9.99960048e-01 7.24388334e-03 -5.23726648e-03 4.68151350e+02] [ 7.24421338e-03 -9.99973759e-01 4.40488456e-05 -2.60139684e+02] [-5.23680997e-03 -8.19869616e-05 -9.99986284e-01 -4.90817054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.986559995 meters 0.04912608098561799 Centerline is valid? [True, True] Translation: X:468.18, Y:-260.23, Z:-4.91 [[ 9.96495778e-01 8.33792493e-02 -6.63817737e-03 4.68182000e+02] [ 8.33780017e-02 -9.96517884e-01 -4.64941452e-04 -2.60225418e+02] [-6.65382894e-03 -9.01657705e-05 -9.99977859e-01 -4.90755459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.046559995 meters 0.04912349463563018 Centerline is valid? [True, True] Translation: X:468.22, Y:-260.31, Z:-4.91 [[ 9.87358209e-01 1.58335536e-01 -7.32295117e-03 4.68218622e+02] [ 1.58331779e-01 -9.87385361e-01 -1.09370763e-03 -2.60305456e+02] [-7.40374757e-03 -7.95746785e-05 -9.99972589e-01 -4.90767392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.106559995 meters 0.049235957566750095 Centerline is valid? [True, True] Translation: X:468.26, Y:-260.38, Z:-4.91 [[ 9.72380487e-01 2.33284737e-01 -7.37696791e-03 4.68260345e+02] [ 2.33278548e-01 -9.72408467e-01 -1.70069648e-03 -2.60380933e+02] [-7.57017259e-03 -6.71642881e-05 -9.99971344e-01 -4.90633430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.166559995 meters 0.049807493176361635 Centerline is valid? [True, True] Translation: X:468.31, Y:-260.45, Z:-4.91 [[ 9.52620415e-01 3.04083842e-01 -6.88196851e-03 4.68309268e+02] [ 3.04076130e-01 -9.52645273e-01 -2.16588810e-03 -2.60452779e+02] [-7.21468635e-03 -2.93731277e-05 -9.99973973e-01 -4.90846042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.2265599950001 meters 0.049744732191177164 Centerline is valid? [True, True] Translation: X:468.36, Y:-260.52, Z:-4.91 [[ 9.26752713e-01 3.75619196e-01 -6.29508167e-03 4.68361426e+02] [ 3.75610622e-01 -9.26774093e-01 -2.53796359e-03 -2.60519737e+02] [-6.78742644e-03 -1.24348965e-05 -9.99976965e-01 -4.90796925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.286559995 meters 0.049846127826651786 Centerline is valid? [True, True] Translation: X:468.42, Y:-260.58, Z:-4.91 [[ 8.95112841e-01 4.45799624e-01 -5.97477792e-03 4.68417153e+02] [ 4.45789719e-01 -8.95132781e-01 -2.97167726e-03 -2.60578488e+02] [-6.67299218e-03 -3.50809978e-06 -9.99977735e-01 -4.90628734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.346559995 meters 0.04929305534133537 Centerline is valid? [True, True] Translation: X:468.48, Y:-260.64, Z:-4.91 [[ 8.57382548e-01 5.14659447e-01 -4.56294990e-03 4.68480318e+02] [ 5.14652183e-01 -8.57394690e-01 -2.73422814e-03 -2.60635492e+02] [-5.31944536e-03 -4.05264301e-06 -9.99985852e-01 -4.90887606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.406559995 meters 0.04967005116196123 Centerline is valid? [True, True] Translation: X:468.55, Y:-260.69, Z:-4.91 [[ 8.13751041e-01 5.81197737e-01 -4.29347152e-03 4.68547614e+02] [ 5.81189717e-01 -8.13762367e-01 -3.05322768e-03 -2.60686929e+02] [-5.26839457e-03 -1.07542949e-05 -9.99986122e-01 -4.90898582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.4665599950001 meters 0.04971135436615116 Centerline is valid? [True, True] Translation: X:468.62, Y:-260.74, Z:-4.91 [[ 7.63703526e-01 6.45551811e-01 -4.44787460e-03 4.68621589e+02] [ 6.45541095e-01 -7.63716478e-01 -3.71969312e-03 -2.60736875e+02] [-5.79816975e-03 -3.05430908e-05 -9.99983190e-01 -4.90837850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.526559995 meters 0.0495798528239921 Centerline is valid? [True, True] Translation: X:468.70, Y:-260.78, Z:-4.91 [[ 7.09622706e-01 7.04568705e-01 -4.30751974e-03 4.68698943e+02] [ 7.04556086e-01 -7.09635779e-01 -4.21711372e-03 -2.60779656e+02] [-6.02801648e-03 -4.23295906e-05 -9.99981830e-01 -4.90787917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.586559995 meters 0.0494033330155021 Centerline is valid? [True, True] Translation: X:468.78, Y:-260.82, Z:-4.91 [[ 6.51215950e-01 7.58880370e-01 -4.28616822e-03 4.68777387e+02] [ 7.58864487e-01 -6.51230053e-01 -4.90998219e-03 -2.60816434e+02] [-6.51737065e-03 -5.51621325e-05 -9.99978760e-01 -4.90659603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.646559995 meters 0.04951330494289602 Centerline is valid? [True, True] Translation: X:468.86, Y:-260.84, Z:-4.91 [[ 5.88590354e-01 8.08422513e-01 -3.79933481e-03 4.68855659e+02] [ 8.08406366e-01 -5.88602613e-01 -5.10994634e-03 -2.60842836e+02] [-6.36729406e-03 -6.37413221e-05 -9.99979727e-01 -4.90708717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.7065599950001 meters 0.04950590794784877 Centerline is valid? [True, True] Translation: X:468.94, Y:-260.87, Z:-4.91 [[ 5.20824267e-01 8.53656990e-01 -3.43883548e-03 4.68940232e+02] [ 8.53639453e-01 -5.20835613e-01 -5.47250237e-03 -2.60865910e+02] [-6.46270789e-03 -8.53135942e-05 -9.99979113e-01 -4.90736210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.766559995 meters 0.04948819876395478 Centerline is valid? [True, True] Translation: X:469.03, Y:-260.88, Z:-4.91 [[ 4.49698688e-01 8.93173386e-01 -3.52036096e-03 4.69026959e+02] [ 8.93148132e-01 -4.49712450e-01 -6.71771410e-03 -2.60882974e+02] [-7.58323360e-03 -1.23256594e-04 -9.99971239e-01 -4.90643108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.826559995 meters 0.04926126996576011 Centerline is valid? [True, True] Translation: X:469.12, Y:-260.89, Z:-4.91 [[ 3.75523169e-01 9.26807053e-01 -3.32206465e-03 4.69116047e+02] [ 9.26774560e-01 -3.75537827e-01 -7.76241690e-03 -2.60893663e+02] [-8.44182368e-03 -1.63837610e-04 -9.99964354e-01 -4.90613235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.886559995 meters 0.04958531062673455 Centerline is valid? [True, True] Translation: X:469.21, Y:-260.90, Z:-4.91 [[ 2.99164335e-01 9.54197842e-01 -2.67946790e-03 4.69206186e+02] [ 9.54164952e-01 -2.99176276e-01 -7.92460293e-03 -2.60897455e+02] [-8.36327224e-03 -1.85895795e-04 -9.99965010e-01 -4.90765411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.9465599950001 meters 0.049362653162705945 Centerline is valid? [True, True] Translation: X:469.30, Y:-260.90, Z:-4.91 [[ 2.23267358e-01 9.74755298e-01 -1.94837753e-03 4.69298158e+02] [ 9.74724876e-01 -2.23275788e-01 -7.70313563e-03 -2.60896278e+02] [-7.94369779e-03 -1.79273302e-04 -9.99968432e-01 -4.90737146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.006559995 meters 0.04986688179111455 Centerline is valid? [True, True] Translation: X:469.39, Y:-260.89, Z:-4.91 [[ 1.47997999e-01 9.88986816e-01 -1.29272605e-03 4.69390059e+02] [ 9.88957957e-01 -1.48003558e-01 -7.55688637e-03 -2.60886683e+02] [-7.66498904e-03 -1.60047655e-04 -9.99970611e-01 -4.90853444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.066559995 meters 0.04896293387282386 Centerline is valid? [True, True] Translation: X:469.48, Y:-260.87, Z:-4.91 [[ 7.47421783e-02 9.97202690e-01 -6.33783658e-04 4.69480749e+02] [ 9.97178575e-01 -7.47447791e-02 -6.93593755e-03 -2.60870152e+02] [-6.96390760e-03 -1.13588404e-04 -9.99975745e-01 -4.90947165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.126559995 meters 0.04938029423450411 Centerline is valid? [True, True] Translation: X:469.57, Y:-260.85, Z:-4.91 [[-1.23850932e-04 9.99999989e-01 -8.22670954e-05 4.69567518e+02] [ 9.99979392e-01 1.23320323e-04 -6.41880919e-03 -2.60847334e+02] [-6.41879898e-03 -8.30603755e-05 -9.99979396e-01 -4.90994532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.1865599950002 meters 0.04972070367131286 Centerline is valid? [True, True] Translation: X:469.65, Y:-260.82, Z:-4.91 [[-7.59685646e-02 9.97110139e-01 3.85861608e-04 4.69651947e+02] [ 9.97092790e-01 7.59695192e-02 -5.88219160e-03 -2.60817787e+02] [-5.89450660e-03 -6.21218261e-05 -9.99982625e-01 -4.90814965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.246559995 meters 0.04946925781828705 Centerline is valid? [True, True] Translation: X:469.72, Y:-260.78, Z:-4.91 [[-1.52199214e-01 9.88349393e-01 9.36056161e-04 4.69722578e+02] [ 9.88328261e-01 1.52202082e-01 -6.46337150e-03 -2.60782996e+02] [-6.53053899e-03 -5.85893066e-05 -9.99978674e-01 -4.90833470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.306559995 meters 0.0496800278042792 Centerline is valid? [True, True] Translation: X:469.80, Y:-260.74, Z:-4.91 [[-2.28849298e-01 9.73460242e-01 1.77672510e-03 4.69799835e+02] [ 9.73428466e-01 2.28856184e-01 -7.86572675e-03 -2.60740322e+02] [-8.06358679e-03 -7.05512587e-05 -9.99967486e-01 -4.90833117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.366559995 meters 0.04942008580719501 Centerline is valid? [True, True] Translation: X:469.87, Y:-260.69, Z:-4.91 [[-3.03842935e-01 9.52717841e-01 2.86113403e-03 4.69872754e+02] [ 9.52673098e-01 3.03856395e-01 -9.23366094e-03 -2.60692860e+02] [-9.66644739e-03 -7.98572149e-05 -9.99953276e-01 -4.90788419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.426559995 meters 0.04963118180661599 Centerline is valid? [True, True] Translation: X:469.95, Y:-260.64, Z:-4.91 [[-3.75724230e-01 9.26724662e-01 3.56426572e-03 4.69945697e+02] [ 9.26681392e-01 3.75741131e-01 -8.95549047e-03 -2.60637322e+02] [-9.63851511e-03 -6.18560421e-05 -9.99953547e-01 -4.90795444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.486559995 meters 0.04961716000073074 Centerline is valid? [True, True] Translation: X:470.01, Y:-260.58, Z:-4.91 [[-4.44280186e-01 8.95879984e-01 3.76440506e-03 4.70009787e+02] [ 8.95847288e-01 4.44296133e-01 -7.65396167e-03 -2.60580335e+02] [-8.52954167e-03 -2.81714511e-05 -9.99963622e-01 -4.90799297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.546559995 meters 0.04882402374430119 Centerline is valid? [True, True] Translation: X:470.06, Y:-260.52, Z:-4.91 [[-5.08593468e-01 8.61002531e-01 2.70657251e-03 4.70062609e+02] [ 8.60990442e-01 5.08600670e-01 -4.56269374e-03 -2.60522426e+02] [-5.30505545e-03 9.77683108e-06 -9.99985928e-01 -4.90961078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.606559995 meters 0.04932600449848114 Centerline is valid? [True, True] Translation: X:470.11, Y:-260.46, Z:-4.91 [[-5.72825638e-01 8.19674775e-01 2.01294839e-03 4.70109296e+02] [ 8.19669794e-01 5.72829175e-01 -2.85745709e-03 -2.60460608e+02] [-3.49526106e-03 1.31283096e-05 -9.99993892e-01 -4.91076815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.666559995 meters 0.049120935156983556 Centerline is valid? [True, True] Translation: X:470.16, Y:-260.39, Z:-4.91 [[-6.35257737e-01 7.72297348e-01 2.10089137e-03 4.70156063e+02] [ 7.72293188e-01 6.35261211e-01 -2.53500644e-03 -2.60391172e+02] [-3.29239354e-03 1.21216370e-05 -9.99994580e-01 -4.91116802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.7265599950001 meters 0.04982884797041906 Centerline is valid? [True, True] Translation: X:470.20, Y:-260.32, Z:-4.91 [[-6.94636321e-01 7.19352433e-01 3.52973309e-03 4.70196434e+02] [ 7.19343237e-01 6.94645289e-01 -3.63730253e-03 -2.60320750e+02] [-5.06841489e-03 1.24871783e-05 -9.99987155e-01 -4.90845443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.786559995 meters 0.04977433356241911 Centerline is valid? [True, True] Translation: X:470.23, Y:-260.24, Z:-4.91 [[-7.49655455e-01 6.61811893e-01 4.66014570e-03 4.70233782e+02] [ 6.61799165e-01 7.49669939e-01 -4.10461845e-03 -2.60241196e+02] [-6.21005645e-03 7.03091727e-06 -9.99980717e-01 -4.91072840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.846559995 meters 0.04946485119569846 Centerline is valid? [True, True] Translation: X:469.63, Y:-259.62, Z:-4.91 [[-7.93416298e-01 6.08656465e-01 5.28073774e-03 4.69628617e+02] [ 6.08642820e-01 7.93433871e-01 -4.07558634e-03 -2.59623356e+02] [-6.67054816e-03 -1.95535197e-05 -9.99977751e-01 -4.90635500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.906559995 meters 0.04962653333255403 Centerline is valid? [True, True] Translation: X:469.66, Y:-259.55, Z:-4.91 [[-8.35546770e-01 5.49397006e-01 4.95231272e-03 4.69656823e+02] [ 5.49387263e-01 8.35561446e-01 -3.27200623e-03 -2.59546467e+02] [-5.93559200e-03 -1.31767040e-05 -9.99982384e-01 -4.90569877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.9665599950001 meters 0.049659286809759055 Centerline is valid? [True, True] Translation: X:469.95, Y:-258.96, Z:-5.91 [[-7.93780840e-01 -6.08189585e-01 4.17218936e-03 4.69951311e+02] [ 6.08180985e-01 -7.93791804e-01 -3.23456373e-03 -2.58960985e+02] [ 5.27907769e-03 -3.00884859e-05 9.99986065e-01 -5.90515414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.026559995 meters 0.04930188138651327 Centerline is valid? [True, True] Translation: X:469.53, Y:-259.46, Z:-4.91 [[-8.37700929e-01 5.46111101e-01 4.45173336e-03 4.69531366e+02] [ 5.46103308e-01 8.37712758e-01 -2.91757980e-03 -2.59463551e+02] [-5.32259655e-03 -1.29529991e-05 -9.99985835e-01 -4.90705845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.086559995 meters 0.049821289898077076 Centerline is valid? [True, True] Translation: X:469.65, Y:-259.44, Z:-4.91 [[-8.74015240e-01 4.85879737e-01 4.27099692e-03 4.69649476e+02] [ 4.85873890e-01 8.74025675e-01 -2.38362817e-03 -2.59443954e+02] [-4.89111759e-03 -8.16145556e-06 -9.99988038e-01 -4.90600576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.146559995 meters 0.049012394650781416 Centerline is valid? [True, True] Translation: X:469.44, Y:-259.25, Z:-4.91 [[-9.05881309e-01 4.23517481e-01 3.46364298e-03 4.69442578e+02] [ 4.23514372e-01 9.05887931e-01 -1.62288013e-03 -2.59251908e+02] [-3.82499048e-03 -3.23419506e-06 -9.99992685e-01 -4.90633450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.2065599950001 meters 0.04949009055995181 Centerline is valid? [True, True] Translation: X:469.73, Y:-258.68, Z:-5.91 [[-8.74399330e-01 -4.85191651e-01 3.85659378e-03 4.69732546e+02] [ 4.85187135e-01 -8.74407834e-01 -2.09385843e-03 -2.58678302e+02] [ 4.38815844e-03 4.03012757e-05 9.99990371e-01 -5.90613829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.266559995 meters 0.04967542098302956 Centerline is valid? [True, True] Translation: X:469.93, Y:-259.49, Z:-4.91 [[-9.10011851e-01 4.14553583e-01 4.87413735e-03 4.69927031e+02] [ 4.14547567e-01 9.10024904e-01 -2.23337224e-03 -2.59490075e+02] [-5.36143884e-03 -1.18334300e-05 -9.99985627e-01 -4.90579247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.326559995 meters 0.0491809339630114 Centerline is valid? [True, True] Translation: X:469.14, Y:-259.07, Z:-4.90 [[-9.38212368e-01 3.46018818e-01 5.34143876e-03 4.69139015e+02] [ 3.46013015e-01 9.38227572e-01 -2.00415356e-03 -2.59066006e+02] [-5.70495997e-03 -3.21143223e-05 -9.99983726e-01 -4.90290820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.386559995 meters 0.04959492883649343 Centerline is valid? [True, True] Translation: X:469.12, Y:-258.98, Z:-4.90 [[-9.61330367e-01 2.75334345e-01 5.90958596e-03 4.69124913e+02] [ 2.75328789e-01 9.61348530e-01 -1.74995873e-03 -2.58977695e+02] [-6.16299551e-03 -5.52093210e-05 -9.99981007e-01 -4.90260622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.4465599950001 meters 0.048981458553039495 Centerline is valid? [True, True] Translation: X:469.08, Y:-258.89, Z:-4.90 [[-9.79092811e-01 2.03341241e-01 5.44120654e-03 4.69076279e+02] [ 2.03337718e-01 9.79107928e-01 -1.19884753e-03 -2.58889797e+02] [-5.57130361e-03 -6.73804831e-05 -9.99984478e-01 -4.90482604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.506559995 meters 0.05004992266265599 Centerline is valid? [True, True] Translation: X:469.23, Y:-258.28, Z:-5.91 [[-9.55466669e-01 -2.95059486e-01 4.83149391e-03 4.69225094e+02] [ 2.95055846e-01 -9.55478885e-01 -1.46578818e-03 -2.58282979e+02] [ 5.04888512e-03 2.50487728e-05 9.99987254e-01 -5.90695806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.566559995 meters 0.04940678515652403 Centerline is valid? [True, True] Translation: X:469.00, Y:-258.87, Z:-4.91 [[-9.80757353e-01 1.95177907e-01 4.53872699e-03 4.69004445e+02] [ 1.95175452e-01 9.80767852e-01 -9.81947707e-04 -2.58874979e+02] [-4.64309202e-03 -7.72043398e-05 -9.99989218e-01 -4.90542057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.626559995 meters 0.04976838759711792 Centerline is valid? [True, True] Translation: X:469.03, Y:-258.80, Z:-4.90 [[-9.92304086e-01 1.23721035e-01 5.07009548e-03 4.69028682e+02] [ 1.23718949e-01 9.92317035e-01 -7.24306936e-04 -2.58795844e+02] [-5.12075412e-03 -9.14658487e-05 -9.99986885e-01 -4.90429908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.6865599950002 meters 0.04951559797036825 Centerline is valid? [True, True] Translation: X:468.92, Y:-258.70, Z:-4.90 [[-9.98642587e-01 5.16932053e-02 6.38717661e-03 4.68924206e+02] [ 5.16913635e-02 9.98663005e-01 -4.53218827e-04 -2.58704631e+02] [-6.40206532e-03 -1.22441754e-04 -9.99979499e-01 -4.90197503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.746559995 meters 0.05053768463003276 Centerline is valid? [True, True] Translation: X:469.00, Y:-258.10, Z:-5.91 [[-9.87610573e-01 -1.56732911e-01 7.75568059e-03 4.69003080e+02] [ 1.56730011e-01 -9.87640995e-01 -9.84136169e-04 -2.58104095e+02] [ 7.81407462e-03 2.43604616e-04 9.99969440e-01 -5.91253651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.806559995 meters 0.049150720998801245 Centerline is valid? [True, True] Translation: X:468.84, Y:-258.71, Z:-4.90 [[-9.98758978e-01 4.92475464e-02 7.42851200e-03 4.68844624e+02] [ 4.92451913e-02 9.98786595e-01 -4.99730607e-04 -2.58709874e+02] [-7.44410871e-03 -1.33291936e-04 -9.99972283e-01 -4.90310909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.866559995 meters 0.049316579751300285 Centerline is valid? [True, True] Translation: X:468.77, Y:-258.07, Z:-5.91 [[-9.88847689e-01 -1.48823195e-01 5.64835342e-03 4.68770350e+02] [ 1.48820740e-01 -9.88863821e-01 -8.54920897e-04 -2.58072953e+02] [ 5.71268440e-03 -4.79441979e-06 9.99983683e-01 -5.90717603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.926559995 meters 0.04892374295586346 Centerline is valid? [True, True] Translation: X:468.65, Y:-258.70, Z:-4.91 [[-9.98703558e-01 5.07058338e-02 4.48582683e-03 4.68651673e+02] [ 5.07050693e-02 9.98713630e-01 -2.84059339e-04 -2.58701914e+02] [-4.49445987e-03 -5.62369119e-05 -9.99989898e-01 -4.90531489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.986559995 meters 0.0488655860527056 Centerline is valid? [True, True] Translation: X:468.63, Y:-258.06, Z:-5.91 [[-9.90035352e-01 -1.40764786e-01 3.90854634e-03 4.68627905e+02] [ 1.40763747e-01 -9.90043067e-01 -5.41050596e-04 -2.58060323e+02] [ 3.94579008e-03 1.45224133e-05 9.99992215e-01 -5.90600497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.046559995 meters 0.049043749932207864 Centerline is valid? [True, True] Translation: X:468.43, Y:-258.69, Z:-4.90 [[-9.98735099e-01 5.00097082e-02 5.21833465e-03 4.68434352e+02] [ 5.00087664e-02 9.98748731e-01 -3.10883185e-04 -2.58691339e+02] [-5.22735228e-03 -4.95274696e-05 -9.99986336e-01 -4.90373457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.106559995 meters 0.04896358085020002 Centerline is valid? [True, True] Translation: X:468.37, Y:-258.61, Z:-4.90 [[-9.99756771e-01 -2.11892920e-02 6.11659530e-03 4.68372742e+02] [-2.11892532e-02 9.99775480e-01 7.11694546e-05 -2.58614991e+02] [-6.11673003e-03 -5.84539421e-05 -9.99981291e-01 -4.90358089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.166559995 meters 0.04948552696401667 Centerline is valid? [True, True] Translation: X:468.37, Y:-258.54, Z:-4.90 [[-9.95660665e-01 -9.27871374e-02 7.09835166e-03 4.68368415e+02] [-9.27852873e-02 9.95685966e-01 5.90217772e-04 -2.58536345e+02] [-7.12249375e-03 -7.09659787e-05 -9.99974632e-01 -4.90170908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.2265599950001 meters 0.0493213666292218 Centerline is valid? [True, True] Translation: X:468.25, Y:-257.90, Z:-5.91 [[-9.99959080e-01 4.51426114e-03 7.83967235e-03 4.68252234e+02] [-4.51313212e-03 -9.99989803e-01 1.61698664e-04 -2.57902699e+02] [ 7.84032236e-03 1.26310570e-04 9.99969256e-01 -5.90871037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.286559995 meters 0.04945801026776407 Centerline is valid? [True, True] Translation: X:468.22, Y:-258.55, Z:-4.90 [[-9.95140375e-01 -9.81194409e-02 8.25894836e-03 4.68224203e+02] [-9.81168479e-02 9.95174641e-01 7.19528854e-04 -2.58551957e+02] [-8.28969574e-03 -9.43097678e-05 -9.99965635e-01 -4.90209307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.346559995 meters 0.049481361225636504 Centerline is valid? [True, True] Translation: X:468.16, Y:-258.48, Z:-4.90 [[-9.85650582e-01 -1.68613277e-01 7.90527103e-03 4.68160812e+02] [-1.68608586e-01 9.85682279e-01 1.26084898e-03 -2.58481072e+02] [-8.00468144e-03 -9.01400463e-05 -9.99967958e-01 -4.90137369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.406559995 meters 0.04922427958057595 Centerline is valid? [True, True] Translation: X:468.00, Y:-257.86, Z:-5.91 [[-9.96810880e-01 7.94889323e-02 7.04120333e-03 4.68002430e+02] [-7.94868276e-02 -9.96835748e-01 5.78696255e-04 -2.57855561e+02] [ 7.06492314e-03 1.71678075e-05 9.99975043e-01 -5.90824804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.4665599950001 meters 0.05001423502000592 Centerline is valid? [True, True] Translation: X:468.00, Y:-258.51, Z:-4.90 [[-9.85047319e-01 -1.72145532e-01 6.90618118e-03 4.68000198e+02] [-1.72141839e-01 9.85071525e-01 1.13012799e-03 -2.58507575e+02] [-6.99762891e-03 -7.56131886e-05 -9.99975513e-01 -4.90186675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.526559995 meters 0.04958457223753627 Centerline is valid? [True, True] Translation: X:467.91, Y:-258.45, Z:-4.90 [[-9.70679904e-01 -2.40257128e-01 7.55228827e-03 4.67910881e+02] [-2.40250425e-01 9.70709281e-01 1.79600833e-03 -2.58449811e+02] [-7.76258011e-03 -7.10912720e-05 -9.99969868e-01 -4.90201602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.586559995 meters 0.04969354396334034 Centerline is valid? [True, True] Translation: X:467.80, Y:-258.40, Z:-4.90 [[-9.51695334e-01 -3.06945530e-01 7.77389724e-03 4.67801211e+02] [-3.06935794e-01 9.51727082e-01 2.44542807e-03 -2.58400915e+02] [-8.14924175e-03 -5.87848389e-05 -9.99966793e-01 -4.90076244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.646559995 meters 0.04935232498318046 Centerline is valid? [True, True] Translation: X:467.72, Y:-258.35, Z:-4.90 [[-9.27399439e-01 -3.73995401e-01 7.59735146e-03 4.67715222e+02] [-3.73983340e-01 9.27430556e-01 3.00411228e-03 -2.58350615e+02] [-8.16954006e-03 -5.52708271e-05 -9.99966627e-01 -4.90099145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.7065599950001 meters 0.049310896673379165 Centerline is valid? [True, True] Translation: X:467.58, Y:-258.32, Z:-4.90 [[-8.98737084e-01 -4.38440314e-01 6.46106717e-03 4.67583031e+02] [-4.38429320e-01 8.98760307e-01 3.10525285e-03 -2.58324791e+02] [-7.16841875e-03 -4.19153999e-05 -9.99974306e-01 -4.90160284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.766559995 meters 0.04945648071340025 Centerline is valid? [True, True] Translation: X:467.46, Y:-258.31, Z:-4.90 [[-8.65138482e-01 -5.01502582e-01 5.52877676e-03 4.67455799e+02] [-5.01492589e-01 8.65156147e-01 3.16612141e-03 -2.58305846e+02] [-6.37107326e-03 -3.35071056e-05 -9.99979704e-01 -4.90181107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.826559995 meters 0.04991922402747203 Centerline is valid? [True, True] Translation: X:467.31, Y:-258.31, Z:-4.90 [[-8.26778196e-01 -5.62500913e-01 5.52606750e-03 4.67308036e+02] [-5.62488625e-01 8.26796663e-01 3.71826186e-03 -2.58308452e+02] [-6.66045986e-03 -3.41722780e-05 -9.99977818e-01 -4.90180868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.886559995 meters 0.04974323971958235 Centerline is valid? [True, True] Translation: X:467.40, Y:-258.14, Z:-4.90 [[-7.81785100e-01 -6.23523616e-01 5.50975237e-03 4.67398609e+02] [-6.23508473e-01 7.81804515e-01 4.34572334e-03 -2.58143067e+02] [-7.01721041e-03 -3.79555259e-05 -9.99975378e-01 -4.90300812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.9465599950001 meters 0.050156659090185934 Centerline is valid? [True, True] Translation: X:466.82, Y:-258.52, Z:-4.90 [[-7.35349488e-01 -6.77666296e-01 5.43350418e-03 4.66824415e+02] [-6.77648226e-01 7.35369560e-01 4.94887835e-03 -2.58519756e+02] [-7.34932164e-03 -4.28493149e-05 -9.99972992e-01 -4.90179842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.006559995 meters 0.05006412389999884 Centerline is valid? [True, True] Translation: X:466.65, Y:-258.58, Z:-4.90 [[-6.83452469e-01 -7.29977649e-01 5.03538717e-03 4.66652370e+02] [-7.29958359e-01 6.83471016e-01 5.30703317e-03 -2.58577931e+02] [-7.31555678e-03 -4.85180308e-05 -9.99973240e-01 -4.90034762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.066559995 meters 0.04940056439589074 Centerline is valid? [True, True] Translation: X:466.48, Y:-258.65, Z:-4.90 [[-6.27606925e-01 -7.78516915e-01 4.57819418e-03 4.66484920e+02] [-7.78496813e-01 6.27623621e-01 5.59480770e-03 -2.58653211e+02] [-7.22903525e-03 -5.27695228e-05 -9.99973869e-01 -4.90266695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.126559995 meters 0.0497711989931965 Centerline is valid? [True, True] Translation: X:466.32, Y:-258.74, Z:-4.90 [[-5.68942326e-01 -8.22366329e-01 4.27202417e-03 4.66323505e+02] [-8.22343842e-01 5.68958362e-01 6.08176798e-03 -2.58738595e+02] [-7.43204509e-03 -5.28975456e-05 -9.99972381e-01 -4.90303717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.1865599950002 meters 0.049600526464019065 Centerline is valid? [True, True] Translation: X:466.14, Y:-258.88, Z:-4.90 [[-5.08032322e-01 -8.61328106e-01 4.12956579e-03 4.66138870e+02] [-8.61300434e-01 5.08049103e-01 6.90441131e-03 -2.58881358e+02] [-8.04498571e-03 -4.91326942e-05 -9.99967637e-01 -4.90305131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.246559995 meters 0.05037352801880248 Centerline is valid? [True, True] Translation: X:465.97, Y:-259.04, Z:-4.90 [[-4.46467360e-01 -8.94793418e-01 3.41109941e-03 4.65967744e+02] [-8.94767657e-01 4.46480390e-01 6.78983754e-03 -2.59036144e+02] [-7.59849093e-03 -2.07005838e-05 -9.99971131e-01 -4.90373318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.306559995 meters 0.049462846772390746 Centerline is valid? [True, True] Translation: X:465.80, Y:-259.23, Z:-4.90 [[-3.82214535e-01 -9.24070833e-01 2.26801587e-03 4.65796862e+02] [-9.24054564e-01 3.82221264e-01 5.48342769e-03 -2.59232396e+02] [-5.93395949e-03 7.53491273e-08 -9.99982394e-01 -4.90498856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.366559995 meters 0.049416713196087654 Centerline is valid? [True, True] Translation: X:465.70, Y:-259.26, Z:-4.91 [[-3.13904347e-01 -9.49453586e-01 1.39598540e-03 4.65704368e+02] [-9.49444071e-01 3.13907451e-01 4.25075436e-03 -2.59263226e+02] [-4.47410419e-03 8.92021620e-06 -9.99989991e-01 -4.90621214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.426559995 meters 0.049908674315811696 Centerline is valid? [True, True] Translation: X:465.70, Y:-258.96, Z:-4.91 [[-2.41719476e-01 -9.70345487e-01 1.15358439e-03 4.65701314e+02] [-9.70334166e-01 2.41722228e-01 4.68721105e-03 -2.58955914e+02] [-4.82706107e-03 1.36278495e-05 -9.99988350e-01 -4.90692806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.486559995 meters 0.05023609267729263 Centerline is valid? [True, True] Translation: X:465.48, Y:-259.62, Z:-4.90 [[-1.71595821e-01 -9.85166967e-01 9.60181440e-04 4.65476255e+02] [-9.85151120e-01 1.71598507e-01 5.58781064e-03 -2.59620071e+02] [-5.66969216e-03 1.29211354e-05 -9.99983927e-01 -4.90319330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.546559995 meters 0.05058920246725871 Centerline is valid? [True, True] Translation: X:465.35, Y:-259.99, Z:-4.91 [[-9.88153678e-02 -9.95105618e-01 5.77076588e-04 4.65347906e+02] [-9.95088162e-01 9.88170525e-02 5.89402579e-03 -2.59986150e+02] [-5.92220318e-03 8.17824459e-06 -9.99982464e-01 -4.90548666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.606559995 meters 0.050358762606275004 Centerline is valid? [True, True] Translation: X:465.28, Y:-259.75, Z:-4.91 [[-2.09655147e-02 -9.99780190e-01 1.35007693e-04 4.65279646e+02] [-9.99761107e-01 2.09659487e-02 6.17713898e-03 -2.59749476e+02] [-6.17861175e-03 -5.46854207e-06 -9.99980912e-01 -4.90601648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.666559995 meters 0.05053396313886871 Centerline is valid? [True, True] Translation: X:465.21, Y:-260.36, Z:-4.91 [[ 5.18497633e-02 -9.98654853e-01 -2.95446878e-04 4.65206690e+02] [-9.98637160e-01 -5.18506034e-02 5.94446797e-03 -2.60359445e+02] [-5.95179089e-03 -1.31750255e-05 -9.99982288e-01 -4.90578455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.7265599950001 meters 0.04980666513276836 Centerline is valid? [True, True] Translation: X:465.15, Y:-260.59, Z:-4.90 [[ 1.26911528e-01 -9.91913757e-01 -7.49953661e-04 4.65150286e+02] [-9.91895428e-01 -1.26913742e-01 6.03012719e-03 -2.60593122e+02] [-6.07654554e-03 -2.14170454e-05 -9.99981537e-01 -4.90492336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.786559995 meters 0.050976115476536736 Centerline is valid? [True, True] Translation: X:465.10, Y:-260.79, Z:-4.91 [[ 2.02234030e-01 -9.79336650e-01 -1.05997937e-03 4.65104181e+02] [-9.79322399e-01 -2.02236805e-01 5.28324830e-03 -2.60785894e+02] [-5.38844554e-03 -3.03910501e-05 -9.99985482e-01 -4.90672359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.846559995 meters 0.0511765918503462 Centerline is valid? [True, True] Translation: X:465.07, Y:-260.97, Z:-4.91 [[ 2.75879346e-01 -9.61191412e-01 -1.28689638e-03 4.65069266e+02] [-9.61180354e-01 -2.75882345e-01 4.61072442e-03 -2.60974751e+02] [-4.78682071e-03 -3.50641188e-05 -9.99988543e-01 -4.90713895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.906559995 meters 0.05022685081465911 Centerline is valid? [True, True] Translation: X:465.06, Y:-261.20, Z:-4.91 [[ 3.48976514e-01 -9.37130088e-01 -1.60999218e-03 4.65058657e+02] [-9.37119457e-01 -3.48980224e-01 4.46390177e-03 -2.61203528e+02] [-4.74511208e-03 -4.90418821e-05 -9.99988741e-01 -4.90712427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.9665599950001 meters 0.050998821167438306 Centerline is valid? [True, True] Translation: X:465.07, Y:-261.43, Z:-4.91 [[ 4.18925011e-01 -9.08018286e-01 -2.15115858e-03 4.65067586e+02] [-9.08005514e-01 -4.18930529e-01 4.81649972e-03 -2.61432526e+02] [-5.27465582e-03 -6.44883533e-05 -9.99986087e-01 -4.90784675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.026559995 meters 0.05098245792043886 Centerline is valid? [True, True] Translation: X:465.06, Y:-261.61, Z:-4.91 [[ 4.85994372e-01 -8.73958509e-01 -2.44839327e-03 4.65064489e+02] [-8.73946689e-01 -4.86000534e-01 4.54604420e-03 -2.61606361e+02] [-5.16297445e-03 -6.95867069e-05 -9.99986669e-01 -4.90763997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.086559995 meters 0.05101636749135133 Centerline is valid? [True, True] Translation: X:465.11, Y:-261.84, Z:-4.91 [[ 5.48609190e-01 -8.36075127e-01 -2.51771260e-03 4.65113209e+02] [-8.36065809e-01 -5.48614964e-01 3.94786865e-03 -2.61843297e+02] [-4.68196959e-03 -6.08635990e-05 -9.99989038e-01 -4.90773868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.146559995 meters 0.0513820329011083 Centerline is valid? [True, True] Translation: X:465.18, Y:-262.09, Z:-4.91 [[ 6.07108620e-01 -7.94614080e-01 -2.75451025e-03 4.65184228e+02] [-7.94605516e-01 -6.07114867e-01 3.68941608e-03 -2.62085482e+02] [-4.60396609e-03 -5.11272685e-05 -9.99989400e-01 -4.90609009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.2065599950001 meters 0.0507327208564265 Centerline is valid? [True, True] Translation: X:465.25, Y:-262.29, Z:-4.91 [[ 6.60540233e-01 -7.50785523e-01 -2.77490373e-03 4.65254046e+02] [-7.50778718e-01 -6.60546061e-01 3.19659536e-03 -2.62287797e+02] [-4.23290925e-03 -2.81411794e-05 -9.99991041e-01 -4.90731021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.266559995 meters 0.050755911058895514 Centerline is valid? [True, True] Translation: X:465.40, Y:-262.55, Z:-4.91 [[ 7.12224321e-01 -7.01942734e-01 -3.59370989e-03 4.65395936e+02] [-7.01933638e-01 -7.12233388e-01 3.57344725e-03 -2.62549078e+02] [-5.06791550e-03 -2.25501868e-05 -9.99987158e-01 -4.90652930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.326559995 meters 0.05087945406786479 Centerline is valid? [True, True] Translation: X:465.37, Y:-262.63, Z:-4.90 [[ 7.64170337e-01 -6.44998396e-01 -4.55692084e-03 4.65371473e+02] [-6.44986774e-01 -7.64183923e-01 3.87207773e-03 -2.62627624e+02] [-5.97980957e-03 -1.97732726e-05 -9.99982121e-01 -4.90480177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.386559995 meters 0.051113423588963126 Centerline is valid? [True, True] Translation: X:465.35, Y:-262.71, Z:-4.90 [[ 8.12407486e-01 -5.83063973e-01 -5.52087716e-03 4.65354356e+02] [-5.83050304e-01 -8.12426245e-01 3.99250513e-03 -2.62706882e+02] [-6.81319140e-03 -2.45919437e-05 -9.99976790e-01 -4.90379065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.4465599950001 meters 0.051143699869103124 Centerline is valid? [True, True] Translation: X:465.34, Y:-262.79, Z:-4.90 [[ 8.56202840e-01 -5.16608407e-01 -5.69656847e-03 4.65339882e+02] [-5.16596714e-01 -8.56221789e-01 3.47601086e-03 -2.62793933e+02] [-6.67326248e-03 -3.33418228e-05 -9.99977733e-01 -4.90452177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.506559995 meters 0.051364165586231914 Centerline is valid? [True, True] Translation: X:465.33, Y:-262.88, Z:-4.90 [[ 8.94693906e-01 -4.46639329e-01 -6.01029426e-03 4.65332812e+02] [-4.46628915e-01 -8.94714093e-01 3.05041296e-03 -2.62878983e+02] [-6.73992937e-03 -4.48146891e-05 -9.99977285e-01 -4.90325298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.566559995 meters 0.05100838771866515 Centerline is valid? [True, True] Translation: X:465.33, Y:-262.97, Z:-4.91 [[ 9.27520138e-01 -3.73730411e-01 -5.65449121e-03 4.65331601e+02] [-3.73723129e-01 -9.27537372e-01 2.33362247e-03 -2.62967169e+02] [-6.11689760e-03 -5.12676840e-05 -9.99981290e-01 -4.90515574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.626559995 meters 0.05153797409616131 Centerline is valid? [True, True] Translation: X:465.34, Y:-263.06, Z:-4.91 [[ 9.53869949e-01 -3.00176037e-01 -5.14474837e-03 4.65337678e+02] [-3.00171416e-01 -9.53883822e-01 1.66602923e-03 -2.63055420e+02] [-5.40759428e-03 -4.48688069e-05 -9.99985378e-01 -4.90630983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.6865599950002 meters 0.05099791812034911 Centerline is valid? [True, True] Translation: X:465.35, Y:-263.14, Z:-4.91 [[ 9.74049341e-01 -2.26310251e-01 -3.39865685e-03 4.65350697e+02] [-2.26308791e-01 -9.74055270e-01 8.13373454e-04 -2.63140289e+02] [-3.49455437e-03 -2.31199561e-05 -9.99993894e-01 -4.90725873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.746559995 meters 0.05094751323678635 Centerline is valid? [True, True] Translation: X:465.37, Y:-263.23, Z:-4.91 [[ 9.88616821e-01 -1.50430763e-01 -2.71434054e-03 4.65369961e+02] [-1.50430153e-01 -9.88620547e-01 4.28707978e-04 -2.63230456e+02] [-2.74794370e-03 -1.55092552e-05 -9.99996224e-01 -4.90833435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.806559995 meters 0.05117210011174884 Centerline is valid? [True, True] Translation: X:465.40, Y:-263.32, Z:-4.91 [[ 9.97323887e-01 -7.30593968e-02 -2.71839997e-03 4.65396143e+02] [-7.30590860e-02 -9.97327591e-01 2.13602299e-04 -2.63316449e+02] [-2.72674095e-03 -1.44268576e-05 -9.99996282e-01 -4.90711110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.866559995 meters 0.05166187401772115 Centerline is valid? [True, True] Translation: X:465.43, Y:-263.40, Z:-4.91 [[ 9.99986446e-01 3.83890282e-03 -3.51719781e-03 4.65429039e+02] [ 3.83892865e-03 -9.99992631e-01 5.93502296e-07 -2.63395915e+02] [-3.51716962e-03 -1.40957657e-05 -9.99993815e-01 -4.90645472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.926559995 meters 0.05126254797133049 Centerline is valid? [True, True] Translation: X:465.46, Y:-263.47, Z:-4.91 [[ 9.96733719e-01 8.06345549e-02 -4.46793241e-03 4.65463035e+02] [ 8.06337973e-02 -9.96743733e-01 -3.49726991e-04 -2.63467481e+02] [-4.48158370e-03 -1.16816717e-05 -9.99989958e-01 -4.90537959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.986559995 meters 0.051932890317085666 Centerline is valid? [True, True] Translation: X:465.50, Y:-263.53, Z:-4.91 [[ 9.87666242e-01 1.56489482e-01 -5.14157518e-03 4.65500453e+02] [ 1.56487381e-01 -9.87679625e-01 -8.10866929e-04 -2.63528140e+02] [-5.20512119e-03 -3.72574317e-06 -9.99986453e-01 -4.90565083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.046559995 meters 0.051391871400347865 Centerline is valid? [True, True] Translation: X:465.54, Y:-263.59, Z:-4.91 [[ 9.72901723e-01 2.31150643e-01 -5.62305232e-03 4.65544262e+02] [ 2.31146731e-01 -9.72917972e-01 -1.34481723e-03 -2.63590154e+02] [-5.78162403e-03 8.62483782e-06 -9.99983286e-01 -4.90510938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.106559995 meters 0.05185712948228557 Centerline is valid? [True, True] Translation: X:465.59, Y:-263.65, Z:-4.90 [[ 9.51413637e-01 3.07864421e-01 -5.62047786e-03 4.65591799e+02] [ 3.07859045e-01 -9.51430238e-01 -1.81933135e-03 -2.63645846e+02] [-5.90759998e-03 6.21703374e-07 -9.99982550e-01 -4.90332038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.166559995 meters 0.05181369719915499 Centerline is valid? [True, True] Translation: X:465.65, Y:-263.72, Z:-4.91 [[ 9.23322381e-01 3.83984490e-01 -5.62963700e-03 4.65651840e+02] [ 3.83977462e-01 -9.23339543e-01 -2.32315120e-03 -2.63716263e+02] [-6.09012049e-03 -1.66362298e-05 -9.99981455e-01 -4.90572353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.2265599950001 meters 0.051846234294215574 Centerline is valid? [True, True] Translation: X:465.72, Y:-263.78, Z:-4.90 [[ 8.88494298e-01 4.58844931e-01 -6.26195466e-03 4.65715730e+02] [ 4.58833925e-01 -8.88516363e-01 -3.17855398e-03 -2.63779812e+02] [-7.02231256e-03 -4.90701433e-05 -9.99975342e-01 -4.90488479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.286559995 meters 0.05204651844429438 Centerline is valid? [True, True] Translation: X:465.78, Y:-263.84, Z:-4.90 [[ 8.46263238e-01 5.32728102e-01 -6.26907173e-03 4.65783273e+02] [ 5.32714368e-01 -8.46286452e-01 -3.82660213e-03 -2.63835554e+02] [-7.34396897e-03 -1.01311876e-04 -9.99973028e-01 -4.90491958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.346559995 meters 0.05185341181820654 Centerline is valid? [True, True] Translation: X:465.86, Y:-263.89, Z:-4.91 [[ 7.99874406e-01 6.00146940e-01 -4.95837912e-03 4.65855263e+02] [ 6.00136226e-01 -7.99889767e-01 -3.58763503e-03 -2.63885982e+02] [-6.11926490e-03 -1.06045491e-04 -9.99981272e-01 -4.90538362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.406559995 meters 0.051696980702974474 Centerline is valid? [True, True] Translation: X:465.93, Y:-263.93, Z:-4.91 [[ 7.48865587e-01 6.62712001e-01 -3.62429426e-03 4.65930374e+02] [ 6.62704842e-01 -7.48874352e-01 -3.08194278e-03 -2.63930321e+02] [-4.75658149e-03 -9.38764594e-05 -9.99988683e-01 -4.90575487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.4665599950001 meters 0.051787530156537843 Centerline is valid? [True, True] Translation: X:466.00, Y:-263.96, Z:-4.91 [[ 6.94137445e-01 7.19839571e-01 -2.04930253e-03 4.66003802e+02] [ 7.19836683e-01 -6.94140468e-01 -2.03975716e-03 -2.63960993e+02] [-2.89080173e-03 -5.92913117e-05 -9.99995820e-01 -4.90618856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.526559995 meters 0.052743920796349236 Centerline is valid? [True, True] Translation: X:466.08, Y:-263.99, Z:-4.91 [[ 6.35852652e-01 7.71807610e-01 -2.10179251e-03 4.66079601e+02] [ 7.71803730e-01 -6.35856122e-01 -2.44812703e-03 -2.63987692e+02] [-3.22592071e-03 -6.55232313e-05 -9.99994795e-01 -4.90506738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.586559995 meters 0.05151812939569674 Centerline is valid? [True, True] Translation: X:466.16, Y:-264.01, Z:-4.91 [[ 5.74207903e-01 8.18705552e-01 -2.55031374e-03 4.66157727e+02] [ 8.18698120e-01 -5.74213560e-01 -3.48944919e-03 -2.64008055e+02] [-4.32125616e-03 -8.42677602e-05 -9.99990660e-01 -4.90534858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.646559995 meters 0.05117419032709664 Centerline is valid? [True, True] Translation: X:466.24, Y:-264.03, Z:-4.90 [[ 5.08672915e-01 8.60956039e-01 -2.56204387e-03 4.66242993e+02] [ 8.60946031e-01 -5.08679358e-01 -4.15237614e-03 -2.64026120e+02] [-4.87827215e-03 -9.35802260e-05 -9.99988097e-01 -4.90480269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.7065599950001 meters 0.051265724991931196 Centerline is valid? [True, True] Translation: X:466.33, Y:-264.04, Z:-4.90 [[ 4.39708406e-01 8.98135812e-01 -2.92939531e-03 4.66326490e+02] [ 8.98117717e-01 -4.39718147e-01 -5.70251169e-03 -2.64036114e+02] [-6.40973824e-03 -1.23499496e-04 -9.99979450e-01 -4.90351606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.766559995 meters 0.0510228809422342 Centerline is valid? [True, True] Translation: X:466.41, Y:-264.04, Z:-4.90 [[ 3.67726279e-01 9.29929567e-01 -2.89546313e-03 4.66412912e+02] [ 9.29903827e-01 -3.67737649e-01 -6.92061614e-03 -2.64041033e+02] [-7.50045638e-03 -1.47609820e-04 -9.99971860e-01 -4.90217244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.826559995 meters 0.05104062964231025 Centerline is valid? [True, True] Translation: X:466.50, Y:-264.04, Z:-4.90 [[ 2.93157342e-01 9.56060708e-01 -2.58759461e-03 4.66496702e+02] [ 9.56028396e-01 -2.93168713e-01 -7.86207131e-03 -2.64038361e+02] [-8.27521925e-03 -1.68990001e-04 -9.99965746e-01 -4.90183958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.886559995 meters 0.05034708954541572 Centerline is valid? [True, True] Translation: X:466.58, Y:-264.03, Z:-4.90 [[ 2.16593278e-01 9.76259725e-01 -2.07408297e-03 4.66582034e+02] [ 9.76222835e-01 -2.16603128e-01 -8.48893552e-03 -2.64030249e+02] [-8.73665871e-03 -1.86120789e-04 -9.99961817e-01 -4.90221458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.9465599950001 meters 0.0502197966793265 Centerline is valid? [True, True] Translation: X:466.67, Y:-264.02, Z:-4.90 [[ 1.38957648e-01 9.90297399e-01 -1.35412941e-03 4.66667995e+02] [ 9.90262460e-01 -1.38964123e-01 -8.32061700e-03 -2.64016845e+02] [-8.42806078e-03 -1.84730152e-04 -9.99964466e-01 -4.90235704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.006559995 meters 0.05041972155958204 Centerline is valid? [True, True] Translation: X:466.75, Y:-264.00, Z:-4.90 [[ 5.97955258e-02 9.98210494e-01 -5.51929345e-04 4.66748590e+02] [ 9.98188466e-01 -5.97978739e-02 -6.63331463e-03 -2.63995894e+02] [-6.65444847e-03 -1.54286971e-04 -9.99977847e-01 -4.90415776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.066559995 meters 0.05070203997217428 Centerline is valid? [True, True] Translation: X:466.84, Y:-263.97, Z:-4.90 [[-1.97463090e-02 9.99805022e-01 -2.45864641e-05 4.66836305e+02] [ 9.99791182e-01 1.97459062e-02 -5.26222080e-03 -2.63970497e+02] [-5.26070931e-03 -1.28490768e-04 -9.99986154e-01 -4.90390986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.126559995 meters 0.050413673369578894 Centerline is valid? [True, True] Translation: X:466.91, Y:-263.94, Z:-4.90 [[-9.98300335e-02 9.95004461e-01 2.95693439e-04 4.66910021e+02] [ 9.94996397e-01 9.98304153e-02 -4.00715221e-03 -2.63937916e+02] [-4.01665353e-03 -1.05820233e-04 -9.99991928e-01 -4.90490941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.1865599950002 meters 0.05145869609171351 Centerline is valid? [True, True] Translation: X:466.99, Y:-263.90, Z:-4.90 [[-1.81276000e-01 9.83432048e-01 6.46674680e-04 4.66986180e+02] [ 9.83422993e-01 1.81277107e-01 -4.22235474e-03 -2.63899764e+02] [-4.26962629e-03 -1.29456829e-04 -9.99990877e-01 -4.90317968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.246559995 meters 0.04937830492735767 Centerline is valid? [True, True] Translation: X:467.05, Y:-263.86, Z:-4.90 [[-2.61998475e-01 9.65067369e-01 1.33154559e-03 4.67053795e+02] [ 9.65050676e-01 2.62001780e-01 -5.67986667e-03 -2.63856040e+02] [-5.83032129e-03 -2.03107434e-04 -9.99982983e-01 -4.90424438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.306559995 meters 0.04913891880081991 Centerline is valid? [True, True] Translation: X:467.14, Y:-263.80, Z:-4.90 [[-3.39487163e-01 9.40608462e-01 2.04651783e-03 4.67137146e+02] [ 9.40586583e-01 3.39493236e-01 -6.42042960e-03 -2.63802615e+02] [-6.73388937e-03 -2.54726222e-04 -9.99977295e-01 -4.90327818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.366559995 meters 0.04967626079155568 Centerline is valid? [True, True] Translation: X:467.22, Y:-263.74, Z:-4.90 [[-4.13622819e-01 9.10443988e-01 2.81228572e-03 4.67219212e+02] [ 9.10417864e-01 4.13632275e-01 -6.90317330e-03 -2.63742787e+02] [-7.44820477e-03 -2.94954844e-04 -9.99972218e-01 -4.90197281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.426559995 meters 0.0491875972917312 Centerline is valid? [True, True] Translation: X:467.28, Y:-263.68, Z:-4.90 [[-4.82022834e-01 8.76151523e-01 3.53491199e-03 4.67284495e+02] [ 8.76123268e-01 4.82035704e-01 -7.04274616e-03 -2.63680961e+02] [-7.87446657e-03 -2.97745820e-04 -9.99968952e-01 -4.90241773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.486559995 meters 0.051015197058730144 Centerline is valid? [True, True] Translation: X:467.36, Y:-263.61, Z:-4.90 [[-5.46017898e-01 8.37763867e-01 4.01983795e-03 4.67357678e+02] [ 8.37737489e-01 5.46032630e-01 -6.65332941e-03 -2.63608768e+02] [-7.76888166e-03 -2.65267988e-04 -9.99969787e-01 -4.90028547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.546559995 meters 0.04837321731613815 Centerline is valid? [True, True] Translation: X:467.41, Y:-263.54, Z:-4.90 [[-6.05281142e-01 7.95997380e-01 4.78643460e-03 4.67410722e+02] [ 7.95969393e-01 6.05300022e-01 -6.67894803e-03 -2.63539967e+02] [-8.21365410e-03 -2.32785841e-04 -9.99966240e-01 -4.90372964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.606559995 meters 0.048184960815383523 Centerline is valid? [True, True] Translation: X:467.47, Y:-263.46, Z:-4.90 [[-6.63875894e-01 7.47823403e-01 5.38096489e-03 4.67470182e+02] [ 7.47796161e-01 6.63897666e-01 -6.38680294e-03 -2.63459006e+02] [-8.34861074e-03 -2.16179627e-04 -9.99965126e-01 -4.90278950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.666559995 meters 0.04831340431900314 Centerline is valid? [True, True] Translation: X:467.52, Y:-263.38, Z:-4.90 [[-7.18145712e-01 6.95867043e-01 5.98286703e-03 4.67517728e+02] [ 6.95840624e-01 7.18170607e-01 -6.06671914e-03 -2.63377861e+02] [-8.51834915e-03 -1.93666407e-04 -9.99963699e-01 -4.90263923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.7265599950001 meters 0.04914894161463912 Centerline is valid? [True, True] Translation: X:467.56, Y:-263.29, Z:-4.90 [[-7.69652848e-01 6.38426352e-01 6.80341786e-03 4.67558903e+02] [ 6.38399156e-01 7.69682893e-01 -5.89588951e-03 -2.63294446e+02] [-9.00056557e-03 -1.94491936e-04 -9.99959475e-01 -4.90131077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.786559995 meters 0.049364977133144215 Centerline is valid? [True, True] Translation: X:467.56, Y:-263.19, Z:-4.90 [[-8.11999659e-01 5.83613617e-01 7.19032674e-03 4.67556278e+02] [ 5.83588769e-01 8.12031474e-01 -5.38839484e-03 -2.63192851e+02] [-8.98351222e-03 -1.79180837e-04 -9.99959631e-01 -4.90144981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.846559995 meters 0.048630688749830495 Centerline is valid? [True, True] Translation: X:467.54, Y:-263.08, Z:-4.90 [[-8.51576638e-01 5.24177829e-01 7.40492796e-03 4.67535819e+02] [ 5.24156166e-01 8.51608814e-01 -4.76886372e-03 -2.63082989e+02] [-8.80583454e-03 -1.79714290e-04 -9.99961212e-01 -4.90239812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.906559995 meters 0.048825578691894266 Centerline is valid? [True, True] Translation: X:467.56, Y:-263.01, Z:-4.90 [[-8.87104800e-01 4.61504263e-01 7.67392490e-03 4.67564032e+02] [ 4.61485156e-01 8.87137971e-01 -4.20373203e-03 -2.63006518e+02] [-8.74787042e-03 -1.87748435e-04 -9.99961719e-01 -4.90247206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.9665599950001 meters 0.048966223861042296 Centerline is valid? [True, True] Translation: X:467.52, Y:-262.90, Z:-4.90 [[-9.18256703e-01 3.95909274e-01 7.77653081e-03 4.67523982e+02] [ 3.95893243e-01 9.18289610e-01 -3.56823842e-03 -2.62897142e+02] [-8.55380613e-03 -1.97882847e-04 -9.99963396e-01 -4.90226439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.026559995 meters 0.04841111227790331 Centerline is valid? [True, True] Translation: X:467.60, Y:-262.84, Z:-4.90 [[-9.44018514e-01 3.29801539e-01 7.74537026e-03 4.67596041e+02] [ 3.29788702e-01 9.44050266e-01 -2.91664954e-03 -2.62838056e+02] [-8.27393436e-03 -1.99035560e-04 -9.99965751e-01 -4.90237343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.086559995 meters 0.04844331674083639 Centerline is valid? [True, True] Translation: X:467.54, Y:-262.73, Z:-4.90 [[-9.65374914e-01 2.60740040e-01 8.11827583e-03 4.67538365e+02] [ 2.60728944e-01 9.65409025e-01 -2.41498838e-03 -2.62731548e+02] [-8.46714092e-03 -2.14699714e-04 -9.99964130e-01 -4.90211382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.146559995 meters 0.048569102016179554 Centerline is valid? [True, True] Translation: X:467.58, Y:-262.66, Z:-4.90 [[-9.81832409e-01 1.89563037e-01 8.42474275e-03 4.67576738e+02] [ 1.89553994e-01 9.81868525e-01 -1.86652491e-03 -2.62656638e+02] [-8.62581387e-03 -2.35671012e-04 -9.99962769e-01 -4.90206572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.2065599950001 meters 0.04895005483414462 Centerline is valid? [True, True] Translation: X:467.68, Y:-262.03, Z:-5.91 [[-9.50933464e-01 -3.09295603e-01 7.85987593e-03 4.67675526e+02] [ 3.09286733e-01 -9.50965926e-01 -2.35064016e-03 -2.62028056e+02] [ 8.20151686e-03 1.95652959e-04 9.99966348e-01 -5.90955094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.266559995 meters 0.04871551296214792 Centerline is valid? [True, True] Translation: X:467.44, Y:-262.62, Z:-4.90 [[-9.83317574e-01 1.81726902e-01 7.86644534e-03 4.67444060e+02] [ 1.81719017e-01 9.83349007e-01 -1.71178579e-03 -2.62623536e+02] [-8.04653874e-03 -2.53746338e-04 -9.99967594e-01 -4.90211516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.326559995 meters 0.04855411875482348 Centerline is valid? [True, True] Translation: X:467.56, Y:-262.01, Z:-5.91 [[-9.50979401e-01 -3.09165591e-01 7.40374726e-03 4.67560912e+02] [ 3.09158023e-01 -9.51008196e-01 -2.17450652e-03 -2.62011884e+02] [ 7.71330692e-03 2.21016961e-04 9.99970228e-01 -5.90932350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.386559995 meters 0.04869333113562406 Centerline is valid? [True, True] Translation: X:467.33, Y:-262.60, Z:-4.90 [[-9.84234036e-01 1.76701805e-01 7.73533960e-03 4.67326154e+02] [ 1.76694262e-01 9.84264398e-01 -1.65329075e-03 -2.62597507e+02] [-7.90575883e-03 -2.60434905e-04 -9.99968715e-01 -4.90198356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.4465599950001 meters 0.048662482682293604 Centerline is valid? [True, True] Translation: X:467.26, Y:-262.50, Z:-4.90 [[-9.94177301e-01 1.07443189e-01 8.21313552e-03 4.67256488e+02] [ 1.07437324e-01 9.94211191e-01 -1.15328033e-03 -2.62503819e+02] [-8.28950336e-03 -2.64167829e-04 -9.99965607e-01 -4.90283310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.506559995 meters 0.051557401615873626 Centerline is valid? [True, True] Translation: X:467.36, Y:-262.41, Z:-4.90 [[-9.99167256e-01 3.95502266e-02 1.00286868e-02 4.67362712e+02] [ 3.95453993e-02 9.99217544e-01 -6.79270797e-04 -2.62414913e+02] [-1.00477052e-02 -2.82116713e-04 -9.99949481e-01 -4.89720289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.566559995 meters 0.04967426179807399 Centerline is valid? [True, True] Translation: X:466.84, Y:-262.33, Z:-4.90 [[-9.99578889e-01 -2.72013138e-02 1.01061492e-02 4.66841102e+02] [-2.72023761e-02 9.99629946e-01 3.23516520e-05 -2.62326209e+02] [-1.01032894e-02 -2.42573244e-04 -9.99948931e-01 -4.90109335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.626559995 meters 0.04966179237471081 Centerline is valid? [True, True] Translation: X:466.64, Y:-262.26, Z:-4.90 [[-9.95886469e-01 -9.01055533e-02 9.54616322e-03 4.66635042e+02] [-9.01028865e-02 9.95932209e-01 7.09940016e-04 -2.62257673e+02] [-9.57130097e-03 -1.53117206e-04 -9.99954182e-01 -4.90084647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.6865599950002 meters 0.04993371275706483 Centerline is valid? [True, True] Translation: X:466.53, Y:-261.63, Z:-5.91 [[-9.99953338e-01 -3.39710351e-03 9.04330615e-03 4.66531091e+02] [ 3.39798467e-03 -9.99994224e-01 8.20750635e-05 -2.61634909e+02] [ 9.04297509e-03 1.12800249e-04 9.99959105e-01 -5.90933008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.746559995 meters 0.049707617438647995 Centerline is valid? [True, True] Translation: X:466.39, Y:-262.28, Z:-4.90 [[-9.96791812e-01 -7.96501647e-02 7.86982681e-03 4.66388209e+02] [-7.96477933e-02 9.96822879e-01 6.14780301e-04 -2.62281634e+02] [-7.89379077e-03 -1.40063688e-05 -9.99968843e-01 -4.90279047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.806559995 meters 0.04954008163252223 Centerline is valid? [True, True] Translation: X:466.41, Y:-262.20, Z:-4.90 [[-9.89011191e-01 -1.47664681e-01 7.21147372e-03 4.66408770e+02] [-1.47660644e-01 9.89037483e-01 1.09198577e-03 -2.62204194e+02] [-7.29366555e-03 1.51352946e-05 -9.99973401e-01 -4.90321323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.866559995 meters 0.04943320845462784 Centerline is valid? [True, True] Translation: X:466.31, Y:-262.14, Z:-4.90 [[-9.76456133e-01 -2.15598021e-01 7.13539793e-03 4.66314804e+02] [-2.15592032e-01 9.76482203e-01 1.60722428e-03 -2.62144010e+02] [-7.31410347e-03 3.10490687e-05 -9.99973251e-01 -4.90289264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.926559995 meters 0.05048742172600843 Centerline is valid? [True, True] Translation: X:466.09, Y:-262.12, Z:-4.90 [[-9.58531493e-01 -2.84873312e-01 8.03572408e-03 4.66088384e+02] [-2.84863028e-01 9.58565175e-01 2.42084842e-03 -2.62124730e+02] [-8.39240037e-03 3.13787547e-05 -9.99964783e-01 -4.90026279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.986559995 meters 0.050542637960443886 Centerline is valid? [True, True] Translation: X:466.07, Y:-262.05, Z:-4.90 [[-9.34447750e-01 -3.56009857e-01 8.02393274e-03 4.66072089e+02] [-3.55996576e-01 9.34482200e-01 3.07521813e-03 -2.62047188e+02] [-8.59303028e-03 1.71380888e-05 -9.99963079e-01 -4.90205381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.046559995 meters 0.051010369852992274 Centerline is valid? [True, True] Translation: X:465.86, Y:-262.05, Z:-4.90 [[-9.04702698e-01 -4.25984708e-01 7.07510668e-03 4.65857933e+02] [-4.25971877e-01 9.04730362e-01 3.30643172e-03 -2.62051629e+02] [-7.80955318e-03 -2.24587717e-05 -9.99969505e-01 -4.90230296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.106559995 meters 0.0504347842807519 Centerline is valid? [True, True] Translation: X:465.75, Y:-262.02, Z:-4.90 [[-8.69218929e-01 -4.94396415e-01 5.53516348e-03 4.65748653e+02] [-4.94386744e-01 8.69236551e-01 3.09276695e-03 -2.62019398e+02] [-6.34041930e-03 -4.82198777e-05 -9.99979898e-01 -4.90364194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.166559995 meters 0.05037082560401483 Centerline is valid? [True, True] Translation: X:465.64, Y:-261.99, Z:-4.90 [[-8.27561071e-01 -5.61366587e-01 3.19821647e-03 4.65636887e+02] [-5.61362643e-01 8.27567249e-01 2.10511208e-03 -2.61988612e+02] [-3.82847879e-03 -5.32504376e-05 -9.99992670e-01 -4.90481890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.2265599950001 meters 0.050318725495964285 Centerline is valid? [True, True] Translation: X:465.51, Y:-261.98, Z:-4.91 [[-7.82520562e-01 -6.22619513e-01 2.55175105e-03 4.65505096e+02] [-6.22616437e-01 7.82524721e-01 1.95812576e-03 -2.61980824e+02] [-3.21597559e-03 -5.64884739e-05 -9.99994827e-01 -4.90545170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.286559995 meters 0.05045487698723024 Centerline is valid? [True, True] Translation: X:465.36, Y:-261.99, Z:-4.91 [[-7.32825308e-01 -6.80412718e-01 2.36659678e-03 4.65361235e+02] [-6.80409463e-01 7.32829126e-01 2.10578345e-03 -2.61991734e+02] [-3.16711289e-03 -6.70834329e-05 -9.99994982e-01 -4.90548212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.346559995 meters 0.05057884919270597 Centerline is valid? [True, True] Translation: X:465.21, Y:-262.03, Z:-4.91 [[-6.80379261e-01 -7.32855876e-01 2.51521651e-03 4.65208055e+02] [-7.32851299e-01 6.80383905e-01 2.59121955e-03 -2.62025854e+02] [-3.61030331e-03 -8.02676492e-05 -9.99993480e-01 -4.90513233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.406559995 meters 0.050921773639073215 Centerline is valid? [True, True] Translation: X:465.02, Y:-262.11, Z:-4.90 [[-6.26608888e-01 -7.79327158e-01 3.23769322e-03 4.65018055e+02] [-7.79317618e-01 6.26617243e-01 3.85743713e-03 -2.62114409e+02] [-5.03499991e-03 -1.06086978e-04 -9.99987319e-01 -4.90420283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.4665599950001 meters 0.051295539571357136 Centerline is valid? [True, True] Translation: X:464.85, Y:-262.21, Z:-4.90 [[-5.70444141e-01 -8.21330474e-01 3.12005183e-03 4.64848012e+02] [-8.21319103e-01 5.70452665e-01 4.32298677e-03 -2.62206797e+02] [-5.33044265e-03 -9.65356969e-05 -9.99985788e-01 -4.90400234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.526559995 meters 0.05059513673611282 Centerline is valid? [True, True] Translation: X:464.66, Y:-262.37, Z:-4.91 [[-5.16058898e-01 -8.56550088e-01 2.27163286e-03 4.64655406e+02] [-8.56542176e-01 5.16063895e-01 3.68198537e-03 -2.62366571e+02] [-4.32611260e-03 -4.56280423e-05 -9.99990641e-01 -4.90680255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.586559995 meters 0.050698128943681406 Centerline is valid? [True, True] Translation: X:464.48, Y:-262.53, Z:-4.91 [[-4.58263397e-01 -8.88814320e-01 1.94008826e-03 4.64475917e+02] [-8.88806506e-01 4.58267504e-01 3.72706379e-03 -2.62532589e+02] [-4.20174707e-03 -1.63861518e-05 -9.99991173e-01 -4.90696276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.646559995 meters 0.05103093685297157 Centerline is valid? [True, True] Translation: X:464.34, Y:-262.65, Z:-4.91 [[-3.94757304e-01 -9.18783931e-01 1.66133196e-03 4.64337984e+02] [-9.18775807e-01 3.94760799e-01 3.86369296e-03 -2.62652667e+02] [-4.20572774e-03 -1.17059865e-06 -9.99991156e-01 -4.90655930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.7065599950001 meters 0.051793375769424825 Centerline is valid? [True, True] Translation: X:464.37, Y:-262.33, Z:-4.91 [[-3.32462070e-01 -9.43114824e-01 1.84422068e-03 4.64374788e+02] [-9.43099456e-01 3.32467181e-01 5.38428064e-03 -2.62329804e+02] [-5.69113774e-03 5.07855647e-05 -9.99983804e-01 -4.90779543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.766559995 meters 0.0517349054321373 Centerline is valid? [True, True] Translation: X:464.22, Y:-262.54, Z:-4.91 [[-2.66576420e-01 -9.63812374e-01 1.64899365e-03 4.64218239e+02] [-9.63791907e-01 2.66581507e-01 6.28173820e-03 -2.62540407e+02] [-6.49400822e-03 8.52765436e-05 -9.99978910e-01 -4.90806609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.826559995 meters 0.053008449037264906 Centerline is valid? [True, True] Translation: X:464.09, Y:-262.70, Z:-4.91 [[-1.97790648e-01 -9.80243599e-01 1.15998248e-03 4.64085666e+02] [-9.80223559e-01 1.97794023e-01 6.26891186e-03 -2.62700904e+02] [-6.37449833e-03 1.02889987e-04 -9.99979677e-01 -4.90960034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.886559995 meters 0.05229808810517728 Centerline is valid? [True, True] Translation: X:463.95, Y:-263.01, Z:-4.91 [[-1.26038846e-01 -9.92025092e-01 6.52720092e-04 4.63951123e+02] [-9.92007554e-01 1.26040499e-01 5.89953958e-03 -2.63008443e+02] [-5.93476046e-03 9.60678985e-05 -9.99982385e-01 -4.90898056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.9465599950001 meters 0.05206341241219581 Centerline is valid? [True, True] Translation: X:463.84, Y:-263.20, Z:-4.91 [[-4.95356845e-02 -9.98772331e-01 2.15962640e-04 4.63842739e+02] [-9.98755066e-01 4.95360982e-02 5.87317330e-03 -2.63197995e+02] [-5.87666093e-03 7.52378791e-05 -9.99982729e-01 -4.90992791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.006559995 meters 0.05222169533969633 Centerline is valid? [True, True] Translation: X:463.76, Y:-263.87, Z:-4.91 [[ 2.93881197e-02 -9.99568048e-01 -2.36162702e-04 4.63755857e+02] [-9.99544573e-01 -2.93890480e-02 6.85064293e-03 -2.63872470e+02] [-6.85462438e-03 3.47276323e-05 -9.99976506e-01 -4.90716922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.066559995 meters 0.051885635341546985 Centerline is valid? [True, True] Translation: X:463.68, Y:-264.03, Z:-4.91 [[ 1.10473609e-01 -9.93878726e-01 -8.12695578e-04 4.63684955e+02] [-9.93850715e-01 -1.10476597e-01 7.46169057e-03 -2.64032712e+02] [-7.50579936e-03 -1.66218072e-05 -9.99971831e-01 -4.90732394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.126559995 meters 0.05301343924211911 Centerline is valid? [True, True] Translation: X:463.64, Y:-264.30, Z:-4.91 [[ 1.91009176e-01 -9.81587256e-01 -1.39740017e-03 4.63642016e+02] [-9.81557887e-01 -1.91014271e-01 7.59362835e-03 -2.64300448e+02] [-7.72073219e-03 -7.88235405e-05 -9.99970192e-01 -4.90727864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.1865599950002 meters 0.05291356024416177 Centerline is valid? [True, True] Translation: X:463.59, Y:-264.44, Z:-4.91 [[ 2.72743128e-01 -9.62084282e-01 -2.24079524e-03 4.63585697e+02] [-9.62046182e-01 -2.72752273e-01 8.56398680e-03 -2.64435175e+02] [-8.85045908e-03 -1.80020036e-04 -9.99960818e-01 -4.90569954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.246559995 meters 0.05250308572984723 Centerline is valid? [True, True] Translation: X:463.56, Y:-264.61, Z:-4.91 [[ 3.46806665e-01 -9.37932359e-01 -2.83313899e-03 4.63560002e+02] [-9.37895836e-01 -3.46818171e-01 8.27990232e-03 -2.64609039e+02] [-8.74857240e-03 -2.14336042e-04 -9.99961708e-01 -4.90757335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.306559995 meters 0.052540504652545277 Centerline is valid? [True, True] Translation: X:463.55, Y:-264.82, Z:-4.91 [[ 4.16728436e-01 -9.09026695e-01 -2.80677361e-03 4.63553507e+02] [-9.09002911e-01 -4.16737845e-01 6.57849223e-03 -2.64816283e+02] [-7.14971384e-03 -1.90079393e-04 -9.99974422e-01 -4.90852000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.366559995 meters 0.05287251279463542 Centerline is valid? [True, True] Translation: X:463.57, Y:-265.03, Z:-4.91 [[ 4.82010387e-01 -8.76161911e-01 -2.50869599e-03 4.63568517e+02] [-8.76148455e-01 -4.82016894e-01 4.85782493e-03 -2.65034987e+02] [-5.46547502e-03 -1.43531957e-04 -9.99985054e-01 -4.90888967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.426559995 meters 0.05373418179050857 Centerline is valid? [True, True] Translation: X:463.58, Y:-265.22, Z:-4.91 [[ 5.44448447e-01 -8.38789391e-01 -2.87157527e-03 4.63580945e+02] [-8.38776336e-01 -5.44456001e-01 4.68202722e-03 -2.65223692e+02] [-5.49068115e-03 -1.40513062e-04 -9.99984916e-01 -4.90754844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.486559995 meters 0.05454180517202539 Centerline is valid? [True, True] Translation: X:463.58, Y:-265.37, Z:-4.90 [[ 6.04322054e-01 -7.96730859e-01 -3.84634913e-03 4.63577569e+02] [-7.96712933e-01 -6.04334271e-01 5.34710900e-03 -2.65367419e+02] [-6.58468734e-03 -1.66939798e-04 -9.99978307e-01 -4.90490993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.546559995 meters 0.053335127445002635 Centerline is valid? [True, True] Translation: X:463.69, Y:-265.63, Z:-4.90 [[ 6.60564524e-01 -7.50749815e-01 -5.40597800e-03 4.63687105e+02] [-7.50722035e-01 -6.60586611e-01 6.46181596e-03 -2.65625310e+02] [-8.42232382e-03 -2.10059578e-04 -9.99964510e-01 -4.90405834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.606559995 meters 0.05230170851912233 Centerline is valid? [True, True] Translation: X:463.78, Y:-265.84, Z:-4.91 [[ 7.12881289e-01 -7.01255850e-01 -6.36400962e-03 4.63784603e+02] [-7.01225149e-01 -7.12909661e-01 6.56545718e-03 -2.65835115e+02] [-9.14102919e-03 -2.17787984e-04 -9.99958196e-01 -4.90560588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.666559995 meters 0.05178947810803147 Centerline is valid? [True, True] Translation: X:463.86, Y:-266.00, Z:-4.91 [[ 7.60607255e-01 -6.49176701e-01 -6.79816024e-03 4.63855630e+02] [-6.49148490e-01 -7.60637610e-01 6.05507815e-03 -2.65999418e+02] [-9.10175202e-03 -1.92520912e-04 -9.99958560e-01 -4.90668892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.7265599950001 meters 0.05190440711065654 Centerline is valid? [True, True] Translation: X:463.83, Y:-266.09, Z:-4.91 [[ 8.07292330e-01 -5.90113689e-01 -6.70287255e-03 4.63833856e+02] [-5.90091763e-01 -8.07320142e-01 5.08916263e-03 -2.66087047e+02] [-8.41454855e-03 -1.53132069e-04 -9.99964585e-01 -4.90721829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.786559995 meters 0.051572795146472866 Centerline is valid? [True, True] Translation: X:463.82, Y:-266.17, Z:-4.91 [[ 8.48175099e-01 -5.29680292e-01 -6.14728267e-03 4.63819835e+02] [-5.29665571e-01 -8.48197371e-01 3.95011616e-03 -2.66172276e+02] [-7.30640767e-03 -9.43861827e-05 -9.99973303e-01 -4.90676574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.846559995 meters 0.05208003615267265 Centerline is valid? [True, True] Translation: X:463.82, Y:-266.25, Z:-4.91 [[ 8.85657534e-01 -4.64305456e-01 -5.58357135e-03 4.63817572e+02] [-4.64295774e-01 -8.85675132e-01 2.99903302e-03 -2.66249890e+02] [-6.33769769e-03 -6.36876085e-05 -9.99979915e-01 -4.90790304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.906559995 meters 0.05188204530703786 Centerline is valid? [True, True] Translation: X:463.82, Y:-266.33, Z:-4.91 [[ 9.18815409e-01 -3.94659414e-01 -4.71079753e-03 4.63818399e+02] [-3.94653970e-01 -9.18827484e-01 2.07346153e-03 -2.66333250e+02] [-5.14672135e-03 -4.59934532e-05 -9.99986755e-01 -4.90951414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.9665599950001 meters 0.05139549902029628 Centerline is valid? [True, True] Translation: X:463.83, Y:-266.42, Z:-4.91 [[ 9.47496060e-01 -3.19733535e-01 -4.65652830e-03 4.63825679e+02] [-3.19729393e-01 -9.47507501e-01 1.62827621e-03 -2.66415105e+02] [-4.93271000e-03 -5.39563298e-05 -9.99987833e-01 -4.90950127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.026559995 meters 0.05144801675087712 Centerline is valid? [True, True] Translation: X:463.84, Y:-266.50, Z:-4.91 [[ 9.70933408e-01 -2.39266668e-01 -6.30701175e-03 4.63836205e+02] [-2.39260895e-01 -9.70953887e-01 1.66556491e-03 -2.66503867e+02] [-6.52233173e-03 -1.08131338e-04 -9.99978724e-01 -4.90636555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.086559995 meters 0.05190480056447718 Centerline is valid? [True, True] Translation: X:463.86, Y:-266.58, Z:-4.91 [[ 9.87799084e-01 -1.55477455e-01 -8.92915534e-03 4.63857288e+02] [-1.55469117e-01 -9.87839417e-01 1.62474649e-03 -2.66583544e+02] [-9.07318306e-03 -2.16715202e-04 -9.99958814e-01 -4.90595769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.146559995 meters 0.05195692716723437 Centerline is valid? [True, True] Translation: X:463.88, Y:-266.67, Z:-4.91 [[ 9.97190408e-01 -7.42515215e-02 -9.89959685e-03 4.63883157e+02] [-7.42451416e-02 -9.97239508e-01 1.01092081e-03 -2.66667098e+02] [-9.94733150e-03 -2.73083569e-04 -9.99950487e-01 -4.90551444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.2065599950001 meters 0.05268428828849609 Centerline is valid? [True, True] Translation: X:463.91, Y:-266.75, Z:-4.90 [[ 9.99938846e-01 5.54839049e-03 -9.56661932e-03 4.63913880e+02] [ 5.55079785e-03 -9.99984569e-01 2.25107553e-04 -2.66751412e+02] [-9.56522271e-03 -2.78196156e-04 -9.99954214e-01 -4.90485232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.266559995 meters 0.051562872947032434 Centerline is valid? [True, True] Translation: X:463.95, Y:-266.83, Z:-4.91 [[ 9.96470023e-01 8.35604098e-02 -8.07163853e-03 4.63947598e+02] [ 8.35595615e-02 -9.96502686e-01 -4.42866407e-04 -2.66829681e+02] [-8.08041558e-03 -2.33159478e-04 -9.99967326e-01 -4.90696303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.326559995 meters 0.05194850713720158 Centerline is valid? [True, True] Translation: X:463.99, Y:-266.90, Z:-4.91 [[ 9.87593203e-01 1.56894356e-01 -6.62010959e-03 4.63985021e+02] [ 1.56891935e-01 -9.87615378e-01 -8.86702872e-04 -2.66904306e+02] [-6.67724071e-03 -1.62940075e-04 -9.99977694e-01 -4.90688692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.386559995 meters 0.05148377217468536 Centerline is valid? [True, True] Translation: X:464.03, Y:-266.97, Z:-4.91 [[ 9.73362395e-01 2.29200871e-01 -5.71042993e-03 4.64027001e+02] [ 2.29197622e-01 -9.73379139e-01 -1.22590397e-03 -2.66965930e+02] [-5.83939162e-03 -1.15568135e-04 -9.99982944e-01 -4.90713131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.4465599950001 meters 0.05025815712052709 Centerline is valid? [True, True] Translation: X:464.08, Y:-267.03, Z:-4.91 [[ 9.54482383e-01 2.98219751e-01 -5.32552853e-03 4.64075285e+02] [ 2.98215531e-01 -9.54497237e-01 -1.58804619e-03 -2.67031188e+02] [-5.55678901e-03 -7.23932053e-05 -9.99984558e-01 -4.90856631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.506559995 meters 0.05122802500761736 Centerline is valid? [True, True] Translation: X:464.13, Y:-267.10, Z:-4.91 [[ 9.28903122e-01 3.70275134e-01 -5.94263818e-03 4.64129872e+02] [ 3.70268047e-01 -9.28922128e-01 -2.29200974e-03 -2.67102467e+02] [-6.36892232e-03 -7.13140313e-05 -9.99979716e-01 -4.90667457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.566559995 meters 0.05061828447003936 Centerline is valid? [True, True] Translation: X:464.19, Y:-267.16, Z:-4.91 [[ 8.99117795e-01 4.37633945e-01 -7.98252002e-03 4.64185603e+02] [ 4.37617272e-01 -8.99153228e-01 -3.82051373e-03 -2.67156306e+02] [-8.84949514e-03 -5.81967598e-05 -9.99960841e-01 -4.90544331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.626559995 meters 0.05033529091726002 Centerline is valid? [True, True] Translation: X:464.25, Y:-267.21, Z:-4.90 [[ 8.63677690e-01 5.03959077e-01 -9.27880524e-03 4.64245009e+02] [ 5.03930461e-01 -8.63727531e-01 -5.37059450e-03 -2.67205591e+02] [-1.07209194e-02 -3.74099436e-05 -9.99942529e-01 -4.90423159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.6865599950002 meters 0.04991136169565967 Centerline is valid? [True, True] Translation: X:464.30, Y:-267.24, Z:-4.90 [[ 8.24680235e-01 5.65519671e-01 -9.48747878e-03 4.64303225e+02] [ 5.65481938e-01 -8.24734807e-01 -6.53268170e-03 -2.67244982e+02] [-1.15190140e-02 2.23755833e-05 -9.99933654e-01 -4.90303538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.746559995 meters 0.05057048997386673 Centerline is valid? [True, True] Translation: X:464.37, Y:-267.29, Z:-4.91 [[ 7.80174357e-01 6.25510835e-01 -8.01043337e-03 4.64369408e+02] [ 6.25477115e-01 -7.80215478e-01 -6.49518321e-03 -2.67285618e+02] [-1.03126716e-02 5.70326328e-05 -9.99946821e-01 -4.90517145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.806559995 meters 0.050435286949522616 Centerline is valid? [True, True] Translation: X:464.43, Y:-267.32, Z:-4.91 [[ 7.30344766e-01 6.83051604e-01 -6.08523364e-03 4.64432995e+02] [ 6.83027155e-01 -7.30370113e-01 -5.77954831e-03 -2.67317917e+02] [-8.39220252e-03 6.46830306e-05 -9.99964783e-01 -4.90564390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.866559995 meters 0.04987275424688028 Centerline is valid? [True, True] Translation: X:464.50, Y:-267.35, Z:-4.91 [[ 6.73417705e-01 7.39247483e-01 -4.66400545e-03 4.64502641e+02] [ 7.39229321e-01 -6.73433855e-01 -5.18202453e-03 -2.67347549e+02] [-6.97169776e-03 4.18974868e-05 -9.99975697e-01 -4.90674758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.926559995 meters 0.04993605581808722 Centerline is valid? [True, True] Translation: X:464.57, Y:-267.37, Z:-4.91 [[ 6.10232547e-01 7.92211479e-01 -4.14871447e-03 4.64574392e+02] [ 7.92193031e-01 -6.10246649e-01 -5.40639171e-03 -2.67373031e+02] [-6.81474467e-03 1.25734898e-05 -9.99976779e-01 -4.90575298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.986559995 meters 0.04945593692309881 Centerline is valid? [True, True] Translation: X:464.65, Y:-267.39, Z:-4.91 [[ 5.38881896e-01 8.42372154e-01 -3.93139440e-03 4.64649856e+02] [ 8.42350427e-01 -5.38896235e-01 -6.05040079e-03 -2.67393316e+02] [-7.21530278e-03 -5.11602953e-05 -9.99973968e-01 -4.90621925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.046559995 meters 0.049188803252826846 Centerline is valid? [True, True] Translation: X:464.73, Y:-267.41, Z:-4.91 [[ 4.65374315e-01 8.85106372e-01 -3.66837729e-03 4.64732865e+02] [ 8.85080652e-01 -4.65388760e-01 -6.74842823e-03 -2.67410409e+02] [-7.68029839e-03 -1.06264606e-04 -9.99970500e-01 -4.90649355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.106559995 meters 0.04915866431714198 Centerline is valid? [True, True] Translation: X:464.82, Y:-267.43, Z:-4.91 [[ 3.86180663e-01 9.22417833e-01 -3.13631908e-03 4.64822734e+02] [ 9.22391054e-01 -3.86193357e-01 -7.03094103e-03 -2.67425085e+02] [-7.69669099e-03 -1.77699191e-04 -9.99970364e-01 -4.90565466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.166559995 meters 0.04892346243569253 Centerline is valid? [True, True] Translation: X:464.91, Y:-267.43, Z:-4.91 [[ 3.12055907e-01 9.50059653e-01 -2.78691952e-03 4.64912024e+02] [ 9.50027272e-01 -3.12068288e-01 -7.84647322e-03 -2.67431065e+02] [-8.32432683e-03 -1.99111231e-04 -9.99965332e-01 -4.90583569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.2265599950001 meters 0.049106808534199305 Centerline is valid? [True, True] Translation: X:465.00, Y:-267.43, Z:-4.91 [[ 2.38782107e-01 9.71071110e-01 -2.00098633e-03 4.65004657e+02] [ 9.71042680e-01 -2.38790431e-01 -7.43258807e-03 -2.67430885e+02] [-7.69538793e-03 -1.68274092e-04 -9.99970376e-01 -4.90638240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.286559995 meters 0.0492743739544881 Centerline is valid? [True, True] Translation: X:465.10, Y:-267.43, Z:-4.91 [[ 1.65283597e-01 9.86245486e-01 -1.08350976e-03 4.65096222e+02] [ 9.86228433e-01 -1.65287112e-01 -5.80075419e-03 -2.67425348e+02] [-5.90005783e-03 -1.09818616e-04 -9.99982589e-01 -4.90706121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.346559995 meters 0.04978701492241962 Centerline is valid? [True, True] Translation: X:465.18, Y:-267.41, Z:-4.91 [[ 8.80723272e-02 9.96113924e-01 -5.61150399e-04 4.65182106e+02] [ 9.96100058e-01 -8.80740626e-02 -5.25683150e-03 -2.67411274e+02] [-5.28582585e-03 -9.59805615e-05 -9.99986025e-01 -4.90668972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.406559995 meters 0.051196736822846055 Centerline is valid? [True, True] Translation: X:465.26, Y:-267.39, Z:-4.90 [[ 7.21325499e-03 9.99973967e-01 -1.85291145e-04 4.65261713e+02] [ 9.99952147e-01 -7.21432192e-03 -6.60743878e-03 -2.67389152e+02] [-6.60860351e-03 -1.37621137e-04 -9.99978154e-01 -4.90453791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.4665599950001 meters 0.04954126249776381 Centerline is valid? [True, True] Translation: X:465.34, Y:-267.36, Z:-4.91 [[-7.33512237e-02 9.97306097e-01 3.83757879e-04 4.65341979e+02] [ 9.97276938e-01 7.33520144e-02 -7.62832058e-03 -2.67360774e+02] [-7.63592003e-03 -1.76833767e-04 -9.99970830e-01 -4.90555974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.526559995 meters 0.04920445326912583 Centerline is valid? [True, True] Translation: X:465.43, Y:-267.33, Z:-4.91 [[-1.53282236e-01 9.88181822e-01 1.11505150e-03 4.65428058e+02] [ 9.88144210e-01 1.53286133e-01 -8.62445277e-03 -2.67325460e+02] [-8.69344939e-03 -2.20143722e-04 -9.99962187e-01 -4.90644920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.586559995 meters 0.04906475240980433 Centerline is valid? [True, True] Translation: X:465.51, Y:-267.28, Z:-4.91 [[-2.31236466e-01 9.72895805e-01 1.85711924e-03 4.65514564e+02] [ 9.72855605e-01 2.31243799e-01 -8.84747951e-03 -2.67282547e+02] [-9.03712302e-03 -2.39151033e-04 -9.99959136e-01 -4.90664169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.646559995 meters 0.04944197553051033 Centerline is valid? [True, True] Translation: X:465.60, Y:-267.23, Z:-4.91 [[-3.04682368e-01 9.52451192e-01 2.31959889e-03 4.65596468e+02] [ 9.52418360e-01 3.04691132e-01 -7.91084571e-03 -2.67234716e+02] [-8.24145564e-03 -2.01066636e-04 -9.99966018e-01 -4.90666671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.7065599950001 meters 0.04920850019479187 Centerline is valid? [True, True] Translation: X:465.67, Y:-267.18, Z:-4.91 [[-3.75749047e-01 9.26717546e-01 2.69156059e-03 4.65673545e+02] [ 9.26690558e-01 3.75758651e-01 -7.07430004e-03 -2.67179498e+02] [-7.56725514e-03 -1.63917709e-04 -9.99971355e-01 -4.90806569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.766559995 meters 0.04940962772613726 Centerline is valid? [True, True] Translation: X:465.75, Y:-267.12, Z:-4.91 [[-4.44083708e-01 8.95979206e-01 3.30487274e-03 4.65750029e+02] [ 8.95951982e-01 4.44095983e-01 -6.98604539e-03 -2.67117981e+02] [-7.72703211e-03 -1.41381668e-04 -9.99970136e-01 -4.90698941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.826559995 meters 0.04880342810014081 Centerline is valid? [True, True] Translation: X:465.81, Y:-267.06, Z:-4.91 [[-5.08909137e-01 8.60813982e-01 3.28313704e-03 4.65809579e+02] [ 8.60794906e-01 5.08919719e-01 -5.73140356e-03 -2.67056244e+02] [-6.60452550e-03 -9.06559981e-05 -9.99978186e-01 -4.90763507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.886559995 meters 0.048912106914523606 Centerline is valid? [True, True] Translation: X:465.87, Y:-266.99, Z:-4.91 [[-5.73620505e-01 8.19112805e-01 3.70529901e-03 4.65868873e+02] [ 8.19094788e-01 5.73632467e-01 -5.43340214e-03 -2.66987393e+02] [-6.57604908e-03 -8.17197718e-05 -9.99978374e-01 -4.90946242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.9465599950001 meters 0.04934698901738237 Centerline is valid? [True, True] Translation: X:465.93, Y:-266.91, Z:-4.91 [[-6.35896322e-01 7.71762445e-01 4.31237882e-03 4.65926458e+02] [ 7.71743783e-01 6.35910938e-01 -5.36774539e-03 -2.66912077e+02] [-6.88491317e-03 -8.52780052e-05 -9.99976295e-01 -4.90857182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.006559995 meters 0.049283314034296984 Centerline is valid? [True, True] Translation: X:465.97, Y:-266.84, Z:-4.91 [[-6.94501360e-01 7.19473920e-01 5.01391704e-03 4.65972772e+02] [ 7.19454205e-01 6.94519452e-01 -5.32700672e-03 -2.66835218e+02] [-7.31490533e-03 -9.23297111e-05 -9.99973241e-01 -4.90826125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.066559995 meters 0.04921401463865614 Centerline is valid? [True, True] Translation: X:466.01, Y:-266.76, Z:-4.91 [[-7.49032379e-01 6.62506833e-01 5.93221960e-03 4.66012176e+02] [ 6.62484931e-01 7.49055863e-01 -5.38804187e-03 -2.66755666e+02] [-8.01317842e-03 -1.05811726e-04 -9.99967888e-01 -4.90842812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.126559995 meters 0.049970469210958574 Centerline is valid? [True, True] Translation: X:466.01, Y:-266.65, Z:-4.91 [[-7.94051996e-01 6.07816294e-01 6.38593037e-03 4.66007183e+02] [ 6.07795548e-01 7.94077667e-01 -5.02299139e-03 -2.66645469e+02] [-8.12398070e-03 -1.07176291e-04 -9.99966994e-01 -4.90679233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.1865599950002 meters 0.05059116508688697 Centerline is valid? [True, True] Translation: X:466.39, Y:-266.12, Z:-5.90 [[-7.34024687e-01 -6.79098296e-01 5.76745546e-03 4.66392070e+02] [ 6.79078198e-01 -7.34047340e-01 -5.22525949e-03 -2.66116228e+02] [ 7.78205015e-03 8.10838056e-05 9.99969716e-01 -5.90301945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.246559995 meters 0.0495017717105924 Centerline is valid? [True, True] Translation: X:465.90, Y:-266.57, Z:-4.91 [[-7.95431938e-01 6.06017638e-01 5.53674893e-03 4.65901717e+02] [ 6.06002227e-01 7.95451203e-01 -4.32265121e-03 -2.66567714e+02] [-7.02381647e-03 -8.30926486e-05 -9.99975329e-01 -4.90925156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.306559995 meters 0.04932560697269344 Centerline is valid? [True, True] Translation: X:466.26, Y:-266.01, Z:-5.90 [[-7.36807144e-01 -6.76090839e-01 4.05095963e-03 4.66257992e+02] [ 6.76080397e-01 -7.36818279e-01 -3.75778453e-03 -2.66014025e+02] [ 5.52542480e-03 -2.99880874e-05 9.99984734e-01 -5.90209555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.366559995 meters 0.04992449942810103 Centerline is valid? [True, True] Translation: X:465.80, Y:-266.49, Z:-4.91 [[-7.98349582e-01 6.02180887e-01 4.01545013e-03 4.65801808e+02] [ 6.02172856e-01 7.98359678e-01 -3.11062610e-03 -2.66490294e+02] [-5.07893305e-03 -6.53719714e-05 -9.99987100e-01 -4.90969820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.426559995 meters 0.04943043923428623 Centerline is valid? [True, True] Translation: X:465.84, Y:-266.42, Z:-4.91 [[-8.39279363e-01 5.43683436e-01 4.29790748e-03 4.65841410e+02] [ 5.43675887e-01 8.39290365e-01 -2.86599316e-03 -2.66419003e+02] [-5.16538534e-03 -6.87002526e-05 -9.99986657e-01 -4.90847520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.486559995 meters 0.04962958835850408 Centerline is valid? [True, True] Translation: X:465.85, Y:-266.33, Z:-4.91 [[-8.76364181e-01 4.81624825e-01 4.83213979e-03 4.65846925e+02] [ 4.81616990e-01 8.76377499e-01 -2.74840564e-03 -2.66332204e+02] [-5.55847897e-03 -8.13636403e-05 -9.99984548e-01 -4.90926614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.546559995 meters 0.04985781424590266 Centerline is valid? [True, True] Translation: X:465.83, Y:-266.23, Z:-4.91 [[-9.08506072e-01 4.17839153e-01 5.21146284e-03 4.65829277e+02] [ 4.17831727e-01 9.08521015e-01 -2.49268872e-03 -2.66230819e+02] [-5.77626646e-03 -8.71083233e-05 -9.99983313e-01 -4.90842457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.606559995 meters 0.049548245895950284 Centerline is valid? [True, True] Translation: X:466.09, Y:-265.65, Z:-5.90 [[-8.63214049e-01 -5.04823857e-01 3.79200145e-03 4.66094132e+02] [ 5.04818871e-01 -8.63222377e-01 -2.24379635e-03 -2.65648169e+02] [ 4.40606243e-03 -2.26026456e-05 9.99990293e-01 -5.90087909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.666559995 meters 0.049391316104813454 Centerline is valid? [True, True] Translation: X:465.72, Y:-266.18, Z:-4.91 [[-9.09957866e-01 4.14686720e-01 3.40689262e-03 4.65718704e+02] [ 4.14683585e-01 9.09964242e-01 -1.61340436e-03 -2.66178977e+02] [-3.76920782e-03 -5.53475435e-05 -9.99992895e-01 -4.90995894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.7265599950001 meters 0.049349724864348986 Centerline is valid? [True, True] Translation: X:465.92, Y:-265.56, Z:-5.90 [[-8.65820195e-01 -5.00344942e-01 3.21385909e-03 4.65917664e+02] [ 5.00341703e-01 -8.65826158e-01 -1.80098600e-03 -2.65564722e+02] [ 3.68375750e-03 4.86976761e-05 9.99993214e-01 -5.90154410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.786559995 meters 0.049505100050377976 Centerline is valid? [True, True] Translation: X:465.57, Y:-266.11, Z:-4.91 [[-9.09863586e-01 4.14881943e-01 4.60752609e-03 4.65570331e+02] [ 4.14876315e-01 9.09875250e-01 -2.16169772e-03 -2.66113820e+02] [-5.08912330e-03 -5.52965965e-05 -9.99987049e-01 -4.90887575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.846559995 meters 0.04958116636739747 Centerline is valid? [True, True] Translation: X:465.89, Y:-266.16, Z:-4.91 [[-9.37218168e-01 3.48697503e-01 5.67075981e-03 4.65889894e+02] [ 3.48690775e-01 9.37235322e-01 -2.16690966e-03 -2.66162820e+02] [-6.07043239e-03 -5.35254718e-05 -9.99981573e-01 -4.91049534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.906559995 meters 0.049933917393252585 Centerline is valid? [True, True] Translation: X:465.45, Y:-265.92, Z:-4.91 [[-9.58741110e-01 2.84205448e-01 6.53817247e-03 4.65447475e+02] [ 2.84198545e-01 9.58763402e-01 -1.98117936e-03 -2.65924324e+02] [-6.83162245e-03 -4.12989971e-05 -9.99976663e-01 -4.90811540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.9665599950001 meters 0.050252460491368105 Centerline is valid? [True, True] Translation: X:465.60, Y:-265.29, Z:-5.90 [[-9.33824789e-01 -3.57673305e-01 6.40865340e-03 4.65604000e+02] [ 3.57665193e-01 -9.33846778e-01 -2.40926842e-03 -2.65293196e+02] [ 6.84643133e-03 4.23176796e-05 9.99976562e-01 -5.90299455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.026559995 meters 0.04973777987041645 Centerline is valid? [True, True] Translation: X:465.28, Y:-265.88, Z:-4.91 [[-9.58124415e-01 2.86296471e-01 5.65119106e-03 4.65282294e+02] [ 2.86291484e-01 9.58141081e-01 -1.68978705e-03 -2.65878968e+02] [-5.89841838e-03 -1.13835444e-06 -9.99982604e-01 -4.90848629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.086559995 meters 0.050246046510561096 Centerline is valid? [True, True] Translation: X:465.44, Y:-265.24, Z:-5.90 [[-9.36909573e-01 -3.49534051e-01 5.13806540e-03 4.65435878e+02] [ 3.49528651e-01 -9.36923661e-01 -1.94315559e-03 -2.65239716e+02] [ 5.49317409e-03 -2.46600103e-05 9.99984912e-01 -5.90191179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.146559995 meters 0.05017677856470884 Centerline is valid? [True, True] Translation: X:465.13, Y:-265.84, Z:-4.91 [[-9.58652672e-01 2.84541494e-01 4.60364860e-03 4.65132844e+02] [ 2.84538255e-01 9.58663725e-01 -1.35774843e-03 -2.65836511e+02] [-4.79968669e-03 8.30498309e-06 -9.99988481e-01 -4.90832644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.2065599950001 meters 0.04917412588139322 Centerline is valid? [True, True] Translation: X:465.31, Y:-265.21, Z:-5.90 [[-9.37711583e-01 -3.47393467e-01 3.84280549e-03 4.65313531e+02] [ 3.47390318e-01 -9.37719455e-01 -1.48005289e-03 -2.65205724e+02] [ 4.11763418e-03 -5.29093126e-05 9.99991521e-01 -5.90222009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.266559995 meters 0.04974190166609623 Centerline is valid? [True, True] Translation: X:465.06, Y:-265.82, Z:-4.91 [[-9.60974247e-01 2.76611421e-01 3.82332626e-03 4.65062338e+02] [ 2.76609187e-01 9.60981853e-01 -1.11164840e-03 -2.65818194e+02] [-3.98164180e-03 -1.06983197e-05 -9.99992073e-01 -4.90870609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.326559995 meters 0.04909578961497892 Centerline is valid? [True, True] Translation: X:465.25, Y:-265.20, Z:-5.90 [[-9.35969000e-01 -3.52056558e-01 4.26749620e-03 4.65253933e+02] [ 3.52053152e-01 -9.35978727e-01 -1.54941393e-03 -2.65196732e+02] [ 4.53976700e-03 5.21820832e-05 9.99989694e-01 -5.90303690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.386559995 meters 0.04964454239794076 Centerline is valid? [True, True] Translation: X:465.04, Y:-265.81, Z:-4.91 [[-9.64731149e-01 2.63203264e-01 4.22506564e-03 4.65044211e+02] [ 2.63200483e-01 9.64740400e-01 -1.21129859e-03 -2.65814049e+02] [-4.39490926e-03 -5.65381679e-05 -9.99990341e-01 -4.90727852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.4465599950001 meters 0.04998367838106379 Centerline is valid? [True, True] Translation: X:465.26, Y:-265.22, Z:-5.90 [[-9.34252419e-01 -3.56595132e-01 3.51140116e-03 4.65263924e+02] [ 3.56592627e-01 -9.34259017e-01 -1.33675624e-03 -2.65217986e+02] [ 3.75723897e-03 3.27201056e-06 9.99992942e-01 -5.90485782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.506559995 meters 0.049439666962362495 Centerline is valid? [True, True] Translation: X:464.98, Y:-265.80, Z:-4.91 [[-9.67160485e-01 2.54159773e-01 1.84562322e-03 4.64983092e+02] [ 2.54159242e-01 9.67162245e-01 -5.20496579e-04 -2.65797294e+02] [-1.91730639e-03 -3.43215254e-05 -9.99998161e-01 -4.90819375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.566559995 meters 0.050616646777939076 Centerline is valid? [True, True] Translation: X:464.92, Y:-265.70, Z:-4.91 [[-9.82746300e-01 1.84955914e-01 -1.01010734e-03 4.64917872e+02] [ 1.84955794e-01 9.82746819e-01 2.11856733e-04 -2.65695544e+02] [ 1.03186393e-03 2.13762163e-05 -9.99999467e-01 -4.91061746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.626559995 meters 0.048994048722004045 Centerline is valid? [True, True] Translation: X:465.03, Y:-265.07, Z:-5.90 [[-9.58253092e-01 -2.85917485e-01 -1.48432124e-03 4.65030386e+02] [ 2.85917243e-01 -9.58254240e-01 3.77326432e-04 -2.65070131e+02] [-1.53024134e-03 -6.28188158e-05 9.99998827e-01 -5.90123076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.6865599950002 meters 0.04900973956491837 Centerline is valid? [True, True] Translation: X:464.77, Y:-265.68, Z:-4.91 [[-9.82846536e-01 1.84422161e-01 -1.07398400e-03 4.64767078e+02] [ 1.84422030e-01 9.82847122e-01 2.21171952e-04 -2.65675086e+02] [ 1.09635109e-03 1.93117776e-05 -9.99999399e-01 -4.90919106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.746559995 meters 0.0486317229773831 Centerline is valid? [True, True] Translation: X:464.71, Y:-265.59, Z:-4.91 [[-9.92923155e-01 1.18757634e-01 4.82125366e-04 4.64713344e+02] [ 1.18757618e-01 9.92923272e-01 -6.09360902e-05 -2.65590321e+02] [-4.85950122e-04 -3.24879482e-06 -9.99999882e-01 -4.90784729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.806559995 meters 0.04908991027101127 Centerline is valid? [True, True] Translation: X:464.62, Y:-265.51, Z:-4.91 [[-9.98636864e-01 5.21846878e-02 1.08241346e-03 4.64617334e+02] [ 5.21846514e-02 9.98637451e-01 -6.18326079e-05 -2.65506751e+02] [-1.08416534e-03 -5.26295233e-06 -9.99999412e-01 -4.90781483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.866559995 meters 0.04926930282667701 Centerline is valid? [True, True] Translation: X:464.55, Y:-264.83, Z:-5.90 [[-9.92257099e-01 -1.24187735e-01 1.80431460e-03 4.64545702e+02] [ 1.24187623e-01 -9.92258738e-01 -1.74292891e-04 -2.64830043e+02] [ 1.81199196e-03 5.11301818e-05 9.99998357e-01 -5.90352198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.926559995 meters 0.049545129702574145 Centerline is valid? [True, True] Translation: X:464.32, Y:-265.50, Z:-4.91 [[-9.97962318e-01 6.37789290e-02 1.86024364e-03 4.64324589e+02] [ 6.37788513e-02 9.97964051e-01 -1.01120003e-04 -2.65499195e+02] [-1.86290560e-03 1.77302493e-05 -9.99998265e-01 -4.90731703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.986559995 meters 0.04972116244200247 Centerline is valid? [True, True] Translation: X:464.77, Y:-265.42, Z:-4.91 [[-9.99963220e-01 -8.47344335e-03 1.32638495e-03 4.64769334e+02] [-8.47341170e-03 9.99964100e-01 2.94776395e-05 -2.65422995e+02] [-1.32658711e-03 1.82375496e-05 -9.99999120e-01 -4.90799652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.046559995 meters 0.049774844383713025 Centerline is valid? [True, True] Translation: X:464.78, Y:-265.33, Z:-4.91 [[-9.97086058e-01 -7.62721417e-02 1.39729697e-03 4.64784342e+02] [-7.62720326e-02 9.97087037e-01 1.31327699e-04 -2.65331088e+02] [-1.40324334e-03 2.43703377e-05 -9.99999015e-01 -4.90715155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.106559995 meters 0.049766405428908304 Centerline is valid? [True, True] Translation: X:464.35, Y:-264.69, Z:-5.90 [[-9.99136368e-01 4.15253037e-02 1.47221092e-03 4.64353001e+02] [-4.15252898e-02 -9.99137452e-01 4.00462197e-05 -2.64690480e+02] [ 1.47260400e-03 -2.11223503e-05 9.99998916e-01 -5.90400067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.166559995 meters 0.04955603276846801 Centerline is valid? [True, True] Translation: X:464.34, Y:-265.37, Z:-4.91 [[-9.96771808e-01 -8.02543869e-02 2.27948571e-03 4.64335223e+02] [-8.02540876e-02 9.96774414e-01 2.22606275e-04 -2.65367474e+02] [-2.28999816e-03 3.89496135e-05 -9.99997377e-01 -4.90542931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.2265599950001 meters 0.049683714322160726 Centerline is valid? [True, True] Translation: X:463.54, Y:-265.39, Z:-4.90 [[-9.88229235e-01 -1.52941700e-01 3.43742502e-03 4.63536463e+02] [-1.52940599e-01 9.88235212e-01 5.82344054e-04 -2.65387725e+02] [-3.48604913e-03 4.97675769e-05 -9.99993923e-01 -4.90324549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.286559995 meters 0.04967116552915684 Centerline is valid? [True, True] Translation: X:463.48, Y:-265.32, Z:-4.90 [[-9.74188517e-01 -2.25697574e-01 4.16392195e-03 4.63478824e+02] [-2.25695297e-01 9.74197415e-01 1.01487067e-03 -2.65321916e+02] [-4.28553584e-03 4.88977540e-05 -9.99990816e-01 -4.90267989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.346559995 meters 0.04959375866654622 Centerline is valid? [True, True] Translation: X:463.41, Y:-265.26, Z:-4.90 [[-9.54523755e-01 -2.98098026e-01 4.68695018e-03 4.63412687e+02] [-2.98094230e-01 9.54535262e-01 1.50484904e-03 -2.65261699e+02] [-4.92245175e-03 3.92613517e-05 -9.99987884e-01 -4.90140180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.406559995 meters 0.04953487788099427 Centerline is valid? [True, True] Translation: X:463.18, Y:-264.65, Z:-5.91 [[-9.69774468e-01 2.43938353e-01 5.61795679e-03 4.63176271e+02] [-2.43934165e-01 -9.69790740e-01 1.42948239e-03 -2.64650595e+02] [ 5.79694805e-03 1.58639243e-05 9.99983197e-01 -5.90909121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.4665599950001 meters 0.050012815288528766 Centerline is valid? [True, True] Translation: X:463.28, Y:-265.29, Z:-4.90 [[-9.50478876e-01 -3.10716349e-01 6.72727682e-03 4.63283690e+02] [-3.10708594e-01 9.50502683e-01 2.19532145e-03 -2.65291862e+02] [-7.07641694e-03 -3.61605660e-06 -9.99974962e-01 -4.89995113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.526559995 meters 0.04997942350058056 Centerline is valid? [True, True] Translation: X:463.20, Y:-265.24, Z:-4.90 [[-9.23232060e-01 -3.84168125e-01 7.57726079e-03 4.63199155e+02] [-3.84155695e-01 9.23263153e-01 3.09087436e-03 -2.65235101e+02] [-8.18322110e-03 -5.72535796e-05 -9.99966515e-01 -4.89879366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.586559995 meters 0.05022829230155705 Centerline is valid? [True, True] Translation: X:463.09, Y:-265.20, Z:-4.90 [[-8.91317454e-01 -4.53307887e-01 8.07192805e-03 4.63090011e+02] [-4.53290334e-01 8.91353998e-01 3.99050407e-03 -2.65196030e+02] [-9.00387231e-03 -1.02121033e-04 -9.99959459e-01 -4.89801876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.646559995 meters 0.0501435083330463 Centerline is valid? [True, True] Translation: X:462.98, Y:-265.17, Z:-4.90 [[-8.53694874e-01 -5.20718575e-01 7.56489437e-03 4.62976126e+02] [-5.20699600e-01 8.53728379e-01 4.44762049e-03 -2.65165003e+02] [-8.77432361e-03 -1.42126658e-04 -9.99961495e-01 -4.89747418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.7065599950001 meters 0.05083977401120499 Centerline is valid? [True, True] Translation: X:462.86, Y:-265.14, Z:-4.90 [[-8.09819237e-01 -5.86638540e-01 6.93015460e-03 4.62856211e+02] [-5.86619093e-01 8.09848866e-01 4.78055014e-03 -2.65142102e+02] [-8.41683280e-03 -1.93979541e-04 -9.99964559e-01 -4.89791579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.766559995 meters 0.050180881575937086 Centerline is valid? [True, True] Translation: X:462.75, Y:-265.12, Z:-4.90 [[-7.61826023e-01 -6.47747081e-01 6.69544347e-03 4.62745962e+02] [-6.47724752e-01 7.61855408e-01 5.38349705e-03 -2.65124655e+02] [-8.58810432e-03 -2.35516314e-04 -9.99963094e-01 -4.89826960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.826559995 meters 0.05149494742673062 Centerline is valid? [True, True] Translation: X:462.59, Y:-265.13, Z:-4.90 [[-7.10277011e-01 -7.03884283e-01 7.31328536e-03 4.62593490e+02] [-7.03851423e-01 7.10314592e-01 6.80844990e-03 -2.65134605e+02] [-9.98709418e-03 -3.11580868e-04 -9.99950079e-01 -4.89551476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.886559995 meters 0.050240715459358556 Centerline is valid? [True, True] Translation: X:462.44, Y:-265.18, Z:-4.90 [[-6.54872985e-01 -7.55706037e-01 7.05404107e-03 4.62444176e+02] [-7.55667879e-01 6.54910881e-01 7.60223691e-03 -2.65175317e+02] [-1.03648246e-02 -3.52012672e-04 -9.99946222e-01 -4.89815830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.9465599950001 meters 0.053155182775011835 Centerline is valid? [True, True] Translation: X:462.27, Y:-265.23, Z:-4.89 [[-5.98765542e-01 -8.00894679e-01 6.89482345e-03 4.62272046e+02] [-8.00848539e-01 5.98805124e-01 8.60473071e-03 -2.65228203e+02] [-1.10201386e-02 -3.69493032e-04 -9.99939208e-01 -4.89426433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.006559995 meters 0.04987202133120071 Centerline is valid? [True, True] Translation: X:462.09, Y:-265.36, Z:-4.90 [[-5.40647998e-01 -8.41228822e-01 5.81483721e-03 4.62092223e+02] [-8.41186520e-01 5.40679168e-01 8.44244241e-03 -2.65357127e+02] [-1.02459872e-02 -3.26973096e-04 -9.99947455e-01 -4.89872337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.066559995 meters 0.05040904128519899 Centerline is valid? [True, True] Translation: X:461.92, Y:-265.48, Z:-4.90 [[-4.81431099e-01 -8.76467788e-01 5.32102912e-03 4.61920726e+02] [-8.76420799e-01 4.81460415e-01 9.08024770e-03 -2.65478181e+02] [-1.05204095e-02 -2.91946967e-04 -9.99944616e-01 -4.89883592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.126559995 meters 0.05025594318661589 Centerline is valid? [True, True] Translation: X:461.75, Y:-265.64, Z:-4.90 [[-4.19791714e-01 -9.07609397e-01 4.48318165e-03 4.61745832e+02] [-9.07563655e-01 4.19815583e-01 9.11530267e-03 -2.65640999e+02] [-1.01552439e-02 -2.42244190e-04 -9.99948405e-01 -4.89906022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.1865599950002 meters 0.050280758533857814 Centerline is valid? [True, True] Translation: X:461.58, Y:-265.82, Z:-4.90 [[-3.56293953e-01 -9.34367128e-01 3.56214292e-03 4.61583375e+02] [-9.34325493e-01 3.56311711e-01 8.82252292e-03 -2.65816620e+02] [-9.51270864e-03 -1.84789373e-04 -9.99954736e-01 -4.89817302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.246559995 meters 0.04945442856908275 Centerline is valid? [True, True] Translation: X:461.44, Y:-266.02, Z:-4.90 [[-2.90546965e-01 -9.56857643e-01 2.43170159e-03 4.61438756e+02] [-9.56827609e-01 2.90557114e-01 7.58219967e-03 -2.66018679e+02] [-7.96163390e-03 -1.23734115e-04 -9.99968298e-01 -4.90220633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.306559995 meters 0.05013415830068552 Centerline is valid? [True, True] Translation: X:461.31, Y:-266.20, Z:-4.90 [[-2.21280294e-01 -9.75209177e-01 1.44664754e-03 4.61313462e+02] [-9.75190704e-01 2.21285008e-01 6.00306266e-03 -2.66197041e+02] [-6.17436321e-03 -8.23977595e-05 -9.99980935e-01 -4.90329088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.366559995 meters 0.04975069611601197 Centerline is valid? [True, True] Translation: X:461.20, Y:-266.37, Z:-4.90 [[-1.46726504e-01 -9.89176526e-01 1.06423699e-03 4.61197782e+02] [-9.89155239e-01 1.46730329e-01 6.49024192e-03 -2.66365394e+02] [-6.57615080e-03 -1.00405092e-04 -9.99978372e-01 -4.90162038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.426559995 meters 0.04953223145650874 Centerline is valid? [True, True] Translation: X:461.10, Y:-266.57, Z:-4.90 [[-7.02616416e-02 -9.97528385e-01 6.50297697e-04 4.61095218e+02] [-9.97501588e-01 7.02645215e-02 7.31296046e-03 -2.66565316e+02] [-7.34057849e-03 -1.34852379e-04 -9.99973049e-01 -4.90136808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.486559995 meters 0.050357487820631236 Centerline is valid? [True, True] Translation: X:461.01, Y:-266.70, Z:-4.90 [[ 8.02232221e-03 -9.99967814e-01 1.13087229e-04 4.61005713e+02] [-9.99937210e-01 -8.02119170e-03 7.82541739e-03 -2.66703710e+02] [-7.82425842e-03 -1.75858148e-04 -9.99969375e-01 -4.89996664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.546559995 meters 0.04999451886309241 Centerline is valid? [True, True] Translation: X:460.93, Y:-266.96, Z:-4.90 [[ 8.27094393e-02 -9.96573610e-01 -4.35235565e-04 4.60932233e+02] [-9.96546645e-01 -8.27104040e-02 7.33301686e-03 -2.66958258e+02] [-7.34388959e-03 -1.72777170e-04 -9.99973018e-01 -4.89974877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.606559995 meters 0.051162553697779695 Centerline is valid? [True, True] Translation: X:460.36, Y:-267.12, Z:-5.91 [[-3.23447947e-02 9.99476765e-01 1.00423458e-04 4.60358585e+02] [-9.99454079e-01 -3.23447373e-02 6.73516583e-03 -2.67121141e+02] [ 6.73488992e-03 1.17478921e-04 9.99977314e-01 -5.91129578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.666559995 meters 0.04930222892141832 Centerline is valid? [True, True] Translation: X:460.96, Y:-267.42, Z:-4.90 [[ 8.79304704e-02 -9.96126573e-01 -2.86551960e-04 4.60963950e+02] [-9.96117021e-01 -8.79308824e-02 4.36351407e-03 -2.67421599e+02] [-4.37180908e-03 -9.82465600e-05 -9.99990439e-01 -4.90229315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.7265599950001 meters 0.04941403165238472 Centerline is valid? [True, True] Translation: X:460.90, Y:-267.59, Z:-4.90 [[ 1.60301030e-01 -9.87068003e-01 -5.80729372e-04 4.60904743e+02] [-9.87059329e-01 -1.60302056e-01 4.13899530e-03 -2.67592571e+02] [-4.17856194e-03 -9.02708634e-05 -9.99991266e-01 -4.90210485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.786559995 meters 0.05051048315330412 Centerline is valid? [True, True] Translation: X:460.87, Y:-267.87, Z:-4.90 [[ 2.31264246e-01 -9.72890525e-01 -9.35121817e-04 4.60869906e+02] [-9.72880937e-01 -2.31266119e-01 4.32015228e-03 -2.67866501e+02] [-4.41929721e-03 -8.93345694e-05 -9.99990231e-01 -4.89975961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.846559995 meters 0.0494069512232311 Centerline is valid? [True, True] Translation: X:460.85, Y:-268.09, Z:-4.90 [[ 3.00260187e-01 -9.53856421e-01 -1.32252288e-03 4.60854396e+02] [-9.53845911e-01 -3.00263088e-01 4.47838137e-03 -2.68091810e+02] [-4.66883763e-03 -8.31965866e-05 -9.99989097e-01 -4.89920755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.906559995 meters 0.0495116781808252 Centerline is valid? [True, True] Translation: X:460.86, Y:-268.36, Z:-4.90 [[ 3.68059080e-01 -9.29801048e-01 -1.58870910e-03 4.60863361e+02] [-9.29791535e-01 -3.68062502e-01 4.20677024e-03 -2.68356579e+02] [-4.49620362e-03 -7.11717129e-05 -9.99989890e-01 -4.89895499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.9665599950001 meters 0.04909537931159911 Centerline is valid? [True, True] Translation: X:460.88, Y:-268.59, Z:-4.90 [[ 4.34410095e-01 -9.00713331e-01 -1.83432807e-03 4.60881315e+02] [-9.00704686e-01 -4.34413963e-01 3.94676530e-03 -2.68592906e+02] [-4.35176184e-03 -6.23268006e-05 -9.99990529e-01 -4.89973416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.026559995 meters 0.048797764460496246 Centerline is valid? [True, True] Translation: X:460.91, Y:-268.82, Z:-4.90 [[ 4.99411858e-01 -8.66362297e-01 -2.04140565e-03 4.60912103e+02] [-8.66354576e-01 -4.99416027e-01 3.65801817e-03 -2.68822291e+02] [-4.18867972e-03 -5.82765207e-05 -9.99991226e-01 -4.89919270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.086559995 meters 0.048868965094204284 Centerline is valid? [True, True] Translation: X:460.98, Y:-269.08, Z:-4.90 [[ 5.62026599e-01 -8.27114109e-01 -2.89002096e-03 4.60983639e+02] [-8.27102488e-01 -5.62034024e-01 4.38524563e-03 -2.69084672e+02] [-5.25138864e-03 -7.42811610e-05 -9.99986209e-01 -4.89790990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.146559995 meters 0.048774666505128614 Centerline is valid? [True, True] Translation: X:461.01, Y:-269.26, Z:-4.90 [[ 6.21643138e-01 -7.83291737e-01 -3.72340096e-03 4.61010846e+02] [-7.83276839e-01 -6.21654283e-01 4.83176266e-03 -2.69256272e+02] [-6.09934792e-03 -8.71783687e-05 -9.99981395e-01 -4.89734166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.2065599950001 meters 0.04909835120048444 Centerline is valid? [True, True] Translation: X:461.09, Y:-269.47, Z:-4.90 [[ 6.77086703e-01 -7.35892769e-01 -3.92807121e-03 4.61087485e+02] [-7.35879695e-01 -6.77098092e-01 4.38729330e-03 -2.69470825e+02] [-5.88826694e-03 -7.99901099e-05 -9.99982661e-01 -4.89705175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.266559995 meters 0.05003265201619252 Centerline is valid? [True, True] Translation: X:461.17, Y:-269.67, Z:-4.90 [[ 7.28457935e-01 -6.85075656e-01 -4.51477005e-03 4.61166057e+02] [-6.85061838e-01 -7.28471921e-01 4.35186842e-03 -2.69667839e+02] [-6.27024232e-03 -7.72564193e-05 -9.99980339e-01 -4.89607656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.326559995 meters 0.04923643818358357 Centerline is valid? [True, True] Translation: X:461.14, Y:-269.75, Z:-4.90 [[ 7.78446327e-01 -6.27694665e-01 -4.55224407e-03 4.61142138e+02] [-6.27683481e-01 -7.78459635e-01 3.74754223e-03 -2.69745093e+02] [-5.89605052e-03 -5.98920819e-05 -9.99982616e-01 -4.89847353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.386559995 meters 0.04836529177732253 Centerline is valid? [True, True] Translation: X:461.12, Y:-269.83, Z:-4.90 [[ 8.23217696e-01 -5.67707636e-01 -4.54595759e-03 4.61122290e+02] [-5.67698727e-01 -8.23230247e-01 3.18059902e-03 -2.69827431e+02] [-5.54802014e-03 -3.75910598e-05 -9.99984609e-01 -4.89872797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.4465599950001 meters 0.048594827941628865 Centerline is valid? [True, True] Translation: X:461.11, Y:-269.91, Z:-4.90 [[ 8.60909693e-01 -5.08730957e-01 -5.22633613e-03 4.61109448e+02] [-5.08721644e-01 -8.60925556e-01 3.07825456e-03 -2.69905986e+02] [-6.06548972e-03 8.65111986e-06 -9.99981605e-01 -4.89813708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.506559995 meters 0.04932764820405041 Centerline is valid? [True, True] Translation: X:461.11, Y:-269.98, Z:-4.90 [[ 8.94895369e-01 -4.46240720e-01 -5.61228943e-03 4.61106908e+02] [-4.46232316e-01 -8.94912966e-01 2.73915144e-03 -2.69980544e+02] [-6.24483149e-03 5.31309681e-05 -9.99980499e-01 -4.89816218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.566559995 meters 0.050038348904873735 Centerline is valid? [True, True] Translation: X:461.11, Y:-270.05, Z:-4.90 [[ 9.24320258e-01 -3.81562599e-01 -6.48417541e-03 4.61112264e+02] [-3.81554035e-01 -9.24342994e-01 2.55874202e-03 -2.70048126e+02] [-6.96992237e-03 1.08966207e-04 -9.99975704e-01 -4.89736735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.626559995 meters 0.050625821912811 Centerline is valid? [True, True] Translation: X:461.12, Y:-270.12, Z:-4.90 [[ 9.49084084e-01 -3.14944448e-01 -7.02824132e-03 4.61119988e+02] [-3.14937114e-01 -9.49110092e-01 2.15576815e-03 -2.70124220e+02] [-7.34952198e-03 1.67448797e-04 -9.99972978e-01 -4.89841770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.6865599950002 meters 0.05111494633249436 Centerline is valid? [True, True] Translation: X:461.13, Y:-270.20, Z:-4.90 [[ 9.70239477e-01 -2.42044015e-01 -7.07478623e-03 4.61132126e+02] [-2.42038944e-01 -9.70265253e-01 1.57739217e-03 -2.70203226e+02] [-7.24621758e-03 1.81925630e-04 -9.99973729e-01 -4.89976212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.746559995 meters 0.050956481582555405 Centerline is valid? [True, True] Translation: X:461.15, Y:-270.29, Z:-4.90 [[ 9.86173478e-01 -1.65558278e-01 -7.23380611e-03 4.61149054e+02] [-1.65555191e-01 -9.86199991e-01 1.02768113e-03 -2.70288871e+02] [-7.30412064e-03 1.84122278e-04 -9.99973308e-01 -4.90258906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.806559995 meters 0.05063366464807042 Centerline is valid? [True, True] Translation: X:461.17, Y:-270.40, Z:-4.90 [[ 9.96423402e-01 -8.42176609e-02 -6.91295859e-03 4.61169697e+02] [-8.42166668e-02 -9.96447371e-01 4.35300912e-04 -2.70400269e+02] [-6.92505943e-03 1.48442313e-04 -9.99976011e-01 -4.90128065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.866559995 meters 0.050482122322138646 Centerline is valid? [True, True] Translation: X:461.19, Y:-270.52, Z:-4.90 [[ 9.99974250e-01 -8.80985589e-04 -7.12202543e-03 4.61194854e+02] [-8.81790201e-04 -9.99999605e-01 -1.09836010e-04 -2.70516154e+02] [-7.12192585e-03 1.16113314e-04 -9.99974632e-01 -4.90144260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.926559995 meters 0.05036393020736564 Centerline is valid? [True, True] Translation: X:461.23, Y:-270.59, Z:-4.90 [[ 9.96476478e-01 8.35826091e-02 -6.96966497e-03 4.61227280e+02] [ 8.35800706e-02 -9.96500849e-01 -6.55205875e-04 -2.70592075e+02] [-7.00004088e-03 7.03721525e-05 -9.99975497e-01 -4.89922041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.986559995 meters 0.049629442188098144 Centerline is valid? [True, True] Translation: X:461.27, Y:-270.67, Z:-4.90 [[ 9.85072201e-01 1.71984012e-01 -7.36598873e-03 4.61265670e+02] [ 1.71979250e-01 -9.85099741e-01 -1.27981983e-03 -2.70668079e+02] [-7.47634214e-03 -6.08228378e-06 -9.99972052e-01 -4.89848719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.046559995 meters 0.05006235713010979 Centerline is valid? [True, True] Translation: X:461.31, Y:-270.74, Z:-4.90 [[ 9.66760872e-01 2.55567808e-01 -7.64929497e-03 4.61308944e+02] [ 2.55560333e-01 -9.66791131e-01 -1.95574272e-03 -2.70736357e+02] [-7.89509542e-03 -6.41208323e-05 -9.99968831e-01 -4.89792405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.106559995 meters 0.04975691503128099 Centerline is valid? [True, True] Translation: X:461.36, Y:-270.80, Z:-4.90 [[ 9.41694139e-01 3.36390444e-01 -7.32237411e-03 4.61360244e+02] [ 3.36381196e-01 -9.41722601e-01 -2.49687206e-03 -2.70804856e+02] [-7.73556909e-03 -1.11819179e-04 -9.99970074e-01 -4.89910695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.166559995 meters 0.04993745034008637 Centerline is valid? [True, True] Translation: X:461.42, Y:-270.87, Z:-4.90 [[ 9.10059266e-01 4.14428093e-01 -6.44115761e-03 4.61418680e+02] [ 4.14418818e-01 -9.10082049e-01 -2.77631624e-03 -2.70872247e+02] [-7.01256536e-03 -1.42724605e-04 -9.99975402e-01 -4.90090173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.2265599950001 meters 0.05059315767084241 Centerline is valid? [True, True] Translation: X:461.48, Y:-270.94, Z:-4.90 [[ 8.74173214e-01 4.85581177e-01 -5.66676924e-03 4.61481379e+02] [ 4.85572000e-01 -8.74191570e-01 -2.98852898e-03 -2.70935240e+02] [-6.40501532e-03 -1.39132486e-04 -9.99979478e-01 -4.90067890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.286559995 meters 0.04981701578403554 Centerline is valid? [True, True] Translation: X:461.55, Y:-270.99, Z:-4.90 [[ 8.33524274e-01 5.52458389e-01 -5.19741038e-03 4.61549631e+02] [ 5.52448639e-01 -8.33540467e-01 -3.28492395e-03 -2.70991292e+02] [-6.14703567e-03 -1.33238439e-04 -9.99981098e-01 -4.90221046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.346559995 meters 0.050240665633516944 Centerline is valid? [True, True] Translation: X:461.63, Y:-271.05, Z:-4.90 [[ 7.87710837e-01 6.16023883e-01 -5.11983301e-03 4.61626047e+02] [ 6.16012008e-01 -7.87727463e-01 -3.82756303e-03 -2.71049446e+02] [-6.39090331e-03 -1.38865732e-04 -9.99979568e-01 -4.90015695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.406559995 meters 0.04984438341585165 Centerline is valid? [True, True] Translation: X:461.70, Y:-271.09, Z:-4.90 [[ 7.36826237e-01 6.76053092e-01 -6.27002785e-03 4.61700331e+02] [ 6.76030732e-01 -7.36852890e-01 -5.50162801e-03 -2.71092598e+02] [-8.33948078e-03 -1.84987649e-04 -9.99965209e-01 -4.90079208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.4665599950001 meters 0.05055981494517302 Centerline is valid? [True, True] Translation: X:461.78, Y:-271.13, Z:-4.90 [[ 6.81692989e-01 7.31604624e-01 -7.02445621e-03 4.61780986e+02] [ 7.31569119e-01 -6.81729143e-01 -7.21109096e-03 -2.71134405e+02] [-1.00644440e-02 -2.23125096e-04 -9.99949327e-01 -4.89883177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.526559995 meters 0.050321426866747294 Centerline is valid? [True, True] Translation: X:461.86, Y:-271.16, Z:-4.90 [[ 6.24910974e-01 7.80667117e-01 -6.71764312e-03 4.61858490e+02] [ 7.80625393e-01 -6.24947048e-01 -8.07360391e-03 -2.71162986e+02] [-1.05009683e-02 -1.98679118e-04 -9.99944844e-01 -4.89927005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.586559995 meters 0.05074963529393964 Centerline is valid? [True, True] Translation: X:461.93, Y:-271.18, Z:-4.90 [[ 5.68894994e-01 8.22396110e-01 -4.80868845e-03 4.61933535e+02] [ 8.22368013e-01 -5.68915310e-01 -6.79863378e-03 -2.71182017e+02] [-8.32690646e-03 -8.68028435e-05 -9.99965327e-01 -4.90182365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.646559995 meters 0.049682666029584495 Centerline is valid? [True, True] Translation: X:462.02, Y:-271.20, Z:-4.90 [[ 5.05954083e-01 8.62551493e-01 -3.92279487e-03 4.62015024e+02] [ 8.62526360e-01 -5.05969287e-01 -6.58477022e-03 -2.71199536e+02] [-7.66451711e-03 -5.19225965e-05 -9.99970626e-01 -4.90359630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.7065599950001 meters 0.05066312684972904 Centerline is valid? [True, True] Translation: X:462.09, Y:-271.21, Z:-4.90 [[ 4.44268856e-01 8.95888985e-01 -2.84777997e-03 4.62092316e+02] [ 8.95870446e-01 -4.44277983e-01 -5.76348610e-03 -2.71208444e+02] [-6.42864966e-03 9.29547092e-06 -9.99979336e-01 -4.90395926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.766559995 meters 0.051219436239579405 Centerline is valid? [True, True] Translation: X:462.15, Y:-271.20, Z:-4.90 [[ 3.84618031e-01 9.23072773e-01 -2.37192410e-03 4.62152819e+02] [ 9.23053741e-01 -3.84625334e-01 -5.92823114e-03 -2.71204258e+02] [-6.38449086e-03 9.06911694e-05 -9.99979615e-01 -4.90481498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.826559995 meters 0.05208491781216111 Centerline is valid? [True, True] Translation: X:462.22, Y:-271.20, Z:-4.91 [[ 3.18454504e-01 9.47935452e-01 -2.25994182e-03 4.62217377e+02] [ 9.47907774e-01 -3.18462480e-01 -7.24577335e-03 -2.71198442e+02] [-7.58823212e-03 1.65232735e-04 -9.99971195e-01 -4.90720356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.886559995 meters 0.05330705549093107 Centerline is valid? [True, True] Translation: X:462.31, Y:-271.20, Z:-4.91 [[ 2.50886582e-01 9.68014114e-01 -2.14434697e-03 4.62313793e+02] [ 9.67968426e-01 -2.50895583e-01 -9.40921852e-03 -2.71196564e+02] [-9.64626352e-03 2.84986512e-04 -9.99953433e-01 -4.90803860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.9465599950001 meters 0.05182844803692161 Centerline is valid? [True, True] Translation: X:462.42, Y:-271.19, Z:-4.91 [[ 1.76817824e-01 9.84242398e-01 -1.53581369e-03 4.62421227e+02] [ 9.84186869e-01 -1.76824170e-01 -1.04604117e-02 -2.71187761e+02] [-1.05671497e-02 3.38059573e-04 -9.99944109e-01 -4.91038596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.006559995 meters 0.05297302060031703 Centerline is valid? [True, True] Translation: X:462.52, Y:-271.17, Z:-4.91 [[ 9.81956141e-02 9.95166930e-01 -6.33962949e-04 4.62518039e+02] [ 9.95122724e-01 -9.81972305e-02 -9.38441620e-03 -2.71171117e+02] [-9.40131407e-03 2.90637575e-04 -9.99955764e-01 -4.91066215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.066559995 meters 0.05278039463282463 Centerline is valid? [True, True] Translation: X:462.62, Y:-271.15, Z:-4.91 [[ 1.71568168e-02 9.99852807e-01 9.07497673e-05 4.62621890e+02] [ 9.99818122e-01 -1.71554654e-02 -8.33142983e-03 -2.71146907e+02] [-8.32864665e-03 2.33674077e-04 -9.99965289e-01 -4.90989675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.126559995 meters 0.05229866172904892 Centerline is valid? [True, True] Translation: X:462.73, Y:-271.11, Z:-4.91 [[-6.28503041e-02 9.98022703e-01 7.24046393e-04 4.62727582e+02] [ 9.97989903e-01 6.28541106e-02 -8.09403220e-03 -2.71113920e+02] [-8.12353718e-03 2.13878605e-04 -9.99966981e-01 -4.91237335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.1865599950002 meters 0.053068971438993785 Centerline is valid? [True, True] Translation: X:462.83, Y:-271.07, Z:-4.91 [[-1.46714196e-01 9.89178296e-01 1.11508437e-03 4.62827685e+02] [ 9.89156341e-01 1.46718371e-01 -6.59191292e-03 -2.71072412e+02] [-6.68418055e-03 1.35865568e-04 -9.99977651e-01 -4.91423247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.246559995 meters 0.053252926759622114 Centerline is valid? [True, True] Translation: X:462.92, Y:-271.02, Z:-4.92 [[-2.26092947e-01 9.74104358e-01 1.63654820e-03 4.62918404e+02] [ 9.74082539e-01 2.26098838e-01 -6.52102035e-03 -2.71024546e+02] [-6.72217599e-03 1.19776320e-04 -9.99977399e-01 -4.91516677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.306559995 meters 0.05154399541932224 Centerline is valid? [True, True] Translation: X:463.01, Y:-270.97, Z:-4.92 [[-3.09626247e-01 9.50855582e-01 2.29130640e-03 4.63011917e+02] [ 9.50831138e-01 3.09634718e-01 -6.81826351e-03 -2.70967238e+02] [-7.19265192e-03 6.75321316e-05 -9.99974130e-01 -4.91512106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.366559995 meters 0.051405001982300406 Centerline is valid? [True, True] Translation: X:463.08, Y:-270.91, Z:-4.91 [[-3.88292136e-01 9.21531492e-01 2.98784091e-03 4.63082020e+02] [ 9.21504771e-01 3.88303630e-01 -7.01772551e-03 -2.70910312e+02] [-7.62724453e-03 2.83820300e-05 -9.99970912e-01 -4.91137863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.426559995 meters 0.051617644597512516 Centerline is valid? [True, True] Translation: X:463.14, Y:-270.85, Z:-4.91 [[-4.63475333e-01 8.86102604e-01 3.57642380e-03 4.63142935e+02] [ 8.86076083e-01 4.63489132e-01 -6.85571659e-03 -2.70849617e+02] [-7.73250188e-03 -8.47193695e-06 -9.99970104e-01 -4.91072808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.486559995 meters 0.05133987186246646 Centerline is valid? [True, True] Translation: X:463.20, Y:-270.78, Z:-4.91 [[-5.36398325e-01 8.43954270e-01 4.24582874e-03 4.63202537e+02] [ 8.43926996e-01 5.36415125e-01 -6.78512729e-03 -2.70780615e+02] [-8.00386390e-03 -5.63614191e-05 -9.99967967e-01 -4.91108995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.546559995 meters 0.05141176706120497 Centerline is valid? [True, True] Translation: X:463.25, Y:-270.71, Z:-4.91 [[-6.03476716e-01 7.97366490e-01 4.74705677e-03 4.63251069e+02] [ 7.97340731e-01 6.03495380e-01 -6.40967670e-03 -2.70712151e+02] [-7.97568824e-03 -8.30689261e-05 -9.99968190e-01 -4.91006396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.606559995 meters 0.051815334690977474 Centerline is valid? [True, True] Translation: X:463.30, Y:-270.64, Z:-4.91 [[-6.66361937e-01 7.45612667e-01 4.84966367e-03 4.63295139e+02] [ 7.45591820e-01 6.66379577e-01 -5.57653510e-03 -2.70636188e+02] [-7.38965204e-03 -1.00121172e-04 -9.99972691e-01 -4.91033560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.666559995 meters 0.051159528473124556 Centerline is valid? [True, True] Translation: X:463.33, Y:-270.56, Z:-4.91 [[-7.23618462e-01 6.90182374e-01 4.96113140e-03 4.63330633e+02] [ 6.90165163e-01 7.23635461e-01 -4.87525269e-03 -2.70559174e+02] [-6.95486408e-03 -1.03822796e-04 -9.99975809e-01 -4.91049826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.7265599950001 meters 0.05208662033175289 Centerline is valid? [True, True] Translation: X:463.36, Y:-270.47, Z:-4.91 [[-7.72251823e-01 6.35292295e-01 5.55164857e-03 4.63359521e+02] [ 6.35274694e-01 7.72271768e-01 -4.73068915e-03 -2.70473970e+02] [-7.29275183e-03 -1.26461471e-04 -9.99973400e-01 -4.90677647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.786559995 meters 0.05186146244202818 Centerline is valid? [True, True] Translation: X:463.40, Y:-270.41, Z:-4.91 [[-8.16136337e-01 5.77828433e-01 5.98174475e-03 4.63402734e+02] [ 5.77811661e-01 8.16158246e-01 -4.40475160e-03 -2.70412456e+02] [-7.42724102e-03 -1.38555969e-04 -9.99972408e-01 -4.90663071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.846559995 meters 0.05173822440711332 Centerline is valid? [True, True] Translation: X:463.41, Y:-270.32, Z:-4.91 [[-8.55117353e-01 5.18397591e-01 6.18460067e-03 4.63405830e+02] [ 5.18382866e-01 8.55139707e-01 -3.90970302e-03 -2.70324306e+02] [-7.31547823e-03 -1.37263876e-04 -9.99973232e-01 -4.90666666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.906559995 meters 0.051458154824254074 Centerline is valid? [True, True] Translation: X:463.46, Y:-270.27, Z:-4.91 [[-8.88263404e-01 4.59291239e-01 6.29945114e-03 4.63462646e+02] [ 4.59278801e-01 8.88285734e-01 -3.38196438e-03 -2.70272641e+02] [-7.14901919e-03 -1.10870825e-04 -9.99974439e-01 -4.90675553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.9665599950001 meters 0.050642116804203816 Centerline is valid? [True, True] Translation: X:463.29, Y:-270.11, Z:-4.91 [[-9.16052219e-01 4.01017814e-01 5.74852670e-03 4.63291382e+02] [ 4.01009480e-01 9.16070253e-01 -2.58611050e-03 -2.70109057e+02] [-6.30313069e-03 -6.37985564e-05 -9.99980133e-01 -4.90777881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.026559995 meters 0.0510290240837084 Centerline is valid? [True, True] Translation: X:463.25, Y:-270.02, Z:-4.91 [[-9.39908550e-01 3.41391422e-01 4.88010592e-03 4.63254335e+02] [ 3.41386726e-01 9.39921218e-01 -1.79064687e-03 -2.70018906e+02] [-5.19822658e-03 -1.70409152e-05 -9.99986489e-01 -4.90724406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.086559995 meters 0.050588197021375916 Centerline is valid? [True, True] Translation: X:463.65, Y:-270.07, Z:-4.91 [[-9.59681351e-01 2.81069303e-01 3.42817372e-03 4.63648258e+02] [ 2.81067621e-01 9.59687473e-01 -9.72588588e-04 -2.70070458e+02] [-3.56334017e-03 3.01735038e-05 -9.99993651e-01 -4.90925155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.146559995 meters 0.05145184360705772 Centerline is valid? [True, True] Translation: X:463.71, Y:-270.00, Z:-4.91 [[-9.75706967e-01 2.19044867e-01 3.90654272e-03 4.63708393e+02] [ 2.19043363e-01 9.75714786e-01 -8.13867293e-04 -2.69997595e+02] [-3.98994495e-03 6.16062690e-05 -9.99992038e-01 -4.90911938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.2065599950001 meters 0.05191227489893343 Centerline is valid? [True, True] Translation: X:463.31, Y:-269.29, Z:-5.90 [[-9.68418605e-01 -2.49298951e-01 3.92928865e-03 4.63311094e+02] [ 2.49296654e-01 -9.68426574e-01 -1.07176390e-03 -2.69292290e+02] [ 4.07241716e-03 -5.83575900e-05 9.99991706e-01 -5.90319150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.266559995 meters 0.051667174530756046 Centerline is valid? [True, True] Translation: X:463.25, Y:-269.90, Z:-4.91 [[-9.74349657e-01 2.24981391e-01 5.11067816e-03 4.63249236e+02] [ 2.24979034e-01 9.74363051e-01 -1.03888668e-03 -2.69899624e+02] [-5.21338613e-03 1.37556550e-04 -9.99986401e-01 -4.90698238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.326559995 meters 0.05180277360412706 Centerline is valid? [True, True] Translation: X:463.33, Y:-269.31, Z:-5.90 [[-9.70875319e-01 -2.39532555e-01 5.02691038e-03 4.63332018e+02] [ 2.39528608e-01 -9.70888323e-01 -1.38196475e-03 -2.69309337e+02] [ 5.21159414e-03 -1.37626619e-04 9.99986410e-01 -5.90303176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.386559995 meters 0.05164254661063704 Centerline is valid? [True, True] Translation: X:463.11, Y:-269.87, Z:-4.91 [[-9.75476002e-01 2.20060418e-01 4.47006730e-03 4.63114725e+02] [ 2.20058643e-01 9.75486237e-01 -8.91107382e-04 -2.69871171e+02] [-4.55658659e-03 1.14423079e-04 -9.99989612e-01 -4.90663437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.4465599950001 meters 0.05158235160853849 Centerline is valid? [True, True] Translation: X:463.24, Y:-269.30, Z:-5.90 [[-9.70175013e-01 -2.42376737e-01 3.73664691e-03 4.63236095e+02] [ 2.42374360e-01 -9.70182197e-01 -1.08332522e-03 -2.69296050e+02] [ 3.88780114e-03 -1.45347661e-04 9.99992432e-01 -5.90479339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.506559995 meters 0.05118218529341478 Centerline is valid? [True, True] Translation: X:463.05, Y:-269.86, Z:-4.90 [[-9.78455648e-01 2.06415926e-01 4.12435283e-03 4.63046374e+02] [ 2.06414364e-01 9.78464338e-01 -8.05549109e-04 -2.69861094e+02] [-4.20181033e-03 6.31315914e-05 -9.99991170e-01 -4.90478559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.566559995 meters 0.050631198076593234 Centerline is valid? [True, True] Translation: X:462.29, Y:-269.66, Z:-4.90 [[-9.91370298e-01 1.31051044e-01 3.24916308e-03 4.62293045e+02] [ 1.31050441e-01 9.91375622e-01 -3.98506828e-04 -2.69660481e+02] [-3.27336581e-03 3.07364241e-05 -9.99994642e-01 -4.90345904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.626559995 meters 0.050415352453618556 Centerline is valid? [True, True] Translation: X:462.36, Y:-269.59, Z:-4.90 [[-9.98763203e-01 4.96176052e-02 3.18707997e-03 4.62355831e+02] [ 4.96173420e-02 9.98768288e-01 -1.61647419e-04 -2.69588921e+02] [-3.19117496e-03 -3.31305726e-06 -9.99994908e-01 -4.90370306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.6865599950002 meters 0.04973695155080071 Centerline is valid? [True, True] Translation: X:462.40, Y:-269.00, Z:-5.91 [[-9.91854777e-01 -1.27349095e-01 2.51193581e-03 4.62398162e+02] [ 1.27348570e-01 -9.91857957e-01 -3.68826190e-04 -2.69004882e+02] [ 2.53845320e-03 -4.59305866e-05 9.99996777e-01 -5.90631317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.746559995 meters 0.05013004554544151 Centerline is valid? [True, True] Translation: X:462.37, Y:-269.59, Z:-4.90 [[-9.99530856e-01 3.05030647e-02 2.76237094e-03 4.62368214e+02] [ 3.05028269e-02 9.99534672e-01 -1.28204658e-04 -2.69585376e+02] [-2.76499617e-03 -4.38843891e-05 -9.99996176e-01 -4.90301612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.806559995 meters 0.05011673158673161 Centerline is valid? [True, True] Translation: X:462.40, Y:-269.51, Z:-4.90 [[-9.98833969e-01 -4.81522106e-02 3.47381069e-03 4.62399903e+02] [-4.81522016e-02 9.98840006e-01 8.62767746e-05 -2.69510389e+02] [-3.47393551e-03 -8.10954594e-05 -9.99993963e-01 -4.90260902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.866559995 meters 0.051665511604996654 Centerline is valid? [True, True] Translation: X:462.34, Y:-268.95, Z:-5.91 [[-9.97623194e-01 -6.88083700e-02 3.65668446e-03 4.62340646e+02] [ 6.88082677e-02 -9.97629891e-01 -1.53919827e-04 -2.68946561e+02] [ 3.65860869e-03 9.80561338e-05 9.99993302e-01 -5.90874767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.926559995 meters 0.05073412639902505 Centerline is valid? [True, True] Translation: X:462.28, Y:-269.51, Z:-4.90 [[-9.98554623e-01 -5.36493549e-02 3.22663269e-03 4.62275814e+02] [-5.36493351e-02 9.98559833e-01 9.27394940e-05 -2.69513881e+02] [-3.22696121e-03 -8.05012478e-05 -9.99994790e-01 -4.90190383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.986559995 meters 0.04847595427305907 Centerline is valid? [True, True] Translation: X:462.20, Y:-269.46, Z:-4.90 [[-9.92474670e-01 -1.22400025e-01 3.50185854e-03 4.62199931e+02] [-1.22399548e-01 9.92480845e-01 3.50856407e-04 -2.69457404e+02] [-3.51847236e-03 -8.04098064e-05 -9.99993807e-01 -4.90241116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.046559995 meters 0.04984864062885735 Centerline is valid? [True, True] Translation: X:462.10, Y:-268.86, Z:-5.91 [[-9.99951881e-01 8.87790687e-03 4.17349327e-03 4.62099663e+02] [-8.87724866e-03 -9.99960581e-01 1.76209733e-04 -2.68861903e+02] [ 4.17489313e-03 1.39152117e-04 9.99991275e-01 -5.90876448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.106559995 meters 0.04843839034964165 Centerline is valid? [True, True] Translation: X:461.99, Y:-269.48, Z:-4.90 [[-9.92088880e-01 -1.25376999e-01 6.34522596e-03 4.61989721e+02] [-1.25375353e-01 9.92109161e-01 6.58092157e-04 -2.69484827e+02] [-6.37766642e-03 -1.42649033e-04 -9.99979652e-01 -4.89979838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.166559995 meters 0.04872374432710886 Centerline is valid? [True, True] Translation: X:461.97, Y:-269.41, Z:-4.90 [[-9.80633682e-01 -1.95709349e-01 7.44525991e-03 4.61974385e+02] [-1.95705006e-01 9.80661931e-01 1.31459451e-03 -2.69412895e+02] [-7.55856140e-03 -1.67938976e-04 -9.99971420e-01 -4.89931800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.2265599950001 meters 0.04866731074938055 Centerline is valid? [True, True] Translation: X:461.94, Y:-269.34, Z:-4.90 [[-9.64267857e-01 -2.64819386e-01 7.62838877e-03 4.61935920e+02] [-2.64812498e-01 9.64298016e-01 1.91773100e-03 -2.69343600e+02] [-7.86389250e-03 -1.70886325e-04 -9.99969065e-01 -4.89877798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.286559995 meters 0.048357990110998665 Centerline is valid? [True, True] Translation: X:461.85, Y:-269.30, Z:-4.90 [[-9.43322543e-01 -3.31822259e-01 6.04711488e-03 4.61848141e+02] [-3.31816325e-01 9.43341917e-01 1.98871552e-03 -2.69296669e+02] [-6.36439701e-03 -1.30531249e-04 -9.99979739e-01 -4.90129550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.346559995 meters 0.0484456572746118 Centerline is valid? [True, True] Translation: X:461.74, Y:-269.25, Z:-4.90 [[-9.17419877e-01 -3.97888645e-01 5.03942254e-03 4.61736049e+02] [-3.97883292e-01 9.17433711e-01 2.06683727e-03 -2.69249927e+02] [-5.44570720e-03 -1.08944431e-04 -9.99985166e-01 -4.90084183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.406559995 meters 0.04803090006866927 Centerline is valid? [True, True] Translation: X:461.60, Y:-269.22, Z:-4.90 [[-8.87206947e-01 -4.61348982e-01 4.57719906e-03 4.61599532e+02] [-4.61343400e-01 8.87218748e-01 2.27161420e-03 -2.69224541e+02] [-5.10898372e-03 -9.62686758e-05 -9.99986944e-01 -4.90138906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.4665599950001 meters 0.04901048004376347 Centerline is valid? [True, True] Translation: X:461.46, Y:-269.21, Z:-4.90 [[-8.53479160e-01 -5.21101417e-01 5.16106602e-03 4.61455228e+02] [-5.21092556e-01 8.53494759e-01 3.04031541e-03 -2.69209932e+02] [-5.98925547e-03 -9.45472423e-05 -9.99982060e-01 -4.90012245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.526559995 meters 0.04911682708150388 Centerline is valid? [True, True] Translation: X:461.31, Y:-269.21, Z:-4.90 [[-8.14574271e-01 -5.80039299e-01 4.81346287e-03 4.61307629e+02] [-5.80029770e-01 8.14588488e-01 3.32575668e-03 -2.69212475e+02] [-5.85006101e-03 -8.28759379e-05 -9.99982885e-01 -4.90095541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.586559995 meters 0.04926111503917364 Centerline is valid? [True, True] Translation: X:461.14, Y:-269.24, Z:-4.90 [[-7.71096658e-01 -6.36706416e-01 3.85782709e-03 4.61139396e+02] [-6.36698872e-01 7.71106306e-01 3.10021634e-03 -2.69238467e+02] [-4.94872243e-03 -6.57076988e-05 -9.99987753e-01 -4.90072742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.646559995 meters 0.04893231753954779 Centerline is valid? [True, True] Translation: X:460.97, Y:-269.29, Z:-4.90 [[-7.23535606e-01 -6.90275341e-01 4.02233897e-03 4.60967821e+02] [-6.90265205e-01 7.23546784e-01 3.74140537e-03 -2.69291679e+02] [-5.49295029e-03 -6.94406257e-05 -9.99984911e-01 -4.90143681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.7065599950001 meters 0.0489932141879796 Centerline is valid? [True, True] Translation: X:460.79, Y:-269.36, Z:-4.90 [[-6.71752231e-01 -7.40765781e-01 3.87266804e-03 4.60792613e+02] [-7.40754045e-01 6.71763390e-01 4.17032340e-03 -2.69355359e+02] [-5.69074948e-03 -6.72704636e-05 -9.99983805e-01 -4.89975773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.766559995 meters 0.0491856027548656 Centerline is valid? [True, True] Translation: X:460.61, Y:-269.45, Z:-4.90 [[-6.17752548e-01 -7.86363965e-01 3.67480025e-03 4.60614729e+02] [-7.86350569e-01 6.17763475e-01 4.59028731e-03 -2.69447226e+02] [-5.87979390e-03 -5.40195922e-05 -9.99982712e-01 -4.90083802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.826559995 meters 0.048985918878800085 Centerline is valid? [True, True] Translation: X:460.44, Y:-269.55, Z:-4.90 [[-5.59595486e-01 -8.28761776e-01 2.60983587e-03 4.60441199e+02] [-8.28753057e-01 5.59601571e-01 3.80160972e-03 -2.69550363e+02] [-4.61109707e-03 -3.55458177e-05 -9.99989368e-01 -4.90048291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.886559995 meters 0.04943697607248608 Centerline is valid? [True, True] Translation: X:460.27, Y:-269.69, Z:-4.90 [[-4.97585736e-01 -8.67413629e-01 1.42551830e-03 4.60265870e+02] [-8.67410186e-01 4.97587778e-01 2.44401448e-03 -2.69688621e+02] [-2.82929195e-03 -2.04023462e-05 -9.99995997e-01 -4.90279312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.9465599950001 meters 0.048842235496936295 Centerline is valid? [True, True] Translation: X:460.11, Y:-269.80, Z:-4.90 [[-4.30811001e-01 -9.02441270e-01 1.27911847e-03 4.60112456e+02] [-9.02437466e-01 4.30812899e-01 2.62027699e-03 -2.69802064e+02] [-2.91570683e-03 -2.54802783e-05 -9.99995749e-01 -4.90072946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.006559995 meters 0.04925879313761471 Centerline is valid? [True, True] Translation: X:459.95, Y:-269.99, Z:-4.90 [[-3.62553498e-01 -9.31961790e-01 1.47751425e-03 4.59945280e+02] [-9.31954483e-01 3.62556507e-01 3.69055257e-03 -2.69993084e+02] [-3.97513639e-03 -3.89532847e-05 -9.99992098e-01 -4.90002348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.066559995 meters 0.049075387079008825 Centerline is valid? [True, True] Translation: X:459.81, Y:-270.13, Z:-4.90 [[-2.91875388e-01 -9.56454764e-01 1.74438838e-03 4.59811170e+02] [-9.56438914e-01 2.91880595e-01 5.50653040e-03 -2.70130253e+02] [-5.77590035e-03 -6.11802274e-05 -9.99983318e-01 -4.89888618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.126559995 meters 0.04863608370337327 Centerline is valid? [True, True] Translation: X:459.68, Y:-270.32, Z:-4.90 [[-2.19900036e-01 -9.75521900e-01 9.98337323e-04 4.59677276e+02] [-9.75512810e-01 2.19902297e-01 4.21161371e-03 -2.70324576e+02] [-4.32805808e-03 -4.77568424e-05 -9.99990633e-01 -4.90077518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.1865599950002 meters 0.04846659234083635 Centerline is valid? [True, True] Translation: X:459.55, Y:-270.55, Z:-4.90 [[-1.46966421e-01 -9.89141371e-01 4.69248874e-04 4.59554169e+02] [-9.89137026e-01 1.46967166e-01 2.93199985e-03 -2.70546830e+02] [-2.96912653e-03 -3.32459108e-05 -9.99995592e-01 -4.90178267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.246559995 meters 0.04912903212024804 Centerline is valid? [True, True] Translation: X:459.45, Y:-270.76, Z:-4.90 [[-7.31618962e-02 -9.97320045e-01 2.55794895e-04 4.59449019e+02] [-9.97315497e-01 7.31623351e-02 3.01192054e-03 -2.70755054e+02] [-3.02256328e-03 -3.47503947e-05 -9.99995431e-01 -4.90099152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.306559995 meters 0.04903750720601767 Centerline is valid? [True, True] Translation: X:459.36, Y:-270.96, Z:-4.90 [[ 7.18000323e-04 -9.99999741e-01 5.16075217e-05 4.59361534e+02] [-9.99988325e-01 -7.17745515e-04 4.77856990e-03 -2.70961524e+02] [-4.77853162e-03 -5.50379339e-05 -9.99988581e-01 -4.89954063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.366559995 meters 0.048972634636616705 Centerline is valid? [True, True] Translation: X:459.29, Y:-271.17, Z:-4.90 [[ 7.50865263e-02 -9.97176958e-01 -3.58494272e-04 4.59290255e+02] [-9.97160969e-01 -7.50873526e-02 5.64732188e-03 -2.71168063e+02] [-5.65829764e-03 -6.65612877e-05 -9.99983990e-01 -4.89906948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.426559995 meters 0.04878057189431214 Centerline is valid? [True, True] Translation: X:459.24, Y:-271.43, Z:-4.90 [[ 1.48733677e-01 -9.88876915e-01 -8.60785437e-04 4.59238701e+02] [-9.88857325e-01 -1.48736149e-01 6.22481624e-03 -2.71430973e+02] [-6.28360699e-03 -7.46458231e-05 -9.99980255e-01 -4.89893621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.486559995 meters 0.048840849228709855 Centerline is valid? [True, True] Translation: X:459.20, Y:-271.67, Z:-4.90 [[ 2.21623159e-01 -9.75131291e-01 -1.46296266e-03 4.59200935e+02] [-9.75107499e-01 -2.21627972e-01 6.81233620e-03 -2.71667096e+02] [-6.96715565e-03 -8.32256094e-05 -9.99975726e-01 -4.89824399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.546559995 meters 0.049115344783244086 Centerline is valid? [True, True] Translation: X:459.18, Y:-271.88, Z:-4.90 [[ 2.92498568e-01 -9.56263844e-01 -2.01180055e-03 4.59175644e+02] [-9.56239291e-01 -2.92505476e-01 6.85313991e-03 -2.71875270e+02] [-7.14187260e-03 -8.07708810e-05 -9.99974493e-01 -4.89886070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.606559995 meters 0.04907907681399003 Centerline is valid? [True, True] Translation: X:459.18, Y:-272.14, Z:-4.90 [[ 3.60715298e-01 -9.32672701e-01 -2.47131650e-03 4.59184793e+02] [-9.32649537e-01 -3.60723757e-01 6.57361099e-03 -2.72138179e+02] [-7.02249009e-03 -6.63298588e-05 -9.99975340e-01 -4.89969858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.666559995 meters 0.04932553962162204 Centerline is valid? [True, True] Translation: X:459.22, Y:-272.41, Z:-4.90 [[ 4.25090849e-01 -9.05145609e-01 -3.03250467e-03 4.59219144e+02] [-9.05121908e-01 -4.25101664e-01 6.55029251e-03 -2.72414755e+02] [-7.21809129e-03 -3.96829885e-05 -9.99973948e-01 -4.89825974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.7265599950001 meters 0.04885564487545349 Centerline is valid? [True, True] Translation: X:459.26, Y:-272.65, Z:-4.90 [[ 4.89442325e-01 -8.72029943e-01 -3.16058821e-03 4.59256599e+02] [-8.72011430e-01 -4.89452529e-01 5.68226821e-03 -2.72653885e+02] [-6.50206591e-03 -2.50735170e-05 -9.99978861e-01 -4.89974836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.786559995 meters 0.04810328799340917 Centerline is valid? [True, True] Translation: X:459.30, Y:-272.88, Z:-4.90 [[ 5.51355936e-01 -8.34263996e-01 -3.19646995e-03 4.59303788e+02] [-8.34249831e-01 -5.51365201e-01 4.86153073e-03 -2.72877499e+02] [-5.81822235e-03 -1.37793043e-05 -9.99983074e-01 -4.89955617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.846559995 meters 0.049168892207996855 Centerline is valid? [True, True] Translation: X:459.38, Y:-273.12, Z:-4.90 [[ 6.08728005e-01 -7.93370148e-01 -3.74488757e-03 4.59384258e+02] [-7.93355198e-01 -6.08739524e-01 4.87055731e-03 -2.73116816e+02] [-6.14381585e-03 6.18138812e-06 -9.99981127e-01 -4.90101197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.906559995 meters 0.048935054327421346 Centerline is valid? [True, True] Translation: X:459.46, Y:-273.33, Z:-4.90 [[ 6.65930675e-01 -7.46002461e-01 -4.08222320e-03 4.59456449e+02] [-7.45988474e-01 -6.65943187e-01 4.56818117e-03 -2.73325706e+02] [-6.12640312e-03 3.19948212e-06 -9.99981233e-01 -4.89882145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.9665599950001 meters 0.048916708803208954 Centerline is valid? [True, True] Translation: X:458.94, Y:-272.92, Z:-4.90 [[ 7.20127704e-01 -6.93824093e-01 -4.92111069e-03 4.58944977e+02] [-6.93807875e-01 -7.20144519e-01 4.74387459e-03 -2.72918003e+02] [-6.83532537e-03 -1.89017187e-06 -9.99976639e-01 -4.89896708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.026559995 meters 0.04860400194331046 Centerline is valid? [True, True] Translation: X:458.91, Y:-273.00, Z:-4.90 [[ 7.73207677e-01 -6.34121598e-01 -6.29972653e-03 4.58914267e+02] [-6.34100381e-01 -7.73233340e-01 5.18730433e-03 -2.73001962e+02] [-8.16054030e-03 -1.62045426e-05 -9.99966702e-01 -4.89779752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.086559995 meters 0.04918148102085595 Centerline is valid? [True, True] Translation: X:458.89, Y:-273.08, Z:-4.90 [[ 8.22231519e-01 -5.69101948e-01 -7.63553073e-03 4.58892620e+02] [-5.69076860e-01 -8.22266970e-01 5.34391073e-03 -2.73084411e+02] [-9.31967472e-03 -4.87279896e-05 -9.99956570e-01 -4.89627974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.146559995 meters 0.049314764015653864 Centerline is valid? [True, True] Translation: X:458.88, Y:-273.17, Z:-4.90 [[ 8.65645811e-01 -5.00595733e-01 -7.82576272e-03 4.58875314e+02] [-5.00574507e-01 -8.65681181e-01 4.61044664e-03 -2.73173941e+02] [-9.08258543e-03 -7.36365059e-05 -9.99958750e-01 -4.89637855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.2065599950001 meters 0.04886726734081302 Centerline is valid? [True, True] Translation: X:458.86, Y:-273.27, Z:-4.90 [[ 9.03326776e-01 -4.28887798e-01 -7.48279658e-03 4.58864732e+02] [-4.28872250e-01 -9.03357764e-01 3.65294256e-03 -2.73265933e+02] [-8.32634487e-03 -9.06370149e-05 -9.99965331e-01 -4.89722493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.266559995 meters 0.04873838723946961 Centerline is valid? [True, True] Translation: X:458.86, Y:-273.36, Z:-4.90 [[ 9.34810799e-01 -3.55096143e-01 -5.95809158e-03 4.58860766e+02] [-3.55088370e-01 -9.34829783e-01 2.35092108e-03 -2.73359525e+02] [-6.40460446e-03 -8.20173851e-05 -9.99979487e-01 -4.89851369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.326559995 meters 0.04914191395156462 Centerline is valid? [True, True] Translation: X:458.86, Y:-273.45, Z:-4.90 [[ 9.59378185e-01 -2.82060245e-01 -5.95951925e-03 4.58863949e+02] [-2.82054332e-01 -9.59396692e-01 1.82770820e-03 -2.73452032e+02] [-6.23306687e-03 -7.25551527e-05 -9.99980572e-01 -4.89904057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.386559995 meters 0.04910304675579584 Centerline is valid? [True, True] Translation: X:458.88, Y:-273.54, Z:-4.90 [[ 9.77978811e-01 -2.08637417e-01 -5.27950711e-03 4.58875332e+02] [-2.08634104e-01 -9.77993060e-01 1.17677951e-03 -2.73541722e+02] [-5.40884155e-03 -4.93801934e-05 -9.99985371e-01 -4.89985557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.4465599950001 meters 0.0488879549749487 Centerline is valid? [True, True] Translation: X:458.89, Y:-273.63, Z:-4.90 [[ 9.90917734e-01 -1.34372115e-01 -5.11656037e-03 4.58892938e+02] [-1.34370155e-01 -9.90930943e-01 7.26529569e-04 -2.73631623e+02] [-5.16778331e-03 -3.24180220e-05 -9.99986646e-01 -4.89884291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.506559995 meters 0.04907908963518989 Centerline is valid? [True, True] Translation: X:458.92, Y:-273.71, Z:-4.90 [[ 9.98272658e-01 -5.84920744e-02 -5.51150912e-03 4.58918350e+02] [-5.84910511e-02 -9.98287873e-01 3.46800623e-04 -2.73713569e+02] [-5.52235780e-03 -2.38276187e-05 -9.99984751e-01 -4.89774468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.566559995 meters 0.04934862597683063 Centerline is valid? [True, True] Translation: X:458.95, Y:-273.79, Z:-4.90 [[ 9.99821841e-01 1.74840495e-02 -7.11291394e-03 4.58945467e+02] [ 1.74837123e-02 -9.99847142e-01 -1.09583459e-04 -2.73794782e+02] [-7.11374264e-03 -1.47962051e-05 -9.99974697e-01 -4.89879531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.626559995 meters 0.04954416556093116 Centerline is valid? [True, True] Translation: X:458.98, Y:-273.87, Z:-4.90 [[ 9.95587709e-01 9.34682773e-02 -8.29425269e-03 4.58977033e+02] [ 9.34650283e-02 -9.95622258e-01 -7.79328539e-04 -2.73871719e+02] [-8.33078509e-03 6.67352855e-07 -9.99965298e-01 -4.89676482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.6865599950002 meters 0.04927082352124446 Centerline is valid? [True, True] Translation: X:459.02, Y:-273.94, Z:-4.90 [[ 9.85428514e-01 1.69888677e-01 -8.27537385e-03 4.59015912e+02] [ 1.69882595e-01 -9.85463260e-01 -1.43759353e-03 -2.73943094e+02] [-8.39930776e-03 1.08036698e-05 -9.99964725e-01 -4.89813584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.746559995 meters 0.049183437770636426 Centerline is valid? [True, True] Translation: X:459.06, Y:-274.01, Z:-4.90 [[ 9.69496320e-01 2.44975532e-01 -7.99214754e-03 4.59059089e+02] [ 2.44967011e-01 -9.69529261e-01 -2.04342734e-03 -2.74010226e+02] [-8.24921059e-03 2.32827899e-05 -9.99965974e-01 -4.89713425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.806559995 meters 0.049191050594489485 Centerline is valid? [True, True] Translation: X:459.11, Y:-274.07, Z:-4.90 [[ 9.48460400e-01 3.16827677e-01 -6.56456909e-03 4.59106189e+02] [ 3.16819770e-01 -9.48483116e-01 -2.23871068e-03 -2.74068772e+02] [-6.93566845e-03 4.35431590e-05 -9.99975947e-01 -4.89907009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.866559995 meters 0.04908105667119051 Centerline is valid? [True, True] Translation: X:459.16, Y:-274.12, Z:-4.90 [[ 9.21847826e-01 3.87515548e-01 -5.31850711e-03 4.59157025e+02] [ 3.87508768e-01 -9.21863166e-01 -2.29286041e-03 -2.74122776e+02] [-5.79145486e-03 5.27002387e-05 -9.99983228e-01 -4.89871280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.926559995 meters 0.04899971659139296 Centerline is valid? [True, True] Translation: X:459.21, Y:-274.17, Z:-4.90 [[ 8.89712106e-01 4.56500325e-01 -4.45223761e-03 4.59210444e+02] [ 4.56494288e-01 -8.89723243e-01 -2.34839368e-03 -2.74168416e+02] [-5.03330176e-03 5.69732495e-05 -9.99987331e-01 -4.89847157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.986559995 meters 0.04867998419719437 Centerline is valid? [True, True] Translation: X:459.26, Y:-274.21, Z:-4.90 [[ 8.51892490e-01 5.23698475e-01 -4.36954678e-03 4.59264822e+02] [ 5.23691196e-01 -8.51903694e-01 -2.76185060e-03 -2.74208806e+02] [-5.16880999e-03 6.45066052e-05 -9.99986640e-01 -4.89920167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.046559995 meters 0.04938961784871886 Centerline is valid? [True, True] Translation: X:459.33, Y:-274.25, Z:-4.90 [[ 8.07613584e-01 5.89693729e-01 -4.64820550e-03 4.59326093e+02] [ 5.89683494e-01 -8.07626957e-01 -3.47486109e-03 -2.74249855e+02] [-5.80311986e-03 6.53749568e-05 -9.99983160e-01 -4.89826281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.106559995 meters 0.04869064759621284 Centerline is valid? [True, True] Translation: X:459.39, Y:-274.28, Z:-4.90 [[ 7.56038101e-01 6.54509180e-01 -4.91154898e-03 4.59390851e+02] [ 6.54494992e-01 -7.56054053e-01 -4.30982600e-03 -2.74284555e+02] [-6.53421719e-03 4.38084491e-05 -9.99978651e-01 -4.89732212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.166559995 meters 0.04886068487905069 Centerline is valid? [True, True] Translation: X:459.46, Y:-274.32, Z:-4.90 [[ 6.99741041e-01 7.14379883e-01 -4.88445586e-03 4.59459979e+02] [ 7.14362284e-01 -6.99758088e-01 -5.01451151e-03 -2.74318331e+02] [-7.00020364e-03 1.95884597e-05 -9.99975498e-01 -4.89670650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.2265599950001 meters 0.04857218722959931 Centerline is valid? [True, True] Translation: X:459.53, Y:-274.34, Z:-4.90 [[ 6.38787308e-01 7.69369042e-01 -4.69600388e-03 4.59530550e+02] [ 7.69348338e-01 -6.38804569e-01 -5.64429089e-03 -2.74344327e+02] [-7.34237141e-03 -7.36139238e-06 -9.99973044e-01 -4.89652870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.286559995 meters 0.0491259811227998 Centerline is valid? [True, True] Translation: X:459.61, Y:-274.37, Z:-4.90 [[ 5.74141882e-01 8.18745370e-01 -4.13751867e-03 4.59610449e+02] [ 8.18724475e-01 -5.74156789e-01 -5.84945301e-03 -2.74369896e+02] [-7.16479700e-03 -2.90718410e-05 -9.99974332e-01 -4.89901338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.346559995 meters 0.04912658955781664 Centerline is valid? [True, True] Translation: X:459.69, Y:-274.39, Z:-4.90 [[ 5.06328123e-01 8.62336055e-01 -2.89125115e-03 4.59693600e+02] [ 8.62322396e-01 -5.06336377e-01 -4.85374813e-03 -2.74391472e+02] [-5.64950765e-03 -3.56014388e-05 -9.99984041e-01 -4.89983706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.406559995 meters 0.04949399181594803 Centerline is valid? [True, True] Translation: X:459.78, Y:-274.40, Z:-4.90 [[ 4.37187535e-01 8.99367583e-01 -2.23817789e-03 4.59775752e+02] [ 8.99356175e-01 -4.37193263e-01 -4.53003727e-03 -2.74404826e+02] [-5.05268496e-03 -3.24432799e-05 -9.99987235e-01 -4.89894446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.4665599950001 meters 0.04953214921337132 Centerline is valid? [True, True] Translation: X:459.85, Y:-274.40, Z:-4.90 [[ 3.66500166e-01 9.30416183e-01 -1.83169212e-03 4.59846559e+02] [ 9.30404919e-01 -3.66504742e-01 -4.57839574e-03 -2.74404836e+02] [-4.93113734e-03 -2.62325575e-05 -9.99987842e-01 -4.89887366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.526559995 meters 0.04913139809104401 Centerline is valid? [True, True] Translation: X:459.93, Y:-274.40, Z:-4.90 [[ 2.96516009e-01 9.55026495e-01 -1.62809735e-03 4.59928685e+02] [ 9.55012223e-01 -2.96520478e-01 -5.22105561e-03 -2.74403693e+02] [-5.46901064e-03 -6.72630258e-06 -9.99985045e-01 -4.90076506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.586559995 meters 0.04963479849719024 Centerline is valid? [True, True] Translation: X:460.01, Y:-274.40, Z:-4.90 [[ 2.23677378e-01 9.74662480e-01 -1.21680110e-03 4.60011071e+02] [ 9.74647838e-01 -2.23680687e-01 -5.34239623e-03 -2.74396384e+02] [-5.47920806e-03 9.02062187e-06 -9.99984989e-01 -4.90052288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.646559995 meters 0.04936016231954599 Centerline is valid? [True, True] Translation: X:460.09, Y:-274.38, Z:-4.90 [[ 1.48994278e-01 9.88837638e-01 -9.11636181e-04 4.60090983e+02] [ 9.88818115e-01 -1.48997065e-01 -6.21373502e-03 -2.74383728e+02] [-6.28020617e-03 2.43685911e-05 -9.99980279e-01 -4.89734646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.7065599950001 meters 0.0494906072772577 Centerline is valid? [True, True] Translation: X:460.16, Y:-274.36, Z:-4.90 [[ 7.28405602e-02 9.97343441e-01 -5.59253681e-04 4.60159162e+02] [ 9.97309051e-01 -7.28426928e-02 -8.28240530e-03 -2.74363254e+02] [-8.30114014e-03 4.55462830e-05 -9.99965544e-01 -4.89826149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.766559995 meters 0.049509300952567094 Centerline is valid? [True, True] Translation: X:460.25, Y:-274.34, Z:-4.90 [[-5.58486980e-03 9.99984400e-01 9.79500289e-05 4.60252497e+02] [ 9.99943836e-01 5.58552551e-03 -9.00706335e-03 -2.74337248e+02] [-9.00746994e-03 4.76412515e-05 -9.99959431e-01 -4.89833300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.826559995 meters 0.04902367119178803 Centerline is valid? [True, True] Translation: X:460.33, Y:-274.30, Z:-4.90 [[-8.51735736e-02 9.96365773e-01 8.41681675e-04 4.60326791e+02] [ 9.96321304e-01 8.51777243e-02 -9.41350728e-03 -2.74304780e+02] [-9.45098899e-03 3.68033285e-05 -9.99955338e-01 -4.89694312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.886559995 meters 0.04971385772131232 Centerline is valid? [True, True] Translation: X:460.40, Y:-274.27, Z:-4.90 [[-1.65000157e-01 9.86292050e-01 1.71459701e-03 4.60395028e+02] [ 9.86239920e-01 1.65009064e-01 -1.01405028e-02 -2.74267658e+02] [-1.02844213e-02 1.78194669e-05 -9.99947114e-01 -4.89739568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.9465599950001 meters 0.04992480045744634 Centerline is valid? [True, True] Translation: X:460.47, Y:-274.22, Z:-4.90 [[-2.43108193e-01 9.69995788e-01 2.56481859e-03 4.60472332e+02] [ 9.69941915e-01 2.43121722e-01 -1.02229717e-02 -2.74222369e+02] [-1.05398026e-02 2.43689152e-06 -9.99944455e-01 -4.89807027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.006559995 meters 0.04990054758355551 Centerline is valid? [True, True] Translation: X:460.55, Y:-274.17, Z:-4.90 [[-3.23403763e-01 9.46255306e-01 3.30181304e-03 4.60547440e+02] [ 9.46204275e-01 3.23420613e-01 -9.82740126e-03 -2.74171326e+02] [-1.03671050e-02 -5.40289366e-05 -9.99946259e-01 -4.89741559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.066559995 meters 0.04984829805967728 Centerline is valid? [True, True] Translation: X:460.62, Y:-274.11, Z:-4.90 [[-3.99368028e-01 9.16783963e-01 3.51338106e-03 4.60617404e+02] [ 9.16746814e-01 3.99383474e-01 -8.25346201e-03 -2.74113769e+02] [-8.96982795e-03 -7.52879512e-05 -9.99959767e-01 -4.89949793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.126559995 meters 0.049910693506653635 Centerline is valid? [True, True] Translation: X:460.68, Y:-274.05, Z:-4.90 [[-4.72166676e-01 8.81502643e-01 3.42354482e-03 4.60682280e+02] [ 8.81478212e-01 4.72179080e-01 -6.56336140e-03 -2.74052236e+02] [-7.40214666e-03 -8.12203718e-05 -9.99972600e-01 -4.89875921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.1865599950002 meters 0.04880092076686845 Centerline is valid? [True, True] Translation: X:460.74, Y:-273.99, Z:-4.90 [[-5.41973936e-01 8.40390256e-01 2.91053084e-03 4.60736924e+02] [ 8.40377390e-01 5.41981746e-01 -4.65075532e-03 -2.73987216e+02] [-5.48590404e-03 -7.46438530e-05 -9.99984950e-01 -4.90036328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.246559995 meters 0.04869021919943587 Centerline is valid? [True, True] Translation: X:460.79, Y:-273.92, Z:-4.90 [[-6.06945669e-01 7.94736428e-01 3.31137663e-03 4.60787069e+02] [ 7.94723857e-01 6.06954696e-01 -4.47082280e-03 -2.73918311e+02] [-5.56298134e-03 -8.19165290e-05 -9.99984523e-01 -4.90150500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.306559995 meters 0.04896915583630135 Centerline is valid? [True, True] Translation: X:460.83, Y:-273.84, Z:-4.90 [[-6.68005489e-01 7.44146862e-01 3.75700415e-03 4.60833951e+02] [ 7.44134328e-01 6.68016048e-01 -4.31987603e-03 -2.73843732e+02] [-5.72436126e-03 -8.99851422e-05 -9.99983612e-01 -4.90107470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.366559995 meters 0.0494545972029304 Centerline is valid? [True, True] Translation: X:460.87, Y:-273.77, Z:-4.90 [[-7.24767161e-01 6.88974031e-01 5.22936325e-03 4.60874444e+02] [ 6.88954873e-01 7.24786016e-01 -5.13935297e-03 -2.73767219e+02] [-7.33105009e-03 -1.22038968e-04 -9.99973120e-01 -4.89921320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.426559995 meters 0.04961212416914792 Centerline is valid? [True, True] Translation: X:460.93, Y:-273.72, Z:-4.90 [[-7.72022268e-01 6.35561294e-01 6.59243356e-03 4.60928251e+02] [ 6.35536477e-01 7.72050400e-01 -5.61845330e-03 -2.73716654e+02] [-8.66056242e-03 -1.47839056e-04 -9.99962486e-01 -4.89986405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.486559995 meters 0.0496097362459802 Centerline is valid? [True, True] Translation: X:460.89, Y:-273.59, Z:-4.90 [[-8.14255187e-01 5.80452914e-01 7.93132455e-03 4.60891252e+02] [ 5.80423531e-01 8.14293799e-01 -5.84235988e-03 -2.73589133e+02] [-9.84964322e-03 -1.53644433e-04 -9.99951479e-01 -4.89906666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.546559995 meters 0.04902490799115858 Centerline is valid? [True, True] Translation: X:461.21, Y:-273.04, Z:-5.91 [[-7.55196054e-01 -6.55460201e-01 7.13058629e-03 4.61214713e+02] [ 6.55432416e-01 -7.55229708e-01 -6.03620568e-03 -2.73042737e+02] [ 9.34172319e-03 1.15098685e-04 9.99956359e-01 -5.90949621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.606559995 meters 0.04969460838557309 Centerline is valid? [True, True] Translation: X:461.15, Y:-273.09, Z:-5.91 [[-7.12816307e-01 -7.01320639e-01 6.50183101e-03 4.61145396e+02] [ 7.01292353e-01 -7.12845956e-01 -6.29907489e-03 -2.73087681e+02] [ 9.05247517e-03 6.96010671e-05 9.99959023e-01 -5.91004982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.666559995 meters 0.04912867424426095 Centerline is valid? [True, True] Translation: X:460.57, Y:-273.44, Z:-4.90 [[-7.64106827e-01 6.45057806e-01 6.41742693e-03 4.60565018e+02] [ 6.45035282e-01 7.64133775e-01 -5.39056026e-03 -2.73444887e+02] [-8.38099565e-03 2.05028919e-05 -9.99964879e-01 -4.90193593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.7265599950001 meters 0.04937173972589783 Centerline is valid? [True, True] Translation: X:460.49, Y:-273.30, Z:-4.90 [[-8.04022726e-01 5.94562924e-01 6.51040836e-03 4.60492280e+02] [ 5.94544155e-01 8.04049081e-01 -4.72468957e-03 -2.73302678e+02] [-8.04381310e-03 7.19674483e-05 -9.99967645e-01 -4.90035949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.786559995 meters 0.04908487525261807 Centerline is valid? [True, True] Translation: X:460.49, Y:-273.22, Z:-4.90 [[-8.41804970e-01 5.39748717e-01 5.97625427e-03 4.60488266e+02] [ 5.39735904e-01 8.41826178e-01 -3.72026180e-03 -2.73218387e+02] [-7.03897383e-03 9.38641304e-05 -9.99975222e-01 -4.89955729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.846559995 meters 0.049590334139899016 Centerline is valid? [True, True] Translation: X:460.92, Y:-273.37, Z:-4.90 [[-8.77934363e-01 4.78731176e-01 6.90762896e-03 4.60918600e+02] [ 4.78717544e-01 8.77961527e-01 -3.61524788e-03 -2.73367557e+02] [-7.79536434e-03 1.32852824e-04 -9.99969607e-01 -4.90179503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.906559995 meters 0.04984994739503148 Centerline is valid? [True, True] Translation: X:460.89, Y:-273.26, Z:-4.90 [[-9.09089514e-01 4.16519845e-01 8.21429630e-03 4.60893116e+02] [ 4.16504473e-01 9.09126609e-01 -3.58229870e-03 -2.73255969e+02] [-8.95993384e-03 1.64660960e-04 -9.99959845e-01 -4.90364634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.9665599950001 meters 0.04951267891057683 Centerline is valid? [True, True] Translation: X:461.23, Y:-272.70, Z:-5.91 [[-8.95706692e-01 -4.44570068e-01 8.18389477e-03 4.61228038e+02] [ 4.44549950e-01 -8.95744066e-01 -4.23213097e-03 -2.72702781e+02] [ 9.21215393e-03 -1.52598017e-04 9.99957556e-01 -5.90758930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.026559995 meters 0.04977370165596517 Centerline is valid? [True, True] Translation: X:460.26, Y:-272.97, Z:-4.90 [[-9.11212766e-01 4.11849970e-01 8.42002046e-03 4.60256844e+02] [ 4.11833922e-01 9.11251655e-01 -3.63881962e-03 -2.72967249e+02] [-9.17140533e-03 1.51911157e-04 -9.99957930e-01 -4.89951541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.086559995 meters 0.049951988014166206 Centerline is valid? [True, True] Translation: X:460.09, Y:-272.82, Z:-4.90 [[-9.38970851e-01 3.43905965e-01 7.90119140e-03 4.60094837e+02] [ 3.43894844e-01 9.39004086e-01 -2.76828057e-03 -2.72822085e+02] [-8.37127921e-03 1.17844221e-04 -9.99964953e-01 -4.89995693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.146559995 meters 0.04996213908487243 Centerline is valid? [True, True] Translation: X:460.52, Y:-272.86, Z:-4.90 [[-9.63733834e-01 2.66773998e-01 6.98072417e-03 4.60516309e+02] [ 2.66767451e-01 9.63759114e-01 -1.86998053e-03 -2.72862931e+02] [-7.22659872e-03 6.00664873e-05 -9.99973886e-01 -4.90151220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.2065599950001 meters 0.049404481248093386 Centerline is valid? [True, True] Translation: X:459.88, Y:-272.63, Z:-4.90 [[-9.81300853e-01 1.92358046e-01 6.85694912e-03 4.59881830e+02] [ 1.92353480e-01 9.81324810e-01 -1.32556208e-03 -2.72630580e+02] [-6.98387682e-03 1.81828282e-05 -9.99975612e-01 -4.90103379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.266559995 meters 0.04893322824193705 Centerline is valid? [True, True] Translation: X:459.95, Y:-272.56, Z:-4.90 [[-9.93253117e-01 1.15703386e-01 7.80840607e-03 4.59952662e+02] [ 1.15699578e-01 9.93283809e-01 -9.39109011e-04 -2.72560679e+02] [-7.86462141e-03 -2.93436626e-05 -9.99969073e-01 -4.89967513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.326559995 meters 0.049041709719312286 Centerline is valid? [True, True] Translation: X:460.04, Y:-271.96, Z:-5.91 [[-9.80146826e-01 -1.98129993e-01 7.53031637e-03 4.60039047e+02] [ 1.98124263e-01 -9.80175752e-01 -1.50700425e-03 -2.71961939e+02] [ 7.67961626e-03 1.48529483e-05 9.99970511e-01 -5.91020228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.386559995 meters 0.04975490057128553 Centerline is valid? [True, True] Translation: X:459.91, Y:-272.55, Z:-4.90 [[-9.94932036e-01 1.00340587e-01 6.48147499e-03 4.59909231e+02] [ 1.00337805e-01 9.94953143e-01 -7.53887815e-04 -2.72549409e+02] [-6.52440946e-03 -9.97301659e-05 -9.99978711e-01 -4.90102543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.4465599950001 meters 0.049995963799491276 Centerline is valid? [True, True] Translation: X:459.95, Y:-271.96, Z:-5.91 [[-9.79921724e-01 -1.99303844e-01 5.60291654e-03 4.59947874e+02] [ 1.99300775e-01 -9.79937741e-01 -1.10659596e-03 -2.71964276e+02] [ 5.71105821e-03 3.22881898e-05 9.99983691e-01 -5.90974094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.506559995 meters 0.05010159234200463 Centerline is valid? [True, True] Translation: X:459.76, Y:-272.53, Z:-4.90 [[-9.95529025e-01 9.43258430e-02 4.95934540e-03 4.59764963e+02] [ 9.43242364e-02 9.95541374e-01 -5.57380512e-04 -2.72530766e+02] [-4.98980892e-03 -8.71020101e-05 -9.99987547e-01 -4.90121476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.566559995 meters 0.05086879109855241 Centerline is valid? [True, True] Translation: X:459.74, Y:-272.44, Z:-4.90 [[-9.99723247e-01 2.29531547e-02 5.15574029e-03 4.59741022e+02] [ 2.29523755e-02 9.99736537e-01 -2.10275129e-04 -2.72443590e+02] [-5.15920842e-03 -9.18804478e-05 -9.99986687e-01 -4.89931058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.626559995 meters 0.050422861434656574 Centerline is valid? [True, True] Translation: X:459.67, Y:-272.37, Z:-4.90 [[-9.98802631e-01 -4.85482059e-02 6.03118816e-03 4.59674362e+02] [-4.85479870e-02 9.98820835e-01 1.82787363e-04 -2.72365158e+02] [-6.03295039e-03 -1.10233545e-04 -9.99981796e-01 -4.89890534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.6865599950002 meters 0.0498258781010434 Centerline is valid? [True, True] Translation: X:459.60, Y:-271.80, Z:-5.91 [[-9.98422281e-01 -5.55806318e-02 7.98389644e-03 4.59599505e+02] [ 5.55810488e-02 -9.98454164e-01 -1.69812086e-04 -2.71799564e+02] [ 7.98099291e-03 2.74209168e-04 9.99968114e-01 -5.91309484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.746559995 meters 0.04936696432141677 Centerline is valid? [True, True] Translation: X:459.51, Y:-272.38, Z:-4.90 [[-9.98652460e-01 -5.10712222e-02 9.21928920e-03 4.59507118e+02] [-5.10705075e-02 9.98695001e-01 3.13081795e-04 -2.72376295e+02] [-9.22324751e-03 -1.58173874e-04 -9.99957452e-01 -4.89801162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.806559995 meters 0.049770058539696585 Centerline is valid? [True, True] Translation: X:459.40, Y:-272.31, Z:-4.90 [[-9.92586872e-01 -1.21151563e-01 9.67478175e-03 4.59398011e+02] [-1.21147371e-01 9.92634008e-01 1.02031521e-03 -2.72309226e+02] [-9.72713017e-03 -1.59322894e-04 -9.99952678e-01 -4.89834707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.866559995 meters 0.05026090691263735 Centerline is valid? [True, True] Translation: X:459.35, Y:-272.24, Z:-4.90 [[-9.82046070e-01 -1.88359851e-01 1.02996716e-02 4.59350448e+02] [-1.88350957e-01 9.82100070e-01 1.83561356e-03 -2.72240971e+02] [-1.04610641e-02 -1.37295918e-04 -9.99945272e-01 -4.89791377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.926559995 meters 0.049840922899883136 Centerline is valid? [True, True] Translation: X:459.23, Y:-272.19, Z:-4.90 [[-9.67638008e-01 -2.52152023e-01 9.80013115e-03 4.59233566e+02] [-2.52139889e-01 9.67687631e-01 2.47483982e-03 -2.72192549e+02] [-1.01075016e-02 -7.62549130e-05 -9.99948915e-01 -4.89817920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.986559995 meters 0.050115766167702275 Centerline is valid? [True, True] Translation: X:459.00, Y:-272.19, Z:-4.90 [[-9.50993154e-01 -3.09094437e-01 8.52353310e-03 4.59003759e+02] [-3.09081666e-01 9.51031350e-01 2.80999010e-03 -2.72192208e+02] [-8.97469949e-03 3.78135377e-05 -9.99959726e-01 -4.89848162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.046559995 meters 0.05010087732546261 Centerline is valid? [True, True] Translation: X:458.93, Y:-272.15, Z:-4.90 [[-9.29482239e-01 -3.68802439e-01 6.89410670e-03 4.58926839e+02] [-3.68791514e-01 9.29507801e-01 2.84037694e-03 -2.72153105e+02] [-7.45566390e-03 9.75918768e-05 -9.99972201e-01 -4.89960916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.106559995 meters 0.050538396474926396 Centerline is valid? [True, True] Translation: X:458.78, Y:-272.14, Z:-4.90 [[-9.04294711e-01 -4.26871455e-01 5.64243716e-03 4.58777779e+02] [-4.26862219e-01 9.04312304e-01 2.81123327e-03 -2.72144773e+02] [-6.30256059e-03 1.33640134e-04 -9.99980130e-01 -4.90144783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.166559995 meters 0.05123551577693952 Centerline is valid? [True, True] Translation: X:458.98, Y:-271.96, Z:-4.90 [[-8.73422462e-01 -4.86933295e-01 5.40084153e-03 4.58975720e+02] [-4.86922653e-01 8.73439140e-01 3.22473807e-03 -2.71955350e+02] [-6.28753872e-03 1.86766579e-04 -9.99980216e-01 -4.90095722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.2265599950001 meters 0.05046966859848234 Centerline is valid? [True, True] Translation: X:458.99, Y:-271.83, Z:-4.90 [[-8.35611077e-01 -5.49290076e-01 5.87718080e-03 4.58987242e+02] [-5.49274569e-01 8.35631714e-01 4.13357338e-03 -2.71831716e+02] [-7.18168950e-03 2.25873753e-04 -9.99974186e-01 -4.90130539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.286559995 meters 0.05086329343839492 Centerline is valid? [True, True] Translation: X:458.79, Y:-271.88, Z:-4.90 [[-7.92237768e-01 -6.10174528e-01 6.80908402e-03 4.58785594e+02] [-6.10149256e-01 7.92266990e-01 5.55895699e-03 -2.71876898e+02] [-8.78654645e-03 2.49458130e-04 -9.99961366e-01 -4.90064371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.346559995 meters 0.05060451523057151 Centerline is valid? [True, True] Translation: X:458.33, Y:-272.18, Z:-4.90 [[-7.43688621e-01 -6.68488569e-01 7.08996275e-03 4.58331277e+02] [-6.68455231e-01 7.43722381e-01 6.68011260e-03 -2.72179426e+02] [-9.73854289e-03 2.28601042e-04 -9.99952553e-01 -4.89715734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.406559995 meters 0.05099514076182602 Centerline is valid? [True, True] Translation: X:458.49, Y:-271.89, Z:-4.90 [[-6.86273505e-01 -7.27306729e-01 7.32104873e-03 4.58490044e+02] [-7.27262357e-01 6.86312528e-01 8.03605104e-03 -2.71892702e+02] [-1.08692015e-02 1.90605754e-04 -9.99940910e-01 -4.89992992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.4665599950001 meters 0.050097209136638336 Centerline is valid? [True, True] Translation: X:457.40, Y:-272.11, Z:-5.91 [[-7.15768760e-01 6.98299812e-01 7.24254741e-03 4.57399003e+02] [-6.98267460e-01 -7.15805360e-01 6.72615613e-03 -2.72113911e+02] [ 9.88112782e-03 -2.42862755e-04 9.99951151e-01 -5.91374967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.526559995 meters 0.0494713262587335 Centerline is valid? [True, True] Translation: X:457.76, Y:-272.66, Z:-4.90 [[-6.68978959e-01 -7.43259979e-01 5.63518436e-03 4.57757667e+02] [-7.43233516e-01 6.69002693e-01 6.27192106e-03 -2.72664031e+02] [-8.43162143e-03 7.52533592e-06 -9.99964453e-01 -4.89975939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.586559995 meters 0.04929578822887018 Centerline is valid? [True, True] Translation: X:457.60, Y:-272.74, Z:-4.90 [[-6.10799780e-01 -7.91773230e-01 4.33369435e-03 4.57598479e+02] [-7.91753421e-01 6.10815154e-01 5.60076287e-03 -2.72736414e+02] [-7.08162029e-03 -1.02726032e-05 -9.99974925e-01 -4.89984699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.646559995 meters 0.04900272468899809 Centerline is valid? [True, True] Translation: X:457.46, Y:-272.80, Z:-4.90 [[-5.45883580e-01 -8.37854474e-01 3.31620890e-03 4.57455623e+02] [-8.37839495e-01 5.45893651e-01 5.01021134e-03 -2.72800689e+02] [-6.00812537e-03 -4.34586847e-05 -9.99981950e-01 -4.89989787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.7065599950001 meters 0.04888137990524573 Centerline is valid? [True, True] Translation: X:457.30, Y:-272.91, Z:-4.90 [[-4.80378947e-01 -8.77056366e-01 2.86336701e-03 4.57296653e+02] [-8.77041516e-01 4.80387477e-01 5.10406500e-03 -2.72909203e+02] [-5.85207836e-03 -5.94063739e-05 -9.99982875e-01 -4.89845371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.766559995 meters 0.04917411457618928 Centerline is valid? [True, True] Translation: X:457.15, Y:-273.02, Z:-4.90 [[-4.11075709e-01 -9.11596811e-01 2.83139097e-03 4.57148890e+02] [-9.11576715e-01 4.11085449e-01 6.05359772e-03 -2.73019143e+02] [-6.68238400e-03 -9.25431113e-05 -9.99977668e-01 -4.89599190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.826559995 meters 0.049086928611926525 Centerline is valid? [True, True] Translation: X:457.00, Y:-273.18, Z:-4.90 [[-3.41716735e-01 -9.39798961e-01 2.75406539e-03 4.56999650e+02] [-9.39771173e-01 3.41727813e-01 7.22805642e-03 -2.73184748e+02] [-7.73406065e-03 -1.18243417e-04 -9.99970085e-01 -4.89741365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.886559995 meters 0.04924706956252004 Centerline is valid? [True, True] Translation: X:456.87, Y:-273.32, Z:-4.89 [[-2.70933545e-01 -9.62593299e-01 3.02578004e-03 4.56868460e+02] [-9.62539960e-01 2.70950389e-01 1.01347307e-02 -2.73324541e+02] [-1.05754602e-02 -1.66595676e-04 -9.99944064e-01 -4.89416390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.9465599950001 meters 0.04928961046370407 Centerline is valid? [True, True] Translation: X:456.74, Y:-273.51, Z:-4.90 [[-1.99508112e-01 -9.79893132e-01 2.44197745e-03 4.56743781e+02] [-9.79830137e-01 1.99522979e-01 1.11122943e-02 -2.73512065e+02] [-1.13760915e-02 -1.75730245e-04 -9.99935275e-01 -4.89565201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.006559995 meters 0.04965953941540559 Centerline is valid? [True, True] Translation: X:456.62, Y:-273.73, Z:-4.89 [[-1.27658832e-01 -9.91816704e-01 1.68768390e-03 4.56624083e+02] [-9.91746992e-01 1.27669871e-01 1.17604546e-02 -2.73730277e+02] [-1.18796817e-02 -1.72429541e-04 -9.99929419e-01 -4.89282521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.066559995 meters 0.04890685335888572 Centerline is valid? [True, True] Translation: X:456.53, Y:-273.93, Z:-4.89 [[-5.73286458e-02 -9.98355060e-01 7.74465147e-04 4.56531858e+02] [-9.98291052e-01 5.73337405e-02 1.13056082e-02 -2.73929300e+02] [-1.13314141e-02 -1.25006421e-04 -9.99935790e-01 -4.89455155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.126559995 meters 0.048453035945938916 Centerline is valid? [True, True] Translation: X:456.45, Y:-274.20, Z:-4.90 [[ 1.30745341e-02 -9.99914523e-01 -5.53360305e-05 4.56451153e+02] [-9.99863474e-01 -1.30744258e-02 1.01040938e-02 -2.74198978e+02] [-1.01039536e-02 -7.67778440e-05 -9.99948951e-01 -4.89719353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.1865599950002 meters 0.04909333502084778 Centerline is valid? [True, True] Translation: X:456.38, Y:-274.33, Z:-4.90 [[ 8.38064842e-02 -9.96481842e-01 -6.41469301e-04 4.56382483e+02] [-9.96449832e-01 -8.38089337e-02 7.98718734e-03 -2.74325727e+02] [-8.01284801e-03 -3.01861123e-05 -9.99967896e-01 -4.89947210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.246559995 meters 0.049022477173115635 Centerline is valid? [True, True] Translation: X:455.75, Y:-274.74, Z:-5.91 [[ 1.37630172e-02 9.99905285e-01 -9.27330783e-06 4.55752458e+02] [-9.99885091e-01 1.37627982e-02 6.35530143e-03 -2.74738985e+02] [ 6.35482712e-03 -7.81958806e-05 9.99979805e-01 -5.90968562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.306559995 meters 0.04883219293205019 Centerline is valid? [True, True] Translation: X:456.43, Y:-274.93, Z:-4.90 [[ 8.12785297e-02 -9.96691307e-01 -4.89258547e-04 4.56429895e+02] [-9.96675606e-01 -8.12799956e-02 5.59452322e-03 -2.74928189e+02] [-5.61577959e-03 3.29174374e-05 -9.99984231e-01 -4.89961830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.366559995 meters 0.04845796557380535 Centerline is valid? [True, True] Translation: X:456.31, Y:-274.62, Z:-4.90 [[ 1.51972892e-01 -9.88384236e-01 -9.17716168e-04 4.56309720e+02] [-9.88368375e-01 -1.51975652e-01 5.59976528e-03 -2.74622072e+02] [-5.67419024e-03 5.60291156e-05 -9.99983900e-01 -4.90055331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.426559995 meters 0.04960718117293901 Centerline is valid? [True, True] Translation: X:456.30, Y:-275.02, Z:-4.90 [[ 2.17067363e-01 -9.76155598e-01 -1.41737234e-03 4.56303551e+02] [-9.76137781e-01 -2.17071966e-01 5.89861678e-03 -2.75024630e+02] [-6.06563959e-03 1.03153496e-04 -9.99981599e-01 -4.89922521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.486559995 meters 0.050161417445280965 Centerline is valid? [True, True] Translation: X:456.45, Y:-275.84, Z:-4.90 [[ 2.82038098e-01 -9.59401339e-01 -1.89276598e-03 4.56450980e+02] [-9.59382828e-01 -2.82044417e-01 5.96128942e-03 -2.75844205e+02] [-6.25311313e-03 1.34576444e-04 -9.99980440e-01 -4.89859837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.546559995 meters 0.049947893602095846 Centerline is valid? [True, True] Translation: X:456.25, Y:-275.54, Z:-4.90 [[ 3.50093070e-01 -9.36712005e-01 -2.33699371e-03 4.56251687e+02] [-9.36694047e-01 -3.50100834e-01 5.80249636e-03 -2.75539130e+02] [-6.25345145e-03 1.57634335e-04 -9.99980435e-01 -4.90046766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.606559995 meters 0.050051259128745314 Centerline is valid? [True, True] Translation: X:456.17, Y:-275.58, Z:-4.90 [[ 4.16473623e-01 -9.09143932e-01 -2.65178207e-03 4.56171103e+02] [-9.09127966e-01 -4.16482032e-01 5.39063458e-03 -2.75583259e+02] [-6.00528230e-03 1.65752125e-04 -9.99981954e-01 -4.90161638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.666559995 meters 0.04936344425696399 Centerline is valid? [True, True] Translation: X:456.18, Y:-275.80, Z:-4.90 [[ 4.82426017e-01 -8.75932085e-01 -2.84959187e-03 4.56181975e+02] [-8.75918649e-01 -4.82434408e-01 4.85410980e-03 -2.75800266e+02] [-5.62661169e-03 1.54261806e-04 -9.99984159e-01 -4.90259297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.7265599950001 meters 0.04973631157652359 Centerline is valid? [True, True] Translation: X:456.26, Y:-276.09, Z:-4.90 [[ 5.48523729e-01 -8.36129309e-01 -3.08197543e-03 4.56262826e+02] [-8.36117405e-01 -5.48532372e-01 4.46349789e-03 -2.76091852e+02] [-5.42262470e-03 1.28558793e-04 -9.99985289e-01 -4.90201959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.786559995 meters 0.050126303339619094 Centerline is valid? [True, True] Translation: X:456.29, Y:-276.28, Z:-4.90 [[ 6.12410497e-01 -7.90534819e-01 -2.84313534e-03 4.56289526e+02] [-7.90526940e-01 -6.12417091e-01 3.53042118e-03 -2.76282825e+02] [-4.53210554e-03 8.55080892e-05 -9.99989726e-01 -4.90272771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.846559995 meters 0.04990998582025658 Centerline is valid? [True, True] Translation: X:456.81, Y:-277.00, Z:-4.90 [[ 6.72196502e-01 -7.40367976e-01 -2.66902923e-03 4.56807238e+02] [-7.40362441e-01 -6.72201799e-01 2.86326090e-03 -2.77003414e+02] [-3.91399292e-03 5.13750369e-05 -9.99992339e-01 -4.90160270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.906559995 meters 0.04987582114189325 Centerline is valid? [True, True] Translation: X:456.81, Y:-277.13, Z:-4.90 [[ 7.30442165e-01 -6.82967014e-01 -3.20966933e-03 4.56812578e+02] [-6.82960550e-01 -7.30449216e-01 2.97146580e-03 -2.77127444e+02] [-4.37391357e-03 2.15936226e-05 -9.99990434e-01 -4.90079771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.9665599950001 meters 0.05036438306659293 Centerline is valid? [True, True] Translation: X:456.79, Y:-277.20, Z:-4.90 [[ 7.84048067e-01 -6.20688234e-01 -3.83986139e-03 4.56793997e+02] [-6.20680819e-01 -7.84057470e-01 3.03384089e-03 -2.77201240e+02] [-4.89374135e-03 4.65122850e-06 -9.99988026e-01 -4.90222103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.026559995 meters 0.050876327806541985 Centerline is valid? [True, True] Translation: X:456.77, Y:-277.29, Z:-4.90 [[ 8.31267043e-01 -5.55858181e-01 -4.09711326e-03 4.56772936e+02] [-5.55851399e-01 -8.31277140e-01 2.74578868e-03 -2.77290385e+02] [-4.93210570e-03 -5.09749618e-06 -9.99987837e-01 -4.90163023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.086559995 meters 0.05043893806529361 Centerline is valid? [True, True] Translation: X:456.76, Y:-277.38, Z:-4.90 [[ 8.72519398e-01 -4.88560276e-01 -4.33088341e-03 4.56760566e+02] [-4.88554207e-01 -8.72530147e-01 2.43510153e-03 -2.77377509e+02] [-4.96852021e-03 -8.80201154e-06 -9.99987657e-01 -4.90167796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.146559995 meters 0.05067744899088705 Centerline is valid? [True, True] Translation: X:456.76, Y:-277.46, Z:-4.90 [[ 9.07963278e-01 -4.19022457e-01 -4.78185945e-03 4.56757476e+02] [-4.19016596e-01 -9.07975870e-01 2.21630505e-03 -2.77461989e+02] [-5.27049458e-03 -8.64513105e-06 -9.99986111e-01 -4.90184867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.2065599950001 meters 0.05099830998751386 Centerline is valid? [True, True] Translation: X:456.76, Y:-277.55, Z:-4.90 [[ 9.37879559e-01 -3.46902201e-01 -6.38714771e-03 4.56758968e+02] [-3.46894077e-01 -9.37901308e-01 2.37406323e-03 -2.77554713e+02] [-6.81408195e-03 -1.09216674e-05 -9.99976784e-01 -4.90117511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.266559995 meters 0.0513194878595124 Centerline is valid? [True, True] Translation: X:456.77, Y:-277.64, Z:-4.90 [[ 9.62225911e-01 -2.72152792e-01 -7.35898314e-03 4.56769641e+02] [-2.72144708e-01 -9.62254050e-01 2.09769457e-03 -2.77640026e+02] [-7.65210477e-03 -1.57477436e-05 -9.99970722e-01 -4.90121247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.326559995 meters 0.051397764880179206 Centerline is valid? [True, True] Translation: X:456.79, Y:-277.72, Z:-4.90 [[ 9.80816469e-01 -1.94762224e-01 -8.16890473e-03 4.56787792e+02] [-1.94755223e-01 -9.80850486e-01 1.65156755e-03 -2.77721105e+02] [-8.33413714e-03 -2.89477860e-05 -9.99965270e-01 -4.90043959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.386559995 meters 0.05146374971750709 Centerline is valid? [True, True] Translation: X:456.81, Y:-277.80, Z:-4.90 [[ 9.93282292e-01 -1.15309069e-01 -9.70092110e-03 4.56811803e+02] [-1.15303021e-01 -9.93329661e-01 1.18236943e-03 -2.77804586e+02] [-9.77255059e-03 -5.58811103e-05 -9.99952246e-01 -4.90039229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.4465599950001 meters 0.051352965557320544 Centerline is valid? [True, True] Translation: X:456.84, Y:-277.88, Z:-4.90 [[ 9.99282839e-01 -3.62408476e-02 -1.09730743e-02 4.56843274e+02] [-3.62378381e-02 -9.99343082e-01 4.73030899e-04 -2.77884799e+02] [-1.09830090e-02 -7.50511692e-05 -9.99939682e-01 -4.90023743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.506559995 meters 0.05145690538985047 Centerline is valid? [True, True] Translation: X:456.87, Y:-277.96, Z:-4.90 [[ 9.99024090e-01 4.26300574e-02 -1.15562082e-02 4.56874364e+02] [ 4.26281954e-02 -9.99090922e-01 -4.07516297e-04 -2.77961177e+02] [-1.15630752e-02 -8.55017041e-05 -9.99933142e-01 -4.89924728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.566559995 meters 0.050852596533183754 Centerline is valid? [True, True] Translation: X:456.91, Y:-278.03, Z:-4.90 [[ 9.92589711e-01 1.21006357e-01 -1.10962808e-02 4.56912710e+02] [ 1.20999768e-01 -9.92651729e-01 -1.26575262e-03 -2.78034575e+02] [-1.11679064e-02 -8.62743713e-05 -9.99937633e-01 -4.90098940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.626559995 meters 0.05098120267664779 Centerline is valid? [True, True] Translation: X:456.96, Y:-278.10, Z:-4.90 [[ 9.80110460e-01 1.98212231e-01 -9.76719804e-03 4.56955265e+02] [ 1.98203159e-01 -9.80159123e-01 -1.89789037e-03 -2.78104256e+02] [-9.94959334e-03 -7.57472985e-05 -9.99950499e-01 -4.90107536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.6865599950002 meters 0.051902946893577884 Centerline is valid? [True, True] Translation: X:457.00, Y:-278.17, Z:-4.90 [[ 9.61918782e-01 2.73209745e-01 -8.28807270e-03 4.57002796e+02] [ 2.73200101e-01 -9.61954486e-01 -2.29620636e-03 -2.78166905e+02] [-8.60009466e-03 -5.55382755e-05 -9.99963017e-01 -4.90262883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.746559995 meters 0.05096655724803908 Centerline is valid? [True, True] Translation: X:457.06, Y:-278.23, Z:-4.90 [[ 9.37906376e-01 3.46814630e-01 -7.15842952e-03 4.57056943e+02] [ 3.46804873e-01 -9.37933692e-01 -2.60187298e-03 -2.78229037e+02] [-7.61649984e-03 -4.22649768e-05 -9.99970993e-01 -4.90403770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.806559995 meters 0.050940403936858836 Centerline is valid? [True, True] Translation: X:457.11, Y:-278.29, Z:-4.90 [[ 9.08359840e-01 4.18130982e-01 -6.99163389e-03 4.57113967e+02] [ 4.18118886e-01 -9.08386746e-01 -3.18070058e-03 -2.78286894e+02] [-7.68105701e-03 -3.41135029e-05 -9.99970500e-01 -4.90192131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.866559995 meters 0.05058768784981813 Centerline is valid? [True, True] Translation: X:457.17, Y:-278.33, Z:-4.90 [[ 8.72873316e-01 4.87890155e-01 -7.44113277e-03 4.57171829e+02] [ 4.87872796e-01 -8.72905032e-01 -4.11577355e-03 -2.78331598e+02] [-8.50344763e-03 -3.77773368e-05 -9.99963844e-01 -4.90449116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.926559995 meters 0.05066431003114986 Centerline is valid? [True, True] Translation: X:457.23, Y:-278.37, Z:-4.90 [[ 8.31667302e-01 5.55227287e-01 -7.22200867e-03 4.57233928e+02] [ 5.55206812e-01 -8.31698658e-01 -4.76843052e-03 -2.78373317e+02] [-8.65409766e-03 -4.39606705e-05 -9.99962552e-01 -4.90105161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.986559995 meters 0.05063265419432856 Centerline is valid? [True, True] Translation: X:457.29, Y:-278.41, Z:-4.90 [[ 7.84727500e-01 6.19798595e-01 -7.24232772e-03 4.57294608e+02] [ 6.19772913e-01 -7.84760917e-01 -5.64254929e-03 -2.78405043e+02] [-9.18073987e-03 -6.07349537e-05 -9.99957854e-01 -4.90299730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.046559995 meters 0.05041357812225454 Centerline is valid? [True, True] Translation: X:457.37, Y:-278.44, Z:-4.90 [[ 7.32839833e-01 6.80357920e-01 -7.67328411e-03 4.57369156e+02] [ 6.80321827e-01 -7.32879999e-01 -7.00841533e-03 -2.78444999e+02] [-1.03918273e-02 -8.42567494e-05 -9.99946000e-01 -4.90133564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.106559995 meters 0.051179982188732175 Centerline is valid? [True, True] Translation: X:457.44, Y:-278.47, Z:-4.90 [[ 6.76324238e-01 7.36569862e-01 -7.09674569e-03 4.57439516e+02] [ 7.36530843e-01 -6.76361463e-01 -7.58215353e-03 -2.78472523e+02] [-1.03847511e-02 -9.89778787e-05 -9.99946072e-01 -4.90474177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.166559995 meters 0.05033434158607265 Centerline is valid? [True, True] Translation: X:457.52, Y:-278.50, Z:-4.90 [[ 6.15121599e-01 7.88407323e-01 -6.26978983e-03 4.57520487e+02] [ 7.88368262e-01 -6.15153541e-01 -7.84884615e-03 -2.78501895e+02] [-1.00449712e-02 -1.14908514e-04 -9.99949541e-01 -4.90227403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.2265599950001 meters 0.05065802468186463 Centerline is valid? [True, True] Translation: X:457.60, Y:-278.52, Z:-4.90 [[ 5.49786415e-01 8.35290599e-01 -4.95101153e-03 4.57600774e+02] [ 8.35258669e-01 -5.49808695e-01 -7.30440487e-03 -2.78523332e+02] [-8.82340990e-03 -1.19512731e-04 -9.99961066e-01 -4.90077353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.286559995 meters 0.05033851129616497 Centerline is valid? [True, True] Translation: X:457.67, Y:-278.53, Z:-4.90 [[ 4.80422171e-01 8.77029769e-01 -3.64991307e-03 4.57673246e+02] [ 8.77006317e-01 -4.80436021e-01 -6.41479377e-03 -2.78532107e+02] [-7.37951481e-03 -1.19187675e-04 -9.99972764e-01 -4.90142617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.346559995 meters 0.04931542784782912 Centerline is valid? [True, True] Translation: X:457.75, Y:-278.54, Z:-4.90 [[ 4.06537990e-01 9.13628953e-01 -2.99975115e-03 4.57750769e+02] [ 9.13606626e-01 -4.06549032e-01 -6.38880869e-03 -2.78537231e+02] [-7.05654652e-03 -1.43299083e-04 -9.99975092e-01 -4.90336481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.406559995 meters 0.049820070853115926 Centerline is valid? [True, True] Translation: X:457.83, Y:-278.54, Z:-4.90 [[ 3.31651169e-01 9.43398379e-01 -2.64575320e-03 4.57833524e+02] [ 9.43372317e-01 -3.31661679e-01 -7.01441772e-03 -2.78539673e+02] [-7.49488526e-03 -1.69590485e-04 -9.99971899e-01 -4.90292723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.4665599950001 meters 0.05062605357029251 Centerline is valid? [True, True] Translation: X:457.91, Y:-278.53, Z:-4.90 [[ 2.53776359e-01 9.67260583e-01 -2.12711027e-03 4.57912858e+02] [ 9.67232817e-01 -2.53785197e-01 -7.33149244e-03 -2.78533481e+02] [-7.63129275e-03 -1.96851403e-04 -9.99970862e-01 -4.90279990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.526559995 meters 0.05065810829365791 Centerline is valid? [True, True] Translation: X:458.00, Y:-278.52, Z:-4.90 [[ 1.75798333e-01 9.84424781e-01 -1.67236164e-03 4.57998875e+02] [ 9.84391646e-01 -1.75806143e-01 -8.08006431e-03 -2.78524093e+02] [-8.24822699e-03 -2.25796993e-04 -9.99965957e-01 -4.90086576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.586559995 meters 0.049547949539307815 Centerline is valid? [True, True] Translation: X:458.08, Y:-278.51, Z:-4.90 [[ 9.80125945e-02 9.95184533e-01 -1.12976855e-03 4.58081524e+02] [ 9.95144466e-01 -9.80187901e-02 -8.93356245e-03 -2.78506700e+02] [-9.00128173e-03 -2.48681286e-04 -9.99959457e-01 -4.90238936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.646559995 meters 0.04908394338489284 Centerline is valid? [True, True] Translation: X:458.17, Y:-278.48, Z:-4.90 [[ 2.10516403e-02 9.99778288e-01 -4.49904237e-04 4.58168307e+02] [ 9.99733488e-01 -2.10549576e-02 -9.46788919e-03 -2.78484013e+02] [-9.47526276e-03 -2.50469735e-04 -9.99955077e-01 -4.90338909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.7065599950001 meters 0.04929761281423547 Centerline is valid? [True, True] Translation: X:458.26, Y:-278.46, Z:-4.90 [[-5.55549921e-02 9.98455593e-01 2.66313489e-04 4.58261535e+02] [ 9.98418316e-01 5.55552199e-02 -8.63045157e-03 -2.78455876e+02] [-8.63191774e-03 -2.13572403e-04 -9.99962722e-01 -4.90205325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.766559995 meters 0.04887937689044605 Centerline is valid? [True, True] Translation: X:458.34, Y:-278.42, Z:-4.90 [[-1.30443716e-01 9.91455390e-01 8.04600422e-04 4.58342365e+02] [ 9.91428239e-01 1.30446100e-01 -7.33904742e-03 -2.78420739e+02] [-7.38129510e-03 -1.59629041e-04 -9.99972745e-01 -4.90269137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.826559995 meters 0.05025239111196061 Centerline is valid? [True, True] Translation: X:458.43, Y:-278.38, Z:-4.90 [[-2.05995479e-01 9.78551866e-01 1.45217085e-03 4.58428547e+02] [ 9.78521940e-01 2.06000538e-01 -7.65450631e-03 -2.78379481e+02] [-7.78947941e-03 -1.55812655e-04 -9.99969649e-01 -4.89927091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.886559995 meters 0.048773615469692014 Centerline is valid? [True, True] Translation: X:458.49, Y:-278.34, Z:-4.90 [[-2.79594726e-01 9.60115441e-01 2.26485820e-03 4.58492990e+02] [ 9.60079404e-01 2.79603858e-01 -8.31985985e-03 -2.78335766e+02] [-8.62128900e-03 -1.51745217e-04 -9.99962825e-01 -4.90035539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.9465599950001 meters 0.048785088962073925 Centerline is valid? [True, True] Translation: X:458.57, Y:-278.28, Z:-4.90 [[-3.54506452e-01 9.35048666e-01 3.02772723e-03 4.58571446e+02] [ 9.35010508e-01 3.54519343e-01 -8.44896769e-03 -2.78281141e+02] [-8.97358384e-03 -1.64256777e-04 -9.99959723e-01 -4.90100000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.006559995 meters 0.049704891472144415 Centerline is valid? [True, True] Translation: X:458.65, Y:-278.22, Z:-4.90 [[-4.26939822e-01 9.04270781e-01 4.09192862e-03 4.58648628e+02] [ 9.04224966e-01 4.26959390e-01 -9.10440235e-03 -2.78219829e+02] [-9.97993237e-03 -1.87007898e-04 -9.99950182e-01 -4.89770998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.066559995 meters 0.04946574752267339 Centerline is valid? [True, True] Translation: X:458.71, Y:-278.16, Z:-4.90 [[-4.95726810e-01 8.68464809e-01 4.87899928e-03 4.58708936e+02] [ 8.68419062e-01 4.95750786e-01 -8.91582598e-03 -2.78157807e+02] [-1.01618488e-02 -1.82798005e-04 -9.99948350e-01 -4.89714275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.126559995 meters 0.04895775034746683 Centerline is valid? [True, True] Translation: X:458.76, Y:-278.09, Z:-4.90 [[-5.61543381e-01 8.27431306e-01 5.14441842e-03 4.58760845e+02] [ 8.27393908e-01 5.61566922e-01 -7.86849882e-03 -2.78092600e+02] [-9.39957747e-03 -1.62042969e-04 -9.99955810e-01 -4.89966945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.1865599950002 meters 0.04883156471334546 Centerline is valid? [True, True] Translation: X:458.81, Y:-278.02, Z:-4.90 [[-6.24125738e-01 7.81308323e-01 4.93639723e-03 4.58811838e+02] [ 7.81282163e-01 6.24145245e-01 -6.39487362e-03 -2.78020964e+02] [-8.07739684e-03 -1.34486107e-04 -9.99967368e-01 -4.89997897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.246559995 meters 0.049267711345722484 Centerline is valid? [True, True] Translation: X:458.86, Y:-277.94, Z:-4.90 [[-6.82745536e-01 7.30637333e-01 5.25554397e-03 4.58860173e+02] [ 7.30614276e-01 6.82765753e-01 -5.80578858e-03 -2.77943004e+02] [-7.83023131e-03 -1.24100786e-04 -9.99969336e-01 -4.89940546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.306559995 meters 0.04885362888335599 Centerline is valid? [True, True] Translation: X:458.90, Y:-277.86, Z:-4.90 [[-7.36680188e-01 6.76214365e-01 6.03610222e-03 4.58901437e+02] [ 6.76190348e-01 7.36704907e-01 -5.70040075e-03 -2.77863900e+02] [-8.30151899e-03 -1.17818240e-04 -9.99965535e-01 -4.89749341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.366559995 meters 0.049311999990115554 Centerline is valid? [True, True] Translation: X:458.90, Y:-277.76, Z:-4.90 [[-7.81063963e-01 6.24420989e-01 6.12488186e-03 4.58895484e+02] [ 6.24400874e-01 7.81087972e-01 -5.01280292e-03 -2.77757900e+02] [-7.91417091e-03 -9.09381299e-05 -9.99968678e-01 -4.89647183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.426559995 meters 0.04954889372813459 Centerline is valid? [True, True] Translation: X:459.28, Y:-277.26, Z:-5.91 [[-7.21693992e-01 -6.92195951e-01 4.74837155e-03 4.59276034e+02] [ 6.92180894e-01 -7.21709613e-01 -4.56562105e-03 -2.77257431e+02] [ 6.58724979e-03 -8.24922104e-06 9.99978304e-01 -5.91246480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.486559995 meters 0.048215790582650644 Centerline is valid? [True, True] Translation: X:458.79, Y:-277.68, Z:-4.90 [[-7.83545782e-01 6.21321924e-01 3.88250944e-03 4.58793756e+02] [ 6.21313928e-01 7.83555399e-01 -3.15271302e-03 -2.77680832e+02] [-5.00101096e-03 -5.80378010e-05 -9.99987493e-01 -4.89913115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.546559995 meters 0.048434081285666335 Centerline is valid? [True, True] Translation: X:458.83, Y:-277.61, Z:-4.90 [[-8.27105904e-01 5.62028827e-01 4.40683856e-03 4.58826611e+02] [ 5.62020354e-01 8.27117641e-01 -3.08712694e-03 -2.77609746e+02] [-5.38002825e-03 -7.66479498e-05 -9.99985525e-01 -4.89904352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.606559995 meters 0.0487169227716912 Centerline is valid? [True, True] Translation: X:458.82, Y:-277.51, Z:-4.90 [[-8.64900461e-01 5.01918365e-01 5.01473640e-03 4.58820543e+02] [ 5.01909364e-01 8.64914995e-01 -3.00705315e-03 -2.77511686e+02] [-5.84661591e-03 -8.38584993e-05 -9.99982905e-01 -4.89797107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.666559995 meters 0.04897831424434585 Centerline is valid? [True, True] Translation: X:458.81, Y:-277.41, Z:-4.90 [[-8.97898151e-01 4.40171702e-01 5.27098385e-03 4.58807929e+02] [ 4.40163598e-01 8.97913619e-01 -2.67202489e-03 -2.77411889e+02] [-5.90903792e-03 -7.91109903e-05 -9.99982538e-01 -4.89610583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.7265599950001 meters 0.04870367772288902 Centerline is valid? [True, True] Translation: X:459.03, Y:-276.82, Z:-5.91 [[-8.52688925e-01 -5.22402804e-01 4.11191593e-03 4.59026377e+02] [ 5.22396707e-01 -8.52698839e-01 -2.52378600e-03 -2.76821357e+02] [ 4.82465883e-03 -3.95302546e-06 9.99988361e-01 -5.91267381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.786559995 meters 0.0488424573716408 Centerline is valid? [True, True] Translation: X:458.66, Y:-277.34, Z:-4.90 [[-8.98606516e-01 4.38738113e-01 3.89850418e-03 4.58659896e+02] [ 4.38733750e-01 8.98614971e-01 -1.95722786e-03 -2.77340846e+02] [-4.36196468e-03 -4.83723477e-05 -9.99990485e-01 -4.89622530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.846559995 meters 0.04975289712740351 Centerline is valid? [True, True] Translation: X:458.65, Y:-277.25, Z:-4.90 [[-9.27047349e-01 3.74912005e-01 4.91956116e-03 4.58647585e+02] [ 3.74906418e-01 9.27060400e-01 -2.04750492e-03 -2.77253542e+02] [-5.32836451e-03 -5.37589592e-05 -9.99985803e-01 -4.89558484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.906559995 meters 0.04904563365617561 Centerline is valid? [True, True] Translation: X:458.65, Y:-277.17, Z:-4.89 [[-9.51075215e-01 3.08904425e-01 5.83015120e-03 4.58647886e+02] [ 3.08898250e-01 9.51093083e-01 -1.95416740e-03 -2.77172368e+02] [-6.14866743e-03 -5.76366796e-05 -9.99981095e-01 -4.89363068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.9665599950001 meters 0.04894768562972469 Centerline is valid? [True, True] Translation: X:459.13, Y:-277.23, Z:-4.90 [[-9.71743542e-01 2.35970563e-01 5.69043220e-03 4.59131560e+02] [ 2.35966176e-01 9.71760202e-01 -1.43996610e-03 -2.77228790e+02] [-5.86952515e-03 -5.65282307e-05 -9.99982773e-01 -4.89530823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.026559995 meters 0.04867607977902783 Centerline is valid? [True, True] Translation: X:458.51, Y:-277.01, Z:-4.89 [[-9.86079459e-01 1.66193707e-01 5.19152640e-03 4.58509184e+02] [ 1.66191120e-01 9.86093124e-01 -9.28807466e-04 -2.77006585e+02] [-5.27369044e-03 -5.30923785e-05 -9.99986093e-01 -4.89413238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.086559995 meters 0.04870634651454656 Centerline is valid? [True, True] Translation: X:458.46, Y:-276.92, Z:-4.89 [[-9.95313553e-01 9.65508963e-02 5.37178097e-03 4.58458205e+02] [ 9.65492190e-02 9.95328047e-01 -5.71305856e-04 -2.76922135e+02] [-5.40184435e-03 -4.99872044e-05 -9.99985409e-01 -4.89367084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.146559995 meters 0.04913635564301756 Centerline is valid? [True, True] Translation: X:458.50, Y:-276.29, Z:-5.92 [[-9.83753585e-01 -1.79446968e-01 5.26011831e-03 4.58495668e+02] [ 1.79444649e-01 -9.83767647e-01 -9.13318087e-04 -2.76287789e+02] [ 5.33862638e-03 4.54201444e-05 9.99985748e-01 -5.91501953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.2065599950001 meters 0.04964247016618088 Centerline is valid? [True, True] Translation: X:458.29, Y:-276.91, Z:-4.89 [[-9.95113834e-01 9.85649940e-02 5.77916277e-03 4.58286074e+02] [ 9.85632109e-02 9.95130615e-01 -5.93237599e-04 -2.76907031e+02] [-5.80949427e-03 -2.07261024e-05 -9.99983125e-01 -4.89328642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.266559995 meters 0.048503386235728876 Centerline is valid? [True, True] Translation: X:458.22, Y:-276.83, Z:-4.89 [[-9.99517674e-01 3.04994641e-02 5.84830591e-03 4.58222211e+02] [ 3.04989188e-02 9.99534783e-01 -1.82435079e-04 -2.76828848e+02] [-5.85114935e-03 -3.98007927e-06 -9.99982882e-01 -4.89353424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.326559995 meters 0.048779666503950735 Centerline is valid? [True, True] Translation: X:458.17, Y:-276.18, Z:-5.92 [[-9.95068226e-01 -9.90064308e-02 6.07881841e-03 4.58172619e+02] [ 9.90047108e-02 -9.95086793e-01 -5.83961422e-04 -2.76184599e+02] [ 6.10676786e-03 2.07502031e-05 9.99981353e-01 -5.91610273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.386559995 meters 0.049204702851686405 Centerline is valid? [True, True] Translation: X:458.15, Y:-276.83, Z:-4.89 [[-9.99613798e-01 2.68780505e-02 7.05868638e-03 4.58152730e+02] [ 2.68773932e-02 9.99638720e-01 -1.87980977e-04 -2.76828513e+02] [-7.06118878e-03 1.81071112e-06 -9.99975070e-01 -4.89269356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.4465599950001 meters 0.04891797682458761 Centerline is valid? [True, True] Translation: X:457.99, Y:-276.18, Z:-5.92 [[-9.95406456e-01 -9.54520261e-02 7.40939335e-03 4.57985507e+02] [ 9.54495542e-02 -9.95434031e-01 -6.87327961e-04 -2.76181784e+02] [ 7.44116914e-03 2.30526023e-05 9.99972314e-01 -5.91705634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.506559995 meters 0.04904156838668782 Centerline is valid? [True, True] Translation: X:457.99, Y:-276.82, Z:-4.89 [[-9.99770720e-01 1.99102267e-02 7.87971963e-03 4.57993790e+02] [ 1.99095047e-02 9.99801772e-01 -1.70069307e-04 -2.76822018e+02] [-7.88154377e-03 -1.31489985e-05 -9.99968940e-01 -4.89196627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.566559995 meters 0.04929013395942516 Centerline is valid? [True, True] Translation: X:458.40, Y:-276.73, Z:-4.90 [[-9.98193630e-01 -5.94797721e-02 8.46372066e-03 4.58401139e+02] [-5.94780137e-02 9.98229510e-01 4.59533316e-04 -2.76728442e+02] [-8.47606866e-03 -4.47020648e-05 -9.99964077e-01 -4.89566340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.626559995 meters 0.04874847133341593 Centerline is valid? [True, True] Translation: X:457.59, Y:-276.13, Z:-5.92 [[-9.99712521e-01 -2.20005661e-02 9.53159791e-03 4.57589360e+02] [ 2.20006743e-02 -9.99757952e-01 -9.35115397e-05 -2.76126351e+02] [ 9.53134811e-03 1.16216924e-04 9.99954569e-01 -5.91854292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.6865599950002 meters 0.04889635667118198 Centerline is valid? [True, True] Translation: X:457.63, Y:-276.75, Z:-4.89 [[-9.97438634e-01 -7.08919262e-02 9.51348984e-03 4.57629106e+02] [-7.08897060e-02 9.97483997e-01 5.70804969e-04 -2.76749931e+02] [-9.53001934e-03 -1.05065570e-04 -9.99954583e-01 -4.89095457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.746559995 meters 0.048588266937756974 Centerline is valid? [True, True] Translation: X:457.42, Y:-276.69, Z:-4.89 [[-9.89508260e-01 -1.44241961e-01 8.22559176e-03 4.57416754e+02] [-1.44237936e-01 9.89542442e-01 1.08357342e-03 -2.76690602e+02] [-8.29586891e-03 -1.14237531e-04 -9.99965582e-01 -4.89156978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.806559995 meters 0.04904635439610551 Centerline is valid? [True, True] Translation: X:457.42, Y:-276.61, Z:-4.89 [[-9.76043739e-01 -2.17450914e-01 7.32933705e-03 4.57424237e+02] [-2.17445692e-01 9.76071250e-01 1.51164190e-03 -2.76609305e+02] [-7.48266310e-03 -1.18304155e-04 -9.99971998e-01 -4.89207752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.866559995 meters 0.049212554620589335 Centerline is valid? [True, True] Translation: X:457.17, Y:-276.04, Z:-5.92 [[-9.93289763e-01 1.15429154e-01 7.18032464e-03 4.57170841e+02] [-1.15425428e-01 -9.93315711e-01 9.32523210e-04 -2.76035033e+02] [ 7.23996964e-03 9.74737138e-05 9.99973786e-01 -5.91803004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.926559995 meters 0.048674805872178206 Centerline is valid? [True, True] Translation: X:457.20, Y:-276.66, Z:-4.89 [[-9.73791967e-01 -2.27327020e-01 7.18541150e-03 4.57198817e+02] [-2.27322042e-01 9.73818464e-01 1.51285486e-03 -2.76655605e+02] [-7.34119918e-03 -1.60196503e-04 -9.99973040e-01 -4.89205219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.986559995 meters 0.048431854136954555 Centerline is valid? [True, True] Translation: X:457.08, Y:-276.06, Z:-5.92 [[-9.93352573e-01 1.14849964e-01 7.75578860e-03 4.57081883e+02] [-1.14844850e-01 -9.93382828e-01 1.10302427e-03 -2.76056586e+02] [ 7.83114951e-03 2.04979617e-04 9.99969315e-01 -5.91760773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.046559995 meters 0.04894753504508945 Centerline is valid? [True, True] Translation: X:457.09, Y:-276.68, Z:-4.89 [[-9.72149232e-01 -2.34256717e-01 7.04709477e-03 4.57093956e+02] [-2.34251904e-01 9.72174757e-01 1.51245632e-03 -2.76678789e+02] [-7.20531070e-03 -1.80462120e-04 -9.99974025e-01 -4.89148309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.106559995 meters 0.04867443845160696 Centerline is valid? [True, True] Translation: X:457.03, Y:-276.61, Z:-4.89 [[-9.52964866e-01 -3.03015028e-01 6.31323709e-03 4.57033864e+02] [-3.03009514e-01 9.52985764e-01 1.83535438e-03 -2.76613730e+02] [-6.57256503e-03 -1.63942659e-04 -9.99978387e-01 -4.89239105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.166559995 meters 0.04821773520254718 Centerline is valid? [True, True] Translation: X:456.92, Y:-276.57, Z:-4.89 [[-9.29481969e-01 -3.68827886e-01 5.40930460e-03 4.56924964e+02] [-3.68822483e-01 9.29497699e-01 2.00101498e-03 -2.76572982e+02] [-5.76596631e-03 -1.35165815e-04 -9.99983368e-01 -4.89402417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.2265599950001 meters 0.04828168284818843 Centerline is valid? [True, True] Translation: X:456.80, Y:-276.54, Z:-4.89 [[-9.01259781e-01 -4.33241331e-01 5.72323834e-03 4.56796358e+02] [-4.33233583e-01 9.01277942e-01 2.59481797e-03 -2.76535980e+02] [-6.28241087e-03 -1.40893977e-04 -9.99980256e-01 -4.89223534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.286559995 meters 0.04857161220149623 Centerline is valid? [True, True] Translation: X:456.67, Y:-276.52, Z:-4.89 [[-8.68970019e-01 -4.94820859e-01 6.58968978e-03 4.56670134e+02] [-4.94807952e-01 8.68994991e-01 3.57722282e-03 -2.76515055e+02] [-7.49649188e-03 -1.52131518e-04 -9.99971889e-01 -4.89210915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.346559995 meters 0.04911333609485572 Centerline is valid? [True, True] Translation: X:456.53, Y:-276.50, Z:-4.89 [[-8.31998087e-01 -5.54742060e-01 6.35850945e-03 4.56532370e+02] [-5.54727134e-01 8.32022372e-01 4.07174782e-03 -2.76501976e+02] [-7.54919189e-03 -1.39551329e-04 -9.99971495e-01 -4.89028969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.406559995 meters 0.04951528016076985 Centerline is valid? [True, True] Translation: X:456.35, Y:-276.54, Z:-4.89 [[-7.91760477e-01 -6.10815083e-01 4.50340342e-03 4.56350020e+02] [-6.10805844e-01 7.91773279e-01 3.36084172e-03 -2.76541803e+02] [-5.61852731e-03 -8.97234815e-05 -9.99984212e-01 -4.89342899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.4665599950001 meters 0.04842832622318022 Centerline is valid? [True, True] Translation: X:456.20, Y:-276.56, Z:-4.89 [[-7.45268221e-01 -6.66754055e-01 3.78278503e-03 4.56197929e+02] [-6.66746000e-01 7.45277817e-01 3.27836969e-03 -2.76562068e+02] [-5.00509205e-03 -7.88920366e-05 -9.99987471e-01 -4.89382462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.526559995 meters 0.048268757815088034 Centerline is valid? [True, True] Translation: X:456.03, Y:-276.61, Z:-4.89 [[-6.94586695e-01 -7.19401458e-01 3.29632931e-03 4.56034565e+02] [-7.19393863e-01 6.94594513e-01 3.30652550e-03 -2.76610367e+02] [-4.66833152e-03 -7.46904511e-05 -9.99989101e-01 -4.89485003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.586559995 meters 0.048778870665921785 Centerline is valid? [True, True] Translation: X:455.86, Y:-276.69, Z:-4.89 [[-6.39418559e-01 -7.68850398e-01 3.60154430e-03 4.55856432e+02] [-7.68839024e-01 6.39428695e-01 4.18315730e-03 -2.76685729e+02] [-5.51915293e-03 -9.42193939e-05 -9.99984765e-01 -4.89371910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.646559995 meters 0.04916882097897074 Centerline is valid? [True, True] Translation: X:455.67, Y:-276.79, Z:-4.89 [[-5.81089219e-01 -8.13832775e-01 3.39610376e-03 4.55673757e+02] [-8.13819864e-01 5.81099134e-01 4.58527173e-03 -2.76785160e+02] [-5.70511737e-03 -9.93647288e-05 -9.99983721e-01 -4.89356849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.7065599950001 meters 0.04822732947969908 Centerline is valid? [True, True] Translation: X:455.49, Y:-276.92, Z:-4.90 [[-5.19935631e-01 -8.54203333e-01 1.89883365e-03 4.55490938e+02] [-8.54198058e-01 5.19939095e-01 3.00256329e-03 -2.76919009e+02] [-3.55207742e-03 -6.08403711e-05 -9.99993690e-01 -4.89659328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.766559995 meters 0.04892905132742439 Centerline is valid? [True, True] Translation: X:455.35, Y:-277.00, Z:-4.90 [[-4.56132604e-01 -8.89911474e-01 7.84802466e-04 4.55350393e+02] [-8.89910253e-01 4.56133278e-01 1.47453117e-03 -2.76996481e+02] [-1.67017673e-03 -2.58220172e-05 -9.99998605e-01 -4.89743239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.826559995 meters 0.04908609823823284 Centerline is valid? [True, True] Translation: X:455.17, Y:-277.19, Z:-4.90 [[-3.91966131e-01 -9.19979648e-01 -6.86086942e-06 4.55170545e+02] [-9.19979648e-01 3.91966131e-01 -9.42495273e-06 -2.77187366e+02] [ 1.13599932e-05 2.61759798e-06 -1.00000000e+00 -4.89861814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.886559995 meters 0.04837100590324234 Centerline is valid? [True, True] Translation: X:455.30, Y:-276.66, Z:-4.90 [[-3.22273375e-01 -9.46646639e-01 -1.10591101e-04 4.55295673e+02] [-9.46646590e-01 3.22273394e-01 -3.04402007e-04 -2.76656406e+02] [ 3.23801707e-04 6.59002669e-06 -9.99999948e-01 -4.89765279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.9465599950001 meters 0.04952280894315838 Centerline is valid? [True, True] Translation: X:454.91, Y:-277.59, Z:-4.90 [[-2.58258892e-01 -9.66075727e-01 1.84563547e-04 4.54907075e+02] [-9.66075490e-01 2.58258958e-01 6.76703269e-04 -2.77588649e+02] [-7.01411792e-04 -3.53768263e-06 -9.99999754e-01 -4.89702449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.006559995 meters 0.049600196039998524 Centerline is valid? [True, True] Translation: X:454.94, Y:-277.09, Z:-4.90 [[-1.86014355e-01 -9.82546972e-01 3.28555491e-04 4.54939024e+02] [-9.82545513e-01 1.86014645e-01 1.69300244e-03 -2.77087736e+02] [-1.72457055e-03 -7.89796628e-06 -9.99998513e-01 -4.89657719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.066559995 meters 0.049055522556808284 Centerline is valid? [True, True] Translation: X:454.13, Y:-277.80, Z:-5.91 [[-2.61865344e-01 9.65104148e-01 7.25137983e-04 4.54127524e+02] [-9.65099224e-01 -2.61866326e-01 3.08466100e-03 -2.77800162e+02] [ 3.16690834e-03 1.07935709e-04 9.99994980e-01 -5.91494861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.126559995 meters 0.05002283770371903 Centerline is valid? [True, True] Translation: X:454.69, Y:-278.22, Z:-4.89 [[-1.82305562e-01 -9.83241340e-01 1.07234129e-03 4.54693598e+02] [-9.83224852e-01 1.82308715e-01 5.69406439e-03 -2.78217015e+02] [-5.79413667e-03 -1.62929965e-05 -9.99983214e-01 -4.89317790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.1865599950002 meters 0.05000308668173606 Centerline is valid? [True, True] Translation: X:454.67, Y:-277.83, Z:-4.89 [[-1.08365279e-01 -9.94110897e-01 7.00219197e-04 4.54668738e+02] [-9.94090793e-01 1.08367541e-01 6.32229756e-03 -2.77828616e+02] [-6.36094593e-03 -1.09639160e-05 -9.99979769e-01 -4.89438429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.246559995 meters 0.04937560878474262 Centerline is valid? [True, True] Translation: X:454.54, Y:-278.48, Z:-4.89 [[-3.87155822e-02 -9.99250245e-01 2.28776941e-04 4.54539490e+02] [-9.99233038e-01 3.87162581e-02 5.86405633e-03 -2.78477462e+02] [-5.86851711e-03 -1.57112263e-06 -9.99982780e-01 -4.89360269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.306559995 meters 0.0497173518385682 Centerline is valid? [True, True] Translation: X:454.47, Y:-278.68, Z:-4.89 [[ 3.41663841e-02 -9.99416145e-01 -1.67016130e-04 4.54465370e+02] [-9.99405019e-01 -3.41667919e-02 4.71583998e-03 -2.78682324e+02] [-4.71879301e-03 5.79355858e-06 -9.99988866e-01 -4.89363626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.366559995 meters 0.04913815821493624 Centerline is valid? [True, True] Translation: X:454.41, Y:-278.90, Z:-4.89 [[ 1.07335252e-01 -9.94222799e-01 -4.12376451e-04 4.54407175e+02] [-9.94215757e-01 -1.07336044e-01 3.74200237e-03 -2.78902260e+02] [-3.76464692e-03 8.34239742e-06 -9.99992914e-01 -4.89449996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.426559995 meters 0.04920313959488662 Centerline is valid? [True, True] Translation: X:454.37, Y:-279.17, Z:-4.90 [[ 1.76901720e-01 -9.84228409e-01 -4.69394671e-04 4.54373215e+02] [-9.84225176e-01 -1.76902342e-01 2.52276691e-03 -2.79172201e+02] [-2.56601588e-03 1.57082462e-05 -9.99996708e-01 -4.89712331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.486559995 meters 0.04963876488549859 Centerline is valid? [True, True] Translation: X:454.36, Y:-279.46, Z:-4.90 [[ 2.47266671e-01 -9.68947066e-01 -8.81667870e-04 4.54363484e+02] [-9.68941299e-01 -2.47268242e-01 3.34303525e-03 -2.79455018e+02] [-3.45723266e-03 2.76632130e-05 -9.99994023e-01 -4.89615408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.546559995 meters 0.04948972143409868 Centerline is valid? [True, True] Translation: X:454.35, Y:-279.67, Z:-4.89 [[ 3.17254739e-01 -9.48339002e-01 -1.60234958e-03 4.54354063e+02] [-9.48327614e-01 -3.17258782e-01 4.64783678e-03 -2.79674854e+02] [-4.91608437e-03 4.50041123e-05 -9.99987915e-01 -4.89493225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.606559995 meters 0.04919132407259229 Centerline is valid? [True, True] Translation: X:454.08, Y:-279.20, Z:-4.90 [[ 3.86510524e-01 -9.22282429e-01 -2.17625202e-03 4.54076334e+02] [-9.22268655e-01 -3.86516646e-01 5.04082240e-03 -2.79198690e+02] [-5.49021956e-03 5.87581115e-05 -9.99984927e-01 -4.89646137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.666559995 meters 0.05022738463055316 Centerline is valid? [True, True] Translation: X:454.18, Y:-279.62, Z:-4.90 [[ 4.51490122e-01 -8.92273629e-01 -2.10707177e-03 4.54179866e+02] [-8.92264494e-01 -4.51495035e-01 4.03810616e-03 -2.79617837e+02] [-4.55442808e-03 5.69002861e-05 -9.99989627e-01 -4.89667146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.7265599950001 meters 0.04957978087974988 Centerline is valid? [True, True] Translation: X:454.39, Y:-280.15, Z:-4.90 [[ 5.14501504e-01 -8.57487065e-01 -2.03362964e-03 4.54392056e+02] [-8.57480763e-01 -5.14505520e-01 3.28794350e-03 -2.80146324e+02] [-3.86568270e-03 5.21464177e-05 -9.99992527e-01 -4.89657237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.786559995 meters 0.04947845193857347 Centerline is valid? [True, True] Translation: X:454.33, Y:-280.20, Z:-4.90 [[ 5.77426221e-01 -8.16439986e-01 -2.16981971e-03 4.54330856e+02] [-8.16434521e-01 -5.77430296e-01 2.98758251e-03 -2.80197483e+02] [-3.69210146e-03 4.64072399e-05 -9.99993183e-01 -4.89586212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.846559995 meters 0.049916081314374534 Centerline is valid? [True, True] Translation: X:454.17, Y:-280.13, Z:-4.90 [[ 6.38359123e-01 -7.69733845e-01 -2.72749068e-03 4.54166326e+02] [-7.69727093e-01 -6.38364948e-01 3.22410258e-03 -2.80131895e+02] [-4.22283532e-03 4.12881768e-05 -9.99991083e-01 -4.89628191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.906559995 meters 0.04974330068168436 Centerline is valid? [True, True] Translation: X:454.68, Y:-280.82, Z:-4.89 [[ 6.94610300e-01 -7.19380831e-01 -2.78406822e-03 4.54678693e+02] [-7.19375202e-01 -6.94615879e-01 2.84601430e-03 -2.80815287e+02] [-3.98122612e-03 2.59187870e-05 -9.99992075e-01 -4.89488858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.9665599950001 meters 0.04967394267502023 Centerline is valid? [True, True] Translation: X:454.62, Y:-280.87, Z:-4.89 [[ 7.49090194e-01 -6.62457561e-01 -3.72307498e-03 4.54616930e+02] [-6.62449422e-01 -7.49099446e-01 3.28372472e-03 -2.80867069e+02] [-4.96428167e-03 6.54288752e-06 -9.99987678e-01 -4.89465056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.026559995 meters 0.05002439145377827 Centerline is valid? [True, True] Translation: X:454.59, Y:-280.95, Z:-4.89 [[ 8.00355993e-01 -5.99509109e-01 -4.37176727e-03 4.54590834e+02] [-5.99500104e-01 -8.00367933e-01 3.28603728e-03 -2.80954849e+02] [-5.46903161e-03 -9.12469531e-06 -9.99985045e-01 -4.89451329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.086559995 meters 0.050143087771137865 Centerline is valid? [True, True] Translation: X:454.57, Y:-281.05, Z:-4.89 [[ 8.46660252e-01 -5.32118055e-01 -4.09799083e-03 4.54570955e+02] [-5.32111678e-01 -8.46670169e-01 2.60513696e-03 -2.81045343e+02] [-4.85588700e-03 -2.50771316e-05 -9.99988210e-01 -4.89342328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.146559995 meters 0.04988884637232156 Centerline is valid? [True, True] Translation: X:454.57, Y:-281.12, Z:-4.89 [[ 8.86745671e-01 -4.62240301e-01 -4.00241639e-03 4.54567456e+02] [-4.62235419e-01 -8.86754703e-01 2.12464298e-03 -2.81123202e+02] [-4.53125717e-03 -3.39593482e-05 -9.99989733e-01 -4.89435875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.2065599950001 meters 0.050269217023433274 Centerline is valid? [True, True] Translation: X:454.56, Y:-281.22, Z:-4.89 [[ 9.20927160e-01 -3.89718549e-01 -3.55218597e-03 4.54564046e+02] [-3.89715498e-01 -9.20934010e-01 1.54267365e-03 -2.81215930e+02] [-3.87253741e-03 -3.63481434e-05 -9.99992501e-01 -4.89434363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.266559995 meters 0.05031719597435228 Centerline is valid? [True, True] Translation: X:454.57, Y:-281.31, Z:-4.89 [[ 9.49361725e-01 -3.14168429e-01 -3.24245930e-03 4.54567456e+02] [-3.14166451e-01 -9.49367261e-01 1.11574422e-03 -2.81306492e+02] [-3.42881632e-03 -4.05729228e-05 -9.99994121e-01 -4.89417109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.326559995 meters 0.0502508308389366 Centerline is valid? [True, True] Translation: X:454.58, Y:-281.39, Z:-4.89 [[ 9.71326353e-01 -2.37721947e-01 -3.65942319e-03 4.54580578e+02] [-2.37720066e-01 -9.71333245e-01 9.46984004e-04 -2.81391049e+02] [-3.77963828e-03 -4.99121956e-05 -9.99992856e-01 -4.89382770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.386559995 meters 0.050011476123157615 Centerline is valid? [True, True] Translation: X:454.60, Y:-281.47, Z:-4.89 [[ 9.87165118e-01 -1.59612634e-01 -5.37008441e-03 4.54599574e+02] [-1.59609825e-01 -9.87179721e-01 9.50258462e-04 -2.81474192e+02] [-5.45291168e-03 -8.09437711e-05 -9.99985130e-01 -4.89201136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.4465599950001 meters 0.05032562479987422 Centerline is valid? [True, True] Translation: X:454.63, Y:-281.55, Z:-4.89 [[ 9.96578157e-01 -8.24203224e-02 -6.23441819e-03 4.54626660e+02] [-8.24181417e-02 -9.96597653e-01 6.06347148e-04 -2.81549058e+02] [-6.26318186e-03 -9.04431614e-05 -9.99980382e-01 -4.89168507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.506559995 meters 0.049699760424599435 Centerline is valid? [True, True] Translation: X:454.66, Y:-281.62, Z:-4.89 [[ 9.99954190e-01 -6.42812561e-03 -7.09210925e-03 4.54659053e+02] [-6.42734494e-03 -9.99979336e-01 1.32861731e-04 -2.81621017e+02] [-7.09281675e-03 -8.72722118e-05 -9.99974842e-01 -4.89073275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.566559995 meters 0.04994566487962949 Centerline is valid? [True, True] Translation: X:454.69, Y:-281.69, Z:-4.89 [[ 9.97789847e-01 6.59155925e-02 -8.39974760e-03 4.54691627e+02] [ 6.59137115e-02 -9.97825201e-01 -5.00869972e-04 -2.81688018e+02] [-8.41449498e-03 -5.38955674e-05 -9.99964596e-01 -4.89152405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.626559995 meters 0.050057930864414825 Centerline is valid? [True, True] Translation: X:454.73, Y:-281.77, Z:-4.89 [[ 9.90308434e-01 1.38665659e-01 -7.81289553e-03 4.54730609e+02] [ 1.38661420e-01 -9.90339252e-01 -1.08423540e-03 -2.81768853e+02] [-7.88776334e-03 -9.61973380e-06 -9.99968891e-01 -4.89276387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.6865599950002 meters 0.04974298094351545 Centerline is valid? [True, True] Translation: X:454.77, Y:-281.84, Z:-4.89 [[ 9.78124107e-01 2.07896319e-01 -7.23544676e-03 4.54773290e+02] [ 2.07890250e-01 -9.78150867e-01 -1.58936875e-03 -2.81839169e+02] [-7.40778243e-03 5.04210572e-05 -9.99972561e-01 -4.89249296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.746559995 meters 0.04996602248549469 Centerline is valid? [True, True] Translation: X:454.82, Y:-281.90, Z:-4.89 [[ 9.60338878e-01 2.78767734e-01 -6.14740319e-03 4.54819550e+02] [ 2.78761504e-01 -9.60358550e-01 -1.86525488e-03 -2.81901770e+02] [-6.42368409e-03 7.76174228e-05 -9.99979365e-01 -4.89363365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.806559995 meters 0.04994879393144565 Centerline is valid? [True, True] Translation: X:454.87, Y:-281.95, Z:-4.89 [[ 9.37801247e-01 3.47133727e-01 -5.19590375e-03 4.54867774e+02] [ 3.47127789e-01 -9.37815635e-01 -2.03301883e-03 -2.81950184e+02] [-5.57852918e-03 1.02925011e-04 -9.99984435e-01 -4.89262785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.866559995 meters 0.05014361312977641 Centerline is valid? [True, True] Translation: X:454.92, Y:-282.00, Z:-4.89 [[ 9.08565087e-01 4.17714210e-01 -4.93161756e-03 4.54920631e+02] [ 4.17707388e-01 -9.08578465e-01 -2.38996420e-03 -2.81998351e+02] [-5.47908352e-03 1.11464946e-04 -9.99984984e-01 -4.89302013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.926559995 meters 0.05040445123567201 Centerline is valid? [True, True] Translation: X:454.99, Y:-282.07, Z:-4.89 [[ 8.72743948e-01 4.88155803e-01 -4.68119688e-03 4.54991158e+02] [ 4.88148124e-01 -8.72756496e-01 -2.74005276e-03 -2.82068664e+02] [-5.42311764e-03 1.06246988e-04 -9.99985289e-01 -4.89312066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.986559995 meters 0.04986778083819357 Centerline is valid? [True, True] Translation: X:455.06, Y:-282.13, Z:-4.89 [[ 8.30386503e-01 5.57167185e-01 -4.79409853e-03 4.55062698e+02] [ 5.57157209e-01 -8.30400336e-01 -3.33552246e-03 -2.82125322e+02] [-5.83946468e-03 9.87062713e-05 -9.99982945e-01 -4.89370673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.046559995 meters 0.05041408504661986 Centerline is valid? [True, True] Translation: X:455.13, Y:-282.17, Z:-4.89 [[ 7.82125656e-01 6.23100209e-01 -5.05847673e-03 4.55132091e+02] [ 6.23086446e-01 -7.82142009e-01 -4.14230481e-03 -2.82168780e+02] [-6.53751814e-03 8.79345730e-05 -9.99978626e-01 -4.89241510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.106559995 meters 0.04967842117199391 Centerline is valid? [True, True] Translation: X:455.21, Y:-282.21, Z:-4.89 [[ 7.27363260e-01 6.86238827e-01 -4.35442597e-03 4.55206111e+02] [ 6.86226123e-01 -7.27376292e-01 -4.17586266e-03 -2.82207292e+02] [-6.03294531e-03 4.92482264e-05 -9.99981800e-01 -4.89275939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.166559995 meters 0.050012296838822023 Centerline is valid? [True, True] Translation: X:455.28, Y:-282.24, Z:-4.89 [[ 6.69215126e-01 7.43060101e-01 -3.57800522e-03 4.55281748e+02] [ 7.43049257e-01 -6.69224690e-01 -4.01447549e-03 -2.82240465e+02] [-5.37748600e-03 2.79136031e-05 -9.99985541e-01 -4.89386762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.2265599950001 meters 0.049103530073192875 Centerline is valid? [True, True] Translation: X:455.36, Y:-282.27, Z:-4.89 [[ 6.07075049e-01 7.94639426e-01 -2.84038872e-03 4.55362057e+02] [ 7.94630627e-01 -6.07081693e-01 -3.73944117e-03 -2.82267694e+02] [-4.69585538e-03 1.30615640e-05 -9.99988974e-01 -4.89342050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.286559995 meters 0.0493778500550699 Centerline is valid? [True, True] Translation: X:455.44, Y:-282.29, Z:-4.89 [[ 5.41284481e-01 8.40835622e-01 -2.56283711e-03 4.55440073e+02] [ 8.40826168e-01 -5.41290548e-01 -3.98718012e-03 -2.82286730e+02] [-4.73980257e-03 3.29821451e-06 -9.99988767e-01 -4.89334839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.346559995 meters 0.04967419096470508 Centerline is valid? [True, True] Translation: X:455.52, Y:-282.30, Z:-4.89 [[ 4.71916559e-01 8.81641045e-01 -1.95681530e-03 4.55516918e+02] [ 8.81633517e-01 -4.71920616e-01 -3.64331634e-03 -2.82297172e+02] [-4.13555871e-03 -5.85264484e-06 -9.99991449e-01 -4.89347317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.406559995 meters 0.049345664874518046 Centerline is valid? [True, True] Translation: X:455.59, Y:-282.30, Z:-4.89 [[ 3.98054958e-01 9.17360087e-01 -1.64930700e-03 4.55593599e+02] [ 9.17352432e-01 -3.98058375e-01 -3.74792282e-03 -2.82301418e+02] [-4.09471527e-03 -2.11165215e-05 -9.99991616e-01 -4.89451602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.4665599950001 meters 0.04896600363182411 Centerline is valid? [True, True] Translation: X:455.68, Y:-282.30, Z:-4.89 [[ 3.23017397e-01 9.46391886e-01 -1.46974983e-03 4.55678590e+02] [ 9.46382546e-01 -3.23020739e-01 -4.20465186e-03 -2.82302401e+02] [-4.45400808e-03 -3.27698823e-05 -9.99990080e-01 -4.89227775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.526559995 meters 0.04946828105315971 Centerline is valid? [True, True] Translation: X:455.76, Y:-282.30, Z:-4.89 [[ 2.45807081e-01 9.69317574e-01 -1.52303241e-03 4.55756852e+02] [ 9.69300402e-01 -2.45811792e-01 -5.77009233e-03 -2.82295724e+02] [-5.96743123e-03 -5.79463766e-05 -9.99982193e-01 -4.89052733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.586559995 meters 0.04896910404588407 Centerline is valid? [True, True] Translation: X:455.84, Y:-282.28, Z:-4.89 [[ 1.64682903e-01 9.86345575e-01 -1.39587956e-03 4.55835898e+02] [ 9.86315694e-01 -1.64688781e-01 -7.67835742e-03 -2.82281959e+02] [-7.80339957e-03 -1.12283727e-04 -9.99969547e-01 -4.88936414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.646559995 meters 0.04956817902567031 Centerline is valid? [True, True] Translation: X:455.92, Y:-282.26, Z:-4.89 [[ 8.38586996e-02 9.96477208e-01 -9.44916774e-04 4.55916698e+02] [ 9.96434082e-01 -8.38638627e-02 -9.27217696e-03 -2.82263956e+02] [-9.31875738e-03 -1.63994576e-04 -9.99956566e-01 -4.88739412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.7065599950001 meters 0.04961508368111968 Centerline is valid? [True, True] Translation: X:455.99, Y:-282.24, Z:-4.89 [[ 2.01050704e-03 9.99997955e-01 -2.19093703e-04 4.55994276e+02] [ 9.99953589e-01 -2.01248210e-03 -9.42177588e-03 -2.82238238e+02] [-9.42219754e-03 -2.00140988e-04 -9.99955590e-01 -4.88957968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.766559995 meters 0.049386429505847276 Centerline is valid? [True, True] Translation: X:456.07, Y:-282.21, Z:-4.89 [[-7.69585084e-02 9.97034189e-01 4.62663930e-04 4.56072417e+02] [ 9.96998902e-01 7.69596781e-02 -8.39028583e-03 -2.82208033e+02] [-8.40100829e-03 -1.84428452e-04 -9.99964694e-01 -4.88985432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.826559995 meters 0.04896372410919211 Centerline is valid? [True, True] Translation: X:456.14, Y:-282.17, Z:-4.89 [[-1.53812646e-01 9.88099429e-01 1.08991944e-03 4.56144205e+02] [ 9.88066068e-01 1.53816411e-01 -8.12135529e-03 -2.82171507e+02] [-8.19235402e-03 -1.72254731e-04 -9.99966427e-01 -4.89033208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.886559995 meters 0.0488694670053916 Centerline is valid? [True, True] Translation: X:456.21, Y:-282.13, Z:-4.89 [[-2.29903061e-01 9.73212141e-01 1.64644588e-03 4.56214092e+02] [ 9.73182014e-01 2.29908902e-01 -7.65929646e-03 -2.82130610e+02] [-7.83265288e-03 -1.58604183e-04 -9.99969312e-01 -4.88980874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.9465599950001 meters 0.04818853155797253 Centerline is valid? [True, True] Translation: X:456.29, Y:-282.08, Z:-4.89 [[-3.05996526e-01 9.52029325e-01 2.50803037e-03 4.56285248e+02] [ 9.51992248e-01 3.06006749e-01 -8.40408153e-03 -2.82081578e+02] [-8.76840629e-03 -1.83994285e-04 -9.99961540e-01 -4.89123950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.006559995 meters 0.048271735788272895 Centerline is valid? [True, True] Translation: X:456.36, Y:-282.03, Z:-4.89 [[-3.80867696e-01 9.24623195e-01 3.42726585e-03 4.56362284e+02] [ 9.24580571e-01 3.80883056e-01 -8.88063604e-03 -2.82025436e+02] [-9.51662956e-03 -2.13563972e-04 -9.99954693e-01 -4.88954890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.066559995 meters 0.04844801965702413 Centerline is valid? [True, True] Translation: X:456.43, Y:-281.97, Z:-4.89 [[-4.53945361e-01 8.91017221e-01 4.68193794e-03 4.56427254e+02] [ 8.90963622e-01 4.53969426e-01 -9.77670102e-03 -2.81966471e+02] [-1.08366657e-02 -2.66651685e-04 -9.99941246e-01 -4.88931152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.126559995 meters 0.048172442456837015 Centerline is valid? [True, True] Translation: X:456.49, Y:-281.90, Z:-4.89 [[-5.21815756e-01 8.53039005e-01 5.72481889e-03 4.56491186e+02] [ 8.52981765e-01 5.21847085e-01 -9.88572971e-03 -2.81900298e+02] [-1.14203931e-02 -2.75363394e-04 -9.99934747e-01 -4.88888857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.1865599950002 meters 0.04838960561081412 Centerline is valid? [True, True] Translation: X:456.55, Y:-281.83, Z:-4.89 [[-5.83818820e-01 8.11859064e-01 6.35970206e-03 4.56548039e+02] [ 8.11806602e-01 5.83853413e-01 -9.23213635e-03 -2.81829952e+02] [-1.12083273e-02 -2.27046825e-04 -9.99937159e-01 -4.88813436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.246559995 meters 0.04816196720611918 Centerline is valid? [True, True] Translation: X:456.60, Y:-281.76, Z:-4.89 [[-6.43781275e-01 7.65182562e-01 6.42779300e-03 4.56598612e+02] [ 7.65141557e-01 6.43813337e-01 -7.92367041e-03 -2.81756738e+02] [-1.02013533e-02 -1.82939093e-04 -9.99947948e-01 -4.88855057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.306559995 meters 0.048664544532795 Centerline is valid? [True, True] Translation: X:456.65, Y:-281.68, Z:-4.89 [[-7.01250317e-01 7.12883431e-01 6.72360676e-03 4.56645613e+02] [ 7.12848330e-01 7.01282529e-01 -7.07626412e-03 -2.81677117e+02] [-9.75969940e-03 -1.69320613e-04 -9.99952359e-01 -4.89033384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.366559995 meters 0.04860679286243513 Centerline is valid? [True, True] Translation: X:456.69, Y:-281.59, Z:-4.89 [[-7.57137916e-01 6.53219346e-01 6.83096677e-03 4.56687811e+02] [ 6.53190466e-01 7.57168706e-01 -6.14528738e-03 -2.81592173e+02] [-9.18641487e-03 -1.90907716e-04 -9.99957786e-01 -4.89004207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.426559995 meters 0.04932362832504161 Centerline is valid? [True, True] Translation: X:456.76, Y:-281.53, Z:-4.89 [[-8.04471188e-01 5.93941602e-01 7.71238510e-03 4.56759070e+02] [ 5.93911291e-01 8.04508117e-01 -6.00564781e-03 -2.81533448e+02] [-9.77168050e-03 -2.50898037e-04 -9.99952225e-01 -4.88704762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.486559995 meters 0.04922385232746082 Centerline is valid? [True, True] Translation: X:456.80, Y:-281.47, Z:-4.89 [[-8.45567126e-01 5.33804251e-01 8.32207732e-03 4.56804514e+02] [ 5.33775165e-01 8.45608033e-01 -5.57921713e-03 -2.81468700e+02] [-1.00154253e-02 -2.75484398e-04 -9.99949806e-01 -4.88843563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.546559995 meters 0.04878318804803772 Centerline is valid? [True, True] Translation: X:457.10, Y:-280.94, Z:-5.92 [[-7.73379611e-01 -6.33901697e-01 7.25368048e-03 4.57097366e+02] [ 6.33876237e-01 -7.73413601e-01 -5.68493765e-03 -2.80938964e+02] [ 9.21378677e-03 2.01320818e-04 9.99957532e-01 -5.91864056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.606559995 meters 0.04787047052241672 Centerline is valid? [True, True] Translation: X:456.66, Y:-281.38, Z:-4.89 [[-8.48277831e-01 5.29514726e-01 6.23506219e-03 4.56655176e+02] [ 5.29498534e-01 8.48300718e-01 -4.14665120e-03 -2.81377648e+02] [-7.48492060e-03 -2.16056001e-04 -9.99971964e-01 -4.89202001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.666559995 meters 0.04774185146403315 Centerline is valid? [True, True] Translation: X:456.65, Y:-281.28, Z:-4.89 [[-8.83771157e-01 4.67884463e-01 5.71597354e-03 4.56651231e+02] [ 4.67873274e-01 8.83789621e-01 -3.24136247e-03 -2.81278056e+02] [-6.56830122e-03 -1.90271404e-04 -9.99978410e-01 -4.89225766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.7265599950001 meters 0.04880439557413071 Centerline is valid? [True, True] Translation: X:456.66, Y:-281.18, Z:-4.89 [[-9.14922508e-01 4.03582808e-01 6.14173033e-03 4.56656059e+02] [ 4.03572236e-01 9.14943100e-01 -2.92804300e-03 -2.81182795e+02] [-6.80104161e-03 -2.00300608e-04 -9.99976853e-01 -4.89114702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.786559995 meters 0.04884925999179174 Centerline is valid? [True, True] Translation: X:456.89, Y:-280.63, Z:-5.92 [[-8.56727561e-01 -5.15715982e-01 7.41026846e-03 4.56892558e+02] [ 5.15700223e-01 -8.56759535e-01 -4.04719900e-03 -2.80633144e+02] [ 8.43602337e-03 3.54130166e-04 9.99964353e-01 -5.91787491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.846559995 meters 0.04810914598548584 Centerline is valid? [True, True] Translation: X:456.49, Y:-281.11, Z:-4.89 [[-9.15362470e-01 4.02542529e-01 8.42979487e-03 4.56491481e+02] [ 4.02522906e-01 9.15401250e-01 -3.98256905e-03 -2.81113991e+02] [-9.31979818e-03 -2.52308714e-04 -9.99956538e-01 -4.89165247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.906559995 meters 0.048636397334176226 Centerline is valid? [True, True] Translation: X:456.68, Y:-280.52, Z:-5.92 [[-8.62626872e-01 -5.05778004e-01 7.96810155e-03 4.56681432e+02] [ 5.05758910e-01 -8.62663640e-01 -4.40102872e-03 -2.80523157e+02] [ 9.09973501e-03 2.33492712e-04 9.99958569e-01 -5.91752239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.9665599950001 meters 0.048442003311828796 Centerline is valid? [True, True] Translation: X:456.29, Y:-281.02, Z:-4.89 [[-9.12306208e-01 4.09435777e-01 7.72835305e-03 4.56289430e+02] [ 4.09419823e-01 9.12338932e-01 -3.61690141e-03 -2.81024870e+02] [-8.53176620e-03 -1.35580675e-04 -9.99963595e-01 -4.89161303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.026559995 meters 0.048309898906193346 Centerline is valid? [True, True] Translation: X:456.18, Y:-280.90, Z:-4.89 [[-9.35803578e-01 3.52449297e-01 7.15240157e-03 4.56184853e+02] [ 3.52438593e-01 9.35830909e-01 -2.74736265e-03 -2.80903067e+02] [-7.66174450e-03 -5.02094464e-05 -9.99970647e-01 -4.89248428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.086559995 meters 0.048414324308170574 Centerline is valid? [True, True] Translation: X:456.06, Y:-280.78, Z:-4.89 [[-9.57042384e-01 2.89878362e-01 6.35700906e-03 4.56055573e+02] [ 2.89871890e-01 9.57063496e-01 -1.93705254e-03 -2.80781542e+02] [-6.64557093e-03 -1.11231461e-05 -9.99977918e-01 -4.89202183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.146559995 meters 0.04922782935925784 Centerline is valid? [True, True] Translation: X:456.20, Y:-280.74, Z:-4.89 [[-9.74854294e-01 2.22749384e-01 6.46661796e-03 4.56202721e+02] [ 2.22744498e-01 9.74875742e-01 -1.47538087e-03 -2.80743473e+02] [-6.63278916e-03 2.12219946e-06 -9.99978003e-01 -4.89255002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.2065599950001 meters 0.04867400568740811 Centerline is valid? [True, True] Translation: X:456.13, Y:-280.65, Z:-4.89 [[-9.88484968e-01 1.51118729e-01 7.78440721e-03 4.56132749e+02] [ 1.51113943e-01 9.88515619e-01 -1.20269376e-03 -2.80649404e+02] [-7.87675766e-03 -1.25122375e-05 -9.99968978e-01 -4.89103415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.266559995 meters 0.04901753166615555 Centerline is valid? [True, True] Translation: X:456.15, Y:-280.57, Z:-4.89 [[-9.96927852e-01 7.77962587e-02 9.08844115e-03 4.56145715e+02] [ 7.77926728e-02 9.96969278e-01 -7.47939300e-04 -2.80570358e+02] [-9.11908349e-03 -3.86273912e-05 -9.99958420e-01 -4.88790879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.326559995 meters 0.04867851215030106 Centerline is valid? [True, True] Translation: X:456.05, Y:-279.92, Z:-5.92 [[-9.87359824e-01 -1.58211198e-01 9.47599193e-03 4.56052456e+02] [ 1.58204621e-01 -9.87405292e-01 -1.44440482e-03 -2.79924982e+02] [ 9.58516560e-03 7.29984284e-05 9.99954059e-01 -5.91873148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.386559995 meters 0.048514815223544124 Centerline is valid? [True, True] Translation: X:455.89, Y:-280.54, Z:-4.89 [[-9.97713203e-01 6.69637869e-02 9.17692918e-03 4.55890850e+02] [ 6.69599957e-02 9.97755401e-01 -7.20097957e-04 -2.80544703e+02] [-9.20455114e-03 -1.03964101e-04 -9.99957632e-01 -4.89046415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.4465599950001 meters 0.048328319941740985 Centerline is valid? [True, True] Translation: X:455.86, Y:-280.47, Z:-4.89 [[-9.99967304e-01 -4.90121169e-03 6.43193142e-03 4.55862967e+02] [-4.90160558e-03 9.99987986e-01 -4.54786440e-05 -2.80465573e+02] [-6.43163125e-03 -7.70039480e-05 -9.99979314e-01 -4.89210810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.506559995 meters 0.04840332710102321 Centerline is valid? [True, True] Translation: X:455.79, Y:-280.39, Z:-4.89 [[-9.97163311e-01 -7.51232620e-02 4.67196365e-03 4.55794762e+02] [-7.51226805e-02 9.97174254e-01 3.00094825e-04 -2.80389509e+02] [-4.68130597e-03 -5.17268830e-05 -9.99989041e-01 -4.89326729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.566559995 meters 0.04846084763825255 Centerline is valid? [True, True] Translation: X:455.74, Y:-279.77, Z:-5.91 [[-9.99899601e-01 -1.36046965e-02 3.96245308e-03 4.55741005e+02] [ 1.36045764e-02 -9.99907452e-01 -5.72502353e-05 -2.79774825e+02] [ 3.96286524e-03 -3.33699157e-06 9.99992148e-01 -5.91492313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.626559995 meters 0.04853983932309028 Centerline is valid? [True, True] Translation: X:455.65, Y:-280.40, Z:-4.89 [[-9.97027557e-01 -7.69176210e-02 4.44193497e-03 4.55645181e+02] [-7.69170370e-02 9.97037451e-01 3.02407437e-04 -2.80399664e+02] [-4.45203598e-03 -4.01519288e-05 -9.99990089e-01 -4.89359155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.6865599950002 meters 0.04889978323093523 Centerline is valid? [True, True] Translation: X:455.57, Y:-280.33, Z:-4.89 [[-9.89079956e-01 -1.47265627e-01 5.80311527e-03 4.55567890e+02] [-1.47263395e-01 9.89096978e-01 8.12475436e-04 -2.80325814e+02] [-5.85949348e-03 -5.09832870e-05 -9.99982832e-01 -4.89053913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.746559995 meters 0.04934698630353392 Centerline is valid? [True, True] Translation: X:455.42, Y:-279.73, Z:-5.92 [[-9.97986405e-01 6.30727001e-02 6.70600613e-03 4.55424564e+02] [-6.30704964e-02 -9.98008928e-01 5.39788267e-04 -2.79733434e+02] [ 6.72669989e-03 1.15750217e-04 9.99977369e-01 -5.91824483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.806559995 meters 0.04900347640362803 Centerline is valid? [True, True] Translation: X:455.40, Y:-280.35, Z:-4.89 [[-9.88769986e-01 -1.49266509e-01 7.30921173e-03 4.55403500e+02] [-1.49262810e-01 9.88797000e-01 1.05210972e-03 -2.80350248e+02] [-7.38437137e-03 -5.06989677e-05 -9.99972734e-01 -4.89138569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.866559995 meters 0.04896372170094054 Centerline is valid? [True, True] Translation: X:455.35, Y:-280.28, Z:-4.89 [[-9.76082097e-01 -2.17232147e-01 8.59847577e-03 4.55354836e+02] [-2.17224087e-01 9.76119968e-01 1.87176054e-03 -2.80280665e+02] [-8.79975046e-03 -4.08040992e-05 -9.99961281e-01 -4.88939861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.926559995 meters 0.04937318455623424 Centerline is valid? [True, True] Translation: X:455.20, Y:-280.24, Z:-4.89 [[-9.58622192e-01 -2.84531631e-01 9.23273759e-03 4.55202642e+02] [-2.84518728e-01 9.58666652e-01 2.70991942e-03 -2.80241762e+02] [-9.62217543e-03 -2.90978529e-05 -9.99953705e-01 -4.88869476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.986559995 meters 0.04854677608199802 Centerline is valid? [True, True] Translation: X:455.17, Y:-280.17, Z:-4.89 [[-9.36032087e-01 -3.51808628e-01 8.63840007e-03 4.55172159e+02] [-3.51793709e-01 9.36071947e-01 3.23996035e-03 -2.80173538e+02] [-9.22600997e-03 -6.22795080e-06 -9.99957439e-01 -4.89014807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.046559995 meters 0.04953671868596724 Centerline is valid? [True, True] Translation: X:454.87, Y:-280.22, Z:-4.89 [[-9.08564863e-01 -4.17689780e-01 6.71847060e-03 4.54869140e+02] [-4.17678421e-01 9.08589703e-01 3.08036938e-03 -2.80217979e+02] [-7.39097202e-03 -7.44480747e-06 -9.99972686e-01 -4.89255506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.106559995 meters 0.04884867676490713 Centerline is valid? [True, True] Translation: X:454.78, Y:-280.18, Z:-4.89 [[-8.73182916e-01 -4.87342459e-01 6.99445881e-03 4.54781515e+02] [-4.87327282e-01 8.73210928e-01 3.84642528e-03 -2.80176871e+02] [-7.98216422e-03 -4.99577637e-05 -9.99968141e-01 -4.89212346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.166559995 meters 0.04884867676490713 Centerline is valid? [True, True] Translation: X:454.65, Y:-280.17, Z:-4.89 [[-8.35773357e-01 -5.49033715e-01 6.69896587e-03 4.54645945e+02] [-5.49016558e-01 8.35800202e-01 4.34073427e-03 -2.80170452e+02] [-7.98220649e-03 -4.99731358e-05 -9.99968140e-01 -4.89212117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.2265599950001 meters 0.04925442005730635 Centerline is valid? [True, True] Translation: X:454.51, Y:-280.18, Z:-4.89 [[-7.92296925e-01 -6.10100025e-01 6.59870924e-03 4.54505946e+02] [-6.10079636e-01 7.92324400e-01 4.98830710e-03 -2.80176841e+02] [-8.27168462e-03 -7.35177539e-05 -9.99965786e-01 -4.89145756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.286559995 meters 0.048456951653145446 Centerline is valid? [True, True] Translation: X:454.36, Y:-280.20, Z:-4.89 [[-7.44271678e-01 -6.67848601e-01 6.15754676e-03 4.54359768e+02] [-6.67826760e-01 7.44297144e-01 5.40189675e-03 -2.80198272e+02] [-8.19069365e-03 -9.16957426e-05 -9.99966452e-01 -4.89125508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.346559995 meters 0.0485460979828313 Centerline is valid? [True, True] Translation: X:454.22, Y:-280.22, Z:-4.89 [[-6.91346417e-01 -7.22507873e-01 4.74399274e-03 4.54222352e+02] [-7.22491790e-01 6.91362687e-01 4.82166596e-03 -2.80224584e+02] [-6.76351118e-03 -9.40543204e-05 -9.99977123e-01 -4.89255689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.406559995 meters 0.04928876946349003 Centerline is valid? [True, True] Translation: X:454.05, Y:-280.29, Z:-4.89 [[-6.36289268e-01 -7.71438600e-01 4.29581177e-03 4.54052892e+02] [-7.71422036e-01 6.36303761e-01 5.05620160e-03 -2.80294456e+02] [-6.63399027e-03 -9.66770533e-05 -9.99977990e-01 -4.89168095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.4665599950001 meters 0.04889457176226159 Centerline is valid? [True, True] Translation: X:453.88, Y:-280.40, Z:-4.89 [[-5.79611030e-01 -8.14885182e-01 3.63239000e-03 4.53880493e+02] [-8.14870029e-01 5.79622406e-01 4.97021951e-03 -2.80398489e+02] [-6.15557286e-03 -7.91316954e-05 -9.99981051e-01 -4.89213251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.526559995 meters 0.048554781058985926 Centerline is valid? [True, True] Translation: X:453.73, Y:-280.49, Z:-4.89 [[-5.20016129e-01 -8.54150813e-01 3.10065075e-03 4.53727629e+02] [-8.54136334e-01 5.20025369e-01 4.97378050e-03 -2.80487887e+02] [-5.86077571e-03 -6.19323836e-05 -9.99982824e-01 -4.89114217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.586559995 meters 0.049046361852050094 Centerline is valid? [True, True] Translation: X:453.54, Y:-280.66, Z:-4.89 [[-4.59308252e-01 -8.88273628e-01 2.42711634e-03 4.53543150e+02] [-8.88261643e-01 4.59314663e-01 4.61451105e-03 -2.80663571e+02] [-5.21375860e-03 -3.64313407e-05 -9.99986408e-01 -4.89111728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.646559995 meters 0.0489231552285705 Centerline is valid? [True, True] Translation: X:453.39, Y:-280.82, Z:-4.89 [[-3.93755666e-01 -9.19213402e-01 1.78784091e-03 4.53387060e+02] [-9.19204224e-01 3.93759724e-01 4.10780230e-03 -2.80820932e+02] [-4.47992668e-03 -2.59204800e-05 -9.99989965e-01 -4.89249030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.7065599950001 meters 0.04898500848030038 Centerline is valid? [True, True] Translation: X:453.24, Y:-280.98, Z:-4.89 [[-3.24683231e-01 -9.45821844e-01 1.35638156e-03 4.53242545e+02] [-9.45813905e-01 3.24686063e-01 3.87533051e-03 -2.80979509e+02] [-4.10577043e-03 -2.46297100e-05 -9.99991571e-01 -4.89164719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.766559995 meters 0.04895837214878987 Centerline is valid? [True, True] Translation: X:453.10, Y:-281.18, Z:-4.89 [[-2.52677944e-01 -9.67549125e-01 1.59616202e-03 4.53100322e+02] [-9.67530959e-01 2.52682982e-01 5.92914509e-03 -2.81176479e+02] [-6.14006212e-03 -4.61719735e-05 -9.99981149e-01 -4.89004517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.826559995 meters 0.04893751264706168 Centerline is valid? [True, True] Translation: X:452.98, Y:-281.35, Z:-4.89 [[-1.78771712e-01 -9.83889475e-01 1.47477736e-03 4.52979738e+02] [-9.83859243e-01 1.78777781e-01 7.71327732e-03 -2.81354845e+02] [-7.85266980e-03 -7.20575423e-05 -9.99969165e-01 -4.88910159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.886559995 meters 0.048680548315593646 Centerline is valid? [True, True] Translation: X:452.87, Y:-281.55, Z:-4.89 [[-1.03950732e-01 -9.94581976e-01 9.68732919e-04 4.52871391e+02] [-9.94546492e-01 1.03955207e-01 8.40178058e-03 -2.81545865e+02] [-8.45696436e-03 -9.00786854e-05 -9.99964235e-01 -4.88819659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.9465599950001 meters 0.04862193565707239 Centerline is valid? [True, True] Translation: X:452.78, Y:-281.76, Z:-4.89 [[-3.02343278e-02 -9.99542783e-01 3.32167555e-04 4.52776821e+02] [-9.99509503e-01 3.02360319e-02 8.15689488e-03 -2.81758471e+02] [-8.16320883e-03 -8.53863943e-05 -9.99966677e-01 -4.88874187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.006559995 meters 0.04785091276459815 Centerline is valid? [True, True] Translation: X:452.70, Y:-282.00, Z:-4.89 [[ 4.25009995e-02 -9.99096394e-01 -2.44948416e-04 4.52698914e+02] [-9.99069366e-01 -4.25016515e-02 7.34931601e-03 -2.82001154e+02] [-7.35308583e-03 -6.76328174e-05 -9.99972963e-01 -4.88910191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.066559995 meters 0.04840995475322046 Centerline is valid? [True, True] Translation: X:452.64, Y:-282.25, Z:-4.89 [[ 1.13657981e-01 -9.93519716e-01 -6.61546267e-04 4.52640795e+02] [-9.93500762e-01 -1.13659899e-01 6.13709536e-03 -2.82253225e+02] [-6.17251652e-03 -4.02831497e-05 -9.99980949e-01 -4.88959917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.126559995 meters 0.0486192120724254 Centerline is valid? [True, True] Translation: X:452.58, Y:-282.34, Z:-4.89 [[ 1.86738094e-01 -9.82409090e-01 -1.12480492e-03 4.52575192e+02] [-9.82390083e-01 -1.86741478e-01 6.11111178e-03 -2.82340161e+02] [-6.21365950e-03 -3.61801664e-05 -9.99980694e-01 -4.89000659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.1865599950002 meters 0.04849267010650868 Centerline is valid? [True, True] Translation: X:452.58, Y:-282.72, Z:-4.89 [[ 2.55620506e-01 -9.66775731e-01 -1.68602361e-03 4.52581526e+02] [-9.66754186e-01 -2.55626066e-01 6.45434751e-03 -2.82724414e+02] [-6.67089812e-03 -1.98931928e-05 -9.99977749e-01 -4.88969927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.246559995 meters 0.04884172397238096 Centerline is valid? [True, True] Translation: X:452.58, Y:-282.99, Z:-4.89 [[ 3.25021663e-01 -9.45704185e-01 -2.12452339e-03 4.52581241e+02] [-9.45683787e-01 -3.25028607e-01 6.21123194e-03 -2.82985603e+02] [-6.56451892e-03 -9.65761495e-06 -9.99978453e-01 -4.89067658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.306559995 meters 0.0485576827734718 Centerline is valid? [True, True] Translation: X:452.55, Y:-283.13, Z:-4.89 [[ 3.93788232e-01 -9.19198021e-01 -2.41391763e-03 4.52553015e+02] [-9.19180672e-01 -3.93795630e-01 5.64748314e-03 -2.83125532e+02] [-6.14174554e-03 -5.08596644e-06 -9.99981139e-01 -4.88922673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.366559995 meters 0.04917894198891828 Centerline is valid? [True, True] Translation: X:452.62, Y:-283.44, Z:-4.89 [[ 4.61087740e-01 -8.87350028e-01 -2.83250968e-03 4.52616471e+02] [-8.87333148e-01 -4.61096440e-01 5.47333566e-03 -2.83441457e+02] [-6.16282468e-03 -1.03082383e-05 -9.99981010e-01 -4.89079902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.426559995 meters 0.04834670931142681 Centerline is valid? [True, True] Translation: X:452.65, Y:-283.66, Z:-4.89 [[ 5.26857537e-01 -8.49945641e-01 -3.68011901e-03 4.52652624e+02] [-8.49924590e-01 -5.26870389e-01 5.98206025e-03 -2.83660641e+02] [-7.02337177e-03 -2.38698926e-05 -9.99975336e-01 -4.89028565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.486559995 meters 0.048738639907094795 Centerline is valid? [True, True] Translation: X:452.68, Y:-283.85, Z:-4.89 [[ 5.90207005e-01 -8.07236437e-01 -5.00260544e-03 4.52682424e+02] [-8.07206710e-01 -5.90228204e-01 6.92784187e-03 -2.83847241e+02] [-8.54508521e-03 -5.07241262e-05 -9.99963489e-01 -4.88802217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.546559995 meters 0.04888865740321462 Centerline is valid? [True, True] Translation: X:452.77, Y:-284.08, Z:-4.89 [[ 6.49090915e-01 -7.60688352e-01 -5.84935296e-03 4.52766467e+02] [-7.60656534e-01 -6.49117267e-01 6.95778032e-03 -2.84079054e+02] [-9.08961846e-03 -6.68834427e-05 -9.99958686e-01 -4.88947620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.606559995 meters 0.04896615667545939 Centerline is valid? [True, True] Translation: X:452.82, Y:-284.26, Z:-4.89 [[ 7.03558314e-01 -7.10606070e-01 -6.68675175e-03 4.52824747e+02] [-7.10572974e-01 -7.03590086e-01 6.85864040e-03 -2.84258466e+02] [-9.57852373e-03 -7.40283973e-05 -9.99954122e-01 -4.88880039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.666559995 meters 0.04897453904465406 Centerline is valid? [True, True] Translation: X:452.90, Y:-284.44, Z:-4.89 [[ 7.52246809e-01 -6.58851104e-01 -6.32155161e-03 4.52902036e+02] [-6.58827337e-01 -7.52273369e-01 5.59635960e-03 -2.84435866e+02] [-8.44270263e-03 -4.50326360e-05 -9.99964359e-01 -4.89018560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.7265599950001 meters 0.04886466213790576 Centerline is valid? [True, True] Translation: X:452.88, Y:-284.52, Z:-4.89 [[ 7.99452876e-01 -6.00688775e-01 -6.93499138e-03 4.52877631e+02] [-6.00665987e-01 -7.99482955e-01 5.23230600e-03 -2.84517537e+02] [-8.68739488e-03 -1.73686388e-05 -9.99962264e-01 -4.88897767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.786559995 meters 0.0493813186886817 Centerline is valid? [True, True] Translation: X:452.86, Y:-284.60, Z:-4.89 [[ 8.40861426e-01 -5.41203259e-01 -7.14813505e-03 4.52863531e+02] [-5.41184026e-01 -8.40891807e-01 4.56267252e-03 -2.84596536e+02] [-8.48014144e-03 3.18811918e-05 -9.99964042e-01 -4.89062615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.846559995 meters 0.04923115651847557 Centerline is valid? [True, True] Translation: X:452.86, Y:-284.68, Z:-4.89 [[ 8.79024409e-01 -4.76724224e-01 -7.07834991e-03 4.52855198e+02] [-4.76709288e-01 -8.79052906e-01 3.77418878e-03 -2.84676118e+02] [-8.02149127e-03 5.67110881e-05 -9.99967826e-01 -4.89368617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.906559995 meters 0.04916231444246626 Centerline is valid? [True, True] Translation: X:452.85, Y:-284.76, Z:-4.89 [[ 9.12466188e-01 -4.09099685e-01 -6.55003266e-03 4.52853846e+02] [-4.09089699e-01 -9.12489695e-01 2.85921222e-03 -2.84755720e+02] [-7.14654012e-03 7.06164146e-05 -9.99974461e-01 -4.89103079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.9665599950001 meters 0.049741710931649114 Centerline is valid? [True, True] Translation: X:452.86, Y:-284.83, Z:-4.89 [[ 9.42138054e-01 -3.35164283e-01 -6.38676682e-03 4.52858209e+02] [-3.35156992e-01 -9.42159700e-01 2.21157673e-03 -2.84832636e+02] [-6.75859584e-03 5.69589601e-05 -9.99977159e-01 -4.89147323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.026559995 meters 0.049318246993002246 Centerline is valid? [True, True] Translation: X:452.87, Y:-284.91, Z:-4.89 [[ 9.66317947e-01 -2.57254321e-01 -7.05968123e-03 4.52869163e+02] [-2.57247734e-01 -9.66343734e-01 1.84129598e-03 -2.84909097e+02] [-7.29576007e-03 3.68096485e-05 -9.99973385e-01 -4.88956248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.086559995 meters 0.04892774910533793 Centerline is valid? [True, True] Translation: X:452.88, Y:-285.00, Z:-4.89 [[ 9.84674461e-01 -1.74282275e-01 -6.47264318e-03 4.52884728e+02] [-1.74278435e-01 -9.84695734e-01 1.15692366e-03 -2.84995073e+02] [-6.57521542e-03 -1.11510548e-05 -9.99978383e-01 -4.89180210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.146559995 meters 0.04876667045144513 Centerline is valid? [True, True] Translation: X:452.91, Y:-285.08, Z:-4.89 [[ 9.95674559e-01 -9.27097214e-02 -6.08935480e-03 4.52907516e+02] [-9.27077699e-02 -9.95693179e-01 6.02567448e-04 -2.85080191e+02] [-6.11899290e-03 -3.54305742e-05 -9.99981278e-01 -4.89196858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.2065599950001 meters 0.04878545262723334 Centerline is valid? [True, True] Translation: X:452.94, Y:-285.16, Z:-4.89 [[ 9.99915370e-01 -1.14959256e-02 -6.09065979e-03 4.52937237e+02] [-1.14953832e-02 -9.99933918e-01 1.24056394e-04 -2.85163721e+02] [-6.09168345e-03 -5.40314273e-05 -9.99981444e-01 -4.89196193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.266559995 meters 0.04837046957101231 Centerline is valid? [True, True] Translation: X:452.97, Y:-285.25, Z:-4.89 [[ 9.97641663e-01 6.84229494e-02 -5.42327782e-03 4.52968608e+02] [ 6.84222497e-02 -9.97656402e-01 -3.14673147e-04 -2.85246032e+02] [-5.43209870e-03 -5.71418273e-05 -9.99985244e-01 -4.89267948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.326559995 meters 0.04852321714680828 Centerline is valid? [True, True] Translation: X:453.00, Y:-285.33, Z:-4.89 [[ 9.89138167e-01 1.46891492e-01 -5.34574758e-03 4.53004408e+02] [ 1.46889676e-01 -9.89152610e-01 -7.33003423e-04 -2.85326207e+02] [-5.39543214e-03 -6.01934659e-05 -9.99985443e-01 -4.89316296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.386559995 meters 0.049062757710962586 Centerline is valid? [True, True] Translation: X:453.05, Y:-285.40, Z:-4.89 [[ 9.74498163e-01 2.24326975e-01 -5.54426746e-03 4.53046574e+02] [ 2.24323730e-01 -9.74513932e-01 -1.20826088e-03 -2.85399405e+02] [-5.67401139e-03 -6.62627474e-05 -9.99983901e-01 -4.89280104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.4465599950001 meters 0.04843579590825235 Centerline is valid? [True, True] Translation: X:453.09, Y:-285.47, Z:-4.89 [[ 9.53790667e-01 3.00391061e-01 -6.96947786e-03 4.53093664e+02] [ 3.00383724e-01 -9.53816126e-01 -2.10129924e-03 -2.85469886e+02] [-7.27881188e-03 -8.93181100e-05 -9.99973505e-01 -4.89154105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.506559995 meters 0.04876851882210423 Centerline is valid? [True, True] Translation: X:453.15, Y:-285.53, Z:-4.89 [[ 9.27627370e-01 3.73439677e-01 -7.09019091e-03 4.53146079e+02] [ 3.73429493e-01 -9.27654461e-01 -2.75933896e-03 -2.85533540e+02] [-7.60769389e-03 -8.80480537e-05 -9.99971057e-01 -4.89086491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.566559995 meters 0.04901407310554596 Centerline is valid? [True, True] Translation: X:453.20, Y:-285.59, Z:-4.89 [[ 8.96653316e-01 4.42669740e-01 -7.50549370e-03 4.53204091e+02] [ 4.42654942e-01 -8.96684725e-01 -3.62028767e-03 -2.85593557e+02] [-8.33265335e-03 -7.62009302e-05 -9.99965280e-01 -4.89186987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.626559995 meters 0.04893011277779353 Centerline is valid? [True, True] Translation: X:453.27, Y:-285.65, Z:-4.89 [[ 8.60082505e-01 5.10105333e-01 -7.11574624e-03 4.53265200e+02] [ 5.10088475e-01 -8.60111938e-01 -4.14758292e-03 -2.85646520e+02] [-8.23604245e-03 -6.23966364e-05 -9.99966081e-01 -4.89419557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.6865599950002 meters 0.04888412212837201 Centerline is valid? [True, True] Translation: X:453.33, Y:-285.70, Z:-4.89 [[ 8.18462811e-01 5.74521169e-01 -6.63730022e-03 4.53332234e+02] [ 5.74502755e-01 -8.18489722e-01 -4.59995019e-03 -2.85700043e+02] [-8.07533077e-03 -4.82591021e-05 -9.99967393e-01 -4.89166419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.746559995 meters 0.04918524651224657 Centerline is valid? [True, True] Translation: X:453.40, Y:-285.75, Z:-4.89 [[ 7.72536255e-01 6.34943856e-01 -5.83393683e-03 4.53403059e+02] [ 6.34926015e-01 -7.72558282e-01 -4.75986753e-03 -2.85745823e+02] [-7.52930486e-03 -2.69480309e-05 -9.99971654e-01 -4.89337394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.806559995 meters 0.0480285571306303 Centerline is valid? [True, True] Translation: X:453.48, Y:-285.79, Z:-4.89 [[ 7.21429538e-01 6.92462409e-01 -5.93586794e-03 4.53476054e+02] [ 6.92439178e-01 -7.21453957e-01 -5.67205286e-03 -2.85785052e+02] [-8.21013880e-03 -1.82410430e-05 -9.99966296e-01 -4.89200544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.866559995 meters 0.0487441391491919 Centerline is valid? [True, True] Translation: X:453.55, Y:-285.82, Z:-4.89 [[ 6.64801938e-01 7.46995083e-01 -6.06051471e-03 4.53550064e+02] [ 7.46964363e-01 -6.64829561e-01 -6.77458062e-03 -2.85819604e+02] [-9.08978775e-03 -2.32341872e-05 -9.99958687e-01 -4.89110258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.926559995 meters 0.04855856917717809 Centerline is valid? [True, True] Translation: X:453.63, Y:-285.85, Z:-4.89 [[ 6.03297365e-01 7.97496607e-01 -5.60815521e-03 4.53630417e+02] [ 7.97462699e-01 -6.03323430e-01 -7.35408956e-03 -2.85849767e+02] [-9.24839290e-03 -3.55917344e-05 -9.99957232e-01 -4.89026982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.986559995 meters 0.04837487352719699 Centerline is valid? [True, True] Translation: X:453.71, Y:-285.87, Z:-4.89 [[ 5.35846897e-01 8.44302398e-01 -4.64377225e-03 4.53711806e+02] [ 8.44271746e-01 -5.35867014e-01 -7.19452988e-03 -2.85872458e+02] [-8.56280320e-03 -6.54391962e-05 -9.99963336e-01 -4.89072050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.046559995 meters 0.04898671019777177 Centerline is valid? [True, True] Translation: X:453.79, Y:-285.89, Z:-4.89 [[ 4.66720293e-01 8.84396264e-01 -3.92635936e-03 4.53794864e+02] [ 8.84366335e-01 -4.66736802e-01 -7.27615923e-03 -2.85888949e+02] [-8.26758445e-03 -7.64088669e-05 -9.99965820e-01 -4.89091033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.106559995 meters 0.04863717268983129 Centerline is valid? [True, True] Translation: X:453.88, Y:-285.90, Z:-4.89 [[ 3.91994248e-01 9.19961235e-01 -3.44013906e-03 4.53877871e+02] [ 9.19928379e-01 -3.92009326e-01 -7.77594513e-03 -2.85897807e+02] [-8.50213468e-03 -1.16555779e-04 -9.99963849e-01 -4.89107710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.166559995 meters 0.049228762526926186 Centerline is valid? [True, True] Translation: X:453.96, Y:-285.90, Z:-4.89 [[ 3.16878798e-01 9.48460962e-01 -3.10330194e-03 4.53964779e+02] [ 9.48419939e-01 -3.16893959e-01 -8.82258535e-03 -2.85902099e+02] [-9.35129543e-03 -1.47543206e-04 -9.99956265e-01 -4.89119283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.2265599950001 meters 0.04823434969590841 Centerline is valid? [True, True] Translation: X:454.05, Y:-285.90, Z:-4.89 [[ 2.39918781e-01 9.70789857e-01 -2.45619154e-03 4.54053294e+02] [ 9.70745931e-01 -2.39931294e-01 -9.23647094e-03 -2.85899532e+02] [-9.55598951e-03 -1.68335096e-04 -9.99954326e-01 -4.89122272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.286559995 meters 0.04862982930475802 Centerline is valid? [True, True] Translation: X:454.14, Y:-285.89, Z:-4.89 [[ 1.61154686e-01 9.86928132e-01 -1.42474184e-03 4.54143612e+02] [ 9.86897635e-01 -1.61160908e-01 -7.76015765e-03 -2.85891650e+02] [-7.88833059e-03 -1.55488588e-04 -9.99968875e-01 -4.89128150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.346559995 meters 0.04849855286033995 Centerline is valid? [True, True] Translation: X:454.23, Y:-285.88, Z:-4.89 [[ 8.32473881e-02 9.96528736e-01 -5.92472301e-04 4.54230802e+02] [ 9.96512321e-01 -8.32494181e-02 -5.72083404e-03 -2.85875495e+02] [-5.75029849e-03 -1.14161456e-04 -9.99983460e-01 -4.89368359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.406559995 meters 0.04924338491911219 Centerline is valid? [True, True] Translation: X:454.32, Y:-285.85, Z:-4.89 [[ 7.25971906e-03 9.99973634e-01 -1.67836891e-04 4.54317052e+02] [ 9.99950948e-01 -7.26068508e-03 -6.73684663e-03 -2.85852809e+02] [-6.73788762e-03 -1.18921045e-04 -9.99977293e-01 -4.89293323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.4665599950001 meters 0.048683988419253504 Centerline is valid? [True, True] Translation: X:454.40, Y:-285.82, Z:-4.89 [[-6.84175845e-02 9.97656699e-01 3.81597330e-04 4.54397385e+02] [ 9.97631159e-01 6.84185638e-02 -7.13942949e-03 -2.85824345e+02] [-7.14880799e-03 -1.07769134e-04 -9.99974441e-01 -4.89137233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.526559995 meters 0.048879107254903006 Centerline is valid? [True, True] Translation: X:454.48, Y:-285.79, Z:-4.89 [[-1.43384839e-01 9.89666625e-01 8.71739096e-04 4.54475829e+02] [ 9.89644754e-01 1.43387466e-01 -6.57987686e-03 -2.85788490e+02] [-6.63688098e-03 -8.07425576e-05 -9.99977972e-01 -4.89213889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.586559995 meters 0.048396164756596 Centerline is valid? [True, True] Translation: X:454.55, Y:-285.75, Z:-4.89 [[-2.16245561e-01 9.76337974e-01 1.42048289e-03 4.54547330e+02] [ 9.76315238e-01 2.16250220e-01 -6.66322504e-03 -2.85747692e+02] [-6.81273937e-03 -5.40537440e-05 -9.99976792e-01 -4.89226313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.646559995 meters 0.048368531160520666 Centerline is valid? [True, True] Translation: X:454.61, Y:-285.70, Z:-4.89 [[-2.89461779e-01 9.57187308e-01 2.08206618e-03 4.54613730e+02] [ 9.57161568e-01 2.89469265e-01 -7.01980661e-03 -2.85703340e+02] [-7.32196396e-03 -3.90919797e-05 -9.99973193e-01 -4.89234805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.7065599950001 meters 0.04900031130311538 Centerline is valid? [True, True] Translation: X:454.68, Y:-285.65, Z:-4.89 [[-3.60483646e-01 9.32759527e-01 3.34766299e-03 4.54679620e+02] [ 9.32718783e-01 3.60499189e-01 -8.71815460e-03 -2.85651544e+02] [-9.33877155e-03 -2.03240040e-05 -9.99956393e-01 -4.89058006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.766559995 meters 0.048890082727216545 Centerline is valid? [True, True] Translation: X:454.74, Y:-285.60, Z:-4.89 [[-4.30066474e-01 9.02789134e-01 3.82212309e-03 4.54740198e+02] [ 9.02753552e-01 4.30083458e-01 -8.01525739e-03 -2.85595718e+02] [-8.87991919e-03 3.34171552e-06 -9.99960573e-01 -4.89075923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.826559995 meters 0.048464873670142565 Centerline is valid? [True, True] Translation: X:454.80, Y:-285.54, Z:-4.89 [[-4.96906173e-01 8.67797250e-01 3.49114469e-03 4.54795489e+02] [ 8.67776155e-01 4.96918436e-01 -6.05090990e-03 -2.85536120e+02] [-6.98577714e-03 2.27976354e-05 -9.99975599e-01 -4.89177481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.886559995 meters 0.048747640859852975 Centerline is valid? [True, True] Translation: X:454.84, Y:-285.47, Z:-4.89 [[-5.59876544e-01 8.28569455e-01 3.30350466e-03 4.54842333e+02] [ 8.28555486e-01 5.59886289e-01 -4.81149054e-03 -2.85474135e+02] [-5.83624106e-03 4.32962079e-05 -9.99982968e-01 -4.89321172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.9465599950001 meters 0.049352306745925986 Centerline is valid? [True, True] Translation: X:454.88, Y:-285.41, Z:-4.90 [[-6.17811957e-01 7.86322148e-01 2.42208626e-03 4.54884264e+02] [ 7.86316447e-01 6.17816702e-01 -2.99475465e-03 -2.85410695e+02] [-3.85124726e-03 5.43310279e-05 -9.99992582e-01 -4.89588068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.006559995 meters 0.04965000609784967 Centerline is valid? [True, True] Translation: X:454.92, Y:-285.35, Z:-4.90 [[-6.75236805e-01 7.37598380e-01 1.97165809e-03 4.54915828e+02] [ 7.37595447e-01 6.75239681e-01 -2.08068967e-03 -2.85346937e+02] [-2.86605511e-03 4.93277879e-05 -9.99995892e-01 -4.89516674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.066559995 meters 0.049283272420795755 Centerline is valid? [True, True] Translation: X:454.95, Y:-285.28, Z:-4.90 [[-7.30166688e-01 6.83265728e-01 2.13387889e-03 4.54947880e+02] [ 6.83263018e-01 7.30169804e-01 -1.92491565e-03 -2.85276404e+02] [-2.87332282e-03 5.24912498e-05 -9.99995871e-01 -4.89604491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.126559995 meters 0.04911239971657863 Centerline is valid? [True, True] Translation: X:454.94, Y:-285.14, Z:-4.90 [[-7.78565852e-01 6.27557301e-01 2.65474250e-03 4.54938476e+02] [ 6.27553878e-01 7.78570377e-01 -2.07345533e-03 -2.85144894e+02] [-3.36811590e-03 5.16724344e-05 -9.99994327e-01 -4.89569625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.1865599950002 meters 0.049480689115730274 Centerline is valid? [True, True] Translation: X:455.35, Y:-284.70, Z:-5.91 [[-7.50560718e-01 -6.60798882e-01 1.85624832e-03 4.55352824e+02] [ 6.60796536e-01 -7.50563007e-01 -1.76343573e-03 -2.84695142e+02] [ 2.55850768e-03 -9.69631224e-05 9.99996722e-01 -5.91298071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.246559995 meters 0.04879470162742904 Centerline is valid? [True, True] Translation: X:454.34, Y:-284.65, Z:-4.90 [[-7.90201713e-01 6.12845489e-01 1.28812364e-03 4.54341487e+02] [ 6.12844677e-01 7.90202763e-01 -9.98082689e-04 -2.84646282e+02] [-1.62954933e-03 7.33062659e-07 -9.99998672e-01 -4.89666298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.306559995 meters 0.04919231271595855 Centerline is valid? [True, True] Translation: X:454.46, Y:-284.62, Z:-4.90 [[-8.37909377e-01 5.45806614e-01 1.73651646e-03 4.54459131e+02] [ 5.45805385e-01 8.37911176e-01 -1.15842918e-03 -2.84621462e+02] [-2.08732486e-03 -2.28586357e-05 -9.99997821e-01 -4.89533190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.366559995 meters 0.04957976143872316 Centerline is valid? [True, True] Translation: X:454.50, Y:-284.55, Z:-4.89 [[-8.77655624e-01 4.79287346e-01 2.06049017e-03 4.54501612e+02] [ 4.79285913e-01 8.77658042e-01 -1.17259193e-03 -2.84550059e+02] [-2.37041424e-03 -4.15679912e-05 -9.99997190e-01 -4.89463582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.426559995 meters 0.05058552370299487 Centerline is valid? [True, True] Translation: X:454.53, Y:-284.46, Z:-4.89 [[-9.11703832e-01 4.10839065e-01 2.71768348e-03 4.54525929e+02] [ 4.10837011e-01 9.11707880e-01 -1.30097818e-03 -2.84460794e+02] [-3.01222610e-03 -6.95818381e-05 -9.99995461e-01 -4.89359213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.486559995 meters 0.050138741696207904 Centerline is valid? [True, True] Translation: X:454.46, Y:-284.36, Z:-4.89 [[-9.38731116e-01 3.44639964e-01 2.68074180e-03 4.54463113e+02] [ 3.44638351e-01 9.38734942e-01 -1.05663151e-03 -2.84355130e+02] [-2.88066344e-03 -6.80064377e-05 -9.99995849e-01 -4.89437440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.546559995 meters 0.050707696382557496 Centerline is valid? [True, True] Translation: X:454.43, Y:-284.25, Z:-4.89 [[-9.59949146e-01 2.80161706e-01 2.65626115e-03 4.54432449e+02] [ 2.80160469e-01 9.59952819e-01 -8.34547943e-04 -2.84253065e+02] [-2.78369375e-03 -5.69442164e-05 -9.99996124e-01 -4.89396271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.606559995 meters 0.05041226880496341 Centerline is valid? [True, True] Translation: X:454.36, Y:-284.15, Z:-4.89 [[-9.76844146e-01 2.13934454e-01 2.75021230e-03 4.54355352e+02] [ 2.13933460e-01 9.76848016e-01 -6.54256590e-04 -2.84154158e+02] [-2.82650746e-03 -5.07442864e-05 -9.99996004e-01 -4.89300985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.666559995 meters 0.050551109658864925 Centerline is valid? [True, True] Translation: X:454.34, Y:-284.07, Z:-4.89 [[-9.89424300e-01 1.45009367e-01 3.44069684e-03 4.54343842e+02] [ 1.45008281e-01 9.89430281e-01 -5.64157722e-04 -2.84068195e+02] [-3.48613779e-03 -5.92618238e-05 -9.99993922e-01 -4.89105097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.7265599950001 meters 0.05058217738550861 Centerline is valid? [True, True] Translation: X:454.33, Y:-283.54, Z:-5.92 [[-9.70249731e-01 -2.42041570e-01 5.59803441e-03 4.54332200e+02] [ 2.42038933e-01 -9.70265852e-01 -1.15416353e-03 -2.83541201e+02] [ 5.71093718e-03 2.35115420e-04 9.99983665e-01 -5.91941972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.786559995 meters 0.05075669112115423 Centerline is valid? [True, True] Translation: X:454.10, Y:-284.03, Z:-4.89 [[-9.88897738e-01 1.48401156e-01 7.63943265e-03 4.54101188e+02] [ 1.48396114e-01 9.88927242e-01 -1.22582194e-03 -2.84031153e+02] [-7.73675646e-03 -7.85504267e-05 -9.99970068e-01 -4.88774777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.846559995 meters 0.05020047241418707 Centerline is valid? [True, True] Translation: X:454.14, Y:-283.51, Z:-5.92 [[-9.72957837e-01 -2.30806124e-01 9.03221940e-03 4.54143702e+02] [ 2.30797953e-01 -9.72999742e-01 -1.95100585e-03 -2.83505763e+02] [ 9.23865125e-03 1.86371318e-04 9.99957305e-01 -5.92072669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.906559995 meters 0.05020047241418707 Centerline is valid? [True, True] Translation: X:453.97, Y:-284.01, Z:-4.89 [[-9.88867263e-01 1.48519961e-01 9.13003708e-03 4.53966139e+02] [ 1.48513082e-01 9.88909408e-01 -1.43061938e-03 -2.84013811e+02] [-9.24125510e-03 -5.87627280e-05 -9.99957297e-01 -4.88764906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.9665599950001 meters 0.050406356445528336 Centerline is valid? [True, True] Translation: X:454.05, Y:-283.95, Z:-4.89 [[-9.96770874e-01 7.97602557e-02 9.28045458e-03 4.54052423e+02] [ 7.97564494e-02 9.96814075e-01 -7.80100975e-04 -2.83949003e+02] [-9.31310880e-03 -3.74058239e-05 -9.99956631e-01 -4.88669305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.026559995 meters 0.050321777882527514 Centerline is valid? [True, True] Translation: X:453.99, Y:-283.41, Z:-5.92 [[-9.87968599e-01 -1.54429193e-01 8.34691794e-03 4.53989040e+02] [ 1.54423495e-01 -9.88003858e-01 -1.32675950e-03 -2.83412372e+02] [ 8.45167753e-03 -2.18364795e-05 9.99964284e-01 -5.92034030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.086559995 meters 0.050980519546318104 Centerline is valid? [True, True] Translation: X:453.82, Y:-283.93, Z:-4.89 [[-9.97092226e-01 7.58199974e-02 7.64335698e-03 4.53815806e+02] [ 7.58175230e-02 9.97121521e-01 -6.13394971e-04 -2.83929863e+02] [-7.66786334e-03 -3.21109639e-05 -9.99970601e-01 -4.88873886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.146559995 meters 0.04987228607770095 Centerline is valid? [True, True] Translation: X:453.76, Y:-283.85, Z:-4.89 [[-9.99964962e-01 2.70988916e-03 7.92034932e-03 4.53759508e+02] [ 2.70941374e-03 9.99996327e-01 -7.07533478e-05 -2.83852575e+02] [-7.92051196e-03 -4.92913654e-05 -9.99968631e-01 -4.88969911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.2065599950001 meters 0.05035837490968678 Centerline is valid? [True, True] Translation: X:453.65, Y:-283.32, Z:-5.92 [[-9.96322073e-01 -8.53264407e-02 7.85656417e-03 4.53649513e+02] [ 8.53241550e-02 -9.96353048e-01 -6.26271016e-04 -2.83319433e+02] [ 7.88134914e-03 4.63870621e-05 9.99968941e-01 -5.91979936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.266559995 meters 0.04968589880359192 Centerline is valid? [True, True] Translation: X:454.07, Y:-283.86, Z:-4.89 [[-9.99901345e-01 -1.18091954e-02 7.60544631e-03 4.54066618e+02] [-1.18095367e-02 9.99930265e-01 3.32071433e-08 -2.83863224e+02] [-7.60491634e-03 -8.97835933e-05 -9.99971078e-01 -4.89219555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.326559995 meters 0.05038051052159821 Centerline is valid? [True, True] Translation: X:453.49, Y:-283.32, Z:-5.92 [[-9.96739961e-01 -8.04145400e-02 6.55380184e-03 4.53494370e+02] [ 8.04128924e-02 -9.96761507e-01 -5.14944503e-04 -2.83319608e+02] [ 6.57398642e-03 1.37443987e-05 9.99978391e-01 -5.91741834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.386559995 meters 0.050084671761463584 Centerline is valid? [True, True] Translation: X:453.41, Y:-283.85, Z:-4.89 [[-9.99823879e-01 -1.76955929e-02 6.25116840e-03 4.53413967e+02] [-1.76957828e-02 9.99843417e-01 2.49366832e-05 -2.83847870e+02] [-6.25063084e-03 -8.56870267e-05 -9.99980461e-01 -4.88947282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.4465599950001 meters 0.050591940418113865 Centerline is valid? [True, True] Translation: X:453.43, Y:-283.77, Z:-4.89 [[-9.95986780e-01 -8.91721141e-02 7.65955726e-03 4.53430715e+02] [-8.91703010e-02 9.96016226e-01 5.78572970e-04 -2.83772951e+02] [-7.68063590e-03 -1.06753998e-04 -9.99970498e-01 -4.88871469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.506559995 meters 0.05049953472758094 Centerline is valid? [True, True] Translation: X:453.27, Y:-283.25, Z:-5.92 [[-9.99947365e-01 -5.21483297e-03 8.83585138e-03 4.53270675e+02] [ 5.21637368e-03 -9.99986383e-01 1.51333788e-04 -2.83252746e+02] [ 8.83494188e-03 1.97416925e-04 9.99960952e-01 -5.91971534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.566559995 meters 0.050093322225683884 Centerline is valid? [True, True] Translation: X:453.21, Y:-283.80, Z:-4.89 [[-9.95768322e-01 -9.15148207e-02 8.39558065e-03 4.53209080e+02] [-9.15124548e-02 9.95803709e-01 6.66329340e-04 -2.83798203e+02] [-8.42132936e-03 -1.04790546e-04 -9.99964535e-01 -4.89091914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.626559995 meters 0.049651536261408814 Centerline is valid? [True, True] Translation: X:453.07, Y:-283.74, Z:-4.89 [[-9.86815951e-01 -1.61743022e-01 5.78573835e-03 4.53067997e+02] [-1.61740663e-01 9.86832909e-01 8.76285246e-04 -2.83741376e+02] [-5.85129003e-03 -7.10569011e-05 -9.99982879e-01 -4.89200637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.6865599950002 meters 0.0496528449411677 Centerline is valid? [True, True] Translation: X:453.00, Y:-283.20, Z:-5.92 [[-9.97518076e-01 7.02594768e-02 4.61448932e-03 4.53003865e+02] [-7.02588467e-02 -9.97528749e-01 2.98710293e-04 -2.83198329e+02] [ 4.62407299e-03 -2.62397813e-05 9.99989309e-01 -5.91679080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.746559995 meters 0.04973512357625038 Centerline is valid? [True, True] Translation: X:452.97, Y:-283.76, Z:-4.89 [[-9.86184008e-01 -1.65614257e-01 3.60846036e-03 4.52967825e+02] [-1.65613312e-01 9.86190608e-01 5.61215624e-04 -2.83761901e+02] [-3.65157503e-03 -4.41471992e-05 -9.99993332e-01 -4.89177412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.806559995 meters 0.04888896124048259 Centerline is valid? [True, True] Translation: X:453.47, Y:-283.59, Z:-4.89 [[-9.70792814e-01 -2.39899227e-01 3.11016759e-03 4.53472167e+02] [-2.39898116e-01 9.70797795e-01 7.31018318e-04 -2.83586855e+02] [-3.19471457e-03 -3.64560152e-05 -9.99994896e-01 -4.89402054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.866559995 meters 0.04906710948034193 Centerline is valid? [True, True] Translation: X:453.35, Y:-283.53, Z:-4.89 [[-9.51273385e-01 -3.08334258e-01 2.98880499e-03 4.53353701e+02] [-3.08332853e-01 9.51278079e-01 9.31529055e-04 -2.83525491e+02] [-3.13040699e-03 -3.54079698e-05 -9.99995100e-01 -4.89328454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.926559995 meters 0.04946241579693129 Centerline is valid? [True, True] Translation: X:452.46, Y:-283.75, Z:-4.89 [[-9.26927790e-01 -3.75225709e-01 3.24648989e-03 4.52463989e+02] [-3.75223562e-01 9.26933474e-01 1.26993143e-03 -2.83745065e+02] [-3.48579108e-03 -4.10247646e-05 -9.99993924e-01 -4.89230021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.986559995 meters 0.04924889871939509 Centerline is valid? [True, True] Translation: X:452.36, Y:-283.71, Z:-4.89 [[-8.97575787e-01 -4.40844900e-01 3.67176688e-03 4.52362379e+02] [-4.40841433e-01 8.97583295e-01 1.74881955e-03 -2.83710415e+02] [-4.06667479e-03 -4.89688908e-05 -9.99991730e-01 -4.89171217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.046559995 meters 0.04937844792941822 Centerline is valid? [True, True] Translation: X:452.24, Y:-283.69, Z:-4.89 [[-8.63521542e-01 -5.04286686e-01 5.04829427e-03 4.52239449e+02] [-5.04278554e-01 8.63536295e-01 2.86477722e-03 -2.83691036e+02] [-5.80405434e-03 -7.19496899e-05 -9.99983154e-01 -4.88901386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.106559995 meters 0.04934245677970103 Centerline is valid? [True, True] Translation: X:452.10, Y:-283.69, Z:-4.89 [[-8.24821495e-01 -5.65364031e-01 5.74572629e-03 4.52104909e+02] [-5.65351050e-01 8.24841503e-01 3.83218439e-03 -2.83690926e+02] [-6.90589272e-03 -8.74843253e-05 -9.99976150e-01 -4.88923651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.166559995 meters 0.04906361253109474 Centerline is valid? [True, True] Translation: X:451.96, Y:-283.70, Z:-4.89 [[-7.81873184e-01 -6.23416956e-01 5.06204188e-03 4.51964064e+02] [-6.23404552e-01 7.81889566e-01 3.93337152e-03 -2.83704559e+02] [-6.41008823e-03 -8.03022400e-05 -9.99979452e-01 -4.88951486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.2265599950001 meters 0.04879125584489525 Centerline is valid? [True, True] Translation: X:451.82, Y:-283.73, Z:-4.89 [[-7.34419775e-01 -6.78682266e-01 4.23976456e-03 4.51820175e+02] [-6.78671514e-01 7.34432010e-01 3.82095220e-03 -2.83726127e+02] [-5.70703130e-03 -7.12245690e-05 -9.99983712e-01 -4.88941569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.286559995 meters 0.048100683882923816 Centerline is valid? [True, True] Translation: X:451.67, Y:-283.78, Z:-4.89 [[-6.81705499e-01 -7.31616886e-01 3.78750113e-03 4.51665063e+02] [-7.31606213e-01 6.81716016e-01 3.95260000e-03 -2.83776914e+02] [-5.47378909e-03 -7.64501978e-05 -9.99985016e-01 -4.89038180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.346559995 meters 0.04867499595160564 Centerline is valid? [True, True] Translation: X:451.54, Y:-283.80, Z:-4.89 [[-6.24468119e-01 -7.81036468e-01 4.64808401e-03 4.51539837e+02] [-7.81016210e-01 6.24485406e-01 5.62644407e-03 -2.83798325e+02] [-7.29711864e-03 -1.16694013e-04 -9.99973369e-01 -4.88724496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.406559995 meters 0.048491986330993574 Centerline is valid? [True, True] Translation: X:451.36, Y:-283.92, Z:-4.89 [[-5.63192592e-01 -8.26308081e-01 5.39078457e-03 4.51357283e+02] [-8.26273283e-01 5.63218362e-01 7.58539318e-03 -2.83918628e+02] [-9.30406053e-03 -1.82224021e-04 -9.99956700e-01 -4.88796376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.4665599950001 meters 0.04797458756295683 Centerline is valid? [True, True] Translation: X:451.19, Y:-284.03, Z:-4.89 [[-4.99930161e-01 -8.66052466e-01 4.79169717e-03 4.51193257e+02] [-8.66016326e-01 4.99953087e-01 7.91414570e-03 -2.84029538e+02] [-9.24968919e-03 -1.93167835e-04 -9.99957202e-01 -4.88726641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.526559995 meters 0.04820969078309713 Centerline is valid? [True, True] Translation: X:451.04, Y:-284.16, Z:-4.89 [[-4.34920236e-01 -9.00460513e-01 3.90549322e-03 4.51038262e+02] [-9.00427837e-01 4.34937734e-01 7.67318987e-03 -2.84156114e+02] [-8.60805085e-03 -1.79389266e-04 -9.99962934e-01 -4.88747754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.586559995 meters 0.0473315305077867 Centerline is valid? [True, True] Translation: X:450.89, Y:-284.31, Z:-4.89 [[-3.68719315e-01 -9.29536608e-01 2.78598714e-03 4.50889306e+02] [-9.29512874e-01 3.68729813e-01 6.64393240e-03 -2.84305114e+02] [-7.20305490e-03 -1.39864708e-04 -9.99974048e-01 -4.88880088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.646559995 meters 0.047812635083890706 Centerline is valid? [True, True] Translation: X:450.74, Y:-284.48, Z:-4.89 [[-3.00874217e-01 -9.53661754e-01 1.99125554e-03 4.50744651e+02] [-9.53643240e-01 3.00880786e-01 5.94335709e-03 -2.84476052e+02] [-6.26708288e-03 -1.10744477e-04 -9.99980356e-01 -4.88931374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.7065599950001 meters 0.04772379278637172 Centerline is valid? [True, True] Translation: X:450.61, Y:-284.66, Z:-4.89 [[-2.31100851e-01 -9.72928500e-01 1.59099526e-03 4.50612663e+02] [-9.72908437e-01 2.31106304e-01 6.24891261e-03 -2.84656367e+02] [-6.44743421e-03 -1.03763695e-04 -9.99979210e-01 -4.88906501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.766559995 meters 0.047766320166499635 Centerline is valid? [True, True] Translation: X:450.48, Y:-284.89, Z:-4.89 [[-1.59972518e-01 -9.87120690e-01 1.23939539e-03 4.50480891e+02] [-9.87095988e-01 1.59977284e-01 6.98423529e-03 -2.84891919e+02] [-7.09255827e-03 -1.06116509e-04 -9.99974842e-01 -4.88822576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.826559995 meters 0.048482334330288056 Centerline is valid? [True, True] Translation: X:450.37, Y:-285.09, Z:-4.89 [[-8.67722757e-02 -9.96227889e-01 7.51315385e-04 4.50371998e+02] [-9.96200592e-01 8.67754605e-02 7.37559329e-03 -2.85089029e+02] [-7.41296748e-03 -1.08463816e-04 -9.99972518e-01 -4.88662768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.886559995 meters 0.04786248587799875 Centerline is valid? [True, True] Translation: X:450.28, Y:-285.33, Z:-4.89 [[-1.21150332e-02 -9.99926575e-01 2.65831423e-04 4.50275582e+02] [-9.99880017e-01 1.21170347e-02 9.65034524e-03 -2.85325038e+02] [-9.65285775e-03 -1.48885274e-04 -9.99953399e-01 -4.88600034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.9465599950001 meters 0.04817115741656474 Centerline is valid? [True, True] Translation: X:450.20, Y:-285.54, Z:-4.89 [[ 6.38901886e-02 -9.97956815e-01 -4.89110928e-04 4.50197740e+02] [-9.97901695e-01 -6.38918011e-02 1.04902100e-02 -2.85543653e+02] [-1.05000267e-02 -1.82136871e-04 -9.99944857e-01 -4.88608052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.006559995 meters 0.04827014907902591 Centerline is valid? [True, True] Translation: X:450.13, Y:-285.73, Z:-4.89 [[ 1.40730402e-01 -9.90047133e-01 -1.27642582e-03 4.50132791e+02] [-9.89991326e-01 -1.40736024e-01 1.05140854e-02 -2.85728250e+02] [-1.05890792e-02 -2.16000972e-04 -9.99943911e-01 -4.88698889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.066559995 meters 0.047960785324745944 Centerline is valid? [True, True] Translation: X:450.09, Y:-285.97, Z:-4.89 [[ 2.13040208e-01 -9.77041666e-01 -1.85832876e-03 4.50090047e+02] [-9.76996296e-01 -2.13048227e-01 9.41753782e-03 -2.85968648e+02] [-9.59724048e-03 -1.90733900e-04 -9.99953927e-01 -4.88766019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.126559995 meters 0.04802316870920628 Centerline is valid? [True, True] Translation: X:450.06, Y:-286.19, Z:-4.89 [[ 2.80609791e-01 -9.59819045e-01 -2.35481683e-03 4.50063379e+02] [-9.59780714e-01 -2.80619633e-01 8.57921338e-03 -2.86193992e+02] [-8.89530023e-03 -1.47303493e-04 -9.99960425e-01 -4.88798374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.1865599950002 meters 0.04782560388486121 Centerline is valid? [True, True] Translation: X:450.08, Y:-286.49, Z:-4.89 [[ 3.44099779e-01 -9.38929189e-01 -2.70558343e-03 4.50081549e+02] [-9.38898393e-01 -3.44110407e-01 7.60489923e-03 -2.86490308e+02] [-8.07148128e-03 -7.65762137e-05 -9.99967422e-01 -4.89003681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.246559995 meters 0.04813846962531933 Centerline is valid? [True, True] Translation: X:450.11, Y:-286.77, Z:-4.89 [[ 4.07312090e-01 -9.13284205e-01 -2.97034064e-03 4.50114898e+02] [-9.13259420e-01 -4.07322920e-01 6.72832505e-03 -2.86770807e+02] [-7.35476082e-03 -2.78365695e-05 -9.99972953e-01 -4.88941552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.306559995 meters 0.047782287275646915 Centerline is valid? [True, True] Translation: X:449.87, Y:-286.46, Z:-4.89 [[ 4.72687768e-01 -8.81221649e-01 -3.83126713e-03 4.49873277e+02] [-8.81192494e-01 -4.72703295e-01 7.16818972e-03 -2.86460117e+02] [-8.12781656e-03 -1.22317637e-05 -9.99966969e-01 -4.89194661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.366559995 meters 0.04832027355428785 Centerline is valid? [True, True] Translation: X:450.11, Y:-287.03, Z:-4.89 [[ 5.35329026e-01 -8.44631798e-01 -4.46760132e-03 4.50110676e+02] [-8.44602221e-01 -5.35347668e-01 7.06835357e-03 -2.87027449e+02] [-8.36187613e-03 -1.05488354e-05 -9.99965039e-01 -4.88954790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.426559995 meters 0.04801593396031526 Centerline is valid? [True, True] Translation: X:449.94, Y:-286.91, Z:-4.89 [[ 5.97255891e-01 -8.02031411e-01 -5.56926551e-03 4.49936148e+02] [-8.01996261e-01 -5.97281856e-01 7.50877875e-03 -2.86914788e+02] [-9.34869765e-03 -1.81322292e-05 -9.99956300e-01 -4.89268022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.486559995 meters 0.048172321942703905 Centerline is valid? [True, True] Translation: X:450.47, Y:-287.72, Z:-4.89 [[ 6.53963296e-01 -7.56508324e-01 -5.21178142e-03 4.50471296e+02] [-7.56484035e-01 -6.53984063e-01 6.06215296e-03 -2.87723143e+02] [-7.99449117e-03 -2.17960955e-05 -9.99968043e-01 -4.88954182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.546559995 meters 0.047752828250341176 Centerline is valid? [True, True] Translation: X:450.57, Y:-287.94, Z:-4.89 [[ 7.08103701e-01 -7.06084114e-01 -5.86290402e-03 4.50570238e+02] [-7.06059607e-01 -7.08127971e-01 5.88279132e-03 -2.87942346e+02] [-8.30543183e-03 -2.60665932e-05 -9.99965509e-01 -4.88970482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.606559995 meters 0.04827274734326398 Centerline is valid? [True, True] Translation: X:450.63, Y:-288.10, Z:-4.89 [[ 7.59530126e-01 -6.50441088e-01 -6.35440310e-03 4.50625401e+02] [-6.50417829e-01 -7.59556705e-01 5.50085715e-03 -2.88099665e+02] [-8.40451299e-03 -4.50496584e-05 -9.99964680e-01 -4.88967085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.666559995 meters 0.048509309613663495 Centerline is valid? [True, True] Translation: X:450.60, Y:-288.18, Z:-4.89 [[ 8.09273394e-01 -5.87384123e-01 -7.51439123e-03 4.50601659e+02] [-5.87358003e-01 -8.09308277e-01 5.53980674e-03 -2.88182052e+02] [-9.33545355e-03 -6.95803815e-05 -9.99956421e-01 -4.88677634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.7265599950001 meters 0.04839029333958886 Centerline is valid? [True, True] Translation: X:450.59, Y:-288.27, Z:-4.89 [[ 8.53792266e-01 -5.20548433e-01 -8.25206068e-03 4.50587408e+02] [-5.20523068e-01 -8.53832139e-01 5.13958406e-03 -2.88265028e+02] [-9.72127705e-03 -9.27491810e-05 -9.99952743e-01 -4.88833191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.786559995 meters 0.04853639717094616 Centerline is valid? [True, True] Translation: X:450.58, Y:-288.35, Z:-4.89 [[ 8.92781339e-01 -4.50391546e-01 -9.43058161e-03 4.50577958e+02] [-4.50364959e-01 -8.92831138e-01 4.89519823e-03 -2.88350925e+02] [-1.06246728e-02 -1.23138127e-04 -9.99943549e-01 -4.88838195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.846559995 meters 0.048324818649798616 Centerline is valid? [True, True] Translation: X:450.57, Y:-288.44, Z:-4.89 [[ 9.24918873e-01 -3.80040177e-01 -9.72330146e-03 4.50574511e+02] [-3.80017888e-01 -9.24969973e-01 4.11747898e-03 -2.88438443e+02] [-1.05585693e-02 -1.13305532e-04 -9.99944250e-01 -4.88839781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.906559995 meters 0.048201623052941345 Centerline is valid? [True, True] Translation: X:450.58, Y:-288.53, Z:-4.89 [[ 9.51203378e-01 -3.08422948e-01 -9.34978851e-03 4.50577318e+02] [-3.08407153e-01 -9.51249325e-01 3.12248651e-03 -2.88526442e+02] [-9.85702650e-03 -8.65780591e-05 -9.99951415e-01 -4.89012674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.9665599950001 meters 0.04798111030924837 Centerline is valid? [True, True] Translation: X:450.59, Y:-288.61, Z:-4.89 [[ 9.71775333e-01 -2.35763421e-01 -8.26504670e-03 4.50587110e+02] [-2.35754441e-01 -9.71810479e-01 2.05828119e-03 -2.88613141e+02] [-8.51732641e-03 -5.16654216e-05 -9.99963726e-01 -4.89092667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.026559995 meters 0.04881754408953353 Centerline is valid? [True, True] Translation: X:450.60, Y:-288.70, Z:-4.89 [[ 9.86980245e-01 -1.60626149e-01 -8.32087245e-03 4.50602955e+02] [-1.60620116e-01 -9.87015318e-01 1.39270356e-03 -2.88697796e+02] [-8.43653318e-03 -3.80714062e-05 -9.99964411e-01 -4.88898958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.086559995 meters 0.0488135826889856 Centerline is valid? [True, True] Translation: X:450.63, Y:-288.78, Z:-4.89 [[ 9.96496532e-01 -8.31398484e-02 -9.07892257e-03 4.50626584e+02] [-8.31360338e-02 -9.96537889e-01 7.97400821e-04 -2.88778221e+02] [-9.11378612e-03 -3.98215388e-05 -9.99958468e-01 -4.88913462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.146559995 meters 0.04906307023855969 Centerline is valid? [True, True] Translation: X:450.65, Y:-288.86, Z:-4.89 [[ 9.99928322e-01 -4.36303435e-03 -1.11496959e-02 4.50654751e+02] [-4.36215085e-03 -9.99990480e-01 1.03558272e-04 -2.88856949e+02] [-1.11500416e-02 -5.49141934e-05 -9.99937835e-01 -4.88951407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.2065599950001 meters 0.04833667614419128 Centerline is valid? [True, True] Translation: X:450.69, Y:-288.94, Z:-4.89 [[ 9.97128796e-01 7.46910686e-02 -1.24662561e-02 4.50685560e+02] [ 7.46861308e-02 -9.97206718e-01 -8.61826321e-04 -2.88941441e+02] [-1.24958051e-02 -7.17045946e-05 -9.99921922e-01 -4.88530424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.266559995 meters 0.048695750700046156 Centerline is valid? [True, True] Translation: X:450.72, Y:-289.01, Z:-4.88 [[ 9.88176458e-01 1.52845677e-01 -1.20618131e-02 4.50722348e+02] [ 1.52835214e-01 -9.88250066e-01 -1.78991879e-03 -2.89011438e+02] [-1.21936689e-02 -7.47141751e-05 -9.99925652e-01 -4.88498503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.326559995 meters 0.048882940570143536 Centerline is valid? [True, True] Translation: X:450.77, Y:-289.08, Z:-4.89 [[ 9.73244934e-01 2.29581060e-01 -9.31860114e-03 4.50765161e+02] [ 2.29571099e-01 -9.73289543e-01 -2.13936339e-03 -2.89084571e+02] [-9.56085435e-03 -5.71569285e-05 -9.99954292e-01 -4.88960252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.386559995 meters 0.048579577884864715 Centerline is valid? [True, True] Translation: X:450.81, Y:-289.16, Z:-4.89 [[ 9.52735104e-01 3.03675843e-01 -8.76377340e-03 4.50813210e+02] [ 3.03663399e-01 -9.52775410e-01 -2.74939396e-03 -2.89156706e+02] [-9.18483231e-03 -4.17930753e-05 -9.99957818e-01 -4.89168256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.4465599950001 meters 0.04849516825818029 Centerline is valid? [True, True] Translation: X:450.87, Y:-289.22, Z:-4.89 [[ 9.27224527e-01 3.74418703e-01 -8.08155170e-03 4.50866412e+02] [ 3.74404599e-01 -9.27259745e-01 -3.24980807e-03 -2.89221903e+02] [-8.71048649e-03 -1.24683731e-05 -9.99962063e-01 -4.89113672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.506559995 meters 0.049006401096037946 Centerline is valid? [True, True] Translation: X:450.92, Y:-289.28, Z:-4.89 [[ 8.95524509e-01 4.44948819e-01 -7.51019972e-03 4.50923359e+02] [ 4.44933208e-01 -8.95556000e-01 -3.72719310e-03 -2.89280302e+02] [-8.38421459e-03 -3.74448171e-06 -9.99964852e-01 -4.89156451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.566559995 meters 0.04879193368246107 Centerline is valid? [True, True] Translation: X:450.99, Y:-289.33, Z:-4.89 [[ 8.58110209e-01 5.13414589e-01 -7.23393445e-03 4.50985411e+02] [ 5.13396361e-01 -8.58140700e-01 -4.32626947e-03 -2.89334079e+02] [-8.42890343e-03 -1.45962316e-06 -9.99964476e-01 -4.89159515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.626559995 meters 0.04853918425893946 Centerline is valid? [True, True] Translation: X:451.05, Y:-289.38, Z:-4.89 [[ 8.15006487e-01 5.79403128e-01 -7.51276644e-03 4.51050626e+02] [ 5.79378585e-01 -8.15041112e-01 -5.33296854e-03 -2.89384632e+02] [-9.21315217e-03 -6.33203363e-06 -9.99957558e-01 -4.88915761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.6865599950002 meters 0.04855450617509477 Centerline is valid? [True, True] Translation: X:451.12, Y:-289.43, Z:-4.89 [[ 7.66465709e-01 6.42247693e-01 -6.94385097e-03 4.51118237e+02] [ 6.42221531e-01 -7.66497162e-01 -5.79693802e-03 -2.89426434e+02] [-9.04551214e-03 -1.63363939e-05 -9.99959088e-01 -4.88953802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.746559995 meters 0.04825355408830181 Centerline is valid? [True, True] Translation: X:451.18, Y:-289.46, Z:-4.89 [[ 7.13545774e-01 7.00577333e-01 -6.62035516e-03 4.51184382e+02] [ 7.00547454e-01 -7.13576485e-01 -6.47031894e-03 -2.89459364e+02] [-9.25708855e-03 -2.10042180e-05 -9.99957152e-01 -4.88943746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.806559995 meters 0.04895063991575718 Centerline is valid? [True, True] Translation: X:451.26, Y:-289.50, Z:-4.89 [[ 6.55841164e-01 7.54878363e-01 -5.57003538e-03 4.51263839e+02] [ 7.54851489e-01 -6.55864816e-01 -6.36962093e-03 -2.89495423e+02] [-8.46147925e-03 -2.70898960e-05 -9.99964201e-01 -4.89190747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.866559995 meters 0.04871677440493566 Centerline is valid? [True, True] Translation: X:451.34, Y:-289.52, Z:-4.89 [[ 5.94699340e-01 8.03934644e-01 -4.66723615e-03 4.51339986e+02] [ 8.03910226e-01 -5.94717653e-01 -6.26596490e-03 -2.89521230e+02] [-7.81311399e-03 -2.56736760e-05 -9.99969477e-01 -4.89122962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.926559995 meters 0.049151442712383635 Centerline is valid? [True, True] Translation: X:451.41, Y:-289.54, Z:-4.89 [[ 5.29886933e-01 8.48059956e-01 -3.76154313e-03 4.51412271e+02] [ 8.48038910e-01 -5.29900283e-01 -5.97474084e-03 -2.89536949e+02] [-7.06018122e-03 -2.39978352e-05 -9.99975076e-01 -4.89132887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.986559995 meters 0.049071745784250075 Centerline is valid? [True, True] Translation: X:451.49, Y:-289.55, Z:-4.89 [[ 4.60942012e-01 8.87426042e-01 -2.73509336e-03 4.51486711e+02] [ 8.87410759e-01 -4.60950126e-01 -5.20835636e-03 -2.89548656e+02] [-5.88277270e-03 -2.64010145e-05 -9.99982696e-01 -4.89260952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.046559995 meters 0.04908127357378896 Centerline is valid? [True, True] Translation: X:451.61, Y:-289.58, Z:-4.89 [[ 3.88383541e-01 9.21495371e-01 -2.12290080e-03 4.51610467e+02] [ 9.21482082e-01 -3.88389341e-01 -4.94894343e-03 -2.89576265e+02] [-5.38494050e-03 -3.41268803e-05 -9.99985501e-01 -4.89416320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.106559995 meters 0.0492326135596632 Centerline is valid? [True, True] Translation: X:451.70, Y:-289.58, Z:-4.89 [[ 3.12855620e-01 9.49798944e-01 -1.82392420e-03 4.51700100e+02] [ 9.49783712e-01 -3.12860933e-01 -5.37936162e-03 -2.89581056e+02] [-5.67994661e-03 -4.93699869e-05 -9.99983868e-01 -4.89028153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.166559995 meters 0.04904354126169716 Centerline is valid? [True, True] Translation: X:451.78, Y:-289.57, Z:-4.89 [[ 2.33520915e-01 9.72351230e-01 -1.03314197e-03 4.51779287e+02] [ 9.72342709e-01 -2.33523194e-01 -4.07113057e-03 -2.89574619e+02] [-4.19983143e-03 -5.38739311e-05 -9.99991179e-01 -4.89159535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.2265599950001 meters 0.04877682605160978 Centerline is valid? [True, True] Translation: X:451.86, Y:-289.56, Z:-4.89 [[ 1.53589744e-01 9.88134604e-01 -4.42385936e-04 4.51860528e+02] [ 9.88131248e-01 -1.53590376e-01 -2.57535563e-03 -2.89563368e+02] [-2.61274424e-03 -4.15871543e-05 -9.99996586e-01 -4.89246394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.286559995 meters 0.048733899505027704 Centerline is valid? [True, True] Translation: X:451.95, Y:-289.55, Z:-4.89 [[ 7.14959892e-02 9.97440851e-01 -2.67910941e-04 4.51949239e+02] [ 9.97436610e-01 -7.14964666e-02 -2.90946984e-03 -2.89545468e+02] [-2.92117876e-03 -5.92087568e-05 -9.99995732e-01 -4.89219949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.346559995 meters 0.04806056760540449 Centerline is valid? [True, True] Translation: X:452.02, Y:-289.52, Z:-4.89 [[-8.61801839e-03 9.99962863e-01 -4.79463238e-05 4.52023232e+02] [ 9.99956596e-01 8.61779459e-03 -3.54112327e-03 -2.89521140e+02] [-3.54057857e-03 -7.84617082e-05 -9.99993729e-01 -4.89177810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.406559995 meters 0.047975633383115765 Centerline is valid? [True, True] Translation: X:452.11, Y:-289.49, Z:-4.89 [[-8.80795877e-02 9.96113401e-01 2.79415756e-04 4.52112769e+02] [ 9.96104088e-01 8.80799728e-02 -4.30866158e-03 -2.89489293e+02] [-4.31652648e-03 -1.01177959e-04 -9.99990679e-01 -4.89016016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.4665599950001 meters 0.049370993731224805 Centerline is valid? [True, True] Translation: X:452.20, Y:-289.45, Z:-4.89 [[-1.64981047e-01 9.86296436e-01 7.71747733e-04 4.52197501e+02] [ 9.86281888e-01 1.64982806e-01 -5.35823382e-03 -2.89450930e+02] [-5.41213203e-03 -1.22846213e-04 -9.99985347e-01 -4.88829399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.526559995 meters 0.04904362238512564 Centerline is valid? [True, True] Translation: X:452.26, Y:-289.41, Z:-4.89 [[-2.39930710e-01 9.70789202e-01 1.25656817e-03 4.52262654e+02] [ 9.70773155e-01 2.39933971e-01 -5.58320743e-03 -2.89408828e+02] [-5.72161088e-03 -1.19740281e-04 -9.99983624e-01 -4.88779205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.586559995 meters 0.048266930453901964 Centerline is valid? [True, True] Translation: X:452.33, Y:-289.36, Z:-4.89 [[-3.11898205e-01 9.50114393e-01 1.46648767e-03 4.52328378e+02] [ 9.50102545e-01 3.11901640e-01 -4.74559290e-03 -2.89360816e+02] [-4.96625603e-03 -8.68282398e-05 -9.99987664e-01 -4.88934165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.646559995 meters 0.04837674755816653 Centerline is valid? [True, True] Translation: X:452.39, Y:-289.31, Z:-4.89 [[-3.82792292e-01 9.23832558e-01 1.86167538e-03 4.52392411e+02] [ 9.23820667e-01 3.82796811e-01 -4.68796022e-03 -2.89307856e+02] [-5.04353368e-03 -7.46608426e-05 -9.99987279e-01 -4.88988076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.7065599950001 meters 0.04856690972004973 Centerline is valid? [True, True] Translation: X:452.46, Y:-289.25, Z:-4.89 [[-4.51024868e-01 8.92508973e-01 2.07410759e-03 4.52455564e+02] [ 8.92498974e-01 4.51029634e-01 -4.22504291e-03 -2.89247074e+02] [-4.70637269e-03 -5.44605206e-05 -9.99988924e-01 -4.89072124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.766559995 meters 0.04923588771164656 Centerline is valid? [True, True] Translation: X:452.51, Y:-289.18, Z:-4.89 [[-5.16741586e-01 8.56137379e-01 2.63090698e-03 4.52512236e+02] [ 8.56125853e-01 5.16748282e-01 -4.44265540e-03 -2.89184463e+02] [-5.16304001e-03 -4.33173146e-05 -9.99986671e-01 -4.89122911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.826559995 meters 0.048809969302170984 Centerline is valid? [True, True] Translation: X:452.56, Y:-289.12, Z:-4.89 [[-5.81403751e-01 8.13607338e-01 3.57446878e-03 4.52556313e+02] [ 8.13591468e-01 5.81414737e-01 -5.08199232e-03 -2.89122727e+02] [-6.21299507e-03 -4.65320934e-05 -9.99980698e-01 -4.88806613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.886559995 meters 0.04845649703756065 Centerline is valid? [True, True] Translation: X:452.59, Y:-289.06, Z:-4.89 [[-6.43301737e-01 7.65597356e-01 4.85429528e-03 4.52592889e+02] [ 7.65574884e-01 6.43320049e-01 -5.86614214e-03 -2.89058317e+02] [-7.61396839e-03 -5.73728819e-05 -9.99971012e-01 -4.88808894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.9465599950001 meters 0.04848648045670391 Centerline is valid? [True, True] Translation: X:452.63, Y:-288.99, Z:-4.89 [[-7.01691850e-01 7.12452460e-01 6.32767879e-03 4.52630049e+02] [ 7.12422532e-01 7.01720376e-01 -6.53065307e-03 -2.88988314e+02] [-9.09304099e-03 -7.45250867e-05 -9.99958655e-01 -4.89029354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.006559995 meters 0.04914352110428381 Centerline is valid? [True, True] Translation: X:452.66, Y:-288.91, Z:-4.89 [[-7.55068241e-01 6.55611087e-01 6.78624883e-03 4.52664452e+02] [ 6.55583760e-01 7.55098733e-01 -5.98634617e-03 -2.88909636e+02] [-9.04900281e-03 -7.11453495e-05 -9.99959054e-01 -4.88793517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.066559995 meters 0.049100074368692535 Centerline is valid? [True, True] Translation: X:453.09, Y:-289.15, Z:-4.89 [[-8.00680751e-01 5.99049792e-01 7.04846228e-03 4.53085534e+02] [ 5.99025962e-01 8.00711773e-01 -5.34360344e-03 -2.89151311e+02] [-8.84487126e-03 -5.63085240e-05 -9.99960882e-01 -4.89192386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.126559995 meters 0.048846678692436495 Centerline is valid? [True, True] Translation: X:452.47, Y:-288.62, Z:-4.89 [[-8.39588313e-01 5.43187833e-01 6.20014196e-03 4.52470896e+02] [ 5.43172781e-01 8.39611206e-01 -4.04393293e-03 -2.88617904e+02] [-7.40232383e-03 -2.74904763e-05 -9.99972602e-01 -4.88953603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.1865599950002 meters 0.048787054048530384 Centerline is valid? [True, True] Translation: X:452.49, Y:-288.54, Z:-4.89 [[-8.74699710e-01 4.84632706e-01 5.61755118e-03 4.52487512e+02] [ 4.84622666e-01 8.74717749e-01 -3.11958338e-03 -2.88543099e+02] [-6.42562385e-03 -6.30605293e-06 -9.99979355e-01 -4.88970483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.246559995 meters 0.048892157278047514 Centerline is valid? [True, True] Translation: X:453.07, Y:-288.75, Z:-4.89 [[-9.07338923e-01 4.20376664e-01 4.42027654e-03 4.53073707e+02] [ 4.20371749e-01 9.07349690e-01 -2.03274376e-03 -2.88746843e+02] [-4.86525459e-03 1.37718411e-05 -9.99988165e-01 -4.89310277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.306559995 meters 0.04970750731463324 Centerline is valid? [True, True] Translation: X:452.99, Y:-288.61, Z:-4.89 [[-9.34243488e-01 3.56614787e-01 3.87285061e-03 4.52985942e+02] [ 3.56611808e-01 9.34251515e-01 -1.45784255e-03 -2.88608191e+02] [-4.13810476e-03 1.91243486e-05 -9.99991438e-01 -4.89262721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.366559995 meters 0.049367348399483355 Centerline is valid? [True, True] Translation: X:452.25, Y:-287.65, Z:-5.92 [[-9.11654407e-01 -4.10934126e-01 4.40299198e-03 4.52248692e+02] [ 4.10929421e-01 -9.11665039e-01 -1.96650298e-03 -2.87650299e+02] [ 4.82215704e-03 1.65478323e-05 9.99988373e-01 -5.91808056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.426559995 meters 0.04931004893807788 Centerline is valid? [True, True] Translation: X:452.49, Y:-288.40, Z:-4.89 [[-9.38345622e-01 3.45654678e-01 5.50789360e-03 4.52485860e+02] [ 3.45648783e-01 9.38361787e-01 -2.01870627e-03 -2.88402564e+02] [-5.86617215e-03 9.55252870e-06 -9.99982794e-01 -4.89078919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.486559995 meters 0.048914843658002825 Centerline is valid? [True, True] Translation: X:452.78, Y:-287.89, Z:-5.92 [[-9.12900329e-01 -4.08139183e-01 5.94947324e-03 4.52784102e+02] [ 4.08130756e-01 -9.12919715e-01 -2.62290953e-03 -2.87889580e+02] [ 6.50190357e-03 3.37080431e-05 9.99978862e-01 -5.91690449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.546559995 meters 0.04956528291646091 Centerline is valid? [True, True] Translation: X:451.84, Y:-288.15, Z:-4.89 [[-9.42332968e-01 3.34586491e-01 7.77543126e-03 4.51835200e+02] [ 3.34574606e-01 9.42365044e-01 -2.82067144e-03 -2.88147132e+02] [-8.27105319e-03 -5.65498365e-05 -9.99965793e-01 -4.88748878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.606559995 meters 0.049143052275193236 Centerline is valid? [True, True] Translation: X:452.01, Y:-287.58, Z:-5.92 [[-9.11539389e-01 -4.11136100e-01 7.94033535e-03 4.52008113e+02] [ 4.11121321e-01 -9.11573969e-01 -3.48708319e-03 -2.87581413e+02] [ 8.67186878e-03 8.58274731e-05 9.99962395e-01 -5.92053849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.666559995 meters 0.04904485316337685 Centerline is valid? [True, True] Translation: X:451.72, Y:-288.11, Z:-4.89 [[-9.44436264e-01 3.28595075e-01 8.08822465e-03 4.51720977e+02] [ 3.28582284e-01 9.44470894e-01 -2.90046354e-03 -2.88107039e+02] [-8.59217080e-03 -8.16556161e-05 -9.99963083e-01 -4.88847327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.7265599950001 meters 0.049136305009186 Centerline is valid? [True, True] Translation: X:452.06, Y:-288.13, Z:-4.89 [[-9.65907363e-01 2.58773101e-01 7.71020980e-03 4.52059503e+02] [ 2.58764327e-01 9.65938134e-01 -2.13198143e-03 -2.88133714e+02] [-7.99928511e-03 -6.41693119e-05 -9.99968003e-01 -4.89276276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.786559995 meters 0.04906937828754124 Centerline is valid? [True, True] Translation: X:451.47, Y:-287.34, Z:-5.92 [[-9.41793434e-01 -3.36131624e-01 6.37637796e-03 4.51469375e+02] [ 3.36123820e-01 -9.41815020e-01 -2.29055913e-03 -2.87335254e+02] [ 6.77529790e-03 -1.39810260e-05 9.99977047e-01 -5.91781426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.846559995 meters 0.0487747164215208 Centerline is valid? [True, True] Translation: X:451.20, Y:-287.88, Z:-4.89 [[-9.65558232e-01 2.60132102e-01 5.34705192e-03 4.51196828e+02] [ 2.60128025e-01 9.65573037e-01 -1.45642912e-03 -2.87876967e+02] [-5.54183313e-03 -1.53490644e-05 -9.99984644e-01 -4.89037135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.906559995 meters 0.04912015758278643 Centerline is valid? [True, True] Translation: X:451.31, Y:-287.29, Z:-5.92 [[-9.44454513e-01 -3.28600642e-01 5.22411518e-03 4.51305866e+02] [ 3.28595699e-01 -9.44468961e-01 -1.80241770e-03 -2.87288419e+02] [ 5.52629025e-03 1.43202471e-05 9.99984730e-01 -5.91650180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.9665599950001 meters 0.04953514088365905 Centerline is valid? [True, True] Translation: X:451.43, Y:-287.95, Z:-4.89 [[-9.67001348e-01 2.54665790e-01 7.33000286e-03 4.51431440e+02] [ 2.54658432e-01 9.67029129e-01 -1.93594529e-03 -2.87950115e+02] [-7.58134532e-03 -5.41467258e-06 -9.99971261e-01 -4.89220971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.026559995 meters 0.04949074613841631 Centerline is valid? [True, True] Translation: X:451.40, Y:-287.85, Z:-4.89 [[-9.82656099e-01 1.85213860e-01 9.10036818e-03 4.51398459e+02] [ 1.85205844e-01 9.82698238e-01 -1.72317752e-03 -2.87851845e+02] [-9.26207213e-03 -7.84953648e-06 -9.99957106e-01 -4.89157481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.086559995 meters 0.049278058324916135 Centerline is valid? [True, True] Translation: X:450.91, Y:-287.70, Z:-4.89 [[-9.93288072e-01 1.15217990e-01 1.01794646e-02 4.50911421e+02] [ 1.15211853e-01 9.93340231e-01 -1.18916325e-03 -2.87695773e+02] [-1.02486847e-02 -8.38669393e-06 -9.99947481e-01 -4.88900463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.146559995 meters 0.049159012404691664 Centerline is valid? [True, True] Translation: X:450.93, Y:-287.09, Z:-5.92 [[-9.82910594e-01 -1.83827813e-01 9.70052181e-03 4.50933693e+02] [ 1.83818693e-01 -9.82958460e-01 -1.83115974e-03 -2.87091663e+02] [ 9.87182807e-03 -1.67290615e-05 9.99951272e-01 -5.91955541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.2065599950001 meters 0.049368497711325704 Centerline is valid? [True, True] Translation: X:450.61, Y:-287.67, Z:-4.89 [[-9.93803903e-01 1.10749039e-01 9.40495232e-03 4.50612876e+02] [ 1.10743928e-01 9.93848404e-01 -1.06405753e-03 -2.87665820e+02] [-9.46494020e-03 -1.59231575e-05 -9.99955206e-01 -4.88847084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.266559995 meters 0.048722841257279666 Centerline is valid? [True, True] Translation: X:450.71, Y:-287.60, Z:-4.89 [[-9.99237823e-01 3.78280090e-02 9.63407246e-03 4.50705720e+02] [ 3.78259907e-02 9.99284264e-01 -3.91686707e-04 -2.87598970e+02] [-9.64199374e-03 -2.69698375e-05 -9.99953515e-01 -4.88851378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.326559995 meters 0.04901109180544462 Centerline is valid? [True, True] Translation: X:450.52, Y:-286.96, Z:-5.92 [[-9.93475743e-01 -1.13667525e-01 9.25425248e-03 4.50520510e+02] [ 1.13662633e-01 -9.93518844e-01 -1.05463213e-03 -2.86964850e+02] [ 9.31415165e-03 4.11126367e-06 9.99956622e-01 -5.91921210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.386559995 meters 0.048665272620156456 Centerline is valid? [True, True] Translation: X:450.42, Y:-287.59, Z:-4.89 [[-9.99558956e-01 2.83291003e-02 8.90820279e-03 4.50424862e+02] [ 2.83273113e-02 9.99598648e-01 -3.26970739e-04 -2.87588865e+02] [-8.91389025e-03 -7.44810970e-05 -9.99960268e-01 -4.88693996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.4465599950001 meters 0.04835671847389033 Centerline is valid? [True, True] Translation: X:450.46, Y:-286.97, Z:-5.92 [[-9.93185619e-01 -1.16270574e-01 7.96737730e-03 4.50459633e+02] [ 1.16266867e-01 -9.93217576e-01 -9.28529802e-04 -2.86966084e+02] [ 8.02129987e-03 4.13954736e-06 9.99967829e-01 -5.91803011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.506559995 meters 0.048224725559878445 Centerline is valid? [True, True] Translation: X:450.39, Y:-287.60, Z:-4.89 [[-9.99817515e-01 1.77552212e-02 7.04909865e-03 4.50390045e+02] [ 1.77540368e-02 9.99842358e-01 -2.30569813e-04 -2.87595662e+02] [-7.05208123e-03 -1.05377781e-04 -9.99975128e-01 -4.89201873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.566559995 meters 0.048604521806328425 Centerline is valid? [True, True] Translation: X:450.36, Y:-287.51, Z:-4.89 [[-9.98405637e-01 -5.60344153e-02 6.80642275e-03 4.50360109e+02] [-5.60339295e-02 9.98428831e-01 2.62199434e-04 -2.87511864e+02] [-6.81042090e-03 -1.19609219e-04 -9.99976802e-01 -4.89003483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.626559995 meters 0.04805382455242602 Centerline is valid? [True, True] Translation: X:450.31, Y:-287.44, Z:-4.89 [[-9.91700735e-01 -1.28308270e-01 8.16327736e-03 4.50312660e+02] [-1.28305214e-01 9.91734321e-01 8.99152291e-04 -2.87440790e+02] [-8.21117100e-03 -1.55701063e-04 -9.99966276e-01 -4.89031018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.6865599950002 meters 0.04850903436464399 Centerline is valid? [True, True] Translation: X:450.21, Y:-286.83, Z:-5.92 [[-9.99696489e-01 2.27061157e-02 9.55840803e-03 4.50210798e+02] [-2.27024722e-02 -9.99742146e-01 4.89526696e-04 -2.86825589e+02] [ 9.56705860e-03 2.72378626e-04 9.99954198e-01 -5.91779407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.746559995 meters 0.0491958938354515 Centerline is valid? [True, True] Translation: X:450.19, Y:-287.45, Z:-4.89 [[-9.91123418e-01 -1.32613858e-01 9.37739380e-03 4.50189494e+02] [-1.32609670e-01 9.91167761e-01 1.06969643e-03 -2.87453800e+02] [-9.43642698e-03 -1.83331919e-04 -9.99955459e-01 -4.88864265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.806559995 meters 0.04846396879602906 Centerline is valid? [True, True] Translation: X:450.06, Y:-286.85, Z:-5.92 [[-9.99606165e-01 2.64499650e-02 9.37623530e-03 4.50055899e+02] [-2.64471230e-02 -9.99650123e-01 4.26991314e-04 -2.86849166e+02] [ 9.38424867e-03 1.78848702e-04 9.99955951e-01 -5.91837765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.866559995 meters 0.04875863376979391 Centerline is valid? [True, True] Translation: X:450.00, Y:-287.48, Z:-4.89 [[-9.90703035e-01 -1.35744805e-01 8.99140327e-03 4.50004298e+02] [-1.35740766e-01 9.90743821e-01 1.06080738e-03 -2.87475306e+02] [-9.05217633e-03 -1.69554872e-04 -9.99959014e-01 -4.88948883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.926559995 meters 0.04789196786140645 Centerline is valid? [True, True] Translation: X:449.90, Y:-287.41, Z:-4.89 [[-9.79021919e-01 -2.03562465e-01 8.85465100e-03 4.49902351e+02] [-2.03555500e-01 9.79061950e-01 1.69038028e-03 -2.87412852e+02] [-9.01334985e-03 -1.47493569e-04 -9.99959368e-01 -4.88942080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.986559995 meters 0.04916010327356131 Centerline is valid? [True, True] Translation: X:449.70, Y:-286.82, Z:-5.92 [[-9.93759864e-01 1.11227136e-01 8.35810072e-03 4.49702712e+02] [-1.11222334e-01 -9.93795006e-01 1.03862067e-03 -2.86817584e+02] [ 8.42176156e-03 1.02532063e-04 9.99964531e-01 -5.91731665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.046559995 meters 0.04881274303869124 Centerline is valid? [True, True] Translation: X:449.89, Y:-287.42, Z:-4.89 [[-9.80290687e-01 -1.97398788e-01 7.99298514e-03 4.49889310e+02] [-1.97392431e-01 9.80323272e-01 1.58441093e-03 -2.87423403e+02] [-8.14847014e-03 -2.45714894e-05 -9.99966800e-01 -4.89200408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.106559995 meters 0.04946914707749976 Centerline is valid? [True, True] Translation: X:449.16, Y:-286.90, Z:-5.92 [[-9.90739859e-01 1.35615642e-01 6.55206502e-03 4.49164882e+02] [-1.35613059e-01 -9.90761522e-01 8.38999370e-04 -2.86903378e+02] [ 6.60531535e-03 -5.73154625e-05 9.99978183e-01 -5.91516231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.166559995 meters 0.0490921483441889 Centerline is valid? [True, True] Translation: X:449.56, Y:-287.48, Z:-4.89 [[-9.81867473e-01 -1.89471497e-01 6.06778472e-03 4.49559386e+02] [-1.89467339e-01 9.81886218e-01 1.25819474e-03 -2.87484689e+02] [-6.19626623e-03 8.57334668e-05 -9.99980799e-01 -4.89471303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.2265599950001 meters 0.049803130368442645 Centerline is valid? [True, True] Translation: X:449.60, Y:-287.38, Z:-4.89 [[-9.66348909e-01 -2.57160077e-01 6.20326262e-03 4.49597659e+02] [-2.57154013e-01 9.66368813e-01 1.76972231e-03 -2.87381081e+02] [-6.44974145e-03 1.14975346e-04 -9.99979194e-01 -4.89478823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.286559995 meters 0.04976637924096824 Centerline is valid? [True, True] Translation: X:449.04, Y:-287.47, Z:-4.89 [[-9.46347540e-01 -3.23069514e-01 7.24033698e-03 4.49038379e+02] [-3.23058821e-01 9.46375225e-01 2.63290425e-03 -2.87474078e+02] [-7.70268664e-03 1.52587731e-04 -9.99970322e-01 -4.89298916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.346559995 meters 0.04970542100548503 Centerline is valid? [True, True] Translation: X:448.75, Y:-287.51, Z:-4.89 [[-9.20469694e-01 -3.90736258e-01 7.79227881e-03 4.48749732e+02] [-3.90720807e-01 9.20502663e-01 3.47840371e-03 -2.87508635e+02] [-8.53195184e-03 1.57159739e-04 -9.99963590e-01 -4.89210301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.406559995 meters 0.0504315204359065 Centerline is valid? [True, True] Translation: X:449.01, Y:-287.28, Z:-4.90 [[-8.85781744e-01 -4.64026873e-01 8.35245805e-03 4.49010517e+02] [-4.64004874e-01 8.85821113e-01 4.52015837e-03 -2.87278237e+02] [-9.49625865e-03 1.28292518e-04 -9.99954901e-01 -4.89662569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.4665599950001 meters 0.05027352618617316 Centerline is valid? [True, True] Translation: X:448.40, Y:-287.55, Z:-4.89 [[-8.47863279e-01 -5.30146480e-01 8.51882104e-03 4.48396554e+02] [-5.30118747e-01 8.47906070e-01 5.42320078e-03 -2.87547159e+02] [-1.00982509e-02 8.21460667e-05 -9.99949008e-01 -4.89384939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.526559995 meters 0.04969142545260713 Centerline is valid? [True, True] Translation: X:448.57, Y:-287.32, Z:-4.90 [[-8.03373269e-01 -5.95424512e-01 7.81295100e-03 4.48573261e+02] [-5.95395750e-01 8.03411257e-01 5.85259937e-03 -2.87321403e+02] [-9.76179391e-03 5.00240675e-05 -9.99952351e-01 -4.89722833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.586559995 meters 0.049466980694363345 Centerline is valid? [True, True] Translation: X:448.14, Y:-287.56, Z:-4.89 [[-7.54793327e-01 -6.55926354e-01 6.90309400e-03 4.48137880e+02] [-6.55899085e-01 7.54824893e-01 5.98089851e-03 -2.87562960e+02] [-9.13365613e-03 -1.33907573e-05 -9.99958287e-01 -4.89481213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.646559995 meters 0.04958816778810409 Centerline is valid? [True, True] Translation: X:447.93, Y:-287.64, Z:-4.89 [[-6.99611273e-01 -7.14504959e-01 5.17018856e-03 4.47933712e+02] [-7.14486246e-01 6.99630373e-01 5.17161538e-03 -2.87638863e+02] [-7.31236578e-03 -7.59082041e-05 -9.99973261e-01 -4.89409366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.7065599950001 meters 0.049835121513927924 Centerline is valid? [True, True] Translation: X:447.80, Y:-287.67, Z:-4.90 [[-6.41868163e-01 -7.66803661e-01 4.17200376e-03 4.47798726e+02] [-7.66788413e-01 6.41881715e-01 4.83678274e-03 -2.87668802e+02] [-6.38679564e-03 -9.44672830e-05 -9.99979600e-01 -4.89583073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.766559995 meters 0.05046458120906697 Centerline is valid? [True, True] Translation: X:447.64, Y:-287.74, Z:-4.90 [[-5.81590020e-01 -8.13473835e-01 3.65632943e-03 4.47638854e+02] [-8.13458919e-01 5.81601503e-01 4.92737719e-03 -2.87735965e+02] [-6.13481911e-03 -1.08560388e-04 -9.99981176e-01 -4.89532431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.826559995 meters 0.04946359217018882 Centerline is valid? [True, True] Translation: X:447.47, Y:-287.85, Z:-4.90 [[-5.17563306e-01 -8.55634977e-01 4.12443540e-03 4.47469429e+02] [-8.55610270e-01 5.17579714e-01 6.50425237e-03 -2.87845738e+02] [-7.69998991e-03 -1.62546930e-04 -9.99970341e-01 -4.89661484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.886559995 meters 0.049944384138497784 Centerline is valid? [True, True] Translation: X:447.32, Y:-287.95, Z:-4.90 [[-4.52330642e-01 -8.91838566e-01 4.57847959e-03 4.47315346e+02] [-8.91797619e-01 4.52353761e-01 8.54879619e-03 -2.87952514e+02] [-9.69523860e-03 -2.16194724e-04 -9.99952977e-01 -4.89605789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.9465599950001 meters 0.05055887970466166 Centerline is valid? [True, True] Translation: X:447.18, Y:-288.05, Z:-4.89 [[-3.86288156e-01 -9.22366139e-01 4.70807900e-03 4.47177179e+02] [-9.22305367e-01 3.86316764e-01 1.05909407e-02 -2.88051564e+02] [-1.15875349e-02 -2.51131576e-04 -9.99932831e-01 -4.89428869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.006559995 meters 0.050681756268523656 Centerline is valid? [True, True] Translation: X:447.02, Y:-288.25, Z:-4.90 [[-3.21001496e-01 -9.47067711e-01 4.55976154e-03 4.47019859e+02] [-9.46982737e-01 3.21033786e-01 1.26887332e-02 -2.88249674e+02] [-1.34809271e-02 -2.44913113e-04 -9.99909098e-01 -4.89563127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.066559995 meters 0.05082011169326486 Centerline is valid? [True, True] Translation: X:446.87, Y:-288.46, Z:-4.90 [[-2.53740802e-01 -9.67264405e-01 3.89562136e-03 4.46874138e+02] [-9.67163304e-01 2.53770610e-01 1.39864586e-02 -2.88462812e+02] [-1.45171977e-02 -2.18766805e-04 -9.99894596e-01 -4.89600628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.126559995 meters 0.05002063451314454 Centerline is valid? [True, True] Translation: X:446.79, Y:-288.50, Z:-4.89 [[-1.86005648e-01 -9.82544340e-01 2.91873892e-03 4.46788221e+02] [-9.82435476e-01 1.86028488e-01 1.46265634e-02 -2.88501706e+02] [-1.49142157e-02 -1.46849262e-04 -9.99888766e-01 -4.89489865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.1865599950002 meters 0.05040859782385472 Centerline is valid? [True, True] Translation: X:446.68, Y:-288.71, Z:-4.90 [[-1.16612112e-01 -9.93175908e-01 1.79762537e-03 4.46679245e+02] [-9.93069788e-01 1.16625931e-01 1.45185405e-02 -2.88714999e+02] [-1.46291143e-02 -9.21297754e-05 -9.99892985e-01 -4.90016196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.246559995 meters 0.050323516742926545 Centerline is valid? [True, True] Translation: X:446.58, Y:-289.00, Z:-4.90 [[-4.60084415e-02 -9.98940810e-01 6.94555709e-04 4.46578188e+02] [-9.98843240e-01 4.60136551e-02 1.39615724e-02 -2.88999545e+02] [-1.39787435e-02 -5.14020889e-05 -9.99902291e-01 -4.90110870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.306559995 meters 0.049941670472809466 Centerline is valid? [True, True] Translation: X:446.50, Y:-289.23, Z:-4.90 [[ 2.58093144e-02 -9.99666839e-01 -2.99369953e-04 4.46499669e+02] [-9.99590360e-01 -2.58110429e-02 1.23653899e-02 -2.89232848e+02] [-1.23689973e-02 -1.98949170e-05 -9.99923501e-01 -4.89982860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.366559995 meters 0.04957476967857412 Centerline is valid? [True, True] Translation: X:446.43, Y:-289.36, Z:-4.90 [[ 9.97699923e-02 -9.95009866e-01 -1.14700485e-03 4.46429955e+02] [-9.94942350e-01 -9.97765842e-02 1.15911349e-02 -2.89359035e+02] [-1.16477378e-02 -1.52437357e-05 -9.99932163e-01 -4.90237109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.426559995 meters 0.050476035182071576 Centerline is valid? [True, True] Translation: X:446.41, Y:-289.77, Z:-4.90 [[ 1.72733188e-01 -9.84966407e-01 -2.10291448e-03 4.46409120e+02] [-9.84891955e-01 -1.72745987e-01 1.21103677e-02 -2.89774739e+02] [-1.22915754e-02 -2.07188763e-05 -9.99924456e-01 -4.89720290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.486559995 meters 0.050301230050435186 Centerline is valid? [True, True] Translation: X:446.38, Y:-290.01, Z:-4.90 [[ 2.46114318e-01 -9.69235573e-01 -3.18554007e-03 4.46383168e+02] [-9.69152534e-01 -2.46134930e-01 1.26870749e-02 -2.90010624e+02] [-1.30808370e-02 -3.51965431e-05 -9.99914442e-01 -4.89849825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.546559995 meters 0.050081980145569874 Centerline is valid? [True, True] Translation: X:446.37, Y:-290.24, Z:-4.90 [[ 3.19861878e-01 -9.47456353e-01 -3.85200031e-03 4.46371897e+02] [-9.47385068e-01 -3.19885064e-01 1.16223680e-02 -2.90241421e+02] [-1.22438838e-02 -6.82248769e-05 -9.99925039e-01 -4.89941635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.606559995 meters 0.04979509787434512 Centerline is valid? [True, True] Translation: X:446.37, Y:-290.46, Z:-4.90 [[ 3.90862659e-01 -9.20439013e-01 -4.29008364e-03 4.46374037e+02] [-9.20381193e-01 -3.90886193e-01 1.03171828e-02 -2.90460641e+02] [-1.11732720e-02 -8.40891947e-05 -9.99937574e-01 -4.90194717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.666559995 meters 0.050025336924721185 Centerline is valid? [True, True] Translation: X:446.40, Y:-290.68, Z:-4.90 [[ 4.59459872e-01 -8.88186620e-01 -4.59928606e-03 4.46395470e+02] [-8.88140023e-01 -4.59482882e-01 9.09839695e-03 -2.90682503e+02] [-1.01943676e-02 -9.55382733e-05 -9.99948032e-01 -4.90403904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.7265599950001 meters 0.05011910235558341 Centerline is valid? [True, True] Translation: X:446.42, Y:-290.88, Z:-4.90 [[ 5.24075813e-01 -8.51657495e-01 -4.90452899e-03 4.46416929e+02] [-8.51618555e-01 -5.24098754e-01 8.14452761e-03 -2.90879114e+02] [-9.50680551e-03 -9.15620359e-05 -9.99954805e-01 -4.90198821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.786559995 meters 0.04925009709526646 Centerline is valid? [True, True] Translation: X:446.45, Y:-291.07, Z:-4.90 [[ 5.85270108e-01 -8.10821868e-01 -5.17672758e-03 4.46449460e+02] [-8.10788876e-01 -5.85292996e-01 7.31489361e-03 -2.91065000e+02] [-8.96097809e-03 -8.39554389e-05 -9.99959846e-01 -4.90330333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.846559995 meters 0.04951490581271033 Centerline is valid? [True, True] Translation: X:446.54, Y:-291.30, Z:-4.90 [[ 6.42940624e-01 -7.65904038e-01 -4.28468597e-03 4.46538825e+02] [-7.65886415e-01 -6.42954898e-01 5.19594651e-03 -2.91304911e+02] [-6.73445624e-03 -5.91023159e-05 -9.99977322e-01 -4.90498821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.906559995 meters 0.05004933962361868 Centerline is valid? [True, True] Translation: X:446.61, Y:-291.49, Z:-4.91 [[ 6.97157682e-01 -7.16905238e-01 -4.24808211e-03 4.46606865e+02] [-7.16891485e-01 -6.97170623e-01 4.44094735e-03 -2.91494030e+02] [-6.14537647e-03 -5.06266684e-05 -9.99981116e-01 -4.90512688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.9665599950001 meters 0.0494887695959928 Centerline is valid? [True, True] Translation: X:446.71, Y:-291.70, Z:-4.90 [[ 7.47550383e-01 -6.64186117e-01 -5.02256656e-03 4.46707594e+02] [-6.64170655e-01 -7.47567254e-01 4.53224461e-03 -2.91699769e+02] [-6.76496024e-03 -5.22398704e-05 -9.99977116e-01 -4.90279783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.026559995 meters 0.04865412486266447 Centerline is valid? [True, True] Translation: X:446.69, Y:-291.77, Z:-4.90 [[ 7.95756238e-01 -6.05595845e-01 -5.06783532e-03 4.46692049e+02] [-6.05583289e-01 -7.95772374e-01 3.89969133e-03 -2.91769735e+02] [-6.39448021e-03 -3.42073224e-05 -9.99979555e-01 -4.90202915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.086559995 meters 0.04926667417315742 Centerline is valid? [True, True] Translation: X:446.68, Y:-291.84, Z:-4.90 [[ 8.39569568e-01 -5.43225709e-01 -5.36372636e-03 4.46681002e+02] [-5.43214460e-01 -8.39586701e-01 3.49594196e-03 -2.91844477e+02] [-6.40239887e-03 -2.14327611e-05 -9.99979504e-01 -4.90222111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.146559995 meters 0.049159558893875556 Centerline is valid? [True, True] Translation: X:446.68, Y:-291.92, Z:-4.90 [[ 8.78593826e-01 -4.77543601e-01 -4.99984578e-03 4.46676642e+02] [-4.77535813e-01 -8.78608052e-01 2.72730046e-03 -2.91918305e+02] [-5.69530965e-03 -8.58392409e-06 -9.99983782e-01 -4.90205947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.2065599950001 meters 0.04890345379490915 Centerline is valid? [True, True] Translation: X:446.68, Y:-291.99, Z:-4.90 [[ 9.12622011e-01 -4.08779379e-01 -4.52608902e-03 4.46677931e+02] [-4.08774352e-01 -9.12633234e-01 2.02718699e-03 -2.91990773e+02] [-4.95933150e-03 9.36362867e-08 -9.99987702e-01 -4.90242029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.266559995 meters 0.04940625575408224 Centerline is valid? [True, True] Translation: X:446.68, Y:-292.07, Z:-4.90 [[ 9.41580763e-01 -3.36752620e-01 -4.83115147e-03 4.46684312e+02] [-3.36748204e-01 -9.41593157e-01 1.72457950e-03 -2.92065822e+02] [-5.12973582e-03 3.05070060e-06 -9.99986843e-01 -4.90158055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.326559995 meters 0.050003911770472836 Centerline is valid? [True, True] Translation: X:446.69, Y:-292.15, Z:-4.90 [[ 9.65493876e-01 -2.60362065e-01 -5.75940350e-03 4.46693888e+02] [-2.60357386e-01 -9.65511054e-01 1.56088839e-03 -2.92149000e+02] [-5.96716387e-03 -7.52494172e-06 -9.99982196e-01 -4.90046351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.386559995 meters 0.04908637360970061 Centerline is valid? [True, True] Translation: X:446.71, Y:-292.23, Z:-4.90 [[ 9.83446698e-01 -1.81084572e-01 -6.40072930e-03 4.46709991e+02] [-1.81080549e-01 -9.83467527e-01 1.20734380e-03 -2.92231453e+02] [-6.51354075e-03 -2.83106977e-05 -9.99978786e-01 -4.89980888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.4465599950001 meters 0.049021036260128964 Centerline is valid? [True, True] Translation: X:446.73, Y:-292.32, Z:-4.90 [[ 9.94804024e-01 -1.01610452e-01 -6.34591640e-03 4.46731743e+02] [-1.01608122e-01 -9.94824263e-01 6.89217710e-04 -2.92315472e+02] [-6.38310333e-03 -4.08399002e-05 -9.99979627e-01 -4.90049206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.506559995 meters 0.04988744135517402 Centerline is valid? [True, True] Translation: X:446.76, Y:-292.41, Z:-4.90 [[ 9.99813600e-01 -1.78272427e-02 -7.41311757e-03 4.46758565e+02] [-1.78260853e-02 -9.99841078e-01 2.22184399e-04 -2.92407330e+02] [-7.41590040e-03 -8.99961180e-05 -9.99972498e-01 -4.89541393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.566559995 meters 0.04922028148353693 Centerline is valid? [True, True] Translation: X:446.79, Y:-292.48, Z:-4.90 [[ 9.97935108e-01 6.38756983e-02 -6.73905907e-03 4.46787895e+02] [ 6.38749516e-02 -9.97957857e-01 -3.26194292e-04 -2.92475100e+02] [-6.74613283e-03 -1.04936336e-04 -9.99977239e-01 -4.89898082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.626559995 meters 0.049542174580528765 Centerline is valid? [True, True] Translation: X:446.82, Y:-292.55, Z:-4.90 [[ 9.89391374e-01 1.45158927e-01 -5.79608636e-03 4.46822280e+02] [ 1.45157091e-01 -9.89408345e-01 -7.38378662e-04 -2.92545569e+02] [-5.84187847e-03 -1.10797557e-04 -9.99982930e-01 -4.89887033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.6865599950002 meters 0.0482880570225539 Centerline is valid? [True, True] Translation: X:446.86, Y:-292.62, Z:-4.90 [[ 9.73914072e-01 2.26851115e-01 -5.47280659e-03 4.46864701e+02] [ 2.26848299e-01 -9.73929440e-01 -1.13806745e-03 -2.92623811e+02] [-5.58829932e-03 -1.33116963e-04 -9.99984377e-01 -4.90036758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.746559995 meters 0.04892185456604394 Centerline is valid? [True, True] Translation: X:446.91, Y:-292.70, Z:-4.90 [[ 9.52479729e-01 3.04544476e-01 -5.91846271e-03 4.46913923e+02] [ 3.04539643e-01 -9.52498103e-01 -1.72334240e-03 -2.92700184e+02] [-6.16215891e-03 -1.60957812e-04 -9.99981001e-01 -4.89984010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.806559995 meters 0.0485534060907225 Centerline is valid? [True, True] Translation: X:446.97, Y:-292.78, Z:-4.90 [[ 9.25683194e-01 3.78239241e-01 -6.76024761e-03 4.46971382e+02] [ 3.78230644e-01 -9.25707859e-01 -2.55725533e-03 -2.92780207e+02] [-7.22526866e-03 -1.89724529e-04 -9.99973879e-01 -4.89827166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.866559995 meters 0.049856645458313247 Centerline is valid? [True, True] Translation: X:447.03, Y:-292.85, Z:-4.90 [[ 8.93860214e-01 4.48297030e-01 -6.60998946e-03 4.47033214e+02] [ 4.48286268e-01 -8.93884635e-01 -3.11150803e-03 -2.92852865e+02] [-7.30344782e-03 -1.81914272e-04 -9.99973313e-01 -4.89653265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.926559995 meters 0.048279931287653996 Centerline is valid? [True, True] Translation: X:447.09, Y:-292.91, Z:-4.90 [[ 8.57837339e-01 5.13902253e-01 -4.42433318e-03 4.47094809e+02] [ 5.13896070e-01 -8.57848741e-01 -2.52332487e-03 -2.92908266e+02] [-5.09215099e-03 -1.09045138e-04 -9.99987029e-01 -4.89996790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.986559995 meters 0.048553685508985964 Centerline is valid? [True, True] Translation: X:447.16, Y:-292.96, Z:-4.90 [[ 8.16591811e-01 5.77199184e-01 -4.34931789e-03 4.47163650e+02] [ 5.77191633e-01 -8.16603388e-01 -2.95401254e-03 -2.92963628e+02] [-5.25672135e-03 -9.81674475e-05 -9.99986179e-01 -4.89907944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.046559995 meters 0.04810051783629062 Centerline is valid? [True, True] Translation: X:447.24, Y:-293.02, Z:-4.90 [[ 7.70725918e-01 6.37150039e-01 -4.62462783e-03 4.47237845e+02] [ 6.37139296e-01 -7.70739787e-01 -3.70112244e-03 -2.93015825e+02] [-5.92255497e-03 -9.39811288e-05 -9.99982457e-01 -4.89905098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.106559995 meters 0.048174755790714556 Centerline is valid? [True, True] Translation: X:447.31, Y:-293.06, Z:-4.90 [[ 7.20741396e-01 6.93187080e-01 -4.84903087e-03 4.47314922e+02] [ 6.93172173e-01 -7.20757702e-01 -4.54675312e-03 -2.93061730e+02] [-6.64672686e-03 -8.41800783e-05 -9.99977907e-01 -4.89725528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.166559995 meters 0.04936382380185575 Centerline is valid? [True, True] Translation: X:447.39, Y:-293.10, Z:-4.90 [[ 6.67328067e-01 7.44751014e-01 -4.37935427e-03 4.47390112e+02] [ 7.44735524e-01 -6.67342434e-01 -4.80357358e-03 -2.93095226e+02] [-6.49999523e-03 -5.59012241e-05 -9.99978873e-01 -4.89775785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.2265599950001 meters 0.04870740663629136 Centerline is valid? [True, True] Translation: X:447.47, Y:-293.12, Z:-4.90 [[ 6.07224245e-01 7.94522728e-01 -3.51445298e-03 4.47469905e+02] [ 7.94509874e-01 -6.07234413e-01 -4.51976813e-03 -2.93124534e+02] [-5.72515530e-03 -4.77547994e-05 -9.99983610e-01 -4.89793059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.286559995 meters 0.04840659946660879 Centerline is valid? [True, True] Translation: X:447.55, Y:-293.15, Z:-4.90 [[ 5.42684491e-01 8.39931161e-01 -3.03118777e-03 4.47551713e+02] [ 8.39918564e-01 -5.42692954e-01 -4.60042282e-03 -2.93147928e+02] [-5.50904272e-03 -4.93727600e-05 -9.99984824e-01 -4.89829417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.346559995 meters 0.04762833213193793 Centerline is valid? [True, True] Translation: X:447.64, Y:-293.17, Z:-4.90 [[ 4.74635471e-01 8.80177898e-01 -2.83496054e-03 4.47635934e+02] [ 8.80162910e-01 -4.74643934e-01 -5.13684278e-03 -2.93165598e+02] [-5.86693230e-03 -5.70993335e-05 -9.99982788e-01 -4.89932520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.406559995 meters 0.0483476012696485 Centerline is valid? [True, True] Translation: X:447.73, Y:-293.18, Z:-4.90 [[ 4.04319910e-01 9.14614374e-01 -2.44057843e-03 4.47725283e+02] [ 9.14598563e-01 -4.04327272e-01 -5.37833372e-03 -2.93178240e+02] [-5.90589375e-03 -5.75821172e-05 -9.99982558e-01 -4.89802249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.4665599950001 meters 0.0478111531561432 Centerline is valid? [True, True] Translation: X:447.81, Y:-293.18, Z:-4.90 [[ 3.30148586e-01 9.43926772e-01 -2.03987390e-03 4.47813532e+02] [ 9.43909993e-01 -3.30154880e-01 -5.62855101e-03 -2.93183467e+02] [-5.98641431e-03 -6.71991990e-05 -9.99982079e-01 -4.89765418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.526559995 meters 0.048888264775844126 Centerline is valid? [True, True] Translation: X:447.90, Y:-293.18, Z:-4.90 [[ 2.53682239e-01 9.67286512e-01 -1.45758883e-03 4.47900701e+02] [ 9.67272107e-01 -2.53686417e-01 -5.27957026e-03 -2.93181909e+02] [-5.47662759e-03 -7.05518078e-05 -9.99985001e-01 -4.89767939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.586559995 meters 0.04899009925763725 Centerline is valid? [True, True] Translation: X:447.99, Y:-293.17, Z:-4.90 [[ 1.75671895e-01 9.84448327e-01 -9.36099203e-04 4.47987212e+02] [ 9.84436432e-01 -1.75674375e-01 -4.83988896e-03 -2.93173655e+02] [-4.92906923e-03 -7.12976940e-05 -9.99987850e-01 -4.89822970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.646559995 meters 0.04934858631347431 Centerline is valid? [True, True] Translation: X:448.07, Y:-293.16, Z:-4.90 [[ 9.75082216e-02 9.95234581e-01 -5.25473594e-04 4.48068055e+02] [ 9.95223763e-01 -9.75096120e-02 -4.64080389e-03 -2.93157203e+02] [-4.66992724e-03 -7.04472732e-05 -9.99989093e-01 -4.89836440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.7065599950001 meters 0.04977802214857725 Centerline is valid? [True, True] Translation: X:448.14, Y:-293.13, Z:-4.90 [[ 2.08761922e-02 9.99782061e-01 -1.20711280e-04 4.48140347e+02] [ 9.99775903e-01 -2.08764874e-02 -3.50954293e-03 -2.93134048e+02] [-3.51129809e-03 -4.74183362e-05 -9.99993834e-01 -4.89859876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.766559995 meters 0.04880438965341088 Centerline is valid? [True, True] Translation: X:448.22, Y:-293.10, Z:-4.90 [[-5.43547779e-02 9.98521682e-01 9.09091225e-05 4.48216135e+02] [ 9.98519555e-01 5.43548498e-02 -2.06128798e-03 -2.93103891e+02] [-2.06318209e-03 -2.12663136e-05 -9.99997871e-01 -4.89898042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.826559995 meters 0.04840979385890352 Centerline is valid? [True, True] Translation: X:448.28, Y:-293.07, Z:-4.90 [[-1.23943833e-01 9.92289232e-01 8.01313815e-05 4.48283698e+02] [ 9.92289021e-01 1.23943859e-01 -6.47444014e-04 -2.93070072e+02] [-6.52383516e-04 -7.33202932e-07 -9.99999787e-01 -4.89983322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.886559995 meters 0.048718505123024704 Centerline is valid? [True, True] Translation: X:448.35, Y:-293.03, Z:-4.90 [[-1.93975942e-01 9.81006286e-01 -2.33372085e-05 4.48345820e+02] [ 9.81006279e-01 1.93975943e-01 1.18497479e-04 -2.93031443e+02] [ 1.20773629e-04 9.17121021e-08 -9.99999993e-01 -4.90013957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.9465599950001 meters 0.04964825089876663 Centerline is valid? [True, True] Translation: X:448.40, Y:-292.99, Z:-4.90 [[-2.59415230e-01 9.65765873e-01 1.30891888e-04 4.48395637e+02] [ 9.65765766e-01 2.59415262e-01 -4.54828032e-04 -2.92991755e+02] [-4.73212745e-04 8.42158585e-06 -9.99999888e-01 -4.89810111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.006559995 meters 0.049794245189270316 Centerline is valid? [True, True] Translation: X:448.46, Y:-292.94, Z:-4.90 [[-3.27358806e-01 9.44899915e-01 6.01845860e-04 4.48456228e+02] [ 9.44898542e-01 3.27359356e-01 -1.61149388e-03 -2.92942449e+02] [-1.71972030e-03 4.11465648e-05 -9.99998520e-01 -4.89640193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.066559995 meters 0.050981897909314816 Centerline is valid? [True, True] Translation: X:448.51, Y:-292.89, Z:-4.89 [[-3.94335668e-01 9.18965699e-01 1.19375027e-03 4.48510523e+02] [ 9.18962123e-01 3.94337466e-01 -2.56503165e-03 -2.92888514e+02] [-2.82791655e-03 8.55278117e-05 -9.99995998e-01 -4.89396925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.126559995 meters 0.050583680164551385 Centerline is valid? [True, True] Translation: X:448.56, Y:-292.83, Z:-4.89 [[-4.60864112e-01 8.87468845e-01 1.82197442e-03 4.48563132e+02] [ 8.87462983e-01 4.60867696e-01 -3.22813292e-03 -2.92829579e+02] [-3.70455655e-03 1.29204239e-04 -9.99993130e-01 -4.89343153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.1865599950002 meters 0.050369204478232225 Centerline is valid? [True, True] Translation: X:448.62, Y:-292.76, Z:-4.89 [[-5.28561323e-01 8.48891436e-01 2.50163843e-03 4.48616337e+02] [ 8.48883303e-01 5.28567220e-01 -3.71906009e-03 -2.92764111e+02] [-4.47936233e-03 1.57847768e-04 -9.99989955e-01 -4.89482343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.246559995 meters 0.050295697590623877 Centerline is valid? [True, True] Translation: X:448.68, Y:-292.68, Z:-4.89 [[-5.96298795e-01 8.02756133e-01 3.21538225e-03 4.48680991e+02] [ 8.02745907e-01 5.96307442e-01 -4.05505085e-03 -2.92682390e+02] [-5.17257330e-03 1.63113007e-04 -9.99986609e-01 -4.89489133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.306559995 meters 0.050594868241660367 Centerline is valid? [True, True] Translation: X:448.74, Y:-292.60, Z:-4.89 [[-6.60840815e-01 7.50517616e-01 3.56721117e-03 4.48737504e+02] [ 7.50507811e-01 6.60850428e-01 -3.83896230e-03 -2.92596158e+02] [-5.23860186e-03 1.40276870e-04 -9.99986269e-01 -4.89455024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.366559995 meters 0.049887070903009686 Centerline is valid? [True, True] Translation: X:448.79, Y:-292.51, Z:-4.89 [[-7.20955951e-01 6.92970658e-01 3.76609365e-03 4.48786807e+02] [ 6.92962005e-01 7.20965779e-01 -3.46485262e-03 -2.92506810e+02] [-5.11626584e-03 1.11753688e-04 -9.99986906e-01 -4.89471828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.426559995 meters 0.050411913756658586 Centerline is valid? [True, True] Translation: X:448.33, Y:-292.00, Z:-4.89 [[-7.70877569e-01 6.36973632e-01 3.51639167e-03 4.48325631e+02] [ 6.36967469e-01 7.70885585e-01 -2.80315055e-03 -2.92004575e+02] [-4.49626864e-03 7.89412195e-05 -9.99989889e-01 -4.89476900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.486559995 meters 0.049678329123737264 Centerline is valid? [True, True] Translation: X:448.47, Y:-292.01, Z:-4.90 [[-8.16365559e-01 5.77531199e-01 2.23345359e-03 4.48471610e+02] [ 5.77529163e-01 8.16368613e-01 -1.53390400e-03 -2.92014938e+02] [-2.70919883e-03 3.76581869e-05 -9.99996329e-01 -4.89595552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.546559995 meters 0.04981777876932503 Centerline is valid? [True, True] Translation: X:448.77, Y:-292.10, Z:-4.90 [[-8.58084424e-01 5.13506569e-01 1.45804394e-03 4.48772547e+02] [ 5.13505861e-01 8.58085662e-01 -8.52723018e-04 -2.92101237e+02] [-1.68900547e-03 1.70057718e-05 -9.99998574e-01 -4.89716462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.606559995 meters 0.04948041936839357 Centerline is valid? [True, True] Translation: X:448.50, Y:-291.23, Z:-5.91 [[-8.31398044e-01 -5.55676656e-01 8.63942136e-04 4.48497499e+02] [ 5.55676294e-01 -8.31398492e-01 -6.35590092e-04 -2.91233625e+02] [ 1.07146277e-03 -4.83561946e-05 9.99999425e-01 -5.91080100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.666559995 meters 0.049810373964421985 Centerline is valid? [True, True] Translation: X:448.05, Y:-291.66, Z:-4.90 [[-8.62398780e-01 5.06229533e-01 -6.86724803e-05 4.48052747e+02] [ 5.06229532e-01 8.62398782e-01 4.08071670e-05 -2.91657303e+02] [ 7.98808565e-05 4.28013461e-07 -9.99999997e-01 -4.89767840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.7265599950001 meters 0.04944779381039705 Centerline is valid? [True, True] Translation: X:448.53, Y:-291.82, Z:-4.90 [[-8.98617163e-01 4.38733552e-01 -2.54305442e-04 4.48531945e+02] [ 4.38733534e-01 8.98617199e-01 1.24012011e-04 -2.91815817e+02] [ 2.82931474e-04 -1.33004115e-07 -9.99999960e-01 -4.89688687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.786559995 meters 0.0499960993778364 Centerline is valid? [True, True] Translation: X:448.76, Y:-291.31, Z:-5.91 [[-8.69988622e-01 -4.93071154e-01 7.97034588e-04 4.48762235e+02] [ 4.93071022e-01 -8.69988984e-01 -3.68253017e-04 -2.91308347e+02] [ 8.74986251e-04 7.26187240e-05 9.99999615e-01 -5.91245323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.846559995 meters 0.04949498401684998 Centerline is valid? [True, True] Translation: X:447.83, Y:-291.46, Z:-4.89 [[-9.01213601e-01 4.33368596e-01 2.38847874e-03 4.47825944e+02] [ 4.33367083e-01 9.01216766e-01 -1.14527445e-03 -2.91459469e+02] [-2.64886307e-03 2.95115584e-06 -9.99996492e-01 -4.89337022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.906559995 meters 0.049703656193414464 Centerline is valid? [True, True] Translation: X:447.71, Y:-291.33, Z:-4.89 [[-9.29862767e-01 3.67893771e-01 3.06734667e-03 4.47711458e+02] [ 3.67891776e-01 9.29867826e-01 -1.21163134e-03 -2.91328397e+02] [-3.29797860e-03 1.80074445e-06 -9.99994562e-01 -4.89332584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.9665599950001 meters 0.04961289286008924 Centerline is valid? [True, True] Translation: X:447.67, Y:-291.24, Z:-4.89 [[-9.53748282e-01 3.00580009e-01 3.98406379e-03 4.47670272e+02] [ 3.00577388e-01 9.53756603e-01 -1.25522897e-03 -2.91237348e+02] [-4.17712388e-03 3.47011811e-07 -9.99991276e-01 -4.89284842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.026559995 meters 0.04956763818526532 Centerline is valid? [True, True] Translation: X:447.84, Y:-291.21, Z:-4.89 [[-9.72827654e-01 2.31467393e-01 5.40377480e-03 4.47836296e+02] [ 2.31463836e-01 9.72842663e-01 -1.28318097e-03 -2.91208007e+02] [-5.55403721e-03 2.46451019e-06 -9.99984576e-01 -4.89147597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.086559995 meters 0.049755841591386206 Centerline is valid? [True, True] Translation: X:447.71, Y:-290.58, Z:-5.92 [[-9.55639477e-01 -2.94474965e-01 6.13877206e-03 4.47708674e+02] [ 2.94469222e-01 -9.55659193e-01 -1.83973463e-03 -2.90581165e+02] [ 6.40832974e-03 4.95563894e-05 9.99979465e-01 -5.91618231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.146559995 meters 0.04926649395923865 Centerline is valid? [True, True] Translation: X:447.54, Y:-291.14, Z:-4.89 [[-9.72958779e-01 2.30878578e-01 6.80420842e-03 4.47543130e+02] [ 2.30873116e-01 9.72982570e-01 -1.58831345e-03 -2.91140303e+02] [-6.98708374e-03 2.55452808e-05 -9.99975590e-01 -4.89041302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.2065599950001 meters 0.049932310380978936 Centerline is valid? [True, True] Translation: X:447.43, Y:-291.05, Z:-4.89 [[-9.86511565e-01 1.63571172e-01 6.27722557e-03 4.47425271e+02] [ 1.63568107e-01 9.86531535e-01 -1.00215307e-03 -2.91046657e+02] [-6.35660434e-03 3.81183101e-05 -9.99979796e-01 -4.89250789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.266559995 meters 0.0498137758997641 Centerline is valid? [True, True] Translation: X:447.74, Y:-291.01, Z:-4.90 [[-9.96010285e-01 8.90389503e-02 5.96464577e-03 4.47738775e+02] [ 8.90375657e-02 9.96028144e-01 -4.97804100e-04 -2.91006170e+02] [-5.98527901e-03 3.52595358e-05 -9.99982087e-01 -4.89514976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.326559995 meters 0.04914688612324056 Centerline is valid? [True, True] Translation: X:446.93, Y:-290.89, Z:-4.89 [[-9.99877873e-01 1.43564890e-02 6.17497971e-03 4.46927352e+02] [ 1.43562845e-02 9.99896940e-01 -7.74275940e-05 -2.90890495e+02] [-6.17545490e-03 1.12316278e-05 -9.99980932e-01 -4.89202293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.386559995 meters 0.04913411720493508 Centerline is valid? [True, True] Translation: X:446.96, Y:-290.82, Z:-4.89 [[-9.97908054e-01 -6.43532189e-02 6.17898771e-03 4.46963890e+02] [-6.43521935e-02 9.97927183e-01 3.64834167e-04 -2.90816806e+02] [-6.18965805e-03 -3.35604595e-05 -9.99980843e-01 -4.89260238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.4465599950001 meters 0.049955752339719765 Centerline is valid? [True, True] Translation: X:446.95, Y:-290.74, Z:-4.89 [[-9.90437037e-01 -1.37825454e-01 6.21453166e-03 4.46945201e+02] [-1.37823057e-01 9.90456532e-01 8.14342828e-04 -2.90742168e+02] [-6.26746064e-03 -4.99504560e-05 -9.99980358e-01 -4.89120567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.506559995 meters 0.049474044746781895 Centerline is valid? [True, True] Translation: X:446.90, Y:-290.15, Z:-5.92 [[-9.98810611e-01 4.82272131e-02 7.17635905e-03 4.46902468e+02] [-4.82250696e-02 -9.98836383e-01 4.71535048e-04 -2.90154203e+02] [ 7.19074934e-03 1.24893794e-04 9.99974138e-01 -5.91562718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.566559995 meters 0.04900655945393581 Centerline is valid? [True, True] Translation: X:446.98, Y:-290.74, Z:-4.89 [[-9.88216108e-01 -1.52900539e-01 7.09574631e-03 4.46982707e+02] [-1.52897503e-01 9.88241575e-01 9.71583875e-04 -2.90743646e+02] [-7.16086720e-03 -1.24787059e-04 -9.99974353e-01 -4.88991068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.626559995 meters 0.04859731414773025 Centerline is valid? [True, True] Translation: X:446.72, Y:-290.71, Z:-4.89 [[-9.74512039e-01 -2.24239271e-01 6.56013502e-03 4.46721590e+02] [-2.24235072e-01 9.74534111e-01 1.37828787e-03 -2.90714469e+02] [-6.70214162e-03 -1.27854230e-04 -9.99977532e-01 -4.89203600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.6865599950002 meters 0.048969633594410006 Centerline is valid? [True, True] Translation: X:446.64, Y:-290.66, Z:-4.89 [[-9.55514033e-01 -2.94908523e-01 4.67938589e-03 4.46641443e+02] [-2.94905507e-01 9.55525485e-01 1.33761957e-03 -2.90656335e+02] [-4.86574788e-03 -1.01862398e-04 -9.99988157e-01 -4.89232586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.746559995 meters 0.04880564920486539 Centerline is valid? [True, True] Translation: X:446.57, Y:-290.60, Z:-4.89 [[-9.31630705e-01 -3.63381496e-01 4.25655287e-03 4.46572156e+02] [-3.63378184e-01 9.31640423e-01 1.55462723e-03 -2.90596049e+02] [-4.53049948e-03 -9.83999859e-05 -9.99989732e-01 -4.89104588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.806559995 meters 0.04802958151852177 Centerline is valid? [True, True] Translation: X:446.31, Y:-290.04, Z:-5.92 [[-9.66286149e-01 2.57437395e-01 4.13107750e-03 4.46311981e+02] [-2.57434699e-01 -9.66294977e-01 1.18075898e-03 -2.90037545e+02] [ 4.29581095e-03 7.74683597e-05 9.99990770e-01 -5.91769929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.866559995 meters 0.04856280620602431 Centerline is valid? [True, True] Translation: X:446.45, Y:-290.65, Z:-4.89 [[-9.29105050e-01 -3.69780788e-01 5.09655102e-03 4.46445382e+02] [-3.69775954e-01 9.29119020e-01 1.89486303e-03 -2.90651464e+02] [-5.43598643e-03 -1.24055198e-04 -9.99985217e-01 -4.88921479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.926559995 meters 0.04842026283122905 Centerline is valid? [True, True] Translation: X:446.29, Y:-290.63, Z:-4.89 [[-8.99833138e-01 -4.36197379e-01 5.67192986e-03 4.46287462e+02] [-4.36189762e-01 8.99851001e-01 2.58219888e-03 -2.90626701e+02] [-6.23024014e-03 -1.50489615e-04 -9.99980581e-01 -4.88800942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.986559995 meters 0.0478029965756307 Centerline is valid? [True, True] Translation: X:446.17, Y:-290.59, Z:-4.89 [[-8.64949073e-01 -5.01812681e-01 6.86551501e-03 4.46168054e+02] [-5.01798763e-01 8.64976295e-01 3.74311288e-03 -2.90593164e+02] [-7.81684925e-03 -2.07504928e-04 -9.99969426e-01 -4.88648090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.046559995 meters 0.04793177202647778 Centerline is valid? [True, True] Translation: X:446.02, Y:-290.59, Z:-4.89 [[-8.26819212e-01 -5.62430811e-01 6.44776562e-03 4.46019284e+02] [-5.62415607e-01 8.26844328e-01 4.14046915e-03 -2.90586092e+02] [-7.66002585e-03 -2.02904576e-04 -9.99970641e-01 -4.88607157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.106559995 meters 0.047953351886289096 Centerline is valid? [True, True] Translation: X:445.86, Y:-290.60, Z:-4.89 [[-7.85902318e-01 -6.18331425e-01 4.87795751e-03 4.45864691e+02] [-6.18320646e-01 7.85917443e-01 3.65399714e-03 -2.90598790e+02] [-6.09305315e-03 -1.44457015e-04 -9.99981427e-01 -4.88685092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.166559995 meters 0.047638763015415676 Centerline is valid? [True, True] Translation: X:445.70, Y:-290.64, Z:-4.89 [[-7.40997642e-01 -6.71495027e-01 4.11383195e-03 4.45695312e+02] [-6.71485529e-01 7.41009053e-01 3.57322041e-03 -2.90635323e+02] [-5.44778645e-03 -1.14630728e-04 -9.99985154e-01 -4.88647334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.2265599950001 meters 0.04768385487449083 Centerline is valid? [True, True] Translation: X:445.50, Y:-290.71, Z:-4.89 [[-6.92894274e-01 -7.21032443e-01 3.12123889e-03 4.45499388e+02] [-7.21025646e-01 6.92901299e-01 3.13160986e-03 -2.90713080e+02] [-4.42070279e-03 -8.06187431e-05 -9.99990225e-01 -4.88637526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.286559995 meters 0.04786083185941396 Centerline is valid? [True, True] Translation: X:445.36, Y:-290.74, Z:-4.89 [[-6.38793512e-01 -7.69373025e-01 2.82804147e-03 4.45362169e+02] [-7.69365996e-01 6.38799768e-01 3.28951545e-03 -2.90743101e+02] [-4.33741668e-03 -7.44778151e-05 -9.99990591e-01 -4.88549573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.346559995 meters 0.047732275259096034 Centerline is valid? [True, True] Translation: X:445.17, Y:-290.86, Z:-4.89 [[-5.82721113e-01 -8.12669170e-01 2.21905444e-03 4.45171056e+02] [-8.12663655e-01 5.82725336e-01 2.99462772e-03 -2.90859862e+02] [-3.72674087e-03 -5.83120891e-05 -9.99993054e-01 -4.88572816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.406559995 meters 0.04862773208374725 Centerline is valid? [True, True] Translation: X:445.09, Y:-290.83, Z:-4.88 [[-5.19364654e-01 -8.54548665e-01 2.63359584e-03 4.45089724e+02] [-8.54538483e-01 5.19371325e-01 4.17233509e-03 -2.90827929e+02] [-4.93327754e-03 -8.35456282e-05 -9.99987828e-01 -4.88400530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.4665599950001 meters 0.0476365362365766 Centerline is valid? [True, True] Translation: X:444.86, Y:-291.07, Z:-4.89 [[-4.54785454e-01 -8.90598038e-01 2.30781514e-03 4.44858094e+02] [-8.90587608e-01 4.54791300e-01 4.31108209e-03 -2.91073784e+02] [-4.88901549e-03 -9.46941424e-05 -9.99988044e-01 -4.88500689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.526559995 meters 0.0475982995272921 Centerline is valid? [True, True] Translation: X:444.73, Y:-291.15, Z:-4.88 [[-3.84248376e-01 -9.23227371e-01 2.09909142e-03 4.44730306e+02] [-9.23215243e-01 3.84254091e-01 4.73383830e-03 -2.91152720e+02] [-5.17699356e-03 -1.18943518e-04 -9.99986592e-01 -4.88460519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.586559995 meters 0.04701958284508952 Centerline is valid? [True, True] Translation: X:444.58, Y:-291.30, Z:-4.88 [[-3.14182859e-01 -9.49360651e-01 1.86698446e-03 4.44583634e+02] [-9.49346324e-01 3.14188378e-01 5.21724209e-03 -2.91300731e+02] [-5.53962916e-03 -1.33246797e-04 -9.99984647e-01 -4.88449160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.646559995 meters 0.04782109234418543 Centerline is valid? [True, True] Translation: X:444.44, Y:-291.49, Z:-4.88 [[-2.44394625e-01 -9.69675312e-01 1.02764813e-03 4.44440276e+02] [-9.69668209e-01 2.44396769e-01 3.71266569e-03 -2.91489614e+02] [-3.85123414e-03 -8.91221795e-05 -9.99992580e-01 -4.88494770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.7065599950001 meters 0.048281498963083605 Centerline is valid? [True, True] Translation: X:444.30, Y:-291.70, Z:-4.89 [[-1.76649302e-01 -9.84273828e-01 2.35713327e-04 4.44303264e+02] [-9.84273115e-01 1.76649458e-01 1.18485147e-03 -2.91703593e+02] [-1.20785693e-03 -2.27031046e-05 -9.99999270e-01 -4.88636982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.766559995 meters 0.04764073693746657 Centerline is valid? [True, True] Translation: X:444.19, Y:-291.92, Z:-4.89 [[-1.06448321e-01 -9.94318236e-01 3.62209714e-06 4.44193756e+02] [-9.94318236e-01 1.06448321e-01 3.06553641e-05 -2.91916026e+02] [-3.08667537e-05 -3.38305204e-07 -1.00000000e+00 -4.88753426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.826559995 meters 0.047658947892536614 Centerline is valid? [True, True] Translation: X:444.09, Y:-292.17, Z:-4.89 [[-3.52373240e-02 -9.99378973e-01 -5.54975400e-06 4.44092985e+02] [-9.99378967e-01 3.52373244e-02 -1.10107086e-04 -2.92173976e+02] [ 1.10234265e-04 1.66642834e-06 -9.99999994e-01 -4.88788083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.886559995 meters 0.04732153003262863 Centerline is valid? [True, True] Translation: X:444.01, Y:-292.41, Z:-4.89 [[ 3.85821643e-02 -9.99255431e-01 -7.20579563e-06 4.44014713e+02] [-9.99255391e-01 -3.85821648e-02 2.82108638e-04 -2.92414720e+02] [-2.82176604e-04 -3.68393169e-06 -9.99999960e-01 -4.88727681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.9465599950001 meters 0.04739621377652942 Centerline is valid? [True, True] Translation: X:443.95, Y:-292.64, Z:-4.89 [[ 1.12846758e-01 -9.93612398e-01 -1.05498845e-04 4.43952558e+02] [-9.93611834e-01 -1.12846806e-01 1.05957454e-03 -2.92640267e+02] [-1.06471160e-03 -1.47446506e-05 -9.99999433e-01 -4.88661052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.006559995 meters 0.04824720603223026 Centerline is valid? [True, True] Translation: X:443.90, Y:-292.88, Z:-4.89 [[ 1.86235321e-01 -9.82505125e-01 -2.89927511e-04 4.43902235e+02] [-9.82503728e-01 -1.86235545e-01 1.65737879e-03 -2.92882808e+02] [-1.68237797e-03 -2.38076115e-05 -9.99998585e-01 -4.88577768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.066559995 meters 0.04743528740038875 Centerline is valid? [True, True] Translation: X:443.87, Y:-293.11, Z:-4.89 [[ 2.58507322e-01 -9.66009267e-01 -2.46727420e-04 4.43874308e+02] [-9.66008773e-01 -2.58507440e-01 9.77277388e-04 -2.93109906e+02] [-1.00783989e-03 -1.42925086e-05 -9.99999492e-01 -4.88666291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.126559995 meters 0.04790762292372348 Centerline is valid? [True, True] Translation: X:443.86, Y:-293.35, Z:-4.89 [[ 3.28792343e-01 -9.44402236e-01 -1.10984917e-04 4.43864425e+02] [-9.44402177e-01 -3.28792362e-01 3.33159926e-04 -2.93352740e+02] [-3.51127971e-04 -4.72603582e-06 -9.99999938e-01 -4.88754548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.1865599950002 meters 0.047663808528128356 Centerline is valid? [True, True] Translation: X:443.86, Y:-293.58, Z:-4.89 [[ 3.97222756e-01 -9.17722218e-01 -1.15293748e-04 4.43864688e+02] [-9.17722176e-01 -3.97222773e-01 2.76050947e-04 -2.93581394e+02] [-2.99135389e-04 -3.84608892e-06 -9.99999955e-01 -4.88713939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.246559995 meters 0.04763759165242354 Centerline is valid? [True, True] Translation: X:443.89, Y:-293.82, Z:-4.89 [[ 4.62951481e-01 -8.86383614e-01 1.26734447e-04 4.43891028e+02] [-8.86383578e-01 -4.62951498e-01 -2.50430647e-04 -2.93820037e+02] [ 2.80649524e-04 3.60190585e-06 -9.99999961e-01 -4.88645607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.306559995 meters 0.04730598634272681 Centerline is valid? [True, True] Translation: X:443.93, Y:-294.06, Z:-4.89 [[ 5.26783993e-01 -8.49999179e-01 -1.42576585e-04 4.43934756e+02] [-8.49999146e-01 -5.26784012e-01 2.36009683e-04 -2.94057121e+02] [-2.75715102e-04 -3.13614716e-06 -9.99999962e-01 -4.88591257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.366559995 meters 0.04724502410176474 Centerline is valid? [True, True] Translation: X:443.98, Y:-294.27, Z:-4.88 [[ 5.87560092e-01 -8.09180275e-01 -6.49339063e-04 4.43983673e+02] [-8.09179757e-01 -5.87560450e-01 9.15722193e-04 -2.94274836e+02] [-1.12251029e-03 -1.26097906e-05 -9.99999370e-01 -4.88478022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.426559995 meters 0.048073910023188435 Centerline is valid? [True, True] Translation: X:443.55, Y:-293.85, Z:-4.88 [[ 6.44705725e-01 -7.64428565e-01 -1.86987268e-03 4.43554397e+02] [-7.64425228e-01 -6.44708436e-01 2.25885189e-03 -2.93849190e+02] [-2.93225361e-03 -2.69168957e-05 -9.99995701e-01 -4.88467568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.486559995 meters 0.04756100493521564 Centerline is valid? [True, True] Translation: X:444.06, Y:-294.54, Z:-4.88 [[ 6.96039893e-01 -7.17998661e-01 -2.52783767e-03 4.44058742e+02] [-7.17993807e-01 -6.96044483e-01 2.64035130e-03 -2.94544433e+02] [-3.65525616e-03 -2.28180408e-05 -9.99993319e-01 -4.88403345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.546559995 meters 0.04747443516264918 Centerline is valid? [True, True] Translation: X:444.22, Y:-294.80, Z:-4.88 [[ 7.41808507e-01 -6.70607817e-01 -2.30114475e-03 4.44215840e+02] [-6.70604606e-01 -7.41812076e-01 2.07519772e-03 -2.94798134e+02] [-3.09866078e-03 3.75894799e-06 -9.99995199e-01 -4.88493504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.606559995 meters 0.04767404628176181 Centerline is valid? [True, True] Translation: X:444.19, Y:-294.88, Z:-4.89 [[ 7.88458455e-01 -6.15083896e-01 -2.25066939e-03 4.44190112e+02] [-6.15081461e-01 -7.88461667e-01 1.73079482e-03 -2.94880170e+02] [-2.83915056e-03 1.96852035e-05 -9.99995969e-01 -4.88501945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.666559995 meters 0.04818472344781574 Centerline is valid? [True, True] Translation: X:444.15, Y:-295.00, Z:-4.89 [[ 8.31733378e-01 -5.55173485e-01 -1.41067686e-03 4.44149871e+02] [-5.55172725e-01 -8.31734574e-01 9.18752129e-04 -2.94995370e+02] [-1.68337554e-03 1.90125082e-05 -9.99998583e-01 -4.88570255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.7265599950001 meters 0.0488327940849714 Centerline is valid? [True, True] Translation: X:444.12, Y:-295.11, Z:-4.89 [[ 8.70984760e-01 -4.91307352e-01 -1.62286947e-03 4.44121933e+02] [-4.91306557e-01 -8.70986271e-01 8.84600587e-04 -2.95107295e+02] [-1.84810780e-03 2.68527805e-05 -9.99998292e-01 -4.88534138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.786559995 meters 0.047755881345810956 Centerline is valid? [True, True] Translation: X:444.11, Y:-295.21, Z:-4.88 [[ 9.06672061e-01 -4.21826036e-01 -2.92734226e-03 4.44105311e+02] [-4.21824003e-01 -9.06676785e-01 1.31031248e-03 -2.95214214e+02] [-3.20687719e-03 4.67995133e-05 -9.99994857e-01 -4.88475685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.846559995 meters 0.04823336246947942 Centerline is valid? [True, True] Translation: X:444.10, Y:-295.33, Z:-4.88 [[ 9.37162910e-01 -3.48878056e-01 -3.12760037e-03 4.44095559e+02] [-3.48876275e-01 -9.37168128e-01 1.11564774e-03 -2.95328648e+02] [-3.32031240e-03 4.56018876e-05 -9.99994487e-01 -4.88467754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.906559995 meters 0.04864616333720559 Centerline is valid? [True, True] Translation: X:444.11, Y:-295.40, Z:-4.88 [[ 9.62066951e-01 -2.72788703e-01 -3.67493706e-03 4.44107922e+02] [-2.72786892e-01 -9.62073969e-01 9.94957502e-04 -2.95403338e+02] [-3.80697445e-03 4.52589302e-05 -9.99992752e-01 -4.88232300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.9665599950001 meters 0.048152845186045914 Centerline is valid? [True, True] Translation: X:444.12, Y:-295.48, Z:-4.88 [[ 9.81029071e-01 -1.93778234e-01 -5.65323011e-03 4.44124926e+02] [-1.93775315e-01 -9.81045358e-01 1.06479757e-03 -2.95482206e+02] [-5.75240975e-03 5.08590729e-05 -9.99983453e-01 -4.88169944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.026559995 meters 0.04814225348257115 Centerline is valid? [True, True] Translation: X:444.14, Y:-295.58, Z:-4.88 [[ 9.93393853e-01 -1.14543788e-01 -6.95513295e-03 4.44144606e+02] [-1.14541319e-01 -9.93418199e-01 7.53576814e-04 -2.95582072e+02] [-6.99567319e-03 4.80515297e-05 -9.99975529e-01 -4.88068443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.086559995 meters 0.04888614755060132 Centerline is valid? [True, True] Translation: X:444.17, Y:-295.66, Z:-4.88 [[ 9.99359806e-01 -3.51163846e-02 -6.84236435e-03 4.44174008e+02] [-3.51158167e-02 -9.99383229e-01 2.03150367e-04 -2.95664028e+02] [-6.84527809e-03 3.72549017e-05 -9.99976570e-01 -4.88086906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.146559995 meters 0.04839478764673975 Centerline is valid? [True, True] Translation: X:444.20, Y:-295.74, Z:-4.88 [[ 9.99014601e-01 4.38821106e-02 -6.64735314e-03 4.44204418e+02] [ 4.38809286e-02 -9.99036716e-01 -3.23623234e-04 -2.95740421e+02] [-6.65515112e-03 3.16123073e-05 -9.99977854e-01 -4.88186255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.2065599950001 meters 0.04803516146780297 Centerline is valid? [True, True] Translation: X:444.24, Y:-295.81, Z:-4.88 [[ 9.92191439e-01 1.24651251e-01 -4.26772834e-03 4.44240384e+02] [ 1.24650060e-01 -9.92200618e-01 -5.44882557e-04 -2.95814989e+02] [-4.30236298e-03 8.65521467e-06 -9.99990745e-01 -4.88454211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.266559995 meters 0.047773836487677995 Centerline is valid? [True, True] Translation: X:444.28, Y:-295.89, Z:-4.88 [[ 9.78980092e-01 2.03938649e-01 -2.64705961e-03 4.44283759e+02] [ 2.03937904e-01 -9.78983671e-01 -5.51294208e-04 -2.95889221e+02] [-2.70385833e-03 -1.29732901e-07 -9.99996345e-01 -4.88479677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.326559995 meters 0.04807385549294454 Centerline is valid? [True, True] Translation: X:444.33, Y:-295.96, Z:-4.88 [[ 9.59467428e-01 2.81809402e-01 -2.39075195e-03 4.44330173e+02] [ 2.81808541e-01 -9.59470406e-01 -6.96899433e-04 -2.95955104e+02] [-2.49024856e-03 -5.08201140e-06 -9.99996899e-01 -4.88446315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.386559995 meters 0.048696004517808665 Centerline is valid? [True, True] Translation: X:444.38, Y:-296.01, Z:-4.88 [[ 9.33545473e-01 3.58449461e-01 -2.61400304e-03 4.44379375e+02] [ 3.58448095e-01 -9.33549133e-01 -9.89789444e-04 -2.96011238e+02] [-2.79508976e-03 -1.29709542e-05 -9.99996094e-01 -4.88493171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.4465599950001 meters 0.04852425204993391 Centerline is valid? [True, True] Translation: X:444.44, Y:-296.08, Z:-4.88 [[ 9.01792000e-01 4.32158418e-01 -3.20777355e-03 4.44440701e+02] [ 4.32155776e-01 -9.01797705e-01 -1.51129685e-03 -2.96077453e+02] [-3.54588248e-03 -2.33824593e-05 -9.99993713e-01 -4.88466052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.506559995 meters 0.048407829913152955 Centerline is valid? [True, True] Translation: X:444.50, Y:-296.13, Z:-4.89 [[ 8.64824641e-01 5.02060790e-01 -3.64741194e-03 4.44502949e+02] [ 5.02056476e-01 -8.64832332e-01 -2.08150655e-03 -2.96132808e+02] [-4.19944260e-03 -3.10686288e-05 -9.99991182e-01 -4.88523393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.566559995 meters 0.04840670551127946 Centerline is valid? [True, True] Translation: X:444.57, Y:-296.19, Z:-4.88 [[ 8.22730091e-01 5.68413893e-01 -4.56554691e-03 4.44572691e+02] [ 5.68405426e-01 -8.22742757e-01 -3.10268109e-03 -2.96185550e+02] [-5.51987769e-03 -4.24125472e-05 -9.99984764e-01 -4.88412320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.626559995 meters 0.04891350522207535 Centerline is valid? [True, True] Translation: X:444.64, Y:-296.23, Z:-4.88 [[ 7.76807879e-01 6.29720954e-01 -4.58686701e-03 4.44642307e+02] [ 6.29710243e-01 -7.76821420e-01 -3.67306252e-03 -2.96227703e+02] [-5.87618098e-03 -3.51332304e-05 -9.99982735e-01 -4.88308271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.6865599950002 meters 0.04854800891154206 Centerline is valid? [True, True] Translation: X:444.71, Y:-296.26, Z:-4.88 [[ 7.26647543e-01 6.86999493e-01 -3.87877959e-03 4.44710847e+02] [ 6.86989855e-01 -7.26657895e-01 -3.63922919e-03 -2.96260734e+02] [-5.31869442e-03 -2.02452784e-05 -9.99985855e-01 -4.88312364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.746559995 meters 0.04886037538825123 Centerline is valid? [True, True] Translation: X:444.78, Y:-296.29, Z:-4.88 [[ 6.73201446e-01 7.39450722e-01 -3.52742524e-03 4.44780721e+02] [ 7.39440588e-01 -6.73210688e-01 -3.87133138e-03 -2.96287226e+02] [-5.23735915e-03 -2.13550898e-06 -9.99986285e-01 -4.88315488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.806559995 meters 0.04906078058676431 Centerline is valid? [True, True] Translation: X:444.86, Y:-296.31, Z:-4.88 [[ 6.13952311e-01 7.89337065e-01 -3.09152283e-03 4.44855128e+02] [ 7.89327040e-01 -6.13960095e-01 -3.97815078e-03 -2.96309422e+02] [-5.03817351e-03 2.17229798e-06 -9.99987308e-01 -4.88396949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.866559995 meters 0.04832305938939076 Centerline is valid? [True, True] Translation: X:444.94, Y:-296.33, Z:-4.88 [[ 5.49556591e-01 8.35451642e-01 -2.84743338e-03 4.44937612e+02] [ 8.35440452e-01 -5.49563967e-01 -4.32411952e-03 -2.96332999e+02] [-5.17743954e-03 -2.51265173e-06 -9.99986597e-01 -4.88284098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.926559995 meters 0.04845705668509326 Centerline is valid? [True, True] Translation: X:445.02, Y:-296.35, Z:-4.88 [[ 4.78881292e-01 8.77875799e-01 -2.60584564e-03 4.45016068e+02] [ 8.77863085e-01 -4.78888381e-01 -4.72466220e-03 -2.96345630e+02] [-5.39557580e-03 -2.50233530e-05 -9.99985444e-01 -4.88196613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.986559995 meters 0.04772370751673037 Centerline is valid? [True, True] Translation: X:445.10, Y:-296.36, Z:-4.88 [[ 4.05336344e-01 9.14164388e-01 -2.43309735e-03 4.45103759e+02] [ 9.14148640e-01 -4.05343643e-01 -5.36610572e-03 -2.96356755e+02] [-5.89174330e-03 -4.91349613e-05 -9.99982642e-01 -4.88209279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.046559995 meters 0.0484154487537337 Centerline is valid? [True, True] Translation: X:445.19, Y:-296.36, Z:-4.88 [[ 3.28841503e-01 9.44382934e-01 -2.03476011e-03 4.45189506e+02] [ 9.44366215e-01 -3.28847789e-01 -5.61988881e-03 -2.96359301e+02] [-5.97645345e-03 -7.35060287e-05 -9.99982138e-01 -4.88164968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.106559995 meters 0.04778053371175461 Centerline is valid? [True, True] Translation: X:445.27, Y:-296.35, Z:-4.88 [[ 2.49160554e-01 9.68461135e-01 -1.43108430e-03 4.45271165e+02] [ 9.68447232e-01 -2.49164647e-01 -5.19017937e-03 -2.96353931e+02] [-5.38306262e-03 -9.27416562e-05 -9.99985507e-01 -4.88253707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.166559995 meters 0.04836940605932789 Centerline is valid? [True, True] Translation: X:445.36, Y:-296.34, Z:-4.88 [[ 1.70402652e-01 9.85374159e-01 -8.37864381e-04 4.45357611e+02] [ 9.85364607e-01 -1.70404691e-01 -4.33976610e-03 -2.96343207e+02] [-4.41906939e-03 -8.60942526e-05 -9.99990232e-01 -4.88316001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.2265599950001 meters 0.048430412553734536 Centerline is valid? [True, True] Translation: X:445.44, Y:-296.33, Z:-4.88 [[ 8.98600618e-02 9.95954295e-01 -4.59261272e-04 4.45443072e+02] [ 9.95945989e-01 -8.98611885e-02 -4.06870575e-03 -2.96327535e+02] [-4.09351474e-03 -9.17852711e-05 -9.99991617e-01 -4.88262762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.286559995 meters 0.047847217655535804 Centerline is valid? [True, True] Translation: X:445.52, Y:-296.30, Z:-4.88 [[ 9.69055609e-03 9.99953040e-01 -1.07892011e-04 4.45522883e+02] [ 9.99948038e-01 -9.69084896e-03 -3.16361952e-03 -2.96303906e+02] [-3.16451652e-03 -7.72291726e-05 -9.99994990e-01 -4.88263725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.346559995 meters 0.04692808376906426 Centerline is valid? [True, True] Translation: X:445.59, Y:-296.28, Z:-4.88 [[-6.85243417e-02 9.97649436e-01 1.30248079e-04 4.45594344e+02] [ 9.97645099e-01 6.85244280e-02 -2.94251138e-03 -2.96275147e+02] [-2.94452000e-03 -7.16922975e-05 -9.99995662e-01 -4.88310221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.406559995 meters 0.0473134364467645 Centerline is valid? [True, True] Translation: X:445.68, Y:-296.24, Z:-4.88 [[-1.44314336e-01 9.89531838e-01 3.36708699e-04 4.45680746e+02] [ 9.89528064e-01 1.44314716e-01 -2.73359158e-03 -2.96238501e+02] [-2.75356792e-03 -6.13137464e-05 -9.99996207e-01 -4.88231976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.4665599950001 meters 0.04736857551029399 Centerline is valid? [True, True] Translation: X:445.76, Y:-296.20, Z:-4.88 [[-2.20184499e-01 9.75458008e-01 6.79101196e-04 4.45760763e+02] [ 9.75452308e-01 2.20185535e-01 -3.33551943e-03 -2.96195913e+02] [-3.40318740e-03 -7.19988471e-05 -9.99994207e-01 -4.88207689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.526559995 meters 0.04743391931937925 Centerline is valid? [True, True] Translation: X:445.84, Y:-296.15, Z:-4.88 [[-2.96814918e-01 9.54934497e-01 1.00487385e-03 4.45837814e+02] [ 9.54928066e-01 2.96816608e-01 -3.50556112e-03 -2.96146577e+02] [-3.64584449e-03 -8.09205913e-05 -9.99993351e-01 -4.88109056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.586559995 meters 0.04767875181755072 Centerline is valid? [True, True] Translation: X:445.91, Y:-296.09, Z:-4.88 [[-3.72571182e-01 9.28002337e-01 1.54145341e-03 4.45914832e+02] [ 9.27993168e-01 3.72574356e-01 -4.12678510e-03 -2.96091451e+02] [-4.40397223e-03 -1.07062976e-04 -9.99990297e-01 -4.87990210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.646559995 meters 0.04751817499469264 Centerline is valid? [True, True] Translation: X:445.98, Y:-296.03, Z:-4.88 [[-4.45793404e-01 8.95132107e-01 2.59860069e-03 4.45982020e+02] [ 8.95114723e-01 4.45800948e-01 -5.58096558e-03 -2.96031054e+02] [-6.15416012e-03 -1.61911908e-04 -9.99981050e-01 -4.87888034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.7065599950001 meters 0.04861296336423911 Centerline is valid? [True, True] Translation: X:446.05, Y:-295.97, Z:-4.88 [[-5.13587916e-01 8.58029272e-01 3.63612709e-03 4.46046491e+02] [ 8.58005133e-01 5.13600753e-01 -6.43877799e-03 -2.95965428e+02] [-7.39217760e-03 -1.87062858e-04 -9.99972660e-01 -4.87753085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.766559995 meters 0.0481364728934957 Centerline is valid? [True, True] Translation: X:446.10, Y:-295.90, Z:-4.88 [[-5.76959791e-01 8.16761237e-01 4.29897439e-03 4.46100180e+02] [ 8.16736277e-01 5.76975780e-01 -6.38765871e-03 -2.95897213e+02] [-7.69759613e-03 -1.74293894e-04 -9.99970358e-01 -4.87824347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.826559995 meters 0.04796598824555132 Centerline is valid? [True, True] Translation: X:446.15, Y:-295.83, Z:-4.88 [[-6.35316507e-01 7.72243055e-01 3.68783048e-03 4.46149347e+02] [ 7.72229074e-01 6.35327202e-01 -4.64809720e-03 -2.95826955e+02] [-5.93243980e-03 -1.05162961e-04 -9.99982397e-01 -4.87803451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.886559995 meters 0.047975165865254854 Centerline is valid? [True, True] Translation: X:446.18, Y:-295.76, Z:-4.88 [[-6.91485518e-01 7.22384720e-01 2.84494816e-03 4.46184156e+02] [ 7.22378244e-01 6.91491368e-01 -3.05959837e-03 -2.95760409e+02] [-4.17746421e-03 -6.05393076e-05 -9.99991273e-01 -4.87909989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.9465599950001 meters 0.047748939985312024 Centerline is valid? [True, True] Translation: X:446.22, Y:-295.68, Z:-4.88 [[-7.43957509e-01 6.68222475e-01 2.43901091e-03 4.46218960e+02] [ 6.68218714e-01 7.43961506e-01 -2.24225037e-03 -2.95684704e+02] [-3.31285232e-03 -3.83462603e-05 -9.99994512e-01 -4.88064168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.006559995 meters 0.047988431133799955 Centerline is valid? [True, True] Translation: X:446.59, Y:-295.17, Z:-5.93 [[-6.82853143e-01 -7.30551349e-01 2.51248436e-03 4.46589840e+02] [ 7.30546724e-01 -6.82857762e-01 -2.60020779e-03 -2.95169841e+02] [ 3.61525476e-03 5.99271573e-05 9.99993463e-01 -5.92853513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.066559995 meters 0.04771226826418787 Centerline is valid? [True, True] Translation: X:446.55, Y:-295.13, Z:-5.93 [[-6.83383475e-01 -7.30054285e-01 2.78678516e-03 4.46550502e+02] [ 7.30048403e-01 -6.83389157e-01 -2.93093512e-03 -2.95129060e+02] [ 4.04420051e-03 3.15354263e-05 9.99991822e-01 -5.92903234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.126559995 meters 0.047772483815210404 Centerline is valid? [True, True] Translation: X:446.51, Y:-295.09, Z:-5.93 [[-6.82974374e-01 -7.30435625e-01 3.13104826e-03 4.46510864e+02] [ 7.30428207e-01 -6.82981549e-01 -3.29198682e-03 -2.95090485e+02] [ 4.54303264e-03 3.86633309e-05 9.99989680e-01 -5.93005689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.1865599950002 meters 0.047467143789957866 Centerline is valid? [True, True] Translation: X:446.47, Y:-295.05, Z:-5.93 [[-6.82286486e-01 -7.31077573e-01 3.27632318e-03 4.46471411e+02] [ 7.31069463e-01 -6.82294351e-01 -3.44385560e-03 -2.95047147e+02] [ 4.75314239e-03 4.55236909e-05 9.99988703e-01 -5.92893825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.246559995 meters 0.047548791713771 Centerline is valid? [True, True] Translation: X:446.43, Y:-295.01, Z:-5.93 [[-6.82036304e-01 -7.31308208e-01 3.84517626e-03 4.46430531e+02] [ 7.31297045e-01 -6.82047141e-01 -4.04100844e-03 -2.95007194e+02] [ 5.57781411e-03 5.58515756e-05 9.99984442e-01 -5.92951191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.306559995 meters 0.047351941102501904 Centerline is valid? [True, True] Translation: X:446.39, Y:-294.97, Z:-5.93 [[-6.83487251e-01 -7.29947821e-01 4.62116388e-03 4.46391054e+02] [ 7.29931677e-01 -6.83502871e-01 -4.85507527e-03 -2.94965998e+02] [ 6.70253040e-03 5.47518490e-05 9.99977536e-01 -5.92995107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.366559995 meters 0.04769908383003963 Centerline is valid? [True, True] Translation: X:446.35, Y:-294.92, Z:-5.93 [[-6.85865215e-01 -7.27714723e-01 4.49320966e-03 4.46351902e+02] [ 7.27699420e-01 -6.85879932e-01 -4.71939498e-03 -2.94923567e+02] [ 6.51617554e-03 3.28372125e-05 9.99978769e-01 -5.92940479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.426559995 meters 0.04721985991007762 Centerline is valid? [True, True] Translation: X:446.31, Y:-294.88, Z:-5.93 [[-6.88897739e-01 -7.24846337e-01 4.20635975e-03 4.46313344e+02] [ 7.24832880e-01 -6.88910581e-01 -4.41680014e-03 -2.94882449e+02] [ 6.09930713e-03 6.18422043e-06 9.99981399e-01 -5.92999305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.486559995 meters 0.04738908663345211 Centerline is valid? [True, True] Translation: X:446.27, Y:-294.84, Z:-5.93 [[-6.93284598e-01 -7.20653319e-01 3.90627877e-03 4.46274559e+02] [ 7.20641654e-01 -6.93295603e-01 -4.10049584e-03 -2.94840128e+02] [ 5.66324183e-03 -2.77834216e-05 9.99983963e-01 -5.92935017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.546559995 meters 0.048147582891938406 Centerline is valid? [True, True] Translation: X:446.23, Y:-294.80, Z:-5.93 [[-6.95344980e-01 -7.18665838e-01 3.84350749e-03 4.46234669e+02] [ 7.18654521e-01 -6.95355601e-01 -4.03336413e-03 -2.94800119e+02] [ 5.57124548e-03 -4.24254647e-05 9.99984480e-01 -5.92824210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.606559995 meters 0.048669136421232266 Centerline is valid? [True, True] Translation: X:446.19, Y:-294.76, Z:-5.93 [[-6.96079798e-01 -7.17942952e-01 5.55274853e-03 4.46193122e+02] [ 7.17919318e-01 -6.96101942e-01 -5.82575372e-03 -2.94759423e+02] [ 8.04783786e-03 -6.87640394e-05 9.99967613e-01 -5.92887690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.666559995 meters 0.04799599616560259 Centerline is valid? [True, True] Translation: X:446.15, Y:-294.72, Z:-5.93 [[-6.95626995e-01 -7.18371543e-01 6.73869426e-03 4.46153386e+02] [ 7.18336770e-01 -6.95659630e-01 -7.06853276e-03 -2.94718029e+02] [ 9.76567033e-03 -7.64103344e-05 9.99952312e-01 -5.93080441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.7265599950001 meters 0.04810997712647717 Centerline is valid? [True, True] Translation: X:446.11, Y:-294.68, Z:-5.93 [[-6.94857662e-01 -7.19108348e-01 7.48413044e-03 4.46113461e+02] [ 7.19065525e-01 -6.94897962e-01 -7.84807498e-03 -2.94678369e+02] [ 1.08443232e-02 -7.17148461e-05 9.99941196e-01 -5.93276689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.786559995 meters 0.04861985159752092 Centerline is valid? [True, True] Translation: X:446.07, Y:-294.64, Z:-5.93 [[-6.93976514e-01 -7.19960472e-01 7.31554690e-03 4.46071505e+02] [ 7.19919627e-01 -6.94015069e-01 -7.66912164e-03 -2.94639094e+02] [ 1.05985642e-02 -5.55845021e-05 9.99943832e-01 -5.93368303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.846559995 meters 0.04859756248722658 Centerline is valid? [True, True] Translation: X:446.03, Y:-294.60, Z:-5.93 [[-6.93303859e-01 -7.20612698e-01 6.86285674e-03 4.46031532e+02] [ 7.20576808e-01 -6.93337824e-01 -7.19203511e-03 -2.94600177e+02] [ 9.94094998e-03 -4.10502847e-05 9.99950587e-01 -5.93023433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.906559995 meters 0.04803830644348566 Centerline is valid? [True, True] Translation: X:445.99, Y:-294.56, Z:-5.93 [[-6.92260270e-01 -7.21621845e-01 6.13442752e-03 4.45992867e+02] [ 7.21593226e-01 -6.92287449e-01 -6.42683901e-03 -2.94558468e+02] [ 8.88453460e-03 -2.24839661e-05 9.99960532e-01 -5.93140064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.9665599950001 meters 0.047979879162930256 Centerline is valid? [True, True] Translation: X:445.95, Y:-294.52, Z:-5.93 [[-6.88986291e-01 -7.24755967e-01 5.16530707e-03 4.45952619e+02] [ 7.24735778e-01 -6.89005652e-01 -5.40962213e-03 -2.94520480e+02] [ 7.47958168e-03 1.63273468e-05 9.99972027e-01 -5.93097257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.026559995 meters 0.04807058897457217 Centerline is valid? [True, True] Translation: X:445.91, Y:-294.48, Z:-5.93 [[-6.85740625e-01 -7.27830995e-01 4.67307549e-03 4.45910344e+02] [ 7.27814552e-01 -6.85756546e-01 -4.89266091e-03 -2.94481192e+02] [ 6.76562237e-03 4.60359965e-05 9.99977112e-01 -5.93097800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.086559995 meters 0.047542083674421996 Centerline is valid? [True, True] Translation: X:445.87, Y:-294.44, Z:-5.93 [[-6.82117529e-01 -7.31225571e-01 4.98408085e-03 4.45868716e+02] [ 7.31206967e-01 -6.82135732e-01 -5.21675284e-03 -2.94441605e+02] [ 7.21444271e-03 8.59560899e-05 9.99973972e-01 -5.93111721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.146559995 meters 0.0478030077457606 Centerline is valid? [True, True] Translation: X:445.83, Y:-294.40, Z:-5.93 [[-6.77489172e-01 -7.35505268e-01 6.35780080e-03 4.45826714e+02] [ 7.35475196e-01 -6.77518983e-01 -6.65310875e-03 -2.94402245e+02] [ 9.20092726e-03 1.68595647e-04 9.99957656e-01 -5.93247609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.2065599950001 meters 0.04785409849062099 Centerline is valid? [True, True] Translation: X:445.79, Y:-294.36, Z:-5.93 [[-6.74757202e-01 -7.38005789e-01 7.08336504e-03 4.45786234e+02] [ 7.37968614e-01 -6.74794342e-01 -7.41090793e-03 -2.94361258e+02] [ 1.02491076e-02 2.26737581e-04 9.99947451e-01 -5.93258328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.266559995 meters 0.04820826024638736 Centerline is valid? [True, True] Translation: X:445.75, Y:-294.32, Z:-5.93 [[-6.74831617e-01 -7.37941093e-01 6.72546931e-03 4.45747546e+02] [ 7.37907596e-01 -6.74865095e-01 -7.03444419e-03 -2.94318967e+02] [ 9.72978992e-03 2.15709543e-04 9.99952641e-01 -5.93167832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.326559995 meters 0.04793135590679146 Centerline is valid? [True, True] Translation: X:445.71, Y:-294.28, Z:-5.93 [[-6.76455959e-01 -7.36458435e-01 6.02576125e-03 4.45709323e+02] [ 7.36431496e-01 -6.76482774e-01 -6.30146822e-03 -2.94275544e+02] [ 8.71709311e-03 1.74894641e-04 9.99961990e-01 -5.93052293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.386559995 meters 0.04738590396672522 Centerline is valid? [True, True] Translation: X:445.67, Y:-294.23, Z:-5.93 [[-6.81516813e-01 -7.31787982e-01 4.60247648e-03 4.45674218e+02] [ 7.31772165e-01 -6.81532348e-01 -4.81218602e-03 -2.94228793e+02] [ 6.65823650e-03 8.83785018e-05 9.99977830e-01 -5.92870993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.4465599950001 meters 0.04762068683069672 Centerline is valid? [True, True] Translation: X:445.64, Y:-294.18, Z:-5.93 [[-6.85268759e-01 -7.28276976e-01 4.40167256e-03 4.45636959e+02] [ 7.28262443e-01 -6.85282893e-01 -4.60107365e-03 -2.94184276e+02] [ 6.36724691e-03 5.26007878e-05 9.99979728e-01 -5.92834850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.506559995 meters 0.04772567043410215 Centerline is valid? [True, True] Translation: X:445.60, Y:-294.14, Z:-5.93 [[-6.88253498e-01 -7.25457861e-01 4.24432960e-03 4.45599761e+02] [ 7.25444302e-01 -6.88266585e-01 -4.43542658e-03 -2.94139962e+02] [ 6.13894532e-03 2.63268636e-05 9.99981156e-01 -5.92797184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.566559995 meters 0.048370964119542496 Centerline is valid? [True, True] Translation: X:445.56, Y:-294.10, Z:-5.93 [[-6.89474116e-01 -7.24296551e-01 4.46651149e-03 4.45562512e+02] [ 7.24281520e-01 -6.89488583e-01 -4.66620787e-03 -2.94096772e+02] [ 6.45932694e-03 1.77821807e-05 9.99979138e-01 -5.92705421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.626559995 meters 0.04785095892134699 Centerline is valid? [True, True] Translation: X:445.52, Y:-294.06, Z:-5.93 [[-6.88551922e-01 -7.25174442e-01 4.27546248e-03 4.45522036e+02] [ 7.25160694e-01 -6.88565195e-01 -4.46549358e-03 -2.94055620e+02] [ 6.18219648e-03 2.56731497e-05 9.99980890e-01 -5.92752542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.6865599950002 meters 0.04773957236643003 Centerline is valid? [True, True] Translation: X:445.48, Y:-294.01, Z:-5.93 [[-6.87217090e-01 -7.26436697e-01 4.73246246e-03 4.45481380e+02] [ 7.26419891e-01 -6.87233384e-01 -4.94154029e-03 -2.94014310e+02] [ 6.84202239e-03 4.18439234e-05 9.99976592e-01 -5.92749289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.746559995 meters 0.04780728923222568 Centerline is valid? [True, True] Translation: X:445.44, Y:-293.97, Z:-5.93 [[-6.85924930e-01 -7.27652050e-01 5.43004162e-03 4.45440184e+02] [ 7.27629972e-01 -6.85946420e-01 -5.66854144e-03 -2.93974351e+02] [ 7.84944341e-03 6.28671488e-05 9.99969191e-01 -5.92964407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.806559995 meters 0.04792195872666286 Centerline is valid? [True, True] Translation: X:445.40, Y:-293.93, Z:-5.93 [[-6.86153999e-01 -7.27436034e-01 5.43197164e-03 4.45401617e+02] [ 7.27413946e-01 -6.86175497e-01 -5.66906605e-03 -2.93930424e+02] [ 7.85116876e-03 6.14395867e-05 9.99969177e-01 -5.92733832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.866559995 meters 0.04763844869004912 Centerline is valid? [True, True] Translation: X:445.36, Y:-293.89, Z:-5.93 [[-6.87123251e-01 -7.26525615e-01 4.70844623e-03 4.45362057e+02] [ 7.26509006e-01 -6.87139381e-01 -4.91274306e-03 -2.93888230e+02] [ 6.80459251e-03 4.50686062e-05 9.99976848e-01 -5.92709027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.926559995 meters 0.047848230620433835 Centerline is valid? [True, True] Translation: X:445.32, Y:-293.85, Z:-5.93 [[-6.88292747e-01 -7.25420204e-01 4.31528510e-03 4.45323109e+02] [ 7.25406240e-01 -6.88306274e-01 -4.50118287e-03 -2.93846894e+02] [ 6.23548680e-03 3.22032164e-05 9.99980559e-01 -5.92642399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.986559995 meters 0.04765986411051903 Centerline is valid? [True, True] Translation: X:445.28, Y:-293.80, Z:-5.93 [[-6.89953896e-01 -7.23843689e-01 3.73301028e-03 4.45284071e+02] [ 7.23833222e-01 -6.89963994e-01 -3.89276796e-03 -2.93803948e+02] [ 5.39339820e-03 1.62464357e-05 9.99985455e-01 -5.92539471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.046559995 meters 0.048259712943591895 Centerline is valid? [True, True] Translation: X:445.25, Y:-293.76, Z:-5.93 [[-6.92075182e-01 -7.21817373e-01 3.40905843e-03 4.45245074e+02] [ 7.21808623e-01 -6.92083579e-01 -3.55424778e-03 -2.93761855e+02] [ 4.92487115e-03 8.81088154e-07 9.99987873e-01 -5.92605002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.106559995 meters 0.047805512633754876 Centerline is valid? [True, True] Translation: X:445.21, Y:-293.72, Z:-5.92 [[-6.94235840e-01 -7.19741060e-01 3.06685850e-03 4.45205392e+02] [ 7.19733962e-01 -6.94242614e-01 -3.19660094e-03 -2.93718921e+02] [ 4.42986882e-03 -1.18727205e-05 9.99990188e-01 -5.92436512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.166559995 meters 0.04896806671084558 Centerline is valid? [True, True] Translation: X:445.17, Y:-293.68, Z:-5.92 [[-6.95421376e-01 -7.18598533e-01 2.29308275e-03 4.45167109e+02] [ 7.18594561e-01 -6.95425156e-01 -2.38931849e-03 -2.93677849e+02] [ 3.31162820e-03 -1.37863572e-05 9.99994516e-01 -5.92398098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.2265599950001 meters 0.04767742731581329 Centerline is valid? [True, True] Translation: X:445.13, Y:-293.64, Z:-5.92 [[-6.95084339e-01 -7.18924080e-01 2.43487243e-03 4.45126061e+02] [ 7.18919606e-01 -6.95088604e-01 -2.53634418e-03 -2.93638144e+02] [ 3.51589098e-03 -1.24955831e-05 9.99993819e-01 -5.92342054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.286559995 meters 0.04815318356106395 Centerline is valid? [True, True] Translation: X:445.08, Y:-293.60, Z:-5.92 [[-6.94240817e-01 -7.19735336e-01 3.27626191e-03 4.45084195e+02] [ 7.19727250e-01 -6.94248548e-01 -3.41175353e-03 -2.93598653e+02] [ 4.73009965e-03 -1.05635859e-05 9.99988813e-01 -5.92389093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.346559995 meters 0.048594505277712294 Centerline is valid? [True, True] Translation: X:445.04, Y:-293.56, Z:-5.93 [[-6.92412452e-01 -7.21489559e-01 4.22059477e-03 4.45042307e+02] [ 7.21476180e-01 -6.92425315e-01 -4.39373092e-03 -2.93561189e+02] [ 6.09247764e-03 2.78459509e-06 9.99981441e-01 -5.92516542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.406559995 meters 0.048473285942555 Centerline is valid? [True, True] Translation: X:445.00, Y:-293.52, Z:-5.93 [[-6.90861293e-01 -7.22973519e-01 4.46818779e-03 4.45001249e+02] [ 7.22958565e-01 -6.90875742e-01 -4.64997180e-03 -2.93524311e+02] [ 6.44876903e-03 1.78291016e-05 9.99979206e-01 -5.92631900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.4665599950001 meters 0.048881092177655225 Centerline is valid? [True, True] Translation: X:444.96, Y:-293.49, Z:-5.93 [[-6.89131039e-01 -7.24621369e-01 4.72034995e-03 4.44958764e+02] [ 7.24604729e-01 -6.89147205e-01 -4.91093129e-03 -2.93485199e+02] [ 6.81158173e-03 3.61127107e-05 9.99976800e-01 -5.92593544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.526559995 meters 0.04917086533571733 Centerline is valid? [True, True] Translation: X:444.92, Y:-293.45, Z:-5.93 [[-6.87093038e-01 -7.26546045e-01 5.83108076e-03 4.44917576e+02] [ 7.26520736e-01 -6.87117777e-01 -6.06470902e-03 -2.93445886e+02] [ 8.41292961e-03 6.93817412e-05 9.99964608e-01 -5.92549964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.586559995 meters 0.04909782485843493 Centerline is valid? [True, True] Translation: X:444.88, Y:-293.41, Z:-5.93 [[-6.86320828e-01 -7.27274545e-01 5.95457418e-03 4.44876447e+02] [ 7.27248194e-01 -6.86346654e-01 -6.19156095e-03 -2.93405157e+02] [ 8.58986674e-03 8.10560823e-05 9.99963103e-01 -5.92565037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.646559995 meters 0.049326304423027885 Centerline is valid? [True, True] Translation: X:444.83, Y:-293.37, Z:-5.93 [[-6.85314525e-01 -7.28223911e-01 5.82558476e-03 4.44832533e+02] [ 7.28198736e-01 -6.85339278e-01 -6.05588348e-03 -2.93368651e+02] [ 8.40254121e-03 9.19985513e-05 9.99964694e-01 -5.92930901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.7065599950001 meters 0.048317657821525334 Centerline is valid? [True, True] Translation: X:444.79, Y:-293.33, Z:-5.93 [[-6.84535766e-01 -7.28964146e-01 4.69660830e-03 4.44794489e+02] [ 7.28947811e-01 -6.84551873e-01 -4.88084127e-03 -2.93325888e+02] [ 6.77303030e-03 8.24719153e-05 9.99977059e-01 -5.92523120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.766559995 meters 0.04952311182600976 Centerline is valid? [True, True] Translation: X:444.75, Y:-293.29, Z:-5.93 [[-6.84371174e-01 -7.29124612e-01 3.66010712e-03 4.44753036e+02] [ 7.29114699e-01 -6.84380958e-01 -3.80251469e-03 -2.93287434e+02] [ 5.27741467e-03 6.63064563e-05 9.99986072e-01 -5.92510547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.826559995 meters 0.049782935549984336 Centerline is valid? [True, True] Translation: X:444.72, Y:-293.25, Z:-5.92 [[-6.84548367e-01 -7.28959016e-01 3.50515876e-03 4.44715091e+02] [ 7.28949929e-01 -6.84557338e-01 -3.64025451e-03 -2.93247738e+02] [ 5.05307849e-03 6.31549507e-05 9.99987231e-01 -5.92466532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.886559995 meters 0.04896037337672526 Centerline is valid? [True, True] Translation: X:444.68, Y:-293.21, Z:-5.92 [[-6.85046675e-01 -7.28486727e-01 4.25929833e-03 4.44677094e+02] [ 7.28473308e-01 -6.85059912e-01 -4.42224657e-03 -2.93205563e+02] [ 6.13942246e-03 7.33398310e-05 9.99981151e-01 -5.92449242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.9465599950001 meters 0.048949839539976156 Centerline is valid? [True, True] Translation: X:444.64, Y:-293.17, Z:-5.93 [[-6.85380721e-01 -7.28170650e-01 4.55755646e-03 4.44636279e+02] [ 7.28155288e-01 -6.85395870e-01 -4.73046411e-03 -2.93166507e+02] [ 6.56831550e-03 7.64399340e-05 9.99978426e-01 -5.92643757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.006559995 meters 0.04882582440330194 Centerline is valid? [True, True] Translation: X:444.60, Y:-293.12, Z:-5.92 [[-6.86916637e-01 -7.26719892e-01 4.87153995e-03 4.44601736e+02] [ 7.26702317e-01 -6.86933908e-01 -5.05464272e-03 -2.93124121e+02] [ 7.01973539e-03 6.80411909e-05 9.99975359e-01 -5.92494158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.066559995 meters 0.04881156423911395 Centerline is valid? [True, True] Translation: X:444.56, Y:-293.08, Z:-5.93 [[-6.88441072e-01 -7.25274650e-01 5.05685323e-03 4.44562912e+02] [ 7.25255685e-01 -6.88459642e-01 -5.24534286e-03 -2.93083558e+02] [ 7.28575357e-03 5.64020958e-05 9.99973457e-01 -5.92627068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.126559995 meters 0.04916836563984984 Centerline is valid? [True, True] Translation: X:444.53, Y:-293.04, Z:-5.93 [[-6.90697608e-01 -7.23126260e-01 5.02259220e-03 4.44526831e+02] [ 7.23107506e-01 -6.90715868e-01 -5.20813763e-03 -2.93041471e+02] [ 7.23532522e-03 3.46259166e-05 9.99973824e-01 -5.92507176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.1865599950002 meters 0.04901697485113216 Centerline is valid? [True, True] Translation: X:444.49, Y:-293.00, Z:-5.93 [[-6.94850257e-01 -7.19136548e-01 5.07398960e-03 4.44488910e+02] [ 7.19117311e-01 -6.94868782e-01 -5.26008815e-03 -2.92996933e+02] [ 7.30847861e-03 -6.17984829e-06 9.99973293e-01 -5.92529716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.246559995 meters 0.04932771791318617 Centerline is valid? [True, True] Translation: X:444.45, Y:-292.95, Z:-5.92 [[-6.97492569e-01 -7.16572758e-01 5.25350926e-03 4.44451001e+02] [ 7.16552074e-01 -6.97512353e-01 -5.44461259e-03 -2.92954728e+02] [ 7.56584866e-03 -3.31638652e-05 9.99971378e-01 -5.92259550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.306559995 meters 0.04957987515463543 Centerline is valid? [True, True] Translation: X:444.41, Y:-292.91, Z:-5.92 [[-7.00050761e-01 -7.14074406e-01 5.16476597e-03 4.44412962e+02] [ 7.14054355e-01 -7.00069810e-01 -5.35152057e-03 -2.92910701e+02] [ 7.43708061e-03 -5.84124102e-05 9.99972343e-01 -5.92375106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.366559995 meters 0.04903851869007475 Centerline is valid? [True, True] Translation: X:444.37, Y:-292.87, Z:-5.92 [[-7.00747686e-01 -7.13389514e-01 5.29931099e-03 4.44372505e+02] [ 7.13368396e-01 -7.00767720e-01 -5.48950675e-03 -2.92868906e+02] [ 7.62974263e-03 -6.63981671e-05 9.99970891e-01 -5.92389084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.426559995 meters 0.04920791843056312 Centerline is valid? [True, True] Translation: X:444.33, Y:-292.83, Z:-5.92 [[-6.99201685e-01 -7.14901939e-01 5.67631304e-03 4.44333444e+02] [ 7.14877775e-01 -6.99224724e-01 -5.87810734e-03 -2.92828655e+02] [ 8.17128876e-03 -5.21125197e-05 9.99966613e-01 -5.92392703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.486559995 meters 0.049094370228453345 Centerline is valid? [True, True] Translation: X:444.29, Y:-292.79, Z:-5.92 [[-6.96938780e-01 -7.17104345e-01 6.13965567e-03 4.44293140e+02] [ 7.17076178e-01 -6.96965823e-01 -6.35586306e-03 -2.92789319e+02] [ 8.83694719e-03 -2.70466283e-05 9.99960953e-01 -5.92414011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.546559995 meters 0.048740885856488586 Centerline is valid? [True, True] Translation: X:444.25, Y:-292.75, Z:-5.93 [[-6.93491647e-01 -7.20439364e-01 6.03808681e-03 4.44252484e+02] [ 7.20412263e-01 -6.93517933e-01 -6.24885984e-03 -2.92750541e+02] [ 8.68944609e-03 1.63796791e-05 9.99962246e-01 -5.92525233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.606559995 meters 0.04879888109664403 Centerline is valid? [True, True] Translation: X:444.21, Y:-292.71, Z:-5.92 [[-6.87232984e-01 -7.26422003e-01 4.67977244e-03 4.44210148e+02] [ 7.26405869e-01 -6.87248913e-01 -4.84202287e-03 -2.92713745e+02] [ 6.73352048e-03 7.18163426e-05 9.99977327e-01 -5.92376495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.666559995 meters 0.048725007014448464 Centerline is valid? [True, True] Translation: X:444.17, Y:-292.67, Z:-5.92 [[-6.83620462e-01 -7.29824612e-01 4.37035732e-03 4.44169110e+02] [ 7.29810617e-01 -6.83634425e-01 -4.52069575e-03 -2.92673500e+02] [ 6.28704173e-03 9.90930526e-05 9.99980231e-01 -5.92326109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.7265599950001 meters 0.04996408496367663 Centerline is valid? [True, True] Translation: X:444.12, Y:-292.64, Z:-5.93 [[-6.81157074e-01 -7.32122426e-01 4.66839024e-03 4.44123293e+02] [ 7.32106521e-01 -6.81173059e-01 -4.82763802e-03 -2.92638344e+02] [ 6.71440372e-03 1.29379147e-04 9.99977450e-01 -5.92619341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.786559995 meters 0.047719509461753094 Centerline is valid? [True, True] Translation: X:444.09, Y:-292.59, Z:-5.92 [[-6.79293542e-01 -7.33845527e-01 5.57013335e-03 4.44090172e+02] [ 7.33822953e-01 -6.79316356e-01 -5.75859417e-03 -2.92590008e+02] [ 8.00980127e-03 1.75715876e-04 9.99967906e-01 -5.92354563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.846559995 meters 0.04821828328525501 Centerline is valid? [True, True] Translation: X:444.05, Y:-292.55, Z:-5.92 [[-6.78961810e-01 -7.34149864e-01 5.90236625e-03 4.44048842e+02] [ 7.34124541e-01 -6.78987438e-01 -6.10063080e-03 -2.92550659e+02] [ 8.48640981e-03 1.90976587e-04 9.99963972e-01 -5.92484816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.906559995 meters 0.04857258746900525 Centerline is valid? [True, True] Translation: X:444.01, Y:-292.51, Z:-5.93 [[-6.78190614e-01 -7.34857413e-01 6.48646635e-03 4.44007845e+02] [ 7.34826879e-01 -6.78221597e-01 -6.70253526e-03 -2.92511014e+02] [ 9.32466928e-03 2.20833323e-04 9.99956500e-01 -5.92685702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.9665599950001 meters 0.04821327184827704 Centerline is valid? [True, True] Translation: X:443.97, Y:-292.46, Z:-5.92 [[-6.79158434e-01 -7.33963803e-01 6.39983884e-03 4.43971448e+02] [ 7.33934053e-01 -6.79188555e-01 -6.61148687e-03 -2.92464503e+02] [ 9.19928934e-03 2.06812584e-04 9.99957664e-01 -5.92467297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.026559995 meters 0.0483551562754493 Centerline is valid? [True, True] Translation: X:443.93, Y:-292.42, Z:-5.92 [[-6.81066144e-01 -7.32201114e-01 5.51694281e-03 4.43932882e+02] [ 7.32178959e-01 -6.81088470e-01 -5.69804313e-03 -2.92420854e+02] [ 7.92963966e-03 1.58645186e-04 9.99968547e-01 -5.92421091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.086559995 meters 0.04787015831902992 Centerline is valid? [True, True] Translation: X:443.90, Y:-292.38, Z:-5.92 [[-6.85036187e-01 -7.28491431e-01 5.06526882e-03 4.43898267e+02] [ 7.28472665e-01 -6.85054905e-01 -5.23001225e-03 -2.92375014e+02] [ 7.28000636e-03 1.07162224e-04 9.99973495e-01 -5.92289967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.146559995 meters 0.04789808543106476 Centerline is valid? [True, True] Translation: X:443.86, Y:-292.33, Z:-5.92 [[-6.87784027e-01 -7.25896838e-01 5.18766537e-03 4.43858353e+02] [ 7.25877090e-01 -6.87803586e-01 -5.35506453e-03 -2.92333121e+02] [ 7.45531926e-03 8.24795888e-05 9.99972205e-01 -5.92474520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.2065599950001 meters 0.04758630381187642 Centerline is valid? [True, True] Translation: X:443.82, Y:-292.29, Z:-5.92 [[-6.90107496e-01 -7.23684518e-01 5.68880850e-03 4.43820715e+02] [ 7.23660707e-01 -6.90130940e-01 -5.87082386e-03 -2.92288910e+02] [ 8.17464709e-03 6.52676234e-05 9.99966585e-01 -5.92473347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.266559995 meters 0.048234327957116505 Centerline is valid? [True, True] Translation: X:443.78, Y:-292.25, Z:-5.93 [[-6.91939132e-01 -7.21919661e-01 7.22772264e-03 4.43783479e+02] [ 7.21881153e-01 -6.91976878e-01 -7.45663262e-03 -2.92246220e+02] [ 1.03845066e-02 5.80208501e-05 9.99946078e-01 -5.92759700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.326559995 meters 0.047725255971549974 Centerline is valid? [True, True] Translation: X:443.75, Y:-292.20, Z:-5.93 [[-6.92553707e-01 -7.21318607e-01 8.29638217e-03 4.43745133e+02] [ 7.21267853e-01 -6.92603396e-01 -8.55688323e-03 -2.92202915e+02] [ 1.19183416e-02 5.78125519e-05 9.99928972e-01 -5.92707651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.386559995 meters 0.04842734725079969 Centerline is valid? [True, True] Translation: X:443.71, Y:-292.16, Z:-5.93 [[-6.92862819e-01 -7.21011772e-01 9.11807544e-03 4.43706244e+02] [ 7.20950465e-01 -6.92922811e-01 -9.40237812e-03 -2.92161867e+02] [ 1.30973478e-02 5.91225148e-05 9.99914224e-01 -5.92904549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.4465599950001 meters 0.04823635391961021 Centerline is valid? [True, True] Translation: X:443.67, Y:-292.12, Z:-5.93 [[-6.92731932e-01 -7.21141690e-01 8.78259740e-03 4.43667773e+02] [ 7.21084854e-01 -6.92787600e-01 -9.05392013e-03 -2.92119898e+02] [ 1.26136338e-02 6.10583858e-05 9.99920443e-01 -5.92641032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.506559995 meters 0.047784403869677514 Centerline is valid? [True, True] Translation: X:443.63, Y:-292.08, Z:-5.92 [[-6.92324552e-01 -7.21546315e-01 7.59139810e-03 4.43627784e+02] [ 7.21503901e-01 -6.92366169e-01 -7.82361170e-03 -2.92078913e+02] [ 1.09011254e-02 6.07448757e-05 9.99940579e-01 -5.92496700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.566559995 meters 0.047822626613768245 Centerline is valid? [True, True] Translation: X:443.59, Y:-292.04, Z:-5.93 [[-6.91247266e-01 -7.22592450e-01 6.11295621e-03 4.43586366e+02] [ 7.22565006e-01 -6.91274293e-01 -6.29799912e-03 -2.92040641e+02] [ 8.77661609e-03 6.35335602e-05 9.99961483e-01 -5.92552226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.626559995 meters 0.04829909614501875 Centerline is valid? [True, True] Translation: X:443.55, Y:-292.00, Z:-5.93 [[-6.90166918e-01 -7.23624437e-01 6.10725961e-03 4.43545901e+02] [ 7.23597103e-01 -6.90193935e-01 -6.29009939e-03 -2.92003062e+02] [ 8.76686317e-03 7.79768427e-05 9.99961567e-01 -5.92770207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.6865599950002 meters 0.04758246724791515 Centerline is valid? [True, True] Translation: X:443.51, Y:-291.96, Z:-5.93 [[-6.87694769e-01 -7.25965855e-01 7.03439650e-03 4.43506456e+02] [ 7.25929732e-01 -6.87730734e-01 -7.24312494e-03 -2.91960325e+02] [ 1.00960321e-02 1.25418435e-04 9.99949026e-01 -5.92567131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.746559995 meters 0.04838269811395269 Centerline is valid? [True, True] Translation: X:443.46, Y:-291.92, Z:-5.93 [[-6.85407674e-01 -7.28119164e-01 7.66839057e-03 4.43463857e+02] [ 7.28076394e-01 -6.85450548e-01 -7.89376432e-03 -2.91921997e+02] [ 1.10039036e-02 1.72727512e-04 9.99939440e-01 -5.92744870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.806559995 meters 0.04826751438632518 Centerline is valid? [True, True] Translation: X:443.42, Y:-291.88, Z:-5.93 [[-6.83236399e-01 -7.30152695e-01 8.06626957e-03 4.43423339e+02] [ 7.30105531e-01 -6.83283978e-01 -8.30175244e-03 -2.91881372e+02] [ 1.15730997e-02 2.17168581e-04 9.99933006e-01 -5.92665962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.866559995 meters 0.048473128537026115 Centerline is valid? [True, True] Translation: X:443.38, Y:-291.84, Z:-5.93 [[-6.82151345e-01 -7.31165294e-01 8.17647859e-03 4.43381276e+02] [ 7.31116930e-01 -6.82200305e-01 -8.41302786e-03 -2.91841596e+02] [ 1.17293102e-02 2.39003649e-04 9.99931181e-01 -5.92712835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.926559995 meters 0.0476055535681628 Centerline is valid? [True, True] Translation: X:443.34, Y:-291.80, Z:-5.93 [[-6.83163125e-01 -7.30226086e-01 7.61635804e-03 4.43342066e+02] [ 7.30184085e-01 -6.83205547e-01 -7.83467602e-03 -2.91799002e+02] [ 1.09246229e-02 2.08981681e-04 9.99940303e-01 -5.92613403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.986559995 meters 0.04832439413311745 Centerline is valid? [True, True] Translation: X:443.30, Y:-291.76, Z:-5.93 [[-6.84976881e-01 -7.28531426e-01 6.97384472e-03 4.43303603e+02] [ 7.28496145e-01 -6.85012360e-01 -7.17169933e-03 -2.91757115e+02] [ 1.00019782e-02 1.67970759e-04 9.99949965e-01 -5.92567435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.046559995 meters 0.0474226114384363 Centerline is valid? [True, True] Translation: X:443.26, Y:-291.71, Z:-5.93 [[-6.87795609e-01 -7.25876624e-01 6.35038090e-03 4.43264721e+02] [ 7.25847270e-01 -6.87824915e-01 -6.52898670e-03 -2.91713342e+02] [ 9.10718902e-03 1.18798253e-04 9.99958522e-01 -5.92565248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.106559995 meters 0.048585212916215655 Centerline is valid? [True, True] Translation: X:443.23, Y:-291.67, Z:-5.92 [[-6.89541268e-01 -7.24214978e-01 6.74580535e-03 4.43227171e+02] [ 7.24181793e-01 -6.89574256e-01 -6.93374256e-03 -2.91670088e+02] [ 9.67325392e-03 1.04087781e-04 9.99953208e-01 -5.92410253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.166559995 meters 0.047793114413961335 Centerline is valid? [True, True] Translation: X:443.19, Y:-291.63, Z:-5.93 [[-6.90975255e-01 -7.22846452e-01 6.79729500e-03 4.43185806e+02] [ 7.22812710e-01 -6.91008682e-01 -6.98477092e-03 -2.91630195e+02] [ 9.74590674e-03 8.68673459e-05 9.99952504e-01 -5.92707933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.2265599950001 meters 0.04862127907726891 Centerline is valid? [True, True] Translation: X:443.15, Y:-291.59, Z:-5.93 [[-6.93039265e-01 -7.20858097e-01 7.75766658e-03 4.43147883e+02] [ 7.20814048e-01 -6.93082679e-01 -7.96921265e-03 -2.91589172e+02] [ 1.11213758e-02 6.88577714e-05 9.99938153e-01 -5.92848308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.286559995 meters 0.04766202512034196 Centerline is valid? [True, True] Translation: X:443.11, Y:-291.55, Z:-5.93 [[-6.94537367e-01 -7.19406471e-01 8.49564634e-03 4.43108998e+02] [ 7.19353564e-01 -6.94589323e-01 -8.72478982e-03 -2.91546764e+02] [ 1.21776555e-02 5.16809240e-05 9.99925848e-01 -5.92863574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.346559995 meters 0.048119574652968844 Centerline is valid? [True, True] Translation: X:443.07, Y:-291.50, Z:-5.93 [[-6.97735940e-01 -7.16298418e-01 9.00748919e-03 4.43071272e+02] [ 7.16238716e-01 -6.97794079e-01 -9.24803247e-03 -2.91504247e+02] [ 1.29097236e-02 -1.17213822e-06 9.99916666e-01 -5.92977260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.406559995 meters 0.049819584081910395 Centerline is valid? [True, True] Translation: X:443.03, Y:-291.46, Z:-5.92 [[-7.00465768e-01 -7.13629493e-01 8.98077656e-03 4.43032674e+02] [ 7.13569962e-01 -7.00523336e-01 -9.21761318e-03 -2.91463626e+02] [ 1.28692042e-02 -4.82101085e-05 9.99917187e-01 -5.92385112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.4665599950001 meters 0.049529283271835145 Centerline is valid? [True, True] Translation: X:442.99, Y:-291.42, Z:-5.92 [[-7.03571707e-01 -7.10579603e-01 7.96752114e-03 4.42992795e+02] [ 7.10532569e-01 -7.03616813e-01 -8.17606459e-03 -2.91420944e+02] [ 1.14158266e-02 -9.12644513e-05 9.99934833e-01 -5.92307023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.526559995 meters 0.0488292771791035 Centerline is valid? [True, True] Translation: X:442.95, Y:-291.38, Z:-5.92 [[-7.04279102e-01 -7.09882591e-01 7.59300109e-03 4.42952882e+02] [ 7.09839846e-01 -7.04320025e-01 -7.79070987e-03 -2.91380295e+02] [ 1.08783920e-02 -9.70194249e-05 9.99940824e-01 -5.92332230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.586559995 meters 0.04884990648852672 Centerline is valid? [True, True] Translation: X:442.91, Y:-291.34, Z:-5.92 [[-7.03946399e-01 -7.10218603e-01 7.00024156e-03 4.42909266e+02] [ 7.10182303e-01 -7.03981200e-01 -7.18101610e-03 -2.91340149e+02] [ 1.00281297e-02 -8.36027528e-05 9.99949714e-01 -5.92274071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.646559995 meters 0.048705711965982224 Centerline is valid? [True, True] Translation: X:442.87, Y:-291.30, Z:-5.92 [[-7.02057649e-01 -7.12087394e-01 6.82652319e-03 4.42867554e+02] [ 7.12052967e-01 -7.02090835e-01 -7.00229030e-03 -2.91299793e+02] [ 9.77908202e-03 -5.51653760e-05 9.99952182e-01 -5.92452414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.7065599950001 meters 0.04840330425327019 Centerline is valid? [True, True] Translation: X:442.83, Y:-291.26, Z:-5.93 [[-6.99980266e-01 -7.14125939e-01 7.19523769e-03 4.42827080e+02] [ 7.14087824e-01 -7.00017245e-01 -7.37808250e-03 -2.91261616e+02] [ 1.03056705e-02 -2.64805202e-05 9.99946895e-01 -5.92901345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.766559995 meters 0.0483339727887374 Centerline is valid? [True, True] Translation: X:442.79, Y:-291.22, Z:-5.93 [[-6.98780588e-01 -7.15295749e-01 7.59482410e-03 4.42785888e+02] [ 7.15253380e-01 -6.98821860e-01 -7.78527135e-03 -2.91223438e+02] [ 1.08762006e-02 -7.97288165e-06 9.99940852e-01 -5.92695643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.826559995 meters 0.04850192657201722 Centerline is valid? [True, True] Translation: X:442.74, Y:-291.19, Z:-5.93 [[-6.94224055e-01 -7.19720610e-01 7.42995393e-03 4.42740480e+02] [ 7.19680338e-01 -6.94263811e-01 -7.61393168e-03 -2.91189784e+02] [ 1.06382517e-02 6.14172307e-05 9.99943410e-01 -5.92930781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.886559995 meters 0.04936287440954549 Centerline is valid? [True, True] Translation: X:442.70, Y:-291.15, Z:-5.92 [[-6.91220177e-01 -7.22610830e-01 6.94651482e-03 4.42698238e+02] [ 7.22575791e-01 -6.91255074e-01 -7.11680383e-03 -2.91149584e+02] [ 9.94449314e-03 1.00105039e-04 9.99950547e-01 -5.92499719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.9465599950001 meters 0.048913320347746904 Centerline is valid? [True, True] Translation: X:442.65, Y:-291.11, Z:-5.92 [[-6.87717155e-01 -7.25942716e-01 7.23100427e-03 4.42654430e+02] [ 7.25904951e-01 -6.87755152e-01 -7.40631287e-03 -2.91111105e+02] [ 1.03497193e-02 1.55573383e-04 9.99946428e-01 -5.92428909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.006559995 meters 0.04891403794264027 Centerline is valid? [True, True] Translation: X:442.61, Y:-291.07, Z:-5.92 [[-6.86213516e-01 -7.27372799e-01 6.31043441e-03 4.42613042e+02] [ 7.27344113e-01 -6.86242513e-01 -6.46182340e-03 -2.91069981e+02] [ 9.03064294e-03 1.55666763e-04 9.99959211e-01 -5.92239962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.066559995 meters 0.04893877874218517 Centerline is valid? [True, True] Translation: X:442.57, Y:-291.03, Z:-5.92 [[-6.85022128e-01 -7.28502713e-01 5.33681495e-03 4.42569540e+02] [ 7.28482241e-01 -6.85042901e-01 -5.46332374e-03 -2.91033133e+02] [ 7.63599336e-03 1.45277264e-04 9.99970835e-01 -5.92249268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.126559995 meters 0.04951469060176563 Centerline is valid? [True, True] Translation: X:442.53, Y:-290.99, Z:-5.92 [[-6.84290186e-01 -7.29190098e-01 5.36116914e-03 4.42527993e+02] [ 7.29169471e-01 -6.84311169e-01 -5.48683632e-03 -2.90992174e+02] [ 7.66965464e-03 1.54612625e-04 9.99970576e-01 -5.92095802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.1865599950002 meters 0.04928448337259899 Centerline is valid? [True, True] Translation: X:442.49, Y:-290.95, Z:-5.92 [[-6.84136702e-01 -7.29331312e-01 5.72807369e-03 4.42486487e+02] [ 7.29307782e-01 -6.84160661e-01 -5.86082685e-03 -2.90951371e+02] [ 8.19340721e-03 1.67921968e-04 9.99966419e-01 -5.92038728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.246559995 meters 0.04946967241727643 Centerline is valid? [True, True] Translation: X:442.44, Y:-290.91, Z:-5.92 [[-6.84099124e-01 -7.29361415e-01 6.34943079e-03 4.42443947e+02] [ 7.29332521e-01 -6.84128564e-01 -6.49481603e-03 -2.90913130e+02] [ 9.08089517e-03 1.87748403e-04 9.99958750e-01 -5.92206547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.306559995 meters 0.05024302568339196 Centerline is valid? [True, True] Translation: X:442.40, Y:-290.87, Z:-5.92 [[-6.84711835e-01 -7.28773954e-01 7.63070586e-03 4.42403222e+02] [ 7.28732212e-01 -6.84754319e-01 -7.80299286e-03 -2.90873828e+02] [ 1.09117767e-02 2.17939604e-04 9.99940441e-01 -5.92369423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.366559995 meters 0.050068642629041676 Centerline is valid? [True, True] Translation: X:442.37, Y:-290.83, Z:-5.92 [[-6.85754858e-01 -7.27783570e-01 8.44690968e-03 4.42365225e+02] [ 7.27732362e-01 -6.85806842e-01 -8.63621569e-03 -2.90830198e+02] [ 1.20782443e-02 2.24762672e-04 9.99927030e-01 -5.92204469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.426559995 meters 0.049382750258228386 Centerline is valid? [True, True] Translation: X:442.33, Y:-290.79, Z:-5.92 [[-6.88188878e-01 -7.25466949e-01 9.68368290e-03 4.42325841e+02] [ 7.25399454e-01 -6.88256972e-01 -9.89811575e-03 -2.90788296e+02] [ 1.38456181e-02 2.12765111e-04 9.99904122e-01 -5.92241558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.486559995 meters 0.049377000851894046 Centerline is valid? [True, True] Translation: X:442.29, Y:-290.74, Z:-5.92 [[-6.90307594e-01 -7.23453515e-01 9.50985721e-03 4.42287744e+02] [ 7.23388262e-01 -6.90373075e-01 -9.71801929e-03 -2.90744475e+02] [ 1.35958846e-02 1.70896576e-04 9.99907557e-01 -5.91988413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.546559995 meters 0.0506216081360859 Centerline is valid? [True, True] Translation: X:442.25, Y:-290.70, Z:-5.92 [[-6.94260946e-01 -7.19679648e-01 7.93374748e-03 4.42249504e+02] [ 7.19634009e-01 -6.94306271e-01 -8.10525460e-03 -2.90700081e+02] [ 1.13416374e-02 8.22327811e-05 9.99935678e-01 -5.91703436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.606559995 meters 0.04968866291794685 Centerline is valid? [True, True] Translation: X:442.21, Y:-290.66, Z:-5.92 [[-6.96538263e-01 -7.17485161e-01 7.03499421e-03 4.42210353e+02] [ 7.17449184e-01 -6.96573788e-01 -7.18521525e-03 -2.90658409e+02] [ 1.00556779e-02 4.24734986e-05 9.99949440e-01 -5.91631460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.666559995 meters 0.04954114405888071 Centerline is valid? [True, True] Translation: X:442.17, Y:-290.62, Z:-5.92 [[-6.98031238e-01 -7.16038548e-01 6.41780142e-03 4.42171008e+02] [ 7.16008564e-01 -6.98060740e-01 -6.55285490e-03 -2.90617029e+02] [ 9.17211192e-03 2.11033541e-05 9.99957935e-01 -5.91579779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.7265599950001 meters 0.04977124033271345 Centerline is valid? [True, True] Translation: X:442.13, Y:-290.58, Z:-5.92 [[-6.97844234e-01 -7.16228020e-01 5.55413239e-03 4.42129209e+02] [ 7.16205583e-01 -6.97866336e-01 -5.66920741e-03 -2.90579277e+02] [ 7.93648722e-03 2.16769227e-05 9.99968505e-01 -5.91687838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.786559995 meters 0.050370661448546954 Centerline is valid? [True, True] Translation: X:442.09, Y:-290.54, Z:-5.92 [[-6.96137669e-01 -7.17886258e-01 5.62720669e-03 4.42087398e+02] [ 7.17863296e-01 -6.96160411e-01 -5.74191219e-03 -2.90542497e+02] [ 8.03947838e-03 4.24037743e-05 9.99967682e-01 -5.91741521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.846559995 meters 0.05064617933081011 Centerline is valid? [True, True] Translation: X:442.04, Y:-290.51, Z:-5.92 [[-6.94070015e-01 -7.19882666e-01 5.98011892e-03 4.42044863e+02] [ 7.19856823e-01 -6.94095773e-01 -6.10010633e-03 -2.90505598e+02] [ 8.54213607e-03 7.09285171e-05 9.99963513e-01 -5.91719984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.906559995 meters 0.05055909954707225 Centerline is valid? [True, True] Translation: X:442.00, Y:-290.47, Z:-5.92 [[-6.90383552e-01 -7.23406013e-01 7.36832669e-03 4.42000534e+02] [ 7.23367001e-01 -6.90422856e-01 -7.51409835e-03 -2.90470440e+02] [ 1.05230051e-02 1.42394470e-04 9.99944622e-01 -5.91771407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.9665599950001 meters 0.0500682573312942 Centerline is valid? [True, True] Translation: X:441.96, Y:-290.43, Z:-5.92 [[-6.88662544e-01 -7.25034969e-01 8.25797535e-03 4.41959126e+02] [ 7.24986109e-01 -6.88712029e-01 -8.41925120e-03 -2.90429650e+02] [ 1.17916185e-02 1.88894460e-04 9.99930459e-01 -5.91621801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.026559995 meters 0.05116206615503046 Centerline is valid? [True, True] Translation: X:441.92, Y:-290.39, Z:-5.92 [[-6.87724085e-01 -7.25926105e-01 8.17755125e-03 4.41916396e+02] [ 7.25878282e-01 -6.87772672e-01 -8.33492321e-03 -2.90392100e+02] [ 1.16748346e-02 2.03779411e-04 9.99931826e-01 -5.91630305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.086559995 meters 0.05075852069754644 Centerline is valid? [True, True] Translation: X:441.87, Y:-290.35, Z:-5.92 [[-6.87949539e-01 -7.25723156e-01 7.16474490e-03 4.41874971e+02] [ 7.25686454e-01 -6.87986824e-01 -7.30072700e-03 -2.90351362e+02] [ 1.02275567e-02 1.76826543e-04 9.99947682e-01 -5.91517432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.146559995 meters 0.05078208751725061 Centerline is valid? [True, True] Translation: X:441.83, Y:-290.31, Z:-5.91 [[-6.88948556e-01 -7.24786774e-01 5.83258889e-03 4.41834163e+02] [ 7.24762431e-01 -6.88973232e-01 -5.94172769e-03 -2.90309753e+02] [ 8.32498326e-03 1.33696590e-04 9.99965338e-01 -5.91240167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.2065599950001 meters 0.050814718796757405 Centerline is valid? [True, True] Translation: X:441.79, Y:-290.27, Z:-5.91 [[-6.90348531e-01 -7.23458225e-01 5.20598984e-03 4.41791364e+02] [ 7.23438801e-01 -6.90368152e-01 -5.30248727e-03 -2.90271094e+02] [ 7.43017762e-03 1.05650748e-04 9.99972390e-01 -5.91356570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.266559995 meters 0.051585758765970484 Centerline is valid? [True, True] Translation: X:441.75, Y:-290.23, Z:-5.92 [[-6.92182978e-01 -7.21700721e-01 5.54925317e-03 4.41750027e+02] [ 7.21678603e-01 -6.92205215e-01 -5.65103565e-03 -2.90231789e+02] [ 7.91957849e-03 9.32265944e-05 9.99968635e-01 -5.91555164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.326559995 meters 0.05113420585895522 Centerline is valid? [True, True] Translation: X:441.71, Y:-290.19, Z:-5.91 [[-6.94471472e-01 -7.19494907e-01 6.03761439e-03 4.41711875e+02] [ 7.19468654e-01 -6.94497713e-01 -6.14673852e-03 -2.90187933e+02] [ 8.61565645e-03 7.51397522e-05 9.99962882e-01 -5.91420603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.386559995 meters 0.05107537232065613 Centerline is valid? [True, True] Translation: X:441.67, Y:-290.15, Z:-5.91 [[-6.94361431e-01 -7.19593696e-01 6.86407285e-03 4.41672514e+02] [ 7.19559783e-01 -6.94395352e-01 -6.98675614e-03 -2.90145991e+02] [ 9.79400596e-03 8.77767772e-05 9.99952034e-01 -5.91342707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.4465599950001 meters 0.051245978579485166 Centerline is valid? [True, True] Translation: X:441.63, Y:-290.11, Z:-5.92 [[-6.92883478e-01 -7.20998796e-01 8.55698433e-03 4.41631104e+02] [ 7.20946223e-01 -6.92936301e-01 -8.70778872e-03 -2.90105691e+02] [ 1.22077503e-02 1.35642605e-04 9.99925473e-01 -5.91578237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.506559995 meters 0.05117757258407088 Centerline is valid? [True, True] Translation: X:441.59, Y:-290.06, Z:-5.92 [[-6.91663494e-01 -7.22165900e-01 8.83312209e-03 4.41591069e+02] [ 7.22110002e-01 -6.91719875e-01 -8.98659277e-03 -2.90063171e+02] [ 1.25998570e-02 1.62787664e-04 9.99920605e-01 -5.91568486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.566559995 meters 0.05133602903217355 Centerline is valid? [True, True] Translation: X:441.55, Y:-290.02, Z:-5.92 [[-6.90920574e-01 -7.22878556e-01 8.68065321e-03 4.41550906e+02] [ 7.22824655e-01 -6.90975082e-01 -8.82917817e-03 -2.90022906e+02] [ 1.23805386e-02 1.74329313e-04 9.99923343e-01 -5.91686568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.626559995 meters 0.05067417259269134 Centerline is valid? [True, True] Translation: X:441.51, Y:-289.98, Z:-5.92 [[-6.90596137e-01 -7.23195789e-01 8.05150347e-03 4.41513381e+02] [ 7.23149468e-01 -6.90643050e-01 -8.18687478e-03 -2.89980117e+02] [ 1.14814283e-02 1.68616355e-04 9.99934072e-01 -5.91677282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.6865599950002 meters 0.05073058676025322 Centerline is valid? [True, True] Translation: X:441.47, Y:-289.94, Z:-5.92 [[-6.90696527e-01 -7.23101607e-01 7.89767156e-03 4.41473842e+02] [ 7.23057059e-01 -6.90741658e-01 -8.02812221e-03 -2.89938219e+02] [ 1.12603988e-02 1.65471043e-04 9.99936586e-01 -5.91636995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.746559995 meters 0.051278002772605906 Centerline is valid? [True, True] Translation: X:441.43, Y:-289.90, Z:-5.92 [[-6.90878071e-01 -7.22937981e-01 6.94018568e-03 4.41433624e+02] [ 7.22903594e-01 -6.90912914e-01 -7.05267015e-03 -2.89898633e+02] [ 9.89370703e-03 1.44550013e-04 9.99951046e-01 -5.91865367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.806559995 meters 0.050645715539745825 Centerline is valid? [True, True] Translation: X:441.40, Y:-289.85, Z:-5.91 [[-6.90588376e-01 -7.23220480e-01 6.31124601e-03 4.41400188e+02] [ 7.23192072e-01 -6.90617201e-01 -6.41165751e-03 -2.89851814e+02] [ 8.99569707e-03 1.36426928e-04 9.99959529e-01 -5.91336875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.866559995 meters 0.05036584650725575 Centerline is valid? [True, True] Translation: X:441.36, Y:-289.81, Z:-5.91 [[-6.89325502e-01 -7.24427394e-01 5.94168561e-03 4.41359819e+02] [ 7.24402273e-01 -6.89351094e-01 -6.03465205e-03 -2.89809703e+02] [ 8.46757473e-03 1.44331001e-04 9.99964139e-01 -5.91333211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.926559995 meters 0.051996896417824734 Centerline is valid? [True, True] Translation: X:441.32, Y:-289.77, Z:-5.92 [[-6.86949569e-01 -7.26675618e-01 6.54492365e-03 4.41318207e+02] [ 7.26645256e-01 -6.86980720e-01 -6.64553966e-03 -2.89771657e+02] [ 9.32538800e-03 1.90687114e-04 9.99956499e-01 -5.91599538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.986559995 meters 0.05011005562926972 Centerline is valid? [True, True] Translation: X:441.28, Y:-289.73, Z:-5.92 [[-6.85766934e-01 -7.27777419e-01 7.98376930e-03 4.41282309e+02] [ 7.27732338e-01 -6.85813360e-01 -8.10425888e-03 -2.89726514e+02] [ 1.13734723e-02 2.52414338e-04 9.99935288e-01 -5.91604585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.046559995 meters 0.04998903788505558 Centerline is valid? [True, True] Translation: X:441.25, Y:-289.68, Z:-5.91 [[-6.86809631e-01 -7.26788964e-01 8.38650484e-03 4.41245100e+02] [ 7.26739172e-01 -6.86860787e-01 -8.51091905e-03 -2.89680854e+02] [ 1.19460033e-02 2.49420410e-04 9.99928613e-01 -5.91486487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.106559995 meters 0.04971066589380606 Centerline is valid? [True, True] Translation: X:441.21, Y:-289.64, Z:-5.91 [[-6.89661981e-01 -7.24083054e-01 8.37151640e-03 4.41208532e+02] [ 7.24033267e-01 -6.89712759e-01 -8.49345431e-03 -2.89637790e+02] [ 1.19239080e-02 2.03643835e-04 9.99928887e-01 -5.91484334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.166559995 meters 0.04969510798549673 Centerline is valid? [True, True] Translation: X:441.18, Y:-289.59, Z:-5.91 [[-6.96406917e-01 -7.17601600e-01 8.08392286e-03 4.41175915e+02] [ 7.17554760e-01 -6.96453829e-01 -8.19944433e-03 -2.89589068e+02] [ 1.15140134e-02 9.05075827e-05 9.99933707e-01 -5.91296260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.2265599950001 meters 0.049672727970816795 Centerline is valid? [True, True] Translation: X:441.14, Y:-289.54, Z:-5.91 [[-7.01724509e-01 -7.12407340e-01 7.64822556e-03 4.41140972e+02] [ 7.12365125e-01 -7.01766187e-01 -7.75546722e-03 -2.89543599e+02] [ 1.08923179e-02 6.12773029e-06 9.99940677e-01 -5.91315420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.286559995 meters 0.050184985228405886 Centerline is valid? [True, True] Translation: X:441.11, Y:-289.49, Z:-5.91 [[-7.09066117e-01 -7.05108871e-01 6.83528830e-03 4.41108977e+02] [ 7.05074830e-01 -7.09099056e-01 -6.92918843e-03 -2.89494892e+02] [ 9.73272871e-03 -9.38629999e-05 9.99952632e-01 -5.91350757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.346559995 meters 0.050032512125707966 Centerline is valid? [True, True] Translation: X:441.07, Y:-289.45, Z:-5.91 [[-7.12496105e-01 -7.01644164e-01 6.69082780e-03 4.41072799e+02] [ 7.01611412e-01 -7.12527507e-01 -6.78068379e-03 -2.89450147e+02] [ 9.52502606e-03 -1.36849643e-04 9.99954627e-01 -5.91316436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.406559995 meters 0.05099105587981263 Centerline is valid? [True, True] Translation: X:441.03, Y:-289.41, Z:-5.91 [[-7.10894542e-01 -7.03275765e-01 5.67001027e-03 4.41031746e+02] [ 7.03252311e-01 -7.10917146e-01 -5.74434395e-03 -2.89411407e+02] [ 8.07076541e-03 -9.61749269e-05 9.99967426e-01 -5.91316841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.4665599950001 meters 0.049576251066223646 Centerline is valid? [True, True] Translation: X:440.99, Y:-289.37, Z:-5.91 [[-7.07185111e-01 -7.06997277e-01 6.63856213e-03 4.40990904e+02] [ 7.06965303e-01 -7.07216266e-01 -6.72405428e-03 -2.89372967e+02] [ 9.44878719e-03 -6.19179798e-05 9.99955357e-01 -5.91422735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.526559995 meters 0.049893321293794785 Centerline is valid? [True, True] Translation: X:440.95, Y:-289.33, Z:-5.92 [[-7.03031988e-01 -7.11115077e-01 7.83395710e-03 4.40948605e+02] [ 7.11070830e-01 -7.03075634e-01 -7.93275443e-03 -2.89334818e+02] [ 1.11489656e-02 -6.48174102e-06 9.99937848e-01 -5.91522341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.586559995 meters 0.049922112020119716 Centerline is valid? [True, True] Translation: X:440.91, Y:-289.30, Z:-5.91 [[-6.97858757e-01 -7.16184994e-01 8.49763897e-03 4.40905072e+02] [ 7.16133335e-01 -6.97910487e-01 -8.60226864e-03 -2.89297409e+02] [ 1.20914071e-02 8.22740285e-05 9.99926893e-01 -5.91323354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.646559995 meters 0.049308162445212356 Centerline is valid? [True, True] Translation: X:440.86, Y:-289.26, Z:-5.91 [[-6.95709285e-01 -7.18281249e-01 7.78702060e-03 4.40862475e+02] [ 7.18238013e-01 -6.95752855e-01 -7.88174277e-03 -2.89257815e+02] [ 1.10791499e-02 1.09532577e-04 9.99938618e-01 -5.91248182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.7065599950001 meters 0.049606595606528 Centerline is valid? [True, True] Translation: X:440.82, Y:-289.22, Z:-5.91 [[-6.94911338e-01 -7.19061213e-01 7.01461905e-03 4.40823253e+02] [ 7.19026185e-01 -6.94946732e-01 -7.09832277e-03 -2.89217544e+02] [ 9.97891516e-03 1.10989804e-04 9.99950203e-01 -5.91092144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.766559995 meters 0.04939375939744579 Centerline is valid? [True, True] Translation: X:440.78, Y:-289.18, Z:-5.91 [[-6.95194033e-01 -7.18793492e-01 6.41655771e-03 4.40782447e+02] [ 7.18764186e-01 -6.95223637e-01 -6.49153080e-03 -2.89176640e+02] [ 9.12701268e-03 9.91184043e-05 9.99958343e-01 -5.91083546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.826559995 meters 0.049953262764899316 Centerline is valid? [True, True] Translation: X:440.74, Y:-289.14, Z:-5.91 [[-6.95892011e-01 -7.18121498e-01 5.98527419e-03 4.40742598e+02] [ 7.18095990e-01 -6.95917745e-01 -6.05332423e-03 -2.89136707e+02] [ 8.51228077e-03 8.55414204e-05 9.99963766e-01 -5.91101754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.886559995 meters 0.04942194002397698 Centerline is valid? [True, True] Translation: X:440.70, Y:-289.09, Z:-5.91 [[-6.96855679e-01 -7.17194652e-01 4.89826231e-03 4.40702719e+02] [ 7.17177554e-01 -6.96872892e-01 -4.95264605e-03 -2.89094535e+02] [ 6.96547749e-03 6.16442560e-05 9.99975739e-01 -5.90924557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.9465599950001 meters 0.04964045454841203 Centerline is valid? [True, True] Translation: X:440.66, Y:-289.06, Z:-5.91 [[-6.96910857e-01 -7.17142049e-01 4.74751919e-03 4.40660529e+02] [ 7.17125993e-01 -6.96927025e-01 -4.79913209e-03 -2.89056706e+02] [ 6.75033385e-03 6.00021538e-05 9.99977214e-01 -5.91164227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.006559995 meters 0.04929187234495694 Centerline is valid? [True, True] Translation: X:440.62, Y:-289.02, Z:-5.91 [[-6.96251181e-01 -7.17779092e-01 5.24102962e-03 4.40620449e+02] [ 7.17759554e-01 -6.96270903e-01 -5.29649767e-03 -2.89015313e+02] [ 7.45089171e-03 7.41063267e-05 9.99972239e-01 -5.91144927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.066559995 meters 0.04927632002544256 Centerline is valid? [True, True] Translation: X:440.58, Y:-288.98, Z:-5.91 [[-6.95389585e-01 -7.18605219e-01 6.31385357e-03 4.40580319e+02] [ 7.18576914e-01 -6.95418241e-01 -6.37876262e-03 -2.88975214e+02] [ 8.97458105e-03 1.01264326e-04 9.99959723e-01 -5.91286304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.126559995 meters 0.049233353052232025 Centerline is valid? [True, True] Translation: X:440.54, Y:-288.93, Z:-5.91 [[-6.93992299e-01 -7.19949237e-01 6.91260353e-03 4.40540719e+02] [ 7.19915394e-01 -6.94026713e-01 -6.98187520e-03 -2.88932451e+02] [ 9.82412723e-03 1.31122070e-04 9.99951734e-01 -5.91286410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.1865599950002 meters 0.04936336487769211 Centerline is valid? [True, True] Translation: X:440.50, Y:-288.89, Z:-5.91 [[-6.93324989e-01 -7.20586064e-01 7.49555992e-03 4.40501520e+02] [ 7.20546329e-01 -6.93365488e-01 -7.56881678e-03 -2.88889449e+02] [ 1.06511465e-02 1.53248377e-04 9.99943263e-01 -5.91180293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.246559995 meters 0.04944675347307421 Centerline is valid? [True, True] Translation: X:440.46, Y:-288.85, Z:-5.91 [[-6.92584097e-01 -7.21296840e-01 7.62479724e-03 4.40460473e+02] [ 7.21255789e-01 -6.92626047e-01 -7.69719663e-03 -2.88849528e+02] [ 1.08330968e-02 1.68473170e-04 9.99941306e-01 -5.91354076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.306559995 meters 0.04948551616155695 Centerline is valid? [True, True] Translation: X:440.42, Y:-288.81, Z:-5.91 [[-6.92772235e-01 -7.21118789e-01 7.37045104e-03 4.40421149e+02] [ 7.21080443e-01 -6.92811422e-01 -7.43828764e-03 -2.88807772e+02] [ 1.04702216e-02 1.61648949e-04 9.99945173e-01 -5.91345288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.366559995 meters 0.04993831414866699 Centerline is valid? [True, True] Translation: X:440.38, Y:-288.76, Z:-5.91 [[-6.93824448e-01 -7.20109540e-01 7.06300496e-03 4.40382179e+02] [ 7.20074293e-01 -6.93860382e-01 -7.12618012e-03 -2.88764403e+02] [ 1.00323696e-02 1.41570313e-04 9.99949665e-01 -5.91185904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.426559995 meters 0.04978122208932452 Centerline is valid? [True, True] Translation: X:440.34, Y:-288.72, Z:-5.91 [[-6.94834129e-01 -7.19138014e-01 6.78603358e-03 4.40342195e+02] [ 7.19105448e-01 -6.94867254e-01 -6.84496343e-03 -2.88722157e+02] [ 9.63786593e-03 1.23759517e-04 9.99953547e-01 -5.91124626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.486559995 meters 0.049523988615645546 Centerline is valid? [True, True] Translation: X:440.30, Y:-288.68, Z:-5.91 [[-6.95305735e-01 -7.18686761e-01 6.26691822e-03 4.40301678e+02] [ 7.18658980e-01 -6.95333968e-01 -6.32008004e-03 -2.88681180e+02] [ 8.89975897e-03 1.09389159e-04 9.99960390e-01 -5.91104437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.546559995 meters 0.049516974664991956 Centerline is valid? [True, True] Translation: X:440.26, Y:-288.64, Z:-5.91 [[-6.95957400e-01 -7.18061683e-01 5.54221512e-03 4.40261617e+02] [ 7.18039949e-01 -6.95979461e-01 -5.58761440e-03 -2.88640660e+02] [ 7.86951970e-03 9.07902717e-05 9.99969031e-01 -5.91050456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.606559995 meters 0.04909354006769113 Centerline is valid? [True, True] Translation: X:440.22, Y:-288.60, Z:-5.91 [[-6.96083172e-01 -7.17939662e-01 5.55507643e-03 4.40221128e+02] [ 7.17917834e-01 -6.96105332e-01 -5.59911276e-03 -2.88598723e+02] [ 7.88674345e-03 9.06402636e-05 9.99968895e-01 -5.91008036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.666559995 meters 0.04922967004572236 Centerline is valid? [True, True] Translation: X:440.18, Y:-288.56, Z:-5.91 [[-6.96475282e-01 -7.17553910e-01 6.21027543e-03 4.40183927e+02] [ 7.17526631e-01 -6.96502962e-01 -6.25755719e-03 -2.88556553e+02] [ 8.81560987e-03 9.78041024e-05 9.99961137e-01 -5.90735785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.7265599950001 meters 0.04930956924543499 Centerline is valid? [True, True] Translation: X:440.14, Y:-288.52, Z:-5.91 [[-6.97460594e-01 -7.16600726e-01 5.66729191e-03 4.40140027e+02] [ 7.16577990e-01 -6.97483615e-01 -5.70888220e-03 -2.88519147e+02] [ 8.04383238e-03 7.93362768e-05 9.99967645e-01 -5.91053227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.786559995 meters 0.04948920205291022 Centerline is valid? [True, True] Translation: X:440.10, Y:-288.48, Z:-5.91 [[-6.98971818e-01 -7.15127687e-01 5.54876367e-03 4.40100288e+02] [ 7.15105857e-01 -6.98993840e-01 -5.58803743e-03 -2.88477432e+02] [ 7.87471190e-03 6.20727086e-05 9.99968992e-01 -5.90948480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.846559995 meters 0.049492402259515005 Centerline is valid? [True, True] Translation: X:440.06, Y:-288.43, Z:-5.91 [[-7.01814995e-01 -7.12342284e-01 4.91769931e-03 4.40060491e+02] [ 7.12325073e-01 -7.01832224e-01 -4.95178493e-03 -2.88434505e+02] [ 6.97876563e-03 2.77636088e-05 9.99975648e-01 -5.90887476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.906559995 meters 0.04954541403589148 Centerline is valid? [True, True] Translation: X:440.02, Y:-288.39, Z:-5.91 [[-7.05433649e-01 -7.08765339e-01 3.88080065e-03 4.40022350e+02] [ 7.08754574e-01 -7.05444324e-01 -3.90636836e-03 -2.88393772e+02] [ 5.50638728e-03 -5.14846974e-06 9.99984840e-01 -5.90877716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.9665599950001 meters 0.04909306147661528 Centerline is valid? [True, True] Translation: X:439.98, Y:-288.35, Z:-5.91 [[-7.08675298e-01 -7.05528970e-01 2.86274524e-03 4.39982192e+02] [ 7.05523088e-01 -7.08681079e-01 -2.88099446e-03 -2.88353559e+02] [ 4.06139844e-03 -2.19567417e-05 9.99991752e-01 -5.90761831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.026559995 meters 0.05052332438640736 Centerline is valid? [True, True] Translation: X:439.94, Y:-288.31, Z:-5.91 [[-7.09887899e-01 -7.04305605e-01 3.57582193e-03 4.39942373e+02] [ 7.04296416e-01 -7.09896904e-01 -3.59782608e-03 -2.88313421e+02] [ 5.07243399e-03 -3.56146226e-05 9.99987135e-01 -5.90738556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.086559995 meters 0.04979316200076245 Centerline is valid? [True, True] Translation: X:439.90, Y:-288.27, Z:-5.91 [[-7.11439530e-01 -7.02736870e-01 3.83233846e-03 4.39902001e+02] [ 7.02726299e-01 -7.11449850e-01 -3.85483755e-03 -2.88273475e+02] [ 5.43545310e-03 -4.93987970e-05 9.99985227e-01 -5.90898571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.146559995 meters 0.049638591925811146 Centerline is valid? [True, True] Translation: X:439.86, Y:-288.23, Z:-5.91 [[-7.11715458e-01 -7.02456459e-01 4.00384503e-03 4.39861073e+02] [ 7.02444923e-01 -7.11726718e-01 -4.02601811e-03 -2.88234832e+02] [ 5.67774591e-03 -5.28987081e-05 9.99983880e-01 -5.90878306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.2065599950001 meters 0.049790406606016836 Centerline is valid? [True, True] Translation: X:439.82, Y:-288.20, Z:-5.91 [[-7.10259900e-01 -7.03930668e-01 3.53391257e-03 4.39816987e+02] [ 7.03921704e-01 -7.10268691e-01 -3.55270847e-03 -2.88198592e+02] [ 5.01088790e-03 -3.57486053e-05 9.99987445e-01 -5.90957927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.266559995 meters 0.04999795532606076 Centerline is valid? [True, True] Translation: X:439.78, Y:-288.16, Z:-5.91 [[-7.08026343e-01 -7.06174651e-01 4.00756652e-03 4.39776163e+02] [ 7.06163164e-01 -7.08037684e-01 -4.02781172e-03 -2.88161604e+02] [ 5.68184665e-03 -2.18009444e-05 9.99983858e-01 -5.91032001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.326559995 meters 0.04994246696224838 Centerline is valid? [True, True] Translation: X:439.73, Y:-288.13, Z:-5.91 [[-7.03581724e-01 -7.10599881e-01 4.53500091e-03 4.39731695e+02] [ 7.10585273e-01 -7.03596339e-01 -4.55644901e-03 -2.88126387e+02] [ 6.42862217e-03 1.66706116e-05 9.99979336e-01 -5.90961425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.386559995 meters 0.05045441383067084 Centerline is valid? [True, True] Translation: X:439.69, Y:-288.09, Z:-5.91 [[-7.00270616e-01 -7.13860308e-01 4.95235471e-03 4.39687406e+02] [ 7.13842974e-01 -7.00288125e-01 -4.97495216e-03 -2.88088186e+02] [ 7.01949607e-03 5.13908015e-05 9.99975362e-01 -5.90948345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.4465599950001 meters 0.050285157822276556 Centerline is valid? [True, True] Translation: X:439.64, Y:-288.05, Z:-5.91 [[-6.97430796e-01 -7.16634558e-01 5.01946420e-03 4.39643178e+02] [ 7.16616830e-01 -6.97448854e-01 -5.04138663e-03 -2.88051916e+02] [ 7.11365143e-03 8.10142356e-05 9.99974694e-01 -5.91060844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.506559995 meters 0.05047437828929897 Centerline is valid? [True, True] Translation: X:439.60, Y:-288.01, Z:-5.91 [[-6.94667637e-01 -7.19314461e-01 4.85592555e-03 4.39599545e+02] [ 7.19297943e-01 -6.94684601e-01 -4.87585097e-03 -2.88013837e+02] [ 6.88060681e-03 1.05761391e-04 9.99976323e-01 -5.91003097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.566559995 meters 0.050305988720221774 Centerline is valid? [True, True] Translation: X:439.56, Y:-287.98, Z:-5.91 [[-6.94702688e-01 -7.19280189e-01 4.91794694e-03 4.39557207e+02] [ 7.19263256e-01 -6.94720087e-01 -4.93660590e-03 -2.87976391e+02] [ 6.96739934e-03 1.07825144e-04 9.99975722e-01 -5.91103457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.626559995 meters 0.05042226273870893 Centerline is valid? [True, True] Translation: X:439.52, Y:-287.94, Z:-5.91 [[-6.95037532e-01 -7.18957921e-01 4.72613717e-03 4.39517186e+02] [ 7.18942284e-01 -6.95053593e-01 -4.74287329e-03 -2.87936596e+02] [ 6.69484494e-03 1.01344909e-04 9.99977584e-01 -5.91042493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.6865599950002 meters 0.049601393867606425 Centerline is valid? [True, True] Translation: X:439.48, Y:-287.90, Z:-5.91 [[-6.95168774e-01 -7.18836151e-01 3.86845469e-03 4.39476494e+02] [ 7.18825678e-01 -6.95179532e-01 -3.88112519e-03 -2.87895456e+02] [ 5.47916361e-03 8.27075278e-05 9.99984986e-01 -5.90886028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.746559995 meters 0.05086649288639065 Centerline is valid? [True, True] Translation: X:439.43, Y:-287.86, Z:-5.91 [[-6.95067881e-01 -7.18933425e-01 3.92066496e-03 4.39434265e+02] [ 7.18922675e-01 -6.95078934e-01 -3.93240736e-03 -2.87856598e+02] [ 5.55231071e-03 8.53648863e-05 9.99984582e-01 -5.90911432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.806559995 meters 0.050161475913722005 Centerline is valid? [True, True] Translation: X:439.39, Y:-287.82, Z:-5.91 [[-6.94154897e-01 -7.19812762e-01 4.30898206e-03 4.39392967e+02] [ 7.19799801e-01 -6.94168263e-01 -4.32084291e-03 -2.87815869e+02] [ 6.10135646e-03 1.02270161e-04 9.99981381e-01 -5.90977646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.866559995 meters 0.04972784359795398 Centerline is valid? [True, True] Translation: X:439.35, Y:-287.78, Z:-5.91 [[-6.93449143e-01 -7.20490270e-01 4.69641353e-03 4.39351612e+02] [ 7.20474897e-01 -6.93465036e-01 -4.70811708e-03 -2.87775412e+02] [ 6.64895112e-03 1.18808298e-04 9.99977888e-01 -5.91048538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.926559995 meters 0.04998989618249098 Centerline is valid? [True, True] Translation: X:439.31, Y:-287.73, Z:-5.91 [[-6.92459063e-01 -7.21439351e-01 5.07041200e-03 4.39311965e+02] [ 7.21421467e-01 -6.92477612e-01 -5.08172545e-03 -2.87732916e+02] [ 7.17730351e-03 1.39017223e-04 9.99974233e-01 -5.91062279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.986559995 meters 0.050313532281708574 Centerline is valid? [True, True] Translation: X:439.27, Y:-287.69, Z:-5.91 [[-6.92249131e-01 -7.21645886e-01 4.28424437e-03 4.39271398e+02] [ 7.21633128e-01 -6.92262378e-01 -4.29277226e-03 -2.87691987e+02] [ 6.06368264e-03 1.19984803e-04 9.99981609e-01 -5.91082259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.046559995 meters 0.0504277716319993 Centerline is valid? [True, True] Translation: X:439.23, Y:-287.65, Z:-5.91 [[-6.92363740e-01 -7.21542281e-01 3.03123693e-03 4.39232144e+02] [ 7.21535897e-01 -6.92370370e-01 -3.03638846e-03 -2.87650053e+02] [ 4.28962128e-03 8.48609892e-05 9.99990796e-01 -5.90975149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.106559995 meters 0.05051086437553299 Centerline is valid? [True, True] Translation: X:439.19, Y:-287.61, Z:-5.91 [[-6.92962132e-01 -7.20969274e-01 2.60560150e-03 4.39192353e+02] [ 7.20964556e-01 -6.92967027e-01 -2.60923600e-03 -2.87610485e+02] [ 3.68677491e-03 7.04445884e-05 9.99993201e-01 -5.91002862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.166559995 meters 0.05047759784722216 Centerline is valid? [True, True] Translation: X:439.15, Y:-287.57, Z:-5.91 [[-6.93748346e-01 -7.20214443e-01 2.09493290e-03 4.39154280e+02] [ 7.20211391e-01 -6.93751507e-01 -2.09725593e-03 -2.87568173e+02] [ 2.96383687e-03 5.38267064e-05 9.99995606e-01 -5.90974886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.2265599950001 meters 0.05003528627196239 Centerline is valid? [True, True] Translation: X:439.12, Y:-287.53, Z:-5.91 [[-6.93982672e-01 -7.19988500e-01 2.14732885e-03 4.39115110e+02] [ 7.19985295e-01 -6.93985992e-01 -2.14900180e-03 -2.87529579e+02] [ 3.03747273e-03 5.46751858e-05 9.99995385e-01 -5.91006921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.286559995 meters 0.04922133974805914 Centerline is valid? [True, True] Translation: X:439.08, Y:-287.49, Z:-5.91 [[-6.93775284e-01 -7.20187467e-01 2.42218238e-03 4.39077217e+02] [ 7.20183393e-01 -6.93779510e-01 -2.42338051e-03 -2.87487206e+02] [ 3.42574877e-03 6.31340207e-05 9.99994130e-01 -5.91057285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.346559995 meters 0.04966559318700889 Centerline is valid? [True, True] Translation: X:439.04, Y:-287.44, Z:-5.91 [[-6.92760981e-01 -7.21162738e-01 2.55524120e-03 4.39038210e+02] [ 7.21158213e-01 -6.92765689e-01 -2.55584755e-03 -2.87444509e+02] [ 3.61336545e-03 7.21417230e-05 9.99993469e-01 -5.91104135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.406559995 meters 0.04924192284709502 Centerline is valid? [True, True] Translation: X:439.00, Y:-287.40, Z:-5.91 [[-6.92546265e-01 -7.21369151e-01 2.49374369e-03 4.38999091e+02] [ 7.21364845e-01 -6.92550751e-01 -2.49360843e-03 -2.87402415e+02] [ 3.52585626e-03 7.19598213e-05 9.99993782e-01 -5.91085507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.4665599950001 meters 0.050564558144121335 Centerline is valid? [True, True] Translation: X:438.56, Y:-287.81, Z:-4.90 [[-7.67803049e-01 6.40680318e-01 2.68482269e-03 4.38556473e+02] [ 6.40676092e-01 7.67807740e-01 -2.32817672e-03 -2.87812774e+02] [-3.55304464e-03 -6.74794785e-05 -9.99993686e-01 -4.89677408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.526559995 meters 0.04985498979103572 Centerline is valid? [True, True] Translation: X:438.52, Y:-287.69, Z:-4.90 [[-8.10541488e-01 5.85677080e-01 2.20324192e-03 4.38520341e+02] [ 5.85674751e-01 8.10544481e-01 -1.65221434e-03 -2.87687858e+02] [-2.75348965e-03 -4.88051028e-05 -9.99996208e-01 -4.89704006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.586559995 meters 0.04962601643544753 Centerline is valid? [True, True] Translation: X:438.88, Y:-287.20, Z:-5.91 [[-7.48413460e-01 -6.63230730e-01 1.51386287e-03 4.38882320e+02] [ 6.63229352e-01 -7.48414991e-01 -1.35221737e-03 -2.87201750e+02] [ 2.02982978e-03 -7.97939307e-06 9.99997940e-01 -5.90994735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.646559995 meters 0.04933114653952402 Centerline is valid? [True, True] Translation: X:438.38, Y:-287.60, Z:-4.90 [[-8.06951226e-01 5.90616542e-01 1.34881420e-03 4.38384883e+02] [ 5.90615689e-01 8.06952353e-01 -1.00366927e-03 -2.87600955e+02] [-1.68121246e-03 -1.32813253e-05 -9.99998587e-01 -4.89767475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.7065599950001 meters 0.049178431523844886 Centerline is valid? [True, True] Translation: X:438.34, Y:-287.49, Z:-4.90 [[-8.44715338e-01 5.35213710e-01 1.51062877e-03 4.38341948e+02] [ 5.35212839e-01 8.44716689e-01 -9.65679908e-04 -2.87485063e+02] [-1.79289846e-03 -7.21671875e-06 -9.99998393e-01 -4.89834256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.766559995 meters 0.04852396738027468 Centerline is valid? [True, True] Translation: X:438.56, Y:-286.86, Z:-5.91 [[-8.03843979e-01 -5.94838249e-01 1.52124891e-03 4.38556014e+02] [ 5.94837214e-01 -8.03845419e-01 -1.10963822e-03 -2.86856958e+02] [ 1.88290423e-03 1.29194641e-05 9.99998227e-01 -5.90994494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.826559995 meters 0.04882179562290961 Centerline is valid? [True, True] Translation: X:438.59, Y:-287.66, Z:-4.90 [[-8.45353235e-01 5.34204533e-01 1.85088271e-03 4.38593725e+02] [ 5.34203267e-01 8.45355261e-01 -1.16284283e-03 -2.87661498e+02] [-2.18584935e-03 5.73464155e-06 -9.99997611e-01 -4.89731511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.886559995 meters 0.04976721617556033 Centerline is valid? [True, True] Translation: X:438.48, Y:-286.81, Z:-5.91 [[-8.11102503e-01 -5.84901893e-01 1.58257790e-03 4.38481177e+02] [ 5.84900736e-01 -8.11104047e-01 -1.16353393e-03 -2.86807699e+02] [ 1.96418854e-03 -1.80943056e-05 9.99998071e-01 -5.91162659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.9465599950001 meters 0.048987951596555716 Centerline is valid? [True, True] Translation: X:438.05, Y:-287.31, Z:-4.89 [[-8.47859021e-01 5.30215692e-01 2.53000641e-03 4.38049885e+02] [ 5.30213348e-01 8.47862796e-01 -1.57648548e-03 -2.87313237e+02] [-2.98097564e-03 4.80573365e-06 -9.99995557e-01 -4.89447377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.006559995 meters 0.04850453920721149 Centerline is valid? [True, True] Translation: X:438.07, Y:-287.24, Z:-4.89 [[-8.85087989e-01 4.65412455e-01 3.24023128e-03 4.38069893e+02] [ 4.65409304e-01 8.85093920e-01 -1.71276387e-03 -2.87237784e+02] [-3.66505064e-03 -7.91294421e-06 -9.99993284e-01 -4.89348184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.066559995 meters 0.04845682651400492 Centerline is valid? [True, True] Translation: X:438.13, Y:-287.18, Z:-4.89 [[-9.17948121e-01 3.96683534e-01 3.66346032e-03 4.38125706e+02] [ 3.96680247e-01 9.17955431e-01 -1.61493126e-03 -2.87179937e+02] [-4.00350993e-03 -2.92007743e-05 -9.99991986e-01 -4.89307807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.126559995 meters 0.04862396370262302 Centerline is valid? [True, True] Translation: X:438.21, Y:-287.13, Z:-4.89 [[-9.46361733e-01 3.23074237e-01 4.74422867e-03 4.38205785e+02] [ 3.23069774e-01 9.46373622e-01 -1.69995655e-03 -2.87126327e+02] [-5.03902504e-03 -7.60569475e-05 -9.99987301e-01 -4.89226524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.1865599950002 meters 0.04870954374753733 Centerline is valid? [True, True] Translation: X:438.45, Y:-286.54, Z:-5.91 [[-9.08961611e-01 -4.16844703e-01 5.41135585e-03 4.38452132e+02] [ 4.16838275e-01 -9.08977707e-01 -2.31968915e-03 -2.86535079e+02] [ 5.88575197e-03 1.47151848e-04 9.99982668e-01 -5.91455736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.246559995 meters 0.04868872800609488 Centerline is valid? [True, True] Translation: X:438.08, Y:-287.08, Z:-4.89 [[-9.47720885e-01 3.19051079e-01 5.61550781e-03 4.38081603e+02] [ 3.19044890e-01 9.47737517e-01 -1.98943459e-03 -2.87079204e+02] [-5.95675868e-03 -9.38296396e-05 -9.99982254e-01 -4.89196615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.306559995 meters 0.04851660796235013 Centerline is valid? [True, True] Translation: X:438.22, Y:-286.45, Z:-5.91 [[-9.12932350e-01 -4.08099560e-01 3.04515775e-03 4.38219811e+02] [ 4.08096907e-01 -9.12937423e-01 -1.47502455e-03 -2.86453175e+02] [ 3.38199534e-03 -1.03878172e-04 9.99994276e-01 -5.91472796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.366559995 meters 0.04785249344109593 Centerline is valid? [True, True] Translation: X:438.04, Y:-287.07, Z:-4.90 [[-9.47011721e-01 3.21198143e-01 7.43952618e-04 4.38041265e+02] [ 3.21198039e-01 9.47012013e-01 -2.59575798e-04 -2.87072251e+02] [-7.87907331e-04 -6.86520121e-06 -9.99999690e-01 -4.89516123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.426559995 meters 0.048112037042720567 Centerline is valid? [True, True] Translation: X:437.82, Y:-286.92, Z:-4.89 [[-9.67087600e-01 2.54439944e-01 1.37435628e-03 4.37823452e+02] [ 2.54439671e-01 9.67088576e-01 -3.73245513e-04 -2.86924509e+02] [-1.42409282e-03 -1.12703490e-05 -9.99998986e-01 -4.89409836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.486559995 meters 0.048808685146221546 Centerline is valid? [True, True] Translation: X:437.79, Y:-286.84, Z:-4.89 [[-9.82419180e-01 1.86674757e-01 2.25617064e-03 4.37789915e+02] [ 1.86674229e-01 9.82421770e-01 -4.43948430e-04 -2.86837818e+02] [-2.29938512e-03 -1.49745371e-05 -9.99997356e-01 -4.89209873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.546559995 meters 0.048969857729272155 Centerline is valid? [True, True] Translation: X:437.88, Y:-286.77, Z:-4.89 [[-9.92792615e-01 1.19814714e-01 2.69390305e-03 4.37877805e+02] [ 1.19814251e-01 9.92796270e-01 -3.33034500e-04 -2.86773425e+02] [-2.71439933e-03 -7.86621536e-06 -9.99996316e-01 -4.89110718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.606559995 meters 0.04836702713016815 Centerline is valid? [True, True] Translation: X:437.66, Y:-286.68, Z:-4.89 [[-9.98637451e-01 5.20865118e-02 3.19941515e-03 4.37657460e+02] [ 5.20862448e-02 9.98642576e-01 -1.66771698e-04 -2.86678979e+02] [-3.20375874e-03 1.01057408e-07 -9.99994868e-01 -4.89103355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.666559995 meters 0.04823356180111114 Centerline is valid? [True, True] Translation: X:437.68, Y:-286.60, Z:-4.89 [[-9.99865439e-01 -1.55470289e-02 5.23384967e-03 4.37678939e+02] [-1.55467165e-02 9.99879138e-01 1.00354351e-04 -2.86603450e+02] [-5.23477730e-03 1.89716696e-05 -9.99986298e-01 -4.88924019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.7265599950001 meters 0.048638513851160574 Centerline is valid? [True, True] Translation: X:437.99, Y:-286.50, Z:-4.89 [[-9.96033762e-01 -8.88343157e-02 5.02098786e-03 4.37985175e+02] [-8.88330431e-02 9.96046416e-01 4.76353637e-04 -2.86498576e+02] [-5.04345352e-03 2.84346737e-05 -9.99987281e-01 -4.89014380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.786559995 meters 0.04899804837033312 Centerline is valid? [True, True] Translation: X:436.99, Y:-285.92, Z:-5.92 [[-9.99277054e-01 3.77778229e-02 4.26679737e-03 4.36985660e+02] [-3.77777560e-02 -9.99286161e-01 9.62868498e-05 -2.85915061e+02] [ 4.26738908e-03 -6.49727908e-05 9.99990893e-01 -5.91868840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.846559995 meters 0.04904576963276811 Centerline is valid? [True, True] Translation: X:436.94, Y:-286.58, Z:-4.89 [[-9.96395879e-01 -8.47675855e-02 3.11601567e-03 4.36939438e+02] [-8.47670347e-02 9.96400750e-01 3.08631880e-04 -2.86579956e+02] [-3.13096232e-03 4.33841248e-05 -9.99995098e-01 -4.89040935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.906559995 meters 0.04953067052172706 Centerline is valid? [True, True] Translation: X:436.99, Y:-286.50, Z:-4.89 [[-9.87929720e-01 -1.54878978e-01 2.71487675e-03 4.36989893e+02] [-1.54878275e-01 9.87933449e-01 4.68549614e-04 -2.86498981e+02] [-2.75468604e-03 4.24186603e-05 -9.99996205e-01 -4.89063659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.9665599950001 meters 0.04960044017757146 Centerline is valid? [True, True] Translation: X:437.23, Y:-286.36, Z:-4.89 [[-9.73047687e-01 -2.30600188e-01 1.32361563e-03 4.37229533e+02] [-2.30599949e-01 9.73048587e-01 3.33083601e-04 -2.86358604e+02] [-1.36475146e-03 1.88805319e-05 -9.99999069e-01 -4.89161006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.026559995 meters 0.04918037506906241 Centerline is valid? [True, True] Translation: X:437.16, Y:-286.28, Z:-4.89 [[-9.52844197e-01 -3.03458914e-01 7.89474586e-04 4.37157679e+02] [-3.03458802e-01 9.52844524e-01 2.60418819e-04 -2.86284223e+02] [-8.31272948e-04 8.56554811e-06 -9.99999654e-01 -4.89198731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.086559995 meters 0.04946661803270847 Centerline is valid? [True, True] Translation: X:436.43, Y:-286.46, Z:-4.89 [[-9.25880789e-01 -3.77815311e-01 5.95204506e-04 4.36428069e+02] [-3.77815232e-01 9.25880981e-01 2.44459705e-04 -2.86460543e+02] [-6.43449151e-04 1.46321562e-06 -9.99999793e-01 -4.89099573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.146559995 meters 0.04859905460593362 Centerline is valid? [True, True] Translation: X:436.32, Y:-286.42, Z:-4.89 [[-8.93692617e-01 -4.48679730e-01 8.39296727e-05 4.36324284e+02] [-4.48679728e-01 8.93692621e-01 4.24779543e-05 -2.86421267e+02] [-9.40663262e-05 3.04691396e-07 -9.99999996e-01 -4.89072762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.2065599950001 meters 0.04923246150392992 Centerline is valid? [True, True] Translation: X:436.57, Y:-286.19, Z:-4.89 [[-8.54551979e-01 -5.19365662e-01 -4.74098891e-04 4.36574441e+02] [-5.19365586e-01 8.54552110e-01 -2.81066865e-04 -2.86191175e+02] [ 5.51118686e-04 6.04440301e-06 -9.99999848e-01 -4.89110543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.266559995 meters 0.04913422050155891 Centerline is valid? [True, True] Translation: X:435.56, Y:-286.09, Z:-5.92 [[-8.98254502e-01 4.39474263e-01 -1.10540775e-03 4.35560114e+02] [-4.39473848e-01 -8.98255180e-01 -6.06701324e-04 -2.86085169e+02] [-1.25956786e-03 -5.91743956e-05 9.99999205e-01 -5.91546344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.326559995 meters 0.048864917883261964 Centerline is valid? [True, True] Translation: X:435.72, Y:-286.66, Z:-4.89 [[-8.48337237e-01 -5.29454272e-01 -1.45153777e-03 4.35723974e+02] [-5.29453554e-01 8.48338478e-01 -8.72263830e-04 -2.86663035e+02] [ 1.69321916e-03 2.85479465e-05 -9.99998566e-01 -4.89181234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.386559995 meters 0.049206351975282385 Centerline is valid? [True, True] Translation: X:435.58, Y:-286.66, Z:-4.89 [[-8.07546313e-01 -5.89802636e-01 -1.34321844e-03 4.35582709e+02] [-5.89801879e-01 8.07547429e-01 -9.45068426e-04 -2.86663286e+02] [ 1.64211645e-03 2.90462370e-05 -9.99998651e-01 -4.89116130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.4465599950001 meters 0.0486548084707313 Centerline is valid? [True, True] Translation: X:435.43, Y:-286.68, Z:-4.89 [[-7.60702676e-01 -6.49099979e-01 -8.10053073e-04 4.35434914e+02] [-6.49099642e-01 7.60703107e-01 -6.61946191e-04 -2.86675333e+02] [ 1.04587915e-03 2.22609210e-05 -9.99999453e-01 -4.88941223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.506559995 meters 0.049699942458141265 Centerline is valid? [True, True] Translation: X:435.29, Y:-286.69, Z:-4.89 [[-7.09923956e-01 -7.04277951e-01 7.37585739e-04 4.35293192e+02] [-7.04277602e-01 7.09924339e-01 7.01109140e-04 -2.86687705e+02] [-1.01740578e-03 -2.17309408e-05 -9.99999482e-01 -4.88780860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.566559995 meters 0.049806818474368436 Centerline is valid? [True, True] Translation: X:435.14, Y:-286.74, Z:-4.89 [[-6.57239912e-01 -7.53679958e-01 1.49005291e-03 4.35135396e+02] [-7.53678184e-01 6.57241599e-01 1.63590418e-03 -2.86738586e+02] [-2.21227296e-03 -4.78388523e-05 -9.99997552e-01 -4.88616731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.626559995 meters 0.04914135631142152 Centerline is valid? [True, True] Translation: X:434.97, Y:-286.82, Z:-4.89 [[-6.02299389e-01 -7.98267053e-01 2.27133135e-03 4.34966135e+02] [-7.98261831e-01 6.02303667e-01 2.88820189e-03 -2.86822319e+02] [-3.67358761e-03 -7.35548861e-05 -9.99993250e-01 -4.88508531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.6865599950002 meters 0.04871256491498004 Centerline is valid? [True, True] Translation: X:434.79, Y:-286.94, Z:-4.88 [[-5.46274783e-01 -8.37601170e-01 2.85316797e-03 4.34793589e+02] [-8.37590510e-01 5.46282228e-01 4.22659567e-03 -2.86936272e+02] [-5.09883644e-03 -8.09037794e-05 -9.99986998e-01 -4.88437581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.746559995 meters 0.04922593257893297 Centerline is valid? [True, True] Translation: X:434.63, Y:-287.06, Z:-4.88 [[-4.85990731e-01 -8.73960354e-01 2.51174818e-03 4.34628502e+02] [-8.73949370e-01 4.85997217e-01 4.38226208e-03 -2.87056368e+02] [-5.05062594e-03 -6.54019911e-05 -9.99987243e-01 -4.88390453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.806559995 meters 0.04888187050552275 Centerline is valid? [True, True] Translation: X:434.45, Y:-287.25, Z:-4.89 [[-4.25849349e-01 -9.04792040e-01 1.92250650e-03 4.34448899e+02] [-9.04783190e-01 4.25853687e-01 4.00198181e-03 -2.87249378e+02] [-4.43966777e-03 -3.52102112e-05 -9.99990144e-01 -4.88556969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.866559995 meters 0.04858798124948308 Centerline is valid? [True, True] Translation: X:434.30, Y:-287.41, Z:-4.89 [[-3.61209563e-01 -9.32483149e-01 1.68145752e-03 4.34298457e+02] [-9.32473322e-01 3.61213476e-01 4.28106800e-03 -2.87414366e+02] [-4.59938888e-03 -2.15515815e-05 -9.99989423e-01 -4.88554178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.926559995 meters 0.04883064342290305 Centerline is valid? [True, True] Translation: X:434.16, Y:-287.60, Z:-4.89 [[-2.94631529e-01 -9.55609746e-01 1.50840194e-03 4.34160782e+02] [-9.55597352e-01 2.94635390e-01 4.86703429e-03 -2.87596598e+02] [-5.09541400e-03 -7.44314456e-06 -9.99987018e-01 -4.88531986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.986559995 meters 0.0488734180497353 Centerline is valid? [True, True] Translation: X:434.04, Y:-287.76, Z:-4.89 [[-2.23537717e-01 -9.74694615e-01 1.13850757e-03 4.34040323e+02] [-9.74682093e-01 2.23540616e-01 4.94075150e-03 -2.87763181e+02] [-5.07022657e-03 -5.23863503e-06 -9.99987146e-01 -4.88557573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.046559995 meters 0.048771197846936676 Centerline is valid? [True, True] Translation: X:433.93, Y:-287.96, Z:-4.89 [[-1.49998577e-01 -9.88685935e-01 7.41517537e-04 4.33926716e+02] [-9.88674170e-01 1.50000409e-01 4.82317635e-03 -2.87961584e+02] [-4.87983455e-03 -9.64964794e-06 -9.99988094e-01 -4.88611050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.106559995 meters 0.04859724113202893 Centerline is valid? [True, True] Translation: X:433.83, Y:-288.17, Z:-4.89 [[-7.43463048e-02 -9.97232417e-01 3.64527896e-04 4.33828189e+02] [-9.97221654e-01 7.43471960e-02 4.63324531e-03 -2.88165447e+02] [-4.64752405e-03 -1.90504440e-05 -9.99989200e-01 -4.88586330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.166559995 meters 0.04869323604236864 Centerline is valid? [True, True] Translation: X:433.75, Y:-288.31, Z:-4.89 [[ 3.82145033e-03 -9.99992698e-01 2.05657734e-05 4.33746991e+02] [-9.99980636e-01 -3.82130322e-03 4.91179219e-03 -2.88308641e+02] [-4.91167773e-03 -3.93355450e-05 -9.99987937e-01 -4.88530651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.2265599950001 meters 0.04939708771508576 Centerline is valid? [True, True] Translation: X:433.68, Y:-288.48, Z:-4.89 [[ 8.15240719e-02 -9.96671316e-01 -3.36878521e-04 4.33677412e+02] [-9.96659766e-01 -8.15247491e-02 4.79855218e-03 -2.88476853e+02] [-4.81004325e-03 -5.54442453e-05 -9.99988430e-01 -4.88576807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.286559995 meters 0.04843389831162229 Centerline is valid? [True, True] Translation: X:433.63, Y:-288.71, Z:-4.89 [[ 1.56383136e-01 -9.87696252e-01 -6.54570876e-04 4.33626658e+02] [-9.87685955e-01 -1.56384495e-01 4.51049660e-03 -2.88708243e+02] [-4.55736532e-03 -5.88551445e-05 -9.99989613e-01 -4.88598125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.346559995 meters 0.04875233294305901 Centerline is valid? [True, True] Translation: X:433.58, Y:-288.91, Z:-4.89 [[ 2.29674611e-01 -9.73266959e-01 -9.99510171e-04 4.33584742e+02] [-9.73256516e-01 -2.29676777e-01 4.50908506e-03 -2.88911203e+02] [-4.61810778e-03 -6.28425691e-05 -9.99989335e-01 -4.88575748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.406559995 meters 0.04828474864436739 Centerline is valid? [True, True] Translation: X:433.58, Y:-289.17, Z:-4.89 [[ 3.00603502e-01 -9.53748532e-01 -1.12781064e-03 4.33577954e+02] [-9.53741160e-01 -3.00605613e-01 3.75034706e-03 -2.89172047e+02] [-3.91591421e-03 -5.17280275e-05 -9.99992331e-01 -4.88699934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.4665599950001 meters 0.04856136871222455 Centerline is valid? [True, True] Translation: X:433.57, Y:-289.39, Z:-4.89 [[ 3.69757678e-01 -9.29127589e-01 -1.08789128e-03 4.33571768e+02] [-9.29123258e-01 -3.69759276e-01 2.83720160e-03 -2.89389714e+02] [-3.03838018e-03 -3.82919841e-05 -9.99995383e-01 -4.88689071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.526559995 meters 0.0481827064602198 Centerline is valid? [True, True] Translation: X:433.59, Y:-289.63, Z:-4.89 [[ 4.37160151e-01 -8.99381978e-01 -1.74939364e-03 4.33591310e+02] [-8.99374301e-01 -4.37163648e-01 3.71641413e-03 -2.89634201e+02] [-4.10724720e-03 -5.13084763e-05 -9.99991564e-01 -4.88574898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.586559995 meters 0.0481719256506592 Centerline is valid? [True, True] Translation: X:433.62, Y:-289.85, Z:-4.89 [[ 5.02029090e-01 -8.64846992e-01 -2.54443344e-03 4.33620396e+02] [-8.64835245e-01 -5.02035534e-01 4.50793625e-03 -2.89853525e+02] [-5.17607111e-03 -6.25994179e-05 -9.99986602e-01 -4.88544318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.646559995 meters 0.04844623508317173 Centerline is valid? [True, True] Translation: X:433.66, Y:-290.07, Z:-4.88 [[ 5.63871753e-01 -8.25854912e-01 -3.50871043e-03 4.33663685e+02] [-8.25838121e-01 -5.63882665e-01 5.26680332e-03 -2.90071403e+02] [-6.32811638e-03 -7.21747949e-05 -9.99979975e-01 -4.88497598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.7065599950001 meters 0.048719781097808744 Centerline is valid? [True, True] Translation: X:433.72, Y:-290.27, Z:-4.89 [[ 6.21899578e-01 -7.83087141e-01 -3.92992731e-03 4.33718102e+02] [-7.83070871e-01 -6.21911991e-01 5.04839642e-03 -2.90274891e+02] [-6.39740324e-03 -6.21839982e-05 -9.99979535e-01 -4.88541873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.766559995 meters 0.0485848569172161 Centerline is valid? [True, True] Translation: X:433.82, Y:-290.51, Z:-4.89 [[ 6.76019031e-01 -7.36868241e-01 -4.84406431e-03 4.33821845e+02] [-7.36848759e-01 -6.76036384e-01 5.35857458e-03 -2.90513917e+02] [-7.22332714e-03 -5.31556256e-05 -9.99973910e-01 -4.88600282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.826559995 meters 0.04888177986697458 Centerline is valid? [True, True] Translation: X:433.81, Y:-290.61, Z:-4.89 [[ 7.27130478e-01 -6.86470623e-01 -6.27314166e-03 4.33811509e+02] [-6.86444515e-01 -7.27157536e-01 5.98719563e-03 -2.90611915e+02] [-8.67159615e-03 -4.73087374e-05 -9.99962400e-01 -4.88586016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.886559995 meters 0.049070501990033516 Centerline is valid? [True, True] Translation: X:433.79, Y:-290.69, Z:-4.88 [[ 7.77571850e-01 -6.28750410e-01 -7.41207287e-03 4.33785018e+02] [-6.28721388e-01 -7.77607176e-01 6.04122604e-03 -2.90693717e+02] [-9.56210441e-03 -3.73585682e-05 -9.99954281e-01 -4.88458020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.9465599950001 meters 0.049258317236098616 Centerline is valid? [True, True] Translation: X:433.76, Y:-290.78, Z:-4.89 [[ 8.23713762e-01 -5.66943483e-01 -8.40985294e-03 4.33763725e+02] [-5.66913576e-01 -8.23756692e-01 5.82326864e-03 -2.90779402e+02] [-1.02291368e-02 -2.90467175e-05 -9.99947681e-01 -4.88556575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.006559995 meters 0.04900528888720566 Centerline is valid? [True, True] Translation: X:433.75, Y:-290.86, Z:-4.89 [[ 8.65284919e-01 -5.01218359e-01 -7.88457548e-03 4.33749992e+02] [-5.01197324e-01 -8.65320840e-01 4.59195455e-03 -2.90862900e+02] [-9.12425940e-03 -2.16208882e-05 -9.99958373e-01 -4.88580197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.066559995 meters 0.04882812996606042 Centerline is valid? [True, True] Translation: X:433.74, Y:-290.94, Z:-4.89 [[ 9.01605010e-01 -4.32513536e-01 -6.35985481e-03 4.33744395e+02] [-4.32502675e-01 -9.01627440e-01 3.06520005e-03 -2.90942369e+02] [-7.05996012e-03 -1.29455080e-05 -9.99975078e-01 -4.88789263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.126559995 meters 0.04879398254229971 Centerline is valid? [True, True] Translation: X:433.74, Y:-291.03, Z:-4.89 [[ 9.32679808e-01 -3.60646288e-01 -6.52922471e-03 4.33741591e+02] [-3.60637350e-01 -9.32702662e-01 2.53901661e-03 -2.91033806e+02] [-7.00551218e-03 -1.34072298e-05 -9.99975461e-01 -4.89100942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.1865599950002 meters 0.04876255163863861 Centerline is valid? [True, True] Translation: X:433.74, Y:-291.13, Z:-4.89 [[ 9.58199068e-01 -2.86017199e-01 -6.97906881e-03 4.33742729e+02] [-2.86009470e-01 -9.58224484e-01 2.10271480e-03 -2.91129855e+02] [-7.28892720e-03 -1.87395897e-05 -9.99973435e-01 -4.88901857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.246559995 meters 0.04850876560725265 Centerline is valid? [True, True] Translation: X:433.75, Y:-291.22, Z:-4.89 [[ 9.77805470e-01 -2.09360395e-01 -8.04287576e-03 4.33754508e+02] [-2.09353072e-01 -9.77838547e-01 1.75132793e-03 -2.91219493e+02] [-8.23129265e-03 -2.86572828e-05 -9.99966122e-01 -4.88815761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.306559995 meters 0.048577615114728495 Centerline is valid? [True, True] Translation: X:433.77, Y:-291.30, Z:-4.89 [[ 9.91192015e-01 -1.32160367e-01 -8.48682271e-03 4.33774867e+02] [-1.32155257e-01 -9.91228347e-01 1.16268270e-03 -2.91302765e+02] [-8.56603982e-03 -3.08635774e-05 -9.99963310e-01 -4.88804334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.366559995 meters 0.04880135728408061 Centerline is valid? [True, True] Translation: X:433.80, Y:-291.38, Z:-4.89 [[ 9.98464641e-01 -5.46194364e-02 -9.22381990e-03 4.33801004e+02] [-5.46168258e-02 -9.98507244e-01 5.34882342e-04 -2.91380954e+02] [-9.23926596e-03 -3.02853413e-05 -9.99957317e-01 -4.88835300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.426559995 meters 0.0491044213588209 Centerline is valid? [True, True] Translation: X:433.83, Y:-291.46, Z:-4.89 [[ 9.99723839e-01 2.13592027e-02 -9.79947112e-03 4.33826998e+02] [ 2.13582691e-02 -9.99771866e-01 -1.99922425e-04 -2.91462932e+02] [-9.80150571e-03 -9.43252685e-06 -9.99951964e-01 -4.88643464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.486559995 meters 0.04993159226238996 Centerline is valid? [True, True] Translation: X:433.86, Y:-291.54, Z:-4.89 [[ 9.95347741e-01 9.58739660e-02 -9.54237434e-03 4.33861290e+02] [ 9.58693130e-02 -9.95393481e-01 -9.44898082e-04 -2.91541691e+02] [-9.58900833e-03 2.56812987e-05 -9.99954024e-01 -4.89051385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.546559995 meters 0.050086504819853724 Centerline is valid? [True, True] Translation: X:433.90, Y:-291.64, Z:-4.89 [[ 9.86077114e-01 1.66064828e-01 -8.62549059e-03 4.33903823e+02] [ 1.66057682e-01 -9.86114834e-01 -1.54317073e-03 -2.91635378e+02] [-8.76199060e-03 8.93563635e-05 -9.99961609e-01 -4.89005338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.606559995 meters 0.050176271999206136 Centerline is valid? [True, True] Translation: X:433.95, Y:-291.72, Z:-4.89 [[ 9.71216501e-01 2.38101799e-01 -6.78537002e-03 4.33950445e+02] [ 2.38095232e-01 -9.71240198e-01 -1.77147547e-03 -2.91721785e+02] [-7.01201561e-03 1.04921958e-04 -9.99975410e-01 -4.89082677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.666559995 meters 0.04980415853393561 Centerline is valid? [True, True] Translation: X:434.00, Y:-291.81, Z:-4.89 [[ 9.50801237e-01 3.09766112e-01 -4.68649720e-03 4.34004173e+02] [ 3.09761865e-01 -9.50812782e-01 -1.62479465e-03 -2.91805551e+02] [-4.95928777e-03 9.31586520e-05 -9.99987698e-01 -4.89024584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.7265599950001 meters 0.04956827894072058 Centerline is valid? [True, True] Translation: X:434.06, Y:-291.86, Z:-4.89 [[ 9.23401860e-01 3.83813656e-01 -4.01023913e-03 4.34057331e+02] [ 3.83809662e-01 -9.23410565e-01 -1.75280446e-03 -2.91864002e+02] [-4.37584747e-03 7.93743769e-05 -9.99990423e-01 -4.89033837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.786559995 meters 0.04995544232780906 Centerline is valid? [True, True] Translation: X:434.12, Y:-291.92, Z:-4.89 [[ 8.88989396e-01 4.57899066e-01 -5.12827351e-03 4.34117100e+02] [ 4.57890891e-01 -8.89004183e-01 -2.73759562e-03 -2.91922228e+02] [-5.81259908e-03 8.55037488e-05 -9.99983103e-01 -4.89041082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.846559995 meters 0.04944033567519731 Centerline is valid? [True, True] Translation: X:434.19, Y:-291.99, Z:-4.89 [[ 8.45993405e-01 5.33136655e-01 -7.77602331e-03 4.34188968e+02] [ 5.33113502e-01 -8.46029139e-01 -4.96892447e-03 -2.91988456e+02] [-9.22785807e-03 5.81743113e-05 -9.99957421e-01 -4.88995117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.906559995 meters 0.050046327761017126 Centerline is valid? [True, True] Translation: X:434.28, Y:-292.07, Z:-4.89 [[ 7.98250896e-01 6.02269253e-01 -8.20088974e-03 4.34283181e+02] [ 6.02237398e-01 -7.98293021e-01 -6.19436699e-03 -2.92072115e+02] [-1.02773898e-02 5.77649885e-06 -9.99947186e-01 -4.89008875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.9665599950001 meters 0.04946841504780998 Centerline is valid? [True, True] Translation: X:434.36, Y:-292.12, Z:-4.89 [[ 7.45384016e-01 6.66587034e-01 -8.02462803e-03 4.34363032e+02] [ 6.66549090e-01 -7.45427209e-01 -7.11239807e-03 -2.92122410e+02] [-1.07228084e-02 -4.73406716e-05 -9.99942508e-01 -4.88713091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.026559995 meters 0.04922464045912615 Centerline is valid? [True, True] Translation: X:434.45, Y:-292.16, Z:-4.89 [[ 6.86751945e-01 7.26858833e-01 -6.92844419e-03 4.34445023e+02] [ 7.26823334e-01 -6.86786886e-01 -7.18425681e-03 -2.92163781e+02] [-9.98030513e-03 -1.01952567e-04 -9.99950190e-01 -4.88869655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.086559995 meters 0.04855877993253627 Centerline is valid? [True, True] Translation: X:434.53, Y:-292.20, Z:-4.89 [[ 6.25651306e-01 7.80087025e-01 -4.96744180e-03 4.34525095e+02] [ 7.80063712e-01 -6.25671018e-01 -6.03180073e-03 -2.92195781e+02] [-7.81331386e-03 -1.01117086e-04 -9.99969471e-01 -4.88953622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.146559995 meters 0.04929657613738597 Centerline is valid? [True, True] Translation: X:434.61, Y:-292.22, Z:-4.89 [[ 5.60053617e-01 8.28452502e-01 -2.52952303e-03 4.34609434e+02] [ 8.28444617e-01 -5.60059325e-01 -3.61506330e-03 -2.92222485e+02] [-4.41159119e-03 -7.09404662e-05 -9.99990266e-01 -4.89024505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.2065599950001 meters 0.049717740529547035 Centerline is valid? [True, True] Translation: X:434.68, Y:-292.23, Z:-4.89 [[ 4.92288392e-01 8.70430482e-01 -1.70718488e-03 4.34684571e+02] [ 8.70425656e-01 -4.92291349e-01 -2.89937168e-03 -2.92233717e+02] [-3.36413384e-03 -5.86504913e-05 -9.99994340e-01 -4.89145855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.266559995 meters 0.04998280421500855 Centerline is valid? [True, True] Translation: X:434.76, Y:-292.24, Z:-4.89 [[ 4.20606938e-01 9.07242239e-01 -1.15049942e-03 4.34760609e+02] [ 9.07239173e-01 -4.20608508e-01 -2.35903673e-03 -2.92239196e+02] [-2.62412761e-03 -5.15509315e-05 -9.99996556e-01 -4.89258739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.326559995 meters 0.04949253449802263 Centerline is valid? [True, True] Translation: X:434.84, Y:-292.24, Z:-4.89 [[ 3.46584534e-01 9.38017618e-01 -1.45253502e-03 4.34842850e+02] [ 9.38010387e-01 -3.46587567e-01 -3.68414413e-03 -2.92241521e+02] [-3.95922268e-03 -8.56255639e-05 -9.99992159e-01 -4.89119308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.386559995 meters 0.05090548892715214 Centerline is valid? [True, True] Translation: X:434.93, Y:-292.24, Z:-4.89 [[ 2.70535115e-01 9.62708450e-01 -1.78635253e-03 4.34928093e+02] [ 9.62690809e-01 -2.70540975e-01 -5.82985863e-03 -2.92238428e+02] [-6.09573572e-03 -1.42523687e-04 -9.99981411e-01 -4.88742201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.4465599950001 meters 0.04905478448975784 Centerline is valid? [True, True] Translation: X:435.01, Y:-292.23, Z:-4.89 [[ 1.94487498e-01 9.80903111e-01 -1.92351783e-03 4.35011154e+02] [ 9.80865078e-01 -1.94496901e-01 -8.64029308e-03 -2.92227683e+02] [-8.84940862e-03 -2.06282479e-04 -9.99960822e-01 -4.88780029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.506559995 meters 0.049491483441063716 Centerline is valid? [True, True] Translation: X:435.10, Y:-292.21, Z:-4.89 [[ 1.20247222e-01 9.92743180e-01 -1.25843311e-03 4.35098341e+02] [ 9.92703460e-01 -1.20253671e-01 -8.88224921e-03 -2.92211405e+02] [-8.96912353e-03 -1.81185102e-04 -9.99959760e-01 -4.88811945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.566559995 meters 0.049188683797889154 Centerline is valid? [True, True] Translation: X:435.18, Y:-292.19, Z:-4.89 [[ 4.71007121e-02 9.98890009e-01 -5.22584253e-04 4.35179723e+02] [ 9.98854996e-01 -4.71034371e-02 -8.36444011e-03 -2.92188607e+02] [-8.37977117e-03 -1.28014806e-04 -9.99964881e-01 -4.88896800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.626559995 meters 0.04913359650696868 Centerline is valid? [True, True] Translation: X:435.25, Y:-292.16, Z:-4.89 [[-2.11383621e-02 9.99776554e-01 1.06556926e-04 4.35252807e+02] [ 9.99754257e-01 2.11386023e-02 -6.67726607e-03 -2.92160352e+02] [-6.67802652e-03 -3.46157273e-05 -9.99977701e-01 -4.88746110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.6865599950002 meters 0.04964841639563772 Centerline is valid? [True, True] Translation: X:435.31, Y:-292.13, Z:-4.89 [[-9.24325010e-02 9.95718792e-01 5.66284409e-04 4.35308709e+02] [ 9.95700795e-01 9.24342351e-02 -5.98665013e-03 -2.92127459e+02] [-6.01336410e-03 1.04887921e-05 -9.99981920e-01 -4.88997918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.746559995 meters 0.049691969562385294 Centerline is valid? [True, True] Translation: X:435.36, Y:-292.09, Z:-4.89 [[-1.63546461e-01 9.86534973e-01 1.14130019e-03 4.35364226e+02] [ 9.86513262e-01 1.63550434e-01 -6.54524727e-03 -2.92090676e+02] [-6.64377547e-03 5.54557514e-05 -9.99977928e-01 -4.88818644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.806559995 meters 0.05044287570162554 Centerline is valid? [True, True] Translation: X:435.42, Y:-292.05, Z:-4.89 [[-2.32080772e-01 9.72694474e-01 1.99393485e-03 4.35416811e+02] [ 9.72663380e-01 2.32089298e-01 -7.77857415e-03 -2.92050620e+02] [-8.02894703e-03 1.34169916e-04 -9.99967759e-01 -4.89020336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.866559995 meters 0.051040598995253796 Centerline is valid? [True, True] Translation: X:435.47, Y:-292.00, Z:-4.89 [[-3.03036586e-01 9.52975267e-01 2.63958797e-03 4.35470560e+02] [ 9.52943975e-01 3.03048032e-01 -7.72471545e-03 -2.92004049e+02] [-8.16138471e-03 1.74508052e-04 -9.99966680e-01 -4.88871475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.926559995 meters 0.05015412667759805 Centerline is valid? [True, True] Translation: X:435.52, Y:-291.95, Z:-4.89 [[-3.73451206e-01 9.27643885e-01 3.31952683e-03 4.35524316e+02] [ 9.27612048e-01 3.73465902e-01 -7.68825537e-03 -2.91953596e+02] [-8.37169316e-03 2.08044839e-04 -9.99964935e-01 -4.89057044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.986559995 meters 0.051088005568246254 Centerline is valid? [True, True] Translation: X:435.60, Y:-291.88, Z:-4.89 [[-4.42381761e-01 8.96817949e-01 3.99301439e-03 4.35602974e+02] [ 8.96786111e-01 4.42399719e-01 -7.56037151e-03 -2.91882055e+02] [-8.54678531e-03 2.36309381e-04 -9.99963448e-01 -4.89133583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.046559995 meters 0.0517740053189461 Centerline is valid? [True, True] Translation: X:435.65, Y:-291.82, Z:-4.89 [[-5.11028950e-01 8.59550311e-01 4.76186393e-03 4.35651417e+02] [ 8.59517413e-01 5.11051075e-01 -7.52433893e-03 -2.91819413e+02] [-8.90110355e-03 2.47749940e-04 -9.99960354e-01 -4.88901007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.106559995 meters 0.05131763043280309 Centerline is valid? [True, True] Translation: X:435.71, Y:-291.75, Z:-4.89 [[-5.78296231e-01 8.15809290e-01 5.35454163e-03 4.35705209e+02] [ 8.15777960e-01 5.78320973e-01 -7.15341583e-03 -2.91746216e+02] [-8.93246682e-03 2.31323634e-04 -9.99960078e-01 -4.89212422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.166559995 meters 0.05105734403442769 Centerline is valid? [True, True] Translation: X:435.77, Y:-291.66, Z:-4.89 [[-6.44286096e-01 7.64766918e-01 5.19502650e-03 4.35767683e+02] [ 7.64744079e-01 6.44307019e-01 -5.91262514e-03 -2.91655762e+02] [-7.86897214e-03 1.63443590e-04 -9.99969026e-01 -4.89156113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.2265599950001 meters 0.050953709915437156 Centerline is valid? [True, True] Translation: X:435.80, Y:-291.59, Z:-4.89 [[-7.03551654e-01 7.10623716e-01 5.38547683e-03 4.35795952e+02] [ 7.10604422e-01 7.03572252e-01 -5.23848802e-03 -2.91588931e+02] [-7.51166589e-03 1.41396736e-04 -9.99971777e-01 -4.88893391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.286559995 meters 0.05053781467495025 Centerline is valid? [True, True] Translation: X:436.12, Y:-291.77, Z:-4.89 [[-7.56641436e-01 6.53804034e-01 5.83293337e-03 4.36117743e+02] [ 6.53785648e-01 7.56663911e-01 -4.90422555e-03 -2.91769514e+02] [-7.61997262e-03 1.02747863e-04 -9.99970962e-01 -4.88916849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.346559995 meters 0.05040424031763547 Centerline is valid? [True, True] Translation: X:436.41, Y:-291.87, Z:-4.89 [[-8.05465674e-01 5.92608252e-01 6.36455291e-03 4.36407688e+02] [ 5.92590319e-01 8.05490817e-01 -4.61061519e-03 -2.91872606e+02] [-7.85887754e-03 5.78801645e-05 -9.99969117e-01 -4.89276470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.406559995 meters 0.04986413820492664 Centerline is valid? [True, True] Translation: X:436.27, Y:-291.66, Z:-4.89 [[-8.48835415e-01 5.28624052e-01 5.92035609e-03 4.36265688e+02] [ 5.28611250e-01 8.48856061e-01 -3.67885397e-03 -2.91663743e+02] [-6.97026084e-03 6.82529880e-06 -9.99975707e-01 -4.89090284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.4665599950001 meters 0.04981841849619621 Centerline is valid? [True, True] Translation: X:435.82, Y:-291.30, Z:-4.89 [[-8.87972786e-01 4.59875355e-01 4.35773479e-03 4.35815267e+02] [ 4.59869617e-01 8.87983478e-01 -2.29747289e-03 -2.91299556e+02] [-4.92614765e-03 -3.61035681e-05 -9.99987866e-01 -4.89208510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.526559995 meters 0.050418242901729485 Centerline is valid? [True, True] Translation: X:435.68, Y:-291.14, Z:-4.89 [[-9.19786299e-01 3.92396014e-01 4.30490099e-03 4.35680315e+02] [ 3.92391452e-01 9.19796372e-01 -1.89280890e-03 -2.91143178e+02] [-4.70236298e-03 -5.17733406e-05 -9.99988943e-01 -4.89105565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.586559995 meters 0.04989049758800201 Centerline is valid? [True, True] Translation: X:435.66, Y:-291.06, Z:-4.89 [[-9.46126332e-01 3.23762143e-01 4.79992286e-03 4.35662739e+02] [ 3.23757607e-01 9.46138505e-01 -1.71526246e-03 -2.91055284e+02] [-5.09672889e-03 -6.88434375e-05 -9.99987009e-01 -4.89149451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.646559995 meters 0.050354727127687175 Centerline is valid? [True, True] Translation: X:435.80, Y:-290.57, Z:-5.92 [[-9.10101518e-01 -4.14339186e-01 6.18603349e-03 4.35798011e+02] [ 4.14331097e-01 -9.10122519e-01 -2.59660015e-03 -2.90573084e+02] [ 6.70592157e-03 1.99896307e-04 9.99977495e-01 -5.91799062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.7065599950001 meters 0.05144032650813445 Centerline is valid? [True, True] Translation: X:435.57, Y:-291.01, Z:-4.89 [[-9.48698378e-01 3.16095244e-01 7.42864759e-03 4.35571465e+02] [ 3.16084382e-01 9.48727451e-01 -2.62423002e-03 -2.91010792e+02] [-7.87726852e-03 -1.41523283e-04 -9.99968964e-01 -4.88634045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.766559995 meters 0.050887812954782646 Centerline is valid? [True, True] Translation: X:435.71, Y:-290.55, Z:-5.92 [[-9.10535257e-01 -4.13352195e-01 8.09376472e-03 4.35706475e+02] [ 4.13337986e-01 -9.10571203e-01 -3.43431187e-03 -2.90548056e+02] [ 8.78952943e-03 2.18398365e-04 9.99961348e-01 -5.91961437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.826559995 meters 0.05092402539347284 Centerline is valid? [True, True] Translation: X:435.46, Y:-290.98, Z:-4.89 [[-9.50277817e-01 3.11247410e-01 9.85497371e-03 4.35456796e+02] [ 3.11228456e-01 9.50328895e-01 -3.44079140e-03 -2.90976603e+02] [-1.04364037e-02 -2.02559483e-04 -9.99945519e-01 -4.88637044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.886559995 meters 0.05092625643609269 Centerline is valid? [True, True] Translation: X:435.38, Y:-290.88, Z:-4.89 [[-9.69840150e-01 2.43512242e-01 1.05768993e-02 4.35377368e+02] [ 2.43495427e-01 9.69897801e-01 -2.86913187e-03 -2.90875575e+02] [-1.09571801e-02 -2.07172676e-04 -9.99939947e-01 -4.88598605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.9465599950001 meters 0.05123737928534203 Centerline is valid? [True, True] Translation: X:435.40, Y:-290.81, Z:-4.89 [[-9.84523969e-01 1.74947626e-01 1.02898936e-02 4.35396467e+02] [ 1.74936079e-01 9.84577723e-01 -2.01869639e-03 -2.90807173e+02] [-1.04843661e-02 -1.87381337e-04 -9.99945020e-01 -4.88736893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.006559995 meters 0.05032727347980967 Centerline is valid? [True, True] Translation: X:435.31, Y:-290.72, Z:-4.89 [[-9.94274778e-01 1.06470762e-01 9.03562111e-03 4.35307387e+02] [ 1.06465036e-01 9.94315823e-01 -1.11373091e-03 -2.90721830e+02] [-9.10284082e-03 -1.45376826e-04 -9.99958558e-01 -4.88899869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.066559995 meters 0.049971400810900415 Centerline is valid? [True, True] Translation: X:435.72, Y:-290.68, Z:-4.89 [[-9.99451837e-01 3.20025372e-02 8.47717110e-03 4.35716878e+02] [ 3.20003138e-02 9.99487780e-01 -3.97824482e-04 -2.90683935e+02] [-8.48556031e-03 -1.26334274e-04 -9.99963989e-01 -4.89323737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.126559995 meters 0.050150107167867095 Centerline is valid? [True, True] Translation: X:435.64, Y:-290.60, Z:-4.89 [[-9.99221684e-01 -3.85200370e-02 8.49901346e-03 4.35643740e+02] [-3.85196744e-02 9.99257821e-01 2.06416263e-04 -2.90596081e+02] [-8.50065683e-03 -1.21123625e-04 -9.99963861e-01 -4.89328146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.1865599950002 meters 0.049858924576009864 Centerline is valid? [True, True] Translation: X:434.95, Y:-290.56, Z:-4.89 [[-9.94078720e-01 -1.08290057e-01 8.98678640e-03 4.34952848e+02] [-1.08286733e-01 9.94119333e-01 8.57108876e-04 -2.90555512e+02] [-9.02675447e-03 -1.21116044e-04 -9.99959251e-01 -4.88916626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.246559995 meters 0.05002136502105375 Centerline is valid? [True, True] Translation: X:434.93, Y:-290.49, Z:-4.89 [[-9.84050113e-01 -1.77663198e-01 9.00904162e-03 4.34930812e+02] [-1.77656783e-01 9.84091345e-01 1.51381998e-03 -2.90489358e+02] [-9.13466999e-03 -1.10842635e-04 -9.99958272e-01 -4.88982471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.306559995 meters 0.04956225628413991 Centerline is valid? [True, True] Translation: X:434.93, Y:-290.42, Z:-4.89 [[-9.69325478e-01 -2.45654812e-01 7.86333037e-03 4.34929570e+02] [-2.45647362e-01 9.69357368e-01 1.91462549e-03 -2.90418226e+02] [-8.09271420e-03 -7.57110960e-05 -9.99967251e-01 -4.88929867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.366559995 meters 0.049639218744037567 Centerline is valid? [True, True] Translation: X:434.72, Y:-290.40, Z:-4.89 [[-9.50081528e-01 -3.11911143e-01 7.51856836e-03 4.34719375e+02] [-3.11901924e-01 9.50111275e-01 2.39901959e-03 -2.90403907e+02] [-7.89175752e-03 -6.57917398e-05 -9.99968857e-01 -4.89082631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.426559995 meters 0.049705912423413184 Centerline is valid? [True, True] Translation: X:434.66, Y:-290.35, Z:-4.89 [[-9.25326430e-01 -3.79092944e-01 7.71607790e-03 4.34655589e+02] [-3.79080341e-01 9.25358599e-01 3.09177595e-03 -2.90351136e+02] [-8.31220948e-03 -6.41114385e-05 -9.99965451e-01 -4.88945390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.486559995 meters 0.04986705731098414 Centerline is valid? [True, True] Translation: X:434.51, Y:-290.34, Z:-4.89 [[-8.96271624e-01 -4.43431177e-01 8.12199986e-03 4.34511041e+02] [-4.43413609e-01 8.96308422e-01 3.94765326e-03 -2.90339351e+02] [-9.03032941e-03 -6.32356641e-05 -9.99959224e-01 -4.88929422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.546559995 meters 0.04976733592794177 Centerline is valid? [True, True] Translation: X:434.71, Y:-290.15, Z:-4.89 [[-8.61071239e-01 -5.08415871e-01 8.34400185e-03 4.34711826e+02] [-5.08392553e-01 8.61111665e-01 4.86960328e-03 -2.90152145e+02] [-9.66090092e-03 -4.89530692e-05 -9.99953331e-01 -4.89323618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.606559995 meters 0.04931618989467551 Centerline is valid? [True, True] Translation: X:433.98, Y:-290.53, Z:-4.89 [[-8.23538528e-01 -5.67206355e-01 7.82582446e-03 4.33975614e+02] [-5.67181186e-01 8.23575709e-01 5.34358114e-03 -2.90525250e+02] [-9.47607211e-03 -3.80154504e-05 -9.99955100e-01 -4.88846574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.666559995 meters 0.049075890041371646 Centerline is valid? [True, True] Translation: X:433.84, Y:-290.53, Z:-4.89 [[-7.79694115e-01 -6.26122725e-01 6.88618556e-03 4.33842414e+02] [-6.26098749e-01 7.79724523e-01 5.47943824e-03 -2.90534847e+02] [-8.80012855e-03 -3.91464155e-05 -9.99961277e-01 -4.88992972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.7265599950001 meters 0.04857570239854042 Centerline is valid? [True, True] Translation: X:433.68, Y:-290.58, Z:-4.89 [[-7.31738596e-01 -6.81559668e-01 5.92001651e-03 4.33682710e+02] [-6.81537844e-01 7.31762542e-01 5.45437351e-03 -2.90576785e+02] [-8.04952732e-03 -4.35396725e-05 -9.99967601e-01 -4.89072744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.786559995 meters 0.04901574931767871 Centerline is valid? [True, True] Translation: X:433.52, Y:-290.64, Z:-4.89 [[-6.79813471e-01 -7.33367039e-01 5.14105963e-03 4.33518972e+02] [-7.33346563e-01 6.79832909e-01 5.48036173e-03 -2.90637561e+02] [-7.51417818e-03 -4.45546831e-05 -9.99971767e-01 -4.89092712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.846559995 meters 0.04805397555746384 Centerline is valid? [True, True] Translation: X:433.38, Y:-290.69, Z:-4.89 [[-6.23920982e-01 -7.81474649e-01 4.46999096e-03 4.33375102e+02] [-7.81455090e-01 6.23936993e-01 5.52915788e-03 -2.90692855e+02] [-7.10988943e-03 -4.33395736e-05 -9.99974724e-01 -4.89212033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.906559995 meters 0.048330258715572116 Centerline is valid? [True, True] Translation: X:433.19, Y:-290.82, Z:-4.89 [[-5.64842260e-01 -8.25190800e-01 3.65573937e-03 4.33191543e+02] [-8.25173992e-01 5.64854089e-01 5.26695199e-03 -2.90816262e+02] [-6.41119965e-03 -4.16239866e-05 -9.99979447e-01 -4.89209814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.9665599950001 meters 0.04845243067451665 Centerline is valid? [True, True] Translation: X:433.05, Y:-290.90, Z:-4.89 [[-5.01705239e-01 -8.65031657e-01 3.47637914e-03 4.33049429e+02] [-8.65011569e-01 5.01717281e-01 5.89535481e-03 -2.90895998e+02] [-6.84382803e-03 -4.93777847e-05 -9.99976580e-01 -4.88995747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.026559995 meters 0.04839689319741395 Centerline is valid? [True, True] Translation: X:432.89, Y:-291.03, Z:-4.89 [[-4.35097625e-01 -9.00377578e-01 3.20523107e-03 4.32892611e+02] [-9.00354237e-01 4.35109426e-01 6.48343656e-03 -2.91026972e+02] [-7.23216715e-03 -6.49155271e-05 -9.99973845e-01 -4.89058165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.086559995 meters 0.04864716494734073 Centerline is valid? [True, True] Translation: X:432.74, Y:-291.17, Z:-4.89 [[-3.65162213e-01 -9.30939514e-01 2.86003471e-03 4.32743085e+02] [-9.30912814e-01 3.65173402e-01 7.05114888e-03 -2.91165794e+02] [-7.60860172e-03 -8.76298352e-05 -9.99971050e-01 -4.88970424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.146559995 meters 0.048252361819392464 Centerline is valid? [True, True] Translation: X:432.60, Y:-291.33, Z:-4.89 [[-2.93462860e-01 -9.55967661e-01 2.31952780e-03 4.32603218e+02] [-9.55940525e-01 2.93472009e-01 7.20365117e-03 -2.91333328e+02] [-7.56717405e-03 -1.03326542e-04 -9.99971363e-01 -4.89222025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.2065599950001 meters 0.04861205979694385 Centerline is valid? [True, True] Translation: X:432.47, Y:-291.50, Z:-4.89 [[-2.20903218e-01 -9.75294075e-01 1.79865147e-03 4.32473336e+02] [-9.75265784e-01 2.20910511e-01 7.42949843e-03 -2.91495726e+02] [-7.64328681e-03 -1.12963126e-04 -9.99970783e-01 -4.89074662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.266559995 meters 0.048596929132060804 Centerline is valid? [True, True] Translation: X:432.35, Y:-291.68, Z:-4.89 [[-1.47004623e-01 -9.89135049e-01 1.22326516e-03 4.32353344e+02] [-9.89107286e-01 1.47009663e-01 7.41185719e-03 -2.91676762e+02] [-7.51115952e-03 -1.20363214e-04 -9.99971784e-01 -4.88992900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.326559995 meters 0.048326989801204805 Centerline is valid? [True, True] Translation: X:432.25, Y:-291.88, Z:-4.89 [[-7.26579939e-02 -9.97356667e-01 7.03380439e-04 4.32251135e+02] [-9.97325974e-01 7.26612769e-02 7.82565496e-03 -2.91880418e+02] [-7.85607767e-03 -1.32903191e-04 -9.99969132e-01 -4.89110975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.386559995 meters 0.04856973552646541 Centerline is valid? [True, True] Translation: X:432.16, Y:-292.09, Z:-4.89 [[ 2.23756520e-03 -9.99997489e-01 1.25688540e-04 4.32159636e+02] [-9.99965152e-01 -2.23648190e-03 8.04318801e-03 -2.92087370e+02] [-8.04288671e-03 -1.43681317e-04 -9.99967645e-01 -4.89042659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.4465599950001 meters 0.04868968342632638 Centerline is valid? [True, True] Translation: X:432.09, Y:-292.34, Z:-4.89 [[ 7.67731100e-02 -9.97048501e-01 -4.20290541e-04 4.32088639e+02] [-9.97022450e-01 -7.67741428e-02 7.20872458e-03 -2.92337733e+02] [-7.21971548e-03 -1.34397100e-04 -9.99973929e-01 -4.89201897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.506559995 meters 0.04863549228891059 Centerline is valid? [True, True] Translation: X:431.50, Y:-292.57, Z:-5.92 [[-2.79579273e-02 9.99609098e-01 7.21392425e-05 4.31497616e+02] [-9.99583607e-01 -2.79577296e-02 7.13993916e-03 -2.92567320e+02] [ 7.13916500e-03 1.27508696e-04 9.99974508e-01 -5.91629487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.566559995 meters 0.04941052891058275 Centerline is valid? [True, True] Translation: X:432.11, Y:-292.79, Z:-4.89 [[ 8.23853983e-02 -9.96600409e-01 -5.21166351e-04 4.32108142e+02] [-9.96568003e-01 -8.23869229e-02 8.03804088e-03 -2.92790926e+02] [-8.05365212e-03 -1.42839489e-04 -9.99967559e-01 -4.89016332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.626559995 meters 0.04921617870309453 Centerline is valid? [True, True] Translation: X:432.05, Y:-293.00, Z:-4.89 [[ 1.54497053e-01 -9.87992398e-01 -1.29674650e-03 4.32050179e+02] [-9.87948796e-01 -1.54502419e-01 9.28323080e-03 -2.93004223e+02] [-9.37211193e-03 -1.53112659e-04 -9.99956069e-01 -4.88744139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.6865599950002 meters 0.0485505936822777 Centerline is valid? [True, True] Translation: X:432.03, Y:-293.28, Z:-4.89 [[ 2.26244940e-01 -9.74068427e-01 -1.98183132e-03 4.32026457e+02] [-9.74025164e-01 -2.26253572e-01 9.18159109e-03 -2.93283288e+02] [-9.39189440e-03 -1.46934948e-04 -9.99955884e-01 -4.88979609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.746559995 meters 0.04887127015156478 Centerline is valid? [True, True] Translation: X:432.00, Y:-293.49, Z:-4.89 [[ 2.96809181e-01 -9.54933022e-01 -2.68940760e-03 4.32000103e+02] [-9.54889456e-01 -2.96821333e-01 9.12271413e-03 -2.93488093e+02] [-9.50985453e-03 -1.39618355e-04 -9.99954771e-01 -4.88986573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.806559995 meters 0.04819754032822546 Centerline is valid? [True, True] Translation: X:432.01, Y:-293.76, Z:-4.89 [[ 3.65133973e-01 -9.30949487e-01 -3.19897471e-03 4.32012611e+02] [-9.30910823e-01 -3.65147966e-01 8.48536653e-03 -2.93763128e+02] [-9.06754674e-03 -1.20335411e-04 -9.99958882e-01 -4.89009433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.866559995 meters 0.04874312274695451 Centerline is valid? [True, True] Translation: X:432.02, Y:-293.97, Z:-4.89 [[ 4.32283822e-01 -9.01729775e-01 -3.75648105e-03 4.32020029e+02] [-9.01693462e-01 -4.32300129e-01 8.09319830e-03 -2.93973292e+02] [-8.92180512e-03 -1.11364294e-04 -9.99960194e-01 -4.89127591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.926559995 meters 0.048804373917426654 Centerline is valid? [True, True] Translation: X:432.04, Y:-294.19, Z:-4.89 [[ 4.97422921e-01 -8.67496577e-01 -4.48639790e-03 4.32039764e+02] [-8.67459237e-01 -4.97443140e-01 8.04950546e-03 -2.94190260e+02] [-9.21464629e-03 -1.12241220e-04 -9.99957538e-01 -4.88699808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.986559995 meters 0.04841666687270566 Centerline is valid? [True, True] Translation: X:432.08, Y:-294.40, Z:-4.89 [[ 5.59487985e-01 -8.28824960e-01 -4.73071620e-03 4.32081639e+02] [-8.28793832e-01 -5.59507976e-01 7.18396391e-03 -2.94396382e+02] [-8.60112205e-03 -9.85530907e-05 -9.99963005e-01 -4.89041949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.046559995 meters 0.0490540663071335 Centerline is valid? [True, True] Translation: X:432.16, Y:-294.64, Z:-4.89 [[ 6.18430349e-01 -7.85820112e-01 -5.53670421e-03 4.32161559e+02] [-7.85787196e-01 -6.18455125e-01 7.19311005e-03 -2.94637092e+02] [-9.07669363e-03 -9.77662792e-05 -9.99958801e-01 -4.89059330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.106559995 meters 0.048431200828037056 Centerline is valid? [True, True] Translation: X:432.23, Y:-294.84, Z:-4.89 [[ 6.74143686e-01 -7.38572648e-01 -6.38233804e-03 4.32234281e+02] [-7.38538171e-01 -6.74173891e-01 7.13691199e-03 -2.94842478e+02] [-9.57393365e-03 -9.77039005e-05 -9.99954164e-01 -4.88976323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.166559995 meters 0.047953091428073656 Centerline is valid? [True, True] Translation: X:432.28, Y:-295.00, Z:-4.89 [[ 7.26746609e-01 -6.86869834e-01 -7.01410807e-03 4.32284486e+02] [-6.86836496e-01 -7.26780449e-01 6.76807392e-03 -2.95001713e+02] [-9.74650242e-03 -1.01129360e-04 -9.99952497e-01 -4.89039967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.2265599950001 meters 0.048395860044170735 Centerline is valid? [True, True] Translation: X:432.26, Y:-295.09, Z:-4.89 [[ 7.77923560e-01 -6.28309059e-01 -7.91594948e-03 4.32255424e+02] [-6.28275196e-01 -7.77963827e-01 6.52394126e-03 -2.95085174e+02] [-1.02573737e-02 -1.01732899e-04 -9.99947387e-01 -4.88880017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.286559995 meters 0.04876302951532519 Centerline is valid? [True, True] Translation: X:432.24, Y:-295.17, Z:-4.89 [[ 8.23853341e-01 -5.66744047e-01 -8.17664051e-03 4.32235247e+02] [-5.66715108e-01 -8.23893912e-01 5.72781853e-03 -2.95168814e+02] [-9.98289139e-03 -8.50567274e-05 -9.99950166e-01 -4.88944384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.346559995 meters 0.04872885976447235 Centerline is valid? [True, True] Translation: X:432.22, Y:-295.25, Z:-4.89 [[ 8.65217106e-01 -5.01340409e-01 -7.56000161e-03 4.32220253e+02] [-5.01320589e-01 -8.65250132e-01 4.45832641e-03 -2.95254915e+02] [-8.77643157e-03 -6.74358155e-05 -9.99961484e-01 -4.88941605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.406559995 meters 0.04842287716131437 Centerline is valid? [True, True] Translation: X:432.21, Y:-295.34, Z:-4.89 [[ 9.01241648e-01 -4.33260433e-01 -6.99204897e-03 4.32212152e+02] [-4.33246960e-01 -9.01268769e-01 3.41718994e-03 -2.95339699e+02] [-7.78224856e-03 -5.04299319e-05 -9.99969717e-01 -4.89074143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.4665599950001 meters 0.04816448335300768 Centerline is valid? [True, True] Translation: X:432.21, Y:-295.43, Z:-4.89 [[ 9.31405948e-01 -3.63932674e-01 -5.99745496e-03 4.32208127e+02] [-3.63924958e-01 -9.31425256e-01 2.37005611e-03 -2.95432932e+02] [-6.44872188e-03 -2.48608155e-05 -9.99979207e-01 -4.89187164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.526559995 meters 0.0492440054234423 Centerline is valid? [True, True] Translation: X:432.21, Y:-295.52, Z:-4.89 [[ 9.56220562e-01 -2.92591625e-01 -5.69012897e-03 4.32212307e+02] [-2.92586401e-01 -9.56237492e-01 1.74837339e-03 -2.95523493e+02] [-5.95267407e-03 -6.97622408e-06 -9.99982283e-01 -4.89197400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.586559995 meters 0.04900954003367294 Centerline is valid? [True, True] Translation: X:432.22, Y:-295.62, Z:-4.89 [[ 9.75462150e-01 -2.20084457e-01 -6.03544188e-03 4.32222788e+02] [-2.20080324e-01 -9.75480821e-01 1.34888419e-03 -2.95615673e+02] [-6.18432624e-03 1.24965345e-05 -9.99980877e-01 -4.89179439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.646559995 meters 0.04922403793396391 Centerline is valid? [True, True] Translation: X:432.24, Y:-295.70, Z:-4.89 [[ 9.89155354e-01 -1.46729530e-01 -6.49084114e-03 4.32241080e+02] [-1.46726616e-01 -9.89176649e-01 9.25540776e-04 -2.95701629e+02] [-6.55639265e-03 3.68755410e-05 -9.99978506e-01 -4.89178994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.7065599950001 meters 0.049623865913545916 Centerline is valid? [True, True] Translation: X:432.26, Y:-295.80, Z:-4.89 [[ 9.97210962e-01 -7.43486235e-02 -6.52532018e-03 4.32263866e+02] [-7.43475043e-02 -9.97232308e-01 4.14255087e-04 -2.95800140e+02] [-6.53805940e-03 7.20415558e-05 -9.99978624e-01 -4.89283018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.766559995 meters 0.04913648893509453 Centerline is valid? [True, True] Translation: X:432.29, Y:-295.91, Z:-4.89 [[ 9.99981169e-01 9.55335780e-04 -6.06213587e-03 4.32289675e+02] [ 9.54805543e-04 -9.99999540e-01 -9.03608137e-05 -2.95911098e+02] [-6.06221941e-03 8.45709512e-05 -9.99981621e-01 -4.89447416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.826559995 meters 0.04984913978485559 Centerline is valid? [True, True] Translation: X:432.32, Y:-296.01, Z:-4.89 [[ 9.97003485e-01 7.71492059e-02 -5.66133540e-03 4.32322789e+02] [ 7.71474442e-02 -9.97019554e-01 -5.29235504e-04 -2.96011894e+02] [-5.68529219e-03 9.08920852e-05 -9.99983835e-01 -4.89313953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.886559995 meters 0.04962562373125762 Centerline is valid? [True, True] Translation: X:432.36, Y:-296.08, Z:-4.89 [[ 9.88144092e-01 1.53421081e-01 -5.76417678e-03 4.32360593e+02] [ 1.53417867e-01 -9.88160899e-01 -9.98428648e-04 -2.96077407e+02] [-5.84911411e-03 1.02263665e-04 -9.99982889e-01 -4.89221104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.9465599950001 meters 0.04986603925311061 Centerline is valid? [True, True] Translation: X:432.40, Y:-296.14, Z:-4.89 [[ 9.72966741e-01 2.30881753e-01 -5.41637699e-03 4.32403924e+02] [ 2.30877636e-01 -9.72981812e-01 -1.38200861e-03 -2.96143486e+02] [-5.58911687e-03 9.41280969e-05 -9.99984376e-01 -4.89291232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.006559995 meters 0.051089152501944284 Centerline is valid? [True, True] Translation: X:432.45, Y:-296.22, Z:-4.89 [[ 9.51554650e-01 3.07431242e-01 -5.45716524e-03 4.32454111e+02] [ 3.07425641e-01 -9.51570294e-01 -1.85794542e-03 -2.96215478e+02] [-5.76406680e-03 9.02640819e-05 -9.99983384e-01 -4.89415462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.066559995 meters 0.04989560989650285 Centerline is valid? [True, True] Translation: X:432.51, Y:-296.28, Z:-4.89 [[ 9.22055400e-01 3.87018102e-01 -5.55235761e-03 4.32508188e+02] [ 3.87010727e-01 -9.22072115e-01 -2.38995298e-03 -2.96275415e+02] [-6.04462919e-03 5.48470997e-05 -9.99981730e-01 -4.89147946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.126559995 meters 0.04908081284453597 Centerline is valid? [True, True] Translation: X:432.57, Y:-296.33, Z:-4.89 [[ 8.85943341e-01 4.63760860e-01 -5.50097398e-03 4.32568168e+02] [ 4.63751809e-01 -8.85960419e-01 -2.89752094e-03 -2.96334081e+02] [-6.21740201e-03 1.59527483e-05 -9.99980672e-01 -4.89162201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.1865599950002 meters 0.04974452670856391 Centerline is valid? [True, True] Translation: X:432.63, Y:-296.39, Z:-4.89 [[ 8.43225909e-01 5.37531126e-01 -5.50956795e-03 4.32633027e+02] [ 5.37519874e-01 -8.43243908e-01 -3.47806855e-03 -2.96387189e+02] [-6.51547971e-03 -2.87047547e-05 -9.99978774e-01 -4.89231594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.246559995 meters 0.049658914895520045 Centerline is valid? [True, True] Translation: X:432.70, Y:-296.44, Z:-4.89 [[ 7.93584599e-01 6.08440381e-01 -4.87712121e-03 4.32704594e+02] [ 6.08429486e-01 -7.93599582e-01 -3.64200461e-03 -2.96440318e+02] [-6.08642403e-03 -7.71455837e-05 -9.99981475e-01 -4.89140427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.306559995 meters 0.04991795941713353 Centerline is valid? [True, True] Translation: X:432.78, Y:-296.48, Z:-4.89 [[ 7.41490894e-01 6.70950388e-01 -4.10261971e-03 4.32776091e+02] [ 6.70940754e-01 -7.41502238e-01 -3.59648002e-03 -2.96480718e+02] [-5.45516136e-03 -8.58575792e-05 -9.99985117e-01 -4.89279111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.366559995 meters 0.049750696581591335 Centerline is valid? [True, True] Translation: X:432.85, Y:-296.51, Z:-4.89 [[ 6.85673426e-01 7.27902086e-01 -3.24127007e-03 4.32848337e+02] [ 7.27894499e-01 -6.85681083e-01 -3.32442733e-03 -2.96514005e+02] [-4.64233516e-03 -7.98311754e-05 -9.99989221e-01 -4.89330607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.426559995 meters 0.04960604000637864 Centerline is valid? [True, True] Translation: X:432.93, Y:-296.54, Z:-4.89 [[ 6.26577854e-01 7.79350593e-01 -3.58428230e-03 4.32927207e+02] [ 7.79338715e-01 -6.26588098e-01 -4.30380494e-03 -2.96543564e+02] [-5.60004156e-03 -9.67011023e-05 -9.99984315e-01 -4.89405753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.486559995 meters 0.05004516496201777 Centerline is valid? [True, True] Translation: X:433.01, Y:-296.57, Z:-4.89 [[ 5.64320722e-01 8.25546010e-01 -3.98860991e-03 4.33009867e+02] [ 8.25526797e-01 -5.64334806e-01 -5.63330812e-03 -2.96569913e+02] [-6.90146644e-03 -1.13711861e-04 -9.99976178e-01 -4.89214537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.546559995 meters 0.05111416960598241 Centerline is valid? [True, True] Translation: X:433.09, Y:-296.58, Z:-4.89 [[ 4.99173434e-01 8.66491084e-01 -4.36854833e-03 4.33089308e+02] [ 8.66460135e-01 -4.99192533e-01 -7.32458849e-03 -2.96584752e+02] [-8.52743733e-03 -1.28932993e-04 -9.99963632e-01 -4.89217062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.606559995 meters 0.050029925372163365 Centerline is valid? [True, True] Translation: X:433.17, Y:-296.59, Z:-4.89 [[ 4.31809598e-01 9.01954260e-01 -4.35709262e-03 4.33169041e+02] [ 9.01911281e-01 -4.31831561e-01 -8.80591405e-03 -2.96593222e+02] [-9.82406180e-03 -1.27232786e-04 -9.99951735e-01 -4.89297296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.666559995 meters 0.049458997619772085 Centerline is valid? [True, True] Translation: X:433.25, Y:-296.60, Z:-4.89 [[ 3.61414928e-01 9.32397417e-01 -3.78250302e-03 4.33254095e+02] [ 9.32349652e-01 -3.61434703e-01 -9.43836988e-03 -2.96597598e+02] [-1.01674395e-02 -1.15447604e-04 -9.99948304e-01 -4.89413525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.7265599950001 meters 0.04955898781474502 Centerline is valid? [True, True] Translation: X:433.34, Y:-296.60, Z:-4.89 [[ 2.89254104e-01 9.57248445e-01 -2.73456478e-03 4.33337783e+02] [ 9.57208439e-01 -2.89267017e-01 -8.75197018e-03 -2.96596056e+02] [-9.16882924e-03 -8.60051984e-05 -9.99957962e-01 -4.89440096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.786559995 meters 0.04954747975253932 Centerline is valid? [True, True] Translation: X:433.42, Y:-296.59, Z:-4.89 [[ 2.14616282e-01 9.76696779e-01 -1.80352700e-03 4.33417153e+02] [ 9.76664854e-01 -2.14623849e-01 -7.89729362e-03 -2.96586946e+02] [-8.10034115e-03 -6.65536353e-05 -9.99967190e-01 -4.89440401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.846559995 meters 0.0497547397227751 Centerline is valid? [True, True] Translation: X:433.50, Y:-296.57, Z:-4.90 [[ 1.38505296e-01 9.90360958e-01 -1.20693940e-03 4.33495792e+02] [ 9.90327042e-01 -1.38510541e-01 -8.19635665e-03 -2.96571532e+02] [-8.28452545e-03 -6.00259283e-05 -9.99965681e-01 -4.89589391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.906559995 meters 0.04944022968697267 Centerline is valid? [True, True] Translation: X:433.57, Y:-296.55, Z:-4.90 [[ 6.10368532e-02 9.98135353e-01 -5.64560540e-04 4.33572907e+02] [ 9.98100800e-01 -6.10394379e-02 -8.30545938e-03 -2.96551220e+02] [-8.32443309e-03 -5.65492213e-05 -9.99965350e-01 -4.89523098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.9665599950001 meters 0.049074308795686666 Centerline is valid? [True, True] Translation: X:433.64, Y:-296.53, Z:-4.90 [[-1.66514462e-02 9.99861351e-01 9.55463757e-05 4.33638900e+02] [ 9.99819610e-01 1.66516241e-02 -9.13626458e-03 -2.96525557e+02] [-9.13658884e-03 -5.66028778e-05 -9.99958259e-01 -4.89530522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.026559995 meters 0.04939969023983205 Centerline is valid? [True, True] Translation: X:433.71, Y:-296.49, Z:-4.89 [[-9.54445885e-02 9.95434442e-01 7.76343253e-04 4.33709383e+02] [ 9.95396229e-01 9.54477272e-02 -8.72232074e-03 -2.96494198e+02] [-8.75659867e-03 -5.97291676e-05 -9.99961659e-01 -4.89443028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.086559995 meters 0.04932470357742906 Centerline is valid? [True, True] Translation: X:433.78, Y:-296.46, Z:-4.90 [[-1.74449644e-01 9.84665189e-01 1.33684376e-03 4.33784839e+02] [ 9.84633296e-01 1.74454753e-01 -7.92531567e-03 -2.96455369e+02] [-8.03700120e-03 -6.62676207e-05 -9.99967701e-01 -4.89607586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.146559995 meters 0.04888852496509822 Centerline is valid? [True, True] Translation: X:433.86, Y:-296.41, Z:-4.89 [[-2.52457047e-01 9.67606485e-01 1.76925361e-03 4.33858025e+02] [ 9.67580703e-01 2.52463236e-01 -7.06381366e-03 -2.96412188e+02] [-7.28166340e-03 -7.14138834e-05 -9.99973486e-01 -4.89417988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.2065599950001 meters 0.04883628546817072 Centerline is valid? [True, True] Translation: X:433.92, Y:-296.37, Z:-4.90 [[-3.28708192e-01 9.44429152e-01 2.12166946e-03 4.33919128e+02] [ 9.44407989e-01 3.28715031e-01 -6.32294147e-03 -2.96365389e+02] [-6.66899489e-03 -7.46810685e-05 -9.99977759e-01 -4.89711723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.266559995 meters 0.048851604925892855 Centerline is valid? [True, True] Translation: X:433.99, Y:-296.31, Z:-4.89 [[-4.03853018e-01 9.14820199e-01 2.59668564e-03 4.33989715e+02] [ 9.14799823e-01 4.03861356e-01 -6.10652312e-03 -2.96310103e+02] [-6.63507168e-03 -9.06902288e-05 -9.99977984e-01 -4.89407248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.326559995 meters 0.0495671658595352 Centerline is valid? [True, True] Translation: X:434.04, Y:-296.25, Z:-4.89 [[-4.75156419e-01 8.79894776e-01 3.40001748e-03 4.34043484e+02] [ 8.79870590e-01 4.75168571e-01 -6.52487486e-03 -2.96254527e+02] [-7.35678476e-03 -1.08760787e-04 -9.99972933e-01 -4.89368198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.386559995 meters 0.049048359312840024 Centerline is valid? [True, True] Translation: X:434.10, Y:-296.19, Z:-4.89 [[-5.43533827e-01 8.39376637e-01 4.22383112e-03 4.34098639e+02] [ 8.39349452e-01 5.43550224e-01 -6.75664455e-03 -2.96190025e+02] [-7.96723393e-03 -1.27194531e-04 -9.99968253e-01 -4.89427628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.4465599950001 meters 0.048605436178402364 Centerline is valid? [True, True] Translation: X:434.15, Y:-296.12, Z:-4.89 [[-6.08190177e-01 7.93776363e-01 4.87803759e-03 4.34152967e+02] [ 7.93748997e-01 6.08209723e-01 -6.59265979e-03 -2.96118865e+02] [-8.19996740e-03 -1.37653483e-04 -9.99966370e-01 -4.89462121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.506559995 meters 0.04889247246261977 Centerline is valid? [True, True] Translation: X:434.20, Y:-296.04, Z:-4.89 [[-6.68083334e-01 7.44069163e-01 5.07343463e-03 4.34201625e+02] [ 7.44046261e-01 6.68102586e-01 -5.83919339e-03 -2.96044654e+02] [-7.73433853e-03 -1.26197715e-04 -9.99970082e-01 -4.89399743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.566559995 meters 0.048871854291993214 Centerline is valid? [True, True] Translation: X:434.24, Y:-295.97, Z:-4.89 [[-7.22065581e-01 6.91809757e-01 4.53391826e-03 4.34239631e+02] [ 6.91795388e-01 7.22079811e-01 -4.45958853e-03 -2.95970659e+02] [-6.35903770e-03 -8.35716383e-05 -9.99979778e-01 -4.89476764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.626559995 meters 0.04989986461423333 Centerline is valid? [True, True] Translation: X:434.54, Y:-296.14, Z:-4.90 [[-7.67472710e-01 6.41068795e-01 4.05465070e-03 4.34538853e+02] [ 6.41059491e-01 7.67483418e-01 -3.45429274e-03 -2.96139121e+02] [-5.32631646e-03 -5.18030948e-05 -9.99985814e-01 -4.89586489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.6865599950002 meters 0.04960928873029664 Centerline is valid? [True, True] Translation: X:434.16, Y:-295.74, Z:-4.89 [[-8.08775979e-01 5.88104332e-01 3.83559123e-03 4.34158713e+02] [ 5.88097546e-01 8.08785073e-01 -2.82521378e-03 -2.95736111e+02] [-4.76368940e-03 -2.92632474e-05 -9.99988653e-01 -4.89485007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.746559995 meters 0.04938899274693484 Centerline is valid? [True, True] Translation: X:434.17, Y:-295.65, Z:-4.89 [[-8.46459375e-01 5.32431767e-01 4.78969987e-03 4.34166298e+02] [ 5.32423150e-01 8.46472926e-01 -3.02904649e-03 -2.95652389e+02] [-5.66711184e-03 -1.38177068e-05 -9.99983942e-01 -4.89436742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.806559995 meters 0.04894722280280848 Centerline is valid? [True, True] Translation: X:434.11, Y:-295.54, Z:-4.89 [[-8.81568413e-01 4.72013570e-01 6.35009475e-03 4.34113914e+02] [ 4.72001240e-01 8.81591283e-01 -3.41169650e-03 -2.95535860e+02] [-7.20855521e-03 -1.03912711e-05 -9.99974018e-01 -4.89239753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.866559995 meters 0.049143534299335066 Centerline is valid? [True, True] Translation: X:434.51, Y:-295.03, Z:-5.91 [[-8.46309964e-01 -5.32644907e-01 6.98919334e-03 4.34510988e+02] [ 5.32627497e-01 -8.46338819e-01 -4.30718437e-03 -2.95028498e+02] [ 8.20942546e-03 7.74235103e-05 9.99966299e-01 -5.91479623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.926559995 meters 0.04905597874386841 Centerline is valid? [True, True] Translation: X:434.26, Y:-295.62, Z:-4.89 [[-8.83444347e-01 4.68475941e-01 7.50850936e-03 4.34260772e+02] [ 4.68458884e-01 8.83476255e-01 -3.99772141e-03 -2.95623416e+02] [-8.50642603e-03 -1.43364644e-05 -9.99963820e-01 -4.89364113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.986559995 meters 0.049269604384582645 Centerline is valid? [True, True] Translation: X:434.17, Y:-295.49, Z:-4.89 [[-9.15370353e-01 4.02533369e-01 8.00027072e-03 4.34165642e+02] [ 4.02517661e-01 9.15405312e-01 -3.55630394e-03 -2.95485803e+02] [-8.75502133e-03 -3.50849372e-05 -9.99961673e-01 -4.89265246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.046559995 meters 0.04964515300177049 Centerline is valid? [True, True] Translation: X:433.98, Y:-295.33, Z:-4.89 [[-9.42120742e-01 3.35166857e-01 8.46668810e-03 4.33983679e+02] [ 3.35152841e-01 9.42158785e-01 -3.06552118e-03 -2.95327381e+02] [-9.00442567e-03 -5.04565211e-05 -9.99959458e-01 -4.88914817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.106559995 meters 0.04907390214372785 Centerline is valid? [True, True] Translation: X:434.06, Y:-295.27, Z:-4.89 [[-9.63971007e-01 2.65872055e-01 8.48216614e-03 4.34062427e+02] [ 2.65861189e-01 9.64008323e-01 -2.40453868e-03 -2.95274521e+02] [-8.81617839e-03 -6.28267988e-05 -9.99961135e-01 -4.89172380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.166559995 meters 0.0488880536221523 Centerline is valid? [True, True] Translation: X:434.00, Y:-295.18, Z:-4.89 [[-9.80970066e-01 1.94004191e-01 7.75267271e-03 4.34004248e+02] [ 1.93997497e-01 9.81000697e-01 -1.61353488e-03 -2.95181808e+02] [-7.91840986e-03 -7.88303148e-05 -9.99968646e-01 -4.89415289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.2265599950001 meters 0.04777520951047251 Centerline is valid? [True, True] Translation: X:434.13, Y:-294.57, Z:-5.91 [[-9.59770910e-01 -2.80695959e-01 7.04124677e-03 4.34128306e+02] [ 2.80688657e-01 -9.59796738e-01 -2.02493197e-03 -2.94570255e+02] [ 7.32655590e-03 3.29273011e-05 9.99973160e-01 -5.91342348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.286559995 meters 0.04927481370708627 Centerline is valid? [True, True] Translation: X:433.91, Y:-295.16, Z:-4.89 [[-9.82564181e-01 1.85826117e-01 6.02358718e-03 4.33906006e+02] [ 1.85822068e-01 9.82582641e-01 -1.23001012e-03 -2.95160911e+02] [-6.14724021e-03 -8.92484582e-05 -9.99981102e-01 -4.89371740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.346559995 meters 0.04871289596305428 Centerline is valid? [True, True] Translation: X:434.31, Y:-295.15, Z:-4.90 [[-9.93814136e-01 1.10868660e-01 6.45013808e-03 4.34306013e+02] [ 1.10865688e-01 9.93835062e-01 -8.17672194e-04 -2.95146144e+02] [-6.50102760e-03 -9.75151924e-05 -9.99978863e-01 -4.89522948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.406559995 meters 0.04854250944280277 Centerline is valid? [True, True] Translation: X:433.41, Y:-294.97, Z:-4.89 [[-9.99119070e-01 4.13056253e-02 7.41140897e-03 4.33406944e+02] [ 4.13037135e-02 9.99146553e-01 -4.10885879e-04 -2.94972013e+02] [-7.42205562e-03 -1.04405205e-04 -9.99972451e-01 -4.89204099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.4665599950001 meters 0.04929381606058885 Centerline is valid? [True, True] Translation: X:433.32, Y:-294.35, Z:-5.92 [[-9.90702251e-01 -1.35837460e-01 7.56539350e-03 4.33323855e+02] [ 1.35834423e-01 -9.90731129e-01 -9.16244748e-04 -2.94345814e+02] [ 7.61973120e-03 1.19915126e-04 9.99970962e-01 -5.91772975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.526559995 meters 0.04876609155451358 Centerline is valid? [True, True] Translation: X:433.14, Y:-294.96, Z:-4.89 [[-9.99229828e-01 3.87163068e-02 6.38742680e-03 4.33138059e+02] [ 3.87149863e-02 9.99250239e-01 -3.30293373e-04 -2.94960199e+02] [-6.39542550e-03 -8.27498491e-05 -9.99979546e-01 -4.89332843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.586559995 meters 0.049492661272214945 Centerline is valid? [True, True] Translation: X:433.11, Y:-294.33, Z:-5.92 [[-9.91400715e-01 -1.30746019e-01 5.48636483e-03 4.33108413e+02] [ 1.30744105e-01 -9.91415896e-01 -7.07658154e-04 -2.94327092e+02] [ 5.53179279e-03 1.57370600e-05 9.99984699e-01 -5.91551949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.646559995 meters 0.04801900616875968 Centerline is valid? [True, True] Translation: X:433.00, Y:-294.96, Z:-4.89 [[-9.99323686e-01 3.64327174e-02 4.98281925e-03 4.33000020e+02] [ 3.64319823e-02 9.99336107e-01 -2.38250011e-04 -2.94956562e+02] [-4.98819128e-03 -5.65548966e-05 -9.99987557e-01 -4.89261195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.7065599950001 meters 0.04844760136645951 Centerline is valid? [True, True] Translation: X:432.95, Y:-294.88, Z:-4.89 [[-9.99334967e-01 -3.62677908e-02 3.77777620e-03 4.32951140e+02] [-3.62677156e-02 9.99342106e-01 8.84502630e-05 -2.94877370e+02] [-3.77849872e-03 -4.86198720e-05 -9.99992860e-01 -4.89323836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.766559995 meters 0.048239420975110664 Centerline is valid? [True, True] Translation: X:432.85, Y:-294.81, Z:-4.89 [[-9.94107126e-01 -1.08292343e-01 4.87752586e-03 4.32845882e+02] [-1.08291377e-01 9.94119089e-01 4.62422949e-04 -2.94805958e+02] [-4.89891843e-03 -6.84960433e-05 -9.99987998e-01 -4.89248220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.826559995 meters 0.048331805009904645 Centerline is valid? [True, True] Translation: X:432.80, Y:-294.73, Z:-4.89 [[-9.83712593e-01 -1.79677691e-01 5.04595504e-03 4.32804845e+02] [-1.79675722e-01 9.83725532e-01 8.44615642e-04 -2.94734128e+02] [-5.11559339e-03 -7.57765729e-05 -9.99986912e-01 -4.89109519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.886559995 meters 0.04912382216363652 Centerline is valid? [True, True] Translation: X:432.74, Y:-294.67, Z:-4.89 [[-9.68266491e-01 -2.49868511e-01 5.07245650e-03 4.32741726e+02] [-2.49865515e-01 9.68279774e-01 1.22624019e-03 -2.94668979e+02] [-5.21795584e-03 -8.01046692e-05 -9.99986383e-01 -4.89172938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.9465599950001 meters 0.04885316181241617 Centerline is valid? [True, True] Translation: X:432.68, Y:-294.60, Z:-4.89 [[-9.47593234e-01 -3.19449178e-01 4.39160139e-03 4.32675021e+02] [-3.19446117e-01 9.47603407e-01 1.40043465e-03 -2.94604340e+02] [-4.60886413e-03 -7.58376163e-05 -9.99989376e-01 -4.89045039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.006559995 meters 0.04847929007222187 Centerline is valid? [True, True] Translation: X:432.45, Y:-294.02, Z:-5.92 [[-9.74940677e-01 2.22401734e-01 5.30522708e-03 4.32445986e+02] [-2.22397610e-01 -9.74955100e-01 1.36239654e-03 -2.94024111e+02] [ 5.47535755e-03 1.48385979e-04 9.99984999e-01 -5.91713696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.066559995 meters 0.048635152665883606 Centerline is valid? [True, True] Translation: X:432.53, Y:-294.65, Z:-4.89 [[-9.46331993e-01 -3.23162252e-01 4.68168521e-03 4.32531544e+02] [-3.23158704e-01 9.46343570e-01 1.51627276e-03 -2.94647838e+02] [-4.92048482e-03 -7.80299081e-05 -9.99987891e-01 -4.88967792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.126559995 meters 0.04853761304306728 Centerline is valid? [True, True] Translation: X:432.35, Y:-294.63, Z:-4.89 [[-9.21186750e-01 -3.89107566e-01 3.20517864e-03 4.32354892e+02] [-3.89105409e-01 9.21192325e-01 1.29651911e-03 -2.94632310e+02] [-3.45707135e-03 -5.28161177e-05 -9.99994023e-01 -4.89145956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.1865599950002 meters 0.04853761304306728 Centerline is valid? [True, True] Translation: X:432.24, Y:-294.60, Z:-4.89 [[-8.90949063e-01 -4.54092646e-01 3.10407464e-03 4.32243931e+02] [-4.54090096e-01 8.90954469e-01 1.52277301e-03 -2.94598134e+02] [-3.45706920e-03 -5.28163619e-05 -9.99994023e-01 -4.89145966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.246559995 meters 0.049179361279975915 Centerline is valid? [True, True] Translation: X:432.13, Y:-294.57, Z:-4.89 [[-8.55704931e-01 -5.17455327e-01 3.00934552e-03 4.32127817e+02] [-5.17452347e-01 8.55710221e-01 1.75687096e-03 -2.94568341e+02] [-3.48422996e-03 -5.38297553e-05 -9.99993929e-01 -4.89074657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.306559995 meters 0.048784886256495734 Centerline is valid? [True, True] Translation: X:431.99, Y:-294.56, Z:-4.89 [[-8.15756504e-01 -5.78385472e-01 3.40173144e-03 4.31993535e+02] [-5.78380778e-01 8.15763594e-01 2.33108703e-03 -2.94560487e+02] [-4.12327553e-03 -6.58966684e-05 -9.99991497e-01 -4.89002963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.366559995 meters 0.048339674582020827 Centerline is valid? [True, True] Translation: X:431.83, Y:-294.59, Z:-4.89 [[-7.72110145e-01 -6.35478386e-01 3.62577153e-03 4.31829753e+02] [-6.35471820e-01 7.72118654e-01 2.88970400e-03 -2.94588092e+02] [-4.63587027e-03 -7.29058640e-05 -9.99989252e-01 -4.88949657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.426559995 meters 0.04891104295078899 Centerline is valid? [True, True] Translation: X:431.68, Y:-294.62, Z:-4.89 [[-7.24979209e-01 -6.88761742e-01 3.52267439e-03 4.31677708e+02] [-6.88754074e-01 7.24987764e-01 3.25085138e-03 -2.94619260e+02] [-4.79295788e-03 -6.94566756e-05 -9.99988511e-01 -4.88906198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.486559995 meters 0.04845449140738476 Centerline is valid? [True, True] Translation: X:431.56, Y:-294.63, Z:-4.89 [[-6.73603534e-01 -7.39085403e-01 3.32351776e-03 4.31560963e+02] [-7.39076852e-01 6.73611731e-01 3.55572170e-03 -2.94626923e+02] [-4.86674256e-03 -6.11883412e-05 -9.99988156e-01 -4.88852834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.546559995 meters 0.048363000871874645 Centerline is valid? [True, True] Translation: X:431.35, Y:-294.76, Z:-4.89 [[-6.20295308e-01 -7.84362271e-01 3.09177365e-03 4.31348432e+02] [-7.84352947e-01 6.20303010e-01 3.82496222e-03 -2.94760311e+02] [-4.91799256e-03 -5.24356631e-05 -9.99987905e-01 -4.88929335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.606559995 meters 0.04820757446643996 Centerline is valid? [True, True] Translation: X:431.18, Y:-294.86, Z:-4.89 [[-5.61803357e-01 -8.27265846e-01 2.86499980e-03 4.31180540e+02] [-8.27255535e-01 5.61810660e-01 4.13064456e-03 -2.94856468e+02] [-5.02672860e-03 -4.94769649e-05 -9.99987365e-01 -4.88860964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.666559995 meters 0.04842474335537266 Centerline is valid? [True, True] Translation: X:430.99, Y:-295.02, Z:-4.89 [[-4.99816935e-01 -8.66127894e-01 2.34571435e-03 4.30986994e+02] [-8.66118795e-01 4.99822437e-01 3.97052473e-03 -2.95016867e+02] [-4.61142289e-03 -4.71317843e-05 -9.99989366e-01 -4.88830640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.7265599950001 meters 0.0483871299420996 Centerline is valid? [True, True] Translation: X:430.85, Y:-295.10, Z:-4.89 [[-4.33530593e-01 -9.01136687e-01 1.97373672e-03 4.30853870e+02] [-9.01127860e-01 4.33535083e-01 3.98896216e-03 -2.95100596e+02] [-4.45028426e-03 -4.92520154e-05 -9.99990096e-01 -4.88819088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.786559995 meters 0.04824653454520546 Centerline is valid? [True, True] Translation: X:430.69, Y:-295.27, Z:-4.89 [[-3.65993983e-01 -9.30615666e-01 1.69918229e-03 4.30691114e+02] [-9.30606272e-01 3.65997924e-01 4.18164378e-03 -2.95274294e+02] [-4.51340040e-03 -5.08132372e-05 -9.99989813e-01 -4.88829390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.846559995 meters 0.048114734776985704 Centerline is valid? [True, True] Translation: X:430.56, Y:-295.41, Z:-4.89 [[-2.96971327e-01 -9.54885297e-01 1.44920561e-03 4.30556594e+02] [-9.54874720e-01 2.96974859e-01 4.49469538e-03 -2.95413825e+02] [-4.72229616e-03 -4.90141494e-05 -9.99988849e-01 -4.88786979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.906559995 meters 0.048092140480363435 Centerline is valid? [True, True] Translation: X:430.41, Y:-295.65, Z:-4.89 [[-2.27331706e-01 -9.73816623e-01 1.21623862e-03 4.30413922e+02] [-9.73803758e-01 2.27334955e-01 5.00594410e-03 -2.95646350e+02] [-5.15136513e-03 -4.63679272e-05 -9.99986731e-01 -4.88874127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.9665599950001 meters 0.04871214407131153 Centerline is valid? [True, True] Translation: X:430.30, Y:-295.83, Z:-4.89 [[-1.56909620e-01 -9.87612244e-01 1.19417292e-03 4.30298384e+02] [-9.87585957e-01 1.56914157e-01 7.20593757e-03 -2.95830276e+02] [-7.30405481e-03 -4.86674779e-05 -9.99973324e-01 -4.88735845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.026559995 meters 0.04865109668707885 Centerline is valid? [True, True] Translation: X:430.19, Y:-296.07, Z:-4.89 [[-8.55933675e-02 -9.96329860e-01 7.65116159e-04 4.30192484e+02] [-9.96294056e-01 8.55967781e-02 8.44657766e-03 -2.96065969e+02] [-8.48106901e-03 -3.93096563e-05 -9.99964034e-01 -4.88679764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.086559995 meters 0.04829359152805249 Centerline is valid? [True, True] Translation: X:430.11, Y:-296.28, Z:-4.89 [[-1.38289530e-02 -9.99904365e-01 1.46265632e-04 4.30106531e+02] [-9.99863470e-01 1.38297102e-02 9.04327541e-03 -2.96275231e+02] [-9.04443337e-03 -2.11866317e-05 -9.99959098e-01 -4.88536407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.146559995 meters 0.04897339267116452 Centerline is valid? [True, True] Translation: X:430.01, Y:-295.86, Z:-4.89 [[ 5.94399785e-02 -9.98231758e-01 -4.95567922e-04 4.30014987e+02] [-9.98197453e-01 -5.94420442e-02 8.27570652e-03 -2.95860000e+02] [-8.29053064e-03 2.76681983e-06 -9.99965633e-01 -4.88859466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.2065599950001 meters 0.04874315894334004 Centerline is valid? [True, True] Translation: X:429.98, Y:-296.35, Z:-4.89 [[ 1.31195254e-01 -9.91356065e-01 -9.78663672e-04 4.29981845e+02] [-9.91328821e-01 -1.31198904e-01 7.34962030e-03 -2.96354952e+02] [-7.41449026e-03 5.94220290e-06 -9.99972512e-01 -4.88876992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.266559995 meters 0.04841369569822492 Centerline is valid? [True, True] Translation: X:429.94, Y:-296.59, Z:-4.89 [[ 2.06985939e-01 -9.78342911e-01 -1.40317110e-03 4.29943451e+02] [-9.78319981e-01 -2.06990695e-01 6.69825905e-03 -2.96594188e+02] [-6.84363762e-03 -1.36951206e-05 -9.99976582e-01 -4.88842731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.326559995 meters 0.04856142062607299 Centerline is valid? [True, True] Translation: X:429.91, Y:-296.79, Z:-4.89 [[ 2.81867301e-01 -9.59451829e-01 -1.73582605e-03 4.29909426e+02] [-9.59432938e-01 -2.81872644e-01 6.02087808e-03 -2.96790717e+02] [-6.26602437e-03 -3.16799643e-05 -9.99980368e-01 -4.88777691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.386559995 meters 0.04870246731263525 Centerline is valid? [True, True] Translation: X:429.93, Y:-297.11, Z:-4.89 [[ 3.56318890e-01 -9.34362049e-01 -2.10003241e-03 4.29926124e+02] [-9.34344806e-01 -3.56325074e-01 5.67668894e-03 -2.97111801e+02] [-6.05237692e-03 -6.05571259e-05 -9.99981682e-01 -4.88643603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.4465599950001 meters 0.04860307648271927 Centerline is valid? [True, True] Translation: X:429.93, Y:-297.32, Z:-4.89 [[ 4.27636894e-01 -9.03946552e-01 -2.70503338e-03 4.29928283e+02] [-9.03927148e-01 -4.27645440e-01 5.92362426e-03 -2.97320782e+02] [-6.51143491e-03 -8.80071728e-05 -9.99978797e-01 -4.88657358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.506559995 meters 0.048682341196139026 Centerline is valid? [True, True] Translation: X:429.95, Y:-297.53, Z:-4.89 [[ 4.96916729e-01 -8.67791488e-01 -3.42023269e-03 4.29946255e+02] [-8.67769153e-01 -4.96928483e-01 6.22730250e-03 -2.97533468e+02] [-7.10361115e-03 -1.26478362e-04 -9.99974761e-01 -4.88683114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.566559995 meters 0.04839958716818742 Centerline is valid? [True, True] Translation: X:429.97, Y:-297.73, Z:-4.89 [[ 5.60423052e-01 -8.28197085e-01 -3.94842881e-03 4.29974524e+02] [-8.28174794e-01 -5.60436945e-01 6.07799108e-03 -2.97730233e+02] [-7.24661987e-03 -1.36257095e-04 -9.99973734e-01 -4.88758442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.626559995 meters 0.04846775160289817 Centerline is valid? [True, True] Translation: X:430.04, Y:-297.96, Z:-4.89 [[ 6.18576183e-01 -7.85709498e-01 -4.90823485e-03 4.30042451e+02] [-7.85682957e-01 -6.18595640e-01 6.45960823e-03 -2.97964331e+02] [-8.11158822e-03 -1.39443337e-04 -9.99967091e-01 -4.88628696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.6865599950002 meters 0.04858041061145296 Centerline is valid? [True, True] Translation: X:430.10, Y:-298.15, Z:-4.89 [[ 6.73483689e-01 -7.39185811e-01 -4.90486131e-03 4.30100381e+02] [-7.39164953e-01 -6.73501539e-01 5.55416011e-03 -2.98153875e+02] [-7.40898799e-03 -1.15134656e-04 -9.99972546e-01 -4.88709476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.746559995 meters 0.04829492130599141 Centerline is valid? [True, True] Translation: X:430.20, Y:-298.36, Z:-4.89 [[ 7.23247892e-01 -6.90575645e-01 -4.21476321e-03 4.30197634e+02] [-6.90563365e-01 -7.23260170e-01 4.11888513e-03 -2.98361651e+02] [-5.89277211e-03 -6.84139192e-05 -9.99982635e-01 -4.88898476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.806559995 meters 0.04873520577175204 Centerline is valid? [True, True] Translation: X:430.17, Y:-298.45, Z:-4.89 [[ 7.73230958e-01 -6.34113118e-01 -3.79981038e-03 4.30167661e+02] [-6.34105184e-01 -7.73240294e-01 3.17240765e-03 -2.98445253e+02] [-4.94983180e-03 -4.35243435e-05 -9.99987749e-01 -4.88894100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.866559995 meters 0.047901986414616154 Centerline is valid? [True, True] Translation: X:430.14, Y:-298.53, Z:-4.89 [[ 8.19148832e-01 -5.73570816e-01 -3.42196341e-03 4.30143810e+02] [-5.73565670e-01 -8.19155980e-01 2.42959506e-03 -2.98531854e+02] [-4.19666661e-03 -2.74792250e-05 -9.99991194e-01 -4.88981947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.926559995 meters 0.04765440162377924 Centerline is valid? [True, True] Translation: X:430.13, Y:-298.62, Z:-4.89 [[ 8.60890777e-01 -5.08782494e-01 -2.72842038e-03 4.30126473e+02] [-5.08779876e-01 -8.60895100e-01 1.63237994e-03 -2.98618695e+02] [-3.17941007e-03 -1.71354503e-05 -9.99994946e-01 -4.89069908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.986559995 meters 0.04785738443090804 Centerline is valid? [True, True] Translation: X:430.12, Y:-298.71, Z:-4.89 [[ 8.98627914e-01 -4.38704365e-01 -2.52036245e-03 4.30115497e+02] [-4.38702580e-01 -8.98631448e-01 1.25166743e-03 -2.98707241e+02] [-2.81398892e-03 -1.90937833e-05 -9.99996041e-01 -4.88967033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.046559995 meters 0.0483425549361219 Centerline is valid? [True, True] Translation: X:430.12, Y:-298.79, Z:-4.89 [[ 9.31582541e-01 -3.63523013e-01 -2.23369196e-03 4.30117187e+02] [-3.63521902e-01 -9.31585218e-01 8.99142692e-04 -2.98786889e+02] [-2.40773347e-03 -2.56296852e-05 -9.99997101e-01 -4.88956988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.106559995 meters 0.04824216167592199 Centerline is valid? [True, True] Translation: X:430.12, Y:-298.87, Z:-4.89 [[ 9.57923448e-01 -2.87016725e-01 -2.01688396e-03 4.30124158e+02] [-2.87016027e-01 -9.57925570e-01 6.33731725e-04 -2.98868125e+02] [-2.11391633e-03 -2.81884563e-05 -9.99997765e-01 -4.88992679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.166559995 meters 0.048630055687012765 Centerline is valid? [True, True] Translation: X:430.14, Y:-298.95, Z:-4.89 [[ 9.77960864e-01 -2.08768585e-01 -2.86802384e-03 4.30137047e+02] [-2.08767547e-01 -9.77965069e-01 6.60009526e-04 -2.98949626e+02] [-2.94261639e-03 -4.67131837e-05 -9.99995669e-01 -4.88893304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.2265599950001 meters 0.048556236306943425 Centerline is valid? [True, True] Translation: X:430.16, Y:-299.02, Z:-4.89 [[ 9.91333028e-01 -1.31318561e-01 -3.77676663e-03 4.30158546e+02] [-1.31317369e-01 -9.91340220e-01 5.62795715e-04 -2.99021949e+02] [-3.81796618e-03 -6.19629212e-05 -9.99992710e-01 -4.88834753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.286559995 meters 0.04798307088018985 Centerline is valid? [True, True] Translation: X:430.19, Y:-299.10, Z:-4.89 [[ 9.98534693e-01 -5.39313364e-02 -4.45849682e-03 4.30185215e+02] [-5.39304845e-02 -9.98544644e-01 3.11164547e-04 -2.99096596e+02] [-4.46878964e-03 -7.02597016e-05 -9.99990012e-01 -4.88780291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.346559995 meters 0.04818910654161961 Centerline is valid? [True, True] Translation: X:430.22, Y:-299.17, Z:-4.89 [[ 9.99712550e-01 2.36809125e-02 -3.74581309e-03 4.30216826e+02] [ 2.36809580e-02 -9.99719566e-01 -3.22310912e-05 -2.99171432e+02] [-3.74552590e-03 -5.64826159e-05 -9.99992984e-01 -4.88897489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.406559995 meters 0.04831893046647999 Centerline is valid? [True, True] Translation: X:430.25, Y:-299.25, Z:-4.89 [[ 9.94916014e-01 1.00690286e-01 -1.89494760e-03 4.30249335e+02] [ 1.00690154e-01 -9.94917819e-01 -1.65129642e-04 -2.99247554e+02] [-1.90194408e-03 -2.65124400e-05 -9.99998191e-01 -4.89078924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.4665599950001 meters 0.04841709327700339 Centerline is valid? [True, True] Translation: X:430.29, Y:-299.32, Z:-4.89 [[ 9.83945686e-01 1.78467079e-01 -6.23850948e-04 4.30286866e+02] [ 1.78467049e-01 -9.83945884e-01 -1.03986729e-04 -2.99324851e+02] [-6.32393780e-04 -9.01954428e-06 -9.99999800e-01 -4.89147929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.526559995 meters 0.04898916399828737 Centerline is valid? [True, True] Translation: X:430.33, Y:-299.39, Z:-4.89 [[ 9.66386631e-01 2.57092433e-01 -5.99480093e-04 4.30330278e+02] [ 2.57092390e-01 -9.66386817e-01 -1.48915642e-04 -2.99390237e+02] [-6.17614744e-04 -1.02116844e-05 -9.99999809e-01 -4.89169778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.586559995 meters 0.049005336853040087 Centerline is valid? [True, True] Translation: X:430.38, Y:-299.46, Z:-4.89 [[ 9.42357403e-01 3.34604355e-01 -1.56557089e-03 4.30380437e+02] [ 3.34603949e-01 -9.42358703e-01 -5.22009820e-04 -2.99458306e+02] [-1.64999611e-03 -3.19263853e-05 -9.99998638e-01 -4.89090804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.646559995 meters 0.049542490482606796 Centerline is valid? [True, True] Translation: X:430.44, Y:-299.53, Z:-4.89 [[ 9.12165353e-01 4.09811399e-01 -2.99765796e-03 4.30437660e+02] [ 4.09809444e-01 -9.12170276e-01 -1.26804445e-03 -2.99528435e+02] [-3.25403355e-03 -7.18023307e-05 -9.99994703e-01 -4.88937303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.7065599950001 meters 0.04868952851604538 Centerline is valid? [True, True] Translation: X:430.50, Y:-299.59, Z:-4.89 [[ 8.76687302e-01 4.81031728e-01 -5.27747407e-03 4.30499110e+02] [ 4.81023958e-01 -8.76703175e-01 -2.73747851e-03 -2.99590380e+02] [-5.94359230e-03 -1.38678815e-04 -9.99982327e-01 -4.88924249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.766559995 meters 0.049469557294406837 Centerline is valid? [True, True] Translation: X:430.57, Y:-299.65, Z:-4.89 [[ 8.36700774e-01 5.47634160e-01 -5.35175067e-03 4.30568589e+02] [ 5.47624045e-01 -8.36717878e-01 -3.33154562e-03 -2.99654563e+02] [-6.30237365e-03 -1.43240554e-04 -9.99980130e-01 -4.88747008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.826559995 meters 0.049336233275400605 Centerline is valid? [True, True] Translation: X:430.63, Y:-299.70, Z:-4.89 [[ 7.94367959e-01 6.07416729e-01 -4.94592542e-03 4.30634997e+02] [ 6.07405802e-01 -7.94383349e-01 -3.64502749e-03 -2.99700187e+02] [-6.14301147e-03 -1.08690743e-04 -9.99981126e-01 -4.88879560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.886559995 meters 0.04894820379148717 Centerline is valid? [True, True] Translation: X:430.71, Y:-299.74, Z:-4.89 [[ 7.47885020e-01 6.63813821e-01 -4.38275032e-03 4.30709055e+02] [ 6.63802987e-01 -7.47897858e-01 -3.79315509e-03 -2.99744631e+02] [-5.79579835e-03 -7.24388843e-05 -9.99983202e-01 -4.88965291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.9465599950001 meters 0.04895421738518401 Centerline is valid? [True, True] Translation: X:430.79, Y:-299.78, Z:-4.89 [[ 7.00190787e-01 7.13947809e-01 -3.37457998e-03 4.30785090e+02] [ 7.13939630e-01 -7.00198919e-01 -3.41743334e-03 -2.99782243e+02] [-4.80274630e-03 -1.63910431e-05 -9.99988467e-01 -4.89123654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.006559995 meters 0.04829527107742822 Centerline is valid? [True, True] Translation: X:430.86, Y:-299.81, Z:-4.89 [[ 6.46193077e-01 7.63168169e-01 -2.97547388e-03 4.30862599e+02] [ 7.63160018e-01 -6.46199927e-01 -3.52711959e-03 -2.99813759e+02] [-4.61453641e-03 8.43755899e-06 -9.99989353e-01 -4.89137288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.066559995 meters 0.04899647713878406 Centerline is valid? [True, True] Translation: X:430.94, Y:-299.84, Z:-4.89 [[ 5.87726106e-01 8.09054624e-01 -2.93932606e-03 4.30937982e+02] [ 8.09044257e-01 -5.87733455e-01 -4.09590384e-03 -2.99837231e+02] [-5.04135020e-03 2.92247508e-05 -9.99987292e-01 -4.89040820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.126559995 meters 0.048465342586592165 Centerline is valid? [True, True] Translation: X:431.01, Y:-299.85, Z:-4.89 [[ 5.24717684e-01 8.51268917e-01 -3.54713377e-03 4.31010680e+02] [ 8.51248733e-01 -5.24729671e-01 -5.86232596e-03 -2.99851800e+02] [-6.85170221e-03 5.65729761e-05 -9.99976525e-01 -4.88784714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.1865599950002 meters 0.0492917389224427 Centerline is valid? [True, True] Translation: X:431.08, Y:-299.86, Z:-4.89 [[ 4.55987044e-01 8.89978095e-01 -3.84783932e-03 4.31082408e+02] [ 8.89945184e-01 -4.56003274e-01 -7.65403487e-03 -2.99860161e+02] [-8.56655071e-03 6.57746609e-05 -9.99963304e-01 -4.88688631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.246559995 meters 0.04901730450817716 Centerline is valid? [True, True] Translation: X:431.16, Y:-299.86, Z:-4.89 [[ 3.82559857e-01 9.23922856e-01 -3.80948786e-03 4.31158243e+02] [ 9.23875708e-01 -3.82578820e-01 -9.33389785e-03 -2.99864304e+02] [-1.00812309e-02 5.12813269e-05 -9.99949182e-01 -4.88504148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.306559995 meters 0.04938459620234038 Centerline is valid? [True, True] Translation: X:431.24, Y:-299.86, Z:-4.89 [[ 3.06892511e-01 9.51738943e-01 -3.15774710e-03 4.31241089e+02] [ 9.51687604e-01 -3.06908755e-01 -9.88536849e-03 -2.99863634e+02] [-1.03774304e-02 2.85567945e-05 -9.99946153e-01 -4.88823760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.366559995 meters 0.0485121085272547 Centerline is valid? [True, True] Translation: X:431.33, Y:-299.86, Z:-4.89 [[ 2.28519497e-01 9.73537161e-01 -2.05786850e-03 4.31329513e+02] [ 9.73497797e-01 -2.28528763e-01 -8.75464963e-03 -2.99858506e+02] [-8.99325889e-03 -2.72232526e-06 -9.99959560e-01 -4.88687918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.426559995 meters 0.04861510610796086 Centerline is valid? [True, True] Translation: X:431.41, Y:-299.84, Z:-4.89 [[ 1.49486879e-01 9.88763145e-01 -1.05663683e-03 4.31408732e+02] [ 9.88739260e-01 -1.49490612e-01 -6.87257003e-03 -2.99843651e+02] [-6.95330124e-03 -1.73792704e-05 -9.99975825e-01 -4.88982578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.486559995 meters 0.04846277374393603 Centerline is valid? [True, True] Translation: X:431.49, Y:-299.82, Z:-4.89 [[ 6.69146758e-02 9.97758665e-01 -2.70151076e-04 4.31486990e+02] [ 9.97752052e-01 -6.69152160e-02 -3.63281068e-03 -2.99824164e+02] [-3.64274555e-03 -2.64554417e-05 -9.99993365e-01 -4.89172082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.546559995 meters 0.04967464312547316 Centerline is valid? [True, True] Translation: X:431.56, Y:-299.80, Z:-4.89 [[-1.55158313e-02 9.99879622e-01 1.39559867e-05 4.31561456e+02] [ 9.99873823e-01 1.55157888e-02 -3.40550478e-03 -2.99798776e+02] [-3.40531138e-03 -3.88850118e-05 -9.99994201e-01 -4.89112631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.606559995 meters 0.04936417018740547 Centerline is valid? [True, True] Translation: X:431.63, Y:-299.77, Z:-4.89 [[-1.00724025e-01 9.94914335e-01 3.68911181e-04 4.31633938e+02] [ 9.94904316e-01 1.00724667e-01 -4.46578303e-03 -2.99765682e+02] [-4.48023001e-03 -8.27803165e-05 -9.99989960e-01 -4.89098980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.666559995 meters 0.04855812454975084 Centerline is valid? [True, True] Translation: X:431.71, Y:-299.73, Z:-4.89 [[-1.81577849e-01 9.83376121e-01 9.42727755e-04 4.31708835e+02] [ 9.83358941e-01 1.81580251e-01 -5.81422793e-03 -2.99726404e+02] [-5.88875365e-03 -1.28695238e-04 -9.99982653e-01 -4.89027977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.7265599950001 meters 0.04872208005936808 Centerline is valid? [True, True] Translation: X:431.78, Y:-299.68, Z:-4.89 [[-2.60443650e-01 9.65487048e-01 1.96627941e-03 4.31784055e+02] [ 9.65453358e-01 2.60450993e-01 -8.06809979e-03 -2.99680120e+02] [-8.30176527e-03 -2.02934294e-04 -9.99965519e-01 -4.88950525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.786559995 meters 0.04915375211399569 Centerline is valid? [True, True] Translation: X:431.86, Y:-299.63, Z:-4.89 [[-3.34874330e-01 9.42257978e-01 3.01446842e-03 4.31859085e+02] [ 9.42213316e-01 3.34887817e-01 -9.17699624e-03 -2.99627167e+02] [-9.65660666e-03 -2.32868181e-04 -9.99953347e-01 -4.88854991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.846559995 meters 0.049381860744372515 Centerline is valid? [True, True] Translation: X:431.92, Y:-299.57, Z:-4.89 [[-4.03677401e-01 9.14895782e-01 3.20377776e-03 4.31922403e+02] [ 9.14863650e-01 4.03690080e-01 -7.66948148e-03 -2.99571737e+02] [-8.31010955e-03 -1.64976528e-04 -9.99965457e-01 -4.88813481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.906559995 meters 0.049001786943912405 Centerline is valid? [True, True] Translation: X:431.98, Y:-299.51, Z:-4.89 [[-4.69278322e-01 8.83045560e-01 2.89758701e-03 4.31982265e+02] [ 8.83027500e-01 4.69287258e-01 -5.64825074e-03 -2.99510758e+02] [-6.34746340e-03 -9.19526111e-05 -9.99979850e-01 -4.89039331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.9665599950001 meters 0.048776077597407624 Centerline is valid? [True, True] Translation: X:432.04, Y:-299.45, Z:-4.89 [[-5.31660768e-01 8.46953531e-01 2.55829498e-03 4.32037974e+02] [ 8.46943358e-01 5.31666921e-01 -4.15129284e-03 -2.99445821e+02] [-4.87611294e-03 -4.03485997e-05 -9.99988111e-01 -4.88933951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.026559995 meters 0.0485416125932467 Centerline is valid? [True, True] Translation: X:432.08, Y:-299.38, Z:-4.89 [[-5.89703452e-01 8.07617844e-01 1.80485219e-03 4.32078893e+02] [ 8.07614060e-01 5.89706214e-01 -2.47215816e-03 -2.99382864e+02] [-3.06089159e-03 -2.16197244e-07 -9.99995316e-01 -4.89099580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.086559995 meters 0.04857086953743498 Centerline is valid? [True, True] Translation: X:432.12, Y:-299.31, Z:-4.89 [[-6.48028131e-01 7.61612292e-01 2.50165433e-03 4.32121892e+02] [ 7.61606708e-01 6.48032959e-01 -2.91661770e-03 -2.99312644e+02] [-3.84248635e-03 1.52264020e-05 -9.99992618e-01 -4.88990813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.146559995 meters 0.049058536373235206 Centerline is valid? [True, True] Translation: X:432.16, Y:-299.24, Z:-4.89 [[-7.05547130e-01 7.08653198e-01 3.72723749e-03 4.32161413e+02] [ 7.08643470e-01 7.05556975e-01 -3.71315612e-03 -2.99238769e+02] [-5.26111836e-03 2.14758624e-05 -9.99986160e-01 -4.88862427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.2065599950001 meters 0.049013549372908485 Centerline is valid? [True, True] Translation: X:432.48, Y:-298.69, Z:-5.92 [[-6.59980636e-01 -7.51265157e-01 5.12088130e-03 4.32483167e+02] [ 7.51243997e-01 -6.60000491e-01 -5.63997953e-03 -2.98688978e+02] [ 7.61690428e-03 1.24754059e-04 9.99970983e-01 -5.91915967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.266559995 meters 0.04912081741607197 Centerline is valid? [True, True] Translation: X:432.44, Y:-298.65, Z:-5.92 [[-6.58741109e-01 -7.52347091e-01 5.83142019e-03 4.32444082e+02] [ 7.52317726e-01 -6.58766920e-01 -6.64719185e-03 -2.98646907e+02] [ 8.84254217e-03 8.30224465e-06 9.99960904e-01 -5.92176169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.326559995 meters 0.0482925453461096 Centerline is valid? [True, True] Translation: X:432.41, Y:-298.60, Z:-5.92 [[-6.58077110e-01 -7.52931618e-01 5.33813554e-03 4.32405209e+02] [ 7.52907045e-01 -6.58098761e-01 -6.08305965e-03 -2.98604826e+02] [ 8.09314833e-03 1.59975303e-05 9.99967250e-01 -5.92104580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.386559995 meters 0.04894611735557059 Centerline is valid? [True, True] Translation: X:432.37, Y:-298.56, Z:-5.92 [[-6.58215417e-01 -7.52815444e-01 4.62290414e-03 4.32365785e+02] [ 7.52797022e-01 -6.58231651e-01 -5.26658640e-03 -2.98562145e+02] [ 7.00770941e-03 1.35601056e-05 9.99975446e-01 -5.91942183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.4465599950001 meters 0.048285745905376445 Centerline is valid? [True, True] Translation: X:432.33, Y:-298.52, Z:-5.92 [[-6.58732197e-01 -7.52368033e-01 3.77303233e-03 4.32327463e+02] [ 7.52355761e-01 -6.58743002e-01 -4.29720262e-03 -2.98519877e+02] [ 5.71853653e-03 7.95688777e-06 9.99983649e-01 -5.91968065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.506559995 meters 0.04834872912880352 Centerline is valid? [True, True] Translation: X:432.29, Y:-298.48, Z:-5.92 [[-6.58740156e-01 -7.52365592e-01 2.72445173e-03 4.32290647e+02] [ 7.52359198e-01 -6.58745790e-01 -3.10192943e-03 -2.98478672e+02] [ 4.12850608e-03 6.40084078e-06 9.99991478e-01 -5.91858336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.566559995 meters 0.04841173650187476 Centerline is valid? [True, True] Translation: X:432.25, Y:-298.44, Z:-5.92 [[-6.58364133e-01 -7.52696280e-01 2.23125727e-03 4.32252873e+02] [ 7.52691995e-01 -6.58367914e-01 -2.53962076e-03 -2.98435890e+02] [ 3.38055129e-03 7.45426807e-06 9.99994286e-01 -5.91651359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.626559995 meters 0.04845633073915153 Centerline is valid? [True, True] Translation: X:432.21, Y:-298.39, Z:-5.92 [[-6.58289884e-01 -7.52761083e-01 2.27616423e-03 4.32214194e+02] [ 7.52756627e-01 -6.58293819e-01 -2.59002648e-03 -2.98392560e+02] [ 3.44805599e-03 8.40947871e-06 9.99994055e-01 -5.91622837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.6865599950002 meters 0.0486981463923502 Centerline is valid? [True, True] Translation: X:432.17, Y:-298.35, Z:-5.92 [[-6.57017388e-01 -7.53869794e-01 2.91286775e-03 4.32174082e+02] [ 7.53862512e-01 -6.57023845e-01 -3.31362631e-03 -2.98350399e+02] [ 4.41186636e-03 1.87916895e-05 9.99990268e-01 -5.91656252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.746559995 meters 0.04830315291245597 Centerline is valid? [True, True] Translation: X:432.14, Y:-298.31, Z:-5.91 [[-6.55864907e-01 -7.54870101e-01 3.51498274e-03 4.32136814e+02] [ 7.54859515e-01 -6.55874325e-01 -3.99778791e-03 -2.98307546e+02] [ 5.32319750e-03 3.13093700e-05 9.99985831e-01 -5.91470292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.806559995 meters 0.049050455588692275 Centerline is valid? [True, True] Translation: X:432.10, Y:-298.27, Z:-5.92 [[-6.55510990e-01 -7.55176532e-01 3.70769660e-03 4.32096213e+02] [ 7.55164766e-01 -6.55521475e-01 -4.21574244e-03 -2.98267823e+02] [ 5.61410450e-03 3.64563370e-05 9.99984240e-01 -5.91680004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.866559995 meters 0.04837067237134655 Centerline is valid? [True, True] Translation: X:432.06, Y:-298.23, Z:-5.92 [[-6.56127563e-01 -7.54640000e-01 3.88480431e-03 4.32058904e+02] [ 7.54627082e-01 -6.56139062e-01 -4.41568953e-03 -2.98225902e+02] [ 5.88122780e-03 3.43229295e-05 9.99982705e-01 -5.91670165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.926559995 meters 0.0486066985379399 Centerline is valid? [True, True] Translation: X:432.02, Y:-298.18, Z:-5.92 [[-6.57603604e-01 -7.53352138e-01 4.24934766e-03 4.32022207e+02] [ 7.53336665e-01 -6.57617333e-01 -4.82841637e-03 -2.98184781e+02] [ 6.43194246e-03 2.60053884e-05 9.99979315e-01 -5.91829988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.986559995 meters 0.04917509490810318 Centerline is valid? [True, True] Translation: X:431.99, Y:-298.14, Z:-5.92 [[-6.60356944e-01 -7.50937977e-01 4.56735506e-03 4.31986742e+02] [ 7.50920055e-01 -6.60372739e-01 -5.18810350e-03 -2.98141531e+02] [ 6.91210072e-03 3.71833662e-06 9.99976111e-01 -5.91653539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.046559995 meters 0.049743454100825736 Centerline is valid? [True, True] Translation: X:431.95, Y:-298.10, Z:-5.92 [[-6.62893988e-01 -7.48697291e-01 4.89151103e-03 4.31950384e+02] [ 7.48676685e-01 -6.62912035e-01 -5.55473989e-03 -2.98097870e+02] [ 7.40146024e-03 -2.00434140e-05 9.99972609e-01 -5.91714094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.106559995 meters 0.04907086173444201 Centerline is valid? [True, True] Translation: X:431.91, Y:-298.05, Z:-5.92 [[-6.64425968e-01 -7.47335590e-01 5.25821636e-03 4.31913249e+02] [ 7.47311751e-01 -6.64446773e-01 -5.96936363e-03 -2.98054858e+02] [ 7.95492278e-03 -3.66733283e-05 9.99968358e-01 -5.91753494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.166559995 meters 0.048918085054764845 Centerline is valid? [True, True] Translation: X:431.88, Y:-298.01, Z:-5.92 [[-6.66130306e-01 -7.45816967e-01 5.24088870e-03 4.31875735e+02] [ 7.45793250e-01 -6.66150920e-01 -5.94809578e-03 -2.98010275e+02] [ 7.92741359e-03 -5.35874474e-05 9.99968576e-01 -5.91735383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.2265599950001 meters 0.04930576207107944 Centerline is valid? [True, True] Translation: X:431.84, Y:-297.97, Z:-5.92 [[-6.67330921e-01 -7.44742380e-01 5.31319131e-03 4.31838829e+02] [ 7.44717981e-01 -6.67352069e-01 -6.02874660e-03 -2.97967539e+02] [ 8.03563230e-03 -6.63399212e-05 9.99967712e-01 -5.91792992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.286559995 meters 0.04948444277282119 Centerline is valid? [True, True] Translation: X:431.80, Y:-297.92, Z:-5.92 [[-6.68459111e-01 -7.43728790e-01 5.46855105e-03 4.31801412e+02] [ 7.43702923e-01 -6.68481474e-01 -6.20326717e-03 -2.97923719e+02] [ 8.26917346e-03 -7.96530526e-05 9.99965807e-01 -5.91827196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.346559995 meters 0.04973497345416578 Centerline is valid? [True, True] Translation: X:431.76, Y:-297.88, Z:-5.91 [[-6.69413755e-01 -7.42874455e-01 4.77175103e-03 4.31760746e+02] [ 7.42854752e-01 -6.69430757e-01 -5.41102945e-03 -2.97884907e+02] [ 7.21407246e-03 -7.74996113e-05 9.99973975e-01 -5.91471224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.406559995 meters 0.04976630355267866 Centerline is valid? [True, True] Translation: X:431.72, Y:-297.84, Z:-5.91 [[-6.69365493e-01 -7.42919427e-01 4.53454542e-03 4.31722234e+02] [ 7.42901643e-01 -6.69380849e-01 -5.14078463e-03 -2.97841822e+02] [ 6.85452663e-03 -7.23425954e-05 9.99976505e-01 -5.91490997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.4665599950001 meters 0.04914104476884416 Centerline is valid? [True, True] Translation: X:431.68, Y:-297.80, Z:-5.92 [[-6.68212180e-01 -7.43957205e-01 4.48993492e-03 4.31682051e+02] [ 7.43939799e-01 -6.68227262e-01 -5.08935082e-03 -2.97800916e+02] [ 6.78655613e-03 -6.05249235e-05 9.99976969e-01 -5.91556365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.526559995 meters 0.049176279584230924 Centerline is valid? [True, True] Translation: X:431.64, Y:-297.76, Z:-5.92 [[-6.66826155e-01 -7.45200747e-01 4.32732901e-03 4.31641859e+02] [ 7.45184613e-01 -6.66840194e-01 -4.90390342e-03 -2.97759084e+02] [ 6.54002941e-03 -4.53920726e-05 9.99978613e-01 -5.91570312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.586559995 meters 0.048977209344267886 Centerline is valid? [True, True] Translation: X:431.60, Y:-297.72, Z:-5.92 [[-6.63916602e-01 -7.47798756e-01 3.43020935e-03 4.31601974e+02] [ 7.47788656e-01 -6.63925463e-01 -3.88645913e-03 -2.97718405e+02] [ 5.18369263e-03 -1.52130986e-05 9.99986565e-01 -5.91720677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.646559995 meters 0.048948340333963 Centerline is valid? [True, True] Translation: X:431.56, Y:-297.68, Z:-5.92 [[-6.61362245e-01 -7.50057518e-01 3.70146253e-03 4.31562021e+02] [ 7.50045801e-01 -6.61372603e-01 -4.19244624e-03 -2.97679144e+02] [ 5.59262173e-03 3.54077097e-06 9.99984361e-01 -5.91774141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.7065599950001 meters 0.04945525859818925 Centerline is valid? [True, True] Translation: X:431.52, Y:-297.64, Z:-5.92 [[-6.55789799e-01 -7.54926785e-01 5.02892954e-03 4.31519397e+02] [ 7.54905311e-01 -6.55809078e-01 -5.69430922e-03 -2.97640831e+02] [ 7.59680420e-03 6.20957254e-05 9.99971142e-01 -5.91978826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.766559995 meters 0.049139723851688556 Centerline is valid? [True, True] Translation: X:431.48, Y:-297.60, Z:-5.92 [[-6.51802298e-01 -7.58364717e-01 6.05973327e-03 4.31479581e+02] [ 7.58333700e-01 -6.51830454e-01 -6.85991586e-03 -2.97600458e+02] [ 9.15223683e-03 1.23991027e-04 9.99958110e-01 -5.92019226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.826559995 meters 0.04910410622993599 Centerline is valid? [True, True] Translation: X:431.44, Y:-297.56, Z:-5.92 [[-6.48361477e-01 -7.61308552e-01 6.05678923e-03 4.31440155e+02] [ 7.61277710e-01 -6.48389745e-01 -6.85467000e-03 -2.97558526e+02] [ 9.14567892e-03 1.66594677e-04 9.99958164e-01 -5.91982792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.886559995 meters 0.04860145682153711 Centerline is valid? [True, True] Translation: X:431.40, Y:-297.51, Z:-5.92 [[-6.48528649e-01 -7.61166239e-01 6.04557436e-03 4.31403233e+02] [ 7.61135523e-01 -6.48556805e-01 -6.83999981e-03 -2.97514913e+02] [ 9.12727532e-03 1.65565564e-04 9.99958332e-01 -5.91900788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.9465599950001 meters 0.049305846684556794 Centerline is valid? [True, True] Translation: X:431.37, Y:-297.47, Z:-5.92 [[-6.50033405e-01 -7.59880823e-01 6.14056192e-03 4.31366680e+02] [ 7.59849094e-01 -6.50062391e-01 -6.94572989e-03 -2.97468971e+02] [ 9.26967531e-03 1.50943951e-04 9.99957024e-01 -5.91841843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.006559995 meters 0.0488080925688566 Centerline is valid? [True, True] Translation: X:431.33, Y:-297.43, Z:-5.92 [[-6.53014907e-01 -7.57317940e-01 6.40852901e-03 4.31329617e+02] [ 7.57283273e-01 -6.53046341e-01 -7.24719458e-03 -2.97426110e+02] [ 9.67349689e-03 1.20545729e-04 9.99953203e-01 -5.92147462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.066559995 meters 0.048470483086979085 Centerline is valid? [True, True] Translation: X:431.30, Y:-297.38, Z:-5.92 [[-6.55058032e-01 -7.55549085e-01 6.67497746e-03 4.31296341e+02] [ 7.55511402e-01 -6.55092032e-01 -7.54651956e-03 -2.97377629e+02] [ 1.00744905e-02 9.96133346e-05 9.99949246e-01 -5.91846310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.126559995 meters 0.04964043464751939 Centerline is valid? [True, True] Translation: X:431.26, Y:-297.34, Z:-5.92 [[-6.56836707e-01 -7.53999791e-01 7.06082389e-03 4.31259383e+02] [ 7.53957562e-01 -6.56874652e-01 -7.98038035e-03 -2.97335152e+02] [ 1.06552814e-02 8.17548199e-05 9.99943228e-01 -5.92297401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.1865599950002 meters 0.04913624015366588 Centerline is valid? [True, True] Translation: X:431.23, Y:-297.29, Z:-5.92 [[-6.56419199e-01 -7.54364388e-01 6.94307501e-03 4.31225573e+02] [ 7.54323600e-01 -6.56455911e-01 -7.84493647e-03 -2.97288636e+02] [ 1.04757633e-02 8.77584242e-05 9.99945124e-01 -5.91881203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.246559995 meters 0.04925534840653478 Centerline is valid? [True, True] Translation: X:431.19, Y:-297.25, Z:-5.92 [[-6.54158747e-01 -7.56327076e-01 6.75929230e-03 4.31185686e+02] [ 7.56288540e-01 -6.54193657e-01 -7.63566558e-03 -2.97248557e+02] [ 1.01969468e-02 1.17037879e-04 9.99948003e-01 -5.92094978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.306559995 meters 0.04877358687615991 Centerline is valid? [True, True] Translation: X:431.15, Y:-297.20, Z:-5.92 [[-6.50831368e-01 -7.59194446e-01 6.50568179e-03 4.31148964e+02] [ 7.59158911e-01 -6.50863863e-01 -7.34714354e-03 -2.97204307e+02] [ 9.81222375e-03 1.57094823e-04 9.99951847e-01 -5.91814789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.366559995 meters 0.0482004873144705 Centerline is valid? [True, True] Translation: X:431.11, Y:-297.16, Z:-5.92 [[-6.50160724e-01 -7.59763181e-01 7.13736579e-03 4.31111760e+02] [ 7.59720466e-01 -6.50199873e-01 -8.05845750e-03 -2.97160120e+02] [ 1.07632336e-02 1.83110301e-04 9.99942058e-01 -5.91820812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.426559995 meters 0.049077533627288374 Centerline is valid? [True, True] Translation: X:431.07, Y:-297.12, Z:-5.92 [[-6.51123962e-01 -7.58934247e-01 7.50964823e-03 4.31074434e+02] [ 7.58886936e-01 -6.51167242e-01 -8.47594028e-03 -2.97118984e+02] [ 1.13227183e-02 1.80086120e-04 9.99935880e-01 -5.92071053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.486559995 meters 0.048064082421807104 Centerline is valid? [True, True] Translation: X:431.04, Y:-297.07, Z:-5.92 [[-6.55891842e-01 -7.54819971e-01 7.25964382e-03 4.31042606e+02] [ 7.54775520e-01 -6.55932009e-01 -8.19231825e-03 -2.97070639e+02] [ 1.09455582e-02 1.06126732e-04 9.99940090e-01 -5.91815844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.546559995 meters 0.0490067435888913 Centerline is valid? [True, True] Translation: X:431.01, Y:-297.02, Z:-5.92 [[-6.58270345e-01 -7.52752406e-01 6.63088698e-03 4.31007010e+02] [ 7.52715235e-01 -6.58303738e-01 -7.48088221e-03 -2.97024737e+02] [ 9.99638976e-03 6.67267351e-05 9.99950033e-01 -5.91559614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.606559995 meters 0.048590655700251825 Centerline is valid? [True, True] Translation: X:430.97, Y:-296.98, Z:-5.91 [[-6.65688744e-01 -7.46215744e-01 4.53429159e-03 4.30974617e+02] [ 7.46198217e-01 -6.65704186e-01 -5.11452365e-03 -2.96977702e+02] [ 6.83503496e-03 -2.12005261e-05 9.99976641e-01 -5.91476622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.666559995 meters 0.04902231712005348 Centerline is valid? [True, True] Translation: X:430.94, Y:-296.93, Z:-5.91 [[-6.69898961e-01 -7.42445021e-01 3.28218733e-03 4.30939466e+02] [ 7.42435798e-01 -6.69907000e-01 -3.70100527e-03 -2.96934480e+02] [ 4.94655320e-03 -4.24862218e-05 9.99987765e-01 -5.91222450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.7265599950001 meters 0.04882259305569758 Centerline is valid? [True, True] Translation: X:430.90, Y:-296.89, Z:-5.91 [[-6.72685388e-01 -7.39923577e-01 2.73284675e-03 4.30903990e+02] [ 7.39917165e-01 -6.72690938e-01 -3.08089988e-03 -2.96887947e+02] [ 4.11799171e-03 -5.03961128e-05 9.99991520e-01 -5.91280882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.786559995 meters 0.04907613100401378 Centerline is valid? [True, True] Translation: X:430.86, Y:-296.85, Z:-5.91 [[-6.71828302e-01 -7.40700489e-01 3.08516187e-03 4.30862907e+02] [ 7.40692329e-01 -6.71835384e-01 -3.47724971e-03 -2.96846752e+02] [ 4.64832147e-03 -5.09590389e-05 9.99989195e-01 -5.91257045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.846559995 meters 0.04935073987227568 Centerline is valid? [True, True] Translation: X:430.82, Y:-296.80, Z:-5.91 [[-6.69072492e-01 -7.43189673e-01 3.33332803e-03 4.30823022e+02] [ 7.43180181e-01 -6.69080794e-01 -3.75620875e-03 -2.96803670e+02] [ 5.02184132e-03 -3.59126189e-05 9.99987390e-01 -5.91309448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.906559995 meters 0.048485082098000086 Centerline is valid? [True, True] Translation: X:430.78, Y:-296.76, Z:-5.91 [[-6.64004640e-01 -7.47722822e-01 2.90166004e-03 4.30782259e+02] [ 7.47715676e-01 -6.64010980e-01 -3.26897694e-03 -2.96762624e+02] [ 4.37102279e-03 -9.99157731e-07 9.99990447e-01 -5.91374125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.9665599950001 meters 0.04866754667924979 Centerline is valid? [True, True] Translation: X:430.74, Y:-296.72, Z:-5.91 [[-6.60875753e-01 -7.50492516e-01 2.05496979e-03 4.30741879e+02] [ 7.50488947e-01 -6.60878947e-01 -2.31448274e-03 -2.96720940e+02] [ 3.09508825e-03 1.26465942e-05 9.99995210e-01 -5.91297776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.026559995 meters 0.04819096391008648 Centerline is valid? [True, True] Translation: X:430.70, Y:-296.68, Z:-5.91 [[-6.58799878e-01 -7.52316589e-01 1.57210735e-03 4.30702076e+02] [ 7.52314506e-01 -6.58801753e-01 -1.77029389e-03 -2.96680419e+02] [ 2.36752854e-03 1.64497665e-05 9.99997197e-01 -5.91319178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.086559995 meters 0.04853265695670018 Centerline is valid? [True, True] Translation: X:430.66, Y:-296.64, Z:-5.91 [[-6.58255976e-01 -7.52793936e-01 6.00757441e-04 4.30662021e+02] [ 7.52793632e-01 -6.58256250e-01 -6.76261967e-04 -2.96641982e+02] [ 9.04538248e-04 7.09289437e-06 9.99999591e-01 -5.91441141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.146559995 meters 0.048517142116697796 Centerline is valid? [True, True] Translation: X:430.63, Y:-296.60, Z:-5.91 [[-6.58908677e-01 -7.52222899e-01 -2.55260030e-04 4.30625677e+02] [ 7.52222845e-01 -6.58908726e-01 2.87247204e-04 -2.96600480e+02] [-3.84266986e-04 -2.74275047e-06 9.99999926e-01 -5.91352752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.2065599950001 meters 0.048466740384377996 Centerline is valid? [True, True] Translation: X:430.59, Y:-296.56, Z:-5.91 [[-6.59462436e-01 -7.51737030e-01 -8.56056060e-04 4.30588769e+02] [ 7.51736413e-01 -6.59462992e-01 9.63012073e-04 -2.96557776e+02] [-1.28846913e-03 -8.45822399e-06 9.99999170e-01 -5.91284781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.266559995 meters 0.04903045500865639 Centerline is valid? [True, True] Translation: X:430.55, Y:-296.52, Z:-5.92 [[-6.58544721e-01 -7.52541555e-01 2.41941021e-04 4.30548450e+02] [ 7.52541505e-01 -6.58544766e-01 -2.72086839e-04 -2.96517186e+02] [ 3.64085646e-04 2.88930868e-06 9.99999934e-01 -5.91541406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.326559995 meters 0.047990528464754434 Centerline is valid? [True, True] Translation: X:430.51, Y:-296.48, Z:-5.92 [[-6.57025748e-01 -7.53866148e-01 1.73122703e-03 4.30510469e+02] [ 7.53863636e-01 -6.57028029e-01 -1.94635789e-03 -2.96475214e+02] [ 2.60475801e-03 2.63018494e-05 9.99996607e-01 -5.91747390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.386559995 meters 0.048151059793105015 Centerline is valid? [True, True] Translation: X:430.47, Y:-296.43, Z:-5.92 [[-6.54912188e-01 -7.55699922e-01 2.76668302e-03 4.30468760e+02] [ 7.55693525e-01 -6.54918029e-01 -3.10979384e-03 -2.96433656e+02] [ 4.16202155e-03 5.41225534e-05 9.99991337e-01 -5.92069045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.4465599950001 meters 0.04837537075576964 Centerline is valid? [True, True] Translation: X:430.43, Y:-296.39, Z:-5.92 [[-6.54679062e-01 -7.55901599e-01 2.84576267e-03 4.30429223e+02] [ 7.55894837e-01 -6.54685245e-01 -3.19785459e-03 -2.96390567e+02] [ 4.28034223e-03 5.75288630e-05 9.99990838e-01 -5.92095169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.506559995 meters 0.04842188117996116 Centerline is valid? [True, True] Translation: X:430.39, Y:-296.35, Z:-5.92 [[-6.54547082e-01 -7.56016678e-01 2.62671321e-03 4.30390742e+02] [ 7.56010921e-01 -6.54552351e-01 -2.95084657e-03 -2.96349139e+02] [ 3.95021053e-03 5.43558605e-05 9.99992196e-01 -5.92111998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.566559995 meters 0.04836691157648906 Centerline is valid? [True, True] Translation: X:430.36, Y:-296.30, Z:-5.92 [[-6.55387087e-01 -7.55291643e-01 1.51670400e-03 4.30356928e+02] [ 7.55289722e-01 -6.55388842e-01 -1.70334348e-03 -2.96303174e+02] [ 2.28055197e-03 2.92016234e-05 9.99997399e-01 -5.91922314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.626559995 meters 0.04823878166784912 Centerline is valid? [True, True] Translation: X:430.32, Y:-296.26, Z:-5.92 [[-6.55924594e-01 -7.54825991e-01 8.06734408e-04 4.30318418e+02] [ 7.54825447e-01 -6.55925090e-01 -9.05787650e-04 -2.96259264e+02] [ 1.21286940e-03 1.48152634e-05 9.99999264e-01 -5.91906567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.6865599950002 meters 0.04791246516477046 Centerline is valid? [True, True] Translation: X:430.28, Y:-296.22, Z:-5.92 [[-6.56225791e-01 -7.54563654e-01 1.18497060e-03 4.30280139e+02] [ 7.54562482e-01 -6.56226860e-01 -1.33016142e-03 -2.96215937e+02] [ 1.78130100e-03 2.12481310e-05 9.99998413e-01 -5.91994005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.746559995 meters 0.047571867860582207 Centerline is valid? [True, True] Translation: X:430.24, Y:-296.17, Z:-5.92 [[-6.56428449e-01 -7.54386084e-01 1.82415225e-03 4.30242208e+02] [ 7.54383307e-01 -6.56430983e-01 -2.04717941e-03 -2.96171485e+02] [ 2.74179371e-03 3.22832038e-05 9.99996241e-01 -5.92060631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.806559995 meters 0.0479598819502447 Centerline is valid? [True, True] Translation: X:430.20, Y:-296.13, Z:-5.92 [[-6.57182983e-01 -7.53728378e-01 2.01461078e-03 4.30202986e+02] [ 7.53724990e-01 -6.57186070e-01 -2.26033979e-03 -2.96130250e+02] [ 3.02765639e-03 3.30056433e-05 9.99995416e-01 -5.92174634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.866559995 meters 0.04737203123632372 Centerline is valid? [True, True] Translation: X:430.17, Y:-296.08, Z:-5.92 [[-6.59262213e-01 -7.51912112e-01 1.22923899e-03 4.30167514e+02] [ 7.51910848e-01 -6.59263359e-01 -1.37888234e-03 -2.96082954e+02] [ 1.84719056e-03 1.52331064e-05 9.99998294e-01 -5.92169931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.926559995 meters 0.04792425199581081 Centerline is valid? [True, True] Translation: X:430.13, Y:-296.04, Z:-5.92 [[-6.61093191e-01 -7.50303037e-01 1.07046370e-03 4.30130390e+02] [ 7.50302076e-01 -6.61094058e-01 -1.20046541e-03 -2.96039948e+02] [ 1.60839003e-03 9.55162628e-06 9.99998707e-01 -5.92218262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.986559995 meters 0.04829237390106512 Centerline is valid? [True, True] Translation: X:430.09, Y:-295.99, Z:-5.92 [[-6.63322452e-01 -7.48333511e-01 5.29908387e-04 4.30094602e+02] [ 7.48333275e-01 -6.63322664e-01 -5.94114384e-04 -2.95993920e+02] [ 7.96095946e-04 2.45866822e-06 9.99999683e-01 -5.92189012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.046559995 meters 0.048584608010121134 Centerline is valid? [True, True] Translation: X:430.06, Y:-295.95, Z:-5.92 [[-6.65992426e-01 -7.45958465e-01 2.39242869e-04 4.30058844e+02] [ 7.45958416e-01 -6.65992469e-01 -2.68154872e-04 -2.95949252e+02] [ 3.59366345e-04 -1.23881994e-07 9.99999935e-01 -5.92194804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.106559995 meters 0.04806856594684779 Centerline is valid? [True, True] Translation: X:430.02, Y:-295.91, Z:-5.92 [[-6.67898307e-01 -7.44252532e-01 1.43596245e-04 4.30022729e+02] [ 7.44252514e-01 -6.67898323e-01 -1.60896769e-04 -2.95905411e+02] [ 2.15655519e-04 -5.90812715e-07 9.99999977e-01 -5.92186230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.166559995 meters 0.04813967121183646 Centerline is valid? [True, True] Translation: X:429.99, Y:-295.86, Z:-5.92 [[-6.69469196e-01 -7.42839817e-01 4.69476938e-05 4.29985450e+02] [ 7.42839815e-01 -6.69469197e-01 -5.25921961e-05 -2.95861922e+02] [ 7.04976122e-05 -3.34239035e-07 9.99999998e-01 -5.92231975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.2265599950001 meters 0.04823402554909949 Centerline is valid? [True, True] Translation: X:429.95, Y:-295.82, Z:-5.92 [[-6.70852816e-01 -7.41589885e-01 9.69926131e-04 4.29950094e+02] [ 7.41589090e-01 -6.70853517e-01 -1.08631552e-03 -2.95818108e+02] [ 1.45627896e-03 -9.47119180e-06 9.99998940e-01 -5.92289322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.286559995 meters 0.04786218983335504 Centerline is valid? [True, True] Translation: X:429.91, Y:-295.78, Z:-5.92 [[-6.71003595e-01 -7.41454012e-01 3.52208075e-04 4.29911809e+02] [ 7.41453907e-01 -6.71003687e-01 -3.94346661e-04 -2.95777007e+02] [ 5.28722831e-04 -3.46197340e-06 9.99999860e-01 -5.92249876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.346559995 meters 0.04847779231326432 Centerline is valid? [True, True] Translation: X:429.87, Y:-295.74, Z:-5.92 [[-6.69440016e-01 -7.42865240e-01 -1.14089473e-03 4.29872828e+02] [ 7.42864142e-01 -6.69440988e-01 1.27695817e-03 -2.95737732e+02] [-1.71236954e-03 7.31711304e-06 9.99998534e-01 -5.92154298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.406559995 meters 0.047510423319265485 Centerline is valid? [True, True] Translation: X:429.83, Y:-295.70, Z:-5.92 [[-6.66915239e-01 -7.45132039e-01 -1.51950038e-03 4.29834445e+02] [ 7.45130099e-01 -6.66916970e-01 1.70017128e-03 -2.95697177e+02] [-2.28023268e-03 1.64466761e-06 9.99997400e-01 -5.92037868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.4665599950001 meters 0.04795011082732346 Centerline is valid? [True, True] Translation: X:429.80, Y:-295.66, Z:-5.92 [[-6.65335800e-01 -7.46542414e-01 -1.64249707e-03 4.29796311e+02] [ 7.46540153e-01 -6.65337827e-01 1.83714982e-03 -2.95656571e+02] [-2.46432569e-03 -3.86847087e-06 9.99996964e-01 -5.92176183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.526559995 meters 0.04793295107369903 Centerline is valid? [True, True] Translation: X:429.76, Y:-295.62, Z:-5.92 [[-6.61415736e-01 -7.50017924e-01 -1.52907406e-03 4.29755646e+02] [ 7.50015975e-01 -6.61417503e-01 1.70974668e-03 -2.95618064e+02] [-2.29369700e-03 -1.59766184e-05 9.99997369e-01 -5.92110768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.586559995 meters 0.04764170479210331 Centerline is valid? [True, True] Translation: X:429.71, Y:-295.58, Z:-5.92 [[-6.55081281e-01 -7.55557634e-01 -1.08452170e-03 4.29713930e+02] [ 7.55556662e-01 -6.55082179e-01 1.21227762e-03 -2.95580233e+02] [-1.62639645e-03 -2.52772167e-05 9.99998677e-01 -5.92212451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.646559995 meters 0.04859457733459586 Centerline is valid? [True, True] Translation: X:429.67, Y:-295.54, Z:-5.92 [[-6.51048461e-01 -7.59036037e-01 -4.42991812e-04 4.29671754e+02] [ 7.59035875e-01 -6.51048612e-01 4.95053309e-04 -2.95543811e+02] [-6.64172506e-04 -1.39429829e-05 9.99999779e-01 -5.92312150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.7065599950001 meters 0.04783329561575077 Centerline is valid? [True, True] Translation: X:429.64, Y:-295.50, Z:-5.92 [[-6.47789715e-01 -7.61819134e-01 3.04247920e-04 4.29636341e+02] [ 7.61819058e-01 -6.47789787e-01 -3.39902534e-04 -2.95499210e+02] [ 4.56032949e-04 1.15964978e-05 9.99999896e-01 -5.92398814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.766559995 meters 0.048640520561189976 Centerline is valid? [True, True] Translation: X:429.59, Y:-295.46, Z:-5.93 [[-6.46087497e-01 -7.63262437e-01 1.18258826e-03 4.29593777e+02] [ 7.63261295e-01 -6.46088578e-01 -1.32078507e-03 -2.95461604e+02] [ 1.77216240e-03 4.92811291e-05 9.99998429e-01 -5.92568272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.826559995 meters 0.04775924875851155 Centerline is valid? [True, True] Translation: X:429.56, Y:-295.41, Z:-5.93 [[-6.47086461e-01 -7.62416300e-01 7.04951430e-04 4.29559535e+02] [ 7.62415894e-01 -6.47086845e-01 -7.87204696e-04 -2.95413790e+02] [ 1.05634249e-03 2.80766739e-05 9.99999442e-01 -5.92580819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.886559995 meters 0.048535286184992504 Centerline is valid? [True, True] Translation: X:429.52, Y:-295.37, Z:-5.93 [[-6.49172712e-01 -7.60640843e-01 -5.46343237e-04 4.29517592e+02] [ 7.60640599e-01 -6.49172941e-01 6.09917750e-04 -2.95374962e+02] [-8.18599598e-04 -1.96288866e-05 9.99999665e-01 -5.92507602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.9465599950001 meters 0.047921341859404235 Centerline is valid? [True, True] Translation: X:429.48, Y:-295.33, Z:-5.92 [[-6.51999892e-01 -7.58216805e-01 -1.84851677e-03 4.29484225e+02] [ 7.58214001e-01 -6.52002510e-01 2.06300224e-03 -2.95328377e+02] [-2.76944054e-03 -5.64940577e-05 9.99996164e-01 -5.92371948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.006559995 meters 0.04730844834114203 Centerline is valid? [True, True] Translation: X:429.45, Y:-295.28, Z:-5.92 [[-6.54892526e-01 -7.55717400e-01 -2.64408334e-03 4.29448936e+02] [ 7.55711644e-01 -6.54897860e-01 2.95012127e-03 -2.95282357e+02] [-3.96106250e-03 -6.61521924e-05 9.99992153e-01 -5.92338900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.066559995 meters 0.04724647635466778 Centerline is valid? [True, True] Translation: X:429.41, Y:-295.24, Z:-5.93 [[-6.58329657e-01 -7.52726579e-01 -2.18183013e-03 4.29412959e+02] [ 7.52722645e-01 -6.58333271e-01 2.43382726e-03 -2.95237863e+02] [-3.26837784e-03 -4.00522833e-05 9.99994658e-01 -5.92537746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.126559995 meters 0.04668778746097175 Centerline is valid? [True, True] Translation: X:429.38, Y:-295.19, Z:-5.93 [[-6.60035929e-01 -7.51233729e-01 -6.75952241e-04 4.29375818e+02] [ 7.51233351e-01 -6.60036275e-01 7.53824303e-04 -2.95193591e+02] [-1.01245124e-03 -1.02467434e-05 9.99999487e-01 -5.92822595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.1865599950002 meters 0.04695136383842017 Centerline is valid? [True, True] Translation: X:429.34, Y:-295.15, Z:-5.93 [[-6.61107732e-01 -7.50290039e-01 1.19310122e-03 4.29338342e+02] [ 7.50288860e-01 -6.61108809e-01 -1.33015012e-03 -2.95150861e+02] [ 1.78676812e-03 1.57980232e-05 9.99998404e-01 -5.93070028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.246559995 meters 0.04741314963111815 Centerline is valid? [True, True] Translation: X:429.30, Y:-295.11, Z:-5.93 [[-6.62578274e-01 -7.48984261e-01 3.55073665e-03 4.29300528e+02] [ 7.48973807e-01 -6.62587787e-01 -3.95737591e-03 -2.95109722e+02] [ 5.31668701e-03 3.73374513e-05 9.99985866e-01 -5.93362040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.306559995 meters 0.048085522163548215 Centerline is valid? [True, True] Translation: X:429.26, Y:-295.07, Z:-5.93 [[-6.63453720e-01 -7.48209065e-01 3.51511702e-03 4.29261530e+02] [ 7.48198814e-01 -6.63463031e-01 -3.91688400e-03 -2.95068179e+02] [ 5.26279831e-03 3.13351221e-05 9.99986151e-01 -5.93294287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.366559995 meters 0.04735430327203351 Centerline is valid? [True, True] Translation: X:429.23, Y:-295.03, Z:-5.93 [[-6.64094463e-01 -7.47644175e-01 2.59476071e-03 4.29225367e+02] [ 7.47638587e-01 -6.64099532e-01 -2.89058261e-03 -2.95026352e+02] [ 3.88430662e-03 2.03233287e-05 9.99992456e-01 -5.93060016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.426559995 meters 0.04707756795305751 Centerline is valid? [True, True] Translation: X:429.19, Y:-294.98, Z:-5.93 [[-6.64743662e-01 -7.47070262e-01 1.37373404e-03 4.29185685e+02] [ 7.47068696e-01 -6.64745081e-01 -1.53002527e-03 -2.94982370e+02] [ 2.05621933e-03 9.19909810e-06 9.99997886e-01 -5.92992717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.486559995 meters 0.04780695217149255 Centerline is valid? [True, True] Translation: X:429.14, Y:-294.94, Z:-5.93 [[-6.65110264e-01 -7.46745071e-01 3.67484466e-04 4.29143689e+02] [ 7.46744959e-01 -6.65110366e-01 -4.09169528e-04 -2.94944058e+02] [ 5.49963056e-04 2.27431963e-06 9.99999849e-01 -5.93048375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.546559995 meters 0.04744449790291787 Centerline is valid? [True, True] Translation: X:429.11, Y:-294.90, Z:-5.93 [[-6.64341947e-01 -7.47428721e-01 2.92980716e-04 4.29105406e+02] [ 7.47428649e-01 -6.64342011e-01 -3.26099497e-04 -2.94904079e+02] [ 4.38375528e-04 2.34060579e-06 9.99999904e-01 -5.93079255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.606559995 meters 0.04777514458640615 Centerline is valid? [True, True] Translation: X:429.07, Y:-294.86, Z:-5.93 [[-6.62277110e-01 -7.49258963e-01 1.88181850e-04 4.29065229e+02] [ 7.49258934e-01 -6.62277137e-01 -2.09391065e-04 -2.94863211e+02] [ 2.81516669e-04 2.32202267e-06 9.99999960e-01 -5.93109104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.666559995 meters 0.04745126733136525 Centerline is valid? [True, True] Translation: X:429.02, Y:-294.82, Z:-5.93 [[-6.59253256e-01 -7.51920884e-01 3.58845488e-04 4.29024761e+02] [ 7.51920778e-01 -6.59253354e-01 -3.99172085e-04 -2.94822910e+02] [ 5.36715918e-04 6.66788157e-06 9.99999856e-01 -5.93087832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.7265599950001 meters 0.04738750241731618 Centerline is valid? [True, True] Translation: X:428.98, Y:-294.78, Z:-5.93 [[-6.54808005e-01 -7.55794289e-01 1.21175963e-03 4.28984002e+02] [ 7.55793089e-01 -6.54809126e-01 -1.34750259e-03 -2.94784822e+02] [ 1.81190602e-03 3.34840695e-05 9.99998358e-01 -5.93120993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.786559995 meters 0.04739514275628796 Centerline is valid? [True, True] Translation: X:428.95, Y:-294.74, Z:-5.93 [[-6.53653422e-01 -7.56792857e-01 1.33238109e-03 4.28946720e+02] [ 7.56791409e-01 -6.53654779e-01 -1.48119536e-03 -2.94742272e+02] [ 1.99187534e-03 4.01461480e-05 9.99998015e-01 -5.93127863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.846559995 meters 0.04755425952137862 Centerline is valid? [True, True] Translation: X:428.91, Y:-294.70, Z:-5.93 [[-6.54295770e-01 -7.56238302e-01 8.22392407e-04 4.28905359e+02] [ 7.56237750e-01 -6.54296286e-01 -9.13968584e-04 -2.94703697e+02] [ 1.22926635e-03 2.39184050e-05 9.99999244e-01 -5.93195603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.906559995 meters 0.04715859958672145 Centerline is valid? [True, True] Translation: X:428.87, Y:-294.66, Z:-5.93 [[-6.58731203e-01 -7.52378359e-01 8.91107340e-05 4.28870998e+02] [ 7.52378352e-01 -6.58731209e-01 -9.90019754e-05 -2.94657843e+02] [ 1.33186965e-04 1.82929694e-06 9.99999991e-01 -5.93098328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.9665599950001 meters 0.04722797838606552 Centerline is valid? [True, True] Translation: X:428.84, Y:-294.61, Z:-5.93 [[-6.63073177e-01 -7.48554411e-01 -5.05524819e-04 4.28835992e+02] [ 7.48554201e-01 -6.63073370e-01 5.61481467e-04 -2.94613690e+02] [-7.55499475e-04 -6.10942666e-06 9.99999715e-01 -5.93054669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.026559995 meters 0.047061711871489664 Centerline is valid? [True, True] Translation: X:428.80, Y:-294.57, Z:-5.93 [[-6.67409084e-01 -7.44691077e-01 -5.61343930e-04 4.28800462e+02] [ 7.44690816e-01 -6.67409320e-01 6.23316567e-04 -2.94568202e+02] [-8.38824456e-04 -2.02053043e-06 9.99999648e-01 -5.93102799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.086559995 meters 0.047292941536852824 Centerline is valid? [True, True] Translation: X:428.76, Y:-294.52, Z:-5.93 [[-6.71929616e-01 -7.40614641e-01 7.38071565e-04 4.28764541e+02] [ 7.40614188e-01 -6.71930022e-01 -8.19281219e-04 -2.94524199e+02] [ 1.10270411e-03 -3.87304288e-06 9.99999392e-01 -5.93407762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.146559995 meters 0.04774016406299176 Centerline is valid? [True, True] Translation: X:428.73, Y:-294.48, Z:-5.94 [[-6.73545636e-01 -7.39141949e-01 2.33576892e-03 4.28727354e+02] [ 7.39137405e-01 -6.73549685e-01 -2.59197964e-03 -2.94481731e+02] [ 3.48909731e-03 -1.93623993e-05 9.99993913e-01 -5.93555511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.2065599950001 meters 0.0478226681839439 Centerline is valid? [True, True] Translation: X:428.69, Y:-294.44, Z:-5.94 [[-6.75319273e-01 -7.37509738e-01 4.82338459e-03 4.28689490e+02] [ 7.37490329e-01 -6.75336496e-01 -5.35089426e-03 -2.94440124e+02] [ 7.20374427e-03 -5.63625409e-05 9.99974051e-01 -5.93682463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.266559995 meters 0.04843427954213432 Centerline is valid? [True, True] Translation: X:428.65, Y:-294.40, Z:-5.94 [[-6.76144781e-01 -7.36745483e-01 5.85907408e-03 4.28650264e+02] [ 7.36716827e-01 -6.76170161e-01 -6.49841477e-03 -2.94396497e+02] [ 8.74940879e-03 -7.73907600e-05 9.99961720e-01 -5.93783908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.326559995 meters 0.04807980415434519 Centerline is valid? [True, True] Translation: X:428.61, Y:-294.35, Z:-5.94 [[-6.76415989e-01 -7.36494197e-01 6.14069176e-03 4.28610982e+02] [ 7.36462718e-01 -6.76443857e-01 -6.80981660e-03 -2.94353760e+02] [ 9.16922362e-03 -8.38782805e-05 9.99957958e-01 -5.93758578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.386559995 meters 0.04786939800250322 Centerline is valid? [True, True] Translation: X:428.58, Y:-294.31, Z:-5.94 [[-6.76622407e-01 -7.36308657e-01 5.62860848e-03 4.28575795e+02] [ 7.36282217e-01 -6.76645813e-01 -6.24025220e-03 -2.94309150e+02] [ 8.40332607e-03 -7.80501325e-05 9.99964688e-01 -5.93942095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.4465599950001 meters 0.04803014592955401 Centerline is valid? [True, True] Translation: X:428.54, Y:-294.27, Z:-5.94 [[-6.76287396e-01 -7.36625369e-01 4.29228768e-03 4.28537794e+02] [ 7.36610010e-01 -6.76301015e-01 -4.75720260e-03 -2.94267871e+02] [ 6.40715464e-03 -5.54940870e-05 9.99979472e-01 -5.93772807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.506559995 meters 0.047805332157922924 Centerline is valid? [True, True] Translation: X:428.50, Y:-294.23, Z:-5.94 [[-6.74321152e-01 -7.38433020e-01 2.76752900e-03 4.28497129e+02] [ 7.38426654e-01 -6.74326830e-01 -3.06631457e-03 -2.94229237e+02] [ 4.13048698e-03 -2.40635928e-05 9.99991469e-01 -5.93539980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.566559995 meters 0.04765343635616834 Centerline is valid? [True, True] Translation: X:428.46, Y:-294.19, Z:-5.94 [[-6.72297723e-01 -7.40277488e-01 2.23876069e-03 4.28458472e+02] [ 7.40273335e-01 -6.72301451e-01 -2.47977400e-03 -2.94187223e+02] [ 3.34084293e-03 -9.85157075e-06 9.99994419e-01 -5.93649135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.626559995 meters 0.047340355392252786 Centerline is valid? [True, True] Translation: X:428.42, Y:-294.15, Z:-5.94 [[-6.68547586e-01 -7.43666783e-01 1.95979531e-03 4.28418429e+02] [ 7.43663617e-01 -6.68550458e-01 -2.17003445e-03 -2.94149403e+02] [ 2.92400459e-03 6.65717744e-06 9.99995725e-01 -5.93575141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.6865599950002 meters 0.04736011486501611 Centerline is valid? [True, True] Translation: X:428.38, Y:-294.11, Z:-5.94 [[-6.65693512e-01 -7.46222840e-01 1.90284212e-03 4.28376647e+02] [ 7.46219867e-01 -6.65696231e-01 -2.10646573e-03 -2.94109430e+02] [ 2.83860767e-03 1.76780305e-05 9.99995971e-01 -5.93682854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.746559995 meters 0.04787004496766825 Centerline is valid? [True, True] Translation: X:428.34, Y:-294.07, Z:-5.94 [[-6.62661421e-01 -7.48916602e-01 1.94015062e-03 4.28335413e+02] [ 7.48913525e-01 -6.62664260e-01 -2.14721384e-03 -2.94069214e+02] [ 2.89375257e-03 3.01292689e-05 9.99995813e-01 -5.93713462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.806559995 meters 0.04757224442661108 Centerline is valid? [True, True] Translation: X:428.29, Y:-294.03, Z:-5.94 [[-6.59044672e-01 -7.52100742e-01 2.14318659e-03 4.28293330e+02] [ 7.52097006e-01 -6.59048155e-01 -2.37129030e-03 -2.94030134e+02] [ 3.19591237e-03 4.90979813e-05 9.99994892e-01 -5.93838599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.866559995 meters 0.04702836634770273 Centerline is valid? [True, True] Translation: X:428.25, Y:-293.99, Z:-5.94 [[-6.57610041e-01 -7.53356253e-01 1.84141529e-03 4.28254556e+02] [ 7.53353501e-01 -6.57612617e-01 -2.03679689e-03 -2.93988522e+02] [ 2.74537159e-03 4.78185687e-05 9.99996230e-01 -5.93836949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.926559995 meters 0.048954410654989546 Centerline is valid? [True, True] Translation: X:428.22, Y:-293.95, Z:-5.94 [[-6.57224823e-01 -7.53691467e-01 2.16895677e-03 4.28215077e+02] [ 7.53687653e-01 -6.57228399e-01 -2.39847224e-03 -2.93945453e+02] [ 3.23320805e-03 5.83804468e-05 9.99994772e-01 -5.93828776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.986559995 meters 0.048021115221868665 Centerline is valid? [True, True] Translation: X:428.18, Y:-293.91, Z:-5.94 [[-6.57901584e-01 -7.53097528e-01 3.10130994e-03 4.28176199e+02] [ 7.53089728e-01 -6.57908889e-01 -3.42849543e-03 -2.93905156e+02] [ 4.62237082e-03 7.99520840e-05 9.99989314e-01 -5.93958677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.046559995 meters 0.047270799667650076 Centerline is valid? [True, True] Translation: X:428.14, Y:-293.86, Z:-5.94 [[-6.59025325e-01 -7.52111498e-01 3.73042320e-03 4.28142539e+02] [ 7.52100204e-01 -6.59035877e-01 -4.12274690e-03 -2.93858637e+02] [ 5.55924807e-03 8.86574315e-05 9.99984543e-01 -5.93879755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.106559995 meters 0.04773428059628646 Centerline is valid? [True, True] Translation: X:428.10, Y:-293.81, Z:-5.94 [[-6.60932036e-01 -7.50432576e-01 4.44897943e-03 4.28104980e+02] [ 7.50416481e-01 -6.60947003e-01 -4.91566937e-03 -2.93813752e+02] [ 6.62941805e-03 8.96641227e-05 9.99978021e-01 -5.93889011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.166559995 meters 0.04778856265216635 Centerline is valid? [True, True] Translation: X:428.07, Y:-293.77, Z:-5.94 [[-6.65135432e-01 -7.46710936e-01 4.19943861e-03 4.28069045e+02] [ 7.46696529e-01 -6.65148687e-01 -4.63877005e-03 -2.93768229e+02] [ 6.25707140e-03 5.02959123e-05 9.99980423e-01 -5.93884483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.2265599950001 meters 0.0478052629060917 Centerline is valid? [True, True] Translation: X:428.03, Y:-293.72, Z:-5.94 [[-6.68748822e-01 -7.43478827e-01 3.77449893e-03 4.28032445e+02] [ 7.43467140e-01 -6.68759474e-01 -4.16868596e-03 -2.93723185e+02] [ 5.62356167e-03 1.84121025e-05 9.99984188e-01 -5.93909537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.286559995 meters 0.04793495638567289 Centerline is valid? [True, True] Translation: X:428.00, Y:-293.68, Z:-5.94 [[-6.72982013e-01 -7.39651883e-01 3.20985024e-03 4.27997913e+02] [ 7.39643391e-01 -6.72989667e-01 -3.54424601e-03 -2.93678071e+02] [ 4.78170428e-03 -1.10692991e-05 9.99988568e-01 -5.93828743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.346559995 meters 0.04786532179060955 Centerline is valid? [True, True] Translation: X:427.96, Y:-293.63, Z:-5.94 [[-6.78589692e-01 -7.34510055e-01 3.31786495e-03 4.27963798e+02] [ 7.34500925e-01 -6.78597802e-01 -3.66262801e-03 -2.93633736e+02] [ 4.94173297e-03 -4.84467434e-05 9.99987788e-01 -5.93727646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.406559995 meters 0.047641455420318786 Centerline is valid? [True, True] Translation: X:427.92, Y:-293.59, Z:-5.94 [[-6.79181018e-01 -7.33964073e-01 3.14389617e-03 4.27923804e+02] [ 7.33955872e-01 -6.79188292e-01 -3.46998789e-03 -2.93591123e+02] [ 4.68214392e-03 -4.92688499e-05 9.99989038e-01 -5.93792491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.4665599950001 meters 0.04821551311379259 Centerline is valid? [True, True] Translation: X:427.89, Y:-293.55, Z:-5.94 [[-6.78291387e-01 -7.34781990e-01 4.02746894e-03 4.27885598e+02] [ 7.34768553e-01 -6.78303342e-01 -4.44413837e-03 -2.93550267e+02] [ 5.99731848e-03 -5.51632576e-05 9.99982014e-01 -5.93844309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.526559995 meters 0.0495470072735605 Centerline is valid? [True, True] Translation: X:427.85, Y:-293.51, Z:-5.94 [[-6.76998022e-01 -7.35968105e-01 4.96250601e-03 4.27845493e+02] [ 7.35947749e-01 -6.77016208e-01 -5.47403557e-03 -2.93511740e+02] [ 7.38841259e-03 -5.37661257e-05 9.99972704e-01 -5.93693256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.586559995 meters 0.04757911234791893 Centerline is valid? [True, True] Translation: X:427.80, Y:-293.47, Z:-5.94 [[-6.74110733e-01 -7.38610758e-01 5.37291995e-03 4.27804627e+02] [ 7.38586991e-01 -6.74132144e-01 -5.92529146e-03 -2.93470597e+02] [ 7.99854206e-03 -2.59337874e-05 9.99968011e-01 -5.93775791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.646559995 meters 0.0481638696494196 Centerline is valid? [True, True] Translation: X:427.76, Y:-293.43, Z:-5.94 [[-6.72102552e-01 -7.40443354e-01 4.66899150e-03 4.27762877e+02] [ 7.40425462e-01 -6.72118769e-01 -5.14738221e-03 -2.93432121e+02] [ 6.94946176e-03 -2.52853479e-06 9.99975852e-01 -5.93861308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.7065599950001 meters 0.048582325757734704 Centerline is valid? [True, True] Translation: X:427.72, Y:-293.39, Z:-5.94 [[-6.70469184e-01 -7.41929616e-01 3.39399456e-03 4.27722420e+02] [ 7.41920186e-01 -6.70477774e-01 -3.74064431e-03 -2.93391214e+02] [ 5.05089271e-03 1.00863394e-05 9.99987244e-01 -5.93674758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.766559995 meters 0.04836982398417249 Centerline is valid? [True, True] Translation: X:427.68, Y:-293.35, Z:-5.93 [[-6.68533403e-01 -7.43680665e-01 1.46890734e-03 4.27683695e+02] [ 7.43678904e-01 -6.68535016e-01 -1.61846307e-03 -2.93351045e+02] [ 2.18563568e-03 1.03987806e-05 9.99997611e-01 -5.93406314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.826559995 meters 0.04825334631644214 Centerline is valid? [True, True] Translation: X:427.65, Y:-293.31, Z:-5.93 [[-6.67621753e-01 -7.44500576e-01 2.95242643e-04 4.27646194e+02] [ 7.44500505e-01 -6.67621819e-01 -3.25190375e-04 -2.93310772e+02] [ 4.39214852e-04 2.70412860e-06 9.99999904e-01 -5.93254555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.886559995 meters 0.04806985692028259 Centerline is valid? [True, True] Translation: X:427.60, Y:-293.27, Z:-5.93 [[-6.67508248e-01 -7.44601669e-01 -1.04562617e-03 4.27603628e+02] [ 7.44600779e-01 -6.67509067e-01 1.15134609e-03 -2.93273717e+02] [-1.55525917e-03 -1.00410527e-05 9.99998791e-01 -5.93132605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.9465599950001 meters 0.04817864675307374 Centerline is valid? [True, True] Translation: X:427.57, Y:-293.23, Z:-5.93 [[-6.68971358e-01 -7.43287260e-01 -1.17079076e-03 4.27565094e+02] [ 7.43286143e-01 -6.68972383e-01 1.28872877e-03 -2.93233980e+02] [-1.74112236e-03 -8.10990836e-06 9.99998484e-01 -5.93111805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.006559995 meters 0.048425408029361544 Centerline is valid? [True, True] Translation: X:427.53, Y:-293.19, Z:-5.93 [[-6.71742710e-01 -7.40784449e-01 -3.63356452e-04 4.27529688e+02] [ 7.40784341e-01 -6.71742808e-01 3.99816409e-04 -2.93193043e+02] [-5.40259861e-04 -5.95012174e-07 9.99999854e-01 -5.93184783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.066559995 meters 0.04916181584841654 Centerline is valid? [True, True] Translation: X:427.49, Y:-293.15, Z:-5.93 [[-6.76724237e-01 -7.36235840e-01 1.04670267e-03 4.27491678e+02] [ 7.36234940e-01 -6.76725046e-01 -1.15142047e-03 -2.93150594e+02] [ 1.55604693e-03 -8.57505622e-06 9.99998789e-01 -5.93299298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.126559995 meters 0.04882810598674304 Centerline is valid? [True, True] Translation: X:427.45, Y:-293.11, Z:-5.93 [[-6.79402390e-01 -7.33764054e-01 1.64485877e-03 4.27450932e+02] [ 7.33761825e-01 -6.79404380e-01 -1.80895545e-03 -2.93108670e+02] [ 2.44487074e-03 -2.20740863e-05 9.99997011e-01 -5.93380630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.1865599950002 meters 0.04899406991217132 Centerline is valid? [True, True] Translation: X:427.41, Y:-293.07, Z:-5.93 [[-6.81426411e-01 -7.31884135e-01 1.91299900e-03 4.27410464e+02] [ 7.31881113e-01 -6.81429096e-01 -2.10316110e-03 -2.93069744e+02] [ 2.84284342e-03 -3.30616786e-05 9.99995959e-01 -5.93357665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.246559995 meters 0.04903119270271537 Centerline is valid? [True, True] Translation: X:427.37, Y:-293.03, Z:-5.93 [[-6.81800318e-01 -7.31533831e-01 2.56535992e-03 4.27371236e+02] [ 7.31528397e-01 -6.81805142e-01 -2.81994410e-03 -2.93027442e+02] [ 3.81196009e-03 -4.60051565e-05 9.99992733e-01 -5.93435497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.306559995 meters 0.049293860170131085 Centerline is valid? [True, True] Translation: X:427.33, Y:-292.99, Z:-5.93 [[-6.81139003e-01 -7.32149527e-01 2.59419121e-03 4.27330002e+02] [ 7.32143977e-01 -6.81143941e-01 -2.85098271e-03 -2.92985911e+02] [ 3.85436327e-03 -4.25940512e-05 9.99992571e-01 -5.93449944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.366559995 meters 0.049627704517831606 Centerline is valid? [True, True] Translation: X:427.29, Y:-292.95, Z:-5.93 [[-6.78066211e-01 -7.34994111e-01 3.14164887e-03 4.27289430e+02] [ 7.34986004e-01 -6.78073489e-01 -3.45233804e-03 -2.92945070e+02] [ 4.66771693e-03 -3.18458290e-05 9.99989106e-01 -5.93468840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.426559995 meters 0.04867916033727906 Centerline is valid? [True, True] Translation: X:427.25, Y:-292.91, Z:-5.94 [[-6.70421488e-01 -7.41968644e-01 4.19032983e-03 4.27246191e+02] [ 7.41954365e-01 -6.70434583e-01 -4.60329161e-03 -2.92908032e+02] [ 6.22484007e-03 2.28878962e-05 9.99980625e-01 -5.93657567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.486559995 meters 0.049071637144622475 Centerline is valid? [True, True] Translation: X:427.20, Y:-292.87, Z:-5.94 [[-6.64860874e-01 -7.46952401e-01 4.70414890e-03 4.27204100e+02] [ 7.46934539e-01 -6.64877511e-01 -5.16611600e-03 -2.92869535e+02] [ 6.98652557e-03 7.89428914e-05 9.99975591e-01 -5.93657650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.546559995 meters 0.04912135204757734 Centerline is valid? [True, True] Translation: X:427.16, Y:-292.83, Z:-5.94 [[-6.60375062e-01 -7.50919294e-01 4.99915422e-03 4.27163519e+02] [ 7.50899248e-01 -6.60393971e-01 -5.48835299e-03 -2.92829900e+02] [ 7.42272146e-03 1.29489698e-04 9.99972443e-01 -5.93634713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.606559995 meters 0.04896577874425744 Centerline is valid? [True, True] Translation: X:427.13, Y:-292.79, Z:-5.94 [[-6.57326851e-01 -7.53591321e-01 4.64037767e-03 4.27125422e+02] [ 7.53574125e-01 -6.57343213e-01 -5.09305984e-03 -2.92786406e+02] [ 6.88840646e-03 1.49063555e-04 9.99976264e-01 -5.93513020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.666559995 meters 0.048766832661349964 Centerline is valid? [True, True] Translation: X:427.09, Y:-292.75, Z:-5.94 [[-6.57303560e-01 -7.53612924e-01 4.42625988e-03 4.27087415e+02] [ 7.53597289e-01 -6.57318447e-01 -4.85651785e-03 -2.92745666e+02] [ 6.56939688e-03 1.43410976e-04 9.99978411e-01 -5.93548760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.7265599950001 meters 0.04961609162268552 Centerline is valid? [True, True] Translation: X:427.05, Y:-292.70, Z:-5.94 [[-6.57897808e-01 -7.53094362e-01 4.39956346e-03 4.27050787e+02] [ 7.53078913e-01 -6.57912504e-01 -4.82577297e-03 -2.92702660e+02] [ 6.52879023e-03 1.38353010e-04 9.99978678e-01 -5.93563280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.786559995 meters 0.04984368512949732 Centerline is valid? [True, True] Translation: X:427.02, Y:-292.66, Z:-5.94 [[-6.58627008e-01 -7.52454380e-01 4.78229661e-03 4.27016687e+02] [ 7.52436120e-01 -6.58644354e-01 -5.24404458e-03 -2.92656031e+02] [ 7.09573698e-03 1.44503319e-04 9.99974815e-01 -5.93504768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.846559995 meters 0.04850322393267244 Centerline is valid? [True, True] Translation: X:426.98, Y:-292.61, Z:-5.94 [[-6.58866592e-01 -7.52248640e-01 4.09847938e-03 4.26979601e+02] [ 7.52235231e-01 -6.58879328e-01 -4.49318494e-03 -2.92614362e+02] [ 6.08039560e-03 1.22611142e-04 9.99981507e-01 -5.93541199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.906559995 meters 0.04849699880521627 Centerline is valid? [True, True] Translation: X:426.95, Y:-292.56, Z:-5.93 [[-6.59802816e-01 -7.51430405e-01 3.54819393e-03 4.26947329e+02] [ 7.51420348e-01 -6.59812349e-01 -3.88901721e-03 -2.92564669e+02] [ 5.26346795e-03 1.00200609e-04 9.99986143e-01 -5.93366184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.9665599950001 meters 0.04903092701168579 Centerline is valid? [True, True] Translation: X:426.91, Y:-292.52, Z:-5.93 [[-6.61393098e-01 -7.50030805e-01 3.60018684e-03 4.26910281e+02] [ 7.50020436e-01 -6.61402891e-01 -3.94484723e-03 -2.92521603e+02] [ 5.33993092e-03 9.11189710e-05 9.99985738e-01 -5.93479823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.026559995 meters 0.04882648995345095 Centerline is valid? [True, True] Translation: X:426.88, Y:-292.48, Z:-5.94 [[-6.64126998e-01 -7.47611923e-01 3.42685425e-03 4.26877110e+02] [ 7.47602503e-01 -6.64135835e-01 -3.75367092e-03 -2.92477530e+02] [ 5.08218584e-03 6.90106088e-05 9.99987083e-01 -5.93547272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.086559995 meters 0.04785859541618912 Centerline is valid? [True, True] Translation: X:426.85, Y:-292.43, Z:-5.93 [[-6.70305646e-01 -7.42075292e-01 3.82127211e-03 4.26850379e+02] [ 7.42063496e-01 -6.70316537e-01 -4.18429333e-03 -2.92426712e+02] [ 5.66652258e-03 3.08711007e-05 9.99983945e-01 -5.93404716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.146559995 meters 0.048207808178769546 Centerline is valid? [True, True] Translation: X:426.82, Y:-292.38, Z:-5.93 [[-6.75121653e-01 -7.37693162e-01 4.42191084e-03 4.26815333e+02] [ 7.37677277e-01 -6.75136134e-01 -4.84102878e-03 -2.92378911e+02] [ 6.55658561e-03 -6.34020298e-06 9.99978505e-01 -5.93231454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.2065599950001 meters 0.04818135965183765 Centerline is valid? [True, True] Translation: X:426.78, Y:-292.33, Z:-5.94 [[-6.78908216e-01 -7.34211359e-01 4.16114789e-03 4.26778975e+02] [ 7.34197229e-01 -6.78920967e-01 -4.55520173e-03 -2.92333692e+02] [ 6.16957140e-03 -3.74606313e-05 9.99980967e-01 -5.93513555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.266559995 meters 0.048004248842086025 Centerline is valid? [True, True] Translation: X:426.74, Y:-292.29, Z:-5.94 [[-6.79283238e-01 -7.33857107e-01 5.29423931e-03 4.26739602e+02] [ 7.33834234e-01 -6.79303867e-01 -5.79424872e-03 -2.92291589e+02] [ 7.84854783e-03 -5.08419811e-05 9.99969198e-01 -5.93614915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.326559995 meters 0.04738890790633964 Centerline is valid? [True, True] Translation: X:426.70, Y:-292.25, Z:-5.94 [[-6.79032794e-01 -7.34078122e-01 6.61629281e-03 4.26701631e+02] [ 7.34042430e-01 -6.79065024e-01 -7.23911698e-03 -2.92248527e+02] [ 9.80697044e-03 -5.89581774e-05 9.99951909e-01 -5.93825605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.386559995 meters 0.048187801107448115 Centerline is valid? [True, True] Translation: X:426.66, Y:-292.21, Z:-5.94 [[-6.77698521e-01 -7.35308320e-01 6.81089728e-03 4.26663965e+02] [ 7.35270585e-01 -6.77732744e-01 -7.44943903e-03 -2.92208188e+02] [ 1.00936026e-02 -4.06213867e-05 9.99949058e-01 -5.93828214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.4465599950001 meters 0.04833853556174465 Centerline is valid? [True, True] Translation: X:426.62, Y:-292.17, Z:-5.94 [[-6.76749478e-01 -7.36181758e-01 6.82366263e-03 4.26623442e+02] [ 7.36143949e-01 -6.76783879e-01 -7.46105607e-03 -2.92168793e+02] [ 1.01108382e-02 -2.60678487e-05 9.99948884e-01 -5.93799776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.506559995 meters 0.04852741705956155 Centerline is valid? [True, True] Translation: X:426.58, Y:-292.13, Z:-5.93 [[-6.75645105e-01 -7.37200416e-01 6.26412839e-03 4.26582216e+02] [ 7.37168614e-01 -6.75674143e-01 -6.84744523e-03 -2.92127605e+02] [ 9.28044905e-03 -8.72400644e-06 9.99956936e-01 -5.93273760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.566559995 meters 0.04791554762656854 Centerline is valid? [True, True] Translation: X:426.54, Y:-292.09, Z:-5.93 [[-6.71660200e-01 -7.40844881e-01 4.63006888e-03 4.26541434e+02] [ 7.40827604e-01 -6.71676158e-01 -5.05972418e-03 -2.92088847e+02] [ 6.85837763e-03 3.16674828e-05 9.99976481e-01 -5.93498964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.626559995 meters 0.0479045170978659 Centerline is valid? [True, True] Translation: X:426.50, Y:-292.05, Z:-5.93 [[-6.67419924e-01 -7.44672801e-01 3.61441451e-03 4.26499293e+02] [ 7.44662334e-01 -6.67429709e-01 -3.94862785e-03 -2.92050935e+02] [ 5.35280339e-03 5.61254456e-05 9.99985672e-01 -5.93385357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.6865599950002 meters 0.047510821336147376 Centerline is valid? [True, True] Translation: X:426.46, Y:-292.01, Z:-5.93 [[-6.63218791e-01 -7.48418995e-01 3.13731449e-03 4.26458943e+02] [ 7.48411155e-01 -6.63226207e-01 -3.42643616e-03 -2.92010148e+02] [ 4.64515909e-03 7.55243136e-05 9.99989208e-01 -5.93267188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.746559995 meters 0.04879537134485864 Centerline is valid? [True, True] Translation: X:426.42, Y:-291.97, Z:-5.93 [[-6.59393357e-01 -7.51790651e-01 3.34943268e-03 4.26416186e+02] [ 7.51781763e-01 -6.59401855e-01 -3.65723767e-03 -2.91972898e+02] [ 4.95809921e-03 1.06484182e-04 9.99987703e-01 -5.93405010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.806559995 meters 0.048405484485255994 Centerline is valid? [True, True] Translation: X:426.38, Y:-291.93, Z:-5.93 [[-6.58974721e-01 -7.52157969e-01 3.27214409e-03 4.26377999e+02] [ 7.52149496e-01 -6.58982836e-01 -3.57184861e-03 -2.91930350e+02] [ 4.84288118e-03 1.07383586e-04 9.99988267e-01 -5.93381462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.866559995 meters 0.04836462583183821 Centerline is valid? [True, True] Translation: X:426.34, Y:-291.89, Z:-5.93 [[-6.59553033e-01 -7.51651614e-01 3.10591223e-03 4.26340508e+02] [ 7.51643979e-01 -6.59560339e-01 -3.38939042e-03 -2.91887595e+02] [ 4.59617731e-03 9.90574921e-05 9.99989433e-01 -5.93412734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.926559995 meters 0.04857930656944917 Centerline is valid? [True, True] Translation: X:426.30, Y:-291.85, Z:-5.93 [[-6.60246602e-01 -7.51041949e-01 3.22746023e-03 4.26303273e+02] [ 7.51033702e-01 -6.60254483e-01 -3.52088914e-03 -2.91847129e+02] [ 4.77528053e-03 9.92763108e-05 9.99988593e-01 -5.93486856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.986559995 meters 0.04911403322648709 Centerline is valid? [True, True] Translation: X:426.27, Y:-291.81, Z:-5.94 [[-6.60181691e-01 -7.51097213e-01 3.62096331e-03 4.26265645e+02] [ 7.51086841e-01 -6.60191611e-01 -3.94884667e-03 -2.91805803e+02] [ 5.35649733e-03 1.12701627e-04 9.99985648e-01 -5.93582415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.046559995 meters 0.04854787455188053 Centerline is valid? [True, True] Translation: X:426.23, Y:-291.76, Z:-5.94 [[-6.60044937e-01 -7.51212690e-01 4.49172305e-03 4.26227609e+02] [ 7.51196742e-01 -6.60060205e-01 -4.89696423e-03 -2.91763842e+02] [ 6.64346931e-03 1.41951279e-04 9.99977922e-01 -5.93778436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.106559995 meters 0.04858155164505829 Centerline is valid? [True, True] Translation: X:426.19, Y:-291.72, Z:-5.94 [[-6.60605247e-01 -7.50711972e-01 5.67824944e-03 4.26189619e+02] [ 7.50686485e-01 -6.60629627e-01 -6.18847899e-03 -2.91723010e+02] [ 8.39698508e-03 1.74443416e-04 9.99964730e-01 -5.94016618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.166559995 meters 0.048586502622686066 Centerline is valid? [True, True] Translation: X:426.15, Y:-291.68, Z:-5.94 [[-6.61048630e-01 -7.50316809e-01 6.27658996e-03 4.26153861e+02] [ 7.50285671e-01 -6.61078400e-01 -6.83827945e-03 -2.91680237e+02] [ 9.28019407e-03 1.88800247e-04 9.99956920e-01 -5.94045725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.2265599950001 meters 0.0483605013926864 Centerline is valid? [True, True] Translation: X:426.12, Y:-291.64, Z:-5.94 [[-6.63066204e-01 -7.48511689e-01 8.57085074e-03 4.26118190e+02] [ 7.48453509e-01 -6.63121558e-01 -9.33516359e-03 -2.91635374e+02] [ 1.26709950e-02 2.25051819e-04 9.99919694e-01 -5.94090208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.286559995 meters 0.04840844701145691 Centerline is valid? [True, True] Translation: X:426.08, Y:-291.60, Z:-5.94 [[-6.64400829e-01 -7.47320133e-01 9.17375178e-03 4.26079999e+02] [ 7.47253400e-01 -6.64464123e-01 -9.98927617e-03 -2.91595592e+02] [ 1.35608161e-02 2.18233838e-04 9.99908024e-01 -5.94174448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.346559995 meters 0.04804889993202289 Centerline is valid? [True, True] Translation: X:426.04, Y:-291.55, Z:-5.94 [[-6.68612488e-01 -7.43546013e-01 9.83200715e-03 4.26042294e+02] [ 7.43468980e-01 -6.68684756e-01 -1.07038421e-02 -2.91552338e+02] [ 1.45333124e-02 1.53069860e-04 9.99894374e-01 -5.94187287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.406559995 meters 0.048193137934384685 Centerline is valid? [True, True] Translation: X:426.01, Y:-291.51, Z:-5.94 [[-6.73183928e-01 -7.39409373e-01 9.85791359e-03 4.26006797e+02] [ 7.39331533e-01 -6.73256099e-01 -1.07289286e-02 -2.91507541e+02] [ 1.45699708e-02 6.57240382e-05 9.99893850e-01 -5.94033403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.4665599950001 meters 0.04812220352384016 Centerline is valid? [True, True] Translation: X:425.97, Y:-291.46, Z:-5.94 [[-6.78454109e-01 -7.34575345e-01 9.95409547e-03 4.25970586e+02] [ 7.34495498e-01 -6.78527126e-01 -1.08306280e-02 -2.91462451e+02] [ 1.47100361e-02 -3.68457337e-05 9.99891801e-01 -5.93835193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.526559995 meters 0.048282810983037626 Centerline is valid? [True, True] Translation: X:425.93, Y:-291.42, Z:-5.94 [[-6.85543560e-01 -7.27978234e-01 8.81582558e-03 4.25933935e+02] [ 7.27915088e-01 -6.85600224e-01 -9.58947721e-03 -2.91418160e+02] [ 1.30250627e-02 -1.56831890e-04 9.99915158e-01 -5.93760535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.586559995 meters 0.04943591830231869 Centerline is valid? [True, True] Translation: X:425.89, Y:-291.38, Z:-5.94 [[-6.88582103e-01 -7.25114979e-01 7.93439962e-03 4.25894750e+02] [ 7.25063667e-01 -6.88627789e-01 -8.62833042e-03 -2.91376727e+02] [ 1.17203797e-02 -1.88369021e-04 9.99931296e-01 -5.93535218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.646559995 meters 0.04914147653823359 Centerline is valid? [True, True] Translation: X:425.86, Y:-291.33, Z:-5.94 [[-6.89266545e-01 -7.24476290e-01 6.76279016e-03 4.25859667e+02] [ 7.24439000e-01 -6.89299700e-01 -7.35246908e-03 -2.91331438e+02] [ 9.98827875e-03 -1.68582018e-04 9.99950102e-01 -5.93814632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.7065599950001 meters 0.04858411317683581 Centerline is valid? [True, True] Translation: X:425.82, Y:-291.29, Z:-5.94 [[-6.86402875e-01 -7.27197411e-01 5.91763629e-03 4.25817644e+02] [ 7.27168976e-01 -6.86428374e-01 -6.43181284e-03 -2.91292355e+02] [ 8.73923111e-03 -1.11693305e-04 9.99961806e-01 -5.93601613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.766559995 meters 0.048569328987308466 Centerline is valid? [True, True] Translation: X:425.77, Y:-291.26, Z:-5.93 [[-6.82507781e-01 -7.30855405e-01 5.78842108e-03 4.25772110e+02] [ 7.30828344e-01 -6.82532324e-01 -6.28961781e-03 -2.91255522e+02] [ 8.54758566e-03 -6.23709050e-05 9.99963467e-01 -5.93210928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.826559995 meters 0.04774110737516541 Centerline is valid? [True, True] Translation: X:425.73, Y:-291.21, Z:-5.93 [[-6.77980767e-01 -7.35056224e-01 5.86742221e-03 4.25732245e+02] [ 7.35028587e-01 -6.78006156e-01 -6.37407999e-03 -2.91212879e+02] [ 8.66345554e-03 -8.78058572e-06 9.99962472e-01 -5.93418924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.886559995 meters 0.04830541496641725 Centerline is valid? [True, True] Translation: X:425.69, Y:-291.17, Z:-5.93 [[-6.72765725e-01 -7.39836346e-01 5.33484912e-03 4.25690063e+02] [ 7.39813659e-01 -6.72786875e-01 -5.79406337e-03 -2.91173006e+02] [ 7.87587514e-03 4.87470025e-05 9.99968984e-01 -5.93481242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.9465599950001 meters 0.04755733539392589 Centerline is valid? [True, True] Translation: X:425.65, Y:-291.13, Z:-5.93 [[-6.70963097e-01 -7.41474836e-01 4.85694522e-03 4.25652929e+02] [ 7.41456086e-01 -6.70980673e-01 -5.27352098e-03 -2.91129712e+02] [ 7.16909947e-03 6.28736218e-05 9.99974300e-01 -5.93135535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.006559995 meters 0.048409069608516556 Centerline is valid? [True, True] Translation: X:425.61, Y:-291.09, Z:-5.94 [[-6.69715763e-01 -7.42604682e-01 4.36845073e-03 4.25609599e+02] [ 7.42589546e-01 -6.69730007e-01 -4.74174363e-03 -2.91093310e+02] [ 6.44692356e-03 6.83453931e-05 9.99979216e-01 -5.93570975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.066559995 meters 0.04826854031086093 Centerline is valid? [True, True] Translation: X:425.57, Y:-291.05, Z:-5.93 [[-6.69499816e-01 -7.42797367e-01 4.69772047e-03 4.25573749e+02] [ 7.42779880e-01 -6.69516292e-01 -5.09751389e-03 -2.91050065e+02] [ 6.93162028e-03 7.65876370e-05 9.99975973e-01 -5.93481826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.126559995 meters 0.04825627041528021 Centerline is valid? [True, True] Translation: X:425.54, Y:-291.01, Z:-5.93 [[-6.69482306e-01 -7.42812374e-01 4.81870793e-03 4.25535098e+02] [ 7.42793983e-01 -6.69499643e-01 -5.22749517e-03 -2.91007414e+02] [ 7.10917133e-03 7.95917414e-05 9.99974726e-01 -5.93478899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.1865599950002 meters 0.0476846348278007 Centerline is valid? [True, True] Translation: X:425.50, Y:-290.96, Z:-5.93 [[-6.69787923e-01 -7.42533256e-01 5.33864976e-03 4.25498970e+02] [ 7.42510689e-01 -6.69809194e-01 -5.78971605e-03 -2.90964851e+02] [ 7.87493340e-03 8.61226250e-05 9.99968989e-01 -5.93448527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.246559995 meters 0.04795925086168794 Centerline is valid? [True, True] Translation: X:425.46, Y:-290.92, Z:-5.93 [[-6.70780695e-01 -7.41632160e-01 5.91597881e-03 4.25462406e+02] [ 7.41604425e-01 -6.70806777e-01 -6.41448099e-03 -2.90918656e+02] [ 8.72566407e-03 8.46060519e-05 9.99961927e-01 -5.93250443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.306559995 meters 0.04788277332843553 Centerline is valid? [True, True] Translation: X:425.42, Y:-290.87, Z:-5.93 [[-6.72960790e-01 -7.39645274e-01 6.97443960e-03 4.25423535e+02] [ 7.39606634e-01 -6.72996927e-01 -7.56066659e-03 -2.90874896e+02] [ 1.02859877e-02 7.03096300e-05 9.99947095e-01 -5.93354883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.366559995 meters 0.048918398234131424 Centerline is valid? [True, True] Translation: X:425.39, Y:-290.83, Z:-5.93 [[-6.78411049e-01 -7.34630349e-01 8.75774637e-03 4.25386460e+02] [ 7.34569026e-01 -6.78467575e-01 -9.49188389e-03 -2.90828899e+02] [ 1.29148729e-02 -6.22968698e-06 9.99916600e-01 -5.93461474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.426559995 meters 0.04838092119032091 Centerline is valid? [True, True] Translation: X:425.35, Y:-290.78, Z:-5.94 [[-6.83412389e-01 -7.29979262e-01 8.81945205e-03 4.25351850e+02] [ 7.29916714e-01 -6.83469288e-01 -9.55631345e-03 -2.90782720e+02] [ 1.30037353e-02 -9.34375560e-05 9.99915444e-01 -5.93973809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.486559995 meters 0.0491048061178759 Centerline is valid? [True, True] Translation: X:425.32, Y:-290.74, Z:-5.94 [[-6.88698442e-01 -7.25003959e-01 7.98218650e-03 4.25316729e+02] [ 7.24952416e-01 -6.88744677e-01 -8.64660453e-03 -2.90737182e+02] [ 1.17665110e-02 -1.68197675e-04 9.99930758e-01 -5.93821284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.546559995 meters 0.048740311716860184 Centerline is valid? [True, True] Translation: X:425.28, Y:-290.69, Z:-5.94 [[-6.94229315e-01 -7.19731796e-01 5.63916660e-03 4.25277865e+02] [ 7.19705906e-01 -6.94252194e-01 -6.10732556e-03 -2.90694489e+02] [ 8.31064018e-03 -1.81342933e-04 9.99965450e-01 -5.93504707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.606559995 meters 0.0496787097959994 Centerline is valid? [True, True] Translation: X:425.24, Y:-290.65, Z:-5.93 [[-6.95553521e-01 -7.18452527e-01 5.59153540e-03 4.25236455e+02] [ 7.18427042e-01 -6.95575969e-01 -6.05446035e-03 -2.90653182e+02] [ 8.23917999e-03 -1.94090978e-04 9.99966039e-01 -5.93308338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.666559995 meters 0.04851003277779431 Centerline is valid? [True, True] Translation: X:425.20, Y:-290.61, Z:-5.94 [[-6.94668232e-01 -7.19303596e-01 6.19555483e-03 4.25199605e+02] [ 7.19272346e-01 -6.94695830e-01 -6.70797022e-03 -2.90608927e+02] [ 9.12909321e-03 -2.03522555e-04 9.99958308e-01 -5.93518190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.7265599950001 meters 0.048270382646051116 Centerline is valid? [True, True] Translation: X:425.15, Y:-290.57, Z:-5.93 [[-6.90189788e-01 -7.23593968e-01 7.05880581e-03 4.25153557e+02] [ 7.23553643e-01 -6.90225863e-01 -7.64090731e-03 -2.90571054e+02] [ 1.04010848e-02 -1.66251537e-04 9.99945893e-01 -5.93482422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.786559995 meters 0.048000731042522074 Centerline is valid? [True, True] Translation: X:425.11, Y:-290.53, Z:-5.94 [[-6.85078687e-01 -7.28433860e-01 7.16268623e-03 4.25111975e+02] [ 7.28392622e-01 -6.85116124e-01 -7.75143894e-03 -2.90531310e+02] [ 1.05536824e-02 -9.30978117e-05 9.99944304e-01 -5.93711156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.846559995 meters 0.04828390226260334 Centerline is valid? [True, True] Translation: X:425.07, Y:-290.49, Z:-5.94 [[-6.79287209e-01 -7.33845186e-01 6.33494451e-03 4.25068001e+02] [ 7.33813175e-01 -6.79316748e-01 -6.85420661e-03 -2.90494429e+02] [ 9.33336042e-03 -7.30912946e-06 9.99956443e-01 -5.93871139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.906559995 meters 0.04878531781389245 Centerline is valid? [True, True] Translation: X:425.02, Y:-290.46, Z:-5.94 [[-6.71377359e-01 -7.41093568e-01 5.72408998e-03 4.25022425e+02] [ 7.41067707e-01 -6.71401755e-01 -6.19175311e-03 -2.90460565e+02] [ 8.43183246e-03 8.49353807e-05 9.99964448e-01 -5.93698021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.9665599950001 meters 0.04793817301128146 Centerline is valid? [True, True] Translation: X:424.99, Y:-290.42, Z:-5.93 [[-6.68095196e-01 -7.44058969e-01 5.00598183e-03 4.24985129e+02] [ 7.44039285e-01 -6.68113941e-01 -5.41333192e-03 -2.90417871e+02] [ 7.37240442e-03 1.08026092e-04 9.99972818e-01 -5.93298867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.026559995 meters 0.0483398151692247 Centerline is valid? [True, True] Translation: X:424.94, Y:-290.38, Z:-5.93 [[-6.66118790e-01 -7.45833953e-01 4.17987984e-03 4.24940419e+02] [ 7.45820271e-01 -6.66131896e-01 -4.51891166e-03 -2.90380327e+02] [ 6.15470903e-03 1.07307147e-04 9.99981054e-01 -5.93489568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.086559995 meters 0.04837027229557392 Centerline is valid? [True, True] Translation: X:424.90, Y:-290.34, Z:-5.94 [[-6.65090128e-01 -7.46753617e-01 3.76249029e-03 4.24899936e+02] [ 7.46742552e-01 -6.65100762e-01 -4.06648156e-03 -2.90341798e+02] [ 5.53909497e-03 1.05034858e-04 9.99984654e-01 -5.93541427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.146559995 meters 0.04893434328192869 Centerline is valid? [True, True] Translation: X:424.86, Y:-290.30, Z:-5.94 [[-6.64752150e-01 -7.47055356e-01 3.58809044e-03 4.24858720e+02] [ 7.47045304e-01 -6.64761825e-01 -3.87682647e-03 -2.90302995e+02] [ 5.28142953e-03 1.03337384e-04 9.99986048e-01 -5.93661119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.2065599950001 meters 0.0487168691005175 Centerline is valid? [True, True] Translation: X:424.82, Y:-290.26, Z:-5.94 [[-6.64953449e-01 -7.46878561e-01 3.05390062e-03 4.24822885e+02] [ 7.46871282e-01 -6.64960456e-01 -3.29865651e-03 -2.90259741e+02] [ 4.49441898e-03 8.74176500e-05 9.99989896e-01 -5.93538353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.266559995 meters 0.04901852039727959 Centerline is valid? [True, True] Translation: X:424.78, Y:-290.22, Z:-5.94 [[-6.65672395e-01 -7.46237357e-01 3.17341585e-03 4.24784339e+02] [ 7.46229494e-01 -6.65679953e-01 -3.42660969e-03 -2.90220526e+02] [ 4.66954348e-03 8.70970272e-05 9.99989094e-01 -5.93618606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.326559995 meters 0.048965005288436336 Centerline is valid? [True, True] Translation: X:424.75, Y:-290.18, Z:-5.94 [[-6.66891999e-01 -7.45149746e-01 2.63017288e-03 4.24747612e+02] [ 7.45144340e-01 -6.66897182e-01 -2.83921551e-03 -2.90177970e+02] [ 3.86969560e-03 6.64083259e-05 9.99992511e-01 -5.93608888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.386559995 meters 0.04807021051810256 Centerline is valid? [True, True] Translation: X:424.71, Y:-290.13, Z:-5.94 [[-6.68558101e-01 -7.43657196e-01 2.01013995e-03 4.24713910e+02] [ 7.43654033e-01 -6.68561122e-01 -2.16930559e-03 -2.90131679e+02] [ 2.95712113e-03 4.45418559e-05 9.99995627e-01 -5.93545404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.4465599950001 meters 0.04773364897498874 Centerline is valid? [True, True] Translation: X:424.68, Y:-290.09, Z:-5.94 [[-6.71372367e-01 -7.41117740e-01 1.90809268e-03 4.24680053e+02] [ 7.41114882e-01 -6.71375077e-01 -2.05862073e-03 -2.90085191e+02] [ 2.80672621e-03 3.20148090e-05 9.99996061e-01 -5.93562041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.506559995 meters 0.048302364026791195 Centerline is valid? [True, True] Translation: X:424.64, Y:-290.04, Z:-5.94 [[-6.73035449e-01 -7.39606925e-01 2.20934939e-03 4.24643729e+02] [ 7.39603087e-01 -6.73039074e-01 -2.38293239e-03 -2.90042622e+02] [ 3.24941176e-03 3.02436582e-05 9.99994720e-01 -5.93706397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.566559995 meters 0.04754693640888304 Centerline is valid? [True, True] Translation: X:424.61, Y:-290.00, Z:-5.94 [[-6.74215117e-01 -7.38527666e-01 3.29595219e-03 4.24611263e+02] [ 7.38519117e-01 -6.74223172e-01 -3.55371422e-03 -2.89997298e+02] [ 4.84672361e-03 3.81558490e-05 9.99988254e-01 -5.93632477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.626559995 meters 0.047851888413219704 Centerline is valid? [True, True] Translation: X:424.58, Y:-289.95, Z:-5.94 [[-6.75020815e-01 -7.37782602e-01 4.87158063e-03 4.24576255e+02] [ 7.37763913e-01 -6.75038392e-01 -5.25156541e-03 -2.89949158e+02] [ 7.16301754e-03 4.91604258e-05 9.99974344e-01 -5.93542605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.6865599950002 meters 0.04782897086244291 Centerline is valid? [True, True] Translation: X:424.54, Y:-289.91, Z:-5.94 [[-6.75210418e-01 -7.37604378e-01 5.53828737e-03 4.24537544e+02] [ 7.37580232e-01 -6.75233129e-01 -5.96856344e-03 -2.89908419e+02] [ 8.14207364e-03 5.48950634e-05 9.99966851e-01 -5.93913673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.746559995 meters 0.04744586246834608 Centerline is valid? [True, True] Translation: X:424.50, Y:-289.87, Z:-5.94 [[-6.75023547e-01 -7.37774860e-01 5.60944326e-03 4.24500346e+02] [ 7.37750110e-01 -6.75046852e-01 -6.04339383e-03 -2.89865595e+02] [ 8.24530105e-03 5.89342448e-05 9.99966005e-01 -5.93823768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.806559995 meters 0.04754678887831374 Centerline is valid? [True, True] Translation: X:424.46, Y:-289.82, Z:-5.94 [[-6.75272032e-01 -7.37558187e-01 3.95008209e-03 4.24462868e+02] [ 7.37545919e-01 -6.75283584e-01 -4.25430312e-03 -2.89823984e+02] [ 5.80522169e-03 4.05550174e-05 9.99983149e-01 -5.93705541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.866559995 meters 0.04720616776381048 Centerline is valid? [True, True] Translation: X:424.43, Y:-289.78, Z:-5.93 [[-6.75306198e-01 -7.37532887e-01 2.60387072e-03 4.24427451e+02] [ 7.37527559e-01 -6.75311217e-01 -2.80354952e-03 -2.89779347e+02] [ 3.82613308e-03 2.71720505e-05 9.99992680e-01 -5.93413428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.926559995 meters 0.04748331796293072 Centerline is valid? [True, True] Translation: X:424.39, Y:-289.74, Z:-5.93 [[-6.74951554e-01 -7.37859673e-01 1.87171941e-03 4.24388824e+02] [ 7.37856923e-01 -6.74954148e-01 -2.01464517e-03 -2.89738226e+02] [ 2.74985020e-03 2.12732349e-05 9.99996219e-01 -5.93438558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.986559995 meters 0.04731146140539244 Centerline is valid? [True, True] Translation: X:424.35, Y:-289.70, Z:-5.94 [[-6.73262158e-01 -7.39401166e-01 1.99563435e-03 4.24350360e+02] [ 7.39398048e-01 -6.73265115e-01 -2.14737516e-03 -2.89697544e+02] [ 2.93136269e-03 2.98217059e-05 9.99995703e-01 -5.93567019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.046559995 meters 0.04688464401069543 Centerline is valid? [True, True] Translation: X:424.31, Y:-289.65, Z:-5.93 [[-6.71499105e-01 -7.41001720e-01 2.32441033e-03 4.24314009e+02] [ 7.40997503e-01 -6.71503126e-01 -2.50038780e-03 -2.89654318e+02] [ 3.41364047e-03 4.33740805e-05 9.99994173e-01 -5.93492470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.106559995 meters 0.04730688438893783 Centerline is valid? [True, True] Translation: X:424.27, Y:-289.62, Z:-5.94 [[-6.69826070e-01 -7.42512045e-01 2.98311757e-03 4.24271791e+02] [ 7.42505117e-01 -6.69832710e-01 -3.20813477e-03 -2.89615354e+02] [ 4.38026843e-03 6.60877561e-05 9.99990404e-01 -5.93616157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.166559995 meters 0.046302938061140234 Centerline is valid? [True, True] Translation: X:424.23, Y:-289.57, Z:-5.94 [[-6.69467229e-01 -7.42830166e-01 4.11994440e-03 4.24232342e+02] [ 7.42816964e-01 -6.69479900e-01 -4.42965200e-03 -2.89572938e+02] [ 6.04869909e-03 9.48577396e-05 9.99981702e-01 -5.93674618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.2265599950001 meters 0.04703859725807375 Centerline is valid? [True, True] Translation: X:424.19, Y:-289.53, Z:-5.94 [[-6.70544040e-01 -7.41855810e-01 4.54402342e-03 4.24190960e+02] [ 7.41839736e-01 -6.70559430e-01 -4.88440164e-03 -2.89531596e+02] [ 6.67055949e-03 9.57307246e-05 9.99977747e-01 -5.93732230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.286559995 meters 0.046922233562040186 Centerline is valid? [True, True] Translation: X:424.15, Y:-289.49, Z:-5.94 [[-6.72200357e-01 -7.40359955e-01 3.71711835e-03 4.24151881e+02] [ 7.40349182e-01 -6.72210631e-01 -3.99449518e-03 -2.89489592e+02] [ 5.45605074e-03 6.68644386e-05 9.99985113e-01 -5.93685234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.346559995 meters 0.047082820627798054 Centerline is valid? [True, True] Translation: X:424.11, Y:-289.45, Z:-5.93 [[-6.75230287e-01 -7.37604838e-01 1.77829599e-03 4.24114775e+02] [ 7.37602364e-01 -6.75232629e-01 -1.91043250e-03 -2.89447212e+02] [ 2.60990773e-03 2.16934436e-05 9.99996594e-01 -5.93482961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.406559995 meters 0.046979763709799095 Centerline is valid? [True, True] Translation: X:424.08, Y:-289.40, Z:-5.93 [[-6.77463331e-01 -7.35556159e-01 7.56974874e-04 4.24077633e+02] [ 7.35555709e-01 -6.77463754e-01 -8.12965671e-04 -2.89404866e+02] [ 1.11080495e-03 6.04275956e-06 9.99999383e-01 -5.93413040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.4665599950001 meters 0.04673372907071722 Centerline is valid? [True, True] Translation: X:424.04, Y:-289.37, Z:-5.94 [[-6.79266498e-01 -7.33891546e-01 4.73127220e-04 4.24040451e+02] [ 7.33891370e-01 -6.79266663e-01 -5.07946679e-04 -2.89365491e+02] [ 6.94157321e-04 2.19282220e-06 9.99999759e-01 -5.93521098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.526559995 meters 0.0465403010908686 Centerline is valid? [True, True] Translation: X:424.00, Y:-289.33, Z:-5.94 [[-6.79618232e-01 -7.33564985e-01 1.21313276e-03 4.24002143e+02] [ 7.33563830e-01 -6.79619315e-01 -1.30196282e-03 -2.89325064e+02] [ 1.77954279e-03 5.07264489e-06 9.99998417e-01 -5.93694944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.586559995 meters 0.04669130386634027 Centerline is valid? [True, True] Translation: X:423.96, Y:-289.29, Z:-5.94 [[-6.78349868e-01 -7.34733914e-01 2.74436960e-03 4.23962458e+02] [ 7.34728015e-01 -6.78355419e-01 -2.94439861e-03 -2.89285309e+02] [ 4.02500751e-03 1.90328225e-05 9.99991899e-01 -5.93920903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.646559995 meters 0.04751722299735812 Centerline is valid? [True, True] Translation: X:423.92, Y:-289.24, Z:-5.94 [[-6.76203895e-01 -7.36702416e-01 4.22407538e-03 4.23921292e+02] [ 7.36688483e-01 -6.76217086e-01 -4.53123098e-03 -2.89244549e+02] [ 6.19456076e-03 4.77916468e-05 9.99980812e-01 -5.94118511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.7065599950001 meters 0.04725284499306911 Centerline is valid? [True, True] Translation: X:423.88, Y:-289.21, Z:-5.94 [[-6.74272202e-01 -7.38460945e-01 5.69481836e-03 4.23879410e+02] [ 7.38435696e-01 -6.74296245e-01 -6.10714771e-03 -2.89205279e+02] [ 8.34988470e-03 8.73772191e-05 9.99965135e-01 -5.94312216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.766559995 meters 0.0469747493516318 Centerline is valid? [True, True] Translation: X:423.84, Y:-289.16, Z:-5.94 [[-6.73408936e-01 -7.39245106e-01 6.08920819e-03 4.23840216e+02] [ 7.39216288e-01 -6.73436458e-01 -6.52819329e-03 -2.89164095e+02] [ 8.92662973e-03 1.05098169e-04 9.99960151e-01 -5.94243303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.826559995 meters 0.047582509028326773 Centerline is valid? [True, True] Translation: X:423.80, Y:-289.12, Z:-5.94 [[-6.75102864e-01 -7.37702050e-01 5.63991123e-03 4.23801882e+02] [ 7.37677286e-01 -6.75126417e-01 -6.04501830e-03 -2.89120839e+02] [ 8.26707545e-03 7.94252385e-05 9.99965824e-01 -5.94088195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.886559995 meters 0.04682344633332727 Centerline is valid? [True, True] Translation: X:423.76, Y:-289.08, Z:-5.94 [[-6.78430548e-01 -7.34649912e-01 4.63662873e-03 4.23764456e+02] [ 7.34633112e-01 -6.78446391e-01 -4.96840592e-03 -2.89076837e+02] [ 6.79574300e-03 3.55026394e-05 9.99976908e-01 -5.94015436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.9465599950001 meters 0.046977633730495544 Centerline is valid? [True, True] Translation: X:423.73, Y:-289.03, Z:-5.94 [[-6.82978873e-01 -7.30433068e-01 2.71895068e-03 4.23728068e+02] [ 7.30427260e-01 -6.82984285e-01 -2.91272929e-03 -2.89032537e+02] [ 3.98455437e-03 -3.33687046e-06 9.99992062e-01 -5.93910199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.006559995 meters 0.04711408110835512 Centerline is valid? [True, True] Translation: X:423.69, Y:-288.99, Z:-5.94 [[-6.84162503e-01 -7.29325595e-01 2.41775303e-03 4.23691509e+02] [ 7.29320999e-01 -6.84166775e-01 -2.58937967e-03 -2.88990558e+02] [ 3.54264716e-03 -8.23841913e-06 9.99993725e-01 -5.93940234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.066559995 meters 0.0469554813550111 Centerline is valid? [True, True] Translation: X:423.66, Y:-288.95, Z:-5.94 [[-6.85577728e-01 -7.27996048e-01 2.22082599e-03 4.23655952e+02] [ 7.27992166e-01 -6.85581325e-01 -2.37761723e-03 -2.88948498e+02] [ 3.25345278e-03 -1.32974963e-05 9.99994707e-01 -5.93879500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.126559995 meters 0.04734172555364889 Centerline is valid? [True, True] Translation: X:423.62, Y:-288.91, Z:-5.94 [[-6.84115991e-01 -7.29368976e-01 2.49147612e-03 4.23616074e+02] [ 7.29364102e-01 -6.84120528e-01 -2.66646677e-03 -2.88909264e+02] [ 3.64930810e-03 -6.97931528e-06 9.99993341e-01 -5.93833251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.1865599950002 meters 0.04723137604938091 Centerline is valid? [True, True] Translation: X:423.57, Y:-288.87, Z:-5.94 [[-6.81061596e-01 -7.32220288e-01 2.92445704e-03 4.23574533e+02] [ 7.32213602e-01 -6.81067875e-01 -3.12896586e-03 -2.88869903e+02] [ 4.28284603e-03 1.03087381e-05 9.99990829e-01 -5.93971648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.246559995 meters 0.04757311663928118 Centerline is valid? [True, True] Translation: X:423.53, Y:-288.83, Z:-5.94 [[-6.76244969e-01 -7.36662163e-01 4.64762686e-03 4.23533487e+02] [ 7.36645391e-01 -6.76260937e-01 -4.97120962e-03 -2.88830493e+02] [ 6.80511052e-03 6.18974139e-05 9.99976843e-01 -5.94120140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.306559995 meters 0.04698027078514154 Centerline is valid? [True, True] Translation: X:423.49, Y:-288.79, Z:-5.94 [[-6.75098975e-01 -7.37708654e-01 5.22641424e-03 4.23492462e+02] [ 7.37687489e-01 -6.75119200e-01 -5.58876213e-03 -2.88790480e+02] [ 7.65133079e-03 8.24928090e-05 9.99970725e-01 -5.94240601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.366559995 meters 0.047138739339426756 Centerline is valid? [True, True] Translation: X:423.45, Y:-288.75, Z:-5.94 [[-6.75696546e-01 -7.37165514e-01 4.60241968e-03 4.23453542e+02] [ 7.37149097e-01 -6.75712217e-01 -4.92022417e-03 -2.88747894e+02] [ 6.73693079e-03 6.80910323e-05 9.99977304e-01 -5.94168307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.426559995 meters 0.047088658724279274 Centerline is valid? [True, True] Translation: X:423.41, Y:-288.71, Z:-5.94 [[-6.77302803e-01 -7.35697927e-01 3.07784300e-03 4.23412968e+02] [ 7.35690574e-01 -6.77309795e-01 -3.28951029e-03 -2.88707822e+02] [ 4.50473911e-03 3.63455434e-05 9.99989853e-01 -5.94194900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.486559995 meters 0.04725080292343899 Centerline is valid? [True, True] Translation: X:423.38, Y:-288.67, Z:-5.94 [[-6.78332245e-01 -7.34752728e-01 1.94779456e-03 4.23375868e+02] [ 7.34749781e-01 -6.78335041e-01 -2.08107955e-03 -2.88665574e+02] [ 2.85033618e-03 1.94782659e-05 9.99995938e-01 -5.94006270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.546559995 meters 0.04693237480862559 Centerline is valid? [True, True] Translation: X:423.34, Y:-288.63, Z:-5.94 [[-6.78578740e-01 -7.34526391e-01 1.36947947e-03 4.23337205e+02] [ 7.34524935e-01 -6.78580121e-01 -1.46272082e-03 -2.88625050e+02] [ 2.00370859e-03 1.33455659e-05 9.99997993e-01 -5.93962718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.606559995 meters 0.046809483149314206 Centerline is valid? [True, True] Translation: X:423.30, Y:-288.58, Z:-5.94 [[-6.77450800e-01 -7.35564261e-01 2.37319536e-03 4.23296380e+02] [ 7.35559896e-01 -6.77454956e-01 -2.53409696e-03 -2.88583384e+02] [ 3.47172411e-03 2.89013172e-05 9.99993973e-01 -5.94104460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.666559995 meters 0.047043390866831764 Centerline is valid? [True, True] Translation: X:423.25, Y:-288.55, Z:-5.94 [[-6.76426926e-01 -7.36500849e-01 3.62122827e-03 4.23254170e+02] [ 7.36490705e-01 -6.76436617e-01 -3.86597237e-03 -2.88545372e+02] [ 5.29682333e-03 5.19531535e-05 9.99985970e-01 -5.94392628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.7265599950001 meters 0.047550702943035324 Centerline is valid? [True, True] Translation: X:423.22, Y:-288.50, Z:-5.94 [[-6.75715694e-01 -7.37146031e-01 4.90197793e-03 4.23215412e+02] [ 7.37127467e-01 -6.75733470e-01 -5.23209325e-03 -2.88503903e+02] [ 7.16924733e-03 7.79750502e-05 9.99974298e-01 -5.94446212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.786559995 meters 0.047309991353331325 Centerline is valid? [True, True] Translation: X:423.18, Y:-288.46, Z:-5.95 [[-6.76038722e-01 -7.36841732e-01 5.99238273e-03 4.23176153e+02] [ 7.36813995e-01 -6.76065273e-01 -6.39396734e-03 -2.88464266e+02] [ 8.76258384e-03 9.27019483e-05 9.99961604e-01 -5.94605692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.846559995 meters 0.048171185284417536 Centerline is valid? [True, True] Translation: X:423.14, Y:-288.42, Z:-5.94 [[-6.79183486e-01 -7.33939299e-01 6.54968445e-03 4.23140520e+02] [ 7.33906045e-01 -6.79215063e-01 -6.98675985e-03 -2.88418150e+02] [ 9.57650196e-03 6.15611031e-05 9.99954142e-01 -5.94440364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.906559995 meters 0.04676023817273555 Centerline is valid? [True, True] Translation: X:423.10, Y:-288.37, Z:-5.94 [[-6.83371283e-01 -7.30044551e-01 6.21631192e-03 4.23103759e+02] [ 7.30014450e-01 -6.83399556e-01 -6.62949329e-03 -2.88373271e+02] [ 9.08805026e-03 7.59218882e-06 9.99958703e-01 -5.94236576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.9665599950001 meters 0.04711824850736419 Centerline is valid? [True, True] Translation: X:423.07, Y:-288.33, Z:-5.94 [[-6.90348167e-01 -7.23458162e-01 5.26273115e-03 4.23069223e+02] [ 7.23436405e-01 -6.90368224e-01 -5.61107249e-03 -2.88326403e+02] [ 7.69259854e-03 -6.63423052e-05 9.99970409e-01 -5.94368195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.026559995 meters 0.047734363036862584 Centerline is valid? [True, True] Translation: X:423.03, Y:-288.29, Z:-5.94 [[-6.92188944e-01 -7.21709523e-01 3.13528902e-03 4.23029108e+02] [ 7.21701788e-01 -6.92196043e-01 -3.34180331e-03 -2.88285535e+02] [ 4.58204593e-03 -5.04156106e-05 9.99989501e-01 -5.94217760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.086559995 meters 0.04734343332385311 Centerline is valid? [True, True] Translation: X:422.99, Y:-288.24, Z:-5.94 [[-6.93125963e-01 -7.20811133e-01 2.77669930e-03 4.22990777e+02] [ 7.20805063e-01 -6.93131523e-01 -2.95864996e-03 -2.88244648e+02] [ 4.05724564e-03 -4.92581934e-05 9.99991768e-01 -5.94119206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.146559995 meters 0.04737111514590177 Centerline is valid? [True, True] Translation: X:422.95, Y:-288.20, Z:-5.94 [[-6.93372992e-01 -7.20563987e-01 4.62976516e-03 4.22951270e+02] [ 7.20547112e-01 -6.93388444e-01 -4.93207373e-03 -2.88203208e+02] [ 6.76410037e-03 -8.38027993e-05 9.99977120e-01 -5.94402358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.2065599950001 meters 0.047501741184624816 Centerline is valid? [True, True] Translation: X:422.91, Y:-288.17, Z:-5.94 [[-6.91838558e-01 -7.22024719e-01 6.30194272e-03 4.22908337e+02] [ 7.21993533e-01 -6.91867253e-01 -6.71135535e-03 -2.88165102e+02] [ 9.20587226e-03 -9.32125255e-05 9.99957621e-01 -5.94475976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.266559995 meters 0.04782501191636891 Centerline is valid? [True, True] Translation: X:422.86, Y:-288.13, Z:-5.95 [[-6.89914433e-01 -7.23839958e-01 8.59009207e-03 4.22864408e+02] [ 7.23782176e-01 -6.89967903e-01 -9.14632564e-03 -2.88127933e+02] [ 1.25473638e-02 -9.28265369e-05 9.99921274e-01 -5.94580882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.326559995 meters 0.04773623310725144 Centerline is valid? [True, True] Translation: X:422.82, Y:-288.09, Z:-5.95 [[-6.88388894e-01 -7.25281070e-01 9.38615797e-03 4.22822779e+02] [ 7.25212255e-01 -6.88452878e-01 -9.99100013e-03 -2.88089738e+02] [ 1.37082107e-02 -7.07367483e-05 9.99906036e-01 -5.95187218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.386559995 meters 0.04842912542310001 Centerline is valid? [True, True] Translation: X:422.78, Y:-288.05, Z:-5.95 [[-6.88723129e-01 -7.24976500e-01 8.33827769e-03 4.22782248e+02] [ 7.24922201e-01 -6.88773599e-01 -8.87310074e-03 -2.88049494e+02] [ 1.21759750e-02 -6.65070881e-05 9.99925868e-01 -5.94925468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.4465599950001 meters 0.04792836347505055 Centerline is valid? [True, True] Translation: X:422.74, Y:-288.01, Z:-5.95 [[-6.89709991e-01 -7.24054630e-01 6.70974919e-03 4.22743640e+02] [ 7.24019449e-01 -6.89742625e-01 -7.13790434e-03 -2.88008544e+02] [ 9.79623270e-03 -6.50950297e-05 9.99952014e-01 -5.94653114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.506559995 meters 0.047721359673091726 Centerline is valid? [True, True] Translation: X:422.70, Y:-287.97, Z:-5.94 [[-6.89454015e-01 -7.24316233e-01 4.37675453e-03 4.22702339e+02] [ 7.24301278e-01 -6.89467906e-01 -4.65466376e-03 -2.87969035e+02] [ 6.38908030e-03 -3.90877192e-05 9.99979589e-01 -5.94103363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.566559995 meters 0.04772895630944951 Centerline is valid? [True, True] Translation: X:422.66, Y:-287.93, Z:-5.94 [[-6.87590161e-01 -7.26090526e-01 3.50988967e-03 4.22661496e+02] [ 7.26080932e-01 -6.87599119e-01 -3.73247832e-03 -2.87927646e+02] [ 5.12351419e-03 -1.79514056e-05 9.99986875e-01 -5.94103857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.626559995 meters 0.047379538552038976 Centerline is valid? [True, True] Translation: X:422.62, Y:-287.89, Z:-5.94 [[-6.84729488e-01 -7.28789150e-01 3.45004406e-03 4.22619585e+02] [ 7.28779919e-01 -6.84738180e-01 -3.66809016e-03 -2.87887899e+02] [ 5.03564120e-03 2.67333305e-06 9.99987321e-01 -5.94238178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.6865599950002 meters 0.047676239575066934 Centerline is valid? [True, True] Translation: X:422.58, Y:-287.85, Z:-5.94 [[-6.79753719e-01 -7.33428794e-01 4.13354859e-03 4.22577725e+02] [ 7.33415636e-01 -6.79766285e-01 -4.39338662e-03 -2.87849723e+02] [ 6.03208322e-03 4.51882814e-05 9.99981806e-01 -5.94283517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.746559995 meters 0.047730582953244706 Centerline is valid? [True, True] Translation: X:422.54, Y:-287.81, Z:-5.94 [[-6.77059898e-01 -7.35910140e-01 5.11480079e-03 4.22535149e+02] [ 7.35890071e-01 -6.77079212e-01 -5.43542923e-03 -2.87809751e+02] [ 7.46311277e-03 8.38199619e-05 9.99972147e-01 -5.94451971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.806559995 meters 0.04790129461166058 Centerline is valid? [True, True] Translation: X:422.50, Y:-287.77, Z:-5.94 [[-6.75486509e-01 -7.37349391e-01 5.81819710e-03 4.22496196e+02] [ 7.37323490e-01 -6.75511556e-01 -6.18139103e-03 -2.87770029e+02] [ 8.48810429e-03 1.14447148e-04 9.99963969e-01 -5.94456346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.866559995 meters 0.047599087625325075 Centerline is valid? [True, True] Translation: X:422.46, Y:-287.73, Z:-5.94 [[-6.75413142e-01 -7.37414311e-01 6.10101450e-03 4.22457765e+02] [ 7.37385842e-01 -6.75440685e-01 -6.48078000e-03 -2.87726720e+02] [ 8.89989333e-03 1.21597735e-04 9.99960388e-01 -5.94334910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.926559995 meters 0.04799284146154016 Centerline is valid? [True, True] Translation: X:422.42, Y:-287.69, Z:-5.94 [[-6.76596716e-01 -7.36327278e-01 6.24686731e-03 4.22417903e+02] [ 7.36297397e-01 -6.76625545e-01 -6.63440113e-03 -2.87685547e+02] [ 9.11188052e-03 1.10738119e-04 9.99958480e-01 -5.94380245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.986559995 meters 0.047963354179811034 Centerline is valid? [True, True] Translation: X:422.38, Y:-287.64, Z:-5.94 [[-6.79206476e-01 -7.33921363e-01 6.16406517e-03 4.22379645e+02] [ 7.33892184e-01 -6.79234441e-01 -6.54493321e-03 -2.87641428e+02] [ 8.99031167e-03 7.83982283e-05 9.99959583e-01 -5.94405134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.046559995 meters 0.04794571246491496 Centerline is valid? [True, True] Translation: X:422.34, Y:-287.59, Z:-5.94 [[-6.85069755e-01 -7.28452544e-01 6.02681710e-03 4.22343837e+02] [ 7.28424450e-01 -6.85096264e-01 -6.39756691e-03 -2.87594918e+02] [ 8.78927377e-03 7.30134606e-06 9.99961374e-01 -5.94308624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.106559995 meters 0.048271445761725776 Centerline is valid? [True, True] Translation: X:422.31, Y:-287.55, Z:-5.94 [[-6.89288649e-01 -7.24460502e-01 6.17567816e-03 4.22308601e+02] [ 7.24430858e-01 -6.89316313e-01 -6.55382810e-03 -2.87549663e+02] [ 9.00498529e-03 -4.36274886e-05 9.99959453e-01 -5.94458041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.166559995 meters 0.04742872871594672 Centerline is valid? [True, True] Translation: X:422.27, Y:-287.50, Z:-5.94 [[-6.92783060e-01 -7.21115453e-01 6.64345287e-03 4.22273075e+02] [ 7.21081014e-01 -6.92814907e-01 -7.04816396e-03 -2.87504789e+02] [ 9.68522313e-03 -9.23808674e-05 9.99953093e-01 -5.94412901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.2265599950001 meters 0.04852645130998141 Centerline is valid? [True, True] Translation: X:422.23, Y:-287.46, Z:-5.94 [[-6.95616629e-01 -7.18369858e-01 7.89001101e-03 4.22233299e+02] [ 7.18321133e-01 -6.95661357e-01 -8.36822252e-03 -2.87463631e+02] [ 1.15002546e-02 -1.53513092e-04 9.99933858e-01 -5.94164149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.286559995 meters 0.04852037212775056 Centerline is valid? [True, True] Translation: X:422.19, Y:-287.42, Z:-5.94 [[-6.96021323e-01 -7.17968144e-01 8.72132856e-03 4.22193666e+02] [ 7.17908595e-01 -6.96075939e-01 -9.24859491e-03 -2.87422141e+02] [ 1.27109035e-02 -1.76102545e-04 9.99919198e-01 -5.94081296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.346559995 meters 0.04866690667080213 Centerline is valid? [True, True] Translation: X:422.16, Y:-287.38, Z:-5.94 [[-6.96064294e-01 -7.17921014e-01 9.16051822e-03 4.22156042e+02] [ 7.17855321e-01 -6.96124545e-01 -9.71366507e-03 -2.87378428e+02] [ 1.33505059e-02 -1.85408670e-04 9.99910861e-01 -5.94229609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.406559995 meters 0.04883813629328058 Centerline is valid? [True, True] Translation: X:422.12, Y:-287.34, Z:-5.94 [[-6.95797784e-01 -7.18187194e-01 8.52039778e-03 4.22115736e+02] [ 7.18130404e-01 -6.95849931e-01 -9.03309573e-03 -2.87335436e+02] [ 1.24163719e-02 -1.66451301e-04 9.99922900e-01 -5.94155592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.4665599950001 meters 0.04880293105563619 Centerline is valid? [True, True] Translation: X:422.08, Y:-287.29, Z:-5.94 [[-6.95153137e-01 -7.18818300e-01 7.89733641e-03 4.22077756e+02] [ 7.18769560e-01 -6.95197980e-01 -8.37190397e-03 -2.87291273e+02] [ 1.15080901e-02 -1.43390288e-04 9.99933770e-01 -5.94254824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.526559995 meters 0.04827016683488273 Centerline is valid? [True, True] Translation: X:422.04, Y:-287.25, Z:-5.94 [[-6.94005984e-01 -7.19937687e-01 6.73952568e-03 4.22039670e+02] [ 7.19902264e-01 -6.94038699e-01 -7.14250544e-03 -2.87248281e+02] [ 9.81965048e-03 -1.05141716e-04 9.99951781e-01 -5.94424580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.586559995 meters 0.04805493183494757 Centerline is valid? [True, True] Translation: X:422.00, Y:-287.21, Z:-5.94 [[-6.91176609e-01 -7.22658178e-01 6.32877127e-03 4.21997730e+02] [ 7.22627075e-01 -6.91205580e-01 -6.70494267e-03 -2.87210301e+02] [ 9.21986367e-03 -6.09580650e-05 9.99957494e-01 -5.94063638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.646559995 meters 0.04788701994760963 Centerline is valid? [True, True] Translation: X:421.96, Y:-287.17, Z:-5.94 [[-6.89182508e-01 -7.24562198e-01 6.09028744e-03 4.21957329e+02] [ 7.24533483e-01 -6.89209416e-01 -6.45071045e-03 -2.87169613e+02] [ 8.87142440e-03 -3.30996322e-05 9.99960648e-01 -5.93986681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.7065599950001 meters 0.04809148076075706 Centerline is valid? [True, True] Translation: X:421.92, Y:-287.13, Z:-5.94 [[-6.87247129e-01 -7.26404092e-01 5.33663434e-03 4.21915397e+02] [ 7.26382108e-01 -6.87267849e-01 -5.65135904e-03 -2.87127507e+02] [ 7.77286753e-03 -7.44457475e-06 9.99969791e-01 -5.93825359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.766559995 meters 0.04789284521734948 Centerline is valid? [True, True] Translation: X:421.87, Y:-287.09, Z:-5.94 [[-6.84508871e-01 -7.28990302e-01 4.55466375e-03 4.21873559e+02] [ 7.28974352e-01 -6.84524024e-01 -4.82226947e-03 -2.87088407e+02] [ 6.63316444e-03 1.93468234e-05 9.99978000e-01 -5.93984391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.826559995 meters 0.04792892800307636 Centerline is valid? [True, True] Translation: X:421.83, Y:-287.05, Z:-5.94 [[-6.82820825e-01 -7.30568845e-01 4.98830375e-03 4.21832881e+02] [ 7.30549766e-01 -6.82839045e-01 -5.27997130e-03 -2.87047343e+02] [ 7.26359110e-03 3.89297741e-05 9.99973619e-01 -5.94034015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.886559995 meters 0.04866082765446826 Centerline is valid? [True, True] Translation: X:421.79, Y:-287.01, Z:-5.94 [[-6.81557488e-01 -7.31744275e-01 5.45030665e-03 4.21792935e+02] [ 7.31721548e-01 -6.81579278e-01 -5.76744166e-03 -2.87005413e+02] [ 7.93510849e-03 5.72637629e-05 9.99968515e-01 -5.94046952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.9465599950001 meters 0.04860109616389466 Centerline is valid? [True, True] Translation: X:421.75, Y:-286.96, Z:-5.94 [[-6.80584909e-01 -7.32646745e-01 5.73839402e-03 4.21752856e+02] [ 7.32621597e-01 -6.80609096e-01 -6.07075183e-03 -2.86962646e+02] [ 8.35331973e-03 7.24093110e-05 9.99965108e-01 -5.93997072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.006559995 meters 0.04768057845787642 Centerline is valid? [True, True] Translation: X:421.71, Y:-286.92, Z:-5.94 [[-6.80019859e-01 -7.33178303e-01 4.75051879e-03 4.21711944e+02] [ 7.33161090e-01 -6.80036449e-01 -5.02432270e-03 -2.86922384e+02] [ 6.91425032e-03 6.62563208e-05 9.99976094e-01 -5.94095040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.066559995 meters 0.047665756727893915 Centerline is valid? [True, True] Translation: X:421.67, Y:-286.88, Z:-5.94 [[-6.79263129e-01 -7.33884675e-01 3.85814450e-03 4.21672745e+02] [ 7.33873341e-01 -6.79274083e-01 -4.07913708e-03 -2.86883211e+02] [ 5.61435376e-03 6.05819830e-05 9.99984238e-01 -5.94072466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.126559995 meters 0.04806371437671439 Centerline is valid? [True, True] Translation: X:421.64, Y:-286.84, Z:-5.94 [[-6.78430683e-01 -7.34657283e-01 3.23808557e-03 4.21635101e+02] [ 7.34649313e-01 -6.78438408e-01 -3.42261769e-03 -2.86839707e+02] [ 4.71129264e-03 5.68484830e-05 9.99988900e-01 -5.93882162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.1865599950002 meters 0.0478447716919021 Centerline is valid? [True, True] Translation: X:421.60, Y:-286.80, Z:-5.94 [[-6.77270071e-01 -7.35726590e-01 3.41096113e-03 4.21595708e+02] [ 7.35717764e-01 -6.77278657e-01 -3.60438530e-03 -2.86796853e+02] [ 4.96201327e-03 6.83624068e-05 9.99987687e-01 -5.93925816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.246559995 meters 0.04842507813951183 Centerline is valid? [True, True] Translation: X:421.55, Y:-286.76, Z:-5.94 [[-6.76270491e-01 -7.36643823e-01 3.75511882e-03 4.21552768e+02] [ 7.36633145e-01 -6.76280911e-01 -3.96720616e-03 -2.86759759e+02] [ 5.46193309e-03 8.32405275e-05 9.99985080e-01 -5.94138420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.306559995 meters 0.04782780919818507 Centerline is valid? [True, True] Translation: X:421.52, Y:-286.71, Z:-5.94 [[-6.74858097e-01 -7.37937839e-01 3.78073459e-03 4.21515871e+02] [ 7.37927041e-01 -6.74868681e-01 -3.99323435e-03 -2.86714969e+02] [ 5.49825810e-03 9.50397586e-05 9.99984880e-01 -5.94037268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.366559995 meters 0.04860857570553766 Centerline is valid? [True, True] Translation: X:421.48, Y:-286.68, Z:-5.94 [[-6.73616207e-01 -7.39068567e-01 4.34273568e-03 4.21475205e+02] [ 7.39054351e-01 -6.73630195e-01 -4.58556653e-03 -2.86675169e+02] [ 6.31444597e-03 1.20605767e-04 9.99980056e-01 -5.94199672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.426559995 meters 0.047783703436127305 Centerline is valid? [True, True] Translation: X:421.44, Y:-286.63, Z:-5.94 [[-6.73433711e-01 -7.39232765e-01 4.68576459e-03 4.21437515e+02] [ 7.39216227e-01 -6.73450000e-01 -4.94654280e-03 -2.86630145e+02] [ 6.81227467e-03 1.32624550e-04 9.99976787e-01 -5.94173858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.486559995 meters 0.04743268071748658 Centerline is valid? [True, True] Translation: X:421.40, Y:-286.59, Z:-5.94 [[-6.74480239e-01 -7.38276502e-01 4.92083185e-03 4.21398711e+02] [ 7.38258247e-01 -6.74498177e-01 -5.19333868e-03 -2.86587759e+02] [ 7.15321202e-03 1.30040382e-04 9.99974407e-01 -5.94178815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.546559995 meters 0.047548021891597674 Centerline is valid? [True, True] Translation: X:421.36, Y:-286.54, Z:-5.94 [[-6.78887348e-01 -7.34231549e-01 4.00016919e-03 4.21362548e+02] [ 7.34219422e-01 -6.78899129e-01 -4.22057019e-03 -2.86542939e+02] [ 5.81458716e-03 7.17102141e-05 9.99983093e-01 -5.94045783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.606559995 meters 0.04812958968744477 Centerline is valid? [True, True] Translation: X:421.33, Y:-286.50, Z:-5.94 [[-6.82890442e-01 -7.30513855e-01 3.18608322e-03 4.21325181e+02] [ 7.30506126e-01 -6.82897874e-01 -3.36071508e-03 -2.86499762e+02] [ 4.63081839e-03 3.24531022e-05 9.99989277e-01 -5.94034776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.666559995 meters 0.04751831976392203 Centerline is valid? [True, True] Translation: X:421.29, Y:-286.46, Z:-5.94 [[-6.86701086e-01 -7.26932476e-01 3.28534424e-03 4.21288900e+02] [ 7.26924221e-01 -6.86708945e-01 -3.46439780e-03 -2.86457181e+02] [ 4.77445855e-03 9.19056629e-06 9.99988602e-01 -5.94104249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.7265599950001 meters 0.04765100308496633 Centerline is valid? [True, True] Translation: X:421.25, Y:-286.41, Z:-5.94 [[-6.89618376e-01 -7.24164508e-01 3.50151738e-03 4.21252119e+02] [ 7.24155101e-01 -6.89627265e-01 -3.69112976e-03 -2.86414836e+02] [ 5.08772702e-03 -9.82923240e-06 9.99987057e-01 -5.94089386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.786559995 meters 0.047873880400343814 Centerline is valid? [True, True] Translation: X:421.21, Y:-286.37, Z:-5.94 [[-6.89819662e-01 -7.23970831e-01 3.88198853e-03 4.21211993e+02] [ 7.23959272e-01 -6.89830585e-01 -4.09115535e-03 -2.86373086e+02] [ 5.63979155e-03 -1.17578112e-05 9.99984096e-01 -5.94092425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.846559995 meters 0.047943960901145416 Centerline is valid? [True, True] Translation: X:421.17, Y:-286.33, Z:-5.94 [[-6.89423218e-01 -7.24339764e-01 5.24717110e-03 4.21172310e+02] [ 7.24318667e-01 -6.89443186e-01 -5.52828815e-03 -2.86332360e+02] [ 7.62198529e-03 -1.07062330e-05 9.99970952e-01 -5.93975629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.906559995 meters 0.04817372470525992 Centerline is valid? [True, True] Translation: X:421.13, Y:-286.29, Z:-5.94 [[-6.87900493e-01 -7.25774585e-01 6.64561659e-03 4.21131491e+02] [ 7.25740821e-01 -6.87932593e-01 -7.00064226e-03 -2.86290423e+02] [ 9.65262448e-03 7.24997819e-06 9.99953412e-01 -5.94250703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.9665599950001 meters 0.04755635606287521 Centerline is valid? [True, True] Translation: X:421.09, Y:-286.25, Z:-5.94 [[-6.85236342e-01 -7.28289867e-01 6.71009201e-03 4.21089321e+02] [ 7.28255576e-01 -6.85269193e-01 -7.06740666e-03 -2.86250664e+02] [ 9.74533999e-03 4.38180375e-05 9.99952512e-01 -5.94263107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.026559995 meters 0.047745617867246494 Centerline is valid? [True, True] Translation: X:421.05, Y:-286.21, Z:-5.94 [[-6.83894568e-01 -7.29557769e-01 5.80360512e-03 4.21048307e+02] [ 7.29532178e-01 -6.83919191e-01 -6.11082748e-03 -2.86210102e+02] [ 8.42739857e-03 5.47549600e-05 9.99964487e-01 -5.94204444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.086559995 meters 0.04805195897803351 Centerline is valid? [True, True] Translation: X:421.01, Y:-286.17, Z:-5.94 [[-6.82943686e-01 -7.30453316e-01 5.08662860e-03 4.21008383e+02] [ 7.30433694e-01 -6.82962626e-01 -5.35437748e-03 -2.86168752e+02] [ 7.38510002e-03 5.87066196e-05 9.99972728e-01 -5.94114491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.146559995 meters 0.04782906121050574 Centerline is valid? [True, True] Translation: X:420.97, Y:-286.13, Z:-5.94 [[-6.82493503e-01 -7.30877510e-01 4.54800546e-03 4.20967755e+02] [ 7.30861843e-01 -6.82508654e-01 -4.78588418e-03 -2.86129387e+02] [ 6.60194819e-03 5.76287906e-05 9.99978205e-01 -5.94196258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.2065599950001 meters 0.04794957071152038 Centerline is valid? [True, True] Translation: X:420.93, Y:-286.09, Z:-5.94 [[-6.82553377e-01 -7.30825100e-01 3.94465085e-03 4.20929759e+02] [ 7.30813322e-01 -6.82564774e-01 -4.14954374e-03 -2.86089529e+02] [ 5.72507044e-03 5.05182996e-05 9.99983610e-01 -5.94052439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.266559995 meters 0.048243216557601436 Centerline is valid? [True, True] Translation: X:420.89, Y:-286.05, Z:-5.94 [[-6.82372718e-01 -7.30996736e-01 3.35337034e-03 4.20890827e+02] [ 7.30988232e-01 -6.82380956e-01 -3.52634756e-03 -2.86050417e+02] [ 4.86602462e-03 4.49908839e-05 9.99988160e-01 -5.93991603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.326559995 meters 0.04726133341819629 Centerline is valid? [True, True] Translation: X:420.85, Y:-286.01, Z:-5.94 [[-6.81020131e-01 -7.32250822e-01 4.50719062e-03 4.20853939e+02] [ 7.32235494e-01 -6.81035042e-01 -4.73846167e-03 -2.86009084e+02] [ 6.53929720e-03 7.33371634e-05 9.99978616e-01 -5.93940860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.386559995 meters 0.04761868123883058 Centerline is valid? [True, True] Translation: X:420.81, Y:-285.97, Z:-5.94 [[-6.79604720e-01 -7.33556580e-01 5.67179834e-03 4.20812445e+02] [ 7.33532365e-01 -6.79628378e-01 -5.96124967e-03 -2.85969045e+02] [ 8.22762903e-03 1.09154244e-04 9.99966147e-01 -5.94163594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.4465599950001 meters 0.047655861575155244 Centerline is valid? [True, True] Translation: X:420.77, Y:-285.93, Z:-5.94 [[-6.78899863e-01 -7.34201430e-01 6.57536739e-03 4.20771848e+02] [ 7.34168927e-01 -6.78931691e-01 -6.90978313e-03 -2.85927876e+02] [ 9.53739796e-03 1.36379597e-04 9.99954509e-01 -5.94334220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.506559995 meters 0.047458690085294006 Centerline is valid? [True, True] Translation: X:420.73, Y:-285.89, Z:-5.94 [[-6.80183731e-01 -7.33011901e-01 6.60644679e-03 4.20733930e+02] [ 7.32979051e-01 -6.80215803e-01 -6.94067848e-03 -2.85887017e+02] [ 9.58140944e-03 1.21450514e-04 9.99954090e-01 -5.94343251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.566559995 meters 0.04755315297381822 Centerline is valid? [True, True] Translation: X:420.70, Y:-285.84, Z:-5.94 [[-6.82014014e-01 -7.31314618e-01 5.98452835e-03 4.20696558e+02] [ 7.31287610e-01 -6.82040264e-01 -6.28574718e-03 -2.85842361e+02] [ 8.67854810e-03 8.94437703e-05 9.99962337e-01 -5.94178003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.626559995 meters 0.047559618423689214 Centerline is valid? [True, True] Translation: X:420.66, Y:-285.80, Z:-5.94 [[-6.83623552e-01 -7.29815620e-01 5.29147396e-03 4.20656917e+02] [ 7.29794471e-01 -6.83644028e-01 -5.55634794e-03 -2.85801101e+02] [ 7.67259409e-03 6.32381284e-05 9.99970563e-01 -5.94396364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.6865599950002 meters 0.04688953440394534 Centerline is valid? [True, True] Translation: X:420.62, Y:-285.76, Z:-5.94 [[-6.84271810e-01 -7.29209061e-01 5.12199983e-03 4.20620502e+02] [ 7.29189240e-01 -6.84290977e-01 -5.37689904e-03 -2.85757429e+02] [ 7.42582177e-03 5.56467278e-05 9.99972427e-01 -5.94283173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.746559995 meters 0.04716514726719094 Centerline is valid? [True, True] Translation: X:420.58, Y:-285.72, Z:-5.94 [[-6.83573654e-01 -7.29861065e-01 5.46672853e-03 4.20581645e+02] [ 7.29838520e-01 -6.83595510e-01 -5.73700327e-03 -2.85716093e+02] [ 7.92424639e-03 6.81647652e-05 9.99968600e-01 -5.94371053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.806559995 meters 0.04702116645306141 Centerline is valid? [True, True] Translation: X:420.54, Y:-285.67, Z:-5.94 [[-6.82322169e-01 -7.31021921e-01 6.58849890e-03 4.20541869e+02] [ 7.30989246e-01 -6.82353970e-01 -6.91239149e-03 -2.85673485e+02] [ 9.54879809e-03 9.96438847e-05 9.99954404e-01 -5.94328772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.866559995 meters 0.04785372869840203 Centerline is valid? [True, True] Translation: X:420.50, Y:-285.63, Z:-5.94 [[-6.80489021e-01 -7.32712898e-01 8.15484862e-03 4.20502423e+02] [ 7.32662987e-01 -6.80537865e-01 -8.55345992e-03 -2.85631015e+02] [ 1.18169137e-02 1.54220173e-04 9.99930166e-01 -5.94347114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.926559995 meters 0.046990169638677956 Centerline is valid? [True, True] Translation: X:420.46, Y:-285.59, Z:-5.95 [[-6.80399454e-01 -7.32788949e-01 8.77150546e-03 4.20462593e+02] [ 7.32731243e-01 -6.80455970e-01 -9.19774403e-03 -2.85590204e+02] [ 1.27086284e-02 1.69016090e-04 9.99919228e-01 -5.94516789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.986559995 meters 0.047474151156693775 Centerline is valid? [True, True] Translation: X:420.43, Y:-285.55, Z:-5.94 [[-6.81743788e-01 -7.31536172e-01 8.95747754e-03 4.20425217e+02] [ 7.31475919e-01 -6.81802616e-01 -9.39002654e-03 -2.85547047e+02] [ 1.29763757e-02 1.50586853e-04 9.99915792e-01 -5.94421052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.046559995 meters 0.04767792222571505 Centerline is valid? [True, True] Translation: X:420.39, Y:-285.50, Z:-5.94 [[-6.84999741e-01 -7.28497605e-01 8.16053334e-03 4.20387240e+02] [ 7.28447406e-01 -6.85048343e-01 -8.55244697e-03 -2.85503097e+02] [ 1.18207970e-02 8.60953847e-05 9.99930128e-01 -5.94469497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.106559995 meters 0.047344083695778055 Centerline is valid? [True, True] Translation: X:420.35, Y:-285.46, Z:-5.94 [[-6.87388354e-01 -7.26247397e-01 7.87210063e-03 4.20349879e+02] [ 7.26200560e-01 -6.87433427e-01 -8.24797599e-03 -2.85459097e+02] [ 1.14016162e-02 4.71612475e-05 9.99934998e-01 -5.94425133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.166559995 meters 0.04712429355358822 Centerline is valid? [True, True] Translation: X:420.31, Y:-285.42, Z:-5.94 [[-6.89244469e-01 -7.24488746e-01 7.62358310e-03 4.20311953e+02] [ 7.24444738e-01 -6.89286629e-01 -7.98533170e-03 -2.85415599e+02] [ 1.10401168e-02 1.90189444e-05 9.99939056e-01 -5.94340303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.2265599950001 meters 0.046920532498991446 Centerline is valid? [True, True] Translation: X:420.27, Y:-285.37, Z:-5.94 [[-6.89283473e-01 -7.24456711e-01 7.12513240e-03 4.20272419e+02] [ 7.24418291e-01 -6.89320298e-01 -7.46098958e-03 -2.85374214e+02] [ 1.03166624e-02 1.88394269e-05 9.99946782e-01 -5.94160324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.286559995 meters 0.04796254901844271 Centerline is valid? [True, True] Translation: X:420.23, Y:-285.34, Z:-5.94 [[-6.86991737e-01 -7.26632795e-01 6.86546498e-03 4.20230816e+02] [ 7.26597255e-01 -6.87026039e-01 -7.18685975e-03 -2.85336453e+02] [ 9.93896120e-03 5.11147484e-05 9.99950606e-01 -5.94251031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.346559995 meters 0.04806574144459531 Centerline is valid? [True, True] Translation: X:420.19, Y:-285.30, Z:-5.94 [[-6.84120275e-01 -7.29328698e-01 7.68765530e-03 4.20188031e+02] [ 7.29284328e-01 -6.84163460e-01 -8.04543888e-03 -2.85297433e+02] [ 1.11273823e-02 1.02438669e-04 9.99938084e-01 -5.94185191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.406559995 meters 0.047680432532292 Centerline is valid? [True, True] Translation: X:420.15, Y:-285.26, Z:-5.94 [[-6.81469072e-01 -7.31792792e-01 8.90013638e-03 4.20145423e+02] [ 7.31733562e-01 -6.81527168e-01 -9.31195137e-03 -2.85259985e+02] [ 1.28801036e-02 1.66721636e-04 9.99917034e-01 -5.94328291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.4665599950001 meters 0.0482051492504729 Centerline is valid? [True, True] Translation: X:420.10, Y:-285.22, Z:-5.94 [[-6.81530108e-01 -7.31732143e-01 9.20780473e-03 4.20104568e+02] [ 7.31668777e-01 -6.81592284e-01 -9.63116345e-03 -2.85219607e+02] [ 1.33234005e-02 1.73135363e-04 9.99911225e-01 -5.94306173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.526559995 meters 0.047750844223845686 Centerline is valid? [True, True] Translation: X:420.07, Y:-285.18, Z:-5.94 [[-6.83829366e-01 -7.29601826e-01 7.65334105e-03 4.20065567e+02] [ 7.29557938e-01 -6.83872184e-01 -8.00323973e-03 -2.85177064e+02] [ 1.10730854e-02 1.10705357e-04 9.99938685e-01 -5.93944436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.586559995 meters 0.0472141742403475 Centerline is valid? [True, True] Translation: X:420.02, Y:-285.14, Z:-5.94 [[-6.85756036e-01 -7.27800597e-01 6.70446789e-03 4.20024707e+02] [ 7.27766847e-01 -6.85788806e-01 -7.00932477e-03 -2.85135294e+02] [ 9.69923978e-03 7.26026816e-05 9.99952959e-01 -5.93913136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.646559995 meters 0.04780379134808316 Centerline is valid? [True, True] Translation: X:419.99, Y:-285.09, Z:-5.94 [[-6.87446921e-01 -7.26208702e-01 6.13613970e-03 4.19986230e+02] [ 7.26180383e-01 -6.87474304e-01 -6.41345285e-03 -2.85093394e+02] [ 8.87594364e-03 4.70358668e-05 9.99960607e-01 -5.93816507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.7065599950001 meters 0.04818689145201484 Centerline is valid? [True, True] Translation: X:419.95, Y:-285.05, Z:-5.94 [[-6.88224509e-01 -7.25472611e-01 6.04278960e-03 4.19948450e+02] [ 7.25445136e-01 -6.88251036e-01 -6.31394221e-03 -2.85052298e+02] [ 8.73954834e-03 3.83025404e-05 9.99961809e-01 -5.93663393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.766559995 meters 0.048055630569918815 Centerline is valid? [True, True] Translation: X:419.91, Y:-285.01, Z:-5.94 [[-6.88896499e-01 -7.24833180e-01 6.20276824e-03 4.19907995e+02] [ 7.24804217e-01 -6.88924423e-01 -6.47977414e-03 -2.85011511e+02] [ 8.96999383e-03 3.18988548e-05 9.99959768e-01 -5.93855840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.826559995 meters 0.04837479369383068 Centerline is valid? [True, True] Translation: X:419.87, Y:-284.97, Z:-5.94 [[-6.88009295e-01 -7.25663973e-01 7.41681280e-03 4.19867475e+02] [ 7.25622627e-01 -6.88049269e-01 -7.74638852e-03 -2.84971965e+02] [ 1.07244077e-02 5.22198864e-05 9.99942491e-01 -5.94154165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.886559995 meters 0.048123624220351546 Centerline is valid? [True, True] Translation: X:419.83, Y:-284.93, Z:-5.94 [[-6.86624445e-01 -7.26961425e-01 8.59986407e-03 4.19826749e+02] [ 7.26905969e-01 -6.86678293e-01 -8.97963858e-03 -2.84931176e+02] [ 1.24331908e-02 8.56531662e-05 9.99922701e-01 -5.94150872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.9465599950001 meters 0.04818630572963621 Centerline is valid? [True, True] Translation: X:419.79, Y:-284.89, Z:-5.94 [[-6.84369506e-01 -7.29073183e-01 9.52225587e-03 4.19786985e+02] [ 7.29005439e-01 -6.84435734e-01 -9.93964346e-03 -2.84892087e+02] [ 1.37640997e-02 1.39387441e-04 9.99905261e-01 -5.94157202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.006559995 meters 0.0481429349853467 Centerline is valid? [True, True] Translation: X:419.75, Y:-284.85, Z:-5.94 [[-6.82833255e-01 -7.30504429e-01 1.01007720e-02 4.19747074e+02] [ 7.30428392e-01 -6.82907935e-01 -1.05411849e-02 -2.84852306e+02] [ 1.45982796e-02 1.80019029e-04 9.99893423e-01 -5.94082421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.066559995 meters 0.048635664592847336 Centerline is valid? [True, True] Translation: X:419.71, Y:-284.81, Z:-5.94 [[-6.81936096e-01 -7.31343689e-01 9.97844634e-03 4.19705918e+02] [ 7.31269597e-01 -6.82009069e-01 -1.04118979e-02 -2.84811732e+02] [ 1.44200667e-02 1.96685450e-04 9.99896006e-01 -5.94016146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.126559995 meters 0.04927664083568754 Centerline is valid? [True, True] Translation: X:419.67, Y:-284.77, Z:-5.94 [[-6.83525668e-01 -7.29866017e-01 9.39459463e-03 4.19666181e+02] [ 7.29800235e-01 -6.83590208e-01 -9.80023643e-03 -2.84769800e+02] [ 1.35749124e-02 1.57464221e-04 9.99907844e-01 -5.93950098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.1865599950002 meters 0.048191108593034535 Centerline is valid? [True, True] Translation: X:419.63, Y:-284.73, Z:-5.94 [[-6.87637763e-01 -7.26013812e-01 7.63231810e-03 4.19630154e+02] [ 7.25970183e-01 -6.87680115e-01 -7.95946089e-03 -2.84725180e+02] [ 1.10272719e-02 6.76094888e-05 9.99939196e-01 -5.93570403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.246559995 meters 0.04848964193698346 Centerline is valid? [True, True] Translation: X:419.59, Y:-284.68, Z:-5.94 [[-6.90526222e-01 -7.23275947e-01 6.74105363e-03 4.19591876e+02] [ 7.23241793e-01 -6.90559124e-01 -7.02880723e-03 -2.84681573e+02] [ 9.73886330e-03 2.18360196e-05 9.99952576e-01 -5.93502902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.306559995 meters 0.04937520345461858 Centerline is valid? [True, True] Translation: X:419.55, Y:-284.64, Z:-5.94 [[-6.93094039e-01 -7.20816555e-01 6.64438375e-03 4.19554506e+02] [ 7.20783276e-01 -6.93125887e-01 -6.92636816e-03 -2.84639779e+02] [ 9.59803521e-03 -1.14638008e-05 9.99953938e-01 -5.93558120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.366559995 meters 0.04902800346411486 Centerline is valid? [True, True] Translation: X:419.52, Y:-284.60, Z:-5.94 [[-6.95142395e-01 -7.18832593e-01 7.53349413e-03 4.19515984e+02] [ 7.18789721e-01 -6.95183214e-01 -7.85079750e-03 -2.84598335e+02] [ 1.08805678e-02 -4.24240338e-05 9.99940804e-01 -5.93514138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.426559995 meters 0.049065342968000615 Centerline is valid? [True, True] Translation: X:419.47, Y:-284.56, Z:-5.93 [[-6.95038990e-01 -7.18923206e-01 8.38008142e-03 4.19473986e+02] [ 7.18870186e-01 -6.95089506e-01 -8.73118940e-03 -2.84556952e+02] [ 1.21019613e-02 -4.43263741e-05 9.99926768e-01 -5.93192315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.486559995 meters 0.049483710852523705 Centerline is valid? [True, True] Translation: X:419.43, Y:-284.52, Z:-5.93 [[-6.93960850e-01 -7.19957862e-01 8.88908123e-03 4.19433475e+02] [ 7.19898305e-01 -6.94017778e-01 -9.26035073e-03 -2.84515036e+02] [ 1.28362427e-02 -2.70863511e-05 9.99917612e-01 -5.93330032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.546559995 meters 0.04890113318718361 Centerline is valid? [True, True] Translation: X:419.39, Y:-284.48, Z:-5.94 [[-6.92425691e-01 -7.21443341e-01 8.13435207e-03 4.19393034e+02] [ 7.21393600e-01 -6.92473469e-01 -8.47162147e-03 -2.84475112e+02] [ 1.17446179e-02 2.10116611e-06 9.99931030e-01 -5.93599850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.606559995 meters 0.048463698751883555 Centerline is valid? [True, True] Translation: X:419.35, Y:-284.44, Z:-5.93 [[-6.89067837e-01 -7.24667223e-01 6.55228374e-03 4.19349432e+02] [ 7.24635113e-01 -6.89098987e-01 -6.82189627e-03 -2.84437742e+02] [ 9.45877671e-03 4.72655596e-05 9.99955264e-01 -5.93364947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.666559995 meters 0.049316085127472375 Centerline is valid? [True, True] Translation: X:419.31, Y:-284.40, Z:-5.93 [[-6.86322366e-01 -7.27273634e-01 5.88829664e-03 4.19307792e+02] [ 7.27247814e-01 -6.86347620e-01 -6.12864485e-03 -2.84399664e+02] [ 8.49862019e-03 7.60248265e-05 9.99963883e-01 -5.93329750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.7265599950001 meters 0.048926801668499956 Centerline is valid? [True, True] Translation: X:419.27, Y:-284.36, Z:-5.93 [[-6.82052691e-01 -7.31275644e-01 6.32921708e-03 4.19269970e+02] [ 7.31246002e-01 -6.82082044e-01 -6.58565798e-03 -2.84355999e+02] [ 9.13297660e-03 1.36448940e-04 9.99958284e-01 -5.92836765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.786559995 meters 0.04901509431465459 Centerline is valid? [True, True] Translation: X:419.22, Y:-284.32, Z:-5.93 [[-6.79631361e-01 -7.33523426e-01 6.67810904e-03 4.19222927e+02] [ 7.33490551e-01 -6.79664147e-01 -6.94685305e-03 -2.84322297e+02] [ 9.63455073e-03 1.77030693e-04 9.99953571e-01 -5.93299814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.846559995 meters 0.049388491935821344 Centerline is valid? [True, True] Translation: X:419.18, Y:-284.28, Z:-5.93 [[-6.78201605e-01 -7.34846282e-01 6.59735260e-03 4.19181982e+02] [ 7.34814277e-01 -6.78233665e-01 -6.86103463e-03 -2.84281374e+02] [ 9.51635243e-03 1.94664180e-04 9.99954700e-01 -5.93229137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.906559995 meters 0.04958051329728925 Centerline is valid? [True, True] Translation: X:419.14, Y:-284.24, Z:-5.93 [[-6.76700760e-01 -7.36223890e-01 7.10388407e-03 4.19139888e+02] [ 7.36186879e-01 -6.76738007e-01 -7.38572708e-03 -2.84242997e+02] [ 1.02450171e-02 2.31859120e-04 9.99947492e-01 -5.93322891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.9665599950001 meters 0.048744149145732336 Centerline is valid? [True, True] Translation: X:419.10, Y:-284.20, Z:-5.93 [[-6.76163259e-01 -7.36714086e-01 7.45674730e-03 4.19098971e+02] [ 7.36673358e-01 -6.76204327e-01 -7.75058313e-03 -2.84201323e+02] [ 1.07522486e-02 2.52527532e-04 9.99942161e-01 -5.93300744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.026559995 meters 0.0495040552575415 Centerline is valid? [True, True] Translation: X:419.06, Y:-284.16, Z:-5.93 [[-6.76112376e-01 -7.36756510e-01 7.86766578e-03 4.19058469e+02] [ 7.36711196e-01 -6.76158098e-01 -8.17555882e-03 -2.84159542e+02] [ 1.13431821e-02 2.68600969e-04 9.99935628e-01 -5.93255256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.086559995 meters 0.04935400441655826 Centerline is valid? [True, True] Translation: X:419.02, Y:-284.12, Z:-5.93 [[-6.77313851e-01 -7.35648100e-01 8.23528080e-03 4.19015759e+02] [ 7.35598398e-01 -6.77363863e-01 -8.55533823e-03 -2.84120788e+02] [ 1.18719999e-02 2.63210281e-04 9.99929491e-01 -5.93437052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.146559995 meters 0.0493214387460044 Centerline is valid? [True, True] Translation: X:418.98, Y:-284.08, Z:-5.93 [[-6.79152881e-01 -7.33956680e-01 7.67831212e-03 4.18978403e+02] [ 7.33913391e-01 -6.79196248e-01 -7.97439706e-03 -2.84077620e+02] [ 1.10679428e-02 2.19381349e-04 9.99938724e-01 -5.93283082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.2065599950001 meters 0.04938522021195481 Centerline is valid? [True, True] Translation: X:418.94, Y:-284.04, Z:-5.93 [[-6.80784328e-01 -7.32444264e-01 7.62227429e-03 4.18937988e+02] [ 7.32401530e-01 -6.80826970e-01 -7.91433261e-03 -2.84037691e+02] [ 1.09862574e-02 1.94611749e-04 9.99939630e-01 -5.93368792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.266559995 meters 0.04897396518503038 Centerline is valid? [True, True] Translation: X:418.90, Y:-283.99, Z:-5.93 [[-6.83261724e-01 -7.30119445e-01 8.88883075e-03 4.18900429e+02] [ 7.30061161e-01 -6.83319516e-01 -9.22716711e-03 -2.83993159e+02] [ 1.28108457e-02 1.84819981e-04 9.99917921e-01 -5.93299789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.326559995 meters 0.04898740337892261 Centerline is valid? [True, True] Translation: X:418.86, Y:-283.95, Z:-5.93 [[-6.84594664e-01 -7.28865177e-01 9.25740955e-03 4.18864367e+02] [ 7.28801881e-01 -6.84657232e-01 -9.60696023e-03 -2.83949167e+02] [ 1.33403312e-02 1.69943776e-04 9.99910999e-01 -5.92964772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.386559995 meters 0.04937252430228246 Centerline is valid? [True, True] Translation: X:418.82, Y:-283.91, Z:-5.93 [[-6.86217416e-01 -7.27330171e-01 9.82241342e-03 4.18823779e+02] [ 7.27258782e-01 -6.86287695e-01 -1.01913509e-02 -2.83906992e+02] [ 1.41534784e-02 1.49953943e-04 9.99899823e-01 -5.93026260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.4465599950001 meters 0.0494580963118715 Centerline is valid? [True, True] Translation: X:418.78, Y:-283.87, Z:-5.93 [[-6.86909686e-01 -7.26670075e-01 1.02803590e-02 4.18782383e+02] [ 7.26591842e-01 -6.86986595e-01 -1.06636598e-02 -2.83866927e+02] [ 1.48114313e-02 1.44653819e-04 9.99890294e-01 -5.93431426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.506559995 meters 0.04914601797959538 Centerline is valid? [True, True] Translation: X:418.74, Y:-283.83, Z:-5.94 [[-6.87200411e-01 -7.26387535e-01 1.08048466e-02 4.18743436e+02] [ 7.26301127e-01 -6.87285332e-01 -1.12047021e-02 -2.83825204e+02] [ 1.55649685e-02 1.47696383e-04 9.99878848e-01 -5.93534276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.566559995 meters 0.04890556961182584 Centerline is valid? [True, True] Translation: X:418.71, Y:-283.78, Z:-5.93 [[-6.87356571e-01 -7.26234923e-01 1.11256723e-02 4.18705308e+02] [ 7.26143341e-01 -6.87446589e-01 -1.15341065e-02 -2.83782935e+02] [ 1.60247764e-02 1.50788929e-04 9.99871584e-01 -5.93429273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.626559995 meters 0.05005146251319906 Centerline is valid? [True, True] Translation: X:418.67, Y:-283.74, Z:-5.94 [[-6.87458704e-01 -7.26141231e-01 1.09290371e-02 4.18665821e+02] [ 7.26052897e-01 -6.87545556e-01 -1.13269101e-02 -2.83742850e+02] [ 1.57391474e-02 1.48276136e-04 9.99876121e-01 -5.93796089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.6865599950002 meters 0.04966099045331934 Centerline is valid? [True, True] Translation: X:418.63, Y:-283.70, Z:-5.93 [[-6.88067538e-01 -7.25587445e-01 9.26940018e-03 4.18630599e+02] [ 7.25523892e-01 -6.88129963e-01 -9.60396780e-03 -2.83698899e+02] [ 1.33470705e-02 1.16992815e-04 9.99910917e-01 -5.93306442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.746559995 meters 0.049434217515567966 Centerline is valid? [True, True] Translation: X:418.59, Y:-283.65, Z:-5.93 [[-6.88823135e-01 -7.24883625e-01 8.14981001e-03 4.18594478e+02] [ 7.24834472e-01 -6.88871339e-01 -8.44188582e-03 -2.83653628e+02] [ 1.17335553e-02 9.22969799e-05 9.99931155e-01 -5.92974255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.806559995 meters 0.04895778929378323 Centerline is valid? [True, True] Translation: X:418.56, Y:-283.61, Z:-5.93 [[-6.89215997e-01 -7.24518437e-01 7.37180126e-03 4.18555682e+02] [ 7.24478223e-01 -6.89255416e-01 -7.63390387e-03 -2.83611282e+02] [ 1.06119580e-02 7.93008059e-05 9.99943688e-01 -5.93054990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.866559995 meters 0.04930948748976299 Centerline is valid? [True, True] Translation: X:418.52, Y:-283.57, Z:-5.93 [[-6.89250503e-01 -7.24492117e-01 6.70192141e-03 4.18517752e+02] [ 7.24458900e-01 -6.89283082e-01 -6.93794916e-03 -2.83569173e+02] [ 9.64601052e-03 7.32816603e-05 9.99953474e-01 -5.92960601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.926559995 meters 0.048895084588516505 Centerline is valid? [True, True] Translation: X:418.48, Y:-283.53, Z:-5.93 [[-6.88163518e-01 -7.25527380e-01 6.40261037e-03 4.18478845e+02] [ 7.25497125e-01 -6.88193296e-01 -6.62632517e-03 -2.83526248e+02] [ 9.21381388e-03 8.50801800e-05 9.99957548e-01 -5.92846233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.986559995 meters 0.04871624001904203 Centerline is valid? [True, True] Translation: X:418.44, Y:-283.49, Z:-5.93 [[-6.87621815e-01 -7.26041219e-01 6.35523185e-03 4.18439427e+02] [ 7.26011450e-01 -6.87651176e-01 -6.57532265e-03 -2.83485433e+02] [ 9.14413792e-03 9.26357948e-05 9.99958187e-01 -5.92900290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.046559995 meters 0.04898743257674775 Centerline is valid? [True, True] Translation: X:418.40, Y:-283.44, Z:-5.93 [[-6.87577778e-01 -7.26084353e-01 6.18959939e-03 4.18401990e+02] [ 7.26056136e-01 -6.87605631e-01 -6.40193822e-03 -2.83442868e+02] [ 8.90435057e-03 9.21661608e-05 9.99960351e-01 -5.92780971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.106559995 meters 0.04860598624763587 Centerline is valid? [True, True] Translation: X:418.36, Y:-283.40, Z:-5.93 [[-6.87242170e-01 -7.26405333e-01 5.78723796e-03 4.18363728e+02] [ 7.26380691e-01 -6.87266530e-01 -5.98398514e-03 -2.83400941e+02] [ 8.32417367e-03 9.12909771e-05 9.99965349e-01 -5.92662342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.166559995 meters 0.04865661405268464 Centerline is valid? [True, True] Translation: X:418.32, Y:-283.36, Z:-5.93 [[-6.85883086e-01 -7.27687669e-01 5.92021700e-03 4.18324298e+02] [ 7.27661944e-01 -6.85908627e-01 -6.11976713e-03 -2.83360081e+02] [ 8.51400699e-03 1.10471851e-04 9.99963749e-01 -5.92633798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.2265599950001 meters 0.04872927511299311 Centerline is valid? [True, True] Translation: X:418.28, Y:-283.32, Z:-5.93 [[-6.83068629e-01 -7.30331968e-01 5.69772309e-03 4.18283350e+02] [ 7.30308244e-01 -6.83092378e-01 -5.88825313e-03 -2.83320551e+02] [ 8.19245071e-03 1.39013147e-04 9.99966432e-01 -5.92649104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.286559995 meters 0.049060663300869625 Centerline is valid? [True, True] Translation: X:418.24, Y:-283.28, Z:-5.93 [[-6.81489050e-01 -7.31805993e-01 5.71519819e-03 4.18242268e+02] [ 7.31782189e-01 -6.81512996e-01 -5.90455349e-03 -2.83281782e+02] [ 8.21596947e-03 1.58391698e-04 9.99966236e-01 -5.92759015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.346559995 meters 0.04869017527743164 Centerline is valid? [True, True] Translation: X:418.21, Y:-283.24, Z:-5.92 [[-6.80034993e-01 -7.33157124e-01 5.74798029e-03 4.18207176e+02] [ 7.33133109e-01 -6.80059262e-01 -5.93679679e-03 -2.83235848e+02] [ 8.26157210e-03 1.76805099e-04 9.99965857e-01 -5.92466673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.406559995 meters 0.04849072974455547 Centerline is valid? [True, True] Translation: X:418.17, Y:-283.19, Z:-5.92 [[-6.77035884e-01 -7.35916472e-01 7.02556234e-03 4.18169660e+02] [ 7.35880754e-01 -6.77072286e-01 -7.25505185e-03 -2.83192201e+02] [ 1.00959257e-02 2.58045673e-04 9.99949002e-01 -5.92401645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.4665599950001 meters 0.04880108446133724 Centerline is valid? [True, True] Translation: X:418.13, Y:-283.15, Z:-5.93 [[-6.75457461e-01 -7.37364032e-01 7.17659168e-03 4.18127147e+02] [ 7.37326858e-01 -6.75495524e-01 -7.40960425e-03 -2.83154281e+02] [ 1.03113312e-02 2.86621325e-04 9.99946796e-01 -5.92515981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.526559995 meters 0.04796831540873635 Centerline is valid? [True, True] Translation: X:418.10, Y:-283.10, Z:-5.92 [[-6.74783249e-01 -7.37981593e-01 7.12282269e-03 4.18095141e+02] [ 7.37945026e-01 -6.74820777e-01 -7.35238235e-03 -2.83103322e+02] [ 1.02325516e-02 2.94987127e-04 9.99947603e-01 -5.92018527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.586559995 meters 0.05067503762160633 Centerline is valid? [True, True] Translation: X:418.04, Y:-283.07, Z:-5.92 [[-6.75412736e-01 -7.37412237e-01 6.38972541e-03 4.18044960e+02] [ 7.37382789e-01 -6.75442911e-01 -6.59512355e-03 -2.83071467e+02] [ 9.17921954e-03 2.57243101e-04 9.99957837e-01 -5.92408534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.646559995 meters 0.04841678531517629 Centerline is valid? [True, True] Translation: X:418.01, Y:-283.02, Z:-5.92 [[-6.76879973e-01 -7.36067544e-01 6.17035005e-03 4.18012258e+02] [ 7.36040037e-01 -6.76908057e-01 -6.36756882e-03 -2.83022778e+02] [ 8.86372040e-03 2.31544865e-04 9.99960690e-01 -5.92059630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.7065599950001 meters 0.04872977827507925 Centerline is valid? [True, True] Translation: X:417.97, Y:-282.98, Z:-5.92 [[-6.78800496e-01 -7.34292303e-01 6.68589325e-03 4.17972374e+02] [ 7.34259941e-01 -6.78833383e-01 -6.89761510e-03 -2.82983041e+02] [ 9.60347321e-03 2.27079033e-04 9.99953860e-01 -5.92328643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.766559995 meters 0.048499547172728454 Centerline is valid? [True, True] Translation: X:417.94, Y:-282.94, Z:-5.92 [[-6.79882978e-01 -7.33279019e-01 7.81131693e-03 4.17937165e+02] [ 7.33234804e-01 -6.79927804e-01 -8.05635577e-03 -2.82938110e+02] [ 1.12186882e-02 2.50150284e-04 9.99937037e-01 -5.92210199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.826559995 meters 0.0485451054579226 Centerline is valid? [True, True] Translation: X:417.90, Y:-282.90, Z:-5.92 [[-6.79823723e-01 -7.33316707e-01 9.29049986e-03 4.17896238e+02] [ 7.33254196e-01 -6.79887136e-01 -9.57951223e-03 -2.82897102e+02] [ 1.33413077e-02 2.99918331e-04 9.99910956e-01 -5.92315304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.886559995 meters 0.049173087059118416 Centerline is valid? [True, True] Translation: X:417.85, Y:-282.86, Z:-5.93 [[-6.77595678e-01 -7.35352861e-01 1.09666336e-02 4.17851362e+02] [ 7.35266076e-01 -6.77684297e-01 -1.13044766e-02 -2.82861601e+02] [ 1.57446946e-02 4.03529193e-04 9.99875963e-01 -5.92652248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.9465599950001 meters 0.05010467434770215 Centerline is valid? [True, True] Translation: X:417.81, Y:-282.83, Z:-5.93 [[-6.74862211e-01 -7.37850906e-01 1.17062963e-02 4.17807609e+02] [ 7.37752453e-01 -6.74963552e-01 -1.20632713e-02 -2.82826091e+02] [ 1.68022190e-02 4.95302860e-04 9.99858710e-01 -5.92734962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.006559995 meters 0.048922727408087875 Centerline is valid? [True, True] Translation: X:417.77, Y:-282.78, Z:-5.92 [[-6.74674031e-01 -7.38020251e-01 1.18769256e-02 4.17772370e+02] [ 7.37918985e-01 -6.74778371e-01 -1.22360494e-02 -2.82779164e+02] [ 1.70447447e-02 5.08864112e-04 9.99854598e-01 -5.92232196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.066559995 meters 0.049455602917820966 Centerline is valid? [True, True] Translation: X:417.73, Y:-282.74, Z:-5.92 [[-6.76509290e-01 -7.36357861e-01 1.05962663e-02 4.17729934e+02] [ 7.36277100e-01 -6.76592141e-01 -1.09135688e-02 -2.82741223e+02] [ 1.52056427e-02 4.18657514e-04 9.99884300e-01 -5.92364015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.126559995 meters 0.04859436447026898 Centerline is valid? [True, True] Translation: X:417.69, Y:-282.69, Z:-5.92 [[-6.78628595e-01 -7.34422289e-01 9.33448356e-03 4.17694954e+02] [ 7.34359455e-01 -6.78692708e-01 -9.61242696e-03 -2.82693907e+02] [ 1.33948265e-02 3.31598459e-04 9.99910230e-01 -5.91870325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.1865599950002 meters 0.048622711565874256 Centerline is valid? [True, True] Translation: X:417.65, Y:-282.65, Z:-5.92 [[-6.81059510e-01 -7.32178340e-01 8.53360317e-03 4.17653968e+02] [ 7.32125681e-01 -6.81112919e-01 -8.78514415e-03 -2.82654907e+02] [ 1.22446396e-02 2.64464072e-04 9.99924997e-01 -5.91953688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.246559995 meters 0.04889062292629911 Centerline is valid? [True, True] Translation: X:417.62, Y:-282.61, Z:-5.92 [[-6.84760793e-01 -7.28721480e-01 8.22560950e-03 4.17616938e+02] [ 7.28672334e-01 -6.84810167e-01 -8.46546293e-03 -2.82612236e+02] [ 1.18019457e-02 1.96956967e-04 9.99930335e-01 -5.91894598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.306559995 meters 0.04864116138439334 Centerline is valid? [True, True] Translation: X:417.58, Y:-282.57, Z:-5.92 [[-6.86584678e-01 -7.26999978e-01 8.51539173e-03 4.17579980e+02] [ 7.26947202e-01 -6.86637460e-01 -8.76147725e-03 -2.82567338e+02] [ 1.22165807e-02 1.74744159e-04 9.99925360e-01 -5.91638752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.366559995 meters 0.04881712344961089 Centerline is valid? [True, True] Translation: X:417.54, Y:-282.53, Z:-5.92 [[-6.88375026e-01 -7.25304712e-01 8.53807789e-03 4.17540725e+02] [ 7.25251551e-01 -6.88427958e-01 -8.78260269e-03 -2.82525472e+02] [ 1.22479146e-02 1.46529885e-04 9.99924981e-01 -5.91762880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.426559995 meters 0.04843674113782977 Centerline is valid? [True, True] Translation: X:417.50, Y:-282.48, Z:-5.92 [[-6.89421482e-01 -7.24305924e-01 8.88528095e-03 4.17501619e+02] [ 7.24248300e-01 -6.89478723e-01 -9.13730806e-03 -2.82482393e+02] [ 1.27444185e-02 1.35693157e-04 9.99918777e-01 -5.91698194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.486559995 meters 0.04907856539766182 Centerline is valid? [True, True] Translation: X:417.46, Y:-282.44, Z:-5.92 [[-6.89950044e-01 -7.23799723e-01 9.10476433e-03 4.17461001e+02] [ 7.23739207e-01 -6.90010104e-01 -9.36038912e-03 -2.82441864e+02] [ 1.30574264e-02 1.31274022e-04 9.99914740e-01 -5.91881633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.546559995 meters 0.04909208808564363 Centerline is valid? [True, True] Translation: X:417.42, Y:-282.40, Z:-5.92 [[-6.89828134e-01 -7.23920281e-01 8.75058074e-03 4.17420586e+02] [ 7.23864419e-01 -6.89883620e-01 -8.99405233e-03 -2.82400507e+02] [ 1.25478592e-02 1.29883710e-04 9.99921264e-01 -5.91898488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.606559995 meters 0.04838813030028932 Centerline is valid? [True, True] Translation: X:417.38, Y:-282.36, Z:-5.92 [[-6.90012702e-01 -7.23765161e-01 6.81637060e-03 4.17380123e+02] [ 7.23731275e-01 -6.90046362e-01 -7.00427502e-03 -2.82360857e+02] [ 9.77306197e-03 1.00181860e-04 9.99952238e-01 -5.91878230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.666559995 meters 0.04844764964318383 Centerline is valid? [True, True] Translation: X:417.34, Y:-282.32, Z:-5.92 [[-6.90079601e-01 -7.23711634e-01 5.62271084e-03 4.17341163e+02] [ 7.23688583e-01 -6.90102502e-01 -5.77675622e-03 -2.82317208e+02] [ 8.06095250e-03 8.26700182e-05 9.99967507e-01 -5.91572537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.7265599950001 meters 0.04845167479752464 Centerline is valid? [True, True] Translation: X:417.30, Y:-282.28, Z:-5.92 [[-6.89766738e-01 -7.24015479e-01 4.84080991e-03 4.17298428e+02] [ 7.23998408e-01 -6.89783721e-01 -4.97229012e-03 -2.82279987e+02] [ 6.93912688e-03 7.50183269e-05 9.99975921e-01 -5.91796545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.786559995 meters 0.04817667712857842 Centerline is valid? [True, True] Translation: X:417.26, Y:-282.24, Z:-5.92 [[-6.89466874e-01 -7.24304712e-01 4.25589087e-03 4.17258548e+02] [ 7.24291533e-01 -6.89480006e-01 -4.37001863e-03 -2.82241391e+02] [ 6.09957675e-03 6.95226393e-05 9.99981395e-01 -5.91781391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.846559995 meters 0.04775787674428471 Centerline is valid? [True, True] Translation: X:417.22, Y:-282.20, Z:-5.92 [[-6.88435616e-01 -7.25281917e-01 4.74803012e-03 4.17219161e+02] [ 7.25265545e-01 -6.88451983e-01 -4.87397193e-03 -2.82200371e+02] [ 6.80379446e-03 8.81667862e-05 9.99976850e-01 -5.91800139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.906559995 meters 0.048787042523210956 Centerline is valid? [True, True] Translation: X:417.18, Y:-282.16, Z:-5.92 [[-6.87181944e-01 -7.26463693e-01 5.61054138e-03 4.17176938e+02] [ 7.26440886e-01 -6.87204837e-01 -5.75764481e-03 -2.82163214e+02] [ 8.03831109e-03 1.19177095e-04 9.99967685e-01 -5.92057129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.9665599950001 meters 0.04799844206769024 Centerline is valid? [True, True] Translation: X:417.14, Y:-282.12, Z:-5.92 [[-6.85856432e-01 -7.27714040e-01 5.76467252e-03 4.17138784e+02] [ 7.27690019e-01 -6.85880643e-01 -5.91430615e-03 -2.82120065e+02] [ 8.25780091e-03 1.38529746e-04 9.99965894e-01 -5.91923222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.026559995 meters 0.04887618557833028 Centerline is valid? [True, True] Translation: X:417.10, Y:-282.08, Z:-5.92 [[-6.84382469e-01 -7.29097948e-01 6.06793273e-03 4.17097184e+02] [ 7.29071399e-01 -6.84409348e-01 -6.22406052e-03 -2.82081591e+02] [ 8.69089964e-03 1.64318305e-04 9.99962220e-01 -5.92088521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.086559995 meters 0.04908487457038877 Centerline is valid? [True, True] Translation: X:417.06, Y:-282.04, Z:-5.92 [[-6.84151256e-01 -7.29313403e-01 6.24658008e-03 4.17055337e+02] [ 7.29285294e-01 -6.84179750e-01 -6.40541755e-03 -2.82043582e+02] [ 8.94534047e-03 1.73264534e-04 9.99959975e-01 -5.92194840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.146559995 meters 0.049628635139485 Centerline is valid? [True, True] Translation: X:417.02, Y:-282.00, Z:-5.92 [[-6.84534170e-01 -7.28954774e-01 6.15695812e-03 4.17017123e+02] [ 7.28927468e-01 -6.84561838e-01 -6.31160259e-03 -2.82002605e+02] [ 8.81569141e-03 1.67468253e-04 9.99961127e-01 -5.92142626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.2065599950001 meters 0.048438305797200806 Centerline is valid? [True, True] Translation: X:416.98, Y:-281.96, Z:-5.92 [[-6.85117747e-01 -7.28403407e-01 6.49221716e-03 4.16976810e+02] [ 7.28373040e-01 -6.85148485e-01 -6.65336383e-03 -2.81963088e+02] [ 9.29446564e-03 1.70418314e-04 9.99956791e-01 -5.92253477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.266559995 meters 0.04800829376990468 Centerline is valid? [True, True] Translation: X:416.94, Y:-281.92, Z:-5.92 [[-6.85399854e-01 -7.28139698e-01 6.29448554e-03 4.16938854e+02] [ 7.28111160e-01 -6.85428737e-01 -6.44870239e-03 -2.81921999e+02] [ 9.00997749e-03 1.63145496e-04 9.99959396e-01 -5.92157181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.326559995 meters 0.04783045319630955 Centerline is valid? [True, True] Translation: X:416.90, Y:-281.88, Z:-5.92 [[-6.85613698e-01 -7.27939591e-01 6.14883180e-03 4.16900252e+02] [ 7.27912366e-01 -6.85641252e-01 -6.29765602e-03 -2.81879254e+02] [ 8.80020589e-03 1.58051470e-04 9.99961265e-01 -5.92067531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.386559995 meters 0.0478685198824193 Centerline is valid? [True, True] Translation: X:416.86, Y:-281.84, Z:-5.92 [[-6.85881659e-01 -7.27686144e-01 6.26303029e-03 4.16860891e+02] [ 7.27657903e-01 -6.85910235e-01 -6.41294416e-03 -2.81837244e+02] [ 8.96248719e-03 1.58822713e-04 9.99959824e-01 -5.92061556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.4465599950001 meters 0.0479420423775793 Centerline is valid? [True, True] Translation: X:416.82, Y:-281.80, Z:-5.92 [[-6.86114259e-01 -7.27468728e-01 6.03929089e-03 4.16820307e+02] [ 7.27442477e-01 -6.86140821e-01 -6.18193686e-03 -2.81797803e+02] [ 8.64096975e-03 1.51721695e-04 9.99962655e-01 -5.92098431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.506559995 meters 0.047607436170611875 Centerline is valid? [True, True] Translation: X:416.78, Y:-281.76, Z:-5.92 [[-6.86430788e-01 -7.27168545e-01 6.21932688e-03 4.16780415e+02] [ 7.27140709e-01 -6.86458945e-01 -6.36438581e-03 -2.81757116e+02] [ 8.89729374e-03 1.53615389e-04 9.99960407e-01 -5.92129156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.566559995 meters 0.048331607393420954 Centerline is valid? [True, True] Translation: X:416.74, Y:-281.72, Z:-5.92 [[-6.86361809e-01 -7.27229426e-01 6.69553731e-03 4.16738113e+02] [ 7.27197185e-01 -6.86394445e-01 -6.84984442e-03 -2.81718401e+02] [ 9.57718804e-03 1.67504280e-04 9.99954124e-01 -5.92428042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.626559995 meters 0.047988093389853825 Centerline is valid? [True, True] Translation: X:416.70, Y:-281.67, Z:-5.92 [[-6.86962367e-01 -7.26663355e-01 6.56322836e-03 4.16701297e+02] [ 7.26632366e-01 -6.86993700e-01 -6.71266783e-03 -2.81674671e+02] [ 9.38674626e-03 1.57703978e-04 9.99955931e-01 -5.92237373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.6865599950002 meters 0.047527358307947944 Centerline is valid? [True, True] Translation: X:416.66, Y:-281.63, Z:-5.92 [[-6.88590285e-01 -7.25117606e-01 6.91933048e-03 4.16662598e+02] [ 7.25083104e-01 -6.88625034e-01 -7.07502791e-03 -2.81631309e+02] [ 9.89505148e-03 1.45294133e-04 9.99951032e-01 -5.92149047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.746559995 meters 0.048090087028130585 Centerline is valid? [True, True] Translation: X:416.62, Y:-281.59, Z:-5.92 [[-6.89624960e-01 -7.24133497e-01 6.93493331e-03 4.16621974e+02] [ 7.24098809e-01 -6.89659815e-01 -7.08902717e-03 -2.81590367e+02] [ 9.91614686e-03 1.32806876e-04 9.99950825e-01 -5.92167860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.806559995 meters 0.048415967847207926 Centerline is valid? [True, True] Translation: X:416.58, Y:-281.55, Z:-5.92 [[-6.89926715e-01 -7.23850982e-01 6.39406453e-03 4.16581948e+02] [ 7.23821499e-01 -6.89956333e-01 -6.53420995e-03 -2.81548990e+02] [ 9.14141960e-03 1.20035367e-04 9.99958209e-01 -5.92129375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.866559995 meters 0.04794761460034692 Centerline is valid? [True, True] Translation: X:416.54, Y:-281.51, Z:-5.92 [[-6.90078190e-01 -7.23713845e-01 5.51016877e-03 4.16540135e+02] [ 7.23691959e-01 -6.90100181e-01 -5.62919782e-03 -2.81511003e+02] [ 7.87649687e-03 1.03078184e-04 9.99968975e-01 -5.92240301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.926559995 meters 0.047394104948221195 Centerline is valid? [True, True] Translation: X:416.50, Y:-281.47, Z:-5.92 [[-6.90734784e-01 -7.23102430e-01 2.88693780e-03 4.16502044e+02] [ 7.23096420e-01 -6.90740815e-01 -2.94853392e-03 -2.81467418e+02] [ 4.12621781e-03 5.08794505e-05 9.99991486e-01 -5.91871334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.986559995 meters 0.04807568984029962 Centerline is valid? [True, True] Translation: X:416.46, Y:-281.43, Z:-5.92 [[-6.91566147e-01 -7.22309240e-01 2.37187589e-03 4.16460702e+02] [ 7.22305181e-01 -6.91570214e-01 -2.42174144e-03 -2.81428969e+02] [ 3.38956493e-03 3.84238505e-05 9.99994255e-01 -5.91902658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.046559995 meters 0.048161446843452124 Centerline is valid? [True, True] Translation: X:416.42, Y:-281.39, Z:-5.92 [[-6.93228524e-01 -7.20711842e-01 2.94183219e-03 4.16422801e+02] [ 7.20705588e-01 -6.93234764e-01 -3.00276638e-03 -2.81387699e+02] [ 4.20350964e-03 3.85915892e-05 9.99991165e-01 -5.91984229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.106559995 meters 0.04769288947574884 Centerline is valid? [True, True] Translation: X:416.39, Y:-281.35, Z:-5.92 [[-6.95056833e-01 -7.18946426e-01 3.46910826e-03 4.16385091e+02] [ 7.18937713e-01 -6.95065490e-01 -3.53984418e-03 -2.81346169e+02] [ 4.95621575e-03 3.36798756e-05 9.99987717e-01 -5.92090101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.166559995 meters 0.048242150948459975 Centerline is valid? [True, True] Translation: X:416.35, Y:-281.30, Z:-5.92 [[-6.98701376e-01 -7.15400548e-01 4.29449963e-03 4.16347255e+02] [ 7.15387132e-01 -6.98714574e-01 -4.38116991e-03 -2.81303800e+02] [ 6.13492083e-03 1.11003310e-05 9.99981181e-01 -5.92226928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.2265599950001 meters 0.04813774191784661 Centerline is valid? [True, True] Translation: X:416.31, Y:-281.26, Z:-5.92 [[-7.01117853e-01 -7.13031533e-01 4.44850208e-03 4.16308661e+02] [ 7.13017099e-01 -7.01131966e-01 -4.53690843e-03 -2.81262116e+02] [ 6.35394578e-03 -9.04945181e-06 9.99979813e-01 -5.92226707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.286559995 meters 0.04785200123855495 Centerline is valid? [True, True] Translation: X:416.27, Y:-281.22, Z:-5.92 [[-7.03489159e-01 -7.10691714e-01 4.50454357e-03 4.16269819e+02] [ 7.10676874e-01 -7.03503580e-01 -4.59276009e-03 -2.81220523e+02] [ 6.43299906e-03 -2.96819901e-05 9.99979308e-01 -5.92163114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.346559995 meters 0.04846140297547395 Centerline is valid? [True, True] Translation: X:416.23, Y:-281.18, Z:-5.92 [[-7.05852734e-01 -7.08345242e-01 4.35160614e-03 4.16229432e+02] [ 7.08331356e-01 -7.05866146e-01 -4.43561534e-03 -2.81179560e+02] [ 6.21359848e-03 -4.85121363e-05 9.99980694e-01 -5.92172076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.406559995 meters 0.04806600807242166 Centerline is valid? [True, True] Translation: X:416.19, Y:-281.14, Z:-5.92 [[-7.06098422e-01 -7.08100335e-01 4.35135515e-03 4.16189896e+02] [ 7.08086453e-01 -7.06111827e-01 -4.43429884e-03 -2.81139957e+02] [ 6.21247183e-03 -4.99157833e-05 9.99980701e-01 -5.92240317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.4665599950001 meters 0.048457008218989996 Centerline is valid? [True, True] Translation: X:416.15, Y:-281.10, Z:-5.92 [[-7.05836481e-01 -7.08360402e-01 4.51704559e-03 4.16146906e+02] [ 7.08345455e-01 -7.05850932e-01 -4.60190352e-03 -2.81104718e+02] [ 6.44816707e-03 -4.85626738e-05 9.99979209e-01 -5.92093642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.526559995 meters 0.04848236016563564 Centerline is valid? [True, True] Translation: X:416.11, Y:-281.07, Z:-5.92 [[-7.05223611e-01 -7.08975682e-01 3.62514391e-03 4.16108146e+02] [ 7.08966069e-01 -7.05232927e-01 -3.69204355e-03 -2.81065777e+02] [ 5.17413995e-03 -3.36122539e-05 9.99986614e-01 -5.92359440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.586559995 meters 0.04870169504612181 Centerline is valid? [True, True] Translation: X:416.06, Y:-281.03, Z:-5.92 [[-7.03884025e-01 -7.10308920e-01 2.91844263e-03 4.16064812e+02] [ 7.10302705e-01 -7.03890075e-01 -2.97131271e-03 -2.81029674e+02] [ 4.16481272e-03 -1.84818564e-05 9.99991327e-01 -5.92115980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.646559995 meters 0.04877068031583537 Centerline is valid? [True, True] Translation: X:416.02, Y:-280.99, Z:-5.92 [[-7.01005253e-01 -7.13149285e-01 3.11986573e-03 4.16022561e+02] [ 7.13142214e-01 -7.01012195e-01 -3.17572724e-03 -2.80990605e+02] [ 4.45183153e-03 -1.29352723e-06 9.99990091e-01 -5.92329937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.7065599950001 meters 0.04837642241232592 Centerline is valid? [True, True] Translation: X:415.98, Y:-280.95, Z:-5.92 [[-6.98540583e-01 -7.15559069e-01 4.03395066e-03 4.15980924e+02] [ 7.15547295e-01 -6.98552230e-01 -4.10494780e-03 -2.80951912e+02] [ 5.75525786e-03 1.90098487e-05 9.99983438e-01 -5.92379244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.766559995 meters 0.048233288901832545 Centerline is valid? [True, True] Translation: X:415.94, Y:-280.91, Z:-5.92 [[-6.94439852e-01 -7.19534182e-01 4.88385859e-03 4.15941684e+02] [ 7.19517032e-01 -6.94457023e-01 -4.96827161e-03 -2.80912274e+02] [ 6.96647114e-03 6.38536359e-05 9.99975732e-01 -5.92255831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.826559995 meters 0.04823242153956866 Centerline is valid? [True, True] Translation: X:415.90, Y:-280.87, Z:-5.92 [[-6.91506365e-01 -7.22358355e-01 4.16585858e-03 4.15898462e+02] [ 7.22345935e-01 -6.91518908e-01 -4.23680951e-03 -2.80873604e+02] [ 5.94126473e-03 7.94102677e-05 9.99982347e-01 -5.92417032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.886559995 meters 0.04832700129457595 Centerline is valid? [True, True] Translation: X:415.86, Y:-280.83, Z:-5.92 [[-6.90933500e-01 -7.22907500e-01 3.95542511e-03 4.15857718e+02] [ 7.22896317e-01 -6.90944817e-01 -4.02183677e-03 -2.80832683e+02] [ 5.64039644e-03 8.05404862e-05 9.99984090e-01 -5.92454154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.9465599950001 meters 0.048179236829530424 Centerline is valid? [True, True] Translation: X:415.82, Y:-280.79, Z:-5.92 [[-6.90540199e-01 -7.23283618e-01 3.87835409e-03 4.15817803e+02] [ 7.23272878e-01 -6.90551086e-01 -3.94237120e-03 -2.80791540e+02] [ 5.52965413e-03 8.27425335e-05 9.99984708e-01 -5.92431686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.006559995 meters 0.04787288535528428 Centerline is valid? [True, True] Translation: X:415.78, Y:-280.75, Z:-5.92 [[-6.90045897e-01 -7.23755102e-01 3.90026839e-03 4.15779535e+02] [ 7.23744254e-01 -6.90056914e-01 -3.96362134e-03 -2.80747818e+02] [ 5.56009834e-03 8.77161920e-05 9.99984539e-01 -5.92445435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.066559995 meters 0.04777079735658017 Centerline is valid? [True, True] Translation: X:415.74, Y:-280.70, Z:-5.92 [[-6.89527415e-01 -7.24248872e-01 3.93904410e-03 4.15739780e+02] [ 7.24237820e-01 -6.89538660e-01 -4.00206387e-03 -2.80704830e+02] [ 5.61461343e-03 9.32719561e-05 9.99984234e-01 -5.92487511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.126559995 meters 0.04721935758501163 Centerline is valid? [True, True] Translation: X:415.70, Y:-280.66, Z:-5.93 [[-6.89330524e-01 -7.24437051e-01 3.79317989e-03 4.15699780e+02] [ 7.24426811e-01 -6.89340954e-01 -3.85288607e-03 -2.80664608e+02] [ 5.40596766e-03 9.19692344e-05 9.99985383e-01 -5.92652215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.1865599950002 meters 0.04809801872031726 Centerline is valid? [True, True] Translation: X:415.66, Y:-280.62, Z:-5.93 [[-6.89435564e-01 -7.24326993e-01 5.38609102e-03 4.15661345e+02] [ 7.24306353e-01 -6.89456591e-01 -5.46956713e-03 -2.80620719e+02] [ 7.67523106e-03 1.30265844e-04 9.99970537e-01 -5.92880011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.246559995 meters 0.04807102199086027 Centerline is valid? [True, True] Translation: X:415.62, Y:-280.58, Z:-5.93 [[-6.89278720e-01 -7.24463734e-01 6.86618529e-03 4.15623739e+02] [ 7.24430218e-01 -6.89312897e-01 -6.97060233e-03 -2.80577322e+02] [ 9.78289867e-03 1.69384257e-04 9.99952132e-01 -5.93047257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.306559995 meters 0.04794130238585992 Centerline is valid? [True, True] Translation: X:415.58, Y:-280.54, Z:-5.93 [[-6.88072395e-01 -7.25604125e-01 7.41843551e-03 4.15582625e+02] [ 7.25565091e-01 -6.88112355e-01 -7.52901306e-03 -2.80539366e+02] [ 1.05678001e-02 2.02051787e-04 9.99944139e-01 -5.93274641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.366559995 meters 0.04827607361456516 Centerline is valid? [True, True] Translation: X:415.54, Y:-280.50, Z:-5.93 [[-6.87893331e-01 -7.25766532e-01 8.10592281e-03 4.15541531e+02] [ 7.25719965e-01 -6.87941052e-01 -8.22447716e-03 -2.80500026e+02] [ 1.15454473e-02 2.25067027e-04 9.99933324e-01 -5.93347756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.426559995 meters 0.04802749094611599 Centerline is valid? [True, True] Translation: X:415.50, Y:-280.46, Z:-5.93 [[-6.90311207e-01 -7.23484300e-01 6.39572551e-03 4.15503756e+02] [ 7.23455228e-01 -6.90340818e-01 -6.48749189e-03 -2.80456751e+02] [ 9.10882891e-03 1.48632702e-04 9.99958503e-01 -5.93076223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.486559995 meters 0.04781222518967653 Centerline is valid? [True, True] Translation: X:415.46, Y:-280.42, Z:-5.93 [[-6.94296513e-01 -7.19675927e-01 4.34885218e-03 4.15464646e+02] [ 7.19662418e-01 -6.94310130e-01 -4.41001685e-03 -2.80415660e+02] [ 6.19323508e-03 6.78461531e-05 9.99980819e-01 -5.92956891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.546559995 meters 0.04772385842544368 Centerline is valid? [True, True] Translation: X:415.43, Y:-280.37, Z:-5.93 [[-7.01223967e-01 -7.12935873e-01 2.71820699e-03 4.15428238e+02] [ 7.12930548e-01 -7.01229235e-01 -2.75557034e-03 -2.80372712e+02] [ 3.87063115e-03 5.62082987e-06 9.99992509e-01 -5.92855915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.606559995 meters 0.04806149437270395 Centerline is valid? [True, True] Translation: X:415.39, Y:-280.33, Z:-5.93 [[-7.08421403e-01 -7.05783766e-01 2.89674930e-03 4.15390538e+02] [ 7.05777661e-01 -7.08427325e-01 -2.93570324e-03 -2.80331074e+02] [ 4.12410804e-03 -3.52540627e-05 9.99991495e-01 -5.93028872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.666559995 meters 0.048881649999046706 Centerline is valid? [True, True] Translation: X:415.35, Y:-280.29, Z:-5.93 [[-7.12537801e-01 -7.01628669e-01 2.66331628e-03 4.15345841e+02] [ 7.01623481e-01 -7.12542776e-01 -2.69877247e-03 -2.80291538e+02] [ 3.79126292e-03 -5.43321654e-05 9.99992812e-01 -5.93016129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.7265599950001 meters 0.04842306090351339 Centerline is valid? [True, True] Translation: X:415.31, Y:-280.25, Z:-5.93 [[-7.15544168e-01 -6.98558988e-01 3.44718197e-03 4.15310776e+02] [ 6.98550266e-01 -7.15552466e-01 -3.49206730e-03 -2.80247014e+02] [ 4.90605456e-03 -9.06985105e-05 9.99987961e-01 -5.93222628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.786559995 meters 0.048530848325976456 Centerline is valid? [True, True] Translation: X:415.27, Y:-280.21, Z:-5.93 [[-7.16793803e-01 -6.97272909e-01 4.13940800e-03 4.15267104e+02] [ 6.97260318e-01 -7.16805745e-01 -4.19205820e-03 -2.80210026e+02] [ 5.89016005e-03 -1.18596403e-04 9.99982646e-01 -5.93127032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.846559995 meters 0.04887587930150953 Centerline is valid? [True, True] Translation: X:415.23, Y:-280.17, Z:-5.93 [[-7.16160847e-01 -6.97925752e-01 3.64502339e-03 4.15227246e+02] [ 6.97916003e-01 -7.16170116e-01 -3.69028996e-03 -2.80168736e+02] [ 5.18600522e-03 -9.89210281e-05 9.99986548e-01 -5.93253107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.906559995 meters 0.0490073796369227 Centerline is valid? [True, True] Translation: X:415.18, Y:-280.13, Z:-5.93 [[-7.15172068e-01 -6.98942532e-01 2.87229396e-03 4.15182470e+02] [ 6.98936490e-01 -7.15177832e-01 -2.90715212e-03 -2.80132162e+02] [ 4.08613323e-03 -7.15629378e-05 9.99991649e-01 -5.92996220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.9665599950001 meters 0.048540700927549356 Centerline is valid? [True, True] Translation: X:415.14, Y:-280.09, Z:-5.93 [[-7.14832127e-01 -6.99294083e-01 1.67821176e-03 4.15140900e+02] [ 6.99292022e-01 -7.14834096e-01 -1.69832805e-03 -2.80091176e+02] [ 2.38727375e-03 -4.04593581e-05 9.99997150e-01 -5.92829836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.026559995 meters 0.04851873416101234 Centerline is valid? [True, True] Translation: X:415.10, Y:-280.05, Z:-5.93 [[-7.13513255e-01 -7.00641710e-01 1.73837491e-04 4.15097683e+02] [ 7.00641688e-01 -7.13513276e-01 -1.75875802e-04 -2.80052469e+02] [ 2.47261280e-04 -3.69192304e-06 9.99999969e-01 -5.92702983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.086559995 meters 0.048426201970734016 Centerline is valid? [True, True] Translation: X:415.05, Y:-280.02, Z:-5.93 [[-7.09388403e-01 -7.04816280e-01 -1.45071788e-03 4.15052941e+02] [ 7.04814753e-01 -7.09389886e-01 1.46737999e-03 -2.80016006e+02] [-2.06335790e-03 1.84549886e-05 9.99997871e-01 -5.92570739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.146559995 meters 0.04894250123279743 Centerline is valid? [True, True] Translation: X:415.01, Y:-279.98, Z:-5.93 [[-7.05894043e-01 -7.08317120e-01 -6.76802073e-04 4.15009409e+02] [ 7.08316789e-01 -7.05894367e-01 6.84477859e-04 -2.79979129e+02] [-9.62578157e-04 3.77857172e-06 9.99999537e-01 -5.92590096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.2065599950001 meters 0.04976786757436192 Centerline is valid? [True, True] Translation: X:414.96, Y:-279.94, Z:-5.93 [[-7.01144336e-01 -7.13018715e-01 9.65222933e-04 4.14963277e+02] [ 7.13018047e-01 -7.01145000e-01 -9.75949662e-04 -2.79943666e+02] [ 1.37263161e-03 3.93979309e-06 9.99999058e-01 -5.92789039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.266559995 meters 0.04882348797081254 Centerline is valid? [True, True] Translation: X:414.92, Y:-279.91, Z:-5.93 [[-6.97638212e-01 -7.16448834e-01 1.41189877e-03 4.14916996e+02] [ 7.16447413e-01 -6.97639640e-01 -1.42728836e-03 -2.79906533e+02] [ 2.00757563e-03 1.58203207e-05 9.99997985e-01 -5.92893388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.326559995 meters 0.049116428881089816 Centerline is valid? [True, True] Translation: X:414.87, Y:-279.87, Z:-5.93 [[-6.96649363e-01 -7.17410993e-01 1.06436195e-03 4.14872357e+02] [ 7.17410186e-01 -6.96650176e-01 -1.07569342e-03 -2.79869152e+02] [ 1.51320223e-03 1.42029697e-05 9.99998855e-01 -5.92920074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.386559995 meters 0.049608291920788944 Centerline is valid? [True, True] Translation: X:414.83, Y:-279.83, Z:-5.93 [[-6.95025181e-01 -7.18985344e-01 -2.69696834e-04 4.14829442e+02] [ 7.18985292e-01 -6.95025233e-01 2.72500024e-04 -2.79829822e+02] [-3.83369628e-04 -4.51367871e-06 9.99999927e-01 -5.92743357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.4465599950001 meters 0.049489622219398295 Centerline is valid? [True, True] Translation: X:414.78, Y:-279.79, Z:-5.93 [[-6.93647679e-01 -7.20312983e-01 -1.45089882e-03 4.14784790e+02] [ 7.20311492e-01 -6.93649195e-01 1.46554752e-03 -2.79794271e+02] [-2.06206771e-03 -2.85254561e-05 9.99997874e-01 -5.92620294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.506559995 meters 0.04962126571634531 Centerline is valid? [True, True] Translation: X:414.74, Y:-279.76, Z:-5.93 [[-6.93516497e-01 -7.20438660e-01 -1.73349292e-03 4.14743631e+02] [ 7.20436534e-01 -6.93518663e-01 1.75042945e-03 -2.79755780e+02] [-2.46328674e-03 -3.49199362e-05 9.99996966e-01 -5.92667108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.566559995 meters 0.05037332324835529 Centerline is valid? [True, True] Translation: X:414.70, Y:-279.72, Z:-5.93 [[-6.93897147e-01 -7.20073284e-01 -1.10191055e-03 4.14700358e+02] [ 7.20072426e-01 -6.93898022e-01 1.11232202e-03 -2.79720035e+02] [-1.56556692e-03 -2.16183274e-05 9.99998774e-01 -5.92752480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.626559995 meters 0.04920528059466868 Centerline is valid? [True, True] Translation: X:414.66, Y:-279.68, Z:-5.93 [[-6.93868606e-01 -7.20101447e-01 -5.13569914e-04 4.14664895e+02] [ 7.20101261e-01 -6.93868796e-01 5.18244042e-04 -2.79676614e+02] [-7.29538422e-04 -1.02290714e-05 9.99999734e-01 -5.92891440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.6865599950002 meters 0.04994064276019295 Centerline is valid? [True, True] Translation: X:414.62, Y:-279.64, Z:-5.93 [[-6.93062744e-01 -7.20874968e-01 1.82040587e-03 4.14619744e+02] [ 7.20872629e-01 -6.93065134e-01 -1.83666437e-03 -2.79639277e+02] [ 2.58566521e-03 3.93571166e-05 9.99996656e-01 -5.93143187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.746559995 meters 0.04923518005849037 Centerline is valid? [True, True] Translation: X:414.58, Y:-279.60, Z:-5.93 [[-6.93812467e-01 -7.20150396e-01 2.76909125e-03 4.14580657e+02] [ 7.20144982e-01 -6.93817991e-01 -2.79298503e-03 -2.79598018e+02] [ 3.93261460e-03 5.63393347e-05 9.99992266e-01 -5.93227847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.806559995 meters 0.04964788667229352 Centerline is valid? [True, True] Translation: X:414.54, Y:-279.56, Z:-5.93 [[-6.96911565e-01 -7.17146218e-01 3.94611467e-03 4.14540266e+02] [ 7.17135181e-01 -6.96922735e-01 -3.97916493e-03 -2.79556133e+02] [ 5.60378011e-03 5.67715981e-05 9.99984297e-01 -5.93328398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.866559995 meters 0.049598005970233984 Centerline is valid? [True, True] Translation: X:414.50, Y:-279.51, Z:-5.93 [[-7.00735186e-01 -7.13409435e-01 4.14463484e-03 4.14501973e+02] [ 7.13397200e-01 -7.00747442e-01 -4.17822852e-03 -2.79512546e+02] [ 5.88512991e-03 2.89391497e-05 9.99982682e-01 -5.93238372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.926559995 meters 0.0508307554143526 Centerline is valid? [True, True] Translation: X:414.47, Y:-279.47, Z:-5.93 [[-7.08358779e-01 -7.05841522e-01 3.94792811e-03 4.14465304e+02] [ 7.05830308e-01 -7.08369780e-01 -3.97884153e-03 -2.79468194e+02] [ 5.60502453e-03 -3.18800098e-05 9.99984291e-01 -5.93027083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.986559995 meters 0.05011456451860492 Centerline is valid? [True, True] Translation: X:414.42, Y:-279.43, Z:-5.93 [[-7.13421770e-01 -7.00727765e-01 3.15873872e-03 4.14424771e+02] [ 7.00720539e-01 -7.13428760e-01 -3.18279463e-03 -2.79425770e+02] [ 4.48380761e-03 -5.72818799e-05 9.99989946e-01 -5.92857576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.046559995 meters 0.05143685274074226 Centerline is valid? [True, True] Translation: X:414.39, Y:-279.38, Z:-5.93 [[-7.17723134e-01 -6.96322740e-01 2.85390087e-03 4.14385503e+02] [ 6.96316809e-01 -7.17728804e-01 -2.87504044e-03 -2.79380798e+02] [ 4.05028289e-03 -7.62638879e-05 9.99991795e-01 -5.92793184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.106559995 meters 0.05019109582995341 Centerline is valid? [True, True] Translation: X:414.35, Y:-279.34, Z:-5.93 [[-7.21227168e-01 -6.92694909e-01 2.26605684e-03 4.14346261e+02] [ 6.92691152e-01 -7.21230724e-01 -2.28264767e-03 -2.79338266e+02] [ 3.21552824e-03 -7.66299971e-05 9.99994827e-01 -5.92738315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.166559995 meters 0.05082752259610043 Centerline is valid? [True, True] Translation: X:414.31, Y:-279.29, Z:-5.93 [[-7.21417459e-01 -6.92497172e-01 2.12522293e-03 4.14309134e+02] [ 6.92493868e-01 -7.21420585e-01 -2.14041522e-03 -2.79293904e+02] [ 3.01541106e-03 -7.24290578e-05 9.99995451e-01 -5.92763763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.2265599950001 meters 0.05089944412974522 Centerline is valid? [True, True] Translation: X:414.27, Y:-279.26, Z:-5.93 [[-7.18930387e-01 -6.95075583e-01 3.00546785e-03 4.14265106e+02] [ 6.95069001e-01 -7.18936664e-01 -3.02601716e-03 -2.79257599e+02] [ 4.26405167e-03 -8.64881552e-05 9.99990905e-01 -5.92766831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.286559995 meters 0.05073183828566763 Centerline is valid? [True, True] Translation: X:414.22, Y:-279.22, Z:-5.93 [[-7.15889992e-01 -6.98204519e-01 3.45960719e-03 4.14220588e+02] [ 6.98195839e-01 -7.15898347e-01 -3.48241579e-03 -2.79219160e+02] [ 4.90816551e-03 -7.75432688e-05 9.99987952e-01 -5.92658457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.346559995 meters 0.050668040890450156 Centerline is valid? [True, True] Translation: X:414.18, Y:-279.18, Z:-5.93 [[-7.10487014e-01 -7.03704979e-01 2.73957235e-03 4.14178043e+02] [ 7.03699579e-01 -7.10492295e-01 -2.75702257e-03 -2.79179836e+02] [ 3.88657556e-03 -3.09928245e-05 9.99992447e-01 -5.92651012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.406559995 meters 0.050751371558472175 Centerline is valid? [True, True] Translation: X:414.13, Y:-279.14, Z:-5.93 [[-7.07135473e-01 -7.07073560e-01 2.53066408e-03 4.14133758e+02] [ 7.07068976e-01 -7.07140001e-01 -2.54622944e-03 -2.79140456e+02] [ 3.58990531e-03 -1.11751029e-05 9.99993556e-01 -5.92632400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.4665599950001 meters 0.051072591334454354 Centerline is valid? [True, True] Translation: X:414.09, Y:-279.10, Z:-5.93 [[-7.04452649e-01 -7.09746595e-01 2.49704819e-03 4.14091643e+02] [ 7.09742150e-01 -7.04457075e-01 -2.51187792e-03 -2.79101409e+02] [ 3.54186006e-03 2.76129406e-06 9.99993728e-01 -5.92638700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.526559995 meters 0.049830476351401365 Centerline is valid? [True, True] Translation: X:414.05, Y:-279.06, Z:-5.93 [[-7.02241812e-01 -7.11936731e-01 1.59036493e-03 4.14050094e+02] [ 7.11934934e-01 -7.02243613e-01 -1.59935728e-03 -2.79061989e+02] [ 2.25546480e-03 9.10079930e-06 9.99997456e-01 -5.92548805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.586559995 meters 0.050093945231903 Centerline is valid? [True, True] Translation: X:414.01, Y:-279.02, Z:-5.93 [[-6.99727743e-01 -7.14408170e-01 1.43268223e-03 4.14009417e+02] [ 7.14406718e-01 -6.99729210e-01 -1.44032774e-03 -2.79023477e+02] [ 2.03147151e-03 1.56805335e-05 9.99997936e-01 -5.92569572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.646559995 meters 0.05032187255586223 Centerline is valid? [True, True] Translation: X:413.97, Y:-278.98, Z:-5.93 [[-6.97091233e-01 -7.16980811e-01 1.52667177e-03 4.13967732e+02] [ 7.16979169e-01 -6.97092904e-01 -1.53448633e-03 -2.78982444e+02] [ 2.16442931e-03 2.49148860e-05 9.99997657e-01 -5.92584349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.7065599950001 meters 0.050205784599657036 Centerline is valid? [True, True] Translation: X:413.93, Y:-278.94, Z:-5.93 [[-6.94388642e-01 -7.19598396e-01 1.60107736e-03 4.13926756e+02] [ 7.19596598e-01 -6.94390487e-01 -1.60889326e-03 -2.78942171e+02] [ 2.26952989e-03 3.49326120e-05 9.99997424e-01 -5.92562058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.766559995 meters 0.05013982592532267 Centerline is valid? [True, True] Translation: X:413.89, Y:-278.90, Z:-5.93 [[-6.89963872e-01 -7.23840910e-01 2.04756542e-03 4.13885768e+02] [ 7.23837990e-01 -6.89966908e-01 -2.05702319e-03 -2.78900969e+02] [ 2.90170992e-03 6.28339516e-05 9.99995788e-01 -5.92618881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.826559995 meters 0.05057309624301015 Centerline is valid? [True, True] Translation: X:413.84, Y:-278.86, Z:-5.93 [[-6.87425105e-01 -7.26250187e-01 2.71864514e-03 4.13844907e+02] [ 7.26245060e-01 -6.87430474e-01 -2.73064466e-03 -2.78861132e+02] [ 3.85201071e-03 9.72889123e-05 9.99992576e-01 -5.92764897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.886559995 meters 0.04998821021558237 Centerline is valid? [True, True] Translation: X:413.81, Y:-278.82, Z:-5.93 [[-6.84901388e-01 -7.28629769e-01 2.95773512e-03 4.13807203e+02] [ 7.28623727e-01 -6.84907763e-01 -2.96994420e-03 -2.78818032e+02] [ 4.18976551e-03 1.20957085e-04 9.99991216e-01 -5.92828965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.9465599950001 meters 0.05072120242364431 Centerline is valid? [True, True] Translation: X:413.77, Y:-278.78, Z:-5.93 [[-6.84672177e-01 -7.28843469e-01 3.34795682e-03 4.13766055e+02] [ 7.28835732e-01 -6.84680348e-01 -3.36114355e-03 -2.78778262e+02] [ 4.74202777e-03 1.38829088e-04 9.99988747e-01 -5.92914090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.006559995 meters 0.04970075367562164 Centerline is valid? [True, True] Translation: X:413.73, Y:-278.73, Z:-5.93 [[-6.85131920e-01 -7.28407382e-01 4.11561479e-03 4.13732857e+02] [ 7.28395690e-01 -6.85144261e-01 -4.13052963e-03 -2.78731389e+02] [ 5.82849813e-03 1.67838381e-04 9.99983000e-01 -5.92893104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.066559995 meters 0.0508257099850039 Centerline is valid? [True, True] Translation: X:413.69, Y:-278.69, Z:-5.93 [[-6.86465617e-01 -7.27149108e-01 4.37398560e-03 4.13694565e+02] [ 7.27135884e-01 -6.86479531e-01 -4.38859450e-03 -2.78690650e+02] [ 6.19381416e-03 1.67862652e-04 9.99980804e-01 -5.93048922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.126559995 meters 0.04883354381527574 Centerline is valid? [True, True] Translation: X:413.66, Y:-278.64, Z:-5.93 [[-6.87916788e-01 -7.25773077e-01 4.89228505e-03 4.13663099e+02] [ 7.25756506e-01 -6.87934162e-01 -4.90744706e-03 -2.78639860e+02] [ 6.92726296e-03 1.74692482e-04 9.99975991e-01 -5.92871513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.1865599950002 meters 0.049188963544461124 Centerline is valid? [True, True] Translation: X:413.63, Y:-278.60, Z:-5.93 [[-6.90657592e-01 -7.23161915e-01 5.37913327e-03 4.13626899e+02] [ 7.23141814e-01 -6.90678520e-01 -5.39433632e-03 -2.78595179e+02] [ 7.61623039e-03 1.64236860e-04 9.99970983e-01 -5.92919971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.246559995 meters 0.048845872881918204 Centerline is valid? [True, True] Translation: X:413.59, Y:-278.55, Z:-5.93 [[-6.91838908e-01 -7.22032225e-01 5.32832319e-03 4.13588747e+02] [ 7.22012478e-01 -6.91859410e-01 -5.34209791e-03 -2.78551500e+02] [ 7.54361738e-03 1.51244646e-04 9.99971535e-01 -5.92910409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.306559995 meters 0.04860521592064087 Centerline is valid? [True, True] Translation: X:413.55, Y:-278.51, Z:-5.93 [[-6.94416764e-01 -7.19552830e-01 5.39286929e-03 4.13552726e+02] [ 7.19532539e-01 -6.94437692e-01 -5.40525013e-03 -2.78506882e+02] [ 7.63437474e-03 1.26848628e-04 9.99970850e-01 -5.92926981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.366559995 meters 0.04823673494194213 Centerline is valid? [True, True] Translation: X:413.52, Y:-278.46, Z:-5.93 [[-6.97820943e-01 -7.16247439e-01 5.96137632e-03 4.13519966e+02] [ 7.16222538e-01 -6.97846399e-01 -5.97324760e-03 -2.78460811e+02] [ 8.43844829e-03 1.01414807e-04 9.99964391e-01 -5.92986303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.426559995 meters 0.04839975481778964 Centerline is valid? [True, True] Translation: X:413.49, Y:-278.41, Z:-5.93 [[-6.99701849e-01 -7.14401969e-01 6.86660194e-03 4.13485406e+02] [ 7.14368859e-01 -6.99735535e-01 -6.87860754e-03 -2.78413137e+02] [ 9.71889615e-03 9.23121738e-05 9.99952766e-01 -5.92936516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.486559995 meters 0.04845535418205775 Centerline is valid? [True, True] Translation: X:413.45, Y:-278.37, Z:-5.93 [[-6.98479860e-01 -7.15595180e-01 7.03023187e-03 4.13445730e+02] [ 7.15560551e-01 -6.98515230e-01 -7.04068849e-03 -2.78371217e+02] [ 9.94900677e-03 1.12777486e-04 9.99950501e-01 -5.92955467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.546559995 meters 0.04763320308358378 Centerline is valid? [True, True] Translation: X:413.40, Y:-278.33, Z:-5.93 [[-6.95746078e-01 -7.18254772e-01 6.89043559e-03 4.13403757e+02] [ 7.18221656e-01 -6.95780181e-01 -6.89876129e-03 -2.78332054e+02] [ 9.74929674e-03 1.49073949e-04 9.99952463e-01 -5.92941859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.606559995 meters 0.048192377653259295 Centerline is valid? [True, True] Translation: X:413.36, Y:-278.29, Z:-5.93 [[-6.94132850e-01 -7.19821949e-01 5.99576979e-03 4.13361870e+02] [ 7.19796946e-01 -6.94158728e-01 -6.00144237e-03 -2.78292004e+02] [ 8.48198587e-03 1.49938486e-04 9.99964016e-01 -5.92843358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.666559995 meters 0.04790704994790431 Centerline is valid? [True, True] Translation: X:413.32, Y:-278.25, Z:-5.93 [[-6.95004233e-01 -7.18988365e-01 4.98466846e-03 4.13321612e+02] [ 7.18971071e-01 -6.95022099e-01 -4.98815941e-03 -2.78249545e+02] [ 7.05088331e-03 1.17040515e-04 9.99975135e-01 -5.92691621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.7265599950001 meters 0.04780248853595632 Centerline is valid? [True, True] Translation: X:413.28, Y:-278.21, Z:-5.93 [[-6.97105045e-01 -7.16961921e-01 3.18744832e-03 4.13279880e+02] [ 7.16954832e-01 -6.97112329e-01 -3.18888364e-03 -2.78211486e+02] [ 4.50831767e-03 6.22696009e-05 9.99989836e-01 -5.92689490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.786559995 meters 0.047253568584311054 Centerline is valid? [True, True] Translation: X:413.24, Y:-278.17, Z:-5.93 [[-6.97684915e-01 -7.16399945e-01 2.62257795e-03 4.13242222e+02] [ 7.16395144e-01 -6.97689843e-01 -2.62303665e-03 -2.78168566e+02] [ 3.70888931e-03 4.87490032e-05 9.99993121e-01 -5.92569346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.846559995 meters 0.04760854660825858 Centerline is valid? [True, True] Translation: X:413.20, Y:-278.13, Z:-5.93 [[-6.97477013e-01 -7.16604317e-01 2.01720254e-03 4.13200637e+02] [ 7.16601480e-01 -6.97479929e-01 -2.01693431e-03 -2.78130133e+02] [ 2.85230212e-03 3.87650109e-05 9.99995931e-01 -5.92641332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.906559995 meters 0.04805233513595063 Centerline is valid? [True, True] Translation: X:412.76, Y:-278.54, Z:-4.88 [[-7.64816445e-01 6.44244824e-01 2.10059076e-03 4.12763918e+02] [ 6.44242248e-01 7.64819329e-01 -1.82238371e-03 -2.78544541e+02] [-2.78063369e-03 -4.04997229e-05 -9.99996133e-01 -4.88096843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.9665599950001 meters 0.047981572230970396 Centerline is valid? [True, True] Translation: X:412.77, Y:-278.45, Z:-4.88 [[-8.08944148e-01 5.87880443e-01 2.43925313e-03 4.12768067e+02] [ 5.87877597e-01 8.08947824e-01 -1.82988737e-03 -2.78449912e+02] [-3.04898351e-03 -4.62944071e-05 -9.99995351e-01 -4.88064794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.026559995 meters 0.04741140423488152 Centerline is valid? [True, True] Translation: X:412.81, Y:-278.38, Z:-4.88 [[-8.49212149e-01 5.28041096e-01 3.36560014e-03 4.12806479e+02] [ 5.28036643e-01 8.49218816e-01 -2.16953558e-03 -2.78381991e+02] [-4.00373491e-03 -6.52357705e-05 -9.99991983e-01 -4.87932131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.086559995 meters 0.047969343780262255 Centerline is valid? [True, True] Translation: X:412.77, Y:-278.27, Z:-4.88 [[-8.84802031e-01 4.65950809e-01 3.89980982e-03 4.12772560e+02] [ 4.65945908e-01 8.84810622e-01 -2.13854391e-03 -2.78274389e+02] [-4.44704942e-03 -7.50875648e-05 -9.99990109e-01 -4.87880063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.146559995 meters 0.047853121023192724 Centerline is valid? [True, True] Translation: X:412.81, Y:-278.21, Z:-4.88 [[-9.15367237e-01 4.02589469e-01 4.95396524e-03 4.12808242e+02] [ 4.02583051e-01 9.15380638e-01 -2.27498412e-03 -2.78205327e+02] [-5.45064851e-03 -8.80634884e-05 -9.99985141e-01 -4.87706988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.2065599950001 meters 0.04804485247457304 Centerline is valid? [True, True] Translation: X:412.76, Y:-278.11, Z:-4.88 [[-9.41088937e-01 3.38113714e-01 5.54336585e-03 4.12764136e+02] [ 3.38107301e-01 9.41105259e-01 -2.08434192e-03 -2.78105368e+02] [-5.92163534e-03 -8.72986595e-05 -9.99982463e-01 -4.87686905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.266559995 meters 0.04823356364949719 Centerline is valid? [True, True] Translation: X:412.75, Y:-278.02, Z:-4.88 [[-9.62082374e-01 2.72705277e-01 5.41645214e-03 4.12750768e+02] [ 2.72700545e-01 9.62097618e-01 -1.60800380e-03 -2.78019537e+02] [-5.64966682e-03 -6.99626611e-05 -9.99984038e-01 -4.87588771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.326559995 meters 0.04856504276630813 Centerline is valid? [True, True] Translation: X:412.85, Y:-277.96, Z:-4.88 [[-9.78259411e-01 2.07333936e-01 4.60050015e-03 4.12845703e+02] [ 2.07331445e-01 9.78270227e-01 -1.01715493e-03 -2.77963991e+02] [-4.71142307e-03 -4.12130385e-05 -9.99988900e-01 -4.87578984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.386559995 meters 0.04764002090189281 Centerline is valid? [True, True] Translation: X:413.14, Y:-277.94, Z:-4.88 [[-9.90795150e-01 1.35270825e-01 5.17443083e-03 4.13140164e+02] [ 1.35268776e-01 9.90808661e-01 -7.45548444e-04 -2.77936421e+02] [-5.22772183e-03 -3.87468566e-05 -9.99986335e-01 -4.87823738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.4465599950001 meters 0.04830823041346722 Centerline is valid? [True, True] Translation: X:412.40, Y:-277.20, Z:-5.94 [[-9.76875885e-01 -2.13648592e-01 8.23308709e-03 4.12397584e+02] [ 2.13643046e-01 -9.76910550e-01 -1.55749548e-03 -2.77200049e+02] [ 8.37574635e-03 2.37462035e-04 9.99964895e-01 -5.93509711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.506559995 meters 0.04775356469783309 Centerline is valid? [True, True] Translation: X:412.28, Y:-277.80, Z:-4.87 [[-9.90766910e-01 1.35191626e-01 1.02056084e-02 4.12283961e+02] [ 1.35184076e-01 9.90819470e-01 -1.42916520e-03 -2.77795697e+02] [-1.03051266e-02 -3.63338538e-05 -9.99946900e-01 -4.87241642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.566559995 meters 0.04815222390398497 Centerline is valid? [True, True] Translation: X:412.46, Y:-277.73, Z:-4.87 [[-9.97821476e-01 6.50691738e-02 1.08768058e-02 4.12463645e+02] [ 6.50652719e-02 9.97880756e-01 -7.12588774e-04 -2.77733492e+02] [-1.09001228e-02 -3.33405307e-06 -9.99940592e-01 -4.87368029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.626559995 meters 0.048716918007000246 Centerline is valid? [True, True] Translation: X:411.93, Y:-277.08, Z:-5.94 [[-9.91328205e-01 -1.31027655e-01 1.00071469e-02 4.11929720e+02] [ 1.31020532e-01 -9.91378713e-01 -1.36690776e-03 -2.77080474e+02] [ 1.00999751e-02 -4.39125161e-05 9.99948993e-01 -5.93636866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.6865599950002 meters 0.04803297405728239 Centerline is valid? [True, True] Translation: X:411.85, Y:-277.68, Z:-4.87 [[-9.98074917e-01 6.14074041e-02 8.69425140e-03 4.11846790e+02] [ 6.14050753e-02 9.98112785e-01 -5.34797503e-04 -2.77680795e+02] [-8.71068401e-03 1.03188728e-07 -9.99962061e-01 -4.87313109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.746559995 meters 0.0476100302542888 Centerline is valid? [True, True] Translation: X:411.73, Y:-277.60, Z:-4.87 [[-9.99907289e-01 -1.11962771e-02 7.74964250e-03 4.11725667e+02] [-1.11960366e-02 9.99937320e-01 7.44156527e-05 -2.77602211e+02] [-7.74998993e-03 -1.23565279e-05 -9.99969968e-01 -4.87372347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.806559995 meters 0.04820814340346893 Centerline is valid? [True, True] Translation: X:411.70, Y:-277.01, Z:-5.93 [[-9.98069702e-01 -6.17893186e-02 6.24097570e-03 4.11701983e+02] [ 6.17875295e-02 -9.98089210e-01 -4.79254199e-04 -2.77011550e+02] [ 6.25866330e-03 -9.27146254e-05 9.99980410e-01 -5.93284398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.866559995 meters 0.04739058597772405 Centerline is valid? [True, True] Translation: X:411.65, Y:-277.60, Z:-4.87 [[-9.99780715e-01 -2.02603554e-02 5.29527963e-03 4.11646762e+02] [-2.02602594e-02 9.99794737e-01 7.17822136e-05 -2.77599255e+02] [-5.29564703e-03 -3.55172659e-05 -9.99985977e-01 -4.87448224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.926559995 meters 0.04788437609323979 Centerline is valid? [True, True] Translation: X:412.16, Y:-277.49, Z:-4.88 [[-9.94999264e-01 -9.97834075e-02 4.44263457e-03 4.12156886e+02] [-9.97826129e-02 9.95009181e-01 4.00716332e-04 -2.77489463e+02] [-4.46044703e-03 -4.45852306e-05 -9.99990051e-01 -4.87665921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.986559995 meters 0.04816539213362404 Centerline is valid? [True, True] Translation: X:411.36, Y:-277.50, Z:-4.87 [[-9.84321505e-01 -1.76277548e-01 6.11566332e-03 4.11360312e+02] [-1.76274786e-01 9.84340498e-01 9.91871910e-04 -2.77496312e+02] [-6.19473982e-03 -1.01716394e-04 -9.99980807e-01 -4.87371579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.046559995 meters 0.047998607446695346 Centerline is valid? [True, True] Translation: X:411.30, Y:-276.94, Z:-5.93 [[-9.97243934e-01 7.38015134e-02 7.60747819e-03 4.11295845e+02] [-7.37976286e-02 -9.97272924e-01 7.90490301e-04 -2.76942555e+02] [ 7.64507140e-03 2.26897807e-04 9.99970750e-01 -5.93471614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.106559995 meters 0.048395725356446366 Centerline is valid? [True, True] Translation: X:411.22, Y:-277.52, Z:-4.87 [[-9.82850279e-01 -1.84220642e-01 8.25132158e-03 4.11217299e+02] [-1.84215637e-01 9.82884899e-01 1.36912295e-03 -2.77518548e+02] [-8.36232009e-03 -1.74379591e-04 -9.99965020e-01 -4.87205496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.166559995 meters 0.04826498527075132 Centerline is valid? [True, True] Translation: X:411.07, Y:-276.98, Z:-5.94 [[-9.97040375e-01 7.64114226e-02 8.47263659e-03 4.11065159e+02] [-7.64070653e-02 -9.97076356e-01 8.37255598e-04 -2.76981291e+02] [ 8.51184150e-03 1.87408339e-04 9.99963756e-01 -5.93543695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.2265599950001 meters 0.04795263486166409 Centerline is valid? [True, True] Translation: X:411.02, Y:-277.55, Z:-4.87 [[-9.82586644e-01 -1.85621683e-01 8.25088937e-03 4.11022721e+02] [-1.85616457e-01 9.82621273e-01 1.40138594e-03 -2.77553523e+02] [-8.36762703e-03 -1.54517747e-04 -9.99964979e-01 -4.87320138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.286559995 meters 0.04798425400270785 Centerline is valid? [True, True] Translation: X:410.93, Y:-277.50, Z:-4.87 [[-9.67708851e-01 -2.51935137e-01 8.26233623e-03 4.10931988e+02] [-2.51927092e-01 9.67744114e-01 2.01754831e-03 -2.77496333e+02] [-8.50411857e-03 -1.29106983e-04 -9.99963831e-01 -4.87258389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.346559995 meters 0.04840722157700391 Centerline is valid? [True, True] Translation: X:410.74, Y:-277.48, Z:-4.87 [[-9.49122433e-01 -3.14764024e-01 9.49818458e-03 4.10742674e+02] [-3.14749267e-01 9.49169953e-01 3.04941974e-03 -2.77477193e+02] [-9.97523904e-03 -9.52739532e-05 -9.99950242e-01 -4.87077021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.406559995 meters 0.04794303895711201 Centerline is valid? [True, True] Translation: X:410.66, Y:-277.43, Z:-4.87 [[-9.25334025e-01 -3.79001700e-01 1.07076926e-02 4.10664283e+02] [-3.78977233e-01 9.25395973e-01 4.30705721e-03 -2.77431851e+02] [-1.15412376e-02 -7.25051357e-05 -9.99933395e-01 -4.87012191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.4665599950001 meters 0.047771648303178184 Centerline is valid? [True, True] Translation: X:410.64, Y:-277.37, Z:-4.87 [[-8.96095825e-01 -4.43725089e-01 1.09689234e-02 4.10636681e+02] [-4.43692450e-01 8.96162956e-01 5.38205132e-03 -2.77366195e+02] [-1.22180940e-02 -4.39947768e-05 -9.99925355e-01 -4.86928048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.526559995 meters 0.04783813472976763 Centerline is valid? [True, True] Translation: X:410.87, Y:-277.14, Z:-4.87 [[-8.59857501e-01 -5.10441701e-01 9.71332679e-03 4.10874925e+02] [-5.10409666e-01 8.59912361e-01 5.71876259e-03 -2.77143877e+02] [-1.12717047e-02 -4.04549784e-05 -9.99936472e-01 -4.87436210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.586559995 meters 0.048188498184245206 Centerline is valid? [True, True] Translation: X:410.76, Y:-277.11, Z:-4.87 [[-8.19700089e-01 -5.72728483e-01 8.59353780e-03 4.10762950e+02] [-5.72697606e-01 8.19745133e-01 5.94725304e-03 -2.77110519e+02] [-1.04506720e-02 -4.65346808e-05 -9.99945389e-01 -4.87464324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.646559995 meters 0.04786261661581482 Centerline is valid? [True, True] Translation: X:410.16, Y:-277.45, Z:-4.87 [[-7.75213962e-01 -6.31654989e-01 7.43557323e-03 4.10157132e+02] [-6.31626819e-01 7.75249618e-01 5.96590772e-03 -2.77454164e+02] [-9.53282068e-03 -7.16525065e-05 -9.99954559e-01 -4.86974784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.7065599950001 meters 0.047669282565099856 Centerline is valid? [True, True] Translation: X:410.01, Y:-277.47, Z:-4.87 [[-7.23500006e-01 -6.90299729e-01 5.83321779e-03 4.10013526e+02] [-6.90278391e-01 7.23523514e-01 5.42845311e-03 -2.77474429e+02] [-7.96772994e-03 -9.90583339e-05 -9.99968252e-01 -4.87420701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.766559995 meters 0.04802113400476993 Centerline is valid? [True, True] Translation: X:409.84, Y:-277.53, Z:-4.87 [[-6.70694040e-01 -7.41715331e-01 5.27945039e-03 4.09844668e+02] [-7.41693593e-01 6.70714811e-01 5.67954150e-03 -2.77529990e+02] [-7.75360858e-03 -1.06499892e-04 -9.99969935e-01 -4.87460015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.826559995 meters 0.04752388426715592 Centerline is valid? [True, True] Translation: X:409.64, Y:-277.64, Z:-4.87 [[-6.14794453e-01 -7.88671314e-01 5.03374552e-03 4.09640382e+02] [-7.88646450e-01 6.14815048e-01 6.26358384e-03 -2.77644836e+02] [-8.03473140e-03 -1.19028938e-04 -9.99967714e-01 -4.87471900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.886559995 meters 0.04748526073896695 Centerline is valid? [True, True] Translation: X:409.77, Y:-277.34, Z:-4.88 [[-5.57051750e-01 -8.30469300e-01 3.75368517e-03 4.09771109e+02] [-8.30451238e-01 5.57064393e-01 5.47750976e-03 -2.77336517e+02] [-6.63994804e-03 -6.59960987e-05 -9.99977953e-01 -4.87692046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.9465599950001 meters 0.04801591156600825 Centerline is valid? [True, True] Translation: X:409.33, Y:-277.88, Z:-4.87 [[-5.00440091e-01 -8.65764858e-01 3.30548843e-03 4.09334364e+02] [-8.65746459e-01 5.00451006e-01 5.64432460e-03 -2.77875182e+02] [-6.54089289e-03 -3.70685917e-05 -9.99978607e-01 -4.87478292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.006559995 meters 0.04775101845103718 Centerline is valid? [True, True] Translation: X:409.35, Y:-277.69, Z:-4.88 [[-4.36404529e-01 -8.99746606e-01 2.67056526e-03 4.09346470e+02] [-8.99729974e-01 4.36412700e-01 5.47075072e-03 -2.77690004e+02] [-6.08775799e-03 -1.53272152e-05 -9.99981469e-01 -4.87528928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.066559995 meters 0.047859259620473375 Centerline is valid? [True, True] Translation: X:409.26, Y:-277.67, Z:-4.88 [[-3.70172477e-01 -9.28961123e-01 1.88917950e-03 4.09262186e+02] [-9.28949045e-01 3.70177298e-01 4.73709989e-03 -2.77667234e+02] [-5.09991299e-03 -1.40749224e-06 -9.99986995e-01 -4.87658683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.126559995 meters 0.04771613838252978 Centerline is valid? [True, True] Translation: X:408.89, Y:-278.46, Z:-4.88 [[-3.03780037e-01 -9.52741399e-01 1.23130996e-03 4.08890797e+02] [-9.52733566e-01 3.03782533e-01 3.86329131e-03 -2.78461632e+02] [-4.05476803e-03 4.80448218e-07 -9.99991779e-01 -4.87574259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.1865599950002 meters 0.047872149686669564 Centerline is valid? [True, True] Translation: X:408.92, Y:-278.06, Z:-4.88 [[-2.28202636e-01 -9.73613512e-01 5.34744502e-04 4.08917476e+02] [-9.73610893e-01 2.28203263e-01 2.25827807e-03 -2.78056335e+02] [-2.32072048e-03 -5.28806302e-06 -9.99997307e-01 -4.87782959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.246559995 meters 0.04770170922797885 Centerline is valid? [True, True] Translation: X:408.14, Y:-278.68, Z:-5.93 [[-2.99299667e-01 9.54158982e-01 5.89231272e-04 4.08138611e+02] [-9.54157291e-01 -2.99300246e-01 1.79618098e-03 -2.78680375e+02] [ 1.89019928e-03 -2.46229454e-05 9.99998213e-01 -5.93118111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.306559995 meters 0.04754914693278632 Centerline is valid? [True, True] Translation: X:408.75, Y:-278.67, Z:-4.88 [[-2.12671566e-01 -9.77123502e-01 6.83730541e-04 4.08751077e+02] [-9.77118889e-01 2.12672663e-01 3.00243324e-03 -2.78665954e+02] [-3.07915887e-03 -2.95538480e-05 -9.99995259e-01 -4.87570469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.366559995 meters 0.04840585741452465 Centerline is valid? [True, True] Translation: X:408.58, Y:-279.10, Z:-4.87 [[-1.40776891e-01 -9.90041185e-01 5.65274977e-04 4.08583678e+02] [-9.90034339e-01 1.40778020e-01 3.68193228e-03 -2.79101219e+02] [-3.72484289e-03 -4.13106581e-05 -9.99993062e-01 -4.87451009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.426559995 meters 0.047199026093669466 Centerline is valid? [True, True] Translation: X:408.12, Y:-278.55, Z:-5.93 [[-2.27947624e-01 9.73672944e-01 9.37316563e-04 4.08119542e+02] [-9.73662679e-01 -2.27949526e-01 4.47229587e-03 -2.78551961e+02] [ 4.56821435e-03 1.06819062e-04 9.99989560e-01 -5.93202384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.486559995 meters 0.04823338291824607 Centerline is valid? [True, True] Translation: X:408.54, Y:-279.46, Z:-4.88 [[-1.42684005e-01 -9.89768035e-01 7.15217698e-04 4.08541758e+02] [-9.89756555e-01 1.42685794e-01 4.76727067e-03 -2.79461488e+02] [-4.82054353e-03 -2.76781340e-05 -9.99988381e-01 -4.87616327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.546559995 meters 0.04823917418192504 Centerline is valid? [True, True] Translation: X:408.47, Y:-279.47, Z:-4.88 [[-7.42742536e-02 -9.97237831e-01 2.10167751e-04 4.08466366e+02] [-9.97233901e-01 7.42745509e-02 2.79958776e-03 -2.79465150e+02] [-2.80746494e-03 -1.64911474e-06 -9.99996059e-01 -4.87787381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.606559995 meters 0.047625421666868874 Centerline is valid? [True, True] Translation: X:408.39, Y:-279.41, Z:-4.88 [[-5.20567975e-03 -9.99986450e-01 4.89038031e-07 4.08387789e+02] [-9.99984730e-01 5.20567170e-03 1.85498419e-03 -2.79412089e+02] [-1.85496160e-03 9.16742306e-06 -9.99998280e-01 -4.87916544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.666559995 meters 0.048494096070563 Centerline is valid? [True, True] Translation: X:408.31, Y:-279.73, Z:-4.88 [[ 6.20937917e-02 -9.98070252e-01 -3.64947237e-04 4.08310647e+02] [-9.98057956e-01 -6.20948384e-02 4.95462010e-03 -2.79729774e+02] [-4.96772027e-03 5.65873450e-05 -9.99987659e-01 -4.87776884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.7265599950001 meters 0.04865758026087105 Centerline is valid? [True, True] Translation: X:408.30, Y:-280.39, Z:-4.88 [[ 1.31910111e-01 -9.91261222e-01 -9.54776140e-04 4.08301086e+02] [-9.91239688e-01 -1.31913540e-01 6.53440259e-03 -2.80386967e+02] [-6.60324780e-03 8.44582286e-05 -9.99978195e-01 -4.87660218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.786559995 meters 0.04912513812034856 Centerline is valid? [True, True] Translation: X:408.17, Y:-280.14, Z:-4.88 [[ 2.07001421e-01 -9.78339387e-01 -1.56716143e-03 4.08168272e+02] [-9.78314379e-01 -2.07007336e-01 6.99560341e-03 -2.80141116e+02] [-7.16848827e-03 8.50767141e-05 -9.99974302e-01 -4.87704991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.846559995 meters 0.048959693399319826 Centerline is valid? [True, True] Translation: X:407.72, Y:-280.84, Z:-5.93 [[ 1.61046366e-01 9.86946589e-01 -7.06259168e-04 4.07715049e+02] [-9.86931522e-01 1.61047813e-01 5.45652472e-03 -2.80844208e+02] [ 5.49903996e-03 -1.81724044e-04 9.99984864e-01 -5.93002105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.906559995 meters 0.04881114166839269 Centerline is valid? [True, True] Translation: X:408.24, Y:-280.55, Z:-4.88 [[ 2.22163099e-01 -9.75009206e-01 -7.77822972e-04 4.08242566e+02] [-9.75003443e-01 -2.22164460e-01 3.35245861e-03 -2.80549930e+02] [-3.44148263e-03 1.35874817e-05 -9.99994078e-01 -4.87925564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.9665599950001 meters 0.04887148773152154 Centerline is valid? [True, True] Translation: X:407.83, Y:-281.34, Z:-5.93 [[ 1.60967270e-01 9.86959681e-01 -3.56137493e-04 4.07831362e+02] [-9.86956254e-01 1.60967650e-01 2.60151637e-03 -2.81339732e+02] [ 2.62491839e-03 -6.72668631e-05 9.99996553e-01 -5.92926539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.026559995 meters 0.04843027758538718 Centerline is valid? [True, True] Translation: X:408.43, Y:-281.48, Z:-4.88 [[ 2.33482690e-01 -9.72360809e-01 -5.38626602e-04 4.08432667e+02] [-9.72358196e-01 -2.33483311e-01 2.25436375e-03 -2.81476279e+02] [-2.31781528e-03 -2.61692041e-06 -9.99997314e-01 -4.87853682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.086559995 meters 0.04940344489620125 Centerline is valid? [True, True] Translation: X:408.35, Y:-281.48, Z:-4.88 [[ 3.10863391e-01 -9.50454154e-01 -9.23285046e-04 4.08348199e+02] [-9.50449757e-01 -3.10864762e-01 2.89126565e-03 -2.81483284e+02] [-3.03503223e-03 -2.12525972e-05 -9.99995394e-01 -4.87835746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.146559995 meters 0.04920496079519329 Centerline is valid? [True, True] Translation: X:408.39, Y:-281.86, Z:-4.88 [[ 3.82629650e-01 -9.23900655e-01 -1.45966683e-03 4.08393940e+02] [-9.23893525e-01 -3.82632432e-01 3.62990253e-03 -2.81855591e+02] [-3.91218519e-03 -4.03316001e-05 -9.99992347e-01 -4.87684556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.2065599950001 meters 0.04988254646113557 Centerline is valid? [True, True] Translation: X:408.35, Y:-281.95, Z:-4.88 [[ 4.51505664e-01 -8.92266540e-01 -1.74866953e-03 4.08348615e+02] [-8.92259431e-01 -4.51509048e-01 3.56199728e-03 -2.81946359e+02] [-3.96779110e-03 -4.79950637e-05 -9.99992127e-01 -4.87712923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.266559995 meters 0.049095028438425295 Centerline is valid? [True, True] Translation: X:408.42, Y:-282.23, Z:-4.88 [[ 5.15793123e-01 -8.56708844e-01 -2.72233161e-03 4.08415781e+02] [-8.56696231e-01 -5.15800303e-01 4.64930468e-03 -2.82234936e+02] [-5.38727990e-03 -6.58681535e-05 -9.99985486e-01 -4.87614378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.326559995 meters 0.04977327943560663 Centerline is valid? [True, True] Translation: X:408.48, Y:-282.48, Z:-4.88 [[ 5.76586237e-01 -8.17028039e-01 -3.67353066e-03 4.08480652e+02] [-8.17010631e-01 -5.76597934e-01 5.33393958e-03 -2.82475850e+02] [-6.47612839e-03 -7.41625480e-05 -9.99979027e-01 -4.87538721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.386559995 meters 0.04949441394831767 Centerline is valid? [True, True] Translation: X:408.54, Y:-282.67, Z:-4.88 [[ 6.33029061e-01 -7.74117258e-01 -4.08396242e-03 4.08535022e+02] [-7.74100548e-01 -6.33042232e-01 5.08658197e-03 -2.82673577e+02] [-6.52293157e-03 -5.85566579e-05 -9.99978724e-01 -4.87509585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.4465599950001 meters 0.04993426565325398 Centerline is valid? [True, True] Translation: X:408.39, Y:-282.63, Z:-4.88 [[ 6.86720875e-01 -7.26911505e-01 -3.75537751e-03 4.08394353e+02] [-7.26900341e-01 -6.86731143e-01 4.02896808e-03 -2.82627576e+02] [-5.50763794e-03 -3.69912939e-05 -9.99984832e-01 -4.87610758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.506559995 meters 0.04953609741086474 Centerline is valid? [True, True] Translation: X:408.22, Y:-282.57, Z:-4.88 [[ 7.36210711e-01 -6.76746059e-01 -2.92572870e-03 4.08219798e+02] [-6.76740634e-01 -7.36216525e-01 2.70987015e-03 -2.82571271e+02] [-3.98786376e-03 -1.50759355e-05 -9.99992048e-01 -4.87851791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.566559995 meters 0.048989695034879564 Centerline is valid? [True, True] Translation: X:408.20, Y:-282.65, Z:-4.88 [[ 7.86356960e-01 -6.17764977e-01 -3.02734383e-03 4.08203451e+02] [-6.17760343e-01 -7.86362787e-01 2.39296597e-03 -2.82650512e+02] [-3.85888110e-03 -1.15524765e-05 -9.99992554e-01 -4.87757594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.626559995 meters 0.04967370569836281 Centerline is valid? [True, True] Translation: X:408.20, Y:-282.73, Z:-4.88 [[ 8.32643653e-01 -5.53794900e-01 -3.96926975e-03 4.08195159e+02] [-5.53788506e-01 -8.32653114e-01 2.66127368e-03 -2.82726994e+02] [-4.77882461e-03 -1.77566769e-05 -9.99988581e-01 -4.87642599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.6865599950002 meters 0.04955239052788971 Centerline is valid? [True, True] Translation: X:408.18, Y:-282.82, Z:-4.88 [[ 8.74732749e-01 -4.84572674e-01 -5.65161220e-03 4.08182560e+02] [-4.84562248e-01 -8.74751006e-01 3.17894804e-03 -2.82821514e+02] [-6.48418480e-03 -4.21720417e-05 -9.99978977e-01 -4.87765721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.746559995 meters 0.049768587940946685 Centerline is valid? [True, True] Translation: X:408.17, Y:-282.94, Z:-4.88 [[ 9.11118688e-01 -4.12088248e-01 -6.78319732e-03 4.08165438e+02] [-4.12076253e-01 -9.11143935e-01 3.14500674e-03 -2.82941813e+02] [-7.47648942e-03 -7.02798774e-05 -9.99972048e-01 -4.87791619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.806559995 meters 0.04945558857345303 Centerline is valid? [True, True] Translation: X:408.17, Y:-283.04, Z:-4.87 [[ 9.41957473e-01 -3.35632173e-01 -8.19529169e-03 4.08167280e+02] [-3.35618369e-01 -9.41993116e-01 3.04633883e-03 -2.83036194e+02] [-8.74235768e-03 -1.19031197e-04 -9.99961778e-01 -4.87275319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.866559995 meters 0.0496673460151458 Centerline is valid? [True, True] Translation: X:408.18, Y:-283.12, Z:-4.87 [[ 9.65756573e-01 -2.59281039e-01 -9.35866791e-03 4.08182596e+02] [-2.59267362e-01 -9.65801905e-01 2.66728647e-03 -2.83117597e+02] [-9.73019610e-03 -1.49552300e-04 -9.99952649e-01 -4.87293230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.926559995 meters 0.050100463146739396 Centerline is valid? [True, True] Translation: X:408.20, Y:-283.19, Z:-4.87 [[ 9.83192551e-01 -1.82309848e-01 -9.77379799e-03 4.08204758e+02] [-1.82299219e-01 -9.83241117e-01 1.97509403e-03 -2.83191585e+02] [-9.97007915e-03 -1.60141995e-04 -9.99950285e-01 -4.87412759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.986559995 meters 0.049529401034813327 Centerline is valid? [True, True] Translation: X:408.23, Y:-283.27, Z:-4.88 [[ 9.94363545e-01 -1.05742116e-01 -7.72950264e-03 4.08231356e+02] [-1.05737996e-01 -9.94393579e-01 9.41005368e-04 -2.83271423e+02] [-7.78567169e-03 -1.18399318e-04 -9.99969684e-01 -4.87563842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.046559995 meters 0.048900601491414085 Centerline is valid? [True, True] Translation: X:408.26, Y:-283.34, Z:-4.88 [[ 9.99547637e-01 -2.95739180e-02 -5.46857348e-03 4.08264272e+02] [-2.95730756e-02 -9.99562593e-01 2.34860176e-04 -2.83344668e+02] [-5.47312722e-03 -7.30313971e-05 -9.99985020e-01 -4.87718377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.106559995 meters 0.0494247878482854 Centerline is valid? [True, True] Translation: X:408.30, Y:-283.41, Z:-4.88 [[ 9.98946428e-01 4.57540790e-02 -3.54929523e-03 4.08298720e+02] [ 4.57539220e-02 -9.98952733e-01 -1.25459830e-04 -2.83410560e+02] [-3.55131847e-03 -3.70665279e-05 -9.99993693e-01 -4.87804388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.166559995 meters 0.04931738945559602 Centerline is valid? [True, True] Translation: X:408.34, Y:-283.47, Z:-4.88 [[ 9.92483077e-01 1.22331170e-01 -3.52525158e-03 4.08336263e+02] [ 1.22330512e-01 -9.92489337e-01 -4.02431087e-04 -2.83466523e+02] [-3.54800447e-03 -3.18397863e-05 -9.99993705e-01 -4.87793366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.2265599950001 meters 0.049352325572318 Centerline is valid? [True, True] Translation: X:408.38, Y:-283.52, Z:-4.88 [[ 9.79815436e-01 1.99859470e-01 -4.23133061e-03 4.08378636e+02] [ 1.99857781e-01 -9.79824571e-01 -8.22532284e-04 -2.83523532e+02] [-4.31035257e-03 -3.97345209e-05 -9.99990710e-01 -4.87721606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.286559995 meters 0.04904686370551771 Centerline is valid? [True, True] Translation: X:408.43, Y:-283.58, Z:-4.88 [[ 9.60500283e-01 2.78209446e-01 -6.22177338e-03 4.08426649e+02] [ 2.78204113e-01 -9.60520431e-01 -1.72426289e-03 -2.83583129e+02] [-6.45584667e-03 -7.47679528e-05 -9.99979158e-01 -4.87666927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.346559995 meters 0.04909981116146362 Centerline is valid? [True, True] Translation: X:408.48, Y:-283.64, Z:-4.87 [[ 9.35231267e-01 3.53983312e-01 -6.18802825e-03 4.08478870e+02] [ 3.53976176e-01 -9.35251735e-01 -2.24937204e-03 -2.83641564e+02] [-6.58360432e-03 -8.67315113e-05 -9.99978324e-01 -4.87493486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.406559995 meters 0.04930369753386716 Centerline is valid? [True, True] Translation: X:408.54, Y:-283.69, Z:-4.88 [[ 9.04654449e-01 4.26093474e-01 -6.68425768e-03 4.08535463e+02] [ 4.26082632e-01 -9.04679138e-01 -3.04112292e-03 -2.83691829e+02] [-7.34291110e-03 -9.68807214e-05 -9.99973036e-01 -4.87577587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.4665599950001 meters 0.04869720616740578 Centerline is valid? [True, True] Translation: X:408.60, Y:-283.74, Z:-4.88 [[ 8.68673857e-01 4.95336191e-01 -6.91291983e-03 4.08598516e+02] [ 4.95321439e-01 -8.68701357e-01 -3.82422695e-03 -2.83742911e+02] [-7.89954085e-03 -1.02111418e-04 -9.99968793e-01 -4.87586146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.526559995 meters 0.04809419839067909 Centerline is valid? [True, True] Translation: X:408.66, Y:-283.79, Z:-4.88 [[ 8.28821138e-01 5.59471549e-01 -6.86347956e-03 4.08662387e+02] [ 5.59453197e-01 -8.28849552e-01 -4.53220497e-03 -2.83786521e+02] [-8.22443169e-03 -8.34083017e-05 -9.99966175e-01 -4.87740820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.586559995 meters 0.04799353341243438 Centerline is valid? [True, True] Translation: X:408.73, Y:-283.82, Z:-4.88 [[ 7.85171321e-01 6.19255816e-01 -5.31328110e-03 4.08725801e+02] [ 6.19241979e-01 -7.85189298e-01 -4.13990934e-03 -2.83821795e+02] [-6.73559439e-03 -3.96686148e-05 -9.99977315e-01 -4.87504044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.646559995 meters 0.04878478680298742 Centerline is valid? [True, True] Translation: X:408.79, Y:-283.84, Z:-4.88 [[ 7.35842416e-01 6.77139927e-01 -4.17829316e-03 4.08786296e+02] [ 6.77129170e-01 -7.35854279e-01 -3.81679494e-03 -2.83844270e+02] [-5.65911915e-03 -2.06845648e-05 -9.99983987e-01 -4.87737675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.7065599950001 meters 0.04826309454329101 Centerline is valid? [True, True] Translation: X:408.86, Y:-283.88, Z:-4.88 [[ 6.82145690e-01 7.31209606e-01 -3.12578524e-03 4.08859225e+02] [ 7.31201977e-01 -6.82152852e-01 -3.33998231e-03 -2.83875476e+02] [-4.57449046e-03 -7.22580881e-06 -9.99989537e-01 -4.87829661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.766559995 meters 0.048048371484538215 Centerline is valid? [True, True] Translation: X:408.96, Y:-283.92, Z:-4.88 [[ 6.25080995e-01 7.80553079e-01 -3.26204751e-03 4.08959935e+02] [ 7.80542394e-01 -6.25089507e-01 -4.08411447e-03 -2.83922219e+02] [-5.22693980e-03 6.73596159e-06 -9.99986339e-01 -4.87913622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.826559995 meters 0.048215441323955964 Centerline is valid? [True, True] Translation: X:409.04, Y:-283.94, Z:-4.88 [[ 5.63513154e-01 8.26098514e-01 -3.76437921e-03 4.09036636e+02] [ 8.26079842e-01 -5.63525727e-01 -5.55432847e-03 -2.83940084e+02] [-6.70974703e-03 2.02593687e-05 -9.99977489e-01 -4.87669985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.886559995 meters 0.04779419941978496 Centerline is valid? [True, True] Translation: X:409.11, Y:-283.95, Z:-4.88 [[ 4.98257817e-01 8.67017721e-01 -4.40681052e-03 4.09110559e+02] [ 8.66983129e-01 -4.98277303e-01 -7.74489723e-03 -2.83950566e+02] [-8.91077680e-03 3.83252089e-05 -9.99960298e-01 -4.87690930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.9465599950001 meters 0.04804784105309679 Centerline is valid? [True, True] Translation: X:409.19, Y:-283.96, Z:-4.87 [[ 4.29199563e-01 9.03200117e-01 -4.15745846e-03 4.09192142e+02] [ 9.03156723e-01 -4.29219696e-01 -8.85365175e-03 -2.83958394e+02] [-9.78108235e-03 4.51469104e-05 -9.99952163e-01 -4.87471324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.006559995 meters 0.048305662707233514 Centerline is valid? [True, True] Translation: X:409.27, Y:-283.96, Z:-4.88 [[ 3.58219559e-01 9.33627245e-01 -4.34910405e-03 4.09270785e+02] [ 9.33556046e-01 -3.58245952e-01 -1.15302966e-02 -2.83959140e+02] [-1.23230480e-02 7.02453745e-05 -9.99924066e-01 -4.87587795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.066559995 meters 0.0481229447460381 Centerline is valid? [True, True] Translation: X:409.37, Y:-283.96, Z:-4.87 [[ 2.84840434e-01 9.58567274e-01 -3.83504057e-03 4.09373895e+02] [ 9.58476141e-01 -2.84866236e-01 -1.32179881e-02 -2.83963138e+02] [-1.37628044e-02 8.92225801e-05 -9.99905284e-01 -4.87447257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.126559995 meters 0.04869135777337447 Centerline is valid? [True, True] Translation: X:409.48, Y:-283.96, Z:-4.88 [[ 2.07920305e-01 9.78142522e-01 -2.52041850e-03 4.09478912e+02] [ 9.78066704e-01 -2.07935570e-01 -1.21787171e-02 -2.83958859e+02] [-1.24366058e-02 6.70651697e-05 -9.99922660e-01 -4.87700578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.1865599950002 meters 0.04842701355613921 Centerline is valid? [True, True] Translation: X:409.59, Y:-283.95, Z:-4.88 [[ 1.26276009e-01 9.91994373e-01 -1.23834789e-03 4.09589640e+02] [ 9.91946023e-01 -1.26282081e-01 -9.79409601e-03 -2.83948570e+02] [-9.87206928e-03 8.38508926e-06 -9.99951270e-01 -4.87721809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.246559995 meters 0.04760374919014792 Centerline is valid? [True, True] Translation: X:409.68, Y:-283.93, Z:-4.88 [[ 3.85986664e-02 9.99254705e-01 -4.20311021e-04 4.09679186e+02] [ 9.99215537e-01 -3.86008751e-02 -8.84775581e-03 -2.83926482e+02] [-8.85738600e-03 -7.84697272e-05 -9.99960770e-01 -4.87567337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.306559995 meters 0.04786591543538842 Centerline is valid? [True, True] Translation: X:409.77, Y:-283.90, Z:-4.88 [[-4.63946237e-02 9.98923156e-01 2.61367183e-04 4.09765051e+02] [ 9.98887258e-01 4.63951725e-02 -8.46957234e-03 -2.83897017e+02] [-8.47257810e-03 -1.31866272e-04 -9.99964098e-01 -4.87631620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.366559995 meters 0.04750102077982908 Centerline is valid? [True, True] Translation: X:409.85, Y:-283.86, Z:-4.88 [[-1.30500467e-01 9.91447636e-01 1.10110895e-03 4.09845727e+02] [ 9.91396760e-01 1.30504928e-01 -1.00462976e-02 -2.83861382e+02] [-1.01040782e-02 -2.19410693e-04 -9.99948928e-01 -4.87552316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.426559995 meters 0.04728567894470241 Centerline is valid? [True, True] Translation: X:409.92, Y:-283.82, Z:-4.87 [[-2.09989623e-01 9.77701469e-01 2.04813552e-03 4.09922402e+02] [ 9.77641910e-01 2.09999445e-01 -1.07948514e-02 -2.83819162e+02] [-1.09842494e-02 -2.64463657e-04 -9.99939636e-01 -4.87477412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.486559995 meters 0.047642990433057565 Centerline is valid? [True, True] Translation: X:410.00, Y:-283.77, Z:-4.87 [[-2.87054696e-01 9.57910090e-01 2.80378380e-03 4.09997320e+02] [ 9.57854766e-01 2.87068261e-01 -1.02985725e-02 -2.83771664e+02] [-1.06699839e-02 -2.70635923e-04 -9.99943038e-01 -4.87292151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.546559995 meters 0.04728901561073346 Centerline is valid? [True, True] Translation: X:410.06, Y:-283.72, Z:-4.87 [[-3.60444919e-01 9.32772402e-01 3.88686057e-03 4.10063681e+02] [ 9.32709398e-01 3.60465763e-01 -1.08449511e-02 -2.83718735e+02] [-1.15169512e-02 -2.83696132e-04 -9.99933638e-01 -4.87285148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.606559995 meters 0.04774286513667619 Centerline is valid? [True, True] Translation: X:410.13, Y:-283.66, Z:-4.87 [[-4.29711850e-01 9.02953317e-01 4.79934287e-03 4.10125897e+02] [ 9.02890231e-01 4.29738575e-01 -1.06764733e-02 -2.83660341e+02] [-1.17028197e-02 -2.54527296e-04 -9.99931487e-01 -4.87339246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.666559995 meters 0.047819965741028 Centerline is valid? [True, True] Translation: X:410.18, Y:-283.60, Z:-4.87 [[-4.93968281e-01 8.69463497e-01 5.34456822e-03 4.10183466e+02] [ 8.69408674e-01 4.93997162e-01 -9.76535684e-03 -2.83598400e+02] [-1.11308228e-02 -1.77162565e-04 -9.99938035e-01 -4.87356104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.7265599950001 meters 0.04788794497000336 Centerline is valid? [True, True] Translation: X:410.24, Y:-283.53, Z:-4.87 [[-5.57176352e-01 8.30374379e-01 5.73616225e-03 4.10240048e+02] [ 8.30328043e-01 5.57205864e-01 -8.77304578e-03 -2.83529359e+02] [-1.04811357e-02 -1.25237269e-04 -9.99945064e-01 -4.87420760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.786559995 meters 0.04702101463247775 Centerline is valid? [True, True] Translation: X:410.29, Y:-283.46, Z:-4.88 [[-6.15040449e-01 7.88474246e-01 5.79742400e-03 4.10286887e+02] [ 7.88438479e-01 6.15067770e-01 -7.51024599e-03 -2.83461311e+02] [-9.48744419e-03 -4.81929066e-05 -9.99954992e-01 -4.87771465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.846559995 meters 0.04714010594523997 Centerline is valid? [True, True] Translation: X:410.33, Y:-283.39, Z:-4.87 [[-6.72009484e-01 7.40515082e-01 6.37709126e-03 4.10331129e+02] [ 7.40481577e-01 6.72039741e-01 -7.04423679e-03 -2.83387157e+02] [-9.50202234e-03 -1.16753375e-05 -9.99954855e-01 -4.87401959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.906559995 meters 0.047824786658261974 Centerline is valid? [True, True] Translation: X:410.37, Y:-283.31, Z:-4.87 [[-7.27035657e-01 6.86555951e-01 7.75107930e-03 4.10367731e+02] [ 6.86516936e-01 7.27076974e-01 -7.31920193e-03 -2.83311181e+02] [-1.06606729e-02 -7.35785936e-08 -9.99943173e-01 -4.87281628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.9665599950001 meters 0.04813914689401761 Centerline is valid? [True, True] Translation: X:410.46, Y:-283.29, Z:-4.87 [[-7.73367799e-01 6.33870057e-01 1.05355586e-02 4.10456266e+02] [ 6.33811452e-01 7.73439558e-01 -8.61935763e-03 -2.83285175e+02] [-1.36121705e-02 1.16240665e-05 -9.99907350e-01 -4.87091888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.026559995 meters 0.04848788366979072 Centerline is valid? [True, True] Translation: X:410.43, Y:-283.17, Z:-4.87 [[-8.15210717e-01 5.79023741e-01 1.27669107e-02 4.10429670e+02] [ 5.78953584e-01 8.15310681e-01 -9.01341397e-03 -2.83168065e+02] [-1.56279793e-02 4.36170425e-05 -9.99877875e-01 -4.86828341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.086559995 meters 0.048192160326090736 Centerline is valid? [True, True] Translation: X:410.43, Y:-283.08, Z:-4.87 [[-8.53627201e-01 5.20726776e-01 1.28151146e-02 4.10434486e+02] [ 5.20669146e-01 8.53723387e-01 -7.74715206e-03 -2.83077823e+02] [-1.49747126e-02 5.92550475e-05 -9.99887871e-01 -4.87061117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.146559995 meters 0.04826731057434715 Centerline is valid? [True, True] Translation: X:410.79, Y:-283.18, Z:-4.88 [[-8.89496912e-01 4.56770100e-01 1.25027758e-02 4.10793689e+02] [ 4.56726005e-01 8.89584775e-01 -6.34702427e-03 -2.83178006e+02] [-1.40214099e-02 6.46843617e-05 -9.99901693e-01 -4.87573365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.2065599950001 meters 0.0487088992312339 Centerline is valid? [True, True] Translation: X:410.76, Y:-283.06, Z:-4.88 [[-9.20158544e-01 3.91398803e-01 1.07346125e-02 4.10763513e+02] [ 3.91372669e-01 9.20221156e-01 -4.52308506e-03 -2.83062184e+02] [-1.16485476e-02 3.92785789e-05 -9.99932153e-01 -4.87644497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.266559995 meters 0.04796441960597703 Centerline is valid? [True, True] Translation: X:410.07, Y:-282.71, Z:-4.87 [[-9.46173758e-01 3.23476048e-01 1.08841871e-02 4.10066176e+02] [ 3.23454839e-01 9.46236358e-01 -3.70419432e-03 -2.82708706e+02] [-1.14972317e-02 1.57315252e-05 -9.99933905e-01 -4.87427853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.326559995 meters 0.048157950514292155 Centerline is valid? [True, True] Translation: X:410.17, Y:-282.66, Z:-4.87 [[-9.67863281e-01 2.51235838e-01 1.10101535e-02 4.10174038e+02] [ 2.51219207e-01 9.67925902e-01 -2.89094369e-03 -2.82660630e+02] [-1.13833214e-02 -3.20762106e-05 -9.99935207e-01 -4.87492755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.386559995 meters 0.04798041533196104 Centerline is valid? [True, True] Translation: X:410.30, Y:-282.10, Z:-5.93 [[-9.44374942e-01 -3.28759400e-01 8.55716631e-03 4.10300166e+02] [ 3.28744548e-01 -9.44413700e-01 -3.12809921e-03 -2.82096697e+02] [ 9.10989712e-03 -1.40976731e-04 9.99958494e-01 -5.93354224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.4465599950001 meters 0.048287322777872455 Centerline is valid? [True, True] Translation: X:410.04, Y:-282.62, Z:-4.88 [[-9.72054438e-01 2.34649857e-01 7.04373036e-03 4.10035376e+02] [ 2.34642823e-01 9.72079951e-01 -1.82076004e-03 -2.82615812e+02] [-7.27431014e-03 -1.17117100e-04 -9.99973535e-01 -4.87618273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.506559995 meters 0.04785019097955975 Centerline is valid? [True, True] Translation: X:410.46, Y:-282.63, Z:-4.88 [[-9.87568620e-01 1.57020182e-01 7.27208618e-03 4.10455010e+02] [ 1.57014826e-01 9.87595383e-01 -1.30518240e-03 -2.82626024e+02] [-7.38681872e-03 -1.47131840e-04 -9.99972706e-01 -4.87860996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.566559995 meters 0.04775578436437115 Centerline is valid? [True, True] Translation: X:409.89, Y:-282.46, Z:-4.88 [[-9.96456165e-01 8.37494483e-02 7.81931442e-03 4.09888233e+02] [ 8.37454477e-02 9.96486828e-01 -8.38227306e-04 -2.82455884e+02] [-7.86204489e-03 -1.80424780e-04 -9.99969077e-01 -4.87610492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.626559995 meters 0.04809331111974329 Centerline is valid? [True, True] Translation: X:409.84, Y:-282.37, Z:-4.87 [[-9.99874837e-01 1.30951622e-02 8.87841844e-03 4.09842339e+02] [ 1.30928659e-02 9.99914235e-01 -3.16715827e-04 -2.82374365e+02] [-8.88180442e-03 -2.00432244e-04 -9.99960536e-01 -4.87438819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.6865599950002 meters 0.048387893353045386 Centerline is valid? [True, True] Translation: X:409.75, Y:-281.80, Z:-5.93 [[-9.92695855e-01 -1.20267212e-01 9.52559310e-03 4.09748031e+02] [ 1.20264152e-01 -9.92741523e-01 -8.95395703e-04 -2.81803832e+02] [ 9.56413855e-03 2.56731777e-04 9.99954230e-01 -5.93430274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.746559995 meters 0.04797682723410932 Centerline is valid? [True, True] Translation: X:409.61, Y:-282.37, Z:-4.87 [[-9.99763846e-01 1.94891527e-02 9.61379791e-03 4.09612834e+02] [ 1.94871015e-02 9.99810061e-01 -3.06996533e-04 -2.82374904e+02] [-9.61795498e-03 -1.19578980e-04 -9.99953739e-01 -4.87465892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.806559995 meters 0.047537810826630646 Centerline is valid? [True, True] Translation: X:409.50, Y:-282.30, Z:-4.87 [[-9.98744657e-01 -4.91648696e-02 9.58777524e-03 4.09502870e+02] [-4.91635268e-02 9.98790672e-01 3.75842519e-04 -2.82302696e+02] [-9.59465872e-03 -9.59981371e-05 -9.99953966e-01 -4.87454664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.866559995 meters 0.04797785523918914 Centerline is valid? [True, True] Translation: X:409.38, Y:-281.71, Z:-5.93 [[-9.99476265e-01 -3.09278734e-02 9.52168545e-03 4.09382680e+02] [ 3.09273385e-02 -9.99521615e-01 -2.03444006e-04 -2.81713503e+02] [ 9.52342250e-03 9.11429337e-05 9.99954647e-01 -5.93317172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.926559995 meters 0.048137286611932895 Centerline is valid? [True, True] Translation: X:409.40, Y:-282.32, Z:-4.87 [[-9.99031338e-01 -4.27133479e-02 1.05809476e-02 4.09404468e+02] [-4.27107943e-02 9.99087368e-01 4.67291449e-04 -2.82318601e+02] [-1.05912507e-02 1.49181236e-05 -9.99943911e-01 -4.87358953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.986559995 meters 0.04828202950249648 Centerline is valid? [True, True] Translation: X:409.65, Y:-282.22, Z:-4.88 [[-9.93528270e-01 -1.12987057e-01 1.16405407e-02 4.09651394e+02] [-1.12978466e-01 9.93596457e-01 1.39514014e-03 -2.82218877e+02] [-1.17236328e-02 7.09807394e-05 -9.99931273e-01 -4.87839534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.046559995 meters 0.04878260769796657 Centerline is valid? [True, True] Translation: X:409.53, Y:-281.63, Z:-5.93 [[-9.98141283e-01 5.96340266e-02 1.25603186e-02 4.09531198e+02] [-5.96295648e-02 -9.98220308e-01 7.29756955e-04 -2.81629226e+02] [ 1.25814834e-02 -2.05657883e-05 9.99920850e-01 -5.93233020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.106559995 meters 0.048704628292916795 Centerline is valid? [True, True] Translation: X:408.90, Y:-282.30, Z:-4.87 [[-9.93226390e-01 -1.15486113e-01 1.28178339e-02 4.08903130e+02] [-1.15475342e-01 9.93309091e-01 1.57980692e-03 -2.82302992e+02] [-1.29145167e-02 8.89621696e-05 -9.99916600e-01 -4.87298428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.166559995 meters 0.04865835357566924 Centerline is valid? [True, True] Translation: X:408.69, Y:-282.26, Z:-4.88 [[-9.81740026e-01 -1.89893074e-01 1.12756863e-02 4.08694726e+02] [-1.89880197e-01 9.81804777e-01 2.21160635e-03 -2.82258894e+02] [-1.14904914e-02 3.01929445e-05 -9.99933982e-01 -4.87741073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.2265599950001 meters 0.04854406404559639 Centerline is valid? [True, True] Translation: X:408.69, Y:-282.18, Z:-4.88 [[-9.64311589e-01 -2.64577005e-01 1.01078087e-02 4.08692882e+02] [-2.64562634e-01 9.64364562e-01 2.75766574e-03 -2.82180250e+02] [-1.04772275e-02 -1.48994654e-05 -9.99945112e-01 -4.87785701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.286559995 meters 0.0483262021465141 Centerline is valid? [True, True] Translation: X:408.40, Y:-281.63, Z:-5.93 [[-9.81667823e-01 1.90442873e-01 7.73288847e-03 4.08397435e+02] [-1.90438389e-01 -9.81698264e-01 1.31882736e-03 -2.81630425e+02] [ 7.84252445e-03 -1.77988439e-04 9.99969231e-01 -5.92696643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.346559995 meters 0.04799005522347987 Centerline is valid? [True, True] Translation: X:408.48, Y:-282.23, Z:-4.88 [[-9.60394006e-01 -2.78586231e-01 5.75022774e-03 4.08477095e+02] [-2.78581643e-01 9.60411218e-01 1.60021974e-03 -2.82228806e+02] [-5.96838241e-03 -6.50664421e-05 -9.99982187e-01 -4.88191759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.406559995 meters 0.04784252659406565 Centerline is valid? [True, True] Translation: X:408.90, Y:-282.00, Z:-4.88 [[-9.35124200e-01 -3.54297412e-01 4.00920711e-03 4.08902330e+02] [-3.54294432e-01 9.35132793e-01 1.45440399e-03 -2.82004457e+02] [-4.26443261e-03 -6.03913814e-05 -9.99990905e-01 -4.88436684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.4665599950001 meters 0.04797638339703001 Centerline is valid? [True, True] Translation: X:408.60, Y:-281.50, Z:-5.92 [[-9.65202236e-01 2.61476690e-01 3.81884463e-03 4.08604660e+02] [-2.61474496e-01 -9.65209790e-01 1.07158035e-03 -2.81504896e+02] [ 3.96617951e-03 3.57612723e-05 9.99992134e-01 -5.92407394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.526559995 meters 0.04835327504883621 Centerline is valid? [True, True] Translation: X:408.62, Y:-282.10, Z:-4.88 [[-9.32823103e-01 -3.60312413e-01 4.00291808e-03 4.08618009e+02] [-3.60309422e-01 9.32831689e-01 1.46967123e-03 -2.82100860e+02] [-4.26358962e-03 -7.13458224e-05 -9.99990908e-01 -4.88388307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.586559995 meters 0.048378126811664084 Centerline is valid? [True, True] Translation: X:408.44, Y:-282.07, Z:-4.88 [[-9.04513796e-01 -4.26398733e-01 6.23808090e-03 4.08438874e+02] [-4.26389501e-01 9.04535298e-01 2.80849185e-03 -2.82070249e+02] [-6.84010174e-03 -1.19532580e-04 -9.99976599e-01 -4.88154242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.646559995 meters 0.04826843764289747 Centerline is valid? [True, True] Translation: X:408.31, Y:-282.04, Z:-4.88 [[-8.72295341e-01 -4.88929716e-01 6.96923624e-03 4.08314562e+02] [-4.88915271e-01 8.72323172e-01 3.76049196e-03 -2.82036851e+02] [-7.91804253e-03 -1.27106410e-04 -9.99968644e-01 -4.88301065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.7065599950001 meters 0.0483469843956084 Centerline is valid? [True, True] Translation: X:408.14, Y:-282.03, Z:-4.88 [[-8.37901106e-01 -5.45766427e-01 7.79385451e-03 4.08144344e+02] [-5.45743946e-01 8.37937346e-01 4.95467707e-03 -2.82029660e+02] [-9.23485817e-03 -1.01919513e-04 -9.99957353e-01 -4.88015481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.766559995 meters 0.048569855494282575 Centerline is valid? [True, True] Translation: X:407.97, Y:-282.05, Z:-4.88 [[-8.00983156e-01 -5.98625048e-01 8.60443062e-03 4.07972474e+02] [-5.98591051e-01 8.01029369e-01 6.37991981e-03 -2.82046270e+02] [-1.07115814e-02 -4.03268689e-05 -9.99942629e-01 -4.88013660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.826559995 meters 0.04937829570126556 Centerline is valid? [True, True] Translation: X:407.79, Y:-282.09, Z:-4.88 [[-7.58302577e-01 -6.51843470e-01 8.79161398e-03 4.07788247e+02] [-6.51799680e-01 7.58353539e-01 7.55554971e-03 -2.82085750e+02] [-1.15921873e-02 -9.78369376e-07 -9.99932808e-01 -4.87966623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.886559995 meters 0.04959489193047839 Centerline is valid? [True, True] Translation: X:407.59, Y:-282.15, Z:-4.88 [[-7.10773552e-01 -7.03379980e-01 7.58698926e-03 4.07591866e+02] [-7.03339630e-01 7.10814043e-01 7.53398332e-03 -2.82154653e+02] [-1.06921915e-02 1.87258623e-05 -9.99942837e-01 -4.88211069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.9465599950001 meters 0.049225295587703194 Centerline is valid? [True, True] Translation: X:407.40, Y:-282.24, Z:-4.88 [[-6.56953123e-01 -7.53896683e-01 7.23785597e-03 4.07395355e+02] [-7.53850894e-01 6.56992992e-01 8.30890074e-03 -2.82243732e+02] [-1.10192734e-02 2.29409261e-06 -9.99939286e-01 -4.88183119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.006559995 meters 0.04884617093033201 Centerline is valid? [True, True] Translation: X:407.21, Y:-282.34, Z:-4.88 [[-5.98475827e-01 -8.01109821e-01 7.05259309e-03 4.07211171e+02] [-8.01054765e-01 5.98517380e-01 9.39199267e-03 -2.82340082e+02] [-1.17451171e-02 -2.86327159e-05 -9.99931023e-01 -4.88116340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.066559995 meters 0.048324346667450835 Centerline is valid? [True, True] Translation: X:407.03, Y:-282.47, Z:-4.88 [[-5.35302341e-01 -8.44639044e-01 6.02414631e-03 4.07026733e+02] [-8.44587083e-01 5.35336232e-01 9.36905320e-03 -2.82465328e+02] [-1.11384119e-02 -7.26400466e-05 -9.99937963e-01 -4.88186816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.126559995 meters 0.048254697334274385 Centerline is valid? [True, True] Translation: X:406.97, Y:-282.41, Z:-4.88 [[-4.67749042e-01 -8.83848966e-01 4.67324882e-03 4.06966040e+02] [-8.83806890e-01 4.67772377e-01 8.62467535e-03 -2.82405426e+02] [-9.80892710e-03 -9.60658737e-05 -9.99951887e-01 -4.88464605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.1865599950002 meters 0.04843878563333642 Centerline is valid? [True, True] Translation: X:406.56, Y:-283.02, Z:-4.88 [[-3.99600658e-01 -9.16679773e-01 4.18416898e-03 4.06559844e+02] [-9.16633305e-01 3.99622537e-01 9.23102286e-03 -2.83018537e+02] [-1.01339802e-02 -1.46625828e-04 -9.99948639e-01 -4.88037461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.246559995 meters 0.04823679531551404 Centerline is valid? [True, True] Translation: X:406.39, Y:-283.23, Z:-4.88 [[-3.29817828e-01 -9.44037653e-01 3.62080881e-03 4.06389820e+02] [-9.43986337e-01 3.29837658e-01 9.84449420e-03 -2.83229685e+02] [-1.04878523e-02 -1.71104347e-04 -9.99944986e-01 -4.88113413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.306559995 meters 0.04881565384526776 Centerline is valid? [True, True] Translation: X:406.24, Y:-283.44, Z:-4.88 [[-2.59617783e-01 -9.65707360e-01 2.81108374e-03 4.06240928e+02] [-9.65657553e-01 2.59632947e-01 9.80930583e-03 -2.83440624e+02] [-1.02027688e-02 -1.67874023e-04 -9.99947936e-01 -4.88115430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.366559995 meters 0.048818211194584994 Centerline is valid? [True, True] Translation: X:406.13, Y:-283.60, Z:-4.88 [[-1.89047998e-01 -9.81965877e-01 1.96732243e-03 4.06125372e+02] [-9.81920340e-01 1.89058179e-01 9.45788914e-03 -2.83595696e+02] [-9.65926281e-03 -1.43758906e-04 -9.99953338e-01 -4.88087228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.426559995 meters 0.049258141336951444 Centerline is valid? [True, True] Translation: X:406.01, Y:-283.85, Z:-4.88 [[-1.20688916e-01 -9.92689794e-01 1.07605013e-03 4.06005975e+02] [-9.92656523e-01 1.20693681e-01 8.12792533e-03 -2.83853517e+02] [-8.19838098e-03 -8.71976855e-05 -9.99966389e-01 -4.88012368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.486559995 meters 0.048155869530507996 Centerline is valid? [True, True] Translation: X:405.92, Y:-284.04, Z:-4.88 [[-5.00159958e-02 -9.98748319e-01 4.41402550e-04 4.05917955e+02] [-9.98718888e-01 5.00179107e-02 7.66758985e-03 -2.84038468e+02] [-7.68007051e-03 -5.73349218e-05 -9.99970506e-01 -4.88134066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.546559995 meters 0.04815069322320999 Centerline is valid? [True, True] Translation: X:405.84, Y:-284.32, Z:-4.88 [[ 2.09445097e-02 -9.99780631e-01 -1.33068044e-04 4.05841197e+02] [-9.99747100e-01 -2.09448971e-02 8.18827648e-03 -2.84315373e+02] [-8.18926732e-03 -3.84650449e-05 -9.99966467e-01 -4.88142339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.606559995 meters 0.048241577968085377 Centerline is valid? [True, True] Translation: X:405.73, Y:-283.79, Z:-4.88 [[ 9.77246099e-02 -9.95212997e-01 -9.95987903e-04 4.05730523e+02] [-9.95154931e-01 -9.77296671e-02 1.07506522e-02 -2.83785647e+02] [-1.07965263e-02 -5.94410194e-05 -9.99941714e-01 -4.88302045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.666559995 meters 0.04771227244427728 Centerline is valid? [True, True] Translation: X:405.18, Y:-284.70, Z:-5.93 [[ 1.69683039e-02 9.99855978e-01 -3.15898301e-04 4.05179505e+02] [-9.99788715e-01 1.69708267e-02 1.15980968e-02 -2.84699422e+02] [ 1.16017875e-02 1.19031525e-04 9.99932690e-01 -5.93019326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.7265599950001 meters 0.047850111362775644 Centerline is valid? [True, True] Translation: X:405.79, Y:-284.72, Z:-4.88 [[ 1.10644774e-01 -9.93859323e-01 -1.17461466e-03 4.05793387e+02] [-9.93790113e-01 -1.10650932e-01 1.17295776e-02 -2.84716819e+02] [-1.17875222e-02 -1.30496027e-04 -9.99930516e-01 -4.88137030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.786559995 meters 0.04852289721871813 Centerline is valid? [True, True] Translation: X:405.75, Y:-285.04, Z:-4.88 [[ 1.84597583e-01 -9.82812300e-01 -1.92755046e-03 4.05754178e+02] [-9.82750674e-01 -1.84607595e-01 1.10067417e-02 -2.85035519e+02] [-1.11734015e-02 -1.37516396e-04 -9.99937566e-01 -4.87989192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.846559995 meters 0.04864412325754748 Centerline is valid? [True, True] Translation: X:405.74, Y:-285.33, Z:-4.88 [[ 2.56874755e-01 -9.66441542e-01 -2.47104935e-03 4.05739478e+02] [-9.66391907e-01 -2.56886608e-01 9.79552139e-03 -2.85329687e+02] [-1.01015783e-02 -1.28220059e-04 -9.99948970e-01 -4.88237438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.906559995 meters 0.04874452605295619 Centerline is valid? [True, True] Translation: X:405.72, Y:-285.54, Z:-4.88 [[ 3.28676859e-01 -9.44438560e-01 -2.70723763e-03 4.05717355e+02] [-9.44403499e-01 -3.28687987e-01 8.13870934e-03 -2.85543291e+02] [-8.57634741e-03 -1.18280736e-04 -9.99963216e-01 -4.88125335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.9665599950001 meters 0.048462648481602436 Centerline is valid? [True, True] Translation: X:405.70, Y:-285.71, Z:-4.88 [[ 3.98303301e-01 -9.17248580e-01 -3.08601370e-03 4.05695688e+02] [-9.17218758e-01 -3.98315239e-01 7.39734535e-03 -2.85710581e+02] [-8.01441080e-03 -1.15837414e-04 -9.99967877e-01 -4.88123293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.026559995 meters 0.04928255501871544 Centerline is valid? [True, True] Translation: X:405.72, Y:-285.95, Z:-4.88 [[ 4.65061759e-01 -8.85270489e-01 -3.70430115e-03 4.05718100e+02] [-8.85240306e-01 -4.65076496e-01 7.31124487e-03 -2.85949058e+02] [-8.19521272e-03 -1.20983717e-04 -9.99966411e-01 -4.87977835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.086559995 meters 0.04842218811966809 Centerline is valid? [True, True] Translation: X:405.76, Y:-286.17, Z:-4.88 [[ 5.27958520e-01 -8.49255789e-01 -4.94014080e-03 4.05762178e+02] [-8.49216299e-01 -5.27981617e-01 8.19080731e-03 -2.86174205e+02] [-9.56439405e-03 -1.29158423e-04 -9.99954252e-01 -4.88177072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.146559995 meters 0.04929106831457288 Centerline is valid? [True, True] Translation: X:405.83, Y:-286.41, Z:-4.88 [[ 5.87632850e-01 -8.09103656e-01 -6.23758337e-03 4.05828154e+02] [-8.09055753e-01 -5.87665940e-01 8.80516495e-03 -2.86412856e+02] [-1.07899064e-02 -1.27651462e-04 -9.99941779e-01 -4.88069217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.2065599950001 meters 0.0484455111045341 Centerline is valid? [True, True] Translation: X:405.90, Y:-286.63, Z:-4.88 [[ 6.43667675e-01 -7.65266416e-01 -7.69660320e-03 4.05902685e+02] [-7.65209589e-01 -6.43713679e-01 9.32655073e-03 -2.86633232e+02] [-1.20917048e-02 -1.13684655e-04 -9.99926886e-01 -4.88003527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.266559995 meters 0.04840023988038801 Centerline is valid? [True, True] Translation: X:405.96, Y:-286.81, Z:-4.88 [[ 6.97635074e-01 -7.16398955e-01 -8.82274133e-03 4.05957842e+02] [-7.16339660e-01 -6.97690852e-01 9.21769969e-03 -2.86809501e+02] [-1.27590963e-02 -1.10511077e-04 -9.99918593e-01 -4.87879005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.326559995 meters 0.04854009759523177 Centerline is valid? [True, True] Translation: X:406.06, Y:-287.01, Z:-4.88 [[ 7.47986595e-01 -6.63644730e-01 -9.57736528e-03 4.06056028e+02] [-6.63588502e-01 -7.48047900e-01 8.63940021e-03 -2.87008607e+02] [-1.28978204e-02 -1.06726069e-04 -9.99916814e-01 -4.87905710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.386559995 meters 0.048228566412100514 Centerline is valid? [True, True] Translation: X:406.03, Y:-287.09, Z:-4.88 [[ 7.97449151e-01 -6.03330102e-01 -8.22435278e-03 4.06032935e+02] [-6.03296938e-01 -7.97491556e-01 6.32640217e-03 -2.87091252e+02] [-1.03757608e-02 -8.32571861e-05 -9.99946167e-01 -4.88016284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.4465599950001 meters 0.047689751647209996 Centerline is valid? [True, True] Translation: X:406.02, Y:-287.17, Z:-4.88 [[ 8.42104998e-01 -5.39265923e-01 -7.17189462e-03 4.06016817e+02] [-5.39245682e-01 -8.42135535e-01 4.67275894e-03 -2.87172700e+02] [-8.55956698e-03 -6.75404595e-05 -9.99963364e-01 -4.88134246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.506559995 meters 0.048468239266123224 Centerline is valid? [True, True] Translation: X:406.01, Y:-287.26, Z:-4.88 [[ 8.82010356e-01 -4.71185511e-01 -6.47653351e-03 4.06006570e+02] [-4.71172281e-01 -8.82034132e-01 3.53149913e-03 -2.87258759e+02] [-7.37651483e-03 -6.32557410e-05 -9.99972791e-01 -4.88181015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.566559995 meters 0.04780415938739408 Centerline is valid? [True, True] Translation: X:406.00, Y:-287.35, Z:-4.88 [[ 9.16719169e-01 -3.99414389e-01 -9.70106068e-03 4.06002558e+02] [-3.99390782e-01 -9.16770491e-01 4.34386214e-03 -2.87345471e+02] [-1.06286472e-02 -1.07587476e-04 -9.99943509e-01 -4.87844974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.626559995 meters 0.04801517424312709 Centerline is valid? [True, True] Translation: X:406.01, Y:-287.43, Z:-4.88 [[ 9.45343819e-01 -3.25909499e-01 -1.03952735e-02 4.06006303e+02] [-3.25888410e-01 -9.45400965e-01 3.70946949e-03 -2.87431333e+02] [-1.10366530e-02 -1.19024892e-04 -9.99939087e-01 -4.87885253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.6865599950002 meters 0.048734402795951814 Centerline is valid? [True, True] Translation: X:406.02, Y:-287.52, Z:-4.88 [[ 9.68582503e-01 -2.48338401e-01 -1.32654764e-02 4.06015147e+02] [-2.48312472e-01 -9.68673322e-01 3.59335538e-03 -2.87518955e+02] [-1.37422812e-02 -1.86477906e-04 -9.99905553e-01 -4.87600575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.746559995 meters 0.048574164337634756 Centerline is valid? [True, True] Translation: X:406.03, Y:-287.61, Z:-4.87 [[ 9.85463661e-01 -1.69268509e-01 -1.44756527e-02 4.06031079e+02] [-1.69246686e-01 -9.85569944e-01 2.72842335e-03 -2.87605428e+02] [-1.47286044e-02 -2.38805820e-04 -9.99891500e-01 -4.87401690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.806559995 meters 0.047982437223606074 Centerline is valid? [True, True] Translation: X:406.06, Y:-287.69, Z:-4.88 [[ 9.95696276e-01 -9.17096975e-02 -1.33513364e-02 4.06055090e+02] [-9.16985199e-02 -9.95785762e-01 1.44826725e-03 -2.87687701e+02] [-1.34278909e-02 -2.17736516e-04 -9.99909818e-01 -4.87739869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.866559995 meters 0.048217381080458345 Centerline is valid? [True, True] Translation: X:406.09, Y:-287.77, Z:-4.88 [[ 9.99814205e-01 -1.63432838e-02 -1.02202433e-02 4.06085159e+02] [-1.63410242e-02 -9.99866430e-01 3.04566765e-04 -2.87767680e+02] [-1.02238558e-02 -1.37500936e-04 -9.99947726e-01 -4.88077895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.926559995 meters 0.04833479410780698 Centerline is valid? [True, True] Translation: X:406.11, Y:-287.84, Z:-4.88 [[ 9.98197669e-01 5.95187407e-02 -7.67677023e-03 4.06114644e+02] [ 5.95176314e-02 -9.98227185e-01 -3.73076986e-04 -2.87844883e+02] [-7.68536581e-03 -8.44986028e-05 -9.99970464e-01 -4.88085809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.986559995 meters 0.048752775959505876 Centerline is valid? [True, True] Translation: X:406.15, Y:-287.91, Z:-4.88 [[ 9.90961713e-01 1.34028709e-01 -5.58475457e-03 4.06149848e+02] [ 1.34026821e-01 -9.90977449e-01 -7.12593935e-04 -2.87913681e+02] [-5.62987388e-03 -4.23535978e-05 -9.99984151e-01 -4.88313187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.046559995 meters 0.0482344366659204 Centerline is valid? [True, True] Translation: X:406.19, Y:-287.98, Z:-4.88 [[ 9.77600340e-01 2.10387587e-01 -5.88548890e-03 4.06191101e+02] [ 2.10384025e-01 -9.77618055e-01 -1.22500524e-03 -2.87976966e+02] [-6.01148611e-03 -4.06473021e-05 -9.99981930e-01 -4.88007254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.106559995 meters 0.04865507964172447 Centerline is valid? [True, True] Translation: X:406.24, Y:-288.04, Z:-4.88 [[ 9.57854578e-01 2.87144968e-01 -7.89775702e-03 4.06238509e+02] [ 2.87135756e-01 -9.57887135e-01 -2.30095578e-03 -2.88041302e+02] [-8.22586772e-03 -6.37473986e-05 -9.99966165e-01 -4.88049166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.166559995 meters 0.04849789570148609 Centerline is valid? [True, True] Translation: X:406.29, Y:-288.11, Z:-4.88 [[ 9.31669589e-01 3.63166151e-01 -1.01056202e-02 4.06291480e+02] [ 3.63146029e-01 -9.31724388e-01 -3.82440342e-03 -2.88106497e+02] [-1.08045466e-02 -1.06735480e-04 -9.99941624e-01 -4.88032040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.2265599950001 meters 0.049158357233738396 Centerline is valid? [True, True] Translation: X:406.35, Y:-288.17, Z:-4.88 [[ 9.00058281e-01 4.35662894e-01 -9.64020506e-03 4.06352732e+02] [ 4.35639257e-01 -9.00109899e-01 -4.53956019e-03 -2.88174169e+02] [-1.06549619e-02 -1.13783031e-04 -9.99943228e-01 -4.87962383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.286559995 meters 0.04875895221525232 Centerline is valid? [True, True] Translation: X:406.42, Y:-288.23, Z:-4.88 [[ 8.63599037e-01 5.04114675e-01 -8.06837138e-03 4.06417581e+02] [ 5.04093669e-01 -8.63636721e-01 -4.60293776e-03 -2.88234256e+02] [-9.28855028e-03 -9.21223158e-05 -9.99956856e-01 -4.88032364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.346559995 meters 0.04803166325881739 Centerline is valid? [True, True] Translation: X:406.49, Y:-288.29, Z:-4.88 [[ 8.22008689e-01 5.69427644e-01 -7.33984813e-03 4.06487165e+02] [ 5.69405814e-01 -8.22041454e-01 -4.98672034e-03 -2.88287914e+02] [-8.87323584e-03 -8.02247548e-05 -9.99960629e-01 -4.88129957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.406559995 meters 0.04812575198913569 Centerline is valid? [True, True] Translation: X:406.56, Y:-288.34, Z:-4.88 [[ 7.74981079e-01 6.31949794e-01 -6.61711376e-03 4.06560364e+02] [ 6.31927596e-01 -7.75009324e-01 -5.29726820e-03 -2.88337326e+02] [-8.47593241e-03 -7.62541605e-05 -9.99964076e-01 -4.88006811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.4665599950001 meters 0.048668755467408606 Centerline is valid? [True, True] Translation: X:406.63, Y:-288.38, Z:-4.88 [[ 7.22061997e-01 6.91803304e-01 -5.88741060e-03 4.06633472e+02] [ 6.91781271e-01 -7.22085993e-01 -5.52191785e-03 -2.88375655e+02] [-8.07129774e-03 -8.56333613e-05 -9.99967423e-01 -4.87968242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.526559995 meters 0.04827117103345247 Centerline is valid? [True, True] Translation: X:406.71, Y:-288.41, Z:-4.88 [[ 6.62790039e-01 7.48779390e-01 -6.22811098e-03 4.06711644e+02] [ 7.48748225e-01 -6.62819286e-01 -6.83290368e-03 -2.88409639e+02] [-9.24444953e-03 -1.34506547e-04 -9.99957260e-01 -4.87995374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.586559995 meters 0.04805546801358096 Centerline is valid? [True, True] Translation: X:406.80, Y:-288.44, Z:-4.88 [[ 5.99978421e-01 7.99988886e-01 -6.60886577e-03 4.06796856e+02] [ 7.99943740e-01 -6.00014790e-01 -8.50092561e-03 -2.88443678e+02] [-1.07660632e-02 -1.86348881e-04 -9.99942027e-01 -4.87832273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.646559995 meters 0.04907946217326303 Centerline is valid? [True, True] Translation: X:406.88, Y:-288.47, Z:-4.88 [[ 5.33552739e-01 8.45741660e-01 -6.52066867e-03 4.06880432e+02] [ 8.45683772e-01 -5.33592532e-01 -9.89791073e-03 -2.88467236e+02] [-1.18504556e-02 -2.33366292e-04 -9.99929754e-01 -4.87611506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.7065599950001 meters 0.04880095806663546 Centerline is valid? [True, True] Translation: X:406.96, Y:-288.48, Z:-4.88 [[ 4.64114357e-01 8.85756012e-01 -5.84380477e-03 4.06962217e+02] [ 8.85692731e-01 -4.64151074e-01 -1.05908785e-02 -2.88481399e+02] [-1.20933426e-02 -2.60436636e-04 -9.99926839e-01 -4.87784669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.766559995 meters 0.048838992433591404 Centerline is valid? [True, True] Translation: X:407.04, Y:-288.49, Z:-4.88 [[ 3.93748271e-01 9.19206504e-01 -4.65858516e-03 4.07044603e+02] [ 9.19149172e-01 -3.93775756e-01 -1.02690765e-02 -2.88489945e+02] [-1.12738398e-02 -2.38503577e-04 -9.99936420e-01 -4.87771362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.826559995 meters 0.047936201062505776 Centerline is valid? [True, True] Translation: X:407.13, Y:-288.49, Z:-4.88 [[ 3.23520704e-01 9.46215064e-01 -3.37756744e-03 4.07128342e+02] [ 9.46169148e-01 -3.23538284e-01 -9.32324164e-03 -2.88491246e+02] [-9.91456405e-03 -1.79488411e-04 -9.99950833e-01 -4.88023471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.886559995 meters 0.04845332373726188 Centerline is valid? [True, True] Translation: X:407.22, Y:-288.49, Z:-4.88 [[ 2.49254105e-01 9.68434747e-01 -2.55567706e-03 4.07216651e+02] [ 9.68390474e-01 -2.49267151e-01 -9.26164382e-03 -2.88487837e+02] [-9.60634403e-03 -1.66390579e-04 -9.99953844e-01 -4.88099702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.9465599950001 meters 0.04811235159939716 Centerline is valid? [True, True] Translation: X:407.31, Y:-288.48, Z:-4.88 [[ 1.74503836e-01 9.84654729e-01 -1.86450131e-03 4.07305460e+02] [ 9.84607480e-01 -1.74513730e-01 -9.64722032e-03 -2.88477877e+02] [-9.82456219e-03 -1.52324974e-04 -9.99951726e-01 -4.88111102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.006559995 meters 0.04838640563223649 Centerline is valid? [True, True] Translation: X:407.39, Y:-288.46, Z:-4.88 [[ 9.81984545e-02 9.95165915e-01 -1.36560547e-03 4.07394976e+02] [ 9.95092688e-01 -9.82077967e-02 -1.20735928e-02 -2.88462131e+02] [-1.21493411e-02 -1.73295859e-04 -9.99926179e-01 -4.87843293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.066559995 meters 0.04869442365212365 Centerline is valid? [True, True] Translation: X:407.48, Y:-288.44, Z:-4.88 [[ 2.02697512e-02 9.99794433e-01 -4.79285244e-04 4.07478287e+02] [ 9.99696919e-01 -2.02744687e-02 -1.39648025e-02 -2.88439274e+02] [-1.39716491e-02 -1.96076909e-04 -9.99902373e-01 -4.87576483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.126559995 meters 0.04839183269602018 Centerline is valid? [True, True] Translation: X:407.56, Y:-288.41, Z:-4.88 [[-6.02538168e-02 9.98182892e-01 6.25869838e-04 4.07556476e+02] [ 9.98081699e-01 6.02566213e-02 -1.42148425e-02 -2.88408630e+02] [-1.42267254e-02 -2.31829283e-04 -9.99898768e-01 -4.87535984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.1865599950002 meters 0.05086252298864949 Centerline is valid? [True, True] Translation: X:407.64, Y:-288.37, Z:-4.87 [[-1.39310765e-01 9.90247135e-01 1.76732235e-03 4.07636857e+02] [ 9.90142820e-01 1.39321745e-01 -1.43752592e-02 -2.88372332e+02] [-1.44812857e-02 -2.52726818e-04 -9.99895109e-01 -4.87157121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.246559995 meters 0.04805900022063581 Centerline is valid? [True, True] Translation: X:407.71, Y:-288.33, Z:-4.88 [[-2.15540009e-01 9.76491737e-01 2.52838309e-03 4.07707739e+02] [ 9.76412639e-01 2.15554735e-01 -1.24304272e-02 -2.88330013e+02] [-1.26832144e-02 -2.10509185e-04 -9.99919543e-01 -4.87943233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.306559995 meters 0.04780238238755257 Centerline is valid? [True, True] Translation: X:407.78, Y:-288.28, Z:-4.88 [[-2.88935560e-01 9.57343012e-01 3.25561850e-03 4.07782679e+02] [ 9.57275566e-01 2.88953852e-01 -1.13649523e-02 -2.88281230e+02] [-1.18208812e-02 -1.67214808e-04 -9.99930117e-01 -4.88059417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.366559995 meters 0.04851768550525891 Centerline is valid? [True, True] Translation: X:407.85, Y:-288.23, Z:-4.88 [[-3.57607727e-01 9.33865902e-01 3.34523470e-03 4.07848933e+02] [ 9.33822923e-01 3.57623364e-01 -8.95978092e-03 -2.88228624e+02] [-9.56356798e-03 -8.02300440e-05 -9.99954265e-01 -4.88178322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.426559995 meters 0.04837910813712882 Centerline is valid? [True, True] Translation: X:407.91, Y:-288.17, Z:-4.88 [[-4.25682352e-01 9.04864687e-01 3.79918624e-03 4.07907051e+02] [ 9.04827877e-01 4.25699304e-01 -8.16186662e-03 -2.88172863e+02] [-9.00269582e-03 -3.67529582e-05 -9.99959474e-01 -4.88141667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.486559995 meters 0.049022189316231014 Centerline is valid? [True, True] Translation: X:407.96, Y:-288.12, Z:-4.88 [[-4.92249400e-01 8.70443358e-01 4.34608349e-03 4.07956225e+02] [ 8.70409318e-01 4.92268585e-01 -7.69800218e-03 -2.88115087e+02] [-8.84011524e-03 -6.46538138e-06 -9.99960925e-01 -4.88137610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.546559995 meters 0.04770464261481707 Centerline is valid? [True, True] Translation: X:408.00, Y:-288.06, Z:-4.88 [[-5.57069685e-01 8.30453845e-01 4.44716985e-03 4.08000418e+02] [ 8.30427544e-01 5.57087436e-01 -6.60924767e-03 -2.88055608e+02] [-7.96613759e-03 1.12408136e-05 -9.99968270e-01 -4.88139253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.606559995 meters 0.04863475727101648 Centerline is valid? [True, True] Translation: X:408.05, Y:-287.98, Z:-4.88 [[-6.19476573e-01 7.85005104e-01 3.97003369e-03 4.08048976e+02] [ 7.84989150e-01 6.19489294e-01 -5.00480169e-03 -2.87983870e+02] [-6.38818824e-03 1.60759744e-05 -9.99979595e-01 -4.88334969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.666559995 meters 0.048805128534932685 Centerline is valid? [True, True] Translation: X:408.09, Y:-287.91, Z:-4.89 [[-6.77659731e-01 7.35366874e-01 3.58466427e-03 4.08088080e+02] [ 7.35356765e-01 6.77669211e-01 -3.85596013e-03 -2.87913186e+02] [-5.26476195e-03 2.29782207e-05 -9.99986141e-01 -4.88542440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.7265599950001 meters 0.04848145856032225 Centerline is valid? [True, True] Translation: X:408.12, Y:-287.84, Z:-4.88 [[-7.32776461e-01 6.80461449e-01 3.29762276e-03 4.08118585e+02] [ 6.80454693e-01 7.32783881e-01 -3.03217918e-03 -2.87842256e+02] [-4.47972584e-03 2.19733523e-05 -9.99989966e-01 -4.88378109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.786559995 meters 0.04834714701938854 Centerline is valid? [True, True] Translation: X:408.11, Y:-287.74, Z:-4.88 [[-7.79538254e-01 6.26348264e-01 2.82164022e-03 4.08111021e+02] [ 6.26344230e-01 7.79543361e-01 -2.24821811e-03 -2.87735809e+02] [-3.60775841e-03 1.47460461e-05 -9.99993492e-01 -4.88468283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.846559995 meters 0.04809702754076668 Centerline is valid? [True, True] Translation: X:408.16, Y:-287.67, Z:-4.88 [[-8.24271731e-01 5.66182576e-01 3.66123938e-03 4.08157440e+02] [ 5.66176992e-01 8.24279862e-01 -2.51456915e-03 -2.87671578e+02] [-4.44159113e-03 2.21231666e-07 -9.99990136e-01 -4.88202879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.906559995 meters 0.048388457439480705 Centerline is valid? [True, True] Translation: X:408.65, Y:-287.88, Z:-4.88 [[-8.66237012e-01 4.99612488e-01 4.56070744e-03 4.08651290e+02] [ 4.99605447e-01 8.66249018e-01 -2.65254906e-03 -2.87882089e+02] [-5.27595498e-03 -1.91818915e-05 -9.99986082e-01 -4.88372393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.9665599950001 meters 0.048709449400343274 Centerline is valid? [True, True] Translation: X:408.30, Y:-286.96, Z:-5.93 [[-8.24844135e-01 -5.65342229e-01 4.50746795e-03 4.08299752e+02] [ 5.65333987e-01 -8.24856450e-01 -3.05292743e-03 -2.86963943e+02] [ 5.44396281e-03 3.00355391e-05 9.99985181e-01 -5.92630345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.026559995 meters 0.04870007460406475 Centerline is valid? [True, True] Translation: X:407.96, Y:-287.46, Z:-4.88 [[-8.70164559e-01 4.92727956e-01 5.72735602e-03 4.07961731e+02] [ 4.92716891e-01 8.70183405e-01 -3.30242324e-03 -2.87460726e+02] [-6.61104642e-03 -5.16866109e-05 -9.99978146e-01 -4.88204008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.086559995 meters 0.048921402648556975 Centerline is valid? [True, True] Translation: X:407.93, Y:-287.36, Z:-4.88 [[-9.02469981e-01 4.30714129e-01 5.76826784e-03 4.07932044e+02] [ 4.30705024e-01 9.02488414e-01 -2.80094935e-03 -2.87357168e+02] [-6.41220335e-03 -4.33507695e-05 -9.99979441e-01 -4.87939766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.146559995 meters 0.04806343146252342 Centerline is valid? [True, True] Translation: X:408.25, Y:-286.86, Z:-5.93 [[-8.65659718e-01 -5.00601608e-01 5.59309796e-03 4.08253276e+02] [ 5.00591494e-01 -8.65677785e-01 -3.18243663e-03 -2.86859063e+02] [ 6.43495355e-03 4.49500746e-05 9.99979295e-01 -5.92619935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.2065599950001 meters 0.04842639236690013 Centerline is valid? [True, True] Translation: X:408.08, Y:-286.85, Z:-5.93 [[-8.30315942e-01 -5.57260383e-01 6.02506838e-03 4.08077872e+02] [ 5.57245983e-01 -8.30337801e-01 -4.00635000e-03 -2.86845975e+02] [ 7.23542217e-03 3.09088808e-05 9.99973824e-01 -5.92589151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.266559995 meters 0.048070388704360534 Centerline is valid? [True, True] Translation: X:407.98, Y:-287.49, Z:-4.89 [[-8.72951725e-01 4.87760904e-01 6.67735801e-03 4.07979420e+02] [ 4.87746371e-01 8.72977262e-01 -3.76542484e-03 -2.87489558e+02] [-7.66580874e-03 -3.01769728e-05 -9.99970617e-01 -4.88515130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.326559995 meters 0.049150048979279146 Centerline is valid? [True, True] Translation: X:407.72, Y:-286.64, Z:-5.93 [[-8.33985606e-01 -5.51749587e-01 6.35625174e-03 4.07721376e+02] [ 5.51733803e-01 -8.34009828e-01 -4.17350961e-03 -2.86638909e+02] [ 7.60390862e-03 2.63119964e-05 9.99971090e-01 -5.92610605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.386559995 meters 0.04838072382200456 Centerline is valid? [True, True] Translation: X:407.33, Y:-287.11, Z:-4.88 [[-8.74457600e-01 4.85050224e-01 7.08416729e-03 4.07328324e+02] [ 4.85034057e-01 8.74486295e-01 -3.96028218e-03 -2.87106580e+02] [-8.11594296e-03 -2.70364534e-05 -9.99967065e-01 -4.88161418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.4465599950001 meters 0.04865798308873338 Centerline is valid? [True, True] Translation: X:407.32, Y:-287.02, Z:-4.88 [[-9.06298585e-01 4.22557498e-01 8.24832152e-03 4.07320334e+02] [ 4.22539771e-01 9.06336119e-01 -3.87061370e-03 -2.87022730e+02] [-9.11130855e-03 -2.26878289e-05 -9.99958491e-01 -4.88220121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.506559995 meters 0.04849605382328347 Centerline is valid? [True, True] Translation: X:407.27, Y:-286.92, Z:-4.88 [[-9.33602884e-01 3.58204597e-01 8.66731911e-03 4.07271172e+02] [ 3.58189019e-01 9.33643115e-01 -3.34067123e-03 -2.86923244e+02] [-9.28882661e-03 -1.43217598e-05 -9.99956858e-01 -4.88126664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.566559995 meters 0.04825813068969522 Centerline is valid? [True, True] Translation: X:407.48, Y:-286.36, Z:-5.93 [[-9.06322003e-01 -4.22503621e-01 8.43310058e-03 4.07483266e+02] [ 4.22485485e-01 -9.06361236e-01 -3.91469758e-03 -2.86355380e+02] [ 9.29740937e-03 1.48860392e-05 9.99956778e-01 -5.92689440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.626559995 meters 0.04856601908995716 Centerline is valid? [True, True] Translation: X:407.16, Y:-286.89, Z:-4.88 [[-9.33776576e-01 3.57747281e-01 8.84245185e-03 4.07156920e+02] [ 3.57731400e-01 9.33818442e-01 -3.37093771e-03 -2.86885719e+02] [-9.46318841e-03 1.55199993e-05 -9.99955223e-01 -4.88117833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.6865599950002 meters 0.049186381754419424 Centerline is valid? [True, True] Translation: X:407.35, Y:-286.30, Z:-5.93 [[-9.09184380e-01 -4.16293569e-01 9.13390712e-03 4.07346769e+02] [ 4.16272786e-01 -9.09230259e-01 -4.15977671e-03 -2.86298733e+02] [ 1.00365130e-02 2.01929520e-05 9.99949633e-01 -5.92701849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.746559995 meters 0.04863133202498014 Centerline is valid? [True, True] Translation: X:407.32, Y:-286.96, Z:-4.88 [[-9.36241402e-01 3.51245895e-01 8.85207268e-03 4.07322797e+02] [ 3.51230311e-01 9.36283248e-01 -3.30869060e-03 -2.86957271e+02] [-9.45021136e-03 1.13831131e-05 -9.99955346e-01 -4.88080919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.806559995 meters 0.04875122478382535 Centerline is valid? [True, True] Translation: X:407.27, Y:-286.28, Z:-5.93 [[-9.10375763e-01 -4.13713289e-01 7.56870823e-03 4.07272834e+02] [ 4.13698247e-01 -9.10407221e-01 -3.52886392e-03 -2.86278473e+02] [ 8.35054452e-03 -8.14308555e-05 9.99965130e-01 -5.92574041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.866559995 meters 0.0485112306439857 Centerline is valid? [True, True] Translation: X:406.84, Y:-286.77, Z:-4.88 [[-9.38780336e-01 3.44431657e-01 7.63638715e-03 4.06837325e+02] [ 3.44420093e-01 9.38811394e-01 -2.82244301e-03 -2.86768260e+02] [-8.14126598e-03 -1.95288296e-05 -9.99966859e-01 -4.88138861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.926559995 meters 0.04859548764046493 Centerline is valid? [True, True] Translation: X:406.92, Y:-286.72, Z:-4.88 [[-9.62097497e-01 2.72608082e-01 7.29658497e-03 4.06924118e+02] [ 2.72599839e-01 9.62125164e-01 -2.12058573e-03 -2.86715617e+02] [-7.59831682e-03 -5.11623340e-05 -9.99971131e-01 -4.88191562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.986559995 meters 0.04748588022157705 Centerline is valid? [True, True] Translation: X:406.89, Y:-286.62, Z:-4.88 [[-9.79646439e-01 2.00594751e-01 7.38918694e-03 4.06885983e+02] [ 2.00588455e-01 9.79674303e-01 -1.59124049e-03 -2.86624311e+02] [-7.55819105e-03 -7.66674881e-05 -9.99971434e-01 -4.88110401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.046559995 meters 0.0490209703326417 Centerline is valid? [True, True] Translation: X:406.96, Y:-286.02, Z:-5.93 [[-9.57341591e-01 -2.88878350e-01 6.81007966e-03 4.06955524e+02] [ 2.88871345e-01 -9.57365812e-01 -2.01226240e-03 -2.86023003e+02] [ 7.10103649e-03 4.08143846e-05 9.99974787e-01 -5.92694494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.106559995 meters 0.04844921992601994 Centerline is valid? [True, True] Translation: X:406.80, Y:-286.61, Z:-4.88 [[-9.81599034e-01 1.90723159e-01 9.38149089e-03 4.06804374e+02] [ 1.90712920e-01 9.81643852e-01 -1.98243214e-03 -2.86605758e+02] [-9.58737857e-03 -1.56781953e-04 -9.99954028e-01 -4.87902498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.166559995 meters 0.04864129886220665 Centerline is valid? [True, True] Translation: X:406.87, Y:-286.01, Z:-5.93 [[-9.57506247e-01 -2.88258700e-01 9.41857973e-03 4.06866918e+02] [ 2.88246526e-01 -9.57552553e-01 -2.65484166e-03 -2.86007074e+02] [ 9.78406627e-03 1.72845414e-04 9.99952120e-01 -5.92777468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.2265599950001 meters 0.04884428314743618 Centerline is valid? [True, True] Translation: X:406.64, Y:-286.58, Z:-4.88 [[-9.82133247e-01 1.87968751e-01 9.05730483e-03 4.06638111e+02] [ 1.87959416e-01 9.82174999e-01 -1.87869305e-03 -2.86575284e+02] [-9.24899395e-03 -1.42721174e-04 -9.99957217e-01 -4.88105406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.286559995 meters 0.048131440074121214 Centerline is valid? [True, True] Translation: X:406.57, Y:-286.49, Z:-4.88 [[-9.92580181e-01 1.21372740e-01 7.29668145e-03 4.06566997e+02] [ 1.21368819e-01 9.92606997e-01 -9.79369183e-04 -2.86487795e+02] [-7.36160578e-03 -8.65128311e-05 -9.99972899e-01 -4.88220022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.346559995 meters 0.04818552590098608 Centerline is valid? [True, True] Translation: X:406.59, Y:-285.88, Z:-5.92 [[-9.78383508e-01 -2.06736726e-01 5.06344046e-03 4.06594571e+02] [ 2.06733581e-01 -9.78396607e-01 -1.14256244e-03 -2.85875620e+02] [ 5.19026259e-03 -7.10810732e-05 9.99986528e-01 -5.92493133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.406559995 meters 0.0477941564042257 Centerline is valid? [True, True] Translation: X:406.37, Y:-286.47, Z:-4.88 [[-9.92272761e-01 1.24017807e-01 3.78842329e-03 4.06368270e+02] [ 1.24016828e-01 9.92279992e-01 -4.93198411e-04 -2.86465735e+02] [-3.82034202e-03 -1.95591089e-05 -9.99992702e-01 -4.88408268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.4665599950001 meters 0.04821273452291144 Centerline is valid? [True, True] Translation: X:406.38, Y:-286.39, Z:-4.88 [[-9.98616930e-01 5.24400546e-02 3.77735687e-03 4.06375536e+02] [ 5.24395964e-02 9.98624074e-01 -2.20320108e-04 -2.86388284e+02] [-3.78371311e-03 -2.19323200e-05 -9.99992842e-01 -4.88333799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.526559995 meters 0.048513623077285586 Centerline is valid? [True, True] Translation: X:406.32, Y:-286.31, Z:-4.88 [[-9.99720730e-01 -2.30264293e-02 5.31464183e-03 4.06318999e+02] [-2.30263943e-02 9.99734855e-01 6.77872582e-05 -2.86307143e+02] [-5.31479358e-03 -5.46087111e-05 -9.99985875e-01 -4.88179030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.586559995 meters 0.047583853034805744 Centerline is valid? [True, True] Translation: X:406.29, Y:-285.71, Z:-5.93 [[-9.97615831e-01 -6.86758236e-02 6.80327713e-03 4.06294537e+02] [ 6.86754166e-02 -9.97639013e-01 -2.93698219e-04 -2.85707225e+02] [ 6.80738465e-03 1.74219899e-04 9.99976814e-01 -5.92665356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.646559995 meters 0.04818397290097006 Centerline is valid? [True, True] Translation: X:406.24, Y:-286.31, Z:-4.88 [[-9.99391703e-01 -3.37761203e-02 8.68324484e-03 4.06242798e+02] [-3.37761490e-02 9.99429413e-01 1.43373611e-04 -2.86308807e+02] [-8.68313290e-03 -1.50000175e-04 -9.99962290e-01 -4.88003217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.7065599950001 meters 0.048536561688557196 Centerline is valid? [True, True] Translation: X:406.20, Y:-285.72, Z:-5.93 [[-9.97574175e-01 -6.90083121e-02 9.14435281e-03 4.06200819e+02] [ 6.90071539e-02 -9.97616067e-01 -4.42492747e-04 -2.85717582e+02] [ 9.15308897e-03 1.89606425e-04 9.99958092e-01 -5.92879850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.766559995 meters 0.048846177221542324 Centerline is valid? [True, True] Translation: X:406.09, Y:-286.31, Z:-4.88 [[-9.99253211e-01 -3.78818346e-02 7.61492146e-03 4.06090071e+02] [-3.78817557e-02 9.99282217e-01 1.54640909e-04 -2.86312210e+02] [-7.61531368e-03 -1.33941170e-04 -9.99970994e-01 -4.88162697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.826559995 meters 0.04804040452821827 Centerline is valid? [True, True] Translation: X:406.11, Y:-286.23, Z:-4.88 [[-9.94210976e-01 -1.07372192e-01 3.96832632e-03 4.06110939e+02] [-1.07371587e-01 9.94218894e-01 3.65801338e-04 -2.86231936e+02] [-3.98466189e-03 -6.24017906e-05 -9.99992059e-01 -4.88409997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.886559995 meters 0.048477843571879065 Centerline is valid? [True, True] Translation: X:405.99, Y:-285.65, Z:-5.92 [[-9.99950690e-01 9.67215162e-03 2.25081213e-03 4.05985572e+02] [-9.67230139e-03 -9.99953221e-01 -5.56638603e-05 -2.85653232e+02] [ 2.25016845e-03 -7.74316488e-05 9.99997465e-01 -5.92320470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.9465599950001 meters 0.048143806141958144 Centerline is valid? [True, True] Translation: X:405.86, Y:-286.25, Z:-4.88 [[-9.94059697e-01 -1.08816372e-01 2.07740534e-03 4.05864673e+02] [-1.08816191e-01 9.94061868e-01 2.00379955e-04 -2.86250783e+02] [-2.08687405e-03 -2.68656989e-05 -9.99997822e-01 -4.88359704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.006559995 meters 0.04918466161839339 Centerline is valid? [True, True] Translation: X:405.78, Y:-286.18, Z:-4.88 [[-9.83903548e-01 -1.78650080e-01 4.23752580e-03 4.05776211e+02] [-1.78648661e-01 9.83912672e-01 7.14188560e-04 -2.86182936e+02] [-4.29694517e-03 -5.43356498e-05 -9.99990767e-01 -4.88032277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.066559995 meters 0.047750186634956227 Centerline is valid? [True, True] Translation: X:405.67, Y:-286.13, Z:-4.88 [[-9.68944657e-01 -2.47217549e-01 5.45293477e-03 4.05671827e+02] [-2.47214015e-01 9.68959999e-01 1.32349168e-03 -2.86130425e+02] [-5.61086604e-03 -6.56517077e-05 -9.99984257e-01 -4.88006412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.126559995 meters 0.04762794668789085 Centerline is valid? [True, True] Translation: X:405.57, Y:-286.08, Z:-4.88 [[-9.49017357e-01 -3.15160144e-01 6.33557674e-03 4.05566851e+02] [-3.15153648e-01 9.49038502e-01 2.02488397e-03 -2.86083661e+02] [-6.65086898e-03 -7.50300862e-05 -9.99977880e-01 -4.88056919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.1865599950002 meters 0.04899101050776702 Centerline is valid? [True, True] Translation: X:405.52, Y:-286.02, Z:-4.88 [[-9.24146651e-01 -3.81955458e-01 7.93691234e-03 4.05519133e+02] [-3.81942159e-01 9.24180730e-01 3.18849142e-03 -2.86017740e+02] [-8.55300313e-03 -8.48077642e-05 -9.99963419e-01 -4.87803006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.246559995 meters 0.04801267942823087 Centerline is valid? [True, True] Translation: X:405.37, Y:-286.00, Z:-4.88 [[-8.96488993e-01 -4.42977673e-01 8.84682716e-03 4.05366253e+02] [-4.42956715e-01 8.96532642e-01 4.30935477e-03 -2.86003987e+02] [-9.84041728e-03 -5.54723752e-05 -9.99951580e-01 -4.87641491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.306559995 meters 0.048207676851466104 Centerline is valid? [True, True] Translation: X:405.03, Y:-285.50, Z:-5.93 [[-9.26945735e-01 3.75083851e-01 9.14924256e-03 4.05029786e+02] [-3.75064952e-01 -9.26990885e-01 3.76575523e-03 -2.85500550e+02] [ 9.89373844e-03 5.90905300e-05 9.99951054e-01 -5.93208508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.366559995 meters 0.047984181405571105 Centerline is valid? [True, True] Translation: X:405.14, Y:-286.12, Z:-4.88 [[-8.99399348e-01 -4.37066243e-01 7.34244461e-03 4.05143659e+02] [-4.37051290e-01 8.99429318e-01 3.61559918e-03 -2.86120366e+02] [-8.18426630e-03 4.28426605e-05 -9.99966507e-01 -4.87701601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.426559995 meters 0.0482902842978735 Centerline is valid? [True, True] Translation: X:404.86, Y:-286.19, Z:-4.88 [[-8.68972138e-01 -4.94841004e-01 4.45017127e-03 4.04855862e+02] [-4.94834176e-01 8.68983532e-01 2.60001363e-03 -2.86194878e+02] [-5.15371890e-03 5.72425747e-05 -9.99986718e-01 -4.87905599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.486559995 meters 0.04825977224945562 Centerline is valid? [True, True] Translation: X:404.72, Y:-286.20, Z:-4.88 [[-8.32990465e-01 -5.53278845e-01 3.06681890e-03 4.04723262e+02] [-5.53274849e-01 8.32996108e-01 2.10357221e-03 -2.86195399e+02] [-3.71851021e-03 5.54618245e-05 -9.99993085e-01 -4.87951219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.546559995 meters 0.04904471824352371 Centerline is valid? [True, True] Translation: X:404.60, Y:-286.20, Z:-4.88 [[-7.90816833e-01 -6.12044485e-01 3.20711576e-03 4.04597336e+02] [-6.12039115e-01 7.90823333e-01 2.56463175e-03 -2.86201917e+02] [-4.10593070e-03 6.52736630e-05 -9.99991569e-01 -4.87864657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.606559995 meters 0.048591818886794785 Centerline is valid? [True, True] Translation: X:404.78, Y:-285.93, Z:-4.88 [[-7.40138378e-01 -6.72436786e-01 4.89382376e-03 4.04784138e+02] [-6.72421295e-01 7.40154552e-01 4.56526246e-03 -2.85925517e+02] [-6.69203635e-03 8.82146447e-05 -9.99977604e-01 -4.87838597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.666559995 meters 0.04896290118341567 Centerline is valid? [True, True] Translation: X:404.62, Y:-285.96, Z:-4.88 [[-6.85632893e-01 -7.27922325e-01 6.05182582e-03 4.04621218e+02] [-7.27892974e-01 6.85659597e-01 6.53721752e-03 -2.85959993e+02] [-8.90807903e-03 7.70498620e-05 -9.99960319e-01 -4.87847869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.7265599950001 meters 0.04856175818496908 Centerline is valid? [True, True] Translation: X:404.05, Y:-286.50, Z:-4.88 [[-6.30452970e-01 -7.76206046e-01 5.76437779e-03 4.04048571e+02] [-7.76172784e-01 6.30479319e-01 7.18599249e-03 -2.86502223e+02] [-9.21213180e-03 5.62771548e-05 -9.99957566e-01 -4.87607487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.786559995 meters 0.048513102778276924 Centerline is valid? [True, True] Translation: X:403.97, Y:-286.48, Z:-4.88 [[-5.69429535e-01 -8.22025703e-01 4.87331028e-03 4.03969708e+02] [-8.21995019e-01 5.69450386e-01 7.10252454e-03 -2.86479085e+02] [-8.61356615e-03 3.85504657e-05 -9.99962902e-01 -4.87756381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.846559995 meters 0.049147840014219055 Centerline is valid? [True, True] Translation: X:403.32, Y:-286.35, Z:-5.93 [[-6.18969123e-01 7.85401115e-01 4.72373866e-03 4.03324293e+02] [-7.85379608e-01 -6.18987138e-01 5.81327186e-03 -2.86354046e+02] [ 7.48968367e-03 -1.11692235e-04 9.99971946e-01 -5.92897552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.906559995 meters 0.04925539320080829 Centerline is valid? [True, True] Translation: X:403.72, Y:-286.82, Z:-4.88 [[-5.59732857e-01 -8.28664079e-01 3.86952557e-03 4.03723376e+02] [-8.28644317e-01 5.59746232e-01 5.72289197e-03 -2.86816861e+02] [-6.90830736e-03 -3.16969918e-06 -9.99976137e-01 -4.87882331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.9665599950001 meters 0.04881017448853172 Centerline is valid? [True, True] Translation: X:403.55, Y:-286.95, Z:-4.88 [[-4.94669427e-01 -8.69073461e-01 3.67120943e-03 4.03545282e+02] [-8.69049952e-01 4.94683049e-01 6.39231963e-03 -2.86954183e+02] [-7.37148042e-03 -2.83792900e-05 -9.99972830e-01 -4.88032841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.026559995 meters 0.04890910709282791 Centerline is valid? [True, True] Translation: X:403.39, Y:-287.09, Z:-4.88 [[-4.28129971e-01 -9.03712655e-01 2.85740927e-03 4.03389963e+02] [-9.03693081e-01 4.28139505e-01 5.94813530e-03 -2.87085266e+02] [-6.59877494e-03 -3.56459930e-05 -9.99978227e-01 -4.88074640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.086559995 meters 0.04868075384656661 Centerline is valid? [True, True] Translation: X:403.25, Y:-287.22, Z:-4.88 [[-3.58973723e-01 -9.33343619e-01 2.74862061e-03 4.03246227e+02] [-9.33317377e-01 3.58984242e-01 6.99917222e-03 -2.87220738e+02] [-7.51934421e-03 -5.28164667e-05 -9.99971728e-01 -4.88056498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.146559995 meters 0.04855813878031192 Centerline is valid? [True, True] Translation: X:403.12, Y:-287.35, Z:-4.88 [[-2.88498577e-01 -9.57477312e-01 2.40155554e-03 4.03118633e+02] [-9.57445919e-01 2.88508566e-01 7.75371863e-03 -2.87354192e+02] [-8.11687902e-03 -6.24227551e-05 -9.99967056e-01 -4.88193049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.2065599950001 meters 0.04834356859858756 Centerline is valid? [True, True] Translation: X:402.99, Y:-287.53, Z:-4.88 [[-2.17411532e-01 -9.76077832e-01 2.07188810e-03 4.02989797e+02] [-9.76036493e-01 2.17421393e-01 8.98346843e-03 -2.87527621e+02] [-9.21903718e-03 -6.91287669e-05 -9.99957501e-01 -4.87990073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.266559995 meters 0.04948785879217811 Centerline is valid? [True, True] Translation: X:402.87, Y:-287.74, Z:-4.88 [[-1.45695131e-01 -9.89328382e-01 1.51080249e-03 4.02873141e+02] [-9.89279929e-01 1.45702948e-01 9.79151076e-03 -2.87740016e+02] [-9.90714787e-03 -6.80311361e-05 -9.99950921e-01 -4.88128413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.326559995 meters 0.049279129366295034 Centerline is valid? [True, True] Translation: X:402.77, Y:-287.93, Z:-4.88 [[-7.37257009e-02 -9.97278191e-01 8.55431702e-04 4.02773402e+02] [-9.97220030e-01 7.37306399e-02 1.07705311e-02 -2.87931676e+02] [-1.08042873e-02 -5.89886744e-05 -9.99941630e-01 -4.88139604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.386559995 meters 0.04951553278288579 Centerline is valid? [True, True] Translation: X:402.69, Y:-288.15, Z:-4.88 [[-5.03924878e-04 -9.99999871e-01 5.91021466e-05 4.02687967e+02] [-9.99942675e-01 5.04528177e-04 1.06953966e-02 -2.88151463e+02] [-1.06954251e-02 -5.37090822e-05 -9.99942801e-01 -4.88155871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.4465599950001 meters 0.04924399167138566 Centerline is valid? [True, True] Translation: X:402.62, Y:-288.39, Z:-4.88 [[ 7.34321564e-02 -9.97299922e-01 -7.63707816e-04 4.02617998e+02] [-9.97237264e-01 -7.34361037e-02 1.11793982e-02 -2.88386241e+02] [-1.12052967e-02 -5.93294244e-05 -9.99937217e-01 -4.88151379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.506559995 meters 0.05016821416355832 Centerline is valid? [True, True] Translation: X:402.56, Y:-288.59, Z:-4.88 [[ 1.47153152e-01 -9.89112174e-01 -1.74850500e-03 4.02560815e+02] [-9.89036657e-01 -1.47163524e-01 1.22224704e-02 -2.88591116e+02] [-1.23467105e-02 -6.92395192e-05 -9.99923774e-01 -4.88065342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.566559995 meters 0.049707032239845156 Centerline is valid? [True, True] Translation: X:402.49, Y:-288.65, Z:-4.88 [[ 2.19812759e-01 -9.75538154e-01 -2.76789684e-03 4.02491552e+02] [-9.75456974e-01 -2.19830175e-01 1.25851763e-02 -2.88645741e+02] [-1.28857869e-02 -6.64180605e-05 -9.99916973e-01 -4.88164132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.626559995 meters 0.050183469871002376 Centerline is valid? [True, True] Translation: X:402.49, Y:-288.95, Z:-4.88 [[ 2.90088494e-01 -9.56992884e-01 -3.64491103e-03 4.02488399e+02] [-9.56914853e-01 -2.90111386e-01 1.22207800e-02 -2.88946055e+02] [-1.27526297e-02 -5.72381694e-05 -9.99918680e-01 -4.88244467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.6865599950002 meters 0.05059561976041319 Centerline is valid? [True, True] Translation: X:402.52, Y:-289.27, Z:-4.88 [[ 3.57277806e-01 -9.33989244e-01 -4.08178789e-03 4.02516439e+02] [-9.33927502e-01 -3.57301121e-01 1.07392035e-02 -2.89269633e+02] [-1.14887279e-02 -2.47850880e-05 -9.99934002e-01 -4.88275139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.746559995 meters 0.05084392659559718 Centerline is valid? [True, True] Translation: X:402.22, Y:-288.79, Z:-4.89 [[ 4.24919587e-01 -9.05216663e-01 -5.11253436e-03 4.02221474e+02] [-9.05150998e-01 -4.24950343e-01 1.09030406e-02 -2.88786186e+02] [-1.20421873e-02 -5.29994133e-06 -9.99927490e-01 -4.88728954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.806559995 meters 0.050750257601394774 Centerline is valid? [True, True] Translation: X:402.29, Y:-289.12, Z:-4.89 [[ 4.88551935e-01 -8.72512040e-01 -6.30448106e-03 4.02285744e+02] [-8.72439641e-01 -4.88592612e-01 1.12397644e-02 -2.89117187e+02] [-1.28871526e-02 9.07055375e-06 -9.99916957e-01 -4.88711995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.866559995 meters 0.05131124160635603 Centerline is valid? [True, True] Translation: X:402.30, Y:-289.32, Z:-4.89 [[ 5.51272660e-01 -8.34294471e-01 -7.15478282e-03 4.02304869e+02] [-8.34224381e-01 -5.51319088e-01 1.08141435e-02 -2.89324527e+02] [-1.29667484e-02 7.15263571e-06 -9.99915928e-01 -4.88935127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.926559995 meters 0.051340209777171984 Centerline is valid? [True, True] Translation: X:402.36, Y:-289.56, Z:-4.89 [[ 6.11514098e-01 -7.91192849e-01 -8.02393679e-03 4.02361605e+02] [-7.91124574e-01 -6.11566739e-01 1.03939113e-02 -2.89561030e+02] [-1.31307612e-02 -8.08973441e-06 -9.99913788e-01 -4.88754838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.986559995 meters 0.0510511390546377 Centerline is valid? [True, True] Translation: X:402.84, Y:-290.28, Z:-4.88 [[ 6.68027880e-01 -7.44082005e-01 -8.98452518e-03 4.02844622e+02] [-7.44013996e-01 -6.68088294e-01 1.00601198e-02 -2.90275897e+02] [-1.34880102e-02 -3.58280296e-05 -9.99909032e-01 -4.88465641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.046559995 meters 0.05173499423292391 Centerline is valid? [True, True] Translation: X:402.88, Y:-290.42, Z:-4.89 [[ 7.21169535e-01 -6.92699782e-01 -9.02851613e-03 4.02883688e+02] [-6.92644797e-01 -7.21226047e-01 8.72783049e-03 -2.90424964e+02] [-1.25573673e-02 -4.06907383e-05 -9.99921152e-01 -4.88619261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.106559995 meters 0.05259848493004219 Centerline is valid? [True, True] Translation: X:402.86, Y:-290.50, Z:-4.89 [[ 7.73389034e-01 -6.33867006e-01 -9.05653534e-03 4.02864454e+02] [-6.33822898e-01 -7.73442058e-01 7.47782393e-03 -2.90504310e+02] [-1.17446512e-02 -4.30275533e-05 -9.99931028e-01 -4.88705592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.166559995 meters 0.05116932587462394 Centerline is valid? [True, True] Translation: X:402.85, Y:-290.59, Z:-4.89 [[ 8.22009315e-01 -5.69406175e-01 -8.79168880e-03 4.02850407e+02] [-5.69372747e-01 -8.22056326e-01 6.17017581e-03 -2.90588970e+02] [-1.07405996e-02 -6.61939874e-05 -9.99942316e-01 -4.88792384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.2265599950001 meters 0.0517493761098804 Centerline is valid? [True, True] Translation: X:402.84, Y:-290.67, Z:-4.89 [[ 8.65433280e-01 -5.00956950e-01 -8.20799932e-03 4.02843710e+02] [-5.00933483e-01 -8.65472199e-01 4.84970077e-03 -2.90673518e+02] [-9.53328653e-03 -8.54307580e-05 -9.99954554e-01 -4.88940466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.286559995 meters 0.05171845357781997 Centerline is valid? [True, True] Translation: X:402.84, Y:-290.76, Z:-4.89 [[ 9.03316123e-01 -4.28874089e-01 -9.32727982e-03 4.02842287e+02] [-4.28849775e-01 -9.03364268e-01 4.56844365e-03 -2.90761250e+02] [-1.03852184e-02 -1.26746953e-04 -9.99946064e-01 -4.88813836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.346559995 meters 0.05120091541524864 Centerline is valid? [True, True] Translation: X:402.85, Y:-290.85, Z:-4.89 [[ 9.34360394e-01 -3.56173689e-01 -1.05336689e-02 4.02850307e+02] [-3.56149269e-01 -9.34419757e-01 4.17335052e-03 -2.90845517e+02] [-1.13293060e-02 -1.47854940e-04 -9.99935810e-01 -4.88866040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.406559995 meters 0.0521271365068555 Centerline is valid? [True, True] Translation: X:402.86, Y:-290.93, Z:-4.89 [[ 9.60052922e-01 -2.79556375e-01 -1.21086829e-02 4.02862102e+02] [-2.79531528e-01 -9.60129259e-01 3.73245476e-03 -2.90932923e+02] [-1.26693323e-02 -1.98595462e-04 -9.99919721e-01 -4.88587654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.4665599950001 meters 0.052200226883295016 Centerline is valid? [True, True] Translation: X:402.88, Y:-291.01, Z:-4.89 [[ 9.79314111e-01 -2.02009214e-01 -1.16682767e-02 4.02884105e+02] [-2.01992348e-01 -9.79383599e-01 2.61855331e-03 -2.91009055e+02] [-1.19566908e-02 -2.07483595e-04 -9.99928495e-01 -4.88751707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.526559995 meters 0.05223003482411901 Centerline is valid? [True, True] Translation: X:402.91, Y:-291.09, Z:-4.89 [[ 9.92308504e-01 -1.23327880e-01 -1.06801868e-02 4.02910958e+02] [-1.23318527e-01 -9.92365957e-01 1.53244869e-03 -2.91092364e+02] [-1.07876475e-02 -2.03596961e-04 -9.99941791e-01 -4.88873210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.586559995 meters 0.0521478148386461 Centerline is valid? [True, True] Translation: X:402.94, Y:-291.17, Z:-4.89 [[ 9.98960262e-01 -4.48195490e-02 -8.34286748e-03 4.02944278e+02] [-4.48166304e-02 -9.98995086e-01 5.36553189e-04 -2.91168549e+02] [-8.35853169e-03 -1.62096106e-04 -9.99965054e-01 -4.88924404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.646559995 meters 0.05209411443529666 Centerline is valid? [True, True] Translation: X:402.98, Y:-291.24, Z:-4.89 [[ 9.99398686e-01 3.39390940e-02 -7.09957634e-03 4.02983241e+02] [ 3.39392422e-02 -9.99423893e-01 -9.96419412e-05 -2.91238430e+02] [-7.09886798e-03 -1.41372216e-04 -9.99974793e-01 -4.88894555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.7065599950001 meters 0.051677021796512346 Centerline is valid? [True, True] Translation: X:403.02, Y:-291.29, Z:-4.89 [[ 9.93585236e-01 1.12843818e-01 -7.39271789e-03 4.03021146e+02] [ 1.12841847e-01 -9.93612726e-01 -6.84546683e-04 -2.91289995e+02] [-7.42274543e-03 -1.54052463e-04 -9.99972439e-01 -4.89092818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.766559995 meters 0.051325323333849635 Centerline is valid? [True, True] Translation: X:403.07, Y:-291.40, Z:-4.89 [[ 9.81406103e-01 1.91851149e-01 -5.93283361e-03 4.03071913e+02] [ 1.91848470e-01 -9.81424026e-01 -1.02272552e-03 -2.91398831e+02] [-6.01883651e-03 -1.34495982e-04 -9.99981878e-01 -4.89231686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.826559995 meters 0.05166672843226234 Centerline is valid? [True, True] Translation: X:403.13, Y:-291.51, Z:-4.89 [[ 9.62657529e-01 2.70660129e-01 -5.79459721e-03 4.03131180e+02] [ 2.70656159e-01 -9.62674957e-01 -1.47357491e-03 -2.91510095e+02] [-5.97715159e-03 -1.49795444e-04 -9.99982125e-01 -4.89098540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.886559995 meters 0.05114234626511467 Centerline is valid? [True, True] Translation: X:403.19, Y:-291.58, Z:-4.89 [[ 9.38451322e-01 3.45355839e-01 -6.20166399e-03 4.03189954e+02] [ 3.45349460e-01 -9.38471799e-01 -2.10558393e-03 -2.91582439e+02] [-6.54726247e-03 -1.65753290e-04 -9.99978553e-01 -4.88971059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.9465599950001 meters 0.05158408198156829 Centerline is valid? [True, True] Translation: X:403.25, Y:-291.63, Z:-4.89 [[ 9.09256285e-01 4.16184509e-01 -6.59252959e-03 4.03247209e+02] [ 4.16174916e-01 -9.09280169e-01 -2.83090518e-03 -2.91633939e+02] [-7.17263531e-03 -1.69627119e-04 -9.99974262e-01 -4.89092610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.006559995 meters 0.05101892880160299 Centerline is valid? [True, True] Translation: X:403.33, Y:-291.73, Z:-4.89 [[ 8.74474280e-01 4.85027929e-01 -6.53007908e-03 4.03330420e+02] [ 4.85015815e-01 -8.74498645e-01 -3.43205206e-03 -2.91726731e+02] [-7.37518641e-03 -1.65950377e-04 -9.99972789e-01 -4.89037978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.066559995 meters 0.05073962289782576 Centerline is valid? [True, True] Translation: X:403.42, Y:-291.81, Z:-4.89 [[ 8.34922592e-01 5.50332412e-01 -6.20496002e-03 4.03419674e+02] [ 5.50318547e-01 -8.34945635e-01 -3.90938505e-03 -2.91812778e+02] [-7.33226559e-03 -1.50670683e-04 -9.99973107e-01 -4.88868743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.126559995 meters 0.050725686798503145 Centerline is valid? [True, True] Translation: X:403.51, Y:-291.88, Z:-4.89 [[ 7.90129558e-01 6.12915273e-01 -5.49086640e-03 4.03509035e+02] [ 6.12901622e-01 -7.90148626e-01 -4.09275241e-03 -2.91882188e+02] [-6.84711100e-03 -1.31556264e-04 -9.99976550e-01 -4.88771529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.1865599950002 meters 0.05072019556233598 Centerline is valid? [True, True] Translation: X:403.59, Y:-291.92, Z:-4.89 [[ 7.40379526e-01 6.72170373e-01 -5.01471346e-03 4.03585613e+02] [ 6.72156060e-01 -7.40396498e-01 -4.38816248e-03 -2.91920293e+02] [-6.66246909e-03 -1.21764387e-04 -9.99977798e-01 -4.88733538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.246559995 meters 0.05063318001164254 Centerline is valid? [True, True] Translation: X:403.66, Y:-291.95, Z:-4.89 [[ 6.85327739e-01 7.28218086e-01 -4.93047645e-03 4.03659280e+02] [ 7.28200601e-01 -6.85345462e-01 -5.04800274e-03 -2.91948747e+02] [-7.05512655e-03 -1.30839619e-04 -9.99975104e-01 -4.88767295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.306559995 meters 0.05064807139444341 Centerline is valid? [True, True] Translation: X:403.76, Y:-291.99, Z:-4.89 [[ 6.25557449e-01 7.80166404e-01 -4.27318401e-03 4.03760481e+02] [ 7.80149600e-01 -6.25572031e-01 -5.12208776e-03 -2.91993620e+02] [-6.66926518e-03 -1.29562639e-04 -9.99977752e-01 -4.88844518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.366559995 meters 0.0508292205695063 Centerline is valid? [True, True] Translation: X:403.84, Y:-292.01, Z:-4.89 [[ 5.62245245e-01 8.26961573e-01 -3.85248171e-03 4.03844486e+02] [ 8.26943750e-01 -5.62258428e-01 -5.43089665e-03 -2.92014144e+02] [-6.65723315e-03 -1.32289853e-04 -9.99977832e-01 -4.88691319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.426559995 meters 0.051679003312471335 Centerline is valid? [True, True] Translation: X:403.92, Y:-292.02, Z:-4.89 [[ 4.98227239e-01 8.67036708e-01 -4.11903772e-03 4.03923286e+02] [ 8.67009327e-01 -4.98244246e-01 -6.89183114e-03 -2.92024291e+02] [-8.02775743e-03 -1.37546121e-04 -9.99967768e-01 -4.88678725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.486559995 meters 0.05041755327756138 Centerline is valid? [True, True] Translation: X:404.00, Y:-292.03, Z:-4.89 [[ 4.31952845e-01 9.01890227e-01 -3.28011195e-03 4.04001777e+02] [ 9.01865976e-01 -4.31965287e-01 -6.61453580e-03 -2.92028485e+02] [-7.38247969e-03 -1.01053805e-04 -9.99972744e-01 -4.88866045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.546559995 meters 0.05042199060380851 Centerline is valid? [True, True] Translation: X:404.09, Y:-292.03, Z:-4.89 [[ 3.63614925e-01 9.31545533e-01 -2.66577662e-03 4.04086363e+02] [ 9.31521907e-01 -3.63624690e-01 -6.63482686e-03 -2.92029190e+02] [-7.14998552e-03 -7.07072464e-05 -9.99974436e-01 -4.88684164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.606559995 meters 0.050794500368896864 Centerline is valid? [True, True] Translation: X:404.16, Y:-292.02, Z:-4.89 [[ 2.94694527e-01 9.55589043e-01 -2.17178255e-03 4.04159895e+02] [ 9.55563922e-01 -2.94702528e-01 -6.92899186e-03 -2.92020658e+02] [-7.26129851e-03 -3.33410762e-05 -9.99973636e-01 -4.88895398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.666559995 meters 0.0512695484809658 Centerline is valid? [True, True] Translation: X:404.24, Y:-292.01, Z:-4.89 [[ 2.21942332e-01 9.75058722e-01 -1.44548794e-03 4.04242013e+02] [ 9.75038343e-01 -2.21947038e-01 -6.30415456e-03 -2.92008162e+02] [-6.46774266e-03 -1.02474002e-05 -9.99979084e-01 -4.88670811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.7265599950001 meters 0.05129810189501616 Centerline is valid? [True, True] Translation: X:404.32, Y:-291.99, Z:-4.89 [[ 1.47777819e-01 9.89020168e-01 -9.07052410e-04 4.04317385e+02] [ 9.89001213e-01 -1.47780603e-01 -6.12323459e-03 -2.91989341e+02] [-6.19004726e-03 7.80231960e-06 -9.99980841e-01 -4.88833115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.786559995 meters 0.05114389283422761 Centerline is valid? [True, True] Translation: X:404.41, Y:-291.97, Z:-4.89 [[ 7.45695854e-02 9.97215735e-01 -3.92568182e-04 4.04413148e+02] [ 9.97199428e-01 -7.45706111e-02 -5.70308733e-03 -2.91968177e+02] [-5.71648247e-03 3.38080910e-05 -9.99983660e-01 -4.88662723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.846559995 meters 0.05038227607181833 Centerline is valid? [True, True] Translation: X:404.48, Y:-291.94, Z:-4.89 [[-1.46366100e-04 9.99999988e-01 4.16859006e-05 4.04479870e+02] [ 9.99990753e-01 1.46543913e-04 -4.29798043e-03 -2.91938481e+02] [-4.29798649e-03 4.10564365e-05 -9.99990763e-01 -4.88798463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.906559995 meters 0.050264425787569844 Centerline is valid? [True, True] Translation: X:404.54, Y:-291.90, Z:-4.89 [[-7.47286100e-02 9.97203848e-01 3.48179297e-04 4.04544578e+02] [ 9.97196049e-01 7.47294027e-02 -3.94408199e-03 -2.91903857e+02] [-3.95907297e-03 5.24672549e-05 -9.99992162e-01 -4.88907653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.9665599950001 meters 0.05141387684266959 Centerline is valid? [True, True] Translation: X:404.64, Y:-291.86, Z:-4.89 [[-1.51818125e-01 9.88408151e-01 7.63796562e-04 4.04641387e+02] [ 9.88397680e-01 1.51820033e-01 -4.55007499e-03 -2.91859452e+02] [-4.61329083e-03 6.41508951e-05 -9.99989357e-01 -4.88861072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.026559995 meters 0.05032294748892808 Centerline is valid? [True, True] Translation: X:404.73, Y:-291.81, Z:-4.89 [[-2.30390821e-01 9.73097004e-01 1.51340077e-03 4.04732670e+02] [ 9.73078105e-01 2.30395779e-01 -6.06515274e-03 -2.91807627e+02] [-6.25066311e-03 7.53016374e-05 -9.99980462e-01 -4.88806177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.086559995 meters 0.050110072614878425 Centerline is valid? [True, True] Translation: X:404.83, Y:-291.75, Z:-4.89 [[-3.08301604e-01 9.51286695e-01 1.93531277e-03 4.04828870e+02] [ 9.51269108e-01 3.08307673e-01 -5.78469046e-03 -2.91747382e+02] [-6.09957084e-03 5.75739066e-05 -9.99981396e-01 -4.88694640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.146559995 meters 0.050575908457011216 Centerline is valid? [True, True] Translation: X:404.88, Y:-291.69, Z:-4.89 [[-3.85508803e-01 9.22702183e-01 1.90876767e-03 4.04883186e+02] [ 9.22691216e-01 3.85513528e-01 -4.49881302e-03 -2.91693662e+02] [-4.88692036e-03 2.68711405e-05 -9.99988059e-01 -4.88636140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.2065599950001 meters 0.049823088665646116 Centerline is valid? [True, True] Translation: X:404.94, Y:-291.63, Z:-4.89 [[-4.63670386e-01 8.86006595e-01 1.44458143e-03 4.04938749e+02] [ 8.86002245e-01 4.63672636e-01 -2.77635131e-03 -2.91632753e+02] [-3.12967845e-03 -7.40949485e-06 -9.99995103e-01 -4.88786258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.266559995 meters 0.04951072337326698 Centerline is valid? [True, True] Translation: X:404.99, Y:-291.57, Z:-4.89 [[-5.34238958e-01 8.45332196e-01 1.48810031e-03 4.04987595e+02] [ 8.45328837e-01 5.34241030e-01 -2.38324684e-03 -2.91569885e+02] [-2.80963952e-03 -1.52891994e-05 -9.99996053e-01 -4.88766250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.326559995 meters 0.04969078645711233 Centerline is valid? [True, True] Translation: X:405.03, Y:-291.50, Z:-4.89 [[-6.04109172e-01 7.96898255e-01 2.29800638e-03 4.05033334e+02] [ 7.96892186e-01 6.04113540e-01 -3.11025534e-03 -2.91501695e+02] [-3.86681383e-03 -4.76704475e-05 -9.99992523e-01 -4.88582894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.386559995 meters 0.04862948187015664 Centerline is valid? [True, True] Translation: X:405.07, Y:-291.43, Z:-4.89 [[-6.71456882e-01 7.41034076e-01 3.76209433e-03 4.05074363e+02] [ 7.41021394e-01 6.71467410e-01 -4.33712345e-03 -2.91427257e+02] [-5.74008001e-03 -1.24399003e-04 -9.99983518e-01 -4.88543825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.4465599950001 meters 0.050066063331489274 Centerline is valid? [True, True] Translation: X:405.12, Y:-291.34, Z:-4.88 [[-7.29878443e-01 6.83561601e-01 4.58213702e-03 4.05118542e+02] [ 6.83546711e-01 7.29892808e-01 -4.51477551e-03 -2.91343522e+02] [-6.43059603e-03 -1.63132637e-04 -9.99979310e-01 -4.88361148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.506559995 meters 0.04975676378917985 Centerline is valid? [True, True] Translation: X:405.15, Y:-291.27, Z:-4.88 [[-7.78644736e-01 6.27444331e-01 5.09771443e-03 4.05148178e+02] [ 6.27429244e-01 7.78661399e-01 -4.35535738e-03 -2.91272649e+02] [-6.70213775e-03 -1.92820981e-04 -9.99977522e-01 -4.88446864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.566559995 meters 0.04974567721912551 Centerline is valid? [True, True] Translation: X:405.18, Y:-291.19, Z:-4.88 [[-8.21968294e-01 5.69503760e-01 5.79576546e-03 4.05175434e+02] [ 5.69487719e-01 8.21988699e-01 -4.27987857e-03 -2.91194086e+02] [-7.20146064e-03 -2.17307237e-04 -9.99974046e-01 -4.88356155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.626559995 meters 0.050881515323599316 Centerline is valid? [True, True] Translation: X:405.13, Y:-291.07, Z:-4.88 [[-8.60475069e-01 5.09450545e-01 6.54209029e-03 4.05134761e+02] [ 5.09433709e-01 8.60499905e-01 -4.14850880e-03 -2.91066488e+02] [-7.74292814e-03 -2.36927076e-04 -9.99969995e-01 -4.88157080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.6865599950002 meters 0.05027441095218208 Centerline is valid? [True, True] Translation: X:405.22, Y:-291.03, Z:-4.88 [[-8.92468472e-01 4.51049059e-01 7.40084155e-03 4.05218784e+02] [ 4.51030703e-01 8.92499106e-01 -4.08057302e-03 -2.91026999e+02] [-8.44578309e-03 -3.03775999e-04 -9.99964288e-01 -4.88145407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.746559995 meters 0.048710818660588115 Centerline is valid? [True, True] Translation: X:405.43, Y:-290.50, Z:-5.93 [[-8.31027147e-01 -5.56181273e-01 7.50153352e-03 4.05431216e+02] [ 5.56162212e-01 -8.31060936e-01 -4.61681339e-03 -2.90504031e+02] [ 8.80201661e-03 3.35372216e-04 9.99961205e-01 -5.92579381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.806559995 meters 0.04776146782925777 Centerline is valid? [True, True] Translation: X:405.28, Y:-290.49, Z:-5.92 [[-7.95044837e-01 -6.06515392e-01 6.54112089e-03 4.05280151e+02] [ 6.06496461e-01 -7.95071730e-01 -4.79451982e-03 -2.90490229e+02] [ 8.10861037e-03 1.55308441e-04 9.99967113e-01 -5.92427001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.866559995 meters 0.0480385615901574 Centerline is valid? [True, True] Translation: X:405.17, Y:-290.49, Z:-5.92 [[-7.57506021e-01 -6.52803872e-01 5.63323586e-03 4.05166047e+02] [ 6.52786644e-01 -7.57526962e-01 -4.74343871e-03 -2.90490247e+02] [ 7.36386321e-03 8.41177465e-05 9.99972883e-01 -5.92325723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.926559995 meters 0.04792285047293096 Centerline is valid? [True, True] Translation: X:404.82, Y:-291.02, Z:-4.88 [[-8.13310753e-01 5.81795502e-01 6.29379686e-03 4.04816262e+02] [ 5.81777505e-01 8.13335103e-01 -4.57660340e-03 -2.91018095e+02] [-7.78161319e-03 -6.06113299e-05 -9.99969721e-01 -4.88394601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.986559995 meters 0.048646906925150446 Centerline is valid? [True, True] Translation: X:404.79, Y:-290.91, Z:-4.88 [[-8.53121852e-01 5.21673328e-01 6.32814159e-03 4.04789411e+02] [ 5.21658395e-01 8.53145319e-01 -3.94763821e-03 -2.90906117e+02] [-7.45820193e-03 -6.66882376e-05 -9.99972185e-01 -4.88475338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.046559995 meters 0.048059695885143645 Centerline is valid? [True, True] Translation: X:404.71, Y:-290.77, Z:-4.88 [[-8.89089002e-01 4.57665268e-01 7.95299781e-03 4.04712335e+02] [ 4.57645918e-01 8.89124565e-01 -4.20974233e-03 -2.90769384e+02] [-8.99785857e-03 -1.03178626e-04 -9.99959513e-01 -4.88395854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.106559995 meters 0.048147768860701656 Centerline is valid? [True, True] Translation: X:404.99, Y:-290.21, Z:-5.92 [[-8.44444384e-01 -5.35587678e-01 7.71498979e-03 4.04989984e+02] [ 5.35566495e-01 -8.44479619e-01 -4.76467418e-03 -2.90209337e+02] [ 9.06705242e-03 1.08387689e-04 9.99958888e-01 -5.92308225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.166559995 meters 0.04917806296440479 Centerline is valid? [True, True] Translation: X:404.58, Y:-290.70, Z:-4.89 [[-8.89097466e-01 4.57665591e-01 6.92121868e-03 4.04579838e+02] [ 4.57651188e-01 8.89124402e-01 -3.63137542e-03 -2.90702201e+02] [-7.81578000e-03 -6.11427317e-05 -9.99969455e-01 -4.88583776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.2265599950001 meters 0.04800649423843528 Centerline is valid? [True, True] Translation: X:405.01, Y:-290.82, Z:-4.89 [[-9.17565241e-01 3.97553432e-01 5.02960309e-03 4.05005711e+02] [ 3.97547477e-01 9.17579026e-01 -2.17600541e-03 -2.90817266e+02] [-5.48013672e-03 2.87909093e-06 -9.99984984e-01 -4.88958630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.286559995 meters 0.04895271070287057 Centerline is valid? [True, True] Translation: X:405.01, Y:-290.72, Z:-4.89 [[-9.40459906e-01 3.39877234e-01 4.31627130e-03 4.05007806e+02] [ 3.39873868e-01 9.40469810e-01 -1.51329017e-03 -2.90719618e+02] [-4.57365573e-03 4.37990941e-05 -9.99989540e-01 -4.88972067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.346559995 meters 0.049049820127672346 Centerline is valid? [True, True] Translation: X:404.36, Y:-290.43, Z:-4.89 [[-9.61052471e-01 2.76330068e-01 4.45442830e-03 4.04355483e+02] [ 2.76327401e-01 9.61062792e-01 -1.21574786e-03 -2.90432353e+02] [-4.61693299e-03 6.24831075e-05 -9.99989340e-01 -4.88907961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.406559995 meters 0.04860347918294996 Centerline is valid? [True, True] Translation: X:404.73, Y:-290.43, Z:-4.89 [[-9.78854555e-01 2.04503066e-01 4.71765175e-03 4.04731154e+02] [ 2.04501035e-01 9.78865921e-01 -9.14086813e-04 -2.90427276e+02] [-4.80488208e-03 7.00066252e-05 -9.99988454e-01 -4.89037177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.4665599950001 meters 0.04871385002219703 Centerline is valid? [True, True] Translation: X:404.61, Y:-290.32, Z:-4.89 [[-9.91210130e-01 1.32238273e-01 3.93915559e-03 4.04611483e+02] [ 1.32237425e-01 9.91217956e-01 -4.76107332e-04 -2.90315892e+02] [-3.96752137e-03 4.89813831e-05 -9.99992128e-01 -4.88963418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.526559995 meters 0.04909573913638156 Centerline is valid? [True, True] Translation: X:404.55, Y:-290.22, Z:-4.89 [[-9.98364175e-01 5.69851932e-02 4.65427617e-03 4.04548304e+02] [ 5.69847445e-02 9.98375023e-01 -2.29085809e-04 -2.90221350e+02] [-4.65976758e-03 3.65116737e-05 -9.99989143e-01 -4.88874316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.586559995 meters 0.04895562808857079 Centerline is valid? [True, True] Translation: X:403.86, Y:-290.13, Z:-4.89 [[-9.99838210e-01 -1.73097213e-02 4.89161580e-03 4.03858632e+02] [-1.73094114e-02 9.99850175e-01 1.05685949e-04 -2.90128937e+02] [-4.89271231e-03 2.09978601e-05 -9.99988030e-01 -4.88814989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.646559995 meters 0.04905061230844259 Centerline is valid? [True, True] Translation: X:403.77, Y:-290.06, Z:-4.89 [[-9.95714555e-01 -9.23611134e-02 4.68499214e-03 4.03774394e+02] [-9.23600852e-02 9.95725577e-01 4.35804122e-04 -2.90056464e+02] [-4.70521785e-03 1.23023412e-06 -9.99988930e-01 -4.88676644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.7065599950001 meters 0.048300210732438044 Centerline is valid? [True, True] Translation: X:403.79, Y:-289.97, Z:-4.89 [[-9.85656798e-01 -1.68699627e-01 4.59472746e-03 4.03793938e+02] [-1.68697891e-01 9.85667508e-01 7.65587845e-04 -2.89974796e+02] [-4.65802795e-03 -2.05139689e-05 -9.99989151e-01 -4.88730308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.766559995 meters 0.04922371789459321 Centerline is valid? [True, True] Translation: X:404.28, Y:-289.79, Z:-4.89 [[-9.68049794e-01 -2.50729920e-01 3.75536768e-03 4.04277801e+02] [-2.50728223e-01 9.68057077e-01 9.23698311e-04 -2.89785235e+02] [-3.86700907e-03 -4.73907069e-05 -9.99992522e-01 -4.88925050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.826559995 meters 0.04973752956409924 Centerline is valid? [True, True] Translation: X:403.39, Y:-289.94, Z:-4.89 [[-9.46809737e-01 -3.21786377e-01 2.20227370e-03 4.03390025e+02] [-3.21785597e-01 9.46812297e-01 7.09608793e-04 -2.89941071e+02] [-2.31348226e-03 -3.67954422e-05 -9.99997323e-01 -4.88891293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.886559995 meters 0.04926770013917759 Centerline is valid? [True, True] Translation: X:403.20, Y:-289.41, Z:-5.92 [[-9.74908634e-01 2.22589059e-01 2.69545044e-03 4.03198657e+02] [-2.22587989e-01 -9.74912357e-01 6.94528824e-04 -2.89407591e+02] [ 2.78242246e-03 7.71272540e-05 9.99996126e-01 -5.91907807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.9465599950001 meters 0.04961469403015807 Centerline is valid? [True, True] Translation: X:403.28, Y:-289.97, Z:-4.89 [[-9.43755113e-01 -3.30626778e-01 3.49570411e-03 4.03278382e+02] [-3.30624814e-01 9.43761584e-01 1.14222284e-03 -2.89971993e+02] [-3.67676070e-03 -7.77878712e-05 -9.99993238e-01 -4.88695198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.006559995 meters 0.050134852009349626 Centerline is valid? [True, True] Translation: X:403.15, Y:-289.93, Z:-4.88 [[-9.17406128e-01 -3.97906143e-01 6.05787826e-03 4.03153033e+02] [-3.97898510e-01 9.17426117e-01 2.46898420e-03 -2.89934254e+02] [-6.54007971e-03 -1.45359499e-04 -9.99978603e-01 -4.88449651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.066559995 meters 0.048775404266345246 Centerline is valid? [True, True] Translation: X:403.05, Y:-289.90, Z:-4.88 [[-8.86798190e-01 -4.62090407e-01 7.83752720e-03 4.03051349e+02] [-4.62074233e-01 8.86832803e-01 3.87080710e-03 -2.89903227e+02] [-8.73923905e-03 -1.88894641e-04 -9.99961794e-01 -4.88470217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.126559995 meters 0.04916267316789816 Centerline is valid? [True, True] Translation: X:402.92, Y:-289.89, Z:-4.88 [[-8.52702810e-01 -5.22317945e-01 9.04886627e-03 4.02924194e+02] [-5.22291010e-01 8.52750799e-01 5.30809415e-03 -2.89889006e+02] [-1.04889408e-02 -1.99914701e-04 -9.99944970e-01 -4.88435372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.1865599950002 meters 0.04923756468623807 Centerline is valid? [True, True] Translation: X:402.79, Y:-289.89, Z:-4.88 [[-8.13882521e-01 -5.80970522e-01 8.27609743e-03 4.02786539e+02] [-5.80942636e-01 8.13924580e-01 5.69491243e-03 -2.89886295e+02] [-1.00446954e-02 -1.72948168e-04 -9.99949536e-01 -4.88434171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.246559995 meters 0.04916571776638685 Centerline is valid? [True, True] Translation: X:402.62, Y:-289.92, Z:-4.89 [[-7.72985381e-01 -6.34385948e-01 6.93318458e-03 4.02620351e+02] [-6.34361729e-01 7.73016466e-01 5.54441418e-03 -2.89921732e+02] [-8.87676429e-03 -1.12395847e-04 -9.99960594e-01 -4.88642998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.306559995 meters 0.04951076212791355 Centerline is valid? [True, True] Translation: X:402.49, Y:-289.94, Z:-4.89 [[-7.29943133e-01 -6.83482442e-01 5.89703718e-03 4.02491274e+02] [-6.83460549e-01 7.29966952e-01 5.47063689e-03 -2.89940614e+02] [-8.04372651e-03 -3.71384359e-05 -9.99967648e-01 -4.88780426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.366559995 meters 0.04900912910154048 Centerline is valid? [True, True] Translation: X:402.30, Y:-290.03, Z:-4.89 [[-6.82408601e-01 -7.30954040e-01 4.96920335e-03 4.02298362e+02] [-7.30934634e-01 6.82426693e-01 5.32633804e-03 -2.90030012e+02] [-7.28442531e-03 2.57606355e-06 -9.99973468e-01 -4.88739694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.426559995 meters 0.04882877356062219 Centerline is valid? [True, True] Translation: X:402.12, Y:-290.12, Z:-4.89 [[-6.30602613e-01 -7.76094187e-01 4.26114014e-03 4.02122689e+02] [-7.76076111e-01 6.30617009e-01 5.29702634e-03 -2.90122746e+02] [-6.79813881e-03 3.33495858e-05 -9.99976892e-01 -4.88839062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.486559995 meters 0.049441463295071576 Centerline is valid? [True, True] Translation: X:402.04, Y:-290.11, Z:-4.89 [[-5.75631285e-01 -8.17698468e-01 4.22357140e-03 4.02035465e+02] [-8.17675451e-01 5.75646774e-01 6.13577588e-03 -2.90113538e+02] [-7.44849979e-03 7.84339029e-05 -9.99972257e-01 -4.88912479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.546559995 meters 0.04939923194168351 Centerline is valid? [True, True] Translation: X:401.98, Y:-290.06, Z:-4.89 [[-5.14223386e-01 -8.57643360e-01 4.70911871e-03 4.01976519e+02] [-8.57605348e-01 5.14244935e-01 8.07545676e-03 -2.90057725e+02] [-9.34750232e-03 1.14023324e-04 -9.99956305e-01 -4.88741624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.606559995 meters 0.04942947258960704 Centerline is valid? [True, True] Translation: X:401.78, Y:-290.23, Z:-4.89 [[-4.49537825e-01 -8.93250955e-01 4.29822553e-03 4.01780241e+02] [-8.93207679e-01 4.49558359e-01 8.79346663e-03 -2.90234883e+02] [-9.78707568e-03 1.13787816e-04 -9.99952099e-01 -4.88933174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.666559995 meters 0.049632791936568645 Centerline is valid? [True, True] Translation: X:401.45, Y:-290.78, Z:-4.89 [[-3.81380481e-01 -9.24410929e-01 3.65551658e-03 4.01449535e+02] [-9.24366549e-01 3.81397992e-01 9.05842118e-03 -2.90783268e+02] [-9.76791022e-03 7.56677757e-05 -9.99952290e-01 -4.88683000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.7265599950001 meters 0.049661015960227727 Centerline is valid? [True, True] Translation: X:401.32, Y:-290.92, Z:-4.89 [[-3.08515070e-01 -9.51215131e-01 2.86829321e-03 4.01318708e+02] [-9.51172814e-01 3.08528400e-01 8.97236224e-03 -2.90920217e+02] [-9.41959664e-03 3.98664404e-05 -9.99955634e-01 -4.88660607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.786559995 meters 0.04930493763240899 Centerline is valid? [True, True] Translation: X:401.34, Y:-290.53, Z:-4.89 [[-2.28010778e-01 -9.73657164e-01 1.67704177e-03 4.01337232e+02] [-9.73631547e-01 2.28016944e-01 7.06286734e-03 -2.90529206e+02] [-7.25920532e-03 -2.24108979e-05 -9.99973651e-01 -4.89173470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.846559995 meters 0.04869294867973842 Centerline is valid? [True, True] Translation: X:401.11, Y:-291.21, Z:-4.89 [[-1.51456974e-01 -9.88463462e-01 8.77223350e-04 4.01112191e+02] [-9.88448882e-01 1.51459504e-01 5.36904392e-03 -2.91211684e+02] [-5.43996755e-03 -5.39112965e-05 -9.99985202e-01 -4.89001272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.906559995 meters 0.048200259028387184 Centerline is valid? [True, True] Translation: X:401.02, Y:-291.26, Z:-4.89 [[-6.72373416e-02 -9.97736896e-01 4.76083521e-04 4.01024039e+02] [-9.97722056e-01 6.72389386e-02 5.44273392e-03 -2.91256545e+02] [-5.46242780e-03 -1.09044070e-04 -9.99985075e-01 -4.89086781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.9665599950001 meters 0.04931548076890606 Centerline is valid? [True, True] Translation: X:400.93, Y:-291.48, Z:-4.89 [[ 1.08645630e-02 -9.99940976e-01 7.74734067e-05 4.00928613e+02] [-9.99924398e-01 -1.08639367e-02 5.75961661e-03 -2.91481674e+02] [-5.75843499e-03 -1.40043267e-04 -9.99983410e-01 -4.89036111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.026559995 meters 0.049662463945644254 Centerline is valid? [True, True] Translation: X:400.85, Y:-291.76, Z:-4.89 [[ 8.63179579e-02 -9.96267569e-01 -3.75263617e-04 4.00851140e+02] [-9.96248088e-01 -8.63186176e-02 6.23240713e-03 -2.91756209e+02] [-6.24153734e-03 -1.64112995e-04 -9.99980508e-01 -4.88892071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.086559995 meters 0.048629229441630256 Centerline is valid? [True, True] Translation: X:400.81, Y:-292.01, Z:-4.89 [[ 1.58548578e-01 -9.87350847e-01 -8.08799694e-04 4.00806269e+02] [-9.87332634e-01 -1.58550567e-01 5.99893444e-03 -2.92013105e+02] [-6.05128864e-03 -1.52568189e-04 -9.99981679e-01 -4.89058186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.146559995 meters 0.04808747328187252 Centerline is valid? [True, True] Translation: X:400.77, Y:-292.26, Z:-4.89 [[ 2.28291068e-01 -9.73592260e-01 -1.13966820e-03 4.00771598e+02] [-9.73577291e-01 -2.28293879e-01 5.40024362e-03 -2.92261018e+02] [-5.51781467e-03 -1.23272299e-04 -9.99984769e-01 -4.89057105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.2065599950001 meters 0.04802211253318248 Centerline is valid? [True, True] Translation: X:400.76, Y:-292.52, Z:-4.89 [[ 2.96009925e-01 -9.55183617e-01 -1.54328088e-03 4.00758069e+02] [-9.55168764e-01 -2.96013930e-01 5.32778545e-03 -2.92519479e+02] [-5.54584601e-03 -1.02983677e-04 -9.99984616e-01 -4.89067511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.266559995 meters 0.048431853031202864 Centerline is valid? [True, True] Translation: X:400.77, Y:-292.78, Z:-4.89 [[ 3.60677880e-01 -9.32688689e-01 -1.81027772e-03 4.00769847e+02] [-9.32675983e-01 -3.60682416e-01 4.86883526e-03 -2.92777640e+02] [-5.19404292e-03 -6.76786247e-05 -9.99986509e-01 -4.89102734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.326559995 meters 0.04852519509267153 Centerline is valid? [True, True] Translation: X:400.79, Y:-293.02, Z:-4.89 [[ 4.26159150e-01 -9.04645066e-01 -2.38401986e-03 4.00791689e+02] [-9.04630131e-01 -4.26165814e-01 5.19845647e-03 -2.93022379e+02] [-5.71874576e-03 -5.87135913e-05 -9.99983646e-01 -4.89098246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.386559995 meters 0.04760345638027774 Centerline is valid? [True, True] Translation: X:400.82, Y:-293.24, Z:-4.89 [[ 4.90716002e-01 -8.71313002e-01 -3.38492884e-03 4.00821221e+02] [-8.71291388e-01 -4.90727673e-01 6.13741306e-03 -2.93244333e+02] [-7.00868605e-03 -6.24674557e-05 -9.99975437e-01 -4.89054931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.4465599950001 meters 0.04840869307626842 Centerline is valid? [True, True] Translation: X:400.85, Y:-293.45, Z:-4.89 [[ 5.54642046e-01 -8.32076446e-01 -4.58135506e-03 4.00852640e+02] [-8.32046806e-01 -5.54660960e-01 7.02368779e-03 -2.93448398e+02] [-8.38534397e-03 -8.37307191e-05 -9.99964839e-01 -4.88899846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.506559995 meters 0.049316229065940465 Centerline is valid? [True, True] Translation: X:400.88, Y:-293.63, Z:-4.89 [[ 6.16701046e-01 -7.87177448e-01 -5.61114693e-03 4.00879613e+02] [-7.87143115e-01 -6.16726561e-01 7.35290932e-03 -2.93627020e+02] [-9.24858775e-03 -1.17771198e-04 -9.99957224e-01 -4.88914208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.566559995 meters 0.049247445420780474 Centerline is valid? [True, True] Translation: X:401.00, Y:-293.90, Z:-4.89 [[ 6.73931353e-01 -7.38770218e-01 -5.92422993e-03 4.00996777e+02] [-7.38740009e-01 -6.73957379e-01 6.68209416e-03 -2.93895679e+02] [-8.92921064e-03 -1.26807088e-04 -9.99960126e-01 -4.88961191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.626559995 meters 0.049071243106526066 Centerline is valid? [True, True] Translation: X:401.05, Y:-294.07, Z:-4.89 [[ 7.26919047e-01 -6.86699719e-01 -5.67411175e-03 4.01053448e+02] [-6.86677526e-01 -7.26941182e-01 5.52200855e-03 -2.94067720e+02] [-7.91670722e-03 -1.17768177e-04 -9.99968655e-01 -4.89087900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.6865599950002 meters 0.04948952155986927 Centerline is valid? [True, True] Translation: X:401.02, Y:-294.15, Z:-4.89 [[ 7.78582292e-01 -6.27521491e-01 -5.13748255e-03 4.01024037e+02] [-6.27506965e-01 -7.78599235e-01 4.27097946e-03 -2.94151169e+02] [-6.68017137e-03 -1.01502896e-04 -9.99977682e-01 -4.89264332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.746559995 meters 0.04871670579652749 Centerline is valid? [True, True] Translation: X:401.00, Y:-294.24, Z:-4.89 [[ 8.25179873e-01 -5.64846841e-01 -5.12080936e-03 4.00999176e+02] [-5.64835251e-01 -8.25195757e-01 3.61963996e-03 -2.94237433e+02] [-6.27021235e-03 -9.44404019e-05 -9.99980338e-01 -4.89153484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.806559995 meters 0.049425937137788874 Centerline is valid? [True, True] Translation: X:400.99, Y:-294.32, Z:-4.89 [[ 8.66479530e-01 -4.99183472e-01 -5.39309502e-03 4.00985910e+02] [-4.99173151e-01 -8.66496309e-01 3.21133786e-03 -2.94320899e+02] [-6.27614371e-03 -9.04702870e-05 -9.99980301e-01 -4.89232338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.866559995 meters 0.049180466666609336 Centerline is valid? [True, True] Translation: X:400.98, Y:-294.41, Z:-4.89 [[ 9.02634534e-01 -4.30370009e-01 -5.70560189e-03 4.00977355e+02] [-4.30360789e-01 -9.02652562e-01 2.81852162e-03 -2.94405928e+02] [-6.36318334e-03 -8.86276142e-05 -9.99979751e-01 -4.89158746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.926559995 meters 0.04902142849130902 Centerline is valid? [True, True] Translation: X:400.98, Y:-294.49, Z:-4.89 [[ 9.33734288e-01 -3.57921775e-01 -5.68172218e-03 4.00976767e+02] [-3.57914567e-01 -9.33751571e-01 2.27318665e-03 -2.94492372e+02] [-6.11894001e-03 -8.89811844e-05 -9.99981275e-01 -4.89367457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.986559995 meters 0.048935804000149206 Centerline is valid? [True, True] Translation: X:400.98, Y:-294.58, Z:-4.89 [[ 9.59279775e-01 -2.82403979e-01 -5.50504990e-03 4.00979746e+02] [-2.82398775e-01 -9.59295567e-01 1.71693534e-03 -2.94581815e+02] [-5.76583934e-03 -9.24019987e-05 -9.99983373e-01 -4.89279774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.046559995 meters 0.04932967909851066 Centerline is valid? [True, True] Translation: X:400.99, Y:-294.66, Z:-4.89 [[ 9.78503906e-01 -2.06155749e-01 -5.46927913e-03 4.00993153e+02] [-2.06152001e-01 -9.78519187e-01 1.24649099e-03 -2.94660458e+02] [-5.60876585e-03 -9.21934619e-05 -9.99984267e-01 -4.89213158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.106559995 meters 0.0482812805356563 Centerline is valid? [True, True] Translation: X:401.01, Y:-294.74, Z:-4.89 [[ 9.91679657e-01 -1.28629031e-01 -5.10193861e-03 4.01012286e+02] [-1.28626877e-01 -9.91692778e-01 7.49320622e-04 -2.94744303e+02] [-5.15594006e-03 -8.68395856e-05 -9.99986704e-01 -4.89328061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.166559995 meters 0.04873113406323663 Centerline is valid? [True, True] Translation: X:401.04, Y:-294.83, Z:-4.89 [[ 9.98649047e-01 -5.16738878e-02 -5.46721509e-03 4.01037175e+02] [-5.16726357e-02 -9.98664008e-01 3.70132412e-04 -2.94832160e+02] [-5.47903711e-03 -8.71269668e-05 -9.99984986e-01 -4.89226310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.2265599950001 meters 0.048618726990191395 Centerline is valid? [True, True] Translation: X:401.06, Y:-294.92, Z:-4.89 [[ 9.99665859e-01 2.50997499e-02 -6.17843371e-03 4.01064946e+02] [ 2.50998202e-02 -9.99684948e-01 -6.61822691e-05 -2.94918809e+02] [-6.17814834e-03 -8.89174203e-05 -9.99980911e-01 -4.89018758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.286559995 meters 0.048871230830353905 Centerline is valid? [True, True] Translation: X:401.10, Y:-294.99, Z:-4.89 [[ 9.94880360e-01 1.00818569e-01 -6.97748366e-03 4.01097617e+02] [ 1.00816681e-01 -9.94904824e-01 -6.22739317e-04 -2.94992258e+02] [-7.00471584e-03 -8.38956253e-05 -9.99975463e-01 -4.89019204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.346559995 meters 0.04829357133351393 Centerline is valid? [True, True] Translation: X:401.14, Y:-295.07, Z:-4.89 [[ 9.84420981e-01 1.75705377e-01 -6.55384713e-03 4.01136244e+02] [ 1.75701901e-01 -9.84442795e-01 -1.10694700e-03 -2.95067924e+02] [-6.64638412e-03 -6.18215445e-05 -9.99977911e-01 -4.89170385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.406559995 meters 0.049262708697046374 Centerline is valid? [True, True] Translation: X:401.18, Y:-295.14, Z:-4.89 [[ 9.69220884e-01 2.46121571e-01 -5.92038018e-03 4.01178943e+02] [ 2.46117096e-01 -9.69238965e-01 -1.48432503e-03 -2.95137871e+02] [-6.10358757e-03 -1.84679656e-05 -9.99981373e-01 -4.89134759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.4665599950001 meters 0.04837145977851489 Centerline is valid? [True, True] Translation: X:401.22, Y:-295.19, Z:-4.89 [[ 9.48504453e-01 3.16713196e-01 -5.66168554e-03 4.01224044e+02] [ 3.16707489e-01 -9.48521350e-01 -1.90131461e-03 -2.95194878e+02] [-5.97240104e-03 1.03071602e-05 -9.99982165e-01 -4.89010158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.526559995 meters 0.04910874261495563 Centerline is valid? [True, True] Translation: X:401.27, Y:-295.25, Z:-4.89 [[ 9.22120620e-01 3.86872414e-01 -4.82677012e-03 4.01273073e+02] [ 3.86866963e-01 -9.22133252e-01 -2.05392347e-03 -2.95245651e+02] [-5.24553156e-03 2.66472896e-05 -9.99986242e-01 -4.89294930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.586559995 meters 0.04880083233707669 Centerline is valid? [True, True] Translation: X:401.33, Y:-295.30, Z:-4.89 [[ 8.90490508e-01 4.54967387e-01 -5.59743323e-03 4.01331239e+02] [ 4.54958029e-01 -8.90508099e-01 -2.91852057e-03 -2.95303869e+02] [-6.31239130e-03 5.23176747e-05 -9.99980075e-01 -4.89116306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.646559995 meters 0.048952631753368454 Centerline is valid? [True, True] Translation: X:401.39, Y:-295.35, Z:-4.89 [[ 8.52642887e-01 5.22450960e-01 -6.71575582e-03 4.01391707e+02] [ 5.22434082e-01 -8.52669332e-01 -4.20009682e-03 -2.95354685e+02] [-7.92066365e-03 7.26429501e-05 -9.99968628e-01 -4.88973013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.7065599950001 meters 0.05014816476649008 Centerline is valid? [True, True] Translation: X:401.46, Y:-295.40, Z:-4.89 [[ 8.09101461e-01 5.87618839e-01 -7.67629610e-03 4.01458258e+02] [ 5.87591374e-01 -8.09137870e-01 -5.68196378e-03 -2.95403010e+02] [-9.55001083e-03 8.67598270e-05 -9.99954394e-01 -4.89150309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.766559995 meters 0.04937434521253662 Centerline is valid? [True, True] Translation: X:401.53, Y:-295.45, Z:-4.89 [[ 7.59744723e-01 6.50172050e-01 -8.01630721e-03 4.01528016e+02] [ 6.50134722e-01 -7.59787009e-01 -6.96738598e-03 -2.95445660e+02] [-1.06206857e-02 8.17550723e-05 -9.99943596e-01 -4.88655385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.826559995 meters 0.04980301591352649 Centerline is valid? [True, True] Translation: X:401.60, Y:-295.48, Z:-4.89 [[ 7.06807969e-01 7.07375261e-01 -6.53724254e-03 4.01603612e+02] [ 7.07344021e-01 -7.06838195e-01 -6.64841310e-03 -2.95484015e+02] [-9.32369567e-03 7.50719285e-05 -9.99956531e-01 -4.88926024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.886559995 meters 0.049768300925626334 Centerline is valid? [True, True] Translation: X:401.68, Y:-295.51, Z:-4.89 [[ 6.49674466e-01 7.60198064e-01 -4.68950337e-03 4.01676661e+02] [ 7.60177564e-01 -6.49691388e-01 -5.58316046e-03 -2.95511842e+02] [-7.29103773e-03 6.23815410e-05 -9.99973418e-01 -4.89127722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.9465599950001 meters 0.04955920562894718 Centerline is valid? [True, True] Translation: X:401.77, Y:-295.55, Z:-4.89 [[ 5.87925143e-01 8.08911235e-01 -2.57698819e-03 4.01773468e+02] [ 8.08903190e-01 -5.87930789e-01 -3.60786877e-03 -2.95550164e+02] [-4.43353628e-03 3.66227961e-05 -9.99990171e-01 -4.89289537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.006559995 meters 0.0488671202715912 Centerline is valid? [True, True] Translation: X:401.85, Y:-295.57, Z:-4.89 [[ 5.18622727e-01 8.55002696e-01 -9.25710749e-04 4.01854177e+02] [ 8.55001311e-01 -5.18623553e-01 -1.53868198e-03 -2.95567869e+02] [-1.79567264e-03 6.51154241e-06 -9.99998388e-01 -4.89345824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.066559995 meters 0.04902091175546136 Centerline is valid? [True, True] Translation: X:401.94, Y:-295.58, Z:-4.89 [[ 4.44819959e-01 8.95619828e-01 -5.73148589e-04 4.01935448e+02] [ 8.95619092e-01 -4.44820328e-01 -1.14790260e-03 -2.95577887e+02] [-1.28303247e-03 -2.71283110e-06 -9.99999177e-01 -4.89340920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.126559995 meters 0.04956684943095781 Centerline is valid? [True, True] Translation: X:402.04, Y:-295.59, Z:-4.89 [[ 3.64276135e-01 9.31290640e-01 -8.01164725e-04 4.02039120e+02] [ 9.31288542e-01 -3.64277015e-01 -1.97673466e-03 -2.95592537e+02] [-2.13276038e-03 -2.60382670e-05 -9.99997725e-01 -4.89180676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.1865599950002 meters 0.04914440632759869 Centerline is valid? [True, True] Translation: X:402.14, Y:-295.60, Z:-4.89 [[ 2.85280038e-01 9.58443638e-01 -1.04507377e-03 4.02135696e+02] [ 9.58437968e-01 -2.85281946e-01 -3.29755116e-03 -2.95595705e+02] [-3.45865761e-03 -6.09128592e-05 -9.99994017e-01 -4.88978925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.246559995 meters 0.04949553625187132 Centerline is valid? [True, True] Translation: X:402.23, Y:-295.59, Z:-4.89 [[ 2.06377614e-01 9.78471825e-01 -1.08073436e-03 4.02225439e+02] [ 9.78460811e-01 -2.06380420e-01 -4.64367093e-03 -2.95588006e+02] [-4.76674358e-03 -9.91064929e-05 -9.99988634e-01 -4.88909003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.306559995 meters 0.049486222734382614 Centerline is valid? [True, True] Translation: X:402.31, Y:-295.57, Z:-4.89 [[ 1.29973266e-01 9.91517112e-01 -8.75760458e-04 4.02310728e+02] [ 9.91500275e-01 -1.29976163e-01 -5.77940356e-03 -2.95572851e+02] [-5.84420551e-03 -1.17148781e-04 -9.99982916e-01 -4.88727657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.366559995 meters 0.04885675843839805 Centerline is valid? [True, True] Translation: X:402.39, Y:-295.55, Z:-4.89 [[ 5.51317876e-02 9.98478985e-01 -4.50564383e-04 4.02387218e+02] [ 9.98459486e-01 -5.51335272e-02 -6.24095576e-03 -2.95549678e+02] [-6.25630437e-03 -1.05795235e-04 -9.99980424e-01 -4.88784943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.426559995 meters 0.04922900169681272 Centerline is valid? [True, True] Translation: X:402.46, Y:-295.52, Z:-4.89 [[-1.86628371e-02 9.99825833e-01 3.78233142e-05 4.02460482e+02] [ 9.99807492e-01 1.86627239e-02 -6.05648360e-03 -2.95520509e+02] [-6.05613465e-03 -7.52151340e-05 -9.99981659e-01 -4.88717468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.486559995 meters 0.04871187827583902 Centerline is valid? [True, True] Translation: X:402.53, Y:-295.49, Z:-4.89 [[-9.42523331e-02 9.95548183e-01 5.60185156e-04 4.02529115e+02] [ 9.95526250e-01 9.42539753e-02 -6.60858446e-03 -2.95486658e+02] [-6.63196393e-03 -6.51954769e-05 -9.99978006e-01 -4.88631000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.546559995 meters 0.0484315494316448 Centerline is valid? [True, True] Translation: X:402.60, Y:-295.45, Z:-4.89 [[-1.69434395e-01 9.85540841e-01 1.11207620e-03 4.02600253e+02] [ 9.85517607e-01 1.69438037e-01 -6.76740686e-03 -2.95446790e+02] [-6.85798386e-03 -5.06608193e-05 -9.99976483e-01 -4.88710283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.606559995 meters 0.049061353669180734 Centerline is valid? [True, True] Translation: X:402.67, Y:-295.40, Z:-4.89 [[-2.42887516e-01 9.70052864e-01 1.75951657e-03 4.02667269e+02] [ 9.70026485e-01 2.42893888e-01 -7.15383599e-03 -2.95401441e+02] [-7.36697491e-03 -3.07997865e-05 -9.99972863e-01 -4.88742755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.666559995 meters 0.049540639367411925 Centerline is valid? [True, True] Translation: X:402.73, Y:-295.35, Z:-4.89 [[-3.15337925e-01 9.48976783e-01 2.24887723e-03 4.02729507e+02] [ 9.48952434e-01 3.15345944e-01 -6.79809251e-03 -2.95351882e+02] [-7.16040627e-03 -9.61887033e-06 -9.99974364e-01 -4.88746378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.7265599950001 meters 0.048758457090106115 Centerline is valid? [True, True] Translation: X:402.79, Y:-295.30, Z:-4.89 [[-3.86845387e-01 9.22140637e-01 2.70027728e-03 4.02790105e+02] [ 9.22118248e-01 3.86854811e-01 -6.42591235e-03 -2.95296852e+02] [-6.97021017e-03 4.14040408e-06 -9.99975708e-01 -4.88719951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.786559995 meters 0.04960077740300989 Centerline is valid? [True, True] Translation: X:402.85, Y:-295.24, Z:-4.89 [[-4.55683237e-01 8.90135591e-01 3.37894433e-03 4.02845236e+02] [ 8.90111476e-01 4.55695764e-01 -6.55214152e-03 -2.95239772e+02] [-7.37206498e-03 2.19360690e-05 -9.99972826e-01 -4.88692136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.846559995 meters 0.04857816908120394 Centerline is valid? [True, True] Translation: X:402.90, Y:-295.18, Z:-4.89 [[-5.22184130e-01 8.52824763e-01 3.69569778e-03 4.02896579e+02] [ 8.52803882e-01 5.22197206e-01 -5.96800825e-03 -2.95179019e+02] [-7.01954828e-03 3.53062188e-05 -9.99975362e-01 -4.88872075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.906559995 meters 0.04842770924774165 Centerline is valid? [True, True] Translation: X:402.95, Y:-295.11, Z:-4.89 [[-5.89267823e-01 8.07932675e-01 2.86802284e-03 4.02950945e+02] [ 8.07923212e-01 5.89274803e-01 -3.91042376e-03 -2.95106983e+02] [-4.84941272e-03 1.28553271e-05 -9.99988241e-01 -4.88771032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.9665599950001 meters 0.04854772396200738 Centerline is valid? [True, True] Translation: X:403.00, Y:-295.03, Z:-4.89 [[-6.54321368e-01 7.56214051e-01 1.96394874e-03 4.02999432e+02] [ 7.56210616e-01 6.54324315e-01 -2.27917794e-03 -2.95033267e+02] [-3.00860580e-03 -6.15593512e-06 -9.99995474e-01 -4.88736428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.026559995 meters 0.04814650171888838 Centerline is valid? [True, True] Translation: X:403.04, Y:-294.96, Z:-4.89 [[-7.11996982e-01 7.02179885e-01 1.92533203e-03 4.03036911e+02] [ 7.02177289e-01 7.11999585e-01 -1.90917869e-03 -2.94958590e+02] [-2.71142248e-03 -7.40503998e-06 -9.99996324e-01 -4.88785455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.086559995 meters 0.04802386295086439 Centerline is valid? [True, True] Translation: X:403.44, Y:-294.49, Z:-5.92 [[-6.58617752e-01 -7.52475927e-01 1.62362679e-03 4.03442840e+02] [ 7.52473610e-01 -6.58619753e-01 -1.86750585e-03 -2.94487480e+02] [ 2.47460587e-03 -8.23619477e-06 9.99996938e-01 -5.91859084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.146559995 meters 0.0486799983506439 Centerline is valid? [True, True] Translation: X:403.41, Y:-294.45, Z:-5.92 [[-6.58914136e-01 -7.52217233e-01 1.18160656e-03 4.03405145e+02] [ 7.52216037e-01 -6.58915195e-01 -1.34143423e-03 -2.94447181e+02] [ 1.78762846e-03 4.93342501e-06 9.99998402e-01 -5.91925779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.2065599950001 meters 0.04864581212264784 Centerline is valid? [True, True] Translation: X:403.37, Y:-294.41, Z:-5.92 [[-6.58482376e-01 -7.52595225e-01 1.17823690e-03 4.03365417e+02] [ 7.52594037e-01 -6.58483430e-01 -1.33717329e-03 -2.94407301e+02] [ 1.78219971e-03 6.22901697e-06 9.99998412e-01 -5.91991923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.266559995 meters 0.049082971348821405 Centerline is valid? [True, True] Translation: X:403.33, Y:-294.37, Z:-5.92 [[-6.57905816e-01 -7.53099085e-01 1.30611942e-03 4.03325330e+02] [ 7.53097627e-01 -6.57907112e-01 -1.48182334e-03 -2.94367329e+02] [ 1.97526506e-03 8.73524334e-06 9.99998049e-01 -5.92072497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.326559995 meters 0.048421330245834074 Centerline is valid? [True, True] Translation: X:403.29, Y:-294.33, Z:-5.92 [[-6.58640707e-01 -7.52455214e-01 1.88946697e-03 4.03287723e+02] [ 7.52452163e-01 -6.58643417e-01 -2.14291879e-03 -2.94326593e+02] [ 2.85693539e-03 1.03199598e-05 9.99995919e-01 -5.92169668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.386559995 meters 0.04835566845079409 Centerline is valid? [True, True] Translation: X:403.25, Y:-294.28, Z:-5.92 [[-6.60021101e-01 -7.51245230e-01 1.65833070e-03 4.03250645e+02] [ 7.51242877e-01 -6.60023185e-01 -1.88024577e-03 -2.94282751e+02] [ 2.50706237e-03 4.80723823e-06 9.99996857e-01 -5.92104606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.4465599950001 meters 0.04922209225535423 Centerline is valid? [True, True] Translation: X:403.21, Y:-294.24, Z:-5.92 [[-6.61068844e-01 -7.50323396e-01 1.66879085e-03 4.03212559e+02] [ 7.50321012e-01 -6.61070951e-01 -1.89144476e-03 -2.94241904e+02] [ 2.52238441e-03 1.75363914e-06 9.99996819e-01 -5.92190490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.506559995 meters 0.05021565510143142 Centerline is valid? [True, True] Translation: X:403.17, Y:-294.20, Z:-5.92 [[-6.60571204e-01 -7.50761032e-01 1.88586157e-03 4.03174313e+02] [ 7.50757991e-01 -6.60573896e-01 -2.13673752e-03 -2.94201722e+02] [ 2.84993019e-03 4.35837043e-06 9.99995939e-01 -5.92214928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.566559995 meters 0.0488635388746843 Centerline is valid? [True, True] Translation: X:403.14, Y:-294.16, Z:-5.92 [[-6.58749181e-01 -7.52361535e-01 1.27981103e-03 4.03136168e+02] [ 7.52360138e-01 -6.58750424e-01 -1.44954472e-03 -2.94162512e+02] [ 1.93365775e-03 7.99240554e-06 9.99998130e-01 -5.92178928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.626559995 meters 0.049008801612819286 Centerline is valid? [True, True] Translation: X:403.10, Y:-294.12, Z:-5.92 [[-6.57302302e-01 -7.53626840e-01 5.19453831e-04 4.03098352e+02] [ 7.53626611e-01 -6.57302507e-01 -5.88167261e-04 -2.94120579e+02] [ 7.84696940e-04 4.87053552e-06 9.99999692e-01 -5.92036551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.6865599950002 meters 0.04886402198951591 Centerline is valid? [True, True] Translation: X:403.06, Y:-294.08, Z:-5.92 [[-6.54538405e-01 -7.56028620e-01 -4.49589635e-04 4.03058267e+02] [ 7.56028449e-01 -6.54538559e-01 5.08904409e-04 -2.94081756e+02] [-6.79020050e-04 -6.80507432e-06 9.99999769e-01 -5.92038216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.746559995 meters 0.04829832414100876 Centerline is valid? [True, True] Translation: X:403.02, Y:-294.04, Z:-5.92 [[-6.52765861e-01 -7.57559628e-01 3.75916982e-04 4.03019658e+02] [ 7.57559508e-01 -6.52765969e-01 -4.25376172e-04 -2.94041893e+02] [ 5.67633627e-04 7.10844122e-06 9.99999839e-01 -5.92243448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.806559995 meters 0.048627240876223866 Centerline is valid? [True, True] Translation: X:402.98, Y:-294.00, Z:-5.93 [[-6.51777234e-01 -7.58408035e-01 1.92075703e-03 4.02982123e+02] [ 7.58404924e-01 -6.51780063e-01 -2.17274285e-03 -2.94000423e+02] [ 2.89973677e-03 4.05672611e-05 9.99995795e-01 -5.92602577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.866559995 meters 0.04873596345548052 Centerline is valid? [True, True] Translation: X:402.95, Y:-293.95, Z:-5.93 [[-6.52784780e-01 -7.57539706e-01 2.37170615e-03 4.02948248e+02] [ 7.57534959e-01 -6.52789087e-01 -2.68205495e-03 -2.93954437e+02] [ 3.57998701e-03 4.58456737e-05 9.99993591e-01 -5.92648363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.926559995 meters 0.048241803735089184 Centerline is valid? [True, True] Translation: X:402.91, Y:-293.91, Z:-5.93 [[-6.55686286e-01 -7.55029676e-01 2.38365125e-03 4.02913931e+02] [ 7.55024868e-01 -6.55690618e-01 -2.69487990e-03 -2.93906813e+02] [ 3.59765206e-03 3.27201724e-05 9.99993528e-01 -5.92607057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.986559995 meters 0.048362735969431414 Centerline is valid? [True, True] Translation: X:402.88, Y:-293.86, Z:-5.93 [[-6.57898956e-01 -7.53102925e-01 2.22461344e-03 4.02877406e+02] [ 7.53098727e-01 -6.57902717e-01 -2.51441147e-03 -2.93862228e+02] [ 3.35718986e-03 2.11248731e-05 9.99994364e-01 -5.92647669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.046559995 meters 0.048099510155180825 Centerline is valid? [True, True] Translation: X:402.84, Y:-293.82, Z:-5.93 [[-6.59207452e-01 -7.51958648e-01 1.93066799e-03 4.02841951e+02] [ 7.51955483e-01 -6.59210279e-01 -2.18156766e-03 -2.93817740e+02] [ 2.91316485e-03 1.36707265e-05 9.99995757e-01 -5.92654769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.106559995 meters 0.04777977721087534 Centerline is valid? [True, True] Translation: X:402.80, Y:-293.77, Z:-5.93 [[-6.58569713e-01 -7.52515261e-01 2.59147276e-03 4.02804482e+02] [ 7.52509567e-01 -6.58574811e-01 -2.92738132e-03 -2.93774605e+02] [ 3.90957780e-03 2.22233695e-05 9.99992357e-01 -5.92774328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.166559995 meters 0.04866119854669251 Centerline is valid? [True, True] Translation: X:402.76, Y:-293.73, Z:-5.93 [[-6.56527495e-01 -7.54294074e-01 3.47821294e-03 4.02764282e+02] [ 7.54283847e-01 -6.56536707e-01 -3.92809990e-03 -2.93732596e+02] [ 5.24651695e-03 4.46542471e-05 9.99986236e-01 -5.92889970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.2265599950001 meters 0.04827475263320921 Centerline is valid? [True, True] Translation: X:402.73, Y:-293.69, Z:-5.93 [[-6.52744669e-01 -7.57564029e-01 4.59779440e-03 4.02725882e+02] [ 7.57546250e-01 -6.52760855e-01 -5.19088506e-03 -2.93691481e+02] [ 6.93368800e-03 9.47193642e-05 9.99975957e-01 -5.92935434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.286559995 meters 0.04800351629907193 Centerline is valid? [True, True] Translation: X:402.69, Y:-293.65, Z:-5.93 [[-6.51033062e-01 -7.59036698e-01 4.38668659e-03 4.02686686e+02] [ 7.59020557e-01 -6.51047832e-01 -4.95127242e-03 -2.93649442e+02] [ 6.61414026e-03 1.06143254e-04 9.99978121e-01 -5.92961753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.346559995 meters 0.04833363253914103 Centerline is valid? [True, True] Translation: X:402.65, Y:-293.61, Z:-5.93 [[-6.49906217e-01 -7.60001214e-01 4.47927793e-03 4.02647756e+02] [ 7.59984415e-01 -6.49921642e-01 -5.05445136e-03 -2.93606025e+02] [ 6.75256884e-03 1.19262050e-04 9.99977194e-01 -5.92994574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.406559995 meters 0.048706662868986055 Centerline is valid? [True, True] Translation: X:402.61, Y:-293.56, Z:-5.93 [[-6.49514380e-01 -7.60333506e-01 4.90200113e-03 4.02609276e+02] [ 7.60313404e-01 -6.49532864e-01 -5.53039293e-03 -2.93563892e+02] [ 7.38895388e-03 1.34987427e-04 9.99972692e-01 -5.93028982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.4665599950001 meters 0.04834537475832977 Centerline is valid? [True, True] Translation: X:402.57, Y:-293.52, Z:-5.93 [[-6.50852071e-01 -7.59182817e-01 5.74729824e-03 4.02573078e+02] [ 7.59155157e-01 -6.50877430e-01 -6.48219538e-03 -2.93520091e+02] [ 8.66195806e-03 1.44140811e-04 9.99962474e-01 -5.93070087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.526559995 meters 0.048856696160640874 Centerline is valid? [True, True] Translation: X:402.53, Y:-293.48, Z:-5.93 [[-6.52309527e-01 -7.57932760e-01 5.49667492e-03 4.02534001e+02] [ 7.57907423e-01 -6.52332673e-01 -6.19852952e-03 -2.93477078e+02] [ 8.28372923e-03 1.22610868e-04 9.99965682e-01 -5.93125040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.586559995 meters 0.04865327704915589 Centerline is valid? [True, True] Translation: X:402.50, Y:-293.44, Z:-5.93 [[-6.54110921e-01 -7.56382641e-01 4.91965446e-03 4.02495397e+02] [ 7.56362310e-01 -6.54129415e-01 -5.54658338e-03 -2.93435902e+02] [ 7.41343008e-03 9.29604507e-05 9.99972516e-01 -5.93136482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.646559995 meters 0.048137431370608885 Centerline is valid? [True, True] Translation: X:402.46, Y:-293.39, Z:-5.93 [[-6.55449222e-01 -7.55222886e-01 4.97085524e-03 4.02457323e+02] [ 7.55202108e-01 -6.55468066e-01 -5.60268593e-03 -2.93393109e+02] [ 7.48951350e-03 8.17242251e-05 9.99971950e-01 -5.93146460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.7065599950001 meters 0.0484109064355987 Centerline is valid? [True, True] Translation: X:402.42, Y:-293.35, Z:-5.93 [[-6.56930004e-01 -7.53934615e-01 5.05622533e-03 4.02420570e+02] [ 7.53913091e-01 -6.56949459e-01 -5.69741152e-03 -2.93348322e+02] [ 7.61716026e-03 6.91538885e-05 9.99970987e-01 -5.93076448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.766559995 meters 0.04785642636743165 Centerline is valid? [True, True] Translation: X:402.38, Y:-293.30, Z:-5.93 [[-6.59433332e-01 -7.51750032e-01 4.42380797e-03 4.02383634e+02] [ 7.51733514e-01 -6.59448169e-01 -4.98357995e-03 -2.93304382e+02] [ 6.66367846e-03 3.91859816e-05 9.99977797e-01 -5.93210856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.826559995 meters 0.047545552552568836 Centerline is valid? [True, True] Translation: X:402.35, Y:-293.26, Z:-5.93 [[-6.60733712e-01 -7.50610864e-01 3.78051412e-03 4.02346777e+02] [ 7.50598790e-01 -6.60744527e-01 -4.25765097e-03 -2.93260358e+02] [ 5.69379309e-03 2.44757911e-05 9.99983790e-01 -5.93103863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.886559995 meters 0.04807342020827599 Centerline is valid? [True, True] Translation: X:402.31, Y:-293.22, Z:-5.93 [[-6.61162475e-01 -7.50235050e-01 3.39890491e-03 4.02309430e+02] [ 7.50225291e-01 -6.61171211e-01 -3.82659626e-03 -2.93219462e+02] [ 5.11810471e-03 1.99425749e-05 9.99986902e-01 -5.93126162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.9465599950001 meters 0.04807502387806397 Centerline is valid? [True, True] Translation: X:402.27, Y:-293.18, Z:-5.93 [[-6.60900602e-01 -7.50468032e-01 2.85085686e-03 4.02270752e+02] [ 7.50461173e-01 -6.60906750e-01 -3.20858840e-03 -2.93177926e+02] [ 4.29209357e-03 1.88993801e-05 9.99990789e-01 -5.93198867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.006559995 meters 0.04860135466102446 Centerline is valid? [True, True] Translation: X:402.23, Y:-293.14, Z:-5.93 [[-6.59941576e-01 -7.51309513e-01 3.33652364e-03 4.02233024e+02] [ 7.51300135e-01 -6.59950009e-01 -3.75408626e-03 -2.93135231e+02] [ 5.02241953e-03 2.92530573e-05 9.99987387e-01 -5.93215267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.066559995 meters 0.048315686311618394 Centerline is valid? [True, True] Translation: X:402.19, Y:-293.10, Z:-5.94 [[-6.56828754e-01 -7.54024067e-01 4.86774027e-03 4.02191433e+02] [ 7.54004191e-01 -6.56846787e-01 -5.47524869e-03 -2.93096587e+02] [ 7.32582884e-03 7.39957888e-05 9.99973163e-01 -5.93555312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.126559995 meters 0.04848687208064399 Centerline is valid? [True, True] Translation: X:402.15, Y:-293.05, Z:-5.94 [[-6.55265886e-01 -7.55378423e-01 5.48243253e-03 4.02153444e+02] [ 7.55353272e-01 -6.55288813e-01 -6.16492075e-03 -2.93054607e+02] [ 8.24942482e-03 1.01511096e-04 9.99965968e-01 -5.93522225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.1865599950002 meters 0.0479642830145243 Centerline is valid? [True, True] Translation: X:402.12, Y:-293.01, Z:-5.93 [[-6.56149710e-01 -7.54615599e-01 4.78081398e-03 4.02115812e+02] [ 7.54596465e-01 -6.56167121e-01 -5.37435276e-03 -2.93012129e+02] [ 7.19258337e-03 8.12053296e-05 9.99974130e-01 -5.93488570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.246559995 meters 0.04792045669275811 Centerline is valid? [True, True] Translation: X:402.08, Y:-292.97, Z:-5.93 [[-6.58325384e-01 -7.52723266e-01 3.92102607e-03 4.02080672e+02] [ 7.52710369e-01 -6.58337059e-01 -4.40651837e-03 -2.92966889e+02] [ 5.89824566e-03 5.04740848e-05 9.99982604e-01 -5.93186296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.306559995 meters 0.047956852692774735 Centerline is valid? [True, True] Translation: X:402.04, Y:-292.92, Z:-5.93 [[-6.62029581e-01 -7.49474878e-01 2.05954423e-03 4.02044583e+02] [ 7.49471306e-01 -6.62032784e-01 -2.31391303e-03 -2.92923101e+02] [ 3.09770549e-03 1.16904357e-05 9.99995202e-01 -5.93011413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.366559995 meters 0.04730406272337641 Centerline is valid? [True, True] Translation: X:402.01, Y:-292.88, Z:-5.93 [[-6.63832158e-01 -7.47881013e-01 9.25217278e-04 4.02008088e+02] [ 7.47880291e-01 -6.63832803e-01 -1.03913458e-03 -2.92880891e+02] [ 1.39133860e-03 2.14081645e-06 9.99999032e-01 -5.92842081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.426559995 meters 0.04758434162779845 Centerline is valid? [True, True] Translation: X:401.97, Y:-292.84, Z:-5.93 [[-6.64155042e-01 -7.47594787e-01 3.38774160e-04 4.01970803e+02] [ 7.47594690e-01 -6.64155128e-01 -3.80357293e-04 -2.92839320e+02] [ 5.09351726e-04 6.49549401e-07 9.99999870e-01 -5.92755842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.486559995 meters 0.04712876260511013 Centerline is valid? [True, True] Translation: X:401.93, Y:-292.80, Z:-5.93 [[-6.62422300e-01 -7.49130569e-01 -2.96992128e-04 4.01931558e+02] [ 7.49130494e-01 -6.62422366e-01 3.33340049e-04 -2.92800245e+02] [-4.46449449e-04 -1.67397789e-06 9.99999900e-01 -5.92663179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.546559995 meters 0.047834413915403676 Centerline is valid? [True, True] Translation: X:401.89, Y:-292.76, Z:-5.93 [[-6.60212615e-01 -7.51078443e-01 -6.89080139e-04 4.01890856e+02] [ 7.51078046e-01 -6.60212975e-01 7.73178980e-04 -2.92760849e+02] [-1.03565771e-03 -7.09044773e-06 9.99999464e-01 -5.92637912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.606559995 meters 0.04862332943861756 Centerline is valid? [True, True] Translation: X:401.85, Y:-292.72, Z:-5.93 [[-6.56635101e-01 -7.54208328e-01 3.78170530e-04 4.01848802e+02] [ 7.54208208e-01 -6.56635210e-01 -4.24198062e-04 -2.92722846e+02] [ 5.68253796e-04 6.67598082e-06 9.99999839e-01 -5.92802988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.666559995 meters 0.04857356355801965 Centerline is valid? [True, True] Translation: X:401.81, Y:-292.68, Z:-5.93 [[-6.55280168e-01 -7.55383651e-01 1.85504320e-03 4.01809176e+02] [ 7.55380787e-01 -6.55282793e-01 -2.08017338e-03 -2.92682664e+02] [ 2.78690685e-03 3.81676301e-05 9.99996116e-01 -5.93031977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.7265599950001 meters 0.04840607142618098 Centerline is valid? [True, True] Translation: X:401.77, Y:-292.64, Z:-5.93 [[-6.55413815e-01 -7.55265181e-01 2.69015827e-03 4.01771713e+02] [ 7.55259163e-01 -6.55419334e-01 -3.01561839e-03 -2.92641093e+02] [ 4.04077331e-03 5.52887319e-05 9.99991835e-01 -5.93202158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.786559995 meters 0.04822374950878919 Centerline is valid? [True, True] Translation: X:401.74, Y:-292.59, Z:-5.93 [[-6.58817145e-01 -7.52298836e-01 2.53606716e-03 4.01738427e+02] [ 7.52293467e-01 -6.58822025e-01 -2.84229289e-03 -2.92594545e+02] [ 3.80907053e-03 3.53154705e-05 9.99992745e-01 -5.93030319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.846559995 meters 0.04842694272466196 Centerline is valid? [True, True] Translation: X:401.70, Y:-292.55, Z:-5.93 [[-6.62356615e-01 -7.49185215e-01 2.28665944e-03 4.01703948e+02] [ 7.49180834e-01 -6.62360562e-01 -2.56209191e-03 -2.92548026e+02] [ 3.43407441e-03 1.61029044e-05 9.99994103e-01 -5.92918361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.906559995 meters 0.04828506988331832 Centerline is valid? [True, True] Translation: X:401.67, Y:-292.50, Z:-5.93 [[-6.65761973e-01 -7.46161326e-01 2.06665531e-03 4.01668171e+02] [ 7.46157735e-01 -6.65765181e-01 -2.31498870e-03 -2.92503277e+02] [ 3.10326218e-03 8.19400255e-07 9.99995185e-01 -5.92852477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.9665599950001 meters 0.04822739381290231 Centerline is valid? [True, True] Translation: X:401.63, Y:-292.46, Z:-5.93 [[-6.69414896e-01 -7.42885757e-01 2.10937479e-03 4.01633126e+02] [ 7.42882002e-01 -6.69418219e-01 -2.36221298e-03 -2.92458462e+02] [ 3.16690829e-03 -1.42839900e-05 9.99994985e-01 -5.92929350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.026559995 meters 0.04796851805625799 Centerline is valid? [True, True] Translation: X:401.59, Y:-292.41, Z:-5.93 [[-6.70837023e-01 -7.41600213e-01 2.60998099e-03 4.01594620e+02] [ 7.41594457e-01 -6.70842100e-01 -2.92208364e-03 -2.92414792e+02] [ 3.91790298e-03 -2.46944524e-05 9.99992325e-01 -5.92948465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.086559995 meters 0.04846932706029395 Centerline is valid? [True, True] Translation: X:401.56, Y:-292.37, Z:-5.93 [[-6.71591093e-01 -7.40915024e-01 3.21410677e-03 4.01556884e+02] [ 7.40906291e-01 -6.71598783e-01 -3.59741885e-03 -2.92372629e+02] [ 4.82397187e-03 -3.46425310e-05 9.99988364e-01 -5.93090093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.146559995 meters 0.048364919545451475 Centerline is valid? [True, True] Translation: X:401.52, Y:-292.33, Z:-5.93 [[-6.71212036e-01 -7.41254306e-01 4.05667015e-03 4.01517365e+02] [ 7.41240409e-01 -6.71224294e-01 -4.53908902e-03 -2.92331286e+02] [ 6.08755484e-03 -3.97233425e-05 9.99981470e-01 -5.92964380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.2065599950001 meters 0.048069407356217474 Centerline is valid? [True, True] Translation: X:401.48, Y:-292.29, Z:-5.93 [[-6.70183210e-01 -7.42182092e-01 4.49528981e-03 4.01479558e+02] [ 7.42165056e-01 -6.70198285e-01 -5.02877161e-03 -2.92288670e+02] [ 6.74499976e-03 -3.39512835e-05 9.99977252e-01 -5.92962767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.266559995 meters 0.04912052178136037 Centerline is valid? [True, True] Translation: X:401.44, Y:-292.25, Z:-5.93 [[-6.68775347e-01 -7.43447637e-01 5.01459792e-03 4.01440448e+02] [ 7.43426483e-01 -6.68794147e-01 -5.60837393e-03 -2.92245966e+02] [ 7.52326608e-03 -2.27573284e-05 9.99971700e-01 -5.92952401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.326559995 meters 0.0480164280229148 Centerline is valid? [True, True] Translation: X:401.40, Y:-292.20, Z:-5.93 [[-6.68700764e-01 -7.43517674e-01 4.55591533e-03 4.01402739e+02] [ 7.43500222e-01 -6.68716284e-01 -5.09430692e-03 -2.92202675e+02] [ 6.83432200e-03 -1.92428701e-05 9.99976646e-01 -5.93079383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.386559995 meters 0.04824803556009753 Centerline is valid? [True, True] Translation: X:401.37, Y:-292.16, Z:-5.93 [[-6.69164041e-01 -7.43110220e-01 2.58616035e-03 4.01365367e+02] [ 7.43104596e-01 -6.69169038e-01 -2.89109629e-03 -2.92160702e+02] [ 3.87898163e-03 -1.28300358e-05 9.99992477e-01 -5.92703201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.4465599950001 meters 0.04863965705362425 Centerline is valid? [True, True] Translation: X:401.33, Y:-292.12, Z:-5.93 [[-6.69066086e-01 -7.43201528e-01 1.43604034e-03 4.01327728e+02] [ 7.43199795e-01 -6.69067627e-01 -1.60499296e-03 -2.92117234e+02] [ 2.15364133e-03 -6.58147464e-06 9.99997681e-01 -5.92675390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.506559995 meters 0.04789696493153324 Centerline is valid? [True, True] Translation: X:401.29, Y:-292.08, Z:-5.93 [[-6.67171311e-01 -7.44903738e-01 9.29206826e-04 4.01288229e+02] [ 7.44903015e-01 -6.67171958e-01 -1.03826300e-03 -2.92075451e+02] [ 1.39334673e-03 -5.30318851e-07 9.99999029e-01 -5.92655861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.566559995 meters 0.048398194002031276 Centerline is valid? [True, True] Translation: X:401.25, Y:-292.03, Z:-5.93 [[-6.65107962e-01 -7.46746066e-01 1.30843303e-03 4.01249117e+02] [ 7.46744636e-01 -6.65109249e-01 -1.46156255e-03 -2.92034905e+02] [ 1.96166700e-03 4.96845925e-06 9.99998076e-01 -5.92772084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.626559995 meters 0.04770071271298266 Centerline is valid? [True, True] Translation: X:401.21, Y:-291.99, Z:-5.93 [[-6.62832385e-01 -7.48765273e-01 1.94822514e-03 4.01209342e+02] [ 7.48762112e-01 -6.62835248e-01 -2.17559854e-03 -2.91993549e+02] [ 2.92036493e-03 1.66999961e-05 9.99995736e-01 -5.92807679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.6865599950002 meters 0.04844020751519281 Centerline is valid? [True, True] Translation: X:401.17, Y:-291.95, Z:-5.93 [[-6.59777610e-01 -7.51453226e-01 3.39909196e-03 4.01168913e+02] [ 7.51443647e-01 -6.59786364e-01 -3.79463445e-03 -2.91953966e+02] [ 5.09416483e-03 5.06112133e-05 9.99987023e-01 -5.92977016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.746559995 meters 0.04831091166720544 Centerline is valid? [True, True] Translation: X:401.13, Y:-291.91, Z:-5.93 [[-6.58397133e-01 -7.52660880e-01 3.84916056e-03 4.01130701e+02] [ 7.52648623e-01 -6.58408380e-01 -4.29595695e-03 -2.91910381e+02] [ 5.76771831e-03 6.86196581e-05 9.99983364e-01 -5.92975330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.806559995 meters 0.048070604779633014 Centerline is valid? [True, True] Translation: X:401.09, Y:-291.87, Z:-5.93 [[-6.57981382e-01 -7.53024702e-01 3.78152443e-03 4.01090993e+02] [ 7.53012885e-01 -6.57992244e-01 -4.21917210e-03 -2.91870596e+02] [ 5.66535456e-03 7.13999347e-05 9.99983949e-01 -5.93080536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.866559995 meters 0.048152426334536765 Centerline is valid? [True, True] Translation: X:401.05, Y:-291.83, Z:-5.93 [[-6.57823035e-01 -7.53162167e-01 3.95013809e-03 4.01054467e+02] [ 7.53149284e-01 -6.57834891e-01 -4.40600440e-03 -2.91826299e+02] [ 5.91697449e-03 7.66724817e-05 9.99982492e-01 -5.93012443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.926559995 meters 0.047816946212589785 Centerline is valid? [True, True] Translation: X:401.02, Y:-291.78, Z:-5.93 [[-6.58391659e-01 -7.52662473e-01 4.43008280e-03 4.01017375e+02] [ 7.52646267e-01 -6.58406557e-01 -4.93987473e-03 -2.91782687e+02] [ 6.63485390e-03 8.19129602e-05 9.99977986e-01 -5.93049867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.986559995 meters 0.047275024309772117 Centerline is valid? [True, True] Translation: X:400.98, Y:-291.74, Z:-5.93 [[-6.60625359e-01 -7.50702908e-01 4.39084230e-03 4.00981005e+02] [ 7.50686952e-01 -6.60639948e-01 -4.89483816e-03 -2.91737187e+02] [ 6.57533507e-03 6.24938059e-05 9.99978380e-01 -5.93023150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.046559995 meters 0.048079381398178564 Centerline is valid? [True, True] Translation: X:400.94, Y:-291.69, Z:-5.93 [[-6.62606243e-01 -7.48957937e-01 3.86987524e-03 4.00944532e+02] [ 7.48945520e-01 -6.62617543e-01 -4.31273836e-03 -2.91694730e+02] [ 5.79430684e-03 4.06783595e-05 9.99983212e-01 -5.93093249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.106559995 meters 0.04786356302674527 Centerline is valid? [True, True] Translation: X:400.91, Y:-291.65, Z:-5.93 [[-6.64826956e-01 -7.46990500e-01 3.21105939e-03 4.00911787e+02] [ 7.46981934e-01 -6.64834710e-01 -3.57740009e-03 -2.91648749e+02] [ 4.80710762e-03 2.02513422e-05 9.99988446e-01 -5.92772469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.166559995 meters 0.0477346178111699 Centerline is valid? [True, True] Translation: X:400.87, Y:-291.61, Z:-5.93 [[-6.65695632e-01 -7.46216058e-01 3.30452640e-03 4.00874330e+02] [ 7.46206981e-01 -6.65703834e-01 -3.68064236e-03 -2.91606359e+02] [ 4.94639032e-03 1.56731274e-05 9.99987766e-01 -5.92956932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.2265599950001 meters 0.04766351117459259 Centerline is valid? [True, True] Translation: X:400.84, Y:-291.56, Z:-5.93 [[-6.65677705e-01 -7.46230562e-01 3.62512645e-03 4.00836270e+02] [ 7.46219645e-01 -6.65687576e-01 -4.03651194e-03 -2.91564303e+02] [ 5.42537021e-03 1.81245637e-05 9.99985282e-01 -5.92998232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.286559995 meters 0.04808853993341585 Centerline is valid? [True, True] Translation: X:400.79, Y:-291.52, Z:-5.93 [[-6.63263330e-01 -7.48371768e-01 4.63153272e-03 4.00794064e+02] [ 7.48354010e-01 -6.63279499e-01 -5.15577123e-03 -2.91523879e+02] [ 6.93043434e-03 4.63920809e-05 9.99975983e-01 -5.93035677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.346559995 meters 0.04827589412824081 Centerline is valid? [True, True] Translation: X:400.75, Y:-291.48, Z:-5.93 [[-6.61451885e-01 -7.49970739e-01 5.02942065e-03 4.00751761e+02] [ 7.49949854e-01 -6.61471002e-01 -5.59739886e-03 -2.91482796e+02] [ 7.52470127e-03 6.94032543e-05 9.99971687e-01 -5.93067986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.406559995 meters 0.04805441662371316 Centerline is valid? [True, True] Translation: X:400.71, Y:-291.44, Z:-5.93 [[-6.60475297e-01 -7.50829467e-01 5.24339321e-03 4.00710680e+02] [ 7.50806807e-01 -6.60496105e-01 -5.83389402e-03 -2.91443324e+02] [ 7.84350033e-03 8.36324289e-05 9.99969236e-01 -5.93192928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.4665599950001 meters 0.0484003842619194 Centerline is valid? [True, True] Translation: X:400.67, Y:-291.40, Z:-5.93 [[-6.61164606e-01 -7.50229412e-01 4.14659857e-03 4.00672492e+02] [ 7.50215236e-01 -6.61177606e-01 -4.61229791e-03 -2.91400136e+02] [ 6.20191966e-03 6.13532955e-05 9.99980766e-01 -5.92845029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.526559995 meters 0.04824344466869405 Centerline is valid? [True, True] Translation: X:400.63, Y:-291.36, Z:-5.93 [[-6.62789474e-01 -7.48799922e-01 2.96471331e-03 4.00632842e+02] [ 7.48792665e-01 -6.62796104e-01 -3.29686400e-03 -2.91357614e+02] [ 4.43369194e-03 3.48288276e-05 9.99990171e-01 -5.92787279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.586559995 meters 0.04781246779248036 Centerline is valid? [True, True] Translation: X:400.60, Y:-291.32, Z:-5.93 [[-6.66534138e-01 -7.45470754e-01 2.36573036e-03 4.00595179e+02] [ 7.45466115e-01 -6.66538337e-01 -2.62995337e-03 -2.91316322e+02] [ 3.53740330e-03 1.06181148e-05 9.99993743e-01 -5.92878257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.646559995 meters 0.048914044738812265 Centerline is valid? [True, True] Translation: X:400.56, Y:-291.27, Z:-5.93 [[-6.69528995e-01 -7.42782864e-01 2.13087873e-03 4.00558662e+02] [ 7.42779089e-01 -6.69532386e-01 -2.36825870e-03 -2.91272729e+02] [ 3.18579431e-03 -2.84570564e-06 9.99994925e-01 -5.92889271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.7065599950001 meters 0.04886809961144278 Centerline is valid? [True, True] Translation: X:400.52, Y:-291.23, Z:-5.93 [[-6.72680444e-01 -7.39930884e-01 1.81855412e-03 4.00522892e+02] [ 7.39928126e-01 -6.72682902e-01 -2.02058741e-03 -2.91231087e+02] [ 2.71840529e-03 -1.36102974e-05 9.99996305e-01 -5.92782529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.766559995 meters 0.049035020061971885 Centerline is valid? [True, True] Translation: X:400.49, Y:-291.19, Z:-5.93 [[-6.76151610e-01 -7.36759669e-01 2.04714743e-03 4.00486143e+02] [ 7.36756160e-01 -6.76154708e-01 -2.27407144e-03 -2.91187219e+02] [ 3.05963250e-03 -2.93685880e-05 9.99995319e-01 -5.92930381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.826559995 meters 0.04857096400705375 Centerline is valid? [True, True] Translation: X:400.45, Y:-291.15, Z:-5.93 [[-6.77003518e-01 -7.35974436e-01 2.80477357e-03 4.00447479e+02] [ 7.35967845e-01 -6.77009326e-01 -3.11494789e-03 -2.91146024e+02] [ 4.19137988e-03 -4.46075160e-05 9.99991215e-01 -5.92985691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.886559995 meters 0.05012780508843013 Centerline is valid? [True, True] Translation: X:400.40, Y:-291.11, Z:-5.93 [[-6.76095447e-01 -7.36803679e-01 3.90963825e-03 4.00404959e+02] [ 7.36790893e-01 -6.76106749e-01 -4.34096367e-03 -2.91106111e+02] [ 5.84177081e-03 -5.43199140e-05 9.99982935e-01 -5.93000543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.9465599950001 meters 0.04921164862762787 Centerline is valid? [True, True] Translation: X:400.36, Y:-291.06, Z:-5.93 [[-6.74959270e-01 -7.37842594e-01 4.27671946e-03 4.00363843e+02] [ 7.37827322e-01 -6.74972817e-01 -4.74760406e-03 -2.91064104e+02] [ 6.38965388e-03 -4.89589029e-05 9.99979585e-01 -5.93028159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.006559995 meters 0.048522832612968414 Centerline is valid? [True, True] Translation: X:400.33, Y:-291.02, Z:-5.93 [[-6.74253932e-01 -7.38489750e-01 3.81102400e-03 4.00326518e+02] [ 7.38477637e-01 -6.74264702e-01 -4.22987080e-03 -2.91020793e+02] [ 5.69335518e-03 -3.76510210e-05 9.99983792e-01 -5.93185391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.066559995 meters 0.04884820894135469 Centerline is valid? [True, True] Translation: X:400.29, Y:-290.98, Z:-5.93 [[-6.74757612e-01 -7.38034378e-01 2.72433406e-03 4.00289392e+02] [ 7.38028189e-01 -6.74763111e-01 -3.02278949e-03 -2.90978804e+02] [ 4.06920269e-03 -2.90148834e-05 9.99991720e-01 -5.93223918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.126559995 meters 0.04848300920334187 Centerline is valid? [True, True] Translation: X:400.25, Y:-290.94, Z:-5.93 [[-6.75869968e-01 -7.37016004e-01 2.68255829e-03 4.00252373e+02] [ 7.37009998e-01 -6.75875291e-01 -2.97548633e-03 -2.90936824e+02] [ 4.00605591e-03 -3.39695707e-05 9.99991975e-01 -5.93262271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.1865599950002 meters 0.048837025004857086 Centerline is valid? [True, True] Translation: X:400.21, Y:-290.90, Z:-5.93 [[-6.76569970e-01 -7.36371050e-01 3.27909958e-03 4.00210937e+02] [ 7.36362075e-01 -6.76577914e-01 -3.63595137e-03 -2.90899076e+02] [ 4.89597569e-03 -4.53709396e-05 9.99988014e-01 -5.93057573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.246559995 meters 0.048838087673555644 Centerline is valid? [True, True] Translation: X:400.17, Y:-290.86, Z:-5.93 [[-6.76624686e-01 -7.36320506e-01 3.33864903e-03 4.00174167e+02] [ 7.36311205e-01 -6.76632921e-01 -3.70131797e-03 -2.90855564e+02] [ 4.98439616e-03 -4.61184177e-05 9.99987577e-01 -5.93211826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.306559995 meters 0.0490881219379604 Centerline is valid? [True, True] Translation: X:400.13, Y:-290.81, Z:-5.93 [[-6.76808630e-01 -7.36154209e-01 2.65675482e-03 4.00134929e+02] [ 7.36148321e-01 -6.76813844e-01 -2.94457956e-03 -2.90814317e+02] [ 3.96579308e-03 -3.71512544e-05 9.99992136e-01 -5.93058865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.366559995 meters 0.048631343989050606 Centerline is valid? [True, True] Translation: X:400.09, Y:-290.77, Z:-5.93 [[-6.76694009e-01 -7.36259807e-01 2.59123783e-03 4.00094573e+02] [ 7.36254209e-01 -6.76698969e-01 -2.87129150e-03 -2.90773168e+02] [ 3.86750450e-03 -3.51759982e-05 9.99992521e-01 -5.93092750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.426559995 meters 0.048699136458840143 Centerline is valid? [True, True] Translation: X:400.06, Y:-290.73, Z:-5.93 [[-6.76306058e-01 -7.36614741e-01 2.97294791e-03 4.00056072e+02] [ 7.36607380e-01 -6.76312592e-01 -3.29334983e-03 -2.90731744e+02] [ 4.43657214e-03 -3.74170700e-05 9.99990158e-01 -5.93154459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.486559995 meters 0.04828953707949308 Centerline is valid? [True, True] Translation: X:400.02, Y:-290.69, Z:-5.93 [[-6.75624070e-01 -7.37239159e-01 3.24624795e-03 4.00017175e+02] [ 7.37230394e-01 -6.75631868e-01 -3.59520194e-03 -2.90689820e+02] [ 4.84379222e-03 -3.57723066e-05 9.99988268e-01 -5.93256327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.546559995 meters 0.04849353915546392 Centerline is valid? [True, True] Translation: X:399.98, Y:-290.65, Z:-5.93 [[-6.74065910e-01 -7.38662755e-01 3.53332244e-03 3.99976323e+02] [ 7.38652395e-01 -6.74075170e-01 -3.91218895e-03 -2.90649047e+02] [ 5.27151319e-03 -2.71761205e-05 9.99986105e-01 -5.93246259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.606559995 meters 0.04796684759386961 Centerline is valid? [True, True] Translation: X:399.94, Y:-290.61, Z:-5.93 [[-6.72355590e-01 -7.40218939e-01 3.72598608e-03 3.99936858e+02] [ 7.40207448e-01 -6.72365914e-01 -4.12449466e-03 -2.90608297e+02] [ 5.55825510e-03 -1.51243930e-05 9.99984553e-01 -5.93403966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.666559995 meters 0.04997178245135505 Centerline is valid? [True, True] Translation: X:399.90, Y:-290.57, Z:-5.93 [[-6.70545777e-01 -7.41858372e-01 3.81015838e-03 3.99896189e+02] [ 7.41846388e-01 -6.70556602e-01 -4.21669259e-03 -2.90567146e+02] [ 5.68311555e-03 -9.33177678e-07 9.99983851e-01 -5.93251905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.7265599950001 meters 0.0487890653800769 Centerline is valid? [True, True] Translation: X:399.86, Y:-290.53, Z:-5.93 [[-6.68662111e-01 -7.43557468e-01 3.64331066e-03 3.99855645e+02] [ 7.43546542e-01 -6.68672036e-01 -4.03088062e-03 -2.90526113e+02] [ 5.43337134e-03 1.36739005e-05 9.99985239e-01 -5.93478879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.786559995 meters 0.04822708157141446 Centerline is valid? [True, True] Translation: X:399.82, Y:-290.49, Z:-5.94 [[-6.67628377e-01 -7.44482487e-01 4.26349885e-03 3.99816508e+02] [ 7.44467553e-01 -6.67641990e-01 -4.71552305e-03 -2.90485494e+02] [ 6.35711518e-03 2.58195497e-05 9.99979793e-01 -5.93628590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.846559995 meters 0.04862613468855105 Centerline is valid? [True, True] Translation: X:399.78, Y:-290.44, Z:-5.94 [[-6.68314064e-01 -7.43865653e-01 4.49465979e-03 3.99779136e+02] [ 7.43849052e-01 -6.68329178e-01 -4.96976073e-03 -2.90442286e+02] [ 6.70074660e-03 2.19874346e-05 9.99977550e-01 -5.93615732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.906559995 meters 0.048212587201732215 Centerline is valid? [True, True] Translation: X:399.74, Y:-290.40, Z:-5.94 [[-6.70067955e-01 -7.42285901e-01 4.53605315e-03 3.99741795e+02] [ 7.42268967e-01 -6.70083309e-01 -5.01398918e-03 -2.90398885e+02] [ 6.76134698e-03 7.25800410e-06 9.99977142e-01 -5.93675164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.9665599950001 meters 0.048579188710113075 Centerline is valid? [True, True] Translation: X:399.71, Y:-290.36, Z:-5.94 [[-6.71170458e-01 -7.41281215e-01 5.68995846e-03 3.99705603e+02] [ 7.41254550e-01 -6.71194577e-01 -6.28744823e-03 -2.90356113e+02] [ 8.47983652e-03 -2.24190985e-06 9.99964046e-01 -5.93750869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.026559995 meters 0.048342666415291585 Centerline is valid? [True, True] Translation: X:399.67, Y:-290.31, Z:-5.94 [[-6.70828461e-01 -7.41586513e-01 6.21440845e-03 3.99668290e+02] [ 7.41554739e-01 -6.70857245e-01 -6.86483199e-03 -2.90314420e+02] [ 9.25984775e-03 3.19935240e-06 9.99957127e-01 -5.93954983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.086559995 meters 0.04797462168197661 Centerline is valid? [True, True] Translation: X:399.63, Y:-290.27, Z:-5.94 [[-6.70134975e-01 -7.42206740e-01 6.94764305e-03 3.99631214e+02] [ 7.42167083e-01 -6.70170989e-01 -7.67245020e-03 -2.90272687e+02] [ 1.03506531e-02 1.47347543e-05 9.99946430e-01 -5.94106053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.146559995 meters 0.048176642984146235 Centerline is valid? [True, True] Translation: X:399.59, Y:-290.23, Z:-5.94 [[-6.68864277e-01 -7.43339524e-01 8.18113618e-03 3.99594638e+02] [ 7.43284650e-01 -6.68914307e-01 -9.03206952e-03 -2.90229319e+02] [ 1.21863733e-02 3.96842967e-05 9.99925743e-01 -5.94007940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.2065599950001 meters 0.04861697091475625 Centerline is valid? [True, True] Translation: X:399.56, Y:-290.19, Z:-5.94 [[-6.67868181e-01 -7.44226475e-01 8.89079497e-03 3.99557252e+02] [ 7.44161776e-01 -6.67927354e-01 -9.81330275e-03 -2.90185337e+02] [ 1.32417249e-02 6.21971149e-05 9.99912323e-01 -5.94114076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.266559995 meters 0.048701532888092064 Centerline is valid? [True, True] Translation: X:399.52, Y:-290.14, Z:-5.94 [[-6.66858052e-01 -7.45124581e-01 9.47088518e-03 3.99520180e+02] [ 7.45051293e-01 -6.66925297e-01 -1.04508205e-02 -2.90141869e+02] [ 1.41035362e-02 8.70814184e-05 9.99900536e-01 -5.94344783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.326559995 meters 0.047908814705915105 Centerline is valid? [True, True] Translation: X:399.49, Y:-290.10, Z:-5.94 [[-6.65464826e-01 -7.46363043e-01 9.93852445e-03 3.99485701e+02] [ 7.46282522e-01 -6.65539025e-01 -1.09637601e-02 -2.90095459e+02] [ 1.47974212e-02 1.20950369e-04 9.99890505e-01 -5.94203931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.386559995 meters 0.047583373899196 Centerline is valid? [True, True] Translation: X:399.45, Y:-290.05, Z:-5.94 [[-6.62169216e-01 -7.49298576e-01 9.14190469e-03 3.99446435e+02] [ 7.49230761e-01 -6.62232296e-01 -1.00823028e-02 -2.90054111e+02] [ 1.36087197e-02 1.73205675e-04 9.99907382e-01 -5.94261527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.4465599950001 meters 0.04914903910571246 Centerline is valid? [True, True] Translation: X:399.41, Y:-290.01, Z:-5.94 [[-6.59970678e-01 -7.51235711e-01 9.14392232e-03 3.99409356e+02] [ 7.51168098e-01 -6.60033985e-01 -1.00810840e-02 -2.90013566e+02] [ 1.36085698e-02 2.15402901e-04 9.99907376e-01 -5.94236262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.506559995 meters 0.047888389234738274 Centerline is valid? [True, True] Translation: X:399.37, Y:-289.97, Z:-5.94 [[-6.57580680e-01 -7.53330673e-01 8.97482941e-03 3.99372969e+02] [ 7.53265770e-01 -6.57641872e-01 -9.89175769e-03 -2.89969687e+02] [ 1.33539881e-02 2.55803045e-04 9.99910799e-01 -5.93949677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.566559995 meters 0.04837711919303617 Centerline is valid? [True, True] Translation: X:399.33, Y:-289.93, Z:-5.94 [[-6.54014583e-01 -7.56430275e-01 8.84110422e-03 3.99331079e+02] [ 7.56367608e-01 -6.54074262e-01 -9.74175013e-03 -2.89930223e+02] [ 1.31516934e-02 3.15878203e-04 9.99913463e-01 -5.94018112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.626559995 meters 0.048418861173961915 Centerline is valid? [True, True] Translation: X:399.29, Y:-289.89, Z:-5.94 [[-6.51813930e-01 -7.58326737e-01 8.89717828e-03 3.99290719e+02] [ 7.58263485e-01 -6.51874552e-01 -9.80081400e-03 -2.89889691e+02] [ 1.32320634e-02 3.58098318e-04 9.99912388e-01 -5.94042764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.6865599950002 meters 0.04881471223032522 Centerline is valid? [True, True] Translation: X:399.25, Y:-289.85, Z:-5.94 [[-6.50720064e-01 -7.59266986e-01 8.77742037e-03 3.99251061e+02] [ 7.59205543e-01 -6.50779152e-01 -9.66636019e-03 -2.89848035e+02] [ 1.30515104e-02 3.73771683e-04 9.99914756e-01 -5.94020978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.746559995 meters 0.04753227156157607 Centerline is valid? [True, True] Translation: X:399.22, Y:-289.80, Z:-5.94 [[-6.51462198e-01 -7.58639783e-01 7.91741944e-03 3.99215648e+02] [ 7.58589761e-01 -6.51510225e-01 -8.71783693e-03 -2.89801107e+02] [ 1.17719776e-02 3.26732115e-04 9.99930655e-01 -5.93730994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.806559995 meters 0.047644232769102304 Centerline is valid? [True, True] Translation: X:399.18, Y:-289.76, Z:-5.94 [[-6.53972779e-01 -7.56491634e-01 6.32556818e-03 3.99179684e+02] [ 7.56459621e-01 -6.54003329e-01 -6.96332948e-03 -2.89755149e+02] [ 9.40464314e-03 2.31208983e-04 9.99955749e-01 -5.93508003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.866559995 meters 0.04779000579483304 Centerline is valid? [True, True] Translation: X:399.14, Y:-289.71, Z:-5.93 [[-6.56059187e-01 -7.54689701e-01 5.45876871e-03 3.99142471e+02] [ 7.54665811e-01 -6.56081873e-01 -6.00748703e-03 -2.89710982e+02] [ 8.11518778e-03 1.78279061e-04 9.99967055e-01 -5.93426305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.926559995 meters 0.0467675580728119 Centerline is valid? [True, True] Translation: X:399.11, Y:-289.67, Z:-5.93 [[-6.58573478e-01 -7.52495936e-01 5.55348959e-03 3.99106186e+02] [ 7.52471144e-01 -6.58596874e-01 -6.11017373e-03 -2.89665220e+02] [ 8.25539178e-03 1.54842304e-04 9.99965912e-01 -5.93387557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.986559995 meters 0.04752835181597786 Centerline is valid? [True, True] Translation: X:399.07, Y:-289.62, Z:-5.94 [[-6.62245634e-01 -7.49254692e-01 6.93729986e-03 3.99070048e+02] [ 7.49215849e-01 -6.62281953e-01 -7.63059682e-03 -2.89620598e+02] [ 1.03117090e-02 1.44205576e-04 9.99946823e-01 -5.93544523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.046559995 meters 0.04716910395043684 Centerline is valid? [True, True] Translation: X:399.03, Y:-289.58, Z:-5.94 [[-6.64445998e-01 -7.47303517e-01 6.99781168e-03 3.99032067e+02] [ 7.47263904e-01 -6.64482837e-01 -7.69525265e-03 -2.89575995e+02] [ 1.04006151e-02 1.16132252e-04 9.99945905e-01 -5.93587958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.106559995 meters 0.047886186181575544 Centerline is valid? [True, True] Translation: X:398.99, Y:-289.54, Z:-5.94 [[-6.64858956e-01 -7.46935293e-01 7.08773539e-03 3.98993360e+02] [ 7.46894661e-01 -6.64896725e-01 -7.79172362e-03 -2.89535486e+02] [ 1.05325254e-02 1.13394486e-04 9.99944525e-01 -5.93748836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.166559995 meters 0.04761075189973982 Centerline is valid? [True, True] Translation: X:398.96, Y:-289.49, Z:-5.93 [[-6.64391540e-01 -7.47355319e-01 6.62637904e-03 3.98955189e+02] [ 7.47319844e-01 -6.64424574e-01 -7.28259810e-03 -2.89492210e+02] [ 9.84541750e-03 1.13527985e-04 9.99951526e-01 -5.93396738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.2265599950001 meters 0.04761962909607626 Centerline is valid? [True, True] Translation: X:398.91, Y:-289.45, Z:-5.93 [[-6.63604759e-01 -7.48062928e-01 5.52981163e-03 3.98914515e+02] [ 7.48038262e-01 -6.63627791e-01 -6.07572259e-03 -2.89451583e+02] [ 8.21475951e-03 1.04632249e-04 9.99966253e-01 -5.93240218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.286559995 meters 0.04780480775658216 Centerline is valid? [True, True] Translation: X:398.87, Y:-289.41, Z:-5.93 [[-6.63725622e-01 -7.47958187e-01 5.18165415e-03 3.98873104e+02] [ 7.47936537e-01 -6.63745841e-01 -5.69163477e-03 -2.89411894e+02] [ 7.69640622e-03 9.78646365e-05 9.99970377e-01 -5.93331400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.346559995 meters 0.047682258912492934 Centerline is valid? [True, True] Translation: X:398.84, Y:-289.37, Z:-5.93 [[-6.65009929e-01 -7.46821426e-01 4.42170570e-03 3.98835612e+02] [ 7.46805645e-01 -6.65024625e-01 -4.85563045e-03 -2.89367649e+02] [ 6.56683203e-03 7.31123111e-05 9.99978436e-01 -5.93120698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.406559995 meters 0.04780888469811246 Centerline is valid? [True, True] Translation: X:398.80, Y:-289.32, Z:-5.93 [[-6.68942339e-01 -7.43311349e-01 2.09427658e-03 3.98797705e+02] [ 7.43307793e-01 -6.68945617e-01 -2.29920074e-03 -2.89323771e+02] [ 3.10997914e-03 1.86593886e-05 9.99995164e-01 -5.92938128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.4665599950001 meters 0.04715396216827147 Centerline is valid? [True, True] Translation: X:398.76, Y:-289.28, Z:-5.93 [[-6.72575119e-01 -7.40025581e-01 2.20190616e-03 3.98760198e+02] [ 7.40021635e-01 -6.72578723e-01 -2.41670831e-03 -2.89279947e+02] [ 3.26938121e-03 4.04031745e-06 9.99994656e-01 -5.92935164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.526559995 meters 0.04813328336382537 Centerline is valid? [True, True] Translation: X:398.72, Y:-289.24, Z:-5.93 [[-6.78377004e-01 -7.34705585e-01 3.51326047e-03 3.98724591e+02] [ 7.34695473e-01 -6.78386101e-01 -3.85488026e-03 -2.89235295e+02] [ 5.21554913e-03 -3.38855551e-05 9.99986398e-01 -5.93095390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.586559995 meters 0.0475399825616544 Centerline is valid? [True, True] Translation: X:398.69, Y:-289.19, Z:-5.93 [[-6.80074282e-01 -7.33133432e-01 3.78709048e-03 3.98686133e+02] [ 7.33121663e-01 -6.80084824e-01 -4.15429345e-03 -2.89191294e+02] [ 5.62119418e-03 -4.88300671e-05 9.99984200e-01 -5.93195321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.646559995 meters 0.04869672952183087 Centerline is valid? [True, True] Translation: X:398.65, Y:-289.15, Z:-5.93 [[-6.82468452e-01 -7.30904038e-01 4.01232738e-03 3.98647696e+02] [ 7.30890796e-01 -6.82480243e-01 -4.40023893e-03 -2.89147391e+02] [ 5.95448657e-03 -7.04510993e-05 9.99982269e-01 -5.93326859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.7065599950001 meters 0.049010609012496834 Centerline is valid? [True, True] Translation: X:398.61, Y:-289.11, Z:-5.93 [[-6.83832387e-01 -7.29628818e-01 3.87998282e-03 3.98609568e+02] [ 7.29616422e-01 -6.83843390e-01 -4.25371098e-03 -2.89105363e+02] [ 5.75693072e-03 -7.79261534e-05 9.99983426e-01 -5.93320803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.766559995 meters 0.049469121021148775 Centerline is valid? [True, True] Translation: X:398.57, Y:-289.06, Z:-5.93 [[-6.84307034e-01 -7.29185791e-01 3.45911910e-03 3.98568447e+02] [ 7.29175940e-01 -6.84315773e-01 -3.79111020e-03 -2.89064807e+02] [ 5.13155345e-03 -7.19769534e-05 9.99986831e-01 -5.93156849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.826559995 meters 0.04856834323231769 Centerline is valid? [True, True] Translation: X:398.53, Y:-289.02, Z:-5.93 [[-6.82986026e-01 -7.30423170e-01 3.47579715e-03 3.98530581e+02] [ 7.30413244e-01 -6.82994868e-01 -3.80836549e-03 -2.89022476e+02] [ 5.15567001e-03 -6.22921394e-05 9.99986708e-01 -5.93202810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.886559995 meters 0.04797401210781001 Centerline is valid? [True, True] Translation: X:398.49, Y:-288.99, Z:-5.93 [[-6.78120481e-01 -7.34939293e-01 4.10488815e-03 3.98486183e+02] [ 7.34925539e-01 -6.78132904e-01 -4.49629917e-03 -2.88986283e+02] [ 6.08816665e-03 -3.22454153e-05 9.99981466e-01 -5.93158309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.9465599950001 meters 0.04948330185685657 Centerline is valid? [True, True] Translation: X:398.44, Y:-288.95, Z:-5.93 [[-6.73226865e-01 -7.39418299e-01 5.11548214e-03 3.98443088e+02] [ 7.39397079e-01 -6.73246299e-01 -5.60186832e-03 -2.88947278e+02] [ 7.58610336e-03 1.10443032e-05 9.99971225e-01 -5.93134524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.006559995 meters 0.04900591096889762 Centerline is valid? [True, True] Translation: X:398.40, Y:-288.91, Z:-5.93 [[-6.65977269e-01 -7.45952090e-01 5.45488746e-03 3.98398336e+02] [ 7.45928190e-01 -6.65999603e-01 -5.97202750e-03 -2.88909726e+02] [ 8.08779927e-03 9.17197637e-05 9.99967289e-01 -5.93416443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.066559995 meters 0.04898565398937678 Centerline is valid? [True, True] Translation: X:398.36, Y:-288.87, Z:-5.93 [[-6.62224492e-01 -7.49290939e-01 4.67026817e-03 3.98357130e+02] [ 7.49273512e-01 -6.62240950e-01 -5.11155796e-03 -2.88870042e+02] [ 6.92288689e-03 1.14309361e-04 9.99976030e-01 -5.93359897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.126559995 meters 0.04919555874517783 Centerline is valid? [True, True] Translation: X:398.31, Y:-288.83, Z:-5.93 [[-6.58874253e-01 -7.52243607e-01 3.77818558e-03 3.98313961e+02] [ 7.52232257e-01 -6.58885075e-01 -4.13404243e-03 -2.88833188e+02] [ 5.59919708e-03 1.18258946e-04 9.99984317e-01 -5.93354399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.1865599950002 meters 0.04834196023572057 Centerline is valid? [True, True] Translation: X:398.28, Y:-288.79, Z:-5.93 [[-6.58649476e-01 -7.52438813e-01 4.08671318e-03 3.98277159e+02] [ 7.52425544e-01 -6.58662141e-01 -4.47046899e-03 -2.88788481e+02] [ 6.05551764e-03 1.30475330e-04 9.99981657e-01 -5.93329522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.246559995 meters 0.04852102977317748 Centerline is valid? [True, True] Translation: X:398.24, Y:-288.74, Z:-5.93 [[-6.60025204e-01 -7.51237435e-01 3.00771266e-03 3.98239923e+02] [ 7.51230239e-01 -6.60032051e-01 -3.28927293e-03 -2.88743504e+02] [ 4.45621171e-03 8.84816678e-05 9.99990067e-01 -5.93236479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.306559995 meters 0.04769100358725242 Centerline is valid? [True, True] Translation: X:398.20, Y:-288.70, Z:-5.93 [[-6.60932629e-01 -7.50441094e-01 2.49493711e-03 3.98201065e+02] [ 7.50436140e-01 -6.60937334e-01 -2.72778872e-03 -2.88702235e+02] [ 3.69604183e-03 6.94064050e-05 9.99993167e-01 -5.93241844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.366559995 meters 0.04766409286098465 Centerline is valid? [True, True] Translation: X:398.17, Y:-288.66, Z:-5.93 [[-6.61767864e-01 -7.49705001e-01 2.38865047e-03 3.98166010e+02] [ 7.49700458e-01 -6.61772172e-01 -2.61082018e-03 -2.88657552e+02] [ 3.53808735e-03 6.30154568e-05 9.99993739e-01 -5.93224823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.426559995 meters 0.048489644509015516 Centerline is valid? [True, True] Translation: X:398.13, Y:-288.62, Z:-5.93 [[-6.64040837e-01 -7.47688664e-01 3.38062207e-03 3.98125328e+02] [ 7.47679542e-01 -6.64049438e-01 -3.69414505e-03 -2.88616142e+02] [ 5.00697056e-03 7.45587916e-05 9.99987462e-01 -5.93445504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.486559995 meters 0.04788523155303151 Centerline is valid? [True, True] Translation: X:398.09, Y:-288.57, Z:-5.93 [[-6.66295580e-01 -7.45676393e-01 4.11309181e-03 3.98087440e+02] [ 7.45662855e-01 -6.66308271e-01 -4.49388582e-03 -2.88571598e+02] [ 6.09157166e-03 7.27235155e-05 9.99981444e-01 -5.93493358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.546559995 meters 0.04826518432540324 Centerline is valid? [True, True] Translation: X:398.05, Y:-288.53, Z:-5.94 [[-6.69127054e-01 -7.43134493e-01 4.48450807e-03 3.98050306e+02] [ 7.43118350e-01 -6.69142079e-01 -4.89845993e-03 -2.88527250e+02] [ 6.64098759e-03 5.48281837e-05 9.99977947e-01 -5.93511044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.606559995 meters 0.04895010119338586 Centerline is valid? [True, True] Translation: X:398.01, Y:-288.48, Z:-5.94 [[-6.73770457e-01 -7.38919406e-01 5.61101214e-03 3.98014173e+02] [ 7.38894001e-01 -6.73793820e-01 -6.12730364e-03 -2.88481749e+02] [ 8.30824887e-03 1.75470433e-05 9.99965486e-01 -5.93661329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.666559995 meters 0.04871636555069002 Centerline is valid? [True, True] Translation: X:397.98, Y:-288.44, Z:-5.94 [[-6.76918434e-01 -7.36034258e-01 5.91658524e-03 3.97979298e+02] [ 7.36005917e-01 -6.76944290e-01 -6.45895673e-03 -2.88437417e+02] [ 8.75921202e-03 -1.75451281e-05 9.99961637e-01 -5.93722423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.7265599950001 meters 0.04817606586231398 Centerline is valid? [True, True] Translation: X:397.95, Y:-288.39, Z:-5.94 [[-6.79945696e-01 -7.33235565e-01 6.28136614e-03 3.97945529e+02] [ 7.33203523e-01 -6.79974707e-01 -6.85505934e-03 -2.88391519e+02] [ 9.29754341e-03 -5.55483172e-05 9.99956775e-01 -5.93719295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.786559995 meters 0.04808693555859464 Centerline is valid? [True, True] Translation: X:397.91, Y:-288.35, Z:-5.93 [[-6.80136834e-01 -7.33062637e-01 5.74946062e-03 3.97907950e+02] [ 7.33035803e-01 -6.80161133e-01 -6.27252184e-03 -2.88349289e+02] [ 8.50871105e-03 -5.16126678e-05 9.99963799e-01 -5.93349892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.846559995 meters 0.04799010876633717 Centerline is valid? [True, True] Translation: X:397.87, Y:-288.31, Z:-5.94 [[-6.79068869e-01 -7.34056289e-01 5.18033442e-03 3.97870689e+02] [ 7.34034545e-01 -6.79088627e-01 -5.65005162e-03 -2.88306355e+02] [ 7.66536212e-03 -3.42297455e-05 9.99970620e-01 -5.93532006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.906559995 meters 0.04769967440377157 Centerline is valid? [True, True] Translation: X:397.83, Y:-288.27, Z:-5.94 [[-6.74811262e-01 -7.37974856e-01 4.78242936e-03 3.97833408e+02] [ 7.37956435e-01 -6.74828209e-01 -5.21435526e-03 -2.88265865e+02] [ 7.07538131e-03 1.05188689e-05 9.99974969e-01 -5.93580388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.9665599950001 meters 0.04826324252949197 Centerline is valid? [True, True] Translation: X:397.79, Y:-288.22, Z:-5.93 [[-6.70417555e-01 -7.41970656e-01 4.45504981e-03 3.97793372e+02] [ 7.41954767e-01 -6.70432355e-01 -4.85606977e-03 -2.88223560e+02] [ 6.58987080e-03 4.98510201e-05 9.99978285e-01 -5.93362752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.026559995 meters 0.04791455648167756 Centerline is valid? [True, True] Translation: X:397.75, Y:-288.19, Z:-5.93 [[-6.63545866e-01 -7.48121484e-01 4.59654581e-03 3.97752100e+02] [ 7.48104726e-01 -6.63561777e-01 -5.00873425e-03 -2.88185322e+02] [ 6.79723381e-03 1.15172738e-04 9.99976892e-01 -5.93434545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.086559995 meters 0.04787036597320933 Centerline is valid? [True, True] Translation: X:397.71, Y:-288.14, Z:-5.93 [[-6.59926254e-01 -7.51316335e-01 4.59385334e-03 3.97712067e+02] [ 7.51299683e-01 -6.59942226e-01 -5.00438172e-03 -2.88144624e+02] [ 6.79155153e-03 1.48837675e-04 9.99976926e-01 -5.93399249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.146559995 meters 0.0474303638646238 Centerline is valid? [True, True] Translation: X:397.67, Y:-288.10, Z:-5.93 [[-6.56781034e-01 -7.54072200e-01 3.71369779e-03 3.97674860e+02] [ 7.54061367e-01 -6.56791517e-01 -4.04447749e-03 -2.88100598e+02] [ 5.48895325e-03 1.44019926e-04 9.99984925e-01 -5.93251161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.2065599950001 meters 0.047898334363538145 Centerline is valid? [True, True] Translation: X:397.63, Y:-288.06, Z:-5.93 [[-6.57226977e-01 -7.53686149e-01 3.14468192e-03 3.97634300e+02] [ 7.53678380e-01 -6.57234490e-01 -3.42411841e-03 -2.88060267e+02] [ 4.64750403e-03 1.19655789e-04 9.99989193e-01 -5.93212330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.266559995 meters 0.0475434476642125 Centerline is valid? [True, True] Translation: X:397.60, Y:-288.02, Z:-5.93 [[-6.59578387e-01 -7.51630839e-01 2.72639517e-03 3.97597424e+02] [ 7.51624986e-01 -6.59584015e-01 -2.96784925e-03 -2.88015525e+02] [ 4.02901369e-03 9.16975097e-05 9.99991879e-01 -5.93178839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.326559995 meters 0.04764038687502541 Centerline is valid? [True, True] Translation: X:397.56, Y:-287.97, Z:-5.93 [[-6.64491770e-01 -7.47287258e-01 3.52729328e-03 3.97560707e+02] [ 7.47277403e-01 -6.64501127e-01 -3.83864326e-03 -2.87971152e+02] [ 5.21245956e-03 8.51197091e-05 9.99986411e-01 -5.93396986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.386559995 meters 0.04758787512221847 Centerline is valid? [True, True] Translation: X:397.52, Y:-287.93, Z:-5.93 [[-6.67592275e-01 -7.44514641e-01 4.30169514e-03 3.97523840e+02] [ 7.44499935e-01 -6.67606129e-01 -4.68013708e-03 -2.87925864e+02] [ 6.35626862e-03 7.81883973e-05 9.99979796e-01 -5.93429767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.4465599950001 meters 0.04745909102833519 Centerline is valid? [True, True] Translation: X:397.49, Y:-287.88, Z:-5.94 [[-6.70989641e-01 -7.41449549e-01 5.04662619e-03 3.97486225e+02] [ 7.41429232e-01 -6.71008616e-01 -5.48915257e-03 -2.87882405e+02] [ 7.45625935e-03 5.85516724e-05 9.99972200e-01 -5.93586095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.506559995 meters 0.04780171839959963 Centerline is valid? [True, True] Translation: X:397.45, Y:-287.84, Z:-5.94 [[-6.72026613e-01 -7.40509526e-01 5.08659161e-03 3.97448400e+02] [ 7.40488873e-01 -6.72045862e-01 -5.53073362e-03 -2.87841777e+02] [ 7.51398377e-03 4.97643035e-05 9.99971768e-01 -5.93697004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.566559995 meters 0.04712933103227018 Centerline is valid? [True, True] Translation: X:397.41, Y:-287.80, Z:-5.93 [[-6.73332891e-01 -7.39325517e-01 4.53854577e-03 3.97410289e+02] [ 7.39309056e-01 -6.73348186e-01 -4.93357640e-03 -2.87798320e+02] [ 6.70354048e-03 3.34487248e-05 9.99977531e-01 -5.93478591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.626559995 meters 0.04720912332449786 Centerline is valid? [True, True] Translation: X:397.37, Y:-287.76, Z:-5.94 [[-6.74292262e-01 -7.38452708e-01 4.18852523e-03 3.97369302e+02] [ 7.38438681e-01 -6.74305270e-01 -4.55162079e-03 -2.87760282e+02] [ 6.18550134e-03 2.38463637e-05 9.99980869e-01 -5.93760449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.6865599950002 meters 0.04744006824014588 Centerline is valid? [True, True] Translation: X:397.33, Y:-287.72, Z:-5.94 [[-6.74364179e-01 -7.38384439e-01 4.62324808e-03 3.97330012e+02] [ 7.38367357e-01 -6.74380026e-01 -5.02259669e-03 -2.87718590e+02] [ 6.82643340e-03 2.65961740e-05 9.99976699e-01 -5.93678625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.746559995 meters 0.04720724954934195 Centerline is valid? [True, True] Translation: X:397.29, Y:-287.68, Z:-5.94 [[-6.73827312e-01 -7.38861430e-01 6.36717062e-03 3.97289881e+02] [ 7.38829070e-01 -6.73857392e-01 -6.91518386e-03 -2.87677981e+02] [ 9.39992763e-03 4.46109965e-05 9.99955819e-01 -5.93913498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.806559995 meters 0.0474121974589071 Centerline is valid? [True, True] Translation: X:397.25, Y:-287.64, Z:-5.94 [[-6.73975121e-01 -7.38725373e-01 6.50841853e-03 3.97251018e+02] [ 7.38691574e-01 -6.74006544e-01 -7.06662607e-03 -2.87636322e+02] [ 9.60701266e-03 4.49837689e-05 9.99953851e-01 -5.93801633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.866559995 meters 0.047671122686525715 Centerline is valid? [True, True] Translation: X:397.21, Y:-287.60, Z:-5.94 [[-6.74599296e-01 -7.38157114e-01 6.31381753e-03 3.97210336e+02] [ 7.38125299e-01 -6.74628841e-01 -6.85339854e-03 -2.87595473e+02] [ 9.31836829e-03 3.70906210e-05 9.99956582e-01 -5.93843136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.926559995 meters 0.04733449068349216 Centerline is valid? [True, True] Translation: X:397.17, Y:-287.55, Z:-5.94 [[-6.75066867e-01 -7.37732014e-01 6.01670594e-03 3.97169677e+02] [ 7.37703124e-01 -6.75093679e-01 -6.52888201e-03 -2.87554945e+02] [ 8.87840543e-03 3.11108416e-05 9.99960586e-01 -5.93646462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.986559995 meters 0.04760472970463283 Centerline is valid? [True, True] Translation: X:397.13, Y:-287.51, Z:-5.94 [[-6.75518058e-01 -7.37325717e-01 5.11285266e-03 3.97131159e+02] [ 7.37304853e-01 -6.75537406e-01 -5.54676994e-03 -2.87513886e+02] [ 7.54369934e-03 2.27878257e-05 9.99971546e-01 -5.93560560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.046559995 meters 0.04695925490957525 Centerline is valid? [True, True] Translation: X:397.09, Y:-287.47, Z:-5.93 [[-6.76692942e-01 -7.36253754e-01 4.13177811e-03 3.97093814e+02] [ 7.36240118e-01 -6.76705556e-01 -4.48100279e-03 -2.87471717e+02] [ 6.09515233e-03 9.71784384e-06 9.99981424e-01 -5.93472213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.106559995 meters 0.04791467514317782 Centerline is valid? [True, True] Translation: X:397.06, Y:-287.43, Z:-5.93 [[-6.78283416e-01 -7.34792246e-01 3.45883641e-03 3.97055688e+02] [ 7.34782676e-01 -6.78292235e-01 -3.75021886e-03 -2.87431215e+02] [ 5.10173362e-03 -2.21818638e-06 9.99986986e-01 -5.93369050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.166559995 meters 0.04800158884125464 Centerline is valid? [True, True] Translation: X:397.02, Y:-287.39, Z:-5.94 [[-6.78957254e-01 -7.34168634e-01 3.66938501e-03 3.97018125e+02] [ 7.34157860e-01 -6.78967170e-01 -3.97728638e-03 -2.87390711e+02] [ 5.41139087e-03 -6.49959293e-06 9.99985358e-01 -5.93647808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.2265599950001 meters 0.04818017781606075 Centerline is valid? [True, True] Translation: X:396.98, Y:-287.35, Z:-5.93 [[-6.78569131e-01 -7.34521919e-01 4.63530397e-03 3.96979153e+02] [ 7.34504746e-01 -6.78584962e-01 -5.02270392e-03 -2.87349123e+02] [ 6.83473369e-03 -3.59906305e-06 9.99976643e-01 -5.93491228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.286559995 meters 0.047844358638528546 Centerline is valid? [True, True] Translation: X:396.94, Y:-287.31, Z:-5.94 [[-6.77180993e-01 -7.35793705e-01 5.79029693e-03 3.96939152e+02] [ 7.35766969e-01 -6.77205747e-01 -6.27240116e-03 -2.87308305e+02] [ 8.53641564e-03 1.27583752e-05 9.99963564e-01 -5.93588251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.346559995 meters 0.047942578187361744 Centerline is valid? [True, True] Translation: X:396.90, Y:-287.27, Z:-5.94 [[-6.75326437e-01 -7.37492668e-01 6.22642932e-03 3.96898613e+02] [ 7.37461844e-01 -6.75355139e-01 -6.74282270e-03 -2.87267853e+02] [ 9.17783334e-03 3.81476221e-05 9.99957882e-01 -5.93563290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.406559995 meters 0.048229908014530976 Centerline is valid? [True, True] Translation: X:396.86, Y:-287.23, Z:-5.94 [[-6.72203782e-01 -7.40333945e-01 6.90841511e-03 3.96855714e+02] [ 7.40296168e-01 -6.72239275e-01 -7.47939245e-03 -2.87228105e+02] [ 1.01813561e-02 8.65973482e-05 9.99948165e-01 -5.93654199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.4665599950001 meters 0.04816088145100149 Centerline is valid? [True, True] Translation: X:396.82, Y:-287.19, Z:-5.94 [[-6.71002289e-01 -7.41420416e-01 7.18998892e-03 3.96815644e+02] [ 7.41379579e-01 -6.71040800e-01 -7.78230079e-03 -2.87186660e+02] [ 1.05947326e-02 1.08569317e-04 9.99943868e-01 -5.93738293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.526559995 meters 0.04781273552050766 Centerline is valid? [True, True] Translation: X:396.78, Y:-287.14, Z:-5.94 [[-6.72190234e-01 -7.40345082e-01 7.03208223e-03 3.96778586e+02] [ 7.40305984e-01 -6.72227009e-01 -7.60905450e-03 -2.87142806e+02] [ 1.03604817e-02 9.11604363e-05 9.99946325e-01 -5.93533965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.586559995 meters 0.04815726069533413 Centerline is valid? [True, True] Translation: X:396.74, Y:-287.10, Z:-5.94 [[-6.73594180e-01 -7.39069102e-01 6.90971966e-03 3.96740552e+02] [ 7.39031309e-01 -6.73629615e-01 -7.47439400e-03 -2.87101941e+02] [ 1.01786855e-02 7.17908736e-05 9.99948193e-01 -5.93708202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.646559995 meters 0.047778621068269515 Centerline is valid? [True, True] Translation: X:396.70, Y:-287.06, Z:-5.94 [[-6.75263926e-01 -7.37534654e-01 7.82720623e-03 3.96703347e+02] [ 7.37486084e-01 -6.75309286e-01 -8.46428078e-03 -2.87058522e+02] [ 1.15284854e-02 5.68322046e-05 9.99933543e-01 -5.93719142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.7065599950001 meters 0.04910928183448277 Centerline is valid? [True, True] Translation: X:396.67, Y:-287.02, Z:-5.94 [[-6.76363725e-01 -7.36516052e-01 8.73020634e-03 3.96665246e+02] [ 7.36455579e-01 -6.76420064e-01 -9.43806705e-03 -2.87015702e+02] [ 1.28565746e-02 4.58429742e-05 9.99917350e-01 -5.93808169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.766559995 meters 0.04843029187468999 Centerline is valid? [True, True] Translation: X:396.63, Y:-286.97, Z:-5.94 [[-6.78111022e-01 -7.34898761e-01 9.44738491e-03 3.96629516e+02] [ 7.34827835e-01 -6.78176829e-01 -1.02098814e-02 -2.86973897e+02] [ 1.39102267e-02 1.87683011e-05 9.99903248e-01 -5.94163108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.826559995 meters 0.04799274915322949 Centerline is valid? [True, True] Translation: X:396.59, Y:-286.93, Z:-5.94 [[-6.79129785e-01 -7.33962161e-01 9.07088706e-03 3.96592151e+02] [ 7.33896730e-01 -6.79190360e-01 -9.80022961e-03 -2.86930884e+02] [ 1.33538568e-02 1.46652455e-06 9.99910833e-01 -5.93813119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.886559995 meters 0.04773395221613719 Centerline is valid? [True, True] Translation: X:396.56, Y:-286.89, Z:-5.94 [[-6.79725490e-01 -7.33415552e-01 8.65371195e-03 3.96555849e+02] [ 7.33355998e-01 -6.79780573e-01 -9.34625195e-03 -2.86889648e+02] [ 1.27373118e-02 -6.63411795e-06 9.99918877e-01 -5.93680648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.9465599950001 meters 0.04854754240466617 Centerline is valid? [True, True] Translation: X:396.52, Y:-286.85, Z:-5.94 [[-6.79498772e-01 -7.33638734e-01 7.45837730e-03 3.96516668e+02] [ 7.33594535e-01 -6.79539704e-01 -8.05295251e-03 -2.86848008e+02] [ 1.09762214e-02 -5.46517563e-07 9.99939760e-01 -5.93565627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.006559995 meters 0.0484394404478739 Centerline is valid? [True, True] Translation: X:396.48, Y:-286.81, Z:-5.93 [[-6.78785992e-01 -7.34299431e-01 7.34316895e-03 3.96477774e+02] [ 7.34256652e-01 -6.78825710e-01 -7.92615586e-03 -2.86805482e+02] [ 1.08049036e-02 1.16070831e-05 9.99941625e-01 -5.93437023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.066559995 meters 0.04779382482992028 Centerline is valid? [True, True] Translation: X:396.44, Y:-286.76, Z:-5.93 [[-6.76817340e-01 -7.36122183e-01 6.51306999e-03 3.96437893e+02] [ 7.36088632e-01 -6.76848676e-01 -7.02824337e-03 -2.86763042e+02] [ 9.58200865e-03 3.73597940e-05 9.99954091e-01 -5.93233599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.126559995 meters 0.04780829245585401 Centerline is valid? [True, True] Translation: X:396.40, Y:-286.72, Z:-5.93 [[-6.75338994e-01 -7.37479619e-01 6.40742979e-03 3.96398181e+02] [ 7.37447226e-01 -6.75369387e-01 -6.91237569e-03 -2.86720788e+02] [ 9.42511811e-03 5.69444822e-05 9.99955581e-01 -5.93236997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.1865599950002 meters 0.048609453852957146 Centerline is valid? [True, True] Translation: X:396.36, Y:-286.68, Z:-5.93 [[-6.74260424e-01 -7.38462620e-01 6.77045087e-03 3.96358288e+02] [ 7.38426522e-01 -6.74294411e-01 -7.30202855e-03 -2.86679973e+02] [ 9.95755232e-03 7.60116206e-05 9.99950420e-01 -5.93473395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.246559995 meters 0.04780563923251585 Centerline is valid? [True, True] Translation: X:396.32, Y:-286.64, Z:-5.93 [[-6.73475775e-01 -7.39165358e-01 8.05940112e-03 3.96320986e+02] [ 7.39114289e-01 -6.73523988e-01 -8.68941329e-03 -2.86637275e+02] [ 1.18511133e-02 1.04709177e-04 9.99929768e-01 -5.93336595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.306559995 meters 0.04844118499986065 Centerline is valid? [True, True] Translation: X:396.28, Y:-286.60, Z:-5.93 [[-6.73108816e-01 -7.39490397e-01 8.85861285e-03 3.96282209e+02] [ 7.39428758e-01 -6.73167095e-01 -9.54848025e-03 -2.86595538e+02] [ 1.30243361e-02 1.23146867e-04 9.99915172e-01 -5.93443441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.366559995 meters 0.04828874504811121 Centerline is valid? [True, True] Translation: X:396.24, Y:-286.55, Z:-5.94 [[-6.72444285e-01 -7.40086900e-01 9.49015150e-03 3.96243030e+02] [ 7.40016255e-01 -6.72511233e-01 -1.02266017e-02 -2.86552396e+02] [ 1.39508074e-02 1.46046515e-04 9.99902672e-01 -5.93515053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.426559995 meters 0.04870844362617467 Centerline is valid? [True, True] Translation: X:396.20, Y:-286.51, Z:-5.93 [[-6.72406966e-01 -7.40121920e-01 9.40296361e-03 3.96204860e+02] [ 7.40052611e-01 -6.72472693e-01 -1.01296915e-02 -2.86510002e+02] [ 1.38204430e-02 1.47412649e-04 9.99904482e-01 -5.93416563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.486559995 meters 0.04807953985939848 Centerline is valid? [True, True] Translation: X:396.17, Y:-286.47, Z:-5.94 [[-6.72211614e-01 -7.40307460e-01 8.74131251e-03 3.96165140e+02] [ 7.40247614e-01 -6.72268432e-01 -9.41412894e-03 -2.86469687e+02] [ 1.28458583e-02 1.42448921e-04 9.99917478e-01 -5.93565996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.546559995 meters 0.04818726227304543 Centerline is valid? [True, True] Translation: X:396.13, Y:-286.43, Z:-5.93 [[-6.72166855e-01 -7.40361852e-01 7.48649899e-03 3.96127762e+02] [ 7.40317980e-01 -6.72208534e-01 -8.06069317e-03 -2.86426794e+02] [ 1.10003182e-02 1.24259030e-04 9.99939487e-01 -5.93327385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.606559995 meters 0.04771035999585548 Centerline is valid? [True, True] Translation: X:396.09, Y:-286.38, Z:-5.93 [[-6.72919687e-01 -7.39680448e-01 7.20630862e-03 3.96091443e+02] [ 7.39639782e-01 -6.72958263e-01 -7.75690063e-03 -2.86381709e+02] [ 1.05871727e-02 1.10301395e-04 9.99943948e-01 -5.93089516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.666559995 meters 0.04760512192644149 Centerline is valid? [True, True] Translation: X:396.05, Y:-286.34, Z:-5.93 [[-6.74180234e-01 -7.38531947e-01 7.18159882e-03 3.96053792e+02] [ 7.38491521e-01 -6.74218477e-01 -7.72782260e-03 -2.86339770e+02] [ 1.05492105e-02 9.36045886e-05 9.99944351e-01 -5.93219437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.7265599950001 meters 0.04807545487455805 Centerline is valid? [True, True] Translation: X:396.02, Y:-286.29, Z:-5.93 [[-6.76672271e-01 -7.36245495e-01 7.56361796e-03 3.96016327e+02] [ 7.36200535e-01 -6.76714539e-01 -8.13669347e-03 -2.86294935e+02] [ 1.11090142e-02 6.24647362e-05 9.99938291e-01 -5.93087008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.786559995 meters 0.04777379507558988 Centerline is valid? [True, True] Translation: X:395.98, Y:-286.25, Z:-5.93 [[-6.80563672e-01 -7.32652420e-01 7.31573045e-03 3.95978804e+02] [ 7.32610171e-01 -6.80602991e-01 -7.86802960e-03 -2.86251713e+02] [ 1.07436390e-02 4.88342464e-06 9.99942285e-01 -5.93147125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.846559995 meters 0.04845806588982714 Centerline is valid? [True, True] Translation: X:395.94, Y:-286.21, Z:-5.93 [[-6.81906302e-01 -7.31405477e-01 7.05853569e-03 3.95939549e+02] [ 7.31366104e-01 -6.81942833e-01 -7.58906522e-03 -2.86211071e+02] [ 1.03642017e-02 -1.26576541e-05 9.99946290e-01 -5.93264520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.906559995 meters 0.04879715192420324 Centerline is valid? [True, True] Translation: X:395.90, Y:-286.17, Z:-5.93 [[-6.83135343e-01 -7.30252455e-01 7.57991646e-03 3.95898185e+02] [ 7.30207003e-01 -6.83177393e-01 -8.14749390e-03 -2.86170754e+02] [ 1.11281550e-02 -3.09329530e-05 9.99938080e-01 -5.92917870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.9665599950001 meters 0.04842868326411709 Centerline is valid? [True, True] Translation: X:395.86, Y:-286.13, Z:-5.93 [[-6.84249782e-01 -7.29204358e-01 7.95236343e-03 3.95857897e+02] [ 7.29154281e-01 -6.84295990e-01 -8.54597497e-03 -2.86128352e+02] [ 1.16735326e-02 -4.90816760e-05 9.99931861e-01 -5.92862942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.026559995 meters 0.04833525553023881 Centerline is valid? [True, True] Translation: X:395.82, Y:-286.09, Z:-5.93 [[-6.85292929e-01 -7.28227493e-01 7.63677658e-03 3.95818936e+02] [ 7.28181277e-01 -6.85335476e-01 -8.20448746e-03 -2.86086672e+02] [ 1.12084873e-02 -6.15195166e-05 9.99937181e-01 -5.93210746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.086559995 meters 0.049519886556645375 Centerline is valid? [True, True] Translation: X:395.78, Y:-286.05, Z:-5.93 [[-6.85196582e-01 -7.28334090e-01 5.92429175e-03 3.95775320e+02] [ 7.28306296e-01 -6.85222191e-01 -6.36298193e-03 -2.86047735e+02] [ 8.69383282e-03 -4.51944840e-05 9.99962207e-01 -5.93165417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.146559995 meters 0.04857536247003965 Centerline is valid? [True, True] Translation: X:395.73, Y:-286.01, Z:-5.93 [[-6.83290381e-01 -7.30127067e-01 5.35917825e-03 3.95734079e+02] [ 7.30104392e-01 -6.83311397e-01 -5.75428879e-03 -2.86008699e+02] [ 7.86334957e-03 -1.90906036e-05 9.99969083e-01 -5.93166762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.2065599950001 meters 0.048602140212689306 Centerline is valid? [True, True] Translation: X:395.69, Y:-285.97, Z:-5.93 [[-6.78063381e-01 -7.34986056e-01 5.05461506e-03 3.95689647e+02] [ 7.34966030e-01 -6.78082219e-01 -5.42575239e-03 -2.85971489e+02] [ 7.41529694e-03 3.59663570e-05 9.99972506e-01 -5.93031613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.266559995 meters 0.04879848576337272 Centerline is valid? [True, True] Translation: X:395.64, Y:-285.93, Z:-5.93 [[-6.74151757e-01 -7.38579569e-01 4.43045558e-03 3.95644751e+02] [ 7.38564269e-01 -6.74166312e-01 -4.75435403e-03 -2.85934903e+02] [ 6.49833265e-03 6.70200631e-05 9.99978883e-01 -5.93057849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.326559995 meters 0.049886767437170486 Centerline is valid? [True, True] Translation: X:395.60, Y:-285.90, Z:-5.93 [[-6.69214519e-01 -7.43058779e-01 3.94698997e-03 3.95596226e+02] [ 7.43046722e-01 -6.69226151e-01 -4.23421872e-03 -2.85903378e+02] [ 5.78770230e-03 9.91973148e-05 9.99983246e-01 -5.93146438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.386559995 meters 0.04954759685141857 Centerline is valid? [True, True] Translation: X:395.55, Y:-285.87, Z:-5.93 [[-6.65782922e-01 -7.46137315e-01 3.49400335e-03 3.95552642e+02] [ 7.46127915e-01 -6.65792080e-01 -3.74713670e-03 -2.85866244e+02] [ 5.12215828e-03 1.12193816e-04 9.99986875e-01 -5.93041411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.4465599950001 meters 0.04941589550313033 Centerline is valid? [True, True] Translation: X:395.51, Y:-285.83, Z:-5.93 [[-6.65219651e-01 -7.46639486e-01 3.50629590e-03 3.95512529e+02] [ 7.46630030e-01 -6.65228881e-01 -3.75949060e-03 -2.85826186e+02] [ 5.13947343e-03 1.17018784e-04 9.99986786e-01 -5.92996646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.506559995 meters 0.04969582338461005 Centerline is valid? [True, True] Translation: X:395.47, Y:-285.78, Z:-5.93 [[-6.66290794e-01 -7.45683759e-01 3.50867319e-03 3.95473419e+02] [ 7.45674282e-01 -6.66300023e-01 -3.76105242e-03 -2.85783260e+02] [ 5.14238473e-03 1.10372757e-04 9.99986772e-01 -5.92905544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.566559995 meters 0.04921403326267015 Centerline is valid? [True, True] Translation: X:395.43, Y:-285.74, Z:-5.93 [[-6.71776066e-01 -7.40747648e-01 3.13680020e-03 3.95434805e+02] [ 7.40740024e-01 -6.71783386e-01 -3.36138502e-03 -2.85742382e+02] [ 4.59718831e-03 6.54554492e-05 9.99989431e-01 -5.92938865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.626559995 meters 0.049351938896458364 Centerline is valid? [True, True] Translation: X:395.40, Y:-285.70, Z:-5.93 [[-6.76356509e-01 -7.36568602e-01 2.92713939e-03 3.95396676e+02] [ 7.36561928e-01 -6.76362842e-01 -3.13581499e-03 -2.85699924e+02] [ 4.28955118e-03 3.50905529e-05 9.99990799e-01 -5.92948312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.6865599950002 meters 0.04935163501833027 Centerline is valid? [True, True] Translation: X:395.36, Y:-285.66, Z:-5.93 [[-6.80730800e-01 -7.32529528e-01 2.46340504e-03 3.95359958e+02] [ 7.32524778e-01 -6.80735257e-01 -2.63816926e-03 -2.85657915e+02] [ 3.60946355e-03 8.62215918e-06 9.99993486e-01 -5.92868594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.746559995 meters 0.049393502325128756 Centerline is valid? [True, True] Translation: X:395.32, Y:-285.62, Z:-5.93 [[-6.85717108e-01 -7.27858109e-01 3.82383527e-03 3.95320919e+02] [ 7.27846596e-01 -6.85727769e-01 -4.09396664e-03 -2.85615574e+02] [ 5.60193685e-03 -2.41374808e-05 9.99984309e-01 -5.93104767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.806559995 meters 0.05021401882156377 Centerline is valid? [True, True] Translation: X:395.28, Y:-285.58, Z:-5.93 [[-6.88075935e-01 -7.25618255e-01 5.44562895e-03 3.95280111e+02] [ 7.25594849e-01 -6.88097482e-01 -5.82850570e-03 -2.85576227e+02] [ 7.97639371e-03 -5.91342013e-05 9.99968186e-01 -5.93056939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.866559995 meters 0.050523615127326116 Centerline is valid? [True, True] Translation: X:395.24, Y:-285.53, Z:-5.93 [[-6.91831072e-01 -7.22021746e-01 7.37340152e-03 3.95240790e+02] [ 7.21978636e-01 -6.91870349e-01 -7.89109468e-03 -2.85534926e+02] [ 1.07989798e-02 -1.35866114e-04 9.99941680e-01 -5.93285991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.926559995 meters 0.05023679206120729 Centerline is valid? [True, True] Translation: X:395.20, Y:-285.49, Z:-5.93 [[-6.94266700e-01 -7.19673506e-01 7.98715391e-03 3.95201538e+02] [ 7.19622778e-01 -6.94312617e-01 -8.54673427e-03 -2.85491718e+02] [ 1.16964400e-02 -1.85975110e-04 9.99931577e-01 -5.93306043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.986559995 meters 0.05070447238031277 Centerline is valid? [True, True] Translation: X:395.16, Y:-285.45, Z:-5.93 [[-6.96148585e-01 -7.17860444e-01 7.31645648e-03 3.95162967e+02] [ 7.17817797e-01 -6.96187004e-01 -7.82724485e-03 -2.85447261e+02] [ 1.07124914e-02 -1.97042755e-04 9.99942600e-01 -5.93204781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.046559995 meters 0.05065852015630998 Centerline is valid? [True, True] Translation: X:395.13, Y:-285.40, Z:-5.93 [[-6.95633736e-01 -7.18367053e-01 6.51794611e-03 3.95125051e+02] [ 7.18333245e-01 -6.95664251e-01 -6.97135211e-03 -2.85403857e+02] [ 9.54229177e-03 -1.67450332e-04 9.99954457e-01 -5.93251156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.106559995 meters 0.05041014262888449 Centerline is valid? [True, True] Translation: X:395.08, Y:-285.36, Z:-5.93 [[-6.94334331e-01 -7.19630402e-01 5.64984768e-03 3.95083287e+02] [ 7.19605055e-01 -6.94357305e-01 -6.04135657e-03 -2.85363457e+02] [ 8.27055687e-03 -1.29062326e-04 9.99965790e-01 -5.93075529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.166559995 meters 0.05052673161041709 Centerline is valid? [True, True] Translation: X:395.05, Y:-285.32, Z:-5.93 [[-6.91788946e-01 -7.22085784e-01 4.49162813e-03 3.95045071e+02] [ 7.22069820e-01 -6.91803523e-01 -4.80211589e-03 -2.85321697e+02] [ 6.57486378e-03 -7.87815788e-05 9.99978382e-01 -5.93018479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.2265599950001 meters 0.050108626570397115 Centerline is valid? [True, True] Translation: X:395.00, Y:-285.28, Z:-5.93 [[-6.88819444e-01 -7.24929776e-01 2.14330996e-03 3.95000294e+02] [ 7.24926156e-01 -6.88822778e-01 -2.29122248e-03 -2.85282112e+02] [ 3.13733612e-03 -2.44971408e-05 9.99995078e-01 -5.92819191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.286559995 meters 0.04973904957976533 Centerline is valid? [True, True] Translation: X:394.96, Y:-285.24, Z:-5.93 [[-6.87986604e-01 -7.25720491e-01 2.04981613e-03 3.94960596e+02] [ 7.25717184e-01 -6.87989657e-01 -2.19109940e-03 -2.85239438e+02] [ 3.00037803e-03 -1.98602458e-05 9.99995499e-01 -5.92805476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.346559995 meters 0.050189925567406785 Centerline is valid? [True, True] Translation: X:394.92, Y:-285.20, Z:-5.93 [[-6.86933417e-01 -7.26718431e-01 1.67412436e-03 3.94921368e+02] [ 7.26716229e-01 -6.86935457e-01 -1.78908450e-03 -2.85198181e+02] [ 2.45017607e-03 -1.23685865e-05 9.99996998e-01 -5.92915489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.406559995 meters 0.05015607879662076 Centerline is valid? [True, True] Translation: X:394.88, Y:-285.16, Z:-5.93 [[-6.85959458e-01 -7.27634655e-01 2.72600808e-03 3.94882307e+02] [ 7.27628827e-01 -6.85964874e-01 -2.91230858e-03 -2.85158077e+02] [ 3.98904244e-03 -1.42035543e-05 9.99992044e-01 -5.93165960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.4665599950001 meters 0.05015158190510576 Centerline is valid? [True, True] Translation: X:394.84, Y:-285.12, Z:-5.93 [[-6.85174466e-01 -7.28367584e-01 4.07596401e-03 3.94842452e+02] [ 7.28354575e-01 -6.85186589e-01 -4.35326525e-03 -2.85117100e+02] [ 5.96357317e-03 -1.39991608e-05 9.99982218e-01 -5.93262094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.526559995 meters 0.050231496301793105 Centerline is valid? [True, True] Translation: X:394.80, Y:-285.08, Z:-5.93 [[-6.82630491e-01 -7.30747074e-01 4.93210802e-03 3.94802461e+02] [ 7.30728100e-01 -6.82648309e-01 -5.26595661e-03 -2.85077602e+02] [ 7.21497758e-03 9.32738057e-06 9.99973972e-01 -5.93330209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.586559995 meters 0.05108184502187949 Centerline is valid? [True, True] Translation: X:394.76, Y:-285.04, Z:-5.93 [[-6.80815821e-01 -7.32439424e-01 4.72314208e-03 3.94763353e+02] [ 7.32422074e-01 -6.80832204e-01 -5.04142317e-03 -2.85037194e+02] [ 6.90820431e-03 2.70528671e-05 9.99976138e-01 -5.93454398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.646559995 meters 0.049892748590898456 Centerline is valid? [True, True] Translation: X:394.72, Y:-284.99, Z:-5.93 [[-6.78521274e-01 -7.34565550e-01 4.72590499e-03 3.94724528e+02] [ 7.34548239e-01 -6.78537730e-01 -5.04323059e-03 -2.84993103e+02] [ 6.91128829e-03 4.94659355e-05 9.99976116e-01 -5.93326672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.7065599950001 meters 0.04972413176771681 Centerline is valid? [True, True] Translation: X:394.69, Y:-284.95, Z:-5.93 [[-6.77767341e-01 -7.35257189e-01 5.31954283e-03 3.94686306e+02] [ 7.35235286e-01 -6.77788214e-01 -5.67548065e-03 -2.84948449e+02] [ 7.77846138e-03 6.44601603e-05 9.99969745e-01 -5.93207610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.766559995 meters 0.04953920748758053 Centerline is valid? [True, True] Translation: X:394.65, Y:-284.90, Z:-5.93 [[-6.77615873e-01 -7.35395288e-01 5.52254905e-03 3.94648491e+02] [ 7.35371691e-01 -6.77638373e-01 -5.89161731e-03 -2.84903910e+02] [ 8.07495877e-03 6.88728265e-05 9.99967395e-01 -5.93170447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.826559995 meters 0.049634646163054276 Centerline is valid? [True, True] Translation: X:394.61, Y:-284.86, Z:-5.93 [[-6.77798962e-01 -7.35228047e-01 5.31852766e-03 3.94608372e+02] [ 7.35206166e-01 -6.77819825e-01 -5.67258678e-03 -2.84862683e+02] [ 7.77564839e-03 6.53409070e-05 9.99969767e-01 -5.93425297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.886559995 meters 0.04997489564400313 Centerline is valid? [True, True] Translation: X:394.57, Y:-284.82, Z:-5.93 [[-6.78480014e-01 -7.34600787e-01 5.15301470e-03 3.94572785e+02] [ 7.34580239e-01 -6.78499580e-01 -5.49479654e-03 -2.84816306e+02] [ 7.53280017e-03 5.71931334e-05 9.99971626e-01 -5.93191417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.9465599950001 meters 0.04907594535533097 Centerline is valid? [True, True] Translation: X:394.54, Y:-284.77, Z:-5.93 [[-6.80149716e-01 -7.33051726e-01 5.61520985e-03 3.94536603e+02] [ 7.33027285e-01 -6.80172893e-01 -5.98617239e-03 -2.84770918e+02] [ 8.20748753e-03 4.46085812e-05 9.99966317e-01 -5.93250345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.006559995 meters 0.05010145156082469 Centerline is valid? [True, True] Translation: X:394.50, Y:-284.73, Z:-5.93 [[-6.80982141e-01 -7.32272037e-01 6.40207373e-03 3.94500905e+02] [ 7.32240252e-01 -6.81012233e-01 -6.82288916e-03 -2.84727797e+02] [ 9.35610147e-03 4.15904077e-05 9.99956230e-01 -5.93459899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.066559995 meters 0.049058544041789366 Centerline is valid? [True, True] Translation: X:394.47, Y:-284.68, Z:-5.93 [[-6.81454517e-01 -7.31829171e-01 6.76798952e-03 3.94467660e+02] [ 7.31793649e-01 -6.81488123e-01 -7.21059928e-03 -2.84681052e+02] [ 9.88923137e-03 3.90762966e-05 9.99951100e-01 -5.93036969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.126559995 meters 0.04911284729752569 Centerline is valid? [True, True] Translation: X:394.43, Y:-284.64, Z:-5.93 [[-6.81957392e-01 -7.31362212e-01 6.59007837e-03 3.94431407e+02] [ 7.31328525e-01 -6.81989233e-01 -7.01965636e-03 -2.84636566e+02] [ 9.62827389e-03 3.24057473e-05 9.99953647e-01 -5.93265801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.1865599950002 meters 0.04920084109760179 Centerline is valid? [True, True] Translation: X:394.40, Y:-284.59, Z:-5.93 [[-6.83111014e-01 -7.30285959e-01 6.46219152e-03 3.94398862e+02] [ 7.30253539e-01 -6.83141579e-01 -6.88122127e-03 -2.84590736e+02] [ 9.43985099e-03 1.84001895e-05 9.99955443e-01 -5.93330961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.246559995 meters 0.049658050327452234 Centerline is valid? [True, True] Translation: X:394.36, Y:-284.55, Z:-5.93 [[-6.83333707e-01 -7.30076868e-01 6.54306069e-03 3.94364153e+02] [ 7.30043644e-01 -6.83365032e-01 -6.96504843e-03 -2.84546630e+02] [ 9.55631962e-03 1.72674982e-05 9.99954337e-01 -5.93100172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.306559995 meters 0.04826237314024822 Centerline is valid? [True, True] Translation: X:394.33, Y:-284.50, Z:-5.93 [[-6.81603024e-01 -7.31689656e-01 6.89675406e-03 3.94328036e+02] [ 7.31652843e-01 -6.81637914e-01 -7.33972102e-03 -2.84501431e+02] [ 1.00714870e-02 4.32536767e-05 9.99949280e-01 -5.93212383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.366559995 meters 0.04815943874329916 Centerline is valid? [True, True] Translation: X:394.29, Y:-284.46, Z:-5.93 [[-6.79530857e-01 -7.33615557e-01 6.78441375e-03 3.94290524e+02] [ 7.33580049e-01 -6.79564720e-01 -7.21822821e-03 -2.84457326e+02] [ 9.90585274e-03 7.19017673e-05 9.99950933e-01 -5.93180565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.426559995 meters 0.048326870480433014 Centerline is valid? [True, True] Translation: X:394.25, Y:-284.41, Z:-5.93 [[-6.78292481e-01 -7.34763919e-01 6.42603735e-03 3.94252883e+02] [ 7.34732132e-01 -6.78322914e-01 -6.83501882e-03 -2.84414335e+02] [ 9.38105359e-03 8.52742545e-05 9.99955993e-01 -5.93272287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.486559995 meters 0.04807859685191255 Centerline is valid? [True, True] Translation: X:394.22, Y:-284.37, Z:-5.93 [[-6.77950510e-01 -7.35076543e-01 6.75136562e-03 3.94218416e+02] [ 7.35041491e-01 -6.77984119e-01 -7.17916103e-03 -2.84367250e+02] [ 9.85455155e-03 9.54179651e-05 9.99951438e-01 -5.93133517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.546559995 meters 0.04808147800183516 Centerline is valid? [True, True] Translation: X:394.18, Y:-284.33, Z:-5.93 [[-6.74397474e-01 -7.38335323e-01 6.99986451e-03 3.94177590e+02] [ 7.38297838e-01 -6.74433784e-01 -7.44132890e-03 -2.84327355e+02] [ 1.02151411e-02 1.49571425e-04 9.99947813e-01 -5.93229553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.606559995 meters 0.04802538846565727 Centerline is valid? [True, True] Translation: X:394.14, Y:-284.29, Z:-5.93 [[-6.71152850e-01 -7.41282017e-01 7.40423598e-03 3.94136966e+02] [ 7.41240275e-01 -6.71193659e-01 -7.86931747e-03 -2.84289369e+02] [ 1.08030598e-02 2.06803066e-04 9.99941624e-01 -5.93316315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.666559995 meters 0.048163680617512326 Centerline is valid? [True, True] Translation: X:394.10, Y:-284.25, Z:-5.93 [[-6.68652227e-01 -7.43536346e-01 7.60929235e-03 3.94097684e+02] [ 7.43492432e-01 -6.68695475e-01 -8.08486558e-03 -2.84248203e+02] [ 1.10996908e-02 2.51487901e-04 9.99938365e-01 -5.93177606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.7265599950001 meters 0.0486368423857602 Centerline is valid? [True, True] Translation: X:394.06, Y:-284.21, Z:-5.93 [[-6.68856574e-01 -7.43361291e-01 6.69890101e-03 3.94057253e+02] [ 7.43327266e-01 -6.68890083e-01 -7.11565150e-03 -2.84207286e+02] [ 9.77032833e-03 2.20125487e-04 9.99952245e-01 -5.93186550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.786559995 meters 0.04803621498185204 Centerline is valid? [True, True] Translation: X:394.02, Y:-284.16, Z:-5.93 [[-6.70081890e-01 -7.42266544e-01 5.53514013e-03 3.94018767e+02] [ 7.42243290e-01 -6.70104730e-01 -5.87790895e-03 -2.84164466e+02] [ 8.07209875e-03 1.69740280e-04 9.99967406e-01 -5.93053481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.846559995 meters 0.047842224081383875 Centerline is valid? [True, True] Translation: X:393.98, Y:-284.12, Z:-5.93 [[-6.72159158e-01 -7.40391340e-01 4.76751030e-03 3.93978736e+02] [ 7.40374052e-01 -6.72176054e-01 -5.06128605e-03 -2.84124145e+02] [ 6.95193862e-03 1.27751150e-04 9.99975827e-01 -5.93076867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.906559995 meters 0.04805344154947374 Centerline is valid? [True, True] Translation: X:393.94, Y:-284.08, Z:-5.93 [[-6.74135608e-01 -7.38583907e-01 5.91563642e-03 3.93942612e+02] [ 7.38557233e-01 -6.74161549e-01 -6.27852674e-03 -2.84078535e+02] [ 8.62531342e-03 1.36457621e-04 9.99962792e-01 -5.93017076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.9665599950001 meters 0.049126416204479426 Centerline is valid? [True, True] Translation: X:393.90, Y:-284.04, Z:-5.93 [[-6.75340826e-01 -7.37473110e-01 6.94125966e-03 3.93902001e+02] [ 7.37436349e-01 -6.75376481e-01 -7.36481506e-03 -2.84040163e+02] [ 1.01193166e-02 1.44976899e-04 9.99948788e-01 -5.93419321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.026559995 meters 0.04850309931425563 Centerline is valid? [True, True] Translation: X:393.87, Y:-284.00, Z:-5.93 [[-6.76786060e-01 -7.36136052e-01 8.02140344e-03 3.93865293e+02] [ 7.36086894e-01 -6.76833578e-01 -8.50838434e-03 -2.83997444e+02] [ 1.16924836e-02 1.46094033e-04 9.99931630e-01 -5.93481188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.086559995 meters 0.04812860457932633 Centerline is valid? [True, True] Translation: X:393.83, Y:-283.95, Z:-5.93 [[-6.79788442e-01 -7.33367345e-01 7.74668817e-03 3.93830766e+02] [ 7.33321343e-01 -6.79832573e-01 -8.21461931e-03 -2.83951795e+02] [ 1.12907845e-02 9.66085105e-05 9.99936252e-01 -5.93234503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.146559995 meters 0.04880467315360853 Centerline is valid? [True, True] Translation: X:393.79, Y:-283.91, Z:-5.93 [[-6.81211072e-01 -7.32046695e-01 7.68841473e-03 3.93792876e+02] [ 7.32001325e-01 -6.81254453e-01 -8.15046666e-03 -2.83908496e+02] [ 1.12042890e-02 7.57416422e-05 9.99937227e-01 -5.93077098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.2065599950001 meters 0.048532061532695146 Centerline is valid? [True, True] Translation: X:393.75, Y:-283.87, Z:-5.93 [[-6.80525013e-01 -7.32690544e-01 7.09032539e-03 3.93753191e+02] [ 7.32652018e-01 -6.80561944e-01 -7.51403470e-03 -2.83869869e+02] [ 1.03308678e-02 8.12526474e-05 9.99946632e-01 -5.93062993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.266559995 meters 0.04820699236421645 Centerline is valid? [True, True] Translation: X:393.71, Y:-283.83, Z:-5.93 [[-6.79593846e-01 -7.33558828e-01 6.60681500e-03 3.93713979e+02] [ 7.33525438e-01 -6.79625954e-01 -6.99955092e-03 -2.83827659e+02] [ 9.62474532e-03 8.94151313e-05 9.99953677e-01 -5.92762993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.326559995 meters 0.04790657291488717 Centerline is valid? [True, True] Translation: X:393.67, Y:-283.79, Z:-5.93 [[-6.77539902e-01 -7.35467079e-01 5.27789287e-03 3.93671944e+02] [ 7.35445840e-01 -6.77560452e-01 -5.59009766e-03 -2.83788342e+02] [ 7.68742428e-03 9.40901371e-05 9.99970447e-01 -5.92725990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.386559995 meters 0.04834976655649245 Centerline is valid? [True, True] Translation: X:393.63, Y:-283.75, Z:-5.93 [[-6.76187244e-01 -7.36718462e-01 4.08889191e-03 3.93630566e+02] [ 7.36705744e-01 -6.76199602e-01 -4.32964874e-03 -2.83748145e+02] [ 5.95463924e-03 8.46569037e-05 9.99982267e-01 -5.92610487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.4465599950001 meters 0.048174075594998915 Centerline is valid? [True, True] Translation: X:393.59, Y:-283.71, Z:-5.93 [[-6.76351398e-01 -7.36569006e-01 3.85823348e-03 3.93591059e+02] [ 7.36557687e-01 -6.76362398e-01 -4.08421496e-03 -2.83707120e+02] [ 5.61787020e-03 7.94470284e-05 9.99984217e-01 -5.92567279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.506559995 meters 0.04892707592847986 Centerline is valid? [True, True] Translation: X:393.55, Y:-283.67, Z:-5.93 [[-6.77628944e-01 -7.35382066e-01 5.67727279e-03 3.93551822e+02] [ 7.35357531e-01 -6.77652718e-01 -6.00795601e-03 -2.83666754e+02] [ 8.26536244e-03 1.03660422e-04 9.99965836e-01 -5.92790896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.566559995 meters 0.0492143420443631 Centerline is valid? [True, True] Translation: X:393.51, Y:-283.62, Z:-5.93 [[-6.79661394e-01 -7.33489272e-01 7.34014162e-03 3.93513948e+02] [ 7.33448172e-01 -6.79701021e-01 -7.76538022e-03 -2.83623345e+02] [ 1.06849248e-02 1.05784311e-04 9.99942909e-01 -5.92905369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.626559995 meters 0.04837092185219752 Centerline is valid? [True, True] Translation: X:393.48, Y:-283.58, Z:-5.93 [[-6.83869223e-01 -7.29549808e-01 8.94225768e-03 3.93478250e+02] [ 7.29488508e-01 -6.83927682e-01 -9.45737112e-03 -2.83580071e+02] [ 1.30154809e-02 5.56691751e-05 9.99915294e-01 -5.93193417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.6865599950002 meters 0.04873751375071085 Centerline is valid? [True, True] Translation: X:393.44, Y:-283.54, Z:-5.93 [[-6.87328554e-01 -7.26296171e-01 8.56334605e-03 3.93442709e+02] [ 7.26239737e-01 -6.87381897e-01 -9.05383568e-03 -2.83536554e+02] [ 1.24620552e-02 -3.91759812e-06 9.99922346e-01 -5.92992789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.746559995 meters 0.04861934463990621 Centerline is valid? [True, True] Translation: X:393.41, Y:-283.49, Z:-5.93 [[-6.92083883e-01 -7.21791244e-01 6.10731945e-03 3.93405884e+02] [ 7.21762379e-01 -6.92110827e-01 -6.45529451e-03 -2.83492112e+02] [ 8.88631697e-03 -5.95718766e-05 9.99960514e-01 -5.92874648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.806559995 meters 0.04801890596408274 Centerline is valid? [True, True] Translation: X:393.37, Y:-283.45, Z:-5.93 [[-6.94100148e-01 -7.19861174e-01 4.98756241e-03 3.93367839e+02] [ 7.19841887e-01 -6.94118063e-01 -5.26988277e-03 -2.83451512e+02] [ 7.25554116e-03 -6.75700685e-05 9.99973676e-01 -5.92730449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.866559995 meters 0.048548246556980784 Centerline is valid? [True, True] Translation: X:393.33, Y:-283.41, Z:-5.93 [[-6.94325099e-01 -7.19647655e-01 4.46205380e-03 3.93328995e+02] [ 7.19632222e-01 -6.94339434e-01 -4.71343457e-03 -2.83408945e+02] [ 6.49019204e-03 -6.16182340e-05 9.99978937e-01 -5.92629239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.926559995 meters 0.04831774220066166 Centerline is valid? [True, True] Translation: X:393.29, Y:-283.37, Z:-5.93 [[-6.91699461e-01 -7.22168999e-01 4.87770591e-03 3.93287614e+02] [ 7.22150629e-01 -6.91716658e-01 -5.15115621e-03 -2.83368167e+02] [ 7.09399576e-03 -4.06135850e-05 9.99974837e-01 -5.92742533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.986559995 meters 0.04828487794484714 Centerline is valid? [True, True] Translation: X:393.25, Y:-283.33, Z:-5.93 [[-6.89124144e-01 -7.24622850e-01 5.44423832e-03 3.93246206e+02] [ 7.24600055e-01 -6.89145648e-01 -5.74769191e-03 -2.83329262e+02] [ 7.91678204e-03 -1.59778775e-05 9.99968662e-01 -5.92951347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.046559995 meters 0.048339519236836 Centerline is valid? [True, True] Translation: X:393.20, Y:-283.29, Z:-5.93 [[-6.85625035e-01 -7.27923077e-01 6.80479115e-03 3.93204701e+02] [ 7.27887643e-01 -6.85658803e-01 -7.18227973e-03 -2.83291896e+02] [ 9.89391212e-03 2.87725991e-05 9.99951054e-01 -5.93105014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.106559995 meters 0.04824249477901307 Centerline is valid? [True, True] Translation: X:393.17, Y:-283.25, Z:-5.93 [[-6.84746332e-01 -7.28739818e-01 7.79346900e-03 3.93166099e+02] [ 7.28693420e-01 -6.84790680e-01 -8.22341607e-03 -2.83249984e+02] [ 1.13296257e-02 4.80955853e-05 9.99935817e-01 -5.92957045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.166559995 meters 0.04797386805645872 Centerline is valid? [True, True] Translation: X:393.13, Y:-283.21, Z:-5.93 [[-6.85659450e-01 -7.27873568e-01 8.43729921e-03 3.93126521e+02] [ 7.27819151e-01 -6.85711359e-01 -8.90027357e-03 -2.83209452e+02] [ 1.22638258e-02 3.82712697e-05 9.99924796e-01 -5.93402387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.2265599950001 meters 0.048618071217643506 Centerline is valid? [True, True] Translation: X:393.09, Y:-283.17, Z:-5.93 [[-6.89755143e-01 -7.24011898e-01 6.67937997e-03 3.93089940e+02] [ 7.23977631e-01 -6.89787482e-01 -7.04402327e-03 -2.83165129e+02] [ 9.70730935e-03 -2.29295862e-05 9.99952883e-01 -5.92964122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.286559995 meters 0.04864062031121183 Centerline is valid? [True, True] Translation: X:393.05, Y:-283.12, Z:-5.93 [[-6.93839212e-01 -7.20121147e-01 3.56117012e-03 3.93052614e+02] [ 7.20111359e-01 -6.93848350e-01 -3.75480093e-03 -2.83121111e+02] [ 5.17482357e-03 -4.07890635e-05 9.99986610e-01 -5.92511604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.346559995 meters 0.0479409466009116 Centerline is valid? [True, True] Translation: X:393.02, Y:-283.08, Z:-5.92 [[-6.95074352e-01 -7.18934145e-01 2.31102505e-03 3.93015603e+02] [ 7.18930018e-01 -6.95078193e-01 -2.43611341e-03 -2.83079092e+02] [ 3.35774823e-03 -3.18146713e-05 9.99994362e-01 -5.92447123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.406559995 meters 0.04780326079663174 Centerline is valid? [True, True] Translation: X:392.97, Y:-283.04, Z:-5.93 [[-6.93091594e-01 -7.20847378e-01 1.76063912e-03 3.92974483e+02] [ 7.20844990e-01 -6.93093830e-01 -1.85538250e-03 -2.83038845e+02] [ 2.55773572e-03 -1.68021283e-05 9.99996729e-01 -5.92503084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.4665599950001 meters 0.04753289644569503 Centerline is valid? [True, True] Translation: X:392.93, Y:-283.00, Z:-5.93 [[-6.89022719e-01 -7.24736139e-01 2.28527676e-03 3.92931853e+02] [ 7.24732140e-01 -6.89026509e-01 -2.40756782e-03 -2.82999679e+02] [ 3.31946767e-03 -2.65540448e-06 9.99994491e-01 -5.92611620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.526559995 meters 0.04787265966945175 Centerline is valid? [True, True] Translation: X:392.89, Y:-282.96, Z:-5.93 [[-6.84067286e-01 -7.29412369e-01 3.08947749e-03 3.92889710e+02] [ 7.29405111e-01 -6.84074262e-01 -3.25415084e-03 -2.82960457e+02] [ 4.48704990e-03 2.74225431e-05 9.99989933e-01 -5.92677952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.586559995 meters 0.0478376412286249 Centerline is valid? [True, True] Translation: X:392.85, Y:-282.92, Z:-5.93 [[-6.78389308e-01 -7.34694988e-01 3.34996593e-03 3.92846372e+02] [ 7.34686521e-01 -6.78397576e-01 -3.52773115e-03 -2.82923845e+02] [ 4.86441516e-03 6.79997209e-05 9.99988166e-01 -5.92807666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.646559995 meters 0.04793574360769509 Centerline is valid? [True, True] Translation: X:392.81, Y:-282.88, Z:-5.93 [[-6.76888215e-01 -7.36077562e-01 3.48812097e-03 3.92807761e+02] [ 7.36068404e-01 -6.76897198e-01 -3.67261801e-03 -2.82880392e+02] [ 5.06443102e-03 8.15437827e-05 9.99987172e-01 -5.92737666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.7065599950001 meters 0.04775452659959059 Centerline is valid? [True, True] Translation: X:392.77, Y:-282.84, Z:-5.93 [[-6.76784948e-01 -7.36172392e-01 3.51330449e-03 3.92769117e+02] [ 7.36163109e-01 -6.76794062e-01 -3.69798118e-03 -2.82839641e+02] [ 5.10013527e-03 8.36271609e-05 9.99986991e-01 -5.92771440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.766559995 meters 0.048062797193591376 Centerline is valid? [True, True] Translation: X:392.73, Y:-282.80, Z:-5.93 [[-6.77740167e-01 -7.35297050e-01 2.55229120e-03 3.92729471e+02] [ 7.35292147e-01 -6.77744970e-01 -2.68575763e-03 -2.82797994e+02] [ 3.70463218e-03 5.64338507e-05 9.99993136e-01 -5.92731474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.826559995 meters 0.048361350457877934 Centerline is valid? [True, True] Translation: X:392.69, Y:-282.76, Z:-5.93 [[-6.78625226e-01 -7.34483265e-01 1.46183556e-03 3.92690662e+02] [ 7.34481656e-01 -6.78626799e-01 -1.53782124e-03 -2.82757440e+02] [ 2.12154475e-03 3.00871168e-05 9.99997749e-01 -5.92665676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.886559995 meters 0.047576705393220294 Centerline is valid? [True, True] Translation: X:392.65, Y:-282.71, Z:-5.93 [[-6.78701519e-01 -7.34413808e-01 7.79190179e-04 3.92652951e+02] [ 7.34413351e-01 -6.78701966e-01 -8.19453243e-04 -2.82714291e+02] [ 1.13065568e-03 1.60835095e-05 9.99999361e-01 -5.92647363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.9465599950001 meters 0.047233148057696246 Centerline is valid? [True, True] Translation: X:392.61, Y:-282.67, Z:-5.93 [[-6.77132666e-01 -7.35860546e-01 7.80994701e-04 3.92613750e+02] [ 7.35860088e-01 -6.77133116e-01 -8.21132295e-04 -2.82671384e+02] [ 1.13307623e-03 1.86873288e-05 9.99999358e-01 -5.92710899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.006559995 meters 0.04730152162038891 Centerline is valid? [True, True] Translation: X:392.57, Y:-282.63, Z:-5.93 [[-6.74640358e-01 -7.38144717e-01 1.66240737e-03 3.92572623e+02] [ 7.38142650e-01 -6.74642405e-01 -1.74749553e-03 -2.82631994e+02] [ 2.41143510e-03 4.81627711e-05 9.99997091e-01 -5.92855157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.066559995 meters 0.04745145498586513 Centerline is valid? [True, True] Translation: X:392.53, Y:-282.59, Z:-5.93 [[-6.74192045e-01 -7.38552919e-01 2.16162287e-03 3.92533236e+02] [ 7.38549428e-01 -6.74195507e-01 -2.27174045e-03 -2.82589257e+02] [ 3.13515697e-03 6.48759948e-05 9.99995083e-01 -5.92969503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.126559995 meters 0.04813163047288798 Centerline is valid? [True, True] Translation: X:392.49, Y:-282.55, Z:-5.93 [[-6.74740495e-01 -7.38050702e-01 2.53506074e-03 3.92493683e+02] [ 7.38045898e-01 -6.74745253e-01 -2.66376515e-03 -2.82546122e+02] [ 3.67651394e-03 7.36409666e-05 9.99993239e-01 -5.93011315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.1865599950002 meters 0.0479677537476194 Centerline is valid? [True, True] Translation: X:392.46, Y:-282.50, Z:-5.93 [[-6.78555744e-01 -7.34544284e-01 2.60710779e-03 3.92457599e+02] [ 7.34539180e-01 -6.78560751e-01 -2.73875765e-03 -2.82501550e+02] [ 3.78081980e-03 5.66230798e-05 9.99992851e-01 -5.93075002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.246559995 meters 0.04759191716131229 Centerline is valid? [True, True] Translation: X:392.42, Y:-282.46, Z:-5.93 [[-6.82818853e-01 -7.30583969e-01 2.34067784e-03 3.92421833e+02] [ 7.30579834e-01 -6.82822864e-01 -2.45816038e-03 -2.82457214e+02] [ 3.39416091e-03 3.15737790e-05 9.99994239e-01 -5.93149809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.306559995 meters 0.04772158251360973 Centerline is valid? [True, True] Translation: X:392.38, Y:-282.42, Z:-5.93 [[-6.83233776e-01 -7.30197816e-01 1.66017758e-03 3.92383342e+02] [ 7.30195736e-01 -6.83235793e-01 -1.74296094e-03 -2.82416244e+02] [ 2.40699902e-03 2.14048015e-05 9.99997103e-01 -5.93127256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.366559995 meters 0.04729589294547834 Centerline is valid? [True, True] Translation: X:392.34, Y:-282.38, Z:-5.93 [[-6.82294521e-01 -7.31075196e-01 1.80094468e-03 3.92342385e+02] [ 7.31072753e-01 -6.82296898e-01 -1.89022343e-03 -2.82376263e+02] [ 2.61067444e-03 2.69324968e-05 9.99996592e-01 -5.93138445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.426559995 meters 0.04680214665970009 Centerline is valid? [True, True] Translation: X:392.31, Y:-282.33, Z:-5.93 [[-6.82249046e-01 -7.31117662e-01 1.78987813e-03 3.92305391e+02] [ 7.31115251e-01 -6.82251393e-01 -1.87801001e-03 -2.82334530e+02] [ 2.59419314e-03 2.73366643e-05 9.99996635e-01 -5.93073413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.486559995 meters 0.0470637365857867 Centerline is valid? [True, True] Translation: X:392.27, Y:-282.29, Z:-5.93 [[-6.82594125e-01 -7.30796790e-01 1.14538787e-03 3.92265175e+02] [ 7.30795803e-01 -6.82595086e-01 -1.20148857e-03 -2.82292892e+02] [ 1.65988012e-03 1.69156072e-05 9.99998622e-01 -5.93068525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.546559995 meters 0.04679091318218306 Centerline is valid? [True, True] Translation: X:392.22, Y:-282.25, Z:-5.93 [[-6.82803718e-01 -7.30601414e-01 8.10166268e-04 3.92224444e+02] [ 7.30600920e-01 -6.82804199e-01 -8.49582575e-04 -2.82254623e+02] [ 1.17389116e-03 1.18100795e-05 9.99999311e-01 -5.93143643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.606559995 meters 0.04721321248498508 Centerline is valid? [True, True] Translation: X:392.18, Y:-282.21, Z:-5.93 [[-6.82756390e-01 -7.30644458e-01 1.54545917e-03 3.92183989e+02] [ 7.30642662e-01 -6.82758138e-01 -1.62017259e-03 -2.82214439e+02] [ 2.23894495e-03 2.29952159e-05 9.99997493e-01 -5.93206103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.666559995 meters 0.04713722192880581 Centerline is valid? [True, True] Translation: X:392.14, Y:-282.17, Z:-5.93 [[-6.83396459e-01 -7.30039185e-01 3.47396733e-03 3.92143928e+02] [ 7.30030108e-01 -6.83405287e-01 -3.64084649e-03 -2.82173504e+02] [ 5.03208825e-03 4.79591457e-05 9.99987338e-01 -5.93467918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.7265599950001 meters 0.0474083785202559 Centerline is valid? [True, True] Translation: X:392.11, Y:-282.13, Z:-5.94 [[-6.84850792e-01 -7.28668985e-01 4.57209537e-03 3.92105978e+02] [ 7.28653241e-01 -6.84866051e-01 -4.79029807e-03 -2.82130624e+02] [ 6.62181454e-03 5.08326804e-05 9.99978074e-01 -5.93546627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.786559995 meters 0.047232827741674886 Centerline is valid? [True, True] Translation: X:392.07, Y:-282.09, Z:-5.94 [[-6.86981122e-01 -7.26658732e-01 4.90153772e-03 3.92067102e+02] [ 7.26640595e-01 -6.86998607e-01 -5.13408045e-03 -2.82087352e+02] [ 7.09807398e-03 3.46399375e-05 9.99974808e-01 -5.93532849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.846559995 meters 0.048050909851247145 Centerline is valid? [True, True] Translation: X:392.03, Y:-282.05, Z:-5.93 [[-6.89609816e-01 -7.24174736e-01 3.04183565e-03 3.92028882e+02] [ 7.24167731e-01 -6.89616525e-01 -3.18532309e-03 -2.82045017e+02] [ 4.40443064e-03 6.16915112e-06 9.99990300e-01 -5.93435581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.906559995 meters 0.04712476737904571 Centerline is valid? [True, True] Translation: X:391.99, Y:-282.00, Z:-5.93 [[-6.90182158e-01 -7.23633657e-01 1.70829644e-03 3.91988483e+02] [ 7.23631447e-01 -6.90184273e-01 -1.78840627e-03 -2.82003129e+02] [ 2.47319031e-03 1.85092691e-06 9.99996942e-01 -5.93370501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.9665599950001 meters 0.04760946033084099 Centerline is valid? [True, True] Translation: X:391.95, Y:-281.96, Z:-5.93 [[-6.88964605e-01 -7.24794739e-01 6.00302253e-04 3.91946918e+02] [ 7.24794466e-01 -6.88964866e-01 -6.28296661e-04 -2.81962772e+02] [ 8.68973276e-04 2.22158974e-06 9.99999622e-01 -5.93389901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.026559995 meters 0.04682770358237786 Centerline is valid? [True, True] Translation: X:391.91, Y:-281.92, Z:-5.93 [[-6.87221296e-01 -7.26448092e-01 2.46602943e-04 3.91907229e+02] [ 7.26448046e-01 -6.87221340e-01 -2.58022704e-04 -2.81923370e+02] [ 3.56910906e-04 1.82552945e-06 9.99999936e-01 -5.93380459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.086559995 meters 0.046819249205229445 Centerline is valid? [True, True] Translation: X:391.87, Y:-281.88, Z:-5.93 [[-6.85251650e-01 -7.28306374e-01 5.01210495e-05 3.91866978e+02] [ 7.28306372e-01 -6.85251651e-01 -5.24331108e-05 -2.81882574e+02] [ 7.25329008e-05 5.73604012e-07 9.99999997e-01 -5.93419863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.146559995 meters 0.04773580516064681 Centerline is valid? [True, True] Translation: X:391.82, Y:-281.85, Z:-5.94 [[-6.82438653e-01 -7.30941449e-01 1.44331247e-03 3.91823295e+02] [ 7.30939891e-01 -6.82440179e-01 -1.50945013e-03 -2.81846495e+02] [ 2.08829408e-03 2.48675459e-05 9.99997819e-01 -5.93678056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.2065599950001 meters 0.04696203179337521 Centerline is valid? [True, True] Translation: X:391.79, Y:-281.80, Z:-5.94 [[-6.80979130e-01 -7.32296080e-01 3.14244240e-03 3.91785727e+02] [ 7.32288713e-01 -6.80986378e-01 -3.28550949e-03 -2.81802880e+02] [ 4.54592619e-03 6.38117114e-05 9.99989665e-01 -5.93748540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.266559995 meters 0.04687895437122222 Centerline is valid? [True, True] Translation: X:391.75, Y:-281.76, Z:-5.94 [[-6.81171054e-01 -7.32114455e-01 3.79723071e-03 3.91746345e+02] [ 7.32103701e-01 -6.81181634e-01 -3.96892727e-03 -2.81761580e+02] [ 5.49231284e-03 7.64482842e-05 9.99984914e-01 -5.93759384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.326559995 meters 0.047294199010031325 Centerline is valid? [True, True] Translation: X:391.71, Y:-281.72, Z:-5.94 [[-6.83956173e-01 -7.29517119e-01 2.95414905e-03 3.91706958e+02] [ 7.29510589e-01 -6.83962551e-01 -3.08698751e-03 -2.81721172e+02] [ 4.27253756e-03 4.37188466e-05 9.99990872e-01 -5.93857712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.386559995 meters 0.04745490080776062 Centerline is valid? [True, True] Translation: X:391.67, Y:-281.68, Z:-5.94 [[-6.88230912e-01 -7.25487210e-01 2.55355921e-03 3.91669618e+02] [ 7.25482304e-01 -6.88235649e-01 -2.66798020e-03 -2.81676136e+02] [ 3.69303599e-03 1.63755693e-05 9.99993181e-01 -5.93811616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.4465599950001 meters 0.047221108461131554 Centerline is valid? [True, True] Translation: X:391.63, Y:-281.63, Z:-5.94 [[-6.93416101e-01 -7.20535570e-01 1.61325846e-03 3.91634489e+02] [ 7.20533600e-01 -6.93417978e-01 -1.68506247e-03 -2.81630221e+02] [ 2.33280987e-03 -6.04252743e-06 9.99997279e-01 -5.93643353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.506559995 meters 0.04748731877235503 Centerline is valid? [True, True] Translation: X:391.60, Y:-281.59, Z:-5.93 [[-6.99050192e-01 -7.15072174e-01 -7.84886596e-04 3.91598928e+02] [ 7.15071704e-01 -6.99050632e-01 8.19552913e-04 -2.81586816e+02] [-1.13471495e-03 1.16584253e-05 9.99999356e-01 -5.93398416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.566559995 meters 0.04751226211402162 Centerline is valid? [True, True] Translation: X:391.56, Y:-281.54, Z:-5.93 [[-7.00089051e-01 -7.14055224e-01 -6.77389666e-04 3.91562121e+02] [ 7.14054874e-01 -7.00089378e-01 7.07098818e-04 -2.81543691e+02] [-9.79140915e-04 1.13387474e-05 9.99999521e-01 -5.93373951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.626559995 meters 0.04736716240802793 Centerline is valid? [True, True] Translation: X:391.52, Y:-281.51, Z:-5.94 [[-6.97924629e-01 -7.16169140e-01 1.72502436e-03 3.91519183e+02] [ 7.16166877e-01 -6.97926761e-01 -1.80015148e-03 -2.81506025e+02] [ 2.49315360e-03 -2.09647486e-05 9.99996892e-01 -5.93597901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.6865599950002 meters 0.047222523797495634 Centerline is valid? [True, True] Translation: X:391.48, Y:-281.47, Z:-5.94 [[-6.95677076e-01 -7.18345263e-01 3.67269305e-03 3.91477025e+02] [ 7.18335046e-01 -6.95686770e-01 -3.83138307e-03 -2.81468012e+02] [ 5.30729985e-03 -2.71812449e-05 9.99985916e-01 -5.93845666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.746559995 meters 0.04768054205415172 Centerline is valid? [True, True] Translation: X:391.43, Y:-281.43, Z:-5.94 [[-6.92555088e-01 -7.21344769e-01 5.40141075e-03 3.91432895e+02] [ 7.21322775e-01 -6.92576151e-01 -5.63297187e-03 -2.81431583e+02] [ 7.80420306e-03 -4.98273747e-06 9.99969547e-01 -5.94091526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.806559995 meters 0.04728259188448856 Centerline is valid? [True, True] Translation: X:391.39, Y:-281.39, Z:-5.94 [[-6.91240091e-01 -7.22606621e-01 5.17763831e-03 3.91391984e+02] [ 7.22586453e-01 -6.91259482e-01 -5.39872932e-03 -2.81390937e+02] [ 7.48024913e-03 9.47315615e-06 9.99972023e-01 -5.93933744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.866559995 meters 0.04779327619256615 Centerline is valid? [True, True] Translation: X:391.35, Y:-281.35, Z:-5.94 [[-6.89865388e-01 -7.23927526e-01 3.83191339e-03 3.91352335e+02] [ 7.23916506e-01 -6.89876030e-01 -3.99440982e-03 -2.81350231e+02] [ 5.53520841e-03 1.83802716e-05 9.99984680e-01 -5.93724892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.926559995 meters 0.04761514901044922 Centerline is valid? [True, True] Translation: X:391.31, Y:-281.31, Z:-5.94 [[-6.88853337e-01 -7.24896096e-01 2.59429268e-03 3.91311984e+02] [ 7.24891055e-01 -6.88858222e-01 -2.70345112e-03 -2.81310767e+02] [ 3.74682100e-03 1.82982325e-05 9.99992981e-01 -5.93654140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.986559995 meters 0.047626753357518786 Centerline is valid? [True, True] Translation: X:391.27, Y:-281.27, Z:-5.94 [[-6.87108769e-01 -7.26554276e-01 6.51300179e-04 3.91269208e+02] [ 7.26553959e-01 -6.87109078e-01 -6.78501288e-04 -2.81273335e+02] [ 9.40482277e-04 7.00053898e-06 9.99999558e-01 -5.93583619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.046559995 meters 0.047332527641022186 Centerline is valid? [True, True] Translation: X:391.23, Y:-281.23, Z:-5.94 [[-6.86414829e-01 -7.27210181e-01 1.89395788e-04 3.91231740e+02] [ 7.27210154e-01 -6.86414855e-01 -1.97248757e-04 -2.81230406e+02] [ 2.73445386e-04 2.33606868e-06 9.99999963e-01 -5.93521021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.106559995 meters 0.047049168340793486 Centerline is valid? [True, True] Translation: X:391.19, Y:-281.19, Z:-5.93 [[-6.84705592e-01 -7.28819740e-01 1.96088295e-04 3.91190767e+02] [ 7.28819712e-01 -6.84705620e-01 -2.04161495e-04 -2.81191107e+02] [ 2.83059685e-04 3.12249705e-06 9.99999960e-01 -5.93487652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.166559995 meters 0.04719195763042257 Centerline is valid? [True, True] Translation: X:391.15, Y:-281.15, Z:-5.94 [[-6.82582047e-01 -7.30807873e-01 1.26586168e-03 3.91150719e+02] [ 7.30806686e-01 -6.82583220e-01 -1.31759970e-03 -2.81149556e+02] [ 1.82696818e-03 2.57302829e-05 9.99998331e-01 -5.93596239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.2265599950001 meters 0.047308879841613485 Centerline is valid? [True, True] Translation: X:391.11, Y:-281.11, Z:-5.94 [[-6.79069090e-01 -7.34065956e-01 3.51326205e-03 3.91107641e+02] [ 7.34056859e-01 -6.79078171e-01 -3.65587385e-03 -2.81110656e+02] [ 5.06943210e-03 9.63431722e-05 9.99987146e-01 -5.93846692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.286559995 meters 0.04771485723255622 Centerline is valid? [True, True] Translation: X:391.07, Y:-281.07, Z:-5.94 [[-6.77629435e-01 -7.35391959e-01 4.12485786e-03 3.91066051e+02] [ 7.35379450e-01 -6.77641978e-01 -4.29118730e-03 -2.81070047e+02] [ 5.95088147e-03 1.25500874e-04 9.99982286e-01 -5.93958917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.346559995 meters 0.0476428544875398 Centerline is valid? [True, True] Translation: X:391.03, Y:-281.03, Z:-5.94 [[-6.77653751e-01 -7.35370811e-01 3.89424333e-03 3.91027012e+02] [ 7.35359665e-01 -6.77664930e-01 -4.05037363e-03 -2.81030143e+02] [ 5.61751867e-03 1.18918595e-04 9.99984215e-01 -5.93948039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.406559995 meters 0.04680216730432624 Centerline is valid? [True, True] Translation: X:390.99, Y:-280.98, Z:-5.94 [[-6.81096738e-01 -7.32189568e-01 2.38108039e-03 3.90990353e+02] [ 7.32185384e-01 -6.81100898e-01 -2.47592822e-03 -2.80984920e+02] [ 3.43460481e-03 5.70456239e-05 9.99994100e-01 -5.93852219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.4665599950001 meters 0.04730339793370841 Centerline is valid? [True, True] Translation: X:390.95, Y:-280.94, Z:-5.94 [[-6.84680484e-01 -7.28841782e-01 1.51367826e-03 3.90951327e+02] [ 7.28840084e-01 -6.84682157e-01 -1.57350940e-03 -2.80944034e+02] [ 2.18322789e-03 2.58782126e-05 9.99997616e-01 -5.93856393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.526559995 meters 0.04688974443144052 Centerline is valid? [True, True] Translation: X:390.92, Y:-280.90, Z:-5.94 [[-6.89117438e-01 -7.24648387e-01 1.36812785e-03 3.90917032e+02] [ 7.24646992e-01 -6.89118796e-01 -1.42190672e-03 -2.80896960e+02] [ 1.97318503e-03 1.15490170e-05 9.99998053e-01 -5.93850931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.586559995 meters 0.0469587457365778 Centerline is valid? [True, True] Translation: X:390.88, Y:-280.85, Z:-5.94 [[-6.89758111e-01 -7.24035394e-01 2.54881921e-03 3.90877708e+02] [ 7.24030551e-01 -6.89762820e-01 -2.64835504e-03 -2.80854369e+02] [ 3.67558351e-03 1.86986086e-05 9.99993245e-01 -5.93939265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.646559995 meters 0.046399052068343404 Centerline is valid? [True, True] Translation: X:390.83, Y:-280.82, Z:-5.94 [[-6.86462605e-01 -7.27146447e-01 5.20933136e-03 3.90833423e+02] [ 7.27126315e-01 -6.86482366e-01 -5.41132408e-03 -2.80818206e+02] [ 7.51093920e-03 7.31702973e-05 9.99971790e-01 -5.94314239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.7065599950001 meters 0.047363719504078895 Centerline is valid? [True, True] Translation: X:390.80, Y:-280.78, Z:-5.94 [[-6.84874001e-01 -7.28626847e-01 7.10777847e-03 3.90795598e+02] [ 7.28589470e-01 -6.84910872e-01 -7.38123049e-03 -2.80775306e+02] [ 1.02463574e-02 1.23439690e-04 9.99947497e-01 -5.94026680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.766559995 meters 0.04768282920130202 Centerline is valid? [True, True] Translation: X:390.75, Y:-280.74, Z:-5.94 [[-6.85682153e-01 -7.27861871e-01 7.55524387e-03 3.90752174e+02] [ 7.27819616e-01 -6.85723765e-01 -7.84376837e-03 -2.80738105e+02] [ 1.08899902e-02 1.20522710e-04 9.99940695e-01 -5.94425748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.826559995 meters 0.04760183460512837 Centerline is valid? [True, True] Translation: X:390.71, Y:-280.70, Z:-5.94 [[-6.88381608e-01 -7.25324138e-01 5.97134237e-03 3.90712892e+02] [ 7.25297662e-01 -6.88407503e-01 -6.19763390e-03 -2.80696334e+02] [ 8.60601036e-03 6.46634787e-05 9.99962966e-01 -5.94185313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.886559995 meters 0.0468396571503154 Centerline is valid? [True, True] Translation: X:390.68, Y:-280.66, Z:-5.94 [[-6.94305867e-01 -7.19673319e-01 3.11071565e-03 3.90675007e+02] [ 7.19666082e-01 -6.94312835e-01 -3.22763992e-03 -2.80655058e+02] [ 4.48265614e-03 -2.29279153e-06 9.99989953e-01 -5.93914373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.9465599950001 meters 0.048058826037504936 Centerline is valid? [True, True] Translation: X:390.64, Y:-280.62, Z:-5.94 [[-6.97468415e-01 -7.16610904e-01 2.57341179e-03 3.90636594e+02] [ 7.16605933e-01 -6.97473162e-01 -2.66921703e-03 -2.80615389e+02] [ 3.70767569e-03 -1.75724127e-05 9.99993126e-01 -5.93704633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.006559995 meters 0.04824994960448367 Centerline is valid? [True, True] Translation: X:390.60, Y:-280.57, Z:-5.94 [[-6.98743576e-01 -7.15360779e-01 4.04594980e-03 3.90595322e+02] [ 7.15348476e-01 -6.98755289e-01 -4.19577009e-03 -2.80572982e+02] [ 5.82861818e-03 -3.75033737e-05 9.99983013e-01 -5.93712688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.066559995 meters 0.04818443840686786 Centerline is valid? [True, True] Translation: X:390.55, Y:-280.53, Z:-5.94 [[-6.97622850e-01 -7.16444325e-01 5.46711304e-03 3.90552376e+02] [ 7.16421901e-01 -6.97644271e-01 -5.66844957e-03 -2.80532389e+02] [ 7.87522861e-03 -3.76804243e-05 9.99968989e-01 -5.93798139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.126559995 meters 0.048275799751064524 Centerline is valid? [True, True] Translation: X:390.51, Y:-280.49, Z:-5.94 [[-6.96170348e-01 -7.17847073e-01 6.51349158e-03 3.90511866e+02] [ 7.17815320e-01 -6.96200818e-01 -6.75190363e-03 -2.80492290e+02] [ 9.38153243e-03 -2.49910552e-05 9.99955992e-01 -5.93723246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.1865599950002 meters 0.04855880957014655 Centerline is valid? [True, True] Translation: X:390.47, Y:-280.45, Z:-5.93 [[-6.94721100e-01 -7.19248246e-01 6.67486025e-03 3.90467372e+02] [ 7.19214957e-01 -6.94753165e-01 -6.91988128e-03 -2.80448055e+02] [ 9.61449276e-03 -6.72820455e-06 9.99953780e-01 -5.93445305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.246559995 meters 0.048554426819572304 Centerline is valid? [True, True] Translation: X:390.43, Y:-280.41, Z:-5.94 [[-6.93904141e-01 -7.20035279e-01 6.80001952e-03 3.90427825e+02] [ 7.20000773e-01 -6.93937459e-01 -7.04912417e-03 -2.80406193e+02] [ 9.79440635e-03 4.60285562e-06 9.99952034e-01 -5.93556180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.306559995 meters 0.04770085613476555 Centerline is valid? [True, True] Translation: X:390.39, Y:-280.36, Z:-5.93 [[-6.92909912e-01 -7.21005406e-01 5.20173465e-03 3.90387031e+02] [ 7.20985246e-01 -6.92929437e-01 -5.39171052e-03 -2.80363521e+02] [ 7.49188749e-03 1.44042686e-05 9.99971935e-01 -5.93343622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.366559995 meters 0.047699707962331826 Centerline is valid? [True, True] Translation: X:390.35, Y:-280.32, Z:-5.93 [[-6.91605340e-01 -7.22264884e-01 3.93583803e-03 3.90345928e+02] [ 7.22253365e-01 -6.91616539e-01 -4.07913727e-03 -2.80322362e+02] [ 5.66830828e-03 2.15191447e-05 9.99983935e-01 -5.93405805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.426559995 meters 0.04796937903193588 Centerline is valid? [True, True] Translation: X:390.30, Y:-280.28, Z:-5.93 [[-6.89077011e-01 -7.24678624e-01 3.71001354e-03 3.90304596e+02] [ 7.24668429e-01 -6.89086998e-01 -3.84429387e-03 -2.80282810e+02] [ 5.34239969e-03 3.95151488e-05 9.99985729e-01 -5.93403400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.486559995 meters 0.04801744412052401 Centerline is valid? [True, True] Translation: X:390.26, Y:-280.24, Z:-5.93 [[-6.86756710e-01 -7.26868875e-01 5.18270003e-03 3.90263998e+02] [ 7.26849047e-01 -6.86776261e-01 -5.36936058e-03 -2.80239683e+02] [ 7.46217643e-03 7.95961666e-05 9.99972154e-01 -5.93304499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.546559995 meters 0.048684935642148874 Centerline is valid? [True, True] Translation: X:390.22, Y:-280.21, Z:-5.94 [[-6.84400004e-01 -7.29068742e-01 7.44337797e-03 3.90217128e+02] [ 7.29027997e-01 -6.84440463e-01 -7.70931851e-03 -2.80206377e+02] [ 1.07151722e-02 1.50173313e-04 9.99942580e-01 -5.94077982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.606559995 meters 0.048136172134343735 Centerline is valid? [True, True] Translation: X:390.18, Y:-280.17, Z:-5.94 [[-6.81946275e-01 -7.31344940e-01 9.15735991e-03 3.90178176e+02] [ 7.31283511e-01 -6.82007717e-01 -9.48163920e-03 -2.80165368e+02] [ 1.31797390e-02 2.30657770e-04 9.99913117e-01 -5.93894284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.666559995 meters 0.04812743969578394 Centerline is valid? [True, True] Translation: X:390.14, Y:-280.13, Z:-5.94 [[-6.82160335e-01 -7.31139839e-01 9.58189517e-03 3.90137949e+02] [ 7.31072592e-01 -6.82227586e-01 -9.91899619e-03 -2.80126140e+02] [ 1.37892065e-02 2.38715172e-04 9.99904896e-01 -5.93969101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.7265599950001 meters 0.04841648486732134 Centerline is valid? [True, True] Translation: X:390.10, Y:-280.08, Z:-5.94 [[-6.84911376e-01 -7.28553930e-01 1.02751406e-02 3.90101706e+02] [ 7.28476342e-01 -6.84988416e-01 -1.06343313e-02 -2.80082878e+02] [ 1.47860361e-02 2.01622324e-04 9.99890660e-01 -5.93935495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.786559995 meters 0.04819870698415156 Centerline is valid? [True, True] Translation: X:390.06, Y:-280.04, Z:-5.94 [[-6.87712013e-01 -7.25915749e-01 9.92536754e-03 3.90064334e+02] [ 7.25843105e-01 -6.87783618e-01 -1.02704486e-02 -2.80038645e+02] [ 1.42819856e-02 1.41148742e-04 9.99897997e-01 -5.93821788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.846559995 meters 0.048025073178196265 Centerline is valid? [True, True] Translation: X:390.03, Y:-279.99, Z:-5.94 [[-6.91856064e-01 -7.21983172e-01 8.68830364e-03 3.90028926e+02] [ 7.21927229e-01 -6.91910613e-01 -8.98777904e-03 -2.79993833e+02] [ 1.25005547e-02 5.40735400e-05 9.99921864e-01 -5.93713224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.906559995 meters 0.04758828784030885 Centerline is valid? [True, True] Translation: X:389.99, Y:-279.95, Z:-5.94 [[-6.93096484e-01 -7.20794343e-01 8.53109546e-03 3.89991595e+02] [ 7.20740351e-01 -6.93148984e-01 -8.82226143e-03 -2.79952154e+02] [ 1.22723563e-02 3.40263510e-05 9.99924691e-01 -5.93574438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.9665599950001 meters 0.04826406161437593 Centerline is valid? [True, True] Translation: X:389.96, Y:-279.91, Z:-5.93 [[-6.95506106e-01 -7.18475397e-01 8.02245171e-03 3.89955731e+02] [ 7.18427526e-01 -6.95552373e-01 -8.29374547e-03 -2.79908941e+02] [ 1.15388874e-02 -4.80048595e-06 9.99933425e-01 -5.93379056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.026559995 meters 0.047984621402985185 Centerline is valid? [True, True] Translation: X:389.92, Y:-279.87, Z:-5.94 [[-6.95560940e-01 -7.18417496e-01 8.44277180e-03 3.89917197e+02] [ 7.18364501e-01 -6.95612178e-01 -8.72592033e-03 -2.79866924e+02] [ 1.21417487e-02 -4.42179487e-06 9.99926286e-01 -5.93580917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.086559995 meters 0.04807020005980242 Centerline is valid? [True, True] Translation: X:389.88, Y:-279.83, Z:-5.94 [[-6.94446287e-01 -7.19485696e-01 9.20259757e-03 3.89877078e+02] [ 7.19422863e-01 -6.94507259e-01 -9.50848818e-03 -2.79825742e+02] [ 1.32324920e-02 1.74247776e-05 9.99912447e-01 -5.93683722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.146559995 meters 0.04810853501884413 Centerline is valid? [True, True] Translation: X:389.84, Y:-279.78, Z:-5.94 [[-6.92275800e-01 -7.21566846e-01 9.77261728e-03 3.89836079e+02] [ 7.21496231e-01 -6.92344772e-01 -1.00948177e-02 -2.79784337e+02] [ 1.40501063e-02 6.25085205e-05 9.99901290e-01 -5.93566469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.2065599950001 meters 0.047822035038861455 Centerline is valid? [True, True] Translation: X:389.80, Y:-279.74, Z:-5.94 [[-6.92015240e-01 -7.21820030e-01 9.52636794e-03 3.89796201e+02] [ 7.21752995e-01 -6.92080804e-01 -9.83745472e-03 -2.79744858e+02] [ 1.36938882e-02 6.80160000e-05 9.99906232e-01 -5.93901730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.266559995 meters 0.048181687712003984 Centerline is valid? [True, True] Translation: X:389.76, Y:-279.70, Z:-5.93 [[-6.93865089e-01 -7.20053089e-01 8.64794396e-03 3.89757784e+02] [ 7.19997735e-01 -6.93918978e-01 -8.92822721e-03 -2.79700543e+02] [ 1.24297700e-02 3.15148975e-05 9.99922747e-01 -5.93397941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.326559995 meters 0.047999477642947 Centerline is valid? [True, True] Translation: X:389.72, Y:-279.66, Z:-5.93 [[-6.95471258e-01 -7.18503045e-01 8.55001225e-03 3.89719031e+02] [ 7.18448849e-01 -6.95523812e-01 -8.82486740e-03 -2.79658893e+02] [ 1.22874312e-02 5.30481871e-06 9.99924507e-01 -5.93458329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.386559995 meters 0.04793273903643723 Centerline is valid? [True, True] Translation: X:389.68, Y:-279.62, Z:-5.94 [[-6.98259500e-01 -7.15798029e-01 8.17634364e-03 3.89682411e+02] [ 7.15748313e-01 -6.98307368e-01 -8.43636058e-03 -2.79616552e+02] [ 1.17483313e-02 -3.85647567e-05 9.99930985e-01 -5.93783235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.4465599950001 meters 0.047948956954237086 Centerline is valid? [True, True] Translation: X:389.64, Y:-279.58, Z:-5.93 [[-7.00157608e-01 -7.13941296e-01 8.19455766e-03 3.89641268e+02] [ 7.13891263e-01 -7.00205557e-01 -8.45243247e-03 -2.79577968e+02] [ 1.17724154e-02 -6.80117861e-05 9.99930700e-01 -5.93137059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.506559995 meters 0.048418854639926935 Centerline is valid? [True, True] Translation: X:389.60, Y:-279.54, Z:-5.93 [[-7.01531274e-01 -7.12601532e-01 7.27518664e-03 3.89603551e+02] [ 7.12562044e-01 -7.01568992e-01 -7.50217627e-03 -2.79536037e+02] [ 1.04501077e-02 -7.89894109e-05 9.99945393e-01 -5.93493140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.566559995 meters 0.048600243535083174 Centerline is valid? [True, True] Translation: X:389.56, Y:-279.50, Z:-5.93 [[-7.02112314e-01 -7.12037612e-01 6.38253807e-03 3.89560963e+02] [ 7.12007215e-01 -7.02141320e-01 -6.57969222e-03 -2.79497085e+02] [ 9.16643204e-03 -7.52697718e-05 9.99957985e-01 -5.93215177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.626559995 meters 0.048900265008233065 Centerline is valid? [True, True] Translation: X:389.52, Y:-279.46, Z:-5.93 [[-7.01809291e-01 -7.12343297e-01 5.54495709e-03 3.89520532e+02] [ 7.12320378e-01 -7.01831193e-01 -5.71454406e-03 -2.79457781e+02] [ 7.96234101e-03 -6.07341832e-05 9.99968298e-01 -5.93269141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.6865599950002 meters 0.048437711463964264 Centerline is valid? [True, True] Translation: X:389.48, Y:-279.42, Z:-5.93 [[-7.00815214e-01 -7.13327591e-01 4.66731476e-03 3.89475749e+02] [ 7.13311383e-01 -7.00830754e-01 -4.80884262e-03 -2.79422098e+02] [ 6.70127784e-03 -4.08613219e-05 9.99977545e-01 -5.93071985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.746559995 meters 0.04825570305412088 Centerline is valid? [True, True] Translation: X:389.43, Y:-279.38, Z:-5.93 [[-6.99317784e-01 -7.14798594e-01 4.19618088e-03 3.89434531e+02] [ 7.14785521e-01 -6.99330373e-01 -4.32309850e-03 -2.79380944e+02] [ 6.02466147e-03 -2.38503212e-05 9.99981851e-01 -5.93227887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.806559995 meters 0.048970674135135776 Centerline is valid? [True, True] Translation: X:389.39, Y:-279.34, Z:-5.93 [[-6.96593074e-01 -7.17459801e-01 3.08596465e-03 3.89392908e+02] [ 7.17452761e-01 -6.96599910e-01 -3.17828663e-03 -2.79343767e+02] [ 4.42997559e-03 6.14006399e-08 9.99990188e-01 -5.93279143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.866559995 meters 0.048409133295312844 Centerline is valid? [True, True] Translation: X:389.35, Y:-279.31, Z:-5.93 [[-6.91724467e-01 -7.22158477e-01 2.09656933e-03 3.89346761e+02] [ 7.22155252e-01 -6.91727644e-01 -2.15861814e-03 -2.79309915e+02] [ 3.00911935e-03 2.08795689e-05 9.99995472e-01 -5.93185034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.926559995 meters 0.04905021833515848 Centerline is valid? [True, True] Translation: X:389.30, Y:-279.27, Z:-5.93 [[-6.89533579e-01 -7.24250929e-01 2.00891658e-03 3.89303072e+02] [ 7.24247978e-01 -6.89536505e-01 -2.06773053e-03 -2.79274015e+02] [ 2.88277707e-03 2.91841436e-05 9.99995844e-01 -5.93320169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.986559995 meters 0.04869033242820346 Centerline is valid? [True, True] Translation: X:389.26, Y:-279.23, Z:-5.93 [[-6.89672340e-01 -7.24117932e-01 2.29863732e-03 3.89262491e+02] [ 7.24114070e-01 -6.89676170e-01 -2.36517749e-03 -2.79234727e+02] [ 3.29798282e-03 3.32781333e-05 9.99994561e-01 -5.93380904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.046559995 meters 0.048494534735916354 Centerline is valid? [True, True] Translation: X:389.22, Y:-279.19, Z:-5.93 [[-6.91312543e-01 -7.22553009e-01 2.02914598e-03 3.89223268e+02] [ 7.22549994e-01 -6.91315521e-01 -2.08726407e-03 -2.79193491e+02] [ 2.91093904e-03 2.32075891e-05 9.99995763e-01 -5.93348093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.106559995 meters 0.04879831700026333 Centerline is valid? [True, True] Translation: X:389.18, Y:-279.16, Z:-5.93 [[-6.93243135e-01 -7.20701993e-01 1.61035481e-03 3.89182930e+02] [ 7.20700091e-01 -6.93245005e-01 -1.65590579e-03 -2.79156030e+02] [ 2.30978503e-03 1.26375351e-05 9.99997332e-01 -5.93459128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.166559995 meters 0.04899049240319439 Centerline is valid? [True, True] Translation: X:389.14, Y:-279.12, Z:-5.93 [[-6.95280567e-01 -7.18737699e-01 1.02630280e-03 3.89144002e+02] [ 7.18736925e-01 -6.95281324e-01 -1.05497258e-03 -2.79116269e+02] [ 1.47181773e-03 4.13978746e-06 9.99998917e-01 -5.93416992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.2265599950001 meters 0.04898711492775649 Centerline is valid? [True, True] Translation: X:389.10, Y:-279.08, Z:-5.94 [[-6.96631543e-01 -7.17427977e-01 1.26096599e-03 3.89104024e+02] [ 7.17426807e-01 -6.96632685e-01 -1.29580844e-03 -2.79076132e+02] [ 1.80807936e-03 1.94977338e-06 9.99998365e-01 -5.93526092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.286559995 meters 0.04937142367915598 Centerline is valid? [True, True] Translation: X:389.07, Y:-279.04, Z:-5.94 [[-6.99234527e-01 -7.14887649e-01 2.59348243e-03 3.89065014e+02] [ 7.14882684e-01 -6.99239337e-01 -2.66423139e-03 -2.79036073e+02] [ 3.71809105e-03 -8.88689571e-06 9.99993088e-01 -5.93554174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.346559995 meters 0.04933787876268399 Centerline is valid? [True, True] Translation: X:389.03, Y:-278.99, Z:-5.94 [[-7.01193344e-01 -7.12965038e-01 2.95794860e-03 3.89025229e+02] [ 7.12958567e-01 -7.01199582e-01 -3.03779772e-03 -2.78994955e+02] [ 4.23995589e-03 -2.11887493e-05 9.99991011e-01 -5.93702271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.406559995 meters 0.04964884644398425 Centerline is valid? [True, True] Translation: X:388.98, Y:-278.95, Z:-5.94 [[-7.02961559e-01 -7.11222074e-01 2.86500524e-03 3.88984398e+02] [ 7.11215992e-01 -7.02967396e-01 -2.94151007e-03 -2.78954373e+02] [ 4.10607217e-03 -3.01309589e-05 9.99991570e-01 -5.93585069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.4665599950001 meters 0.04976957452861828 Centerline is valid? [True, True] Translation: X:388.94, Y:-278.91, Z:-5.94 [[-7.04676457e-01 -7.09523796e-01 2.65960457e-03 3.88943847e+02] [ 7.09518544e-01 -7.04681475e-01 -2.73018758e-03 -2.78913197e+02] [ 3.81130713e-03 -3.68601511e-05 9.99992736e-01 -5.93596656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.526559995 meters 0.05032630906031447 Centerline is valid? [True, True] Translation: X:388.90, Y:-278.87, Z:-5.93 [[-7.06030550e-01 -7.08176084e-01 2.73807213e-03 3.88902177e+02] [ 7.08170510e-01 -7.06035858e-01 -2.81013030e-03 -2.78872112e+02] [ 3.92324418e-03 -4.50159008e-05 9.99992303e-01 -5.93498621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.586559995 meters 0.049179112250953165 Centerline is valid? [True, True] Translation: X:388.86, Y:-278.83, Z:-5.93 [[-7.07843200e-01 -7.06365162e-01 2.50238431e-03 3.88860889e+02] [ 7.06360497e-01 -7.07847622e-01 -2.56777428e-03 -2.78830937e+02] [ 3.58509308e-03 -4.99961406e-05 9.99993572e-01 -5.93482658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.646559995 meters 0.05018750026737441 Centerline is valid? [True, True] Translation: X:388.82, Y:-278.79, Z:-5.93 [[-7.08302264e-01 -7.05903288e-01 2.90716261e-03 3.88817758e+02] [ 7.05896990e-01 -7.08308227e-01 -2.98242006e-03 -2.78791574e+02] [ 4.16446731e-03 -6.02975462e-05 9.99991327e-01 -5.93461012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.7065599950001 meters 0.049918247233976705 Centerline is valid? [True, True] Translation: X:388.78, Y:-278.75, Z:-5.94 [[-7.07081961e-01 -7.07117039e-01 4.53803175e-03 3.88778631e+02] [ 7.07101721e-01 -7.07096518e-01 -4.65515550e-03 -2.78748742e+02] [ 6.50056622e-03 -8.27264182e-05 9.99978868e-01 -5.93763621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.766559995 meters 0.05038308207931992 Centerline is valid? [True, True] Translation: X:388.73, Y:-278.71, Z:-5.94 [[-7.06135931e-01 -7.08056583e-01 5.28403864e-03 3.88734127e+02] [ 7.08035850e-01 -7.06155696e-01 -5.41920375e-03 -2.78711203e+02] [ 7.56845687e-03 -8.54056939e-05 9.99971355e-01 -5.93632889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.826559995 meters 0.05067876471895231 Centerline is valid? [True, True] Translation: X:388.69, Y:-278.67, Z:-5.93 [[-7.05878399e-01 -7.08309240e-01 5.80579471e-03 3.88692597e+02] [ 7.08284230e-01 -7.05902269e-01 -5.95280287e-03 -2.78671171e+02] [ 8.31474893e-03 -8.98021181e-05 9.99965428e-01 -5.93477897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.886559995 meters 0.05041064930286502 Centerline is valid? [True, True] Translation: X:388.65, Y:-278.63, Z:-5.93 [[-7.05303443e-01 -7.08879114e-01 6.12003498e-03 3.88652999e+02] [ 7.08851357e-01 -7.05329989e-01 -6.27369068e-03 -2.78630640e+02] [ 8.76393251e-03 -8.66605323e-05 9.99961592e-01 -5.93449698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.9465599950001 meters 0.0509528322023989 Centerline is valid? [True, True] Translation: X:388.61, Y:-278.59, Z:-5.93 [[-7.04928998e-01 -7.09256893e-01 5.45599922e-03 3.88612491e+02] [ 7.09234852e-01 -7.04950108e-01 -5.59197874e-03 -2.78590205e+02] [ 7.81235670e-03 -7.23631699e-05 9.99969481e-01 -5.93384887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.006559995 meters 0.05008223998922477 Centerline is valid? [True, True] Translation: X:388.57, Y:-278.55, Z:-5.93 [[-7.04458216e-01 -7.09733500e-01 4.12087006e-03 3.88571665e+02] [ 7.09720940e-01 -7.04470267e-01 -4.22257989e-03 -2.78550711e+02] [ 5.89993684e-03 -4.99633196e-05 9.99982594e-01 -5.93371010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.066559995 meters 0.050404322431738285 Centerline is valid? [True, True] Translation: X:388.53, Y:-278.51, Z:-5.93 [[-7.03697698e-01 -7.10493137e-01 3.00861067e-03 3.88531369e+02] [ 7.10486453e-01 -7.03704129e-01 -3.08206515e-03 -2.78510598e+02] [ 4.30695789e-03 -3.12650267e-05 9.99990725e-01 -5.93260568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.126559995 meters 0.04993247239307581 Centerline is valid? [True, True] Translation: X:388.49, Y:-278.47, Z:-5.93 [[-7.01394853e-01 -7.12769549e-01 2.19775095e-03 3.88488252e+02] [ 7.12765995e-01 -7.01398296e-01 -2.25092350e-03 -2.78470113e+02] [ 3.14588850e-03 -1.23040164e-05 9.99995052e-01 -5.93069890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.1865599950002 meters 0.05025453466194682 Centerline is valid? [True, True] Translation: X:388.45, Y:-278.43, Z:-5.93 [[-6.97246442e-01 -7.16827192e-01 2.48519755e-03 3.88447942e+02] [ 7.16822675e-01 -6.97250871e-01 -2.54479329e-03 -2.78430073e+02] [ 3.55698318e-03 7.09788987e-06 9.99993674e-01 -5.93057437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.246559995 meters 0.04889711657787997 Centerline is valid? [True, True] Translation: X:388.41, Y:-278.39, Z:-5.93 [[-6.93832219e-01 -7.20130338e-01 3.02475045e-03 3.88405444e+02] [ 7.20123681e-01 -6.93838811e-01 -3.09659515e-03 -2.78391790e+02] [ 4.32864137e-03 2.96769451e-05 9.99990631e-01 -5.93206427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.306559995 meters 0.049374721049202396 Centerline is valid? [True, True] Translation: X:388.36, Y:-278.35, Z:-5.93 [[-6.89918600e-01 -7.23876842e-01 3.82659418e-03 3.88363903e+02] [ 7.23866248e-01 -6.89929209e-01 -3.91688710e-03 -2.78350598e+02] [ 5.47542296e-03 6.76091012e-05 9.99985008e-01 -5.93281758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.366559995 meters 0.049530153898134935 Centerline is valid? [True, True] Translation: X:388.32, Y:-278.31, Z:-5.94 [[-6.84864755e-01 -7.28648730e-01 5.59418272e-03 3.88321387e+02] [ 7.28626257e-01 -6.84887585e-01 -5.72491880e-03 -2.78312809e+02] [ 8.00284111e-03 1.55273299e-04 9.99967965e-01 -5.93531592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.426559995 meters 0.04945038591177536 Centerline is valid? [True, True] Translation: X:388.28, Y:-278.27, Z:-5.94 [[-6.82497087e-01 -7.30862870e-01 6.09853484e-03 3.88282259e+02] [ 7.30836265e-01 -6.82524304e-01 -6.23924987e-03 -2.78270404e+02] [ 8.72243432e-03 1.98760562e-04 9.99961939e-01 -5.93506087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.486559995 meters 0.05011314423697708 Centerline is valid? [True, True] Translation: X:388.24, Y:-278.23, Z:-5.94 [[-6.80626119e-01 -7.32606843e-01 5.94132144e-03 3.88240703e+02] [ 7.32581669e-01 -6.80652016e-01 -6.07708409e-03 -2.78232160e+02] [ 8.49608581e-03 2.16281013e-04 9.99963884e-01 -5.93711010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.546559995 meters 0.05039839091866518 Centerline is valid? [True, True] Translation: X:388.20, Y:-278.19, Z:-5.94 [[-6.80510615e-01 -7.32716065e-01 5.69829859e-03 3.88203222e+02] [ 7.32692928e-01 -6.80534440e-01 -5.82664529e-03 -2.78191245e+02] [ 8.14716505e-03 2.10009108e-04 9.99966789e-01 -5.93670581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.606559995 meters 0.04940648358994329 Centerline is valid? [True, True] Translation: X:388.17, Y:-278.14, Z:-5.94 [[-6.81138454e-01 -7.32133149e-01 5.60882202e-03 3.88169121e+02] [ 7.32110725e-01 -6.81161517e-01 -5.73352365e-03 -2.78144410e+02] [ 8.01821644e-03 2.00955317e-04 9.99967833e-01 -5.93566445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.666559995 meters 0.04847605887104047 Centerline is valid? [True, True] Translation: X:388.14, Y:-278.10, Z:-5.94 [[-6.83347151e-01 -7.30062983e-01 6.68671947e-03 3.88137563e+02] [ 7.30031032e-01 -6.83379833e-01 -6.83340838e-03 -2.78095392e+02] [ 9.55838773e-03 2.11922566e-04 9.99954295e-01 -5.93528932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.7265599950001 meters 0.04765888758415671 Centerline is valid? [True, True] Translation: X:388.10, Y:-278.05, Z:-5.94 [[-6.85571916e-01 -7.27963179e-01 7.79474274e-03 3.88101938e+02] [ 7.27919651e-01 -6.85616193e-01 -7.96357780e-03 -2.78049422e+02] [ 1.11413933e-02 2.14341122e-04 9.99937910e-01 -5.93673822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.786559995 meters 0.0477624535216331 Centerline is valid? [True, True] Translation: X:388.07, Y:-278.00, Z:-5.94 [[-6.87836063e-01 -7.25822148e-01 7.98500440e-03 3.88067767e+02] [ 7.25776350e-01 -6.87882385e-01 -8.15560827e-03 -2.78003029e+02] [ 1.14122650e-02 1.85605861e-04 9.99934861e-01 -5.93667207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.846559995 meters 0.04735262113050687 Centerline is valid? [True, True] Translation: X:388.04, Y:-277.95, Z:-5.93 [[-6.90845356e-01 -7.22947411e-01 8.92944158e-03 3.88038930e+02] [ 7.22889931e-01 -6.90903045e-01 -9.11760336e-03 -2.77951915e+02] [ 1.27609261e-02 1.56149466e-04 9.99918564e-01 -5.93394171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.906559995 meters 0.04746028771164825 Centerline is valid? [True, True] Translation: X:388.00, Y:-277.91, Z:-5.94 [[-6.92212978e-01 -7.21627483e-01 9.74517111e-03 3.88001511e+02] [ 7.21558927e-01 -6.92281557e-01 -9.94788028e-03 -2.77908405e+02] [ 1.39250660e-02 1.45663380e-04 9.99903031e-01 -5.93713530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.9665599950001 meters 0.047445857981924286 Centerline is valid? [True, True] Translation: X:387.96, Y:-277.87, Z:-5.94 [[-6.90663206e-01 -7.23129298e-01 8.26767829e-03 3.87960961e+02] [ 7.23080082e-01 -6.90712672e-01 -8.43798103e-03 -2.77868000e+02] [ 1.18123415e-02 1.50390468e-04 9.99930221e-01 -5.93589967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.026559995 meters 0.04778716894230263 Centerline is valid? [True, True] Translation: X:387.92, Y:-277.83, Z:-5.94 [[-6.88870045e-01 -7.24842563e-01 7.83072813e-03 3.87919304e+02] [ 7.24798542e-01 -6.88914530e-01 -7.99025990e-03 -2.77830249e+02] [ 1.11863829e-02 1.71449634e-04 9.99937416e-01 -5.93688467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.086559995 meters 0.04729113058943862 Centerline is valid? [True, True] Translation: X:387.88, Y:-277.79, Z:-5.93 [[-6.88698920e-01 -7.25014642e-01 6.89683681e-03 3.87881960e+02] [ 7.24980521e-01 -6.88733435e-01 -7.03559752e-03 -2.77785595e+02] [ 9.85099333e-03 1.54663933e-04 9.99951466e-01 -5.93256520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.146559995 meters 0.047150251399546504 Centerline is valid? [True, True] Translation: X:387.84, Y:-277.74, Z:-5.93 [[-6.91015735e-01 -7.22810104e-01 6.54275275e-03 3.87842629e+02] [ 7.22779314e-01 -6.91046699e-01 -6.67258014e-03 -2.77743932e+02] [ 9.34435603e-03 1.18108478e-04 9.99956334e-01 -5.93272020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.2065599950001 meters 0.04728134304117278 Centerline is valid? [True, True] Translation: X:387.80, Y:-277.70, Z:-5.93 [[-6.92620204e-01 -7.21267839e-01 7.06808934e-03 3.87803106e+02] [ 7.21231847e-01 -6.92656259e-01 -7.20622309e-03 -2.77703245e+02] [ 1.00933733e-02 1.06555423e-04 9.99949055e-01 -5.93389396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.266559995 meters 0.04731772574332695 Centerline is valid? [True, True] Translation: X:387.76, Y:-277.66, Z:-5.93 [[-6.92903352e-01 -7.20997393e-01 6.90679089e-03 3.87762920e+02] [ 7.20963026e-01 -6.92937767e-01 -7.04034270e-03 -2.77662955e+02] [ 9.86204499e-03 1.01263803e-04 9.99951364e-01 -5.93384940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.326559995 meters 0.04757954245585285 Centerline is valid? [True, True] Translation: X:387.72, Y:-277.62, Z:-5.93 [[-6.91743971e-01 -7.22106019e-01 7.29222017e-03 3.87721737e+02] [ 7.22067790e-01 -6.91782395e-01 -7.43134692e-03 -2.77622193e+02] [ 1.04108499e-02 1.24887876e-04 9.99945798e-01 -5.93250086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.386559995 meters 0.047427629611376705 Centerline is valid? [True, True] Translation: X:387.68, Y:-277.58, Z:-5.93 [[-6.91340735e-01 -7.22490529e-01 7.44478370e-03 3.87683225e+02] [ 7.22450725e-01 -6.91380805e-01 -7.58503697e-03 -2.77580106e+02] [ 1.06272979e-02 1.34644346e-04 9.99943520e-01 -5.93011905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.4465599950001 meters 0.04790446023740589 Centerline is valid? [True, True] Translation: X:387.64, Y:-277.54, Z:-5.93 [[-6.91576986e-01 -7.22264831e-01 7.40174683e-03 3.87639002e+02] [ 7.22225494e-01 -6.91616582e-01 -7.53913454e-03 -2.77543073e+02] [ 1.05644226e-02 1.31838321e-04 9.99944186e-01 -5.93452729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.506559995 meters 0.04783993214707762 Centerline is valid? [True, True] Translation: X:387.60, Y:-277.50, Z:-5.93 [[-6.92395917e-01 -7.21489743e-01 6.35961746e-03 3.87599110e+02] [ 7.21460686e-01 -6.92425115e-01 -6.47605016e-03 -2.77501003e+02] [ 9.07596262e-03 1.04223285e-04 9.99958807e-01 -5.93322092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.566559995 meters 0.04759591867601582 Centerline is valid? [True, True] Translation: X:387.56, Y:-277.46, Z:-5.93 [[-6.92540749e-01 -7.21358101e-01 5.45909539e-03 3.87559933e+02] [ 7.21336699e-01 -6.92562259e-01 -5.55734815e-03 -2.77459823e+02] [ 7.78960154e-03 8.91557978e-05 9.99969657e-01 -5.93205456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.626559995 meters 0.04713683568439576 Centerline is valid? [True, True] Translation: X:387.52, Y:-277.42, Z:-5.93 [[-6.92389569e-01 -7.21505800e-01 5.10548450e-03 3.87522215e+02] [ 7.21487097e-01 -6.92408386e-01 -5.19574250e-03 -2.77418541e+02] [ 7.28383864e-03 8.60632807e-05 9.99973469e-01 -5.93042908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.6865599950002 meters 0.047084564203065726 Centerline is valid? [True, True] Translation: X:387.48, Y:-277.38, Z:-5.93 [[-6.91020711e-01 -7.22820371e-01 4.59208617e-03 3.87478678e+02] [ 7.22805277e-01 -6.91035963e-01 -4.67211952e-03 -2.77379910e+02] [ 6.55039986e-03 9.06527674e-05 9.99978542e-01 -5.93279703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.746559995 meters 0.04735374829642975 Centerline is valid? [True, True] Translation: X:387.44, Y:-277.34, Z:-5.93 [[-6.90715738e-01 -7.23110624e-01 4.77434764e-03 3.87439085e+02] [ 7.23094324e-01 -6.90732231e-01 -4.85627381e-03 -2.77337935e+02] [ 6.80941898e-03 9.79989275e-05 9.99976811e-01 -5.93271885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.806559995 meters 0.04740589507696021 Centerline is valid? [True, True] Translation: X:387.40, Y:-277.30, Z:-5.93 [[-6.90791511e-01 -7.23035862e-01 5.12158747e-03 3.87399326e+02] [ 7.23017112e-01 -6.90810489e-01 -5.20811202e-03 -2.77295069e+02] [ 7.30369811e-03 1.05275815e-04 9.99973322e-01 -5.93294017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.866559995 meters 0.04720866605251839 Centerline is valid? [True, True] Translation: X:387.36, Y:-277.25, Z:-5.93 [[-6.91600856e-01 -7.22259199e-01 5.46863353e-03 3.87364090e+02] [ 7.22237810e-01 -6.91622469e-01 -5.55931002e-03 -2.77250898e+02] [ 7.79749263e-03 1.04830339e-04 9.99969594e-01 -5.93112937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.926559995 meters 0.04717434716799029 Centerline is valid? [True, True] Translation: X:387.32, Y:-277.21, Z:-5.93 [[-6.92150021e-01 -7.21730502e-01 5.78194637e-03 3.87321413e+02] [ 7.21706587e-01 -6.92174162e-01 -5.87636017e-03 -2.77211891e+02] [ 8.24326226e-03 1.05545965e-04 9.99966018e-01 -5.93359172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.986559995 meters 0.04754507026722659 Centerline is valid? [True, True] Translation: X:387.28, Y:-277.17, Z:-5.93 [[-6.91397592e-01 -7.22448419e-01 6.13615114e-03 3.87279327e+02] [ 7.22421527e-01 -6.91424810e-01 -6.23459583e-03 -2.77172879e+02] [ 8.74686103e-03 1.22303133e-04 9.99961738e-01 -5.93458148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.046559995 meters 0.04788259762979949 Centerline is valid? [True, True] Translation: X:387.24, Y:-277.13, Z:-5.94 [[-6.90658621e-01 -7.23150394e-01 6.64663966e-03 3.87237508e+02] [ 7.23118890e-01 -6.90690587e-01 -6.75150309e-03 -2.77132926e+02] [ 9.47312357e-03 1.43326886e-04 9.99955119e-01 -5.93511798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.106559995 meters 0.04797177926279235 Centerline is valid? [True, True] Translation: X:387.19, Y:-277.10, Z:-5.94 [[-6.90381272e-01 -7.23417753e-01 6.36033803e-03 3.87193340e+02] [ 7.23388935e-01 -6.90410555e-01 -6.45871341e-03 -2.77098179e+02] [ 9.06359245e-03 1.42023371e-04 9.99958915e-01 -5.93817443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.166559995 meters 0.047793801676822144 Centerline is valid? [True, True] Translation: X:387.16, Y:-277.05, Z:-5.94 [[-6.91515091e-01 -7.22338181e-01 5.86774141e-03 3.87155056e+02] [ 7.22313627e-01 -6.91539976e-01 -5.95706687e-03 -2.77054047e+02] [ 8.36079460e-03 1.18947935e-04 9.99965041e-01 -5.93610718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.2265599950001 meters 0.04758678747063238 Centerline is valid? [True, True] Translation: X:387.12, Y:-277.01, Z:-5.94 [[-6.93326282e-01 -7.20601984e-01 5.60774104e-03 3.87115818e+02] [ 7.20579508e-01 -6.93348954e-01 -5.69216526e-03 -2.77010491e+02] [ 7.98990697e-03 9.42955040e-05 9.99968076e-01 -5.93569171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.286559995 meters 0.04718643441888254 Centerline is valid? [True, True] Translation: X:387.08, Y:-276.97, Z:-5.94 [[-6.95160813e-01 -7.18828168e-01 6.12439155e-03 3.87076508e+02] [ 7.18801305e-01 -6.95187786e-01 -6.21502007e-03 -2.76967925e+02] [ 8.72513370e-03 8.17822372e-05 9.99961932e-01 -5.93638589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.346559995 meters 0.04775980733161872 Centerline is valid? [True, True] Translation: X:387.04, Y:-276.93, Z:-5.94 [[-6.97341790e-01 -7.16694825e-01 7.93451445e-03 3.87037449e+02] [ 7.16649621e-01 -6.97386925e-01 -8.04970671e-03 -2.76926190e+02] [ 1.13026098e-02 7.28698859e-05 9.99936121e-01 -5.93901127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.406559995 meters 0.0480041073169551 Centerline is valid? [True, True] Translation: X:387.00, Y:-276.89, Z:-5.94 [[-6.98140937e-01 -7.15907505e-01 8.69916427e-03 3.86999601e+02] [ 7.15853141e-01 -6.98195130e-01 -8.82278578e-03 -2.76885138e+02] [ 1.23900127e-02 6.77761248e-05 9.99923239e-01 -5.93893249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.4665599950001 meters 0.04738787202901228 Centerline is valid? [True, True] Translation: X:386.96, Y:-276.85, Z:-5.94 [[-6.98353793e-01 -7.15706612e-01 8.12561579e-03 3.86959404e+02] [ 7.15659189e-01 -6.98401061e-01 -8.23908624e-03 -2.76845408e+02] [ 1.15717072e-02 6.13744782e-05 9.99933044e-01 -5.94124915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.526559995 meters 0.047506219233707105 Centerline is valid? [True, True] Translation: X:386.92, Y:-276.80, Z:-5.94 [[-6.98527330e-01 -7.15549364e-01 6.97688478e-03 3.86919199e+02] [ 7.15514410e-01 -6.98562170e-01 -7.07270312e-03 -2.76802834e+02] [ 9.93465599e-03 5.15851653e-05 9.99950649e-01 -5.93791740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.586559995 meters 0.04820049615277548 Centerline is valid? [True, True] Translation: X:386.88, Y:-276.76, Z:-5.94 [[-6.99153391e-01 -7.14945516e-01 6.11925622e-03 3.86880074e+02] [ 7.14918621e-01 -6.99180169e-01 -6.20137945e-03 -2.76762696e+02] [ 8.71211102e-03 3.90547474e-05 9.99962048e-01 -5.93704143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.646559995 meters 0.047688809616802004 Centerline is valid? [True, True] Translation: X:386.84, Y:-276.72, Z:-5.94 [[-7.00257487e-01 -7.13876524e-01 4.44532593e-03 3.86839589e+02] [ 7.13862318e-01 -7.00271596e-01 -4.50370694e-03 -2.76722825e+02] [ 6.32802613e-03 1.95961685e-05 9.99979978e-01 -5.93655860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.7065599950001 meters 0.048002972551293155 Centerline is valid? [True, True] Translation: X:386.80, Y:-276.68, Z:-5.94 [[-7.01258327e-01 -7.12890435e-01 4.89759778e-03 3.86799404e+02] [ 7.12873177e-01 -7.01275430e-01 -4.96041426e-03 -2.76682587e+02] [ 6.97079687e-03 1.28342843e-05 9.99975704e-01 -5.93711737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.766559995 meters 0.04766363139629623 Centerline is valid? [True, True] Translation: X:386.76, Y:-276.64, Z:-5.94 [[-7.02416439e-01 -7.11744336e-01 5.58084970e-03 3.86760101e+02] [ 7.11721905e-01 -7.02438610e-01 -5.65063213e-03 -2.76642758e+02] [ 7.94200972e-03 2.91607388e-06 9.99968462e-01 -5.93793306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.826559995 meters 0.04893219526721731 Centerline is valid? [True, True] Translation: X:386.72, Y:-276.60, Z:-5.93 [[-7.04725358e-01 -7.09448174e-01 6.74224937e-03 3.86719105e+02] [ 7.09415349e-01 -7.04757609e-01 -6.82461448e-03 -2.76603432e+02] [ 9.59336183e-03 -2.64236896e-05 9.99953982e-01 -5.93462860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.886559995 meters 0.0486515288435786 Centerline is valid? [True, True] Translation: X:386.68, Y:-276.56, Z:-5.94 [[-7.05954154e-01 -7.08211279e-01 8.09431819e-03 3.86677145e+02] [ 7.08163897e-01 -7.06000554e-01 -8.19224894e-03 -2.76562198e+02] [ 1.15164362e-02 -5.12482566e-05 9.99933682e-01 -5.93645331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.9465599950001 meters 0.04845829683060504 Centerline is valid? [True, True] Translation: X:386.63, Y:-276.52, Z:-5.94 [[-7.08069742e-01 -7.06088289e-01 8.75036462e-03 3.86634786e+02] [ 7.06032774e-01 -7.08123803e-01 -8.85451565e-03 -2.76520767e+02] [ 1.24484113e-02 -9.15703988e-05 9.99922511e-01 -5.93685630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.006559995 meters 0.049323535737191684 Centerline is valid? [True, True] Translation: X:386.59, Y:-276.48, Z:-5.94 [[-7.09167700e-01 -7.04993613e-01 8.07338080e-03 3.86594653e+02] [ 7.04946307e-01 -7.09213646e-01 -8.16750642e-03 -2.76478905e+02] [ 1.14837917e-02 -1.00831761e-04 9.99934054e-01 -5.93557178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.066559995 meters 0.049115781584079574 Centerline is valid? [True, True] Translation: X:386.55, Y:-276.44, Z:-5.94 [[-7.09140108e-01 -7.05033823e-01 6.90043585e-03 3.86554971e+02] [ 7.04999281e-01 -7.09173675e-01 -6.97943173e-03 -2.76436185e+02] [ 9.81434288e-03 -8.45926571e-05 9.99951835e-01 -5.93665650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.126559995 meters 0.04919461126385238 Centerline is valid? [True, True] Translation: X:386.51, Y:-276.40, Z:-5.94 [[-7.07431715e-01 -7.06759150e-01 5.64559848e-03 3.86514471e+02] [ 7.06736093e-01 -7.07454240e-01 -5.70905797e-03 -2.76396270e+02] [ 8.02893154e-03 -4.88204624e-05 9.99967766e-01 -5.93674360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.1865599950002 meters 0.04819513326157364 Centerline is valid? [True, True] Translation: X:386.47, Y:-276.36, Z:-5.94 [[-7.02140620e-01 -7.12029375e-01 3.56641298e-03 3.86471663e+02] [ 7.12020247e-01 -7.02149677e-01 -3.60534871e-03 -2.76360950e+02] [ 5.07126991e-03 7.89647328e-06 9.99987141e-01 -5.93549912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.246559995 meters 0.04792143243151905 Centerline is valid? [True, True] Translation: X:386.43, Y:-276.32, Z:-5.93 [[-6.98140127e-01 -7.15955360e-01 2.87849555e-03 3.86430548e+02] [ 7.15949451e-01 -6.98146060e-01 -2.90894809e-03 -2.76323689e+02] [ 4.09228731e-03 3.00039217e-05 9.99991626e-01 -5.93444524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.306559995 meters 0.04808367622928675 Centerline is valid? [True, True] Translation: X:386.39, Y:-276.29, Z:-5.93 [[-6.94675716e-01 -7.19317196e-01 2.90199908e-03 3.86388822e+02] [ 7.19311223e-01 -6.94681776e-01 -2.93178645e-03 -2.76285409e+02] [ 4.12485028e-03 5.07996526e-05 9.99991492e-01 -5.93441438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.366559995 meters 0.048578894687490076 Centerline is valid? [True, True] Translation: X:386.35, Y:-276.25, Z:-5.94 [[-6.91700002e-01 -7.22176841e-01 3.42316477e-03 3.86348648e+02] [ 7.22168569e-01 -6.91708468e-01 -3.45738843e-03 -2.76247884e+02] [ 4.86467791e-03 8.06264230e-05 9.99988164e-01 -5.93576332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.426559995 meters 0.04809418018469178 Centerline is valid? [True, True] Translation: X:386.31, Y:-276.21, Z:-5.94 [[-6.91366790e-01 -7.22494817e-01 3.63350116e-03 3.86309453e+02] [ 7.22485506e-01 -6.91376332e-01 -3.66890494e-03 -2.76209274e+02] [ 5.16288151e-03 8.85928941e-05 9.99986668e-01 -5.93666745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.486559995 meters 0.04859496648809085 Centerline is valid? [True, True] Translation: X:386.27, Y:-276.17, Z:-5.94 [[-6.91660152e-01 -7.22210722e-01 4.23168900e-03 3.86271554e+02] [ 7.22198097e-01 -6.91673090e-01 -4.27148531e-03 -2.76168051e+02] [ 6.01185790e-03 1.01701564e-04 9.99981923e-01 -5.93747711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.546559995 meters 0.0482393456286063 Centerline is valid? [True, True] Translation: X:386.24, Y:-276.12, Z:-5.94 [[-6.93581264e-01 -7.20357417e-01 5.49747882e-03 3.86236108e+02] [ 7.20336065e-01 -6.93603041e-01 -5.54748433e-03 -2.76123318e+02] [ 7.80923951e-03 1.12401068e-04 9.99969501e-01 -5.93755569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.606559995 meters 0.048670907600300024 Centerline is valid? [True, True] Translation: X:386.20, Y:-276.08, Z:-5.94 [[-6.95130038e-01 -7.18867925e-01 4.81003300e-03 3.86198324e+02] [ 7.18851553e-01 -6.95146675e-01 -4.85238226e-03 -2.76081322e+02] [ 6.83190041e-03 8.46630247e-05 9.99976659e-01 -5.93776144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.666559995 meters 0.04820544962628203 Centerline is valid? [True, True] Translation: X:386.16, Y:-276.04, Z:-5.94 [[-6.95819012e-01 -7.18201485e-01 4.74651297e-03 3.86161106e+02] [ 7.18185538e-01 -6.95835196e-01 -4.78668885e-03 -2.76040381e+02] [ 6.74059783e-03 7.82078680e-05 9.99977279e-01 -5.93708242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.7265599950001 meters 0.047156214555119154 Centerline is valid? [True, True] Translation: X:386.13, Y:-275.99, Z:-5.93 [[-6.96958088e-01 -7.17102974e-01 3.57033773e-03 3.86126789e+02] [ 7.17093942e-01 -6.96967231e-01 -3.59947025e-03 -2.75994717e+02] [ 5.06959922e-03 5.15876580e-05 9.99987148e-01 -5.93342481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.786559995 meters 0.047564347879386515 Centerline is valid? [True, True] Translation: X:386.09, Y:-275.96, Z:-5.93 [[-6.97171240e-01 -7.16900755e-01 2.35998634e-03 3.86086346e+02] [ 7.16896810e-01 -6.97175234e-01 -2.37848389e-03 -2.75956991e+02] [ 3.35046092e-03 3.36561118e-05 9.99994387e-01 -5.93333119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.846559995 meters 0.047474676644982804 Centerline is valid? [True, True] Translation: X:386.05, Y:-275.92, Z:-5.93 [[-6.96713448e-01 -7.17346037e-01 2.24356078e-03 3.86046957e+02] [ 7.17342477e-01 -6.96717060e-01 -2.26038409e-03 -2.75917761e+02] [ 3.18460464e-03 3.45614513e-05 9.99994929e-01 -5.93289919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.906559995 meters 0.04802200208839892 Centerline is valid? [True, True] Translation: X:386.00, Y:-275.88, Z:-5.93 [[-6.95289384e-01 -7.18723715e-01 2.98248007e-03 3.86004950e+02] [ 7.18717439e-01 -6.95295778e-01 -3.00392640e-03 -2.75879956e+02] [ 4.23269894e-03 5.49623009e-05 9.99991041e-01 -5.93477337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.9665599950001 meters 0.047431636467902154 Centerline is valid? [True, True] Translation: X:385.97, Y:-275.84, Z:-5.93 [[-6.93238051e-01 -7.20696435e-01 4.20168596e-03 3.85968205e+02] [ 7.20684023e-01 -6.93250777e-01 -4.23077299e-03 -2.75835038e+02] [ 5.96192507e-03 9.51551192e-05 9.99982223e-01 -5.93354608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.026559995 meters 0.04772648103953193 Centerline is valid? [True, True] Translation: X:385.92, Y:-275.80, Z:-5.94 [[-6.91755331e-01 -7.22103971e-01 6.35742869e-03 3.85924401e+02] [ 7.22075629e-01 -6.91784525e-01 -6.39974724e-03 -2.75797553e+02] [ 9.01925368e-03 1.63485049e-04 9.99959312e-01 -5.93520960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.086559995 meters 0.047623062815712415 Centerline is valid? [True, True] Translation: X:385.88, Y:-275.76, Z:-5.94 [[-6.92318797e-01 -7.21559217e-01 6.85420520e-03 3.85884119e+02] [ 7.21526266e-01 -6.92352705e-01 -6.89785398e-03 -2.75757478e+02] [ 9.72273762e-03 1.69975112e-04 9.99952719e-01 -5.93505083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.146559995 meters 0.04805904974596337 Centerline is valid? [True, True] Translation: X:385.84, Y:-275.72, Z:-5.94 [[-6.94417664e-01 -7.19544517e-01 6.30840695e-03 3.85841520e+02] [ 7.19516538e-01 -6.94446305e-01 -6.34678805e-03 -2.75719814e+02] [ 8.94764644e-03 1.31681396e-04 9.99959960e-01 -5.93709902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.2065599950001 meters 0.04757742856889624 Centerline is valid? [True, True] Translation: X:385.81, Y:-275.67, Z:-5.93 [[-6.98602513e-01 -7.15496667e-01 4.36446257e-03 3.85807030e+02] [ 7.15483202e-01 -6.98616144e-01 -4.38993451e-03 -2.75672464e+02] [ 6.19006752e-03 5.58803719e-05 9.99980840e-01 -5.93239055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.266559995 meters 0.04758424032248303 Centerline is valid? [True, True] Translation: X:385.77, Y:-275.63, Z:-5.94 [[-7.01480812e-01 -7.12679233e-01 3.60279936e-03 3.85765240e+02] [ 7.12670026e-01 -7.01490064e-01 -3.62286601e-03 -2.75633371e+02] [ 5.10926932e-03 2.62361253e-05 9.99986947e-01 -5.93588486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.326559995 meters 0.047437067081652726 Centerline is valid? [True, True] Translation: X:385.73, Y:-275.59, Z:-5.93 [[-7.03579306e-01 -7.10606852e-01 3.74987731e-03 3.85728025e+02] [ 7.10596853e-01 -7.03589299e-01 -3.76973465e-03 -2.75588776e+02] [ 5.31717282e-03 1.23437276e-05 9.99985864e-01 -5.93212077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.386559995 meters 0.047261836559994434 Centerline is valid? [True, True] Translation: X:385.69, Y:-275.55, Z:-5.94 [[-7.03316327e-01 -7.10865823e-01 3.99070356e-03 3.85685745e+02] [ 7.10854507e-01 -7.03327648e-01 -4.01104038e-03 -2.75550716e+02] [ 5.65808368e-03 1.57794261e-05 9.99983993e-01 -5.93721910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.4465599950001 meters 0.04772710662216882 Centerline is valid? [True, True] Translation: X:385.64, Y:-275.51, Z:-5.94 [[-7.01368584e-01 -7.12781886e-01 4.90833815e-03 3.85643159e+02] [ 7.12764825e-01 -7.01385758e-01 -4.93176459e-03 -2.75514292e+02] [ 6.95791094e-03 3.95060326e-05 9.99975793e-01 -5.93835236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.506559995 meters 0.04793397096934074 Centerline is valid? [True, True] Translation: X:385.60, Y:-275.47, Z:-5.93 [[-6.98819838e-01 -7.15272928e-01 5.95592805e-03 3.85603708e+02] [ 7.15247911e-01 -6.98845214e-01 -5.98277889e-03 -2.75472486e+02] [ 8.44159158e-03 7.90805163e-05 9.99964366e-01 -5.93362133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.566559995 meters 0.0478795713879582 Centerline is valid? [True, True] Translation: X:385.56, Y:-275.43, Z:-5.94 [[-6.97026103e-01 -7.17000057e-01 8.09509392e-03 3.85560600e+02] [ 7.16953984e-01 -6.97073095e-01 -8.12928829e-03 -2.75434805e+02] [ 1.14715723e-02 1.37483698e-04 9.99934190e-01 -5.93604138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.626559995 meters 0.04819357826604628 Centerline is valid? [True, True] Translation: X:385.52, Y:-275.39, Z:-5.94 [[-6.97774952e-01 -7.16266213e-01 8.53389545e-03 3.85520524e+02] [ 7.16214988e-01 -6.97827123e-01 -8.56719078e-03 -2.75394679e+02] [ 1.20915730e-02 1.34132693e-04 9.99926885e-01 -5.93708054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.6865599950002 meters 0.04872890506346339 Centerline is valid? [True, True] Translation: X:385.48, Y:-275.35, Z:-5.94 [[-6.99887979e-01 -7.14207685e-01 8.01247414e-03 3.85481567e+02] [ 7.14162413e-01 -6.99933836e-01 -8.04193086e-03 -2.75354127e+02] [ 1.13518106e-02 9.37571309e-05 9.99935562e-01 -5.93775825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.746559995 meters 0.048400300722767076 Centerline is valid? [True, True] Translation: X:385.44, Y:-275.31, Z:-5.93 [[-7.04068163e-01 -7.10112232e-01 5.35159311e-03 3.85444895e+02] [ 7.10091929e-01 -7.04088501e-01 -5.36990178e-03 -2.75308156e+02] [ 7.58122811e-03 1.93461934e-05 9.99971262e-01 -5.92883914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.806559995 meters 0.047554703509169245 Centerline is valid? [True, True] Translation: X:385.40, Y:-275.27, Z:-5.93 [[-7.06308695e-01 -7.07894342e-01 3.69151693e-03 3.85404996e+02] [ 7.07884655e-01 -7.06318342e-01 -3.70340230e-03 -2.75267879e+02] [ 5.22900365e-03 -2.57705748e-06 9.99986329e-01 -5.93253814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.866559995 meters 0.047936994524131187 Centerline is valid? [True, True] Translation: X:385.37, Y:-275.23, Z:-5.93 [[-7.07089994e-01 -7.07118379e-01 2.70910157e-03 3.85366380e+02] [ 7.07113159e-01 -7.07095183e-01 -2.71691298e-03 -2.75228055e+02] [ 3.83677177e-03 -5.46061799e-06 9.99992640e-01 -5.93039516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.926559995 meters 0.04796927687946064 Centerline is valid? [True, True] Translation: X:385.32, Y:-275.19, Z:-5.93 [[-7.04906488e-01 -7.09294171e-01 2.93633369e-03 3.85324962e+02] [ 7.09288062e-01 -7.04912604e-01 -2.94387365e-03 -2.75189820e+02] [ 4.15793105e-03 7.55079891e-06 9.99991356e-01 -5.93184988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.986559995 meters 0.04793603403485356 Centerline is valid? [True, True] Translation: X:385.28, Y:-275.15, Z:-5.93 [[-7.01774834e-01 -7.12387847e-01 3.95441692e-03 3.85282881e+02] [ 7.12376823e-01 -7.01785974e-01 -3.96332288e-03 -2.75152852e+02] [ 5.59857739e-03 3.56747087e-05 9.99984327e-01 -5.93414232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.046559995 meters 0.04748740711690381 Centerline is valid? [True, True] Translation: X:385.24, Y:-275.11, Z:-5.94 [[-6.98742488e-01 -7.15351592e-01 5.57098296e-03 3.85241316e+02] [ 7.15329818e-01 -6.98764691e-01 -5.58202814e-03 -2.75112629e+02] [ 7.88591890e-03 8.46899979e-05 9.99968902e-01 -5.93504372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.106559995 meters 0.04755035529744151 Centerline is valid? [True, True] Translation: X:385.20, Y:-275.07, Z:-5.94 [[-6.95573797e-01 -7.18420516e-01 7.00395512e-03 3.85199800e+02] [ 7.18386273e-01 -6.95609042e-01 -7.01592923e-03 -2.75072057e+02] [ 9.91240200e-03 1.51448683e-04 9.99950860e-01 -5.93520328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.166559995 meters 0.04750327633248197 Centerline is valid? [True, True] Translation: X:385.16, Y:-275.03, Z:-5.93 [[-6.94662667e-01 -7.19305296e-01 6.60835582e-03 3.85159141e+02] [ 7.19274868e-01 -6.94694082e-01 -6.61798110e-03 -2.75029757e+02] [ 9.35113453e-03 1.55959859e-04 9.99956265e-01 -5.93309101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.2265599950001 meters 0.04684835987866869 Centerline is valid? [True, True] Translation: X:385.12, Y:-274.99, Z:-5.93 [[-6.94665381e-01 -7.19311007e-01 5.62883811e-03 3.85116945e+02] [ 7.19288943e-01 -6.94688173e-01 -5.63550106e-03 -2.74991056e+02] [ 7.96396521e-03 1.33973519e-04 9.99968278e-01 -5.93327177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.286559995 meters 0.047798261664031526 Centerline is valid? [True, True] Translation: X:385.08, Y:-274.95, Z:-5.93 [[-6.96958445e-01 -7.17101078e-01 3.86915549e-03 3.85077695e+02] [ 7.17090624e-01 -6.96969181e-01 -3.87273409e-03 -2.74948609e+02] [ 5.47382392e-03 7.54003913e-05 9.99985016e-01 -5.93231952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.346559995 meters 0.047811232432859244 Centerline is valid? [True, True] Translation: X:385.04, Y:-274.91, Z:-5.93 [[-6.99230963e-01 -7.14889425e-01 3.02826612e-03 3.85039881e+02] [ 7.14883005e-01 -6.99237519e-01 -3.03014727e-03 -2.74906756e+02] [ 4.28369753e-03 4.60831848e-05 9.99990824e-01 -5.93152727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.406559995 meters 0.04750494088389843 Centerline is valid? [True, True] Translation: X:385.00, Y:-274.87, Z:-5.93 [[-7.01024557e-01 -7.13131075e-01 2.93942191e-03 3.85000173e+02] [ 7.13125014e-01 -7.01030719e-01 -2.94041264e-03 -2.74867272e+02] [ 4.15752468e-03 3.48738266e-05 9.99991357e-01 -5.93222377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.4665599950001 meters 0.04734619847663694 Centerline is valid? [True, True] Translation: X:384.96, Y:-274.83, Z:-5.93 [[-7.01134981e-01 -7.13020179e-01 3.45862446e-03 3.84960725e+02] [ 7.13011791e-01 -7.01143510e-01 -3.45877175e-03 -2.74825686e+02] [ 4.89116615e-03 4.09741620e-05 9.99988037e-01 -5.93214998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.526559995 meters 0.04667163822619739 Centerline is valid? [True, True] Translation: X:384.92, Y:-274.79, Z:-5.93 [[-7.00317094e-01 -7.13820822e-01 3.97527899e-03 3.84919871e+02] [ 7.13809760e-01 -7.00328374e-01 -3.97428024e-03 -2.74785858e+02] [ 5.62092466e-03 5.43365529e-05 9.99984201e-01 -5.93263080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.586559995 meters 0.0473212873861116 Centerline is valid? [True, True] Translation: X:384.42, Y:-275.12, Z:-4.87 [[-7.64219563e-01 6.44929994e-01 5.81051080e-03 3.84421832e+02] [ 6.44910332e-01 7.64241645e-01 -5.03708079e-03 -2.75124066e+02] [-7.68919882e-03 -1.02177236e-04 -9.99970433e-01 -4.87213619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.646559995 meters 0.047359254377557 Centerline is valid? [True, True] Translation: X:384.45, Y:-275.05, Z:-4.87 [[-8.09367565e-01 5.87244564e-01 8.24420443e-03 3.84454602e+02] [ 5.87212063e-01 8.09409535e-01 -6.18035476e-03 -2.75049339e+02] [-1.03023174e-02 -1.61082385e-04 -9.99946917e-01 -4.87058026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.7065599950001 meters 0.04773978845664043 Centerline is valid? [True, True] Translation: X:384.74, Y:-275.14, Z:-4.87 [[-8.48495524e-01 5.29131330e-01 8.68226263e-03 3.84735724e+02] [ 5.29101945e-01 8.48539932e-01 -5.57818795e-03 -2.75144221e+02] [-1.03188406e-02 -1.39265464e-04 -9.99946750e-01 -4.86871498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.766559995 meters 0.047532506032280236 Centerline is valid? [True, True] Translation: X:384.42, Y:-274.87, Z:-4.87 [[-8.81660198e-01 4.71833517e-01 6.95902003e-03 3.84418105e+02] [ 4.71818191e-01 8.81687659e-01 -3.80362209e-03 -2.74870044e+02] [-7.93035847e-03 -7.01099666e-05 -9.99968552e-01 -4.87337076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.826559995 meters 0.04772122032485988 Centerline is valid? [True, True] Translation: X:384.25, Y:-274.71, Z:-4.87 [[-9.09649856e-01 4.15351247e-01 4.52565734e-03 3.84253606e+02] [ 4.15346082e-01 9.09661114e-01 -2.07136573e-03 -2.74708260e+02] [-4.97715883e-03 -4.50349055e-06 -9.99987614e-01 -4.87263048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.886559995 meters 0.04704376640410189 Centerline is valid? [True, True] Translation: X:384.84, Y:-274.86, Z:-4.88 [[-9.37052783e-01 3.49166248e-01 3.87470332e-03 3.84835431e+02] [ 3.49163326e-01 9.37060794e-01 -1.42855171e-03 -2.74859763e+02] [-4.12963461e-03 1.42759388e-05 -9.99991473e-01 -4.87512145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.9465599950001 meters 0.047762763841180264 Centerline is valid? [True, True] Translation: X:384.04, Y:-274.51, Z:-4.87 [[-9.58712803e-01 2.84356036e-01 3.37734576e-03 3.84035736e+02] [ 2.84354347e-01 9.58718751e-01 -9.80254793e-04 -2.74513883e+02] [-3.51666607e-03 2.05801276e-05 -9.99993816e-01 -4.87408275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.006559995 meters 0.04750294393025128 Centerline is valid? [True, True] Translation: X:384.53, Y:-274.55, Z:-4.87 [[-9.77904633e-01 2.09013065e-01 4.00833642e-03 3.84531251e+02] [ 2.09011377e-01 9.77912848e-01 -8.40391622e-04 -2.74549672e+02] [-4.09545651e-03 1.59650519e-05 -9.99991614e-01 -4.87446872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.066559995 meters 0.047398597730676194 Centerline is valid? [True, True] Translation: X:383.94, Y:-273.80, Z:-5.94 [[-9.62358391e-01 -2.71722783e-01 5.74956950e-03 3.83943275e+02] [ 2.71718519e-01 -9.62375561e-01 -1.52515508e-03 -2.73800414e+02] [ 5.94766456e-03 9.45187195e-05 9.99982308e-01 -5.93548551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.126559995 meters 0.04784764354020751 Centerline is valid? [True, True] Translation: X:383.83, Y:-274.38, Z:-4.87 [[-9.80825045e-01 1.94717551e-01 8.20405628e-03 3.83831759e+02] [ 1.94710251e-01 9.80859354e-01 -1.68698959e-03 -2.74381440e+02] [-8.37551183e-03 -5.72277798e-05 -9.99964923e-01 -4.86920663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.1865599950002 meters 0.047652682139117136 Centerline is valid? [True, True] Translation: X:383.83, Y:-274.30, Z:-4.87 [[-9.93065424e-01 1.17100817e-01 1.04145252e-02 3.83831691e+02] [ 1.17092793e-01 9.93120021e-01 -1.37903137e-03 -2.74297942e+02] [-1.05043592e-02 -1.50002530e-04 -9.99944816e-01 -4.86876691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.246559995 meters 0.04800274607611027 Centerline is valid? [True, True] Translation: X:383.83, Y:-274.22, Z:-4.87 [[-9.99007774e-01 4.35930522e-02 9.11665668e-03 3.83825258e+02] [ 4.35898314e-02 9.99049359e-01 -5.51789599e-04 -2.74217898e+02] [-9.13204420e-03 -1.53848572e-04 -9.99958290e-01 -4.87036573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.306559995 meters 0.04768079534007325 Centerline is valid? [True, True] Translation: X:383.68, Y:-274.14, Z:-4.87 [[-9.99602105e-01 -2.74221620e-02 6.60736938e-03 3.83675090e+02] [-2.74222971e-02 9.99623936e-01 7.01704475e-05 -2.74135859e+02] [-6.60680881e-03 -1.11046719e-04 -9.99978169e-01 -4.87196041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.366559995 meters 0.04751024083409858 Centerline is valid? [True, True] Translation: X:383.63, Y:-273.57, Z:-5.93 [[-9.97454151e-01 -7.12211816e-02 3.57214379e-03 3.83629968e+02] [ 7.12202512e-02 -9.97460539e-01 -3.87174793e-04 -2.73574879e+02] [ 3.59064751e-03 -1.31780127e-04 9.99993545e-01 -5.93328754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.426559995 meters 0.04768318854465362 Centerline is valid? [True, True] Translation: X:383.48, Y:-274.14, Z:-4.87 [[-9.99691827e-01 -2.47706883e-02 1.63220309e-03 3.83482682e+02] [-2.47706811e-02 9.99693159e-01 2.46241769e-05 -2.74141980e+02] [-1.63231222e-03 -1.58141939e-05 -9.99998668e-01 -4.87430000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.486559995 meters 0.0477086927705766 Centerline is valid? [True, True] Translation: X:383.38, Y:-274.08, Z:-4.87 [[-9.95539562e-01 -9.43266960e-02 1.85876599e-03 3.83377306e+02] [-9.43265608e-02 9.95541297e-01 1.60424777e-04 -2.74075135e+02] [-1.86561064e-03 -1.56217910e-05 -9.99998260e-01 -4.87354450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.546559995 meters 0.0471129266795734 Centerline is valid? [True, True] Translation: X:383.32, Y:-274.01, Z:-4.87 [[-9.86387764e-01 -1.64425801e-01 1.82600836e-03 3.83321464e+02] [-1.64425548e-01 9.86389454e-01 2.88940537e-04 -2.74008973e+02] [-1.84866467e-03 -1.52350140e-05 -9.99998291e-01 -4.87289639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.606559995 meters 0.04734475223740691 Centerline is valid? [True, True] Translation: X:383.25, Y:-273.44, Z:-5.94 [[-9.96944080e-01 7.80759262e-02 2.57888172e-03 3.83247739e+02] [-7.80754758e-02 -9.96947413e-01 2.74982217e-04 -2.73438967e+02] [ 2.59247895e-03 7.27944759e-05 9.99996637e-01 -5.93544872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.666559995 meters 0.04671511809539297 Centerline is valid? [True, True] Translation: X:383.26, Y:-274.03, Z:-4.87 [[-9.85129771e-01 -1.71765032e-01 4.01344332e-03 3.83256089e+02] [-1.71763810e-01 9.85137945e-01 6.49754948e-04 -2.74026777e+02] [-4.06540048e-03 -4.92713719e-05 -9.99991735e-01 -4.87139243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.7265599950001 meters 0.04680353744802916 Centerline is valid? [True, True] Translation: X:383.13, Y:-273.46, Z:-5.94 [[-9.96860271e-01 7.89424082e-02 6.13978795e-03 3.83133447e+02] [-7.89395542e-02 -9.96879154e-01 7.06174477e-04 -2.73456998e+02] [ 6.17637373e-03 2.19285157e-04 9.99980902e-01 -5.93796406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.786559995 meters 0.047303459418153844 Centerline is valid? [True, True] Translation: X:383.10, Y:-274.05, Z:-4.87 [[-9.84327642e-01 -1.76186993e-01 7.56543528e-03 3.83100881e+02] [-1.76182565e-01 9.84356711e-01 1.25311894e-03 -2.74052988e+02] [-7.66787024e-03 -9.94181825e-05 -9.99970597e-01 -4.86757759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.846559995 meters 0.047581397551763674 Centerline is valid? [True, True] Translation: X:383.00, Y:-274.00, Z:-4.87 [[-9.70031640e-01 -2.42894941e-01 6.37686234e-03 3.83004995e+02] [-2.42890135e-01 9.70052598e-01 1.52935139e-03 -2.73997098e+02] [-6.55736360e-03 -6.53577128e-05 -9.99978498e-01 -4.86791934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.906559995 meters 0.04768527415858694 Centerline is valid? [True, True] Translation: X:382.96, Y:-273.93, Z:-4.87 [[-9.51099047e-01 -3.08848484e-01 4.81843899e-03 3.82955705e+02] [-3.08844701e-01 9.51111251e-01 1.52897918e-03 -2.73933919e+02] [-5.05509445e-03 -3.39387099e-05 -9.99987222e-01 -4.86893812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.9665599950001 meters 0.04754692226201553 Centerline is valid? [True, True] Translation: X:382.58, Y:-273.43, Z:-5.94 [[-9.72299729e-01 2.33704019e-01 3.95828555e-03 3.82581017e+02] [-2.33702228e-01 -9.72307786e-01 9.15706677e-04 -2.73428999e+02] [ 4.06267619e-03 -3.47187951e-05 9.99991747e-01 -5.93814571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.026559995 meters 0.04729263301691728 Centerline is valid? [True, True] Translation: X:383.06, Y:-273.90, Z:-4.87 [[-9.49146244e-01 -3.14800046e-01 4.72628685e-03 3.83058610e+02] [-3.14796249e-01 9.49158011e-01 1.54629814e-03 -2.73903749e+02] [-4.97276776e-03 -2.01543005e-05 -9.99987636e-01 -4.86886712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.086559995 meters 0.04690536845896708 Centerline is valid? [True, True] Translation: X:382.31, Y:-274.09, Z:-4.87 [[-9.24022162e-01 -3.82293470e-01 5.89464621e-03 3.82306245e+02] [-3.82285925e-01 9.24040963e-01 2.40205601e-03 -2.74085490e+02] [-6.36518489e-03 -3.38872872e-05 -9.99979741e-01 -4.86536431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.146559995 meters 0.046770833508461805 Centerline is valid? [True, True] Translation: X:382.57, Y:-273.87, Z:-4.86 [[-8.90785403e-01 -4.54348059e-01 8.31907934e-03 3.82573672e+02] [-4.54329090e-01 8.90824245e-01 4.15241630e-03 -2.73869373e+02] [-9.29747985e-03 -8.06879256e-05 -9.99956774e-01 -4.86497929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.2065599950001 meters 0.04742788841907132 Centerline is valid? [True, True] Translation: X:381.77, Y:-274.20, Z:-4.86 [[-8.54893154e-01 -5.18733663e-01 8.54884103e-03 3.81774568e+02] [-5.18709075e-01 8.54935889e-01 5.05190364e-03 -2.74204289e+02] [-9.92930348e-03 -1.15523588e-04 -9.99950697e-01 -4.86208379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.266559995 meters 0.04722023162033676 Centerline is valid? [True, True] Translation: X:381.71, Y:-274.15, Z:-4.86 [[-8.12871689e-01 -5.82387513e-01 8.02506044e-03 3.81713177e+02] [-5.82360804e-01 8.12911290e-01 5.57930866e-03 -2.74149373e+02] [-9.77298193e-03 -1.38218591e-04 -9.99952234e-01 -4.86170814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.326559995 meters 0.04733758843976897 Centerline is valid? [True, True] Translation: X:381.52, Y:-274.20, Z:-4.86 [[-7.67995423e-01 -6.40420375e-01 6.69129283e-03 3.81516631e+02] [-6.40397642e-01 7.68024559e-01 5.39776373e-03 -2.74202711e+02] [-8.59591510e-03 -1.39630315e-04 -9.99963045e-01 -4.86351404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.386559995 meters 0.0477361954753793 Centerline is valid? [True, True] Translation: X:381.36, Y:-274.24, Z:-4.86 [[-7.18878313e-01 -6.95113866e-01 5.53943429e-03 3.81360164e+02] [-6.95094631e-01 7.18899643e-01 5.17281316e-03 -2.74240178e+02] [-7.57799148e-03 -1.31807837e-04 -9.99971278e-01 -4.86406614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.4465599950001 meters 0.047404196040491856 Centerline is valid? [True, True] Translation: X:381.25, Y:-274.24, Z:-4.86 [[-6.65041972e-01 -7.46793855e-01 4.25601727e-03 3.81253514e+02] [-7.46779653e-01 6.65055580e-01 4.60714100e-03 -2.74238992e+02] [-6.27107262e-03 -1.14364966e-04 -9.99980330e-01 -4.86458530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.506559995 meters 0.04735410193680902 Centerline is valid? [True, True] Translation: X:380.69, Y:-274.00, Z:-5.94 [[-7.39210096e-01 6.73463636e-01 3.89420014e-03 3.80692081e+02] [-6.73454068e-01 -7.39220353e-01 3.58993357e-03 -2.73997376e+02] [ 5.29636171e-03 3.11502110e-05 9.99985974e-01 -5.94202912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.566559995 meters 0.04687251481329641 Centerline is valid? [True, True] Translation: X:380.99, Y:-274.52, Z:-4.86 [[-6.60502926e-01 -7.50815557e-01 3.44754524e-03 3.80987768e+02] [-7.50806058e-01 6.60511916e-01 3.77782966e-03 -2.74521239e+02] [-5.11359799e-03 -9.31703039e-05 -9.99986921e-01 -4.86405598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.626559995 meters 0.046896745871992995 Centerline is valid? [True, True] Translation: X:380.82, Y:-274.60, Z:-4.86 [[-6.03726502e-01 -7.97180993e-01 4.09571724e-03 3.80823588e+02] [-7.97164002e-01 6.03740382e-01 5.20620086e-03 -2.74601202e+02] [-6.62303426e-03 -1.21836914e-04 -9.99978060e-01 -4.86226775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.6865599950002 meters 0.046910657705578514 Centerline is valid? [True, True] Translation: X:380.67, Y:-274.67, Z:-4.86 [[-5.41914074e-01 -8.40423275e-01 4.22555199e-03 3.80672736e+02] [-8.40399914e-01 5.41930526e-01 6.26817665e-03 -2.74674799e+02] [-7.55787716e-03 -1.54340381e-04 -9.99971427e-01 -4.86138695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.746559995 meters 0.04761170078627501 Centerline is valid? [True, True] Translation: X:380.50, Y:-274.79, Z:-4.86 [[-4.77148954e-01 -8.78809779e-01 4.71682841e-03 3.80502430e+02] [-8.78771168e-01 4.77172220e-01 8.24059697e-03 -2.74792920e+02] [-9.49265668e-03 -2.13020583e-04 -9.99954921e-01 -4.85876895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.806559995 meters 0.04798026360483885 Centerline is valid? [True, True] Translation: X:380.35, Y:-274.90, Z:-4.86 [[-4.11288620e-01 -9.11491338e-01 5.02112821e-03 3.80350087e+02] [-9.11431034e-01 4.11319185e-01 1.04880523e-02 -2.74904061e+02] [-1.16250552e-02 -2.62795512e-04 -9.99932392e-01 -4.85677264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.866559995 meters 0.04781844304409835 Centerline is valid? [True, True] Translation: X:380.18, Y:-275.09, Z:-4.86 [[-3.45788812e-01 -9.38301910e-01 4.42974911e-03 3.80183790e+02] [-9.38233817e-01 3.45817097e-01 1.13066901e-02 -2.75088993e+02] [-1.21409719e-02 -2.46413466e-04 -9.99926265e-01 -4.85639353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.926559995 meters 0.047946984855902396 Centerline is valid? [True, True] Translation: X:380.04, Y:-275.27, Z:-4.86 [[-2.80651153e-01 -9.59803190e-01 3.57314089e-03 3.80043490e+02] [-9.59733689e-01 2.80673836e-01 1.15518246e-02 -2.75265990e+02] [-1.20903652e-02 -1.87230807e-04 -9.99926891e-01 -4.85631004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.986559995 meters 0.047457421930776414 Centerline is valid? [True, True] Translation: X:379.98, Y:-275.22, Z:-4.86 [[-2.18394965e-01 -9.75856476e-01 2.78883128e-03 3.79984381e+02] [-9.75780336e-01 2.18412763e-01 1.21901920e-02 -2.75217002e+02] [-1.25049942e-02 -5.90101600e-05 -9.99921808e-01 -4.85913874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.046559995 meters 0.04803067523434778 Centerline is valid? [True, True] Translation: X:379.94, Y:-274.99, Z:-4.86 [[-1.51420990e-01 -9.88467701e-01 1.81322459e-03 3.79939419e+02] [-9.88394331e-01 1.51431843e-01 1.20433967e-02 -2.74994048e+02] [-1.21790886e-02 3.14421507e-05 -9.99925832e-01 -4.86404352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.106559995 meters 0.04771696963504135 Centerline is valid? [True, True] Translation: X:379.77, Y:-275.72, Z:-4.86 [[-8.44339826e-02 -9.96428675e-01 8.92935315e-04 3.79766165e+02] [-9.96363603e-01 8.44386735e-02 1.13877745e-02 -2.75718424e+02] [-1.14225033e-02 7.18269066e-05 -9.99934759e-01 -4.85872072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.166559995 meters 0.04699401135225998 Centerline is valid? [True, True] Translation: X:379.11, Y:-276.39, Z:-5.95 [[-1.41335120e-01 9.89960574e-01 1.56410818e-03 3.79105772e+02] [-9.89912281e-01 -1.41343677e-01 9.77964551e-03 -2.76386095e+02] [ 9.90254028e-03 -1.66122517e-04 9.99950955e-01 -5.94779984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.2265599950001 meters 0.047184959005215445 Centerline is valid? [True, True] Translation: X:379.69, Y:-276.47, Z:-4.86 [[-7.08451645e-02 -9.97487058e-01 7.28618125e-04 3.79688517e+02] [-9.97433790e-01 7.08489111e-02 1.03085728e-02 -2.76472705e+02] [-1.03342898e-02 3.56419880e-06 -9.99946600e-01 -4.85976747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.286559995 meters 0.04723636704810235 Centerline is valid? [True, True] Translation: X:379.60, Y:-276.77, Z:-4.86 [[ 7.08545069e-03 -9.99974898e-01 -2.60317684e-05 3.79599269e+02] [-9.99931005e-01 -7.08538359e-03 9.36920318e-03 -2.76773950e+02] [-9.36915243e-03 -4.03550548e-05 -9.99956108e-01 -4.86062134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.346559995 meters 0.047790586157512055 Centerline is valid? [True, True] Translation: X:379.54, Y:-277.11, Z:-4.86 [[ 8.04720941e-02 -9.96756721e-01 -5.30492802e-04 3.79537002e+02] [-9.96732489e-01 -8.04738369e-02 6.95028438e-03 -2.77108198e+02] [-6.97043346e-03 -3.05445274e-05 -9.99975706e-01 -4.86209284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.406559995 meters 0.0471475915311925 Centerline is valid? [True, True] Translation: X:379.49, Y:-277.35, Z:-4.87 [[ 1.51344873e-01 -9.88480961e-01 -3.44373990e-04 3.79493094e+02] [-9.88478348e-01 -1.51345265e-01 2.27311499e-03 -2.77352409e+02] [-2.29905026e-03 -3.61806734e-06 -9.99997357e-01 -4.86584969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.4665599950001 meters 0.04686445077882484 Centerline is valid? [True, True] Translation: X:379.47, Y:-277.59, Z:-4.87 [[ 2.21900371e-01 -9.75069317e-01 -2.26624632e-04 3.79468007e+02] [-9.75068816e-01 -2.21900487e-01 9.88962833e-04 -2.77594809e+02] [-1.01459543e-03 1.52339151e-06 -9.99999485e-01 -4.86809056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.526559995 meters 0.04686337824735243 Centerline is valid? [True, True] Translation: X:379.43, Y:-277.72, Z:-4.87 [[ 2.91759153e-01 -9.56491812e-01 -1.05321101e-04 3.79426784e+02] [-9.56491752e-01 -2.91759172e-01 3.37310243e-04 -2.77722577e+02] [-3.53362883e-04 2.32541382e-06 -9.99999938e-01 -4.86865051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.586559995 meters 0.04709316155726686 Centerline is valid? [True, True] Translation: X:379.44, Y:-278.00, Z:-4.87 [[ 3.60447211e-01 -9.32779418e-01 -6.03867204e-04 3.79442468e+02] [-9.32778141e-01 -3.60447717e-01 1.54396999e-03 -2.78000341e+02] [-1.65784599e-03 6.75444935e-06 -9.99998626e-01 -4.86673295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.646559995 meters 0.04709460266170037 Centerline is valid? [True, True] Translation: X:379.46, Y:-278.24, Z:-4.87 [[ 4.28173929e-01 -9.03695192e-01 -1.44442537e-03 3.79463773e+02] [-9.03690149e-01 -4.28176365e-01 3.01918861e-03 -2.78235258e+02] [-3.34689503e-03 1.25751271e-05 -9.99994399e-01 -4.86542392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.7065599950001 meters 0.047069026292778565 Centerline is valid? [True, True] Translation: X:379.16, Y:-277.84, Z:-4.87 [[ 4.94974420e-01 -8.68904641e-01 -2.24682509e-03 3.79159957e+02] [-8.68895830e-01 -4.94979520e-01 3.91313196e-03 -2.77835571e+02] [-4.51227093e-03 1.53567223e-05 -9.99989820e-01 -4.86712181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.766559995 meters 0.04760086173042768 Centerline is valid? [True, True] Translation: X:379.12, Y:-277.94, Z:-4.87 [[ 5.58258480e-01 -8.29663032e-01 -2.59278847e-03 3.79117938e+02] [-8.29654184e-01 -5.58264501e-01 3.83178374e-03 -2.77937022e+02] [-4.62655107e-03 1.19920327e-05 -9.99989297e-01 -4.86894709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.826559995 meters 0.04819483661729914 Centerline is valid? [True, True] Translation: X:379.49, Y:-278.58, Z:-4.87 [[ 6.17744352e-01 -7.86376480e-01 -1.98680878e-03 3.79492719e+02] [-7.86372435e-01 -6.17747547e-01 2.52237955e-03 -2.78583817e+02] [-3.21088620e-03 4.18593733e-06 -9.99994845e-01 -4.86795333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.886559995 meters 0.04786131029711077 Centerline is valid? [True, True] Translation: X:379.54, Y:-278.76, Z:-4.87 [[ 6.75890914e-01 -7.36999979e-01 -1.58222327e-03 3.79540627e+02] [-7.36997950e-01 -6.75892766e-01 1.72951917e-03 -2.78757582e+02] [-2.34406886e-03 -2.87098764e-06 -9.99997253e-01 -4.86777050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.9465599950001 meters 0.04793164937008607 Centerline is valid? [True, True] Translation: X:379.58, Y:-278.90, Z:-4.87 [[ 7.29569943e-01 -6.83903742e-01 -1.83589099e-03 3.79579065e+02] [-6.83901548e-01 -7.29572253e-01 1.73242909e-03 -2.78902498e+02] [-2.52422986e-03 -8.35950614e-06 -9.99996814e-01 -4.86807647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.006559995 meters 0.0482778547825811 Centerline is valid? [True, True] Translation: X:379.56, Y:-278.98, Z:-4.87 [[ 7.82073385e-01 -6.23184203e-01 -1.63399407e-03 3.79556165e+02] [-6.23182814e-01 -7.82075092e-01 1.31594191e-03 -2.78984218e+02] [-2.09798027e-03 -1.08861247e-05 -9.99997799e-01 -4.86866944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.066559995 meters 0.04847624209034088 Centerline is valid? [True, True] Translation: X:379.55, Y:-279.06, Z:-4.87 [[ 8.29598528e-01 -5.58356111e-01 -2.17617482e-03 3.79546636e+02] [-5.58354127e-01 -8.29601382e-01 1.48859492e-03 -2.79060318e+02] [-2.63652371e-03 -1.98599668e-05 -9.99996524e-01 -4.86827603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.126559995 meters 0.048791466229251935 Centerline is valid? [True, True] Translation: X:379.54, Y:-279.15, Z:-4.87 [[ 8.71429416e-01 -4.90490330e-01 -5.47808530e-03 3.79535973e+02] [-4.90480208e-01 -8.71446632e-01 3.15166569e-03 -2.79148316e+02] [-6.31972053e-03 -5.95617731e-05 -9.99980029e-01 -4.86634026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.1865599950002 meters 0.04881962309938682 Centerline is valid? [True, True] Translation: X:379.54, Y:-279.23, Z:-4.87 [[ 9.06858585e-01 -4.21366761e-01 -7.58677984e-03 3.79535889e+02] [-4.21351320e-01 -9.06890317e-01 3.60807859e-03 -2.79230470e+02] [-8.40070156e-03 -7.53173482e-05 -9.99964711e-01 -4.86569212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.246559995 meters 0.04900237688524211 Centerline is valid? [True, True] Translation: X:379.54, Y:-279.32, Z:-4.87 [[ 9.36285990e-01 -3.51133662e-01 -8.58467206e-03 3.79540933e+02] [-3.51118279e-01 -9.36325343e-01 3.28735193e-03 -2.79315818e+02] [-9.19234593e-03 -6.36662718e-05 -9.99957748e-01 -4.86579547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.306559995 meters 0.048831884349388024 Centerline is valid? [True, True] Translation: X:379.55, Y:-279.41, Z:-4.87 [[ 9.59450225e-01 -2.81774247e-01 -7.65111144e-03 3.79550042e+02] [-2.81765167e-01 -9.59480731e-01 2.26203283e-03 -2.79405022e+02] [-7.97847659e-03 -1.44912105e-05 -9.99968171e-01 -4.86736181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.366559995 meters 0.04887268052380418 Centerline is valid? [True, True] Translation: X:379.56, Y:-279.51, Z:-4.87 [[ 9.78206427e-01 -2.07498776e-01 -7.51290745e-03 3.79562385e+02] [-2.07492644e-01 -9.78235277e-01 1.59522605e-03 -2.79512257e+02] [-7.68039856e-03 -1.58734798e-06 -9.99970505e-01 -4.86626821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.426559995 meters 0.04916692822575912 Centerline is valid? [True, True] Translation: X:379.58, Y:-279.63, Z:-4.87 [[ 9.91106317e-01 -1.32899992e-01 -6.77207556e-03 3.79582441e+02] [-1.32897000e-01 -9.91129453e-01 8.91916098e-04 -2.79626820e+02] [-6.83053919e-03 1.60048470e-05 -9.99976672e-01 -4.87007394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.486559995 meters 0.04918652017340189 Centerline is valid? [True, True] Translation: X:379.61, Y:-279.74, Z:-4.87 [[ 9.98478661e-01 -5.48321990e-02 -5.81314469e-03 3.79610851e+02] [-5.48313442e-02 -9.98495583e-01 3.06425293e-04 -2.79735183e+02] [-5.82120127e-03 1.27834210e-05 -9.99983057e-01 -4.86978523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.546559995 meters 0.04861172282216896 Centerline is valid? [True, True] Translation: X:379.65, Y:-279.84, Z:-4.87 [[ 9.99645633e-01 2.60323198e-02 -5.56113158e-03 3.79645719e+02] [ 2.60319286e-02 -9.99661102e-01 -1.42731557e-04 -2.79839404e+02] [-5.56296255e-03 -2.08600228e-06 -9.99984527e-01 -4.86883996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.606559995 meters 0.04888362377681149 Centerline is valid? [True, True] Translation: X:379.69, Y:-279.93, Z:-4.87 [[ 9.94074098e-01 1.08503918e-01 -6.60202498e-03 3.79685702e+02] [ 1.08501737e-01 -9.94096021e-01 -6.88703953e-04 -2.79934957e+02] [-6.63777384e-03 -3.17084169e-05 -9.99977969e-01 -4.86808035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.666559995 meters 0.04892918414181006 Centerline is valid? [True, True] Translation: X:379.73, Y:-280.02, Z:-4.87 [[ 9.81615609e-01 1.90698043e-01 -8.06555485e-03 3.79732294e+02] [ 1.90692268e-01 -9.81648741e-01 -1.48616220e-03 -2.80022502e+02] [-8.20094999e-03 -7.91989373e-05 -9.99966369e-01 -4.86719531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.7265599950001 meters 0.049728508419685194 Centerline is valid? [True, True] Translation: X:379.78, Y:-280.10, Z:-4.86 [[ 9.62520041e-01 2.71010042e-01 -1.04272792e-02 3.79784242e+02] [ 2.70995832e-01 -9.62576508e-01 -2.77933274e-03 -2.80102123e+02] [-1.07902811e-02 -1.50585738e-04 -9.99941772e-01 -4.86462534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.786559995 meters 0.04899763212606151 Centerline is valid? [True, True] Translation: X:379.84, Y:-280.17, Z:-4.87 [[ 9.38444809e-01 3.45270866e-01 -1.04579477e-02 3.79841110e+02] [ 3.45251233e-01 -9.38503066e-01 -3.68520863e-03 -2.80169984e+02] [-1.10872111e-02 -1.52254405e-04 -9.99938523e-01 -4.86590224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.846559995 meters 0.04934511334436766 Centerline is valid? [True, True] Translation: X:379.90, Y:-280.23, Z:-4.87 [[ 9.10052808e-01 4.14418309e-01 -7.83280391e-03 3.79901796e+02] [ 4.14403781e-01 -9.10086511e-01 -3.47116254e-03 -2.80230015e+02] [-8.56704250e-03 -8.70023400e-05 -9.99963298e-01 -4.86849523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.906559995 meters 0.048739492362152255 Centerline is valid? [True, True] Translation: X:379.97, Y:-280.28, Z:-4.87 [[ 8.76478065e-01 4.81414541e-01 -5.12267808e-03 3.79965379e+02] [ 4.81406579e-01 -8.76493034e-01 -2.76909197e-03 -2.80282312e+02] [-5.82307279e-03 -3.90425559e-05 -9.99983045e-01 -4.87031661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.9665599950001 meters 0.04843899201534224 Centerline is valid? [True, True] Translation: X:380.03, Y:-280.33, Z:-4.87 [[ 8.37619549e-01 5.46243972e-01 -3.31881969e-03 3.80029366e+02] [ 5.46239756e-01 -8.37626124e-01 -2.14613497e-03 -2.80325360e+02] [-3.95224336e-03 -1.52266504e-05 -9.99992190e-01 -4.87213212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.026559995 meters 0.04835636612020389 Centerline is valid? [True, True] Translation: X:380.09, Y:-280.36, Z:-4.87 [[ 7.93337694e-01 6.08773768e-01 -3.13097059e-03 3.80093296e+02] [ 6.08769069e-01 -7.93343872e-01 -2.39171743e-03 -2.80358904e+02] [-3.93995116e-03 -8.59846601e-06 -9.99992238e-01 -4.86882558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.086559995 meters 0.049037585016689325 Centerline is valid? [True, True] Translation: X:380.16, Y:-280.39, Z:-4.87 [[ 7.42309796e-01 6.70044679e-01 -4.03660621e-03 3.80161557e+02] [ 6.70034920e-01 -7.42320771e-01 -3.61644663e-03 -2.80388493e+02] [-5.41963746e-03 -2.01433521e-05 -9.99985314e-01 -4.86819636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.146559995 meters 0.04867421631804272 Centerline is valid? [True, True] Translation: X:380.23, Y:-280.41, Z:-4.87 [[ 6.85821273e-01 7.27749595e-01 -5.45046410e-03 3.80230528e+02] [ 7.27727186e-01 -6.85842930e-01 -5.71134912e-03 -2.80411428e+02] [-7.89459428e-03 -4.94861675e-05 -9.99968836e-01 -4.86682190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.2065599950001 meters 0.04926632875981384 Centerline is valid? [True, True] Translation: X:380.30, Y:-280.43, Z:-4.87 [[ 6.24494337e-01 7.81003460e-01 -6.35761388e-03 3.80304262e+02] [ 7.80964497e-01 -6.24526690e-01 -7.80173695e-03 -2.80430967e+02] [-1.00636831e-02 -9.29301898e-05 -9.99949356e-01 -4.86506134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.266559995 meters 0.04910729334499058 Centerline is valid? [True, True] Translation: X:380.38, Y:-280.45, Z:-4.86 [[ 5.58765665e-01 8.29296606e-01 -6.93332304e-03 3.80381184e+02] [ 8.29236132e-01 -5.58808657e-01 -1.00161043e-02 -2.80446250e+02] [-1.21807222e-02 -1.52706801e-04 -9.99925801e-01 -4.86471075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.326559995 meters 0.049403922051003836 Centerline is valid? [True, True] Translation: X:380.46, Y:-280.46, Z:-4.86 [[ 4.91873427e-01 8.70647926e-01 -5.72015935e-03 3.80459510e+02] [ 8.70592483e-01 -4.91906665e-01 -9.82654694e-03 -2.80455911e+02] [-1.13692472e-02 -1.46510414e-04 -9.99935357e-01 -4.86450287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.386559995 meters 0.04899161626017212 Centerline is valid? [True, True] Translation: X:380.53, Y:-280.46, Z:-4.87 [[ 4.23215986e-01 9.06018848e-01 -4.25157611e-03 3.80528983e+02] [ 9.05975847e-01 -4.23237325e-01 -8.82792824e-03 -2.80455431e+02] [-9.79769508e-03 -1.15704914e-04 -9.99951995e-01 -4.86848966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.4465599950001 meters 0.04860115452010833 Centerline is valid? [True, True] Translation: X:380.61, Y:-280.46, Z:-4.87 [[ 3.53554993e-01 9.35411391e-01 -2.09690133e-03 3.80614372e+02] [ 9.35395805e-01 -3.53561208e-01 -5.40009824e-03 -2.80456243e+02] [-5.79269637e-03 -5.22010127e-05 -9.99983221e-01 -4.87061023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.506559995 meters 0.04814898795027066 Centerline is valid? [True, True] Translation: X:380.69, Y:-280.45, Z:-4.87 [[ 2.80255444e-01 9.59924833e-01 -1.09587004e-03 3.80694297e+02] [ 9.59917907e-01 -2.80257585e-01 -3.64672230e-03 -2.80449514e+02] [-3.80770519e-03 -2.99314989e-05 -9.99992750e-01 -4.87135664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.566559995 meters 0.04812887897406098 Centerline is valid? [True, True] Translation: X:380.77, Y:-280.44, Z:-4.87 [[ 2.04004371e-01 9.78969831e-01 -5.35468654e-04 3.80769788e+02] [ 9.78966712e-01 -2.04005073e-01 -2.47110345e-03 -2.80435872e+02] [-2.52837405e-03 -2.00900834e-05 -9.99996804e-01 -4.87111368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.626559995 meters 0.047647018028532204 Centerline is valid? [True, True] Translation: X:380.83, Y:-280.42, Z:-4.87 [[ 1.22486571e-01 9.92470118e-01 -3.24581220e-04 3.80833203e+02] [ 9.92467243e-01 -1.22486997e-01 -2.38915766e-03 -2.80415205e+02] [-2.41092457e-03 -2.94964999e-05 -9.99997093e-01 -4.87107191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.6865599950002 meters 0.04839380225791018 Centerline is valid? [True, True] Translation: X:380.91, Y:-280.39, Z:-4.87 [[ 4.04211137e-02 9.99182714e-01 -1.92264412e-04 3.80914202e+02] [ 9.99177013e-01 -4.04215327e-02 -3.37582470e-03 -2.80389655e+02] [-3.38083731e-03 -5.56515864e-05 -9.99994283e-01 -4.86966784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.746559995 meters 0.04827574480642751 Centerline is valid? [True, True] Translation: X:380.99, Y:-280.36, Z:-4.87 [[-4.14083533e-02 9.99142300e-01 1.12770733e-04 3.80991229e+02] [ 9.99128227e-01 4.14083688e-02 -5.30402933e-03 -2.80357837e+02] [-5.30414972e-03 -1.06958698e-04 -9.99985927e-01 -4.86858221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.806559995 meters 0.04867925579156798 Centerline is valid? [True, True] Translation: X:381.07, Y:-280.32, Z:-4.86 [[-1.19890401e-01 9.92786696e-01 9.31806715e-04 3.81065474e+02] [ 9.92742790e-01 1.19893864e-01 -9.33884911e-03 -2.80321891e+02] [-9.38320306e-03 -1.94593971e-04 -9.99955958e-01 -4.86495408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.866559995 meters 0.04756458481222631 Centerline is valid? [True, True] Translation: X:381.14, Y:-280.28, Z:-4.87 [[-1.92719825e-01 9.81252013e-01 1.88590571e-03 3.81136852e+02] [ 9.81195877e-01 1.92728975e-01 -1.04972653e-02 -2.80278895e+02] [-1.06639313e-02 -1.72588211e-04 -9.99943124e-01 -4.86600623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.926559995 meters 0.04789915239537176 Centerline is valid? [True, True] Translation: X:381.21, Y:-280.23, Z:-4.87 [[-2.61710609e-01 9.65143328e-01 2.43173416e-03 3.81209539e+02] [ 9.65098646e-01 2.61721892e-01 -9.28730128e-03 -2.80229685e+02] [-9.60001493e-03 -8.37219226e-05 -9.99953915e-01 -4.86754474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.986559995 meters 0.047546295970329035 Centerline is valid? [True, True] Translation: X:381.27, Y:-280.18, Z:-4.87 [[-3.24935551e-01 9.45733422e-01 2.27640318e-03 3.81265578e+02] [ 9.45710738e-01 3.24943524e-01 -6.55029144e-03 -2.80180876e+02] [-6.93453201e-03 2.43963696e-05 -9.99975956e-01 -4.86722392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.046559995 meters 0.04752799550610864 Centerline is valid? [True, True] Translation: X:381.32, Y:-280.13, Z:-4.87 [[-3.93032343e-01 9.19522143e-01 2.14634082e-03 3.81318701e+02] [ 9.19509087e-01 3.93038201e-01 -4.90009345e-03 -2.80128029e+02] [-5.34933837e-03 4.76846818e-05 -9.99985691e-01 -4.86841913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.106559995 meters 0.04735333377283428 Centerline is valid? [True, True] Translation: X:381.38, Y:-280.07, Z:-4.87 [[-4.65097049e-01 8.85258322e-01 1.56141792e-03 3.81378607e+02] [ 8.85253514e-01 4.65099669e-01 -2.91792733e-03 -2.80066385e+02] [-3.30933441e-03 2.51313076e-05 -9.99994524e-01 -4.86933147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.166559995 meters 0.04762128195635614 Centerline is valid? [True, True] Translation: X:381.43, Y:-280.00, Z:-4.87 [[-5.41637033e-01 8.40608700e-01 2.51748424e-03 3.81431685e+02] [ 8.40599506e-01 5.41642883e-01 -3.93161417e-03 -2.80001674e+02] [-4.66852650e-03 -1.33118272e-05 -9.99989102e-01 -4.86607015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.2265599950001 meters 0.04723247718576691 Centerline is valid? [True, True] Translation: X:381.48, Y:-279.93, Z:-4.87 [[-6.11609313e-01 7.91149076e-01 4.14592920e-03 3.81479087e+02] [ 7.91130105e-01 6.11623361e-01 -5.47916636e-03 -2.79931902e+02] [-6.87058455e-03 -7.11397724e-05 -9.99976395e-01 -4.86545465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.286559995 meters 0.047550536418152635 Centerline is valid? [True, True] Translation: X:381.52, Y:-279.86, Z:-4.86 [[-6.73804582e-01 7.38891247e-01 5.20669276e-03 3.81517909e+02] [ 7.38867983e-01 6.73824691e-01 -5.86429969e-03 -2.79861102e+02] [-7.84147785e-03 -1.04333422e-04 -9.99969250e-01 -4.86419306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.346559995 meters 0.047329609439268915 Centerline is valid? [True, True] Translation: X:381.55, Y:-279.79, Z:-4.86 [[-7.32587331e-01 6.80626749e-01 7.93916150e-03 3.81552571e+02] [ 6.80583851e-01 7.32630323e-01 -7.64408871e-03 -2.79787155e+02] [-1.10192417e-02 -1.96697442e-04 -9.99939267e-01 -4.86139862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.406559995 meters 0.04787127953937014 Centerline is valid? [True, True] Translation: X:381.45, Y:-279.59, Z:-4.86 [[-7.78466249e-01 6.27624032e-01 8.85288651e-03 3.81454769e+02] [ 6.27580550e-01 7.78516561e-01 -7.39037485e-03 -2.79593838e+02] [-1.15304956e-02 -1.97257999e-04 -9.99933502e-01 -4.86060392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.4665599950001 meters 0.048058313756139746 Centerline is valid? [True, True] Translation: X:381.49, Y:-279.52, Z:-4.86 [[-8.19619430e-01 5.72844652e-01 8.54364336e-03 3.81488026e+02] [ 5.72811564e-01 8.19663944e-01 -6.15885449e-03 -2.79524739e+02] [-1.05309833e-02 -1.54019088e-04 -9.99944536e-01 -4.86139456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.526559995 meters 0.0471308357249382 Centerline is valid? [True, True] Translation: X:381.42, Y:-279.39, Z:-4.86 [[-8.55614214e-01 5.17561652e-01 7.36566544e-03 3.81421471e+02] [ 5.17541634e-01 8.55645913e-01 -4.55280404e-03 -2.79390589e+02] [-8.65875832e-03 -8.34053184e-05 -9.99962509e-01 -4.86195814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.586559995 meters 0.04694217851153398 Centerline is valid? [True, True] Translation: X:381.48, Y:-279.34, Z:-4.86 [[-8.88642272e-01 4.58554362e-01 6.54292528e-03 3.81484269e+02] [ 4.58541555e-01 8.88666357e-01 -3.42740551e-03 -2.79341651e+02] [-7.38612933e-03 -4.55342810e-05 -9.99972721e-01 -4.86286807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.646559995 meters 0.047927920285388496 Centerline is valid? [True, True] Translation: X:381.26, Y:-279.15, Z:-4.86 [[-9.17436302e-01 3.97839658e-01 5.85134678e-03 3.81256055e+02] [ 3.97831457e-01 9.17454962e-01 -2.55454428e-03 -2.79152776e+02] [-6.38464616e-03 -1.57818472e-05 -9.99979618e-01 -4.86267957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.7065599950001 meters 0.047519960001513595 Centerline is valid? [True, True] Translation: X:381.58, Y:-278.65, Z:-5.94 [[-8.87681318e-01 -4.60443953e-01 3.63931287e-03 3.81579060e+02] [ 4.60439484e-01 -8.87688768e-01 -2.03278299e-03 -2.78652810e+02] [ 4.16655980e-03 -1.28780145e-04 9.99991312e-01 -5.94230490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.766559995 meters 0.048061043712034124 Centerline is valid? [True, True] Translation: X:381.24, Y:-279.15, Z:-4.86 [[-9.17865714e-01 3.96867377e-01 4.33788276e-03 3.81243494e+02] [ 3.96862952e-01 9.17875964e-01 -1.87407041e-03 -2.79152158e+02] [-4.72539573e-03 1.39998132e-06 -9.99988835e-01 -4.86333913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.826559995 meters 0.04662652813746305 Centerline is valid? [True, True] Translation: X:381.14, Y:-279.03, Z:-4.86 [[-9.44255485e-01 3.29155157e-01 6.20176215e-03 3.81144318e+02] [ 3.29147987e-01 9.44275851e-01 -2.17249049e-03 -2.79030772e+02] [-6.57126068e-03 -1.00885355e-05 -9.99978409e-01 -4.86066198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.886559995 meters 0.048111000020927476 Centerline is valid? [True, True] Translation: X:381.45, Y:-278.53, Z:-5.95 [[-9.17152489e-01 -3.98413935e-01 9.88176300e-03 3.81448204e+02] [ 3.98394341e-01 -9.17205672e-01 -3.96281384e-03 -2.78530399e+02] [ 1.06424493e-02 3.02333889e-04 9.99943322e-01 -5.95001475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.9465599950001 meters 0.04802541707383028 Centerline is valid? [True, True] Translation: X:381.28, Y:-278.55, Z:-5.95 [[-8.87479004e-01 -4.60736162e-01 1.01591096e-02 3.81280152e+02] [ 4.60706987e-01 -8.87537145e-01 -5.18544650e-03 -2.78545496e+02] [ 1.14057099e-02 7.83979022e-05 9.99934950e-01 -5.95202222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.006559995 meters 0.04815984705952988 Centerline is valid? [True, True] Translation: X:381.16, Y:-279.12, Z:-4.86 [[-9.23533671e-01 3.83358139e-01 1.10497123e-02 3.81157455e+02] [ 3.83329619e-01 9.23599767e-01 -4.67689397e-03 -2.79116272e+02] [-1.19984371e-02 -8.35870563e-05 -9.99928013e-01 -4.85507773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.066559995 meters 0.04819294045708275 Centerline is valid? [True, True] Translation: X:380.99, Y:-278.97, Z:-4.86 [[-9.47873143e-01 3.18482960e-01 1.02522706e-02 3.80988133e+02] [ 3.18463670e-01 9.47928584e-01 -3.50570029e-03 -2.78967235e+02] [-1.08349262e-02 -5.79834201e-05 -9.99941299e-01 -4.85576488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.126559995 meters 0.04780396477289799 Centerline is valid? [True, True] Translation: X:381.21, Y:-278.45, Z:-5.95 [[-9.20482687e-01 -3.90654122e-01 1.00488984e-02 3.81208849e+02] [ 3.90631578e-01 -9.20537535e-01 -4.19732114e-03 -2.78453765e+02] [ 1.08900889e-02 6.18555874e-05 9.99940699e-01 -5.94986372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.1865599950002 meters 0.047530337566740376 Centerline is valid? [True, True] Translation: X:380.89, Y:-278.94, Z:-4.86 [[-9.48571886e-01 3.16392141e-01 1.03629276e-02 3.80889925e+02] [ 3.16372766e-01 9.48628490e-01 -3.50159942e-03 -2.78937372e+02] [-1.09384469e-02 -4.29707018e-05 -9.99940173e-01 -4.85644591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.246559995 meters 0.0476242746304574 Centerline is valid? [True, True] Translation: X:380.90, Y:-278.86, Z:-4.86 [[-9.69246038e-01 2.45871307e-01 1.04603406e-02 3.80896089e+02] [ 2.45856229e-01 9.69302479e-01 -2.72378138e-03 -2.78857154e+02] [-1.08089338e-02 -6.82744294e-05 -9.99941579e-01 -4.85674318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.306559995 meters 0.047744548362610016 Centerline is valid? [True, True] Translation: X:380.93, Y:-278.78, Z:-4.86 [[-9.84975344e-01 1.72285480e-01 1.18863822e-02 3.80929687e+02] [ 1.72271392e-01 9.85047054e-01 -2.20680619e-03 -2.78784436e+02] [-1.20888464e-02 -1.25966086e-04 -9.99926919e-01 -4.86020095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.366559995 meters 0.048339613048303656 Centerline is valid? [True, True] Translation: X:380.73, Y:-278.67, Z:-4.86 [[-9.95304569e-01 9.56211806e-02 1.50134570e-02 3.80730698e+02] [ 9.56064430e-02 9.95417764e-01 -1.69795831e-03 -2.78670173e+02] [-1.51070226e-02 -2.54602439e-04 -9.99885850e-01 -4.85539880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.426559995 meters 0.048783193194986134 Centerline is valid? [True, True] Translation: X:380.79, Y:-278.60, Z:-4.85 [[-9.99637983e-01 2.15428637e-02 1.61185423e-02 3.80786868e+02] [ 2.15349476e-02 9.99767875e-01 -6.64542888e-04 -2.78596386e+02] [-1.61291170e-02 -3.17190348e-04 -9.99869867e-01 -4.85472516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.486559995 meters 0.04868044150417449 Centerline is valid? [True, True] Translation: X:381.36, Y:-278.51, Z:-4.86 [[-9.98180524e-01 -5.80577019e-02 1.62771106e-02 3.81360599e+02] [-5.80560450e-02 9.98313160e-01 5.74697873e-04 -2.78511089e+02] [-1.62830194e-02 -3.71332442e-04 -9.99867354e-01 -4.85795902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.546559995 meters 0.048887348326876794 Centerline is valid? [True, True] Translation: X:380.36, Y:-277.99, Z:-5.95 [[-9.98307778e-01 -5.60994653e-02 1.53111156e-02 3.80361582e+02] [ 5.60973544e-02 -9.98425142e-01 -5.67652884e-04 -2.77991279e+02] [ 1.53188478e-02 2.92220787e-04 9.99882617e-01 -5.94925300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.606559995 meters 0.04930093026528588 Centerline is valid? [True, True] Translation: X:380.28, Y:-278.53, Z:-4.86 [[-9.97874173e-01 -6.35444977e-02 1.44648484e-02 3.80278766e+02] [-6.35429344e-02 9.97978944e-01 5.68112104e-04 -2.78525567e+02] [-1.44717146e-02 -3.52234520e-04 -9.99895217e-01 -4.85764318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.666559995 meters 0.04893725132740236 Centerline is valid? [True, True] Translation: X:380.16, Y:-278.00, Z:-5.95 [[-9.98594007e-01 -5.10298218e-02 1.43515428e-02 3.80156130e+02] [ 5.10294665e-02 -9.98697071e-01 -3.91183952e-04 -2.77995663e+02] [ 1.43528058e-02 3.41717622e-04 9.99896935e-01 -5.94782133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.7265599950001 meters 0.048831761272319786 Centerline is valid? [True, True] Translation: X:380.17, Y:-278.54, Z:-4.86 [[-9.97789075e-01 -6.48994935e-02 1.43184214e-02 3.80171611e+02] [-6.48971141e-02 9.97891761e-01 6.31237385e-04 -2.78536431e+02] [-1.43292017e-02 -2.99382461e-04 -9.99897287e-01 -4.85839213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.786559995 meters 0.0480682201874801 Centerline is valid? [True, True] Translation: X:379.97, Y:-278.00, Z:-5.95 [[-9.99034124e-01 -4.14740505e-02 1.45162932e-02 3.79967992e+02] [ 4.14742490e-02 -9.99139532e-01 -2.87494059e-04 -2.77998099e+02] [ 1.45157260e-02 3.14835984e-04 9.99894592e-01 -5.94729651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.846559995 meters 0.048620930761870726 Centerline is valid? [True, True] Translation: X:379.97, Y:-278.55, Z:-4.86 [[-9.97798202e-01 -6.44961207e-02 1.54595578e-02 3.79971090e+02] [-6.44922287e-02 9.97917927e-01 7.50684122e-04 -2.78548120e+02] [-1.54757860e-02 -2.47990067e-04 -9.99880212e-01 -4.85531595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.906559995 meters 0.04782376084133754 Centerline is valid? [True, True] Translation: X:379.87, Y:-278.48, Z:-4.86 [[-9.90995135e-01 -1.33009781e-01 1.53961152e-02 3.79867331e+02] [-1.32997064e-01 9.91114702e-01 1.85151182e-03 -2.78483273e+02] [-1.55055853e-02 -2.12798926e-04 -9.99879759e-01 -4.85887312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.9665599950001 meters 0.04837213187807842 Centerline is valid? [True, True] Translation: X:379.85, Y:-278.41, Z:-4.86 [[-9.79526161e-01 -2.00913547e-01 1.27375708e-02 3.79846365e+02] [-2.00898460e-01 9.79608966e-01 2.46628873e-03 -2.78409204e+02] [-1.29733494e-02 -1.43164034e-04 -9.99915832e-01 -4.86162056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.026559995 meters 0.04759540136135725 Centerline is valid? [True, True] Translation: X:379.67, Y:-277.87, Z:-5.94 [[-9.93469956e-01 1.13550036e-01 1.11281203e-02 3.79667491e+02] [-1.13542826e-01 -9.93532279e-01 1.27955295e-03 -2.77870954e+02] [ 1.12014400e-02 7.67918340e-06 9.99937262e-01 -5.94285694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.086559995 meters 0.04767463400544594 Centerline is valid? [True, True] Translation: X:379.60, Y:-278.46, Z:-4.86 [[-9.79070355e-01 -2.03287119e-01 9.77682640e-03 3.79598636e+02] [-2.03277959e-01 9.79119164e-01 1.93219654e-03 -2.78456377e+02] [-9.96546877e-03 -9.56569645e-05 -9.99950339e-01 -4.86440864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.146559995 meters 0.04809252345484458 Centerline is valid? [True, True] Translation: X:379.48, Y:-278.40, Z:-4.86 [[-9.62102099e-01 -2.72518864e-01 9.64469720e-03 3.79477384e+02] [-2.72506179e-01 9.62150435e-01 2.63109282e-03 -2.78401181e+02] [-9.99667203e-03 -9.68596605e-05 -9.99950027e-01 -4.86135052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.2065599950001 meters 0.047619320058882884 Centerline is valid? [True, True] Translation: X:379.40, Y:-278.35, Z:-4.86 [[-9.40098305e-01 -3.40773395e-01 9.41649675e-03 3.79400434e+02] [-3.40757352e-01 9.40145459e-01 3.30811648e-03 -2.78346680e+02] [-9.98019474e-03 -9.87857973e-05 -9.99950192e-01 -4.86448856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.266559995 meters 0.04766596509438371 Centerline is valid? [True, True] Translation: X:379.06, Y:-277.87, Z:-5.94 [[-9.66249089e-01 2.57403049e-01 1.03135448e-02 3.79058923e+02] [-2.57386677e-01 -9.66304117e-01 2.90721715e-03 -2.77866084e+02] [ 1.07143474e-02 1.54526891e-04 9.99942588e-01 -5.94193355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.326559995 meters 0.047962826028413084 Centerline is valid? [True, True] Translation: X:379.18, Y:-278.42, Z:-4.86 [[-9.38596114e-01 -3.44873410e-01 9.98323879e-03 3.79184761e+02] [-3.44854903e-01 9.38649201e-01 3.57393522e-03 -2.78421160e+02] [-1.06033143e-02 -8.82871281e-05 -9.99943779e-01 -4.86444826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.386559995 meters 0.04795785999216757 Centerline is valid? [True, True] Translation: X:379.02, Y:-278.41, Z:-4.87 [[-9.12273782e-01 -4.09492510e-01 8.51069711e-03 3.79021049e+02] [-4.09475347e-01 9.12313477e-01 3.74964557e-03 -2.78405592e+02] [-9.29987545e-03 -6.42173102e-05 -9.99956753e-01 -4.86847626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.4465599950001 meters 0.04789768710305459 Centerline is valid? [True, True] Translation: X:378.90, Y:-278.38, Z:-4.87 [[-8.81249720e-01 -4.72620623e-01 5.35521854e-03 3.78898096e+02] [-4.72612146e-01 8.81265990e-01 2.83086592e-03 -2.78378990e+02] [-6.05729758e-03 -3.62415199e-05 -9.99981654e-01 -4.87056853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.506559995 meters 0.0481084505724488 Centerline is valid? [True, True] Translation: X:378.73, Y:-278.39, Z:-4.87 [[-8.45487108e-01 -5.33987026e-01 3.06684833e-03 3.78731453e+02] [-5.33983599e-01 8.45492670e-01 1.91313176e-03 -2.78385775e+02] [-3.61458532e-03 -2.01184738e-05 -9.99993467e-01 -4.87250958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.566559995 meters 0.048228914058997076 Centerline is valid? [True, True] Translation: X:378.98, Y:-278.12, Z:-4.88 [[-8.02154709e-01 -5.97116250e-01 -8.52752861e-05 3.78977400e+02] [-5.97116247e-01 8.02154713e-01 -6.13787926e-05 -2.78117690e+02] [ 1.05054247e-04 1.68397126e-06 -9.99999995e-01 -4.87510875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.626559995 meters 0.04831337945011637 Centerline is valid? [True, True] Translation: X:377.98, Y:-278.14, Z:-5.93 [[-8.47772716e-01 5.30359543e-01 -4.21226714e-04 3.77979203e+02] [-5.30359460e-01 -8.47772820e-01 -2.98551094e-04 -2.78135511e+02] [-5.15443981e-04 -2.97018995e-05 9.99999867e-01 -5.93087738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.6865599950002 meters 0.04867594219361274 Centerline is valid? [True, True] Translation: X:378.17, Y:-278.68, Z:-4.88 [[-7.96718724e-01 -6.04350292e-01 -2.52213673e-05 3.78171806e+02] [-6.04350291e-01 7.96718724e-01 -1.73500058e-05 -2.78676502e+02] [ 3.05798166e-05 1.41946621e-06 -1.00000000e+00 -4.87523645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.746559995 meters 0.048737020274921085 Centerline is valid? [True, True] Translation: X:378.05, Y:-278.68, Z:-4.87 [[-7.49403538e-01 -6.62112748e-01 1.02322593e-03 3.78047741e+02] [-6.62112158e-01 7.49404236e-01 8.83825708e-04 -2.78677591e+02] [-1.35200211e-03 -1.51482142e-05 -9.99999086e-01 -4.87407393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.806559995 meters 0.049311955859674704 Centerline is valid? [True, True] Translation: X:377.90, Y:-278.70, Z:-4.87 [[-6.98539954e-01 -7.15568935e-01 1.74127918e-03 3.77901643e+02] [-7.15566825e-01 6.98542124e-01 1.73804306e-03 -2.78697190e+02] [-2.46004648e-03 -3.19090966e-05 -9.99996974e-01 -4.87233238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.866559995 meters 0.04840965861787765 Centerline is valid? [True, True] Translation: X:377.75, Y:-278.75, Z:-4.87 [[-6.44751943e-01 -7.64390147e-01 1.62331785e-03 3.77754860e+02] [-7.64387848e-01 6.44753986e-01 1.87505747e-03 -2.78750224e+02] [-2.47991611e-03 -3.18974876e-05 -9.99996925e-01 -4.87330625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.926559995 meters 0.049195389856355166 Centerline is valid? [True, True] Translation: X:377.59, Y:-278.82, Z:-4.87 [[-5.88676134e-01 -8.08368962e-01 1.74209225e-04 3.77592259e+02] [-8.08368928e-01 5.88676160e-01 2.35084416e-04 -2.78823511e+02] [-2.92587763e-04 -2.43673975e-06 -9.99999957e-01 -4.87489667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.986559995 meters 0.048405601488494765 Centerline is valid? [True, True] Translation: X:377.79, Y:-278.40, Z:-4.88 [[-5.25809798e-01 -8.50602007e-01 -5.30468995e-04 3.77791357e+02] [-8.50601598e-01 5.25810066e-01 -8.34701110e-04 -2.78395590e+02] [ 9.88924377e-04 1.23237520e-05 -9.99999511e-01 -4.87555692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.046559995 meters 0.04948163404272801 Centerline is valid? [True, True] Translation: X:376.80, Y:-278.94, Z:-5.93 [[-5.99641990e-01 8.00268274e-01 -4.16781812e-04 3.76802267e+02] [-8.00268092e-01 -5.99642135e-01 -5.39849022e-04 -2.78939034e+02] [-6.81943981e-04 9.82104400e-06 9.99999767e-01 -5.93100860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.106559995 meters 0.04911339138681245 Centerline is valid? [True, True] Translation: X:377.17, Y:-279.32, Z:-4.87 [[-5.20133002e-01 -8.54084862e-01 8.41822032e-04 3.77173447e+02] [-8.54083795e-01 5.20133683e-01 1.35037387e-03 -2.79316448e+02] [-1.59119387e-03 -1.66125424e-05 -9.99998734e-01 -4.87370013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.166559995 meters 0.0497552630973217 Centerline is valid? [True, True] Translation: X:376.99, Y:-279.48, Z:-4.87 [[-4.57294439e-01 -8.89313670e-01 1.73013094e-03 3.76991238e+02] [-8.89307627e-01 4.57297710e-01 3.27863951e-03 -2.79478570e+02] [-3.70692385e-03 -3.93150248e-05 -9.99993129e-01 -4.87202974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.2265599950001 meters 0.04872593765557869 Centerline is valid? [True, True] Translation: X:376.86, Y:-279.58, Z:-4.87 [[-3.91676570e-01 -9.20100882e-01 1.95753580e-03 3.76855190e+02] [-9.20089988e-01 3.91681459e-01 4.47754785e-03 -2.79581494e+02] [-4.88652620e-03 -4.73584993e-05 -9.99988060e-01 -4.87100331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.286559995 meters 0.049883534891974564 Centerline is valid? [True, True] Translation: X:376.73, Y:-279.69, Z:-4.87 [[-3.24808321e-01 -9.45778533e-01 1.58789453e-03 3.76733085e+02] [-9.45767774e-01 3.24812201e-01 4.51133082e-03 -2.79688851e+02] [-4.78248736e-03 -3.64616848e-05 -9.99988563e-01 -4.87105119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.346559995 meters 0.04981874492557679 Centerline is valid? [True, True] Translation: X:376.74, Y:-279.38, Z:-4.87 [[-2.56872306e-01 -9.66444467e-01 1.30815368e-03 3.76742687e+02] [-9.66432217e-01 2.56875637e-01 4.86598952e-03 -2.79383739e+02] [-5.03874145e-03 -1.43039144e-05 -9.99987305e-01 -4.87191957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.406559995 meters 0.049725787257335945 Centerline is valid? [True, True] Translation: X:376.61, Y:-279.54, Z:-4.87 [[-1.89107980e-01 -9.81955877e-01 9.09858439e-04 3.76614915e+02] [-9.81944389e-01 1.89110168e-01 4.74980034e-03 -2.79539919e+02] [-4.83615784e-03 4.79475746e-06 -9.99988306e-01 -4.87274647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.4665599950001 meters 0.0490334064558118 Centerline is valid? [True, True] Translation: X:376.49, Y:-279.76, Z:-4.87 [[-1.20250071e-01 -9.92743550e-01 4.05668985e-04 3.76490901e+02] [-9.92737466e-01 1.20250754e-01 3.47549289e-03 -2.79760015e+02] [-3.49905515e-03 1.52054655e-05 -9.99993878e-01 -4.87365887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.526559995 meters 0.04986929912979531 Centerline is valid? [True, True] Translation: X:376.38, Y:-280.01, Z:-4.87 [[-4.99009882e-02 -9.98754159e-01 1.49468310e-04 3.76379099e+02] [-9.98748144e-01 4.99012064e-02 3.46628104e-03 -2.80006237e+02] [-3.46942125e-03 2.36896525e-05 -9.99993981e-01 -4.87375493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.586559995 meters 0.05026579846190496 Centerline is valid? [True, True] Translation: X:376.29, Y:-280.30, Z:-4.87 [[ 2.32235699e-02 -9.99730286e-01 -1.45940116e-04 3.76287970e+02] [-9.99718069e-01 -2.32240076e-02 4.94249388e-03 -2.80295968e+02] [-4.94455013e-03 3.11166183e-05 -9.99987775e-01 -4.87129825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.646559995 meters 0.0506805727069316 Centerline is valid? [True, True] Translation: X:376.22, Y:-280.55, Z:-4.87 [[ 9.75192505e-02 -9.95233284e-01 -8.40918429e-04 3.76216941e+02] [-9.95199872e-01 -9.75228673e-02 8.15512117e-03 -2.80551445e+02] [-8.19825680e-03 4.16006076e-05 -9.99966393e-01 -4.87036508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.7065599950001 meters 0.050483257253606875 Centerline is valid? [True, True] Translation: X:376.16, Y:-280.75, Z:-4.87 [[ 1.70076565e-01 -9.85429632e-01 -1.54973929e-03 3.76158664e+02] [-9.85391164e-01 -1.70083620e-01 8.70729022e-03 -2.80753046e+02] [-8.84400707e-03 4.61933918e-05 -9.99960890e-01 -4.86904294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.766559995 meters 0.05046343769016251 Centerline is valid? [True, True] Translation: X:376.14, Y:-281.05, Z:-4.87 [[ 2.40724607e-01 -9.70591699e-01 -1.84879441e-03 3.76135910e+02] [-9.70564460e-01 -2.40731703e-01 7.27160065e-03 -2.81054724e+02] [-7.50281866e-03 4.39209347e-05 -9.99971853e-01 -4.86967203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.826559995 meters 0.05000804388231712 Centerline is valid? [True, True] Translation: X:376.17, Y:-281.45, Z:-4.87 [[ 3.09425172e-01 -9.50922505e-01 -1.56602731e-03 3.76167548e+02] [-9.50910875e-01 -3.09429133e-01 4.70311681e-03 -2.81449288e+02] [-4.95687409e-03 3.38896739e-05 -9.99987714e-01 -4.87045647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.886559995 meters 0.04970761428183212 Centerline is valid? [True, True] Translation: X:376.17, Y:-281.67, Z:-4.87 [[ 3.77086077e-01 -9.26177809e-01 -8.70062542e-04 3.76169463e+02] [-9.26175459e-01 -3.77087080e-01 2.08645364e-03 -2.81666051e+02] [-2.26051641e-03 1.90579556e-05 -9.99997445e-01 -4.87196575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.9465599950001 meters 0.04971419404130407 Centerline is valid? [True, True] Translation: X:375.98, Y:-281.46, Z:-4.87 [[ 4.46209091e-01 -8.94928051e-01 -1.10929294e-03 3.75978245e+02] [-8.94925380e-01 -4.46210470e-01 2.18654827e-03 -2.81456355e+02] [-2.45178150e-03 1.70766873e-05 -9.99996994e-01 -4.87166492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.006559995 meters 0.04986267784434886 Centerline is valid? [True, True] Translation: X:376.03, Y:-281.74, Z:-4.87 [[ 5.16530815e-01 -8.56266405e-01 -1.93950222e-03 3.76027715e+02] [-8.56260350e-01 -5.16534456e-01 3.22013588e-03 -2.81735553e+02] [-3.75911389e-03 -2.58056119e-06 -9.99992935e-01 -4.87036356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.066559995 meters 0.050119145419205514 Centerline is valid? [True, True] Translation: X:376.02, Y:-281.89, Z:-4.87 [[ 5.80563541e-01 -8.14210638e-01 -2.64797244e-03 3.76020668e+02] [-8.14202020e-01 -5.80569580e-01 3.74611978e-03 -2.81885746e+02] [-4.58746282e-03 -1.88760546e-05 -9.99989477e-01 -4.86932818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.126559995 meters 0.050725157499704444 Centerline is valid? [True, True] Translation: X:376.48, Y:-282.63, Z:-4.87 [[ 6.45580899e-01 -7.63681674e-01 -3.95020527e-03 3.76475086e+02] [-7.63666475e-01 -6.45592978e-01 4.81903998e-03 -2.82630850e+02] [-6.23043730e-03 -9.44408269e-05 -9.99980586e-01 -4.86699722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.1865599950002 meters 0.050134419029798934 Centerline is valid? [True, True] Translation: X:376.06, Y:-282.28, Z:-4.87 [[ 7.04716119e-01 -7.09468709e-01 -5.41696227e-03 3.76061406e+02] [-7.09445900e-01 -7.04736918e-01 5.69135737e-03 -2.82278437e+02] [-7.85537326e-03 -1.67749603e-04 -9.99969132e-01 -4.86893358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.246559995 meters 0.05148652735906559 Centerline is valid? [True, True] Translation: X:376.86, Y:-283.21, Z:-4.86 [[ 7.55755632e-01 -6.54833582e-01 -5.13853733e-03 3.76862325e+02] [-6.54816875e-01 -7.55773081e-01 4.68079169e-03 -2.83206423e+02] [-6.94870778e-03 -1.72733724e-04 -9.99975843e-01 -4.86448239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.306559995 meters 0.05061996809549216 Centerline is valid? [True, True] Translation: X:376.86, Y:-283.28, Z:-4.87 [[ 8.04303839e-01 -5.94209784e-01 -3.17282131e-03 3.76857036e+02] [-5.94204680e-01 -8.04310091e-01 2.46481402e-03 -2.83278163e+02] [-4.01654880e-03 -9.71541075e-05 -9.99991929e-01 -4.86800772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.366559995 meters 0.05061147463639276 Centerline is valid? [True, True] Translation: X:376.86, Y:-283.35, Z:-4.87 [[ 8.47439118e-01 -5.30885645e-01 -2.71552070e-03 3.76855067e+02] [-5.30882641e-01 -8.47443465e-01 1.78757600e-03 -2.83351257e+02] [-3.25024871e-03 -7.32390252e-05 -9.99994715e-01 -4.86836243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.426559995 meters 0.049490570586912225 Centerline is valid? [True, True] Translation: X:376.86, Y:-283.42, Z:-4.87 [[ 8.86395627e-01 -4.62918227e-01 -3.08344999e-03 3.76858457e+02] [-4.62915111e-01 -8.86400987e-01 1.70042861e-03 -2.83424011e+02] [-3.52033251e-03 -7.98768905e-05 -9.99993800e-01 -4.86830157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.486559995 meters 0.04931875116648605 Centerline is valid? [True, True] Translation: X:376.86, Y:-283.50, Z:-4.87 [[ 9.20469571e-01 -3.90798417e-01 -3.51657217e-03 3.76863565e+02] [-3.90795174e-01 -9.20476284e-01 1.59477919e-03 -2.83504072e+02] [-3.86015847e-03 -9.36862789e-05 -9.99992545e-01 -4.86859658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.546559995 meters 0.048615264665694054 Centerline is valid? [True, True] Translation: X:376.87, Y:-283.59, Z:-4.87 [[ 9.49660241e-01 -3.13250467e-01 -4.42401966e-03 3.76872672e+02] [-3.13246396e-01 -9.49670536e-01 1.60276359e-03 -2.83587957e+02] [-4.70342756e-03 -1.36272642e-04 -9.99988930e-01 -4.86727727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.606559995 meters 0.049526920759545914 Centerline is valid? [True, True] Translation: X:376.88, Y:-283.68, Z:-4.87 [[ 9.71757033e-01 -2.35921987e-01 -5.39300297e-03 3.76884876e+02] [-2.35917353e-01 -9.71771982e-01 1.48890461e-03 -2.83677813e+02] [-5.59203452e-03 -1.74550538e-04 -9.99984349e-01 -4.86621145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.666559995 meters 0.048929421681922686 Centerline is valid? [True, True] Translation: X:376.91, Y:-283.76, Z:-4.87 [[ 9.87260282e-01 -1.59040986e-01 -4.80633611e-03 3.76907269e+02] [-1.59038342e-01 -9.87271969e-01 9.29815692e-04 -2.83757091e+02] [-4.89303972e-03 -1.53578377e-04 -9.99988017e-01 -4.86658695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.7265599950001 meters 0.05031687376411417 Centerline is valid? [True, True] Translation: X:376.93, Y:-283.83, Z:-4.87 [[ 9.96410004e-01 -8.44947436e-02 -5.26715642e-03 3.76934844e+02] [-8.44927674e-02 -9.96423914e-01 5.96997763e-04 -2.83833967e+02] [-5.29876378e-03 -1.49817921e-04 -9.99985950e-01 -4.86500758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.786559995 meters 0.04726107364169246 Centerline is valid? [True, True] Translation: X:376.97, Y:-283.90, Z:-4.87 [[ 9.99922660e-01 -1.07729405e-02 -6.21426894e-03 3.76968204e+02] [-1.07718103e-02 -9.99941959e-01 2.15311719e-04 -2.83897035e+02] [-6.21622780e-03 -1.48356140e-04 -9.99980668e-01 -4.86605770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.846559995 meters 0.047537541080698964 Centerline is valid? [True, True] Translation: X:377.00, Y:-283.97, Z:-4.87 [[ 9.97879587e-01 6.47358397e-02 -6.75290437e-03 3.77000456e+02] [ 6.47353226e-02 -9.97902426e-01 -2.95358565e-04 -2.83968262e+02] [-6.75785993e-03 -1.42419160e-04 -9.99977155e-01 -4.86557640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.906559995 meters 0.04720058645217276 Centerline is valid? [True, True] Translation: X:377.04, Y:-284.04, Z:-4.87 [[ 9.90165073e-01 1.39756322e-01 -6.42635028e-03 3.77037497e+02] [ 1.39754149e-01 -9.90185920e-01 -7.88168784e-04 -2.84038699e+02] [-6.47343313e-03 -1.17691910e-04 -9.99979040e-01 -4.86605254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.9665599950001 meters 0.047173100826363314 Centerline is valid? [True, True] Translation: X:377.08, Y:-284.11, Z:-4.87 [[ 9.77460011e-01 2.11041095e-01 -5.79504807e-03 3.77078904e+02] [ 2.11037826e-01 -9.77477187e-01 -1.17693426e-03 -2.84105413e+02] [-5.91290878e-03 -7.25681721e-05 -9.99982516e-01 -4.86577793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.026559995 meters 0.04670514409274368 Centerline is valid? [True, True] Translation: X:377.13, Y:-284.17, Z:-4.87 [[ 9.58934965e-01 2.83568619e-01 -5.70703014e-03 3.77125777e+02] [ 2.83563922e-01 -9.58951946e-01 -1.63305044e-03 -2.84171669e+02] [-5.93584952e-03 -5.23186798e-05 -9.99982381e-01 -4.86561938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.086559995 meters 0.0476927543397444 Centerline is valid? [True, True] Translation: X:377.18, Y:-284.24, Z:-4.86 [[ 9.33483915e-01 3.58578995e-01 -5.37442612e-03 3.77179738e+02] [ 3.58573395e-01 -9.33499385e-01 -2.00463109e-03 -2.84241864e+02] [-5.73584207e-03 -5.58353443e-05 -9.99983548e-01 -4.86341851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.146559995 meters 0.04707085414655333 Centerline is valid? [True, True] Translation: X:377.23, Y:-284.30, Z:-4.86 [[ 9.02419598e-01 4.30805853e-01 -6.72204951e-03 3.77234582e+02] [ 4.30794519e-01 -9.02444631e-01 -3.12587831e-03 -2.84295508e+02] [-7.41292415e-03 -7.49682382e-05 -9.99972521e-01 -4.86353146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.2065599950001 meters 0.04696633020399046 Centerline is valid? [True, True] Translation: X:377.30, Y:-284.35, Z:-4.86 [[ 8.67193024e-01 4.97924225e-01 -6.90838875e-03 3.77297012e+02] [ 4.97908981e-01 -8.67220539e-01 -3.89668061e-03 -2.84350982e+02] [-7.93134828e-03 -6.05745601e-05 -9.99968545e-01 -4.86399725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.266559995 meters 0.04673315271935718 Centerline is valid? [True, True] Translation: X:377.36, Y:-284.40, Z:-4.86 [[ 8.27370824e-01 5.61621875e-01 -6.19589638e-03 3.77363853e+02] [ 5.61606428e-01 -8.27394022e-01 -4.16558977e-03 -2.84401012e+02] [-7.46593397e-03 -3.31677934e-05 -9.99972129e-01 -4.86440981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.326559995 meters 0.04671608344269764 Centerline is valid? [True, True] Translation: X:377.43, Y:-284.44, Z:-4.86 [[ 7.83111911e-01 6.21859779e-01 -5.11365597e-03 3.77433283e+02] [ 6.21846570e-01 -7.83128607e-01 -4.05325822e-03 -2.84443932e+02] [-6.52520854e-03 -5.75463334e-06 -9.99978711e-01 -4.86438753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.386559995 meters 0.04704519266109294 Centerline is valid? [True, True] Translation: X:377.51, Y:-284.48, Z:-4.87 [[ 7.35305200e-01 6.77725154e-01 -3.85712294e-03 3.77505689e+02] [ 6.77715683e-01 -7.35315317e-01 -3.58309123e-03 -2.84482303e+02] [-5.26455263e-03 2.06329119e-05 -9.99986142e-01 -4.86697379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.4465599950001 meters 0.04837628289175132 Centerline is valid? [True, True] Translation: X:377.59, Y:-284.52, Z:-4.87 [[ 6.82544287e-01 7.30842408e-01 -1.63432846e-03 3.77591937e+02] [ 7.30840249e-01 -6.82546243e-01 -1.77670902e-03 -2.84524824e+02] [-2.41399905e-03 1.82495763e-05 -9.99997086e-01 -4.86828437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.506559995 meters 0.04808300319365641 Centerline is valid? [True, True] Translation: X:377.68, Y:-284.56, Z:-4.87 [[ 6.23615086e-01 7.81730838e-01 -1.05888910e-03 3.77676784e+02] [ 7.81729673e-01 -6.23615985e-01 -1.34982090e-03 -2.84559030e+02] [-1.71553680e-03 1.40036491e-05 -9.99998528e-01 -4.86783838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.566559995 meters 0.047466723214066975 Centerline is valid? [True, True] Translation: X:377.77, Y:-284.59, Z:-4.87 [[ 5.58834218e-01 8.29278038e-01 -1.50082204e-03 3.77773245e+02] [ 8.29274970e-01 -5.58836233e-01 -2.25561809e-03 -2.84591478e+02] [-2.70924828e-03 1.59224235e-05 -9.99996330e-01 -4.86592767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.626559995 meters 0.047741577858743944 Centerline is valid? [True, True] Translation: X:377.85, Y:-284.60, Z:-4.86 [[ 4.90876337e-01 8.71226711e-01 -2.10715042e-03 3.77849438e+02] [ 8.71218526e-01 -4.90880859e-01 -3.77645276e-03 -2.84602503e+02] [-4.32450632e-03 1.79828113e-05 -9.99990649e-01 -4.86337006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.6865599950002 meters 0.047260041168471156 Centerline is valid? [True, True] Translation: X:377.92, Y:-284.61, Z:-4.86 [[ 4.19603580e-01 9.07703652e-01 -2.62992238e-03 3.77922505e+02] [ 9.07685603e-01 -4.19611822e-01 -5.72412605e-03 -2.84605716e+02] [-6.29935664e-03 1.47211065e-05 -9.99980159e-01 -4.86462743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.746559995 meters 0.04763465305846377 Centerline is valid? [True, True] Translation: X:378.03, Y:-284.62, Z:-4.86 [[ 3.43939391e-01 9.38988626e-01 -2.46073009e-03 3.78027609e+02] [ 9.38964781e-01 -3.43948194e-01 -6.69173495e-03 -2.84615524e+02] [-7.12982668e-03 -8.98764720e-06 -9.99974582e-01 -4.86313297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.806559995 meters 0.047396747306627504 Centerline is valid? [True, True] Translation: X:378.11, Y:-284.61, Z:-4.86 [[ 2.66188186e-01 9.63919362e-01 -1.82034609e-03 3.78114362e+02] [ 9.63897615e-01 -2.66194408e-01 -6.47488189e-03 -2.84610706e+02] [-6.72582997e-03 -3.10901929e-05 -9.99977381e-01 -4.86215395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.866559995 meters 0.04717782449508252 Centerline is valid? [True, True] Translation: X:378.20, Y:-284.60, Z:-4.86 [[ 1.86128345e-01 9.82524477e-01 -1.37526641e-03 3.78197671e+02] [ 9.82500000e-01 -1.86133415e-01 -6.93560335e-03 -2.84598026e+02] [-7.07038309e-03 -6.02868807e-05 -9.99975003e-01 -4.86162331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.926559995 meters 0.04736120724715316 Centerline is valid? [True, True] Translation: X:378.28, Y:-284.58, Z:-4.86 [[ 1.06706946e-01 9.94290028e-01 -9.84018336e-04 3.78276036e+02] [ 9.94255051e-01 -1.06711446e-01 -8.34033745e-03 -2.84579340e+02] [-8.39772038e-03 -8.83932663e-05 -9.99964735e-01 -4.85861942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.986559995 meters 0.0473304168413411 Centerline is valid? [True, True] Translation: X:378.36, Y:-284.55, Z:-4.86 [[ 2.71709622e-02 9.99630730e-01 -3.77705154e-04 3.78355375e+02] [ 9.99584206e-01 -2.71733420e-02 -9.64494984e-03 -2.84553929e+02] [-9.65165176e-03 -1.15485538e-04 -9.99953415e-01 -4.85852390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.046559995 meters 0.04714477376948323 Centerline is valid? [True, True] Translation: X:378.43, Y:-284.52, Z:-4.86 [[-5.32835760e-02 9.98579313e-01 4.65775614e-04 3.78434828e+02] [ 9.98508562e-01 5.32853458e-02 -1.18879509e-02 -2.84522537e+02] [-1.18958808e-02 -1.68351595e-04 -9.99929227e-01 -4.85665834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.106559995 meters 0.047646582928356405 Centerline is valid? [True, True] Translation: X:378.51, Y:-284.49, Z:-4.85 [[-1.34211903e-01 9.90951424e-01 1.56193376e-03 3.78513376e+02] [ 9.90863069e-01 1.34220796e-01 -1.32346450e-02 -2.84486021e+02] [-1.33245343e-02 -2.28584414e-04 -9.99911198e-01 -4.85349951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.166559995 meters 0.04808351292882694 Centerline is valid? [True, True] Translation: X:378.58, Y:-284.44, Z:-4.85 [[-2.15212580e-01 9.76563371e-01 2.74356641e-03 3.78578883e+02] [ 9.76465446e-01 2.15229861e-01 -1.38325776e-02 -2.84444916e+02] [-1.40988861e-02 -2.97946931e-04 -9.99900561e-01 -4.85281339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.2265599950001 meters 0.04914532573583201 Centerline is valid? [True, True] Translation: X:378.64, Y:-284.40, Z:-4.85 [[-2.91700663e-01 9.56502451e-01 3.71284440e-03 3.78639550e+02] [ 9.56411364e-01 2.91724136e-01 -1.32034211e-02 -2.84399581e+02] [-1.37122310e-02 -3.00440121e-04 -9.99905938e-01 -4.85169254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.286559995 meters 0.04747535478620861 Centerline is valid? [True, True] Translation: X:378.70, Y:-284.35, Z:-4.86 [[-3.63280326e-01 9.31669145e-01 4.47306580e-03 3.78700920e+02] [ 9.31589802e-01 3.63307777e-01 -1.21614075e-02 -2.84346795e+02] [-1.29555078e-02 -2.50937615e-04 -9.99916042e-01 -4.85885739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.346559995 meters 0.04737541198653522 Centerline is valid? [True, True] Translation: X:378.76, Y:-284.29, Z:-4.86 [[-4.31053698e-01 9.02313666e-01 4.77045678e-03 3.78761242e+02] [ 9.02253977e-01 4.31080061e-01 -1.03798962e-02 -2.84290579e+02] [-1.14223710e-02 -1.70129055e-04 -9.99934748e-01 -4.85723553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.406559995 meters 0.047036228788809205 Centerline is valid? [True, True] Translation: X:378.81, Y:-284.23, Z:-4.86 [[-4.92617809e-01 8.70235691e-01 4.18763639e-03 3.78805826e+02] [ 8.70203362e-01 4.92635605e-01 -7.50126599e-03 -2.84234265e+02] [-8.59084818e-03 -5.11619507e-05 -9.99963097e-01 -4.86029124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.4665599950001 meters 0.04717924573796698 Centerline is valid? [True, True] Translation: X:378.86, Y:-284.17, Z:-4.86 [[-5.54068851e-01 8.32462446e-01 3.73964224e-03 3.78859429e+02] [ 8.32443505e-01 5.54081471e-01 -5.61550807e-03 -2.84166161e+02] [-6.74676606e-03 1.66279123e-06 -9.99977240e-01 -4.86282947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.526559995 meters 0.04663499576454943 Centerline is valid? [True, True] Translation: X:378.90, Y:-284.10, Z:-4.86 [[-6.12447342e-01 7.90501852e-01 3.88261705e-03 3.78898186e+02] [ 7.90486401e-01 6.12459647e-01 -4.94273429e-03 -2.84101664e+02] [-6.28518688e-03 4.19914994e-05 -9.99980247e-01 -4.86183216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.586559995 meters 0.04706387263545608 Centerline is valid? [True, True] Translation: X:378.93, Y:-284.04, Z:-4.86 [[-6.72201777e-01 7.40347675e-01 5.48563187e-03 3.78932507e+02] [ 7.40323704e-01 6.72224157e-01 -5.95783566e-03 -2.84035556e+02] [-8.09844404e-03 5.62755877e-05 -9.99967206e-01 -4.85991496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.646559995 meters 0.04782831516513504 Centerline is valid? [True, True] Translation: X:378.96, Y:-283.96, Z:-4.86 [[-7.31196709e-01 6.82114355e-01 8.44867829e-03 3.78964878e+02] [ 6.82069248e-01 7.31245517e-01 -7.84444846e-03 -2.83963084e+02] [-1.15288690e-02 2.67487510e-05 -9.99933540e-01 -4.85630353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.7065599950001 meters 0.04785102323334683 Centerline is valid? [True, True] Translation: X:379.39, Y:-283.58, Z:-5.95 [[-6.84452383e-01 -7.29001478e-01 9.04323681e-03 3.79390538e+02] [ 7.28939359e-01 -6.84512117e-01 -9.51692970e-03 -2.83578083e+02] [ 1.31280610e-02 7.80860306e-05 9.99913820e-01 -5.94863980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.766559995 meters 0.04834227058394686 Centerline is valid? [True, True] Translation: X:379.35, Y:-283.54, Z:-5.95 [[-6.82332126e-01 -7.30978579e-01 9.65335337e-03 3.79346748e+02] [ 7.30906641e-01 -6.82400406e-01 -1.02551411e-02 -2.83540952e+02] [ 1.40837407e-02 5.82878739e-05 9.99900818e-01 -5.94933309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.826559995 meters 0.04800219033078084 Centerline is valid? [True, True] Translation: X:379.31, Y:-283.50, Z:-5.95 [[-6.82544210e-01 -7.30790168e-01 8.89561816e-03 3.79308187e+02] [ 7.30729105e-01 -6.82602174e-01 -9.44704437e-03 -2.83501269e+02] [ 1.29759754e-02 5.22616593e-05 9.99915807e-01 -5.94920031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.886559995 meters 0.04778987903714661 Centerline is valid? [True, True] Translation: X:379.27, Y:-283.46, Z:-5.94 [[-6.84161663e-01 -7.29302260e-01 6.40561448e-03 3.79270399e+02] [ 7.29270549e-01 -6.84191649e-01 -6.80100423e-03 -2.83457819e+02] [ 9.34265569e-03 1.84396226e-05 9.99956356e-01 -5.94323941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.9465599950001 meters 0.047951169037644015 Centerline is valid? [True, True] Translation: X:379.23, Y:-283.42, Z:-5.94 [[-6.84744319e-01 -7.28771254e-01 4.20450369e-03 3.79232224e+02] [ 7.28757590e-01 -6.84757227e-01 -4.46272391e-03 -2.83416176e+02] [ 6.13136919e-03 8.23913801e-06 9.99981203e-01 -5.93999783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.006559995 meters 0.04793397578026492 Centerline is valid? [True, True] Translation: X:379.19, Y:-283.38, Z:-5.94 [[-6.84006877e-01 -7.29474885e-01 9.92068702e-04 3.79192789e+02] [ 7.29474126e-01 -6.84007596e-01 -1.05265994e-03 -2.83376407e+02] [ 1.44647152e-03 3.66181280e-06 9.99998954e-01 -5.93661123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.066559995 meters 0.04823184506031192 Centerline is valid? [True, True] Translation: X:379.15, Y:-283.34, Z:-5.94 [[-6.81952616e-01 -7.31396085e-01 6.29433568e-04 3.79152410e+02] [ 7.31395781e-01 -6.81952906e-01 -6.67681817e-04 -2.83335951e+02] [ 9.17583918e-04 5.03769376e-06 9.99999579e-01 -5.93551507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.126559995 meters 0.048010239805034015 Centerline is valid? [True, True] Translation: X:379.11, Y:-283.30, Z:-5.94 [[-6.77929195e-01 -7.35127065e-01 4.52918108e-04 3.79110080e+02] [ 7.35126908e-01 -6.77929346e-01 -4.80299781e-04 -2.83297417e+02] [ 6.60127845e-04 7.34304481e-06 9.99999782e-01 -5.93591106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.1865599950002 meters 0.048496442872536065 Centerline is valid? [True, True] Translation: X:379.07, Y:-283.26, Z:-5.94 [[-6.76422966e-01 -7.36511803e-01 1.52815722e-03 3.79069237e+02] [ 7.36510022e-01 -6.76424691e-01 -1.62004188e-03 -2.83258258e+02] [ 2.22686324e-03 2.96695776e-05 9.99997520e-01 -5.93699106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.246559995 meters 0.04829007830413619 Centerline is valid? [True, True] Translation: X:379.03, Y:-283.21, Z:-5.94 [[-6.78361245e-01 -7.34723132e-01 2.81777911e-03 3.79032791e+02] [ 7.34717065e-01 -6.78367096e-01 -2.98627604e-03 -2.83214897e+02] [ 4.10557472e-03 4.44964655e-05 9.99991571e-01 -5.93810497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.306559995 meters 0.047965058426397596 Centerline is valid? [True, True] Translation: X:379.00, Y:-283.17, Z:-5.94 [[-6.81507094e-01 -7.31802081e-01 3.71425557e-03 3.78996706e+02] [ 7.31791501e-01 -6.81517214e-01 -3.93519716e-03 -2.83170110e+02] [ 5.41111458e-03 3.61958812e-05 9.99985359e-01 -5.93799157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.366559995 meters 0.047722508855049646 Centerline is valid? [True, True] Translation: X:378.96, Y:-283.13, Z:-5.94 [[-6.87291423e-01 -7.26367713e-01 4.52165553e-03 3.78962282e+02] [ 7.26351924e-01 -6.87306297e-01 -4.78923096e-03 -2.83125158e+02] [ 6.58650506e-03 -7.28416779e-06 9.99978309e-01 -5.93941098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.426559995 meters 0.04833212027804122 Centerline is valid? [True, True] Translation: X:378.92, Y:-283.08, Z:-5.94 [[-6.90810763e-01 -7.23023275e-01 4.22306337e-03 3.78924432e+02] [ 7.23009447e-01 -6.90823670e-01 -4.47168049e-03 -2.83081817e+02] [ 6.15052121e-03 -3.57702938e-05 9.99981085e-01 -5.93684475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.486559995 meters 0.04864473212796541 Centerline is valid? [True, True] Translation: X:378.89, Y:-283.04, Z:-5.94 [[-6.92588343e-01 -7.21323766e-01 3.66231119e-03 3.78886178e+02] [ 7.21313346e-01 -6.92598024e-01 -3.87731492e-03 -2.83037866e+02] [ 5.33330889e-03 -4.37091726e-05 9.99985777e-01 -5.93760582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.546559995 meters 0.04891075328529189 Centerline is valid? [True, True] Translation: X:378.84, Y:-283.00, Z:-5.94 [[-6.91651768e-01 -7.22222726e-01 3.48782201e-03 3.78843348e+02] [ 7.22213292e-01 -6.91660562e-01 -3.69161530e-03 -2.82997930e+02] [ 5.07855740e-03 -3.43608356e-05 9.99987104e-01 -5.93550400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.606559995 meters 0.04844820878990727 Centerline is valid? [True, True] Translation: X:378.80, Y:-282.96, Z:-5.94 [[-6.87039106e-01 -7.26609906e-01 3.91293384e-03 3.78803462e+02] [ 7.26598110e-01 -6.87050249e-01 -4.14039994e-03 -2.82957610e+02] [ 5.69683778e-03 -1.48634118e-06 9.99983773e-01 -5.93827501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.666559995 meters 0.04774161124124749 Centerline is valid? [True, True] Translation: X:378.76, Y:-282.92, Z:-5.94 [[-6.82338777e-01 -7.31020642e-01 4.75551112e-03 3.78759957e+02] [ 7.31003335e-01 -6.82355347e-01 -5.03050828e-03 -2.82919566e+02] [ 6.92235384e-03 4.37836229e-05 9.99976039e-01 -5.93978412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.7265599950001 meters 0.04790561820150381 Centerline is valid? [True, True] Translation: X:378.72, Y:-282.88, Z:-5.94 [[-6.77589809e-01 -7.35418006e-01 5.69285778e-03 3.78718077e+02] [ 7.35393371e-01 -6.77613714e-01 -6.02027380e-03 -2.82880300e+02] [ 8.28497625e-03 1.07213709e-04 9.99965673e-01 -5.93954839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.786559995 meters 0.04886502402768038 Centerline is valid? [True, True] Translation: X:378.67, Y:-282.85, Z:-5.94 [[-6.73595272e-01 -7.39068864e-01 6.82815390e-03 3.78673442e+02] [ 7.39033627e-01 -6.73629854e-01 -7.21928536e-03 -2.82845543e+02] [ 9.93519734e-03 1.83358854e-04 9.99950628e-01 -5.94340684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.846559995 meters 0.048128590138280386 Centerline is valid? [True, True] Translation: X:378.64, Y:-282.80, Z:-5.94 [[-6.74512983e-01 -7.38230600e-01 6.91501048e-03 3.78640011e+02] [ 7.38194434e-01 -6.74548405e-01 -7.30929743e-03 -2.82796927e+02] [ 1.00604563e-02 1.74406233e-04 9.99949377e-01 -5.93936606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.906559995 meters 0.048155888797010646 Centerline is valid? [True, True] Translation: X:378.60, Y:-282.75, Z:-5.94 [[-6.75605390e-01 -7.37237257e-01 6.21155695e-03 3.78600494e+02] [ 7.37208044e-01 -6.75633929e-01 -6.56466095e-03 -2.82754617e+02] [ 9.03645126e-03 1.44089424e-04 9.99959160e-01 -5.93928709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.9665599950001 meters 0.04864790839535196 Centerline is valid? [True, True] Translation: X:378.56, Y:-282.71, Z:-5.94 [[-6.78618165e-01 -7.34477452e-01 4.50108232e-03 3.78562815e+02] [ 7.34462060e-01 -6.78633087e-01 -4.75554396e-03 -2.82712292e+02] [ 6.54742320e-03 7.86756845e-05 9.99978562e-01 -5.93867661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.026559995 meters 0.048267074247762255 Centerline is valid? [True, True] Translation: X:378.53, Y:-282.67, Z:-5.94 [[-6.83585867e-01 -7.29865494e-01 2.59301131e-03 3.78529620e+02] [ 7.29860356e-01 -6.83590784e-01 -2.73874112e-03 -2.82667085e+02] [ 3.77147128e-03 2.03714366e-05 9.99992888e-01 -5.93667967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.086559995 meters 0.047679393473739846 Centerline is valid? [True, True] Translation: X:378.49, Y:-282.62, Z:-5.94 [[-6.85448787e-01 -7.28116760e-01 2.43797487e-03 3.78491954e+02] [ 7.28112209e-01 -6.85453123e-01 -2.57444687e-03 -2.82621832e+02] [ 3.54561540e-03 1.04677805e-05 9.99993714e-01 -5.93556736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.146559995 meters 0.04787219686193673 Centerline is valid? [True, True] Translation: X:378.45, Y:-282.58, Z:-5.94 [[-6.84753729e-01 -7.28768911e-01 2.86450576e-03 3.78452075e+02] [ 7.28762635e-01 -6.84759720e-01 -3.02447961e-03 -2.82579418e+02] [ 4.16564487e-03 1.65210723e-05 9.99991324e-01 -5.93801377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.2065599950001 meters 0.047687595522827024 Centerline is valid? [True, True] Translation: X:378.41, Y:-282.54, Z:-5.94 [[-6.82644834e-01 -7.30739032e-01 4.06172865e-03 3.78411050e+02] [ 7.30726456e-01 -6.82656916e-01 -4.28742886e-03 -2.82539802e+02] [ 5.90575877e-03 4.12214144e-05 9.99982560e-01 -5.94033732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.266559995 meters 0.04784693165027506 Centerline is valid? [True, True] Translation: X:378.37, Y:-282.50, Z:-5.94 [[-6.79059539e-01 -7.34056188e-01 6.29729439e-03 3.78370189e+02] [ 7.34026114e-01 -6.79088729e-01 -6.64551250e-03 -2.82499789e+02] [ 9.15460121e-03 1.09679874e-04 9.99958090e-01 -5.94198674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.326559995 meters 0.04800870628945386 Centerline is valid? [True, True] Translation: X:378.33, Y:-282.46, Z:-5.94 [[-6.77417610e-01 -7.35567237e-01 6.79867443e-03 3.78328939e+02] [ 7.35532272e-01 -6.77451711e-01 -7.17328734e-03 -2.82459782e+02] [ 9.88220877e-03 1.41333285e-04 9.99951160e-01 -5.94267219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.386559995 meters 0.04786096876122969 Centerline is valid? [True, True] Translation: X:378.29, Y:-282.42, Z:-5.94 [[-6.77372563e-01 -7.35607691e-01 6.90909394e-03 3.78288767e+02] [ 7.35571604e-01 -6.77407783e-01 -7.28771571e-03 -2.82419353e+02] [ 1.00411737e-02 1.45634638e-04 9.99949576e-01 -5.94228788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.4465599950001 meters 0.048585022880700164 Centerline is valid? [True, True] Translation: X:378.25, Y:-282.38, Z:-5.94 [[-6.80452407e-01 -7.32766727e-01 6.11930470e-03 3.78250012e+02] [ 7.32738318e-01 -6.80479916e-01 -6.45305302e-03 -2.82375570e+02] [ 8.89264648e-03 9.28535683e-05 9.99960455e-01 -5.94099831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.506559995 meters 0.04784028590374964 Centerline is valid? [True, True] Translation: X:378.21, Y:-282.33, Z:-5.94 [[-6.83995563e-01 -7.29467220e-01 5.25785663e-03 3.78211771e+02] [ 7.29446159e-01 -6.84015770e-01 -5.54321024e-03 -2.82332555e+02] [ 7.64004701e-03 4.37921174e-05 9.99970814e-01 -5.94112161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.566559995 meters 0.04837746180217629 Centerline is valid? [True, True] Translation: X:378.17, Y:-282.29, Z:-5.94 [[-6.88414584e-01 -7.25304552e-01 4.32053423e-03 3.78174116e+02] [ 7.25290256e-01 -6.88428142e-01 -4.55379989e-03 -2.82288061e+02] [ 6.27726914e-03 -1.26087793e-06 9.99980298e-01 -5.93991385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.626559995 meters 0.04862735453021996 Centerline is valid? [True, True] Translation: X:378.14, Y:-282.25, Z:-5.94 [[-6.89508986e-01 -7.24265437e-01 4.11517188e-03 3.78135376e+02] [ 7.24252458e-01 -6.89521266e-01 -4.33598194e-03 -2.82247485e+02] [ 5.97790038e-03 -9.27516629e-06 9.99982132e-01 -5.94023178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.6865599950002 meters 0.0486120242743782 Centerline is valid? [True, True] Translation: X:378.09, Y:-282.21, Z:-5.94 [[-6.89079326e-01 -7.24667887e-01 5.11230628e-03 3.78094818e+02] [ 7.24647878e-01 -6.89098290e-01 -5.38511746e-03 -2.82207446e+02] [ 7.42530321e-03 -6.15121495e-06 9.99972432e-01 -5.94138970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.746559995 meters 0.0482220848152122 Centerline is valid? [True, True] Translation: X:378.05, Y:-282.17, Z:-5.94 [[-6.88064106e-01 -7.25624188e-01 6.10931777e-03 3.78054998e+02] [ 7.25595667e-01 -6.88091228e-01 -6.43353787e-03 -2.82166243e+02] [ 8.87209866e-03 6.20802273e-06 9.99960642e-01 -5.94026941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.806559995 meters 0.04810020381029354 Centerline is valid? [True, True] Translation: X:378.01, Y:-282.13, Z:-5.94 [[-6.86816471e-01 -7.26803363e-01 6.32502200e-03 3.78014304e+02] [ 7.26772860e-01 -6.86845594e-01 -6.65882936e-03 -2.82126092e+02] [ 9.18397307e-03 2.34606426e-05 9.99957826e-01 -5.94154695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.866559995 meters 0.047205282709752674 Centerline is valid? [True, True] Translation: X:377.97, Y:-282.09, Z:-5.94 [[-6.85532516e-01 -7.28018060e-01 5.90545009e-03 3.77972131e+02] [ 7.27991530e-01 -6.85557950e-01 -6.21526502e-03 -2.82086735e+02] [ 8.57335344e-03 3.83513874e-05 9.99963247e-01 -5.94220813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.926559995 meters 0.04738949982811351 Centerline is valid? [True, True] Translation: X:377.93, Y:-282.05, Z:-5.94 [[-6.84406923e-01 -7.29078903e-01 5.57834174e-03 3.77932449e+02] [ 7.29055279e-01 -6.84429654e-01 -5.86934921e-03 -2.82045414e+02] [ 8.09720119e-03 4.98962575e-05 9.99967216e-01 -5.94261235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.986559995 meters 0.0478236203578898 Centerline is valid? [True, True] Translation: X:377.89, Y:-282.01, Z:-5.94 [[-6.83636404e-01 -7.29802874e-01 5.38804356e-03 3.77894218e+02] [ 7.29780873e-01 -6.83657635e-01 -5.66715943e-03 -2.82005948e+02] [ 7.81948636e-03 5.78146349e-05 9.99969426e-01 -5.94328196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.046559995 meters 0.04833458069279368 Centerline is valid? [True, True] Translation: X:377.86, Y:-281.96, Z:-5.94 [[-6.82562860e-01 -7.30809989e-01 4.97021069e-03 3.77856399e+02] [ 7.30791305e-01 -6.82580952e-01 -5.22613795e-03 -2.81962534e+02] [ 7.21188496e-03 6.50190853e-05 9.99973992e-01 -5.94045552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.106559995 meters 0.047713000200958956 Centerline is valid? [True, True] Translation: X:377.82, Y:-281.92, Z:-5.94 [[-6.80993835e-01 -7.32269464e-01 5.36925501e-03 3.77817768e+02] [ 7.32247714e-01 -6.81014995e-01 -5.64453600e-03 -2.81921316e+02] [ 7.78986453e-03 8.77304960e-05 9.99969655e-01 -5.94021990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.166559995 meters 0.04848975284555137 Centerline is valid? [True, True] Translation: X:377.77, Y:-281.89, Z:-5.94 [[-6.77481738e-01 -7.35511612e-01 6.41587204e-03 3.77773572e+02] [ 7.35480718e-01 -6.77512100e-01 -6.74296621e-03 -2.81885939e+02] [ 9.30636089e-03 1.50513716e-04 9.99956684e-01 -5.94450240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.2265599950001 meters 0.047835631612897556 Centerline is valid? [True, True] Translation: X:377.74, Y:-281.84, Z:-5.94 [[-6.75381345e-01 -7.37434711e-01 7.07715679e-03 3.77736858e+02] [ 7.37397246e-01 -6.75418395e-01 -7.43592712e-03 -2.81841596e+02] [ 1.02635526e-02 1.96589473e-04 9.99947309e-01 -5.94231106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.286559995 meters 0.04743016400752274 Centerline is valid? [True, True] Translation: X:377.70, Y:-281.80, Z:-5.94 [[-6.73704520e-01 -7.38965969e-01 7.17752343e-03 3.77696042e+02] [ 7.38927541e-01 -6.73742715e-01 -7.53946163e-03 -2.81800690e+02] [ 1.04072097e-02 2.24300361e-04 9.99945818e-01 -5.94214334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.346559995 meters 0.04755055378621332 Centerline is valid? [True, True] Translation: X:377.65, Y:-281.76, Z:-5.94 [[-6.72212893e-01 -7.40327221e-01 6.74034007e-03 3.77652191e+02] [ 7.40293417e-01 -6.72246645e-01 -7.07851855e-03 -2.81762447e+02] [ 9.77159097e-03 2.31557945e-04 9.99952230e-01 -5.94251813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.406559995 meters 0.04769817032495874 Centerline is valid? [True, True] Translation: X:377.61, Y:-281.72, Z:-5.94 [[-6.75019996e-01 -7.37771094e-01 6.46661118e-03 3.77612870e+02] [ 7.37739879e-01 -6.75050944e-01 -6.78927715e-03 -2.81719474e+02] [ 9.37422441e-03 1.87779106e-04 9.99956043e-01 -5.94194060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.4665599950001 meters 0.047899936869145274 Centerline is valid? [True, True] Translation: X:377.58, Y:-281.67, Z:-5.94 [[-6.78931093e-01 -7.34176782e-01 6.08475659e-03 3.77578009e+02] [ 7.34149016e-01 -6.78958346e-01 -6.38648554e-03 -2.81674461e+02] [ 8.82010567e-03 1.31134455e-04 9.99961094e-01 -5.94042368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.526559995 meters 0.04718492831369923 Centerline is valid? [True, True] Translation: X:377.54, Y:-281.63, Z:-5.94 [[-6.82705570e-01 -7.30667962e-01 6.11832717e-03 3.77540642e+02] [ 7.30639761e-01 -6.82732980e-01 -6.42014296e-03 -2.81629923e+02] [ 8.86817651e-03 8.72257449e-05 9.99960673e-01 -5.94061937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.586559995 meters 0.0475810888785837 Centerline is valid? [True, True] Translation: X:377.50, Y:-281.59, Z:-5.94 [[-6.85235338e-01 -7.28298128e-01 5.86244263e-03 3.77499172e+02] [ 7.28272162e-01 -6.85260413e-01 -6.15018132e-03 -2.81590718e+02] [ 8.49646541e-03 5.51321889e-05 9.99963903e-01 -5.94293660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.646559995 meters 0.049109093598825086 Centerline is valid? [True, True] Translation: X:377.46, Y:-281.55, Z:-5.95 [[-6.88465166e-01 -7.25220007e-01 8.46501162e-03 3.77458689e+02] [ 7.25165664e-01 -6.88517204e-01 -8.87806898e-03 -2.81550128e+02] [ 1.22668594e-02 2.62945375e-05 9.99924759e-01 -5.94667619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.7065599950001 meters 0.048513824594570196 Centerline is valid? [True, True] Translation: X:377.42, Y:-281.51, Z:-5.95 [[-6.91215956e-01 -7.22587699e-01 9.35515179e-03 3.77422232e+02] [ 7.22521124e-01 -6.91279261e-01 -9.80865631e-03 -2.81507809e+02] [ 1.35546368e-02 -2.06049634e-05 9.99908132e-01 -5.94592745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.766559995 meters 0.048228605431302286 Centerline is valid? [True, True] Translation: X:377.38, Y:-281.47, Z:-5.94 [[-6.92549055e-01 -7.21310788e-01 9.30340797e-03 3.77383715e+02] [ 7.21244866e-01 -6.92611540e-01 -9.75181757e-03 -2.81465966e+02] [ 1.34777389e-02 -4.35768160e-05 9.99909170e-01 -5.94393491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.826559995 meters 0.048361477826297856 Centerline is valid? [True, True] Translation: X:377.34, Y:-281.43, Z:-5.94 [[-6.96104994e-01 -7.17902778e-01 7.31017651e-03 3.77343489e+02] [ 7.17861913e-01 -6.96143372e-01 -7.66024503e-03 -2.81427193e+02] [ 1.05882421e-02 -8.46375262e-05 9.99943939e-01 -5.93963922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.886559995 meters 0.04905370097765582 Centerline is valid? [True, True] Translation: X:377.30, Y:-281.39, Z:-5.94 [[-6.97724653e-01 -7.16339284e-01 6.19184967e-03 3.77304282e+02] [ 7.16309920e-01 -6.97752121e-01 -6.48662925e-03 -2.81385766e+02] [ 8.96700359e-03 -9.05978000e-05 9.99959792e-01 -5.94074315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.9465599950001 meters 0.04885585960325167 Centerline is valid? [True, True] Translation: X:377.26, Y:-281.35, Z:-5.94 [[-6.97767016e-01 -7.16305500e-01 5.25570849e-03 3.77260523e+02] [ 7.16284355e-01 -6.97786805e-01 -5.50434691e-03 -2.81348363e+02] [ 7.61015800e-03 -7.61699453e-05 9.99971039e-01 -5.93911700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.006559995 meters 0.04970551595258306 Centerline is valid? [True, True] Translation: X:377.22, Y:-281.31, Z:-5.94 [[-6.95959224e-01 -7.18064044e-01 4.97873805e-03 3.77219815e+02] [ 7.18045121e-01 -6.95977030e-01 -5.21324208e-03 -2.81306108e+02] [ 7.20852901e-03 -5.32453409e-05 9.99974017e-01 -5.93949623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.066559995 meters 0.048357434736358916 Centerline is valid? [True, True] Translation: X:377.18, Y:-281.27, Z:-5.94 [[-6.92165326e-01 -7.21717800e-01 5.52982020e-03 3.77178388e+02] [ 7.21694585e-01 -6.92187415e-01 -5.78866211e-03 -2.81266477e+02] [ 8.00545243e-03 -1.58699051e-05 9.99967956e-01 -5.94263150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.126559995 meters 0.0481134433095183 Centerline is valid? [True, True] Translation: X:377.14, Y:-281.23, Z:-5.94 [[-6.89330415e-01 -7.24424240e-01 5.75315950e-03 3.77138476e+02] [ 7.24399224e-01 -6.89354423e-01 -6.02037507e-03 -2.81227752e+02] [ 8.32727158e-03 1.75566282e-05 9.99965328e-01 -5.94241773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.1865599950002 meters 0.04831733064144486 Centerline is valid? [True, True] Translation: X:377.10, Y:-281.19, Z:-5.94 [[-6.87110506e-01 -7.26533550e-01 5.30595896e-03 3.77098807e+02] [ 7.26512347e-01 -6.87130991e-01 -5.55075550e-03 -2.81186878e+02] [ 7.67869894e-03 4.08622835e-05 9.99970518e-01 -5.93908806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.246559995 meters 0.04867660243492951 Centerline is valid? [True, True] Translation: X:377.06, Y:-281.15, Z:-5.94 [[-6.85679461e-01 -7.27894150e-01 3.71266812e-03 3.77057114e+02] [ 7.27883795e-01 -6.85689511e-01 -3.88282180e-03 -2.81148824e+02] [ 5.37202086e-03 4.00198005e-05 9.99985570e-01 -5.94001107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.306559995 meters 0.04846596149591214 Centerline is valid? [True, True] Translation: X:377.02, Y:-281.11, Z:-5.94 [[-6.86902489e-01 -7.26746139e-01 2.24031513e-03 3.77019807e+02] [ 7.26742365e-01 -6.86906142e-01 -2.34238231e-03 -2.81107726e+02] [ 3.24120353e-03 1.91436748e-05 9.99994747e-01 -5.93795082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.366559995 meters 0.04794431579485326 Centerline is valid? [True, True] Translation: X:376.98, Y:-281.07, Z:-5.94 [[-6.88918756e-01 -7.24836587e-01 1.69396777e-03 3.76981823e+02] [ 7.24834424e-01 -6.88920839e-01 -1.77060301e-03 -2.81066430e+02] [ 2.45040754e-03 8.04453357e-06 9.99996998e-01 -5.93823778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.426559995 meters 0.04821882611561873 Centerline is valid? [True, True] Translation: X:376.95, Y:-281.03, Z:-5.94 [[-6.91400233e-01 -7.22468943e-01 2.08401136e-03 3.76945573e+02] [ 7.22465662e-01 -6.91403374e-01 -2.17755607e-03 -2.81025054e+02] [ 3.01410912e-03 6.38754539e-08 9.99995458e-01 -5.93901714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.486559995 meters 0.048645864877855334 Centerline is valid? [True, True] Translation: X:376.91, Y:-280.98, Z:-5.94 [[-6.94677638e-01 -7.19315706e-01 2.80986152e-03 3.76907864e+02] [ 7.19309717e-01 -6.94683320e-01 -2.93527469e-03 -2.80980884e+02] [ 4.06335311e-03 -1.79089879e-05 9.99991744e-01 -5.94027392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.546559995 meters 0.047765769239391444 Centerline is valid? [True, True] Translation: X:376.87, Y:-280.94, Z:-5.94 [[-6.95749345e-01 -7.18275233e-01 3.67955759e-03 3.76870860e+02] [ 7.18264955e-01 -6.95759074e-01 -3.84260815e-03 -2.80938154e+02] [ 5.32013584e-03 -3.05948308e-05 9.99985848e-01 -5.94229320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.606559995 meters 0.04833255331039485 Centerline is valid? [True, True] Translation: X:376.83, Y:-280.90, Z:-5.94 [[-6.95533704e-01 -7.18479606e-01 4.46336583e-03 3.76832815e+02] [ 7.18464498e-01 -6.95548024e-01 -4.65957286e-03 -2.80898088e+02] [ 6.45229335e-03 -3.41200827e-05 9.99979183e-01 -5.94199066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.666559995 meters 0.0490555421872259 Centerline is valid? [True, True] Translation: X:376.79, Y:-280.86, Z:-5.94 [[-6.94770525e-01 -7.19211849e-01 5.31351269e-03 3.76793106e+02] [ 7.19190470e-01 -6.94790843e-01 -5.54557486e-03 -2.80856356e+02] [ 7.68022311e-03 -3.14742730e-05 9.99970506e-01 -5.94478642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.7265599950001 meters 0.04792503505558862 Centerline is valid? [True, True] Translation: X:376.76, Y:-280.81, Z:-5.94 [[-6.93192432e-01 -7.20726508e-01 6.12797401e-03 3.76755222e+02] [ 7.20698149e-01 -6.93219518e-01 -6.39354064e-03 -2.80814598e+02] [ 8.85602541e-03 -1.55344611e-05 9.99960785e-01 -5.94477723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.786559995 meters 0.047636366796746946 Centerline is valid? [True, True] Translation: X:376.72, Y:-280.77, Z:-5.95 [[-6.92627078e-01 -7.21267499e-01 6.39728287e-03 3.76716875e+02] [ 7.21236632e-01 -6.92656621e-01 -6.67278685e-03 -2.80772679e+02] [ 9.24398462e-03 -7.79810473e-06 9.99957273e-01 -5.94576500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.846559995 meters 0.04803501336417986 Centerline is valid? [True, True] Translation: X:376.68, Y:-280.73, Z:-5.95 [[-6.90583498e-01 -7.23224883e-01 6.34046839e-03 3.76678015e+02] [ 7.23194656e-01 -6.90612604e-01 -6.61215359e-03 -2.80732377e+02] [ 9.16088139e-03 1.91487076e-05 9.99958038e-01 -5.94626406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.906559995 meters 0.047940949882786604 Centerline is valid? [True, True] Translation: X:376.64, Y:-280.69, Z:-5.94 [[-6.88774508e-01 -7.24948300e-01 6.29590539e-03 3.76637887e+02] [ 7.24918583e-01 -6.88803281e-01 -6.56417741e-03 -2.80689916e+02] [ 9.09532955e-03 4.27807438e-05 9.99958636e-01 -5.94448033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.9665599950001 meters 0.04744168733632695 Centerline is valid? [True, True] Translation: X:376.60, Y:-280.65, Z:-5.95 [[-6.86408495e-01 -7.27194331e-01 5.63766217e-03 3.76596756e+02] [ 7.27170589e-01 -6.86431643e-01 -5.87655202e-03 -2.80647981e+02] [ 8.14326502e-03 6.58269006e-05 9.99966841e-01 -5.94517387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.026559995 meters 0.047088958737478134 Centerline is valid? [True, True] Translation: X:376.56, Y:-280.61, Z:-5.95 [[-6.85516898e-01 -7.28031513e-01 6.05800582e-03 3.76556096e+02] [ 7.28004145e-01 -6.85543660e-01 -6.31308019e-03 -2.80607052e+02] [ 8.74914880e-03 8.25302034e-05 9.99961722e-01 -5.94670770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.086559995 meters 0.04738983040201974 Centerline is valid? [True, True] Translation: X:376.52, Y:-280.56, Z:-5.95 [[-6.84315846e-01 -7.29161696e-01 5.91981605e-03 3.76516954e+02] [ 7.29135618e-01 -6.84341444e-01 -6.16747347e-03 -2.80563740e+02] [ 8.54826087e-03 9.58489079e-05 9.99963458e-01 -5.94561590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.146559995 meters 0.04816023717390589 Centerline is valid? [True, True] Translation: X:376.48, Y:-280.52, Z:-5.95 [[-6.83568992e-01 -7.29865678e-01 5.43374795e-03 3.76476893e+02] [ 7.29843741e-01 -6.83590581e-01 -5.65963053e-03 -2.80523621e+02] [ 7.84522899e-03 9.70389929e-05 9.99969221e-01 -5.94569142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.2065599950001 meters 0.04687770554309103 Centerline is valid? [True, True] Translation: X:376.44, Y:-280.48, Z:-5.94 [[-6.83004757e-01 -7.30399636e-01 4.56880267e-03 3.76437121e+02] [ 7.30384148e-01 -6.83020032e-01 -4.75736841e-03 -2.80482177e+02] [ 6.59536389e-03 8.76757932e-05 9.99978247e-01 -5.94481968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.266559995 meters 0.04668014619129142 Centerline is valid? [True, True] Translation: X:376.40, Y:-280.44, Z:-5.94 [[-6.83149893e-01 -7.30269072e-01 3.64788325e-03 3.76398753e+02] [ 7.30259202e-01 -6.83159628e-01 -3.79735577e-03 -2.80439693e+02] [ 5.26517804e-03 6.97371265e-05 9.99986136e-01 -5.94370969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.326559995 meters 0.04680832679859575 Centerline is valid? [True, True] Translation: X:376.36, Y:-280.40, Z:-5.94 [[-6.84234115e-01 -7.29255481e-01 3.18115842e-03 3.76360876e+02] [ 7.29247968e-01 -6.84241508e-01 -3.31059816e-03 -2.80396967e+02] [ 4.59095248e-03 5.46291085e-05 9.99989460e-01 -5.94299629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.386559995 meters 0.04750752314154989 Centerline is valid? [True, True] Translation: X:376.32, Y:-280.35, Z:-5.94 [[-6.85965878e-01 -7.27626616e-01 3.21288213e-03 3.76320507e+02] [ 7.27618938e-01 -6.85973400e-01 -3.34283646e-03 -2.80354587e+02] [ 4.63628846e-03 4.46821344e-05 9.99989251e-01 -5.94318168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.4465599950001 meters 0.04829148023853068 Centerline is valid? [True, True] Translation: X:376.28, Y:-280.31, Z:-5.94 [[-6.88228173e-01 -7.25489019e-01 2.76874174e-03 3.76280898e+02] [ 7.25483303e-01 -6.88233742e-01 -2.87998831e-03 -2.80311573e+02] [ 3.99494138e-03 2.65868124e-05 9.99992020e-01 -5.94238534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.506559995 meters 0.04681272759829504 Centerline is valid? [True, True] Translation: X:376.24, Y:-280.27, Z:-5.94 [[-6.91566510e-01 -7.22307851e-01 2.67043007e-03 3.76241987e+02] [ 7.22302512e-01 -6.91571665e-01 -2.77706555e-03 -2.80271242e+02] [ 3.85269002e-03 8.33281767e-06 9.99992578e-01 -5.94108292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.566559995 meters 0.04743940611479774 Centerline is valid? [True, True] Translation: X:376.20, Y:-280.23, Z:-5.94 [[-6.93815078e-01 -7.20149621e-01 2.27168652e-03 3.76202430e+02] [ 7.20145748e-01 -6.93818797e-01 -2.36171970e-03 -2.80229511e+02] [ 3.27693036e-03 -2.65135066e-06 9.99994631e-01 -5.94103708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.626559995 meters 0.04770514759209718 Centerline is valid? [True, True] Translation: X:376.16, Y:-280.19, Z:-5.94 [[-6.96558531e-01 -7.17497930e-01 1.71278895e-03 3.76161942e+02] [ 7.17495722e-01 -6.96560637e-01 -1.78011336e-03 -2.80188542e+02] [ 2.47028902e-03 -1.10344035e-05 9.99996949e-01 -5.94063034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.6865599950002 meters 0.047197422952892205 Centerline is valid? [True, True] Translation: X:376.12, Y:-280.15, Z:-5.94 [[-6.97491639e-01 -7.16589516e-01 2.20885035e-03 3.76122523e+02] [ 7.16585842e-01 -6.97495136e-01 -2.29493081e-03 -2.80148433e+02] [ 3.18518573e-03 -1.78641664e-05 9.99994927e-01 -5.94222281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.746559995 meters 0.04693533591804297 Centerline is valid? [True, True] Translation: X:376.08, Y:-280.11, Z:-5.94 [[-6.97724918e-01 -7.16361788e-01 2.39312086e-03 3.76080776e+02] [ 7.16357476e-01 -6.97729022e-01 -2.48566687e-03 -2.80109090e+02] [ 3.45038664e-03 -1.99816918e-05 9.99994047e-01 -5.94306249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.806559995 meters 0.048719458053148534 Centerline is valid? [True, True] Translation: X:376.04, Y:-280.07, Z:-5.94 [[-6.97806988e-01 -7.16282545e-01 2.17335878e-03 3.76039653e+02] [ 7.16278990e-01 -6.97810373e-01 -2.25668065e-03 -2.80070744e+02] [ 3.13301326e-03 -1.79962975e-05 9.99995092e-01 -5.94304303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.866559995 meters 0.04774087223570217 Centerline is valid? [True, True] Translation: X:376.00, Y:-280.03, Z:-5.94 [[-6.98653195e-01 -7.15459524e-01 1.17554669e-03 3.76001964e+02] [ 7.15458484e-01 -6.98654184e-01 -1.22031513e-03 -2.80026613e+02] [ 1.69438669e-03 -1.15222131e-05 9.99998565e-01 -5.94171020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.926559995 meters 0.047581788850688395 Centerline is valid? [True, True] Translation: X:375.96, Y:-279.99, Z:-5.94 [[-6.99350102e-01 -7.14779103e-01 5.18256242e-04 3.75961943e+02] [ 7.14778901e-01 -6.99350294e-01 -5.37904524e-04 -2.79985025e+02] [ 7.46925569e-04 -5.74495659e-06 9.99999721e-01 -5.94151189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.986559995 meters 0.04758630958704034 Centerline is valid? [True, True] Translation: X:375.92, Y:-279.94, Z:-5.94 [[-7.00363306e-01 -7.13785867e-01 -9.87887294e-04 3.75921750e+02] [ 7.13785131e-01 -7.00364002e-01 1.02513830e-03 -2.79944944e+02] [-1.42360993e-03 1.28299876e-05 9.99998987e-01 -5.94000036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.046559995 meters 0.047593903263242955 Centerline is valid? [True, True] Translation: X:375.88, Y:-279.90, Z:-5.94 [[-7.00956587e-01 -7.13200822e-01 -2.10953823e-03 3.75879573e+02] [ 7.13197465e-01 -7.00959761e-01 2.18859909e-03 -2.79904721e+02] [-3.03961208e-03 2.95956320e-05 9.99995380e-01 -5.94003600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.106559995 meters 0.04743841599899409 Centerline is valid? [True, True] Translation: X:375.84, Y:-279.86, Z:-5.94 [[-7.02293856e-01 -7.11878850e-01 -3.44147133e-03 3.75841257e+02] [ 7.11869903e-01 -7.02302285e-01 3.56944872e-03 -2.79861654e+02] [-4.95796823e-03 5.69220400e-05 9.99987708e-01 -5.93781860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.166559995 meters 0.04812984463477781 Centerline is valid? [True, True] Translation: X:375.80, Y:-279.82, Z:-5.94 [[-7.03287540e-01 -7.10893839e-01 -4.07255824e-03 3.75800263e+02] [ 7.10881303e-01 -7.03299328e-01 4.22249670e-03 -2.79824953e+02] [-5.86597436e-03 7.45238087e-05 9.99982792e-01 -5.93852638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.2265599950001 meters 0.047941615146531155 Centerline is valid? [True, True] Translation: X:375.76, Y:-279.79, Z:-5.94 [[-7.03063879e-01 -7.11123029e-01 -2.28468352e-03 3.75758589e+02] [ 7.11119087e-01 -7.03067590e-01 2.36812277e-03 -2.79787546e+02] [-3.29031358e-03 4.02595228e-05 9.99994586e-01 -5.94019504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.286559995 meters 0.04832349550020381 Centerline is valid? [True, True] Translation: X:375.72, Y:-279.75, Z:-5.94 [[-7.01255145e-01 -7.12910050e-01 -6.94390431e-04 3.75716038e+02] [ 7.12909687e-01 -7.01255488e-01 7.19643576e-04 -2.79748099e+02] [-9.99986239e-04 9.61609548e-06 9.99999500e-01 -5.94171782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.346559995 meters 0.048216839733883264 Centerline is valid? [True, True] Translation: X:375.67, Y:-279.71, Z:-5.94 [[-6.97614038e-01 -7.16471826e-01 1.66621497e-03 3.75671691e+02] [ 7.16469746e-01 -6.97616028e-01 -1.72659132e-03 -2.79709255e+02] [ 2.39943230e-03 -1.07017260e-05 9.99997121e-01 -5.94471241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.406559995 meters 0.04827467248551341 Centerline is valid? [True, True] Translation: X:375.63, Y:-279.67, Z:-5.94 [[-6.95531811e-01 -7.18493198e-01 1.73908986e-03 3.75627895e+02] [ 7.18490939e-01 -6.95533985e-01 -1.80170512e-03 -2.79669317e+02] [ 2.50410897e-03 -3.62292305e-06 9.99996865e-01 -5.94499563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.4665599950001 meters 0.04847097658872376 Centerline is valid? [True, True] Translation: X:375.59, Y:-279.63, Z:-5.95 [[-6.93930020e-01 -7.20041040e-01 1.42438838e-03 3.75587511e+02] [ 7.20039529e-01 -6.93931481e-01 -1.47528142e-03 -2.79629079e+02] [ 2.05069111e-03 1.87387304e-06 9.99997897e-01 -5.94581570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.526559995 meters 0.04770660863260801 Centerline is valid? [True, True] Translation: X:375.55, Y:-279.59, Z:-5.94 [[-6.92773831e-01 -7.21154896e-01 1.86777247e-04 3.75548150e+02] [ 7.21154870e-01 -6.92773857e-01 -1.93401922e-04 -2.79587105e+02] [ 2.68867137e-04 7.11530838e-07 9.99999964e-01 -5.94421098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.586559995 meters 0.047978976387908295 Centerline is valid? [True, True] Translation: X:375.51, Y:-279.55, Z:-5.94 [[-6.92765203e-01 -7.21163208e-01 -3.45848430e-05 3.75509028e+02] [ 7.21163207e-01 -6.92765204e-01 3.57977641e-05 -2.79546968e+02] [-4.97752061e-05 -1.41871015e-07 9.99999999e-01 -5.94438840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.646559995 meters 0.048105461104212925 Centerline is valid? [True, True] Translation: X:375.47, Y:-279.51, Z:-5.95 [[-6.94236463e-01 -7.19746984e-01 1.13902366e-04 3.75469044e+02] [ 7.19746974e-01 -6.94236472e-01 -1.17873552e-04 -2.79505091e+02] [ 1.63914310e-04 1.48765040e-07 9.99999987e-01 -5.94515895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.7065599950001 meters 0.047984812756736966 Centerline is valid? [True, True] Translation: X:375.43, Y:-279.46, Z:-5.94 [[-6.95689679e-01 -7.18342437e-01 -1.16530025e-04 3.75431439e+02] [ 7.18342427e-01 -6.95689689e-01 1.20558421e-04 -2.79462751e+02] [-1.67670967e-04 1.62788217e-07 9.99999986e-01 -5.94446907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.766559995 meters 0.04819630284861595 Centerline is valid? [True, True] Translation: X:375.39, Y:-279.42, Z:-5.95 [[-6.97907535e-01 -7.16187841e-01 -2.21892080e-04 3.75393605e+02] [ 7.16187804e-01 -6.97907571e-01 2.29490773e-04 -2.79421416e+02] [-3.19218663e-04 1.24693839e-06 9.99999949e-01 -5.94598015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.826559995 meters 0.04774980259786182 Centerline is valid? [True, True] Translation: X:375.35, Y:-279.38, Z:-5.95 [[-6.98804565e-01 -7.15312479e-01 4.86589931e-04 3.75353706e+02] [ 7.15312302e-01 -6.98804735e-01 -5.03130644e-04 -2.79378410e+02] [ 6.99926976e-04 -3.52622778e-06 9.99999755e-01 -5.94665828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.886559995 meters 0.047269203585001196 Centerline is valid? [True, True] Translation: X:375.32, Y:-279.34, Z:-5.95 [[-6.99474816e-01 -7.14655815e-01 1.43100744e-03 3.75316076e+02] [ 7.14654285e-01 -6.99476279e-01 -1.47924152e-03 -2.79336019e+02] [ 2.05810431e-03 -1.20165874e-05 9.99997882e-01 -5.94760201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.9465599950001 meters 0.04817338981328634 Centerline is valid? [True, True] Translation: X:375.28, Y:-279.29, Z:-5.95 [[-6.99972750e-01 -7.14162740e-01 3.11930681e-03 3.75281284e+02] [ 7.14155466e-01 -6.99979699e-01 -3.22359506e-03 -2.79290807e+02] [ 4.48562292e-03 -2.87586904e-05 9.99989939e-01 -5.94991877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.006559995 meters 0.04734503364857016 Centerline is valid? [True, True] Translation: X:375.25, Y:-279.25, Z:-5.95 [[-6.99922378e-01 -7.14210577e-01 3.45206093e-03 3.75245664e+02] [ 7.14201674e-01 -6.99930890e-01 -3.56625503e-03 -2.79248715e+02] [ 4.96326114e-03 -3.06340032e-05 9.99987683e-01 -5.95111464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.066559995 meters 0.047680141086149874 Centerline is valid? [True, True] Translation: X:375.21, Y:-279.21, Z:-5.95 [[-6.99488493e-01 -7.14638589e-01 2.74495262e-03 3.75207391e+02] [ 7.14632966e-01 -6.99493879e-01 -2.83490783e-03 -2.79206660e+02] [ 3.94601209e-03 -2.13517769e-05 9.99992214e-01 -5.94901622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.126559995 meters 0.047641516053174175 Centerline is valid? [True, True] Translation: X:375.17, Y:-279.16, Z:-5.95 [[-6.98418718e-01 -7.15686142e-01 2.15425671e-03 3.75169417e+02] [ 7.15682685e-01 -6.98422040e-01 -2.22434508e-03 -2.79161815e+02] [ 3.09651331e-03 -1.17600175e-05 9.99995206e-01 -5.94927473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.1865599950002 meters 0.047186319620100815 Centerline is valid? [True, True] Translation: X:375.13, Y:-279.12, Z:-5.95 [[-6.97184370e-01 -7.16888484e-01 2.20357053e-03 3.75131309e+02] [ 7.16884875e-01 -6.97187852e-01 -2.27470692e-03 -2.79118181e+02] [ 3.16701380e-03 -6.18372444e-06 9.99994985e-01 -5.94957861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.246559995 meters 0.04781000210090532 Centerline is valid? [True, True] Translation: X:375.09, Y:-279.08, Z:-5.95 [[-6.94084187e-01 -7.19891849e-01 1.69341142e-03 3.75092594e+02] [ 7.19889728e-01 -6.94086253e-01 -1.74758554e-03 -2.79075805e+02] [ 2.43344617e-03 6.09799302e-06 9.99997039e-01 -5.94980414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.306559995 meters 0.046858422577330916 Centerline is valid? [True, True] Translation: X:375.05, Y:-279.03, Z:-5.95 [[-6.92093519e-01 -7.21807131e-01 1.01333024e-03 3.75053860e+02] [ 7.21806373e-01 -6.92094261e-01 -1.04543447e-03 -2.79033875e+02] [ 1.45592210e-03 7.88980119e-06 9.99998940e-01 -5.94880633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.366559995 meters 0.04638446603657735 Centerline is valid? [True, True] Translation: X:375.01, Y:-278.99, Z:-5.95 [[-6.90334057e-01 -7.23490481e-01 6.43575778e-04 3.75014375e+02] [ 7.23490176e-01 -6.90334357e-01 -6.63787963e-04 -2.78991269e+02] [ 9.24526743e-04 7.38531614e-06 9.99999573e-01 -5.94902607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.426559995 meters 0.046738423526640205 Centerline is valid? [True, True] Translation: X:374.97, Y:-278.95, Z:-5.95 [[-6.87318265e-01 -7.26356060e-01 6.90568251e-04 3.74973764e+02] [ 7.26355711e-01 -6.87318612e-01 -7.12067621e-04 -2.78950358e+02] [ 9.91855043e-04 1.21811109e-05 9.99999508e-01 -5.94931818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.486559995 meters 0.04615261731748188 Centerline is valid? [True, True] Translation: X:374.93, Y:-278.91, Z:-5.95 [[-6.87008704e-01 -7.26648903e-01 6.42264440e-04 3.74934157e+02] [ 7.26648601e-01 -6.87009004e-01 -6.62062145e-04 -2.78908699e+02] [ 9.22328185e-04 1.18581009e-05 9.99999575e-01 -5.94909424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.546559995 meters 0.04676347549145984 Centerline is valid? [True, True] Translation: X:374.89, Y:-278.87, Z:-5.95 [[-6.88022037e-01 -7.25689548e-01 5.96859625e-04 3.74894527e+02] [ 7.25689288e-01 -6.88022296e-01 -6.15116523e-04 -2.78868914e+02] [ 8.57036361e-04 9.92091338e-06 9.99999633e-01 -5.94904002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.606559995 meters 0.046721945395226096 Centerline is valid? [True, True] Translation: X:374.86, Y:-278.83, Z:-5.95 [[-6.89062165e-01 -7.24702012e-01 5.71714202e-04 3.74855038e+02] [ 7.24701773e-01 -6.89062402e-01 -5.89029825e-04 -2.78827647e+02] [ 8.20817861e-04 8.44412964e-06 9.99999663e-01 -5.94922111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.666559995 meters 0.04618382720173671 Centerline is valid? [True, True] Translation: X:374.82, Y:-278.78, Z:-5.95 [[-6.93041660e-01 -7.20897535e-01 -3.85168879e-05 3.74817581e+02] [ 7.20897534e-01 -6.93041661e-01 3.96701814e-05 -2.78784791e+02] [-5.52919439e-05 -2.73641151e-07 9.99999999e-01 -5.94906894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.7265599950001 meters 0.04669770618179898 Centerline is valid? [True, True] Translation: X:374.78, Y:-278.74, Z:-5.95 [[-6.95530865e-01 -7.18496128e-01 -3.60428194e-04 3.74778207e+02] [ 7.18496033e-01 -6.95530958e-01 3.71139011e-04 -2.78743117e+02] [-5.17350909e-04 -8.27590244e-07 9.99999866e-01 -5.94916286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.786559995 meters 0.04750575347997587 Centerline is valid? [True, True] Translation: X:374.74, Y:-278.70, Z:-5.95 [[-6.97824969e-01 -7.16268318e-01 -9.17639004e-05 3.74738118e+02] [ 7.16268312e-01 -6.97824976e-01 9.44742523e-05 -2.78700856e+02] [-1.31704055e-04 1.98918194e-07 9.99999991e-01 -5.95031330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.846559995 meters 0.04604714622682749 Centerline is valid? [True, True] Translation: X:374.70, Y:-278.66, Z:-5.95 [[-6.98610899e-01 -7.15501559e-01 5.76141392e-04 3.74700099e+02] [ 7.15501313e-01 -6.98611136e-01 -5.93024166e-04 -2.78660011e+02] [ 8.26808508e-04 -2.06322287e-06 9.99999658e-01 -5.95061620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.906559995 meters 0.04752666848657369 Centerline is valid? [True, True] Translation: X:374.66, Y:-278.62, Z:-5.95 [[-6.97207159e-01 -7.16868127e-01 1.50544365e-03 3.74659030e+02] [ 7.16866453e-01 -6.97208784e-01 -1.54908275e-03 -2.78620702e+02] [ 2.16009659e-03 -8.29537391e-07 9.99997667e-01 -5.95148684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.9665599950001 meters 0.046205531546068136 Centerline is valid? [True, True] Translation: X:374.62, Y:-278.58, Z:-5.95 [[-6.94785844e-01 -7.19214632e-01 1.71568944e-03 3.74616539e+02] [ 7.19212466e-01 -6.94787963e-01 -1.76498073e-03 -2.78581295e+02] [ 2.46144034e-03 7.66161040e-06 9.99996971e-01 -5.95157124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.026559995 meters 0.046502124005354264 Centerline is valid? [True, True] Translation: X:374.57, Y:-278.54, Z:-5.95 [[-6.92147262e-01 -7.21753391e-01 2.05196813e-03 3.74573455e+02] [ 7.21750306e-01 -6.92150303e-01 -2.11032151e-03 -2.78543152e+02] [ 2.94340207e-03 2.03553720e-05 9.99995668e-01 -5.95245648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.086559995 meters 0.04721290714971645 Centerline is valid? [True, True] Translation: X:374.53, Y:-278.50, Z:-5.95 [[-6.90262979e-01 -7.23554175e-01 2.52488443e-03 3.74531932e+02] [ 7.23549519e-01 -6.90267596e-01 -2.59602748e-03 -2.78503410e+02] [ 3.62121243e-03 3.49372487e-05 9.99993443e-01 -5.95315873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.146559995 meters 0.046823929350378386 Centerline is valid? [True, True] Translation: X:374.49, Y:-278.46, Z:-5.95 [[-6.90988481e-01 -7.22861239e-01 2.55874817e-03 3.74492684e+02] [ 7.22856455e-01 -6.90993218e-01 -2.63016113e-03 -2.78460620e+02] [ 3.66931917e-03 3.21965860e-05 9.99993268e-01 -5.95248643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.2065599950001 meters 0.046690890990135084 Centerline is valid? [True, True] Translation: X:374.45, Y:-278.42, Z:-5.95 [[-6.94089228e-01 -7.19884149e-01 2.63736350e-03 3.74454124e+02] [ 7.19879047e-01 -6.94094238e-01 -2.71026549e-03 -2.78417968e+02] [ 3.78165598e-03 1.74166449e-05 9.99992849e-01 -5.95320815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.266559995 meters 0.04632113601740959 Centerline is valid? [True, True] Translation: X:374.42, Y:-278.38, Z:-5.95 [[-6.95084950e-01 -7.18923699e-01 2.37242331e-03 3.74417488e+02] [ 7.18919567e-01 -6.95088998e-01 -2.43739066e-03 -2.78376088e+02] [ 3.40134325e-03 1.13879741e-05 9.99994215e-01 -5.95197803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.326559995 meters 0.04612212610800325 Centerline is valid? [True, True] Translation: X:374.38, Y:-278.34, Z:-5.95 [[-6.94649216e-01 -7.19347063e-01 1.50678217e-03 3.74377733e+02] [ 7.19345398e-01 -6.94650850e-01 -1.54758578e-03 -2.78336238e+02] [ 2.15993880e-03 8.86757401e-06 9.99997667e-01 -5.95222763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.386559995 meters 0.04653148386312428 Centerline is valid? [True, True] Translation: X:374.34, Y:-278.30, Z:-5.95 [[-6.93777804e-01 -7.20186616e-01 1.89689639e-03 3.74337022e+02] [ 7.20183982e-01 -6.93780397e-01 -1.94766700e-03 -2.78296766e+02] [ 2.71871324e-03 1.48662674e-05 9.99996304e-01 -5.95374599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.4465599950001 meters 0.0456077724635765 Centerline is valid? [True, True] Translation: X:374.30, Y:-278.26, Z:-5.95 [[-6.91604085e-01 -7.22268476e-01 3.46956153e-03 3.74296067e+02] [ 7.22259697e-01 -6.91612787e-01 -3.56136707e-03 -2.78256532e+02] [ 4.97185629e-03 4.28684422e-05 9.99987639e-01 -5.95481441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.506559995 meters 0.046962089953079676 Centerline is valid? [True, True] Translation: X:374.25, Y:-278.22, Z:-5.96 [[-6.89760164e-01 -7.24026056e-01 4.14554931e-03 3.74253981e+02] [ 7.24013561e-01 -6.89772619e-01 -4.25418422e-03 -2.78216848e+02] [ 5.93962662e-03 6.70671111e-05 9.99982358e-01 -5.95521960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.566559995 meters 0.046302149881867816 Centerline is valid? [True, True] Translation: X:374.21, Y:-278.18, Z:-5.96 [[-6.88090898e-01 -7.25610609e-01 4.48995433e-03 3.74211652e+02] [ 7.25595994e-01 -6.88105541e-01 -4.60631701e-03 -2.78177580e+02] [ 6.43195495e-03 8.83280665e-05 9.99979311e-01 -5.95549672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.626559995 meters 0.0463153171203696 Centerline is valid? [True, True] Translation: X:374.17, Y:-278.14, Z:-5.96 [[-6.86903718e-01 -7.26735661e-01 4.30827588e-03 3.74167663e+02] [ 7.26722233e-01 -6.86917222e-01 -4.41885809e-03 -2.78139474e+02] [ 6.17077066e-03 9.55898195e-05 9.99980956e-01 -5.95588734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.6865599950002 meters 0.04636682279105203 Centerline is valid? [True, True] Translation: X:374.13, Y:-278.10, Z:-5.96 [[-6.87880329e-01 -7.25815310e-01 3.57621914e-03 3.74127014e+02] [ 7.25806050e-01 -6.87889621e-01 -3.66709470e-03 -2.78097226e+02] [ 5.12167751e-03 7.31191819e-05 9.99986882e-01 -5.95519480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.746559995 meters 0.04658836785980446 Centerline is valid? [True, True] Translation: X:374.09, Y:-278.05, Z:-5.95 [[-6.91522281e-01 -7.22349973e-01 2.72958687e-03 3.74089031e+02] [ 7.22344554e-01 -6.91527668e-01 -2.79822966e-03 -2.78053315e+02] [ 3.90888596e-03 3.66640478e-05 9.99992360e-01 -5.95448028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.806559995 meters 0.046636313718666576 Centerline is valid? [True, True] Translation: X:374.05, Y:-278.01, Z:-5.96 [[-6.93709343e-01 -7.20250616e-01 2.52951767e-03 3.74049231e+02] [ 7.20245951e-01 -6.93713954e-01 -2.59245995e-03 -2.78012716e+02] [ 3.62198257e-03 2.34611706e-05 9.99993440e-01 -5.95634973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.866559995 meters 0.04585281161338416 Centerline is valid? [True, True] Translation: X:374.01, Y:-277.97, Z:-5.96 [[-6.93759639e-01 -7.20201301e-01 2.76568018e-03 3.74010752e+02] [ 7.20195727e-01 -6.93765151e-01 -2.83365079e-03 -2.77970974e+02] [ 3.95953152e-03 2.59584994e-05 9.99992161e-01 -5.95583261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.926559995 meters 0.04682870658087178 Centerline is valid? [True, True] Translation: X:373.97, Y:-277.93, Z:-5.96 [[-6.90662020e-01 -7.23157888e-01 5.35200668e-03 3.73968767e+02] [ 7.23137115e-01 -6.90682751e-01 -5.48189783e-03 -2.77932305e+02] [ 7.66081635e-03 8.40960397e-05 9.99970652e-01 -5.95783102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.986559995 meters 0.04757753039013944 Centerline is valid? [True, True] Translation: X:373.92, Y:-277.90, Z:-5.96 [[-6.89168516e-01 -7.24569814e-01 6.73362572e-03 3.73924888e+02] [ 7.24537013e-01 -6.89201399e-01 -6.89548035e-03 -2.77896275e+02] [ 9.63708118e-03 1.26613109e-04 9.99953554e-01 -5.96179352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.046559995 meters 0.04684457185004038 Centerline is valid? [True, True] Translation: X:373.89, Y:-277.86, Z:-5.96 [[-6.88584597e-01 -7.25119033e-01 7.32395744e-03 3.73885405e+02] [ 7.25080283e-01 -6.88623530e-01 -7.49784843e-03 -2.77855626e+02] [ 1.04802820e-02 1.47554193e-04 9.99945070e-01 -5.96080988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.106559995 meters 0.04717013338508667 Centerline is valid? [True, True] Translation: X:373.85, Y:-277.82, Z:-5.96 [[-6.89983017e-01 -7.23794019e-01 6.75682117e-03 3.73845107e+02] [ 7.23760988e-01 -6.90016090e-01 -6.91570080e-03 -2.77816816e+02] [ 9.66785820e-03 1.18607464e-04 9.99953258e-01 -5.96118259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.166559995 meters 0.047707232709434236 Centerline is valid? [True, True] Translation: X:373.81, Y:-277.77, Z:-5.96 [[-6.92464269e-01 -7.21425668e-01 6.18400545e-03 3.73806675e+02] [ 7.21397920e-01 -6.92491877e-01 -6.32779260e-03 -2.77773684e+02] [ 8.84740554e-03 7.93583875e-05 9.99960858e-01 -5.95932550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.2265599950001 meters 0.04687024676994715 Centerline is valid? [True, True] Translation: X:373.77, Y:-277.73, Z:-5.96 [[-6.96392558e-01 -7.17638949e-01 5.63422595e-03 3.73769234e+02] [ 7.17615805e-01 -6.96415349e-01 -5.76348355e-03 -2.77731931e+02] [ 8.05986171e-03 2.95625423e-05 9.99967518e-01 -5.95979502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.286559995 meters 0.04672720753626075 Centerline is valid? [True, True] Translation: X:373.73, Y:-277.69, Z:-5.96 [[-6.97861196e-01 -7.16211098e-01 5.60492753e-03 3.73730539e+02] [ 7.16188160e-01 -6.97883703e-01 -5.73201999e-03 -2.77688328e+02] [ 8.01692391e-03 1.40284110e-05 9.99967864e-01 -5.95791420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.346559995 meters 0.04669285964481039 Centerline is valid? [True, True] Translation: X:373.69, Y:-277.65, Z:-5.96 [[-6.98022796e-01 -7.16048472e-01 6.22596548e-03 3.73690946e+02] [ 7.16020180e-01 -6.98050561e-01 -6.36517593e-03 -2.77648366e+02] [ 8.90381319e-03 1.48790288e-05 9.99960360e-01 -5.96191733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.406559995 meters 0.04666438056258346 Centerline is valid? [True, True] Translation: X:373.65, Y:-277.61, Z:-5.96 [[-6.97430025e-01 -7.16617343e-01 7.13751183e-03 3.73650578e+02] [ 7.16580210e-01 -6.97466546e-01 -7.29514115e-03 -2.77608434e+02] [ 1.02060004e-02 2.67492552e-05 9.99947917e-01 -5.96167047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.4665599950001 meters 0.04662530700625105 Centerline is valid? [True, True] Translation: X:373.61, Y:-277.57, Z:-5.96 [[-6.96534757e-01 -7.17482477e-01 7.63066889e-03 3.73609732e+02] [ 7.17440110e-01 -6.96576552e-01 -7.79716269e-03 -2.77567605e+02] [ 1.09096726e-02 4.35531030e-05 9.99940487e-01 -5.96192743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.526559995 meters 0.04656517095061275 Centerline is valid? [True, True] Translation: X:373.57, Y:-277.53, Z:-5.96 [[-6.96464207e-01 -7.17547404e-01 7.95813606e-03 3.73570648e+02] [ 7.17501355e-01 -6.96509670e-01 -8.12927179e-03 -2.77527792e+02] [ 1.13760566e-02 4.82265746e-05 9.99935289e-01 -5.96283658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.586559995 meters 0.0477156872428089 Centerline is valid? [True, True] Translation: X:373.53, Y:-277.49, Z:-5.96 [[-6.98148136e-01 -7.15901138e-01 8.64527515e-03 3.73532882e+02] [ 7.15846694e-01 -6.98201662e-01 -8.82893960e-03 -2.77487280e+02] [ 1.23567934e-02 2.47839069e-05 9.99923652e-01 -5.96332192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.646559995 meters 0.04680152527496339 Centerline is valid? [True, True] Translation: X:373.49, Y:-277.45, Z:-5.96 [[-7.00895520e-01 -7.13211902e-01 8.61704222e-03 3.73494970e+02] [ 7.13157643e-01 -7.00948488e-01 -8.79731384e-03 -2.77445240e+02] [ 1.23144516e-02 -2.06883376e-05 9.99924174e-01 -5.96182953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.7065599950001 meters 0.04655746296262203 Centerline is valid? [True, True] Translation: X:373.46, Y:-277.40, Z:-5.96 [[-7.04474960e-01 -7.09691084e-01 7.32093955e-03 3.73457288e+02] [ 7.09651754e-01 -7.04512995e-01 -7.47181042e-03 -2.77403041e+02] [ 1.04603743e-02 -6.83857605e-05 9.99945287e-01 -5.96051570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.766559995 meters 0.04772032109775066 Centerline is valid? [True, True] Translation: X:373.42, Y:-277.36, Z:-5.96 [[-7.09728393e-01 -7.04453465e-01 5.56088988e-03 3.73420155e+02] [ 7.04430625e-01 -7.09750170e-01 -5.67370076e-03 -2.77360134e+02] [ 7.94370069e-03 -1.09525382e-04 9.99968442e-01 -5.95821251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.826559995 meters 0.04721575082876987 Centerline is valid? [True, True] Translation: X:373.38, Y:-277.32, Z:-5.96 [[-7.11417733e-01 -7.02750538e-01 5.14689940e-03 3.73379748e+02] [ 7.02730936e-01 -7.11436341e-01 -5.25026092e-03 -2.77319095e+02] [ 7.35131496e-03 -1.18243288e-04 9.99972972e-01 -5.95679328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.886559995 meters 0.04674237389790645 Centerline is valid? [True, True] Translation: X:373.34, Y:-277.28, Z:-5.96 [[-7.11303522e-01 -7.02862175e-01 5.66236909e-03 3.73338357e+02] [ 7.02838467e-01 -7.11326048e-01 -5.77423730e-03 -2.77280769e+02] [ 8.08628362e-03 -1.27504511e-04 9.99967297e-01 -5.95618844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.9465599950001 meters 0.048063270870321126 Centerline is valid? [True, True] Translation: X:373.30, Y:-277.24, Z:-5.96 [[-7.10085005e-01 -7.04086375e-01 6.45460296e-03 3.73299698e+02] [ 7.04055634e-01 -7.10114329e-01 -6.58060307e-03 -2.77239007e+02] [ 9.21681902e-03 -1.28387987e-04 9.99957516e-01 -5.95741775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.006559995 meters 0.04797197286818834 Centerline is valid? [True, True] Translation: X:373.26, Y:-277.20, Z:-5.96 [[-7.07811720e-01 -7.06357930e-01 7.81312746e-03 3.73255268e+02] [ 7.06313043e-01 -7.07854831e-01 -7.96393009e-03 -2.77200286e+02] [ 1.11559452e-02 -1.18449221e-04 9.99937764e-01 -5.95608541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.066559995 meters 0.0467653952933766 Centerline is valid? [True, True] Translation: X:373.21, Y:-277.16, Z:-5.96 [[-7.02459673e-01 -7.11664950e-01 9.13274746e-03 3.73213879e+02] [ 7.11604074e-01 -7.02519037e-01 -9.30832077e-03 -2.77159669e+02] [ 1.30403346e-02 -3.98196692e-05 9.99914970e-01 -5.95785668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.126559995 meters 0.046766005030151436 Centerline is valid? [True, True] Translation: X:373.17, Y:-277.12, Z:-5.96 [[-6.98786547e-01 -7.15273253e-01 9.02973000e-03 3.73172441e+02] [ 7.15214078e-01 -6.98844885e-01 -9.20054112e-03 -2.77122244e+02] [ 1.28912816e-02 2.89756507e-05 9.99916904e-01 -5.96348784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.1865599950002 meters 0.04718915792890071 Centerline is valid? [True, True] Translation: X:373.13, Y:-277.08, Z:-5.96 [[-6.95775030e-01 -7.18207667e-01 8.65189348e-03 3.73131440e+02] [ 7.18153597e-01 -6.95828816e-01 -8.81306237e-03 -2.77082691e+02] [ 1.23498458e-02 8.14796933e-05 9.99923734e-01 -5.95717615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.246559995 meters 0.04681859969414351 Centerline is valid? [True, True] Translation: X:373.09, Y:-277.04, Z:-5.96 [[-6.92908170e-01 -7.20987713e-01 7.41528417e-03 3.73087740e+02] [ 7.20948172e-01 -6.92947838e-01 -7.55164462e-03 -2.77044087e+02] [ 1.05830481e-02 1.13439318e-04 9.99943992e-01 -5.95896342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.306559995 meters 0.04674708685552186 Centerline is valid? [True, True] Translation: X:373.05, Y:-277.00, Z:-5.96 [[-6.92569244e-01 -7.21324900e-01 6.18319361e-03 3.73047072e+02] [ 7.21297436e-01 -6.92596837e-01 -6.29519970e-03 -2.77004001e+02] [ 8.82334463e-03 1.00060001e-04 9.99961069e-01 -5.95850420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.366559995 meters 0.04660993287886646 Centerline is valid? [True, True] Translation: X:373.01, Y:-276.96, Z:-5.96 [[-6.93930528e-01 -7.20018286e-01 5.83870217e-03 3.73008045e+02] [ 7.19993764e-01 -6.93955086e-01 -5.94291640e-03 -2.76961000e+02] [ 8.33080555e-03 7.98580483e-05 9.99965295e-01 -5.95709759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.426559995 meters 0.047682063633394396 Centerline is valid? [True, True] Translation: X:372.97, Y:-276.92, Z:-5.96 [[-6.97279671e-01 -7.16771666e-01 6.28002310e-03 3.72970513e+02] [ 7.16743180e-01 -6.97307949e-01 -6.39043935e-03 -2.76916810e+02] [ 8.95959590e-03 4.52402828e-05 9.99959861e-01 -5.95654260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.486559995 meters 0.04719530362468351 Centerline is valid? [True, True] Translation: X:372.93, Y:-276.87, Z:-5.96 [[-6.98427110e-01 -7.15647698e-01 6.92422922e-03 3.72931066e+02] [ 7.15613029e-01 -6.98461432e-01 -7.04426400e-03 -2.76874121e+02] [ 9.87751837e-03 3.51636975e-05 9.99951216e-01 -5.95727227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.546559995 meters 0.04702293302480245 Centerline is valid? [True, True] Translation: X:372.89, Y:-276.83, Z:-5.96 [[-6.98598130e-01 -7.15469073e-01 8.04099159e-03 3.72891153e+02] [ 7.15422325e-01 -6.98644404e-01 -8.17885951e-03 -2.76834121e+02] [ 1.14695148e-02 3.89689341e-05 9.99934222e-01 -5.96032398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.606559995 meters 0.04722776301735756 Centerline is valid? [True, True] Translation: X:372.85, Y:-276.79, Z:-5.96 [[-6.99864284e-01 -7.14208718e-01 9.79238719e-03 3.72852423e+02] [ 7.14139301e-01 -6.99932787e-01 -9.95754952e-03 -2.76792063e+02] [ 1.39657815e-02 2.41952786e-05 9.99902473e-01 -5.96175622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.666559995 meters 0.04725137588700047 Centerline is valid? [True, True] Translation: X:372.82, Y:-276.75, Z:-5.96 [[-7.01962242e-01 -7.12146144e-01 9.84280762e-03 3.72816553e+02] [ 7.12075849e-01 -7.02031246e-01 -1.00057811e-02 -2.76748919e+02] [ 1.40355369e-02 -1.48549532e-05 9.99901497e-01 -5.95964521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.7265599950001 meters 0.0470063496500662 Centerline is valid? [True, True] Translation: X:372.78, Y:-276.71, Z:-5.96 [[-7.04038695e-01 -7.10105468e-01 8.92976176e-03 3.72779988e+02] [ 7.10047480e-01 -7.04095322e-01 -9.07491505e-03 -2.76706203e+02] [ 1.27315503e-02 -4.85365182e-05 9.99918949e-01 -5.95867290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.786559995 meters 0.04672210029627464 Centerline is valid? [True, True] Translation: X:372.74, Y:-276.66, Z:-5.96 [[-7.05906058e-01 -7.08273596e-01 6.71943321e-03 3.72742803e+02] [ 7.08240699e-01 -7.05938035e-01 -6.82662526e-03 -2.76664273e+02] [ 9.57862190e-03 -5.99800559e-05 9.99954122e-01 -5.95669742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.846559995 meters 0.04666230663842452 Centerline is valid? [True, True] Translation: X:372.70, Y:-276.62, Z:-5.96 [[-7.06167192e-01 -7.08028856e-01 4.79957003e-03 3.72704766e+02] [ 7.08012076e-01 -7.06183501e-01 -4.87464623e-03 -2.76623138e+02] [ 6.84076736e-03 -4.41616970e-05 9.99976601e-01 -5.95500485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.906559995 meters 0.04680599544568969 Centerline is valid? [True, True] Translation: X:372.66, Y:-276.58, Z:-5.95 [[-7.05591931e-01 -7.08611256e-01 3.18031376e-03 3.72663741e+02] [ 7.08603899e-01 -7.05599098e-01 -3.22905904e-03 -2.76583677e+02] [ 4.53217410e-03 -2.48152724e-05 9.99989729e-01 -5.95131456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.9665599950001 meters 0.046613831171438844 Centerline is valid? [True, True] Translation: X:372.62, Y:-276.54, Z:-5.95 [[-7.03243151e-01 -7.10943983e-01 2.77926615e-03 3.72621469e+02] [ 7.10938386e-01 -7.03248643e-01 -2.82101768e-03 -2.76544922e+02] [ 3.96010069e-03 -7.97436821e-06 9.99992159e-01 -5.95046688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.026559995 meters 0.04755761850672141 Centerline is valid? [True, True] Translation: X:372.58, Y:-276.51, Z:-5.95 [[-7.01125684e-01 -7.13029876e-01 3.34224080e-03 3.72578628e+02] [ 7.13021808e-01 -7.01133651e-01 -3.39187028e-03 -2.76505662e+02] [ 4.76186234e-03 4.96320634e-06 9.99988662e-01 -5.95099925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.086559995 meters 0.047023301230300116 Centerline is valid? [True, True] Translation: X:372.54, Y:-276.47, Z:-5.95 [[-6.99522888e-01 -7.14596130e-01 4.48335654e-03 3.72536582e+02] [ 7.14581651e-01 -6.99537255e-01 -4.54901716e-03 -2.76466588e+02] [ 6.38698498e-03 2.15826954e-05 9.99979603e-01 -5.95197043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.146559995 meters 0.04678476957637416 Centerline is valid? [True, True] Translation: X:372.50, Y:-276.43, Z:-5.95 [[-6.99912171e-01 -7.14204212e-01 5.94105105e-03 3.72496189e+02] [ 7.14178789e-01 -6.99937385e-01 -6.02616992e-03 -2.76427215e+02] [ 8.46227968e-03 2.51829665e-05 9.99964194e-01 -5.95295496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.2065599950001 meters 0.04684361379685303 Centerline is valid? [True, True] Translation: X:372.46, Y:-276.39, Z:-5.95 [[-7.01805515e-01 -7.12340934e-01 6.27794696e-03 3.72457320e+02] [ 7.12312486e-01 -7.01833594e-01 -6.36624385e-03 -2.76387437e+02] [ 8.94101017e-03 3.99495851e-06 9.99960028e-01 -5.95381930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.266559995 meters 0.04691014480526128 Centerline is valid? [True, True] Translation: X:372.42, Y:-276.35, Z:-5.95 [[-7.05101991e-01 -7.09090062e-01 4.73984739e-03 3.72417515e+02] [ 7.09073782e-01 -7.05117922e-01 -4.80494487e-03 -2.76347681e+02] [ 6.74929000e-03 -2.70746832e-05 9.99977223e-01 -5.94790827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.326559995 meters 0.04766324397850065 Centerline is valid? [True, True] Translation: X:372.38, Y:-276.31, Z:-5.95 [[-7.07152603e-01 -7.07055085e-01 2.88124925e-03 3.72378052e+02] [ 7.07049056e-01 -7.07158473e-01 -2.92001242e-03 -2.76306162e+02] [ 4.10210945e-03 -2.77098226e-05 9.99991586e-01 -5.94748200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.386559995 meters 0.04743442529051351 Centerline is valid? [True, True] Translation: X:372.34, Y:-276.27, Z:-5.95 [[-7.07974628e-01 -7.06234780e-01 2.08828438e-03 3.72337138e+02] [ 7.06231612e-01 -7.07977708e-01 -2.11565607e-03 -2.76268270e+02] [ 2.97260869e-03 -2.30183779e-05 9.99995582e-01 -5.94574897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.4465599950001 meters 0.047337084523758996 Centerline is valid? [True, True] Translation: X:372.30, Y:-276.23, Z:-5.95 [[-7.08272960e-01 -7.05936784e-01 1.63423964e-03 3.72295594e+02] [ 7.05934843e-01 -7.08274846e-01 -1.65541227e-03 -2.76227809e+02] [ 2.32610724e-03 -1.88170423e-05 9.99997294e-01 -5.94551446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.506559995 meters 0.04781218490113776 Centerline is valid? [True, True] Translation: X:372.25, Y:-276.19, Z:-5.95 [[-7.05592901e-01 -7.08609573e-01 3.33623370e-03 3.72252754e+02] [ 7.08601519e-01 -7.05600788e-01 -3.37858131e-03 -2.76189001e+02] [ 4.74814419e-03 -1.98427222e-05 9.99988727e-01 -5.94697521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.566559995 meters 0.04698136123223449 Centerline is valid? [True, True] Translation: X:372.21, Y:-276.15, Z:-5.95 [[-7.02314772e-01 -7.11855869e-01 3.89642462e-03 3.72209517e+02] [ 7.11844940e-01 -7.02325581e-01 -3.94458804e-03 -2.76152907e+02] [ 5.54453684e-03 3.30770336e-06 9.99984629e-01 -5.94687595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.626559995 meters 0.04761708316386603 Centerline is valid? [True, True] Translation: X:372.16, Y:-276.12, Z:-5.95 [[-6.97740780e-01 -7.16331979e-01 5.12837091e-03 3.72162856e+02] [ 7.16313175e-01 -6.97759624e-01 -5.19055071e-03 -2.76118141e+02] [ 7.29652762e-03 5.18607494e-05 9.99973379e-01 -5.94880473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.6865599950002 meters 0.047970546814332264 Centerline is valid? [True, True] Translation: X:372.12, Y:-276.08, Z:-5.95 [[-6.96731071e-01 -7.17310945e-01 5.55177764e-03 3.72119693e+02] [ 7.17288949e-01 -6.96753187e-01 -5.61781831e-03 -2.76078193e+02] [ 7.89794132e-03 6.81201785e-05 9.99968809e-01 -5.94803745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.746559995 meters 0.047556145320433306 Centerline is valid? [True, True] Translation: X:372.08, Y:-276.04, Z:-5.95 [[-6.97950791e-01 -7.16129584e-01 4.80745293e-03 3.72077333e+02] [ 7.16113070e-01 -6.97967346e-01 -4.86365747e-03 -2.76039667e+02] [ 6.83845416e-03 4.80862969e-05 9.99976616e-01 -5.94812137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.806559995 meters 0.04826898505183404 Centerline is valid? [True, True] Translation: X:372.04, Y:-276.00, Z:-5.95 [[-7.01880067e-01 -7.12287924e-01 3.20707949e-03 3.72036219e+02] [ 7.12280537e-01 -7.01887394e-01 -3.24393080e-03 -2.75999774e+02] [ 4.56162140e-03 7.48992987e-06 9.99989596e-01 -5.94697698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.866559995 meters 0.04781233530814331 Centerline is valid? [True, True] Translation: X:372.00, Y:-275.96, Z:-5.95 [[-7.05012197e-01 -7.09190406e-01 2.60186758e-03 3.71996258e+02] [ 7.09185526e-01 -7.05016998e-01 -2.63101241e-03 -2.75959745e+02] [ 3.70024963e-03 -9.68901556e-06 9.99993154e-01 -5.94759770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.926559995 meters 0.048118449635116904 Centerline is valid? [True, True] Translation: X:371.96, Y:-275.92, Z:-5.95 [[-7.07484497e-01 -7.06725798e-01 2.08131110e-03 3.71956276e+02] [ 7.06722667e-01 -7.07487559e-01 -2.10395985e-03 -2.75921516e+02] [ 2.95942441e-03 -1.76092447e-05 9.99995621e-01 -5.94722459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.986559995 meters 0.04861349410379544 Centerline is valid? [True, True] Translation: X:371.91, Y:-275.88, Z:-5.95 [[-7.09569222e-01 -7.04631336e-01 2.48993803e-03 3.71912236e+02] [ 7.04626843e-01 -7.09573590e-01 -2.51649997e-03 -2.75882903e+02] [ 3.53999900e-03 -3.11537548e-05 9.99993734e-01 -5.94795901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.046559995 meters 0.048775232625137506 Centerline is valid? [True, True] Translation: X:371.87, Y:-275.85, Z:-5.95 [[-7.09223559e-01 -7.04971001e-01 4.22281391e-03 3.71870509e+02] [ 7.04958091e-01 -7.09236129e-01 -4.26663469e-03 -2.75845242e+02] [ 6.00282591e-03 -4.90910062e-05 9.99981982e-01 -5.95006442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.106559995 meters 0.04855221942028653 Centerline is valid? [True, True] Translation: X:371.83, Y:-275.81, Z:-5.95 [[-7.07662296e-01 -7.06527029e-01 5.79942759e-03 3.71826227e+02] [ 7.06502742e-01 -7.07686057e-01 -5.85827626e-03 -2.75807713e+02] [ 8.24320456e-03 -4.83697297e-05 9.99966023e-01 -5.95119171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.166559995 meters 0.049411560780124715 Centerline is valid? [True, True] Translation: X:371.78, Y:-275.77, Z:-5.95 [[-7.05671934e-01 -7.08497283e-01 7.66298245e-03 3.71780732e+02] [ 7.08455014e-01 -7.05713539e-01 -7.73912727e-03 -2.75771216e+02] [ 1.08910211e-02 -3.24065715e-05 9.99940691e-01 -5.95237063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.2265599950001 meters 0.04972012557123693 Centerline is valid? [True, True] Translation: X:371.74, Y:-275.73, Z:-5.95 [[-7.05098777e-01 -7.09061682e-01 8.20037154e-03 3.71737850e+02] [ 7.09013340e-01 -7.05146461e-01 -8.27964321e-03 -2.75733169e+02] [ 1.16532407e-02 -2.37934791e-05 9.99932098e-01 -5.95262202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.286559995 meters 0.04992384835097248 Centerline is valid? [True, True] Translation: X:371.69, Y:-275.70, Z:-5.95 [[-7.04438393e-01 -7.09731156e-01 6.94530308e-03 3.71694337e+02] [ 7.09696531e-01 -7.04472630e-01 -7.01056475e-03 -2.75695702e+02] [ 9.86839215e-03 -9.45346138e-06 9.99951306e-01 -5.95183098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.346559995 meters 0.050043082687819554 Centerline is valid? [True, True] Translation: X:371.65, Y:-275.66, Z:-5.95 [[-7.03640394e-01 -7.10532614e-01 5.79653947e-03 3.71651876e+02] [ 7.10508537e-01 -7.03664270e-01 -5.84932805e-03 -2.75657423e+02] [ 8.23495606e-03 2.66727779e-06 9.99966092e-01 -5.94939564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.406559995 meters 0.04960069980842586 Centerline is valid? [True, True] Translation: X:371.61, Y:-275.62, Z:-5.95 [[-7.02253657e-01 -7.11909224e-01 5.00585673e-03 3.71609989e+02] [ 7.11891312e-01 -7.02271498e-01 -5.05014845e-03 -2.75618979e+02] [ 7.11071777e-03 1.71406952e-05 9.99974718e-01 -5.95051480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.4665599950001 meters 0.04905457826142508 Centerline is valid? [True, True] Translation: X:371.57, Y:-275.58, Z:-5.95 [[-6.98701191e-01 -7.15396445e-01 4.95704445e-03 3.71566500e+02] [ 7.15378976e-01 -6.98718773e-01 -4.99975669e-03 -2.75579993e+02] [ 7.04038818e-03 5.28294314e-05 9.99975215e-01 -5.95052600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.526559995 meters 0.048850178046268414 Centerline is valid? [True, True] Translation: X:371.52, Y:-275.54, Z:-5.95 [[-6.95542173e-01 -7.18466251e-01 5.22788144e-03 3.71523297e+02] [ 7.18446917e-01 -6.95561814e-01 -5.27161780e-03 -2.75540738e+02] [ 7.42379418e-03 8.93228019e-05 9.99972439e-01 -5.95095780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.586559995 meters 0.04922662534084245 Centerline is valid? [True, True] Translation: X:371.48, Y:-275.50, Z:-5.95 [[-6.91356996e-01 -7.22486875e-01 6.18217879e-03 3.71479258e+02] [ 7.22460014e-01 -6.91384619e-01 -6.23201609e-03 -2.75504471e+02] [ 8.77681315e-03 1.57829044e-04 9.99961471e-01 -5.95235827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.646559995 meters 0.0490223702704646 Centerline is valid? [True, True] Translation: X:371.44, Y:-275.46, Z:-5.95 [[-6.84628275e-01 -7.28857777e-01 7.10398355e-03 3.71443174e+02] [ 7.28822671e-01 -6.84665075e-01 -7.15892241e-03 -2.75461444e+02] [ 1.00816857e-02 2.76343562e-04 9.99949140e-01 -5.94879993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.7065599950001 meters 0.050184328459587764 Centerline is valid? [True, True] Translation: X:371.40, Y:-275.43, Z:-5.95 [[-6.82349174e-01 -7.30990720e-01 7.22310345e-03 3.71396687e+02] [ 7.30954564e-01 -6.82387331e-01 -7.27709109e-03 -2.75427037e+02] [ 1.02484403e-02 3.14243347e-04 9.99947434e-01 -5.95168415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.766559995 meters 0.05017268867439703 Centerline is valid? [True, True] Translation: X:371.36, Y:-275.39, Z:-5.95 [[-6.82252933e-01 -7.31077519e-01 7.52304800e-03 3.71355331e+02] [ 7.31038323e-01 -6.82294330e-01 -7.57745536e-03 -2.75385779e+02] [ 1.06726403e-02 3.29895251e-04 9.99942991e-01 -5.95282680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.826559995 meters 0.049219727982389785 Centerline is valid? [True, True] Translation: X:371.32, Y:-275.34, Z:-5.95 [[-6.85197357e-01 -7.28323197e-01 7.06419511e-03 3.71322132e+02] [ 7.28288511e-01 -6.85233717e-01 -7.11316534e-03 -2.75337762e+02] [ 1.00213080e-02 2.70850042e-04 9.99949749e-01 -5.95184604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.886559995 meters 0.04872300555106448 Centerline is valid? [True, True] Translation: X:371.29, Y:-275.29, Z:-5.95 [[-6.89499126e-01 -7.24267975e-01 5.18225421e-03 3.71290096e+02] [ 7.24249204e-01 -6.89518583e-01 -5.21674449e-03 -2.75288136e+02] [ 7.35158155e-03 1.56302717e-04 9.99972965e-01 -5.95008121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.9465599950001 meters 0.049072848228518276 Centerline is valid? [True, True] Translation: X:371.25, Y:-275.25, Z:-5.95 [[-6.90950792e-01 -7.22883809e-01 5.09918773e-03 3.71250434e+02] [ 7.22865607e-01 -6.90969594e-01 -5.13177284e-03 -2.75246559e+02] [ 7.23305917e-03 1.40224921e-04 9.99973831e-01 -5.95233666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.006559995 meters 0.04798188959829252 Centerline is valid? [True, True] Translation: X:371.22, Y:-275.20, Z:-5.95 [[-6.90304033e-01 -7.23494313e-01 6.02662524e-03 3.71217027e+02] [ 7.23468926e-01 -6.90330318e-01 -6.06345034e-03 -2.75198754e+02] [ 8.54723396e-03 1.74451864e-04 9.99963457e-01 -5.95225819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.066559995 meters 0.047987762304999196 Centerline is valid? [True, True] Translation: X:371.18, Y:-275.15, Z:-5.95 [[-6.86916133e-01 -7.26693178e-01 7.95312598e-03 3.71181558e+02] [ 7.26649199e-01 -6.86962113e-01 -7.99974597e-03 -2.75152189e+02] [ 1.12768570e-02 2.83978058e-04 9.99936374e-01 -5.95402258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.126559995 meters 0.04744342425235416 Centerline is valid? [True, True] Translation: X:371.14, Y:-275.11, Z:-5.96 [[-6.84625058e-01 -7.28840391e-01 8.95623926e-03 3.71144691e+02] [ 7.28784836e-01 -6.84683543e-01 -9.00607431e-03 -2.75109680e+02] [ 1.26961804e-02 3.61387214e-04 9.99919335e-01 -5.95543743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.1865599950002 meters 0.04866252935935569 Centerline is valid? [True, True] Translation: X:371.11, Y:-275.07, Z:-5.96 [[-6.82940373e-01 -7.30415183e-01 9.27945372e-03 3.71106177e+02] [ 7.30355722e-01 -6.83003291e-01 -9.32862643e-03 -2.75068247e+02] [ 1.31516678e-02 4.06406510e-04 9.99913431e-01 -5.95753288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.246559995 meters 0.04815861428883375 Centerline is valid? [True, True] Translation: X:371.07, Y:-275.02, Z:-5.96 [[-6.82635454e-01 -7.30708253e-01 8.61891868e-03 3.71071245e+02] [ 7.30657008e-01 -6.82689755e-01 -8.66229314e-03 -2.75022956e+02] [ 1.22136566e-02 3.84284918e-04 9.99925337e-01 -5.95649353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.306559995 meters 0.04735324357911148 Centerline is valid? [True, True] Translation: X:371.04, Y:-274.98, Z:-5.95 [[-6.83749070e-01 -7.29677785e-01 7.58549267e-03 3.71037004e+02] [ 7.29638052e-01 -6.83791068e-01 -7.62150069e-03 -2.74976396e+02] [ 1.07481319e-02 3.23470094e-04 9.99942185e-01 -5.95438158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.366559995 meters 0.046575241245014255 Centerline is valid? [True, True] Translation: X:371.00, Y:-274.93, Z:-5.95 [[-6.85166050e-01 -7.28358861e-01 6.39161290e-03 3.70998743e+02] [ 7.28330610e-01 -6.85195814e-01 -6.42022548e-03 -2.74932848e+02] [ 9.05573452e-03 2.56286790e-04 9.99958963e-01 -5.95296430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.426559995 meters 0.04642578092969683 Centerline is valid? [True, True] Translation: X:370.96, Y:-274.89, Z:-5.95 [[-6.87173072e-01 -7.26460995e-01 6.89869890e-03 3.70958583e+02] [ 7.26428004e-01 -6.87207654e-01 -6.92785648e-03 -2.74890468e+02] [ 9.77365620e-03 2.50771659e-04 9.99952205e-01 -5.95308752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.486559995 meters 0.047114617432248505 Centerline is valid? [True, True] Translation: X:370.91, Y:-274.86, Z:-5.96 [[-6.90216951e-01 -7.23552013e-01 8.54664581e-03 3.70911714e+02] [ 7.23501174e-01 -6.90269814e-01 -8.58107716e-03 -2.74857279e+02] [ 1.21083473e-02 2.60703360e-04 9.99926657e-01 -5.95908316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.546559995 meters 0.04718498236064847 Centerline is valid? [True, True] Translation: X:370.87, Y:-274.82, Z:-5.96 [[-6.91394614e-01 -7.22428434e-01 8.40508981e-03 3.70873049e+02] [ 7.22379209e-01 -6.91445660e-01 -8.43668764e-03 -2.74815120e+02] [ 1.19065659e-02 2.38581727e-04 9.99929086e-01 -5.95723355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.606559995 meters 0.04718830390424888 Centerline is valid? [True, True] Translation: X:370.84, Y:-274.77, Z:-5.95 [[-6.91816100e-01 -7.22040529e-01 6.92520490e-03 3.70838729e+02] [ 7.22007111e-01 -6.91850734e-01 -6.94943147e-03 -2.74767436e+02] [ 9.80897926e-03 1.92318606e-04 9.99951872e-01 -5.95061829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.666559995 meters 0.04650071054168293 Centerline is valid? [True, True] Translation: X:370.79, Y:-274.73, Z:-5.95 [[-6.93059834e-01 -7.20849353e-01 6.65405500e-03 3.70794726e+02] [ 7.20818457e-01 -6.93091756e-01 -6.67606587e-03 -2.74728892e+02] [ 9.42430842e-03 1.69452549e-04 9.99955576e-01 -5.95233820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.7265599950001 meters 0.04735958006359701 Centerline is valid? [True, True] Translation: X:370.75, Y:-274.69, Z:-5.96 [[-6.94976533e-01 -7.18995922e-01 7.24452817e-03 3.70751290e+02] [ 7.18959217e-01 -6.95014273e-01 -7.26670089e-03 -2.74690919e+02] [ 1.02597788e-02 1.58333706e-04 9.99947355e-01 -5.95717185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.786559995 meters 0.04713241749815478 Centerline is valid? [True, True] Translation: X:370.72, Y:-274.64, Z:-5.95 [[-6.97352566e-01 -7.16681991e-01 8.14383721e-03 3.70718841e+02] [ 7.16635473e-01 -6.97400103e-01 -8.16670717e-03 -2.74641268e+02] [ 1.15324449e-02 1.41088431e-04 9.99933489e-01 -5.95075766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.846559995 meters 0.047989731364892874 Centerline is valid? [True, True] Translation: X:370.68, Y:-274.60, Z:-5.95 [[-7.00130394e-01 -7.13981021e-01 6.96651578e-03 3.70675456e+02] [ 7.13946865e-01 -7.00165048e-01 -6.98421125e-03 -2.74603986e+02] [ 9.86430514e-03 8.38635273e-05 9.99951343e-01 -5.95429719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.906559995 meters 0.047039313560522725 Centerline is valid? [True, True] Translation: X:370.64, Y:-274.56, Z:-5.95 [[-7.03035499e-01 -7.11134111e-01 5.41876927e-03 3.70636734e+02] [ 7.11113373e-01 -7.03056381e-01 -5.43108518e-03 -2.74561305e+02] [ 7.67193024e-03 3.51136089e-05 9.99970570e-01 -5.95060472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.9665599950001 meters 0.047114668483434936 Centerline is valid? [True, True] Translation: X:370.60, Y:-274.52, Z:-5.95 [[-7.04910577e-01 -7.09277314e-01 5.17408273e-03 3.70596658e+02] [ 7.09258363e-01 -7.04929566e-01 -5.18473680e-03 -2.74518426e+02] [ 7.32478008e-03 1.49856364e-05 9.99973173e-01 -5.94945064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.026559995 meters 0.04717527608406861 Centerline is valid? [True, True] Translation: X:370.56, Y:-274.48, Z:-5.95 [[-7.05744423e-01 -7.08447577e-01 5.18074485e-03 3.70556868e+02] [ 7.08428567e-01 -7.05763438e-01 -5.18991856e-03 -2.74476641e+02] [ 7.33316553e-03 7.43157539e-06 9.99973112e-01 -5.95072670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.086559995 meters 0.047755600808873463 Centerline is valid? [True, True] Translation: X:370.52, Y:-274.44, Z:-5.95 [[-7.05440097e-01 -7.08747340e-01 5.61044966e-03 3.70516797e+02] [ 7.08725070e-01 -7.05462407e-01 -5.61857574e-03 -2.74436593e+02] [ 7.94011193e-03 1.26977119e-05 9.99968477e-01 -5.95071827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.146559995 meters 0.04719978551885126 Centerline is valid? [True, True] Translation: X:370.47, Y:-274.40, Z:-5.95 [[-7.03670248e-01 -7.10507473e-01 5.22617721e-03 3.70474423e+02] [ 7.10488205e-01 -7.03689655e-01 -5.23254757e-03 -2.74397408e+02] [ 7.39537099e-03 3.11492228e-05 9.99972653e-01 -5.95060075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.2065599950001 meters 0.04719257553373844 Centerline is valid? [True, True] Translation: X:370.43, Y:-274.36, Z:-5.95 [[-7.01186684e-01 -7.12966654e-01 3.97303985e-03 3.70430618e+02] [ 7.12955565e-01 -7.01197938e-01 -3.97665813e-03 -2.74361241e+02] [ 5.62111199e-03 4.42211441e-05 9.99984201e-01 -5.95183143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.266559995 meters 0.0470415396742717 Centerline is valid? [True, True] Translation: X:370.39, Y:-274.32, Z:-5.95 [[-6.98158288e-01 -7.15937031e-01 3.02865042e-03 3.70389649e+02] [ 7.15930619e-01 -6.98164855e-01 -3.03047504e-03 -2.74322445e+02] [ 4.28412658e-03 5.25523048e-05 9.99990822e-01 -5.95023197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.326559995 meters 0.046829491562106404 Centerline is valid? [True, True] Translation: X:370.35, Y:-274.28, Z:-5.95 [[-6.97197565e-01 -7.16872279e-01 3.11320633e-03 3.70348331e+02] [ 7.16865516e-01 -6.97204513e-01 -3.11430383e-03 -2.74281553e+02] [ 4.40309958e-03 6.04652119e-05 9.99990305e-01 -5.95094272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.386559995 meters 0.04712080231975546 Centerline is valid? [True, True] Translation: X:370.31, Y:-274.24, Z:-5.95 [[-6.96160897e-01 -7.17874717e-01 3.98713368e-03 3.70308268e+02] [ 7.17863649e-01 -6.96172309e-01 -3.98727756e-03 -2.74241719e+02] [ 5.63809781e-03 8.64316135e-05 9.99984102e-01 -5.95290960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.4465599950001 meters 0.046532478317717146 Centerline is valid? [True, True] Translation: X:370.27, Y:-274.20, Z:-5.96 [[-6.94965580e-01 -7.19020313e-01 5.71249423e-03 3.70269389e+02] [ 7.18997643e-01 -6.94989044e-01 -5.71129078e-03 -2.74201655e+02] [ 8.07665498e-03 1.38119378e-04 9.99967374e-01 -5.95525035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.506559995 meters 0.047162300806916864 Centerline is valid? [True, True] Translation: X:369.55, Y:-274.26, Z:-4.85 [[-7.66384301e-01 6.42347576e-01 6.68542722e-03 3.69552807e+02] [ 6.42321426e-01 7.66413445e-01 -5.79795504e-03 -2.74260094e+02] [-8.84810368e-03 -1.49268568e-04 -9.99960844e-01 -4.84873535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.566559995 meters 0.04689971307284284 Centerline is valid? [True, True] Translation: X:369.55, Y:-274.16, Z:-4.85 [[-8.09030920e-01 5.87716201e-01 7.65746925e-03 3.69549132e+02] [ 5.87688163e-01 8.09067145e-01 -5.74258532e-03 -2.74162041e+02] [-9.57041722e-03 -1.45725042e-04 -9.99954192e-01 -4.84792700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.626559995 meters 0.04647717426218997 Centerline is valid? [True, True] Translation: X:369.84, Y:-274.27, Z:-4.85 [[-8.48873073e-01 5.28528704e-01 8.48029251e-03 3.69841658e+02] [ 5.28500660e-01 8.48915419e-01 -5.44643925e-03 -2.74270732e+02] [-1.00776505e-02 -1.41495436e-04 -9.99949209e-01 -4.84901823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.6865599950002 meters 0.046805861416764724 Centerline is valid? [True, True] Translation: X:370.10, Y:-273.81, Z:-5.96 [[-7.94629455e-01 -6.07040807e-01 8.09246581e-03 3.70095230e+02] [ 6.07011132e-01 -7.94670648e-01 -6.00392122e-03 -2.73807871e+02] [ 1.00754702e-02 1.41324184e-04 9.99949231e-01 -5.95674709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.746559995 meters 0.047355052226267416 Centerline is valid? [True, True] Translation: X:369.39, Y:-273.97, Z:-4.85 [[-8.50725119e-01 5.25531951e-01 9.10716882e-03 3.69391688e+02] [ 5.25499912e-01 8.50773851e-01 -5.80493071e-03 -2.73968878e+02] [-1.07988176e-02 -1.52583956e-04 -9.99941679e-01 -4.84693204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.806559995 meters 0.04706037176467258 Centerline is valid? [True, True] Translation: X:369.66, Y:-274.04, Z:-4.85 [[-8.86335025e-01 4.62917228e-01 1.08565132e-02 3.69663292e+02] [ 4.62880175e-01 8.86401496e-01 -5.85937986e-03 -2.74035113e+02] [-1.23356374e-02 -1.68108873e-04 -9.99923899e-01 -4.84706962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.866559995 meters 0.0472063949512742 Centerline is valid? [True, True] Translation: X:369.63, Y:-273.92, Z:-4.85 [[-9.16507342e-01 3.99837265e-01 1.20188642e-02 3.69629519e+02] [ 3.99800512e-01 9.16586130e-01 -5.42366047e-03 -2.73923342e+02] [-1.31849058e-02 -1.65676569e-04 -9.99913062e-01 -4.84593826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.926559995 meters 0.047639673290905335 Centerline is valid? [True, True] Translation: X:369.18, Y:-273.65, Z:-4.84 [[-9.42302777e-01 3.34385720e-01 1.58640376e-02 3.69180947e+02] [ 3.34334667e-01 9.42436283e-01 -5.84656464e-03 -2.73651464e+02] [-1.69058523e-02 -2.05336368e-04 -9.99857065e-01 -4.84150537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.986559995 meters 0.0476646106205845 Centerline is valid? [True, True] Translation: X:369.67, Y:-273.73, Z:-4.85 [[-9.65429710e-01 2.59979081e-01 1.88772962e-02 3.69670614e+02] [ 2.59923667e-01 9.65614208e-01 -5.37486840e-03 -2.73726947e+02] [-1.96255387e-02 -2.82401588e-04 -9.99807361e-01 -4.84906716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.046559995 meters 0.047775122750976 Centerline is valid? [True, True] Translation: X:368.99, Y:-272.97, Z:-5.97 [[-9.35053940e-01 -3.54043123e-01 1.80996230e-02 3.68986138e+02] [ 3.53982073e-01 -9.35229064e-01 -6.57952757e-03 -2.72972720e+02] [ 1.92567300e-02 2.54728885e-04 9.99814540e-01 -5.96763898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.106559995 meters 0.04863207255593762 Centerline is valid? [True, True] Translation: X:368.92, Y:-273.49, Z:-4.84 [[-9.67918627e-01 2.50628948e-01 1.78511247e-02 3.68923024e+02] [ 2.50579437e-01 9.68083158e-01 -4.99456317e-03 -2.73485322e+02] [-1.85331553e-02 -3.61205936e-04 -9.99828181e-01 -4.83798944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.166559995 meters 0.048879870208538956 Centerline is valid? [True, True] Translation: X:368.85, Y:-273.39, Z:-4.84 [[-9.83711346e-01 1.79206989e-01 1.40300999e-02 3.68849754e+02] [ 1.79184277e-01 9.83811344e-01 -2.86968831e-03 -2.73390760e+02] [-1.43172396e-02 -3.08971641e-04 -9.99897455e-01 -4.84488290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.2265599950001 meters 0.04748863455377451 Centerline is valid? [True, True] Translation: X:368.94, Y:-273.33, Z:-4.85 [[-9.93972659e-01 1.08719231e-01 1.40883592e-02 3.68942356e+02] [ 1.08703982e-01 9.94072450e-01 -1.84600135e-03 -2.73329675e+02] [-1.42055456e-02 -3.03414126e-04 -9.99899050e-01 -4.84781820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.286559995 meters 0.047547494346888056 Centerline is valid? [True, True] Translation: X:369.23, Y:-273.27, Z:-4.85 [[-9.99313227e-01 3.43124507e-02 1.39903670e-02 3.69233487e+02] [ 3.43049350e-02 9.99411111e-01 -7.76899878e-04 -2.73271694e+02] [-1.40087855e-02 -2.96427694e-04 -9.99901828e-01 -4.84860967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.346559995 meters 0.04755405381681886 Centerline is valid? [True, True] Translation: X:368.30, Y:-273.17, Z:-4.85 [[-9.99250225e-01 -3.64837833e-02 1.29584457e-02 3.68298852e+02] [-3.64842873e-02 9.99334207e-01 1.97586726e-04 -2.73165992e+02] [-1.29570268e-02 -2.75341076e-04 -9.99916016e-01 -4.84588054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.406559995 meters 0.048179707767364494 Centerline is valid? [True, True] Translation: X:368.24, Y:-273.10, Z:-4.85 [[-9.93964847e-01 -1.08939763e-01 1.28845592e-02 3.68243067e+02] [-1.08934435e-01 9.94048310e-01 1.11671357e-03 -2.73095665e+02] [-1.29295288e-02 -2.93598150e-04 -9.99916367e-01 -4.84625955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.4665599950001 meters 0.04724603763885532 Centerline is valid? [True, True] Translation: X:368.26, Y:-273.02, Z:-4.85 [[-9.83261489e-01 -1.81774240e-01 1.24487089e-02 3.68258682e+02] [-1.81763597e-01 9.83340243e-01 1.99055738e-03 -2.73020713e+02] [-1.26031485e-02 -3.05483705e-04 -9.99920531e-01 -4.84974577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.526559995 meters 0.047604106789250034 Centerline is valid? [True, True] Translation: X:368.59, Y:-272.86, Z:-4.85 [[-9.65946610e-01 -2.58463080e-01 1.19992844e-02 3.68588508e+02] [-2.58447413e-01 9.66021079e-01 2.86517476e-03 -2.72863533e+02] [-1.23321036e-02 -3.33578178e-04 -9.99923901e-01 -4.84949101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.586559995 meters 0.046552670540569094 Centerline is valid? [True, True] Translation: X:368.58, Y:-272.78, Z:-4.86 [[-9.44273051e-01 -3.28977070e-01 1.10676285e-02 3.68579859e+02] [-3.28958470e-01 9.44337854e-01 3.51320124e-03 -2.72779321e+02] [-1.16073432e-02 -3.23368897e-04 -9.99932580e-01 -4.85534129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.646559995 meters 0.04694442265521253 Centerline is valid? [True, True] Translation: X:367.97, Y:-272.90, Z:-4.85 [[-9.19407665e-01 -3.93200968e-01 9.08539649e-03 3.67967505e+02] [-3.93184474e-01 9.19452519e-01 3.61033760e-03 -2.72901740e+02] [-9.77317893e-03 -2.52864786e-04 -9.99952209e-01 -4.85354177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.7065599950001 meters 0.046491827018237675 Centerline is valid? [True, True] Translation: X:367.84, Y:-272.88, Z:-4.86 [[-8.92134644e-01 -4.51710986e-01 7.27753648e-03 3.67841984e+02] [-4.51697357e-01 8.92164313e-01 3.51231019e-03 -2.72878676e+02] [-8.07930744e-03 -1.53790393e-04 -9.99967350e-01 -4.85561456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.766559995 meters 0.046617173580202446 Centerline is valid? [True, True] Translation: X:367.63, Y:-272.91, Z:-4.85 [[-8.60060170e-01 -5.10149681e-01 6.61865562e-03 3.67631023e+02] [-5.10135561e-01 8.60085630e-01 3.79722129e-03 -2.72907532e+02] [-7.62976182e-03 -1.10572808e-04 -9.99970887e-01 -4.85435395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.826559995 meters 0.04647507016743399 Centerline is valid? [True, True] Translation: X:367.49, Y:-272.91, Z:-4.85 [[-8.21634812e-01 -5.69971651e-01 6.96791476e-03 3.67493707e+02] [-5.69952338e-01 8.21664350e-01 4.69351809e-03 -2.72905460e+02] [-8.40045940e-03 -1.15021455e-04 -9.99964709e-01 -4.85449002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.886559995 meters 0.047129732419992514 Centerline is valid? [True, True] Translation: X:367.63, Y:-272.71, Z:-4.86 [[-7.76771005e-01 -6.29724655e-01 8.58287401e-03 3.67631318e+02] [-6.29688176e-01 7.76818409e-01 6.77940314e-03 -2.72711466e+02] [-1.09364918e-02 -1.38490494e-04 -9.99940185e-01 -4.85721298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.9465599950001 meters 0.047539551532705344 Centerline is valid? [True, True] Translation: X:367.44, Y:-272.76, Z:-4.86 [[-7.31152620e-01 -6.82152803e-01 9.13237126e-03 3.67437160e+02] [-6.82101783e-01 7.31209640e-01 8.34392988e-03 -2.72755507e+02] [-1.23695131e-02 -1.28520522e-04 -9.99923486e-01 -4.85620085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.006559995 meters 0.04734620075908506 Centerline is valid? [True, True] Translation: X:366.94, Y:-272.46, Z:-5.95 [[-7.85521202e-01 6.18767485e-01 9.12367203e-03 3.66944788e+02] [-6.18724591e-01 -7.85574181e-01 7.28610459e-03 -2.72460139e+02] [ 1.16757258e-02 7.83493904e-05 9.99931833e-01 -5.94750343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.066559995 meters 0.047563682386829516 Centerline is valid? [True, True] Translation: X:367.15, Y:-273.01, Z:-4.86 [[-7.33299302e-01 -6.79860194e-01 7.88981396e-03 3.67151985e+02] [-6.79821232e-01 7.33341745e-01 7.27854653e-03 -2.73010350e+02] [-1.07343240e-02 -2.63099539e-05 -9.99942385e-01 -4.85856226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.126559995 meters 0.04803820767704366 Centerline is valid? [True, True] Translation: X:366.95, Y:-273.08, Z:-4.86 [[-6.85998599e-01 -7.27569955e-01 6.91982836e-03 3.66954040e+02] [-7.27532584e-01 6.86033498e-01 7.37418921e-03 -2.73082607e+02] [-1.01124726e-02 2.42828514e-05 -9.99948867e-01 -4.86167882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.1865599950002 meters 0.047814290191891956 Centerline is valid? [True, True] Translation: X:366.76, Y:-273.17, Z:-4.86 [[-6.34526208e-01 -7.72870369e-01 6.91987624e-03 3.66759029e+02] [-7.72823263e-01 6.34563936e-01 8.53315757e-03 -2.73173509e+02] [-1.09861285e-02 6.66707821e-05 -9.99939648e-01 -4.86143696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.246559995 meters 0.04845838490964533 Centerline is valid? [True, True] Translation: X:366.57, Y:-273.28, Z:-4.86 [[-5.79759589e-01 -8.14760383e-01 6.65863584e-03 3.66573779e+02] [-8.14704429e-01 5.79797815e-01 9.54918354e-03 -2.73277448e+02] [-1.16409590e-02 1.11410609e-04 -9.99932236e-01 -4.85913332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.306559995 meters 0.04864095700281099 Centerline is valid? [True, True] Translation: X:366.37, Y:-273.43, Z:-4.86 [[-5.21976497e-01 -8.52935961e-01 6.38614617e-03 3.66373122e+02] [-8.52868382e-01 5.22015537e-01 1.07378662e-02 -2.73429466e+02] [-1.24923798e-02 1.58371654e-04 -9.99921955e-01 -4.85938067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.366559995 meters 0.048466174508388506 Centerline is valid? [True, True] Translation: X:366.30, Y:-273.38, Z:-4.86 [[-4.56355617e-01 -8.89781627e-01 5.31116506e-03 3.66300982e+02] [-8.89717656e-01 4.56386499e-01 1.06703142e-02 -2.73377756e+02] [-1.19181936e-02 1.44020491e-04 -9.99928965e-01 -4.86120279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.426559995 meters 0.048232884725792964 Centerline is valid? [True, True] Translation: X:365.89, Y:-274.08, Z:-4.86 [[-3.89434975e-01 -9.21044737e-01 4.12229835e-03 3.65892207e+02] [-9.20990414e-01 3.89456780e-01 1.00036746e-02 -2.74082304e+02] [-1.08192889e-02 9.91835107e-05 -9.99941465e-01 -4.85919256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.486559995 meters 0.04842731486168945 Centerline is valid? [True, True] Translation: X:365.92, Y:-273.74, Z:-4.86 [[-3.10083634e-01 -9.50704995e-01 2.85504740e-03 3.65922978e+02] [-9.50664573e-01 3.10096778e-01 8.76691846e-03 -2.73737000e+02] [-9.22009417e-03 4.28551809e-06 -9.99957494e-01 -4.86214503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.546559995 meters 0.048535123598147545 Centerline is valid? [True, True] Translation: X:365.81, Y:-273.79, Z:-4.86 [[-2.32037714e-01 -9.72704859e-01 1.93836477e-03 3.65809460e+02] [-9.72672828e-01 2.32045803e-01 7.89393150e-03 -2.73786206e+02] [-8.12825493e-03 -5.37049249e-05 -9.99966964e-01 -4.85990886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.606559995 meters 0.04801933517822118 Centerline is valid? [True, True] Translation: X:365.66, Y:-274.04, Z:-4.86 [[-1.56338447e-01 -9.87702626e-01 1.34599151e-03 3.65663100e+02] [-9.87670825e-01 1.56344215e-01 7.92637840e-03 -2.74036170e+02] [-8.03934275e-03 -9.01988597e-05 -9.99967680e-01 -4.86199717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.666559995 meters 0.04867455370412512 Centerline is valid? [True, True] Translation: X:365.48, Y:-274.76, Z:-4.86 [[-8.35168545e-02 -9.96506034e-01 8.12084947e-04 3.65480015e+02] [-9.96471174e-01 8.35207261e-02 8.33589168e-03 -2.74761652e+02] [-8.37459228e-03 -1.13031789e-04 -9.99964926e-01 -4.86055220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.7265599950001 meters 0.048381774352351345 Centerline is valid? [True, True] Translation: X:364.95, Y:-274.93, Z:-5.95 [[-1.76830562e-01 9.84240237e-01 1.45185938e-03 3.64946109e+02] [-9.84198208e-01 -1.76836431e-01 9.09744495e-03 -2.74930169e+02] [ 9.21081301e-03 1.79788905e-04 9.99957563e-01 -5.94620766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.786559995 meters 0.04838243751225652 Centerline is valid? [True, True] Translation: X:365.44, Y:-275.14, Z:-4.86 [[-7.93446189e-02 -9.96846662e-01 1.07845695e-03 3.65438242e+02] [-9.96775889e-01 7.93518373e-02 1.18790734e-02 -2.75143727e+02] [-1.19271923e-02 -1.32439334e-04 -9.99928860e-01 -4.85786242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.846559995 meters 0.04841054421134211 Centerline is valid? [True, True] Translation: X:365.38, Y:-274.75, Z:-4.87 [[-5.28966864e-03 -9.99985991e-01 1.92403741e-04 3.65383822e+02] [-9.99900125e-01 5.29173589e-03 1.31048824e-02 -2.74750838e+02] [-1.31057169e-02 -1.23064039e-04 -9.99914109e-01 -4.86509331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.906559995 meters 0.04892721632697569 Centerline is valid? [True, True] Translation: X:365.30, Y:-275.11, Z:-4.86 [[ 6.51936835e-02 -9.97872279e-01 -8.35597193e-04 3.65297751e+02] [-9.97767505e-01 -6.51989472e-02 1.44603858e-02 -2.75107523e+02] [-1.44840981e-02 -1.08994086e-04 -9.99895094e-01 -4.86014253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.9665599950001 meters 0.04863063613220651 Centerline is valid? [True, True] Translation: X:365.24, Y:-275.39, Z:-4.86 [[ 1.34741362e-01 -9.90878671e-01 -2.05552108e-03 3.65237094e+02] [-9.90755837e-01 -1.34757024e-01 1.56018178e-02 -2.75391613e+02] [-1.57365044e-02 -6.56906758e-05 -9.99876171e-01 -4.85766088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.026559995 meters 0.04867771213049312 Centerline is valid? [True, True] Translation: X:365.15, Y:-275.38, Z:-4.86 [[ 2.04149215e-01 -9.78934720e-01 -3.14833774e-03 3.65145969e+02] [-9.78817335e-01 -2.04173489e-01 1.51594906e-02 -2.75378802e+02] [-1.54829588e-02 -1.31505542e-05 -9.99880132e-01 -4.86070087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.086559995 meters 0.04948223628553998 Centerline is valid? [True, True] Translation: X:365.13, Y:-275.68, Z:-4.86 [[ 2.70787681e-01 -9.62630281e-01 -4.11992822e-03 3.65128795e+02] [-9.62522041e-01 -2.70819015e-01 1.44354273e-02 -2.75684420e+02] [-1.50117343e-02 5.65858362e-05 -9.99887316e-01 -4.86190184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.146559995 meters 0.04937147638194433 Centerline is valid? [True, True] Translation: X:365.12, Y:-275.94, Z:-4.86 [[ 3.35882054e-01 -9.41890218e-01 -5.10521426e-03 3.65118423e+02] [-9.41787224e-01 -3.35920825e-01 1.39292316e-02 -2.75940114e+02] [-1.48347548e-02 1.29446640e-04 -9.99889951e-01 -4.86240664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.2065599950001 meters 0.04906737981401152 Centerline is valid? [True, True] Translation: X:365.16, Y:-276.26, Z:-4.86 [[ 4.00204963e-01 -9.16406871e-01 -5.86814995e-03 3.65159066e+02] [-9.16314847e-01 -4.00247943e-01 1.29879093e-02 -2.76264549e+02] [-1.42509243e-02 1.79247142e-04 -9.99898434e-01 -4.86089400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.266559995 meters 0.049088721459235964 Centerline is valid? [True, True] Translation: X:365.46, Y:-277.04, Z:-4.86 [[ 4.64978848e-01 -8.85296559e-01 -6.68384979e-03 3.65455868e+02] [-8.85210350e-01 -4.65026853e-01 1.23556998e-02 -2.77037598e+02] [-1.40466281e-02 1.71473945e-04 -9.99901327e-01 -4.85788944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.326559995 meters 0.04876538516619788 Centerline is valid? [True, True] Translation: X:365.15, Y:-276.68, Z:-4.86 [[ 5.31989392e-01 -8.46712565e-01 -8.06968344e-03 3.65148737e+02] [-8.46619233e-01 -5.32050573e-01 1.25722989e-02 -2.76683160e+02] [-1.49386031e-02 1.43619568e-04 -9.99888403e-01 -4.86019905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.386559995 meters 0.048701191701349726 Centerline is valid? [True, True] Translation: X:365.23, Y:-276.95, Z:-4.86 [[ 5.97162975e-01 -8.02061504e-01 -9.68117015e-03 3.65225689e+02] [-8.01957780e-01 -5.97241442e-01 1.28987881e-02 -2.76950540e+02] [-1.61276174e-02 6.12110505e-05 -9.99869940e-01 -4.86005305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.4465599950001 meters 0.04863652686294839 Centerline is valid? [True, True] Translation: X:365.30, Y:-277.18, Z:-4.86 [[ 6.57367059e-01 -7.53506332e-01 -9.83653654e-03 3.65296921e+02] [-7.53421857e-01 -6.57440649e-01 1.12826115e-02 -2.77179782e+02] [-1.49684582e-02 -5.75553820e-06 -9.99887966e-01 -4.86173125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.506559995 meters 0.04810556568138765 Centerline is valid? [True, True] Translation: X:365.79, Y:-277.83, Z:-4.86 [[ 7.11684268e-01 -7.02442046e-01 -8.98186886e-03 3.65790621e+02] [-7.02385446e-01 -7.11740943e-01 8.91715519e-03 -2.77825749e+02] [-1.26565486e-02 -3.74651029e-05 -9.99919902e-01 -4.85953831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.566559995 meters 0.04874341679690166 Centerline is valid? [True, True] Translation: X:365.77, Y:-277.91, Z:-4.87 [[ 7.65756907e-01 -6.43085061e-01 -7.61345018e-03 3.65766480e+02] [-6.43052626e-01 -7.65794752e-01 6.45892309e-03 -2.77906766e+02] [-9.98397714e-03 -5.01158363e-05 -9.99950158e-01 -4.86574535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.626559995 meters 0.04791747750273735 Centerline is valid? [True, True] Translation: X:365.75, Y:-277.99, Z:-4.86 [[ 8.14297033e-01 -5.80405306e-01 -7.07267926e-03 3.65746865e+02] [-5.80382847e-01 -8.14327746e-01 5.10615755e-03 -2.77990081e+02] [-8.72311989e-03 -5.30672207e-05 -9.99961952e-01 -4.86342503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.6865599950002 meters 0.04788976392483118 Centerline is valid? [True, True] Translation: X:365.74, Y:-278.06, Z:-4.86 [[ 8.57764836e-01 -5.13988376e-01 -7.44558024e-03 3.65742022e+02] [-5.13968372e-01 -8.57797147e-01 4.53511417e-03 -2.78063123e+02] [-8.71779345e-03 -6.32687133e-05 -9.99961997e-01 -4.86352446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.746559995 meters 0.04803156400439322 Centerline is valid? [True, True] Translation: X:365.74, Y:-278.15, Z:-4.86 [[ 8.96766605e-01 -4.42415282e-01 -8.85298956e-03 3.65736779e+02] [-4.42392567e-01 -8.96810296e-01 4.48432256e-03 -2.78148691e+02] [-9.92338502e-03 -1.04893944e-04 -9.99950757e-01 -4.86401042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.806559995 meters 0.04778152115458088 Centerline is valid? [True, True] Translation: X:365.74, Y:-278.23, Z:-4.86 [[ 9.29566997e-01 -3.68511307e-01 -1.02281091e-02 3.65738547e+02] [-3.68487268e-01 -9.29623254e-01 4.21167603e-03 -2.78232964e+02] [-1.10603383e-02 -1.46107053e-04 -9.99938822e-01 -4.86357544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.866559995 meters 0.04766730146002775 Centerline is valid? [True, True] Translation: X:365.75, Y:-278.32, Z:-4.86 [[ 9.56162282e-01 -2.92584816e-01 -1.21579221e-02 3.65746457e+02] [-2.92558536e-01 -9.56239555e-01 3.92641539e-03 -2.78318515e+02] [-1.27746955e-02 -1.97386414e-04 -9.99918381e-01 -4.86232570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.926559995 meters 0.048024611889643014 Centerline is valid? [True, True] Translation: X:365.76, Y:-278.40, Z:-4.86 [[ 9.76464568e-01 -2.15303314e-01 -1.27055723e-02 3.65761312e+02] [-2.15282099e-01 -9.76547200e-01 3.03064816e-03 -2.78400361e+02] [-1.30600996e-02 -2.24038271e-04 -9.99914688e-01 -4.86118557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.986559995 meters 0.04754363429544847 Centerline is valid? [True, True] Translation: X:365.78, Y:-278.48, Z:-4.86 [[ 9.90323669e-01 -1.38210840e-01 -1.25217818e-02 3.65782508e+02] [-1.38196997e-01 -9.90402805e-01 1.96826997e-03 -2.78484054e+02] [-1.26736441e-02 -2.18751679e-04 -9.99919662e-01 -4.86211779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.046559995 meters 0.04754920416064136 Centerline is valid? [True, True] Translation: X:365.81, Y:-278.56, Z:-4.86 [[ 9.98056919e-01 -6.10302129e-02 -1.25578562e-02 3.65810137e+02] [-6.10227440e-02 -9.98135897e-01 9.77435592e-04 -2.78564490e+02] [-1.25941002e-02 -2.09221510e-04 -9.99920669e-01 -4.86310657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.106559995 meters 0.047580490345311366 Centerline is valid? [True, True] Translation: X:365.84, Y:-278.64, Z:-4.87 [[ 9.99776140e-01 1.64765312e-02 -1.32738062e-02 3.65841024e+02] [ 1.64778776e-02 -9.99864231e-01 -7.93356433e-06 -2.78642241e+02] [-1.32721347e-02 -2.10792365e-04 -9.99911899e-01 -4.86638822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.166559995 meters 0.04754707035332047 Centerline is valid? [True, True] Translation: X:365.88, Y:-278.76, Z:-4.87 [[ 9.95483268e-01 9.39958374e-02 -1.33358775e-02 3.65876439e+02] [ 9.39901402e-02 -9.95572570e-01 -1.05470149e-03 -2.78763158e+02] [-1.33759714e-02 -2.03503311e-04 -9.99910517e-01 -4.86740449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.2265599950001 meters 0.04749170889006541 Centerline is valid? [True, True] Translation: X:365.92, Y:-278.88, Z:-4.87 [[ 9.85260471e-01 1.70541681e-01 -1.33168802e-02 3.65920137e+02] [ 1.70528716e-01 -9.85350445e-01 -2.11145050e-03 -2.78879082e+02] [-1.34818842e-02 -1.90581778e-04 -9.99909097e-01 -4.86592086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.286559995 meters 0.04791202017358936 Centerline is valid? [True, True] Translation: X:365.97, Y:-278.97, Z:-4.86 [[ 9.69668069e-01 2.44125843e-01 -1.20999482e-02 3.65968827e+02] [ 2.44108606e-01 -9.69743551e-01 -2.90421531e-03 -2.78966004e+02] [-1.24428408e-02 -1.37576646e-04 -9.99922575e-01 -4.86470256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.346559995 meters 0.04797499986408915 Centerline is valid? [True, True] Translation: X:366.02, Y:-279.04, Z:-4.86 [[ 9.48553741e-01 3.16419556e-01 -1.11563517e-02 3.66022321e+02] [ 3.16398845e-01 -9.48619342e-01 -3.62148913e-03 -2.79044368e+02] [-1.17290409e-02 -9.46797186e-05 -9.99931208e-01 -4.86474111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.406559995 meters 0.04779921674201705 Centerline is valid? [True, True] Translation: X:366.08, Y:-279.12, Z:-4.86 [[ 9.22272803e-01 3.86388506e-01 -1.08073286e-02 3.66082273e+02] [ 3.86362651e-01 -9.22336121e-01 -4.47017079e-03 -2.79119957e+02] [-1.16952122e-02 -5.28312014e-05 -9.99931607e-01 -4.86355886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.4665599950001 meters 0.04769237406411987 Centerline is valid? [True, True] Translation: X:366.14, Y:-279.18, Z:-4.86 [[ 8.92877754e-01 4.50131450e-01 -1.22879775e-02 3.66142922e+02] [ 4.50088065e-01 -8.92962303e-01 -6.24969938e-03 -2.79178733e+02] [-1.37858869e-02 4.95455354e-05 -9.99904969e-01 -4.86302495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.526559995 meters 0.048247398755849207 Centerline is valid? [True, True] Translation: X:366.21, Y:-279.24, Z:-4.87 [[ 8.57548555e-01 5.14259821e-01 -1.21372356e-02 3.66212692e+02] [ 5.14206281e-01 -8.57634433e-01 -7.42155413e-03 -2.79241109e+02] [-1.42259182e-02 1.23300251e-04 -9.99898799e-01 -4.86581771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.586559995 meters 0.049129363098792206 Centerline is valid? [True, True] Translation: X:366.30, Y:-279.31, Z:-4.87 [[ 8.17323041e-01 5.76058181e-01 -1.18329991e-02 3.66295233e+02] [ 5.75994379e-01 -8.17408671e-01 -8.57554241e-03 -2.79308585e+02] [-1.46124074e-02 1.93247435e-04 -9.99893214e-01 -4.86512315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.646559995 meters 0.049532205689247 Centerline is valid? [True, True] Translation: X:366.38, Y:-279.37, Z:-4.87 [[ 7.71082961e-01 6.36648257e-01 -1.04911913e-02 3.66383246e+02] [ 6.36585600e-01 -7.71154299e-01 -8.93428251e-03 -2.79371197e+02] [-1.37783227e-02 2.10531699e-04 -9.99905052e-01 -4.86568172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.7065599950001 meters 0.04920027120210496 Centerline is valid? [True, True] Translation: X:366.46, Y:-279.41, Z:-4.86 [[ 7.15723920e-01 6.98328915e-01 -8.71759125e-03 3.66459077e+02] [ 6.98274874e-01 -7.15776997e-01 -8.68858455e-03 -2.79409676e+02] [-1.23073411e-02 1.31352869e-04 -9.99924253e-01 -4.86464548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.766559995 meters 0.048316750176985244 Centerline is valid? [True, True] Translation: X:366.55, Y:-279.45, Z:-4.87 [[ 6.54790768e-01 7.55785682e-01 -6.08713627e-03 3.66547590e+02] [ 7.55752331e-01 -6.54819060e-01 -7.10027922e-03 -2.79448219e+02] [-9.35226222e-03 4.88298643e-05 -9.99956266e-01 -4.86794305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.826559995 meters 0.04841316348460149 Centerline is valid? [True, True] Translation: X:366.63, Y:-279.48, Z:-4.87 [[ 5.88547916e-01 8.08449770e-01 -4.50766733e-03 3.66632212e+02] [ 8.08426170e-01 -5.88565178e-01 -6.17728569e-03 -2.79476657e+02] [-7.64708122e-03 -8.48761431e-06 -9.99970761e-01 -4.86723894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.886559995 meters 0.0476394744232823 Centerline is valid? [True, True] Translation: X:366.71, Y:-279.49, Z:-4.87 [[ 5.16324436e-01 8.56386072e-01 -3.46021025e-03 3.66711108e+02] [ 8.56367649e-01 -5.16336026e-01 -5.61759069e-03 -2.79492244e+02] [-6.59745763e-03 -6.27127736e-05 -9.99978235e-01 -4.86766705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.9465599950001 meters 0.04781093592466405 Centerline is valid? [True, True] Translation: X:366.80, Y:-279.50, Z:-4.87 [[ 4.44143479e-01 8.95950867e-01 -2.93475812e-03 3.66796998e+02] [ 8.95932586e-01 -4.44153167e-01 -5.72412586e-03 -2.79503293e+02] [-6.43201764e-03 -8.70122501e-05 -9.99979311e-01 -4.86844027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.006559995 meters 0.048127418152917614 Centerline is valid? [True, True] Translation: X:366.88, Y:-279.51, Z:-4.87 [[ 3.71349878e-01 9.28489190e-01 -2.66309250e-03 3.66880714e+02] [ 9.28467278e-01 -3.71359412e-01 -6.37978513e-03 -2.79506046e+02] [-6.91252600e-03 -1.03461811e-04 -9.99976103e-01 -4.86807345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.066559995 meters 0.0486526274589386 Centerline is valid? [True, True] Translation: X:366.97, Y:-279.50, Z:-4.87 [[ 2.96078620e-01 9.55160177e-01 -2.54715193e-03 3.66965192e+02] [ 9.55128661e-01 -2.96089545e-01 -7.76034609e-03 -2.79502502e+02] [-8.16655859e-03 -1.35185253e-04 -9.99966644e-01 -4.86706104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.126559995 meters 0.048652406622561824 Centerline is valid? [True, True] Translation: X:367.05, Y:-279.49, Z:-4.87 [[ 2.20531497e-01 9.75377295e-01 -2.23396962e-03 3.67050733e+02] [ 9.75334151e-01 -2.20542757e-01 -9.17526514e-03 -2.79494219e+02] [-9.44203111e-03 -1.55431905e-04 -9.99955411e-01 -4.86597281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.1865599950002 meters 0.04847515146615044 Centerline is valid? [True, True] Translation: X:367.13, Y:-279.48, Z:-4.87 [[ 1.46374913e-01 9.89228133e-01 -1.44395690e-03 3.67132071e+02] [ 9.89187943e-01 -1.46381983e-01 -8.91785169e-03 -2.79476935e+02] [-9.03315905e-03 -1.22994994e-04 -9.99959193e-01 -4.86780199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.246559995 meters 0.04822938049899593 Centerline is valid? [True, True] Translation: X:367.21, Y:-279.45, Z:-4.87 [[ 7.34689195e-02 9.97297234e-01 -7.38562659e-04 3.67208522e+02] [ 9.97256950e-01 -7.34725903e-02 -8.96399935e-03 -2.79454237e+02] [-8.99403587e-03 -7.79613984e-05 -9.99959550e-01 -4.86818245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.306559995 meters 0.04845948361506487 Centerline is valid? [True, True] Translation: X:367.28, Y:-279.43, Z:-4.87 [[ 4.48956173e-03 9.99989921e-01 -3.02658414e-05 3.67284775e+02] [ 9.99959494e-01 -4.48966123e-03 -7.80090821e-03 -2.79426572e+02] [-7.80096547e-03 4.75804353e-06 -9.99969572e-01 -4.86802334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.366559995 meters 0.048702572986937 Centerline is valid? [True, True] Translation: X:367.35, Y:-279.39, Z:-4.87 [[-6.77490056e-02 9.97702239e-01 5.60770288e-04 3.67354337e+02] [ 9.97673902e-01 6.77513079e-02 -7.51965425e-03 -2.79392914e+02] [-7.54036881e-03 5.00167835e-05 -9.99971570e-01 -4.86765388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.426559995 meters 0.048226359909043226 Centerline is valid? [True, True] Translation: X:367.42, Y:-279.36, Z:-4.87 [[-1.41263471e-01 9.89971378e-01 1.14132607e-03 3.67421965e+02] [ 9.89943632e-01 1.41268057e-01 -7.41232889e-03 -2.79355326e+02] [-7.49922637e-03 8.27571704e-05 -9.99971877e-01 -4.86868450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.486559995 meters 0.04876846547941526 Centerline is valid? [True, True] Translation: X:367.52, Y:-279.31, Z:-4.87 [[-2.16499510e-01 9.76280084e-01 2.27166843e-03 3.67515065e+02] [ 9.76232340e-01 2.16511390e-01 -9.65589344e-03 -2.79305793e+02] [-9.91869855e-03 1.27179984e-04 -9.99950800e-01 -4.86698841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.546559995 meters 0.04893062596916904 Centerline is valid? [True, True] Translation: X:367.60, Y:-279.25, Z:-4.86 [[-2.94292822e-01 9.55709210e-01 3.41181374e-03 3.67603503e+02] [ 9.55649611e-01 2.94312574e-01 -1.06737994e-02 -2.79250608e+02] [-1.12051881e-02 1.19275929e-04 -9.99937213e-01 -4.86485167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.606559995 meters 0.04965039478881852 Centerline is valid? [True, True] Translation: X:367.68, Y:-279.19, Z:-4.86 [[-3.71418791e-01 9.28454270e-01 4.55535674e-03 3.67683020e+02] [ 9.28387259e-01 3.71446715e-01 -1.11550698e-02 -2.79188403e+02] [-1.20490445e-02 8.59326248e-05 -9.99927404e-01 -4.86465311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.666559995 meters 0.0482970377338762 Centerline is valid? [True, True] Translation: X:367.76, Y:-279.12, Z:-4.87 [[-4.47306574e-01 8.94363486e-01 5.54822392e-03 3.67758877e+02] [ 8.94295455e-01 4.47340981e-01 -1.10311468e-02 -2.79119296e+02] [-1.23478028e-02 2.74469449e-05 -9.99923763e-01 -4.86503440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.7265599950001 meters 0.04833894041314409 Centerline is valid? [True, True] Translation: X:367.82, Y:-279.05, Z:-4.87 [[-5.19418374e-01 8.54498529e-01 6.06765313e-03 3.67822320e+02] [ 8.54439736e-01 5.19453812e-01 -1.00236911e-02 -2.79048262e+02] [-1.17170949e-02 -2.20454173e-05 -9.99931352e-01 -4.86519194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.786559995 meters 0.04830010609028906 Centerline is valid? [True, True] Translation: X:367.88, Y:-278.98, Z:-4.86 [[-5.87835833e-01 8.08955482e-01 6.32944113e-03 3.67876041e+02] [ 8.08907438e-01 5.87869905e-01 -8.81655738e-03 -2.78976764e+02] [-1.08530904e-02 -6.27563398e-05 -9.99941102e-01 -4.86475512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.846559995 meters 0.048280423808074825 Centerline is valid? [True, True] Translation: X:367.92, Y:-278.90, Z:-4.87 [[-6.52586736e-01 7.57689898e-01 6.04733907e-03 3.67919741e+02] [ 7.57656021e-01 6.52614748e-01 -7.16554635e-03 -2.78903470e+02] [-9.37584474e-03 -9.43376493e-05 -9.99956041e-01 -4.86687147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.906559995 meters 0.0478839670417507 Centerline is valid? [True, True] Translation: X:367.96, Y:-278.83, Z:-4.87 [[-7.11634828e-01 7.02525019e-01 5.87102814e-03 3.67957931e+02] [ 7.02499887e-01 7.11659038e-01 -5.94325314e-03 -2.78826082e+02] [-8.35345426e-03 -1.05029318e-04 -9.99965104e-01 -4.86823513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.9665599950001 meters 0.04789258814204267 Centerline is valid? [True, True] Translation: X:367.99, Y:-278.75, Z:-4.87 [[-7.65708119e-01 6.43163447e-01 5.64422530e-03 3.67987113e+02] [ 6.43144922e-01 7.65728913e-01 -4.88277807e-03 -2.78748822e+02] [-7.46237088e-03 -1.08727974e-04 -9.99972150e-01 -4.86996445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.026559995 meters 0.04807941768066436 Centerline is valid? [True, True] Translation: X:368.05, Y:-278.71, Z:-4.87 [[-8.10262730e-01 5.86049342e-01 4.52516517e-03 3.68052441e+02] [ 5.86039576e-01 8.10275361e-01 -3.38441706e-03 -2.78706092e+02] [-5.65006523e-03 -9.03411287e-05 -9.99984034e-01 -4.87144617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.086559995 meters 0.048312130445925576 Centerline is valid? [True, True] Translation: X:368.32, Y:-278.20, Z:-5.93 [[-7.48105874e-01 -6.63570405e-01 3.45222251e-03 3.68316919e+02] [ 6.63563387e-01 -7.48113840e-01 -3.05195171e-03 -2.78201125e+02] [ 4.60784027e-03 7.58546219e-06 9.99989384e-01 -5.93397549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.146559995 meters 0.04787058364049497 Centerline is valid? [True, True] Translation: X:368.05, Y:-278.71, Z:-4.87 [[-8.12308647e-01 5.83213076e-01 4.14366144e-03 3.68047093e+02] [ 5.83204982e-01 8.12319211e-01 -3.07382316e-03 -2.78706362e+02] [-5.15866966e-03 -8.02891365e-05 -9.99986691e-01 -4.87030047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.2065599950001 meters 0.04827609808102089 Centerline is valid? [True, True] Translation: X:367.97, Y:-278.57, Z:-4.87 [[-8.49720958e-01 5.27210328e-01 4.85427143e-03 3.67973049e+02] [ 5.27201260e-01 8.49734821e-01 -3.09299969e-03 -2.78567165e+02] [-5.75550484e-03 -6.90086448e-05 -9.99983435e-01 -4.87100321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.266559995 meters 0.04766008155335732 Centerline is valid? [True, True] Translation: X:368.10, Y:-277.96, Z:-5.93 [[-8.01375321e-01 -5.98144327e-01 4.57822120e-03 3.68098588e+02] [ 5.98135012e-01 -8.01388396e-01 -3.33867718e-03 -2.77957176e+02] [ 5.66594415e-03 6.28608992e-05 9.99983946e-01 -5.93367117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.326559995 meters 0.047702256962271004 Centerline is valid? [True, True] Translation: X:367.79, Y:-278.47, Z:-4.87 [[-8.46544529e-01 5.32305567e-01 3.62543539e-03 3.67794672e+02] [ 5.32300639e-01 8.46552292e-01 -2.29069555e-03 -2.78465928e+02] [-4.28847063e-03 -9.35420857e-06 -9.99990804e-01 -4.87236109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.386559995 meters 0.047785289707714125 Centerline is valid? [True, True] Translation: X:367.72, Y:-278.34, Z:-4.87 [[-8.80508687e-01 4.74021615e-01 2.82154404e-03 3.67717602e+02] [ 4.74019197e-01 8.80513207e-01 -1.51411200e-03 -2.78339067e+02] [-3.20212861e-03 4.27727283e-06 -9.99994873e-01 -4.87318611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.4465599950001 meters 0.04768447140387222 Centerline is valid? [True, True] Translation: X:367.63, Y:-278.22, Z:-4.88 [[-9.10835433e-01 4.12758817e-01 2.99533955e-03 3.67628935e+02] [ 4.12756630e-01 9.10840358e-01 -1.34370825e-03 -2.78217659e+02] [-3.28290357e-03 1.24491761e-05 -9.99994611e-01 -4.87516698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.506559995 meters 0.0474737943301143 Centerline is valid? [True, True] Translation: X:367.61, Y:-278.13, Z:-4.87 [[-9.38369923e-01 3.45615804e-01 3.40648428e-03 3.67614245e+02] [ 3.45613558e-01 9.38376106e-01 -1.24619083e-03 -2.78133906e+02] [-3.62726670e-03 7.93915500e-06 -9.99993421e-01 -4.87384958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.566559995 meters 0.04844614367575819 Centerline is valid? [True, True] Translation: X:367.58, Y:-278.04, Z:-4.87 [[-9.61465612e-01 2.74898796e-01 3.81158792e-03 3.67580643e+02] [ 2.74896616e-01 9.61473168e-01 -1.09480185e-03 -2.78044683e+02] [-3.96569922e-03 -4.82171011e-06 -9.99992137e-01 -4.87341191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.626559995 meters 0.04790150165922905 Centerline is valid? [True, True] Translation: X:368.09, Y:-278.08, Z:-4.87 [[-9.80830934e-01 1.94817403e-01 4.10578655e-03 3.68088589e+02] [ 1.94815557e-01 9.80839527e-01 -8.48681830e-04 -2.78080498e+02] [-4.19245573e-03 -3.25422977e-05 -9.99991211e-01 -4.87357886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.6865599950002 meters 0.04793523131017831 Centerline is valid? [True, True] Translation: X:367.51, Y:-277.90, Z:-4.87 [[-9.92600914e-01 1.21342618e-01 4.40389041e-03 3.67514114e+02] [ 1.21341197e-01 9.92610682e-01 -5.89365955e-04 -2.77899720e+02] [-4.44286387e-03 -5.06318511e-05 -9.99990129e-01 -4.87479554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.746559995 meters 0.04716096679799254 Centerline is valid? [True, True] Translation: X:367.71, Y:-277.34, Z:-5.93 [[-9.77042077e-01 -2.13014999e-01 3.65935529e-03 3.67714499e+02] [ 2.13013483e-01 -9.77048929e-01 -8.03509133e-04 -2.77339652e+02] [ 3.74652866e-03 -5.57021629e-06 9.99992982e-01 -5.93021742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.806559995 meters 0.04751049897990286 Centerline is valid? [True, True] Translation: X:367.51, Y:-277.38, Z:-5.93 [[-9.60537751e-01 -2.78137274e-01 2.62404292e-03 3.67505381e+02] [ 2.78136345e-01 -9.60541335e-01 -7.19908874e-04 -2.77375365e+02] [ 2.72073518e-03 3.83420541e-05 9.99996298e-01 -5.92834303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.866559995 meters 0.04796229580132002 Centerline is valid? [True, True] Translation: X:367.29, Y:-277.93, Z:-4.88 [[-9.82518380e-01 1.86160140e-01 1.42639399e-03 3.67291034e+02] [ 1.86159925e-01 9.82519416e-01 -2.83746259e-04 -2.77930042e+02] [-1.45428203e-03 -1.32485173e-05 -9.99998942e-01 -4.87731001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.926559995 meters 0.04797970391629927 Centerline is valid? [True, True] Translation: X:367.37, Y:-277.35, Z:-5.93 [[-9.63238918e-01 -2.68644154e-01 1.05116279e-03 3.67365878e+02] [ 2.68643980e-01 -9.63239492e-01 -3.06588705e-04 -2.77349405e+02] [ 1.09488477e-03 -1.29296171e-05 9.99999401e-01 -5.92863852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.986559995 meters 0.047575001277522976 Centerline is valid? [True, True] Translation: X:367.15, Y:-277.91, Z:-4.88 [[-9.81516221e-01 1.91378844e-01 -2.15038005e-04 3.67147383e+02] [ 1.91378839e-01 9.81516244e-01 4.30591015e-05 -2.77906273e+02] [ 2.19303896e-04 1.10948274e-06 -9.99999976e-01 -4.87692274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.046559995 meters 0.048221543981400924 Centerline is valid? [True, True] Translation: X:367.16, Y:-277.31, Z:-5.93 [[-9.67149854e-01 -2.54201671e-01 -1.63441124e-03 3.67163896e+02] [ 2.54201462e-01 -9.67151231e-01 3.37349071e-04 -2.77305329e+02] [-1.66647754e-03 -8.92026239e-05 9.99998608e-01 -5.92792842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.106559995 meters 0.04850778704294578 Centerline is valid? [True, True] Translation: X:367.00, Y:-277.88, Z:-4.88 [[-9.81004262e-01 1.93974103e-01 -2.16438060e-03 3.66999980e+02] [ 1.93973656e-01 9.81006650e-01 4.16410856e-04 -2.77879544e+02] [ 2.20404468e-03 -1.13319932e-05 -9.99997571e-01 -4.87798200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.166559995 meters 0.04813846613635181 Centerline is valid? [True, True] Translation: X:367.11, Y:-277.82, Z:-4.88 [[-9.92464633e-01 1.22518122e-01 -1.80620926e-03 3.67106865e+02] [ 1.22517933e-01 9.92466276e-01 2.15363102e-04 -2.77816466e+02] [ 1.81898766e-03 -7.55276385e-06 -9.99998346e-01 -4.87799171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.2265599950001 meters 0.04787139444357718 Centerline is valid? [True, True] Translation: X:367.19, Y:-277.25, Z:-5.93 [[-9.82616814e-01 -1.85640471e-01 -1.34589411e-03 3.67193770e+02] [ 1.85640245e-01 -9.82617735e-01 2.92415382e-04 -2.77252325e+02] [-1.37678355e-03 3.74801585e-05 9.99999052e-01 -5.92937688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.286559995 meters 0.047679577894786704 Centerline is valid? [True, True] Translation: X:367.32, Y:-277.84, Z:-4.88 [[-9.94564801e-01 1.04118624e-01 -4.09979736e-04 3.67319021e+02] [ 1.04118613e-01 9.94564886e-01 4.68944841e-05 -2.77835671e+02] [ 4.12634038e-04 3.95308174e-06 -9.99999915e-01 -4.87502978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.346559995 meters 0.04758765845008583 Centerline is valid? [True, True] Translation: X:367.32, Y:-277.29, Z:-5.93 [[-9.82113393e-01 -1.88290368e-01 -1.45173116e-04 3.67316905e+02] [ 1.88290364e-01 -9.82113403e-01 4.42929040e-05 -2.77291265e+02] [-1.50916391e-04 1.61659553e-05 9.99999989e-01 -5.93102540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.406559995 meters 0.04857000854314681 Centerline is valid? [True, True] Translation: X:366.45, Y:-277.72, Z:-4.88 [[-9.95465644e-01 9.51195559e-02 -6.49494424e-04 3.66451828e+02] [ 9.51195297e-02 9.95465856e-01 7.11699507e-05 -2.77718303e+02] [ 6.53319177e-04 9.06763655e-06 -9.99999787e-01 -4.87561364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.4665599950001 meters 0.04864741813918613 Centerline is valid? [True, True] Translation: X:366.53, Y:-277.19, Z:-5.93 [[-9.82496689e-01 -1.86280042e-01 -4.37758934e-05 3.66532447e+02] [ 1.86280040e-01 -9.82496689e-01 4.73871960e-05 -2.77185853e+02] [-5.18369591e-05 3.84031881e-05 9.99999998e-01 -5.93080943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.526559995 meters 0.04812737021068876 Centerline is valid? [True, True] Translation: X:366.30, Y:-277.70, Z:-4.87 [[-9.95813411e-01 9.14008286e-02 1.24044567e-03 3.66302419e+02] [ 9.14007397e-02 9.95814184e-01 -1.28237464e-04 -2.77698925e+02] [-1.24697441e-03 -1.43229340e-05 -9.99999222e-01 -4.87336071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.586559995 meters 0.04846903089197676 Centerline is valid? [True, True] Translation: X:366.47, Y:-277.63, Z:-4.87 [[-9.99783255e-01 2.06719543e-02 2.47241347e-03 3.66473070e+02] [ 2.06718364e-02 9.99786312e-01 -7.32100561e-05 -2.77634407e+02] [-2.47339854e-03 -2.20848612e-05 -9.99996941e-01 -4.87236245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.646559995 meters 0.0482054920141531 Centerline is valid? [True, True] Translation: X:366.33, Y:-277.56, Z:-4.87 [[-9.98920769e-01 -4.63540595e-02 2.93231533e-03 3.66332762e+02] [-4.63539027e-02 9.98925073e-01 1.21464929e-04 -2.77556632e+02] [-2.93479370e-03 -1.45904194e-05 -9.99995693e-01 -4.87289394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.7065599950001 meters 0.04966601563301895 Centerline is valid? [True, True] Translation: X:366.39, Y:-277.47, Z:-4.87 [[-9.93510424e-01 -1.13691943e-01 3.34343949e-03 3.66393277e+02] [-1.13691292e-01 9.93516050e-01 3.84858103e-04 -2.77470363e+02] [-3.36551607e-03 2.24058129e-06 -9.99994337e-01 -4.87224168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.766559995 meters 0.048724233317338855 Centerline is valid? [True, True] Translation: X:365.88, Y:-276.97, Z:-5.93 [[-9.98329401e-01 5.77049955e-02 2.92252986e-03 3.65876743e+02] [-5.77048212e-02 -9.98333678e-01 1.43981789e-04 -2.76970027e+02] [ 2.92596845e-03 -2.49028099e-05 9.99995719e-01 -5.93365444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.826559995 meters 0.04909870296146333 Centerline is valid? [True, True] Translation: X:365.93, Y:-277.53, Z:-4.87 [[-9.94585980e-01 -1.03842966e-01 3.92003580e-03 3.65932313e+02] [-1.03841903e-01 9.94593703e-01 4.74370875e-04 -2.77525210e+02] [-3.94810300e-03 6.47386467e-05 -9.99992204e-01 -4.87044312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.886559995 meters 0.048836231287702855 Centerline is valid? [True, True] Translation: X:365.74, Y:-276.99, Z:-5.93 [[-9.97397046e-01 7.19424538e-02 4.83891235e-03 3.65738460e+02] [-7.19417184e-02 -9.97408784e-01 3.26079340e-04 -2.76987775e+02] [ 4.84983263e-03 -2.28890990e-05 9.99988239e-01 -5.93438790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.9465599950001 meters 0.04894768434585884 Centerline is valid? [True, True] Translation: X:365.48, Y:-277.57, Z:-4.87 [[-9.94463832e-01 -1.04956841e-01 5.07420741e-03 3.65477063e+02] [-1.04954982e-01 9.94476773e-01 6.31952822e-04 -2.77573943e+02] [-5.11250918e-03 9.58908776e-05 -9.99986926e-01 -4.87018443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.006559995 meters 0.04967974858480284 Centerline is valid? [True, True] Translation: X:365.56, Y:-277.48, Z:-4.87 [[-9.83695631e-01 -1.79778314e-01 4.76051250e-03 3.65558020e+02] [-1.79775802e-01 9.83707147e-01 9.53980090e-04 -2.77475470e+02] [-4.85445510e-03 8.26010933e-05 -9.99988214e-01 -4.87035714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.066559995 meters 0.049281823286295504 Centerline is valid? [True, True] Translation: X:365.19, Y:-277.48, Z:-4.87 [[-9.68228459e-01 -2.50037448e-01 3.86344260e-03 3.65188212e+02] [-2.50035192e-01 9.68236165e-01 1.06407678e-03 -2.77478544e+02] [-4.00678389e-03 6.42728108e-05 -9.99991971e-01 -4.86978647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.126559995 meters 0.0485581160896231 Centerline is valid? [True, True] Translation: X:365.14, Y:-277.41, Z:-4.87 [[-9.47106975e-01 -3.20906821e-01 2.68150067e-03 3.65139474e+02] [-3.20905411e-01 9.47110770e-01 9.52186163e-04 -2.77407586e+02] [-2.84524120e-03 4.13140815e-05 -9.99995951e-01 -4.87025785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.1865599950002 meters 0.04938636547200387 Centerline is valid? [True, True] Translation: X:365.08, Y:-277.33, Z:-4.87 [[-9.20300295e-01 -3.91207091e-01 2.09273484e-03 3.65083144e+02] [-3.91206012e-01 9.20302674e-01 9.19219394e-04 -2.77332293e+02] [-2.28555461e-03 2.72674290e-05 -9.99997388e-01 -4.87062818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.246559995 meters 0.04836529953893137 Centerline is valid? [True, True] Translation: X:364.65, Y:-276.92, Z:-5.94 [[-9.38112538e-01 3.46330257e-01 4.68471534e-04 3.64652442e+02] [-3.46330282e-01 -9.38112645e-01 3.01747035e-05 -2.76924525e+02] [ 4.49929483e-04 -1.33938611e-04 9.99999890e-01 -5.93574141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.306559995 meters 0.04825681471477305 Centerline is valid? [True, True] Translation: X:364.57, Y:-277.54, Z:-4.87 [[-9.13920786e-01 -4.05889328e-01 -1.62836038e-03 3.64569767e+02] [-4.05888688e-01 9.13922236e-01 -7.20614602e-04 -2.77544905e+02] [ 1.78068453e-03 2.34839409e-06 -9.99998415e-01 -4.87089943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.366559995 meters 0.0478978081406283 Centerline is valid? [True, True] Translation: X:364.66, Y:-277.40, Z:-4.87 [[-8.78749006e-01 -4.77279417e-01 -2.13123370e-03 3.64664098e+02] [-4.77278052e-01 8.78751591e-01 -1.14151474e-03 -2.77403519e+02] [ 2.41764650e-03 1.40861303e-05 -9.99997077e-01 -4.87141308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.426559995 meters 0.04854024439300114 Centerline is valid? [True, True] Translation: X:363.95, Y:-277.72, Z:-4.87 [[-8.40922737e-01 -5.41151540e-01 -1.99016713e-03 3.63954035e+02] [-5.41150086e-01 8.40925092e-01 -1.25483191e-03 -2.77719632e+02] [ 2.35263570e-03 2.17624224e-05 -9.99997232e-01 -4.87195364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.486559995 meters 0.04830545943945871 Centerline is valid? [True, True] Translation: X:364.09, Y:-277.54, Z:-4.87 [[-7.96576486e-01 -6.04536106e-01 -1.41351456e-03 3.64086900e+02] [-6.04535198e-01 7.96577740e-01 -1.04797605e-03 -2.77536050e+02] [ 1.75951359e-03 1.97262280e-05 -9.99998452e-01 -4.87036283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.546559995 meters 0.04762369818746067 Centerline is valid? [True, True] Translation: X:363.90, Y:-277.58, Z:-4.87 [[-7.52143531e-01 -6.58998942e-01 -7.09390976e-04 3.63901954e+02] [-6.58998661e-01 7.52143866e-01 -6.08393652e-04 -2.77578621e+02] [ 9.34494844e-04 9.88835340e-06 -9.99999563e-01 -4.86988199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.606559995 meters 0.047651983498887114 Centerline is valid? [True, True] Translation: X:363.72, Y:-277.64, Z:-4.87 [[-7.04475844e-01 -7.09727945e-01 -1.71352548e-04 3.63719910e+02] [-7.09727925e-01 7.04475865e-01 -1.68497782e-04 -2.77639379e+02] [ 2.40301319e-04 2.91107083e-06 -9.99999971e-01 -4.87006134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.666559995 meters 0.048623524719283856 Centerline is valid? [True, True] Translation: X:363.73, Y:-277.51, Z:-4.87 [[-6.51815301e-01 -7.58377567e-01 5.29162959e-04 3.63728980e+02] [-7.58377319e-01 6.51815515e-01 6.12853019e-04 -2.77510161e+02] [-8.09690608e-04 -1.83821125e-06 -9.99999672e-01 -4.86929490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.7265599950001 meters 0.047714872026200277 Centerline is valid? [True, True] Translation: X:363.40, Y:-277.79, Z:-4.87 [[-5.97248297e-01 -8.02056284e-01 4.34585989e-04 3.63399658e+02] [-8.02056073e-01 5.97248455e-01 5.82452839e-04 -2.77792308e+02] [-7.26715771e-04 -6.93365433e-07 -9.99999736e-01 -4.86903643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.786559995 meters 0.04811459034550086 Centerline is valid? [True, True] Translation: X:363.23, Y:-277.90, Z:-4.87 [[-5.38167857e-01 -8.42837681e-01 4.12566257e-05 3.63231338e+02] [-8.42837678e-01 5.38167859e-01 6.65598665e-05 -2.77901787e+02] [-7.83021535e-05 1.04774207e-06 -9.99999997e-01 -4.86945715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.846559995 meters 0.0485043311355678 Centerline is valid? [True, True] Translation: X:363.23, Y:-277.74, Z:-4.87 [[-4.73554242e-01 -8.80764563e-01 -4.05279044e-04 3.63233265e+02] [-8.80764245e-01 4.73554416e-01 -7.48488436e-04 -2.77739715e+02] [ 8.51163771e-04 2.50541647e-06 -9.99999638e-01 -4.86961239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.906559995 meters 0.04770430436076605 Centerline is valid? [True, True] Translation: X:362.89, Y:-278.27, Z:-4.87 [[-4.10361639e-01 -9.11922594e-01 -7.12538911e-04 3.62885251e+02] [-9.11921231e-01 4.10362258e-01 -1.57681435e-03 -2.78265354e+02] [ 1.73033171e-03 2.71523897e-06 -9.99998503e-01 -4.86951708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.9665599950001 meters 0.04759839044947168 Centerline is valid? [True, True] Translation: X:362.91, Y:-277.99, Z:-4.87 [[-3.40090564e-01 -9.40392553e-01 -5.05641424e-04 3.62910025e+02] [-9.40391524e-01 3.40090939e-01 -1.39088320e-03 -2.77993222e+02] [ 1.47994027e-03 2.47465701e-06 -9.99998905e-01 -4.86821175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.026559995 meters 0.04702730541953659 Centerline is valid? [True, True] Translation: X:362.76, Y:-278.17, Z:-4.87 [[-2.68856824e-01 -9.63180153e-01 -1.29928363e-05 3.62761979e+02] [-9.63180152e-01 2.68856825e-01 -4.17319265e-05 -2.78174070e+02] [ 4.36885761e-05 1.29452880e-06 -9.99999999e-01 -4.86555414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.086559995 meters 0.04688941048699653 Centerline is valid? [True, True] Translation: X:362.03, Y:-278.62, Z:-5.94 [[-3.40011562e-01 9.40421228e-01 2.27591980e-04 3.62028872e+02] [-9.40420882e-01 -3.40011632e-01 8.08939131e-04 -2.78622910e+02] [ 8.38127451e-04 6.10164064e-05 9.99999647e-01 -5.94176824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.146559995 meters 0.04757230726243997 Centerline is valid? [True, True] Translation: X:362.60, Y:-278.70, Z:-4.86 [[-2.54786705e-01 -9.66997093e-01 5.96994443e-04 3.62597117e+02] [-9.66994612e-01 2.54787404e-01 2.19067983e-03 -2.78702224e+02] [-2.27048769e-03 -1.91343139e-05 -9.99997422e-01 -4.86184192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.2065599950001 meters 0.04754968177570573 Centerline is valid? [True, True] Translation: X:362.53, Y:-278.60, Z:-4.86 [[-1.75297582e-01 -9.84515328e-01 5.71286432e-04 3.62527275e+02] [-9.84510905e-01 1.75298507e-01 2.95150088e-03 -2.78599687e+02] [-3.00594351e-03 -4.50467560e-05 -9.99995481e-01 -4.86194262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.266559995 meters 0.04754788378784476 Centerline is valid? [True, True] Translation: X:362.41, Y:-278.73, Z:-4.86 [[-9.99975121e-02 -9.94987631e-01 3.34793456e-04 3.62413598e+02] [-9.94983585e-01 9.99980604e-02 2.83783917e-03 -2.78734060e+02] [-2.85709357e-03 -4.93371363e-05 -9.99995917e-01 -4.86156231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.326559995 meters 0.04675002692485532 Centerline is valid? [True, True] Translation: X:361.79, Y:-279.26, Z:-5.95 [[-2.01191268e-01 9.79551900e-01 3.85468186e-04 3.61785458e+02] [-9.79550547e-01 -2.01191631e-01 1.62885119e-03 -2.79255967e+02] [ 1.67309725e-03 -4.98749369e-05 9.99998599e-01 -5.94503156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.386559995 meters 0.04665576076412218 Centerline is valid? [True, True] Translation: X:362.29, Y:-279.59, Z:-4.86 [[-9.91236162e-02 -9.95075124e-01 -8.07255304e-05 3.62294976e+02] [-9.95074871e-01 9.91236486e-02 -7.09744747e-04 -2.79590889e+02] [ 7.14251151e-04 9.97548078e-06 -9.99999745e-01 -4.86090946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.4465599950001 meters 0.04643242704865982 Centerline is valid? [True, True] Translation: X:362.20, Y:-279.82, Z:-4.86 [[-2.91723959e-02 -9.99574394e-01 -4.19738979e-05 3.62203442e+02] [-9.99573814e-01 2.91724242e-02 -1.07707998e-03 -2.79818281e+02] [ 1.07784605e-03 1.05350057e-05 -9.99999419e-01 -4.86063856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.506559995 meters 0.04692169254344113 Centerline is valid? [True, True] Translation: X:362.13, Y:-280.07, Z:-4.86 [[ 4.18737712e-02 -9.99122907e-01 6.31582762e-05 3.62132136e+02] [-9.99121301e-01 -4.18738172e-02 -1.79161978e-03 -2.80065327e+02] [ 1.79269304e-03 1.19190977e-05 -9.99998393e-01 -4.85968216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.566559995 meters 0.04639928254224917 Centerline is valid? [True, True] Translation: X:362.07, Y:-280.21, Z:-4.86 [[ 1.15149532e-01 -9.93348135e-01 2.62416287e-04 3.62069815e+02] [-9.93345277e-01 -1.15149831e-01 -2.38274441e-03 -2.80209729e+02] [ 2.39711191e-03 1.37019256e-05 -9.99997127e-01 -4.86050229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.626559995 meters 0.046444797871013584 Centerline is valid? [True, True] Translation: X:362.02, Y:-280.42, Z:-4.86 [[ 1.88429447e-01 -9.82086678e-01 3.16027591e-04 3.62024413e+02] [-9.82085201e-01 -1.88429712e-01 -1.70352740e-03 -2.80420480e+02] [ 1.73256055e-03 1.06287070e-05 -9.99998499e-01 -4.86029568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.6865599950002 meters 0.04685527880193312 Centerline is valid? [True, True] Translation: X:362.00, Y:-280.67, Z:-4.86 [[ 2.59336740e-01 -9.65786935e-01 2.26538849e-04 3.62004615e+02] [-9.65786549e-01 -2.59336839e-01 -8.63743795e-04 -2.80670408e+02] [ 8.92942341e-04 5.21232602e-06 -9.99999601e-01 -4.85841756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.746559995 meters 0.047348870838785584 Centerline is valid? [True, True] Translation: X:361.99, Y:-280.88, Z:-4.86 [[ 3.28648708e-01 -9.44452231e-01 1.03762488e-04 3.61988197e+02] [-9.44452182e-01 -3.28648724e-01 -3.05040622e-04 -2.80878412e+02] [ 3.22197705e-04 2.25249796e-06 -9.99999948e-01 -4.85735952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.806559995 meters 0.046455390986394916 Centerline is valid? [True, True] Translation: X:361.90, Y:-280.87, Z:-4.86 [[ 3.96349784e-01 -9.18099454e-01 4.92091394e-04 3.61900548e+02] [-9.18098737e-01 -3.96350089e-01 -1.14694639e-03 -2.80865500e+02] [ 1.24805132e-03 2.80346672e-06 -9.99999221e-01 -4.85777795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.866559995 meters 0.04666833737416368 Centerline is valid? [True, True] Translation: X:362.05, Y:-281.36, Z:-4.86 [[ 4.61069685e-01 -8.87363041e-01 1.25670658e-03 3.62047139e+02] [-8.87359733e-01 -4.61071398e-01 -2.42295396e-03 -2.81356226e+02] [ 2.72947125e-03 1.99980590e-06 -9.99996275e-01 -4.85759724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.926559995 meters 0.046774804676118116 Centerline is valid? [True, True] Translation: X:361.80, Y:-281.09, Z:-4.86 [[ 5.25735644e-01 -8.50646695e-01 1.49410497e-03 3.61799082e+02] [-8.50643255e-01 -5.25737767e-01 -2.41933376e-03 -2.81085033e+02] [ 2.84350568e-03 9.79680179e-07 -9.99995957e-01 -4.85684774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.986559995 meters 0.046479551829449996 Centerline is valid? [True, True] Translation: X:362.02, Y:-281.58, Z:-4.86 [[ 5.86604730e-01 -8.09870738e-01 2.06828378e-03 3.62023038e+02] [-8.09865680e-01 -5.86608376e-01 -2.86235675e-03 -2.81575927e+02] [ 3.53141156e-03 4.03996332e-06 -9.99993765e-01 -4.85627913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.046559995 meters 0.046529858475729734 Centerline is valid? [True, True] Translation: X:361.88, Y:-281.53, Z:-4.86 [[ 6.44644038e-01 -7.64482012e-01 1.14795768e-03 3.61884316e+02] [-7.64480794e-01 -6.44645060e-01 -1.36507973e-03 -2.81534491e+02] [ 1.78360414e-03 2.39890910e-06 -9.99998409e-01 -4.85536862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.106559995 meters 0.04691508491063123 Centerline is valid? [True, True] Translation: X:362.29, Y:-282.11, Z:-4.85 [[ 6.97219305e-01 -7.16857862e-01 2.16595798e-04 3.62292541e+02] [-7.16857827e-01 -6.97219338e-01 -2.24201180e-04 -2.82106952e+02] [ 3.11735157e-04 1.04899753e-06 -9.99999951e-01 -4.85414333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.166559995 meters 0.047132239792630364 Centerline is valid? [True, True] Translation: X:362.45, Y:-282.36, Z:-4.85 [[ 7.46329368e-01 -6.65576791e-01 -1.02419092e-04 3.62449253e+02] [-6.65576785e-01 -7.46329375e-01 8.91634424e-05 -2.82361823e+02] [-1.35783495e-04 1.62247464e-06 -9.99999991e-01 -4.85222773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.2265599950001 meters 0.04651192661984209 Centerline is valid? [True, True] Translation: X:362.43, Y:-282.44, Z:-4.85 [[ 7.94822861e-01 -6.06841304e-01 5.01047710e-04 3.62430353e+02] [-6.06841185e-01 -7.94823019e-01 -3.80434334e-04 -2.82444386e+02] [ 6.29107521e-04 -1.67848008e-06 -9.99999802e-01 -4.85248655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.286559995 meters 0.04694380668744832 Centerline is valid? [True, True] Translation: X:362.42, Y:-282.52, Z:-4.85 [[ 8.37996693e-01 -5.45673793e-01 1.28638143e-03 3.62420564e+02] [-5.45673170e-01 -8.37997680e-01 -8.24411354e-04 -2.82524169e+02] [ 1.52784432e-03 -1.10898449e-05 -9.99998833e-01 -4.85312540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.346559995 meters 0.046820955073246934 Centerline is valid? [True, True] Translation: X:362.42, Y:-282.60, Z:-4.85 [[ 8.76360607e-01 -4.81647322e-01 2.81844834e-03 3.62417787e+02] [-4.81644963e-01 -8.76365138e-01 -1.50778713e-03 -2.82604624e+02] [ 3.19621150e-03 -3.61262012e-05 -9.99994892e-01 -4.85297788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.406559995 meters 0.046912702805638806 Centerline is valid? [True, True] Translation: X:362.41, Y:-282.70, Z:-4.85 [[ 9.11601278e-01 -4.11062811e-01 3.23655915e-03 3.62413720e+02] [-4.11060367e-01 -9.11607023e-01 -1.41808244e-03 -2.82698344e+02] [ 3.53339100e-03 -3.76954287e-05 -9.99993757e-01 -4.85286348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.4665599950001 meters 0.04744280673020009 Centerline is valid? [True, True] Translation: X:362.42, Y:-282.79, Z:-4.85 [[ 9.42408771e-01 -3.34454484e-01 2.43031822e-03 3.62419689e+02] [-3.34453415e-01 -9.42411905e-01 -8.45642546e-04 -2.82788984e+02] [ 2.57318977e-03 -1.58872775e-05 -9.99996689e-01 -4.85144051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.526559995 meters 0.04711250286236069 Centerline is valid? [True, True] Translation: X:362.43, Y:-282.87, Z:-4.85 [[ 9.66252734e-01 -2.57595407e-01 5.10779531e-04 3.62433063e+02] [-2.57595372e-01 -9.66252869e-01 -1.35096416e-04 -2.82872334e+02] [ 5.28342404e-04 -1.03716205e-06 -9.99999860e-01 -4.84959273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.586559995 meters 0.04790178450716524 Centerline is valid? [True, True] Translation: X:362.45, Y:-282.97, Z:-4.85 [[ 9.83196681e-01 -1.82548212e-01 -6.60800004e-04 3.62450150e+02] [-1.82548174e-01 -9.83196903e-01 1.17449710e-04 -2.82973422e+02] [-6.71136752e-04 5.15166960e-06 -9.99999775e-01 -4.84872713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.646559995 meters 0.046872985433491554 Centerline is valid? [True, True] Translation: X:362.48, Y:-283.06, Z:-4.85 [[ 9.93876225e-01 -1.10496263e-01 -7.90867191e-04 3.62477060e+02] [-1.10496236e-01 -9.93876540e-01 7.77381252e-05 -2.83057915e+02] [-7.94614119e-04 1.01257732e-05 -9.99999684e-01 -4.84730423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.7065599950001 meters 0.047399602714329477 Centerline is valid? [True, True] Translation: X:362.51, Y:-283.14, Z:-4.85 [[ 9.99378151e-01 -3.52538892e-02 -6.88527008e-04 3.62509258e+02] [-3.52538883e-02 -9.99378388e-01 1.34101670e-05 -2.83137745e+02] [-6.88571772e-04 1.08714263e-05 -9.99999763e-01 -4.84776938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.766559995 meters 0.04727694182509828 Centerline is valid? [True, True] Translation: X:362.54, Y:-283.23, Z:-4.85 [[ 9.99109385e-01 4.21940778e-02 3.10384988e-04 3.62543683e+02] [ 4.21940747e-02 -9.99109433e-01 1.63971294e-05 -2.83228285e+02] [ 3.10800431e-04 -3.28611847e-06 -9.99999952e-01 -4.84789600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.826559995 meters 0.04829513884232553 Centerline is valid? [True, True] Translation: X:362.58, Y:-283.31, Z:-4.85 [[ 9.92892500e-01 1.19013237e-01 5.77393813e-04 3.62583339e+02] [ 1.19013212e-01 -9.92892668e-01 7.72865924e-05 -2.83309842e+02] [ 5.82488211e-04 -8.01978582e-06 -9.99999830e-01 -4.84712025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.886559995 meters 0.047245290111780434 Centerline is valid? [True, True] Translation: X:362.63, Y:-283.39, Z:-4.85 [[ 9.80039850e-01 1.98801112e-01 1.02754242e-04 3.62630512e+02] [ 1.98801111e-01 -9.80039855e-01 2.09680561e-05 -2.83387115e+02] [ 1.04871725e-04 -1.21873061e-07 -9.99999995e-01 -4.84640757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.9465599950001 meters 0.04734018622235803 Centerline is valid? [True, True] Translation: X:362.69, Y:-283.47, Z:-4.85 [[ 9.59923736e-01 2.80261323e-01 -1.12522764e-04 3.62686077e+02] [ 2.80261321e-01 -9.59923742e-01 -3.51564651e-05 -2.83468692e+02] [-1.17866270e-04 2.21174693e-06 -9.99999993e-01 -4.84557073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.006559995 meters 0.04722736252641731 Centerline is valid? [True, True] Translation: X:362.75, Y:-283.55, Z:-4.84 [[ 9.31787106e-01 3.63004471e-01 -7.36308584e-04 3.62746782e+02] [ 3.63004358e-01 -9.31787397e-01 -2.87151502e-04 -2.83545352e+02] [-7.90320339e-04 2.80842309e-07 -9.99999688e-01 -4.84435876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.066559995 meters 0.0467497280791217 Centerline is valid? [True, True] Translation: X:362.81, Y:-283.61, Z:-4.84 [[ 8.98909373e-01 4.38130843e-01 -1.81765603e-03 3.62810116e+02] [ 4.38129967e-01 -8.98911211e-01 -8.76176492e-04 -2.83609030e+02] [-2.01779132e-03 -8.76631312e-06 -9.99997964e-01 -4.84366270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.126559995 meters 0.046813435574277876 Centerline is valid? [True, True] Translation: X:362.87, Y:-283.66, Z:-4.85 [[ 8.61591068e-01 5.07594861e-01 -2.87909174e-03 3.62874292e+02] [ 5.07592094e-01 -8.61595878e-01 -1.67623109e-03 -2.83658573e+02] [-3.33145986e-03 -1.71784661e-05 -9.99994451e-01 -4.84506096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.1865599950002 meters 0.04655623197731553 Centerline is valid? [True, True] Translation: X:362.95, Y:-283.72, Z:-4.85 [[ 8.22057511e-01 5.69395926e-01 -3.11915523e-03 3.62954021e+02] [ 5.69391832e-01 -8.22063428e-01 -2.15913167e-03 -2.83720798e+02] [-3.79354421e-03 -1.09110487e-06 -9.99992805e-01 -4.84500437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.246559995 meters 0.04727035376982833 Centerline is valid? [True, True] Translation: X:363.04, Y:-283.77, Z:-4.84 [[ 7.78482078e-01 6.27661064e-01 -2.69142957e-03 3.63036643e+02] [ 6.27657231e-01 -7.78486730e-01 -2.19353737e-03 -2.83774904e+02] [-3.47204020e-03 1.83342964e-05 -9.99993972e-01 -4.84495765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.306559995 meters 0.04710439250011 Centerline is valid? [True, True] Translation: X:363.11, Y:-283.81, Z:-4.85 [[ 7.30391790e-01 6.83028007e-01 -7.58546228e-04 3.63113345e+02] [ 6.83027622e-01 -7.30392184e-01 -7.25260592e-04 -2.83813321e+02] [-1.04940953e-03 1.16163553e-05 -9.99999449e-01 -4.84635615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.366559995 meters 0.04662761927649649 Centerline is valid? [True, True] Translation: X:363.20, Y:-283.85, Z:-4.85 [[ 6.77164796e-01 7.35830919e-01 8.35703887e-04 3.63197508e+02] [ 7.35830330e-01 -6.77165312e-01 9.30593460e-04 -2.83849370e+02] [ 1.25066912e-03 -1.52288631e-05 -9.99999218e-01 -4.84896190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.426559995 meters 0.04685684990864159 Centerline is valid? [True, True] Translation: X:363.30, Y:-283.89, Z:-4.85 [[ 6.16784838e-01 7.87129810e-01 1.76777411e-03 3.63302894e+02] [ 7.87126417e-01 -6.16787371e-01 2.31164898e-03 -2.83893825e+02] [ 2.90990857e-03 -3.43283440e-05 -9.99995766e-01 -4.84982213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.486559995 meters 0.046926521562071236 Centerline is valid? [True, True] Translation: X:363.40, Y:-283.92, Z:-4.85 [[ 5.48964873e-01 8.35841522e-01 2.55300076e-03 3.63403205e+02] [ 8.35832214e-01 -5.48970809e-01 3.94481590e-03 -2.83923796e+02] [ 4.69876382e-03 -3.16850798e-05 -9.99988960e-01 -4.85021640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.546559995 meters 0.046725102886890614 Centerline is valid? [True, True] Translation: X:363.49, Y:-283.94, Z:-4.85 [[ 4.78208043e-01 8.78244793e-01 1.77527139e-03 3.63488725e+02] [ 8.78238669e-01 -4.78211339e-01 3.27964073e-03 -2.83935407e+02] [ 3.72928230e-03 -9.23859241e-06 -9.99993046e-01 -4.84898282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.606559995 meters 0.046249117562695584 Centerline is valid? [True, True] Translation: X:363.57, Y:-283.94, Z:-4.85 [[ 4.06201852e-01 9.13782878e-01 9.52895644e-04 3.63568035e+02] [ 9.13780359e-01 -4.06202969e-01 2.14533114e-03 -2.83938671e+02] [ 2.34743590e-03 -7.00158053e-07 -9.99997245e-01 -4.84709538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.666559995 meters 0.04659250901889475 Centerline is valid? [True, True] Translation: X:363.67, Y:-283.94, Z:-4.85 [[ 3.35518189e-01 9.42033204e-01 9.93596608e-04 3.63670245e+02] [ 9.42029005e-01 -3.35519660e-01 2.81283245e-03 -2.83943568e+02] [ 2.98315276e-03 -7.75962660e-06 -9.99995550e-01 -4.84657691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.7265599950001 meters 0.0467099535565948 Centerline is valid? [True, True] Translation: X:363.78, Y:-283.94, Z:-4.85 [[ 2.62953735e-01 9.64808097e-01 8.18761794e-04 3.63775359e+02] [ 9.64803235e-01 -2.62955009e-01 3.06271214e-03 -2.83942821e+02] [ 3.17022698e-03 -1.54075667e-05 -9.99994975e-01 -4.84832308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.786559995 meters 0.04620925015979436 Centerline is valid? [True, True] Translation: X:363.86, Y:-283.93, Z:-4.85 [[ 1.87634009e-01 9.82238891e-01 4.90445926e-04 3.63857196e+02] [ 9.82235315e-01 -1.87634650e-01 2.65038969e-03 -2.83928623e+02] [ 2.69534048e-03 -1.55699357e-05 -9.99996367e-01 -4.84790792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.846559995 meters 0.04681042049970712 Centerline is valid? [True, True] Translation: X:363.94, Y:-283.91, Z:-4.85 [[ 1.09767089e-01 9.93957300e-01 2.67772961e-04 3.63939443e+02] [ 9.93954032e-01 -1.09767415e-01 2.54885094e-03 -2.83908185e+02] [ 2.56284175e-03 -1.36259350e-05 -9.99996716e-01 -4.84767435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.906559995 meters 0.046226323920927105 Centerline is valid? [True, True] Translation: X:364.04, Y:-283.88, Z:-4.85 [[ 3.08723850e-02 9.99523330e-01 8.97594450e-05 3.64039038e+02] [ 9.99517470e-01 -3.08725113e-02 3.42265150e-03 -2.83883877e+02] [ 3.42379113e-03 -1.59492814e-05 -9.99994139e-01 -4.84913946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.9665599950001 meters 0.04757349723795364 Centerline is valid? [True, True] Translation: X:364.13, Y:-283.85, Z:-4.85 [[-4.54260930e-02 9.98967674e-01 -2.37487965e-04 3.64132242e+02] [ 9.98957333e-01 4.54267034e-02 4.54555889e-03 -2.83851516e+02] [ 4.55165468e-03 -3.07533635e-05 -9.99989641e-01 -4.84829297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.026559995 meters 0.04718662319210362 Centerline is valid? [True, True] Translation: X:364.23, Y:-283.81, Z:-4.85 [[-1.19632683e-01 9.92817990e-01 -6.77593031e-04 3.64228495e+02] [ 9.92804578e-01 1.19634589e-01 5.16082403e-03 -2.83811516e+02] [ 5.20482250e-03 -5.53142373e-05 -9.99986453e-01 -4.84877808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.086559995 meters 0.04629663690477163 Centerline is valid? [True, True] Translation: X:364.32, Y:-283.76, Z:-4.85 [[-1.95726186e-01 9.80658149e-01 -9.25194536e-04 3.64323890e+02] [ 9.80648432e-01 1.95728366e-01 4.36566442e-03 -2.83762820e+02] [ 4.46231120e-03 -5.28157259e-05 -9.99990042e-01 -4.84855686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.146559995 meters 0.04660994853060294 Centerline is valid? [True, True] Translation: X:364.41, Y:-283.71, Z:-4.85 [[-2.73783411e-01 9.61791325e-01 -3.01476806e-04 3.64409048e+02] [ 9.61790780e-01 2.73783577e-01 1.02416709e-03 -2.83708339e+02] [ 1.06757442e-03 -9.55765232e-06 -9.99999430e-01 -4.84553067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.2065599950001 meters 0.04623307505333446 Centerline is valid? [True, True] Translation: X:364.49, Y:-283.65, Z:-4.84 [[-3.51294743e-01 9.36264827e-01 4.22121610e-04 3.64489065e+02] [ 9.36264182e-01 3.51294996e-01 -1.09891735e-03 -2.83647500e+02] [-1.17716687e-03 9.17345540e-06 -9.99999307e-01 -4.84355070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.266559995 meters 0.04607403761551791 Centerline is valid? [True, True] Translation: X:364.57, Y:-283.58, Z:-4.84 [[-4.26889145e-01 9.04303835e-01 4.80971640e-04 3.64570802e+02] [ 9.04303273e-01 4.26889416e-01 -1.00827060e-03 -2.83577572e+02] [-1.11710468e-03 4.52445269e-06 -9.99999376e-01 -4.84344457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.326559995 meters 0.0459065673246317 Centerline is valid? [True, True] Translation: X:364.62, Y:-283.51, Z:-4.84 [[-4.96219616e-01 8.68196875e-01 -5.27399146e-04 3.64621916e+02] [ 8.68196389e-01 4.96219897e-01 9.18566305e-04 -2.83514358e+02] [ 1.05920235e-03 -2.07541475e-06 -9.99999439e-01 -4.84464667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.386559995 meters 0.046198027862169935 Centerline is valid? [True, True] Translation: X:364.66, Y:-283.45, Z:-4.85 [[-5.60854605e-01 8.27913081e-01 -1.42914023e-03 3.64663863e+02] [ 8.27910448e-01 5.60856426e-01 2.08810565e-03 -2.83451761e+02] [ 2.53031246e-03 -1.20764538e-05 -9.99996799e-01 -4.84547032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.4465599950001 meters 0.04614843620597785 Centerline is valid? [True, True] Translation: X:364.72, Y:-283.37, Z:-4.85 [[-6.22462752e-01 7.82642187e-01 -3.36607257e-03 3.64719338e+02] [ 7.82631063e-01 6.22471852e-01 4.17299704e-03 -2.83371731e+02] [ 5.36124896e-03 -3.68577294e-05 -9.99985628e-01 -4.84666801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.506559995 meters 0.0458419571481165 Centerline is valid? [True, True] Translation: X:364.77, Y:-283.29, Z:-4.85 [[-6.80535034e-01 7.32698829e-01 -4.94906171e-03 3.64765159e+02] [ 7.32680117e-01 6.80553026e-01 5.23678513e-03 -2.83291471e+02] [ 7.20508526e-03 -6.22633646e-05 -9.99974041e-01 -4.84815244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.566559995 meters 0.0460932160137128 Centerline is valid? [True, True] Translation: X:364.80, Y:-283.21, Z:-4.85 [[-7.35771036e-01 6.77209206e-01 -5.35484257e-03 3.64797747e+02] [ 6.77191887e-01 7.35790519e-01 4.84360562e-03 -2.83213586e+02] [ 7.22017671e-03 -6.24712190e-05 -9.99973932e-01 -4.84792101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.626559995 meters 0.04703023776346536 Centerline is valid? [True, True] Translation: X:364.89, Y:-283.19, Z:-4.85 [[-7.81808147e-01 6.23494224e-01 -5.56544284e-03 3.64893374e+02] [ 6.23478977e-01 7.81827954e-01 4.36074192e-03 -2.83189730e+02] [ 7.07011619e-03 -6.06730505e-05 -9.99975005e-01 -4.84763547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.686559995 meters 0.04620846753086629 Centerline is valid? [True, True] Translation: X:364.83, Y:-283.04, Z:-4.85 [[-8.24699420e-01 5.65547213e-01 -5.21693893e-03 3.64825186e+02] [ 5.65536253e-01 8.24715919e-01 3.52117476e-03 -2.83039605e+02] [ 6.29388316e-03 -4.64573181e-05 -9.99980192e-01 -4.84685947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.746559995 meters 0.04642814205122773 Centerline is valid? [True, True] Translation: X:364.84, Y:-282.96, Z:-4.85 [[-8.63393638e-01 5.04509704e-01 -4.62442571e-03 3.64844334e+02] [ 5.04502662e-01 8.63406021e-01 2.66572174e-03 -2.82955379e+02] [ 5.33763948e-03 -3.14678907e-05 -9.99985754e-01 -4.84643832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.806559995 meters 0.04652542662347948 Centerline is valid? [True, True] Translation: X:365.03, Y:-282.96, Z:-4.84 [[-8.98286472e-01 4.39399166e-01 -3.12852015e-03 3.65033539e+02] [ 4.39396544e-01 8.98291920e-01 1.51774235e-03 -2.82956754e+02] [ 3.47721910e-03 -1.12935201e-05 -9.99993954e-01 -4.84375054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.866559995 meters 0.046135149153092386 Centerline is valid? [True, True] Translation: X:364.62, Y:-282.68, Z:-4.84 [[-9.27260751e-01 3.74408593e-01 -2.38872483e-03 3.64616831e+02] [ 3.74407370e-01 9.27263827e-01 9.56767529e-04 -2.82684082e+02] [ 2.57320011e-03 -7.18320377e-06 -9.99996689e-01 -4.84407993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.926559995 meters 0.045636205729703054 Centerline is valid? [True, True] Translation: X:364.52, Y:-282.57, Z:-4.84 [[-9.51371457e-01 3.08038867e-01 -2.09922346e-03 3.64519909e+02] [ 3.08038133e-01 9.51373773e-01 6.72587517e-04 -2.82569257e+02] [ 2.20432924e-03 -6.76030817e-06 -9.99997570e-01 -4.84409916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.986559995 meters 0.04670723765440542 Centerline is valid? [True, True] Translation: X:364.74, Y:-282.55, Z:-4.84 [[-9.71009928e-01 2.39024604e-01 -2.63804288e-03 3.64744123e+02] [ 2.39023758e-01 9.71013511e-01 6.35923731e-04 -2.82549741e+02] [ 2.71357670e-03 -1.30666686e-05 -9.99996318e-01 -4.84337545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.046559995 meters 0.045817100328370365 Centerline is valid? [True, True] Translation: X:364.15, Y:-282.36, Z:-4.84 [[-9.85271102e-01 1.70973182e-01 -3.00436652e-03 3.64146656e+02] [ 1.70972445e-01 9.85275683e-01 5.02486969e-04 -2.82355259e+02] [ 3.04604107e-03 -1.85779972e-05 -9.99995361e-01 -4.84486670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.106559995 meters 0.04585057512020316 Centerline is valid? [True, True] Translation: X:364.08, Y:-282.28, Z:-4.84 [[-9.94862183e-01 1.01216620e-01 -2.10545915e-03 3.64079994e+02] [ 1.01216423e-01 9.94864411e-01 2.00205197e-04 -2.82277253e+02] [ 2.11491047e-03 -1.39304635e-05 -9.99997764e-01 -4.84361859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.166559995 meters 0.0465280762101046 Centerline is valid? [True, True] Translation: X:364.25, Y:-282.21, Z:-4.84 [[-9.99659883e-01 2.60627246e-02 -9.23492809e-04 3.64247129e+02] [ 2.60627173e-02 9.99660310e-01 1.99712830e-05 -2.82210599e+02] [ 9.23699613e-04 -4.10424154e-06 -9.99999573e-01 -4.84204072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.2265599950001 meters 0.04580697143140984 Centerline is valid? [True, True] Translation: X:364.57, Y:-282.12, Z:-4.84 [[-9.98714620e-01 -5.06774695e-02 -9.49664912e-04 3.64571486e+02] [-5.06774444e-02 9.98715072e-01 -5.04753958e-05 -2.82118003e+02] [ 9.51002626e-04 -2.28392499e-06 -9.99999548e-01 -4.84223647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.286559995 meters 0.04598917497865882 Centerline is valid? [True, True] Translation: X:364.19, Y:-282.06, Z:-4.84 [[-9.92538044e-01 -1.21918065e-01 -2.05324409e-03 3.64189266e+02] [-1.21917794e-01 9.92540168e-01 -2.57387687e-04 -2.82061425e+02] [ 2.06930744e-03 -5.14008323e-06 -9.99997859e-01 -4.84225674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.346559995 meters 0.04662673858456508 Centerline is valid? [True, True] Translation: X:363.46, Y:-282.10, Z:-4.84 [[-9.81567039e-01 -1.91076055e-01 -4.01106226e-03 3.63463899e+02] [-1.91074400e-01 9.81575235e-01 -7.95292042e-04 -2.82100613e+02] [ 4.08912064e-03 -1.42211411e-05 -9.99991639e-01 -4.84477002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.406559995 meters 0.045841714246216685 Centerline is valid? [True, True] Translation: X:364.04, Y:-281.88, Z:-4.85 [[-9.64513548e-01 -2.63970923e-01 -5.74177198e-03 3.64038498e+02] [-2.63966036e-01 9.64530638e-01 -1.60652619e-03 -2.81881387e+02] [ 5.96219119e-03 -3.38834839e-05 -9.99982225e-01 -4.84513976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.4665599950001 meters 0.04548027062235091 Centerline is valid? [True, True] Translation: X:363.19, Y:-281.55, Z:-5.96 [[-9.77504893e-01 2.10827341e-01 -6.00139872e-03 3.63187946e+02] [-2.10823522e-01 -9.77523315e-01 -1.26908582e-03 -2.81553804e+02] [-6.13406516e-03 2.46984178e-05 9.99981186e-01 -5.96065613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.526559995 meters 0.04534406013362416 Centerline is valid? [True, True] Translation: X:363.54, Y:-282.01, Z:-4.84 [[-9.62017221e-01 -2.72950792e-01 -4.55315014e-03 3.63543675e+02] [-2.72947628e-01 9.62027996e-01 -1.31448735e-03 -2.82008014e+02] [ 4.73904827e-03 -2.17879372e-05 -9.99988770e-01 -4.84136794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.586559995 meters 0.04573187933648997 Centerline is valid? [True, True] Translation: X:362.65, Y:-282.22, Z:-4.84 [[-9.39754279e-01 -3.41829721e-01 -3.78632317e-03 3.62650706e+02] [-3.41826896e-01 9.39761907e-01 -1.38969275e-03 -2.82217608e+02] [ 4.03328057e-03 -1.17026146e-05 -9.99991866e-01 -4.84127880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.646559995 meters 0.04536212015018375 Centerline is valid? [True, True] Translation: X:362.95, Y:-282.01, Z:-4.84 [[-9.10679419e-01 -4.13098241e-01 -3.58303031e-03 3.62951009e+02] [-4.13095008e-01 9.10686468e-01 -1.63442358e-03 -2.82011023e+02] [ 3.93819472e-03 -8.30398195e-06 -9.99992245e-01 -4.83973991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.7065599950001 meters 0.046226803728684984 Centerline is valid? [True, True] Translation: X:362.62, Y:-282.09, Z:-4.84 [[-8.78640198e-01 -4.77466811e-01 -4.10441276e-03 3.62620537e+02] [-4.77461570e-01 8.78649785e-01 -2.23726892e-03 -2.82086741e+02] [ 4.67456305e-03 -6.05504665e-06 -9.99989074e-01 -4.84104906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.766559995 meters 0.04589146266671471 Centerline is valid? [True, True] Translation: X:362.66, Y:-281.96, Z:-4.84 [[-8.40377153e-01 -5.41977236e-01 -5.18805593e-03 3.62663534e+02] [-5.41966863e-01 8.40393167e-01 -3.35325311e-03 -2.81961672e+02] [ 6.17739361e-03 -6.24290943e-06 -9.99980920e-01 -4.83978629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.826559995 meters 0.04579502514109686 Centerline is valid? [True, True] Translation: X:362.22, Y:-282.17, Z:-4.84 [[-7.99979426e-01 -6.00005844e-01 -5.08973791e-03 3.62216599e+02] [-5.99993643e-01 7.99995617e-01 -3.82638471e-03 -2.82169951e+02] [ 6.36762121e-03 -7.21865721e-06 -9.99979727e-01 -4.84022824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.886559995 meters 0.04518613333997269 Centerline is valid? [True, True] Translation: X:362.04, Y:-282.21, Z:-4.84 [[-7.55826231e-01 -6.54754819e-01 -4.77860016e-03 3.62044658e+02] [-6.54741609e-01 7.55841337e-01 -4.15913354e-03 -2.82211610e+02] [ 6.33507626e-03 -1.48338717e-05 -9.99979933e-01 -4.84054734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.9465599950001 meters 0.045583059272111044 Centerline is valid? [True, True] Translation: X:362.09, Y:-282.06, Z:-4.84 [[-7.05714128e-01 -7.08480208e-01 -4.83365881e-03 3.62085041e+02] [-7.08463319e-01 7.05730681e-01 -4.89202159e-03 -2.82064722e+02] [ 6.87716179e-03 -2.78987941e-05 -9.99976352e-01 -4.83867698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.006559995 meters 0.044585604034856834 Centerline is valid? [True, True] Translation: X:361.88, Y:-282.17, Z:-4.84 [[-6.53693224e-01 -7.56747532e-01 -4.28271561e-03 3.61880189e+02] [-7.56730987e-01 6.53707252e-01 -5.00416766e-03 -2.82165092e+02] [ 6.58653378e-03 -3.03268773e-05 -9.99978308e-01 -4.83749310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.066559995 meters 0.044736400361008725 Centerline is valid? [True, True] Translation: X:361.75, Y:-282.19, Z:-4.84 [[-5.94609619e-01 -8.04009389e-01 -2.88169531e-03 3.61754325e+02] [-8.03999851e-01 5.94616602e-01 -3.91623083e-03 -2.82186245e+02] [ 4.86219023e-03 -1.17459257e-05 -9.99988179e-01 -4.83616521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.126559995 meters 0.04499009098645367 Centerline is valid? [True, True] Translation: X:361.66, Y:-282.17, Z:-4.83 [[-5.28970268e-01 -8.48640231e-01 -4.61307500e-04 3.61655613e+02] [-8.48639914e-01 5.28970470e-01 -7.33613626e-04 -2.82171840e+02] [ 8.66592083e-04 3.42416075e-06 -9.99999625e-01 -4.83271004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.186559995 meters 0.04548633324055469 Centerline is valid? [True, True] Translation: X:361.29, Y:-282.64, Z:-4.83 [[-4.65070200e-01 -8.85273803e-01 -4.98370423e-05 3.61291800e+02] [-8.85273798e-01 4.65070203e-01 -9.13600493e-05 -2.82636263e+02] [ 1.04056382e-04 1.63059134e-06 -9.99999995e-01 -4.83156028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.246559995 meters 0.04571159705547879 Centerline is valid? [True, True] Translation: X:361.26, Y:-282.52, Z:-4.83 [[-3.95724848e-01 -9.18369057e-01 3.45398738e-04 3.61258520e+02] [-9.18368718e-01 3.95724999e-01 7.89204682e-04 -2.82517448e+02] [-8.61464075e-04 -4.89549272e-06 -9.99999629e-01 -4.83124396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.306559995 meters 0.045513016804175736 Centerline is valid? [True, True] Translation: X:360.63, Y:-282.69, Z:-5.97 [[-4.68632426e-01 8.83393190e-01 3.47617006e-04 3.60626289e+02] [-8.83392954e-01 -4.68632555e-01 6.45832830e-04 -2.82688201e+02] [ 7.33428970e-04 -4.42420750e-06 9.99999731e-01 -5.97304685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.366559995 meters 0.04599990380164032 Centerline is valid? [True, True] Translation: X:361.32, Y:-282.39, Z:-4.83 [[-3.89590873e-01 -9.20988002e-01 -2.29632604e-04 3.61316526e+02] [-9.20987847e-01 3.89590941e-01 -5.33190798e-04 -2.82387026e+02] [ 5.80525109e-04 3.76256885e-06 -9.99999832e-01 -4.83274646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.426559995 meters 0.04522656747925489 Centerline is valid? [True, True] Translation: X:360.89, Y:-283.26, Z:-4.83 [[-3.26303753e-01 -9.45264918e-01 -3.08951501e-04 3.60888173e+02] [-9.45264501e-01 3.26303899e-01 -8.87923924e-04 -2.83264695e+02] [ 9.40135415e-04 2.30797820e-06 -9.99999558e-01 -4.83250532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.486559995 meters 0.04527314007118251 Centerline is valid? [True, True] Translation: X:360.83, Y:-283.18, Z:-4.83 [[-2.59672618e-01 -9.65696698e-01 -1.38382075e-04 3.60834083e+02] [-9.65696559e-01 2.59672655e-01 -5.18252111e-04 -2.83175395e+02] [ 5.36408393e-04 -9.40788353e-07 -9.99999856e-01 -4.83164393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.546559995 meters 0.044815674550514745 Centerline is valid? [True, True] Translation: X:360.66, Y:-283.58, Z:-4.83 [[-1.91328487e-01 -9.81526061e-01 4.54515511e-05 3.60661851e+02] [-9.81526030e-01 1.91328492e-01 2.45743717e-04 -2.83583144e+02] [-2.49900039e-04 2.40589310e-06 -9.99999969e-01 -4.83125361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.606559995 meters 0.0460019876196717 Centerline is valid? [True, True] Translation: X:360.62, Y:-283.29, Z:-4.83 [[-1.18449870e-01 -9.92960014e-01 1.95663608e-04 3.60619151e+02] [-9.92958465e-01 1.18450030e-01 1.75399951e-03 -2.83288715e+02] [-1.76482774e-03 1.34751770e-05 -9.99998443e-01 -4.83009104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.666559995 meters 0.045531401764758485 Centerline is valid? [True, True] Translation: X:360.50, Y:-283.75, Z:-4.83 [[-4.94720114e-02 -9.98775497e-01 1.65445153e-04 3.60499429e+02] [-9.98766961e-01 4.94722727e-02 4.12937966e-03 -2.83751069e+02] [-4.13250816e-03 3.90475646e-05 -9.99991460e-01 -4.82800262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.7265599950001 meters 0.045390037235694444 Centerline is valid? [True, True] Translation: X:360.42, Y:-284.00, Z:-4.83 [[ 1.73811593e-02 -9.99848915e-01 -2.05136603e-04 3.60418048e+02] [-9.99829851e-01 -1.73820948e-02 6.17507891e-03 -2.83997206e+02] [-6.17771166e-03 9.77716686e-05 -9.99980913e-01 -4.82598475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.786559995 meters 0.04648263582665299 Centerline is valid? [True, True] Translation: X:360.34, Y:-284.07, Z:-4.82 [[ 8.77022249e-02 -9.96146334e-01 -8.95513428e-04 3.60343200e+02] [-9.96111669e-01 -8.77066451e-02 8.31182700e-03 -2.84065862e+02] [-8.35833847e-03 1.63065655e-04 -9.99965055e-01 -4.82473347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.846559995 meters 0.04678661988288297 Centerline is valid? [True, True] Translation: X:360.30, Y:-284.32, Z:-4.82 [[ 1.61855610e-01 -9.86812994e-01 -1.69631727e-03 3.60295914e+02] [-9.86769294e-01 -1.61864409e-01 9.28837040e-03 -2.84319822e+02] [-9.44045799e-03 1.70498941e-04 -9.99955423e-01 -4.82276940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.906559995 meters 0.04676621303134471 Centerline is valid? [True, True] Translation: X:360.23, Y:-284.45, Z:-4.82 [[ 2.37853251e-01 -9.71297744e-01 -2.55417479e-03 3.60232759e+02] [-9.71248096e-01 -2.37866921e-01 9.82160276e-03 -2.84445899e+02] [-1.01472543e-02 1.44637248e-04 -9.99948505e-01 -4.82197133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.9665599950001 meters 0.046299789840320356 Centerline is valid? [True, True] Translation: X:360.20, Y:-284.66, Z:-4.82 [[ 3.12598105e-01 -9.49879514e-01 -3.36657773e-03 3.60202938e+02] [-9.49827915e-01 -3.12616216e-01 9.90115693e-03 -2.84662663e+02] [-1.04573529e-02 1.02586617e-04 -9.99945315e-01 -4.82138827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.026559995 meters 0.045935171485878244 Centerline is valid? [True, True] Translation: X:360.20, Y:-284.90, Z:-4.82 [[ 3.82621320e-01 -9.23898702e-01 -3.48054337e-03 3.60203067e+02] [-9.23862250e-01 -3.82637142e-01 8.20734399e-03 -2.84897204e+02] [-8.91453963e-03 7.52378472e-05 -9.99960262e-01 -4.82239808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.086559995 meters 0.045827187917624704 Centerline is valid? [True, True] Translation: X:360.04, Y:-284.75, Z:-4.82 [[ 4.53133754e-01 -8.91433611e-01 -3.98968370e-03 3.60040243e+02] [-8.91399888e-01 -4.53151316e-01 7.75398152e-03 -2.84749064e+02] [-8.72009017e-03 4.28128490e-05 -9.99961978e-01 -4.81966531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.146559995 meters 0.04585643074396119 Centerline is valid? [True, True] Translation: X:360.33, Y:-285.46, Z:-4.82 [[ 5.18523668e-01 -8.55053431e-01 -4.10321778e-03 3.60328694e+02] [-8.55026850e-01 -5.18539903e-01 6.74201893e-03 -2.85456700e+02] [-7.89246856e-03 1.24649918e-05 -9.99968854e-01 -4.82307853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.2065599950001 meters 0.04521304400822836 Centerline is valid? [True, True] Translation: X:360.52, Y:-285.89, Z:-4.82 [[ 5.82824825e-01 -8.12588151e-01 -3.96488117e-03 3.60517284e+02] [-8.12569102e-01 -5.82838311e-01 5.56402461e-03 -2.85893363e+02] [-6.83214511e-03 -2.11117407e-05 -9.99976660e-01 -4.82130500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.266559995 meters 0.04523495736544053 Centerline is valid? [True, True] Translation: X:360.56, Y:-286.07, Z:-4.82 [[ 6.41125137e-01 -7.67426194e-01 -3.94914154e-03 3.60560318e+02] [-7.67411428e-01 -6.41137299e-01 4.76061690e-03 -2.86073403e+02] [-6.18536405e-03 -2.15348131e-05 -9.99980870e-01 -4.82217043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.326559995 meters 0.04524105517170626 Centerline is valid? [True, True] Translation: X:360.64, Y:-286.28, Z:-4.82 [[ 6.94266368e-01 -7.19703662e-01 -4.56607741e-03 3.60642025e+02] [-7.19687989e-01 -6.94281383e-01 4.74971460e-03 -2.86277827e+02] [-6.58852953e-03 -1.14160366e-05 -9.99978295e-01 -4.82109736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.386559995 meters 0.044936937544441856 Centerline is valid? [True, True] Translation: X:359.96, Y:-285.74, Z:-4.82 [[ 7.46287597e-01 -6.65595462e-01 -6.12406205e-03 3.59957208e+02] [-6.65572799e-01 -7.46312723e-01 5.49252268e-03 -2.85744509e+02] [-8.22626359e-03 -2.29924269e-05 -9.99966164e-01 -4.82002619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.4465599950001 meters 0.04538320120135374 Centerline is valid? [True, True] Translation: X:359.90, Y:-285.88, Z:-4.82 [[ 7.97332754e-01 -6.03501358e-01 -6.82576683e-03 3.59900004e+02] [-6.03478787e-01 -7.97361969e-01 5.21961320e-03 -2.85875538e+02] [-8.59265053e-03 -4.25630794e-05 -9.99963082e-01 -4.81889853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.506559995 meters 0.045970891797704964 Centerline is valid? [True, True] Translation: X:359.89, Y:-285.96, Z:-4.82 [[ 8.41328100e-01 -5.40479973e-01 -6.95891994e-03 3.59890834e+02] [-5.40461192e-01 -8.41356879e-01 4.50573720e-03 -2.85958038e+02] [-8.29019588e-03 -2.97771509e-05 -9.99965635e-01 -4.81981627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.566559995 meters 0.04590395912904912 Centerline is valid? [True, True] Translation: X:359.89, Y:-286.03, Z:-4.82 [[ 8.78470487e-01 -4.77711509e-01 -9.01766793e-03 3.59892760e+02] [-4.77686542e-01 -8.78516770e-01 4.88397065e-03 -2.86031254e+02] [-1.02553015e-02 1.71945415e-05 -9.99947413e-01 -4.81687823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.626559995 meters 0.04565912147477576 Centerline is valid? [True, True] Translation: X:359.89, Y:-286.13, Z:-4.82 [[ 9.11659294e-01 -4.10829008e-01 -9.84168599e-03 3.59887100e+02] [-4.10805736e-01 -9.11712413e-01 4.37312163e-03 -2.86132888e+02] [-1.07693925e-02 5.62240836e-05 -9.99942007e-01 -4.81811419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.686559995 meters 0.04553595351959767 Centerline is valid? [True, True] Translation: X:359.89, Y:-286.24, Z:-4.82 [[ 9.40430313e-01 -3.39799668e-01 -1.12699698e-02 3.59885281e+02] [-3.39776303e-01 -9.40497836e-01 3.98560615e-03 -2.86242145e+02] [-1.19536898e-02 8.10838267e-05 -9.99928549e-01 -4.82031377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.746559995 meters 0.0463030270094741 Centerline is valid? [True, True] Translation: X:359.89, Y:-286.35, Z:-4.82 [[ 9.64878596e-01 -2.62440690e-01 -1.15835479e-02 3.59892608e+02] [-2.62422356e-01 -9.64948124e-01 3.10240818e-03 -2.86350693e+02] [-1.19917209e-02 4.63346658e-05 -9.99928096e-01 -4.81925942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.806559995 meters 0.046128279763326736 Centerline is valid? [True, True] Translation: X:359.91, Y:-286.46, Z:-4.82 [[ 9.83049445e-01 -1.83021443e-01 -1.08139055e-02 3.59909732e+02] [-1.83010445e-01 -9.83108921e-01 2.00635959e-03 -2.86456689e+02] [-1.09984538e-02 6.70698537e-06 -9.99939515e-01 -4.82171346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.866559995 meters 0.04567870996408928 Centerline is valid? [True, True] Translation: X:359.94, Y:-286.55, Z:-4.82 [[ 9.94330439e-01 -1.05894134e-01 -9.66488206e-03 3.59935135e+02] [-1.05889217e-01 -9.94377409e-01 1.02049371e-03 -2.86553981e+02] [-9.71860468e-03 8.69883084e-06 -9.99952773e-01 -4.82048214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.926559995 meters 0.046052893420770714 Centerline is valid? [True, True] Translation: X:359.97, Y:-286.68, Z:-4.82 [[ 9.99456789e-01 -3.14639085e-02 -9.80556648e-03 3.59966383e+02] [-3.14628290e-02 -9.99504888e-01 2.64361007e-04 -2.86683499e+02] [-9.80902945e-03 4.42934584e-05 -9.99951889e-01 -4.82192606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.986559995 meters 0.04605930317370959 Centerline is valid? [True, True] Translation: X:360.00, Y:-286.77, Z:-4.82 [[ 9.98983766e-01 4.36636008e-02 -1.11770361e-02 3.60001323e+02] [ 4.36599084e-02 -9.99046287e-01 -5.74253515e-04 -2.86772117e+02] [-1.11914504e-02 8.56815656e-05 -9.99937370e-01 -4.82376765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.046559995 meters 0.046185058565744654 Centerline is valid? [True, True] Translation: X:360.04, Y:-286.86, Z:-4.83 [[ 9.92302739e-01 1.23381555e-01 -1.05955817e-02 3.60043405e+02] [ 1.23373835e-01 -9.92359304e-01 -1.38158550e-03 -2.86862032e+02] [-1.06850863e-02 6.37335167e-05 -9.99942911e-01 -4.82586621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.106559995 meters 0.04650045836269487 Centerline is valid? [True, True] Translation: X:360.09, Y:-286.93, Z:-4.83 [[ 9.78123586e-01 2.07874692e-01 -7.89702327e-03 3.60090187e+02] [ 2.07868011e-01 -9.78155464e-01 -1.66669718e-03 -2.86930773e+02] [-8.07098062e-03 -1.13026931e-05 -9.99967429e-01 -4.82685114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.166559995 meters 0.046552519569400354 Centerline is valid? [True, True] Translation: X:360.14, Y:-287.00, Z:-4.83 [[ 9.56290557e-01 2.92358409e-01 -5.91033982e-03 3.60143339e+02] [ 2.92353236e-01 -9.56308819e-01 -1.74028655e-03 -2.87001097e+02] [-6.16089750e-03 -6.36873784e-05 -9.99981020e-01 -4.82601552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.2265599950001 meters 0.04698857589981126 Centerline is valid? [True, True] Translation: X:360.22, Y:-287.11, Z:-4.83 [[ 9.29488896e-01 3.68828406e-01 -3.99977042e-03 3.60218790e+02] [ 3.68825249e-01 -9.29497501e-01 -1.52720495e-03 -2.87114566e+02] [-4.28105317e-03 -5.56962798e-05 -9.99990835e-01 -4.82886463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.286559995 meters 0.046137506804916295 Centerline is valid? [True, True] Translation: X:360.30, Y:-287.21, Z:-4.83 [[ 8.98683438e-01 4.38594613e-01 -1.68616096e-03 3.60298440e+02] [ 4.38593883e-01 -8.98685020e-01 -8.00777953e-04 -2.87213617e+02] [-1.86654449e-03 -1.98939992e-05 -9.99998258e-01 -4.83373533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.346559995 meters 0.04571703315496905 Centerline is valid? [True, True] Translation: X:360.36, Y:-287.25, Z:-4.84 [[ 8.64273424e-01 5.03022048e-01 -5.17385486e-04 3.60356946e+02] [ 5.03021960e-01 -8.64273579e-01 -2.98274969e-04 -2.87252181e+02] [-5.97201492e-04 -2.46513245e-06 -9.99999822e-01 -4.83519004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.406559995 meters 0.045478529514013086 Centerline is valid? [True, True] Translation: X:360.42, Y:-287.28, Z:-4.84 [[ 8.25890828e-01 5.63829943e-01 3.67878581e-04 3.60416372e+02] [ 5.63829888e-01 -8.25890910e-01 2.49990284e-04 -2.87283795e+02] [ 4.44779583e-04 9.56256595e-07 -9.99999901e-01 -4.83709100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.4665599950001 meters 0.04584641950187749 Centerline is valid? [True, True] Translation: X:360.48, Y:-287.31, Z:-4.84 [[ 7.81095605e-01 6.24411018e-01 7.32816594e-04 3.60480955e+02] [ 6.24410741e-01 -7.81095949e-01 5.88394798e-04 -2.87313035e+02] [ 9.39800268e-04 -2.01403829e-06 -9.99999558e-01 -4.83765646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.526559995 meters 0.046840961836801344 Centerline is valid? [True, True] Translation: X:360.54, Y:-287.33, Z:-4.84 [[ 7.32253202e-01 6.81030032e-01 1.82846527e-03 3.60542955e+02] [ 6.81027854e-01 -7.32255485e-01 1.72260280e-03 -2.87333908e+02] [ 2.51204796e-03 -1.61456354e-05 -9.99996845e-01 -4.84079040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.586559995 meters 0.046076540687819564 Centerline is valid? [True, True] Translation: X:360.66, Y:-287.40, Z:-4.84 [[ 6.75352551e-01 7.37492570e-01 1.90809371e-03 3.60658194e+02] [ 7.37489572e-01 -6.75355247e-01 2.10305909e-03 -2.87399713e+02] [ 2.83963155e-03 -1.31071089e-05 -9.99995968e-01 -4.84087446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.646559995 meters 0.046218816277814 Centerline is valid? [True, True] Translation: X:360.76, Y:-287.44, Z:-4.84 [[ 6.13129790e-01 7.89981390e-01 1.12427400e-03 3.60755589e+02] [ 7.89980055e-01 -6.13130821e-01 1.45243390e-03 -2.87436429e+02] [ 1.83672279e-03 -2.37645232e-06 -9.99998313e-01 -4.83742465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.7065599950001 meters 0.04605510162949105 Centerline is valid? [True, True] Translation: X:360.85, Y:-287.46, Z:-4.84 [[ 5.46526849e-01 8.37441580e-01 6.25030896e-05 3.60848357e+02] [ 8.37441574e-01 -5.46526853e-01 9.34243000e-05 -2.87460362e+02] [ 1.12397010e-04 1.28379742e-06 -9.99999994e-01 -4.83594608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.766559995 meters 0.04682263885107777 Centerline is valid? [True, True] Translation: X:360.97, Y:-287.49, Z:-4.83 [[ 4.78746199e-01 8.77952117e-01 -1.46863091e-03 3.60966520e+02] [ 8.77948023e-01 -4.78748452e-01 -2.68110644e-03 -2.87491874e+02] [-3.05698785e-03 -5.81208203e-06 -9.99995327e-01 -4.83463780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.826559995 meters 0.0464705891273738 Centerline is valid? [True, True] Translation: X:361.08, Y:-287.51, Z:-4.84 [[ 4.10764646e-01 9.11739779e-01 -1.72687565e-03 3.61077186e+02] [ 9.11731705e-01 -4.10768275e-01 -3.83692133e-03 -2.87507805e+02] [-4.20761954e-03 1.62435514e-06 -9.99991148e-01 -4.83517458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.886559995 meters 0.04663884070514376 Centerline is valid? [True, True] Translation: X:361.19, Y:-287.51, Z:-4.84 [[ 3.42729644e-01 9.39433090e-01 -1.36389460e-03 3.61185141e+02] [ 9.39425404e-01 -3.42732357e-01 -3.80027005e-03 -2.87513923e+02] [-4.03755025e-03 2.11879623e-05 -9.99991849e-01 -4.83545403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.9465599950001 meters 0.046647567123583346 Centerline is valid? [True, True] Translation: X:361.28, Y:-287.51, Z:-4.83 [[ 2.69909835e-01 9.62885084e-01 -9.98074559e-04 3.61276937e+02] [ 9.62878129e-01 -2.69911679e-01 -3.65989116e-03 -2.87506995e+02] [-3.79344659e-03 2.68164573e-05 -9.99992805e-01 -4.83437505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.006559995 meters 0.046293989417300396 Centerline is valid? [True, True] Translation: X:361.36, Y:-287.49, Z:-4.83 [[ 1.93236474e-01 9.81152082e-01 -5.07115911e-04 3.61361729e+02] [ 9.81148453e-01 -1.93237139e-01 -2.66857586e-03 -2.87491445e+02] [-2.71627239e-03 1.81101995e-05 -9.99996311e-01 -4.83382445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.066559995 meters 0.04645780067639528 Centerline is valid? [True, True] Translation: X:361.46, Y:-287.47, Z:-4.83 [[ 1.14474790e-01 9.93426106e-01 -3.07584840e-04 3.61464173e+02] [ 9.93422166e-01 -1.14475202e-01 -2.79781582e-03 -2.87471875e+02] [-2.81463411e-03 1.47177800e-05 -9.99996039e-01 -4.83455257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.126559995 meters 0.04617189819183058 Centerline is valid? [True, True] Translation: X:361.56, Y:-287.44, Z:-4.83 [[ 3.22137639e-02 9.99480991e-01 -1.47643087e-04 3.61561872e+02] [ 9.99469898e-01 -3.22141020e-02 -4.70899059e-03 -2.87443979e+02] [-4.71130277e-03 4.12948981e-06 -9.99988902e-01 -4.83334575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.186559995 meters 0.0457126192255797 Centerline is valid? [True, True] Translation: X:361.66, Y:-287.41, Z:-4.83 [[-4.99149696e-02 9.98753444e-01 2.32789223e-04 3.61655519e+02] [ 9.98741158e-01 4.99155102e-02 -4.95396925e-03 -2.87407939e+02] [-4.95941365e-03 -1.47810468e-05 -9.99987702e-01 -4.83185072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.246559995 meters 0.046455470012565 Centerline is valid? [True, True] Translation: X:361.78, Y:-287.36, Z:-4.83 [[-1.30209958e-01 9.91486245e-01 6.26856715e-04 3.61778382e+02] [ 9.91473748e-01 1.30211464e-01 -4.97809857e-03 -2.87362447e+02] [-5.01734019e-03 -2.66860273e-05 -9.99987413e-01 -4.83135760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.306559995 meters 0.04665699188490451 Centerline is valid? [True, True] Translation: X:361.90, Y:-287.31, Z:-4.83 [[-2.04065642e-01 9.78956655e-01 1.04003138e-03 3.61896860e+02] [ 9.78943692e-01 2.04068292e-01 -5.03790509e-03 -2.87307647e+02] [-5.14412814e-03 -9.93117575e-06 -9.99986769e-01 -4.83305461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.366559995 meters 0.04672611087112308 Centerline is valid? [True, True] Translation: X:361.96, Y:-287.26, Z:-4.83 [[-2.72190334e-01 9.62242376e-01 1.42574002e-03 3.61958410e+02] [ 9.62229782e-01 2.72194066e-01 -4.92314704e-03 -2.87256328e+02] [-5.12533868e-03 3.18564743e-05 -9.99986865e-01 -4.83407582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.426559995 meters 0.0467732811086589 Centerline is valid? [True, True] Translation: X:362.01, Y:-287.20, Z:-4.83 [[-3.41959639e-01 9.39713437e-01 1.50391249e-03 3.62012506e+02] [ 9.39704957e-01 3.41962943e-01 -3.99252678e-03 -2.87202625e+02] [-4.26611340e-03 4.79510049e-05 -9.99990899e-01 -4.83453670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.486559995 meters 0.046806982339428024 Centerline is valid? [True, True] Translation: X:362.07, Y:-287.14, Z:-4.84 [[-4.11300961e-01 9.11498839e-01 1.17715041e-03 3.62069929e+02] [ 9.11495387e-01 4.11302644e-01 -2.50896518e-03 -2.87141795e+02] [-2.77108392e-03 4.10273824e-05 -9.99996160e-01 -4.83551772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.546559995 meters 0.0471967905534153 Centerline is valid? [True, True] Translation: X:362.12, Y:-287.08, Z:-4.84 [[-4.81548864e-01 8.76418511e-01 1.13378602e-03 3.62124001e+02] [ 8.76416244e-01 4.81550197e-01 -1.99365302e-03 -2.87075575e+02] [-2.29324929e-03 3.36271396e-05 -9.99997370e-01 -4.83543059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.606559995 meters 0.046318071854149205 Centerline is valid? [True, True] Translation: X:362.17, Y:-287.00, Z:-4.84 [[-5.51089486e-01 8.34445970e-01 5.49415079e-04 3.62174737e+02] [ 8.34445577e-01 5.51089759e-01 -8.09961341e-04 -2.87003787e+02] [-9.78646001e-04 1.20958042e-05 -9.99999521e-01 -4.83682303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.666559995 meters 0.04647718838125327 Centerline is valid? [True, True] Translation: X:362.21, Y:-286.94, Z:-4.84 [[-6.16606781e-01 7.87270927e-01 7.51408568e-04 3.62209017e+02] [ 7.87270366e-01 6.16607239e-01 -9.40425161e-04 -2.86938759e+02] [-1.20369335e-03 1.16891674e-05 -9.99999276e-01 -4.83613671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.7265599950001 meters 0.045902646419698406 Centerline is valid? [True, True] Translation: X:362.24, Y:-286.87, Z:-4.84 [[-6.79120492e-01 7.34024451e-01 1.86077736e-03 3.62235691e+02] [ 7.34021756e-01 6.79123041e-01 -1.98943341e-03 -2.86872345e+02] [-2.72398955e-03 1.47860695e-05 -9.99996290e-01 -4.83566364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.786559995 meters 0.045833605775157334 Centerline is valid? [True, True] Translation: X:362.27, Y:-286.79, Z:-4.83 [[-7.36419743e-01 6.76519897e-01 2.60581595e-03 3.62272785e+02] [ 6.76515704e-01 7.36424353e-01 -2.38215161e-03 -2.86788230e+02] [-3.53055929e-03 8.61193216e-06 -9.99993768e-01 -4.83383471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.846559995 meters 0.04603130946101218 Centerline is valid? [True, True] Translation: X:362.28, Y:-286.65, Z:-4.83 [[-7.84541362e-01 6.20065295e-01 3.72566883e-03 3.62279781e+02] [ 6.20058280e-01 7.84550209e-01 -2.94958400e-03 -2.86653783e+02] [-4.75190893e-03 -3.93884246e-06 -9.99988710e-01 -4.83186637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.906559995 meters 0.046169922175563906 Centerline is valid? [True, True] Translation: X:362.28, Y:-286.52, Z:-4.83 [[-8.27471184e-01 5.61492395e-01 4.21083619e-03 3.62276297e+02] [ 5.61485049e-01 8.27481897e-01 -2.87219237e-03 -2.86520012e+02] [-5.09710489e-03 -1.23348592e-05 -9.99987010e-01 -4.82959777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.9665599950001 meters 0.045858804794499976 Centerline is valid? [True, True] Translation: X:362.07, Y:-286.27, Z:-4.83 [[-8.65717332e-01 5.00504994e-01 5.31521627e-03 3.62071305e+02] [ 5.00495407e-01 8.65733649e-01 -3.09787065e-03 -2.86271815e+02] [-6.15206130e-03 -2.16389811e-05 -9.99981076e-01 -4.82773018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.026559995 meters 0.0466382924795961 Centerline is valid? [True, True] Translation: X:362.23, Y:-286.25, Z:-4.83 [[-8.98873831e-01 4.38140774e-01 7.64845622e-03 3.62232287e+02] [ 4.38124684e-01 8.98906370e-01 -3.75493414e-03 -2.86250092e+02] [-8.52043576e-03 -2.42345747e-05 -9.99963700e-01 -4.82668061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.086559995 meters 0.04620072667366287 Centerline is valid? [True, True] Translation: X:362.37, Y:-285.84, Z:-5.98 [[-8.65183933e-01 -5.01381626e-01 8.55730520e-03 3.62370911e+02] [ 5.01358369e-01 -8.65226244e-01 -4.83042374e-03 -2.85835844e+02] [ 9.82589075e-03 1.11071565e-04 9.99951719e-01 -5.98056006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.146559995 meters 0.04627442026973618 Centerline is valid? [True, True] Translation: X:362.07, Y:-286.18, Z:-4.82 [[-8.97938568e-01 4.40004396e-01 1.01222618e-02 3.62070245e+02] [ 4.39976848e-01 8.97995618e-01 -4.92367070e-03 -2.86183140e+02] [-1.12561835e-02 3.24070093e-05 -9.99936647e-01 -4.82448607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.2065599950001 meters 0.046017487278161934 Centerline is valid? [True, True] Translation: X:362.19, Y:-285.74, Z:-5.98 [[-8.70162429e-01 -4.92659439e-01 1.01992883e-02 3.62189418e+02] [ 4.92625540e-01 -8.70222200e-01 -5.77925001e-03 -2.85736291e+02] [ 1.17228491e-02 -4.45632607e-06 9.99931285e-01 -5.98276826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.266559995 meters 0.04701653783504257 Centerline is valid? [True, True] Translation: X:361.91, Y:-286.12, Z:-4.83 [[-8.98704376e-01 4.38420819e-01 1.08457033e-02 3.61908725e+02] [ 4.38389676e-01 8.98769816e-01 -5.22585973e-03 -2.86115749e+02] [-1.20389164e-02 5.81413449e-05 -9.99927528e-01 -4.82501792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.326559995 meters 0.046260862622822016 Centerline is valid? [True, True] Translation: X:361.87, Y:-285.99, Z:-4.83 [[-9.29102157e-01 3.69689076e-01 9.95838958e-03 3.61873819e+02] [ 3.69667936e-01 9.29155523e-01 -3.95349684e-03 -2.85987266e+02] [-1.07144573e-02 8.09488453e-06 -9.99942599e-01 -4.82658108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.386559995 meters 0.04661415631360755 Centerline is valid? [True, True] Translation: X:361.83, Y:-285.86, Z:-4.83 [[-9.53501097e-01 3.01227886e-01 9.87009726e-03 3.61828765e+02] [ 3.01211653e-01 9.53552180e-01 -3.12716665e-03 -2.85861895e+02] [-1.03536426e-02 -8.76851168e-06 -9.99946400e-01 -4.82502601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.4465599950001 meters 0.046336125107555734 Centerline is valid? [True, True] Translation: X:361.53, Y:-285.67, Z:-4.82 [[-9.73030900e-01 2.30472158e-01 9.66707745e-03 3.61525119e+02] [ 2.30460448e-01 9.73078919e-01 -2.32352392e-03 -2.85671846e+02] [-9.94233685e-03 -3.29815698e-05 -9.99950573e-01 -4.82417169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.506559995 meters 0.04603626461391279 Centerline is valid? [True, True] Translation: X:361.51, Y:-285.20, Z:-5.98 [[-9.52919868e-01 -3.03083130e-01 9.18380020e-03 3.61510589e+02] [ 3.03069172e-01 -9.52964121e-01 -2.90878829e-03 -2.85202059e+02] [ 9.63343674e-03 1.14845692e-05 9.99953597e-01 -5.97720729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.566559995 meters 0.046080682958398775 Centerline is valid? [True, True] Translation: X:361.48, Y:-285.66, Z:-4.83 [[-9.74610858e-01 2.23775881e-01 7.61775353e-03 3.61478414e+02] [ 2.23768711e-01 9.74640628e-01 -1.79193179e-03 -2.85664105e+02] [-7.82556320e-03 -4.18212931e-05 -9.99969379e-01 -4.82839080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.626559995 meters 0.04620605925457395 Centerline is valid? [True, True] Translation: X:361.35, Y:-285.54, Z:-4.83 [[-9.87794519e-01 1.55573239e-01 7.67825585e-03 3.61345630e+02] [ 1.55568309e-01 9.87824360e-01 -1.23888255e-03 -2.85541356e+02] [-7.77750514e-03 -2.92681184e-05 -9.99969754e-01 -4.82909654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.686559995 meters 0.04573184950760058 Centerline is valid? [True, True] Translation: X:361.40, Y:-285.45, Z:-4.83 [[-9.96107078e-01 8.77079874e-02 8.83167451e-03 3.61399002e+02] [ 8.77044813e-02 9.96146229e-01 -7.84255589e-04 -2.85452258e+02] [-8.86642474e-03 -6.62511067e-06 -9.99960693e-01 -4.82804735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.746559995 meters 0.04630231224213528 Centerline is valid? [True, True] Translation: X:361.32, Y:-285.35, Z:-4.83 [[-9.99784485e-01 1.75346552e-02 1.11139366e-02 3.61316044e+02] [ 1.75335895e-02 9.99846256e-01 -1.93323631e-04 -2.85348082e+02] [-1.11156178e-02 1.58523529e-06 -9.99938220e-01 -4.82650777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.806559995 meters 0.04600085907329168 Centerline is valid? [True, True] Translation: X:361.22, Y:-285.25, Z:-4.82 [[-9.98540685e-01 -5.24714587e-02 1.27767589e-02 3.61224100e+02] [-5.24669486e-02 9.98622424e-01 6.88157582e-04 -2.85250417e+02] [-1.27952666e-02 1.67957919e-05 -9.99918137e-01 -4.82412339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.866559995 meters 0.04544805951620981 Centerline is valid? [True, True] Translation: X:361.12, Y:-285.16, Z:-4.82 [[-9.92476867e-01 -1.21661897e-01 1.37131702e-02 3.61124221e+02] [-1.21649693e-01 9.92571600e-01 1.72370133e-03 -2.85162756e+02] [-1.38210121e-02 4.25307568e-05 -9.99904484e-01 -4.82319262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.926559995 meters 0.046058396737179146 Centerline is valid? [True, True] Translation: X:361.01, Y:-285.08, Z:-4.83 [[-9.81219817e-01 -1.92474031e-01 1.27050625e-02 3.61014775e+02] [-1.92457449e-01 9.81302067e-01 2.52661991e-03 -2.85077423e+02] [-1.29538128e-02 3.39856092e-05 -9.99916095e-01 -4.82627155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.986559995 meters 0.0465999414732962 Centerline is valid? [True, True] Translation: X:360.90, Y:-285.00, Z:-4.82 [[-9.64520775e-01 -2.63713188e-01 1.24510423e-02 3.60897707e+02] [-2.63691092e-01 9.64601137e-01 3.41374586e-03 -2.84997484e+02] [-1.29105394e-02 9.39985216e-06 -9.99916656e-01 -4.82472246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.046559995 meters 0.04589609695441266 Centerline is valid? [True, True] Translation: X:360.57, Y:-284.61, Z:-5.98 [[-9.80433350e-01 1.96467990e-01 1.22790872e-02 3.60572180e+02] [-1.96453046e-01 -9.80510238e-01 2.42346397e-03 -2.84607359e+02] [ 1.25159038e-02 -3.62191906e-05 9.99921672e-01 -5.98033705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.106559995 meters 0.046230594912011626 Centerline is valid? [True, True] Translation: X:360.58, Y:-285.08, Z:-4.82 [[-9.62477101e-01 -2.71074830e-01 1.25006803e-02 3.60575907e+02] [-2.71052470e-01 9.62558276e-01 3.48191173e-03 -2.85077571e+02] [-1.29764919e-02 -3.70799489e-05 -9.99915801e-01 -4.82294748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.166559995 meters 0.04610778753600198 Centerline is valid? [True, True] Translation: X:360.52, Y:-285.00, Z:-4.83 [[-9.41781486e-01 -3.36022849e-01 1.16737827e-02 3.60519398e+02] [-3.35996844e-01 9.41853834e-01 4.18046422e-03 -2.84995290e+02] [-1.23997285e-02 1.47296537e-05 -9.99923120e-01 -4.82569410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.2265599950001 meters 0.04681937380821453 Centerline is valid? [True, True] Translation: X:360.38, Y:-284.94, Z:-4.82 [[-9.17045913e-01 -3.98622077e-01 1.12797860e-02 3.60384103e+02] [-3.98591050e-01 9.17115279e-01 4.97389150e-03 -2.84942200e+02] [-1.23275670e-02 6.52651354e-05 -9.99924011e-01 -4.82498125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.286559995 meters 0.04617535301110237 Centerline is valid? [True, True] Translation: X:360.24, Y:-284.91, Z:-4.83 [[-8.89589510e-01 -4.56641067e-01 1.04613767e-02 3.60240136e+02] [-4.56607516e-01 8.89651007e-01 5.53741336e-03 -2.84907238e+02] [-1.18355847e-02 1.49281607e-04 -9.99929946e-01 -4.82594911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.346559995 meters 0.04704469146134142 Centerline is valid? [True, True] Translation: X:360.08, Y:-284.88, Z:-4.83 [[-8.56985508e-01 -5.15247627e-01 9.78375236e-03 3.60082656e+02] [-5.15211397e-01 8.57041332e-01 6.11327938e-03 -2.84884793e+02] [-1.15349328e-02 1.98291119e-04 -9.99933451e-01 -4.82729065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.406559995 meters 0.04683320519668185 Centerline is valid? [True, True] Translation: X:359.91, Y:-284.87, Z:-4.83 [[-8.19984726e-01 -5.72305650e-01 9.55468070e-03 3.59913440e+02] [-5.72263256e-01 8.20040353e-01 6.97026996e-03 -2.84874851e+02] [-1.18243486e-02 2.47722218e-04 -9.99930059e-01 -4.83024645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.4665599950001 meters 0.04865095511393433 Centerline is valid? [True, True] Translation: X:359.73, Y:-284.89, Z:-4.82 [[-7.75451778e-01 -6.31329867e-01 9.85593252e-03 3.59734510e+02] [-6.31274828e-01 7.75514370e-01 8.33982126e-03 -2.84894010e+02] [-1.29085956e-02 2.45327110e-04 -9.99916651e-01 -4.82420770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.526559995 meters 0.04755717820988731 Centerline is valid? [True, True] Translation: X:359.54, Y:-284.92, Z:-4.82 [[-7.21558897e-01 -6.92265796e-01 1.09921448e-02 3.59542399e+02] [-6.92182308e-01 7.21642603e-01 1.07520779e-02 -2.84919249e+02] [-1.53756957e-02 1.49689290e-04 -9.99881776e-01 -4.81930583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.586559995 meters 0.04686542753676836 Centerline is valid? [True, True] Translation: X:359.35, Y:-284.96, Z:-4.83 [[-6.64961232e-01 -7.46817726e-01 9.47858526e-03 3.59349498e+02] [-7.46740866e-01 6.65028782e-01 1.07143813e-02 -2.84962799e+02] [-1.43052219e-02 4.66011945e-05 -9.99897674e-01 -4.82679624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.646559995 meters 0.047008536784879575 Centerline is valid? [True, True] Translation: X:358.78, Y:-285.50, Z:-4.83 [[-6.07562660e-01 -7.94239271e-01 7.18300575e-03 3.58781215e+02] [-7.94183837e-01 6.07605119e-01 9.38361065e-03 -2.85503333e+02] [-1.18172631e-02 -3.49562343e-06 -9.99930174e-01 -4.82963124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.7065599950001 meters 0.04621186163546671 Centerline is valid? [True, True] Translation: X:358.66, Y:-285.53, Z:-4.83 [[-5.47646301e-01 -8.36697403e-01 4.58093251e-03 3.58656811e+02] [-8.36668167e-01 5.47665460e-01 6.99448570e-03 -2.85532942e+02] [-8.36108653e-03 -2.21617756e-06 -9.99965046e-01 -4.82993525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.766559995 meters 0.04660596210243102 Centerline is valid? [True, True] Translation: X:358.68, Y:-285.31, Z:-4.83 [[-4.84577395e-01 -8.74742333e-01 3.25564168e-03 3.58682657e+02] [-8.74722465e-01 4.84588332e-01 5.89555153e-03 -2.85314487e+02] [-6.73473446e-03 9.06809052e-06 -9.99977321e-01 -4.83267207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.826559995 meters 0.045924303607591734 Centerline is valid? [True, True] Translation: X:358.38, Y:-285.69, Z:-4.83 [[-4.21340823e-01 -9.06899536e-01 2.26760334e-03 3.58383590e+02] [-9.06886294e-01 4.21346925e-01 4.90086423e-03 -2.85693482e+02] [-5.40003919e-03 8.47578110e-06 -9.99985420e-01 -4.83412422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.886559995 meters 0.04646442922305564 Centerline is valid? [True, True] Translation: X:358.32, Y:-285.58, Z:-4.83 [[-3.52638281e-01 -9.35757810e-01 1.88796705e-03 3.58323866e+02] [-9.35744264e-01 3.52643335e-01 5.03501753e-03 -2.85582050e+02] [-5.37733597e-03 8.88558875e-06 -9.99985542e-01 -4.83378596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.9465599950001 meters 0.04649253591620867 Centerline is valid? [True, True] Translation: X:358.06, Y:-286.07, Z:-4.83 [[-2.85975360e-01 -9.58235214e-01 1.83507714e-03 3.58062563e+02] [-9.58215130e-01 2.85981248e-01 6.20412113e-03 -2.86065165e+02] [-6.46980500e-03 1.58270942e-05 -9.99979071e-01 -4.83339664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.006559995 meters 0.04609915703946807 Centerline is valid? [True, True] Translation: X:357.89, Y:-286.39, Z:-4.84 [[-2.17307255e-01 -9.76102166e-01 1.45575976e-03 3.57888649e+02] [-9.76079608e-01 2.17312130e-01 6.63602813e-03 -2.86389662e+02] [-6.79379568e-03 2.11196356e-05 -9.99976922e-01 -4.83680387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.066559995 meters 0.04631621023279112 Centerline is valid? [True, True] Translation: X:357.82, Y:-286.26, Z:-4.83 [[-1.44475823e-01 -9.89507898e-01 9.25540186e-04 3.57823742e+02] [-9.89486441e-01 1.44478785e-01 6.51647723e-03 -2.86255030e+02] [-6.58182661e-03 2.56639451e-05 -9.99978339e-01 -4.83476098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.126559995 meters 0.04639002063671115 Centerline is valid? [True, True] Translation: X:357.72, Y:-286.35, Z:-4.83 [[-7.33333300e-02 -9.97307422e-01 3.59812262e-04 3.57717499e+02] [-9.97293182e-01 7.33342057e-02 5.32953051e-03 -2.86354732e+02] [-5.34156688e-03 3.19939041e-05 -9.99985733e-01 -4.83429551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.186559995 meters 0.0466016482664905 Centerline is valid? [True, True] Translation: X:357.61, Y:-286.50, Z:-4.84 [[-3.28380606e-04 -9.99999946e-01 -3.09682281e-05 3.57609176e+02] [-9.99986742e-01 3.28217129e-04 5.13887501e-03 -2.86495311e+02] [-5.13886456e-03 3.26553244e-05 -9.99986795e-01 -4.83801993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.246559995 meters 0.04625514754603678 Centerline is valid? [True, True] Translation: X:357.53, Y:-286.88, Z:-4.84 [[ 7.27477101e-02 -9.97350262e-01 -4.76071813e-04 3.57529923e+02] [-9.97331782e-01 -7.27492603e-02 6.07143182e-03 -2.86876958e+02] [-6.08997799e-03 3.31187876e-05 -9.99981455e-01 -4.83531614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.306559995 meters 0.046225586601871614 Centerline is valid? [True, True] Translation: X:357.44, Y:-286.95, Z:-4.84 [[ 1.47470737e-01 -9.89065852e-01 -1.05944851e-03 3.57436758e+02] [-9.89041655e-01 -1.47474540e-01 6.91847291e-03 -2.86949784e+02] [-6.99906699e-03 2.75664124e-05 -9.99975506e-01 -4.83640795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.366559995 meters 0.04649734158906575 Centerline is valid? [True, True] Translation: X:357.45, Y:-287.53, Z:-4.84 [[ 2.19286827e-01 -9.75659372e-01 -1.44145036e-03 3.57448369e+02] [-9.75638754e-01 -2.19291564e-01 6.34284969e-03 -2.87531919e+02] [-6.50455865e-03 1.54314551e-05 -9.99978845e-01 -4.83674143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.426559995 meters 0.04547847731768012 Centerline is valid? [True, True] Translation: X:357.41, Y:-287.75, Z:-4.84 [[ 2.91819649e-01 -9.56471123e-01 -2.06946137e-03 3.57412521e+02] [-9.56447178e-01 -2.91826987e-01 6.76793563e-03 -2.87753865e+02] [-7.07725967e-03 4.31388976e-06 -9.99974956e-01 -4.83581815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.486559995 meters 0.04590304435159081 Centerline is valid? [True, True] Translation: X:357.40, Y:-288.00, Z:-4.84 [[ 3.62878259e-01 -9.31833595e-01 -2.34951997e-03 3.57404628e+02] [-9.31813910e-01 -3.62885865e-01 6.05685802e-03 -2.88004341e+02] [-6.49659137e-03 -8.58670697e-06 -9.99978897e-01 -4.83712581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.546559995 meters 0.04597573969836597 Centerline is valid? [True, True] Translation: X:357.40, Y:-288.23, Z:-4.84 [[ 4.31324720e-01 -9.02193406e-01 -2.45849697e-03 3.57399841e+02] [-9.02178546e-01 -4.31331727e-01 5.17806090e-03 -2.88225540e+02] [-5.73204015e-03 -1.54224478e-05 -9.99983572e-01 -4.83803161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.606559995 meters 0.04608520149781549 Centerline is valid? [True, True] Translation: X:357.60, Y:-288.79, Z:-4.84 [[ 4.97211145e-01 -8.67626202e-01 -2.41902940e-03 3.57598448e+02] [-8.67615688e-01 -4.97217029e-01 4.27141372e-03 -2.88785289e+02] [-4.90877308e-03 -2.50066535e-05 -9.99987952e-01 -4.83679022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.666559995 meters 0.04572943563288351 Centerline is valid? [True, True] Translation: X:357.71, Y:-289.11, Z:-4.84 [[ 5.59471333e-01 -8.28846411e-01 -2.33569282e-03 3.57712666e+02] [-8.28839020e-01 -5.59476208e-01 3.50025775e-03 -2.89110119e+02] [-4.20794063e-03 -2.23805239e-05 -9.99991146e-01 -4.83769245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.7265599950001 meters 0.04598737878894804 Centerline is valid? [True, True] Translation: X:357.35, Y:-288.74, Z:-4.84 [[ 6.15920492e-01 -7.87803891e-01 -2.64138635e-03 3.57350657e+02] [-7.87796629e-01 -6.15926156e-01 3.38258992e-03 -2.88736955e+02] [-4.29171644e-03 -2.53118145e-06 -9.99990791e-01 -4.83903126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.786559995 meters 0.04599236472446792 Centerline is valid? [True, True] Translation: X:357.81, Y:-289.40, Z:-4.84 [[ 6.67093289e-01 -7.44969121e-01 -2.74828258e-03 3.57807024e+02] [-7.44962912e-01 -6.67098950e-01 3.04155875e-03 -2.89401701e+02] [-4.09924377e-03 1.83651689e-05 -9.99991598e-01 -4.83950086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.846559995 meters 0.04619254877460051 Centerline is valid? [True, True] Translation: X:357.27, Y:-288.97, Z:-4.84 [[ 7.16786387e-01 -6.97285497e-01 -3.19566696e-03 3.57265548e+02] [-6.97278832e-01 -7.16793509e-01 3.04890429e-03 -2.88966084e+02] [-4.41659007e-03 4.28578348e-05 -9.99990246e-01 -4.84070768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.906559995 meters 0.046641866943508116 Centerline is valid? [True, True] Translation: X:357.22, Y:-289.08, Z:-4.84 [[ 7.67719145e-01 -6.40781173e-01 -2.60835254e-03 3.57218388e+02] [-6.40777651e-01 -7.67723575e-01 2.12481294e-03 -2.89076716e+02] [-3.36403387e-03 4.01144414e-05 -9.99994341e-01 -4.84040606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.9665599950001 meters 0.04696643535355731 Centerline is valid? [True, True] Translation: X:357.18, Y:-289.19, Z:-4.84 [[ 8.15537268e-01 -5.78700715e-01 -2.10865286e-03 3.57180760e+02] [-5.78698876e-01 -8.15539994e-01 1.45904975e-03 -2.89190195e+02] [-2.56404387e-03 3.03655915e-05 -9.99996712e-01 -4.84076978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.026559995 meters 0.047454838096660186 Centerline is valid? [True, True] Translation: X:357.18, Y:-289.26, Z:-4.84 [[ 8.59323058e-01 -5.11431417e-01 -1.33734825e-03 3.57180343e+02] [-5.11430825e-01 -8.59324098e-01 7.77957350e-04 -2.89261726e+02] [-1.54708741e-03 1.54444295e-05 -9.99998803e-01 -4.84191848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.086559995 meters 0.04610924492409013 Centerline is valid? [True, True] Translation: X:357.18, Y:-289.34, Z:-4.84 [[ 8.97222315e-01 -4.41578489e-01 -7.44986176e-04 3.57183737e+02] [-4.41578344e-01 -8.97222625e-01 3.58254094e-04 -2.89335443e+02] [-8.26615754e-04 7.53619465e-06 -9.99999658e-01 -4.84312473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.146559995 meters 0.04696062909463714 Centerline is valid? [True, True] Translation: X:357.18, Y:-289.44, Z:-4.84 [[ 9.28813947e-01 -3.70546378e-01 1.83470991e-04 3.57181257e+02] [-3.70546371e-01 -9.28813965e-01 -7.20754458e-05 -2.89438228e+02] [ 1.97117714e-04 -1.03983080e-06 -9.99999981e-01 -4.84449713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.2065599950001 meters 0.04658382383142042 Centerline is valid? [True, True] Translation: X:357.18, Y:-289.55, Z:-4.84 [[ 9.54722095e-01 -2.97498700e-01 4.94784340e-04 3.57181840e+02] [-2.97498662e-01 -9.54722223e-01 -1.49759417e-04 -2.89553216e+02] [ 5.16934837e-04 -4.21905477e-06 -9.99999866e-01 -4.84450856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.266559995 meters 0.04694022190141429 Centerline is valid? [True, True] Translation: X:357.20, Y:-289.64, Z:-4.84 [[ 9.74612721e-01 -2.23897373e-01 -1.00156110e-04 3.57198498e+02] [-2.23897372e-01 -9.74612726e-01 2.11061496e-05 -2.89641578e+02] [-1.02339031e-04 1.85436793e-06 -9.99999995e-01 -4.84343416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.326559995 meters 0.04720570989238481 Centerline is valid? [True, True] Translation: X:357.22, Y:-289.72, Z:-4.84 [[ 9.88869625e-01 -1.48784159e-01 3.73871452e-04 3.57222182e+02] [-1.48784150e-01 -9.88869695e-01 -5.18988812e-05 -2.89724294e+02] [ 3.77431880e-04 -4.30491904e-06 -9.99999929e-01 -4.84423577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.386559995 meters 0.04706807668600591 Centerline is valid? [True, True] Translation: X:357.25, Y:-289.83, Z:-4.85 [[ 9.97417611e-01 -7.18155073e-02 8.01706757e-04 3.57250514e+02] [-7.18154926e-02 -9.97417933e-01 -4.71361869e-05 -2.89828307e+02] [ 8.03021806e-04 -1.05605028e-05 -9.99999678e-01 -4.84507117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.4465599950001 meters 0.04728524475307799 Centerline is valid? [True, True] Translation: X:357.29, Y:-289.94, Z:-4.84 [[ 9.99958347e-01 9.11635977e-03 4.42131809e-04 3.57285453e+02] [ 9.11635697e-03 -9.99958445e-01 8.34512551e-06 -2.89943473e+02] [ 4.42189513e-04 -4.31414652e-06 -9.99999902e-01 -4.84467777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.506559995 meters 0.0467359985445891 Centerline is valid? [True, True] Translation: X:357.33, Y:-290.05, Z:-4.84 [[ 9.95816200e-01 9.13718298e-02 -1.13355990e-03 3.57326075e+02] [ 9.13717604e-02 -9.95816845e-01 -1.12945577e-04 -2.90051626e+02] [-1.13913808e-03 8.89767189e-06 -9.99999351e-01 -4.84315241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.566559995 meters 0.0464220322520921 Centerline is valid? [True, True] Translation: X:357.37, Y:-290.15, Z:-4.84 [[ 9.84701910e-01 1.74190465e-01 -4.45310481e-03 3.57373435e+02] [ 1.74188640e-01 -9.84711979e-01 -7.97427448e-04 -2.90149103e+02] [-4.52392991e-03 9.54805861e-06 -9.99989767e-01 -4.83900593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.626559995 meters 0.04662800327069404 Centerline is valid? [True, True] Translation: X:357.43, Y:-290.23, Z:-4.84 [[ 9.67992333e-01 2.50913572e-01 -5.76396555e-03 3.57426811e+02] [ 2.50909056e-01 -9.68009493e-01 -1.50544389e-03 -2.90234167e+02] [-5.95730967e-03 1.10269881e-05 -9.99982255e-01 -4.83801719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.686559995 meters 0.04708756391452751 Centerline is valid? [True, True] Translation: X:357.49, Y:-290.32, Z:-4.84 [[ 9.46457370e-01 3.22745295e-01 -7.34309400e-03 3.57487463e+02] [ 3.22735253e-01 -9.46485855e-01 -2.54625283e-03 -2.90315581e+02] [-7.77192572e-03 4.00444543e-05 -9.99969797e-01 -4.83832758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.746559995 meters 0.047522604670249144 Centerline is valid? [True, True] Translation: X:357.54, Y:-290.37, Z:-4.84 [[ 9.19310160e-01 3.93459580e-01 -7.64127587e-03 3.57544128e+02] [ 3.93445408e-01 -9.19341914e-01 -3.34006546e-03 -2.90371368e+02] [-8.33912593e-03 6.41312123e-05 -9.99965227e-01 -4.83626710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.806559995 meters 0.04800256234398619 Centerline is valid? [True, True] Translation: X:357.61, Y:-290.42, Z:-4.84 [[ 8.86202289e-01 4.63236584e-01 -7.57431691e-03 3.57607015e+02] [ 4.63218940e-01 -8.86234654e-01 -4.04377431e-03 -2.90422817e+02] [-8.58584632e-03 7.50349981e-05 -9.99963138e-01 -4.83893928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.866559995 meters 0.04718286554583548 Centerline is valid? [True, True] Translation: X:357.68, Y:-290.49, Z:-4.84 [[ 8.46354104e-01 5.32589345e-01 -5.77243159e-03 3.57683172e+02] [ 5.32576566e-01 -8.46373787e-01 -3.68967586e-03 -2.90487018e+02] [-6.85071683e-03 4.85105061e-05 -9.99976532e-01 -4.83863927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.926559995 meters 0.045644234019542526 Centerline is valid? [True, True] Translation: X:357.76, Y:-290.54, Z:-4.84 [[ 8.00790124e-01 5.98929130e-01 -4.36741181e-03 3.57757896e+02] [ 5.98920038e-01 -8.00802033e-01 -3.30013369e-03 -2.90537619e+02] [-5.47397846e-03 2.69840183e-05 -9.99985017e-01 -4.83774073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.986559995 meters 0.045956624758654356 Centerline is valid? [True, True] Translation: X:357.84, Y:-290.58, Z:-4.84 [[ 7.49635886e-01 6.61841051e-01 -3.53013817e-03 3.57836023e+02] [ 6.61833648e-01 -7.49644198e-01 -3.13025824e-03 -2.90579648e+02] [-4.71808100e-03 1.01896893e-05 -9.99988870e-01 -4.83755501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.046559995 meters 0.04511138277460996 Centerline is valid? [True, True] Translation: X:357.91, Y:-290.61, Z:-4.84 [[ 6.94656609e-01 7.19333156e-01 -3.46513907e-03 3.57911596e+02] [ 7.19324174e-01 -6.94665251e-01 -3.59472777e-03 -2.90611876e+02] [-4.99291858e-03 4.54310451e-06 -9.99987535e-01 -4.83760173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.106559995 meters 0.04630246219940158 Centerline is valid? [True, True] Translation: X:357.99, Y:-290.64, Z:-4.84 [[ 6.30897357e-01 7.75861547e-01 -2.71748416e-03 3.57987720e+02] [ 7.75854523e-01 -6.30903209e-01 -3.30138364e-03 -2.90636694e+02] [-4.27588609e-03 -2.55381633e-05 -9.99990858e-01 -4.83656098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.166559995 meters 0.04607875578601167 Centerline is valid? [True, True] Translation: X:358.07, Y:-290.66, Z:-4.84 [[ 5.66892026e-01 8.23787024e-01 -2.89314330e-03 3.58074419e+02] [ 8.23776642e-01 -5.66899407e-01 -4.13599243e-03 -2.90660160e+02] [-5.04729811e-03 -3.86427499e-05 -9.99987262e-01 -4.83762285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.2265599950001 meters 0.04577126318867393 Centerline is valid? [True, True] Translation: X:358.16, Y:-290.68, Z:-4.83 [[ 5.01992439e-01 8.64862473e-01 -4.06121661e-03 3.58161219e+02] [ 8.64834966e-01 -5.02008865e-01 -6.89794977e-03 -2.90678330e+02] [-8.00454464e-03 -4.95634995e-05 -9.99967962e-01 -4.83472010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.286559995 meters 0.046447408822838376 Centerline is valid? [True, True] Translation: X:358.24, Y:-290.68, Z:-4.84 [[ 4.37995690e-01 8.98971130e-01 -3.26851413e-03 3.58238153e+02] [ 8.98946152e-01 -4.38007886e-01 -6.70131965e-03 -2.90683085e+02] [-7.45592786e-03 -3.06907606e-06 -9.99972204e-01 -4.83544445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.346559995 meters 0.04638408892417896 Centerline is valid? [True, True] Translation: X:358.32, Y:-290.68, Z:-4.84 [[ 3.69512689e-01 9.29222992e-01 -2.23706479e-03 3.58316558e+02] [ 9.29205657e-01 -3.69519460e-01 -5.67589423e-03 -2.90682852e+02] [-6.10081039e-03 1.86216755e-05 -9.99981390e-01 -4.83573914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.406559995 meters 0.04607981238835553 Centerline is valid? [True, True] Translation: X:358.40, Y:-290.68, Z:-4.84 [[ 2.98011022e-01 9.54561304e-01 -1.46532534e-03 3.58399111e+02] [ 9.54549306e-01 -2.98014623e-01 -4.78612373e-03 -2.90677180e+02] [-5.00533688e-03 2.75923417e-05 -9.99987473e-01 -4.83572996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.4665599950001 meters 0.04756228856457037 Centerline is valid? [True, True] Translation: X:358.48, Y:-290.66, Z:-4.84 [[ 2.22409642e-01 9.74952551e-01 -1.21451255e-03 3.58477257e+02] [ 9.74937250e-01 -2.22412956e-01 -5.46223150e-03 -2.90664373e+02] [-5.59553986e-03 3.07794301e-05 -9.99984344e-01 -4.83586781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.526559995 meters 0.045918675502539336 Centerline is valid? [True, True] Translation: X:358.59, Y:-290.65, Z:-4.84 [[ 1.44152234e-01 9.89555141e-01 -8.69434836e-04 3.58594778e+02] [ 9.89536049e-01 -1.44154854e-01 -6.14707092e-03 -2.90652427e+02] [-6.20819888e-03 2.57768918e-05 -9.99980729e-01 -4.83782600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.586559995 meters 0.04620769399639423 Centerline is valid? [True, True] Translation: X:358.68, Y:-290.63, Z:-4.84 [[ 6.67460907e-02 9.97769895e-01 -4.43599936e-04 3.58675946e+02] [ 9.97744474e-01 -6.67475567e-02 -7.12243416e-03 -2.90627679e+02] [-7.13615960e-03 3.27952515e-05 -9.99974537e-01 -4.83572866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.646559995 meters 0.04718489583342679 Centerline is valid? [True, True] Translation: X:358.75, Y:-290.60, Z:-4.84 [[-9.61392287e-03 9.99953779e-01 1.09417102e-04 3.58754417e+02] [ 9.99930765e-01 9.61444396e-03 -6.78430485e-03 -2.90597022e+02] [-6.78504326e-03 4.41857434e-05 -9.99976980e-01 -4.83823882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.7065599950001 meters 0.04749617572457999 Centerline is valid? [True, True] Translation: X:358.84, Y:-290.56, Z:-4.84 [[-8.90029862e-02 9.96031178e-01 6.00982131e-04 3.58836742e+02] [ 9.96010976e-01 8.90050087e-02 -6.34388007e-03 -2.90559646e+02] [-6.37219276e-03 3.39605283e-05 -9.99979697e-01 -4.83523422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.766559995 meters 0.0468857198916225 Centerline is valid? [True, True] Translation: X:358.91, Y:-290.52, Z:-4.84 [[-1.68514737e-01 9.85698706e-01 9.18621797e-04 3.58913151e+02] [ 9.85684655e-01 1.68517240e-01 -5.26320548e-03 -2.90517206e+02] [-5.34273844e-03 1.85437212e-05 -9.99985727e-01 -4.83794008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.826559995 meters 0.04736962353839166 Centerline is valid? [True, True] Translation: X:358.97, Y:-290.47, Z:-4.84 [[-2.44879601e-01 9.69553058e-01 9.21048250e-04 3.58972926e+02] [ 9.69546414e-01 2.44881333e-01 -3.58955594e-03 -2.90470680e+02] [-3.70581247e-03 1.39899995e-05 -9.99993133e-01 -4.83601078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.886559995 meters 0.04674718508656607 Centerline is valid? [True, True] Translation: X:359.03, Y:-290.42, Z:-4.84 [[-3.19838111e-01 9.47470894e-01 1.57733307e-03 3.59025337e+02] [ 9.47459664e-01 3.19841999e-01 -4.61306699e-03 -2.90421774e+02] [-4.87524407e-03 1.90248337e-05 -9.99988116e-01 -4.83656473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.9465599950001 meters 0.04677213121053905 Centerline is valid? [True, True] Translation: X:359.10, Y:-290.36, Z:-4.84 [[-3.95035689e-01 9.18663508e-01 2.04048090e-03 3.59102415e+02] [ 9.18651364e-01 3.95040958e-01 -4.72367650e-03 -2.90356783e+02] [-5.14554276e-03 8.46976334e-06 -9.99986762e-01 -4.83620062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.006559995 meters 0.04686250977606884 Centerline is valid? [True, True] Translation: X:359.17, Y:-290.29, Z:-4.84 [[-4.70099193e-01 8.82610067e-01 2.49356472e-03 3.59174450e+02] [ 8.82597450e-01 4.70105806e-01 -4.71939979e-03 -2.90286277e+02] [-5.33762901e-03 -1.77721685e-05 -9.99985755e-01 -4.83643318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.066559995 meters 0.04637166277908588 Centerline is valid? [True, True] Translation: X:359.25, Y:-290.20, Z:-4.84 [[-5.38820902e-01 8.42415442e-01 2.87388431e-03 3.59250884e+02] [ 8.42403211e-01 5.38828565e-01 -4.53944915e-03 -2.90203483e+02] [-5.37263302e-03 -2.49807147e-05 -9.99985567e-01 -4.83656436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.126559995 meters 0.047399900722289834 Centerline is valid? [True, True] Translation: X:359.31, Y:-290.12, Z:-4.84 [[-5.99493289e-01 8.00376332e-01 2.35020197e-03 3.59314100e+02] [ 8.00370178e-01 5.99497896e-01 -3.13859619e-03 -2.90121139e+02] [-3.92099924e-03 -5.35780796e-07 -9.99992313e-01 -4.83640157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.186559995 meters 0.04669203783863524 Centerline is valid? [True, True] Translation: X:359.36, Y:-290.04, Z:-4.84 [[-6.58251330e-01 7.52793873e-01 2.56358400e-03 3.59361884e+02] [ 7.52788222e-01 6.58256322e-01 -2.91670871e-03 -2.90041423e+02] [-3.88317582e-03 9.90845667e-06 -9.99992460e-01 -4.83695631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.246559995 meters 0.04697388629655954 Centerline is valid? [True, True] Translation: X:359.39, Y:-289.97, Z:-4.84 [[-7.14951899e-01 6.99167833e-01 2.85003680e-03 3.59391577e+02] [ 6.99162340e-01 7.14957580e-01 -2.77151420e-03 -2.89968406e+02] [-3.97540899e-03 1.11390548e-05 -9.99992098e-01 -4.83524144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.306559995 meters 0.04676370724190248 Centerline is valid? [True, True] Translation: X:359.77, Y:-289.61, Z:-5.97 [[-6.67923362e-01 -7.44220600e-01 3.75245342e-03 3.59774254e+02] [ 7.44209595e-01 -6.67933897e-01 -4.04816385e-03 -2.89614620e+02] [ 5.51911777e-03 8.87486325e-05 9.99984766e-01 -5.97242641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.366559995 meters 0.04707507027363602 Centerline is valid? [True, True] Translation: X:359.74, Y:-289.57, Z:-5.97 [[-6.67227171e-01 -7.44838872e-01 4.79139940e-03 3.59735131e+02] [ 7.44819782e-01 -6.67244374e-01 -5.33264807e-03 -2.89573372e+02] [ 7.16899786e-03 1.06413737e-05 9.99974302e-01 -5.97379435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.426559995 meters 0.0476569988055178 Centerline is valid? [True, True] Translation: X:359.70, Y:-289.53, Z:-5.97 [[-6.66846280e-01 -7.45172269e-01 5.85904015e-03 3.59696804e+02] [ 7.45143753e-01 -6.66872018e-01 -6.51912547e-03 -2.89530027e+02] [ 8.76510145e-03 1.85726000e-05 9.99961586e-01 -5.97053389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.486559995 meters 0.04723065092848673 Centerline is valid? [True, True] Translation: X:359.66, Y:-289.49, Z:-5.97 [[-6.66330694e-01 -7.45628430e-01 6.45376775e-03 3.59656403e+02] [ 7.45593869e-01 -6.66361947e-01 -7.17907475e-03 -2.89488635e+02] [ 9.65346747e-03 2.82518055e-05 9.99953404e-01 -5.97246433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.546559995 meters 0.047684643949441115 Centerline is valid? [True, True] Translation: X:359.61, Y:-289.45, Z:-5.97 [[-6.66070624e-01 -7.45864237e-01 6.03857647e-03 3.59613921e+02] [ 7.45834002e-01 -6.66097996e-01 -6.71578074e-03 -2.89449370e+02] [ 9.03134436e-03 3.05913840e-05 9.99959216e-01 -5.97447013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.606559995 meters 0.04825341428662122 Centerline is valid? [True, True] Translation: X:359.58, Y:-289.41, Z:-5.97 [[-6.67155393e-01 -7.44892482e-01 6.23468911e-03 3.59577917e+02] [ 7.44860227e-01 -6.67184524e-01 -6.93198312e-03 -2.89407820e+02] [ 9.32327021e-03 1.92620248e-05 9.99956537e-01 -5.97314162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.666559995 meters 0.047270078987536594 Centerline is valid? [True, True] Translation: X:359.54, Y:-289.36, Z:-5.97 [[-6.68098248e-01 -7.44042107e-01 6.78772898e-03 3.59540382e+02] [ 7.44003845e-01 -6.68132728e-01 -7.54559998e-03 -2.89363548e+02] [ 1.01493480e-02 8.89433077e-06 9.99948494e-01 -5.97337738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.7265599950001 meters 0.04732681847286003 Centerline is valid? [True, True] Translation: X:359.50, Y:-289.32, Z:-5.97 [[-6.68239555e-01 -7.43906140e-01 7.71706379e-03 3.59502329e+02] [ 7.43856699e-01 -6.68284113e-01 -8.57648178e-03 -2.89318847e+02] [ 1.15372886e-02 9.24523304e-06 9.99933443e-01 -5.97168226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.786559995 meters 0.04747819195473226 Centerline is valid? [True, True] Translation: X:359.46, Y:-289.28, Z:-5.97 [[-6.68818298e-01 -7.43372621e-01 8.90117370e-03 3.59464647e+02] [ 7.43306815e-01 -6.68877527e-01 -9.89107792e-03 -2.89275609e+02] [ 1.33065516e-02 9.69179310e-07 9.99911464e-01 -5.97382859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.846559995 meters 0.047756082401774105 Centerline is valid? [True, True] Translation: X:359.43, Y:-289.23, Z:-5.97 [[-6.70234664e-01 -7.42100176e-01 8.53363827e-03 3.59426208e+02] [ 7.42039619e-01 -6.70288988e-01 -9.48033420e-03 -2.89232443e+02] [ 1.27553614e-02 -2.17509225e-05 9.99918647e-01 -5.97240818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.906559995 meters 0.04762799300351037 Centerline is valid? [True, True] Translation: X:359.39, Y:-289.19, Z:-5.97 [[-6.71686935e-01 -7.40795437e-01 7.66695794e-03 3.59388323e+02] [ 7.40746498e-01 -6.71730689e-01 -8.51510222e-03 -2.89189855e+02] [ 1.14580798e-02 -4.02106722e-05 9.99934353e-01 -5.97303372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.9665599950001 meters 0.04679973305605332 Centerline is valid? [True, True] Translation: X:359.35, Y:-289.15, Z:-5.97 [[-6.72006919e-01 -7.40510614e-01 7.12258456e-03 3.59350316e+02] [ 7.40468389e-01 -6.72044663e-01 -7.90801205e-03 -2.89148315e+02] [ 1.06426618e-02 -4.01901001e-05 9.99943365e-01 -5.97295350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.026559995 meters 0.04723772113638642 Centerline is valid? [True, True] Translation: X:359.31, Y:-289.11, Z:-5.97 [[-6.71678683e-01 -7.40802287e-01 7.72779402e-03 3.59311007e+02] [ 7.40752630e-01 -6.71723135e-01 -8.57737455e-03 -2.89106706e+02] [ 1.15450767e-02 -3.68558982e-05 9.99933353e-01 -5.97299917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.086559995 meters 0.04738246286908972 Centerline is valid? [True, True] Translation: X:359.27, Y:-289.06, Z:-5.97 [[-6.71561191e-01 -7.40906951e-01 7.90290681e-03 3.59272674e+02] [ 7.40855055e-01 -6.71607689e-01 -8.76924739e-03 -2.89064209e+02] [ 1.18048493e-02 -3.41777668e-05 9.99930320e-01 -5.97456767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.146559995 meters 0.0471517427057439 Centerline is valid? [True, True] Translation: X:359.24, Y:-289.02, Z:-5.97 [[-6.71136504e-01 -7.41294351e-01 7.64713770e-03 3.59236525e+02] [ 7.41245813e-01 -6.71180069e-01 -8.48288825e-03 -2.89020459e+02] [ 1.14209235e-02 -2.47671556e-05 9.99934779e-01 -5.97213174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.2065599950001 meters 0.04781623681836023 Centerline is valid? [True, True] Translation: X:359.20, Y:-288.98, Z:-5.97 [[-6.68653250e-01 -7.43546968e-01 6.38257498e-03 3.59196567e+02] [ 7.43513270e-01 -6.68683711e-01 -7.07895595e-03 -2.88978422e+02] [ 9.53146016e-03 1.21622961e-05 9.99954575e-01 -5.97229440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.266559995 meters 0.046892097212369734 Centerline is valid? [True, True] Translation: X:359.16, Y:-288.94, Z:-5.97 [[-6.66152732e-01 -7.45793152e-01 5.75427425e-03 3.59157379e+02] [ 7.45765862e-01 -6.66177584e-01 -6.38018664e-03 -2.88937628e+02] [ 8.59166802e-03 4.11625266e-05 9.99963090e-01 -5.97249299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.326559995 meters 0.04728726459857401 Centerline is valid? [True, True] Translation: X:359.12, Y:-288.90, Z:-5.97 [[-6.64662432e-01 -7.47127652e-01 4.91141562e-03 3.59117860e+02] [ 7.47107820e-01 -6.64680576e-01 -5.44395419e-03 -2.88895795e+02] [ 7.33185128e-03 5.09651831e-05 9.99973120e-01 -5.97180027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.386559995 meters 0.04754266403278389 Centerline is valid? [True, True] Translation: X:359.08, Y:-288.85, Z:-5.97 [[-6.66116392e-01 -7.45832902e-01 4.71526600e-03 3.59081694e+02] [ 7.45814600e-01 -6.66133080e-01 -5.22507725e-03 -2.88849738e+02] [ 7.03802919e-03 3.62046194e-05 9.99975232e-01 -5.97029701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.4465599950001 meters 0.046560029944635054 Centerline is valid? [True, True] Translation: X:359.04, Y:-288.81, Z:-5.97 [[-6.68325415e-01 -7.43859412e-01 3.78347152e-03 3.59044227e+02] [ 7.43847600e-01 -6.68336124e-01 -4.19203588e-03 -2.88805489e+02] [ 5.64691603e-03 1.26820904e-05 9.99984056e-01 -5.97127370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.506559995 meters 0.04728536178410065 Centerline is valid? [True, True] Translation: X:359.01, Y:-288.76, Z:-5.97 [[-6.68183746e-01 -7.43987744e-01 3.56632974e-03 3.59005317e+02] [ 7.43977257e-01 -6.68193263e-01 -3.95030836e-03 -2.88763795e+02] [ 5.32197851e-03 1.37363866e-05 9.99985838e-01 -5.97278168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.566559995 meters 0.047310952685138276 Centerline is valid? [True, True] Translation: X:358.96, Y:-288.72, Z:-5.97 [[-6.65382487e-01 -7.46487424e-01 4.76161997e-03 3.58964712e+02] [ 7.46468802e-01 -6.65399522e-01 -5.27285201e-03 -2.88722594e+02] [ 7.10449736e-03 4.59373739e-05 9.99974762e-01 -5.97378376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.626559995 meters 0.04718138308931181 Centerline is valid? [True, True] Translation: X:358.92, Y:-288.68, Z:-5.98 [[-6.63076813e-01 -7.48530066e-01 5.64630666e-03 3.58923054e+02] [ 7.48503969e-01 -6.63100847e-01 -6.25090888e-03 -2.88681777e+02] [ 8.42306397e-03 8.14502112e-05 9.99964522e-01 -5.97592240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.686559995 meters 0.04719170960601923 Centerline is valid? [True, True] Translation: X:358.88, Y:-288.64, Z:-5.98 [[-6.62700796e-01 -7.48848389e-01 7.33111988e-03 3.58884367e+02] [ 7.48804443e-01 -6.62741335e-01 -8.11347567e-03 -2.88640782e+02] [ 1.09343994e-02 1.12768360e-04 9.99940211e-01 -5.97770213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.746559995 meters 0.047366606294754594 Centerline is valid? [True, True] Translation: X:358.85, Y:-288.60, Z:-5.98 [[-6.67372125e-01 -7.44683336e-01 7.82153836e-03 3.58848303e+02] [ 7.44633053e-01 -6.67417955e-01 -8.65388778e-03 -2.88596586e+02] [ 1.16646412e-02 4.88125186e-05 9.99931965e-01 -5.98021735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.806559995 meters 0.04724848137346194 Centerline is valid? [True, True] Translation: X:358.81, Y:-288.55, Z:-5.98 [[-6.70249695e-01 -7.42091338e-01 8.11126411e-03 3.58814073e+02] [ 7.42037105e-01 -6.70298774e-01 -8.97152152e-03 -2.88551722e+02] [ 1.20946588e-02 5.69937809e-06 9.99926857e-01 -5.97507767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.866559995 meters 0.04709472141131189 Centerline is valid? [True, True] Translation: X:358.77, Y:-288.51, Z:-5.98 [[-6.69500688e-01 -7.42766402e-01 8.17929848e-03 3.58773567e+02] [ 7.42711331e-01 -6.69550649e-01 -9.04469104e-03 -2.88510043e+02] [ 1.21945472e-02 1.94307870e-05 9.99925644e-01 -5.97664121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.926559995 meters 0.047600417333897 Centerline is valid? [True, True] Translation: X:358.73, Y:-288.47, Z:-5.98 [[-6.65915512e-01 -7.45980109e-01 8.37908168e-03 3.58729622e+02] [ 7.45922593e-01 -6.65968221e-01 -9.26358787e-03 -2.88470674e+02] [ 1.24906544e-02 8.13794787e-05 9.99921985e-01 -5.97808781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.986559995 meters 0.04643121735391777 Centerline is valid? [True, True] Translation: X:358.69, Y:-288.43, Z:-5.98 [[-6.62504755e-01 -7.49013145e-01 8.17058715e-03 3.58687703e+02] [ 7.48958713e-01 -6.62555123e-01 -9.03081165e-03 -2.88429968e+02] [ 1.21776610e-02 1.36476768e-04 9.99925840e-01 -5.97724570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.046559995 meters 0.047231678522822375 Centerline is valid? [True, True] Translation: X:358.65, Y:-288.39, Z:-5.98 [[-6.61275917e-01 -7.50099078e-01 8.09530528e-03 3.58649081e+02] [ 7.50045750e-01 -6.61325448e-01 -8.94567998e-03 -2.88385686e+02] [ 1.20637777e-02 1.56286576e-04 9.99927218e-01 -5.97560975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.106559995 meters 0.04712092919849966 Centerline is valid? [True, True] Translation: X:358.61, Y:-288.34, Z:-5.98 [[-6.63515461e-01 -7.48118299e-01 8.13904253e-03 3.58610425e+02] [ 7.48064258e-01 -6.63565367e-01 -8.99272232e-03 -2.88341820e+02] [ 1.21284069e-02 1.21716512e-04 9.99926441e-01 -5.97782085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.166559995 meters 0.04725148383114623 Centerline is valid? [True, True] Translation: X:358.58, Y:-288.29, Z:-5.98 [[-6.68990744e-01 -7.43217719e-01 8.87731427e-03 3.58576722e+02] [ 7.43153028e-01 -6.69049641e-01 -9.80591494e-03 -2.88294092e+02] [ 1.32272937e-02 3.71366426e-05 9.99912515e-01 -5.97614351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.2265599950001 meters 0.04695151220325293 Centerline is valid? [True, True] Translation: X:358.54, Y:-288.25, Z:-5.98 [[-6.71062696e-01 -7.41352129e-01 8.47817240e-03 3.58539509e+02] [ 7.41292996e-01 -6.71116250e-01 -9.36333860e-03 -2.88250358e+02] [ 1.26313703e-02 1.42257778e-06 9.99920221e-01 -5.97673821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.286559995 meters 0.046488612615328814 Centerline is valid? [True, True] Translation: X:358.50, Y:-288.21, Z:-5.98 [[-6.70635696e-01 -7.41755335e-01 6.84011387e-03 3.58499803e+02] [ 7.41716886e-01 -6.70670577e-01 -7.55236522e-03 -2.88207746e+02] [ 1.01894703e-02 8.54225270e-06 9.99948086e-01 -5.97543492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.346559995 meters 0.04683949690635961 Centerline is valid? [True, True] Translation: X:358.46, Y:-288.17, Z:-5.97 [[-6.68662228e-01 -7.43536713e-01 6.63182729e-03 3.58459601e+02] [ 7.43500680e-01 -6.68695113e-01 -7.32016998e-03 -2.88167513e+02] [ 9.87748563e-03 3.60469334e-05 9.99951216e-01 -5.97398158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.406559995 meters 0.04686264388549883 Centerline is valid? [True, True] Translation: X:358.42, Y:-288.13, Z:-5.97 [[-6.67597645e-01 -7.44501103e-01 5.61180798e-03 3.58419774e+02] [ 7.44475349e-01 -6.67621229e-01 -6.19264435e-03 -2.88125286e+02] [ 8.35699269e-03 4.36579266e-05 9.99965079e-01 -5.97243614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.4665599950001 meters 0.04645139379356181 Centerline is valid? [True, True] Translation: X:358.38, Y:-288.08, Z:-5.97 [[-6.67074609e-01 -7.44979631e-01 4.10066379e-03 3.58381474e+02] [ 7.44965893e-01 -6.67087212e-01 -4.52432332e-03 -2.88081549e+02] [ 6.10602909e-03 3.67934540e-05 9.99981357e-01 -5.97333444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.526559995 meters 0.04680812836701513 Centerline is valid? [True, True] Translation: X:358.34, Y:-288.04, Z:-5.97 [[-6.67732525e-01 -7.44393226e-01 3.46407683e-03 3.58344395e+02] [ 7.44383420e-01 -6.67741510e-01 -3.82096577e-03 -2.88036506e+02] [ 5.15740893e-03 2.72182398e-05 9.99986700e-01 -5.97306924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.586559995 meters 0.04705310842413047 Centerline is valid? [True, True] Translation: X:358.31, Y:-287.99, Z:-5.97 [[-6.66049487e-01 -7.45900753e-01 3.18547199e-03 3.58305521e+02] [ 7.45892483e-01 -6.66057103e-01 -3.51266764e-03 -2.87993323e+02] [ 4.74180769e-03 3.64091285e-05 9.99988757e-01 -5.97241789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.646559995 meters 0.04700164776870396 Centerline is valid? [True, True] Translation: X:358.26, Y:-287.95, Z:-5.98 [[-6.65032514e-01 -7.46804471e-01 3.85195666e-03 3.58261910e+02] [ 7.46792399e-01 -6.65043667e-01 -4.24662111e-03 -2.87954658e+02] [ 5.73311502e-03 5.24708418e-05 9.99983564e-01 -5.97594796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.7065599950001 meters 0.047325044618516166 Centerline is valid? [True, True] Translation: X:358.22, Y:-287.91, Z:-5.97 [[-6.65448386e-01 -7.46428803e-01 4.74202845e-03 3.58223424e+02] [ 7.46410508e-01 -6.65465279e-01 -5.22650906e-03 -2.87911536e+02] [ 7.05687218e-03 6.15278421e-05 9.99975098e-01 -5.97453826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.766559995 meters 0.04722009673060757 Centerline is valid? [True, True] Translation: X:358.18, Y:-287.87, Z:-5.98 [[-6.69123314e-01 -7.43134247e-01 5.04792296e-03 3.58182137e+02] [ 7.43113425e-01 -6.69142354e-01 -5.56306172e-03 -2.87868911e+02] [ 7.51188073e-03 2.88050199e-05 9.99971785e-01 -5.97645687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.826559995 meters 0.047388736905612815 Centerline is valid? [True, True] Translation: X:358.14, Y:-287.83, Z:-5.98 [[-6.72464298e-01 -7.40112771e-01 4.98529727e-03 3.58143314e+02] [ 7.40092382e-01 -6.72482777e-01 -5.49362576e-03 -2.87825906e+02] [ 7.41842913e-03 -4.68665779e-06 9.99972483e-01 -5.97830124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.886559995 meters 0.04730190199257737 Centerline is valid? [True, True] Translation: X:358.10, Y:-287.79, Z:-5.98 [[-6.73699583e-01 -7.38993663e-01 4.15200909e-03 3.58100029e+02] [ 7.38979505e-01 -6.73712377e-01 -4.57439318e-03 -2.87785170e+02] [ 6.17770748e-03 -1.35171588e-05 9.99980918e-01 -5.98098451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.9465599950001 meters 0.04647879616565726 Centerline is valid? [True, True] Translation: X:358.06, Y:-287.74, Z:-5.98 [[-6.73395918e-01 -7.39266679e-01 4.76607229e-03 3.58057188e+02] [ 7.39248038e-01 -6.73412784e-01 -5.24985960e-03 -2.87744169e+02] [ 7.09058028e-03 -1.19244281e-05 9.99974862e-01 -5.98279488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.006559995 meters 0.04614736951305662 Centerline is valid? [True, True] Translation: X:358.02, Y:-287.70, Z:-5.98 [[-6.73182661e-01 -7.39458147e-01 5.17247569e-03 3.58017841e+02] [ 7.39436200e-01 -6.73202532e-01 -5.69707091e-03 -2.87702149e+02] [ 7.69486923e-03 -1.04535887e-05 9.99970394e-01 -5.98483844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.066559995 meters 0.04617857772405487 Centerline is valid? [True, True] Translation: X:357.98, Y:-287.66, Z:-5.99 [[-6.72928041e-01 -7.39681439e-01 6.26268269e-03 3.57979827e+02] [ 7.39649289e-01 -6.72957182e-01 -6.89639579e-03 -2.87658727e+02] [ 9.31565326e-03 -8.58930490e-06 9.99956608e-01 -5.98732264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.126559995 meters 0.04499535037966322 Centerline is valid? [True, True] Translation: X:357.94, Y:-287.61, Z:-5.99 [[-6.72355149e-01 -7.40200092e-01 6.50979579e-03 3.57941997e+02] [ 7.40165396e-01 -6.72386663e-01 -7.16677108e-03 -2.87614826e+02] [ 9.68194448e-03 -2.89858977e-07 9.99953129e-01 -5.98893589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.186559995 meters 0.046252907496780724 Centerline is valid? [True, True] Translation: X:357.90, Y:-287.57, Z:-5.99 [[-6.71586846e-01 -7.40884588e-01 7.81895719e-03 3.57903190e+02] [ 7.40834601e-01 -6.71632360e-01 -8.60623617e-03 -2.87571585e+02] [ 1.16276924e-02 1.27190231e-05 9.99932396e-01 -5.99295876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.246559995 meters 0.04683698382721381 Centerline is valid? [True, True] Translation: X:357.86, Y:-287.53, Z:-5.99 [[-6.69511665e-01 -7.42755176e-01 8.29931441e-03 3.57864560e+02] [ 7.42699026e-01 -6.69563100e-01 -9.13294362e-03 -2.87528513e+02] [ 1.23404558e-02 4.92804445e-05 9.99923853e-01 -5.99321190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.306559995 meters 0.04588747855302191 Centerline is valid? [True, True] Translation: X:357.83, Y:-287.49, Z:-5.99 [[-6.66502075e-01 -7.45467300e-01 7.31360693e-03 3.57826228e+02] [ 7.45423872e-01 -6.66542195e-01 -8.04702293e-03 -2.87485280e+02] [ 1.08736201e-02 8.83797067e-05 9.99940877e-01 -5.99275706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.366559995 meters 0.04560606109048132 Centerline is valid? [True, True] Translation: X:357.79, Y:-287.44, Z:-5.99 [[-6.64642417e-01 -7.47141974e-01 5.41549467e-03 3.57785213e+02] [ 7.47118231e-01 -6.64664474e-01 -5.95703188e-03 -2.87444722e+02] [ 8.05023548e-03 8.67187265e-05 9.99967593e-01 -5.99351874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.426559995 meters 0.045344982225557065 Centerline is valid? [True, True] Translation: X:357.75, Y:-287.40, Z:-5.99 [[-6.62388594e-01 -7.49155278e-01 2.77836853e-03 3.57745705e+02] [ 7.49149050e-01 -6.62394418e-01 -3.05547264e-03 -2.87402415e+02] [ 4.12939926e-03 5.75019180e-05 9.99991472e-01 -5.99269748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.486559995 meters 0.04444771252107915 Centerline is valid? [True, True] Translation: X:357.71, Y:-287.36, Z:-5.99 [[-6.62075023e-01 -7.49434235e-01 2.23414035e-03 3.57708778e+02] [ 7.49430211e-01 -6.62078791e-01 -2.45634140e-03 -2.87358041e+02] [ 3.32004328e-03 4.80499897e-05 9.99994488e-01 -5.99339937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.546559995 meters 0.04480000529793325 Centerline is valid? [True, True] Translation: X:357.67, Y:-287.31, Z:-5.99 [[-6.64810190e-01 -7.47007321e-01 2.73372826e-03 3.57673256e+02] [ 7.47001278e-01 -6.64815809e-01 -3.00518371e-03 -2.87310999e+02] [ 4.06232000e-03 4.42217463e-05 9.99991748e-01 -5.99460418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.606559995 meters 0.044781980316977124 Centerline is valid? [True, True] Translation: X:357.64, Y:-287.26, Z:-5.99 [[-6.68881476e-01 -7.43361490e-01 3.35657577e-03 3.57640952e+02] [ 7.43352336e-01 -6.68889898e-01 -3.68915754e-03 -2.87263201e+02] [ 4.98755726e-03 2.75093010e-05 9.99987562e-01 -5.99420405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.666559995 meters 0.044547510456584276 Centerline is valid? [True, True] Translation: X:357.61, Y:-287.22, Z:-6.00 [[-6.70803497e-01 -7.41625081e-01 3.86101761e-03 3.57605992e+02] [ 7.41612947e-01 -6.70814608e-01 -4.24235709e-03 -2.87219326e+02] [ 5.73626544e-03 1.75926795e-05 9.99983547e-01 -5.99511091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.7265599950001 meters 0.04393564656331935 Centerline is valid? [True, True] Translation: X:357.57, Y:-287.18, Z:-5.99 [[-6.71432234e-01 -7.41061458e-01 2.58284025e-03 3.57569581e+02] [ 7.41056027e-01 -6.71437202e-01 -2.83702030e-03 -2.87176878e+02] [ 3.83662143e-03 9.16245334e-06 9.99992640e-01 -5.99332830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.786559995 meters 0.04570536235265054 Centerline is valid? [True, True] Translation: X:357.53, Y:-287.14, Z:-5.99 [[-6.71261629e-01 -7.41219844e-01 9.84488734e-04 3.57526142e+02] [ 7.41219055e-01 -6.71262351e-01 -1.08113680e-03 -2.87136415e+02] [ 1.46221027e-03 3.99616022e-06 9.99998931e-01 -5.99356388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.846559995 meters 0.044378387497722965 Centerline is valid? [True, True] Translation: X:357.49, Y:-287.09, Z:-5.99 [[-6.71606915e-01 -7.40907653e-01 -4.80677225e-05 3.57487596e+02] [ 7.40907651e-01 -6.71606917e-01 5.27719505e-05 -2.87094211e+02] [-7.13817568e-05 -1.71736470e-07 9.99999998e-01 -5.99266874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.906559995 meters 0.045629941000226534 Centerline is valid? [True, True] Translation: X:357.45, Y:-287.05, Z:-5.99 [[-6.73367510e-01 -7.39307727e-01 -5.31258950e-04 3.57449049e+02] [ 7.39307497e-01 -6.73367719e-01 5.83098905e-04 -2.87050284e+02] [-7.88822153e-04 -1.23867394e-07 9.99999689e-01 -5.99173405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.9665599950001 meters 0.04456392526590958 Centerline is valid? [True, True] Translation: X:357.41, Y:-287.01, Z:-5.99 [[-6.74665172e-01 -7.38123527e-01 -7.51426354e-04 3.57411297e+02] [ 7.38123066e-01 -6.74665591e-01 8.24490533e-04 -2.87008076e+02] [-1.11553736e-03 1.60992310e-06 9.99999378e-01 -5.99135489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.026559995 meters 0.044891583172544054 Centerline is valid? [True, True] Translation: X:357.37, Y:-286.97, Z:-5.99 [[-6.76562203e-01 -7.36385419e-01 3.15596547e-04 3.57369644e+02] [ 7.36385338e-01 -6.76562277e-01 -3.46203875e-04 -2.86966447e+02] [ 4.68460204e-04 -1.82778707e-06 9.99999890e-01 -5.99289462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.086559995 meters 0.044557494115466 Centerline is valid? [True, True] Translation: X:357.33, Y:-286.92, Z:-5.99 [[-6.78891284e-01 -7.34227838e-01 4.01334559e-03 3.57332033e+02] [ 7.34214645e-01 -6.78903145e-01 -4.40165199e-03 -2.86922513e+02] [ 5.95648837e-03 -4.15860588e-05 9.99982259e-01 -5.99470606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.146559995 meters 0.044485282708276515 Centerline is valid? [True, True] Translation: X:357.29, Y:-286.88, Z:-6.00 [[-6.80856591e-01 -7.32395188e-01 5.62067196e-03 3.57294900e+02] [ 7.32369262e-01 -6.80879786e-01 -6.16284657e-03 -2.86878990e+02] [ 8.34064109e-03 -7.96073268e-05 9.99965213e-01 -5.99753474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.2065599950001 meters 0.045015051847376676 Centerline is valid? [True, True] Translation: X:357.25, Y:-286.84, Z:-6.00 [[-6.81541208e-01 -7.31736122e-01 7.98930031e-03 3.57254114e+02] [ 7.31683725e-01 -6.81588023e-01 -8.75750884e-03 -2.86838427e+02] [ 1.18535970e-02 -1.22962141e-04 9.99929736e-01 -5.99665019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.266559995 meters 0.044844092305625936 Centerline is valid? [True, True] Translation: X:357.21, Y:-286.80, Z:-6.00 [[-6.79541960e-01 -7.33596625e-01 7.66271785e-03 3.57212753e+02] [ 7.33548566e-01 -6.79585157e-01 -8.39735936e-03 -2.86798444e+02] [ 1.13677438e-02 -8.53823435e-05 9.99935382e-01 -5.99842225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.326559995 meters 0.04530658692192137 Centerline is valid? [True, True] Translation: X:357.17, Y:-286.76, Z:-6.00 [[-6.78110323e-01 -7.34925391e-01 7.14560172e-03 3.57171831e+02] [ 7.34883698e-01 -6.78147968e-01 -7.82846661e-03 -2.86758316e+02] [ 1.05991142e-02 -5.73778077e-05 9.99943826e-01 -5.99759577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.386559995 meters 0.04570641063200888 Centerline is valid? [True, True] Translation: X:357.14, Y:-286.72, Z:-6.00 [[-6.77449780e-01 -7.35537195e-01 6.84334070e-03 3.57135057e+02] [ 7.35499008e-01 -6.77484342e-01 -7.49507444e-03 -2.86716101e+02] [ 1.01491622e-02 -4.42662372e-05 9.99948495e-01 -5.99679692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.4465599950001 meters 0.04533633578027755 Centerline is valid? [True, True] Translation: X:357.10, Y:-286.67, Z:-6.00 [[-6.77877873e-01 -7.35132396e-01 7.87079956e-03 3.57100589e+02] [ 7.35081883e-01 -6.77923563e-01 -8.61788051e-03 -2.86670114e+02] [ 1.16710836e-02 -5.61883472e-05 9.99931889e-01 -5.99671677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.506559995 meters 0.045603807891527355 Centerline is valid? [True, True] Translation: X:357.06, Y:-286.63, Z:-6.00 [[-6.77698862e-01 -7.35286304e-01 8.84895436e-03 3.57063564e+02] [ 7.35222502e-01 -6.77756629e-01 -9.68633278e-03 -2.86625572e+02] [ 1.31196653e-02 -5.84663402e-05 9.99913932e-01 -5.99724986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.566559995 meters 0.04551312740539485 Centerline is valid? [True, True] Translation: X:357.02, Y:-286.58, Z:-6.00 [[-6.75460729e-01 -7.37349731e-01 8.25700265e-03 3.57024600e+02] [ 7.37294368e-01 -6.75511195e-01 -9.03554411e-03 -2.86584990e+02] [ 1.22400537e-02 -1.53136595e-05 9.99925088e-01 -5.99745078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.626559995 meters 0.04557668312038892 Centerline is valid? [True, True] Translation: X:356.98, Y:-286.55, Z:-5.99 [[-6.73231691e-01 -7.39398712e-01 6.97390862e-03 3.56982499e+02] [ 7.39359351e-01 -6.73267811e-01 -7.62921840e-03 -2.86546120e+02] [ 1.03363424e-02 1.99929520e-05 9.99946578e-01 -5.99340366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.686559995 meters 0.045451584128218286 Centerline is valid? [True, True] Translation: X:356.94, Y:-286.51, Z:-5.99 [[-6.73014805e-01 -7.39601710e-01 6.35470812e-03 3.56944083e+02] [ 7.39569059e-01 -6.73044805e-01 -6.94957980e-03 -2.86505540e+02] [ 9.41692440e-03 2.25754067e-05 9.99955660e-01 -5.99140768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.746559995 meters 0.04535387522757278 Centerline is valid? [True, True] Translation: X:356.91, Y:-286.46, Z:-5.99 [[-6.73546071e-01 -7.39119216e-01 6.20288143e-03 3.56907495e+02] [ 7.39088103e-01 -6.73574632e-01 -6.78168309e-03 -2.86461007e+02] [ 9.19057586e-03 1.66998689e-05 9.99957766e-01 -5.98941295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.806559995 meters 0.045380212923214674 Centerline is valid? [True, True] Translation: X:356.87, Y:-286.42, Z:-5.99 [[-6.73598102e-01 -7.39064119e-01 7.05869857e-03 3.56870010e+02] [ 7.39023847e-01 -6.73635085e-01 -7.71531603e-03 -2.86417101e+02] [ 1.04571003e-02 1.95243352e-05 9.99945323e-01 -5.98924814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.866559995 meters 0.04520668882316641 Centerline is valid? [True, True] Translation: X:356.83, Y:-286.38, Z:-5.99 [[-6.73559737e-01 -7.39095037e-01 7.47040067e-03 3.56831301e+02] [ 7.39049960e-01 -6.73601162e-01 -8.16277200e-03 -2.86376532e+02] [ 1.10651348e-02 2.28847575e-05 9.99938779e-01 -5.99007774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.926559995 meters 0.04553490977544027 Centerline is valid? [True, True] Translation: X:356.79, Y:-286.33, Z:-5.99 [[-6.73430390e-01 -7.39213298e-01 7.43033066e-03 3.56794841e+02] [ 7.39168735e-01 -6.73471380e-01 -8.11676184e-03 -2.86332977e+02] [ 1.10041333e-02 2.61940244e-05 9.99939452e-01 -5.99051933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.986559995 meters 0.04567981758606351 Centerline is valid? [True, True] Translation: X:356.76, Y:-286.29, Z:-5.99 [[-6.74177904e-01 -7.38537267e-01 6.84539089e-03 3.56759919e+02] [ 7.38499435e-01 -6.74212656e-01 -7.47525040e-03 -2.86289791e+02] [ 1.01360002e-02 1.56686543e-05 9.99948629e-01 -5.98983585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.046559995 meters 0.04601515586216656 Centerline is valid? [True, True] Translation: X:356.73, Y:-286.24, Z:-5.99 [[-6.77152271e-01 -7.35807245e-01 7.24568160e-03 3.56725725e+02] [ 7.35764727e-01 -6.77191035e-01 -7.91002062e-03 -2.86243782e+02] [ 1.07269611e-02 -2.51714866e-05 9.99942464e-01 -5.98651757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.106559995 meters 0.04655620118700851 Centerline is valid? [True, True] Translation: X:356.69, Y:-286.20, Z:-5.99 [[-6.81414446e-01 -7.31865581e-01 6.86475201e-03 3.56687086e+02] [ 7.31827235e-01 -6.81449019e-01 -7.49220698e-03 -2.86200217e+02] [ 1.01612669e-02 -8.14855855e-05 9.99948370e-01 -5.98616986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.166559995 meters 0.04710588224497053 Centerline is valid? [True, True] Translation: X:356.65, Y:-286.16, Z:-5.98 [[-6.88103585e-01 -7.25583290e-01 6.50736349e-03 3.56645513e+02] [ 7.25548565e-01 -6.88134335e-01 -7.10052046e-03 -2.86158562e+02] [ 9.62995924e-03 -1.64485342e-04 9.99953617e-01 -5.98073048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.2265599950001 meters 0.04759183524383685 Centerline is valid? [True, True] Translation: X:356.60, Y:-286.12, Z:-5.98 [[-6.91293555e-01 -7.22556414e-01 5.04475560e-03 3.56604928e+02] [ 7.22535466e-01 -6.91311943e-01 -5.50433987e-03 -2.86116374e+02] [ 7.46469587e-03 -1.60099837e-04 9.99972126e-01 -5.97953080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.286559995 meters 0.04692541698161899 Centerline is valid? [True, True] Translation: X:356.56, Y:-286.07, Z:-5.98 [[-6.91028425e-01 -7.22815476e-01 4.18374962e-03 3.56561543e+02] [ 7.22801072e-01 -6.91041078e-01 -4.56489499e-03 -2.86073993e+02] [ 6.19071958e-03 -1.30453484e-04 9.99980829e-01 -5.97916103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.346559995 meters 0.047971282292031105 Centerline is valid? [True, True] Translation: X:356.53, Y:-286.03, Z:-5.98 [[-6.90040606e-01 -7.23764108e-01 3.07865967e-03 3.56525365e+02] [ 7.23756320e-01 -6.90047467e-01 -3.35887095e-03 -2.86028801e+02] [ 4.55545154e-03 -8.95579502e-05 9.99989620e-01 -5.98034253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.406559995 meters 0.04775727018965817 Centerline is valid? [True, True] Translation: X:356.48, Y:-285.99, Z:-5.98 [[-6.89550891e-01 -7.24228573e-01 3.54143885e-03 3.56479503e+02] [ 7.24218278e-01 -6.89559979e-01 -3.86298703e-03 -2.85990939e+02] [ 5.23972008e-03 -9.89514036e-05 9.99986268e-01 -5.97788707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.4665599950001 meters 0.04740275458644858 Centerline is valid? [True, True] Translation: X:356.44, Y:-285.95, Z:-5.98 [[-6.89523028e-01 -7.24251530e-01 4.20891405e-03 3.56438251e+02] [ 7.24236990e-01 -6.89535864e-01 -4.59070775e-03 -2.85950305e+02] [ 6.22702430e-03 -1.17147468e-04 9.99980605e-01 -5.97850221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.526559995 meters 0.048050293085484516 Centerline is valid? [True, True] Translation: X:356.39, Y:-285.91, Z:-5.98 [[-6.89732752e-01 -7.24047174e-01 4.94179701e-03 3.56394111e+02] [ 7.24027133e-01 -6.89750441e-01 -5.38887285e-03 -2.85910671e+02] [ 7.31040482e-03 -1.38886980e-04 9.99973269e-01 -5.97616897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.586559995 meters 0.04856962607232376 Centerline is valid? [True, True] Translation: X:356.35, Y:-285.87, Z:-5.97 [[-6.90209609e-01 -7.23596241e-01 4.37890542e-03 3.56351513e+02] [ 7.23580504e-01 -6.90223488e-01 -4.77397964e-03 -2.85869817e+02] [ 6.47685710e-03 -1.26556027e-04 9.99979017e-01 -5.97456546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.646559995 meters 0.04840210333432116 Centerline is valid? [True, True] Translation: X:356.31, Y:-285.83, Z:-5.97 [[-6.90683161e-01 -7.23148711e-01 3.56548277e-03 3.56307158e+02] [ 7.23138277e-01 -6.90692356e-01 -3.88616610e-03 -2.85833018e+02] [ 5.27292770e-03 -1.05772426e-04 9.99986092e-01 -5.97465500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.7065599950001 meters 0.049050039627470614 Centerline is valid? [True, True] Translation: X:356.26, Y:-285.80, Z:-5.97 [[-6.90751046e-01 -7.23084992e-01 3.32979691e-03 3.56260166e+02] [ 7.23075895e-01 -6.90759064e-01 -3.62835229e-03 -2.85797111e+02] [ 4.92369449e-03 -9.85922540e-05 9.99987874e-01 -5.97322742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.766559995 meters 0.0497656894043282 Centerline is valid? [True, True] Translation: X:356.21, Y:-285.76, Z:-5.97 [[-6.89985790e-01 -7.23811879e-01 3.99671861e-03 3.56211208e+02] [ 7.23798791e-01 -6.89997357e-01 -4.35415425e-03 -2.85761612e+02] [ 5.90931385e-03 -1.11484461e-04 9.99982534e-01 -5.97282999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.826559995 meters 0.050025745977799185 Centerline is valid? [True, True] Translation: X:356.17, Y:-285.72, Z:-5.97 [[-6.89901362e-01 -7.23895272e-01 3.42723299e-03 3.56169778e+02] [ 7.23885653e-01 -6.89909868e-01 -3.73297477e-03 -2.85722382e+02] [ 5.06676465e-03 -9.44595825e-05 9.99987159e-01 -5.97246374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.886559995 meters 0.05044834722993708 Centerline is valid? [True, True] Translation: X:356.12, Y:-285.69, Z:-5.97 [[-6.90899662e-01 -7.22946819e-01 2.35668539e-03 3.56116303e+02] [ 7.22942267e-01 -6.90903678e-01 -2.56633302e-03 -2.85692939e+02] [ 3.48356490e-03 -6.93311387e-05 9.99993930e-01 -5.96875760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.9465599950001 meters 0.05143540739472197 Centerline is valid? [True, True] Translation: X:356.06, Y:-285.66, Z:-5.97 [[-6.92591849e-01 -7.21327132e-01 1.92367973e-03 3.56064138e+02] [ 7.21324093e-01 -6.92594517e-01 -2.09474184e-03 -2.85660562e+02] [ 2.84332416e-03 -6.32045873e-05 9.99995956e-01 -5.96650109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.006559995 meters 0.05249087156891288 Centerline is valid? [True, True] Translation: X:356.01, Y:-285.63, Z:-5.97 [[-6.95850580e-01 -7.18185485e-01 1.25657335e-03 3.56014396e+02] [ 7.18184184e-01 -6.95851713e-01 -1.36810451e-03 -2.85626187e+02] [ 1.85694152e-03 -4.95452087e-05 9.99998275e-01 -5.96574390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.066559995 meters 0.05231846189896198 Centerline is valid? [True, True] Translation: X:355.97, Y:-285.59, Z:-5.97 [[-6.98060771e-01 -7.16038202e-01 6.74079833e-04 3.55968868e+02] [ 7.16037826e-01 -6.98061095e-01 -7.33855744e-04 -2.85589055e+02] [ 9.96017654e-04 -2.96092478e-05 9.99999504e-01 -5.96608823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.126559995 meters 0.05326490583555242 Centerline is valid? [True, True] Translation: X:355.92, Y:-285.56, Z:-5.97 [[-6.99619176e-01 -7.14515772e-01 -4.69810363e-04 3.55917099e+02] [ 7.14515589e-01 -6.99619333e-01 5.11406797e-04 -2.85558213e+02] [-6.94096635e-04 2.21031731e-05 9.99999759e-01 -5.96535617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.186559995 meters 0.05368137963161218 Centerline is valid? [True, True] Translation: X:355.87, Y:-285.52, Z:-5.96 [[-6.98975311e-01 -7.15145063e-01 -1.02638476e-03 3.55867719e+02] [ 7.15144192e-01 -6.98976063e-01 1.11703918e-03 -2.85523469e+02] [-1.51626344e-03 4.67697051e-05 9.99998849e-01 -5.96482164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.246559995 meters 0.053861127301093555 Centerline is valid? [True, True] Translation: X:355.81, Y:-285.50, Z:-5.97 [[-6.96399386e-01 -7.17651147e-01 -2.17397207e-03 3.55811367e+02] [ 7.17647254e-01 -6.96402774e-01 2.36541523e-03 -2.85495816e+02] [-3.21150313e-03 8.71286325e-05 9.99994839e-01 -5.96523352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.306559995 meters 0.05435878210055009 Centerline is valid? [True, True] Translation: X:355.75, Y:-285.47, Z:-5.97 [[-6.94222996e-01 -7.19756859e-01 -2.12027260e-03 3.55751920e+02] [ 7.19753167e-01 -6.94226230e-01 2.30650288e-03 -2.85471444e+02] [-3.13207013e-03 7.51544201e-05 9.99995092e-01 -5.96689048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.366559995 meters 0.054161381113200055 Centerline is valid? [True, True] Translation: X:355.70, Y:-285.44, Z:-5.97 [[-6.95636613e-01 -7.18393294e-01 -8.81740795e-04 3.55700299e+02] [ 7.18392655e-01 -6.95637171e-01 9.59006324e-04 -2.85439829e+02] [-1.30231538e-03 3.36838008e-05 9.99999151e-01 -5.96766574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.426559995 meters 0.05471776047657918 Centerline is valid? [True, True] Translation: X:355.65, Y:-285.41, Z:-5.97 [[-6.98520736e-01 -7.15587383e-01 1.86507738e-03 3.55646182e+02] [ 7.15584513e-01 -6.98523221e-01 -2.02846353e-03 -2.85409058e+02] [ 2.75434276e-03 -8.23033461e-05 9.99996203e-01 -5.96936750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.486559995 meters 0.05480898821268414 Centerline is valid? [True, True] Translation: X:355.59, Y:-285.38, Z:-5.97 [[-7.04452609e-01 -7.09736311e-01 4.57071287e-03 3.55594225e+02] [ 7.09718951e-01 -7.04467389e-01 -4.97072698e-03 -2.85376916e+02] [ 6.74782359e-03 -2.57720047e-04 9.99977200e-01 -5.97107188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.546559995 meters 0.05511379284059979 Centerline is valid? [True, True] Translation: X:355.54, Y:-285.35, Z:-5.97 [[-7.06482345e-01 -7.07702387e-01 6.32677423e-03 3.55535594e+02] [ 7.07669057e-01 -7.06510570e-01 -6.87896788e-03 -2.85349640e+02] [ 9.33819485e-03 -3.82607007e-04 9.99956325e-01 -5.97259832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.606559995 meters 0.05485420980965532 Centerline is valid? [True, True] Translation: X:355.47, Y:-285.33, Z:-5.97 [[-7.02165703e-01 -7.11979976e-01 6.91661106e-03 3.55473314e+02] [ 7.11940352e-01 -7.02199678e-01 -7.51979061e-03 -2.85327664e+02] [ 1.02107824e-02 -3.55924548e-04 9.99947805e-01 -5.97290002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.666559995 meters 0.055170166943812673 Centerline is valid? [True, True] Translation: X:355.42, Y:-285.30, Z:-5.97 [[-6.97990356e-01 -7.16071706e-01 7.12560171e-03 3.55417782e+02] [ 7.16029866e-01 -6.98026660e-01 -7.74673862e-03 -2.85296803e+02] [ 1.05210803e-02 -3.05005209e-04 9.99944605e-01 -5.97189339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.7265599950001 meters 0.05499925172459528 Centerline is valid? [True, True] Translation: X:355.36, Y:-285.27, Z:-5.97 [[-6.93041990e-01 -7.20855536e-01 7.75219488e-03 3.55359439e+02] [ 7.20806312e-01 -6.93085300e-01 -8.42780568e-03 -2.85269334e+02] [ 1.14481627e-02 -2.52992219e-04 9.99934436e-01 -5.97050257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.786559995 meters 0.055510607377999135 Centerline is valid? [True, True] Translation: X:355.31, Y:-285.23, Z:-5.97 [[-6.92031039e-01 -7.21824067e-01 7.94094903e-03 3.55311874e+02] [ 7.21772458e-01 -6.92076555e-01 -8.63486260e-03 -2.85228653e+02] [ 1.17285963e-02 -2.44034631e-04 9.99931188e-01 -5.97011995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.846559995 meters 0.0550743985620114 Centerline is valid? [True, True] Translation: X:355.26, Y:-285.19, Z:-5.97 [[-6.91146636e-01 -7.22676698e-01 7.39712794e-03 3.55261490e+02] [ 7.22631947e-01 -6.91186186e-01 -8.04524513e-03 -2.85191151e+02] [ 1.09269038e-02 -2.15043142e-04 9.99940277e-01 -5.97092786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.906559995 meters 0.05414658469248111 Centerline is valid? [True, True] Translation: X:355.20, Y:-285.16, Z:-5.97 [[-6.92771064e-01 -7.21142535e-01 4.65806085e-03 3.55202766e+02] [ 7.21124752e-01 -6.92786707e-01 -5.06659746e-03 -2.85160161e+02] [ 6.88078158e-03 -1.50949134e-04 9.99976316e-01 -5.96694311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.9665599950001 meters 0.05349561195260197 Centerline is valid? [True, True] Translation: X:355.15, Y:-285.13, Z:-5.97 [[-6.96462874e-01 -7.17589092e-01 2.31513396e-03 3.55149271e+02] [ 7.17584679e-01 -6.96466716e-01 -2.51818373e-03 -2.85127754e+02] [ 3.41943492e-03 -9.25168187e-05 9.99994149e-01 -5.96605735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.026559995 meters 0.05331451305555532 Centerline is valid? [True, True] Translation: X:355.10, Y:-285.09, Z:-5.97 [[-6.97913514e-01 -7.16181373e-01 9.84309485e-04 3.55095954e+02] [ 7.16180574e-01 -6.97914207e-01 -1.07070843e-03 -2.85092934e+02] [ 1.45378500e-03 -4.23185473e-05 9.99998942e-01 -5.96660943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.086559995 meters 0.05310868587850013 Centerline is valid? [True, True] Translation: X:355.05, Y:-285.06, Z:-5.97 [[-6.96625854e-01 -7.17433773e-01 1.09579135e-03 3.55046651e+02] [ 7.17432784e-01 -6.96626715e-01 -1.19201515e-03 -2.85055339e+02] [ 1.61854945e-03 -4.42319379e-05 9.99998689e-01 -5.96627062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.146559995 meters 0.05289376257988631 Centerline is valid? [True, True] Translation: X:354.99, Y:-285.02, Z:-5.97 [[-6.93364621e-01 -7.20584901e-01 1.70370134e-03 3.54992788e+02] [ 7.20582520e-01 -6.93366712e-01 -1.85330597e-03 -2.85022821e+02] [ 2.51675409e-03 -5.73593903e-05 9.99996831e-01 -5.96632165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.2065599950001 meters 0.05260385838820298 Centerline is valid? [True, True] Translation: X:354.94, Y:-284.99, Z:-5.97 [[-6.92107938e-01 -7.21793575e-01 7.98457119e-04 3.54941099e+02] [ 7.21793053e-01 -6.92108398e-01 -8.68599990e-04 -2.84987395e+02] [ 1.17956877e-03 -2.48441467e-05 9.99999304e-01 -5.96590127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.266559995 meters 0.05220457511443856 Centerline is valid? [True, True] Translation: X:354.89, Y:-284.95, Z:-5.97 [[-6.92722640e-01 -7.21202969e-01 -1.27382482e-03 3.54886290e+02] [ 7.21201638e-01 -6.92723810e-01 1.38606207e-03 -2.84953745e+02] [-1.88204086e-03 4.14720266e-05 9.99998228e-01 -5.96516904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.326559995 meters 0.052494615676688505 Centerline is valid? [True, True] Translation: X:354.84, Y:-284.92, Z:-5.96 [[-6.93340662e-01 -7.20608638e-01 -1.38504494e-03 3.54837530e+02] [ 7.20607063e-01 -6.93342043e-01 1.50713322e-03 -2.84916108e+02] [-2.04636310e-03 4.68835757e-05 9.99997905e-01 -5.96459765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.386559995 meters 0.05181829782779643 Centerline is valid? [True, True] Translation: X:354.78, Y:-284.89, Z:-5.97 [[-6.91654057e-01 -7.22219613e-01 -3.67369075e-03 3.54780128e+02] [ 7.22208558e-01 -6.91663804e-01 3.99763403e-03 -2.84885481e+02] [-5.42812862e-03 1.11808893e-04 9.99985261e-01 -5.96624708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.4465599950001 meters 0.05167949828914943 Centerline is valid? [True, True] Translation: X:354.73, Y:-284.85, Z:-5.97 [[-6.91617995e-01 -7.22254151e-01 -3.67283489e-03 3.54727998e+02] [ 7.22243097e-01 -6.91627738e-01 3.99759746e-03 -2.84849638e+02] [-5.42751585e-03 1.12130692e-04 9.99985265e-01 -5.96608959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.506559995 meters 0.050958549528293935 Centerline is valid? [True, True] Translation: X:354.68, Y:-284.81, Z:-5.97 [[-6.92899682e-01 -7.21022762e-01 -4.02590254e-03 3.54675016e+02] [ 7.21009454e-01 -6.92911364e-01 4.38283172e-03 -2.84813249e+02] [-5.94971505e-03 1.34148910e-04 9.99982291e-01 -5.96655262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.566559995 meters 0.05085055089355626 Centerline is valid? [True, True] Translation: X:354.62, Y:-284.78, Z:-5.97 [[-6.96353220e-01 -7.17677320e-01 -5.60861257e-03 3.54616618e+02] [ 7.17651370e-01 -6.96375769e-01 6.10724801e-03 -2.84781593e+02] [-8.28873528e-03 2.27773326e-04 9.99965622e-01 -5.96729548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.626559995 meters 0.05008041683635179 Centerline is valid? [True, True] Translation: X:354.56, Y:-284.75, Z:-5.97 [[-7.00431915e-01 -7.13678822e-01 -7.59425801e-03 3.54560439e+02] [ 7.13630985e-01 -7.00472983e-01 8.27148219e-03 -2.84746930e+02] [-1.12227542e-02 3.74112285e-04 9.99936953e-01 -5.96926483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.686559995 meters 0.04943168337690281 Centerline is valid? [True, True] Translation: X:354.51, Y:-284.71, Z:-5.97 [[-7.02847159e-01 -7.11281594e-01 -9.18507808e-03 3.54507928e+02] [ 7.11211372e-01 -7.02906995e-01 1.00070042e-02 -2.84707959e+02] [-1.35740535e-02 5.00862487e-04 9.99907743e-01 -5.97003832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.746559995 meters 0.04797943149243688 Centerline is valid? [True, True] Translation: X:354.45, Y:-284.68, Z:-5.97 [[-7.06322997e-01 -7.07833685e-01 -8.90497037e-03 3.54450784e+02] [ 7.07767379e-01 -7.06378914e-01 9.70400323e-03 -2.84675889e+02] [-1.31591037e-02 5.51513111e-04 9.99913263e-01 -5.96769221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.806559995 meters 0.04813195743579637 Centerline is valid? [True, True] Translation: X:354.40, Y:-284.63, Z:-5.97 [[-7.00462616e-01 -7.13656315e-01 -6.84010188e-03 3.54403001e+02] [ 7.13617454e-01 -7.00495930e-01 7.45533073e-03 -2.84633032e+02] [-1.01120074e-02 3.40964377e-04 9.99948814e-01 -5.97255547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.866559995 meters 0.048154699224716414 Centerline is valid? [True, True] Translation: X:354.36, Y:-284.59, Z:-5.97 [[-6.96682857e-01 -7.17367650e-01 -4.08051602e-03 3.54362513e+02] [ 7.17353878e-01 -6.96694786e-01 4.44852212e-03 -2.84586270e+02] [-6.03410009e-03 1.72035108e-04 9.99981780e-01 -5.97290150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.926559995 meters 0.04778105409080654 Centerline is valid? [True, True] Translation: X:354.33, Y:-284.54, Z:-5.97 [[-6.98397278e-01 -7.15706811e-01 -2.23659358e-03 3.54326810e+02] [ 7.15702665e-01 -6.98400852e-01 2.43826453e-03 -2.84538296e+02] [-3.30712139e-03 1.02141324e-04 9.99994526e-01 -5.97228784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.986559995 meters 0.049085617056471 Centerline is valid? [True, True] Translation: X:354.28, Y:-284.50, Z:-5.98 [[-7.05151417e-01 -7.09055101e-01 -1.53060311e-03 3.54279449e+02] [ 7.09053143e-01 -7.05153072e-01 1.66865069e-03 -2.84498608e+02] [-2.26247477e-03 9.13724484e-05 9.99997436e-01 -5.97597943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.046559995 meters 0.04840402595905457 Centerline is valid? [True, True] Translation: X:354.25, Y:-284.44, Z:-5.98 [[-7.05589334e-01 -7.08619913e-01 -1.22930886e-03 3.54247454e+02] [ 7.08618649e-01 -7.05590401e-01 1.34049292e-03 -2.84443605e+02] [-1.81728850e-03 7.47263200e-05 9.99998346e-01 -5.97815799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.106559995 meters 0.04885311353517971 Centerline is valid? [True, True] Translation: X:354.20, Y:-284.40, Z:-5.98 [[-7.03883246e-01 -7.10314910e-01 -1.05053498e-03 3.54199845e+02] [ 7.10313989e-01 -7.03884028e-01 1.14557249e-03 -2.84404433e+02] [-1.55317202e-03 6.01395904e-05 9.99998792e-01 -5.97735456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.166559995 meters 0.048544598910049294 Centerline is valid? [True, True] Translation: X:354.16, Y:-284.36, Z:-5.98 [[-7.02523330e-01 -7.11654125e-01 -3.06221070e-03 3.54163621e+02] [ 7.11646310e-01 -7.02529984e-01 3.33934798e-03 -2.84355917e+02] [-4.52775560e-03 1.66758913e-04 9.99989736e-01 -5.97595738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.2265599950001 meters 0.048934238387980465 Centerline is valid? [True, True] Translation: X:354.12, Y:-284.32, Z:-5.98 [[-7.00890128e-01 -7.13239049e-01 -6.56411798e-03 3.54118243e+02] [ 7.13203211e-01 -7.00920785e-01 7.15771375e-03 -2.84318639e+02] [-9.70608768e-03 3.35220887e-04 9.99952839e-01 -5.97635329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.286559995 meters 0.04931271417856811 Centerline is valid? [True, True] Translation: X:354.07, Y:-284.27, Z:-5.98 [[-6.97735896e-01 -7.16286585e-01 -9.90697013e-03 3.54074837e+02] [ 7.16205210e-01 -6.97806084e-01 1.08058107e-02 -2.84272534e+02] [-1.46532013e-02 4.44178404e-04 9.99892537e-01 -5.97705867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.346559995 meters 0.04982759767569985 Centerline is valid? [True, True] Translation: X:354.03, Y:-284.23, Z:-5.98 [[-6.97280749e-01 -7.16718218e-01 -1.07029186e-02 3.54033178e+02] [ 7.16623249e-01 -6.97362727e-01 1.16767223e-02 -2.84226236e+02] [-1.58327361e-02 4.71993327e-04 9.99874543e-01 -5.98037770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.406559995 meters 0.04934925291500284 Centerline is valid? [True, True] Translation: X:354.00, Y:-284.18, Z:-5.98 [[-6.98634041e-01 -7.15380955e-01 -1.18560151e-02 3.53996658e+02] [ 7.15264209e-01 -6.98734412e-01 1.29357079e-02 -2.84175195e+02] [-1.75381648e-02 5.57142664e-04 9.99846039e-01 -5.97679342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.4665599950001 meters 0.049131733319781344 Centerline is valid? [True, True] Translation: X:353.96, Y:-284.13, Z:-5.97 [[-7.00670158e-01 -7.13369055e-01 -1.28810044e-02 3.53958254e+02] [ 7.13230906e-01 -7.00788239e-01 1.40541811e-02 -2.84128662e+02] [-1.90526743e-02 6.60214905e-04 9.99818263e-01 -5.97422044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.526559995 meters 0.0491993379667388 Centerline is valid? [True, True] Translation: X:353.92, Y:-284.08, Z:-5.98 [[-7.01865035e-01 -7.12203613e-01 -1.23080084e-02 3.53917173e+02] [ 7.12077286e-01 -7.01972632e-01 1.34299032e-02 -2.84082493e+02] [-1.82047106e-02 6.61726233e-04 9.99834062e-01 -5.97517810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.586559995 meters 0.04968148168418262 Centerline is valid? [True, True] Translation: X:353.88, Y:-284.04, Z:-5.98 [[-7.03114993e-01 -7.10975502e-01 -1.19641745e-02 3.53878803e+02] [ 7.10855975e-01 -7.03216454e-01 1.30538013e-02 -2.84038954e+02] [-1.76943373e-02 6.73518544e-04 9.99843216e-01 -5.97788156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.646559995 meters 0.049950042498538086 Centerline is valid? [True, True] Translation: X:353.84, Y:-284.00, Z:-5.98 [[-7.03119204e-01 -7.10968811e-01 -1.21134295e-02 3.53835323e+02] [ 7.10846252e-01 -7.03223210e-01 1.32182864e-02 -2.83996007e+02] [-1.79162341e-02 6.83245074e-04 9.99839258e-01 -5.97916369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.7065599950001 meters 0.05259651878128863 Centerline is valid? [True, True] Translation: X:353.78, Y:-283.96, Z:-5.99 [[-7.03178145e-01 -7.10903750e-01 -1.25042180e-02 3.53781888e+02] [ 7.10773115e-01 -7.03288957e-01 1.36462951e-02 -2.83961769e+02] [-1.84952808e-02 7.08114519e-04 9.99828697e-01 -5.98711457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.766559995 meters 0.05023464983617063 Centerline is valid? [True, True] Translation: X:353.75, Y:-283.90, Z:-5.98 [[-7.05055331e-01 -7.09018597e-01 -1.37698416e-02 3.53752279e+02] [ 7.08859794e-01 -7.05189287e-01 1.50287075e-02 -2.83904769e+02] [-2.03659779e-02 8.35183271e-04 9.99792243e-01 -5.97945496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.826559995 meters 0.04927545189288545 Centerline is valid? [True, True] Translation: X:353.72, Y:-283.85, Z:-5.98 [[-7.07232085e-01 -7.06809823e-01 -1.55773237e-02 3.53716726e+02] [ 7.06606033e-01 -7.07402884e-01 1.70021999e-02 -2.83854126e+02] [-2.30367656e-02 1.01747036e-03 9.99734101e-01 -5.97623348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.886559995 meters 0.05044096579023475 Centerline is valid? [True, True] Translation: X:353.68, Y:-283.81, Z:-5.98 [[-7.09190336e-01 -7.04860648e-01 -1.48503929e-02 3.53675141e+02] [ 7.04675016e-01 -7.09345054e-01 1.62085173e-02 -2.83812505e+02] [-2.19587988e-02 1.03022293e-03 9.99758346e-01 -5.97688240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.9465599950001 meters 0.05093347254636188 Centerline is valid? [True, True] Translation: X:353.63, Y:-283.77, Z:-5.98 [[-7.08328062e-01 -7.05743670e-01 -1.40438069e-02 3.53629931e+02] [ 7.05577835e-01 -7.08466635e-01 1.53279322e-02 -2.83773404e+02] [-2.07671598e-02 9.48205692e-04 9.99783890e-01 -5.98138766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.006559995 meters 0.054037368666666016 Centerline is valid? [True, True] Translation: X:353.58, Y:-283.74, Z:-5.99 [[-7.09570726e-01 -7.04506684e-01 -1.34058584e-02 3.53577232e+02] [ 7.04355299e-01 -7.09696728e-01 1.46344161e-02 -2.83738589e+02] [-1.98241378e-02 9.41665858e-04 9.99803039e-01 -5.98802596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.066559995 meters 0.0561080524589539 Centerline is valid? [True, True] Translation: X:353.53, Y:-283.70, Z:-5.99 [[-7.15461916e-01 -6.98558779e-01 -1.13964487e-02 3.53528937e+02] [ 6.98448566e-01 -7.15552054e-01 1.24442446e-02 -2.83695579e+02] [-1.68477885e-02 9.43549841e-04 9.99857621e-01 -5.99013720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.126559995 meters 0.05306730064498959 Centerline is valid? [True, True] Translation: X:353.50, Y:-283.64, Z:-5.99 [[-7.21501809e-01 -6.92358248e-01 -8.67150222e-03 3.53497369e+02] [ 6.92293970e-01 -7.21553440e-01 9.47061664e-03 -2.83639519e+02] [-1.28140118e-02 8.29838344e-04 9.99917553e-01 -5.98741604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.186559995 meters 0.050770152463885256 Centerline is valid? [True, True] Translation: X:353.48, Y:-283.57, Z:-5.99 [[-7.28574064e-01 -6.84925792e-01 -7.51615736e-03 3.53478740e+02] [ 6.84877108e-01 -7.28612356e-01 8.20863018e-03 -2.83574956e+02] [-1.10986676e-02 8.32950935e-04 9.99938061e-01 -5.98527677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.246559995 meters 0.0505947882022952 Centerline is valid? [True, True] Translation: X:353.43, Y:-283.54, Z:-5.99 [[-7.33070668e-01 -6.80119923e-01 -6.65476661e-03 3.53429107e+02] [ 6.80081564e-01 -7.33100435e-01 7.26762559e-03 -2.83538521e+02] [-9.82146925e-03 8.01899061e-04 9.99951447e-01 -5.98801248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.306559995 meters 0.05130631108819657 Centerline is valid? [True, True] Translation: X:353.40, Y:-283.49, Z:-5.99 [[-7.30926765e-01 -6.82442955e-01 -4.20450714e-03 3.53399286e+02] [ 6.82427683e-01 -7.30938695e-01 4.59144142e-03 -2.83485948e+02] [-6.20663381e-03 4.86735357e-04 9.99980620e-01 -5.99005597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.366559995 meters 0.05063805418470563 Centerline is valid? [True, True] Translation: X:353.35, Y:-283.45, Z:-5.99 [[-7.28138695e-01 -6.85416509e-01 -4.27195833e-03 3.53354807e+02] [ 6.85400796e-01 -7.28151076e-01 4.66469896e-03 -2.83446165e+02] [-6.30789273e-03 4.68544175e-04 9.99979995e-01 -5.99205236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.426559995 meters 0.05583279387147989 Centerline is valid? [True, True] Translation: X:353.29, Y:-283.43, Z:-5.99 [[-7.19919046e-01 -6.94046699e-01 -3.96833377e-03 3.53287700e+02] [ 6.94033269e-01 -7.19929890e-01 4.33303475e-03 -2.83427368e+02] [-5.86425055e-03 3.65278583e-04 9.99982738e-01 -5.99438487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.486559995 meters 0.05392947724521915 Centerline is valid? [True, True] Translation: X:353.25, Y:-283.38, Z:-5.99 [[-7.12751498e-01 -7.01397561e-01 -5.17330645e-03 3.53249176e+02] [ 7.01374920e-01 -7.12770161e-01 5.64970461e-03 -2.83377786e+02] [-7.65006750e-03 3.98408031e-04 9.99970658e-01 -5.99299766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.546559995 meters 0.05354870636163852 Centerline is valid? [True, True] Translation: X:353.21, Y:-283.33, Z:-5.99 [[-7.10604098e-01 -7.03567840e-01 -5.84037504e-03 3.53209773e+02] [ 7.03539045e-01 -7.10627972e-01 6.37949585e-03 -2.83329726e+02] [-8.63874198e-03 4.24364022e-04 9.99962595e-01 -5.99287349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.606559995 meters 0.05271574494552026 Centerline is valid? [True, True] Translation: X:353.17, Y:-283.28, Z:-5.99 [[-7.04425715e-01 -7.09753292e-01 -5.88871875e-03 3.53170883e+02] [ 7.09724225e-01 -7.04450240e-01 6.43303797e-03 -2.83280979e+02] [-8.71417921e-03 3.52231019e-04 9.99961969e-01 -5.99488059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.666559995 meters 0.05268259978405246 Centerline is valid? [True, True] Translation: X:353.13, Y:-283.23, Z:-5.99 [[-6.99780678e-01 -7.14341074e-01 -4.88184521e-03 3.53130270e+02] [ 7.14321204e-01 -6.99797664e-01 5.33359307e-03 -2.83233883e+02] [-7.22630847e-03 2.45139824e-04 9.99973860e-01 -5.99495213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.7265599950001 meters 0.05216432909690947 Centerline is valid? [True, True] Translation: X:353.09, Y:-283.19, Z:-5.99 [[-6.96954679e-01 -7.17102371e-01 -4.28546044e-03 3.53090558e+02] [ 7.17087106e-01 -6.96967828e-01 4.68280419e-03 -2.83187184e+02] [-6.34487804e-03 1.90653864e-04 9.99979853e-01 -5.99316776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.786559995 meters 0.05266323921322069 Centerline is valid? [True, True] Translation: X:353.05, Y:-283.14, Z:-5.99 [[-6.96452264e-01 -7.17590666e-01 -4.22859019e-03 3.53046620e+02] [ 7.17575807e-01 -6.96465076e-01 4.62153247e-03 -2.83143318e+02] [-6.26143395e-03 1.84342727e-04 9.99980380e-01 -5.99211237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.846559995 meters 0.051820469266165126 Centerline is valid? [True, True] Translation: X:353.00, Y:-283.10, Z:-5.99 [[-6.97245949e-01 -7.16808309e-01 -5.82545016e-03 3.53004030e+02] [ 7.16780079e-01 -6.97270234e-01 6.36705951e-03 -2.83098695e+02] [-8.62587415e-03 2.63839822e-04 9.99962762e-01 -5.99194414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.906559995 meters 0.052745405227598734 Centerline is valid? [True, True] Translation: X:352.96, Y:-283.06, Z:-5.99 [[-6.98235526e-01 -7.15845572e-01 -5.68040300e-03 3.52959899e+02] [ 7.15818695e-01 -6.98258580e-01 6.20893186e-03 -2.83056583e+02] [-8.41102651e-03 2.69158139e-04 9.99964591e-01 -5.99334402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.9665599950001 meters 0.05199242874893626 Centerline is valid? [True, True] Translation: X:352.92, Y:-283.01, Z:-5.99 [[-6.97903427e-01 -7.16154253e-01 -7.34114622e-03 3.52916921e+02] [ 7.16109364e-01 -6.97941951e-01 8.02569815e-03 -2.83011163e+02] [-1.08713318e-02 3.44098692e-04 9.99940846e-01 -5.99378403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.026559995 meters 0.05255611609292419 Centerline is valid? [True, True] Translation: X:352.87, Y:-282.97, Z:-5.99 [[-6.99872623e-01 -7.14205165e-01 -9.44951057e-03 3.52874218e+02] [ 7.14130606e-01 -6.99936247e-01 1.03309202e-02 -2.82967237e+02] [-1.39924515e-02 4.82143503e-04 9.99901985e-01 -5.99311536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.086559995 meters 0.051486652576386016 Centerline is valid? [True, True] Translation: X:352.83, Y:-282.92, Z:-5.99 [[-7.00805003e-01 -7.13252477e-01 -1.19687592e-02 3.52832439e+02] [ 7.13132716e-01 -7.00906913e-01 1.30854398e-02 -2.82922864e+02] [-1.77222085e-02 6.35027903e-04 9.99842748e-01 -5.99123893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.146559995 meters 0.05085390283604693 Centerline is valid? [True, True] Translation: X:352.79, Y:-282.88, Z:-5.99 [[-7.01199360e-01 -7.12846063e-01 -1.30364092e-02 3.52790643e+02] [ 7.12703903e-01 -7.01320181e-01 1.42530818e-02 -2.82878205e+02] [-1.93029501e-02 7.03152116e-04 9.99813433e-01 -5.99038317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.2065599950001 meters 0.051089387764647075 Centerline is valid? [True, True] Translation: X:352.75, Y:-282.83, Z:-5.99 [[-6.99103738e-01 -7.14888499e-01 -1.37257896e-02 3.52752493e+02] [ 7.14731289e-01 -6.99238135e-01 1.50071616e-02 -2.82830180e+02] [-2.03260428e-02 6.81311461e-04 9.99793173e-01 -5.99357080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.266559995 meters 0.05069106510869747 Centerline is valid? [True, True] Translation: X:352.71, Y:-282.78, Z:-6.00 [[-6.94170156e-01 -7.19705409e-01 -1.23255278e-02 3.52711862e+02] [ 7.19579390e-01 -6.94279402e-01 1.34764099e-02 -2.82784385e+02] [-1.82564052e-02 4.85725738e-04 9.99833220e-01 -5.99516119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.326559995 meters 0.05200855109337895 Centerline is valid? [True, True] Translation: X:352.67, Y:-282.74, Z:-6.00 [[-6.93402014e-01 -7.20474592e-01 -1.04885614e-02 3.52671062e+02] [ 7.20383422e-01 -6.93481223e-01 1.14681965e-02 -2.82738281e+02] [-1.55361646e-02 3.96284759e-04 9.99879228e-01 -5.99614060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.386559995 meters 0.05082711543215233 Centerline is valid? [True, True] Translation: X:352.63, Y:-282.69, Z:-6.00 [[-6.91484959e-01 -7.22327016e-01 -9.60381583e-03 3.52632198e+02] [ 7.22250752e-01 -6.91551572e-01 1.05011736e-02 -2.82690703e+02] [-1.42268154e-02 3.25040420e-04 9.99898741e-01 -5.99573431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.4465599950001 meters 0.05153455495616642 Centerline is valid? [True, True] Translation: X:352.59, Y:-282.64, Z:-6.00 [[-6.90927291e-01 -7.22862785e-01 -9.42718843e-03 3.52591407e+02] [ 7.22789341e-01 -6.90991533e-01 1.03087313e-02 -2.82643168e+02] [-1.39659056e-02 3.08712518e-04 9.99902424e-01 -5.99736745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.506559995 meters 0.052458513747830636 Centerline is valid? [True, True] Translation: X:352.55, Y:-282.60, Z:-6.00 [[-6.91179622e-01 -7.22632591e-01 -8.53630199e-03 3.52549677e+02] [ 7.22572333e-01 -6.91232275e-01 9.33628262e-03 -2.82597000e+02] [-1.26472695e-02 2.84952651e-04 9.99919980e-01 -5.99831955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.566559995 meters 0.05136620566489184 Centerline is valid? [True, True] Translation: X:352.51, Y:-282.55, Z:-6.00 [[-6.87753131e-01 -7.25901372e-01 -7.92650020e-03 3.52507190e+02] [ 7.25849630e-01 -6.87798775e-01 8.66952155e-03 -2.82552702e+02] [-1.17450547e-02 2.09043352e-04 9.99931003e-01 -5.99864042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.626559995 meters 0.05141640385919864 Centerline is valid? [True, True] Translation: X:352.47, Y:-282.51, Z:-6.00 [[-6.86469228e-01 -7.27111726e-01 -8.27869243e-03 3.52465289e+02] [ 7.27055351e-01 -6.86519117e-01 9.05642078e-03 -2.82506676e+02] [-1.22685104e-02 1.97886553e-04 9.99924719e-01 -5.99891342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.686559995 meters 0.050483345887163314 Centerline is valid? [True, True] Translation: X:352.42, Y:-282.46, Z:-6.00 [[-6.87126404e-01 -7.26488921e-01 -8.43515248e-03 3.52423616e+02] [ 7.26430326e-01 -6.87178144e-01 9.22930406e-03 -2.82459961e+02] [-1.25014396e-02 2.14147947e-04 9.99921831e-01 -5.99769392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.746559995 meters 0.049891899106993556 Centerline is valid? [True, True] Translation: X:352.38, Y:-282.41, Z:-6.00 [[-6.89580241e-01 -7.24146130e-01 -9.56421327e-03 3.52383630e+02] [ 7.24070569e-01 -6.89646502e-01 1.04648609e-02 -2.82414062e+02] [-1.41740148e-02 2.91195982e-04 9.99899501e-01 -5.99618196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.806559995 meters 0.05002430708195487 Centerline is valid? [True, True] Translation: X:352.34, Y:-282.37, Z:-6.00 [[-6.90361938e-01 -7.23383383e-01 -1.08109149e-02 3.52342212e+02] [ 7.23286728e-01 -6.90446494e-01 1.18299675e-02 -2.82369152e+02] [-1.60219601e-02 3.47568028e-04 9.99871580e-01 -5.99572083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.866559995 meters 0.05002748317717379 Centerline is valid? [True, True] Translation: X:352.30, Y:-282.32, Z:-6.00 [[-6.88226064e-01 -7.25383709e-01 -1.27812390e-02 3.52299238e+02] [ 7.25248903e-01 -6.88344642e-01 1.39886320e-02 -2.82324468e+02] [-1.89450231e-02 3.57761541e-04 9.99820463e-01 -5.99587201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.926559995 meters 0.04986243687624498 Centerline is valid? [True, True] Translation: X:352.26, Y:-282.28, Z:-5.99 [[-6.84372424e-01 -7.29021993e-01 -1.27011474e-02 3.52255929e+02] [ 7.28889488e-01 -6.84490225e-01 1.39012962e-02 -2.82281669e+02] [-1.88281619e-02 2.55930958e-04 9.99822702e-01 -5.99464773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.986559995 meters 0.05009285726641464 Centerline is valid? [True, True] Translation: X:352.21, Y:-282.24, Z:-5.99 [[-6.83319344e-01 -7.30005876e-01 -1.28877700e-02 3.52213589e+02] [ 7.29869572e-01 -6.83440829e-01 1.41081902e-02 -2.82235646e+02] [-1.91070899e-02 2.34008157e-04 9.99817416e-01 -5.99402537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.046559995 meters 0.04992041443983315 Centerline is valid? [True, True] Translation: X:352.17, Y:-282.19, Z:-6.01 [[-6.81311663e-01 -7.31872743e-01 -1.32930792e-02 3.52167562e+02] [ 7.31728030e-01 -6.81441305e-01 1.45546716e-02 -2.82193035e+02] [-1.97106207e-02 1.89348814e-04 9.99805709e-01 -6.00650630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.106559995 meters 0.05085569160634823 Centerline is valid? [True, True] Translation: X:352.13, Y:-282.15, Z:-6.01 [[-6.77941174e-01 -7.34982343e-01 -1.40257213e-02 3.52127941e+02] [ 7.34821837e-01 -6.78086237e-01 1.53597834e-02 -2.82145340e+02] [-2.07998181e-02 1.06623287e-04 9.99783655e-01 -6.00786232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.166559995 meters 0.0509086515400868 Centerline is valid? [True, True] Translation: X:352.09, Y:-282.10, Z:-6.01 [[-6.70452979e-01 -7.41812729e-01 -1.43763072e-02 3.52086248e+02] [ 7.41645592e-01 -6.70607086e-01 1.57464949e-02 -2.82100046e+02] [-2.13218038e-02 -1.04840393e-04 9.99772659e-01 -6.00565315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.2265599950001 meters 0.051291174979869465 Centerline is valid? [True, True] Translation: X:352.05, Y:-282.05, Z:-6.01 [[-6.66661618e-01 -7.45216840e-01 -1.46338516e-02 3.52045970e+02] [ 7.45044414e-01 -6.66822177e-01 1.60313906e-02 -2.82053327e+02] [-2.17050390e-02 -2.15356616e-04 9.99764395e-01 -6.00525133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.286559995 meters 0.05194005112130737 Centerline is valid? [True, True] Translation: X:352.01, Y:-282.01, Z:-6.00 [[-6.63295129e-01 -7.48203444e-01 -1.52045541e-02 3.52006613e+02] [ 7.48018082e-01 -6.63469292e-01 1.66567753e-02 -2.82008048e+02] [-2.25504114e-02 -3.24923491e-04 9.99745654e-01 -6.00280120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.346559995 meters 0.05133997791740987 Centerline is valid? [True, True] Translation: X:351.97, Y:-281.96, Z:-6.00 [[-6.62134263e-01 -7.49220105e-01 -1.57306109e-02 3.51966462e+02] [ 7.49021909e-01 -6.62320993e-01 1.72360704e-02 -2.81961113e+02] [-2.33323243e-02 -3.69979478e-04 9.99727696e-01 -6.00105711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.406559995 meters 0.05036821954610959 Centerline is valid? [True, True] Translation: X:351.93, Y:-281.91, Z:-6.00 [[-6.65584365e-01 -7.46139427e-01 -1.65350639e-02 3.51927244e+02] [ 7.45919472e-01 -6.65789666e-01 1.81179965e-02 -2.81914039e+02] [-2.45274263e-02 -2.74770951e-04 9.99699120e-01 -5.99845813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.4665599950001 meters 0.051573009059511406 Centerline is valid? [True, True] Translation: X:351.89, Y:-281.87, Z:-6.00 [[-6.69828003e-01 -7.42326762e-01 -1.67757262e-02 3.51887855e+02] [ 7.42099141e-01 -6.70038029e-01 1.83821900e-02 -2.81867234e+02] [-2.48859661e-02 -1.36346366e-04 9.99690287e-01 -5.99955317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.526559995 meters 0.05092405753445712 Centerline is valid? [True, True] Translation: X:351.85, Y:-281.82, Z:-6.00 [[-6.74331389e-01 -7.38229518e-01 -1.71568144e-02 3.51847681e+02] [ 7.37989999e-01 -6.74549612e-01 1.88037976e-02 -2.81818381e+02] [-2.54546409e-02 1.84335300e-05 9.99675978e-01 -6.00088658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.586559995 meters 0.05266145062339353 Centerline is valid? [True, True] Translation: X:351.81, Y:-281.77, Z:-5.99 [[-6.78082565e-01 -7.34786606e-01 -1.71078415e-02 3.51806897e+02] [ 7.34547263e-01 -6.78298327e-01 1.87536289e-02 -2.81771066e+02] [-2.53841356e-02 1.49990641e-04 9.99677760e-01 -5.99480344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.646559995 meters 0.05234818278002826 Centerline is valid? [True, True] Translation: X:351.77, Y:-281.72, Z:-6.00 [[-6.82498257e-01 -7.30704151e-01 -1.63576440e-02 3.51766766e+02] [ 7.30484085e-01 -6.82694192e-01 1.79343751e-02 -2.81724220e+02] [-2.42719909e-02 2.91181125e-04 9.99705349e-01 -5.99798090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.7065599950001 meters 0.05202409277308214 Centerline is valid? [True, True] Translation: X:351.73, Y:-281.68, Z:-6.00 [[-6.86038578e-01 -7.27396801e-01 -1.56513435e-02 3.51725742e+02] [ 7.27194452e-01 -6.86216978e-01 1.71606530e-02 -2.81677864e+02] [-2.32228217e-02 3.91299825e-04 9.99730237e-01 -5.99773585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.766559995 meters 0.0526511606348459 Centerline is valid? [True, True] Translation: X:351.68, Y:-281.63, Z:-6.00 [[-6.89865309e-01 -7.23792198e-01 -1.45158459e-02 3.51681958e+02] [ 7.23617308e-01 -6.90017846e-01 1.59174018e-02 -2.81633303e+02] [-2.15370840e-02 4.76945972e-04 9.99767936e-01 -6.00219645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.826559995 meters 0.052720304290542766 Centerline is valid? [True, True] Translation: X:351.64, Y:-281.59, Z:-6.00 [[-6.89026682e-01 -7.24616499e-01 -1.31590492e-02 3.51642112e+02] [ 7.24472883e-01 -6.89152204e-01 1.44319419e-02 -2.81587638e+02] [-1.95262110e-02 4.10618758e-04 9.99809261e-01 -5.99657622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.886559995 meters 0.053954946163854586 Centerline is valid? [True, True] Translation: X:351.59, Y:-281.55, Z:-5.99 [[-6.83784839e-01 -7.29611977e-01 -1.02301991e-02 3.51593725e+02] [ 7.29525731e-01 -6.83861331e-01 1.12200306e-02 -2.81549350e+02] [-1.51823063e-02 2.08893405e-04 9.99884720e-01 -5.99458425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.9465599950001 meters 0.05379634534251013 Centerline is valid? [True, True] Translation: X:351.55, Y:-281.51, Z:-5.99 [[-6.80743537e-01 -7.32468141e-01 -8.86901608e-03 3.51548858e+02] [ 7.32403557e-01 -6.80801298e-01 9.72738092e-03 -2.81507243e+02] [-1.31630343e-02 1.26152767e-04 9.99913356e-01 -5.99336827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.006559995 meters 0.0525772340663948 Centerline is valid? [True, True] Translation: X:351.50, Y:-281.47, Z:-6.00 [[-6.79819242e-01 -7.33323196e-01 -9.10434096e-03 3.51501427e+02] [ 7.33255188e-01 -6.79880194e-01 9.98761618e-03 -2.81465118e+02] [-1.35140117e-02 1.13968421e-04 9.99908675e-01 -5.99648566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.066559995 meters 0.052303044356058856 Centerline is valid? [True, True] Translation: X:351.46, Y:-281.42, Z:-5.99 [[-6.79743983e-01 -7.33384261e-01 -9.77975150e-03 3.51456893e+02] [ 7.33305759e-01 -6.79814321e-01 1.07309322e-02 -2.81420348e+02] [-1.45183119e-02 1.22738521e-04 9.99894596e-01 -5.99474173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.126559995 meters 0.05400183577780777 Centerline is valid? [True, True] Translation: X:351.42, Y:-281.37, Z:-5.99 [[-6.80099314e-01 -7.33045756e-01 -1.04327712e-02 3.51415814e+02] [ 7.32956357e-01 -6.80179315e-01 1.14489307e-02 -2.81374695e+02] [-1.54887452e-02 1.39643897e-04 9.99880032e-01 -5.99138777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.186559995 meters 0.0530611571225017 Centerline is valid? [True, True] Translation: X:351.37, Y:-281.33, Z:-5.99 [[-6.80876849e-01 -7.32312005e-01 -1.12180309e-02 3.51370422e+02] [ 7.32208505e-01 -6.80969235e-01 1.23128562e-02 -2.81332569e+02] [-1.66559863e-02 1.69601141e-04 9.99861265e-01 -5.98964142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.246559995 meters 0.05346797784290573 Centerline is valid? [True, True] Translation: X:351.33, Y:-281.29, Z:-5.99 [[-6.82446575e-01 -7.30830733e-01 -1.23738491e-02 3.51329630e+02] [ 7.30704524e-01 -6.82558706e-01 1.35834751e-02 -2.81287413e+02] [-1.83730995e-02 2.28368538e-04 9.99831174e-01 -5.98624724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.306559995 meters 0.05443700672067783 Centerline is valid? [True, True] Translation: X:351.29, Y:-281.24, Z:-5.99 [[-6.82600217e-01 -7.30701543e-01 -1.14977484e-02 3.51287415e+02] [ 7.30592516e-01 -6.82697010e-01 1.26240899e-02 -2.81241801e+02] [-1.70739204e-02 2.17037543e-04 9.99854206e-01 -5.98548249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.366559995 meters 0.05231022461431507 Centerline is valid? [True, True] Translation: X:351.24, Y:-281.20, Z:-5.99 [[-6.78824506e-01 -7.34238466e-01 -9.54799376e-03 3.51242922e+02] [ 7.34163594e-01 -6.78891643e-01 1.04859033e-02 -2.81195718e+02] [-1.41812067e-02 1.08298700e-04 9.99899436e-01 -5.98683502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.426559995 meters 0.05350041988417863 Centerline is valid? [True, True] Translation: X:351.20, Y:-281.15, Z:-5.98 [[-6.75466431e-01 -7.37323174e-01 -9.98188185e-03 3.51200246e+02] [ 7.37241643e-01 -6.75540180e-01 1.09647001e-02 -2.81151113e+02] [-1.48276898e-02 4.72278726e-05 9.99890063e-01 -5.98222501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.486559995 meters 0.05441708111080086 Centerline is valid? [True, True] Translation: X:351.16, Y:-281.11, Z:-5.98 [[-6.70185391e-01 -7.42059072e-01 -1.41377268e-02 3.51159050e+02] [ 7.41896531e-01 -6.70334489e-01 1.55309192e-02 -2.81107024e+02] [-2.10018654e-02 -8.01353453e-05 9.99779433e-01 -5.97821922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.546559995 meters 0.055369470474179665 Centerline is valid? [True, True] Translation: X:351.12, Y:-281.06, Z:-5.98 [[-6.68434138e-01 -7.43623978e-01 -1.48047818e-02 3.51117515e+02] [ 7.43446099e-01 -6.68598056e-01 1.62645782e-02 -2.81060537e+02] [-2.19931787e-02 -1.34758005e-04 9.99758112e-01 -5.97744136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.606559995 meters 0.05446343207105917 Centerline is valid? [True, True] Translation: X:351.08, Y:-281.01, Z:-5.98 [[-6.63977909e-01 -7.47573078e-01 -1.63654855e-02 3.51077221e+02] [ 7.47356894e-01 -6.64179499e-01 1.79796176e-02 -2.81014115e+02] [-2.43106980e-02 -2.92789493e-04 9.99704408e-01 -5.97808281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.666559995 meters 0.0544291488810547 Centerline is valid? [True, True] Translation: X:351.03, Y:-280.97, Z:-5.98 [[-6.64424110e-01 -7.47181419e-01 -1.61408878e-02 3.51034041e+02] [ 7.46970934e-01 -6.64620081e-01 1.77361840e-02 -2.80968760e+02] [-2.39797053e-02 -2.72425744e-04 9.99712408e-01 -5.97598251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.7265599950001 meters 0.055201740377609505 Centerline is valid? [True, True] Translation: X:350.99, Y:-280.92, Z:-5.97 [[-6.66809900e-01 -7.45088684e-01 -1.44017471e-02 3.50991844e+02] [ 7.44920620e-01 -6.66965383e-01 1.58255755e-02 -2.80924037e+02] [-2.13969240e-02 -1.75507928e-04 9.99771044e-01 -5.97110529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.786559995 meters 0.05463913986432886 Centerline is valid? [True, True] Translation: X:350.95, Y:-280.87, Z:-5.98 [[-6.63918928e-01 -7.47704047e-01 -1.22603351e-02 3.50952954e+02] [ 7.47582647e-01 -6.64032086e-01 1.34749721e-02 -2.80874936e+02] [-1.82165470e-02 -2.19324762e-04 9.99834041e-01 -5.97632276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.846559995 meters 0.05529238004053065 Centerline is valid? [True, True] Translation: X:350.91, Y:-280.83, Z:-5.97 [[-6.64487358e-01 -7.47203502e-01 -1.19782348e-02 3.50909632e+02] [ 7.47087500e-01 -6.64595281e-01 1.31673850e-02 -2.80830740e+02] [-1.77993946e-02 -1.99228621e-04 9.99841558e-01 -5.97307597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.906559995 meters 0.05588213883235376 Centerline is valid? [True, True] Translation: X:350.87, Y:-280.79, Z:-5.97 [[-6.63908205e-01 -7.47729210e-01 -1.12660583e-02 3.50866507e+02] [ 7.47626630e-01 -6.64003757e-01 1.23868218e-02 -2.80786168e+02] [-1.67426935e-02 -1.99092604e-04 9.99859812e-01 -5.97126834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.9665599950001 meters 0.054651505835060295 Centerline is valid? [True, True] Translation: X:350.83, Y:-280.74, Z:-5.97 [[-6.59251252e-01 -7.51852607e-01 -1.02686564e-02 3.50828760e+02] [ 7.51767857e-01 -6.59331163e-01 1.12919321e-02 -2.80737877e+02] [-1.52603138e-02 -2.75425422e-04 9.99883517e-01 -5.97300635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.026559995 meters 0.05478936360745823 Centerline is valid? [True, True] Translation: X:350.79, Y:-280.69, Z:-5.97 [[-6.57408539e-01 -7.53445965e-01 -1.15408271e-02 3.50787343e+02] [ 7.53339148e-01 -6.57509737e-01 1.26914598e-02 -2.80692422e+02] [-1.71505353e-02 -3.50682825e-04 9.99852857e-01 -5.97311642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.086559995 meters 0.053452301855464776 Centerline is valid? [True, True] Translation: X:350.75, Y:-280.64, Z:-5.98 [[-6.51969885e-01 -7.58130329e-01 -1.31785311e-02 3.50751648e+02] [ 7.57991939e-01 -6.52102840e-01 1.44950452e-02 -2.80638831e+02] [-1.95828909e-02 -5.38887370e-04 9.99808092e-01 -5.97678571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.146559995 meters 0.05546179115105163 Centerline is valid? [True, True] Translation: X:350.70, Y:-280.60, Z:-5.97 [[-6.52557266e-01 -7.57608852e-01 -1.40656082e-02 3.50702489e+02] [ 7.57451014e-01 -6.52708601e-01 1.54739717e-02 -2.80599761e+02] [-2.09039614e-02 -5.56356541e-04 9.99781334e-01 -5.97223475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.2065599950001 meters 0.054134400494667494 Centerline is valid? [True, True] Translation: X:350.66, Y:-280.55, Z:-5.97 [[-6.51916712e-01 -7.58149236e-01 -1.46402058e-02 3.50661134e+02] [ 7.57978313e-01 -6.52080809e-01 1.61088999e-02 -2.80554014e+02] [-2.17595473e-02 -5.95297407e-04 9.99763056e-01 -5.97183449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.266559995 meters 0.052144008214174385 Centerline is valid? [True, True] Translation: X:350.62, Y:-280.50, Z:-5.98 [[-6.53153561e-01 -7.57062885e-01 -1.56912388e-02 3.50622861e+02] [ 7.56866119e-01 -6.53341743e-01 1.72697776e-02 -2.80502068e+02] [-2.33260489e-02 -5.96350301e-04 9.99727733e-01 -5.97801479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.326559995 meters 0.05528119666912881 Centerline is valid? [True, True] Translation: X:350.57, Y:-280.47, Z:-5.97 [[-6.57609747e-01 -7.53158697e-01 -1.73608247e-02 3.50569906e+02] [ 7.52916338e-01 -6.57838676e-01 1.91119009e-02 -2.80465382e+02] [-2.58149163e-02 -5.03076265e-04 9.99666613e-01 -5.96672227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.386559995 meters 0.052439444417488094 Centerline is valid? [True, True] Translation: X:350.53, Y:-280.42, Z:-5.97 [[-6.57891489e-01 -7.52914570e-01 -1.72754209e-02 3.50530539e+02] [ 7.52674413e-01 -6.58118084e-01 1.90214726e-02 -2.80416735e+02] [-2.56908107e-02 -4.88702332e-04 9.99669817e-01 -5.97152871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.4465599950001 meters 0.051785730147817115 Centerline is valid? [True, True] Translation: X:350.49, Y:-280.36, Z:-5.98 [[-6.58467108e-01 -7.52403805e-01 -1.75949201e-02 3.50491050e+02] [ 7.52154339e-01 -6.58701974e-01 1.93793894e-02 -2.80363747e+02] [-2.61709349e-02 -4.73404993e-04 9.99657370e-01 -5.97985943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.506559995 meters 0.05246416395510451 Centerline is valid? [True, True] Translation: X:350.45, Y:-280.32, Z:-5.98 [[-6.56584691e-01 -7.54048875e-01 -1.75167803e-02 3.50449701e+02] [ 7.53802076e-01 -6.56818095e-01 1.92981820e-02 -2.80315594e+02] [-2.60571107e-02 -5.33294500e-04 9.99660314e-01 -5.98009666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.566559995 meters 0.05383076240605235 Centerline is valid? [True, True] Translation: X:350.40, Y:-280.27, Z:-5.97 [[-6.54444503e-01 -7.55871313e-01 -1.89987249e-02 3.50401816e+02] [ 7.55581650e-01 -6.54719886e-01 2.09342060e-02 -2.80274815e+02] [-2.82624088e-02 -6.54811904e-04 9.99600324e-01 -5.96954455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.626559995 meters 0.05374201495740843 Centerline is valid? [True, True] Translation: X:350.36, Y:-280.23, Z:-5.97 [[-6.50286597e-01 -7.59444185e-01 -1.92839793e-02 3.50361772e+02] [ 7.59147263e-01 -6.50571946e-01 2.12503274e-02 -2.80228792e+02] [-2.86840535e-02 -8.20576987e-04 9.99588191e-01 -5.96932790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.686559995 meters 0.055199735957881 Centerline is valid? [True, True] Translation: X:350.32, Y:-280.18, Z:-5.97 [[-6.49795637e-01 -7.59868676e-01 -1.91108869e-02 3.50319198e+02] [ 7.59577132e-01 -6.50076079e-01 2.10635251e-02 -2.80183068e+02] [-2.84290433e-02 -8.29205925e-04 9.99595469e-01 -5.96832996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.746559995 meters 0.05387089888620144 Centerline is valid? [True, True] Translation: X:350.28, Y:-280.13, Z:-5.97 [[-6.48776176e-01 -7.60767308e-01 -1.79603989e-02 3.50281411e+02] [ 7.60510060e-01 -6.49024222e-01 1.97991905e-02 -2.80132939e+02] [-2.67193108e-02 -8.13820933e-04 9.99642644e-01 -5.97240917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.806559995 meters 0.0535138799823156 Centerline is valid? [True, True] Translation: X:350.25, Y:-280.07, Z:-5.99 [[-6.46094247e-01 -7.63081088e-01 -1.64157763e-02 3.50254028e+02] [ 7.62866784e-01 -6.46302228e-01 1.81024910e-02 -2.80068810e+02] [-2.44232213e-02 -8.27135160e-04 9.99701367e-01 -5.98717332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.866559995 meters 0.05363381620064599 Centerline is valid? [True, True] Translation: X:350.21, Y:-280.02, Z:-5.98 [[-6.44080880e-01 -7.64799943e-01 -1.55198906e-02 3.50208398e+02] [ 7.64608767e-01 -6.44267290e-01 1.71199602e-02 -2.80022497e+02] [-2.30923025e-02 -8.40005408e-04 9.99732984e-01 -5.98265581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.926559995 meters 0.054261771830367046 Centerline is valid? [True, True] Translation: X:350.16, Y:-279.98, Z:-5.98 [[-6.45296053e-01 -7.63766305e-01 -1.59385039e-02 3.50164411e+02] [ 7.63564277e-01 -6.45492336e-01 1.75852021e-02 -2.79979429e+02] [-2.37191669e-02 -8.22410747e-04 9.99718323e-01 -5.97946480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.986559995 meters 0.053724926882327335 Centerline is valid? [True, True] Translation: X:350.13, Y:-279.93, Z:-5.98 [[-6.47071380e-01 -7.62251026e-01 -1.64925049e-02 3.50125220e+02] [ 7.62034129e-01 -6.47281043e-01 1.81999456e-02 -2.79931183e+02] [-2.45482130e-02 -7.91187701e-04 9.99698334e-01 -5.97985538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.046559995 meters 0.05357759944805056 Centerline is valid? [True, True] Translation: X:350.08, Y:-279.89, Z:-5.98 [[-6.49637782e-01 -7.60056756e-01 -1.68665393e-02 3.50083386e+02] [ 7.59829083e-01 -6.49856297e-01 1.86160691e-02 -2.79886216e+02] [-2.51100959e-02 -7.21985233e-04 9.99684431e-01 -5.97827126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.106559995 meters 0.0529229624061418 Centerline is valid? [True, True] Translation: X:350.05, Y:-279.83, Z:-5.98 [[-6.54011717e-01 -7.56295119e-01 -1.69223914e-02 3.50045882e+02] [ 7.56064546e-01 -6.54230358e-01 1.86826207e-02 -2.79833912e+02] [-2.52007170e-02 -5.75767292e-04 9.99682246e-01 -5.98440574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.166559995 meters 0.05313909393746594 Centerline is valid? [True, True] Translation: X:350.00, Y:-279.79, Z:-5.98 [[-6.59351957e-01 -7.51634920e-01 -1.73189143e-02 3.49999617e+02] [ 7.51391675e-01 -6.59579248e-01 1.91249981e-02 -2.79790581e+02] [-2.57982129e-02 -4.03183116e-04 9.99667089e-01 -5.97924397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.2265599950001 meters 0.05320237937191024 Centerline is valid? [True, True] Translation: X:349.96, Y:-279.75, Z:-5.98 [[-6.69006136e-01 -7.43072126e-01 -1.65712293e-02 3.49957459e+02] [ 7.42846752e-01 -6.69211335e-01 1.83000738e-02 -2.79745559e+02] [-2.46879292e-02 -6.70221556e-05 9.99695204e-01 -5.98031349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.286559995 meters 0.05287898264285093 Centerline is valid? [True, True] Translation: X:349.92, Y:-279.70, Z:-5.98 [[-6.73339273e-01 -7.39151192e-01 -1.64237205e-02 3.49916204e+02] [ 7.38928555e-01 -6.73539538e-01 1.81406038e-02 -2.79698468e+02] [-2.44706740e-02 7.88249344e-05 9.99700545e-01 -5.98265348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.346559995 meters 0.0537495056787264 Centerline is valid? [True, True] Translation: X:349.87, Y:-279.65, Z:-5.98 [[-6.78370851e-01 -7.34561282e-01 -1.52548667e-02 3.49874048e+02] [ 7.34367976e-01 -6.78542312e-01 1.68525011e-02 -2.79653443e+02] [-2.27302673e-02 2.29559900e-04 9.99741608e-01 -5.98099268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.406559995 meters 0.05388117835047161 Centerline is valid? [True, True] Translation: X:349.83, Y:-279.61, Z:-5.98 [[-6.80665988e-01 -7.32458842e-01 -1.40661929e-02 3.49831335e+02] [ 7.32293970e-01 -6.80811257e-01 1.55426614e-02 -2.79606431e+02] [-2.09607822e-02 2.78772751e-04 9.99780260e-01 -5.98134658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.4665599950001 meters 0.05345990795900942 Centerline is valid? [True, True] Translation: X:349.79, Y:-279.56, Z:-5.99 [[-6.80073841e-01 -7.33013554e-01 -1.38094454e-02 3.49789233e+02] [ 7.32854700e-01 -6.80213983e-01 1.52619023e-02 -2.79560111e+02] [-2.05805591e-02 2.58903506e-04 9.99788164e-01 -5.98557016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.526559995 meters 0.05538621440645799 Centerline is valid? [True, True] Translation: X:349.75, Y:-279.51, Z:-5.98 [[-6.80032435e-01 -7.33033082e-01 -1.47779700e-02 3.49751482e+02] [ 7.32851102e-01 -6.80192931e-01 1.63351972e-02 -2.79511847e+02] [-2.20261107e-02 2.78412379e-04 9.99757357e-01 -5.97627807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.586559995 meters 0.053530760960578384 Centerline is valid? [True, True] Translation: X:349.70, Y:-279.47, Z:-5.98 [[-6.73996216e-01 -7.38627074e-01 -1.26152948e-02 3.49704545e+02] [ 7.38495412e-01 -6.74114262e-01 1.39459083e-02 -2.79470378e+02] [-1.88049756e-02 8.31521018e-05 9.99823167e-01 -5.98316624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.646559995 meters 0.05379480127023586 Centerline is valid? [True, True] Translation: X:349.67, Y:-279.42, Z:-5.99 [[-6.63210502e-01 -7.48372899e-01 -9.47814144e-03 3.49667899e+02] [ 7.48299531e-01 -6.63278210e-01 1.04798850e-02 -2.79420102e+02] [-1.41295066e-02 -1.42118973e-04 9.99900163e-01 -5.98681144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.7065599950001 meters 0.05581157097079774 Centerline is valid? [True, True] Translation: X:349.63, Y:-279.37, Z:-5.99 [[-6.58731370e-01 -7.52331535e-01 -8.38114351e-03 3.49627722e+02] [ 7.52274473e-01 -6.58784655e-01 9.26799033e-03 -2.79374001e+02] [-1.24939701e-02 -1.99804347e-04 9.99921927e-01 -5.98635814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.766559995 meters 0.055075078660147665 Centerline is valid? [True, True] Translation: X:349.59, Y:-279.33, Z:-5.98 [[-6.54179695e-01 -7.56291351e-01 -8.50403588e-03 3.49585824e+02] [ 7.56232903e-01 -6.54234908e-01 9.40641439e-03 -2.79325698e+02] [-1.26776270e-02 -2.77546442e-04 9.99919597e-01 -5.98443406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.826559995 meters 0.05412048287311832 Centerline is valid? [True, True] Translation: X:349.54, Y:-279.28, Z:-5.98 [[-6.50955482e-01 -7.59069118e-01 -8.42821260e-03 3.49539002e+02] [ 7.59011911e-01 -6.51009960e-01 9.32474588e-03 -2.79283168e+02] [-1.25649770e-02 -3.27119303e-04 9.99921004e-01 -5.98037014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.886559995 meters 0.05529255183523077 Centerline is valid? [True, True] Translation: X:349.50, Y:-279.24, Z:-5.98 [[-6.47508899e-01 -7.62003159e-01 -9.13303005e-03 3.49499542e+02] [ 7.61936264e-01 -6.47573172e-01 1.01052180e-02 -2.79238268e+02] [-1.36145133e-02 -4.15568231e-04 9.99907232e-01 -5.98242869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.9465599950001 meters 0.05451982614186164 Centerline is valid? [True, True] Translation: X:349.46, Y:-279.20, Z:-5.98 [[-6.48610136e-01 -7.61061150e-01 -9.52986880e-03 3.49455421e+02] [ 7.60988190e-01 -6.48680011e-01 1.05460040e-02 -2.79195591e+02] [-1.42079894e-02 -4.11872492e-04 9.99898977e-01 -5.97920049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.006559995 meters 0.05434971956655193 Centerline is valid? [True, True] Translation: X:349.41, Y:-279.15, Z:-5.98 [[-6.50951346e-01 -7.59057542e-01 -9.69503213e-03 3.49413640e+02] [ 7.58981768e-01 -6.51023433e-01 1.07315546e-02 -2.79146470e+02] [-1.44575606e-02 -3.72632692e-04 9.99895415e-01 -5.98061209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.066559995 meters 0.05443117819863745 Centerline is valid? [True, True] Translation: X:349.37, Y:-279.10, Z:-5.98 [[-6.52974697e-01 -7.57308260e-01 -1.04040667e-02 3.49369936e+02] [ 7.57220724e-01 -6.53057480e-01 1.15197061e-02 -2.79098535e+02] [-1.55184222e-02 -3.56098276e-04 9.99879519e-01 -5.98136276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.126559995 meters 0.055120704553324656 Centerline is valid? [True, True] Translation: X:349.32, Y:-279.06, Z:-5.98 [[-6.55005597e-01 -7.55538762e-01 -1.13511048e-02 3.49318862e+02] [ 7.55434235e-01 -6.55103857e-01 1.25718870e-02 -2.79058342e+02] [-1.69347005e-02 -3.40356870e-04 9.99856540e-01 -5.97553392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.186559995 meters 0.05411917173770938 Centerline is valid? [True, True] Translation: X:349.28, Y:-279.01, Z:-5.98 [[-6.56404354e-01 -7.54297733e-01 -1.29712767e-02 3.49275656e+02] [ 7.54160923e-01 -6.56532412e-01 1.43699466e-02 -2.79011045e+02] [-1.93552817e-02 -3.49934470e-04 9.99812608e-01 -5.97808570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.246559995 meters 0.05636212510144592 Centerline is valid? [True, True] Translation: X:349.23, Y:-278.97, Z:-5.97 [[-6.60984316e-01 -7.50262354e-01 -1.43573613e-02 3.49226083e+02] [ 7.50093709e-01 -6.61140178e-01 1.59088809e-02 -2.78972443e+02] [-2.14280628e-02 -2.53845605e-04 9.99770361e-01 -5.96596101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.306559995 meters 0.05829699682120792 Centerline is valid? [True, True] Translation: X:349.18, Y:-278.93, Z:-5.96 [[-6.65139805e-01 -7.46566585e-01 -1.50788922e-02 3.49181967e+02] [ 7.46379536e-01 -6.65310690e-01 1.67115088e-02 -2.78928736e+02] [-2.25084022e-02 -1.39086870e-04 9.99746644e-01 -5.95568306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.366559995 meters 0.057905125836702424 Centerline is valid? [True, True] Translation: X:349.14, Y:-278.88, Z:-5.96 [[-6.68908673e-01 -7.43174475e-01 -1.59024182e-02 3.49141413e+02] [ 7.42965391e-01 -6.69097676e-01 1.76274958e-02 -2.78881105e+02] [-2.37405760e-02 -2.37615258e-05 9.99718153e-01 -5.95550036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.426559995 meters 0.0573118798663698 Centerline is valid? [True, True] Translation: X:349.10, Y:-278.83, Z:-5.96 [[-6.70845265e-01 -7.41446402e-01 -1.49620591e-02 3.49102716e+02] [ 7.41260817e-01 -6.71012095e-01 1.65882295e-02 -2.78832431e+02] [-2.23390057e-02 3.73470806e-05 9.99750453e-01 -5.96056535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.486559995 meters 0.05666416542361356 Centerline is valid? [True, True] Translation: X:349.06, Y:-278.78, Z:-5.97 [[-6.69761475e-01 -7.42449200e-01 -1.37387003e-02 3.49063889e+02] [ 7.42292928e-01 -6.69902370e-01 1.52323162e-02 -2.78784705e+02] [-2.05128088e-02 3.87848075e-06 9.99789590e-01 -5.96543806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.546559995 meters 0.060269487896378315 Centerline is valid? [True, True] Translation: X:349.02, Y:-278.74, Z:-5.96 [[-6.68693273e-01 -7.43415991e-01 -1.34896820e-02 3.49020676e+02] [ 7.43265473e-01 -6.68829324e-01 1.49590228e-02 -2.78740159e+02] [-2.01430716e-02 -2.34169849e-05 9.99797108e-01 -5.95609637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.606559995 meters 0.05521900836131139 Centerline is valid? [True, True] Translation: X:348.98, Y:-278.69, Z:-5.97 [[-6.59165135e-01 -7.51869648e-01 -1.39052637e-02 3.48982885e+02] [ 7.51711511e-01 -6.59311724e-01 1.54225314e-02 -2.78691158e+02] [-2.07636366e-02 -2.86751737e-04 9.99784371e-01 -5.97456407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.666559995 meters 0.05509965684744788 Centerline is valid? [True, True] Translation: X:348.94, Y:-278.65, Z:-5.97 [[-6.56359651e-01 -7.54325282e-01 -1.36153751e-02 3.48942129e+02] [ 7.54174169e-01 -6.56500756e-01 1.51023059e-02 -2.78646435e+02] [-2.03305552e-02 -3.55819943e-04 9.99793250e-01 -5.97241195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.7265599950001 meters 0.05520334606997302 Centerline is valid? [True, True] Translation: X:348.90, Y:-278.60, Z:-5.97 [[-6.53296854e-01 -7.56983343e-01 -1.33954979e-02 3.48900384e+02] [ 7.56837583e-01 -6.53434032e-01 1.48606765e-02 -2.78601958e+02] [-2.00023587e-02 -4.29783058e-04 9.99799840e-01 -5.97002466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.786559995 meters 0.05519512074348811 Centerline is valid? [True, True] Translation: X:348.86, Y:-278.56, Z:-5.97 [[-6.52502797e-01 -7.57674553e-01 -1.30142659e-02 3.48858209e+02] [ 7.57537057e-01 -6.52632424e-01 1.44404475e-02 -2.78556449e+02] [-1.94346915e-02 -4.36356327e-04 9.99811033e-01 -5.97006184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.846559995 meters 0.05560939003327563 Centerline is valid? [True, True] Translation: X:348.82, Y:-278.51, Z:-5.97 [[-6.53700158e-01 -7.56672288e-01 -1.10974195e-02 3.48822028e+02] [ 7.56572162e-01 -6.53794256e-01 1.23140428e-02 -2.78506183e+02] [-1.65731241e-02 -3.46306920e-04 9.99862596e-01 -5.97460992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.906559995 meters 0.05659220941723356 Centerline is valid? [True, True] Translation: X:348.78, Y:-278.46, Z:-5.97 [[-6.54697265e-01 -7.55822639e-01 -1.01798576e-02 3.48780915e+02] [ 7.55738277e-01 -6.54776336e-01 1.12963410e-02 -2.78460232e+02] [-1.52035602e-02 -2.97624462e-04 9.99884375e-01 -5.97365395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.9665599950001 meters 0.0555058927599802 Centerline is valid? [True, True] Translation: X:348.74, Y:-278.42, Z:-5.97 [[-6.51410684e-01 -7.58657245e-01 -1.01639416e-02 3.48737460e+02] [ 7.58573483e-01 -6.51489872e-01 1.12790863e-02 -2.78416314e+02] [-1.51786656e-02 -3.62779285e-04 9.99884732e-01 -5.97179061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.026559995 meters 0.054888767842825543 Centerline is valid? [True, True] Translation: X:348.70, Y:-278.37, Z:-5.97 [[-6.49915569e-01 -7.59945337e-01 -9.63527688e-03 3.48699456e+02] [ 7.59870176e-01 -6.49986882e-01 1.06942854e-02 -2.78367343e+02] [-1.43898759e-02 -3.71176937e-04 9.99896392e-01 -5.97368896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.086559995 meters 0.055063038840596414 Centerline is valid? [True, True] Translation: X:348.66, Y:-278.32, Z:-5.97 [[-6.50504679e-01 -7.59456040e-01 -8.37773870e-03 3.48657683e+02] [ 7.59399174e-01 -6.50558549e-01 9.29890506e-03 -2.78321858e+02] [-1.25123191e-02 -3.13066594e-04 9.99921669e-01 -5.97417849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.146559995 meters 0.055802701460208215 Centerline is valid? [True, True] Translation: X:348.61, Y:-278.28, Z:-5.97 [[-6.53022061e-01 -7.57290676e-01 -8.54516681e-03 3.48614589e+02] [ 7.57231325e-01 -6.53077909e-01 9.48501838e-03 -2.78277530e+02] [-1.27635757e-02 -2.76741737e-04 9.99918504e-01 -5.97345816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.2065599950001 meters 0.05443277178443333 Centerline is valid? [True, True] Translation: X:348.57, Y:-278.23, Z:-5.97 [[-6.53830196e-01 -7.56592813e-01 -8.56683725e-03 3.48574041e+02] [ 7.56533077e-01 -6.53886264e-01 9.51085172e-03 -2.78230077e+02] [-1.27975793e-02 -2.62613705e-04 9.99918073e-01 -5.97378592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.266559995 meters 0.05565955045679106 Centerline is valid? [True, True] Translation: X:348.53, Y:-278.19, Z:-5.97 [[-6.56648159e-01 -7.54106124e-01 -1.17110935e-02 3.48525536e+02] [ 7.53994043e-01 -6.56752518e-01 1.30043679e-02 -2.78189309e+02] [-1.74979636e-02 -2.90800478e-04 9.99846857e-01 -5.96799935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.326559995 meters 0.054508093546607295 Centerline is valid? [True, True] Translation: X:348.49, Y:-278.14, Z:-5.97 [[-6.57260833e-01 -7.53559350e-01 -1.25101597e-02 3.48486204e+02] [ 7.53431304e-01 -6.57379814e-01 1.38942754e-02 -2.78141226e+02] [-1.86940876e-02 -2.93382962e-04 9.99825207e-01 -5.97194992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.386559995 meters 0.05142250757252596 Centerline is valid? [True, True] Translation: X:348.44, Y:-278.09, Z:-5.98 [[-6.63810415e-01 -7.47762206e-01 -1.44019640e-02 3.48440932e+02] [ 7.47591002e-01 -6.63966612e-01 1.60009799e-02 -2.78092808e+02] [-2.15273512e-02 -1.45161606e-04 9.99768249e-01 -5.98059800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.4465599950001 meters 0.05184180207665491 Centerline is valid? [True, True] Translation: X:348.40, Y:-278.04, Z:-5.98 [[-6.66454137e-01 -7.45454043e-01 -1.17112799e-02 3.48399652e+02] [ 7.45340409e-01 -6.66557025e-01 1.30156368e-02 -2.78042738e+02] [-1.75087949e-02 -5.45651584e-05 9.99846708e-01 -5.98123643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.506559995 meters 0.054133022052641706 Centerline is valid? [True, True] Translation: X:348.36, Y:-277.99, Z:-5.98 [[-6.65976886e-01 -7.45896507e-01 -1.06389694e-02 3.48361028e+02] [ 7.45802753e-01 -6.66061857e-01 1.18261234e-02 -2.77992503e+02] [-1.59072758e-02 -5.86477768e-05 9.99873470e-01 -5.98237914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.566559995 meters 0.054339474778832414 Centerline is valid? [True, True] Translation: X:348.32, Y:-277.95, Z:-5.98 [[-6.63317354e-01 -7.48255414e-01 -1.11320914e-02 3.48319999e+02] [ 7.48153055e-01 -6.63410749e-01 1.23767657e-02 -2.77945775e+02] [-1.66461310e-02 -1.18784702e-04 9.99861437e-01 -5.98286463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.626559995 meters 0.0552650846014239 Centerline is valid? [True, True] Translation: X:348.28, Y:-277.90, Z:-5.98 [[-6.61430024e-01 -7.49919440e-01 -1.14523848e-02 3.48277380e+02] [ 7.49811319e-01 -6.61529142e-01 1.27349657e-02 -2.77902371e+02] [-1.71262846e-02 -1.63839073e-04 9.99853321e-01 -5.97629206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.686559995 meters 0.05504274545762325 Centerline is valid? [True, True] Translation: X:348.24, Y:-277.85, Z:-5.98 [[-6.59203429e-01 -7.51879334e-01 -1.13271977e-02 3.48239228e+02] [ 7.51773815e-01 -6.59300707e-01 1.25979532e-02 -2.77853548e+02] [-1.69401701e-02 -2.10876643e-04 9.99856483e-01 -5.97915284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.746559995 meters 0.05780887469316321 Centerline is valid? [True, True] Translation: X:348.19, Y:-277.81, Z:-5.97 [[-6.59212347e-01 -7.51868987e-01 -1.14938545e-02 3.48194353e+02] [ 7.51760291e-01 -6.59312507e-01 1.27860425e-02 -2.77808632e+02] [-1.71914708e-02 -2.11906338e-04 9.99852193e-01 -5.97374357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.806559995 meters 0.05518792861943996 Centerline is valid? [True, True] Translation: X:348.16, Y:-277.76, Z:-5.98 [[-6.57714272e-01 -7.53150728e-01 -1.32633688e-02 3.48158499e+02] [ 7.53006175e-01 -6.57847932e-01 1.47580079e-02 -2.77755206e+02] [-1.98402841e-02 -2.80846187e-04 9.99803123e-01 -5.98323587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.866559995 meters 0.05376152491624418 Centerline is valid? [True, True] Translation: X:348.11, Y:-277.71, Z:-5.98 [[-6.57808270e-01 -7.53032407e-01 -1.51813676e-02 3.48114796e+02] [ 7.52842857e-01 -6.57983355e-01 1.68978699e-02 -2.77705546e+02] [-2.27137308e-02 -3.13625551e-04 9.99741961e-01 -5.98385453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.926559995 meters 0.053845682786937084 Centerline is valid? [True, True] Translation: X:348.07, Y:-277.67, Z:-5.97 [[-6.58608053e-01 -7.52282521e-01 -1.75054627e-02 3.48068240e+02] [ 7.52030200e-01 -6.58840571e-01 1.94853948e-02 -2.77665572e+02] [-2.61918310e-02 -3.31398682e-04 9.99656880e-01 -5.96841858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.986559995 meters 0.05393562608422421 Centerline is valid? [True, True] Translation: X:348.03, Y:-277.62, Z:-5.98 [[-6.62366289e-01 -7.48946748e-01 -1.86993816e-02 3.48031650e+02] [ 7.48657462e-01 -6.62630156e-01 2.08153996e-02 -2.77616114e+02] [-2.79804000e-02 -2.12012558e-04 9.99608450e-01 -5.98226154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.046559995 meters 0.05323783485621067 Centerline is valid? [True, True] Translation: X:347.99, Y:-277.57, Z:-5.98 [[-6.65297379e-01 -7.46351800e-01 -1.83953177e-02 3.47988844e+02] [ 7.46070707e-01 -6.65551636e-01 2.04821714e-02 -2.77568426e+02] [-2.75299393e-02 -9.74726844e-05 9.99620975e-01 -5.98302596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.106559995 meters 0.05402038931635597 Centerline is valid? [True, True] Translation: X:347.95, Y:-277.52, Z:-5.98 [[-6.70955059e-01 -7.41256223e-01 -1.89346196e-02 3.47945430e+02] [ 7.40956214e-01 -6.71222167e-01 2.10877149e-02 -2.77522919e+02] [-2.83407363e-02 1.19184916e-04 9.99598314e-01 -5.98110131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.166559995 meters 0.053637471220738024 Centerline is valid? [True, True] Translation: X:347.91, Y:-277.47, Z:-5.97 [[-6.73103037e-01 -7.39307492e-01 -1.88874218e-02 3.47906316e+02] [ 7.39008164e-01 -6.73367947e-01 2.10366757e-02 -2.77474353e+02] [-2.82707564e-02 2.01891376e-04 9.99600282e-01 -5.97428317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.2265599950001 meters 0.053927015909483185 Centerline is valid? [True, True] Translation: X:347.87, Y:-277.43, Z:-5.98 [[-6.72040914e-01 -7.40295569e-01 -1.79855866e-02 3.47866470e+02] [ 7.40024460e-01 -6.72281524e-01 2.00337427e-02 -2.77426641e+02] [-2.69222685e-02 1.53720709e-04 9.99637518e-01 -5.97906663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.286559995 meters 0.05387857963475513 Centerline is valid? [True, True] Translation: X:347.83, Y:-277.38, Z:-5.99 [[-6.68262741e-01 -7.43717952e-01 -1.75646681e-02 3.47825339e+02] [ 7.43460461e-01 -6.68493536e-01 1.95687300e-02 -2.77381781e+02] [-2.62954829e-02 1.84169161e-05 9.99654214e-01 -5.98899321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.346559995 meters 0.05382284002685567 Centerline is valid? [True, True] Translation: X:347.78, Y:-277.33, Z:-5.99 [[-6.50060916e-01 -7.59713494e-01 -1.60066350e-02 3.47781321e+02] [ 7.59504233e-01 -6.50257713e-01 1.78389071e-02 -2.77333206e+02] [-2.39608963e-02 -5.60730730e-04 9.99712739e-01 -5.99432655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.406559995 meters 0.05432009650544865 Centerline is valid? [True, True] Translation: X:347.73, Y:-277.29, Z:-5.99 [[-6.44307433e-01 -7.64576975e-01 -1.70288315e-02 3.47729992e+02] [ 7.64341662e-01 -6.44531950e-01 1.89839036e-02 -2.77292312e+02] [-2.54902816e-02 -7.84375189e-04 9.99674762e-01 -5.98697224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.4665599950001 meters 0.05581065119380896 Centerline is valid? [True, True] Translation: X:347.70, Y:-277.23, Z:-6.00 [[-6.39046753e-01 -7.68934393e-01 -1.89511521e-02 3.47700786e+02] [ 7.68644571e-01 -6.39326815e-01 2.11364052e-02 -2.77227078e+02] [-2.83684886e-02 -1.05954908e-03 9.99596972e-01 -6.00428443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.526559995 meters 0.0551433775735849 Centerline is valid? [True, True] Translation: X:347.64, Y:-277.19, Z:-5.99 [[-6.43972177e-01 -7.64819793e-01 -1.87221537e-02 3.47638044e+02] [ 7.64534932e-01 -6.44243698e-01 2.08900640e-02 -2.77194429e+02] [-2.80387640e-02 -8.61120494e-04 9.99606466e-01 -5.99059590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.586559995 meters 0.05317885981737821 Centerline is valid? [True, True] Translation: X:347.59, Y:-277.15, Z:-5.99 [[-6.42461346e-01 -7.66080616e-01 -1.90763997e-02 3.47594054e+02] [ 7.65785324e-01 -6.42743824e-01 2.12888259e-02 -2.77150895e+02] [-2.85701950e-02 -9.31179184e-04 9.99591355e-01 -5.98733094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.646559995 meters 0.05380554812155883 Centerline is valid? [True, True] Translation: X:347.56, Y:-277.10, Z:-6.00 [[-6.45311683e-01 -7.63701773e-01 -1.82327634e-02 3.47560866e+02] [ 7.63431024e-01 -6.45568727e-01 2.03491991e-02 -2.77099632e+02] [-2.73112213e-02 -7.87881279e-04 9.99626669e-01 -5.99789085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.7065599950001 meters 0.05599879572424181 Centerline is valid? [True, True] Translation: X:347.52, Y:-277.04, Z:-6.01 [[-6.38577787e-01 -7.69329805e-01 -1.87099318e-02 3.47524623e+02] [ 7.69046733e-01 -6.38850966e-01 2.08941465e-02 -2.77037553e+02] [-2.80273477e-02 -1.04627415e-03 9.99606609e-01 -6.00697103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.766559995 meters 0.0545920300399141 Centerline is valid? [True, True] Translation: X:347.47, Y:-276.99, Z:-6.00 [[-6.40231740e-01 -7.67935572e-01 -1.94493102e-02 3.47469498e+02] [ 7.67628657e-01 -6.40526288e-01 2.17329046e-02 -2.76994816e+02] [-2.91472650e-02 -1.01575258e-03 9.99574612e-01 -5.99880194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.826559995 meters 0.05373508108094932 Centerline is valid? [True, True] Translation: X:347.42, Y:-276.95, Z:-6.00 [[-6.41264252e-01 -7.67045060e-01 -2.05434959e-02 3.47424901e+02] [ 7.66701952e-01 -6.41592413e-01 2.29628439e-02 -2.76946243e+02] [-3.07940871e-02 -1.02548744e-03 9.99525224e-01 -5.99957612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.886559995 meters 0.05393303130642154 Centerline is valid? [True, True] Translation: X:347.38, Y:-276.90, Z:-6.00 [[-6.44078947e-01 -7.64685741e-01 -2.04457166e-02 3.47376729e+02] [ 7.64344510e-01 -6.44402747e-01 2.28597987e-02 -2.76904018e+02] [-3.06558380e-02 -9.04056152e-04 9.99529591e-01 -5.99500468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.9465599950001 meters 0.05321001610340889 Centerline is valid? [True, True] Translation: X:347.34, Y:-276.85, Z:-6.00 [[-6.44209602e-01 -7.64575172e-01 -2.04644882e-02 3.47336151e+02] [ 7.64233013e-01 -6.44533945e-01 2.28887562e-02 -2.76850826e+02] [-3.06902320e-02 -8.94481000e-04 9.99528544e-01 -5.99824568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.006559995 meters 0.05330697665963695 Centerline is valid? [True, True] Translation: X:347.29, Y:-276.81, Z:-5.99 [[-6.46937431e-01 -7.62311094e-01 -1.88084209e-02 3.47286803e+02] [ 7.62020948e-01 -6.47210383e-01 2.10426982e-02 -2.76808572e+02] [-2.82140876e-02 -7.19101621e-04 9.99601645e-01 -5.98915153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.066559995 meters 0.05327024430677201 Centerline is valid? [True, True] Translation: X:347.25, Y:-276.75, Z:-6.00 [[-6.45316545e-01 -7.63743809e-01 -1.61849226e-02 3.47254219e+02] [ 7.63529257e-01 -6.45519131e-01 1.81142284e-02 -2.76748155e+02] [-2.42823070e-02 -6.68250682e-04 9.99704918e-01 -6.00074104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.126559995 meters 0.053476688574388 Centerline is valid? [True, True] Translation: X:347.21, Y:-276.70, Z:-6.00 [[-6.45494807e-01 -7.63637281e-01 -1.39483929e-02 3.47209720e+02] [ 7.63477797e-01 -6.45645243e-01 1.56164368e-02 -2.76699525e+02] [-2.09310069e-02 -5.68959433e-04 9.99780761e-01 -5.99778741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.186559995 meters 0.054587136779252296 Centerline is valid? [True, True] Translation: X:347.16, Y:-276.66, Z:-5.99 [[-6.44303732e-01 -7.64647308e-01 -1.36819314e-02 3.47163802e+02] [ 7.64494002e-01 -6.44448717e-01 1.53222613e-02 -2.76655472e+02] [-2.05334290e-02 -5.87564373e-04 9.99788994e-01 -5.99253779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.246559995 meters 0.05433414671560305 Centerline is valid? [True, True] Translation: X:347.13, Y:-276.60, Z:-6.00 [[-6.38752422e-01 -7.69302103e-01 -1.30237533e-02 3.47127158e+02] [ 7.69164075e-01 -6.38884799e-01 1.45890002e-02 -2.76600664e+02] [-1.95440265e-02 -6.98643945e-04 9.99808753e-01 -5.99748875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.306559995 meters 0.056332976060169626 Centerline is valid? [True, True] Translation: X:347.09, Y:-276.54, Z:-6.00 [[-6.24687163e-01 -7.80783242e-01 -1.19781782e-02 3.47093533e+02] [ 7.80668399e-01 -6.24801248e-01 1.34257494e-02 -2.76536486e+02] [-1.79665808e-02 -9.64091901e-04 9.99838123e-01 -5.99975086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.366559995 meters 0.055097155721784995 Centerline is valid? [True, True] Translation: X:347.04, Y:-276.50, Z:-5.99 [[-6.19634978e-01 -7.84798669e-01 -1.19809290e-02 3.47036386e+02] [ 7.84684385e-01 -6.19749862e-01 1.34359229e-02 -2.76495689e+02] [-1.79696735e-02 -1.07588007e-03 9.99837954e-01 -5.99359326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.426559995 meters 0.054856558728051445 Centerline is valid? [True, True] Translation: X:346.99, Y:-276.45, Z:-5.99 [[-6.08648988e-01 -7.93322004e-01 -1.36603971e-02 3.46991548e+02] [ 7.93175470e-01 -6.08800393e-01 1.53217002e-02 -2.76452476e+02] [-2.04714971e-02 -1.50955459e-03 9.99789297e-01 -5.99112793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.486559995 meters 0.058517375068770555 Centerline is valid? [True, True] Translation: X:346.97, Y:-276.39, Z:-6.00 [[-6.03090435e-01 -7.97544582e-01 -1.43026992e-02 3.46965779e+02] [ 7.97384972e-01 -6.03257541e-01 1.60482370e-02 -2.76386359e+02] [-2.14273956e-02 -1.72621919e-03 9.99768917e-01 -5.99686964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.546559995 meters 0.05978224142467422 Centerline is valid? [True, True] Translation: X:346.93, Y:-276.33, Z:-6.00 [[-6.01597340e-01 -7.98690438e-01 -1.31993824e-02 3.46927077e+02] [ 7.98554654e-01 -6.01739925e-01 1.48164761e-02 -2.76330014e+02] [-1.97763732e-02 -1.62687559e-03 9.99803105e-01 -5.99925512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.606559995 meters 0.05822285240106344 Centerline is valid? [True, True] Translation: X:346.88, Y:-276.28, Z:-6.00 [[-6.05184524e-01 -7.96008950e-01 -1.10201806e-02 3.46879053e+02] [ 7.95913778e-01 -6.05283495e-01 1.23753498e-02 -2.76282960e+02] [-1.65212227e-02 -1.28174341e-03 9.99862694e-01 -5.99697846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.666559995 meters 0.0577750782865698 Centerline is valid? [True, True] Translation: X:346.83, Y:-276.23, Z:-6.00 [[-6.06490165e-01 -7.95034251e-01 -9.49843290e-03 3.46834794e+02] [ 7.94963371e-01 -6.06563579e-01 1.06706962e-02 -2.76232691e+02] [-1.42449724e-02 -1.07923392e-03 9.99897953e-01 -5.99818201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.7265599950001 meters 0.0626115156227991 Centerline is valid? [True, True] Translation: X:346.80, Y:-276.17, Z:-6.00 [[-6.08261995e-01 -7.93687978e-01 -8.76009454e-03 3.46796313e+02] [ 7.93627451e-01 -6.08324313e-01 9.84888126e-03 -2.76169179e+02] [-1.31459171e-02 -9.61551327e-04 9.99913126e-01 -6.00016574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.786559995 meters 0.05495152666892567 Centerline is valid? [True, True] Translation: X:346.73, Y:-276.13, Z:-6.00 [[-6.10947620e-01 -7.91626420e-01 -8.40335924e-03 3.46728823e+02] [ 7.91570443e-01 -6.11004782e-01 9.45464344e-03 -2.76134437e+02] [-1.26190382e-02 -8.75558885e-04 9.99919993e-01 -5.99541134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.846559995 meters 0.06054409551282772 Centerline is valid? [True, True] Translation: X:346.70, Y:-276.07, Z:-6.00 [[-6.10755252e-01 -7.91777595e-01 -8.14008815e-03 3.46696543e+02] [ 7.91725003e-01 -6.10808908e-01 9.16502201e-03 -2.76066926e+02] [-1.22286974e-02 -8.47125990e-04 9.99924868e-01 -5.99843747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.906559995 meters 0.059719323877501916 Centerline is valid? [True, True] Translation: X:346.65, Y:-276.01, Z:-6.00 [[-6.15547051e-01 -7.88051296e-01 -8.77404434e-03 3.46645733e+02] [ 7.87989717e-01 -6.15609023e-01 9.88621817e-03 -2.76014951e+02] [-1.31922279e-02 -8.28424282e-04 9.99912636e-01 -5.99842185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.9665599950001 meters 0.05215581638125776 Centerline is valid? [True, True] Translation: X:346.58, Y:-275.98, Z:-5.99 [[-6.26161486e-01 -7.79651073e-01 -8.12392586e-03 3.46581542e+02] [ 7.79597487e-01 -6.26213899e-01 9.16027766e-03 -2.75977371e+02] [-1.22291356e-02 -5.97579114e-04 9.99925043e-01 -5.99476974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.026559995 meters 0.05542316259856407 Centerline is valid? [True, True] Translation: X:346.54, Y:-275.91, Z:-6.00 [[-6.29340469e-01 -7.77086887e-01 -8.15748560e-03 3.46541679e+02] [ 7.77032542e-01 -6.29393099e-01 9.20628051e-03 -2.75912784e+02] [-1.22883450e-02 -5.44746879e-04 9.99924347e-01 -5.99965480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.086559995 meters 0.05459559677688408 Centerline is valid? [True, True] Translation: X:346.49, Y:-275.86, Z:-6.00 [[-6.32577114e-01 -7.74447971e-01 -8.74843915e-03 3.46490998e+02] [ 7.74385098e-01 -6.32637389e-01 9.88200192e-03 -2.75857879e+02] [-1.31876860e-02 -5.23532658e-04 9.99912902e-01 -6.00089207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.146559995 meters 0.052702561996604995 Centerline is valid? [True, True] Translation: X:346.44, Y:-275.81, Z:-6.00 [[-6.35456017e-01 -7.72091340e-01 -8.40320374e-03 3.46436332e+02] [ 7.72033032e-01 -6.35511416e-01 9.49939125e-03 -2.75810327e+02] [-1.26747296e-02 -4.51105536e-04 9.99919571e-01 -5.99739365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.2065599950001 meters 0.05052820102306875 Centerline is valid? [True, True] Translation: X:346.38, Y:-275.78, Z:-5.99 [[-6.37494513e-01 -7.70417432e-01 -7.59780829e-03 3.46381301e+02] [ 7.70369624e-01 -6.37539677e-01 8.59086758e-03 -2.75776743e+02] [-1.14624584e-02 -3.76489769e-04 9.99934233e-01 -5.99064979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.266559995 meters 0.05124413688468418 Centerline is valid? [True, True] Translation: X:346.34, Y:-275.73, Z:-5.99 [[-6.38817864e-01 -7.69331356e-01 -6.40325050e-03 3.46342676e+02] [ 7.69297339e-01 -6.38849884e-01 7.24083294e-03 -2.75727848e+02] [-9.66131566e-03 -3.00430142e-04 9.99953283e-01 -5.99199814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.326559995 meters 0.05367936539232851 Centerline is valid? [True, True] Translation: X:346.31, Y:-275.67, Z:-6.00 [[-6.39848447e-01 -7.68486815e-01 -4.68822816e-03 3.46314792e+02] [ 7.68468552e-01 -6.39865588e-01 5.30225162e-03 -2.75671984e+02] [-7.07454633e-03 -2.10118442e-04 9.99974953e-01 -5.99682925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.386559995 meters 0.05415792577004695 Centerline is valid? [True, True] Translation: X:346.27, Y:-275.62, Z:-6.00 [[-6.38094017e-01 -7.69948024e-01 -4.00826697e-03 3.46273596e+02] [ 7.69934694e-01 -6.38106577e-01 4.53473446e-03 -2.75620673e+02] [-6.04921135e-03 -1.92516870e-04 9.99981685e-01 -5.99648991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.4465599950001 meters 0.05495813193523228 Centerline is valid? [True, True] Translation: X:346.23, Y:-275.57, Z:-6.00 [[-6.36059799e-01 -7.71631765e-01 -3.51446549e-03 3.46230756e+02] [ 7.71621536e-01 -6.36069482e-01 3.97728957e-03 -2.75572005e+02] [-5.30444721e-03 -1.82043252e-04 9.99985915e-01 -5.99591116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.506559995 meters 0.05456890465483451 Centerline is valid? [True, True] Translation: X:346.19, Y:-275.52, Z:-6.00 [[-6.35352127e-01 -7.72220371e-01 -1.83657903e-03 3.46190782e+02] [ 7.72217577e-01 -6.35354774e-01 2.07968720e-03 -2.75515275e+02] [-2.77285608e-03 -9.69049241e-05 9.99996151e-01 -5.99581703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.566559995 meters 0.057382249234224476 Centerline is valid? [True, True] Translation: X:346.15, Y:-275.45, Z:-5.99 [[-6.32522833e-01 -7.74541607e-01 4.05249396e-04 3.46149423e+02] [ 7.74541471e-01 -6.32522963e-01 -4.59255414e-04 -2.75453856e+02] [ 6.12041975e-04 2.33929276e-05 9.99999812e-01 -5.99369963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.626559995 meters 0.05899251090614297 Centerline is valid? [True, True] Translation: X:346.10, Y:-275.40, Z:-5.99 [[-6.28471616e-01 -7.77831375e-01 1.33437155e-03 3.46104564e+02] [ 7.77829908e-01 -6.28473026e-01 -1.51335299e-03 -2.75396239e+02] [ 2.01574997e-03 8.68147025e-05 9.99997965e-01 -5.99287854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.686559995 meters 0.0602458734824003 Centerline is valid? [True, True] Translation: X:346.06, Y:-275.34, Z:-5.99 [[-6.18813398e-01 -7.85534335e-01 2.40562045e-03 3.46060435e+02] [ 7.85529616e-01 -6.18818041e-01 -2.73020982e-03 -2.75340376e+02] [ 3.63331489e-03 2.00195692e-04 9.99993380e-01 -5.99224458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.746559995 meters 0.057935490792293674 Centerline is valid? [True, True] Translation: X:346.01, Y:-275.30, Z:-5.99 [[-6.13743201e-01 -7.89505261e-01 8.52269140e-04 3.46009155e+02] [ 7.89504672e-01 -6.13743787e-01 -9.67703673e-04 -2.75295714e+02] [ 1.28708203e-03 7.89489178e-05 9.99999169e-01 -5.99312321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.806559995 meters 0.06340392823696477 Centerline is valid? [True, True] Translation: X:345.97, Y:-275.24, Z:-5.99 [[-6.06596569e-01 -7.95006747e-01 -2.20780873e-03 3.45974210e+02] [ 7.95002826e-01 -6.06600542e-01 2.50803150e-03 -2.75235680e+02] [-3.33315994e-03 -2.33850880e-04 9.99994418e-01 -5.99013771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.866559995 meters 0.061550138204190204 Centerline is valid? [True, True] Translation: X:345.93, Y:-275.19, Z:-5.99 [[-6.05814948e-01 -7.95591830e-01 -4.67855002e-03 3.45925355e+02] [ 7.95574219e-01 -6.05832806e-01 5.31731827e-03 -2.75189581e+02] [-7.06483405e-03 -5.00822885e-04 9.99974918e-01 -5.98911113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.926559995 meters 0.062125606856958004 Centerline is valid? [True, True] Translation: X:345.88, Y:-275.14, Z:-5.99 [[-6.07515774e-01 -7.94289444e-01 -5.37245465e-03 3.45880967e+02] [ 7.94266150e-01 -6.07539274e-01 6.10841161e-03 -2.75138981e+02] [-8.11582406e-03 -5.56202463e-04 9.99966912e-01 -5.98925706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.986559995 meters 0.06135568107545255 Centerline is valid? [True, True] Translation: X:345.83, Y:-275.09, Z:-5.99 [[-6.13255635e-01 -7.89864998e-01 -5.55082195e-03 3.45832690e+02] [ 7.89839918e-01 -6.13280543e-01 6.31511726e-03 -2.75087264e+02] [-8.39230118e-03 -5.11479512e-04 9.99964653e-01 -5.98918836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.046559995 meters 0.05945680921868114 Centerline is valid? [True, True] Translation: X:345.78, Y:-275.04, Z:-5.99 [[-6.18401179e-01 -7.85845113e-01 -5.23836990e-03 3.45781106e+02] [ 7.85822604e-01 -6.18423217e-01 5.96321184e-03 -2.75038904e+02] [-7.92569045e-03 -4.28772243e-04 9.99968499e-01 -5.98821927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.106559995 meters 0.05288465129626894 Centerline is valid? [True, True] Translation: X:345.71, Y:-275.02, Z:-5.98 [[-6.21617460e-01 -7.83305031e-01 -4.99615540e-03 3.45705825e+02] [ 7.83284477e-01 -6.21637423e-01 5.68701005e-03 -2.75024770e+02] [-7.56046075e-03 -3.78266228e-04 9.99971348e-01 -5.98059360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.166559995 meters 0.05334780772335704 Centerline is valid? [True, True] Translation: X:345.67, Y:-274.98, Z:-5.98 [[-6.21112473e-01 -7.83704768e-01 -5.11203973e-03 3.45668933e+02] [ 7.83683268e-01 -6.21133385e-01 5.81837860e-03 -2.74979722e+02] [-7.73514960e-03 -3.92352485e-04 9.99970006e-01 -5.98136060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.2265599950001 meters 0.05399632614300741 Centerline is valid? [True, True] Translation: X:345.63, Y:-274.94, Z:-5.98 [[-6.16435945e-01 -7.87386480e-01 -5.40898999e-03 3.45629515e+02] [ 7.87362550e-01 -6.16459501e-01 6.15617816e-03 -2.74936389e+02] [-8.18171472e-03 -4.63946652e-04 9.99966422e-01 -5.98082789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.286559995 meters 0.05421045581501571 Centerline is valid? [True, True] Translation: X:345.59, Y:-274.89, Z:-5.98 [[-6.11995682e-01 -7.90848294e-01 -4.50126302e-03 3.45592581e+02] [ 7.90831813e-01 -6.12012088e-01 5.12332215e-03 -2.74887084e+02] [-6.80659796e-03 -4.24290957e-04 9.99976745e-01 -5.98065362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.346559995 meters 0.05505854193166246 Centerline is valid? [True, True] Translation: X:345.56, Y:-274.84, Z:-5.98 [[-6.08678966e-01 -7.93411714e-01 -2.78736438e-03 3.45556943e+02] [ 7.93405419e-01 -6.08685283e-01 3.17273747e-03 -2.74838303e+02] [-4.21391475e-03 -2.80331446e-04 9.99991082e-01 -5.98375226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.406559995 meters 0.05529255774126663 Centerline is valid? [True, True] Translation: X:345.52, Y:-274.79, Z:-5.98 [[-6.04882377e-01 -7.96313885e-01 -1.22730327e-03 3.45516420e+02] [ 7.96312671e-01 -6.04883608e-01 1.39708775e-03 -2.74791751e+02] [-1.85489600e-03 -1.32243387e-04 9.99998271e-01 -5.98429517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.4665599950001 meters 0.05656646199358805 Centerline is valid? [True, True] Translation: X:345.47, Y:-274.75, Z:-5.98 [[-5.99451457e-01 -8.00411075e-01 -2.46646292e-04 3.45469919e+02] [ 8.00411027e-01 -5.99451507e-01 2.80778971e-04 -2.74752279e+02] [-3.72591089e-04 -2.91050485e-05 9.99999930e-01 -5.98419916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.526559995 meters 0.0707364596139331 Centerline is valid? [True, True] Translation: X:345.48, Y:-274.67, Z:-5.98 [[-5.99161347e-01 -8.00628104e-01 -5.65449435e-04 3.45477421e+02] [ 8.00627848e-01 -5.99161610e-01 6.43644976e-04 -2.74668462e+02] [-8.54115850e-04 -6.70673733e-05 9.99999633e-01 -5.98406306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.586559995 meters 0.07273005803513084 Centerline is valid? [True, True] Translation: X:345.44, Y:-274.61, Z:-5.98 [[-5.99249613e-01 -8.00561964e-01 6.66055721e-04 3.45436000e+02] [ 8.00561608e-01 -5.99249978e-01 -7.58559163e-04 -2.74614632e+02] [ 1.00640749e-03 7.86523541e-05 9.99999491e-01 -5.98327723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.646559995 meters 0.07210691347300466 Centerline is valid? [True, True] Translation: X:345.39, Y:-274.56, Z:-5.98 [[-5.98774051e-01 -8.00917520e-01 8.72522124e-04 3.45389877e+02] [ 8.00916910e-01 -5.98774678e-01 -9.94298255e-04 -2.74562929e+02] [ 1.31879505e-03 1.03457729e-04 9.99999125e-01 -5.98213811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.7065599950001 meters 0.05611089969365393 Centerline is valid? [True, True] Translation: X:345.30, Y:-274.56, Z:-5.98 [[-5.98195071e-01 -8.01349971e-01 -9.38836273e-04 3.45297710e+02] [ 8.01349265e-01 -5.98195797e-01 1.06984892e-03 -2.74564006e+02] [-1.41893131e-03 -1.12357408e-04 9.99998987e-01 -5.98034770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.766559995 meters 0.05877636083259477 Centerline is valid? [True, True] Translation: X:345.28, Y:-274.50, Z:-5.98 [[-5.99787986e-01 -8.00148461e-01 -4.10027863e-03 3.45281225e+02] [ 8.00134963e-01 -5.99801810e-01 4.67225152e-03 -2.74500395e+02] [-6.19784941e-03 -4.78415961e-04 9.99980679e-01 -5.98255803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 17055.82 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 ... Number of 2D slices and alignment frames are not equal! 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45573it [04:58, 122.96it/s] 45586it [04:58, 121.59it/s] 45599it [04:58, 120.04it/s] 45612it [04:59, 117.54it/s] 45624it [04:59, 116.95it/s] 45636it [04:59, 117.05it/s] 45648it [04:59, 115.41it/s] 45660it [04:59, 114.64it/s] 45672it [04:59, 114.55it/s] 45684it [04:59, 114.58it/s] 45696it [04:59, 114.64it/s] 45708it [04:59, 115.18it/s] 45720it [05:00, 115.16it/s] 45732it [05:00, 115.43it/s] 45744it [05:00, 115.34it/s] 45756it [05:00, 115.39it/s] 45768it [05:00, 115.40it/s] 45780it [05:00, 115.98it/s] 45792it [05:00, 115.66it/s] 45804it [05:00, 115.73it/s] 45816it [05:00, 115.89it/s] 45828it [05:00, 116.05it/s] 45840it [05:01, 115.56it/s] 45852it [05:01, 115.66it/s] 45864it [05:01, 115.71it/s] 45876it [05:01, 115.57it/s] 45888it [05:01, 115.23it/s] 45900it [05:01, 114.78it/s] 45912it [05:01, 114.81it/s] 45924it [05:01, 114.66it/s] 45936it [05:01, 114.53it/s] 45948it [05:02, 114.56it/s] 45960it [05:02, 114.50it/s] 45972it [05:02, 114.75it/s] 45984it [05:02, 114.55it/s] 45996it [05:02, 114.87it/s] 46008it [05:02, 115.29it/s] 46020it [05:02, 115.03it/s] 46032it [05:02, 114.75it/s] 46044it [05:02, 114.55it/s] 46056it [05:02, 114.60it/s] 46068it [05:03, 114.75it/s] 46080it [05:03, 114.52it/s] 46092it [05:03, 114.95it/s] 46094it [05:03, 151.97it/s] Writing Lidar 2D slices PTD file in binary format... Completed! Making a constant density centerline ... Completed! Writing the SLAM model ...